1 | // SPDX-License-Identifier: GPL-2.0+ |
2 | /* |
3 | * ADIS16240 Programmable Impact Sensor and Recorder driver |
4 | * |
5 | * Copyright 2010 Analog Devices Inc. |
6 | */ |
7 | |
8 | #include <linux/device.h> |
9 | #include <linux/kernel.h> |
10 | #include <linux/spi/spi.h> |
11 | #include <linux/sysfs.h> |
12 | #include <linux/module.h> |
13 | |
14 | #include <linux/iio/iio.h> |
15 | #include <linux/iio/sysfs.h> |
16 | #include <linux/iio/imu/adis.h> |
17 | |
18 | #define ADIS16240_STARTUP_DELAY 220 /* ms */ |
19 | |
20 | /* Flash memory write count */ |
21 | #define ADIS16240_FLASH_CNT 0x00 |
22 | |
23 | /* Output, power supply */ |
24 | #define ADIS16240_SUPPLY_OUT 0x02 |
25 | |
26 | /* Output, x-axis accelerometer */ |
27 | #define ADIS16240_XACCL_OUT 0x04 |
28 | |
29 | /* Output, y-axis accelerometer */ |
30 | #define ADIS16240_YACCL_OUT 0x06 |
31 | |
32 | /* Output, z-axis accelerometer */ |
33 | #define ADIS16240_ZACCL_OUT 0x08 |
34 | |
35 | /* Output, auxiliary ADC input */ |
36 | #define ADIS16240_AUX_ADC 0x0A |
37 | |
38 | /* Output, temperature */ |
39 | #define ADIS16240_TEMP_OUT 0x0C |
40 | |
41 | /* Output, x-axis acceleration peak */ |
42 | #define ADIS16240_XPEAK_OUT 0x0E |
43 | |
44 | /* Output, y-axis acceleration peak */ |
45 | #define ADIS16240_YPEAK_OUT 0x10 |
46 | |
47 | /* Output, z-axis acceleration peak */ |
48 | #define ADIS16240_ZPEAK_OUT 0x12 |
49 | |
50 | /* Output, sum-of-squares acceleration peak */ |
51 | #define ADIS16240_XYZPEAK_OUT 0x14 |
52 | |
53 | /* Output, Capture Buffer 1, X and Y acceleration */ |
54 | #define ADIS16240_CAPT_BUF1 0x16 |
55 | |
56 | /* Output, Capture Buffer 2, Z acceleration */ |
57 | #define ADIS16240_CAPT_BUF2 0x18 |
58 | |
59 | /* Diagnostic, error flags */ |
60 | #define ADIS16240_DIAG_STAT 0x1A |
61 | |
62 | /* Diagnostic, event counter */ |
63 | #define ADIS16240_EVNT_CNTR 0x1C |
64 | |
65 | /* Diagnostic, check sum value from firmware test */ |
66 | #define ADIS16240_CHK_SUM 0x1E |
67 | |
68 | /* Calibration, x-axis acceleration offset adjustment */ |
69 | #define ADIS16240_XACCL_OFF 0x20 |
70 | |
71 | /* Calibration, y-axis acceleration offset adjustment */ |
72 | #define ADIS16240_YACCL_OFF 0x22 |
73 | |
74 | /* Calibration, z-axis acceleration offset adjustment */ |
75 | #define ADIS16240_ZACCL_OFF 0x24 |
76 | |
77 | /* Clock, hour and minute */ |
78 | #define ADIS16240_CLK_TIME 0x2E |
79 | |
80 | /* Clock, month and day */ |
81 | #define ADIS16240_CLK_DATE 0x30 |
82 | |
83 | /* Clock, year */ |
84 | #define ADIS16240_CLK_YEAR 0x32 |
85 | |
86 | /* Wake-up setting, hour and minute */ |
87 | #define ADIS16240_WAKE_TIME 0x34 |
88 | |
89 | /* Wake-up setting, month and day */ |
90 | #define ADIS16240_WAKE_DATE 0x36 |
91 | |
92 | /* Alarm 1 amplitude threshold */ |
93 | #define ADIS16240_ALM_MAG1 0x38 |
94 | |
95 | /* Alarm 2 amplitude threshold */ |
96 | #define ADIS16240_ALM_MAG2 0x3A |
97 | |
98 | /* Alarm control */ |
99 | #define ADIS16240_ALM_CTRL 0x3C |
100 | |
101 | /* Capture, external trigger control */ |
102 | #define ADIS16240_XTRIG_CTRL 0x3E |
103 | |
104 | /* Capture, address pointer */ |
105 | #define ADIS16240_CAPT_PNTR 0x40 |
106 | |
107 | /* Capture, configuration and control */ |
108 | #define ADIS16240_CAPT_CTRL 0x42 |
109 | |
110 | /* General-purpose digital input/output control */ |
111 | #define ADIS16240_GPIO_CTRL 0x44 |
112 | |
113 | /* Miscellaneous control */ |
114 | #define ADIS16240_MSC_CTRL 0x46 |
115 | |
116 | /* Internal sample period (rate) control */ |
117 | #define ADIS16240_SMPL_PRD 0x48 |
118 | |
119 | /* System command */ |
120 | #define ADIS16240_GLOB_CMD 0x4A |
121 | |
122 | /* MSC_CTRL */ |
123 | |
124 | /* Enables sum-of-squares output (XYZPEAK_OUT) */ |
125 | #define ADIS16240_MSC_CTRL_XYZPEAK_OUT_EN BIT(15) |
126 | |
127 | /* Enables peak tracking output (XPEAK_OUT, YPEAK_OUT, and ZPEAK_OUT) */ |
128 | #define ADIS16240_MSC_CTRL_X_Y_ZPEAK_OUT_EN BIT(14) |
129 | |
130 | /* Self-test enable: 1 = apply electrostatic force, 0 = disabled */ |
131 | #define ADIS16240_MSC_CTRL_SELF_TEST_EN BIT(8) |
132 | |
133 | /* Data-ready enable: 1 = enabled, 0 = disabled */ |
134 | #define ADIS16240_MSC_CTRL_DATA_RDY_EN BIT(2) |
135 | |
136 | /* Data-ready polarity: 1 = active high, 0 = active low */ |
137 | #define ADIS16240_MSC_CTRL_ACTIVE_HIGH BIT(1) |
138 | |
139 | /* Data-ready line selection: 1 = DIO2, 0 = DIO1 */ |
140 | #define ADIS16240_MSC_CTRL_DATA_RDY_DIO2 BIT(0) |
141 | |
142 | /* DIAG_STAT */ |
143 | |
144 | /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */ |
145 | #define ADIS16240_DIAG_STAT_ALARM2 BIT(9) |
146 | |
147 | /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */ |
148 | #define ADIS16240_DIAG_STAT_ALARM1 BIT(8) |
149 | |
150 | /* Capture buffer full: 1 = capture buffer is full */ |
151 | #define ADIS16240_DIAG_STAT_CPT_BUF_FUL BIT(7) |
152 | |
153 | /* Flash test, checksum flag: 1 = mismatch, 0 = match */ |
154 | #define ADIS16240_DIAG_STAT_CHKSUM BIT(6) |
155 | |
156 | /* Power-on, self-test flag: 1 = failure, 0 = pass */ |
157 | #define ADIS16240_DIAG_STAT_PWRON_FAIL_BIT 5 |
158 | |
159 | /* Power-on self-test: 1 = in-progress, 0 = complete */ |
160 | #define ADIS16240_DIAG_STAT_PWRON_BUSY BIT(4) |
161 | |
162 | /* SPI communications failure */ |
163 | #define ADIS16240_DIAG_STAT_SPI_FAIL_BIT 3 |
164 | |
165 | /* Flash update failure */ |
166 | #define ADIS16240_DIAG_STAT_FLASH_UPT_BIT 2 |
167 | |
168 | /* Power supply above 3.625 V */ |
169 | #define ADIS16240_DIAG_STAT_POWER_HIGH_BIT 1 |
170 | |
171 | /* Power supply below 2.225 V */ |
172 | #define ADIS16240_DIAG_STAT_POWER_LOW_BIT 0 |
173 | |
174 | /* GLOB_CMD */ |
175 | |
176 | #define ADIS16240_GLOB_CMD_RESUME BIT(8) |
177 | #define ADIS16240_GLOB_CMD_SW_RESET BIT(7) |
178 | #define ADIS16240_GLOB_CMD_STANDBY BIT(2) |
179 | |
180 | #define ADIS16240_ERROR_ACTIVE BIT(14) |
181 | |
182 | /* At the moment triggers are only used for ring buffer |
183 | * filling. This may change! |
184 | */ |
185 | |
186 | enum adis16240_scan { |
187 | ADIS16240_SCAN_ACC_X, |
188 | ADIS16240_SCAN_ACC_Y, |
189 | ADIS16240_SCAN_ACC_Z, |
190 | ADIS16240_SCAN_SUPPLY, |
191 | ADIS16240_SCAN_AUX_ADC, |
192 | ADIS16240_SCAN_TEMP, |
193 | }; |
194 | |
195 | static ssize_t adis16240_spi_read_signed(struct device *dev, |
196 | struct device_attribute *attr, |
197 | char *buf, |
198 | unsigned int bits) |
199 | { |
200 | struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
201 | struct adis *st = iio_priv(indio_dev); |
202 | int ret; |
203 | s16 val = 0; |
204 | unsigned int shift = 16 - bits; |
205 | struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); |
206 | |
207 | ret = adis_read_reg_16(adis: st, |
208 | reg: this_attr->address, val: (u16 *)&val); |
209 | if (ret) |
210 | return ret; |
211 | |
212 | if (val & ADIS16240_ERROR_ACTIVE) |
213 | adis_check_status(adis: st); |
214 | |
215 | val = (s16)(val << shift) >> shift; |
216 | return sprintf(buf, fmt: "%d\n" , val); |
217 | } |
218 | |
219 | static ssize_t adis16240_read_12bit_signed(struct device *dev, |
220 | struct device_attribute *attr, |
221 | char *buf) |
222 | { |
223 | return adis16240_spi_read_signed(dev, attr, buf, bits: 12); |
224 | } |
225 | |
226 | static IIO_DEVICE_ATTR(in_accel_xyz_squared_peak_raw, 0444, |
227 | adis16240_read_12bit_signed, NULL, |
228 | ADIS16240_XYZPEAK_OUT); |
229 | |
230 | static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("4096" ); |
231 | |
232 | static const u8 adis16240_addresses[][2] = { |
233 | [ADIS16240_SCAN_ACC_X] = { ADIS16240_XACCL_OFF, ADIS16240_XPEAK_OUT }, |
234 | [ADIS16240_SCAN_ACC_Y] = { ADIS16240_YACCL_OFF, ADIS16240_YPEAK_OUT }, |
235 | [ADIS16240_SCAN_ACC_Z] = { ADIS16240_ZACCL_OFF, ADIS16240_ZPEAK_OUT }, |
236 | }; |
237 | |
238 | static int adis16240_read_raw(struct iio_dev *indio_dev, |
239 | struct iio_chan_spec const *chan, |
240 | int *val, int *val2, |
241 | long mask) |
242 | { |
243 | struct adis *st = iio_priv(indio_dev); |
244 | int ret; |
245 | u8 addr; |
246 | s16 val16; |
247 | |
248 | switch (mask) { |
249 | case IIO_CHAN_INFO_RAW: |
250 | return adis_single_conversion(indio_dev, chan, |
251 | ADIS16240_ERROR_ACTIVE, val); |
252 | case IIO_CHAN_INFO_SCALE: |
253 | switch (chan->type) { |
254 | case IIO_VOLTAGE: |
255 | if (chan->channel == 0) { |
256 | *val = 4; |
257 | *val2 = 880000; /* 4.88 mV */ |
258 | return IIO_VAL_INT_PLUS_MICRO; |
259 | } |
260 | return -EINVAL; |
261 | case IIO_TEMP: |
262 | *val = 244; /* 0.244 C */ |
263 | *val2 = 0; |
264 | return IIO_VAL_INT_PLUS_MICRO; |
265 | case IIO_ACCEL: |
266 | *val = 0; |
267 | *val2 = IIO_G_TO_M_S_2(51400); /* 51.4 mg */ |
268 | return IIO_VAL_INT_PLUS_MICRO; |
269 | default: |
270 | return -EINVAL; |
271 | } |
272 | break; |
273 | case IIO_CHAN_INFO_PEAK_SCALE: |
274 | *val = 0; |
275 | *val2 = IIO_G_TO_M_S_2(51400); /* 51.4 mg */ |
276 | return IIO_VAL_INT_PLUS_MICRO; |
277 | case IIO_CHAN_INFO_OFFSET: |
278 | *val = 25000 / 244 - 0x133; /* 25 C = 0x133 */ |
279 | return IIO_VAL_INT; |
280 | case IIO_CHAN_INFO_CALIBBIAS: |
281 | addr = adis16240_addresses[chan->scan_index][0]; |
282 | ret = adis_read_reg_16(adis: st, reg: addr, val: &val16); |
283 | if (ret) |
284 | return ret; |
285 | *val = sign_extend32(value: val16, index: 9); |
286 | return IIO_VAL_INT; |
287 | case IIO_CHAN_INFO_PEAK: |
288 | addr = adis16240_addresses[chan->scan_index][1]; |
289 | ret = adis_read_reg_16(adis: st, reg: addr, val: &val16); |
290 | if (ret) |
291 | return ret; |
292 | *val = sign_extend32(value: val16, index: 9); |
293 | return IIO_VAL_INT; |
294 | } |
295 | return -EINVAL; |
296 | } |
297 | |
298 | static int adis16240_write_raw(struct iio_dev *indio_dev, |
299 | struct iio_chan_spec const *chan, |
300 | int val, |
301 | int val2, |
302 | long mask) |
303 | { |
304 | struct adis *st = iio_priv(indio_dev); |
305 | u8 addr; |
306 | |
307 | switch (mask) { |
308 | case IIO_CHAN_INFO_CALIBBIAS: |
309 | addr = adis16240_addresses[chan->scan_index][0]; |
310 | return adis_write_reg_16(adis: st, reg: addr, val: val & GENMASK(9, 0)); |
311 | } |
312 | return -EINVAL; |
313 | } |
314 | |
315 | static const struct iio_chan_spec adis16240_channels[] = { |
316 | ADIS_SUPPLY_CHAN(ADIS16240_SUPPLY_OUT, ADIS16240_SCAN_SUPPLY, 0, 10), |
317 | ADIS_AUX_ADC_CHAN(ADIS16240_AUX_ADC, ADIS16240_SCAN_AUX_ADC, 0, 10), |
318 | ADIS_ACCEL_CHAN(X, ADIS16240_XACCL_OUT, ADIS16240_SCAN_ACC_X, |
319 | BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK), |
320 | 0, 10), |
321 | ADIS_ACCEL_CHAN(Y, ADIS16240_YACCL_OUT, ADIS16240_SCAN_ACC_Y, |
322 | BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK), |
323 | 0, 10), |
324 | ADIS_ACCEL_CHAN(Z, ADIS16240_ZACCL_OUT, ADIS16240_SCAN_ACC_Z, |
325 | BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK), |
326 | 0, 10), |
327 | ADIS_TEMP_CHAN(ADIS16240_TEMP_OUT, ADIS16240_SCAN_TEMP, 0, 10), |
328 | IIO_CHAN_SOFT_TIMESTAMP(6) |
329 | }; |
330 | |
331 | static struct attribute *adis16240_attributes[] = { |
332 | &iio_dev_attr_in_accel_xyz_squared_peak_raw.dev_attr.attr, |
333 | &iio_const_attr_sampling_frequency_available.dev_attr.attr, |
334 | NULL |
335 | }; |
336 | |
337 | static const struct attribute_group adis16240_attribute_group = { |
338 | .attrs = adis16240_attributes, |
339 | }; |
340 | |
341 | static const struct iio_info adis16240_info = { |
342 | .attrs = &adis16240_attribute_group, |
343 | .read_raw = adis16240_read_raw, |
344 | .write_raw = adis16240_write_raw, |
345 | .update_scan_mode = adis_update_scan_mode, |
346 | }; |
347 | |
348 | static const char * const adis16240_status_error_msgs[] = { |
349 | [ADIS16240_DIAG_STAT_PWRON_FAIL_BIT] = "Power on, self-test failed" , |
350 | [ADIS16240_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure" , |
351 | [ADIS16240_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed" , |
352 | [ADIS16240_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V" , |
353 | [ADIS16240_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.225V" , |
354 | }; |
355 | |
356 | static const struct adis_timeout adis16240_timeouts = { |
357 | .reset_ms = ADIS16240_STARTUP_DELAY, |
358 | .sw_reset_ms = ADIS16240_STARTUP_DELAY, |
359 | .self_test_ms = ADIS16240_STARTUP_DELAY, |
360 | }; |
361 | |
362 | static const struct adis_data adis16240_data = { |
363 | .write_delay = 35, |
364 | .read_delay = 35, |
365 | .msc_ctrl_reg = ADIS16240_MSC_CTRL, |
366 | .glob_cmd_reg = ADIS16240_GLOB_CMD, |
367 | .diag_stat_reg = ADIS16240_DIAG_STAT, |
368 | |
369 | .self_test_mask = ADIS16240_MSC_CTRL_SELF_TEST_EN, |
370 | .self_test_reg = ADIS16240_MSC_CTRL, |
371 | .self_test_no_autoclear = true, |
372 | .timeouts = &adis16240_timeouts, |
373 | |
374 | .status_error_msgs = adis16240_status_error_msgs, |
375 | .status_error_mask = BIT(ADIS16240_DIAG_STAT_PWRON_FAIL_BIT) | |
376 | BIT(ADIS16240_DIAG_STAT_SPI_FAIL_BIT) | |
377 | BIT(ADIS16240_DIAG_STAT_FLASH_UPT_BIT) | |
378 | BIT(ADIS16240_DIAG_STAT_POWER_HIGH_BIT) | |
379 | BIT(ADIS16240_DIAG_STAT_POWER_LOW_BIT), |
380 | }; |
381 | |
382 | static int adis16240_probe(struct spi_device *spi) |
383 | { |
384 | int ret; |
385 | struct adis *st; |
386 | struct iio_dev *indio_dev; |
387 | |
388 | /* setup the industrialio driver allocated elements */ |
389 | indio_dev = devm_iio_device_alloc(parent: &spi->dev, sizeof_priv: sizeof(*st)); |
390 | if (!indio_dev) |
391 | return -ENOMEM; |
392 | st = iio_priv(indio_dev); |
393 | /* this is only used for removal purposes */ |
394 | spi_set_drvdata(spi, data: indio_dev); |
395 | |
396 | indio_dev->name = spi->dev.driver->name; |
397 | indio_dev->info = &adis16240_info; |
398 | indio_dev->channels = adis16240_channels; |
399 | indio_dev->num_channels = ARRAY_SIZE(adis16240_channels); |
400 | indio_dev->modes = INDIO_DIRECT_MODE; |
401 | |
402 | spi->mode = SPI_MODE_3; |
403 | ret = spi_setup(spi); |
404 | if (ret) { |
405 | dev_err(&spi->dev, "spi_setup failed!\n" ); |
406 | return ret; |
407 | } |
408 | |
409 | ret = adis_init(adis: st, indio_dev, spi, data: &adis16240_data); |
410 | if (ret) |
411 | return ret; |
412 | ret = devm_adis_setup_buffer_and_trigger(adis: st, indio_dev, NULL); |
413 | if (ret) |
414 | return ret; |
415 | |
416 | /* Get the device into a sane initial state */ |
417 | ret = __adis_initial_startup(adis: st); |
418 | if (ret) |
419 | return ret; |
420 | |
421 | return devm_iio_device_register(&spi->dev, indio_dev); |
422 | } |
423 | |
424 | static const struct of_device_id adis16240_of_match[] = { |
425 | { .compatible = "adi,adis16240" }, |
426 | { }, |
427 | }; |
428 | MODULE_DEVICE_TABLE(of, adis16240_of_match); |
429 | |
430 | static struct spi_driver adis16240_driver = { |
431 | .driver = { |
432 | .name = "adis16240" , |
433 | .of_match_table = adis16240_of_match, |
434 | }, |
435 | .probe = adis16240_probe, |
436 | }; |
437 | module_spi_driver(adis16240_driver); |
438 | |
439 | MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>" ); |
440 | MODULE_DESCRIPTION("Analog Devices Programmable Impact Sensor and Recorder" ); |
441 | MODULE_LICENSE("GPL v2" ); |
442 | MODULE_ALIAS("spi:adis16240" ); |
443 | MODULE_IMPORT_NS(IIO_ADISLIB); |
444 | |