1 // SPDX-License-Identifier: GPL-2.0+
3 * ADIS16240 Programmable Impact Sensor and Recorder driver
5 * Copyright 2010 Analog Devices Inc.
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>
14 #include <linux/iio/iio.h>
15 #include <linux/iio/sysfs.h>
16 #include <linux/iio/imu/adis.h>
18 #define ADIS16240_STARTUP_DELAY 220 /* ms */
20 /* Flash memory write count */
21 #define ADIS16240_FLASH_CNT 0x00
23 /* Output, power supply */
24 #define ADIS16240_SUPPLY_OUT 0x02
26 /* Output, x-axis accelerometer */
27 #define ADIS16240_XACCL_OUT 0x04
29 /* Output, y-axis accelerometer */
30 #define ADIS16240_YACCL_OUT 0x06
32 /* Output, z-axis accelerometer */
33 #define ADIS16240_ZACCL_OUT 0x08
35 /* Output, auxiliary ADC input */
36 #define ADIS16240_AUX_ADC 0x0A
38 /* Output, temperature */
39 #define ADIS16240_TEMP_OUT 0x0C
41 /* Output, x-axis acceleration peak */
42 #define ADIS16240_XPEAK_OUT 0x0E
44 /* Output, y-axis acceleration peak */
45 #define ADIS16240_YPEAK_OUT 0x10
47 /* Output, z-axis acceleration peak */
48 #define ADIS16240_ZPEAK_OUT 0x12
50 /* Output, sum-of-squares acceleration peak */
51 #define ADIS16240_XYZPEAK_OUT 0x14
53 /* Output, Capture Buffer 1, X and Y acceleration */
54 #define ADIS16240_CAPT_BUF1 0x16
56 /* Output, Capture Buffer 2, Z acceleration */
57 #define ADIS16240_CAPT_BUF2 0x18
59 /* Diagnostic, error flags */
60 #define ADIS16240_DIAG_STAT 0x1A
62 /* Diagnostic, event counter */
63 #define ADIS16240_EVNT_CNTR 0x1C
65 /* Diagnostic, check sum value from firmware test */
66 #define ADIS16240_CHK_SUM 0x1E
68 /* Calibration, x-axis acceleration offset adjustment */
69 #define ADIS16240_XACCL_OFF 0x20
71 /* Calibration, y-axis acceleration offset adjustment */
72 #define ADIS16240_YACCL_OFF 0x22
74 /* Calibration, z-axis acceleration offset adjustment */
75 #define ADIS16240_ZACCL_OFF 0x24
77 /* Clock, hour and minute */
78 #define ADIS16240_CLK_TIME 0x2E
80 /* Clock, month and day */
81 #define ADIS16240_CLK_DATE 0x30
84 #define ADIS16240_CLK_YEAR 0x32
86 /* Wake-up setting, hour and minute */
87 #define ADIS16240_WAKE_TIME 0x34
89 /* Wake-up setting, month and day */
90 #define ADIS16240_WAKE_DATE 0x36
92 /* Alarm 1 amplitude threshold */
93 #define ADIS16240_ALM_MAG1 0x38
95 /* Alarm 2 amplitude threshold */
96 #define ADIS16240_ALM_MAG2 0x3A
99 #define ADIS16240_ALM_CTRL 0x3C
101 /* Capture, external trigger control */
102 #define ADIS16240_XTRIG_CTRL 0x3E
104 /* Capture, address pointer */
105 #define ADIS16240_CAPT_PNTR 0x40
107 /* Capture, configuration and control */
108 #define ADIS16240_CAPT_CTRL 0x42
110 /* General-purpose digital input/output control */
111 #define ADIS16240_GPIO_CTRL 0x44
113 /* Miscellaneous control */
114 #define ADIS16240_MSC_CTRL 0x46
116 /* Internal sample period (rate) control */
117 #define ADIS16240_SMPL_PRD 0x48
120 #define ADIS16240_GLOB_CMD 0x4A
124 /* Enables sum-of-squares output (XYZPEAK_OUT) */
125 #define ADIS16240_MSC_CTRL_XYZPEAK_OUT_EN BIT(15)
127 /* Enables peak tracking output (XPEAK_OUT, YPEAK_OUT, and ZPEAK_OUT) */
128 #define ADIS16240_MSC_CTRL_X_Y_ZPEAK_OUT_EN BIT(14)
130 /* Self-test enable: 1 = apply electrostatic force, 0 = disabled */
131 #define ADIS16240_MSC_CTRL_SELF_TEST_EN BIT(8)
133 /* Data-ready enable: 1 = enabled, 0 = disabled */
134 #define ADIS16240_MSC_CTRL_DATA_RDY_EN BIT(2)
136 /* Data-ready polarity: 1 = active high, 0 = active low */
137 #define ADIS16240_MSC_CTRL_ACTIVE_HIGH BIT(1)
139 /* Data-ready line selection: 1 = DIO2, 0 = DIO1 */
140 #define ADIS16240_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
144 /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
145 #define ADIS16240_DIAG_STAT_ALARM2 BIT(9)
147 /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
148 #define ADIS16240_DIAG_STAT_ALARM1 BIT(8)
150 /* Capture buffer full: 1 = capture buffer is full */
151 #define ADIS16240_DIAG_STAT_CPT_BUF_FUL BIT(7)
153 /* Flash test, checksum flag: 1 = mismatch, 0 = match */
154 #define ADIS16240_DIAG_STAT_CHKSUM BIT(6)
156 /* Power-on, self-test flag: 1 = failure, 0 = pass */
157 #define ADIS16240_DIAG_STAT_PWRON_FAIL_BIT 5
159 /* Power-on self-test: 1 = in-progress, 0 = complete */
160 #define ADIS16240_DIAG_STAT_PWRON_BUSY BIT(4)
162 /* SPI communications failure */
163 #define ADIS16240_DIAG_STAT_SPI_FAIL_BIT 3
165 /* Flash update failure */
166 #define ADIS16240_DIAG_STAT_FLASH_UPT_BIT 2
168 /* Power supply above 3.625 V */
169 #define ADIS16240_DIAG_STAT_POWER_HIGH_BIT 1
171 /* Power supply below 2.225 V */
172 #define ADIS16240_DIAG_STAT_POWER_LOW_BIT 0
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)
180 #define ADIS16240_ERROR_ACTIVE BIT(14)
182 /* At the moment triggers are only used for ring buffer
183 * filling. This may change!
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,
195 static ssize_t adis16240_spi_read_signed(struct device *dev,
196 struct device_attribute *attr,
200 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
201 struct adis *st = iio_priv(indio_dev);
204 unsigned int shift = 16 - bits;
205 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
207 ret = adis_read_reg_16(st,
208 this_attr->address, (u16 *)&val);
212 if (val & ADIS16240_ERROR_ACTIVE)
213 adis_check_status(st);
215 val = (s16)(val << shift) >> shift;
216 return sprintf(buf, "%d\n", val);
219 static ssize_t adis16240_read_12bit_signed(struct device *dev,
220 struct device_attribute *attr,
223 return adis16240_spi_read_signed(dev, attr, buf, 12);
226 static IIO_DEVICE_ATTR(in_accel_xyz_squared_peak_raw, 0444,
227 adis16240_read_12bit_signed, NULL,
228 ADIS16240_XYZPEAK_OUT);
230 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("4096");
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 },
238 static int adis16240_read_raw(struct iio_dev *indio_dev,
239 struct iio_chan_spec const *chan,
243 struct adis *st = iio_priv(indio_dev);
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) {
255 if (chan->channel == 0) {
257 *val2 = 880000; /* 4.88 mV */
258 return IIO_VAL_INT_PLUS_MICRO;
262 *val = 244; /* 0.244 C */
264 return IIO_VAL_INT_PLUS_MICRO;
267 *val2 = IIO_G_TO_M_S_2(51400); /* 51.4 mg */
268 return IIO_VAL_INT_PLUS_MICRO;
273 case IIO_CHAN_INFO_PEAK_SCALE:
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 */
280 case IIO_CHAN_INFO_CALIBBIAS:
281 addr = adis16240_addresses[chan->scan_index][0];
282 ret = adis_read_reg_16(st, addr, &val16);
285 *val = sign_extend32(val16, 9);
287 case IIO_CHAN_INFO_PEAK:
288 addr = adis16240_addresses[chan->scan_index][1];
289 ret = adis_read_reg_16(st, addr, &val16);
292 *val = sign_extend32(val16, 9);
298 static int adis16240_write_raw(struct iio_dev *indio_dev,
299 struct iio_chan_spec const *chan,
304 struct adis *st = iio_priv(indio_dev);
308 case IIO_CHAN_INFO_CALIBBIAS:
309 addr = adis16240_addresses[chan->scan_index][0];
310 return adis_write_reg_16(st, addr, val & GENMASK(9, 0));
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),
321 ADIS_ACCEL_CHAN(Y, ADIS16240_YACCL_OUT, ADIS16240_SCAN_ACC_Y,
322 BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK),
324 ADIS_ACCEL_CHAN(Z, ADIS16240_ZACCL_OUT, ADIS16240_SCAN_ACC_Z,
325 BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK),
327 ADIS_TEMP_CHAN(ADIS16240_TEMP_OUT, ADIS16240_SCAN_TEMP, 0, 10),
328 IIO_CHAN_SOFT_TIMESTAMP(6)
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,
337 static const struct attribute_group adis16240_attribute_group = {
338 .attrs = adis16240_attributes,
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,
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",
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,
362 static const struct adis_data adis16240_data = {
365 .msc_ctrl_reg = ADIS16240_MSC_CTRL,
366 .glob_cmd_reg = ADIS16240_GLOB_CMD,
367 .diag_stat_reg = ADIS16240_DIAG_STAT,
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,
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),
382 static int adis16240_probe(struct spi_device *spi)
386 struct iio_dev *indio_dev;
388 /* setup the industrialio driver allocated elements */
389 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
392 st = iio_priv(indio_dev);
393 /* this is only used for removal purposes */
394 spi_set_drvdata(spi, indio_dev);
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;
402 spi->mode = SPI_MODE_3;
403 ret = spi_setup(spi);
405 dev_err(&spi->dev, "spi_setup failed!\n");
409 ret = adis_init(st, indio_dev, spi, &adis16240_data);
412 ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
416 /* Get the device into a sane initial state */
417 ret = adis_initial_startup(st);
421 return devm_iio_device_register(&spi->dev, indio_dev);
424 static const struct of_device_id adis16240_of_match[] = {
425 { .compatible = "adi,adis16240" },
428 MODULE_DEVICE_TABLE(of, adis16240_of_match);
430 static struct spi_driver adis16240_driver = {
433 .of_match_table = adis16240_of_match,
435 .probe = adis16240_probe,
437 module_spi_driver(adis16240_driver);
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);