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
186enum 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
195static 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(st,
208			       this_attr->address, (u16 *)&val);
209	if (ret)
210		return ret;
211
212	if (val & ADIS16240_ERROR_ACTIVE)
213		adis_check_status(st);
214
215	val = (s16)(val << shift) >> shift;
216	return sprintf(buf, "%d\n", val);
217}
218
219static 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, 12);
224}
225
226static IIO_DEVICE_ATTR(in_accel_xyz_squared_peak_raw, 0444,
227		       adis16240_read_12bit_signed, NULL,
228		       ADIS16240_XYZPEAK_OUT);
229
230static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("4096");
231
232static 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
238static 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(st, addr, &val16);
283		if (ret)
284			return ret;
285		*val = sign_extend32(val16, 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(st, addr, &val16);
290		if (ret)
291			return ret;
292		*val = sign_extend32(val16, 9);
293		return IIO_VAL_INT;
294	}
295	return -EINVAL;
296}
297
298static 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(st, addr, val & GENMASK(9, 0));
311	}
312	return -EINVAL;
313}
314
315static 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
331static 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
337static const struct attribute_group adis16240_attribute_group = {
338	.attrs = adis16240_attributes,
339};
340
341static 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
348static 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
356static 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
362static 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
382static 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(&spi->dev, 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, 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(st, indio_dev, spi, &adis16240_data);
410	if (ret)
411		return ret;
412	ret = devm_adis_setup_buffer_and_trigger(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(st);
418	if (ret)
419		return ret;
420
421	return devm_iio_device_register(&spi->dev, indio_dev);
422}
423
424static const struct of_device_id adis16240_of_match[] = {
425	{ .compatible = "adi,adis16240" },
426	{ },
427};
428MODULE_DEVICE_TABLE(of, adis16240_of_match);
429
430static struct spi_driver adis16240_driver = {
431	.driver = {
432		.name = "adis16240",
433		.of_match_table = adis16240_of_match,
434	},
435	.probe = adis16240_probe,
436};
437module_spi_driver(adis16240_driver);
438
439MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
440MODULE_DESCRIPTION("Analog Devices Programmable Impact Sensor and Recorder");
441MODULE_LICENSE("GPL v2");
442MODULE_ALIAS("spi:adis16240");
443MODULE_IMPORT_NS(IIO_ADISLIB);
444