1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
|
// SPDX-License-Identifier: GPL-2.0+
/*
* ADIS16240 Programmable Impact Sensor and Recorder driver
*
* Copyright 2010 Analog Devices Inc.
*/
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/gpio.h>
#include <linux/delay.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include <linux/module.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/buffer.h>
#include <linux/iio/imu/adis.h>
#define ADIS16240_STARTUP_DELAY 220 /* ms */
/* Flash memory write count */
#define ADIS16240_FLASH_CNT 0x00
/* Output, power supply */
#define ADIS16240_SUPPLY_OUT 0x02
/* Output, x-axis accelerometer */
#define ADIS16240_XACCL_OUT 0x04
/* Output, y-axis accelerometer */
#define ADIS16240_YACCL_OUT 0x06
/* Output, z-axis accelerometer */
#define ADIS16240_ZACCL_OUT 0x08
/* Output, auxiliary ADC input */
#define ADIS16240_AUX_ADC 0x0A
/* Output, temperature */
#define ADIS16240_TEMP_OUT 0x0C
/* Output, x-axis acceleration peak */
#define ADIS16240_XPEAK_OUT 0x0E
/* Output, y-axis acceleration peak */
#define ADIS16240_YPEAK_OUT 0x10
/* Output, z-axis acceleration peak */
#define ADIS16240_ZPEAK_OUT 0x12
/* Output, sum-of-squares acceleration peak */
#define ADIS16240_XYZPEAK_OUT 0x14
/* Output, Capture Buffer 1, X and Y acceleration */
#define ADIS16240_CAPT_BUF1 0x16
/* Output, Capture Buffer 2, Z acceleration */
#define ADIS16240_CAPT_BUF2 0x18
/* Diagnostic, error flags */
#define ADIS16240_DIAG_STAT 0x1A
/* Diagnostic, event counter */
#define ADIS16240_EVNT_CNTR 0x1C
/* Diagnostic, check sum value from firmware test */
#define ADIS16240_CHK_SUM 0x1E
/* Calibration, x-axis acceleration offset adjustment */
#define ADIS16240_XACCL_OFF 0x20
/* Calibration, y-axis acceleration offset adjustment */
#define ADIS16240_YACCL_OFF 0x22
/* Calibration, z-axis acceleration offset adjustment */
#define ADIS16240_ZACCL_OFF 0x24
/* Clock, hour and minute */
#define ADIS16240_CLK_TIME 0x2E
/* Clock, month and day */
#define ADIS16240_CLK_DATE 0x30
/* Clock, year */
#define ADIS16240_CLK_YEAR 0x32
/* Wake-up setting, hour and minute */
#define ADIS16240_WAKE_TIME 0x34
/* Wake-up setting, month and day */
#define ADIS16240_WAKE_DATE 0x36
/* Alarm 1 amplitude threshold */
#define ADIS16240_ALM_MAG1 0x38
/* Alarm 2 amplitude threshold */
#define ADIS16240_ALM_MAG2 0x3A
/* Alarm control */
#define ADIS16240_ALM_CTRL 0x3C
/* Capture, external trigger control */
#define ADIS16240_XTRIG_CTRL 0x3E
/* Capture, address pointer */
#define ADIS16240_CAPT_PNTR 0x40
/* Capture, configuration and control */
#define ADIS16240_CAPT_CTRL 0x42
/* General-purpose digital input/output control */
#define ADIS16240_GPIO_CTRL 0x44
/* Miscellaneous control */
#define ADIS16240_MSC_CTRL 0x46
/* Internal sample period (rate) control */
#define ADIS16240_SMPL_PRD 0x48
/* System command */
#define ADIS16240_GLOB_CMD 0x4A
/* MSC_CTRL */
/* Enables sum-of-squares output (XYZPEAK_OUT) */
#define ADIS16240_MSC_CTRL_XYZPEAK_OUT_EN BIT(15)
/* Enables peak tracking output (XPEAK_OUT, YPEAK_OUT, and ZPEAK_OUT) */
#define ADIS16240_MSC_CTRL_X_Y_ZPEAK_OUT_EN BIT(14)
/* Self-test enable: 1 = apply electrostatic force, 0 = disabled */
#define ADIS16240_MSC_CTRL_SELF_TEST_EN BIT(8)
/* Data-ready enable: 1 = enabled, 0 = disabled */
#define ADIS16240_MSC_CTRL_DATA_RDY_EN BIT(2)
/* Data-ready polarity: 1 = active high, 0 = active low */
#define ADIS16240_MSC_CTRL_ACTIVE_HIGH BIT(1)
/* Data-ready line selection: 1 = DIO2, 0 = DIO1 */
#define ADIS16240_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
/* DIAG_STAT */
/* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
#define ADIS16240_DIAG_STAT_ALARM2 BIT(9)
/* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
#define ADIS16240_DIAG_STAT_ALARM1 BIT(8)
/* Capture buffer full: 1 = capture buffer is full */
#define ADIS16240_DIAG_STAT_CPT_BUF_FUL BIT(7)
/* Flash test, checksum flag: 1 = mismatch, 0 = match */
#define ADIS16240_DIAG_STAT_CHKSUM BIT(6)
/* Power-on, self-test flag: 1 = failure, 0 = pass */
#define ADIS16240_DIAG_STAT_PWRON_FAIL_BIT 5
/* Power-on self-test: 1 = in-progress, 0 = complete */
#define ADIS16240_DIAG_STAT_PWRON_BUSY BIT(4)
/* SPI communications failure */
#define ADIS16240_DIAG_STAT_SPI_FAIL_BIT 3
/* Flash update failure */
#define ADIS16240_DIAG_STAT_FLASH_UPT_BIT 2
/* Power supply above 3.625 V */
#define ADIS16240_DIAG_STAT_POWER_HIGH_BIT 1
/* Power supply below 2.225 V */
#define ADIS16240_DIAG_STAT_POWER_LOW_BIT 0
/* GLOB_CMD */
#define ADIS16240_GLOB_CMD_RESUME BIT(8)
#define ADIS16240_GLOB_CMD_SW_RESET BIT(7)
#define ADIS16240_GLOB_CMD_STANDBY BIT(2)
#define ADIS16240_ERROR_ACTIVE BIT(14)
/* At the moment triggers are only used for ring buffer
* filling. This may change!
*/
enum adis16240_scan {
ADIS16240_SCAN_ACC_X,
ADIS16240_SCAN_ACC_Y,
ADIS16240_SCAN_ACC_Z,
ADIS16240_SCAN_SUPPLY,
ADIS16240_SCAN_AUX_ADC,
ADIS16240_SCAN_TEMP,
};
static ssize_t adis16240_spi_read_signed(struct device *dev,
struct device_attribute *attr,
char *buf,
unsigned int bits)
{
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
struct adis *st = iio_priv(indio_dev);
int ret;
s16 val = 0;
unsigned int shift = 16 - bits;
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
ret = adis_read_reg_16(st,
this_attr->address, (u16 *)&val);
if (ret)
return ret;
if (val & ADIS16240_ERROR_ACTIVE)
adis_check_status(st);
val = (s16)(val << shift) >> shift;
return sprintf(buf, "%d\n", val);
}
static ssize_t adis16240_read_12bit_signed(struct device *dev,
struct device_attribute *attr,
char *buf)
{
return adis16240_spi_read_signed(dev, attr, buf, 12);
}
static IIO_DEVICE_ATTR(in_accel_xyz_squared_peak_raw, 0444,
adis16240_read_12bit_signed, NULL,
ADIS16240_XYZPEAK_OUT);
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("4096");
static const u8 adis16240_addresses[][2] = {
[ADIS16240_SCAN_ACC_X] = { ADIS16240_XACCL_OFF, ADIS16240_XPEAK_OUT },
[ADIS16240_SCAN_ACC_Y] = { ADIS16240_YACCL_OFF, ADIS16240_YPEAK_OUT },
[ADIS16240_SCAN_ACC_Z] = { ADIS16240_ZACCL_OFF, ADIS16240_ZPEAK_OUT },
};
static int adis16240_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val, int *val2,
long mask)
{
struct adis *st = iio_priv(indio_dev);
int ret;
u8 addr;
s16 val16;
switch (mask) {
case IIO_CHAN_INFO_RAW:
return adis_single_conversion(indio_dev, chan,
ADIS16240_ERROR_ACTIVE, val);
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_VOLTAGE:
if (chan->channel == 0) {
*val = 4;
*val2 = 880000; /* 4.88 mV */
return IIO_VAL_INT_PLUS_MICRO;
}
return -EINVAL;
case IIO_TEMP:
*val = 244; /* 0.244 C */
*val2 = 0;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_ACCEL:
*val = 0;
*val2 = IIO_G_TO_M_S_2(51400); /* 51.4 mg */
return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
break;
case IIO_CHAN_INFO_PEAK_SCALE:
*val = 0;
*val2 = IIO_G_TO_M_S_2(51400); /* 51.4 mg */
return IIO_VAL_INT_PLUS_MICRO;
case IIO_CHAN_INFO_OFFSET:
*val = 25000 / 244 - 0x133; /* 25 C = 0x133 */
return IIO_VAL_INT;
case IIO_CHAN_INFO_CALIBBIAS:
addr = adis16240_addresses[chan->scan_index][0];
ret = adis_read_reg_16(st, addr, &val16);
if (ret)
return ret;
*val = sign_extend32(val16, 9);
return IIO_VAL_INT;
case IIO_CHAN_INFO_PEAK:
addr = adis16240_addresses[chan->scan_index][1];
ret = adis_read_reg_16(st, addr, &val16);
if (ret)
return ret;
*val = sign_extend32(val16, 9);
return IIO_VAL_INT;
}
return -EINVAL;
}
static int adis16240_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int val,
int val2,
long mask)
{
struct adis *st = iio_priv(indio_dev);
u8 addr;
switch (mask) {
case IIO_CHAN_INFO_CALIBBIAS:
addr = adis16240_addresses[chan->scan_index][0];
return adis_write_reg_16(st, addr, val & GENMASK(9, 0));
}
return -EINVAL;
}
static const struct iio_chan_spec adis16240_channels[] = {
ADIS_SUPPLY_CHAN(ADIS16240_SUPPLY_OUT, ADIS16240_SCAN_SUPPLY, 0, 10),
ADIS_AUX_ADC_CHAN(ADIS16240_AUX_ADC, ADIS16240_SCAN_AUX_ADC, 0, 10),
ADIS_ACCEL_CHAN(X, ADIS16240_XACCL_OUT, ADIS16240_SCAN_ACC_X,
BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK),
0, 10),
ADIS_ACCEL_CHAN(Y, ADIS16240_YACCL_OUT, ADIS16240_SCAN_ACC_Y,
BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK),
0, 10),
ADIS_ACCEL_CHAN(Z, ADIS16240_ZACCL_OUT, ADIS16240_SCAN_ACC_Z,
BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK),
0, 10),
ADIS_TEMP_CHAN(ADIS16240_TEMP_OUT, ADIS16240_SCAN_TEMP, 0, 10),
IIO_CHAN_SOFT_TIMESTAMP(6)
};
static struct attribute *adis16240_attributes[] = {
&iio_dev_attr_in_accel_xyz_squared_peak_raw.dev_attr.attr,
&iio_const_attr_sampling_frequency_available.dev_attr.attr,
NULL
};
static const struct attribute_group adis16240_attribute_group = {
.attrs = adis16240_attributes,
};
static const struct iio_info adis16240_info = {
.attrs = &adis16240_attribute_group,
.read_raw = adis16240_read_raw,
.write_raw = adis16240_write_raw,
.update_scan_mode = adis_update_scan_mode,
};
static const char * const adis16240_status_error_msgs[] = {
[ADIS16240_DIAG_STAT_PWRON_FAIL_BIT] = "Power on, self-test failed",
[ADIS16240_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
[ADIS16240_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
[ADIS16240_DIAG_STAT_POWER_HIGH_BIT]
|