1 // SPDX-License-Identifier: GPL-2.0-or-later 2 /* 3 * ADIS16080/100 Yaw Rate Gyroscope with SPI driver 4 * 5 * Copyright 2010 Analog Devices Inc. 6 */ 7 #include <linux/delay.h> 8 #include <linux/mutex.h> 9 #include <linux/device.h> 10 #include <linux/kernel.h> 11 #include <linux/spi/spi.h> 12 #include <linux/slab.h> 13 #include <linux/sysfs.h> 14 #include <linux/module.h> 15 16 #include <linux/iio/iio.h> 17 #include <linux/iio/sysfs.h> 18 19 #define ADIS16080_DIN_GYRO (0 << 10) /* Gyroscope output */ 20 #define ADIS16080_DIN_TEMP (1 << 10) /* Temperature output */ 21 #define ADIS16080_DIN_AIN1 (2 << 10) 22 #define ADIS16080_DIN_AIN2 (3 << 10) 23 24 /* 25 * 1: Write contents on DIN to control register. 26 * 0: No changes to control register. 27 */ 28 29 #define ADIS16080_DIN_WRITE (1 << 15) 30 31 struct adis16080_chip_info { 32 int scale_val; 33 int scale_val2; 34 }; 35 36 /** 37 * struct adis16080_state - device instance specific data 38 * @us: actual spi_device to write data 39 * @info: chip specific parameters 40 * @buf: transmit or receive buffer 41 * @lock lock to protect buffer during reads 42 **/ 43 struct adis16080_state { 44 struct spi_device *us; 45 const struct adis16080_chip_info *info; 46 struct mutex lock; 47 48 __be16 buf ____cacheline_aligned; 49 }; 50 51 static int adis16080_read_sample(struct iio_dev *indio_dev, 52 u16 addr, int *val) 53 { 54 struct adis16080_state *st = iio_priv(indio_dev); 55 int ret; 56 struct spi_transfer t[] = { 57 { 58 .tx_buf = &st->buf, 59 .len = 2, 60 .cs_change = 1, 61 }, { 62 .rx_buf = &st->buf, 63 .len = 2, 64 }, 65 }; 66 67 st->buf = cpu_to_be16(addr | ADIS16080_DIN_WRITE); 68 69 ret = spi_sync_transfer(st->us, t, ARRAY_SIZE(t)); 70 if (ret == 0) 71 *val = sign_extend32(be16_to_cpu(st->buf), 11); 72 73 return ret; 74 } 75 76 static int adis16080_read_raw(struct iio_dev *indio_dev, 77 struct iio_chan_spec const *chan, 78 int *val, 79 int *val2, 80 long mask) 81 { 82 struct adis16080_state *st = iio_priv(indio_dev); 83 int ret; 84 85 switch (mask) { 86 case IIO_CHAN_INFO_RAW: 87 mutex_lock(&st->lock); 88 ret = adis16080_read_sample(indio_dev, chan->address, val); 89 mutex_unlock(&st->lock); 90 return ret ? ret : IIO_VAL_INT; 91 case IIO_CHAN_INFO_SCALE: 92 switch (chan->type) { 93 case IIO_ANGL_VEL: 94 *val = st->info->scale_val; 95 *val2 = st->info->scale_val2; 96 return IIO_VAL_FRACTIONAL; 97 case IIO_VOLTAGE: 98 /* VREF = 5V, 12 bits */ 99 *val = 5000; 100 *val2 = 12; 101 return IIO_VAL_FRACTIONAL_LOG2; 102 case IIO_TEMP: 103 /* 85 C = 585, 25 C = 0 */ 104 *val = 85000 - 25000; 105 *val2 = 585; 106 return IIO_VAL_FRACTIONAL; 107 default: 108 return -EINVAL; 109 } 110 case IIO_CHAN_INFO_OFFSET: 111 switch (chan->type) { 112 case IIO_VOLTAGE: 113 /* 2.5 V = 0 */ 114 *val = 2048; 115 return IIO_VAL_INT; 116 case IIO_TEMP: 117 /* 85 C = 585, 25 C = 0 */ 118 *val = DIV_ROUND_CLOSEST(25 * 585, 85 - 25); 119 return IIO_VAL_INT; 120 default: 121 return -EINVAL; 122 } 123 default: 124 break; 125 } 126 127 return -EINVAL; 128 } 129 130 static const struct iio_chan_spec adis16080_channels[] = { 131 { 132 .type = IIO_ANGL_VEL, 133 .modified = 1, 134 .channel2 = IIO_MOD_Z, 135 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 136 BIT(IIO_CHAN_INFO_SCALE), 137 .address = ADIS16080_DIN_GYRO, 138 }, { 139 .type = IIO_VOLTAGE, 140 .indexed = 1, 141 .channel = 0, 142 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 143 BIT(IIO_CHAN_INFO_SCALE) | 144 BIT(IIO_CHAN_INFO_OFFSET), 145 .address = ADIS16080_DIN_AIN1, 146 }, { 147 .type = IIO_VOLTAGE, 148 .indexed = 1, 149 .channel = 1, 150 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 151 BIT(IIO_CHAN_INFO_SCALE) | 152 BIT(IIO_CHAN_INFO_OFFSET), 153 .address = ADIS16080_DIN_AIN2, 154 }, { 155 .type = IIO_TEMP, 156 .indexed = 1, 157 .channel = 0, 158 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 159 BIT(IIO_CHAN_INFO_SCALE) | 160 BIT(IIO_CHAN_INFO_OFFSET), 161 .address = ADIS16080_DIN_TEMP, 162 } 163 }; 164 165 static const struct iio_info adis16080_info = { 166 .read_raw = &adis16080_read_raw, 167 }; 168 169 enum { 170 ID_ADIS16080, 171 ID_ADIS16100, 172 }; 173 174 static const struct adis16080_chip_info adis16080_chip_info[] = { 175 [ID_ADIS16080] = { 176 /* 80 degree = 819, 819 rad = 46925 degree */ 177 .scale_val = 80, 178 .scale_val2 = 46925, 179 }, 180 [ID_ADIS16100] = { 181 /* 300 degree = 1230, 1230 rad = 70474 degree */ 182 .scale_val = 300, 183 .scale_val2 = 70474, 184 }, 185 }; 186 187 static int adis16080_probe(struct spi_device *spi) 188 { 189 const struct spi_device_id *id = spi_get_device_id(spi); 190 struct adis16080_state *st; 191 struct iio_dev *indio_dev; 192 193 /* setup the industrialio driver allocated elements */ 194 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 195 if (!indio_dev) 196 return -ENOMEM; 197 st = iio_priv(indio_dev); 198 /* this is only used for removal purposes */ 199 spi_set_drvdata(spi, indio_dev); 200 201 mutex_init(&st->lock); 202 203 /* Allocate the comms buffers */ 204 st->us = spi; 205 st->info = &adis16080_chip_info[id->driver_data]; 206 207 indio_dev->name = spi->dev.driver->name; 208 indio_dev->channels = adis16080_channels; 209 indio_dev->num_channels = ARRAY_SIZE(adis16080_channels); 210 indio_dev->dev.parent = &spi->dev; 211 indio_dev->info = &adis16080_info; 212 indio_dev->modes = INDIO_DIRECT_MODE; 213 214 return iio_device_register(indio_dev); 215 } 216 217 static int adis16080_remove(struct spi_device *spi) 218 { 219 iio_device_unregister(spi_get_drvdata(spi)); 220 return 0; 221 } 222 223 static const struct spi_device_id adis16080_ids[] = { 224 { "adis16080", ID_ADIS16080 }, 225 { "adis16100", ID_ADIS16100 }, 226 {}, 227 }; 228 MODULE_DEVICE_TABLE(spi, adis16080_ids); 229 230 static struct spi_driver adis16080_driver = { 231 .driver = { 232 .name = "adis16080", 233 }, 234 .probe = adis16080_probe, 235 .remove = adis16080_remove, 236 .id_table = adis16080_ids, 237 }; 238 module_spi_driver(adis16080_driver); 239 240 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 241 MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver"); 242 MODULE_LICENSE("GPL v2"); 243