1 // SPDX-License-Identifier: GPL-2.0-or-later 2 /* 3 * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver 4 * 5 * Copyright 2010 Analog Devices Inc. 6 */ 7 8 #include <linux/mutex.h> 9 #include <linux/kernel.h> 10 #include <linux/spi/spi.h> 11 #include <linux/module.h> 12 13 #include <linux/iio/iio.h> 14 15 #define ADIS16130_CON 0x0 16 #define ADIS16130_CON_RD (1 << 6) 17 #define ADIS16130_IOP 0x1 18 19 /* 1 = data-ready signal low when unread data on all channels; */ 20 #define ADIS16130_IOP_ALL_RDY (1 << 3) 21 #define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */ 22 #define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */ 23 #define ADIS16130_TEMPDATA 0xA /* Temperature output */ 24 #define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */ 25 #define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */ 26 #define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */ 27 #define ADIS16130_TEMPCS_EN (1 << 3) 28 #define ADIS16130_RATECONV 0x30 29 #define ADIS16130_TEMPCONV 0x32 30 #define ADIS16130_MODE 0x38 31 #define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */ 32 33 /** 34 * struct adis16130_state - device instance specific data 35 * @us: actual spi_device to write data 36 * @buf_lock: mutex to protect tx and rx 37 * @buf: unified tx/rx buffer 38 **/ 39 struct adis16130_state { 40 struct spi_device *us; 41 struct mutex buf_lock; 42 u8 buf[4] ____cacheline_aligned; 43 }; 44 45 static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val) 46 { 47 int ret; 48 struct adis16130_state *st = iio_priv(indio_dev); 49 struct spi_transfer xfer = { 50 .tx_buf = st->buf, 51 .rx_buf = st->buf, 52 .len = 4, 53 }; 54 55 mutex_lock(&st->buf_lock); 56 57 st->buf[0] = ADIS16130_CON_RD | reg_addr; 58 st->buf[1] = st->buf[2] = st->buf[3] = 0; 59 60 ret = spi_sync_transfer(st->us, &xfer, 1); 61 if (ret == 0) 62 *val = (st->buf[1] << 16) | (st->buf[2] << 8) | st->buf[3]; 63 mutex_unlock(&st->buf_lock); 64 65 return ret; 66 } 67 68 static int adis16130_read_raw(struct iio_dev *indio_dev, 69 struct iio_chan_spec const *chan, 70 int *val, int *val2, 71 long mask) 72 { 73 int ret; 74 u32 temp; 75 76 switch (mask) { 77 case IIO_CHAN_INFO_RAW: 78 /* Take the iio_dev status lock */ 79 ret = adis16130_spi_read(indio_dev, chan->address, &temp); 80 if (ret) 81 return ret; 82 *val = temp; 83 return IIO_VAL_INT; 84 case IIO_CHAN_INFO_SCALE: 85 switch (chan->type) { 86 case IIO_ANGL_VEL: 87 /* 0 degree = 838860, 250 degree = 14260608 */ 88 *val = 250; 89 *val2 = 336440817; /* RAD_TO_DEGREE(14260608 - 8388608) */ 90 return IIO_VAL_FRACTIONAL; 91 case IIO_TEMP: 92 /* 0C = 8036283, 105C = 9516048 */ 93 *val = 105000; 94 *val2 = 9516048 - 8036283; 95 return IIO_VAL_FRACTIONAL; 96 default: 97 return -EINVAL; 98 } 99 case IIO_CHAN_INFO_OFFSET: 100 switch (chan->type) { 101 case IIO_ANGL_VEL: 102 *val = -8388608; 103 return IIO_VAL_INT; 104 case IIO_TEMP: 105 *val = -8036283; 106 return IIO_VAL_INT; 107 default: 108 return -EINVAL; 109 } 110 } 111 112 return -EINVAL; 113 } 114 115 static const struct iio_chan_spec adis16130_channels[] = { 116 { 117 .type = IIO_ANGL_VEL, 118 .modified = 1, 119 .channel2 = IIO_MOD_Z, 120 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 121 BIT(IIO_CHAN_INFO_SCALE) | 122 BIT(IIO_CHAN_INFO_OFFSET), 123 .address = ADIS16130_RATEDATA, 124 }, { 125 .type = IIO_TEMP, 126 .indexed = 1, 127 .channel = 0, 128 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 129 BIT(IIO_CHAN_INFO_SCALE) | 130 BIT(IIO_CHAN_INFO_OFFSET), 131 .address = ADIS16130_TEMPDATA, 132 } 133 }; 134 135 static const struct iio_info adis16130_info = { 136 .read_raw = &adis16130_read_raw, 137 }; 138 139 static int adis16130_probe(struct spi_device *spi) 140 { 141 struct adis16130_state *st; 142 struct iio_dev *indio_dev; 143 144 /* setup the industrialio driver allocated elements */ 145 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 146 if (!indio_dev) 147 return -ENOMEM; 148 st = iio_priv(indio_dev); 149 /* this is only used for removal purposes */ 150 spi_set_drvdata(spi, indio_dev); 151 st->us = spi; 152 mutex_init(&st->buf_lock); 153 indio_dev->name = spi->dev.driver->name; 154 indio_dev->channels = adis16130_channels; 155 indio_dev->num_channels = ARRAY_SIZE(adis16130_channels); 156 indio_dev->dev.parent = &spi->dev; 157 indio_dev->info = &adis16130_info; 158 indio_dev->modes = INDIO_DIRECT_MODE; 159 160 return devm_iio_device_register(&spi->dev, indio_dev); 161 } 162 163 static struct spi_driver adis16130_driver = { 164 .driver = { 165 .name = "adis16130", 166 }, 167 .probe = adis16130_probe, 168 }; 169 module_spi_driver(adis16130_driver); 170 171 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 172 MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate"); 173 MODULE_LICENSE("GPL v2"); 174 MODULE_ALIAS("spi:adis16130"); 175