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 #include <asm/unaligned.h> 16 17 #define ADIS16130_CON 0x0 18 #define ADIS16130_CON_RD (1 << 6) 19 #define ADIS16130_IOP 0x1 20 21 /* 1 = data-ready signal low when unread data on all channels; */ 22 #define ADIS16130_IOP_ALL_RDY (1 << 3) 23 #define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */ 24 #define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */ 25 #define ADIS16130_TEMPDATA 0xA /* Temperature output */ 26 #define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */ 27 #define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */ 28 #define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */ 29 #define ADIS16130_TEMPCS_EN (1 << 3) 30 #define ADIS16130_RATECONV 0x30 31 #define ADIS16130_TEMPCONV 0x32 32 #define ADIS16130_MODE 0x38 33 #define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */ 34 35 /** 36 * struct adis16130_state - device instance specific data 37 * @us: actual spi_device to write data 38 * @buf_lock: mutex to protect tx and rx 39 * @buf: unified tx/rx buffer 40 **/ 41 struct adis16130_state { 42 struct spi_device *us; 43 struct mutex buf_lock; 44 u8 buf[4] __aligned(IIO_DMA_MINALIGN); 45 }; 46 47 static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val) 48 { 49 int ret; 50 struct adis16130_state *st = iio_priv(indio_dev); 51 struct spi_transfer xfer = { 52 .tx_buf = st->buf, 53 .rx_buf = st->buf, 54 .len = 4, 55 }; 56 57 mutex_lock(&st->buf_lock); 58 59 st->buf[0] = ADIS16130_CON_RD | reg_addr; 60 st->buf[1] = st->buf[2] = st->buf[3] = 0; 61 62 ret = spi_sync_transfer(st->us, &xfer, 1); 63 if (ret == 0) 64 *val = get_unaligned_be24(&st->buf[1]); 65 mutex_unlock(&st->buf_lock); 66 67 return ret; 68 } 69 70 static int adis16130_read_raw(struct iio_dev *indio_dev, 71 struct iio_chan_spec const *chan, 72 int *val, int *val2, 73 long mask) 74 { 75 int ret; 76 u32 temp; 77 78 switch (mask) { 79 case IIO_CHAN_INFO_RAW: 80 /* Take the iio_dev status lock */ 81 ret = adis16130_spi_read(indio_dev, chan->address, &temp); 82 if (ret) 83 return ret; 84 *val = temp; 85 return IIO_VAL_INT; 86 case IIO_CHAN_INFO_SCALE: 87 switch (chan->type) { 88 case IIO_ANGL_VEL: 89 /* 0 degree = 838860, 250 degree = 14260608 */ 90 *val = 250; 91 *val2 = 336440817; /* RAD_TO_DEGREE(14260608 - 8388608) */ 92 return IIO_VAL_FRACTIONAL; 93 case IIO_TEMP: 94 /* 0C = 8036283, 105C = 9516048 */ 95 *val = 105000; 96 *val2 = 9516048 - 8036283; 97 return IIO_VAL_FRACTIONAL; 98 default: 99 return -EINVAL; 100 } 101 case IIO_CHAN_INFO_OFFSET: 102 switch (chan->type) { 103 case IIO_ANGL_VEL: 104 *val = -8388608; 105 return IIO_VAL_INT; 106 case IIO_TEMP: 107 *val = -8036283; 108 return IIO_VAL_INT; 109 default: 110 return -EINVAL; 111 } 112 } 113 114 return -EINVAL; 115 } 116 117 static const struct iio_chan_spec adis16130_channels[] = { 118 { 119 .type = IIO_ANGL_VEL, 120 .modified = 1, 121 .channel2 = IIO_MOD_Z, 122 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 123 BIT(IIO_CHAN_INFO_SCALE) | 124 BIT(IIO_CHAN_INFO_OFFSET), 125 .address = ADIS16130_RATEDATA, 126 }, { 127 .type = IIO_TEMP, 128 .indexed = 1, 129 .channel = 0, 130 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 131 BIT(IIO_CHAN_INFO_SCALE) | 132 BIT(IIO_CHAN_INFO_OFFSET), 133 .address = ADIS16130_TEMPDATA, 134 } 135 }; 136 137 static const struct iio_info adis16130_info = { 138 .read_raw = &adis16130_read_raw, 139 }; 140 141 static int adis16130_probe(struct spi_device *spi) 142 { 143 struct adis16130_state *st; 144 struct iio_dev *indio_dev; 145 146 /* setup the industrialio driver allocated elements */ 147 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 148 if (!indio_dev) 149 return -ENOMEM; 150 st = iio_priv(indio_dev); 151 /* this is only used for removal purposes */ 152 spi_set_drvdata(spi, indio_dev); 153 st->us = spi; 154 mutex_init(&st->buf_lock); 155 indio_dev->name = spi->dev.driver->name; 156 indio_dev->channels = adis16130_channels; 157 indio_dev->num_channels = ARRAY_SIZE(adis16130_channels); 158 indio_dev->info = &adis16130_info; 159 indio_dev->modes = INDIO_DIRECT_MODE; 160 161 return devm_iio_device_register(&spi->dev, indio_dev); 162 } 163 164 static struct spi_driver adis16130_driver = { 165 .driver = { 166 .name = "adis16130", 167 }, 168 .probe = adis16130_probe, 169 }; 170 module_spi_driver(adis16130_driver); 171 172 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 173 MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate"); 174 MODULE_LICENSE("GPL v2"); 175 MODULE_ALIAS("spi:adis16130"); 176