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(spi: st->us, xfers: &xfer, num_xfers: 1); |
63 | if (ret == 0) |
64 | *val = get_unaligned_be24(p: &st->buf[1]); |
65 | mutex_unlock(lock: &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, reg_addr: chan->address, val: &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(parent: &spi->dev, sizeof_priv: 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, data: 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 | |