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175 lines
4.4 KiB
175 lines
4.4 KiB
// SPDX-License-Identifier: GPL-2.0-or-later |
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/* |
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* ADIS16130 Digital Output, High Precision Angular Rate Sensor driver |
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* |
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* Copyright 2010 Analog Devices Inc. |
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*/ |
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#include <linux/mutex.h> |
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#include <linux/kernel.h> |
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#include <linux/spi/spi.h> |
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#include <linux/module.h> |
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#include <linux/iio/iio.h> |
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#include <asm/unaligned.h> |
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#define ADIS16130_CON 0x0 |
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#define ADIS16130_CON_RD (1 << 6) |
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#define ADIS16130_IOP 0x1 |
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/* 1 = data-ready signal low when unread data on all channels; */ |
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#define ADIS16130_IOP_ALL_RDY (1 << 3) |
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#define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */ |
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#define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */ |
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#define ADIS16130_TEMPDATA 0xA /* Temperature output */ |
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#define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */ |
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#define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */ |
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#define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */ |
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#define ADIS16130_TEMPCS_EN (1 << 3) |
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#define ADIS16130_RATECONV 0x30 |
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#define ADIS16130_TEMPCONV 0x32 |
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#define ADIS16130_MODE 0x38 |
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#define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */ |
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/** |
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* struct adis16130_state - device instance specific data |
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* @us: actual spi_device to write data |
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* @buf_lock: mutex to protect tx and rx |
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* @buf: unified tx/rx buffer |
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**/ |
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struct adis16130_state { |
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struct spi_device *us; |
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struct mutex buf_lock; |
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u8 buf[4] __aligned(IIO_DMA_MINALIGN); |
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}; |
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static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val) |
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{ |
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int ret; |
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struct adis16130_state *st = iio_priv(indio_dev); |
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struct spi_transfer xfer = { |
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.tx_buf = st->buf, |
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.rx_buf = st->buf, |
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.len = 4, |
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}; |
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mutex_lock(&st->buf_lock); |
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st->buf[0] = ADIS16130_CON_RD | reg_addr; |
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st->buf[1] = st->buf[2] = st->buf[3] = 0; |
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ret = spi_sync_transfer(st->us, &xfer, 1); |
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if (ret == 0) |
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*val = get_unaligned_be24(&st->buf[1]); |
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mutex_unlock(&st->buf_lock); |
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return ret; |
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} |
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static int adis16130_read_raw(struct iio_dev *indio_dev, |
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struct iio_chan_spec const *chan, |
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int *val, int *val2, |
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long mask) |
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{ |
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int ret; |
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u32 temp; |
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switch (mask) { |
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case IIO_CHAN_INFO_RAW: |
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/* Take the iio_dev status lock */ |
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ret = adis16130_spi_read(indio_dev, chan->address, &temp); |
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if (ret) |
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return ret; |
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*val = temp; |
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return IIO_VAL_INT; |
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case IIO_CHAN_INFO_SCALE: |
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switch (chan->type) { |
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case IIO_ANGL_VEL: |
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/* 0 degree = 838860, 250 degree = 14260608 */ |
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*val = 250; |
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*val2 = 336440817; /* RAD_TO_DEGREE(14260608 - 8388608) */ |
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return IIO_VAL_FRACTIONAL; |
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case IIO_TEMP: |
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/* 0C = 8036283, 105C = 9516048 */ |
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*val = 105000; |
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*val2 = 9516048 - 8036283; |
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return IIO_VAL_FRACTIONAL; |
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default: |
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return -EINVAL; |
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} |
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case IIO_CHAN_INFO_OFFSET: |
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switch (chan->type) { |
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case IIO_ANGL_VEL: |
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*val = -8388608; |
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return IIO_VAL_INT; |
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case IIO_TEMP: |
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*val = -8036283; |
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return IIO_VAL_INT; |
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default: |
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return -EINVAL; |
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} |
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} |
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return -EINVAL; |
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} |
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static const struct iio_chan_spec adis16130_channels[] = { |
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{ |
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.type = IIO_ANGL_VEL, |
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.modified = 1, |
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.channel2 = IIO_MOD_Z, |
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | |
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BIT(IIO_CHAN_INFO_SCALE) | |
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BIT(IIO_CHAN_INFO_OFFSET), |
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.address = ADIS16130_RATEDATA, |
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}, { |
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.type = IIO_TEMP, |
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.indexed = 1, |
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.channel = 0, |
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | |
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BIT(IIO_CHAN_INFO_SCALE) | |
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BIT(IIO_CHAN_INFO_OFFSET), |
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.address = ADIS16130_TEMPDATA, |
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} |
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}; |
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static const struct iio_info adis16130_info = { |
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.read_raw = &adis16130_read_raw, |
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}; |
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static int adis16130_probe(struct spi_device *spi) |
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{ |
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struct adis16130_state *st; |
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struct iio_dev *indio_dev; |
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/* setup the industrialio driver allocated elements */ |
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); |
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if (!indio_dev) |
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return -ENOMEM; |
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st = iio_priv(indio_dev); |
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/* this is only used for removal purposes */ |
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spi_set_drvdata(spi, indio_dev); |
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st->us = spi; |
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mutex_init(&st->buf_lock); |
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indio_dev->name = spi->dev.driver->name; |
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indio_dev->channels = adis16130_channels; |
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indio_dev->num_channels = ARRAY_SIZE(adis16130_channels); |
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indio_dev->info = &adis16130_info; |
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indio_dev->modes = INDIO_DIRECT_MODE; |
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return devm_iio_device_register(&spi->dev, indio_dev); |
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} |
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static struct spi_driver adis16130_driver = { |
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.driver = { |
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.name = "adis16130", |
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}, |
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.probe = adis16130_probe, |
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}; |
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module_spi_driver(adis16130_driver); |
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MODULE_AUTHOR("Barry Song <[email protected]>"); |
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MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate"); |
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MODULE_LICENSE("GPL v2"); |
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MODULE_ALIAS("spi:adis16130");
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