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1// SPDX-License-Identifier: GPL-2.0-or-later2/*3 * ADIS16080/100 Yaw Rate Gyroscope with SPI driver4 *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 31struct adis16080_chip_info {32 int scale_val;33 int scale_val2;34};35 36/**37 * struct adis16080_state - device instance specific data38 * @us: actual spi_device to write data39 * @info: chip specific parameters40 * @buf: transmit or receive buffer41 * @lock: lock to protect buffer during reads42 **/43struct adis16080_state {44 struct spi_device *us;45 const struct adis16080_chip_info *info;46 struct mutex lock;47 48 __be16 buf __aligned(IIO_DMA_MINALIGN);49};50 51static 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 76static 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 130static 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 165static const struct iio_info adis16080_info = {166 .read_raw = &adis16080_read_raw,167};168 169enum {170 ID_ADIS16080,171 ID_ADIS16100,172};173 174static 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 187static 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);198 199 mutex_init(&st->lock);200 201 /* Allocate the comms buffers */202 st->us = spi;203 st->info = &adis16080_chip_info[id->driver_data];204 205 indio_dev->name = spi->dev.driver->name;206 indio_dev->channels = adis16080_channels;207 indio_dev->num_channels = ARRAY_SIZE(adis16080_channels);208 indio_dev->info = &adis16080_info;209 indio_dev->modes = INDIO_DIRECT_MODE;210 211 return devm_iio_device_register(&spi->dev, indio_dev);212}213 214static const struct spi_device_id adis16080_ids[] = {215 { "adis16080", ID_ADIS16080 },216 { "adis16100", ID_ADIS16100 },217 {},218};219MODULE_DEVICE_TABLE(spi, adis16080_ids);220 221static struct spi_driver adis16080_driver = {222 .driver = {223 .name = "adis16080",224 },225 .probe = adis16080_probe,226 .id_table = adis16080_ids,227};228module_spi_driver(adis16080_driver);229 230MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");231MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver");232MODULE_LICENSE("GPL v2");233