/* * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver * * Copyright 2010 Analog Devices Inc. * * Licensed under the GPL-2 or later. */ #include <linux/mutex.h> #include <linux/kernel.h> #include <linux/spi/spi.h> #include <linux/module.h> #include <linux/iio/iio.h> #define ADIS16130_CON 0x0 #define ADIS16130_CON_RD (1 << 6) #define ADIS16130_IOP 0x1 /* 1 = data-ready signal low when unread data on all channels; */ #define ADIS16130_IOP_ALL_RDY (1 << 3) #define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */ #define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */ #define ADIS16130_TEMPDATA 0xA /* Temperature output */ #define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */ #define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */ #define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */ #define ADIS16130_TEMPCS_EN (1 << 3) #define ADIS16130_RATECONV 0x30 #define ADIS16130_TEMPCONV 0x32 #define ADIS16130_MODE 0x38 #define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */ /** * struct adis16130_state - device instance specific data * @us: actual spi_device to write data * @buf_lock: mutex to protect tx and rx * @buf: unified tx/rx buffer **/ struct adis16130_state { struct spi_device *us; struct mutex buf_lock; u8 buf[4] ____cacheline_aligned; }; static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val) { int ret; struct adis16130_state *st = iio_priv(indio_dev); struct spi_transfer xfer = { .tx_buf = st->buf, .rx_buf = st->buf, .len = 4, }; mutex_lock(&st->buf_lock); st->buf[0] = ADIS16130_CON_RD | reg_addr; st->buf[1] = st->buf[2] = st->buf[3] = 0; ret = spi_sync_transfer(st->us, &xfer, 1); if (ret == 0) *val = (st->buf[1] << 16) | (st->buf[2] << 8) | st->buf[3]; mutex_unlock(&st->buf_lock); return ret; } static int adis16130_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val, int *val2, long mask) { int ret; u32 temp; switch (mask) { case IIO_CHAN_INFO_RAW: /* Take the iio_dev status lock */ mutex_lock(&indio_dev->mlock); ret = adis16130_spi_read(indio_dev, chan->address, &temp); mutex_unlock(&indio_dev->mlock); if (ret) return ret; *val = temp; return IIO_VAL_INT; case IIO_CHAN_INFO_SCALE: switch (chan->type) { case IIO_ANGL_VEL: /* 0 degree = 838860, 250 degree = 14260608 */ *val = 250; *val2 = 336440817; /* RAD_TO_DEGREE(14260608 - 8388608) */ return IIO_VAL_FRACTIONAL; case IIO_TEMP: /* 0C = 8036283, 105C = 9516048 */ *val = 105000; *val2 = 9516048 - 8036283; return IIO_VAL_FRACTIONAL; default: return -EINVAL; } case IIO_CHAN_INFO_OFFSET: switch (chan->type) { case IIO_ANGL_VEL: *val = -8388608; return IIO_VAL_INT; case IIO_TEMP: *val = -8036283; return IIO_VAL_INT; default: return -EINVAL; } } return -EINVAL; } static const struct iio_chan_spec adis16130_channels[] = { { .type = IIO_ANGL_VEL, .modified = 1, .channel2 = IIO_MOD_Z, .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE) | BIT(IIO_CHAN_INFO_OFFSET), .address = ADIS16130_RATEDATA, }, { .type = IIO_TEMP, .indexed = 1, .channel = 0, .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE) | BIT(IIO_CHAN_INFO_OFFSET), .address = ADIS16130_TEMPDATA, } }; static const struct iio_info adis16130_info = { .read_raw = &adis16130_read_raw, .driver_module = THIS_MODULE, }; static int adis16130_probe(struct spi_device *spi) { struct adis16130_state *st; struct iio_dev *indio_dev; /* setup the industrialio driver allocated elements */ indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); if (!indio_dev) return -ENOMEM; st = iio_priv(indio_dev); /* this is only used for removal purposes */ spi_set_drvdata(spi, indio_dev); st->us = spi; mutex_init(&st->buf_lock); indio_dev->name = spi->dev.driver->name; indio_dev->channels = adis16130_channels; indio_dev->num_channels = ARRAY_SIZE(adis16130_channels); indio_dev->dev.parent = &spi->dev; indio_dev->info = &adis16130_info; indio_dev->modes = INDIO_DIRECT_MODE; return devm_iio_device_register(&spi->dev, indio_dev); } static struct spi_driver adis16130_driver = { .driver = { .name = "adis16130", }, .probe = adis16130_probe, }; module_spi_driver(adis16130_driver); MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate"); MODULE_LICENSE("GPL v2"); MODULE_ALIAS("spi:adis16130");