drivers/iio/gyro/adis16080.c

   1 // SPDX-License-Identifier: GPL-2.0-or-later
   2 /*
   3  * ADIS16080/100 Yaw Rate Gyroscope with SPI driver
   4  *
   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
  31 struct adis16080_chip_info {
  32         int scale_val;
  33         int scale_val2;
  34 };
  35
  36 /**
  37  * struct adis16080_state - device instance specific data
  38  * @us:                 actual spi_device to write data
  39  * @info:               chip specific parameters
  40  * @buf:                transmit or receive buffer
  41  * @lock:               lock to protect buffer during reads
  42  **/
  43 struct 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
  51 static 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
  76 static 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
 130 static 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
 165 static const struct iio_info adis16080_info = {
 166         .read_raw = &adis16080_read_raw,
 167 };
 168
 169 enum {
 170         ID_ADIS16080,
 171         ID_ADIS16100,
 172 };
 173
 174 static 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
 187 static 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
 214 static const struct spi_device_id adis16080_ids[] = {
 215         { "adis16080", ID_ADIS16080 },
 216         { "adis16100", ID_ADIS16100 },
 217         {},
 218 };
 219 MODULE_DEVICE_TABLE(spi, adis16080_ids);
 220
 221 static struct spi_driver adis16080_driver = {
 222         .driver = {
 223                 .name = "adis16080",
 224         },
 225         .probe = adis16080_probe,
 226         .id_table = adis16080_ids,
 227 };
 228 module_spi_driver(adis16080_driver);
 229
 230 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 231 MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver");
 232 MODULE_LICENSE("GPL v2");