1 // SPDX-License-Identifier: GPL-2.0-or-later
3 * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver
5 * Copyright 2010 Analog Devices Inc.
8 #include <linux/mutex.h>
9 #include <linux/kernel.h>
10 #include <linux/spi/spi.h>
11 #include <linux/module.h>
13 #include <linux/iio/iio.h>
15 #include <asm/unaligned.h>
17 #define ADIS16130_CON 0x0
18 #define ADIS16130_CON_RD (1 << 6)
19 #define ADIS16130_IOP 0x1
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; */
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
41 struct adis16130_state
{
42 struct spi_device
*us
;
43 struct mutex buf_lock
;
44 u8 buf
[4] ____cacheline_aligned
;
47 static int adis16130_spi_read(struct iio_dev
*indio_dev
, u8 reg_addr
, u32
*val
)
50 struct adis16130_state
*st
= iio_priv(indio_dev
);
51 struct spi_transfer xfer
= {
57 mutex_lock(&st
->buf_lock
);
59 st
->buf
[0] = ADIS16130_CON_RD
| reg_addr
;
60 st
->buf
[1] = st
->buf
[2] = st
->buf
[3] = 0;
62 ret
= spi_sync_transfer(st
->us
, &xfer
, 1);
64 *val
= get_unaligned_be24(&st
->buf
[1]);
65 mutex_unlock(&st
->buf_lock
);
70 static int adis16130_read_raw(struct iio_dev
*indio_dev
,
71 struct iio_chan_spec
const *chan
,
79 case IIO_CHAN_INFO_RAW
:
80 /* Take the iio_dev status lock */
81 ret
= adis16130_spi_read(indio_dev
, chan
->address
, &temp
);
86 case IIO_CHAN_INFO_SCALE
:
89 /* 0 degree = 838860, 250 degree = 14260608 */
91 *val2
= 336440817; /* RAD_TO_DEGREE(14260608 - 8388608) */
92 return IIO_VAL_FRACTIONAL
;
94 /* 0C = 8036283, 105C = 9516048 */
96 *val2
= 9516048 - 8036283;
97 return IIO_VAL_FRACTIONAL
;
101 case IIO_CHAN_INFO_OFFSET
:
102 switch (chan
->type
) {
117 static const struct iio_chan_spec adis16130_channels
[] = {
119 .type
= IIO_ANGL_VEL
,
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
,
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
,
137 static const struct iio_info adis16130_info
= {
138 .read_raw
= &adis16130_read_raw
,
141 static int adis16130_probe(struct spi_device
*spi
)
143 struct adis16130_state
*st
;
144 struct iio_dev
*indio_dev
;
146 /* setup the industrialio driver allocated elements */
147 indio_dev
= devm_iio_device_alloc(&spi
->dev
, sizeof(*st
));
150 st
= iio_priv(indio_dev
);
151 /* this is only used for removal purposes */
152 spi_set_drvdata(spi
, indio_dev
);
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
;
161 return devm_iio_device_register(&spi
->dev
, indio_dev
);
164 static struct spi_driver adis16130_driver
= {
168 .probe
= adis16130_probe
,
170 module_spi_driver(adis16130_driver
);
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");