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path: root/drivers/iio/gyro/adis16080.c
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Diffstat (limited to 'drivers/iio/gyro/adis16080.c')
-rw-r--r--drivers/iio/gyro/adis16080.c241
1 files changed, 241 insertions, 0 deletions
diff --git a/drivers/iio/gyro/adis16080.c b/drivers/iio/gyro/adis16080.c
new file mode 100644
index 000000000..add509837
--- /dev/null
+++ b/drivers/iio/gyro/adis16080.c
@@ -0,0 +1,241 @@
+/*
+ * ADIS16080/100 Yaw Rate Gyroscope with SPI driver
+ *
+ * Copyright 2010 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2 or later.
+ */
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+#include <linux/module.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+
+#define ADIS16080_DIN_GYRO (0 << 10) /* Gyroscope output */
+#define ADIS16080_DIN_TEMP (1 << 10) /* Temperature output */
+#define ADIS16080_DIN_AIN1 (2 << 10)
+#define ADIS16080_DIN_AIN2 (3 << 10)
+
+/*
+ * 1: Write contents on DIN to control register.
+ * 0: No changes to control register.
+ */
+
+#define ADIS16080_DIN_WRITE (1 << 15)
+
+struct adis16080_chip_info {
+ int scale_val;
+ int scale_val2;
+};
+
+/**
+ * struct adis16080_state - device instance specific data
+ * @us: actual spi_device to write data
+ * @info: chip specific parameters
+ * @buf: transmit or receive buffer
+ **/
+struct adis16080_state {
+ struct spi_device *us;
+ const struct adis16080_chip_info *info;
+
+ __be16 buf ____cacheline_aligned;
+};
+
+static int adis16080_read_sample(struct iio_dev *indio_dev,
+ u16 addr, int *val)
+{
+ struct adis16080_state *st = iio_priv(indio_dev);
+ int ret;
+ struct spi_transfer t[] = {
+ {
+ .tx_buf = &st->buf,
+ .len = 2,
+ .cs_change = 1,
+ }, {
+ .rx_buf = &st->buf,
+ .len = 2,
+ },
+ };
+
+ st->buf = cpu_to_be16(addr | ADIS16080_DIN_WRITE);
+
+ ret = spi_sync_transfer(st->us, t, ARRAY_SIZE(t));
+ if (ret == 0)
+ *val = sign_extend32(be16_to_cpu(st->buf), 11);
+
+ return ret;
+}
+
+static int adis16080_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val,
+ int *val2,
+ long mask)
+{
+ struct adis16080_state *st = iio_priv(indio_dev);
+ int ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ mutex_lock(&indio_dev->mlock);
+ ret = adis16080_read_sample(indio_dev, chan->address, val);
+ mutex_unlock(&indio_dev->mlock);
+ return ret ? ret : IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = st->info->scale_val;
+ *val2 = st->info->scale_val2;
+ return IIO_VAL_FRACTIONAL;
+ case IIO_VOLTAGE:
+ /* VREF = 5V, 12 bits */
+ *val = 5000;
+ *val2 = 12;
+ return IIO_VAL_FRACTIONAL_LOG2;
+ case IIO_TEMP:
+ /* 85 C = 585, 25 C = 0 */
+ *val = 85000 - 25000;
+ *val2 = 585;
+ return IIO_VAL_FRACTIONAL;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_OFFSET:
+ switch (chan->type) {
+ case IIO_VOLTAGE:
+ /* 2.5 V = 0 */
+ *val = 2048;
+ return IIO_VAL_INT;
+ case IIO_TEMP:
+ /* 85 C = 585, 25 C = 0 */
+ *val = DIV_ROUND_CLOSEST(25 * 585, 85 - 25);
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ default:
+ break;
+ }
+
+ return -EINVAL;
+}
+
+static const struct iio_chan_spec adis16080_channels[] = {
+ {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+ BIT(IIO_CHAN_INFO_SCALE),
+ .address = ADIS16080_DIN_GYRO,
+ }, {
+ .type = IIO_VOLTAGE,
+ .indexed = 1,
+ .channel = 0,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+ BIT(IIO_CHAN_INFO_SCALE) |
+ BIT(IIO_CHAN_INFO_OFFSET),
+ .address = ADIS16080_DIN_AIN1,
+ }, {
+ .type = IIO_VOLTAGE,
+ .indexed = 1,
+ .channel = 1,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+ BIT(IIO_CHAN_INFO_SCALE) |
+ BIT(IIO_CHAN_INFO_OFFSET),
+ .address = ADIS16080_DIN_AIN2,
+ }, {
+ .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 = ADIS16080_DIN_TEMP,
+ }
+};
+
+static const struct iio_info adis16080_info = {
+ .read_raw = &adis16080_read_raw,
+ .driver_module = THIS_MODULE,
+};
+
+enum {
+ ID_ADIS16080,
+ ID_ADIS16100,
+};
+
+static const struct adis16080_chip_info adis16080_chip_info[] = {
+ [ID_ADIS16080] = {
+ /* 80 degree = 819, 819 rad = 46925 degree */
+ .scale_val = 80,
+ .scale_val2 = 46925,
+ },
+ [ID_ADIS16100] = {
+ /* 300 degree = 1230, 1230 rad = 70474 degree */
+ .scale_val = 300,
+ .scale_val2 = 70474,
+ },
+};
+
+static int adis16080_probe(struct spi_device *spi)
+{
+ const struct spi_device_id *id = spi_get_device_id(spi);
+ struct adis16080_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);
+
+ /* Allocate the comms buffers */
+ st->us = spi;
+ st->info = &adis16080_chip_info[id->driver_data];
+
+ indio_dev->name = spi->dev.driver->name;
+ indio_dev->channels = adis16080_channels;
+ indio_dev->num_channels = ARRAY_SIZE(adis16080_channels);
+ indio_dev->dev.parent = &spi->dev;
+ indio_dev->info = &adis16080_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ return iio_device_register(indio_dev);
+}
+
+static int adis16080_remove(struct spi_device *spi)
+{
+ iio_device_unregister(spi_get_drvdata(spi));
+ return 0;
+}
+
+static const struct spi_device_id adis16080_ids[] = {
+ { "adis16080", ID_ADIS16080 },
+ { "adis16100", ID_ADIS16100 },
+ {},
+};
+MODULE_DEVICE_TABLE(spi, adis16080_ids);
+
+static struct spi_driver adis16080_driver = {
+ .driver = {
+ .name = "adis16080",
+ .owner = THIS_MODULE,
+ },
+ .probe = adis16080_probe,
+ .remove = adis16080_remove,
+ .id_table = adis16080_ids,
+};
+module_spi_driver(adis16080_driver);
+
+MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver");
+MODULE_LICENSE("GPL v2");