1 // SPDX-License-Identifier: GPL-2.0-or-later
3 * ADIS16080/100 Yaw Rate Gyroscope with SPI driver
5 * Copyright 2010 Analog Devices Inc.
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>
16 #include <linux/iio/iio.h>
17 #include <linux/iio/sysfs.h>
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)
25 * 1: Write contents on DIN to control register.
26 * 0: No changes to control register.
29 #define ADIS16080_DIN_WRITE (1 << 15)
31 struct adis16080_chip_info {
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
43 struct adis16080_state {
44 struct spi_device *us;
45 const struct adis16080_chip_info *info;
48 __be16 buf ____cacheline_aligned;
51 static int adis16080_read_sample(struct iio_dev *indio_dev,
54 struct adis16080_state *st = iio_priv(indio_dev);
56 struct spi_transfer t[] = {
67 st->buf = cpu_to_be16(addr | ADIS16080_DIN_WRITE);
69 ret = spi_sync_transfer(st->us, t, ARRAY_SIZE(t));
71 *val = sign_extend32(be16_to_cpu(st->buf), 11);
76 static int adis16080_read_raw(struct iio_dev *indio_dev,
77 struct iio_chan_spec const *chan,
82 struct adis16080_state *st = iio_priv(indio_dev);
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:
94 *val = st->info->scale_val;
95 *val2 = st->info->scale_val2;
96 return IIO_VAL_FRACTIONAL;
98 /* VREF = 5V, 12 bits */
101 return IIO_VAL_FRACTIONAL_LOG2;
103 /* 85 C = 585, 25 C = 0 */
104 *val = 85000 - 25000;
106 return IIO_VAL_FRACTIONAL;
110 case IIO_CHAN_INFO_OFFSET:
111 switch (chan->type) {
117 /* 85 C = 585, 25 C = 0 */
118 *val = DIV_ROUND_CLOSEST(25 * 585, 85 - 25);
130 static const struct iio_chan_spec adis16080_channels[] = {
132 .type = IIO_ANGL_VEL,
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,
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,
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,
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,
165 static const struct iio_info adis16080_info = {
166 .read_raw = &adis16080_read_raw,
174 static const struct adis16080_chip_info adis16080_chip_info[] = {
176 /* 80 degree = 819, 819 rad = 46925 degree */
181 /* 300 degree = 1230, 1230 rad = 70474 degree */
187 static int adis16080_probe(struct spi_device *spi)
189 const struct spi_device_id *id = spi_get_device_id(spi);
190 struct adis16080_state *st;
191 struct iio_dev *indio_dev;
193 /* setup the industrialio driver allocated elements */
194 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
197 st = iio_priv(indio_dev);
198 /* this is only used for removal purposes */
199 spi_set_drvdata(spi, indio_dev);
201 mutex_init(&st->lock);
203 /* Allocate the comms buffers */
205 st->info = &adis16080_chip_info[id->driver_data];
207 indio_dev->name = spi->dev.driver->name;
208 indio_dev->channels = adis16080_channels;
209 indio_dev->num_channels = ARRAY_SIZE(adis16080_channels);
210 indio_dev->info = &adis16080_info;
211 indio_dev->modes = INDIO_DIRECT_MODE;
213 return iio_device_register(indio_dev);
216 static int adis16080_remove(struct spi_device *spi)
218 iio_device_unregister(spi_get_drvdata(spi));
222 static const struct spi_device_id adis16080_ids[] = {
223 { "adis16080", ID_ADIS16080 },
224 { "adis16100", ID_ADIS16100 },
227 MODULE_DEVICE_TABLE(spi, adis16080_ids);
229 static struct spi_driver adis16080_driver = {
233 .probe = adis16080_probe,
234 .remove = adis16080_remove,
235 .id_table = adis16080_ids,
237 module_spi_driver(adis16080_driver);
239 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
240 MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver");
241 MODULE_LICENSE("GPL v2");