1 // SPDX-License-Identifier: GPL-2.0-only
3 * ADXRS450/ADXRS453 Digital Output Gyroscope Driver
5 * Copyright 2011 Analog Devices Inc.
8 #include <linux/interrupt.h>
10 #include <linux/delay.h>
11 #include <linux/mutex.h>
12 #include <linux/device.h>
13 #include <linux/kernel.h>
14 #include <linux/spi/spi.h>
15 #include <linux/slab.h>
16 #include <linux/sysfs.h>
17 #include <linux/list.h>
18 #include <linux/module.h>
20 #include <linux/iio/iio.h>
21 #include <linux/iio/sysfs.h>
23 #define ADXRS450_STARTUP_DELAY 50 /* ms */
25 /* The MSB for the spi commands */
26 #define ADXRS450_SENSOR_DATA (0x20 << 24)
27 #define ADXRS450_WRITE_DATA (0x40 << 24)
28 #define ADXRS450_READ_DATA (0x80 << 24)
30 #define ADXRS450_RATE1 0x00 /* Rate Registers */
31 #define ADXRS450_TEMP1 0x02 /* Temperature Registers */
32 #define ADXRS450_LOCST1 0x04 /* Low CST Memory Registers */
33 #define ADXRS450_HICST1 0x06 /* High CST Memory Registers */
34 #define ADXRS450_QUAD1 0x08 /* Quad Memory Registers */
35 #define ADXRS450_FAULT1 0x0A /* Fault Registers */
36 #define ADXRS450_PID1 0x0C /* Part ID Register 1 */
37 #define ADXRS450_SNH 0x0E /* Serial Number Registers, 4 bytes */
38 #define ADXRS450_SNL 0x10
39 #define ADXRS450_DNC1 0x12 /* Dynamic Null Correction Registers */
41 #define ADXRS450_P 0x01
42 #define ADXRS450_CHK 0x02
43 #define ADXRS450_CST 0x04
44 #define ADXRS450_PWR 0x08
45 #define ADXRS450_POR 0x10
46 #define ADXRS450_NVM 0x20
47 #define ADXRS450_Q 0x40
48 #define ADXRS450_PLL 0x80
49 #define ADXRS450_UV 0x100
50 #define ADXRS450_OV 0x200
51 #define ADXRS450_AMP 0x400
52 #define ADXRS450_FAIL 0x800
54 #define ADXRS450_WRERR_MASK (0x7 << 29)
56 #define ADXRS450_MAX_RX 4
57 #define ADXRS450_MAX_TX 4
59 #define ADXRS450_GET_ST(a) ((a >> 26) & 0x3)
67 * struct adxrs450_state - device instance specific data
68 * @us: actual spi_device
69 * @buf_lock: mutex to protect tx and rx
70 * @tx: transmit buffer
73 struct adxrs450_state {
74 struct spi_device *us;
75 struct mutex buf_lock;
76 __be32 tx __aligned(IIO_DMA_MINALIGN);
82 * adxrs450_spi_read_reg_16() - read 2 bytes from a register pair
83 * @indio_dev: device associated with child of actual iio_dev
84 * @reg_address: the address of the lower of the two registers, which should be
85 * an even address, the second register's address is reg_address + 1.
86 * @val: somewhere to pass back the value read
88 static int adxrs450_spi_read_reg_16(struct iio_dev *indio_dev,
92 struct adxrs450_state *st = iio_priv(indio_dev);
95 struct spi_transfer xfers[] = {
99 .len = sizeof(st->tx),
104 .len = sizeof(st->rx),
108 mutex_lock(&st->buf_lock);
109 tx = ADXRS450_READ_DATA | (reg_address << 17);
111 if (!(hweight32(tx) & 1))
114 st->tx = cpu_to_be32(tx);
115 ret = spi_sync_transfer(st->us, xfers, ARRAY_SIZE(xfers));
117 dev_err(&st->us->dev, "problem while reading 16 bit register 0x%02x\n",
122 *val = (be32_to_cpu(st->rx) >> 5) & 0xFFFF;
125 mutex_unlock(&st->buf_lock);
130 * adxrs450_spi_write_reg_16() - write 2 bytes data to a register pair
131 * @indio_dev: device associated with child of actual actual iio_dev
132 * @reg_address: the address of the lower of the two registers,which should be
133 * an even address, the second register's address is reg_address + 1.
134 * @val: value to be written.
136 static int adxrs450_spi_write_reg_16(struct iio_dev *indio_dev,
140 struct adxrs450_state *st = iio_priv(indio_dev);
144 mutex_lock(&st->buf_lock);
145 tx = ADXRS450_WRITE_DATA | (reg_address << 17) | (val << 1);
147 if (!(hweight32(tx) & 1))
150 st->tx = cpu_to_be32(tx);
151 ret = spi_write(st->us, &st->tx, sizeof(st->tx));
153 dev_err(&st->us->dev, "problem while writing 16 bit register 0x%02x\n",
155 usleep_range(100, 1000); /* enforce sequential transfer delay 0.1ms */
156 mutex_unlock(&st->buf_lock);
161 * adxrs450_spi_sensor_data() - read 2 bytes sensor data
162 * @indio_dev: device associated with child of actual iio_dev
163 * @val: somewhere to pass back the value read
165 static int adxrs450_spi_sensor_data(struct iio_dev *indio_dev, s16 *val)
167 struct adxrs450_state *st = iio_priv(indio_dev);
169 struct spi_transfer xfers[] = {
173 .len = sizeof(st->tx),
178 .len = sizeof(st->rx),
182 mutex_lock(&st->buf_lock);
183 st->tx = cpu_to_be32(ADXRS450_SENSOR_DATA);
185 ret = spi_sync_transfer(st->us, xfers, ARRAY_SIZE(xfers));
187 dev_err(&st->us->dev, "Problem while reading sensor data\n");
191 *val = (be32_to_cpu(st->rx) >> 10) & 0xFFFF;
194 mutex_unlock(&st->buf_lock);
199 * adxrs450_spi_initial() - use for initializing procedure.
200 * @st: device instance specific data
201 * @val: somewhere to pass back the value read
202 * @chk: Whether to perform fault check
204 static int adxrs450_spi_initial(struct adxrs450_state *st,
209 struct spi_transfer xfers = {
213 .len = sizeof(st->tx),
216 mutex_lock(&st->buf_lock);
217 tx = ADXRS450_SENSOR_DATA;
219 tx |= (ADXRS450_CHK | ADXRS450_P);
220 st->tx = cpu_to_be32(tx);
221 ret = spi_sync_transfer(st->us, &xfers, 1);
223 dev_err(&st->us->dev, "Problem while reading initializing data\n");
227 *val = be32_to_cpu(st->rx);
230 mutex_unlock(&st->buf_lock);
234 /* Recommended Startup Sequence by spec */
235 static int adxrs450_initial_setup(struct iio_dev *indio_dev)
240 struct adxrs450_state *st = iio_priv(indio_dev);
242 msleep(ADXRS450_STARTUP_DELAY*2);
243 ret = adxrs450_spi_initial(st, &t, 1);
247 dev_warn(&st->us->dev, "The initial power on response is not correct! Restart without reset?\n");
249 msleep(ADXRS450_STARTUP_DELAY);
250 ret = adxrs450_spi_initial(st, &t, 0);
254 msleep(ADXRS450_STARTUP_DELAY);
255 ret = adxrs450_spi_initial(st, &t, 0);
258 if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
259 dev_err(&st->us->dev, "The second response is not correct!\n");
263 ret = adxrs450_spi_initial(st, &t, 0);
266 if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
267 dev_err(&st->us->dev, "The third response is not correct!\n");
271 ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_FAULT1, &data);
275 dev_err(&st->us->dev, "The device is not in normal status!\n");
282 static int adxrs450_write_raw(struct iio_dev *indio_dev,
283 struct iio_chan_spec const *chan,
290 case IIO_CHAN_INFO_CALIBBIAS:
291 if (val < -0x400 || val >= 0x400)
293 ret = adxrs450_spi_write_reg_16(indio_dev,
303 static int adxrs450_read_raw(struct iio_dev *indio_dev,
304 struct iio_chan_spec const *chan,
313 case IIO_CHAN_INFO_RAW:
314 switch (chan->type) {
316 ret = adxrs450_spi_sensor_data(indio_dev, &t);
323 ret = adxrs450_spi_read_reg_16(indio_dev,
327 *val = (t >> 6) + 225;
335 case IIO_CHAN_INFO_SCALE:
336 switch (chan->type) {
340 return IIO_VAL_INT_PLUS_NANO;
348 case IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW:
349 ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_QUAD1, &t);
355 case IIO_CHAN_INFO_CALIBBIAS:
356 ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_DNC1, &t);
359 *val = sign_extend32(t, 9);
370 static const struct iio_chan_spec adxrs450_channels[2][2] = {
373 .type = IIO_ANGL_VEL,
375 .channel2 = IIO_MOD_Z,
376 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
377 BIT(IIO_CHAN_INFO_CALIBBIAS) |
378 BIT(IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW) |
379 BIT(IIO_CHAN_INFO_SCALE),
384 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
385 BIT(IIO_CHAN_INFO_SCALE),
390 .type = IIO_ANGL_VEL,
392 .channel2 = IIO_MOD_Z,
393 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
394 BIT(IIO_CHAN_INFO_SCALE) |
395 BIT(IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW),
400 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
401 BIT(IIO_CHAN_INFO_SCALE),
406 static const struct iio_info adxrs450_info = {
407 .read_raw = &adxrs450_read_raw,
408 .write_raw = &adxrs450_write_raw,
411 static int adxrs450_probe(struct spi_device *spi)
414 struct adxrs450_state *st;
415 struct iio_dev *indio_dev;
417 /* setup the industrialio driver allocated elements */
418 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
421 st = iio_priv(indio_dev);
423 mutex_init(&st->buf_lock);
424 /* This is only used for removal purposes */
425 spi_set_drvdata(spi, indio_dev);
427 indio_dev->info = &adxrs450_info;
428 indio_dev->modes = INDIO_DIRECT_MODE;
429 indio_dev->channels =
430 adxrs450_channels[spi_get_device_id(spi)->driver_data];
431 indio_dev->num_channels = ARRAY_SIZE(adxrs450_channels);
432 indio_dev->name = spi->dev.driver->name;
434 ret = devm_iio_device_register(&spi->dev, indio_dev);
438 /* Get the device into a sane initial state */
439 ret = adxrs450_initial_setup(indio_dev);
446 static const struct spi_device_id adxrs450_id[] = {
447 {"adxrs450", ID_ADXRS450},
448 {"adxrs453", ID_ADXRS453},
451 MODULE_DEVICE_TABLE(spi, adxrs450_id);
453 static struct spi_driver adxrs450_driver = {
457 .probe = adxrs450_probe,
458 .id_table = adxrs450_id,
460 module_spi_driver(adxrs450_driver);
462 MODULE_AUTHOR("Cliff Cai <cliff.cai@xxxxxxxxxx>");
463 MODULE_DESCRIPTION("Analog Devices ADXRS450/ADXRS453 Gyroscope SPI driver");
464 MODULE_LICENSE("GPL v2");