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
42 struct adis16080_state {
43 struct spi_device *us;
44 const struct adis16080_chip_info *info;
46 __be16 buf ____cacheline_aligned;
49 static int adis16080_read_sample(struct iio_dev *indio_dev,
52 struct adis16080_state *st = iio_priv(indio_dev);
54 struct spi_transfer t[] = {
65 st->buf = cpu_to_be16(addr | ADIS16080_DIN_WRITE);
67 ret = spi_sync_transfer(st->us, t, ARRAY_SIZE(t));
69 *val = sign_extend32(be16_to_cpu(st->buf), 11);
74 static int adis16080_read_raw(struct iio_dev *indio_dev,
75 struct iio_chan_spec const *chan,
80 struct adis16080_state *st = iio_priv(indio_dev);
84 case IIO_CHAN_INFO_RAW:
85 mutex_lock(&indio_dev->mlock);
86 ret = adis16080_read_sample(indio_dev, chan->address, val);
87 mutex_unlock(&indio_dev->mlock);
88 return ret ? ret : IIO_VAL_INT;
89 case IIO_CHAN_INFO_SCALE:
92 *val = st->info->scale_val;
93 *val2 = st->info->scale_val2;
94 return IIO_VAL_FRACTIONAL;
96 /* VREF = 5V, 12 bits */
99 return IIO_VAL_FRACTIONAL_LOG2;
101 /* 85 C = 585, 25 C = 0 */
102 *val = 85000 - 25000;
104 return IIO_VAL_FRACTIONAL;
108 case IIO_CHAN_INFO_OFFSET:
109 switch (chan->type) {
115 /* 85 C = 585, 25 C = 0 */
116 *val = DIV_ROUND_CLOSEST(25 * 585, 85 - 25);
128 static const struct iio_chan_spec adis16080_channels[] = {
130 .type = IIO_ANGL_VEL,
132 .channel2 = IIO_MOD_Z,
133 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
134 BIT(IIO_CHAN_INFO_SCALE),
135 .address = ADIS16080_DIN_GYRO,
140 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
141 BIT(IIO_CHAN_INFO_SCALE) |
142 BIT(IIO_CHAN_INFO_OFFSET),
143 .address = ADIS16080_DIN_AIN1,
148 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
149 BIT(IIO_CHAN_INFO_SCALE) |
150 BIT(IIO_CHAN_INFO_OFFSET),
151 .address = ADIS16080_DIN_AIN2,
156 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
157 BIT(IIO_CHAN_INFO_SCALE) |
158 BIT(IIO_CHAN_INFO_OFFSET),
159 .address = ADIS16080_DIN_TEMP,
163 static const struct iio_info adis16080_info = {
164 .read_raw = &adis16080_read_raw,
172 static const struct adis16080_chip_info adis16080_chip_info[] = {
174 /* 80 degree = 819, 819 rad = 46925 degree */
179 /* 300 degree = 1230, 1230 rad = 70474 degree */
185 static int adis16080_probe(struct spi_device *spi)
187 const struct spi_device_id *id = spi_get_device_id(spi);
188 struct adis16080_state *st;
189 struct iio_dev *indio_dev;
191 /* setup the industrialio driver allocated elements */
192 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
195 st = iio_priv(indio_dev);
196 /* this is only used for removal purposes */
197 spi_set_drvdata(spi, indio_dev);
199 /* Allocate the comms buffers */
201 st->info = &adis16080_chip_info[id->driver_data];
203 indio_dev->name = spi->dev.driver->name;
204 indio_dev->channels = adis16080_channels;
205 indio_dev->num_channels = ARRAY_SIZE(adis16080_channels);
206 indio_dev->dev.parent = &spi->dev;
207 indio_dev->info = &adis16080_info;
208 indio_dev->modes = INDIO_DIRECT_MODE;
210 return iio_device_register(indio_dev);
213 static int adis16080_remove(struct spi_device *spi)
215 iio_device_unregister(spi_get_drvdata(spi));
219 static const struct spi_device_id adis16080_ids[] = {
220 { "adis16080", ID_ADIS16080 },
221 { "adis16100", ID_ADIS16100 },
224 MODULE_DEVICE_TABLE(spi, adis16080_ids);
226 static struct spi_driver adis16080_driver = {
230 .probe = adis16080_probe,
231 .remove = adis16080_remove,
232 .id_table = adis16080_ids,
234 module_spi_driver(adis16080_driver);
236 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
237 MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver");
238 MODULE_LICENSE("GPL v2");