[linux.git] / drivers / iio / gyro / adis16130.c

/*
 * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver
 *
 * Copyright 2010 Analog Devices Inc.
 *
 * Licensed under the GPL-2 or later.
 */

#include <linux/mutex.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/module.h>

#include <linux/iio/iio.h>

#define ADIS16130_CON         0x0
#define ADIS16130_CON_RD      (1 << 6)
#define ADIS16130_IOP         0x1

/* 1 = data-ready signal low when unread data on all channels; */
#define ADIS16130_IOP_ALL_RDY (1 << 3)
#define ADIS16130_IOP_SYNC    (1 << 0) /* 1 = synchronization enabled */
#define ADIS16130_RATEDATA    0x8 /* Gyroscope output, rate of rotation */
#define ADIS16130_TEMPDATA    0xA /* Temperature output */
#define ADIS16130_RATECS      0x28 /* Gyroscope channel setup */
#define ADIS16130_RATECS_EN   (1 << 3) /* 1 = channel enable; */
#define ADIS16130_TEMPCS      0x2A /* Temperature channel setup */
#define ADIS16130_TEMPCS_EN   (1 << 3)
#define ADIS16130_RATECONV    0x30
#define ADIS16130_TEMPCONV    0x32
#define ADIS16130_MODE        0x38
#define ADIS16130_MODE_24BIT  (1 << 1) /* 1 = 24-bit resolution; */

/**
 * struct adis16130_state - device instance specific data
 * @us:			actual spi_device to write data
 * @buf_lock:		mutex to protect tx and rx
 * @buf:		unified tx/rx buffer
 **/
struct adis16130_state {
	struct spi_device		*us;
	struct mutex			buf_lock;
	u8				buf[4] ____cacheline_aligned;
};

static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val)
{
	int ret;
	struct adis16130_state *st = iio_priv(indio_dev);
	struct spi_transfer xfer = {
		.tx_buf = st->buf,
		.rx_buf = st->buf,
		.len = 4,
	};

	mutex_lock(&st->buf_lock);

	st->buf[0] = ADIS16130_CON_RD | reg_addr;
	st->buf[1] = st->buf[2] = st->buf[3] = 0;

	ret = spi_sync_transfer(st->us, &xfer, 1);
	if (ret == 0)
		*val = (st->buf[1] << 16) | (st->buf[2] << 8) | st->buf[3];
	mutex_unlock(&st->buf_lock);

	return ret;
}

static int adis16130_read_raw(struct iio_dev *indio_dev,
			      struct iio_chan_spec const *chan,
			      int *val, int *val2,
			      long mask)
{
	int ret;
	u32 temp;

	switch (mask) {
	case IIO_CHAN_INFO_RAW:
		/* Take the iio_dev status lock */
		mutex_lock(&indio_dev->mlock);
		ret = adis16130_spi_read(indio_dev, chan->address, &temp);
		mutex_unlock(&indio_dev->mlock);
		if (ret)
			return ret;
		*val = temp;
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_SCALE:
		switch (chan->type) {
		case IIO_ANGL_VEL:
			/* 0 degree = 838860, 250 degree = 14260608 */
			*val = 250;
			*val2 = 336440817; /* RAD_TO_DEGREE(14260608 - 8388608) */
			return IIO_VAL_FRACTIONAL;
		case IIO_TEMP:
			/* 0C = 8036283, 105C = 9516048 */
			*val = 105000;
			*val2 = 9516048 - 8036283;
			return IIO_VAL_FRACTIONAL;
		default:
			return -EINVAL;
		}
	case IIO_CHAN_INFO_OFFSET:
		switch (chan->type) {
		case IIO_ANGL_VEL:
			*val = -8388608;
			return IIO_VAL_INT;
		case IIO_TEMP:
			*val = -8036283;
			return IIO_VAL_INT;
		default:
			return -EINVAL;
		}
	}

	return -EINVAL;
}

static const struct iio_chan_spec adis16130_channels[] = {
	{
		.type = IIO_ANGL_VEL,
		.modified = 1,
		.channel2 = IIO_MOD_Z,
		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
			BIT(IIO_CHAN_INFO_SCALE) |
			BIT(IIO_CHAN_INFO_OFFSET),
		.address = ADIS16130_RATEDATA,
	}, {
		.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 = ADIS16130_TEMPDATA,
	}
};

static const struct iio_info adis16130_info = {
	.read_raw = &adis16130_read_raw,
};

static int adis16130_probe(struct spi_device *spi)
{
	struct adis16130_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);
	st->us = spi;
	mutex_init(&st->buf_lock);
	indio_dev->name = spi->dev.driver->name;
	indio_dev->channels = adis16130_channels;
	indio_dev->num_channels = ARRAY_SIZE(adis16130_channels);
	indio_dev->dev.parent = &spi->dev;
	indio_dev->info = &adis16130_info;
	indio_dev->modes = INDIO_DIRECT_MODE;

	return devm_iio_device_register(&spi->dev, indio_dev);
}

static struct spi_driver adis16130_driver = {
	.driver = {
		.name = "adis16130",
	},
	.probe = adis16130_probe,
};
module_spi_driver(adis16130_driver);

MODULE_AUTHOR("Barry Song <[email protected]>");
MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate");
MODULE_LICENSE("GPL v2");
MODULE_ALIAS("spi:adis16130");
Commit	Line	Data
7a83f60d BS	1	/*
	2	* ADIS16130 Digital Output, High Precision Angular Rate Sensor driver
	3	*
	4	* Copyright 2010 Analog Devices Inc.
	5	*
	6	* Licensed under the GPL-2 or later.
	7	*/
	8
7a83f60d	9	#include <linux/mutex.h>
7a83f60d BS	10	#include <linux/kernel.h>
7a83f60d BS	11	#include <linux/spi/spi.h>
99c97852	12	#include <linux/module.h>
7a83f60d	13
06458e27	14	#include <linux/iio/iio.h>
7a83f60d	15
8e678751 JC	16	#define ADIS16130_CON 0x0
	17	#define ADIS16130_CON_RD (1 << 6)
	18	#define ADIS16130_IOP 0x1
	19
	20	/* 1 = data-ready signal low when unread data on all channels; */
	21	#define ADIS16130_IOP_ALL_RDY (1 << 3)
	22	#define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */
	23	#define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */
	24	#define ADIS16130_TEMPDATA 0xA /* Temperature output */
	25	#define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */
	26	#define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */
	27	#define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */
	28	#define ADIS16130_TEMPCS_EN (1 << 3)
	29	#define ADIS16130_RATECONV 0x30
	30	#define ADIS16130_TEMPCONV 0x32
	31	#define ADIS16130_MODE 0x38
	32	#define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */
	33
	34	/**
	35	* struct adis16130_state - device instance specific data
	36	* @us: actual spi_device to write data
8e678751 JC	37	* @buf_lock: mutex to protect tx and rx
	38	* @buf: unified tx/rx buffer
	39	**/
	40	struct adis16130_state {
	41	struct spi_device *us;
8e678751 JC	42	struct mutex buf_lock;
	43	u8 buf[4] ____cacheline_aligned;
	44	};
7a83f60d	45
ae0b4bdd	46	static int adis16130_spi_read(struct iio_dev indio_dev, u8 reg_addr, u32 val)
7a83f60d BS	47	{
7a83f60d BS	48	int ret;
9f8632d7	49	struct adis16130_state *st = iio_priv(indio_dev);
cdf6e817 JC	50	struct spi_transfer xfer = {
	51	.tx_buf = st->buf,
	52	.rx_buf = st->buf,
a5e7363c	53	.len = 4,
cdf6e817	54	};
7a83f60d BS	55
	56	mutex_lock(&st->buf_lock);
	57
8e678751	58	st->buf[0] = ADIS16130_CON_RD \| reg_addr;
cdf6e817 JC	59	st->buf[1] = st->buf[2] = st->buf[3] = 0;
cdf6e817 JC	60
f28607f3	61	ret = spi_sync_transfer(st->us, &xfer, 1);
a5e7363c JC	62	if (ret == 0)
a5e7363c JC	63	*val = (st->buf[1] << 16) \| (st->buf[2] << 8) \| st->buf[3];
7a83f60d BS	64	mutex_unlock(&st->buf_lock);
	65
	66	return ret;
	67	}
	68
ae0b4bdd JC	69	static int adis16130_read_raw(struct iio_dev *indio_dev,
	70	struct iio_chan_spec const *chan,
	71	int val, int val2,
	72	long mask)
7a83f60d	73	{
ae0b4bdd JC	74	int ret;
ae0b4bdd JC	75	u32 temp;
7a83f60d	76
597e1a86 LPC	77	switch (mask) {
	78	case IIO_CHAN_INFO_RAW:
	79	/* Take the iio_dev status lock */
	80	mutex_lock(&indio_dev->mlock);
	81	ret = adis16130_spi_read(indio_dev, chan->address, &temp);
	82	mutex_unlock(&indio_dev->mlock);
	83	if (ret)
	84	return ret;
	85	*val = temp;
	86	return IIO_VAL_INT;
	87	case IIO_CHAN_INFO_SCALE:
	88	switch (chan->type) {
	89	case IIO_ANGL_VEL:
	90	/* 0 degree = 838860, 250 degree = 14260608 */
	91	*val = 250;
	92	val2 = 336440817; / RAD_TO_DEGREE(14260608 - 8388608) */
	93	return IIO_VAL_FRACTIONAL;
	94	case IIO_TEMP:
	95	/* 0C = 8036283, 105C = 9516048 */
	96	*val = 105000;
	97	*val2 = 9516048 - 8036283;
	98	return IIO_VAL_FRACTIONAL;
	99	default:
	100	return -EINVAL;
	101	}
597e1a86 LPC	102	case IIO_CHAN_INFO_OFFSET:
	103	switch (chan->type) {
	104	case IIO_ANGL_VEL:
	105	*val = -8388608;
	106	return IIO_VAL_INT;
	107	case IIO_TEMP:
	108	*val = -8036283;
	109	return IIO_VAL_INT;
	110	default:
	111	return -EINVAL;
	112	}
597e1a86 LPC	113	}
	114
	115	return -EINVAL;
7a83f60d BS	116	}
7a83f60d BS	117
ae0b4bdd JC	118	static const struct iio_chan_spec adis16130_channels[] = {
ae0b4bdd JC	119	{
41ea040c	120	.type = IIO_ANGL_VEL,
ae0b4bdd JC	121	.modified = 1,
ae0b4bdd JC	122	.channel2 = IIO_MOD_Z,
597e1a86 LPC	123	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \|
	124	BIT(IIO_CHAN_INFO_SCALE) \|
	125	BIT(IIO_CHAN_INFO_OFFSET),
ae0b4bdd JC	126	.address = ADIS16130_RATEDATA,
	127	}, {
	128	.type = IIO_TEMP,
	129	.indexed = 1,
	130	.channel = 0,
597e1a86 LPC	131	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \|
	132	BIT(IIO_CHAN_INFO_SCALE) \|
	133	BIT(IIO_CHAN_INFO_OFFSET),
ae0b4bdd JC	134	.address = ADIS16130_TEMPDATA,
ae0b4bdd JC	135	}
7a83f60d BS	136	};
7a83f60d BS	137
6fe8135f	138	static const struct iio_info adis16130_info = {
ae0b4bdd	139	.read_raw = &adis16130_read_raw,
6fe8135f JC	140	};
6fe8135f JC	141
4ae1c61f	142	static int adis16130_probe(struct spi_device *spi)
7a83f60d	143	{
9f8632d7 JC	144	struct adis16130_state *st;
	145	struct iio_dev *indio_dev;
	146
	147	/* setup the industrialio driver allocated elements */
42aceff5 SK	148	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
	149	if (!indio_dev)
	150	return -ENOMEM;
9f8632d7	151	st = iio_priv(indio_dev);
7a83f60d	152	/* this is only used for removal purposes */
9f8632d7	153	spi_set_drvdata(spi, indio_dev);
7a83f60d BS	154	st->us = spi;
7a83f60d BS	155	mutex_init(&st->buf_lock);
9f8632d7	156	indio_dev->name = spi->dev.driver->name;
ae0b4bdd JC	157	indio_dev->channels = adis16130_channels;
ae0b4bdd JC	158	indio_dev->num_channels = ARRAY_SIZE(adis16130_channels);
9f8632d7 JC	159	indio_dev->dev.parent = &spi->dev;
	160	indio_dev->info = &adis16130_info;
	161	indio_dev->modes = INDIO_DIRECT_MODE;
7a83f60d	162
79788b7c	163	return devm_iio_device_register(&spi->dev, indio_dev);
7a83f60d BS	164	}
	165
	166	static struct spi_driver adis16130_driver = {
	167	.driver = {
	168	.name = "adis16130",
7a83f60d BS	169	},
7a83f60d BS	170	.probe = adis16130_probe,
7a83f60d	171	};
ae6ae6fe	172	module_spi_driver(adis16130_driver);
7a83f60d BS	173
7a83f60d BS	174	MODULE_AUTHOR("Barry Song <[email protected]>");
8e678751	175	MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate");
7a83f60d	176	MODULE_LICENSE("GPL v2");
55e4390c	177	MODULE_ALIAS("spi:adis16130");