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9#include <linux/mutex.h>
10#include <linux/kernel.h>
11#include <linux/spi/spi.h>
12#include <linux/module.h>
13
14#include <linux/iio/iio.h>
15
16#define ADIS16130_CON 0x0
17#define ADIS16130_CON_RD (1 << 6)
18#define ADIS16130_IOP 0x1
19
20
21#define ADIS16130_IOP_ALL_RDY (1 << 3)
22#define ADIS16130_IOP_SYNC (1 << 0)
23#define ADIS16130_RATEDATA 0x8
24#define ADIS16130_TEMPDATA 0xA
25#define ADIS16130_RATECS 0x28
26#define ADIS16130_RATECS_EN (1 << 3)
27#define ADIS16130_TEMPCS 0x2A
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)
33
34
35
36
37
38
39
40struct adis16130_state {
41 struct spi_device *us;
42 struct mutex buf_lock;
43 u8 buf[4] ____cacheline_aligned;
44};
45
46static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val)
47{
48 int ret;
49 struct adis16130_state *st = iio_priv(indio_dev);
50 struct spi_transfer xfer = {
51 .tx_buf = st->buf,
52 .rx_buf = st->buf,
53 .len = 4,
54 };
55
56 mutex_lock(&st->buf_lock);
57
58 st->buf[0] = ADIS16130_CON_RD | reg_addr;
59 st->buf[1] = st->buf[2] = st->buf[3] = 0;
60
61 ret = spi_sync_transfer(st->us, &xfer, 1);
62 if (ret == 0)
63 *val = (st->buf[1] << 16) | (st->buf[2] << 8) | st->buf[3];
64 mutex_unlock(&st->buf_lock);
65
66 return ret;
67}
68
69static int adis16130_read_raw(struct iio_dev *indio_dev,
70 struct iio_chan_spec const *chan,
71 int *val, int *val2,
72 long mask)
73{
74 int ret;
75 u32 temp;
76
77 switch (mask) {
78 case IIO_CHAN_INFO_RAW:
79
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
91 *val = 250;
92 *val2 = 336440817;
93 return IIO_VAL_FRACTIONAL;
94 case IIO_TEMP:
95
96 *val = 105000;
97 *val2 = 9516048 - 8036283;
98 return IIO_VAL_FRACTIONAL;
99 default:
100 return -EINVAL;
101 }
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 }
113 }
114
115 return -EINVAL;
116}
117
118static const struct iio_chan_spec adis16130_channels[] = {
119 {
120 .type = IIO_ANGL_VEL,
121 .modified = 1,
122 .channel2 = IIO_MOD_Z,
123 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
124 BIT(IIO_CHAN_INFO_SCALE) |
125 BIT(IIO_CHAN_INFO_OFFSET),
126 .address = ADIS16130_RATEDATA,
127 }, {
128 .type = IIO_TEMP,
129 .indexed = 1,
130 .channel = 0,
131 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
132 BIT(IIO_CHAN_INFO_SCALE) |
133 BIT(IIO_CHAN_INFO_OFFSET),
134 .address = ADIS16130_TEMPDATA,
135 }
136};
137
138static const struct iio_info adis16130_info = {
139 .read_raw = &adis16130_read_raw,
140 .driver_module = THIS_MODULE,
141};
142
143static int adis16130_probe(struct spi_device *spi)
144{
145 struct adis16130_state *st;
146 struct iio_dev *indio_dev;
147
148
149 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
150 if (!indio_dev)
151 return -ENOMEM;
152 st = iio_priv(indio_dev);
153
154 spi_set_drvdata(spi, indio_dev);
155 st->us = spi;
156 mutex_init(&st->buf_lock);
157 indio_dev->name = spi->dev.driver->name;
158 indio_dev->channels = adis16130_channels;
159 indio_dev->num_channels = ARRAY_SIZE(adis16130_channels);
160 indio_dev->dev.parent = &spi->dev;
161 indio_dev->info = &adis16130_info;
162 indio_dev->modes = INDIO_DIRECT_MODE;
163
164 return devm_iio_device_register(&spi->dev, indio_dev);
165}
166
167static struct spi_driver adis16130_driver = {
168 .driver = {
169 .name = "adis16130",
170 },
171 .probe = adis16130_probe,
172};
173module_spi_driver(adis16130_driver);
174
175MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
176MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate");
177MODULE_LICENSE("GPL v2");
178MODULE_ALIAS("spi:adis16130");
179