240 строки
5.4 KiB
C
240 строки
5.4 KiB
C
/*
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* ADIS16080/100 Yaw Rate Gyroscope with SPI driver
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*
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* Copyright 2010 Analog Devices Inc.
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*
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* Licensed under the GPL-2 or later.
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*/
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/slab.h>
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#include <linux/sysfs.h>
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#include <linux/module.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#define ADIS16080_DIN_GYRO (0 << 10) /* Gyroscope output */
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#define ADIS16080_DIN_TEMP (1 << 10) /* Temperature output */
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#define ADIS16080_DIN_AIN1 (2 << 10)
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#define ADIS16080_DIN_AIN2 (3 << 10)
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/*
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* 1: Write contents on DIN to control register.
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* 0: No changes to control register.
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*/
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#define ADIS16080_DIN_WRITE (1 << 15)
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struct adis16080_chip_info {
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int scale_val;
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int scale_val2;
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};
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/**
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* struct adis16080_state - device instance specific data
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* @us: actual spi_device to write data
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* @info: chip specific parameters
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* @buf: transmit or receive buffer
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**/
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struct adis16080_state {
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struct spi_device *us;
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const struct adis16080_chip_info *info;
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__be16 buf ____cacheline_aligned;
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};
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static int adis16080_read_sample(struct iio_dev *indio_dev,
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u16 addr, int *val)
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{
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struct adis16080_state *st = iio_priv(indio_dev);
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int ret;
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struct spi_transfer t[] = {
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{
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.tx_buf = &st->buf,
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.len = 2,
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.cs_change = 1,
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}, {
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.rx_buf = &st->buf,
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.len = 2,
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},
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};
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st->buf = cpu_to_be16(addr | ADIS16080_DIN_WRITE);
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ret = spi_sync_transfer(st->us, t, ARRAY_SIZE(t));
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if (ret == 0)
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*val = sign_extend32(be16_to_cpu(st->buf), 11);
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return ret;
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}
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static int adis16080_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val,
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int *val2,
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long mask)
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{
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struct adis16080_state *st = iio_priv(indio_dev);
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int ret;
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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mutex_lock(&indio_dev->mlock);
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ret = adis16080_read_sample(indio_dev, chan->address, val);
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mutex_unlock(&indio_dev->mlock);
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return ret ? ret : IIO_VAL_INT;
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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*val = st->info->scale_val;
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*val2 = st->info->scale_val2;
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return IIO_VAL_FRACTIONAL;
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case IIO_VOLTAGE:
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/* VREF = 5V, 12 bits */
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*val = 5000;
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*val2 = 12;
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return IIO_VAL_FRACTIONAL_LOG2;
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case IIO_TEMP:
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/* 85 C = 585, 25 C = 0 */
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*val = 85000 - 25000;
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*val2 = 585;
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return IIO_VAL_FRACTIONAL;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_OFFSET:
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switch (chan->type) {
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case IIO_VOLTAGE:
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/* 2.5 V = 0 */
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*val = 2048;
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return IIO_VAL_INT;
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case IIO_TEMP:
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/* 85 C = 585, 25 C = 0 */
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*val = DIV_ROUND_CLOSEST(25 * 585, 85 - 25);
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return IIO_VAL_INT;
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default:
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return -EINVAL;
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}
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default:
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break;
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}
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return -EINVAL;
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}
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static const struct iio_chan_spec adis16080_channels[] = {
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{
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.type = IIO_ANGL_VEL,
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.modified = 1,
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.channel2 = IIO_MOD_Z,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
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BIT(IIO_CHAN_INFO_SCALE),
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.address = ADIS16080_DIN_GYRO,
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}, {
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.type = IIO_VOLTAGE,
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.indexed = 1,
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.channel = 0,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
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BIT(IIO_CHAN_INFO_SCALE) |
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BIT(IIO_CHAN_INFO_OFFSET),
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.address = ADIS16080_DIN_AIN1,
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}, {
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.type = IIO_VOLTAGE,
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.indexed = 1,
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.channel = 1,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
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BIT(IIO_CHAN_INFO_SCALE) |
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BIT(IIO_CHAN_INFO_OFFSET),
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.address = ADIS16080_DIN_AIN2,
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}, {
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.type = IIO_TEMP,
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.indexed = 1,
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.channel = 0,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
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BIT(IIO_CHAN_INFO_SCALE) |
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BIT(IIO_CHAN_INFO_OFFSET),
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.address = ADIS16080_DIN_TEMP,
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}
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};
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static const struct iio_info adis16080_info = {
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.read_raw = &adis16080_read_raw,
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};
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enum {
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ID_ADIS16080,
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ID_ADIS16100,
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};
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static const struct adis16080_chip_info adis16080_chip_info[] = {
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[ID_ADIS16080] = {
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/* 80 degree = 819, 819 rad = 46925 degree */
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.scale_val = 80,
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.scale_val2 = 46925,
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},
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[ID_ADIS16100] = {
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/* 300 degree = 1230, 1230 rad = 70474 degree */
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.scale_val = 300,
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.scale_val2 = 70474,
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},
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};
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static int adis16080_probe(struct spi_device *spi)
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{
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const struct spi_device_id *id = spi_get_device_id(spi);
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struct adis16080_state *st;
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struct iio_dev *indio_dev;
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/* setup the industrialio driver allocated elements */
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
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if (!indio_dev)
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return -ENOMEM;
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st = iio_priv(indio_dev);
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/* this is only used for removal purposes */
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spi_set_drvdata(spi, indio_dev);
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/* Allocate the comms buffers */
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st->us = spi;
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st->info = &adis16080_chip_info[id->driver_data];
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indio_dev->name = spi->dev.driver->name;
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indio_dev->channels = adis16080_channels;
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indio_dev->num_channels = ARRAY_SIZE(adis16080_channels);
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indio_dev->dev.parent = &spi->dev;
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indio_dev->info = &adis16080_info;
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indio_dev->modes = INDIO_DIRECT_MODE;
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return iio_device_register(indio_dev);
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}
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static int adis16080_remove(struct spi_device *spi)
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{
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iio_device_unregister(spi_get_drvdata(spi));
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return 0;
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}
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static const struct spi_device_id adis16080_ids[] = {
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{ "adis16080", ID_ADIS16080 },
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{ "adis16100", ID_ADIS16100 },
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{},
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};
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MODULE_DEVICE_TABLE(spi, adis16080_ids);
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static struct spi_driver adis16080_driver = {
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.driver = {
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.name = "adis16080",
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},
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.probe = adis16080_probe,
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.remove = adis16080_remove,
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.id_table = adis16080_ids,
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};
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module_spi_driver(adis16080_driver);
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MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
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MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver");
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MODULE_LICENSE("GPL v2");
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