Adding upstream version 6.1.76.upstream/6.1.76upstream

Signed-off-by: Daniel Baumann <daniel.baumann@progress-linux.org>

1 files changed, 175 insertions, 0 deletions

diff --git a/drivers/iio/gyro/adis16130.c b/drivers/iio/gyro/adis16130.c
new file mode 100644
index 000000000..33cde9e6f
--- /dev/null
+++ b/drivers/iio/gyro/adis16130.c
@@ -0,0 +1,175 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver
+ *
+ * Copyright 2010 Analog Devices Inc.
+ */
+
+#include <linux/mutex.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/module.h>
+
+#include <linux/iio/iio.h>
+
+#include <asm/unaligned.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] __aligned(IIO_DMA_MINALIGN);
+};
+
+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 = get_unaligned_be24(&st->buf[1]);
+	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 */
+		ret = adis16130_spi_read(indio_dev, chan->address, &temp);
+		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->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 <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate");
+MODULE_LICENSE("GPL v2");
+MODULE_ALIAS("spi:adis16130");