1 // SPDX-License-Identifier: GPL-2.0-or-later
3  * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver
21 /* 1 = data-ready signal low when unread data on all channels; */
33 #define ADIS16130_MODE_24BIT  (1 << 1) /* 1 = 24-bit resolution; */
36  * struct adis16130_state - device instance specific data
52 		.tx_buf = st->buf,  in adis16130_spi_read()
53 		.rx_buf = st->buf,  in adis16130_spi_read()
57 	mutex_lock(&st->buf_lock);  in adis16130_spi_read()
59 	st->buf[0] = ADIS16130_CON_RD | reg_addr;  in adis16130_spi_read()
60 	st->buf[1] = st->buf[2] = st->buf[3] = 0;  in adis16130_spi_read()
62 	ret = spi_sync_transfer(st->us, &xfer, 1);  in adis16130_spi_read()
64 		*val = get_unaligned_be24(&st->buf[1]);  in adis16130_spi_read()
65 	mutex_unlock(&st->buf_lock);  in adis16130_spi_read()
81 		ret = adis16130_spi_read(indio_dev, chan->address, &temp);  in adis16130_read_raw()
87 		switch (chan->type) {  in adis16130_read_raw()
91 			*val2 = 336440817; /* RAD_TO_DEGREE(14260608 - 8388608) */  in adis16130_read_raw()
96 			*val2 = 9516048 - 8036283;  in adis16130_read_raw()
99 			return -EINVAL;  in adis16130_read_raw()
102 		switch (chan->type) {  in adis16130_read_raw()
104 			*val = -8388608;  in adis16130_read_raw()
107 			*val = -8036283;  in adis16130_read_raw()
110 			return -EINVAL;  in adis16130_read_raw()
114 	return -EINVAL;  in adis16130_read_raw()
147 	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));  in adis16130_probe()
149 		return -ENOMEM;  in adis16130_probe()
153 	st->us = spi;  in adis16130_probe()
154 	mutex_init(&st->buf_lock);  in adis16130_probe()
155 	indio_dev->name = spi->dev.driver->name;  in adis16130_probe()
156 	indio_dev->channels = adis16130_channels;  in adis16130_probe()
157 	indio_dev->num_channels = ARRAY_SIZE(adis16130_channels);  in adis16130_probe()
158 	indio_dev->info = &adis16130_info;  in adis16130_probe()
159 	indio_dev->modes = INDIO_DIRECT_MODE;  in adis16130_probe()
161 	return devm_iio_device_register(&spi->dev, indio_dev);  in adis16130_probe()
173 MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate");