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Wed, 29 Apr 2026 06:23:13 -0700 (PDT) From: Muchamad Coirul Anwar To: jic23@kernel.org, linux-iio@vger.kernel.org, rust-for-linux@vger.kernel.org, devicetree@vger.kernel.org Cc: branstj@gmail.com, lars@metafoo.de, ojeda@kernel.org, robh@kernel.org, krzk+dt@kernel.org, conor+dt@kernel.org, igor.korotin.linux@gmail.com, linux-kernel@vger.kernel.org, Muchamad Coirul Anwar Subject: [RFC PATCH v2 4/4] iio: position: add Rust driver for ams AS5600 Date: Wed, 29 Apr 2026 20:22:30 +0700 Message-ID: <20260429132234.30514-5-muchamadcoirulanwar@gmail.com> X-Mailer: git-send-email 2.50.0 In-Reply-To: <20260429132234.30514-1-muchamadcoirulanwar@gmail.com> References: <20260429132234.30514-1-muchamadcoirulanwar@gmail.com> Precedence: bulk X-Mailing-List: devicetree@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: 8bit Signed-off-by: Muchamad Coirul Anwar --- drivers/iio/position/Kconfig | 14 ++++ drivers/iio/position/Makefile | 1 + drivers/iio/position/as5600.rs | 129 +++++++++++++++++++++++++++++++++ 3 files changed, 144 insertions(+) create mode 100644 drivers/iio/position/as5600.rs diff --git a/drivers/iio/position/Kconfig b/drivers/iio/position/Kconfig index 1576a6380b53..dab9310e8079 100644 --- a/drivers/iio/position/Kconfig +++ b/drivers/iio/position/Kconfig @@ -6,6 +6,20 @@ menu "Linear and angular position sensors" +config AS5600 + tristate "ams AS5600 magnetic rotary position sensor" + depends on I2C && RUST + help + Say Y here to build support for the ams AS5600 12-bit + magnetic rotary position sensor with IIO channel support + (in_angl_raw and in_angl_scale). + + This is a Rust driver that exposes the 12-bit raw angle + and radian scale via the IIO subsystem. + + To compile this driver as a module, choose M here: the + module will be called as5600. + config IQS624_POS tristate "Azoteq IQS624/625 angular position sensors" depends on MFD_IQS62X || COMPILE_TEST diff --git a/drivers/iio/position/Makefile b/drivers/iio/position/Makefile index d70902f2979d..2d26f6d6ace3 100644 --- a/drivers/iio/position/Makefile +++ b/drivers/iio/position/Makefile @@ -4,5 +4,6 @@ # When adding new entries keep the list in alphabetical order +obj-$(CONFIG_AS5600) += as5600.o obj-$(CONFIG_HID_SENSOR_CUSTOM_INTEL_HINGE) += hid-sensor-custom-intel-hinge.o obj-$(CONFIG_IQS624_POS) += iqs624-pos.o diff --git a/drivers/iio/position/as5600.rs b/drivers/iio/position/as5600.rs new file mode 100644 index 000000000000..0cbf8be58b64 --- /dev/null +++ b/drivers/iio/position/as5600.rs @@ -0,0 +1,129 @@ +// SPDX-License-Identifier: GPL-2.0-only +// Copyright (C) 2026 Muchamad Coirul Anwar +//! Driver for ams AS5600 12-bit magnetic rotary position sensor. +//! +//! Datasheet: https://ams.com/documents/20143/36005/AS5600_DS000365_5-00.pdf + +use kernel::{ + bindings::{ + iio_chan_info_enum_IIO_CHAN_INFO_RAW, iio_chan_info_enum_IIO_CHAN_INFO_SCALE, + iio_chan_spec, iio_chan_type_IIO_ANGL, ENODATA, + }, + bits::bit_u8, + device::Core, + i2c::{DeviceId, Driver, I2cClient, IdTable}, + i2c_device_table, + iio::{Device, IioDriver, IioVal}, + module_i2c_driver, of, of_device_table, + prelude::*, +}; + +const AS5600_REG_STATUS: u8 = 0x0B; +const AS5600_REG_RAW_ANGLE_H: u8 = 0x0C; +const AS5600_REG_RAW_ANGLE_L: u8 = 0x0D; + +const AS5600_STATUS_MD: u8 = bit_u8(5); + +module_i2c_driver! { + type: As5600, + name: "as5600", + authors: ["Muchamad Coirul Anwar"], + description: "I2C Driver for ams OSRAM AS5600 Magnetic Rotary Position Sensor", + license: "GPL", +} + +i2c_device_table!( + I2C_TABLE, + MODULE_I2C_TABLE, + ::IdInfo, + [(DeviceId::new(c"as5600"), ())] +); + +of_device_table!( + OF_TABLE, + MODULE_OF_TABLE, + ::IdInfo, + [(of::DeviceId::new(c"ams,as5600"), ())] +); + +struct As5600Priv { + client_ptr: *const I2cClient, + channels: [iio_chan_spec; 1], +} + +// SAFETY: `client_ptr` points to an `I2cClient` that is owned by the I2C +// subsystem and outlives the driver binding. `iio_device_unregister` in +// `Device::PinnedDrop` drains pending callbacks before this struct is +// dropped, so `client_ptr` is valid for every `read_raw` invocation. +// Concurrent access is safe because the I2C adapter lock serializes all +// SMBus transactions. +unsafe impl Send for As5600Priv {} +unsafe impl Sync for As5600Priv {} + +impl IioDriver for As5600Priv { + fn read_raw(&self, _chan: *const iio_chan_spec, mask: isize) -> Result { + // SAFETY: `client_ptr` was set from a valid `&I2cClient` in `probe()`. + // The I2C client outlives the driver binding, and `read_raw` is only + // called while the driver is bound. + let client = unsafe { &*self.client_ptr }; + + #[allow(non_upper_case_globals)] + match mask as u32 { + // IIO_CHAN_INFO_RAW + iio_chan_info_enum_IIO_CHAN_INFO_RAW => { + let status = client.smbus_read_byte_data(AS5600_REG_STATUS)?; + if (status & AS5600_STATUS_MD) == 0 { + return Err(Error::from_errno(-(ENODATA as i32))); + } + + let angle_h = client.smbus_read_byte_data(AS5600_REG_RAW_ANGLE_H)? as u16; + let angle_l = client.smbus_read_byte_data(AS5600_REG_RAW_ANGLE_L)? as u16; + + let angle = (angle_h << 8 | angle_l) & 0x0FFF; + Ok(IioVal::Int(angle as i32)) + } + // IIO_CHAN_INFO_SCALE + iio_chan_info_enum_IIO_CHAN_INFO_SCALE => Ok(IioVal::IntPlusNano(0, 1533981)), + _ => Err(EINVAL), + } + } + + fn channels(&self) -> &[iio_chan_spec] { + &self.channels + } +} + +struct As5600 { + _iio_dev: Device, +} + +impl Driver for As5600 { + type IdInfo = (); + const I2C_ID_TABLE: Option> = Some(&I2C_TABLE); + const OF_ID_TABLE: Option> = Some(&OF_TABLE); + + fn probe(dev: &I2cClient, _id_info: Option<&Self::IdInfo>) -> impl PinInit { + let _status = dev.smbus_read_byte_data(AS5600_REG_STATUS)?; + + // SAFETY: `iio_chan_spec` is a C struct whose fields are all integers + // and pointers. Zero is a valid initialization for all of them. + let mut channels: [iio_chan_spec; 1] = unsafe { core::mem::zeroed() }; + channels[0].info_mask_separate = (1 << iio_chan_info_enum_IIO_CHAN_INFO_RAW) + | (1 << iio_chan_info_enum_IIO_CHAN_INFO_SCALE); + channels[0].type_ = iio_chan_type_IIO_ANGL; + + let priv_data = As5600Priv { + client_ptr: dev as *const _, + channels, + }; + + let mut iio_dev = Device::new(dev.as_ref(), priv_data, c"as5600")?; + + iio_dev.register(dev.as_ref(), &crate::THIS_MODULE)?; + + dev_dbg!(dev.as_ref(), "AS5600: Sensor probed, driver ready\n"); + Ok::<_, Error>(As5600 { _iio_dev: iio_dev }) + } + + fn unbind(_dev: &I2cClient, _this: Pin<&Self>) {} +} -- 2.50.0