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* ADIS16060 Wide Bandwidth Yaw Rate Gyroscope with SPI driver
*
* Copyright 2010 Analog Devices Inc.
*
* Licensed under the GPL-2 or later.
*/
#include <linux/delay.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/sysfs.h>
#include "../iio.h"
#include "../sysfs.h"
#include "gyro.h"
#include "../adc/adc.h"
#define ADIS16060_GYRO 0x20 /* Measure Angular Rate (Gyro) */
#define ADIS16060_TEMP_OUT 0x10 /* Measure Temperature */
#define ADIS16060_AIN2 0x80 /* Measure AIN2 */
#define ADIS16060_AIN1 0x40 /* Measure AIN1 */
/**
* struct adis16060_state - device instance specific data
* @us_w: actual spi_device to write config
* @us_r: actual spi_device to read back data
* @buf: transmit or receive buffer
* @buf_lock: mutex to protect tx and rx
**/
struct adis16060_state {
struct spi_device *us_w;
struct spi_device *us_r;
struct mutex buf_lock;
u8 buf[3] ____cacheline_aligned;
};
static struct iio_dev *adis16060_iio_dev;
static int adis16060_spi_write(struct device *dev,
u8 val)
{
int ret;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16060_state *st = iio_priv(indio_dev);
mutex_lock(&st->buf_lock);
st->buf[2] = val; /* The last 8 bits clocked in are latched */
ret = spi_write(st->us_w, st->buf, 3);
mutex_unlock(&st->buf_lock);
return ret;
}
static int adis16060_spi_read(struct device *dev,
u16 *val)
{
int ret;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16060_state *st = iio_priv(indio_dev);
mutex_lock(&st->buf_lock);
ret = spi_read(st->us_r, st->buf, 3);
/* The internal successive approximation ADC begins the
* conversion process on the falling edge of MSEL1 and
* starts to place data MSB first on the DOUT line at
* the 6th falling edge of SCLK
*/
if (ret == 0)
*val = ((st->buf[0] & 0x3) << 12) |
(st->buf[1] << 4) |
((st->buf[2] >> 4) & 0xF);
mutex_unlock(&st->buf_lock);
return ret;
}
static ssize_t adis16060_read(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
struct iio_dev *indio_dev = dev_get_drvdata(dev);
u16 val = 0;
ssize_t ret;
/* Take the iio_dev status lock */
mutex_lock(&indio_dev->mlock);
ret = adis16060_spi_write(dev, this_attr->address);
if (ret < 0)
goto error_ret;
ret = adis16060_spi_read(dev, &val);
error_ret:
mutex_unlock(&indio_dev->mlock);
if (ret == 0)
return sprintf(buf, "%d\n", val);
else
return ret;
}
static IIO_DEV_ATTR_GYRO_Z(adis16060_read, ADIS16060_GYRO);
static IIO_DEVICE_ATTR(temp_raw, S_IRUGO, adis16060_read, NULL,
ADIS16060_TEMP_OUT);
static IIO_CONST_ATTR_TEMP_SCALE("34"); /* Milli degrees C */
static IIO_CONST_ATTR_TEMP_OFFSET("-7461.117"); /* Milli degrees C */
static IIO_DEV_ATTR_IN_RAW(0, adis16060_read, ADIS16060_AIN1);
static IIO_DEV_ATTR_IN_RAW(1, adis16060_read, ADIS16060_AIN2);
static IIO_CONST_ATTR(name, "adis16060");
static struct attribute *adis16060_attributes[] = {
&iio_dev_attr_gyro_z_raw.dev_attr.attr,
&iio_dev_attr_temp_raw.dev_attr.attr,
&iio_const_attr_temp_scale.dev_attr.attr,
&iio_const_attr_temp_offset.dev_attr.attr,
&iio_dev_attr_in0_raw.dev_attr.attr,
&iio_dev_attr_in1_raw.dev_attr.attr,
&iio_const_attr_name.dev_attr.attr,
NULL
};
static const struct attribute_group adis16060_attribute_group = {
.attrs = adis16060_attributes,
};
static const struct iio_info adis16060_info = {
.attrs = &adis16060_attribute_group,
.driver_module = THIS_MODULE,
};
static int __devinit adis16060_r_probe(struct spi_device *spi)
{
int ret, regdone = 0;
struct adis16060_state *st;
struct iio_dev *indio_dev;
/* setup the industrialio driver allocated elements */
indio_dev = iio_allocate_device(sizeof(*st));
if (indio_dev == NULL) {
ret = -ENOMEM;
goto error_ret;
}
/* this is only used for removal purposes */
spi_set_drvdata(spi, indio_dev);
st = iio_priv(indio_dev);
st->us_r = spi;
mutex_init(&st->buf_lock);
indio_dev->dev.parent = &spi->dev;
indio_dev->info = &adis16060_info;
indio_dev->modes = INDIO_DIRECT_MODE;
ret = iio_device_register(indio_dev);
if (ret)
goto error_free_dev;
regdone = 1;
adis16060_iio_dev = indio_dev;
return 0;
error_free_dev:
if (regdone)
iio_device_unregister(indio_dev);
else
iio_free_device(indio_dev);
error_ret:
return ret;
}
/* fixme, confirm ordering in this function */
static int adis16060_r_remove(struct spi_device *spi)
{
iio_device_unregister(spi_get_drvdata(spi));
return 0;
}
static int __devinit adis16060_w_probe(struct spi_device *spi)
{
int ret;
struct iio_dev *indio_dev = adis16060_iio_dev;
struct adis16060_state *st;
if (!indio_dev) {
ret = -ENODEV;
goto error_ret;
}
st = iio_priv(indio_dev);
spi_set_drvdata(spi, indio_dev);
st->us_w = spi;
return 0;
error_ret:
return ret;
}
static int adis16060_w_remove(struct spi_device *spi)
{
return 0;
}
static struct spi_driver adis16060_r_driver = {
.driver = {
.name = "adis16060_r",
.owner = THIS_MODULE,
},
.probe = adis16060_r_probe,
.remove = __devexit_p(adis16060_r_remove),
};
static struct spi_driver adis16060_w_driver = {
.driver = {
.name = "adis16060_w",
.owner = THIS_MODULE,
},
.probe = adis16060_w_probe,
.remove = __devexit_p(adis16060_w_remove),
};
static __init int adis16060_init(void)
{
int ret;
ret = spi_register_driver(&adis16060_r_driver);
if (ret < 0)
return ret;
ret = spi_register_driver(&adis16060_w_driver);
if (ret < 0) {
spi_unregister_driver(&adis16060_r_driver);
return ret;
}
return 0;
}
module_init(adis16060_init);
static __exit void adis16060_exit(void)
{
spi_unregister_driver(&adis16060_w_driver);
spi_unregister_driver(&adis16060_r_driver);
}
module_exit(adis16060_exit);
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
MODULE_LICENSE("GPL v2");
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