| /* |
| * 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"); |