2010-10-28 01:44:04 +00:00
|
|
|
/*
|
|
|
|
* 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>
|
2011-02-28 12:33:42 +00:00
|
|
|
|
2010-10-28 01:44:04 +00:00
|
|
|
|
|
|
|
#include "../iio.h"
|
|
|
|
#include "../sysfs.h"
|
|
|
|
#include "gyro.h"
|
|
|
|
#include "../adc/adc.h"
|
|
|
|
|
2011-02-28 12:33:42 +00:00
|
|
|
#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
|
|
|
|
* @indio_dev: industrial I/O device structure
|
|
|
|
* @buf: transmit or recieve buffer
|
|
|
|
* @buf_lock: mutex to protect tx and rx
|
|
|
|
**/
|
|
|
|
struct adis16060_state {
|
|
|
|
struct spi_device *us_w;
|
|
|
|
struct spi_device *us_r;
|
|
|
|
struct iio_dev *indio_dev;
|
|
|
|
struct mutex buf_lock;
|
|
|
|
|
|
|
|
u8 buf[3] ____cacheline_aligned;
|
|
|
|
};
|
2010-10-28 01:44:04 +00:00
|
|
|
|
2011-02-11 14:20:00 +00:00
|
|
|
static struct adis16060_state *adis16060_st;
|
2010-10-28 01:44:04 +00:00
|
|
|
|
2011-02-11 14:20:00 +00:00
|
|
|
static int adis16060_spi_write(struct device *dev,
|
2010-10-28 01:44:04 +00:00
|
|
|
u8 val)
|
|
|
|
{
|
|
|
|
int ret;
|
|
|
|
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
|
|
|
struct adis16060_state *st = iio_dev_get_devdata(indio_dev);
|
|
|
|
|
|
|
|
mutex_lock(&st->buf_lock);
|
2011-02-28 12:33:42 +00:00
|
|
|
st->buf[2] = val; /* The last 8 bits clocked in are latched */
|
|
|
|
ret = spi_write(st->us_w, st->buf, 3);
|
2010-10-28 01:44:04 +00:00
|
|
|
mutex_unlock(&st->buf_lock);
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
2011-02-11 14:20:00 +00:00
|
|
|
static int adis16060_spi_read(struct device *dev,
|
2010-10-28 01:44:04 +00:00
|
|
|
u16 *val)
|
|
|
|
{
|
|
|
|
int ret;
|
|
|
|
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
|
|
|
struct adis16060_state *st = iio_dev_get_devdata(indio_dev);
|
|
|
|
|
|
|
|
mutex_lock(&st->buf_lock);
|
|
|
|
|
2011-02-28 12:33:42 +00:00
|
|
|
ret = spi_read(st->us_r, st->buf, 3);
|
2010-10-28 01:44:04 +00:00
|
|
|
|
2011-02-11 14:20:00 +00:00
|
|
|
/* 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
|
2010-10-28 01:44:04 +00:00
|
|
|
*/
|
|
|
|
if (ret == 0)
|
2011-02-28 12:33:42 +00:00
|
|
|
*val = ((st->buf[0] & 0x3) << 12) |
|
|
|
|
(st->buf[1] << 4) |
|
|
|
|
((st->buf[2] >> 4) & 0xF);
|
2010-10-28 01:44:04 +00:00
|
|
|
mutex_unlock(&st->buf_lock);
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
static ssize_t adis16060_read(struct device *dev,
|
|
|
|
struct device_attribute *attr,
|
|
|
|
char *buf)
|
|
|
|
{
|
2011-02-28 12:33:42 +00:00
|
|
|
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
|
2010-10-28 01:44:04 +00:00
|
|
|
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
2011-02-11 14:20:00 +00:00
|
|
|
u16 val = 0;
|
2010-10-28 01:44:04 +00:00
|
|
|
ssize_t ret;
|
|
|
|
|
|
|
|
/* Take the iio_dev status lock */
|
|
|
|
mutex_lock(&indio_dev->mlock);
|
2011-02-28 12:33:42 +00:00
|
|
|
|
|
|
|
ret = adis16060_spi_write(dev, this_attr->address);
|
|
|
|
if (ret < 0)
|
|
|
|
goto error_ret;
|
|
|
|
ret = adis16060_spi_read(dev, &val);
|
|
|
|
error_ret:
|
2010-10-28 01:44:04 +00:00
|
|
|
mutex_unlock(&indio_dev->mlock);
|
|
|
|
|
|
|
|
if (ret == 0)
|
|
|
|
return sprintf(buf, "%d\n", val);
|
|
|
|
else
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
2011-02-28 12:33:42 +00:00
|
|
|
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);
|
2010-10-28 01:44:04 +00:00
|
|
|
static IIO_CONST_ATTR(name, "adis16060");
|
|
|
|
|
|
|
|
static struct attribute *adis16060_attributes[] = {
|
2011-02-28 12:33:42 +00:00
|
|
|
&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,
|
2010-10-28 01:44:04 +00:00
|
|
|
&iio_const_attr_name.dev_attr.attr,
|
|
|
|
NULL
|
|
|
|
};
|
|
|
|
|
|
|
|
static const struct attribute_group adis16060_attribute_group = {
|
|
|
|
.attrs = adis16060_attributes,
|
|
|
|
};
|
|
|
|
|
|
|
|
static int __devinit adis16060_r_probe(struct spi_device *spi)
|
|
|
|
{
|
|
|
|
int ret, regdone = 0;
|
|
|
|
struct adis16060_state *st = kzalloc(sizeof *st, GFP_KERNEL);
|
|
|
|
if (!st) {
|
|
|
|
ret = -ENOMEM;
|
|
|
|
goto error_ret;
|
|
|
|
}
|
|
|
|
/* this is only used for removal purposes */
|
|
|
|
spi_set_drvdata(spi, st);
|
|
|
|
|
|
|
|
st->us_r = spi;
|
|
|
|
mutex_init(&st->buf_lock);
|
|
|
|
/* setup the industrialio driver allocated elements */
|
|
|
|
st->indio_dev = iio_allocate_device();
|
|
|
|
if (st->indio_dev == NULL) {
|
|
|
|
ret = -ENOMEM;
|
2011-02-28 12:33:42 +00:00
|
|
|
goto error_free_st;
|
2010-10-28 01:44:04 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
st->indio_dev->dev.parent = &spi->dev;
|
|
|
|
st->indio_dev->attrs = &adis16060_attribute_group;
|
|
|
|
st->indio_dev->dev_data = (void *)(st);
|
|
|
|
st->indio_dev->driver_module = THIS_MODULE;
|
|
|
|
st->indio_dev->modes = INDIO_DIRECT_MODE;
|
|
|
|
|
|
|
|
ret = iio_device_register(st->indio_dev);
|
|
|
|
if (ret)
|
2011-02-11 14:20:00 +00:00
|
|
|
goto error_free_dev;
|
2010-10-28 01:44:04 +00:00
|
|
|
regdone = 1;
|
|
|
|
|
|
|
|
adis16060_st = st;
|
|
|
|
return 0;
|
|
|
|
|
|
|
|
error_free_dev:
|
|
|
|
if (regdone)
|
|
|
|
iio_device_unregister(st->indio_dev);
|
|
|
|
else
|
|
|
|
iio_free_device(st->indio_dev);
|
|
|
|
error_free_st:
|
|
|
|
kfree(st);
|
|
|
|
error_ret:
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* fixme, confirm ordering in this function */
|
|
|
|
static int adis16060_r_remove(struct spi_device *spi)
|
|
|
|
{
|
|
|
|
struct adis16060_state *st = spi_get_drvdata(spi);
|
|
|
|
struct iio_dev *indio_dev = st->indio_dev;
|
|
|
|
|
|
|
|
iio_device_unregister(indio_dev);
|
|
|
|
kfree(st);
|
|
|
|
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
static int __devinit adis16060_w_probe(struct spi_device *spi)
|
|
|
|
{
|
|
|
|
int ret;
|
|
|
|
struct adis16060_state *st = adis16060_st;
|
|
|
|
if (!st) {
|
|
|
|
ret = -ENODEV;
|
|
|
|
goto error_ret;
|
|
|
|
}
|
|
|
|
spi_set_drvdata(spi, st);
|
|
|
|
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>");
|
2011-02-11 14:20:00 +00:00
|
|
|
MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
|
2010-10-28 01:44:04 +00:00
|
|
|
MODULE_LICENSE("GPL v2");
|