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/interrupt.h>
|
|
|
|
#include <linux/irq.h>
|
|
|
|
#include <linux/gpio.h>
|
|
|
|
#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 <linux/list.h>
|
|
|
|
|
|
|
|
#include "../iio.h"
|
|
|
|
#include "../sysfs.h"
|
|
|
|
#include "gyro.h"
|
|
|
|
#include "../adc/adc.h"
|
|
|
|
|
|
|
|
#include "adis16060.h"
|
|
|
|
|
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);
|
|
|
|
st->tx[0] = 0;
|
|
|
|
st->tx[1] = 0;
|
|
|
|
st->tx[2] = val; /* The last 8 bits clocked in are latched */
|
|
|
|
|
|
|
|
ret = spi_write(st->us_w, st->tx, 3);
|
|
|
|
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);
|
|
|
|
|
|
|
|
ret = spi_read(st->us_r, st->rx, 3);
|
|
|
|
|
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)
|
2011-02-11 14:20:00 +00:00
|
|
|
*val = ((st->rx[0] & 0x3) << 12) |
|
|
|
|
(st->rx[1] << 4) |
|
|
|
|
((st->rx[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)
|
|
|
|
{
|
|
|
|
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);
|
|
|
|
ret = adis16060_spi_read(dev, &val);
|
|
|
|
mutex_unlock(&indio_dev->mlock);
|
|
|
|
|
|
|
|
if (ret == 0)
|
|
|
|
return sprintf(buf, "%d\n", val);
|
|
|
|
else
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
static ssize_t adis16060_write(struct device *dev,
|
|
|
|
struct device_attribute *attr,
|
|
|
|
const char *buf,
|
|
|
|
size_t len)
|
|
|
|
{
|
|
|
|
int ret;
|
|
|
|
long val;
|
|
|
|
|
|
|
|
ret = strict_strtol(buf, 16, &val);
|
|
|
|
if (ret)
|
|
|
|
goto error_ret;
|
|
|
|
ret = adis16060_spi_write(dev, val);
|
|
|
|
|
|
|
|
error_ret:
|
|
|
|
return ret ? ret : len;
|
|
|
|
}
|
|
|
|
|
|
|
|
#define IIO_DEV_ATTR_IN(_show) \
|
|
|
|
IIO_DEVICE_ATTR(in, S_IRUGO, _show, NULL, 0)
|
|
|
|
|
|
|
|
#define IIO_DEV_ATTR_OUT(_store) \
|
|
|
|
IIO_DEVICE_ATTR(out, S_IRUGO, NULL, _store, 0)
|
|
|
|
|
|
|
|
static IIO_DEV_ATTR_IN(adis16060_read);
|
|
|
|
static IIO_DEV_ATTR_OUT(adis16060_write);
|
|
|
|
|
|
|
|
static IIO_CONST_ATTR(name, "adis16060");
|
|
|
|
|
|
|
|
static struct attribute *adis16060_event_attributes[] = {
|
|
|
|
NULL
|
|
|
|
};
|
|
|
|
|
|
|
|
static struct attribute_group adis16060_event_attribute_group = {
|
|
|
|
.attrs = adis16060_event_attributes,
|
|
|
|
};
|
|
|
|
|
|
|
|
static struct attribute *adis16060_attributes[] = {
|
|
|
|
&iio_dev_attr_in.dev_attr.attr,
|
|
|
|
&iio_dev_attr_out.dev_attr.attr,
|
|
|
|
&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);
|
|
|
|
|
|
|
|
/* Allocate the comms buffers */
|
|
|
|
st->rx = kzalloc(sizeof(*st->rx)*ADIS16060_MAX_RX, GFP_KERNEL);
|
|
|
|
if (st->rx == NULL) {
|
|
|
|
ret = -ENOMEM;
|
|
|
|
goto error_free_st;
|
|
|
|
}
|
|
|
|
st->tx = kzalloc(sizeof(*st->tx)*ADIS16060_MAX_TX, GFP_KERNEL);
|
|
|
|
if (st->tx == NULL) {
|
|
|
|
ret = -ENOMEM;
|
|
|
|
goto error_free_rx;
|
|
|
|
}
|
|
|
|
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;
|
|
|
|
goto error_free_tx;
|
|
|
|
}
|
|
|
|
|
|
|
|
st->indio_dev->dev.parent = &spi->dev;
|
|
|
|
st->indio_dev->num_interrupt_lines = 1;
|
|
|
|
st->indio_dev->event_attrs = &adis16060_event_attribute_group;
|
|
|
|
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_tx:
|
|
|
|
kfree(st->tx);
|
|
|
|
error_free_rx:
|
|
|
|
kfree(st->rx);
|
|
|
|
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;
|
|
|
|
|
|
|
|
flush_scheduled_work();
|
|
|
|
|
|
|
|
if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
|
|
|
|
iio_unregister_interrupt_line(indio_dev, 0);
|
|
|
|
|
|
|
|
iio_device_unregister(indio_dev);
|
|
|
|
kfree(st->tx);
|
|
|
|
kfree(st->rx);
|
|
|
|
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");
|