| /* |
| * ADIS16130 Digital Output, High Precision Angular Rate Sensor 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 <linux/list.h> |
| |
| #include "../iio.h" |
| #include "../sysfs.h" |
| #include "gyro.h" |
| #include "../adc/adc.h" |
| |
| #define ADIS16130_CON 0x0 |
| #define ADIS16130_CON_RD (1 << 6) |
| #define ADIS16130_IOP 0x1 |
| |
| /* 1 = data-ready signal low when unread data on all channels; */ |
| #define ADIS16130_IOP_ALL_RDY (1 << 3) |
| #define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */ |
| #define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */ |
| #define ADIS16130_TEMPDATA 0xA /* Temperature output */ |
| #define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */ |
| #define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */ |
| #define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */ |
| #define ADIS16130_TEMPCS_EN (1 << 3) |
| #define ADIS16130_RATECONV 0x30 |
| #define ADIS16130_TEMPCONV 0x32 |
| #define ADIS16130_MODE 0x38 |
| #define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */ |
| |
| /** |
| * struct adis16130_state - device instance specific data |
| * @us: actual spi_device to write data |
| * @indio_dev: industrial I/O device structure |
| * @mode: 24 bits (1) or 16 bits (0) |
| * @buf_lock: mutex to protect tx and rx |
| * @buf: unified tx/rx buffer |
| **/ |
| struct adis16130_state { |
| struct spi_device *us; |
| struct iio_dev *indio_dev; |
| u32 mode; |
| struct mutex buf_lock; |
| u8 buf[4] ____cacheline_aligned; |
| }; |
| |
| static int adis16130_spi_write(struct device *dev, u8 reg_addr, |
| u8 val) |
| { |
| int ret; |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16130_state *st = iio_dev_get_devdata(indio_dev); |
| |
| mutex_lock(&st->buf_lock); |
| st->buf[0] = reg_addr; |
| st->buf[1] = val; |
| |
| ret = spi_write(st->us, st->buf, 2); |
| mutex_unlock(&st->buf_lock); |
| |
| return ret; |
| } |
| |
| static int adis16130_spi_read(struct device *dev, u8 reg_addr, |
| u32 *val) |
| { |
| int ret; |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16130_state *st = iio_dev_get_devdata(indio_dev); |
| |
| mutex_lock(&st->buf_lock); |
| |
| st->buf[0] = ADIS16130_CON_RD | reg_addr; |
| if (st->mode) |
| ret = spi_read(st->us, st->buf, 4); |
| else |
| ret = spi_read(st->us, st->buf, 3); |
| |
| if (ret == 0) { |
| if (st->mode) |
| *val = (st->buf[1] << 16) | |
| (st->buf[2] << 8) | |
| st->buf[3]; |
| else |
| *val = (st->buf[1] << 8) | st->buf[2]; |
| } |
| |
| mutex_unlock(&st->buf_lock); |
| |
| return ret; |
| } |
| |
| static ssize_t adis16130_val_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); |
| u32 val; |
| ssize_t ret; |
| |
| /* Take the iio_dev status lock */ |
| mutex_lock(&indio_dev->mlock); |
| ret = adis16130_spi_read(dev, this_attr->address, &val); |
| mutex_unlock(&indio_dev->mlock); |
| |
| if (ret == 0) |
| return sprintf(buf, "%d\n", val); |
| else |
| return ret; |
| } |
| |
| static ssize_t adis16130_bitsmode_read(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16130_state *st = iio_dev_get_devdata(indio_dev); |
| |
| if (st->mode == 1) |
| return sprintf(buf, "s24\n"); |
| else |
| return sprintf(buf, "s16\n"); |
| } |
| |
| static ssize_t adis16130_bitsmode_write(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, |
| size_t len) |
| { |
| int ret; |
| u8 val; |
| |
| if (sysfs_streq(buf, "s16")) |
| val = 0; |
| else if (sysfs_streq(buf, "s24")) |
| val = 1; |
| else |
| return -EINVAL; |
| |
| ret = adis16130_spi_write(dev, ADIS16130_MODE, val); |
| |
| return ret ? ret : len; |
| } |
| static IIO_DEVICE_ATTR(temp_raw, S_IRUGO, adis16130_val_read, NULL, |
| ADIS16130_TEMPDATA); |
| |
| static IIO_DEV_ATTR_GYRO_Z(adis16130_val_read, ADIS16130_RATEDATA); |
| |
| static IIO_DEVICE_ATTR(gyro_z_type, S_IWUSR | S_IRUGO, adis16130_bitsmode_read, |
| adis16130_bitsmode_write, |
| ADIS16130_MODE); |
| |
| static IIO_CONST_ATTR(gyro_z_type_available, "s16 s24"); |
| |
| static struct attribute *adis16130_attributes[] = { |
| &iio_dev_attr_temp_raw.dev_attr.attr, |
| &iio_dev_attr_gyro_z_raw.dev_attr.attr, |
| &iio_dev_attr_gyro_z_type.dev_attr.attr, |
| &iio_const_attr_gyro_z_type_available.dev_attr.attr, |
| NULL |
| }; |
| |
| static const struct attribute_group adis16130_attribute_group = { |
| .attrs = adis16130_attributes, |
| }; |
| |
| static const struct iio_info adis16130_info = { |
| .attrs = &adis16130_attribute_group, |
| .driver_module = THIS_MODULE, |
| }; |
| |
| static int __devinit adis16130_probe(struct spi_device *spi) |
| { |
| int ret; |
| struct adis16130_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 = spi; |
| mutex_init(&st->buf_lock); |
| /* setup the industrialio driver allocated elements */ |
| st->indio_dev = iio_allocate_device(0); |
| if (st->indio_dev == NULL) { |
| ret = -ENOMEM; |
| goto error_free_st; |
| } |
| |
| st->indio_dev->name = spi->dev.driver->name; |
| st->indio_dev->dev.parent = &spi->dev; |
| st->indio_dev->info = &adis16130_info; |
| st->indio_dev->dev_data = (void *)(st); |
| st->indio_dev->modes = INDIO_DIRECT_MODE; |
| st->mode = 1; |
| |
| ret = iio_device_register(st->indio_dev); |
| if (ret) |
| goto error_free_dev; |
| |
| return 0; |
| |
| error_free_dev: |
| iio_free_device(st->indio_dev); |
| error_free_st: |
| kfree(st); |
| error_ret: |
| return ret; |
| } |
| |
| /* fixme, confirm ordering in this function */ |
| static int adis16130_remove(struct spi_device *spi) |
| { |
| struct adis16130_state *st = spi_get_drvdata(spi); |
| struct iio_dev *indio_dev = st->indio_dev; |
| |
| iio_device_unregister(indio_dev); |
| kfree(st); |
| |
| return 0; |
| } |
| |
| static struct spi_driver adis16130_driver = { |
| .driver = { |
| .name = "adis16130", |
| .owner = THIS_MODULE, |
| }, |
| .probe = adis16130_probe, |
| .remove = __devexit_p(adis16130_remove), |
| }; |
| |
| static __init int adis16130_init(void) |
| { |
| return spi_register_driver(&adis16130_driver); |
| } |
| module_init(adis16130_init); |
| |
| static __exit void adis16130_exit(void) |
| { |
| spi_unregister_driver(&adis16130_driver); |
| } |
| module_exit(adis16130_exit); |
| |
| MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); |
| MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate"); |
| MODULE_LICENSE("GPL v2"); |