202 lines
4.4 KiB
C
202 lines
4.4 KiB
C
/*
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* ADIS16080/100 Yaw Rate Gyroscope with SPI driver
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*
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* Copyright 2010 Analog Devices Inc.
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*
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* Licensed under the GPL-2 or later.
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*/
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/slab.h>
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#include <linux/sysfs.h>
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#include <linux/module.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#define ADIS16080_DIN_GYRO (0 << 10) /* Gyroscope output */
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#define ADIS16080_DIN_TEMP (1 << 10) /* Temperature output */
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#define ADIS16080_DIN_AIN1 (2 << 10)
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#define ADIS16080_DIN_AIN2 (3 << 10)
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/*
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* 1: Write contents on DIN to control register.
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* 0: No changes to control register.
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*/
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#define ADIS16080_DIN_WRITE (1 << 15)
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/**
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* struct adis16080_state - device instance specific data
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* @us: actual spi_device to write data
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* @buf: transmit or receive buffer
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* @buf_lock: mutex to protect tx and rx
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**/
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struct adis16080_state {
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struct spi_device *us;
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struct mutex buf_lock;
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u8 buf[2] ____cacheline_aligned;
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};
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static int adis16080_spi_write(struct iio_dev *indio_dev,
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u16 val)
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{
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int ret;
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struct adis16080_state *st = iio_priv(indio_dev);
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mutex_lock(&st->buf_lock);
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st->buf[0] = val >> 8;
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st->buf[1] = val;
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ret = spi_write(st->us, st->buf, 2);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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static int adis16080_spi_read(struct iio_dev *indio_dev,
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u16 *val)
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{
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int ret;
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struct adis16080_state *st = iio_priv(indio_dev);
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mutex_lock(&st->buf_lock);
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ret = spi_read(st->us, st->buf, 2);
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if (ret == 0)
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*val = ((st->buf[0] & 0xF) << 8) | st->buf[1];
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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static int adis16080_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val,
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int *val2,
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long mask)
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{
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int ret = -EINVAL;
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u16 ut = 0;
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/* Take the iio_dev status lock */
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mutex_lock(&indio_dev->mlock);
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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ret = adis16080_spi_write(indio_dev,
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chan->address |
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ADIS16080_DIN_WRITE);
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if (ret < 0)
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break;
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ret = adis16080_spi_read(indio_dev, &ut);
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if (ret < 0)
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break;
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*val = ut;
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ret = IIO_VAL_INT;
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break;
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}
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mutex_unlock(&indio_dev->mlock);
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return ret;
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}
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static const struct iio_chan_spec adis16080_channels[] = {
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{
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.type = IIO_ANGL_VEL,
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.modified = 1,
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.channel2 = IIO_MOD_Z,
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.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
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.address = ADIS16080_DIN_GYRO,
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}, {
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.type = IIO_VOLTAGE,
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.indexed = 1,
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.channel = 0,
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.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
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.address = ADIS16080_DIN_AIN1,
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}, {
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.type = IIO_VOLTAGE,
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.indexed = 1,
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.channel = 1,
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.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
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.address = ADIS16080_DIN_AIN2,
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}, {
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.type = IIO_TEMP,
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.indexed = 1,
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.channel = 0,
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.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
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.address = ADIS16080_DIN_TEMP,
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}
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};
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static const struct iio_info adis16080_info = {
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.read_raw = &adis16080_read_raw,
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.driver_module = THIS_MODULE,
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};
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static int __devinit adis16080_probe(struct spi_device *spi)
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{
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int ret;
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struct adis16080_state *st;
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struct iio_dev *indio_dev;
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/* setup the industrialio driver allocated elements */
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indio_dev = iio_device_alloc(sizeof(*st));
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if (indio_dev == NULL) {
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ret = -ENOMEM;
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goto error_ret;
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}
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st = iio_priv(indio_dev);
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/* this is only used for removal purposes */
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spi_set_drvdata(spi, indio_dev);
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/* Allocate the comms buffers */
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st->us = spi;
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mutex_init(&st->buf_lock);
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indio_dev->name = spi->dev.driver->name;
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indio_dev->channels = adis16080_channels;
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indio_dev->num_channels = ARRAY_SIZE(adis16080_channels);
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indio_dev->dev.parent = &spi->dev;
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indio_dev->info = &adis16080_info;
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indio_dev->modes = INDIO_DIRECT_MODE;
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ret = iio_device_register(indio_dev);
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if (ret)
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goto error_free_dev;
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return 0;
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error_free_dev:
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iio_device_free(indio_dev);
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error_ret:
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return ret;
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}
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/* fixme, confirm ordering in this function */
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static int adis16080_remove(struct spi_device *spi)
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{
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iio_device_unregister(spi_get_drvdata(spi));
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iio_device_free(spi_get_drvdata(spi));
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return 0;
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}
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static struct spi_driver adis16080_driver = {
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.driver = {
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.name = "adis16080",
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.owner = THIS_MODULE,
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},
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.probe = adis16080_probe,
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.remove = __devexit_p(adis16080_remove),
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};
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module_spi_driver(adis16080_driver);
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MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
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MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver");
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MODULE_LICENSE("GPL v2");
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MODULE_ALIAS("spi:adis16080");
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