/* * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver * * Copyright 2010 Analog Devices Inc. * * Licensed under the GPL-2 or later. */ #include #include #include #include #include #include #include #include #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");