2 * ADIS16080/100 Yaw Rate Gyroscope with SPI driver
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
9 #include <linux/interrupt.h>
10 #include <linux/irq.h>
11 #include <linux/gpio.h>
12 #include <linux/delay.h>
13 #include <linux/mutex.h>
14 #include <linux/device.h>
15 #include <linux/kernel.h>
16 #include <linux/spi/spi.h>
17 #include <linux/slab.h>
18 #include <linux/sysfs.h>
19 #include <linux/list.h>
24 #include "../adc/adc.h"
26 #include "adis16080.h"
28 #define DRIVER_NAME "adis16080"
30 struct adis16080_state *adis16080_st;
32 int adis16080_spi_write(struct device *dev,
36 struct iio_dev *indio_dev = dev_get_drvdata(dev);
37 struct adis16080_state *st = iio_dev_get_devdata(indio_dev);
39 mutex_lock(&st->buf_lock);
43 ret = spi_write(st->us, st->tx, 2);
44 mutex_unlock(&st->buf_lock);
49 int adis16080_spi_read(struct device *dev,
53 struct iio_dev *indio_dev = dev_get_drvdata(dev);
54 struct adis16080_state *st = iio_dev_get_devdata(indio_dev);
56 mutex_lock(&st->buf_lock);
58 ret = spi_read(st->us, st->rx, 2);
61 *val = ((st->rx[0] & 0xF) << 8) | st->rx[1];
62 mutex_unlock(&st->buf_lock);
67 static ssize_t adis16080_read(struct device *dev,
68 struct device_attribute *attr,
71 struct iio_dev *indio_dev = dev_get_drvdata(dev);
75 /* Take the iio_dev status lock */
76 mutex_lock(&indio_dev->mlock);
77 ret = adis16080_spi_read(dev, &val);
78 mutex_unlock(&indio_dev->mlock);
81 return sprintf(buf, "%d\n", val);
86 static ssize_t adis16080_write(struct device *dev,
87 struct device_attribute *attr,
94 ret = strict_strtol(buf, 16, &val);
97 ret = adis16080_spi_write(dev, val);
100 return ret ? ret : len;
103 #define IIO_DEV_ATTR_IN(_show) \
104 IIO_DEVICE_ATTR(in, S_IRUGO, _show, NULL, 0)
106 #define IIO_DEV_ATTR_OUT(_store) \
107 IIO_DEVICE_ATTR(out, S_IRUGO, NULL, _store, 0)
109 static IIO_DEV_ATTR_IN(adis16080_read);
110 static IIO_DEV_ATTR_OUT(adis16080_write);
112 static IIO_CONST_ATTR(name, "adis16080");
114 static struct attribute *adis16080_event_attributes[] = {
118 static struct attribute_group adis16080_event_attribute_group = {
119 .attrs = adis16080_event_attributes,
122 static struct attribute *adis16080_attributes[] = {
123 &iio_dev_attr_in.dev_attr.attr,
124 &iio_dev_attr_out.dev_attr.attr,
125 &iio_const_attr_name.dev_attr.attr,
129 static const struct attribute_group adis16080_attribute_group = {
130 .attrs = adis16080_attributes,
133 static int __devinit adis16080_probe(struct spi_device *spi)
135 int ret, regdone = 0;
136 struct adis16080_state *st = kzalloc(sizeof *st, GFP_KERNEL);
141 /* this is only used for removal purposes */
142 spi_set_drvdata(spi, st);
144 /* Allocate the comms buffers */
145 st->rx = kzalloc(sizeof(*st->rx)*ADIS16080_MAX_RX, GFP_KERNEL);
146 if (st->rx == NULL) {
150 st->tx = kzalloc(sizeof(*st->tx)*ADIS16080_MAX_TX, GFP_KERNEL);
151 if (st->tx == NULL) {
156 mutex_init(&st->buf_lock);
157 /* setup the industrialio driver allocated elements */
158 st->indio_dev = iio_allocate_device();
159 if (st->indio_dev == NULL) {
164 st->indio_dev->dev.parent = &spi->dev;
165 st->indio_dev->num_interrupt_lines = 1;
166 st->indio_dev->event_attrs = &adis16080_event_attribute_group;
167 st->indio_dev->attrs = &adis16080_attribute_group;
168 st->indio_dev->dev_data = (void *)(st);
169 st->indio_dev->driver_module = THIS_MODULE;
170 st->indio_dev->modes = INDIO_DIRECT_MODE;
172 ret = adis16080_configure_ring(st->indio_dev);
176 ret = iio_device_register(st->indio_dev);
178 goto error_unreg_ring_funcs;
181 ret = adis16080_initialize_ring(st->indio_dev->ring);
183 printk(KERN_ERR "failed to initialize the ring\n");
184 goto error_unreg_ring_funcs;
187 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
188 ret = iio_register_interrupt_line(spi->irq,
194 goto error_uninitialize_ring;
196 ret = adis16080_probe_trigger(st->indio_dev);
198 goto error_unregister_line;
204 error_unregister_line:
205 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
206 iio_unregister_interrupt_line(st->indio_dev, 0);
207 error_uninitialize_ring:
208 adis16080_uninitialize_ring(st->indio_dev->ring);
209 error_unreg_ring_funcs:
210 adis16080_unconfigure_ring(st->indio_dev);
213 iio_device_unregister(st->indio_dev);
215 iio_free_device(st->indio_dev);
226 /* fixme, confirm ordering in this function */
227 static int adis16080_remove(struct spi_device *spi)
229 struct adis16080_state *st = spi_get_drvdata(spi);
230 struct iio_dev *indio_dev = st->indio_dev;
232 flush_scheduled_work();
234 adis16080_remove_trigger(indio_dev);
235 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
236 iio_unregister_interrupt_line(indio_dev, 0);
238 adis16080_uninitialize_ring(indio_dev->ring);
239 adis16080_unconfigure_ring(indio_dev);
240 iio_device_unregister(indio_dev);
248 static struct spi_driver adis16080_driver = {
251 .owner = THIS_MODULE,
253 .probe = adis16080_probe,
254 .remove = __devexit_p(adis16080_remove),
257 static __init int adis16080_init(void)
259 return spi_register_driver(&adis16080_driver);
261 module_init(adis16080_init);
263 static __exit void adis16080_exit(void)
265 spi_unregister_driver(&adis16080_driver);
267 module_exit(adis16080_exit);
269 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
270 MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope with SPI driver");
271 MODULE_LICENSE("GPL v2");