--- /dev/null
+/*
+ * 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"
+
+#define DRIVER_NAME "adis16060"
+
+struct adis16060_state *adis16060_st;
+
+int adis16060_spi_write(struct device *dev,
+ 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;
+}
+
+int adis16060_spi_read(struct device *dev,
+ 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);
+
+ /* 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
+ */
+ if (ret == 0)
+ *val = ((st->rx[0] & 0x3) << 12) | (st->rx[1] << 4) | ((st->rx[2] >> 4) & 0xF);
+ 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);
+ u16 val;
+ 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 = adis16060_configure_ring(st->indio_dev);
+ if (ret)
+ goto error_free_dev;
+
+ ret = iio_device_register(st->indio_dev);
+ if (ret)
+ goto error_unreg_ring_funcs;
+ regdone = 1;
+
+ ret = adis16060_initialize_ring(st->indio_dev->ring);
+ if (ret) {
+ printk(KERN_ERR "failed to initialize the ring\n");
+ goto error_unreg_ring_funcs;
+ }
+
+ if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
+ ret = iio_register_interrupt_line(spi->irq,
+ st->indio_dev,
+ 0,
+ IRQF_TRIGGER_RISING,
+ "adis16060");
+ if (ret)
+ goto error_uninitialize_ring;
+
+ ret = adis16060_probe_trigger(st->indio_dev);
+ if (ret)
+ goto error_unregister_line;
+ }
+
+ adis16060_st = st;
+ return 0;
+
+error_unregister_line:
+ if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
+ iio_unregister_interrupt_line(st->indio_dev, 0);
+error_uninitialize_ring:
+ adis16060_uninitialize_ring(st->indio_dev->ring);
+error_unreg_ring_funcs:
+ adis16060_unconfigure_ring(st->indio_dev);
+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();
+
+ adis16060_remove_trigger(indio_dev);
+ if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
+ iio_unregister_interrupt_line(indio_dev, 0);
+
+ adis16060_uninitialize_ring(indio_dev->ring);
+ adis16060_unconfigure_ring(indio_dev);
+ 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>");
+MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope with SPI driver");
+MODULE_LICENSE("GPL v2");
projects / mv-sheeva.git / blobdiff