2 * ADIS16060 Wide Bandwidth 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 "adis16060.h"
28 #define DRIVER_NAME "adis16060"
30 struct adis16060_state *adis16060_st;
32 int adis16060_spi_write(struct device *dev,
36 struct iio_dev *indio_dev = dev_get_drvdata(dev);
37 struct adis16060_state *st = iio_dev_get_devdata(indio_dev);
39 mutex_lock(&st->buf_lock);
42 st->tx[2] = val; /* The last 8 bits clocked in are latched */
44 ret = spi_write(st->us_w, st->tx, 3);
45 mutex_unlock(&st->buf_lock);
50 int adis16060_spi_read(struct device *dev,
54 struct iio_dev *indio_dev = dev_get_drvdata(dev);
55 struct adis16060_state *st = iio_dev_get_devdata(indio_dev);
57 mutex_lock(&st->buf_lock);
59 ret = spi_read(st->us_r, st->rx, 3);
61 /* The internal successive approximation ADC begins the conversion process
62 * on the falling edge of MSEL1 and starts to place data MSB first on the
63 * DOUT line at the 6th falling edge of SCLK
66 *val = ((st->rx[0] & 0x3) << 12) | (st->rx[1] << 4) | ((st->rx[2] >> 4) & 0xF);
67 mutex_unlock(&st->buf_lock);
72 static ssize_t adis16060_read(struct device *dev,
73 struct device_attribute *attr,
76 struct iio_dev *indio_dev = dev_get_drvdata(dev);
80 /* Take the iio_dev status lock */
81 mutex_lock(&indio_dev->mlock);
82 ret = adis16060_spi_read(dev, &val);
83 mutex_unlock(&indio_dev->mlock);
86 return sprintf(buf, "%d\n", val);
91 static ssize_t adis16060_write(struct device *dev,
92 struct device_attribute *attr,
99 ret = strict_strtol(buf, 16, &val);
102 ret = adis16060_spi_write(dev, val);
105 return ret ? ret : len;
108 #define IIO_DEV_ATTR_IN(_show) \
109 IIO_DEVICE_ATTR(in, S_IRUGO, _show, NULL, 0)
111 #define IIO_DEV_ATTR_OUT(_store) \
112 IIO_DEVICE_ATTR(out, S_IRUGO, NULL, _store, 0)
114 static IIO_DEV_ATTR_IN(adis16060_read);
115 static IIO_DEV_ATTR_OUT(adis16060_write);
117 static IIO_CONST_ATTR(name, "adis16060");
119 static struct attribute *adis16060_event_attributes[] = {
123 static struct attribute_group adis16060_event_attribute_group = {
124 .attrs = adis16060_event_attributes,
127 static struct attribute *adis16060_attributes[] = {
128 &iio_dev_attr_in.dev_attr.attr,
129 &iio_dev_attr_out.dev_attr.attr,
130 &iio_const_attr_name.dev_attr.attr,
134 static const struct attribute_group adis16060_attribute_group = {
135 .attrs = adis16060_attributes,
138 static int __devinit adis16060_r_probe(struct spi_device *spi)
140 int ret, regdone = 0;
141 struct adis16060_state *st = kzalloc(sizeof *st, GFP_KERNEL);
146 /* this is only used for removal purposes */
147 spi_set_drvdata(spi, st);
149 /* Allocate the comms buffers */
150 st->rx = kzalloc(sizeof(*st->rx)*ADIS16060_MAX_RX, GFP_KERNEL);
151 if (st->rx == NULL) {
155 st->tx = kzalloc(sizeof(*st->tx)*ADIS16060_MAX_TX, GFP_KERNEL);
156 if (st->tx == NULL) {
161 mutex_init(&st->buf_lock);
162 /* setup the industrialio driver allocated elements */
163 st->indio_dev = iio_allocate_device();
164 if (st->indio_dev == NULL) {
169 st->indio_dev->dev.parent = &spi->dev;
170 st->indio_dev->num_interrupt_lines = 1;
171 st->indio_dev->event_attrs = &adis16060_event_attribute_group;
172 st->indio_dev->attrs = &adis16060_attribute_group;
173 st->indio_dev->dev_data = (void *)(st);
174 st->indio_dev->driver_module = THIS_MODULE;
175 st->indio_dev->modes = INDIO_DIRECT_MODE;
177 ret = adis16060_configure_ring(st->indio_dev);
181 ret = iio_device_register(st->indio_dev);
183 goto error_unreg_ring_funcs;
186 ret = adis16060_initialize_ring(st->indio_dev->ring);
188 printk(KERN_ERR "failed to initialize the ring\n");
189 goto error_unreg_ring_funcs;
192 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
193 ret = iio_register_interrupt_line(spi->irq,
199 goto error_uninitialize_ring;
201 ret = adis16060_probe_trigger(st->indio_dev);
203 goto error_unregister_line;
209 error_unregister_line:
210 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
211 iio_unregister_interrupt_line(st->indio_dev, 0);
212 error_uninitialize_ring:
213 adis16060_uninitialize_ring(st->indio_dev->ring);
214 error_unreg_ring_funcs:
215 adis16060_unconfigure_ring(st->indio_dev);
218 iio_device_unregister(st->indio_dev);
220 iio_free_device(st->indio_dev);
231 /* fixme, confirm ordering in this function */
232 static int adis16060_r_remove(struct spi_device *spi)
234 struct adis16060_state *st = spi_get_drvdata(spi);
235 struct iio_dev *indio_dev = st->indio_dev;
237 flush_scheduled_work();
239 adis16060_remove_trigger(indio_dev);
240 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
241 iio_unregister_interrupt_line(indio_dev, 0);
243 adis16060_uninitialize_ring(indio_dev->ring);
244 adis16060_unconfigure_ring(indio_dev);
245 iio_device_unregister(indio_dev);
253 static int __devinit adis16060_w_probe(struct spi_device *spi)
256 struct adis16060_state *st = adis16060_st;
261 spi_set_drvdata(spi, st);
269 static int adis16060_w_remove(struct spi_device *spi)
274 static struct spi_driver adis16060_r_driver = {
276 .name = "adis16060_r",
277 .owner = THIS_MODULE,
279 .probe = adis16060_r_probe,
280 .remove = __devexit_p(adis16060_r_remove),
283 static struct spi_driver adis16060_w_driver = {
285 .name = "adis16060_w",
286 .owner = THIS_MODULE,
288 .probe = adis16060_w_probe,
289 .remove = __devexit_p(adis16060_w_remove),
292 static __init int adis16060_init(void)
296 ret = spi_register_driver(&adis16060_r_driver);
300 ret = spi_register_driver(&adis16060_w_driver);
302 spi_unregister_driver(&adis16060_r_driver);
308 module_init(adis16060_init);
310 static __exit void adis16060_exit(void)
312 spi_unregister_driver(&adis16060_w_driver);
313 spi_unregister_driver(&adis16060_r_driver);
315 module_exit(adis16060_exit);
317 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
318 MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope with SPI driver");
319 MODULE_LICENSE("GPL v2");