| /* |
| * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver |
| * |
| * Copyright 2010 Analog Devices Inc. |
| * |
| * Licensed under the GPL-2 or later. |
| */ |
| |
| #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 <linux/module.h> |
| |
| #include "../iio.h" |
| #include "../sysfs.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 |
| * @buf_lock: mutex to protect tx and rx |
| * @buf: unified tx/rx buffer |
| **/ |
| struct adis16130_state { |
| struct spi_device *us; |
| struct mutex buf_lock; |
| u8 buf[4] ____cacheline_aligned; |
| }; |
| |
| static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val) |
| { |
| int ret; |
| struct adis16130_state *st = iio_priv(indio_dev); |
| struct spi_message msg; |
| struct spi_transfer xfer = { |
| .tx_buf = st->buf, |
| .rx_buf = st->buf, |
| .len = 4, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| |
| st->buf[0] = ADIS16130_CON_RD | reg_addr; |
| st->buf[1] = st->buf[2] = st->buf[3] = 0; |
| |
| spi_message_init(&msg); |
| spi_message_add_tail(&xfer, &msg); |
| ret = spi_sync(st->us, &msg); |
| ret = spi_read(st->us, st->buf, 4); |
| |
| if (ret == 0) |
| *val = (st->buf[1] << 16) | (st->buf[2] << 8) | st->buf[3]; |
| mutex_unlock(&st->buf_lock); |
| |
| return ret; |
| } |
| |
| static int adis16130_read_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, |
| int *val, int *val2, |
| long mask) |
| { |
| int ret; |
| u32 temp; |
| |
| /* Take the iio_dev status lock */ |
| mutex_lock(&indio_dev->mlock); |
| ret = adis16130_spi_read(indio_dev, chan->address, &temp); |
| mutex_unlock(&indio_dev->mlock); |
| if (ret) |
| return ret; |
| *val = temp; |
| return IIO_VAL_INT; |
| } |
| |
| static const struct iio_chan_spec adis16130_channels[] = { |
| { |
| .type = IIO_ANGL_VEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Z, |
| .address = ADIS16130_RATEDATA, |
| }, { |
| .type = IIO_TEMP, |
| .indexed = 1, |
| .channel = 0, |
| .address = ADIS16130_TEMPDATA, |
| } |
| }; |
| |
| static const struct iio_info adis16130_info = { |
| .read_raw = &adis16130_read_raw, |
| .driver_module = THIS_MODULE, |
| }; |
| |
| static int __devinit adis16130_probe(struct spi_device *spi) |
| { |
| int ret; |
| struct adis16130_state *st; |
| struct iio_dev *indio_dev; |
| |
| /* setup the industrialio driver allocated elements */ |
| indio_dev = iio_allocate_device(sizeof(*st)); |
| if (indio_dev == NULL) { |
| ret = -ENOMEM; |
| goto error_ret; |
| } |
| st = iio_priv(indio_dev); |
| /* this is only used for removal purposes */ |
| spi_set_drvdata(spi, indio_dev); |
| st->us = spi; |
| mutex_init(&st->buf_lock); |
| indio_dev->name = spi->dev.driver->name; |
| indio_dev->channels = adis16130_channels; |
| indio_dev->num_channels = ARRAY_SIZE(adis16130_channels); |
| indio_dev->dev.parent = &spi->dev; |
| indio_dev->info = &adis16130_info; |
| indio_dev->modes = INDIO_DIRECT_MODE; |
| |
| ret = iio_device_register(indio_dev); |
| if (ret) |
| goto error_free_dev; |
| |
| return 0; |
| |
| error_free_dev: |
| iio_free_device(indio_dev); |
| |
| error_ret: |
| return ret; |
| } |
| |
| /* fixme, confirm ordering in this function */ |
| static int adis16130_remove(struct spi_device *spi) |
| { |
| iio_device_unregister(spi_get_drvdata(spi)); |
| iio_free_device(spi_get_drvdata(spi)); |
| |
| 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"); |