Commit | Line | Data |
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e071f6b8 BS |
1 | /* |
2 | * ADIS16060 Wide Bandwidth Yaw Rate Gyroscope with SPI driver | |
3 | * | |
4 | * Copyright 2010 Analog Devices Inc. | |
5 | * | |
6 | * Licensed under the GPL-2 or later. | |
7 | */ | |
8 | ||
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> | |
20 | ||
21 | #include "../iio.h" | |
22 | #include "../sysfs.h" | |
23 | #include "gyro.h" | |
24 | #include "../adc/adc.h" | |
25 | ||
26 | #include "adis16060.h" | |
27 | ||
28 | #define DRIVER_NAME "adis16060" | |
29 | ||
30 | struct adis16060_state *adis16060_st; | |
31 | ||
32 | int adis16060_spi_write(struct device *dev, | |
33 | u8 val) | |
34 | { | |
35 | int ret; | |
36 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
37 | struct adis16060_state *st = iio_dev_get_devdata(indio_dev); | |
38 | ||
39 | mutex_lock(&st->buf_lock); | |
40 | st->tx[0] = 0; | |
41 | st->tx[1] = 0; | |
42 | st->tx[2] = val; /* The last 8 bits clocked in are latched */ | |
43 | ||
44 | ret = spi_write(st->us_w, st->tx, 3); | |
45 | mutex_unlock(&st->buf_lock); | |
46 | ||
47 | return ret; | |
48 | } | |
49 | ||
50 | int adis16060_spi_read(struct device *dev, | |
51 | u16 *val) | |
52 | { | |
53 | int ret; | |
54 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
55 | struct adis16060_state *st = iio_dev_get_devdata(indio_dev); | |
56 | ||
57 | mutex_lock(&st->buf_lock); | |
58 | ||
59 | ret = spi_read(st->us_r, st->rx, 3); | |
60 | ||
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 | |
64 | */ | |
65 | if (ret == 0) | |
66 | *val = ((st->rx[0] & 0x3) << 12) | (st->rx[1] << 4) | ((st->rx[2] >> 4) & 0xF); | |
67 | mutex_unlock(&st->buf_lock); | |
68 | ||
69 | return ret; | |
70 | } | |
71 | ||
72 | static ssize_t adis16060_read(struct device *dev, | |
73 | struct device_attribute *attr, | |
74 | char *buf) | |
75 | { | |
76 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
77 | u16 val; | |
78 | ssize_t ret; | |
79 | ||
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); | |
84 | ||
85 | if (ret == 0) | |
86 | return sprintf(buf, "%d\n", val); | |
87 | else | |
88 | return ret; | |
89 | } | |
90 | ||
91 | static ssize_t adis16060_write(struct device *dev, | |
92 | struct device_attribute *attr, | |
93 | const char *buf, | |
94 | size_t len) | |
95 | { | |
96 | int ret; | |
97 | long val; | |
98 | ||
99 | ret = strict_strtol(buf, 16, &val); | |
100 | if (ret) | |
101 | goto error_ret; | |
102 | ret = adis16060_spi_write(dev, val); | |
103 | ||
104 | error_ret: | |
105 | return ret ? ret : len; | |
106 | } | |
107 | ||
108 | #define IIO_DEV_ATTR_IN(_show) \ | |
109 | IIO_DEVICE_ATTR(in, S_IRUGO, _show, NULL, 0) | |
110 | ||
111 | #define IIO_DEV_ATTR_OUT(_store) \ | |
112 | IIO_DEVICE_ATTR(out, S_IRUGO, NULL, _store, 0) | |
113 | ||
114 | static IIO_DEV_ATTR_IN(adis16060_read); | |
115 | static IIO_DEV_ATTR_OUT(adis16060_write); | |
116 | ||
117 | static IIO_CONST_ATTR(name, "adis16060"); | |
118 | ||
119 | static struct attribute *adis16060_event_attributes[] = { | |
120 | NULL | |
121 | }; | |
122 | ||
123 | static struct attribute_group adis16060_event_attribute_group = { | |
124 | .attrs = adis16060_event_attributes, | |
125 | }; | |
126 | ||
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, | |
131 | NULL | |
132 | }; | |
133 | ||
134 | static const struct attribute_group adis16060_attribute_group = { | |
135 | .attrs = adis16060_attributes, | |
136 | }; | |
137 | ||
138 | static int __devinit adis16060_r_probe(struct spi_device *spi) | |
139 | { | |
140 | int ret, regdone = 0; | |
141 | struct adis16060_state *st = kzalloc(sizeof *st, GFP_KERNEL); | |
142 | if (!st) { | |
143 | ret = -ENOMEM; | |
144 | goto error_ret; | |
145 | } | |
146 | /* this is only used for removal purposes */ | |
147 | spi_set_drvdata(spi, st); | |
148 | ||
149 | /* Allocate the comms buffers */ | |
150 | st->rx = kzalloc(sizeof(*st->rx)*ADIS16060_MAX_RX, GFP_KERNEL); | |
151 | if (st->rx == NULL) { | |
152 | ret = -ENOMEM; | |
153 | goto error_free_st; | |
154 | } | |
155 | st->tx = kzalloc(sizeof(*st->tx)*ADIS16060_MAX_TX, GFP_KERNEL); | |
156 | if (st->tx == NULL) { | |
157 | ret = -ENOMEM; | |
158 | goto error_free_rx; | |
159 | } | |
160 | st->us_r = spi; | |
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) { | |
165 | ret = -ENOMEM; | |
166 | goto error_free_tx; | |
167 | } | |
168 | ||
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; | |
176 | ||
177 | ret = adis16060_configure_ring(st->indio_dev); | |
178 | if (ret) | |
179 | goto error_free_dev; | |
180 | ||
181 | ret = iio_device_register(st->indio_dev); | |
182 | if (ret) | |
183 | goto error_unreg_ring_funcs; | |
184 | regdone = 1; | |
185 | ||
186 | ret = adis16060_initialize_ring(st->indio_dev->ring); | |
187 | if (ret) { | |
188 | printk(KERN_ERR "failed to initialize the ring\n"); | |
189 | goto error_unreg_ring_funcs; | |
190 | } | |
191 | ||
192 | if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { | |
193 | ret = iio_register_interrupt_line(spi->irq, | |
194 | st->indio_dev, | |
195 | 0, | |
196 | IRQF_TRIGGER_RISING, | |
197 | "adis16060"); | |
198 | if (ret) | |
199 | goto error_uninitialize_ring; | |
200 | ||
201 | ret = adis16060_probe_trigger(st->indio_dev); | |
202 | if (ret) | |
203 | goto error_unregister_line; | |
204 | } | |
205 | ||
206 | adis16060_st = st; | |
207 | return 0; | |
208 | ||
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); | |
216 | error_free_dev: | |
217 | if (regdone) | |
218 | iio_device_unregister(st->indio_dev); | |
219 | else | |
220 | iio_free_device(st->indio_dev); | |
221 | error_free_tx: | |
222 | kfree(st->tx); | |
223 | error_free_rx: | |
224 | kfree(st->rx); | |
225 | error_free_st: | |
226 | kfree(st); | |
227 | error_ret: | |
228 | return ret; | |
229 | } | |
230 | ||
231 | /* fixme, confirm ordering in this function */ | |
232 | static int adis16060_r_remove(struct spi_device *spi) | |
233 | { | |
234 | struct adis16060_state *st = spi_get_drvdata(spi); | |
235 | struct iio_dev *indio_dev = st->indio_dev; | |
236 | ||
237 | flush_scheduled_work(); | |
238 | ||
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); | |
242 | ||
243 | adis16060_uninitialize_ring(indio_dev->ring); | |
244 | adis16060_unconfigure_ring(indio_dev); | |
245 | iio_device_unregister(indio_dev); | |
246 | kfree(st->tx); | |
247 | kfree(st->rx); | |
248 | kfree(st); | |
249 | ||
250 | return 0; | |
251 | } | |
252 | ||
253 | static int __devinit adis16060_w_probe(struct spi_device *spi) | |
254 | { | |
255 | int ret; | |
256 | struct adis16060_state *st = adis16060_st; | |
257 | if (!st) { | |
258 | ret = -ENODEV; | |
259 | goto error_ret; | |
260 | } | |
261 | spi_set_drvdata(spi, st); | |
262 | st->us_w = spi; | |
263 | return 0; | |
264 | ||
265 | error_ret: | |
266 | return ret; | |
267 | } | |
268 | ||
269 | static int adis16060_w_remove(struct spi_device *spi) | |
270 | { | |
271 | return 0; | |
272 | } | |
273 | ||
274 | static struct spi_driver adis16060_r_driver = { | |
275 | .driver = { | |
276 | .name = "adis16060_r", | |
277 | .owner = THIS_MODULE, | |
278 | }, | |
279 | .probe = adis16060_r_probe, | |
280 | .remove = __devexit_p(adis16060_r_remove), | |
281 | }; | |
282 | ||
283 | static struct spi_driver adis16060_w_driver = { | |
284 | .driver = { | |
285 | .name = "adis16060_w", | |
286 | .owner = THIS_MODULE, | |
287 | }, | |
288 | .probe = adis16060_w_probe, | |
289 | .remove = __devexit_p(adis16060_w_remove), | |
290 | }; | |
291 | ||
292 | static __init int adis16060_init(void) | |
293 | { | |
294 | int ret; | |
295 | ||
296 | ret = spi_register_driver(&adis16060_r_driver); | |
297 | if (ret < 0) | |
298 | return ret; | |
299 | ||
300 | ret = spi_register_driver(&adis16060_w_driver); | |
301 | if (ret < 0) { | |
302 | spi_unregister_driver(&adis16060_r_driver); | |
303 | return ret; | |
304 | } | |
305 | ||
306 | return 0; | |
307 | } | |
308 | module_init(adis16060_init); | |
309 | ||
310 | static __exit void adis16060_exit(void) | |
311 | { | |
312 | spi_unregister_driver(&adis16060_w_driver); | |
313 | spi_unregister_driver(&adis16060_r_driver); | |
314 | } | |
315 | module_exit(adis16060_exit); | |
316 | ||
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"); |