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/*
* ADIS16080/100 Yaw Rate Gyroscope with SPI 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/module.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#define ADIS16080_DIN_GYRO (0 << 10) /* Gyroscope output */
#define ADIS16080_DIN_TEMP (1 << 10) /* Temperature output */
#define ADIS16080_DIN_AIN1 (2 << 10)
#define ADIS16080_DIN_AIN2 (3 << 10)
/*
* 1: Write contents on DIN to control register.
* 0: No changes to control register.
*/
#define ADIS16080_DIN_WRITE (1 << 15)
/**
* struct adis16080_state - device instance specific data
* @us: actual spi_device to write data
* @buf: transmit or receive buffer
* @buf_lock: mutex to protect tx and rx
**/
struct adis16080_state {
struct spi_device *us;
struct mutex buf_lock;
u8 buf[2] ____cacheline_aligned;
};
static int adis16080_spi_write(struct iio_dev *indio_dev,
u16 val)
{
int ret;
struct adis16080_state *st = iio_priv(indio_dev);
mutex_lock(&st->buf_lock);
st->buf[0] = val >> 8;
st->buf[1] = val;
ret = spi_write(st->us, st->buf, 2);
mutex_unlock(&st->buf_lock);
return ret;
}
static int adis16080_spi_read(struct iio_dev *indio_dev,
u16 *val)
{
int ret;
struct adis16080_state *st = iio_priv(indio_dev);
mutex_lock(&st->buf_lock);
ret = spi_read(st->us, st->buf, 2);
if (ret == 0)
*val = sign_extend32(((st->buf[0] & 0xF) << 8) | st->buf[1], 11);
mutex_unlock(&st->buf_lock);
return ret;
}
static int adis16080_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val,
int *val2,
long mask)
{
int ret = -EINVAL;
u16 ut = 0;
/* Take the iio_dev status lock */
mutex_lock(&indio_dev->mlock);
switch (mask) {
case IIO_CHAN_INFO_RAW:
ret = adis16080_spi_write(indio_dev,
chan->address |
ADIS16080_DIN_WRITE);
if (ret < 0)
break;
ret = adis16080_spi_read(indio_dev, &ut);
if (ret < 0)
break;
*val = ut;
ret = IIO_VAL_INT;
break;
}
mutex_unlock(&indio_dev->mlock);
return ret;
}
static const struct iio_chan_spec adis16080_channels[] = {
{
.type = IIO_ANGL_VEL,
.modified = 1,
.channel2 = IIO_MOD_Z,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
.address = ADIS16080_DIN_GYRO,
}, {
.type = IIO_VOLTAGE,
.indexed = 1,
.channel = 0,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
.address = ADIS16080_DIN_AIN1,
}, {
.type = IIO_VOLTAGE,
.indexed = 1,
.channel = 1,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
.address = ADIS16080_DIN_AIN2,
}, {
.type = IIO_TEMP,
.indexed = 1,
.channel = 0,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
.address = ADIS16080_DIN_TEMP,
}
};
static const struct iio_info adis16080_info = {
.read_raw = &adis16080_read_raw,
.driver_module = THIS_MODULE,
};
static int adis16080_probe(struct spi_device *spi)
{
int ret;
struct adis16080_state *st;
struct iio_dev *indio_dev;
/* setup the industrialio driver allocated elements */
indio_dev = iio_device_alloc(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);
/* Allocate the comms buffers */
st->us = spi;
mutex_init(&st->buf_lock);
indio_dev->name = spi->dev.driver->name;
indio_dev->channels = adis16080_channels;
indio_dev->num_channels = ARRAY_SIZE(adis16080_channels);
indio_dev->dev.parent = &spi->dev;
indio_dev->info = &adis16080_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_device_free(indio_dev);
error_ret:
return ret;
}
/* fixme, confirm ordering in this function */
static int adis16080_remove(struct spi_device *spi)
{
iio_device_unregister(spi_get_drvdata(spi));
iio_device_free(spi_get_drvdata(spi));
return 0;
}
static struct spi_driver adis16080_driver = {
.driver = {
.name = "adis16080",
.owner = THIS_MODULE,
},
.probe = adis16080_probe,
.remove = adis16080_remove,
};
module_spi_driver(adis16080_driver);
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver");
MODULE_LICENSE("GPL v2");
MODULE_ALIAS("spi:adis16080");
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