diff options
Diffstat (limited to 'drivers/staging/iio/gyro/adis16130_core.c')
| -rw-r--r-- | drivers/staging/iio/gyro/adis16130_core.c | 313 |
1 files changed, 313 insertions, 0 deletions
diff --git a/drivers/staging/iio/gyro/adis16130_core.c b/drivers/staging/iio/gyro/adis16130_core.c new file mode 100644 index 000000000000..49ffc7b26e8a --- /dev/null +++ b/drivers/staging/iio/gyro/adis16130_core.c @@ -0,0 +1,313 @@ +/* + * ADIS16130 Digital Output, High Precision Angular Rate Sensor 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 "adis16130.h" + +#define DRIVER_NAME "adis16130" + +struct adis16130_state *adis16130_st; + +int adis16130_spi_write(struct device *dev, u8 reg_addr, + u8 val) +{ + int ret; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16130_state *st = iio_dev_get_devdata(indio_dev); + + mutex_lock(&st->buf_lock); + st->tx[0] = reg_addr; + st->tx[1] = val; + + ret = spi_write(st->us, st->tx, 2); + mutex_unlock(&st->buf_lock); + + return ret; +} + +int adis16130_spi_read(struct device *dev, u8 reg_addr, + u32 *val) +{ + int ret; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16130_state *st = iio_dev_get_devdata(indio_dev); + + mutex_lock(&st->buf_lock); + + st->tx[0] = ADIS16130_CON_RD | reg_addr; + if (st->mode) + ret = spi_read(st->us, st->rx, 4); + else + ret = spi_read(st->us, st->rx, 3); + + if (ret == 0) { + if (st->mode) + *val = (st->rx[1] << 16) | (st->rx[2] << 8) | st->rx[3]; + else + *val = (st->rx[1] << 8) | st->rx[2]; + } + + mutex_unlock(&st->buf_lock); + + return ret; +} + +static ssize_t adis16130_gyro_read(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + u32 val; + ssize_t ret; + + /* Take the iio_dev status lock */ + mutex_lock(&indio_dev->mlock); + ret = adis16130_spi_read(dev, ADIS16130_RATEDATA, &val); + mutex_unlock(&indio_dev->mlock); + + if (ret == 0) + return sprintf(buf, "%d\n", val); + else + return ret; +} + +static ssize_t adis16130_temp_read(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + u32 val; + ssize_t ret; + + /* Take the iio_dev status lock */ + mutex_lock(&indio_dev->mlock); + ret = adis16130_spi_read(dev, ADIS16130_TEMPDATA, &val); + mutex_unlock(&indio_dev->mlock); + + if (ret == 0) + return sprintf(buf, "%d\n", val); + else + return ret; +} + +static ssize_t adis16130_bitsmode_read(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16130_state *st = iio_dev_get_devdata(indio_dev); + + return sprintf(buf, "%d\n", st->mode); +} + +static ssize_t adis16130_bitsmode_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 = adis16130_spi_write(dev, ADIS16130_MODE, !!val); + +error_ret: + return ret ? ret : len; +} + +static IIO_DEV_ATTR_TEMP_RAW(adis16130_temp_read); + +static IIO_CONST_ATTR(name, "adis16130"); + +static IIO_DEV_ATTR_GYRO(adis16130_gyro_read, + ADIS16130_RATEDATA); + +#define IIO_DEV_ATTR_BITS_MODE(_mode, _show, _store, _addr) \ + IIO_DEVICE_ATTR(bits_mode, _mode, _show, _store, _addr) + +static IIO_DEV_ATTR_BITS_MODE(S_IWUSR | S_IRUGO, adis16130_bitsmode_read, adis16130_bitsmode_write, + ADIS16130_MODE); + +static struct attribute *adis16130_event_attributes[] = { + NULL +}; + +static struct attribute_group adis16130_event_attribute_group = { + .attrs = adis16130_event_attributes, +}; + +static struct attribute *adis16130_attributes[] = { + &iio_dev_attr_temp_raw.dev_attr.attr, + &iio_const_attr_name.dev_attr.attr, + &iio_dev_attr_gyro_raw.dev_attr.attr, + &iio_dev_attr_bits_mode.dev_attr.attr, + NULL +}; + +static const struct attribute_group adis16130_attribute_group = { + .attrs = adis16130_attributes, +}; + +static int __devinit adis16130_probe(struct spi_device *spi) +{ + int ret, regdone = 0; + struct adis16130_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)*ADIS16130_MAX_RX, GFP_KERNEL); + if (st->rx == NULL) { + ret = -ENOMEM; + goto error_free_st; + } + st->tx = kzalloc(sizeof(*st->tx)*ADIS16130_MAX_TX, GFP_KERNEL); + if (st->tx == NULL) { + ret = -ENOMEM; + goto error_free_rx; + } + st->us = 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 = &adis16130_event_attribute_group; + st->indio_dev->attrs = &adis16130_attribute_group; + st->indio_dev->dev_data = (void *)(st); + st->indio_dev->driver_module = THIS_MODULE; + st->indio_dev->modes = INDIO_DIRECT_MODE; + st->mode = 1; + + ret = adis16130_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 = adis16130_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, + "adis16130"); + if (ret) + goto error_uninitialize_ring; + + ret = adis16130_probe_trigger(st->indio_dev); + if (ret) + goto error_unregister_line; + } + + adis16130_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: + adis16130_uninitialize_ring(st->indio_dev->ring); +error_unreg_ring_funcs: + adis16130_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 adis16130_remove(struct spi_device *spi) +{ + struct adis16130_state *st = spi_get_drvdata(spi); + struct iio_dev *indio_dev = st->indio_dev; + + flush_scheduled_work(); + + adis16130_remove_trigger(indio_dev); + if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) + iio_unregister_interrupt_line(indio_dev, 0); + + adis16130_uninitialize_ring(indio_dev->ring); + adis16130_unconfigure_ring(indio_dev); + iio_device_unregister(indio_dev); + kfree(st->tx); + kfree(st->rx); + kfree(st); + + 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 Sensor driver"); +MODULE_LICENSE("GPL v2"); |