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/*
* 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 "../iio.h"
#include "../sysfs.h"
#include "gyro.h"
#include "../adc/adc.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
* @indio_dev: industrial I/O device structure
* @mode: 24 bits (1) or 16 bits (0)
* @buf_lock: mutex to protect tx and rx
* @buf: unified tx/rx buffer
**/
struct adis16130_state {
struct spi_device *us;
struct iio_dev *indio_dev;
u32 mode;
struct mutex buf_lock;
u8 buf[4] ____cacheline_aligned;
};
static 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->buf[0] = reg_addr;
st->buf[1] = val;
ret = spi_write(st->us, st->buf, 2);
mutex_unlock(&st->buf_lock);
return ret;
}
static 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->buf[0] = ADIS16130_CON_RD | reg_addr;
if (st->mode)
ret = spi_read(st->us, st->buf, 4);
else
ret = spi_read(st->us, st->buf, 3);
if (ret == 0) {
if (st->mode)
*val = (st->buf[1] << 16) |
(st->buf[2] << 8) |
st->buf[3];
else
*val = (st->buf[1] << 8) | st->buf[2];
}
mutex_unlock(&st->buf_lock);
return ret;
}
static ssize_t adis16130_val_read(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
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, this_attr->address, &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);
if (st->mode == 1)
return sprintf(buf, "s24\n");
else
return sprintf(buf, "s16\n");
}
static ssize_t adis16130_bitsmode_write(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t len)
{
int ret;
u8 val;
if (sysfs_streq(buf, "s16"))
val = 0;
else if (sysfs_streq(buf, "s24"))
val = 1;
else
return -EINVAL;
ret = adis16130_spi_write(dev, ADIS16130_MODE, val);
return ret ? ret : len;
}
static IIO_DEVICE_ATTR(temp_raw, S_IRUGO, adis16130_val_read, NULL,
ADIS16130_TEMPDATA);
static IIO_DEV_ATTR_GYRO_Z(adis16130_val_read, ADIS16130_RATEDATA);
static IIO_DEVICE_ATTR(gyro_z_type, S_IWUSR | S_IRUGO, adis16130_bitsmode_read,
adis16130_bitsmode_write,
ADIS16130_MODE);
static IIO_CONST_ATTR(gyro_z_type_available, "s16 s24");
static struct attribute *adis16130_attributes[] = {
&iio_dev_attr_temp_raw.dev_attr.attr,
&iio_dev_attr_gyro_z_raw.dev_attr.attr,
&iio_dev_attr_gyro_z_type.dev_attr.attr,
&iio_const_attr_gyro_z_type_available.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;
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);
st->us = spi;
mutex_init(&st->buf_lock);
/* setup the industrialio driver allocated elements */
st->indio_dev = iio_allocate_device(0);
if (st->indio_dev == NULL) {
ret = -ENOMEM;
goto error_free_st;
}
st->indio_dev->name = spi->dev.driver->name;
st->indio_dev->dev.parent = &spi->dev;
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 = iio_device_register(st->indio_dev);
if (ret)
goto error_free_dev;
return 0;
error_free_dev:
iio_free_device(st->indio_dev);
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;
iio_device_unregister(indio_dev);
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");
MODULE_LICENSE("GPL v2");
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