+++ /dev/null
-/*
- * ADIS16060 Wide Bandwidth Yaw Rate Gyroscope with SPI driver
- *
- * Copyright 2010 Analog Devices Inc.
- *
- * Licensed under the GPL-2 or later.
- */
-
-#include <linux/module.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/iio/iio.h>
-#include <linux/iio/sysfs.h>
-
-#define ADIS16060_GYRO 0x20 /* Measure Angular Rate (Gyro) */
-#define ADIS16060_TEMP_OUT 0x10 /* Measure Temperature */
-#define ADIS16060_AIN2 0x80 /* Measure AIN2 */
-#define ADIS16060_AIN1 0x40 /* Measure AIN1 */
-
-/**
- * struct adis16060_state - device instance specific data
- * @us_w: actual spi_device to write config
- * @us_r: actual spi_device to read back data
- * @buf: transmit or receive buffer
- * @buf_lock: mutex to protect tx and rx
- **/
-struct adis16060_state {
- struct spi_device *us_w;
- struct spi_device *us_r;
- struct mutex buf_lock;
-
- u8 buf[3] ____cacheline_aligned;
-};
-
-static struct iio_dev *adis16060_iio_dev;
-
-static int adis16060_spi_write_then_read(struct iio_dev *indio_dev,
- u8 conf, u16 *val)
-{
- int ret;
- struct adis16060_state *st = iio_priv(indio_dev);
-
- mutex_lock(&st->buf_lock);
- st->buf[2] = conf; /* The last 8 bits clocked in are latched */
- ret = spi_write(st->us_w, st->buf, 3);
-
- if (ret < 0) {
- mutex_unlock(&st->buf_lock);
- return ret;
- }
-
- ret = spi_read(st->us_r, st->buf, 3);
-
- /* The internal successive approximation ADC begins the
- * conversion process on the falling edge of MSEL1 and
- * starts to place data MSB first on the DOUT line at
- * the 6th falling edge of SCLK
- */
- if (!ret)
- *val = ((st->buf[0] & 0x3) << 12) |
- (st->buf[1] << 4) |
- ((st->buf[2] >> 4) & 0xF);
- mutex_unlock(&st->buf_lock);
-
- return ret;
-}
-
-static int adis16060_read_raw(struct iio_dev *indio_dev,
- struct iio_chan_spec const *chan,
- int *val, int *val2,
- long mask)
-{
- u16 tval = 0;
- int ret;
-
- switch (mask) {
- case IIO_CHAN_INFO_RAW:
- ret = adis16060_spi_write_then_read(indio_dev,
- chan->address, &tval);
- if (ret < 0)
- return ret;
-
- *val = tval;
- return IIO_VAL_INT;
- case IIO_CHAN_INFO_OFFSET:
- *val = -7;
- *val2 = 461117;
- return IIO_VAL_INT_PLUS_MICRO;
- case IIO_CHAN_INFO_SCALE:
- *val = 0;
- *val2 = 34000;
- return IIO_VAL_INT_PLUS_MICRO;
- }
-
- return -EINVAL;
-}
-
-static const struct iio_info adis16060_info = {
- .read_raw = adis16060_read_raw,
-};
-
-static const struct iio_chan_spec adis16060_channels[] = {
- {
- .type = IIO_ANGL_VEL,
- .modified = 1,
- .channel2 = IIO_MOD_Z,
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
- .address = ADIS16060_GYRO,
- }, {
- .type = IIO_VOLTAGE,
- .indexed = 1,
- .channel = 0,
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
- .address = ADIS16060_AIN1,
- }, {
- .type = IIO_VOLTAGE,
- .indexed = 1,
- .channel = 1,
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
- .address = ADIS16060_AIN2,
- }, {
- .type = IIO_TEMP,
- .indexed = 1,
- .channel = 0,
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
- BIT(IIO_CHAN_INFO_OFFSET) | BIT(IIO_CHAN_INFO_SCALE),
- .address = ADIS16060_TEMP_OUT,
- }
-};
-
-static int adis16060_r_probe(struct spi_device *spi)
-{
- int ret;
- struct adis16060_state *st;
- struct iio_dev *indio_dev;
-
- /* setup the industrialio driver allocated elements */
- indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
- if (!indio_dev)
- return -ENOMEM;
- /* this is only used for removal purposes */
- spi_set_drvdata(spi, indio_dev);
- st = iio_priv(indio_dev);
- st->us_r = spi;
- mutex_init(&st->buf_lock);
-
- indio_dev->name = spi->dev.driver->name;
- indio_dev->dev.parent = &spi->dev;
- indio_dev->info = &adis16060_info;
- indio_dev->modes = INDIO_DIRECT_MODE;
- indio_dev->channels = adis16060_channels;
- indio_dev->num_channels = ARRAY_SIZE(adis16060_channels);
-
- ret = devm_iio_device_register(&spi->dev, indio_dev);
- if (ret)
- return ret;
-
- adis16060_iio_dev = indio_dev;
- return 0;
-}
-
-static int adis16060_w_probe(struct spi_device *spi)
-{
- int ret;
- struct iio_dev *indio_dev = adis16060_iio_dev;
- struct adis16060_state *st;
-
- if (!indio_dev) {
- ret = -ENODEV;
- goto error_ret;
- }
- st = iio_priv(indio_dev);
- spi_set_drvdata(spi, indio_dev);
- st->us_w = spi;
- return 0;
-
-error_ret:
- return ret;
-}
-
-static int adis16060_w_remove(struct spi_device *spi)
-{
- return 0;
-}
-
-static struct spi_driver adis16060_r_driver = {
- .driver = {
- .name = "adis16060_r",
- },
- .probe = adis16060_r_probe,
-};
-
-static struct spi_driver adis16060_w_driver = {
- .driver = {
- .name = "adis16060_w",
- },
- .probe = adis16060_w_probe,
- .remove = adis16060_w_remove,
-};
-
-static __init int adis16060_init(void)
-{
- int ret;
-
- ret = spi_register_driver(&adis16060_r_driver);
- if (ret < 0)
- return ret;
-
- ret = spi_register_driver(&adis16060_w_driver);
- if (ret < 0) {
- spi_unregister_driver(&adis16060_r_driver);
- return ret;
- }
-
- return 0;
-}
-module_init(adis16060_init);
-
-static __exit void adis16060_exit(void)
-{
- spi_unregister_driver(&adis16060_w_driver);
- spi_unregister_driver(&adis16060_r_driver);
-}
-module_exit(adis16060_exit);
-
-MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
-MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
-MODULE_LICENSE("GPL v2");
projects / linux-2.6-microblaze.git / commitdiff