staging: iio: gyro: new driver for ADIS16080 digital output gyros
Signed-off-by: Barry Song <barry.song@analog.com> Signed-off-by: Michael Hennerich <michael.hennerich@analog.com> Acked-by: Jonathan Cameron <jic23@cam.ac.uk> Signed-off-by: Mike Frysinger <vapier@gentoo.org> Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
This commit is contained in:
Barry Song
Greg Kroah-Hartman
Родитель
e071f6b8e4
Коммит
1b2f99e1ae
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@ -10,6 +10,13 @@ config ADIS16060
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Say yes here to build support for Analog Devices adis16060 wide bandwidth
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yaw rate gyroscope with SPI.
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config ADIS16080
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tristate "Analog Devices ADIS16080/100 Yaw Rate Gyroscope with SPI driver"
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depends on SPI
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help
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Say yes here to build support for Analog Devices adis16080/100 Yaw Rate
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Gyroscope with SPI.
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config ADIS16260
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tristate "Analog Devices ADIS16260 ADIS16265 Digital Gyroscope Sensor SPI driver"
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depends on SPI
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@ -5,6 +5,9 @@
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adis16060-y := adis16060_core.o
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obj-$(CONFIG_ADIS16060) += adis16060.o
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adis16080-y := adis16080_core.o
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obj-$(CONFIG_ADIS16080) += adis16080.o
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adis16260-y := adis16260_core.o
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adis16260-$(CONFIG_IIO_RING_BUFFER) += adis16260_ring.o adis16260_trigger.o
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obj-$(CONFIG_ADIS16260) += adis16260.o
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@ -0,0 +1,102 @@
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#ifndef SPI_ADIS16080_H_
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#define SPI_ADIS16080_H_
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#define ADIS16080_DIN_CODE 4 /* Output data format setting. 0: Twos complement. 1: Offset binary. */
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#define ADIS16080_DIN_GYRO (0 << 10) /* Gyroscope output */
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#define ADIS16080_DIN_TEMP (1 << 10) /* Temperature output */
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#define ADIS16080_DIN_AIN1 (2 << 10)
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#define ADIS16080_DIN_AIN2 (3 << 10)
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#define ADIS16080_DIN_WRITE (1 << 15) /* 1: Write contents on DIN to control register.
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* 0: No changes to control register.
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*/
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#define ADIS16080_MAX_TX 2
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#define ADIS16080_MAX_RX 2
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/**
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* struct adis16080_state - device instance specific data
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* @us: actual spi_device to write data
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* @work_trigger_to_ring: bh for triggered event handling
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* @inter: used to check if new interrupt has been triggered
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* @last_timestamp: passing timestamp from th to bh of interrupt handler
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* @indio_dev: industrial I/O device structure
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* @trig: data ready trigger registered with iio
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* @tx: transmit buffer
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* @rx: recieve buffer
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* @buf_lock: mutex to protect tx and rx
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**/
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struct adis16080_state {
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struct spi_device *us;
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struct work_struct work_trigger_to_ring;
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s64 last_timestamp;
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struct iio_dev *indio_dev;
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struct iio_trigger *trig;
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u8 *tx;
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u8 *rx;
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struct mutex buf_lock;
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};
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#if defined(CONFIG_IIO_RING_BUFFER) && defined(THIS_HAS_RING_BUFFER_SUPPORT)
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/* At the moment triggers are only used for ring buffer
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* filling. This may change!
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*/
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enum adis16080_scan {
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ADIS16080_SCAN_GYRO,
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ADIS16080_SCAN_TEMP,
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ADIS16080_SCAN_ADC_1,
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ADIS16080_SCAN_ADC_2,
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};
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void adis16080_remove_trigger(struct iio_dev *indio_dev);
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int adis16080_probe_trigger(struct iio_dev *indio_dev);
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ssize_t adis16080_read_data_from_ring(struct device *dev,
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struct device_attribute *attr,
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char *buf);
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int adis16080_configure_ring(struct iio_dev *indio_dev);
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void adis16080_unconfigure_ring(struct iio_dev *indio_dev);
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int adis16080_initialize_ring(struct iio_ring_buffer *ring);
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void adis16080_uninitialize_ring(struct iio_ring_buffer *ring);
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#else /* CONFIG_IIO_RING_BUFFER */
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static inline void adis16080_remove_trigger(struct iio_dev *indio_dev)
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{
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}
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static inline int adis16080_probe_trigger(struct iio_dev *indio_dev)
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{
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return 0;
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}
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static inline ssize_t
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adis16080_read_data_from_ring(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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return 0;
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}
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static int adis16080_configure_ring(struct iio_dev *indio_dev)
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{
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return 0;
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}
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static inline void adis16080_unconfigure_ring(struct iio_dev *indio_dev)
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{
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}
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static inline int adis16080_initialize_ring(struct iio_ring_buffer *ring)
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{
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return 0;
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}
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static inline void adis16080_uninitialize_ring(struct iio_ring_buffer *ring)
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{
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}
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#endif /* CONFIG_IIO_RING_BUFFER */
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#endif /* SPI_ADIS16080_H_ */
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@ -0,0 +1,271 @@
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/*
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* ADIS16080/100 Yaw Rate Gyroscope with SPI driver
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*
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* Copyright 2010 Analog Devices Inc.
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*
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* Licensed under the GPL-2 or later.
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*/
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#include <linux/interrupt.h>
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#include <linux/irq.h>
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#include <linux/gpio.h>
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/slab.h>
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#include <linux/sysfs.h>
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#include <linux/list.h>
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#include "../iio.h"
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#include "../sysfs.h"
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#include "gyro.h"
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#include "../adc/adc.h"
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#include "adis16080.h"
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#define DRIVER_NAME "adis16080"
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struct adis16080_state *adis16080_st;
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int adis16080_spi_write(struct device *dev,
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u16 val)
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{
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int ret;
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16080_state *st = iio_dev_get_devdata(indio_dev);
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mutex_lock(&st->buf_lock);
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st->tx[0] = val >> 8;
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st->tx[1] = val;
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ret = spi_write(st->us, st->tx, 2);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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int adis16080_spi_read(struct device *dev,
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u16 *val)
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{
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int ret;
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16080_state *st = iio_dev_get_devdata(indio_dev);
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mutex_lock(&st->buf_lock);
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ret = spi_read(st->us, st->rx, 2);
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if (ret == 0)
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*val = ((st->rx[0] & 0xF) << 8) | st->rx[1];
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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static ssize_t adis16080_read(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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u16 val;
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ssize_t ret;
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/* Take the iio_dev status lock */
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mutex_lock(&indio_dev->mlock);
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ret = adis16080_spi_read(dev, &val);
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mutex_unlock(&indio_dev->mlock);
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if (ret == 0)
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return sprintf(buf, "%d\n", val);
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else
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return ret;
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}
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static ssize_t adis16080_write(struct device *dev,
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struct device_attribute *attr,
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const char *buf,
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size_t len)
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{
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int ret;
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long val;
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ret = strict_strtol(buf, 16, &val);
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if (ret)
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goto error_ret;
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ret = adis16080_spi_write(dev, val);
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error_ret:
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return ret ? ret : len;
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}
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#define IIO_DEV_ATTR_IN(_show) \
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IIO_DEVICE_ATTR(in, S_IRUGO, _show, NULL, 0)
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#define IIO_DEV_ATTR_OUT(_store) \
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IIO_DEVICE_ATTR(out, S_IRUGO, NULL, _store, 0)
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static IIO_DEV_ATTR_IN(adis16080_read);
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static IIO_DEV_ATTR_OUT(adis16080_write);
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static IIO_CONST_ATTR(name, "adis16080");
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static struct attribute *adis16080_event_attributes[] = {
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NULL
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};
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static struct attribute_group adis16080_event_attribute_group = {
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.attrs = adis16080_event_attributes,
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};
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static struct attribute *adis16080_attributes[] = {
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&iio_dev_attr_in.dev_attr.attr,
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&iio_dev_attr_out.dev_attr.attr,
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&iio_const_attr_name.dev_attr.attr,
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NULL
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};
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static const struct attribute_group adis16080_attribute_group = {
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.attrs = adis16080_attributes,
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};
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static int __devinit adis16080_probe(struct spi_device *spi)
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{
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int ret, regdone = 0;
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struct adis16080_state *st = kzalloc(sizeof *st, GFP_KERNEL);
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if (!st) {
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ret = -ENOMEM;
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goto error_ret;
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}
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/* this is only used for removal purposes */
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spi_set_drvdata(spi, st);
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/* Allocate the comms buffers */
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st->rx = kzalloc(sizeof(*st->rx)*ADIS16080_MAX_RX, GFP_KERNEL);
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if (st->rx == NULL) {
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ret = -ENOMEM;
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goto error_free_st;
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}
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st->tx = kzalloc(sizeof(*st->tx)*ADIS16080_MAX_TX, GFP_KERNEL);
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if (st->tx == NULL) {
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ret = -ENOMEM;
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goto error_free_rx;
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}
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st->us = spi;
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mutex_init(&st->buf_lock);
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/* setup the industrialio driver allocated elements */
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st->indio_dev = iio_allocate_device();
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if (st->indio_dev == NULL) {
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ret = -ENOMEM;
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goto error_free_tx;
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}
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st->indio_dev->dev.parent = &spi->dev;
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st->indio_dev->num_interrupt_lines = 1;
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st->indio_dev->event_attrs = &adis16080_event_attribute_group;
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st->indio_dev->attrs = &adis16080_attribute_group;
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st->indio_dev->dev_data = (void *)(st);
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st->indio_dev->driver_module = THIS_MODULE;
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st->indio_dev->modes = INDIO_DIRECT_MODE;
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ret = adis16080_configure_ring(st->indio_dev);
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if (ret)
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goto error_free_dev;
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ret = iio_device_register(st->indio_dev);
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if (ret)
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goto error_unreg_ring_funcs;
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regdone = 1;
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ret = adis16080_initialize_ring(st->indio_dev->ring);
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if (ret) {
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printk(KERN_ERR "failed to initialize the ring\n");
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goto error_unreg_ring_funcs;
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}
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if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
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ret = iio_register_interrupt_line(spi->irq,
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st->indio_dev,
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0,
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IRQF_TRIGGER_RISING,
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"adis16080");
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if (ret)
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goto error_uninitialize_ring;
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ret = adis16080_probe_trigger(st->indio_dev);
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if (ret)
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goto error_unregister_line;
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}
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adis16080_st = st;
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return 0;
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error_unregister_line:
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if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
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iio_unregister_interrupt_line(st->indio_dev, 0);
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error_uninitialize_ring:
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adis16080_uninitialize_ring(st->indio_dev->ring);
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error_unreg_ring_funcs:
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adis16080_unconfigure_ring(st->indio_dev);
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error_free_dev:
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if (regdone)
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iio_device_unregister(st->indio_dev);
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else
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iio_free_device(st->indio_dev);
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error_free_tx:
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kfree(st->tx);
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error_free_rx:
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kfree(st->rx);
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error_free_st:
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kfree(st);
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error_ret:
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return ret;
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}
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/* fixme, confirm ordering in this function */
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static int adis16080_remove(struct spi_device *spi)
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{
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struct adis16080_state *st = spi_get_drvdata(spi);
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struct iio_dev *indio_dev = st->indio_dev;
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flush_scheduled_work();
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adis16080_remove_trigger(indio_dev);
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if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
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iio_unregister_interrupt_line(indio_dev, 0);
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adis16080_uninitialize_ring(indio_dev->ring);
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adis16080_unconfigure_ring(indio_dev);
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iio_device_unregister(indio_dev);
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kfree(st->tx);
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kfree(st->rx);
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kfree(st);
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return 0;
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}
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static struct spi_driver adis16080_driver = {
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.driver = {
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.name = "adis16080",
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.owner = THIS_MODULE,
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},
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.probe = adis16080_probe,
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.remove = __devexit_p(adis16080_remove),
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};
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static __init int adis16080_init(void)
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{
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return spi_register_driver(&adis16080_driver);
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}
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module_init(adis16080_init);
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static __exit void adis16080_exit(void)
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{
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spi_unregister_driver(&adis16080_driver);
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}
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module_exit(adis16080_exit);
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MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
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MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope with SPI driver");
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MODULE_LICENSE("GPL v2");
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