This drivers allows a communication with the Analog Devices ADIS16255
Low Power Gyroscope over SPI.
Signed-off-by: Matthias Brugger <mensch0815@xxxxxxxxx>
---
diff --git a/drivers/staging/adis16255/Kconfig
b/drivers/staging/adis16255/Kconfig
new file mode 100644
index 0000000..3952cf9
--- /dev/null
+++ b/drivers/staging/adis16255/Kconfig
@@ -0,0 +1,9 @@
+config ADIS16255
+ tristate "Ananlog Devices ADIS16250/16255"
+ depends on SPI && SYSFS
+ ---help---
+ If you say yes here you get support for the Analog Devices
+ ADIS16250/16255 Low Power Gyroscope.
+
+ This driver can also be built as a module. If so, the module
+ will be called adis16255.
diff --git a/drivers/staging/adis16255/Makefile
b/drivers/staging/adis16255/Makefile
new file mode 100644
index 0000000..796dac4
--- /dev/null
+++ b/drivers/staging/adis16255/Makefile
@@ -0,0 +1 @@
+obj-$(CONFIG_ADIS16255) += adis16255.o
diff --git a/drivers/staging/adis16255/TODO b/drivers/staging/adis16255/TODO
new file mode 100644
index 0000000..255b367
--- /dev/null
+++ b/drivers/staging/adis16255/TODO
@@ -0,0 +1,4 @@
+* documentation about sample rate, possible changes via ioctls etc pp
+* sample rate changeable or at least readable from sysfs
+* reset gyroscope
+* encapsulate adis_init and adis_turn_off
diff --git a/drivers/staging/adis16255/adis16255.c
b/drivers/staging/adis16255/adis16255.c
new file mode 100644
index 0000000..19d7d9c
--- /dev/null
+++ b/drivers/staging/adis16255/adis16255.c
@@ -0,0 +1,388 @@
+/*
+ * Analog Devices ADIS16250/ADIS16255 Low Power Gyroscope
+ *
+ * Written by: Matthias Brugger <mensch0815@xxxxxxxxx>
+ *
+ * Copyright (C) 2010 Fraunhofer Institute for Integrated Circuits
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the
+ * Free Software Foundation, Inc.,
+ * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/device.h>
+#include <linux/list.h>
+#include <linux/errno.h>
+#include <linux/mutex.h>
+#include <linux/slab.h>
+
+#include <linux/interrupt.h>
+#include <linux/sysfs.h>
+#include <linux/stat.h>
+#include <linux/delay.h>
+
+#include <linux/gpio.h>
+
+#include <linux/spi/spi.h>
+#include <linux/workqueue.h>
+
+#include "adis16255.h"
+
+#define ADIS_STATUS 0x3d
+#define ADIS_SMPL_PRD_MSB 0x37
+#define ADIS_SMPL_PRD_LSB 0x36
+#define ADIS_MSC_CTRL_MSB 0x35
+#define ADIS_MSC_CTRL_LSB 0x34
+#define ADIS_GPIO_CTRL 0x33
+#define ADIS_ALM_SMPL1 0x25
+#define ADIS_ALM_MAG1 0x21
+#define ADIS_GYRO_SCALE 0x17
+#define ADIS_GYRO_OUT 0x05
+#define ADIS_SUPPLY_OUT 0x03
+#define ADIS_ENDURANCE 0x01
+
+/*
+ * data structure for every sensor
+ *
+ * @dev: Driver model representation of the device.
+ * @spi: Pointer to the spi device which will manage i/o to spi bus.
+ * @wq: work for working queue
+ * @data: Last read data from device.
+ * @irq_adis: GPIO Number of IRQ signal
+ * @irq: irq line manage by kernel
+ * @negative: indicates if sensor is upside down (negative == 1)
+ * @direction: indicates x, y, z axis the sensor is meassuring
+ */
+struct spi_adis16255_data {
+ struct device dev;
+ struct spi_device *spi;
+ struct work_struct wq;
+ s16 data;
+ int irq_adis;
+ int irq;
+ u8 negative;
+ char direction;
+};
+
+/*-------------------------------------------------------------------------*/
+
+static int spi_adis16255_read_data(struct spi_adis16255_data *spiadis,
+ u8 adr,
+ u8 *rbuf)
+{
+ struct spi_device *spi = spiadis->spi;
+ struct spi_message msg;
+ struct spi_transfer xfer1, xfer2;
+ u8 *buf, *rx;
+ int ret;
+
+ buf = kmalloc(4, GFP_KERNEL);
+ if (!buf)
+ return -ENOMEM;
+
+ rx = kzalloc(4, GFP_KERNEL);
+ if (!rx)
+ return -ENOMEM;
+
+ buf[0] = adr;
+ buf[1] = 0x00;
+ buf[2] = 0x00;
+ buf[3] = 0x00;
+
+ spi_message_init(&msg);
+ memset(&xfer1, 0, sizeof(xfer1));
+ memset(&xfer2, 0, sizeof(xfer2));
+
+ xfer1.tx_buf = buf;
+ xfer1.rx_buf = buf + 2;
+ xfer1.len = 2;
+ xfer1.delay_usecs = 9;
+
+ xfer2.tx_buf = rx + 2;
+ xfer2.rx_buf = rx;
+ xfer2.len = 2;
+
+ spi_message_add_tail(&xfer1, &msg);
+ spi_message_add_tail(&xfer2, &msg);
+
+ ret = spi_sync(spi, &msg);
+ if (ret == 0) {
+ rbuf[0] = rx[0];
+ rbuf[1] = rx[1];
+ }
+
+ kfree(buf);
+ kfree(rx);
+
+ return ret;
+}
+
+static int spi_adis16255_write_data(struct spi_adis16255_data *spiadis,
+ u8 adr1,
+ u8 adr2,
+ u8* wbuf)
+{
+ struct spi_device *spi = spiadis->spi;
+ struct spi_message msg;
+ struct spi_transfer xfer1, xfer2;
+ u8 *buf, *rx;
+ int ret;
+
+ buf = kmalloc(4, GFP_KERNEL);
+ if (!buf)
+ return -ENOMEM;
+
+ rx = kzalloc(4, GFP_KERNEL);
+ if (!rx)
+ return -ENOMEM;
+
+ spi_message_init(&msg);
+ memset(&xfer1, 0, sizeof(xfer1));
+ memset(&xfer2, 0, sizeof(xfer2));
+
+ buf[0] = adr1 | 0x80;
+ buf[1] = *wbuf;
+
+ buf[2] = adr2 | 0x80;
+ buf[3] = *(wbuf + 1);
+
+ xfer1.tx_buf = buf;
+ xfer1.rx_buf = rx;
+ xfer1.len = 2;
+ xfer1.delay_usecs = 9;
+
+ xfer2.tx_buf = buf+2;
+ xfer2.rx_buf = rx+2;
+ xfer2.len = 2;
+
+ spi_message_add_tail(&xfer1, &msg);
+ spi_message_add_tail(&xfer2, &msg);
+
+ ret = spi_sync(spi, &msg);
+ if (ret != 0)
+ dev_info(&spi->dev, "wirte data to %#x %#x failed\n", buf[0], buf[2]);
+
+ kfree(buf);
+ kfree(rx);
+ return ret;
+}
+
+/*-------------------------------------------------------------------------*/
+
+void spi_workqueue(struct work_struct *work)
+{
+ struct spi_adis16255_data *spiadis = container_of(work, struct
spi_adis16255_data, wq);
+ int status;
+ u16 value;
+
+ status = spi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value);
+ if (status == 0) {
+ // perform on new data only...
+ // delete error and new data bit
+ // set negative value
+ if (value & 0x8000) {
+ value = value & 0x3fff;
+ if (value & 0x2000) {
+ value = value | 0xe000;
+
+ if(likely(spiadis->negative))
+ value = -value;
+
+ spiadis->data = (s16) value;
+ }
+ }
+ else {
+ dev_warn(&spiadis->spi->dev, "SPI FAILED");
+ }
+
+}
+
+static irqreturn_t adis_interrupt(int irq, void *dev_id) {
+ struct spi_adis16255_data *spiadis = (struct spi_adis16255_data *) dev_id;
+
+ schedule_work(&spiadis->wq);
+
+ return IRQ_HANDLED;
+}
+
+/*-------------------------------------------------------------------------*/
+
+ssize_t adis16255_show_data(struct device *device, struct
device_attribute* da, char *buf)
+{
+ struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
+ return snprintf(buf, PAGE_SIZE, "%d\n", spiadis->data);
+}
+DEVICE_ATTR(data, S_IRUGO , adis16255_show_data, NULL);
+
+ssize_t adis16255_show_direction(struct device *device, struct
device_attribute* da, char *buf)
+{
+ struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
+ return snprintf(buf, PAGE_SIZE, "%c\n", spiadis->direction);
+}
+DEVICE_ATTR(direction, S_IRUGO , adis16255_show_direction, NULL);
+
+static struct attribute *adis16255_attributes[] = {
+ &dev_attr_data.attr,
+ &dev_attr_direction.attr,
+ NULL
+};
+
+static const struct attribute_group adis16255_attr_group = {
+ .attrs = adis16255_attributes,
+};
+
+/*-------------------------------------------------------------------------*/
+
+static int spi_adis16255_probe(struct spi_device *spi)
+{
+
+#define AD_CHK(_ss) \
+{ \
+ status = _ss; \
+ if(status != 0) \
+ goto irq_err; \
+}
+
+ struct adis16255_init_data *init_data = spi->dev.platform_data;
+ struct spi_adis16255_data *spiadis;
+ int status=0;
+ u16 value;
+
+ /* Allocate driver data */
+ spiadis = kzalloc(sizeof(*spiadis), GFP_KERNEL);
+ if (!spiadis)
+ return -ENOMEM;
+
+ spiadis->spi = spi; // save spi_device in driver-data
+ spiadis->irq_adis = init_data->irq;
+ spiadis->direction = init_data->direction;
+
+ if (init_data->negative) {
+ spiadis->negative = 1;
+ }
+
+ INIT_WORK(&spiadis->wq, spi_workqueue);
+
+
+ status = gpio_request(spiadis->irq_adis, "adis16255");
+ if(status != 0)
+ goto irq_err;
+
+ status = gpio_direction_input(spiadis->irq_adis);
+ if(status != 0)
+ goto irq_err;
+
+ spiadis->irq = gpio_to_irq(spiadis->irq_adis);
+
+ status = request_irq(spiadis->irq, adis_interrupt, IRQF_DISABLED,
"adis-driver", spiadis);
+ if(status != 0) {
+ dev_err(&spi->dev, "IRQ request failed\n");
+ goto irq_err;
+ }
+
+ dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", spiadis->irq_adis, spiadis->irq);
+
+ dev_set_drvdata(&spi->dev, spiadis);
+ AD_CHK(sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group));
+
+ dev_info(&spi->dev,"spi_adis16255 driver added!\n");
+
+ AD_CHK( spi_adis16255_read_data(spiadis, ADIS_SUPPLY_OUT, (u8 *)&value) );
+ dev_info(&spi->dev, "sensor works with %d mV (%.4x)!\n", ((value &
0x0fff)*18315)/10000, (value & 0x0fff));
+
+ AD_CHK( spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE, (u8 *)&value) );
+ dev_info(&spi->dev, "adis GYRO_SCALE is %.4x\n", value);
+
+ AD_CHK( spi_adis16255_read_data(spiadis, ADIS_STATUS, (u8 *)&value) );
+ dev_info(&spi->dev, "adis STATUS is %.4x\n", value);
+
+ value = 0x0001;// 0x008a;
+ AD_CHK( spi_adis16255_write_data(spiadis, ADIS_SMPL_PRD_MSB,
ADIS_SMPL_PRD_LSB, (u8 *)&value) );
+ value = 0x0000;
+ AD_CHK( spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB, (u8 *)&value) );
+ dev_info(&spi->dev, "adis SMP_PRD is %.4x\n", value);
+
+ // set interrupt on new data...
+ value = 0x0006;
+ AD_CHK( spi_adis16255_write_data(spiadis, ADIS_MSC_CTRL_MSB,
ADIS_MSC_CTRL_LSB, (u8 *)&value) );
+ value = 0x0000;
+ AD_CHK( spi_adis16255_read_data(spiadis, ADIS_MSC_CTRL_MSB, (u8 *)&value) );
+ dev_info(&spi->dev, "adis MSC_CONTROL is %.4x\n", value);
+
+ return status;
+
+irq_err:
+ kfree(spiadis);
+ return status;
+}
+
+static int spi_adis16255_remove(struct spi_device *spi)
+{
+ u16 value=0;
+ struct spi_adis16255_data *spiadis = dev_get_drvdata(&spi->dev);
+ struct adis16255_init_data *init_data = spi->dev.platform_data;
+
+ if(spiadis == NULL) {
+ dev_info(&spi->dev, "unregister: no spiadis struct %c\n",
init_data->direction);
+ goto end;
+ }
+
+ // trun sensor off
+ spi_adis16255_write_data(spiadis, ADIS_SMPL_PRD_MSB,
ADIS_SMPL_PRD_LSB, (u8 *)&value);
+ spi_adis16255_write_data(spiadis, ADIS_MSC_CTRL_MSB,
ADIS_MSC_CTRL_LSB, (u8 *)&value);
+
+ dev_info(&spi->dev, "unregister: GPIO %d IRQ %d
\n",spiadis->irq_adis, spiadis->irq);
+ free_irq(spiadis->irq, spiadis);
+ gpio_free(spiadis->irq_adis);
+
+ sysfs_remove_group(&spiadis->spi->dev.kobj, &adis16255_attr_group);
+
+ kfree(spiadis);
+
+end:
+ dev_info(&spi->dev, "spi_adis16255 driver removed!\n");
+ return 0;
+}
+
+static struct spi_driver spi_adis16255_drv = {
+ .driver = {
+ .name = "spi_adis16255",
+ .owner = THIS_MODULE,
+ },
+ .probe = spi_adis16255_probe,
+ .remove = __devexit_p(spi_adis16255_remove),
+};
+
+/*-------------------------------------------------------------------------*/
+
+static int __init spi_adis16255_init(void)
+{
+ int status;
+
+ status = spi_register_driver(&spi_adis16255_drv);
+ return status;
+}
+module_init(spi_adis16255_init);
+
+static void __exit spi_adis16255_exit(void)
+{
+ spi_unregister_driver(&spi_adis16255_drv);
+}
+module_exit(spi_adis16255_exit);
+
+MODULE_AUTHOR("Matthias Brugger");
+MODULE_DESCRIPTION("SPI device driver for ADIS16255 sensor");
+MODULE_LICENSE("GPL");
diff --git a/drivers/staging/adis16255/adis16255.h
b/drivers/staging/adis16255/adis16255.h
new file mode 100644
index 0000000..26c9f84
--- /dev/null
+++ b/drivers/staging/adis16255/adis16255.h
@@ -0,0 +1,12 @@
+#ifndef ADIS16255_H
+#define ADIS16255_H
+
+#include <linux/types.h>
+
+struct adis16255_init_data {
+ char direction;
+ u8 negative;
+ int irq;
+};
+
+#endif
_______________________________________________
devel mailing list
devel@xxxxxxxxxxxxxxxxxxxxxx
http://driverdev.linuxdriverproject.org/mailman/listinfo/devel
