From: Barry Song <barry.song@xxxxxxxxxx> Signed-off-by: Barry Song <barry.song@xxxxxxxxxx> Signed-off-by: Mike Frysinger <vapier@xxxxxxxxxx> --- drivers/staging/iio/gyro/Kconfig | 7 + drivers/staging/iio/gyro/Makefile | 3 + drivers/staging/iio/gyro/adis16060.h | 101 +++++++++ drivers/staging/iio/gyro/adis16060_core.c | 319 +++++++++++++++++++++++++++++ 4 files changed, 430 insertions(+), 0 deletions(-) create mode 100644 drivers/staging/iio/gyro/adis16060.h create mode 100644 drivers/staging/iio/gyro/adis16060_core.c diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig index c463351..d34410b 100644 --- a/drivers/staging/iio/gyro/Kconfig +++ b/drivers/staging/iio/gyro/Kconfig @@ -3,6 +3,13 @@ # comment "Digital gyroscope sensors" +config ADIS16060 + tristate "Analog Devices ADIS16060 Yaw Rate Gyroscope with SPI driver" + depends on SPI + help + Say yes here to build support for Analog Devices adis16060 wide bandwidth + yaw rate gyroscope with SPI. + config ADIS16260 tristate "Analog Devices ADIS16260/5 Digital Gyroscope Sensor SPI driver" depends on SPI diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile index ce4aba5..7b3b478 100644 --- a/drivers/staging/iio/gyro/Makefile +++ b/drivers/staging/iio/gyro/Makefile @@ -2,6 +2,9 @@ # Makefile for digital gyroscope sensor drivers # +adis16060-y := adis16060_core.o +obj-$(CONFIG_ADIS16060) += adis16060.o + adis16260-y := adis16260_core.o adis16260-$(CONFIG_IIO_RING_BUFFER) += adis16260_ring.o adis16260_trigger.o obj-$(CONFIG_ADIS16260) += adis16260.o diff --git a/drivers/staging/iio/gyro/adis16060.h b/drivers/staging/iio/gyro/adis16060.h new file mode 100644 index 0000000..22b564b --- /dev/null +++ b/drivers/staging/iio/gyro/adis16060.h @@ -0,0 +1,101 @@ +#ifndef SPI_ADIS16060_H_ +#define SPI_ADIS16060_H_ + +#define ADIS16060_GYRO 0x20 /* Measure Angular Rate (Gyro) */ +#define ADIS16060_SUPPLY_OUT 0x10 /* Measure Temperature */ +#define ADIS16060_AIN2 0x80 /* Measure AIN2 */ +#define ADIS16060_AIN1 0x40 /* Measure AIN1 */ +#define ADIS16060_TEMP_OUT 0x22 /* Set Positive Self-Test and Output for Angular Rate */ +#define ADIS16060_ANGL_OUT 0x21 /* Set Negative Self-Test and Output for Angular Rate */ + +#define ADIS16060_MAX_TX 3 +#define ADIS16060_MAX_RX 3 + +/** + * struct adis16060_state - device instance specific data + * @us_w: actual spi_device to write data + * @work_trigger_to_ring: bh for triggered event handling + * @inter: used to check if new interrupt has been triggered + * @last_timestamp: passing timestamp from th to bh of interrupt handler + * @indio_dev: industrial I/O device structure + * @trig: data ready trigger registered with iio + * @tx: transmit buffer + * @rx: recieve buffer + * @buf_lock: mutex to protect tx and rx + **/ +struct adis16060_state { + struct spi_device *us_w; + struct spi_device *us_r; + struct work_struct work_trigger_to_ring; + s64 last_timestamp; + struct iio_dev *indio_dev; + struct iio_trigger *trig; + u8 *tx; + u8 *rx; + struct mutex buf_lock; +}; + +#ifdef CONFIG_IIO_RING_BUFFER +/* At the moment triggers are only used for ring buffer + * filling. This may change! + */ + +enum adis16060_scan { + ADIS16060_SCAN_GYRO, + ADIS16060_SCAN_TEMP, + ADIS16060_SCAN_ADC_1, + ADIS16060_SCAN_ADC_2, +}; + +void adis16060_remove_trigger(struct iio_dev *indio_dev); +int adis16060_probe_trigger(struct iio_dev *indio_dev); + +ssize_t adis16060_read_data_from_ring(struct device *dev, + struct device_attribute *attr, + char *buf); + + +int adis16060_configure_ring(struct iio_dev *indio_dev); +void adis16060_unconfigure_ring(struct iio_dev *indio_dev); + +int adis16060_initialize_ring(struct iio_ring_buffer *ring); +void adis16060_uninitialize_ring(struct iio_ring_buffer *ring); +#else /* CONFIG_IIO_RING_BUFFER */ + +static inline void adis16060_remove_trigger(struct iio_dev *indio_dev) +{ +} + +static inline int adis16060_probe_trigger(struct iio_dev *indio_dev) +{ + return 0; +} + +static inline ssize_t +adis16060_read_data_from_ring(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + return 0; +} + +static int adis16060_configure_ring(struct iio_dev *indio_dev) +{ + return 0; +} + +static inline void adis16060_unconfigure_ring(struct iio_dev *indio_dev) +{ +} + +static inline int adis16060_initialize_ring(struct iio_ring_buffer *ring) +{ + return 0; +} + +static inline void adis16060_uninitialize_ring(struct iio_ring_buffer *ring) +{ +} + +#endif /* CONFIG_IIO_RING_BUFFER */ +#endif /* SPI_ADIS16060_H_ */ diff --git a/drivers/staging/iio/gyro/adis16060_core.c b/drivers/staging/iio/gyro/adis16060_core.c new file mode 100644 index 0000000..fc48aca --- /dev/null +++ b/drivers/staging/iio/gyro/adis16060_core.c @@ -0,0 +1,319 @@ +/* + * ADIS16060 Wide Bandwidth Yaw Rate Gyroscope with SPI 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 "adis16060.h" + +#define DRIVER_NAME "adis16060" + +struct adis16060_state *adis16060_st; + +int adis16060_spi_write(struct device *dev, + u8 val) +{ + int ret; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16060_state *st = iio_dev_get_devdata(indio_dev); + + mutex_lock(&st->buf_lock); + st->tx[0] = 0; + st->tx[1] = 0; + st->tx[2] = val; /* The last 8 bits clocked in are latched */ + + ret = spi_write(st->us_w, st->tx, 3); + mutex_unlock(&st->buf_lock); + + return ret; +} + +int adis16060_spi_read(struct device *dev, + u16 *val) +{ + int ret; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16060_state *st = iio_dev_get_devdata(indio_dev); + + mutex_lock(&st->buf_lock); + + ret = spi_read(st->us_r, st->rx, 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 == 0) + *val = ((st->rx[0] & 0x3) << 12) | (st->rx[1] << 4) | ((st->rx[2] >> 4) & 0xF); + mutex_unlock(&st->buf_lock); + + return ret; +} + +static ssize_t adis16060_read(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + u16 val; + ssize_t ret; + + /* Take the iio_dev status lock */ + mutex_lock(&indio_dev->mlock); + ret = adis16060_spi_read(dev, &val); + mutex_unlock(&indio_dev->mlock); + + if (ret == 0) + return sprintf(buf, "%d\n", val); + else + return ret; +} + +static ssize_t adis16060_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 = adis16060_spi_write(dev, val); + +error_ret: + return ret ? ret : len; +} + +#define IIO_DEV_ATTR_IN(_show) \ + IIO_DEVICE_ATTR(in, S_IRUGO, _show, NULL, 0) + +#define IIO_DEV_ATTR_OUT(_store) \ + IIO_DEVICE_ATTR(out, S_IRUGO, NULL, _store, 0) + +static IIO_DEV_ATTR_IN(adis16060_read); +static IIO_DEV_ATTR_OUT(adis16060_write); + +static IIO_CONST_ATTR(name, "adis16060"); + +static struct attribute *adis16060_event_attributes[] = { + NULL +}; + +static struct attribute_group adis16060_event_attribute_group = { + .attrs = adis16060_event_attributes, +}; + +static struct attribute *adis16060_attributes[] = { + &iio_dev_attr_in.dev_attr.attr, + &iio_dev_attr_out.dev_attr.attr, + &iio_const_attr_name.dev_attr.attr, + NULL +}; + +static const struct attribute_group adis16060_attribute_group = { + .attrs = adis16060_attributes, +}; + +static int __devinit adis16060_r_probe(struct spi_device *spi) +{ + int ret, regdone = 0; + struct adis16060_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)*ADIS16060_MAX_RX, GFP_KERNEL); + if (st->rx == NULL) { + ret = -ENOMEM; + goto error_free_st; + } + st->tx = kzalloc(sizeof(*st->tx)*ADIS16060_MAX_TX, GFP_KERNEL); + if (st->tx == NULL) { + ret = -ENOMEM; + goto error_free_rx; + } + st->us_r = 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 = &adis16060_event_attribute_group; + st->indio_dev->attrs = &adis16060_attribute_group; + st->indio_dev->dev_data = (void *)(st); + st->indio_dev->driver_module = THIS_MODULE; + st->indio_dev->modes = INDIO_DIRECT_MODE; + + ret = adis16060_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 = adis16060_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, + "adis16060"); + if (ret) + goto error_uninitialize_ring; + + ret = adis16060_probe_trigger(st->indio_dev); + if (ret) + goto error_unregister_line; + } + + adis16060_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: + adis16060_uninitialize_ring(st->indio_dev->ring); +error_unreg_ring_funcs: + adis16060_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 adis16060_r_remove(struct spi_device *spi) +{ + struct adis16060_state *st = spi_get_drvdata(spi); + struct iio_dev *indio_dev = st->indio_dev; + + flush_scheduled_work(); + + adis16060_remove_trigger(indio_dev); + if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) + iio_unregister_interrupt_line(indio_dev, 0); + + adis16060_uninitialize_ring(indio_dev->ring); + adis16060_unconfigure_ring(indio_dev); + iio_device_unregister(indio_dev); + kfree(st->tx); + kfree(st->rx); + kfree(st); + + return 0; +} + +static int __devinit adis16060_w_probe(struct spi_device *spi) +{ + int ret; + struct adis16060_state *st = adis16060_st; + if (!st) { + ret = -ENODEV; + goto error_ret; + } + spi_set_drvdata(spi, st); + 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", + .owner = THIS_MODULE, + }, + .probe = adis16060_r_probe, + .remove = __devexit_p(adis16060_r_remove), +}; + +static struct spi_driver adis16060_w_driver = { + .driver = { + .name = "adis16060_w", + .owner = THIS_MODULE, + }, + .probe = adis16060_w_probe, + .remove = __devexit_p(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@xxxxxxxxx>"); +MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope with SPI driver"); +MODULE_LICENSE("GPL v2"); -- 1.7.3.2 -- To unsubscribe from this list: send the line "unsubscribe linux-iio" in the body of a message to majordomo@xxxxxxxxxxxxxxx More majordomo info at http://vger.kernel.org/majordomo-info.html