From: Cliff Cai <cliff.cai@xxxxxxxxxx> Change v2:v1: Make modification according to Michael Hennerich's comments, correct the spi transfer way,use existing sysfs interfaces. Signed-off-by: Cliff Cai<cliff@xxxxxxxxxx> --- drivers/staging/iio/gyro/Kconfig | 10 + drivers/staging/iio/gyro/Makefile | 3 + drivers/staging/iio/gyro/adxrs450.h | 59 ++++ drivers/staging/iio/gyro/adxrs450_core.c | 471 ++++++++++++++++++++++++++++++ 4 files changed, 543 insertions(+), 0 deletions(-) create mode 100644 drivers/staging/iio/gyro/adxrs450.h create mode 100644 drivers/staging/iio/gyro/adxrs450_core.c diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig index 236f15f..3432967 100644 --- a/drivers/staging/iio/gyro/Kconfig +++ b/drivers/staging/iio/gyro/Kconfig @@ -45,3 +45,13 @@ config ADIS16251 This driver can also be built as a module. If so, the module will be called adis16251. + +config ADXRS450 + tristate "Analog Devices ADXRS450 Digital Output Gyroscope SPI driver" + depends on SPI + help + Say yes here to build support for Analog Devices ADXRS450 programmable + digital output gyroscope. + + This driver can also be built as a module. If so, the module + will be called adxrs450. diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile index 2764c15..2212240 100644 --- a/drivers/staging/iio/gyro/Makefile +++ b/drivers/staging/iio/gyro/Makefile @@ -17,3 +17,6 @@ obj-$(CONFIG_ADIS16260) += adis16260.o adis16251-y := adis16251_core.o obj-$(CONFIG_ADIS16251) += adis16251.o + +adxrs450-y := adxrs450_core.o +obj-$(CONFIG_ADXRS450) += adxrs450.o diff --git a/drivers/staging/iio/gyro/adxrs450.h b/drivers/staging/iio/gyro/adxrs450.h new file mode 100644 index 0000000..4633ef9 --- /dev/null +++ b/drivers/staging/iio/gyro/adxrs450.h @@ -0,0 +1,59 @@ +#ifndef SPI_ADXRS450_H_ +#define SPI_ADXRS450_H_ + +#define ADXRS450_STARTUP_DELAY 50 /* ms */ + +/* The MSB for the spi commands */ +#define ADXRS450_SENSOR_DATA 0x20 +#define ADXRS450_WRITE_DATA 0x40 +#define ADXRS450_READ_DATA 0x80 + +#define ADXRS450_RATE1 0x00 /* Rate Registers */ +#define ADXRS450_TEMP1 0x02 /* Temperature Registers */ +#define ADXRS450_LOCST1 0x04 /* Low CST Memory Registers */ +#define ADXRS450_HICST1 0x06 /* High CST Memory Registers */ +#define ADXRS450_QUAD1 0x08 /* Quad Memory Registers */ +#define ADXRS450_FAULT1 0x0A /* Fault Registers */ +#define ADXRS450_PID1 0x0C /* Part ID Register 1 */ +#define ADXRS450_PID0 0x0D /* Part ID Register 0 */ +#define ADXRS450_SNH 0x0E /* Serial Number Registers, 4 bytes */ +#define ADXRS450_SNL 0x10 +#define ADXRS450_DNC1 0x12 /* Dynamic Null Correction Registers */ +/* Check bits */ +#define ADXRS450_P 0x01 +#define ADXRS450_CHK 0x02 +#define ADXRS450_CST 0x04 +#define ADXRS450_PWR 0x08 +#define ADXRS450_POR 0x10 +#define ADXRS450_NVM 0x20 +#define ADXRS450_Q 0x40 +#define ADXRS450_PLL 0x80 +#define ADXRS450_UV 0x100 +#define ADXRS450_OV 0x200 +#define ADXRS450_AMP 0x400 +#define ADXRS450_FAIL 0x800 + +#define ADXRS450_WRERR_MASK (0x7 << 29) + +#define ADXRS450_MAX_RX 8 +#define ADXRS450_MAX_TX 8 + +#define ADXRS450_GET_ST(a) ((a >> 26) & 0x3) + +/** + * struct adxrs450_state - device instance specific data + * @us: actual spi_device + * @indio_dev: industrial I/O device structure + * @tx: transmit buffer + * @rx: recieve buffer + * @buf_lock: mutex to protect tx and rx + **/ +struct adxrs450_state { + struct spi_device *us; + struct iio_dev *indio_dev; + u8 *tx; + u8 *rx; + struct mutex buf_lock; +}; + +#endif /* SPI_ADXRS450_H_ */ diff --git a/drivers/staging/iio/gyro/adxrs450_core.c b/drivers/staging/iio/gyro/adxrs450_core.c new file mode 100644 index 0000000..f4f9d49 --- /dev/null +++ b/drivers/staging/iio/gyro/adxrs450_core.c @@ -0,0 +1,471 @@ +/* + * ADXRS450 Digital Output Gyroscope 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 "adxrs450.h" + +#define DRIVER_NAME "ADXRS450" + +/** + * adxrs450_spi_read_reg_16() - read 2 bytes from a register pair + * @dev: device associated with child of actual device (iio_dev or iio_trig) + * @reg_address: the address of the lower of the two registers,which should be an even address, + * Second register's address is reg_address + 1. + * @val: somewhere to pass back the value read + **/ +static int adxrs450_spi_read_reg_16(struct device *dev, + u8 reg_address, + u16 *val) +{ + struct spi_message msg; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adxrs450_state *st = iio_dev_get_devdata(indio_dev); + int ret; + struct spi_transfer xfers[] = { + { + .tx_buf = st->tx, + .rx_buf = st->rx, + .bits_per_word = 8, + .len = 4, + }, + }; + /* Needs to send the command twice to get the wanted value */ + mutex_lock(&st->buf_lock); + st->tx[0] = ADXRS450_READ_DATA | reg_address >> 7; + st->tx[1] = reg_address << 1; + st->tx[2] = 0; + st->tx[3] = 0; + spi_message_init(&msg); + spi_message_add_tail(&xfers[0], &msg); + ret = spi_sync(st->us, &msg); + if (ret) { + dev_err(&st->us->dev, "problem while reading 16 bit register 0x%02x\n", + reg_address); + goto error_ret; + } + + spi_message_init(&msg); + spi_message_add_tail(&xfers[0], &msg); + ret = spi_sync(st->us, &msg); + if (ret) { + dev_err(&st->us->dev, "problem while reading 16 bit register 0x%02x\n", + reg_address); + goto error_ret; + } + + *val = (st->rx[1] & 0x1f) << 11 | st->rx[2] << 3 | (st->rx[3] & 0xe0) >> 5; + +error_ret: + mutex_unlock(&st->buf_lock); + return ret; +} + +/** + * adxrs450_spi_write_reg_16() - write 2 bytes data to a register pair + * @dev: device associated with child of actual device (iio_dev or iio_trig) + * @reg_address: the address of the lower of the two registers,which should be an even address, + * Second register's address is reg_address + 1. + * @val: value to be written. + **/ +static int adxrs450_spi_write_reg_16(struct device *dev, + u8 reg_address, + u16 *val) +{ + struct spi_message msg; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adxrs450_state *st = iio_dev_get_devdata(indio_dev); + int ret; + struct spi_transfer xfers[] = { + { + .tx_buf = st->tx, + .rx_buf = st->rx, + .bits_per_word = 8, + .len = 4, + }, + }; + + mutex_lock(&st->buf_lock); + st->tx[0] = ADXRS450_WRITE_DATA | reg_address >> 7; + st->tx[1] = reg_address << 1 | *val >> 15; + st->tx[2] = *val >> 7; + st->tx[3] = *val << 1; + spi_message_init(&msg); + spi_message_add_tail(&xfers[0], &msg); + ret = spi_sync(st->us, &msg); + if (ret) { + dev_err(&st->us->dev, "problem while writing 16 bit register 0x%02x\n", + reg_address); + goto error_ret; + } + +error_ret: + mutex_unlock(&st->buf_lock); + return ret; +} + +/** + * adxrs450_spi_sensor_data() - read 2 bytes sensor data + * @dev: device associated with child of actual device (iio_dev or iio_trig) + * @val: somewhere to pass back the value read + **/ +static int adxrs450_spi_sensor_data(struct device *dev, u16 *val) +{ + struct spi_message msg; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adxrs450_state *st = iio_dev_get_devdata(indio_dev); + int ret; + struct spi_transfer xfers[] = { + { + .tx_buf = st->tx, + .rx_buf = st->rx, + .bits_per_word = 8, + .len = 4, + } + }; + + mutex_lock(&st->buf_lock); + st->tx[0] = ADXRS450_SENSOR_DATA; + st->tx[1] = 0; + st->tx[2] = 0; + st->tx[3] = 0; + + spi_message_init(&msg); + spi_message_add_tail(&xfers[0], &msg); + ret = spi_sync(st->us, &msg); + if (ret) { + dev_err(&st->us->dev, "Problem while reading sensor data\n"); + goto error_ret; + } + + spi_message_init(&msg); + spi_message_add_tail(&xfers[0], &msg); + ret = spi_sync(st->us, &msg); + if (ret) { + dev_err(&st->us->dev, "Problem while reading sensor data\n"); + goto error_ret; + } + + *val = (st->rx[0] & 0x03) << 14 | st->rx[1] << 6 | (st->rx[2] & 0xfc) >> 2; +error_ret: + mutex_unlock(&st->buf_lock); + return ret; +} + +/** + * adxrs450_spi_initial() - use for initializing procedure. + * @dev: device associated with child of actual device (iio_dev or iio_trig) + * @val: somewhere to pass back the value read + **/ +static int adxrs450_spi_initial(struct device *dev, + u32 *val, char chk) +{ + struct spi_message msg; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adxrs450_state *st = iio_dev_get_devdata(indio_dev); + int ret; + struct spi_transfer xfers[] = { + { + .tx_buf = st->tx, + .rx_buf = st->rx, + .bits_per_word = 8, + .len = 4, + }, + }; + + mutex_lock(&st->buf_lock); + st->tx[0] = ADXRS450_SENSOR_DATA; + st->tx[1] = 0; + st->tx[2] = 0; + st->tx[3] = 0; + if (chk) + st->tx[3] |= (ADXRS450_CHK | ADXRS450_P); + spi_message_init(&msg); + spi_message_add_tail(&xfers[0], &msg); + ret = spi_sync(st->us, &msg); + if (ret) { + dev_err(&st->us->dev, "Problem while reading initializing data\n"); + goto error_ret; + } + + *val = st->rx[0] << 24 | st->rx[1] << 16 | st->rx[2] << 8 | st->rx[3]; + +error_ret: + mutex_unlock(&st->buf_lock); + return ret; +} + +static ssize_t adxrs450_read_temp(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + int ret, len = 0; + u16 t; + ret = adxrs450_spi_read_reg_16(dev, + ADXRS450_TEMP1, + &t); + if (ret) + return ret; + len = sprintf(buf, "%d\n", t); + return len; +} + +static ssize_t adxrs450_read_quad(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + int ret, len = 0; + u16 t; + ret = adxrs450_spi_read_reg_16(dev, + ADXRS450_QUAD1, + &t); + if (ret) + return ret; + len = sprintf(buf, "%d\n", t); + return len; +} + +static ssize_t adxrs450_write_dnc(struct device *dev, + struct device_attribute *attr, + const char *buf, + size_t len) +{ + int ret; + u16 val; + + if (len == 0 || len > 2) + return -EINVAL; + memcpy(&val, buf, len); + ret = adxrs450_spi_write_reg_16(dev, + ADXRS450_DNC1, + &val); + return ret ? ret : len; +} + +static ssize_t adxrs450_read_sensor_data(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + int ret, len = 0; + u16 t; + + ret = adxrs450_spi_sensor_data(dev, &t); + if (ret) + return ret; + + len = sprintf(buf, "%d\n", t); + return len; +} + +/* Recommended Startup Sequence by spec */ +static int adxrs450_initial_setup(struct adxrs450_state *st) +{ + u32 t; + u16 data; + int ret; + struct device *dev = &st->indio_dev->dev; + + msleep(ADXRS450_STARTUP_DELAY*2); + ret = adxrs450_spi_initial(dev, &t, 1); + if (ret) + return ret; + if (t != 0x01) { + dev_err(&st->us->dev, "The initial response is not correct!\n"); + return -ENODEV; + + } + + msleep(ADXRS450_STARTUP_DELAY); + ret = adxrs450_spi_initial(dev, &t, 0); + if (ret) + return ret; + + msleep(ADXRS450_STARTUP_DELAY); + ret = adxrs450_spi_initial(dev, &t, 0); + if (ret) + return ret; + if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) { + dev_err(&st->us->dev, "The second response is not correct!\n"); + return -EIO; + + } + ret = adxrs450_spi_initial(dev, &t, 0); + if (ret) + return ret; + if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) { + dev_err(&st->us->dev, "The third response is not correct!\n"); + return -EIO; + + } + ret = adxrs450_spi_read_reg_16(dev, ADXRS450_FAULT1, &data); + if (ret) + return ret; + if (data & 0x0fff) { + dev_err(&st->us->dev, "The device is not in normal status!\n"); + return -EINVAL; + } + ret = adxrs450_spi_read_reg_16(dev, ADXRS450_PID1, &data); + if (ret) + return ret; + dev_info(&st->us->dev, "The Part ID is 0x%x\n", data); + + ret = adxrs450_spi_read_reg_16(dev, ADXRS450_SNL, &data); + if (ret) + return ret; + t = data; + ret = adxrs450_spi_read_reg_16(dev, ADXRS450_SNH, &data); + if (ret) + return ret; + t |= data << 16; + dev_info(&st->us->dev, "The Serial Number is 0x%x\n", t); + + dev_info(&st->us->dev, "%s at CS%d\n", DRIVER_NAME, + st->us->chip_select); + + return 0; +} + +static IIO_DEV_ATTR_GYRO_Z(adxrs450_read_sensor_data, 0); +static IIO_DEV_ATTR_TEMP_RAW(adxrs450_read_temp); +static IIO_DEVICE_ATTR(quad, S_IRUGO, + adxrs450_read_quad, NULL, 0); +static IIO_DEVICE_ATTR(dynamic_null_correction, S_IWUGO, + NULL, adxrs450_write_dnc, 0); +static IIO_CONST_ATTR(name, "adxrs450"); + +static struct attribute *adxrs450_attributes[] = { + + &iio_dev_attr_gyro_z_raw.dev_attr.attr, + &iio_dev_attr_temp_raw.dev_attr.attr, + &iio_dev_attr_quad.dev_attr.attr, + &iio_dev_attr_dynamic_null_correction.dev_attr.attr, + &iio_const_attr_name.dev_attr.attr, + NULL +}; + +static const struct attribute_group adxrs450_attribute_group = { + .attrs = adxrs450_attributes, +}; + +static int __devinit adxrs450_probe(struct spi_device *spi) +{ + int ret, regdone = 0; + struct adxrs450_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)*ADXRS450_MAX_RX, GFP_KERNEL); + if (st->rx == NULL) { + ret = -ENOMEM; + goto error_free_st; + } + st->tx = kzalloc(sizeof(*st->tx)*ADXRS450_MAX_TX, GFP_KERNEL); + if (st->tx == NULL) { + ret = -ENOMEM; + goto error_free_rx; + } + st->us = 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->attrs = &adxrs450_attribute_group; + st->indio_dev->dev_data = (void *)(st); + st->indio_dev->driver_module = THIS_MODULE; + st->indio_dev->modes = INDIO_DIRECT_MODE; + + ret = iio_device_register(st->indio_dev); + if (ret) + goto error_free_dev; + regdone = 1; + + /* Get the device into a sane initial state */ + ret = adxrs450_initial_setup(st); + if (ret) + goto error_initial; + return 0; + +error_initial: +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 adxrs450_remove(struct spi_device *spi) +{ + struct adxrs450_state *st = spi_get_drvdata(spi); + struct iio_dev *indio_dev = st->indio_dev; + + iio_device_unregister(indio_dev); + kfree(st->tx); + kfree(st->rx); + kfree(st); + + return 0; +} + +static struct spi_driver adxrs450_driver = { + .driver = { + .name = "adxrs450", + .owner = THIS_MODULE, + }, + .probe = adxrs450_probe, + .remove = __devexit_p(adxrs450_remove), +}; + +static __init int adxrs450_init(void) +{ + return spi_register_driver(&adxrs450_driver); +} +module_init(adxrs450_init); + +static __exit void adxrs450_exit(void) +{ + spi_unregister_driver(&adxrs450_driver); +} +module_exit(adxrs450_exit); + +MODULE_AUTHOR("Cliff Cai <cliff.cai@xxxxxxxxxx>"); +MODULE_DESCRIPTION("Analog Devices ADXRS450 Gyroscope SPI driver"); +MODULE_LICENSE("GPL v2"); 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