2 * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
9 #include <linux/interrupt.h>
10 #include <linux/irq.h>
11 #include <linux/gpio.h>
12 #include <linux/delay.h>
13 #include <linux/mutex.h>
14 #include <linux/device.h>
15 #include <linux/kernel.h>
16 #include <linux/spi/spi.h>
17 #include <linux/slab.h>
18 #include <linux/sysfs.h>
19 #include <linux/list.h>
24 #include "../adc/adc.h"
26 #include "adis16130.h"
28 #define DRIVER_NAME "adis16130"
30 struct adis16130_state *adis16130_st;
32 int adis16130_spi_write(struct device *dev, u8 reg_addr,
36 struct iio_dev *indio_dev = dev_get_drvdata(dev);
37 struct adis16130_state *st = iio_dev_get_devdata(indio_dev);
39 mutex_lock(&st->buf_lock);
43 ret = spi_write(st->us, st->tx, 2);
44 mutex_unlock(&st->buf_lock);
49 int adis16130_spi_read(struct device *dev, u8 reg_addr,
53 struct iio_dev *indio_dev = dev_get_drvdata(dev);
54 struct adis16130_state *st = iio_dev_get_devdata(indio_dev);
56 mutex_lock(&st->buf_lock);
58 st->tx[0] = ADIS16130_CON_RD | reg_addr;
60 ret = spi_read(st->us, st->rx, 4);
62 ret = spi_read(st->us, st->rx, 3);
66 *val = (st->rx[1] << 16) | (st->rx[2] << 8) | st->rx[3];
68 *val = (st->rx[1] << 8) | st->rx[2];
71 mutex_unlock(&st->buf_lock);
76 static ssize_t adis16130_gyro_read(struct device *dev,
77 struct device_attribute *attr,
80 struct iio_dev *indio_dev = dev_get_drvdata(dev);
84 /* Take the iio_dev status lock */
85 mutex_lock(&indio_dev->mlock);
86 ret = adis16130_spi_read(dev, ADIS16130_RATEDATA, &val);
87 mutex_unlock(&indio_dev->mlock);
90 return sprintf(buf, "%d\n", val);
95 static ssize_t adis16130_temp_read(struct device *dev,
96 struct device_attribute *attr,
99 struct iio_dev *indio_dev = dev_get_drvdata(dev);
103 /* Take the iio_dev status lock */
104 mutex_lock(&indio_dev->mlock);
105 ret = adis16130_spi_read(dev, ADIS16130_TEMPDATA, &val);
106 mutex_unlock(&indio_dev->mlock);
109 return sprintf(buf, "%d\n", val);
114 static ssize_t adis16130_bitsmode_read(struct device *dev,
115 struct device_attribute *attr,
118 struct iio_dev *indio_dev = dev_get_drvdata(dev);
119 struct adis16130_state *st = iio_dev_get_devdata(indio_dev);
121 return sprintf(buf, "%d\n", st->mode);
124 static ssize_t adis16130_bitsmode_write(struct device *dev,
125 struct device_attribute *attr,
132 ret = strict_strtol(buf, 16, &val);
135 ret = adis16130_spi_write(dev, ADIS16130_MODE, !!val);
138 return ret ? ret : len;
141 static IIO_DEV_ATTR_TEMP_RAW(adis16130_temp_read);
143 static IIO_CONST_ATTR(name, "adis16130");
145 static IIO_DEV_ATTR_GYRO(adis16130_gyro_read,
148 #define IIO_DEV_ATTR_BITS_MODE(_mode, _show, _store, _addr) \
149 IIO_DEVICE_ATTR(bits_mode, _mode, _show, _store, _addr)
151 static IIO_DEV_ATTR_BITS_MODE(S_IWUSR | S_IRUGO, adis16130_bitsmode_read, adis16130_bitsmode_write,
154 static struct attribute *adis16130_event_attributes[] = {
158 static struct attribute_group adis16130_event_attribute_group = {
159 .attrs = adis16130_event_attributes,
162 static struct attribute *adis16130_attributes[] = {
163 &iio_dev_attr_temp_raw.dev_attr.attr,
164 &iio_const_attr_name.dev_attr.attr,
165 &iio_dev_attr_gyro_raw.dev_attr.attr,
166 &iio_dev_attr_bits_mode.dev_attr.attr,
170 static const struct attribute_group adis16130_attribute_group = {
171 .attrs = adis16130_attributes,
174 static int __devinit adis16130_probe(struct spi_device *spi)
176 int ret, regdone = 0;
177 struct adis16130_state *st = kzalloc(sizeof *st, GFP_KERNEL);
182 /* this is only used for removal purposes */
183 spi_set_drvdata(spi, st);
185 /* Allocate the comms buffers */
186 st->rx = kzalloc(sizeof(*st->rx)*ADIS16130_MAX_RX, GFP_KERNEL);
187 if (st->rx == NULL) {
191 st->tx = kzalloc(sizeof(*st->tx)*ADIS16130_MAX_TX, GFP_KERNEL);
192 if (st->tx == NULL) {
197 mutex_init(&st->buf_lock);
198 /* setup the industrialio driver allocated elements */
199 st->indio_dev = iio_allocate_device();
200 if (st->indio_dev == NULL) {
205 st->indio_dev->dev.parent = &spi->dev;
206 st->indio_dev->num_interrupt_lines = 1;
207 st->indio_dev->event_attrs = &adis16130_event_attribute_group;
208 st->indio_dev->attrs = &adis16130_attribute_group;
209 st->indio_dev->dev_data = (void *)(st);
210 st->indio_dev->driver_module = THIS_MODULE;
211 st->indio_dev->modes = INDIO_DIRECT_MODE;
214 ret = adis16130_configure_ring(st->indio_dev);
218 ret = iio_device_register(st->indio_dev);
220 goto error_unreg_ring_funcs;
223 ret = adis16130_initialize_ring(st->indio_dev->ring);
225 printk(KERN_ERR "failed to initialize the ring\n");
226 goto error_unreg_ring_funcs;
229 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
230 ret = iio_register_interrupt_line(spi->irq,
236 goto error_uninitialize_ring;
238 ret = adis16130_probe_trigger(st->indio_dev);
240 goto error_unregister_line;
246 error_unregister_line:
247 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
248 iio_unregister_interrupt_line(st->indio_dev, 0);
249 error_uninitialize_ring:
250 adis16130_uninitialize_ring(st->indio_dev->ring);
251 error_unreg_ring_funcs:
252 adis16130_unconfigure_ring(st->indio_dev);
255 iio_device_unregister(st->indio_dev);
257 iio_free_device(st->indio_dev);
268 /* fixme, confirm ordering in this function */
269 static int adis16130_remove(struct spi_device *spi)
271 struct adis16130_state *st = spi_get_drvdata(spi);
272 struct iio_dev *indio_dev = st->indio_dev;
274 flush_scheduled_work();
276 adis16130_remove_trigger(indio_dev);
277 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
278 iio_unregister_interrupt_line(indio_dev, 0);
280 adis16130_uninitialize_ring(indio_dev->ring);
281 adis16130_unconfigure_ring(indio_dev);
282 iio_device_unregister(indio_dev);
290 static struct spi_driver adis16130_driver = {
293 .owner = THIS_MODULE,
295 .probe = adis16130_probe,
296 .remove = __devexit_p(adis16130_remove),
299 static __init int adis16130_init(void)
301 return spi_register_driver(&adis16130_driver);
303 module_init(adis16130_init);
305 static __exit void adis16130_exit(void)
307 spi_unregister_driver(&adis16130_driver);
309 module_exit(adis16130_exit);
311 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
312 MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate Sensor driver");
313 MODULE_LICENSE("GPL v2");