* 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 "gyro.h"
#include "../adc/adc.h"
-#include "adis16130.h"
+#define ADIS16130_CON 0x0
+#define ADIS16130_CON_RD (1 << 6)
+#define ADIS16130_IOP 0x1
+
+/* 1 = data-ready signal low when unread data on all channels; */
+#define ADIS16130_IOP_ALL_RDY (1 << 3)
+#define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */
+#define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */
+#define ADIS16130_TEMPDATA 0xA /* Temperature output */
+#define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */
+#define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */
+#define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */
+#define ADIS16130_TEMPCS_EN (1 << 3)
+#define ADIS16130_RATECONV 0x30
+#define ADIS16130_TEMPCONV 0x32
+#define ADIS16130_MODE 0x38
+#define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */
+
+/**
+ * struct adis16130_state - device instance specific data
+ * @us: actual spi_device to write data
+ * @indio_dev: industrial I/O device structure
+ * @mode: 24 bits (1) or 16 bits (0)
+ * @buf_lock: mutex to protect tx and rx
+ * @buf: unified tx/rx buffer
+ **/
+struct adis16130_state {
+ struct spi_device *us;
+ struct iio_dev *indio_dev;
+ u32 mode;
+ struct mutex buf_lock;
+ u8 buf[4] ____cacheline_aligned;
+};
static int adis16130_spi_write(struct device *dev, u8 reg_addr,
u8 val)
struct adis16130_state *st = iio_dev_get_devdata(indio_dev);
mutex_lock(&st->buf_lock);
- st->tx[0] = reg_addr;
- st->tx[1] = val;
+ st->buf[0] = reg_addr;
+ st->buf[1] = val;
- ret = spi_write(st->us, st->tx, 2);
+ ret = spi_write(st->us, st->buf, 2);
mutex_unlock(&st->buf_lock);
return ret;
mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16130_CON_RD | reg_addr;
+ st->buf[0] = ADIS16130_CON_RD | reg_addr;
if (st->mode)
- ret = spi_read(st->us, st->rx, 4);
+ ret = spi_read(st->us, st->buf, 4);
else
- ret = spi_read(st->us, st->rx, 3);
+ ret = spi_read(st->us, st->buf, 3);
if (ret == 0) {
if (st->mode)
- *val = (st->rx[1] << 16) | (st->rx[2] << 8) | st->rx[3];
+ *val = (st->buf[1] << 16) |
+ (st->buf[2] << 8) |
+ st->buf[3];
else
- *val = (st->rx[1] << 8) | st->rx[2];
+ *val = (st->buf[1] << 8) | st->buf[2];
}
mutex_unlock(&st->buf_lock);
return ret;
}
-static ssize_t adis16130_gyro_read(struct device *dev,
+static ssize_t adis16130_val_read(struct device *dev,
struct device_attribute *attr,
char *buf)
{
+ struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
struct iio_dev *indio_dev = dev_get_drvdata(dev);
u32 val;
ssize_t ret;
/* Take the iio_dev status lock */
mutex_lock(&indio_dev->mlock);
- ret = adis16130_spi_read(dev, ADIS16130_RATEDATA, &val);
- mutex_unlock(&indio_dev->mlock);
-
- if (ret == 0)
- return sprintf(buf, "%d\n", val);
- else
- return ret;
-}
-
-static ssize_t adis16130_temp_read(struct device *dev,
- struct device_attribute *attr,
- char *buf)
-{
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
- u32 val;
- ssize_t ret;
-
- /* Take the iio_dev status lock */
- mutex_lock(&indio_dev->mlock);
- ret = adis16130_spi_read(dev, ADIS16130_TEMPDATA, &val);
+ ret = adis16130_spi_read(dev, this_attr->address, &val);
mutex_unlock(&indio_dev->mlock);
if (ret == 0)
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16130_state *st = iio_dev_get_devdata(indio_dev);
- return sprintf(buf, "%d\n", st->mode);
+ if (st->mode == 1)
+ return sprintf(buf, "s24\n");
+ else
+ return sprintf(buf, "s16\n");
}
static ssize_t adis16130_bitsmode_write(struct device *dev,
size_t len)
{
int ret;
- long val;
+ u8 val;
- ret = strict_strtol(buf, 16, &val);
- if (ret)
- goto error_ret;
- ret = adis16130_spi_write(dev, ADIS16130_MODE, !!val);
+ if (sysfs_streq(buf, "s16"))
+ val = 0;
+ else if (sysfs_streq(buf, "s24"))
+ val = 1;
+ else
+ return -EINVAL;
+
+ ret = adis16130_spi_write(dev, ADIS16130_MODE, val);
-error_ret:
return ret ? ret : len;
}
-
-static IIO_DEV_ATTR_TEMP_RAW(adis16130_temp_read);
+static IIO_DEVICE_ATTR(temp_raw, S_IRUGO, adis16130_val_read, NULL,
+ ADIS16130_TEMPDATA);
static IIO_CONST_ATTR(name, "adis16130");
-static IIO_DEV_ATTR_GYRO(adis16130_gyro_read,
- ADIS16130_RATEDATA);
-
-#define IIO_DEV_ATTR_BITS_MODE(_mode, _show, _store, _addr) \
- IIO_DEVICE_ATTR(bits_mode, _mode, _show, _store, _addr)
+static IIO_DEV_ATTR_GYRO_Z(adis16130_val_read, ADIS16130_RATEDATA);
-static IIO_DEV_ATTR_BITS_MODE(S_IWUSR | S_IRUGO, adis16130_bitsmode_read,
+static IIO_DEVICE_ATTR(gyro_z_type, S_IWUSR | S_IRUGO, adis16130_bitsmode_read,
adis16130_bitsmode_write,
ADIS16130_MODE);
-static struct attribute *adis16130_event_attributes[] = {
- NULL
-};
-
-static struct attribute_group adis16130_event_attribute_group = {
- .attrs = adis16130_event_attributes,
-};
+static IIO_CONST_ATTR(gyro_z_type_available, "s16 s24");
static struct attribute *adis16130_attributes[] = {
&iio_dev_attr_temp_raw.dev_attr.attr,
&iio_const_attr_name.dev_attr.attr,
- &iio_dev_attr_gyro_raw.dev_attr.attr,
- &iio_dev_attr_bits_mode.dev_attr.attr,
+ &iio_dev_attr_gyro_z_raw.dev_attr.attr,
+ &iio_dev_attr_gyro_z_type.dev_attr.attr,
+ &iio_const_attr_gyro_z_type_available.dev_attr.attr,
NULL
};
}
/* this is only used for removal purposes */
spi_set_drvdata(spi, st);
-
- /* Allocate the comms buffers */
- st->rx = kzalloc(sizeof(*st->rx)*ADIS16130_MAX_RX, GFP_KERNEL);
- if (st->rx == NULL) {
- ret = -ENOMEM;
- goto error_free_st;
- }
- st->tx = kzalloc(sizeof(*st->tx)*ADIS16130_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;
+ goto error_free_st;
}
st->indio_dev->dev.parent = &spi->dev;
- st->indio_dev->num_interrupt_lines = 1;
- st->indio_dev->event_attrs = &adis16130_event_attribute_group;
st->indio_dev->attrs = &adis16130_attribute_group;
st->indio_dev->dev_data = (void *)(st);
st->indio_dev->driver_module = THIS_MODULE;
error_free_dev:
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:
struct iio_dev *indio_dev = st->indio_dev;
iio_device_unregister(indio_dev);
- kfree(st->tx);
- kfree(st->rx);
kfree(st);
return 0;
module_exit(adis16130_exit);
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
-MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate Sensor driver");
+MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate");
MODULE_LICENSE("GPL v2");
git.openpandora.org / pandora-kernel.git / commitdiff