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/delay.h>
10 #include <linux/mutex.h>
11 #include <linux/device.h>
12 #include <linux/kernel.h>
13 #include <linux/spi/spi.h>
14 #include <linux/slab.h>
15 #include <linux/sysfs.h>
16 #include <linux/list.h>
21 #include "../adc/adc.h"
23 #define ADIS16130_CON 0x0
24 #define ADIS16130_CON_RD (1 << 6)
25 #define ADIS16130_IOP 0x1
27 /* 1 = data-ready signal low when unread data on all channels; */
28 #define ADIS16130_IOP_ALL_RDY (1 << 3)
29 #define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */
30 #define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */
31 #define ADIS16130_TEMPDATA 0xA /* Temperature output */
32 #define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */
33 #define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */
34 #define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */
35 #define ADIS16130_TEMPCS_EN (1 << 3)
36 #define ADIS16130_RATECONV 0x30
37 #define ADIS16130_TEMPCONV 0x32
38 #define ADIS16130_MODE 0x38
39 #define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */
42 * struct adis16130_state - device instance specific data
43 * @us: actual spi_device to write data
44 * @indio_dev: industrial I/O device structure
45 * @mode: 24 bits (1) or 16 bits (0)
46 * @buf_lock: mutex to protect tx and rx
47 * @buf: unified tx/rx buffer
49 struct adis16130_state {
50 struct spi_device *us;
51 struct iio_dev *indio_dev;
53 struct mutex buf_lock;
54 u8 buf[4] ____cacheline_aligned;
57 static int adis16130_spi_write(struct device *dev, u8 reg_addr,
61 struct iio_dev *indio_dev = dev_get_drvdata(dev);
62 struct adis16130_state *st = iio_dev_get_devdata(indio_dev);
64 mutex_lock(&st->buf_lock);
65 st->buf[0] = reg_addr;
68 ret = spi_write(st->us, st->buf, 2);
69 mutex_unlock(&st->buf_lock);
74 static int adis16130_spi_read(struct device *dev, u8 reg_addr,
78 struct iio_dev *indio_dev = dev_get_drvdata(dev);
79 struct adis16130_state *st = iio_dev_get_devdata(indio_dev);
81 mutex_lock(&st->buf_lock);
83 st->buf[0] = ADIS16130_CON_RD | reg_addr;
85 ret = spi_read(st->us, st->buf, 4);
87 ret = spi_read(st->us, st->buf, 3);
91 *val = (st->buf[1] << 16) |
95 *val = (st->buf[1] << 8) | st->buf[2];
98 mutex_unlock(&st->buf_lock);
103 static ssize_t adis16130_val_read(struct device *dev,
104 struct device_attribute *attr,
107 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
108 struct iio_dev *indio_dev = dev_get_drvdata(dev);
112 /* Take the iio_dev status lock */
113 mutex_lock(&indio_dev->mlock);
114 ret = adis16130_spi_read(dev, this_attr->address, &val);
115 mutex_unlock(&indio_dev->mlock);
118 return sprintf(buf, "%d\n", val);
123 static ssize_t adis16130_bitsmode_read(struct device *dev,
124 struct device_attribute *attr,
127 struct iio_dev *indio_dev = dev_get_drvdata(dev);
128 struct adis16130_state *st = iio_dev_get_devdata(indio_dev);
131 return sprintf(buf, "s24\n");
133 return sprintf(buf, "s16\n");
136 static ssize_t adis16130_bitsmode_write(struct device *dev,
137 struct device_attribute *attr,
144 if (sysfs_streq(buf, "s16"))
146 else if (sysfs_streq(buf, "s24"))
151 ret = adis16130_spi_write(dev, ADIS16130_MODE, val);
153 return ret ? ret : len;
155 static IIO_DEVICE_ATTR(temp_raw, S_IRUGO, adis16130_val_read, NULL,
158 static IIO_DEV_ATTR_GYRO_Z(adis16130_val_read, ADIS16130_RATEDATA);
160 static IIO_DEVICE_ATTR(gyro_z_type, S_IWUSR | S_IRUGO, adis16130_bitsmode_read,
161 adis16130_bitsmode_write,
164 static IIO_CONST_ATTR(gyro_z_type_available, "s16 s24");
166 static struct attribute *adis16130_attributes[] = {
167 &iio_dev_attr_temp_raw.dev_attr.attr,
168 &iio_dev_attr_gyro_z_raw.dev_attr.attr,
169 &iio_dev_attr_gyro_z_type.dev_attr.attr,
170 &iio_const_attr_gyro_z_type_available.dev_attr.attr,
174 static const struct attribute_group adis16130_attribute_group = {
175 .attrs = adis16130_attributes,
178 static const struct iio_info adis16130_info = {
179 .attrs = &adis16130_attribute_group,
180 .driver_module = THIS_MODULE,
183 static int __devinit adis16130_probe(struct spi_device *spi)
186 struct adis16130_state *st = kzalloc(sizeof *st, GFP_KERNEL);
191 /* this is only used for removal purposes */
192 spi_set_drvdata(spi, st);
194 mutex_init(&st->buf_lock);
195 /* setup the industrialio driver allocated elements */
196 st->indio_dev = iio_allocate_device(0);
197 if (st->indio_dev == NULL) {
202 st->indio_dev->name = spi->dev.driver->name;
203 st->indio_dev->dev.parent = &spi->dev;
204 st->indio_dev->info = &adis16130_info;
205 st->indio_dev->dev_data = (void *)(st);
206 st->indio_dev->modes = INDIO_DIRECT_MODE;
209 ret = iio_device_register(st->indio_dev);
216 iio_free_device(st->indio_dev);
223 /* fixme, confirm ordering in this function */
224 static int adis16130_remove(struct spi_device *spi)
226 struct adis16130_state *st = spi_get_drvdata(spi);
227 struct iio_dev *indio_dev = st->indio_dev;
229 iio_device_unregister(indio_dev);
235 static struct spi_driver adis16130_driver = {
238 .owner = THIS_MODULE,
240 .probe = adis16130_probe,
241 .remove = __devexit_p(adis16130_remove),
244 static __init int adis16130_init(void)
246 return spi_register_driver(&adis16130_driver);
248 module_init(adis16130_init);
250 static __exit void adis16130_exit(void)
252 spi_unregister_driver(&adis16130_driver);
254 module_exit(adis16130_exit);
256 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
257 MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate");
258 MODULE_LICENSE("GPL v2");