From 1b2f99e1ae79b6039340571312ebbe0551d39c16 Mon Sep 17 00:00:00 2001 From: Barry Song Date: Wed, 27 Oct 2010 21:44:05 -0400 Subject: [PATCH] staging: iio: gyro: new driver for ADIS16080 digital output gyros Signed-off-by: Barry Song Signed-off-by: Michael Hennerich Acked-by: Jonathan Cameron Signed-off-by: Mike Frysinger Signed-off-by: Greg Kroah-Hartman --- drivers/staging/iio/gyro/Kconfig | 7 + drivers/staging/iio/gyro/Makefile | 3 + drivers/staging/iio/gyro/adis16080.h | 102 ++++++++ drivers/staging/iio/gyro/adis16080_core.c | 271 ++++++++++++++++++++++ 4 files changed, 383 insertions(+) create mode 100644 drivers/staging/iio/gyro/adis16080.h create mode 100644 drivers/staging/iio/gyro/adis16080_core.c diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig index 77c0fe84380b..f219c948c85a 100644 --- a/drivers/staging/iio/gyro/Kconfig +++ b/drivers/staging/iio/gyro/Kconfig @@ -10,6 +10,13 @@ config ADIS16060 Say yes here to build support for Analog Devices adis16060 wide bandwidth yaw rate gyroscope with SPI. +config ADIS16080 + tristate "Analog Devices ADIS16080/100 Yaw Rate Gyroscope with SPI driver" + depends on SPI + help + Say yes here to build support for Analog Devices adis16080/100 Yaw Rate + Gyroscope with SPI. + config ADIS16260 tristate "Analog Devices ADIS16260 ADIS16265 Digital Gyroscope Sensor SPI driver" depends on SPI diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile index e2c4acb608b4..747823f016df 100644 --- a/drivers/staging/iio/gyro/Makefile +++ b/drivers/staging/iio/gyro/Makefile @@ -5,6 +5,9 @@ adis16060-y := adis16060_core.o obj-$(CONFIG_ADIS16060) += adis16060.o +adis16080-y := adis16080_core.o +obj-$(CONFIG_ADIS16080) += adis16080.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/adis16080.h b/drivers/staging/iio/gyro/adis16080.h new file mode 100644 index 000000000000..3fcbe67f7c31 --- /dev/null +++ b/drivers/staging/iio/gyro/adis16080.h @@ -0,0 +1,102 @@ +#ifndef SPI_ADIS16080_H_ +#define SPI_ADIS16080_H_ + +#define ADIS16080_DIN_CODE 4 /* Output data format setting. 0: Twos complement. 1: Offset binary. */ +#define ADIS16080_DIN_GYRO (0 << 10) /* Gyroscope output */ +#define ADIS16080_DIN_TEMP (1 << 10) /* Temperature output */ +#define ADIS16080_DIN_AIN1 (2 << 10) +#define ADIS16080_DIN_AIN2 (3 << 10) +#define ADIS16080_DIN_WRITE (1 << 15) /* 1: Write contents on DIN to control register. + * 0: No changes to control register. + */ + +#define ADIS16080_MAX_TX 2 +#define ADIS16080_MAX_RX 2 + +/** + * struct adis16080_state - device instance specific data + * @us: 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 adis16080_state { + struct spi_device *us; + 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; +}; + +#if defined(CONFIG_IIO_RING_BUFFER) && defined(THIS_HAS_RING_BUFFER_SUPPORT) +/* At the moment triggers are only used for ring buffer + * filling. This may change! + */ + +enum adis16080_scan { + ADIS16080_SCAN_GYRO, + ADIS16080_SCAN_TEMP, + ADIS16080_SCAN_ADC_1, + ADIS16080_SCAN_ADC_2, +}; + +void adis16080_remove_trigger(struct iio_dev *indio_dev); +int adis16080_probe_trigger(struct iio_dev *indio_dev); + +ssize_t adis16080_read_data_from_ring(struct device *dev, + struct device_attribute *attr, + char *buf); + + +int adis16080_configure_ring(struct iio_dev *indio_dev); +void adis16080_unconfigure_ring(struct iio_dev *indio_dev); + +int adis16080_initialize_ring(struct iio_ring_buffer *ring); +void adis16080_uninitialize_ring(struct iio_ring_buffer *ring); +#else /* CONFIG_IIO_RING_BUFFER */ + +static inline void adis16080_remove_trigger(struct iio_dev *indio_dev) +{ +} + +static inline int adis16080_probe_trigger(struct iio_dev *indio_dev) +{ + return 0; +} + +static inline ssize_t +adis16080_read_data_from_ring(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + return 0; +} + +static int adis16080_configure_ring(struct iio_dev *indio_dev) +{ + return 0; +} + +static inline void adis16080_unconfigure_ring(struct iio_dev *indio_dev) +{ +} + +static inline int adis16080_initialize_ring(struct iio_ring_buffer *ring) +{ + return 0; +} + +static inline void adis16080_uninitialize_ring(struct iio_ring_buffer *ring) +{ +} + +#endif /* CONFIG_IIO_RING_BUFFER */ +#endif /* SPI_ADIS16080_H_ */ diff --git a/drivers/staging/iio/gyro/adis16080_core.c b/drivers/staging/iio/gyro/adis16080_core.c new file mode 100644 index 000000000000..0efb768db7d3 --- /dev/null +++ b/drivers/staging/iio/gyro/adis16080_core.c @@ -0,0 +1,271 @@ +/* + * ADIS16080/100 Yaw Rate Gyroscope with SPI driver + * + * Copyright 2010 Analog Devices Inc. + * + * Licensed under the GPL-2 or later. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "../iio.h" +#include "../sysfs.h" +#include "gyro.h" +#include "../adc/adc.h" + +#include "adis16080.h" + +#define DRIVER_NAME "adis16080" + +struct adis16080_state *adis16080_st; + +int adis16080_spi_write(struct device *dev, + u16 val) +{ + int ret; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16080_state *st = iio_dev_get_devdata(indio_dev); + + mutex_lock(&st->buf_lock); + st->tx[0] = val >> 8; + st->tx[1] = val; + + ret = spi_write(st->us, st->tx, 2); + mutex_unlock(&st->buf_lock); + + return ret; +} + +int adis16080_spi_read(struct device *dev, + u16 *val) +{ + int ret; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16080_state *st = iio_dev_get_devdata(indio_dev); + + mutex_lock(&st->buf_lock); + + ret = spi_read(st->us, st->rx, 2); + + if (ret == 0) + *val = ((st->rx[0] & 0xF) << 8) | st->rx[1]; + mutex_unlock(&st->buf_lock); + + return ret; +} + +static ssize_t adis16080_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 = adis16080_spi_read(dev, &val); + mutex_unlock(&indio_dev->mlock); + + if (ret == 0) + return sprintf(buf, "%d\n", val); + else + return ret; +} + +static ssize_t adis16080_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 = adis16080_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(adis16080_read); +static IIO_DEV_ATTR_OUT(adis16080_write); + +static IIO_CONST_ATTR(name, "adis16080"); + +static struct attribute *adis16080_event_attributes[] = { + NULL +}; + +static struct attribute_group adis16080_event_attribute_group = { + .attrs = adis16080_event_attributes, +}; + +static struct attribute *adis16080_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 adis16080_attribute_group = { + .attrs = adis16080_attributes, +}; + +static int __devinit adis16080_probe(struct spi_device *spi) +{ + int ret, regdone = 0; + struct adis16080_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)*ADIS16080_MAX_RX, GFP_KERNEL); + if (st->rx == NULL) { + ret = -ENOMEM; + goto error_free_st; + } + st->tx = kzalloc(sizeof(*st->tx)*ADIS16080_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->num_interrupt_lines = 1; + st->indio_dev->event_attrs = &adis16080_event_attribute_group; + st->indio_dev->attrs = &adis16080_attribute_group; + st->indio_dev->dev_data = (void *)(st); + st->indio_dev->driver_module = THIS_MODULE; + st->indio_dev->modes = INDIO_DIRECT_MODE; + + ret = adis16080_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 = adis16080_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, + "adis16080"); + if (ret) + goto error_uninitialize_ring; + + ret = adis16080_probe_trigger(st->indio_dev); + if (ret) + goto error_unregister_line; + } + + adis16080_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: + adis16080_uninitialize_ring(st->indio_dev->ring); +error_unreg_ring_funcs: + adis16080_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 adis16080_remove(struct spi_device *spi) +{ + struct adis16080_state *st = spi_get_drvdata(spi); + struct iio_dev *indio_dev = st->indio_dev; + + flush_scheduled_work(); + + adis16080_remove_trigger(indio_dev); + if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) + iio_unregister_interrupt_line(indio_dev, 0); + + adis16080_uninitialize_ring(indio_dev->ring); + adis16080_unconfigure_ring(indio_dev); + iio_device_unregister(indio_dev); + kfree(st->tx); + kfree(st->rx); + kfree(st); + + return 0; +} + +static struct spi_driver adis16080_driver = { + .driver = { + .name = "adis16080", + .owner = THIS_MODULE, + }, + .probe = adis16080_probe, + .remove = __devexit_p(adis16080_remove), +}; + +static __init int adis16080_init(void) +{ + return spi_register_driver(&adis16080_driver); +} +module_init(adis16080_init); + +static __exit void adis16080_exit(void) +{ + spi_unregister_driver(&adis16080_driver); +} +module_exit(adis16080_exit); + +MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); +MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope with SPI driver"); +MODULE_LICENSE("GPL v2");