[deliverable/linux.git] / drivers / staging / iio / gyro / adis16060_core.c

/*
 * ADIS16060 Wide Bandwidth Yaw Rate Gyroscope with SPI driver
 *
 * Copyright 2010 Analog Devices Inc.
 *
 * Licensed under the GPL-2 or later.
 */

#include <linux/module.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/module.h>

#include "../iio.h"
#include "../sysfs.h"

#define ADIS16060_GYRO		0x20 /* Measure Angular Rate (Gyro) */
#define ADIS16060_TEMP_OUT	0x10 /* Measure Temperature */
#define ADIS16060_AIN2		0x80 /* Measure AIN2 */
#define ADIS16060_AIN1		0x40 /* Measure AIN1 */

/**
 * struct adis16060_state - device instance specific data
 * @us_w:		actual spi_device to write config
 * @us_r:		actual spi_device to read back data
 * @buf:		transmit or receive buffer
 * @buf_lock:		mutex to protect tx and rx
 **/
struct adis16060_state {
	struct spi_device		*us_w;
	struct spi_device		*us_r;
	struct mutex			buf_lock;

	u8 buf[3] ____cacheline_aligned;
};

static struct iio_dev *adis16060_iio_dev;

static int adis16060_spi_write(struct iio_dev *indio_dev, u8 val)
{
	int ret;
	struct adis16060_state *st = iio_priv(indio_dev);

	mutex_lock(&st->buf_lock);
	st->buf[2] = val; /* The last 8 bits clocked in are latched */
	ret = spi_write(st->us_w, st->buf, 3);
	mutex_unlock(&st->buf_lock);

	return ret;
}

static int adis16060_spi_read(struct iio_dev *indio_dev, u16 *val)
{
	int ret;
	struct adis16060_state *st = iio_priv(indio_dev);

	mutex_lock(&st->buf_lock);

	ret = spi_read(st->us_r, st->buf, 3);

	/* The internal successive approximation ADC begins the
	 * conversion process on the falling edge of MSEL1 and
	 * starts to place data MSB first on the DOUT line at
	 * the 6th falling edge of SCLK
	 */
	if (ret == 0)
		*val = ((st->buf[0] & 0x3) << 12) |
			(st->buf[1] << 4) |
			((st->buf[2] >> 4) & 0xF);
	mutex_unlock(&st->buf_lock);

	return ret;
}

static int adis16060_read_raw(struct iio_dev *indio_dev,
			      struct iio_chan_spec const *chan,
			      int *val, int *val2,
			      long mask)
{
	u16 tval = 0;
	int ret;

	switch (mask) {
	case 0:
		/* Take the iio_dev status lock */
		mutex_lock(&indio_dev->mlock);
		ret = adis16060_spi_write(indio_dev, chan->address);
		if (ret < 0) {
			mutex_unlock(&indio_dev->mlock);
			return ret;
		}
		ret = adis16060_spi_read(indio_dev, &tval);
		mutex_unlock(&indio_dev->mlock);
		*val = tval;
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_OFFSET:
		*val = -7;
		*val2 = 461117;
		return IIO_VAL_INT_PLUS_MICRO;
	case IIO_CHAN_INFO_SCALE:
		*val = 0;
		*val2 = 34000;
		return IIO_VAL_INT_PLUS_MICRO;
	}

	return -EINVAL;
}

static const struct iio_info adis16060_info = {
	.read_raw = &adis16060_read_raw,
	.driver_module = THIS_MODULE,
};

static const struct iio_chan_spec adis16060_channels[] = {
	{
		.type = IIO_ANGL_VEL,
		.modified = 1,
		.channel2 = IIO_MOD_Z,
		.address = ADIS16060_GYRO,
	}, {
		.type = IIO_VOLTAGE,
		.indexed = 1,
		.channel = 0,
		.address = ADIS16060_AIN1,
	}, {
		.type = IIO_VOLTAGE,
		.indexed = 1,
		.channel = 1,
		.address = ADIS16060_AIN2,
	}, {
		.type = IIO_TEMP,
		.indexed = 1,
		.channel = 0,
		.info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
		IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
		.address = ADIS16060_TEMP_OUT,
	}
};

static int __devinit adis16060_r_probe(struct spi_device *spi)
{
	int ret;
	struct adis16060_state *st;
	struct iio_dev *indio_dev;

	/* setup the industrialio driver allocated elements */
	indio_dev = iio_allocate_device(sizeof(*st));
	if (indio_dev == NULL) {
		ret = -ENOMEM;
		goto error_ret;
	}
	/* this is only used for removal purposes */
	spi_set_drvdata(spi, indio_dev);
	st = iio_priv(indio_dev);
	st->us_r = spi;
	mutex_init(&st->buf_lock);

	indio_dev->name = spi->dev.driver->name;
	indio_dev->dev.parent = &spi->dev;
	indio_dev->info = &adis16060_info;
	indio_dev->modes = INDIO_DIRECT_MODE;
	indio_dev->channels = adis16060_channels;
	indio_dev->num_channels = ARRAY_SIZE(adis16060_channels);

	ret = iio_device_register(indio_dev);
	if (ret)
		goto error_free_dev;

	adis16060_iio_dev = indio_dev;
	return 0;

error_free_dev:
	iio_free_device(indio_dev);
error_ret:
	return ret;
}

/* fixme, confirm ordering in this function */
static int adis16060_r_remove(struct spi_device *spi)
{
	iio_device_unregister(spi_get_drvdata(spi));
	iio_free_device(spi_get_drvdata(spi));

	return 0;
}

static int __devinit adis16060_w_probe(struct spi_device *spi)
{
	int ret;
	struct iio_dev *indio_dev = adis16060_iio_dev;
	struct adis16060_state *st;
	if (!indio_dev) {
		ret =  -ENODEV;
		goto error_ret;
	}
	st = iio_priv(indio_dev);
	spi_set_drvdata(spi, indio_dev);
	st->us_w = spi;
	return 0;

error_ret:
	return ret;
}

static int adis16060_w_remove(struct spi_device *spi)
{
	return 0;
}

static struct spi_driver adis16060_r_driver = {
	.driver = {
		.name = "adis16060_r",
		.owner = THIS_MODULE,
	},
	.probe = adis16060_r_probe,
	.remove = __devexit_p(adis16060_r_remove),
};

static struct spi_driver adis16060_w_driver = {
	.driver = {
		.name = "adis16060_w",
		.owner = THIS_MODULE,
	},
	.probe = adis16060_w_probe,
	.remove = __devexit_p(adis16060_w_remove),
};

static __init int adis16060_init(void)
{
	int ret;

	ret = spi_register_driver(&adis16060_r_driver);
	if (ret < 0)
		return ret;

	ret = spi_register_driver(&adis16060_w_driver);
	if (ret < 0) {
		spi_unregister_driver(&adis16060_r_driver);
		return ret;
	}

	return 0;
}
module_init(adis16060_init);

static __exit void adis16060_exit(void)
{
	spi_unregister_driver(&adis16060_w_driver);
	spi_unregister_driver(&adis16060_r_driver);
}
module_exit(adis16060_exit);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
MODULE_LICENSE("GPL v2");
Commit	Line	Data
e071f6b8 BS	1	/*
	2	* ADIS16060 Wide Bandwidth Yaw Rate Gyroscope with SPI driver
	3	*
	4	* Copyright 2010 Analog Devices Inc.
	5	*
	6	* Licensed under the GPL-2 or later.
	7	*/
	8
45296236	9	#include <linux/module.h>
e071f6b8 BS	10	#include <linux/delay.h>
	11	#include <linux/mutex.h>
	12	#include <linux/device.h>
	13	#include <linux/kernel.h>
	14	#include <linux/spi/spi.h>
	15	#include <linux/slab.h>
	16	#include <linux/sysfs.h>
99c97852	17	#include <linux/module.h>
14f98326	18
e071f6b8 BS	19	#include "../iio.h"
e071f6b8 BS	20	#include "../sysfs.h"
e071f6b8	21
14f98326 JC	22	#define ADIS16060_GYRO 0x20 /* Measure Angular Rate (Gyro) */
	23	#define ADIS16060_TEMP_OUT 0x10 /* Measure Temperature */
	24	#define ADIS16060_AIN2 0x80 /* Measure AIN2 */
	25	#define ADIS16060_AIN1 0x40 /* Measure AIN1 */
	26
	27	/**
	28	* struct adis16060_state - device instance specific data
	29	* @us_w: actual spi_device to write config
	30	* @us_r: actual spi_device to read back data
25985edc	31	* @buf: transmit or receive buffer
14f98326 JC	32	* @buf_lock: mutex to protect tx and rx
	33	**/
	34	struct adis16060_state {
	35	struct spi_device *us_w;
	36	struct spi_device *us_r;
14f98326 JC	37	struct mutex buf_lock;
	38
	39	u8 buf[3] ____cacheline_aligned;
	40	};
e071f6b8	41
3a5952f9	42	static struct iio_dev *adis16060_iio_dev;
e071f6b8	43
4f2ca080	44	static int adis16060_spi_write(struct iio_dev *indio_dev, u8 val)
e071f6b8 BS	45	{
e071f6b8 BS	46	int ret;
3a5952f9	47	struct adis16060_state *st = iio_priv(indio_dev);
e071f6b8 BS	48
e071f6b8 BS	49	mutex_lock(&st->buf_lock);
14f98326 JC	50	st->buf[2] = val; /* The last 8 bits clocked in are latched */
14f98326 JC	51	ret = spi_write(st->us_w, st->buf, 3);
e071f6b8 BS	52	mutex_unlock(&st->buf_lock);
	53
	54	return ret;
	55	}
	56
4f2ca080	57	static int adis16060_spi_read(struct iio_dev indio_dev, u16 val)
e071f6b8 BS	58	{
e071f6b8 BS	59	int ret;
3a5952f9	60	struct adis16060_state *st = iio_priv(indio_dev);
e071f6b8 BS	61
	62	mutex_lock(&st->buf_lock);
	63
14f98326	64	ret = spi_read(st->us_r, st->buf, 3);
e071f6b8	65
d14ae859 JC	66	/* The internal successive approximation ADC begins the
	67	* conversion process on the falling edge of MSEL1 and
	68	* starts to place data MSB first on the DOUT line at
	69	* the 6th falling edge of SCLK
e071f6b8 BS	70	*/
e071f6b8 BS	71	if (ret == 0)
14f98326 JC	72	*val = ((st->buf[0] & 0x3) << 12) \|
	73	(st->buf[1] << 4) \|
	74	((st->buf[2] >> 4) & 0xF);
e071f6b8 BS	75	mutex_unlock(&st->buf_lock);
	76
	77	return ret;
	78	}
	79
4f2ca080 JC	80	static int adis16060_read_raw(struct iio_dev *indio_dev,
	81	struct iio_chan_spec const *chan,
	82	int val, int val2,
	83	long mask)
e071f6b8	84	{
4f2ca080 JC	85	u16 tval = 0;
4f2ca080 JC	86	int ret;
14f98326	87
4f2ca080 JC	88	switch (mask) {
	89	case 0:
	90	/* Take the iio_dev status lock */
	91	mutex_lock(&indio_dev->mlock);
	92	ret = adis16060_spi_write(indio_dev, chan->address);
	93	if (ret < 0) {
	94	mutex_unlock(&indio_dev->mlock);
	95	return ret;
	96	}
	97	ret = adis16060_spi_read(indio_dev, &tval);
	98	mutex_unlock(&indio_dev->mlock);
	99	*val = tval;
	100	return IIO_VAL_INT;
c8a9f805	101	case IIO_CHAN_INFO_OFFSET:
4f2ca080 JC	102	*val = -7;
	103	*val2 = 461117;
	104	return IIO_VAL_INT_PLUS_MICRO;
c8a9f805	105	case IIO_CHAN_INFO_SCALE:
4f2ca080 JC	106	*val = 0;
	107	*val2 = 34000;
	108	return IIO_VAL_INT_PLUS_MICRO;
	109	}
e071f6b8	110
4f2ca080	111	return -EINVAL;
e071f6b8 BS	112	}
e071f6b8 BS	113
6fe8135f	114	static const struct iio_info adis16060_info = {
4f2ca080	115	.read_raw = &adis16060_read_raw,
6fe8135f JC	116	.driver_module = THIS_MODULE,
	117	};
	118
4f2ca080 JC	119	static const struct iio_chan_spec adis16060_channels[] = {
4f2ca080 JC	120	{
41ea040c	121	.type = IIO_ANGL_VEL,
4f2ca080 JC	122	.modified = 1,
	123	.channel2 = IIO_MOD_Z,
	124	.address = ADIS16060_GYRO,
	125	}, {
6835cb6b	126	.type = IIO_VOLTAGE,
4f2ca080 JC	127	.indexed = 1,
	128	.channel = 0,
	129	.address = ADIS16060_AIN1,
	130	}, {
6835cb6b	131	.type = IIO_VOLTAGE,
4f2ca080 JC	132	.indexed = 1,
	133	.channel = 1,
	134	.address = ADIS16060_AIN2,
	135	}, {
	136	.type = IIO_TEMP,
	137	.indexed = 1,
	138	.channel = 0,
c8a9f805 JC	139	.info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT \|
c8a9f805 JC	140	IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
4f2ca080 JC	141	.address = ADIS16060_TEMP_OUT,
	142	}
	143	};
	144
e071f6b8 BS	145	static int __devinit adis16060_r_probe(struct spi_device *spi)
e071f6b8 BS	146	{
26d25ae3	147	int ret;
3a5952f9 JC	148	struct adis16060_state *st;
	149	struct iio_dev *indio_dev;
	150
	151	/* setup the industrialio driver allocated elements */
	152	indio_dev = iio_allocate_device(sizeof(*st));
	153	if (indio_dev == NULL) {
	154	ret = -ENOMEM;
e071f6b8 BS	155	goto error_ret;
	156	}
	157	/* this is only used for removal purposes */
3a5952f9 JC	158	spi_set_drvdata(spi, indio_dev);
3a5952f9 JC	159	st = iio_priv(indio_dev);
e071f6b8 BS	160	st->us_r = spi;
e071f6b8 BS	161	mutex_init(&st->buf_lock);
e071f6b8	162
4f2ca080	163	indio_dev->name = spi->dev.driver->name;
3a5952f9 JC	164	indio_dev->dev.parent = &spi->dev;
	165	indio_dev->info = &adis16060_info;
	166	indio_dev->modes = INDIO_DIRECT_MODE;
4f2ca080 JC	167	indio_dev->channels = adis16060_channels;
4f2ca080 JC	168	indio_dev->num_channels = ARRAY_SIZE(adis16060_channels);
e071f6b8	169
3a5952f9	170	ret = iio_device_register(indio_dev);
e071f6b8	171	if (ret)
d14ae859	172	goto error_free_dev;
e071f6b8	173
3a5952f9	174	adis16060_iio_dev = indio_dev;
e071f6b8 BS	175	return 0;
e071f6b8 BS	176
e071f6b8	177	error_free_dev:
26d25ae3	178	iio_free_device(indio_dev);
e071f6b8 BS	179	error_ret:
	180	return ret;
	181	}
	182
	183	/* fixme, confirm ordering in this function */
	184	static int adis16060_r_remove(struct spi_device *spi)
	185	{
3a5952f9	186	iio_device_unregister(spi_get_drvdata(spi));
d2fffd6c	187	iio_free_device(spi_get_drvdata(spi));
e071f6b8 BS	188
	189	return 0;
	190	}
	191
	192	static int __devinit adis16060_w_probe(struct spi_device *spi)
	193	{
	194	int ret;
3a5952f9 JC	195	struct iio_dev *indio_dev = adis16060_iio_dev;
	196	struct adis16060_state *st;
	197	if (!indio_dev) {
e071f6b8 BS	198	ret = -ENODEV;
	199	goto error_ret;
	200	}
3a5952f9 JC	201	st = iio_priv(indio_dev);
3a5952f9 JC	202	spi_set_drvdata(spi, indio_dev);
e071f6b8 BS	203	st->us_w = spi;
	204	return 0;
	205
	206	error_ret:
	207	return ret;
	208	}
	209
	210	static int adis16060_w_remove(struct spi_device *spi)
	211	{
	212	return 0;
	213	}
	214
	215	static struct spi_driver adis16060_r_driver = {
	216	.driver = {
	217	.name = "adis16060_r",
	218	.owner = THIS_MODULE,
	219	},
	220	.probe = adis16060_r_probe,
	221	.remove = __devexit_p(adis16060_r_remove),
	222	};
	223
	224	static struct spi_driver adis16060_w_driver = {
	225	.driver = {
	226	.name = "adis16060_w",
	227	.owner = THIS_MODULE,
	228	},
	229	.probe = adis16060_w_probe,
	230	.remove = __devexit_p(adis16060_w_remove),
	231	};
	232
	233	static __init int adis16060_init(void)
	234	{
	235	int ret;
	236
	237	ret = spi_register_driver(&adis16060_r_driver);
	238	if (ret < 0)
	239	return ret;
	240
	241	ret = spi_register_driver(&adis16060_w_driver);
	242	if (ret < 0) {
	243	spi_unregister_driver(&adis16060_r_driver);
	244	return ret;
	245	}
	246
	247	return 0;
	248	}
	249	module_init(adis16060_init);
	250
	251	static __exit void adis16060_exit(void)
	252	{
	253	spi_unregister_driver(&adis16060_w_driver);
	254	spi_unregister_driver(&adis16060_r_driver);
	255	}
	256	module_exit(adis16060_exit);
	257
	258	MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
d14ae859	259	MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
e071f6b8	260	MODULE_LICENSE("GPL v2");