[deliverable/linux.git] / drivers / staging / iio / gyro / adis16130_core.c

/*
 * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver
 *
 * Copyright 2010 Analog Devices Inc.
 *
 * Licensed under the GPL-2 or later.
 */

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

#include "../iio.h"
#include "../sysfs.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
 * @buf_lock:		mutex to protect tx and rx
 * @buf:		unified tx/rx buffer
 **/
struct adis16130_state {
	struct spi_device		*us;
	struct mutex			buf_lock;
	u8				buf[4] ____cacheline_aligned;
};

static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val)
{
	int ret;
	struct adis16130_state *st = iio_priv(indio_dev);
	struct spi_message msg;
	struct spi_transfer xfer = {
		.tx_buf = st->buf,
		.rx_buf = st->buf,
		.len = 4,
	};

	mutex_lock(&st->buf_lock);

	st->buf[0] = ADIS16130_CON_RD | reg_addr;
	st->buf[1] = st->buf[2] = st->buf[3] = 0;

	spi_message_init(&msg);
	spi_message_add_tail(&xfer, &msg);
	ret = spi_sync(st->us, &msg);
	ret = spi_read(st->us, st->buf, 4);

	if (ret == 0)
		*val = (st->buf[1] << 16) | (st->buf[2] << 8) | st->buf[3];
	mutex_unlock(&st->buf_lock);

	return ret;
}

static int adis16130_read_raw(struct iio_dev *indio_dev,
			      struct iio_chan_spec const *chan,
			      int *val, int *val2,
			      long mask)
{
	int ret;
	u32 temp;

	/* Take the iio_dev status lock */
	mutex_lock(&indio_dev->mlock);
	ret =  adis16130_spi_read(indio_dev, chan->address, &temp);
	mutex_unlock(&indio_dev->mlock);
	if (ret)
		return ret;
	*val = temp;
	return IIO_VAL_INT;
}

static const struct iio_chan_spec adis16130_channels[] = {
	{
		.type = IIO_ANGL_VEL,
		.modified = 1,
		.channel2 = IIO_MOD_Z,
		.address = ADIS16130_RATEDATA,
	}, {
		.type = IIO_TEMP,
		.indexed = 1,
		.channel = 0,
		.address = ADIS16130_TEMPDATA,
	}
};

static const struct iio_info adis16130_info = {
	.read_raw = &adis16130_read_raw,
	.driver_module = THIS_MODULE,
};

static int __devinit adis16130_probe(struct spi_device *spi)
{
	int ret;
	struct adis16130_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;
	}
	st = iio_priv(indio_dev);
	/* this is only used for removal purposes */
	spi_set_drvdata(spi, indio_dev);
	st->us = spi;
	mutex_init(&st->buf_lock);
	indio_dev->name = spi->dev.driver->name;
	indio_dev->channels = adis16130_channels;
	indio_dev->num_channels = ARRAY_SIZE(adis16130_channels);
	indio_dev->dev.parent = &spi->dev;
	indio_dev->info = &adis16130_info;
	indio_dev->modes = INDIO_DIRECT_MODE;

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

	return 0;

error_free_dev:
	iio_free_device(indio_dev);

error_ret:
	return ret;
}

/* fixme, confirm ordering in this function */
static int adis16130_remove(struct spi_device *spi)
{
	iio_device_unregister(spi_get_drvdata(spi));
	iio_free_device(spi_get_drvdata(spi));

	return 0;
}

static struct spi_driver adis16130_driver = {
	.driver = {
		.name = "adis16130",
		.owner = THIS_MODULE,
	},
	.probe = adis16130_probe,
	.remove = __devexit_p(adis16130_remove),
};
module_spi_driver(adis16130_driver);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate");
MODULE_LICENSE("GPL v2");
MODULE_ALIAS("spi:adis16130");
Commit	Line	Data
7a83f60d BS	1	/*
	2	* ADIS16130 Digital Output, High Precision Angular Rate Sensor driver
	3	*
	4	* Copyright 2010 Analog Devices Inc.
	5	*
	6	* Licensed under the GPL-2 or later.
	7	*/
	8
7a83f60d BS	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>
99c97852	17	#include <linux/module.h>
7a83f60d BS	18
	19	#include "../iio.h"
	20	#include "../sysfs.h"
7a83f60d	21
8e678751 JC	22	#define ADIS16130_CON 0x0
	23	#define ADIS16130_CON_RD (1 << 6)
	24	#define ADIS16130_IOP 0x1
	25
	26	/* 1 = data-ready signal low when unread data on all channels; */
	27	#define ADIS16130_IOP_ALL_RDY (1 << 3)
	28	#define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */
	29	#define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */
	30	#define ADIS16130_TEMPDATA 0xA /* Temperature output */
	31	#define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */
	32	#define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */
	33	#define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */
	34	#define ADIS16130_TEMPCS_EN (1 << 3)
	35	#define ADIS16130_RATECONV 0x30
	36	#define ADIS16130_TEMPCONV 0x32
	37	#define ADIS16130_MODE 0x38
	38	#define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */
	39
	40	/**
	41	* struct adis16130_state - device instance specific data
	42	* @us: actual spi_device to write data
8e678751 JC	43	* @buf_lock: mutex to protect tx and rx
	44	* @buf: unified tx/rx buffer
	45	**/
	46	struct adis16130_state {
	47	struct spi_device *us;
8e678751 JC	48	struct mutex buf_lock;
	49	u8 buf[4] ____cacheline_aligned;
	50	};
7a83f60d	51
ae0b4bdd	52	static int adis16130_spi_read(struct iio_dev indio_dev, u8 reg_addr, u32 val)
7a83f60d BS	53	{
7a83f60d BS	54	int ret;
9f8632d7	55	struct adis16130_state *st = iio_priv(indio_dev);
cdf6e817 JC	56	struct spi_message msg;
	57	struct spi_transfer xfer = {
	58	.tx_buf = st->buf,
	59	.rx_buf = st->buf,
a5e7363c	60	.len = 4,
cdf6e817	61	};
7a83f60d BS	62
	63	mutex_lock(&st->buf_lock);
	64
8e678751	65	st->buf[0] = ADIS16130_CON_RD \| reg_addr;
cdf6e817 JC	66	st->buf[1] = st->buf[2] = st->buf[3] = 0;
cdf6e817 JC	67
cdf6e817 JC	68	spi_message_init(&msg);
	69	spi_message_add_tail(&xfer, &msg);
	70	ret = spi_sync(st->us, &msg);
a5e7363c	71	ret = spi_read(st->us, st->buf, 4);
7a83f60d	72
a5e7363c JC	73	if (ret == 0)
a5e7363c JC	74	*val = (st->buf[1] << 16) \| (st->buf[2] << 8) \| st->buf[3];
7a83f60d BS	75	mutex_unlock(&st->buf_lock);
	76
	77	return ret;
	78	}
	79
ae0b4bdd JC	80	static int adis16130_read_raw(struct iio_dev *indio_dev,
	81	struct iio_chan_spec const *chan,
	82	int val, int val2,
	83	long mask)
7a83f60d	84	{
ae0b4bdd JC	85	int ret;
ae0b4bdd JC	86	u32 temp;
7a83f60d BS	87
	88	/* Take the iio_dev status lock */
	89	mutex_lock(&indio_dev->mlock);
ae0b4bdd	90	ret = adis16130_spi_read(indio_dev, chan->address, &temp);
7a83f60d	91	mutex_unlock(&indio_dev->mlock);
ae0b4bdd	92	if (ret)
7a83f60d	93	return ret;
ae0b4bdd JC	94	*val = temp;
ae0b4bdd JC	95	return IIO_VAL_INT;
7a83f60d BS	96	}
7a83f60d BS	97
ae0b4bdd JC	98	static const struct iio_chan_spec adis16130_channels[] = {
ae0b4bdd JC	99	{
41ea040c	100	.type = IIO_ANGL_VEL,
ae0b4bdd JC	101	.modified = 1,
	102	.channel2 = IIO_MOD_Z,
	103	.address = ADIS16130_RATEDATA,
	104	}, {
	105	.type = IIO_TEMP,
	106	.indexed = 1,
	107	.channel = 0,
	108	.address = ADIS16130_TEMPDATA,
	109	}
7a83f60d BS	110	};
7a83f60d BS	111
6fe8135f	112	static const struct iio_info adis16130_info = {
ae0b4bdd	113	.read_raw = &adis16130_read_raw,
6fe8135f JC	114	.driver_module = THIS_MODULE,
	115	};
	116
7a83f60d BS	117	static int __devinit adis16130_probe(struct spi_device *spi)
7a83f60d BS	118	{
7a9f437a	119	int ret;
9f8632d7 JC	120	struct adis16130_state *st;
	121	struct iio_dev *indio_dev;
	122
	123	/* setup the industrialio driver allocated elements */
	124	indio_dev = iio_allocate_device(sizeof(*st));
	125	if (indio_dev == NULL) {
	126	ret = -ENOMEM;
7a83f60d BS	127	goto error_ret;
7a83f60d BS	128	}
9f8632d7	129	st = iio_priv(indio_dev);
7a83f60d	130	/* this is only used for removal purposes */
9f8632d7	131	spi_set_drvdata(spi, indio_dev);
7a83f60d BS	132	st->us = spi;
7a83f60d BS	133	mutex_init(&st->buf_lock);
9f8632d7	134	indio_dev->name = spi->dev.driver->name;
ae0b4bdd JC	135	indio_dev->channels = adis16130_channels;
ae0b4bdd JC	136	indio_dev->num_channels = ARRAY_SIZE(adis16130_channels);
9f8632d7 JC	137	indio_dev->dev.parent = &spi->dev;
	138	indio_dev->info = &adis16130_info;
	139	indio_dev->modes = INDIO_DIRECT_MODE;
7a83f60d	140
9f8632d7	141	ret = iio_device_register(indio_dev);
7a83f60d	142	if (ret)
7a9f437a	143	goto error_free_dev;
7a83f60d	144
7a83f60d BS	145	return 0;
7a83f60d BS	146
7a83f60d	147	error_free_dev:
9f8632d7 JC	148	iio_free_device(indio_dev);
9f8632d7 JC	149
7a83f60d BS	150	error_ret:
	151	return ret;
	152	}
	153
	154	/* fixme, confirm ordering in this function */
	155	static int adis16130_remove(struct spi_device *spi)
	156	{
9f8632d7	157	iio_device_unregister(spi_get_drvdata(spi));
d2fffd6c	158	iio_free_device(spi_get_drvdata(spi));
7a83f60d BS	159
	160	return 0;
	161	}
	162
	163	static struct spi_driver adis16130_driver = {
	164	.driver = {
	165	.name = "adis16130",
	166	.owner = THIS_MODULE,
	167	},
	168	.probe = adis16130_probe,
	169	.remove = __devexit_p(adis16130_remove),
	170	};
ae6ae6fe	171	module_spi_driver(adis16130_driver);
7a83f60d BS	172
7a83f60d BS	173	MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
8e678751	174	MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate");
7a83f60d	175	MODULE_LICENSE("GPL v2");
55e4390c	176	MODULE_ALIAS("spi:adis16130");