2 * ADIS16060 Wide Bandwidth Yaw Rate Gyroscope with SPI driver
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
9 #include <linux/module.h>
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>
17 #include <linux/module.h>
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 */
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
31 * @buf: transmit or receive buffer
32 * @buf_lock: mutex to protect tx and rx
34 struct adis16060_state
{
35 struct spi_device
*us_w
;
36 struct spi_device
*us_r
;
37 struct mutex buf_lock
;
39 u8 buf
[3] ____cacheline_aligned
;
42 static struct iio_dev
*adis16060_iio_dev
;
44 static int adis16060_spi_write(struct iio_dev
*indio_dev
, u8 val
)
47 struct adis16060_state
*st
= iio_priv(indio_dev
);
49 mutex_lock(&st
->buf_lock
);
50 st
->buf
[2] = val
; /* The last 8 bits clocked in are latched */
51 ret
= spi_write(st
->us_w
, st
->buf
, 3);
52 mutex_unlock(&st
->buf_lock
);
57 static int adis16060_spi_read(struct iio_dev
*indio_dev
, u16
*val
)
60 struct adis16060_state
*st
= iio_priv(indio_dev
);
62 mutex_lock(&st
->buf_lock
);
64 ret
= spi_read(st
->us_r
, st
->buf
, 3);
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
72 *val
= ((st
->buf
[0] & 0x3) << 12) |
74 ((st
->buf
[2] >> 4) & 0xF);
75 mutex_unlock(&st
->buf_lock
);
80 static int adis16060_read_raw(struct iio_dev
*indio_dev
,
81 struct iio_chan_spec
const *chan
,
90 /* Take the iio_dev status lock */
91 mutex_lock(&indio_dev
->mlock
);
92 ret
= adis16060_spi_write(indio_dev
, chan
->address
);
94 mutex_unlock(&indio_dev
->mlock
);
97 ret
= adis16060_spi_read(indio_dev
, &tval
);
98 mutex_unlock(&indio_dev
->mlock
);
101 case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE
):
104 return IIO_VAL_INT_PLUS_MICRO
;
105 case (1 << IIO_CHAN_INFO_SCALE_SEPARATE
):
108 return IIO_VAL_INT_PLUS_MICRO
;
114 static const struct iio_info adis16060_info
= {
115 .read_raw
= &adis16060_read_raw
,
116 .driver_module
= THIS_MODULE
,
119 static const struct iio_chan_spec adis16060_channels
[] = {
121 .type
= IIO_ANGL_VEL
,
123 .channel2
= IIO_MOD_Z
,
124 .address
= ADIS16060_GYRO
,
129 .address
= ADIS16060_AIN1
,
134 .address
= ADIS16060_AIN2
,
139 .info_mask
= (1 << IIO_CHAN_INFO_OFFSET_SEPARATE
) |
140 (1 << IIO_CHAN_INFO_SCALE_SEPARATE
),
141 .address
= ADIS16060_TEMP_OUT
,
145 static int __devinit
adis16060_r_probe(struct spi_device
*spi
)
148 struct adis16060_state
*st
;
149 struct iio_dev
*indio_dev
;
151 /* setup the industrialio driver allocated elements */
152 indio_dev
= iio_allocate_device(sizeof(*st
));
153 if (indio_dev
== NULL
) {
157 /* this is only used for removal purposes */
158 spi_set_drvdata(spi
, indio_dev
);
159 st
= iio_priv(indio_dev
);
161 mutex_init(&st
->buf_lock
);
163 indio_dev
->name
= spi
->dev
.driver
->name
;
164 indio_dev
->dev
.parent
= &spi
->dev
;
165 indio_dev
->info
= &adis16060_info
;
166 indio_dev
->modes
= INDIO_DIRECT_MODE
;
167 indio_dev
->channels
= adis16060_channels
;
168 indio_dev
->num_channels
= ARRAY_SIZE(adis16060_channels
);
170 ret
= iio_device_register(indio_dev
);
174 adis16060_iio_dev
= indio_dev
;
178 iio_free_device(indio_dev
);
183 /* fixme, confirm ordering in this function */
184 static int adis16060_r_remove(struct spi_device
*spi
)
186 iio_device_unregister(spi_get_drvdata(spi
));
187 iio_free_device(spi_get_drvdata(spi
));
192 static int __devinit
adis16060_w_probe(struct spi_device
*spi
)
195 struct iio_dev
*indio_dev
= adis16060_iio_dev
;
196 struct adis16060_state
*st
;
201 st
= iio_priv(indio_dev
);
202 spi_set_drvdata(spi
, indio_dev
);
210 static int adis16060_w_remove(struct spi_device
*spi
)
215 static struct spi_driver adis16060_r_driver
= {
217 .name
= "adis16060_r",
218 .owner
= THIS_MODULE
,
220 .probe
= adis16060_r_probe
,
221 .remove
= __devexit_p(adis16060_r_remove
),
224 static struct spi_driver adis16060_w_driver
= {
226 .name
= "adis16060_w",
227 .owner
= THIS_MODULE
,
229 .probe
= adis16060_w_probe
,
230 .remove
= __devexit_p(adis16060_w_remove
),
233 static __init
int adis16060_init(void)
237 ret
= spi_register_driver(&adis16060_r_driver
);
241 ret
= spi_register_driver(&adis16060_w_driver
);
243 spi_unregister_driver(&adis16060_r_driver
);
249 module_init(adis16060_init
);
251 static __exit
void adis16060_exit(void)
253 spi_unregister_driver(&adis16060_w_driver
);
254 spi_unregister_driver(&adis16060_r_driver
);
256 module_exit(adis16060_exit
);
258 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
259 MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
260 MODULE_LICENSE("GPL v2");