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/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>
21 #include "../adc/adc.h"
23 #define ADIS16060_GYRO 0x20 /* Measure Angular Rate (Gyro) */
24 #define ADIS16060_TEMP_OUT 0x10 /* Measure Temperature */
25 #define ADIS16060_AIN2 0x80 /* Measure AIN2 */
26 #define ADIS16060_AIN1 0x40 /* Measure AIN1 */
29 * struct adis16060_state - device instance specific data
30 * @us_w: actual spi_device to write config
31 * @us_r: actual spi_device to read back data
32 * @buf: transmit or receive buffer
33 * @buf_lock: mutex to protect tx and rx
35 struct adis16060_state {
36 struct spi_device *us_w;
37 struct spi_device *us_r;
38 struct mutex buf_lock;
40 u8 buf[3] ____cacheline_aligned;
43 static struct iio_dev *adis16060_iio_dev;
45 static int adis16060_spi_write(struct device *dev,
49 struct iio_dev *indio_dev = dev_get_drvdata(dev);
50 struct adis16060_state *st = iio_priv(indio_dev);
52 mutex_lock(&st->buf_lock);
53 st->buf[2] = val; /* The last 8 bits clocked in are latched */
54 ret = spi_write(st->us_w, st->buf, 3);
55 mutex_unlock(&st->buf_lock);
60 static int adis16060_spi_read(struct device *dev,
64 struct iio_dev *indio_dev = dev_get_drvdata(dev);
65 struct adis16060_state *st = iio_priv(indio_dev);
67 mutex_lock(&st->buf_lock);
69 ret = spi_read(st->us_r, st->buf, 3);
71 /* The internal successive approximation ADC begins the
72 * conversion process on the falling edge of MSEL1 and
73 * starts to place data MSB first on the DOUT line at
74 * the 6th falling edge of SCLK
77 *val = ((st->buf[0] & 0x3) << 12) |
79 ((st->buf[2] >> 4) & 0xF);
80 mutex_unlock(&st->buf_lock);
85 static ssize_t adis16060_read(struct device *dev,
86 struct device_attribute *attr,
89 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
90 struct iio_dev *indio_dev = dev_get_drvdata(dev);
94 /* Take the iio_dev status lock */
95 mutex_lock(&indio_dev->mlock);
97 ret = adis16060_spi_write(dev, this_attr->address);
100 ret = adis16060_spi_read(dev, &val);
102 mutex_unlock(&indio_dev->mlock);
105 return sprintf(buf, "%d\n", val);
110 static IIO_DEV_ATTR_GYRO_Z(adis16060_read, ADIS16060_GYRO);
111 static IIO_DEVICE_ATTR(temp_raw, S_IRUGO, adis16060_read, NULL,
113 static IIO_CONST_ATTR_TEMP_SCALE("34"); /* Milli degrees C */
114 static IIO_CONST_ATTR_TEMP_OFFSET("-7461.117"); /* Milli degrees C */
115 static IIO_DEV_ATTR_IN_RAW(0, adis16060_read, ADIS16060_AIN1);
116 static IIO_DEV_ATTR_IN_RAW(1, adis16060_read, ADIS16060_AIN2);
117 static IIO_CONST_ATTR(name, "adis16060");
119 static struct attribute *adis16060_attributes[] = {
120 &iio_dev_attr_gyro_z_raw.dev_attr.attr,
121 &iio_dev_attr_temp_raw.dev_attr.attr,
122 &iio_const_attr_temp_scale.dev_attr.attr,
123 &iio_const_attr_temp_offset.dev_attr.attr,
124 &iio_dev_attr_in0_raw.dev_attr.attr,
125 &iio_dev_attr_in1_raw.dev_attr.attr,
126 &iio_const_attr_name.dev_attr.attr,
130 static const struct attribute_group adis16060_attribute_group = {
131 .attrs = adis16060_attributes,
134 static const struct iio_info adis16060_info = {
135 .attrs = &adis16060_attribute_group,
136 .driver_module = THIS_MODULE,
139 static int __devinit adis16060_r_probe(struct spi_device *spi)
141 int ret, regdone = 0;
142 struct adis16060_state *st;
143 struct iio_dev *indio_dev;
145 /* setup the industrialio driver allocated elements */
146 indio_dev = iio_allocate_device(sizeof(*st));
147 if (indio_dev == NULL) {
151 /* this is only used for removal purposes */
152 spi_set_drvdata(spi, indio_dev);
153 st = iio_priv(indio_dev);
155 mutex_init(&st->buf_lock);
157 indio_dev->dev.parent = &spi->dev;
158 indio_dev->info = &adis16060_info;
159 indio_dev->modes = INDIO_DIRECT_MODE;
161 ret = iio_device_register(indio_dev);
166 adis16060_iio_dev = indio_dev;
171 iio_device_unregister(indio_dev);
173 iio_free_device(indio_dev);
178 /* fixme, confirm ordering in this function */
179 static int adis16060_r_remove(struct spi_device *spi)
181 iio_device_unregister(spi_get_drvdata(spi));
186 static int __devinit adis16060_w_probe(struct spi_device *spi)
189 struct iio_dev *indio_dev = adis16060_iio_dev;
190 struct adis16060_state *st;
195 st = iio_priv(indio_dev);
196 spi_set_drvdata(spi, indio_dev);
204 static int adis16060_w_remove(struct spi_device *spi)
209 static struct spi_driver adis16060_r_driver = {
211 .name = "adis16060_r",
212 .owner = THIS_MODULE,
214 .probe = adis16060_r_probe,
215 .remove = __devexit_p(adis16060_r_remove),
218 static struct spi_driver adis16060_w_driver = {
220 .name = "adis16060_w",
221 .owner = THIS_MODULE,
223 .probe = adis16060_w_probe,
224 .remove = __devexit_p(adis16060_w_remove),
227 static __init int adis16060_init(void)
231 ret = spi_register_driver(&adis16060_r_driver);
235 ret = spi_register_driver(&adis16060_w_driver);
237 spi_unregister_driver(&adis16060_r_driver);
243 module_init(adis16060_init);
245 static __exit void adis16060_exit(void)
247 spi_unregister_driver(&adis16060_w_driver);
248 spi_unregister_driver(&adis16060_r_driver);
250 module_exit(adis16060_exit);
252 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
253 MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
254 MODULE_LICENSE("GPL v2");