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 * @indio_dev: industrial I/O device structure
33 * @buf: transmit or receive buffer
34 * @buf_lock: mutex to protect tx and rx
36 struct adis16060_state {
37 struct spi_device *us_w;
38 struct spi_device *us_r;
39 struct iio_dev *indio_dev;
40 struct mutex buf_lock;
42 u8 buf[3] ____cacheline_aligned;
45 static struct adis16060_state *adis16060_st;
47 static int adis16060_spi_write(struct device *dev,
51 struct iio_dev *indio_dev = dev_get_drvdata(dev);
52 struct adis16060_state *st = iio_dev_get_devdata(indio_dev);
54 mutex_lock(&st->buf_lock);
55 st->buf[2] = val; /* The last 8 bits clocked in are latched */
56 ret = spi_write(st->us_w, st->buf, 3);
57 mutex_unlock(&st->buf_lock);
62 static int adis16060_spi_read(struct device *dev,
66 struct iio_dev *indio_dev = dev_get_drvdata(dev);
67 struct adis16060_state *st = iio_dev_get_devdata(indio_dev);
69 mutex_lock(&st->buf_lock);
71 ret = spi_read(st->us_r, st->buf, 3);
73 /* The internal successive approximation ADC begins the
74 * conversion process on the falling edge of MSEL1 and
75 * starts to place data MSB first on the DOUT line at
76 * the 6th falling edge of SCLK
79 *val = ((st->buf[0] & 0x3) << 12) |
81 ((st->buf[2] >> 4) & 0xF);
82 mutex_unlock(&st->buf_lock);
87 static ssize_t adis16060_read(struct device *dev,
88 struct device_attribute *attr,
91 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
92 struct iio_dev *indio_dev = dev_get_drvdata(dev);
96 /* Take the iio_dev status lock */
97 mutex_lock(&indio_dev->mlock);
99 ret = adis16060_spi_write(dev, this_attr->address);
102 ret = adis16060_spi_read(dev, &val);
104 mutex_unlock(&indio_dev->mlock);
107 return sprintf(buf, "%d\n", val);
112 static IIO_DEV_ATTR_GYRO_Z(adis16060_read, ADIS16060_GYRO);
113 static IIO_DEVICE_ATTR(temp_raw, S_IRUGO, adis16060_read, NULL,
115 static IIO_CONST_ATTR_TEMP_SCALE("34"); /* Milli degrees C */
116 static IIO_CONST_ATTR_TEMP_OFFSET("-7461.117"); /* Milli degrees C */
117 static IIO_DEV_ATTR_IN_RAW(0, adis16060_read, ADIS16060_AIN1);
118 static IIO_DEV_ATTR_IN_RAW(1, adis16060_read, ADIS16060_AIN2);
119 static IIO_CONST_ATTR(name, "adis16060");
121 static struct attribute *adis16060_attributes[] = {
122 &iio_dev_attr_gyro_z_raw.dev_attr.attr,
123 &iio_dev_attr_temp_raw.dev_attr.attr,
124 &iio_const_attr_temp_scale.dev_attr.attr,
125 &iio_const_attr_temp_offset.dev_attr.attr,
126 &iio_dev_attr_in0_raw.dev_attr.attr,
127 &iio_dev_attr_in1_raw.dev_attr.attr,
128 &iio_const_attr_name.dev_attr.attr,
132 static const struct attribute_group adis16060_attribute_group = {
133 .attrs = adis16060_attributes,
136 static const struct iio_info adis16060_info = {
137 .attrs = &adis16060_attribute_group,
138 .driver_module = THIS_MODULE,
141 static int __devinit adis16060_r_probe(struct spi_device *spi)
143 int ret, regdone = 0;
144 struct adis16060_state *st = kzalloc(sizeof *st, GFP_KERNEL);
149 /* this is only used for removal purposes */
150 spi_set_drvdata(spi, st);
153 mutex_init(&st->buf_lock);
154 /* setup the industrialio driver allocated elements */
155 st->indio_dev = iio_allocate_device(0);
156 if (st->indio_dev == NULL) {
161 st->indio_dev->dev.parent = &spi->dev;
162 st->indio_dev->info = &adis16060_info;
163 st->indio_dev->dev_data = (void *)(st);
164 st->indio_dev->modes = INDIO_DIRECT_MODE;
166 ret = iio_device_register(st->indio_dev);
176 iio_device_unregister(st->indio_dev);
178 iio_free_device(st->indio_dev);
185 /* fixme, confirm ordering in this function */
186 static int adis16060_r_remove(struct spi_device *spi)
188 struct adis16060_state *st = spi_get_drvdata(spi);
189 struct iio_dev *indio_dev = st->indio_dev;
191 iio_device_unregister(indio_dev);
197 static int __devinit adis16060_w_probe(struct spi_device *spi)
200 struct adis16060_state *st = adis16060_st;
205 spi_set_drvdata(spi, st);
213 static int adis16060_w_remove(struct spi_device *spi)
218 static struct spi_driver adis16060_r_driver = {
220 .name = "adis16060_r",
221 .owner = THIS_MODULE,
223 .probe = adis16060_r_probe,
224 .remove = __devexit_p(adis16060_r_remove),
227 static struct spi_driver adis16060_w_driver = {
229 .name = "adis16060_w",
230 .owner = THIS_MODULE,
232 .probe = adis16060_w_probe,
233 .remove = __devexit_p(adis16060_w_remove),
236 static __init int adis16060_init(void)
240 ret = spi_register_driver(&adis16060_r_driver);
244 ret = spi_register_driver(&adis16060_w_driver);
246 spi_unregister_driver(&adis16060_r_driver);
252 module_init(adis16060_init);
254 static __exit void adis16060_exit(void)
256 spi_unregister_driver(&adis16060_w_driver);
257 spi_unregister_driver(&adis16060_r_driver);
259 module_exit(adis16060_exit);
261 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
262 MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
263 MODULE_LICENSE("GPL v2");