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/*
* 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/iio/iio.h>
#include <linux/iio/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 IIO_CHAN_INFO_RAW:
/* 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,
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
.address = ADIS16060_GYRO,
}, {
.type = IIO_VOLTAGE,
.indexed = 1,
.channel = 0,
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
.address = ADIS16060_AIN1,
}, {
.type = IIO_VOLTAGE,
.indexed = 1,
.channel = 1,
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
.address = ADIS16060_AIN2,
}, {
.type = IIO_TEMP,
.indexed = 1,
.channel = 0,
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
BIT(IIO_CHAN_INFO_OFFSET) | BIT(IIO_CHAN_INFO_SCALE),
.address = ADIS16060_TEMP_OUT,
}
};
static int 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 = devm_iio_device_alloc(&spi->dev, sizeof(*st));
if (!indio_dev)
return -ENOMEM;
/* 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 = devm_iio_device_register(&spi->dev, indio_dev);
if (ret)
return ret;
adis16060_iio_dev = indio_dev;
return 0;
}
static int 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,
};
static struct spi_driver adis16060_w_driver = {
.driver = {
.name = "adis16060_w",
.owner = THIS_MODULE,
},
.probe = adis16060_w_probe,
.remove = 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");
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