+++ /dev/null
-/*
- * Analog Devices ADIS16250/ADIS16255 Low Power Gyroscope
- *
- * Written by: Matthias Brugger <m_brugger@web.de>
- *
- * Copyright (C) 2010 Fraunhofer Institute for Integrated Circuits
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the
- * Free Software Foundation, Inc.,
- * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- */
-
-/*
- * The driver just has a bare interface to the sysfs (sample rate in Hz,
- * orientation (x, y, z) and gyroscope data in °/sec.
- *
- * It should be added to iio subsystem when this has left staging.
- *
- */
-
-#include <linux/init.h>
-#include <linux/module.h>
-#include <linux/device.h>
-#include <linux/list.h>
-#include <linux/errno.h>
-#include <linux/mutex.h>
-#include <linux/slab.h>
-
-#include <linux/interrupt.h>
-#include <linux/sysfs.h>
-#include <linux/stat.h>
-#include <linux/delay.h>
-
-#include <linux/gpio.h>
-
-#include <linux/spi/spi.h>
-#include <linux/workqueue.h>
-
-#include "adis16255.h"
-
-#define ADIS_STATUS 0x3d
-#define ADIS_SMPL_PRD_MSB 0x37
-#define ADIS_SMPL_PRD_LSB 0x36
-#define ADIS_MSC_CTRL_MSB 0x35
-#define ADIS_MSC_CTRL_LSB 0x34
-#define ADIS_GPIO_CTRL 0x33
-#define ADIS_ALM_SMPL1 0x25
-#define ADIS_ALM_MAG1 0x21
-#define ADIS_GYRO_SCALE 0x17
-#define ADIS_GYRO_OUT 0x05
-#define ADIS_SUPPLY_OUT 0x03
-#define ADIS_ENDURANCE 0x01
-
-/*
- * data structure for every sensor
- *
- * @dev: Driver model representation of the device.
- * @spi: Pointer to the spi device which will manage i/o to spi bus.
- * @data: Last read data from device.
- * @irq_adis: GPIO Number of IRQ signal
- * @irq: irq line manage by kernel
- * @negative: indicates if sensor is upside down (negative == 1)
- * @direction: indicates axis (x, y, z) the sensor is meassuring
- */
-struct spi_adis16255_data {
- struct device dev;
- struct spi_device *spi;
- s16 data;
- int irq;
- u8 negative;
- char direction;
-};
-
-/*-------------------------------------------------------------------------*/
-
-static int spi_adis16255_read_data(struct spi_adis16255_data *spiadis,
- u8 adr,
- u8 *rbuf)
-{
- struct spi_device *spi = spiadis->spi;
- struct spi_message msg;
- struct spi_transfer xfer1, xfer2;
- u8 *buf, *rx;
- int ret;
-
- buf = kzalloc(4, GFP_KERNEL);
- if (buf == NULL)
- return -ENOMEM;
-
- rx = kzalloc(4, GFP_KERNEL);
- if (rx == NULL) {
- ret = -ENOMEM;
- goto err_buf;
- }
-
- buf[0] = adr;
-
- spi_message_init(&msg);
- memset(&xfer1, 0, sizeof(xfer1));
- memset(&xfer2, 0, sizeof(xfer2));
-
- xfer1.tx_buf = buf;
- xfer1.rx_buf = buf + 2;
- xfer1.len = 2;
- xfer1.delay_usecs = 9;
-
- xfer2.tx_buf = rx + 2;
- xfer2.rx_buf = rx;
- xfer2.len = 2;
-
- spi_message_add_tail(&xfer1, &msg);
- spi_message_add_tail(&xfer2, &msg);
-
- ret = spi_sync(spi, &msg);
- if (ret == 0) {
- rbuf[0] = rx[0];
- rbuf[1] = rx[1];
- }
-
- kfree(rx);
-err_buf:
- kfree(buf);
-
- return ret;
-}
-
-static int spi_adis16255_write_data(struct spi_adis16255_data *spiadis,
- u8 adr1,
- u8 adr2,
- u8 *wbuf)
-{
- struct spi_device *spi = spiadis->spi;
- struct spi_message msg;
- struct spi_transfer xfer1, xfer2;
- u8 *buf, *rx;
- int ret;
-
- buf = kmalloc(4, GFP_KERNEL);
- if (buf == NULL)
- return -ENOMEM;
-
- rx = kzalloc(4, GFP_KERNEL);
- if (rx == NULL) {
- ret = -ENOMEM;
- goto err_buf;
- }
-
- spi_message_init(&msg);
- memset(&xfer1, 0, sizeof(xfer1));
- memset(&xfer2, 0, sizeof(xfer2));
-
- buf[0] = adr1 | 0x80;
- buf[1] = *wbuf;
-
- buf[2] = adr2 | 0x80;
- buf[3] = *(wbuf + 1);
-
- xfer1.tx_buf = buf;
- xfer1.rx_buf = rx;
- xfer1.len = 2;
- xfer1.delay_usecs = 9;
-
- xfer2.tx_buf = buf+2;
- xfer2.rx_buf = rx+2;
- xfer2.len = 2;
-
- spi_message_add_tail(&xfer1, &msg);
- spi_message_add_tail(&xfer2, &msg);
-
- ret = spi_sync(spi, &msg);
- if (ret != 0)
- dev_warn(&spi->dev, "write data to %#x %#x failed\n",
- buf[0], buf[2]);
-
- kfree(rx);
-err_buf:
- kfree(buf);
- return ret;
-}
-
-/*-------------------------------------------------------------------------*/
-
-static irqreturn_t adis_irq_thread(int irq, void *dev_id)
-{
- struct spi_adis16255_data *spiadis = dev_id;
- int status;
- u16 value = 0;
-
- status = spi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value);
- if (status != 0) {
- dev_warn(&spiadis->spi->dev, "SPI FAILED\n");
- goto exit;
- }
-
- /* perform on new data only... */
- if (value & 0x8000) {
- /* delete error and new data bit */
- value = value & 0x3fff;
- /* set negative value */
- if (value & 0x2000)
- value = value | 0xe000;
-
- if (likely(spiadis->negative))
- value = -value;
-
- spiadis->data = (s16) value;
- }
-
-exit:
- return IRQ_HANDLED;
-}
-
-/*-------------------------------------------------------------------------*/
-
-ssize_t adis16255_show_data(struct device *device,
- struct device_attribute *da,
- char *buf)
-{
- struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
- return snprintf(buf, PAGE_SIZE, "%d\n", spiadis->data);
-}
-DEVICE_ATTR(data, S_IRUGO , adis16255_show_data, NULL);
-
-ssize_t adis16255_show_direction(struct device *device,
- struct device_attribute *da,
- char *buf)
-{
- struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
- return snprintf(buf, PAGE_SIZE, "%c\n", spiadis->direction);
-}
-DEVICE_ATTR(direction, S_IRUGO , adis16255_show_direction, NULL);
-
-ssize_t adis16255_show_sample_rate(struct device *device,
- struct device_attribute *da,
- char *buf)
-{
- struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
- int status = 0;
- u16 value = 0;
- int ts = 0;
-
- status = spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB,
- (u8 *)&value);
- if (status != 0)
- return -EINVAL;
-
- if (value & 0x80) {
- /* timebase = 60.54 ms */
- ts = 60540 * ((0x7f & value) + 1);
- } else {
- /* timebase = 1.953 ms */
- ts = 1953 * ((0x7f & value) + 1);
- }
-
- return snprintf(buf, PAGE_SIZE, "%d\n", (1000*1000)/ts);
-}
-DEVICE_ATTR(sample_rate, S_IRUGO , adis16255_show_sample_rate, NULL);
-
-static struct attribute *adis16255_attributes[] = {
- &dev_attr_data.attr,
- &dev_attr_direction.attr,
- &dev_attr_sample_rate.attr,
- NULL
-};
-
-static const struct attribute_group adis16255_attr_group = {
- .attrs = adis16255_attributes,
-};
-
-/*-------------------------------------------------------------------------*/
-
-static int spi_adis16255_shutdown(struct spi_adis16255_data *spiadis)
-{
- u16 value = 0;
- /* turn sensor off */
- spi_adis16255_write_data(spiadis,
- ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
- (u8 *)&value);
- spi_adis16255_write_data(spiadis,
- ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
- (u8 *)&value);
- return 0;
-}
-
-static int spi_adis16255_bringup(struct spi_adis16255_data *spiadis)
-{
- int status = 0;
- u16 value = 0;
-
- status = spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE,
- (u8 *)&value);
- if (status != 0)
- goto err;
- if (value != 0x0800) {
- dev_warn(&spiadis->spi->dev, "Scale factor is none default "
- "value (%.4x)\n", value);
- }
-
- /* timebase = 1.953 ms, Ns = 0 -> 512 Hz sample rate */
- value = 0x0001;
- status = spi_adis16255_write_data(spiadis,
- ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
- (u8 *)&value);
- if (status != 0)
- goto err;
-
- /* start internal self-test */
- value = 0x0400;
- status = spi_adis16255_write_data(spiadis,
- ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
- (u8 *)&value);
- if (status != 0)
- goto err;
-
- /* wait 35 ms to finish self-test */
- msleep(35);
-
- value = 0x0000;
- status = spi_adis16255_read_data(spiadis, ADIS_STATUS,
- (u8 *)&value);
- if (status != 0)
- goto err;
-
- if (value & 0x23) {
- if (value & 0x20) {
- dev_warn(&spiadis->spi->dev, "self-test error\n");
- status = -ENODEV;
- goto err;
- } else if (value & 0x3) {
- dev_warn(&spiadis->spi->dev, "Sensor voltage "
- "out of range.\n");
- status = -ENODEV;
- goto err;
- }
- }
-
- /* set interrupt to active high on DIO0 when data ready */
- value = 0x0006;
- status = spi_adis16255_write_data(spiadis,
- ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
- (u8 *)&value);
- if (status != 0)
- goto err;
- return status;
-
-err:
- spi_adis16255_shutdown(spiadis);
- return status;
-}
-
-/*-------------------------------------------------------------------------*/
-
-static int __devinit spi_adis16255_probe(struct spi_device *spi)
-{
-
- struct adis16255_init_data *init_data = spi->dev.platform_data;
- struct spi_adis16255_data *spiadis;
- int status = 0;
-
- spiadis = kzalloc(sizeof(*spiadis), GFP_KERNEL);
- if (!spiadis)
- return -ENOMEM;
-
- spiadis->spi = spi;
- spiadis->direction = init_data->direction;
-
- if (init_data->negative)
- spiadis->negative = 1;
-
- status = gpio_request(init_data->irq, "adis16255");
- if (status != 0)
- goto err;
-
- status = gpio_direction_input(init_data->irq);
- if (status != 0)
- goto gpio_err;
-
- spiadis->irq = gpio_to_irq(init_data->irq);
-
- status = request_threaded_irq(spiadis->irq,
- NULL, adis_irq_thread,
- IRQF_DISABLED, "adis-driver", spiadis);
-
- if (status != 0) {
- dev_err(&spi->dev, "IRQ request failed\n");
- goto gpio_err;
- }
-
- dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", init_data->irq, spiadis->irq);
-
- dev_set_drvdata(&spi->dev, spiadis);
- status = sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group);
- if (status != 0)
- goto irq_err;
-
- status = spi_adis16255_bringup(spiadis);
- if (status != 0)
- goto sysfs_err;
-
- dev_info(&spi->dev, "spi_adis16255 driver added!\n");
-
- return status;
-
-sysfs_err:
- sysfs_remove_group(&spiadis->spi->dev.kobj, &adis16255_attr_group);
-irq_err:
- free_irq(spiadis->irq, spiadis);
-gpio_err:
- gpio_free(init_data->irq);
-err:
- kfree(spiadis);
- return status;
-}
-
-static int __devexit spi_adis16255_remove(struct spi_device *spi)
-{
- struct spi_adis16255_data *spiadis = dev_get_drvdata(&spi->dev);
-
- spi_adis16255_shutdown(spiadis);
-
- free_irq(spiadis->irq, spiadis);
- gpio_free(irq_to_gpio(spiadis->irq));
-
- sysfs_remove_group(&spiadis->spi->dev.kobj, &adis16255_attr_group);
-
- kfree(spiadis);
-
- dev_info(&spi->dev, "spi_adis16255 driver removed!\n");
- return 0;
-}
-
-static struct spi_driver spi_adis16255_drv = {
- .driver = {
- .name = "spi_adis16255",
- .owner = THIS_MODULE,
- },
- .probe = spi_adis16255_probe,
- .remove = __devexit_p(spi_adis16255_remove),
-};
-
-/*-------------------------------------------------------------------------*/
-
-static int __init spi_adis16255_init(void)
-{
- return spi_register_driver(&spi_adis16255_drv);
-}
-module_init(spi_adis16255_init);
-
-static void __exit spi_adis16255_exit(void)
-{
- spi_unregister_driver(&spi_adis16255_drv);
-}
-module_exit(spi_adis16255_exit);
-
-MODULE_AUTHOR("Matthias Brugger");
-MODULE_DESCRIPTION("SPI device driver for ADIS16255 sensor");
-MODULE_LICENSE("GPL");
projects / GitHub / MotorolaMobilityLLC / kernel-slsi.git / commitdiff