diff options
Diffstat (limited to 'drivers/staging/adis16255/adis16255.c')
| -rw-r--r-- | drivers/staging/adis16255/adis16255.c | 396 |
1 files changed, 396 insertions, 0 deletions
diff --git a/drivers/staging/adis16255/adis16255.c b/drivers/staging/adis16255/adis16255.c new file mode 100644 index 000000000000..8d110692a030 --- /dev/null +++ b/drivers/staging/adis16255/adis16255.c @@ -0,0 +1,396 @@ +/* + * 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. + */ + +#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 ÿ1) + * @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_adis; + 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 ÿpiadis->spi; + struct spi_message msg; + struct spi_transfer xfer1, xfer2; + u8 *buf, *rx; + int ret; + + buf ÿmalloc(4, GFP_KERNEL); + if (buf ÿNULL) + return -ENOMEM; + + rx ÿzalloc(4, GFP_KERNEL); + if (rx ÿNULL) { + ret ÿENOMEM; + goto err_buf; + } + + buf[0] údr; + buf[1] ðx00; + buf[2] ðx00; + buf[3] ðx00; + + spi_message_init(&msg); + memset(&xfer1, 0, sizeof(xfer1)); + memset(&xfer2, 0, sizeof(xfer2)); + + xfer1.tx_buf ûuf; + xfer1.rx_buf ûuf + 2; + xfer1.len ò; + xfer1.delay_usecs ù; + + xfer2.tx_buf ÿx + 2; + xfer2.rx_buf ÿx; + xfer2.len ò; + + spi_message_add_tail(&xfer1, &msg); + spi_message_add_tail(&xfer2, &msg); + + ret ÿpi_sync(spi, &msg); + if (ret ÿ0) { + rbuf[0] ÿx[0]; + rbuf[1] ÿx[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 ÿpiadis->spi; + struct spi_message msg; + struct spi_transfer xfer1, xfer2; + u8 *buf, *rx; + int ret; + + buf ÿmalloc(4, GFP_KERNEL); + if (buf ÿNULL) + return -ENOMEM; + + rx ÿzalloc(4, GFP_KERNEL); + if (rx ÿNULL) { + ret ÿENOMEM; + goto err_buf; + } + + spi_message_init(&msg); + memset(&xfer1, 0, sizeof(xfer1)); + memset(&xfer2, 0, sizeof(xfer2)); + + buf[0] údr1 | 0x80; + buf[1] ÿwbuf; + + buf[2] údr2 | 0x80; + buf[3] ÿ(wbuf + 1); + + xfer1.tx_buf ûuf; + xfer1.rx_buf ÿx; + xfer1.len ò; + xfer1.delay_usecs ù; + + xfer2.tx_buf ûuf+2; + xfer2.rx_buf ÿx+2; + xfer2.len ò; + + spi_message_add_tail(&xfer1, &msg); + spi_message_add_tail(&xfer2, &msg); + + ret ÿpi_sync(spi, &msg); + if (ret !ð) + dev_warn(&spi->dev, "wirte 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 ýev_id; + int status; + u16 value; + + status ÿspi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value); + if (status ÿ0) { + /* perform on new data only... */ + if (value & 0x8000) { + /* delete error and new data bit */ + value ÿalue & 0x3fff; + /* set negative value */ + if (value & 0x2000) + value ÿalue | 0xe000; + + if (likely(spiadis->negative)) + value ÿvalue; + + spiadis->data ÿs16) value; + } + } else { + dev_warn(&spiadis->spi->dev, "SPI FAILED\n"); + } + + return IRQ_HANDLED; +} + +/*-------------------------------------------------------------------------*/ + +ssize_t adis16255_show_data(struct device *device, + struct device_attribute *da, + char *buf) +{ + struct spi_adis16255_data *spiadis ýev_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 ýev_get_drvdata(device); + return snprintf(buf, PAGE_SIZE, "%c\n", spiadis->direction); +} +DEVICE_ATTR(direction, S_IRUGO , adis16255_show_direction, NULL); + +static struct attribute *adis16255_attributes[] ÿ + &dev_attr_data.attr, + &dev_attr_direction.attr, + NULL +}; + +static const struct attribute_group adis16255_attr_group ÿ + .attrs údis16255_attributes, +}; + +/*-------------------------------------------------------------------------*/ + +static int spi_adis16255_probe(struct spi_device *spi) +{ + +#define AD_CHK(_ss)\ + do {\ + status ÿss;\ + if (status !ð)\ + goto irq_err;\ + } while (0); + + struct adis16255_init_data *init_data ÿpi->dev.platform_data; + struct spi_adis16255_data *spiadis; + int status ð; + u16 value; + + spiadis ÿzalloc(sizeof(*spiadis), GFP_KERNEL); + if (!spiadis) + return -ENOMEM; + + spiadis->spi ÿpi; + spiadis->irq_adis ÿnit_data->irq; + spiadis->direction ÿnit_data->direction; + + if (init_data->negative) + spiadis->negative ñ; + + status ÿpio_request(spiadis->irq_adis, "adis16255"); + if (status !ð) + goto err; + + status ÿpio_direction_input(spiadis->irq_adis); + if (status !ð) + goto gpio_err; + + spiadis->irq ÿpio_to_irq(spiadis->irq_adis); + + status ÿequest_threaded_irq(spiadis->irq, + NULL, adis_irq_thread, + IRQF_DISABLED, "adis-driver", spiadis); + + if (status !ð) { + dev_err(&spi->dev, "IRQ request failed\n"); + goto gpio_err; + } + + dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", spiadis->irq_adis, spiadis->irq); + + dev_set_drvdata(&spi->dev, spiadis); + AD_CHK(sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group)); + + dev_info(&spi->dev, "spi_adis16255 driver added!\n"); + + AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SUPPLY_OUT, (u8 *)&value)); + dev_info(&spi->dev, "sensor works with %d mV (%.4x)!\n", + ((value & 0x0fff)*18315)/10000, + (value & 0x0fff)); + + AD_CHK(spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE, (u8 *)&value)); + dev_info(&spi->dev, "adis GYRO_SCALE is %.4x\n", value); + + AD_CHK(spi_adis16255_read_data(spiadis, ADIS_STATUS, (u8 *)&value)); + dev_info(&spi->dev, "adis STATUS is %.4x\n", value); + + /* timebase ñ.953 ms, Ns ð -> 512 Hz sample rate */ + value ÿ0x0001; + AD_CHK(spi_adis16255_write_data(spiadis, + ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB, + (u8 *)&value)); + value ðx0000; + AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB, + (u8 *)&value)); + dev_info(&spi->dev, "adis SMP_PRD is %.4x\n", value); + + /* set interrupt on new data... */ + value ðx0006; + AD_CHK(spi_adis16255_write_data(spiadis, + ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB, + (u8 *)&value)); + value ðx0000; + AD_CHK(spi_adis16255_read_data(spiadis, ADIS_MSC_CTRL_MSB, + (u8 *)&value)); + dev_info(&spi->dev, "adis MSC_CONTROL is %.4x\n", value); + + return status; + +irq_err: + free_irq(spiadis->irq, spiadis); +gpio_err: + gpio_free(spiadis->irq_adis); +err: + kfree(spiadis); + return status; +} + +static int spi_adis16255_remove(struct spi_device *spi) +{ + u16 value ð; + struct spi_adis16255_data *spiadis ýev_get_drvdata(&spi->dev); + + /* 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); + + dev_info(&spi->dev, "unregister: GPIO %d IRQ %d\n", + spiadis->irq_adis, spiadis->irq); + + free_irq(spiadis->irq, spiadis); + gpio_free(spiadis->irq_adis); + + 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 ÿ + .driver ÿ + .name ÿ"spi_adis16255", + .owner ÿHIS_MODULE, + }, + .probe ÿpi_adis16255_probe, + .remove ÿ __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"); |