2 * ADIS16080/100 Yaw Rate Gyroscope with SPI driver
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
8 #include <linux/delay.h>
9 #include <linux/mutex.h>
10 #include <linux/device.h>
11 #include <linux/kernel.h>
12 #include <linux/spi/spi.h>
13 #include <linux/slab.h>
14 #include <linux/sysfs.h>
15 #include <linux/module.h>
17 #include <linux/iio/iio.h>
18 #include <linux/iio/sysfs.h>
20 #define ADIS16080_DIN_GYRO (0 << 10) /* Gyroscope output */
21 #define ADIS16080_DIN_TEMP (1 << 10) /* Temperature output */
22 #define ADIS16080_DIN_AIN1 (2 << 10)
23 #define ADIS16080_DIN_AIN2 (3 << 10)
26 * 1: Write contents on DIN to control register.
27 * 0: No changes to control register.
30 #define ADIS16080_DIN_WRITE (1 << 15)
33 * struct adis16080_state - device instance specific data
34 * @us: actual spi_device to write data
35 * @buf: transmit or receive buffer
36 * @buf_lock: mutex to protect tx and rx
38 struct adis16080_state {
39 struct spi_device *us;
40 struct mutex buf_lock;
42 u8 buf[2] ____cacheline_aligned;
45 static int adis16080_spi_write(struct iio_dev *indio_dev,
49 struct adis16080_state *st = iio_priv(indio_dev);
51 mutex_lock(&st->buf_lock);
52 st->buf[0] = val >> 8;
55 ret = spi_write(st->us, st->buf, 2);
56 mutex_unlock(&st->buf_lock);
61 static int adis16080_spi_read(struct iio_dev *indio_dev,
65 struct adis16080_state *st = iio_priv(indio_dev);
67 mutex_lock(&st->buf_lock);
69 ret = spi_read(st->us, st->buf, 2);
72 *val = sign_extend32(((st->buf[0] & 0xF) << 8) | st->buf[1], 11);
73 mutex_unlock(&st->buf_lock);
78 static int adis16080_read_raw(struct iio_dev *indio_dev,
79 struct iio_chan_spec const *chan,
86 /* Take the iio_dev status lock */
88 mutex_lock(&indio_dev->mlock);
90 case IIO_CHAN_INFO_RAW:
91 ret = adis16080_spi_write(indio_dev,
96 ret = adis16080_spi_read(indio_dev, &ut);
103 mutex_unlock(&indio_dev->mlock);
108 static const struct iio_chan_spec adis16080_channels[] = {
110 .type = IIO_ANGL_VEL,
112 .channel2 = IIO_MOD_Z,
113 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
114 .address = ADIS16080_DIN_GYRO,
119 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
120 .address = ADIS16080_DIN_AIN1,
125 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
126 .address = ADIS16080_DIN_AIN2,
131 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
132 .address = ADIS16080_DIN_TEMP,
136 static const struct iio_info adis16080_info = {
137 .read_raw = &adis16080_read_raw,
138 .driver_module = THIS_MODULE,
141 static int adis16080_probe(struct spi_device *spi)
144 struct adis16080_state *st;
145 struct iio_dev *indio_dev;
147 /* setup the industrialio driver allocated elements */
148 indio_dev = iio_device_alloc(sizeof(*st));
149 if (indio_dev == NULL) {
153 st = iio_priv(indio_dev);
154 /* this is only used for removal purposes */
155 spi_set_drvdata(spi, indio_dev);
157 /* Allocate the comms buffers */
159 mutex_init(&st->buf_lock);
161 indio_dev->name = spi->dev.driver->name;
162 indio_dev->channels = adis16080_channels;
163 indio_dev->num_channels = ARRAY_SIZE(adis16080_channels);
164 indio_dev->dev.parent = &spi->dev;
165 indio_dev->info = &adis16080_info;
166 indio_dev->modes = INDIO_DIRECT_MODE;
168 ret = iio_device_register(indio_dev);
174 iio_device_free(indio_dev);
179 /* fixme, confirm ordering in this function */
180 static int adis16080_remove(struct spi_device *spi)
182 iio_device_unregister(spi_get_drvdata(spi));
183 iio_device_free(spi_get_drvdata(spi));
188 static struct spi_driver adis16080_driver = {
191 .owner = THIS_MODULE,
193 .probe = adis16080_probe,
194 .remove = adis16080_remove,
196 module_spi_driver(adis16080_driver);
198 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
199 MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver");
200 MODULE_LICENSE("GPL v2");
201 MODULE_ALIAS("spi:adis16080");