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/module.h>
10 #include <linux/delay.h>
11 #include <linux/mutex.h>
12 #include <linux/device.h>
13 #include <linux/kernel.h>
14 #include <linux/spi/spi.h>
15 #include <linux/slab.h>
16 #include <linux/sysfs.h>
18 #include <linux/iio/iio.h>
19 #include <linux/iio/sysfs.h>
21 #define ADIS16060_GYRO 0x20 /* Measure Angular Rate (Gyro) */
22 #define ADIS16060_TEMP_OUT 0x10 /* Measure Temperature */
23 #define ADIS16060_AIN2 0x80 /* Measure AIN2 */
24 #define ADIS16060_AIN1 0x40 /* Measure AIN1 */
27 * struct adis16060_state - device instance specific data
28 * @us_w: actual spi_device to write config
29 * @us_r: actual spi_device to read back data
30 * @buf: transmit or receive buffer
31 * @buf_lock: mutex to protect tx and rx
33 struct adis16060_state {
34 struct spi_device *us_w;
35 struct spi_device *us_r;
36 struct mutex buf_lock;
38 u8 buf[3] ____cacheline_aligned;
41 static struct iio_dev *adis16060_iio_dev;
43 static int adis16060_spi_write_then_read(struct iio_dev *indio_dev,
47 struct adis16060_state *st = iio_priv(indio_dev);
49 mutex_lock(&st->buf_lock);
50 st->buf[2] = conf; /* The last 8 bits clocked in are latched */
51 ret = spi_write(st->us_w, st->buf, 3);
54 mutex_unlock(&st->buf_lock);
58 ret = spi_read(st->us_r, st->buf, 3);
60 /* The internal successive approximation ADC begins the
61 * conversion process on the falling edge of MSEL1 and
62 * starts to place data MSB first on the DOUT line at
63 * the 6th falling edge of SCLK
66 *val = ((st->buf[0] & 0x3) << 12) |
68 ((st->buf[2] >> 4) & 0xF);
69 mutex_unlock(&st->buf_lock);
74 static int adis16060_read_raw(struct iio_dev *indio_dev,
75 struct iio_chan_spec const *chan,
83 case IIO_CHAN_INFO_RAW:
84 ret = adis16060_spi_write_then_read(indio_dev,
85 chan->address, &tval);
91 case IIO_CHAN_INFO_OFFSET:
94 return IIO_VAL_INT_PLUS_MICRO;
95 case IIO_CHAN_INFO_SCALE:
98 return IIO_VAL_INT_PLUS_MICRO;
104 static const struct iio_info adis16060_info = {
105 .read_raw = adis16060_read_raw,
106 .driver_module = THIS_MODULE,
109 static const struct iio_chan_spec adis16060_channels[] = {
111 .type = IIO_ANGL_VEL,
113 .channel2 = IIO_MOD_Z,
114 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
115 .address = ADIS16060_GYRO,
120 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
121 .address = ADIS16060_AIN1,
126 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
127 .address = ADIS16060_AIN2,
132 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
133 BIT(IIO_CHAN_INFO_OFFSET) | BIT(IIO_CHAN_INFO_SCALE),
134 .address = ADIS16060_TEMP_OUT,
138 static int adis16060_r_probe(struct spi_device *spi)
141 struct adis16060_state *st;
142 struct iio_dev *indio_dev;
144 /* setup the industrialio driver allocated elements */
145 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
148 /* this is only used for removal purposes */
149 spi_set_drvdata(spi, indio_dev);
150 st = iio_priv(indio_dev);
152 mutex_init(&st->buf_lock);
154 indio_dev->name = spi->dev.driver->name;
155 indio_dev->dev.parent = &spi->dev;
156 indio_dev->info = &adis16060_info;
157 indio_dev->modes = INDIO_DIRECT_MODE;
158 indio_dev->channels = adis16060_channels;
159 indio_dev->num_channels = ARRAY_SIZE(adis16060_channels);
161 ret = devm_iio_device_register(&spi->dev, indio_dev);
165 adis16060_iio_dev = indio_dev;
169 static int adis16060_w_probe(struct spi_device *spi)
172 struct iio_dev *indio_dev = adis16060_iio_dev;
173 struct adis16060_state *st;
179 st = iio_priv(indio_dev);
180 spi_set_drvdata(spi, indio_dev);
188 static int adis16060_w_remove(struct spi_device *spi)
193 static struct spi_driver adis16060_r_driver = {
195 .name = "adis16060_r",
197 .probe = adis16060_r_probe,
200 static struct spi_driver adis16060_w_driver = {
202 .name = "adis16060_w",
204 .probe = adis16060_w_probe,
205 .remove = adis16060_w_remove,
208 static __init int adis16060_init(void)
212 ret = spi_register_driver(&adis16060_r_driver);
216 ret = spi_register_driver(&adis16060_w_driver);
218 spi_unregister_driver(&adis16060_r_driver);
224 module_init(adis16060_init);
226 static __exit void adis16060_exit(void)
228 spi_unregister_driver(&adis16060_w_driver);
229 spi_unregister_driver(&adis16060_r_driver);
231 module_exit(adis16060_exit);
233 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
234 MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
235 MODULE_LICENSE("GPL v2");