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9#include <linux/interrupt.h>
10#include <linux/irq.h>
11#include <linux/gpio.h>
12#include <linux/delay.h>
13#include <linux/mutex.h>
14#include <linux/device.h>
15#include <linux/kernel.h>
16#include <linux/spi/spi.h>
17#include <linux/slab.h>
18#include <linux/sysfs.h>
19#include <linux/list.h>
20
21#include "../iio.h"
22#include "../sysfs.h"
23#include "gyro.h"
24#include "../adc/adc.h"
25
26#include "adis16130.h"
27
28#define DRIVER_NAME "adis16130"
29
30struct adis16130_state *adis16130_st;
31
32int adis16130_spi_write(struct device *dev, u8 reg_addr,
33 u8 val)
34{
35 int ret;
36 struct iio_dev *indio_dev = dev_get_drvdata(dev);
37 struct adis16130_state *st = iio_dev_get_devdata(indio_dev);
38
39 mutex_lock(&st->buf_lock);
40 st->tx[0] = reg_addr;
41 st->tx[1] = val;
42
43 ret = spi_write(st->us, st->tx, 2);
44 mutex_unlock(&st->buf_lock);
45
46 return ret;
47}
48
49int adis16130_spi_read(struct device *dev, u8 reg_addr,
50 u32 *val)
51{
52 int ret;
53 struct iio_dev *indio_dev = dev_get_drvdata(dev);
54 struct adis16130_state *st = iio_dev_get_devdata(indio_dev);
55
56 mutex_lock(&st->buf_lock);
57
58 st->tx[0] = ADIS16130_CON_RD | reg_addr;
59 if (st->mode)
60 ret = spi_read(st->us, st->rx, 4);
61 else
62 ret = spi_read(st->us, st->rx, 3);
63
64 if (ret == 0) {
65 if (st->mode)
66 *val = (st->rx[1] << 16) | (st->rx[2] << 8) | st->rx[3];
67 else
68 *val = (st->rx[1] << 8) | st->rx[2];
69 }
70
71 mutex_unlock(&st->buf_lock);
72
73 return ret;
74}
75
76static ssize_t adis16130_gyro_read(struct device *dev,
77 struct device_attribute *attr,
78 char *buf)
79{
80 struct iio_dev *indio_dev = dev_get_drvdata(dev);
81 u32 val;
82 ssize_t ret;
83
84
85 mutex_lock(&indio_dev->mlock);
86 ret = adis16130_spi_read(dev, ADIS16130_RATEDATA, &val);
87 mutex_unlock(&indio_dev->mlock);
88
89 if (ret == 0)
90 return sprintf(buf, "%d\n", val);
91 else
92 return ret;
93}
94
95static ssize_t adis16130_temp_read(struct device *dev,
96 struct device_attribute *attr,
97 char *buf)
98{
99 struct iio_dev *indio_dev = dev_get_drvdata(dev);
100 u32 val;
101 ssize_t ret;
102
103
104 mutex_lock(&indio_dev->mlock);
105 ret = adis16130_spi_read(dev, ADIS16130_TEMPDATA, &val);
106 mutex_unlock(&indio_dev->mlock);
107
108 if (ret == 0)
109 return sprintf(buf, "%d\n", val);
110 else
111 return ret;
112}
113
114static ssize_t adis16130_bitsmode_read(struct device *dev,
115 struct device_attribute *attr,
116 char *buf)
117{
118 struct iio_dev *indio_dev = dev_get_drvdata(dev);
119 struct adis16130_state *st = iio_dev_get_devdata(indio_dev);
120
121 return sprintf(buf, "%d\n", st->mode);
122}
123
124static ssize_t adis16130_bitsmode_write(struct device *dev,
125 struct device_attribute *attr,
126 const char *buf,
127 size_t len)
128{
129 int ret;
130 long val;
131
132 ret = strict_strtol(buf, 16, &val);
133 if (ret)
134 goto error_ret;
135 ret = adis16130_spi_write(dev, ADIS16130_MODE, !!val);
136
137error_ret:
138 return ret ? ret : len;
139}
140
141static IIO_DEV_ATTR_TEMP_RAW(adis16130_temp_read);
142
143static IIO_CONST_ATTR(name, "adis16130");
144
145static IIO_DEV_ATTR_GYRO(adis16130_gyro_read,
146 ADIS16130_RATEDATA);
147
148#define IIO_DEV_ATTR_BITS_MODE(_mode, _show, _store, _addr) \
149 IIO_DEVICE_ATTR(bits_mode, _mode, _show, _store, _addr)
150
151static IIO_DEV_ATTR_BITS_MODE(S_IWUSR | S_IRUGO, adis16130_bitsmode_read, adis16130_bitsmode_write,
152 ADIS16130_MODE);
153
154static struct attribute *adis16130_event_attributes[] = {
155 NULL
156};
157
158static struct attribute_group adis16130_event_attribute_group = {
159 .attrs = adis16130_event_attributes,
160};
161
162static struct attribute *adis16130_attributes[] = {
163 &iio_dev_attr_temp_raw.dev_attr.attr,
164 &iio_const_attr_name.dev_attr.attr,
165 &iio_dev_attr_gyro_raw.dev_attr.attr,
166 &iio_dev_attr_bits_mode.dev_attr.attr,
167 NULL
168};
169
170static const struct attribute_group adis16130_attribute_group = {
171 .attrs = adis16130_attributes,
172};
173
174static int __devinit adis16130_probe(struct spi_device *spi)
175{
176 int ret, regdone = 0;
177 struct adis16130_state *st = kzalloc(sizeof *st, GFP_KERNEL);
178 if (!st) {
179 ret = -ENOMEM;
180 goto error_ret;
181 }
182
183 spi_set_drvdata(spi, st);
184
185
186 st->rx = kzalloc(sizeof(*st->rx)*ADIS16130_MAX_RX, GFP_KERNEL);
187 if (st->rx == NULL) {
188 ret = -ENOMEM;
189 goto error_free_st;
190 }
191 st->tx = kzalloc(sizeof(*st->tx)*ADIS16130_MAX_TX, GFP_KERNEL);
192 if (st->tx == NULL) {
193 ret = -ENOMEM;
194 goto error_free_rx;
195 }
196 st->us = spi;
197 mutex_init(&st->buf_lock);
198
199 st->indio_dev = iio_allocate_device();
200 if (st->indio_dev == NULL) {
201 ret = -ENOMEM;
202 goto error_free_tx;
203 }
204
205 st->indio_dev->dev.parent = &spi->dev;
206 st->indio_dev->num_interrupt_lines = 1;
207 st->indio_dev->event_attrs = &adis16130_event_attribute_group;
208 st->indio_dev->attrs = &adis16130_attribute_group;
209 st->indio_dev->dev_data = (void *)(st);
210 st->indio_dev->driver_module = THIS_MODULE;
211 st->indio_dev->modes = INDIO_DIRECT_MODE;
212 st->mode = 1;
213
214 ret = adis16130_configure_ring(st->indio_dev);
215 if (ret)
216 goto error_free_dev;
217
218 ret = iio_device_register(st->indio_dev);
219 if (ret)
220 goto error_unreg_ring_funcs;
221 regdone = 1;
222
223 ret = adis16130_initialize_ring(st->indio_dev->ring);
224 if (ret) {
225 printk(KERN_ERR "failed to initialize the ring\n");
226 goto error_unreg_ring_funcs;
227 }
228
229 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
230 ret = iio_register_interrupt_line(spi->irq,
231 st->indio_dev,
232 0,
233 IRQF_TRIGGER_RISING,
234 "adis16130");
235 if (ret)
236 goto error_uninitialize_ring;
237
238 ret = adis16130_probe_trigger(st->indio_dev);
239 if (ret)
240 goto error_unregister_line;
241 }
242
243 adis16130_st = st;
244 return 0;
245
246error_unregister_line:
247 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
248 iio_unregister_interrupt_line(st->indio_dev, 0);
249error_uninitialize_ring:
250 adis16130_uninitialize_ring(st->indio_dev->ring);
251error_unreg_ring_funcs:
252 adis16130_unconfigure_ring(st->indio_dev);
253error_free_dev:
254 if (regdone)
255 iio_device_unregister(st->indio_dev);
256 else
257 iio_free_device(st->indio_dev);
258error_free_tx:
259 kfree(st->tx);
260error_free_rx:
261 kfree(st->rx);
262error_free_st:
263 kfree(st);
264error_ret:
265 return ret;
266}
267
268
269static int adis16130_remove(struct spi_device *spi)
270{
271 struct adis16130_state *st = spi_get_drvdata(spi);
272 struct iio_dev *indio_dev = st->indio_dev;
273
274 flush_scheduled_work();
275
276 adis16130_remove_trigger(indio_dev);
277 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
278 iio_unregister_interrupt_line(indio_dev, 0);
279
280 adis16130_uninitialize_ring(indio_dev->ring);
281 adis16130_unconfigure_ring(indio_dev);
282 iio_device_unregister(indio_dev);
283 kfree(st->tx);
284 kfree(st->rx);
285 kfree(st);
286
287 return 0;
288}
289
290static struct spi_driver adis16130_driver = {
291 .driver = {
292 .name = "adis16130",
293 .owner = THIS_MODULE,
294 },
295 .probe = adis16130_probe,
296 .remove = __devexit_p(adis16130_remove),
297};
298
299static __init int adis16130_init(void)
300{
301 return spi_register_driver(&adis16130_driver);
302}
303module_init(adis16130_init);
304
305static __exit void adis16130_exit(void)
306{
307 spi_unregister_driver(&adis16130_driver);
308}
309module_exit(adis16130_exit);
310
311MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
312MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate Sensor driver");
313MODULE_LICENSE("GPL v2");
314
