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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>
17
18#include <linux/iio/iio.h>
19#include <linux/iio/sysfs.h>
20
21#define ADIS16060_GYRO 0x20
22#define ADIS16060_TEMP_OUT 0x10
23#define ADIS16060_AIN2 0x80
24#define ADIS16060_AIN1 0x40
25
26
27
28
29
30
31
32
33struct adis16060_state {
34 struct spi_device *us_w;
35 struct spi_device *us_r;
36 struct mutex buf_lock;
37
38 u8 buf[3] ____cacheline_aligned;
39};
40
41static struct iio_dev *adis16060_iio_dev;
42
43static int adis16060_spi_write(struct iio_dev *indio_dev, u8 val)
44{
45 int ret;
46 struct adis16060_state *st = iio_priv(indio_dev);
47
48 mutex_lock(&st->buf_lock);
49 st->buf[2] = val;
50 ret = spi_write(st->us_w, st->buf, 3);
51 mutex_unlock(&st->buf_lock);
52
53 return ret;
54}
55
56static int adis16060_spi_read(struct iio_dev *indio_dev, u16 *val)
57{
58 int ret;
59 struct adis16060_state *st = iio_priv(indio_dev);
60
61 mutex_lock(&st->buf_lock);
62
63 ret = spi_read(st->us_r, st->buf, 3);
64
65
66
67
68
69
70 if (ret == 0)
71 *val = ((st->buf[0] & 0x3) << 12) |
72 (st->buf[1] << 4) |
73 ((st->buf[2] >> 4) & 0xF);
74 mutex_unlock(&st->buf_lock);
75
76 return ret;
77}
78
79static int adis16060_read_raw(struct iio_dev *indio_dev,
80 struct iio_chan_spec const *chan,
81 int *val, int *val2,
82 long mask)
83{
84 u16 tval = 0;
85 int ret;
86
87 switch (mask) {
88 case IIO_CHAN_INFO_RAW:
89
90 mutex_lock(&indio_dev->mlock);
91 ret = adis16060_spi_write(indio_dev, chan->address);
92 if (ret < 0) {
93 mutex_unlock(&indio_dev->mlock);
94 return ret;
95 }
96 ret = adis16060_spi_read(indio_dev, &tval);
97 mutex_unlock(&indio_dev->mlock);
98 *val = tval;
99 return IIO_VAL_INT;
100 case IIO_CHAN_INFO_OFFSET:
101 *val = -7;
102 *val2 = 461117;
103 return IIO_VAL_INT_PLUS_MICRO;
104 case IIO_CHAN_INFO_SCALE:
105 *val = 0;
106 *val2 = 34000;
107 return IIO_VAL_INT_PLUS_MICRO;
108 }
109
110 return -EINVAL;
111}
112
113static const struct iio_info adis16060_info = {
114 .read_raw = &adis16060_read_raw,
115 .driver_module = THIS_MODULE,
116};
117
118static const struct iio_chan_spec adis16060_channels[] = {
119 {
120 .type = IIO_ANGL_VEL,
121 .modified = 1,
122 .channel2 = IIO_MOD_Z,
123 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
124 .address = ADIS16060_GYRO,
125 }, {
126 .type = IIO_VOLTAGE,
127 .indexed = 1,
128 .channel = 0,
129 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
130 .address = ADIS16060_AIN1,
131 }, {
132 .type = IIO_VOLTAGE,
133 .indexed = 1,
134 .channel = 1,
135 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
136 .address = ADIS16060_AIN2,
137 }, {
138 .type = IIO_TEMP,
139 .indexed = 1,
140 .channel = 0,
141 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
142 BIT(IIO_CHAN_INFO_OFFSET) | BIT(IIO_CHAN_INFO_SCALE),
143 .address = ADIS16060_TEMP_OUT,
144 }
145};
146
147static int adis16060_r_probe(struct spi_device *spi)
148{
149 int ret;
150 struct adis16060_state *st;
151 struct iio_dev *indio_dev;
152
153
154 indio_dev = iio_device_alloc(sizeof(*st));
155 if (indio_dev == NULL) {
156 ret = -ENOMEM;
157 goto error_ret;
158 }
159
160 spi_set_drvdata(spi, indio_dev);
161 st = iio_priv(indio_dev);
162 st->us_r = spi;
163 mutex_init(&st->buf_lock);
164
165 indio_dev->name = spi->dev.driver->name;
166 indio_dev->dev.parent = &spi->dev;
167 indio_dev->info = &adis16060_info;
168 indio_dev->modes = INDIO_DIRECT_MODE;
169 indio_dev->channels = adis16060_channels;
170 indio_dev->num_channels = ARRAY_SIZE(adis16060_channels);
171
172 ret = iio_device_register(indio_dev);
173 if (ret)
174 goto error_free_dev;
175
176 adis16060_iio_dev = indio_dev;
177 return 0;
178
179error_free_dev:
180 iio_device_free(indio_dev);
181error_ret:
182 return ret;
183}
184
185
186static int adis16060_r_remove(struct spi_device *spi)
187{
188 iio_device_unregister(spi_get_drvdata(spi));
189 iio_device_free(spi_get_drvdata(spi));
190
191 return 0;
192}
193
194static int adis16060_w_probe(struct spi_device *spi)
195{
196 int ret;
197 struct iio_dev *indio_dev = adis16060_iio_dev;
198 struct adis16060_state *st;
199 if (!indio_dev) {
200 ret = -ENODEV;
201 goto error_ret;
202 }
203 st = iio_priv(indio_dev);
204 spi_set_drvdata(spi, indio_dev);
205 st->us_w = spi;
206 return 0;
207
208error_ret:
209 return ret;
210}
211
212static int adis16060_w_remove(struct spi_device *spi)
213{
214 return 0;
215}
216
217static struct spi_driver adis16060_r_driver = {
218 .driver = {
219 .name = "adis16060_r",
220 .owner = THIS_MODULE,
221 },
222 .probe = adis16060_r_probe,
223 .remove = adis16060_r_remove,
224};
225
226static struct spi_driver adis16060_w_driver = {
227 .driver = {
228 .name = "adis16060_w",
229 .owner = THIS_MODULE,
230 },
231 .probe = adis16060_w_probe,
232 .remove = adis16060_w_remove,
233};
234
235static __init int adis16060_init(void)
236{
237 int ret;
238
239 ret = spi_register_driver(&adis16060_r_driver);
240 if (ret < 0)
241 return ret;
242
243 ret = spi_register_driver(&adis16060_w_driver);
244 if (ret < 0) {
245 spi_unregister_driver(&adis16060_r_driver);
246 return ret;
247 }
248
249 return 0;
250}
251module_init(adis16060_init);
252
253static __exit void adis16060_exit(void)
254{
255 spi_unregister_driver(&adis16060_w_driver);
256 spi_unregister_driver(&adis16060_r_driver);
257}
258module_exit(adis16060_exit);
259
260MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
261MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
262MODULE_LICENSE("GPL v2");
263