[PATCH RESEND v2]IIO driver for Analog Devices Digital Output Gyroscope ADXRS450
From: cliff.cai
Date: Sat Mar 19 2011 - 06:27:30 EST
From: Cliff Cai <cliff.cai@xxxxxxxxxx>
Change v2:v1:
Make modification according to Michael Hennerich's comments,
correct the spi transfer way,use existing sysfs interfaces.
Signed-off-by: Cliff Cai<cliff@xxxxxxxxxx>
---
drivers/staging/iio/gyro/Kconfig | 10 +
drivers/staging/iio/gyro/Makefile | 3 +
drivers/staging/iio/gyro/adxrs450.h | 59 ++++
drivers/staging/iio/gyro/adxrs450_core.c | 471 ++++++++++++++++++++++++++++++
4 files changed, 543 insertions(+), 0 deletions(-)
create mode 100644 drivers/staging/iio/gyro/adxrs450.h
create mode 100644 drivers/staging/iio/gyro/adxrs450_core.c
diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig
index 236f15f..3432967 100644
--- a/drivers/staging/iio/gyro/Kconfig
+++ b/drivers/staging/iio/gyro/Kconfig
@@ -45,3 +45,13 @@ config ADIS16251
This driver can also be built as a module. If so, the module
will be called adis16251.
+
+config ADXRS450
+ tristate "Analog Devices ADXRS450 Digital Output Gyroscope SPI driver"
+ depends on SPI
+ help
+ Say yes here to build support for Analog Devices ADXRS450 programmable
+ digital output gyroscope.
+
+ This driver can also be built as a module. If so, the module
+ will be called adxrs450.
diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile
index 2764c15..2212240 100644
--- a/drivers/staging/iio/gyro/Makefile
+++ b/drivers/staging/iio/gyro/Makefile
@@ -17,3 +17,6 @@ obj-$(CONFIG_ADIS16260) += adis16260.o
adis16251-y := adis16251_core.o
obj-$(CONFIG_ADIS16251) += adis16251.o
+
+adxrs450-y := adxrs450_core.o
+obj-$(CONFIG_ADXRS450) += adxrs450.o
diff --git a/drivers/staging/iio/gyro/adxrs450.h b/drivers/staging/iio/gyro/adxrs450.h
new file mode 100644
index 0000000..4633ef9
--- /dev/null
+++ b/drivers/staging/iio/gyro/adxrs450.h
@@ -0,0 +1,59 @@
+#ifndef SPI_ADXRS450_H_
+#define SPI_ADXRS450_H_
+
+#define ADXRS450_STARTUP_DELAY 50 /* ms */
+
+/* The MSB for the spi commands */
+#define ADXRS450_SENSOR_DATA 0x20
+#define ADXRS450_WRITE_DATA 0x40
+#define ADXRS450_READ_DATA 0x80
+
+#define ADXRS450_RATE1 0x00 /* Rate Registers */
+#define ADXRS450_TEMP1 0x02 /* Temperature Registers */
+#define ADXRS450_LOCST1 0x04 /* Low CST Memory Registers */
+#define ADXRS450_HICST1 0x06 /* High CST Memory Registers */
+#define ADXRS450_QUAD1 0x08 /* Quad Memory Registers */
+#define ADXRS450_FAULT1 0x0A /* Fault Registers */
+#define ADXRS450_PID1 0x0C /* Part ID Register 1 */
+#define ADXRS450_PID0 0x0D /* Part ID Register 0 */
+#define ADXRS450_SNH 0x0E /* Serial Number Registers, 4 bytes */
+#define ADXRS450_SNL 0x10
+#define ADXRS450_DNC1 0x12 /* Dynamic Null Correction Registers */
+/* Check bits */
+#define ADXRS450_P 0x01
+#define ADXRS450_CHK 0x02
+#define ADXRS450_CST 0x04
+#define ADXRS450_PWR 0x08
+#define ADXRS450_POR 0x10
+#define ADXRS450_NVM 0x20
+#define ADXRS450_Q 0x40
+#define ADXRS450_PLL 0x80
+#define ADXRS450_UV 0x100
+#define ADXRS450_OV 0x200
+#define ADXRS450_AMP 0x400
+#define ADXRS450_FAIL 0x800
+
+#define ADXRS450_WRERR_MASK (0x7 << 29)
+
+#define ADXRS450_MAX_RX 8
+#define ADXRS450_MAX_TX 8
+
+#define ADXRS450_GET_ST(a) ((a >> 26) & 0x3)
+
+/**
+ * struct adxrs450_state - device instance specific data
+ * @us: actual spi_device
+ * @indio_dev: industrial I/O device structure
+ * @tx: transmit buffer
+ * @rx: recieve buffer
+ * @buf_lock: mutex to protect tx and rx
+ **/
+struct adxrs450_state {
+ struct spi_device *us;
+ struct iio_dev *indio_dev;
+ u8 *tx;
+ u8 *rx;
+ struct mutex buf_lock;
+};
+
+#endif /* SPI_ADXRS450_H_ */
diff --git a/drivers/staging/iio/gyro/adxrs450_core.c b/drivers/staging/iio/gyro/adxrs450_core.c
new file mode 100644
index 0000000..f4f9d49
--- /dev/null
+++ b/drivers/staging/iio/gyro/adxrs450_core.c
@@ -0,0 +1,471 @@
+/*
+ * ADXRS450 Digital Output Gyroscope Driver
+ *
+ * Copyright 2010 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/gpio.h>
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+#include <linux/list.h>
+
+#include "../iio.h"
+#include "../sysfs.h"
+#include "gyro.h"
+#include "../adc/adc.h"
+
+#include "adxrs450.h"
+
+#define DRIVER_NAME "ADXRS450"
+
+/**
+ * adxrs450_spi_read_reg_16() - read 2 bytes from a register pair
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @reg_address: the address of the lower of the two registers,which should be an even address,
+ * Second register's address is reg_address + 1.
+ * @val: somewhere to pass back the value read
+ **/
+static int adxrs450_spi_read_reg_16(struct device *dev,
+ u8 reg_address,
+ u16 *val)
+{
+ struct spi_message msg;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adxrs450_state *st = iio_dev_get_devdata(indio_dev);
+ int ret;
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = st->tx,
+ .rx_buf = st->rx,
+ .bits_per_word = 8,
+ .len = 4,
+ },
+ };
+ /* Needs to send the command twice to get the wanted value */
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADXRS450_READ_DATA | reg_address >> 7;
+ st->tx[1] = reg_address << 1;
+ st->tx[2] = 0;
+ st->tx[3] = 0;
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0], &msg);
+ ret = spi_sync(st->us, &msg);
+ if (ret) {
+ dev_err(&st->us->dev, "problem while reading 16 bit register 0x%02x\n",
+ reg_address);
+ goto error_ret;
+ }
+
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0], &msg);
+ ret = spi_sync(st->us, &msg);
+ if (ret) {
+ dev_err(&st->us->dev, "problem while reading 16 bit register 0x%02x\n",
+ reg_address);
+ goto error_ret;
+ }
+
+ *val = (st->rx[1] & 0x1f) << 11 | st->rx[2] << 3 | (st->rx[3] & 0xe0) >> 5;
+
+error_ret:
+ mutex_unlock(&st->buf_lock);
+ return ret;
+}
+
+/**
+ * adxrs450_spi_write_reg_16() - write 2 bytes data to a register pair
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @reg_address: the address of the lower of the two registers,which should be an even address,
+ * Second register's address is reg_address + 1.
+ * @val: value to be written.
+ **/
+static int adxrs450_spi_write_reg_16(struct device *dev,
+ u8 reg_address,
+ u16 *val)
+{
+ struct spi_message msg;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adxrs450_state *st = iio_dev_get_devdata(indio_dev);
+ int ret;
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = st->tx,
+ .rx_buf = st->rx,
+ .bits_per_word = 8,
+ .len = 4,
+ },
+ };
+
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADXRS450_WRITE_DATA | reg_address >> 7;
+ st->tx[1] = reg_address << 1 | *val >> 15;
+ st->tx[2] = *val >> 7;
+ st->tx[3] = *val << 1;
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0], &msg);
+ ret = spi_sync(st->us, &msg);
+ if (ret) {
+ dev_err(&st->us->dev, "problem while writing 16 bit register 0x%02x\n",
+ reg_address);
+ goto error_ret;
+ }
+
+error_ret:
+ mutex_unlock(&st->buf_lock);
+ return ret;
+}
+
+/**
+ * adxrs450_spi_sensor_data() - read 2 bytes sensor data
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @val: somewhere to pass back the value read
+ **/
+static int adxrs450_spi_sensor_data(struct device *dev, u16 *val)
+{
+ struct spi_message msg;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adxrs450_state *st = iio_dev_get_devdata(indio_dev);
+ int ret;
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = st->tx,
+ .rx_buf = st->rx,
+ .bits_per_word = 8,
+ .len = 4,
+ }
+ };
+
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADXRS450_SENSOR_DATA;
+ st->tx[1] = 0;
+ st->tx[2] = 0;
+ st->tx[3] = 0;
+
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0], &msg);
+ ret = spi_sync(st->us, &msg);
+ if (ret) {
+ dev_err(&st->us->dev, "Problem while reading sensor data\n");
+ goto error_ret;
+ }
+
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0], &msg);
+ ret = spi_sync(st->us, &msg);
+ if (ret) {
+ dev_err(&st->us->dev, "Problem while reading sensor data\n");
+ goto error_ret;
+ }
+
+ *val = (st->rx[0] & 0x03) << 14 | st->rx[1] << 6 | (st->rx[2] & 0xfc) >> 2;
+error_ret:
+ mutex_unlock(&st->buf_lock);
+ return ret;
+}
+
+/**
+ * adxrs450_spi_initial() - use for initializing procedure.
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @val: somewhere to pass back the value read
+ **/
+static int adxrs450_spi_initial(struct device *dev,
+ u32 *val, char chk)
+{
+ struct spi_message msg;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adxrs450_state *st = iio_dev_get_devdata(indio_dev);
+ int ret;
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = st->tx,
+ .rx_buf = st->rx,
+ .bits_per_word = 8,
+ .len = 4,
+ },
+ };
+
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADXRS450_SENSOR_DATA;
+ st->tx[1] = 0;
+ st->tx[2] = 0;
+ st->tx[3] = 0;
+ if (chk)
+ st->tx[3] |= (ADXRS450_CHK | ADXRS450_P);
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0], &msg);
+ ret = spi_sync(st->us, &msg);
+ if (ret) {
+ dev_err(&st->us->dev, "Problem while reading initializing data\n");
+ goto error_ret;
+ }
+
+ *val = st->rx[0] << 24 | st->rx[1] << 16 | st->rx[2] << 8 | st->rx[3];
+
+error_ret:
+ mutex_unlock(&st->buf_lock);
+ return ret;
+}
+
+static ssize_t adxrs450_read_temp(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ int ret, len = 0;
+ u16 t;
+ ret = adxrs450_spi_read_reg_16(dev,
+ ADXRS450_TEMP1,
+ &t);
+ if (ret)
+ return ret;
+ len = sprintf(buf, "%d\n", t);
+ return len;
+}
+
+static ssize_t adxrs450_read_quad(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ int ret, len = 0;
+ u16 t;
+ ret = adxrs450_spi_read_reg_16(dev,
+ ADXRS450_QUAD1,
+ &t);
+ if (ret)
+ return ret;
+ len = sprintf(buf, "%d\n", t);
+ return len;
+}
+
+static ssize_t adxrs450_write_dnc(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf,
+ size_t len)
+{
+ int ret;
+ u16 val;
+
+ if (len == 0 || len > 2)
+ return -EINVAL;
+ memcpy(&val, buf, len);
+ ret = adxrs450_spi_write_reg_16(dev,
+ ADXRS450_DNC1,
+ &val);
+ return ret ? ret : len;
+}
+
+static ssize_t adxrs450_read_sensor_data(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ int ret, len = 0;
+ u16 t;
+
+ ret = adxrs450_spi_sensor_data(dev, &t);
+ if (ret)
+ return ret;
+
+ len = sprintf(buf, "%d\n", t);
+ return len;
+}
+
+/* Recommended Startup Sequence by spec */
+static int adxrs450_initial_setup(struct adxrs450_state *st)
+{
+ u32 t;
+ u16 data;
+ int ret;
+ struct device *dev = &st->indio_dev->dev;
+
+ msleep(ADXRS450_STARTUP_DELAY*2);
+ ret = adxrs450_spi_initial(dev, &t, 1);
+ if (ret)
+ return ret;
+ if (t != 0x01) {
+ dev_err(&st->us->dev, "The initial response is not correct!\n");
+ return -ENODEV;
+
+ }
+
+ msleep(ADXRS450_STARTUP_DELAY);
+ ret = adxrs450_spi_initial(dev, &t, 0);
+ if (ret)
+ return ret;
+
+ msleep(ADXRS450_STARTUP_DELAY);
+ ret = adxrs450_spi_initial(dev, &t, 0);
+ if (ret)
+ return ret;
+ if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
+ dev_err(&st->us->dev, "The second response is not correct!\n");
+ return -EIO;
+
+ }
+ ret = adxrs450_spi_initial(dev, &t, 0);
+ if (ret)
+ return ret;
+ if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
+ dev_err(&st->us->dev, "The third response is not correct!\n");
+ return -EIO;
+
+ }
+ ret = adxrs450_spi_read_reg_16(dev, ADXRS450_FAULT1, &data);
+ if (ret)
+ return ret;
+ if (data & 0x0fff) {
+ dev_err(&st->us->dev, "The device is not in normal status!\n");
+ return -EINVAL;
+ }
+ ret = adxrs450_spi_read_reg_16(dev, ADXRS450_PID1, &data);
+ if (ret)
+ return ret;
+ dev_info(&st->us->dev, "The Part ID is 0x%x\n", data);
+
+ ret = adxrs450_spi_read_reg_16(dev, ADXRS450_SNL, &data);
+ if (ret)
+ return ret;
+ t = data;
+ ret = adxrs450_spi_read_reg_16(dev, ADXRS450_SNH, &data);
+ if (ret)
+ return ret;
+ t |= data << 16;
+ dev_info(&st->us->dev, "The Serial Number is 0x%x\n", t);
+
+ dev_info(&st->us->dev, "%s at CS%d\n", DRIVER_NAME,
+ st->us->chip_select);
+
+ return 0;
+}
+
+static IIO_DEV_ATTR_GYRO_Z(adxrs450_read_sensor_data, 0);
+static IIO_DEV_ATTR_TEMP_RAW(adxrs450_read_temp);
+static IIO_DEVICE_ATTR(quad, S_IRUGO,
+ adxrs450_read_quad, NULL, 0);
+static IIO_DEVICE_ATTR(dynamic_null_correction, S_IWUGO,
+ NULL, adxrs450_write_dnc, 0);
+static IIO_CONST_ATTR(name, "adxrs450");
+
+static struct attribute *adxrs450_attributes[] = {
+
+ &iio_dev_attr_gyro_z_raw.dev_attr.attr,
+ &iio_dev_attr_temp_raw.dev_attr.attr,
+ &iio_dev_attr_quad.dev_attr.attr,
+ &iio_dev_attr_dynamic_null_correction.dev_attr.attr,
+ &iio_const_attr_name.dev_attr.attr,
+ NULL
+};
+
+static const struct attribute_group adxrs450_attribute_group = {
+ .attrs = adxrs450_attributes,
+};
+
+static int __devinit adxrs450_probe(struct spi_device *spi)
+{
+ int ret, regdone = 0;
+ struct adxrs450_state *st = kzalloc(sizeof *st, GFP_KERNEL);
+ if (!st) {
+ ret = -ENOMEM;
+ goto error_ret;
+ }
+ /* This is only used for removal purposes */
+ spi_set_drvdata(spi, st);
+
+ /* Allocate the comms buffers */
+ st->rx = kzalloc(sizeof(*st->rx)*ADXRS450_MAX_RX, GFP_KERNEL);
+ if (st->rx == NULL) {
+ ret = -ENOMEM;
+ goto error_free_st;
+ }
+ st->tx = kzalloc(sizeof(*st->tx)*ADXRS450_MAX_TX, GFP_KERNEL);
+ if (st->tx == NULL) {
+ ret = -ENOMEM;
+ goto error_free_rx;
+ }
+ st->us = spi;
+ mutex_init(&st->buf_lock);
+ /* setup the industrialio driver allocated elements */
+ st->indio_dev = iio_allocate_device();
+ if (st->indio_dev == NULL) {
+ ret = -ENOMEM;
+ goto error_free_tx;
+ }
+
+ st->indio_dev->dev.parent = &spi->dev;
+ st->indio_dev->attrs = &adxrs450_attribute_group;
+ st->indio_dev->dev_data = (void *)(st);
+ st->indio_dev->driver_module = THIS_MODULE;
+ st->indio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = iio_device_register(st->indio_dev);
+ if (ret)
+ goto error_free_dev;
+ regdone = 1;
+
+ /* Get the device into a sane initial state */
+ ret = adxrs450_initial_setup(st);
+ if (ret)
+ goto error_initial;
+ return 0;
+
+error_initial:
+error_free_dev:
+ if (regdone)
+ iio_device_unregister(st->indio_dev);
+ else
+ iio_free_device(st->indio_dev);
+error_free_tx:
+ kfree(st->tx);
+error_free_rx:
+ kfree(st->rx);
+error_free_st:
+ kfree(st);
+error_ret:
+ return ret;
+}
+
+/* fixme, confirm ordering in this function */
+static int adxrs450_remove(struct spi_device *spi)
+{
+ struct adxrs450_state *st = spi_get_drvdata(spi);
+ struct iio_dev *indio_dev = st->indio_dev;
+
+ iio_device_unregister(indio_dev);
+ kfree(st->tx);
+ kfree(st->rx);
+ kfree(st);
+
+ return 0;
+}
+
+static struct spi_driver adxrs450_driver = {
+ .driver = {
+ .name = "adxrs450",
+ .owner = THIS_MODULE,
+ },
+ .probe = adxrs450_probe,
+ .remove = __devexit_p(adxrs450_remove),
+};
+
+static __init int adxrs450_init(void)
+{
+ return spi_register_driver(&adxrs450_driver);
+}
+module_init(adxrs450_init);
+
+static __exit void adxrs450_exit(void)
+{
+ spi_unregister_driver(&adxrs450_driver);
+}
+module_exit(adxrs450_exit);
+
+MODULE_AUTHOR("Cliff Cai <cliff.cai@xxxxxxxxxx>");
+MODULE_DESCRIPTION("Analog Devices ADXRS450 Gyroscope SPI driver");
+MODULE_LICENSE("GPL v2");
--
1.7.1
--
To unsubscribe from this list: send the line "unsubscribe linux-kernel" in
the body of a message to majordomo@xxxxxxxxxxxxxxx
More majordomo info at http://vger.kernel.org/majordomo-info.html
Please read the FAQ at http://www.tux.org/lkml/