diff options
Diffstat (limited to 'drivers/staging/adis16255/adis16255.c')
| -rw-r--r-- | drivers/staging/adis16255/adis16255.c | 468 |
1 files changed, 0 insertions, 468 deletions
diff --git a/drivers/staging/adis16255/adis16255.c b/drivers/staging/adis16255/adis16255.c deleted file mode 100644 index 8d4d7cbab979..000000000000 --- a/drivers/staging/adis16255/adis16255.c +++ /dev/null @@ -1,468 +0,0 @@ -/* - * Analog Devices ADIS16250/ADIS16255 Low Power Gyroscope - * - * Written by: Matthias Brugger <m_brugger@web.de> - * - * Copyright (C) 2010 Fraunhofer Institute for Integrated Circuits - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the - * Free Software Foundation, Inc., - * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - */ - -/* - * The driver just has a bare interface to the sysfs (sample rate in Hz, - * orientation (x, y, z) and gyroscope data in °/sec. - * - * It should be added to iio subsystem when this has left staging. - * - */ - -#include <linux/init.h> -#include <linux/module.h> -#include <linux/device.h> -#include <linux/list.h> -#include <linux/errno.h> -#include <linux/mutex.h> -#include <linux/slab.h> - -#include <linux/interrupt.h> -#include <linux/sysfs.h> -#include <linux/stat.h> -#include <linux/delay.h> - -#include <linux/gpio.h> - -#include <linux/spi/spi.h> -#include <linux/workqueue.h> - -#include "adis16255.h" - -#define ADIS_STATUS 0x3d -#define ADIS_SMPL_PRD_MSB 0x37 -#define ADIS_SMPL_PRD_LSB 0x36 -#define ADIS_MSC_CTRL_MSB 0x35 -#define ADIS_MSC_CTRL_LSB 0x34 -#define ADIS_GPIO_CTRL 0x33 -#define ADIS_ALM_SMPL1 0x25 -#define ADIS_ALM_MAG1 0x21 -#define ADIS_GYRO_SCALE 0x17 -#define ADIS_GYRO_OUT 0x05 -#define ADIS_SUPPLY_OUT 0x03 -#define ADIS_ENDURANCE 0x01 - -/* - * data structure for every sensor - * - * @dev: Driver model representation of the device. - * @spi: Pointer to the spi device which will manage i/o to spi bus. - * @data: Last read data from device. - * @irq_adis: GPIO Number of IRQ signal - * @irq: irq line manage by kernel - * @negative: indicates if sensor is upside down (negative == 1) - * @direction: indicates axis (x, y, z) the sensor is meassuring - */ -struct spi_adis16255_data { - struct device dev; - struct spi_device *spi; - s16 data; - int irq; - u8 negative; - char direction; -}; - -/*-------------------------------------------------------------------------*/ - -static int spi_adis16255_read_data(struct spi_adis16255_data *spiadis, - u8 adr, - u8 *rbuf) -{ - struct spi_device *spi = spiadis->spi; - struct spi_message msg; - struct spi_transfer xfer1, xfer2; - u8 *buf, *rx; - int ret; - - buf = kzalloc(4, GFP_KERNEL); - if (buf == NULL) - return -ENOMEM; - - rx = kzalloc(4, GFP_KERNEL); - if (rx == NULL) { - ret = -ENOMEM; - goto err_buf; - } - - buf[0] = adr; - - spi_message_init(&msg); - memset(&xfer1, 0, sizeof(xfer1)); - memset(&xfer2, 0, sizeof(xfer2)); - - xfer1.tx_buf = buf; - xfer1.rx_buf = buf + 2; - xfer1.len = 2; - xfer1.delay_usecs = 9; - - xfer2.tx_buf = rx + 2; - xfer2.rx_buf = rx; - xfer2.len = 2; - - spi_message_add_tail(&xfer1, &msg); - spi_message_add_tail(&xfer2, &msg); - - ret = spi_sync(spi, &msg); - if (ret == 0) { - rbuf[0] = rx[0]; - rbuf[1] = rx[1]; - } - - kfree(rx); -err_buf: - kfree(buf); - - return ret; -} - -static int spi_adis16255_write_data(struct spi_adis16255_data *spiadis, - u8 adr1, - u8 adr2, - u8 *wbuf) -{ - struct spi_device *spi = spiadis->spi; - struct spi_message msg; - struct spi_transfer xfer1, xfer2; - u8 *buf, *rx; - int ret; - - buf = kmalloc(4, GFP_KERNEL); - if (buf == NULL) - return -ENOMEM; - - rx = kzalloc(4, GFP_KERNEL); - if (rx == NULL) { - ret = -ENOMEM; - goto err_buf; - } - - spi_message_init(&msg); - memset(&xfer1, 0, sizeof(xfer1)); - memset(&xfer2, 0, sizeof(xfer2)); - - buf[0] = adr1 | 0x80; - buf[1] = *wbuf; - - buf[2] = adr2 | 0x80; - buf[3] = *(wbuf + 1); - - xfer1.tx_buf = buf; - xfer1.rx_buf = rx; - xfer1.len = 2; - xfer1.delay_usecs = 9; - - xfer2.tx_buf = buf+2; - xfer2.rx_buf = rx+2; - xfer2.len = 2; - - spi_message_add_tail(&xfer1, &msg); - spi_message_add_tail(&xfer2, &msg); - - ret = spi_sync(spi, &msg); - if (ret != 0) - dev_warn(&spi->dev, "write data to %#x %#x failed\n", - buf[0], buf[2]); - - kfree(rx); -err_buf: - kfree(buf); - return ret; -} - -/*-------------------------------------------------------------------------*/ - -static irqreturn_t adis_irq_thread(int irq, void *dev_id) -{ - struct spi_adis16255_data *spiadis = dev_id; - int status; - u16 value = 0; - - status = spi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value); - if (status != 0) { - dev_warn(&spiadis->spi->dev, "SPI FAILED\n"); - goto exit; - } - - /* perform on new data only... */ - if (value & 0x8000) { - /* delete error and new data bit */ - value = value & 0x3fff; - /* set negative value */ - if (value & 0x2000) - value = value | 0xe000; - - if (likely(spiadis->negative)) - value = -value; - - spiadis->data = (s16) value; - } - -exit: - return IRQ_HANDLED; -} - -/*-------------------------------------------------------------------------*/ - -ssize_t adis16255_show_data(struct device *device, - struct device_attribute *da, - char *buf) -{ - struct spi_adis16255_data *spiadis = dev_get_drvdata(device); - return snprintf(buf, PAGE_SIZE, "%d\n", spiadis->data); -} -DEVICE_ATTR(data, S_IRUGO , adis16255_show_data, NULL); - -ssize_t adis16255_show_direction(struct device *device, - struct device_attribute *da, - char *buf) -{ - struct spi_adis16255_data *spiadis = dev_get_drvdata(device); - return snprintf(buf, PAGE_SIZE, "%c\n", spiadis->direction); -} -DEVICE_ATTR(direction, S_IRUGO , adis16255_show_direction, NULL); - -ssize_t adis16255_show_sample_rate(struct device *device, - struct device_attribute *da, - char *buf) -{ - struct spi_adis16255_data *spiadis = dev_get_drvdata(device); - int status = 0; - u16 value = 0; - int ts = 0; - - status = spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB, - (u8 *)&value); - if (status != 0) - return -EINVAL; - - if (value & 0x80) { - /* timebase = 60.54 ms */ - ts = 60540 * ((0x7f & value) + 1); - } else { - /* timebase = 1.953 ms */ - ts = 1953 * ((0x7f & value) + 1); - } - - return snprintf(buf, PAGE_SIZE, "%d\n", (1000*1000)/ts); -} -DEVICE_ATTR(sample_rate, S_IRUGO , adis16255_show_sample_rate, NULL); - -static struct attribute *adis16255_attributes[] = { - &dev_attr_data.attr, - &dev_attr_direction.attr, - &dev_attr_sample_rate.attr, - NULL -}; - -static const struct attribute_group adis16255_attr_group = { - .attrs = adis16255_attributes, -}; - -/*-------------------------------------------------------------------------*/ - -static int spi_adis16255_shutdown(struct spi_adis16255_data *spiadis) -{ - u16 value = 0; - /* turn sensor off */ - spi_adis16255_write_data(spiadis, - ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB, - (u8 *)&value); - spi_adis16255_write_data(spiadis, - ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB, - (u8 *)&value); - return 0; -} - -static int spi_adis16255_bringup(struct spi_adis16255_data *spiadis) -{ - int status = 0; - u16 value = 0; - - status = spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE, - (u8 *)&value); - if (status != 0) - goto err; - if (value != 0x0800) { - dev_warn(&spiadis->spi->dev, "Scale factor is none default " - "value (%.4x)\n", value); - } - - /* timebase = 1.953 ms, Ns = 0 -> 512 Hz sample rate */ - value = 0x0001; - status = spi_adis16255_write_data(spiadis, - ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB, - (u8 *)&value); - if (status != 0) - goto err; - - /* start internal self-test */ - value = 0x0400; - status = spi_adis16255_write_data(spiadis, - ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB, - (u8 *)&value); - if (status != 0) - goto err; - - /* wait 35 ms to finish self-test */ - msleep(35); - - value = 0x0000; - status = spi_adis16255_read_data(spiadis, ADIS_STATUS, - (u8 *)&value); - if (status != 0) - goto err; - - if (value & 0x23) { - if (value & 0x20) { - dev_warn(&spiadis->spi->dev, "self-test error\n"); - status = -ENODEV; - goto err; - } else if (value & 0x3) { - dev_warn(&spiadis->spi->dev, "Sensor voltage " - "out of range.\n"); - status = -ENODEV; - goto err; - } - } - - /* set interrupt to active high on DIO0 when data ready */ - value = 0x0006; - status = spi_adis16255_write_data(spiadis, - ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB, - (u8 *)&value); - if (status != 0) - goto err; - return status; - -err: - spi_adis16255_shutdown(spiadis); - return status; -} - -/*-------------------------------------------------------------------------*/ - -static int __devinit spi_adis16255_probe(struct spi_device *spi) -{ - - struct adis16255_init_data *init_data = spi->dev.platform_data; - struct spi_adis16255_data *spiadis; - int status = 0; - - spiadis = kzalloc(sizeof(*spiadis), GFP_KERNEL); - if (!spiadis) - return -ENOMEM; - - spiadis->spi = spi; - spiadis->direction = init_data->direction; - - if (init_data->negative) - spiadis->negative = 1; - - status = gpio_request(init_data->irq, "adis16255"); - if (status != 0) - goto err; - - status = gpio_direction_input(init_data->irq); - if (status != 0) - goto gpio_err; - - spiadis->irq = gpio_to_irq(init_data->irq); - - status = request_threaded_irq(spiadis->irq, - NULL, adis_irq_thread, - IRQF_DISABLED, "adis-driver", spiadis); - - if (status != 0) { - dev_err(&spi->dev, "IRQ request failed\n"); - goto gpio_err; - } - - dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", init_data->irq, spiadis->irq); - - dev_set_drvdata(&spi->dev, spiadis); - status = sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group); - if (status != 0) - goto irq_err; - - status = spi_adis16255_bringup(spiadis); - if (status != 0) - goto sysfs_err; - - dev_info(&spi->dev, "spi_adis16255 driver added!\n"); - - return status; - -sysfs_err: - sysfs_remove_group(&spiadis->spi->dev.kobj, &adis16255_attr_group); -irq_err: - free_irq(spiadis->irq, spiadis); -gpio_err: - gpio_free(init_data->irq); -err: - kfree(spiadis); - return status; -} - -static int __devexit spi_adis16255_remove(struct spi_device *spi) -{ - struct spi_adis16255_data *spiadis = dev_get_drvdata(&spi->dev); - - spi_adis16255_shutdown(spiadis); - - free_irq(spiadis->irq, spiadis); - gpio_free(irq_to_gpio(spiadis->irq)); - - sysfs_remove_group(&spiadis->spi->dev.kobj, &adis16255_attr_group); - - kfree(spiadis); - - dev_info(&spi->dev, "spi_adis16255 driver removed!\n"); - return 0; -} - -static struct spi_driver spi_adis16255_drv = { - .driver = { - .name = "spi_adis16255", - .owner = THIS_MODULE, - }, - .probe = spi_adis16255_probe, - .remove = __devexit_p(spi_adis16255_remove), -}; - -/*-------------------------------------------------------------------------*/ - -static int __init spi_adis16255_init(void) -{ - return spi_register_driver(&spi_adis16255_drv); -} -module_init(spi_adis16255_init); - -static void __exit spi_adis16255_exit(void) -{ - spi_unregister_driver(&spi_adis16255_drv); -} -module_exit(spi_adis16255_exit); - -MODULE_AUTHOR("Matthias Brugger"); -MODULE_DESCRIPTION("SPI device driver for ADIS16255 sensor"); -MODULE_LICENSE("GPL"); |