Staging: add driver for adis16255 gyroscope
This drivers allows a communication with the Analog Devices ADIS16255 Low Power Gyroscope over SPI. Signed-off-by: Matthias Brugger <mensch0815@gmail.com> Cc: Jiri Slaby <jirislaby@gmail.com> Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
This commit is contained in:
matthias
Greg Kroah-Hartman
parent
bebdf809ee
commit
3c034cce82
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@ -0,0 +1,9 @@
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config ADIS16255
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tristate "Ananlog Devices ADIS16250/16255"
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depends on SPI && SYSFS
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---help---
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If you say yes here you get support for the Analog Devices
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ADIS16250/16255 Low Power Gyroscope.
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This driver can also be built as a module. If so, the module
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will be called adis16255.
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@ -0,0 +1 @@
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obj-$(CONFIG_ADIS16255) +údis16255.o
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@ -0,0 +1,8 @@
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* sample rate changeable or at least readable from sysfs
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* reset gyroscope
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* encapsulate adis_init and adis_turn_off
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* AD_CHK deletion
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* chip selftest in adis_init
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* reduce kernel messages to reasonable amount
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Contact: Matthias Brugger <mensch0815@gmail.com>
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@ -0,0 +1,396 @@
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/*
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* Analog Devices ADIS16250/ADIS16255 Low Power Gyroscope
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*
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* Written by: Matthias Brugger <m_brugger@web.de>
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*
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* Copyright (C) 2010 Fraunhofer Institute for Integrated Circuits
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the
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* Free Software Foundation, Inc.,
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*/
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#include <linux/init.h>
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#include <linux/module.h>
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#include <linux/device.h>
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#include <linux/list.h>
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#include <linux/errno.h>
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#include <linux/mutex.h>
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#include <linux/slab.h>
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#include <linux/interrupt.h>
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#include <linux/sysfs.h>
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#include <linux/stat.h>
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#include <linux/delay.h>
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#include <linux/gpio.h>
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#include <linux/spi/spi.h>
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#include <linux/workqueue.h>
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#include "adis16255.h"
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#define ADIS_STATUS 0x3d
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#define ADIS_SMPL_PRD_MSB 0x37
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#define ADIS_SMPL_PRD_LSB 0x36
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#define ADIS_MSC_CTRL_MSB 0x35
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#define ADIS_MSC_CTRL_LSB 0x34
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#define ADIS_GPIO_CTRL 0x33
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#define ADIS_ALM_SMPL1 0x25
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#define ADIS_ALM_MAG1 0x21
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#define ADIS_GYRO_SCALE 0x17
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#define ADIS_GYRO_OUT 0x05
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#define ADIS_SUPPLY_OUT 0x03
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#define ADIS_ENDURANCE 0x01
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/*
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* data structure for every sensor
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*
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* @dev: Driver model representation of the device.
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* @spi: Pointer to the spi device which will manage i/o to spi bus.
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* @data: Last read data from device.
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* @irq_adis: GPIO Number of IRQ signal
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* @irq: irq line manage by kernel
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* @negative: indicates if sensor is upside down (negative ÿ1)
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* @direction: indicates axis (x, y, z) the sensor is meassuring
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*/
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struct spi_adis16255_data {
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struct device dev;
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struct spi_device *spi;
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s16 data;
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int irq_adis;
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int irq;
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u8 negative;
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char direction;
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};
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/*-------------------------------------------------------------------------*/
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static int spi_adis16255_read_data(struct spi_adis16255_data *spiadis,
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u8 adr,
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u8 *rbuf)
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{
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struct spi_device *spi ÿpiadis->spi;
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struct spi_message msg;
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struct spi_transfer xfer1, xfer2;
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u8 *buf, *rx;
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int ret;
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buf ÿmalloc(4, GFP_KERNEL);
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if (buf ÿNULL)
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return -ENOMEM;
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rx ÿzalloc(4, GFP_KERNEL);
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if (rx ÿNULL) {
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ret ÿENOMEM;
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goto err_buf;
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}
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buf[0] údr;
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buf[1] ðx00;
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buf[2] ðx00;
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buf[3] ðx00;
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spi_message_init(&msg);
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memset(&xfer1, 0, sizeof(xfer1));
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memset(&xfer2, 0, sizeof(xfer2));
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xfer1.tx_buf ûuf;
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xfer1.rx_buf ûuf + 2;
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xfer1.len ò;
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xfer1.delay_usecs ù;
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xfer2.tx_buf ÿx + 2;
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xfer2.rx_buf ÿx;
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xfer2.len ò;
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spi_message_add_tail(&xfer1, &msg);
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spi_message_add_tail(&xfer2, &msg);
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ret ÿpi_sync(spi, &msg);
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if (ret ÿ0) {
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rbuf[0] ÿx[0];
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rbuf[1] ÿx[1];
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}
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kfree(rx);
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err_buf:
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kfree(buf);
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return ret;
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}
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static int spi_adis16255_write_data(struct spi_adis16255_data *spiadis,
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u8 adr1,
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u8 adr2,
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u8 *wbuf)
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{
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struct spi_device *spi ÿpiadis->spi;
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struct spi_message msg;
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struct spi_transfer xfer1, xfer2;
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u8 *buf, *rx;
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int ret;
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buf ÿmalloc(4, GFP_KERNEL);
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if (buf ÿNULL)
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return -ENOMEM;
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rx ÿzalloc(4, GFP_KERNEL);
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if (rx ÿNULL) {
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ret ÿENOMEM;
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goto err_buf;
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}
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spi_message_init(&msg);
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memset(&xfer1, 0, sizeof(xfer1));
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memset(&xfer2, 0, sizeof(xfer2));
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buf[0] údr1 | 0x80;
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buf[1] ÿwbuf;
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buf[2] údr2 | 0x80;
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buf[3] ÿ(wbuf + 1);
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xfer1.tx_buf ûuf;
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xfer1.rx_buf ÿx;
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xfer1.len ò;
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xfer1.delay_usecs ù;
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xfer2.tx_buf ûuf+2;
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xfer2.rx_buf ÿx+2;
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xfer2.len ò;
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spi_message_add_tail(&xfer1, &msg);
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spi_message_add_tail(&xfer2, &msg);
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ret ÿpi_sync(spi, &msg);
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if (ret !ð)
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dev_warn(&spi->dev, "wirte data to %#x %#x failed\n",
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buf[0], buf[2]);
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kfree(rx);
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err_buf:
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kfree(buf);
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return ret;
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}
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/*-------------------------------------------------------------------------*/
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static irqreturn_t adis_irq_thread(int irq, void *dev_id)
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{
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struct spi_adis16255_data *spiadis ýev_id;
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int status;
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u16 value;
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status ÿspi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value);
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if (status ÿ0) {
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/* perform on new data only... */
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if (value & 0x8000) {
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/* delete error and new data bit */
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value ÿalue & 0x3fff;
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/* set negative value */
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if (value & 0x2000)
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value ÿalue | 0xe000;
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if (likely(spiadis->negative))
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value ÿvalue;
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spiadis->data ÿs16) value;
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}
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} else {
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dev_warn(&spiadis->spi->dev, "SPI FAILED\n");
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}
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return IRQ_HANDLED;
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}
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/*-------------------------------------------------------------------------*/
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ssize_t adis16255_show_data(struct device *device,
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struct device_attribute *da,
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char *buf)
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{
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struct spi_adis16255_data *spiadis ýev_get_drvdata(device);
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return snprintf(buf, PAGE_SIZE, "%d\n", spiadis->data);
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}
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DEVICE_ATTR(data, S_IRUGO , adis16255_show_data, NULL);
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ssize_t adis16255_show_direction(struct device *device,
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struct device_attribute *da,
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char *buf)
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{
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struct spi_adis16255_data *spiadis ýev_get_drvdata(device);
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return snprintf(buf, PAGE_SIZE, "%c\n", spiadis->direction);
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}
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DEVICE_ATTR(direction, S_IRUGO , adis16255_show_direction, NULL);
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static struct attribute *adis16255_attributes[] ÿ
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&dev_attr_data.attr,
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&dev_attr_direction.attr,
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NULL
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};
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static const struct attribute_group adis16255_attr_group ÿ
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.attrs údis16255_attributes,
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};
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/*-------------------------------------------------------------------------*/
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static int spi_adis16255_probe(struct spi_device *spi)
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{
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#define AD_CHK(_ss)\
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do {\
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status ÿss;\
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if (status !ð)\
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goto irq_err;\
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} while (0);
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struct adis16255_init_data *init_data ÿpi->dev.platform_data;
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struct spi_adis16255_data *spiadis;
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int status ð;
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u16 value;
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spiadis ÿzalloc(sizeof(*spiadis), GFP_KERNEL);
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if (!spiadis)
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return -ENOMEM;
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spiadis->spi ÿpi;
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spiadis->irq_adis ÿnit_data->irq;
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spiadis->direction ÿnit_data->direction;
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if (init_data->negative)
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spiadis->negative ñ;
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status ÿpio_request(spiadis->irq_adis, "adis16255");
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if (status !ð)
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goto err;
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status ÿpio_direction_input(spiadis->irq_adis);
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if (status !ð)
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goto gpio_err;
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spiadis->irq ÿpio_to_irq(spiadis->irq_adis);
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status ÿequest_threaded_irq(spiadis->irq,
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NULL, adis_irq_thread,
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IRQF_DISABLED, "adis-driver", spiadis);
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if (status !ð) {
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dev_err(&spi->dev, "IRQ request failed\n");
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goto gpio_err;
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}
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dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", spiadis->irq_adis, spiadis->irq);
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dev_set_drvdata(&spi->dev, spiadis);
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AD_CHK(sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group));
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dev_info(&spi->dev, "spi_adis16255 driver added!\n");
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AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SUPPLY_OUT, (u8 *)&value));
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dev_info(&spi->dev, "sensor works with %d mV (%.4x)!\n",
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((value & 0x0fff)*18315)/10000,
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(value & 0x0fff));
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AD_CHK(spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE, (u8 *)&value));
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dev_info(&spi->dev, "adis GYRO_SCALE is %.4x\n", value);
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AD_CHK(spi_adis16255_read_data(spiadis, ADIS_STATUS, (u8 *)&value));
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dev_info(&spi->dev, "adis STATUS is %.4x\n", value);
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/* timebase ñ.953 ms, Ns ð -> 512 Hz sample rate */
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value ÿ0x0001;
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AD_CHK(spi_adis16255_write_data(spiadis,
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ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
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(u8 *)&value));
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value ðx0000;
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AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB,
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(u8 *)&value));
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dev_info(&spi->dev, "adis SMP_PRD is %.4x\n", value);
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/* set interrupt on new data... */
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value ðx0006;
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AD_CHK(spi_adis16255_write_data(spiadis,
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ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
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(u8 *)&value));
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value ðx0000;
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AD_CHK(spi_adis16255_read_data(spiadis, ADIS_MSC_CTRL_MSB,
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(u8 *)&value));
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dev_info(&spi->dev, "adis MSC_CONTROL is %.4x\n", value);
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return status;
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irq_err:
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free_irq(spiadis->irq, spiadis);
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gpio_err:
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gpio_free(spiadis->irq_adis);
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err:
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kfree(spiadis);
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return status;
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}
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static int spi_adis16255_remove(struct spi_device *spi)
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{
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u16 value ð;
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struct spi_adis16255_data *spiadis ýev_get_drvdata(&spi->dev);
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/* turn sensor off */
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spi_adis16255_write_data(spiadis,
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ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
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(u8 *)&value);
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spi_adis16255_write_data(spiadis,
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ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
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(u8 *)&value);
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dev_info(&spi->dev, "unregister: GPIO %d IRQ %d\n",
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spiadis->irq_adis, spiadis->irq);
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free_irq(spiadis->irq, spiadis);
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gpio_free(spiadis->irq_adis);
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sysfs_remove_group(&spiadis->spi->dev.kobj, &adis16255_attr_group);
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kfree(spiadis);
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dev_info(&spi->dev, "spi_adis16255 driver removed!\n");
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return 0;
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}
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static struct spi_driver spi_adis16255_drv ÿ
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.driver ÿ
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.name ÿ"spi_adis16255",
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.owner ÿHIS_MODULE,
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},
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.probe ÿpi_adis16255_probe,
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.remove ÿ __devexit_p(spi_adis16255_remove),
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};
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/*-------------------------------------------------------------------------*/
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static int __init spi_adis16255_init(void)
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{
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return spi_register_driver(&spi_adis16255_drv);
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}
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module_init(spi_adis16255_init);
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static void __exit spi_adis16255_exit(void)
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{
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spi_unregister_driver(&spi_adis16255_drv);
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}
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module_exit(spi_adis16255_exit);
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MODULE_AUTHOR("Matthias Brugger");
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MODULE_DESCRIPTION("SPI device driver for ADIS16255 sensor");
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MODULE_LICENSE("GPL");
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@ -0,0 +1,12 @@
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#ifndef ADIS16255_H
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#define ADIS16255_H
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#include <linux/types.h>
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struct adis16255_init_data {
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char direction;
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u8 negative;
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int irq;
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};
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#endif
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