mirror of https://gitee.com/openkylin/linux.git
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
|
|
@ -0,0 +1,9 @@
|
|||
config ADIS16255
|
||||
tristate "Ananlog Devices ADIS16250/16255"
|
||||
depends on SPI && SYSFS
|
||||
---help---
|
||||
If you say yes here you get support for the Analog Devices
|
||||
ADIS16250/16255 Low Power Gyroscope.
|
||||
|
||||
This driver can also be built as a module. If so, the module
|
||||
will be called adis16255.
|
||||
|
|
@ -0,0 +1 @@
|
|||
obj-$(CONFIG_ADIS16255) +údis16255.o
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
* sample rate changeable or at least readable from sysfs
|
||||
* reset gyroscope
|
||||
* encapsulate adis_init and adis_turn_off
|
||||
* AD_CHK deletion
|
||||
* chip selftest in adis_init
|
||||
* reduce kernel messages to reasonable amount
|
||||
|
||||
Contact: Matthias Brugger <mensch0815@gmail.com>
|
||||
|
|
@ -0,0 +1,396 @@
|
|||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#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 ÿ1)
|
||||
* @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_adis;
|
||||
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 ÿpiadis->spi;
|
||||
struct spi_message msg;
|
||||
struct spi_transfer xfer1, xfer2;
|
||||
u8 *buf, *rx;
|
||||
int ret;
|
||||
|
||||
buf ÿmalloc(4, GFP_KERNEL);
|
||||
if (buf ÿNULL)
|
||||
return -ENOMEM;
|
||||
|
||||
rx ÿzalloc(4, GFP_KERNEL);
|
||||
if (rx ÿNULL) {
|
||||
ret ÿENOMEM;
|
||||
goto err_buf;
|
||||
}
|
||||
|
||||
buf[0] údr;
|
||||
buf[1] ðx00;
|
||||
buf[2] ðx00;
|
||||
buf[3] ðx00;
|
||||
|
||||
spi_message_init(&msg);
|
||||
memset(&xfer1, 0, sizeof(xfer1));
|
||||
memset(&xfer2, 0, sizeof(xfer2));
|
||||
|
||||
xfer1.tx_buf ûuf;
|
||||
xfer1.rx_buf ûuf + 2;
|
||||
xfer1.len ò;
|
||||
xfer1.delay_usecs ù;
|
||||
|
||||
xfer2.tx_buf ÿx + 2;
|
||||
xfer2.rx_buf ÿx;
|
||||
xfer2.len ò;
|
||||
|
||||
spi_message_add_tail(&xfer1, &msg);
|
||||
spi_message_add_tail(&xfer2, &msg);
|
||||
|
||||
ret ÿpi_sync(spi, &msg);
|
||||
if (ret ÿ0) {
|
||||
rbuf[0] ÿx[0];
|
||||
rbuf[1] ÿx[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 ÿpiadis->spi;
|
||||
struct spi_message msg;
|
||||
struct spi_transfer xfer1, xfer2;
|
||||
u8 *buf, *rx;
|
||||
int ret;
|
||||
|
||||
buf ÿmalloc(4, GFP_KERNEL);
|
||||
if (buf ÿNULL)
|
||||
return -ENOMEM;
|
||||
|
||||
rx ÿzalloc(4, GFP_KERNEL);
|
||||
if (rx ÿNULL) {
|
||||
ret ÿENOMEM;
|
||||
goto err_buf;
|
||||
}
|
||||
|
||||
spi_message_init(&msg);
|
||||
memset(&xfer1, 0, sizeof(xfer1));
|
||||
memset(&xfer2, 0, sizeof(xfer2));
|
||||
|
||||
buf[0] údr1 | 0x80;
|
||||
buf[1] ÿwbuf;
|
||||
|
||||
buf[2] údr2 | 0x80;
|
||||
buf[3] ÿ(wbuf + 1);
|
||||
|
||||
xfer1.tx_buf ûuf;
|
||||
xfer1.rx_buf ÿx;
|
||||
xfer1.len ò;
|
||||
xfer1.delay_usecs ù;
|
||||
|
||||
xfer2.tx_buf ûuf+2;
|
||||
xfer2.rx_buf ÿx+2;
|
||||
xfer2.len ò;
|
||||
|
||||
spi_message_add_tail(&xfer1, &msg);
|
||||
spi_message_add_tail(&xfer2, &msg);
|
||||
|
||||
ret ÿpi_sync(spi, &msg);
|
||||
if (ret !ð)
|
||||
dev_warn(&spi->dev, "wirte 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 ýev_id;
|
||||
int status;
|
||||
u16 value;
|
||||
|
||||
status ÿspi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value);
|
||||
if (status ÿ0) {
|
||||
/* perform on new data only... */
|
||||
if (value & 0x8000) {
|
||||
/* delete error and new data bit */
|
||||
value ÿalue & 0x3fff;
|
||||
/* set negative value */
|
||||
if (value & 0x2000)
|
||||
value ÿalue | 0xe000;
|
||||
|
||||
if (likely(spiadis->negative))
|
||||
value ÿvalue;
|
||||
|
||||
spiadis->data ÿs16) value;
|
||||
}
|
||||
} else {
|
||||
dev_warn(&spiadis->spi->dev, "SPI FAILED\n");
|
||||
}
|
||||
|
||||
return IRQ_HANDLED;
|
||||
}
|
||||
|
||||
/*-------------------------------------------------------------------------*/
|
||||
|
||||
ssize_t adis16255_show_data(struct device *device,
|
||||
struct device_attribute *da,
|
||||
char *buf)
|
||||
{
|
||||
struct spi_adis16255_data *spiadis ýev_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 ýev_get_drvdata(device);
|
||||
return snprintf(buf, PAGE_SIZE, "%c\n", spiadis->direction);
|
||||
}
|
||||
DEVICE_ATTR(direction, S_IRUGO , adis16255_show_direction, NULL);
|
||||
|
||||
static struct attribute *adis16255_attributes[] ÿ
|
||||
&dev_attr_data.attr,
|
||||
&dev_attr_direction.attr,
|
||||
NULL
|
||||
};
|
||||
|
||||
static const struct attribute_group adis16255_attr_group ÿ
|
||||
.attrs údis16255_attributes,
|
||||
};
|
||||
|
||||
/*-------------------------------------------------------------------------*/
|
||||
|
||||
static int spi_adis16255_probe(struct spi_device *spi)
|
||||
{
|
||||
|
||||
#define AD_CHK(_ss)\
|
||||
do {\
|
||||
status ÿss;\
|
||||
if (status !ð)\
|
||||
goto irq_err;\
|
||||
} while (0);
|
||||
|
||||
struct adis16255_init_data *init_data ÿpi->dev.platform_data;
|
||||
struct spi_adis16255_data *spiadis;
|
||||
int status ð;
|
||||
u16 value;
|
||||
|
||||
spiadis ÿzalloc(sizeof(*spiadis), GFP_KERNEL);
|
||||
if (!spiadis)
|
||||
return -ENOMEM;
|
||||
|
||||
spiadis->spi ÿpi;
|
||||
spiadis->irq_adis ÿnit_data->irq;
|
||||
spiadis->direction ÿnit_data->direction;
|
||||
|
||||
if (init_data->negative)
|
||||
spiadis->negative ñ;
|
||||
|
||||
status ÿpio_request(spiadis->irq_adis, "adis16255");
|
||||
if (status !ð)
|
||||
goto err;
|
||||
|
||||
status ÿpio_direction_input(spiadis->irq_adis);
|
||||
if (status !ð)
|
||||
goto gpio_err;
|
||||
|
||||
spiadis->irq ÿpio_to_irq(spiadis->irq_adis);
|
||||
|
||||
status ÿequest_threaded_irq(spiadis->irq,
|
||||
NULL, adis_irq_thread,
|
||||
IRQF_DISABLED, "adis-driver", spiadis);
|
||||
|
||||
if (status !ð) {
|
||||
dev_err(&spi->dev, "IRQ request failed\n");
|
||||
goto gpio_err;
|
||||
}
|
||||
|
||||
dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", spiadis->irq_adis, spiadis->irq);
|
||||
|
||||
dev_set_drvdata(&spi->dev, spiadis);
|
||||
AD_CHK(sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group));
|
||||
|
||||
dev_info(&spi->dev, "spi_adis16255 driver added!\n");
|
||||
|
||||
AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SUPPLY_OUT, (u8 *)&value));
|
||||
dev_info(&spi->dev, "sensor works with %d mV (%.4x)!\n",
|
||||
((value & 0x0fff)*18315)/10000,
|
||||
(value & 0x0fff));
|
||||
|
||||
AD_CHK(spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE, (u8 *)&value));
|
||||
dev_info(&spi->dev, "adis GYRO_SCALE is %.4x\n", value);
|
||||
|
||||
AD_CHK(spi_adis16255_read_data(spiadis, ADIS_STATUS, (u8 *)&value));
|
||||
dev_info(&spi->dev, "adis STATUS is %.4x\n", value);
|
||||
|
||||
/* timebase ñ.953 ms, Ns ð -> 512 Hz sample rate */
|
||||
value ÿ0x0001;
|
||||
AD_CHK(spi_adis16255_write_data(spiadis,
|
||||
ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
|
||||
(u8 *)&value));
|
||||
value ðx0000;
|
||||
AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB,
|
||||
(u8 *)&value));
|
||||
dev_info(&spi->dev, "adis SMP_PRD is %.4x\n", value);
|
||||
|
||||
/* set interrupt on new data... */
|
||||
value ðx0006;
|
||||
AD_CHK(spi_adis16255_write_data(spiadis,
|
||||
ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
|
||||
(u8 *)&value));
|
||||
value ðx0000;
|
||||
AD_CHK(spi_adis16255_read_data(spiadis, ADIS_MSC_CTRL_MSB,
|
||||
(u8 *)&value));
|
||||
dev_info(&spi->dev, "adis MSC_CONTROL is %.4x\n", value);
|
||||
|
||||
return status;
|
||||
|
||||
irq_err:
|
||||
free_irq(spiadis->irq, spiadis);
|
||||
gpio_err:
|
||||
gpio_free(spiadis->irq_adis);
|
||||
err:
|
||||
kfree(spiadis);
|
||||
return status;
|
||||
}
|
||||
|
||||
static int spi_adis16255_remove(struct spi_device *spi)
|
||||
{
|
||||
u16 value ð;
|
||||
struct spi_adis16255_data *spiadis ýev_get_drvdata(&spi->dev);
|
||||
|
||||
/* 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);
|
||||
|
||||
dev_info(&spi->dev, "unregister: GPIO %d IRQ %d\n",
|
||||
spiadis->irq_adis, spiadis->irq);
|
||||
|
||||
free_irq(spiadis->irq, spiadis);
|
||||
gpio_free(spiadis->irq_adis);
|
||||
|
||||
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 ÿ
|
||||
.driver ÿ
|
||||
.name ÿ"spi_adis16255",
|
||||
.owner ÿHIS_MODULE,
|
||||
},
|
||||
.probe ÿpi_adis16255_probe,
|
||||
.remove ÿ __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");
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
#ifndef ADIS16255_H
|
||||
#define ADIS16255_H
|
||||
|
||||
#include <linux/types.h>
|
||||
|
||||
struct adis16255_init_data {
|
||||
char direction;
|
||||
u8 negative;
|
||||
int irq;
|
||||
};
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue