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    Subject[PATCH 1/2 RESEND v4] IIO driver for Analog Devices Digital Output Gyroscope ADXRS450
    Date
    From: Cliff Cai <cliff.cai@analog.com>

    Change v4:v3:
    clean up some nitpicks.

    Signed-off-by: Cliff Cai <cliff.cai@analog.com>
    ---
    drivers/staging/iio/gyro/Kconfig | 10 +
    drivers/staging/iio/gyro/Makefile | 3 +
    drivers/staging/iio/gyro/adxrs450.h | 58 ++++
    drivers/staging/iio/gyro/adxrs450_core.c | 446 ++++++++++++++++++++++++++++++
    4 files changed, 517 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 8b78fa0..ae2e7d3 100644
    --- a/drivers/staging/iio/gyro/Kconfig
    +++ b/drivers/staging/iio/gyro/Kconfig
    @@ -35,3 +35,13 @@ config ADIS16260

    This driver can also be built as a module. If so, the module
    will be called adis16260.
    +
    +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..c92f694
    --- /dev/null
    +++ b/drivers/staging/iio/gyro/adxrs450.h
    @@ -0,0 +1,58 @@
    +#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_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 4
    +#define ADXRS450_MAX_TX 4
    +
    +#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..2014e5c
    --- /dev/null
    +++ b/drivers/staging/iio/gyro/adxrs450_core.c
    @@ -0,0 +1,446 @@
    +/*
    + * ADXRS450 Digital Output Gyroscope Driver
    + *
    + * Copyright 2011 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"
    +
    +/**
    + * adxrs450_spi_read_reg_16() - read 2 bytes from a register pair
    + * @dev: device associated with child of actual iio_dev
    + * @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, &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, &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 actual iio_dev
    + * @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, &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);
    + mutex_unlock(&st->buf_lock);
    + return ret;
    +}
    +
    +/**
    + * adxrs450_spi_sensor_data() - read 2 bytes sensor data
    + * @dev: device associated with child of actual iio_dev
    + * @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, &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, &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.
    + * @st: device instance specific data
    + * @val: somewhere to pass back the value read
    + **/
    +static int adxrs450_spi_initial(struct adxrs450_state *st,
    + u32 *val, char chk)
    +{
    + struct spi_message msg;
    + 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, &msg);
    + ret = spi_sync(st->us, &msg);
    + if (ret) {
    + dev_err(&st->us->dev, "Problem while reading initializing data\n");
    + goto error_ret;
    + }
    +
    + *val = be32_to_cpu(*(u32 *)st->rx);
    +
    +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;
    + u16 t;
    + ret = adxrs450_spi_read_reg_16(dev,
    + ADXRS450_TEMP1,
    + &t);
    + if (ret)
    + return ret;
    + return sprintf(buf, "%d\n", t);
    +}
    +
    +static ssize_t adxrs450_read_quad(struct device *dev,
    + struct device_attribute *attr,
    + char *buf)
    +{
    + int ret;
    + u16 t;
    + ret = adxrs450_spi_read_reg_16(dev,
    + ADXRS450_QUAD1,
    + &t);
    + if (ret)
    + return ret;
    + return sprintf(buf, "%d\n", t);
    +}
    +
    +static ssize_t adxrs450_write_dnc(struct device *dev,
    + struct device_attribute *attr,
    + const char *buf,
    + size_t len)
    +{
    + int ret;
    + long val;
    +
    + ret = strict_strtol(buf, 10, &val);
    + if (ret)
    + goto error_ret;
    + ret = adxrs450_spi_write_reg_16(dev,
    + ADXRS450_DNC1,
    + val);
    +error_ret:
    + return ret ? ret : len;
    +}
    +
    +static ssize_t adxrs450_read_sensor_data(struct device *dev,
    + struct device_attribute *attr,
    + char *buf)
    +{
    + int ret;
    + u16 t;
    +
    + ret = adxrs450_spi_sensor_data(dev, &t);
    + if (ret)
    + return ret;
    +
    + return sprintf(buf, "%d\n", t);
    +}
    +
    +/* 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(st, &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(st, &t, 0);
    + if (ret)
    + return ret;
    +
    + msleep(ADXRS450_STARTUP_DELAY);
    + ret = adxrs450_spi_initial(st, &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(st, &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);
    +
    + return 0;
    +}
    +
    +static IIO_DEV_ATTR_GYRO_Z(adxrs450_read_sensor_data, 0);
    +static IIO_DEV_ATTR_TEMP_RAW(adxrs450_read_temp);
    +static IIO_DEV_ATTR_GYRO_Z_QUADRATURE_CORRECTION(adxrs450_read_quad, 0);
    +static IIO_DEV_ATTR_GYRO_Z_CALIBBIAS(S_IWUSR,
    + 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_gyro_z_quadrature_correction_raw.dev_attr.attr,
    + &iio_dev_attr_gyro_z_calibbias.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;
    +}
    +
    +static int adxrs450_remove(struct spi_device *spi)
    +{
    + struct adxrs450_state *st = spi_get_drvdata(spi);
    +
    + iio_device_unregister(st->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@analog.com>");
    +MODULE_DESCRIPTION("Analog Devices ADXRS450 Gyroscope SPI driver");
    +MODULE_LICENSE("GPL v2");
    --
    1.7.1


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