| /* |
| * ADIS16350/54/55/60/62/64/65 high precision tri-axis inertial sensor |
| * |
| * 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/sysfs.h> |
| #include <linux/list.h> |
| |
| #include "../iio.h" |
| #include "../sysfs.h" |
| #include "../accel/accel.h" |
| #include "../adc/adc.h" |
| #include "../gyro/gyro.h" |
| |
| #include "adis16350.h" |
| |
| #define DRIVER_NAME "adis16350" |
| |
| static int adis16350_check_status(struct device *dev); |
| |
| /** |
| * adis16350_spi_write_reg_8() - write single byte to a register |
| * @dev: device associated with child of actual device (iio_dev or iio_trig) |
| * @reg_address: the address of the register to be written |
| * @val: the value to write |
| **/ |
| static int adis16350_spi_write_reg_8(struct device *dev, |
| u8 reg_address, |
| u8 val) |
| { |
| int ret; |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16350_state *st = iio_dev_get_devdata(indio_dev); |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16350_WRITE_REG(reg_address); |
| st->tx[1] = val; |
| |
| ret = spi_write(st->us, st->tx, 2); |
| mutex_unlock(&st->buf_lock); |
| |
| return ret; |
| } |
| |
| /** |
| * adis16350_spi_write_reg_16() - write 2 bytes to a pair of registers |
| * @dev: device associated with child of actual device (iio_dev or iio_trig) |
| * @reg_address: the address of the lower of the two registers. Second register |
| * is assumed to have address one greater. |
| * @val: value to be written |
| **/ |
| static int adis16350_spi_write_reg_16(struct device *dev, |
| u8 lower_reg_address, |
| u16 value) |
| { |
| int ret; |
| struct spi_message msg; |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16350_state *st = iio_dev_get_devdata(indio_dev); |
| struct spi_transfer xfers[] = { |
| { |
| .tx_buf = st->tx, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 1, |
| .delay_usecs = 25, |
| }, { |
| .tx_buf = st->tx + 2, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 1, |
| .delay_usecs = 25, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16350_WRITE_REG(lower_reg_address); |
| st->tx[1] = value & 0xFF; |
| st->tx[2] = ADIS16350_WRITE_REG(lower_reg_address + 1); |
| st->tx[3] = (value >> 8) & 0xFF; |
| |
| spi_message_init(&msg); |
| spi_message_add_tail(&xfers[0], &msg); |
| spi_message_add_tail(&xfers[1], &msg); |
| ret = spi_sync(st->us, &msg); |
| mutex_unlock(&st->buf_lock); |
| |
| return ret; |
| } |
| |
| /** |
| * adis16350_spi_read_reg_16() - read 2 bytes from a 16-bit register |
| * @dev: device associated with child of actual device (iio_dev or iio_trig) |
| * @reg_address: the address of the lower of the two registers. Second register |
| * is assumed to have address one greater. |
| * @val: somewhere to pass back the value read |
| **/ |
| static int adis16350_spi_read_reg_16(struct device *dev, |
| u8 lower_reg_address, |
| u16 *val) |
| { |
| struct spi_message msg; |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16350_state *st = iio_dev_get_devdata(indio_dev); |
| int ret; |
| struct spi_transfer xfers[] = { |
| { |
| .tx_buf = st->tx, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 1, |
| .delay_usecs = 25, |
| }, { |
| .rx_buf = st->rx, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 1, |
| .delay_usecs = 25, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16350_READ_REG(lower_reg_address); |
| st->tx[1] = 0; |
| st->tx[2] = 0; |
| st->tx[3] = 0; |
| |
| spi_message_init(&msg); |
| spi_message_add_tail(&xfers[0], &msg); |
| spi_message_add_tail(&xfers[1], &msg); |
| ret = spi_sync(st->us, &msg); |
| if (ret) { |
| dev_err(&st->us->dev, |
| "problem when reading 16 bit register 0x%02X", |
| lower_reg_address); |
| goto error_ret; |
| } |
| *val = (st->rx[0] << 8) | st->rx[1]; |
| |
| error_ret: |
| mutex_unlock(&st->buf_lock); |
| return ret; |
| } |
| |
| |
| static ssize_t adis16350_spi_read_signed(struct device *dev, |
| struct device_attribute *attr, |
| char *buf, |
| unsigned bits) |
| { |
| int ret; |
| s16 val = 0; |
| unsigned shift = 16 - bits; |
| struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); |
| |
| ret = adis16350_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); |
| if (ret) |
| return ret; |
| |
| if (val & ADIS16350_ERROR_ACTIVE) |
| adis16350_check_status(dev); |
| val = ((s16)(val << shift) >> shift); |
| return sprintf(buf, "%d\n", val); |
| } |
| |
| static ssize_t adis16350_read_12bit_unsigned(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| int ret; |
| u16 val = 0; |
| struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); |
| |
| ret = adis16350_spi_read_reg_16(dev, this_attr->address, &val); |
| if (ret) |
| return ret; |
| |
| if (val & ADIS16350_ERROR_ACTIVE) |
| adis16350_check_status(dev); |
| |
| return sprintf(buf, "%u\n", val & 0x0FFF); |
| } |
| |
| static ssize_t adis16350_read_14bit_signed(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| ssize_t ret; |
| |
| /* Take the iio_dev status lock */ |
| mutex_lock(&indio_dev->mlock); |
| ret = adis16350_spi_read_signed(dev, attr, buf, 14); |
| mutex_unlock(&indio_dev->mlock); |
| |
| return ret; |
| } |
| |
| static ssize_t adis16350_read_12bit_signed(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| ssize_t ret; |
| |
| /* Take the iio_dev status lock */ |
| mutex_lock(&indio_dev->mlock); |
| ret = adis16350_spi_read_signed(dev, attr, buf, 12); |
| mutex_unlock(&indio_dev->mlock); |
| |
| return ret; |
| } |
| |
| static ssize_t adis16350_write_16bit(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, |
| size_t len) |
| { |
| struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); |
| int ret; |
| long val; |
| |
| ret = strict_strtol(buf, 10, &val); |
| if (ret) |
| goto error_ret; |
| ret = adis16350_spi_write_reg_16(dev, this_attr->address, val); |
| |
| error_ret: |
| return ret ? ret : len; |
| } |
| |
| static ssize_t adis16350_read_frequency(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| int ret, len = 0; |
| u16 t; |
| int sps; |
| ret = adis16350_spi_read_reg_16(dev, |
| ADIS16350_SMPL_PRD, |
| &t); |
| if (ret) |
| return ret; |
| sps = (t & ADIS16350_SMPL_PRD_TIME_BASE) ? 53 : 1638; |
| sps /= (t & ADIS16350_SMPL_PRD_DIV_MASK) + 1; |
| len = sprintf(buf, "%d SPS\n", sps); |
| return len; |
| } |
| |
| static ssize_t adis16350_write_frequency(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, |
| size_t len) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16350_state *st = iio_dev_get_devdata(indio_dev); |
| long val; |
| int ret; |
| u8 t; |
| |
| ret = strict_strtol(buf, 10, &val); |
| if (ret) |
| return ret; |
| |
| mutex_lock(&indio_dev->mlock); |
| |
| t = (1638 / val); |
| if (t > 0) |
| t--; |
| t &= ADIS16350_SMPL_PRD_DIV_MASK; |
| if ((t & ADIS16350_SMPL_PRD_DIV_MASK) >= 0x0A) |
| st->us->max_speed_hz = ADIS16350_SPI_SLOW; |
| else |
| st->us->max_speed_hz = ADIS16350_SPI_FAST; |
| |
| ret = adis16350_spi_write_reg_8(dev, |
| ADIS16350_SMPL_PRD, |
| t); |
| |
| mutex_unlock(&indio_dev->mlock); |
| |
| return ret ? ret : len; |
| } |
| |
| static int adis16350_reset(struct device *dev) |
| { |
| int ret; |
| ret = adis16350_spi_write_reg_8(dev, |
| ADIS16350_GLOB_CMD, |
| ADIS16350_GLOB_CMD_SW_RESET); |
| if (ret) |
| dev_err(dev, "problem resetting device"); |
| |
| return ret; |
| } |
| |
| static ssize_t adis16350_write_reset(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t len) |
| { |
| if (len < 1) |
| return -1; |
| switch (buf[0]) { |
| case '1': |
| case 'y': |
| case 'Y': |
| return adis16350_reset(dev); |
| } |
| return -1; |
| } |
| |
| int adis16350_set_irq(struct device *dev, bool enable) |
| { |
| int ret; |
| u16 msc; |
| ret = adis16350_spi_read_reg_16(dev, ADIS16350_MSC_CTRL, &msc); |
| if (ret) |
| goto error_ret; |
| |
| msc |= ADIS16350_MSC_CTRL_DATA_RDY_POL_HIGH; |
| msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_DIO2; |
| |
| if (enable) |
| msc |= ADIS16350_MSC_CTRL_DATA_RDY_EN; |
| else |
| msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_EN; |
| |
| ret = adis16350_spi_write_reg_16(dev, ADIS16350_MSC_CTRL, msc); |
| if (ret) |
| goto error_ret; |
| |
| error_ret: |
| return ret; |
| } |
| |
| /* Power down the device */ |
| static int adis16350_stop_device(struct device *dev) |
| { |
| int ret; |
| u16 val = ADIS16350_SLP_CNT_POWER_OFF; |
| |
| ret = adis16350_spi_write_reg_16(dev, ADIS16350_SLP_CNT, val); |
| if (ret) |
| dev_err(dev, "problem with turning device off: SLP_CNT"); |
| |
| return ret; |
| } |
| |
| static int adis16350_self_test(struct device *dev) |
| { |
| int ret; |
| ret = adis16350_spi_write_reg_16(dev, |
| ADIS16350_MSC_CTRL, |
| ADIS16350_MSC_CTRL_MEM_TEST); |
| if (ret) { |
| dev_err(dev, "problem starting self test"); |
| goto err_ret; |
| } |
| |
| adis16350_check_status(dev); |
| |
| err_ret: |
| return ret; |
| } |
| |
| static int adis16350_check_status(struct device *dev) |
| { |
| u16 status; |
| int ret; |
| |
| ret = adis16350_spi_read_reg_16(dev, ADIS16350_DIAG_STAT, &status); |
| |
| if (ret < 0) { |
| dev_err(dev, "Reading status failed\n"); |
| goto error_ret; |
| } |
| ret = status; |
| if (status & ADIS16350_DIAG_STAT_ZACCL_FAIL) |
| dev_err(dev, "Z-axis accelerometer self-test failure\n"); |
| if (status & ADIS16350_DIAG_STAT_YACCL_FAIL) |
| dev_err(dev, "Y-axis accelerometer self-test failure\n"); |
| if (status & ADIS16350_DIAG_STAT_XACCL_FAIL) |
| dev_err(dev, "X-axis accelerometer self-test failure\n"); |
| if (status & ADIS16350_DIAG_STAT_XGYRO_FAIL) |
| dev_err(dev, "X-axis gyroscope self-test failure\n"); |
| if (status & ADIS16350_DIAG_STAT_YGYRO_FAIL) |
| dev_err(dev, "Y-axis gyroscope self-test failure\n"); |
| if (status & ADIS16350_DIAG_STAT_ZGYRO_FAIL) |
| dev_err(dev, "Z-axis gyroscope self-test failure\n"); |
| if (status & ADIS16350_DIAG_STAT_ALARM2) |
| dev_err(dev, "Alarm 2 active\n"); |
| if (status & ADIS16350_DIAG_STAT_ALARM1) |
| dev_err(dev, "Alarm 1 active\n"); |
| if (status & ADIS16350_DIAG_STAT_FLASH_CHK) |
| dev_err(dev, "Flash checksum error\n"); |
| if (status & ADIS16350_DIAG_STAT_SELF_TEST) |
| dev_err(dev, "Self test error\n"); |
| if (status & ADIS16350_DIAG_STAT_OVERFLOW) |
| dev_err(dev, "Sensor overrange\n"); |
| if (status & ADIS16350_DIAG_STAT_SPI_FAIL) |
| dev_err(dev, "SPI failure\n"); |
| if (status & ADIS16350_DIAG_STAT_FLASH_UPT) |
| dev_err(dev, "Flash update failed\n"); |
| if (status & ADIS16350_DIAG_STAT_POWER_HIGH) |
| dev_err(dev, "Power supply above 5.25V\n"); |
| if (status & ADIS16350_DIAG_STAT_POWER_LOW) |
| dev_err(dev, "Power supply below 4.75V\n"); |
| |
| error_ret: |
| return ret; |
| } |
| |
| static int adis16350_initial_setup(struct adis16350_state *st) |
| { |
| int ret; |
| u16 smp_prd; |
| struct device *dev = &st->indio_dev->dev; |
| |
| /* use low spi speed for init */ |
| st->us->max_speed_hz = ADIS16350_SPI_SLOW; |
| st->us->mode = SPI_MODE_3; |
| spi_setup(st->us); |
| |
| /* Disable IRQ */ |
| ret = adis16350_set_irq(dev, false); |
| if (ret) { |
| dev_err(dev, "disable irq failed"); |
| goto err_ret; |
| } |
| |
| /* Do self test */ |
| ret = adis16350_self_test(dev); |
| if (ret) { |
| dev_err(dev, "self test failure"); |
| goto err_ret; |
| } |
| |
| /* Read status register to check the result */ |
| ret = adis16350_check_status(dev); |
| if (ret) { |
| adis16350_reset(dev); |
| dev_err(dev, "device not playing ball -> reset"); |
| msleep(ADIS16350_STARTUP_DELAY); |
| ret = adis16350_check_status(dev); |
| if (ret) { |
| dev_err(dev, "giving up"); |
| goto err_ret; |
| } |
| } |
| |
| printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n", |
| st->us->chip_select, st->us->irq); |
| |
| /* use high spi speed if possible */ |
| ret = adis16350_spi_read_reg_16(dev, ADIS16350_SMPL_PRD, &smp_prd); |
| if (!ret && (smp_prd & ADIS16350_SMPL_PRD_DIV_MASK) < 0x0A) { |
| st->us->max_speed_hz = ADIS16350_SPI_SLOW; |
| spi_setup(st->us); |
| } |
| |
| err_ret: |
| return ret; |
| } |
| |
| static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO, |
| adis16350_read_12bit_signed, |
| adis16350_write_16bit, |
| ADIS16350_XACCL_OFF); |
| |
| static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO, |
| adis16350_read_12bit_signed, |
| adis16350_write_16bit, |
| ADIS16350_YACCL_OFF); |
| |
| static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO, |
| adis16350_read_12bit_signed, |
| adis16350_write_16bit, |
| ADIS16350_ZACCL_OFF); |
| |
| static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16350_read_12bit_unsigned, |
| ADIS16350_SUPPLY_OUT); |
| static IIO_CONST_ATTR(in_supply_scale, "0.002418"); |
| |
| static IIO_DEV_ATTR_GYRO_X(adis16350_read_14bit_signed, |
| ADIS16350_XGYRO_OUT); |
| static IIO_DEV_ATTR_GYRO_Y(adis16350_read_14bit_signed, |
| ADIS16350_YGYRO_OUT); |
| static IIO_DEV_ATTR_GYRO_Z(adis16350_read_14bit_signed, |
| ADIS16350_ZGYRO_OUT); |
| static IIO_CONST_ATTR(gyro_scale, "0.05"); |
| |
| static IIO_DEV_ATTR_ACCEL_X(adis16350_read_14bit_signed, |
| ADIS16350_XACCL_OUT); |
| static IIO_DEV_ATTR_ACCEL_Y(adis16350_read_14bit_signed, |
| ADIS16350_YACCL_OUT); |
| static IIO_DEV_ATTR_ACCEL_Z(adis16350_read_14bit_signed, |
| ADIS16350_ZACCL_OUT); |
| static IIO_CONST_ATTR(accel_scale, "0.00333"); |
| |
| static IIO_DEVICE_ATTR(temp_x_raw, S_IRUGO, adis16350_read_12bit_signed, |
| NULL, ADIS16350_XTEMP_OUT); |
| static IIO_DEVICE_ATTR(temp_y_raw, S_IRUGO, adis16350_read_12bit_signed, |
| NULL, ADIS16350_YTEMP_OUT); |
| static IIO_DEVICE_ATTR(temp_z_raw, S_IRUGO, adis16350_read_12bit_signed, |
| NULL, ADIS16350_ZTEMP_OUT); |
| static IIO_CONST_ATTR(temp_scale, "0.0005"); |
| |
| static IIO_DEV_ATTR_IN_RAW(0, adis16350_read_12bit_unsigned, |
| ADIS16350_AUX_ADC); |
| static IIO_CONST_ATTR(in0_scale, "0.000806"); |
| |
| static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
| adis16350_read_frequency, |
| adis16350_write_frequency); |
| |
| static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, |
| adis16350_write_reset, 0); |
| |
| static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638"); |
| |
| static IIO_CONST_ATTR(name, "adis16350"); |
| |
| static struct attribute *adis16350_attributes[] = { |
| &iio_dev_attr_accel_x_offset.dev_attr.attr, |
| &iio_dev_attr_accel_y_offset.dev_attr.attr, |
| &iio_dev_attr_accel_z_offset.dev_attr.attr, |
| &iio_dev_attr_in_supply_raw.dev_attr.attr, |
| &iio_const_attr_in_supply_scale.dev_attr.attr, |
| &iio_dev_attr_gyro_x_raw.dev_attr.attr, |
| &iio_dev_attr_gyro_y_raw.dev_attr.attr, |
| &iio_dev_attr_gyro_z_raw.dev_attr.attr, |
| &iio_const_attr_gyro_scale.dev_attr.attr, |
| &iio_dev_attr_accel_x_raw.dev_attr.attr, |
| &iio_dev_attr_accel_y_raw.dev_attr.attr, |
| &iio_dev_attr_accel_z_raw.dev_attr.attr, |
| &iio_const_attr_accel_scale.dev_attr.attr, |
| &iio_dev_attr_temp_x_raw.dev_attr.attr, |
| &iio_dev_attr_temp_y_raw.dev_attr.attr, |
| &iio_dev_attr_temp_z_raw.dev_attr.attr, |
| &iio_const_attr_temp_scale.dev_attr.attr, |
| &iio_dev_attr_in0_raw.dev_attr.attr, |
| &iio_const_attr_in0_scale.dev_attr.attr, |
| &iio_dev_attr_sampling_frequency.dev_attr.attr, |
| &iio_const_attr_available_sampling_frequency.dev_attr.attr, |
| &iio_dev_attr_reset.dev_attr.attr, |
| &iio_const_attr_name.dev_attr.attr, |
| NULL |
| }; |
| |
| static const struct attribute_group adis16350_attribute_group = { |
| .attrs = adis16350_attributes, |
| }; |
| |
| static struct attribute *adis16350_event_attributes[] = { |
| NULL, |
| }; |
| |
| static struct attribute_group adis16350_event_attribute_group = { |
| .attrs = adis16350_event_attributes, |
| }; |
| |
| static int __devinit adis16350_probe(struct spi_device *spi) |
| { |
| int ret, regdone = 0; |
| struct adis16350_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)*ADIS16350_MAX_RX, GFP_KERNEL); |
| if (st->rx == NULL) { |
| ret = -ENOMEM; |
| goto error_free_st; |
| } |
| st->tx = kzalloc(sizeof(*st->tx)*ADIS16350_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->num_interrupt_lines = 1; |
| st->indio_dev->event_attrs = &adis16350_event_attribute_group; |
| st->indio_dev->attrs = &adis16350_attribute_group; |
| st->indio_dev->dev_data = (void *)(st); |
| st->indio_dev->driver_module = THIS_MODULE; |
| st->indio_dev->modes = INDIO_DIRECT_MODE; |
| |
| ret = adis16350_configure_ring(st->indio_dev); |
| if (ret) |
| goto error_free_dev; |
| |
| ret = iio_device_register(st->indio_dev); |
| if (ret) |
| goto error_unreg_ring_funcs; |
| regdone = 1; |
| |
| ret = adis16350_initialize_ring(st->indio_dev->ring); |
| if (ret) { |
| printk(KERN_ERR "failed to initialize the ring\n"); |
| goto error_unreg_ring_funcs; |
| } |
| |
| if (spi->irq) { |
| ret = iio_register_interrupt_line(spi->irq, |
| st->indio_dev, |
| 0, |
| IRQF_TRIGGER_RISING, |
| "adis16350"); |
| if (ret) |
| goto error_uninitialize_ring; |
| |
| ret = adis16350_probe_trigger(st->indio_dev); |
| if (ret) |
| goto error_unregister_line; |
| } |
| |
| /* Get the device into a sane initial state */ |
| ret = adis16350_initial_setup(st); |
| if (ret) |
| goto error_remove_trigger; |
| return 0; |
| |
| error_remove_trigger: |
| adis16350_remove_trigger(st->indio_dev); |
| error_unregister_line: |
| if (spi->irq) |
| iio_unregister_interrupt_line(st->indio_dev, 0); |
| error_uninitialize_ring: |
| adis16350_uninitialize_ring(st->indio_dev->ring); |
| error_unreg_ring_funcs: |
| adis16350_unconfigure_ring(st->indio_dev); |
| 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 adis16350_remove(struct spi_device *spi) |
| { |
| int ret; |
| struct adis16350_state *st = spi_get_drvdata(spi); |
| struct iio_dev *indio_dev = st->indio_dev; |
| |
| ret = adis16350_stop_device(&(indio_dev->dev)); |
| if (ret) |
| goto err_ret; |
| |
| flush_scheduled_work(); |
| |
| adis16350_remove_trigger(indio_dev); |
| if (spi->irq) |
| iio_unregister_interrupt_line(indio_dev, 0); |
| |
| adis16350_uninitialize_ring(indio_dev->ring); |
| iio_device_unregister(indio_dev); |
| adis16350_unconfigure_ring(indio_dev); |
| kfree(st->tx); |
| kfree(st->rx); |
| kfree(st); |
| |
| return 0; |
| |
| err_ret: |
| return ret; |
| } |
| |
| static const struct spi_device_id adis16350_id[] = { |
| {"adis16350", 0}, |
| {"adis16354", 0}, |
| {"adis16355", 0}, |
| {"adis16360", 0}, |
| {"adis16362", 0}, |
| {"adis16364", 0}, |
| {"adis16365", 0}, |
| {} |
| }; |
| |
| static struct spi_driver adis16350_driver = { |
| .driver = { |
| .name = "adis16350", |
| .owner = THIS_MODULE, |
| }, |
| .probe = adis16350_probe, |
| .remove = __devexit_p(adis16350_remove), |
| .id_table = adis16350_id, |
| }; |
| |
| static __init int adis16350_init(void) |
| { |
| return spi_register_driver(&adis16350_driver); |
| } |
| module_init(adis16350_init); |
| |
| static __exit void adis16350_exit(void) |
| { |
| spi_unregister_driver(&adis16350_driver); |
| } |
| module_exit(adis16350_exit); |
| |
| MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); |
| MODULE_DESCRIPTION("Analog Devices ADIS16350/54/55/60/62/64/65 IMU SPI driver"); |
| MODULE_LICENSE("GPL v2"); |