| /* |
| * ADIS16251 Programmable Digital Gyroscope Sensor Driver |
| * |
| * 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/slab.h> |
| #include <linux/sysfs.h> |
| #include <linux/list.h> |
| |
| #include "../iio.h" |
| #include "../sysfs.h" |
| #include "gyro.h" |
| #include "../adc/adc.h" |
| |
| #include "adis16251.h" |
| |
| #define DRIVER_NAME "adis16251" |
| |
| /* At the moment the spi framework doesn't allow global setting of cs_change. |
| * It's in the likely to be added comment at the top of spi.h. |
| * This means that use cannot be made of spi_write etc. |
| */ |
| |
| /** |
| * adis16251_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 |
| **/ |
| int adis16251_spi_write_reg_8(struct device *dev, |
| u8 reg_address, |
| u8 val) |
| { |
| int ret; |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16251_state *st = iio_dev_get_devdata(indio_dev); |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16251_WRITE_REG(reg_address); |
| st->tx[1] = val; |
| |
| ret = spi_write(st->us, st->tx, 2); |
| mutex_unlock(&st->buf_lock); |
| |
| return ret; |
| } |
| |
| /** |
| * adis16251_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 adis16251_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 adis16251_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, |
| }, { |
| .tx_buf = st->tx + 2, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 1, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16251_WRITE_REG(lower_reg_address); |
| st->tx[1] = value & 0xFF; |
| st->tx[2] = ADIS16251_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; |
| } |
| |
| /** |
| * adis16251_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 adis16251_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 adis16251_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, |
| }, { |
| .rx_buf = st->rx, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 1, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16251_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; |
| } |
| |
| /** |
| * adis16251_spi_read_burst() - read all data registers |
| * @dev: device associated with child of actual device (iio_dev or iio_trig) |
| * @rx: somewhere to pass back the value read (min size is 24 bytes) |
| **/ |
| int adis16251_spi_read_burst(struct device *dev, u8 *rx) |
| { |
| struct spi_message msg; |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16251_state *st = iio_dev_get_devdata(indio_dev); |
| u32 old_speed_hz = st->us->max_speed_hz; |
| int ret; |
| |
| struct spi_transfer xfers[] = { |
| { |
| .tx_buf = st->tx, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 0, |
| }, { |
| .rx_buf = rx, |
| .bits_per_word = 8, |
| .len = 24, |
| .cs_change = 1, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16251_READ_REG(ADIS16251_GLOB_CMD); |
| st->tx[1] = 0; |
| |
| spi_message_init(&msg); |
| spi_message_add_tail(&xfers[0], &msg); |
| spi_message_add_tail(&xfers[1], &msg); |
| |
| st->us->max_speed_hz = min(ADIS16251_SPI_BURST, old_speed_hz); |
| spi_setup(st->us); |
| |
| ret = spi_sync(st->us, &msg); |
| if (ret) |
| dev_err(&st->us->dev, "problem when burst reading"); |
| |
| st->us->max_speed_hz = old_speed_hz; |
| spi_setup(st->us); |
| mutex_unlock(&st->buf_lock); |
| return ret; |
| } |
| |
| /** |
| * adis16251_spi_read_sequence() - read a sequence of 16-bit registers |
| * @dev: device associated with child of actual device (iio_dev or iio_trig) |
| * @tx: register addresses in bytes 0,2,4,6... (min size is 2*num bytes) |
| * @rx: somewhere to pass back the value read (min size is 2*num bytes) |
| **/ |
| int adis16251_spi_read_sequence(struct device *dev, |
| u8 *tx, u8 *rx, int num) |
| { |
| struct spi_message msg; |
| struct spi_transfer *xfers; |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16251_state *st = iio_dev_get_devdata(indio_dev); |
| int ret, i; |
| |
| xfers = kzalloc(num + 1, GFP_KERNEL); |
| if (xfers == NULL) { |
| dev_err(&st->us->dev, "memory alloc failed"); |
| ret = -ENOMEM; |
| goto error_ret; |
| } |
| |
| /* tx: |add1|addr2|addr3|...|addrN |zero| |
| * rx: |zero|res1 |res2 |...|resN-1|resN| */ |
| spi_message_init(&msg); |
| for (i = 0; i < num + 1; i++) { |
| if (i > 0) |
| xfers[i].rx_buf = st->rx + 2*(i - 1); |
| if (i < num) |
| xfers[i].tx_buf = st->tx + 2*i; |
| xfers[i].bits_per_word = 8; |
| xfers[i].len = 2; |
| xfers[i].cs_change = 1; |
| spi_message_add_tail(&xfers[i], &msg); |
| } |
| |
| mutex_lock(&st->buf_lock); |
| |
| ret = spi_sync(st->us, &msg); |
| if (ret) |
| dev_err(&st->us->dev, "problem when reading sequence"); |
| |
| mutex_unlock(&st->buf_lock); |
| kfree(xfers); |
| |
| error_ret: |
| return ret; |
| } |
| |
| static ssize_t adis16251_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 = adis16251_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); |
| if (ret) |
| return ret; |
| |
| if (val & ADIS16251_ERROR_ACTIVE) |
| adis16251_check_status(dev); |
| val = ((s16)(val << shift) >> shift); |
| return sprintf(buf, "%d\n", val); |
| } |
| |
| static ssize_t adis16251_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 = adis16251_spi_read_reg_16(dev, this_attr->address, &val); |
| if (ret) |
| return ret; |
| |
| if (val & ADIS16251_ERROR_ACTIVE) |
| adis16251_check_status(dev); |
| |
| return sprintf(buf, "%u\n", val & 0x0FFF); |
| } |
| |
| static ssize_t adis16251_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 = adis16251_spi_read_signed(dev, attr, buf, 14); |
| mutex_unlock(&indio_dev->mlock); |
| |
| return ret; |
| } |
| |
| static ssize_t adis16251_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 = adis16251_spi_read_signed(dev, attr, buf, 12); |
| mutex_unlock(&indio_dev->mlock); |
| |
| return ret; |
| } |
| |
| static ssize_t adis16251_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 = adis16251_spi_write_reg_16(dev, this_attr->address, val); |
| |
| error_ret: |
| return ret ? ret : len; |
| } |
| |
| static ssize_t adis16251_read_frequency(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| int ret, len = 0; |
| u16 t; |
| int sps; |
| ret = adis16251_spi_read_reg_16(dev, |
| ADIS16251_SMPL_PRD, |
| &t); |
| if (ret) |
| return ret; |
| sps = (t & ADIS16251_SMPL_PRD_TIME_BASE) ? 8 : 256; |
| sps /= (t & ADIS16251_SMPL_PRD_DIV_MASK) + 1; |
| len = sprintf(buf, "%d SPS\n", sps); |
| return len; |
| } |
| |
| static ssize_t adis16251_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 adis16251_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 = (256 / val); |
| if (t > 0) |
| t--; |
| t &= ADIS16251_SMPL_PRD_DIV_MASK; |
| if ((t & ADIS16251_SMPL_PRD_DIV_MASK) >= 0x0A) |
| st->us->max_speed_hz = ADIS16251_SPI_SLOW; |
| else |
| st->us->max_speed_hz = ADIS16251_SPI_FAST; |
| |
| ret = adis16251_spi_write_reg_8(dev, |
| ADIS16251_SMPL_PRD, |
| t); |
| |
| mutex_unlock(&indio_dev->mlock); |
| |
| return ret ? ret : len; |
| } |
| |
| static ssize_t adis16251_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 adis16251_reset(dev); |
| } |
| return -1; |
| } |
| |
| |
| |
| int adis16251_set_irq(struct device *dev, bool enable) |
| { |
| int ret; |
| u16 msc; |
| ret = adis16251_spi_read_reg_16(dev, ADIS16251_MSC_CTRL, &msc); |
| if (ret) |
| goto error_ret; |
| |
| msc |= ADIS16251_MSC_CTRL_DATA_RDY_POL_HIGH; |
| if (enable) |
| msc |= ADIS16251_MSC_CTRL_DATA_RDY_EN; |
| else |
| msc &= ~ADIS16251_MSC_CTRL_DATA_RDY_EN; |
| |
| ret = adis16251_spi_write_reg_16(dev, ADIS16251_MSC_CTRL, msc); |
| if (ret) |
| goto error_ret; |
| |
| error_ret: |
| return ret; |
| } |
| |
| int adis16251_reset(struct device *dev) |
| { |
| int ret; |
| ret = adis16251_spi_write_reg_8(dev, |
| ADIS16251_GLOB_CMD, |
| ADIS16251_GLOB_CMD_SW_RESET); |
| if (ret) |
| dev_err(dev, "problem resetting device"); |
| |
| return ret; |
| } |
| |
| /* Power down the device */ |
| int adis16251_stop_device(struct device *dev) |
| { |
| int ret; |
| u16 val = ADIS16251_SLP_CNT_POWER_OFF; |
| |
| ret = adis16251_spi_write_reg_16(dev, ADIS16251_SLP_CNT, val); |
| if (ret) |
| dev_err(dev, "problem with turning device off: SLP_CNT"); |
| |
| return ret; |
| } |
| |
| static int adis16251_self_test(struct device *dev) |
| { |
| int ret; |
| |
| ret = adis16251_spi_write_reg_16(dev, |
| ADIS16251_MSC_CTRL, |
| ADIS16251_MSC_CTRL_INT_SELF_TEST); |
| if (ret) { |
| dev_err(dev, "problem starting self test"); |
| goto err_ret; |
| } |
| |
| adis16251_check_status(dev); |
| |
| err_ret: |
| return ret; |
| } |
| |
| int adis16251_check_status(struct device *dev) |
| { |
| u16 status; |
| int ret; |
| |
| ret = adis16251_spi_read_reg_16(dev, ADIS16251_DIAG_STAT, &status); |
| |
| if (ret < 0) { |
| dev_err(dev, "Reading status failed\n"); |
| goto error_ret; |
| } |
| |
| if (!(status & ADIS16251_DIAG_STAT_ERR_MASK)) { |
| ret = 0; |
| goto error_ret; |
| } |
| |
| ret = -EFAULT; |
| |
| if (status & ADIS16251_DIAG_STAT_ALARM2) |
| dev_err(dev, "Alarm 2 active\n"); |
| if (status & ADIS16251_DIAG_STAT_ALARM1) |
| dev_err(dev, "Alarm 1 active\n"); |
| if (status & ADIS16251_DIAG_STAT_SELF_TEST) |
| dev_err(dev, "Self test error\n"); |
| if (status & ADIS16251_DIAG_STAT_OVERFLOW) |
| dev_err(dev, "Sensor overrange\n"); |
| if (status & ADIS16251_DIAG_STAT_SPI_FAIL) |
| dev_err(dev, "SPI failure\n"); |
| if (status & ADIS16251_DIAG_STAT_FLASH_UPT) |
| dev_err(dev, "Flash update failed\n"); |
| if (status & ADIS16251_DIAG_STAT_POWER_HIGH) |
| dev_err(dev, "Power supply above 5.25V\n"); |
| if (status & ADIS16251_DIAG_STAT_POWER_LOW) |
| dev_err(dev, "Power supply below 4.75V\n"); |
| |
| error_ret: |
| return ret; |
| } |
| |
| static int adis16251_initial_setup(struct adis16251_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 = ADIS16251_SPI_SLOW; |
| st->us->mode = SPI_MODE_3; |
| spi_setup(st->us); |
| |
| /* Disable IRQ */ |
| ret = adis16251_set_irq(dev, false); |
| if (ret) { |
| dev_err(dev, "disable irq failed"); |
| goto err_ret; |
| } |
| |
| /* Do self test */ |
| |
| /* Read status register to check the result */ |
| ret = adis16251_check_status(dev); |
| if (ret) { |
| adis16251_reset(dev); |
| dev_err(dev, "device not playing ball -> reset"); |
| msleep(ADIS16251_STARTUP_DELAY); |
| ret = adis16251_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 = adis16251_spi_read_reg_16(dev, ADIS16251_SMPL_PRD, &smp_prd); |
| if (!ret && (smp_prd & ADIS16251_SMPL_PRD_DIV_MASK) < 0x0A) { |
| st->us->max_speed_hz = ADIS16251_SPI_SLOW; |
| spi_setup(st->us); |
| } |
| |
| err_ret: |
| return ret; |
| } |
| |
| static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16251_read_12bit_signed, |
| ADIS16251_SUPPLY_OUT); |
| static IIO_CONST_ATTR(in0_supply_scale, "0.0018315"); |
| |
| static IIO_DEV_ATTR_GYRO(adis16251_read_14bit_signed, |
| ADIS16251_GYRO_OUT); |
| static IIO_DEV_ATTR_GYRO_SCALE(S_IWUSR | S_IRUGO, |
| adis16251_read_12bit_signed, |
| adis16251_write_16bit, |
| ADIS16251_GYRO_SCALE); |
| static IIO_DEV_ATTR_GYRO_OFFSET(S_IWUSR | S_IRUGO, |
| adis16251_read_12bit_signed, |
| adis16251_write_16bit, |
| ADIS16251_GYRO_OFF); |
| |
| static IIO_DEV_ATTR_TEMP_RAW(adis16251_read_12bit_signed); |
| static IIO_CONST_ATTR(temp_offset, "25 K"); |
| static IIO_CONST_ATTR(temp_scale, "0.1453 K"); |
| |
| static IIO_DEV_ATTR_IN_NAMED_RAW(1, aux, adis16251_read_12bit_unsigned, |
| ADIS16251_AUX_ADC); |
| static IIO_CONST_ATTR(in1_aux_scale, "0.0006105"); |
| |
| static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
| adis16251_read_frequency, |
| adis16251_write_frequency); |
| static IIO_DEV_ATTR_ANGL(adis16251_read_14bit_signed, |
| ADIS16251_ANGL_OUT); |
| |
| static IIO_DEV_ATTR_RESET(adis16251_write_reset); |
| |
| static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("0.129 ~ 256"); |
| |
| static IIO_CONST_ATTR(name, "adis16251"); |
| |
| static struct attribute *adis16251_event_attributes[] = { |
| NULL |
| }; |
| |
| static struct attribute_group adis16251_event_attribute_group = { |
| .attrs = adis16251_event_attributes, |
| }; |
| |
| static struct attribute *adis16251_attributes[] = { |
| &iio_dev_attr_in0_supply_raw.dev_attr.attr, |
| &iio_const_attr_in0_supply_scale.dev_attr.attr, |
| &iio_dev_attr_gyro_raw.dev_attr.attr, |
| &iio_dev_attr_gyro_scale.dev_attr.attr, |
| &iio_dev_attr_gyro_offset.dev_attr.attr, |
| &iio_dev_attr_angl_raw.dev_attr.attr, |
| &iio_dev_attr_temp_raw.dev_attr.attr, |
| &iio_const_attr_temp_offset.dev_attr.attr, |
| &iio_const_attr_temp_scale.dev_attr.attr, |
| &iio_dev_attr_in1_aux_raw.dev_attr.attr, |
| &iio_const_attr_in1_aux_scale.dev_attr.attr, |
| &iio_dev_attr_sampling_frequency.dev_attr.attr, |
| &iio_const_attr_sampling_frequency_available.dev_attr.attr, |
| &iio_dev_attr_reset.dev_attr.attr, |
| &iio_const_attr_name.dev_attr.attr, |
| NULL |
| }; |
| |
| static const struct attribute_group adis16251_attribute_group = { |
| .attrs = adis16251_attributes, |
| }; |
| |
| static int __devinit adis16251_probe(struct spi_device *spi) |
| { |
| int ret, regdone = 0; |
| struct adis16251_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)*ADIS16251_MAX_RX, GFP_KERNEL); |
| if (st->rx == NULL) { |
| ret = -ENOMEM; |
| goto error_free_st; |
| } |
| st->tx = kzalloc(sizeof(*st->tx)*ADIS16251_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 = &adis16251_event_attribute_group; |
| st->indio_dev->attrs = &adis16251_attribute_group; |
| st->indio_dev->dev_data = (void *)(st); |
| st->indio_dev->driver_module = THIS_MODULE; |
| st->indio_dev->modes = INDIO_DIRECT_MODE; |
| |
| ret = adis16251_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 = adis16251_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 && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { |
| ret = iio_register_interrupt_line(spi->irq, |
| st->indio_dev, |
| 0, |
| IRQF_TRIGGER_RISING, |
| "adis16251"); |
| if (ret) |
| goto error_uninitialize_ring; |
| |
| ret = adis16251_probe_trigger(st->indio_dev); |
| if (ret) |
| goto error_unregister_line; |
| } |
| |
| /* Get the device into a sane initial state */ |
| ret = adis16251_initial_setup(st); |
| if (ret) |
| goto error_remove_trigger; |
| return 0; |
| |
| error_remove_trigger: |
| if (st->indio_dev->modes & INDIO_RING_TRIGGERED) |
| adis16251_remove_trigger(st->indio_dev); |
| error_unregister_line: |
| if (st->indio_dev->modes & INDIO_RING_TRIGGERED) |
| iio_unregister_interrupt_line(st->indio_dev, 0); |
| error_uninitialize_ring: |
| adis16251_uninitialize_ring(st->indio_dev->ring); |
| error_unreg_ring_funcs: |
| adis16251_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; |
| } |
| |
| /* fixme, confirm ordering in this function */ |
| static int adis16251_remove(struct spi_device *spi) |
| { |
| int ret; |
| struct adis16251_state *st = spi_get_drvdata(spi); |
| struct iio_dev *indio_dev = st->indio_dev; |
| |
| ret = adis16251_stop_device(&(indio_dev->dev)); |
| if (ret) |
| goto err_ret; |
| |
| flush_scheduled_work(); |
| |
| adis16251_remove_trigger(indio_dev); |
| if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) |
| iio_unregister_interrupt_line(indio_dev, 0); |
| |
| adis16251_uninitialize_ring(indio_dev->ring); |
| adis16251_unconfigure_ring(indio_dev); |
| iio_device_unregister(indio_dev); |
| kfree(st->tx); |
| kfree(st->rx); |
| kfree(st); |
| |
| return 0; |
| |
| err_ret: |
| return ret; |
| } |
| |
| static struct spi_driver adis16251_driver = { |
| .driver = { |
| .name = "adis16251", |
| .owner = THIS_MODULE, |
| }, |
| .probe = adis16251_probe, |
| .remove = __devexit_p(adis16251_remove), |
| }; |
| |
| static __init int adis16251_init(void) |
| { |
| return spi_register_driver(&adis16251_driver); |
| } |
| module_init(adis16251_init); |
| |
| static __exit void adis16251_exit(void) |
| { |
| spi_unregister_driver(&adis16251_driver); |
| } |
| module_exit(adis16251_exit); |
| |
| MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); |
| MODULE_DESCRIPTION("Analog Devices ADIS16251 Digital Gyroscope Sensor SPI driver"); |
| MODULE_LICENSE("GPL v2"); |