[deliverable/linux.git] / drivers / staging / iio / gyro / adis16260_core.c

/*
 * ADIS16260/ADIS16265 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 "../ring_generic.h"
#include "../adc/adc.h"
#include "gyro.h"

#include "adis16260.h"

#define DRIVER_NAME		"adis16260"

static int adis16260_check_status(struct device *dev);

/**
 * adis16260_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 adis16260_spi_write_reg_8(struct device *dev,
		u8 reg_address,
		u8 val)
{
	int ret;
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16260_state *st = iio_dev_get_devdata(indio_dev);

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16260_WRITE_REG(reg_address);
	st->tx[1] = val;

	ret = spi_write(st->us, st->tx, 2);
	mutex_unlock(&st->buf_lock);

	return ret;
}

/**
 * adis16260_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 adis16260_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 adis16260_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 = 20,
		}, {
			.tx_buf = st->tx + 2,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
			.delay_usecs = 20,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
	st->tx[1] = value & 0xFF;
	st->tx[2] = ADIS16260_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;
}

/**
 * adis16260_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 adis16260_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 adis16260_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 = 30,
		}, {
			.rx_buf = st->rx,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
			.delay_usecs = 30,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
	st->tx[1] = 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 adis16260_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 = adis16260_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
	if (ret)
		return ret;

	if (val & ADIS16260_ERROR_ACTIVE)
		adis16260_check_status(dev);
	val = ((s16)(val << shift) >> shift);
	return sprintf(buf, "%d\n", val);
}

static ssize_t adis16260_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 = adis16260_spi_read_reg_16(dev, this_attr->address, &val);
	if (ret)
		return ret;

	if (val & ADIS16260_ERROR_ACTIVE)
		adis16260_check_status(dev);

	return sprintf(buf, "%u\n", val & 0x0FFF);
}

static ssize_t adis16260_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 =  adis16260_spi_read_signed(dev, attr, buf, 12);
	mutex_unlock(&indio_dev->mlock);

	return ret;
}

static ssize_t adis16260_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 =  adis16260_spi_read_signed(dev, attr, buf, 14);
	mutex_unlock(&indio_dev->mlock);

	return ret;
}

static ssize_t adis16260_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 = adis16260_spi_write_reg_16(dev, this_attr->address, val);

error_ret:
	return ret ? ret : len;
}

static ssize_t adis16260_read_frequency_available(struct device *dev,
						  struct device_attribute *attr,
						  char *buf)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
	if (spi_get_device_id(st->us)->driver_data)
		return sprintf(buf, "%s\n", "0.129 ~ 256");
	else
		return sprintf(buf, "%s\n", "256 2048");
}

static ssize_t adis16260_read_frequency(struct device *dev,
		struct device_attribute *attr,
		char *buf)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
	int ret, len = 0;
	u16 t;
	int sps;
	ret = adis16260_spi_read_reg_16(dev,
			ADIS16260_SMPL_PRD,
			&t);
	if (ret)
		return ret;

	if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
		sps =  (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
	else
		sps =  (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
	sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
	len = sprintf(buf, "%d SPS\n", sps);
	return len;
}

static ssize_t adis16260_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 adis16260_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);
	if (spi_get_device_id(st->us)) {
		t = (256 / val);
		if (t > 0)
			t--;
		t &= ADIS16260_SMPL_PRD_DIV_MASK;
	} else {
		t = (2048 / val);
		if (t > 0)
			t--;
		t &= ADIS16260_SMPL_PRD_DIV_MASK;
	}
	if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
		st->us->max_speed_hz = ADIS16260_SPI_SLOW;
	else
		st->us->max_speed_hz = ADIS16260_SPI_FAST;
	ret = adis16260_spi_write_reg_8(dev,
			ADIS16260_SMPL_PRD,
			t);

	mutex_unlock(&indio_dev->mlock);

	return ret ? ret : len;
}

static ssize_t adis16260_read_gyro_scale(struct device *dev,
		struct device_attribute *attr,
		char *buf)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
	ssize_t ret = 0;

	if (st->negate)
		ret = sprintf(buf, "-");
	/* Take the iio_dev status lock */
	if (spi_get_device_id(st->us)->driver_data)
		ret += sprintf(buf + ret, "%s\n", "0.00031974432");
	else
		ret += sprintf(buf + ret, "%s\n", "0.00127862821");

	return ret;
}

static int adis16260_reset(struct device *dev)
{
	int ret;
	ret = adis16260_spi_write_reg_8(dev,
			ADIS16260_GLOB_CMD,
			ADIS16260_GLOB_CMD_SW_RESET);
	if (ret)
		dev_err(dev, "problem resetting device");

	return ret;
}

static ssize_t adis16260_write_reset(struct device *dev,
		struct device_attribute *attr,
		const char *buf, size_t len)
{
	if (len < 1)
		return -EINVAL;
	switch (buf[0]) {
	case '1':
	case 'y':
	case 'Y':
		return adis16260_reset(dev);
	}
	return -EINVAL;
}

int adis16260_set_irq(struct device *dev, bool enable)
{
	int ret;
	u16 msc;
	ret = adis16260_spi_read_reg_16(dev, ADIS16260_MSC_CTRL, &msc);
	if (ret)
		goto error_ret;

	msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
	if (enable)
		msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
	else
		msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;

	ret = adis16260_spi_write_reg_16(dev, ADIS16260_MSC_CTRL, msc);
	if (ret)
		goto error_ret;

error_ret:
	return ret;
}

/* Power down the device */
static int adis16260_stop_device(struct device *dev)
{
	int ret;
	u16 val = ADIS16260_SLP_CNT_POWER_OFF;

	ret = adis16260_spi_write_reg_16(dev, ADIS16260_SLP_CNT, val);
	if (ret)
		dev_err(dev, "problem with turning device off: SLP_CNT");

	return ret;
}

static int adis16260_self_test(struct device *dev)
{
	int ret;
	ret = adis16260_spi_write_reg_16(dev,
			ADIS16260_MSC_CTRL,
			ADIS16260_MSC_CTRL_MEM_TEST);
	if (ret) {
		dev_err(dev, "problem starting self test");
		goto err_ret;
	}

	adis16260_check_status(dev);

err_ret:
	return ret;
}

static int adis16260_check_status(struct device *dev)
{
	u16 status;
	int ret;

	ret = adis16260_spi_read_reg_16(dev, ADIS16260_DIAG_STAT, &status);

	if (ret < 0) {
		dev_err(dev, "Reading status failed\n");
		goto error_ret;
	}
	ret = status & 0x7F;
	if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
		dev_err(dev, "Flash checksum error\n");
	if (status & ADIS16260_DIAG_STAT_SELF_TEST)
		dev_err(dev, "Self test error\n");
	if (status & ADIS16260_DIAG_STAT_OVERFLOW)
		dev_err(dev, "Sensor overrange\n");
	if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
		dev_err(dev, "SPI failure\n");
	if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
		dev_err(dev, "Flash update failed\n");
	if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
		dev_err(dev, "Power supply above 5.25V\n");
	if (status & ADIS16260_DIAG_STAT_POWER_LOW)
		dev_err(dev, "Power supply below 4.75V\n");

error_ret:
	return ret;
}

static int adis16260_initial_setup(struct adis16260_state *st)
{
	int ret;
	struct device *dev = &st->indio_dev->dev;

	/* Disable IRQ */
	ret = adis16260_set_irq(dev, false);
	if (ret) {
		dev_err(dev, "disable irq failed");
		goto err_ret;
	}

	/* Do self test */
	ret = adis16260_self_test(dev);
	if (ret) {
		dev_err(dev, "self test failure");
		goto err_ret;
	}

	/* Read status register to check the result */
	ret = adis16260_check_status(dev);
	if (ret) {
		adis16260_reset(dev);
		dev_err(dev, "device not playing ball -> reset");
		msleep(ADIS16260_STARTUP_DELAY);
		ret = adis16260_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);

err_ret:
	return ret;
}

static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply,
				adis16260_read_12bit_unsigned,
				ADIS16260_SUPPLY_OUT);
static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.0018315");

static IIO_DEV_ATTR_TEMP_RAW(adis16260_read_12bit_unsigned);
static IIO_CONST_ATTR_TEMP_OFFSET("25");
static IIO_CONST_ATTR_TEMP_SCALE("0.1453");

static IIO_DEV_ATTR_IN_RAW(1, adis16260_read_12bit_unsigned,
		ADIS16260_AUX_ADC);
static IIO_CONST_ATTR(in1_scale, "0.0006105");

static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
		adis16260_read_frequency,
		adis16260_write_frequency);

static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);


static IIO_DEVICE_ATTR(sampling_frequency_available,
		       S_IRUGO, adis16260_read_frequency_available, NULL, 0);

static IIO_CONST_ATTR_NAME("adis16260");

static struct attribute *adis16260_event_attributes[] = {
	NULL
};

static struct attribute_group adis16260_event_attribute_group = {
	.attrs = adis16260_event_attributes,
};

#define ADIS16260_GYRO_ATTR_SET(axis)					\
	IIO_DEV_ATTR_GYRO##axis(adis16260_read_14bit_signed,		\
				ADIS16260_GYRO_OUT);			\
	static IIO_DEV_ATTR_GYRO##axis##_SCALE(S_IRUGO,			\
					adis16260_read_gyro_scale,	\
					NULL,				\
					0);				\
	static IIO_DEV_ATTR_GYRO##axis##_CALIBSCALE(S_IRUGO | S_IWUSR,	\
					adis16260_read_12bit_unsigned,	\
					adis16260_write_16bit,		\
					ADIS16260_GYRO_SCALE);		\
	static IIO_DEV_ATTR_GYRO##axis##_CALIBBIAS(S_IWUSR | S_IRUGO,	\
					adis16260_read_12bit_signed,	\
					adis16260_write_16bit,		\
					ADIS16260_GYRO_OFF);		\
	static IIO_DEV_ATTR_ANGL##axis(adis16260_read_14bit_signed,	\
				       ADIS16260_ANGL_OUT);

static ADIS16260_GYRO_ATTR_SET();
static ADIS16260_GYRO_ATTR_SET(_X);
static ADIS16260_GYRO_ATTR_SET(_Y);
static ADIS16260_GYRO_ATTR_SET(_Z);

#define ADIS16260_ATTR_GROUP(axis)					\
	struct attribute *adis16260_attributes##axis[] = {		\
		&iio_dev_attr_in0_supply_raw.dev_attr.attr,		\
		&iio_const_attr_in0_supply_scale.dev_attr.attr,		\
		&iio_dev_attr_gyro##axis##_raw.dev_attr.attr,		\
		&iio_dev_attr_gyro##axis##_scale.dev_attr.attr,		\
		&iio_dev_attr_gyro##axis##_calibscale.dev_attr.attr,	\
		&iio_dev_attr_gyro##axis##_calibbias.dev_attr.attr,	\
		&iio_dev_attr_angl##axis##_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_raw.dev_attr.attr,			\
		&iio_const_attr_in1_scale.dev_attr.attr,		\
		&iio_dev_attr_sampling_frequency.dev_attr.attr,		\
		&iio_dev_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 adis16260_attribute_group##axis \
	= {								\
		.attrs = adis16260_attributes##axis,			\
	};

static ADIS16260_ATTR_GROUP();
static ADIS16260_ATTR_GROUP(_x);
static ADIS16260_ATTR_GROUP(_y);
static ADIS16260_ATTR_GROUP(_z);

static int __devinit adis16260_probe(struct spi_device *spi)
{
	int ret, regdone = 0;
	struct adis16260_platform_data *pd = spi->dev.platform_data;
	struct adis16260_state *st = kzalloc(sizeof *st, GFP_KERNEL);
	if (!st) {
		ret =  -ENOMEM;
		goto error_ret;
	}
	if (pd)
		st->negate = pd->negate;
	/* this is only used for removal purposes */
	spi_set_drvdata(spi, st);

	/* Allocate the comms buffers */
	st->rx = kzalloc(sizeof(*st->rx)*ADIS16260_MAX_RX, GFP_KERNEL);
	if (st->rx == NULL) {
		ret = -ENOMEM;
		goto error_free_st;
	}
	st->tx = kzalloc(sizeof(*st->tx)*ADIS16260_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(0);
	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 = &adis16260_event_attribute_group;
	if (pd && pd->direction)
		switch (pd->direction) {
		case 'x':
			st->indio_dev->attrs = &adis16260_attribute_group_x;
			break;
		case 'y':
			st->indio_dev->attrs = &adis16260_attribute_group_y;
			break;
		case 'z':
			st->indio_dev->attrs = &adis16260_attribute_group_z;
			break;
		default:
			st->indio_dev->attrs = &adis16260_attribute_group;
			break;
		}
	else
		st->indio_dev->attrs = &adis16260_attribute_group;

	st->indio_dev->dev_data = (void *)(st);
	st->indio_dev->driver_module = THIS_MODULE;
	st->indio_dev->modes = INDIO_DIRECT_MODE;

	ret = adis16260_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 = iio_ring_buffer_register(st->indio_dev->ring, 0);
	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,
				"adis16260");
		if (ret)
			goto error_uninitialize_ring;

		ret = adis16260_probe_trigger(st->indio_dev);
		if (ret)
			goto error_unregister_line;
	}

	/* Get the device into a sane initial state */
	ret = adis16260_initial_setup(st);
	if (ret)
		goto error_remove_trigger;
	return 0;

error_remove_trigger:
	adis16260_remove_trigger(st->indio_dev);
error_unregister_line:
	if (spi->irq)
		iio_unregister_interrupt_line(st->indio_dev, 0);
error_uninitialize_ring:
	iio_ring_buffer_unregister(st->indio_dev->ring);
error_unreg_ring_funcs:
	adis16260_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 adis16260_remove(struct spi_device *spi)
{
	int ret;
	struct adis16260_state *st = spi_get_drvdata(spi);
	struct iio_dev *indio_dev = st->indio_dev;

	ret = adis16260_stop_device(&(indio_dev->dev));
	if (ret)
		goto err_ret;

	flush_scheduled_work();

	adis16260_remove_trigger(indio_dev);
	if (spi->irq)
		iio_unregister_interrupt_line(indio_dev, 0);

	iio_ring_buffer_unregister(st->indio_dev->ring);
	iio_device_unregister(indio_dev);
	adis16260_unconfigure_ring(indio_dev);
	kfree(st->tx);
	kfree(st->rx);
	kfree(st);

err_ret:
	return ret;
}

/*
 * These parts do not need to be differentiated until someone adds
 * support for the on chip filtering.
 */
static const struct spi_device_id adis16260_id[] = {
	{"adis16260", 0},
	{"adis16265", 0},
	{"adis16250", 0},
	{"adis16255", 0},
	{"adis16251", 1},
	{}
};

static struct spi_driver adis16260_driver = {
	.driver = {
		.name = "adis16260",
		.owner = THIS_MODULE,
	},
	.probe = adis16260_probe,
	.remove = __devexit_p(adis16260_remove),
	.id_table = adis16260_id,
};

static __init int adis16260_init(void)
{
	return spi_register_driver(&adis16260_driver);
}
module_init(adis16260_init);

static __exit void adis16260_exit(void)
{
	spi_unregister_driver(&adis16260_driver);
}
module_exit(adis16260_exit);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
MODULE_LICENSE("GPL v2");
Commit	Line	Data
089a4198	1	/*
f733d02a	2	* ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
089a4198 BS	3	*
	4	* Copyright 2010 Analog Devices Inc.
	5	*
	6	* Licensed under the GPL-2 or later.
	7	*/
	8
	9	#include <linux/interrupt.h>
	10	#include <linux/irq.h>
	11	#include <linux/gpio.h>
	12	#include <linux/delay.h>
	13	#include <linux/mutex.h>
	14	#include <linux/device.h>
	15	#include <linux/kernel.h>
	16	#include <linux/spi/spi.h>
1cb6c1f5	17	#include <linux/slab.h>
089a4198 BS	18	#include <linux/sysfs.h>
	19	#include <linux/list.h>
	20
	21	#include "../iio.h"
	22	#include "../sysfs.h"
2662051e	23	#include "../ring_generic.h"
089a4198 BS	24	#include "../adc/adc.h"
	25	#include "gyro.h"
	26
	27	#include "adis16260.h"
	28
	29	#define DRIVER_NAME "adis16260"
	30
	31	static int adis16260_check_status(struct device *dev);
	32
	33	/**
	34	* adis16260_spi_write_reg_8() - write single byte to a register
	35	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	36	* @reg_address: the address of the register to be written
	37	* @val: the value to write
	38	**/
	39	static int adis16260_spi_write_reg_8(struct device *dev,
	40	u8 reg_address,
	41	u8 val)
	42	{
	43	int ret;
	44	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	45	struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
	46
	47	mutex_lock(&st->buf_lock);
	48	st->tx[0] = ADIS16260_WRITE_REG(reg_address);
	49	st->tx[1] = val;
	50
	51	ret = spi_write(st->us, st->tx, 2);
	52	mutex_unlock(&st->buf_lock);
	53
	54	return ret;
	55	}
	56
	57	/**
	58	* adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers
	59	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	60	* @reg_address: the address of the lower of the two registers. Second register
	61	* is assumed to have address one greater.
	62	* @val: value to be written
	63	**/
	64	static int adis16260_spi_write_reg_16(struct device *dev,
	65	u8 lower_reg_address,
	66	u16 value)
	67	{
	68	int ret;
	69	struct spi_message msg;
	70	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	71	struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
	72	struct spi_transfer xfers[] = {
	73	{
	74	.tx_buf = st->tx,
	75	.bits_per_word = 8,
	76	.len = 2,
	77	.cs_change = 1,
	78	.delay_usecs = 20,
	79	}, {
	80	.tx_buf = st->tx + 2,
	81	.bits_per_word = 8,
	82	.len = 2,
	83	.cs_change = 1,
	84	.delay_usecs = 20,
	85	},
	86	};
	87
88	mutex_lock(&st->buf_lock);
89	st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
90	st->tx[1] = value & 0xFF;
91	st->tx[2] = ADIS16260_WRITE_REG(lower_reg_address + 1);
92	st->tx[3] = (value >> 8) & 0xFF;
93
94	spi_message_init(&msg);
95	spi_message_add_tail(&xfers[0], &msg);
96	spi_message_add_tail(&xfers[1], &msg);
97	ret = spi_sync(st->us, &msg);
98	mutex_unlock(&st->buf_lock);
99
100	return ret;
101	}
102
103	/**
104	* adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register
105	* @dev: device associated with child of actual device (iio_dev or iio_trig)
106	* @reg_address: the address of the lower of the two registers. Second register
107	* is assumed to have address one greater.
108	* @val: somewhere to pass back the value read
109	**/
110	static int adis16260_spi_read_reg_16(struct device *dev,
111	u8 lower_reg_address,
112	u16 *val)
113	{
114	struct spi_message msg;
115	struct iio_dev *indio_dev = dev_get_drvdata(dev);
116	struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
117	int ret;
118	struct spi_transfer xfers[] = {
119	{
120	.tx_buf = st->tx,
121	.bits_per_word = 8,
122	.len = 2,
123	.cs_change = 1,
124	.delay_usecs = 30,
125	}, {
126	.rx_buf = st->rx,
127	.bits_per_word = 8,
128	.len = 2,
129	.cs_change = 1,
130	.delay_usecs = 30,
131	},
132	};
133
134	mutex_lock(&st->buf_lock);
135	st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
136	st->tx[1] = 0;
089a4198 BS	137
	138	spi_message_init(&msg);
	139	spi_message_add_tail(&xfers[0], &msg);
	140	spi_message_add_tail(&xfers[1], &msg);
	141	ret = spi_sync(st->us, &msg);
	142	if (ret) {
	143	dev_err(&st->us->dev,
	144	"problem when reading 16 bit register 0x%02X",
	145	lower_reg_address);
	146	goto error_ret;
	147	}
	148	*val = (st->rx[0] << 8) \| st->rx[1];
	149
	150	error_ret:
	151	mutex_unlock(&st->buf_lock);
	152	return ret;
	153	}
	154
	155	static ssize_t adis16260_spi_read_signed(struct device *dev,
	156	struct device_attribute *attr,
	157	char *buf,
	158	unsigned bits)
	159	{
	160	int ret;
	161	s16 val = 0;
	162	unsigned shift = 16 - bits;
	163	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	164
	165	ret = adis16260_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
	166	if (ret)
	167	return ret;
	168
	169	if (val & ADIS16260_ERROR_ACTIVE)
	170	adis16260_check_status(dev);
	171	val = ((s16)(val << shift) >> shift);
	172	return sprintf(buf, "%d\n", val);
	173	}
	174
	175	static ssize_t adis16260_read_12bit_unsigned(struct device *dev,
	176	struct device_attribute *attr,
	177	char *buf)
	178	{
	179	int ret;
	180	u16 val = 0;
	181	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	182
	183	ret = adis16260_spi_read_reg_16(dev, this_attr->address, &val);
	184	if (ret)
	185	return ret;
	186
	187	if (val & ADIS16260_ERROR_ACTIVE)
	188	adis16260_check_status(dev);
	189
	190	return sprintf(buf, "%u\n", val & 0x0FFF);
	191	}
	192
	193	static ssize_t adis16260_read_12bit_signed(struct device *dev,
	194	struct device_attribute *attr,
	195	char *buf)
	196	{
	197	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	198	ssize_t ret;
	199
	200	/* Take the iio_dev status lock */
201	mutex_lock(&indio_dev->mlock);
202	ret = adis16260_spi_read_signed(dev, attr, buf, 12);
203	mutex_unlock(&indio_dev->mlock);
204
205	return ret;
206	}
207
208	static ssize_t adis16260_read_14bit_signed(struct device *dev,
209	struct device_attribute *attr,
210	char *buf)
211	{
212	struct iio_dev *indio_dev = dev_get_drvdata(dev);
213	ssize_t ret;
214
215	/* Take the iio_dev status lock */
216	mutex_lock(&indio_dev->mlock);
217	ret = adis16260_spi_read_signed(dev, attr, buf, 14);
218	mutex_unlock(&indio_dev->mlock);
219
220	return ret;
221	}
222
223	static ssize_t adis16260_write_16bit(struct device *dev,
224	struct device_attribute *attr,
225	const char *buf,
226	size_t len)
227	{
228	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
229	int ret;
230	long val;
231
232	ret = strict_strtol(buf, 10, &val);
233	if (ret)
234	goto error_ret;
235	ret = adis16260_spi_write_reg_16(dev, this_attr->address, val);
236
237	error_ret:
238	return ret ? ret : len;
239	}
240
03d1b7d3 JC	241	static ssize_t adis16260_read_frequency_available(struct device *dev,
	242	struct device_attribute *attr,
	243	char *buf)
	244	{
	245	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	246	struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
	247	if (spi_get_device_id(st->us)->driver_data)
	248	return sprintf(buf, "%s\n", "0.129 ~ 256");
	249	else
	250	return sprintf(buf, "%s\n", "256 2048");
	251	}
	252
089a4198 BS	253	static ssize_t adis16260_read_frequency(struct device *dev,
	254	struct device_attribute *attr,
	255	char *buf)
	256	{
03d1b7d3 JC	257	struct iio_dev *indio_dev = dev_get_drvdata(dev);
03d1b7d3 JC	258	struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
089a4198 BS	259	int ret, len = 0;
	260	u16 t;
	261	int sps;
	262	ret = adis16260_spi_read_reg_16(dev,
	263	ADIS16260_SMPL_PRD,
	264	&t);
	265	if (ret)
	266	return ret;
03d1b7d3 JC	267
	268	if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
	269	sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
	270	else
	271	sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
089a4198 BS	272	sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
	273	len = sprintf(buf, "%d SPS\n", sps);
	274	return len;
	275	}
	276
	277	static ssize_t adis16260_write_frequency(struct device *dev,
	278	struct device_attribute *attr,
	279	const char *buf,
	280	size_t len)
	281	{
	282	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	283	struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
	284	long val;
	285	int ret;
	286	u8 t;
	287
	288	ret = strict_strtol(buf, 10, &val);
	289	if (ret)
	290	return ret;
	291
	292	mutex_lock(&indio_dev->mlock);
03d1b7d3 JC	293	if (spi_get_device_id(st->us)) {
	294	t = (256 / val);
	295	if (t > 0)
	296	t--;
	297	t &= ADIS16260_SMPL_PRD_DIV_MASK;
	298	} else {
	299	t = (2048 / val);
	300	if (t > 0)
	301	t--;
	302	t &= ADIS16260_SMPL_PRD_DIV_MASK;
	303	}
089a4198 BS	304	if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
	305	st->us->max_speed_hz = ADIS16260_SPI_SLOW;
	306	else
	307	st->us->max_speed_hz = ADIS16260_SPI_FAST;
089a4198 BS	308	ret = adis16260_spi_write_reg_8(dev,
	309	ADIS16260_SMPL_PRD,
	310	t);
	311
	312	mutex_unlock(&indio_dev->mlock);
	313
	314	return ret ? ret : len;
	315	}
	316
fe346048 JC	317	static ssize_t adis16260_read_gyro_scale(struct device *dev,
	318	struct device_attribute *attr,
	319	char *buf)
	320	{
	321	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	322	struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
	323	ssize_t ret = 0;
	324
	325	if (st->negate)
	326	ret = sprintf(buf, "-");
	327	/* Take the iio_dev status lock */
03d1b7d3 JC	328	if (spi_get_device_id(st->us)->driver_data)
	329	ret += sprintf(buf + ret, "%s\n", "0.00031974432");
	330	else
	331	ret += sprintf(buf + ret, "%s\n", "0.00127862821");
fe346048 JC	332
	333	return ret;
	334	}
	335
089a4198 BS	336	static int adis16260_reset(struct device *dev)
	337	{
	338	int ret;
	339	ret = adis16260_spi_write_reg_8(dev,
	340	ADIS16260_GLOB_CMD,
	341	ADIS16260_GLOB_CMD_SW_RESET);
	342	if (ret)
	343	dev_err(dev, "problem resetting device");
	344
	345	return ret;
	346	}
	347
	348	static ssize_t adis16260_write_reset(struct device *dev,
	349	struct device_attribute *attr,
	350	const char *buf, size_t len)
	351	{
	352	if (len < 1)
	353	return -EINVAL;
	354	switch (buf[0]) {
	355	case '1':
	356	case 'y':
	357	case 'Y':
	358	return adis16260_reset(dev);
	359	}
	360	return -EINVAL;
	361	}
	362
	363	int adis16260_set_irq(struct device *dev, bool enable)
	364	{
	365	int ret;
	366	u16 msc;
	367	ret = adis16260_spi_read_reg_16(dev, ADIS16260_MSC_CTRL, &msc);
	368	if (ret)
	369	goto error_ret;
	370
	371	msc \|= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
	372	if (enable)
	373	msc \|= ADIS16260_MSC_CTRL_DATA_RDY_EN;
	374	else
	375	msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
	376
	377	ret = adis16260_spi_write_reg_16(dev, ADIS16260_MSC_CTRL, msc);
	378	if (ret)
	379	goto error_ret;
	380
	381	error_ret:
	382	return ret;
	383	}
	384
	385	/* Power down the device */
	386	static int adis16260_stop_device(struct device *dev)
	387	{
	388	int ret;
	389	u16 val = ADIS16260_SLP_CNT_POWER_OFF;
	390
	391	ret = adis16260_spi_write_reg_16(dev, ADIS16260_SLP_CNT, val);
	392	if (ret)
	393	dev_err(dev, "problem with turning device off: SLP_CNT");
	394
	395	return ret;
	396	}
	397
	398	static int adis16260_self_test(struct device *dev)
	399	{
400	int ret;
401	ret = adis16260_spi_write_reg_16(dev,
402	ADIS16260_MSC_CTRL,
403	ADIS16260_MSC_CTRL_MEM_TEST);
404	if (ret) {
405	dev_err(dev, "problem starting self test");
406	goto err_ret;
407	}
408
409	adis16260_check_status(dev);
410
411	err_ret:
412	return ret;
413	}
414
415	static int adis16260_check_status(struct device *dev)
416	{
417	u16 status;
418	int ret;
419
420	ret = adis16260_spi_read_reg_16(dev, ADIS16260_DIAG_STAT, &status);
421
422	if (ret < 0) {
423	dev_err(dev, "Reading status failed\n");
424	goto error_ret;
425	}
426	ret = status & 0x7F;
427	if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
428	dev_err(dev, "Flash checksum error\n");
429	if (status & ADIS16260_DIAG_STAT_SELF_TEST)
430	dev_err(dev, "Self test error\n");
431	if (status & ADIS16260_DIAG_STAT_OVERFLOW)
432	dev_err(dev, "Sensor overrange\n");
433	if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
434	dev_err(dev, "SPI failure\n");
435	if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
436	dev_err(dev, "Flash update failed\n");
437	if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
438	dev_err(dev, "Power supply above 5.25V\n");
439	if (status & ADIS16260_DIAG_STAT_POWER_LOW)
440	dev_err(dev, "Power supply below 4.75V\n");
441
442	error_ret:
443	return ret;
444	}
445
446	static int adis16260_initial_setup(struct adis16260_state *st)
447	{
448	int ret;
449	struct device *dev = &st->indio_dev->dev;
450
451	/* Disable IRQ */
452	ret = adis16260_set_irq(dev, false);
453	if (ret) {
454	dev_err(dev, "disable irq failed");
455	goto err_ret;
456	}
457
458	/* Do self test */
459	ret = adis16260_self_test(dev);
460	if (ret) {
461	dev_err(dev, "self test failure");
462	goto err_ret;
463	}
464
465	/* Read status register to check the result */
466	ret = adis16260_check_status(dev);
467	if (ret) {
468	adis16260_reset(dev);
469	dev_err(dev, "device not playing ball -> reset");
470	msleep(ADIS16260_STARTUP_DELAY);
471	ret = adis16260_check_status(dev);
472	if (ret) {
473	dev_err(dev, "giving up");
474	goto err_ret;
475	}
476	}
477
478	printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
479	st->us->chip_select, st->us->irq);
480
481	err_ret:
482	return ret;
483	}
484
1755b0ae	485	static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply,
089a4198 BS	486	adis16260_read_12bit_unsigned,
089a4198 BS	487	ADIS16260_SUPPLY_OUT);
1755b0ae	488	static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.0018315");
089a4198	489
089a4198	490	static IIO_DEV_ATTR_TEMP_RAW(adis16260_read_12bit_unsigned);
51a0a5b0 MS	491	static IIO_CONST_ATTR_TEMP_OFFSET("25");
51a0a5b0 MS	492	static IIO_CONST_ATTR_TEMP_SCALE("0.1453");
089a4198	493
1755b0ae	494	static IIO_DEV_ATTR_IN_RAW(1, adis16260_read_12bit_unsigned,
089a4198	495	ADIS16260_AUX_ADC);
1755b0ae	496	static IIO_CONST_ATTR(in1_scale, "0.0006105");
089a4198 BS	497
	498	static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR \| S_IRUGO,
	499	adis16260_read_frequency,
	500	adis16260_write_frequency);
089a4198 BS	501
	502	static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
	503
03d1b7d3 JC	504
	505	static IIO_DEVICE_ATTR(sampling_frequency_available,
	506	S_IRUGO, adis16260_read_frequency_available, NULL, 0);
089a4198	507
51a0a5b0	508	static IIO_CONST_ATTR_NAME("adis16260");
089a4198 BS	509
	510	static struct attribute *adis16260_event_attributes[] = {
	511	NULL
	512	};
	513
	514	static struct attribute_group adis16260_event_attribute_group = {
	515	.attrs = adis16260_event_attributes,
	516	};
	517
fe346048 JC	518	#define ADIS16260_GYRO_ATTR_SET(axis) \
	519	IIO_DEV_ATTR_GYRO##axis(adis16260_read_14bit_signed, \
	520	ADIS16260_GYRO_OUT); \
	521	static IIO_DEV_ATTR_GYRO##axis##_SCALE(S_IRUGO, \
	522	adis16260_read_gyro_scale, \
	523	NULL, \
	524	0); \
	525	static IIO_DEV_ATTR_GYRO##axis##_CALIBSCALE(S_IRUGO \| S_IWUSR, \
	526	adis16260_read_12bit_unsigned, \
	527	adis16260_write_16bit, \
	528	ADIS16260_GYRO_SCALE); \
	529	static IIO_DEV_ATTR_GYRO##axis##_CALIBBIAS(S_IWUSR \| S_IRUGO, \
	530	adis16260_read_12bit_signed, \
	531	adis16260_write_16bit, \
	532	ADIS16260_GYRO_OFF); \
	533	static IIO_DEV_ATTR_ANGL##axis(adis16260_read_14bit_signed, \
	534	ADIS16260_ANGL_OUT);
	535
	536	static ADIS16260_GYRO_ATTR_SET();
	537	static ADIS16260_GYRO_ATTR_SET(_X);
	538	static ADIS16260_GYRO_ATTR_SET(_Y);
	539	static ADIS16260_GYRO_ATTR_SET(_Z);
	540
	541	#define ADIS16260_ATTR_GROUP(axis) \
	542	struct attribute *adis16260_attributes##axis[] = { \
	543	&iio_dev_attr_in0_supply_raw.dev_attr.attr, \
	544	&iio_const_attr_in0_supply_scale.dev_attr.attr, \
	545	&iio_dev_attr_gyro##axis##_raw.dev_attr.attr, \
	546	&iio_dev_attr_gyro##axis##_scale.dev_attr.attr, \
	547	&iio_dev_attr_gyro##axis##_calibscale.dev_attr.attr, \
	548	&iio_dev_attr_gyro##axis##_calibbias.dev_attr.attr, \
	549	&iio_dev_attr_angl##axis##_raw.dev_attr.attr, \
	550	&iio_dev_attr_temp_raw.dev_attr.attr, \
	551	&iio_const_attr_temp_offset.dev_attr.attr, \
	552	&iio_const_attr_temp_scale.dev_attr.attr, \
	553	&iio_dev_attr_in1_raw.dev_attr.attr, \
	554	&iio_const_attr_in1_scale.dev_attr.attr, \
	555	&iio_dev_attr_sampling_frequency.dev_attr.attr, \
03d1b7d3	556	&iio_dev_attr_sampling_frequency_available.dev_attr.attr, \
fe346048 JC	557	&iio_dev_attr_reset.dev_attr.attr, \
	558	&iio_const_attr_name.dev_attr.attr, \
	559	NULL \
	560	}; \
	561	static const struct attribute_group adis16260_attribute_group##axis \
	562	= { \
	563	.attrs = adis16260_attributes##axis, \
	564	};
089a4198	565
fe346048 JC	566	static ADIS16260_ATTR_GROUP();
	567	static ADIS16260_ATTR_GROUP(_x);
	568	static ADIS16260_ATTR_GROUP(_y);
	569	static ADIS16260_ATTR_GROUP(_z);
089a4198 BS	570
	571	static int __devinit adis16260_probe(struct spi_device *spi)
	572	{
	573	int ret, regdone = 0;
fe346048	574	struct adis16260_platform_data *pd = spi->dev.platform_data;
089a4198 BS	575	struct adis16260_state st = kzalloc(sizeof st, GFP_KERNEL);
	576	if (!st) {
	577	ret = -ENOMEM;
	578	goto error_ret;
	579	}
fe346048 JC	580	if (pd)
fe346048 JC	581	st->negate = pd->negate;
089a4198 BS	582	/* this is only used for removal purposes */
	583	spi_set_drvdata(spi, st);
	584
	585	/* Allocate the comms buffers */
	586	st->rx = kzalloc(sizeof(st->rx)ADIS16260_MAX_RX, GFP_KERNEL);
	587	if (st->rx == NULL) {
	588	ret = -ENOMEM;
	589	goto error_free_st;
	590	}
	591	st->tx = kzalloc(sizeof(st->tx)ADIS16260_MAX_TX, GFP_KERNEL);
	592	if (st->tx == NULL) {
	593	ret = -ENOMEM;
	594	goto error_free_rx;
	595	}
	596	st->us = spi;
	597	mutex_init(&st->buf_lock);
	598	/* setup the industrialio driver allocated elements */
6f7c8ee5	599	st->indio_dev = iio_allocate_device(0);
089a4198 BS	600	if (st->indio_dev == NULL) {
	601	ret = -ENOMEM;
	602	goto error_free_tx;
	603	}
	604
	605	st->indio_dev->dev.parent = &spi->dev;
	606	st->indio_dev->num_interrupt_lines = 1;
	607	st->indio_dev->event_attrs = &adis16260_event_attribute_group;
fe346048 JC	608	if (pd && pd->direction)
	609	switch (pd->direction) {
	610	case 'x':
	611	st->indio_dev->attrs = &adis16260_attribute_group_x;
	612	break;
	613	case 'y':
	614	st->indio_dev->attrs = &adis16260_attribute_group_y;
	615	break;
	616	case 'z':
	617	st->indio_dev->attrs = &adis16260_attribute_group_z;
	618	break;
	619	default:
	620	st->indio_dev->attrs = &adis16260_attribute_group;
	621	break;
	622	}
	623	else
	624	st->indio_dev->attrs = &adis16260_attribute_group;
	625
089a4198 BS	626	st->indio_dev->dev_data = (void *)(st);
	627	st->indio_dev->driver_module = THIS_MODULE;
	628	st->indio_dev->modes = INDIO_DIRECT_MODE;
	629
	630	ret = adis16260_configure_ring(st->indio_dev);
	631	if (ret)
	632	goto error_free_dev;
	633
	634	ret = iio_device_register(st->indio_dev);
	635	if (ret)
	636	goto error_unreg_ring_funcs;
	637	regdone = 1;
2662051e	638	ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
089a4198 BS	639	if (ret) {
	640	printk(KERN_ERR "failed to initialize the ring\n");
	641	goto error_unreg_ring_funcs;
	642	}
	643
	644	if (spi->irq) {
	645	ret = iio_register_interrupt_line(spi->irq,
	646	st->indio_dev,
	647	0,
	648	IRQF_TRIGGER_RISING,
	649	"adis16260");
	650	if (ret)
	651	goto error_uninitialize_ring;
	652
	653	ret = adis16260_probe_trigger(st->indio_dev);
	654	if (ret)
	655	goto error_unregister_line;
	656	}
	657
	658	/* Get the device into a sane initial state */
	659	ret = adis16260_initial_setup(st);
	660	if (ret)
	661	goto error_remove_trigger;
	662	return 0;
	663
	664	error_remove_trigger:
	665	adis16260_remove_trigger(st->indio_dev);
	666	error_unregister_line:
	667	if (spi->irq)
	668	iio_unregister_interrupt_line(st->indio_dev, 0);
	669	error_uninitialize_ring:
2662051e	670	iio_ring_buffer_unregister(st->indio_dev->ring);
089a4198 BS	671	error_unreg_ring_funcs:
	672	adis16260_unconfigure_ring(st->indio_dev);
	673	error_free_dev:
	674	if (regdone)
	675	iio_device_unregister(st->indio_dev);
	676	else
	677	iio_free_device(st->indio_dev);
	678	error_free_tx:
	679	kfree(st->tx);
	680	error_free_rx:
	681	kfree(st->rx);
	682	error_free_st:
	683	kfree(st);
	684	error_ret:
	685	return ret;
	686	}
	687
	688	static int adis16260_remove(struct spi_device *spi)
	689	{
	690	int ret;
	691	struct adis16260_state *st = spi_get_drvdata(spi);
	692	struct iio_dev *indio_dev = st->indio_dev;
	693
	694	ret = adis16260_stop_device(&(indio_dev->dev));
	695	if (ret)
	696	goto err_ret;
	697
	698	flush_scheduled_work();
	699
	700	adis16260_remove_trigger(indio_dev);
	701	if (spi->irq)
	702	iio_unregister_interrupt_line(indio_dev, 0);
	703
2662051e	704	iio_ring_buffer_unregister(st->indio_dev->ring);
089a4198 BS	705	iio_device_unregister(indio_dev);
	706	adis16260_unconfigure_ring(indio_dev);
	707	kfree(st->tx);
	708	kfree(st->rx);
	709	kfree(st);
	710
089a4198 BS	711	err_ret:
	712	return ret;
	713	}
	714
fe346048 JC	715	/*
	716	* These parts do not need to be differentiated until someone adds
	717	* support for the on chip filtering.
	718	*/
a9672951 JC	719	static const struct spi_device_id adis16260_id[] = {
	720	{"adis16260", 0},
	721	{"adis16265", 0},
fe346048 JC	722	{"adis16250", 0},
fe346048 JC	723	{"adis16255", 0},
03d1b7d3	724	{"adis16251", 1},
a9672951 JC	725	{}
	726	};
	727
089a4198 BS	728	static struct spi_driver adis16260_driver = {
	729	.driver = {
	730	.name = "adis16260",
	731	.owner = THIS_MODULE,
	732	},
	733	.probe = adis16260_probe,
	734	.remove = __devexit_p(adis16260_remove),
a9672951	735	.id_table = adis16260_id,
089a4198 BS	736	};
	737
	738	static __init int adis16260_init(void)
	739	{
	740	return spi_register_driver(&adis16260_driver);
	741	}
	742	module_init(adis16260_init);
	743
	744	static __exit void adis16260_exit(void)
	745	{
	746	spi_unregister_driver(&adis16260_driver);
	747	}
	748	module_exit(adis16260_exit);
	749
	750	MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
	751	MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
	752	MODULE_LICENSE("GPL v2");