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staging:iio:buffer scrap to_iio_buffer as it no longer has meaning.
[deliverable/linux.git] / drivers / staging / iio / gyro / adis16260_core.c
CommitLineData
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>
089a4198
BS		 11#include <linux/delay.h>
12#include <linux/mutex.h>
13#include <linux/device.h>
14#include <linux/kernel.h>
15#include <linux/spi/spi.h>
1cb6c1f5 16#include <linux/slab.h>
089a4198
BS		 17#include <linux/sysfs.h>
18#include <linux/list.h>
99c97852 19#include <linux/module.h>
089a4198
BS		 20
21#include "../iio.h"
22#include "../sysfs.h"
af5046af 23#include "../buffer.h"
089a4198
BS		 24
25#include "adis16260.h"
26
27#define DRIVER_NAME "adis16260"
28
29b7f43e 29static int adis16260_check_status(struct iio_dev *indio_dev);
089a4198
BS		 30
31/**
32 * adis16260_spi_write_reg_8() - write single byte to a register
29b7f43e 33 * @indio_dev: iio_dev for the device
089a4198
BS		 34 * @reg_address: the address of the register to be written
35 * @val: the value to write
36 **/
29b7f43e 37static int adis16260_spi_write_reg_8(struct iio_dev *indio_dev,
089a4198
BS		 38 u8 reg_address,
39 u8 val)
40{
41 int ret;
d088ab83 42 struct adis16260_state *st = iio_priv(indio_dev);
089a4198
BS		 43
44 mutex_lock(&st->buf_lock);
45 st->tx[0] = ADIS16260_WRITE_REG(reg_address);
46 st->tx[1] = val;
47
48 ret = spi_write(st->us, st->tx, 2);
49 mutex_unlock(&st->buf_lock);
50
51 return ret;
52}
53
54/**
55 * adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers
29b7f43e 56 * @indio_dev: iio_dev for the device
089a4198
BS		 57 * @reg_address: the address of the lower of the two registers. Second register
58 * is assumed to have address one greater.
59 * @val: value to be written
60 **/
29b7f43e 61static int adis16260_spi_write_reg_16(struct iio_dev *indio_dev,
089a4198
BS		 62 u8 lower_reg_address,
63 u16 value)
64{
65 int ret;
66 struct spi_message msg;
d088ab83 67 struct adis16260_state *st = iio_priv(indio_dev);
089a4198
BS		 68 struct spi_transfer xfers[] = {
69 {
70 .tx_buf = st->tx,
71 .bits_per_word = 8,
72 .len = 2,
73 .cs_change = 1,
74 .delay_usecs = 20,
75 }, {
76 .tx_buf = st->tx + 2,
77 .bits_per_word = 8,
78 .len = 2,
089a4198
BS		 79 .delay_usecs = 20,
80 },
81 };
82
83 mutex_lock(&st->buf_lock);
84 st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
85 st->tx[1] = value & 0xFF;
86 st->tx[2] = ADIS16260_WRITE_REG(lower_reg_address + 1);
87 st->tx[3] = (value >> 8) & 0xFF;
88
89 spi_message_init(&msg);
90 spi_message_add_tail(&xfers[0], &msg);
91 spi_message_add_tail(&xfers[1], &msg);
92 ret = spi_sync(st->us, &msg);
93 mutex_unlock(&st->buf_lock);
94
95 return ret;
96}
97
98/**
99 * adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register
29b7f43e 100 * @indio_dev: iio_dev for the device
089a4198
BS		 101 * @reg_address: the address of the lower of the two registers. Second register
102 * is assumed to have address one greater.
103 * @val: somewhere to pass back the value read
104 **/
29b7f43e 105static int adis16260_spi_read_reg_16(struct iio_dev *indio_dev,
089a4198
BS		 106 u8 lower_reg_address,
107 u16 *val)
108{
109 struct spi_message msg;
d088ab83 110 struct adis16260_state *st = iio_priv(indio_dev);
089a4198
BS		 111 int ret;
112 struct spi_transfer xfers[] = {
113 {
114 .tx_buf = st->tx,
115 .bits_per_word = 8,
116 .len = 2,
117 .cs_change = 1,
118 .delay_usecs = 30,
119 }, {
120 .rx_buf = st->rx,
121 .bits_per_word = 8,
122 .len = 2,
089a4198
BS		 123 .delay_usecs = 30,
124 },
125 };
126
127 mutex_lock(&st->buf_lock);
128 st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
129 st->tx[1] = 0;
089a4198
BS		 130
131 spi_message_init(&msg);
132 spi_message_add_tail(&xfers[0], &msg);
133 spi_message_add_tail(&xfers[1], &msg);
134 ret = spi_sync(st->us, &msg);
135 if (ret) {
136 dev_err(&st->us->dev,
137 "problem when reading 16 bit register 0x%02X",
138 lower_reg_address);
139 goto error_ret;
140 }
141 *val = (st->rx[0] << 8) | st->rx[1];
142
143error_ret:
144 mutex_unlock(&st->buf_lock);
145 return ret;
146}
147
03d1b7d3
JC		 148static ssize_t adis16260_read_frequency_available(struct device *dev,
149 struct device_attribute *attr,
150 char *buf)
151{
152 struct iio_dev *indio_dev = dev_get_drvdata(dev);
d088ab83 153 struct adis16260_state *st = iio_priv(indio_dev);
03d1b7d3
JC		 154 if (spi_get_device_id(st->us)->driver_data)
155 return sprintf(buf, "%s\n", "0.129 ~ 256");
156 else
157 return sprintf(buf, "%s\n", "256 2048");
158}
159
089a4198
BS		 160static ssize_t adis16260_read_frequency(struct device *dev,
161 struct device_attribute *attr,
162 char *buf)
163{
03d1b7d3 164 struct iio_dev *indio_dev = dev_get_drvdata(dev);
d088ab83 165 struct adis16260_state *st = iio_priv(indio_dev);
089a4198
BS		 166 int ret, len = 0;
167 u16 t;
168 int sps;
29b7f43e 169 ret = adis16260_spi_read_reg_16(indio_dev,
089a4198
BS		 170 ADIS16260_SMPL_PRD,
171 &t);
172 if (ret)
173 return ret;
03d1b7d3
JC		 174
175 if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
176 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
177 else
178 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
089a4198
BS		 179 sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
180 len = sprintf(buf, "%d SPS\n", sps);
181 return len;
182}
183
184static ssize_t adis16260_write_frequency(struct device *dev,
185 struct device_attribute *attr,
186 const char *buf,
187 size_t len)
188{
189 struct iio_dev *indio_dev = dev_get_drvdata(dev);
d088ab83 190 struct adis16260_state *st = iio_priv(indio_dev);
089a4198
BS		 191 long val;
192 int ret;
193 u8 t;
194
195 ret = strict_strtol(buf, 10, &val);
196 if (ret)
197 return ret;
198
199 mutex_lock(&indio_dev->mlock);
03d1b7d3
JC		 200 if (spi_get_device_id(st->us)) {
201 t = (256 / val);
202 if (t > 0)
203 t--;
204 t &= ADIS16260_SMPL_PRD_DIV_MASK;
205 } else {
206 t = (2048 / val);
207 if (t > 0)
208 t--;
209 t &= ADIS16260_SMPL_PRD_DIV_MASK;
210 }
089a4198
BS		 211 if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
212 st->us->max_speed_hz = ADIS16260_SPI_SLOW;
213 else
214 st->us->max_speed_hz = ADIS16260_SPI_FAST;
29b7f43e 215 ret = adis16260_spi_write_reg_8(indio_dev,
089a4198
BS		 216 ADIS16260_SMPL_PRD,
217 t);
218
219 mutex_unlock(&indio_dev->mlock);
220
221 return ret ? ret : len;
222}
223
29b7f43e 224static int adis16260_reset(struct iio_dev *indio_dev)
089a4198
BS		 225{
226 int ret;
29b7f43e 227 ret = adis16260_spi_write_reg_8(indio_dev,
089a4198
BS		 228 ADIS16260_GLOB_CMD,
229 ADIS16260_GLOB_CMD_SW_RESET);
230 if (ret)
29b7f43e 231 dev_err(&indio_dev->dev, "problem resetting device");
089a4198
BS		 232
233 return ret;
234}
235
236static ssize_t adis16260_write_reset(struct device *dev,
237 struct device_attribute *attr,
238 const char *buf, size_t len)
239{
29b7f43e 240 struct iio_dev *indio_dev = dev_get_drvdata(dev);
089a4198
BS		 241 if (len < 1)
242 return -EINVAL;
243 switch (buf[0]) {
244 case '1':
245 case 'y':
246 case 'Y':
29b7f43e 247 return adis16260_reset(indio_dev);
089a4198
BS		 248 }
249 return -EINVAL;
250}
251
29b7f43e 252int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
089a4198
BS		 253{
254 int ret;
255 u16 msc;
29b7f43e 256 ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
089a4198
BS		 257 if (ret)
258 goto error_ret;
259
260 msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
261 if (enable)
262 msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
263 else
264 msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
265
29b7f43e 266 ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
089a4198
BS		 267 if (ret)
268 goto error_ret;
269
270error_ret:
271 return ret;
272}
273
274/* Power down the device */
29b7f43e 275static int adis16260_stop_device(struct iio_dev *indio_dev)
089a4198
BS		 276{
277 int ret;
278 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
279
29b7f43e 280 ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
089a4198 281 if (ret)
29b7f43e 282 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
089a4198
BS		 283
284 return ret;
285}
286
29b7f43e 287static int adis16260_self_test(struct iio_dev *indio_dev)
089a4198
BS		 288{
289 int ret;
29b7f43e 290 ret = adis16260_spi_write_reg_16(indio_dev,
089a4198
BS		 291 ADIS16260_MSC_CTRL,
292 ADIS16260_MSC_CTRL_MEM_TEST);
293 if (ret) {
29b7f43e 294 dev_err(&indio_dev->dev, "problem starting self test");
089a4198
BS		 295 goto err_ret;
296 }
297
29b7f43e 298 adis16260_check_status(indio_dev);
089a4198
BS		 299
300err_ret:
301 return ret;
302}
303
29b7f43e 304static int adis16260_check_status(struct iio_dev *indio_dev)
089a4198
BS		 305{
306 u16 status;
307 int ret;
29b7f43e 308 struct device *dev = &indio_dev->dev;
089a4198 309
29b7f43e
JC		 310 ret = adis16260_spi_read_reg_16(indio_dev,
311 ADIS16260_DIAG_STAT,
312 &status);
089a4198
BS		 313
314 if (ret < 0) {
315 dev_err(dev, "Reading status failed\n");
316 goto error_ret;
317 }
318 ret = status & 0x7F;
319 if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
320 dev_err(dev, "Flash checksum error\n");
321 if (status & ADIS16260_DIAG_STAT_SELF_TEST)
322 dev_err(dev, "Self test error\n");
323 if (status & ADIS16260_DIAG_STAT_OVERFLOW)
324 dev_err(dev, "Sensor overrange\n");
325 if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
326 dev_err(dev, "SPI failure\n");
327 if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
328 dev_err(dev, "Flash update failed\n");
329 if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
330 dev_err(dev, "Power supply above 5.25V\n");
331 if (status & ADIS16260_DIAG_STAT_POWER_LOW)
332 dev_err(dev, "Power supply below 4.75V\n");
333
334error_ret:
335 return ret;
336}
337
29b7f43e 338static int adis16260_initial_setup(struct iio_dev *indio_dev)
089a4198
BS		 339{
340 int ret;
29b7f43e 341 struct device *dev = &indio_dev->dev;
089a4198
BS		 342
343 /* Disable IRQ */
29b7f43e 344 ret = adis16260_set_irq(indio_dev, false);
089a4198
BS		 345 if (ret) {
346 dev_err(dev, "disable irq failed");
347 goto err_ret;
348 }
349
350 /* Do self test */
29b7f43e 351 ret = adis16260_self_test(indio_dev);
089a4198
BS		 352 if (ret) {
353 dev_err(dev, "self test failure");
354 goto err_ret;
355 }
356
357 /* Read status register to check the result */
29b7f43e 358 ret = adis16260_check_status(indio_dev);
089a4198 359 if (ret) {
29b7f43e 360 adis16260_reset(indio_dev);
089a4198
BS		 361 dev_err(dev, "device not playing ball -> reset");
362 msleep(ADIS16260_STARTUP_DELAY);
29b7f43e 363 ret = adis16260_check_status(indio_dev);
089a4198
BS		 364 if (ret) {
365 dev_err(dev, "giving up");
366 goto err_ret;
367 }
368 }
369
089a4198
BS		 370err_ret:
371 return ret;
372}
373
089a4198
BS		 374static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
375 adis16260_read_frequency,
376 adis16260_write_frequency);
089a4198
BS		 377
378static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
379
03d1b7d3
JC		 380static IIO_DEVICE_ATTR(sampling_frequency_available,
381 S_IRUGO, adis16260_read_frequency_available, NULL, 0);
089a4198 382
29b7f43e
JC		 383enum adis16260_channel {
384 gyro,
385 temp,
386 in_supply,
387 in_aux,
388 angle,
389};
390#define ADIS16260_GYRO_CHANNEL_SET(axis, mod) \
391 struct iio_chan_spec adis16260_channels_##axis[] = { \
41ea040c 392 IIO_CHAN(IIO_ANGL_VEL, 1, 0, 0, NULL, 0, mod, \
c8a9f805
JC		 393 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
394 IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT | \
395 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
29b7f43e
JC		 396 gyro, ADIS16260_SCAN_GYRO, \
397 IIO_ST('s', 14, 16, 0), 0), \
398 IIO_CHAN(IIO_ANGL, 1, 0, 0, NULL, 0, mod, \
399 0, \
400 angle, ADIS16260_SCAN_ANGL, \
401 IIO_ST('u', 14, 16, 0), 0), \
402 IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0, \
c8a9f805
JC		 403 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \
404 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
29b7f43e
JC		 405 temp, ADIS16260_SCAN_TEMP, \
406 IIO_ST('u', 12, 16, 0), 0), \
6835cb6b 407 IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, "supply", 0, 0, \
c8a9f805 408 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
29b7f43e
JC		 409 in_supply, ADIS16260_SCAN_SUPPLY, \
410 IIO_ST('u', 12, 16, 0), 0), \
6835cb6b 411 IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, NULL, 1, 0, \
c8a9f805 412 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
29b7f43e
JC		 413 in_aux, ADIS16260_SCAN_AUX_ADC, \
414 IIO_ST('u', 12, 16, 0), 0), \
415 IIO_CHAN_SOFT_TIMESTAMP(5) \
416 }
089a4198 417
29b7f43e
JC		 418static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
419static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
420static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
421
422static const u8 adis16260_addresses[5][3] = {
423 [gyro] = { ADIS16260_GYRO_OUT,
424 ADIS16260_GYRO_OFF,
425 ADIS16260_GYRO_SCALE },
426 [angle] = { ADIS16260_ANGL_OUT },
427 [in_supply] = { ADIS16260_SUPPLY_OUT },
428 [in_aux] = { ADIS16260_AUX_ADC },
429 [temp] = { ADIS16260_TEMP_OUT },
430};
431static int adis16260_read_raw(struct iio_dev *indio_dev,
432 struct iio_chan_spec const *chan,
433 int *val, int *val2,
434 long mask)
435{
d088ab83 436 struct adis16260_state *st = iio_priv(indio_dev);
29b7f43e
JC		 437 int ret;
438 int bits;
439 u8 addr;
440 s16 val16;
441
442 switch (mask) {
443 case 0:
444 mutex_lock(&indio_dev->mlock);
445 addr = adis16260_addresses[chan->address][0];
446 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
8f896155
DC		 447 if (ret) {
448 mutex_unlock(&indio_dev->mlock);
29b7f43e 449 return ret;
8f896155 450 }
29b7f43e
JC		 451
452 if (val16 & ADIS16260_ERROR_ACTIVE) {
453 ret = adis16260_check_status(indio_dev);
8f896155
DC		 454 if (ret) {
455 mutex_unlock(&indio_dev->mlock);
29b7f43e 456 return ret;
8f896155 457 }
29b7f43e
JC		 458 }
459 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
460 if (chan->scan_type.sign == 's')
461 val16 = (s16)(val16 <<
462 (16 - chan->scan_type.realbits)) >>
463 (16 - chan->scan_type.realbits);
464 *val = val16;
465 mutex_unlock(&indio_dev->mlock);
466 return IIO_VAL_INT;
c8a9f805 467 case IIO_CHAN_INFO_SCALE:
29b7f43e 468 switch (chan->type) {
41ea040c 469 case IIO_ANGL_VEL:
29b7f43e
JC		 470 *val = 0;
471 if (spi_get_device_id(st->us)->driver_data)
472 *val2 = 320;
473 else
474 *val2 = 1278;
475 return IIO_VAL_INT_PLUS_MICRO;
6835cb6b 476 case IIO_VOLTAGE:
29b7f43e
JC		 477 *val = 0;
478 if (chan->channel == 0)
479 *val2 = 18315;
480 else
481 *val2 = 610500;
482 return IIO_VAL_INT_PLUS_MICRO;
483 case IIO_TEMP:
484 *val = 0;
485 *val2 = 145300;
486 return IIO_VAL_INT_PLUS_MICRO;
487 default:
488 return -EINVAL;
489 }
490 break;
c8a9f805 491 case IIO_CHAN_INFO_OFFSET:
29b7f43e
JC		 492 *val = 25;
493 return IIO_VAL_INT;
c8a9f805 494 case IIO_CHAN_INFO_CALIBBIAS:
29b7f43e 495 switch (chan->type) {
41ea040c 496 case IIO_ANGL_VEL:
29b7f43e
JC		 497 bits = 12;
498 break;
499 default:
500 return -EINVAL;
501 };
502 mutex_lock(&indio_dev->mlock);
503 addr = adis16260_addresses[chan->address][1];
504 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
505 if (ret) {
506 mutex_unlock(&indio_dev->mlock);
507 return ret;
508 }
509 val16 &= (1 << bits) - 1;
510 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
511 *val = val16;
512 mutex_unlock(&indio_dev->mlock);
513 return IIO_VAL_INT;
c8a9f805 514 case IIO_CHAN_INFO_CALIBSCALE:
29b7f43e 515 switch (chan->type) {
41ea040c 516 case IIO_ANGL_VEL:
29b7f43e
JC		 517 bits = 12;
518 break;
519 default:
520 return -EINVAL;
521 };
522 mutex_lock(&indio_dev->mlock);
523 addr = adis16260_addresses[chan->address][2];
524 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
525 if (ret) {
526 mutex_unlock(&indio_dev->mlock);
527 return ret;
528 }
529 *val = (1 << bits) - 1;
530 mutex_unlock(&indio_dev->mlock);
531 return IIO_VAL_INT;
532 }
533 return -EINVAL;
534}
535
536static int adis16260_write_raw(struct iio_dev *indio_dev,
537 struct iio_chan_spec const *chan,
538 int val,
539 int val2,
540 long mask)
541{
542 int bits = 12;
543 s16 val16;
544 u8 addr;
545 switch (mask) {
c8a9f805 546 case IIO_CHAN_INFO_CALIBBIAS:
29b7f43e
JC		 547 val16 = val & ((1 << bits) - 1);
548 addr = adis16260_addresses[chan->address][1];
549 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
c8a9f805 550 case IIO_CHAN_INFO_CALIBSCALE:
29b7f43e
JC		 551 val16 = val & ((1 << bits) - 1);
552 addr = adis16260_addresses[chan->address][2];
553 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
554 }
555 return -EINVAL;
556}
557
558static struct attribute *adis16260_attributes[] = {
559 &iio_dev_attr_sampling_frequency.dev_attr.attr,
560 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
561 &iio_dev_attr_reset.dev_attr.attr,
562 NULL
563};
564
565static const struct attribute_group adis16260_attribute_group = {
566 .attrs = adis16260_attributes,
567};
089a4198 568
6fe8135f
JC		 569static const struct iio_info adis16260_info = {
570 .attrs = &adis16260_attribute_group,
571 .read_raw = &adis16260_read_raw,
572 .write_raw = &adis16260_write_raw,
573 .driver_module = THIS_MODULE,
574};
575
089a4198
BS		 576static int __devinit adis16260_probe(struct spi_device *spi)
577{
26d25ae3 578 int ret;
fe346048 579 struct adis16260_platform_data *pd = spi->dev.platform_data;
d088ab83
JC		 580 struct adis16260_state *st;
581 struct iio_dev *indio_dev;
582
583 /* setup the industrialio driver allocated elements */
584 indio_dev = iio_allocate_device(sizeof(*st));
585 if (indio_dev == NULL) {
586 ret = -ENOMEM;
089a4198
BS		 587 goto error_ret;
588 }
d088ab83 589 st = iio_priv(indio_dev);
fe346048
JC		 590 if (pd)
591 st->negate = pd->negate;
089a4198
BS		 592 /* this is only used for removal purposes */
593 spi_set_drvdata(spi, st);
594
089a4198
BS		 595 st->us = spi;
596 mutex_init(&st->buf_lock);
089a4198 597
d088ab83
JC		 598 indio_dev->name = spi_get_device_id(st->us)->name;
599 indio_dev->dev.parent = &spi->dev;
600 indio_dev->info = &adis16260_info;
601 indio_dev->num_channels
29b7f43e 602 = ARRAY_SIZE(adis16260_channels_x);
fe346048
JC		 603 if (pd && pd->direction)
604 switch (pd->direction) {
605 case 'x':
d088ab83 606 indio_dev->channels = adis16260_channels_x;
fe346048
JC		 607 break;
608 case 'y':
d088ab83 609 indio_dev->channels = adis16260_channels_y;
fe346048
JC		 610 break;
611 case 'z':
d088ab83 612 indio_dev->channels = adis16260_channels_z;
fe346048
JC		 613 break;
614 default:
29b7f43e 615 return -EINVAL;
fe346048
JC		 616 }
617 else
d088ab83 618 indio_dev->channels = adis16260_channels_x;
7bcf302f 619 indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
d088ab83 620 indio_dev->modes = INDIO_DIRECT_MODE;
089a4198 621
d088ab83 622 ret = adis16260_configure_ring(indio_dev);
089a4198
BS		 623 if (ret)
624 goto error_free_dev;
625
14555b14
JC		 626 ret = iio_buffer_register(indio_dev,
627 indio_dev->channels,
628 ARRAY_SIZE(adis16260_channels_x));
089a4198
BS		 629 if (ret) {
630 printk(KERN_ERR "failed to initialize the ring\n");
631 goto error_unreg_ring_funcs;
632 }
14555b14 633 if (indio_dev->buffer) {
bd94c6a8 634 /* Set default scan mode */
14555b14
JC		 635 iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_SUPPLY);
636 iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_GYRO);
637 iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_AUX_ADC);
638 iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_TEMP);
639 iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_ANGL);
bd94c6a8 640 }
089a4198 641 if (spi->irq) {
d088ab83 642 ret = adis16260_probe_trigger(indio_dev);
089a4198 643 if (ret)
ab8d48d4 644 goto error_uninitialize_ring;
089a4198
BS		 645 }
646
647 /* Get the device into a sane initial state */
d088ab83 648 ret = adis16260_initial_setup(indio_dev);
089a4198
BS		 649 if (ret)
650 goto error_remove_trigger;
26d25ae3
JC		 651 ret = iio_device_register(indio_dev);
652 if (ret)
653 goto error_remove_trigger;
654
089a4198
BS		 655 return 0;
656
657error_remove_trigger:
d088ab83 658 adis16260_remove_trigger(indio_dev);
089a4198 659error_uninitialize_ring:
14555b14 660 iio_buffer_unregister(indio_dev);
089a4198 661error_unreg_ring_funcs:
d088ab83 662 adis16260_unconfigure_ring(indio_dev);
089a4198 663error_free_dev:
26d25ae3 664 iio_free_device(indio_dev);
089a4198
BS		 665error_ret:
666 return ret;
667}
668
669static int adis16260_remove(struct spi_device *spi)
670{
671 int ret;
d088ab83 672 struct iio_dev *indio_dev = spi_get_drvdata(spi);
089a4198 673
d2fffd6c
JC		 674 iio_device_unregister(indio_dev);
675
29b7f43e 676 ret = adis16260_stop_device(indio_dev);
089a4198
BS		 677 if (ret)
678 goto err_ret;
679
680 flush_scheduled_work();
681
682 adis16260_remove_trigger(indio_dev);
14555b14 683 iio_buffer_unregister(indio_dev);
089a4198 684 adis16260_unconfigure_ring(indio_dev);
d2fffd6c 685 iio_free_device(indio_dev);
089a4198 686
089a4198
BS		 687err_ret:
688 return ret;
689}
690
fe346048
JC		 691/*
692 * These parts do not need to be differentiated until someone adds
693 * support for the on chip filtering.
694 */
a9672951
JC		 695static const struct spi_device_id adis16260_id[] = {
696 {"adis16260", 0},
697 {"adis16265", 0},
fe346048
JC		 698 {"adis16250", 0},
699 {"adis16255", 0},
03d1b7d3 700 {"adis16251", 1},
a9672951
JC		 701 {}
702};
55e4390c 703MODULE_DEVICE_TABLE(spi, adis16260_id);
a9672951 704
089a4198
BS		 705static struct spi_driver adis16260_driver = {
706 .driver = {
707 .name = "adis16260",
708 .owner = THIS_MODULE,
709 },
710 .probe = adis16260_probe,
711 .remove = __devexit_p(adis16260_remove),
a9672951 712 .id_table = adis16260_id,
089a4198
BS		 713};
714
715static __init int adis16260_init(void)
716{
717 return spi_register_driver(&adis16260_driver);
718}
719module_init(adis16260_init);
720
721static __exit void adis16260_exit(void)
722{
723 spi_unregister_driver(&adis16260_driver);
724}
725module_exit(adis16260_exit);
726
727MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
728MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
729MODULE_LICENSE("GPL v2");
Linux kernel - Deliverables
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