drivers/staging/iio/imu/adis16300_core.c

   1 /*
   2  * ADIS16300 Four Degrees of Freedom Inertial Sensor Driver
   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>
  17 #include <linux/slab.h>
  18 #include <linux/sysfs.h>
  19 #include <linux/list.h>
  20
  21 #include "../iio.h"
  22 #include "../sysfs.h"
  23 #include "../ring_generic.h"
  24 #include "../accel/accel.h"
  25 #include "../accel/inclinometer.h"
  26 #include "../gyro/gyro.h"
  27 #include "../adc/adc.h"
  28
  29 #include "adis16300.h"
  30
  31 #define DRIVER_NAME             "adis16300"
  32
  33 static int adis16300_check_status(struct device *dev);
  34
  35 /**
  36  * adis16300_spi_write_reg_8() - write single byte to a register
  37  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  38  * @reg_address: the address of the register to be written
  39  * @val: the value to write
  40  **/
  41 static int adis16300_spi_write_reg_8(struct device *dev,
  42                 u8 reg_address,
  43                 u8 val)
  44 {
  45         int ret;
  46         struct iio_dev *indio_dev = dev_get_drvdata(dev);
  47         struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
  48
  49         mutex_lock(&st->buf_lock);
  50         st->tx[0] = ADIS16300_WRITE_REG(reg_address);
  51         st->tx[1] = val;
  52
  53         ret = spi_write(st->us, st->tx, 2);
  54         mutex_unlock(&st->buf_lock);
  55
  56         return ret;
  57 }
  58
  59 /**
  60  * adis16300_spi_write_reg_16() - write 2 bytes to a pair of registers
  61  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  62  * @reg_address: the address of the lower of the two registers. Second register
  63  *               is assumed to have address one greater.
  64  * @val: value to be written
  65  **/
  66 static int adis16300_spi_write_reg_16(struct device *dev,
  67                 u8 lower_reg_address,
  68                 u16 value)
  69 {
  70         int ret;
  71         struct spi_message msg;
  72         struct iio_dev *indio_dev = dev_get_drvdata(dev);
  73         struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
  74         struct spi_transfer xfers[] = {
  75                 {
  76                         .tx_buf = st->tx,
  77                         .bits_per_word = 8,
  78                         .len = 2,
  79                         .cs_change = 1,
  80                         .delay_usecs = 75,
  81                 }, {
  82                         .tx_buf = st->tx + 2,
  83                         .bits_per_word = 8,
  84                         .len = 2,
  85                         .cs_change = 1,
  86                         .delay_usecs = 75,
  87                 },
  88         };
  89
  90         mutex_lock(&st->buf_lock);
  91         st->tx[0] = ADIS16300_WRITE_REG(lower_reg_address);
  92         st->tx[1] = value & 0xFF;
  93         st->tx[2] = ADIS16300_WRITE_REG(lower_reg_address + 1);
  94         st->tx[3] = (value >> 8) & 0xFF;
  95
  96         spi_message_init(&msg);
  97         spi_message_add_tail(&xfers[0], &msg);
  98         spi_message_add_tail(&xfers[1], &msg);
  99         ret = spi_sync(st->us, &msg);
 100         mutex_unlock(&st->buf_lock);
 101
 102         return ret;
 103 }
 104
 105 /**
 106  * adis16300_spi_read_reg_16() - read 2 bytes from a 16-bit register
 107  * @dev: device associated with child of actual device (iio_dev or iio_trig)
 108  * @reg_address: the address of the lower of the two registers. Second register
 109  *               is assumed to have address one greater.
 110  * @val: somewhere to pass back the value read
 111  **/
 112 static int adis16300_spi_read_reg_16(struct device *dev,
 113                 u8 lower_reg_address,
 114                 u16 *val)
 115 {
 116         struct spi_message msg;
 117         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 118         struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
 119         int ret;
 120         struct spi_transfer xfers[] = {
 121                 {
 122                         .tx_buf = st->tx,
 123                         .bits_per_word = 8,
 124                         .len = 2,
 125                         .cs_change = 1,
 126                         .delay_usecs = 75,
 127                 }, {
 128                         .rx_buf = st->rx,
 129                         .bits_per_word = 8,
 130                         .len = 2,
 131                         .cs_change = 1,
 132                         .delay_usecs = 75,
 133                 },
 134         };
 135
 136         mutex_lock(&st->buf_lock);
 137         st->tx[0] = ADIS16300_READ_REG(lower_reg_address);
 138         st->tx[1] = 0;
 139         st->tx[2] = 0;
 140         st->tx[3] = 0;
 141
 142         spi_message_init(&msg);
 143         spi_message_add_tail(&xfers[0], &msg);
 144         spi_message_add_tail(&xfers[1], &msg);
 145         ret = spi_sync(st->us, &msg);
 146         if (ret) {
 147                 dev_err(&st->us->dev,
 148                         "problem when reading 16 bit register 0x%02X",
 149                         lower_reg_address);
 150                 goto error_ret;
 151         }
 152         *val = (st->rx[0] << 8) | st->rx[1];
 153
 154 error_ret:
 155         mutex_unlock(&st->buf_lock);
 156         return ret;
 157 }
 158
 159 static ssize_t adis16300_spi_read_signed(struct device *dev,
 160                 struct device_attribute *attr,
 161                 char *buf,
 162                 unsigned bits)
 163 {
 164         int ret;
 165         s16 val = 0;
 166         unsigned shift = 16 - bits;
 167         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 168
 169         ret = adis16300_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
 170         if (ret)
 171                 return ret;
 172
 173         if (val & ADIS16300_ERROR_ACTIVE)
 174                 adis16300_check_status(dev);
 175         val = ((s16)(val << shift) >> shift);
 176         return sprintf(buf, "%d\n", val);
 177 }
 178
 179 static ssize_t adis16300_read_12bit_unsigned(struct device *dev,
 180                 struct device_attribute *attr,
 181                 char *buf)
 182 {
 183         int ret;
 184         u16 val = 0;
 185         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 186
 187         ret = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
 188         if (ret)
 189                 return ret;
 190
 191         if (val & ADIS16300_ERROR_ACTIVE)
 192                 adis16300_check_status(dev);
 193
 194         return sprintf(buf, "%u\n", val & 0x0FFF);
 195 }
 196
 197 static ssize_t adis16300_read_14bit_unsigned(struct device *dev,
 198                 struct device_attribute *attr,
 199                 char *buf)
 200 {
 201         int ret;
 202         u16 val = 0;
 203         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 204
 205         ret = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
 206         if (ret)
 207                 return ret;
 208
 209         if (val & ADIS16300_ERROR_ACTIVE)
 210                 adis16300_check_status(dev);
 211
 212         return sprintf(buf, "%u\n", val & 0x3FFF);
 213 }
 214
 215 static ssize_t adis16300_read_14bit_signed(struct device *dev,
 216                 struct device_attribute *attr,
 217                 char *buf)
 218 {
 219         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 220         ssize_t ret;
 221
 222         /* Take the iio_dev status lock */
 223         mutex_lock(&indio_dev->mlock);
 224         ret =  adis16300_spi_read_signed(dev, attr, buf, 14);
 225         mutex_unlock(&indio_dev->mlock);
 226
 227         return ret;
 228 }
 229
 230 static ssize_t adis16300_read_12bit_signed(struct device *dev,
 231                 struct device_attribute *attr,
 232                 char *buf)
 233 {
 234         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 235         ssize_t ret;
 236
 237         /* Take the iio_dev status lock */
 238         mutex_lock(&indio_dev->mlock);
 239         ret =  adis16300_spi_read_signed(dev, attr, buf, 12);
 240         mutex_unlock(&indio_dev->mlock);
 241
 242         return ret;
 243 }
 244
 245 static ssize_t adis16300_read_13bit_signed(struct device *dev,
 246                 struct device_attribute *attr,
 247                 char *buf)
 248 {
 249         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 250         ssize_t ret;
 251
 252         /* Take the iio_dev status lock */
 253         mutex_lock(&indio_dev->mlock);
 254         ret =  adis16300_spi_read_signed(dev, attr, buf, 13);
 255         mutex_unlock(&indio_dev->mlock);
 256
 257         return ret;
 258 }
 259
 260 static ssize_t adis16300_write_16bit(struct device *dev,
 261                 struct device_attribute *attr,
 262                 const char *buf,
 263                 size_t len)
 264 {
 265         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 266         int ret;
 267         long val;
 268
 269         ret = strict_strtol(buf, 10, &val);
 270         if (ret)
 271                 goto error_ret;
 272         ret = adis16300_spi_write_reg_16(dev, this_attr->address, val);
 273
 274 error_ret:
 275         return ret ? ret : len;
 276 }
 277
 278 static ssize_t adis16300_read_frequency(struct device *dev,
 279                 struct device_attribute *attr,
 280                 char *buf)
 281 {
 282         int ret, len = 0;
 283         u16 t;
 284         int sps;
 285         ret = adis16300_spi_read_reg_16(dev,
 286                         ADIS16300_SMPL_PRD,
 287                         &t);
 288         if (ret)
 289                 return ret;
 290         sps =  (t & ADIS16300_SMPL_PRD_TIME_BASE) ? 53 : 1638;
 291         sps /= (t & ADIS16300_SMPL_PRD_DIV_MASK) + 1;
 292         len = sprintf(buf, "%d SPS\n", sps);
 293         return len;
 294 }
 295
 296 static ssize_t adis16300_write_frequency(struct device *dev,
 297                 struct device_attribute *attr,
 298                 const char *buf,
 299                 size_t len)
 300 {
 301         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 302         struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
 303         long val;
 304         int ret;
 305         u8 t;
 306
 307         ret = strict_strtol(buf, 10, &val);
 308         if (ret)
 309                 return ret;
 310
 311         mutex_lock(&indio_dev->mlock);
 312
 313         t = (1638 / val);
 314         if (t > 0)
 315                 t--;
 316         t &= ADIS16300_SMPL_PRD_DIV_MASK;
 317         if ((t & ADIS16300_SMPL_PRD_DIV_MASK) >= 0x0A)
 318                 st->us->max_speed_hz = ADIS16300_SPI_SLOW;
 319         else
 320                 st->us->max_speed_hz = ADIS16300_SPI_FAST;
 321
 322         ret = adis16300_spi_write_reg_8(dev,
 323                         ADIS16300_SMPL_PRD,
 324                         t);
 325
 326         mutex_unlock(&indio_dev->mlock);
 327
 328         return ret ? ret : len;
 329 }
 330
 331 static int adis16300_reset(struct device *dev)
 332 {
 333         int ret;
 334         ret = adis16300_spi_write_reg_8(dev,
 335                         ADIS16300_GLOB_CMD,
 336                         ADIS16300_GLOB_CMD_SW_RESET);
 337         if (ret)
 338                 dev_err(dev, "problem resetting device");
 339
 340         return ret;
 341 }
 342
 343 static ssize_t adis16300_write_reset(struct device *dev,
 344                 struct device_attribute *attr,
 345                 const char *buf, size_t len)
 346 {
 347         if (len < 1)
 348                 return -1;
 349         switch (buf[0]) {
 350         case '1':
 351         case 'y':
 352         case 'Y':
 353                 return adis16300_reset(dev);
 354         }
 355         return -1;
 356 }
 357
 358 int adis16300_set_irq(struct device *dev, bool enable)
 359 {
 360         int ret;
 361         u16 msc;
 362         ret = adis16300_spi_read_reg_16(dev, ADIS16300_MSC_CTRL, &msc);
 363         if (ret)
 364                 goto error_ret;
 365
 366         msc |= ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH;
 367         msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_DIO2;
 368         if (enable)
 369                 msc |= ADIS16300_MSC_CTRL_DATA_RDY_EN;
 370         else
 371                 msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_EN;
 372
 373         ret = adis16300_spi_write_reg_16(dev, ADIS16300_MSC_CTRL, msc);
 374         if (ret)
 375                 goto error_ret;
 376
 377 error_ret:
 378         return ret;
 379 }
 380
 381 /* Power down the device */
 382 static int adis16300_stop_device(struct device *dev)
 383 {
 384         int ret;
 385         u16 val = ADIS16300_SLP_CNT_POWER_OFF;
 386
 387         ret = adis16300_spi_write_reg_16(dev, ADIS16300_SLP_CNT, val);
 388         if (ret)
 389                 dev_err(dev, "problem with turning device off: SLP_CNT");
 390
 391         return ret;
 392 }
 393
 394 static int adis16300_self_test(struct device *dev)
 395 {
 396         int ret;
 397         ret = adis16300_spi_write_reg_16(dev,
 398                         ADIS16300_MSC_CTRL,
 399                         ADIS16300_MSC_CTRL_MEM_TEST);
 400         if (ret) {
 401                 dev_err(dev, "problem starting self test");
 402                 goto err_ret;
 403         }
 404
 405         adis16300_check_status(dev);
 406
 407 err_ret:
 408         return ret;
 409 }
 410
 411 static int adis16300_check_status(struct device *dev)
 412 {
 413         u16 status;
 414         int ret;
 415
 416         ret = adis16300_spi_read_reg_16(dev, ADIS16300_DIAG_STAT, &status);
 417
 418         if (ret < 0) {
 419                 dev_err(dev, "Reading status failed\n");
 420                 goto error_ret;
 421         }
 422         ret = status;
 423         if (status & ADIS16300_DIAG_STAT_ZACCL_FAIL)
 424                 dev_err(dev, "Z-axis accelerometer self-test failure\n");
 425         if (status & ADIS16300_DIAG_STAT_YACCL_FAIL)
 426                 dev_err(dev, "Y-axis accelerometer self-test failure\n");
 427         if (status & ADIS16300_DIAG_STAT_XACCL_FAIL)
 428                 dev_err(dev, "X-axis accelerometer self-test failure\n");
 429         if (status & ADIS16300_DIAG_STAT_XGYRO_FAIL)
 430                 dev_err(dev, "X-axis gyroscope self-test failure\n");
 431         if (status & ADIS16300_DIAG_STAT_ALARM2)
 432                 dev_err(dev, "Alarm 2 active\n");
 433         if (status & ADIS16300_DIAG_STAT_ALARM1)
 434                 dev_err(dev, "Alarm 1 active\n");
 435         if (status & ADIS16300_DIAG_STAT_FLASH_CHK)
 436                 dev_err(dev, "Flash checksum error\n");
 437         if (status & ADIS16300_DIAG_STAT_SELF_TEST)
 438                 dev_err(dev, "Self test error\n");
 439         if (status & ADIS16300_DIAG_STAT_OVERFLOW)
 440                 dev_err(dev, "Sensor overrange\n");
 441         if (status & ADIS16300_DIAG_STAT_SPI_FAIL)
 442                 dev_err(dev, "SPI failure\n");
 443         if (status & ADIS16300_DIAG_STAT_FLASH_UPT)
 444                 dev_err(dev, "Flash update failed\n");
 445         if (status & ADIS16300_DIAG_STAT_POWER_HIGH)
 446                 dev_err(dev, "Power supply above 5.25V\n");
 447         if (status & ADIS16300_DIAG_STAT_POWER_LOW)
 448                 dev_err(dev, "Power supply below 4.75V\n");
 449
 450 error_ret:
 451         return ret;
 452 }
 453
 454 static int adis16300_initial_setup(struct adis16300_state *st)
 455 {
 456         int ret;
 457         u16 smp_prd;
 458         struct device *dev = &st->indio_dev->dev;
 459
 460         /* use low spi speed for init */
 461         st->us->max_speed_hz = ADIS16300_SPI_SLOW;
 462         st->us->mode = SPI_MODE_3;
 463         spi_setup(st->us);
 464
 465         /* Disable IRQ */
 466         ret = adis16300_set_irq(dev, false);
 467         if (ret) {
 468                 dev_err(dev, "disable irq failed");
 469                 goto err_ret;
 470         }
 471
 472         /* Do self test */
 473         ret = adis16300_self_test(dev);
 474         if (ret) {
 475                 dev_err(dev, "self test failure");
 476                 goto err_ret;
 477         }
 478
 479         /* Read status register to check the result */
 480         ret = adis16300_check_status(dev);
 481         if (ret) {
 482                 adis16300_reset(dev);
 483                 dev_err(dev, "device not playing ball -> reset");
 484                 msleep(ADIS16300_STARTUP_DELAY);
 485                 ret = adis16300_check_status(dev);
 486                 if (ret) {
 487                         dev_err(dev, "giving up");
 488                         goto err_ret;
 489                 }
 490         }
 491
 492         printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
 493                         st->us->chip_select, st->us->irq);
 494
 495         /* use high spi speed if possible */
 496         ret = adis16300_spi_read_reg_16(dev, ADIS16300_SMPL_PRD, &smp_prd);
 497         if (!ret && (smp_prd & ADIS16300_SMPL_PRD_DIV_MASK) < 0x0A) {
 498                 st->us->max_speed_hz = ADIS16300_SPI_SLOW;
 499                 spi_setup(st->us);
 500         }
 501
 502 err_ret:
 503         return ret;
 504 }
 505
 506 static IIO_DEV_ATTR_GYRO_X_CALIBBIAS(S_IWUSR | S_IRUGO,
 507                 adis16300_read_12bit_signed,
 508                 adis16300_write_16bit,
 509                 ADIS16300_XGYRO_OFF);
 510
 511 static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR | S_IRUGO,
 512                 adis16300_read_12bit_signed,
 513                 adis16300_write_16bit,
 514                 ADIS16300_XACCL_OFF);
 515
 516 static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
 517                 adis16300_read_12bit_signed,
 518                 adis16300_write_16bit,
 519                 ADIS16300_YACCL_OFF);
 520
 521 static IIO_DEV_ATTR_ACCEL_Z_CALIBBIAS(S_IWUSR | S_IRUGO,
 522                 adis16300_read_12bit_signed,
 523                 adis16300_write_16bit,
 524                 ADIS16300_ZACCL_OFF);
 525
 526 static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16300_read_14bit_unsigned,
 527                            ADIS16300_SUPPLY_OUT);
 528 static IIO_CONST_ATTR_IN_NAMED_SCALE(supply, "0.00242");
 529
 530 static IIO_DEV_ATTR_GYRO_X(adis16300_read_14bit_signed,
 531                 ADIS16300_XGYRO_OUT);
 532 static IIO_CONST_ATTR_GYRO_SCALE("0.000872664");
 533
 534 static IIO_DEV_ATTR_ACCEL_X(adis16300_read_14bit_signed,
 535                 ADIS16300_XACCL_OUT);
 536 static IIO_DEV_ATTR_ACCEL_Y(adis16300_read_14bit_signed,
 537                 ADIS16300_YACCL_OUT);
 538 static IIO_DEV_ATTR_ACCEL_Z(adis16300_read_14bit_signed,
 539                 ADIS16300_ZACCL_OUT);
 540 static IIO_CONST_ATTR_ACCEL_SCALE("0.00588399");
 541
 542 static IIO_DEV_ATTR_INCLI_X(adis16300_read_13bit_signed,
 543                 ADIS16300_XINCLI_OUT);
 544 static IIO_DEV_ATTR_INCLI_Y(adis16300_read_13bit_signed,
 545                 ADIS16300_YINCLI_OUT);
 546 static IIO_CONST_ATTR_INCLI_SCALE("0.00076794487");
 547
 548 static IIO_DEV_ATTR_TEMP_RAW(adis16300_read_12bit_unsigned);
 549 static IIO_CONST_ATTR_TEMP_OFFSET("198.16");
 550 static IIO_CONST_ATTR_TEMP_SCALE("0.14");
 551
 552 static IIO_DEV_ATTR_IN_RAW(0, adis16300_read_12bit_unsigned,
 553                 ADIS16300_AUX_ADC);
 554 static IIO_CONST_ATTR(in0_scale, "0.000806");
 555
 556 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
 557                 adis16300_read_frequency,
 558                 adis16300_write_frequency);
 559
 560 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16300_write_reset, 0);
 561
 562 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
 563
 564 static IIO_CONST_ATTR_NAME("adis16300");
 565
 566 static struct attribute *adis16300_event_attributes[] = {
 567         NULL
 568 };
 569
 570 static struct attribute_group adis16300_event_attribute_group = {
 571         .attrs = adis16300_event_attributes,
 572 };
 573
 574 static struct attribute *adis16300_attributes[] = {
 575         &iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
 576         &iio_dev_attr_accel_x_calibbias.dev_attr.attr,
 577         &iio_dev_attr_accel_y_calibbias.dev_attr.attr,
 578         &iio_dev_attr_accel_z_calibbias.dev_attr.attr,
 579         &iio_dev_attr_in_supply_raw.dev_attr.attr,
 580         &iio_const_attr_in_supply_scale.dev_attr.attr,
 581         &iio_dev_attr_gyro_x_raw.dev_attr.attr,
 582         &iio_const_attr_gyro_scale.dev_attr.attr,
 583         &iio_dev_attr_accel_x_raw.dev_attr.attr,
 584         &iio_dev_attr_accel_y_raw.dev_attr.attr,
 585         &iio_dev_attr_accel_z_raw.dev_attr.attr,
 586         &iio_const_attr_accel_scale.dev_attr.attr,
 587         &iio_dev_attr_incli_x_raw.dev_attr.attr,
 588         &iio_dev_attr_incli_y_raw.dev_attr.attr,
 589         &iio_const_attr_incli_scale.dev_attr.attr,
 590         &iio_dev_attr_temp_raw.dev_attr.attr,
 591         &iio_const_attr_temp_offset.dev_attr.attr,
 592         &iio_const_attr_temp_scale.dev_attr.attr,
 593         &iio_dev_attr_in0_raw.dev_attr.attr,
 594         &iio_const_attr_in0_scale.dev_attr.attr,
 595         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 596         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
 597         &iio_dev_attr_reset.dev_attr.attr,
 598         &iio_const_attr_name.dev_attr.attr,
 599         NULL
 600 };
 601
 602 static const struct attribute_group adis16300_attribute_group = {
 603         .attrs = adis16300_attributes,
 604 };
 605
 606 static int __devinit adis16300_probe(struct spi_device *spi)
 607 {
 608         int ret, regdone = 0;
 609         struct adis16300_state *st = kzalloc(sizeof *st, GFP_KERNEL);
 610         if (!st) {
 611                 ret =  -ENOMEM;
 612                 goto error_ret;
 613         }
 614         /* this is only used for removal purposes */
 615         spi_set_drvdata(spi, st);
 616
 617         /* Allocate the comms buffers */
 618         st->rx = kzalloc(sizeof(*st->rx)*ADIS16300_MAX_RX, GFP_KERNEL);
 619         if (st->rx == NULL) {
 620                 ret = -ENOMEM;
 621                 goto error_free_st;
 622         }
 623         st->tx = kzalloc(sizeof(*st->tx)*ADIS16300_MAX_TX, GFP_KERNEL);
 624         if (st->tx == NULL) {
 625                 ret = -ENOMEM;
 626                 goto error_free_rx;
 627         }
 628         st->us = spi;
 629         mutex_init(&st->buf_lock);
 630         /* setup the industrialio driver allocated elements */
 631         st->indio_dev = iio_allocate_device();
 632         if (st->indio_dev == NULL) {
 633                 ret = -ENOMEM;
 634                 goto error_free_tx;
 635         }
 636
 637         st->indio_dev->dev.parent = &spi->dev;
 638         st->indio_dev->num_interrupt_lines = 1;
 639         st->indio_dev->event_attrs = &adis16300_event_attribute_group;
 640         st->indio_dev->attrs = &adis16300_attribute_group;
 641         st->indio_dev->dev_data = (void *)(st);
 642         st->indio_dev->driver_module = THIS_MODULE;
 643         st->indio_dev->modes = INDIO_DIRECT_MODE;
 644
 645         ret = adis16300_configure_ring(st->indio_dev);
 646         if (ret)
 647                 goto error_free_dev;
 648
 649         ret = iio_device_register(st->indio_dev);
 650         if (ret)
 651                 goto error_unreg_ring_funcs;
 652         regdone = 1;
 653
 654         ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
 655         if (ret) {
 656                 printk(KERN_ERR "failed to initialize the ring\n");
 657                 goto error_unreg_ring_funcs;
 658         }
 659
 660         if (spi->irq) {
 661                 ret = iio_register_interrupt_line(spi->irq,
 662                                 st->indio_dev,
 663                                 0,
 664                                 IRQF_TRIGGER_RISING,
 665                                 "adis16300");
 666                 if (ret)
 667                         goto error_uninitialize_ring;
 668
 669                 ret = adis16300_probe_trigger(st->indio_dev);
 670                 if (ret)
 671                         goto error_unregister_line;
 672         }
 673
 674         /* Get the device into a sane initial state */
 675         ret = adis16300_initial_setup(st);
 676         if (ret)
 677                 goto error_remove_trigger;
 678         return 0;
 679
 680 error_remove_trigger:
 681         adis16300_remove_trigger(st->indio_dev);
 682 error_unregister_line:
 683         if (spi->irq)
 684                 iio_unregister_interrupt_line(st->indio_dev, 0);
 685 error_uninitialize_ring:
 686         iio_ring_buffer_unregister(st->indio_dev->ring);
 687 error_unreg_ring_funcs:
 688         adis16300_unconfigure_ring(st->indio_dev);
 689 error_free_dev:
 690         if (regdone)
 691                 iio_device_unregister(st->indio_dev);
 692         else
 693                 iio_free_device(st->indio_dev);
 694 error_free_tx:
 695         kfree(st->tx);
 696 error_free_rx:
 697         kfree(st->rx);
 698 error_free_st:
 699         kfree(st);
 700 error_ret:
 701         return ret;
 702 }
 703
 704 static int adis16300_remove(struct spi_device *spi)
 705 {
 706         int ret;
 707         struct adis16300_state *st = spi_get_drvdata(spi);
 708         struct iio_dev *indio_dev = st->indio_dev;
 709
 710         ret = adis16300_stop_device(&(indio_dev->dev));
 711         if (ret)
 712                 goto err_ret;
 713
 714         flush_scheduled_work();
 715
 716         adis16300_remove_trigger(indio_dev);
 717         if (spi->irq)
 718                 iio_unregister_interrupt_line(indio_dev, 0);
 719
 720         iio_ring_buffer_unregister(indio_dev->ring);
 721         iio_device_unregister(indio_dev);
 722         adis16300_unconfigure_ring(indio_dev);
 723         kfree(st->tx);
 724         kfree(st->rx);
 725         kfree(st);
 726
 727         return 0;
 728
 729 err_ret:
 730         return ret;
 731 }
 732
 733 static struct spi_driver adis16300_driver = {
 734         .driver = {
 735                 .name = "adis16300",
 736                 .owner = THIS_MODULE,
 737         },
 738         .probe = adis16300_probe,
 739         .remove = __devexit_p(adis16300_remove),
 740 };
 741
 742 static __init int adis16300_init(void)
 743 {
 744         return spi_register_driver(&adis16300_driver);
 745 }
 746 module_init(adis16300_init);
 747
 748 static __exit void adis16300_exit(void)
 749 {
 750         spi_unregister_driver(&adis16300_driver);
 751 }
 752 module_exit(adis16300_exit);
 753
 754 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 755 MODULE_DESCRIPTION("Analog Devices ADIS16300 IMU SPI driver");
 756 MODULE_LICENSE("GPL v2");