drivers/staging/iio/imu/adis16350_core.c

   1 /*
   2  * ADIS16350/54/55/60/62/64/65 high precision tri-axis inertial sensor
   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 "../adc/adc.h"
  26 #include "../gyro/gyro.h"
  27
  28 #include "adis16350.h"
  29
  30 #define DRIVER_NAME             "adis16350"
  31
  32 static int adis16350_check_status(struct device *dev);
  33
  34 /**
  35  * adis16350_spi_write_reg_8() - write single byte to a register
  36  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  37  * @reg_address: the address of the register to be written
  38  * @val: the value to write
  39  **/
  40 static int adis16350_spi_write_reg_8(struct device *dev,
  41                 u8 reg_address,
  42                 u8 val)
  43 {
  44         int ret;
  45         struct iio_dev *indio_dev = dev_get_drvdata(dev);
  46         struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
  47
  48         mutex_lock(&st->buf_lock);
  49         st->tx[0] = ADIS16350_WRITE_REG(reg_address);
  50         st->tx[1] = val;
  51
  52         ret = spi_write(st->us, st->tx, 2);
  53         mutex_unlock(&st->buf_lock);
  54
  55         return ret;
  56 }
  57
  58 /**
  59  * adis16350_spi_write_reg_16() - write 2 bytes to a pair of registers
  60  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  61  * @reg_address: the address of the lower of the two registers. Second register
  62  *               is assumed to have address one greater.
  63  * @val: value to be written
  64  **/
  65 static int adis16350_spi_write_reg_16(struct device *dev,
  66                 u8 lower_reg_address,
  67                 u16 value)
  68 {
  69         int ret;
  70         struct spi_message msg;
  71         struct iio_dev *indio_dev = dev_get_drvdata(dev);
  72         struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
  73         struct spi_transfer xfers[] = {
  74                 {
  75                         .tx_buf = st->tx,
  76                         .bits_per_word = 8,
  77                         .len = 2,
  78                         .cs_change = 1,
  79                         .delay_usecs = 35,
  80                 }, {
  81                         .tx_buf = st->tx + 2,
  82                         .bits_per_word = 8,
  83                         .len = 2,
  84                         .cs_change = 1,
  85                         .delay_usecs = 35,
  86                 },
  87         };
  88
  89         mutex_lock(&st->buf_lock);
  90         st->tx[0] = ADIS16350_WRITE_REG(lower_reg_address);
  91         st->tx[1] = value & 0xFF;
  92         st->tx[2] = ADIS16350_WRITE_REG(lower_reg_address + 1);
  93         st->tx[3] = (value >> 8) & 0xFF;
  94
  95         spi_message_init(&msg);
  96         spi_message_add_tail(&xfers[0], &msg);
  97         spi_message_add_tail(&xfers[1], &msg);
  98         ret = spi_sync(st->us, &msg);
  99         mutex_unlock(&st->buf_lock);
 100
 101         return ret;
 102 }
 103
 104 /**
 105  * adis16350_spi_read_reg_16() - read 2 bytes from a 16-bit register
 106  * @dev: device associated with child of actual device (iio_dev or iio_trig)
 107  * @reg_address: the address of the lower of the two registers. Second register
 108  *               is assumed to have address one greater.
 109  * @val: somewhere to pass back the value read
 110  **/
 111 static int adis16350_spi_read_reg_16(struct device *dev,
 112                 u8 lower_reg_address,
 113                 u16 *val)
 114 {
 115         struct spi_message msg;
 116         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 117         struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
 118         int ret;
 119         struct spi_transfer xfers[] = {
 120                 {
 121                         .tx_buf = st->tx,
 122                         .bits_per_word = 8,
 123                         .len = 2,
 124                         .cs_change = 1,
 125                         .delay_usecs = 35,
 126                 }, {
 127                         .rx_buf = st->rx,
 128                         .bits_per_word = 8,
 129                         .len = 2,
 130                         .cs_change = 1,
 131                         .delay_usecs = 35,
 132                 },
 133         };
 134
 135         mutex_lock(&st->buf_lock);
 136         st->tx[0] = ADIS16350_READ_REG(lower_reg_address);
 137         st->tx[1] = 0;
 138         st->tx[2] = 0;
 139         st->tx[3] = 0;
 140
 141         spi_message_init(&msg);
 142         spi_message_add_tail(&xfers[0], &msg);
 143         spi_message_add_tail(&xfers[1], &msg);
 144         ret = spi_sync(st->us, &msg);
 145         if (ret) {
 146                 dev_err(&st->us->dev,
 147                         "problem when reading 16 bit register 0x%02X",
 148                         lower_reg_address);
 149                 goto error_ret;
 150         }
 151         *val = (st->rx[0] << 8) | st->rx[1];
 152
 153 error_ret:
 154         mutex_unlock(&st->buf_lock);
 155         return ret;
 156 }
 157
 158
 159 static ssize_t adis16350_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 = adis16350_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
 170         if (ret)
 171                 return ret;
 172
 173         if (val & ADIS16350_ERROR_ACTIVE)
 174                 adis16350_check_status(dev);
 175         val = ((s16)(val << shift) >> shift);
 176         return sprintf(buf, "%d\n", val);
 177 }
 178
 179 static ssize_t adis16350_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 = adis16350_spi_read_reg_16(dev, this_attr->address, &val);
 188         if (ret)
 189                 return ret;
 190
 191         if (val & ADIS16350_ERROR_ACTIVE)
 192                 adis16350_check_status(dev);
 193
 194         return sprintf(buf, "%u\n", val & 0x0FFF);
 195 }
 196
 197 static ssize_t adis16350_read_14bit_signed(struct device *dev,
 198                 struct device_attribute *attr,
 199                 char *buf)
 200 {
 201         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 202         ssize_t ret;
 203
 204         /* Take the iio_dev status lock */
 205         mutex_lock(&indio_dev->mlock);
 206         ret =  adis16350_spi_read_signed(dev, attr, buf, 14);
 207         mutex_unlock(&indio_dev->mlock);
 208
 209         return ret;
 210 }
 211
 212 static ssize_t adis16350_read_12bit_signed(struct device *dev,
 213                 struct device_attribute *attr,
 214                 char *buf)
 215 {
 216         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 217         ssize_t ret;
 218
 219         /* Take the iio_dev status lock */
 220         mutex_lock(&indio_dev->mlock);
 221         ret =  adis16350_spi_read_signed(dev, attr, buf, 12);
 222         mutex_unlock(&indio_dev->mlock);
 223
 224         return ret;
 225 }
 226
 227 static ssize_t adis16350_write_16bit(struct device *dev,
 228                 struct device_attribute *attr,
 229                 const char *buf,
 230                 size_t len)
 231 {
 232         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 233         int ret;
 234         long val;
 235
 236         ret = strict_strtol(buf, 10, &val);
 237         if (ret)
 238                 goto error_ret;
 239         ret = adis16350_spi_write_reg_16(dev, this_attr->address, val);
 240
 241 error_ret:
 242         return ret ? ret : len;
 243 }
 244
 245 static ssize_t adis16350_read_frequency(struct device *dev,
 246                 struct device_attribute *attr,
 247                 char *buf)
 248 {
 249         int ret, len = 0;
 250         u16 t;
 251         int sps;
 252         ret = adis16350_spi_read_reg_16(dev,
 253                         ADIS16350_SMPL_PRD,
 254                         &t);
 255         if (ret)
 256                 return ret;
 257         sps =  (t & ADIS16350_SMPL_PRD_TIME_BASE) ? 53 : 1638;
 258         sps /= (t & ADIS16350_SMPL_PRD_DIV_MASK) + 1;
 259         len = sprintf(buf, "%d SPS\n", sps);
 260         return len;
 261 }
 262
 263 static ssize_t adis16350_write_frequency(struct device *dev,
 264                 struct device_attribute *attr,
 265                 const char *buf,
 266                 size_t len)
 267 {
 268         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 269         struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
 270         long val;
 271         int ret;
 272         u8 t;
 273
 274         ret = strict_strtol(buf, 10, &val);
 275         if (ret)
 276                 return ret;
 277
 278         mutex_lock(&indio_dev->mlock);
 279
 280         t = (1638 / val);
 281         if (t > 0)
 282                 t--;
 283         t &= ADIS16350_SMPL_PRD_DIV_MASK;
 284         if ((t & ADIS16350_SMPL_PRD_DIV_MASK) >= 0x0A)
 285                 st->us->max_speed_hz = ADIS16350_SPI_SLOW;
 286         else
 287                 st->us->max_speed_hz = ADIS16350_SPI_FAST;
 288
 289         ret = adis16350_spi_write_reg_8(dev,
 290                         ADIS16350_SMPL_PRD,
 291                         t);
 292
 293         mutex_unlock(&indio_dev->mlock);
 294
 295         return ret ? ret : len;
 296 }
 297
 298 static int adis16350_reset(struct device *dev)
 299 {
 300         int ret;
 301         ret = adis16350_spi_write_reg_8(dev,
 302                         ADIS16350_GLOB_CMD,
 303                         ADIS16350_GLOB_CMD_SW_RESET);
 304         if (ret)
 305                 dev_err(dev, "problem resetting device");
 306
 307         return ret;
 308 }
 309
 310 static ssize_t adis16350_write_reset(struct device *dev,
 311                 struct device_attribute *attr,
 312                 const char *buf, size_t len)
 313 {
 314         if (len < 1)
 315                 return -1;
 316         switch (buf[0]) {
 317         case '1':
 318         case 'y':
 319         case 'Y':
 320                 return adis16350_reset(dev);
 321         }
 322         return -1;
 323 }
 324
 325 int adis16350_set_irq(struct device *dev, bool enable)
 326 {
 327         int ret;
 328         u16 msc;
 329         ret = adis16350_spi_read_reg_16(dev, ADIS16350_MSC_CTRL, &msc);
 330         if (ret)
 331                 goto error_ret;
 332
 333         msc |= ADIS16350_MSC_CTRL_DATA_RDY_POL_HIGH;
 334         msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_DIO2;
 335
 336         if (enable)
 337                 msc |= ADIS16350_MSC_CTRL_DATA_RDY_EN;
 338         else
 339                 msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_EN;
 340
 341         ret = adis16350_spi_write_reg_16(dev, ADIS16350_MSC_CTRL, msc);
 342         if (ret)
 343                 goto error_ret;
 344
 345 error_ret:
 346         return ret;
 347 }
 348
 349 /* Power down the device */
 350 static int adis16350_stop_device(struct device *dev)
 351 {
 352         int ret;
 353         u16 val = ADIS16350_SLP_CNT_POWER_OFF;
 354
 355         ret = adis16350_spi_write_reg_16(dev, ADIS16350_SLP_CNT, val);
 356         if (ret)
 357                 dev_err(dev, "problem with turning device off: SLP_CNT");
 358
 359         return ret;
 360 }
 361
 362 static int adis16350_self_test(struct device *dev)
 363 {
 364         int ret;
 365         ret = adis16350_spi_write_reg_16(dev,
 366                         ADIS16350_MSC_CTRL,
 367                         ADIS16350_MSC_CTRL_MEM_TEST);
 368         if (ret) {
 369                 dev_err(dev, "problem starting self test");
 370                 goto err_ret;
 371         }
 372
 373         adis16350_check_status(dev);
 374
 375 err_ret:
 376         return ret;
 377 }
 378
 379 static int adis16350_check_status(struct device *dev)
 380 {
 381         u16 status;
 382         int ret;
 383
 384         ret = adis16350_spi_read_reg_16(dev, ADIS16350_DIAG_STAT, &status);
 385
 386         if (ret < 0) {
 387                 dev_err(dev, "Reading status failed\n");
 388                 goto error_ret;
 389         }
 390         ret = status;
 391         if (status & ADIS16350_DIAG_STAT_ZACCL_FAIL)
 392                 dev_err(dev, "Z-axis accelerometer self-test failure\n");
 393         if (status & ADIS16350_DIAG_STAT_YACCL_FAIL)
 394                 dev_err(dev, "Y-axis accelerometer self-test failure\n");
 395         if (status & ADIS16350_DIAG_STAT_XACCL_FAIL)
 396                 dev_err(dev, "X-axis accelerometer self-test failure\n");
 397         if (status & ADIS16350_DIAG_STAT_XGYRO_FAIL)
 398                 dev_err(dev, "X-axis gyroscope self-test failure\n");
 399         if (status & ADIS16350_DIAG_STAT_YGYRO_FAIL)
 400                 dev_err(dev, "Y-axis gyroscope self-test failure\n");
 401         if (status & ADIS16350_DIAG_STAT_ZGYRO_FAIL)
 402                 dev_err(dev, "Z-axis gyroscope self-test failure\n");
 403         if (status & ADIS16350_DIAG_STAT_ALARM2)
 404                 dev_err(dev, "Alarm 2 active\n");
 405         if (status & ADIS16350_DIAG_STAT_ALARM1)
 406                 dev_err(dev, "Alarm 1 active\n");
 407         if (status & ADIS16350_DIAG_STAT_FLASH_CHK)
 408                 dev_err(dev, "Flash checksum error\n");
 409         if (status & ADIS16350_DIAG_STAT_SELF_TEST)
 410                 dev_err(dev, "Self test error\n");
 411         if (status & ADIS16350_DIAG_STAT_OVERFLOW)
 412                 dev_err(dev, "Sensor overrange\n");
 413         if (status & ADIS16350_DIAG_STAT_SPI_FAIL)
 414                 dev_err(dev, "SPI failure\n");
 415         if (status & ADIS16350_DIAG_STAT_FLASH_UPT)
 416                 dev_err(dev, "Flash update failed\n");
 417         if (status & ADIS16350_DIAG_STAT_POWER_HIGH)
 418                 dev_err(dev, "Power supply above 5.25V\n");
 419         if (status & ADIS16350_DIAG_STAT_POWER_LOW)
 420                 dev_err(dev, "Power supply below 4.75V\n");
 421
 422 error_ret:
 423         return ret;
 424 }
 425
 426 static int adis16350_initial_setup(struct adis16350_state *st)
 427 {
 428         int ret;
 429         u16 smp_prd;
 430         struct device *dev = &st->indio_dev->dev;
 431
 432         /* use low spi speed for init */
 433         st->us->max_speed_hz = ADIS16350_SPI_SLOW;
 434         st->us->mode = SPI_MODE_3;
 435         spi_setup(st->us);
 436
 437         /* Disable IRQ */
 438         ret = adis16350_set_irq(dev, false);
 439         if (ret) {
 440                 dev_err(dev, "disable irq failed");
 441                 goto err_ret;
 442         }
 443
 444         /* Do self test */
 445         ret = adis16350_self_test(dev);
 446         if (ret) {
 447                 dev_err(dev, "self test failure");
 448                 goto err_ret;
 449         }
 450
 451         /* Read status register to check the result */
 452         ret = adis16350_check_status(dev);
 453         if (ret) {
 454                 adis16350_reset(dev);
 455                 dev_err(dev, "device not playing ball -> reset");
 456                 msleep(ADIS16350_STARTUP_DELAY);
 457                 ret = adis16350_check_status(dev);
 458                 if (ret) {
 459                         dev_err(dev, "giving up");
 460                         goto err_ret;
 461                 }
 462         }
 463
 464         printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
 465                         st->us->chip_select, st->us->irq);
 466
 467         /* use high spi speed if possible */
 468         ret = adis16350_spi_read_reg_16(dev, ADIS16350_SMPL_PRD, &smp_prd);
 469         if (!ret && (smp_prd & ADIS16350_SMPL_PRD_DIV_MASK) < 0x0A) {
 470                 st->us->max_speed_hz = ADIS16350_SPI_SLOW;
 471                 spi_setup(st->us);
 472         }
 473
 474 err_ret:
 475         return ret;
 476 }
 477
 478 static IIO_DEV_ATTR_GYRO_X_CALIBBIAS(S_IWUSR | S_IRUGO,
 479                 adis16350_read_12bit_signed,
 480                 adis16350_write_16bit,
 481                 ADIS16350_XGYRO_OFF);
 482
 483 static IIO_DEV_ATTR_GYRO_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
 484                 adis16350_read_12bit_signed,
 485                 adis16350_write_16bit,
 486                 ADIS16350_YGYRO_OFF);
 487
 488 static IIO_DEV_ATTR_GYRO_Z_CALIBBIAS(S_IWUSR | S_IRUGO,
 489                 adis16350_read_12bit_signed,
 490                 adis16350_write_16bit,
 491                 ADIS16350_ZGYRO_OFF);
 492
 493 static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR | S_IRUGO,
 494                 adis16350_read_12bit_signed,
 495                 adis16350_write_16bit,
 496                 ADIS16350_XACCL_OFF);
 497
 498 static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
 499                 adis16350_read_12bit_signed,
 500                 adis16350_write_16bit,
 501                 ADIS16350_YACCL_OFF);
 502
 503 static IIO_DEV_ATTR_ACCEL_Z_CALIBBIAS(S_IWUSR | S_IRUGO,
 504                 adis16350_read_12bit_signed,
 505                 adis16350_write_16bit,
 506                 ADIS16350_ZACCL_OFF);
 507
 508 static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16350_read_12bit_unsigned,
 509                 ADIS16350_SUPPLY_OUT);
 510 static IIO_CONST_ATTR_IN_NAMED_SCALE(supply, "0.002418");
 511
 512 static IIO_DEV_ATTR_GYRO_X(adis16350_read_14bit_signed,
 513                 ADIS16350_XGYRO_OUT);
 514 static IIO_DEV_ATTR_GYRO_Y(adis16350_read_14bit_signed,
 515                 ADIS16350_YGYRO_OUT);
 516 static IIO_DEV_ATTR_GYRO_Z(adis16350_read_14bit_signed,
 517                 ADIS16350_ZGYRO_OUT);
 518 static IIO_CONST_ATTR_GYRO_SCALE("0.00127862821");
 519
 520 static IIO_DEV_ATTR_ACCEL_X(adis16350_read_14bit_signed,
 521                 ADIS16350_XACCL_OUT);
 522 static IIO_DEV_ATTR_ACCEL_Y(adis16350_read_14bit_signed,
 523                 ADIS16350_YACCL_OUT);
 524 static IIO_DEV_ATTR_ACCEL_Z(adis16350_read_14bit_signed,
 525                 ADIS16350_ZACCL_OUT);
 526 static IIO_CONST_ATTR_ACCEL_SCALE("0.0247323713");
 527
 528 static IIO_DEVICE_ATTR(temp_x_raw, S_IRUGO, adis16350_read_12bit_signed,
 529                 NULL, ADIS16350_XTEMP_OUT);
 530 static IIO_DEVICE_ATTR(temp_y_raw, S_IRUGO, adis16350_read_12bit_signed,
 531                 NULL, ADIS16350_YTEMP_OUT);
 532 static IIO_DEVICE_ATTR(temp_z_raw, S_IRUGO, adis16350_read_12bit_signed,
 533                 NULL, ADIS16350_ZTEMP_OUT);
 534 static IIO_CONST_ATTR_TEMP_SCALE("0.14534");
 535 static IIO_CONST_ATTR_TEMP_OFFSET("198.16");
 536
 537 static IIO_DEV_ATTR_IN_RAW(0, adis16350_read_12bit_unsigned,
 538                 ADIS16350_AUX_ADC);
 539 static IIO_CONST_ATTR(in0_scale, "0.000806");
 540
 541 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
 542                 adis16350_read_frequency,
 543                 adis16350_write_frequency);
 544
 545 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL,
 546                 adis16350_write_reset, 0);
 547
 548 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
 549
 550 static IIO_CONST_ATTR_NAME("adis16350");
 551
 552 static struct attribute *adis16350_attributes[] = {
 553         &iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
 554         &iio_dev_attr_gyro_y_calibbias.dev_attr.attr,
 555         &iio_dev_attr_gyro_z_calibbias.dev_attr.attr,
 556         &iio_dev_attr_accel_x_calibbias.dev_attr.attr,
 557         &iio_dev_attr_accel_y_calibbias.dev_attr.attr,
 558         &iio_dev_attr_accel_z_calibbias.dev_attr.attr,
 559         &iio_dev_attr_in_supply_raw.dev_attr.attr,
 560         &iio_const_attr_in_supply_scale.dev_attr.attr,
 561         &iio_dev_attr_gyro_x_raw.dev_attr.attr,
 562         &iio_dev_attr_gyro_y_raw.dev_attr.attr,
 563         &iio_dev_attr_gyro_z_raw.dev_attr.attr,
 564         &iio_const_attr_gyro_scale.dev_attr.attr,
 565         &iio_dev_attr_accel_x_raw.dev_attr.attr,
 566         &iio_dev_attr_accel_y_raw.dev_attr.attr,
 567         &iio_dev_attr_accel_z_raw.dev_attr.attr,
 568         &iio_const_attr_accel_scale.dev_attr.attr,
 569         &iio_dev_attr_temp_x_raw.dev_attr.attr,
 570         &iio_dev_attr_temp_y_raw.dev_attr.attr,
 571         &iio_dev_attr_temp_z_raw.dev_attr.attr,
 572         &iio_const_attr_temp_scale.dev_attr.attr,
 573         &iio_dev_attr_in0_raw.dev_attr.attr,
 574         &iio_const_attr_in0_scale.dev_attr.attr,
 575         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 576         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
 577         &iio_dev_attr_reset.dev_attr.attr,
 578         &iio_const_attr_name.dev_attr.attr,
 579         NULL
 580 };
 581
 582 static const struct attribute_group adis16350_attribute_group = {
 583         .attrs = adis16350_attributes,
 584 };
 585
 586 static struct attribute *adis16350_event_attributes[] = {
 587         NULL,
 588 };
 589
 590 static struct attribute_group adis16350_event_attribute_group = {
 591         .attrs = adis16350_event_attributes,
 592 };
 593
 594 static int __devinit adis16350_probe(struct spi_device *spi)
 595 {
 596         int ret, regdone = 0;
 597         struct adis16350_state *st = kzalloc(sizeof *st, GFP_KERNEL);
 598         if (!st) {
 599                 ret =  -ENOMEM;
 600                 goto error_ret;
 601         }
 602         /* this is only used for removal purposes */
 603         spi_set_drvdata(spi, st);
 604
 605         /* Allocate the comms buffers */
 606         st->rx = kzalloc(sizeof(*st->rx)*ADIS16350_MAX_RX, GFP_KERNEL);
 607         if (st->rx == NULL) {
 608                 ret = -ENOMEM;
 609                 goto error_free_st;
 610         }
 611         st->tx = kzalloc(sizeof(*st->tx)*ADIS16350_MAX_TX, GFP_KERNEL);
 612         if (st->tx == NULL) {
 613                 ret = -ENOMEM;
 614                 goto error_free_rx;
 615         }
 616         st->us = spi;
 617         mutex_init(&st->buf_lock);
 618         /* setup the industrialio driver allocated elements */
 619         st->indio_dev = iio_allocate_device();
 620         if (st->indio_dev == NULL) {
 621                 ret = -ENOMEM;
 622                 goto error_free_tx;
 623         }
 624
 625         st->indio_dev->dev.parent = &spi->dev;
 626         st->indio_dev->num_interrupt_lines = 1;
 627         st->indio_dev->event_attrs = &adis16350_event_attribute_group;
 628         st->indio_dev->attrs = &adis16350_attribute_group;
 629         st->indio_dev->dev_data = (void *)(st);
 630         st->indio_dev->driver_module = THIS_MODULE;
 631         st->indio_dev->modes = INDIO_DIRECT_MODE;
 632
 633         ret = adis16350_configure_ring(st->indio_dev);
 634         if (ret)
 635                 goto error_free_dev;
 636
 637         ret = iio_device_register(st->indio_dev);
 638         if (ret)
 639                 goto error_unreg_ring_funcs;
 640         regdone = 1;
 641
 642         ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
 643         if (ret) {
 644                 printk(KERN_ERR "failed to initialize the ring\n");
 645                 goto error_unreg_ring_funcs;
 646         }
 647
 648         if (spi->irq) {
 649                 ret = iio_register_interrupt_line(spi->irq,
 650                                 st->indio_dev,
 651                                 0,
 652                                 IRQF_TRIGGER_RISING,
 653                                 "adis16350");
 654                 if (ret)
 655                         goto error_uninitialize_ring;
 656
 657                 ret = adis16350_probe_trigger(st->indio_dev);
 658                 if (ret)
 659                         goto error_unregister_line;
 660         }
 661
 662         /* Get the device into a sane initial state */
 663         ret = adis16350_initial_setup(st);
 664         if (ret)
 665                 goto error_remove_trigger;
 666         return 0;
 667
 668 error_remove_trigger:
 669         adis16350_remove_trigger(st->indio_dev);
 670 error_unregister_line:
 671         if (spi->irq)
 672                 iio_unregister_interrupt_line(st->indio_dev, 0);
 673 error_uninitialize_ring:
 674         iio_ring_buffer_unregister(st->indio_dev->ring);
 675 error_unreg_ring_funcs:
 676         adis16350_unconfigure_ring(st->indio_dev);
 677 error_free_dev:
 678         if (regdone)
 679                 iio_device_unregister(st->indio_dev);
 680         else
 681                 iio_free_device(st->indio_dev);
 682 error_free_tx:
 683         kfree(st->tx);
 684 error_free_rx:
 685         kfree(st->rx);
 686 error_free_st:
 687         kfree(st);
 688 error_ret:
 689         return ret;
 690 }
 691
 692 static int adis16350_remove(struct spi_device *spi)
 693 {
 694         int ret;
 695         struct adis16350_state *st = spi_get_drvdata(spi);
 696         struct iio_dev *indio_dev = st->indio_dev;
 697
 698         ret = adis16350_stop_device(&(indio_dev->dev));
 699         if (ret)
 700                 goto err_ret;
 701
 702         flush_scheduled_work();
 703
 704         adis16350_remove_trigger(indio_dev);
 705         if (spi->irq)
 706                 iio_unregister_interrupt_line(indio_dev, 0);
 707
 708         iio_ring_buffer_unregister(indio_dev->ring);
 709         iio_device_unregister(indio_dev);
 710         adis16350_unconfigure_ring(indio_dev);
 711         kfree(st->tx);
 712         kfree(st->rx);
 713         kfree(st);
 714
 715         return 0;
 716
 717 err_ret:
 718         return ret;
 719 }
 720
 721 static const struct spi_device_id adis16350_id[] = {
 722         {"adis16350", 0},
 723         {"adis16354", 0},
 724         {"adis16355", 0},
 725         {"adis16360", 0},
 726         {"adis16362", 0},
 727         {"adis16364", 0},
 728         {"adis16365", 0},
 729         {}
 730 };
 731
 732 static struct spi_driver adis16350_driver = {
 733         .driver = {
 734                 .name = "adis16350",
 735                 .owner = THIS_MODULE,
 736         },
 737         .probe = adis16350_probe,
 738         .remove = __devexit_p(adis16350_remove),
 739         .id_table = adis16350_id,
 740 };
 741
 742 static __init int adis16350_init(void)
 743 {
 744         return spi_register_driver(&adis16350_driver);
 745 }
 746 module_init(adis16350_init);
 747
 748 static __exit void adis16350_exit(void)
 749 {
 750         spi_unregister_driver(&adis16350_driver);
 751 }
 752 module_exit(adis16350_exit);
 753
 754 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 755 MODULE_DESCRIPTION("Analog Devices ADIS16350/54/55/60/62/64/65 IMU SPI driver");
 756 MODULE_LICENSE("GPL v2");