drivers/staging/iio/imu/adis16400_core.c

   1 /*
   2  * adis16400.c  support Analog Devices ADIS16400/5
   3  *              3d 2g Linear Accelerometers,
   4  *              3d Gyroscopes,
   5  *              3d Magnetometers via SPI
   6  *
   7  * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
   8  * Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk>
   9  *
  10  * This program is free software; you can redistribute it and/or modify
  11  * it under the terms of the GNU General Public License version 2 as
  12  * published by the Free Software Foundation.
  13  *
  14  */
  15
  16 #include <linux/interrupt.h>
  17 #include <linux/irq.h>
  18 #include <linux/gpio.h>
  19 #include <linux/delay.h>
  20 #include <linux/mutex.h>
  21 #include <linux/device.h>
  22 #include <linux/kernel.h>
  23 #include <linux/spi/spi.h>
  24 #include <linux/slab.h>
  25 #include <linux/sysfs.h>
  26 #include <linux/list.h>
  27
  28 #include "../iio.h"
  29 #include "../sysfs.h"
  30 #include "../ring_generic.h"
  31 #include "../accel/accel.h"
  32 #include "../adc/adc.h"
  33 #include "../gyro/gyro.h"
  34 #include "../magnetometer/magnet.h"
  35
  36 #include "adis16400.h"
  37
  38 #define DRIVER_NAME             "adis16400"
  39
  40 static int adis16400_check_status(struct device *dev);
  41
  42 /* At the moment the spi framework doesn't allow global setting of cs_change.
  43  * It's in the likely to be added comment at the top of spi.h.
  44  * This means that use cannot be made of spi_write etc.
  45  */
  46
  47 /**
  48  * adis16400_spi_write_reg_8() - write single byte to a register
  49  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  50  * @reg_address: the address of the register to be written
  51  * @val: the value to write
  52  **/
  53 static int adis16400_spi_write_reg_8(struct device *dev,
  54                 u8 reg_address,
  55                 u8 val)
  56 {
  57         int ret;
  58         struct iio_dev *indio_dev = dev_get_drvdata(dev);
  59         struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
  60
  61         mutex_lock(&st->buf_lock);
  62         st->tx[0] = ADIS16400_WRITE_REG(reg_address);
  63         st->tx[1] = val;
  64
  65         ret = spi_write(st->us, st->tx, 2);
  66         mutex_unlock(&st->buf_lock);
  67
  68         return ret;
  69 }
  70
  71 /**
  72  * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
  73  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  74  * @reg_address: the address of the lower of the two registers. Second register
  75  *               is assumed to have address one greater.
  76  * @val: value to be written
  77  **/
  78 static int adis16400_spi_write_reg_16(struct device *dev,
  79                 u8 lower_reg_address,
  80                 u16 value)
  81 {
  82         int ret;
  83         struct spi_message msg;
  84         struct iio_dev *indio_dev = dev_get_drvdata(dev);
  85         struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
  86         struct spi_transfer xfers[] = {
  87                 {
  88                         .tx_buf = st->tx,
  89                         .bits_per_word = 8,
  90                         .len = 2,
  91                         .cs_change = 1,
  92                 }, {
  93                         .tx_buf = st->tx + 2,
  94                         .bits_per_word = 8,
  95                         .len = 2,
  96                         .cs_change = 1,
  97                 },
  98         };
  99
 100         mutex_lock(&st->buf_lock);
 101         st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
 102         st->tx[1] = value & 0xFF;
 103         st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
 104         st->tx[3] = (value >> 8) & 0xFF;
 105
 106         spi_message_init(&msg);
 107         spi_message_add_tail(&xfers[0], &msg);
 108         spi_message_add_tail(&xfers[1], &msg);
 109         ret = spi_sync(st->us, &msg);
 110         mutex_unlock(&st->buf_lock);
 111
 112         return ret;
 113 }
 114
 115 /**
 116  * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
 117  * @dev: device associated with child of actual device (iio_dev or iio_trig)
 118  * @reg_address: the address of the lower of the two registers. Second register
 119  *               is assumed to have address one greater.
 120  * @val: somewhere to pass back the value read
 121  **/
 122 static int adis16400_spi_read_reg_16(struct device *dev,
 123                 u8 lower_reg_address,
 124                 u16 *val)
 125 {
 126         struct spi_message msg;
 127         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 128         struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
 129         int ret;
 130         struct spi_transfer xfers[] = {
 131                 {
 132                         .tx_buf = st->tx,
 133                         .bits_per_word = 8,
 134                         .len = 2,
 135                         .cs_change = 1,
 136                 }, {
 137                         .rx_buf = st->rx,
 138                         .bits_per_word = 8,
 139                         .len = 2,
 140                         .cs_change = 1,
 141                 },
 142         };
 143
 144         mutex_lock(&st->buf_lock);
 145         st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
 146         st->tx[1] = 0;
 147         st->tx[2] = 0;
 148         st->tx[3] = 0;
 149
 150         spi_message_init(&msg);
 151         spi_message_add_tail(&xfers[0], &msg);
 152         spi_message_add_tail(&xfers[1], &msg);
 153         ret = spi_sync(st->us, &msg);
 154         if (ret) {
 155                 dev_err(&st->us->dev,
 156                         "problem when reading 16 bit register 0x%02X",
 157                         lower_reg_address);
 158                 goto error_ret;
 159         }
 160         *val = (st->rx[0] << 8) | st->rx[1];
 161
 162 error_ret:
 163         mutex_unlock(&st->buf_lock);
 164         return ret;
 165 }
 166
 167 static ssize_t adis16400_spi_read_signed(struct device *dev,
 168                 struct device_attribute *attr,
 169                 char *buf,
 170                 unsigned bits)
 171 {
 172         int ret;
 173         s16 val = 0;
 174         unsigned shift = 16 - bits;
 175         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 176
 177         ret = adis16400_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
 178         if (ret)
 179                 return ret;
 180
 181         if (val & ADIS16400_ERROR_ACTIVE)
 182                 adis16400_check_status(dev);
 183         val = ((s16)(val << shift) >> shift);
 184         return sprintf(buf, "%d\n", val);
 185 }
 186
 187 static ssize_t adis16400_read_12bit_unsigned(struct device *dev,
 188                 struct device_attribute *attr,
 189                 char *buf)
 190 {
 191         int ret;
 192         u16 val = 0;
 193         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 194
 195         ret = adis16400_spi_read_reg_16(dev, this_attr->address, &val);
 196         if (ret)
 197                 return ret;
 198
 199         if (val & ADIS16400_ERROR_ACTIVE)
 200                 adis16400_check_status(dev);
 201
 202         return sprintf(buf, "%u\n", val & 0x0FFF);
 203 }
 204
 205 static ssize_t adis16400_read_14bit_signed(struct device *dev,
 206                 struct device_attribute *attr,
 207                 char *buf)
 208 {
 209         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 210         ssize_t ret;
 211
 212         /* Take the iio_dev status lock */
 213         mutex_lock(&indio_dev->mlock);
 214         ret =  adis16400_spi_read_signed(dev, attr, buf, 14);
 215         mutex_unlock(&indio_dev->mlock);
 216
 217         return ret;
 218 }
 219
 220 static ssize_t adis16400_read_12bit_signed(struct device *dev,
 221                 struct device_attribute *attr,
 222                 char *buf)
 223 {
 224         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 225         ssize_t ret;
 226
 227         /* Take the iio_dev status lock */
 228         mutex_lock(&indio_dev->mlock);
 229         ret =  adis16400_spi_read_signed(dev, attr, buf, 12);
 230         mutex_unlock(&indio_dev->mlock);
 231
 232         return ret;
 233 }
 234
 235 static ssize_t adis16400_write_16bit(struct device *dev,
 236                 struct device_attribute *attr,
 237                 const char *buf,
 238                 size_t len)
 239 {
 240         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 241         int ret;
 242         long val;
 243
 244         ret = strict_strtol(buf, 10, &val);
 245         if (ret)
 246                 goto error_ret;
 247         ret = adis16400_spi_write_reg_16(dev, this_attr->address, val);
 248
 249 error_ret:
 250         return ret ? ret : len;
 251 }
 252
 253 static ssize_t adis16400_read_frequency(struct device *dev,
 254                 struct device_attribute *attr,
 255                 char *buf)
 256 {
 257         int ret, len = 0;
 258         u16 t;
 259         int sps;
 260         ret = adis16400_spi_read_reg_16(dev,
 261                         ADIS16400_SMPL_PRD,
 262                         &t);
 263         if (ret)
 264                 return ret;
 265         sps =  (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
 266         sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
 267         len = sprintf(buf, "%d SPS\n", sps);
 268         return len;
 269 }
 270
 271 static ssize_t adis16400_write_frequency(struct device *dev,
 272                 struct device_attribute *attr,
 273                 const char *buf,
 274                 size_t len)
 275 {
 276         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 277         struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
 278         long val;
 279         int ret;
 280         u8 t;
 281
 282         ret = strict_strtol(buf, 10, &val);
 283         if (ret)
 284                 return ret;
 285
 286         mutex_lock(&indio_dev->mlock);
 287
 288         t = (1638 / val);
 289         if (t > 0)
 290                 t--;
 291         t &= ADIS16400_SMPL_PRD_DIV_MASK;
 292         if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
 293                 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
 294         else
 295                 st->us->max_speed_hz = ADIS16400_SPI_FAST;
 296
 297         ret = adis16400_spi_write_reg_8(dev,
 298                         ADIS16400_SMPL_PRD,
 299                         t);
 300
 301         mutex_unlock(&indio_dev->mlock);
 302
 303         return ret ? ret : len;
 304 }
 305
 306 static int adis16400_reset(struct device *dev)
 307 {
 308         int ret;
 309         ret = adis16400_spi_write_reg_8(dev,
 310                         ADIS16400_GLOB_CMD,
 311                         ADIS16400_GLOB_CMD_SW_RESET);
 312         if (ret)
 313                 dev_err(dev, "problem resetting device");
 314
 315         return ret;
 316 }
 317
 318 static ssize_t adis16400_write_reset(struct device *dev,
 319                 struct device_attribute *attr,
 320                 const char *buf, size_t len)
 321 {
 322         if (len < 1)
 323                 return -1;
 324         switch (buf[0]) {
 325         case '1':
 326         case 'y':
 327         case 'Y':
 328                 return adis16400_reset(dev);
 329         }
 330         return -1;
 331 }
 332
 333 int adis16400_set_irq(struct device *dev, bool enable)
 334 {
 335         int ret;
 336         u16 msc;
 337         ret = adis16400_spi_read_reg_16(dev, ADIS16400_MSC_CTRL, &msc);
 338         if (ret)
 339                 goto error_ret;
 340
 341         msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
 342         if (enable)
 343                 msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
 344         else
 345                 msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
 346
 347         ret = adis16400_spi_write_reg_16(dev, ADIS16400_MSC_CTRL, msc);
 348         if (ret)
 349                 goto error_ret;
 350
 351 error_ret:
 352         return ret;
 353 }
 354
 355 /* Power down the device */
 356 static int adis16400_stop_device(struct device *dev)
 357 {
 358         int ret;
 359         u16 val = ADIS16400_SLP_CNT_POWER_OFF;
 360
 361         ret = adis16400_spi_write_reg_16(dev, ADIS16400_SLP_CNT, val);
 362         if (ret)
 363                 dev_err(dev, "problem with turning device off: SLP_CNT");
 364
 365         return ret;
 366 }
 367
 368 static int adis16400_self_test(struct device *dev)
 369 {
 370         int ret;
 371         ret = adis16400_spi_write_reg_16(dev,
 372                         ADIS16400_MSC_CTRL,
 373                         ADIS16400_MSC_CTRL_MEM_TEST);
 374         if (ret) {
 375                 dev_err(dev, "problem starting self test");
 376                 goto err_ret;
 377         }
 378
 379         adis16400_check_status(dev);
 380
 381 err_ret:
 382         return ret;
 383 }
 384
 385 static int adis16400_check_status(struct device *dev)
 386 {
 387         u16 status;
 388         int ret;
 389
 390         ret = adis16400_spi_read_reg_16(dev, ADIS16400_DIAG_STAT, &status);
 391
 392         if (ret < 0) {
 393                 dev_err(dev, "Reading status failed\n");
 394                 goto error_ret;
 395         }
 396         ret = status;
 397         if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
 398                 dev_err(dev, "Z-axis accelerometer self-test failure\n");
 399         if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
 400                 dev_err(dev, "Y-axis accelerometer self-test failure\n");
 401         if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
 402                 dev_err(dev, "X-axis accelerometer self-test failure\n");
 403         if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
 404                 dev_err(dev, "X-axis gyroscope self-test failure\n");
 405         if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
 406                 dev_err(dev, "Y-axis gyroscope self-test failure\n");
 407         if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
 408                 dev_err(dev, "Z-axis gyroscope self-test failure\n");
 409         if (status & ADIS16400_DIAG_STAT_ALARM2)
 410                 dev_err(dev, "Alarm 2 active\n");
 411         if (status & ADIS16400_DIAG_STAT_ALARM1)
 412                 dev_err(dev, "Alarm 1 active\n");
 413         if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
 414                 dev_err(dev, "Flash checksum error\n");
 415         if (status & ADIS16400_DIAG_STAT_SELF_TEST)
 416                 dev_err(dev, "Self test error\n");
 417         if (status & ADIS16400_DIAG_STAT_OVERFLOW)
 418                 dev_err(dev, "Sensor overrange\n");
 419         if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
 420                 dev_err(dev, "SPI failure\n");
 421         if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
 422                 dev_err(dev, "Flash update failed\n");
 423         if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
 424                 dev_err(dev, "Power supply above 5.25V\n");
 425         if (status & ADIS16400_DIAG_STAT_POWER_LOW)
 426                 dev_err(dev, "Power supply below 4.75V\n");
 427
 428 error_ret:
 429         return ret;
 430 }
 431
 432 static int adis16400_initial_setup(struct adis16400_state *st)
 433 {
 434         int ret;
 435         u16 prod_id, smp_prd;
 436         struct device *dev = &st->indio_dev->dev;
 437
 438         /* use low spi speed for init */
 439         st->us->max_speed_hz = ADIS16400_SPI_SLOW;
 440         st->us->mode = SPI_MODE_3;
 441         spi_setup(st->us);
 442
 443         /* Disable IRQ */
 444         ret = adis16400_set_irq(dev, false);
 445         if (ret) {
 446                 dev_err(dev, "disable irq failed");
 447                 goto err_ret;
 448         }
 449
 450         /* Do self test */
 451         ret = adis16400_self_test(dev);
 452         if (ret) {
 453                 dev_err(dev, "self test failure");
 454                 goto err_ret;
 455         }
 456
 457         /* Read status register to check the result */
 458         ret = adis16400_check_status(dev);
 459         if (ret) {
 460                 adis16400_reset(dev);
 461                 dev_err(dev, "device not playing ball -> reset");
 462                 msleep(ADIS16400_STARTUP_DELAY);
 463                 ret = adis16400_check_status(dev);
 464                 if (ret) {
 465                         dev_err(dev, "giving up");
 466                         goto err_ret;
 467                 }
 468         }
 469
 470         ret = adis16400_spi_read_reg_16(dev, ADIS16400_PRODUCT_ID, &prod_id);
 471         if (ret)
 472                 goto err_ret;
 473
 474         if (prod_id != ADIS16400_PRODUCT_ID_DEFAULT)
 475                 dev_warn(dev, "unknown product id");
 476
 477         printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n",
 478                         prod_id, st->us->chip_select, st->us->irq);
 479
 480         /* use high spi speed if possible */
 481         ret = adis16400_spi_read_reg_16(dev, ADIS16400_SMPL_PRD, &smp_prd);
 482         if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
 483                 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
 484                 spi_setup(st->us);
 485         }
 486
 487
 488 err_ret:
 489
 490         return ret;
 491 }
 492
 493 #define ADIS16400_DEV_ATTR_CALIBBIAS(_channel, _reg)            \
 494         IIO_DEV_ATTR_##_channel##_CALIBBIAS(S_IWUSR | S_IRUGO,  \
 495                         adis16400_read_12bit_signed,            \
 496                         adis16400_write_16bit,                  \
 497                         _reg)
 498
 499 static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_X, ADIS16400_XGYRO_OFF);
 500 static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Y, ADIS16400_XGYRO_OFF);
 501 static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Z, ADIS16400_XGYRO_OFF);
 502
 503 static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_X, ADIS16400_XACCL_OFF);
 504 static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Y, ADIS16400_XACCL_OFF);
 505 static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Z, ADIS16400_XACCL_OFF);
 506
 507
 508 static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16400_read_14bit_signed,
 509                 ADIS16400_SUPPLY_OUT);
 510 static IIO_CONST_ATTR_IN_NAMED_SCALE(supply, "0.002418 V");
 511
 512 static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed,
 513                 ADIS16400_XGYRO_OUT);
 514 static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed,
 515                 ADIS16400_YGYRO_OUT);
 516 static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed,
 517                 ADIS16400_ZGYRO_OUT);
 518 static IIO_CONST_ATTR(gyro_scale, "0.0008726646");
 519
 520 static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed,
 521                 ADIS16400_XACCL_OUT);
 522 static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed,
 523                 ADIS16400_YACCL_OUT);
 524 static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed,
 525                 ADIS16400_ZACCL_OUT);
 526 static IIO_CONST_ATTR(accel_scale, "0.0326561445");
 527
 528 static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed,
 529                 ADIS16400_XMAGN_OUT);
 530 static IIO_DEV_ATTR_MAGN_Y(adis16400_read_14bit_signed,
 531                 ADIS16400_YMAGN_OUT);
 532 static IIO_DEV_ATTR_MAGN_Z(adis16400_read_14bit_signed,
 533                 ADIS16400_ZMAGN_OUT);
 534 static IIO_CONST_ATTR(magn_scale, "0.0005 Gs");
 535
 536
 537 static IIO_DEV_ATTR_TEMP_RAW(adis16400_read_12bit_signed);
 538 static IIO_CONST_ATTR_TEMP_OFFSET("198.16 K");
 539 static IIO_CONST_ATTR_TEMP_SCALE("0.14 K");
 540
 541 static IIO_DEV_ATTR_IN_RAW(0, adis16400_read_12bit_unsigned,
 542                 ADIS16400_AUX_ADC);
 543 static IIO_CONST_ATTR(in0_scale, "0.000806 V");
 544
 545 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
 546                 adis16400_read_frequency,
 547                 adis16400_write_frequency);
 548
 549 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);
 550
 551 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
 552
 553 static IIO_CONST_ATTR_NAME("adis16400");
 554
 555 static struct attribute *adis16400_event_attributes[] = {
 556         NULL
 557 };
 558
 559 static struct attribute_group adis16400_event_attribute_group = {
 560         .attrs = adis16400_event_attributes,
 561 };
 562
 563 static struct attribute *adis16400_attributes[] = {
 564         &iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
 565         &iio_dev_attr_gyro_y_calibbias.dev_attr.attr,
 566         &iio_dev_attr_gyro_z_calibbias.dev_attr.attr,
 567         &iio_dev_attr_accel_x_calibbias.dev_attr.attr,
 568         &iio_dev_attr_accel_y_calibbias.dev_attr.attr,
 569         &iio_dev_attr_accel_z_calibbias.dev_attr.attr,
 570         &iio_dev_attr_in_supply_raw.dev_attr.attr,
 571         &iio_const_attr_in_supply_scale.dev_attr.attr,
 572         &iio_dev_attr_gyro_x_raw.dev_attr.attr,
 573         &iio_dev_attr_gyro_y_raw.dev_attr.attr,
 574         &iio_dev_attr_gyro_z_raw.dev_attr.attr,
 575         &iio_const_attr_gyro_scale.dev_attr.attr,
 576         &iio_dev_attr_accel_x_raw.dev_attr.attr,
 577         &iio_dev_attr_accel_y_raw.dev_attr.attr,
 578         &iio_dev_attr_accel_z_raw.dev_attr.attr,
 579         &iio_const_attr_accel_scale.dev_attr.attr,
 580         &iio_dev_attr_magn_x_raw.dev_attr.attr,
 581         &iio_dev_attr_magn_y_raw.dev_attr.attr,
 582         &iio_dev_attr_magn_z_raw.dev_attr.attr,
 583         &iio_const_attr_magn_scale.dev_attr.attr,
 584         &iio_dev_attr_temp_raw.dev_attr.attr,
 585         &iio_const_attr_temp_offset.dev_attr.attr,
 586         &iio_const_attr_temp_scale.dev_attr.attr,
 587         &iio_dev_attr_in0_raw.dev_attr.attr,
 588         &iio_const_attr_in0_scale.dev_attr.attr,
 589         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 590         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
 591         &iio_dev_attr_reset.dev_attr.attr,
 592         &iio_const_attr_name.dev_attr.attr,
 593         NULL
 594 };
 595
 596 static const struct attribute_group adis16400_attribute_group = {
 597         .attrs = adis16400_attributes,
 598 };
 599
 600 static int __devinit adis16400_probe(struct spi_device *spi)
 601 {
 602         int ret, regdone = 0;
 603         struct adis16400_state *st = kzalloc(sizeof *st, GFP_KERNEL);
 604         if (!st) {
 605                 ret =  -ENOMEM;
 606                 goto error_ret;
 607         }
 608         /* this is only used for removal purposes */
 609         spi_set_drvdata(spi, st);
 610
 611         /* Allocate the comms buffers */
 612         st->rx = kzalloc(sizeof(*st->rx)*ADIS16400_MAX_RX, GFP_KERNEL);
 613         if (st->rx == NULL) {
 614                 ret = -ENOMEM;
 615                 goto error_free_st;
 616         }
 617         st->tx = kzalloc(sizeof(*st->tx)*ADIS16400_MAX_TX, GFP_KERNEL);
 618         if (st->tx == NULL) {
 619                 ret = -ENOMEM;
 620                 goto error_free_rx;
 621         }
 622         st->us = spi;
 623         mutex_init(&st->buf_lock);
 624         /* setup the industrialio driver allocated elements */
 625         st->indio_dev = iio_allocate_device();
 626         if (st->indio_dev == NULL) {
 627                 ret = -ENOMEM;
 628                 goto error_free_tx;
 629         }
 630
 631         st->indio_dev->dev.parent = &spi->dev;
 632         st->indio_dev->num_interrupt_lines = 1;
 633         st->indio_dev->event_attrs = &adis16400_event_attribute_group;
 634         st->indio_dev->attrs = &adis16400_attribute_group;
 635         st->indio_dev->dev_data = (void *)(st);
 636         st->indio_dev->driver_module = THIS_MODULE;
 637         st->indio_dev->modes = INDIO_DIRECT_MODE;
 638
 639         ret = adis16400_configure_ring(st->indio_dev);
 640         if (ret)
 641                 goto error_free_dev;
 642
 643         ret = iio_device_register(st->indio_dev);
 644         if (ret)
 645                 goto error_unreg_ring_funcs;
 646         regdone = 1;
 647
 648         ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
 649         if (ret) {
 650                 printk(KERN_ERR "failed to initialize the ring\n");
 651                 goto error_unreg_ring_funcs;
 652         }
 653
 654         if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
 655                 ret = iio_register_interrupt_line(spi->irq,
 656                                 st->indio_dev,
 657                                 0,
 658                                 IRQF_TRIGGER_RISING,
 659                                 "adis16400");
 660                 if (ret)
 661                         goto error_uninitialize_ring;
 662
 663                 ret = adis16400_probe_trigger(st->indio_dev);
 664                 if (ret)
 665                         goto error_unregister_line;
 666         }
 667
 668         /* Get the device into a sane initial state */
 669         ret = adis16400_initial_setup(st);
 670         if (ret)
 671                 goto error_remove_trigger;
 672         return 0;
 673
 674 error_remove_trigger:
 675         if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
 676                 adis16400_remove_trigger(st->indio_dev);
 677 error_unregister_line:
 678         if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
 679                 iio_unregister_interrupt_line(st->indio_dev, 0);
 680 error_uninitialize_ring:
 681         iio_ring_buffer_unregister(st->indio_dev->ring);
 682 error_unreg_ring_funcs:
 683         adis16400_unconfigure_ring(st->indio_dev);
 684 error_free_dev:
 685         if (regdone)
 686                 iio_device_unregister(st->indio_dev);
 687         else
 688                 iio_free_device(st->indio_dev);
 689 error_free_tx:
 690         kfree(st->tx);
 691 error_free_rx:
 692         kfree(st->rx);
 693 error_free_st:
 694         kfree(st);
 695 error_ret:
 696         return ret;
 697 }
 698
 699 /* fixme, confirm ordering in this function */
 700 static int adis16400_remove(struct spi_device *spi)
 701 {
 702         int ret;
 703         struct adis16400_state *st = spi_get_drvdata(spi);
 704         struct iio_dev *indio_dev = st->indio_dev;
 705
 706         ret = adis16400_stop_device(&(indio_dev->dev));
 707         if (ret)
 708                 goto err_ret;
 709
 710         flush_scheduled_work();
 711
 712         adis16400_remove_trigger(indio_dev);
 713         if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
 714                 iio_unregister_interrupt_line(indio_dev, 0);
 715
 716         iio_ring_buffer_unregister(st->indio_dev->ring);
 717         adis16400_unconfigure_ring(indio_dev);
 718         iio_device_unregister(indio_dev);
 719         kfree(st->tx);
 720         kfree(st->rx);
 721         kfree(st);
 722
 723         return 0;
 724
 725 err_ret:
 726         return ret;
 727 }
 728
 729 static struct spi_driver adis16400_driver = {
 730         .driver = {
 731                 .name = "adis16400",
 732                 .owner = THIS_MODULE,
 733         },
 734         .probe = adis16400_probe,
 735         .remove = __devexit_p(adis16400_remove),
 736 };
 737
 738 static __init int adis16400_init(void)
 739 {
 740         return spi_register_driver(&adis16400_driver);
 741 }
 742 module_init(adis16400_init);
 743
 744 static __exit void adis16400_exit(void)
 745 {
 746         spi_unregister_driver(&adis16400_driver);
 747 }
 748 module_exit(adis16400_exit);
 749
 750 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
 751 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
 752 MODULE_LICENSE("GPL v2");