diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig index 5bba4b05f965..8b78fa0e6316 100644 --- a/drivers/staging/iio/gyro/Kconfig +++ b/drivers/staging/iio/gyro/Kconfig @@ -35,13 +35,3 @@ config ADIS16260 This driver can also be built as a module. If so, the module will be called adis16260. - -config ADIS16251 - tristate "Analog Devices ADIS16251 Digital Gyroscope Sensor SPI driver" - depends on SPI - help - Say yes here to build support for Analog Devices adis16261 programmable - digital gyroscope sensor. - - This driver can also be built as a module. If so, the module - will be called adis16251. diff --git a/drivers/staging/iio/gyro/adis16251.h b/drivers/staging/iio/gyro/adis16251.h deleted file mode 100644 index d23852cf78e8..000000000000 --- a/drivers/staging/iio/gyro/adis16251.h +++ /dev/null @@ -1,185 +0,0 @@ -#ifndef SPI_ADIS16251_H_ -#define SPI_ADIS16251_H_ - -#define ADIS16251_STARTUP_DELAY 220 /* ms */ - -#define ADIS16251_READ_REG(a) a -#define ADIS16251_WRITE_REG(a) ((a) | 0x80) - -#define ADIS16251_ENDURANCE 0x00 /* Flash memory write count */ -#define ADIS16251_SUPPLY_OUT 0x02 /* Power supply measurement */ -#define ADIS16251_GYRO_OUT 0x04 /* X-axis gyroscope output */ -#define ADIS16251_AUX_ADC 0x0A /* analog input channel measurement */ -#define ADIS16251_TEMP_OUT 0x0C /* internal temperature measurement */ -#define ADIS16251_ANGL_OUT 0x0E /* angle displacement */ -#define ADIS16251_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */ -#define ADIS16251_GYRO_SCALE 0x16 /* Calibration, scale adjustment */ -#define ADIS16251_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */ -#define ADIS16251_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */ -#define ADIS16251_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */ -#define ADIS16251_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */ -#define ADIS16251_ALM_CTRL 0x28 /* Alarm control */ -#define ADIS16251_AUX_DAC 0x30 /* Auxiliary DAC data */ -#define ADIS16251_GPIO_CTRL 0x32 /* Control, digital I/O line */ -#define ADIS16251_MSC_CTRL 0x34 /* Control, data ready, self-test settings */ -#define ADIS16251_SMPL_PRD 0x36 /* Control, internal sample rate */ -#define ADIS16251_SENS_AVG 0x38 /* Control, dynamic range, filtering */ -#define ADIS16251_SLP_CNT 0x3A /* Control, sleep mode initiation */ -#define ADIS16251_DIAG_STAT 0x3C /* Diagnostic, error flags */ -#define ADIS16251_GLOB_CMD 0x3E /* Control, global commands */ - -#define ADIS16251_ERROR_ACTIVE (1<<14) -#define ADIS16251_NEW_DATA (1<<14) - -/* MSC_CTRL */ -#define ADIS16251_MSC_CTRL_INT_SELF_TEST (1<<10) /* Internal self-test enable */ -#define ADIS16251_MSC_CTRL_NEG_SELF_TEST (1<<9) -#define ADIS16251_MSC_CTRL_POS_SELF_TEST (1<<8) -#define ADIS16251_MSC_CTRL_DATA_RDY_EN (1<<2) -#define ADIS16251_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) -#define ADIS16251_MSC_CTRL_DATA_RDY_DIO2 (1<<0) - -/* SMPL_PRD */ -#define ADIS16251_SMPL_PRD_TIME_BASE (1<<7) /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */ -#define ADIS16251_SMPL_PRD_DIV_MASK 0x7F - -/* SLP_CNT */ -#define ADIS16251_SLP_CNT_POWER_OFF 0x80 - -/* DIAG_STAT */ -#define ADIS16251_DIAG_STAT_ALARM2 (1<<9) -#define ADIS16251_DIAG_STAT_ALARM1 (1<<8) -#define ADIS16251_DIAG_STAT_SELF_TEST (1<<5) -#define ADIS16251_DIAG_STAT_OVERFLOW (1<<4) -#define ADIS16251_DIAG_STAT_SPI_FAIL (1<<3) -#define ADIS16251_DIAG_STAT_FLASH_UPT (1<<2) -#define ADIS16251_DIAG_STAT_POWER_HIGH (1<<1) -#define ADIS16251_DIAG_STAT_POWER_LOW (1<<0) - -#define ADIS16251_DIAG_STAT_ERR_MASK (ADIS16251_DIAG_STAT_ALARM2 | \ - ADIS16251_DIAG_STAT_ALARM1 | \ - ADIS16251_DIAG_STAT_SELF_TEST | \ - ADIS16251_DIAG_STAT_OVERFLOW | \ - ADIS16251_DIAG_STAT_SPI_FAIL | \ - ADIS16251_DIAG_STAT_FLASH_UPT | \ - ADIS16251_DIAG_STAT_POWER_HIGH | \ - ADIS16251_DIAG_STAT_POWER_LOW) - -/* GLOB_CMD */ -#define ADIS16251_GLOB_CMD_SW_RESET (1<<7) -#define ADIS16251_GLOB_CMD_FLASH_UPD (1<<3) -#define ADIS16251_GLOB_CMD_DAC_LATCH (1<<2) -#define ADIS16251_GLOB_CMD_FAC_CALIB (1<<1) -#define ADIS16251_GLOB_CMD_AUTO_NULL (1<<0) - -#define ADIS16251_MAX_TX 24 -#define ADIS16251_MAX_RX 24 - -#define ADIS16251_SPI_SLOW (u32)(300 * 1000) -#define ADIS16251_SPI_BURST (u32)(1000 * 1000) -#define ADIS16251_SPI_FAST (u32)(2000 * 1000) - -/** - * struct adis16251_state - device instance specific data - * @us: actual spi_device - * @work_trigger_to_ring: bh for triggered event handling - * @inter: used to check if new interrupt has been triggered - * @last_timestamp: passing timestamp from th to bh of interrupt handler - * @indio_dev: industrial I/O device structure - * @trig: data ready trigger registered with iio - * @tx: transmit buffer - * @rx: recieve buffer - * @buf_lock: mutex to protect tx and rx - **/ -struct adis16251_state { - struct spi_device *us; - struct work_struct work_trigger_to_ring; - s64 last_timestamp; - struct iio_dev *indio_dev; - struct iio_trigger *trig; - u8 *tx; - u8 *rx; - struct mutex buf_lock; -}; - -int adis16251_spi_write_reg_8(struct device *dev, - u8 reg_address, - u8 val); - -int adis16251_spi_read_burst(struct device *dev, u8 *rx); - -int adis16251_spi_read_sequence(struct device *dev, - u8 *tx, u8 *rx, int num); - -int adis16251_set_irq(struct device *dev, bool enable); - -int adis16251_reset(struct device *dev); - -int adis16251_stop_device(struct device *dev); - -int adis16251_check_status(struct device *dev); - -#if defined(CONFIG_IIO_RING_BUFFER) && defined(THIS_HAS_RING_BUFFER_SUPPORT) -/* At the moment triggers are only used for ring buffer - * filling. This may change! - */ - -enum adis16251_scan { - ADIS16251_SCAN_SUPPLY, - ADIS16251_SCAN_GYRO, - ADIS16251_SCAN_TEMP, - ADIS16251_SCAN_ADC_0, -}; - -void adis16251_remove_trigger(struct iio_dev *indio_dev); -int adis16251_probe_trigger(struct iio_dev *indio_dev); - -ssize_t adis16251_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf); - - -int adis16251_configure_ring(struct iio_dev *indio_dev); -void adis16251_unconfigure_ring(struct iio_dev *indio_dev); - -int adis16251_initialize_ring(struct iio_ring_buffer *ring); -void adis16251_uninitialize_ring(struct iio_ring_buffer *ring); -#else /* CONFIG_IIO_RING_BUFFER */ - -static inline void adis16251_remove_trigger(struct iio_dev *indio_dev) -{ -} - -static inline int adis16251_probe_trigger(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline ssize_t -adis16251_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - return 0; -} - -static int adis16251_configure_ring(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline void adis16251_unconfigure_ring(struct iio_dev *indio_dev) -{ -} - -static inline int adis16251_initialize_ring(struct iio_ring_buffer *ring) -{ - return 0; -} - -static inline void adis16251_uninitialize_ring(struct iio_ring_buffer *ring) -{ -} - -#endif /* CONFIG_IIO_RING_BUFFER */ -#endif /* SPI_ADIS16251_H_ */ diff --git a/drivers/staging/iio/gyro/adis16251_core.c b/drivers/staging/iio/gyro/adis16251_core.c deleted file mode 100644 index a0d400f7ee62..000000000000 --- a/drivers/staging/iio/gyro/adis16251_core.c +++ /dev/null @@ -1,777 +0,0 @@ -/* - * ADIS16251 Programmable Digital Gyroscope Sensor Driver - * - * Copyright 2010 Analog Devices Inc. - * - * Licensed under the GPL-2 or later. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "../iio.h" -#include "../sysfs.h" -#include "gyro.h" -#include "../adc/adc.h" - -#include "adis16251.h" - -#define DRIVER_NAME "adis16251" - -/* At the moment the spi framework doesn't allow global setting of cs_change. - * It's in the likely to be added comment at the top of spi.h. - * This means that use cannot be made of spi_write etc. - */ - -/** - * adis16251_spi_write_reg_8() - write single byte to a register - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @reg_address: the address of the register to be written - * @val: the value to write - **/ -int adis16251_spi_write_reg_8(struct device *dev, - u8 reg_address, - u8 val) -{ - int ret; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16251_state *st = iio_dev_get_devdata(indio_dev); - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16251_WRITE_REG(reg_address); - st->tx[1] = val; - - ret = spi_write(st->us, st->tx, 2); - mutex_unlock(&st->buf_lock); - - return ret; -} - -/** - * adis16251_spi_write_reg_16() - write 2 bytes to a pair of registers - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @reg_address: the address of the lower of the two registers. Second register - * is assumed to have address one greater. - * @val: value to be written - **/ -static int adis16251_spi_write_reg_16(struct device *dev, - u8 lower_reg_address, - u16 value) -{ - int ret; - struct spi_message msg; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16251_state *st = iio_dev_get_devdata(indio_dev); - struct spi_transfer xfers[] = { - { - .tx_buf = st->tx, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - }, { - .tx_buf = st->tx + 2, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - }, - }; - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16251_WRITE_REG(lower_reg_address); - st->tx[1] = value & 0xFF; - st->tx[2] = ADIS16251_WRITE_REG(lower_reg_address + 1); - st->tx[3] = (value >> 8) & 0xFF; - - spi_message_init(&msg); - spi_message_add_tail(&xfers[0], &msg); - spi_message_add_tail(&xfers[1], &msg); - ret = spi_sync(st->us, &msg); - mutex_unlock(&st->buf_lock); - - return ret; -} - -/** - * adis16251_spi_read_reg_16() - read 2 bytes from a 16-bit register - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @reg_address: the address of the lower of the two registers. Second register - * is assumed to have address one greater. - * @val: somewhere to pass back the value read - **/ -static int adis16251_spi_read_reg_16(struct device *dev, - u8 lower_reg_address, - u16 *val) -{ - struct spi_message msg; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16251_state *st = iio_dev_get_devdata(indio_dev); - int ret; - struct spi_transfer xfers[] = { - { - .tx_buf = st->tx, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - }, { - .rx_buf = st->rx, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - }, - }; - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16251_READ_REG(lower_reg_address); - st->tx[1] = 0; - st->tx[2] = 0; - st->tx[3] = 0; - - spi_message_init(&msg); - spi_message_add_tail(&xfers[0], &msg); - spi_message_add_tail(&xfers[1], &msg); - ret = spi_sync(st->us, &msg); - if (ret) { - dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X", - lower_reg_address); - goto error_ret; - } - *val = (st->rx[0] << 8) | st->rx[1]; - -error_ret: - mutex_unlock(&st->buf_lock); - return ret; -} - -/** - * adis16251_spi_read_burst() - read all data registers - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @rx: somewhere to pass back the value read (min size is 24 bytes) - **/ -int adis16251_spi_read_burst(struct device *dev, u8 *rx) -{ - struct spi_message msg; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16251_state *st = iio_dev_get_devdata(indio_dev); - u32 old_speed_hz = st->us->max_speed_hz; - int ret; - - struct spi_transfer xfers[] = { - { - .tx_buf = st->tx, - .bits_per_word = 8, - .len = 2, - .cs_change = 0, - }, { - .rx_buf = rx, - .bits_per_word = 8, - .len = 24, - .cs_change = 1, - }, - }; - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16251_READ_REG(ADIS16251_GLOB_CMD); - st->tx[1] = 0; - - spi_message_init(&msg); - spi_message_add_tail(&xfers[0], &msg); - spi_message_add_tail(&xfers[1], &msg); - - st->us->max_speed_hz = min(ADIS16251_SPI_BURST, old_speed_hz); - spi_setup(st->us); - - ret = spi_sync(st->us, &msg); - if (ret) - dev_err(&st->us->dev, "problem when burst reading"); - - st->us->max_speed_hz = old_speed_hz; - spi_setup(st->us); - mutex_unlock(&st->buf_lock); - return ret; -} - -/** - * adis16251_spi_read_sequence() - read a sequence of 16-bit registers - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @tx: register addresses in bytes 0,2,4,6... (min size is 2*num bytes) - * @rx: somewhere to pass back the value read (min size is 2*num bytes) - **/ -int adis16251_spi_read_sequence(struct device *dev, - u8 *tx, u8 *rx, int num) -{ - struct spi_message msg; - struct spi_transfer *xfers; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16251_state *st = iio_dev_get_devdata(indio_dev); - int ret, i; - - xfers = kzalloc(num + 1, GFP_KERNEL); - if (xfers == NULL) { - dev_err(&st->us->dev, "memory alloc failed"); - ret = -ENOMEM; - goto error_ret; - } - - /* tx: |add1|addr2|addr3|...|addrN |zero| - * rx: |zero|res1 |res2 |...|resN-1|resN| */ - spi_message_init(&msg); - for (i = 0; i < num + 1; i++) { - if (i > 0) - xfers[i].rx_buf = st->rx + 2*(i - 1); - if (i < num) - xfers[i].tx_buf = st->tx + 2*i; - xfers[i].bits_per_word = 8; - xfers[i].len = 2; - xfers[i].cs_change = 1; - spi_message_add_tail(&xfers[i], &msg); - } - - mutex_lock(&st->buf_lock); - - ret = spi_sync(st->us, &msg); - if (ret) - dev_err(&st->us->dev, "problem when reading sequence"); - - mutex_unlock(&st->buf_lock); - kfree(xfers); - -error_ret: - return ret; -} - -static ssize_t adis16251_spi_read_signed(struct device *dev, - struct device_attribute *attr, - char *buf, - unsigned bits) -{ - int ret; - s16 val = 0; - unsigned shift = 16 - bits; - struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); - - ret = adis16251_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); - if (ret) - return ret; - - if (val & ADIS16251_ERROR_ACTIVE) - adis16251_check_status(dev); - val = ((s16)(val << shift) >> shift); - return sprintf(buf, "%d\n", val); -} - -static ssize_t adis16251_read_12bit_unsigned(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - int ret; - u16 val = 0; - struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); - - ret = adis16251_spi_read_reg_16(dev, this_attr->address, &val); - if (ret) - return ret; - - if (val & ADIS16251_ERROR_ACTIVE) - adis16251_check_status(dev); - - return sprintf(buf, "%u\n", val & 0x0FFF); -} - -static ssize_t adis16251_read_14bit_signed(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - struct iio_dev *indio_dev = dev_get_drvdata(dev); - ssize_t ret; - - /* Take the iio_dev status lock */ - mutex_lock(&indio_dev->mlock); - ret = adis16251_spi_read_signed(dev, attr, buf, 14); - mutex_unlock(&indio_dev->mlock); - - return ret; -} - -static ssize_t adis16251_read_12bit_signed(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - struct iio_dev *indio_dev = dev_get_drvdata(dev); - ssize_t ret; - - /* Take the iio_dev status lock */ - mutex_lock(&indio_dev->mlock); - ret = adis16251_spi_read_signed(dev, attr, buf, 12); - mutex_unlock(&indio_dev->mlock); - - return ret; -} - -static ssize_t adis16251_write_16bit(struct device *dev, - struct device_attribute *attr, - const char *buf, - size_t len) -{ - struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); - int ret; - long val; - - ret = strict_strtol(buf, 10, &val); - if (ret) - goto error_ret; - ret = adis16251_spi_write_reg_16(dev, this_attr->address, val); - -error_ret: - return ret ? ret : len; -} - -static ssize_t adis16251_read_frequency(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - int ret, len = 0; - u16 t; - int sps; - ret = adis16251_spi_read_reg_16(dev, - ADIS16251_SMPL_PRD, - &t); - if (ret) - return ret; - sps = (t & ADIS16251_SMPL_PRD_TIME_BASE) ? 8 : 256; - sps /= (t & ADIS16251_SMPL_PRD_DIV_MASK) + 1; - len = sprintf(buf, "%d SPS\n", sps); - return len; -} - -static ssize_t adis16251_write_frequency(struct device *dev, - struct device_attribute *attr, - const char *buf, - size_t len) -{ - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16251_state *st = iio_dev_get_devdata(indio_dev); - long val; - int ret; - u8 t; - - ret = strict_strtol(buf, 10, &val); - if (ret) - return ret; - - mutex_lock(&indio_dev->mlock); - - t = (256 / val); - if (t > 0) - t--; - t &= ADIS16251_SMPL_PRD_DIV_MASK; - if ((t & ADIS16251_SMPL_PRD_DIV_MASK) >= 0x0A) - st->us->max_speed_hz = ADIS16251_SPI_SLOW; - else - st->us->max_speed_hz = ADIS16251_SPI_FAST; - - ret = adis16251_spi_write_reg_8(dev, - ADIS16251_SMPL_PRD, - t); - - mutex_unlock(&indio_dev->mlock); - - return ret ? ret : len; -} - -static ssize_t adis16251_write_reset(struct device *dev, - struct device_attribute *attr, - const char *buf, size_t len) -{ - if (len < 1) - return -1; - switch (buf[0]) { - case '1': - case 'y': - case 'Y': - return adis16251_reset(dev); - } - return -1; -} - - - -int adis16251_set_irq(struct device *dev, bool enable) -{ - int ret; - u16 msc; - ret = adis16251_spi_read_reg_16(dev, ADIS16251_MSC_CTRL, &msc); - if (ret) - goto error_ret; - - msc |= ADIS16251_MSC_CTRL_DATA_RDY_POL_HIGH; - if (enable) - msc |= ADIS16251_MSC_CTRL_DATA_RDY_EN; - else - msc &= ~ADIS16251_MSC_CTRL_DATA_RDY_EN; - - ret = adis16251_spi_write_reg_16(dev, ADIS16251_MSC_CTRL, msc); - if (ret) - goto error_ret; - -error_ret: - return ret; -} - -int adis16251_reset(struct device *dev) -{ - int ret; - ret = adis16251_spi_write_reg_8(dev, - ADIS16251_GLOB_CMD, - ADIS16251_GLOB_CMD_SW_RESET); - if (ret) - dev_err(dev, "problem resetting device"); - - return ret; -} - -/* Power down the device */ -int adis16251_stop_device(struct device *dev) -{ - int ret; - u16 val = ADIS16251_SLP_CNT_POWER_OFF; - - ret = adis16251_spi_write_reg_16(dev, ADIS16251_SLP_CNT, val); - if (ret) - dev_err(dev, "problem with turning device off: SLP_CNT"); - - return ret; -} - -static int adis16251_self_test(struct device *dev) -{ - int ret; - - ret = adis16251_spi_write_reg_16(dev, - ADIS16251_MSC_CTRL, - ADIS16251_MSC_CTRL_INT_SELF_TEST); - if (ret) { - dev_err(dev, "problem starting self test"); - goto err_ret; - } - - adis16251_check_status(dev); - -err_ret: - return ret; -} - -int adis16251_check_status(struct device *dev) -{ - u16 status; - int ret; - - ret = adis16251_spi_read_reg_16(dev, ADIS16251_DIAG_STAT, &status); - - if (ret < 0) { - dev_err(dev, "Reading status failed\n"); - goto error_ret; - } - - if (!(status & ADIS16251_DIAG_STAT_ERR_MASK)) { - ret = 0; - goto error_ret; - } - - ret = -EFAULT; - - if (status & ADIS16251_DIAG_STAT_ALARM2) - dev_err(dev, "Alarm 2 active\n"); - if (status & ADIS16251_DIAG_STAT_ALARM1) - dev_err(dev, "Alarm 1 active\n"); - if (status & ADIS16251_DIAG_STAT_SELF_TEST) - dev_err(dev, "Self test error\n"); - if (status & ADIS16251_DIAG_STAT_OVERFLOW) - dev_err(dev, "Sensor overrange\n"); - if (status & ADIS16251_DIAG_STAT_SPI_FAIL) - dev_err(dev, "SPI failure\n"); - if (status & ADIS16251_DIAG_STAT_FLASH_UPT) - dev_err(dev, "Flash update failed\n"); - if (status & ADIS16251_DIAG_STAT_POWER_HIGH) - dev_err(dev, "Power supply above 5.25V\n"); - if (status & ADIS16251_DIAG_STAT_POWER_LOW) - dev_err(dev, "Power supply below 4.75V\n"); - -error_ret: - return ret; -} - -static int adis16251_initial_setup(struct adis16251_state *st) -{ - int ret; - u16 smp_prd; - struct device *dev = &st->indio_dev->dev; - - /* use low spi speed for init */ - st->us->max_speed_hz = ADIS16251_SPI_SLOW; - st->us->mode = SPI_MODE_3; - spi_setup(st->us); - - /* Disable IRQ */ - ret = adis16251_set_irq(dev, false); - if (ret) { - dev_err(dev, "disable irq failed"); - goto err_ret; - } - - /* Do self test */ - - /* Read status register to check the result */ - ret = adis16251_check_status(dev); - if (ret) { - adis16251_reset(dev); - dev_err(dev, "device not playing ball -> reset"); - msleep(ADIS16251_STARTUP_DELAY); - ret = adis16251_check_status(dev); - if (ret) { - dev_err(dev, "giving up"); - goto err_ret; - } - } - - printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n", - st->us->chip_select, st->us->irq); - - /* use high spi speed if possible */ - ret = adis16251_spi_read_reg_16(dev, ADIS16251_SMPL_PRD, &smp_prd); - if (!ret && (smp_prd & ADIS16251_SMPL_PRD_DIV_MASK) < 0x0A) { - st->us->max_speed_hz = ADIS16251_SPI_SLOW; - spi_setup(st->us); - } - -err_ret: - return ret; -} - -static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16251_read_12bit_signed, - ADIS16251_SUPPLY_OUT); -static IIO_CONST_ATTR(in0_supply_scale, "0.0018315"); - -static IIO_DEV_ATTR_GYRO(adis16251_read_14bit_signed, - ADIS16251_GYRO_OUT); -static IIO_DEV_ATTR_GYRO_SCALE(S_IWUSR | S_IRUGO, - adis16251_read_12bit_signed, - adis16251_write_16bit, - ADIS16251_GYRO_SCALE); -static IIO_DEV_ATTR_GYRO_OFFSET(S_IWUSR | S_IRUGO, - adis16251_read_12bit_signed, - adis16251_write_16bit, - ADIS16251_GYRO_OFF); - -static IIO_DEV_ATTR_TEMP_RAW(adis16251_read_12bit_signed); -static IIO_CONST_ATTR(temp_offset, "25 K"); -static IIO_CONST_ATTR(temp_scale, "0.1453 K"); - -static IIO_DEV_ATTR_IN_NAMED_RAW(1, aux, adis16251_read_12bit_unsigned, - ADIS16251_AUX_ADC); -static IIO_CONST_ATTR(in1_aux_scale, "0.0006105"); - -static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, - adis16251_read_frequency, - adis16251_write_frequency); -static IIO_DEV_ATTR_ANGL(adis16251_read_14bit_signed, - ADIS16251_ANGL_OUT); - -static IIO_DEV_ATTR_RESET(adis16251_write_reset); - -static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("0.129 ~ 256"); - -static IIO_CONST_ATTR(name, "adis16251"); - -static struct attribute *adis16251_event_attributes[] = { - NULL -}; - -static struct attribute_group adis16251_event_attribute_group = { - .attrs = adis16251_event_attributes, -}; - -static struct attribute *adis16251_attributes[] = { - &iio_dev_attr_in0_supply_raw.dev_attr.attr, - &iio_const_attr_in0_supply_scale.dev_attr.attr, - &iio_dev_attr_gyro_raw.dev_attr.attr, - &iio_dev_attr_gyro_scale.dev_attr.attr, - &iio_dev_attr_gyro_offset.dev_attr.attr, - &iio_dev_attr_angl_raw.dev_attr.attr, - &iio_dev_attr_temp_raw.dev_attr.attr, - &iio_const_attr_temp_offset.dev_attr.attr, - &iio_const_attr_temp_scale.dev_attr.attr, - &iio_dev_attr_in1_aux_raw.dev_attr.attr, - &iio_const_attr_in1_aux_scale.dev_attr.attr, - &iio_dev_attr_sampling_frequency.dev_attr.attr, - &iio_const_attr_sampling_frequency_available.dev_attr.attr, - &iio_dev_attr_reset.dev_attr.attr, - &iio_const_attr_name.dev_attr.attr, - NULL -}; - -static const struct attribute_group adis16251_attribute_group = { - .attrs = adis16251_attributes, -}; - -static int __devinit adis16251_probe(struct spi_device *spi) -{ - int ret, regdone = 0; - struct adis16251_state *st = kzalloc(sizeof *st, GFP_KERNEL); - if (!st) { - ret = -ENOMEM; - goto error_ret; - } - /* this is only used for removal purposes */ - spi_set_drvdata(spi, st); - - /* Allocate the comms buffers */ - st->rx = kzalloc(sizeof(*st->rx)*ADIS16251_MAX_RX, GFP_KERNEL); - if (st->rx == NULL) { - ret = -ENOMEM; - goto error_free_st; - } - st->tx = kzalloc(sizeof(*st->tx)*ADIS16251_MAX_TX, GFP_KERNEL); - if (st->tx == NULL) { - ret = -ENOMEM; - goto error_free_rx; - } - st->us = spi; - mutex_init(&st->buf_lock); - /* setup the industrialio driver allocated elements */ - st->indio_dev = iio_allocate_device(); - if (st->indio_dev == NULL) { - ret = -ENOMEM; - goto error_free_tx; - } - - st->indio_dev->dev.parent = &spi->dev; - st->indio_dev->num_interrupt_lines = 1; - st->indio_dev->event_attrs = &adis16251_event_attribute_group; - st->indio_dev->attrs = &adis16251_attribute_group; - st->indio_dev->dev_data = (void *)(st); - st->indio_dev->driver_module = THIS_MODULE; - st->indio_dev->modes = INDIO_DIRECT_MODE; - - ret = adis16251_configure_ring(st->indio_dev); - if (ret) - goto error_free_dev; - - ret = iio_device_register(st->indio_dev); - if (ret) - goto error_unreg_ring_funcs; - regdone = 1; - - ret = adis16251_initialize_ring(st->indio_dev->ring); - if (ret) { - printk(KERN_ERR "failed to initialize the ring\n"); - goto error_unreg_ring_funcs; - } - - if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { - ret = iio_register_interrupt_line(spi->irq, - st->indio_dev, - 0, - IRQF_TRIGGER_RISING, - "adis16251"); - if (ret) - goto error_uninitialize_ring; - - ret = adis16251_probe_trigger(st->indio_dev); - if (ret) - goto error_unregister_line; - } - - /* Get the device into a sane initial state */ - ret = adis16251_initial_setup(st); - if (ret) - goto error_remove_trigger; - return 0; - -error_remove_trigger: - if (st->indio_dev->modes & INDIO_RING_TRIGGERED) - adis16251_remove_trigger(st->indio_dev); -error_unregister_line: - if (st->indio_dev->modes & INDIO_RING_TRIGGERED) - iio_unregister_interrupt_line(st->indio_dev, 0); -error_uninitialize_ring: - adis16251_uninitialize_ring(st->indio_dev->ring); -error_unreg_ring_funcs: - adis16251_unconfigure_ring(st->indio_dev); -error_free_dev: - if (regdone) - iio_device_unregister(st->indio_dev); - else - iio_free_device(st->indio_dev); -error_free_tx: - kfree(st->tx); -error_free_rx: - kfree(st->rx); -error_free_st: - kfree(st); -error_ret: - return ret; -} - -/* fixme, confirm ordering in this function */ -static int adis16251_remove(struct spi_device *spi) -{ - int ret; - struct adis16251_state *st = spi_get_drvdata(spi); - struct iio_dev *indio_dev = st->indio_dev; - - ret = adis16251_stop_device(&(indio_dev->dev)); - if (ret) - goto err_ret; - - flush_scheduled_work(); - - adis16251_remove_trigger(indio_dev); - if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) - iio_unregister_interrupt_line(indio_dev, 0); - - adis16251_uninitialize_ring(indio_dev->ring); - adis16251_unconfigure_ring(indio_dev); - iio_device_unregister(indio_dev); - kfree(st->tx); - kfree(st->rx); - kfree(st); - - return 0; - -err_ret: - return ret; -} - -static struct spi_driver adis16251_driver = { - .driver = { - .name = "adis16251", - .owner = THIS_MODULE, - }, - .probe = adis16251_probe, - .remove = __devexit_p(adis16251_remove), -}; - -static __init int adis16251_init(void) -{ - return spi_register_driver(&adis16251_driver); -} -module_init(adis16251_init); - -static __exit void adis16251_exit(void) -{ - spi_unregister_driver(&adis16251_driver); -} -module_exit(adis16251_exit); - -MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); -MODULE_DESCRIPTION("Analog Devices ADIS16251 Digital Gyroscope Sensor SPI driver"); -MODULE_LICENSE("GPL v2");