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
  25 #include <linux/sysfs.h>
  26 #include <linux/list.h>
  27
  28 #include "../iio.h"
  29 #include "../sysfs.h"
  30 #include "../accel/accel.h"
  31 #include "../adc/adc.h"
  32 #include "../gyro/gyro.h"
  33 #include "../magnetometer/magnet.h"
  34
  35 #include "adis16400.h"
  36
  37 #define DRIVER_NAME             "adis16400"
  38
  39 /* At the moment the spi framework doesn't allow global setting of cs_change.
  40  * It's in the likely to be added comment at the top of spi.h.
  41  * This means that use cannot be made of spi_write etc.
  42  */
  43
  44 /**
  45  * adis16400_spi_write_reg_8() - write single byte to a register
  46  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  47  * @reg_address: the address of the register to be written
  48  * @val: the value to write
  49  **/
  50 static int adis16400_spi_write_reg_8(struct device *dev,
  51                 u8 reg_address,
  52                 u8 val)
  53 {
  54         int ret;
  55         struct iio_dev *indio_dev = dev_get_drvdata(dev);
  56         struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
  57
  58         mutex_lock(&st->buf_lock);
  59         st->tx[0] = ADIS16400_WRITE_REG(reg_address);
  60         st->tx[1] = val;
  61
  62         ret = spi_write(st->us, st->tx, 2);
  63         mutex_unlock(&st->buf_lock);
  64
  65         return ret;
  66 }
  67
  68 /**
  69  * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
  70  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  71  * @reg_address: the address of the lower of the two registers. Second register
  72  *               is assumed to have address one greater.
  73  * @val: value to be written
  74  **/
  75 static int adis16400_spi_write_reg_16(struct device *dev,
  76                 u8 lower_reg_address,
  77                 u16 value)
  78 {
  79         int ret;
  80         struct spi_message msg;
  81         struct iio_dev *indio_dev = dev_get_drvdata(dev);
  82         struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
  83         struct spi_transfer xfers[] = {
  84                 {
  85                         .tx_buf = st->tx,
  86                         .bits_per_word = 8,
  87                         .len = 2,
  88                         .cs_change = 1,
  89                 }, {
  90                         .tx_buf = st->tx + 2,
  91                         .bits_per_word = 8,
  92                         .len = 2,
  93                         .cs_change = 1,
  94                 },
  95         };
  96
  97         mutex_lock(&st->buf_lock);
  98         st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
  99         st->tx[1] = value & 0xFF;
 100         st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
 101         st->tx[3] = (value >> 8) & 0xFF;
 102
 103         spi_message_init(&msg);
 104         spi_message_add_tail(&xfers[0], &msg);
 105         spi_message_add_tail(&xfers[1], &msg);
 106         ret = spi_sync(st->us, &msg);
 107         mutex_unlock(&st->buf_lock);
 108
 109         return ret;
 110 }
 111
 112 /**
 113  * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
 114  * @dev: device associated with child of actual device (iio_dev or iio_trig)
 115  * @reg_address: the address of the lower of the two registers. Second register
 116  *               is assumed to have address one greater.
 117  * @val: somewhere to pass back the value read
 118  **/
 119 static int adis16400_spi_read_reg_16(struct device *dev,
 120                 u8 lower_reg_address,
 121                 u16 *val)
 122 {
 123         struct spi_message msg;
 124         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 125         struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
 126         int ret;
 127         struct spi_transfer xfers[] = {
 128                 {
 129                         .tx_buf = st->tx,
 130                         .bits_per_word = 8,
 131                         .len = 2,
 132                         .cs_change = 1,
 133                 }, {
 134                         .rx_buf = st->rx,
 135                         .bits_per_word = 8,
 136                         .len = 2,
 137                         .cs_change = 1,
 138                 },
 139         };
 140
 141         mutex_lock(&st->buf_lock);
 142         st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
 143         st->tx[1] = 0;
 144         st->tx[2] = 0;
 145         st->tx[3] = 0;
 146
 147         spi_message_init(&msg);
 148         spi_message_add_tail(&xfers[0], &msg);
 149         spi_message_add_tail(&xfers[1], &msg);
 150         ret = spi_sync(st->us, &msg);
 151         if (ret) {
 152                 dev_err(&st->us->dev,
 153                         "problem when reading 16 bit register 0x%02X",
 154                         lower_reg_address);
 155                 goto error_ret;
 156         }
 157         *val = (st->rx[0] << 8) | st->rx[1];
 158
 159 error_ret:
 160         mutex_unlock(&st->buf_lock);
 161         return ret;
 162 }
 163
 164 /**
 165  * adis16400_spi_read_burst() - read all data registers
 166  * @dev: device associated with child of actual device (iio_dev or iio_trig)
 167  * @rx: somewhere to pass back the value read (min size is 24 bytes)
 168  **/
 169 int adis16400_spi_read_burst(struct device *dev, u8 *rx)
 170 {
 171         struct spi_message msg;
 172         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 173         struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
 174         u32 old_speed_hz = st->us->max_speed_hz;
 175         int ret;
 176
 177         struct spi_transfer xfers[] = {
 178                 {
 179                         .tx_buf = st->tx,
 180                         .bits_per_word = 8,
 181                         .len = 2,
 182                         .cs_change = 0,
 183                 }, {
 184                         .rx_buf = rx,
 185                         .bits_per_word = 8,
 186                         .len = 24,
 187                         .cs_change = 1,
 188                 },
 189         };
 190
 191         mutex_lock(&st->buf_lock);
 192         st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD);
 193         st->tx[1] = 0;
 194
 195         spi_message_init(&msg);
 196         spi_message_add_tail(&xfers[0], &msg);
 197         spi_message_add_tail(&xfers[1], &msg);
 198
 199         st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz);
 200         spi_setup(st->us);
 201
 202         ret = spi_sync(st->us, &msg);
 203         if (ret)
 204                 dev_err(&st->us->dev, "problem when burst reading");
 205
 206         st->us->max_speed_hz = old_speed_hz;
 207         spi_setup(st->us);
 208         mutex_unlock(&st->buf_lock);
 209         return ret;
 210 }
 211
 212 static ssize_t adis16400_spi_read_signed(struct device *dev,
 213                 struct device_attribute *attr,
 214                 char *buf,
 215                 unsigned bits)
 216 {
 217         int ret;
 218         s16 val = 0;
 219         unsigned shift = 16 - bits;
 220         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 221
 222         ret = adis16400_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
 223         if (ret)
 224                 return ret;
 225
 226         if (val & ADIS16400_ERROR_ACTIVE)
 227                 adis16400_check_status(dev);
 228         val = ((s16)(val << shift) >> shift);
 229         return sprintf(buf, "%d\n", val);
 230 }
 231
 232 static ssize_t adis16400_read_12bit_unsigned(struct device *dev,
 233                 struct device_attribute *attr,
 234                 char *buf)
 235 {
 236         int ret;
 237         u16 val = 0;
 238         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 239
 240         ret = adis16400_spi_read_reg_16(dev, this_attr->address, &val);
 241         if (ret)
 242                 return ret;
 243
 244         if (val & ADIS16400_ERROR_ACTIVE)
 245                 adis16400_check_status(dev);
 246
 247         return sprintf(buf, "%u\n", val & 0x0FFF);
 248 }
 249
 250 static ssize_t adis16400_read_14bit_signed(struct device *dev,
 251                 struct device_attribute *attr,
 252                 char *buf)
 253 {
 254         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 255         ssize_t ret;
 256
 257         /* Take the iio_dev status lock */
 258         mutex_lock(&indio_dev->mlock);
 259         ret =  adis16400_spi_read_signed(dev, attr, buf, 14);
 260         mutex_unlock(&indio_dev->mlock);
 261
 262         return ret;
 263 }
 264
 265 static ssize_t adis16400_read_12bit_signed(struct device *dev,
 266                 struct device_attribute *attr,
 267                 char *buf)
 268 {
 269         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 270         ssize_t ret;
 271
 272         /* Take the iio_dev status lock */
 273         mutex_lock(&indio_dev->mlock);
 274         ret =  adis16400_spi_read_signed(dev, attr, buf, 12);
 275         mutex_unlock(&indio_dev->mlock);
 276
 277         return ret;
 278 }
 279
 280
 281 static ssize_t adis16400_write_16bit(struct device *dev,
 282                 struct device_attribute *attr,
 283                 const char *buf,
 284                 size_t len)
 285 {
 286         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 287         int ret;
 288         long val;
 289
 290         ret = strict_strtol(buf, 10, &val);
 291         if (ret)
 292                 goto error_ret;
 293         ret = adis16400_spi_write_reg_16(dev, this_attr->address, val);
 294
 295 error_ret:
 296         return ret ? ret : len;
 297 }
 298
 299 static ssize_t adis16400_read_frequency(struct device *dev,
 300                 struct device_attribute *attr,
 301                 char *buf)
 302 {
 303         int ret, len = 0;
 304         u16 t;
 305         int sps;
 306         ret = adis16400_spi_read_reg_16(dev,
 307                         ADIS16400_SMPL_PRD,
 308                         &t);
 309         if (ret)
 310                 return ret;
 311         sps =  (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
 312         sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
 313         len = sprintf(buf, "%d SPS\n", sps);
 314         return len;
 315 }
 316
 317 static ssize_t adis16400_write_frequency(struct device *dev,
 318                 struct device_attribute *attr,
 319                 const char *buf,
 320                 size_t len)
 321 {
 322         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 323         struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
 324         long val;
 325         int ret;
 326         u8 t;
 327
 328         ret = strict_strtol(buf, 10, &val);
 329         if (ret)
 330                 return ret;
 331
 332         mutex_lock(&indio_dev->mlock);
 333
 334         t = (1638 / val);
 335         if (t > 0)
 336                 t--;
 337         t &= ADIS16400_SMPL_PRD_DIV_MASK;
 338         if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
 339                 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
 340         else
 341                 st->us->max_speed_hz = ADIS16400_SPI_FAST;
 342
 343         ret = adis16400_spi_write_reg_8(dev,
 344                         ADIS16400_SMPL_PRD,
 345                         t);
 346
 347         mutex_unlock(&indio_dev->mlock);
 348
 349         return ret ? ret : len;
 350 }
 351
 352 static ssize_t adis16400_write_reset(struct device *dev,
 353                 struct device_attribute *attr,
 354                 const char *buf, size_t len)
 355 {
 356         if (len < 1)
 357                 return -1;
 358         switch (buf[0]) {
 359         case '1':
 360         case 'y':
 361         case 'Y':
 362                 return adis16400_reset(dev);
 363         }
 364         return -1;
 365 }
 366
 367
 368
 369 int adis16400_set_irq(struct device *dev, bool enable)
 370 {
 371         int ret;
 372         u16 msc;
 373         ret = adis16400_spi_read_reg_16(dev, ADIS16400_MSC_CTRL, &msc);
 374         if (ret)
 375                 goto error_ret;
 376
 377         msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
 378         if (enable)
 379                 msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
 380         else
 381                 msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
 382
 383         ret = adis16400_spi_write_reg_16(dev, ADIS16400_MSC_CTRL, msc);
 384         if (ret)
 385                 goto error_ret;
 386
 387 error_ret:
 388         return ret;
 389 }
 390
 391 int adis16400_reset(struct device *dev)
 392 {
 393         int ret;
 394         ret = adis16400_spi_write_reg_8(dev,
 395                         ADIS16400_GLOB_CMD,
 396                         ADIS16400_GLOB_CMD_SW_RESET);
 397         if (ret)
 398                 dev_err(dev, "problem resetting device");
 399
 400         return ret;
 401 }
 402
 403 /* Power down the device */
 404 static int adis16400_stop_device(struct device *dev)
 405 {
 406         int ret;
 407         u16 val = ADIS16400_SLP_CNT_POWER_OFF;
 408
 409         ret = adis16400_spi_write_reg_16(dev, ADIS16400_SLP_CNT, val);
 410         if (ret)
 411                 dev_err(dev, "problem with turning device off: SLP_CNT");
 412
 413         return ret;
 414 }
 415
 416 static int adis16400_self_test(struct device *dev)
 417 {
 418         int ret;
 419         ret = adis16400_spi_write_reg_16(dev,
 420                         ADIS16400_MSC_CTRL,
 421                         ADIS16400_MSC_CTRL_MEM_TEST);
 422         if (ret) {
 423                 dev_err(dev, "problem starting self test");
 424                 goto err_ret;
 425         }
 426
 427         adis16400_check_status(dev);
 428
 429 err_ret:
 430         return ret;
 431 }
 432
 433 int adis16400_check_status(struct device *dev)
 434 {
 435         u16 status;
 436         int ret;
 437
 438         ret = adis16400_spi_read_reg_16(dev, ADIS16400_DIAG_STAT, &status);
 439
 440         if (ret < 0) {
 441                 dev_err(dev, "Reading status failed\n");
 442                 goto error_ret;
 443         }
 444         ret = status;
 445         if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
 446                 dev_err(dev, "Z-axis accelerometer self-test failure\n");
 447         if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
 448                 dev_err(dev, "Y-axis accelerometer self-test failure\n");
 449         if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
 450                 dev_err(dev, "X-axis accelerometer self-test failure\n");
 451         if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
 452                 dev_err(dev, "X-axis gyroscope self-test failure\n");
 453         if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
 454                 dev_err(dev, "Y-axis gyroscope self-test failure\n");
 455         if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
 456                 dev_err(dev, "Z-axis gyroscope self-test failure\n");
 457         if (status & ADIS16400_DIAG_STAT_ALARM2)
 458                 dev_err(dev, "Alarm 2 active\n");
 459         if (status & ADIS16400_DIAG_STAT_ALARM1)
 460                 dev_err(dev, "Alarm 1 active\n");
 461         if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
 462                 dev_err(dev, "Flash checksum error\n");
 463         if (status & ADIS16400_DIAG_STAT_SELF_TEST)
 464                 dev_err(dev, "Self test error\n");
 465         if (status & ADIS16400_DIAG_STAT_OVERFLOW)
 466                 dev_err(dev, "Sensor overrange\n");
 467         if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
 468                 dev_err(dev, "SPI failure\n");
 469         if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
 470                 dev_err(dev, "Flash update failed\n");
 471         if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
 472                 dev_err(dev, "Power supply above 5.25V\n");
 473         if (status & ADIS16400_DIAG_STAT_POWER_LOW)
 474                 dev_err(dev, "Power supply below 4.75V\n");
 475
 476 error_ret:
 477         return ret;
 478 }
 479
 480 static int adis16400_initial_setup(struct adis16400_state *st)
 481 {
 482         int ret;
 483         u16 prod_id, smp_prd;
 484         struct device *dev = &st->indio_dev->dev;
 485
 486         /* use low spi speed for init */
 487         st->us->max_speed_hz = ADIS16400_SPI_SLOW;
 488         st->us->mode = SPI_MODE_3;
 489         spi_setup(st->us);
 490
 491         /* Disable IRQ */
 492         ret = adis16400_set_irq(dev, false);
 493         if (ret) {
 494                 dev_err(dev, "disable irq failed");
 495                 goto err_ret;
 496         }
 497
 498         /* Do self test */
 499
 500         /* Read status register to check the result */
 501         ret = adis16400_check_status(dev);
 502         if (ret) {
 503                 adis16400_reset(dev);
 504                 dev_err(dev, "device not playing ball -> reset");
 505                 msleep(ADIS16400_STARTUP_DELAY);
 506                 ret = adis16400_check_status(dev);
 507                 if (ret) {
 508                         dev_err(dev, "giving up");
 509                         goto err_ret;
 510                 }
 511         }
 512
 513         ret = adis16400_spi_read_reg_16(dev, ADIS16400_PRODUCT_ID, &prod_id);
 514         if (ret)
 515                 goto err_ret;
 516
 517         if (prod_id != ADIS16400_PRODUCT_ID_DEFAULT)
 518                 dev_warn(dev, "unknown product id");
 519
 520         printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n",
 521                         prod_id, st->us->chip_select, st->us->irq);
 522
 523         /* use high spi speed if possible */
 524         ret = adis16400_spi_read_reg_16(dev, ADIS16400_SMPL_PRD, &smp_prd);
 525         if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
 526                 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
 527                 spi_setup(st->us);
 528         }
 529
 530
 531 err_ret:
 532
 533         return ret;
 534 }
 535
 536 static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
 537                 adis16400_read_12bit_signed,
 538                 adis16400_write_16bit,
 539                 ADIS16400_XACCL_OFF);
 540
 541 static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
 542                 adis16400_read_12bit_signed,
 543                 adis16400_write_16bit,
 544                 ADIS16400_YACCL_OFF);
 545
 546 static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO,
 547                 adis16400_read_12bit_signed,
 548                 adis16400_write_16bit,
 549                 ADIS16400_ZACCL_OFF);
 550
 551 static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16400_read_14bit_signed,
 552                 ADIS16400_SUPPLY_OUT);
 553 static IIO_CONST_ATTR(in_supply_scale, "0.002418");
 554
 555 static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed,
 556                 ADIS16400_XGYRO_OUT);
 557 static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed,
 558                 ADIS16400_YGYRO_OUT);
 559 static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed,
 560                 ADIS16400_ZGYRO_OUT);
 561 static IIO_CONST_ATTR(gyro_scale, "0.05 deg/s");
 562
 563 static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed,
 564                 ADIS16400_XACCL_OUT);
 565 static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed,
 566                 ADIS16400_YACCL_OUT);
 567 static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed,
 568                 ADIS16400_ZACCL_OUT);
 569 static IIO_CONST_ATTR(accel_scale, "0.00333 g");
 570
 571 static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed,
 572                 ADIS16400_XMAGN_OUT);
 573 static IIO_DEV_ATTR_MAGN_Y(adis16400_read_14bit_signed,
 574                 ADIS16400_YMAGN_OUT);
 575 static IIO_DEV_ATTR_MAGN_Z(adis16400_read_14bit_signed,
 576                 ADIS16400_ZMAGN_OUT);
 577 static IIO_CONST_ATTR(magn_scale, "0.0005 Gs");
 578
 579
 580 static IIO_DEV_ATTR_TEMP_RAW(adis16400_read_12bit_signed);
 581 static IIO_CONST_ATTR(temp_offset, "198.16 K");
 582 static IIO_CONST_ATTR(temp_scale, "0.14 K");
 583
 584 static IIO_DEV_ATTR_IN_RAW(0, adis16400_read_12bit_unsigned,
 585                 ADIS16400_AUX_ADC);
 586 static IIO_CONST_ATTR(in0_scale, "0.000806");
 587
 588 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
 589                 adis16400_read_frequency,
 590                 adis16400_write_frequency);
 591
 592 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);
 593
 594 static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638");
 595
 596 static IIO_CONST_ATTR(name, "adis16400");
 597
 598 static struct attribute *adis16400_event_attributes[] = {
 599         NULL
 600 };
 601
 602 static struct attribute_group adis16400_event_attribute_group = {
 603         .attrs = adis16400_event_attributes,
 604 };
 605
 606 static struct attribute *adis16400_attributes[] = {
 607         &iio_dev_attr_accel_x_offset.dev_attr.attr,
 608         &iio_dev_attr_accel_y_offset.dev_attr.attr,
 609         &iio_dev_attr_accel_z_offset.dev_attr.attr,
 610         &iio_dev_attr_in_supply_raw.dev_attr.attr,
 611         &iio_const_attr_in_supply_scale.dev_attr.attr,
 612         &iio_dev_attr_gyro_x_raw.dev_attr.attr,
 613         &iio_dev_attr_gyro_y_raw.dev_attr.attr,
 614         &iio_dev_attr_gyro_z_raw.dev_attr.attr,
 615         &iio_const_attr_gyro_scale.dev_attr.attr,
 616         &iio_dev_attr_accel_x_raw.dev_attr.attr,
 617         &iio_dev_attr_accel_y_raw.dev_attr.attr,
 618         &iio_dev_attr_accel_z_raw.dev_attr.attr,
 619         &iio_const_attr_accel_scale.dev_attr.attr,
 620         &iio_dev_attr_magn_x_raw.dev_attr.attr,
 621         &iio_dev_attr_magn_y_raw.dev_attr.attr,
 622         &iio_dev_attr_magn_z_raw.dev_attr.attr,
 623         &iio_const_attr_magn_scale.dev_attr.attr,
 624         &iio_dev_attr_temp_raw.dev_attr.attr,
 625         &iio_const_attr_temp_offset.dev_attr.attr,
 626         &iio_const_attr_temp_scale.dev_attr.attr,
 627         &iio_dev_attr_in0_raw.dev_attr.attr,
 628         &iio_const_attr_in0_scale.dev_attr.attr,
 629         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 630         &iio_const_attr_available_sampling_frequency.dev_attr.attr,
 631         &iio_dev_attr_reset.dev_attr.attr,
 632         &iio_const_attr_name.dev_attr.attr,
 633         NULL
 634 };
 635
 636 static const struct attribute_group adis16400_attribute_group = {
 637         .attrs = adis16400_attributes,
 638 };
 639
 640 static int __devinit adis16400_probe(struct spi_device *spi)
 641 {
 642         int ret, regdone = 0;
 643         struct adis16400_state *st = kzalloc(sizeof *st, GFP_KERNEL);
 644         if (!st) {
 645                 ret =  -ENOMEM;
 646                 goto error_ret;
 647         }
 648         /* this is only used for removal purposes */
 649         spi_set_drvdata(spi, st);
 650
 651         /* Allocate the comms buffers */
 652         st->rx = kzalloc(sizeof(*st->rx)*ADIS16400_MAX_RX, GFP_KERNEL);
 653         if (st->rx == NULL) {
 654                 ret = -ENOMEM;
 655                 goto error_free_st;
 656         }
 657         st->tx = kzalloc(sizeof(*st->tx)*ADIS16400_MAX_TX, GFP_KERNEL);
 658         if (st->tx == NULL) {
 659                 ret = -ENOMEM;
 660                 goto error_free_rx;
 661         }
 662         st->us = spi;
 663         mutex_init(&st->buf_lock);
 664         /* setup the industrialio driver allocated elements */
 665         st->indio_dev = iio_allocate_device();
 666         if (st->indio_dev == NULL) {
 667                 ret = -ENOMEM;
 668                 goto error_free_tx;
 669         }
 670
 671         st->indio_dev->dev.parent = &spi->dev;
 672         st->indio_dev->num_interrupt_lines = 1;
 673         st->indio_dev->event_attrs = &adis16400_event_attribute_group;
 674         st->indio_dev->attrs = &adis16400_attribute_group;
 675         st->indio_dev->dev_data = (void *)(st);
 676         st->indio_dev->driver_module = THIS_MODULE;
 677         st->indio_dev->modes = INDIO_DIRECT_MODE;
 678
 679         ret = adis16400_configure_ring(st->indio_dev);
 680         if (ret)
 681                 goto error_free_dev;
 682
 683         ret = iio_device_register(st->indio_dev);
 684         if (ret)
 685                 goto error_unreg_ring_funcs;
 686         regdone = 1;
 687
 688         ret = adis16400_initialize_ring(st->indio_dev->ring);
 689         if (ret) {
 690                 printk(KERN_ERR "failed to initialize the ring\n");
 691                 goto error_unreg_ring_funcs;
 692         }
 693
 694         if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
 695 #if 0 /* fixme: here we should support */
 696                 iio_init_work_cont(&st->work_cont_thresh,
 697                                 NULL,
 698                                 adis16400_thresh_handler_bh_no_check,
 699                                 0,
 700                                 0,
 701                                 st);
 702 #endif
 703                 ret = iio_register_interrupt_line(spi->irq,
 704                                 st->indio_dev,
 705                                 0,
 706                                 IRQF_TRIGGER_RISING,
 707                                 "adis16400");
 708                 if (ret)
 709                         goto error_uninitialize_ring;
 710
 711                 ret = adis16400_probe_trigger(st->indio_dev);
 712                 if (ret)
 713                         goto error_unregister_line;
 714         }
 715
 716         /* Get the device into a sane initial state */
 717         ret = adis16400_initial_setup(st);
 718         if (ret)
 719                 goto error_remove_trigger;
 720         return 0;
 721
 722 error_remove_trigger:
 723         if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
 724                 adis16400_remove_trigger(st->indio_dev);
 725 error_unregister_line:
 726         if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
 727                 iio_unregister_interrupt_line(st->indio_dev, 0);
 728 error_uninitialize_ring:
 729         adis16400_uninitialize_ring(st->indio_dev->ring);
 730 error_unreg_ring_funcs:
 731         adis16400_unconfigure_ring(st->indio_dev);
 732 error_free_dev:
 733         if (regdone)
 734                 iio_device_unregister(st->indio_dev);
 735         else
 736                 iio_free_device(st->indio_dev);
 737 error_free_tx:
 738         kfree(st->tx);
 739 error_free_rx:
 740         kfree(st->rx);
 741 error_free_st:
 742         kfree(st);
 743 error_ret:
 744         return ret;
 745 }
 746
 747 /* fixme, confirm ordering in this function */
 748 static int adis16400_remove(struct spi_device *spi)
 749 {
 750         int ret;
 751         struct adis16400_state *st = spi_get_drvdata(spi);
 752         struct iio_dev *indio_dev = st->indio_dev;
 753
 754         ret = adis16400_stop_device(&(indio_dev->dev));
 755         if (ret)
 756                 goto err_ret;
 757
 758         flush_scheduled_work();
 759
 760         adis16400_remove_trigger(indio_dev);
 761         if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
 762                 iio_unregister_interrupt_line(indio_dev, 0);
 763
 764         adis16400_uninitialize_ring(indio_dev->ring);
 765         adis16400_unconfigure_ring(indio_dev);
 766         iio_device_unregister(indio_dev);
 767         kfree(st->tx);
 768         kfree(st->rx);
 769         kfree(st);
 770
 771         return 0;
 772
 773 err_ret:
 774         return ret;
 775 }
 776
 777 static struct spi_driver adis16400_driver = {
 778         .driver = {
 779                 .name = "adis16400",
 780                 .owner = THIS_MODULE,
 781         },
 782         .probe = adis16400_probe,
 783         .remove = __devexit_p(adis16400_remove),
 784 };
 785
 786 static __init int adis16400_init(void)
 787 {
 788         return spi_register_driver(&adis16400_driver);
 789 }
 790 module_init(adis16400_init);
 791
 792 static __exit void adis16400_exit(void)
 793 {
 794         spi_unregister_driver(&adis16400_driver);
 795 }
 796 module_exit(adis16400_exit);
 797
 798 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
 799 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
 800 MODULE_LICENSE("GPL v2");