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                 },
  97         };
  98
  99         mutex_lock(&st->buf_lock);
 100         st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
 101         st->tx[1] = value & 0xFF;
 102         st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
 103         st->tx[3] = (value >> 8) & 0xFF;
 104
 105         spi_message_init(&msg);
 106         spi_message_add_tail(&xfers[0], &msg);
 107         spi_message_add_tail(&xfers[1], &msg);
 108         ret = spi_sync(st->us, &msg);
 109         mutex_unlock(&st->buf_lock);
 110
 111         return ret;
 112 }
 113
 114 /**
 115  * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
 116  * @dev: device associated with child of actual device (iio_dev or iio_trig)
 117  * @reg_address: the address of the lower of the two registers. Second register
 118  *               is assumed to have address one greater.
 119  * @val: somewhere to pass back the value read
 120  **/
 121 static int adis16400_spi_read_reg_16(struct device *dev,
 122                 u8 lower_reg_address,
 123                 u16 *val)
 124 {
 125         struct spi_message msg;
 126         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 127         struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
 128         int ret;
 129         struct spi_transfer xfers[] = {
 130                 {
 131                         .tx_buf = st->tx,
 132                         .bits_per_word = 8,
 133                         .len = 2,
 134                         .cs_change = 1,
 135                 }, {
 136                         .rx_buf = st->rx,
 137                         .bits_per_word = 8,
 138                         .len = 2,
 139                 },
 140         };
 141
 142         mutex_lock(&st->buf_lock);
 143         st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
 144         st->tx[1] = 0;
 145         st->tx[2] = 0;
 146         st->tx[3] = 0;
 147
 148         spi_message_init(&msg);
 149         spi_message_add_tail(&xfers[0], &msg);
 150         spi_message_add_tail(&xfers[1], &msg);
 151         ret = spi_sync(st->us, &msg);
 152         if (ret) {
 153                 dev_err(&st->us->dev,
 154                         "problem when reading 16 bit register 0x%02X",
 155                         lower_reg_address);
 156                 goto error_ret;
 157         }
 158         *val = (st->rx[0] << 8) | st->rx[1];
 159
 160 error_ret:
 161         mutex_unlock(&st->buf_lock);
 162         return ret;
 163 }
 164
 165 static ssize_t adis16400_spi_read_signed(struct device *dev,
 166                 struct device_attribute *attr,
 167                 char *buf,
 168                 unsigned bits)
 169 {
 170         int ret;
 171         s16 val = 0;
 172         unsigned shift = 16 - bits;
 173         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 174
 175         ret = adis16400_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
 176         if (ret)
 177                 return ret;
 178
 179         if (val & ADIS16400_ERROR_ACTIVE)
 180                 adis16400_check_status(dev);
 181         val = ((s16)(val << shift) >> shift);
 182         return sprintf(buf, "%d\n", val);
 183 }
 184
 185 static ssize_t adis16400_read_12bit_unsigned(struct device *dev,
 186                 struct device_attribute *attr,
 187                 char *buf)
 188 {
 189         int ret;
 190         u16 val = 0;
 191         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 192
 193         ret = adis16400_spi_read_reg_16(dev, this_attr->address, &val);
 194         if (ret)
 195                 return ret;
 196
 197         if (val & ADIS16400_ERROR_ACTIVE)
 198                 adis16400_check_status(dev);
 199
 200         return sprintf(buf, "%u\n", val & 0x0FFF);
 201 }
 202
 203 static ssize_t adis16400_read_14bit_signed(struct device *dev,
 204                 struct device_attribute *attr,
 205                 char *buf)
 206 {
 207         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 208         ssize_t ret;
 209
 210         /* Take the iio_dev status lock */
 211         mutex_lock(&indio_dev->mlock);
 212         ret =  adis16400_spi_read_signed(dev, attr, buf, 14);
 213         mutex_unlock(&indio_dev->mlock);
 214
 215         return ret;
 216 }
 217
 218 static ssize_t adis16400_read_12bit_signed(struct device *dev,
 219                 struct device_attribute *attr,
 220                 char *buf)
 221 {
 222         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 223         ssize_t ret;
 224
 225         /* Take the iio_dev status lock */
 226         mutex_lock(&indio_dev->mlock);
 227         ret =  adis16400_spi_read_signed(dev, attr, buf, 12);
 228         mutex_unlock(&indio_dev->mlock);
 229
 230         return ret;
 231 }
 232
 233 static ssize_t adis16400_write_16bit(struct device *dev,
 234                 struct device_attribute *attr,
 235                 const char *buf,
 236                 size_t len)
 237 {
 238         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 239         int ret;
 240         long val;
 241
 242         ret = strict_strtol(buf, 10, &val);
 243         if (ret)
 244                 goto error_ret;
 245         ret = adis16400_spi_write_reg_16(dev, this_attr->address, val);
 246
 247 error_ret:
 248         return ret ? ret : len;
 249 }
 250
 251 static ssize_t adis16400_read_frequency(struct device *dev,
 252                 struct device_attribute *attr,
 253                 char *buf)
 254 {
 255         int ret, len = 0;
 256         u16 t;
 257         int sps;
 258         ret = adis16400_spi_read_reg_16(dev,
 259                         ADIS16400_SMPL_PRD,
 260                         &t);
 261         if (ret)
 262                 return ret;
 263         sps =  (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
 264         sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
 265         len = sprintf(buf, "%d SPS\n", sps);
 266         return len;
 267 }
 268
 269 static ssize_t adis16400_write_frequency(struct device *dev,
 270                 struct device_attribute *attr,
 271                 const char *buf,
 272                 size_t len)
 273 {
 274         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 275         struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
 276         long val;
 277         int ret;
 278         u8 t;
 279
 280         ret = strict_strtol(buf, 10, &val);
 281         if (ret)
 282                 return ret;
 283
 284         mutex_lock(&indio_dev->mlock);
 285
 286         t = (1638 / val);
 287         if (t > 0)
 288                 t--;
 289         t &= ADIS16400_SMPL_PRD_DIV_MASK;
 290         if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
 291                 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
 292         else
 293                 st->us->max_speed_hz = ADIS16400_SPI_FAST;
 294
 295         ret = adis16400_spi_write_reg_8(dev,
 296                         ADIS16400_SMPL_PRD,
 297                         t);
 298
 299         mutex_unlock(&indio_dev->mlock);
 300
 301         return ret ? ret : len;
 302 }
 303
 304 static int adis16400_reset(struct device *dev)
 305 {
 306         int ret;
 307         ret = adis16400_spi_write_reg_8(dev,
 308                         ADIS16400_GLOB_CMD,
 309                         ADIS16400_GLOB_CMD_SW_RESET);
 310         if (ret)
 311                 dev_err(dev, "problem resetting device");
 312
 313         return ret;
 314 }
 315
 316 static ssize_t adis16400_write_reset(struct device *dev,
 317                 struct device_attribute *attr,
 318                 const char *buf, size_t len)
 319 {
 320         if (len < 1)
 321                 return -1;
 322         switch (buf[0]) {
 323         case '1':
 324         case 'y':
 325         case 'Y':
 326                 return adis16400_reset(dev);
 327         }
 328         return -1;
 329 }
 330
 331 int adis16400_set_irq(struct device *dev, bool enable)
 332 {
 333         int ret;
 334         u16 msc;
 335         ret = adis16400_spi_read_reg_16(dev, ADIS16400_MSC_CTRL, &msc);
 336         if (ret)
 337                 goto error_ret;
 338
 339         msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
 340         if (enable)
 341                 msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
 342         else
 343                 msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
 344
 345         ret = adis16400_spi_write_reg_16(dev, ADIS16400_MSC_CTRL, msc);
 346         if (ret)
 347                 goto error_ret;
 348
 349 error_ret:
 350         return ret;
 351 }
 352
 353 /* Power down the device */
 354 static int adis16400_stop_device(struct device *dev)
 355 {
 356         int ret;
 357         u16 val = ADIS16400_SLP_CNT_POWER_OFF;
 358
 359         ret = adis16400_spi_write_reg_16(dev, ADIS16400_SLP_CNT, val);
 360         if (ret)
 361                 dev_err(dev, "problem with turning device off: SLP_CNT");
 362
 363         return ret;
 364 }
 365
 366 static int adis16400_self_test(struct device *dev)
 367 {
 368         int ret;
 369         ret = adis16400_spi_write_reg_16(dev,
 370                         ADIS16400_MSC_CTRL,
 371                         ADIS16400_MSC_CTRL_MEM_TEST);
 372         if (ret) {
 373                 dev_err(dev, "problem starting self test");
 374                 goto err_ret;
 375         }
 376         msleep(ADIS16400_MTEST_DELAY);
 377         adis16400_check_status(dev);
 378
 379 err_ret:
 380         return ret;
 381 }
 382
 383 static int adis16400_check_status(struct device *dev)
 384 {
 385         u16 status;
 386         int ret;
 387
 388         ret = adis16400_spi_read_reg_16(dev, ADIS16400_DIAG_STAT, &status);
 389
 390         if (ret < 0) {
 391                 dev_err(dev, "Reading status failed\n");
 392                 goto error_ret;
 393         }
 394         ret = status;
 395         if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
 396                 dev_err(dev, "Z-axis accelerometer self-test failure\n");
 397         if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
 398                 dev_err(dev, "Y-axis accelerometer self-test failure\n");
 399         if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
 400                 dev_err(dev, "X-axis accelerometer self-test failure\n");
 401         if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
 402                 dev_err(dev, "X-axis gyroscope self-test failure\n");
 403         if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
 404                 dev_err(dev, "Y-axis gyroscope self-test failure\n");
 405         if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
 406                 dev_err(dev, "Z-axis gyroscope self-test failure\n");
 407         if (status & ADIS16400_DIAG_STAT_ALARM2)
 408                 dev_err(dev, "Alarm 2 active\n");
 409         if (status & ADIS16400_DIAG_STAT_ALARM1)
 410                 dev_err(dev, "Alarm 1 active\n");
 411         if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
 412                 dev_err(dev, "Flash checksum error\n");
 413         if (status & ADIS16400_DIAG_STAT_SELF_TEST)
 414                 dev_err(dev, "Self test error\n");
 415         if (status & ADIS16400_DIAG_STAT_OVERFLOW)
 416                 dev_err(dev, "Sensor overrange\n");
 417         if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
 418                 dev_err(dev, "SPI failure\n");
 419         if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
 420                 dev_err(dev, "Flash update failed\n");
 421         if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
 422                 dev_err(dev, "Power supply above 5.25V\n");
 423         if (status & ADIS16400_DIAG_STAT_POWER_LOW)
 424                 dev_err(dev, "Power supply below 4.75V\n");
 425
 426 error_ret:
 427         return ret;
 428 }
 429
 430 static int adis16400_initial_setup(struct adis16400_state *st)
 431 {
 432         int ret;
 433         u16 prod_id, smp_prd;
 434         struct device *dev = &st->indio_dev->dev;
 435
 436         /* use low spi speed for init */
 437         st->us->max_speed_hz = ADIS16400_SPI_SLOW;
 438         st->us->mode = SPI_MODE_3;
 439         spi_setup(st->us);
 440
 441         /* Disable IRQ */
 442         ret = adis16400_set_irq(dev, false);
 443         if (ret) {
 444                 dev_err(dev, "disable irq failed");
 445                 goto err_ret;
 446         }
 447
 448         /* Do self test */
 449         ret = adis16400_self_test(dev);
 450         if (ret) {
 451                 dev_err(dev, "self test failure");
 452                 goto err_ret;
 453         }
 454
 455         /* Read status register to check the result */
 456         ret = adis16400_check_status(dev);
 457         if (ret) {
 458                 adis16400_reset(dev);
 459                 dev_err(dev, "device not playing ball -> reset");
 460                 msleep(ADIS16400_STARTUP_DELAY);
 461                 ret = adis16400_check_status(dev);
 462                 if (ret) {
 463                         dev_err(dev, "giving up");
 464                         goto err_ret;
 465                 }
 466         }
 467
 468         ret = adis16400_spi_read_reg_16(dev, ADIS16400_PRODUCT_ID, &prod_id);
 469         if (ret)
 470                 goto err_ret;
 471
 472         if ((prod_id & 0xF000) != ADIS16400_PRODUCT_ID_DEFAULT)
 473                 dev_warn(dev, "unknown product id");
 474
 475         printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n",
 476                         prod_id, st->us->chip_select, st->us->irq);
 477
 478         /* use high spi speed if possible */
 479         ret = adis16400_spi_read_reg_16(dev, ADIS16400_SMPL_PRD, &smp_prd);
 480         if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
 481                 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
 482                 spi_setup(st->us);
 483         }
 484
 485
 486 err_ret:
 487
 488         return ret;
 489 }
 490
 491 #define ADIS16400_DEV_ATTR_CALIBBIAS(_channel, _reg)            \
 492         IIO_DEV_ATTR_##_channel##_CALIBBIAS(S_IWUSR | S_IRUGO,  \
 493                         adis16400_read_12bit_signed,            \
 494                         adis16400_write_16bit,                  \
 495                         _reg)
 496
 497 static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_X, ADIS16400_XGYRO_OFF);
 498 static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Y, ADIS16400_YGYRO_OFF);
 499 static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Z, ADIS16400_ZGYRO_OFF);
 500
 501 static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_X, ADIS16400_XACCL_OFF);
 502 static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Y, ADIS16400_YACCL_OFF);
 503 static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Z, ADIS16400_ZACCL_OFF);
 504
 505
 506 static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16400_read_14bit_signed,
 507                 ADIS16400_SUPPLY_OUT);
 508 static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.002418 V");
 509
 510 static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed,
 511                 ADIS16400_XGYRO_OUT);
 512 static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed,
 513                 ADIS16400_YGYRO_OUT);
 514 static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed,
 515                 ADIS16400_ZGYRO_OUT);
 516 static IIO_CONST_ATTR(gyro_scale, "0.0008726646");
 517
 518 static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed,
 519                 ADIS16400_XACCL_OUT);
 520 static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed,
 521                 ADIS16400_YACCL_OUT);
 522 static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed,
 523                 ADIS16400_ZACCL_OUT);
 524 static IIO_CONST_ATTR(accel_scale, "0.0326561445");
 525
 526 static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed,
 527                 ADIS16400_XMAGN_OUT);
 528 static IIO_DEV_ATTR_MAGN_Y(adis16400_read_14bit_signed,
 529                 ADIS16400_YMAGN_OUT);
 530 static IIO_DEV_ATTR_MAGN_Z(adis16400_read_14bit_signed,
 531                 ADIS16400_ZMAGN_OUT);
 532 static IIO_CONST_ATTR(magn_scale, "0.0005 Gs");
 533
 534
 535 static IIO_DEV_ATTR_TEMP_RAW(adis16400_read_12bit_signed);
 536 static IIO_CONST_ATTR_TEMP_OFFSET("198.16 K");
 537 static IIO_CONST_ATTR_TEMP_SCALE("0.14 K");
 538
 539 static IIO_DEV_ATTR_IN_RAW(1, adis16400_read_12bit_unsigned,
 540                 ADIS16400_AUX_ADC);
 541 static IIO_CONST_ATTR(in1_scale, "0.000806 V");
 542
 543 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
 544                 adis16400_read_frequency,
 545                 adis16400_write_frequency);
 546
 547 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);
 548
 549 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
 550
 551 static IIO_CONST_ATTR_NAME("adis16400");
 552
 553 static struct attribute *adis16400_event_attributes[] = {
 554         NULL
 555 };
 556
 557 static struct attribute_group adis16400_event_attribute_group = {
 558         .attrs = adis16400_event_attributes,
 559 };
 560
 561 static struct attribute *adis16400_attributes[] = {
 562         &iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
 563         &iio_dev_attr_gyro_y_calibbias.dev_attr.attr,
 564         &iio_dev_attr_gyro_z_calibbias.dev_attr.attr,
 565         &iio_dev_attr_accel_x_calibbias.dev_attr.attr,
 566         &iio_dev_attr_accel_y_calibbias.dev_attr.attr,
 567         &iio_dev_attr_accel_z_calibbias.dev_attr.attr,
 568         &iio_dev_attr_in0_supply_raw.dev_attr.attr,
 569         &iio_const_attr_in0_supply_scale.dev_attr.attr,
 570         &iio_dev_attr_gyro_x_raw.dev_attr.attr,
 571         &iio_dev_attr_gyro_y_raw.dev_attr.attr,
 572         &iio_dev_attr_gyro_z_raw.dev_attr.attr,
 573         &iio_const_attr_gyro_scale.dev_attr.attr,
 574         &iio_dev_attr_accel_x_raw.dev_attr.attr,
 575         &iio_dev_attr_accel_y_raw.dev_attr.attr,
 576         &iio_dev_attr_accel_z_raw.dev_attr.attr,
 577         &iio_const_attr_accel_scale.dev_attr.attr,
 578         &iio_dev_attr_magn_x_raw.dev_attr.attr,
 579         &iio_dev_attr_magn_y_raw.dev_attr.attr,
 580         &iio_dev_attr_magn_z_raw.dev_attr.attr,
 581         &iio_const_attr_magn_scale.dev_attr.attr,
 582         &iio_dev_attr_temp_raw.dev_attr.attr,
 583         &iio_const_attr_temp_offset.dev_attr.attr,
 584         &iio_const_attr_temp_scale.dev_attr.attr,
 585         &iio_dev_attr_in1_raw.dev_attr.attr,
 586         &iio_const_attr_in1_scale.dev_attr.attr,
 587         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 588         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
 589         &iio_dev_attr_reset.dev_attr.attr,
 590         &iio_const_attr_name.dev_attr.attr,
 591         NULL
 592 };
 593
 594 static const struct attribute_group adis16400_attribute_group = {
 595         .attrs = adis16400_attributes,
 596 };
 597
 598 static int __devinit adis16400_probe(struct spi_device *spi)
 599 {
 600         int ret, regdone = 0;
 601         struct adis16400_state *st = kzalloc(sizeof *st, GFP_KERNEL);
 602         if (!st) {
 603                 ret =  -ENOMEM;
 604                 goto error_ret;
 605         }
 606         /* this is only used for removal purposes */
 607         spi_set_drvdata(spi, st);
 608
 609         /* Allocate the comms buffers */
 610         st->rx = kzalloc(sizeof(*st->rx)*ADIS16400_MAX_RX, GFP_KERNEL);
 611         if (st->rx == NULL) {
 612                 ret = -ENOMEM;
 613                 goto error_free_st;
 614         }
 615         st->tx = kzalloc(sizeof(*st->tx)*ADIS16400_MAX_TX, GFP_KERNEL);
 616         if (st->tx == NULL) {
 617                 ret = -ENOMEM;
 618                 goto error_free_rx;
 619         }
 620         st->us = spi;
 621         mutex_init(&st->buf_lock);
 622         /* setup the industrialio driver allocated elements */
 623         st->indio_dev = iio_allocate_device();
 624         if (st->indio_dev == NULL) {
 625                 ret = -ENOMEM;
 626                 goto error_free_tx;
 627         }
 628
 629         st->indio_dev->dev.parent = &spi->dev;
 630         st->indio_dev->num_interrupt_lines = 1;
 631         st->indio_dev->event_attrs = &adis16400_event_attribute_group;
 632         st->indio_dev->attrs = &adis16400_attribute_group;
 633         st->indio_dev->dev_data = (void *)(st);
 634         st->indio_dev->driver_module = THIS_MODULE;
 635         st->indio_dev->modes = INDIO_DIRECT_MODE;
 636
 637         ret = adis16400_configure_ring(st->indio_dev);
 638         if (ret)
 639                 goto error_free_dev;
 640
 641         ret = iio_device_register(st->indio_dev);
 642         if (ret)
 643                 goto error_unreg_ring_funcs;
 644         regdone = 1;
 645
 646         ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
 647         if (ret) {
 648                 printk(KERN_ERR "failed to initialize the ring\n");
 649                 goto error_unreg_ring_funcs;
 650         }
 651
 652         if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
 653                 ret = iio_register_interrupt_line(spi->irq,
 654                                 st->indio_dev,
 655                                 0,
 656                                 IRQF_TRIGGER_RISING,
 657                                 "adis16400");
 658                 if (ret)
 659                         goto error_uninitialize_ring;
 660
 661                 ret = adis16400_probe_trigger(st->indio_dev);
 662                 if (ret)
 663                         goto error_unregister_line;
 664         }
 665
 666         /* Get the device into a sane initial state */
 667         ret = adis16400_initial_setup(st);
 668         if (ret)
 669                 goto error_remove_trigger;
 670         return 0;
 671
 672 error_remove_trigger:
 673         if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
 674                 adis16400_remove_trigger(st->indio_dev);
 675 error_unregister_line:
 676         if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
 677                 iio_unregister_interrupt_line(st->indio_dev, 0);
 678 error_uninitialize_ring:
 679         iio_ring_buffer_unregister(st->indio_dev->ring);
 680 error_unreg_ring_funcs:
 681         adis16400_unconfigure_ring(st->indio_dev);
 682 error_free_dev:
 683         if (regdone)
 684                 iio_device_unregister(st->indio_dev);
 685         else
 686                 iio_free_device(st->indio_dev);
 687 error_free_tx:
 688         kfree(st->tx);
 689 error_free_rx:
 690         kfree(st->rx);
 691 error_free_st:
 692         kfree(st);
 693 error_ret:
 694         return ret;
 695 }
 696
 697 /* fixme, confirm ordering in this function */
 698 static int adis16400_remove(struct spi_device *spi)
 699 {
 700         int ret;
 701         struct adis16400_state *st = spi_get_drvdata(spi);
 702         struct iio_dev *indio_dev = st->indio_dev;
 703
 704         ret = adis16400_stop_device(&(indio_dev->dev));
 705         if (ret)
 706                 goto err_ret;
 707
 708         flush_scheduled_work();
 709
 710         adis16400_remove_trigger(indio_dev);
 711         if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
 712                 iio_unregister_interrupt_line(indio_dev, 0);
 713
 714         iio_ring_buffer_unregister(st->indio_dev->ring);
 715         adis16400_unconfigure_ring(indio_dev);
 716         iio_device_unregister(indio_dev);
 717         kfree(st->tx);
 718         kfree(st->rx);
 719         kfree(st);
 720
 721         return 0;
 722
 723 err_ret:
 724         return ret;
 725 }
 726
 727 static struct spi_driver adis16400_driver = {
 728         .driver = {
 729                 .name = "adis16400",
 730                 .owner = THIS_MODULE,
 731         },
 732         .probe = adis16400_probe,
 733         .remove = __devexit_p(adis16400_remove),
 734 };
 735
 736 static __init int adis16400_init(void)
 737 {
 738         return spi_register_driver(&adis16400_driver);
 739 }
 740 module_init(adis16400_init);
 741
 742 static __exit void adis16400_exit(void)
 743 {
 744         spi_unregister_driver(&adis16400_driver);
 745 }
 746 module_exit(adis16400_exit);
 747
 748 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
 749 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
 750 MODULE_LICENSE("GPL v2");