| /* |
| * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver |
| * |
| * Copyright 2010 Analog Devices Inc. |
| * |
| * Licensed under the GPL-2 or later. |
| */ |
| |
| #include <linux/interrupt.h> |
| #include <linux/irq.h> |
| #include <linux/gpio.h> |
| #include <linux/delay.h> |
| #include <linux/mutex.h> |
| #include <linux/device.h> |
| #include <linux/kernel.h> |
| #include <linux/spi/spi.h> |
| #include <linux/slab.h> |
| #include <linux/sysfs.h> |
| #include <linux/list.h> |
| |
| #include "../iio.h" |
| #include "../sysfs.h" |
| #include "../ring_generic.h" |
| #include "../adc/adc.h" |
| #include "gyro.h" |
| |
| #include "adis16260.h" |
| |
| #define DRIVER_NAME "adis16260" |
| |
| static int adis16260_check_status(struct iio_dev *indio_dev); |
| |
| /** |
| * adis16260_spi_write_reg_8() - write single byte to a register |
| * @indio_dev: iio_dev for the device |
| * @reg_address: the address of the register to be written |
| * @val: the value to write |
| **/ |
| static int adis16260_spi_write_reg_8(struct iio_dev *indio_dev, |
| u8 reg_address, |
| u8 val) |
| { |
| int ret; |
| struct adis16260_state *st = iio_dev_get_devdata(indio_dev); |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16260_WRITE_REG(reg_address); |
| st->tx[1] = val; |
| |
| ret = spi_write(st->us, st->tx, 2); |
| mutex_unlock(&st->buf_lock); |
| |
| return ret; |
| } |
| |
| /** |
| * adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers |
| * @indio_dev: iio_dev for the device |
| * @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 adis16260_spi_write_reg_16(struct iio_dev *indio_dev, |
| u8 lower_reg_address, |
| u16 value) |
| { |
| int ret; |
| struct spi_message msg; |
| struct adis16260_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, |
| .delay_usecs = 20, |
| }, { |
| .tx_buf = st->tx + 2, |
| .bits_per_word = 8, |
| .len = 2, |
| .delay_usecs = 20, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address); |
| st->tx[1] = value & 0xFF; |
| st->tx[2] = ADIS16260_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; |
| } |
| |
| /** |
| * adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register |
| * @indio_dev: iio_dev for the device |
| * @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 adis16260_spi_read_reg_16(struct iio_dev *indio_dev, |
| u8 lower_reg_address, |
| u16 *val) |
| { |
| struct spi_message msg; |
| struct adis16260_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, |
| .delay_usecs = 30, |
| }, { |
| .rx_buf = st->rx, |
| .bits_per_word = 8, |
| .len = 2, |
| .delay_usecs = 30, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16260_READ_REG(lower_reg_address); |
| st->tx[1] = 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; |
| } |
| |
| static ssize_t adis16260_read_frequency_available(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16260_state *st = iio_dev_get_devdata(indio_dev); |
| if (spi_get_device_id(st->us)->driver_data) |
| return sprintf(buf, "%s\n", "0.129 ~ 256"); |
| else |
| return sprintf(buf, "%s\n", "256 2048"); |
| } |
| |
| static ssize_t adis16260_read_frequency(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16260_state *st = iio_dev_get_devdata(indio_dev); |
| int ret, len = 0; |
| u16 t; |
| int sps; |
| ret = adis16260_spi_read_reg_16(indio_dev, |
| ADIS16260_SMPL_PRD, |
| &t); |
| if (ret) |
| return ret; |
| |
| if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */ |
| sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256; |
| else |
| sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048; |
| sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1; |
| len = sprintf(buf, "%d SPS\n", sps); |
| return len; |
| } |
| |
| static ssize_t adis16260_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 adis16260_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); |
| if (spi_get_device_id(st->us)) { |
| t = (256 / val); |
| if (t > 0) |
| t--; |
| t &= ADIS16260_SMPL_PRD_DIV_MASK; |
| } else { |
| t = (2048 / val); |
| if (t > 0) |
| t--; |
| t &= ADIS16260_SMPL_PRD_DIV_MASK; |
| } |
| if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A) |
| st->us->max_speed_hz = ADIS16260_SPI_SLOW; |
| else |
| st->us->max_speed_hz = ADIS16260_SPI_FAST; |
| ret = adis16260_spi_write_reg_8(indio_dev, |
| ADIS16260_SMPL_PRD, |
| t); |
| |
| mutex_unlock(&indio_dev->mlock); |
| |
| return ret ? ret : len; |
| } |
| |
| static int adis16260_reset(struct iio_dev *indio_dev) |
| { |
| int ret; |
| ret = adis16260_spi_write_reg_8(indio_dev, |
| ADIS16260_GLOB_CMD, |
| ADIS16260_GLOB_CMD_SW_RESET); |
| if (ret) |
| dev_err(&indio_dev->dev, "problem resetting device"); |
| |
| return ret; |
| } |
| |
| static ssize_t adis16260_write_reset(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t len) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| if (len < 1) |
| return -EINVAL; |
| switch (buf[0]) { |
| case '1': |
| case 'y': |
| case 'Y': |
| return adis16260_reset(indio_dev); |
| } |
| return -EINVAL; |
| } |
| |
| int adis16260_set_irq(struct iio_dev *indio_dev, bool enable) |
| { |
| int ret; |
| u16 msc; |
| ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc); |
| if (ret) |
| goto error_ret; |
| |
| msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH; |
| if (enable) |
| msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN; |
| else |
| msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN; |
| |
| ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc); |
| if (ret) |
| goto error_ret; |
| |
| error_ret: |
| return ret; |
| } |
| |
| /* Power down the device */ |
| static int adis16260_stop_device(struct iio_dev *indio_dev) |
| { |
| int ret; |
| u16 val = ADIS16260_SLP_CNT_POWER_OFF; |
| |
| ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val); |
| if (ret) |
| dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); |
| |
| return ret; |
| } |
| |
| static int adis16260_self_test(struct iio_dev *indio_dev) |
| { |
| int ret; |
| ret = adis16260_spi_write_reg_16(indio_dev, |
| ADIS16260_MSC_CTRL, |
| ADIS16260_MSC_CTRL_MEM_TEST); |
| if (ret) { |
| dev_err(&indio_dev->dev, "problem starting self test"); |
| goto err_ret; |
| } |
| |
| adis16260_check_status(indio_dev); |
| |
| err_ret: |
| return ret; |
| } |
| |
| static int adis16260_check_status(struct iio_dev *indio_dev) |
| { |
| u16 status; |
| int ret; |
| struct device *dev = &indio_dev->dev; |
| |
| ret = adis16260_spi_read_reg_16(indio_dev, |
| ADIS16260_DIAG_STAT, |
| &status); |
| |
| if (ret < 0) { |
| dev_err(dev, "Reading status failed\n"); |
| goto error_ret; |
| } |
| ret = status & 0x7F; |
| if (status & ADIS16260_DIAG_STAT_FLASH_CHK) |
| dev_err(dev, "Flash checksum error\n"); |
| if (status & ADIS16260_DIAG_STAT_SELF_TEST) |
| dev_err(dev, "Self test error\n"); |
| if (status & ADIS16260_DIAG_STAT_OVERFLOW) |
| dev_err(dev, "Sensor overrange\n"); |
| if (status & ADIS16260_DIAG_STAT_SPI_FAIL) |
| dev_err(dev, "SPI failure\n"); |
| if (status & ADIS16260_DIAG_STAT_FLASH_UPT) |
| dev_err(dev, "Flash update failed\n"); |
| if (status & ADIS16260_DIAG_STAT_POWER_HIGH) |
| dev_err(dev, "Power supply above 5.25V\n"); |
| if (status & ADIS16260_DIAG_STAT_POWER_LOW) |
| dev_err(dev, "Power supply below 4.75V\n"); |
| |
| error_ret: |
| return ret; |
| } |
| |
| static int adis16260_initial_setup(struct iio_dev *indio_dev) |
| { |
| int ret; |
| struct device *dev = &indio_dev->dev; |
| |
| /* Disable IRQ */ |
| ret = adis16260_set_irq(indio_dev, false); |
| if (ret) { |
| dev_err(dev, "disable irq failed"); |
| goto err_ret; |
| } |
| |
| /* Do self test */ |
| ret = adis16260_self_test(indio_dev); |
| if (ret) { |
| dev_err(dev, "self test failure"); |
| goto err_ret; |
| } |
| |
| /* Read status register to check the result */ |
| ret = adis16260_check_status(indio_dev); |
| if (ret) { |
| adis16260_reset(indio_dev); |
| dev_err(dev, "device not playing ball -> reset"); |
| msleep(ADIS16260_STARTUP_DELAY); |
| ret = adis16260_check_status(indio_dev); |
| if (ret) { |
| dev_err(dev, "giving up"); |
| goto err_ret; |
| } |
| } |
| |
| err_ret: |
| return ret; |
| } |
| |
| static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
| adis16260_read_frequency, |
| adis16260_write_frequency); |
| |
| static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0); |
| |
| static IIO_DEVICE_ATTR(sampling_frequency_available, |
| S_IRUGO, adis16260_read_frequency_available, NULL, 0); |
| |
| enum adis16260_channel { |
| gyro, |
| temp, |
| in_supply, |
| in_aux, |
| angle, |
| }; |
| #define ADIS16260_GYRO_CHANNEL_SET(axis, mod) \ |
| struct iio_chan_spec adis16260_channels_##axis[] = { \ |
| IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, mod, \ |
| (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | \ |
| (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE) | \ |
| (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \ |
| gyro, ADIS16260_SCAN_GYRO, \ |
| IIO_ST('s', 14, 16, 0), 0), \ |
| IIO_CHAN(IIO_ANGL, 1, 0, 0, NULL, 0, mod, \ |
| 0, \ |
| angle, ADIS16260_SCAN_ANGL, \ |
| IIO_ST('u', 14, 16, 0), 0), \ |
| IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0, \ |
| (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | \ |
| (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \ |
| temp, ADIS16260_SCAN_TEMP, \ |
| IIO_ST('u', 12, 16, 0), 0), \ |
| IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0, \ |
| (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \ |
| in_supply, ADIS16260_SCAN_SUPPLY, \ |
| IIO_ST('u', 12, 16, 0), 0), \ |
| IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0, \ |
| (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \ |
| in_aux, ADIS16260_SCAN_AUX_ADC, \ |
| IIO_ST('u', 12, 16, 0), 0), \ |
| IIO_CHAN_SOFT_TIMESTAMP(5) \ |
| } |
| |
| static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X); |
| static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y); |
| static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z); |
| |
| static const u8 adis16260_addresses[5][3] = { |
| [gyro] = { ADIS16260_GYRO_OUT, |
| ADIS16260_GYRO_OFF, |
| ADIS16260_GYRO_SCALE }, |
| [angle] = { ADIS16260_ANGL_OUT }, |
| [in_supply] = { ADIS16260_SUPPLY_OUT }, |
| [in_aux] = { ADIS16260_AUX_ADC }, |
| [temp] = { ADIS16260_TEMP_OUT }, |
| }; |
| static int adis16260_read_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, |
| int *val, int *val2, |
| long mask) |
| { |
| struct adis16260_state *st = iio_dev_get_devdata(indio_dev); |
| int ret; |
| int bits; |
| u8 addr; |
| s16 val16; |
| |
| switch (mask) { |
| case 0: |
| mutex_lock(&indio_dev->mlock); |
| addr = adis16260_addresses[chan->address][0]; |
| ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16); |
| if (ret) |
| return ret; |
| |
| if (val16 & ADIS16260_ERROR_ACTIVE) { |
| ret = adis16260_check_status(indio_dev); |
| if (ret) |
| return ret; |
| } |
| val16 = val16 & ((1 << chan->scan_type.realbits) - 1); |
| if (chan->scan_type.sign == 's') |
| val16 = (s16)(val16 << |
| (16 - chan->scan_type.realbits)) >> |
| (16 - chan->scan_type.realbits); |
| *val = val16; |
| mutex_unlock(&indio_dev->mlock); |
| return IIO_VAL_INT; |
| case (1 << IIO_CHAN_INFO_SCALE_SEPARATE): |
| case (1 << IIO_CHAN_INFO_SCALE_SHARED): |
| switch (chan->type) { |
| case IIO_GYRO: |
| *val = 0; |
| if (spi_get_device_id(st->us)->driver_data) |
| *val2 = 320; |
| else |
| *val2 = 1278; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_IN: |
| *val = 0; |
| if (chan->channel == 0) |
| *val2 = 18315; |
| else |
| *val2 = 610500; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_TEMP: |
| *val = 0; |
| *val2 = 145300; |
| return IIO_VAL_INT_PLUS_MICRO; |
| default: |
| return -EINVAL; |
| } |
| break; |
| case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE): |
| *val = 25; |
| return IIO_VAL_INT; |
| case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): |
| switch (chan->type) { |
| case IIO_GYRO: |
| bits = 12; |
| break; |
| default: |
| return -EINVAL; |
| }; |
| mutex_lock(&indio_dev->mlock); |
| addr = adis16260_addresses[chan->address][1]; |
| ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16); |
| if (ret) { |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| val16 &= (1 << bits) - 1; |
| val16 = (s16)(val16 << (16 - bits)) >> (16 - bits); |
| *val = val16; |
| mutex_unlock(&indio_dev->mlock); |
| return IIO_VAL_INT; |
| case (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE): |
| switch (chan->type) { |
| case IIO_GYRO: |
| bits = 12; |
| break; |
| default: |
| return -EINVAL; |
| }; |
| mutex_lock(&indio_dev->mlock); |
| addr = adis16260_addresses[chan->address][2]; |
| ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16); |
| if (ret) { |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| *val = (1 << bits) - 1; |
| mutex_unlock(&indio_dev->mlock); |
| return IIO_VAL_INT; |
| } |
| return -EINVAL; |
| } |
| |
| static int adis16260_write_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, |
| int val, |
| int val2, |
| long mask) |
| { |
| int bits = 12; |
| s16 val16; |
| u8 addr; |
| switch (mask) { |
| case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): |
| val16 = val & ((1 << bits) - 1); |
| addr = adis16260_addresses[chan->address][1]; |
| return adis16260_spi_write_reg_16(indio_dev, addr, val16); |
| case (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE): |
| val16 = val & ((1 << bits) - 1); |
| addr = adis16260_addresses[chan->address][2]; |
| return adis16260_spi_write_reg_16(indio_dev, addr, val16); |
| } |
| return -EINVAL; |
| } |
| |
| static struct attribute *adis16260_attributes[] = { |
| &iio_dev_attr_sampling_frequency.dev_attr.attr, |
| &iio_dev_attr_sampling_frequency_available.dev_attr.attr, |
| &iio_dev_attr_reset.dev_attr.attr, |
| NULL |
| }; |
| |
| static const struct attribute_group adis16260_attribute_group = { |
| .attrs = adis16260_attributes, |
| }; |
| |
| static const struct iio_info adis16260_info = { |
| .attrs = &adis16260_attribute_group, |
| .read_raw = &adis16260_read_raw, |
| .write_raw = &adis16260_write_raw, |
| .driver_module = THIS_MODULE, |
| }; |
| |
| static int __devinit adis16260_probe(struct spi_device *spi) |
| { |
| int ret, regdone = 0; |
| struct adis16260_platform_data *pd = spi->dev.platform_data; |
| struct adis16260_state *st = kzalloc(sizeof *st, GFP_KERNEL); |
| if (!st) { |
| ret = -ENOMEM; |
| goto error_ret; |
| } |
| if (pd) |
| st->negate = pd->negate; |
| /* this is only used for removal purposes */ |
| spi_set_drvdata(spi, st); |
| |
| /* Allocate the comms buffers */ |
| st->rx = kzalloc(sizeof(*st->rx)*ADIS16260_MAX_RX, GFP_KERNEL); |
| if (st->rx == NULL) { |
| ret = -ENOMEM; |
| goto error_free_st; |
| } |
| st->tx = kzalloc(sizeof(*st->tx)*ADIS16260_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(0); |
| if (st->indio_dev == NULL) { |
| ret = -ENOMEM; |
| goto error_free_tx; |
| } |
| |
| st->indio_dev->name = spi_get_device_id(st->us)->name; |
| st->indio_dev->dev.parent = &spi->dev; |
| st->indio_dev->info = &adis16260_info; |
| st->indio_dev->num_channels |
| = ARRAY_SIZE(adis16260_channels_x); |
| if (pd && pd->direction) |
| switch (pd->direction) { |
| case 'x': |
| st->indio_dev->channels = adis16260_channels_x; |
| break; |
| case 'y': |
| st->indio_dev->channels = adis16260_channels_y; |
| break; |
| case 'z': |
| st->indio_dev->channels = adis16260_channels_z; |
| break; |
| default: |
| return -EINVAL; |
| } |
| else |
| st->indio_dev->channels = adis16260_channels_x; |
| |
| st->indio_dev->dev_data = (void *)(st); |
| st->indio_dev->modes = INDIO_DIRECT_MODE; |
| |
| ret = adis16260_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 = iio_ring_buffer_register_ex(st->indio_dev->ring, 0, |
| st->indio_dev->channels, |
| ARRAY_SIZE(adis16260_channels_x)); |
| if (ret) { |
| printk(KERN_ERR "failed to initialize the ring\n"); |
| goto error_unreg_ring_funcs; |
| } |
| |
| if (spi->irq) { |
| ret = adis16260_probe_trigger(st->indio_dev); |
| if (ret) |
| goto error_uninitialize_ring; |
| } |
| |
| /* Get the device into a sane initial state */ |
| ret = adis16260_initial_setup(st->indio_dev); |
| if (ret) |
| goto error_remove_trigger; |
| return 0; |
| |
| error_remove_trigger: |
| adis16260_remove_trigger(st->indio_dev); |
| error_uninitialize_ring: |
| iio_ring_buffer_unregister(st->indio_dev->ring); |
| error_unreg_ring_funcs: |
| adis16260_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; |
| } |
| |
| static int adis16260_remove(struct spi_device *spi) |
| { |
| int ret; |
| struct adis16260_state *st = spi_get_drvdata(spi); |
| struct iio_dev *indio_dev = st->indio_dev; |
| |
| ret = adis16260_stop_device(indio_dev); |
| if (ret) |
| goto err_ret; |
| |
| flush_scheduled_work(); |
| |
| adis16260_remove_trigger(indio_dev); |
| |
| iio_ring_buffer_unregister(st->indio_dev->ring); |
| iio_device_unregister(indio_dev); |
| adis16260_unconfigure_ring(indio_dev); |
| kfree(st->tx); |
| kfree(st->rx); |
| kfree(st); |
| |
| err_ret: |
| return ret; |
| } |
| |
| /* |
| * These parts do not need to be differentiated until someone adds |
| * support for the on chip filtering. |
| */ |
| static const struct spi_device_id adis16260_id[] = { |
| {"adis16260", 0}, |
| {"adis16265", 0}, |
| {"adis16250", 0}, |
| {"adis16255", 0}, |
| {"adis16251", 1}, |
| {} |
| }; |
| |
| static struct spi_driver adis16260_driver = { |
| .driver = { |
| .name = "adis16260", |
| .owner = THIS_MODULE, |
| }, |
| .probe = adis16260_probe, |
| .remove = __devexit_p(adis16260_remove), |
| .id_table = adis16260_id, |
| }; |
| |
| static __init int adis16260_init(void) |
| { |
| return spi_register_driver(&adis16260_driver); |
| } |
| module_init(adis16260_init); |
| |
| static __exit void adis16260_exit(void) |
| { |
| spi_unregister_driver(&adis16260_driver); |
| } |
| module_exit(adis16260_exit); |
| |
| MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); |
| MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); |
| MODULE_LICENSE("GPL v2"); |