drivers/staging/iio/gyro/adis16260_core.c

   1 /*
   2  * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
   3  *
   4  * Copyright 2010 Analog Devices Inc.
   5  *
   6  * Licensed under the GPL-2 or later.
   7  */
   8
   9 #include <linux/interrupt.h>
  10 #include <linux/irq.h>
  11 #include <linux/delay.h>
  12 #include <linux/mutex.h>
  13 #include <linux/device.h>
  14 #include <linux/kernel.h>
  15 #include <linux/spi/spi.h>
  16 #include <linux/slab.h>
  17 #include <linux/sysfs.h>
  18 #include <linux/list.h>
  19 #include <linux/module.h>
  20
  21 #include <linux/iio/iio.h>
  22 #include <linux/iio/sysfs.h>
  23 #include <linux/iio/buffer.h>
  24
  25 #include "adis16260.h"
  26
  27 #define DRIVER_NAME             "adis16260"
  28
  29 static int adis16260_check_status(struct iio_dev *indio_dev);
  30
  31 /**
  32  * adis16260_spi_write_reg_8() - write single byte to a register
  33  * @indio_dev: iio_dev for the device
  34  * @reg_address: the address of the register to be written
  35  * @val: the value to write
  36  **/
  37 static int adis16260_spi_write_reg_8(struct iio_dev *indio_dev,
  38                 u8 reg_address,
  39                 u8 val)
  40 {
  41         int ret;
  42         struct adis16260_state *st = iio_priv(indio_dev);
  43
  44         mutex_lock(&st->buf_lock);
  45         st->tx[0] = ADIS16260_WRITE_REG(reg_address);
  46         st->tx[1] = val;
  47
  48         ret = spi_write(st->us, st->tx, 2);
  49         mutex_unlock(&st->buf_lock);
  50
  51         return ret;
  52 }
  53
  54 /**
  55  * adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers
  56  * @indio_dev: iio_dev for the device
  57  * @reg_address: the address of the lower of the two registers. Second register
  58  *               is assumed to have address one greater.
  59  * @val: value to be written
  60  **/
  61 static int adis16260_spi_write_reg_16(struct iio_dev *indio_dev,
  62                 u8 lower_reg_address,
  63                 u16 value)
  64 {
  65         int ret;
  66         struct spi_message msg;
  67         struct adis16260_state *st = iio_priv(indio_dev);
  68         struct spi_transfer xfers[] = {
  69                 {
  70                         .tx_buf = st->tx,
  71                         .bits_per_word = 8,
  72                         .len = 2,
  73                         .cs_change = 1,
  74                         .delay_usecs = 20,
  75                 }, {
  76                         .tx_buf = st->tx + 2,
  77                         .bits_per_word = 8,
  78                         .len = 2,
  79                         .delay_usecs = 20,
  80                 },
  81         };
  82
  83         mutex_lock(&st->buf_lock);
  84         st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
  85         st->tx[1] = value & 0xFF;
  86         st->tx[2] = ADIS16260_WRITE_REG(lower_reg_address + 1);
  87         st->tx[3] = (value >> 8) & 0xFF;
  88
  89         spi_message_init(&msg);
  90         spi_message_add_tail(&xfers[0], &msg);
  91         spi_message_add_tail(&xfers[1], &msg);
  92         ret = spi_sync(st->us, &msg);
  93         mutex_unlock(&st->buf_lock);
  94
  95         return ret;
  96 }
  97
  98 /**
  99  * adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register
 100  * @indio_dev: iio_dev for the device
 101  * @reg_address: the address of the lower of the two registers. Second register
 102  *               is assumed to have address one greater.
 103  * @val: somewhere to pass back the value read
 104  **/
 105 static int adis16260_spi_read_reg_16(struct iio_dev *indio_dev,
 106                 u8 lower_reg_address,
 107                 u16 *val)
 108 {
 109         struct spi_message msg;
 110         struct adis16260_state *st = iio_priv(indio_dev);
 111         int ret;
 112         struct spi_transfer xfers[] = {
 113                 {
 114                         .tx_buf = st->tx,
 115                         .bits_per_word = 8,
 116                         .len = 2,
 117                         .cs_change = 1,
 118                         .delay_usecs = 30,
 119                 }, {
 120                         .rx_buf = st->rx,
 121                         .bits_per_word = 8,
 122                         .len = 2,
 123                         .delay_usecs = 30,
 124                 },
 125         };
 126
 127         mutex_lock(&st->buf_lock);
 128         st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
 129         st->tx[1] = 0;
 130
 131         spi_message_init(&msg);
 132         spi_message_add_tail(&xfers[0], &msg);
 133         spi_message_add_tail(&xfers[1], &msg);
 134         ret = spi_sync(st->us, &msg);
 135         if (ret) {
 136                 dev_err(&st->us->dev,
 137                         "problem when reading 16 bit register 0x%02X",
 138                         lower_reg_address);
 139                 goto error_ret;
 140         }
 141         *val = (st->rx[0] << 8) | st->rx[1];
 142
 143 error_ret:
 144         mutex_unlock(&st->buf_lock);
 145         return ret;
 146 }
 147
 148 static ssize_t adis16260_read_frequency_available(struct device *dev,
 149                                                   struct device_attribute *attr,
 150                                                   char *buf)
 151 {
 152         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 153         struct adis16260_state *st = iio_priv(indio_dev);
 154         if (spi_get_device_id(st->us)->driver_data)
 155                 return sprintf(buf, "%s\n", "0.129 ~ 256");
 156         else
 157                 return sprintf(buf, "%s\n", "256 2048");
 158 }
 159
 160 static ssize_t adis16260_read_frequency(struct device *dev,
 161                 struct device_attribute *attr,
 162                 char *buf)
 163 {
 164         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 165         struct adis16260_state *st = iio_priv(indio_dev);
 166         int ret, len = 0;
 167         u16 t;
 168         int sps;
 169         ret = adis16260_spi_read_reg_16(indio_dev,
 170                         ADIS16260_SMPL_PRD,
 171                         &t);
 172         if (ret)
 173                 return ret;
 174
 175         if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
 176                 sps =  (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
 177         else
 178                 sps =  (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
 179         sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
 180         len = sprintf(buf, "%d SPS\n", sps);
 181         return len;
 182 }
 183
 184 static ssize_t adis16260_write_frequency(struct device *dev,
 185                 struct device_attribute *attr,
 186                 const char *buf,
 187                 size_t len)
 188 {
 189         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 190         struct adis16260_state *st = iio_priv(indio_dev);
 191         long val;
 192         int ret;
 193         u8 t;
 194
 195         ret = strict_strtol(buf, 10, &val);
 196         if (ret)
 197                 return ret;
 198
 199         mutex_lock(&indio_dev->mlock);
 200         if (spi_get_device_id(st->us)) {
 201                 t = (256 / val);
 202                 if (t > 0)
 203                         t--;
 204                 t &= ADIS16260_SMPL_PRD_DIV_MASK;
 205         } else {
 206                 t = (2048 / val);
 207                 if (t > 0)
 208                         t--;
 209                 t &= ADIS16260_SMPL_PRD_DIV_MASK;
 210         }
 211         if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
 212                 st->us->max_speed_hz = ADIS16260_SPI_SLOW;
 213         else
 214                 st->us->max_speed_hz = ADIS16260_SPI_FAST;
 215         ret = adis16260_spi_write_reg_8(indio_dev,
 216                         ADIS16260_SMPL_PRD,
 217                         t);
 218
 219         mutex_unlock(&indio_dev->mlock);
 220
 221         return ret ? ret : len;
 222 }
 223
 224 static int adis16260_reset(struct iio_dev *indio_dev)
 225 {
 226         int ret;
 227         ret = adis16260_spi_write_reg_8(indio_dev,
 228                         ADIS16260_GLOB_CMD,
 229                         ADIS16260_GLOB_CMD_SW_RESET);
 230         if (ret)
 231                 dev_err(&indio_dev->dev, "problem resetting device");
 232
 233         return ret;
 234 }
 235
 236 static ssize_t adis16260_write_reset(struct device *dev,
 237                 struct device_attribute *attr,
 238                 const char *buf, size_t len)
 239 {
 240         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 241         if (len < 1)
 242                 return -EINVAL;
 243         switch (buf[0]) {
 244         case '1':
 245         case 'y':
 246         case 'Y':
 247                 return adis16260_reset(indio_dev);
 248         }
 249         return -EINVAL;
 250 }
 251
 252 int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
 253 {
 254         int ret;
 255         u16 msc;
 256         ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
 257         if (ret)
 258                 goto error_ret;
 259
 260         msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
 261         if (enable)
 262                 msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
 263         else
 264                 msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
 265
 266         ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
 267         if (ret)
 268                 goto error_ret;
 269
 270 error_ret:
 271         return ret;
 272 }
 273
 274 /* Power down the device */
 275 static int adis16260_stop_device(struct iio_dev *indio_dev)
 276 {
 277         int ret;
 278         u16 val = ADIS16260_SLP_CNT_POWER_OFF;
 279
 280         ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
 281         if (ret)
 282                 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
 283
 284         return ret;
 285 }
 286
 287 static int adis16260_self_test(struct iio_dev *indio_dev)
 288 {
 289         int ret;
 290         ret = adis16260_spi_write_reg_16(indio_dev,
 291                         ADIS16260_MSC_CTRL,
 292                         ADIS16260_MSC_CTRL_MEM_TEST);
 293         if (ret) {
 294                 dev_err(&indio_dev->dev, "problem starting self test");
 295                 goto err_ret;
 296         }
 297
 298         adis16260_check_status(indio_dev);
 299
 300 err_ret:
 301         return ret;
 302 }
 303
 304 static int adis16260_check_status(struct iio_dev *indio_dev)
 305 {
 306         u16 status;
 307         int ret;
 308         struct device *dev = &indio_dev->dev;
 309
 310         ret = adis16260_spi_read_reg_16(indio_dev,
 311                                         ADIS16260_DIAG_STAT,
 312                                         &status);
 313
 314         if (ret < 0) {
 315                 dev_err(dev, "Reading status failed\n");
 316                 goto error_ret;
 317         }
 318         ret = status & 0x7F;
 319         if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
 320                 dev_err(dev, "Flash checksum error\n");
 321         if (status & ADIS16260_DIAG_STAT_SELF_TEST)
 322                 dev_err(dev, "Self test error\n");
 323         if (status & ADIS16260_DIAG_STAT_OVERFLOW)
 324                 dev_err(dev, "Sensor overrange\n");
 325         if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
 326                 dev_err(dev, "SPI failure\n");
 327         if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
 328                 dev_err(dev, "Flash update failed\n");
 329         if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
 330                 dev_err(dev, "Power supply above 5.25V\n");
 331         if (status & ADIS16260_DIAG_STAT_POWER_LOW)
 332                 dev_err(dev, "Power supply below 4.75V\n");
 333
 334 error_ret:
 335         return ret;
 336 }
 337
 338 static int adis16260_initial_setup(struct iio_dev *indio_dev)
 339 {
 340         int ret;
 341         struct device *dev = &indio_dev->dev;
 342
 343         /* Disable IRQ */
 344         ret = adis16260_set_irq(indio_dev, false);
 345         if (ret) {
 346                 dev_err(dev, "disable irq failed");
 347                 goto err_ret;
 348         }
 349
 350         /* Do self test */
 351         ret = adis16260_self_test(indio_dev);
 352         if (ret) {
 353                 dev_err(dev, "self test failure");
 354                 goto err_ret;
 355         }
 356
 357         /* Read status register to check the result */
 358         ret = adis16260_check_status(indio_dev);
 359         if (ret) {
 360                 adis16260_reset(indio_dev);
 361                 dev_err(dev, "device not playing ball -> reset");
 362                 msleep(ADIS16260_STARTUP_DELAY);
 363                 ret = adis16260_check_status(indio_dev);
 364                 if (ret) {
 365                         dev_err(dev, "giving up");
 366                         goto err_ret;
 367                 }
 368         }
 369
 370 err_ret:
 371         return ret;
 372 }
 373
 374 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
 375                 adis16260_read_frequency,
 376                 adis16260_write_frequency);
 377
 378 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
 379
 380 static IIO_DEVICE_ATTR(sampling_frequency_available,
 381                        S_IRUGO, adis16260_read_frequency_available, NULL, 0);
 382
 383 enum adis16260_channel {
 384         gyro,
 385         temp,
 386         in_supply,
 387         in_aux,
 388         angle,
 389 };
 390 #define ADIS16260_GYRO_CHANNEL_SET(axis, mod)                           \
 391         struct iio_chan_spec adis16260_channels_##axis[] = {            \
 392                 {                                                       \
 393                         .type = IIO_ANGL_VEL,                           \
 394                         .modified = 1,                                  \
 395                         .channel2 = mod,                                \
 396                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 397                         IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |          \
 398                         IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT |         \
 399                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 400                         .address = gyro,                                \
 401                         .scan_index = ADIS16260_SCAN_GYRO,              \
 402                         .scan_type = {                                  \
 403                                 .sign = 's',                            \
 404                                 .realbits = 14,                         \
 405                                 .storagebits = 16,                      \
 406                         },                                              \
 407                 }, {                                                    \
 408                         .type = IIO_ANGL,                               \
 409                         .modified = 1,                                  \
 410                         .channel2 = mod,                                \
 411                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,    \
 412                         .address = angle,                               \
 413                         .scan_index = ADIS16260_SCAN_ANGL,              \
 414                         .scan_type = {                                  \
 415                                 .sign = 'u',                            \
 416                                 .realbits = 14,                         \
 417                                 .storagebits = 16,                      \
 418                         },                                              \
 419                 }, {                                                    \
 420                         .type = IIO_TEMP,                               \
 421                         .indexed = 1,                                   \
 422                         .channel = 0,                                   \
 423                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 424                         IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |             \
 425                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 426                         .address = temp,                                \
 427                         .scan_index = ADIS16260_SCAN_TEMP,              \
 428                         .scan_type = {                                  \
 429                                 .sign = 'u',                            \
 430                                 .realbits = 12,                         \
 431                                 .storagebits = 16,                      \
 432                         },                                              \
 433                 }, {                                                    \
 434                         .type = IIO_VOLTAGE,                            \
 435                         .indexed = 1,                                   \
 436                         .channel = 0,                                   \
 437                         .extend_name = "supply",                        \
 438                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 439                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 440                         .address = in_supply,                           \
 441                         .scan_index = ADIS16260_SCAN_SUPPLY,            \
 442                         .scan_type = {                                  \
 443                                 .sign = 'u',                            \
 444                                 .realbits = 12,                         \
 445                                 .storagebits = 16,                      \
 446                         },                                              \
 447                 }, {                                                    \
 448                         .type = IIO_VOLTAGE,                            \
 449                         .indexed = 1,                                   \
 450                         .channel = 1,                                   \
 451                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 452                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 453                         .address = in_aux,                              \
 454                         .scan_index = ADIS16260_SCAN_AUX_ADC,           \
 455                         .scan_type = {                                  \
 456                                 .sign = 'u',                            \
 457                                 .realbits = 12,                         \
 458                                 .storagebits = 16,                      \
 459                         },                                              \
 460                 },                                                      \
 461                 IIO_CHAN_SOFT_TIMESTAMP(5),                             \
 462         }
 463
 464 static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
 465 static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
 466 static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
 467
 468 static const u8 adis16260_addresses[5][3] = {
 469         [gyro] = { ADIS16260_GYRO_OUT,
 470                    ADIS16260_GYRO_OFF,
 471                    ADIS16260_GYRO_SCALE },
 472         [angle] = { ADIS16260_ANGL_OUT },
 473         [in_supply] = { ADIS16260_SUPPLY_OUT },
 474         [in_aux] = { ADIS16260_AUX_ADC },
 475         [temp] = { ADIS16260_TEMP_OUT },
 476 };
 477 static int adis16260_read_raw(struct iio_dev *indio_dev,
 478                               struct iio_chan_spec const *chan,
 479                               int *val, int *val2,
 480                               long mask)
 481 {
 482         struct adis16260_state *st = iio_priv(indio_dev);
 483         int ret;
 484         int bits;
 485         u8 addr;
 486         s16 val16;
 487
 488         switch (mask) {
 489         case IIO_CHAN_INFO_RAW:
 490                 mutex_lock(&indio_dev->mlock);
 491                 addr = adis16260_addresses[chan->address][0];
 492                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 493                 if (ret) {
 494                         mutex_unlock(&indio_dev->mlock);
 495                         return ret;
 496                 }
 497
 498                 if (val16 & ADIS16260_ERROR_ACTIVE) {
 499                         ret = adis16260_check_status(indio_dev);
 500                         if (ret) {
 501                                 mutex_unlock(&indio_dev->mlock);
 502                                 return ret;
 503                         }
 504                 }
 505                 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
 506                 if (chan->scan_type.sign == 's')
 507                         val16 = (s16)(val16 <<
 508                                       (16 - chan->scan_type.realbits)) >>
 509                                 (16 - chan->scan_type.realbits);
 510                 *val = val16;
 511                 mutex_unlock(&indio_dev->mlock);
 512                 return IIO_VAL_INT;
 513         case IIO_CHAN_INFO_SCALE:
 514                 switch (chan->type) {
 515                 case IIO_ANGL_VEL:
 516                         *val = 0;
 517                         if (spi_get_device_id(st->us)->driver_data)
 518                                 *val2 = 320;
 519                         else
 520                                 *val2 = 1278;
 521                         return IIO_VAL_INT_PLUS_MICRO;
 522                 case IIO_VOLTAGE:
 523                         *val = 0;
 524                         if (chan->channel == 0)
 525                                 *val2 = 18315;
 526                         else
 527                                 *val2 = 610500;
 528                         return IIO_VAL_INT_PLUS_MICRO;
 529                 case IIO_TEMP:
 530                         *val = 0;
 531                         *val2 = 145300;
 532                         return IIO_VAL_INT_PLUS_MICRO;
 533                 default:
 534                         return -EINVAL;
 535                 }
 536                 break;
 537         case IIO_CHAN_INFO_OFFSET:
 538                 *val = 25;
 539                 return IIO_VAL_INT;
 540         case IIO_CHAN_INFO_CALIBBIAS:
 541                 switch (chan->type) {
 542                 case IIO_ANGL_VEL:
 543                         bits = 12;
 544                         break;
 545                 default:
 546                         return -EINVAL;
 547                 };
 548                 mutex_lock(&indio_dev->mlock);
 549                 addr = adis16260_addresses[chan->address][1];
 550                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 551                 if (ret) {
 552                         mutex_unlock(&indio_dev->mlock);
 553                         return ret;
 554                 }
 555                 val16 &= (1 << bits) - 1;
 556                 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
 557                 *val = val16;
 558                 mutex_unlock(&indio_dev->mlock);
 559                 return IIO_VAL_INT;
 560         case IIO_CHAN_INFO_CALIBSCALE:
 561                 switch (chan->type) {
 562                 case IIO_ANGL_VEL:
 563                         bits = 12;
 564                         break;
 565                 default:
 566                         return -EINVAL;
 567                 };
 568                 mutex_lock(&indio_dev->mlock);
 569                 addr = adis16260_addresses[chan->address][2];
 570                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 571                 if (ret) {
 572                         mutex_unlock(&indio_dev->mlock);
 573                         return ret;
 574                 }
 575                 *val = (1 << bits) - 1;
 576                 mutex_unlock(&indio_dev->mlock);
 577                 return IIO_VAL_INT;
 578         }
 579         return -EINVAL;
 580 }
 581
 582 static int adis16260_write_raw(struct iio_dev *indio_dev,
 583                                struct iio_chan_spec const *chan,
 584                                int val,
 585                                int val2,
 586                                long mask)
 587 {
 588         int bits = 12;
 589         s16 val16;
 590         u8 addr;
 591         switch (mask) {
 592         case IIO_CHAN_INFO_CALIBBIAS:
 593                 val16 = val & ((1 << bits) - 1);
 594                 addr = adis16260_addresses[chan->address][1];
 595                 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
 596         case IIO_CHAN_INFO_CALIBSCALE:
 597                 val16 = val & ((1 << bits) - 1);
 598                 addr = adis16260_addresses[chan->address][2];
 599                 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
 600         }
 601         return -EINVAL;
 602 }
 603
 604 static struct attribute *adis16260_attributes[] = {
 605         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 606         &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
 607         &iio_dev_attr_reset.dev_attr.attr,
 608         NULL
 609 };
 610
 611 static const struct attribute_group adis16260_attribute_group = {
 612         .attrs = adis16260_attributes,
 613 };
 614
 615 static const struct iio_info adis16260_info = {
 616         .attrs = &adis16260_attribute_group,
 617         .read_raw = &adis16260_read_raw,
 618         .write_raw = &adis16260_write_raw,
 619         .driver_module = THIS_MODULE,
 620 };
 621
 622 static int __devinit adis16260_probe(struct spi_device *spi)
 623 {
 624         int ret;
 625         struct adis16260_platform_data *pd = spi->dev.platform_data;
 626         struct adis16260_state *st;
 627         struct iio_dev *indio_dev;
 628
 629         /* setup the industrialio driver allocated elements */
 630         indio_dev = iio_allocate_device(sizeof(*st));
 631         if (indio_dev == NULL) {
 632                 ret = -ENOMEM;
 633                 goto error_ret;
 634         }
 635         st = iio_priv(indio_dev);
 636         if (pd)
 637                 st->negate = pd->negate;
 638         /* this is only used for removal purposes */
 639         spi_set_drvdata(spi, st);
 640
 641         st->us = spi;
 642         mutex_init(&st->buf_lock);
 643
 644         indio_dev->name = spi_get_device_id(st->us)->name;
 645         indio_dev->dev.parent = &spi->dev;
 646         indio_dev->info = &adis16260_info;
 647         indio_dev->num_channels
 648                 = ARRAY_SIZE(adis16260_channels_x);
 649         if (pd && pd->direction)
 650                 switch (pd->direction) {
 651                 case 'x':
 652                         indio_dev->channels = adis16260_channels_x;
 653                         break;
 654                 case 'y':
 655                         indio_dev->channels = adis16260_channels_y;
 656                         break;
 657                 case 'z':
 658                         indio_dev->channels = adis16260_channels_z;
 659                         break;
 660                 default:
 661                         return -EINVAL;
 662                 }
 663         else
 664                 indio_dev->channels = adis16260_channels_x;
 665         indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
 666         indio_dev->modes = INDIO_DIRECT_MODE;
 667
 668         ret = adis16260_configure_ring(indio_dev);
 669         if (ret)
 670                 goto error_free_dev;
 671
 672         ret = iio_buffer_register(indio_dev,
 673                                   indio_dev->channels,
 674                                   ARRAY_SIZE(adis16260_channels_x));
 675         if (ret) {
 676                 printk(KERN_ERR "failed to initialize the ring\n");
 677                 goto error_unreg_ring_funcs;
 678         }
 679         if (indio_dev->buffer) {
 680                 /* Set default scan mode */
 681                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 682                                   ADIS16260_SCAN_SUPPLY);
 683                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 684                                   ADIS16260_SCAN_GYRO);
 685                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 686                                   ADIS16260_SCAN_AUX_ADC);
 687                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 688                                   ADIS16260_SCAN_TEMP);
 689                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 690                                   ADIS16260_SCAN_ANGL);
 691         }
 692         if (spi->irq) {
 693                 ret = adis16260_probe_trigger(indio_dev);
 694                 if (ret)
 695                         goto error_uninitialize_ring;
 696         }
 697
 698         /* Get the device into a sane initial state */
 699         ret = adis16260_initial_setup(indio_dev);
 700         if (ret)
 701                 goto error_remove_trigger;
 702         ret = iio_device_register(indio_dev);
 703         if (ret)
 704                 goto error_remove_trigger;
 705
 706         return 0;
 707
 708 error_remove_trigger:
 709         adis16260_remove_trigger(indio_dev);
 710 error_uninitialize_ring:
 711         iio_buffer_unregister(indio_dev);
 712 error_unreg_ring_funcs:
 713         adis16260_unconfigure_ring(indio_dev);
 714 error_free_dev:
 715         iio_free_device(indio_dev);
 716 error_ret:
 717         return ret;
 718 }
 719
 720 static int adis16260_remove(struct spi_device *spi)
 721 {
 722         int ret;
 723         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 724
 725         iio_device_unregister(indio_dev);
 726
 727         ret = adis16260_stop_device(indio_dev);
 728         if (ret)
 729                 goto err_ret;
 730
 731         flush_scheduled_work();
 732
 733         adis16260_remove_trigger(indio_dev);
 734         iio_buffer_unregister(indio_dev);
 735         adis16260_unconfigure_ring(indio_dev);
 736         iio_free_device(indio_dev);
 737
 738 err_ret:
 739         return ret;
 740 }
 741
 742 /*
 743  * These parts do not need to be differentiated until someone adds
 744  * support for the on chip filtering.
 745  */
 746 static const struct spi_device_id adis16260_id[] = {
 747         {"adis16260", 0},
 748         {"adis16265", 0},
 749         {"adis16250", 0},
 750         {"adis16255", 0},
 751         {"adis16251", 1},
 752         {}
 753 };
 754 MODULE_DEVICE_TABLE(spi, adis16260_id);
 755
 756 static struct spi_driver adis16260_driver = {
 757         .driver = {
 758                 .name = "adis16260",
 759                 .owner = THIS_MODULE,
 760         },
 761         .probe = adis16260_probe,
 762         .remove = __devexit_p(adis16260_remove),
 763         .id_table = adis16260_id,
 764 };
 765 module_spi_driver(adis16260_driver);
 766
 767 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 768 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
 769 MODULE_LICENSE("GPL v2");