1/* 2 * ADIS16350/54/55/60/62/64/65 high precision tri-axis inertial sensor 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/gpio.h> 12#include <linux/delay.h> 13#include <linux/mutex.h> 14#include <linux/device.h> 15#include <linux/kernel.h> 16#include <linux/spi/spi.h> 17#include <linux/slab.h> 18#include <linux/sysfs.h> 19#include <linux/list.h> 20 21#include "../iio.h" 22#include "../sysfs.h" 23#include "../ring_generic.h" 24#include "../accel/accel.h" 25#include "../adc/adc.h" 26#include "../gyro/gyro.h" 27 28#include "adis16350.h" 29 30#define DRIVER_NAME "adis16350" 31 32static int adis16350_check_status(struct device *dev); 33 34/** 35 * adis16350_spi_write_reg_8() - write single byte to a register 36 * @dev: device associated with child of actual device (iio_dev or iio_trig) 37 * @reg_address: the address of the register to be written 38 * @val: the value to write 39 **/ 40static int adis16350_spi_write_reg_8(struct device *dev, 41 u8 reg_address, 42 u8 val) 43{ 44 int ret; 45 struct iio_dev *indio_dev = dev_get_drvdata(dev); 46 struct adis16350_state *st = iio_dev_get_devdata(indio_dev); 47 48 mutex_lock(&st->buf_lock); 49 st->tx[0] = ADIS16350_WRITE_REG(reg_address); 50 st->tx[1] = val; 51 52 ret = spi_write(st->us, st->tx, 2); 53 mutex_unlock(&st->buf_lock); 54 55 return ret; 56} 57 58/** 59 * adis16350_spi_write_reg_16() - write 2 bytes to a pair of registers 60 * @dev: device associated with child of actual device (iio_dev or iio_trig) 61 * @reg_address: the address of the lower of the two registers. Second register 62 * is assumed to have address one greater. 63 * @val: value to be written 64 **/ 65static int adis16350_spi_write_reg_16(struct device *dev, 66 u8 lower_reg_address, 67 u16 value) 68{ 69 int ret; 70 struct spi_message msg; 71 struct iio_dev *indio_dev = dev_get_drvdata(dev); 72 struct adis16350_state *st = iio_dev_get_devdata(indio_dev); 73 struct spi_transfer xfers[] = { 74 { 75 .tx_buf = st->tx, 76 .bits_per_word = 8, 77 .len = 2, 78 .cs_change = 1, 79 .delay_usecs = 35, 80 }, { 81 .tx_buf = st->tx + 2, 82 .bits_per_word = 8, 83 .len = 2, 84 .cs_change = 1, 85 .delay_usecs = 35, 86 }, 87 }; 88 89 mutex_lock(&st->buf_lock); 90 st->tx[0] = ADIS16350_WRITE_REG(lower_reg_address); 91 st->tx[1] = value & 0xFF; 92 st->tx[2] = ADIS16350_WRITE_REG(lower_reg_address + 1); 93 st->tx[3] = (value >> 8) & 0xFF; 94 95 spi_message_init(&msg); 96 spi_message_add_tail(&xfers[0], &msg); 97 spi_message_add_tail(&xfers[1], &msg); 98 ret = spi_sync(st->us, &msg); 99 mutex_unlock(&st->buf_lock); 100 101 return ret; 102} 103 104/** 105 * adis16350_spi_read_reg_16() - read 2 bytes from a 16-bit register 106 * @dev: device associated with child of actual device (iio_dev or iio_trig) 107 * @reg_address: the address of the lower of the two registers. Second register 108 * is assumed to have address one greater. 109 * @val: somewhere to pass back the value read 110 **/ 111static int adis16350_spi_read_reg_16(struct device *dev, 112 u8 lower_reg_address, 113 u16 *val) 114{ 115 struct spi_message msg; 116 struct iio_dev *indio_dev = dev_get_drvdata(dev); 117 struct adis16350_state *st = iio_dev_get_devdata(indio_dev); 118 int ret; 119 struct spi_transfer xfers[] = { 120 { 121 .tx_buf = st->tx, 122 .bits_per_word = 8, 123 .len = 2, 124 .cs_change = 1, 125 .delay_usecs = 35, 126 }, { 127 .rx_buf = st->rx, 128 .bits_per_word = 8, 129 .len = 2, 130 .cs_change = 1, 131 .delay_usecs = 35, 132 }, 133 }; 134 135 mutex_lock(&st->buf_lock); 136 st->tx[0] = ADIS16350_READ_REG(lower_reg_address); 137 st->tx[1] = 0; 138 st->tx[2] = 0; 139 st->tx[3] = 0; 140 141 spi_message_init(&msg); 142 spi_message_add_tail(&xfers[0], &msg); 143 spi_message_add_tail(&xfers[1], &msg); 144 ret = spi_sync(st->us, &msg); 145 if (ret) { 146 dev_err(&st->us->dev, 147 "problem when reading 16 bit register 0x%02X", 148 lower_reg_address); 149 goto error_ret; 150 } 151 *val = (st->rx[0] << 8) | st->rx[1]; 152 153error_ret: 154 mutex_unlock(&st->buf_lock); 155 return ret; 156} 157 158 159static ssize_t adis16350_spi_read_signed(struct device *dev, 160 struct device_attribute *attr, 161 char *buf, 162 unsigned bits) 163{ 164 int ret; 165 s16 val = 0; 166 unsigned shift = 16 - bits; 167 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); 168 169 ret = adis16350_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); 170 if (ret) 171 return ret; 172 173 if (val & ADIS16350_ERROR_ACTIVE) 174 adis16350_check_status(dev); 175 val = ((s16)(val << shift) >> shift); 176 return sprintf(buf, "%d\n", val); 177} 178 179static ssize_t adis16350_read_12bit_unsigned(struct device *dev, 180 struct device_attribute *attr, 181 char *buf) 182{ 183 int ret; 184 u16 val = 0; 185 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); 186 187 ret = adis16350_spi_read_reg_16(dev, this_attr->address, &val); 188 if (ret) 189 return ret; 190 191 if (val & ADIS16350_ERROR_ACTIVE) 192 adis16350_check_status(dev); 193 194 return sprintf(buf, "%u\n", val & 0x0FFF); 195} 196 197static ssize_t adis16350_read_14bit_signed(struct device *dev, 198 struct device_attribute *attr, 199 char *buf) 200{ 201 struct iio_dev *indio_dev = dev_get_drvdata(dev); 202 ssize_t ret; 203 204 /* Take the iio_dev status lock */ 205 mutex_lock(&indio_dev->mlock); 206 ret = adis16350_spi_read_signed(dev, attr, buf, 14); 207 mutex_unlock(&indio_dev->mlock); 208 209 return ret; 210} 211 212static ssize_t adis16350_read_12bit_signed(struct device *dev, 213 struct device_attribute *attr, 214 char *buf) 215{ 216 struct iio_dev *indio_dev = dev_get_drvdata(dev); 217 ssize_t ret; 218 219 /* Take the iio_dev status lock */ 220 mutex_lock(&indio_dev->mlock); 221 ret = adis16350_spi_read_signed(dev, attr, buf, 12); 222 mutex_unlock(&indio_dev->mlock); 223 224 return ret; 225} 226 227static ssize_t adis16350_write_16bit(struct device *dev, 228 struct device_attribute *attr, 229 const char *buf, 230 size_t len) 231{ 232 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); 233 int ret; 234 long val; 235 236 ret = strict_strtol(buf, 10, &val); 237 if (ret) 238 goto error_ret; 239 ret = adis16350_spi_write_reg_16(dev, this_attr->address, val); 240 241error_ret: 242 return ret ? ret : len; 243} 244 245static ssize_t adis16350_read_frequency(struct device *dev, 246 struct device_attribute *attr, 247 char *buf) 248{ 249 int ret, len = 0; 250 u16 t; 251 int sps; 252 ret = adis16350_spi_read_reg_16(dev, 253 ADIS16350_SMPL_PRD, 254 &t); 255 if (ret) 256 return ret; 257 sps = (t & ADIS16350_SMPL_PRD_TIME_BASE) ? 53 : 1638; 258 sps /= (t & ADIS16350_SMPL_PRD_DIV_MASK) + 1; 259 len = sprintf(buf, "%d SPS\n", sps); 260 return len; 261} 262 263static ssize_t adis16350_write_frequency(struct device *dev, 264 struct device_attribute *attr, 265 const char *buf, 266 size_t len) 267{ 268 struct iio_dev *indio_dev = dev_get_drvdata(dev); 269 struct adis16350_state *st = iio_dev_get_devdata(indio_dev); 270 long val; 271 int ret; 272 u8 t; 273 274 ret = strict_strtol(buf, 10, &val); 275 if (ret) 276 return ret; 277 278 mutex_lock(&indio_dev->mlock); 279 280 t = (1638 / val); 281 if (t > 0) 282 t--; 283 t &= ADIS16350_SMPL_PRD_DIV_MASK; 284 if ((t & ADIS16350_SMPL_PRD_DIV_MASK) >= 0x0A) 285 st->us->max_speed_hz = ADIS16350_SPI_SLOW; 286 else 287 st->us->max_speed_hz = ADIS16350_SPI_FAST; 288 289 ret = adis16350_spi_write_reg_8(dev, 290 ADIS16350_SMPL_PRD, 291 t); 292 293 mutex_unlock(&indio_dev->mlock); 294 295 return ret ? ret : len; 296} 297 298static int adis16350_reset(struct device *dev) 299{ 300 int ret; 301 ret = adis16350_spi_write_reg_8(dev, 302 ADIS16350_GLOB_CMD, 303 ADIS16350_GLOB_CMD_SW_RESET); 304 if (ret) 305 dev_err(dev, "problem resetting device"); 306 307 return ret; 308} 309 310static ssize_t adis16350_write_reset(struct device *dev, 311 struct device_attribute *attr, 312 const char *buf, size_t len) 313{ 314 if (len < 1) 315 return -1; 316 switch (buf[0]) { 317 case '1': 318 case 'y': 319 case 'Y': 320 return adis16350_reset(dev); 321 } 322 return -1; 323} 324 325int adis16350_set_irq(struct device *dev, bool enable) 326{ 327 int ret; 328 u16 msc; 329 ret = adis16350_spi_read_reg_16(dev, ADIS16350_MSC_CTRL, &msc); 330 if (ret) 331 goto error_ret; 332 333 msc |= ADIS16350_MSC_CTRL_DATA_RDY_POL_HIGH; 334 msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_DIO2; 335 336 if (enable) 337 msc |= ADIS16350_MSC_CTRL_DATA_RDY_EN; 338 else 339 msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_EN; 340 341 ret = adis16350_spi_write_reg_16(dev, ADIS16350_MSC_CTRL, msc); 342 if (ret) 343 goto error_ret; 344 345error_ret: 346 return ret; 347} 348 349/* Power down the device */ 350static int adis16350_stop_device(struct device *dev) 351{ 352 int ret; 353 u16 val = ADIS16350_SLP_CNT_POWER_OFF; 354 355 ret = adis16350_spi_write_reg_16(dev, ADIS16350_SLP_CNT, val); 356 if (ret) 357 dev_err(dev, "problem with turning device off: SLP_CNT"); 358 359 return ret; 360} 361 362static int adis16350_self_test(struct device *dev) 363{ 364 int ret; 365 ret = adis16350_spi_write_reg_16(dev, 366 ADIS16350_MSC_CTRL, 367 ADIS16350_MSC_CTRL_MEM_TEST); 368 if (ret) { 369 dev_err(dev, "problem starting self test"); 370 goto err_ret; 371 } 372 373 adis16350_check_status(dev); 374 375err_ret: 376 return ret; 377} 378 379static int adis16350_check_status(struct device *dev) 380{ 381 u16 status; 382 int ret; 383 384 ret = adis16350_spi_read_reg_16(dev, ADIS16350_DIAG_STAT, &status); 385 386 if (ret < 0) { 387 dev_err(dev, "Reading status failed\n"); 388 goto error_ret; 389 } 390 ret = status; 391 if (status & ADIS16350_DIAG_STAT_ZACCL_FAIL) 392 dev_err(dev, "Z-axis accelerometer self-test failure\n"); 393 if (status & ADIS16350_DIAG_STAT_YACCL_FAIL) 394 dev_err(dev, "Y-axis accelerometer self-test failure\n"); 395 if (status & ADIS16350_DIAG_STAT_XACCL_FAIL) 396 dev_err(dev, "X-axis accelerometer self-test failure\n"); 397 if (status & ADIS16350_DIAG_STAT_XGYRO_FAIL) 398 dev_err(dev, "X-axis gyroscope self-test failure\n"); 399 if (status & ADIS16350_DIAG_STAT_YGYRO_FAIL) 400 dev_err(dev, "Y-axis gyroscope self-test failure\n"); 401 if (status & ADIS16350_DIAG_STAT_ZGYRO_FAIL) 402 dev_err(dev, "Z-axis gyroscope self-test failure\n"); 403 if (status & ADIS16350_DIAG_STAT_ALARM2) 404 dev_err(dev, "Alarm 2 active\n"); 405 if (status & ADIS16350_DIAG_STAT_ALARM1) 406 dev_err(dev, "Alarm 1 active\n"); 407 if (status & ADIS16350_DIAG_STAT_FLASH_CHK) 408 dev_err(dev, "Flash checksum error\n"); 409 if (status & ADIS16350_DIAG_STAT_SELF_TEST) 410 dev_err(dev, "Self test error\n"); 411 if (status & ADIS16350_DIAG_STAT_OVERFLOW) 412 dev_err(dev, "Sensor overrange\n"); 413 if (status & ADIS16350_DIAG_STAT_SPI_FAIL) 414 dev_err(dev, "SPI failure\n"); 415 if (status & ADIS16350_DIAG_STAT_FLASH_UPT) 416 dev_err(dev, "Flash update failed\n"); 417 if (status & ADIS16350_DIAG_STAT_POWER_HIGH) 418 dev_err(dev, "Power supply above 5.25V\n"); 419 if (status & ADIS16350_DIAG_STAT_POWER_LOW) 420 dev_err(dev, "Power supply below 4.75V\n"); 421 422error_ret: 423 return ret; 424} 425 426static int adis16350_initial_setup(struct adis16350_state *st) 427{ 428 int ret; 429 u16 smp_prd; 430 struct device *dev = &st->indio_dev->dev; 431 432 /* use low spi speed for init */ 433 st->us->max_speed_hz = ADIS16350_SPI_SLOW; 434 st->us->mode = SPI_MODE_3; 435 spi_setup(st->us); 436 437 /* Disable IRQ */ 438 ret = adis16350_set_irq(dev, false); 439 if (ret) { 440 dev_err(dev, "disable irq failed"); 441 goto err_ret; 442 } 443 444 /* Do self test */ 445 ret = adis16350_self_test(dev); 446 if (ret) { 447 dev_err(dev, "self test failure"); 448 goto err_ret; 449 } 450 451 /* Read status register to check the result */ 452 ret = adis16350_check_status(dev); 453 if (ret) { 454 adis16350_reset(dev); 455 dev_err(dev, "device not playing ball -> reset"); 456 msleep(ADIS16350_STARTUP_DELAY); 457 ret = adis16350_check_status(dev); 458 if (ret) { 459 dev_err(dev, "giving up"); 460 goto err_ret; 461 } 462 } 463 464 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n", 465 st->us->chip_select, st->us->irq); 466 467 /* use high spi speed if possible */ 468 ret = adis16350_spi_read_reg_16(dev, ADIS16350_SMPL_PRD, &smp_prd); 469 if (!ret && (smp_prd & ADIS16350_SMPL_PRD_DIV_MASK) < 0x0A) { 470 st->us->max_speed_hz = ADIS16350_SPI_SLOW; 471 spi_setup(st->us); 472 } 473 474err_ret: 475 return ret; 476} 477 478static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO, 479 adis16350_read_12bit_signed, 480 adis16350_write_16bit, 481 ADIS16350_XACCL_OFF); 482 483static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO, 484 adis16350_read_12bit_signed, 485 adis16350_write_16bit, 486 ADIS16350_YACCL_OFF); 487 488static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO, 489 adis16350_read_12bit_signed, 490 adis16350_write_16bit, 491 ADIS16350_ZACCL_OFF); 492 493static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16350_read_12bit_unsigned, 494 ADIS16350_SUPPLY_OUT); 495static IIO_CONST_ATTR(in_supply_scale, "0.002418"); 496 497static IIO_DEV_ATTR_GYRO_X(adis16350_read_14bit_signed, 498 ADIS16350_XGYRO_OUT); 499static IIO_DEV_ATTR_GYRO_Y(adis16350_read_14bit_signed, 500 ADIS16350_YGYRO_OUT); 501static IIO_DEV_ATTR_GYRO_Z(adis16350_read_14bit_signed, 502 ADIS16350_ZGYRO_OUT); 503static IIO_CONST_ATTR(gyro_scale, "0.05"); 504 505static IIO_DEV_ATTR_ACCEL_X(adis16350_read_14bit_signed, 506 ADIS16350_XACCL_OUT); 507static IIO_DEV_ATTR_ACCEL_Y(adis16350_read_14bit_signed, 508 ADIS16350_YACCL_OUT); 509static IIO_DEV_ATTR_ACCEL_Z(adis16350_read_14bit_signed, 510 ADIS16350_ZACCL_OUT); 511static IIO_CONST_ATTR(accel_scale, "0.00333"); 512 513static IIO_DEVICE_ATTR(temp_x_raw, S_IRUGO, adis16350_read_12bit_signed, 514 NULL, ADIS16350_XTEMP_OUT); 515static IIO_DEVICE_ATTR(temp_y_raw, S_IRUGO, adis16350_read_12bit_signed, 516 NULL, ADIS16350_YTEMP_OUT); 517static IIO_DEVICE_ATTR(temp_z_raw, S_IRUGO, adis16350_read_12bit_signed, 518 NULL, ADIS16350_ZTEMP_OUT); 519static IIO_CONST_ATTR(temp_scale, "0.0005"); 520 521static IIO_DEV_ATTR_IN_RAW(0, adis16350_read_12bit_unsigned, 522 ADIS16350_AUX_ADC); 523static IIO_CONST_ATTR(in0_scale, "0.000806"); 524 525static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, 526 adis16350_read_frequency, 527 adis16350_write_frequency); 528 529static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, 530 adis16350_write_reset, 0); 531 532static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638"); 533 534static IIO_CONST_ATTR(name, "adis16350"); 535 536static struct attribute *adis16350_attributes[] = { 537 &iio_dev_attr_accel_x_offset.dev_attr.attr, 538 &iio_dev_attr_accel_y_offset.dev_attr.attr, 539 &iio_dev_attr_accel_z_offset.dev_attr.attr, 540 &iio_dev_attr_in_supply_raw.dev_attr.attr, 541 &iio_const_attr_in_supply_scale.dev_attr.attr, 542 &iio_dev_attr_gyro_x_raw.dev_attr.attr, 543 &iio_dev_attr_gyro_y_raw.dev_attr.attr, 544 &iio_dev_attr_gyro_z_raw.dev_attr.attr, 545 &iio_const_attr_gyro_scale.dev_attr.attr, 546 &iio_dev_attr_accel_x_raw.dev_attr.attr, 547 &iio_dev_attr_accel_y_raw.dev_attr.attr, 548 &iio_dev_attr_accel_z_raw.dev_attr.attr, 549 &iio_const_attr_accel_scale.dev_attr.attr, 550 &iio_dev_attr_temp_x_raw.dev_attr.attr, 551 &iio_dev_attr_temp_y_raw.dev_attr.attr, 552 &iio_dev_attr_temp_z_raw.dev_attr.attr, 553 &iio_const_attr_temp_scale.dev_attr.attr, 554 &iio_dev_attr_in0_raw.dev_attr.attr, 555 &iio_const_attr_in0_scale.dev_attr.attr, 556 &iio_dev_attr_sampling_frequency.dev_attr.attr, 557 &iio_const_attr_available_sampling_frequency.dev_attr.attr, 558 &iio_dev_attr_reset.dev_attr.attr, 559 &iio_const_attr_name.dev_attr.attr, 560 NULL 561}; 562 563static const struct attribute_group adis16350_attribute_group = { 564 .attrs = adis16350_attributes, 565}; 566 567static struct attribute *adis16350_event_attributes[] = { 568 NULL, 569}; 570 571static struct attribute_group adis16350_event_attribute_group = { 572 .attrs = adis16350_event_attributes, 573}; 574 575static int __devinit adis16350_probe(struct spi_device *spi) 576{ 577 int ret, regdone = 0; 578 struct adis16350_state *st = kzalloc(sizeof *st, GFP_KERNEL); 579 if (!st) { 580 ret = -ENOMEM; 581 goto error_ret; 582 } 583 /* this is only used for removal purposes */ 584 spi_set_drvdata(spi, st); 585 586 /* Allocate the comms buffers */ 587 st->rx = kzalloc(sizeof(*st->rx)*ADIS16350_MAX_RX, GFP_KERNEL); 588 if (st->rx == NULL) { 589 ret = -ENOMEM; 590 goto error_free_st; 591 } 592 st->tx = kzalloc(sizeof(*st->tx)*ADIS16350_MAX_TX, GFP_KERNEL); 593 if (st->tx == NULL) { 594 ret = -ENOMEM; 595 goto error_free_rx; 596 } 597 st->us = spi; 598 mutex_init(&st->buf_lock); 599 /* setup the industrialio driver allocated elements */ 600 st->indio_dev = iio_allocate_device(); 601 if (st->indio_dev == NULL) { 602 ret = -ENOMEM; 603 goto error_free_tx; 604 } 605 606 st->indio_dev->dev.parent = &spi->dev; 607 st->indio_dev->num_interrupt_lines = 1; 608 st->indio_dev->event_attrs = &adis16350_event_attribute_group; 609 st->indio_dev->attrs = &adis16350_attribute_group; 610 st->indio_dev->dev_data = (void *)(st); 611 st->indio_dev->driver_module = THIS_MODULE; 612 st->indio_dev->modes = INDIO_DIRECT_MODE; 613 614 ret = adis16350_configure_ring(st->indio_dev); 615 if (ret) 616 goto error_free_dev; 617 618 ret = iio_device_register(st->indio_dev); 619 if (ret) 620 goto error_unreg_ring_funcs; 621 regdone = 1; 622 623 ret = iio_ring_buffer_register(st->indio_dev->ring, 0); 624 if (ret) { 625 printk(KERN_ERR "failed to initialize the ring\n"); 626 goto error_unreg_ring_funcs; 627 } 628 629 if (spi->irq) { 630 ret = iio_register_interrupt_line(spi->irq, 631 st->indio_dev, 632 0, 633 IRQF_TRIGGER_RISING, 634 "adis16350"); 635 if (ret) 636 goto error_uninitialize_ring; 637 638 ret = adis16350_probe_trigger(st->indio_dev); 639 if (ret) 640 goto error_unregister_line; 641 } 642 643 /* Get the device into a sane initial state */ 644 ret = adis16350_initial_setup(st); 645 if (ret) 646 goto error_remove_trigger; 647 return 0; 648 649error_remove_trigger: 650 adis16350_remove_trigger(st->indio_dev); 651error_unregister_line: 652 if (spi->irq) 653 iio_unregister_interrupt_line(st->indio_dev, 0); 654error_uninitialize_ring: 655 iio_ring_buffer_unregister(st->indio_dev->ring); 656error_unreg_ring_funcs: 657 adis16350_unconfigure_ring(st->indio_dev); 658error_free_dev: 659 if (regdone) 660 iio_device_unregister(st->indio_dev); 661 else 662 iio_free_device(st->indio_dev); 663error_free_tx: 664 kfree(st->tx); 665error_free_rx: 666 kfree(st->rx); 667error_free_st: 668 kfree(st); 669error_ret: 670 return ret; 671} 672 673static int adis16350_remove(struct spi_device *spi) 674{ 675 int ret; 676 struct adis16350_state *st = spi_get_drvdata(spi); 677 struct iio_dev *indio_dev = st->indio_dev; 678 679 ret = adis16350_stop_device(&(indio_dev->dev)); 680 if (ret) 681 goto err_ret; 682 683 flush_scheduled_work(); 684 685 adis16350_remove_trigger(indio_dev); 686 if (spi->irq) 687 iio_unregister_interrupt_line(indio_dev, 0); 688 689 iio_ring_buffer_unregister(indio_dev->ring); 690 iio_device_unregister(indio_dev); 691 adis16350_unconfigure_ring(indio_dev); 692 kfree(st->tx); 693 kfree(st->rx); 694 kfree(st); 695 696 return 0; 697 698err_ret: 699 return ret; 700} 701 702static const struct spi_device_id adis16350_id[] = { 703 {"adis16350", 0}, 704 {"adis16354", 0}, 705 {"adis16355", 0}, 706 {"adis16360", 0}, 707 {"adis16362", 0}, 708 {"adis16364", 0}, 709 {"adis16365", 0}, 710 {} 711}; 712 713static struct spi_driver adis16350_driver = { 714 .driver = { 715 .name = "adis16350", 716 .owner = THIS_MODULE, 717 }, 718 .probe = adis16350_probe, 719 .remove = __devexit_p(adis16350_remove), 720 .id_table = adis16350_id, 721}; 722 723static __init int adis16350_init(void) 724{ 725 return spi_register_driver(&adis16350_driver); 726} 727module_init(adis16350_init); 728 729static __exit void adis16350_exit(void) 730{ 731 spi_unregister_driver(&adis16350_driver); 732} 733module_exit(adis16350_exit); 734 735MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 736MODULE_DESCRIPTION("Analog Devices ADIS16350/54/55/60/62/64/65 IMU SPI driver"); 737MODULE_LICENSE("GPL v2"); 738