1/* 2 * ADIS16300 Four Degrees of Freedom Inertial 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/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 "../accel/inclinometer.h" 26#include "../gyro/gyro.h" 27#include "../adc/adc.h" 28 29#include "adis16300.h" 30 31#define DRIVER_NAME "adis16300" 32 33static int adis16300_check_status(struct device *dev); 34 35/** 36 * adis16300_spi_write_reg_8() - write single byte to a register 37 * @dev: device associated with child of actual device (iio_dev or iio_trig) 38 * @reg_address: the address of the register to be written 39 * @val: the value to write 40 **/ 41static int adis16300_spi_write_reg_8(struct device *dev, 42 u8 reg_address, 43 u8 val) 44{ 45 int ret; 46 struct iio_dev *indio_dev = dev_get_drvdata(dev); 47 struct adis16300_state *st = iio_dev_get_devdata(indio_dev); 48 49 mutex_lock(&st->buf_lock); 50 st->tx[0] = ADIS16300_WRITE_REG(reg_address); 51 st->tx[1] = val; 52 53 ret = spi_write(st->us, st->tx, 2); 54 mutex_unlock(&st->buf_lock); 55 56 return ret; 57} 58 59/** 60 * adis16300_spi_write_reg_16() - write 2 bytes to a pair of registers 61 * @dev: device associated with child of actual device (iio_dev or iio_trig) 62 * @reg_address: the address of the lower of the two registers. Second register 63 * is assumed to have address one greater. 64 * @val: value to be written 65 **/ 66static int adis16300_spi_write_reg_16(struct device *dev, 67 u8 lower_reg_address, 68 u16 value) 69{ 70 int ret; 71 struct spi_message msg; 72 struct iio_dev *indio_dev = dev_get_drvdata(dev); 73 struct adis16300_state *st = iio_dev_get_devdata(indio_dev); 74 struct spi_transfer xfers[] = { 75 { 76 .tx_buf = st->tx, 77 .bits_per_word = 8, 78 .len = 2, 79 .cs_change = 1, 80 .delay_usecs = 75, 81 }, { 82 .tx_buf = st->tx + 2, 83 .bits_per_word = 8, 84 .len = 2, 85 .cs_change = 1, 86 .delay_usecs = 75, 87 }, 88 }; 89 90 mutex_lock(&st->buf_lock); 91 st->tx[0] = ADIS16300_WRITE_REG(lower_reg_address); 92 st->tx[1] = value & 0xFF; 93 st->tx[2] = ADIS16300_WRITE_REG(lower_reg_address + 1); 94 st->tx[3] = (value >> 8) & 0xFF; 95 96 spi_message_init(&msg); 97 spi_message_add_tail(&xfers[0], &msg); 98 spi_message_add_tail(&xfers[1], &msg); 99 ret = spi_sync(st->us, &msg); 100 mutex_unlock(&st->buf_lock); 101 102 return ret; 103} 104 105/** 106 * adis16300_spi_read_reg_16() - read 2 bytes from a 16-bit register 107 * @dev: device associated with child of actual device (iio_dev or iio_trig) 108 * @reg_address: the address of the lower of the two registers. Second register 109 * is assumed to have address one greater. 110 * @val: somewhere to pass back the value read 111 **/ 112static int adis16300_spi_read_reg_16(struct device *dev, 113 u8 lower_reg_address, 114 u16 *val) 115{ 116 struct spi_message msg; 117 struct iio_dev *indio_dev = dev_get_drvdata(dev); 118 struct adis16300_state *st = iio_dev_get_devdata(indio_dev); 119 int ret; 120 struct spi_transfer xfers[] = { 121 { 122 .tx_buf = st->tx, 123 .bits_per_word = 8, 124 .len = 2, 125 .cs_change = 1, 126 .delay_usecs = 75, 127 }, { 128 .rx_buf = st->rx, 129 .bits_per_word = 8, 130 .len = 2, 131 .cs_change = 1, 132 .delay_usecs = 75, 133 }, 134 }; 135 136 mutex_lock(&st->buf_lock); 137 st->tx[0] = ADIS16300_READ_REG(lower_reg_address); 138 st->tx[1] = 0; 139 st->tx[2] = 0; 140 st->tx[3] = 0; 141 142 spi_message_init(&msg); 143 spi_message_add_tail(&xfers[0], &msg); 144 spi_message_add_tail(&xfers[1], &msg); 145 ret = spi_sync(st->us, &msg); 146 if (ret) { 147 dev_err(&st->us->dev, 148 "problem when reading 16 bit register 0x%02X", 149 lower_reg_address); 150 goto error_ret; 151 } 152 *val = (st->rx[0] << 8) | st->rx[1]; 153 154error_ret: 155 mutex_unlock(&st->buf_lock); 156 return ret; 157} 158 159static ssize_t adis16300_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 = adis16300_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); 170 if (ret) 171 return ret; 172 173 if (val & ADIS16300_ERROR_ACTIVE) 174 adis16300_check_status(dev); 175 val = ((s16)(val << shift) >> shift); 176 return sprintf(buf, "%d\n", val); 177} 178 179static ssize_t adis16300_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 = adis16300_spi_read_reg_16(dev, this_attr->address, &val); 188 if (ret) 189 return ret; 190 191 if (val & ADIS16300_ERROR_ACTIVE) 192 adis16300_check_status(dev); 193 194 return sprintf(buf, "%u\n", val & 0x0FFF); 195} 196 197static ssize_t adis16300_read_14bit_unsigned(struct device *dev, 198 struct device_attribute *attr, 199 char *buf) 200{ 201 int ret; 202 u16 val = 0; 203 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); 204 205 ret = adis16300_spi_read_reg_16(dev, this_attr->address, &val); 206 if (ret) 207 return ret; 208 209 if (val & ADIS16300_ERROR_ACTIVE) 210 adis16300_check_status(dev); 211 212 return sprintf(buf, "%u\n", val & 0x3FFF); 213} 214 215static ssize_t adis16300_read_14bit_signed(struct device *dev, 216 struct device_attribute *attr, 217 char *buf) 218{ 219 struct iio_dev *indio_dev = dev_get_drvdata(dev); 220 ssize_t ret; 221 222 /* Take the iio_dev status lock */ 223 mutex_lock(&indio_dev->mlock); 224 ret = adis16300_spi_read_signed(dev, attr, buf, 14); 225 mutex_unlock(&indio_dev->mlock); 226 227 return ret; 228} 229 230static ssize_t adis16300_read_12bit_signed(struct device *dev, 231 struct device_attribute *attr, 232 char *buf) 233{ 234 struct iio_dev *indio_dev = dev_get_drvdata(dev); 235 ssize_t ret; 236 237 /* Take the iio_dev status lock */ 238 mutex_lock(&indio_dev->mlock); 239 ret = adis16300_spi_read_signed(dev, attr, buf, 12); 240 mutex_unlock(&indio_dev->mlock); 241 242 return ret; 243} 244 245static ssize_t adis16300_read_13bit_signed(struct device *dev, 246 struct device_attribute *attr, 247 char *buf) 248{ 249 struct iio_dev *indio_dev = dev_get_drvdata(dev); 250 ssize_t ret; 251 252 /* Take the iio_dev status lock */ 253 mutex_lock(&indio_dev->mlock); 254 ret = adis16300_spi_read_signed(dev, attr, buf, 13); 255 mutex_unlock(&indio_dev->mlock); 256 257 return ret; 258} 259 260static ssize_t adis16300_write_16bit(struct device *dev, 261 struct device_attribute *attr, 262 const char *buf, 263 size_t len) 264{ 265 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); 266 int ret; 267 long val; 268 269 ret = strict_strtol(buf, 10, &val); 270 if (ret) 271 goto error_ret; 272 ret = adis16300_spi_write_reg_16(dev, this_attr->address, val); 273 274error_ret: 275 return ret ? ret : len; 276} 277 278static ssize_t adis16300_read_frequency(struct device *dev, 279 struct device_attribute *attr, 280 char *buf) 281{ 282 int ret, len = 0; 283 u16 t; 284 int sps; 285 ret = adis16300_spi_read_reg_16(dev, 286 ADIS16300_SMPL_PRD, 287 &t); 288 if (ret) 289 return ret; 290 sps = (t & ADIS16300_SMPL_PRD_TIME_BASE) ? 53 : 1638; 291 sps /= (t & ADIS16300_SMPL_PRD_DIV_MASK) + 1; 292 len = sprintf(buf, "%d SPS\n", sps); 293 return len; 294} 295 296static ssize_t adis16300_write_frequency(struct device *dev, 297 struct device_attribute *attr, 298 const char *buf, 299 size_t len) 300{ 301 struct iio_dev *indio_dev = dev_get_drvdata(dev); 302 struct adis16300_state *st = iio_dev_get_devdata(indio_dev); 303 long val; 304 int ret; 305 u8 t; 306 307 ret = strict_strtol(buf, 10, &val); 308 if (ret) 309 return ret; 310 311 mutex_lock(&indio_dev->mlock); 312 313 t = (1638 / val); 314 if (t > 0) 315 t--; 316 t &= ADIS16300_SMPL_PRD_DIV_MASK; 317 if ((t & ADIS16300_SMPL_PRD_DIV_MASK) >= 0x0A) 318 st->us->max_speed_hz = ADIS16300_SPI_SLOW; 319 else 320 st->us->max_speed_hz = ADIS16300_SPI_FAST; 321 322 ret = adis16300_spi_write_reg_8(dev, 323 ADIS16300_SMPL_PRD, 324 t); 325 326 mutex_unlock(&indio_dev->mlock); 327 328 return ret ? ret : len; 329} 330 331static int adis16300_reset(struct device *dev) 332{ 333 int ret; 334 ret = adis16300_spi_write_reg_8(dev, 335 ADIS16300_GLOB_CMD, 336 ADIS16300_GLOB_CMD_SW_RESET); 337 if (ret) 338 dev_err(dev, "problem resetting device"); 339 340 return ret; 341} 342 343static ssize_t adis16300_write_reset(struct device *dev, 344 struct device_attribute *attr, 345 const char *buf, size_t len) 346{ 347 if (len < 1) 348 return -1; 349 switch (buf[0]) { 350 case '1': 351 case 'y': 352 case 'Y': 353 return adis16300_reset(dev); 354 } 355 return -1; 356} 357 358int adis16300_set_irq(struct device *dev, bool enable) 359{ 360 int ret; 361 u16 msc; 362 ret = adis16300_spi_read_reg_16(dev, ADIS16300_MSC_CTRL, &msc); 363 if (ret) 364 goto error_ret; 365 366 msc |= ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH; 367 msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_DIO2; 368 if (enable) 369 msc |= ADIS16300_MSC_CTRL_DATA_RDY_EN; 370 else 371 msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_EN; 372 373 ret = adis16300_spi_write_reg_16(dev, ADIS16300_MSC_CTRL, msc); 374 if (ret) 375 goto error_ret; 376 377error_ret: 378 return ret; 379} 380 381/* Power down the device */ 382static int adis16300_stop_device(struct device *dev) 383{ 384 int ret; 385 u16 val = ADIS16300_SLP_CNT_POWER_OFF; 386 387 ret = adis16300_spi_write_reg_16(dev, ADIS16300_SLP_CNT, val); 388 if (ret) 389 dev_err(dev, "problem with turning device off: SLP_CNT"); 390 391 return ret; 392} 393 394static int adis16300_self_test(struct device *dev) 395{ 396 int ret; 397 ret = adis16300_spi_write_reg_16(dev, 398 ADIS16300_MSC_CTRL, 399 ADIS16300_MSC_CTRL_MEM_TEST); 400 if (ret) { 401 dev_err(dev, "problem starting self test"); 402 goto err_ret; 403 } 404 405 adis16300_check_status(dev); 406 407err_ret: 408 return ret; 409} 410 411static int adis16300_check_status(struct device *dev) 412{ 413 u16 status; 414 int ret; 415 416 ret = adis16300_spi_read_reg_16(dev, ADIS16300_DIAG_STAT, &status); 417 418 if (ret < 0) { 419 dev_err(dev, "Reading status failed\n"); 420 goto error_ret; 421 } 422 ret = status; 423 if (status & ADIS16300_DIAG_STAT_ZACCL_FAIL) 424 dev_err(dev, "Z-axis accelerometer self-test failure\n"); 425 if (status & ADIS16300_DIAG_STAT_YACCL_FAIL) 426 dev_err(dev, "Y-axis accelerometer self-test failure\n"); 427 if (status & ADIS16300_DIAG_STAT_XACCL_FAIL) 428 dev_err(dev, "X-axis accelerometer self-test failure\n"); 429 if (status & ADIS16300_DIAG_STAT_XGYRO_FAIL) 430 dev_err(dev, "X-axis gyroscope self-test failure\n"); 431 if (status & ADIS16300_DIAG_STAT_ALARM2) 432 dev_err(dev, "Alarm 2 active\n"); 433 if (status & ADIS16300_DIAG_STAT_ALARM1) 434 dev_err(dev, "Alarm 1 active\n"); 435 if (status & ADIS16300_DIAG_STAT_FLASH_CHK) 436 dev_err(dev, "Flash checksum error\n"); 437 if (status & ADIS16300_DIAG_STAT_SELF_TEST) 438 dev_err(dev, "Self test error\n"); 439 if (status & ADIS16300_DIAG_STAT_OVERFLOW) 440 dev_err(dev, "Sensor overrange\n"); 441 if (status & ADIS16300_DIAG_STAT_SPI_FAIL) 442 dev_err(dev, "SPI failure\n"); 443 if (status & ADIS16300_DIAG_STAT_FLASH_UPT) 444 dev_err(dev, "Flash update failed\n"); 445 if (status & ADIS16300_DIAG_STAT_POWER_HIGH) 446 dev_err(dev, "Power supply above 5.25V\n"); 447 if (status & ADIS16300_DIAG_STAT_POWER_LOW) 448 dev_err(dev, "Power supply below 4.75V\n"); 449 450error_ret: 451 return ret; 452} 453 454static int adis16300_initial_setup(struct adis16300_state *st) 455{ 456 int ret; 457 u16 smp_prd; 458 struct device *dev = &st->indio_dev->dev; 459 460 /* use low spi speed for init */ 461 st->us->max_speed_hz = ADIS16300_SPI_SLOW; 462 st->us->mode = SPI_MODE_3; 463 spi_setup(st->us); 464 465 /* Disable IRQ */ 466 ret = adis16300_set_irq(dev, false); 467 if (ret) { 468 dev_err(dev, "disable irq failed"); 469 goto err_ret; 470 } 471 472 /* Do self test */ 473 ret = adis16300_self_test(dev); 474 if (ret) { 475 dev_err(dev, "self test failure"); 476 goto err_ret; 477 } 478 479 /* Read status register to check the result */ 480 ret = adis16300_check_status(dev); 481 if (ret) { 482 adis16300_reset(dev); 483 dev_err(dev, "device not playing ball -> reset"); 484 msleep(ADIS16300_STARTUP_DELAY); 485 ret = adis16300_check_status(dev); 486 if (ret) { 487 dev_err(dev, "giving up"); 488 goto err_ret; 489 } 490 } 491 492 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n", 493 st->us->chip_select, st->us->irq); 494 495 /* use high spi speed if possible */ 496 ret = adis16300_spi_read_reg_16(dev, ADIS16300_SMPL_PRD, &smp_prd); 497 if (!ret && (smp_prd & ADIS16300_SMPL_PRD_DIV_MASK) < 0x0A) { 498 st->us->max_speed_hz = ADIS16300_SPI_SLOW; 499 spi_setup(st->us); 500 } 501 502err_ret: 503 return ret; 504} 505 506static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO, 507 adis16300_read_12bit_signed, 508 adis16300_write_16bit, 509 ADIS16300_XACCL_OFF); 510 511static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO, 512 adis16300_read_12bit_signed, 513 adis16300_write_16bit, 514 ADIS16300_YACCL_OFF); 515 516static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO, 517 adis16300_read_12bit_signed, 518 adis16300_write_16bit, 519 ADIS16300_ZACCL_OFF); 520 521static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16300_read_14bit_unsigned, 522 ADIS16300_SUPPLY_OUT); 523static IIO_CONST_ATTR(in_supply_scale, "0.00242"); 524 525static IIO_DEV_ATTR_GYRO_X(adis16300_read_14bit_signed, 526 ADIS16300_XGYRO_OUT); 527static IIO_CONST_ATTR(gyro_scale, "0.05 deg/s"); 528 529static IIO_DEV_ATTR_ACCEL_X(adis16300_read_14bit_signed, 530 ADIS16300_XACCL_OUT); 531static IIO_DEV_ATTR_ACCEL_Y(adis16300_read_14bit_signed, 532 ADIS16300_YACCL_OUT); 533static IIO_DEV_ATTR_ACCEL_Z(adis16300_read_14bit_signed, 534 ADIS16300_ZACCL_OUT); 535static IIO_CONST_ATTR(accel_scale, "0.0006 g"); 536 537static IIO_DEV_ATTR_INCLI_X(adis16300_read_13bit_signed, 538 ADIS16300_XINCLI_OUT); 539static IIO_DEV_ATTR_INCLI_Y(adis16300_read_13bit_signed, 540 ADIS16300_YINCLI_OUT); 541static IIO_CONST_ATTR(incli_scale, "0.044 d"); 542 543static IIO_DEV_ATTR_TEMP_RAW(adis16300_read_12bit_unsigned); 544static IIO_CONST_ATTR(temp_offset, "198.16 K"); 545static IIO_CONST_ATTR(temp_scale, "0.14 K"); 546 547static IIO_DEV_ATTR_IN_RAW(0, adis16300_read_12bit_unsigned, 548 ADIS16300_AUX_ADC); 549static IIO_CONST_ATTR(in0_scale, "0.000806"); 550 551static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, 552 adis16300_read_frequency, 553 adis16300_write_frequency); 554 555static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16300_write_reset, 0); 556 557static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638"); 558 559static IIO_CONST_ATTR(name, "adis16300"); 560 561static struct attribute *adis16300_event_attributes[] = { 562 NULL 563}; 564 565static struct attribute_group adis16300_event_attribute_group = { 566 .attrs = adis16300_event_attributes, 567}; 568 569static struct attribute *adis16300_attributes[] = { 570 &iio_dev_attr_accel_x_offset.dev_attr.attr, 571 &iio_dev_attr_accel_y_offset.dev_attr.attr, 572 &iio_dev_attr_accel_z_offset.dev_attr.attr, 573 &iio_dev_attr_in_supply_raw.dev_attr.attr, 574 &iio_const_attr_in_supply_scale.dev_attr.attr, 575 &iio_dev_attr_gyro_x_raw.dev_attr.attr, 576 &iio_const_attr_gyro_scale.dev_attr.attr, 577 &iio_dev_attr_accel_x_raw.dev_attr.attr, 578 &iio_dev_attr_accel_y_raw.dev_attr.attr, 579 &iio_dev_attr_accel_z_raw.dev_attr.attr, 580 &iio_const_attr_accel_scale.dev_attr.attr, 581 &iio_dev_attr_incli_x_raw.dev_attr.attr, 582 &iio_dev_attr_incli_y_raw.dev_attr.attr, 583 &iio_const_attr_incli_scale.dev_attr.attr, 584 &iio_dev_attr_temp_raw.dev_attr.attr, 585 &iio_const_attr_temp_offset.dev_attr.attr, 586 &iio_const_attr_temp_scale.dev_attr.attr, 587 &iio_dev_attr_in0_raw.dev_attr.attr, 588 &iio_const_attr_in0_scale.dev_attr.attr, 589 &iio_dev_attr_sampling_frequency.dev_attr.attr, 590 &iio_const_attr_available_sampling_frequency.dev_attr.attr, 591 &iio_dev_attr_reset.dev_attr.attr, 592 &iio_const_attr_name.dev_attr.attr, 593 NULL 594}; 595 596static const struct attribute_group adis16300_attribute_group = { 597 .attrs = adis16300_attributes, 598}; 599 600static int __devinit adis16300_probe(struct spi_device *spi) 601{ 602 int ret, regdone = 0; 603 struct adis16300_state *st = kzalloc(sizeof *st, GFP_KERNEL); 604 if (!st) { 605 ret = -ENOMEM; 606 goto error_ret; 607 } 608 /* this is only used for removal purposes */ 609 spi_set_drvdata(spi, st); 610 611 /* Allocate the comms buffers */ 612 st->rx = kzalloc(sizeof(*st->rx)*ADIS16300_MAX_RX, GFP_KERNEL); 613 if (st->rx == NULL) { 614 ret = -ENOMEM; 615 goto error_free_st; 616 } 617 st->tx = kzalloc(sizeof(*st->tx)*ADIS16300_MAX_TX, GFP_KERNEL); 618 if (st->tx == NULL) { 619 ret = -ENOMEM; 620 goto error_free_rx; 621 } 622 st->us = spi; 623 mutex_init(&st->buf_lock); 624 /* setup the industrialio driver allocated elements */ 625 st->indio_dev = iio_allocate_device(); 626 if (st->indio_dev == NULL) { 627 ret = -ENOMEM; 628 goto error_free_tx; 629 } 630 631 st->indio_dev->dev.parent = &spi->dev; 632 st->indio_dev->num_interrupt_lines = 1; 633 st->indio_dev->event_attrs = &adis16300_event_attribute_group; 634 st->indio_dev->attrs = &adis16300_attribute_group; 635 st->indio_dev->dev_data = (void *)(st); 636 st->indio_dev->driver_module = THIS_MODULE; 637 st->indio_dev->modes = INDIO_DIRECT_MODE; 638 639 ret = adis16300_configure_ring(st->indio_dev); 640 if (ret) 641 goto error_free_dev; 642 643 ret = iio_device_register(st->indio_dev); 644 if (ret) 645 goto error_unreg_ring_funcs; 646 regdone = 1; 647 648 ret = iio_ring_buffer_register(st->indio_dev->ring, 0); 649 if (ret) { 650 printk(KERN_ERR "failed to initialize the ring\n"); 651 goto error_unreg_ring_funcs; 652 } 653 654 if (spi->irq) { 655 ret = iio_register_interrupt_line(spi->irq, 656 st->indio_dev, 657 0, 658 IRQF_TRIGGER_RISING, 659 "adis16300"); 660 if (ret) 661 goto error_uninitialize_ring; 662 663 ret = adis16300_probe_trigger(st->indio_dev); 664 if (ret) 665 goto error_unregister_line; 666 } 667 668 /* Get the device into a sane initial state */ 669 ret = adis16300_initial_setup(st); 670 if (ret) 671 goto error_remove_trigger; 672 return 0; 673 674error_remove_trigger: 675 adis16300_remove_trigger(st->indio_dev); 676error_unregister_line: 677 if (spi->irq) 678 iio_unregister_interrupt_line(st->indio_dev, 0); 679error_uninitialize_ring: 680 iio_ring_buffer_unregister(st->indio_dev->ring); 681error_unreg_ring_funcs: 682 adis16300_unconfigure_ring(st->indio_dev); 683error_free_dev: 684 if (regdone) 685 iio_device_unregister(st->indio_dev); 686 else 687 iio_free_device(st->indio_dev); 688error_free_tx: 689 kfree(st->tx); 690error_free_rx: 691 kfree(st->rx); 692error_free_st: 693 kfree(st); 694error_ret: 695 return ret; 696} 697 698static int adis16300_remove(struct spi_device *spi) 699{ 700 int ret; 701 struct adis16300_state *st = spi_get_drvdata(spi); 702 struct iio_dev *indio_dev = st->indio_dev; 703 704 ret = adis16300_stop_device(&(indio_dev->dev)); 705 if (ret) 706 goto err_ret; 707 708 flush_scheduled_work(); 709 710 adis16300_remove_trigger(indio_dev); 711 if (spi->irq) 712 iio_unregister_interrupt_line(indio_dev, 0); 713 714 iio_ring_buffer_unregister(indio_dev->ring); 715 iio_device_unregister(indio_dev); 716 adis16300_unconfigure_ring(indio_dev); 717 kfree(st->tx); 718 kfree(st->rx); 719 kfree(st); 720 721 return 0; 722 723err_ret: 724 return ret; 725} 726 727static struct spi_driver adis16300_driver = { 728 .driver = { 729 .name = "adis16300", 730 .owner = THIS_MODULE, 731 }, 732 .probe = adis16300_probe, 733 .remove = __devexit_p(adis16300_remove), 734}; 735 736static __init int adis16300_init(void) 737{ 738 return spi_register_driver(&adis16300_driver); 739} 740module_init(adis16300_init); 741 742static __exit void adis16300_exit(void) 743{ 744 spi_unregister_driver(&adis16300_driver); 745} 746module_exit(adis16300_exit); 747 748MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 749MODULE_DESCRIPTION("Analog Devices ADIS16300 IMU SPI driver"); 750MODULE_LICENSE("GPL v2"); 751