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Barry Song089a4192010-05-12 19:34:06 +01001/*
Michael Hennerichf733d022010-10-27 21:43:47 -04002 * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
Barry Song089a4192010-05-12 19:34:06 +01003 *
4 * Copyright 2010 Analog Devices Inc.
5 *
6 * Licensed under the GPL-2 or later.
7 */
8
9#include <linux/interrupt.h>
Barry Song089a4192010-05-12 19:34:06 +010010#include <linux/mutex.h>
11#include <linux/device.h>
12#include <linux/kernel.h>
13#include <linux/spi/spi.h>
Barry Song089a4192010-05-12 19:34:06 +010014#include <linux/sysfs.h>
Paul Gortmaker99c97852011-07-03 15:49:50 -040015#include <linux/module.h>
Barry Song089a4192010-05-12 19:34:06 +010016
Jonathan Cameron06458e22012-04-25 15:54:58 +010017#include <linux/iio/iio.h>
18#include <linux/iio/sysfs.h>
19#include <linux/iio/buffer.h>
Lars-Peter Clausen988c79a2013-07-17 15:44:00 +010020#include <linux/iio/imu/adis.h>
Barry Song089a4192010-05-12 19:34:06 +010021
Lars-Peter Clausen988c79a2013-07-17 15:44:00 +010022#define ADIS16260_STARTUP_DELAY 220 /* ms */
23
24#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
25#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
26#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
27#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
28#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
29#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
30#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
31#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
32#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
33#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
34#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
35#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
36#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
37#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
38#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
39#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
40#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
41#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
42#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
43#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
44#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
45#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
46#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
47#define ADIS16260_PROD_ID 0x56 /* Product identifier;
48 * convert to decimal = 16,265/16,260 */
49#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
50
51#define ADIS16260_ERROR_ACTIVE (1<<14)
52#define ADIS16260_NEW_DATA (1<<15)
53
54/* MSC_CTRL */
55#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
56/* Internal self-test enable */
57#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
58#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
59#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
60#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
61#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
62#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
63
64/* SMPL_PRD */
65/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
66#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
67#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
68
69/* SLP_CNT */
70#define ADIS16260_SLP_CNT_POWER_OFF 0x80
71
72/* DIAG_STAT */
73#define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
74#define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
75#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6
76#define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5
77#define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4
78#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3
79#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2
80#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1
81#define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0
82
83/* GLOB_CMD */
84#define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
85#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
86#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
87#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
88#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
89
90#define ADIS16260_SPI_SLOW (u32)(300 * 1000)
91#define ADIS16260_SPI_BURST (u32)(1000 * 1000)
92#define ADIS16260_SPI_FAST (u32)(2000 * 1000)
93
94/* At the moment triggers are only used for ring buffer
95 * filling. This may change!
96 */
97
98#define ADIS16260_SCAN_GYRO 0
99#define ADIS16260_SCAN_SUPPLY 1
100#define ADIS16260_SCAN_AUX_ADC 2
101#define ADIS16260_SCAN_TEMP 3
102#define ADIS16260_SCAN_ANGL 4
Barry Song089a4192010-05-12 19:34:06 +0100103
Barry Song089a4192010-05-12 19:34:06 +0100104static ssize_t adis16260_read_frequency(struct device *dev,
105 struct device_attribute *attr,
106 char *buf)
107{
Lars-Peter Clausenf72e0832012-05-12 15:39:48 +0200108 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100109 struct adis *adis = iio_priv(indio_dev);
Barry Song089a4192010-05-12 19:34:06 +0100110 int ret, len = 0;
111 u16 t;
112 int sps;
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100113 ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &t);
Barry Song089a4192010-05-12 19:34:06 +0100114 if (ret)
115 return ret;
Jonathan Cameron03d1b7d2011-02-26 17:27:17 +0000116
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100117 if (spi_get_device_id(adis->spi)->driver_data) /* If an adis16251 */
Lars-Peter Clausen8aa55d12013-07-17 15:44:00 +0100118 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
Jonathan Cameron03d1b7d2011-02-26 17:27:17 +0000119 else
Lars-Peter Clausen8aa55d12013-07-17 15:44:00 +0100120 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
Barry Song089a4192010-05-12 19:34:06 +0100121 sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
Lars-Peter Clausen9aa5aad2013-07-17 15:44:00 +0100122 len = sprintf(buf, "%d\n", sps);
Barry Song089a4192010-05-12 19:34:06 +0100123 return len;
124}
125
126static ssize_t adis16260_write_frequency(struct device *dev,
127 struct device_attribute *attr,
128 const char *buf,
129 size_t len)
130{
Lars-Peter Clausenf72e0832012-05-12 15:39:48 +0200131 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100132 struct adis *adis = iio_priv(indio_dev);
Lars-Peter Clausene4ddf312013-07-17 15:44:00 +0100133 unsigned int val;
Barry Song089a4192010-05-12 19:34:06 +0100134 int ret;
135 u8 t;
136
Lars-Peter Clausene4ddf312013-07-17 15:44:00 +0100137 ret = kstrtouint(buf, 10, &val);
Barry Song089a4192010-05-12 19:34:06 +0100138 if (ret)
139 return ret;
140
141 mutex_lock(&indio_dev->mlock);
Lars-Peter Clausene4ddf312013-07-17 15:44:00 +0100142 if (spi_get_device_id(adis->spi)->driver_data)
143 t = 256 / val;
144 else
145 t = 2048 / val;
146
147 if (t > ADIS16260_SMPL_PRD_DIV_MASK)
148 t = ADIS16260_SMPL_PRD_DIV_MASK;
149 else if (t > 0)
150 t--;
151
152 if (t >= 0x0A)
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100153 adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
Barry Song089a4192010-05-12 19:34:06 +0100154 else
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100155 adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
156 ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
Barry Song089a4192010-05-12 19:34:06 +0100157
158 mutex_unlock(&indio_dev->mlock);
159
160 return ret ? ret : len;
161}
162
Barry Song089a4192010-05-12 19:34:06 +0100163/* Power down the device */
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100164static int adis16260_stop_device(struct iio_dev *indio_dev)
Barry Song089a4192010-05-12 19:34:06 +0100165{
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100166 struct adis *adis = iio_priv(indio_dev);
Barry Song089a4192010-05-12 19:34:06 +0100167 int ret;
168 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
169
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100170 ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val);
Barry Song089a4192010-05-12 19:34:06 +0100171 if (ret)
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100172 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
Barry Song089a4192010-05-12 19:34:06 +0100173
174 return ret;
175}
176
Barry Song089a4192010-05-12 19:34:06 +0100177static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
178 adis16260_read_frequency,
179 adis16260_write_frequency);
Barry Song089a4192010-05-12 19:34:06 +0100180
Lars-Peter Clausene1b83f42013-07-17 15:44:00 +0100181static const struct iio_chan_spec adis16260_channels[] = {
182 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
183 BIT(IIO_CHAN_INFO_CALIBBIAS) |
184 BIT(IIO_CHAN_INFO_CALIBSCALE), 14),
185 ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 14),
186 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 12),
187 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 12),
188 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 12),
189 IIO_CHAN_SOFT_TIMESTAMP(5),
190};
Jonathan Cameronfe346042010-11-22 23:09:48 +0000191
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000192static const u8 adis16260_addresses[][2] = {
193 [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100194};
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000195
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100196static int adis16260_read_raw(struct iio_dev *indio_dev,
197 struct iio_chan_spec const *chan,
198 int *val, int *val2,
199 long mask)
200{
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100201 struct adis *adis = iio_priv(indio_dev);
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100202 int ret;
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100203 u8 addr;
204 s16 val16;
Jonathan Cameronfe346042010-11-22 23:09:48 +0000205
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100206 switch (mask) {
Jonathan Cameronfbaff212012-04-15 17:41:20 +0100207 case IIO_CHAN_INFO_RAW:
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000208 return adis_single_conversion(indio_dev, chan,
209 ADIS16260_ERROR_ACTIVE, val);
Jonathan Cameronc8a9f802011-10-26 17:41:36 +0100210 case IIO_CHAN_INFO_SCALE:
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100211 switch (chan->type) {
Jonathan Cameron41ea0402011-10-05 15:27:59 +0100212 case IIO_ANGL_VEL:
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100213 *val = 0;
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100214 if (spi_get_device_id(adis->spi)->driver_data) {
Lars-Peter Clausen7e72a542012-10-15 10:35:00 +0100215 /* 0.01832 degree / sec */
216 *val2 = IIO_DEGREE_TO_RAD(18320);
217 } else {
218 /* 0.07326 degree / sec */
219 *val2 = IIO_DEGREE_TO_RAD(73260);
220 }
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100221 return IIO_VAL_INT_PLUS_MICRO;
Lars-Peter Clausenebdee942013-07-17 15:44:00 +0100222 case IIO_INCLI:
223 *val = 0;
224 *val2 = IIO_DEGREE_TO_RAD(36630);
225 return IIO_VAL_INT_PLUS_MICRO;
Jonathan Cameron6835cb62011-09-27 09:56:41 +0100226 case IIO_VOLTAGE:
Lars-Peter Clausen7e72a542012-10-15 10:35:00 +0100227 if (chan->channel == 0) {
228 *val = 1;
229 *val2 = 831500; /* 1.8315 mV */
230 } else {
231 *val = 0;
232 *val2 = 610500; /* 610.5 uV */
233 }
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100234 return IIO_VAL_INT_PLUS_MICRO;
235 case IIO_TEMP:
Lars-Peter Clausen7e72a542012-10-15 10:35:00 +0100236 *val = 145;
237 *val2 = 300000; /* 0.1453 C */
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100238 return IIO_VAL_INT_PLUS_MICRO;
239 default:
240 return -EINVAL;
241 }
Jonathan Cameronc8a9f802011-10-26 17:41:36 +0100242 case IIO_CHAN_INFO_OFFSET:
Lars-Peter Clausen7e72a542012-10-15 10:35:00 +0100243 *val = 250000 / 1453; /* 25 C = 0x00 */
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100244 return IIO_VAL_INT;
Jonathan Cameronc8a9f802011-10-26 17:41:36 +0100245 case IIO_CHAN_INFO_CALIBBIAS:
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000246 addr = adis16260_addresses[chan->scan_index][0];
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100247 ret = adis_read_reg_16(adis, addr, &val16);
Lars-Peter Clausen73149ba2013-07-17 15:44:00 +0100248 if (ret)
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100249 return ret;
Lars-Peter Clausen73149ba2013-07-17 15:44:00 +0100250
251 *val = sign_extend32(val16, 11);
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100252 return IIO_VAL_INT;
Jonathan Cameronc8a9f802011-10-26 17:41:36 +0100253 case IIO_CHAN_INFO_CALIBSCALE:
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000254 addr = adis16260_addresses[chan->scan_index][1];
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100255 ret = adis_read_reg_16(adis, addr, &val16);
Lars-Peter Clausen73149ba2013-07-17 15:44:00 +0100256 if (ret)
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100257 return ret;
Lars-Peter Clausen73149ba2013-07-17 15:44:00 +0100258
Lars-Peter Clausenf1530412013-07-17 15:44:00 +0100259 *val = val16;
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100260 return IIO_VAL_INT;
261 }
262 return -EINVAL;
263}
264
265static int adis16260_write_raw(struct iio_dev *indio_dev,
266 struct iio_chan_spec const *chan,
267 int val,
268 int val2,
269 long mask)
270{
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100271 struct adis *adis = iio_priv(indio_dev);
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100272 u8 addr;
Lars-Peter Clausenf4f87d02013-07-17 15:44:00 +0100273
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100274 switch (mask) {
Jonathan Cameronc8a9f802011-10-26 17:41:36 +0100275 case IIO_CHAN_INFO_CALIBBIAS:
Lars-Peter Clausenf4f87d02013-07-17 15:44:00 +0100276 if (val < -2048 || val >= 2048)
277 return -EINVAL;
278
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000279 addr = adis16260_addresses[chan->scan_index][0];
Lars-Peter Clausenf4f87d02013-07-17 15:44:00 +0100280 return adis_write_reg_16(adis, addr, val);
Jonathan Cameronc8a9f802011-10-26 17:41:36 +0100281 case IIO_CHAN_INFO_CALIBSCALE:
Lars-Peter Clausenf4f87d02013-07-17 15:44:00 +0100282 if (val < 0 || val >= 4096)
283 return -EINVAL;
284
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000285 addr = adis16260_addresses[chan->scan_index][1];
Lars-Peter Clausenf4f87d02013-07-17 15:44:00 +0100286 return adis_write_reg_16(adis, addr, val);
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100287 }
288 return -EINVAL;
289}
290
291static struct attribute *adis16260_attributes[] = {
292 &iio_dev_attr_sampling_frequency.dev_attr.attr,
Jonathan Cameron29b7f432011-05-18 14:41:59 +0100293 NULL
294};
295
296static const struct attribute_group adis16260_attribute_group = {
297 .attrs = adis16260_attributes,
298};
Barry Song089a4192010-05-12 19:34:06 +0100299
Jonathan Cameron6fe81352011-05-18 14:42:37 +0100300static const struct iio_info adis16260_info = {
301 .attrs = &adis16260_attribute_group,
302 .read_raw = &adis16260_read_raw,
303 .write_raw = &adis16260_write_raw,
Lars-Peter Clausenaacff892012-11-13 13:28:00 +0000304 .update_scan_mode = adis_update_scan_mode,
Jonathan Cameron6fe81352011-05-18 14:42:37 +0100305 .driver_module = THIS_MODULE,
306};
307
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000308static const char * const adis1620_status_error_msgs[] = {
309 [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
310 [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
311 [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
312 [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
313 [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
314 [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
315 [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
316};
317
318static const struct adis_data adis16260_data = {
319 .write_delay = 30,
320 .read_delay = 30,
321 .msc_ctrl_reg = ADIS16260_MSC_CTRL,
322 .glob_cmd_reg = ADIS16260_GLOB_CMD,
323 .diag_stat_reg = ADIS16260_DIAG_STAT,
324
325 .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
326 .startup_delay = ADIS16260_STARTUP_DELAY,
327
328 .status_error_msgs = adis1620_status_error_msgs,
329 .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
330 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
331 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
332 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
333 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
334 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
335 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
336};
337
Bill Pemberton4ae1c612012-11-19 13:21:57 -0500338static int adis16260_probe(struct spi_device *spi)
Barry Song089a4192010-05-12 19:34:06 +0100339{
Jonathan Camerond088ab82011-06-27 13:07:46 +0100340 struct iio_dev *indio_dev;
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100341 struct adis *adis;
Lars-Peter Clausene1b83f42013-07-17 15:44:00 +0100342 int ret;
Jonathan Camerond088ab82011-06-27 13:07:46 +0100343
344 /* setup the industrialio driver allocated elements */
Sachin Kamat827b14a2013-08-13 07:34:00 +0100345 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis));
346 if (!indio_dev)
347 return -ENOMEM;
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100348 adis = iio_priv(indio_dev);
Barry Song089a4192010-05-12 19:34:06 +0100349 /* this is only used for removal purposes */
Lars-Peter Clausen97271c32012-07-13 13:04:00 +0100350 spi_set_drvdata(spi, indio_dev);
Barry Song089a4192010-05-12 19:34:06 +0100351
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000352 indio_dev->name = spi_get_device_id(spi)->name;
Jonathan Camerond088ab82011-06-27 13:07:46 +0100353 indio_dev->dev.parent = &spi->dev;
354 indio_dev->info = &adis16260_info;
Lars-Peter Clausene1b83f42013-07-17 15:44:00 +0100355 indio_dev->channels = adis16260_channels;
356 indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);
Jonathan Camerond088ab82011-06-27 13:07:46 +0100357 indio_dev->modes = INDIO_DIRECT_MODE;
Barry Song089a4192010-05-12 19:34:06 +0100358
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100359 ret = adis_init(adis, indio_dev, spi, &adis16260_data);
Barry Song089a4192010-05-12 19:34:06 +0100360 if (ret)
Sachin Kamat827b14a2013-08-13 07:34:00 +0100361 return ret;
Barry Song089a4192010-05-12 19:34:06 +0100362
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100363 ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000364 if (ret)
Sachin Kamat827b14a2013-08-13 07:34:00 +0100365 return ret;
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000366
Barry Song089a4192010-05-12 19:34:06 +0100367 /* Get the device into a sane initial state */
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100368 ret = adis_initial_startup(adis);
Barry Song089a4192010-05-12 19:34:06 +0100369 if (ret)
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000370 goto error_cleanup_buffer_trigger;
Jonathan Cameron26d25ae2011-09-02 17:14:40 +0100371 ret = iio_device_register(indio_dev);
372 if (ret)
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000373 goto error_cleanup_buffer_trigger;
Jonathan Cameron26d25ae2011-09-02 17:14:40 +0100374
Barry Song089a4192010-05-12 19:34:06 +0100375 return 0;
376
Lars-Peter Clausen9d5e9fd2012-11-13 13:28:00 +0000377error_cleanup_buffer_trigger:
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100378 adis_cleanup_buffer_and_trigger(adis, indio_dev);
Barry Song089a4192010-05-12 19:34:06 +0100379 return ret;
380}
381
Bill Pemberton447d4f22012-11-19 13:26:37 -0500382static int adis16260_remove(struct spi_device *spi)
Barry Song089a4192010-05-12 19:34:06 +0100383{
Jonathan Camerond088ab82011-06-27 13:07:46 +0100384 struct iio_dev *indio_dev = spi_get_drvdata(spi);
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100385 struct adis *adis = iio_priv(indio_dev);
Barry Song089a4192010-05-12 19:34:06 +0100386
Jonathan Camerond2fffd62011-10-14 14:46:58 +0100387 iio_device_unregister(indio_dev);
Lars-Peter Clausenbea3e8a2012-09-22 09:56:00 +0100388 adis16260_stop_device(indio_dev);
Lars-Peter Clausen63892162013-07-17 15:44:00 +0100389 adis_cleanup_buffer_and_trigger(adis, indio_dev);
Barry Song089a4192010-05-12 19:34:06 +0100390
Lars-Peter Clausenbea3e8a2012-09-22 09:56:00 +0100391 return 0;
Barry Song089a4192010-05-12 19:34:06 +0100392}
393
Jonathan Cameronfe346042010-11-22 23:09:48 +0000394/*
395 * These parts do not need to be differentiated until someone adds
396 * support for the on chip filtering.
397 */
Jonathan Camerona9672952010-11-22 23:09:47 +0000398static const struct spi_device_id adis16260_id[] = {
399 {"adis16260", 0},
400 {"adis16265", 0},
Jonathan Cameronfe346042010-11-22 23:09:48 +0000401 {"adis16250", 0},
402 {"adis16255", 0},
Jonathan Cameron03d1b7d2011-02-26 17:27:17 +0000403 {"adis16251", 1},
Jonathan Camerona9672952010-11-22 23:09:47 +0000404 {}
405};
Lars-Peter Clausen55e43902011-11-16 08:53:31 +0100406MODULE_DEVICE_TABLE(spi, adis16260_id);
Jonathan Camerona9672952010-11-22 23:09:47 +0000407
Barry Song089a4192010-05-12 19:34:06 +0100408static struct spi_driver adis16260_driver = {
409 .driver = {
410 .name = "adis16260",
411 .owner = THIS_MODULE,
412 },
413 .probe = adis16260_probe,
Bill Pembertone543acf2012-11-19 13:21:38 -0500414 .remove = adis16260_remove,
Jonathan Camerona9672952010-11-22 23:09:47 +0000415 .id_table = adis16260_id,
Barry Song089a4192010-05-12 19:34:06 +0100416};
Lars-Peter Clausenae6ae6f2011-11-16 10:13:39 +0100417module_spi_driver(adis16260_driver);
Barry Song089a4192010-05-12 19:34:06 +0100418
419MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
420MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
421MODULE_LICENSE("GPL v2");