--- /dev/null
+#ifndef SPI_ADIS16251_H_
+#define SPI_ADIS16251_H_
+
+#define ADIS16251_STARTUP_DELAY 220 /* ms */
+
+#define ADIS16251_READ_REG(a) a
+#define ADIS16251_WRITE_REG(a) ((a) | 0x80)
+
+#define ADIS16251_ENDURANCE 0x00 /* Flash memory write count */
+#define ADIS16251_SUPPLY_OUT 0x02 /* Power supply measurement */
+#define ADIS16251_GYRO_OUT 0x04 /* X-axis gyroscope output */
+#define ADIS16251_AUX_ADC 0x0A /* analog input channel measurement */
+#define ADIS16251_TEMP_OUT 0x0C /* internal temperature measurement */
+#define ADIS16251_ANGL_OUT 0x0E /* angle displacement */
+#define ADIS16251_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
+#define ADIS16251_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
+#define ADIS16251_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
+#define ADIS16251_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
+#define ADIS16251_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
+#define ADIS16251_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
+#define ADIS16251_ALM_CTRL 0x28 /* Alarm control */
+#define ADIS16251_AUX_DAC 0x30 /* Auxiliary DAC data */
+#define ADIS16251_GPIO_CTRL 0x32 /* Control, digital I/O line */
+#define ADIS16251_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
+#define ADIS16251_SMPL_PRD 0x36 /* Control, internal sample rate */
+#define ADIS16251_SENS_AVG 0x38 /* Control, dynamic range, filtering */
+#define ADIS16251_SLP_CNT 0x3A /* Control, sleep mode initiation */
+#define ADIS16251_DIAG_STAT 0x3C /* Diagnostic, error flags */
+#define ADIS16251_GLOB_CMD 0x3E /* Control, global commands */
+
+#define ADIS16251_ERROR_ACTIVE (1<<14)
+#define ADIS16251_NEW_DATA (1<<14)
+
+/* MSC_CTRL */
+#define ADIS16251_MSC_CTRL_INT_SELF_TEST (1<<10) /* Internal self-test enable */
+#define ADIS16251_MSC_CTRL_NEG_SELF_TEST (1<<9)
+#define ADIS16251_MSC_CTRL_POS_SELF_TEST (1<<8)
+#define ADIS16251_MSC_CTRL_DATA_RDY_EN (1<<2)
+#define ADIS16251_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
+#define ADIS16251_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
+
+/* SMPL_PRD */
+#define ADIS16251_SMPL_PRD_TIME_BASE (1<<7) /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
+#define ADIS16251_SMPL_PRD_DIV_MASK 0x7F
+
+/* SLP_CNT */
+#define ADIS16251_SLP_CNT_POWER_OFF 0x80
+
+/* DIAG_STAT */
+#define ADIS16251_DIAG_STAT_ALARM2 (1<<9)
+#define ADIS16251_DIAG_STAT_ALARM1 (1<<8)
+#define ADIS16251_DIAG_STAT_SELF_TEST (1<<5)
+#define ADIS16251_DIAG_STAT_OVERFLOW (1<<4)
+#define ADIS16251_DIAG_STAT_SPI_FAIL (1<<3)
+#define ADIS16251_DIAG_STAT_FLASH_UPT (1<<2)
+#define ADIS16251_DIAG_STAT_POWER_HIGH (1<<1)
+#define ADIS16251_DIAG_STAT_POWER_LOW (1<<0)
+
+#define ADIS16251_DIAG_STAT_ERR_MASK (ADIS16261_DIAG_STAT_ALARM2 | \
+ ADIS16261_DIAG_STAT_ALARM1 | \
+ ADIS16261_DIAG_STAT_SELF_TEST | \
+ ADIS16261_DIAG_STAT_OVERFLOW | \
+ ADIS16261_DIAG_STAT_SPI_FAIL | \
+ ADIS16261_DIAG_STAT_FLASH_UPT | \
+ ADIS16261_DIAG_STAT_POWER_HIGH | \
+ ADIS16261_DIAG_STAT_POWER_LOW)
+
+/* GLOB_CMD */
+#define ADIS16251_GLOB_CMD_SW_RESET (1<<7)
+#define ADIS16251_GLOB_CMD_FLASH_UPD (1<<3)
+#define ADIS16251_GLOB_CMD_DAC_LATCH (1<<2)
+#define ADIS16251_GLOB_CMD_FAC_CALIB (1<<1)
+#define ADIS16251_GLOB_CMD_AUTO_NULL (1<<0)
+
+#define ADIS16251_MAX_TX 24
+#define ADIS16251_MAX_RX 24
+
+#define ADIS16251_SPI_SLOW (u32)(300 * 1000)
+#define ADIS16251_SPI_BURST (u32)(1000 * 1000)
+#define ADIS16251_SPI_FAST (u32)(2000 * 1000)
+
+/**
+ * struct adis16251_state - device instance specific data
+ * @us: actual spi_device
+ * @work_trigger_to_ring: bh for triggered event handling
+ * @inter: used to check if new interrupt has been triggered
+ * @last_timestamp: passing timestamp from th to bh of interrupt handler
+ * @indio_dev: industrial I/O device structure
+ * @trig: data ready trigger registered with iio
+ * @tx: transmit buffer
+ * @rx: recieve buffer
+ * @buf_lock: mutex to protect tx and rx
+ **/
+struct adis16251_state {
+ struct spi_device *us;
+ struct work_struct work_trigger_to_ring;
+ s64 last_timestamp;
+ struct iio_dev *indio_dev;
+ struct iio_trigger *trig;
+ u8 *tx;
+ u8 *rx;
+ struct mutex buf_lock;
+};
+
+int adis16251_spi_write_reg_8(struct device *dev,
+ u8 reg_address,
+ u8 val);
+
+int adis16251_spi_read_burst(struct device *dev, u8 *rx);
+
+int adis16251_spi_read_sequence(struct device *dev,
+ u8 *tx, u8 *rx, int num);
+
+int adis16251_set_irq(struct device *dev, bool enable);
+
+int adis16251_reset(struct device *dev);
+
+int adis16251_stop_device(struct device *dev);
+
+int adis16251_check_status(struct device *dev);
+
+#if defined(CONFIG_IIO_RING_BUFFER) && defined(THIS_HAS_RING_BUFFER_SUPPORT)
+/* At the moment triggers are only used for ring buffer
+ * filling. This may change!
+ */
+
+enum adis16251_scan {
+ ADIS16251_SCAN_SUPPLY,
+ ADIS16251_SCAN_GYRO,
+ ADIS16251_SCAN_TEMP,
+ ADIS16251_SCAN_ADC_0,
+};
+
+void adis16251_remove_trigger(struct iio_dev *indio_dev);
+int adis16251_probe_trigger(struct iio_dev *indio_dev);
+
+ssize_t adis16251_read_data_from_ring(struct device *dev,
+ struct device_attribute *attr,
+ char *buf);
+
+
+int adis16251_configure_ring(struct iio_dev *indio_dev);
+void adis16251_unconfigure_ring(struct iio_dev *indio_dev);
+
+int adis16251_initialize_ring(struct iio_ring_buffer *ring);
+void adis16251_uninitialize_ring(struct iio_ring_buffer *ring);
+#else /* CONFIG_IIO_RING_BUFFER */
+
+static inline void adis16251_remove_trigger(struct iio_dev *indio_dev)
+{
+}
+
+static inline int adis16251_probe_trigger(struct iio_dev *indio_dev)
+{
+ return 0;
+}
+
+static inline ssize_t
+adis16251_read_data_from_ring(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ return 0;
+}
+
+static int adis16251_configure_ring(struct iio_dev *indio_dev)
+{
+ return 0;
+}
+
+static inline void adis16251_unconfigure_ring(struct iio_dev *indio_dev)
+{
+}
+
+static inline int adis16251_initialize_ring(struct iio_ring_buffer *ring)
+{
+ return 0;
+}
+
+static inline void adis16251_uninitialize_ring(struct iio_ring_buffer *ring)
+{
+}
+
+#endif /* CONFIG_IIO_RING_BUFFER */
+#endif /* SPI_ADIS16251_H_ */
--- /dev/null
+/*
+ * ADIS16251 Programmable Digital Gyroscope Sensor Driver
+ *
+ * Copyright 2010 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/gpio.h>
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+#include <linux/list.h>
+
+#include "../iio.h"
+#include "../sysfs.h"
+#include "gyro.h"
+#include "../adc/adc.h"
+
+#include "adis16251.h"
+
+#define DRIVER_NAME "adis16251"
+
+/* At the moment the spi framework doesn't allow global setting of cs_change.
+ * It's in the likely to be added comment at the top of spi.h.
+ * This means that use cannot be made of spi_write etc.
+ */
+
+/**
+ * adis16251_spi_write_reg_8() - write single byte to a register
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @reg_address: the address of the register to be written
+ * @val: the value to write
+ **/
+int adis16251_spi_write_reg_8(struct device *dev,
+ u8 reg_address,
+ u8 val)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
+
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADIS16251_WRITE_REG(reg_address);
+ st->tx[1] = val;
+
+ ret = spi_write(st->us, st->tx, 2);
+ mutex_unlock(&st->buf_lock);
+
+ return ret;
+}
+
+/**
+ * adis16251_spi_write_reg_16() - write 2 bytes to a pair of registers
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @reg_address: the address of the lower of the two registers. Second register
+ * is assumed to have address one greater.
+ * @val: value to be written
+ **/
+static int adis16251_spi_write_reg_16(struct device *dev,
+ u8 lower_reg_address,
+ u16 value)
+{
+ int ret;
+ struct spi_message msg;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = st->tx,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ }, {
+ .tx_buf = st->tx + 2,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ },
+ };
+
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADIS16251_WRITE_REG(lower_reg_address);
+ st->tx[1] = value & 0xFF;
+ st->tx[2] = ADIS16251_WRITE_REG(lower_reg_address + 1);
+ st->tx[3] = (value >> 8) & 0xFF;
+
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0], &msg);
+ spi_message_add_tail(&xfers[1], &msg);
+ ret = spi_sync(st->us, &msg);
+ mutex_unlock(&st->buf_lock);
+
+ return ret;
+}
+
+/**
+ * adis16251_spi_read_reg_16() - read 2 bytes from a 16-bit register
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @reg_address: the address of the lower of the two registers. Second register
+ * is assumed to have address one greater.
+ * @val: somewhere to pass back the value read
+ **/
+static int adis16251_spi_read_reg_16(struct device *dev,
+ u8 lower_reg_address,
+ u16 *val)
+{
+ struct spi_message msg;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
+ int ret;
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = st->tx,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ }, {
+ .rx_buf = st->rx,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ },
+ };
+
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADIS16251_READ_REG(lower_reg_address);
+ st->tx[1] = 0;
+ st->tx[2] = 0;
+ st->tx[3] = 0;
+
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0], &msg);
+ spi_message_add_tail(&xfers[1], &msg);
+ ret = spi_sync(st->us, &msg);
+ if (ret) {
+ dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X",
+ lower_reg_address);
+ goto error_ret;
+ }
+ *val = (st->rx[0] << 8) | st->rx[1];
+
+error_ret:
+ mutex_unlock(&st->buf_lock);
+ return ret;
+}
+
+/**
+ * adis16251_spi_read_burst() - read all data registers
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @rx: somewhere to pass back the value read (min size is 24 bytes)
+ **/
+int adis16251_spi_read_burst(struct device *dev, u8 *rx)
+{
+ struct spi_message msg;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
+ u32 old_speed_hz = st->us->max_speed_hz;
+ int ret;
+
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = st->tx,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 0,
+ }, {
+ .rx_buf = rx,
+ .bits_per_word = 8,
+ .len = 24,
+ .cs_change = 1,
+ },
+ };
+
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADIS16251_READ_REG(ADIS16251_GLOB_CMD);
+ st->tx[1] = 0;
+
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0], &msg);
+ spi_message_add_tail(&xfers[1], &msg);
+
+ st->us->max_speed_hz = min(ADIS16251_SPI_BURST, old_speed_hz);
+ spi_setup(st->us);
+
+ ret = spi_sync(st->us, &msg);
+ if (ret)
+ dev_err(&st->us->dev, "problem when burst reading");
+
+ st->us->max_speed_hz = old_speed_hz;
+ spi_setup(st->us);
+ mutex_unlock(&st->buf_lock);
+ return ret;
+}
+
+/**
+ * adis16251_spi_read_sequence() - read a sequence of 16-bit registers
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @tx: register addresses in bytes 0,2,4,6... (min size is 2*num bytes)
+ * @rx: somewhere to pass back the value read (min size is 2*num bytes)
+ **/
+int adis16251_spi_read_sequence(struct device *dev,
+ u8 *tx, u8 *rx, int num)
+{
+ struct spi_message msg;
+ struct spi_transfer *xfers;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
+ int ret, i;
+
+ xfers = kzalloc(num + 1, GFP_KERNEL);
+ if (xfers == NULL) {
+ dev_err(&st->us->dev, "memory alloc failed");
+ ret = -ENOMEM;
+ goto error_ret;
+ }
+
+ /* tx: |add1|addr2|addr3|...|addrN |zero|
+ * rx: |zero|res1 |res2 |...|resN-1|resN| */
+ spi_message_init(&msg);
+ for (i = 0; i < num + 1; i++) {
+ if (i > 0)
+ xfers[i].rx_buf = st->rx + 2*(i - 1);
+ if (i < num)
+ xfers[i].tx_buf = st->tx + 2*i;
+ xfers[i].bits_per_word = 8;
+ xfers[i].len = 2;
+ xfers[i].cs_change = 1;
+ spi_message_add_tail(&xfers[i], &msg);
+ }
+
+ mutex_lock(&st->buf_lock);
+
+ ret = spi_sync(st->us, &msg);
+ if (ret)
+ dev_err(&st->us->dev, "problem when reading sequence");
+
+ mutex_unlock(&st->buf_lock);
+ kfree(xfers);
+
+error_ret:
+ return ret;
+}
+
+static ssize_t adis16251_spi_read_signed(struct device *dev,
+ struct device_attribute *attr,
+ char *buf,
+ unsigned bits)
+{
+ int ret;
+ s16 val = 0;
+ unsigned shift = 16 - bits;
+ struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
+
+ ret = adis16251_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
+ if (ret)
+ return ret;
+
+ if (val & ADIS16251_ERROR_ACTIVE)
+ adis16251_check_status(dev);
+ val = ((s16)(val << shift) >> shift);
+ return sprintf(buf, "%d\n", val);
+}
+
+static ssize_t adis16251_read_12bit_unsigned(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ int ret;
+ u16 val = 0;
+ struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
+
+ ret = adis16251_spi_read_reg_16(dev, this_attr->address, &val);
+ if (ret)
+ return ret;
+
+ if (val & ADIS16251_ERROR_ACTIVE)
+ adis16251_check_status(dev);
+
+ return sprintf(buf, "%u\n", val & 0x0FFF);
+}
+
+static ssize_t adis16251_read_14bit_signed(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ ssize_t ret;
+
+ /* Take the iio_dev status lock */
+ mutex_lock(&indio_dev->mlock);
+ ret = adis16251_spi_read_signed(dev, attr, buf, 14);
+ mutex_unlock(&indio_dev->mlock);
+
+ return ret;
+}
+
+static ssize_t adis16251_read_12bit_signed(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ ssize_t ret;
+
+ /* Take the iio_dev status lock */
+ mutex_lock(&indio_dev->mlock);
+ ret = adis16251_spi_read_signed(dev, attr, buf, 12);
+ mutex_unlock(&indio_dev->mlock);
+
+ return ret;
+}
+
+static ssize_t adis16251_write_16bit(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf,
+ size_t len)
+{
+ struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
+ int ret;
+ long val;
+
+ ret = strict_strtol(buf, 10, &val);
+ if (ret)
+ goto error_ret;
+ ret = adis16251_spi_write_reg_16(dev, this_attr->address, val);
+
+error_ret:
+ return ret ? ret : len;
+}
+
+static ssize_t adis16251_read_frequency(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ int ret, len = 0;
+ u16 t;
+ int sps;
+ ret = adis16251_spi_read_reg_16(dev,
+ ADIS16251_SMPL_PRD,
+ &t);
+ if (ret)
+ return ret;
+ sps = (t & ADIS16251_SMPL_PRD_TIME_BASE) ? 8 : 256;
+ sps /= (t & ADIS16251_SMPL_PRD_DIV_MASK) + 1;
+ len = sprintf(buf, "%d SPS\n", sps);
+ return len;
+}
+
+static ssize_t adis16251_write_frequency(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf,
+ size_t len)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
+ long val;
+ int ret;
+ u8 t;
+
+ ret = strict_strtol(buf, 10, &val);
+ if (ret)
+ return ret;
+
+ mutex_lock(&indio_dev->mlock);
+
+ t = (256 / val);
+ if (t > 0)
+ t--;
+ t &= ADIS16251_SMPL_PRD_DIV_MASK;
+ if ((t & ADIS16251_SMPL_PRD_DIV_MASK) >= 0x0A)
+ st->us->max_speed_hz = ADIS16251_SPI_SLOW;
+ else
+ st->us->max_speed_hz = ADIS16251_SPI_FAST;
+
+ ret = adis16251_spi_write_reg_8(dev,
+ ADIS16251_SMPL_PRD,
+ t);
+
+ mutex_unlock(&indio_dev->mlock);
+
+ return ret ? ret : len;
+}
+
+static ssize_t adis16251_write_reset(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t len)
+{
+ if (len < 1)
+ return -1;
+ switch (buf[0]) {
+ case '1':
+ case 'y':
+ case 'Y':
+ return adis16251_reset(dev);
+ }
+ return -1;
+}
+
+
+
+int adis16251_set_irq(struct device *dev, bool enable)
+{
+ int ret;
+ u16 msc;
+ ret = adis16251_spi_read_reg_16(dev, ADIS16251_MSC_CTRL, &msc);
+ if (ret)
+ goto error_ret;
+
+ msc |= ADIS16251_MSC_CTRL_DATA_RDY_POL_HIGH;
+ if (enable)
+ msc |= ADIS16251_MSC_CTRL_DATA_RDY_EN;
+ else
+ msc &= ~ADIS16251_MSC_CTRL_DATA_RDY_EN;
+
+ ret = adis16251_spi_write_reg_16(dev, ADIS16251_MSC_CTRL, msc);
+ if (ret)
+ goto error_ret;
+
+error_ret:
+ return ret;
+}
+
+int adis16251_reset(struct device *dev)
+{
+ int ret;
+ ret = adis16251_spi_write_reg_8(dev,
+ ADIS16251_GLOB_CMD,
+ ADIS16251_GLOB_CMD_SW_RESET);
+ if (ret)
+ dev_err(dev, "problem resetting device");
+
+ return ret;
+}
+
+/* Power down the device */
+int adis16251_stop_device(struct device *dev)
+{
+ int ret;
+ u16 val = ADIS16251_SLP_CNT_POWER_OFF;
+
+ ret = adis16251_spi_write_reg_16(dev, ADIS16251_SLP_CNT, val);
+ if (ret)
+ dev_err(dev, "problem with turning device off: SLP_CNT");
+
+ return ret;
+}
+
+static int adis16251_self_test(struct device *dev)
+{
+ int ret;
+
+ ret = adis16251_spi_write_reg_16(dev,
+ ADIS16251_MSC_CTRL,
+ ADIS16251_MSC_CTRL_INT_SELF_TEST);
+ if (ret) {
+ dev_err(dev, "problem starting self test");
+ goto err_ret;
+ }
+
+ adis16251_check_status(dev);
+
+err_ret:
+ return ret;
+}
+
+int adis16251_check_status(struct device *dev)
+{
+ u16 status;
+ int ret;
+
+ ret = adis16251_spi_read_reg_16(dev, ADIS16251_DIAG_STAT, &status);
+
+ if (ret < 0) {
+ dev_err(dev, "Reading status failed\n");
+ goto error_ret;
+ }
+
+ if (!(status & ADIS16251_DIAG_STAT_ERR_MASK)) {
+ ret = 0;
+ goto error_ret;
+ }
+
+ ret = -EFAULT;
+
+ if (status & ADIS16251_DIAG_STAT_ALARM2)
+ dev_err(dev, "Alarm 2 active\n");
+ if (status & ADIS16251_DIAG_STAT_ALARM1)
+ dev_err(dev, "Alarm 1 active\n");
+ if (status & ADIS16251_DIAG_STAT_SELF_TEST)
+ dev_err(dev, "Self test error\n");
+ if (status & ADIS16251_DIAG_STAT_OVERFLOW)
+ dev_err(dev, "Sensor overrange\n");
+ if (status & ADIS16251_DIAG_STAT_SPI_FAIL)
+ dev_err(dev, "SPI failure\n");
+ if (status & ADIS16251_DIAG_STAT_FLASH_UPT)
+ dev_err(dev, "Flash update failed\n");
+ if (status & ADIS16251_DIAG_STAT_POWER_HIGH)
+ dev_err(dev, "Power supply above 5.25V\n");
+ if (status & ADIS16251_DIAG_STAT_POWER_LOW)
+ dev_err(dev, "Power supply below 4.75V\n");
+
+error_ret:
+ return ret;
+}
+
+static int adis16251_initial_setup(struct adis16251_state *st)
+{
+ int ret;
+ u16 smp_prd;
+ struct device *dev = &st->indio_dev->dev;
+
+ /* use low spi speed for init */
+ st->us->max_speed_hz = ADIS16251_SPI_SLOW;
+ st->us->mode = SPI_MODE_3;
+ spi_setup(st->us);
+
+ /* Disable IRQ */
+ ret = adis16251_set_irq(dev, false);
+ if (ret) {
+ dev_err(dev, "disable irq failed");
+ goto err_ret;
+ }
+
+ /* Do self test */
+
+ /* Read status register to check the result */
+ ret = adis16251_check_status(dev);
+ if (ret) {
+ adis16251_reset(dev);
+ dev_err(dev, "device not playing ball -> reset");
+ msleep(ADIS16251_STARTUP_DELAY);
+ ret = adis16251_check_status(dev);
+ if (ret) {
+ dev_err(dev, "giving up");
+ goto err_ret;
+ }
+ }
+
+ printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
+ st->us->chip_select, st->us->irq);
+
+ /* use high spi speed if possible */
+ ret = adis16251_spi_read_reg_16(dev, ADIS16251_SMPL_PRD, &smp_prd);
+ if (!ret && (smp_prd & ADIS16251_SMPL_PRD_DIV_MASK) < 0x0A) {
+ st->us->max_speed_hz = ADIS16251_SPI_SLOW;
+ spi_setup(st->us);
+ }
+
+err_ret:
+ return ret;
+}
+
+static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16251_read_12bit_signed,
+ ADIS16251_SUPPLY_OUT);
+static IIO_CONST_ATTR(in0_supply_scale, "0.0018315");
+
+static IIO_DEV_ATTR_GYRO(adis16251_read_14bit_signed,
+ ADIS16251_GYRO_OUT);
+static IIO_DEV_ATTR_GYRO_SCALE(S_IWUSR | S_IRUGO,
+ adis16251_read_12bit_signed,
+ adis16251_write_16bit,
+ ADIS16251_GYRO_SCALE);
+static IIO_DEV_ATTR_GYRO_OFFSET(S_IWUSR | S_IRUGO,
+ adis16251_read_12bit_signed,
+ adis16251_write_16bit,
+ ADIS16251_GYRO_OFF);
+
+static IIO_DEV_ATTR_TEMP_RAW(adis16251_read_12bit_signed);
+static IIO_CONST_ATTR(temp_offset, "25 K");
+static IIO_CONST_ATTR(temp_scale, "0.1453 K");
+
+static IIO_DEV_ATTR_IN_NAMED_RAW(1, aux, adis16251_read_12bit_unsigned,
+ ADIS16251_AUX_ADC);
+static IIO_CONST_ATTR(in1_aux_scale, "0.0006105");
+
+static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
+ adis16251_read_frequency,
+ adis16251_write_frequency);
+static IIO_DEV_ATTR_ANGL(adis16251_read_14bit_signed,
+ ADIS16251_ANGL_OUT);
+
+static IIO_DEV_ATTR_RESET(adis16251_write_reset);
+
+static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("0.129 ~ 256");
+
+static IIO_CONST_ATTR(name, "adis16251");
+
+static struct attribute *adis16251_event_attributes[] = {
+ NULL
+};
+
+static struct attribute_group adis16251_event_attribute_group = {
+ .attrs = adis16251_event_attributes,
+};
+
+static struct attribute *adis16251_attributes[] = {
+ &iio_dev_attr_in0_supply_raw.dev_attr.attr,
+ &iio_const_attr_in0_supply_scale.dev_attr.attr,
+ &iio_dev_attr_gyro_raw.dev_attr.attr,
+ &iio_dev_attr_gyro_scale.dev_attr.attr,
+ &iio_dev_attr_gyro_offset.dev_attr.attr,
+ &iio_dev_attr_angl_raw.dev_attr.attr,
+ &iio_dev_attr_temp_raw.dev_attr.attr,
+ &iio_const_attr_temp_offset.dev_attr.attr,
+ &iio_const_attr_temp_scale.dev_attr.attr,
+ &iio_dev_attr_in1_aux_raw.dev_attr.attr,
+ &iio_const_attr_in1_aux_scale.dev_attr.attr,
+ &iio_dev_attr_sampling_frequency.dev_attr.attr,
+ &iio_const_attr_sampling_frequency_available.dev_attr.attr,
+ &iio_dev_attr_reset.dev_attr.attr,
+ &iio_const_attr_name.dev_attr.attr,
+ NULL
+};
+
+static const struct attribute_group adis16251_attribute_group = {
+ .attrs = adis16251_attributes,
+};
+
+static int __devinit adis16251_probe(struct spi_device *spi)
+{
+ int ret, regdone = 0;
+ struct adis16251_state *st = kzalloc(sizeof *st, GFP_KERNEL);
+ if (!st) {
+ ret = -ENOMEM;
+ goto error_ret;
+ }
+ /* this is only used for removal purposes */
+ spi_set_drvdata(spi, st);
+
+ /* Allocate the comms buffers */
+ st->rx = kzalloc(sizeof(*st->rx)*ADIS16251_MAX_RX, GFP_KERNEL);
+ if (st->rx == NULL) {
+ ret = -ENOMEM;
+ goto error_free_st;
+ }
+ st->tx = kzalloc(sizeof(*st->tx)*ADIS16251_MAX_TX, GFP_KERNEL);
+ if (st->tx == NULL) {
+ ret = -ENOMEM;
+ goto error_free_rx;
+ }
+ st->us = spi;
+ mutex_init(&st->buf_lock);
+ /* setup the industrialio driver allocated elements */
+ st->indio_dev = iio_allocate_device();
+ if (st->indio_dev == NULL) {
+ ret = -ENOMEM;
+ goto error_free_tx;
+ }
+
+ st->indio_dev->dev.parent = &spi->dev;
+ st->indio_dev->num_interrupt_lines = 1;
+ st->indio_dev->event_attrs = &adis16251_event_attribute_group;
+ st->indio_dev->attrs = &adis16251_attribute_group;
+ st->indio_dev->dev_data = (void *)(st);
+ st->indio_dev->driver_module = THIS_MODULE;
+ st->indio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = adis16251_configure_ring(st->indio_dev);
+ if (ret)
+ goto error_free_dev;
+
+ ret = iio_device_register(st->indio_dev);
+ if (ret)
+ goto error_unreg_ring_funcs;
+ regdone = 1;
+
+ ret = adis16251_initialize_ring(st->indio_dev->ring);
+ if (ret) {
+ printk(KERN_ERR "failed to initialize the ring\n");
+ goto error_unreg_ring_funcs;
+ }
+
+ if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
+ ret = iio_register_interrupt_line(spi->irq,
+ st->indio_dev,
+ 0,
+ IRQF_TRIGGER_RISING,
+ "adis16251");
+ if (ret)
+ goto error_uninitialize_ring;
+
+ ret = adis16251_probe_trigger(st->indio_dev);
+ if (ret)
+ goto error_unregister_line;
+ }
+
+ /* Get the device into a sane initial state */
+ ret = adis16251_initial_setup(st);
+ if (ret)
+ goto error_remove_trigger;
+ return 0;
+
+error_remove_trigger:
+ if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
+ adis16251_remove_trigger(st->indio_dev);
+error_unregister_line:
+ if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
+ iio_unregister_interrupt_line(st->indio_dev, 0);
+error_uninitialize_ring:
+ adis16251_uninitialize_ring(st->indio_dev->ring);
+error_unreg_ring_funcs:
+ adis16251_unconfigure_ring(st->indio_dev);
+error_free_dev:
+ if (regdone)
+ iio_device_unregister(st->indio_dev);
+ else
+ iio_free_device(st->indio_dev);
+error_free_tx:
+ kfree(st->tx);
+error_free_rx:
+ kfree(st->rx);
+error_free_st:
+ kfree(st);
+error_ret:
+ return ret;
+}
+
+/* fixme, confirm ordering in this function */
+static int adis16251_remove(struct spi_device *spi)
+{
+ int ret;
+ struct adis16251_state *st = spi_get_drvdata(spi);
+ struct iio_dev *indio_dev = st->indio_dev;
+
+ ret = adis16251_stop_device(&(indio_dev->dev));
+ if (ret)
+ goto err_ret;
+
+ flush_scheduled_work();
+
+ adis16251_remove_trigger(indio_dev);
+ if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
+ iio_unregister_interrupt_line(indio_dev, 0);
+
+ adis16251_uninitialize_ring(indio_dev->ring);
+ adis16251_unconfigure_ring(indio_dev);
+ iio_device_unregister(indio_dev);
+ kfree(st->tx);
+ kfree(st->rx);
+ kfree(st);
+
+ return 0;
+
+err_ret:
+ return ret;
+}
+
+static struct spi_driver adis16251_driver = {
+ .driver = {
+ .name = "adis16251",
+ .owner = THIS_MODULE,
+ },
+ .probe = adis16251_probe,
+ .remove = __devexit_p(adis16251_remove),
+};
+
+static __init int adis16251_init(void)
+{
+ return spi_register_driver(&adis16251_driver);
+}
+module_init(adis16251_init);
+
+static __exit void adis16251_exit(void)
+{
+ spi_unregister_driver(&adis16251_driver);
+}
+module_exit(adis16251_exit);
+
+MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16251 Digital Gyroscope Sensor SPI driver");
+MODULE_LICENSE("GPL v2");
git.openpandora.org / pandora-kernel.git / commitdiff