616 lines
15 KiB
C
616 lines
15 KiB
C
/*
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* ADIS16209 Programmable Digital Vibration Sensor driver
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*
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* Copyright 2010 Analog Devices Inc.
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*
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* Licensed under the GPL-2 or later.
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*/
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#include <linux/interrupt.h>
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#include <linux/irq.h>
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#include <linux/gpio.h>
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/sysfs.h>
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#include <linux/list.h>
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#include "../iio.h"
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#include "../sysfs.h"
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#include "accel.h"
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#include "inclinometer.h"
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#include "../gyro/gyro.h"
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#include "../adc/adc.h"
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#include "adis16209.h"
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#define DRIVER_NAME "adis16209"
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static int adis16209_check_status(struct device *dev);
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/**
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* adis16209_spi_write_reg_8() - write single byte to a register
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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* @reg_address: the address of the register to be written
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* @val: the value to write
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**/
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static int adis16209_spi_write_reg_8(struct device *dev,
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u8 reg_address,
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u8 val)
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{
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int ret;
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16209_WRITE_REG(reg_address);
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st->tx[1] = val;
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ret = spi_write(st->us, st->tx, 2);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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/**
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* adis16209_spi_write_reg_16() - write 2 bytes to a pair of registers
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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* @reg_address: the address of the lower of the two registers. Second register
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* is assumed to have address one greater.
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* @val: value to be written
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**/
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static int adis16209_spi_write_reg_16(struct device *dev,
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u8 lower_reg_address,
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u16 value)
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{
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int ret;
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struct spi_message msg;
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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}, {
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.tx_buf = st->tx + 2,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16209_WRITE_REG(lower_reg_address);
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st->tx[1] = value & 0xFF;
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st->tx[2] = ADIS16209_WRITE_REG(lower_reg_address + 1);
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st->tx[3] = (value >> 8) & 0xFF;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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ret = spi_sync(st->us, &msg);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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/**
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* adis16209_spi_read_reg_16() - read 2 bytes from a 16-bit register
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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* @reg_address: the address of the lower of the two registers. Second register
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* is assumed to have address one greater.
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* @val: somewhere to pass back the value read
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**/
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static int adis16209_spi_read_reg_16(struct device *dev,
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u8 lower_reg_address,
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u16 *val)
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{
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struct spi_message msg;
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
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int ret;
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = 20,
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}, {
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.rx_buf = st->rx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = 20,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16209_READ_REG(lower_reg_address);
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st->tx[1] = 0;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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ret = spi_sync(st->us, &msg);
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if (ret) {
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dev_err(&st->us->dev,
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"problem when reading 16 bit register 0x%02X",
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lower_reg_address);
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goto error_ret;
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}
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*val = (st->rx[0] << 8) | st->rx[1];
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error_ret:
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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static ssize_t adis16209_read_12bit_unsigned(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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int ret;
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u16 val = 0;
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struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
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ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
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if (ret)
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return ret;
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if (val & ADIS16209_ERROR_ACTIVE)
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adis16209_check_status(dev);
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return sprintf(buf, "%u\n", val & 0x0FFF);
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}
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static ssize_t adis16209_read_14bit_unsigned(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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int ret;
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u16 val = 0;
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struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
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ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
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if (ret)
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return ret;
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if (val & ADIS16209_ERROR_ACTIVE)
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adis16209_check_status(dev);
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return sprintf(buf, "%u\n", val & 0x3FFF);
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}
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static ssize_t adis16209_read_temp(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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ssize_t ret;
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u16 val;
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/* Take the iio_dev status lock */
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mutex_lock(&indio_dev->mlock);
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ret = adis16209_spi_read_reg_16(dev, ADIS16209_TEMP_OUT, (u16 *)&val);
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if (ret)
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goto error_ret;
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if (val & ADIS16209_ERROR_ACTIVE)
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adis16209_check_status(dev);
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val &= 0xFFF;
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ret = sprintf(buf, "%d\n", val);
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error_ret:
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mutex_unlock(&indio_dev->mlock);
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return ret;
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}
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static ssize_t adis16209_read_14bit_signed(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
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s16 val = 0;
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ssize_t ret;
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mutex_lock(&indio_dev->mlock);
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ret = adis16209_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
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if (!ret) {
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if (val & ADIS16209_ERROR_ACTIVE)
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adis16209_check_status(dev);
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val = ((s16)(val << 2) >> 2);
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ret = sprintf(buf, "%d\n", val);
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}
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mutex_unlock(&indio_dev->mlock);
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return ret;
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}
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static ssize_t adis16209_write_16bit(struct device *dev,
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struct device_attribute *attr,
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const char *buf,
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size_t len)
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{
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struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
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int ret;
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long val;
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ret = strict_strtol(buf, 10, &val);
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if (ret)
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goto error_ret;
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ret = adis16209_spi_write_reg_16(dev, this_attr->address, val);
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error_ret:
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return ret ? ret : len;
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}
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static int adis16209_reset(struct device *dev)
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{
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int ret;
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ret = adis16209_spi_write_reg_8(dev,
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ADIS16209_GLOB_CMD,
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ADIS16209_GLOB_CMD_SW_RESET);
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if (ret)
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dev_err(dev, "problem resetting device");
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return ret;
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}
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static ssize_t adis16209_write_reset(struct device *dev,
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struct device_attribute *attr,
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const char *buf, size_t len)
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{
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if (len < 1)
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return -EINVAL;
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switch (buf[0]) {
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case '1':
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case 'y':
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case 'Y':
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return adis16209_reset(dev);
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}
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return -EINVAL;
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}
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int adis16209_set_irq(struct device *dev, bool enable)
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{
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int ret = 0;
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u16 msc;
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ret = adis16209_spi_read_reg_16(dev, ADIS16209_MSC_CTRL, &msc);
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if (ret)
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goto error_ret;
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msc |= ADIS16209_MSC_CTRL_ACTIVE_HIGH;
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msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_DIO2;
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if (enable)
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msc |= ADIS16209_MSC_CTRL_DATA_RDY_EN;
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else
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msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_EN;
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ret = adis16209_spi_write_reg_16(dev, ADIS16209_MSC_CTRL, msc);
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error_ret:
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return ret;
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}
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static int adis16209_check_status(struct device *dev)
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{
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u16 status;
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int ret;
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ret = adis16209_spi_read_reg_16(dev, ADIS16209_DIAG_STAT, &status);
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if (ret < 0) {
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dev_err(dev, "Reading status failed\n");
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goto error_ret;
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}
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ret = status & 0x1F;
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if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
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dev_err(dev, "Self test failure\n");
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if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
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dev_err(dev, "SPI failure\n");
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if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
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dev_err(dev, "Flash update failed\n");
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if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
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dev_err(dev, "Power supply above 3.625V\n");
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if (status & ADIS16209_DIAG_STAT_POWER_LOW)
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dev_err(dev, "Power supply below 3.15V\n");
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error_ret:
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return ret;
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}
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static int adis16209_self_test(struct device *dev)
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{
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int ret;
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ret = adis16209_spi_write_reg_16(dev,
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ADIS16209_MSC_CTRL,
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ADIS16209_MSC_CTRL_SELF_TEST_EN);
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if (ret) {
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dev_err(dev, "problem starting self test");
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goto err_ret;
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}
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adis16209_check_status(dev);
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err_ret:
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return ret;
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}
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static int adis16209_initial_setup(struct adis16209_state *st)
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{
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int ret;
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struct device *dev = &st->indio_dev->dev;
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/* Disable IRQ */
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ret = adis16209_set_irq(dev, false);
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if (ret) {
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dev_err(dev, "disable irq failed");
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goto err_ret;
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}
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/* Do self test */
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ret = adis16209_self_test(dev);
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if (ret) {
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dev_err(dev, "self test failure");
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goto err_ret;
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}
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/* Read status register to check the result */
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ret = adis16209_check_status(dev);
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if (ret) {
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adis16209_reset(dev);
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dev_err(dev, "device not playing ball -> reset");
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msleep(ADIS16209_STARTUP_DELAY);
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ret = adis16209_check_status(dev);
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if (ret) {
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dev_err(dev, "giving up");
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goto err_ret;
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}
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}
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printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
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st->us->chip_select, st->us->irq);
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err_ret:
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return ret;
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}
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static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16209_read_14bit_unsigned,
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ADIS16209_SUPPLY_OUT);
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static IIO_CONST_ATTR(in_supply_scale, "0.30518");
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static IIO_DEV_ATTR_IN_RAW(0, adis16209_read_12bit_unsigned,
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ADIS16209_AUX_ADC);
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static IIO_CONST_ATTR(in0_scale, "0.6105");
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static IIO_DEV_ATTR_ACCEL_X(adis16209_read_14bit_signed,
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ADIS16209_XACCL_OUT);
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static IIO_DEV_ATTR_ACCEL_Y(adis16209_read_14bit_signed,
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ADIS16209_YACCL_OUT);
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static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
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adis16209_read_14bit_signed,
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adis16209_write_16bit,
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ADIS16209_XACCL_NULL);
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static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
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adis16209_read_14bit_signed,
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adis16209_write_16bit,
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ADIS16209_YACCL_NULL);
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static IIO_CONST_ATTR(accel_scale, "0.24414");
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static IIO_DEV_ATTR_INCLI_X(adis16209_read_14bit_signed,
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ADIS16209_XINCL_OUT);
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static IIO_DEV_ATTR_INCLI_Y(adis16209_read_14bit_signed,
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ADIS16209_YINCL_OUT);
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static IIO_DEV_ATTR_INCLI_X_OFFSET(S_IWUSR | S_IRUGO,
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adis16209_read_14bit_signed,
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adis16209_write_16bit,
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ADIS16209_XACCL_NULL);
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static IIO_DEV_ATTR_INCLI_Y_OFFSET(S_IWUSR | S_IRUGO,
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adis16209_read_14bit_signed,
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adis16209_write_16bit,
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ADIS16209_YACCL_NULL);
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static IIO_CONST_ATTR(incli_scale, "0.025");
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static IIO_DEVICE_ATTR(rot_raw, S_IRUGO, adis16209_read_14bit_signed,
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NULL, ADIS16209_ROT_OUT);
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static IIO_DEV_ATTR_TEMP(adis16209_read_temp);
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static IIO_CONST_ATTR(temp_offset, "25");
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static IIO_CONST_ATTR(temp_scale, "-0.47");
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static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16209_write_reset, 0);
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static IIO_CONST_ATTR(name, "adis16209");
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static struct attribute *adis16209_event_attributes[] = {
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NULL
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};
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static struct attribute_group adis16209_event_attribute_group = {
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.attrs = adis16209_event_attributes,
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};
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static struct attribute *adis16209_attributes[] = {
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&iio_dev_attr_in_supply_raw.dev_attr.attr,
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&iio_const_attr_in_supply_scale.dev_attr.attr,
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&iio_dev_attr_temp.dev_attr.attr,
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&iio_const_attr_temp_offset.dev_attr.attr,
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&iio_const_attr_temp_scale.dev_attr.attr,
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&iio_dev_attr_reset.dev_attr.attr,
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&iio_const_attr_name.dev_attr.attr,
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&iio_dev_attr_in0_raw.dev_attr.attr,
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&iio_const_attr_in0_scale.dev_attr.attr,
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&iio_dev_attr_accel_x_raw.dev_attr.attr,
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&iio_dev_attr_accel_y_raw.dev_attr.attr,
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&iio_dev_attr_accel_x_offset.dev_attr.attr,
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&iio_dev_attr_accel_y_offset.dev_attr.attr,
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&iio_const_attr_accel_scale.dev_attr.attr,
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&iio_dev_attr_incli_x_raw.dev_attr.attr,
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&iio_dev_attr_incli_y_raw.dev_attr.attr,
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&iio_dev_attr_incli_x_offset.dev_attr.attr,
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&iio_dev_attr_incli_y_offset.dev_attr.attr,
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&iio_const_attr_incli_scale.dev_attr.attr,
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&iio_dev_attr_rot_raw.dev_attr.attr,
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NULL
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};
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static const struct attribute_group adis16209_attribute_group = {
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.attrs = adis16209_attributes,
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};
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static int __devinit adis16209_probe(struct spi_device *spi)
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{
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int ret, regdone = 0;
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struct adis16209_state *st = kzalloc(sizeof *st, GFP_KERNEL);
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if (!st) {
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ret = -ENOMEM;
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goto error_ret;
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}
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/* this is only used for removal purposes */
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spi_set_drvdata(spi, st);
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/* Allocate the comms buffers */
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st->rx = kzalloc(sizeof(*st->rx)*ADIS16209_MAX_RX, GFP_KERNEL);
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if (st->rx == NULL) {
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ret = -ENOMEM;
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goto error_free_st;
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}
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st->tx = kzalloc(sizeof(*st->tx)*ADIS16209_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 = &adis16209_event_attribute_group;
|
|
st->indio_dev->attrs = &adis16209_attribute_group;
|
|
st->indio_dev->dev_data = (void *)(st);
|
|
st->indio_dev->driver_module = THIS_MODULE;
|
|
st->indio_dev->modes = INDIO_DIRECT_MODE;
|
|
|
|
ret = adis16209_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 = adis16209_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) {
|
|
ret = iio_register_interrupt_line(spi->irq,
|
|
st->indio_dev,
|
|
0,
|
|
IRQF_TRIGGER_RISING,
|
|
"adis16209");
|
|
if (ret)
|
|
goto error_uninitialize_ring;
|
|
|
|
ret = adis16209_probe_trigger(st->indio_dev);
|
|
if (ret)
|
|
goto error_unregister_line;
|
|
}
|
|
|
|
/* Get the device into a sane initial state */
|
|
ret = adis16209_initial_setup(st);
|
|
if (ret)
|
|
goto error_remove_trigger;
|
|
return 0;
|
|
|
|
error_remove_trigger:
|
|
adis16209_remove_trigger(st->indio_dev);
|
|
error_unregister_line:
|
|
if (spi->irq)
|
|
iio_unregister_interrupt_line(st->indio_dev, 0);
|
|
error_uninitialize_ring:
|
|
adis16209_uninitialize_ring(st->indio_dev->ring);
|
|
error_unreg_ring_funcs:
|
|
adis16209_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;
|
|
}
|
|
|
|
static int adis16209_remove(struct spi_device *spi)
|
|
{
|
|
struct adis16209_state *st = spi_get_drvdata(spi);
|
|
struct iio_dev *indio_dev = st->indio_dev;
|
|
|
|
flush_scheduled_work();
|
|
|
|
adis16209_remove_trigger(indio_dev);
|
|
if (spi->irq)
|
|
iio_unregister_interrupt_line(indio_dev, 0);
|
|
|
|
adis16209_uninitialize_ring(indio_dev->ring);
|
|
iio_device_unregister(indio_dev);
|
|
adis16209_unconfigure_ring(indio_dev);
|
|
kfree(st->tx);
|
|
kfree(st->rx);
|
|
kfree(st);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static struct spi_driver adis16209_driver = {
|
|
.driver = {
|
|
.name = "adis16209",
|
|
.owner = THIS_MODULE,
|
|
},
|
|
.probe = adis16209_probe,
|
|
.remove = __devexit_p(adis16209_remove),
|
|
};
|
|
|
|
static __init int adis16209_init(void)
|
|
{
|
|
return spi_register_driver(&adis16209_driver);
|
|
}
|
|
module_init(adis16209_init);
|
|
|
|
static __exit void adis16209_exit(void)
|
|
{
|
|
spi_unregister_driver(&adis16209_driver);
|
|
}
|
|
module_exit(adis16209_exit);
|
|
|
|
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
|
|
MODULE_DESCRIPTION("Analog Devices ADIS16209 Digital Vibration Sensor driver");
|
|
MODULE_LICENSE("GPL v2");
|