[net-next-2.6.git] / drivers / staging / adis16255 / adis16255.c

/*
 * Analog Devices ADIS16250/ADIS16255 Low Power Gyroscope
 *
 * Written by: Matthias Brugger <m_brugger@web.de>
 *
 * Copyright (C) 2010 Fraunhofer Institute for Integrated Circuits
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the
 * Free Software Foundation, Inc.,
 * 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 */

/*
 * The driver just has a bare interface to the sysfs (sample rate in Hz,
 * orientation (x, y, z) and gyroscope data in °/sec.
 *
 * It should be added to iio subsystem when this has left staging.
 *
 */

#include <linux/init.h>
#include <linux/module.h>
#include <linux/device.h>
#include <linux/list.h>
#include <linux/errno.h>
#include <linux/mutex.h>
#include <linux/slab.h>

#include <linux/interrupt.h>
#include <linux/sysfs.h>
#include <linux/stat.h>
#include <linux/delay.h>

#include <linux/gpio.h>

#include <linux/spi/spi.h>
#include <linux/workqueue.h>

#include "adis16255.h"

#define ADIS_STATUS        0x3d
#define ADIS_SMPL_PRD_MSB  0x37
#define ADIS_SMPL_PRD_LSB  0x36
#define ADIS_MSC_CTRL_MSB  0x35
#define ADIS_MSC_CTRL_LSB  0x34
#define ADIS_GPIO_CTRL     0x33
#define ADIS_ALM_SMPL1     0x25
#define ADIS_ALM_MAG1      0x21
#define ADIS_GYRO_SCALE    0x17
#define ADIS_GYRO_OUT      0x05
#define ADIS_SUPPLY_OUT    0x03
#define ADIS_ENDURANCE     0x01

/*
 * data structure for every sensor
 *
 * @dev:       Driver model representation of the device.
 * @spi:       Pointer to the spi device which will manage i/o to spi bus.
 * @data:      Last read data from device.
 * @irq_adis:  GPIO Number of IRQ signal
 * @irq:       irq line manage by kernel
 * @negative:  indicates if sensor is upside down (negative == 1)
 * @direction: indicates axis (x, y, z) the sensor is meassuring
 */
struct spi_adis16255_data {
	struct device dev;
	struct spi_device *spi;
	s16 data;
	int irq;
	u8 negative;
	char direction;
};

/*-------------------------------------------------------------------------*/

static int spi_adis16255_read_data(struct spi_adis16255_data *spiadis,
					u8 adr,
					u8 *rbuf)
{
	struct spi_device *spi = spiadis->spi;
	struct spi_message msg;
	struct spi_transfer xfer1, xfer2;
	u8 *buf, *rx;
	int ret;

	buf = kzalloc(4, GFP_KERNEL);
	if (buf == NULL)
		return -ENOMEM;

	rx = kzalloc(4, GFP_KERNEL);
	if (rx == NULL) {
		ret = -ENOMEM;
		goto err_buf;
	}

	buf[0] = adr;

	spi_message_init(&msg);
	memset(&xfer1, 0, sizeof(xfer1));
	memset(&xfer2, 0, sizeof(xfer2));

	xfer1.tx_buf = buf;
	xfer1.rx_buf = buf + 2;
	xfer1.len = 2;
	xfer1.delay_usecs = 9;

	xfer2.tx_buf = rx + 2;
	xfer2.rx_buf = rx;
	xfer2.len = 2;

	spi_message_add_tail(&xfer1, &msg);
	spi_message_add_tail(&xfer2, &msg);

	ret = spi_sync(spi, &msg);
	if (ret == 0) {
		rbuf[0] = rx[0];
		rbuf[1] = rx[1];
	}

	kfree(rx);
err_buf:
	kfree(buf);

	return ret;
}

static int spi_adis16255_write_data(struct spi_adis16255_data *spiadis,
					u8 adr1,
					u8 adr2,
					u8 *wbuf)
{
	struct spi_device *spi = spiadis->spi;
	struct spi_message   msg;
	struct spi_transfer  xfer1, xfer2;
	u8       *buf, *rx;
	int         ret;

	buf = kmalloc(4, GFP_KERNEL);
	if (buf == NULL)
		return -ENOMEM;

	rx = kzalloc(4, GFP_KERNEL);
	if (rx == NULL) {
		ret = -ENOMEM;
		goto err_buf;
	}

	spi_message_init(&msg);
	memset(&xfer1, 0, sizeof(xfer1));
	memset(&xfer2, 0, sizeof(xfer2));

	buf[0] = adr1 | 0x80;
	buf[1] = *wbuf;

	buf[2] = adr2 | 0x80;
	buf[3] = *(wbuf + 1);

	xfer1.tx_buf = buf;
	xfer1.rx_buf = rx;
	xfer1.len = 2;
	xfer1.delay_usecs = 9;

	xfer2.tx_buf = buf+2;
	xfer2.rx_buf = rx+2;
	xfer2.len = 2;

	spi_message_add_tail(&xfer1, &msg);
	spi_message_add_tail(&xfer2, &msg);

	ret = spi_sync(spi, &msg);
	if (ret != 0)
		dev_warn(&spi->dev, "write data to %#x %#x failed\n",
				buf[0], buf[2]);

	kfree(rx);
err_buf:
	kfree(buf);
	return ret;
}

/*-------------------------------------------------------------------------*/

static irqreturn_t adis_irq_thread(int irq, void *dev_id)
{
	struct spi_adis16255_data *spiadis = dev_id;
	int status;
	u16 value = 0;

	status =  spi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value);
	if (status != 0) {
		dev_warn(&spiadis->spi->dev, "SPI FAILED\n");
		goto exit;
	}

	/* perform on new data only... */
	if (value & 0x8000) {
		/* delete error and new data bit */
		value = value & 0x3fff;
		/* set negative value */
		if (value & 0x2000)
			value = value | 0xe000;

		if (likely(spiadis->negative))
			value = -value;

		spiadis->data = (s16) value;
	}

exit:
	return IRQ_HANDLED;
}

/*-------------------------------------------------------------------------*/

ssize_t adis16255_show_data(struct device *device,
		struct device_attribute *da,
		char *buf)
{
	struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
	return snprintf(buf, PAGE_SIZE, "%d\n", spiadis->data);
}
DEVICE_ATTR(data, S_IRUGO , adis16255_show_data, NULL);

ssize_t adis16255_show_direction(struct device *device,
		struct device_attribute *da,
		char *buf)
{
	struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
	return snprintf(buf, PAGE_SIZE, "%c\n", spiadis->direction);
}
DEVICE_ATTR(direction, S_IRUGO , adis16255_show_direction, NULL);

ssize_t adis16255_show_sample_rate(struct device *device,
		struct device_attribute *da,
		char *buf)
{
	struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
	int status = 0;
	u16 value = 0;
	int ts = 0;

	status = spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB,
				(u8 *)&value);
	if (status != 0)
		return -EINVAL;

	if (value & 0x80) {
		/* timebase = 60.54 ms */
		ts = 60540 * ((0x7f & value) + 1);
	} else {
		/* timebase = 1.953 ms */
		ts = 1953 * ((0x7f & value) + 1);
	}

	return snprintf(buf, PAGE_SIZE, "%d\n", (1000*1000)/ts);
}
DEVICE_ATTR(sample_rate, S_IRUGO , adis16255_show_sample_rate, NULL);

static struct attribute *adis16255_attributes[] = {
	&dev_attr_data.attr,
	&dev_attr_direction.attr,
	&dev_attr_sample_rate.attr,
	NULL
};

static const struct attribute_group adis16255_attr_group = {
	.attrs = adis16255_attributes,
};

/*-------------------------------------------------------------------------*/

static int spi_adis16255_shutdown(struct spi_adis16255_data *spiadis)
{
	u16 value = 0;
	/* turn sensor off */
	spi_adis16255_write_data(spiadis,
			ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
			(u8 *)&value);
	spi_adis16255_write_data(spiadis,
			ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
			(u8 *)&value);
	return 0;
}

static int spi_adis16255_bringup(struct spi_adis16255_data *spiadis)
{
	int status = 0;
	u16 value = 0;

	status = spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE,
				(u8 *)&value);
	if (status != 0)
		goto err;
	if (value != 0x0800) {
		dev_warn(&spiadis->spi->dev, "Scale factor is none default"
				"value (%.4x)\n", value);
	}

	/* timebase = 1.953 ms, Ns = 0 -> 512 Hz sample rate */
	value =  0x0001;
	status = spi_adis16255_write_data(spiadis,
				ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
				(u8 *)&value);
	if (status != 0)
		goto err;

	/* start internal self-test */
	value = 0x0400;
	status = spi_adis16255_write_data(spiadis,
				ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
				(u8 *)&value);
	if (status != 0)
		goto err;

	/* wait 35 ms to finish self-test */
	msleep(35);

	value = 0x0000;
	status = spi_adis16255_read_data(spiadis, ADIS_STATUS,
				(u8 *)&value);
	if (status != 0)
		goto err;

	if (value & 0x23) {
		if (value & 0x20) {
			dev_warn(&spiadis->spi->dev, "self-test error\n");
			status = -ENODEV;
			goto err;
		} else if (value & 0x3)	{
			dev_warn(&spiadis->spi->dev, "Sensor voltage"
						"out of range.\n");
			status = -ENODEV;
			goto err;
		}
	}

	/* set interrupt to active high on DIO0 when data ready */
	value = 0x0006;
	status = spi_adis16255_write_data(spiadis,
				ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
				(u8 *)&value);
	if (status != 0)
		goto err;
	return status;

err:
	spi_adis16255_shutdown(spiadis);
	return status;
}

/*-------------------------------------------------------------------------*/

static int __devinit spi_adis16255_probe(struct spi_device *spi)
{

	struct adis16255_init_data *init_data = spi->dev.platform_data;
	struct spi_adis16255_data  *spiadis;
	int status = 0;

	spiadis = kzalloc(sizeof(*spiadis), GFP_KERNEL);
	if (!spiadis)
		return -ENOMEM;

	spiadis->spi = spi;
	spiadis->direction = init_data->direction;

	if (init_data->negative)
		spiadis->negative = 1;

	status = gpio_request(init_data->irq, "adis16255");
	if (status != 0)
		goto err;

	status = gpio_direction_input(init_data->irq);
	if (status != 0)
		goto gpio_err;

	spiadis->irq = gpio_to_irq(init_data->irq);

	status = request_threaded_irq(spiadis->irq,
			NULL, adis_irq_thread,
			IRQF_DISABLED, "adis-driver", spiadis);

	if (status != 0) {
		dev_err(&spi->dev, "IRQ request failed\n");
		goto gpio_err;
	}

	dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", init_data->irq, spiadis->irq);

	dev_set_drvdata(&spi->dev, spiadis);
	status = sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group);
	if (status != 0)
		goto irq_err;

	status = spi_adis16255_bringup(spiadis);
	if (status != 0)
		goto irq_err;

	dev_info(&spi->dev, "spi_adis16255 driver added!\n");

	return status;

irq_err:
	free_irq(spiadis->irq, spiadis);
gpio_err:
	gpio_free(init_data->irq);
err:
	kfree(spiadis);
	return status;
}

static int __devexit spi_adis16255_remove(struct spi_device *spi)
{
	struct spi_adis16255_data  *spiadis    = dev_get_drvdata(&spi->dev);

	spi_adis16255_shutdown(spiadis);

	free_irq(spiadis->irq, spiadis);
	gpio_free(irq_to_gpio(spiadis->irq));

	sysfs_remove_group(&spiadis->spi->dev.kobj, &adis16255_attr_group);

	kfree(spiadis);

	dev_info(&spi->dev, "spi_adis16255 driver removed!\n");
	return 0;
}

static struct spi_driver spi_adis16255_drv = {
	.driver = {
		.name =  "spi_adis16255",
		.owner = THIS_MODULE,
	},
	.probe = spi_adis16255_probe,
	.remove =   __devexit_p(spi_adis16255_remove),
};

/*-------------------------------------------------------------------------*/

static int __init spi_adis16255_init(void)
{
	return spi_register_driver(&spi_adis16255_drv);
}
module_init(spi_adis16255_init);

static void __exit spi_adis16255_exit(void)
{
	spi_unregister_driver(&spi_adis16255_drv);
}
module_exit(spi_adis16255_exit);

MODULE_AUTHOR("Matthias Brugger");
MODULE_DESCRIPTION("SPI device driver for ADIS16255 sensor");
MODULE_LICENSE("GPL");
Commit	Line	Data
3c034cce	1	/*
	2	* Analog Devices ADIS16250/ADIS16255 Low Power Gyroscope
	3	*
	4	* Written by: Matthias Brugger <m_brugger@web.de>
	5	*
	6	* Copyright (C) 2010 Fraunhofer Institute for Integrated Circuits
	7	*
	8	* This program is free software; you can redistribute it and/or modify
	9	* it under the terms of the GNU General Public License as published by
	10	* the Free Software Foundation; either version 2 of the License, or
	11	* (at your option) any later version.
	12	*
	13	* This program is distributed in the hope that it will be useful,
	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	16	* GNU General Public License for more details.
	17	*
	18	* You should have received a copy of the GNU General Public License
	19	* along with this program; if not, write to the
	20	* Free Software Foundation, Inc.,
	21	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
	22	*/
	23
e390b07b MB	24	/*
	25	* The driver just has a bare interface to the sysfs (sample rate in Hz,
	26	* orientation (x, y, z) and gyroscope data in °/sec.
	27	*
	28	* It should be added to iio subsystem when this has left staging.
	29	*
	30	*/
	31
3c034cce	32	#include <linux/init.h>
	33	#include <linux/module.h>
	34	#include <linux/device.h>
	35	#include <linux/list.h>
	36	#include <linux/errno.h>
	37	#include <linux/mutex.h>
	38	#include <linux/slab.h>
	39
	40	#include <linux/interrupt.h>
	41	#include <linux/sysfs.h>
	42	#include <linux/stat.h>
	43	#include <linux/delay.h>
	44
	45	#include <linux/gpio.h>
	46
	47	#include <linux/spi/spi.h>
	48	#include <linux/workqueue.h>
	49
	50	#include "adis16255.h"
	51
	52	#define ADIS_STATUS 0x3d
	53	#define ADIS_SMPL_PRD_MSB 0x37
	54	#define ADIS_SMPL_PRD_LSB 0x36
	55	#define ADIS_MSC_CTRL_MSB 0x35
	56	#define ADIS_MSC_CTRL_LSB 0x34
	57	#define ADIS_GPIO_CTRL 0x33
	58	#define ADIS_ALM_SMPL1 0x25
	59	#define ADIS_ALM_MAG1 0x21
	60	#define ADIS_GYRO_SCALE 0x17
	61	#define ADIS_GYRO_OUT 0x05
	62	#define ADIS_SUPPLY_OUT 0x03
	63	#define ADIS_ENDURANCE 0x01
	64
	65	/*
	66	* data structure for every sensor
	67	*
	68	* @dev: Driver model representation of the device.
	69	* @spi: Pointer to the spi device which will manage i/o to spi bus.
	70	* @data: Last read data from device.
	71	* @irq_adis: GPIO Number of IRQ signal
	72	* @irq: irq line manage by kernel
e390b07b	73	* @negative: indicates if sensor is upside down (negative == 1)
3c034cce	74	* @direction: indicates axis (x, y, z) the sensor is meassuring
	75	*/
	76	struct spi_adis16255_data {
	77	struct device dev;
	78	struct spi_device *spi;
	79	s16 data;
3c034cce	80	int irq;
	81	u8 negative;
	82	char direction;
	83	};
	84
	85	/-------------------------------------------------------------------------/
	86
	87	static int spi_adis16255_read_data(struct spi_adis16255_data *spiadis,
	88	u8 adr,
	89	u8 *rbuf)
	90	{
e390b07b	91	struct spi_device *spi = spiadis->spi;
3c034cce	92	struct spi_message msg;
	93	struct spi_transfer xfer1, xfer2;
	94	u8 buf, rx;
	95	int ret;
	96
e390b07b MB	97	buf = kzalloc(4, GFP_KERNEL);
e390b07b MB	98	if (buf == NULL)
3c034cce	99	return -ENOMEM;
3c034cce	100
e390b07b MB	101	rx = kzalloc(4, GFP_KERNEL);
	102	if (rx == NULL) {
	103	ret = -ENOMEM;
3c034cce	104	goto err_buf;
	105	}
	106
e390b07b	107	buf[0] = adr;
3c034cce	108
	109	spi_message_init(&msg);
	110	memset(&xfer1, 0, sizeof(xfer1));
	111	memset(&xfer2, 0, sizeof(xfer2));
	112
e390b07b MB	113	xfer1.tx_buf = buf;
	114	xfer1.rx_buf = buf + 2;
	115	xfer1.len = 2;
	116	xfer1.delay_usecs = 9;
3c034cce	117
e390b07b MB	118	xfer2.tx_buf = rx + 2;
	119	xfer2.rx_buf = rx;
	120	xfer2.len = 2;
3c034cce	121
	122	spi_message_add_tail(&xfer1, &msg);
	123	spi_message_add_tail(&xfer2, &msg);
	124
e390b07b MB	125	ret = spi_sync(spi, &msg);
	126	if (ret == 0) {
	127	rbuf[0] = rx[0];
	128	rbuf[1] = rx[1];
3c034cce	129	}
	130
	131	kfree(rx);
	132	err_buf:
	133	kfree(buf);
	134
	135	return ret;
	136	}
	137
	138	static int spi_adis16255_write_data(struct spi_adis16255_data *spiadis,
	139	u8 adr1,
	140	u8 adr2,
	141	u8 *wbuf)
	142	{
e390b07b	143	struct spi_device *spi = spiadis->spi;
3c034cce	144	struct spi_message msg;
	145	struct spi_transfer xfer1, xfer2;
	146	u8 buf, rx;
	147	int ret;
	148
e390b07b MB	149	buf = kmalloc(4, GFP_KERNEL);
e390b07b MB	150	if (buf == NULL)
3c034cce	151	return -ENOMEM;
3c034cce	152
e390b07b MB	153	rx = kzalloc(4, GFP_KERNEL);
	154	if (rx == NULL) {
	155	ret = -ENOMEM;
3c034cce	156	goto err_buf;
	157	}
	158
	159	spi_message_init(&msg);
	160	memset(&xfer1, 0, sizeof(xfer1));
	161	memset(&xfer2, 0, sizeof(xfer2));
	162
e390b07b MB	163	buf[0] = adr1 \| 0x80;
e390b07b MB	164	buf[1] = *wbuf;
3c034cce	165
e390b07b MB	166	buf[2] = adr2 \| 0x80;
e390b07b MB	167	buf[3] = *(wbuf + 1);
3c034cce	168
e390b07b MB	169	xfer1.tx_buf = buf;
	170	xfer1.rx_buf = rx;
	171	xfer1.len = 2;
	172	xfer1.delay_usecs = 9;
3c034cce	173
e390b07b MB	174	xfer2.tx_buf = buf+2;
	175	xfer2.rx_buf = rx+2;
	176	xfer2.len = 2;
3c034cce	177
	178	spi_message_add_tail(&xfer1, &msg);
	179	spi_message_add_tail(&xfer2, &msg);
	180
e390b07b MB	181	ret = spi_sync(spi, &msg);
	182	if (ret != 0)
	183	dev_warn(&spi->dev, "write data to %#x %#x failed\n",
3c034cce	184	buf[0], buf[2]);
	185
	186	kfree(rx);
	187	err_buf:
	188	kfree(buf);
	189	return ret;
	190	}
	191
	192	/-------------------------------------------------------------------------/
	193
	194	static irqreturn_t adis_irq_thread(int irq, void *dev_id)
	195	{
e390b07b	196	struct spi_adis16255_data *spiadis = dev_id;
3c034cce	197	int status;
e390b07b MB	198	u16 value = 0;
	199
	200	status = spi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value);
	201	if (status != 0) {
3c034cce	202	dev_warn(&spiadis->spi->dev, "SPI FAILED\n");
e390b07b	203	goto exit;
3c034cce	204	}
3c034cce	205
e390b07b MB	206	/* perform on new data only... */
	207	if (value & 0x8000) {
	208	/* delete error and new data bit */
	209	value = value & 0x3fff;
	210	/* set negative value */
	211	if (value & 0x2000)
	212	value = value \| 0xe000;
	213
	214	if (likely(spiadis->negative))
	215	value = -value;
	216
	217	spiadis->data = (s16) value;
	218	}
	219
	220	exit:
3c034cce	221	return IRQ_HANDLED;
	222	}
	223
	224	/-------------------------------------------------------------------------/
	225
	226	ssize_t adis16255_show_data(struct device *device,
	227	struct device_attribute *da,
	228	char *buf)
	229	{
e390b07b	230	struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
3c034cce	231	return snprintf(buf, PAGE_SIZE, "%d\n", spiadis->data);
	232	}
	233	DEVICE_ATTR(data, S_IRUGO , adis16255_show_data, NULL);
	234
	235	ssize_t adis16255_show_direction(struct device *device,
	236	struct device_attribute *da,
	237	char *buf)
	238	{
e390b07b	239	struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
3c034cce	240	return snprintf(buf, PAGE_SIZE, "%c\n", spiadis->direction);
	241	}
	242	DEVICE_ATTR(direction, S_IRUGO , adis16255_show_direction, NULL);
	243
e390b07b MB	244	ssize_t adis16255_show_sample_rate(struct device *device,
	245	struct device_attribute *da,
	246	char *buf)
	247	{
	248	struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
	249	int status = 0;
	250	u16 value = 0;
	251	int ts = 0;
	252
	253	status = spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB,
	254	(u8 *)&value);
	255	if (status != 0)
	256	return -EINVAL;
	257
	258	if (value & 0x80) {
	259	/* timebase = 60.54 ms */
	260	ts = 60540 * ((0x7f & value) + 1);
	261	} else {
	262	/* timebase = 1.953 ms */
	263	ts = 1953 * ((0x7f & value) + 1);
	264	}
	265
	266	return snprintf(buf, PAGE_SIZE, "%d\n", (1000*1000)/ts);
	267	}
	268	DEVICE_ATTR(sample_rate, S_IRUGO , adis16255_show_sample_rate, NULL);
	269
	270	static struct attribute *adis16255_attributes[] = {
3c034cce	271	&dev_attr_data.attr,
3c034cce	272	&dev_attr_direction.attr,
e390b07b	273	&dev_attr_sample_rate.attr,
3c034cce	274	NULL
	275	};
	276
e390b07b MB	277	static const struct attribute_group adis16255_attr_group = {
e390b07b MB	278	.attrs = adis16255_attributes,
3c034cce	279	};
	280
	281	/-------------------------------------------------------------------------/
	282
e390b07b MB	283	static int spi_adis16255_shutdown(struct spi_adis16255_data *spiadis)
	284	{
	285	u16 value = 0;
	286	/* turn sensor off */
	287	spi_adis16255_write_data(spiadis,
	288	ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
	289	(u8 *)&value);
	290	spi_adis16255_write_data(spiadis,
	291	ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
	292	(u8 *)&value);
	293	return 0;
	294	}
	295
	296	static int spi_adis16255_bringup(struct spi_adis16255_data *spiadis)
3c034cce	297	{
e390b07b MB	298	int status = 0;
	299	u16 value = 0;
	300
	301	status = spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE,
	302	(u8 *)&value);
	303	if (status != 0)
	304	goto err;
	305	if (value != 0x0800) {
	306	dev_warn(&spiadis->spi->dev, "Scale factor is none default"
	307	"value (%.4x)\n", value);
	308	}
	309
	310	/* timebase = 1.953 ms, Ns = 0 -> 512 Hz sample rate */
	311	value = 0x0001;
	312	status = spi_adis16255_write_data(spiadis,
	313	ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
	314	(u8 *)&value);
	315	if (status != 0)
	316	goto err;
	317
	318	/* start internal self-test */
	319	value = 0x0400;
	320	status = spi_adis16255_write_data(spiadis,
	321	ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
	322	(u8 *)&value);
	323	if (status != 0)
	324	goto err;
	325
	326	/* wait 35 ms to finish self-test */
	327	msleep(35);
	328
	329	value = 0x0000;
	330	status = spi_adis16255_read_data(spiadis, ADIS_STATUS,
	331	(u8 *)&value);
	332	if (status != 0)
	333	goto err;
	334
	335	if (value & 0x23) {
	336	if (value & 0x20) {
	337	dev_warn(&spiadis->spi->dev, "self-test error\n");
	338	status = -ENODEV;
	339	goto err;
	340	} else if (value & 0x3) {
	341	dev_warn(&spiadis->spi->dev, "Sensor voltage"
	342	"out of range.\n");
	343	status = -ENODEV;
	344	goto err;
	345	}
	346	}
3c034cce	347
e390b07b MB	348	/* set interrupt to active high on DIO0 when data ready */
	349	value = 0x0006;
	350	status = spi_adis16255_write_data(spiadis,
	351	ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
	352	(u8 *)&value);
	353	if (status != 0)
	354	goto err;
	355	return status;
	356
	357	err:
	358	spi_adis16255_shutdown(spiadis);
	359	return status;
	360	}
	361
	362	/-------------------------------------------------------------------------/
3c034cce	363
c3dee74f	364	static int __devinit spi_adis16255_probe(struct spi_device *spi)
e390b07b MB	365	{
	366
	367	struct adis16255_init_data *init_data = spi->dev.platform_data;
3c034cce	368	struct spi_adis16255_data *spiadis;
e390b07b	369	int status = 0;
3c034cce	370
e390b07b	371	spiadis = kzalloc(sizeof(*spiadis), GFP_KERNEL);
3c034cce	372	if (!spiadis)
	373	return -ENOMEM;
	374
e390b07b MB	375	spiadis->spi = spi;
e390b07b MB	376	spiadis->direction = init_data->direction;
3c034cce	377
3c034cce	378	if (init_data->negative)
e390b07b	379	spiadis->negative = 1;
3c034cce	380
e390b07b MB	381	status = gpio_request(init_data->irq, "adis16255");
e390b07b MB	382	if (status != 0)
3c034cce	383	goto err;
3c034cce	384
e390b07b MB	385	status = gpio_direction_input(init_data->irq);
e390b07b MB	386	if (status != 0)
3c034cce	387	goto gpio_err;
3c034cce	388
e390b07b	389	spiadis->irq = gpio_to_irq(init_data->irq);
3c034cce	390
e390b07b	391	status = request_threaded_irq(spiadis->irq,
3c034cce	392	NULL, adis_irq_thread,
	393	IRQF_DISABLED, "adis-driver", spiadis);
	394
e390b07b	395	if (status != 0) {
3c034cce	396	dev_err(&spi->dev, "IRQ request failed\n");
	397	goto gpio_err;
	398	}
	399
e390b07b	400	dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", init_data->irq, spiadis->irq);
3c034cce	401
3c034cce	402	dev_set_drvdata(&spi->dev, spiadis);
e390b07b MB	403	status = sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group);
	404	if (status != 0)
	405	goto irq_err;
3c034cce	406
e390b07b MB	407	status = spi_adis16255_bringup(spiadis);
	408	if (status != 0)
	409	goto irq_err;
3c034cce	410
e390b07b	411	dev_info(&spi->dev, "spi_adis16255 driver added!\n");
3c034cce	412
	413	return status;
	414
	415	irq_err:
	416	free_irq(spiadis->irq, spiadis);
	417	gpio_err:
e390b07b	418	gpio_free(init_data->irq);
3c034cce	419	err:
	420	kfree(spiadis);
	421	return status;
	422	}
	423
c3dee74f	424	static int __devexit spi_adis16255_remove(struct spi_device *spi)
3c034cce	425	{
e390b07b	426	struct spi_adis16255_data *spiadis = dev_get_drvdata(&spi->dev);
3c034cce	427
e390b07b	428	spi_adis16255_shutdown(spiadis);
3c034cce	429
3c034cce	430	free_irq(spiadis->irq, spiadis);
e390b07b	431	gpio_free(irq_to_gpio(spiadis->irq));
3c034cce	432
	433	sysfs_remove_group(&spiadis->spi->dev.kobj, &adis16255_attr_group);
	434
	435	kfree(spiadis);
	436
	437	dev_info(&spi->dev, "spi_adis16255 driver removed!\n");
	438	return 0;
	439	}
	440
e390b07b MB	441	static struct spi_driver spi_adis16255_drv = {
	442	.driver = {
	443	.name = "spi_adis16255",
	444	.owner = THIS_MODULE,
3c034cce	445	},
e390b07b MB	446	.probe = spi_adis16255_probe,
e390b07b MB	447	.remove = __devexit_p(spi_adis16255_remove),
3c034cce	448	};
	449
	450	/-------------------------------------------------------------------------/
	451
	452	static int __init spi_adis16255_init(void)
	453	{
	454	return spi_register_driver(&spi_adis16255_drv);
	455	}
	456	module_init(spi_adis16255_init);
	457
	458	static void __exit spi_adis16255_exit(void)
	459	{
	460	spi_unregister_driver(&spi_adis16255_drv);
	461	}
	462	module_exit(spi_adis16255_exit);
	463
	464	MODULE_AUTHOR("Matthias Brugger");
	465	MODULE_DESCRIPTION("SPI device driver for ADIS16255 sensor");
	466	MODULE_LICENSE("GPL");