drivers/staging/iio/gyro/adis16260_core.c

   1 /*
   2  * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
   3  *
   4  * Copyright 2010 Analog Devices Inc.
   5  *
   6  * Licensed under the GPL-2 or later.
   7  */
   8
   9 #include <linux/interrupt.h>
  10 #include <linux/irq.h>
  11 #include <linux/gpio.h>
  12 #include <linux/delay.h>
  13 #include <linux/mutex.h>
  14 #include <linux/device.h>
  15 #include <linux/kernel.h>
  16 #include <linux/spi/spi.h>
  17 #include <linux/slab.h>
  18 #include <linux/sysfs.h>
  19 #include <linux/list.h>
  20 #include <linux/module.h>
  21
  22 #include "../iio.h"
  23 #include "../sysfs.h"
  24 #include "../ring_generic.h"
  25
  26 #include "adis16260.h"
  27
  28 #define DRIVER_NAME             "adis16260"
  29
  30 static int adis16260_check_status(struct iio_dev *indio_dev);
  31
  32 /**
  33  * adis16260_spi_write_reg_8() - write single byte to a register
  34  * @indio_dev: iio_dev for the device
  35  * @reg_address: the address of the register to be written
  36  * @val: the value to write
  37  **/
  38 static int adis16260_spi_write_reg_8(struct iio_dev *indio_dev,
  39                 u8 reg_address,
  40                 u8 val)
  41 {
  42         int ret;
  43         struct adis16260_state *st = iio_priv(indio_dev);
  44
  45         mutex_lock(&st->buf_lock);
  46         st->tx[0] = ADIS16260_WRITE_REG(reg_address);
  47         st->tx[1] = val;
  48
  49         ret = spi_write(st->us, st->tx, 2);
  50         mutex_unlock(&st->buf_lock);
  51
  52         return ret;
  53 }
  54
  55 /**
  56  * adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers
  57  * @indio_dev: iio_dev for the device
  58  * @reg_address: the address of the lower of the two registers. Second register
  59  *               is assumed to have address one greater.
  60  * @val: value to be written
  61  **/
  62 static int adis16260_spi_write_reg_16(struct iio_dev *indio_dev,
  63                 u8 lower_reg_address,
  64                 u16 value)
  65 {
  66         int ret;
  67         struct spi_message msg;
  68         struct adis16260_state *st = iio_priv(indio_dev);
  69         struct spi_transfer xfers[] = {
  70                 {
  71                         .tx_buf = st->tx,
  72                         .bits_per_word = 8,
  73                         .len = 2,
  74                         .cs_change = 1,
  75                         .delay_usecs = 20,
  76                 }, {
  77                         .tx_buf = st->tx + 2,
  78                         .bits_per_word = 8,
  79                         .len = 2,
  80                         .delay_usecs = 20,
  81                 },
  82         };
  83
  84         mutex_lock(&st->buf_lock);
  85         st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
  86         st->tx[1] = value & 0xFF;
  87         st->tx[2] = ADIS16260_WRITE_REG(lower_reg_address + 1);
  88         st->tx[3] = (value >> 8) & 0xFF;
  89
  90         spi_message_init(&msg);
  91         spi_message_add_tail(&xfers[0], &msg);
  92         spi_message_add_tail(&xfers[1], &msg);
  93         ret = spi_sync(st->us, &msg);
  94         mutex_unlock(&st->buf_lock);
  95
  96         return ret;
  97 }
  98
  99 /**
 100  * adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register
 101  * @indio_dev: iio_dev for the device
 102  * @reg_address: the address of the lower of the two registers. Second register
 103  *               is assumed to have address one greater.
 104  * @val: somewhere to pass back the value read
 105  **/
 106 static int adis16260_spi_read_reg_16(struct iio_dev *indio_dev,
 107                 u8 lower_reg_address,
 108                 u16 *val)
 109 {
 110         struct spi_message msg;
 111         struct adis16260_state *st = iio_priv(indio_dev);
 112         int ret;
 113         struct spi_transfer xfers[] = {
 114                 {
 115                         .tx_buf = st->tx,
 116                         .bits_per_word = 8,
 117                         .len = 2,
 118                         .cs_change = 1,
 119                         .delay_usecs = 30,
 120                 }, {
 121                         .rx_buf = st->rx,
 122                         .bits_per_word = 8,
 123                         .len = 2,
 124                         .delay_usecs = 30,
 125                 },
 126         };
 127
 128         mutex_lock(&st->buf_lock);
 129         st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
 130         st->tx[1] = 0;
 131
 132         spi_message_init(&msg);
 133         spi_message_add_tail(&xfers[0], &msg);
 134         spi_message_add_tail(&xfers[1], &msg);
 135         ret = spi_sync(st->us, &msg);
 136         if (ret) {
 137                 dev_err(&st->us->dev,
 138                         "problem when reading 16 bit register 0x%02X",
 139                         lower_reg_address);
 140                 goto error_ret;
 141         }
 142         *val = (st->rx[0] << 8) | st->rx[1];
 143
 144 error_ret:
 145         mutex_unlock(&st->buf_lock);
 146         return ret;
 147 }
 148
 149 static ssize_t adis16260_read_frequency_available(struct device *dev,
 150                                                   struct device_attribute *attr,
 151                                                   char *buf)
 152 {
 153         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 154         struct adis16260_state *st = iio_priv(indio_dev);
 155         if (spi_get_device_id(st->us)->driver_data)
 156                 return sprintf(buf, "%s\n", "0.129 ~ 256");
 157         else
 158                 return sprintf(buf, "%s\n", "256 2048");
 159 }
 160
 161 static ssize_t adis16260_read_frequency(struct device *dev,
 162                 struct device_attribute *attr,
 163                 char *buf)
 164 {
 165         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 166         struct adis16260_state *st = iio_priv(indio_dev);
 167         int ret, len = 0;
 168         u16 t;
 169         int sps;
 170         ret = adis16260_spi_read_reg_16(indio_dev,
 171                         ADIS16260_SMPL_PRD,
 172                         &t);
 173         if (ret)
 174                 return ret;
 175
 176         if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
 177                 sps =  (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
 178         else
 179                 sps =  (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
 180         sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
 181         len = sprintf(buf, "%d SPS\n", sps);
 182         return len;
 183 }
 184
 185 static ssize_t adis16260_write_frequency(struct device *dev,
 186                 struct device_attribute *attr,
 187                 const char *buf,
 188                 size_t len)
 189 {
 190         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 191         struct adis16260_state *st = iio_priv(indio_dev);
 192         long val;
 193         int ret;
 194         u8 t;
 195
 196         ret = strict_strtol(buf, 10, &val);
 197         if (ret)
 198                 return ret;
 199
 200         mutex_lock(&indio_dev->mlock);
 201         if (spi_get_device_id(st->us)) {
 202                 t = (256 / val);
 203                 if (t > 0)
 204                         t--;
 205                 t &= ADIS16260_SMPL_PRD_DIV_MASK;
 206         } else {
 207                 t = (2048 / val);
 208                 if (t > 0)
 209                         t--;
 210                 t &= ADIS16260_SMPL_PRD_DIV_MASK;
 211         }
 212         if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
 213                 st->us->max_speed_hz = ADIS16260_SPI_SLOW;
 214         else
 215                 st->us->max_speed_hz = ADIS16260_SPI_FAST;
 216         ret = adis16260_spi_write_reg_8(indio_dev,
 217                         ADIS16260_SMPL_PRD,
 218                         t);
 219
 220         mutex_unlock(&indio_dev->mlock);
 221
 222         return ret ? ret : len;
 223 }
 224
 225 static int adis16260_reset(struct iio_dev *indio_dev)
 226 {
 227         int ret;
 228         ret = adis16260_spi_write_reg_8(indio_dev,
 229                         ADIS16260_GLOB_CMD,
 230                         ADIS16260_GLOB_CMD_SW_RESET);
 231         if (ret)
 232                 dev_err(&indio_dev->dev, "problem resetting device");
 233
 234         return ret;
 235 }
 236
 237 static ssize_t adis16260_write_reset(struct device *dev,
 238                 struct device_attribute *attr,
 239                 const char *buf, size_t len)
 240 {
 241         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 242         if (len < 1)
 243                 return -EINVAL;
 244         switch (buf[0]) {
 245         case '1':
 246         case 'y':
 247         case 'Y':
 248                 return adis16260_reset(indio_dev);
 249         }
 250         return -EINVAL;
 251 }
 252
 253 int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
 254 {
 255         int ret;
 256         u16 msc;
 257         ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
 258         if (ret)
 259                 goto error_ret;
 260
 261         msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
 262         if (enable)
 263                 msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
 264         else
 265                 msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
 266
 267         ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
 268         if (ret)
 269                 goto error_ret;
 270
 271 error_ret:
 272         return ret;
 273 }
 274
 275 /* Power down the device */
 276 static int adis16260_stop_device(struct iio_dev *indio_dev)
 277 {
 278         int ret;
 279         u16 val = ADIS16260_SLP_CNT_POWER_OFF;
 280
 281         ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
 282         if (ret)
 283                 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
 284
 285         return ret;
 286 }
 287
 288 static int adis16260_self_test(struct iio_dev *indio_dev)
 289 {
 290         int ret;
 291         ret = adis16260_spi_write_reg_16(indio_dev,
 292                         ADIS16260_MSC_CTRL,
 293                         ADIS16260_MSC_CTRL_MEM_TEST);
 294         if (ret) {
 295                 dev_err(&indio_dev->dev, "problem starting self test");
 296                 goto err_ret;
 297         }
 298
 299         adis16260_check_status(indio_dev);
 300
 301 err_ret:
 302         return ret;
 303 }
 304
 305 static int adis16260_check_status(struct iio_dev *indio_dev)
 306 {
 307         u16 status;
 308         int ret;
 309         struct device *dev = &indio_dev->dev;
 310
 311         ret = adis16260_spi_read_reg_16(indio_dev,
 312                                         ADIS16260_DIAG_STAT,
 313                                         &status);
 314
 315         if (ret < 0) {
 316                 dev_err(dev, "Reading status failed\n");
 317                 goto error_ret;
 318         }
 319         ret = status & 0x7F;
 320         if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
 321                 dev_err(dev, "Flash checksum error\n");
 322         if (status & ADIS16260_DIAG_STAT_SELF_TEST)
 323                 dev_err(dev, "Self test error\n");
 324         if (status & ADIS16260_DIAG_STAT_OVERFLOW)
 325                 dev_err(dev, "Sensor overrange\n");
 326         if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
 327                 dev_err(dev, "SPI failure\n");
 328         if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
 329                 dev_err(dev, "Flash update failed\n");
 330         if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
 331                 dev_err(dev, "Power supply above 5.25V\n");
 332         if (status & ADIS16260_DIAG_STAT_POWER_LOW)
 333                 dev_err(dev, "Power supply below 4.75V\n");
 334
 335 error_ret:
 336         return ret;
 337 }
 338
 339 static int adis16260_initial_setup(struct iio_dev *indio_dev)
 340 {
 341         int ret;
 342         struct device *dev = &indio_dev->dev;
 343
 344         /* Disable IRQ */
 345         ret = adis16260_set_irq(indio_dev, false);
 346         if (ret) {
 347                 dev_err(dev, "disable irq failed");
 348                 goto err_ret;
 349         }
 350
 351         /* Do self test */
 352         ret = adis16260_self_test(indio_dev);
 353         if (ret) {
 354                 dev_err(dev, "self test failure");
 355                 goto err_ret;
 356         }
 357
 358         /* Read status register to check the result */
 359         ret = adis16260_check_status(indio_dev);
 360         if (ret) {
 361                 adis16260_reset(indio_dev);
 362                 dev_err(dev, "device not playing ball -> reset");
 363                 msleep(ADIS16260_STARTUP_DELAY);
 364                 ret = adis16260_check_status(indio_dev);
 365                 if (ret) {
 366                         dev_err(dev, "giving up");
 367                         goto err_ret;
 368                 }
 369         }
 370
 371 err_ret:
 372         return ret;
 373 }
 374
 375 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
 376                 adis16260_read_frequency,
 377                 adis16260_write_frequency);
 378
 379 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
 380
 381 static IIO_DEVICE_ATTR(sampling_frequency_available,
 382                        S_IRUGO, adis16260_read_frequency_available, NULL, 0);
 383
 384 enum adis16260_channel {
 385         gyro,
 386         temp,
 387         in_supply,
 388         in_aux,
 389         angle,
 390 };
 391 #define ADIS16260_GYRO_CHANNEL_SET(axis, mod)                           \
 392         struct iio_chan_spec adis16260_channels_##axis[] = {            \
 393                 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, mod,               \
 394                          (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |      \
 395                          (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE) |     \
 396                          (1 << IIO_CHAN_INFO_SCALE_SEPARATE),           \
 397                          gyro, ADIS16260_SCAN_GYRO,                     \
 398                          IIO_ST('s', 14, 16, 0), 0),                    \
 399                 IIO_CHAN(IIO_ANGL, 1, 0, 0, NULL, 0, mod,               \
 400                          0,                                             \
 401                          angle, ADIS16260_SCAN_ANGL,                    \
 402                          IIO_ST('u', 14, 16, 0), 0),                    \
 403                 IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,                 \
 404                          (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |         \
 405                          (1 << IIO_CHAN_INFO_SCALE_SEPARATE),           \
 406                          temp, ADIS16260_SCAN_TEMP,                     \
 407                          IIO_ST('u', 12, 16, 0), 0),                    \
 408                 IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,               \
 409                          (1 << IIO_CHAN_INFO_SCALE_SEPARATE),           \
 410                          in_supply, ADIS16260_SCAN_SUPPLY,              \
 411                          IIO_ST('u', 12, 16, 0), 0),                    \
 412                 IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,                   \
 413                          (1 << IIO_CHAN_INFO_SCALE_SEPARATE),           \
 414                          in_aux, ADIS16260_SCAN_AUX_ADC,                \
 415                          IIO_ST('u', 12, 16, 0), 0),                    \
 416                 IIO_CHAN_SOFT_TIMESTAMP(5)                              \
 417         }
 418
 419 static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
 420 static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
 421 static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
 422
 423 static const u8 adis16260_addresses[5][3] = {
 424         [gyro] = { ADIS16260_GYRO_OUT,
 425                    ADIS16260_GYRO_OFF,
 426                    ADIS16260_GYRO_SCALE },
 427         [angle] = { ADIS16260_ANGL_OUT },
 428         [in_supply] = { ADIS16260_SUPPLY_OUT },
 429         [in_aux] = { ADIS16260_AUX_ADC },
 430         [temp] = { ADIS16260_TEMP_OUT },
 431 };
 432 static int adis16260_read_raw(struct iio_dev *indio_dev,
 433                               struct iio_chan_spec const *chan,
 434                               int *val, int *val2,
 435                               long mask)
 436 {
 437         struct adis16260_state *st = iio_priv(indio_dev);
 438         int ret;
 439         int bits;
 440         u8 addr;
 441         s16 val16;
 442
 443         switch (mask) {
 444         case 0:
 445                 mutex_lock(&indio_dev->mlock);
 446                 addr = adis16260_addresses[chan->address][0];
 447                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 448                 if (ret) {
 449                         mutex_unlock(&indio_dev->mlock);
 450                         return ret;
 451                 }
 452
 453                 if (val16 & ADIS16260_ERROR_ACTIVE) {
 454                         ret = adis16260_check_status(indio_dev);
 455                         if (ret) {
 456                                 mutex_unlock(&indio_dev->mlock);
 457                                 return ret;
 458                         }
 459                 }
 460                 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
 461                 if (chan->scan_type.sign == 's')
 462                         val16 = (s16)(val16 <<
 463                                       (16 - chan->scan_type.realbits)) >>
 464                                 (16 - chan->scan_type.realbits);
 465                 *val = val16;
 466                 mutex_unlock(&indio_dev->mlock);
 467                 return IIO_VAL_INT;
 468         case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
 469         case (1 << IIO_CHAN_INFO_SCALE_SHARED):
 470                 switch (chan->type) {
 471                 case IIO_GYRO:
 472                         *val = 0;
 473                         if (spi_get_device_id(st->us)->driver_data)
 474                                 *val2 = 320;
 475                         else
 476                                 *val2 = 1278;
 477                         return IIO_VAL_INT_PLUS_MICRO;
 478                 case IIO_IN:
 479                         *val = 0;
 480                         if (chan->channel == 0)
 481                                 *val2 = 18315;
 482                         else
 483                                 *val2 = 610500;
 484                         return IIO_VAL_INT_PLUS_MICRO;
 485                 case IIO_TEMP:
 486                         *val = 0;
 487                         *val2 = 145300;
 488                         return IIO_VAL_INT_PLUS_MICRO;
 489                 default:
 490                         return -EINVAL;
 491                 }
 492                 break;
 493         case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
 494                 *val = 25;
 495                 return IIO_VAL_INT;
 496         case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
 497                 switch (chan->type) {
 498                 case IIO_GYRO:
 499                         bits = 12;
 500                         break;
 501                 default:
 502                         return -EINVAL;
 503                 };
 504                 mutex_lock(&indio_dev->mlock);
 505                 addr = adis16260_addresses[chan->address][1];
 506                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 507                 if (ret) {
 508                         mutex_unlock(&indio_dev->mlock);
 509                         return ret;
 510                 }
 511                 val16 &= (1 << bits) - 1;
 512                 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
 513                 *val = val16;
 514                 mutex_unlock(&indio_dev->mlock);
 515                 return IIO_VAL_INT;
 516         case (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE):
 517                 switch (chan->type) {
 518                 case IIO_GYRO:
 519                         bits = 12;
 520                         break;
 521                 default:
 522                         return -EINVAL;
 523                 };
 524                 mutex_lock(&indio_dev->mlock);
 525                 addr = adis16260_addresses[chan->address][2];
 526                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 527                 if (ret) {
 528                         mutex_unlock(&indio_dev->mlock);
 529                         return ret;
 530                 }
 531                 *val = (1 << bits) - 1;
 532                 mutex_unlock(&indio_dev->mlock);
 533                 return IIO_VAL_INT;
 534         }
 535         return -EINVAL;
 536 }
 537
 538 static int adis16260_write_raw(struct iio_dev *indio_dev,
 539                                struct iio_chan_spec const *chan,
 540                                int val,
 541                                int val2,
 542                                long mask)
 543 {
 544         int bits = 12;
 545         s16 val16;
 546         u8 addr;
 547         switch (mask) {
 548         case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
 549                 val16 = val & ((1 << bits) - 1);
 550                 addr = adis16260_addresses[chan->address][1];
 551                 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
 552         case (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE):
 553                 val16 = val & ((1 << bits) - 1);
 554                 addr = adis16260_addresses[chan->address][2];
 555                 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
 556         }
 557         return -EINVAL;
 558 }
 559
 560 static struct attribute *adis16260_attributes[] = {
 561         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 562         &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
 563         &iio_dev_attr_reset.dev_attr.attr,
 564         NULL
 565 };
 566
 567 static const struct attribute_group adis16260_attribute_group = {
 568         .attrs = adis16260_attributes,
 569 };
 570
 571 static const struct iio_info adis16260_info = {
 572         .attrs = &adis16260_attribute_group,
 573         .read_raw = &adis16260_read_raw,
 574         .write_raw = &adis16260_write_raw,
 575         .driver_module = THIS_MODULE,
 576 };
 577
 578 static int __devinit adis16260_probe(struct spi_device *spi)
 579 {
 580         int ret, regdone = 0;
 581         struct adis16260_platform_data *pd = spi->dev.platform_data;
 582         struct adis16260_state *st;
 583         struct iio_dev *indio_dev;
 584
 585         /* setup the industrialio driver allocated elements */
 586         indio_dev = iio_allocate_device(sizeof(*st));
 587         if (indio_dev == NULL) {
 588                 ret = -ENOMEM;
 589                 goto error_ret;
 590         }
 591         st = iio_priv(indio_dev);
 592         if (pd)
 593                 st->negate = pd->negate;
 594         /* this is only used for removal purposes */
 595         spi_set_drvdata(spi, st);
 596
 597         st->us = spi;
 598         mutex_init(&st->buf_lock);
 599
 600         indio_dev->name = spi_get_device_id(st->us)->name;
 601         indio_dev->dev.parent = &spi->dev;
 602         indio_dev->info = &adis16260_info;
 603         indio_dev->num_channels
 604                 = ARRAY_SIZE(adis16260_channels_x);
 605         if (pd && pd->direction)
 606                 switch (pd->direction) {
 607                 case 'x':
 608                         indio_dev->channels = adis16260_channels_x;
 609                         break;
 610                 case 'y':
 611                         indio_dev->channels = adis16260_channels_y;
 612                         break;
 613                 case 'z':
 614                         indio_dev->channels = adis16260_channels_z;
 615                         break;
 616                 default:
 617                         return -EINVAL;
 618                 }
 619         else
 620                 indio_dev->channels = adis16260_channels_x;
 621         indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
 622         indio_dev->modes = INDIO_DIRECT_MODE;
 623
 624         ret = adis16260_configure_ring(indio_dev);
 625         if (ret)
 626                 goto error_free_dev;
 627
 628         ret = iio_device_register(indio_dev);
 629         if (ret)
 630                 goto error_unreg_ring_funcs;
 631         regdone = 1;
 632         ret = iio_ring_buffer_register_ex(indio_dev->ring, 0,
 633                                           indio_dev->channels,
 634                                           ARRAY_SIZE(adis16260_channels_x));
 635         if (ret) {
 636                 printk(KERN_ERR "failed to initialize the ring\n");
 637                 goto error_unreg_ring_funcs;
 638         }
 639
 640         if (spi->irq) {
 641                 ret = adis16260_probe_trigger(indio_dev);
 642                 if (ret)
 643                         goto error_uninitialize_ring;
 644         }
 645
 646         /* Get the device into a sane initial state */
 647         ret = adis16260_initial_setup(indio_dev);
 648         if (ret)
 649                 goto error_remove_trigger;
 650         return 0;
 651
 652 error_remove_trigger:
 653         adis16260_remove_trigger(indio_dev);
 654 error_uninitialize_ring:
 655         iio_ring_buffer_unregister(indio_dev->ring);
 656 error_unreg_ring_funcs:
 657         adis16260_unconfigure_ring(indio_dev);
 658 error_free_dev:
 659         if (regdone)
 660                 iio_device_unregister(indio_dev);
 661         else
 662                 iio_free_device(indio_dev);
 663 error_ret:
 664         return ret;
 665 }
 666
 667 static int adis16260_remove(struct spi_device *spi)
 668 {
 669         int ret;
 670         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 671
 672         ret = adis16260_stop_device(indio_dev);
 673         if (ret)
 674                 goto err_ret;
 675
 676         flush_scheduled_work();
 677
 678         adis16260_remove_trigger(indio_dev);
 679         iio_ring_buffer_unregister(indio_dev->ring);
 680         iio_device_unregister(indio_dev);
 681         adis16260_unconfigure_ring(indio_dev);
 682
 683 err_ret:
 684         return ret;
 685 }
 686
 687 /*
 688  * These parts do not need to be differentiated until someone adds
 689  * support for the on chip filtering.
 690  */
 691 static const struct spi_device_id adis16260_id[] = {
 692         {"adis16260", 0},
 693         {"adis16265", 0},
 694         {"adis16250", 0},
 695         {"adis16255", 0},
 696         {"adis16251", 1},
 697         {}
 698 };
 699
 700 static struct spi_driver adis16260_driver = {
 701         .driver = {
 702                 .name = "adis16260",
 703                 .owner = THIS_MODULE,
 704         },
 705         .probe = adis16260_probe,
 706         .remove = __devexit_p(adis16260_remove),
 707         .id_table = adis16260_id,
 708 };
 709
 710 static __init int adis16260_init(void)
 711 {
 712         return spi_register_driver(&adis16260_driver);
 713 }
 714 module_init(adis16260_init);
 715
 716 static __exit void adis16260_exit(void)
 717 {
 718         spi_unregister_driver(&adis16260_driver);
 719 }
 720 module_exit(adis16260_exit);
 721
 722 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 723 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
 724 MODULE_LICENSE("GPL v2");