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