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