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/delay.h>
  12 #include <linux/mutex.h>
  13 #include <linux/device.h>
  14 #include <linux/kernel.h>
  15 #include <linux/spi/spi.h>
  16 #include <linux/slab.h>
  17 #include <linux/sysfs.h>
  18 #include <linux/list.h>
  19 #include <linux/module.h>
  20
  21 #include <linux/iio/iio.h>
  22 #include <linux/iio/sysfs.h>
  23 #include <linux/iio/buffer.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_to_iio_dev(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_to_iio_dev(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_to_iio_dev(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 int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
 237 {
 238         int ret;
 239         u16 msc;
 240         ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
 241         if (ret)
 242                 goto error_ret;
 243
 244         msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
 245         if (enable)
 246                 msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
 247         else
 248                 msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
 249
 250         ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
 251         if (ret)
 252                 goto error_ret;
 253
 254 error_ret:
 255         return ret;
 256 }
 257
 258 /* Power down the device */
 259 static int adis16260_stop_device(struct iio_dev *indio_dev)
 260 {
 261         int ret;
 262         u16 val = ADIS16260_SLP_CNT_POWER_OFF;
 263
 264         ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
 265         if (ret)
 266                 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
 267
 268         return ret;
 269 }
 270
 271 static int adis16260_self_test(struct iio_dev *indio_dev)
 272 {
 273         int ret;
 274         ret = adis16260_spi_write_reg_16(indio_dev,
 275                         ADIS16260_MSC_CTRL,
 276                         ADIS16260_MSC_CTRL_MEM_TEST);
 277         if (ret) {
 278                 dev_err(&indio_dev->dev, "problem starting self test");
 279                 goto err_ret;
 280         }
 281
 282         adis16260_check_status(indio_dev);
 283
 284 err_ret:
 285         return ret;
 286 }
 287
 288 static int adis16260_check_status(struct iio_dev *indio_dev)
 289 {
 290         u16 status;
 291         int ret;
 292         struct device *dev = &indio_dev->dev;
 293
 294         ret = adis16260_spi_read_reg_16(indio_dev,
 295                                         ADIS16260_DIAG_STAT,
 296                                         &status);
 297
 298         if (ret < 0) {
 299                 dev_err(dev, "Reading status failed\n");
 300                 goto error_ret;
 301         }
 302         ret = status & 0x7F;
 303         if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
 304                 dev_err(dev, "Flash checksum error\n");
 305         if (status & ADIS16260_DIAG_STAT_SELF_TEST)
 306                 dev_err(dev, "Self test error\n");
 307         if (status & ADIS16260_DIAG_STAT_OVERFLOW)
 308                 dev_err(dev, "Sensor overrange\n");
 309         if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
 310                 dev_err(dev, "SPI failure\n");
 311         if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
 312                 dev_err(dev, "Flash update failed\n");
 313         if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
 314                 dev_err(dev, "Power supply above 5.25V\n");
 315         if (status & ADIS16260_DIAG_STAT_POWER_LOW)
 316                 dev_err(dev, "Power supply below 4.75V\n");
 317
 318 error_ret:
 319         return ret;
 320 }
 321
 322 static int adis16260_initial_setup(struct iio_dev *indio_dev)
 323 {
 324         int ret;
 325         struct device *dev = &indio_dev->dev;
 326
 327         /* Disable IRQ */
 328         ret = adis16260_set_irq(indio_dev, false);
 329         if (ret) {
 330                 dev_err(dev, "disable irq failed");
 331                 goto err_ret;
 332         }
 333
 334         /* Do self test */
 335         ret = adis16260_self_test(indio_dev);
 336         if (ret) {
 337                 dev_err(dev, "self test failure");
 338                 goto err_ret;
 339         }
 340
 341         /* Read status register to check the result */
 342         ret = adis16260_check_status(indio_dev);
 343         if (ret) {
 344                 adis16260_reset(indio_dev);
 345                 dev_err(dev, "device not playing ball -> reset");
 346                 msleep(ADIS16260_STARTUP_DELAY);
 347                 ret = adis16260_check_status(indio_dev);
 348                 if (ret) {
 349                         dev_err(dev, "giving up");
 350                         goto err_ret;
 351                 }
 352         }
 353
 354 err_ret:
 355         return ret;
 356 }
 357
 358 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
 359                 adis16260_read_frequency,
 360                 adis16260_write_frequency);
 361
 362 static IIO_DEVICE_ATTR(sampling_frequency_available,
 363                        S_IRUGO, adis16260_read_frequency_available, NULL, 0);
 364
 365 enum adis16260_channel {
 366         gyro,
 367         temp,
 368         in_supply,
 369         in_aux,
 370         angle,
 371 };
 372 #define ADIS16260_GYRO_CHANNEL_SET(axis, mod)                           \
 373         struct iio_chan_spec adis16260_channels_##axis[] = {            \
 374                 {                                                       \
 375                         .type = IIO_ANGL_VEL,                           \
 376                         .modified = 1,                                  \
 377                         .channel2 = mod,                                \
 378                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 379                         IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |          \
 380                         IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT |         \
 381                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 382                         .address = gyro,                                \
 383                         .scan_index = ADIS16260_SCAN_GYRO,              \
 384                         .scan_type = {                                  \
 385                                 .sign = 's',                            \
 386                                 .realbits = 14,                         \
 387                                 .storagebits = 16,                      \
 388                         },                                              \
 389                 }, {                                                    \
 390                         .type = IIO_ANGL,                               \
 391                         .modified = 1,                                  \
 392                         .channel2 = mod,                                \
 393                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,    \
 394                         .address = angle,                               \
 395                         .scan_index = ADIS16260_SCAN_ANGL,              \
 396                         .scan_type = {                                  \
 397                                 .sign = 'u',                            \
 398                                 .realbits = 14,                         \
 399                                 .storagebits = 16,                      \
 400                         },                                              \
 401                 }, {                                                    \
 402                         .type = IIO_TEMP,                               \
 403                         .indexed = 1,                                   \
 404                         .channel = 0,                                   \
 405                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 406                         IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |             \
 407                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 408                         .address = temp,                                \
 409                         .scan_index = ADIS16260_SCAN_TEMP,              \
 410                         .scan_type = {                                  \
 411                                 .sign = 'u',                            \
 412                                 .realbits = 12,                         \
 413                                 .storagebits = 16,                      \
 414                         },                                              \
 415                 }, {                                                    \
 416                         .type = IIO_VOLTAGE,                            \
 417                         .indexed = 1,                                   \
 418                         .channel = 0,                                   \
 419                         .extend_name = "supply",                        \
 420                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 421                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 422                         .address = in_supply,                           \
 423                         .scan_index = ADIS16260_SCAN_SUPPLY,            \
 424                         .scan_type = {                                  \
 425                                 .sign = 'u',                            \
 426                                 .realbits = 12,                         \
 427                                 .storagebits = 16,                      \
 428                         },                                              \
 429                 }, {                                                    \
 430                         .type = IIO_VOLTAGE,                            \
 431                         .indexed = 1,                                   \
 432                         .channel = 1,                                   \
 433                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 434                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 435                         .address = in_aux,                              \
 436                         .scan_index = ADIS16260_SCAN_AUX_ADC,           \
 437                         .scan_type = {                                  \
 438                                 .sign = 'u',                            \
 439                                 .realbits = 12,                         \
 440                                 .storagebits = 16,                      \
 441                         },                                              \
 442                 },                                                      \
 443                 IIO_CHAN_SOFT_TIMESTAMP(5),                             \
 444         }
 445
 446 static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
 447 static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
 448 static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
 449
 450 static const u8 adis16260_addresses[5][3] = {
 451         [gyro] = { ADIS16260_GYRO_OUT,
 452                    ADIS16260_GYRO_OFF,
 453                    ADIS16260_GYRO_SCALE },
 454         [angle] = { ADIS16260_ANGL_OUT },
 455         [in_supply] = { ADIS16260_SUPPLY_OUT },
 456         [in_aux] = { ADIS16260_AUX_ADC },
 457         [temp] = { ADIS16260_TEMP_OUT },
 458 };
 459 static int adis16260_read_raw(struct iio_dev *indio_dev,
 460                               struct iio_chan_spec const *chan,
 461                               int *val, int *val2,
 462                               long mask)
 463 {
 464         struct adis16260_state *st = iio_priv(indio_dev);
 465         int ret;
 466         int bits;
 467         u8 addr;
 468         s16 val16;
 469
 470         switch (mask) {
 471         case IIO_CHAN_INFO_RAW:
 472                 mutex_lock(&indio_dev->mlock);
 473                 addr = adis16260_addresses[chan->address][0];
 474                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 475                 if (ret) {
 476                         mutex_unlock(&indio_dev->mlock);
 477                         return ret;
 478                 }
 479
 480                 if (val16 & ADIS16260_ERROR_ACTIVE) {
 481                         ret = adis16260_check_status(indio_dev);
 482                         if (ret) {
 483                                 mutex_unlock(&indio_dev->mlock);
 484                                 return ret;
 485                         }
 486                 }
 487                 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
 488                 if (chan->scan_type.sign == 's')
 489                         val16 = (s16)(val16 <<
 490                                       (16 - chan->scan_type.realbits)) >>
 491                                 (16 - chan->scan_type.realbits);
 492                 *val = val16;
 493                 mutex_unlock(&indio_dev->mlock);
 494                 return IIO_VAL_INT;
 495         case IIO_CHAN_INFO_SCALE:
 496                 switch (chan->type) {
 497                 case IIO_ANGL_VEL:
 498                         *val = 0;
 499                         if (spi_get_device_id(st->us)->driver_data)
 500                                 *val2 = 320;
 501                         else
 502                                 *val2 = 1278;
 503                         return IIO_VAL_INT_PLUS_MICRO;
 504                 case IIO_VOLTAGE:
 505                         *val = 0;
 506                         if (chan->channel == 0)
 507                                 *val2 = 18315;
 508                         else
 509                                 *val2 = 610500;
 510                         return IIO_VAL_INT_PLUS_MICRO;
 511                 case IIO_TEMP:
 512                         *val = 0;
 513                         *val2 = 145300;
 514                         return IIO_VAL_INT_PLUS_MICRO;
 515                 default:
 516                         return -EINVAL;
 517                 }
 518                 break;
 519         case IIO_CHAN_INFO_OFFSET:
 520                 *val = 25;
 521                 return IIO_VAL_INT;
 522         case IIO_CHAN_INFO_CALIBBIAS:
 523                 switch (chan->type) {
 524                 case IIO_ANGL_VEL:
 525                         bits = 12;
 526                         break;
 527                 default:
 528                         return -EINVAL;
 529                 };
 530                 mutex_lock(&indio_dev->mlock);
 531                 addr = adis16260_addresses[chan->address][1];
 532                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 533                 if (ret) {
 534                         mutex_unlock(&indio_dev->mlock);
 535                         return ret;
 536                 }
 537                 val16 &= (1 << bits) - 1;
 538                 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
 539                 *val = val16;
 540                 mutex_unlock(&indio_dev->mlock);
 541                 return IIO_VAL_INT;
 542         case IIO_CHAN_INFO_CALIBSCALE:
 543                 switch (chan->type) {
 544                 case IIO_ANGL_VEL:
 545                         bits = 12;
 546                         break;
 547                 default:
 548                         return -EINVAL;
 549                 };
 550                 mutex_lock(&indio_dev->mlock);
 551                 addr = adis16260_addresses[chan->address][2];
 552                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 553                 if (ret) {
 554                         mutex_unlock(&indio_dev->mlock);
 555                         return ret;
 556                 }
 557                 *val = (1 << bits) - 1;
 558                 mutex_unlock(&indio_dev->mlock);
 559                 return IIO_VAL_INT;
 560         }
 561         return -EINVAL;
 562 }
 563
 564 static int adis16260_write_raw(struct iio_dev *indio_dev,
 565                                struct iio_chan_spec const *chan,
 566                                int val,
 567                                int val2,
 568                                long mask)
 569 {
 570         int bits = 12;
 571         s16 val16;
 572         u8 addr;
 573         switch (mask) {
 574         case IIO_CHAN_INFO_CALIBBIAS:
 575                 val16 = val & ((1 << bits) - 1);
 576                 addr = adis16260_addresses[chan->address][1];
 577                 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
 578         case IIO_CHAN_INFO_CALIBSCALE:
 579                 val16 = val & ((1 << bits) - 1);
 580                 addr = adis16260_addresses[chan->address][2];
 581                 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
 582         }
 583         return -EINVAL;
 584 }
 585
 586 static struct attribute *adis16260_attributes[] = {
 587         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 588         &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
 589         NULL
 590 };
 591
 592 static const struct attribute_group adis16260_attribute_group = {
 593         .attrs = adis16260_attributes,
 594 };
 595
 596 static const struct iio_info adis16260_info = {
 597         .attrs = &adis16260_attribute_group,
 598         .read_raw = &adis16260_read_raw,
 599         .write_raw = &adis16260_write_raw,
 600         .driver_module = THIS_MODULE,
 601 };
 602
 603 static int __devinit adis16260_probe(struct spi_device *spi)
 604 {
 605         int ret;
 606         struct adis16260_platform_data *pd = spi->dev.platform_data;
 607         struct adis16260_state *st;
 608         struct iio_dev *indio_dev;
 609
 610         /* setup the industrialio driver allocated elements */
 611         indio_dev = iio_device_alloc(sizeof(*st));
 612         if (indio_dev == NULL) {
 613                 ret = -ENOMEM;
 614                 goto error_ret;
 615         }
 616         st = iio_priv(indio_dev);
 617         if (pd)
 618                 st->negate = pd->negate;
 619         /* this is only used for removal purposes */
 620         spi_set_drvdata(spi, indio_dev);
 621
 622         st->us = spi;
 623         mutex_init(&st->buf_lock);
 624
 625         indio_dev->name = spi_get_device_id(st->us)->name;
 626         indio_dev->dev.parent = &spi->dev;
 627         indio_dev->info = &adis16260_info;
 628         indio_dev->num_channels
 629                 = ARRAY_SIZE(adis16260_channels_x);
 630         if (pd && pd->direction)
 631                 switch (pd->direction) {
 632                 case 'x':
 633                         indio_dev->channels = adis16260_channels_x;
 634                         break;
 635                 case 'y':
 636                         indio_dev->channels = adis16260_channels_y;
 637                         break;
 638                 case 'z':
 639                         indio_dev->channels = adis16260_channels_z;
 640                         break;
 641                 default:
 642                         return -EINVAL;
 643                 }
 644         else
 645                 indio_dev->channels = adis16260_channels_x;
 646         indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
 647         indio_dev->modes = INDIO_DIRECT_MODE;
 648
 649         ret = adis16260_configure_ring(indio_dev);
 650         if (ret)
 651                 goto error_free_dev;
 652
 653         ret = iio_buffer_register(indio_dev,
 654                                   indio_dev->channels,
 655                                   ARRAY_SIZE(adis16260_channels_x));
 656         if (ret) {
 657                 printk(KERN_ERR "failed to initialize the ring\n");
 658                 goto error_unreg_ring_funcs;
 659         }
 660         if (indio_dev->buffer) {
 661                 /* Set default scan mode */
 662                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 663                                   ADIS16260_SCAN_SUPPLY);
 664                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 665                                   ADIS16260_SCAN_GYRO);
 666                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 667                                   ADIS16260_SCAN_AUX_ADC);
 668                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 669                                   ADIS16260_SCAN_TEMP);
 670                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 671                                   ADIS16260_SCAN_ANGL);
 672         }
 673         if (spi->irq) {
 674                 ret = adis16260_probe_trigger(indio_dev);
 675                 if (ret)
 676                         goto error_uninitialize_ring;
 677         }
 678
 679         /* Get the device into a sane initial state */
 680         ret = adis16260_initial_setup(indio_dev);
 681         if (ret)
 682                 goto error_remove_trigger;
 683         ret = iio_device_register(indio_dev);
 684         if (ret)
 685                 goto error_remove_trigger;
 686
 687         return 0;
 688
 689 error_remove_trigger:
 690         adis16260_remove_trigger(indio_dev);
 691 error_uninitialize_ring:
 692         iio_buffer_unregister(indio_dev);
 693 error_unreg_ring_funcs:
 694         adis16260_unconfigure_ring(indio_dev);
 695 error_free_dev:
 696         iio_device_free(indio_dev);
 697 error_ret:
 698         return ret;
 699 }
 700
 701 static int adis16260_remove(struct spi_device *spi)
 702 {
 703         int ret;
 704         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 705
 706         iio_device_unregister(indio_dev);
 707
 708         ret = adis16260_stop_device(indio_dev);
 709         if (ret)
 710                 goto err_ret;
 711
 712         adis16260_remove_trigger(indio_dev);
 713         iio_buffer_unregister(indio_dev);
 714         adis16260_unconfigure_ring(indio_dev);
 715         iio_device_free(indio_dev);
 716
 717 err_ret:
 718         return ret;
 719 }
 720
 721 /*
 722  * These parts do not need to be differentiated until someone adds
 723  * support for the on chip filtering.
 724  */
 725 static const struct spi_device_id adis16260_id[] = {
 726         {"adis16260", 0},
 727         {"adis16265", 0},
 728         {"adis16250", 0},
 729         {"adis16255", 0},
 730         {"adis16251", 1},
 731         {}
 732 };
 733 MODULE_DEVICE_TABLE(spi, adis16260_id);
 734
 735 static struct spi_driver adis16260_driver = {
 736         .driver = {
 737                 .name = "adis16260",
 738                 .owner = THIS_MODULE,
 739         },
 740         .probe = adis16260_probe,
 741         .remove = __devexit_p(adis16260_remove),
 742         .id_table = adis16260_id,
 743 };
 744 module_spi_driver(adis16260_driver);
 745
 746 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 747 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
 748 MODULE_LICENSE("GPL v2");