Free Electrons

Embedded Linux Experts

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
/*
 * ADIS16220 Programmable Digital Vibration Sensor driver
 *
 * Copyright 2010 Analog Devices Inc.
 *
 * Licensed under the GPL-2 or later.
 */

#include <linux/delay.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/module.h>

#include "../iio.h"
#include "../sysfs.h"

#include "adis16220.h"

#define DRIVER_NAME		"adis16220"

/**
 * adis16220_spi_write_reg_8() - write single byte to a register
 * @indio_dev: iio device associated with child of actual device
 * @reg_address: the address of the register to be written
 * @val: the value to write
 **/
static int adis16220_spi_write_reg_8(struct iio_dev *indio_dev,
		u8 reg_address,
		u8 val)
{
	int ret;
	struct adis16220_state *st = iio_priv(indio_dev);

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16220_WRITE_REG(reg_address);
	st->tx[1] = val;

	ret = spi_write(st->us, st->tx, 2);
	mutex_unlock(&st->buf_lock);

	return ret;
}

/**
 * adis16220_spi_write_reg_16() - write 2 bytes to a pair of registers
 * @indio_dev:  iio device associated with child of actual device
 * @reg_address: the address of the lower of the two registers. Second register
 *               is assumed to have address one greater.
 * @val: value to be written
 **/
static int adis16220_spi_write_reg_16(struct iio_dev *indio_dev,
		u8 lower_reg_address,
		u16 value)
{
	int ret;
	struct spi_message msg;
	struct adis16220_state *st = iio_priv(indio_dev);
	struct spi_transfer xfers[] = {
		{
			.tx_buf = st->tx,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
			.delay_usecs = 35,
		}, {
			.tx_buf = st->tx + 2,
			.bits_per_word = 8,
			.len = 2,
			.delay_usecs = 35,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16220_WRITE_REG(lower_reg_address);
	st->tx[1] = value & 0xFF;
	st->tx[2] = ADIS16220_WRITE_REG(lower_reg_address + 1);
	st->tx[3] = (value >> 8) & 0xFF;

	spi_message_init(&msg);
	spi_message_add_tail(&xfers[0], &msg);
	spi_message_add_tail(&xfers[1], &msg);
	ret = spi_sync(st->us, &msg);
	mutex_unlock(&st->buf_lock);

	return ret;
}

/**
 * adis16220_spi_read_reg_16() - read 2 bytes from a 16-bit register
 * @indio_dev: iio device associated with child of actual device
 * @reg_address: the address of the lower of the two registers. Second register
 *               is assumed to have address one greater.
 * @val: somewhere to pass back the value read
 **/
static int adis16220_spi_read_reg_16(struct iio_dev *indio_dev,
				     u8 lower_reg_address,
				     u16 *val)
{
	struct spi_message msg;
	struct adis16220_state *st = iio_priv(indio_dev);
	int ret;
	struct spi_transfer xfers[] = {
		{
			.tx_buf = st->tx,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
			.delay_usecs = 35,
		}, {
			.rx_buf = st->rx,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
			.delay_usecs = 35,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16220_READ_REG(lower_reg_address);
	st->tx[1] = 0;

	spi_message_init(&msg);
	spi_message_add_tail(&xfers[0], &msg);
	spi_message_add_tail(&xfers[1], &msg);
	ret = spi_sync(st->us, &msg);
	if (ret) {
		dev_err(&st->us->dev,
			"problem when reading 16 bit register 0x%02X",
			lower_reg_address);
		goto error_ret;
	}
	*val = (st->rx[0] << 8) | st->rx[1];

error_ret:
	mutex_unlock(&st->buf_lock);
	return ret;
}

static ssize_t adis16220_read_16bit(struct device *dev,
		struct device_attribute *attr,
		char *buf)
{
	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	ssize_t ret;
	s16 val = 0;

	/* Take the iio_dev status lock */
	mutex_lock(&indio_dev->mlock);
	ret = adis16220_spi_read_reg_16(indio_dev, this_attr->address,
					(u16 *)&val);
	mutex_unlock(&indio_dev->mlock);
	if (ret)
		return ret;
	return sprintf(buf, "%d\n", val);
}

static ssize_t adis16220_write_16bit(struct device *dev,
		struct device_attribute *attr,
		const char *buf,
		size_t len)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	int ret;
	u16 val;

	ret = kstrtou16(buf, 10, &val);
	if (ret)
		goto error_ret;
	ret = adis16220_spi_write_reg_16(indio_dev, this_attr->address, val);

error_ret:
	return ret ? ret : len;
}

static int adis16220_capture(struct iio_dev *indio_dev)
{
	int ret;
	ret = adis16220_spi_write_reg_16(indio_dev,
			ADIS16220_GLOB_CMD,
			0xBF08); /* initiates a manual data capture */
	if (ret)
		dev_err(&indio_dev->dev, "problem beginning capture");

	msleep(10); /* delay for capture to finish */

	return ret;
}

static int adis16220_reset(struct iio_dev *indio_dev)
{
	int ret;
	ret = adis16220_spi_write_reg_8(indio_dev,
			ADIS16220_GLOB_CMD,
			ADIS16220_GLOB_CMD_SW_RESET);
	if (ret)
		dev_err(&indio_dev->dev, "problem resetting device");

	return ret;
}

static ssize_t adis16220_write_reset(struct device *dev,
		struct device_attribute *attr,
		const char *buf, size_t len)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	bool val;
	int ret;

	ret = strtobool(buf, &val);
	if (ret)
		return ret;
	if (!val)
		return -EINVAL;

	ret = adis16220_reset(indio_dev);
	if (ret)
		return ret;
	return len;
}

static ssize_t adis16220_write_capture(struct device *dev,
		struct device_attribute *attr,
		const char *buf, size_t len)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	bool val;
	int ret;

	ret = strtobool(buf, &val);
	if (ret)
		return ret;
	if (!val)
		return -EINVAL;
	ret = adis16220_capture(indio_dev);
	if (ret)
		return ret;

	return len;
}

static int adis16220_check_status(struct iio_dev *indio_dev)
{
	u16 status;
	int ret;

	ret = adis16220_spi_read_reg_16(indio_dev, ADIS16220_DIAG_STAT,
					&status);

	if (ret < 0) {
		dev_err(&indio_dev->dev, "Reading status failed\n");
		goto error_ret;
	}
	ret = status & 0x7F;

	if (status & ADIS16220_DIAG_STAT_VIOLATION)
		dev_err(&indio_dev->dev,
			"Capture period violation/interruption\n");
	if (status & ADIS16220_DIAG_STAT_SPI_FAIL)
		dev_err(&indio_dev->dev, "SPI failure\n");
	if (status & ADIS16220_DIAG_STAT_FLASH_UPT)
		dev_err(&indio_dev->dev, "Flash update failed\n");
	if (status & ADIS16220_DIAG_STAT_POWER_HIGH)
		dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
	if (status & ADIS16220_DIAG_STAT_POWER_LOW)
		dev_err(&indio_dev->dev, "Power supply below 3.15V\n");

error_ret:
	return ret;
}

static int adis16220_self_test(struct iio_dev *indio_dev)
{
	int ret;
	ret = adis16220_spi_write_reg_16(indio_dev,
			ADIS16220_MSC_CTRL,
			ADIS16220_MSC_CTRL_SELF_TEST_EN);
	if (ret) {
		dev_err(&indio_dev->dev, "problem starting self test");
		goto err_ret;
	}

	adis16220_check_status(indio_dev);

err_ret:
	return ret;
}

static int adis16220_initial_setup(struct iio_dev *indio_dev)
{
	int ret;

	/* Do self test */
	ret = adis16220_self_test(indio_dev);
	if (ret) {
		dev_err(&indio_dev->dev, "self test failure");
		goto err_ret;
	}

	/* Read status register to check the result */
	ret = adis16220_check_status(indio_dev);
	if (ret) {
		adis16220_reset(indio_dev);
		dev_err(&indio_dev->dev, "device not playing ball -> reset");
		msleep(ADIS16220_STARTUP_DELAY);
		ret = adis16220_check_status(indio_dev);
		if (ret) {
			dev_err(&indio_dev->dev, "giving up");
			goto err_ret;
		}
	}

err_ret:
	return ret;
}

static ssize_t adis16220_capture_buffer_read(struct iio_dev *indio_dev,
					char *buf,
					loff_t off,
					size_t count,
					int addr)
{
	struct adis16220_state *st = iio_priv(indio_dev);
	struct spi_message msg;
	struct spi_transfer xfers[] = {
		{
			.tx_buf = st->tx,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
			.delay_usecs = 25,
		}, {
			.tx_buf = st->tx,
			.rx_buf = st->rx,
			.bits_per_word = 8,
			.cs_change = 1,
			.delay_usecs = 25,
		},
	};
	int ret;
	int i;

	if (unlikely(!count))
		return count;

	if ((off >= ADIS16220_CAPTURE_SIZE) || (count & 1) || (off & 1))
		return -EINVAL;

	if (off + count > ADIS16220_CAPTURE_SIZE)
		count = ADIS16220_CAPTURE_SIZE - off;

	/* write the begin position of capture buffer */
	ret = adis16220_spi_write_reg_16(indio_dev,
					ADIS16220_CAPT_PNTR,
					off > 1);
	if (ret)
		return -EIO;

	/* read count/2 values from capture buffer */
	mutex_lock(&st->buf_lock);

	for (i = 0; i < count; i += 2) {
		st->tx[i] = ADIS16220_READ_REG(addr);
		st->tx[i + 1] = 0;
	}
	xfers[1].len = count;

	spi_message_init(&msg);
	spi_message_add_tail(&xfers[0], &msg);
	spi_message_add_tail(&xfers[1], &msg);
	ret = spi_sync(st->us, &msg);
	if (ret) {

		mutex_unlock(&st->buf_lock);
		return -EIO;
	}

	memcpy(buf, st->rx, count);

	mutex_unlock(&st->buf_lock);
	return count;
}

static ssize_t adis16220_accel_bin_read(struct file *filp, struct kobject *kobj,
					struct bin_attribute *attr,
					char *buf,
					loff_t off,
					size_t count)
{
	struct device *dev = container_of(kobj, struct device, kobj);
	struct iio_dev *indio_dev = dev_get_drvdata(dev);

	return adis16220_capture_buffer_read(indio_dev, buf,
					off, count,
					ADIS16220_CAPT_BUFA);
}

static struct bin_attribute accel_bin = {
	.attr = {
		.name = "accel_bin",
		.mode = S_IRUGO,
	},
	.read = adis16220_accel_bin_read,
	.size = ADIS16220_CAPTURE_SIZE,
};

static ssize_t adis16220_adc1_bin_read(struct file *filp, struct kobject *kobj,
				struct bin_attribute *attr,
				char *buf, loff_t off,
				size_t count)
{
	struct device *dev = container_of(kobj, struct device, kobj);
	struct iio_dev *indio_dev = dev_get_drvdata(dev);

	return adis16220_capture_buffer_read(indio_dev, buf,
					off, count,
					ADIS16220_CAPT_BUF1);
}

static struct bin_attribute adc1_bin = {
	.attr = {
		.name = "in0_bin",
		.mode = S_IRUGO,
	},
	.read =  adis16220_adc1_bin_read,
	.size = ADIS16220_CAPTURE_SIZE,
};

static ssize_t adis16220_adc2_bin_read(struct file *filp, struct kobject *kobj,
				struct bin_attribute *attr,
				char *buf, loff_t off,
				size_t count)
{
	struct device *dev = container_of(kobj, struct device, kobj);
	struct iio_dev *indio_dev = dev_get_drvdata(dev);

	return adis16220_capture_buffer_read(indio_dev, buf,
					off, count,
					ADIS16220_CAPT_BUF2);
}


static struct bin_attribute adc2_bin = {
	.attr = {
		.name = "in1_bin",
		.mode = S_IRUGO,
	},
	.read =  adis16220_adc2_bin_read,
	.size = ADIS16220_CAPTURE_SIZE,
};

static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL,
		adis16220_write_reset, 0);

#define IIO_DEV_ATTR_CAPTURE(_store)				\
	IIO_DEVICE_ATTR(capture, S_IWUSR, NULL, _store, 0)

static IIO_DEV_ATTR_CAPTURE(adis16220_write_capture);

#define IIO_DEV_ATTR_CAPTURE_COUNT(_mode, _show, _store, _addr)		\
	IIO_DEVICE_ATTR(capture_count, _mode, _show, _store, _addr)

static IIO_DEV_ATTR_CAPTURE_COUNT(S_IWUSR | S_IRUGO,
		adis16220_read_16bit,
		adis16220_write_16bit,
		ADIS16220_CAPT_PNTR);

enum adis16220_channel {
	in_supply, in_1, in_2, accel, temp
};

struct adis16220_address_spec {
	u8 addr;
	u8 bits;
	bool sign;
};

/* Address / bits / signed */
static const struct adis16220_address_spec adis16220_addresses[][3] = {
	[in_supply] =	{ { ADIS16220_CAPT_SUPPLY,	12, 0 }, },
	[in_1] =	{ { ADIS16220_CAPT_BUF1,	16, 1 },
			  { ADIS16220_AIN1_NULL,	16, 1 },
			  { ADIS16220_CAPT_PEAK1,	16, 1 }, },
	[in_2] =	{ { ADIS16220_CAPT_BUF2,	16, 1 },
			  { ADIS16220_AIN2_NULL,	16, 1 },
			  { ADIS16220_CAPT_PEAK2,	16, 1 }, },
	[accel] =	{ { ADIS16220_CAPT_BUFA,	16, 1 },
			  { ADIS16220_ACCL_NULL,	16, 1 },
			  { ADIS16220_CAPT_PEAKA,	16, 1 }, },
	[temp] =	{ { ADIS16220_CAPT_TEMP,	12, 0 }, }
};

static int adis16220_read_raw(struct iio_dev *indio_dev,
			      struct iio_chan_spec const *chan,
			      int *val, int *val2,
			      long mask)
{
	int ret = -EINVAL;
	int addrind = 0;
	u16 uval;
	s16 sval;
	u8 bits;

	switch (mask) {
	case 0:
		addrind = 0;
		break;
	case IIO_CHAN_INFO_OFFSET:
		if (chan->type == IIO_TEMP) {
			*val = 25;
			return IIO_VAL_INT;
		}
		addrind = 1;
		break;
	case IIO_CHAN_INFO_PEAK:
		addrind = 2;
		break;
	case IIO_CHAN_INFO_SCALE:
		*val = 0;
		switch (chan->type) {
		case IIO_TEMP:
			*val2 = -470000;
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_ACCEL:
			*val2 = 1887042;
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_VOLTAGE:
			if (chan->channel == 0)
				*val2 = 0012221;
			else /* Should really be dependent on VDD */
				*val2 = 305;
			return IIO_VAL_INT_PLUS_MICRO;
		default:
			return -EINVAL;
		}
	default:
		return -EINVAL;
	}
	if (adis16220_addresses[chan->address][addrind].sign) {
		ret = adis16220_spi_read_reg_16(indio_dev,
						adis16220_addresses[chan
								    ->address]
						[addrind].addr,
						&sval);
		if (ret)
			return ret;
		bits = adis16220_addresses[chan->address][addrind].bits;
		sval &= (1 << bits) - 1;
		sval = (s16)(sval << (16 - bits)) >> (16 - bits);
		*val = sval;
		return IIO_VAL_INT;
	} else {
		ret = adis16220_spi_read_reg_16(indio_dev,
						adis16220_addresses[chan
								    ->address]
						[addrind].addr,
						&uval);
		if (ret)
			return ret;
		bits = adis16220_addresses[chan->address][addrind].bits;
		uval &= (1 << bits) - 1;
		*val = uval;
		return IIO_VAL_INT;
	}
}

static const struct iio_chan_spec adis16220_channels[] = {
	{
		.type = IIO_VOLTAGE,
		.indexed = 1,
		.channel = 0,
		.extend_name = "supply",
		.info_mask = IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
		.address = in_supply,
	}, {
		.type = IIO_ACCEL,
		.info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
			     IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
			     IIO_CHAN_INFO_PEAK_SEPARATE_BIT,
		.address = accel,
	}, {
		.type = IIO_TEMP,
		.indexed = 1,
		.channel = 0,
		.info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
			     IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
		.address = temp,
	}, {
		.type = IIO_VOLTAGE,
		.indexed = 1,
		.channel = 1,
		.info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
			     IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
		.address = in_1,
	}, {
		.type = IIO_VOLTAGE,
		.indexed = 1,
		.channel = 2,
		.address = in_2,
	}
};

static struct attribute *adis16220_attributes[] = {
	&iio_dev_attr_reset.dev_attr.attr,
	&iio_dev_attr_capture.dev_attr.attr,
	&iio_dev_attr_capture_count.dev_attr.attr,
	NULL
};

static const struct attribute_group adis16220_attribute_group = {
	.attrs = adis16220_attributes,
};

static const struct iio_info adis16220_info = {
	.attrs = &adis16220_attribute_group,
	.driver_module = THIS_MODULE,
	.read_raw = &adis16220_read_raw,
};

static int __devinit adis16220_probe(struct spi_device *spi)
{
	int ret;
	struct adis16220_state *st;
	struct iio_dev *indio_dev;

	/* setup the industrialio driver allocated elements */
	indio_dev = iio_allocate_device(sizeof(*st));
	if (indio_dev == NULL) {
		ret = -ENOMEM;
		goto error_ret;
	}

	st = iio_priv(indio_dev);
	/* this is only used for removal purposes */
	spi_set_drvdata(spi, indio_dev);

	st->us = spi;
	mutex_init(&st->buf_lock);

	indio_dev->name = spi->dev.driver->name;
	indio_dev->dev.parent = &spi->dev;
	indio_dev->info = &adis16220_info;
	indio_dev->modes = INDIO_DIRECT_MODE;
	indio_dev->channels = adis16220_channels;
	indio_dev->num_channels = ARRAY_SIZE(adis16220_channels);

	ret = iio_device_register(indio_dev);
	if (ret)
		goto error_free_dev;

	ret = sysfs_create_bin_file(&indio_dev->dev.kobj, &accel_bin);
	if (ret)
		goto error_unregister_dev;

	ret = sysfs_create_bin_file(&indio_dev->dev.kobj, &adc1_bin);
	if (ret)
		goto error_rm_accel_bin;

	ret = sysfs_create_bin_file(&indio_dev->dev.kobj, &adc2_bin);
	if (ret)
		goto error_rm_adc1_bin;

	/* Get the device into a sane initial state */
	ret = adis16220_initial_setup(indio_dev);
	if (ret)
		goto error_rm_adc2_bin;
	return 0;

error_rm_adc2_bin:
	sysfs_remove_bin_file(&indio_dev->dev.kobj, &adc2_bin);
error_rm_adc1_bin:
	sysfs_remove_bin_file(&indio_dev->dev.kobj, &adc1_bin);
error_rm_accel_bin:
	sysfs_remove_bin_file(&indio_dev->dev.kobj, &accel_bin);
error_unregister_dev:
	iio_device_unregister(indio_dev);
error_free_dev:
	iio_free_device(indio_dev);
error_ret:
	return ret;
}

static int adis16220_remove(struct spi_device *spi)
{
	struct iio_dev *indio_dev = spi_get_drvdata(spi);

	flush_scheduled_work();

	sysfs_remove_bin_file(&indio_dev->dev.kobj, &adc2_bin);
	sysfs_remove_bin_file(&indio_dev->dev.kobj, &adc1_bin);
	sysfs_remove_bin_file(&indio_dev->dev.kobj, &accel_bin);
	iio_device_unregister(indio_dev);
	iio_free_device(indio_dev);

	return 0;
}

static struct spi_driver adis16220_driver = {
	.driver = {
		.name = "adis16220",
		.owner = THIS_MODULE,
	},
	.probe = adis16220_probe,
	.remove = __devexit_p(adis16220_remove),
};
module_spi_driver(adis16220_driver);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16220 Digital Vibration Sensor");
MODULE_LICENSE("GPL v2");
MODULE_ALIAS("spi:adis16220");