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
717
718
719
720
721
722
723
/*
 * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
 *
 * Copyright 2010 Analog Devices Inc.
 *
 * Licensed under the GPL-2 or later.
 */

#include <linux/interrupt.h>
#include <linux/irq.h>
#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/list.h>
#include <linux/module.h>

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

#include "adis16260.h"

#define DRIVER_NAME		"adis16260"

static int adis16260_check_status(struct iio_dev *indio_dev);

/**
 * adis16260_spi_write_reg_8() - write single byte to a register
 * @indio_dev: iio_dev for the device
 * @reg_address: the address of the register to be written
 * @val: the value to write
 **/
static int adis16260_spi_write_reg_8(struct iio_dev *indio_dev,
		u8 reg_address,
		u8 val)
{
	int ret;
	struct adis16260_state *st = iio_priv(indio_dev);

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16260_WRITE_REG(reg_address);
	st->tx[1] = val;

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

	return ret;
}

/**
 * adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers
 * @indio_dev: iio_dev for the 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 adis16260_spi_write_reg_16(struct iio_dev *indio_dev,
		u8 lower_reg_address,
		u16 value)
{
	int ret;
	struct spi_message msg;
	struct adis16260_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 = 20,
		}, {
			.tx_buf = st->tx + 2,
			.bits_per_word = 8,
			.len = 2,
			.delay_usecs = 20,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
	st->tx[1] = value & 0xFF;
	st->tx[2] = ADIS16260_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;
}

/**
 * adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register
 * @indio_dev: iio_dev for the 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 adis16260_spi_read_reg_16(struct iio_dev *indio_dev,
		u8 lower_reg_address,
		u16 *val)
{
	struct spi_message msg;
	struct adis16260_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 = 30,
		}, {
			.rx_buf = st->rx,
			.bits_per_word = 8,
			.len = 2,
			.delay_usecs = 30,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16260_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 adis16260_read_frequency_available(struct device *dev,
						  struct device_attribute *attr,
						  char *buf)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16260_state *st = iio_priv(indio_dev);
	if (spi_get_device_id(st->us)->driver_data)
		return sprintf(buf, "%s\n", "0.129 ~ 256");
	else
		return sprintf(buf, "%s\n", "256 2048");
}

static ssize_t adis16260_read_frequency(struct device *dev,
		struct device_attribute *attr,
		char *buf)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16260_state *st = iio_priv(indio_dev);
	int ret, len = 0;
	u16 t;
	int sps;
	ret = adis16260_spi_read_reg_16(indio_dev,
			ADIS16260_SMPL_PRD,
			&t);
	if (ret)
		return ret;

	if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
		sps =  (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
	else
		sps =  (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
	sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
	len = sprintf(buf, "%d SPS\n", sps);
	return len;
}

static ssize_t adis16260_write_frequency(struct device *dev,
		struct device_attribute *attr,
		const char *buf,
		size_t len)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16260_state *st = iio_priv(indio_dev);
	long val;
	int ret;
	u8 t;

	ret = strict_strtol(buf, 10, &val);
	if (ret)
		return ret;

	mutex_lock(&indio_dev->mlock);
	if (spi_get_device_id(st->us)) {
		t = (256 / val);
		if (t > 0)
			t--;
		t &= ADIS16260_SMPL_PRD_DIV_MASK;
	} else {
		t = (2048 / val);
		if (t > 0)
			t--;
		t &= ADIS16260_SMPL_PRD_DIV_MASK;
	}
	if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
		st->us->max_speed_hz = ADIS16260_SPI_SLOW;
	else
		st->us->max_speed_hz = ADIS16260_SPI_FAST;
	ret = adis16260_spi_write_reg_8(indio_dev,
			ADIS16260_SMPL_PRD,
			t);

	mutex_unlock(&indio_dev->mlock);

	return ret ? ret : len;
}

static int adis16260_reset(struct iio_dev *indio_dev)
{
	int ret;
	ret = adis16260_spi_write_reg_8(indio_dev,
			ADIS16260_GLOB_CMD,
			ADIS16260_GLOB_CMD_SW_RESET);
	if (ret)
		dev_err(&indio_dev->dev, "problem resetting device");

	return ret;
}

static ssize_t adis16260_write_reset(struct device *dev,
		struct device_attribute *attr,
		const char *buf, size_t len)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	if (len < 1)
		return -EINVAL;
	switch (buf[0]) {
	case '1':
	case 'y':
	case 'Y':
		return adis16260_reset(indio_dev);
	}
	return -EINVAL;
}

int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
{
	int ret;
	u16 msc;
	ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
	if (ret)
		goto error_ret;

	msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
	if (enable)
		msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
	else
		msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;

	ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
	if (ret)
		goto error_ret;

error_ret:
	return ret;
}

/* Power down the device */
static int adis16260_stop_device(struct iio_dev *indio_dev)
{
	int ret;
	u16 val = ADIS16260_SLP_CNT_POWER_OFF;

	ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
	if (ret)
		dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");

	return ret;
}

static int adis16260_self_test(struct iio_dev *indio_dev)
{
	int ret;
	ret = adis16260_spi_write_reg_16(indio_dev,
			ADIS16260_MSC_CTRL,
			ADIS16260_MSC_CTRL_MEM_TEST);
	if (ret) {
		dev_err(&indio_dev->dev, "problem starting self test");
		goto err_ret;
	}

	adis16260_check_status(indio_dev);

err_ret:
	return ret;
}

static int adis16260_check_status(struct iio_dev *indio_dev)
{
	u16 status;
	int ret;
	struct device *dev = &indio_dev->dev;

	ret = adis16260_spi_read_reg_16(indio_dev,
					ADIS16260_DIAG_STAT,
					&status);

	if (ret < 0) {
		dev_err(dev, "Reading status failed\n");
		goto error_ret;
	}
	ret = status & 0x7F;
	if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
		dev_err(dev, "Flash checksum error\n");
	if (status & ADIS16260_DIAG_STAT_SELF_TEST)
		dev_err(dev, "Self test error\n");
	if (status & ADIS16260_DIAG_STAT_OVERFLOW)
		dev_err(dev, "Sensor overrange\n");
	if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
		dev_err(dev, "SPI failure\n");
	if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
		dev_err(dev, "Flash update failed\n");
	if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
		dev_err(dev, "Power supply above 5.25V\n");
	if (status & ADIS16260_DIAG_STAT_POWER_LOW)
		dev_err(dev, "Power supply below 4.75V\n");

error_ret:
	return ret;
}

static int adis16260_initial_setup(struct iio_dev *indio_dev)
{
	int ret;
	struct device *dev = &indio_dev->dev;

	/* Disable IRQ */
	ret = adis16260_set_irq(indio_dev, false);
	if (ret) {
		dev_err(dev, "disable irq failed");
		goto err_ret;
	}

	/* Do self test */
	ret = adis16260_self_test(indio_dev);
	if (ret) {
		dev_err(dev, "self test failure");
		goto err_ret;
	}

	/* Read status register to check the result */
	ret = adis16260_check_status(indio_dev);
	if (ret) {
		adis16260_reset(indio_dev);
		dev_err(dev, "device not playing ball -> reset");
		msleep(ADIS16260_STARTUP_DELAY);
		ret = adis16260_check_status(indio_dev);
		if (ret) {
			dev_err(dev, "giving up");
			goto err_ret;
		}
	}

err_ret:
	return ret;
}

static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
		adis16260_read_frequency,
		adis16260_write_frequency);

static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);

static IIO_DEVICE_ATTR(sampling_frequency_available,
		       S_IRUGO, adis16260_read_frequency_available, NULL, 0);

enum adis16260_channel {
	gyro,
	temp,
	in_supply,
	in_aux,
	angle,
};
#define ADIS16260_GYRO_CHANNEL_SET(axis, mod)				\
	struct iio_chan_spec adis16260_channels_##axis[] = {		\
		IIO_CHAN(IIO_ANGL_VEL, 1, 0, 0, NULL, 0, mod,		\
			 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |	\
			 IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT |	\
			 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,		\
			 gyro, ADIS16260_SCAN_GYRO,			\
			 IIO_ST('s', 14, 16, 0), 0),			\
		IIO_CHAN(IIO_ANGL, 1, 0, 0, NULL, 0, mod,		\
			 0,						\
			 angle, ADIS16260_SCAN_ANGL,			\
			 IIO_ST('u', 14, 16, 0), 0),			\
		IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,			\
			 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |		\
			 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,		\
			 temp, ADIS16260_SCAN_TEMP,			\
			 IIO_ST('u', 12, 16, 0), 0),			\
		IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, "supply", 0, 0,		\
			 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,		\
			 in_supply, ADIS16260_SCAN_SUPPLY,		\
			 IIO_ST('u', 12, 16, 0), 0),			\
		IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, NULL, 1, 0,		\
			 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,		\
			 in_aux, ADIS16260_SCAN_AUX_ADC,		\
			 IIO_ST('u', 12, 16, 0), 0),			\
		IIO_CHAN_SOFT_TIMESTAMP(5)				\
	}

static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);

static const u8 adis16260_addresses[5][3] = {
	[gyro] = { ADIS16260_GYRO_OUT,
		   ADIS16260_GYRO_OFF,
		   ADIS16260_GYRO_SCALE },
	[angle] = { ADIS16260_ANGL_OUT },
	[in_supply] = { ADIS16260_SUPPLY_OUT },
	[in_aux] = { ADIS16260_AUX_ADC },
	[temp] = { ADIS16260_TEMP_OUT },
};
static int adis16260_read_raw(struct iio_dev *indio_dev,
			      struct iio_chan_spec const *chan,
			      int *val, int *val2,
			      long mask)
{
	struct adis16260_state *st = iio_priv(indio_dev);
	int ret;
	int bits;
	u8 addr;
	s16 val16;

	switch (mask) {
	case 0:
		mutex_lock(&indio_dev->mlock);
		addr = adis16260_addresses[chan->address][0];
		ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
		if (ret) {
			mutex_unlock(&indio_dev->mlock);
			return ret;
		}

		if (val16 & ADIS16260_ERROR_ACTIVE) {
			ret = adis16260_check_status(indio_dev);
			if (ret) {
				mutex_unlock(&indio_dev->mlock);
				return ret;
			}
		}
		val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
		if (chan->scan_type.sign == 's')
			val16 = (s16)(val16 <<
				      (16 - chan->scan_type.realbits)) >>
				(16 - chan->scan_type.realbits);
		*val = val16;
		mutex_unlock(&indio_dev->mlock);
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_SCALE:
		switch (chan->type) {
		case IIO_ANGL_VEL:
			*val = 0;
			if (spi_get_device_id(st->us)->driver_data)
				*val2 = 320;
			else
				*val2 = 1278;
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_VOLTAGE:
			*val = 0;
			if (chan->channel == 0)
				*val2 = 18315;
			else
				*val2 = 610500;
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_TEMP:
			*val = 0;
			*val2 = 145300;
			return IIO_VAL_INT_PLUS_MICRO;
		default:
			return -EINVAL;
		}
		break;
	case IIO_CHAN_INFO_OFFSET:
		*val = 25;
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_CALIBBIAS:
		switch (chan->type) {
		case IIO_ANGL_VEL:
			bits = 12;
			break;
		default:
			return -EINVAL;
		};
		mutex_lock(&indio_dev->mlock);
		addr = adis16260_addresses[chan->address][1];
		ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
		if (ret) {
			mutex_unlock(&indio_dev->mlock);
			return ret;
		}
		val16 &= (1 << bits) - 1;
		val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
		*val = val16;
		mutex_unlock(&indio_dev->mlock);
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_CALIBSCALE:
		switch (chan->type) {
		case IIO_ANGL_VEL:
			bits = 12;
			break;
		default:
			return -EINVAL;
		};
		mutex_lock(&indio_dev->mlock);
		addr = adis16260_addresses[chan->address][2];
		ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
		if (ret) {
			mutex_unlock(&indio_dev->mlock);
			return ret;
		}
		*val = (1 << bits) - 1;
		mutex_unlock(&indio_dev->mlock);
		return IIO_VAL_INT;
	}
	return -EINVAL;
}

static int adis16260_write_raw(struct iio_dev *indio_dev,
			       struct iio_chan_spec const *chan,
			       int val,
			       int val2,
			       long mask)
{
	int bits = 12;
	s16 val16;
	u8 addr;
	switch (mask) {
	case IIO_CHAN_INFO_CALIBBIAS:
		val16 = val & ((1 << bits) - 1);
		addr = adis16260_addresses[chan->address][1];
		return adis16260_spi_write_reg_16(indio_dev, addr, val16);
	case IIO_CHAN_INFO_CALIBSCALE:
		val16 = val & ((1 << bits) - 1);
		addr = adis16260_addresses[chan->address][2];
		return adis16260_spi_write_reg_16(indio_dev, addr, val16);
	}
	return -EINVAL;
}

static struct attribute *adis16260_attributes[] = {
	&iio_dev_attr_sampling_frequency.dev_attr.attr,
	&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
	&iio_dev_attr_reset.dev_attr.attr,
	NULL
};

static const struct attribute_group adis16260_attribute_group = {
	.attrs = adis16260_attributes,
};

static const struct iio_info adis16260_info = {
	.attrs = &adis16260_attribute_group,
	.read_raw = &adis16260_read_raw,
	.write_raw = &adis16260_write_raw,
	.driver_module = THIS_MODULE,
};

static int __devinit adis16260_probe(struct spi_device *spi)
{
	int ret;
	struct adis16260_platform_data *pd = spi->dev.platform_data;
	struct adis16260_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);
	if (pd)
		st->negate = pd->negate;
	/* this is only used for removal purposes */
	spi_set_drvdata(spi, st);

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

	indio_dev->name = spi_get_device_id(st->us)->name;
	indio_dev->dev.parent = &spi->dev;
	indio_dev->info = &adis16260_info;
	indio_dev->num_channels
		= ARRAY_SIZE(adis16260_channels_x);
	if (pd && pd->direction)
		switch (pd->direction) {
		case 'x':
			indio_dev->channels = adis16260_channels_x;
			break;
		case 'y':
			indio_dev->channels = adis16260_channels_y;
			break;
		case 'z':
			indio_dev->channels = adis16260_channels_z;
			break;
		default:
			return -EINVAL;
		}
	else
		indio_dev->channels = adis16260_channels_x;
	indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
	indio_dev->modes = INDIO_DIRECT_MODE;

	ret = adis16260_configure_ring(indio_dev);
	if (ret)
		goto error_free_dev;

	ret = iio_buffer_register(indio_dev,
				  indio_dev->channels,
				  ARRAY_SIZE(adis16260_channels_x));
	if (ret) {
		printk(KERN_ERR "failed to initialize the ring\n");
		goto error_unreg_ring_funcs;
	}
	if (indio_dev->buffer) {
		/* Set default scan mode */
		iio_scan_mask_set(indio_dev, indio_dev->buffer,
				  ADIS16260_SCAN_SUPPLY);
		iio_scan_mask_set(indio_dev, indio_dev->buffer,
				  ADIS16260_SCAN_GYRO);
		iio_scan_mask_set(indio_dev, indio_dev->buffer,
				  ADIS16260_SCAN_AUX_ADC);
		iio_scan_mask_set(indio_dev, indio_dev->buffer,
				  ADIS16260_SCAN_TEMP);
		iio_scan_mask_set(indio_dev, indio_dev->buffer,
				  ADIS16260_SCAN_ANGL);
	}
	if (spi->irq) {
		ret = adis16260_probe_trigger(indio_dev);
		if (ret)
			goto error_uninitialize_ring;
	}

	/* Get the device into a sane initial state */
	ret = adis16260_initial_setup(indio_dev);
	if (ret)
		goto error_remove_trigger;
	ret = iio_device_register(indio_dev);
	if (ret)
		goto error_remove_trigger;

	return 0;

error_remove_trigger:
	adis16260_remove_trigger(indio_dev);
error_uninitialize_ring:
	iio_buffer_unregister(indio_dev);
error_unreg_ring_funcs:
	adis16260_unconfigure_ring(indio_dev);
error_free_dev:
	iio_free_device(indio_dev);
error_ret:
	return ret;
}

static int adis16260_remove(struct spi_device *spi)
{
	int ret;
	struct iio_dev *indio_dev = spi_get_drvdata(spi);

	iio_device_unregister(indio_dev);

	ret = adis16260_stop_device(indio_dev);
	if (ret)
		goto err_ret;

	flush_scheduled_work();

	adis16260_remove_trigger(indio_dev);
	iio_buffer_unregister(indio_dev);
	adis16260_unconfigure_ring(indio_dev);
	iio_free_device(indio_dev);

err_ret:
	return ret;
}

/*
 * These parts do not need to be differentiated until someone adds
 * support for the on chip filtering.
 */
static const struct spi_device_id adis16260_id[] = {
	{"adis16260", 0},
	{"adis16265", 0},
	{"adis16250", 0},
	{"adis16255", 0},
	{"adis16251", 1},
	{}
};
MODULE_DEVICE_TABLE(spi, adis16260_id);

static struct spi_driver adis16260_driver = {
	.driver = {
		.name = "adis16260",
		.owner = THIS_MODULE,
	},
	.probe = adis16260_probe,
	.remove = __devexit_p(adis16260_remove),
	.id_table = adis16260_id,
};
module_spi_driver(adis16260_driver);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
MODULE_LICENSE("GPL v2");