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         if (val == 0)
 199                 return -EINVAL;
 200
 201         mutex_lock(&indio_dev->mlock);
 202         if (spi_get_device_id(st->us)) {
 203                 t = (256 / val);
 204                 if (t > 0)
 205                         t--;
 206                 t &= ADIS16260_SMPL_PRD_DIV_MASK;
 207         } else {
 208                 t = (2048 / val);
 209                 if (t > 0)
 210                         t--;
 211                 t &= ADIS16260_SMPL_PRD_DIV_MASK;
 212         }
 213         if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
 214                 st->us->max_speed_hz = ADIS16260_SPI_SLOW;
 215         else
 216                 st->us->max_speed_hz = ADIS16260_SPI_FAST;
 217         ret = adis16260_spi_write_reg_8(indio_dev,
 218                         ADIS16260_SMPL_PRD,
 219                         t);
 220
 221         mutex_unlock(&indio_dev->mlock);
 222
 223         return ret ? ret : len;
 224 }
 225
 226 static int adis16260_reset(struct iio_dev *indio_dev)
 227 {
 228         int ret;
 229         ret = adis16260_spi_write_reg_8(indio_dev,
 230                         ADIS16260_GLOB_CMD,
 231                         ADIS16260_GLOB_CMD_SW_RESET);
 232         if (ret)
 233                 dev_err(&indio_dev->dev, "problem resetting device");
 234
 235         return ret;
 236 }
 237
 238 int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
 239 {
 240         int ret;
 241         u16 msc;
 242         ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
 243         if (ret)
 244                 goto error_ret;
 245
 246         msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
 247         if (enable)
 248                 msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
 249         else
 250                 msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
 251
 252         ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
 253         if (ret)
 254                 goto error_ret;
 255
 256 error_ret:
 257         return ret;
 258 }
 259
 260 /* Power down the device */
 261 static int adis16260_stop_device(struct iio_dev *indio_dev)
 262 {
 263         int ret;
 264         u16 val = ADIS16260_SLP_CNT_POWER_OFF;
 265
 266         ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
 267         if (ret)
 268                 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
 269
 270         return ret;
 271 }
 272
 273 static int adis16260_self_test(struct iio_dev *indio_dev)
 274 {
 275         int ret;
 276         ret = adis16260_spi_write_reg_16(indio_dev,
 277                         ADIS16260_MSC_CTRL,
 278                         ADIS16260_MSC_CTRL_MEM_TEST);
 279         if (ret) {
 280                 dev_err(&indio_dev->dev, "problem starting self test");
 281                 goto err_ret;
 282         }
 283
 284         adis16260_check_status(indio_dev);
 285
 286 err_ret:
 287         return ret;
 288 }
 289
 290 static int adis16260_check_status(struct iio_dev *indio_dev)
 291 {
 292         u16 status;
 293         int ret;
 294         struct device *dev = &indio_dev->dev;
 295
 296         ret = adis16260_spi_read_reg_16(indio_dev,
 297                                         ADIS16260_DIAG_STAT,
 298                                         &status);
 299
 300         if (ret < 0) {
 301                 dev_err(dev, "Reading status failed\n");
 302                 goto error_ret;
 303         }
 304         ret = status & 0x7F;
 305         if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
 306                 dev_err(dev, "Flash checksum error\n");
 307         if (status & ADIS16260_DIAG_STAT_SELF_TEST)
 308                 dev_err(dev, "Self test error\n");
 309         if (status & ADIS16260_DIAG_STAT_OVERFLOW)
 310                 dev_err(dev, "Sensor overrange\n");
 311         if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
 312                 dev_err(dev, "SPI failure\n");
 313         if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
 314                 dev_err(dev, "Flash update failed\n");
 315         if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
 316                 dev_err(dev, "Power supply above 5.25V\n");
 317         if (status & ADIS16260_DIAG_STAT_POWER_LOW)
 318                 dev_err(dev, "Power supply below 4.75V\n");
 319
 320 error_ret:
 321         return ret;
 322 }
 323
 324 static int adis16260_initial_setup(struct iio_dev *indio_dev)
 325 {
 326         int ret;
 327         struct device *dev = &indio_dev->dev;
 328
 329         /* Disable IRQ */
 330         ret = adis16260_set_irq(indio_dev, false);
 331         if (ret) {
 332                 dev_err(dev, "disable irq failed");
 333                 goto err_ret;
 334         }
 335
 336         /* Do self test */
 337         ret = adis16260_self_test(indio_dev);
 338         if (ret) {
 339                 dev_err(dev, "self test failure");
 340                 goto err_ret;
 341         }
 342
 343         /* Read status register to check the result */
 344         ret = adis16260_check_status(indio_dev);
 345         if (ret) {
 346                 adis16260_reset(indio_dev);
 347                 dev_err(dev, "device not playing ball -> reset");
 348                 msleep(ADIS16260_STARTUP_DELAY);
 349                 ret = adis16260_check_status(indio_dev);
 350                 if (ret) {
 351                         dev_err(dev, "giving up");
 352                         goto err_ret;
 353                 }
 354         }
 355
 356 err_ret:
 357         return ret;
 358 }
 359
 360 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
 361                 adis16260_read_frequency,
 362                 adis16260_write_frequency);
 363
 364 static IIO_DEVICE_ATTR(sampling_frequency_available,
 365                        S_IRUGO, adis16260_read_frequency_available, NULL, 0);
 366
 367 enum adis16260_channel {
 368         gyro,
 369         temp,
 370         in_supply,
 371         in_aux,
 372         angle,
 373 };
 374 #define ADIS16260_GYRO_CHANNEL_SET(axis, mod)                           \
 375         struct iio_chan_spec adis16260_channels_##axis[] = {            \
 376                 {                                                       \
 377                         .type = IIO_ANGL_VEL,                           \
 378                         .modified = 1,                                  \
 379                         .channel2 = mod,                                \
 380                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 381                         IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |          \
 382                         IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT |         \
 383                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 384                         .address = gyro,                                \
 385                         .scan_index = ADIS16260_SCAN_GYRO,              \
 386                         .scan_type = {                                  \
 387                                 .sign = 's',                            \
 388                                 .realbits = 14,                         \
 389                                 .storagebits = 16,                      \
 390                         },                                              \
 391                 }, {                                                    \
 392                         .type = IIO_ANGL,                               \
 393                         .modified = 1,                                  \
 394                         .channel2 = mod,                                \
 395                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,    \
 396                         .address = angle,                               \
 397                         .scan_index = ADIS16260_SCAN_ANGL,              \
 398                         .scan_type = {                                  \
 399                                 .sign = 'u',                            \
 400                                 .realbits = 14,                         \
 401                                 .storagebits = 16,                      \
 402                         },                                              \
 403                 }, {                                                    \
 404                         .type = IIO_TEMP,                               \
 405                         .indexed = 1,                                   \
 406                         .channel = 0,                                   \
 407                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 408                         IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |             \
 409                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 410                         .address = temp,                                \
 411                         .scan_index = ADIS16260_SCAN_TEMP,              \
 412                         .scan_type = {                                  \
 413                                 .sign = 'u',                            \
 414                                 .realbits = 12,                         \
 415                                 .storagebits = 16,                      \
 416                         },                                              \
 417                 }, {                                                    \
 418                         .type = IIO_VOLTAGE,                            \
 419                         .indexed = 1,                                   \
 420                         .channel = 0,                                   \
 421                         .extend_name = "supply",                        \
 422                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 423                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 424                         .address = in_supply,                           \
 425                         .scan_index = ADIS16260_SCAN_SUPPLY,            \
 426                         .scan_type = {                                  \
 427                                 .sign = 'u',                            \
 428                                 .realbits = 12,                         \
 429                                 .storagebits = 16,                      \
 430                         },                                              \
 431                 }, {                                                    \
 432                         .type = IIO_VOLTAGE,                            \
 433                         .indexed = 1,                                   \
 434                         .channel = 1,                                   \
 435                         .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |   \
 436                         IIO_CHAN_INFO_SCALE_SEPARATE_BIT,               \
 437                         .address = in_aux,                              \
 438                         .scan_index = ADIS16260_SCAN_AUX_ADC,           \
 439                         .scan_type = {                                  \
 440                                 .sign = 'u',                            \
 441                                 .realbits = 12,                         \
 442                                 .storagebits = 16,                      \
 443                         },                                              \
 444                 },                                                      \
 445                 IIO_CHAN_SOFT_TIMESTAMP(5),                             \
 446         }
 447
 448 static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
 449 static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
 450 static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
 451
 452 static const u8 adis16260_addresses[5][3] = {
 453         [gyro] = { ADIS16260_GYRO_OUT,
 454                    ADIS16260_GYRO_OFF,
 455                    ADIS16260_GYRO_SCALE },
 456         [angle] = { ADIS16260_ANGL_OUT },
 457         [in_supply] = { ADIS16260_SUPPLY_OUT },
 458         [in_aux] = { ADIS16260_AUX_ADC },
 459         [temp] = { ADIS16260_TEMP_OUT },
 460 };
 461 static int adis16260_read_raw(struct iio_dev *indio_dev,
 462                               struct iio_chan_spec const *chan,
 463                               int *val, int *val2,
 464                               long mask)
 465 {
 466         struct adis16260_state *st = iio_priv(indio_dev);
 467         int ret;
 468         int bits;
 469         u8 addr;
 470         s16 val16;
 471
 472         switch (mask) {
 473         case IIO_CHAN_INFO_RAW:
 474                 mutex_lock(&indio_dev->mlock);
 475                 addr = adis16260_addresses[chan->address][0];
 476                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 477                 if (ret) {
 478                         mutex_unlock(&indio_dev->mlock);
 479                         return ret;
 480                 }
 481
 482                 if (val16 & ADIS16260_ERROR_ACTIVE) {
 483                         ret = adis16260_check_status(indio_dev);
 484                         if (ret) {
 485                                 mutex_unlock(&indio_dev->mlock);
 486                                 return ret;
 487                         }
 488                 }
 489                 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
 490                 if (chan->scan_type.sign == 's')
 491                         val16 = (s16)(val16 <<
 492                                       (16 - chan->scan_type.realbits)) >>
 493                                 (16 - chan->scan_type.realbits);
 494                 *val = val16;
 495                 mutex_unlock(&indio_dev->mlock);
 496                 return IIO_VAL_INT;
 497         case IIO_CHAN_INFO_SCALE:
 498                 switch (chan->type) {
 499                 case IIO_ANGL_VEL:
 500                         *val = 0;
 501                         if (spi_get_device_id(st->us)->driver_data) {
 502                                 /* 0.01832 degree / sec */
 503                                 *val2 = IIO_DEGREE_TO_RAD(18320);
 504                         } else {
 505                                 /* 0.07326 degree / sec */
 506                                 *val2 = IIO_DEGREE_TO_RAD(73260);
 507                         }
 508                         return IIO_VAL_INT_PLUS_MICRO;
 509                 case IIO_VOLTAGE:
 510                         if (chan->channel == 0) {
 511                                 *val = 1;
 512                                 *val2 = 831500; /* 1.8315 mV */
 513                         } else {
 514                                 *val = 0;
 515                                 *val2 = 610500; /* 610.5 uV */
 516                         }
 517                         return IIO_VAL_INT_PLUS_MICRO;
 518                 case IIO_TEMP:
 519                         *val = 145;
 520                         *val2 = 300000; /* 0.1453 C */
 521                         return IIO_VAL_INT_PLUS_MICRO;
 522                 default:
 523                         return -EINVAL;
 524                 }
 525                 break;
 526         case IIO_CHAN_INFO_OFFSET:
 527                 *val = 250000 / 1453; /* 25 C = 0x00 */
 528                 return IIO_VAL_INT;
 529         case IIO_CHAN_INFO_CALIBBIAS:
 530                 switch (chan->type) {
 531                 case IIO_ANGL_VEL:
 532                         bits = 12;
 533                         break;
 534                 default:
 535                         return -EINVAL;
 536                 };
 537                 mutex_lock(&indio_dev->mlock);
 538                 addr = adis16260_addresses[chan->address][1];
 539                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 540                 if (ret) {
 541                         mutex_unlock(&indio_dev->mlock);
 542                         return ret;
 543                 }
 544                 val16 &= (1 << bits) - 1;
 545                 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
 546                 *val = val16;
 547                 mutex_unlock(&indio_dev->mlock);
 548                 return IIO_VAL_INT;
 549         case IIO_CHAN_INFO_CALIBSCALE:
 550                 switch (chan->type) {
 551                 case IIO_ANGL_VEL:
 552                         bits = 12;
 553                         break;
 554                 default:
 555                         return -EINVAL;
 556                 };
 557                 mutex_lock(&indio_dev->mlock);
 558                 addr = adis16260_addresses[chan->address][2];
 559                 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
 560                 if (ret) {
 561                         mutex_unlock(&indio_dev->mlock);
 562                         return ret;
 563                 }
 564                 *val = (1 << bits) - 1;
 565                 mutex_unlock(&indio_dev->mlock);
 566                 return IIO_VAL_INT;
 567         }
 568         return -EINVAL;
 569 }
 570
 571 static int adis16260_write_raw(struct iio_dev *indio_dev,
 572                                struct iio_chan_spec const *chan,
 573                                int val,
 574                                int val2,
 575                                long mask)
 576 {
 577         int bits = 12;
 578         s16 val16;
 579         u8 addr;
 580         switch (mask) {
 581         case IIO_CHAN_INFO_CALIBBIAS:
 582                 val16 = val & ((1 << bits) - 1);
 583                 addr = adis16260_addresses[chan->address][1];
 584                 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
 585         case IIO_CHAN_INFO_CALIBSCALE:
 586                 val16 = val & ((1 << bits) - 1);
 587                 addr = adis16260_addresses[chan->address][2];
 588                 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
 589         }
 590         return -EINVAL;
 591 }
 592
 593 static struct attribute *adis16260_attributes[] = {
 594         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 595         &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
 596         NULL
 597 };
 598
 599 static const struct attribute_group adis16260_attribute_group = {
 600         .attrs = adis16260_attributes,
 601 };
 602
 603 static const struct iio_info adis16260_info = {
 604         .attrs = &adis16260_attribute_group,
 605         .read_raw = &adis16260_read_raw,
 606         .write_raw = &adis16260_write_raw,
 607         .driver_module = THIS_MODULE,
 608 };
 609
 610 static int __devinit adis16260_probe(struct spi_device *spi)
 611 {
 612         int ret;
 613         struct adis16260_platform_data *pd = spi->dev.platform_data;
 614         struct adis16260_state *st;
 615         struct iio_dev *indio_dev;
 616
 617         /* setup the industrialio driver allocated elements */
 618         indio_dev = iio_device_alloc(sizeof(*st));
 619         if (indio_dev == NULL) {
 620                 ret = -ENOMEM;
 621                 goto error_ret;
 622         }
 623         st = iio_priv(indio_dev);
 624         if (pd)
 625                 st->negate = pd->negate;
 626         /* this is only used for removal purposes */
 627         spi_set_drvdata(spi, indio_dev);
 628
 629         st->us = spi;
 630         mutex_init(&st->buf_lock);
 631
 632         indio_dev->name = spi_get_device_id(st->us)->name;
 633         indio_dev->dev.parent = &spi->dev;
 634         indio_dev->info = &adis16260_info;
 635         indio_dev->num_channels
 636                 = ARRAY_SIZE(adis16260_channels_x);
 637         if (pd && pd->direction)
 638                 switch (pd->direction) {
 639                 case 'x':
 640                         indio_dev->channels = adis16260_channels_x;
 641                         break;
 642                 case 'y':
 643                         indio_dev->channels = adis16260_channels_y;
 644                         break;
 645                 case 'z':
 646                         indio_dev->channels = adis16260_channels_z;
 647                         break;
 648                 default:
 649                         return -EINVAL;
 650                 }
 651         else
 652                 indio_dev->channels = adis16260_channels_x;
 653         indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
 654         indio_dev->modes = INDIO_DIRECT_MODE;
 655
 656         ret = adis16260_configure_ring(indio_dev);
 657         if (ret)
 658                 goto error_free_dev;
 659
 660         ret = iio_buffer_register(indio_dev,
 661                                   indio_dev->channels,
 662                                   ARRAY_SIZE(adis16260_channels_x));
 663         if (ret) {
 664                 printk(KERN_ERR "failed to initialize the ring\n");
 665                 goto error_unreg_ring_funcs;
 666         }
 667         if (indio_dev->buffer) {
 668                 /* Set default scan mode */
 669                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 670                                   ADIS16260_SCAN_SUPPLY);
 671                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 672                                   ADIS16260_SCAN_GYRO);
 673                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 674                                   ADIS16260_SCAN_AUX_ADC);
 675                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 676                                   ADIS16260_SCAN_TEMP);
 677                 iio_scan_mask_set(indio_dev, indio_dev->buffer,
 678                                   ADIS16260_SCAN_ANGL);
 679         }
 680         if (spi->irq) {
 681                 ret = adis16260_probe_trigger(indio_dev);
 682                 if (ret)
 683                         goto error_uninitialize_ring;
 684         }
 685
 686         /* Get the device into a sane initial state */
 687         ret = adis16260_initial_setup(indio_dev);
 688         if (ret)
 689                 goto error_remove_trigger;
 690         ret = iio_device_register(indio_dev);
 691         if (ret)
 692                 goto error_remove_trigger;
 693
 694         return 0;
 695
 696 error_remove_trigger:
 697         adis16260_remove_trigger(indio_dev);
 698 error_uninitialize_ring:
 699         iio_buffer_unregister(indio_dev);
 700 error_unreg_ring_funcs:
 701         adis16260_unconfigure_ring(indio_dev);
 702 error_free_dev:
 703         iio_device_free(indio_dev);
 704 error_ret:
 705         return ret;
 706 }
 707
 708 static int __devexit adis16260_remove(struct spi_device *spi)
 709 {
 710         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 711
 712         iio_device_unregister(indio_dev);
 713         adis16260_stop_device(indio_dev);
 714         adis16260_remove_trigger(indio_dev);
 715         iio_buffer_unregister(indio_dev);
 716         adis16260_unconfigure_ring(indio_dev);
 717         iio_device_free(indio_dev);
 718
 719         return 0;
 720 }
 721
 722 /*
 723  * These parts do not need to be differentiated until someone adds
 724  * support for the on chip filtering.
 725  */
 726 static const struct spi_device_id adis16260_id[] = {
 727         {"adis16260", 0},
 728         {"adis16265", 0},
 729         {"adis16250", 0},
 730         {"adis16255", 0},
 731         {"adis16251", 1},
 732         {}
 733 };
 734 MODULE_DEVICE_TABLE(spi, adis16260_id);
 735
 736 static struct spi_driver adis16260_driver = {
 737         .driver = {
 738                 .name = "adis16260",
 739                 .owner = THIS_MODULE,
 740         },
 741         .probe = adis16260_probe,
 742         .remove = __devexit_p(adis16260_remove),
 743         .id_table = adis16260_id,
 744 };
 745 module_spi_driver(adis16260_driver);
 746
 747 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 748 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
 749 MODULE_LICENSE("GPL v2");