On 05/11/10 20:22, Jonathan Cameron wrote:
> From: Barry Song <Barry.Song@xxxxxxxxxx>
Hmm.. Getting the part number right in the commit message would
probably be a good start. This is of course for the adis16260.
Obviously I'll fix that up in my git tree.
Jonathan
>
> ---
> As with previous analog devices drivers this one is pretty close
> to a lift from the blackfin tree with fixes for change in sysfs
> abi and checkpatch.
>
> This one introduces a new attribute - angle_raw
> which is an on device computed rotation angle from an arbitary
> zero. Will need documenting in the abi at some point.
>
> Incidentally Barry, I'm thinking that one needs angle_scale
> as it isn't exactly in standard units. Can be added as
> a cleanup patch later. Also, I notice you are using a gmail
> address for the module author bit. Would you prefer I put
> that as the author address in git?
>
> For those wondering why this seems to be from Barry, it is
> because it is generated by git format-patch and I want to
> make sure I credit the writer when sending these on.
>
> Thanks,
>
> Jonathan
>
> drivers/staging/iio/Kconfig | 1 +
> drivers/staging/iio/Makefile | 1 +
> drivers/staging/iio/gyro/Kconfig | 13 +
> drivers/staging/iio/gyro/Makefile | 7 +
> drivers/staging/iio/gyro/adis16260.h | 175 +++++++
> drivers/staging/iio/gyro/adis16260_core.c | 661 ++++++++++++++++++++++++++
> drivers/staging/iio/gyro/adis16260_ring.c | 256 ++++++++++
> drivers/staging/iio/gyro/adis16260_trigger.c | 124 +++++
> drivers/staging/iio/gyro/gyro.h | 2 +
> 9 files changed, 1240 insertions(+), 0 deletions(-)
>
> diff --git a/drivers/staging/iio/Kconfig b/drivers/staging/iio/Kconfig
> index ed38ef4..b0e6244 100644
> --- a/drivers/staging/iio/Kconfig
> +++ b/drivers/staging/iio/Kconfig
> @@ -41,6 +41,7 @@ config IIO_TRIGGER
>
> source "drivers/staging/iio/accel/Kconfig"
> source "drivers/staging/iio/adc/Kconfig"
> +source "drivers/staging/iio/gyro/Kconfig"
> source "drivers/staging/iio/imu/Kconfig"
> source "drivers/staging/iio/light/Kconfig"
>
> diff --git a/drivers/staging/iio/Makefile b/drivers/staging/iio/Makefile
> index 92b81c2..3502b39 100644
> --- a/drivers/staging/iio/Makefile
> +++ b/drivers/staging/iio/Makefile
> @@ -11,6 +11,7 @@ obj-$(CONFIG_IIO_SW_RING) += ring_sw.o
>
> obj-y += accel/
> obj-y += adc/
> +obj-y += gyro/
> obj-y += imu/
> obj-y += light/
>
> diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig
> new file mode 100644
> index 0000000..c404361
> --- /dev/null
> +++ b/drivers/staging/iio/gyro/Kconfig
> @@ -0,0 +1,13 @@
> +#
> +# IIO Digital Gyroscope Sensor drivers configuration
> +#
> +comment "Digital gyroscope sensors"
> +
> +config ADIS16260
> + tristate "Analog Devices ADIS16260/5 Digital Gyroscope Sensor SPI driver"
> + depends on SPI
> + select IIO_TRIGGER if IIO_RING_BUFFER
> + select IIO_SW_RING if IIO_RING_BUFFER
> + help
> + Say yes here to build support for Analog Devices adis16260/5
> + programmable digital gyroscope sensor.
> diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile
> new file mode 100644
> index 0000000..6d2c547
> --- /dev/null
> +++ b/drivers/staging/iio/gyro/Makefile
> @@ -0,0 +1,7 @@
> +
> +# Makefile for digital gyroscope sensor drivers
> +#
> +
> +adis16260-y := adis16260_core.o
> +adis16260-$(CONFIG_IIO_RING_BUFFER) += adis16260_ring.o adis16260_trigger.o
> +obj-$(CONFIG_ADIS16260) += adis16260.o
> diff --git a/drivers/staging/iio/gyro/adis16260.h b/drivers/staging/iio/gyro/adis16260.h
> new file mode 100644
> index 0000000..f19efb4
> --- /dev/null
> +++ b/drivers/staging/iio/gyro/adis16260.h
> @@ -0,0 +1,175 @@
> +#ifndef SPI_ADIS16260_H_
> +#define SPI_ADIS16260_H_
> +
> +#define ADIS16260_STARTUP_DELAY 220 /* ms */
> +
> +#define ADIS16260_READ_REG(a) a
> +#define ADIS16260_WRITE_REG(a) ((a) | 0x80)
> +
> +#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
> +#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
> +#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
> +#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
> +#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
> +#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
> +#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
> +#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
> +#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
> +#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
> +#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
> +#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
> +#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
> +#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
> +#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
> +#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
> +#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
> +#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
> +#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
> +#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
> +#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
> +#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
> +#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
> +#define ADIS16260_PROD_ID 0x56 /* Product identifier;
> + * convert to decimal = 16,265/16,260 */
> +#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
> +
> +#define ADIS16260_OUTPUTS 5
> +
> +#define ADIS16260_ERROR_ACTIVE (1<<14)
> +#define ADIS16260_NEW_DATA (1<<15)
> +
> +/* MSC_CTRL */
> +#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
> +/* Internal self-test enable */
> +#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
> +#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
> +#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
> +#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
> +#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
> +#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
> +
> +/* SMPL_PRD */
> +/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
> +#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
> +#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
> +
> +/* SLP_CNT */
> +#define ADIS16260_SLP_CNT_POWER_OFF 0x80
> +
> +/* DIAG_STAT */
> +#define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
> +#define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
> +#define ADIS16260_DIAG_STAT_FLASH_CHK (1<<6)
> +#define ADIS16260_DIAG_STAT_SELF_TEST (1<<5)
> +#define ADIS16260_DIAG_STAT_OVERFLOW (1<<4)
> +#define ADIS16260_DIAG_STAT_SPI_FAIL (1<<3)
> +#define ADIS16260_DIAG_STAT_FLASH_UPT (1<<2)
> +#define ADIS16260_DIAG_STAT_POWER_HIGH (1<<1)
> +#define ADIS16260_DIAG_STAT_POWER_LOW (1<<0)
> +
> +/* GLOB_CMD */
> +#define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
> +#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
> +#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
> +#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
> +#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
> +
> +#define ADIS16260_MAX_TX 24
> +#define ADIS16260_MAX_RX 24
> +
> +#define ADIS16260_SPI_SLOW (u32)(300 * 1000)
> +#define ADIS16260_SPI_BURST (u32)(1000 * 1000)
> +#define ADIS16260_SPI_FAST (u32)(2000 * 1000)
> +
> +/**
> + * struct adis16260_state - device instance specific data
> + * @us: actual spi_device
> + * @work_trigger_to_ring: bh for triggered event handling
> + * @work_cont_thresh: CLEAN
> + * @inter: used to check if new interrupt has been triggered
> + * @last_timestamp: passing timestamp from th to bh of interrupt handler
> + * @indio_dev: industrial I/O device structure
> + * @trig: data ready trigger registered with iio
> + * @tx: transmit buffer
> + * @rx: recieve buffer
> + * @buf_lock: mutex to protect tx and rx
> + **/
> +struct adis16260_state {
> + struct spi_device *us;
> + struct work_struct work_trigger_to_ring;
> + struct iio_work_cont work_cont_thresh;
> + s64 last_timestamp;
> + struct iio_dev *indio_dev;
> + struct iio_trigger *trig;
> + u8 *tx;
> + u8 *rx;
> + struct mutex buf_lock;
> +};
> +
> +int adis16260_set_irq(struct device *dev, bool enable);
> +
> +#ifdef CONFIG_IIO_RING_BUFFER
> +/* At the moment triggers are only used for ring buffer
> + * filling. This may change!
> + */
> +
> +enum adis16260_scan {
> + ADIS16260_SCAN_SUPPLY,
> + ADIS16260_SCAN_GYRO,
> + ADIS16260_SCAN_AUX_ADC,
> + ADIS16260_SCAN_TEMP,
> + ADIS16260_SCAN_ANGL,
> +};
> +
> +void adis16260_remove_trigger(struct iio_dev *indio_dev);
> +int adis16260_probe_trigger(struct iio_dev *indio_dev);
> +
> +ssize_t adis16260_read_data_from_ring(struct device *dev,
> + struct device_attribute *attr,
> + char *buf);
> +
> +
> +int adis16260_configure_ring(struct iio_dev *indio_dev);
> +void adis16260_unconfigure_ring(struct iio_dev *indio_dev);
> +
> +int adis16260_initialize_ring(struct iio_ring_buffer *ring);
> +void adis16260_uninitialize_ring(struct iio_ring_buffer *ring);
> +#else /* CONFIG_IIO_RING_BUFFER */
> +
> +static inline void adis16260_remove_trigger(struct iio_dev *indio_dev)
> +{
> +}
> +
> +static inline int adis16260_probe_trigger(struct iio_dev *indio_dev)
> +{
> + return 0;
> +}
> +
> +static inline ssize_t
> +adis16260_read_data_from_ring(struct device *dev,
> + struct device_attribute *attr,
> + char *buf)
> +{
> + return 0;
> +}
> +
> +static int adis16260_configure_ring(struct iio_dev *indio_dev)
> +{
> + return 0;
> +}
> +
> +static inline void adis16260_unconfigure_ring(struct iio_dev *indio_dev)
> +{
> +}
> +
> +static inline int adis16260_initialize_ring(struct iio_ring_buffer *ring)
> +{
> + return 0;
> +}
> +
> +static inline void adis16260_uninitialize_ring(struct iio_ring_buffer *ring)
> +{
> +}
> +
> +#endif /* CONFIG_IIO_RING_BUFFER */
> +#endif /* SPI_ADIS16260_H_ */
> diff --git a/drivers/staging/iio/gyro/adis16260_core.c b/drivers/staging/iio/gyro/adis16260_core.c
> new file mode 100644
> index 0000000..c93f4d5
> --- /dev/null
> +++ b/drivers/staging/iio/gyro/adis16260_core.c
> @@ -0,0 +1,661 @@
> +/*
> + * ADIS16260 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/gpio.h>
> +#include <linux/delay.h>
> +#include <linux/mutex.h>
> +#include <linux/device.h>
> +#include <linux/kernel.h>
> +#include <linux/spi/spi.h>
> +
> +#include <linux/sysfs.h>
> +#include <linux/list.h>
> +
> +#include "../iio.h"
> +#include "../sysfs.h"
> +#include "../adc/adc.h"
> +#include "gyro.h"
> +
> +#include "adis16260.h"
> +
> +#define DRIVER_NAME "adis16260"
> +
> +static int adis16260_check_status(struct device *dev);
> +
> +/**
> + * adis16260_spi_write_reg_8() - write single byte to a register
> + * @dev: device associated with child of actual device (iio_dev or iio_trig)
> + * @reg_address: the address of the register to be written
> + * @val: the value to write
> + **/
> +static int adis16260_spi_write_reg_8(struct device *dev,
> + u8 reg_address,
> + u8 val)
> +{
> + int ret;
> + struct iio_dev *indio_dev = dev_get_drvdata(dev);
> + struct adis16260_state *st = iio_dev_get_devdata(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
> + * @dev: device associated with child of actual device (iio_dev or iio_trig)
> + * @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 device *dev,
> + u8 lower_reg_address,
> + u16 value)
> +{
> + int ret;
> + struct spi_message msg;
> + struct iio_dev *indio_dev = dev_get_drvdata(dev);
> + struct adis16260_state *st = iio_dev_get_devdata(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,
> + .cs_change = 1,
> + .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
> + * @dev: device associated with child of actual device (iio_dev or iio_trig)
> + * @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 device *dev,
> + u8 lower_reg_address,
> + u16 *val)
> +{
> + struct spi_message msg;
> + struct iio_dev *indio_dev = dev_get_drvdata(dev);
> + struct adis16260_state *st = iio_dev_get_devdata(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,
> + .cs_change = 1,
> + .delay_usecs = 30,
> + },
> + };
> +
> + mutex_lock(&st->buf_lock);
> + st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
> + st->tx[1] = 0;
> + st->tx[2] = 0;
> + st->tx[3] = 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_spi_read_signed(struct device *dev,
> + struct device_attribute *attr,
> + char *buf,
> + unsigned bits)
> +{
> + int ret;
> + s16 val = 0;
> + unsigned shift = 16 - bits;
> + struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
> +
> + ret = adis16260_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
> + if (ret)
> + return ret;
> +
> + if (val & ADIS16260_ERROR_ACTIVE)
> + adis16260_check_status(dev);
> + val = ((s16)(val << shift) >> shift);
> + return sprintf(buf, "%d\n", val);
> +}
> +
> +static ssize_t adis16260_read_12bit_unsigned(struct device *dev,
> + struct device_attribute *attr,
> + char *buf)
> +{
> + int ret;
> + u16 val = 0;
> + struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
> +
> + ret = adis16260_spi_read_reg_16(dev, this_attr->address, &val);
> + if (ret)
> + return ret;
> +
> + if (val & ADIS16260_ERROR_ACTIVE)
> + adis16260_check_status(dev);
> +
> + return sprintf(buf, "%u\n", val & 0x0FFF);
> +}
> +
> +static ssize_t adis16260_read_12bit_signed(struct device *dev,
> + struct device_attribute *attr,
> + char *buf)
> +{
> + struct iio_dev *indio_dev = dev_get_drvdata(dev);
> + ssize_t ret;
> +
> + /* Take the iio_dev status lock */
> + mutex_lock(&indio_dev->mlock);
> + ret = adis16260_spi_read_signed(dev, attr, buf, 12);
> + mutex_unlock(&indio_dev->mlock);
> +
> + return ret;
> +}
> +
> +static ssize_t adis16260_read_14bit_signed(struct device *dev,
> + struct device_attribute *attr,
> + char *buf)
> +{
> + struct iio_dev *indio_dev = dev_get_drvdata(dev);
> + ssize_t ret;
> +
> + /* Take the iio_dev status lock */
> + mutex_lock(&indio_dev->mlock);
> + ret = adis16260_spi_read_signed(dev, attr, buf, 14);
> + mutex_unlock(&indio_dev->mlock);
> +
> + return ret;
> +}
> +
> +static ssize_t adis16260_write_16bit(struct device *dev,
> + struct device_attribute *attr,
> + const char *buf,
> + size_t len)
> +{
> + struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
> + int ret;
> + long val;
> +
> + ret = strict_strtol(buf, 10, &val);
> + if (ret)
> + goto error_ret;
> + ret = adis16260_spi_write_reg_16(dev, this_attr->address, val);
> +
> +error_ret:
> + return ret ? ret : len;
> +}
> +
> +static ssize_t adis16260_read_frequency(struct device *dev,
> + struct device_attribute *attr,
> + char *buf)
> +{
> + int ret, len = 0;
> + u16 t;
> + int sps;
> + ret = adis16260_spi_read_reg_16(dev,
> + ADIS16260_SMPL_PRD,
> + &t);
> + if (ret)
> + return ret;
> + 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_dev_get_devdata(indio_dev);
> + long val;
> + int ret;
> + u8 t;
> +
> + ret = strict_strtol(buf, 10, &val);
> + if (ret)
> + return ret;
> +
> + mutex_lock(&indio_dev->mlock);
> +
> + 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(dev,
> + ADIS16260_SMPL_PRD,
> + t);
> +
> + mutex_unlock(&indio_dev->mlock);
> +
> + return ret ? ret : len;
> +}
> +
> +static int adis16260_reset(struct device *dev)
> +{
> + int ret;
> + ret = adis16260_spi_write_reg_8(dev,
> + ADIS16260_GLOB_CMD,
> + ADIS16260_GLOB_CMD_SW_RESET);
> + if (ret)
> + dev_err(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)
> +{
> + if (len < 1)
> + return -EINVAL;
> + switch (buf[0]) {
> + case '1':
> + case 'y':
> + case 'Y':
> + return adis16260_reset(dev);
> + }
> + return -EINVAL;
> +}
> +
> +int adis16260_set_irq(struct device *dev, bool enable)
> +{
> + int ret;
> + u16 msc;
> + ret = adis16260_spi_read_reg_16(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(dev, ADIS16260_MSC_CTRL, msc);
> + if (ret)
> + goto error_ret;
> +
> +error_ret:
> + return ret;
> +}
> +
> +/* Power down the device */
> +static int adis16260_stop_device(struct device *dev)
> +{
> + int ret;
> + u16 val = ADIS16260_SLP_CNT_POWER_OFF;
> +
> + ret = adis16260_spi_write_reg_16(dev, ADIS16260_SLP_CNT, val);
> + if (ret)
> + dev_err(dev, "problem with turning device off: SLP_CNT");
> +
> + return ret;
> +}
> +
> +static int adis16260_self_test(struct device *dev)
> +{
> + int ret;
> + ret = adis16260_spi_write_reg_16(dev,
> + ADIS16260_MSC_CTRL,
> + ADIS16260_MSC_CTRL_MEM_TEST);
> + if (ret) {
> + dev_err(dev, "problem starting self test");
> + goto err_ret;
> + }
> +
> + adis16260_check_status(dev);
> +
> +err_ret:
> + return ret;
> +}
> +
> +static int adis16260_check_status(struct device *dev)
> +{
> + u16 status;
> + int ret;
> +
> + ret = adis16260_spi_read_reg_16(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 adis16260_state *st)
> +{
> + int ret;
> + struct device *dev = &st->indio_dev->dev;
> +
> + /* Disable IRQ */
> + ret = adis16260_set_irq(dev, false);
> + if (ret) {
> + dev_err(dev, "disable irq failed");
> + goto err_ret;
> + }
> +
> + /* Do self test */
> + ret = adis16260_self_test(dev);
> + if (ret) {
> + dev_err(dev, "self test failure");
> + goto err_ret;
> + }
> +
> + /* Read status register to check the result */
> + ret = adis16260_check_status(dev);
> + if (ret) {
> + adis16260_reset(dev);
> + dev_err(dev, "device not playing ball -> reset");
> + msleep(ADIS16260_STARTUP_DELAY);
> + ret = adis16260_check_status(dev);
> + if (ret) {
> + dev_err(dev, "giving up");
> + goto err_ret;
> + }
> + }
> +
> + printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
> + st->us->chip_select, st->us->irq);
> +
> +err_ret:
> + return ret;
> +}
> +
> +static IIO_DEV_ATTR_IN_NAMED_RAW(supply,
> + adis16260_read_12bit_unsigned,
> + ADIS16260_SUPPLY_OUT);
> +static IIO_CONST_ATTR(in_supply_scale, "0.0018315");
> +
> +static IIO_DEV_ATTR_GYRO(adis16260_read_14bit_signed,
> + ADIS16260_GYRO_OUT);
> +static IIO_DEV_ATTR_GYRO_SCALE(S_IWUSR | S_IRUGO,
> + adis16260_read_14bit_signed,
> + adis16260_write_16bit,
> + ADIS16260_GYRO_SCALE);
> +static IIO_DEV_ATTR_GYRO_OFFSET(S_IWUSR | S_IRUGO,
> + adis16260_read_12bit_signed,
> + adis16260_write_16bit,
> + ADIS16260_GYRO_OFF);
> +
> +static IIO_DEV_ATTR_TEMP_RAW(adis16260_read_12bit_unsigned);
> +static IIO_CONST_ATTR(temp_offset, "25");
> +static IIO_CONST_ATTR(temp_scale, "0.1453");
> +
> +static IIO_DEV_ATTR_IN_RAW(0, adis16260_read_12bit_unsigned,
> + ADIS16260_AUX_ADC);
> +static IIO_CONST_ATTR(in0_scale, "0.0006105");
> +
> +static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
> + adis16260_read_frequency,
> + adis16260_write_frequency);
> +static IIO_DEV_ATTR_ANGL(adis16260_read_14bit_signed,
> + ADIS16260_ANGL_OUT);
> +
> +static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
> +
> +static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("256 2048");
> +
> +static IIO_CONST_ATTR(name, "adis16260");
> +
> +static struct attribute *adis16260_event_attributes[] = {
> + NULL
> +};
> +
> +static struct attribute_group adis16260_event_attribute_group = {
> + .attrs = adis16260_event_attributes,
> +};
> +
> +static struct attribute *adis16260_attributes[] = {
> + &iio_dev_attr_in_supply_raw.dev_attr.attr,
> + &iio_const_attr_in_supply_scale.dev_attr.attr,
> + &iio_dev_attr_gyro_raw.dev_attr.attr,
> + &iio_dev_attr_gyro_scale.dev_attr.attr,
> + &iio_dev_attr_gyro_offset.dev_attr.attr,
> + &iio_dev_attr_angl_raw.dev_attr.attr,
> + &iio_dev_attr_temp_raw.dev_attr.attr,
> + &iio_const_attr_temp_offset.dev_attr.attr,
> + &iio_const_attr_temp_scale.dev_attr.attr,
> + &iio_dev_attr_in0_raw.dev_attr.attr,
> + &iio_const_attr_in0_scale.dev_attr.attr,
> + &iio_dev_attr_sampling_frequency.dev_attr.attr,
> + &iio_const_attr_available_sampling_frequency.dev_attr.attr,
> + &iio_dev_attr_reset.dev_attr.attr,
> + &iio_const_attr_name.dev_attr.attr,
> + NULL
> +};
> +
> +static const struct attribute_group adis16260_attribute_group = {
> + .attrs = adis16260_attributes,
> +};
> +
> +static int __devinit adis16260_probe(struct spi_device *spi)
> +{
> + int ret, regdone = 0;
> + struct adis16260_state *st = kzalloc(sizeof *st, GFP_KERNEL);
> + if (!st) {
> + ret = -ENOMEM;
> + goto error_ret;
> + }
> + /* this is only used for removal purposes */
> + spi_set_drvdata(spi, st);
> +
> + /* Allocate the comms buffers */
> + st->rx = kzalloc(sizeof(*st->rx)*ADIS16260_MAX_RX, GFP_KERNEL);
> + if (st->rx == NULL) {
> + ret = -ENOMEM;
> + goto error_free_st;
> + }
> + st->tx = kzalloc(sizeof(*st->tx)*ADIS16260_MAX_TX, GFP_KERNEL);
> + if (st->tx == NULL) {
> + ret = -ENOMEM;
> + goto error_free_rx;
> + }
> + st->us = spi;
> + mutex_init(&st->buf_lock);
> + /* setup the industrialio driver allocated elements */
> + st->indio_dev = iio_allocate_device();
> + if (st->indio_dev == NULL) {
> + ret = -ENOMEM;
> + goto error_free_tx;
> + }
> +
> + st->indio_dev->dev.parent = &spi->dev;
> + st->indio_dev->num_interrupt_lines = 1;
> + st->indio_dev->event_attrs = &adis16260_event_attribute_group;
> + st->indio_dev->attrs = &adis16260_attribute_group;
> + st->indio_dev->dev_data = (void *)(st);
> + st->indio_dev->driver_module = THIS_MODULE;
> + st->indio_dev->modes = INDIO_DIRECT_MODE;
> +
> + ret = adis16260_configure_ring(st->indio_dev);
> + if (ret)
> + goto error_free_dev;
> +
> + ret = iio_device_register(st->indio_dev);
> + if (ret)
> + goto error_unreg_ring_funcs;
> + regdone = 1;
> +
> + ret = adis16260_initialize_ring(st->indio_dev->ring);
> + if (ret) {
> + printk(KERN_ERR "failed to initialize the ring\n");
> + goto error_unreg_ring_funcs;
> + }
> +
> + if (spi->irq) {
> + ret = iio_register_interrupt_line(spi->irq,
> + st->indio_dev,
> + 0,
> + IRQF_TRIGGER_RISING,
> + "adis16260");
> + if (ret)
> + goto error_uninitialize_ring;
> +
> + ret = adis16260_probe_trigger(st->indio_dev);
> + if (ret)
> + goto error_unregister_line;
> + }
> +
> + /* Get the device into a sane initial state */
> + ret = adis16260_initial_setup(st);
> + if (ret)
> + goto error_remove_trigger;
> + return 0;
> +
> +error_remove_trigger:
> + adis16260_remove_trigger(st->indio_dev);
> +error_unregister_line:
> + if (spi->irq)
> + iio_unregister_interrupt_line(st->indio_dev, 0);
> +error_uninitialize_ring:
> + adis16260_uninitialize_ring(st->indio_dev->ring);
> +error_unreg_ring_funcs:
> + adis16260_unconfigure_ring(st->indio_dev);
> +error_free_dev:
> + if (regdone)
> + iio_device_unregister(st->indio_dev);
> + else
> + iio_free_device(st->indio_dev);
> +error_free_tx:
> + kfree(st->tx);
> +error_free_rx:
> + kfree(st->rx);
> +error_free_st:
> + kfree(st);
> +error_ret:
> + return ret;
> +}
> +
> +static int adis16260_remove(struct spi_device *spi)
> +{
> + int ret;
> + struct adis16260_state *st = spi_get_drvdata(spi);
> + struct iio_dev *indio_dev = st->indio_dev;
> +
> + ret = adis16260_stop_device(&(indio_dev->dev));
> + if (ret)
> + goto err_ret;
> +
> + flush_scheduled_work();
> +
> + adis16260_remove_trigger(indio_dev);
> + if (spi->irq)
> + iio_unregister_interrupt_line(indio_dev, 0);
> +
> + adis16260_uninitialize_ring(indio_dev->ring);
> + iio_device_unregister(indio_dev);
> + adis16260_unconfigure_ring(indio_dev);
> + kfree(st->tx);
> + kfree(st->rx);
> + kfree(st);
> +
> + return 0;
> +
> +err_ret:
> + return ret;
> +}
> +
> +static struct spi_driver adis16260_driver = {
> + .driver = {
> + .name = "adis16260",
> + .owner = THIS_MODULE,
> + },
> + .probe = adis16260_probe,
> + .remove = __devexit_p(adis16260_remove),
> +};
> +
> +static __init int adis16260_init(void)
> +{
> + return spi_register_driver(&adis16260_driver);
> +}
> +module_init(adis16260_init);
> +
> +static __exit void adis16260_exit(void)
> +{
> + spi_unregister_driver(&adis16260_driver);
> +}
> +module_exit(adis16260_exit);
> +
> +MODULE_AUTHOR("Barry Song <21cnbao@xxxxxxxxx>");
> +MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
> +MODULE_LICENSE("GPL v2");
> diff --git a/drivers/staging/iio/gyro/adis16260_ring.c b/drivers/staging/iio/gyro/adis16260_ring.c
> new file mode 100644
> index 0000000..4c4390c
> --- /dev/null
> +++ b/drivers/staging/iio/gyro/adis16260_ring.c
> @@ -0,0 +1,256 @@
> +#include <linux/interrupt.h>
> +#include <linux/irq.h>
> +#include <linux/gpio.h>
> +#include <linux/workqueue.h>
> +#include <linux/mutex.h>
> +#include <linux/device.h>
> +#include <linux/kernel.h>
> +#include <linux/spi/spi.h>
> +#include <linux/sysfs.h>
> +#include <linux/list.h>
> +
> +#include "../iio.h"
> +#include "../sysfs.h"
> +#include "../ring_sw.h"
> +#include "../accel/accel.h"
> +#include "../trigger.h"
> +#include "adis16260.h"
> +
> +/**
> + * combine_8_to_16() utility function to munge to u8s into u16
> + **/
> +static inline u16 combine_8_to_16(u8 lower, u8 upper)
> +{
> + u16 _lower = lower;
> + u16 _upper = upper;
> + return _lower | (_upper << 8);
> +}
> +
> +static IIO_SCAN_EL_C(supply, ADIS16260_SCAN_SUPPLY, IIO_UNSIGNED(12),
> + ADIS16260_SUPPLY_OUT, NULL);
> +static IIO_SCAN_EL_C(gyro, ADIS16260_SCAN_GYRO, IIO_SIGNED(14),
> + ADIS16260_GYRO_OUT, NULL);
> +static IIO_SCAN_EL_C(aux_adc, ADIS16260_SCAN_AUX_ADC, IIO_SIGNED(14),
> + ADIS16260_AUX_ADC, NULL);
> +static IIO_SCAN_EL_C(temp, ADIS16260_SCAN_TEMP, IIO_UNSIGNED(12),
> + ADIS16260_TEMP_OUT, NULL);
> +static IIO_SCAN_EL_C(angl, ADIS16260_SCAN_ANGL, IIO_UNSIGNED(12),
> + ADIS16260_ANGL_OUT, NULL);
> +
> +static IIO_SCAN_EL_TIMESTAMP(5);
> +
> +static struct attribute *adis16260_scan_el_attrs[] = {
> + &iio_scan_el_supply.dev_attr.attr,
> + &iio_scan_el_gyro.dev_attr.attr,
> + &iio_scan_el_aux_adc.dev_attr.attr,
> + &iio_scan_el_temp.dev_attr.attr,
> + &iio_scan_el_angl.dev_attr.attr,
> + &iio_scan_el_timestamp.dev_attr.attr,
> + NULL,
> +};
> +
> +static struct attribute_group adis16260_scan_el_group = {
> + .attrs = adis16260_scan_el_attrs,
> + .name = "scan_elements",
> +};
> +
> +/**
> + * adis16260_poll_func_th() top half interrupt handler called by trigger
> + * @private_data: iio_dev
> + **/
> +static void adis16260_poll_func_th(struct iio_dev *indio_dev)
> +{
> + struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
> + st->last_timestamp = indio_dev->trig->timestamp;
> + schedule_work(&st->work_trigger_to_ring);
> +}
> +
> +/**
> + * adis16260_read_ring_data() read data registers which will be placed into ring
> + * @dev: device associated with child of actual device (iio_dev or iio_trig)
> + * @rx: somewhere to pass back the value read
> + **/
> +static int adis16260_read_ring_data(struct device *dev, u8 *rx)
> +{
> + struct spi_message msg;
> + struct iio_dev *indio_dev = dev_get_drvdata(dev);
> + struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
> + struct spi_transfer xfers[ADIS16260_OUTPUTS + 1];
> + int ret;
> + int i;
> +
> + mutex_lock(&st->buf_lock);
> +
> + spi_message_init(&msg);
> +
> + memset(xfers, 0, sizeof(xfers));
> + for (i = 0; i <= ADIS16260_OUTPUTS; i++) {
> + xfers[i].bits_per_word = 8;
> + xfers[i].cs_change = 1;
> + xfers[i].len = 2;
> + xfers[i].delay_usecs = 30;
> + xfers[i].tx_buf = st->tx + 2 * i;
> + if (i < 2) /* SUPPLY_OUT:0x02 GYRO_OUT:0x04 */
> + st->tx[2 * i]
> + = ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT
> + + 2 * i);
> + else /* 0x06 to 0x09 is reserved */
> + st->tx[2 * i]
> + = ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT
> + + 2 * i + 4);
> + st->tx[2 * i + 1] = 0;
> + if (i >= 1)
> + xfers[i].rx_buf = rx + 2 * (i - 1);
> + spi_message_add_tail(&xfers[i], &msg);
> + }
> +
> + ret = spi_sync(st->us, &msg);
> + if (ret)
> + dev_err(&st->us->dev, "problem when burst reading");
> +
> + mutex_unlock(&st->buf_lock);
> +
> + return ret;
> +}
> +
> +
> +static void adis16260_trigger_bh_to_ring(struct work_struct *work_s)
> +{
> + struct adis16260_state *st
> + = container_of(work_s, struct adis16260_state,
> + work_trigger_to_ring);
> +
> + int i = 0;
> + s16 *data;
> + size_t datasize = st->indio_dev
> + ->ring->access.get_bpd(st->indio_dev->ring);
> +
> + data = kmalloc(datasize , GFP_KERNEL);
> + if (data == NULL) {
> + dev_err(&st->us->dev, "memory alloc failed in ring bh");
> + return;
> + }
> +
> + if (st->indio_dev->scan_count)
> + if (adis16260_read_ring_data(&st->indio_dev->dev, st->rx) >= 0)
> + for (; i < st->indio_dev->scan_count; i++) {
> + data[i] = combine_8_to_16(st->rx[i*2+1],
> + st->rx[i*2]);
> + }
> +
> + /* Guaranteed to be aligned with 8 byte boundary */
> + if (st->indio_dev->scan_timestamp)
> + *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
> +
> + st->indio_dev->ring->access.store_to(st->indio_dev->ring,
> + (u8 *)data,
> + st->last_timestamp);
> +
> + iio_trigger_notify_done(st->indio_dev->trig);
> + kfree(data);
> +
> + return;
> +}
> +
> +static int adis16260_data_rdy_ring_preenable(struct iio_dev *indio_dev)
> +{
> + size_t size;
> + dev_dbg(&indio_dev->dev, "%s\n", __func__);
> + /* Check if there are any scan elements enabled, if not fail*/
> + if (!(indio_dev->scan_count || indio_dev->scan_timestamp))
> + return -EINVAL;
> +
> + if (indio_dev->ring->access.set_bpd) {
> + if (indio_dev->scan_timestamp)
> + if (indio_dev->scan_count)
> + /* Timestamp (aligned s64) and data */
> + size = (((indio_dev->scan_count * sizeof(s16))
> + + sizeof(s64) - 1)
> + & ~(sizeof(s64) - 1))
> + + sizeof(s64);
> + else /* Timestamp only */
> + size = sizeof(s64);
> + else /* Data only */
> + size = indio_dev->scan_count*sizeof(s16);
> + indio_dev->ring->access.set_bpd(indio_dev->ring, size);
> + }
> +
> + return 0;
> +}
> +
> +static int adis16260_data_rdy_ring_postenable(struct iio_dev *indio_dev)
> +{
> + return indio_dev->trig
> + ? iio_trigger_attach_poll_func(indio_dev->trig,
> + indio_dev->pollfunc)
> + : 0;
> +}
> +
> +static int adis16260_data_rdy_ring_predisable(struct iio_dev *indio_dev)
> +{
> + return indio_dev->trig
> + ? iio_trigger_dettach_poll_func(indio_dev->trig,
> + indio_dev->pollfunc)
> + : 0;
> +}
> +
> +void adis16260_unconfigure_ring(struct iio_dev *indio_dev)
> +{
> + kfree(indio_dev->pollfunc);
> + iio_sw_rb_free(indio_dev->ring);
> +}
> +
> +int adis16260_configure_ring(struct iio_dev *indio_dev)
> +{
> + int ret = 0;
> + struct adis16260_state *st = indio_dev->dev_data;
> + struct iio_ring_buffer *ring;
> + INIT_WORK(&st->work_trigger_to_ring, adis16260_trigger_bh_to_ring);
> + /* Set default scan mode */
> +
> + iio_scan_mask_set(indio_dev, iio_scan_el_supply.number);
> + iio_scan_mask_set(indio_dev, iio_scan_el_gyro.number);
> + iio_scan_mask_set(indio_dev, iio_scan_el_aux_adc.number);
> + iio_scan_mask_set(indio_dev, iio_scan_el_temp.number);
> + iio_scan_mask_set(indio_dev, iio_scan_el_angl.number);
> + indio_dev->scan_timestamp = true;
> +
> + indio_dev->scan_el_attrs = &adis16260_scan_el_group;
> +
> + ring = iio_sw_rb_allocate(indio_dev);
> + if (!ring) {
> + ret = -ENOMEM;
> + return ret;
> + }
> + indio_dev->ring = ring;
> + /* Effectively select the ring buffer implementation */
> + iio_ring_sw_register_funcs(&ring->access);
> + ring->preenable = &adis16260_data_rdy_ring_preenable;
> + ring->postenable = &adis16260_data_rdy_ring_postenable;
> + ring->predisable = &adis16260_data_rdy_ring_predisable;
> + ring->owner = THIS_MODULE;
> +
> + indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL);
> + if (indio_dev->pollfunc == NULL) {
> + ret = -ENOMEM;
> + goto error_iio_sw_rb_free;;
> + }
> + indio_dev->pollfunc->poll_func_main = &adis16260_poll_func_th;
> + indio_dev->pollfunc->private_data = indio_dev;
> + indio_dev->modes |= INDIO_RING_TRIGGERED;
> + return 0;
> +
> +error_iio_sw_rb_free:
> + iio_sw_rb_free(indio_dev->ring);
> + return ret;
> +}
> +
> +int adis16260_initialize_ring(struct iio_ring_buffer *ring)
> +{
> + return iio_ring_buffer_register(ring, 0);
> +}
> +
> +void adis16260_uninitialize_ring(struct iio_ring_buffer *ring)
> +{
> + iio_ring_buffer_unregister(ring);
> +}
> diff --git a/drivers/staging/iio/gyro/adis16260_trigger.c b/drivers/staging/iio/gyro/adis16260_trigger.c
> new file mode 100644
> index 0000000..b3c5659
> --- /dev/null
> +++ b/drivers/staging/iio/gyro/adis16260_trigger.c
> @@ -0,0 +1,124 @@
> +#include <linux/interrupt.h>
> +#include <linux/irq.h>
> +#include <linux/mutex.h>
> +#include <linux/device.h>
> +#include <linux/kernel.h>
> +#include <linux/sysfs.h>
> +#include <linux/list.h>
> +#include <linux/spi/spi.h>
> +
> +#include "../iio.h"
> +#include "../sysfs.h"
> +#include "../trigger.h"
> +#include "adis16260.h"
> +
> +/**
> + * adis16260_data_rdy_trig_poll() the event handler for the data rdy trig
> + **/
> +static int adis16260_data_rdy_trig_poll(struct iio_dev *dev_info,
> + int index,
> + s64 timestamp,
> + int no_test)
> +{
> + struct adis16260_state *st = iio_dev_get_devdata(dev_info);
> + struct iio_trigger *trig = st->trig;
> +
> + trig->timestamp = timestamp;
> + iio_trigger_poll(trig);
> +
> + return IRQ_HANDLED;
> +}
> +
> +IIO_EVENT_SH(data_rdy_trig, &adis16260_data_rdy_trig_poll);
> +
> +static DEVICE_ATTR(name, S_IRUGO, iio_trigger_read_name, NULL);
> +
> +static struct attribute *adis16260_trigger_attrs[] = {
> + &dev_attr_name.attr,
> + NULL,
> +};
> +
> +static const struct attribute_group adis16260_trigger_attr_group = {
> + .attrs = adis16260_trigger_attrs,
> +};
> +
> +/**
> + * adis16260_data_rdy_trigger_set_state() set datardy interrupt state
> + **/
> +static int adis16260_data_rdy_trigger_set_state(struct iio_trigger *trig,
> + bool state)
> +{
> + struct adis16260_state *st = trig->private_data;
> + struct iio_dev *indio_dev = st->indio_dev;
> + int ret = 0;
> +
> + dev_dbg(&indio_dev->dev, "%s (%d)\n", __func__, state);
> + ret = adis16260_set_irq(&st->indio_dev->dev, state);
> + if (state == false) {
> + iio_remove_event_from_list(&iio_event_data_rdy_trig,
> + &indio_dev->interrupts[0]
> + ->ev_list);
> + flush_scheduled_work();
> + } else {
> + iio_add_event_to_list(&iio_event_data_rdy_trig,
> + &indio_dev->interrupts[0]->ev_list);
> + }
> + return ret;
> +}
> +
> +/**
> + * adis16260_trig_try_reen() try renabling irq for data rdy trigger
> + * @trig: the datardy trigger
> + **/
> +static int adis16260_trig_try_reen(struct iio_trigger *trig)
> +{
> + struct adis16260_state *st = trig->private_data;
> + enable_irq(st->us->irq);
> + return 0;
> +}
> +
> +int adis16260_probe_trigger(struct iio_dev *indio_dev)
> +{
> + int ret;
> + struct adis16260_state *st = indio_dev->dev_data;
> +
> + st->trig = iio_allocate_trigger();
> + st->trig->name = kmalloc(IIO_TRIGGER_NAME_LENGTH, GFP_KERNEL);
> + if (!st->trig->name) {
> + ret = -ENOMEM;
> + goto error_free_trig;
> + }
> + snprintf((char *)st->trig->name,
> + IIO_TRIGGER_NAME_LENGTH,
> + "adis16260-dev%d", indio_dev->id);
> + st->trig->dev.parent = &st->us->dev;
> + st->trig->owner = THIS_MODULE;
> + st->trig->private_data = st;
> + st->trig->set_trigger_state = &adis16260_data_rdy_trigger_set_state;
> + st->trig->try_reenable = &adis16260_trig_try_reen;
> + st->trig->control_attrs = &adis16260_trigger_attr_group;
> + ret = iio_trigger_register(st->trig);
> +
> + /* select default trigger */
> + indio_dev->trig = st->trig;
> + if (ret)
> + goto error_free_trig_name;
> +
> + return 0;
> +
> +error_free_trig_name:
> + kfree(st->trig->name);
> +error_free_trig:
> + iio_free_trigger(st->trig);
> +
> + return ret;
> +}
> +
> +void adis16260_remove_trigger(struct iio_dev *indio_dev)
> +{
> + struct adis16260_state *state = indio_dev->dev_data;
> +
> + iio_trigger_unregister(state->trig);
> + kfree(state->trig->name);
> + iio_free_trigger(state->trig);
> +}
> diff --git a/drivers/staging/iio/gyro/gyro.h b/drivers/staging/iio/gyro/gyro.h
> index 16f6ffa..f68edab 100644
> --- a/drivers/staging/iio/gyro/gyro.h
> +++ b/drivers/staging/iio/gyro/gyro.h
> @@ -39,3 +39,5 @@
> #define IIO_DEV_ATTR_GYRO_Z(_show, _addr) \
> IIO_DEVICE_ATTR(gyro_z_raw, S_IRUGO, _show, NULL, _addr)
>
> +#define IIO_DEV_ATTR_ANGL(_show, _addr) \
> + IIO_DEVICE_ATTR(angl_raw, S_IRUGO, _show, NULL, _addr)
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