On 11/20/2012 09:15 PM, Lars-Peter Clausen wrote:
> On 11/20/2012 10:05 PM, Jonathan Cameron wrote:
>> On 11/20/2012 01:36 PM, Lars-Peter Clausen wrote:
>>> This patch adds support for the ADIS16133, ADIS16135, ADIS16136 single channel
>>> gyroscopes. The main difference between them is the sensor precision.
>>>
>>> Signed-off-by: Lars-Peter Clausen <lars@xxxxxxxxxx>
>> A nice driver.
>>
>> The only thing I could pick up on was the 'interesting' comments alongside
>> the 3db divisors.
>>
>> Still I just wanted to comment on something really ;)
>>
>> added to togreg branch of iio.git
>>
>
> just remembered that I wanted to remove the __devinit/__devexit annotations
> before sending this patch out, but then forgot about it. Can you fix this up?
> Otherwise I'll just sent a follow up patch. Same for the adis16480 driver.
Will fixup. I clean forgot that was going on...
>
> Thanks,
> - Lars
>
>>> ---
>>> drivers/iio/gyro/Kconfig | 9 +
>>> drivers/iio/gyro/Makefile | 1 +
>>> drivers/iio/gyro/adis16136.c | 581 +++++++++++++++++++++++++++++++++++++++++++
>>> 3 files changed, 591 insertions(+)
>>> create mode 100644 drivers/iio/gyro/adis16136.c
>>>
>>> diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
>>> index 21e27e2..48ed148 100644
>>> --- a/drivers/iio/gyro/Kconfig
>>> +++ b/drivers/iio/gyro/Kconfig
>>> @@ -3,6 +3,15 @@
>>> #
>>> menu "Digital gyroscope sensors"
>>>
>>> +config ADIS16136
>>> + tristate "Analog devices ADIS16136 and similar gyroscopes driver"
>>> + depends on SPI_MASTER
>>> + select IIO_ADIS_LIB
>>> + select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
>>> + help
>>> + Say yes here to build support for the Analog Devices ADIS16133, ADIS16135,
>>> + ADIS16136 gyroscope devices.
>>> +
>>> config HID_SENSOR_GYRO_3D
>>> depends on HID_SENSOR_HUB
>>> select IIO_BUFFER
>>> diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
>>> index 8a895d9..702a058 100644
>>> --- a/drivers/iio/gyro/Makefile
>>> +++ b/drivers/iio/gyro/Makefile
>>> @@ -2,4 +2,5 @@
>>> # Makefile for industrial I/O gyroscope sensor drivers
>>> #
>>>
>>> +obj-$(CONFIG_ADIS16136) += adis16136.o
>>> obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
>>> diff --git a/drivers/iio/gyro/adis16136.c b/drivers/iio/gyro/adis16136.c
>>> new file mode 100644
>>> index 0000000..277aa74
>>> --- /dev/null
>>> +++ b/drivers/iio/gyro/adis16136.c
>>> @@ -0,0 +1,581 @@
>>> +/*
>>> + * ADIS16133/ADIS16135/ADIS16136 gyroscope driver
>>> + *
>>> + * Copyright 2012 Analog Devices Inc.
>>> + * Author: Lars-Peter Clausen <lars@xxxxxxxxxx>
>>> + *
>>> + * Licensed under the GPL-2.
>>> + */
>>> +
>>> +#include <linux/interrupt.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/module.h>
>>> +
>>> +#include <linux/iio/iio.h>
>>> +#include <linux/iio/sysfs.h>
>>> +#include <linux/iio/buffer.h>
>>> +#include <linux/iio/imu/adis.h>
>>> +
>>> +#include <linux/iio/iio.h>
>>> +#include <linux/debugfs.h>
>>> +
>>> +#define ADIS16136_REG_FLASH_CNT 0x00
>>> +#define ADIS16136_REG_TEMP_OUT 0x02
>>> +#define ADIS16136_REG_GYRO_OUT2 0x04
>>> +#define ADIS16136_REG_GYRO_OUT 0x06
>>> +#define ADIS16136_REG_GYRO_OFF2 0x08
>>> +#define ADIS16136_REG_GYRO_OFF 0x0A
>>> +#define ADIS16136_REG_ALM_MAG1 0x10
>>> +#define ADIS16136_REG_ALM_MAG2 0x12
>>> +#define ADIS16136_REG_ALM_SAMPL1 0x14
>>> +#define ADIS16136_REG_ALM_SAMPL2 0x16
>>> +#define ADIS16136_REG_ALM_CTRL 0x18
>>> +#define ADIS16136_REG_GPIO_CTRL 0x1A
>>> +#define ADIS16136_REG_MSC_CTRL 0x1C
>>> +#define ADIS16136_REG_SMPL_PRD 0x1E
>>> +#define ADIS16136_REG_AVG_CNT 0x20
>>> +#define ADIS16136_REG_DEC_RATE 0x22
>>> +#define ADIS16136_REG_SLP_CTRL 0x24
>>> +#define ADIS16136_REG_DIAG_STAT 0x26
>>> +#define ADIS16136_REG_GLOB_CMD 0x28
>>> +#define ADIS16136_REG_LOT1 0x32
>>> +#define ADIS16136_REG_LOT2 0x34
>>> +#define ADIS16136_REG_LOT3 0x36
>>> +#define ADIS16136_REG_PROD_ID 0x38
>>> +#define ADIS16136_REG_SERIAL_NUM 0x3A
>>> +
>>> +#define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL 2
>>> +#define ADIS16136_DIAG_STAT_SPI_FAIL 3
>>> +#define ADIS16136_DIAG_STAT_SELF_TEST_FAIL 5
>>> +#define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL 6
>>> +
>>> +#define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11)
>>> +#define ADIS16136_MSC_CTRL_SELF_TEST BIT(10)
>>> +
>>> +struct adis16136_chip_info {
>>> + unsigned int precision;
>>> + unsigned int fullscale;
>>> +};
>>> +
>>> +struct adis16136 {
>>> + const struct adis16136_chip_info *chip_info;
>>> +
>>> + struct adis adis;
>>> +};
>>> +
>>> +#ifdef CONFIG_DEBUG_FS
>>> +
>>> +static ssize_t adis16136_show_serial(struct file *file,
>>> + char __user *userbuf, size_t count, loff_t *ppos)
>>> +{
>>> + struct adis16136 *adis16136 = file->private_data;
>>> + uint16_t lot1, lot2, lot3, serial;
>>> + char buf[20];
>>> + size_t len;
>>> + int ret;
>>> +
>>> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM,
>>> + &serial);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2,
>>> + lot3, serial);
>>> +
>>> + return simple_read_from_buffer(userbuf, count, ppos, buf, len);
>>> +}
>>> +
>>> +static const struct file_operations adis16136_serial_fops = {
>>> + .open = simple_open,
>>> + .read = adis16136_show_serial,
>>> + .llseek = default_llseek,
>>> + .owner = THIS_MODULE,
>>> +};
>>> +
>>> +static int adis16136_show_product_id(void *arg, u64 *val)
>>> +{
>>> + struct adis16136 *adis16136 = arg;
>>> + u16 prod_id;
>>> + int ret;
>>> +
>>> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
>>> + &prod_id);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + *val = prod_id;
>>> +
>>> + return 0;
>>> +}
>>> +DEFINE_SIMPLE_ATTRIBUTE(adis16136_product_id_fops,
>>> + adis16136_show_product_id, NULL, "%llu\n");
>>> +
>>> +static int adis16136_show_flash_count(void *arg, u64 *val)
>>> +{
>>> + struct adis16136 *adis16136 = arg;
>>> + uint16_t flash_count;
>>> + int ret;
>>> +
>>> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT,
>>> + &flash_count);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + *val = flash_count;
>>> +
>>> + return 0;
>>> +}
>>> +DEFINE_SIMPLE_ATTRIBUTE(adis16136_flash_count_fops,
>>> + adis16136_show_flash_count, NULL, "%lld\n");
>>> +
>>> +static int adis16136_debugfs_init(struct iio_dev *indio_dev)
>>> +{
>>> + struct adis16136 *adis16136 = iio_priv(indio_dev);
>>> +
>>> + debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
>>> + adis16136, &adis16136_serial_fops);
>>> + debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
>>> + adis16136, &adis16136_product_id_fops);
>>> + debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
>>> + adis16136, &adis16136_flash_count_fops);
>>> +
>>> + return 0;
>>> +}
>>> +
>>> +#else
>>> +
>>> +static int adis16136_debugfs_init(struct iio_dev *indio_dev)
>>> +{
>>> + return 0;
>>> +}
>>> +
>>> +#endif
>>> +
>>> +static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq)
>>> +{
>>> + unsigned int t;
>>> +
>>> + t = 32768 / freq;
>>> + if (t < 0xf)
>>> + t = 0xf;
>>> + else if (t > 0xffff)
>>> + t = 0xffff;
>>> + else
>>> + t--;
>>> +
>>> + return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t);
>>> +}
>>> +
>>> +static int adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq)
>>> +{
>>> + uint16_t t;
>>> + int ret;
>>> +
>>> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + *freq = 32768 / (t + 1);
>>> +
>>> + return 0;
>>> +}
>>> +
>>> +static ssize_t adis16136_write_frequency(struct device *dev,
>>> + struct device_attribute *attr, const char *buf, size_t len)
>>> +{
>>> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
>>> + struct adis16136 *adis16136 = iio_priv(indio_dev);
>>> + long val;
>>> + int ret;
>>> +
>>> + ret = kstrtol(buf, 10, &val);
>>> + if (ret)
>>> + return ret;
>>> +
>>> + if (val == 0)
>>> + return -EINVAL;
>>> +
>>> + ret = adis16136_set_freq(adis16136, val);
>>> +
>>> + return ret ? ret : len;
>>> +}
>>> +
>>> +static ssize_t adis16136_read_frequency(struct device *dev,
>>> + struct device_attribute *attr, char *buf)
>>> +{
>>> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
>>> + struct adis16136 *adis16136 = iio_priv(indio_dev);
>>> + unsigned int freq;
>>> + int ret;
>>> +
>>> + ret = adis16136_get_freq(adis16136, &freq);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + return sprintf(buf, "%d\n", freq);
>>> +}
>>> +
>>> +static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
>>> + adis16136_read_frequency,
>>> + adis16136_write_frequency);
>>> +
>> I love the comments. Useful sounding but I have no idea what
>> they actually mean!
>>> +static const unsigned adis16136_3db_divisors[] = {
>>> + [0] = 2, /* Special case */
>>> + [1] = 6,
>>> + [2] = 12,
>>> + [3] = 25,
>>> + [4] = 50,
>>> + [5] = 100,
>>> + [6] = 200,
>>> + [7] = 200, /* Not a valid setting */
>>> +};
>>> +
>>> +static int adis16136_set_filter(struct iio_dev *indio_dev, int val)
>>> +{
>>> + struct adis16136 *adis16136 = iio_priv(indio_dev);
>>> + unsigned int freq;
>>> + int i, ret;
>>> +
>>> + ret = adis16136_get_freq(adis16136, &freq);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {
>>> + if (freq / adis16136_3db_divisors[i] >= val)
>>> + break;
>>> + }
>>> +
>>> + return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);
>>> +}
>>> +
>>> +static int adis16136_get_filter(struct iio_dev *indio_dev, int *val)
>>> +{
>>> + struct adis16136 *adis16136 = iio_priv(indio_dev);
>>> + unsigned int freq;
>>> + uint16_t val16;
>>> + int ret;
>>> +
>>> + mutex_lock(&indio_dev->mlock);
>>> +
>>> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, &val16);
>>> + if (ret < 0)
>>> + goto err_unlock;
>>> +
>>> + ret = adis16136_get_freq(adis16136, &freq);
>>> + if (ret < 0)
>>> + goto err_unlock;
>>> +
>>> + *val = freq / adis16136_3db_divisors[val16 & 0x07];
>>> +
>>> +err_unlock:
>>> + mutex_unlock(&indio_dev->mlock);
>>> +
>>> + return ret ? ret : IIO_VAL_INT;
>>> +}
>>> +
>>> +static int adis16136_read_raw(struct iio_dev *indio_dev,
>>> + const struct iio_chan_spec *chan, int *val, int *val2, long info)
>>> +{
>>> + struct adis16136 *adis16136 = iio_priv(indio_dev);
>>> + uint32_t val32;
>>> + int ret;
>>> +
>>> + switch (info) {
>>> + case IIO_CHAN_INFO_RAW:
>>> + return adis_single_conversion(indio_dev, chan, 0, val);
>>> + case IIO_CHAN_INFO_SCALE:
>>> + switch (chan->type) {
>>> + case IIO_ANGL_VEL:
>>> + *val = adis16136->chip_info->precision;
>>> + *val2 = (adis16136->chip_info->fullscale << 16);
>>> + return IIO_VAL_FRACTIONAL;
>>> + case IIO_TEMP:
>>> + *val = 10;
>>> + *val2 = 697000; /* 0.010697 degree Celsius */
>>> + return IIO_VAL_INT_PLUS_MICRO;
>>> + default:
>>> + return -EINVAL;
>>> + }
>>> + case IIO_CHAN_INFO_CALIBBIAS:
>>> + ret = adis_read_reg_32(&adis16136->adis,
>>> + ADIS16136_REG_GYRO_OFF2, &val32);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + *val = sign_extend32(val32, 31);
>>> +
>>> + return IIO_VAL_INT;
>>> + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
>>> + return adis16136_get_filter(indio_dev, val);
>>> + default:
>>> + return -EINVAL;
>>> + }
>>> +}
>>> +
>>> +static int adis16136_write_raw(struct iio_dev *indio_dev,
>>> + const struct iio_chan_spec *chan, int val, int val2, long info)
>>> +{
>>> + struct adis16136 *adis16136 = iio_priv(indio_dev);
>>> +
>>> + switch (info) {
>>> + case IIO_CHAN_INFO_CALIBBIAS:
>>> + return adis_write_reg_32(&adis16136->adis,
>>> + ADIS16136_REG_GYRO_OFF2, val);
>>> + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
>>> + return adis16136_set_filter(indio_dev, val);
>>> + default:
>>> + break;
>>> + }
>>> +
>>> + return -EINVAL;
>>> +}
>>> +
>>> +enum {
>>> + ADIS16136_SCAN_GYRO,
>>> + ADIS16136_SCAN_TEMP,
>>> +};
>>> +
>>> +static const struct iio_chan_spec adis16136_channels[] = {
>>> + {
>>> + .type = IIO_ANGL_VEL,
>>> + .modified = 1,
>>> + .channel2 = IIO_MOD_X,
>>> + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
>>> + IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
>>> + IIO_CHAN_INFO_SCALE_SHARED_BIT |
>>> + IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT,
>>> + .address = ADIS16136_REG_GYRO_OUT2,
>>> + .scan_index = ADIS16136_SCAN_GYRO,
>>> + .scan_type = {
>>> + .sign = 's',
>>> + .realbits = 32,
>>> + .storagebits = 32,
>>> + .endianness = IIO_BE,
>>> + },
>>> + }, {
>>> + .type = IIO_TEMP,
>>> + .indexed = 1,
>>> + .channel = 0,
>>> + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
>>> + IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
>>> + .address = ADIS16136_REG_TEMP_OUT,
>>> + .scan_index = ADIS16136_SCAN_TEMP,
>>> + .scan_type = {
>>> + .sign = 's',
>>> + .realbits = 16,
>>> + .storagebits = 16,
>>> + .endianness = IIO_BE,
>>> + },
>>> + },
>>> + IIO_CHAN_SOFT_TIMESTAMP(2),
>>> +};
>>> +
>>> +static struct attribute *adis16136_attributes[] = {
>>> + &iio_dev_attr_sampling_frequency.dev_attr.attr,
>>> + NULL
>>> +};
>>> +
>>> +static const struct attribute_group adis16136_attribute_group = {
>>> + .attrs = adis16136_attributes,
>>> +};
>>> +
>>> +static const struct iio_info adis16136_info = {
>>> + .driver_module = THIS_MODULE,
>>> + .attrs = &adis16136_attribute_group,
>>> + .read_raw = &adis16136_read_raw,
>>> + .write_raw = &adis16136_write_raw,
>>> + .update_scan_mode = adis_update_scan_mode,
>>> + .debugfs_reg_access = adis_debugfs_reg_access,
>>> +};
>>> +
>>> +static int adis16136_stop_device(struct iio_dev *indio_dev)
>>> +{
>>> + struct adis16136 *adis16136 = iio_priv(indio_dev);
>>> + int ret;
>>> +
>>> + ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);
>>> + if (ret)
>>> + dev_err(&indio_dev->dev,
>>> + "Could not power down device: %d\n", ret);
>>> +
>>> + return ret;
>>> +}
>>> +
>>> +static int adis16136_initial_setup(struct iio_dev *indio_dev)
>>> +{
>>> + struct adis16136 *adis16136 = iio_priv(indio_dev);
>>> + unsigned int device_id;
>>> + uint16_t prod_id;
>>> + int ret;
>>> +
>>> + ret = adis_initial_startup(&adis16136->adis);
>>> + if (ret)
>>> + return ret;
>>> +
>>> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
>>> + &prod_id);
>>> + if (ret)
>>> + return ret;
>>> +
>>> + sscanf(indio_dev->name, "adis%u\n", &device_id);
>>> +
>>> + if (prod_id != device_id)
>>> + dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
>>> + device_id, prod_id);
>>> +
>>> + return 0;
>>> +}
>>> +
>>> +static const char * const adis16136_status_error_msgs[] = {
>>> + [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",
>>> + [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",
>>> + [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",
>>> + [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",
>>> +};
>>> +
>>> +static const struct adis_data adis16136_data = {
>>> + .diag_stat_reg = ADIS16136_REG_DIAG_STAT,
>>> + .glob_cmd_reg = ADIS16136_REG_GLOB_CMD,
>>> + .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL,
>>> +
>>> + .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST,
>>> + .startup_delay = 80,
>>> +
>>> + .read_delay = 10,
>>> + .write_delay = 10,
>>> +
>>> + .status_error_msgs = adis16136_status_error_msgs,
>>> + .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) |
>>> + BIT(ADIS16136_DIAG_STAT_SPI_FAIL) |
>>> + BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) |
>>> + BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL),
>>> +};
>>> +
>>> +enum adis16136_id {
>>> + ID_ADIS16133,
>>> + ID_ADIS16135,
>>> + ID_ADIS16136,
>>> +};
>>> +
>>> +static const struct adis16136_chip_info adis16136_chip_info[] = {
>>> + [ID_ADIS16133] = {
>>> + .precision = IIO_DEGREE_TO_RAD(1200),
>>> + .fullscale = 24000,
>>> + },
>>> + [ID_ADIS16135] = {
>>> + .precision = IIO_DEGREE_TO_RAD(300),
>>> + .fullscale = 24000,
>>> + },
>>> + [ID_ADIS16136] = {
>>> + .precision = IIO_DEGREE_TO_RAD(450),
>>> + .fullscale = 24623,
>>> + },
>>> +};
>>> +
>>> +static int __devinit adis16136_probe(struct spi_device *spi)
>>> +{
>>> + const struct spi_device_id *id = spi_get_device_id(spi);
>>> + struct adis16136 *adis16136;
>>> + struct iio_dev *indio_dev;
>>> + int ret;
>>> +
>>> + indio_dev = iio_device_alloc(sizeof(*adis16136));
>>> + if (indio_dev == NULL)
>>> + return -ENOMEM;
>>> +
>>> + spi_set_drvdata(spi, indio_dev);
>>> +
>>> + adis16136 = iio_priv(indio_dev);
>>> +
>>> + adis16136->chip_info = &adis16136_chip_info[id->driver_data];
>>> + indio_dev->dev.parent = &spi->dev;
>>> + indio_dev->name = spi_get_device_id(spi)->name;
>>> + indio_dev->channels = adis16136_channels;
>>> + indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
>>> + indio_dev->info = &adis16136_info;
>>> + indio_dev->modes = INDIO_DIRECT_MODE;
>>> +
>>> + ret = adis_init(&adis16136->adis, indio_dev, spi, &adis16136_data);
>>> + if (ret)
>>> + goto error_free_dev;
>>> +
>>> + ret = adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
>>> + if (ret)
>>> + goto error_free_dev;
>>> +
>>> + ret = adis16136_initial_setup(indio_dev);
>>> + if (ret)
>>> + goto error_cleanup_buffer;
>>> +
>>> + ret = iio_device_register(indio_dev);
>>> + if (ret)
>>> + goto error_stop_device;
>>> +
>>> + adis16136_debugfs_init(indio_dev);
>>> +
>>> + return 0;
>>> +
>>> +error_stop_device:
>>> + adis16136_stop_device(indio_dev);
>>> +error_cleanup_buffer:
>>> + adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
>>> +error_free_dev:
>>> + iio_device_free(indio_dev);
>>> + return ret;
>>> +}
>>> +
>>> +static int __devexit adis16136_remove(struct spi_device *spi)
>>> +{
>>> + struct iio_dev *indio_dev = spi_get_drvdata(spi);
>>> + struct adis16136 *adis16136 = iio_priv(indio_dev);
>>> +
>>> + iio_device_unregister(indio_dev);
>>> + adis16136_stop_device(indio_dev);
>>> +
>>> + adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
>>> +
>>> + iio_device_free(indio_dev);
>>> +
>>> + return 0;
>>> +}
>>> +
>>> +static const struct spi_device_id adis16136_ids[] = {
>>> + { "adis16133", ID_ADIS16133 },
>>> + { "adis16135", ID_ADIS16135 },
>>> + { "adis16136", ID_ADIS16136 },
>>> + { }
>>> +};
>>> +MODULE_DEVICE_TABLE(spi, adis16136_ids);
>>> +
>>> +static struct spi_driver adis16136_driver = {
>>> + .driver = {
>>> + .name = "adis16136",
>>> + .owner = THIS_MODULE,
>>> + },
>>> + .id_table = adis16136_ids,
>>> + .probe = adis16136_probe,
>>> + .remove = __devexit_p(adis16136_remove),
>>> +};
>>> +module_spi_driver(adis16136_driver);
>>> +
>>> +MODULE_AUTHOR("Lars-Peter Clausen <lars@xxxxxxxxxx>");
>>> +MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
>>> +MODULE_LICENSE("GPL v2");
>>>
>
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