Re: [PATCH 3/7] iio:gyro: Add support for the ADIS16136 gyroscope

[Jonathan Cameron <jic23@kernel.org>]

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@metafoo.de>
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

> ---
>  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@metafoo.de>
> + *
> + * 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@metafoo.de>");
> +MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
> +MODULE_LICENSE("GPL v2");
>