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

[Lars-Peter Clausen <lars@metafoo.de>]

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@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
> 

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.

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@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");
>>