drivers/iio/imu/adis16400_core.c

   1 /*
   2  * adis16400.c  support Analog Devices ADIS16400/5
   3  *              3d 2g Linear Accelerometers,
   4  *              3d Gyroscopes,
   5  *              3d Magnetometers via SPI
   6  *
   7  * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
   8  * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
   9  * Copyright (c) 2011 Analog Devices Inc.
  10  *
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License version 2 as
  13  * published by the Free Software Foundation.
  14  *
  15  */
  16
  17 #include <linux/interrupt.h>
  18 #include <linux/irq.h>
  19 #include <linux/delay.h>
  20 #include <linux/mutex.h>
  21 #include <linux/device.h>
  22 #include <linux/kernel.h>
  23 #include <linux/spi/spi.h>
  24 #include <linux/slab.h>
  25 #include <linux/sysfs.h>
  26 #include <linux/list.h>
  27 #include <linux/module.h>
  28 #include <linux/debugfs.h>
  29 #include <linux/bitops.h>
  30
  31 #include <linux/iio/iio.h>
  32 #include <linux/iio/sysfs.h>
  33 #include <linux/iio/buffer.h>
  34
  35 #include "adis16400.h"
  36
  37 #ifdef CONFIG_DEBUG_FS
  38
  39 static ssize_t adis16400_show_serial_number(struct file *file,
  40                 char __user *userbuf, size_t count, loff_t *ppos)
  41 {
  42         struct adis16400_state *st = file->private_data;
  43         u16 lot1, lot2, serial_number;
  44         char buf[16];
  45         size_t len;
  46         int ret;
  47
  48         ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
  49         if (ret < 0)
  50                 return ret;
  51
  52         ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
  53         if (ret < 0)
  54                 return ret;
  55
  56         ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
  57                         &serial_number);
  58         if (ret < 0)
  59                 return ret;
  60
  61         len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
  62                         serial_number);
  63
  64         return simple_read_from_buffer(userbuf, count, ppos, buf, len);
  65 }
  66
  67 static const struct file_operations adis16400_serial_number_fops = {
  68         .open = simple_open,
  69         .read = adis16400_show_serial_number,
  70         .llseek = default_llseek,
  71         .owner = THIS_MODULE,
  72 };
  73
  74 static int adis16400_show_product_id(void *arg, u64 *val)
  75 {
  76         struct adis16400_state *st = arg;
  77         uint16_t prod_id;
  78         int ret;
  79
  80         ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
  81         if (ret < 0)
  82                 return ret;
  83
  84         *val = prod_id;
  85
  86         return 0;
  87 }
  88 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
  89         adis16400_show_product_id, NULL, "%lld\n");
  90
  91 static int adis16400_show_flash_count(void *arg, u64 *val)
  92 {
  93         struct adis16400_state *st = arg;
  94         uint16_t flash_count;
  95         int ret;
  96
  97         ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
  98         if (ret < 0)
  99                 return ret;
 100
 101         *val = flash_count;
 102
 103         return 0;
 104 }
 105 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
 106         adis16400_show_flash_count, NULL, "%lld\n");
 107
 108 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
 109 {
 110         struct adis16400_state *st = iio_priv(indio_dev);
 111
 112         if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
 113                 debugfs_create_file("serial_number", 0400,
 114                         indio_dev->debugfs_dentry, st,
 115                         &adis16400_serial_number_fops);
 116         if (st->variant->flags & ADIS16400_HAS_PROD_ID)
 117                 debugfs_create_file("product_id", 0400,
 118                         indio_dev->debugfs_dentry, st,
 119                         &adis16400_product_id_fops);
 120         debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
 121                 st, &adis16400_flash_count_fops);
 122
 123         return 0;
 124 }
 125
 126 #else
 127
 128 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
 129 {
 130         return 0;
 131 }
 132
 133 #endif
 134
 135 enum adis16400_chip_variant {
 136         ADIS16300,
 137         ADIS16334,
 138         ADIS16350,
 139         ADIS16360,
 140         ADIS16362,
 141         ADIS16364,
 142         ADIS16367,
 143         ADIS16400,
 144         ADIS16445,
 145         ADIS16448,
 146 };
 147
 148 static int adis16334_get_freq(struct adis16400_state *st)
 149 {
 150         int ret;
 151         uint16_t t;
 152
 153         ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
 154         if (ret < 0)
 155                 return ret;
 156
 157         t >>= ADIS16334_RATE_DIV_SHIFT;
 158
 159         return 819200 >> t;
 160 }
 161
 162 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
 163 {
 164         unsigned int t;
 165
 166         if (freq < 819200)
 167                 t = ilog2(819200 / freq);
 168         else
 169                 t = 0;
 170
 171         if (t > 0x31)
 172                 t = 0x31;
 173
 174         t <<= ADIS16334_RATE_DIV_SHIFT;
 175         t |= ADIS16334_RATE_INT_CLK;
 176
 177         return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
 178 }
 179
 180 static int adis16400_get_freq(struct adis16400_state *st)
 181 {
 182         int sps, ret;
 183         uint16_t t;
 184
 185         ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
 186         if (ret < 0)
 187                 return ret;
 188
 189         sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
 190         sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
 191
 192         return sps;
 193 }
 194
 195 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
 196 {
 197         unsigned int t;
 198         uint8_t val = 0;
 199
 200         t = 1638404 / freq;
 201         if (t >= 128) {
 202                 val |= ADIS16400_SMPL_PRD_TIME_BASE;
 203                 t = 52851 / freq;
 204                 if (t >= 128)
 205                         t = 127;
 206         } else if (t != 0) {
 207                 t--;
 208         }
 209
 210         val |= t;
 211
 212         if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
 213                 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
 214         else
 215                 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 216
 217         return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
 218 }
 219
 220 static const unsigned adis16400_3db_divisors[] = {
 221         [0] = 2, /* Special case */
 222         [1] = 6,
 223         [2] = 12,
 224         [3] = 25,
 225         [4] = 50,
 226         [5] = 100,
 227         [6] = 200,
 228         [7] = 200, /* Not a valid setting */
 229 };
 230
 231 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
 232 {
 233         struct adis16400_state *st = iio_priv(indio_dev);
 234         uint16_t val16;
 235         int i, ret;
 236
 237         for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
 238                 if (sps / adis16400_3db_divisors[i] >= val)
 239                         break;
 240         }
 241
 242         ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
 243         if (ret < 0)
 244                 return ret;
 245
 246         ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
 247                                          (val16 & ~0x07) | i);
 248         return ret;
 249 }
 250
 251 /* Power down the device */
 252 static int adis16400_stop_device(struct iio_dev *indio_dev)
 253 {
 254         struct adis16400_state *st = iio_priv(indio_dev);
 255         int ret;
 256
 257         ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
 258                         ADIS16400_SLP_CNT_POWER_OFF);
 259         if (ret)
 260                 dev_err(&indio_dev->dev,
 261                         "problem with turning device off: SLP_CNT");
 262
 263         return ret;
 264 }
 265
 266 static int adis16400_initial_setup(struct iio_dev *indio_dev)
 267 {
 268         struct adis16400_state *st = iio_priv(indio_dev);
 269         uint16_t prod_id, smp_prd;
 270         unsigned int device_id;
 271         int ret;
 272
 273         /* use low spi speed for init if the device has a slow mode */
 274         if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
 275                 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
 276         else
 277                 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 278         st->adis.spi->mode = SPI_MODE_3;
 279         spi_setup(st->adis.spi);
 280
 281         ret = adis_initial_startup(&st->adis);
 282         if (ret)
 283                 return ret;
 284
 285         if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
 286                 ret = adis_read_reg_16(&st->adis,
 287                                                 ADIS16400_PRODUCT_ID, &prod_id);
 288                 if (ret)
 289                         goto err_ret;
 290
 291                 sscanf(indio_dev->name, "adis%u\n", &device_id);
 292
 293                 if (prod_id != device_id)
 294                         dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
 295                                         device_id, prod_id);
 296
 297                 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
 298                         indio_dev->name, prod_id,
 299                         st->adis.spi->chip_select, st->adis.spi->irq);
 300         }
 301         /* use high spi speed if possible */
 302         if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
 303                 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
 304                 if (ret)
 305                         goto err_ret;
 306
 307                 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
 308                         st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 309                         spi_setup(st->adis.spi);
 310                 }
 311         }
 312
 313 err_ret:
 314         return ret;
 315 }
 316
 317 static const uint8_t adis16400_addresses[] = {
 318         [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
 319         [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
 320         [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
 321         [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
 322         [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
 323         [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
 324 };
 325
 326 static int adis16400_write_raw(struct iio_dev *indio_dev,
 327         struct iio_chan_spec const *chan, int val, int val2, long info)
 328 {
 329         struct adis16400_state *st = iio_priv(indio_dev);
 330         int ret, sps;
 331
 332         switch (info) {
 333         case IIO_CHAN_INFO_CALIBBIAS:
 334                 mutex_lock(&indio_dev->mlock);
 335                 ret = adis_write_reg_16(&st->adis,
 336                                 adis16400_addresses[chan->scan_index], val);
 337                 mutex_unlock(&indio_dev->mlock);
 338                 return ret;
 339         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 340                 /*
 341                  * Need to cache values so we can update if the frequency
 342                  * changes.
 343                  */
 344                 mutex_lock(&indio_dev->mlock);
 345                 st->filt_int = val;
 346                 /* Work out update to current value */
 347                 sps = st->variant->get_freq(st);
 348                 if (sps < 0) {
 349                         mutex_unlock(&indio_dev->mlock);
 350                         return sps;
 351                 }
 352
 353                 ret = adis16400_set_filter(indio_dev, sps,
 354                         val * 1000 + val2 / 1000);
 355                 mutex_unlock(&indio_dev->mlock);
 356                 return ret;
 357         case IIO_CHAN_INFO_SAMP_FREQ:
 358                 sps = val * 1000 + val2 / 1000;
 359
 360                 if (sps <= 0)
 361                         return -EINVAL;
 362
 363                 mutex_lock(&indio_dev->mlock);
 364                 ret = st->variant->set_freq(st, sps);
 365                 mutex_unlock(&indio_dev->mlock);
 366                 return ret;
 367         default:
 368                 return -EINVAL;
 369         }
 370 }
 371
 372 static int adis16400_read_raw(struct iio_dev *indio_dev,
 373         struct iio_chan_spec const *chan, int *val, int *val2, long info)
 374 {
 375         struct adis16400_state *st = iio_priv(indio_dev);
 376         int16_t val16;
 377         int ret;
 378
 379         switch (info) {
 380         case IIO_CHAN_INFO_RAW:
 381                 return adis_single_conversion(indio_dev, chan, 0, val);
 382         case IIO_CHAN_INFO_SCALE:
 383                 switch (chan->type) {
 384                 case IIO_ANGL_VEL:
 385                         *val = 0;
 386                         *val2 = st->variant->gyro_scale_micro;
 387                         return IIO_VAL_INT_PLUS_MICRO;
 388                 case IIO_VOLTAGE:
 389                         *val = 0;
 390                         if (chan->channel == 0) {
 391                                 *val = 2;
 392                                 *val2 = 418000; /* 2.418 mV */
 393                         } else {
 394                                 *val = 0;
 395                                 *val2 = 805800; /* 805.8 uV */
 396                         }
 397                         return IIO_VAL_INT_PLUS_MICRO;
 398                 case IIO_ACCEL:
 399                         *val = 0;
 400                         *val2 = st->variant->accel_scale_micro;
 401                         return IIO_VAL_INT_PLUS_MICRO;
 402                 case IIO_MAGN:
 403                         *val = 0;
 404                         *val2 = 500; /* 0.5 mgauss */
 405                         return IIO_VAL_INT_PLUS_MICRO;
 406                 case IIO_TEMP:
 407                         *val = st->variant->temp_scale_nano / 1000000;
 408                         *val2 = (st->variant->temp_scale_nano % 1000000);
 409                         return IIO_VAL_INT_PLUS_MICRO;
 410                 case IIO_PRESSURE:
 411                         /* 20 uBar = 0.002kPascal */
 412                         *val = 0;
 413                         *val2 = 2000;
 414                         return IIO_VAL_INT_PLUS_MICRO;
 415                 default:
 416                         return -EINVAL;
 417                 }
 418         case IIO_CHAN_INFO_CALIBBIAS:
 419                 mutex_lock(&indio_dev->mlock);
 420                 ret = adis_read_reg_16(&st->adis,
 421                                 adis16400_addresses[chan->scan_index], &val16);
 422                 mutex_unlock(&indio_dev->mlock);
 423                 if (ret)
 424                         return ret;
 425                 val16 = sign_extend32(val16, 11);
 426                 *val = val16;
 427                 return IIO_VAL_INT;
 428         case IIO_CHAN_INFO_OFFSET:
 429                 /* currently only temperature */
 430                 *val = st->variant->temp_offset;
 431                 return IIO_VAL_INT;
 432         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 433                 mutex_lock(&indio_dev->mlock);
 434                 /* Need both the number of taps and the sampling frequency */
 435                 ret = adis_read_reg_16(&st->adis,
 436                                                 ADIS16400_SENS_AVG,
 437                                                 &val16);
 438                 if (ret < 0) {
 439                         mutex_unlock(&indio_dev->mlock);
 440                         return ret;
 441                 }
 442                 ret = st->variant->get_freq(st);
 443                 if (ret >= 0) {
 444                         ret /= adis16400_3db_divisors[val16 & 0x07];
 445                         *val = ret / 1000;
 446                         *val2 = (ret % 1000) * 1000;
 447                 }
 448                 mutex_unlock(&indio_dev->mlock);
 449                 if (ret < 0)
 450                         return ret;
 451                 return IIO_VAL_INT_PLUS_MICRO;
 452         case IIO_CHAN_INFO_SAMP_FREQ:
 453                 ret = st->variant->get_freq(st);
 454                 if (ret < 0)
 455                         return ret;
 456                 *val = ret / 1000;
 457                 *val2 = (ret % 1000) * 1000;
 458                 return IIO_VAL_INT_PLUS_MICRO;
 459         default:
 460                 return -EINVAL;
 461         }
 462 }
 463
 464 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
 465         .type = IIO_VOLTAGE, \
 466         .indexed = 1, \
 467         .channel = chn, \
 468         .extend_name = name, \
 469         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 470                 BIT(IIO_CHAN_INFO_SCALE), \
 471         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 472         .address = (addr), \
 473         .scan_index = (si), \
 474         .scan_type = { \
 475                 .sign = 'u', \
 476                 .realbits = (bits), \
 477                 .storagebits = 16, \
 478                 .shift = 0, \
 479                 .endianness = IIO_BE, \
 480         }, \
 481 }
 482
 483 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
 484         ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
 485
 486 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
 487         ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
 488
 489 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
 490         .type = IIO_ANGL_VEL, \
 491         .modified = 1, \
 492         .channel2 = IIO_MOD_ ## mod, \
 493         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 494                 BIT(IIO_CHAN_INFO_CALIBBIAS),             \
 495         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 496                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 497         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 498         .address = addr, \
 499         .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
 500         .scan_type = { \
 501                 .sign = 's', \
 502                 .realbits = (bits), \
 503                 .storagebits = 16, \
 504                 .shift = 0, \
 505                 .endianness = IIO_BE, \
 506         }, \
 507 }
 508
 509 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
 510         .type = IIO_ACCEL, \
 511         .modified = 1, \
 512         .channel2 = IIO_MOD_ ## mod, \
 513         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 514                 BIT(IIO_CHAN_INFO_CALIBBIAS), \
 515         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 516                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 517         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 518         .address = (addr), \
 519         .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
 520         .scan_type = { \
 521                 .sign = 's', \
 522                 .realbits = (bits), \
 523                 .storagebits = 16, \
 524                 .shift = 0, \
 525                 .endianness = IIO_BE, \
 526         }, \
 527 }
 528
 529 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
 530         .type = IIO_MAGN, \
 531         .modified = 1, \
 532         .channel2 = IIO_MOD_ ## mod, \
 533         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
 534         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 535                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 536         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 537         .address = (addr), \
 538         .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
 539         .scan_type = { \
 540                 .sign = 's', \
 541                 .realbits = (bits), \
 542                 .storagebits = 16, \
 543                 .shift = 0, \
 544                 .endianness = IIO_BE, \
 545         }, \
 546 }
 547
 548 #define ADIS16400_MOD_TEMP_NAME_X "x"
 549 #define ADIS16400_MOD_TEMP_NAME_Y "y"
 550 #define ADIS16400_MOD_TEMP_NAME_Z "z"
 551
 552 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
 553         .type = IIO_TEMP, \
 554         .indexed = 1, \
 555         .channel = 0, \
 556         .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
 557         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 558                 BIT(IIO_CHAN_INFO_OFFSET) | \
 559                 BIT(IIO_CHAN_INFO_SCALE), \
 560         .info_mask_shared_by_type = \
 561                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 562         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 563         .address = (addr), \
 564         .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
 565         .scan_type = { \
 566                 .sign = 's', \
 567                 .realbits = (bits), \
 568                 .storagebits = 16, \
 569                 .shift = 0, \
 570                 .endianness = IIO_BE, \
 571         }, \
 572 }
 573
 574 #define ADIS16400_TEMP_CHAN(addr, bits) { \
 575         .type = IIO_TEMP, \
 576         .indexed = 1, \
 577         .channel = 0, \
 578         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 579                 BIT(IIO_CHAN_INFO_OFFSET) | \
 580                 BIT(IIO_CHAN_INFO_SCALE), \
 581         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 582         .address = (addr), \
 583         .scan_index = ADIS16350_SCAN_TEMP_X, \
 584         .scan_type = { \
 585                 .sign = 's', \
 586                 .realbits = (bits), \
 587                 .storagebits = 16, \
 588                 .shift = 0, \
 589                 .endianness = IIO_BE, \
 590         }, \
 591 }
 592
 593 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
 594         .type = IIO_INCLI, \
 595         .modified = 1, \
 596         .channel2 = IIO_MOD_ ## mod, \
 597         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
 598         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 599         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 600         .address = (addr), \
 601         .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
 602         .scan_type = { \
 603                 .sign = 's', \
 604                 .realbits = (bits), \
 605                 .storagebits = 16, \
 606                 .shift = 0, \
 607                 .endianness = IIO_BE, \
 608         }, \
 609 }
 610
 611 static const struct iio_chan_spec adis16400_channels[] = {
 612         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
 613         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 614         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 615         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 616         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 617         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 618         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 619         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
 620         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
 621         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
 622         ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
 623         ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
 624         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 625 };
 626
 627 static const struct iio_chan_spec adis16445_channels[] = {
 628         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
 629         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
 630         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
 631         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
 632         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
 633         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
 634         ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
 635         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 636 };
 637
 638 static const struct iio_chan_spec adis16448_channels[] = {
 639         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
 640         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
 641         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
 642         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
 643         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
 644         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
 645         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
 646         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
 647         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
 648         {
 649                 .type = IIO_PRESSURE,
 650                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
 651                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
 652                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
 653                 .address = ADIS16448_BARO_OUT,
 654                 .scan_index = ADIS16400_SCAN_BARO,
 655                 .scan_type = {
 656                         .sign = 's',
 657                         .realbits = 16,
 658                         .storagebits = 16,
 659                         .endianness = IIO_BE,
 660                 },
 661         },
 662         ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
 663         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 664 };
 665
 666 static const struct iio_chan_spec adis16350_channels[] = {
 667         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
 668         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 669         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 670         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 671         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 672         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 673         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 674         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
 675         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
 676         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
 677         ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
 678         ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
 679         ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
 680         ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
 681         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 682 };
 683
 684 static const struct iio_chan_spec adis16300_channels[] = {
 685         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
 686         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 687         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 688         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 689         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 690         ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
 691         ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
 692         ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
 693         ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
 694         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 695 };
 696
 697 static const struct iio_chan_spec adis16334_channels[] = {
 698         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 699         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 700         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 701         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 702         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 703         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 704         ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
 705         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 706 };
 707
 708 static struct adis16400_chip_info adis16400_chips[] = {
 709         [ADIS16300] = {
 710                 .channels = adis16300_channels,
 711                 .num_channels = ARRAY_SIZE(adis16300_channels),
 712                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 713                                 ADIS16400_HAS_SERIAL_NUMBER,
 714                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 715                 .accel_scale_micro = 5884,
 716                 .temp_scale_nano = 140000000, /* 0.14 C */
 717                 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
 718                 .set_freq = adis16400_set_freq,
 719                 .get_freq = adis16400_get_freq,
 720         },
 721         [ADIS16334] = {
 722                 .channels = adis16334_channels,
 723                 .num_channels = ARRAY_SIZE(adis16334_channels),
 724                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
 725                                 ADIS16400_HAS_SERIAL_NUMBER,
 726                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 727                 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
 728                 .temp_scale_nano = 67850000, /* 0.06785 C */
 729                 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
 730                 .set_freq = adis16334_set_freq,
 731                 .get_freq = adis16334_get_freq,
 732         },
 733         [ADIS16350] = {
 734                 .channels = adis16350_channels,
 735                 .num_channels = ARRAY_SIZE(adis16350_channels),
 736                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
 737                 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
 738                 .temp_scale_nano = 145300000, /* 0.1453 C */
 739                 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
 740                 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
 741                 .set_freq = adis16400_set_freq,
 742                 .get_freq = adis16400_get_freq,
 743         },
 744         [ADIS16360] = {
 745                 .channels = adis16350_channels,
 746                 .num_channels = ARRAY_SIZE(adis16350_channels),
 747                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 748                                 ADIS16400_HAS_SERIAL_NUMBER,
 749                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 750                 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
 751                 .temp_scale_nano = 136000000, /* 0.136 C */
 752                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 753                 .set_freq = adis16400_set_freq,
 754                 .get_freq = adis16400_get_freq,
 755         },
 756         [ADIS16362] = {
 757                 .channels = adis16350_channels,
 758                 .num_channels = ARRAY_SIZE(adis16350_channels),
 759                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 760                                 ADIS16400_HAS_SERIAL_NUMBER,
 761                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 762                 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
 763                 .temp_scale_nano = 136000000, /* 0.136 C */
 764                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 765                 .set_freq = adis16400_set_freq,
 766                 .get_freq = adis16400_get_freq,
 767         },
 768         [ADIS16364] = {
 769                 .channels = adis16350_channels,
 770                 .num_channels = ARRAY_SIZE(adis16350_channels),
 771                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 772                                 ADIS16400_HAS_SERIAL_NUMBER,
 773                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 774                 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
 775                 .temp_scale_nano = 136000000, /* 0.136 C */
 776                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 777                 .set_freq = adis16400_set_freq,
 778                 .get_freq = adis16400_get_freq,
 779         },
 780         [ADIS16367] = {
 781                 .channels = adis16350_channels,
 782                 .num_channels = ARRAY_SIZE(adis16350_channels),
 783                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 784                                 ADIS16400_HAS_SERIAL_NUMBER,
 785                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
 786                 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
 787                 .temp_scale_nano = 136000000, /* 0.136 C */
 788                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 789                 .set_freq = adis16400_set_freq,
 790                 .get_freq = adis16400_get_freq,
 791         },
 792         [ADIS16400] = {
 793                 .channels = adis16400_channels,
 794                 .num_channels = ARRAY_SIZE(adis16400_channels),
 795                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
 796                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 797                 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
 798                 .temp_scale_nano = 140000000, /* 0.14 C */
 799                 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
 800                 .set_freq = adis16400_set_freq,
 801                 .get_freq = adis16400_get_freq,
 802         },
 803         [ADIS16445] = {
 804                 .channels = adis16445_channels,
 805                 .num_channels = ARRAY_SIZE(adis16445_channels),
 806                 .flags = ADIS16400_HAS_PROD_ID |
 807                                 ADIS16400_HAS_SERIAL_NUMBER |
 808                                 ADIS16400_BURST_DIAG_STAT,
 809                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
 810                 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
 811                 .temp_scale_nano = 73860000, /* 0.07386 C */
 812                 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
 813                 .set_freq = adis16334_set_freq,
 814                 .get_freq = adis16334_get_freq,
 815         },
 816         [ADIS16448] = {
 817                 .channels = adis16448_channels,
 818                 .num_channels = ARRAY_SIZE(adis16448_channels),
 819                 .flags = ADIS16400_HAS_PROD_ID |
 820                                 ADIS16400_HAS_SERIAL_NUMBER |
 821                                 ADIS16400_BURST_DIAG_STAT,
 822                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
 823                 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
 824                 .temp_scale_nano = 73860000, /* 0.07386 C */
 825                 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
 826                 .set_freq = adis16334_set_freq,
 827                 .get_freq = adis16334_get_freq,
 828         }
 829 };
 830
 831 static const struct iio_info adis16400_info = {
 832         .driver_module = THIS_MODULE,
 833         .read_raw = &adis16400_read_raw,
 834         .write_raw = &adis16400_write_raw,
 835         .update_scan_mode = adis16400_update_scan_mode,
 836         .debugfs_reg_access = adis_debugfs_reg_access,
 837 };
 838
 839 static const char * const adis16400_status_error_msgs[] = {
 840         [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
 841         [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
 842         [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
 843         [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
 844         [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
 845         [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
 846         [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
 847         [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
 848         [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
 849         [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
 850         [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
 851         [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
 852         [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
 853         [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
 854         [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
 855 };
 856
 857 static const struct adis_data adis16400_data = {
 858         .msc_ctrl_reg = ADIS16400_MSC_CTRL,
 859         .glob_cmd_reg = ADIS16400_GLOB_CMD,
 860         .diag_stat_reg = ADIS16400_DIAG_STAT,
 861
 862         .read_delay = 50,
 863         .write_delay = 50,
 864
 865         .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
 866         .startup_delay = ADIS16400_STARTUP_DELAY,
 867
 868         .status_error_msgs = adis16400_status_error_msgs,
 869         .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
 870                 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
 871                 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
 872                 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
 873                 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
 874                 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
 875                 BIT(ADIS16400_DIAG_STAT_ALARM2) |
 876                 BIT(ADIS16400_DIAG_STAT_ALARM1) |
 877                 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
 878                 BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
 879                 BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
 880                 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
 881                 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
 882                 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
 883                 BIT(ADIS16400_DIAG_STAT_POWER_LOW),
 884 };
 885
 886 static void adis16400_setup_chan_mask(struct adis16400_state *st)
 887 {
 888         const struct adis16400_chip_info *chip_info = st->variant;
 889         unsigned i;
 890
 891         for (i = 0; i < chip_info->num_channels; i++) {
 892                 const struct iio_chan_spec *ch = &chip_info->channels[i];
 893
 894                 if (ch->scan_index >= 0 &&
 895                     ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
 896                         st->avail_scan_mask[0] |= BIT(ch->scan_index);
 897         }
 898 }
 899
 900 static int adis16400_probe(struct spi_device *spi)
 901 {
 902         struct adis16400_state *st;
 903         struct iio_dev *indio_dev;
 904         int ret;
 905
 906         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 907         if (indio_dev == NULL)
 908                 return -ENOMEM;
 909
 910         st = iio_priv(indio_dev);
 911         /* this is only used for removal purposes */
 912         spi_set_drvdata(spi, indio_dev);
 913
 914         /* setup the industrialio driver allocated elements */
 915         st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
 916         indio_dev->dev.parent = &spi->dev;
 917         indio_dev->name = spi_get_device_id(spi)->name;
 918         indio_dev->channels = st->variant->channels;
 919         indio_dev->num_channels = st->variant->num_channels;
 920         indio_dev->info = &adis16400_info;
 921         indio_dev->modes = INDIO_DIRECT_MODE;
 922
 923         if (!(st->variant->flags & ADIS16400_NO_BURST)) {
 924                 adis16400_setup_chan_mask(st);
 925                 indio_dev->available_scan_masks = st->avail_scan_mask;
 926         }
 927
 928         ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
 929         if (ret)
 930                 return ret;
 931
 932         ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
 933                         adis16400_trigger_handler);
 934         if (ret)
 935                 return ret;
 936
 937         /* Get the device into a sane initial state */
 938         ret = adis16400_initial_setup(indio_dev);
 939         if (ret)
 940                 goto error_cleanup_buffer;
 941         ret = iio_device_register(indio_dev);
 942         if (ret)
 943                 goto error_cleanup_buffer;
 944
 945         adis16400_debugfs_init(indio_dev);
 946         return 0;
 947
 948 error_cleanup_buffer:
 949         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 950         return ret;
 951 }
 952
 953 static int adis16400_remove(struct spi_device *spi)
 954 {
 955         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 956         struct adis16400_state *st = iio_priv(indio_dev);
 957
 958         iio_device_unregister(indio_dev);
 959         adis16400_stop_device(indio_dev);
 960
 961         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 962
 963         return 0;
 964 }
 965
 966 static const struct spi_device_id adis16400_id[] = {
 967         {"adis16300", ADIS16300},
 968         {"adis16305", ADIS16300},
 969         {"adis16334", ADIS16334},
 970         {"adis16350", ADIS16350},
 971         {"adis16354", ADIS16350},
 972         {"adis16355", ADIS16350},
 973         {"adis16360", ADIS16360},
 974         {"adis16362", ADIS16362},
 975         {"adis16364", ADIS16364},
 976         {"adis16365", ADIS16360},
 977         {"adis16367", ADIS16367},
 978         {"adis16400", ADIS16400},
 979         {"adis16405", ADIS16400},
 980         {"adis16445", ADIS16445},
 981         {"adis16448", ADIS16448},
 982         {}
 983 };
 984 MODULE_DEVICE_TABLE(spi, adis16400_id);
 985
 986 static struct spi_driver adis16400_driver = {
 987         .driver = {
 988                 .name = "adis16400",
 989         },
 990         .id_table = adis16400_id,
 991         .probe = adis16400_probe,
 992         .remove = adis16400_remove,
 993 };
 994 module_spi_driver(adis16400_driver);
 995
 996 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
 997 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
 998 MODULE_LICENSE("GPL v2");