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8
9#include <linux/interrupt.h>
10#include <linux/irq.h>
11#include <linux/gpio.h>
12#include <linux/delay.h>
13#include <linux/mutex.h>
14#include <linux/device.h>
15#include <linux/kernel.h>
16#include <linux/spi/spi.h>
17#include <linux/slab.h>
18#include <linux/sysfs.h>
19#include <linux/list.h>
20
21#include "../iio.h"
22#include "../sysfs.h"
23#include "gyro.h"
24#include "../adc/adc.h"
25
26#include "adis16251.h"
27
28#define DRIVER_NAME "adis16251"
29
30
31
32
33
34
35
36
37
38
39
40
41int adis16251_spi_write_reg_8(struct device *dev,
42 u8 reg_address,
43 u8 val)
44{
45 int ret;
46 struct iio_dev *indio_dev = dev_get_drvdata(dev);
47 struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
48
49 mutex_lock(&st->buf_lock);
50 st->tx[0] = ADIS16251_WRITE_REG(reg_address);
51 st->tx[1] = val;
52
53 ret = spi_write(st->us, st->tx, 2);
54 mutex_unlock(&st->buf_lock);
55
56 return ret;
57}
58
59
60
61
62
63
64
65
66static int adis16251_spi_write_reg_16(struct device *dev,
67 u8 lower_reg_address,
68 u16 value)
69{
70 int ret;
71 struct spi_message msg;
72 struct iio_dev *indio_dev = dev_get_drvdata(dev);
73 struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
74 struct spi_transfer xfers[] = {
75 {
76 .tx_buf = st->tx,
77 .bits_per_word = 8,
78 .len = 2,
79 .cs_change = 1,
80 }, {
81 .tx_buf = st->tx + 2,
82 .bits_per_word = 8,
83 .len = 2,
84 .cs_change = 1,
85 },
86 };
87
88 mutex_lock(&st->buf_lock);
89 st->tx[0] = ADIS16251_WRITE_REG(lower_reg_address);
90 st->tx[1] = value & 0xFF;
91 st->tx[2] = ADIS16251_WRITE_REG(lower_reg_address + 1);
92 st->tx[3] = (value >> 8) & 0xFF;
93
94 spi_message_init(&msg);
95 spi_message_add_tail(&xfers[0], &msg);
96 spi_message_add_tail(&xfers[1], &msg);
97 ret = spi_sync(st->us, &msg);
98 mutex_unlock(&st->buf_lock);
99
100 return ret;
101}
102
103
104
105
106
107
108
109
110static int adis16251_spi_read_reg_16(struct device *dev,
111 u8 lower_reg_address,
112 u16 *val)
113{
114 struct spi_message msg;
115 struct iio_dev *indio_dev = dev_get_drvdata(dev);
116 struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
117 int ret;
118 struct spi_transfer xfers[] = {
119 {
120 .tx_buf = st->tx,
121 .bits_per_word = 8,
122 .len = 2,
123 .cs_change = 1,
124 }, {
125 .rx_buf = st->rx,
126 .bits_per_word = 8,
127 .len = 2,
128 .cs_change = 1,
129 },
130 };
131
132 mutex_lock(&st->buf_lock);
133 st->tx[0] = ADIS16251_READ_REG(lower_reg_address);
134 st->tx[1] = 0;
135 st->tx[2] = 0;
136 st->tx[3] = 0;
137
138 spi_message_init(&msg);
139 spi_message_add_tail(&xfers[0], &msg);
140 spi_message_add_tail(&xfers[1], &msg);
141 ret = spi_sync(st->us, &msg);
142 if (ret) {
143 dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X",
144 lower_reg_address);
145 goto error_ret;
146 }
147 *val = (st->rx[0] << 8) | st->rx[1];
148
149error_ret:
150 mutex_unlock(&st->buf_lock);
151 return ret;
152}
153
154
155
156
157
158
159int adis16251_spi_read_burst(struct device *dev, u8 *rx)
160{
161 struct spi_message msg;
162 struct iio_dev *indio_dev = dev_get_drvdata(dev);
163 struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
164 u32 old_speed_hz = st->us->max_speed_hz;
165 int ret;
166
167 struct spi_transfer xfers[] = {
168 {
169 .tx_buf = st->tx,
170 .bits_per_word = 8,
171 .len = 2,
172 .cs_change = 0,
173 }, {
174 .rx_buf = rx,
175 .bits_per_word = 8,
176 .len = 24,
177 .cs_change = 1,
178 },
179 };
180
181 mutex_lock(&st->buf_lock);
182 st->tx[0] = ADIS16251_READ_REG(ADIS16251_GLOB_CMD);
183 st->tx[1] = 0;
184
185 spi_message_init(&msg);
186 spi_message_add_tail(&xfers[0], &msg);
187 spi_message_add_tail(&xfers[1], &msg);
188
189 st->us->max_speed_hz = min(ADIS16251_SPI_BURST, old_speed_hz);
190 spi_setup(st->us);
191
192 ret = spi_sync(st->us, &msg);
193 if (ret)
194 dev_err(&st->us->dev, "problem when burst reading");
195
196 st->us->max_speed_hz = old_speed_hz;
197 spi_setup(st->us);
198 mutex_unlock(&st->buf_lock);
199 return ret;
200}
201
202
203
204
205
206
207
208int adis16251_spi_read_sequence(struct device *dev,
209 u8 *tx, u8 *rx, int num)
210{
211 struct spi_message msg;
212 struct spi_transfer *xfers;
213 struct iio_dev *indio_dev = dev_get_drvdata(dev);
214 struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
215 int ret, i;
216
217 xfers = kzalloc(num + 1, GFP_KERNEL);
218 if (xfers == NULL) {
219 dev_err(&st->us->dev, "memory alloc failed");
220 ret = -ENOMEM;
221 goto error_ret;
222 }
223
224
225
226 spi_message_init(&msg);
227 for (i = 0; i < num + 1; i++) {
228 if (i > 0)
229 xfers[i].rx_buf = st->rx + 2*(i - 1);
230 if (i < num)
231 xfers[i].tx_buf = st->tx + 2*i;
232 xfers[i].bits_per_word = 8;
233 xfers[i].len = 2;
234 xfers[i].cs_change = 1;
235 spi_message_add_tail(&xfers[i], &msg);
236 }
237
238 mutex_lock(&st->buf_lock);
239
240 ret = spi_sync(st->us, &msg);
241 if (ret)
242 dev_err(&st->us->dev, "problem when reading sequence");
243
244 mutex_unlock(&st->buf_lock);
245 kfree(xfers);
246
247error_ret:
248 return ret;
249}
250
251static ssize_t adis16251_spi_read_signed(struct device *dev,
252 struct device_attribute *attr,
253 char *buf,
254 unsigned bits)
255{
256 int ret;
257 s16 val = 0;
258 unsigned shift = 16 - bits;
259 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
260
261 ret = adis16251_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
262 if (ret)
263 return ret;
264
265 if (val & ADIS16251_ERROR_ACTIVE)
266 adis16251_check_status(dev);
267 val = ((s16)(val << shift) >> shift);
268 return sprintf(buf, "%d\n", val);
269}
270
271static ssize_t adis16251_read_12bit_unsigned(struct device *dev,
272 struct device_attribute *attr,
273 char *buf)
274{
275 int ret;
276 u16 val = 0;
277 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
278
279 ret = adis16251_spi_read_reg_16(dev, this_attr->address, &val);
280 if (ret)
281 return ret;
282
283 if (val & ADIS16251_ERROR_ACTIVE)
284 adis16251_check_status(dev);
285
286 return sprintf(buf, "%u\n", val & 0x0FFF);
287}
288
289static ssize_t adis16251_read_14bit_signed(struct device *dev,
290 struct device_attribute *attr,
291 char *buf)
292{
293 struct iio_dev *indio_dev = dev_get_drvdata(dev);
294 ssize_t ret;
295
296
297 mutex_lock(&indio_dev->mlock);
298 ret = adis16251_spi_read_signed(dev, attr, buf, 14);
299 mutex_unlock(&indio_dev->mlock);
300
301 return ret;
302}
303
304static ssize_t adis16251_read_12bit_signed(struct device *dev,
305 struct device_attribute *attr,
306 char *buf)
307{
308 struct iio_dev *indio_dev = dev_get_drvdata(dev);
309 ssize_t ret;
310
311
312 mutex_lock(&indio_dev->mlock);
313 ret = adis16251_spi_read_signed(dev, attr, buf, 12);
314 mutex_unlock(&indio_dev->mlock);
315
316 return ret;
317}
318
319static ssize_t adis16251_write_16bit(struct device *dev,
320 struct device_attribute *attr,
321 const char *buf,
322 size_t len)
323{
324 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
325 int ret;
326 long val;
327
328 ret = strict_strtol(buf, 10, &val);
329 if (ret)
330 goto error_ret;
331 ret = adis16251_spi_write_reg_16(dev, this_attr->address, val);
332
333error_ret:
334 return ret ? ret : len;
335}
336
337static ssize_t adis16251_read_frequency(struct device *dev,
338 struct device_attribute *attr,
339 char *buf)
340{
341 int ret, len = 0;
342 u16 t;
343 int sps;
344 ret = adis16251_spi_read_reg_16(dev,
345 ADIS16251_SMPL_PRD,
346 &t);
347 if (ret)
348 return ret;
349 sps = (t & ADIS16251_SMPL_PRD_TIME_BASE) ? 8 : 256;
350 sps /= (t & ADIS16251_SMPL_PRD_DIV_MASK) + 1;
351 len = sprintf(buf, "%d SPS\n", sps);
352 return len;
353}
354
355static ssize_t adis16251_write_frequency(struct device *dev,
356 struct device_attribute *attr,
357 const char *buf,
358 size_t len)
359{
360 struct iio_dev *indio_dev = dev_get_drvdata(dev);
361 struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
362 long val;
363 int ret;
364 u8 t;
365
366 ret = strict_strtol(buf, 10, &val);
367 if (ret)
368 return ret;
369
370 mutex_lock(&indio_dev->mlock);
371
372 t = (256 / val);
373 if (t > 0)
374 t--;
375 t &= ADIS16251_SMPL_PRD_DIV_MASK;
376 if ((t & ADIS16251_SMPL_PRD_DIV_MASK) >= 0x0A)
377 st->us->max_speed_hz = ADIS16251_SPI_SLOW;
378 else
379 st->us->max_speed_hz = ADIS16251_SPI_FAST;
380
381 ret = adis16251_spi_write_reg_8(dev,
382 ADIS16251_SMPL_PRD,
383 t);
384
385 mutex_unlock(&indio_dev->mlock);
386
387 return ret ? ret : len;
388}
389
390static ssize_t adis16251_write_reset(struct device *dev,
391 struct device_attribute *attr,
392 const char *buf, size_t len)
393{
394 if (len < 1)
395 return -1;
396 switch (buf[0]) {
397 case '1':
398 case 'y':
399 case 'Y':
400 return adis16251_reset(dev);
401 }
402 return -1;
403}
404
405
406
407int adis16251_set_irq(struct device *dev, bool enable)
408{
409 int ret;
410 u16 msc;
411 ret = adis16251_spi_read_reg_16(dev, ADIS16251_MSC_CTRL, &msc);
412 if (ret)
413 goto error_ret;
414
415 msc |= ADIS16251_MSC_CTRL_DATA_RDY_POL_HIGH;
416 if (enable)
417 msc |= ADIS16251_MSC_CTRL_DATA_RDY_EN;
418 else
419 msc &= ~ADIS16251_MSC_CTRL_DATA_RDY_EN;
420
421 ret = adis16251_spi_write_reg_16(dev, ADIS16251_MSC_CTRL, msc);
422 if (ret)
423 goto error_ret;
424
425error_ret:
426 return ret;
427}
428
429int adis16251_reset(struct device *dev)
430{
431 int ret;
432 ret = adis16251_spi_write_reg_8(dev,
433 ADIS16251_GLOB_CMD,
434 ADIS16251_GLOB_CMD_SW_RESET);
435 if (ret)
436 dev_err(dev, "problem resetting device");
437
438 return ret;
439}
440
441
442int adis16251_stop_device(struct device *dev)
443{
444 int ret;
445 u16 val = ADIS16251_SLP_CNT_POWER_OFF;
446
447 ret = adis16251_spi_write_reg_16(dev, ADIS16251_SLP_CNT, val);
448 if (ret)
449 dev_err(dev, "problem with turning device off: SLP_CNT");
450
451 return ret;
452}
453
454static int adis16251_self_test(struct device *dev)
455{
456 int ret;
457
458 ret = adis16251_spi_write_reg_16(dev,
459 ADIS16251_MSC_CTRL,
460 ADIS16251_MSC_CTRL_INT_SELF_TEST);
461 if (ret) {
462 dev_err(dev, "problem starting self test");
463 goto err_ret;
464 }
465
466 adis16251_check_status(dev);
467
468err_ret:
469 return ret;
470}
471
472int adis16251_check_status(struct device *dev)
473{
474 u16 status;
475 int ret;
476
477 ret = adis16251_spi_read_reg_16(dev, ADIS16251_DIAG_STAT, &status);
478
479 if (ret < 0) {
480 dev_err(dev, "Reading status failed\n");
481 goto error_ret;
482 }
483
484 if (!(status & ADIS16251_DIAG_STAT_ERR_MASK)) {
485 ret = 0;
486 goto error_ret;
487 }
488
489 ret = -EFAULT;
490
491 if (status & ADIS16251_DIAG_STAT_ALARM2)
492 dev_err(dev, "Alarm 2 active\n");
493 if (status & ADIS16251_DIAG_STAT_ALARM1)
494 dev_err(dev, "Alarm 1 active\n");
495 if (status & ADIS16251_DIAG_STAT_SELF_TEST)
496 dev_err(dev, "Self test error\n");
497 if (status & ADIS16251_DIAG_STAT_OVERFLOW)
498 dev_err(dev, "Sensor overrange\n");
499 if (status & ADIS16251_DIAG_STAT_SPI_FAIL)
500 dev_err(dev, "SPI failure\n");
501 if (status & ADIS16251_DIAG_STAT_FLASH_UPT)
502 dev_err(dev, "Flash update failed\n");
503 if (status & ADIS16251_DIAG_STAT_POWER_HIGH)
504 dev_err(dev, "Power supply above 5.25V\n");
505 if (status & ADIS16251_DIAG_STAT_POWER_LOW)
506 dev_err(dev, "Power supply below 4.75V\n");
507
508error_ret:
509 return ret;
510}
511
512static int adis16251_initial_setup(struct adis16251_state *st)
513{
514 int ret;
515 u16 smp_prd;
516 struct device *dev = &st->indio_dev->dev;
517
518
519 st->us->max_speed_hz = ADIS16251_SPI_SLOW;
520 st->us->mode = SPI_MODE_3;
521 spi_setup(st->us);
522
523
524 ret = adis16251_set_irq(dev, false);
525 if (ret) {
526 dev_err(dev, "disable irq failed");
527 goto err_ret;
528 }
529
530
531
532
533 ret = adis16251_check_status(dev);
534 if (ret) {
535 adis16251_reset(dev);
536 dev_err(dev, "device not playing ball -> reset");
537 msleep(ADIS16251_STARTUP_DELAY);
538 ret = adis16251_check_status(dev);
539 if (ret) {
540 dev_err(dev, "giving up");
541 goto err_ret;
542 }
543 }
544
545 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
546 st->us->chip_select, st->us->irq);
547
548
549 ret = adis16251_spi_read_reg_16(dev, ADIS16251_SMPL_PRD, &smp_prd);
550 if (!ret && (smp_prd & ADIS16251_SMPL_PRD_DIV_MASK) < 0x0A) {
551 st->us->max_speed_hz = ADIS16251_SPI_SLOW;
552 spi_setup(st->us);
553 }
554
555err_ret:
556 return ret;
557}
558
559static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16251_read_12bit_signed,
560 ADIS16251_SUPPLY_OUT);
561static IIO_CONST_ATTR(in0_supply_scale, "0.0018315");
562
563static IIO_DEV_ATTR_GYRO(adis16251_read_14bit_signed,
564 ADIS16251_GYRO_OUT);
565static IIO_DEV_ATTR_GYRO_SCALE(S_IWUSR | S_IRUGO,
566 adis16251_read_12bit_signed,
567 adis16251_write_16bit,
568 ADIS16251_GYRO_SCALE);
569static IIO_DEV_ATTR_GYRO_OFFSET(S_IWUSR | S_IRUGO,
570 adis16251_read_12bit_signed,
571 adis16251_write_16bit,
572 ADIS16251_GYRO_OFF);
573
574static IIO_DEV_ATTR_TEMP_RAW(adis16251_read_12bit_signed);
575static IIO_CONST_ATTR(temp_offset, "25 K");
576static IIO_CONST_ATTR(temp_scale, "0.1453 K");
577
578static IIO_DEV_ATTR_IN_NAMED_RAW(1, aux, adis16251_read_12bit_unsigned,
579 ADIS16251_AUX_ADC);
580static IIO_CONST_ATTR(in1_aux_scale, "0.0006105");
581
582static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
583 adis16251_read_frequency,
584 adis16251_write_frequency);
585static IIO_DEV_ATTR_ANGL(adis16251_read_14bit_signed,
586 ADIS16251_ANGL_OUT);
587
588static IIO_DEV_ATTR_RESET(adis16251_write_reset);
589
590static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("0.129 ~ 256");
591
592static IIO_CONST_ATTR(name, "adis16251");
593
594static struct attribute *adis16251_event_attributes[] = {
595 NULL
596};
597
598static struct attribute_group adis16251_event_attribute_group = {
599 .attrs = adis16251_event_attributes,
600};
601
602static struct attribute *adis16251_attributes[] = {
603 &iio_dev_attr_in0_supply_raw.dev_attr.attr,
604 &iio_const_attr_in0_supply_scale.dev_attr.attr,
605 &iio_dev_attr_gyro_raw.dev_attr.attr,
606 &iio_dev_attr_gyro_scale.dev_attr.attr,
607 &iio_dev_attr_gyro_offset.dev_attr.attr,
608 &iio_dev_attr_angl_raw.dev_attr.attr,
609 &iio_dev_attr_temp_raw.dev_attr.attr,
610 &iio_const_attr_temp_offset.dev_attr.attr,
611 &iio_const_attr_temp_scale.dev_attr.attr,
612 &iio_dev_attr_in1_aux_raw.dev_attr.attr,
613 &iio_const_attr_in1_aux_scale.dev_attr.attr,
614 &iio_dev_attr_sampling_frequency.dev_attr.attr,
615 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
616 &iio_dev_attr_reset.dev_attr.attr,
617 &iio_const_attr_name.dev_attr.attr,
618 NULL
619};
620
621static const struct attribute_group adis16251_attribute_group = {
622 .attrs = adis16251_attributes,
623};
624
625static int __devinit adis16251_probe(struct spi_device *spi)
626{
627 int ret, regdone = 0;
628 struct adis16251_state *st = kzalloc(sizeof *st, GFP_KERNEL);
629 if (!st) {
630 ret = -ENOMEM;
631 goto error_ret;
632 }
633
634 spi_set_drvdata(spi, st);
635
636
637 st->rx = kzalloc(sizeof(*st->rx)*ADIS16251_MAX_RX, GFP_KERNEL);
638 if (st->rx == NULL) {
639 ret = -ENOMEM;
640 goto error_free_st;
641 }
642 st->tx = kzalloc(sizeof(*st->tx)*ADIS16251_MAX_TX, GFP_KERNEL);
643 if (st->tx == NULL) {
644 ret = -ENOMEM;
645 goto error_free_rx;
646 }
647 st->us = spi;
648 mutex_init(&st->buf_lock);
649
650 st->indio_dev = iio_allocate_device();
651 if (st->indio_dev == NULL) {
652 ret = -ENOMEM;
653 goto error_free_tx;
654 }
655
656 st->indio_dev->dev.parent = &spi->dev;
657 st->indio_dev->num_interrupt_lines = 1;
658 st->indio_dev->event_attrs = &adis16251_event_attribute_group;
659 st->indio_dev->attrs = &adis16251_attribute_group;
660 st->indio_dev->dev_data = (void *)(st);
661 st->indio_dev->driver_module = THIS_MODULE;
662 st->indio_dev->modes = INDIO_DIRECT_MODE;
663
664 ret = adis16251_configure_ring(st->indio_dev);
665 if (ret)
666 goto error_free_dev;
667
668 ret = iio_device_register(st->indio_dev);
669 if (ret)
670 goto error_unreg_ring_funcs;
671 regdone = 1;
672
673 ret = adis16251_initialize_ring(st->indio_dev->ring);
674 if (ret) {
675 printk(KERN_ERR "failed to initialize the ring\n");
676 goto error_unreg_ring_funcs;
677 }
678
679 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
680 ret = iio_register_interrupt_line(spi->irq,
681 st->indio_dev,
682 0,
683 IRQF_TRIGGER_RISING,
684 "adis16251");
685 if (ret)
686 goto error_uninitialize_ring;
687
688 ret = adis16251_probe_trigger(st->indio_dev);
689 if (ret)
690 goto error_unregister_line;
691 }
692
693
694 ret = adis16251_initial_setup(st);
695 if (ret)
696 goto error_remove_trigger;
697 return 0;
698
699error_remove_trigger:
700 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
701 adis16251_remove_trigger(st->indio_dev);
702error_unregister_line:
703 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
704 iio_unregister_interrupt_line(st->indio_dev, 0);
705error_uninitialize_ring:
706 adis16251_uninitialize_ring(st->indio_dev->ring);
707error_unreg_ring_funcs:
708 adis16251_unconfigure_ring(st->indio_dev);
709error_free_dev:
710 if (regdone)
711 iio_device_unregister(st->indio_dev);
712 else
713 iio_free_device(st->indio_dev);
714error_free_tx:
715 kfree(st->tx);
716error_free_rx:
717 kfree(st->rx);
718error_free_st:
719 kfree(st);
720error_ret:
721 return ret;
722}
723
724
725static int adis16251_remove(struct spi_device *spi)
726{
727 int ret;
728 struct adis16251_state *st = spi_get_drvdata(spi);
729 struct iio_dev *indio_dev = st->indio_dev;
730
731 ret = adis16251_stop_device(&(indio_dev->dev));
732 if (ret)
733 goto err_ret;
734
735 flush_scheduled_work();
736
737 adis16251_remove_trigger(indio_dev);
738 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
739 iio_unregister_interrupt_line(indio_dev, 0);
740
741 adis16251_uninitialize_ring(indio_dev->ring);
742 adis16251_unconfigure_ring(indio_dev);
743 iio_device_unregister(indio_dev);
744 kfree(st->tx);
745 kfree(st->rx);
746 kfree(st);
747
748 return 0;
749
750err_ret:
751 return ret;
752}
753
754static struct spi_driver adis16251_driver = {
755 .driver = {
756 .name = "adis16251",
757 .owner = THIS_MODULE,
758 },
759 .probe = adis16251_probe,
760 .remove = __devexit_p(adis16251_remove),
761};
762
763static __init int adis16251_init(void)
764{
765 return spi_register_driver(&adis16251_driver);
766}
767module_init(adis16251_init);
768
769static __exit void adis16251_exit(void)
770{
771 spi_unregister_driver(&adis16251_driver);
772}
773module_exit(adis16251_exit);
774
775MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
776MODULE_DESCRIPTION("Analog Devices ADIS16251 Digital Gyroscope Sensor SPI driver");
777MODULE_LICENSE("GPL v2");
778