Initial file dump from open source releaseHEADmaster

7 files changed, 1028 insertions, 0 deletions

diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig
new file mode 100644
index 00000000..83606628
--- /dev/null
+++ b/drivers/staging/iio/gyro/Kconfig
@@ -0,0 +1,32 @@
+#
+# IIO Digital Gyroscope Sensor drivers configuration
+#
+menu "Digital gyroscope sensors"
+
+config ADIS16060
+	tristate "Analog Devices ADIS16060 Yaw Rate Gyroscope with SPI driver"
+	depends on SPI
+	help
+	  Say yes here to build support for Analog Devices adis16060 wide bandwidth
+	  yaw rate gyroscope with SPI.
+
+config ADIS16130
+	tristate "Analog Devices ADIS16130 High Precision Angular Rate Sensor driver"
+	depends on SPI
+	help
+	  Say yes here to build support for Analog Devices ADIS16130 High Precision
+	  Angular Rate Sensor driver.
+
+config ADIS16260
+	tristate "Analog Devices ADIS16260 Digital Gyroscope Sensor SPI driver"
+	depends on SPI
+	select IIO_ADIS_LIB
+	select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
+	help
+	  Say yes here to build support for Analog Devices ADIS16260 ADIS16265
+	  ADIS16250 ADIS16255 and ADIS16251 programmable digital gyroscope sensors.
+
+	  This driver can also be built as a module.  If so, the module
+	  will be called adis16260.
+
+endmenu
diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile
new file mode 100644
index 00000000..98e65006
--- /dev/null
+++ b/drivers/staging/iio/gyro/Makefile
@@ -0,0 +1,12 @@
+#
+# Makefile for digital gyroscope sensor drivers
+#
+
+adis16060-y             := adis16060_core.o
+obj-$(CONFIG_ADIS16060) += adis16060.o
+
+adis16130-y             := adis16130_core.o
+obj-$(CONFIG_ADIS16130) += adis16130.o
+
+adis16260-y             := adis16260_core.o
+obj-$(CONFIG_ADIS16260) += adis16260.o
diff --git a/drivers/staging/iio/gyro/adis16060_core.c b/drivers/staging/iio/gyro/adis16060_core.c
new file mode 100644
index 00000000..c67d3a83
--- /dev/null
+++ b/drivers/staging/iio/gyro/adis16060_core.c
@@ -0,0 +1,262 @@
+/*
+ * ADIS16060 Wide Bandwidth Yaw Rate Gyroscope with SPI driver
+ *
+ * Copyright 2010 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#include <linux/module.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/iio/iio.h>
+#include <linux/iio/sysfs.h>
+
+#define ADIS16060_GYRO		0x20 /* Measure Angular Rate (Gyro) */
+#define ADIS16060_TEMP_OUT	0x10 /* Measure Temperature */
+#define ADIS16060_AIN2		0x80 /* Measure AIN2 */
+#define ADIS16060_AIN1		0x40 /* Measure AIN1 */
+
+/**
+ * struct adis16060_state - device instance specific data
+ * @us_w:		actual spi_device to write config
+ * @us_r:		actual spi_device to read back data
+ * @buf:		transmit or receive buffer
+ * @buf_lock:		mutex to protect tx and rx
+ **/
+struct adis16060_state {
+	struct spi_device		*us_w;
+	struct spi_device		*us_r;
+	struct mutex			buf_lock;
+
+	u8 buf[3] ____cacheline_aligned;
+};
+
+static struct iio_dev *adis16060_iio_dev;
+
+static int adis16060_spi_write(struct iio_dev *indio_dev, u8 val)
+{
+	int ret;
+	struct adis16060_state *st = iio_priv(indio_dev);
+
+	mutex_lock(&st->buf_lock);
+	st->buf[2] = val; /* The last 8 bits clocked in are latched */
+	ret = spi_write(st->us_w, st->buf, 3);
+	mutex_unlock(&st->buf_lock);
+
+	return ret;
+}
+
+static int adis16060_spi_read(struct iio_dev *indio_dev, u16 *val)
+{
+	int ret;
+	struct adis16060_state *st = iio_priv(indio_dev);
+
+	mutex_lock(&st->buf_lock);
+
+	ret = spi_read(st->us_r, st->buf, 3);
+
+	/* The internal successive approximation ADC begins the
+	 * conversion process on the falling edge of MSEL1 and
+	 * starts to place data MSB first on the DOUT line at
+	 * the 6th falling edge of SCLK
+	 */
+	if (ret == 0)
+		*val = ((st->buf[0] & 0x3) << 12) |
+			(st->buf[1] << 4) |
+			((st->buf[2] >> 4) & 0xF);
+	mutex_unlock(&st->buf_lock);
+
+	return ret;
+}
+
+static int adis16060_read_raw(struct iio_dev *indio_dev,
+			      struct iio_chan_spec const *chan,
+			      int *val, int *val2,
+			      long mask)
+{
+	u16 tval = 0;
+	int ret;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		/* Take the iio_dev status lock */
+		mutex_lock(&indio_dev->mlock);
+		ret = adis16060_spi_write(indio_dev, chan->address);
+		if (ret < 0) {
+			mutex_unlock(&indio_dev->mlock);
+			return ret;
+		}
+		ret = adis16060_spi_read(indio_dev, &tval);
+		mutex_unlock(&indio_dev->mlock);
+		*val = tval;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_OFFSET:
+		*val = -7;
+		*val2 = 461117;
+		return IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_SCALE:
+		*val = 0;
+		*val2 = 34000;
+		return IIO_VAL_INT_PLUS_MICRO;
+	}
+
+	return -EINVAL;
+}
+
+static const struct iio_info adis16060_info = {
+	.read_raw = &adis16060_read_raw,
+	.driver_module = THIS_MODULE,
+};
+
+static const struct iio_chan_spec adis16060_channels[] = {
+	{
+		.type = IIO_ANGL_VEL,
+		.modified = 1,
+		.channel2 = IIO_MOD_Z,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.address = ADIS16060_GYRO,
+	}, {
+		.type = IIO_VOLTAGE,
+		.indexed = 1,
+		.channel = 0,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.address = ADIS16060_AIN1,
+	}, {
+		.type = IIO_VOLTAGE,
+		.indexed = 1,
+		.channel = 1,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.address = ADIS16060_AIN2,
+	}, {
+		.type = IIO_TEMP,
+		.indexed = 1,
+		.channel = 0,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+		BIT(IIO_CHAN_INFO_OFFSET) | BIT(IIO_CHAN_INFO_SCALE),
+		.address = ADIS16060_TEMP_OUT,
+	}
+};
+
+static int adis16060_r_probe(struct spi_device *spi)
+{
+	int ret;
+	struct adis16060_state *st;
+	struct iio_dev *indio_dev;
+
+	/* setup the industrialio driver allocated elements */
+	indio_dev = iio_device_alloc(sizeof(*st));
+	if (indio_dev == NULL) {
+		ret = -ENOMEM;
+		goto error_ret;
+	}
+	/* this is only used for removal purposes */
+	spi_set_drvdata(spi, indio_dev);
+	st = iio_priv(indio_dev);
+	st->us_r = spi;
+	mutex_init(&st->buf_lock);
+
+	indio_dev->name = spi->dev.driver->name;
+	indio_dev->dev.parent = &spi->dev;
+	indio_dev->info = &adis16060_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->channels = adis16060_channels;
+	indio_dev->num_channels = ARRAY_SIZE(adis16060_channels);
+
+	ret = iio_device_register(indio_dev);
+	if (ret)
+		goto error_free_dev;
+
+	adis16060_iio_dev = indio_dev;
+	return 0;
+
+error_free_dev:
+	iio_device_free(indio_dev);
+error_ret:
+	return ret;
+}
+
+/* fixme, confirm ordering in this function */
+static int adis16060_r_remove(struct spi_device *spi)
+{
+	iio_device_unregister(spi_get_drvdata(spi));
+	iio_device_free(spi_get_drvdata(spi));
+
+	return 0;
+}
+
+static int adis16060_w_probe(struct spi_device *spi)
+{
+	int ret;
+	struct iio_dev *indio_dev = adis16060_iio_dev;
+	struct adis16060_state *st;
+	if (!indio_dev) {
+		ret =  -ENODEV;
+		goto error_ret;
+	}
+	st = iio_priv(indio_dev);
+	spi_set_drvdata(spi, indio_dev);
+	st->us_w = spi;
+	return 0;
+
+error_ret:
+	return ret;
+}
+
+static int adis16060_w_remove(struct spi_device *spi)
+{
+	return 0;
+}
+
+static struct spi_driver adis16060_r_driver = {
+	.driver = {
+		.name = "adis16060_r",
+		.owner = THIS_MODULE,
+	},
+	.probe = adis16060_r_probe,
+	.remove = adis16060_r_remove,
+};
+
+static struct spi_driver adis16060_w_driver = {
+	.driver = {
+		.name = "adis16060_w",
+		.owner = THIS_MODULE,
+	},
+	.probe = adis16060_w_probe,
+	.remove = adis16060_w_remove,
+};
+
+static __init int adis16060_init(void)
+{
+	int ret;
+
+	ret = spi_register_driver(&adis16060_r_driver);
+	if (ret < 0)
+		return ret;
+
+	ret = spi_register_driver(&adis16060_w_driver);
+	if (ret < 0) {
+		spi_unregister_driver(&adis16060_r_driver);
+		return ret;
+	}
+
+	return 0;
+}
+module_init(adis16060_init);
+
+static __exit void adis16060_exit(void)
+{
+	spi_unregister_driver(&adis16060_w_driver);
+	spi_unregister_driver(&adis16060_r_driver);
+}
+module_exit(adis16060_exit);
+
+MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/staging/iio/gyro/adis16130_core.c b/drivers/staging/iio/gyro/adis16130_core.c
new file mode 100644
index 00000000..531b803c
--- /dev/null
+++ b/drivers/staging/iio/gyro/adis16130_core.c
@@ -0,0 +1,178 @@
+/*
+ * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver
+ *
+ * Copyright 2010 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#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/list.h>
+#include <linux/module.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+
+#define ADIS16130_CON         0x0
+#define ADIS16130_CON_RD      (1 << 6)
+#define ADIS16130_IOP         0x1
+
+/* 1 = data-ready signal low when unread data on all channels; */
+#define ADIS16130_IOP_ALL_RDY (1 << 3)
+#define ADIS16130_IOP_SYNC    (1 << 0) /* 1 = synchronization enabled */
+#define ADIS16130_RATEDATA    0x8 /* Gyroscope output, rate of rotation */
+#define ADIS16130_TEMPDATA    0xA /* Temperature output */
+#define ADIS16130_RATECS      0x28 /* Gyroscope channel setup */
+#define ADIS16130_RATECS_EN   (1 << 3) /* 1 = channel enable; */
+#define ADIS16130_TEMPCS      0x2A /* Temperature channel setup */
+#define ADIS16130_TEMPCS_EN   (1 << 3)
+#define ADIS16130_RATECONV    0x30
+#define ADIS16130_TEMPCONV    0x32
+#define ADIS16130_MODE        0x38
+#define ADIS16130_MODE_24BIT  (1 << 1) /* 1 = 24-bit resolution; */
+
+/**
+ * struct adis16130_state - device instance specific data
+ * @us:			actual spi_device to write data
+ * @buf_lock:		mutex to protect tx and rx
+ * @buf:		unified tx/rx buffer
+ **/
+struct adis16130_state {
+	struct spi_device		*us;
+	struct mutex			buf_lock;
+	u8				buf[4] ____cacheline_aligned;
+};
+
+static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val)
+{
+	int ret;
+	struct adis16130_state *st = iio_priv(indio_dev);
+	struct spi_message msg;
+	struct spi_transfer xfer = {
+		.tx_buf = st->buf,
+		.rx_buf = st->buf,
+		.len = 4,
+	};
+
+	mutex_lock(&st->buf_lock);
+
+	st->buf[0] = ADIS16130_CON_RD | reg_addr;
+	st->buf[1] = st->buf[2] = st->buf[3] = 0;
+
+	spi_message_init(&msg);
+	spi_message_add_tail(&xfer, &msg);
+	ret = spi_sync(st->us, &msg);
+	ret = spi_read(st->us, st->buf, 4);
+
+	if (ret == 0)
+		*val = (st->buf[1] << 16) | (st->buf[2] << 8) | st->buf[3];
+	mutex_unlock(&st->buf_lock);
+
+	return ret;
+}
+
+static int adis16130_read_raw(struct iio_dev *indio_dev,
+			      struct iio_chan_spec const *chan,
+			      int *val, int *val2,
+			      long mask)
+{
+	int ret;
+	u32 temp;
+
+	/* Take the iio_dev status lock */
+	mutex_lock(&indio_dev->mlock);
+	ret =  adis16130_spi_read(indio_dev, chan->address, &temp);
+	mutex_unlock(&indio_dev->mlock);
+	if (ret)
+		return ret;
+	*val = temp;
+	return IIO_VAL_INT;
+}
+
+static const struct iio_chan_spec adis16130_channels[] = {
+	{
+		.type = IIO_ANGL_VEL,
+		.modified = 1,
+		.channel2 = IIO_MOD_Z,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.address = ADIS16130_RATEDATA,
+	}, {
+		.type = IIO_TEMP,
+		.indexed = 1,
+		.channel = 0,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.address = ADIS16130_TEMPDATA,
+	}
+};
+
+static const struct iio_info adis16130_info = {
+	.read_raw = &adis16130_read_raw,
+	.driver_module = THIS_MODULE,
+};
+
+static int adis16130_probe(struct spi_device *spi)
+{
+	int ret;
+	struct adis16130_state *st;
+	struct iio_dev *indio_dev;
+
+	/* setup the industrialio driver allocated elements */
+	indio_dev = iio_device_alloc(sizeof(*st));
+	if (indio_dev == NULL) {
+		ret = -ENOMEM;
+		goto error_ret;
+	}
+	st = iio_priv(indio_dev);
+	/* this is only used for removal purposes */
+	spi_set_drvdata(spi, indio_dev);
+	st->us = spi;
+	mutex_init(&st->buf_lock);
+	indio_dev->name = spi->dev.driver->name;
+	indio_dev->channels = adis16130_channels;
+	indio_dev->num_channels = ARRAY_SIZE(adis16130_channels);
+	indio_dev->dev.parent = &spi->dev;
+	indio_dev->info = &adis16130_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	ret = iio_device_register(indio_dev);
+	if (ret)
+		goto error_free_dev;
+
+	return 0;
+
+error_free_dev:
+	iio_device_free(indio_dev);
+
+error_ret:
+	return ret;
+}
+
+/* fixme, confirm ordering in this function */
+static int adis16130_remove(struct spi_device *spi)
+{
+	iio_device_unregister(spi_get_drvdata(spi));
+	iio_device_free(spi_get_drvdata(spi));
+
+	return 0;
+}
+
+static struct spi_driver adis16130_driver = {
+	.driver = {
+		.name = "adis16130",
+		.owner = THIS_MODULE,
+	},
+	.probe = adis16130_probe,
+	.remove = adis16130_remove,
+};
+module_spi_driver(adis16130_driver);
+
+MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate");
+MODULE_LICENSE("GPL v2");
+MODULE_ALIAS("spi:adis16130");
diff --git a/drivers/staging/iio/gyro/adis16260.h b/drivers/staging/iio/gyro/adis16260.h
new file mode 100644
index 00000000..df3c0b7e
--- /dev/null
+++ b/drivers/staging/iio/gyro/adis16260.h
@@ -0,0 +1,98 @@
+#ifndef SPI_ADIS16260_H_
+#define SPI_ADIS16260_H_
+
+#include "adis16260_platform_data.h"
+#include <linux/iio/imu/adis.h>
+
+#define ADIS16260_STARTUP_DELAY	220 /* ms */
+
+#define ADIS16260_FLASH_CNT  0x00 /* Flash memory write count */
+#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
+#define ADIS16260_GYRO_OUT   0x04 /* X-axis gyroscope output */
+#define ADIS16260_AUX_ADC    0x0A /* analog input channel measurement */
+#define ADIS16260_TEMP_OUT   0x0C /* internal temperature measurement */
+#define ADIS16260_ANGL_OUT   0x0E /* angle displacement */
+#define ADIS16260_GYRO_OFF   0x14 /* Calibration, offset/bias adjustment */
+#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
+#define ADIS16260_ALM_MAG1   0x20 /* Alarm 1 magnitude/polarity setting */
+#define ADIS16260_ALM_MAG2   0x22 /* Alarm 2 magnitude/polarity setting */
+#define ADIS16260_ALM_SMPL1  0x24 /* Alarm 1 dynamic rate of change setting */
+#define ADIS16260_ALM_SMPL2  0x26 /* Alarm 2 dynamic rate of change setting */
+#define ADIS16260_ALM_CTRL   0x28 /* Alarm control */
+#define ADIS16260_AUX_DAC    0x30 /* Auxiliary DAC data */
+#define ADIS16260_GPIO_CTRL  0x32 /* Control, digital I/O line */
+#define ADIS16260_MSC_CTRL   0x34 /* Control, data ready, self-test settings */
+#define ADIS16260_SMPL_PRD   0x36 /* Control, internal sample rate */
+#define ADIS16260_SENS_AVG   0x38 /* Control, dynamic range, filtering */
+#define ADIS16260_SLP_CNT    0x3A /* Control, sleep mode initiation */
+#define ADIS16260_DIAG_STAT  0x3C /* Diagnostic, error flags */
+#define ADIS16260_GLOB_CMD   0x3E /* Control, global commands */
+#define ADIS16260_LOT_ID1    0x52 /* Lot Identification Code 1 */
+#define ADIS16260_LOT_ID2    0x54 /* Lot Identification Code 2 */
+#define ADIS16260_PROD_ID    0x56 /* Product identifier;
+				   * convert to decimal = 16,265/16,260 */
+#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
+
+#define ADIS16260_ERROR_ACTIVE			(1<<14)
+#define ADIS16260_NEW_DATA			(1<<15)
+
+/* MSC_CTRL */
+#define ADIS16260_MSC_CTRL_MEM_TEST		(1<<11)
+/* Internal self-test enable */
+#define ADIS16260_MSC_CTRL_INT_SELF_TEST	(1<<10)
+#define ADIS16260_MSC_CTRL_NEG_SELF_TEST	(1<<9)
+#define ADIS16260_MSC_CTRL_POS_SELF_TEST	(1<<8)
+#define ADIS16260_MSC_CTRL_DATA_RDY_EN		(1<<2)
+#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)
+#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2	(1<<0)
+
+/* SMPL_PRD */
+/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
+#define ADIS16260_SMPL_PRD_TIME_BASE	(1<<7)
+#define ADIS16260_SMPL_PRD_DIV_MASK	0x7F
+
+/* SLP_CNT */
+#define ADIS16260_SLP_CNT_POWER_OFF     0x80
+
+/* DIAG_STAT */
+#define ADIS16260_DIAG_STAT_ALARM2	(1<<9)
+#define ADIS16260_DIAG_STAT_ALARM1	(1<<8)
+#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT	6
+#define ADIS16260_DIAG_STAT_SELF_TEST_BIT	5
+#define ADIS16260_DIAG_STAT_OVERFLOW_BIT	4
+#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT	3
+#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT	2
+#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT	1
+#define ADIS16260_DIAG_STAT_POWER_LOW_BIT	0
+
+/* GLOB_CMD */
+#define ADIS16260_GLOB_CMD_SW_RESET	(1<<7)
+#define ADIS16260_GLOB_CMD_FLASH_UPD	(1<<3)
+#define ADIS16260_GLOB_CMD_DAC_LATCH	(1<<2)
+#define ADIS16260_GLOB_CMD_FAC_CALIB	(1<<1)
+#define ADIS16260_GLOB_CMD_AUTO_NULL	(1<<0)
+
+#define ADIS16260_SPI_SLOW	(u32)(300 * 1000)
+#define ADIS16260_SPI_BURST	(u32)(1000 * 1000)
+#define ADIS16260_SPI_FAST	(u32)(2000 * 1000)
+
+/**
+ * struct adis16260_state - device instance specific data
+ * @negate:		negate the scale parameter
+ **/
+struct adis16260_state {
+	unsigned	negate:1;
+	struct adis	adis;
+};
+
+/* At the moment triggers are only used for ring buffer
+ * filling. This may change!
+ */
+
+#define ADIS16260_SCAN_GYRO	0
+#define ADIS16260_SCAN_SUPPLY	1
+#define ADIS16260_SCAN_AUX_ADC	2
+#define ADIS16260_SCAN_TEMP	3
+#define ADIS16260_SCAN_ANGL	4
+
+#endif /* SPI_ADIS16260_H_ */
diff --git a/drivers/staging/iio/gyro/adis16260_core.c b/drivers/staging/iio/gyro/adis16260_core.c
new file mode 100644
index 00000000..620d63fd
--- /dev/null
+++ b/drivers/staging/iio/gyro/adis16260_core.c
@@ -0,0 +1,427 @@
+/*
+ * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
+ *
+ * Copyright 2010 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#include <linux/interrupt.h>
+#include <linux/irq.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/list.h>
+#include <linux/module.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+
+#include "adis16260.h"
+
+static ssize_t adis16260_read_frequency_available(struct device *dev,
+						  struct device_attribute *attr,
+						  char *buf)
+{
+	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+	struct adis16260_state *st = iio_priv(indio_dev);
+	if (spi_get_device_id(st->adis.spi)->driver_data)
+		return sprintf(buf, "%s\n", "0.129 ~ 256");
+	else
+		return sprintf(buf, "%s\n", "256 2048");
+}
+
+static ssize_t adis16260_read_frequency(struct device *dev,
+		struct device_attribute *attr,
+		char *buf)
+{
+	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+	struct adis16260_state *st = iio_priv(indio_dev);
+	int ret, len = 0;
+	u16 t;
+	int sps;
+	ret = adis_read_reg_16(&st->adis, ADIS16260_SMPL_PRD, &t);
+	if (ret)
+		return ret;
+
+	if (spi_get_device_id(st->adis.spi)->driver_data) /* If an adis16251 */
+		sps =  (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
+	else
+		sps =  (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
+	sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
+	len = sprintf(buf, "%d SPS\n", sps);
+	return len;
+}
+
+static ssize_t adis16260_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 adis16260_state *st = iio_priv(indio_dev);
+	long val;
+	int ret;
+	u8 t;
+
+	ret = strict_strtol(buf, 10, &val);
+	if (ret)
+		return ret;
+	if (val == 0)
+		return -EINVAL;
+
+	mutex_lock(&indio_dev->mlock);
+	if (spi_get_device_id(st->adis.spi)->driver_data) {
+		t = (256 / val);
+		if (t > 0)
+			t--;
+		t &= ADIS16260_SMPL_PRD_DIV_MASK;
+	} else {
+		t = (2048 / val);
+		if (t > 0)
+			t--;
+		t &= ADIS16260_SMPL_PRD_DIV_MASK;
+	}
+	if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
+		st->adis.spi->max_speed_hz = ADIS16260_SPI_SLOW;
+	else
+		st->adis.spi->max_speed_hz = ADIS16260_SPI_FAST;
+	ret = adis_write_reg_8(&st->adis,
+			ADIS16260_SMPL_PRD,
+			t);
+
+	mutex_unlock(&indio_dev->mlock);
+
+	return ret ? ret : len;
+}
+
+/* Power down the device */
+static int adis16260_stop_device(struct iio_dev *indio_dev)
+{
+	struct adis16260_state *st = iio_priv(indio_dev);
+	int ret;
+	u16 val = ADIS16260_SLP_CNT_POWER_OFF;
+
+	ret = adis_write_reg_16(&st->adis, ADIS16260_SLP_CNT, val);
+	if (ret)
+		dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
+
+	return ret;
+}
+
+static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
+		adis16260_read_frequency,
+		adis16260_write_frequency);
+
+static IIO_DEVICE_ATTR(sampling_frequency_available,
+		       S_IRUGO, adis16260_read_frequency_available, NULL, 0);
+
+#define ADIS16260_GYRO_CHANNEL_SET(axis, mod)				\
+struct iio_chan_spec adis16260_channels_##axis[] = {		\
+	ADIS_GYRO_CHAN(mod, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, \
+		BIT(IIO_CHAN_INFO_CALIBBIAS) | \
+		BIT(IIO_CHAN_INFO_CALIBSCALE), 14), \
+	ADIS_INCLI_CHAN(mod, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 14), \
+	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 12), \
+	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 12), \
+	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 12), \
+	IIO_CHAN_SOFT_TIMESTAMP(5),				\
+}
+
+static const ADIS16260_GYRO_CHANNEL_SET(x, X);
+static const ADIS16260_GYRO_CHANNEL_SET(y, Y);
+static const ADIS16260_GYRO_CHANNEL_SET(z, Z);
+
+static const u8 adis16260_addresses[][2] = {
+	[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
+};
+
+static int adis16260_read_raw(struct iio_dev *indio_dev,
+			      struct iio_chan_spec const *chan,
+			      int *val, int *val2,
+			      long mask)
+{
+	struct adis16260_state *st = iio_priv(indio_dev);
+	int ret;
+	int bits;
+	u8 addr;
+	s16 val16;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		return adis_single_conversion(indio_dev, chan,
+				ADIS16260_ERROR_ACTIVE, val);
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			*val = 0;
+			if (spi_get_device_id(st->adis.spi)->driver_data) {
+				/* 0.01832 degree / sec */
+				*val2 = IIO_DEGREE_TO_RAD(18320);
+			} else {
+				/* 0.07326 degree / sec */
+				*val2 = IIO_DEGREE_TO_RAD(73260);
+			}
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_VOLTAGE:
+			if (chan->channel == 0) {
+				*val = 1;
+				*val2 = 831500; /* 1.8315 mV */
+			} else {
+				*val = 0;
+				*val2 = 610500; /* 610.5 uV */
+			}
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_TEMP:
+			*val = 145;
+			*val2 = 300000; /* 0.1453 C */
+			return IIO_VAL_INT_PLUS_MICRO;
+		default:
+			return -EINVAL;
+		}
+		break;
+	case IIO_CHAN_INFO_OFFSET:
+		*val = 250000 / 1453; /* 25 C = 0x00 */
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			bits = 12;
+			break;
+		default:
+			return -EINVAL;
+		}
+		mutex_lock(&indio_dev->mlock);
+		addr = adis16260_addresses[chan->scan_index][0];
+		ret = adis_read_reg_16(&st->adis, addr, &val16);
+		if (ret) {
+			mutex_unlock(&indio_dev->mlock);
+			return ret;
+		}
+		val16 &= (1 << bits) - 1;
+		val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
+		*val = val16;
+		mutex_unlock(&indio_dev->mlock);
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_CALIBSCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			bits = 12;
+			break;
+		default:
+			return -EINVAL;
+		}
+		mutex_lock(&indio_dev->mlock);
+		addr = adis16260_addresses[chan->scan_index][1];
+		ret = adis_read_reg_16(&st->adis, addr, &val16);
+		if (ret) {
+			mutex_unlock(&indio_dev->mlock);
+			return ret;
+		}
+		*val = (1 << bits) - 1;
+		mutex_unlock(&indio_dev->mlock);
+		return IIO_VAL_INT;
+	}
+	return -EINVAL;
+}
+
+static int adis16260_write_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int val,
+			       int val2,
+			       long mask)
+{
+	struct adis16260_state *st = iio_priv(indio_dev);
+	int bits = 12;
+	s16 val16;
+	u8 addr;
+	switch (mask) {
+	case IIO_CHAN_INFO_CALIBBIAS:
+		val16 = val & ((1 << bits) - 1);
+		addr = adis16260_addresses[chan->scan_index][0];
+		return adis_write_reg_16(&st->adis, addr, val16);
+	case IIO_CHAN_INFO_CALIBSCALE:
+		val16 = val & ((1 << bits) - 1);
+		addr = adis16260_addresses[chan->scan_index][1];
+		return adis_write_reg_16(&st->adis, addr, val16);
+	}
+	return -EINVAL;
+}
+
+static struct attribute *adis16260_attributes[] = {
+	&iio_dev_attr_sampling_frequency.dev_attr.attr,
+	&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
+	NULL
+};
+
+static const struct attribute_group adis16260_attribute_group = {
+	.attrs = adis16260_attributes,
+};
+
+static const struct iio_info adis16260_info = {
+	.attrs = &adis16260_attribute_group,
+	.read_raw = &adis16260_read_raw,
+	.write_raw = &adis16260_write_raw,
+	.update_scan_mode = adis_update_scan_mode,
+	.driver_module = THIS_MODULE,
+};
+
+static const char * const adis1620_status_error_msgs[] = {
+	[ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
+	[ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
+	[ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
+	[ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
+	[ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
+	[ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
+	[ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
+};
+
+static const struct adis_data adis16260_data = {
+	.write_delay = 30,
+	.read_delay = 30,
+	.msc_ctrl_reg = ADIS16260_MSC_CTRL,
+	.glob_cmd_reg = ADIS16260_GLOB_CMD,
+	.diag_stat_reg = ADIS16260_DIAG_STAT,
+
+	.self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
+	.startup_delay = ADIS16260_STARTUP_DELAY,
+
+	.status_error_msgs = adis1620_status_error_msgs,
+	.status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
+		BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
+		BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
+		BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
+		BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
+		BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
+		BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
+};
+
+static int adis16260_probe(struct spi_device *spi)
+{
+	int ret;
+	struct adis16260_platform_data *pd = spi->dev.platform_data;
+	struct adis16260_state *st;
+	struct iio_dev *indio_dev;
+
+	/* setup the industrialio driver allocated elements */
+	indio_dev = iio_device_alloc(sizeof(*st));
+	if (indio_dev == NULL) {
+		ret = -ENOMEM;
+		goto error_ret;
+	}
+	st = iio_priv(indio_dev);
+	if (pd)
+		st->negate = pd->negate;
+	/* this is only used for removal purposes */
+	spi_set_drvdata(spi, indio_dev);
+
+	indio_dev->name = spi_get_device_id(spi)->name;
+	indio_dev->dev.parent = &spi->dev;
+	indio_dev->info = &adis16260_info;
+	indio_dev->num_channels
+		= ARRAY_SIZE(adis16260_channels_x);
+	if (pd && pd->direction)
+		switch (pd->direction) {
+		case 'x':
+			indio_dev->channels = adis16260_channels_x;
+			break;
+		case 'y':
+			indio_dev->channels = adis16260_channels_y;
+			break;
+		case 'z':
+			indio_dev->channels = adis16260_channels_z;
+			break;
+		default:
+			return -EINVAL;
+		}
+	else
+		indio_dev->channels = adis16260_channels_x;
+	indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	ret = adis_init(&st->adis, indio_dev, spi, &adis16260_data);
+	if (ret)
+		goto error_free_dev;
+
+	ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
+	if (ret)
+		goto error_free_dev;
+
+	if (indio_dev->buffer) {
+		/* Set default scan mode */
+		iio_scan_mask_set(indio_dev, indio_dev->buffer,
+				  ADIS16260_SCAN_SUPPLY);
+		iio_scan_mask_set(indio_dev, indio_dev->buffer,
+				  ADIS16260_SCAN_GYRO);
+		iio_scan_mask_set(indio_dev, indio_dev->buffer,
+				  ADIS16260_SCAN_AUX_ADC);
+		iio_scan_mask_set(indio_dev, indio_dev->buffer,
+				  ADIS16260_SCAN_TEMP);
+		iio_scan_mask_set(indio_dev, indio_dev->buffer,
+				  ADIS16260_SCAN_ANGL);
+	}
+
+	/* Get the device into a sane initial state */
+	ret = adis_initial_startup(&st->adis);
+	if (ret)
+		goto error_cleanup_buffer_trigger;
+	ret = iio_device_register(indio_dev);
+	if (ret)
+		goto error_cleanup_buffer_trigger;
+
+	return 0;
+
+error_cleanup_buffer_trigger:
+	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+error_free_dev:
+	iio_device_free(indio_dev);
+error_ret:
+	return ret;
+}
+
+static int adis16260_remove(struct spi_device *spi)
+{
+	struct iio_dev *indio_dev = spi_get_drvdata(spi);
+	struct adis16260_state *st = iio_priv(indio_dev);
+
+	iio_device_unregister(indio_dev);
+	adis16260_stop_device(indio_dev);
+	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+	iio_device_free(indio_dev);
+
+	return 0;
+}
+
+/*
+ * These parts do not need to be differentiated until someone adds
+ * support for the on chip filtering.
+ */
+static const struct spi_device_id adis16260_id[] = {
+	{"adis16260", 0},
+	{"adis16265", 0},
+	{"adis16250", 0},
+	{"adis16255", 0},
+	{"adis16251", 1},
+	{}
+};
+MODULE_DEVICE_TABLE(spi, adis16260_id);
+
+static struct spi_driver adis16260_driver = {
+	.driver = {
+		.name = "adis16260",
+		.owner = THIS_MODULE,
+	},
+	.probe = adis16260_probe,
+	.remove = adis16260_remove,
+	.id_table = adis16260_id,
+};
+module_spi_driver(adis16260_driver);
+
+MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/staging/iio/gyro/adis16260_platform_data.h b/drivers/staging/iio/gyro/adis16260_platform_data.h
new file mode 100644
index 00000000..12802e97
--- /dev/null
+++ b/drivers/staging/iio/gyro/adis16260_platform_data.h
@@ -0,0 +1,19 @@
+/*
+ * ADIS16260 Programmable Digital Gyroscope Sensor Driver Platform Data
+ *
+ * Based on adis16255.h Matthia Brugger <m_brugger&web.de>
+ *
+ * Copyright (C) 2010 Fraunhofer Institute for Integrated Circuits
+  *
+ * Licensed under the GPL-2 or later.
+ */
+
+/**
+ * struct adis16260_platform_data - instance specific data
+ * @direction: x y or z
+ * @negate: flag to indicate value should be inverted.
+ **/
+struct adis16260_platform_data {
+	char direction;
+	unsigned negate:1;
+};