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iio: adis16260: Add ADIS16266 support
The ADIS16266 is mostly register compatible to the ADIS16260. The difference is a different gyroscope scale factor as well not having the relative angular displacement channel. Signed-off-by: Lars-Peter Clausen <lars@metafoo.de> Signed-off-by: Jonathan Cameron <jic23@kernel.org>
This commit is contained in:
Lars-Peter Clausen
Jonathan Cameron
parent
3c38676079
commit
f1afda124b
@ -101,19 +101,24 @@
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#define ADIS16260_SCAN_TEMP 3
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#define ADIS16260_SCAN_ANGL 4
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/* Power down the device */
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static int adis16260_stop_device(struct iio_dev *indio_dev)
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{
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struct adis *adis = iio_priv(indio_dev);
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int ret;
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u16 val = ADIS16260_SLP_CNT_POWER_OFF;
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struct adis16260_chip_info {
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unsigned int gyro_max_val;
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unsigned int gyro_max_scale;
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const struct iio_chan_spec *channels;
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unsigned int num_channels;
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};
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ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val);
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if (ret)
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dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
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struct adis16260 {
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const struct adis16260_chip_info *info;
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return ret;
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}
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struct adis adis;
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};
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enum adis16260_type {
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ADIS16251,
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ADIS16260,
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ADIS16266,
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};
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static const struct iio_chan_spec adis16260_channels[] = {
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ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
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@ -131,6 +136,55 @@ static const struct iio_chan_spec adis16260_channels[] = {
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IIO_CHAN_SOFT_TIMESTAMP(5),
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};
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static const struct iio_chan_spec adis16266_channels[] = {
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ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
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BIT(IIO_CHAN_INFO_CALIBBIAS) |
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BIT(IIO_CHAN_INFO_CALIBSCALE),
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
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ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
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ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
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ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
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IIO_CHAN_SOFT_TIMESTAMP(4),
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};
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static const struct adis16260_chip_info adis16260_chip_info_table[] = {
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[ADIS16251] = {
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.gyro_max_scale = 80,
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.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
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.channels = adis16260_channels,
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.num_channels = ARRAY_SIZE(adis16260_channels),
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},
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[ADIS16260] = {
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.gyro_max_scale = 320,
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.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
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.channels = adis16260_channels,
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.num_channels = ARRAY_SIZE(adis16260_channels),
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},
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[ADIS16266] = {
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.gyro_max_scale = 14000,
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.gyro_max_val = IIO_RAD_TO_DEGREE(3357),
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.channels = adis16266_channels,
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.num_channels = ARRAY_SIZE(adis16266_channels),
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},
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};
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/* Power down the device */
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static int adis16260_stop_device(struct iio_dev *indio_dev)
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{
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struct adis16260 *adis16260 = iio_priv(indio_dev);
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int ret;
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u16 val = ADIS16260_SLP_CNT_POWER_OFF;
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ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
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if (ret)
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dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
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return ret;
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}
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static const u8 adis16260_addresses[][2] = {
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[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
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};
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@ -140,7 +194,9 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
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int *val, int *val2,
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long mask)
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{
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struct adis *adis = iio_priv(indio_dev);
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struct adis16260 *adis16260 = iio_priv(indio_dev);
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const struct adis16260_chip_info *info = adis16260->info;
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struct adis *adis = &adis16260->adis;
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int ret;
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u8 addr;
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s16 val16;
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@ -152,15 +208,9 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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*val = 0;
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if (spi_get_device_id(adis->spi)->driver_data) {
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/* 0.01832 degree / sec */
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*val2 = IIO_DEGREE_TO_RAD(18320);
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} else {
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/* 0.07326 degree / sec */
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*val2 = IIO_DEGREE_TO_RAD(73260);
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}
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return IIO_VAL_INT_PLUS_MICRO;
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*val = info->gyro_max_scale;
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*val2 = info->gyro_max_val;
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return IIO_VAL_FRACTIONAL;
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case IIO_INCLI:
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*val = 0;
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*val2 = IIO_DEGREE_TO_RAD(36630);
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@ -224,7 +274,8 @@ static int adis16260_write_raw(struct iio_dev *indio_dev,
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int val2,
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long mask)
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{
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struct adis *adis = iio_priv(indio_dev);
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struct adis16260 *adis16260 = iio_priv(indio_dev);
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struct adis *adis = &adis16260->adis;
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int ret;
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u8 addr;
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u8 t;
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@ -305,35 +356,42 @@ static const struct adis_data adis16260_data = {
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static int adis16260_probe(struct spi_device *spi)
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{
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const struct spi_device_id *id;
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struct adis16260 *adis16260;
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struct iio_dev *indio_dev;
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struct adis *adis;
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int ret;
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id = spi_get_device_id(spi);
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if (!id)
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return -ENODEV;
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/* setup the industrialio driver allocated elements */
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis));
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
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if (!indio_dev)
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return -ENOMEM;
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adis = iio_priv(indio_dev);
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adis16260 = iio_priv(indio_dev);
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/* this is only used for removal purposes */
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spi_set_drvdata(spi, indio_dev);
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indio_dev->name = spi_get_device_id(spi)->name;
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adis16260->info = &adis16260_chip_info_table[id->driver_data];
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indio_dev->name = id->name;
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indio_dev->dev.parent = &spi->dev;
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indio_dev->info = &adis16260_info;
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indio_dev->channels = adis16260_channels;
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indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);
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indio_dev->channels = adis16260->info->channels;
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indio_dev->num_channels = adis16260->info->num_channels;
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indio_dev->modes = INDIO_DIRECT_MODE;
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ret = adis_init(adis, indio_dev, spi, &adis16260_data);
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ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
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if (ret)
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return ret;
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ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
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ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
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if (ret)
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return ret;
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/* Get the device into a sane initial state */
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ret = adis_initial_startup(adis);
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ret = adis_initial_startup(&adis16260->adis);
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if (ret)
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goto error_cleanup_buffer_trigger;
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ret = iio_device_register(indio_dev);
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@ -343,18 +401,18 @@ static int adis16260_probe(struct spi_device *spi)
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return 0;
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error_cleanup_buffer_trigger:
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adis_cleanup_buffer_and_trigger(adis, indio_dev);
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adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
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return ret;
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}
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static int adis16260_remove(struct spi_device *spi)
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{
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struct iio_dev *indio_dev = spi_get_drvdata(spi);
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struct adis *adis = iio_priv(indio_dev);
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struct adis16260 *adis16260 = iio_priv(indio_dev);
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iio_device_unregister(indio_dev);
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adis16260_stop_device(indio_dev);
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adis_cleanup_buffer_and_trigger(adis, indio_dev);
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adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
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return 0;
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}
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@ -364,11 +422,12 @@ static int adis16260_remove(struct spi_device *spi)
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* support for the on chip filtering.
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*/
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static const struct spi_device_id adis16260_id[] = {
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{"adis16260", 0},
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{"adis16265", 0},
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{"adis16250", 0},
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{"adis16255", 0},
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{"adis16251", 1},
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{"adis16260", ADIS16260},
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{"adis16265", ADIS16260},
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{"adis16266", ADIS16266},
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{"adis16250", ADIS16260},
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{"adis16255", ADIS16260},
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{"adis16251", ADIS16251},
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{}
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};
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MODULE_DEVICE_TABLE(spi, adis16260_id);
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