236 lines
5.1 KiB
C
Executable File
236 lines
5.1 KiB
C
Executable File
/*
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* ADIS16060 Wide Bandwidth Yaw Rate Gyroscope with SPI driver
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*
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* Copyright 2010 Analog Devices Inc.
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*
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* Licensed under the GPL-2 or later.
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*/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/slab.h>
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#include <linux/sysfs.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#define ADIS16060_GYRO 0x20 /* Measure Angular Rate (Gyro) */
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#define ADIS16060_TEMP_OUT 0x10 /* Measure Temperature */
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#define ADIS16060_AIN2 0x80 /* Measure AIN2 */
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#define ADIS16060_AIN1 0x40 /* Measure AIN1 */
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/**
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* struct adis16060_state - device instance specific data
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* @us_w: actual spi_device to write config
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* @us_r: actual spi_device to read back data
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* @buf: transmit or receive buffer
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* @buf_lock: mutex to protect tx and rx
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**/
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struct adis16060_state {
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struct spi_device *us_w;
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struct spi_device *us_r;
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struct mutex buf_lock;
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u8 buf[3] ____cacheline_aligned;
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};
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static struct iio_dev *adis16060_iio_dev;
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static int adis16060_spi_write_then_read(struct iio_dev *indio_dev,
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u8 conf, u16 *val)
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{
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int ret;
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struct adis16060_state *st = iio_priv(indio_dev);
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mutex_lock(&st->buf_lock);
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st->buf[2] = conf; /* The last 8 bits clocked in are latched */
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ret = spi_write(st->us_w, st->buf, 3);
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if (ret < 0) {
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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ret = spi_read(st->us_r, st->buf, 3);
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/* The internal successive approximation ADC begins the
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* conversion process on the falling edge of MSEL1 and
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* starts to place data MSB first on the DOUT line at
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* the 6th falling edge of SCLK
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*/
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if (!ret)
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*val = ((st->buf[0] & 0x3) << 12) |
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(st->buf[1] << 4) |
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((st->buf[2] >> 4) & 0xF);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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static int adis16060_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val, int *val2,
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long mask)
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{
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u16 tval = 0;
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int ret;
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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ret = adis16060_spi_write_then_read(indio_dev,
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chan->address, &tval);
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if (ret < 0)
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return ret;
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*val = tval;
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_OFFSET:
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*val = -7;
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*val2 = 461117;
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_CHAN_INFO_SCALE:
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*val = 0;
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*val2 = 34000;
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return IIO_VAL_INT_PLUS_MICRO;
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}
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return -EINVAL;
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}
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static const struct iio_info adis16060_info = {
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.read_raw = adis16060_read_raw,
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.driver_module = THIS_MODULE,
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};
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static const struct iio_chan_spec adis16060_channels[] = {
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{
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.type = IIO_ANGL_VEL,
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.modified = 1,
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.channel2 = IIO_MOD_Z,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
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.address = ADIS16060_GYRO,
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}, {
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.type = IIO_VOLTAGE,
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.indexed = 1,
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.channel = 0,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
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.address = ADIS16060_AIN1,
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}, {
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.type = IIO_VOLTAGE,
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.indexed = 1,
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.channel = 1,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
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.address = ADIS16060_AIN2,
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}, {
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.type = IIO_TEMP,
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.indexed = 1,
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.channel = 0,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
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BIT(IIO_CHAN_INFO_OFFSET) | BIT(IIO_CHAN_INFO_SCALE),
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.address = ADIS16060_TEMP_OUT,
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}
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};
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static int adis16060_r_probe(struct spi_device *spi)
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{
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int ret;
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struct adis16060_state *st;
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struct iio_dev *indio_dev;
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/* setup the industrialio driver allocated elements */
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
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if (!indio_dev)
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return -ENOMEM;
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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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st = iio_priv(indio_dev);
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st->us_r = spi;
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mutex_init(&st->buf_lock);
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indio_dev->name = spi->dev.driver->name;
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indio_dev->dev.parent = &spi->dev;
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indio_dev->info = &adis16060_info;
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indio_dev->modes = INDIO_DIRECT_MODE;
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indio_dev->channels = adis16060_channels;
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indio_dev->num_channels = ARRAY_SIZE(adis16060_channels);
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ret = devm_iio_device_register(&spi->dev, indio_dev);
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if (ret)
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return ret;
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adis16060_iio_dev = indio_dev;
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return 0;
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}
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static int adis16060_w_probe(struct spi_device *spi)
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{
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int ret;
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struct iio_dev *indio_dev = adis16060_iio_dev;
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struct adis16060_state *st;
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if (!indio_dev) {
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ret = -ENODEV;
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goto error_ret;
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}
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st = iio_priv(indio_dev);
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spi_set_drvdata(spi, indio_dev);
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st->us_w = spi;
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return 0;
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error_ret:
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return ret;
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}
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static int adis16060_w_remove(struct spi_device *spi)
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{
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return 0;
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}
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static struct spi_driver adis16060_r_driver = {
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.driver = {
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.name = "adis16060_r",
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},
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.probe = adis16060_r_probe,
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};
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static struct spi_driver adis16060_w_driver = {
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.driver = {
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.name = "adis16060_w",
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},
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.probe = adis16060_w_probe,
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.remove = adis16060_w_remove,
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};
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static __init int adis16060_init(void)
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{
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int ret;
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ret = spi_register_driver(&adis16060_r_driver);
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if (ret < 0)
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return ret;
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ret = spi_register_driver(&adis16060_w_driver);
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if (ret < 0) {
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spi_unregister_driver(&adis16060_r_driver);
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return ret;
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}
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return 0;
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}
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module_init(adis16060_init);
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static __exit void adis16060_exit(void)
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{
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spi_unregister_driver(&adis16060_w_driver);
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spi_unregister_driver(&adis16060_r_driver);
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}
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module_exit(adis16060_exit);
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MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
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MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver");
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MODULE_LICENSE("GPL v2");
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