phylib: add RGMII-ID mode to the Marvell m88e1111 PHY to fix broken ucc_geth
[linux-2.6] / drivers / spi / atmel_spi.c
1 /*
2  * Driver for Atmel AT32 and AT91 SPI Controllers
3  *
4  * Copyright (C) 2006 Atmel Corporation
5  *
6  * This program is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  */
10
11 #include <linux/kernel.h>
12 #include <linux/init.h>
13 #include <linux/clk.h>
14 #include <linux/module.h>
15 #include <linux/platform_device.h>
16 #include <linux/delay.h>
17 #include <linux/dma-mapping.h>
18 #include <linux/err.h>
19 #include <linux/interrupt.h>
20 #include <linux/spi/spi.h>
21
22 #include <asm/io.h>
23 #include <asm/arch/board.h>
24 #include <asm/arch/gpio.h>
25 #include <asm/arch/cpu.h>
26
27 #include "atmel_spi.h"
28
29 /*
30  * The core SPI transfer engine just talks to a register bank to set up
31  * DMA transfers; transfer queue progress is driven by IRQs.  The clock
32  * framework provides the base clock, subdivided for each spi_device.
33  *
34  * Newer controllers, marked with "new_1" flag, have:
35  *  - CR.LASTXFER
36  *  - SPI_MR.DIV32 may become FDIV or must-be-zero (here: always zero)
37  *  - SPI_SR.TXEMPTY, SPI_SR.NSSR (and corresponding irqs)
38  *  - SPI_CSRx.CSAAT
39  *  - SPI_CSRx.SBCR allows faster clocking
40  */
41 struct atmel_spi {
42         spinlock_t              lock;
43
44         void __iomem            *regs;
45         int                     irq;
46         struct clk              *clk;
47         struct platform_device  *pdev;
48         unsigned                new_1:1;
49
50         u8                      stopping;
51         struct list_head        queue;
52         struct spi_transfer     *current_transfer;
53         unsigned long           remaining_bytes;
54
55         void                    *buffer;
56         dma_addr_t              buffer_dma;
57 };
58
59 #define BUFFER_SIZE             PAGE_SIZE
60 #define INVALID_DMA_ADDRESS     0xffffffff
61
62 /*
63  * Earlier SPI controllers (e.g. on at91rm9200) have a design bug whereby
64  * they assume that spi slave device state will not change on deselect, so
65  * that automagic deselection is OK.  Not so!  Workaround uses nCSx pins
66  * as GPIOs; or newer controllers have CSAAT and friends.
67  *
68  * Since the CSAAT functionality is a bit weird on newer controllers
69  * as well, we use GPIO to control nCSx pins on all controllers.
70  */
71
72 static inline void cs_activate(struct spi_device *spi)
73 {
74         unsigned gpio = (unsigned) spi->controller_data;
75         unsigned active = spi->mode & SPI_CS_HIGH;
76
77         dev_dbg(&spi->dev, "activate %u%s\n", gpio, active ? " (high)" : "");
78         gpio_set_value(gpio, active);
79 }
80
81 static inline void cs_deactivate(struct spi_device *spi)
82 {
83         unsigned gpio = (unsigned) spi->controller_data;
84         unsigned active = spi->mode & SPI_CS_HIGH;
85
86         dev_dbg(&spi->dev, "DEactivate %u%s\n", gpio, active ? " (low)" : "");
87         gpio_set_value(gpio, !active);
88 }
89
90 /*
91  * Submit next transfer for DMA.
92  * lock is held, spi irq is blocked
93  */
94 static void atmel_spi_next_xfer(struct spi_master *master,
95                                 struct spi_message *msg)
96 {
97         struct atmel_spi        *as = spi_master_get_devdata(master);
98         struct spi_transfer     *xfer;
99         u32                     len;
100         dma_addr_t              tx_dma, rx_dma;
101
102         xfer = as->current_transfer;
103         if (!xfer || as->remaining_bytes == 0) {
104                 if (xfer)
105                         xfer = list_entry(xfer->transfer_list.next,
106                                         struct spi_transfer, transfer_list);
107                 else
108                         xfer = list_entry(msg->transfers.next,
109                                         struct spi_transfer, transfer_list);
110                 as->remaining_bytes = xfer->len;
111                 as->current_transfer = xfer;
112         }
113
114         len = as->remaining_bytes;
115
116         tx_dma = xfer->tx_dma + xfer->len - len;
117         rx_dma = xfer->rx_dma + xfer->len - len;
118
119         /* use scratch buffer only when rx or tx data is unspecified */
120         if (!xfer->rx_buf) {
121                 rx_dma = as->buffer_dma;
122                 if (len > BUFFER_SIZE)
123                         len = BUFFER_SIZE;
124         }
125         if (!xfer->tx_buf) {
126                 tx_dma = as->buffer_dma;
127                 if (len > BUFFER_SIZE)
128                         len = BUFFER_SIZE;
129                 memset(as->buffer, 0, len);
130                 dma_sync_single_for_device(&as->pdev->dev,
131                                 as->buffer_dma, len, DMA_TO_DEVICE);
132         }
133
134         spi_writel(as, RPR, rx_dma);
135         spi_writel(as, TPR, tx_dma);
136
137         as->remaining_bytes -= len;
138         if (msg->spi->bits_per_word > 8)
139                 len >>= 1;
140
141         /* REVISIT: when xfer->delay_usecs == 0, the PDC "next transfer"
142          * mechanism might help avoid the IRQ latency between transfers
143          *
144          * We're also waiting for ENDRX before we start the next
145          * transfer because we need to handle some difficult timing
146          * issues otherwise. If we wait for ENDTX in one transfer and
147          * then starts waiting for ENDRX in the next, it's difficult
148          * to tell the difference between the ENDRX interrupt we're
149          * actually waiting for and the ENDRX interrupt of the
150          * previous transfer.
151          *
152          * It should be doable, though. Just not now...
153          */
154         spi_writel(as, TNCR, 0);
155         spi_writel(as, RNCR, 0);
156         spi_writel(as, IER, SPI_BIT(ENDRX) | SPI_BIT(OVRES));
157
158         dev_dbg(&msg->spi->dev,
159                 "  start xfer %p: len %u tx %p/%08x rx %p/%08x imr %03x\n",
160                 xfer, xfer->len, xfer->tx_buf, xfer->tx_dma,
161                 xfer->rx_buf, xfer->rx_dma, spi_readl(as, IMR));
162
163         spi_writel(as, TCR, len);
164         spi_writel(as, RCR, len);
165         spi_writel(as, PTCR, SPI_BIT(TXTEN) | SPI_BIT(RXTEN));
166 }
167
168 static void atmel_spi_next_message(struct spi_master *master)
169 {
170         struct atmel_spi        *as = spi_master_get_devdata(master);
171         struct spi_message      *msg;
172         u32                     mr;
173
174         BUG_ON(as->current_transfer);
175
176         msg = list_entry(as->queue.next, struct spi_message, queue);
177
178         /* Select the chip */
179         mr = spi_readl(as, MR);
180         mr = SPI_BFINS(PCS, ~(1 << msg->spi->chip_select), mr);
181         spi_writel(as, MR, mr);
182         cs_activate(msg->spi);
183
184         atmel_spi_next_xfer(master, msg);
185 }
186
187 static void
188 atmel_spi_dma_map_xfer(struct atmel_spi *as, struct spi_transfer *xfer)
189 {
190         xfer->tx_dma = xfer->rx_dma = INVALID_DMA_ADDRESS;
191         if (xfer->tx_buf)
192                 xfer->tx_dma = dma_map_single(&as->pdev->dev,
193                                 (void *) xfer->tx_buf, xfer->len,
194                                 DMA_TO_DEVICE);
195         if (xfer->rx_buf)
196                 xfer->rx_dma = dma_map_single(&as->pdev->dev,
197                                 xfer->rx_buf, xfer->len,
198                                 DMA_FROM_DEVICE);
199 }
200
201 static void atmel_spi_dma_unmap_xfer(struct spi_master *master,
202                                      struct spi_transfer *xfer)
203 {
204         if (xfer->tx_dma != INVALID_DMA_ADDRESS)
205                 dma_unmap_single(master->cdev.dev, xfer->tx_dma,
206                                  xfer->len, DMA_TO_DEVICE);
207         if (xfer->rx_dma != INVALID_DMA_ADDRESS)
208                 dma_unmap_single(master->cdev.dev, xfer->rx_dma,
209                                  xfer->len, DMA_FROM_DEVICE);
210 }
211
212 static void
213 atmel_spi_msg_done(struct spi_master *master, struct atmel_spi *as,
214                    struct spi_message *msg, int status)
215 {
216         cs_deactivate(msg->spi);
217         list_del(&msg->queue);
218         msg->status = status;
219
220         dev_dbg(master->cdev.dev,
221                 "xfer complete: %u bytes transferred\n",
222                 msg->actual_length);
223
224         spin_unlock(&as->lock);
225         msg->complete(msg->context);
226         spin_lock(&as->lock);
227
228         as->current_transfer = NULL;
229
230         /* continue if needed */
231         if (list_empty(&as->queue) || as->stopping)
232                 spi_writel(as, PTCR, SPI_BIT(RXTDIS) | SPI_BIT(TXTDIS));
233         else
234                 atmel_spi_next_message(master);
235 }
236
237 static irqreturn_t
238 atmel_spi_interrupt(int irq, void *dev_id)
239 {
240         struct spi_master       *master = dev_id;
241         struct atmel_spi        *as = spi_master_get_devdata(master);
242         struct spi_message      *msg;
243         struct spi_transfer     *xfer;
244         u32                     status, pending, imr;
245         int                     ret = IRQ_NONE;
246
247         spin_lock(&as->lock);
248
249         xfer = as->current_transfer;
250         msg = list_entry(as->queue.next, struct spi_message, queue);
251
252         imr = spi_readl(as, IMR);
253         status = spi_readl(as, SR);
254         pending = status & imr;
255
256         if (pending & SPI_BIT(OVRES)) {
257                 int timeout;
258
259                 ret = IRQ_HANDLED;
260
261                 spi_writel(as, IDR, (SPI_BIT(ENDTX) | SPI_BIT(ENDRX)
262                                      | SPI_BIT(OVRES)));
263
264                 /*
265                  * When we get an overrun, we disregard the current
266                  * transfer. Data will not be copied back from any
267                  * bounce buffer and msg->actual_len will not be
268                  * updated with the last xfer.
269                  *
270                  * We will also not process any remaning transfers in
271                  * the message.
272                  *
273                  * First, stop the transfer and unmap the DMA buffers.
274                  */
275                 spi_writel(as, PTCR, SPI_BIT(RXTDIS) | SPI_BIT(TXTDIS));
276                 if (!msg->is_dma_mapped)
277                         atmel_spi_dma_unmap_xfer(master, xfer);
278
279                 /* REVISIT: udelay in irq is unfriendly */
280                 if (xfer->delay_usecs)
281                         udelay(xfer->delay_usecs);
282
283                 dev_warn(master->cdev.dev, "fifo overrun (%u/%u remaining)\n",
284                          spi_readl(as, TCR), spi_readl(as, RCR));
285
286                 /*
287                  * Clean up DMA registers and make sure the data
288                  * registers are empty.
289                  */
290                 spi_writel(as, RNCR, 0);
291                 spi_writel(as, TNCR, 0);
292                 spi_writel(as, RCR, 0);
293                 spi_writel(as, TCR, 0);
294                 for (timeout = 1000; timeout; timeout--)
295                         if (spi_readl(as, SR) & SPI_BIT(TXEMPTY))
296                                 break;
297                 if (!timeout)
298                         dev_warn(master->cdev.dev,
299                                  "timeout waiting for TXEMPTY");
300                 while (spi_readl(as, SR) & SPI_BIT(RDRF))
301                         spi_readl(as, RDR);
302
303                 /* Clear any overrun happening while cleaning up */
304                 spi_readl(as, SR);
305
306                 atmel_spi_msg_done(master, as, msg, -EIO);
307         } else if (pending & SPI_BIT(ENDRX)) {
308                 ret = IRQ_HANDLED;
309
310                 spi_writel(as, IDR, pending);
311
312                 if (as->remaining_bytes == 0) {
313                         msg->actual_length += xfer->len;
314
315                         if (!msg->is_dma_mapped)
316                                 atmel_spi_dma_unmap_xfer(master, xfer);
317
318                         /* REVISIT: udelay in irq is unfriendly */
319                         if (xfer->delay_usecs)
320                                 udelay(xfer->delay_usecs);
321
322                         if (msg->transfers.prev == &xfer->transfer_list) {
323                                 /* report completed message */
324                                 atmel_spi_msg_done(master, as, msg, 0);
325                         } else {
326                                 if (xfer->cs_change) {
327                                         cs_deactivate(msg->spi);
328                                         udelay(1);
329                                         cs_activate(msg->spi);
330                                 }
331
332                                 /*
333                                  * Not done yet. Submit the next transfer.
334                                  *
335                                  * FIXME handle protocol options for xfer
336                                  */
337                                 atmel_spi_next_xfer(master, msg);
338                         }
339                 } else {
340                         /*
341                          * Keep going, we still have data to send in
342                          * the current transfer.
343                          */
344                         atmel_spi_next_xfer(master, msg);
345                 }
346         }
347
348         spin_unlock(&as->lock);
349
350         return ret;
351 }
352
353 #define MODEBITS (SPI_CPOL | SPI_CPHA | SPI_CS_HIGH)
354
355 static int atmel_spi_setup(struct spi_device *spi)
356 {
357         struct atmel_spi        *as;
358         u32                     scbr, csr;
359         unsigned int            bits = spi->bits_per_word;
360         unsigned long           bus_hz, sck_hz;
361         unsigned int            npcs_pin;
362         int                     ret;
363
364         as = spi_master_get_devdata(spi->master);
365
366         if (as->stopping)
367                 return -ESHUTDOWN;
368
369         if (spi->chip_select > spi->master->num_chipselect) {
370                 dev_dbg(&spi->dev,
371                                 "setup: invalid chipselect %u (%u defined)\n",
372                                 spi->chip_select, spi->master->num_chipselect);
373                 return -EINVAL;
374         }
375
376         if (bits == 0)
377                 bits = 8;
378         if (bits < 8 || bits > 16) {
379                 dev_dbg(&spi->dev,
380                                 "setup: invalid bits_per_word %u (8 to 16)\n",
381                                 bits);
382                 return -EINVAL;
383         }
384
385         if (spi->mode & ~MODEBITS) {
386                 dev_dbg(&spi->dev, "setup: unsupported mode bits %x\n",
387                         spi->mode & ~MODEBITS);
388                 return -EINVAL;
389         }
390
391         /* speed zero convention is used by some upper layers */
392         bus_hz = clk_get_rate(as->clk);
393         if (spi->max_speed_hz) {
394                 /* assume div32/fdiv/mbz == 0 */
395                 if (!as->new_1)
396                         bus_hz /= 2;
397                 scbr = ((bus_hz + spi->max_speed_hz - 1)
398                         / spi->max_speed_hz);
399                 if (scbr >= (1 << SPI_SCBR_SIZE)) {
400                         dev_dbg(&spi->dev, "setup: %d Hz too slow, scbr %u\n",
401                                         spi->max_speed_hz, scbr);
402                         return -EINVAL;
403                 }
404         } else
405                 scbr = 0xff;
406         sck_hz = bus_hz / scbr;
407
408         csr = SPI_BF(SCBR, scbr) | SPI_BF(BITS, bits - 8);
409         if (spi->mode & SPI_CPOL)
410                 csr |= SPI_BIT(CPOL);
411         if (!(spi->mode & SPI_CPHA))
412                 csr |= SPI_BIT(NCPHA);
413
414         /* TODO: DLYBS and DLYBCT */
415         csr |= SPI_BF(DLYBS, 10);
416         csr |= SPI_BF(DLYBCT, 10);
417
418         /* chipselect must have been muxed as GPIO (e.g. in board setup) */
419         npcs_pin = (unsigned int)spi->controller_data;
420         if (!spi->controller_state) {
421                 ret = gpio_request(npcs_pin, "spi_npcs");
422                 if (ret)
423                         return ret;
424                 spi->controller_state = (void *)npcs_pin;
425                 gpio_direction_output(npcs_pin, !(spi->mode & SPI_CS_HIGH));
426         }
427
428         dev_dbg(&spi->dev,
429                 "setup: %lu Hz bpw %u mode 0x%x -> csr%d %08x\n",
430                 sck_hz, bits, spi->mode, spi->chip_select, csr);
431
432         spi_writel(as, CSR0 + 4 * spi->chip_select, csr);
433
434         return 0;
435 }
436
437 static int atmel_spi_transfer(struct spi_device *spi, struct spi_message *msg)
438 {
439         struct atmel_spi        *as;
440         struct spi_transfer     *xfer;
441         unsigned long           flags;
442         struct device           *controller = spi->master->cdev.dev;
443
444         as = spi_master_get_devdata(spi->master);
445
446         dev_dbg(controller, "new message %p submitted for %s\n",
447                         msg, spi->dev.bus_id);
448
449         if (unlikely(list_empty(&msg->transfers)
450                         || !spi->max_speed_hz))
451                 return -EINVAL;
452
453         if (as->stopping)
454                 return -ESHUTDOWN;
455
456         list_for_each_entry(xfer, &msg->transfers, transfer_list) {
457                 if (!(xfer->tx_buf || xfer->rx_buf)) {
458                         dev_dbg(&spi->dev, "missing rx or tx buf\n");
459                         return -EINVAL;
460                 }
461
462                 /* FIXME implement these protocol options!! */
463                 if (xfer->bits_per_word || xfer->speed_hz) {
464                         dev_dbg(&spi->dev, "no protocol options yet\n");
465                         return -ENOPROTOOPT;
466                 }
467         }
468
469         /* scrub dcache "early" */
470         if (!msg->is_dma_mapped) {
471                 list_for_each_entry(xfer, &msg->transfers, transfer_list)
472                         atmel_spi_dma_map_xfer(as, xfer);
473         }
474
475         list_for_each_entry(xfer, &msg->transfers, transfer_list) {
476                 dev_dbg(controller,
477                         "  xfer %p: len %u tx %p/%08x rx %p/%08x\n",
478                         xfer, xfer->len,
479                         xfer->tx_buf, xfer->tx_dma,
480                         xfer->rx_buf, xfer->rx_dma);
481         }
482
483         msg->status = -EINPROGRESS;
484         msg->actual_length = 0;
485
486         spin_lock_irqsave(&as->lock, flags);
487         list_add_tail(&msg->queue, &as->queue);
488         if (!as->current_transfer)
489                 atmel_spi_next_message(spi->master);
490         spin_unlock_irqrestore(&as->lock, flags);
491
492         return 0;
493 }
494
495 static void atmel_spi_cleanup(struct spi_device *spi)
496 {
497         if (spi->controller_state)
498                 gpio_free((unsigned int)spi->controller_data);
499 }
500
501 /*-------------------------------------------------------------------------*/
502
503 static int __init atmel_spi_probe(struct platform_device *pdev)
504 {
505         struct resource         *regs;
506         int                     irq;
507         struct clk              *clk;
508         int                     ret;
509         struct spi_master       *master;
510         struct atmel_spi        *as;
511
512         regs = platform_get_resource(pdev, IORESOURCE_MEM, 0);
513         if (!regs)
514                 return -ENXIO;
515
516         irq = platform_get_irq(pdev, 0);
517         if (irq < 0)
518                 return irq;
519
520         clk = clk_get(&pdev->dev, "spi_clk");
521         if (IS_ERR(clk))
522                 return PTR_ERR(clk);
523
524         /* setup spi core then atmel-specific driver state */
525         ret = -ENOMEM;
526         master = spi_alloc_master(&pdev->dev, sizeof *as);
527         if (!master)
528                 goto out_free;
529
530         master->bus_num = pdev->id;
531         master->num_chipselect = 4;
532         master->setup = atmel_spi_setup;
533         master->transfer = atmel_spi_transfer;
534         master->cleanup = atmel_spi_cleanup;
535         platform_set_drvdata(pdev, master);
536
537         as = spi_master_get_devdata(master);
538
539         as->buffer = dma_alloc_coherent(&pdev->dev, BUFFER_SIZE,
540                                         &as->buffer_dma, GFP_KERNEL);
541         if (!as->buffer)
542                 goto out_free;
543
544         spin_lock_init(&as->lock);
545         INIT_LIST_HEAD(&as->queue);
546         as->pdev = pdev;
547         as->regs = ioremap(regs->start, (regs->end - regs->start) + 1);
548         if (!as->regs)
549                 goto out_free_buffer;
550         as->irq = irq;
551         as->clk = clk;
552         if (!cpu_is_at91rm9200())
553                 as->new_1 = 1;
554
555         ret = request_irq(irq, atmel_spi_interrupt, 0,
556                         pdev->dev.bus_id, master);
557         if (ret)
558                 goto out_unmap_regs;
559
560         /* Initialize the hardware */
561         clk_enable(clk);
562         spi_writel(as, CR, SPI_BIT(SWRST));
563         spi_writel(as, MR, SPI_BIT(MSTR) | SPI_BIT(MODFDIS));
564         spi_writel(as, PTCR, SPI_BIT(RXTDIS) | SPI_BIT(TXTDIS));
565         spi_writel(as, CR, SPI_BIT(SPIEN));
566
567         /* go! */
568         dev_info(&pdev->dev, "Atmel SPI Controller at 0x%08lx (irq %d)\n",
569                         (unsigned long)regs->start, irq);
570
571         ret = spi_register_master(master);
572         if (ret)
573                 goto out_reset_hw;
574
575         return 0;
576
577 out_reset_hw:
578         spi_writel(as, CR, SPI_BIT(SWRST));
579         clk_disable(clk);
580         free_irq(irq, master);
581 out_unmap_regs:
582         iounmap(as->regs);
583 out_free_buffer:
584         dma_free_coherent(&pdev->dev, BUFFER_SIZE, as->buffer,
585                         as->buffer_dma);
586 out_free:
587         clk_put(clk);
588         spi_master_put(master);
589         return ret;
590 }
591
592 static int __exit atmel_spi_remove(struct platform_device *pdev)
593 {
594         struct spi_master       *master = platform_get_drvdata(pdev);
595         struct atmel_spi        *as = spi_master_get_devdata(master);
596         struct spi_message      *msg;
597
598         /* reset the hardware and block queue progress */
599         spin_lock_irq(&as->lock);
600         as->stopping = 1;
601         spi_writel(as, CR, SPI_BIT(SWRST));
602         spi_readl(as, SR);
603         spin_unlock_irq(&as->lock);
604
605         /* Terminate remaining queued transfers */
606         list_for_each_entry(msg, &as->queue, queue) {
607                 /* REVISIT unmapping the dma is a NOP on ARM and AVR32
608                  * but we shouldn't depend on that...
609                  */
610                 msg->status = -ESHUTDOWN;
611                 msg->complete(msg->context);
612         }
613
614         dma_free_coherent(&pdev->dev, BUFFER_SIZE, as->buffer,
615                         as->buffer_dma);
616
617         clk_disable(as->clk);
618         clk_put(as->clk);
619         free_irq(as->irq, master);
620         iounmap(as->regs);
621
622         spi_unregister_master(master);
623
624         return 0;
625 }
626
627 #ifdef  CONFIG_PM
628
629 static int atmel_spi_suspend(struct platform_device *pdev, pm_message_t mesg)
630 {
631         struct spi_master       *master = platform_get_drvdata(pdev);
632         struct atmel_spi        *as = spi_master_get_devdata(master);
633
634         clk_disable(as->clk);
635         return 0;
636 }
637
638 static int atmel_spi_resume(struct platform_device *pdev)
639 {
640         struct spi_master       *master = platform_get_drvdata(pdev);
641         struct atmel_spi        *as = spi_master_get_devdata(master);
642
643         clk_enable(as->clk);
644         return 0;
645 }
646
647 #else
648 #define atmel_spi_suspend       NULL
649 #define atmel_spi_resume        NULL
650 #endif
651
652
653 static struct platform_driver atmel_spi_driver = {
654         .driver         = {
655                 .name   = "atmel_spi",
656                 .owner  = THIS_MODULE,
657         },
658         .suspend        = atmel_spi_suspend,
659         .resume         = atmel_spi_resume,
660         .remove         = __exit_p(atmel_spi_remove),
661 };
662
663 static int __init atmel_spi_init(void)
664 {
665         return platform_driver_probe(&atmel_spi_driver, atmel_spi_probe);
666 }
667 module_init(atmel_spi_init);
668
669 static void __exit atmel_spi_exit(void)
670 {
671         platform_driver_unregister(&atmel_spi_driver);
672 }
673 module_exit(atmel_spi_exit);
674
675 MODULE_DESCRIPTION("Atmel AT32/AT91 SPI Controller driver");
676 MODULE_AUTHOR("Haavard Skinnemoen <hskinnemoen@atmel.com>");
677 MODULE_LICENSE("GPL");