[deliverable/linux.git] / drivers / staging / iio / accel / adis16201_core.c

/*
 * ADIS16201 Programmable Digital Vibration Sensor driver
 *
 * Copyright 2010 Analog Devices Inc.
 *
 * Licensed under the GPL-2 or later.
 */

#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/gpio.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 "../iio.h"
#include "../sysfs.h"
#include "accel.h"
#include "inclinometer.h"
#include "../gyro/gyro.h"
#include "../adc/adc.h"

#include "adis16201.h"

#define DRIVER_NAME		"adis16201"

static int adis16201_check_status(struct device *dev);

/**
 * adis16201_spi_write_reg_8() - write single byte to a register
 * @dev: device associated with child of actual device (iio_dev or iio_trig)
 * @reg_address: the address of the register to be written
 * @val: the value to write
 **/
static int adis16201_spi_write_reg_8(struct device *dev,
		u8 reg_address,
		u8 val)
{
	int ret;
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16201_state *st = iio_dev_get_devdata(indio_dev);

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16201_WRITE_REG(reg_address);
	st->tx[1] = val;

	ret = spi_write(st->us, st->tx, 2);
	mutex_unlock(&st->buf_lock);

	return ret;
}

/**
 * adis16201_spi_write_reg_16() - write 2 bytes to a pair of registers
 * @dev: device associated with child of actual device (iio_dev or iio_trig)
 * @reg_address: the address of the lower of the two registers. Second register
 *               is assumed to have address one greater.
 * @val: value to be written
 **/
static int adis16201_spi_write_reg_16(struct device *dev,
		u8 lower_reg_address,
		u16 value)
{
	int ret;
	struct spi_message msg;
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16201_state *st = iio_dev_get_devdata(indio_dev);
	struct spi_transfer xfers[] = {
		{
			.tx_buf = st->tx,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
		}, {
			.tx_buf = st->tx + 2,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16201_WRITE_REG(lower_reg_address);
	st->tx[1] = value & 0xFF;
	st->tx[2] = ADIS16201_WRITE_REG(lower_reg_address + 1);
	st->tx[3] = (value >> 8) & 0xFF;

	spi_message_init(&msg);
	spi_message_add_tail(&xfers[0], &msg);
	spi_message_add_tail(&xfers[1], &msg);
	ret = spi_sync(st->us, &msg);
	mutex_unlock(&st->buf_lock);

	return ret;
}

/**
 * adis16201_spi_read_reg_16() - read 2 bytes from a 16-bit register
 * @dev: device associated with child of actual device (iio_dev or iio_trig)
 * @reg_address: the address of the lower of the two registers. Second register
 *               is assumed to have address one greater.
 * @val: somewhere to pass back the value read
 **/
static int adis16201_spi_read_reg_16(struct device *dev,
		u8 lower_reg_address,
		u16 *val)
{
	struct spi_message msg;
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16201_state *st = iio_dev_get_devdata(indio_dev);
	int ret;
	struct spi_transfer xfers[] = {
		{
			.tx_buf = st->tx,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
			.delay_usecs = 20,
		}, {
			.rx_buf = st->rx,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
			.delay_usecs = 20,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16201_READ_REG(lower_reg_address);
	st->tx[1] = 0;

	spi_message_init(&msg);
	spi_message_add_tail(&xfers[0], &msg);
	spi_message_add_tail(&xfers[1], &msg);
	ret = spi_sync(st->us, &msg);
	if (ret) {
		dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X",
				lower_reg_address);
		goto error_ret;
	}
	*val = (st->rx[0] << 8) | st->rx[1];

error_ret:
	mutex_unlock(&st->buf_lock);
	return ret;
}

static ssize_t adis16201_read_12bit_unsigned(struct device *dev,
		struct device_attribute *attr,
		char *buf)
{
	int ret;
	u16 val = 0;
	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);

	ret = adis16201_spi_read_reg_16(dev, this_attr->address, &val);
	if (ret)
		return ret;

	if (val & ADIS16201_ERROR_ACTIVE) {
		ret = adis16201_check_status(dev);
		if (ret)
			return ret;
	}

	return sprintf(buf, "%u\n", val & 0x0FFF);
}

static ssize_t adis16201_read_temp(struct device *dev,
		struct device_attribute *attr,
		char *buf)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	ssize_t ret;
	u16 val;

	/* Take the iio_dev status lock */
	mutex_lock(&indio_dev->mlock);

	ret = adis16201_spi_read_reg_16(dev, ADIS16201_TEMP_OUT, (u16 *)&val);
	if (ret)
		goto error_ret;

	if (val & ADIS16201_ERROR_ACTIVE) {
		ret = adis16201_check_status(dev);
		if (ret)
			goto error_ret;
	}

	val &= 0xFFF;
	ret = sprintf(buf, "%d\n", val);

error_ret:
	mutex_unlock(&indio_dev->mlock);
	return ret;
}

static ssize_t adis16201_read_9bit_signed(struct device *dev,
		struct device_attribute *attr,
		char *buf)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	s16 val = 0;
	ssize_t ret;

	mutex_lock(&indio_dev->mlock);

	ret = adis16201_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
	if (!ret) {
		if (val & ADIS16201_ERROR_ACTIVE) {
			ret = adis16201_check_status(dev);
			if (ret)
				goto error_ret;
		}
		val = ((s16)(val << 7) >> 7);
		ret = sprintf(buf, "%d\n", val);
	}

error_ret:
	mutex_unlock(&indio_dev->mlock);

	return ret;
}

static ssize_t adis16201_read_12bit_signed(struct device *dev,
		struct device_attribute *attr,
		char *buf)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	s16 val = 0;
	ssize_t ret;

	mutex_lock(&indio_dev->mlock);

	ret = adis16201_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
	if (!ret) {
		if (val & ADIS16201_ERROR_ACTIVE) {
			ret = adis16201_check_status(dev);
			if (ret)
				goto error_ret;
		}

		val = ((s16)(val << 4) >> 4);
		ret = sprintf(buf, "%d\n", val);
	}

error_ret:
	mutex_unlock(&indio_dev->mlock);

	return ret;
}

static ssize_t adis16201_read_14bit_signed(struct device *dev,
		struct device_attribute *attr,
		char *buf)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	s16 val = 0;
	ssize_t ret;

	mutex_lock(&indio_dev->mlock);

	ret = adis16201_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
	if (!ret) {
		if (val & ADIS16201_ERROR_ACTIVE) {
			ret = adis16201_check_status(dev);
			if (ret)
				goto error_ret;
		}

		val = ((s16)(val << 2) >> 2);
		ret = sprintf(buf, "%d\n", val);
	}

error_ret:
	mutex_unlock(&indio_dev->mlock);

	return ret;
}

static ssize_t adis16201_write_16bit(struct device *dev,
		struct device_attribute *attr,
		const char *buf,
		size_t len)
{
	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	int ret;
	long val;

	ret = strict_strtol(buf, 10, &val);
	if (ret)
		goto error_ret;
	ret = adis16201_spi_write_reg_16(dev, this_attr->address, val);

error_ret:
	return ret ? ret : len;
}

static int adis16201_reset(struct device *dev)
{
	int ret;
	ret = adis16201_spi_write_reg_8(dev,
			ADIS16201_GLOB_CMD,
			ADIS16201_GLOB_CMD_SW_RESET);
	if (ret)
		dev_err(dev, "problem resetting device");

	return ret;
}

static ssize_t adis16201_write_reset(struct device *dev,
		struct device_attribute *attr,
		const char *buf, size_t len)
{
	if (len < 1)
		return -EINVAL;
	switch (buf[0]) {
	case '1':
	case 'y':
	case 'Y':
		return adis16201_reset(dev);
	}
	return -EINVAL;
}

int adis16201_set_irq(struct device *dev, bool enable)
{
	int ret = 0;
	u16 msc;

	ret = adis16201_spi_read_reg_16(dev, ADIS16201_MSC_CTRL, &msc);
	if (ret)
		goto error_ret;

	msc |= ADIS16201_MSC_CTRL_ACTIVE_HIGH;
	msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_DIO1;
	if (enable)
		msc |= ADIS16201_MSC_CTRL_DATA_RDY_EN;
	else
		msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_EN;

	ret = adis16201_spi_write_reg_16(dev, ADIS16201_MSC_CTRL, msc);

error_ret:
	return ret;
}

static int adis16201_check_status(struct device *dev)
{
	u16 status;
	int ret;

	ret = adis16201_spi_read_reg_16(dev, ADIS16201_DIAG_STAT, &status);
	if (ret < 0) {
		dev_err(dev, "Reading status failed\n");
		goto error_ret;
	}
	ret = status & 0xF;
	if (ret)
		ret = -EFAULT;

	if (status & ADIS16201_DIAG_STAT_SPI_FAIL)
		dev_err(dev, "SPI failure\n");
	if (status & ADIS16201_DIAG_STAT_FLASH_UPT)
		dev_err(dev, "Flash update failed\n");
	if (status & ADIS16201_DIAG_STAT_POWER_HIGH)
		dev_err(dev, "Power supply above 3.625V\n");
	if (status & ADIS16201_DIAG_STAT_POWER_LOW)
		dev_err(dev, "Power supply below 3.15V\n");

error_ret:
	return ret;
}

static int adis16201_self_test(struct device *dev)
{
	int ret;
	ret = adis16201_spi_write_reg_16(dev,
			ADIS16201_MSC_CTRL,
			ADIS16201_MSC_CTRL_SELF_TEST_EN);
	if (ret) {
		dev_err(dev, "problem starting self test");
		goto err_ret;
	}

	ret = adis16201_check_status(dev);

err_ret:
	return ret;
}

static int adis16201_initial_setup(struct adis16201_state *st)
{
	int ret;
	struct device *dev = &st->indio_dev->dev;

	/* Disable IRQ */
	ret = adis16201_set_irq(dev, false);
	if (ret) {
		dev_err(dev, "disable irq failed");
		goto err_ret;
	}

	/* Do self test */
	ret = adis16201_self_test(dev);
	if (ret) {
		dev_err(dev, "self test failure");
		goto err_ret;
	}

	/* Read status register to check the result */
	ret = adis16201_check_status(dev);
	if (ret) {
		adis16201_reset(dev);
		dev_err(dev, "device not playing ball -> reset");
		msleep(ADIS16201_STARTUP_DELAY);
		ret = adis16201_check_status(dev);
		if (ret) {
			dev_err(dev, "giving up");
			goto err_ret;
		}
	}

	printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
			st->us->chip_select, st->us->irq);

err_ret:
	return ret;
}

static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16201_read_12bit_unsigned,
		ADIS16201_SUPPLY_OUT);
static IIO_CONST_ATTR(in0_supply_scale, "0.00122");
static IIO_DEV_ATTR_IN_RAW(1, adis16201_read_12bit_unsigned,
		ADIS16201_AUX_ADC);
static IIO_CONST_ATTR(in1_scale, "0.00061");

static IIO_DEV_ATTR_ACCEL_X(adis16201_read_14bit_signed,
		ADIS16201_XACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Y(adis16201_read_14bit_signed,
		ADIS16201_YACCL_OUT);
static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
		adis16201_read_12bit_signed,
		adis16201_write_16bit,
		ADIS16201_XACCL_OFFS);
static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
		adis16201_read_12bit_signed,
		adis16201_write_16bit,
		ADIS16201_YACCL_OFFS);
static IIO_CONST_ATTR(accel_scale, "0.4625");

static IIO_DEV_ATTR_INCLI_X(adis16201_read_14bit_signed,
		ADIS16201_XINCL_OUT);
static IIO_DEV_ATTR_INCLI_Y(adis16201_read_14bit_signed,
		ADIS16201_YINCL_OUT);
static IIO_DEV_ATTR_INCLI_X_OFFSET(S_IWUSR | S_IRUGO,
		adis16201_read_9bit_signed,
		adis16201_write_16bit,
		ADIS16201_XACCL_OFFS);
static IIO_DEV_ATTR_INCLI_Y_OFFSET(S_IWUSR | S_IRUGO,
		adis16201_read_9bit_signed,
		adis16201_write_16bit,
		ADIS16201_YACCL_OFFS);
static IIO_CONST_ATTR(incli_scale, "0.1");

static IIO_DEV_ATTR_TEMP_RAW(adis16201_read_temp);
static IIO_CONST_ATTR(temp_offset, "25");
static IIO_CONST_ATTR(temp_scale, "-0.47");

static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16201_write_reset, 0);

static struct attribute *adis16201_attributes[] = {
	&iio_dev_attr_in0_supply_raw.dev_attr.attr,
	&iio_const_attr_in0_supply_scale.dev_attr.attr,
	&iio_dev_attr_temp_raw.dev_attr.attr,
	&iio_const_attr_temp_offset.dev_attr.attr,
	&iio_const_attr_temp_scale.dev_attr.attr,
	&iio_dev_attr_reset.dev_attr.attr,
	&iio_dev_attr_in1_raw.dev_attr.attr,
	&iio_const_attr_in1_scale.dev_attr.attr,
	&iio_dev_attr_accel_x_raw.dev_attr.attr,
	&iio_dev_attr_accel_y_raw.dev_attr.attr,
	&iio_dev_attr_accel_x_offset.dev_attr.attr,
	&iio_dev_attr_accel_y_offset.dev_attr.attr,
	&iio_const_attr_accel_scale.dev_attr.attr,
	&iio_dev_attr_incli_x_raw.dev_attr.attr,
	&iio_dev_attr_incli_y_raw.dev_attr.attr,
	&iio_dev_attr_incli_x_offset.dev_attr.attr,
	&iio_dev_attr_incli_y_offset.dev_attr.attr,
	&iio_const_attr_incli_scale.dev_attr.attr,
	NULL
};

static const struct attribute_group adis16201_attribute_group = {
	.attrs = adis16201_attributes,
};

static int __devinit adis16201_probe(struct spi_device *spi)
{
	int ret, regdone = 0;
	struct adis16201_state *st = kzalloc(sizeof *st, GFP_KERNEL);
	if (!st) {
		ret =  -ENOMEM;
		goto error_ret;
	}
	/* this is only used for removal purposes */
	spi_set_drvdata(spi, st);

	/* Allocate the comms buffers */
	st->rx = kzalloc(sizeof(*st->rx)*ADIS16201_MAX_RX, GFP_KERNEL);
	if (st->rx == NULL) {
		ret = -ENOMEM;
		goto error_free_st;
	}
	st->tx = kzalloc(sizeof(*st->tx)*ADIS16201_MAX_TX, GFP_KERNEL);
	if (st->tx == NULL) {
		ret = -ENOMEM;
		goto error_free_rx;
	}
	st->us = spi;
	mutex_init(&st->buf_lock);
	/* setup the industrialio driver allocated elements */
	st->indio_dev = iio_allocate_device(0);
	if (st->indio_dev == NULL) {
		ret = -ENOMEM;
		goto error_free_tx;
	}

	st->indio_dev->name = spi->dev.driver->name;
	st->indio_dev->dev.parent = &spi->dev;
	st->indio_dev->attrs = &adis16201_attribute_group;
	st->indio_dev->dev_data = (void *)(st);
	st->indio_dev->driver_module = THIS_MODULE;
	st->indio_dev->modes = INDIO_DIRECT_MODE;

	ret = adis16201_configure_ring(st->indio_dev);
	if (ret)
		goto error_free_dev;

	ret = iio_device_register(st->indio_dev);
	if (ret)
		goto error_unreg_ring_funcs;
	regdone = 1;

	ret = adis16201_initialize_ring(st->indio_dev->ring);
	if (ret) {
		printk(KERN_ERR "failed to initialize the ring\n");
		goto error_unreg_ring_funcs;
	}

	if (spi->irq) {
		ret = adis16201_probe_trigger(st->indio_dev);
		if (ret)
			goto error_uninitialize_ring;
	}

	/* Get the device into a sane initial state */
	ret = adis16201_initial_setup(st);
	if (ret)
		goto error_remove_trigger;
	return 0;

error_remove_trigger:
	adis16201_remove_trigger(st->indio_dev);
error_uninitialize_ring:
	adis16201_uninitialize_ring(st->indio_dev->ring);
error_unreg_ring_funcs:
	adis16201_unconfigure_ring(st->indio_dev);
error_free_dev:
	if (regdone)
		iio_device_unregister(st->indio_dev);
	else
		iio_free_device(st->indio_dev);
error_free_tx:
	kfree(st->tx);
error_free_rx:
	kfree(st->rx);
error_free_st:
	kfree(st);
error_ret:
	return ret;
}

static int adis16201_remove(struct spi_device *spi)
{
	struct adis16201_state *st = spi_get_drvdata(spi);
	struct iio_dev *indio_dev = st->indio_dev;

	flush_scheduled_work();

	adis16201_remove_trigger(indio_dev);
	adis16201_uninitialize_ring(indio_dev->ring);
	iio_device_unregister(indio_dev);
	adis16201_unconfigure_ring(indio_dev);
	kfree(st->tx);
	kfree(st->rx);
	kfree(st);

	return 0;
}

static struct spi_driver adis16201_driver = {
	.driver = {
		.name = "adis16201",
		.owner = THIS_MODULE,
	},
	.probe = adis16201_probe,
	.remove = __devexit_p(adis16201_remove),
};

static __init int adis16201_init(void)
{
	return spi_register_driver(&adis16201_driver);
}
module_init(adis16201_init);

static __exit void adis16201_exit(void)
{
	spi_unregister_driver(&adis16201_driver);
}
module_exit(adis16201_exit);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16201 Programmable Digital Vibration Sensor driver");
MODULE_LICENSE("GPL v2");
Commit	Line	Data
f7fe1d1d BS	1	/*
	2	* ADIS16201 Programmable Digital Vibration Sensor driver
	3	*
	4	* Copyright 2010 Analog Devices Inc.
	5	*
	6	* Licensed under the GPL-2 or later.
	7	*/
	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 "accel.h"
	24	#include "inclinometer.h"
	25	#include "../gyro/gyro.h"
	26	#include "../adc/adc.h"
	27
	28	#include "adis16201.h"
	29
	30	#define DRIVER_NAME "adis16201"
	31
	32	static int adis16201_check_status(struct device *dev);
	33
	34	/**
	35	* adis16201_spi_write_reg_8() - write single byte to a register
	36	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	37	* @reg_address: the address of the register to be written
	38	* @val: the value to write
	39	**/
	40	static int adis16201_spi_write_reg_8(struct device *dev,
	41	u8 reg_address,
	42	u8 val)
	43	{
	44	int ret;
	45	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	46	struct adis16201_state *st = iio_dev_get_devdata(indio_dev);
	47
	48	mutex_lock(&st->buf_lock);
	49	st->tx[0] = ADIS16201_WRITE_REG(reg_address);
	50	st->tx[1] = val;
	51
	52	ret = spi_write(st->us, st->tx, 2);
	53	mutex_unlock(&st->buf_lock);
	54
	55	return ret;
	56	}
	57
	58	/**
	59	* adis16201_spi_write_reg_16() - write 2 bytes to a pair of registers
	60	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	61	* @reg_address: the address of the lower of the two registers. Second register
	62	* is assumed to have address one greater.
	63	* @val: value to be written
	64	**/
65	static int adis16201_spi_write_reg_16(struct device *dev,
66	u8 lower_reg_address,
67	u16 value)
68	{
69	int ret;
70	struct spi_message msg;
71	struct iio_dev *indio_dev = dev_get_drvdata(dev);
72	struct adis16201_state *st = iio_dev_get_devdata(indio_dev);
73	struct spi_transfer xfers[] = {
74	{
75	.tx_buf = st->tx,
76	.bits_per_word = 8,
77	.len = 2,
78	.cs_change = 1,
79	}, {
80	.tx_buf = st->tx + 2,
81	.bits_per_word = 8,
82	.len = 2,
83	.cs_change = 1,
84	},
85	};
86
87	mutex_lock(&st->buf_lock);
88	st->tx[0] = ADIS16201_WRITE_REG(lower_reg_address);
89	st->tx[1] = value & 0xFF;
90	st->tx[2] = ADIS16201_WRITE_REG(lower_reg_address + 1);
91	st->tx[3] = (value >> 8) & 0xFF;
92
93	spi_message_init(&msg);
94	spi_message_add_tail(&xfers[0], &msg);
95	spi_message_add_tail(&xfers[1], &msg);
96	ret = spi_sync(st->us, &msg);
97	mutex_unlock(&st->buf_lock);
98
99	return ret;
100	}
101
102	/**
103	* adis16201_spi_read_reg_16() - read 2 bytes from a 16-bit register
104	* @dev: device associated with child of actual device (iio_dev or iio_trig)
105	* @reg_address: the address of the lower of the two registers. Second register
106	* is assumed to have address one greater.
107	* @val: somewhere to pass back the value read
108	**/
109	static int adis16201_spi_read_reg_16(struct device *dev,
110	u8 lower_reg_address,
111	u16 *val)
112	{
113	struct spi_message msg;
114	struct iio_dev *indio_dev = dev_get_drvdata(dev);
115	struct adis16201_state *st = iio_dev_get_devdata(indio_dev);
116	int ret;
117	struct spi_transfer xfers[] = {
118	{
119	.tx_buf = st->tx,
120	.bits_per_word = 8,
121	.len = 2,
122	.cs_change = 1,
123	.delay_usecs = 20,
124	}, {
125	.rx_buf = st->rx,
126	.bits_per_word = 8,
127	.len = 2,
128	.cs_change = 1,
129	.delay_usecs = 20,
130	},
131	};
132
133	mutex_lock(&st->buf_lock);
134	st->tx[0] = ADIS16201_READ_REG(lower_reg_address);
135	st->tx[1] = 0;
136
137	spi_message_init(&msg);
138	spi_message_add_tail(&xfers[0], &msg);
139	spi_message_add_tail(&xfers[1], &msg);
140	ret = spi_sync(st->us, &msg);
141	if (ret) {
142	dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X",
143	lower_reg_address);
144	goto error_ret;
145	}
146	*val = (st->rx[0] << 8) \| st->rx[1];
147
148	error_ret:
149	mutex_unlock(&st->buf_lock);
150	return ret;
151	}
152
153	static ssize_t adis16201_read_12bit_unsigned(struct device *dev,
154	struct device_attribute *attr,
155	char *buf)
156	{
157	int ret;
158	u16 val = 0;
159	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
160
161	ret = adis16201_spi_read_reg_16(dev, this_attr->address, &val);
162	if (ret)
163	return ret;
164
165	if (val & ADIS16201_ERROR_ACTIVE) {
166	ret = adis16201_check_status(dev);
167	if (ret)
168	return ret;
169	}
170
171	return sprintf(buf, "%u\n", val & 0x0FFF);
172	}
173
174	static ssize_t adis16201_read_temp(struct device *dev,
175	struct device_attribute *attr,
176	char *buf)
177	{
178	struct iio_dev *indio_dev = dev_get_drvdata(dev);
179	ssize_t ret;
180	u16 val;
181
182	/* Take the iio_dev status lock */
183	mutex_lock(&indio_dev->mlock);
184
185	ret = adis16201_spi_read_reg_16(dev, ADIS16201_TEMP_OUT, (u16 *)&val);
186	if (ret)
187	goto error_ret;
188
189	if (val & ADIS16201_ERROR_ACTIVE) {
190	ret = adis16201_check_status(dev);
191	if (ret)
192	goto error_ret;
193	}
194
195	val &= 0xFFF;
196	ret = sprintf(buf, "%d\n", val);
197
198	error_ret:
199	mutex_unlock(&indio_dev->mlock);
200	return ret;
201	}
202
203	static ssize_t adis16201_read_9bit_signed(struct device *dev,
204	struct device_attribute *attr,
205	char *buf)
206	{
207	struct iio_dev *indio_dev = dev_get_drvdata(dev);
208	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
209	s16 val = 0;
210	ssize_t ret;
211
212	mutex_lock(&indio_dev->mlock);
213
214	ret = adis16201_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
215	if (!ret) {
216	if (val & ADIS16201_ERROR_ACTIVE) {
217	ret = adis16201_check_status(dev);
218	if (ret)
219	goto error_ret;
220	}
221	val = ((s16)(val << 7) >> 7);
222	ret = sprintf(buf, "%d\n", val);
223	}
224
225	error_ret:
226	mutex_unlock(&indio_dev->mlock);
227
228	return ret;
229	}
230
231	static ssize_t adis16201_read_12bit_signed(struct device *dev,
232	struct device_attribute *attr,
233	char *buf)
234	{
235	struct iio_dev *indio_dev = dev_get_drvdata(dev);
236	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
237	s16 val = 0;
238	ssize_t ret;
239
240	mutex_lock(&indio_dev->mlock);
241
242	ret = adis16201_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
243	if (!ret) {
244	if (val & ADIS16201_ERROR_ACTIVE) {
245	ret = adis16201_check_status(dev);
246	if (ret)
247	goto error_ret;
248	}
249
250	val = ((s16)(val << 4) >> 4);
251	ret = sprintf(buf, "%d\n", val);
252	}
253
254	error_ret:
255	mutex_unlock(&indio_dev->mlock);
256
257	return ret;
258	}
259
260	static ssize_t adis16201_read_14bit_signed(struct device *dev,
261	struct device_attribute *attr,
262	char *buf)
263	{
264	struct iio_dev *indio_dev = dev_get_drvdata(dev);
265	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
266	s16 val = 0;
267	ssize_t ret;
268
269	mutex_lock(&indio_dev->mlock);
270
271	ret = adis16201_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
272	if (!ret) {
273	if (val & ADIS16201_ERROR_ACTIVE) {
274	ret = adis16201_check_status(dev);
275	if (ret)
276	goto error_ret;
277	}
278
279	val = ((s16)(val << 2) >> 2);
280	ret = sprintf(buf, "%d\n", val);
281	}
282
283	error_ret:
284	mutex_unlock(&indio_dev->mlock);
285
286	return ret;
287	}
288
289	static ssize_t adis16201_write_16bit(struct device *dev,
290	struct device_attribute *attr,
291	const char *buf,
292	size_t len)
293	{
294	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
295	int ret;
296	long val;
297
298	ret = strict_strtol(buf, 10, &val);
299	if (ret)
300	goto error_ret;
301	ret = adis16201_spi_write_reg_16(dev, this_attr->address, val);
302
303	error_ret:
304	return ret ? ret : len;
305	}
306
307	static int adis16201_reset(struct device *dev)
308	{
309	int ret;
310	ret = adis16201_spi_write_reg_8(dev,
311	ADIS16201_GLOB_CMD,
312	ADIS16201_GLOB_CMD_SW_RESET);
313	if (ret)
314	dev_err(dev, "problem resetting device");
315
316	return ret;
317	}
318
319	static ssize_t adis16201_write_reset(struct device *dev,
320	struct device_attribute *attr,
321	const char *buf, size_t len)
322	{
323	if (len < 1)
324	return -EINVAL;
325	switch (buf[0]) {
326	case '1':
327	case 'y':
328	case 'Y':
329	return adis16201_reset(dev);
330	}
331	return -EINVAL;
332	}
333
334	int adis16201_set_irq(struct device *dev, bool enable)
335	{
336	int ret = 0;
337	u16 msc;
338
339	ret = adis16201_spi_read_reg_16(dev, ADIS16201_MSC_CTRL, &msc);
340	if (ret)
341	goto error_ret;
342
343	msc \|= ADIS16201_MSC_CTRL_ACTIVE_HIGH;
344	msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_DIO1;
345	if (enable)
346	msc \|= ADIS16201_MSC_CTRL_DATA_RDY_EN;
347	else
348	msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_EN;
349
350	ret = adis16201_spi_write_reg_16(dev, ADIS16201_MSC_CTRL, msc);
351
352	error_ret:
353	return ret;
354	}
355
356	static int adis16201_check_status(struct device *dev)
357	{
358	u16 status;
359	int ret;
360
361	ret = adis16201_spi_read_reg_16(dev, ADIS16201_DIAG_STAT, &status);
362	if (ret < 0) {
363	dev_err(dev, "Reading status failed\n");
364	goto error_ret;
365	}
366	ret = status & 0xF;
367	if (ret)
368	ret = -EFAULT;
369
370	if (status & ADIS16201_DIAG_STAT_SPI_FAIL)
371	dev_err(dev, "SPI failure\n");
372	if (status & ADIS16201_DIAG_STAT_FLASH_UPT)
373	dev_err(dev, "Flash update failed\n");
374	if (status & ADIS16201_DIAG_STAT_POWER_HIGH)
375	dev_err(dev, "Power supply above 3.625V\n");
376	if (status & ADIS16201_DIAG_STAT_POWER_LOW)
377	dev_err(dev, "Power supply below 3.15V\n");
378
379	error_ret:
380	return ret;
381	}
382
383	static int adis16201_self_test(struct device *dev)
384	{
385	int ret;
386	ret = adis16201_spi_write_reg_16(dev,
387	ADIS16201_MSC_CTRL,
388	ADIS16201_MSC_CTRL_SELF_TEST_EN);
389	if (ret) {
390	dev_err(dev, "problem starting self test");
391	goto err_ret;
392	}
393
394	ret = adis16201_check_status(dev);
395
396	err_ret:
397	return ret;
398	}
399
400	static int adis16201_initial_setup(struct adis16201_state *st)
401	{
402	int ret;
403	struct device *dev = &st->indio_dev->dev;
404
405	/* Disable IRQ */
406	ret = adis16201_set_irq(dev, false);
407	if (ret) {
408	dev_err(dev, "disable irq failed");
409	goto err_ret;
410	}
411
412	/* Do self test */
413	ret = adis16201_self_test(dev);
414	if (ret) {
415	dev_err(dev, "self test failure");
416	goto err_ret;
417	}
418
419	/* Read status register to check the result */
420	ret = adis16201_check_status(dev);
421	if (ret) {
422	adis16201_reset(dev);
423	dev_err(dev, "device not playing ball -> reset");
424	msleep(ADIS16201_STARTUP_DELAY);
425	ret = adis16201_check_status(dev);
426	if (ret) {
427	dev_err(dev, "giving up");
428	goto err_ret;
429	}
430	}
431
432	printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
433	st->us->chip_select, st->us->irq);
434
435	err_ret:
436	return ret;
437	}
438
439	static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16201_read_12bit_unsigned,
440	ADIS16201_SUPPLY_OUT);
441	static IIO_CONST_ATTR(in0_supply_scale, "0.00122");
442	static IIO_DEV_ATTR_IN_RAW(1, adis16201_read_12bit_unsigned,
443	ADIS16201_AUX_ADC);
444	static IIO_CONST_ATTR(in1_scale, "0.00061");
445
446	static IIO_DEV_ATTR_ACCEL_X(adis16201_read_14bit_signed,
447	ADIS16201_XACCL_OUT);
448	static IIO_DEV_ATTR_ACCEL_Y(adis16201_read_14bit_signed,
449	ADIS16201_YACCL_OUT);
450	static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR \| S_IRUGO,
451	adis16201_read_12bit_signed,
452	adis16201_write_16bit,
453	ADIS16201_XACCL_OFFS);
454	static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR \| S_IRUGO,
455	adis16201_read_12bit_signed,
456	adis16201_write_16bit,
457	ADIS16201_YACCL_OFFS);
458	static IIO_CONST_ATTR(accel_scale, "0.4625");
459
460	static IIO_DEV_ATTR_INCLI_X(adis16201_read_14bit_signed,
461	ADIS16201_XINCL_OUT);
462	static IIO_DEV_ATTR_INCLI_Y(adis16201_read_14bit_signed,
463	ADIS16201_YINCL_OUT);
464	static IIO_DEV_ATTR_INCLI_X_OFFSET(S_IWUSR \| S_IRUGO,
465	adis16201_read_9bit_signed,
466	adis16201_write_16bit,
467	ADIS16201_XACCL_OFFS);
468	static IIO_DEV_ATTR_INCLI_Y_OFFSET(S_IWUSR \| S_IRUGO,
469	adis16201_read_9bit_signed,
470	adis16201_write_16bit,
471	ADIS16201_YACCL_OFFS);
472	static IIO_CONST_ATTR(incli_scale, "0.1");
473
474	static IIO_DEV_ATTR_TEMP_RAW(adis16201_read_temp);
475	static IIO_CONST_ATTR(temp_offset, "25");
476	static IIO_CONST_ATTR(temp_scale, "-0.47");
477
478	static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16201_write_reset, 0);
479
f7fe1d1d BS	480	static struct attribute *adis16201_attributes[] = {
	481	&iio_dev_attr_in0_supply_raw.dev_attr.attr,
	482	&iio_const_attr_in0_supply_scale.dev_attr.attr,
	483	&iio_dev_attr_temp_raw.dev_attr.attr,
	484	&iio_const_attr_temp_offset.dev_attr.attr,
	485	&iio_const_attr_temp_scale.dev_attr.attr,
	486	&iio_dev_attr_reset.dev_attr.attr,
f7fe1d1d BS	487	&iio_dev_attr_in1_raw.dev_attr.attr,
	488	&iio_const_attr_in1_scale.dev_attr.attr,
	489	&iio_dev_attr_accel_x_raw.dev_attr.attr,
	490	&iio_dev_attr_accel_y_raw.dev_attr.attr,
	491	&iio_dev_attr_accel_x_offset.dev_attr.attr,
	492	&iio_dev_attr_accel_y_offset.dev_attr.attr,
	493	&iio_const_attr_accel_scale.dev_attr.attr,
	494	&iio_dev_attr_incli_x_raw.dev_attr.attr,
	495	&iio_dev_attr_incli_y_raw.dev_attr.attr,
	496	&iio_dev_attr_incli_x_offset.dev_attr.attr,
	497	&iio_dev_attr_incli_y_offset.dev_attr.attr,
	498	&iio_const_attr_incli_scale.dev_attr.attr,
	499	NULL
	500	};
	501
	502	static const struct attribute_group adis16201_attribute_group = {
	503	.attrs = adis16201_attributes,
	504	};
	505
	506	static int __devinit adis16201_probe(struct spi_device *spi)
	507	{
	508	int ret, regdone = 0;
	509	struct adis16201_state st = kzalloc(sizeof st, GFP_KERNEL);
	510	if (!st) {
	511	ret = -ENOMEM;
	512	goto error_ret;
	513	}
	514	/* this is only used for removal purposes */
	515	spi_set_drvdata(spi, st);
	516
	517	/* Allocate the comms buffers */
	518	st->rx = kzalloc(sizeof(st->rx)ADIS16201_MAX_RX, GFP_KERNEL);
	519	if (st->rx == NULL) {
	520	ret = -ENOMEM;
	521	goto error_free_st;
	522	}
	523	st->tx = kzalloc(sizeof(st->tx)ADIS16201_MAX_TX, GFP_KERNEL);
	524	if (st->tx == NULL) {
	525	ret = -ENOMEM;
	526	goto error_free_rx;
	527	}
	528	st->us = spi;
	529	mutex_init(&st->buf_lock);
	530	/* setup the industrialio driver allocated elements */
6f7c8ee5	531	st->indio_dev = iio_allocate_device(0);
f7fe1d1d BS	532	if (st->indio_dev == NULL) {
	533	ret = -ENOMEM;
	534	goto error_free_tx;
	535	}
	536
845bd12a	537	st->indio_dev->name = spi->dev.driver->name;
f7fe1d1d	538	st->indio_dev->dev.parent = &spi->dev;
f7fe1d1d BS	539	st->indio_dev->attrs = &adis16201_attribute_group;
	540	st->indio_dev->dev_data = (void *)(st);
	541	st->indio_dev->driver_module = THIS_MODULE;
	542	st->indio_dev->modes = INDIO_DIRECT_MODE;
	543
	544	ret = adis16201_configure_ring(st->indio_dev);
	545	if (ret)
	546	goto error_free_dev;
	547
	548	ret = iio_device_register(st->indio_dev);
	549	if (ret)
	550	goto error_unreg_ring_funcs;
	551	regdone = 1;
	552
	553	ret = adis16201_initialize_ring(st->indio_dev->ring);
	554	if (ret) {
	555	printk(KERN_ERR "failed to initialize the ring\n");
	556	goto error_unreg_ring_funcs;
	557	}
	558
	559	if (spi->irq) {
f7fe1d1d BS	560	ret = adis16201_probe_trigger(st->indio_dev);
f7fe1d1d BS	561	if (ret)
80782446	562	goto error_uninitialize_ring;
f7fe1d1d BS	563	}
	564
	565	/* Get the device into a sane initial state */
	566	ret = adis16201_initial_setup(st);
	567	if (ret)
	568	goto error_remove_trigger;
	569	return 0;
	570
	571	error_remove_trigger:
	572	adis16201_remove_trigger(st->indio_dev);
f7fe1d1d BS	573	error_uninitialize_ring:
	574	adis16201_uninitialize_ring(st->indio_dev->ring);
	575	error_unreg_ring_funcs:
	576	adis16201_unconfigure_ring(st->indio_dev);
	577	error_free_dev:
	578	if (regdone)
	579	iio_device_unregister(st->indio_dev);
	580	else
	581	iio_free_device(st->indio_dev);
	582	error_free_tx:
	583	kfree(st->tx);
	584	error_free_rx:
	585	kfree(st->rx);
	586	error_free_st:
	587	kfree(st);
	588	error_ret:
	589	return ret;
	590	}
	591
	592	static int adis16201_remove(struct spi_device *spi)
	593	{
	594	struct adis16201_state *st = spi_get_drvdata(spi);
	595	struct iio_dev *indio_dev = st->indio_dev;
	596
	597	flush_scheduled_work();
	598
	599	adis16201_remove_trigger(indio_dev);
f7fe1d1d BS	600	adis16201_uninitialize_ring(indio_dev->ring);
	601	iio_device_unregister(indio_dev);
	602	adis16201_unconfigure_ring(indio_dev);
	603	kfree(st->tx);
	604	kfree(st->rx);
	605	kfree(st);
	606
	607	return 0;
	608	}
	609
	610	static struct spi_driver adis16201_driver = {
	611	.driver = {
	612	.name = "adis16201",
	613	.owner = THIS_MODULE,
	614	},
	615	.probe = adis16201_probe,
	616	.remove = __devexit_p(adis16201_remove),
	617	};
	618
	619	static __init int adis16201_init(void)
	620	{
	621	return spi_register_driver(&adis16201_driver);
	622	}
	623	module_init(adis16201_init);
	624
	625	static __exit void adis16201_exit(void)
	626	{
	627	spi_unregister_driver(&adis16201_driver);
	628	}
	629	module_exit(adis16201_exit);
	630
	631	MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
	632	MODULE_DESCRIPTION("Analog Devices ADIS16201 Programmable Digital Vibration Sensor driver");
	633	MODULE_LICENSE("GPL v2");