[deliverable/linux.git] / drivers / staging / iio / accel / adis16204_core.c

/*
 * ADIS16204 Programmable High-g Digital Impact Sensor and Recorder
 *
 * 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 <linux/module.h>

#include "../iio.h"
#include "../sysfs.h"
#include "../ring_generic.h"

#include "adis16204.h"

#define DRIVER_NAME		"adis16204"

/**
 * adis16204_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 adis16204_spi_write_reg_8(struct iio_dev *indio_dev,
		u8 reg_address,
		u8 val)
{
	int ret;
	struct adis16204_state *st = iio_priv(indio_dev);

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16204_WRITE_REG(reg_address);
	st->tx[1] = val;

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

	return ret;
}

/**
 * adis16204_spi_write_reg_16() - write 2 bytes to a pair of registers
 * @indio_dev: iio device associated with child of actual device
 * @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 adis16204_spi_write_reg_16(struct iio_dev *indio_dev,
		u8 lower_reg_address,
		u16 value)
{
	int ret;
	struct spi_message msg;
	struct adis16204_state *st = iio_priv(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] = ADIS16204_WRITE_REG(lower_reg_address);
	st->tx[1] = value & 0xFF;
	st->tx[2] = ADIS16204_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;
}

/**
 * adis16204_spi_read_reg_16() - read 2 bytes from a 16-bit register
 * @indio_dev: iio device associated with child of actual device
 * @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 adis16204_spi_read_reg_16(struct iio_dev *indio_dev,
				     u8 lower_reg_address,
				     u16 *val)
{
	struct spi_message msg;
	struct adis16204_state *st = iio_priv(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,
			.delay_usecs = 20,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16204_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 int adis16204_check_status(struct iio_dev *indio_dev)
{
	u16 status;
	int ret;

	ret = adis16204_spi_read_reg_16(indio_dev,
					ADIS16204_DIAG_STAT, &status);
	if (ret < 0) {
		dev_err(&indio_dev->dev, "Reading status failed\n");
		goto error_ret;
	}
	ret = status & 0x1F;

	if (status & ADIS16204_DIAG_STAT_SELFTEST_FAIL)
		dev_err(&indio_dev->dev, "Self test failure\n");
	if (status & ADIS16204_DIAG_STAT_SPI_FAIL)
		dev_err(&indio_dev->dev, "SPI failure\n");
	if (status & ADIS16204_DIAG_STAT_FLASH_UPT)
		dev_err(&indio_dev->dev, "Flash update failed\n");
	if (status & ADIS16204_DIAG_STAT_POWER_HIGH)
		dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
	if (status & ADIS16204_DIAG_STAT_POWER_LOW)
		dev_err(&indio_dev->dev, "Power supply below 2.975V\n");

error_ret:
	return ret;
}

static ssize_t adis16204_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 = adis16204_spi_read_reg_16(indio_dev,
					this_attr->address, (u16 *)&val);
	if (!ret) {
		if (val & ADIS16204_ERROR_ACTIVE)
			adis16204_check_status(indio_dev);

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

	mutex_unlock(&indio_dev->mlock);

	return ret;
}

static int adis16204_reset(struct iio_dev *indio_dev)
{
	int ret;
	ret = adis16204_spi_write_reg_8(indio_dev,
			ADIS16204_GLOB_CMD,
			ADIS16204_GLOB_CMD_SW_RESET);
	if (ret)
		dev_err(&indio_dev->dev, "problem resetting device");

	return ret;
}

static ssize_t adis16204_write_reset(struct device *dev,
		struct device_attribute *attr,
		const char *buf, size_t len)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);

	if (len < 1)
		return -EINVAL;
	switch (buf[0]) {
	case '1':
	case 'y':
	case 'Y':
		return adis16204_reset(indio_dev);
	}
	return -EINVAL;
}

int adis16204_set_irq(struct iio_dev *indio_dev, bool enable)
{
	int ret = 0;
	u16 msc;

	ret = adis16204_spi_read_reg_16(indio_dev, ADIS16204_MSC_CTRL, &msc);
	if (ret)
		goto error_ret;

	msc |= ADIS16204_MSC_CTRL_ACTIVE_HIGH;
	msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_DIO2;
	if (enable)
		msc |= ADIS16204_MSC_CTRL_DATA_RDY_EN;
	else
		msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_EN;

	ret = adis16204_spi_write_reg_16(indio_dev, ADIS16204_MSC_CTRL, msc);

error_ret:
	return ret;
}

static int adis16204_self_test(struct iio_dev *indio_dev)
{
	int ret;
	ret = adis16204_spi_write_reg_16(indio_dev,
			ADIS16204_MSC_CTRL,
			ADIS16204_MSC_CTRL_SELF_TEST_EN);
	if (ret) {
		dev_err(&indio_dev->dev, "problem starting self test");
		goto err_ret;
	}

	adis16204_check_status(indio_dev);

err_ret:
	return ret;
}

static int adis16204_initial_setup(struct iio_dev *indio_dev)
{
	int ret;

	/* Disable IRQ */
	ret = adis16204_set_irq(indio_dev, false);
	if (ret) {
		dev_err(&indio_dev->dev, "disable irq failed");
		goto err_ret;
	}

	/* Do self test */
	ret = adis16204_self_test(indio_dev);
	if (ret) {
		dev_err(&indio_dev->dev, "self test failure");
		goto err_ret;
	}

	/* Read status register to check the result */
	ret = adis16204_check_status(indio_dev);
	if (ret) {
		adis16204_reset(indio_dev);
		dev_err(&indio_dev->dev, "device not playing ball -> reset");
		msleep(ADIS16204_STARTUP_DELAY);
		ret = adis16204_check_status(indio_dev);
		if (ret) {
			dev_err(&indio_dev->dev, "giving up");
			goto err_ret;
		}
	}

err_ret:
	return ret;
}

/* Unique to this driver currently */
#define IIO_DEV_ATTR_ACCEL_XY(_show, _addr)			\
	IIO_DEVICE_ATTR(accel_xy, S_IRUGO, _show, NULL, _addr)
#define IIO_DEV_ATTR_ACCEL_XYPEAK(_show, _addr)		\
	IIO_DEVICE_ATTR(accel_xypeak, S_IRUGO, _show, NULL, _addr)

static IIO_DEV_ATTR_ACCEL_XY(adis16204_read_14bit_signed,
		ADIS16204_XY_RSS_OUT);
static IIO_DEV_ATTR_ACCEL_XYPEAK(adis16204_read_14bit_signed,
		ADIS16204_XY_PEAK_OUT);
static IIO_CONST_ATTR(accel_xy_scale, "0.017125");

static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16204_write_reset, 0);

enum adis16204_channel {
	in_supply,
	in_aux,
	temp,
	accel_x,
	accel_y,
};

static u8 adis16204_addresses[5][3] = {
	[in_supply] = { ADIS16204_SUPPLY_OUT },
	[in_aux] = { ADIS16204_AUX_ADC },
	[temp] = { ADIS16204_TEMP_OUT },
	[accel_x] = { ADIS16204_XACCL_OUT, ADIS16204_XACCL_NULL,
		      ADIS16204_X_PEAK_OUT },
	[accel_y] = { ADIS16204_XACCL_OUT, ADIS16204_YACCL_NULL,
		      ADIS16204_Y_PEAK_OUT },
};

static int adis16204_read_raw(struct iio_dev *indio_dev,
			      struct iio_chan_spec const *chan,
			      int *val, int *val2,
			      long mask)
{
	int ret;
	int bits;
	u8 addr;
	s16 val16;
	int addrind;

	switch (mask) {
	case 0:
		mutex_lock(&indio_dev->mlock);
		addr = adis16204_addresses[chan->address][0];
		ret = adis16204_spi_read_reg_16(indio_dev, addr, &val16);
		if (ret) {
			mutex_unlock(&indio_dev->mlock);
			return ret;
		}

		if (val16 & ADIS16204_ERROR_ACTIVE) {
			ret = adis16204_check_status(indio_dev);
			if (ret) {
				mutex_unlock(&indio_dev->mlock);
				return ret;
			}
		}
		val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
		if (chan->scan_type.sign == 's')
			val16 = (s16)(val16 <<
				      (16 - chan->scan_type.realbits)) >>
				(16 - chan->scan_type.realbits);
		*val = val16;
		mutex_unlock(&indio_dev->mlock);
		return IIO_VAL_INT;
	case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
		switch (chan->type) {
		case IIO_IN:
			*val = 0;
			if (chan->channel == 0)
				*val2 = 1220;
			else
				*val2 = 610;
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_TEMP:
			*val = 0;
			*val2 = -470000;
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_ACCEL:
			*val = 0;
			if (chan->channel == 'x')
				*val2 = 17125;
			else
				*val2 = 8407;
			return IIO_VAL_INT_PLUS_MICRO;
		default:
			return -EINVAL;
		}
		break;
	case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
		*val = 25;
		return IIO_VAL_INT;
	case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
	case (1 << IIO_CHAN_INFO_PEAK_SEPARATE):
		if (mask == (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE)) {
			bits = 12;
			addrind = 1;
		} else { /* PEAK_SEPARATE */
			bits = 14;
			addrind = 2;
		}
		mutex_lock(&indio_dev->mlock);
		addr = adis16204_addresses[chan->address][addrind];
		ret = adis16204_spi_read_reg_16(indio_dev, 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;
	}
	return -EINVAL;
}

static int adis16204_write_raw(struct iio_dev *indio_dev,
			       struct iio_chan_spec const *chan,
			       int val,
			       int val2,
			       long mask)
{
	int bits;
	s16 val16;
	u8 addr;
	switch (mask) {
	case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
		switch (chan->type) {
		case IIO_ACCEL:
			bits = 12;
			break;
		default:
			return -EINVAL;
		};
		val16 = val & ((1 << bits) - 1);
		addr = adis16204_addresses[chan->address][1];
		return adis16204_spi_write_reg_16(indio_dev, addr, val16);
	}
	return -EINVAL;
}

static struct iio_chan_spec adis16204_channels[] = {
	IIO_CHAN(IIO_IN, 0, 0, 0, "supply", 0, 0,
		 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
		 in_supply, ADIS16204_SCAN_SUPPLY,
		 IIO_ST('u', 12, 16, 0), 0),
	IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
		 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
		 in_aux, ADIS16204_SCAN_AUX_ADC,
		 IIO_ST('u', 12, 16, 0), 0),
	IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
		 (1 << IIO_CHAN_INFO_SCALE_SEPARATE) |
		 (1 << IIO_CHAN_INFO_OFFSET_SEPARATE),
		 temp, ADIS16204_SCAN_TEMP,
		 IIO_ST('u', 12, 16, 0), 0),
	IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
		 (1 << IIO_CHAN_INFO_SCALE_SEPARATE) |
		 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
		 (1 << IIO_CHAN_INFO_PEAK_SEPARATE),
		 accel_x, ADIS16204_SCAN_ACC_X,
		 IIO_ST('s', 14, 16, 0), 0),
	IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
		 (1 << IIO_CHAN_INFO_SCALE_SEPARATE) |
		 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
		 (1 << IIO_CHAN_INFO_PEAK_SEPARATE),
		 accel_y, ADIS16204_SCAN_ACC_Y,
		 IIO_ST('s', 14, 16, 0), 0),
	IIO_CHAN_SOFT_TIMESTAMP(5),
};

static struct attribute *adis16204_attributes[] = {
	&iio_dev_attr_reset.dev_attr.attr,
	&iio_dev_attr_accel_xy.dev_attr.attr,
	&iio_dev_attr_accel_xypeak.dev_attr.attr,
	&iio_const_attr_accel_xy_scale.dev_attr.attr,
	NULL
};

static const struct attribute_group adis16204_attribute_group = {
	.attrs = adis16204_attributes,
};

static const struct iio_info adis16204_info = {
	.attrs = &adis16204_attribute_group,
	.read_raw = &adis16204_read_raw,
	.write_raw = &adis16204_write_raw,
	.driver_module = THIS_MODULE,
};

static int __devinit adis16204_probe(struct spi_device *spi)
{
	int ret, regdone = 0;
	struct adis16204_state *st;
	struct iio_dev *indio_dev;

	/* setup the industrialio driver allocated elements */
	indio_dev = iio_allocate_device(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->dev.parent = &spi->dev;
	indio_dev->info = &adis16204_info;
	indio_dev->channels = adis16204_channels;
	indio_dev->num_channels = ARRAY_SIZE(adis16204_channels);
	indio_dev->modes = INDIO_DIRECT_MODE;

	ret = adis16204_configure_ring(indio_dev);
	if (ret)
		goto error_free_dev;

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

	ret = iio_ring_buffer_register_ex(indio_dev, 0,
					  adis16204_channels,
					  ARRAY_SIZE(adis16204_channels));
	if (ret) {
		printk(KERN_ERR "failed to initialize the ring\n");
		goto error_unreg_ring_funcs;
	}

	if (spi->irq) {
		ret = adis16204_probe_trigger(indio_dev);
		if (ret)
			goto error_uninitialize_ring;
	}

	/* Get the device into a sane initial state */
	ret = adis16204_initial_setup(indio_dev);
	if (ret)
		goto error_remove_trigger;
	return 0;

error_remove_trigger:
	adis16204_remove_trigger(indio_dev);
error_uninitialize_ring:
	iio_ring_buffer_unregister(indio_dev);
error_unreg_ring_funcs:
	adis16204_unconfigure_ring(indio_dev);
error_free_dev:
	if (regdone)
		iio_device_unregister(indio_dev);
	else
		iio_free_device(indio_dev);
error_ret:
	return ret;
}

static int adis16204_remove(struct spi_device *spi)
{
	struct iio_dev *indio_dev = spi_get_drvdata(spi);

	adis16204_remove_trigger(indio_dev);
	iio_ring_buffer_unregister(indio_dev);
	iio_device_unregister(indio_dev);
	adis16204_unconfigure_ring(indio_dev);

	return 0;
}

static struct spi_driver adis16204_driver = {
	.driver = {
		.name = "adis16204",
		.owner = THIS_MODULE,
	},
	.probe = adis16204_probe,
	.remove = __devexit_p(adis16204_remove),
};

static __init int adis16204_init(void)
{
	return spi_register_driver(&adis16204_driver);
}
module_init(adis16204_init);

static __exit void adis16204_exit(void)
{
	spi_unregister_driver(&adis16204_driver);
}
module_exit(adis16204_exit);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("ADIS16204 High-g Digital Impact Sensor and Recorder");
MODULE_LICENSE("GPL v2");
Commit	Line	Data
bb6f19ea BS	1	/*
	2	* ADIS16204 Programmable High-g Digital Impact Sensor and Recorder
	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>
99c97852	20	#include <linux/module.h>
bb6f19ea BS	21
	22	#include "../iio.h"
	23	#include "../sysfs.h"
ad3eb9ab	24	#include "../ring_generic.h"
bb6f19ea BS	25
	26	#include "adis16204.h"
	27
	28	#define DRIVER_NAME "adis16204"
	29
bb6f19ea BS	30	/**
	31	* adis16204_spi_write_reg_8() - write single byte to a register
	32	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	33	* @reg_address: the address of the register to be written
	34	* @val: the value to write
	35	**/
ad3eb9ab	36	static int adis16204_spi_write_reg_8(struct iio_dev *indio_dev,
bb6f19ea BS	37	u8 reg_address,
	38	u8 val)
	39	{
	40	int ret;
4de66bbb	41	struct adis16204_state *st = iio_priv(indio_dev);
bb6f19ea BS	42
	43	mutex_lock(&st->buf_lock);
	44	st->tx[0] = ADIS16204_WRITE_REG(reg_address);
	45	st->tx[1] = val;
	46
	47	ret = spi_write(st->us, st->tx, 2);
	48	mutex_unlock(&st->buf_lock);
	49
	50	return ret;
	51	}
	52
	53	/**
	54	* adis16204_spi_write_reg_16() - write 2 bytes to a pair of registers
ad3eb9ab	55	* @indio_dev: iio device associated with child of actual device
bb6f19ea BS	56	* @reg_address: the address of the lower of the two registers. Second register
	57	* is assumed to have address one greater.
	58	* @val: value to be written
	59	**/
ad3eb9ab	60	static int adis16204_spi_write_reg_16(struct iio_dev *indio_dev,
bb6f19ea BS	61	u8 lower_reg_address,
	62	u16 value)
	63	{
	64	int ret;
	65	struct spi_message msg;
4de66bbb	66	struct adis16204_state *st = iio_priv(indio_dev);
bb6f19ea BS	67	struct spi_transfer xfers[] = {
	68	{
	69	.tx_buf = st->tx,
	70	.bits_per_word = 8,
	71	.len = 2,
	72	.cs_change = 1,
	73	}, {
	74	.tx_buf = st->tx + 2,
	75	.bits_per_word = 8,
	76	.len = 2,
	77	.cs_change = 1,
	78	},
	79	};
	80
	81	mutex_lock(&st->buf_lock);
	82	st->tx[0] = ADIS16204_WRITE_REG(lower_reg_address);
	83	st->tx[1] = value & 0xFF;
	84	st->tx[2] = ADIS16204_WRITE_REG(lower_reg_address + 1);
	85	st->tx[3] = (value >> 8) & 0xFF;
	86
	87	spi_message_init(&msg);
	88	spi_message_add_tail(&xfers[0], &msg);
	89	spi_message_add_tail(&xfers[1], &msg);
	90	ret = spi_sync(st->us, &msg);
	91	mutex_unlock(&st->buf_lock);
	92
	93	return ret;
	94	}
	95
	96	/**
	97	* adis16204_spi_read_reg_16() - read 2 bytes from a 16-bit register
ad3eb9ab	98	* @indio_dev: iio device associated with child of actual device
bb6f19ea BS	99	* @reg_address: the address of the lower of the two registers. Second register
	100	* is assumed to have address one greater.
	101	* @val: somewhere to pass back the value read
	102	**/
ad3eb9ab JC	103	static int adis16204_spi_read_reg_16(struct iio_dev *indio_dev,
	104	u8 lower_reg_address,
	105	u16 *val)
bb6f19ea BS	106	{
bb6f19ea BS	107	struct spi_message msg;
4de66bbb	108	struct adis16204_state *st = iio_priv(indio_dev);
bb6f19ea BS	109	int ret;
	110	struct spi_transfer xfers[] = {
	111	{
	112	.tx_buf = st->tx,
	113	.bits_per_word = 8,
	114	.len = 2,
	115	.cs_change = 1,
	116	.delay_usecs = 20,
	117	}, {
	118	.rx_buf = st->rx,
	119	.bits_per_word = 8,
	120	.len = 2,
bb6f19ea BS	121	.delay_usecs = 20,
	122	},
	123	};
	124
	125	mutex_lock(&st->buf_lock);
	126	st->tx[0] = ADIS16204_READ_REG(lower_reg_address);
	127	st->tx[1] = 0;
	128
	129	spi_message_init(&msg);
	130	spi_message_add_tail(&xfers[0], &msg);
	131	spi_message_add_tail(&xfers[1], &msg);
	132	ret = spi_sync(st->us, &msg);
	133	if (ret) {
	134	dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X",
	135	lower_reg_address);
	136	goto error_ret;
	137	}
	138	*val = (st->rx[0] << 8) \| st->rx[1];
	139
	140	error_ret:
	141	mutex_unlock(&st->buf_lock);
	142	return ret;
	143	}
	144
ad3eb9ab	145	static int adis16204_check_status(struct iio_dev *indio_dev)
bb6f19ea	146	{
ad3eb9ab	147	u16 status;
bb6f19ea	148	int ret;
bb6f19ea	149
ad3eb9ab JC	150	ret = adis16204_spi_read_reg_16(indio_dev,
	151	ADIS16204_DIAG_STAT, &status);
	152	if (ret < 0) {
	153	dev_err(&indio_dev->dev, "Reading status failed\n");
bb6f19ea	154	goto error_ret;
bb6f19ea	155	}
ad3eb9ab	156	ret = status & 0x1F;
bb6f19ea	157
ad3eb9ab JC	158	if (status & ADIS16204_DIAG_STAT_SELFTEST_FAIL)
	159	dev_err(&indio_dev->dev, "Self test failure\n");
	160	if (status & ADIS16204_DIAG_STAT_SPI_FAIL)
	161	dev_err(&indio_dev->dev, "SPI failure\n");
	162	if (status & ADIS16204_DIAG_STAT_FLASH_UPT)
	163	dev_err(&indio_dev->dev, "Flash update failed\n");
	164	if (status & ADIS16204_DIAG_STAT_POWER_HIGH)
	165	dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
	166	if (status & ADIS16204_DIAG_STAT_POWER_LOW)
	167	dev_err(&indio_dev->dev, "Power supply below 2.975V\n");
bb6f19ea	168
ad3eb9ab	169	error_ret:
bb6f19ea BS	170	return ret;
	171	}
	172
	173	static ssize_t adis16204_read_14bit_signed(struct device *dev,
	174	struct device_attribute *attr,
	175	char *buf)
	176	{
	177	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	178	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	179	s16 val = 0;
	180	ssize_t ret;
	181
	182	mutex_lock(&indio_dev->mlock);
	183
ad3eb9ab JC	184	ret = adis16204_spi_read_reg_16(indio_dev,
ad3eb9ab JC	185	this_attr->address, (u16 *)&val);
bb6f19ea BS	186	if (!ret) {
bb6f19ea BS	187	if (val & ADIS16204_ERROR_ACTIVE)
ad3eb9ab	188	adis16204_check_status(indio_dev);
bb6f19ea BS	189
	190	val = ((s16)(val << 2) >> 2);
	191	ret = sprintf(buf, "%d\n", val);
	192	}
	193
	194	mutex_unlock(&indio_dev->mlock);
	195
	196	return ret;
	197	}
	198
ad3eb9ab	199	static int adis16204_reset(struct iio_dev *indio_dev)
bb6f19ea	200	{
bb6f19ea	201	int ret;
ad3eb9ab	202	ret = adis16204_spi_write_reg_8(indio_dev,
bb6f19ea BS	203	ADIS16204_GLOB_CMD,
	204	ADIS16204_GLOB_CMD_SW_RESET);
	205	if (ret)
ad3eb9ab	206	dev_err(&indio_dev->dev, "problem resetting device");
bb6f19ea BS	207
	208	return ret;
	209	}
	210
	211	static ssize_t adis16204_write_reset(struct device *dev,
	212	struct device_attribute *attr,
	213	const char *buf, size_t len)
	214	{
ad3eb9ab JC	215	struct iio_dev *indio_dev = dev_get_drvdata(dev);
ad3eb9ab JC	216
bb6f19ea BS	217	if (len < 1)
	218	return -EINVAL;
	219	switch (buf[0]) {
	220	case '1':
	221	case 'y':
	222	case 'Y':
ad3eb9ab	223	return adis16204_reset(indio_dev);
bb6f19ea BS	224	}
	225	return -EINVAL;
	226	}
	227
ad3eb9ab	228	int adis16204_set_irq(struct iio_dev *indio_dev, bool enable)
bb6f19ea BS	229	{
	230	int ret = 0;
	231	u16 msc;
	232
ad3eb9ab	233	ret = adis16204_spi_read_reg_16(indio_dev, ADIS16204_MSC_CTRL, &msc);
bb6f19ea BS	234	if (ret)
	235	goto error_ret;
	236
	237	msc \|= ADIS16204_MSC_CTRL_ACTIVE_HIGH;
	238	msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_DIO2;
	239	if (enable)
	240	msc \|= ADIS16204_MSC_CTRL_DATA_RDY_EN;
	241	else
	242	msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_EN;
	243
ad3eb9ab	244	ret = adis16204_spi_write_reg_16(indio_dev, ADIS16204_MSC_CTRL, msc);
bb6f19ea BS	245
	246	error_ret:
	247	return ret;
	248	}
	249
ad3eb9ab	250	static int adis16204_self_test(struct iio_dev *indio_dev)
bb6f19ea	251	{
bb6f19ea	252	int ret;
ad3eb9ab	253	ret = adis16204_spi_write_reg_16(indio_dev,
bb6f19ea BS	254	ADIS16204_MSC_CTRL,
	255	ADIS16204_MSC_CTRL_SELF_TEST_EN);
	256	if (ret) {
ad3eb9ab	257	dev_err(&indio_dev->dev, "problem starting self test");
bb6f19ea BS	258	goto err_ret;
	259	}
	260
ad3eb9ab	261	adis16204_check_status(indio_dev);
bb6f19ea BS	262
	263	err_ret:
	264	return ret;
	265	}
	266
ad3eb9ab	267	static int adis16204_initial_setup(struct iio_dev *indio_dev)
bb6f19ea BS	268	{
bb6f19ea BS	269	int ret;
bb6f19ea BS	270
bb6f19ea BS	271	/* Disable IRQ */
ad3eb9ab	272	ret = adis16204_set_irq(indio_dev, false);
bb6f19ea	273	if (ret) {
ad3eb9ab	274	dev_err(&indio_dev->dev, "disable irq failed");
bb6f19ea BS	275	goto err_ret;
	276	}
	277
	278	/* Do self test */
ad3eb9ab	279	ret = adis16204_self_test(indio_dev);
bb6f19ea	280	if (ret) {
ad3eb9ab	281	dev_err(&indio_dev->dev, "self test failure");
bb6f19ea BS	282	goto err_ret;
	283	}
	284
	285	/* Read status register to check the result */
ad3eb9ab	286	ret = adis16204_check_status(indio_dev);
bb6f19ea	287	if (ret) {
ad3eb9ab JC	288	adis16204_reset(indio_dev);
ad3eb9ab JC	289	dev_err(&indio_dev->dev, "device not playing ball -> reset");
bb6f19ea	290	msleep(ADIS16204_STARTUP_DELAY);
ad3eb9ab	291	ret = adis16204_check_status(indio_dev);
bb6f19ea	292	if (ret) {
ad3eb9ab	293	dev_err(&indio_dev->dev, "giving up");
bb6f19ea BS	294	goto err_ret;
	295	}
	296	}
	297
bb6f19ea BS	298	err_ret:
	299	return ret;
	300	}
c9b9e49e JC	301
	302	/* Unique to this driver currently */
	303	#define IIO_DEV_ATTR_ACCEL_XY(_show, _addr) \
	304	IIO_DEVICE_ATTR(accel_xy, S_IRUGO, _show, NULL, _addr)
	305	#define IIO_DEV_ATTR_ACCEL_XYPEAK(_show, _addr) \
	306	IIO_DEVICE_ATTR(accel_xypeak, S_IRUGO, _show, NULL, _addr)
	307
bb6f19ea BS	308	static IIO_DEV_ATTR_ACCEL_XY(adis16204_read_14bit_signed,
bb6f19ea BS	309	ADIS16204_XY_RSS_OUT);
bb6f19ea BS	310	static IIO_DEV_ATTR_ACCEL_XYPEAK(adis16204_read_14bit_signed,
bb6f19ea BS	311	ADIS16204_XY_PEAK_OUT);
bb6f19ea BS	312	static IIO_CONST_ATTR(accel_xy_scale, "0.017125");
bb6f19ea BS	313
bb6f19ea BS	314	static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16204_write_reset, 0);
bb6f19ea BS	315
ad3eb9ab JC	316	enum adis16204_channel {
	317	in_supply,
	318	in_aux,
	319	temp,
	320	accel_x,
	321	accel_y,
	322	};
	323
c9b9e49e	324	static u8 adis16204_addresses[5][3] = {
ad3eb9ab JC	325	[in_supply] = { ADIS16204_SUPPLY_OUT },
	326	[in_aux] = { ADIS16204_AUX_ADC },
	327	[temp] = { ADIS16204_TEMP_OUT },
c9b9e49e JC	328	[accel_x] = { ADIS16204_XACCL_OUT, ADIS16204_XACCL_NULL,
	329	ADIS16204_X_PEAK_OUT },
	330	[accel_y] = { ADIS16204_XACCL_OUT, ADIS16204_YACCL_NULL,
	331	ADIS16204_Y_PEAK_OUT },
ad3eb9ab	332	};
c9b9e49e	333
ad3eb9ab JC	334	static int adis16204_read_raw(struct iio_dev *indio_dev,
	335	struct iio_chan_spec const *chan,
	336	int val, int val2,
	337	long mask)
	338	{
	339	int ret;
	340	int bits;
	341	u8 addr;
	342	s16 val16;
c9b9e49e	343	int addrind;
ad3eb9ab JC	344
	345	switch (mask) {
	346	case 0:
	347	mutex_lock(&indio_dev->mlock);
	348	addr = adis16204_addresses[chan->address][0];
	349	ret = adis16204_spi_read_reg_16(indio_dev, addr, &val16);
8f896155 DC	350	if (ret) {
8f896155 DC	351	mutex_unlock(&indio_dev->mlock);
ad3eb9ab	352	return ret;
8f896155	353	}
ad3eb9ab JC	354
	355	if (val16 & ADIS16204_ERROR_ACTIVE) {
	356	ret = adis16204_check_status(indio_dev);
8f896155 DC	357	if (ret) {
8f896155 DC	358	mutex_unlock(&indio_dev->mlock);
ad3eb9ab	359	return ret;
8f896155	360	}
ad3eb9ab JC	361	}
	362	val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
	363	if (chan->scan_type.sign == 's')
	364	val16 = (s16)(val16 <<
	365	(16 - chan->scan_type.realbits)) >>
	366	(16 - chan->scan_type.realbits);
	367	*val = val16;
	368	mutex_unlock(&indio_dev->mlock);
	369	return IIO_VAL_INT;
	370	case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
	371	switch (chan->type) {
	372	case IIO_IN:
	373	*val = 0;
	374	if (chan->channel == 0)
	375	*val2 = 1220;
	376	else
	377	*val2 = 610;
	378	return IIO_VAL_INT_PLUS_MICRO;
	379	case IIO_TEMP:
	380	*val = 0;
	381	*val2 = -470000;
	382	return IIO_VAL_INT_PLUS_MICRO;
	383	case IIO_ACCEL:
	384	*val = 0;
	385	if (chan->channel == 'x')
	386	*val2 = 17125;
	387	else
	388	*val2 = 8407;
	389	return IIO_VAL_INT_PLUS_MICRO;
	390	default:
	391	return -EINVAL;
	392	}
	393	break;
	394	case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
	395	*val = 25;
	396	return IIO_VAL_INT;
	397	case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
c9b9e49e JC	398	case (1 << IIO_CHAN_INFO_PEAK_SEPARATE):
c9b9e49e JC	399	if (mask == (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE)) {
ad3eb9ab	400	bits = 12;
c9b9e49e JC	401	addrind = 1;
	402	} else { /* PEAK_SEPARATE */
	403	bits = 14;
	404	addrind = 2;
	405	}
ad3eb9ab	406	mutex_lock(&indio_dev->mlock);
c9b9e49e	407	addr = adis16204_addresses[chan->address][addrind];
ad3eb9ab JC	408	ret = adis16204_spi_read_reg_16(indio_dev, addr, &val16);
	409	if (ret) {
	410	mutex_unlock(&indio_dev->mlock);
	411	return ret;
	412	}
	413	val16 &= (1 << bits) - 1;
	414	val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
	415	*val = val16;
	416	mutex_unlock(&indio_dev->mlock);
	417	return IIO_VAL_INT;
	418	}
	419	return -EINVAL;
	420	}
	421
	422	static int adis16204_write_raw(struct iio_dev *indio_dev,
	423	struct iio_chan_spec const *chan,
	424	int val,
	425	int val2,
	426	long mask)
	427	{
	428	int bits;
	429	s16 val16;
	430	u8 addr;
	431	switch (mask) {
	432	case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
	433	switch (chan->type) {
	434	case IIO_ACCEL:
	435	bits = 12;
	436	break;
	437	default:
	438	return -EINVAL;
	439	};
	440	val16 = val & ((1 << bits) - 1);
	441	addr = adis16204_addresses[chan->address][1];
	442	return adis16204_spi_write_reg_16(indio_dev, addr, val16);
	443	}
	444	return -EINVAL;
	445	}
	446
	447	static struct iio_chan_spec adis16204_channels[] = {
	448	IIO_CHAN(IIO_IN, 0, 0, 0, "supply", 0, 0,
	449	(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
	450	in_supply, ADIS16204_SCAN_SUPPLY,
	451	IIO_ST('u', 12, 16, 0), 0),
	452	IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
	453	(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
	454	in_aux, ADIS16204_SCAN_AUX_ADC,
	455	IIO_ST('u', 12, 16, 0), 0),
	456	IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
	457	(1 << IIO_CHAN_INFO_SCALE_SEPARATE) \|
	458	(1 << IIO_CHAN_INFO_OFFSET_SEPARATE),
	459	temp, ADIS16204_SCAN_TEMP,
	460	IIO_ST('u', 12, 16, 0), 0),
	461	IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
	462	(1 << IIO_CHAN_INFO_SCALE_SEPARATE) \|
c9b9e49e JC	463	(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) \|
c9b9e49e JC	464	(1 << IIO_CHAN_INFO_PEAK_SEPARATE),
ad3eb9ab JC	465	accel_x, ADIS16204_SCAN_ACC_X,
	466	IIO_ST('s', 14, 16, 0), 0),
	467	IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
	468	(1 << IIO_CHAN_INFO_SCALE_SEPARATE) \|
c9b9e49e JC	469	(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) \|
c9b9e49e JC	470	(1 << IIO_CHAN_INFO_PEAK_SEPARATE),
ad3eb9ab JC	471	accel_y, ADIS16204_SCAN_ACC_Y,
	472	IIO_ST('s', 14, 16, 0), 0),
	473	IIO_CHAN_SOFT_TIMESTAMP(5),
	474	};
c9b9e49e	475
bb6f19ea	476	static struct attribute *adis16204_attributes[] = {
bb6f19ea	477	&iio_dev_attr_reset.dev_attr.attr,
bb6f19ea	478	&iio_dev_attr_accel_xy.dev_attr.attr,
bb6f19ea	479	&iio_dev_attr_accel_xypeak.dev_attr.attr,
bb6f19ea BS	480	&iio_const_attr_accel_xy_scale.dev_attr.attr,
	481	NULL
	482	};
	483
	484	static const struct attribute_group adis16204_attribute_group = {
	485	.attrs = adis16204_attributes,
	486	};
	487
6fe8135f JC	488	static const struct iio_info adis16204_info = {
	489	.attrs = &adis16204_attribute_group,
	490	.read_raw = &adis16204_read_raw,
	491	.write_raw = &adis16204_write_raw,
	492	.driver_module = THIS_MODULE,
	493	};
	494
bb6f19ea BS	495	static int __devinit adis16204_probe(struct spi_device *spi)
	496	{
	497	int ret, regdone = 0;
4de66bbb JC	498	struct adis16204_state *st;
4de66bbb JC	499	struct iio_dev *indio_dev;
bb6f19ea	500
4de66bbb JC	501	/* setup the industrialio driver allocated elements */
	502	indio_dev = iio_allocate_device(sizeof(*st));
	503	if (indio_dev == NULL) {
bb6f19ea	504	ret = -ENOMEM;
4de66bbb	505	goto error_ret;
bb6f19ea	506	}
4de66bbb JC	507	st = iio_priv(indio_dev);
	508	/* this is only used for removal purposes */
	509	spi_set_drvdata(spi, indio_dev);
bb6f19ea BS	510	st->us = spi;
bb6f19ea BS	511	mutex_init(&st->buf_lock);
bb6f19ea	512
4de66bbb JC	513	indio_dev->name = spi->dev.driver->name;
	514	indio_dev->dev.parent = &spi->dev;
	515	indio_dev->info = &adis16204_info;
	516	indio_dev->channels = adis16204_channels;
	517	indio_dev->num_channels = ARRAY_SIZE(adis16204_channels);
	518	indio_dev->modes = INDIO_DIRECT_MODE;
bb6f19ea	519
4de66bbb	520	ret = adis16204_configure_ring(indio_dev);
bb6f19ea BS	521	if (ret)
	522	goto error_free_dev;
	523
4de66bbb	524	ret = iio_device_register(indio_dev);
bb6f19ea BS	525	if (ret)
	526	goto error_unreg_ring_funcs;
	527	regdone = 1;
	528
1aa04278	529	ret = iio_ring_buffer_register_ex(indio_dev, 0,
ad3eb9ab JC	530	adis16204_channels,
ad3eb9ab JC	531	ARRAY_SIZE(adis16204_channels));
bb6f19ea BS	532	if (ret) {
	533	printk(KERN_ERR "failed to initialize the ring\n");
	534	goto error_unreg_ring_funcs;
	535	}
	536
	537	if (spi->irq) {
4de66bbb	538	ret = adis16204_probe_trigger(indio_dev);
bb6f19ea	539	if (ret)
37f9d271	540	goto error_uninitialize_ring;
bb6f19ea BS	541	}
	542
	543	/* Get the device into a sane initial state */
4de66bbb	544	ret = adis16204_initial_setup(indio_dev);
bb6f19ea BS	545	if (ret)
	546	goto error_remove_trigger;
	547	return 0;
	548
	549	error_remove_trigger:
4de66bbb	550	adis16204_remove_trigger(indio_dev);
bb6f19ea	551	error_uninitialize_ring:
1aa04278	552	iio_ring_buffer_unregister(indio_dev);
bb6f19ea	553	error_unreg_ring_funcs:
4de66bbb	554	adis16204_unconfigure_ring(indio_dev);
bb6f19ea BS	555	error_free_dev:
bb6f19ea BS	556	if (regdone)
4de66bbb	557	iio_device_unregister(indio_dev);
bb6f19ea	558	else
4de66bbb	559	iio_free_device(indio_dev);
bb6f19ea BS	560	error_ret:
	561	return ret;
	562	}
	563
	564	static int adis16204_remove(struct spi_device *spi)
	565	{
4de66bbb	566	struct iio_dev *indio_dev = spi_get_drvdata(spi);
bb6f19ea	567
bb6f19ea	568	adis16204_remove_trigger(indio_dev);
1aa04278	569	iio_ring_buffer_unregister(indio_dev);
bb6f19ea BS	570	iio_device_unregister(indio_dev);
bb6f19ea BS	571	adis16204_unconfigure_ring(indio_dev);
bb6f19ea BS	572
	573	return 0;
	574	}
	575
	576	static struct spi_driver adis16204_driver = {
	577	.driver = {
	578	.name = "adis16204",
	579	.owner = THIS_MODULE,
	580	},
	581	.probe = adis16204_probe,
	582	.remove = __devexit_p(adis16204_remove),
	583	};
	584
	585	static __init int adis16204_init(void)
	586	{
	587	return spi_register_driver(&adis16204_driver);
	588	}
	589	module_init(adis16204_init);
	590
	591	static __exit void adis16204_exit(void)
	592	{
	593	spi_unregister_driver(&adis16204_driver);
	594	}
	595	module_exit(adis16204_exit);
	596
	597	MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
ad3eb9ab	598	MODULE_DESCRIPTION("ADIS16204 High-g Digital Impact Sensor and Recorder");
bb6f19ea	599	MODULE_LICENSE("GPL v2");