staging: iio: new adis16201 driver

IIO driver for dual Axis Accelerometer/inclinometer adis16201 parts.

Signed-off-by: Barry Song <barry.song@analog.com>
Signed-off-by: Michael Hennerich <michael.hennerich@analog.com>
Acked-by: Jonathan Cameron <jic23@cam.ac.uk>
Signed-off-by: Mike Frysinger <vapier@gentoo.org>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>

1 files changed, 659 insertions, 0 deletions

diff --git a/drivers/staging/iio/accel/adis16201_core.c b/drivers/staging/iio/accel/adis16201_core.c
new file mode 100644
index 00000000000..79b785a0013
--- /dev/null
+++ b/drivers/staging/iio/accel/adis16201_core.c
@@ -0,0 +1,659 @@
+/*
+ * 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 IIO_CONST_ATTR(name, "adis16201");
+
+static struct attribute *adis16201_event_attributes[] = {
+        NULL
+};
+
+static struct attribute_group adis16201_event_attribute_group = {
+        .attrs = adis16201_event_attributes,
+};
+
+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_const_attr_name.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();
+        if (st->indio_dev == NULL) {
+                ret = -ENOMEM;
+                goto error_free_tx;
+        }
+
+        st->indio_dev->dev.parent = &spi->dev;
+        st->indio_dev->num_interrupt_lines = 1;
+        st->indio_dev->event_attrs = &adis16201_event_attribute_group;
+        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 = iio_register_interrupt_line(spi->irq,
+                                st->indio_dev,
+                                0,
+                                IRQF_TRIGGER_RISING,
+                                "adis16201");
+                if (ret)
+                        goto error_uninitialize_ring;
+
+                ret = adis16201_probe_trigger(st->indio_dev);
+                if (ret)
+                        goto error_unregister_line;
+        }
+
+        /* 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_unregister_line:
+        if (spi->irq)
+                iio_unregister_interrupt_line(st->indio_dev, 0);
+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);
+        if (spi->irq)
+                iio_unregister_interrupt_line(indio_dev, 0);
+
+        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");