staging:iio: Move adxrs450 driver out of staging

The adxrs450 is in a reasonable shape now. It follows the IIO ABI and non of the
standard code checker tools report any issue, so move it out of staging.

Signed-off-by: Lars-Peter Clausen <lars@metafoo.de>
Signed-off-by: Jonathan Cameron <jic23@kernel.org>

3 files changed, 509 insertions, 0 deletions

diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index c9f177dd4cc7..51ac6bc791c6 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -19,6 +19,16 @@ config ADIS16136
           Say yes here to build support for the Analog Devices ADIS16133, ADIS16135,
           ADIS16136 gyroscope devices.
 
+config ADXRS450
+        tristate "Analog Devices ADXRS450/3 Digital Output Gyroscope SPI driver"
+        depends on SPI
+        help
+          Say yes here to build support for Analog Devices ADXRS450 and ADXRS453
+          programmable digital output gyroscope.
+
+          This driver can also be built as a module.  If so, the module
+          will be called adxrs450.
+
 config HID_SENSOR_GYRO_3D
         depends on HID_SENSOR_HUB
         select IIO_BUFFER
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
index 66b517d9468a..eff9bb0119a2 100644
--- a/drivers/iio/gyro/Makefile
+++ b/drivers/iio/gyro/Makefile
@@ -4,6 +4,8 @@
 
 obj-$(CONFIG_ADIS16080) += adis16080.o
 obj-$(CONFIG_ADIS16136) += adis16136.o
+obj-$(CONFIG_ADXRS450) += adxrs450.o
+
 obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
 
 obj-$(CONFIG_IIO_ST_GYRO_3AXIS) += st_gyro.o
diff --git a/drivers/iio/gyro/adxrs450.c b/drivers/iio/gyro/adxrs450.c
new file mode 100644
index 000000000000..d9d43831c380
--- /dev/null
+++ b/drivers/iio/gyro/adxrs450.c
@@ -0,0 +1,497 @@
+/*
+ * ADXRS450/ADXRS453 Digital Output Gyroscope Driver
+ *
+ * Copyright 2011 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2.
+ */
+
+#include <linux/interrupt.h>
+#include <linux/irq.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 <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+
+#define ADXRS450_STARTUP_DELAY  50 /* ms */
+
+/* The MSB for the spi commands */
+#define ADXRS450_SENSOR_DATA    (0x20 << 24)
+#define ADXRS450_WRITE_DATA     (0x40 << 24)
+#define ADXRS450_READ_DATA      (0x80 << 24)
+
+#define ADXRS450_RATE1  0x00    /* Rate Registers */
+#define ADXRS450_TEMP1  0x02    /* Temperature Registers */
+#define ADXRS450_LOCST1 0x04    /* Low CST Memory Registers */
+#define ADXRS450_HICST1 0x06    /* High CST Memory Registers */
+#define ADXRS450_QUAD1  0x08    /* Quad Memory Registers */
+#define ADXRS450_FAULT1 0x0A    /* Fault Registers */
+#define ADXRS450_PID1   0x0C    /* Part ID Register 1 */
+#define ADXRS450_SNH    0x0E    /* Serial Number Registers, 4 bytes */
+#define ADXRS450_SNL    0x10
+#define ADXRS450_DNC1   0x12    /* Dynamic Null Correction Registers */
+/* Check bits */
+#define ADXRS450_P      0x01
+#define ADXRS450_CHK    0x02
+#define ADXRS450_CST    0x04
+#define ADXRS450_PWR    0x08
+#define ADXRS450_POR    0x10
+#define ADXRS450_NVM    0x20
+#define ADXRS450_Q      0x40
+#define ADXRS450_PLL    0x80
+#define ADXRS450_UV     0x100
+#define ADXRS450_OV     0x200
+#define ADXRS450_AMP    0x400
+#define ADXRS450_FAIL   0x800
+
+#define ADXRS450_WRERR_MASK     (0x7 << 29)
+
+#define ADXRS450_MAX_RX 4
+#define ADXRS450_MAX_TX 4
+
+#define ADXRS450_GET_ST(a)      ((a >> 26) & 0x3)
+
+enum {
+        ID_ADXRS450,
+        ID_ADXRS453,
+};
+
+/**
+ * struct adxrs450_state - device instance specific data
+ * @us:                 actual spi_device
+ * @buf_lock:           mutex to protect tx and rx
+ * @tx:                 transmit buffer
+ * @rx:                 receive buffer
+ **/
+struct adxrs450_state {
+        struct spi_device       *us;
+        struct mutex            buf_lock;
+        __be32                  tx ____cacheline_aligned;
+        __be32                  rx;
+
+};
+
+/**
+ * adxrs450_spi_read_reg_16() - read 2 bytes from a register pair
+ * @indio_dev: device associated with child of actual iio_dev
+ * @reg_address: the address of the lower of the two registers, which should be
+ *      an even address, the second register's address is reg_address + 1.
+ * @val: somewhere to pass back the value read
+ **/
+static int adxrs450_spi_read_reg_16(struct iio_dev *indio_dev,
+                                    u8 reg_address,
+                                    u16 *val)
+{
+        struct spi_message msg;
+        struct adxrs450_state *st = iio_priv(indio_dev);
+        u32 tx;
+        int ret;
+        struct spi_transfer xfers[] = {
+                {
+                        .tx_buf = &st->tx,
+                        .bits_per_word = 8,
+                        .len = sizeof(st->tx),
+                        .cs_change = 1,
+                }, {
+                        .rx_buf = &st->rx,
+                        .bits_per_word = 8,
+                        .len = sizeof(st->rx),
+                },
+        };
+
+        mutex_lock(&st->buf_lock);
+        tx = ADXRS450_READ_DATA | (reg_address << 17);
+
+        if (!(hweight32(tx) & 1))
+                tx |= ADXRS450_P;
+
+        st->tx = cpu_to_be32(tx);
+        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 while reading 16 bit register 0x%02x\n",
+                                reg_address);
+                goto error_ret;
+        }
+
+        *val = (be32_to_cpu(st->rx) >> 5) & 0xFFFF;
+
+error_ret:
+        mutex_unlock(&st->buf_lock);
+        return ret;
+}
+
+/**
+ * adxrs450_spi_write_reg_16() - write 2 bytes data to a register pair
+ * @indio_dev: device associated with child of actual actual iio_dev
+ * @reg_address: the address of the lower of the two registers,which should be
+ *      an even address, the second register's address is reg_address + 1.
+ * @val: value to be written.
+ **/
+static int adxrs450_spi_write_reg_16(struct iio_dev *indio_dev,
+                                     u8 reg_address,
+                                     u16 val)
+{
+        struct adxrs450_state *st = iio_priv(indio_dev);
+        u32 tx;
+        int ret;
+
+        mutex_lock(&st->buf_lock);
+        tx = ADXRS450_WRITE_DATA | (reg_address << 17) | (val << 1);
+
+        if (!(hweight32(tx) & 1))
+                tx |= ADXRS450_P;
+
+        st->tx = cpu_to_be32(tx);
+        ret = spi_write(st->us, &st->tx, sizeof(st->tx));
+        if (ret)
+                dev_err(&st->us->dev, "problem while writing 16 bit register 0x%02x\n",
+                        reg_address);
+        usleep_range(100, 1000); /* enforce sequential transfer delay 0.1ms */
+        mutex_unlock(&st->buf_lock);
+        return ret;
+}
+
+/**
+ * adxrs450_spi_sensor_data() - read 2 bytes sensor data
+ * @indio_dev: device associated with child of actual iio_dev
+ * @val: somewhere to pass back the value read
+ **/
+static int adxrs450_spi_sensor_data(struct iio_dev *indio_dev, s16 *val)
+{
+        struct spi_message msg;
+        struct adxrs450_state *st = iio_priv(indio_dev);
+        int ret;
+        struct spi_transfer xfers[] = {
+                {
+                        .tx_buf = &st->tx,
+                        .bits_per_word = 8,
+                        .len = sizeof(st->tx),
+                        .cs_change = 1,
+                }, {
+                        .rx_buf = &st->rx,
+                        .bits_per_word = 8,
+                        .len = sizeof(st->rx),
+                },
+        };
+
+        mutex_lock(&st->buf_lock);
+        st->tx = cpu_to_be32(ADXRS450_SENSOR_DATA);
+
+        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 while reading sensor data\n");
+                goto error_ret;
+        }
+
+        *val = (be32_to_cpu(st->rx) >> 10) & 0xFFFF;
+
+error_ret:
+        mutex_unlock(&st->buf_lock);
+        return ret;
+}
+
+/**
+ * adxrs450_spi_initial() - use for initializing procedure.
+ * @st: device instance specific data
+ * @val: somewhere to pass back the value read
+ * @chk: Whether to perform fault check
+ **/
+static int adxrs450_spi_initial(struct adxrs450_state *st,
+                u32 *val, char chk)
+{
+        struct spi_message msg;
+        int ret;
+        u32 tx;
+        struct spi_transfer xfers = {
+                .tx_buf = &st->tx,
+                .rx_buf = &st->rx,
+                .bits_per_word = 8,
+                .len = sizeof(st->tx),
+        };
+
+        mutex_lock(&st->buf_lock);
+        tx = ADXRS450_SENSOR_DATA;
+        if (chk)
+                tx |= (ADXRS450_CHK | ADXRS450_P);
+        st->tx = cpu_to_be32(tx);
+        spi_message_init(&msg);
+        spi_message_add_tail(&xfers, &msg);
+        ret = spi_sync(st->us, &msg);
+        if (ret) {
+                dev_err(&st->us->dev, "Problem while reading initializing data\n");
+                goto error_ret;
+        }
+
+        *val = be32_to_cpu(st->rx);
+
+error_ret:
+        mutex_unlock(&st->buf_lock);
+        return ret;
+}
+
+/* Recommended Startup Sequence by spec */
+static int adxrs450_initial_setup(struct iio_dev *indio_dev)
+{
+        u32 t;
+        u16 data;
+        int ret;
+        struct adxrs450_state *st = iio_priv(indio_dev);
+
+        msleep(ADXRS450_STARTUP_DELAY*2);
+        ret = adxrs450_spi_initial(st, &t, 1);
+        if (ret)
+                return ret;
+        if (t != 0x01)
+                dev_warn(&st->us->dev, "The initial power on response is not correct! Restart without reset?\n");
+
+        msleep(ADXRS450_STARTUP_DELAY);
+        ret = adxrs450_spi_initial(st, &t, 0);
+        if (ret)
+                return ret;
+
+        msleep(ADXRS450_STARTUP_DELAY);
+        ret = adxrs450_spi_initial(st, &t, 0);
+        if (ret)
+                return ret;
+        if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
+                dev_err(&st->us->dev, "The second response is not correct!\n");
+                return -EIO;
+
+        }
+        ret = adxrs450_spi_initial(st, &t, 0);
+        if (ret)
+                return ret;
+        if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
+                dev_err(&st->us->dev, "The third response is not correct!\n");
+                return -EIO;
+
+        }
+        ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_FAULT1, &data);
+        if (ret)
+                return ret;
+        if (data & 0x0fff) {
+                dev_err(&st->us->dev, "The device is not in normal status!\n");
+                return -EINVAL;
+        }
+
+        return 0;
+}
+
+static int adxrs450_write_raw(struct iio_dev *indio_dev,
+                              struct iio_chan_spec const *chan,
+                              int val,
+                              int val2,
+                              long mask)
+{
+        int ret;
+        switch (mask) {
+        case IIO_CHAN_INFO_CALIBBIAS:
+                if (val < -0x400 || val >= 0x400)
+                        return -EINVAL;
+                ret = adxrs450_spi_write_reg_16(indio_dev,
+                                                ADXRS450_DNC1, val);
+                break;
+        default:
+                ret = -EINVAL;
+                break;
+        }
+        return ret;
+}
+
+static int adxrs450_read_raw(struct iio_dev *indio_dev,
+                             struct iio_chan_spec const *chan,
+                             int *val,
+                             int *val2,
+                             long mask)
+{
+        int ret;
+        s16 t;
+
+        switch (mask) {
+        case IIO_CHAN_INFO_RAW:
+                switch (chan->type) {
+                case IIO_ANGL_VEL:
+                        ret = adxrs450_spi_sensor_data(indio_dev, &t);
+                        if (ret)
+                                break;
+                        *val = t;
+                        ret = IIO_VAL_INT;
+                        break;
+                case IIO_TEMP:
+                        ret = adxrs450_spi_read_reg_16(indio_dev,
+                                                       ADXRS450_TEMP1, &t);
+                        if (ret)
+                                break;
+                        *val = (t >> 6) + 225;
+                        ret = IIO_VAL_INT;
+                        break;
+                default:
+                        ret = -EINVAL;
+                        break;
+                }
+                break;
+        case IIO_CHAN_INFO_SCALE:
+                switch (chan->type) {
+                case IIO_ANGL_VEL:
+                        *val = 0;
+                        *val2 = 218166;
+                        return IIO_VAL_INT_PLUS_NANO;
+                case IIO_TEMP:
+                        *val = 200;
+                        *val2 = 0;
+                        return IIO_VAL_INT;
+                default:
+                        return -EINVAL;
+                }
+                break;
+        case IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW:
+                ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_QUAD1, &t);
+                if (ret)
+                        break;
+                *val = t;
+                ret = IIO_VAL_INT;
+                break;
+        case IIO_CHAN_INFO_CALIBBIAS:
+                ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_DNC1, &t);
+                if (ret)
+                        break;
+                *val = sign_extend32(t, 9);
+                ret = IIO_VAL_INT;
+                break;
+        default:
+                ret = -EINVAL;
+                break;
+        }
+
+        return ret;
+}
+
+static const struct iio_chan_spec adxrs450_channels[2][2] = {
+        [ID_ADXRS450] = {
+                {
+                        .type = IIO_ANGL_VEL,
+                        .modified = 1,
+                        .channel2 = IIO_MOD_Z,
+                        .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+                        IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+                        IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW_SEPARATE_BIT |
+                        IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+                }, {
+                        .type = IIO_TEMP,
+                        .indexed = 1,
+                        .channel = 0,
+                        .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+                        IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+                }
+        },
+        [ID_ADXRS453] = {
+                {
+                        .type = IIO_ANGL_VEL,
+                        .modified = 1,
+                        .channel2 = IIO_MOD_Z,
+                        .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+                        IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
+                        IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW_SEPARATE_BIT,
+                }, {
+                        .type = IIO_TEMP,
+                        .indexed = 1,
+                        .channel = 0,
+                        .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+                        IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+                }
+        },
+};
+
+static const struct iio_info adxrs450_info = {
+        .driver_module = THIS_MODULE,
+        .read_raw = &adxrs450_read_raw,
+        .write_raw = &adxrs450_write_raw,
+};
+
+static int adxrs450_probe(struct spi_device *spi)
+{
+        int ret;
+        struct adxrs450_state *st;
+        struct iio_dev *indio_dev;
+
+        /* setup the industrialio driver allocated elements */
+        indio_dev = iio_device_alloc(sizeof(*st));
+        if (indio_dev == NULL) {
+                ret = -ENOMEM;
+                goto error_ret;
+        }
+        st = iio_priv(indio_dev);
+        st->us = spi;
+        mutex_init(&st->buf_lock);
+        /* This is only used for removal purposes */
+        spi_set_drvdata(spi, indio_dev);
+
+        indio_dev->dev.parent = &spi->dev;
+        indio_dev->info = &adxrs450_info;
+        indio_dev->modes = INDIO_DIRECT_MODE;
+        indio_dev->channels =
+                adxrs450_channels[spi_get_device_id(spi)->driver_data];
+        indio_dev->num_channels = ARRAY_SIZE(adxrs450_channels);
+        indio_dev->name = spi->dev.driver->name;
+
+        ret = iio_device_register(indio_dev);
+        if (ret)
+                goto error_free_dev;
+
+        /* Get the device into a sane initial state */
+        ret = adxrs450_initial_setup(indio_dev);
+        if (ret)
+                goto error_initial;
+        return 0;
+error_initial:
+        iio_device_unregister(indio_dev);
+error_free_dev:
+        iio_device_free(indio_dev);
+
+error_ret:
+        return ret;
+}
+
+static int adxrs450_remove(struct spi_device *spi)
+{
+        iio_device_unregister(spi_get_drvdata(spi));
+        iio_device_free(spi_get_drvdata(spi));
+
+        return 0;
+}
+
+static const struct spi_device_id adxrs450_id[] = {
+        {"adxrs450", ID_ADXRS450},
+        {"adxrs453", ID_ADXRS453},
+        {}
+};
+MODULE_DEVICE_TABLE(spi, adxrs450_id);
+
+static struct spi_driver adxrs450_driver = {
+        .driver = {
+                .name = "adxrs450",
+                .owner = THIS_MODULE,
+        },
+        .probe = adxrs450_probe,
+        .remove = adxrs450_remove,
+        .id_table       = adxrs450_id,
+};
+module_spi_driver(adxrs450_driver);
+
+MODULE_AUTHOR("Cliff Cai <cliff.cai@xxxxxxxxxx>");
+MODULE_DESCRIPTION("Analog Devices ADXRS450/ADXRS453 Gyroscope SPI driver");
+MODULE_LICENSE("GPL v2");