staging:iio:adis16130: Move out of staging

The adis16130 driver is fairly simple and it a good shape now, so move it out of
staging. Remove an outdated FIXME along the way.

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

3 files changed, 215 insertions, 0 deletions

diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index b8daf1b2ea06..8498e9dcda68 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -10,6 +10,13 @@ config ADIS16080
           Say yes here to build support for Analog Devices ADIS16080, ADIS16100 Yaw
           Rate Gyroscope with SPI.
 
+config ADIS16130
+        tristate "Analog Devices ADIS16130 High Precision Angular Rate Sensor driver"
+        depends on SPI
+        help
+          Say yes here to build support for Analog Devices ADIS16130 High Precision
+          Angular Rate Sensor driver.
+
 config ADIS16136
         tristate "Analog devices ADIS16136 and similar gyroscopes driver"
         depends on SPI_MASTER
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
index 225d289082e6..e9dc034aa18b 100644
--- a/drivers/iio/gyro/Makefile
+++ b/drivers/iio/gyro/Makefile
@@ -3,6 +3,7 @@
 #
 
 obj-$(CONFIG_ADIS16080) += adis16080.o
+obj-$(CONFIG_ADIS16130) += adis16130.o
 obj-$(CONFIG_ADIS16136) += adis16136.o
 obj-$(CONFIG_ADXRS450) += adxrs450.o
 
diff --git a/drivers/iio/gyro/adis16130.c b/drivers/iio/gyro/adis16130.c
new file mode 100644
index 000000000000..129acdf801a4
--- /dev/null
+++ b/drivers/iio/gyro/adis16130.c
@@ -0,0 +1,207 @@
+/*
+ * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver
+ *
+ * Copyright 2010 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#include <linux/mutex.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/module.h>
+
+#include <linux/iio/iio.h>
+
+#define ADIS16130_CON         0x0
+#define ADIS16130_CON_RD      (1 << 6)
+#define ADIS16130_IOP         0x1
+
+/* 1 = data-ready signal low when unread data on all channels; */
+#define ADIS16130_IOP_ALL_RDY (1 << 3)
+#define ADIS16130_IOP_SYNC    (1 << 0) /* 1 = synchronization enabled */
+#define ADIS16130_RATEDATA    0x8 /* Gyroscope output, rate of rotation */
+#define ADIS16130_TEMPDATA    0xA /* Temperature output */
+#define ADIS16130_RATECS      0x28 /* Gyroscope channel setup */
+#define ADIS16130_RATECS_EN   (1 << 3) /* 1 = channel enable; */
+#define ADIS16130_TEMPCS      0x2A /* Temperature channel setup */
+#define ADIS16130_TEMPCS_EN   (1 << 3)
+#define ADIS16130_RATECONV    0x30
+#define ADIS16130_TEMPCONV    0x32
+#define ADIS16130_MODE        0x38
+#define ADIS16130_MODE_24BIT  (1 << 1) /* 1 = 24-bit resolution; */
+
+/**
+ * struct adis16130_state - device instance specific data
+ * @us:                 actual spi_device to write data
+ * @buf_lock:           mutex to protect tx and rx
+ * @buf:                unified tx/rx buffer
+ **/
+struct adis16130_state {
+        struct spi_device               *us;
+        struct mutex                    buf_lock;
+        u8                              buf[4] ____cacheline_aligned;
+};
+
+static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val)
+{
+        int ret;
+        struct adis16130_state *st = iio_priv(indio_dev);
+        struct spi_message msg;
+        struct spi_transfer xfer = {
+                .tx_buf = st->buf,
+                .rx_buf = st->buf,
+                .len = 4,
+        };
+
+        mutex_lock(&st->buf_lock);
+
+        st->buf[0] = ADIS16130_CON_RD | reg_addr;
+        st->buf[1] = st->buf[2] = st->buf[3] = 0;
+
+        spi_message_init(&msg);
+        spi_message_add_tail(&xfer, &msg);
+        ret = spi_sync(st->us, &msg);
+
+        if (ret == 0)
+                *val = (st->buf[1] << 16) | (st->buf[2] << 8) | st->buf[3];
+        mutex_unlock(&st->buf_lock);
+
+        return ret;
+}
+
+static int adis16130_read_raw(struct iio_dev *indio_dev,
+                              struct iio_chan_spec const *chan,
+                              int *val, int *val2,
+                              long mask)
+{
+        int ret;
+        u32 temp;
+
+        switch (mask) {
+        case IIO_CHAN_INFO_RAW:
+                /* Take the iio_dev status lock */
+                mutex_lock(&indio_dev->mlock);
+                ret = adis16130_spi_read(indio_dev, chan->address, &temp);
+                mutex_unlock(&indio_dev->mlock);
+                if (ret)
+                        return ret;
+                *val = temp;
+                return IIO_VAL_INT;
+        case IIO_CHAN_INFO_SCALE:
+                switch (chan->type) {
+                case IIO_ANGL_VEL:
+                        /* 0 degree = 838860, 250 degree = 14260608 */
+                        *val = 250;
+                        *val2 = 336440817; /* RAD_TO_DEGREE(14260608 - 8388608) */
+                        return IIO_VAL_FRACTIONAL;
+                case IIO_TEMP:
+                        /* 0C = 8036283, 105C = 9516048 */
+                        *val = 105000;
+                        *val2 = 9516048 - 8036283;
+                        return IIO_VAL_FRACTIONAL;
+                default:
+                        return -EINVAL;
+                }
+                break;
+        case IIO_CHAN_INFO_OFFSET:
+                switch (chan->type) {
+                case IIO_ANGL_VEL:
+                        *val = -8388608;
+                        return IIO_VAL_INT;
+                case IIO_TEMP:
+                        *val = -8036283;
+                        return IIO_VAL_INT;
+                default:
+                        return -EINVAL;
+                }
+                break;
+        }
+
+        return -EINVAL;
+}
+
+static const struct iio_chan_spec adis16130_channels[] = {
+        {
+                .type = IIO_ANGL_VEL,
+                .modified = 1,
+                .channel2 = IIO_MOD_Z,
+                .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+                        BIT(IIO_CHAN_INFO_SCALE) |
+                        BIT(IIO_CHAN_INFO_OFFSET),
+                .address = ADIS16130_RATEDATA,
+        }, {
+                .type = IIO_TEMP,
+                .indexed = 1,
+                .channel = 0,
+                .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+                        BIT(IIO_CHAN_INFO_SCALE) |
+                        BIT(IIO_CHAN_INFO_OFFSET),
+                .address = ADIS16130_TEMPDATA,
+        }
+};
+
+static const struct iio_info adis16130_info = {
+        .read_raw = &adis16130_read_raw,
+        .driver_module = THIS_MODULE,
+};
+
+static int adis16130_probe(struct spi_device *spi)
+{
+        int ret;
+        struct adis16130_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);
+        /* 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->channels = adis16130_channels;
+        indio_dev->num_channels = ARRAY_SIZE(adis16130_channels);
+        indio_dev->dev.parent = &spi->dev;
+        indio_dev->info = &adis16130_info;
+        indio_dev->modes = INDIO_DIRECT_MODE;
+
+        ret = iio_device_register(indio_dev);
+        if (ret)
+                goto error_free_dev;
+
+        return 0;
+
+error_free_dev:
+        iio_device_free(indio_dev);
+
+error_ret:
+        return ret;
+}
+
+static int adis16130_remove(struct spi_device *spi)
+{
+        iio_device_unregister(spi_get_drvdata(spi));
+        iio_device_free(spi_get_drvdata(spi));
+
+        return 0;
+}
+
+static struct spi_driver adis16130_driver = {
+        .driver = {
+                .name = "adis16130",
+                .owner = THIS_MODULE,
+        },
+        .probe = adis16130_probe,
+        .remove = adis16130_remove,
+};
+module_spi_driver(adis16130_driver);
+
+MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate");
+MODULE_LICENSE("GPL v2");
+MODULE_ALIAS("spi:adis16130");