1 files changed, 72 insertions, 424 deletions

diff --git a/drivers/staging/iio/accel/adis16209_core.c b/drivers/staging/iio/accel/adis16209_core.c
index 7ee974b45d7d..69c50ee44ce3 100644
--- a/drivers/staging/iio/accel/adis16209_core.c
+++ b/drivers/staging/iio/accel/adis16209_core.c
@@ -19,262 +19,19 @@
 #include <linux/iio/iio.h>
 #include <linux/iio/sysfs.h>
 #include <linux/iio/buffer.h>
+#include <linux/iio/imu/adis.h>
 
 #include "adis16209.h"
 
-#define DRIVER_NAME		"adis16209"
-
-/**
- * adis16209_spi_write_reg_8() - write single byte to a register
- * @indio_dev: iio device associated with actual device
- * @reg_address: the address of the register to be written
- * @val: the value to write
- **/
-static int adis16209_spi_write_reg_8(struct iio_dev *indio_dev,
-				     u8 reg_address,
-				     u8 val)
-{
-	int ret;
-	struct adis16209_state *st = iio_priv(indio_dev);
-
-	mutex_lock(&st->buf_lock);
-	st->tx[0] = ADIS16209_WRITE_REG(reg_address);
-	st->tx[1] = val;
-
-	ret = spi_write(st->us, st->tx, 2);
-	mutex_unlock(&st->buf_lock);
-
-	return ret;
-}
-
-/**
- * adis16209_spi_write_reg_16() - write 2 bytes to a pair of registers
- * @indio_dev: iio device associated 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 adis16209_spi_write_reg_16(struct iio_dev *indio_dev,
-				      u8 lower_reg_address,
-				      u16 value)
-{
-	int ret;
-	struct spi_message msg;
-	struct adis16209_state *st = iio_priv(indio_dev);
-	struct spi_transfer xfers[] = {
-		{
-			.tx_buf = st->tx,
-			.bits_per_word = 8,
-			.len = 2,
-			.cs_change = 1,
-			.delay_usecs = 30,
-		}, {
-			.tx_buf = st->tx + 2,
-			.bits_per_word = 8,
-			.len = 2,
-			.delay_usecs = 30,
-		},
-	};
-
-	mutex_lock(&st->buf_lock);
-	st->tx[0] = ADIS16209_WRITE_REG(lower_reg_address);
-	st->tx[1] = value & 0xFF;
-	st->tx[2] = ADIS16209_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;
-}
-
-/**
- * adis16209_spi_read_reg_16() - read 2 bytes from a 16-bit register
- * @indio_dev: iio device associated with 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 adis16209_spi_read_reg_16(struct iio_dev *indio_dev,
-				     u8 lower_reg_address,
-				     u16 *val)
-{
-	struct spi_message msg;
-	struct adis16209_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 = 30,
-		}, {
-			.rx_buf = st->rx,
-			.bits_per_word = 8,
-			.len = 2,
-			.delay_usecs = 30,
-		},
-	};
-
-	mutex_lock(&st->buf_lock);
-	st->tx[0] = ADIS16209_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 adis16209_reset(struct iio_dev *indio_dev)
-{
-	int ret;
-	ret = adis16209_spi_write_reg_8(indio_dev,
-			ADIS16209_GLOB_CMD,
-			ADIS16209_GLOB_CMD_SW_RESET);
-	if (ret)
-		dev_err(&indio_dev->dev, "problem resetting device");
-
-	return ret;
-}
-
-int adis16209_set_irq(struct iio_dev *indio_dev, bool enable)
-{
-	int ret = 0;
-	u16 msc;
-
-	ret = adis16209_spi_read_reg_16(indio_dev, ADIS16209_MSC_CTRL, &msc);
-	if (ret)
-		goto error_ret;
-
-	msc |= ADIS16209_MSC_CTRL_ACTIVE_HIGH;
-	msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_DIO2;
-	if (enable)
-		msc |= ADIS16209_MSC_CTRL_DATA_RDY_EN;
-	else
-		msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_EN;
-
-	ret = adis16209_spi_write_reg_16(indio_dev, ADIS16209_MSC_CTRL, msc);
-
-error_ret:
-	return ret;
-}
-
-static int adis16209_check_status(struct iio_dev *indio_dev)
-{
-	u16 status;
-	int ret;
-
-	ret = adis16209_spi_read_reg_16(indio_dev,
-					ADIS16209_DIAG_STAT, &status);
-	if (ret < 0) {
-		dev_err(&indio_dev->dev, "Reading status failed\n");
-		goto error_ret;
-	}
-	ret = status & 0x1F;
-
-	if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
-		dev_err(&indio_dev->dev, "Self test failure\n");
-	if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
-		dev_err(&indio_dev->dev, "SPI failure\n");
-	if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
-		dev_err(&indio_dev->dev, "Flash update failed\n");
-	if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
-		dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
-	if (status & ADIS16209_DIAG_STAT_POWER_LOW)
-		dev_err(&indio_dev->dev, "Power supply below 3.15V\n");
-
-error_ret:
-	return ret;
-}
-
-static int adis16209_self_test(struct iio_dev *indio_dev)
-{
-	int ret;
-	ret = adis16209_spi_write_reg_16(indio_dev,
-			ADIS16209_MSC_CTRL,
-			ADIS16209_MSC_CTRL_SELF_TEST_EN);
-	if (ret) {
-		dev_err(&indio_dev->dev, "problem starting self test");
-		goto err_ret;
-	}
-
-	adis16209_check_status(indio_dev);
-
-err_ret:
-	return ret;
-}
-
-static int adis16209_initial_setup(struct iio_dev *indio_dev)
-{
-	int ret;
-
-	/* Disable IRQ */
-	ret = adis16209_set_irq(indio_dev, false);
-	if (ret) {
-		dev_err(&indio_dev->dev, "disable irq failed");
-		goto err_ret;
-	}
-
-	/* Do self test */
-	ret = adis16209_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 = adis16209_check_status(indio_dev);
-	if (ret) {
-		adis16209_reset(indio_dev);
-		dev_err(&indio_dev->dev, "device not playing ball -> reset");
-		msleep(ADIS16209_STARTUP_DELAY);
-		ret = adis16209_check_status(indio_dev);
-		if (ret) {
-			dev_err(&indio_dev->dev, "giving up");
-			goto err_ret;
-		}
-	}
-
-err_ret:
-	return ret;
-}
-
-enum adis16209_chan {
-	in_supply,
-	temp,
-	accel_x,
-	accel_y,
-	incli_x,
-	incli_y,
-	in_aux,
-	rot,
-};
-
-static const u8 adis16209_addresses[8][2] = {
-	[in_supply] = { ADIS16209_SUPPLY_OUT },
-	[in_aux] = { ADIS16209_AUX_ADC },
-	[accel_x] = { ADIS16209_XACCL_OUT, ADIS16209_XACCL_NULL },
-	[accel_y] = { ADIS16209_YACCL_OUT, ADIS16209_YACCL_NULL },
-	[incli_x] = { ADIS16209_XINCL_OUT, ADIS16209_XINCL_NULL },
-	[incli_y] = { ADIS16209_YINCL_OUT, ADIS16209_YINCL_NULL },
-	[rot] = { ADIS16209_ROT_OUT },
-	[temp] = { ADIS16209_TEMP_OUT },
+static const u8 adis16209_addresses[8][1] = {
+	[ADIS16209_SCAN_SUPPLY] = { },
+	[ADIS16209_SCAN_AUX_ADC] = { },
+	[ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL },
+	[ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL },
+	[ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL },
+	[ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL },
+	[ADIS16209_SCAN_ROT] = { },
+	[ADIS16209_SCAN_TEMP] = { },
 };
 
 static int adis16209_write_raw(struct iio_dev *indio_dev,
@@ -283,6 +40,7 @@ static int adis16209_write_raw(struct iio_dev *indio_dev,
 			       int val2,
 			       long mask)
 {
+	struct adis *st = iio_priv(indio_dev);
 	int bits;
 	s16 val16;
 	u8 addr;
@@ -295,10 +53,10 @@ static int adis16209_write_raw(struct iio_dev *indio_dev,
 			break;
 		default:
 			return -EINVAL;
-		};
+		}
 		val16 = val & ((1 << bits) - 1);
-		addr = adis16209_addresses[chan->address][1];
-		return adis16209_spi_write_reg_16(indio_dev, addr, val16);
+		addr = adis16209_addresses[chan->scan_index][0];
+		return adis_write_reg_16(st, addr, val16);
 	}
 	return -EINVAL;
 }
@@ -308,6 +66,7 @@ static int adis16209_read_raw(struct iio_dev *indio_dev,
 			      int *val, int *val2,
 			      long mask)
 {
+	struct adis *st = iio_priv(indio_dev);
 	int ret;
 	int bits;
 	u8 addr;
@@ -315,29 +74,8 @@ static int adis16209_read_raw(struct iio_dev *indio_dev,
 
 	switch (mask) {
 	case IIO_CHAN_INFO_RAW:
-		mutex_lock(&indio_dev->mlock);
-		addr = adis16209_addresses[chan->address][0];
-		ret = adis16209_spi_read_reg_16(indio_dev, addr, &val16);
-		if (ret) {
-			mutex_unlock(&indio_dev->mlock);
-			return ret;
-		}
-
-		if (val16 & ADIS16209_ERROR_ACTIVE) {
-			ret = adis16209_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;
+		return adis_single_conversion(indio_dev, chan,
+			ADIS16209_ERROR_ACTIVE, val);
 	case IIO_CHAN_INFO_SCALE:
 		switch (chan->type) {
 		case IIO_VOLTAGE:
@@ -374,10 +112,10 @@ static int adis16209_read_raw(struct iio_dev *indio_dev,
 			break;
 		default:
 			return -EINVAL;
-		};
+		}
 		mutex_lock(&indio_dev->mlock);
-		addr = adis16209_addresses[chan->address][1];
-		ret = adis16209_spi_read_reg_16(indio_dev, addr, &val16);
+		addr = adis16209_addresses[chan->scan_index][0];
+		ret = adis_read_reg_16(st, addr, &val16);
 		if (ret) {
 			mutex_unlock(&indio_dev->mlock);
 			return ret;
@@ -392,128 +130,56 @@ static int adis16209_read_raw(struct iio_dev *indio_dev,
 }
 
 static const struct iio_chan_spec adis16209_channels[] = {
-	{
-		.type = IIO_VOLTAGE,
-		.indexed = 1,
-		.channel = 0,
-		.extend_name = "supply",
-		.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
-		IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
-		.address = in_supply,
-		.scan_index = ADIS16209_SCAN_SUPPLY,
-		.scan_type = {
-			.sign = 'u',
-			.realbits = 14,
-			.storagebits = 16,
-		},
-	}, {
-		.type = IIO_TEMP,
-		.indexed = 0,
-		.channel = 0,
-		.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
-		IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
-		IIO_CHAN_INFO_OFFSET_SEPARATE_BIT,
-		.address = temp,
-		.scan_index = ADIS16209_SCAN_TEMP,
-		.scan_type = {
-			.sign = 'u',
-			.realbits = 12,
-			.storagebits = 16,
-		},
-	}, {
-		.type = IIO_ACCEL,
-		.modified = 1,
-		.channel2 = IIO_MOD_X,
-		.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
-		IIO_CHAN_INFO_SCALE_SHARED_BIT |
-		IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
-		.address = accel_x,
-		.scan_index = ADIS16209_SCAN_ACC_X,
-		.scan_type = {
-			.sign = 's',
-			.realbits = 14,
-			.storagebits = 16,
-		},
-	}, {
-		.type = IIO_ACCEL,
-		.modified = 1,
-		.channel2 = IIO_MOD_Y,
-		.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
-		IIO_CHAN_INFO_SCALE_SHARED_BIT |
-		IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
-		.address = accel_y,
-		.scan_index = ADIS16209_SCAN_ACC_Y,
-		.scan_type = {
-			.sign = 's',
-			.realbits = 14,
-			.storagebits = 16,
-		},
-	}, {
-		.type = IIO_VOLTAGE,
-		.indexed = 1,
-		.channel = 1,
-		.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
-		IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
-		.address = in_aux,
-		.scan_index = ADIS16209_SCAN_AUX_ADC,
-		.scan_type = {
-			.sign = 'u',
-			.realbits = 12,
-			.storagebits = 16,
-		},
-	}, {
-		.type = IIO_INCLI,
-		.modified = 1,
-		.channel2 = IIO_MOD_X,
-		.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
-		IIO_CHAN_INFO_SCALE_SHARED_BIT,
-		.address = incli_x,
-		.scan_index = ADIS16209_SCAN_INCLI_X,
-		.scan_type = {
-			.sign = 's',
-			.realbits = 14,
-			.storagebits = 16,
-		},
-	}, {
-		.type = IIO_INCLI,
-		.modified = 1,
-		.channel2 = IIO_MOD_Y,
-		.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
-		IIO_CHAN_INFO_SCALE_SHARED_BIT,
-		.address = incli_y,
-		.scan_index = ADIS16209_SCAN_INCLI_Y,
-		.scan_type = {
-			.sign = 's',
-			.realbits = 14,
-			.storagebits = 16,
-		},
-	}, {
-		.type = IIO_ROT,
-		.modified = 1,
-		.channel2 = IIO_MOD_X,
-		.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
-		IIO_CHAN_INFO_SCALE_SHARED_BIT,
-		.address = rot,
-		.scan_index = ADIS16209_SCAN_ROT,
-		.scan_type = {
-			.sign = 's',
-			.realbits = 14,
-			.storagebits = 16,
-		},
-	},
+	ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT, ADIS16209_SCAN_SUPPLY, 14),
+	ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT, ADIS16209_SCAN_TEMP, 12),
+	ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT, ADIS16209_SCAN_ACC_X,
+		IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT, 14),
+	ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT, ADIS16209_SCAN_ACC_Y,
+		IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT, 14),
+	ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC, ADIS16209_SCAN_AUX_ADC, 12),
+	ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT, ADIS16209_SCAN_INCLI_X, 0, 14),
+	ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT, ADIS16209_SCAN_INCLI_Y, 0, 14),
+	ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT, ADIS16209_SCAN_ROT, 0, 14),
 	IIO_CHAN_SOFT_TIMESTAMP(8)
 };
 
 static const struct iio_info adis16209_info = {
 	.read_raw = &adis16209_read_raw,
 	.write_raw = &adis16209_write_raw,
+	.update_scan_mode = adis_update_scan_mode,
 	.driver_module = THIS_MODULE,
 };
 
-static int __devinit adis16209_probe(struct spi_device *spi)
+static const char * const adis16209_status_error_msgs[] = {
+	[ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
+	[ADIS16209_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
+	[ADIS16209_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
+	[ADIS16209_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
+	[ADIS16209_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
+};
+
+static const struct adis_data adis16209_data = {
+	.read_delay = 30,
+	.msc_ctrl_reg = ADIS16209_MSC_CTRL,
+	.glob_cmd_reg = ADIS16209_GLOB_CMD,
+	.diag_stat_reg = ADIS16209_DIAG_STAT,
+
+	.self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
+	.startup_delay = ADIS16209_STARTUP_DELAY,
+
+	.status_error_msgs = adis16209_status_error_msgs,
+	.status_error_mask = BIT(ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT) |
+		BIT(ADIS16209_DIAG_STAT_SPI_FAIL_BIT) |
+		BIT(ADIS16209_DIAG_STAT_FLASH_UPT_BIT) |
+		BIT(ADIS16209_DIAG_STAT_POWER_HIGH_BIT) |
+		BIT(ADIS16209_DIAG_STAT_POWER_LOW_BIT),
+};
+
+
+static int adis16209_probe(struct spi_device *spi)
 {
 	int ret;
-	struct adis16209_state *st;
+	struct adis *st;
 	struct iio_dev *indio_dev;
 
 	/* setup the industrialio driver allocated elements */
@@ -525,8 +191,6 @@ static int __devinit adis16209_probe(struct spi_device *spi)
 	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;
@@ -535,54 +199,38 @@ static int __devinit adis16209_probe(struct spi_device *spi)
 	indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
 	indio_dev->modes = INDIO_DIRECT_MODE;
 
-	ret = adis16209_configure_ring(indio_dev);
+	ret = adis_init(st, indio_dev, spi, &adis16209_data);
+	if (ret)
+		goto error_free_dev;
+	ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
 	if (ret)
 		goto error_free_dev;
-
-	ret = iio_buffer_register(indio_dev,
-				  adis16209_channels,
-				  ARRAY_SIZE(adis16209_channels));
-	if (ret) {
-		printk(KERN_ERR "failed to initialize the ring\n");
-		goto error_unreg_ring_funcs;
-	}
-
-	if (spi->irq) {
-		ret = adis16209_probe_trigger(indio_dev);
-		if (ret)
-			goto error_uninitialize_ring;
-	}
 
 	/* Get the device into a sane initial state */
-	ret = adis16209_initial_setup(indio_dev);
+	ret = adis_initial_startup(st);
 	if (ret)
-		goto error_remove_trigger;
+		goto error_cleanup_buffer_trigger;
 	ret = iio_device_register(indio_dev);
 	if (ret)
-		goto error_remove_trigger;
+		goto error_cleanup_buffer_trigger;
 
 	return 0;
 
-error_remove_trigger:
-	adis16209_remove_trigger(indio_dev);
-error_uninitialize_ring:
-	iio_buffer_unregister(indio_dev);
-error_unreg_ring_funcs:
-	adis16209_unconfigure_ring(indio_dev);
+error_cleanup_buffer_trigger:
+	adis_cleanup_buffer_and_trigger(st, indio_dev);
 error_free_dev:
 	iio_device_free(indio_dev);
 error_ret:
 	return ret;
 }
 
-static int __devexit adis16209_remove(struct spi_device *spi)
+static int adis16209_remove(struct spi_device *spi)
 {
 	struct iio_dev *indio_dev = spi_get_drvdata(spi);
+	struct adis *st = iio_priv(indio_dev);
 
 	iio_device_unregister(indio_dev);
-	adis16209_remove_trigger(indio_dev);
-	iio_buffer_unregister(indio_dev);
-	adis16209_unconfigure_ring(indio_dev);
+	adis_cleanup_buffer_and_trigger(st, indio_dev);
 	iio_device_free(indio_dev);
 
 	return 0;
@@ -594,7 +242,7 @@ static struct spi_driver adis16209_driver = {
 		.owner = THIS_MODULE,
 	},
 	.probe = adis16209_probe,
-	.remove = __devexit_p(adis16209_remove),
+	.remove = adis16209_remove,
 };
 module_spi_driver(adis16209_driver);