1 files changed, 599 insertions, 0 deletions
diff --git a/drivers/staging/iio/accel/adis16240_core.c b/drivers/staging/iio/accel/adis16240_core.c
new file mode 100644
index 000000000000..54fd6d77412f
--- /dev/null
+++ b/drivers/staging/iio/accel/adis16240_core.c
@@ -0,0 +1,599 @@
+/*
+ * ADIS16240 Programmable Impact Sensor and Recorder 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/sysfs.h>
+#include <linux/list.h>
+
+#include "../iio.h"
+#include "../sysfs.h"
+#include "accel.h"
+#include "../adc/adc.h"
+
+#include "adis16240.h"
+
+#define DRIVER_NAME		"adis16240"
+
+static int adis16240_check_status(struct device *dev);
+
+/**
+ * adis16240_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 adis16240_spi_write_reg_8(struct device *dev,
+		u8 reg_address,
+		u8 val)
+{
+	int ret;
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct adis16240_state *st = iio_dev_get_devdata(indio_dev);
+
+	mutex_lock(&st->buf_lock);
+	st->tx[0] = ADIS16240_WRITE_REG(reg_address);
+	st->tx[1] = val;
+
+	ret = spi_write(st->us, st->tx, 2);
+	mutex_unlock(&st->buf_lock);
+
+	return ret;
+}
+
+/**
+ * adis16240_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 adis16240_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 adis16240_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,
+			.delay_usecs = 25,
+		}, {
+			.tx_buf = st->tx + 2,
+			.bits_per_word = 8,
+			.len = 2,
+			.cs_change = 1,
+			.delay_usecs = 25,
+		},
+	};
+
+	mutex_lock(&st->buf_lock);
+	st->tx[0] = ADIS16240_WRITE_REG(lower_reg_address);
+	st->tx[1] = value & 0xFF;
+	st->tx[2] = ADIS16240_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;
+}
+
+/**
+ * adis16240_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 adis16240_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 adis16240_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 = 25,
+		}, {
+			.rx_buf = st->rx,
+			.bits_per_word = 8,
+			.len = 2,
+			.cs_change = 1,
+			.delay_usecs = 25,
+		},
+	};
+
+	mutex_lock(&st->buf_lock);
+	st->tx[0] = ADIS16240_READ_REG(lower_reg_address);
+	st->tx[1] = 0;
+	st->tx[2] = 0;
+	st->tx[3] = 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 adis16240_spi_read_signed(struct device *dev,
+		struct device_attribute *attr,
+		char *buf,
+		unsigned bits)
+{
+	int ret;
+	s16 val = 0;
+	unsigned shift = 16 - bits;
+	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
+
+	ret = adis16240_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
+	if (ret)
+		return ret;
+
+	if (val & ADIS16240_ERROR_ACTIVE)
+		adis16240_check_status(dev);
+
+	val = ((s16)(val << shift) >> shift);
+	return sprintf(buf, "%d\n", val);
+}
+
+static ssize_t adis16240_read_10bit_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 = adis16240_spi_read_reg_16(dev, this_attr->address, &val);
+	if (ret)
+		return ret;
+
+	if (val & ADIS16240_ERROR_ACTIVE)
+		adis16240_check_status(dev);
+
+	return sprintf(buf, "%u\n", val & 0x03FF);
+}
+
+static ssize_t adis16240_read_10bit_signed(struct device *dev,
+		struct device_attribute *attr,
+		char *buf)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	ssize_t ret;
+
+	/* Take the iio_dev status lock */
+	mutex_lock(&indio_dev->mlock);
+	ret =  adis16240_spi_read_signed(dev, attr, buf, 10);
+	mutex_unlock(&indio_dev->mlock);
+
+	return ret;
+}
+
+static ssize_t adis16240_read_12bit_signed(struct device *dev,
+		struct device_attribute *attr,
+		char *buf)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	ssize_t ret;
+
+	/* Take the iio_dev status lock */
+	mutex_lock(&indio_dev->mlock);
+	ret =  adis16240_spi_read_signed(dev, attr, buf, 12);
+	mutex_unlock(&indio_dev->mlock);
+
+	return ret;
+}
+
+static ssize_t adis16240_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 = adis16240_spi_write_reg_16(dev, this_attr->address, val);
+
+error_ret:
+	return ret ? ret : len;
+}
+
+static int adis16240_reset(struct device *dev)
+{
+	int ret;
+	ret = adis16240_spi_write_reg_8(dev,
+			ADIS16240_GLOB_CMD,
+			ADIS16240_GLOB_CMD_SW_RESET);
+	if (ret)
+		dev_err(dev, "problem resetting device");
+
+	return ret;
+}
+
+static ssize_t adis16240_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 adis16240_reset(dev);
+	}
+	return -EINVAL;
+}
+
+int adis16240_set_irq(struct device *dev, bool enable)
+{
+	int ret = 0;
+	u16 msc;
+
+	ret = adis16240_spi_read_reg_16(dev, ADIS16240_MSC_CTRL, &msc);
+	if (ret)
+		goto error_ret;
+
+	msc |= ADIS16240_MSC_CTRL_ACTIVE_HIGH;
+	msc &= ~ADIS16240_MSC_CTRL_DATA_RDY_DIO2;
+	if (enable)
+		msc |= ADIS16240_MSC_CTRL_DATA_RDY_EN;
+	else
+		msc &= ~ADIS16240_MSC_CTRL_DATA_RDY_EN;
+
+	ret = adis16240_spi_write_reg_16(dev, ADIS16240_MSC_CTRL, msc);
+
+error_ret:
+	return ret;
+}
+
+static int adis16240_self_test(struct device *dev)
+{
+	int ret;
+	ret = adis16240_spi_write_reg_16(dev,
+			ADIS16240_MSC_CTRL,
+			ADIS16240_MSC_CTRL_SELF_TEST_EN);
+	if (ret) {
+		dev_err(dev, "problem starting self test");
+		goto err_ret;
+	}
+
+	msleep(ADIS16240_STARTUP_DELAY);
+
+	adis16240_check_status(dev);
+
+err_ret:
+	return ret;
+}
+
+static int adis16240_check_status(struct device *dev)
+{
+	u16 status;
+	int ret;
+
+	ret = adis16240_spi_read_reg_16(dev, ADIS16240_DIAG_STAT, &status);
+
+	if (ret < 0) {
+		dev_err(dev, "Reading status failed\n");
+		goto error_ret;
+	}
+
+	ret = status & 0x2F;
+	if (status & ADIS16240_DIAG_STAT_PWRON_FAIL)
+		dev_err(dev, "Power-on, self-test fail\n");
+	if (status & ADIS16240_DIAG_STAT_SPI_FAIL)
+		dev_err(dev, "SPI failure\n");
+	if (status & ADIS16240_DIAG_STAT_FLASH_UPT)
+		dev_err(dev, "Flash update failed\n");
+	if (status & ADIS16240_DIAG_STAT_POWER_HIGH)
+		dev_err(dev, "Power supply above 3.625V\n");
+	if (status & ADIS16240_DIAG_STAT_POWER_LOW)
+		dev_err(dev, "Power supply below 2.225V\n");
+
+error_ret:
+	return ret;
+}
+
+static int adis16240_initial_setup(struct adis16240_state *st)
+{
+	int ret;
+	struct device *dev = &st->indio_dev->dev;
+
+	/* Disable IRQ */
+	ret = adis16240_set_irq(dev, false);
+	if (ret) {
+		dev_err(dev, "disable irq failed");
+		goto err_ret;
+	}
+
+	/* Do self test */
+	ret = adis16240_self_test(dev);
+	if (ret) {
+		dev_err(dev, "self test failure");
+		goto err_ret;
+	}
+
+	/* Read status register to check the result */
+	ret = adis16240_check_status(dev);
+	if (ret) {
+		adis16240_reset(dev);
+		dev_err(dev, "device not playing ball -> reset");
+		msleep(ADIS16240_STARTUP_DELAY);
+		ret = adis16240_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(supply, adis16240_read_10bit_unsigned,
+		ADIS16240_SUPPLY_OUT);
+static IIO_DEV_ATTR_IN_RAW(0, adis16240_read_10bit_signed,
+		ADIS16240_AUX_ADC);
+static IIO_CONST_ATTR(in_supply_scale, "0.00488");
+static IIO_DEV_ATTR_ACCEL_X(adis16240_read_10bit_signed,
+		ADIS16240_XACCL_OUT);
+static IIO_DEVICE_ATTR(accel_x_peak_raw, S_IRUGO,
+		       adis16240_read_10bit_signed, NULL,
+		       ADIS16240_XPEAK_OUT);
+static IIO_DEV_ATTR_ACCEL_Y(adis16240_read_10bit_signed,
+		ADIS16240_YACCL_OUT);
+static IIO_DEVICE_ATTR(accel_y_peak_raw, S_IRUGO,
+		       adis16240_read_10bit_signed, NULL,
+		       ADIS16240_YPEAK_OUT);
+static IIO_DEV_ATTR_ACCEL_Z(adis16240_read_10bit_signed,
+		ADIS16240_ZACCL_OUT);
+static IIO_DEVICE_ATTR(accel_z_peak_raw, S_IRUGO,
+		       adis16240_read_10bit_signed, NULL,
+		       ADIS16240_ZPEAK_OUT);
+
+static IIO_DEVICE_ATTR(accel_xyz_squared_peak_raw, S_IRUGO,
+		       adis16240_read_12bit_signed, NULL,
+		       ADIS16240_XYZPEAK_OUT);
+static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
+		adis16240_read_10bit_signed,
+		adis16240_write_16bit,
+		ADIS16240_XACCL_OFF);
+static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
+		adis16240_read_10bit_signed,
+		adis16240_write_16bit,
+		ADIS16240_YACCL_OFF);
+static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO,
+		adis16240_read_10bit_signed,
+		adis16240_write_16bit,
+		ADIS16240_ZACCL_OFF);
+static IIO_DEV_ATTR_TEMP_RAW(adis16240_read_10bit_unsigned);
+static IIO_CONST_ATTR(temp_scale, "0.244");
+
+static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16240_write_reset, 0);
+
+static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("4096");
+
+static IIO_CONST_ATTR(name, "adis16240");
+
+static struct attribute *adis16240_event_attributes[] = {
+	NULL
+};
+
+static struct attribute_group adis16240_event_attribute_group = {
+	.attrs = adis16240_event_attributes,
+};
+
+static struct attribute *adis16240_attributes[] = {
+	&iio_dev_attr_in_supply_raw.dev_attr.attr,
+	&iio_const_attr_in_supply_scale.dev_attr.attr,
+	&iio_dev_attr_in0_raw.dev_attr.attr,
+	&iio_dev_attr_accel_x_raw.dev_attr.attr,
+	&iio_dev_attr_accel_x_offset.dev_attr.attr,
+	&iio_dev_attr_accel_x_peak_raw.dev_attr.attr,
+	&iio_dev_attr_accel_y_raw.dev_attr.attr,
+	&iio_dev_attr_accel_y_offset.dev_attr.attr,
+	&iio_dev_attr_accel_y_peak_raw.dev_attr.attr,
+	&iio_dev_attr_accel_z_raw.dev_attr.attr,
+	&iio_dev_attr_accel_z_offset.dev_attr.attr,
+	&iio_dev_attr_accel_z_peak_raw.dev_attr.attr,
+	&iio_dev_attr_accel_xyz_squared_peak_raw.dev_attr.attr,
+	&iio_dev_attr_temp_raw.dev_attr.attr,
+	&iio_const_attr_temp_scale.dev_attr.attr,
+	&iio_const_attr_available_sampling_frequency.dev_attr.attr,
+	&iio_dev_attr_reset.dev_attr.attr,
+	&iio_const_attr_name.dev_attr.attr,
+	NULL
+};
+
+static const struct attribute_group adis16240_attribute_group = {
+	.attrs = adis16240_attributes,
+};
+
+static int __devinit adis16240_probe(struct spi_device *spi)
+{
+	int ret, regdone = 0;
+	struct adis16240_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)*ADIS16240_MAX_RX, GFP_KERNEL);
+	if (st->rx == NULL) {
+		ret = -ENOMEM;
+		goto error_free_st;
+	}
+	st->tx = kzalloc(sizeof(*st->tx)*ADIS16240_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 = &adis16240_event_attribute_group;
+	st->indio_dev->attrs = &adis16240_attribute_group;
+	st->indio_dev->dev_data = (void *)(st);
+	st->indio_dev->driver_module = THIS_MODULE;
+	st->indio_dev->modes = INDIO_DIRECT_MODE;
+
+	ret = adis16240_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 = adis16240_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,
+				"adis16240");
+		if (ret)
+			goto error_uninitialize_ring;
+
+		ret = adis16240_probe_trigger(st->indio_dev);
+		if (ret)
+			goto error_unregister_line;
+	}
+
+	/* Get the device into a sane initial state */
+	ret = adis16240_initial_setup(st);
+	if (ret)
+		goto error_remove_trigger;
+	return 0;
+
+error_remove_trigger:
+	adis16240_remove_trigger(st->indio_dev);
+error_unregister_line:
+	if (spi->irq)
+		iio_unregister_interrupt_line(st->indio_dev, 0);
+error_uninitialize_ring:
+	adis16240_uninitialize_ring(st->indio_dev->ring);
+error_unreg_ring_funcs:
+	adis16240_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 adis16240_remove(struct spi_device *spi)
+{
+	struct adis16240_state *st = spi_get_drvdata(spi);
+	struct iio_dev *indio_dev = st->indio_dev;
+
+	flush_scheduled_work();
+
+	adis16240_remove_trigger(indio_dev);
+	if (spi->irq)
+		iio_unregister_interrupt_line(indio_dev, 0);
+
+	adis16240_uninitialize_ring(indio_dev->ring);
+	iio_device_unregister(indio_dev);
+	adis16240_unconfigure_ring(indio_dev);
+	kfree(st->tx);
+	kfree(st->rx);
+	kfree(st);
+
+	return 0;
+}
+
+static struct spi_driver adis16240_driver = {
+	.driver = {
+		.name = "adis16240",
+		.owner = THIS_MODULE,
+	},
+	.probe = adis16240_probe,
+	.remove = __devexit_p(adis16240_remove),
+};
+
+static __init int adis16240_init(void)
+{
+	return spi_register_driver(&adis16240_driver);
+}
+module_init(adis16240_init);
+
+static __exit void adis16240_exit(void)
+{
+	spi_unregister_driver(&adis16240_driver);
+}
+module_exit(adis16240_exit);
+
+MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices Programmable Impact Sensor and Recorder");
+MODULE_LICENSE("GPL v2");