[net-next-2.6.git] / drivers / staging / iio / accel / adis16209_core.c

/*
 * ADIS16209 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 "adis16209.h"

#define DRIVER_NAME		"adis16209"

static int adis16209_check_status(struct device *dev);

/**
 * adis16209_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 adis16209_spi_write_reg_8(struct device *dev,
		u8 reg_address,
		u8 val)
{
	int ret;
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16209_state *st = iio_dev_get_devdata(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
 * @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 adis16209_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 adis16209_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 = 30,
		}, {
			.tx_buf = st->tx + 2,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
			.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
 * @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 adis16209_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 adis16209_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 = 30,
		}, {
			.rx_buf = st->rx,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
			.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 ssize_t adis16209_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 = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
	if (ret)
		return ret;

	if (val & ADIS16209_ERROR_ACTIVE)
		adis16209_check_status(dev);

	return sprintf(buf, "%u\n", val & 0x0FFF);
}

static ssize_t adis16209_read_14bit_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 = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
	if (ret)
		return ret;

	if (val & ADIS16209_ERROR_ACTIVE)
		adis16209_check_status(dev);

	return sprintf(buf, "%u\n", val & 0x3FFF);
}

static ssize_t adis16209_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 = adis16209_spi_read_reg_16(dev, ADIS16209_TEMP_OUT, (u16 *)&val);
	if (ret)
		goto error_ret;

	if (val & ADIS16209_ERROR_ACTIVE)
		adis16209_check_status(dev);

	val &= 0xFFF;
	ret = sprintf(buf, "%d\n", val);

error_ret:
	mutex_unlock(&indio_dev->mlock);
	return ret;
}

static ssize_t adis16209_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 = adis16209_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
	if (!ret) {
		if (val & ADIS16209_ERROR_ACTIVE)
			adis16209_check_status(dev);

		val = ((s16)(val << 2) >> 2);
		ret = sprintf(buf, "%d\n", val);
	}

	mutex_unlock(&indio_dev->mlock);

	return ret;
}

static ssize_t adis16209_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 = adis16209_spi_write_reg_16(dev, this_attr->address, val);

error_ret:
	return ret ? ret : len;
}

static int adis16209_reset(struct device *dev)
{
	int ret;
	ret = adis16209_spi_write_reg_8(dev,
			ADIS16209_GLOB_CMD,
			ADIS16209_GLOB_CMD_SW_RESET);
	if (ret)
		dev_err(dev, "problem resetting device");

	return ret;
}

static ssize_t adis16209_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 adis16209_reset(dev);
	}
	return -EINVAL;
}

int adis16209_set_irq(struct device *dev, bool enable)
{
	int ret = 0;
	u16 msc;

	ret = adis16209_spi_read_reg_16(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(dev, ADIS16209_MSC_CTRL, msc);

error_ret:
	return ret;
}

static int adis16209_check_status(struct device *dev)
{
	u16 status;
	int ret;

	ret = adis16209_spi_read_reg_16(dev, ADIS16209_DIAG_STAT, &status);
	if (ret < 0) {
		dev_err(dev, "Reading status failed\n");
		goto error_ret;
	}
	ret = status & 0x1F;

	if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
		dev_err(dev, "Self test failure\n");
	if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
		dev_err(dev, "SPI failure\n");
	if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
		dev_err(dev, "Flash update failed\n");
	if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
		dev_err(dev, "Power supply above 3.625V\n");
	if (status & ADIS16209_DIAG_STAT_POWER_LOW)
		dev_err(dev, "Power supply below 3.15V\n");

error_ret:
	return ret;
}

static int adis16209_self_test(struct device *dev)
{
	int ret;
	ret = adis16209_spi_write_reg_16(dev,
			ADIS16209_MSC_CTRL,
			ADIS16209_MSC_CTRL_SELF_TEST_EN);
	if (ret) {
		dev_err(dev, "problem starting self test");
		goto err_ret;
	}

	adis16209_check_status(dev);

err_ret:
	return ret;
}

static int adis16209_initial_setup(struct adis16209_state *st)
{
	int ret;
	struct device *dev = &st->indio_dev->dev;

	/* Disable IRQ */
	ret = adis16209_set_irq(dev, false);
	if (ret) {
		dev_err(dev, "disable irq failed");
		goto err_ret;
	}

	/* Do self test */
	ret = adis16209_self_test(dev);
	if (ret) {
		dev_err(dev, "self test failure");
		goto err_ret;
	}

	/* Read status register to check the result */
	ret = adis16209_check_status(dev);
	if (ret) {
		adis16209_reset(dev);
		dev_err(dev, "device not playing ball -> reset");
		msleep(ADIS16209_STARTUP_DELAY);
		ret = adis16209_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, adis16209_read_14bit_unsigned,
		ADIS16209_SUPPLY_OUT);
static IIO_CONST_ATTR(in_supply_scale, "0.30518");
static IIO_DEV_ATTR_IN_RAW(0, adis16209_read_12bit_unsigned,
		ADIS16209_AUX_ADC);
static IIO_CONST_ATTR(in0_scale, "0.6105");

static IIO_DEV_ATTR_ACCEL_X(adis16209_read_14bit_signed,
		ADIS16209_XACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Y(adis16209_read_14bit_signed,
		ADIS16209_YACCL_OUT);
static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
		adis16209_read_14bit_signed,
		adis16209_write_16bit,
		ADIS16209_XACCL_NULL);
static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
		adis16209_read_14bit_signed,
		adis16209_write_16bit,
		ADIS16209_YACCL_NULL);
static IIO_CONST_ATTR(accel_scale, "0.24414");

static IIO_DEV_ATTR_INCLI_X(adis16209_read_14bit_signed,
		ADIS16209_XINCL_OUT);
static IIO_DEV_ATTR_INCLI_Y(adis16209_read_14bit_signed,
		ADIS16209_YINCL_OUT);
static IIO_DEV_ATTR_INCLI_X_OFFSET(S_IWUSR | S_IRUGO,
		adis16209_read_14bit_signed,
		adis16209_write_16bit,
		ADIS16209_XACCL_NULL);
static IIO_DEV_ATTR_INCLI_Y_OFFSET(S_IWUSR | S_IRUGO,
		adis16209_read_14bit_signed,
		adis16209_write_16bit,
		ADIS16209_YACCL_NULL);
static IIO_CONST_ATTR(incli_scale, "0.025");

static IIO_DEVICE_ATTR(rot_raw, S_IRUGO, adis16209_read_14bit_signed,
		       NULL, ADIS16209_ROT_OUT);

static IIO_DEV_ATTR_TEMP(adis16209_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, adis16209_write_reset, 0);

static IIO_CONST_ATTR(name, "adis16209");

static struct attribute *adis16209_event_attributes[] = {
	NULL
};

static struct attribute_group adis16209_event_attribute_group = {
	.attrs = adis16209_event_attributes,
};

static struct attribute *adis16209_attributes[] = {
	&iio_dev_attr_in_supply_raw.dev_attr.attr,
	&iio_const_attr_in_supply_scale.dev_attr.attr,
	&iio_dev_attr_temp.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_in0_raw.dev_attr.attr,
	&iio_const_attr_in0_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,
	&iio_dev_attr_rot_raw.dev_attr.attr,
	NULL
};

static const struct attribute_group adis16209_attribute_group = {
	.attrs = adis16209_attributes,
};

static int __devinit adis16209_probe(struct spi_device *spi)
{
	int ret, regdone = 0;
	struct adis16209_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)*ADIS16209_MAX_RX, GFP_KERNEL);
	if (st->rx == NULL) {
		ret = -ENOMEM;
		goto error_free_st;
	}
	st->tx = kzalloc(sizeof(*st->tx)*ADIS16209_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 = &adis16209_event_attribute_group;
	st->indio_dev->attrs = &adis16209_attribute_group;
	st->indio_dev->dev_data = (void *)(st);
	st->indio_dev->driver_module = THIS_MODULE;
	st->indio_dev->modes = INDIO_DIRECT_MODE;

	ret = adis16209_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 = adis16209_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,
				"adis16209");
		if (ret)
			goto error_uninitialize_ring;

		ret = adis16209_probe_trigger(st->indio_dev);
		if (ret)
			goto error_unregister_line;
	}

	/* Get the device into a sane initial state */
	ret = adis16209_initial_setup(st);
	if (ret)
		goto error_remove_trigger;
	return 0;

error_remove_trigger:
	adis16209_remove_trigger(st->indio_dev);
error_unregister_line:
	if (spi->irq)
		iio_unregister_interrupt_line(st->indio_dev, 0);
error_uninitialize_ring:
	adis16209_uninitialize_ring(st->indio_dev->ring);
error_unreg_ring_funcs:
	adis16209_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 adis16209_remove(struct spi_device *spi)
{
	struct adis16209_state *st = spi_get_drvdata(spi);
	struct iio_dev *indio_dev = st->indio_dev;

	flush_scheduled_work();

	adis16209_remove_trigger(indio_dev);
	if (spi->irq)
		iio_unregister_interrupt_line(indio_dev, 0);

	adis16209_uninitialize_ring(indio_dev->ring);
	iio_device_unregister(indio_dev);
	adis16209_unconfigure_ring(indio_dev);
	kfree(st->tx);
	kfree(st->rx);
	kfree(st);

	return 0;
}

static struct spi_driver adis16209_driver = {
	.driver = {
		.name = "adis16209",
		.owner = THIS_MODULE,
	},
	.probe = adis16209_probe,
	.remove = __devexit_p(adis16209_remove),
};

static __init int adis16209_init(void)
{
	return spi_register_driver(&adis16209_driver);
}
module_init(adis16209_init);

static __exit void adis16209_exit(void)
{
	spi_unregister_driver(&adis16209_driver);
}
module_exit(adis16209_exit);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16209 Digital Vibration Sensor driver");
MODULE_LICENSE("GPL v2");
Commit	Line	Data
671ece14 BS	1	/*
	2	* ADIS16209 Programmable Digital Vibration Sensor driver
	3	*
	4	* Copyright 2010 Analog Devices Inc.
	5	*
	6	* Licensed under the GPL-2 or later.
	7	*/
	8
	9	#include <linux/interrupt.h>
	10	#include <linux/irq.h>
	11	#include <linux/gpio.h>
	12	#include <linux/delay.h>
	13	#include <linux/mutex.h>
	14	#include <linux/device.h>
	15	#include <linux/kernel.h>
	16	#include <linux/spi/spi.h>
1cb6c1f5	17	#include <linux/slab.h>
671ece14 BS	18	#include <linux/sysfs.h>
	19	#include <linux/list.h>
	20
	21	#include "../iio.h"
	22	#include "../sysfs.h"
	23	#include "accel.h"
	24	#include "inclinometer.h"
	25	#include "../gyro/gyro.h"
	26	#include "../adc/adc.h"
	27
	28	#include "adis16209.h"
	29
	30	#define DRIVER_NAME "adis16209"
	31
	32	static int adis16209_check_status(struct device *dev);
	33
	34	/**
	35	* adis16209_spi_write_reg_8() - write single byte to a register
	36	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	37	* @reg_address: the address of the register to be written
	38	* @val: the value to write
	39	**/
	40	static int adis16209_spi_write_reg_8(struct device *dev,
	41	u8 reg_address,
	42	u8 val)
	43	{
	44	int ret;
	45	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	46	struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
	47
	48	mutex_lock(&st->buf_lock);
	49	st->tx[0] = ADIS16209_WRITE_REG(reg_address);
	50	st->tx[1] = val;
	51
	52	ret = spi_write(st->us, st->tx, 2);
	53	mutex_unlock(&st->buf_lock);
	54
	55	return ret;
	56	}
	57
	58	/**
	59	* adis16209_spi_write_reg_16() - write 2 bytes to a pair of registers
	60	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	61	* @reg_address: the address of the lower of the two registers. Second register
	62	* is assumed to have address one greater.
	63	* @val: value to be written
	64	**/
	65	static int adis16209_spi_write_reg_16(struct device *dev,
	66	u8 lower_reg_address,
	67	u16 value)
	68	{
	69	int ret;
	70	struct spi_message msg;
	71	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	72	struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
	73	struct spi_transfer xfers[] = {
	74	{
	75	.tx_buf = st->tx,
	76	.bits_per_word = 8,
	77	.len = 2,
	78	.cs_change = 1,
00ae7946	79	.delay_usecs = 30,
671ece14 BS	80	}, {
	81	.tx_buf = st->tx + 2,
	82	.bits_per_word = 8,
	83	.len = 2,
	84	.cs_change = 1,
00ae7946	85	.delay_usecs = 30,
671ece14 BS	86	},
	87	};
	88
	89	mutex_lock(&st->buf_lock);
	90	st->tx[0] = ADIS16209_WRITE_REG(lower_reg_address);
	91	st->tx[1] = value & 0xFF;
	92	st->tx[2] = ADIS16209_WRITE_REG(lower_reg_address + 1);
	93	st->tx[3] = (value >> 8) & 0xFF;
	94
	95	spi_message_init(&msg);
	96	spi_message_add_tail(&xfers[0], &msg);
	97	spi_message_add_tail(&xfers[1], &msg);
	98	ret = spi_sync(st->us, &msg);
	99	mutex_unlock(&st->buf_lock);
	100
	101	return ret;
	102	}
	103
	104	/**
	105	* adis16209_spi_read_reg_16() - read 2 bytes from a 16-bit register
	106	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	107	* @reg_address: the address of the lower of the two registers. Second register
	108	* is assumed to have address one greater.
	109	* @val: somewhere to pass back the value read
	110	**/
	111	static int adis16209_spi_read_reg_16(struct device *dev,
	112	u8 lower_reg_address,
	113	u16 *val)
	114	{
	115	struct spi_message msg;
	116	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	117	struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
	118	int ret;
	119	struct spi_transfer xfers[] = {
	120	{
	121	.tx_buf = st->tx,
	122	.bits_per_word = 8,
	123	.len = 2,
	124	.cs_change = 1,
00ae7946	125	.delay_usecs = 30,
671ece14 BS	126	}, {
	127	.rx_buf = st->rx,
	128	.bits_per_word = 8,
	129	.len = 2,
	130	.cs_change = 1,
00ae7946	131	.delay_usecs = 30,
671ece14 BS	132	},
	133	};
	134
	135	mutex_lock(&st->buf_lock);
	136	st->tx[0] = ADIS16209_READ_REG(lower_reg_address);
	137	st->tx[1] = 0;
	138
	139	spi_message_init(&msg);
	140	spi_message_add_tail(&xfers[0], &msg);
	141	spi_message_add_tail(&xfers[1], &msg);
	142	ret = spi_sync(st->us, &msg);
	143	if (ret) {
	144	dev_err(&st->us->dev,
	145	"problem when reading 16 bit register 0x%02X",
	146	lower_reg_address);
	147	goto error_ret;
	148	}
	149	*val = (st->rx[0] << 8) \| st->rx[1];
	150
	151	error_ret:
	152	mutex_unlock(&st->buf_lock);
	153	return ret;
	154	}
	155
	156	static ssize_t adis16209_read_12bit_unsigned(struct device *dev,
	157	struct device_attribute *attr,
	158	char *buf)
	159	{
	160	int ret;
	161	u16 val = 0;
	162	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	163
	164	ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
	165	if (ret)
	166	return ret;
	167
	168	if (val & ADIS16209_ERROR_ACTIVE)
	169	adis16209_check_status(dev);
	170
	171	return sprintf(buf, "%u\n", val & 0x0FFF);
	172	}
	173
	174	static ssize_t adis16209_read_14bit_unsigned(struct device *dev,
	175	struct device_attribute *attr,
	176	char *buf)
	177	{
	178	int ret;
	179	u16 val = 0;
	180	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	181
	182	ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
	183	if (ret)
	184	return ret;
	185
	186	if (val & ADIS16209_ERROR_ACTIVE)
	187	adis16209_check_status(dev);
	188
	189	return sprintf(buf, "%u\n", val & 0x3FFF);
	190	}
	191
	192	static ssize_t adis16209_read_temp(struct device *dev,
	193	struct device_attribute *attr,
	194	char *buf)
	195	{
196	struct iio_dev *indio_dev = dev_get_drvdata(dev);
197	ssize_t ret;
198	u16 val;
199
200	/* Take the iio_dev status lock */
201	mutex_lock(&indio_dev->mlock);
202
203	ret = adis16209_spi_read_reg_16(dev, ADIS16209_TEMP_OUT, (u16 *)&val);
204	if (ret)
205	goto error_ret;
206
207	if (val & ADIS16209_ERROR_ACTIVE)
208	adis16209_check_status(dev);
209
210	val &= 0xFFF;
211	ret = sprintf(buf, "%d\n", val);
212
213	error_ret:
214	mutex_unlock(&indio_dev->mlock);
215	return ret;
216	}
217
218	static ssize_t adis16209_read_14bit_signed(struct device *dev,
219	struct device_attribute *attr,
220	char *buf)
221	{
222	struct iio_dev *indio_dev = dev_get_drvdata(dev);
223	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
224	s16 val = 0;
225	ssize_t ret;
226
227	mutex_lock(&indio_dev->mlock);
228
229	ret = adis16209_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
230	if (!ret) {
231	if (val & ADIS16209_ERROR_ACTIVE)
232	adis16209_check_status(dev);
233
234	val = ((s16)(val << 2) >> 2);
235	ret = sprintf(buf, "%d\n", val);
236	}
237
238	mutex_unlock(&indio_dev->mlock);
239
240	return ret;
241	}
242
243	static ssize_t adis16209_write_16bit(struct device *dev,
244	struct device_attribute *attr,
245	const char *buf,
246	size_t len)
247	{
248	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
249	int ret;
250	long val;
251
252	ret = strict_strtol(buf, 10, &val);
253	if (ret)
254	goto error_ret;
255	ret = adis16209_spi_write_reg_16(dev, this_attr->address, val);
256
257	error_ret:
258	return ret ? ret : len;
259	}
260
261	static int adis16209_reset(struct device *dev)
262	{
263	int ret;
264	ret = adis16209_spi_write_reg_8(dev,
265	ADIS16209_GLOB_CMD,
266	ADIS16209_GLOB_CMD_SW_RESET);
267	if (ret)
268	dev_err(dev, "problem resetting device");
269
270	return ret;
271	}
272
273	static ssize_t adis16209_write_reset(struct device *dev,
274	struct device_attribute *attr,
275	const char *buf, size_t len)
276	{
277	if (len < 1)
278	return -EINVAL;
279	switch (buf[0]) {
280	case '1':
281	case 'y':
282	case 'Y':
283	return adis16209_reset(dev);
284	}
285	return -EINVAL;
286	}
287
288	int adis16209_set_irq(struct device *dev, bool enable)
289	{
290	int ret = 0;
291	u16 msc;
292
293	ret = adis16209_spi_read_reg_16(dev, ADIS16209_MSC_CTRL, &msc);
294	if (ret)
295	goto error_ret;
296
297	msc \|= ADIS16209_MSC_CTRL_ACTIVE_HIGH;
298	msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_DIO2;
299	if (enable)
300	msc \|= ADIS16209_MSC_CTRL_DATA_RDY_EN;
301	else
302	msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_EN;
303
304	ret = adis16209_spi_write_reg_16(dev, ADIS16209_MSC_CTRL, msc);
305
306	error_ret:
307	return ret;
308	}
309
310	static int adis16209_check_status(struct device *dev)
311	{
312	u16 status;
313	int ret;
314
315	ret = adis16209_spi_read_reg_16(dev, ADIS16209_DIAG_STAT, &status);
316	if (ret < 0) {
317	dev_err(dev, "Reading status failed\n");
318	goto error_ret;
319	}
320	ret = status & 0x1F;
321
322	if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
323	dev_err(dev, "Self test failure\n");
324	if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
325	dev_err(dev, "SPI failure\n");
326	if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
327	dev_err(dev, "Flash update failed\n");
328	if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
329	dev_err(dev, "Power supply above 3.625V\n");
330	if (status & ADIS16209_DIAG_STAT_POWER_LOW)
331	dev_err(dev, "Power supply below 3.15V\n");
332
333	error_ret:
334	return ret;
335	}
336
337	static int adis16209_self_test(struct device *dev)
338	{
339	int ret;
340	ret = adis16209_spi_write_reg_16(dev,
341	ADIS16209_MSC_CTRL,
342	ADIS16209_MSC_CTRL_SELF_TEST_EN);
343	if (ret) {
344	dev_err(dev, "problem starting self test");
345	goto err_ret;
346	}
347
348	adis16209_check_status(dev);
349
350	err_ret:
351	return ret;
352	}
353
354	static int adis16209_initial_setup(struct adis16209_state *st)
355	{
356	int ret;
357	struct device *dev = &st->indio_dev->dev;
358
359	/* Disable IRQ */
360	ret = adis16209_set_irq(dev, false);
361	if (ret) {
362	dev_err(dev, "disable irq failed");
363	goto err_ret;
364	}
365
366	/* Do self test */
367	ret = adis16209_self_test(dev);
368	if (ret) {
369	dev_err(dev, "self test failure");
370	goto err_ret;
371	}
372
373	/* Read status register to check the result */
374	ret = adis16209_check_status(dev);
375	if (ret) {
376	adis16209_reset(dev);
377	dev_err(dev, "device not playing ball -> reset");
378	msleep(ADIS16209_STARTUP_DELAY);
379	ret = adis16209_check_status(dev);
380	if (ret) {
381	dev_err(dev, "giving up");
382	goto err_ret;
383	}
384	}
385
386	printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
387	st->us->chip_select, st->us->irq);
388
389	err_ret:
390	return ret;
391	}
392
393	static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16209_read_14bit_unsigned,
394	ADIS16209_SUPPLY_OUT);
395	static IIO_CONST_ATTR(in_supply_scale, "0.30518");
396	static IIO_DEV_ATTR_IN_RAW(0, adis16209_read_12bit_unsigned,
397	ADIS16209_AUX_ADC);
398	static IIO_CONST_ATTR(in0_scale, "0.6105");
399
400	static IIO_DEV_ATTR_ACCEL_X(adis16209_read_14bit_signed,
401	ADIS16209_XACCL_OUT);
402	static IIO_DEV_ATTR_ACCEL_Y(adis16209_read_14bit_signed,
403	ADIS16209_YACCL_OUT);
404	static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR \| S_IRUGO,
405	adis16209_read_14bit_signed,
406	adis16209_write_16bit,
407	ADIS16209_XACCL_NULL);
408	static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR \| S_IRUGO,
409	adis16209_read_14bit_signed,
410	adis16209_write_16bit,
411	ADIS16209_YACCL_NULL);
412	static IIO_CONST_ATTR(accel_scale, "0.24414");
413
414	static IIO_DEV_ATTR_INCLI_X(adis16209_read_14bit_signed,
415	ADIS16209_XINCL_OUT);
416	static IIO_DEV_ATTR_INCLI_Y(adis16209_read_14bit_signed,
417	ADIS16209_YINCL_OUT);
418	static IIO_DEV_ATTR_INCLI_X_OFFSET(S_IWUSR \| S_IRUGO,
419	adis16209_read_14bit_signed,
420	adis16209_write_16bit,
421	ADIS16209_XACCL_NULL);
422	static IIO_DEV_ATTR_INCLI_Y_OFFSET(S_IWUSR \| S_IRUGO,
423	adis16209_read_14bit_signed,
424	adis16209_write_16bit,
425	ADIS16209_YACCL_NULL);
426	static IIO_CONST_ATTR(incli_scale, "0.025");
427
428	static IIO_DEVICE_ATTR(rot_raw, S_IRUGO, adis16209_read_14bit_signed,
429	NULL, ADIS16209_ROT_OUT);
430
431	static IIO_DEV_ATTR_TEMP(adis16209_read_temp);
432	static IIO_CONST_ATTR(temp_offset, "25");
433	static IIO_CONST_ATTR(temp_scale, "-0.47");
434
435	static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16209_write_reset, 0);
436
437	static IIO_CONST_ATTR(name, "adis16209");
438
439	static struct attribute *adis16209_event_attributes[] = {
440	NULL
441	};
442
443	static struct attribute_group adis16209_event_attribute_group = {
444	.attrs = adis16209_event_attributes,
445	};
446
447	static struct attribute *adis16209_attributes[] = {
448	&iio_dev_attr_in_supply_raw.dev_attr.attr,
449	&iio_const_attr_in_supply_scale.dev_attr.attr,
450	&iio_dev_attr_temp.dev_attr.attr,
451	&iio_const_attr_temp_offset.dev_attr.attr,
452	&iio_const_attr_temp_scale.dev_attr.attr,
453	&iio_dev_attr_reset.dev_attr.attr,
454	&iio_const_attr_name.dev_attr.attr,
455	&iio_dev_attr_in0_raw.dev_attr.attr,
456	&iio_const_attr_in0_scale.dev_attr.attr,
457	&iio_dev_attr_accel_x_raw.dev_attr.attr,
458	&iio_dev_attr_accel_y_raw.dev_attr.attr,
459	&iio_dev_attr_accel_x_offset.dev_attr.attr,
460	&iio_dev_attr_accel_y_offset.dev_attr.attr,
461	&iio_const_attr_accel_scale.dev_attr.attr,
462	&iio_dev_attr_incli_x_raw.dev_attr.attr,
463	&iio_dev_attr_incli_y_raw.dev_attr.attr,
464	&iio_dev_attr_incli_x_offset.dev_attr.attr,
465	&iio_dev_attr_incli_y_offset.dev_attr.attr,
466	&iio_const_attr_incli_scale.dev_attr.attr,
467	&iio_dev_attr_rot_raw.dev_attr.attr,
468	NULL
469	};
470
471	static const struct attribute_group adis16209_attribute_group = {
472	.attrs = adis16209_attributes,
473	};
474
475	static int __devinit adis16209_probe(struct spi_device *spi)
476	{
477	int ret, regdone = 0;
478	struct adis16209_state st = kzalloc(sizeof st, GFP_KERNEL);
479	if (!st) {
480	ret = -ENOMEM;
481	goto error_ret;
482	}
483	/* this is only used for removal purposes */
484	spi_set_drvdata(spi, st);
485
486	/* Allocate the comms buffers */
487	st->rx = kzalloc(sizeof(st->rx)ADIS16209_MAX_RX, GFP_KERNEL);
488	if (st->rx == NULL) {
489	ret = -ENOMEM;
490	goto error_free_st;
491	}
492	st->tx = kzalloc(sizeof(st->tx)ADIS16209_MAX_TX, GFP_KERNEL);
493	if (st->tx == NULL) {
494	ret = -ENOMEM;
495	goto error_free_rx;
496	}
497	st->us = spi;
498	mutex_init(&st->buf_lock);
499	/* setup the industrialio driver allocated elements */
500	st->indio_dev = iio_allocate_device();
501	if (st->indio_dev == NULL) {
502	ret = -ENOMEM;
503	goto error_free_tx;
504	}
505
506	st->indio_dev->dev.parent = &spi->dev;
507	st->indio_dev->num_interrupt_lines = 1;
508	st->indio_dev->event_attrs = &adis16209_event_attribute_group;
509	st->indio_dev->attrs = &adis16209_attribute_group;
510	st->indio_dev->dev_data = (void *)(st);
511	st->indio_dev->driver_module = THIS_MODULE;
512	st->indio_dev->modes = INDIO_DIRECT_MODE;
513
514	ret = adis16209_configure_ring(st->indio_dev);
515	if (ret)
516	goto error_free_dev;
517
518	ret = iio_device_register(st->indio_dev);
519	if (ret)
520	goto error_unreg_ring_funcs;
521	regdone = 1;
522
523	ret = adis16209_initialize_ring(st->indio_dev->ring);
524	if (ret) {
525	printk(KERN_ERR "failed to initialize the ring\n");
526	goto error_unreg_ring_funcs;
527	}
528
529	if (spi->irq) {
530	ret = iio_register_interrupt_line(spi->irq,
531	st->indio_dev,
532	0,
533	IRQF_TRIGGER_RISING,
534	"adis16209");
535	if (ret)
536	goto error_uninitialize_ring;
537
538	ret = adis16209_probe_trigger(st->indio_dev);
539	if (ret)
540	goto error_unregister_line;
541	}
542
543	/* Get the device into a sane initial state */
544	ret = adis16209_initial_setup(st);
545	if (ret)
546	goto error_remove_trigger;
547	return 0;
548
549	error_remove_trigger:
550	adis16209_remove_trigger(st->indio_dev);
551	error_unregister_line:
552	if (spi->irq)
553	iio_unregister_interrupt_line(st->indio_dev, 0);
554	error_uninitialize_ring:
555	adis16209_uninitialize_ring(st->indio_dev->ring);
556	error_unreg_ring_funcs:
557	adis16209_unconfigure_ring(st->indio_dev);
558	error_free_dev:
559	if (regdone)
560	iio_device_unregister(st->indio_dev);
561	else
562	iio_free_device(st->indio_dev);
563	error_free_tx:
564	kfree(st->tx);
565	error_free_rx:
566	kfree(st->rx);
567	error_free_st:
568	kfree(st);
569	error_ret:
570	return ret;
571	}
572
573	static int adis16209_remove(struct spi_device *spi)
574	{
575	struct adis16209_state *st = spi_get_drvdata(spi);
576	struct iio_dev *indio_dev = st->indio_dev;
577
578	flush_scheduled_work();
579
580	adis16209_remove_trigger(indio_dev);
581	if (spi->irq)
582	iio_unregister_interrupt_line(indio_dev, 0);
583
584	adis16209_uninitialize_ring(indio_dev->ring);
585	iio_device_unregister(indio_dev);
586	adis16209_unconfigure_ring(indio_dev);
587	kfree(st->tx);
588	kfree(st->rx);
589	kfree(st);
590
591	return 0;
592	}
593
594	static struct spi_driver adis16209_driver = {
595	.driver = {
596	.name = "adis16209",
597	.owner = THIS_MODULE,
598	},
599	.probe = adis16209_probe,
600	.remove = __devexit_p(adis16209_remove),
601	};
602
603	static __init int adis16209_init(void)
604	{
605	return spi_register_driver(&adis16209_driver);
606	}
607	module_init(adis16209_init);
608
609	static __exit void adis16209_exit(void)
610	{
611	spi_unregister_driver(&adis16209_driver);
612	}
613	module_exit(adis16209_exit);
614
615	MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
616	MODULE_DESCRIPTION("Analog Devices ADIS16209 Digital Vibration Sensor driver");
617	MODULE_LICENSE("GPL v2");