[mirror_ubuntu-bionic-kernel.git] / drivers / staging / iio / accel / adis16204_core.c

/*
 * ADIS16204 Programmable High-g Digital Impact Sensor and Recorder
 *
 * 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 "../ring_generic.h"
#include "accel.h"
#include "../adc/adc.h"

#include "adis16204.h"

#define DRIVER_NAME		"adis16204"

/**
 * adis16204_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 adis16204_spi_write_reg_8(struct iio_dev *indio_dev,
		u8 reg_address,
		u8 val)
{
	int ret;
	struct adis16204_state *st = iio_priv(indio_dev);

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16204_WRITE_REG(reg_address);
	st->tx[1] = val;

	ret = spi_write(st->us, st->tx, 2);
	mutex_unlock(&st->buf_lock);

	return ret;
}

/**
 * adis16204_spi_write_reg_16() - write 2 bytes to a pair of registers
 * @indio_dev: iio device associated with child of 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 adis16204_spi_write_reg_16(struct iio_dev *indio_dev,
		u8 lower_reg_address,
		u16 value)
{
	int ret;
	struct spi_message msg;
	struct adis16204_state *st = iio_priv(indio_dev);
	struct spi_transfer xfers[] = {
		{
			.tx_buf = st->tx,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
		}, {
			.tx_buf = st->tx + 2,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 1,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16204_WRITE_REG(lower_reg_address);
	st->tx[1] = value & 0xFF;
	st->tx[2] = ADIS16204_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;
}

/**
 * adis16204_spi_read_reg_16() - read 2 bytes from a 16-bit register
 * @indio_dev: iio device associated with child of actual 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 adis16204_spi_read_reg_16(struct iio_dev *indio_dev,
				     u8 lower_reg_address,
				     u16 *val)
{
	struct spi_message msg;
	struct adis16204_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 = 20,
		}, {
			.rx_buf = st->rx,
			.bits_per_word = 8,
			.len = 2,
			.delay_usecs = 20,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16204_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 adis16204_check_status(struct iio_dev *indio_dev)
{
	u16 status;
	int ret;

	ret = adis16204_spi_read_reg_16(indio_dev,
					ADIS16204_DIAG_STAT, &status);
	if (ret < 0) {
		dev_err(&indio_dev->dev, "Reading status failed\n");
		goto error_ret;
	}
	ret = status & 0x1F;

	if (status & ADIS16204_DIAG_STAT_SELFTEST_FAIL)
		dev_err(&indio_dev->dev, "Self test failure\n");
	if (status & ADIS16204_DIAG_STAT_SPI_FAIL)
		dev_err(&indio_dev->dev, "SPI failure\n");
	if (status & ADIS16204_DIAG_STAT_FLASH_UPT)
		dev_err(&indio_dev->dev, "Flash update failed\n");
	if (status & ADIS16204_DIAG_STAT_POWER_HIGH)
		dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
	if (status & ADIS16204_DIAG_STAT_POWER_LOW)
		dev_err(&indio_dev->dev, "Power supply below 2.975V\n");

error_ret:
	return ret;
}

static ssize_t adis16204_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 = adis16204_spi_read_reg_16(indio_dev,
					this_attr->address, (u16 *)&val);
	if (!ret) {
		if (val & ADIS16204_ERROR_ACTIVE)
			adis16204_check_status(indio_dev);

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

	mutex_unlock(&indio_dev->mlock);

	return ret;
}

static int adis16204_reset(struct iio_dev *indio_dev)
{
	int ret;
	ret = adis16204_spi_write_reg_8(indio_dev,
			ADIS16204_GLOB_CMD,
			ADIS16204_GLOB_CMD_SW_RESET);
	if (ret)
		dev_err(&indio_dev->dev, "problem resetting device");

	return ret;
}

static ssize_t adis16204_write_reset(struct device *dev,
		struct device_attribute *attr,
		const char *buf, size_t len)
{
	struct iio_dev *indio_dev = dev_get_drvdata(dev);

	if (len < 1)
		return -EINVAL;
	switch (buf[0]) {
	case '1':
	case 'y':
	case 'Y':
		return adis16204_reset(indio_dev);
	}
	return -EINVAL;
}

int adis16204_set_irq(struct iio_dev *indio_dev, bool enable)
{
	int ret = 0;
	u16 msc;

	ret = adis16204_spi_read_reg_16(indio_dev, ADIS16204_MSC_CTRL, &msc);
	if (ret)
		goto error_ret;

	msc |= ADIS16204_MSC_CTRL_ACTIVE_HIGH;
	msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_DIO2;
	if (enable)
		msc |= ADIS16204_MSC_CTRL_DATA_RDY_EN;
	else
		msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_EN;

	ret = adis16204_spi_write_reg_16(indio_dev, ADIS16204_MSC_CTRL, msc);

error_ret:
	return ret;
}

static int adis16204_self_test(struct iio_dev *indio_dev)
{
	int ret;
	ret = adis16204_spi_write_reg_16(indio_dev,
			ADIS16204_MSC_CTRL,
			ADIS16204_MSC_CTRL_SELF_TEST_EN);
	if (ret) {
		dev_err(&indio_dev->dev, "problem starting self test");
		goto err_ret;
	}

	adis16204_check_status(indio_dev);

err_ret:
	return ret;
}

static int adis16204_initial_setup(struct iio_dev *indio_dev)
{
	int ret;

	/* Disable IRQ */
	ret = adis16204_set_irq(indio_dev, false);
	if (ret) {
		dev_err(&indio_dev->dev, "disable irq failed");
		goto err_ret;
	}

	/* Do self test */
	ret = adis16204_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 = adis16204_check_status(indio_dev);
	if (ret) {
		adis16204_reset(indio_dev);
		dev_err(&indio_dev->dev, "device not playing ball -> reset");
		msleep(ADIS16204_STARTUP_DELAY);
		ret = adis16204_check_status(indio_dev);
		if (ret) {
			dev_err(&indio_dev->dev, "giving up");
			goto err_ret;
		}
	}

err_ret:
	return ret;
}
static IIO_DEV_ATTR_ACCEL_XY(adis16204_read_14bit_signed,
		ADIS16204_XY_RSS_OUT);
static IIO_DEV_ATTR_ACCEL_XPEAK(adis16204_read_14bit_signed,
		ADIS16204_X_PEAK_OUT);
static IIO_DEV_ATTR_ACCEL_YPEAK(adis16204_read_14bit_signed,
		ADIS16204_Y_PEAK_OUT);
static IIO_DEV_ATTR_ACCEL_XYPEAK(adis16204_read_14bit_signed,
		ADIS16204_XY_PEAK_OUT);
static IIO_CONST_ATTR(accel_xy_scale, "0.017125");

static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16204_write_reset, 0);

enum adis16204_channel {
	in_supply,
	in_aux,
	temp,
	accel_x,
	accel_y,
};

static u8 adis16204_addresses[5][2] = {
	[in_supply] = { ADIS16204_SUPPLY_OUT },
	[in_aux] = { ADIS16204_AUX_ADC },
	[temp] = { ADIS16204_TEMP_OUT },
	[accel_x] = { ADIS16204_XACCL_OUT, ADIS16204_XACCL_NULL },
	[accel_y] = { ADIS16204_XACCL_OUT, ADIS16204_YACCL_NULL },
};
static int adis16204_read_raw(struct iio_dev *indio_dev,
			      struct iio_chan_spec const *chan,
			      int *val, int *val2,
			      long mask)
{
	int ret;
	int bits;
	u8 addr;
	s16 val16;

	switch (mask) {
	case 0:
		mutex_lock(&indio_dev->mlock);
		addr = adis16204_addresses[chan->address][0];
		ret = adis16204_spi_read_reg_16(indio_dev, addr, &val16);
		if (ret) {
			mutex_unlock(&indio_dev->mlock);
			return ret;
		}

		if (val16 & ADIS16204_ERROR_ACTIVE) {
			ret = adis16204_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;
	case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
		switch (chan->type) {
		case IIO_IN:
			*val = 0;
			if (chan->channel == 0)
				*val2 = 1220;
			else
				*val2 = 610;
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_TEMP:
			*val = 0;
			*val2 = -470000;
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_ACCEL:
			*val = 0;
			if (chan->channel == 'x')
				*val2 = 17125;
			else
				*val2 = 8407;
			return IIO_VAL_INT_PLUS_MICRO;
		default:
			return -EINVAL;
		}
		break;
	case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
		*val = 25;
		return IIO_VAL_INT;
	case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
		switch (chan->type) {
		case IIO_ACCEL:
			bits = 12;
			break;
		default:
			return -EINVAL;
		};
		mutex_lock(&indio_dev->mlock);
		addr = adis16204_addresses[chan->address][1];
		ret = adis16204_spi_read_reg_16(indio_dev, addr, &val16);
		if (ret) {
			mutex_unlock(&indio_dev->mlock);
			return ret;
		}
		val16 &= (1 << bits) - 1;
		val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
		*val = val16;
		mutex_unlock(&indio_dev->mlock);
		return IIO_VAL_INT;
	}
	return -EINVAL;
}

static int adis16204_write_raw(struct iio_dev *indio_dev,
			       struct iio_chan_spec const *chan,
			       int val,
			       int val2,
			       long mask)
{
	int bits;
	s16 val16;
	u8 addr;
	switch (mask) {
	case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
		switch (chan->type) {
		case IIO_ACCEL:
			bits = 12;
			break;
		default:
			return -EINVAL;
		};
		val16 = val & ((1 << bits) - 1);
		addr = adis16204_addresses[chan->address][1];
		return adis16204_spi_write_reg_16(indio_dev, addr, val16);
	}
	return -EINVAL;
}

static struct iio_chan_spec adis16204_channels[] = {
	IIO_CHAN(IIO_IN, 0, 0, 0, "supply", 0, 0,
		 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
		 in_supply, ADIS16204_SCAN_SUPPLY,
		 IIO_ST('u', 12, 16, 0), 0),
	IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
		 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
		 in_aux, ADIS16204_SCAN_AUX_ADC,
		 IIO_ST('u', 12, 16, 0), 0),
	IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
		 (1 << IIO_CHAN_INFO_SCALE_SEPARATE) |
		 (1 << IIO_CHAN_INFO_OFFSET_SEPARATE),
		 temp, ADIS16204_SCAN_TEMP,
		 IIO_ST('u', 12, 16, 0), 0),
	IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
		 (1 << IIO_CHAN_INFO_SCALE_SEPARATE) |
		 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
		 accel_x, ADIS16204_SCAN_ACC_X,
		 IIO_ST('s', 14, 16, 0), 0),
	IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
		 (1 << IIO_CHAN_INFO_SCALE_SEPARATE) |
		 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
		 accel_y, ADIS16204_SCAN_ACC_Y,
		 IIO_ST('s', 14, 16, 0), 0),
	IIO_CHAN_SOFT_TIMESTAMP(5),
};
static struct attribute *adis16204_attributes[] = {
	&iio_dev_attr_reset.dev_attr.attr,
	&iio_dev_attr_accel_xy.dev_attr.attr,
	&iio_dev_attr_accel_xpeak.dev_attr.attr,
	&iio_dev_attr_accel_ypeak.dev_attr.attr,
	&iio_dev_attr_accel_xypeak.dev_attr.attr,
	&iio_const_attr_accel_xy_scale.dev_attr.attr,
	NULL
};

static const struct attribute_group adis16204_attribute_group = {
	.attrs = adis16204_attributes,
};

static const struct iio_info adis16204_info = {
	.attrs = &adis16204_attribute_group,
	.read_raw = &adis16204_read_raw,
	.write_raw = &adis16204_write_raw,
	.driver_module = THIS_MODULE,
};

static int __devinit adis16204_probe(struct spi_device *spi)
{
	int ret, regdone = 0;
	struct adis16204_state *st;
	struct iio_dev *indio_dev;

	/* setup the industrialio driver allocated elements */
	indio_dev = iio_allocate_device(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->dev.parent = &spi->dev;
	indio_dev->info = &adis16204_info;
	indio_dev->channels = adis16204_channels;
	indio_dev->num_channels = ARRAY_SIZE(adis16204_channels);
	indio_dev->modes = INDIO_DIRECT_MODE;

	ret = adis16204_configure_ring(indio_dev);
	if (ret)
		goto error_free_dev;

	ret = iio_device_register(indio_dev);
	if (ret)
		goto error_unreg_ring_funcs;
	regdone = 1;

	ret = iio_ring_buffer_register_ex(indio_dev->ring, 0,
					  adis16204_channels,
					  ARRAY_SIZE(adis16204_channels));
	if (ret) {
		printk(KERN_ERR "failed to initialize the ring\n");
		goto error_unreg_ring_funcs;
	}

	if (spi->irq) {
		ret = adis16204_probe_trigger(indio_dev);
		if (ret)
			goto error_uninitialize_ring;
	}

	/* Get the device into a sane initial state */
	ret = adis16204_initial_setup(indio_dev);
	if (ret)
		goto error_remove_trigger;
	return 0;

error_remove_trigger:
	adis16204_remove_trigger(indio_dev);
error_uninitialize_ring:
	iio_ring_buffer_unregister(indio_dev->ring);
error_unreg_ring_funcs:
	adis16204_unconfigure_ring(indio_dev);
error_free_dev:
	if (regdone)
		iio_device_unregister(indio_dev);
	else
		iio_free_device(indio_dev);
error_ret:
	return ret;
}

static int adis16204_remove(struct spi_device *spi)
{
	struct iio_dev *indio_dev = spi_get_drvdata(spi);

	adis16204_remove_trigger(indio_dev);
	iio_ring_buffer_unregister(indio_dev->ring);
	iio_device_unregister(indio_dev);
	adis16204_unconfigure_ring(indio_dev);

	return 0;
}

static struct spi_driver adis16204_driver = {
	.driver = {
		.name = "adis16204",
		.owner = THIS_MODULE,
	},
	.probe = adis16204_probe,
	.remove = __devexit_p(adis16204_remove),
};

static __init int adis16204_init(void)
{
	return spi_register_driver(&adis16204_driver);
}
module_init(adis16204_init);

static __exit void adis16204_exit(void)
{
	spi_unregister_driver(&adis16204_driver);
}
module_exit(adis16204_exit);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("ADIS16204 High-g Digital Impact Sensor and Recorder");
MODULE_LICENSE("GPL v2");
Commit	Line	Data
bb6f19ea BS	1	/*
	2	* ADIS16204 Programmable High-g Digital Impact Sensor and Recorder
	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>
	17	#include <linux/slab.h>
	18	#include <linux/sysfs.h>
	19	#include <linux/list.h>
	20
	21	#include "../iio.h"
	22	#include "../sysfs.h"
ad3eb9ab	23	#include "../ring_generic.h"
bb6f19ea	24	#include "accel.h"
bb6f19ea BS	25	#include "../adc/adc.h"
	26
	27	#include "adis16204.h"
	28
	29	#define DRIVER_NAME "adis16204"
	30
bb6f19ea BS	31	/**
	32	* adis16204_spi_write_reg_8() - write single byte to a register
	33	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	34	* @reg_address: the address of the register to be written
	35	* @val: the value to write
	36	**/
ad3eb9ab	37	static int adis16204_spi_write_reg_8(struct iio_dev *indio_dev,
bb6f19ea BS	38	u8 reg_address,
	39	u8 val)
	40	{
	41	int ret;
4de66bbb	42	struct adis16204_state *st = iio_priv(indio_dev);
bb6f19ea BS	43
	44	mutex_lock(&st->buf_lock);
	45	st->tx[0] = ADIS16204_WRITE_REG(reg_address);
	46	st->tx[1] = val;
	47
	48	ret = spi_write(st->us, st->tx, 2);
	49	mutex_unlock(&st->buf_lock);
	50
	51	return ret;
	52	}
	53
	54	/**
	55	* adis16204_spi_write_reg_16() - write 2 bytes to a pair of registers
ad3eb9ab	56	* @indio_dev: iio device associated with child of actual device
bb6f19ea BS	57	* @reg_address: the address of the lower of the two registers. Second register
	58	* is assumed to have address one greater.
	59	* @val: value to be written
	60	**/
ad3eb9ab	61	static int adis16204_spi_write_reg_16(struct iio_dev *indio_dev,
bb6f19ea BS	62	u8 lower_reg_address,
	63	u16 value)
	64	{
	65	int ret;
	66	struct spi_message msg;
4de66bbb	67	struct adis16204_state *st = iio_priv(indio_dev);
bb6f19ea BS	68	struct spi_transfer xfers[] = {
	69	{
	70	.tx_buf = st->tx,
	71	.bits_per_word = 8,
	72	.len = 2,
	73	.cs_change = 1,
	74	}, {
	75	.tx_buf = st->tx + 2,
	76	.bits_per_word = 8,
	77	.len = 2,
	78	.cs_change = 1,
	79	},
	80	};
	81
	82	mutex_lock(&st->buf_lock);
	83	st->tx[0] = ADIS16204_WRITE_REG(lower_reg_address);
	84	st->tx[1] = value & 0xFF;
	85	st->tx[2] = ADIS16204_WRITE_REG(lower_reg_address + 1);
	86	st->tx[3] = (value >> 8) & 0xFF;
	87
	88	spi_message_init(&msg);
	89	spi_message_add_tail(&xfers[0], &msg);
	90	spi_message_add_tail(&xfers[1], &msg);
	91	ret = spi_sync(st->us, &msg);
	92	mutex_unlock(&st->buf_lock);
	93
	94	return ret;
	95	}
	96
	97	/**
	98	* adis16204_spi_read_reg_16() - read 2 bytes from a 16-bit register
ad3eb9ab	99	* @indio_dev: iio device associated with child of actual device
bb6f19ea BS	100	* @reg_address: the address of the lower of the two registers. Second register
	101	* is assumed to have address one greater.
	102	* @val: somewhere to pass back the value read
	103	**/
ad3eb9ab JC	104	static int adis16204_spi_read_reg_16(struct iio_dev *indio_dev,
	105	u8 lower_reg_address,
	106	u16 *val)
bb6f19ea BS	107	{
bb6f19ea BS	108	struct spi_message msg;
4de66bbb	109	struct adis16204_state *st = iio_priv(indio_dev);
bb6f19ea BS	110	int ret;
	111	struct spi_transfer xfers[] = {
	112	{
	113	.tx_buf = st->tx,
	114	.bits_per_word = 8,
	115	.len = 2,
	116	.cs_change = 1,
	117	.delay_usecs = 20,
	118	}, {
	119	.rx_buf = st->rx,
	120	.bits_per_word = 8,
	121	.len = 2,
bb6f19ea BS	122	.delay_usecs = 20,
	123	},
	124	};
	125
	126	mutex_lock(&st->buf_lock);
	127	st->tx[0] = ADIS16204_READ_REG(lower_reg_address);
	128	st->tx[1] = 0;
	129
	130	spi_message_init(&msg);
	131	spi_message_add_tail(&xfers[0], &msg);
	132	spi_message_add_tail(&xfers[1], &msg);
	133	ret = spi_sync(st->us, &msg);
	134	if (ret) {
	135	dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X",
	136	lower_reg_address);
	137	goto error_ret;
	138	}
	139	*val = (st->rx[0] << 8) \| st->rx[1];
	140
	141	error_ret:
	142	mutex_unlock(&st->buf_lock);
	143	return ret;
	144	}
	145
ad3eb9ab	146	static int adis16204_check_status(struct iio_dev *indio_dev)
bb6f19ea	147	{
ad3eb9ab	148	u16 status;
bb6f19ea	149	int ret;
bb6f19ea	150
ad3eb9ab JC	151	ret = adis16204_spi_read_reg_16(indio_dev,
	152	ADIS16204_DIAG_STAT, &status);
	153	if (ret < 0) {
	154	dev_err(&indio_dev->dev, "Reading status failed\n");
bb6f19ea	155	goto error_ret;
bb6f19ea	156	}
ad3eb9ab	157	ret = status & 0x1F;
bb6f19ea	158
ad3eb9ab JC	159	if (status & ADIS16204_DIAG_STAT_SELFTEST_FAIL)
	160	dev_err(&indio_dev->dev, "Self test failure\n");
	161	if (status & ADIS16204_DIAG_STAT_SPI_FAIL)
	162	dev_err(&indio_dev->dev, "SPI failure\n");
	163	if (status & ADIS16204_DIAG_STAT_FLASH_UPT)
	164	dev_err(&indio_dev->dev, "Flash update failed\n");
	165	if (status & ADIS16204_DIAG_STAT_POWER_HIGH)
	166	dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
	167	if (status & ADIS16204_DIAG_STAT_POWER_LOW)
	168	dev_err(&indio_dev->dev, "Power supply below 2.975V\n");
bb6f19ea	169
ad3eb9ab	170	error_ret:
bb6f19ea BS	171	return ret;
	172	}
	173
	174	static ssize_t adis16204_read_14bit_signed(struct device *dev,
	175	struct device_attribute *attr,
	176	char *buf)
	177	{
	178	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	179	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	180	s16 val = 0;
	181	ssize_t ret;
	182
	183	mutex_lock(&indio_dev->mlock);
	184
ad3eb9ab JC	185	ret = adis16204_spi_read_reg_16(indio_dev,
ad3eb9ab JC	186	this_attr->address, (u16 *)&val);
bb6f19ea BS	187	if (!ret) {
bb6f19ea BS	188	if (val & ADIS16204_ERROR_ACTIVE)
ad3eb9ab	189	adis16204_check_status(indio_dev);
bb6f19ea BS	190
	191	val = ((s16)(val << 2) >> 2);
	192	ret = sprintf(buf, "%d\n", val);
	193	}
	194
	195	mutex_unlock(&indio_dev->mlock);
	196
	197	return ret;
	198	}
	199
ad3eb9ab	200	static int adis16204_reset(struct iio_dev *indio_dev)
bb6f19ea	201	{
bb6f19ea	202	int ret;
ad3eb9ab	203	ret = adis16204_spi_write_reg_8(indio_dev,
bb6f19ea BS	204	ADIS16204_GLOB_CMD,
	205	ADIS16204_GLOB_CMD_SW_RESET);
	206	if (ret)
ad3eb9ab	207	dev_err(&indio_dev->dev, "problem resetting device");
bb6f19ea BS	208
	209	return ret;
	210	}
	211
	212	static ssize_t adis16204_write_reset(struct device *dev,
	213	struct device_attribute *attr,
	214	const char *buf, size_t len)
	215	{
ad3eb9ab JC	216	struct iio_dev *indio_dev = dev_get_drvdata(dev);
ad3eb9ab JC	217
bb6f19ea BS	218	if (len < 1)
	219	return -EINVAL;
	220	switch (buf[0]) {
	221	case '1':
	222	case 'y':
	223	case 'Y':
ad3eb9ab	224	return adis16204_reset(indio_dev);
bb6f19ea BS	225	}
	226	return -EINVAL;
	227	}
	228
ad3eb9ab	229	int adis16204_set_irq(struct iio_dev *indio_dev, bool enable)
bb6f19ea BS	230	{
	231	int ret = 0;
	232	u16 msc;
	233
ad3eb9ab	234	ret = adis16204_spi_read_reg_16(indio_dev, ADIS16204_MSC_CTRL, &msc);
bb6f19ea BS	235	if (ret)
	236	goto error_ret;
	237
	238	msc \|= ADIS16204_MSC_CTRL_ACTIVE_HIGH;
	239	msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_DIO2;
	240	if (enable)
	241	msc \|= ADIS16204_MSC_CTRL_DATA_RDY_EN;
	242	else
	243	msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_EN;
	244
ad3eb9ab	245	ret = adis16204_spi_write_reg_16(indio_dev, ADIS16204_MSC_CTRL, msc);
bb6f19ea BS	246
	247	error_ret:
	248	return ret;
	249	}
	250
ad3eb9ab	251	static int adis16204_self_test(struct iio_dev *indio_dev)
bb6f19ea	252	{
bb6f19ea	253	int ret;
ad3eb9ab	254	ret = adis16204_spi_write_reg_16(indio_dev,
bb6f19ea BS	255	ADIS16204_MSC_CTRL,
	256	ADIS16204_MSC_CTRL_SELF_TEST_EN);
	257	if (ret) {
ad3eb9ab	258	dev_err(&indio_dev->dev, "problem starting self test");
bb6f19ea BS	259	goto err_ret;
	260	}
	261
ad3eb9ab	262	adis16204_check_status(indio_dev);
bb6f19ea BS	263
	264	err_ret:
	265	return ret;
	266	}
	267
ad3eb9ab	268	static int adis16204_initial_setup(struct iio_dev *indio_dev)
bb6f19ea BS	269	{
bb6f19ea BS	270	int ret;
bb6f19ea BS	271
bb6f19ea BS	272	/* Disable IRQ */
ad3eb9ab	273	ret = adis16204_set_irq(indio_dev, false);
bb6f19ea	274	if (ret) {
ad3eb9ab	275	dev_err(&indio_dev->dev, "disable irq failed");
bb6f19ea BS	276	goto err_ret;
	277	}
	278
	279	/* Do self test */
ad3eb9ab	280	ret = adis16204_self_test(indio_dev);
bb6f19ea	281	if (ret) {
ad3eb9ab	282	dev_err(&indio_dev->dev, "self test failure");
bb6f19ea BS	283	goto err_ret;
	284	}
	285
	286	/* Read status register to check the result */
ad3eb9ab	287	ret = adis16204_check_status(indio_dev);
bb6f19ea	288	if (ret) {
ad3eb9ab JC	289	adis16204_reset(indio_dev);
ad3eb9ab JC	290	dev_err(&indio_dev->dev, "device not playing ball -> reset");
bb6f19ea	291	msleep(ADIS16204_STARTUP_DELAY);
ad3eb9ab	292	ret = adis16204_check_status(indio_dev);
bb6f19ea	293	if (ret) {
ad3eb9ab	294	dev_err(&indio_dev->dev, "giving up");
bb6f19ea BS	295	goto err_ret;
	296	}
	297	}
	298
bb6f19ea BS	299	err_ret:
	300	return ret;
	301	}
bb6f19ea BS	302	static IIO_DEV_ATTR_ACCEL_XY(adis16204_read_14bit_signed,
	303	ADIS16204_XY_RSS_OUT);
	304	static IIO_DEV_ATTR_ACCEL_XPEAK(adis16204_read_14bit_signed,
	305	ADIS16204_X_PEAK_OUT);
	306	static IIO_DEV_ATTR_ACCEL_YPEAK(adis16204_read_14bit_signed,
	307	ADIS16204_Y_PEAK_OUT);
	308	static IIO_DEV_ATTR_ACCEL_XYPEAK(adis16204_read_14bit_signed,
	309	ADIS16204_XY_PEAK_OUT);
bb6f19ea BS	310	static IIO_CONST_ATTR(accel_xy_scale, "0.017125");
bb6f19ea BS	311
bb6f19ea BS	312	static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16204_write_reset, 0);
bb6f19ea BS	313
ad3eb9ab JC	314	enum adis16204_channel {
	315	in_supply,
	316	in_aux,
	317	temp,
	318	accel_x,
	319	accel_y,
	320	};
	321
	322	static u8 adis16204_addresses[5][2] = {
	323	[in_supply] = { ADIS16204_SUPPLY_OUT },
	324	[in_aux] = { ADIS16204_AUX_ADC },
	325	[temp] = { ADIS16204_TEMP_OUT },
	326	[accel_x] = { ADIS16204_XACCL_OUT, ADIS16204_XACCL_NULL },
	327	[accel_y] = { ADIS16204_XACCL_OUT, ADIS16204_YACCL_NULL },
	328	};
	329	static int adis16204_read_raw(struct iio_dev *indio_dev,
	330	struct iio_chan_spec const *chan,
	331	int val, int val2,
	332	long mask)
	333	{
	334	int ret;
	335	int bits;
	336	u8 addr;
	337	s16 val16;
	338
	339	switch (mask) {
	340	case 0:
	341	mutex_lock(&indio_dev->mlock);
	342	addr = adis16204_addresses[chan->address][0];
	343	ret = adis16204_spi_read_reg_16(indio_dev, addr, &val16);
8f896155 DC	344	if (ret) {
8f896155 DC	345	mutex_unlock(&indio_dev->mlock);
ad3eb9ab	346	return ret;
8f896155	347	}
ad3eb9ab JC	348
	349	if (val16 & ADIS16204_ERROR_ACTIVE) {
	350	ret = adis16204_check_status(indio_dev);
8f896155 DC	351	if (ret) {
8f896155 DC	352	mutex_unlock(&indio_dev->mlock);
ad3eb9ab	353	return ret;
8f896155	354	}
ad3eb9ab JC	355	}
	356	val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
	357	if (chan->scan_type.sign == 's')
	358	val16 = (s16)(val16 <<
	359	(16 - chan->scan_type.realbits)) >>
	360	(16 - chan->scan_type.realbits);
	361	*val = val16;
	362	mutex_unlock(&indio_dev->mlock);
	363	return IIO_VAL_INT;
	364	case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
	365	switch (chan->type) {
	366	case IIO_IN:
	367	*val = 0;
	368	if (chan->channel == 0)
	369	*val2 = 1220;
	370	else
	371	*val2 = 610;
	372	return IIO_VAL_INT_PLUS_MICRO;
	373	case IIO_TEMP:
	374	*val = 0;
	375	*val2 = -470000;
	376	return IIO_VAL_INT_PLUS_MICRO;
	377	case IIO_ACCEL:
	378	*val = 0;
	379	if (chan->channel == 'x')
	380	*val2 = 17125;
	381	else
	382	*val2 = 8407;
	383	return IIO_VAL_INT_PLUS_MICRO;
	384	default:
	385	return -EINVAL;
	386	}
	387	break;
	388	case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
	389	*val = 25;
	390	return IIO_VAL_INT;
	391	case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
	392	switch (chan->type) {
	393	case IIO_ACCEL:
	394	bits = 12;
	395	break;
	396	default:
	397	return -EINVAL;
	398	};
	399	mutex_lock(&indio_dev->mlock);
	400	addr = adis16204_addresses[chan->address][1];
	401	ret = adis16204_spi_read_reg_16(indio_dev, addr, &val16);
	402	if (ret) {
	403	mutex_unlock(&indio_dev->mlock);
	404	return ret;
	405	}
	406	val16 &= (1 << bits) - 1;
	407	val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
	408	*val = val16;
	409	mutex_unlock(&indio_dev->mlock);
	410	return IIO_VAL_INT;
	411	}
	412	return -EINVAL;
	413	}
	414
	415	static int adis16204_write_raw(struct iio_dev *indio_dev,
	416	struct iio_chan_spec const *chan,
	417	int val,
	418	int val2,
419	long mask)
420	{
421	int bits;
422	s16 val16;
423	u8 addr;
424	switch (mask) {
425	case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
426	switch (chan->type) {
427	case IIO_ACCEL:
428	bits = 12;
429	break;
430	default:
431	return -EINVAL;
432	};
433	val16 = val & ((1 << bits) - 1);
434	addr = adis16204_addresses[chan->address][1];
435	return adis16204_spi_write_reg_16(indio_dev, addr, val16);
436	}
437	return -EINVAL;
438	}
439
440	static struct iio_chan_spec adis16204_channels[] = {
441	IIO_CHAN(IIO_IN, 0, 0, 0, "supply", 0, 0,
442	(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
443	in_supply, ADIS16204_SCAN_SUPPLY,
444	IIO_ST('u', 12, 16, 0), 0),
445	IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
446	(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
447	in_aux, ADIS16204_SCAN_AUX_ADC,
448	IIO_ST('u', 12, 16, 0), 0),
449	IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
450	(1 << IIO_CHAN_INFO_SCALE_SEPARATE) \|
451	(1 << IIO_CHAN_INFO_OFFSET_SEPARATE),
452	temp, ADIS16204_SCAN_TEMP,
453	IIO_ST('u', 12, 16, 0), 0),
454	IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
455	(1 << IIO_CHAN_INFO_SCALE_SEPARATE) \|
456	(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
457	accel_x, ADIS16204_SCAN_ACC_X,
458	IIO_ST('s', 14, 16, 0), 0),
459	IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
460	(1 << IIO_CHAN_INFO_SCALE_SEPARATE) \|
461	(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
462	accel_y, ADIS16204_SCAN_ACC_Y,
463	IIO_ST('s', 14, 16, 0), 0),
464	IIO_CHAN_SOFT_TIMESTAMP(5),
465	};
bb6f19ea	466	static struct attribute *adis16204_attributes[] = {
bb6f19ea	467	&iio_dev_attr_reset.dev_attr.attr,
bb6f19ea BS	468	&iio_dev_attr_accel_xy.dev_attr.attr,
	469	&iio_dev_attr_accel_xpeak.dev_attr.attr,
	470	&iio_dev_attr_accel_ypeak.dev_attr.attr,
	471	&iio_dev_attr_accel_xypeak.dev_attr.attr,
bb6f19ea BS	472	&iio_const_attr_accel_xy_scale.dev_attr.attr,
	473	NULL
	474	};
	475
	476	static const struct attribute_group adis16204_attribute_group = {
	477	.attrs = adis16204_attributes,
	478	};
	479
6fe8135f JC	480	static const struct iio_info adis16204_info = {
	481	.attrs = &adis16204_attribute_group,
	482	.read_raw = &adis16204_read_raw,
	483	.write_raw = &adis16204_write_raw,
	484	.driver_module = THIS_MODULE,
	485	};
	486
bb6f19ea BS	487	static int __devinit adis16204_probe(struct spi_device *spi)
	488	{
	489	int ret, regdone = 0;
4de66bbb JC	490	struct adis16204_state *st;
4de66bbb JC	491	struct iio_dev *indio_dev;
bb6f19ea	492
4de66bbb JC	493	/* setup the industrialio driver allocated elements */
	494	indio_dev = iio_allocate_device(sizeof(*st));
	495	if (indio_dev == NULL) {
bb6f19ea	496	ret = -ENOMEM;
4de66bbb	497	goto error_ret;
bb6f19ea	498	}
4de66bbb JC	499	st = iio_priv(indio_dev);
	500	/* this is only used for removal purposes */
	501	spi_set_drvdata(spi, indio_dev);
bb6f19ea BS	502	st->us = spi;
bb6f19ea BS	503	mutex_init(&st->buf_lock);
bb6f19ea	504
4de66bbb JC	505	indio_dev->name = spi->dev.driver->name;
	506	indio_dev->dev.parent = &spi->dev;
	507	indio_dev->info = &adis16204_info;
	508	indio_dev->channels = adis16204_channels;
	509	indio_dev->num_channels = ARRAY_SIZE(adis16204_channels);
	510	indio_dev->modes = INDIO_DIRECT_MODE;
bb6f19ea	511
4de66bbb	512	ret = adis16204_configure_ring(indio_dev);
bb6f19ea BS	513	if (ret)
	514	goto error_free_dev;
	515
4de66bbb	516	ret = iio_device_register(indio_dev);
bb6f19ea BS	517	if (ret)
	518	goto error_unreg_ring_funcs;
	519	regdone = 1;
	520
4de66bbb	521	ret = iio_ring_buffer_register_ex(indio_dev->ring, 0,
ad3eb9ab JC	522	adis16204_channels,
ad3eb9ab JC	523	ARRAY_SIZE(adis16204_channels));
bb6f19ea BS	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) {
4de66bbb	530	ret = adis16204_probe_trigger(indio_dev);
bb6f19ea	531	if (ret)
37f9d271	532	goto error_uninitialize_ring;
bb6f19ea BS	533	}
	534
	535	/* Get the device into a sane initial state */
4de66bbb	536	ret = adis16204_initial_setup(indio_dev);
bb6f19ea BS	537	if (ret)
	538	goto error_remove_trigger;
	539	return 0;
	540
	541	error_remove_trigger:
4de66bbb	542	adis16204_remove_trigger(indio_dev);
bb6f19ea	543	error_uninitialize_ring:
4de66bbb	544	iio_ring_buffer_unregister(indio_dev->ring);
bb6f19ea	545	error_unreg_ring_funcs:
4de66bbb	546	adis16204_unconfigure_ring(indio_dev);
bb6f19ea BS	547	error_free_dev:
bb6f19ea BS	548	if (regdone)
4de66bbb	549	iio_device_unregister(indio_dev);
bb6f19ea	550	else
4de66bbb	551	iio_free_device(indio_dev);
bb6f19ea BS	552	error_ret:
	553	return ret;
	554	}
	555
	556	static int adis16204_remove(struct spi_device *spi)
	557	{
4de66bbb	558	struct iio_dev *indio_dev = spi_get_drvdata(spi);
bb6f19ea	559
bb6f19ea	560	adis16204_remove_trigger(indio_dev);
4de66bbb	561	iio_ring_buffer_unregister(indio_dev->ring);
bb6f19ea BS	562	iio_device_unregister(indio_dev);
bb6f19ea BS	563	adis16204_unconfigure_ring(indio_dev);
bb6f19ea BS	564
	565	return 0;
	566	}
	567
	568	static struct spi_driver adis16204_driver = {
	569	.driver = {
	570	.name = "adis16204",
	571	.owner = THIS_MODULE,
	572	},
	573	.probe = adis16204_probe,
	574	.remove = __devexit_p(adis16204_remove),
	575	};
	576
	577	static __init int adis16204_init(void)
	578	{
	579	return spi_register_driver(&adis16204_driver);
	580	}
	581	module_init(adis16204_init);
	582
	583	static __exit void adis16204_exit(void)
	584	{
	585	spi_unregister_driver(&adis16204_driver);
	586	}
	587	module_exit(adis16204_exit);
	588
	589	MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
ad3eb9ab	590	MODULE_DESCRIPTION("ADIS16204 High-g Digital Impact Sensor and Recorder");
bb6f19ea	591	MODULE_LICENSE("GPL v2");