[linux-2.6-block.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 "../ring_generic.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(0, supply, adis16209_read_14bit_unsigned,
		ADIS16209_SUPPLY_OUT);
static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.30518");
static IIO_DEV_ATTR_IN_RAW(1, adis16209_read_12bit_unsigned,
		ADIS16209_AUX_ADC);
static IIO_CONST_ATTR(in1_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_CALIBBIAS(S_IWUSR | S_IRUGO,
		adis16209_read_14bit_signed,
		adis16209_write_16bit,
		ADIS16209_XACCL_NULL);
static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
		adis16209_read_14bit_signed,
		adis16209_write_16bit,
		ADIS16209_YACCL_NULL);
static IIO_CONST_ATTR_ACCEL_SCALE("0.002394195531");

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_CONST_ATTR(incli_scale, "0.00043633231");

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

static IIO_DEV_ATTR_TEMP_RAW(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_in0_supply_raw.dev_attr.attr,
	&iio_const_attr_in0_supply_scale.dev_attr.attr,
	&iio_dev_attr_temp_raw.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_in1_raw.dev_attr.attr,
	&iio_const_attr_in1_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_calibbias.dev_attr.attr,
	&iio_dev_attr_accel_y_calibbias.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_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 = iio_ring_buffer_register(st->indio_dev->ring, 0);
	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:
	iio_ring_buffer_unregister(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);

	iio_ring_buffer_unregister(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"
2662051e	23	#include "../ring_generic.h"
671ece14 BS	24	#include "accel.h"
	25	#include "inclinometer.h"
	26	#include "../gyro/gyro.h"
	27	#include "../adc/adc.h"
	28
	29	#include "adis16209.h"
	30
	31	#define DRIVER_NAME "adis16209"
	32
	33	static int adis16209_check_status(struct device *dev);
	34
	35	/**
	36	* adis16209_spi_write_reg_8() - write single byte to a register
	37	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	38	* @reg_address: the address of the register to be written
	39	* @val: the value to write
	40	**/
	41	static int adis16209_spi_write_reg_8(struct device *dev,
	42	u8 reg_address,
	43	u8 val)
	44	{
	45	int ret;
	46	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	47	struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
	48
	49	mutex_lock(&st->buf_lock);
	50	st->tx[0] = ADIS16209_WRITE_REG(reg_address);
	51	st->tx[1] = val;
	52
	53	ret = spi_write(st->us, st->tx, 2);
	54	mutex_unlock(&st->buf_lock);
	55
	56	return ret;
	57	}
	58
	59	/**
	60	* adis16209_spi_write_reg_16() - write 2 bytes to a pair of registers
	61	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	62	* @reg_address: the address of the lower of the two registers. Second register
	63	* is assumed to have address one greater.
	64	* @val: value to be written
	65	**/
	66	static int adis16209_spi_write_reg_16(struct device *dev,
	67	u8 lower_reg_address,
	68	u16 value)
	69	{
	70	int ret;
	71	struct spi_message msg;
	72	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	73	struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
	74	struct spi_transfer xfers[] = {
	75	{
	76	.tx_buf = st->tx,
	77	.bits_per_word = 8,
	78	.len = 2,
	79	.cs_change = 1,
00ae7946	80	.delay_usecs = 30,
671ece14 BS	81	}, {
	82	.tx_buf = st->tx + 2,
	83	.bits_per_word = 8,
	84	.len = 2,
	85	.cs_change = 1,
00ae7946	86	.delay_usecs = 30,
671ece14 BS	87	},
	88	};
	89
	90	mutex_lock(&st->buf_lock);
	91	st->tx[0] = ADIS16209_WRITE_REG(lower_reg_address);
	92	st->tx[1] = value & 0xFF;
	93	st->tx[2] = ADIS16209_WRITE_REG(lower_reg_address + 1);
	94	st->tx[3] = (value >> 8) & 0xFF;
	95
	96	spi_message_init(&msg);
	97	spi_message_add_tail(&xfers[0], &msg);
	98	spi_message_add_tail(&xfers[1], &msg);
	99	ret = spi_sync(st->us, &msg);
	100	mutex_unlock(&st->buf_lock);
	101
	102	return ret;
	103	}
	104
	105	/**
	106	* adis16209_spi_read_reg_16() - read 2 bytes from a 16-bit register
	107	* @dev: device associated with child of actual device (iio_dev or iio_trig)
	108	* @reg_address: the address of the lower of the two registers. Second register
	109	* is assumed to have address one greater.
	110	* @val: somewhere to pass back the value read
	111	**/
	112	static int adis16209_spi_read_reg_16(struct device *dev,
	113	u8 lower_reg_address,
	114	u16 *val)
	115	{
	116	struct spi_message msg;
	117	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	118	struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
	119	int ret;
	120	struct spi_transfer xfers[] = {
	121	{
	122	.tx_buf = st->tx,
	123	.bits_per_word = 8,
	124	.len = 2,
	125	.cs_change = 1,
00ae7946	126	.delay_usecs = 30,
671ece14 BS	127	}, {
	128	.rx_buf = st->rx,
	129	.bits_per_word = 8,
	130	.len = 2,
	131	.cs_change = 1,
00ae7946	132	.delay_usecs = 30,
671ece14 BS	133	},
	134	};
	135
	136	mutex_lock(&st->buf_lock);
	137	st->tx[0] = ADIS16209_READ_REG(lower_reg_address);
	138	st->tx[1] = 0;
	139
	140	spi_message_init(&msg);
	141	spi_message_add_tail(&xfers[0], &msg);
	142	spi_message_add_tail(&xfers[1], &msg);
	143	ret = spi_sync(st->us, &msg);
	144	if (ret) {
	145	dev_err(&st->us->dev,
	146	"problem when reading 16 bit register 0x%02X",
	147	lower_reg_address);
	148	goto error_ret;
	149	}
	150	*val = (st->rx[0] << 8) \| st->rx[1];
	151
	152	error_ret:
	153	mutex_unlock(&st->buf_lock);
	154	return ret;
	155	}
	156
	157	static ssize_t adis16209_read_12bit_unsigned(struct device *dev,
	158	struct device_attribute *attr,
	159	char *buf)
	160	{
	161	int ret;
	162	u16 val = 0;
	163	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	164
	165	ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
	166	if (ret)
	167	return ret;
	168
	169	if (val & ADIS16209_ERROR_ACTIVE)
	170	adis16209_check_status(dev);
	171
	172	return sprintf(buf, "%u\n", val & 0x0FFF);
	173	}
	174
	175	static ssize_t adis16209_read_14bit_unsigned(struct device *dev,
	176	struct device_attribute *attr,
	177	char *buf)
	178	{
	179	int ret;
	180	u16 val = 0;
	181	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
	182
	183	ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
	184	if (ret)
	185	return ret;
	186
	187	if (val & ADIS16209_ERROR_ACTIVE)
	188	adis16209_check_status(dev);
	189
	190	return sprintf(buf, "%u\n", val & 0x3FFF);
	191	}
	192
	193	static ssize_t adis16209_read_temp(struct device *dev,
	194	struct device_attribute *attr,
	195	char *buf)
	196	{
197	struct iio_dev *indio_dev = dev_get_drvdata(dev);
198	ssize_t ret;
199	u16 val;
200
201	/* Take the iio_dev status lock */
202	mutex_lock(&indio_dev->mlock);
203
204	ret = adis16209_spi_read_reg_16(dev, ADIS16209_TEMP_OUT, (u16 *)&val);
205	if (ret)
206	goto error_ret;
207
208	if (val & ADIS16209_ERROR_ACTIVE)
209	adis16209_check_status(dev);
210
211	val &= 0xFFF;
212	ret = sprintf(buf, "%d\n", val);
213
214	error_ret:
215	mutex_unlock(&indio_dev->mlock);
216	return ret;
217	}
218
219	static ssize_t adis16209_read_14bit_signed(struct device *dev,
220	struct device_attribute *attr,
221	char *buf)
222	{
223	struct iio_dev *indio_dev = dev_get_drvdata(dev);
224	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
225	s16 val = 0;
226	ssize_t ret;
227
228	mutex_lock(&indio_dev->mlock);
229
230	ret = adis16209_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
231	if (!ret) {
232	if (val & ADIS16209_ERROR_ACTIVE)
233	adis16209_check_status(dev);
234
235	val = ((s16)(val << 2) >> 2);
236	ret = sprintf(buf, "%d\n", val);
237	}
238
239	mutex_unlock(&indio_dev->mlock);
240
241	return ret;
242	}
243
244	static ssize_t adis16209_write_16bit(struct device *dev,
245	struct device_attribute *attr,
246	const char *buf,
247	size_t len)
248	{
249	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
250	int ret;
251	long val;
252
253	ret = strict_strtol(buf, 10, &val);
254	if (ret)
255	goto error_ret;
256	ret = adis16209_spi_write_reg_16(dev, this_attr->address, val);
257
258	error_ret:
259	return ret ? ret : len;
260	}
261
262	static int adis16209_reset(struct device *dev)
263	{
264	int ret;
265	ret = adis16209_spi_write_reg_8(dev,
266	ADIS16209_GLOB_CMD,
267	ADIS16209_GLOB_CMD_SW_RESET);
268	if (ret)
269	dev_err(dev, "problem resetting device");
270
271	return ret;
272	}
273
274	static ssize_t adis16209_write_reset(struct device *dev,
275	struct device_attribute *attr,
276	const char *buf, size_t len)
277	{
278	if (len < 1)
279	return -EINVAL;
280	switch (buf[0]) {
281	case '1':
282	case 'y':
283	case 'Y':
284	return adis16209_reset(dev);
285	}
286	return -EINVAL;
287	}
288
289	int adis16209_set_irq(struct device *dev, bool enable)
290	{
291	int ret = 0;
292	u16 msc;
293
294	ret = adis16209_spi_read_reg_16(dev, ADIS16209_MSC_CTRL, &msc);
295	if (ret)
296	goto error_ret;
297
298	msc \|= ADIS16209_MSC_CTRL_ACTIVE_HIGH;
299	msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_DIO2;
300	if (enable)
301	msc \|= ADIS16209_MSC_CTRL_DATA_RDY_EN;
302	else
303	msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_EN;
304
305	ret = adis16209_spi_write_reg_16(dev, ADIS16209_MSC_CTRL, msc);
306
307	error_ret:
308	return ret;
309	}
310
311	static int adis16209_check_status(struct device *dev)
312	{
313	u16 status;
314	int ret;
315
316	ret = adis16209_spi_read_reg_16(dev, ADIS16209_DIAG_STAT, &status);
317	if (ret < 0) {
318	dev_err(dev, "Reading status failed\n");
319	goto error_ret;
320	}
321	ret = status & 0x1F;
322
323	if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
324	dev_err(dev, "Self test failure\n");
325	if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
326	dev_err(dev, "SPI failure\n");
327	if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
328	dev_err(dev, "Flash update failed\n");
329	if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
330	dev_err(dev, "Power supply above 3.625V\n");
331	if (status & ADIS16209_DIAG_STAT_POWER_LOW)
332	dev_err(dev, "Power supply below 3.15V\n");
333
334	error_ret:
335	return ret;
336	}
337
338	static int adis16209_self_test(struct device *dev)
339	{
340	int ret;
341	ret = adis16209_spi_write_reg_16(dev,
342	ADIS16209_MSC_CTRL,
343	ADIS16209_MSC_CTRL_SELF_TEST_EN);
344	if (ret) {
345	dev_err(dev, "problem starting self test");
346	goto err_ret;
347	}
348
349	adis16209_check_status(dev);
350
351	err_ret:
352	return ret;
353	}
354
355	static int adis16209_initial_setup(struct adis16209_state *st)
356	{
357	int ret;
358	struct device *dev = &st->indio_dev->dev;
359
360	/* Disable IRQ */
361	ret = adis16209_set_irq(dev, false);
362	if (ret) {
363	dev_err(dev, "disable irq failed");
364	goto err_ret;
365	}
366
367	/* Do self test */
368	ret = adis16209_self_test(dev);
369	if (ret) {
370	dev_err(dev, "self test failure");
371	goto err_ret;
372	}
373
374	/* Read status register to check the result */
375	ret = adis16209_check_status(dev);
376	if (ret) {
377	adis16209_reset(dev);
378	dev_err(dev, "device not playing ball -> reset");
379	msleep(ADIS16209_STARTUP_DELAY);
380	ret = adis16209_check_status(dev);
381	if (ret) {
382	dev_err(dev, "giving up");
383	goto err_ret;
384	}
385	}
386
387	printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
388	st->us->chip_select, st->us->irq);
389
390	err_ret:
391	return ret;
392	}
393
1755b0ae	394	static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16209_read_14bit_unsigned,
671ece14	395	ADIS16209_SUPPLY_OUT);
1755b0ae JC	396	static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.30518");
1755b0ae JC	397	static IIO_DEV_ATTR_IN_RAW(1, adis16209_read_12bit_unsigned,
671ece14	398	ADIS16209_AUX_ADC);
1755b0ae	399	static IIO_CONST_ATTR(in1_scale, "0.6105");
671ece14 BS	400
	401	static IIO_DEV_ATTR_ACCEL_X(adis16209_read_14bit_signed,
	402	ADIS16209_XACCL_OUT);
	403	static IIO_DEV_ATTR_ACCEL_Y(adis16209_read_14bit_signed,
	404	ADIS16209_YACCL_OUT);
51a0a5b0	405	static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR \| S_IRUGO,
671ece14 BS	406	adis16209_read_14bit_signed,
	407	adis16209_write_16bit,
	408	ADIS16209_XACCL_NULL);
51a0a5b0	409	static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR \| S_IRUGO,
671ece14 BS	410	adis16209_read_14bit_signed,
	411	adis16209_write_16bit,
	412	ADIS16209_YACCL_NULL);
4f64b801	413	static IIO_CONST_ATTR_ACCEL_SCALE("0.002394195531");
671ece14 BS	414
	415	static IIO_DEV_ATTR_INCLI_X(adis16209_read_14bit_signed,
	416	ADIS16209_XINCL_OUT);
	417	static IIO_DEV_ATTR_INCLI_Y(adis16209_read_14bit_signed,
	418	ADIS16209_YINCL_OUT);
4f64b801	419	static IIO_CONST_ATTR(incli_scale, "0.00043633231");
671ece14 BS	420
	421	static IIO_DEVICE_ATTR(rot_raw, S_IRUGO, adis16209_read_14bit_signed,
	422	NULL, ADIS16209_ROT_OUT);
	423
2d7770a9	424	static IIO_DEV_ATTR_TEMP_RAW(adis16209_read_temp);
51a0a5b0 MS	425	static IIO_CONST_ATTR_TEMP_OFFSET("25");
51a0a5b0 MS	426	static IIO_CONST_ATTR_TEMP_SCALE("-0.47");
671ece14 BS	427
	428	static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16209_write_reset, 0);
	429
51a0a5b0	430	static IIO_CONST_ATTR_NAME("adis16209");
671ece14 BS	431
	432	static struct attribute *adis16209_event_attributes[] = {
	433	NULL
	434	};
	435
	436	static struct attribute_group adis16209_event_attribute_group = {
	437	.attrs = adis16209_event_attributes,
	438	};
	439
	440	static struct attribute *adis16209_attributes[] = {
1755b0ae JC	441	&iio_dev_attr_in0_supply_raw.dev_attr.attr,
1755b0ae JC	442	&iio_const_attr_in0_supply_scale.dev_attr.attr,
2d7770a9	443	&iio_dev_attr_temp_raw.dev_attr.attr,
671ece14 BS	444	&iio_const_attr_temp_offset.dev_attr.attr,
	445	&iio_const_attr_temp_scale.dev_attr.attr,
	446	&iio_dev_attr_reset.dev_attr.attr,
	447	&iio_const_attr_name.dev_attr.attr,
1755b0ae JC	448	&iio_dev_attr_in1_raw.dev_attr.attr,
1755b0ae JC	449	&iio_const_attr_in1_scale.dev_attr.attr,
671ece14 BS	450	&iio_dev_attr_accel_x_raw.dev_attr.attr,
671ece14 BS	451	&iio_dev_attr_accel_y_raw.dev_attr.attr,
51a0a5b0 MS	452	&iio_dev_attr_accel_x_calibbias.dev_attr.attr,
51a0a5b0 MS	453	&iio_dev_attr_accel_y_calibbias.dev_attr.attr,
671ece14 BS	454	&iio_const_attr_accel_scale.dev_attr.attr,
	455	&iio_dev_attr_incli_x_raw.dev_attr.attr,
	456	&iio_dev_attr_incli_y_raw.dev_attr.attr,
671ece14 BS	457	&iio_const_attr_incli_scale.dev_attr.attr,
	458	&iio_dev_attr_rot_raw.dev_attr.attr,
	459	NULL
	460	};
	461
	462	static const struct attribute_group adis16209_attribute_group = {
	463	.attrs = adis16209_attributes,
	464	};
	465
	466	static int __devinit adis16209_probe(struct spi_device *spi)
	467	{
	468	int ret, regdone = 0;
	469	struct adis16209_state st = kzalloc(sizeof st, GFP_KERNEL);
	470	if (!st) {
	471	ret = -ENOMEM;
	472	goto error_ret;
	473	}
	474	/* this is only used for removal purposes */
	475	spi_set_drvdata(spi, st);
	476
	477	/* Allocate the comms buffers */
	478	st->rx = kzalloc(sizeof(st->rx)ADIS16209_MAX_RX, GFP_KERNEL);
	479	if (st->rx == NULL) {
	480	ret = -ENOMEM;
	481	goto error_free_st;
	482	}
	483	st->tx = kzalloc(sizeof(st->tx)ADIS16209_MAX_TX, GFP_KERNEL);
	484	if (st->tx == NULL) {
	485	ret = -ENOMEM;
	486	goto error_free_rx;
	487	}
	488	st->us = spi;
	489	mutex_init(&st->buf_lock);
	490	/* setup the industrialio driver allocated elements */
	491	st->indio_dev = iio_allocate_device();
	492	if (st->indio_dev == NULL) {
	493	ret = -ENOMEM;
	494	goto error_free_tx;
	495	}
	496
	497	st->indio_dev->dev.parent = &spi->dev;
	498	st->indio_dev->num_interrupt_lines = 1;
	499	st->indio_dev->event_attrs = &adis16209_event_attribute_group;
	500	st->indio_dev->attrs = &adis16209_attribute_group;
	501	st->indio_dev->dev_data = (void *)(st);
	502	st->indio_dev->driver_module = THIS_MODULE;
	503	st->indio_dev->modes = INDIO_DIRECT_MODE;
	504
	505	ret = adis16209_configure_ring(st->indio_dev);
	506	if (ret)
	507	goto error_free_dev;
	508
	509	ret = iio_device_register(st->indio_dev);
	510	if (ret)
	511	goto error_unreg_ring_funcs;
	512	regdone = 1;
	513
2662051e	514	ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
671ece14 BS	515	if (ret) {
	516	printk(KERN_ERR "failed to initialize the ring\n");
	517	goto error_unreg_ring_funcs;
	518	}
	519
	520	if (spi->irq) {
	521	ret = iio_register_interrupt_line(spi->irq,
	522	st->indio_dev,
	523	0,
	524	IRQF_TRIGGER_RISING,
	525	"adis16209");
	526	if (ret)
	527	goto error_uninitialize_ring;
	528
	529	ret = adis16209_probe_trigger(st->indio_dev);
	530	if (ret)
	531	goto error_unregister_line;
	532	}
	533
	534	/* Get the device into a sane initial state */
	535	ret = adis16209_initial_setup(st);
	536	if (ret)
	537	goto error_remove_trigger;
	538	return 0;
	539
	540	error_remove_trigger:
	541	adis16209_remove_trigger(st->indio_dev);
	542	error_unregister_line:
	543	if (spi->irq)
	544	iio_unregister_interrupt_line(st->indio_dev, 0);
	545	error_uninitialize_ring:
2662051e	546	iio_ring_buffer_unregister(st->indio_dev->ring);
671ece14 BS	547	error_unreg_ring_funcs:
	548	adis16209_unconfigure_ring(st->indio_dev);
	549	error_free_dev:
	550	if (regdone)
	551	iio_device_unregister(st->indio_dev);
	552	else
	553	iio_free_device(st->indio_dev);
	554	error_free_tx:
	555	kfree(st->tx);
	556	error_free_rx:
	557	kfree(st->rx);
	558	error_free_st:
	559	kfree(st);
	560	error_ret:
	561	return ret;
	562	}
	563
	564	static int adis16209_remove(struct spi_device *spi)
	565	{
	566	struct adis16209_state *st = spi_get_drvdata(spi);
	567	struct iio_dev *indio_dev = st->indio_dev;
	568
	569	flush_scheduled_work();
	570
	571	adis16209_remove_trigger(indio_dev);
	572	if (spi->irq)
	573	iio_unregister_interrupt_line(indio_dev, 0);
	574
2662051e	575	iio_ring_buffer_unregister(indio_dev->ring);
671ece14 BS	576	iio_device_unregister(indio_dev);
	577	adis16209_unconfigure_ring(indio_dev);
	578	kfree(st->tx);
	579	kfree(st->rx);
	580	kfree(st);
	581
	582	return 0;
	583	}
	584
	585	static struct spi_driver adis16209_driver = {
	586	.driver = {
	587	.name = "adis16209",
	588	.owner = THIS_MODULE,
	589	},
	590	.probe = adis16209_probe,
	591	.remove = __devexit_p(adis16209_remove),
	592	};
	593
	594	static __init int adis16209_init(void)
	595	{
	596	return spi_register_driver(&adis16209_driver);
	597	}
	598	module_init(adis16209_init);
	599
	600	static __exit void adis16209_exit(void)
	601	{
	602	spi_unregister_driver(&adis16209_driver);
	603	}
	604	module_exit(adis16209_exit);
	605
	606	MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
	607	MODULE_DESCRIPTION("Analog Devices ADIS16209 Digital Vibration Sensor driver");
	608	MODULE_LICENSE("GPL v2");