staging:iio: Move adxrs450 driver out of staging

The adxrs450 is in a reasonable shape now. It follows the IIO ABI and non of the
standard code checker tools report any issue, so move it out of staging.

Signed-off-by: Lars-Peter Clausen <lars@metafoo.de>
Signed-off-by: Jonathan Cameron <jic23@kernel.org>

3 files changed, 509 insertions, 0 deletions

diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index c9f177d..51ac6bc 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -19,6 +19,16 @@ config ADIS16136
 	  Say yes here to build support for the Analog Devices ADIS16133, ADIS16135,
 	  ADIS16136 gyroscope devices.
 
+config ADXRS450
+	tristate "Analog Devices ADXRS450/3 Digital Output Gyroscope SPI driver"
+	depends on SPI
+	help
+	  Say yes here to build support for Analog Devices ADXRS450 and ADXRS453
+	  programmable digital output gyroscope.
+
+	  This driver can also be built as a module.  If so, the module
+	  will be called adxrs450.
+
 config HID_SENSOR_GYRO_3D
 	depends on HID_SENSOR_HUB
 	select IIO_BUFFER
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
index 66b517d..eff9bb0 100644
--- a/drivers/iio/gyro/Makefile
+++ b/drivers/iio/gyro/Makefile
@@ -4,6 +4,8 @@
 
 obj-$(CONFIG_ADIS16080) += adis16080.o
 obj-$(CONFIG_ADIS16136) += adis16136.o
+obj-$(CONFIG_ADXRS450) += adxrs450.o
+
 obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
 
 obj-$(CONFIG_IIO_ST_GYRO_3AXIS) += st_gyro.o
diff --git a/drivers/iio/gyro/adxrs450.c b/drivers/iio/gyro/adxrs450.c
new file mode 100644
index 0000000..d9d4383
--- /dev/null
+++ b/drivers/iio/gyro/adxrs450.c
@@ -0,0 +1,497 @@
+/*
+ * ADXRS450/ADXRS453 Digital Output Gyroscope Driver
+ *
+ * Copyright 2011 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2.
+ */
+
+#include <linux/interrupt.h>
+#include <linux/irq.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 <linux/module.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+
+#define ADXRS450_STARTUP_DELAY	50 /* ms */
+
+/* The MSB for the spi commands */
+#define ADXRS450_SENSOR_DATA    (0x20 << 24)
+#define ADXRS450_WRITE_DATA	(0x40 << 24)
+#define ADXRS450_READ_DATA	(0x80 << 24)
+
+#define ADXRS450_RATE1	0x00	/* Rate Registers */
+#define ADXRS450_TEMP1	0x02	/* Temperature Registers */
+#define ADXRS450_LOCST1	0x04	/* Low CST Memory Registers */
+#define ADXRS450_HICST1	0x06	/* High CST Memory Registers */
+#define ADXRS450_QUAD1	0x08	/* Quad Memory Registers */
+#define ADXRS450_FAULT1	0x0A	/* Fault Registers */
+#define ADXRS450_PID1	0x0C	/* Part ID Register 1 */
+#define ADXRS450_SNH	0x0E	/* Serial Number Registers, 4 bytes */
+#define ADXRS450_SNL	0x10
+#define ADXRS450_DNC1	0x12	/* Dynamic Null Correction Registers */
+/* Check bits */
+#define ADXRS450_P	0x01
+#define ADXRS450_CHK	0x02
+#define ADXRS450_CST	0x04
+#define ADXRS450_PWR	0x08
+#define ADXRS450_POR	0x10
+#define ADXRS450_NVM	0x20
+#define ADXRS450_Q	0x40
+#define ADXRS450_PLL	0x80
+#define ADXRS450_UV	0x100
+#define ADXRS450_OV	0x200
+#define ADXRS450_AMP	0x400
+#define ADXRS450_FAIL	0x800
+
+#define ADXRS450_WRERR_MASK	(0x7 << 29)
+
+#define ADXRS450_MAX_RX 4
+#define ADXRS450_MAX_TX 4
+
+#define ADXRS450_GET_ST(a)	((a >> 26) & 0x3)
+
+enum {
+	ID_ADXRS450,
+	ID_ADXRS453,
+};
+
+/**
+ * struct adxrs450_state - device instance specific data
+ * @us:			actual spi_device
+ * @buf_lock:		mutex to protect tx and rx
+ * @tx:			transmit buffer
+ * @rx:			receive buffer
+ **/
+struct adxrs450_state {
+	struct spi_device	*us;
+	struct mutex		buf_lock;
+	__be32			tx ____cacheline_aligned;
+	__be32			rx;
+
+};
+
+/**
+ * adxrs450_spi_read_reg_16() - read 2 bytes from a register pair
+ * @indio_dev: device associated with child of actual iio_dev
+ * @reg_address: the address of the lower of the two registers, which should be
+ *	an even address, the second register's address is reg_address + 1.
+ * @val: somewhere to pass back the value read
+ **/
+static int adxrs450_spi_read_reg_16(struct iio_dev *indio_dev,
+				    u8 reg_address,
+				    u16 *val)
+{
+	struct spi_message msg;
+	struct adxrs450_state *st = iio_priv(indio_dev);
+	u32 tx;
+	int ret;
+	struct spi_transfer xfers[] = {
+		{
+			.tx_buf = &st->tx,
+			.bits_per_word = 8,
+			.len = sizeof(st->tx),
+			.cs_change = 1,
+		}, {
+			.rx_buf = &st->rx,
+			.bits_per_word = 8,
+			.len = sizeof(st->rx),
+		},
+	};
+
+	mutex_lock(&st->buf_lock);
+	tx = ADXRS450_READ_DATA | (reg_address << 17);
+
+	if (!(hweight32(tx) & 1))
+		tx |= ADXRS450_P;
+
+	st->tx = cpu_to_be32(tx);
+	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 while reading 16 bit register 0x%02x\n",
+				reg_address);
+		goto error_ret;
+	}
+
+	*val = (be32_to_cpu(st->rx) >> 5) & 0xFFFF;
+
+error_ret:
+	mutex_unlock(&st->buf_lock);
+	return ret;
+}
+
+/**
+ * adxrs450_spi_write_reg_16() - write 2 bytes data to a register pair
+ * @indio_dev: device associated with child of actual actual iio_dev
+ * @reg_address: the address of the lower of the two registers,which should be
+ *	an even address, the second register's address is reg_address + 1.
+ * @val: value to be written.
+ **/
+static int adxrs450_spi_write_reg_16(struct iio_dev *indio_dev,
+				     u8 reg_address,
+				     u16 val)
+{
+	struct adxrs450_state *st = iio_priv(indio_dev);
+	u32 tx;
+	int ret;
+
+	mutex_lock(&st->buf_lock);
+	tx = ADXRS450_WRITE_DATA | (reg_address << 17) | (val << 1);
+
+	if (!(hweight32(tx) & 1))
+		tx |= ADXRS450_P;
+
+	st->tx = cpu_to_be32(tx);
+	ret = spi_write(st->us, &st->tx, sizeof(st->tx));
+	if (ret)
+		dev_err(&st->us->dev, "problem while writing 16 bit register 0x%02x\n",
+			reg_address);
+	usleep_range(100, 1000); /* enforce sequential transfer delay 0.1ms */
+	mutex_unlock(&st->buf_lock);
+	return ret;
+}
+
+/**
+ * adxrs450_spi_sensor_data() - read 2 bytes sensor data
+ * @indio_dev: device associated with child of actual iio_dev
+ * @val: somewhere to pass back the value read
+ **/
+static int adxrs450_spi_sensor_data(struct iio_dev *indio_dev, s16 *val)
+{
+	struct spi_message msg;
+	struct adxrs450_state *st = iio_priv(indio_dev);
+	int ret;
+	struct spi_transfer xfers[] = {
+		{
+			.tx_buf = &st->tx,
+			.bits_per_word = 8,
+			.len = sizeof(st->tx),
+			.cs_change = 1,
+		}, {
+			.rx_buf = &st->rx,
+			.bits_per_word = 8,
+			.len = sizeof(st->rx),
+		},
+	};
+
+	mutex_lock(&st->buf_lock);
+	st->tx = cpu_to_be32(ADXRS450_SENSOR_DATA);
+
+	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 while reading sensor data\n");
+		goto error_ret;
+	}
+
+	*val = (be32_to_cpu(st->rx) >> 10) & 0xFFFF;
+
+error_ret:
+	mutex_unlock(&st->buf_lock);
+	return ret;
+}
+
+/**
+ * adxrs450_spi_initial() - use for initializing procedure.
+ * @st: device instance specific data
+ * @val: somewhere to pass back the value read
+ * @chk: Whether to perform fault check
+ **/
+static int adxrs450_spi_initial(struct adxrs450_state *st,
+		u32 *val, char chk)
+{
+	struct spi_message msg;
+	int ret;
+	u32 tx;
+	struct spi_transfer xfers = {
+		.tx_buf = &st->tx,
+		.rx_buf = &st->rx,
+		.bits_per_word = 8,
+		.len = sizeof(st->tx),
+	};
+
+	mutex_lock(&st->buf_lock);
+	tx = ADXRS450_SENSOR_DATA;
+	if (chk)
+		tx |= (ADXRS450_CHK | ADXRS450_P);
+	st->tx = cpu_to_be32(tx);
+	spi_message_init(&msg);
+	spi_message_add_tail(&xfers, &msg);
+	ret = spi_sync(st->us, &msg);
+	if (ret) {
+		dev_err(&st->us->dev, "Problem while reading initializing data\n");
+		goto error_ret;
+	}
+
+	*val = be32_to_cpu(st->rx);
+
+error_ret:
+	mutex_unlock(&st->buf_lock);
+	return ret;
+}
+
+/* Recommended Startup Sequence by spec */
+static int adxrs450_initial_setup(struct iio_dev *indio_dev)
+{
+	u32 t;
+	u16 data;
+	int ret;
+	struct adxrs450_state *st = iio_priv(indio_dev);
+
+	msleep(ADXRS450_STARTUP_DELAY*2);
+	ret = adxrs450_spi_initial(st, &t, 1);
+	if (ret)
+		return ret;
+	if (t != 0x01)
+		dev_warn(&st->us->dev, "The initial power on response is not correct! Restart without reset?\n");
+
+	msleep(ADXRS450_STARTUP_DELAY);
+	ret = adxrs450_spi_initial(st, &t, 0);
+	if (ret)
+		return ret;
+
+	msleep(ADXRS450_STARTUP_DELAY);
+	ret = adxrs450_spi_initial(st, &t, 0);
+	if (ret)
+		return ret;
+	if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
+		dev_err(&st->us->dev, "The second response is not correct!\n");
+		return -EIO;
+
+	}
+	ret = adxrs450_spi_initial(st, &t, 0);
+	if (ret)
+		return ret;
+	if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
+		dev_err(&st->us->dev, "The third response is not correct!\n");
+		return -EIO;
+
+	}
+	ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_FAULT1, &data);
+	if (ret)
+		return ret;
+	if (data & 0x0fff) {
+		dev_err(&st->us->dev, "The device is not in normal status!\n");
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static int adxrs450_write_raw(struct iio_dev *indio_dev,
+			      struct iio_chan_spec const *chan,
+			      int val,
+			      int val2,
+			      long mask)
+{
+	int ret;
+	switch (mask) {
+	case IIO_CHAN_INFO_CALIBBIAS:
+		if (val < -0x400 || val >= 0x400)
+			return -EINVAL;
+		ret = adxrs450_spi_write_reg_16(indio_dev,
+						ADXRS450_DNC1, val);
+		break;
+	default:
+		ret = -EINVAL;
+		break;
+	}
+	return ret;
+}
+
+static int adxrs450_read_raw(struct iio_dev *indio_dev,
+			     struct iio_chan_spec const *chan,
+			     int *val,
+			     int *val2,
+			     long mask)
+{
+	int ret;
+	s16 t;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			ret = adxrs450_spi_sensor_data(indio_dev, &t);
+			if (ret)
+				break;
+			*val = t;
+			ret = IIO_VAL_INT;
+			break;
+		case IIO_TEMP:
+			ret = adxrs450_spi_read_reg_16(indio_dev,
+						       ADXRS450_TEMP1, &t);
+			if (ret)
+				break;
+			*val = (t >> 6) + 225;
+			ret = IIO_VAL_INT;
+			break;
+		default:
+			ret = -EINVAL;
+			break;
+		}
+		break;
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			*val = 0;
+			*val2 = 218166;
+			return IIO_VAL_INT_PLUS_NANO;
+		case IIO_TEMP:
+			*val = 200;
+			*val2 = 0;
+			return IIO_VAL_INT;
+		default:
+			return -EINVAL;
+		}
+		break;
+	case IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW:
+		ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_QUAD1, &t);
+		if (ret)
+			break;
+		*val = t;
+		ret = IIO_VAL_INT;
+		break;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_DNC1, &t);
+		if (ret)
+			break;
+		*val = sign_extend32(t, 9);
+		ret = IIO_VAL_INT;
+		break;
+	default:
+		ret = -EINVAL;
+		break;
+	}
+
+	return ret;
+}
+
+static const struct iio_chan_spec adxrs450_channels[2][2] = {
+	[ID_ADXRS450] = {
+		{
+			.type = IIO_ANGL_VEL,
+			.modified = 1,
+			.channel2 = IIO_MOD_Z,
+			.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+			IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+			IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW_SEPARATE_BIT |
+			IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+		}, {
+			.type = IIO_TEMP,
+			.indexed = 1,
+			.channel = 0,
+			.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+			IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+		}
+	},
+	[ID_ADXRS453] = {
+		{
+			.type = IIO_ANGL_VEL,
+			.modified = 1,
+			.channel2 = IIO_MOD_Z,
+			.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+			IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
+			IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW_SEPARATE_BIT,
+		}, {
+			.type = IIO_TEMP,
+			.indexed = 1,
+			.channel = 0,
+			.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+			IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+		}
+	},
+};
+
+static const struct iio_info adxrs450_info = {
+	.driver_module = THIS_MODULE,
+	.read_raw = &adxrs450_read_raw,
+	.write_raw = &adxrs450_write_raw,
+};
+
+static int adxrs450_probe(struct spi_device *spi)
+{
+	int ret;
+	struct adxrs450_state *st;
+	struct iio_dev *indio_dev;
+
+	/* setup the industrialio driver allocated elements */
+	indio_dev = iio_device_alloc(sizeof(*st));
+	if (indio_dev == NULL) {
+		ret = -ENOMEM;
+		goto error_ret;
+	}
+	st = iio_priv(indio_dev);
+	st->us = spi;
+	mutex_init(&st->buf_lock);
+	/* This is only used for removal purposes */
+	spi_set_drvdata(spi, indio_dev);
+
+	indio_dev->dev.parent = &spi->dev;
+	indio_dev->info = &adxrs450_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->channels =
+		adxrs450_channels[spi_get_device_id(spi)->driver_data];
+	indio_dev->num_channels = ARRAY_SIZE(adxrs450_channels);
+	indio_dev->name = spi->dev.driver->name;
+
+	ret = iio_device_register(indio_dev);
+	if (ret)
+		goto error_free_dev;
+
+	/* Get the device into a sane initial state */
+	ret = adxrs450_initial_setup(indio_dev);
+	if (ret)
+		goto error_initial;
+	return 0;
+error_initial:
+	iio_device_unregister(indio_dev);
+error_free_dev:
+	iio_device_free(indio_dev);
+
+error_ret:
+	return ret;
+}
+
+static int adxrs450_remove(struct spi_device *spi)
+{
+	iio_device_unregister(spi_get_drvdata(spi));
+	iio_device_free(spi_get_drvdata(spi));
+
+	return 0;
+}
+
+static const struct spi_device_id adxrs450_id[] = {
+	{"adxrs450", ID_ADXRS450},
+	{"adxrs453", ID_ADXRS453},
+	{}
+};
+MODULE_DEVICE_TABLE(spi, adxrs450_id);
+
+static struct spi_driver adxrs450_driver = {
+	.driver = {
+		.name = "adxrs450",
+		.owner = THIS_MODULE,
+	},
+	.probe = adxrs450_probe,
+	.remove = adxrs450_remove,
+	.id_table	= adxrs450_id,
+};
+module_spi_driver(adxrs450_driver);
+
+MODULE_AUTHOR("Cliff Cai <cliff.cai@xxxxxxxxxx>");
+MODULE_DESCRIPTION("Analog Devices ADXRS450/ADXRS453 Gyroscope SPI driver");
+MODULE_LICENSE("GPL v2");