Staging: iio: adis16209: Move adis16209 driver out of staging

Move the adis16209 driver out of staging directory and merge to the
mainline IIO subsystem.

Signed-off-by: Shreeya Patel <shreeya.patel23498@gmail.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

3 files changed, 343 insertions, 0 deletions

diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig
index 9416c6f9366a..62ae7e5abcfa 100644
--- a/drivers/iio/accel/Kconfig
+++ b/drivers/iio/accel/Kconfig
@@ -17,6 +17,18 @@ config ADIS16201
           To compile this driver as a module, say M here: the module will
           be called adis16201.
 
+config ADIS16209
+        tristate "Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer"
+        depends on SPI
+        select IIO_ADIS_LIB
+        select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
+        help
+          Say Y here to build support for Analog Devices adis16209 dual-axis digital inclinometer
+          and accelerometer.
+
+          To compile this driver as a module, say M here: the module will be
+          called adis16209.
+
 config ADXL345
 	tristate
 
diff --git a/drivers/iio/accel/Makefile b/drivers/iio/accel/Makefile
index 7832ec9adb2d..636d4d1b2990 100644
--- a/drivers/iio/accel/Makefile
+++ b/drivers/iio/accel/Makefile
@@ -5,6 +5,7 @@
 
 # When adding new entries keep the list in alphabetical order
 obj-$(CONFIG_ADIS16201) += adis16201.o
+obj-$(CONFIG_ADIS16209) += adis16209.o
 obj-$(CONFIG_ADXL345) += adxl345_core.o
 obj-$(CONFIG_ADXL345_I2C) += adxl345_i2c.o
 obj-$(CONFIG_ADXL345_SPI) += adxl345_spi.o
diff --git a/drivers/iio/accel/adis16209.c b/drivers/iio/accel/adis16209.c
new file mode 100644
index 000000000000..f2dc3a5f0463
--- /dev/null
+++ b/drivers/iio/accel/adis16209.c
@@ -0,0 +1,330 @@
+/*
+ * ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer
+ *
+ * Copyright 2010 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/list.h>
+#include <linux/module.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/imu/adis.h>
+
+#define ADIS16209_STARTUP_DELAY_MS	220
+#define ADIS16209_FLASH_CNT_REG		0x00
+
+/* Data Output Register Definitions */
+#define ADIS16209_SUPPLY_OUT_REG	0x02
+#define ADIS16209_XACCL_OUT_REG		0x04
+#define ADIS16209_YACCL_OUT_REG		0x06
+/* Output, auxiliary ADC input */
+#define ADIS16209_AUX_ADC_REG		0x08
+/* Output, temperature */
+#define ADIS16209_TEMP_OUT_REG		0x0A
+/* Output, +/- 90 degrees X-axis inclination */
+#define ADIS16209_XINCL_OUT_REG		0x0C
+#define ADIS16209_YINCL_OUT_REG		0x0E
+/* Output, +/-180 vertical rotational position */
+#define ADIS16209_ROT_OUT_REG		0x10
+
+/*
+ * Calibration Register Definitions.
+ * Acceleration, inclination or rotation offset null.
+ */
+#define ADIS16209_XACCL_NULL_REG	0x12
+#define ADIS16209_YACCL_NULL_REG	0x14
+#define ADIS16209_XINCL_NULL_REG	0x16
+#define ADIS16209_YINCL_NULL_REG	0x18
+#define ADIS16209_ROT_NULL_REG		0x1A
+
+/* Alarm Register Definitions */
+#define ADIS16209_ALM_MAG1_REG		0x20
+#define ADIS16209_ALM_MAG2_REG		0x22
+#define ADIS16209_ALM_SMPL1_REG		0x24
+#define ADIS16209_ALM_SMPL2_REG		0x26
+#define ADIS16209_ALM_CTRL_REG		0x28
+
+#define ADIS16209_AUX_DAC_REG		0x30
+#define ADIS16209_GPIO_CTRL_REG		0x32
+#define ADIS16209_SMPL_PRD_REG		0x36
+#define ADIS16209_AVG_CNT_REG		0x38
+#define ADIS16209_SLP_CNT_REG		0x3A
+
+#define ADIS16209_MSC_CTRL_REG			0x34
+#define  ADIS16209_MSC_CTRL_PWRUP_SELF_TEST	BIT(10)
+#define  ADIS16209_MSC_CTRL_SELF_TEST_EN	BIT(8)
+#define  ADIS16209_MSC_CTRL_DATA_RDY_EN		BIT(2)
+/* Data-ready polarity: 1 = active high, 0 = active low */
+#define  ADIS16209_MSC_CTRL_ACTIVE_HIGH		BIT(1)
+#define  ADIS16209_MSC_CTRL_DATA_RDY_DIO2	BIT(0)
+
+#define ADIS16209_STAT_REG			0x3C
+#define  ADIS16209_STAT_ALARM2			BIT(9)
+#define  ADIS16209_STAT_ALARM1			BIT(8)
+#define  ADIS16209_STAT_SELFTEST_FAIL_BIT	5
+#define  ADIS16209_STAT_SPI_FAIL_BIT		3
+#define  ADIS16209_STAT_FLASH_UPT_FAIL_BIT	2
+/* Power supply above 3.625 V */
+#define  ADIS16209_STAT_POWER_HIGH_BIT		1
+/* Power supply below 3.15 V */
+#define  ADIS16209_STAT_POWER_LOW_BIT		0
+
+#define ADIS16209_CMD_REG			0x3E
+#define  ADIS16209_CMD_SW_RESET			BIT(7)
+#define  ADIS16209_CMD_CLEAR_STAT		BIT(4)
+#define  ADIS16209_CMD_FACTORY_CAL		BIT(1)
+
+#define ADIS16209_ERROR_ACTIVE			BIT(14)
+
+enum adis16209_scan {
+	ADIS16209_SCAN_SUPPLY,
+	ADIS16209_SCAN_ACC_X,
+	ADIS16209_SCAN_ACC_Y,
+	ADIS16209_SCAN_AUX_ADC,
+	ADIS16209_SCAN_TEMP,
+	ADIS16209_SCAN_INCLI_X,
+	ADIS16209_SCAN_INCLI_Y,
+	ADIS16209_SCAN_ROT,
+};
+
+static const u8 adis16209_addresses[8][1] = {
+	[ADIS16209_SCAN_SUPPLY] = { },
+	[ADIS16209_SCAN_AUX_ADC] = { },
+	[ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG },
+	[ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG },
+	[ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG },
+	[ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG },
+	[ADIS16209_SCAN_ROT] = { },
+	[ADIS16209_SCAN_TEMP] = { },
+};
+
+static int adis16209_write_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int val,
+			       int val2,
+			       long mask)
+{
+	struct adis *st = iio_priv(indio_dev);
+	int m;
+
+	if (mask != IIO_CHAN_INFO_CALIBBIAS)
+		return -EINVAL;
+
+	switch (chan->type) {
+	case IIO_ACCEL:
+	case IIO_INCLI:
+		m = GENMASK(13, 0);
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	return adis_write_reg_16(st, adis16209_addresses[chan->scan_index][0],
+				 val & m);
+}
+
+static int adis16209_read_raw(struct iio_dev *indio_dev,
+			      struct iio_chan_spec const *chan,
+			      int *val, int *val2,
+			      long mask)
+{
+	struct adis *st = iio_priv(indio_dev);
+	int ret;
+	int bits;
+	u8 addr;
+	s16 val16;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		return adis_single_conversion(indio_dev, chan,
+			ADIS16209_ERROR_ACTIVE, val);
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_VOLTAGE:
+			*val = 0;
+			switch (chan->channel) {
+			case 0:
+				*val2 = 305180; /* 0.30518 mV */
+				break;
+			case 1:
+				*val2 = 610500; /* 0.6105 mV */
+				break;
+			default:
+				return -EINVAL;
+			}
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_TEMP:
+			*val = -470;
+			*val2 = 0;
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_ACCEL:
+			/*
+			 * IIO base unit for sensitivity of accelerometer
+			 * is milli g.
+			 * 1 LSB represents 0.244 mg.
+			 */
+			*val = 0;
+			*val2 = IIO_G_TO_M_S_2(244140);
+			return IIO_VAL_INT_PLUS_NANO;
+		case IIO_INCLI:
+		case IIO_ROT:
+			/*
+			 * IIO base units for rotation are degrees.
+			 * 1 LSB represents 0.025 milli degrees.
+			 */
+			*val = 0;
+			*val2 = 25000;
+			return IIO_VAL_INT_PLUS_MICRO;
+		default:
+			return -EINVAL;
+		}
+		break;
+	case IIO_CHAN_INFO_OFFSET:
+		/*
+		 * The raw ADC value is 0x4FE when the temperature
+		 * is 45 degrees and the scale factor per milli
+		 * degree celcius is -470.
+		 */
+		*val = 25000 / -470 - 0x4FE;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		switch (chan->type) {
+		case IIO_ACCEL:
+			bits = 14;
+			break;
+		default:
+			return -EINVAL;
+		}
+		addr = adis16209_addresses[chan->scan_index][0];
+		ret = adis_read_reg_16(st, addr, &val16);
+		if (ret)
+			return ret;
+
+		*val = sign_extend32(val16, bits - 1);
+		return IIO_VAL_INT;
+	}
+	return -EINVAL;
+}
+
+static const struct iio_chan_spec adis16209_channels[] = {
+	ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG, ADIS16209_SCAN_SUPPLY,
+			 0, 14),
+	ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG, ADIS16209_SCAN_TEMP, 0, 12),
+	ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG, ADIS16209_SCAN_ACC_X,
+			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
+	ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG, ADIS16209_SCAN_ACC_Y,
+			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
+	ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG, ADIS16209_SCAN_AUX_ADC, 0, 12),
+	ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG, ADIS16209_SCAN_INCLI_X,
+			0, 0, 14),
+	ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG, ADIS16209_SCAN_INCLI_Y,
+			0, 0, 14),
+	ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG, ADIS16209_SCAN_ROT, 0, 0, 14),
+	IIO_CHAN_SOFT_TIMESTAMP(8)
+};
+
+static const struct iio_info adis16209_info = {
+	.read_raw = adis16209_read_raw,
+	.write_raw = adis16209_write_raw,
+	.update_scan_mode = adis_update_scan_mode,
+};
+
+static const char * const adis16209_status_error_msgs[] = {
+	[ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
+	[ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure",
+	[ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
+	[ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
+	[ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
+};
+
+static const struct adis_data adis16209_data = {
+	.read_delay = 30,
+	.msc_ctrl_reg = ADIS16209_MSC_CTRL_REG,
+	.glob_cmd_reg = ADIS16209_CMD_REG,
+	.diag_stat_reg = ADIS16209_STAT_REG,
+
+	.self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
+	.self_test_no_autoclear = true,
+	.startup_delay = ADIS16209_STARTUP_DELAY_MS,
+
+	.status_error_msgs = adis16209_status_error_msgs,
+	.status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) |
+		BIT(ADIS16209_STAT_SPI_FAIL_BIT) |
+		BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) |
+		BIT(ADIS16209_STAT_POWER_HIGH_BIT) |
+		BIT(ADIS16209_STAT_POWER_LOW_BIT),
+};
+
+static int adis16209_probe(struct spi_device *spi)
+{
+	struct iio_dev *indio_dev;
+	struct adis *st;
+	int ret;
+
+	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
+	if (!indio_dev)
+		return -ENOMEM;
+
+	st = iio_priv(indio_dev);
+	spi_set_drvdata(spi, indio_dev);
+
+	indio_dev->name = spi->dev.driver->name;
+	indio_dev->dev.parent = &spi->dev;
+	indio_dev->info = &adis16209_info;
+	indio_dev->channels = adis16209_channels;
+	indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	ret = adis_init(st, indio_dev, spi, &adis16209_data);
+	if (ret)
+		return ret;
+
+	ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
+	if (ret)
+		return ret;
+
+	ret = adis_initial_startup(st);
+	if (ret)
+		goto error_cleanup_buffer_trigger;
+	ret = iio_device_register(indio_dev);
+	if (ret)
+		goto error_cleanup_buffer_trigger;
+
+	return 0;
+
+error_cleanup_buffer_trigger:
+	adis_cleanup_buffer_and_trigger(st, indio_dev);
+	return ret;
+}
+
+static int adis16209_remove(struct spi_device *spi)
+{
+	struct iio_dev *indio_dev = spi_get_drvdata(spi);
+	struct adis *st = iio_priv(indio_dev);
+
+	iio_device_unregister(indio_dev);
+	adis_cleanup_buffer_and_trigger(st, indio_dev);
+
+	return 0;
+}
+
+static struct spi_driver adis16209_driver = {
+	.driver = {
+		.name = "adis16209",
+	},
+	.probe = adis16209_probe,
+	.remove = adis16209_remove,
+};
+module_spi_driver(adis16209_driver);
+
+MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
+MODULE_LICENSE("GPL v2");
+MODULE_ALIAS("spi:adis16209");