1#include <linux/interrupt.h> 2#include <linux/irq.h> 3#include <linux/gpio.h> 4#include <linux/workqueue.h> 5#include <linux/mutex.h> 6#include <linux/device.h> 7#include <linux/kernel.h> 8#include <linux/spi/spi.h> 9#include <linux/slab.h> 10#include <linux/sysfs.h> 11#include <linux/list.h> 12 13#include "../iio.h" 14#include "../sysfs.h" 15#include "../ring_sw.h" 16#include "../accel/accel.h" 17#include "../trigger.h" 18#include "adis16350.h" 19 20static IIO_SCAN_EL_C(supply, ADIS16350_SCAN_SUPPLY, IIO_UNSIGNED(12), 21 ADIS16350_SUPPLY_OUT, NULL); 22 23static IIO_SCAN_EL_C(gyro_x, ADIS16350_SCAN_GYRO_X, IIO_SIGNED(14), 24 ADIS16350_XGYRO_OUT, NULL); 25static IIO_SCAN_EL_C(gyro_y, ADIS16350_SCAN_GYRO_Y, IIO_SIGNED(14), 26 ADIS16350_YGYRO_OUT, NULL); 27static IIO_SCAN_EL_C(gyro_z, ADIS16350_SCAN_GYRO_Z, IIO_SIGNED(14), 28 ADIS16350_ZGYRO_OUT, NULL); 29 30static IIO_SCAN_EL_C(accel_x, ADIS16350_SCAN_ACC_X, IIO_SIGNED(14), 31 ADIS16350_XACCL_OUT, NULL); 32static IIO_SCAN_EL_C(accel_y, ADIS16350_SCAN_ACC_Y, IIO_SIGNED(14), 33 ADIS16350_YACCL_OUT, NULL); 34static IIO_SCAN_EL_C(accel_z, ADIS16350_SCAN_ACC_Z, IIO_SIGNED(14), 35 ADIS16350_ZACCL_OUT, NULL); 36 37static IIO_SCAN_EL_C(temp_x, ADIS16350_SCAN_TEMP_X, IIO_SIGNED(12), 38 ADIS16350_XTEMP_OUT, NULL); 39static IIO_SCAN_EL_C(temp_y, ADIS16350_SCAN_TEMP_Y, IIO_SIGNED(12), 40 ADIS16350_YTEMP_OUT, NULL); 41static IIO_SCAN_EL_C(temp_z, ADIS16350_SCAN_TEMP_Z, IIO_SIGNED(12), 42 ADIS16350_ZTEMP_OUT, NULL); 43 44static IIO_SCAN_EL_C(adc_0, ADIS16350_SCAN_ADC_0, IIO_UNSIGNED(12), 45 ADIS16350_AUX_ADC, NULL); 46 47static IIO_SCAN_EL_TIMESTAMP(11); 48 49static struct attribute *adis16350_scan_el_attrs[] = { 50 &iio_scan_el_supply.dev_attr.attr, 51 &iio_scan_el_gyro_x.dev_attr.attr, 52 &iio_scan_el_gyro_y.dev_attr.attr, 53 &iio_scan_el_gyro_z.dev_attr.attr, 54 &iio_scan_el_accel_x.dev_attr.attr, 55 &iio_scan_el_accel_y.dev_attr.attr, 56 &iio_scan_el_accel_z.dev_attr.attr, 57 &iio_scan_el_temp_x.dev_attr.attr, 58 &iio_scan_el_temp_y.dev_attr.attr, 59 &iio_scan_el_temp_z.dev_attr.attr, 60 &iio_scan_el_adc_0.dev_attr.attr, 61 &iio_scan_el_timestamp.dev_attr.attr, 62 NULL, 63}; 64 65static struct attribute_group adis16350_scan_el_group = { 66 .attrs = adis16350_scan_el_attrs, 67 .name = "scan_elements", 68}; 69 70/** 71 * adis16350_poll_func_th() top half interrupt handler called by trigger 72 * @private_data: iio_dev 73 **/ 74static void adis16350_poll_func_th(struct iio_dev *indio_dev, s64 time) 75{ 76 struct adis16350_state *st = iio_dev_get_devdata(indio_dev); 77 st->last_timestamp = time; 78 schedule_work(&st->work_trigger_to_ring); 79} 80 81/** 82 * adis16350_spi_read_burst() - read all data registers 83 * @dev: device associated with child of actual device (iio_dev or iio_trig) 84 * @rx: somewhere to pass back the value read (min size is 24 bytes) 85 **/ 86static int adis16350_spi_read_burst(struct device *dev, u8 *rx) 87{ 88 struct spi_message msg; 89 struct iio_dev *indio_dev = dev_get_drvdata(dev); 90 struct adis16350_state *st = iio_dev_get_devdata(indio_dev); 91 u32 old_speed_hz = st->us->max_speed_hz; 92 int ret; 93 94 struct spi_transfer xfers[] = { 95 { 96 .tx_buf = st->tx, 97 .bits_per_word = 8, 98 .len = 2, 99 .cs_change = 0, 100 }, { 101 .rx_buf = rx, 102 .bits_per_word = 8, 103 .len = 22, 104 .cs_change = 0, 105 }, 106 }; 107 108 mutex_lock(&st->buf_lock); 109 st->tx[0] = ADIS16350_READ_REG(ADIS16350_GLOB_CMD); 110 st->tx[1] = 0; 111 112 spi_message_init(&msg); 113 spi_message_add_tail(&xfers[0], &msg); 114 spi_message_add_tail(&xfers[1], &msg); 115 116 st->us->max_speed_hz = ADIS16350_SPI_BURST; 117 spi_setup(st->us); 118 119 ret = spi_sync(st->us, &msg); 120 if (ret) 121 dev_err(&st->us->dev, "problem when burst reading"); 122 123 st->us->max_speed_hz = old_speed_hz; 124 spi_setup(st->us); 125 mutex_unlock(&st->buf_lock); 126 return ret; 127} 128 129/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device 130 * specific to be rolled into the core. 131 */ 132static void adis16350_trigger_bh_to_ring(struct work_struct *work_s) 133{ 134 struct adis16350_state *st 135 = container_of(work_s, struct adis16350_state, 136 work_trigger_to_ring); 137 138 int i = 0; 139 s16 *data; 140 size_t datasize = st->indio_dev 141 ->ring->access.get_bpd(st->indio_dev->ring); 142 143 data = kmalloc(datasize , GFP_KERNEL); 144 if (data == NULL) { 145 dev_err(&st->us->dev, "memory alloc failed in ring bh"); 146 return; 147 } 148 149 if (st->indio_dev->scan_count) 150 if (adis16350_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0) 151 for (; i < st->indio_dev->scan_count; i++) 152 data[i] = be16_to_cpup( 153 (__be16 *)&(st->rx[i*2])); 154 155 /* Guaranteed to be aligned with 8 byte boundary */ 156 if (st->indio_dev->scan_timestamp) 157 *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp; 158 159 st->indio_dev->ring->access.store_to(st->indio_dev->ring, 160 (u8 *)data, 161 st->last_timestamp); 162 163 iio_trigger_notify_done(st->indio_dev->trig); 164 kfree(data); 165 166 return; 167} 168 169void adis16350_unconfigure_ring(struct iio_dev *indio_dev) 170{ 171 kfree(indio_dev->pollfunc); 172 iio_sw_rb_free(indio_dev->ring); 173} 174 175int adis16350_configure_ring(struct iio_dev *indio_dev) 176{ 177 int ret = 0; 178 struct adis16350_state *st = indio_dev->dev_data; 179 struct iio_ring_buffer *ring; 180 INIT_WORK(&st->work_trigger_to_ring, adis16350_trigger_bh_to_ring); 181 /* Set default scan mode */ 182 183 iio_scan_mask_set(indio_dev, iio_scan_el_supply.number); 184 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_x.number); 185 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_y.number); 186 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_z.number); 187 iio_scan_mask_set(indio_dev, iio_scan_el_accel_x.number); 188 iio_scan_mask_set(indio_dev, iio_scan_el_accel_y.number); 189 iio_scan_mask_set(indio_dev, iio_scan_el_accel_z.number); 190 iio_scan_mask_set(indio_dev, iio_scan_el_temp_x.number); 191 iio_scan_mask_set(indio_dev, iio_scan_el_temp_y.number); 192 iio_scan_mask_set(indio_dev, iio_scan_el_temp_z.number); 193 iio_scan_mask_set(indio_dev, iio_scan_el_adc_0.number); 194 indio_dev->scan_timestamp = true; 195 196 indio_dev->scan_el_attrs = &adis16350_scan_el_group; 197 198 ring = iio_sw_rb_allocate(indio_dev); 199 if (!ring) { 200 ret = -ENOMEM; 201 return ret; 202 } 203 indio_dev->ring = ring; 204 /* Effectively select the ring buffer implementation */ 205 iio_ring_sw_register_funcs(&ring->access); 206 ring->bpe = 2; 207 ring->preenable = &iio_sw_ring_preenable; 208 ring->postenable = &iio_triggered_ring_postenable; 209 ring->predisable = &iio_triggered_ring_predisable; 210 ring->owner = THIS_MODULE; 211 212 ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16350_poll_func_th); 213 if (ret) 214 goto error_iio_sw_rb_free; 215 216 indio_dev->modes |= INDIO_RING_TRIGGERED; 217 return 0; 218 219error_iio_sw_rb_free: 220 iio_sw_rb_free(indio_dev->ring); 221 return ret; 222} 223