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.h" 17#include "../trigger.h" 18#include "adis16209.h" 19 20static IIO_SCAN_EL_C(supply, ADIS16209_SCAN_SUPPLY, IIO_UNSIGNED(14), 21 ADIS16209_SUPPLY_OUT, NULL); 22static IIO_SCAN_EL_C(accel_x, ADIS16209_SCAN_ACC_X, IIO_SIGNED(14), 23 ADIS16209_XACCL_OUT, NULL); 24static IIO_SCAN_EL_C(accel_y, ADIS16209_SCAN_ACC_Y, IIO_SIGNED(14), 25 ADIS16209_YACCL_OUT, NULL); 26static IIO_SCAN_EL_C(aux_adc, ADIS16209_SCAN_AUX_ADC, IIO_UNSIGNED(12), 27 ADIS16209_AUX_ADC, NULL); 28static IIO_SCAN_EL_C(temp, ADIS16209_SCAN_TEMP, IIO_UNSIGNED(12), 29 ADIS16209_TEMP_OUT, NULL); 30static IIO_SCAN_EL_C(incli_x, ADIS16209_SCAN_INCLI_X, IIO_SIGNED(14), 31 ADIS16209_XINCL_OUT, NULL); 32static IIO_SCAN_EL_C(incli_y, ADIS16209_SCAN_INCLI_Y, IIO_SIGNED(14), 33 ADIS16209_YINCL_OUT, NULL); 34static IIO_SCAN_EL_C(rot, ADIS16209_SCAN_ROT, IIO_SIGNED(14), 35 ADIS16209_ROT_OUT, NULL); 36 37static IIO_SCAN_EL_TIMESTAMP(8); 38 39static struct attribute *adis16209_scan_el_attrs[] = { 40 &iio_scan_el_supply.dev_attr.attr, 41 &iio_scan_el_accel_x.dev_attr.attr, 42 &iio_scan_el_accel_y.dev_attr.attr, 43 &iio_scan_el_aux_adc.dev_attr.attr, 44 &iio_scan_el_temp.dev_attr.attr, 45 &iio_scan_el_incli_x.dev_attr.attr, 46 &iio_scan_el_incli_y.dev_attr.attr, 47 &iio_scan_el_rot.dev_attr.attr, 48 &iio_scan_el_timestamp.dev_attr.attr, 49 NULL, 50}; 51 52static struct attribute_group adis16209_scan_el_group = { 53 .attrs = adis16209_scan_el_attrs, 54 .name = "scan_elements", 55}; 56 57/** 58 * adis16209_poll_func_th() top half interrupt handler called by trigger 59 * @private_data: iio_dev 60 **/ 61static void adis16209_poll_func_th(struct iio_dev *indio_dev, s64 time) 62{ 63 struct adis16209_state *st = iio_dev_get_devdata(indio_dev); 64 st->last_timestamp = time; 65 schedule_work(&st->work_trigger_to_ring); 66} 67 68/** 69 * adis16209_read_ring_data() read data registers which will be placed into ring 70 * @dev: device associated with child of actual device (iio_dev or iio_trig) 71 * @rx: somewhere to pass back the value read 72 **/ 73static int adis16209_read_ring_data(struct device *dev, u8 *rx) 74{ 75 struct spi_message msg; 76 struct iio_dev *indio_dev = dev_get_drvdata(dev); 77 struct adis16209_state *st = iio_dev_get_devdata(indio_dev); 78 struct spi_transfer xfers[ADIS16209_OUTPUTS + 1]; 79 int ret; 80 int i; 81 82 mutex_lock(&st->buf_lock); 83 84 spi_message_init(&msg); 85 86 memset(xfers, 0, sizeof(xfers)); 87 for (i = 0; i <= ADIS16209_OUTPUTS; i++) { 88 xfers[i].bits_per_word = 8; 89 xfers[i].cs_change = 1; 90 xfers[i].len = 2; 91 xfers[i].delay_usecs = 20; 92 xfers[i].tx_buf = st->tx + 2 * i; 93 st->tx[2 * i] 94 = ADIS16209_READ_REG(ADIS16209_SUPPLY_OUT + 2 * i); 95 st->tx[2 * i + 1] = 0; 96 if (i >= 1) 97 xfers[i].rx_buf = rx + 2 * (i - 1); 98 spi_message_add_tail(&xfers[i], &msg); 99 } 100 101 ret = spi_sync(st->us, &msg); 102 if (ret) 103 dev_err(&st->us->dev, "problem when burst reading"); 104 105 mutex_unlock(&st->buf_lock); 106 107 return ret; 108} 109 110/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device 111 * specific to be rolled into the core. 112 */ 113static void adis16209_trigger_bh_to_ring(struct work_struct *work_s) 114{ 115 struct adis16209_state *st 116 = container_of(work_s, struct adis16209_state, 117 work_trigger_to_ring); 118 119 int i = 0; 120 s16 *data; 121 size_t datasize = st->indio_dev 122 ->ring->access.get_bpd(st->indio_dev->ring); 123 124 data = kmalloc(datasize , GFP_KERNEL); 125 if (data == NULL) { 126 dev_err(&st->us->dev, "memory alloc failed in ring bh"); 127 return; 128 } 129 130 if (st->indio_dev->scan_count) 131 if (adis16209_read_ring_data(&st->indio_dev->dev, st->rx) >= 0) 132 for (; i < st->indio_dev->scan_count; i++) 133 data[i] = be16_to_cpup( 134 (__be16 *)&(st->rx[i*2])); 135 136 /* Guaranteed to be aligned with 8 byte boundary */ 137 if (st->indio_dev->scan_timestamp) 138 *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp; 139 140 st->indio_dev->ring->access.store_to(st->indio_dev->ring, 141 (u8 *)data, 142 st->last_timestamp); 143 144 iio_trigger_notify_done(st->indio_dev->trig); 145 kfree(data); 146 147 return; 148} 149 150void adis16209_unconfigure_ring(struct iio_dev *indio_dev) 151{ 152 kfree(indio_dev->pollfunc); 153 iio_sw_rb_free(indio_dev->ring); 154} 155 156int adis16209_configure_ring(struct iio_dev *indio_dev) 157{ 158 int ret = 0; 159 struct adis16209_state *st = indio_dev->dev_data; 160 struct iio_ring_buffer *ring; 161 INIT_WORK(&st->work_trigger_to_ring, adis16209_trigger_bh_to_ring); 162 /* Set default scan mode */ 163 164 iio_scan_mask_set(indio_dev, iio_scan_el_supply.number); 165 iio_scan_mask_set(indio_dev, iio_scan_el_rot.number); 166 iio_scan_mask_set(indio_dev, iio_scan_el_accel_x.number); 167 iio_scan_mask_set(indio_dev, iio_scan_el_accel_y.number); 168 iio_scan_mask_set(indio_dev, iio_scan_el_temp.number); 169 iio_scan_mask_set(indio_dev, iio_scan_el_aux_adc.number); 170 iio_scan_mask_set(indio_dev, iio_scan_el_incli_x.number); 171 iio_scan_mask_set(indio_dev, iio_scan_el_incli_y.number); 172 indio_dev->scan_timestamp = true; 173 174 indio_dev->scan_el_attrs = &adis16209_scan_el_group; 175 176 ring = iio_sw_rb_allocate(indio_dev); 177 if (!ring) { 178 ret = -ENOMEM; 179 return ret; 180 } 181 indio_dev->ring = ring; 182 /* Effectively select the ring buffer implementation */ 183 iio_ring_sw_register_funcs(&ring->access); 184 ring->bpe = 2; 185 ring->preenable = &iio_sw_ring_preenable; 186 ring->postenable = &iio_triggered_ring_postenable; 187 ring->predisable = &iio_triggered_ring_predisable; 188 ring->owner = THIS_MODULE; 189 190 ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16209_poll_func_th); 191 if (ret) 192 goto error_iio_sw_rb_free; 193 194 indio_dev->modes |= INDIO_RING_TRIGGERED; 195 return 0; 196 197error_iio_sw_rb_free: 198 iio_sw_rb_free(indio_dev->ring); 199 return ret; 200} 201