| #include <linux/interrupt.h> |
| #include <linux/irq.h> |
| #include <linux/gpio.h> |
| #include <linux/workqueue.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_sw.h" |
| #include "../accel/accel.h" |
| #include "../trigger.h" |
| #include "adis16400.h" |
| |
| static IIO_SCAN_EL_C(in0_supply, ADIS16400_SCAN_SUPPLY, |
| ADIS16400_SUPPLY_OUT, NULL); |
| static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 14, 16); |
| |
| static IIO_SCAN_EL_C(gyro_x, ADIS16400_SCAN_GYRO_X, ADIS16400_XGYRO_OUT, NULL); |
| static IIO_SCAN_EL_C(gyro_y, ADIS16400_SCAN_GYRO_Y, ADIS16400_YGYRO_OUT, NULL); |
| static IIO_SCAN_EL_C(gyro_z, ADIS16400_SCAN_GYRO_Z, ADIS16400_ZGYRO_OUT, NULL); |
| static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16); |
| |
| static IIO_SCAN_EL_C(accel_x, ADIS16400_SCAN_ACC_X, ADIS16400_XACCL_OUT, NULL); |
| static IIO_SCAN_EL_C(accel_y, ADIS16400_SCAN_ACC_Y, ADIS16400_YACCL_OUT, NULL); |
| static IIO_SCAN_EL_C(accel_z, ADIS16400_SCAN_ACC_Z, ADIS16400_ZACCL_OUT, NULL); |
| static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16); |
| |
| static IIO_SCAN_EL_C(magn_x, ADIS16400_SCAN_MAGN_X, ADIS16400_XMAGN_OUT, NULL); |
| static IIO_SCAN_EL_C(magn_y, ADIS16400_SCAN_MAGN_Y, ADIS16400_YMAGN_OUT, NULL); |
| static IIO_SCAN_EL_C(magn_z, ADIS16400_SCAN_MAGN_Z, ADIS16400_ZMAGN_OUT, NULL); |
| static IIO_CONST_ATTR_SCAN_EL_TYPE(magn, s, 14, 16); |
| |
| static IIO_SCAN_EL_C(temp, ADIS16400_SCAN_TEMP, ADIS16400_TEMP_OUT, NULL); |
| static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16); |
| |
| static IIO_SCAN_EL_C(in1, ADIS16400_SCAN_ADC_0, ADIS16400_AUX_ADC, NULL); |
| static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16); |
| |
| static IIO_SCAN_EL_TIMESTAMP(12); |
| static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64); |
| |
| static struct attribute *adis16400_scan_el_attrs[] = { |
| &iio_scan_el_in0_supply.dev_attr.attr, |
| &iio_const_attr_in0_supply_index.dev_attr.attr, |
| &iio_const_attr_in0_supply_type.dev_attr.attr, |
| &iio_scan_el_gyro_x.dev_attr.attr, |
| &iio_const_attr_gyro_x_index.dev_attr.attr, |
| &iio_scan_el_gyro_y.dev_attr.attr, |
| &iio_const_attr_gyro_y_index.dev_attr.attr, |
| &iio_scan_el_gyro_z.dev_attr.attr, |
| &iio_const_attr_gyro_z_index.dev_attr.attr, |
| &iio_const_attr_gyro_type.dev_attr.attr, |
| &iio_scan_el_accel_x.dev_attr.attr, |
| &iio_const_attr_accel_x_index.dev_attr.attr, |
| &iio_scan_el_accel_y.dev_attr.attr, |
| &iio_const_attr_accel_y_index.dev_attr.attr, |
| &iio_scan_el_accel_z.dev_attr.attr, |
| &iio_const_attr_accel_z_index.dev_attr.attr, |
| &iio_const_attr_accel_type.dev_attr.attr, |
| &iio_scan_el_magn_x.dev_attr.attr, |
| &iio_const_attr_magn_x_index.dev_attr.attr, |
| &iio_scan_el_magn_y.dev_attr.attr, |
| &iio_const_attr_magn_y_index.dev_attr.attr, |
| &iio_scan_el_magn_z.dev_attr.attr, |
| &iio_const_attr_magn_z_index.dev_attr.attr, |
| &iio_const_attr_magn_type.dev_attr.attr, |
| &iio_scan_el_temp.dev_attr.attr, |
| &iio_const_attr_temp_index.dev_attr.attr, |
| &iio_const_attr_temp_type.dev_attr.attr, |
| &iio_scan_el_in1.dev_attr.attr, |
| &iio_const_attr_in1_index.dev_attr.attr, |
| &iio_const_attr_in1_type.dev_attr.attr, |
| &iio_scan_el_timestamp.dev_attr.attr, |
| &iio_const_attr_timestamp_index.dev_attr.attr, |
| &iio_const_attr_timestamp_type.dev_attr.attr, |
| NULL, |
| }; |
| |
| static struct attribute_group adis16400_scan_el_group = { |
| .attrs = adis16400_scan_el_attrs, |
| .name = "scan_elements", |
| }; |
| |
| /** |
| * adis16400_poll_func_th() top half interrupt handler called by trigger |
| * @private_data: iio_dev |
| **/ |
| static void adis16400_poll_func_th(struct iio_dev *indio_dev, s64 time) |
| { |
| struct adis16400_state *st = iio_dev_get_devdata(indio_dev); |
| st->last_timestamp = time; |
| schedule_work(&st->work_trigger_to_ring); |
| /* Indicate that this interrupt is being handled */ |
| |
| /* Technically this is trigger related, but without this |
| * handler running there is currently no way for the interrupt |
| * to clear. |
| */ |
| } |
| |
| /** |
| * adis16400_spi_read_burst() - read all data registers |
| * @dev: device associated with child of actual device (iio_dev or iio_trig) |
| * @rx: somewhere to pass back the value read (min size is 24 bytes) |
| **/ |
| static int adis16400_spi_read_burst(struct device *dev, u8 *rx) |
| { |
| struct spi_message msg; |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16400_state *st = iio_dev_get_devdata(indio_dev); |
| u32 old_speed_hz = st->us->max_speed_hz; |
| int ret; |
| |
| struct spi_transfer xfers[] = { |
| { |
| .tx_buf = st->tx, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 0, |
| }, { |
| .rx_buf = rx, |
| .bits_per_word = 8, |
| .len = 24, |
| .cs_change = 1, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD); |
| st->tx[1] = 0; |
| |
| spi_message_init(&msg); |
| spi_message_add_tail(&xfers[0], &msg); |
| spi_message_add_tail(&xfers[1], &msg); |
| |
| st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz); |
| spi_setup(st->us); |
| |
| ret = spi_sync(st->us, &msg); |
| if (ret) |
| dev_err(&st->us->dev, "problem when burst reading"); |
| |
| st->us->max_speed_hz = old_speed_hz; |
| spi_setup(st->us); |
| mutex_unlock(&st->buf_lock); |
| return ret; |
| } |
| |
| /* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device |
| * specific to be rolled into the core. |
| */ |
| static void adis16400_trigger_bh_to_ring(struct work_struct *work_s) |
| { |
| struct adis16400_state *st |
| = container_of(work_s, struct adis16400_state, |
| work_trigger_to_ring); |
| struct iio_ring_buffer *ring = st->indio_dev->ring; |
| |
| int i = 0; |
| s16 *data; |
| size_t datasize = ring->access.get_bytes_per_datum(ring); |
| |
| data = kmalloc(datasize , GFP_KERNEL); |
| if (data == NULL) { |
| dev_err(&st->us->dev, "memory alloc failed in ring bh"); |
| return; |
| } |
| |
| if (ring->scan_count) |
| if (adis16400_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0) |
| for (; i < ring->scan_count; i++) |
| data[i] = be16_to_cpup( |
| (__be16 *)&(st->rx[i*2])); |
| |
| /* Guaranteed to be aligned with 8 byte boundary */ |
| if (ring->scan_timestamp) |
| *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp; |
| |
| ring->access.store_to(ring, |
| (u8 *) data, |
| st->last_timestamp); |
| |
| iio_trigger_notify_done(st->indio_dev->trig); |
| kfree(data); |
| |
| return; |
| } |
| |
| void adis16400_unconfigure_ring(struct iio_dev *indio_dev) |
| { |
| kfree(indio_dev->pollfunc); |
| iio_sw_rb_free(indio_dev->ring); |
| } |
| |
| int adis16400_configure_ring(struct iio_dev *indio_dev) |
| { |
| int ret = 0; |
| struct adis16400_state *st = indio_dev->dev_data; |
| struct iio_ring_buffer *ring; |
| INIT_WORK(&st->work_trigger_to_ring, adis16400_trigger_bh_to_ring); |
| |
| ring = iio_sw_rb_allocate(indio_dev); |
| if (!ring) { |
| ret = -ENOMEM; |
| return ret; |
| } |
| indio_dev->ring = ring; |
| /* Effectively select the ring buffer implementation */ |
| iio_ring_sw_register_funcs(&ring->access); |
| ring->bpe = 2; |
| ring->scan_el_attrs = &adis16400_scan_el_group; |
| ring->scan_timestamp = true; |
| ring->preenable = &iio_sw_ring_preenable; |
| ring->postenable = &iio_triggered_ring_postenable; |
| ring->predisable = &iio_triggered_ring_predisable; |
| ring->owner = THIS_MODULE; |
| |
| /* Set default scan mode */ |
| iio_scan_mask_set(ring, iio_scan_el_in0_supply.number); |
| iio_scan_mask_set(ring, iio_scan_el_gyro_x.number); |
| iio_scan_mask_set(ring, iio_scan_el_gyro_y.number); |
| iio_scan_mask_set(ring, iio_scan_el_gyro_z.number); |
| iio_scan_mask_set(ring, iio_scan_el_accel_x.number); |
| iio_scan_mask_set(ring, iio_scan_el_accel_y.number); |
| iio_scan_mask_set(ring, iio_scan_el_accel_z.number); |
| iio_scan_mask_set(ring, iio_scan_el_magn_x.number); |
| iio_scan_mask_set(ring, iio_scan_el_magn_y.number); |
| iio_scan_mask_set(ring, iio_scan_el_magn_z.number); |
| iio_scan_mask_set(ring, iio_scan_el_temp.number); |
| iio_scan_mask_set(ring, iio_scan_el_in1.number); |
| |
| ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16400_poll_func_th); |
| if (ret) |
| goto error_iio_sw_rb_free; |
| |
| indio_dev->modes |= INDIO_RING_TRIGGERED; |
| return 0; |
| |
| error_iio_sw_rb_free: |
| iio_sw_rb_free(indio_dev->ring); |
| return ret; |
| } |