| #include <linux/interrupt.h> |
| #include <linux/mutex.h> |
| #include <linux/kernel.h> |
| #include <linux/spi/spi.h> |
| #include <linux/slab.h> |
| #include <linux/bitops.h> |
| #include <linux/export.h> |
| |
| #include "../iio.h" |
| #include "../ring_sw.h" |
| #include "../trigger_consumer.h" |
| #include "adis16400.h" |
| |
| /** |
| * 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_priv(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, |
| }, { |
| .rx_buf = rx, |
| .bits_per_word = 8, |
| .len = 24, |
| }, |
| }; |
| |
| 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; |
| } |
| |
| static const u16 read_all_tx_array[] = { |
| cpu_to_be16(ADIS16400_READ_REG(ADIS16400_SUPPLY_OUT)), |
| cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XGYRO_OUT)), |
| cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YGYRO_OUT)), |
| cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZGYRO_OUT)), |
| cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XACCL_OUT)), |
| cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YACCL_OUT)), |
| cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZACCL_OUT)), |
| cpu_to_be16(ADIS16400_READ_REG(ADIS16350_XTEMP_OUT)), |
| cpu_to_be16(ADIS16400_READ_REG(ADIS16350_YTEMP_OUT)), |
| cpu_to_be16(ADIS16400_READ_REG(ADIS16350_ZTEMP_OUT)), |
| cpu_to_be16(ADIS16400_READ_REG(ADIS16400_AUX_ADC)), |
| }; |
| |
| static int adis16350_spi_read_all(struct device *dev, u8 *rx) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct adis16400_state *st = iio_priv(indio_dev); |
| |
| struct spi_message msg; |
| int i, j = 0, ret; |
| struct spi_transfer *xfers; |
| |
| xfers = kzalloc(sizeof(*xfers)*indio_dev->buffer->scan_count + 1, |
| GFP_KERNEL); |
| if (xfers == NULL) |
| return -ENOMEM; |
| |
| for (i = 0; i < ARRAY_SIZE(read_all_tx_array); i++) |
| if (test_bit(i, indio_dev->buffer->scan_mask)) { |
| xfers[j].tx_buf = &read_all_tx_array[i]; |
| xfers[j].bits_per_word = 16; |
| xfers[j].len = 2; |
| xfers[j + 1].rx_buf = rx + j*2; |
| j++; |
| } |
| xfers[j].bits_per_word = 16; |
| xfers[j].len = 2; |
| |
| spi_message_init(&msg); |
| for (j = 0; j < indio_dev->buffer->scan_count + 1; j++) |
| spi_message_add_tail(&xfers[j], &msg); |
| |
| ret = spi_sync(st->us, &msg); |
| kfree(xfers); |
| |
| 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 irqreturn_t adis16400_trigger_handler(int irq, void *p) |
| { |
| struct iio_poll_func *pf = p; |
| struct iio_dev *indio_dev = pf->indio_dev; |
| struct adis16400_state *st = iio_priv(indio_dev); |
| struct iio_buffer *ring = indio_dev->buffer; |
| int i = 0, j, ret = 0; |
| s16 *data; |
| size_t datasize = ring->access->get_bytes_per_datum(ring); |
| /* Asumption that long is enough for maximum channels */ |
| unsigned long mask = *ring->scan_mask; |
| |
| data = kmalloc(datasize , GFP_KERNEL); |
| if (data == NULL) { |
| dev_err(&st->us->dev, "memory alloc failed in ring bh"); |
| return -ENOMEM; |
| } |
| |
| if (ring->scan_count) { |
| if (st->variant->flags & ADIS16400_NO_BURST) { |
| ret = adis16350_spi_read_all(&indio_dev->dev, st->rx); |
| if (ret < 0) |
| goto err; |
| for (; i < ring->scan_count; i++) |
| data[i] = *(s16 *)(st->rx + i*2); |
| } else { |
| ret = adis16400_spi_read_burst(&indio_dev->dev, st->rx); |
| if (ret < 0) |
| goto err; |
| for (; i < indio_dev->buffer->scan_count; i++) { |
| j = __ffs(mask); |
| mask &= ~(1 << j); |
| data[i] = be16_to_cpup( |
| (__be16 *)&(st->rx[j*2])); |
| } |
| } |
| } |
| /* Guaranteed to be aligned with 8 byte boundary */ |
| if (ring->scan_timestamp) |
| *((s64 *)(data + ((i + 3)/4)*4)) = pf->timestamp; |
| ring->access->store_to(indio_dev->buffer, (u8 *) data, pf->timestamp); |
| |
| iio_trigger_notify_done(indio_dev->trig); |
| |
| kfree(data); |
| return IRQ_HANDLED; |
| |
| err: |
| kfree(data); |
| return ret; |
| } |
| |
| void adis16400_unconfigure_ring(struct iio_dev *indio_dev) |
| { |
| iio_dealloc_pollfunc(indio_dev->pollfunc); |
| iio_sw_rb_free(indio_dev->buffer); |
| } |
| |
| static const struct iio_buffer_setup_ops adis16400_ring_setup_ops = { |
| .preenable = &iio_sw_buffer_preenable, |
| .postenable = &iio_triggered_buffer_postenable, |
| .predisable = &iio_triggered_buffer_predisable, |
| }; |
| |
| int adis16400_configure_ring(struct iio_dev *indio_dev) |
| { |
| int ret = 0; |
| struct iio_buffer *ring; |
| |
| ring = iio_sw_rb_allocate(indio_dev); |
| if (!ring) { |
| ret = -ENOMEM; |
| return ret; |
| } |
| indio_dev->buffer = ring; |
| /* Effectively select the ring buffer implementation */ |
| ring->access = &ring_sw_access_funcs; |
| ring->bpe = 2; |
| ring->scan_timestamp = true; |
| ring->setup_ops = &adis16400_ring_setup_ops; |
| ring->owner = THIS_MODULE; |
| |
| indio_dev->pollfunc = iio_alloc_pollfunc(&iio_pollfunc_store_time, |
| &adis16400_trigger_handler, |
| IRQF_ONESHOT, |
| indio_dev, |
| "%s_consumer%d", |
| indio_dev->name, |
| indio_dev->id); |
| if (indio_dev->pollfunc == NULL) { |
| ret = -ENOMEM; |
| goto error_iio_sw_rb_free; |
| } |
| |
| indio_dev->modes |= INDIO_BUFFER_TRIGGERED; |
| return 0; |
| error_iio_sw_rb_free: |
| iio_sw_rb_free(indio_dev->buffer); |
| return ret; |
| } |