| #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/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" |
| |
| /** |
| * combine_8_to_16() utility function to munge to u8s into u16 |
| **/ |
| static inline u16 combine_8_to_16(u8 lower, u8 upper) |
| { |
| u16 _lower = lower; |
| u16 _upper = upper; |
| return _lower | (_upper << 8); |
| } |
| |
| static IIO_SCAN_EL_C(supply, ADIS16400_SCAN_SUPPLY, IIO_SIGNED(14), |
| ADIS16400_SUPPLY_OUT, NULL); |
| |
| static IIO_SCAN_EL_C(gyro_x, ADIS16400_SCAN_GYRO_X, IIO_SIGNED(14), |
| ADIS16400_XGYRO_OUT, NULL); |
| static IIO_SCAN_EL_C(gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_SIGNED(14), |
| ADIS16400_YGYRO_OUT, NULL); |
| static IIO_SCAN_EL_C(gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_SIGNED(14), |
| ADIS16400_ZGYRO_OUT, NULL); |
| |
| static IIO_SCAN_EL_C(accel_x, ADIS16400_SCAN_ACC_X, IIO_SIGNED(14), |
| ADIS16400_XACCL_OUT, NULL); |
| static IIO_SCAN_EL_C(accel_y, ADIS16400_SCAN_ACC_Y, IIO_SIGNED(14), |
| ADIS16400_YACCL_OUT, NULL); |
| static IIO_SCAN_EL_C(accel_z, ADIS16400_SCAN_ACC_Z, IIO_SIGNED(14), |
| ADIS16400_ZACCL_OUT, NULL); |
| |
| static IIO_SCAN_EL_C(magn_x, ADIS16400_SCAN_MAGN_X, IIO_SIGNED(14), |
| ADIS16400_XMAGN_OUT, NULL); |
| static IIO_SCAN_EL_C(magn_y, ADIS16400_SCAN_MAGN_Y, IIO_SIGNED(14), |
| ADIS16400_YMAGN_OUT, NULL); |
| static IIO_SCAN_EL_C(magn_z, ADIS16400_SCAN_MAGN_Z, IIO_SIGNED(14), |
| ADIS16400_ZMAGN_OUT, NULL); |
| |
| static IIO_SCAN_EL_C(temp, ADIS16400_SCAN_TEMP, IIO_SIGNED(12), |
| ADIS16400_TEMP_OUT, NULL); |
| static IIO_SCAN_EL_C(adc_0, ADIS16400_SCAN_ADC_0, IIO_SIGNED(12), |
| ADIS16400_AUX_ADC, NULL); |
| |
| static IIO_SCAN_EL_TIMESTAMP(12); |
| |
| static struct attribute *adis16400_scan_el_attrs[] = { |
| &iio_scan_el_supply.dev_attr.attr, |
| &iio_scan_el_gyro_x.dev_attr.attr, |
| &iio_scan_el_gyro_y.dev_attr.attr, |
| &iio_scan_el_gyro_z.dev_attr.attr, |
| &iio_scan_el_accel_x.dev_attr.attr, |
| &iio_scan_el_accel_y.dev_attr.attr, |
| &iio_scan_el_accel_z.dev_attr.attr, |
| &iio_scan_el_magn_x.dev_attr.attr, |
| &iio_scan_el_magn_y.dev_attr.attr, |
| &iio_scan_el_magn_z.dev_attr.attr, |
| &iio_scan_el_temp.dev_attr.attr, |
| &iio_scan_el_adc_0.dev_attr.attr, |
| &iio_scan_el_timestamp.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) |
| { |
| struct adis16400_state *st = iio_dev_get_devdata(indio_dev); |
| st->last_timestamp = indio_dev->trig->timestamp; |
| 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. |
| */ |
| } |
| |
| /* 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); |
| |
| int i = 0; |
| s16 *data; |
| size_t datasize = st->indio_dev |
| ->ring->access.get_bpd(st->indio_dev->ring); |
| |
| data = kmalloc(datasize , GFP_KERNEL); |
| if (data == NULL) { |
| dev_err(&st->us->dev, "memory alloc failed in ring bh"); |
| return; |
| } |
| |
| if (st->indio_dev->scan_count) |
| if (adis16400_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0) |
| for (; i < st->indio_dev->scan_count; i++) { |
| data[i] = combine_8_to_16(st->rx[i*2+1], |
| st->rx[i*2]); |
| } |
| |
| /* Guaranteed to be aligned with 8 byte boundary */ |
| if (st->indio_dev->scan_timestamp) |
| *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp; |
| |
| st->indio_dev->ring->access.store_to(st->indio_dev->ring, |
| (u8 *)data, |
| st->last_timestamp); |
| |
| iio_trigger_notify_done(st->indio_dev->trig); |
| kfree(data); |
| |
| return; |
| } |
| /* in these circumstances is it better to go with unaligned packing and |
| * deal with the cost?*/ |
| static int adis16400_data_rdy_ring_preenable(struct iio_dev *indio_dev) |
| { |
| size_t size; |
| dev_dbg(&indio_dev->dev, "%s\n", __func__); |
| /* Check if there are any scan elements enabled, if not fail*/ |
| if (!(indio_dev->scan_count || indio_dev->scan_timestamp)) |
| return -EINVAL; |
| |
| if (indio_dev->ring->access.set_bpd) { |
| if (indio_dev->scan_timestamp) |
| if (indio_dev->scan_count) /* Timestamp and data */ |
| size = 6*sizeof(s64); |
| else /* Timestamp only */ |
| size = sizeof(s64); |
| else /* Data only */ |
| size = indio_dev->scan_count*sizeof(s16); |
| indio_dev->ring->access.set_bpd(indio_dev->ring, size); |
| } |
| |
| return 0; |
| } |
| |
| static int adis16400_data_rdy_ring_postenable(struct iio_dev *indio_dev) |
| { |
| return indio_dev->trig |
| ? iio_trigger_attach_poll_func(indio_dev->trig, |
| indio_dev->pollfunc) |
| : 0; |
| } |
| |
| static int adis16400_data_rdy_ring_predisable(struct iio_dev *indio_dev) |
| { |
| return indio_dev->trig |
| ? iio_trigger_dettach_poll_func(indio_dev->trig, |
| indio_dev->pollfunc) |
| : 0; |
| } |
| |
| 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); |
| /* Set default scan mode */ |
| |
| iio_scan_mask_set(indio_dev, iio_scan_el_supply.number); |
| iio_scan_mask_set(indio_dev, iio_scan_el_gyro_x.number); |
| iio_scan_mask_set(indio_dev, iio_scan_el_gyro_y.number); |
| iio_scan_mask_set(indio_dev, iio_scan_el_gyro_z.number); |
| iio_scan_mask_set(indio_dev, iio_scan_el_accel_x.number); |
| iio_scan_mask_set(indio_dev, iio_scan_el_accel_y.number); |
| iio_scan_mask_set(indio_dev, iio_scan_el_accel_z.number); |
| iio_scan_mask_set(indio_dev, iio_scan_el_magn_x.number); |
| iio_scan_mask_set(indio_dev, iio_scan_el_magn_y.number); |
| iio_scan_mask_set(indio_dev, iio_scan_el_magn_z.number); |
| iio_scan_mask_set(indio_dev, iio_scan_el_temp.number); |
| iio_scan_mask_set(indio_dev, iio_scan_el_adc_0.number); |
| indio_dev->scan_timestamp = true; |
| |
| indio_dev->scan_el_attrs = &adis16400_scan_el_group; |
| |
| 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->preenable = &adis16400_data_rdy_ring_preenable; |
| ring->postenable = &adis16400_data_rdy_ring_postenable; |
| ring->predisable = &adis16400_data_rdy_ring_predisable; |
| ring->owner = THIS_MODULE; |
| |
| indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL); |
| if (indio_dev->pollfunc == NULL) { |
| ret = -ENOMEM; |
| goto error_iio_sw_rb_free;; |
| } |
| indio_dev->pollfunc->poll_func_main = &adis16400_poll_func_th; |
| indio_dev->pollfunc->private_data = indio_dev; |
| indio_dev->modes |= INDIO_RING_TRIGGERED; |
| return 0; |
| |
| error_iio_sw_rb_free: |
| iio_sw_rb_free(indio_dev->ring); |
| return ret; |
| } |
| |
| int adis16400_initialize_ring(struct iio_ring_buffer *ring) |
| { |
| return iio_ring_buffer_register(ring, 0); |
| } |
| |
| void adis16400_uninitialize_ring(struct iio_ring_buffer *ring) |
| { |
| iio_ring_buffer_unregister(ring); |
| } |