#include #include #include #include #include #include #include #include #include #include #include #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, }, { .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; } /* 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, j; s16 *data; size_t datasize = ring->access.get_bytes_per_datum(ring); 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; } if (ring->scan_count) if (adis16400_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0) for (; i < ring->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)) = 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; }