1 #include <linux/interrupt.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/sysfs.h>
10 #include <linux/list.h>
14 #include "../ring_sw.h"
15 #include "../accel/accel.h"
16 #include "../trigger.h"
17 #include "adis16350.h"
20 * combine_8_to_16() utility function to munge to u8s into u16
22 static inline u16 combine_8_to_16(u8 lower, u8 upper)
26 return _lower | (_upper << 8);
29 static IIO_SCAN_EL_C(supply, ADIS16350_SCAN_SUPPLY, IIO_UNSIGNED(12),
30 ADIS16350_SUPPLY_OUT, NULL);
32 static IIO_SCAN_EL_C(gyro_x, ADIS16350_SCAN_GYRO_X, IIO_SIGNED(14),
33 ADIS16350_XGYRO_OUT, NULL);
34 static IIO_SCAN_EL_C(gyro_y, ADIS16350_SCAN_GYRO_Y, IIO_SIGNED(14),
35 ADIS16350_YGYRO_OUT, NULL);
36 static IIO_SCAN_EL_C(gyro_z, ADIS16350_SCAN_GYRO_Z, IIO_SIGNED(14),
37 ADIS16350_ZGYRO_OUT, NULL);
39 static IIO_SCAN_EL_C(accel_x, ADIS16350_SCAN_ACC_X, IIO_SIGNED(14),
40 ADIS16350_XACCL_OUT, NULL);
41 static IIO_SCAN_EL_C(accel_y, ADIS16350_SCAN_ACC_Y, IIO_SIGNED(14),
42 ADIS16350_YACCL_OUT, NULL);
43 static IIO_SCAN_EL_C(accel_z, ADIS16350_SCAN_ACC_Z, IIO_SIGNED(14),
44 ADIS16350_ZACCL_OUT, NULL);
46 static IIO_SCAN_EL_C(temp_x, ADIS16350_SCAN_TEMP_X, IIO_SIGNED(12),
47 ADIS16350_XTEMP_OUT, NULL);
48 static IIO_SCAN_EL_C(temp_y, ADIS16350_SCAN_TEMP_Y, IIO_SIGNED(12),
49 ADIS16350_YTEMP_OUT, NULL);
50 static IIO_SCAN_EL_C(temp_z, ADIS16350_SCAN_TEMP_Z, IIO_SIGNED(12),
51 ADIS16350_ZTEMP_OUT, NULL);
53 static IIO_SCAN_EL_C(adc_0, ADIS16350_SCAN_ADC_0, IIO_UNSIGNED(12),
54 ADIS16350_AUX_ADC, NULL);
56 static IIO_SCAN_EL_TIMESTAMP(11);
58 static struct attribute *adis16350_scan_el_attrs[] = {
59 &iio_scan_el_supply.dev_attr.attr,
60 &iio_scan_el_gyro_x.dev_attr.attr,
61 &iio_scan_el_gyro_y.dev_attr.attr,
62 &iio_scan_el_gyro_z.dev_attr.attr,
63 &iio_scan_el_accel_x.dev_attr.attr,
64 &iio_scan_el_accel_y.dev_attr.attr,
65 &iio_scan_el_accel_z.dev_attr.attr,
66 &iio_scan_el_temp_x.dev_attr.attr,
67 &iio_scan_el_temp_y.dev_attr.attr,
68 &iio_scan_el_temp_z.dev_attr.attr,
69 &iio_scan_el_adc_0.dev_attr.attr,
70 &iio_scan_el_timestamp.dev_attr.attr,
74 static struct attribute_group adis16350_scan_el_group = {
75 .attrs = adis16350_scan_el_attrs,
76 .name = "scan_elements",
80 * adis16350_poll_func_th() top half interrupt handler called by trigger
81 * @private_data: iio_dev
83 static void adis16350_poll_func_th(struct iio_dev *indio_dev)
85 struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
86 st->last_timestamp = indio_dev->trig->timestamp;
87 schedule_work(&st->work_trigger_to_ring);
91 * adis16350_spi_read_burst() - read all data registers
92 * @dev: device associated with child of actual device (iio_dev or iio_trig)
93 * @rx: somewhere to pass back the value read (min size is 24 bytes)
95 static int adis16350_spi_read_burst(struct device *dev, u8 *rx)
97 struct spi_message msg;
98 struct iio_dev *indio_dev = dev_get_drvdata(dev);
99 struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
100 u32 old_speed_hz = st->us->max_speed_hz;
103 struct spi_transfer xfers[] = {
117 mutex_lock(&st->buf_lock);
118 st->tx[0] = ADIS16350_READ_REG(ADIS16350_GLOB_CMD);
121 spi_message_init(&msg);
122 spi_message_add_tail(&xfers[0], &msg);
123 spi_message_add_tail(&xfers[1], &msg);
125 st->us->max_speed_hz = ADIS16350_SPI_BURST;
128 ret = spi_sync(st->us, &msg);
130 dev_err(&st->us->dev, "problem when burst reading");
132 st->us->max_speed_hz = old_speed_hz;
134 mutex_unlock(&st->buf_lock);
138 /* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
139 * specific to be rolled into the core.
141 static void adis16350_trigger_bh_to_ring(struct work_struct *work_s)
143 struct adis16350_state *st
144 = container_of(work_s, struct adis16350_state,
145 work_trigger_to_ring);
149 size_t datasize = st->indio_dev
150 ->ring->access.get_bpd(st->indio_dev->ring);
152 data = kmalloc(datasize , GFP_KERNEL);
154 dev_err(&st->us->dev, "memory alloc failed in ring bh");
158 if (st->indio_dev->scan_count)
159 if (adis16350_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
160 for (; i < st->indio_dev->scan_count; i++) {
161 data[i] = combine_8_to_16(st->rx[i*2+1],
165 /* Guaranteed to be aligned with 8 byte boundary */
166 if (st->indio_dev->scan_timestamp)
167 *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
169 st->indio_dev->ring->access.store_to(st->indio_dev->ring,
173 iio_trigger_notify_done(st->indio_dev->trig);
179 static int adis16350_data_rdy_ring_preenable(struct iio_dev *indio_dev)
182 dev_dbg(&indio_dev->dev, "%s\n", __func__);
183 /* Check if there are any scan elements enabled, if not fail*/
184 if (!(indio_dev->scan_count || indio_dev->scan_timestamp))
187 if (indio_dev->ring->access.set_bpd) {
188 if (indio_dev->scan_timestamp)
189 if (indio_dev->scan_count)
190 /* Timestamp (aligned sizeof(s64) and data */
191 size = (((indio_dev->scan_count * sizeof(s16))
193 & ~(sizeof(s64) - 1))
195 else /* Timestamp only */
198 size = indio_dev->scan_count*sizeof(s16);
199 indio_dev->ring->access.set_bpd(indio_dev->ring, size);
205 static int adis16350_data_rdy_ring_postenable(struct iio_dev *indio_dev)
207 return indio_dev->trig
208 ? iio_trigger_attach_poll_func(indio_dev->trig,
213 static int adis16350_data_rdy_ring_predisable(struct iio_dev *indio_dev)
215 return indio_dev->trig
216 ? iio_trigger_dettach_poll_func(indio_dev->trig,
221 void adis16350_unconfigure_ring(struct iio_dev *indio_dev)
223 kfree(indio_dev->pollfunc);
224 iio_sw_rb_free(indio_dev->ring);
227 int adis16350_configure_ring(struct iio_dev *indio_dev)
230 struct adis16350_state *st = indio_dev->dev_data;
231 struct iio_ring_buffer *ring;
232 INIT_WORK(&st->work_trigger_to_ring, adis16350_trigger_bh_to_ring);
233 /* Set default scan mode */
235 iio_scan_mask_set(indio_dev, iio_scan_el_supply.number);
236 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_x.number);
237 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_y.number);
238 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_z.number);
239 iio_scan_mask_set(indio_dev, iio_scan_el_accel_x.number);
240 iio_scan_mask_set(indio_dev, iio_scan_el_accel_y.number);
241 iio_scan_mask_set(indio_dev, iio_scan_el_accel_z.number);
242 iio_scan_mask_set(indio_dev, iio_scan_el_temp_x.number);
243 iio_scan_mask_set(indio_dev, iio_scan_el_temp_y.number);
244 iio_scan_mask_set(indio_dev, iio_scan_el_temp_z.number);
245 iio_scan_mask_set(indio_dev, iio_scan_el_adc_0.number);
246 indio_dev->scan_timestamp = true;
248 indio_dev->scan_el_attrs = &adis16350_scan_el_group;
250 ring = iio_sw_rb_allocate(indio_dev);
255 indio_dev->ring = ring;
256 /* Effectively select the ring buffer implementation */
257 iio_ring_sw_register_funcs(&ring->access);
258 ring->preenable = &adis16350_data_rdy_ring_preenable;
259 ring->postenable = &adis16350_data_rdy_ring_postenable;
260 ring->predisable = &adis16350_data_rdy_ring_predisable;
261 ring->owner = THIS_MODULE;
263 indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL);
264 if (indio_dev->pollfunc == NULL) {
266 goto error_iio_sw_rb_free;;
268 indio_dev->pollfunc->poll_func_main = &adis16350_poll_func_th;
269 indio_dev->pollfunc->private_data = indio_dev;
270 indio_dev->modes |= INDIO_RING_TRIGGERED;
273 error_iio_sw_rb_free:
274 iio_sw_rb_free(indio_dev->ring);
278 int adis16350_initialize_ring(struct iio_ring_buffer *ring)
280 return iio_ring_buffer_register(ring, 0);
283 void adis16350_uninitialize_ring(struct iio_ring_buffer *ring)
285 iio_ring_buffer_unregister(ring);