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"
16 #include "../trigger.h"
17 #include "adis16209.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, ADIS16209_SCAN_SUPPLY, IIO_UNSIGNED(14),
30 ADIS16209_SUPPLY_OUT, NULL);
31 static IIO_SCAN_EL_C(accel_x, ADIS16209_SCAN_ACC_X, IIO_SIGNED(14),
32 ADIS16209_XACCL_OUT, NULL);
33 static IIO_SCAN_EL_C(accel_y, ADIS16209_SCAN_ACC_Y, IIO_SIGNED(14),
34 ADIS16209_YACCL_OUT, NULL);
35 static IIO_SCAN_EL_C(aux_adc, ADIS16209_SCAN_AUX_ADC, IIO_UNSIGNED(12),
36 ADIS16209_AUX_ADC, NULL);
37 static IIO_SCAN_EL_C(temp, ADIS16209_SCAN_TEMP, IIO_UNSIGNED(12),
38 ADIS16209_TEMP_OUT, NULL);
39 static IIO_SCAN_EL_C(incli_x, ADIS16209_SCAN_INCLI_X, IIO_SIGNED(14),
40 ADIS16209_XINCL_OUT, NULL);
41 static IIO_SCAN_EL_C(incli_y, ADIS16209_SCAN_INCLI_Y, IIO_SIGNED(14),
42 ADIS16209_YINCL_OUT, NULL);
43 static IIO_SCAN_EL_C(rot, ADIS16209_SCAN_ROT, IIO_SIGNED(14),
44 ADIS16209_ROT_OUT, NULL);
46 static IIO_SCAN_EL_TIMESTAMP(8);
48 static struct attribute *adis16209_scan_el_attrs[] = {
49 &iio_scan_el_supply.dev_attr.attr,
50 &iio_scan_el_accel_x.dev_attr.attr,
51 &iio_scan_el_accel_y.dev_attr.attr,
52 &iio_scan_el_aux_adc.dev_attr.attr,
53 &iio_scan_el_temp.dev_attr.attr,
54 &iio_scan_el_incli_x.dev_attr.attr,
55 &iio_scan_el_incli_y.dev_attr.attr,
56 &iio_scan_el_rot.dev_attr.attr,
57 &iio_scan_el_timestamp.dev_attr.attr,
61 static struct attribute_group adis16209_scan_el_group = {
62 .attrs = adis16209_scan_el_attrs,
63 .name = "scan_elements",
67 * adis16209_poll_func_th() top half interrupt handler called by trigger
68 * @private_data: iio_dev
70 static void adis16209_poll_func_th(struct iio_dev *indio_dev)
72 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
73 st->last_timestamp = indio_dev->trig->timestamp;
74 schedule_work(&st->work_trigger_to_ring);
78 * adis16209_read_ring_data() read data registers which will be placed into ring
79 * @dev: device associated with child of actual device (iio_dev or iio_trig)
80 * @rx: somewhere to pass back the value read
82 static int adis16209_read_ring_data(struct device *dev, u8 *rx)
84 struct spi_message msg;
85 struct iio_dev *indio_dev = dev_get_drvdata(dev);
86 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
87 struct spi_transfer xfers[ADIS16209_OUTPUTS + 1];
91 mutex_lock(&st->buf_lock);
93 spi_message_init(&msg);
95 memset(xfers, 0, sizeof(xfers));
96 for (i = 0; i <= ADIS16209_OUTPUTS; i++) {
97 xfers[i].bits_per_word = 8;
98 xfers[i].cs_change = 1;
100 xfers[i].delay_usecs = 20;
101 xfers[i].tx_buf = st->tx + 2 * i;
103 = ADIS16209_READ_REG(ADIS16209_SUPPLY_OUT + 2 * i);
104 st->tx[2 * i + 1] = 0;
106 xfers[i].rx_buf = rx + 2 * (i - 1);
107 spi_message_add_tail(&xfers[i], &msg);
110 ret = spi_sync(st->us, &msg);
112 dev_err(&st->us->dev, "problem when burst reading");
114 mutex_unlock(&st->buf_lock);
119 /* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
120 * specific to be rolled into the core.
122 static void adis16209_trigger_bh_to_ring(struct work_struct *work_s)
124 struct adis16209_state *st
125 = container_of(work_s, struct adis16209_state,
126 work_trigger_to_ring);
130 size_t datasize = st->indio_dev
131 ->ring->access.get_bpd(st->indio_dev->ring);
133 data = kmalloc(datasize , GFP_KERNEL);
135 dev_err(&st->us->dev, "memory alloc failed in ring bh");
139 if (st->indio_dev->scan_count)
140 if (adis16209_read_ring_data(&st->indio_dev->dev, st->rx) >= 0)
141 for (; i < st->indio_dev->scan_count; i++) {
142 data[i] = combine_8_to_16(st->rx[i*2+1],
146 /* Guaranteed to be aligned with 8 byte boundary */
147 if (st->indio_dev->scan_timestamp)
148 *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
150 st->indio_dev->ring->access.store_to(st->indio_dev->ring,
154 iio_trigger_notify_done(st->indio_dev->trig);
160 /* in these circumstances is it better to go with unaligned packing and
161 * deal with the cost?*/
162 static int adis16209_data_rdy_ring_preenable(struct iio_dev *indio_dev)
165 dev_dbg(&indio_dev->dev, "%s\n", __func__);
166 /* Check if there are any scan elements enabled, if not fail*/
167 if (!(indio_dev->scan_count || indio_dev->scan_timestamp))
170 if (indio_dev->ring->access.set_bpd) {
171 if (indio_dev->scan_timestamp)
172 if (indio_dev->scan_count)
173 /* Timestamp (aligned to s64) and data */
174 size = (((indio_dev->scan_count * sizeof(s16))
176 & ~(sizeof(s64) - 1))
178 else /* Timestamp only */
181 size = indio_dev->scan_count*sizeof(s16);
182 indio_dev->ring->access.set_bpd(indio_dev->ring, size);
188 static int adis16209_data_rdy_ring_postenable(struct iio_dev *indio_dev)
190 return indio_dev->trig
191 ? iio_trigger_attach_poll_func(indio_dev->trig,
196 static int adis16209_data_rdy_ring_predisable(struct iio_dev *indio_dev)
198 return indio_dev->trig
199 ? iio_trigger_dettach_poll_func(indio_dev->trig,
204 void adis16209_unconfigure_ring(struct iio_dev *indio_dev)
206 kfree(indio_dev->pollfunc);
207 iio_sw_rb_free(indio_dev->ring);
210 int adis16209_configure_ring(struct iio_dev *indio_dev)
213 struct adis16209_state *st = indio_dev->dev_data;
214 struct iio_ring_buffer *ring;
215 INIT_WORK(&st->work_trigger_to_ring, adis16209_trigger_bh_to_ring);
216 /* Set default scan mode */
218 iio_scan_mask_set(indio_dev, iio_scan_el_supply.number);
219 iio_scan_mask_set(indio_dev, iio_scan_el_rot.number);
220 iio_scan_mask_set(indio_dev, iio_scan_el_accel_x.number);
221 iio_scan_mask_set(indio_dev, iio_scan_el_accel_y.number);
222 iio_scan_mask_set(indio_dev, iio_scan_el_temp.number);
223 iio_scan_mask_set(indio_dev, iio_scan_el_aux_adc.number);
224 iio_scan_mask_set(indio_dev, iio_scan_el_incli_x.number);
225 iio_scan_mask_set(indio_dev, iio_scan_el_incli_y.number);
226 indio_dev->scan_timestamp = true;
228 indio_dev->scan_el_attrs = &adis16209_scan_el_group;
230 ring = iio_sw_rb_allocate(indio_dev);
235 indio_dev->ring = ring;
236 /* Effectively select the ring buffer implementation */
237 iio_ring_sw_register_funcs(&ring->access);
238 ring->preenable = &adis16209_data_rdy_ring_preenable;
239 ring->postenable = &adis16209_data_rdy_ring_postenable;
240 ring->predisable = &adis16209_data_rdy_ring_predisable;
241 ring->owner = THIS_MODULE;
243 indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL);
244 if (indio_dev->pollfunc == NULL) {
246 goto error_iio_sw_rb_free;;
248 indio_dev->pollfunc->poll_func_main = &adis16209_poll_func_th;
249 indio_dev->pollfunc->private_data = indio_dev;
250 indio_dev->modes |= INDIO_RING_TRIGGERED;
253 error_iio_sw_rb_free:
254 iio_sw_rb_free(indio_dev->ring);
258 int adis16209_initialize_ring(struct iio_ring_buffer *ring)
260 return iio_ring_buffer_register(ring, 0);
263 void adis16209_uninitialize_ring(struct iio_ring_buffer *ring)
265 iio_ring_buffer_unregister(ring);