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/slab.h>
10 #include <linux/sysfs.h>
11 #include <linux/list.h>
15 #include "../ring_sw.h"
17 #include "../trigger.h"
18 #include "adis16209.h"
20 static IIO_SCAN_EL_C(in_supply, ADIS16209_SCAN_SUPPLY,
21 ADIS16209_SUPPLY_OUT, NULL);
22 static IIO_CONST_ATTR_SCAN_EL_TYPE(in_supply, u, 14, 16)
23 static IIO_SCAN_EL_C(accel_x, ADIS16209_SCAN_ACC_X, ADIS16209_XACCL_OUT, NULL);
24 static IIO_SCAN_EL_C(accel_y, ADIS16209_SCAN_ACC_Y, ADIS16209_YACCL_OUT, NULL);
25 static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16);
26 static IIO_SCAN_EL_C(in0, ADIS16209_SCAN_AUX_ADC, ADIS16209_AUX_ADC, NULL);
27 static IIO_CONST_ATTR_SCAN_EL_TYPE(in0, u, 12, 16);
28 static IIO_SCAN_EL_C(temp, ADIS16209_SCAN_TEMP, ADIS16209_TEMP_OUT, NULL);
29 static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, u, 12, 16);
30 static IIO_SCAN_EL_C(incli_x, ADIS16209_SCAN_INCLI_X,
31 ADIS16209_XINCL_OUT, NULL);
32 static IIO_SCAN_EL_C(incli_y, ADIS16209_SCAN_INCLI_Y,
33 ADIS16209_YINCL_OUT, NULL);
34 static IIO_CONST_ATTR_SCAN_EL_TYPE(incli, s, 14, 16);
35 static IIO_SCAN_EL_C(rot, ADIS16209_SCAN_ROT, ADIS16209_ROT_OUT, NULL);
36 static IIO_CONST_ATTR_SCAN_EL_TYPE(rot, s, 14, 16);
37 static IIO_SCAN_EL_TIMESTAMP(8);
38 static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);
40 static struct attribute *adis16209_scan_el_attrs[] = {
41 &iio_scan_el_in_supply.dev_attr.attr,
42 &iio_const_attr_in_supply_index.dev_attr.attr,
43 &iio_const_attr_in_supply_type.dev_attr.attr,
44 &iio_scan_el_accel_x.dev_attr.attr,
45 &iio_const_attr_accel_x_index.dev_attr.attr,
46 &iio_scan_el_accel_y.dev_attr.attr,
47 &iio_const_attr_accel_y_index.dev_attr.attr,
48 &iio_const_attr_accel_type.dev_attr.attr,
49 &iio_scan_el_in0.dev_attr.attr,
50 &iio_const_attr_in0_index.dev_attr.attr,
51 &iio_const_attr_in0_type.dev_attr.attr,
52 &iio_scan_el_temp.dev_attr.attr,
53 &iio_const_attr_temp_index.dev_attr.attr,
54 &iio_const_attr_temp_type.dev_attr.attr,
55 &iio_scan_el_incli_x.dev_attr.attr,
56 &iio_const_attr_incli_x_index.dev_attr.attr,
57 &iio_scan_el_incli_y.dev_attr.attr,
58 &iio_const_attr_incli_y_index.dev_attr.attr,
59 &iio_const_attr_incli_type.dev_attr.attr,
60 &iio_scan_el_rot.dev_attr.attr,
61 &iio_const_attr_rot_index.dev_attr.attr,
62 &iio_const_attr_rot_type.dev_attr.attr,
63 &iio_scan_el_timestamp.dev_attr.attr,
64 &iio_const_attr_timestamp_index.dev_attr.attr,
65 &iio_const_attr_timestamp_type.dev_attr.attr,
69 static struct attribute_group adis16209_scan_el_group = {
70 .attrs = adis16209_scan_el_attrs,
71 .name = "scan_elements",
75 * adis16209_poll_func_th() top half interrupt handler called by trigger
76 * @private_data: iio_dev
78 static void adis16209_poll_func_th(struct iio_dev *indio_dev, s64 time)
80 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
81 st->last_timestamp = time;
82 schedule_work(&st->work_trigger_to_ring);
86 * adis16209_read_ring_data() read data registers which will be placed into ring
87 * @dev: device associated with child of actual device (iio_dev or iio_trig)
88 * @rx: somewhere to pass back the value read
90 static int adis16209_read_ring_data(struct device *dev, u8 *rx)
92 struct spi_message msg;
93 struct iio_dev *indio_dev = dev_get_drvdata(dev);
94 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
95 struct spi_transfer xfers[ADIS16209_OUTPUTS + 1];
99 mutex_lock(&st->buf_lock);
101 spi_message_init(&msg);
103 memset(xfers, 0, sizeof(xfers));
104 for (i = 0; i <= ADIS16209_OUTPUTS; i++) {
105 xfers[i].bits_per_word = 8;
106 xfers[i].cs_change = 1;
108 xfers[i].delay_usecs = 30;
109 xfers[i].tx_buf = st->tx + 2 * i;
111 = ADIS16209_READ_REG(ADIS16209_SUPPLY_OUT + 2 * i);
112 st->tx[2 * i + 1] = 0;
114 xfers[i].rx_buf = rx + 2 * (i - 1);
115 spi_message_add_tail(&xfers[i], &msg);
118 ret = spi_sync(st->us, &msg);
120 dev_err(&st->us->dev, "problem when burst reading");
122 mutex_unlock(&st->buf_lock);
127 /* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
128 * specific to be rolled into the core.
130 static void adis16209_trigger_bh_to_ring(struct work_struct *work_s)
132 struct adis16209_state *st
133 = container_of(work_s, struct adis16209_state,
134 work_trigger_to_ring);
135 struct iio_ring_buffer *ring = st->indio_dev->ring;
139 size_t datasize = ring->access.get_bytes_per_datum(ring);
141 data = kmalloc(datasize , GFP_KERNEL);
143 dev_err(&st->us->dev, "memory alloc failed in ring bh");
147 if (ring->scan_count)
148 if (adis16209_read_ring_data(&st->indio_dev->dev, st->rx) >= 0)
149 for (; i < ring->scan_count; i++)
150 data[i] = be16_to_cpup(
151 (__be16 *)&(st->rx[i*2]));
153 /* Guaranteed to be aligned with 8 byte boundary */
154 if (ring->scan_timestamp)
155 *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
157 ring->access.store_to(ring,
161 iio_trigger_notify_done(st->indio_dev->trig);
167 void adis16209_unconfigure_ring(struct iio_dev *indio_dev)
169 kfree(indio_dev->pollfunc);
170 iio_sw_rb_free(indio_dev->ring);
173 int adis16209_configure_ring(struct iio_dev *indio_dev)
176 struct adis16209_state *st = indio_dev->dev_data;
177 struct iio_ring_buffer *ring;
178 INIT_WORK(&st->work_trigger_to_ring, adis16209_trigger_bh_to_ring);
180 ring = iio_sw_rb_allocate(indio_dev);
185 indio_dev->ring = ring;
186 /* Effectively select the ring buffer implementation */
187 iio_ring_sw_register_funcs(&ring->access);
189 ring->scan_el_attrs = &adis16209_scan_el_group;
190 ring->scan_timestamp = true;
191 ring->preenable = &iio_sw_ring_preenable;
192 ring->postenable = &iio_triggered_ring_postenable;
193 ring->predisable = &iio_triggered_ring_predisable;
194 ring->owner = THIS_MODULE;
196 /* Set default scan mode */
197 iio_scan_mask_set(ring, iio_scan_el_in_supply.number);
198 iio_scan_mask_set(ring, iio_scan_el_rot.number);
199 iio_scan_mask_set(ring, iio_scan_el_accel_x.number);
200 iio_scan_mask_set(ring, iio_scan_el_accel_y.number);
201 iio_scan_mask_set(ring, iio_scan_el_temp.number);
202 iio_scan_mask_set(ring, iio_scan_el_in0.number);
203 iio_scan_mask_set(ring, iio_scan_el_incli_x.number);
204 iio_scan_mask_set(ring, iio_scan_el_incli_y.number);
206 ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16209_poll_func_th);
208 goto error_iio_sw_rb_free;
210 indio_dev->modes |= INDIO_RING_TRIGGERED;
213 error_iio_sw_rb_free:
214 iio_sw_rb_free(indio_dev->ring);