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>
12 #include <linux/bitops.h>
16 #include "../ring_sw.h"
17 #include "../accel/accel.h"
18 #include "../trigger.h"
19 #include "adis16400.h"
22 * adis16400_spi_read_burst() - read all data registers
23 * @dev: device associated with child of actual device (iio_dev or iio_trig)
24 * @rx: somewhere to pass back the value read (min size is 24 bytes)
26 static int adis16400_spi_read_burst(struct device *dev, u8 *rx)
28 struct spi_message msg;
29 struct iio_dev *indio_dev = dev_get_drvdata(dev);
30 struct adis16400_state *st = iio_priv(indio_dev);
31 u32 old_speed_hz = st->us->max_speed_hz;
34 struct spi_transfer xfers[] = {
46 mutex_lock(&st->buf_lock);
47 st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD);
50 spi_message_init(&msg);
51 spi_message_add_tail(&xfers[0], &msg);
52 spi_message_add_tail(&xfers[1], &msg);
54 st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz);
57 ret = spi_sync(st->us, &msg);
59 dev_err(&st->us->dev, "problem when burst reading");
61 st->us->max_speed_hz = old_speed_hz;
63 mutex_unlock(&st->buf_lock);
67 static const u16 read_all_tx_array[] = {
68 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_SUPPLY_OUT)),
69 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XGYRO_OUT)),
70 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YGYRO_OUT)),
71 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZGYRO_OUT)),
72 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XACCL_OUT)),
73 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YACCL_OUT)),
74 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZACCL_OUT)),
75 cpu_to_be16(ADIS16400_READ_REG(ADIS16350_XTEMP_OUT)),
76 cpu_to_be16(ADIS16400_READ_REG(ADIS16350_YTEMP_OUT)),
77 cpu_to_be16(ADIS16400_READ_REG(ADIS16350_ZTEMP_OUT)),
78 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_AUX_ADC)),
81 static int adis16350_spi_read_all(struct device *dev, u8 *rx)
83 struct iio_dev *indio_dev = dev_get_drvdata(dev);
84 struct adis16400_state *st = iio_priv(indio_dev);
86 struct spi_message msg;
88 struct spi_transfer *xfers;
90 xfers = kzalloc(sizeof(*xfers)*indio_dev->ring->scan_count + 1,
95 for (i = 0; i < ARRAY_SIZE(read_all_tx_array); i++)
96 if (indio_dev->ring->scan_mask & (1 << i)) {
97 xfers[j].tx_buf = &read_all_tx_array[i];
98 xfers[j].bits_per_word = 16;
100 xfers[j + 1].rx_buf = rx + j*2;
103 xfers[j].bits_per_word = 16;
106 spi_message_init(&msg);
107 for (j = 0; j < indio_dev->ring->scan_count + 1; j++)
108 spi_message_add_tail(&xfers[j], &msg);
110 ret = spi_sync(st->us, &msg);
116 /* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
117 * specific to be rolled into the core.
119 static irqreturn_t adis16400_trigger_handler(int irq, void *p)
121 struct iio_poll_func *pf = p;
122 struct iio_dev *indio_dev = pf->private_data;
123 struct adis16400_state *st = iio_priv(indio_dev);
124 struct iio_ring_buffer *ring = indio_dev->ring;
125 int i = 0, j, ret = 0;
127 size_t datasize = ring->access.get_bytes_per_datum(ring);
128 unsigned long mask = ring->scan_mask;
130 data = kmalloc(datasize , GFP_KERNEL);
132 dev_err(&st->us->dev, "memory alloc failed in ring bh");
136 if (ring->scan_count) {
137 if (st->variant->flags & ADIS16400_NO_BURST) {
138 ret = adis16350_spi_read_all(&indio_dev->dev, st->rx);
141 for (; i < ring->scan_count; i++)
142 data[i] = *(s16 *)(st->rx + i*2);
144 ret = adis16400_spi_read_burst(&indio_dev->dev, st->rx);
147 for (; i < indio_dev->ring->scan_count; i++) {
150 data[i] = be16_to_cpup(
151 (__be16 *)&(st->rx[j*2]));
155 /* Guaranteed to be aligned with 8 byte boundary */
156 if (ring->scan_timestamp)
157 *((s64 *)(data + ((i + 3)/4)*4)) = pf->timestamp;
158 ring->access.store_to(indio_dev->ring, (u8 *) data, pf->timestamp);
160 iio_trigger_notify_done(indio_dev->trig);
166 void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
168 kfree(indio_dev->pollfunc->name);
169 kfree(indio_dev->pollfunc);
170 iio_sw_rb_free(indio_dev->ring);
173 int adis16400_configure_ring(struct iio_dev *indio_dev)
176 struct adis16400_state *st = iio_priv(indio_dev);
177 struct iio_ring_buffer *ring;
179 ring = iio_sw_rb_allocate(indio_dev);
184 indio_dev->ring = ring;
185 /* Effectively select the ring buffer implementation */
186 iio_ring_sw_register_funcs(&ring->access);
188 ring->scan_timestamp = true;
189 ring->preenable = &iio_sw_ring_preenable;
190 ring->postenable = &iio_triggered_ring_postenable;
191 ring->predisable = &iio_triggered_ring_predisable;
192 ring->owner = THIS_MODULE;
193 ring->scan_mask = st->variant->default_scan_mask;
194 ring->scan_count = hweight_long(st->variant->default_scan_mask);
195 /* Set default scan mode */
197 indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL);
198 if (indio_dev->pollfunc == NULL) {
200 goto error_iio_sw_rb_free;
202 indio_dev->pollfunc->private_data = indio_dev;
203 indio_dev->pollfunc->h = &iio_pollfunc_store_time;
204 indio_dev->pollfunc->thread = &adis16400_trigger_handler;
205 indio_dev->pollfunc->type = IRQF_ONESHOT;
206 indio_dev->pollfunc->name =
207 kasprintf(GFP_KERNEL, "adis16400_consumer%d", indio_dev->id);
209 goto error_iio_free_pollfunc;
211 indio_dev->modes |= INDIO_RING_TRIGGERED;
213 error_iio_free_pollfunc:
214 kfree(indio_dev->pollfunc);
215 error_iio_sw_rb_free:
216 iio_sw_rb_free(indio_dev->ring);