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"
16 #include "../accel/accel.h"
17 #include "../trigger.h"
18 #include "adis16350.h"
20 static IIO_SCAN_EL_C(supply
, ADIS16350_SCAN_SUPPLY
, IIO_UNSIGNED(12),
21 ADIS16350_SUPPLY_OUT
, NULL
);
23 static IIO_SCAN_EL_C(gyro_x
, ADIS16350_SCAN_GYRO_X
, IIO_SIGNED(14),
24 ADIS16350_XGYRO_OUT
, NULL
);
25 static IIO_SCAN_EL_C(gyro_y
, ADIS16350_SCAN_GYRO_Y
, IIO_SIGNED(14),
26 ADIS16350_YGYRO_OUT
, NULL
);
27 static IIO_SCAN_EL_C(gyro_z
, ADIS16350_SCAN_GYRO_Z
, IIO_SIGNED(14),
28 ADIS16350_ZGYRO_OUT
, NULL
);
30 static IIO_SCAN_EL_C(accel_x
, ADIS16350_SCAN_ACC_X
, IIO_SIGNED(14),
31 ADIS16350_XACCL_OUT
, NULL
);
32 static IIO_SCAN_EL_C(accel_y
, ADIS16350_SCAN_ACC_Y
, IIO_SIGNED(14),
33 ADIS16350_YACCL_OUT
, NULL
);
34 static IIO_SCAN_EL_C(accel_z
, ADIS16350_SCAN_ACC_Z
, IIO_SIGNED(14),
35 ADIS16350_ZACCL_OUT
, NULL
);
37 static IIO_SCAN_EL_C(temp_x
, ADIS16350_SCAN_TEMP_X
, IIO_SIGNED(12),
38 ADIS16350_XTEMP_OUT
, NULL
);
39 static IIO_SCAN_EL_C(temp_y
, ADIS16350_SCAN_TEMP_Y
, IIO_SIGNED(12),
40 ADIS16350_YTEMP_OUT
, NULL
);
41 static IIO_SCAN_EL_C(temp_z
, ADIS16350_SCAN_TEMP_Z
, IIO_SIGNED(12),
42 ADIS16350_ZTEMP_OUT
, NULL
);
44 static IIO_SCAN_EL_C(adc_0
, ADIS16350_SCAN_ADC_0
, IIO_UNSIGNED(12),
45 ADIS16350_AUX_ADC
, NULL
);
47 static IIO_SCAN_EL_TIMESTAMP(11);
49 static struct attribute
*adis16350_scan_el_attrs
[] = {
50 &iio_scan_el_supply
.dev_attr
.attr
,
51 &iio_scan_el_gyro_x
.dev_attr
.attr
,
52 &iio_scan_el_gyro_y
.dev_attr
.attr
,
53 &iio_scan_el_gyro_z
.dev_attr
.attr
,
54 &iio_scan_el_accel_x
.dev_attr
.attr
,
55 &iio_scan_el_accel_y
.dev_attr
.attr
,
56 &iio_scan_el_accel_z
.dev_attr
.attr
,
57 &iio_scan_el_temp_x
.dev_attr
.attr
,
58 &iio_scan_el_temp_y
.dev_attr
.attr
,
59 &iio_scan_el_temp_z
.dev_attr
.attr
,
60 &iio_scan_el_adc_0
.dev_attr
.attr
,
61 &iio_scan_el_timestamp
.dev_attr
.attr
,
65 static struct attribute_group adis16350_scan_el_group
= {
66 .attrs
= adis16350_scan_el_attrs
,
67 .name
= "scan_elements",
71 * adis16350_poll_func_th() top half interrupt handler called by trigger
72 * @private_data: iio_dev
74 static void adis16350_poll_func_th(struct iio_dev
*indio_dev
, s64 time
)
76 struct adis16350_state
*st
= iio_dev_get_devdata(indio_dev
);
77 st
->last_timestamp
= time
;
78 schedule_work(&st
->work_trigger_to_ring
);
82 * adis16350_spi_read_burst() - read all data registers
83 * @dev: device associated with child of actual device (iio_dev or iio_trig)
84 * @rx: somewhere to pass back the value read (min size is 24 bytes)
86 static int adis16350_spi_read_burst(struct device
*dev
, u8
*rx
)
88 struct spi_message msg
;
89 struct iio_dev
*indio_dev
= dev_get_drvdata(dev
);
90 struct adis16350_state
*st
= iio_dev_get_devdata(indio_dev
);
91 u32 old_speed_hz
= st
->us
->max_speed_hz
;
94 struct spi_transfer xfers
[] = {
108 mutex_lock(&st
->buf_lock
);
109 st
->tx
[0] = ADIS16350_READ_REG(ADIS16350_GLOB_CMD
);
112 spi_message_init(&msg
);
113 spi_message_add_tail(&xfers
[0], &msg
);
114 spi_message_add_tail(&xfers
[1], &msg
);
116 st
->us
->max_speed_hz
= ADIS16350_SPI_BURST
;
119 ret
= spi_sync(st
->us
, &msg
);
121 dev_err(&st
->us
->dev
, "problem when burst reading");
123 st
->us
->max_speed_hz
= old_speed_hz
;
125 mutex_unlock(&st
->buf_lock
);
129 /* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
130 * specific to be rolled into the core.
132 static void adis16350_trigger_bh_to_ring(struct work_struct
*work_s
)
134 struct adis16350_state
*st
135 = container_of(work_s
, struct adis16350_state
,
136 work_trigger_to_ring
);
140 size_t datasize
= st
->indio_dev
141 ->ring
->access
.get_bpd(st
->indio_dev
->ring
);
143 data
= kmalloc(datasize
, GFP_KERNEL
);
145 dev_err(&st
->us
->dev
, "memory alloc failed in ring bh");
149 if (st
->indio_dev
->scan_count
)
150 if (adis16350_spi_read_burst(&st
->indio_dev
->dev
, st
->rx
) >= 0)
151 for (; i
< st
->indio_dev
->scan_count
; i
++)
152 data
[i
] = be16_to_cpup(
153 (__be16
*)&(st
->rx
[i
*2]));
155 /* Guaranteed to be aligned with 8 byte boundary */
156 if (st
->indio_dev
->scan_timestamp
)
157 *((s64
*)(data
+ ((i
+ 3)/4)*4)) = st
->last_timestamp
;
159 st
->indio_dev
->ring
->access
.store_to(st
->indio_dev
->ring
,
163 iio_trigger_notify_done(st
->indio_dev
->trig
);
169 void adis16350_unconfigure_ring(struct iio_dev
*indio_dev
)
171 kfree(indio_dev
->pollfunc
);
172 iio_sw_rb_free(indio_dev
->ring
);
175 int adis16350_configure_ring(struct iio_dev
*indio_dev
)
178 struct adis16350_state
*st
= indio_dev
->dev_data
;
179 struct iio_ring_buffer
*ring
;
180 INIT_WORK(&st
->work_trigger_to_ring
, adis16350_trigger_bh_to_ring
);
181 /* Set default scan mode */
183 iio_scan_mask_set(indio_dev
, iio_scan_el_supply
.number
);
184 iio_scan_mask_set(indio_dev
, iio_scan_el_gyro_x
.number
);
185 iio_scan_mask_set(indio_dev
, iio_scan_el_gyro_y
.number
);
186 iio_scan_mask_set(indio_dev
, iio_scan_el_gyro_z
.number
);
187 iio_scan_mask_set(indio_dev
, iio_scan_el_accel_x
.number
);
188 iio_scan_mask_set(indio_dev
, iio_scan_el_accel_y
.number
);
189 iio_scan_mask_set(indio_dev
, iio_scan_el_accel_z
.number
);
190 iio_scan_mask_set(indio_dev
, iio_scan_el_temp_x
.number
);
191 iio_scan_mask_set(indio_dev
, iio_scan_el_temp_y
.number
);
192 iio_scan_mask_set(indio_dev
, iio_scan_el_temp_z
.number
);
193 iio_scan_mask_set(indio_dev
, iio_scan_el_adc_0
.number
);
194 indio_dev
->scan_timestamp
= true;
196 indio_dev
->scan_el_attrs
= &adis16350_scan_el_group
;
198 ring
= iio_sw_rb_allocate(indio_dev
);
203 indio_dev
->ring
= ring
;
204 /* Effectively select the ring buffer implementation */
205 iio_ring_sw_register_funcs(&ring
->access
);
207 ring
->preenable
= &iio_sw_ring_preenable
;
208 ring
->postenable
= &iio_triggered_ring_postenable
;
209 ring
->predisable
= &iio_triggered_ring_predisable
;
210 ring
->owner
= THIS_MODULE
;
212 ret
= iio_alloc_pollfunc(indio_dev
, NULL
, &adis16350_poll_func_th
);
214 goto error_iio_sw_rb_free
;
216 indio_dev
->modes
|= INDIO_RING_TRIGGERED
;
219 error_iio_sw_rb_free
:
220 iio_sw_rb_free(indio_dev
->ring
);