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 "adis16260.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, ADIS16260_SCAN_SUPPLY, IIO_UNSIGNED(12),
30 ADIS16260_SUPPLY_OUT, NULL);
31 static IIO_SCAN_EL_C(gyro, ADIS16260_SCAN_GYRO, IIO_SIGNED(14),
32 ADIS16260_GYRO_OUT, NULL);
33 static IIO_SCAN_EL_C(aux_adc, ADIS16260_SCAN_AUX_ADC, IIO_SIGNED(14),
34 ADIS16260_AUX_ADC, NULL);
35 static IIO_SCAN_EL_C(temp, ADIS16260_SCAN_TEMP, IIO_UNSIGNED(12),
36 ADIS16260_TEMP_OUT, NULL);
37 static IIO_SCAN_EL_C(angl, ADIS16260_SCAN_ANGL, IIO_UNSIGNED(12),
38 ADIS16260_ANGL_OUT, NULL);
40 static IIO_SCAN_EL_TIMESTAMP(5);
42 static struct attribute *adis16260_scan_el_attrs[] = {
43 &iio_scan_el_supply.dev_attr.attr,
44 &iio_scan_el_gyro.dev_attr.attr,
45 &iio_scan_el_aux_adc.dev_attr.attr,
46 &iio_scan_el_temp.dev_attr.attr,
47 &iio_scan_el_angl.dev_attr.attr,
48 &iio_scan_el_timestamp.dev_attr.attr,
52 static struct attribute_group adis16260_scan_el_group = {
53 .attrs = adis16260_scan_el_attrs,
54 .name = "scan_elements",
58 * adis16260_poll_func_th() top half interrupt handler called by trigger
59 * @private_data: iio_dev
61 static void adis16260_poll_func_th(struct iio_dev *indio_dev)
63 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
64 st->last_timestamp = indio_dev->trig->timestamp;
65 schedule_work(&st->work_trigger_to_ring);
69 * adis16260_read_ring_data() read data registers which will be placed into ring
70 * @dev: device associated with child of actual device (iio_dev or iio_trig)
71 * @rx: somewhere to pass back the value read
73 static int adis16260_read_ring_data(struct device *dev, u8 *rx)
75 struct spi_message msg;
76 struct iio_dev *indio_dev = dev_get_drvdata(dev);
77 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
78 struct spi_transfer xfers[ADIS16260_OUTPUTS + 1];
82 mutex_lock(&st->buf_lock);
84 spi_message_init(&msg);
86 memset(xfers, 0, sizeof(xfers));
87 for (i = 0; i <= ADIS16260_OUTPUTS; i++) {
88 xfers[i].bits_per_word = 8;
89 xfers[i].cs_change = 1;
91 xfers[i].delay_usecs = 30;
92 xfers[i].tx_buf = st->tx + 2 * i;
93 if (i < 2) /* SUPPLY_OUT:0x02 GYRO_OUT:0x04 */
95 = ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT
97 else /* 0x06 to 0x09 is reserved */
99 = ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT
101 st->tx[2 * i + 1] = 0;
103 xfers[i].rx_buf = rx + 2 * (i - 1);
104 spi_message_add_tail(&xfers[i], &msg);
107 ret = spi_sync(st->us, &msg);
109 dev_err(&st->us->dev, "problem when burst reading");
111 mutex_unlock(&st->buf_lock);
117 static void adis16260_trigger_bh_to_ring(struct work_struct *work_s)
119 struct adis16260_state *st
120 = container_of(work_s, struct adis16260_state,
121 work_trigger_to_ring);
125 size_t datasize = st->indio_dev
126 ->ring->access.get_bpd(st->indio_dev->ring);
128 data = kmalloc(datasize , GFP_KERNEL);
130 dev_err(&st->us->dev, "memory alloc failed in ring bh");
134 if (st->indio_dev->scan_count)
135 if (adis16260_read_ring_data(&st->indio_dev->dev, st->rx) >= 0)
136 for (; i < st->indio_dev->scan_count; i++) {
137 data[i] = combine_8_to_16(st->rx[i*2+1],
141 /* Guaranteed to be aligned with 8 byte boundary */
142 if (st->indio_dev->scan_timestamp)
143 *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
145 st->indio_dev->ring->access.store_to(st->indio_dev->ring,
149 iio_trigger_notify_done(st->indio_dev->trig);
155 static int adis16260_data_rdy_ring_preenable(struct iio_dev *indio_dev)
158 dev_dbg(&indio_dev->dev, "%s\n", __func__);
159 /* Check if there are any scan elements enabled, if not fail*/
160 if (!(indio_dev->scan_count || indio_dev->scan_timestamp))
163 if (indio_dev->ring->access.set_bpd) {
164 if (indio_dev->scan_timestamp)
165 if (indio_dev->scan_count)
166 /* Timestamp (aligned s64) and data */
167 size = (((indio_dev->scan_count * sizeof(s16))
169 & ~(sizeof(s64) - 1))
171 else /* Timestamp only */
174 size = indio_dev->scan_count*sizeof(s16);
175 indio_dev->ring->access.set_bpd(indio_dev->ring, size);
181 static int adis16260_data_rdy_ring_postenable(struct iio_dev *indio_dev)
183 return indio_dev->trig
184 ? iio_trigger_attach_poll_func(indio_dev->trig,
189 static int adis16260_data_rdy_ring_predisable(struct iio_dev *indio_dev)
191 return indio_dev->trig
192 ? iio_trigger_dettach_poll_func(indio_dev->trig,
197 void adis16260_unconfigure_ring(struct iio_dev *indio_dev)
199 kfree(indio_dev->pollfunc);
200 iio_sw_rb_free(indio_dev->ring);
203 int adis16260_configure_ring(struct iio_dev *indio_dev)
206 struct adis16260_state *st = indio_dev->dev_data;
207 struct iio_ring_buffer *ring;
208 INIT_WORK(&st->work_trigger_to_ring, adis16260_trigger_bh_to_ring);
209 /* Set default scan mode */
211 iio_scan_mask_set(indio_dev, iio_scan_el_supply.number);
212 iio_scan_mask_set(indio_dev, iio_scan_el_gyro.number);
213 iio_scan_mask_set(indio_dev, iio_scan_el_aux_adc.number);
214 iio_scan_mask_set(indio_dev, iio_scan_el_temp.number);
215 iio_scan_mask_set(indio_dev, iio_scan_el_angl.number);
216 indio_dev->scan_timestamp = true;
218 indio_dev->scan_el_attrs = &adis16260_scan_el_group;
220 ring = iio_sw_rb_allocate(indio_dev);
225 indio_dev->ring = ring;
226 /* Effectively select the ring buffer implementation */
227 iio_ring_sw_register_funcs(&ring->access);
228 ring->preenable = &adis16260_data_rdy_ring_preenable;
229 ring->postenable = &adis16260_data_rdy_ring_postenable;
230 ring->predisable = &adis16260_data_rdy_ring_predisable;
231 ring->owner = THIS_MODULE;
233 indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL);
234 if (indio_dev->pollfunc == NULL) {
236 goto error_iio_sw_rb_free;;
238 indio_dev->pollfunc->poll_func_main = &adis16260_poll_func_th;
239 indio_dev->pollfunc->private_data = indio_dev;
240 indio_dev->modes |= INDIO_RING_TRIGGERED;
243 error_iio_sw_rb_free:
244 iio_sw_rb_free(indio_dev->ring);
248 int adis16260_initialize_ring(struct iio_ring_buffer *ring)
250 return iio_ring_buffer_register(ring, 0);
253 void adis16260_uninitialize_ring(struct iio_ring_buffer *ring)
255 iio_ring_buffer_unregister(ring);