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(in_supply, ADIS16350_SCAN_SUPPLY,
21 ADIS16350_SUPPLY_OUT, NULL);
22 static IIO_CONST_ATTR_SCAN_EL_TYPE(in_supply, u, 12, 16);
24 static IIO_SCAN_EL_C(gyro_x, ADIS16350_SCAN_GYRO_X, ADIS16350_XGYRO_OUT, NULL);
25 static IIO_SCAN_EL_C(gyro_y, ADIS16350_SCAN_GYRO_Y, ADIS16350_YGYRO_OUT, NULL);
26 static IIO_SCAN_EL_C(gyro_z, ADIS16350_SCAN_GYRO_Z, ADIS16350_ZGYRO_OUT, NULL);
27 static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16);
29 static IIO_SCAN_EL_C(accel_x, ADIS16350_SCAN_ACC_X, ADIS16350_XACCL_OUT, NULL);
30 static IIO_SCAN_EL_C(accel_y, ADIS16350_SCAN_ACC_Y, ADIS16350_YACCL_OUT, NULL);
31 static IIO_SCAN_EL_C(accel_z, ADIS16350_SCAN_ACC_Z, ADIS16350_ZACCL_OUT, NULL);
32 static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16);
34 static IIO_SCAN_EL_C(temp_x, ADIS16350_SCAN_TEMP_X, ADIS16350_XTEMP_OUT, NULL);
35 static IIO_SCAN_EL_C(temp_y, ADIS16350_SCAN_TEMP_Y, ADIS16350_YTEMP_OUT, NULL);
36 static IIO_SCAN_EL_C(temp_z, ADIS16350_SCAN_TEMP_Z, ADIS16350_ZTEMP_OUT, NULL);
37 static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16);
39 static IIO_SCAN_EL_C(in0, ADIS16350_SCAN_ADC_0, ADIS16350_AUX_ADC, NULL);
40 static IIO_CONST_ATTR_SCAN_EL_TYPE(in0, u, 12, 16);
42 static IIO_SCAN_EL_TIMESTAMP(11);
43 static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);
45 static struct attribute *adis16350_scan_el_attrs[] = {
46 &iio_scan_el_in_supply.dev_attr.attr,
47 &iio_const_attr_in_supply_index.dev_attr.attr,
48 &iio_const_attr_in_supply_type.dev_attr.attr,
49 &iio_scan_el_gyro_x.dev_attr.attr,
50 &iio_const_attr_gyro_x_index.dev_attr.attr,
51 &iio_scan_el_gyro_y.dev_attr.attr,
52 &iio_const_attr_gyro_y_index.dev_attr.attr,
53 &iio_scan_el_gyro_z.dev_attr.attr,
54 &iio_const_attr_gyro_z_index.dev_attr.attr,
55 &iio_const_attr_gyro_type.dev_attr.attr,
56 &iio_scan_el_accel_x.dev_attr.attr,
57 &iio_const_attr_accel_x_index.dev_attr.attr,
58 &iio_scan_el_accel_y.dev_attr.attr,
59 &iio_const_attr_accel_y_index.dev_attr.attr,
60 &iio_scan_el_accel_z.dev_attr.attr,
61 &iio_const_attr_accel_z_index.dev_attr.attr,
62 &iio_const_attr_accel_type.dev_attr.attr,
63 &iio_scan_el_temp_x.dev_attr.attr,
64 &iio_const_attr_temp_x_index.dev_attr.attr,
65 &iio_scan_el_temp_y.dev_attr.attr,
66 &iio_const_attr_temp_y_index.dev_attr.attr,
67 &iio_scan_el_temp_z.dev_attr.attr,
68 &iio_const_attr_temp_z_index.dev_attr.attr,
69 &iio_const_attr_temp_type.dev_attr.attr,
70 &iio_scan_el_in0.dev_attr.attr,
71 &iio_const_attr_in0_index.dev_attr.attr,
72 &iio_const_attr_in0_type.dev_attr.attr,
73 &iio_scan_el_timestamp.dev_attr.attr,
74 &iio_const_attr_timestamp_index.dev_attr.attr,
75 &iio_const_attr_timestamp_type.dev_attr.attr,
79 static struct attribute_group adis16350_scan_el_group = {
80 .attrs = adis16350_scan_el_attrs,
81 .name = "scan_elements",
85 * adis16350_poll_func_th() top half interrupt handler called by trigger
86 * @private_data: iio_dev
88 static void adis16350_poll_func_th(struct iio_dev *indio_dev, s64 time)
90 struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
91 st->last_timestamp = time;
92 schedule_work(&st->work_trigger_to_ring);
96 * adis16350_spi_read_burst() - read all data registers
97 * @dev: device associated with child of actual device (iio_dev or iio_trig)
98 * @rx: somewhere to pass back the value read (min size is 24 bytes)
100 static int adis16350_spi_read_burst(struct device *dev, u8 *rx)
102 struct spi_message msg;
103 struct iio_dev *indio_dev = dev_get_drvdata(dev);
104 struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
105 u32 old_speed_hz = st->us->max_speed_hz;
108 struct spi_transfer xfers[] = {
122 mutex_lock(&st->buf_lock);
123 st->tx[0] = ADIS16350_READ_REG(ADIS16350_GLOB_CMD);
126 spi_message_init(&msg);
127 spi_message_add_tail(&xfers[0], &msg);
128 spi_message_add_tail(&xfers[1], &msg);
130 st->us->max_speed_hz = ADIS16350_SPI_BURST;
133 ret = spi_sync(st->us, &msg);
135 dev_err(&st->us->dev, "problem when burst reading");
137 st->us->max_speed_hz = old_speed_hz;
139 mutex_unlock(&st->buf_lock);
143 /* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
144 * specific to be rolled into the core.
146 static void adis16350_trigger_bh_to_ring(struct work_struct *work_s)
148 struct adis16350_state *st
149 = container_of(work_s, struct adis16350_state,
150 work_trigger_to_ring);
151 struct iio_ring_buffer *ring = st->indio_dev->ring;
155 size_t datasize = ring->access.get_bytes_per_datum(ring);
157 data = kmalloc(datasize , GFP_KERNEL);
159 dev_err(&st->us->dev, "memory alloc failed in ring bh");
163 if (ring->scan_count)
164 if (adis16350_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
165 for (; i < ring->scan_count; i++)
166 data[i] = be16_to_cpup(
167 (__be16 *)&(st->rx[i*2]));
169 /* Guaranteed to be aligned with 8 byte boundary */
170 if (ring->scan_timestamp)
171 *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
173 ring->access.store_to(ring,
177 iio_trigger_notify_done(st->indio_dev->trig);
183 void adis16350_unconfigure_ring(struct iio_dev *indio_dev)
185 kfree(indio_dev->pollfunc);
186 iio_sw_rb_free(indio_dev->ring);
189 int adis16350_configure_ring(struct iio_dev *indio_dev)
192 struct adis16350_state *st = indio_dev->dev_data;
193 struct iio_ring_buffer *ring;
194 INIT_WORK(&st->work_trigger_to_ring, adis16350_trigger_bh_to_ring);
196 ring = iio_sw_rb_allocate(indio_dev);
201 indio_dev->ring = ring;
202 /* Effectively select the ring buffer implementation */
203 iio_ring_sw_register_funcs(&ring->access);
205 ring->scan_el_attrs = &adis16350_scan_el_group;
206 ring->scan_timestamp = true;
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 /* Set default scan mode */
213 iio_scan_mask_set(ring, iio_scan_el_in_supply.number);
214 iio_scan_mask_set(ring, iio_scan_el_gyro_x.number);
215 iio_scan_mask_set(ring, iio_scan_el_gyro_y.number);
216 iio_scan_mask_set(ring, iio_scan_el_gyro_z.number);
217 iio_scan_mask_set(ring, iio_scan_el_accel_x.number);
218 iio_scan_mask_set(ring, iio_scan_el_accel_y.number);
219 iio_scan_mask_set(ring, iio_scan_el_accel_z.number);
220 iio_scan_mask_set(ring, iio_scan_el_temp_x.number);
221 iio_scan_mask_set(ring, iio_scan_el_temp_y.number);
222 iio_scan_mask_set(ring, iio_scan_el_temp_z.number);
223 iio_scan_mask_set(ring, iio_scan_el_in0.number);
225 ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16350_poll_func_th);
227 goto error_iio_sw_rb_free;
229 indio_dev->modes |= INDIO_RING_TRIGGERED;
232 error_iio_sw_rb_free:
233 iio_sw_rb_free(indio_dev->ring);