1#include <linux/interrupt.h>
2#include <linux/irq.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
13#include "../iio.h"
14#include "../sysfs.h"
15#include "../ring_sw.h"
16#include "../accel/accel.h"
17#include "../trigger.h"
18#include "adis16260.h"
19
20static IIO_SCAN_EL_C(in_supply, ADIS16260_SCAN_SUPPLY,
21 ADIS16260_SUPPLY_OUT, NULL);
22static IIO_CONST_ATTR_SCAN_EL_TYPE(in_supply, u, 12, 16);
23static IIO_SCAN_EL_C(gyro, ADIS16260_SCAN_GYRO, ADIS16260_GYRO_OUT, NULL);
24static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16);
25static IIO_SCAN_EL_C(in0, ADIS16260_SCAN_AUX_ADC, ADIS16260_AUX_ADC, NULL);
26static IIO_CONST_ATTR_SCAN_EL_TYPE(in0, u, 12, 16);
27static IIO_SCAN_EL_C(temp, ADIS16260_SCAN_TEMP, ADIS16260_TEMP_OUT, NULL);
28static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, u, 12, 16);
29static IIO_SCAN_EL_C(angl, ADIS16260_SCAN_ANGL, ADIS16260_ANGL_OUT, NULL);
30static IIO_CONST_ATTR_SCAN_EL_TYPE(angl, u, 14, 16);
31static IIO_SCAN_EL_TIMESTAMP(5);
32static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);
33
34static struct attribute *adis16260_scan_el_attrs[] = {
35 &iio_scan_el_in_supply.dev_attr.attr,
36 &iio_const_attr_in_supply_index.dev_attr.attr,
37 &iio_const_attr_in_supply_type.dev_attr.attr,
38 &iio_scan_el_gyro.dev_attr.attr,
39 &iio_const_attr_gyro_index.dev_attr.attr,
40 &iio_const_attr_gyro_type.dev_attr.attr,
41 &iio_scan_el_in0.dev_attr.attr,
42 &iio_const_attr_in0_index.dev_attr.attr,
43 &iio_const_attr_in0_type.dev_attr.attr,
44 &iio_scan_el_temp.dev_attr.attr,
45 &iio_const_attr_temp_index.dev_attr.attr,
46 &iio_const_attr_temp_type.dev_attr.attr,
47 &iio_scan_el_angl.dev_attr.attr,
48 &iio_const_attr_angl_index.dev_attr.attr,
49 &iio_const_attr_angl_type.dev_attr.attr,
50 &iio_scan_el_timestamp.dev_attr.attr,
51 &iio_const_attr_timestamp_index.dev_attr.attr,
52 &iio_const_attr_timestamp_type.dev_attr.attr,
53 NULL,
54};
55
56static struct attribute_group adis16260_scan_el_group = {
57 .attrs = adis16260_scan_el_attrs,
58 .name = "scan_elements",
59};
60
61
62
63
64
65static void adis16260_poll_func_th(struct iio_dev *indio_dev, s64 time)
66{
67 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
68 st->last_timestamp = time;
69 schedule_work(&st->work_trigger_to_ring);
70}
71
72
73
74
75
76
77static int adis16260_read_ring_data(struct device *dev, u8 *rx)
78{
79 struct spi_message msg;
80 struct iio_dev *indio_dev = dev_get_drvdata(dev);
81 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
82 struct spi_transfer xfers[ADIS16260_OUTPUTS + 1];
83 int ret;
84 int i;
85
86 mutex_lock(&st->buf_lock);
87
88 spi_message_init(&msg);
89
90 memset(xfers, 0, sizeof(xfers));
91 for (i = 0; i <= ADIS16260_OUTPUTS; i++) {
92 xfers[i].bits_per_word = 8;
93 xfers[i].cs_change = 1;
94 xfers[i].len = 2;
95 xfers[i].delay_usecs = 30;
96 xfers[i].tx_buf = st->tx + 2 * i;
97 if (i < 2)
98 st->tx[2 * i]
99 = ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT
100 + 2 * i);
101 else
102 st->tx[2 * i]
103 = ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT
104 + 2 * i + 4);
105 st->tx[2 * i + 1] = 0;
106 if (i >= 1)
107 xfers[i].rx_buf = rx + 2 * (i - 1);
108 spi_message_add_tail(&xfers[i], &msg);
109 }
110
111 ret = spi_sync(st->us, &msg);
112 if (ret)
113 dev_err(&st->us->dev, "problem when burst reading");
114
115 mutex_unlock(&st->buf_lock);
116
117 return ret;
118}
119
120
121static void adis16260_trigger_bh_to_ring(struct work_struct *work_s)
122{
123 struct adis16260_state *st
124 = container_of(work_s, struct adis16260_state,
125 work_trigger_to_ring);
126 struct iio_ring_buffer *ring = st->indio_dev->ring;
127
128 int i = 0;
129 s16 *data;
130 size_t datasize = ring->access.get_bytes_per_datum(ring);
131
132 data = kmalloc(datasize , GFP_KERNEL);
133 if (data == NULL) {
134 dev_err(&st->us->dev, "memory alloc failed in ring bh");
135 return;
136 }
137
138 if (ring->scan_count)
139 if (adis16260_read_ring_data(&st->indio_dev->dev, st->rx) >= 0)
140 for (; i < ring->scan_count; i++)
141 data[i] = be16_to_cpup(
142 (__be16 *)&(st->rx[i*2]));
143
144
145 if (ring->scan_timestamp)
146 *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
147
148 ring->access.store_to(ring,
149 (u8 *)data,
150 st->last_timestamp);
151
152 iio_trigger_notify_done(st->indio_dev->trig);
153 kfree(data);
154
155 return;
156}
157
158void adis16260_unconfigure_ring(struct iio_dev *indio_dev)
159{
160 kfree(indio_dev->pollfunc);
161 iio_sw_rb_free(indio_dev->ring);
162}
163
164int adis16260_configure_ring(struct iio_dev *indio_dev)
165{
166 int ret = 0;
167 struct adis16260_state *st = indio_dev->dev_data;
168 struct iio_ring_buffer *ring;
169 INIT_WORK(&st->work_trigger_to_ring, adis16260_trigger_bh_to_ring);
170
171 ring = iio_sw_rb_allocate(indio_dev);
172 if (!ring) {
173 ret = -ENOMEM;
174 return ret;
175 }
176 indio_dev->ring = ring;
177
178 iio_ring_sw_register_funcs(&ring->access);
179 ring->bpe = 2;
180 ring->scan_el_attrs = &adis16260_scan_el_group;
181 ring->scan_timestamp = true;
182 ring->preenable = &iio_sw_ring_preenable;
183 ring->postenable = &iio_triggered_ring_postenable;
184 ring->predisable = &iio_triggered_ring_predisable;
185 ring->owner = THIS_MODULE;
186
187
188 iio_scan_mask_set(ring, iio_scan_el_in_supply.number);
189 iio_scan_mask_set(ring, iio_scan_el_gyro.number);
190 iio_scan_mask_set(ring, iio_scan_el_in0.number);
191 iio_scan_mask_set(ring, iio_scan_el_temp.number);
192 iio_scan_mask_set(ring, iio_scan_el_angl.number);
193
194 ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16260_poll_func_th);
195 if (ret)
196 goto error_iio_sw_rb_free;
197
198 indio_dev->modes |= INDIO_RING_TRIGGERED;
199 return 0;
200
201error_iio_sw_rb_free:
202 iio_sw_rb_free(indio_dev->ring);
203 return ret;
204}
205
