LXR linux/drivers/staging/iio/imu/adis16300

   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 "adis16300.h"
  19
  20static IIO_SCAN_EL_C(in0_supply, ADIS16300_SCAN_SUPPLY,
  21                     ADIS16300_SUPPLY_OUT, NULL);
  22static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 12, 16);
  23static IIO_SCAN_EL_C(gyro_x, ADIS16300_SCAN_GYRO_X, ADIS16300_XGYRO_OUT, NULL);
  24static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16);
  25
  26static IIO_SCAN_EL_C(accel_x, ADIS16300_SCAN_ACC_X, ADIS16300_XACCL_OUT, NULL);
  27static IIO_SCAN_EL_C(accel_y, ADIS16300_SCAN_ACC_Y, ADIS16300_YACCL_OUT, NULL);
  28static IIO_SCAN_EL_C(accel_z, ADIS16300_SCAN_ACC_Z, ADIS16300_ZACCL_OUT, NULL);
  29static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16);
  30
  31static IIO_SCAN_EL_C(temp, ADIS16300_SCAN_TEMP, ADIS16300_TEMP_OUT, NULL);
  32static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16);
  33
  34static IIO_SCAN_EL_C(in1, ADIS16300_SCAN_ADC_0, ADIS16300_AUX_ADC, NULL);
  35static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16);
  36
  37static IIO_SCAN_EL_C(incli_x, ADIS16300_SCAN_INCLI_X,
  38                     ADIS16300_XINCLI_OUT, NULL);
  39static IIO_SCAN_EL_C(incli_y, ADIS16300_SCAN_INCLI_Y,
  40                     ADIS16300_YINCLI_OUT, NULL);
  41static IIO_CONST_ATTR_SCAN_EL_TYPE(incli, s, 13, 16);
  42
  43static IIO_SCAN_EL_TIMESTAMP(9);
  44static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);
  45
  46static struct attribute *adis16300_scan_el_attrs[] = {
  47        &iio_scan_el_in0_supply.dev_attr.attr,
  48        &iio_const_attr_in0_supply_index.dev_attr.attr,
  49        &iio_const_attr_in0_supply_type.dev_attr.attr,
  50        &iio_scan_el_gyro_x.dev_attr.attr,
  51        &iio_const_attr_gyro_x_index.dev_attr.attr,
  52        &iio_const_attr_gyro_type.dev_attr.attr,
  53        &iio_scan_el_temp.dev_attr.attr,
  54        &iio_const_attr_temp_index.dev_attr.attr,
  55        &iio_const_attr_temp_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_incli_x.dev_attr.attr,
  64        &iio_const_attr_incli_x_index.dev_attr.attr,
  65        &iio_scan_el_incli_y.dev_attr.attr,
  66        &iio_const_attr_incli_y_index.dev_attr.attr,
  67        &iio_const_attr_incli_type.dev_attr.attr,
  68        &iio_scan_el_in1.dev_attr.attr,
  69        &iio_const_attr_in1_index.dev_attr.attr,
  70        &iio_const_attr_in1_type.dev_attr.attr,
  71        &iio_scan_el_timestamp.dev_attr.attr,
  72        &iio_const_attr_timestamp_index.dev_attr.attr,
  73        &iio_const_attr_timestamp_type.dev_attr.attr,
  74        NULL,
  75};
  76
  77static struct attribute_group adis16300_scan_el_group = {
  78        .attrs = adis16300_scan_el_attrs,
  79        .name = "scan_elements",
  80};
  81
  82/**
  83 * adis16300_poll_func_th() top half interrupt handler called by trigger
  84 * @private_data:       iio_dev
  85 **/
  86static void adis16300_poll_func_th(struct iio_dev *indio_dev, s64 time)
  87{
  88        struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
  89        st->last_timestamp = time;
  90        schedule_work(&st->work_trigger_to_ring);
  91        /* Indicate that this interrupt is being handled */
  92
  93        /* Technically this is trigger related, but without this
  94         * handler running there is currently no way for the interrupt
  95         * to clear.
  96         */
  97}
  98
  99/**
 100 * adis16300_spi_read_burst() - read all data registers
 101 * @dev: device associated with child of actual device (iio_dev or iio_trig)
 102 * @rx: somewhere to pass back the value read (min size is 24 bytes)
 103 **/
 104static int adis16300_spi_read_burst(struct device *dev, u8 *rx)
 105{
 106        struct spi_message msg;
 107        struct iio_dev *indio_dev = dev_get_drvdata(dev);
 108        struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
 109        u32 old_speed_hz = st->us->max_speed_hz;
 110        int ret;
 111
 112        struct spi_transfer xfers[] = {
 113                {
 114                        .tx_buf = st->tx,
 115                        .bits_per_word = 8,
 116                        .len = 2,
 117                        .cs_change = 0,
 118                }, {
 119                        .rx_buf = rx,
 120                        .bits_per_word = 8,
 121                        .len = 18,
 122                        .cs_change = 0,
 123                },
 124        };
 125
 126        mutex_lock(&st->buf_lock);
 127        st->tx[0] = ADIS16300_READ_REG(ADIS16300_GLOB_CMD);
 128        st->tx[1] = 0;
 129
 130        spi_message_init(&msg);
 131        spi_message_add_tail(&xfers[0], &msg);
 132        spi_message_add_tail(&xfers[1], &msg);
 133
 134        st->us->max_speed_hz = ADIS16300_SPI_BURST;
 135        spi_setup(st->us);
 136
 137        ret = spi_sync(st->us, &msg);
 138        if (ret)
 139                dev_err(&st->us->dev, "problem when burst reading");
 140
 141        st->us->max_speed_hz = old_speed_hz;
 142        spi_setup(st->us);
 143        mutex_unlock(&st->buf_lock);
 144        return ret;
 145}
 146
 147/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
 148 * specific to be rolled into the core.
 149 */
 150static void adis16300_trigger_bh_to_ring(struct work_struct *work_s)
 151{
 152        struct adis16300_state *st
 153                = container_of(work_s, struct adis16300_state,
 154                               work_trigger_to_ring);
 155        struct iio_ring_buffer *ring = st->indio_dev->ring;
 156
 157        int i = 0;
 158        s16 *data;
 159        size_t datasize = ring->access.get_bytes_per_datum(ring);
 160
 161        data = kmalloc(datasize , GFP_KERNEL);
 162        if (data == NULL) {
 163                dev_err(&st->us->dev, "memory alloc failed in ring bh");
 164                return;
 165        }
 166
 167        if (ring->scan_count)
 168                if (adis16300_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
 169                        for (; i < ring->scan_count; i++)
 170                                data[i] = be16_to_cpup(
 171                                        (__be16 *)&(st->rx[i*2]));
 172
 173        /* Guaranteed to be aligned with 8 byte boundary */
 174        if (ring->scan_timestamp)
 175                *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
 176
 177        ring->access.store_to(ring,
 178                        (u8 *)data,
 179                        st->last_timestamp);
 180
 181        iio_trigger_notify_done(st->indio_dev->trig);
 182        kfree(data);
 183
 184        return;
 185}
 186
 187void adis16300_unconfigure_ring(struct iio_dev *indio_dev)
 188{
 189        kfree(indio_dev->pollfunc);
 190        iio_sw_rb_free(indio_dev->ring);
 191}
 192
 193int adis16300_configure_ring(struct iio_dev *indio_dev)
 194{
 195        int ret = 0;
 196        struct adis16300_state *st = indio_dev->dev_data;
 197        struct iio_ring_buffer *ring;
 198        INIT_WORK(&st->work_trigger_to_ring, adis16300_trigger_bh_to_ring);
 199
 200        ring = iio_sw_rb_allocate(indio_dev);
 201        if (!ring) {
 202                ret = -ENOMEM;
 203                return ret;
 204        }
 205        indio_dev->ring = ring;
 206        /* Effectively select the ring buffer implementation */
 207        iio_ring_sw_register_funcs(&ring->access);
 208        ring->bpe = 2;
 209        ring->scan_el_attrs = &adis16300_scan_el_group;
 210        ring->scan_timestamp = true;
 211        ring->preenable = &iio_sw_ring_preenable;
 212        ring->postenable = &iio_triggered_ring_postenable;
 213        ring->predisable = &iio_triggered_ring_predisable;
 214        ring->owner = THIS_MODULE;
 215
 216        /* Set default scan mode */
 217        iio_scan_mask_set(ring, iio_scan_el_in0_supply.number);
 218        iio_scan_mask_set(ring, iio_scan_el_gyro_x.number);
 219        iio_scan_mask_set(ring, iio_scan_el_accel_x.number);
 220        iio_scan_mask_set(ring, iio_scan_el_accel_y.number);
 221        iio_scan_mask_set(ring, iio_scan_el_accel_z.number);
 222        iio_scan_mask_set(ring, iio_scan_el_temp.number);
 223        iio_scan_mask_set(ring, iio_scan_el_in1.number);
 224        iio_scan_mask_set(ring, iio_scan_el_incli_x.number);
 225        iio_scan_mask_set(ring, iio_scan_el_incli_y.number);
 226
 227        ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16300_poll_func_th);
 228        if (ret)
 229                goto error_iio_sw_rb_free;
 230
 231        indio_dev->modes |= INDIO_RING_TRIGGERED;
 232        return 0;
 233
 234error_iio_sw_rb_free:
 235        iio_sw_rb_free(indio_dev->ring);
 236        return ret;
 237}
 238
 239