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 "adis16350.h"
19
20static IIO_SCAN_EL_C(in0_supply, ADIS16350_SCAN_SUPPLY,
21 ADIS16350_SUPPLY_OUT, NULL);
22static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 12, 16);
23
24static IIO_SCAN_EL_C(gyro_x, ADIS16350_SCAN_GYRO_X, ADIS16350_XGYRO_OUT, NULL);
25static IIO_SCAN_EL_C(gyro_y, ADIS16350_SCAN_GYRO_Y, ADIS16350_YGYRO_OUT, NULL);
26static IIO_SCAN_EL_C(gyro_z, ADIS16350_SCAN_GYRO_Z, ADIS16350_ZGYRO_OUT, NULL);
27static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16);
28
29static IIO_SCAN_EL_C(accel_x, ADIS16350_SCAN_ACC_X, ADIS16350_XACCL_OUT, NULL);
30static IIO_SCAN_EL_C(accel_y, ADIS16350_SCAN_ACC_Y, ADIS16350_YACCL_OUT, NULL);
31static IIO_SCAN_EL_C(accel_z, ADIS16350_SCAN_ACC_Z, ADIS16350_ZACCL_OUT, NULL);
32static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16);
33
34static IIO_SCAN_EL_C(temp_x, ADIS16350_SCAN_TEMP_X, ADIS16350_XTEMP_OUT, NULL);
35static IIO_SCAN_EL_C(temp_y, ADIS16350_SCAN_TEMP_Y, ADIS16350_YTEMP_OUT, NULL);
36static IIO_SCAN_EL_C(temp_z, ADIS16350_SCAN_TEMP_Z, ADIS16350_ZTEMP_OUT, NULL);
37static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16);
38
39static IIO_SCAN_EL_C(in1, ADIS16350_SCAN_ADC_0, ADIS16350_AUX_ADC, NULL);
40static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16);
41
42static IIO_SCAN_EL_TIMESTAMP(11);
43static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);
44
45static struct attribute *adis16350_scan_el_attrs[] = {
46 &iio_scan_el_in0_supply.dev_attr.attr,
47 &iio_const_attr_in0_supply_index.dev_attr.attr,
48 &iio_const_attr_in0_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_in1.dev_attr.attr,
71 &iio_const_attr_in1_index.dev_attr.attr,
72 &iio_const_attr_in1_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,
76 NULL,
77};
78
79static struct attribute_group adis16350_scan_el_group = {
80 .attrs = adis16350_scan_el_attrs,
81 .name = "scan_elements",
82};
83
84
85
86
87
88static void adis16350_poll_func_th(struct iio_dev *indio_dev, s64 time)
89{
90 struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
91 st->last_timestamp = time;
92 schedule_work(&st->work_trigger_to_ring);
93}
94
95
96
97
98
99
100static int adis16350_spi_read_burst(struct device *dev, u8 *rx)
101{
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;
106 int ret;
107
108 struct spi_transfer xfers[] = {
109 {
110 .tx_buf = st->tx,
111 .bits_per_word = 8,
112 .len = 2,
113 .cs_change = 0,
114 }, {
115 .rx_buf = rx,
116 .bits_per_word = 8,
117 .len = 22,
118 .cs_change = 0,
119 },
120 };
121
122 mutex_lock(&st->buf_lock);
123 st->tx[0] = ADIS16350_READ_REG(ADIS16350_GLOB_CMD);
124 st->tx[1] = 0;
125
126 spi_message_init(&msg);
127 spi_message_add_tail(&xfers[0], &msg);
128 spi_message_add_tail(&xfers[1], &msg);
129
130 st->us->max_speed_hz = ADIS16350_SPI_BURST;
131 spi_setup(st->us);
132
133 ret = spi_sync(st->us, &msg);
134 if (ret)
135 dev_err(&st->us->dev, "problem when burst reading");
136
137 st->us->max_speed_hz = old_speed_hz;
138 spi_setup(st->us);
139 mutex_unlock(&st->buf_lock);
140 return ret;
141}
142
143
144
145
146static void adis16350_trigger_bh_to_ring(struct work_struct *work_s)
147{
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;
152
153 int i = 0;
154 s16 *data;
155 size_t datasize = ring->access.get_bytes_per_datum(ring);
156
157 data = kmalloc(datasize , GFP_KERNEL);
158 if (data == NULL) {
159 dev_err(&st->us->dev, "memory alloc failed in ring bh");
160 return;
161 }
162
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]));
168
169
170 if (ring->scan_timestamp)
171 *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
172
173 ring->access.store_to(ring,
174 (u8 *)data,
175 st->last_timestamp);
176
177 iio_trigger_notify_done(st->indio_dev->trig);
178 kfree(data);
179
180 return;
181}
182
183void adis16350_unconfigure_ring(struct iio_dev *indio_dev)
184{
185 kfree(indio_dev->pollfunc);
186 iio_sw_rb_free(indio_dev->ring);
187}
188
189int adis16350_configure_ring(struct iio_dev *indio_dev)
190{
191 int ret = 0;
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);
195
196 ring = iio_sw_rb_allocate(indio_dev);
197 if (!ring) {
198 ret = -ENOMEM;
199 return ret;
200 }
201 indio_dev->ring = ring;
202
203 iio_ring_sw_register_funcs(&ring->access);
204 ring->bpe = 2;
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;
211
212
213 iio_scan_mask_set(ring, iio_scan_el_in0_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_in1.number);
224
225 ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16350_poll_func_th);
226 if (ret)
227 goto error_iio_sw_rb_free;
228
229 indio_dev->modes |= INDIO_RING_TRIGGERED;
230 return 0;
231
232error_iio_sw_rb_free:
233 iio_sw_rb_free(indio_dev->ring);
234 return ret;
235}
236
237
