LXR linux/drivers/staging/iio/imu/adis16400

   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 "adis16400.h"
  19
  20static IIO_SCAN_EL_C(in0_supply, ADIS16400_SCAN_SUPPLY,
  21                     ADIS16400_SUPPLY_OUT, NULL);
  22static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 14, 16);
  23
  24static IIO_SCAN_EL_C(gyro_x, ADIS16400_SCAN_GYRO_X, ADIS16400_XGYRO_OUT, NULL);
  25static IIO_SCAN_EL_C(gyro_y, ADIS16400_SCAN_GYRO_Y, ADIS16400_YGYRO_OUT, NULL);
  26static IIO_SCAN_EL_C(gyro_z, ADIS16400_SCAN_GYRO_Z, ADIS16400_ZGYRO_OUT, NULL);
  27static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16);
  28
  29static IIO_SCAN_EL_C(accel_x, ADIS16400_SCAN_ACC_X, ADIS16400_XACCL_OUT, NULL);
  30static IIO_SCAN_EL_C(accel_y, ADIS16400_SCAN_ACC_Y, ADIS16400_YACCL_OUT, NULL);
  31static IIO_SCAN_EL_C(accel_z, ADIS16400_SCAN_ACC_Z, ADIS16400_ZACCL_OUT, NULL);
  32static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16);
  33
  34static IIO_SCAN_EL_C(magn_x, ADIS16400_SCAN_MAGN_X, ADIS16400_XMAGN_OUT, NULL);
  35static IIO_SCAN_EL_C(magn_y, ADIS16400_SCAN_MAGN_Y, ADIS16400_YMAGN_OUT, NULL);
  36static IIO_SCAN_EL_C(magn_z, ADIS16400_SCAN_MAGN_Z, ADIS16400_ZMAGN_OUT, NULL);
  37static IIO_CONST_ATTR_SCAN_EL_TYPE(magn, s, 14, 16);
  38
  39static IIO_SCAN_EL_C(temp, ADIS16400_SCAN_TEMP, ADIS16400_TEMP_OUT, NULL);
  40static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16);
  41
  42static IIO_SCAN_EL_C(in1, ADIS16400_SCAN_ADC_0, ADIS16400_AUX_ADC, NULL);
  43static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16);
  44
  45static IIO_SCAN_EL_TIMESTAMP(12);
  46static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);
  47
  48static struct attribute *adis16400_scan_el_attrs[] = {
  49        &iio_scan_el_in0_supply.dev_attr.attr,
  50        &iio_const_attr_in0_supply_index.dev_attr.attr,
  51        &iio_const_attr_in0_supply_type.dev_attr.attr,
  52        &iio_scan_el_gyro_x.dev_attr.attr,
  53        &iio_const_attr_gyro_x_index.dev_attr.attr,
  54        &iio_scan_el_gyro_y.dev_attr.attr,
  55        &iio_const_attr_gyro_y_index.dev_attr.attr,
  56        &iio_scan_el_gyro_z.dev_attr.attr,
  57        &iio_const_attr_gyro_z_index.dev_attr.attr,
  58        &iio_const_attr_gyro_type.dev_attr.attr,
  59        &iio_scan_el_accel_x.dev_attr.attr,
  60        &iio_const_attr_accel_x_index.dev_attr.attr,
  61        &iio_scan_el_accel_y.dev_attr.attr,
  62        &iio_const_attr_accel_y_index.dev_attr.attr,
  63        &iio_scan_el_accel_z.dev_attr.attr,
  64        &iio_const_attr_accel_z_index.dev_attr.attr,
  65        &iio_const_attr_accel_type.dev_attr.attr,
  66        &iio_scan_el_magn_x.dev_attr.attr,
  67        &iio_const_attr_magn_x_index.dev_attr.attr,
  68        &iio_scan_el_magn_y.dev_attr.attr,
  69        &iio_const_attr_magn_y_index.dev_attr.attr,
  70        &iio_scan_el_magn_z.dev_attr.attr,
  71        &iio_const_attr_magn_z_index.dev_attr.attr,
  72        &iio_const_attr_magn_type.dev_attr.attr,
  73        &iio_scan_el_temp.dev_attr.attr,
  74        &iio_const_attr_temp_index.dev_attr.attr,
  75        &iio_const_attr_temp_type.dev_attr.attr,
  76        &iio_scan_el_in1.dev_attr.attr,
  77        &iio_const_attr_in1_index.dev_attr.attr,
  78        &iio_const_attr_in1_type.dev_attr.attr,
  79        &iio_scan_el_timestamp.dev_attr.attr,
  80        &iio_const_attr_timestamp_index.dev_attr.attr,
  81        &iio_const_attr_timestamp_type.dev_attr.attr,
  82        NULL,
  83};
  84
  85static struct attribute_group adis16400_scan_el_group = {
  86        .attrs = adis16400_scan_el_attrs,
  87        .name = "scan_elements",
  88};
  89
  90/**
  91 * adis16400_poll_func_th() top half interrupt handler called by trigger
  92 * @private_data:       iio_dev
  93 **/
  94static void adis16400_poll_func_th(struct iio_dev *indio_dev, s64 time)
  95{
  96        struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
  97        st->last_timestamp = time;
  98        schedule_work(&st->work_trigger_to_ring);
  99        /* Indicate that this interrupt is being handled */
 100
 101        /* Technically this is trigger related, but without this
 102         * handler running there is currently no way for the interrupt
 103         * to clear.
 104         */
 105}
 106
 107/**
 108 * adis16400_spi_read_burst() - read all data registers
 109 * @dev: device associated with child of actual device (iio_dev or iio_trig)
 110 * @rx: somewhere to pass back the value read (min size is 24 bytes)
 111 **/
 112static int adis16400_spi_read_burst(struct device *dev, u8 *rx)
 113{
 114        struct spi_message msg;
 115        struct iio_dev *indio_dev = dev_get_drvdata(dev);
 116        struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
 117        u32 old_speed_hz = st->us->max_speed_hz;
 118        int ret;
 119
 120        struct spi_transfer xfers[] = {
 121                {
 122                        .tx_buf = st->tx,
 123                        .bits_per_word = 8,
 124                        .len = 2,
 125                        .cs_change = 0,
 126                }, {
 127                        .rx_buf = rx,
 128                        .bits_per_word = 8,
 129                        .len = 24,
 130                        .cs_change = 1,
 131                },
 132        };
 133
 134        mutex_lock(&st->buf_lock);
 135        st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD);
 136        st->tx[1] = 0;
 137
 138        spi_message_init(&msg);
 139        spi_message_add_tail(&xfers[0], &msg);
 140        spi_message_add_tail(&xfers[1], &msg);
 141
 142        st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz);
 143        spi_setup(st->us);
 144
 145        ret = spi_sync(st->us, &msg);
 146        if (ret)
 147                dev_err(&st->us->dev, "problem when burst reading");
 148
 149        st->us->max_speed_hz = old_speed_hz;
 150        spi_setup(st->us);
 151        mutex_unlock(&st->buf_lock);
 152        return ret;
 153}
 154
 155/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
 156 * specific to be rolled into the core.
 157 */
 158static void adis16400_trigger_bh_to_ring(struct work_struct *work_s)
 159{
 160        struct adis16400_state *st
 161                = container_of(work_s, struct adis16400_state,
 162                               work_trigger_to_ring);
 163        struct iio_ring_buffer *ring = st->indio_dev->ring;
 164
 165        int i = 0;
 166        s16 *data;
 167        size_t datasize = ring->access.get_bytes_per_datum(ring);
 168
 169        data = kmalloc(datasize , GFP_KERNEL);
 170        if (data == NULL) {
 171                dev_err(&st->us->dev, "memory alloc failed in ring bh");
 172                return;
 173        }
 174
 175        if (ring->scan_count)
 176                if (adis16400_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
 177                        for (; i < ring->scan_count; i++)
 178                                data[i] = be16_to_cpup(
 179                                        (__be16 *)&(st->rx[i*2]));
 180
 181        /* Guaranteed to be aligned with 8 byte boundary */
 182        if (ring->scan_timestamp)
 183                *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
 184
 185        ring->access.store_to(ring,
 186                        (u8 *) data,
 187                        st->last_timestamp);
 188
 189        iio_trigger_notify_done(st->indio_dev->trig);
 190        kfree(data);
 191
 192        return;
 193}
 194
 195void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
 196{
 197        kfree(indio_dev->pollfunc);
 198        iio_sw_rb_free(indio_dev->ring);
 199}
 200
 201int adis16400_configure_ring(struct iio_dev *indio_dev)
 202{
 203        int ret = 0;
 204        struct adis16400_state *st = indio_dev->dev_data;
 205        struct iio_ring_buffer *ring;
 206        INIT_WORK(&st->work_trigger_to_ring, adis16400_trigger_bh_to_ring);
 207
 208        ring = iio_sw_rb_allocate(indio_dev);
 209        if (!ring) {
 210                ret = -ENOMEM;
 211                return ret;
 212        }
 213        indio_dev->ring = ring;
 214        /* Effectively select the ring buffer implementation */
 215        iio_ring_sw_register_funcs(&ring->access);
 216        ring->bpe = 2;
 217        ring->scan_el_attrs = &adis16400_scan_el_group;
 218        ring->scan_timestamp = true;
 219        ring->preenable = &iio_sw_ring_preenable;
 220        ring->postenable = &iio_triggered_ring_postenable;
 221        ring->predisable = &iio_triggered_ring_predisable;
 222        ring->owner = THIS_MODULE;
 223
 224        /* Set default scan mode */
 225        iio_scan_mask_set(ring, iio_scan_el_in0_supply.number);
 226        iio_scan_mask_set(ring, iio_scan_el_gyro_x.number);
 227        iio_scan_mask_set(ring, iio_scan_el_gyro_y.number);
 228        iio_scan_mask_set(ring, iio_scan_el_gyro_z.number);
 229        iio_scan_mask_set(ring, iio_scan_el_accel_x.number);
 230        iio_scan_mask_set(ring, iio_scan_el_accel_y.number);
 231        iio_scan_mask_set(ring, iio_scan_el_accel_z.number);
 232        iio_scan_mask_set(ring, iio_scan_el_magn_x.number);
 233        iio_scan_mask_set(ring, iio_scan_el_magn_y.number);
 234        iio_scan_mask_set(ring, iio_scan_el_magn_z.number);
 235        iio_scan_mask_set(ring, iio_scan_el_temp.number);
 236        iio_scan_mask_set(ring, iio_scan_el_in1.number);
 237
 238        ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16400_poll_func_th);
 239        if (ret)
 240                goto error_iio_sw_rb_free;
 241
 242        indio_dev->modes |= INDIO_RING_TRIGGERED;
 243        return 0;
 244
 245error_iio_sw_rb_free:
 246        iio_sw_rb_free(indio_dev->ring);
 247        return ret;
 248}
 249