[deliverable/linux.git] / drivers / staging / iio / imu / adis16350_ring.c

#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/gpio.h>
#include <linux/workqueue.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>

#include "../iio.h"
#include "../sysfs.h"
#include "../ring_sw.h"
#include "../accel/accel.h"
#include "../trigger.h"
#include "adis16350.h"

static IIO_SCAN_EL_C(in0_supply, ADIS16350_SCAN_SUPPLY,
		ADIS16350_SUPPLY_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 12, 16);

static IIO_SCAN_EL_C(gyro_x, ADIS16350_SCAN_GYRO_X, ADIS16350_XGYRO_OUT, NULL);
static IIO_SCAN_EL_C(gyro_y, ADIS16350_SCAN_GYRO_Y, ADIS16350_YGYRO_OUT, NULL);
static IIO_SCAN_EL_C(gyro_z, ADIS16350_SCAN_GYRO_Z, ADIS16350_ZGYRO_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16);

static IIO_SCAN_EL_C(accel_x, ADIS16350_SCAN_ACC_X, ADIS16350_XACCL_OUT, NULL);
static IIO_SCAN_EL_C(accel_y, ADIS16350_SCAN_ACC_Y, ADIS16350_YACCL_OUT, NULL);
static IIO_SCAN_EL_C(accel_z, ADIS16350_SCAN_ACC_Z, ADIS16350_ZACCL_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16);

static IIO_SCAN_EL_C(temp_x, ADIS16350_SCAN_TEMP_X, ADIS16350_XTEMP_OUT, NULL);
static IIO_SCAN_EL_C(temp_y, ADIS16350_SCAN_TEMP_Y, ADIS16350_YTEMP_OUT, NULL);
static IIO_SCAN_EL_C(temp_z, ADIS16350_SCAN_TEMP_Z, ADIS16350_ZTEMP_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16);

static IIO_SCAN_EL_C(in1, ADIS16350_SCAN_ADC_0, ADIS16350_AUX_ADC, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16);

static IIO_SCAN_EL_TIMESTAMP(11);
static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);

static struct attribute *adis16350_scan_el_attrs[] = {
	&iio_scan_el_in0_supply.dev_attr.attr,
	&iio_const_attr_in0_supply_index.dev_attr.attr,
	&iio_const_attr_in0_supply_type.dev_attr.attr,
	&iio_scan_el_gyro_x.dev_attr.attr,
	&iio_const_attr_gyro_x_index.dev_attr.attr,
	&iio_scan_el_gyro_y.dev_attr.attr,
	&iio_const_attr_gyro_y_index.dev_attr.attr,
	&iio_scan_el_gyro_z.dev_attr.attr,
	&iio_const_attr_gyro_z_index.dev_attr.attr,
	&iio_const_attr_gyro_type.dev_attr.attr,
	&iio_scan_el_accel_x.dev_attr.attr,
	&iio_const_attr_accel_x_index.dev_attr.attr,
	&iio_scan_el_accel_y.dev_attr.attr,
	&iio_const_attr_accel_y_index.dev_attr.attr,
	&iio_scan_el_accel_z.dev_attr.attr,
	&iio_const_attr_accel_z_index.dev_attr.attr,
	&iio_const_attr_accel_type.dev_attr.attr,
	&iio_scan_el_temp_x.dev_attr.attr,
	&iio_const_attr_temp_x_index.dev_attr.attr,
	&iio_scan_el_temp_y.dev_attr.attr,
	&iio_const_attr_temp_y_index.dev_attr.attr,
	&iio_scan_el_temp_z.dev_attr.attr,
	&iio_const_attr_temp_z_index.dev_attr.attr,
	&iio_const_attr_temp_type.dev_attr.attr,
	&iio_scan_el_in1.dev_attr.attr,
	&iio_const_attr_in1_index.dev_attr.attr,
	&iio_const_attr_in1_type.dev_attr.attr,
	&iio_scan_el_timestamp.dev_attr.attr,
	&iio_const_attr_timestamp_index.dev_attr.attr,
	&iio_const_attr_timestamp_type.dev_attr.attr,
	NULL,
};

static struct attribute_group adis16350_scan_el_group = {
	.attrs = adis16350_scan_el_attrs,
	.name = "scan_elements",
};

/**
 * adis16350_poll_func_th() top half interrupt handler called by trigger
 * @private_data:	iio_dev
 **/
static void adis16350_poll_func_th(struct iio_dev *indio_dev, s64 time)
{
	struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
	st->last_timestamp = time;
	schedule_work(&st->work_trigger_to_ring);
}

/**
 * adis16350_spi_read_burst() - read all data registers
 * @dev: device associated with child of actual device (iio_dev or iio_trig)
 * @rx: somewhere to pass back the value read (min size is 24 bytes)
 **/
static int adis16350_spi_read_burst(struct device *dev, u8 *rx)
{
	struct spi_message msg;
	struct iio_dev *indio_dev = dev_get_drvdata(dev);
	struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
	u32 old_speed_hz = st->us->max_speed_hz;
	int ret;

	struct spi_transfer xfers[] = {
		{
			.tx_buf = st->tx,
			.bits_per_word = 8,
			.len = 2,
			.cs_change = 0,
		}, {
			.rx_buf = rx,
			.bits_per_word = 8,
			.len = 22,
			.cs_change = 0,
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx[0] = ADIS16350_READ_REG(ADIS16350_GLOB_CMD);
	st->tx[1] = 0;

	spi_message_init(&msg);
	spi_message_add_tail(&xfers[0], &msg);
	spi_message_add_tail(&xfers[1], &msg);

	st->us->max_speed_hz = ADIS16350_SPI_BURST;
	spi_setup(st->us);

	ret = spi_sync(st->us, &msg);
	if (ret)
		dev_err(&st->us->dev, "problem when burst reading");

	st->us->max_speed_hz = old_speed_hz;
	spi_setup(st->us);
	mutex_unlock(&st->buf_lock);
	return ret;
}

/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
 * specific to be rolled into the core.
 */
static void adis16350_trigger_bh_to_ring(struct work_struct *work_s)
{
	struct adis16350_state *st
		= container_of(work_s, struct adis16350_state,
			       work_trigger_to_ring);
	struct iio_ring_buffer *ring = st->indio_dev->ring;

	int i = 0;
	s16 *data;
	size_t datasize = ring->access.get_bytes_per_datum(ring);

	data = kmalloc(datasize , GFP_KERNEL);
	if (data == NULL) {
		dev_err(&st->us->dev, "memory alloc failed in ring bh");
		return;
	}

	if (ring->scan_count)
		if (adis16350_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
			for (; i < ring->scan_count; i++)
				data[i] = be16_to_cpup(
					(__be16 *)&(st->rx[i*2]));

	/* Guaranteed to be aligned with 8 byte boundary */
	if (ring->scan_timestamp)
		*((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;

	ring->access.store_to(ring,
			(u8 *)data,
			st->last_timestamp);

	iio_trigger_notify_done(st->indio_dev->trig);
	kfree(data);

	return;
}

void adis16350_unconfigure_ring(struct iio_dev *indio_dev)
{
	kfree(indio_dev->pollfunc);
	iio_sw_rb_free(indio_dev->ring);
}

int adis16350_configure_ring(struct iio_dev *indio_dev)
{
	int ret = 0;
	struct adis16350_state *st = indio_dev->dev_data;
	struct iio_ring_buffer *ring;
	INIT_WORK(&st->work_trigger_to_ring, adis16350_trigger_bh_to_ring);

	ring = iio_sw_rb_allocate(indio_dev);
	if (!ring) {
		ret = -ENOMEM;
		return ret;
	}
	indio_dev->ring = ring;
	/* Effectively select the ring buffer implementation */
	iio_ring_sw_register_funcs(&ring->access);
	ring->bpe = 2;
	ring->scan_el_attrs = &adis16350_scan_el_group;
	ring->scan_timestamp = true;
	ring->preenable = &iio_sw_ring_preenable;
	ring->postenable = &iio_triggered_ring_postenable;
	ring->predisable = &iio_triggered_ring_predisable;
	ring->owner = THIS_MODULE;

	/* Set default scan mode */
	iio_scan_mask_set(ring, iio_scan_el_in0_supply.number);
	iio_scan_mask_set(ring, iio_scan_el_gyro_x.number);
	iio_scan_mask_set(ring, iio_scan_el_gyro_y.number);
	iio_scan_mask_set(ring, iio_scan_el_gyro_z.number);
	iio_scan_mask_set(ring, iio_scan_el_accel_x.number);
	iio_scan_mask_set(ring, iio_scan_el_accel_y.number);
	iio_scan_mask_set(ring, iio_scan_el_accel_z.number);
	iio_scan_mask_set(ring, iio_scan_el_temp_x.number);
	iio_scan_mask_set(ring, iio_scan_el_temp_y.number);
	iio_scan_mask_set(ring, iio_scan_el_temp_z.number);
	iio_scan_mask_set(ring, iio_scan_el_in1.number);

	ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16350_poll_func_th);
	if (ret)
		goto error_iio_sw_rb_free;

	indio_dev->modes |= INDIO_RING_TRIGGERED;
	return 0;

error_iio_sw_rb_free:
	iio_sw_rb_free(indio_dev->ring);
	return ret;
}
Commit	Line	Data
5763dcab BS	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>
1cb6c1f5	9	#include <linux/slab.h>
5763dcab BS	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
1755b0ae	20	static IIO_SCAN_EL_C(in0_supply, ADIS16350_SCAN_SUPPLY,
5763dcab	21	ADIS16350_SUPPLY_OUT, NULL);
1755b0ae	22	static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 12, 16);
5763dcab	23
44f270de JC	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);
3b401a96	27	static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16);
5763dcab	28
44f270de JC	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);
3b401a96	32	static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16);
5763dcab	33
44f270de JC	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);
3b401a96	37	static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16);
5763dcab	38
1755b0ae JC	39	static IIO_SCAN_EL_C(in1, ADIS16350_SCAN_ADC_0, ADIS16350_AUX_ADC, NULL);
1755b0ae JC	40	static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16);
5763dcab BS	41
5763dcab BS	42	static IIO_SCAN_EL_TIMESTAMP(11);
3b401a96	43	static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);
5763dcab BS	44
5763dcab BS	45	static struct attribute *adis16350_scan_el_attrs[] = {
1755b0ae JC	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,
5763dcab	49	&iio_scan_el_gyro_x.dev_attr.attr,
de9b493e	50	&iio_const_attr_gyro_x_index.dev_attr.attr,
5763dcab	51	&iio_scan_el_gyro_y.dev_attr.attr,
de9b493e	52	&iio_const_attr_gyro_y_index.dev_attr.attr,
5763dcab	53	&iio_scan_el_gyro_z.dev_attr.attr,
de9b493e	54	&iio_const_attr_gyro_z_index.dev_attr.attr,
3b401a96	55	&iio_const_attr_gyro_type.dev_attr.attr,
5763dcab	56	&iio_scan_el_accel_x.dev_attr.attr,
de9b493e	57	&iio_const_attr_accel_x_index.dev_attr.attr,
5763dcab	58	&iio_scan_el_accel_y.dev_attr.attr,
de9b493e	59	&iio_const_attr_accel_y_index.dev_attr.attr,
5763dcab	60	&iio_scan_el_accel_z.dev_attr.attr,
de9b493e	61	&iio_const_attr_accel_z_index.dev_attr.attr,
3b401a96	62	&iio_const_attr_accel_type.dev_attr.attr,
5763dcab	63	&iio_scan_el_temp_x.dev_attr.attr,
de9b493e	64	&iio_const_attr_temp_x_index.dev_attr.attr,
5763dcab	65	&iio_scan_el_temp_y.dev_attr.attr,
de9b493e	66	&iio_const_attr_temp_y_index.dev_attr.attr,
5763dcab	67	&iio_scan_el_temp_z.dev_attr.attr,
de9b493e	68	&iio_const_attr_temp_z_index.dev_attr.attr,
3b401a96	69	&iio_const_attr_temp_type.dev_attr.attr,
1755b0ae JC	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,
5763dcab	73	&iio_scan_el_timestamp.dev_attr.attr,
de9b493e	74	&iio_const_attr_timestamp_index.dev_attr.attr,
3b401a96	75	&iio_const_attr_timestamp_type.dev_attr.attr,
5763dcab BS	76	NULL,
	77	};
	78
	79	static struct attribute_group adis16350_scan_el_group = {
	80	.attrs = adis16350_scan_el_attrs,
	81	.name = "scan_elements",
	82	};
	83
	84	/**
	85	* adis16350_poll_func_th() top half interrupt handler called by trigger
	86	* @private_data: iio_dev
	87	**/
7b2c33b1	88	static void adis16350_poll_func_th(struct iio_dev *indio_dev, s64 time)
5763dcab BS	89	{
5763dcab BS	90	struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
7b2c33b1	91	st->last_timestamp = time;
5763dcab BS	92	schedule_work(&st->work_trigger_to_ring);
	93	}
	94
	95	/**
	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)
	99	**/
	100	static 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	/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
	144	* specific to be rolled into the core.
	145	*/
	146	static 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);
bf32963c	151	struct iio_ring_buffer *ring = st->indio_dev->ring;
5763dcab BS	152
	153	int i = 0;
	154	s16 *data;
bf32963c	155	size_t datasize = ring->access.get_bytes_per_datum(ring);
5763dcab BS	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
bf32963c	163	if (ring->scan_count)
5763dcab	164	if (adis16350_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
bf32963c	165	for (; i < ring->scan_count; i++)
f4658c89 JC	166	data[i] = be16_to_cpup(
f4658c89 JC	167	(__be16 )&(st->rx[i2]));
5763dcab BS	168
5763dcab BS	169	/* Guaranteed to be aligned with 8 byte boundary */
bf32963c	170	if (ring->scan_timestamp)
5763dcab BS	171	((s64 )(data + ((i + 3)/4)*4)) = st->last_timestamp;
5763dcab BS	172
bf32963c MS	173	ring->access.store_to(ring,
	174	(u8 *)data,
	175	st->last_timestamp);
5763dcab BS	176
	177	iio_trigger_notify_done(st->indio_dev->trig);
	178	kfree(data);
	179
	180	return;
	181	}
	182
5763dcab BS	183	void adis16350_unconfigure_ring(struct iio_dev *indio_dev)
	184	{
	185	kfree(indio_dev->pollfunc);
	186	iio_sw_rb_free(indio_dev->ring);
	187	}
	188
	189	int 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);
5763dcab BS	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	/* Effectively select the ring buffer implementation */
	203	iio_ring_sw_register_funcs(&ring->access);
43c11b43	204	ring->bpe = 2;
bf32963c MS	205	ring->scan_el_attrs = &adis16350_scan_el_group;
bf32963c MS	206	ring->scan_timestamp = true;
43c11b43	207	ring->preenable = &iio_sw_ring_preenable;
c3db00cc JC	208	ring->postenable = &iio_triggered_ring_postenable;
c3db00cc JC	209	ring->predisable = &iio_triggered_ring_predisable;
5763dcab BS	210	ring->owner = THIS_MODULE;
5763dcab BS	211
bf32963c	212	/* Set default scan mode */
1755b0ae	213	iio_scan_mask_set(ring, iio_scan_el_in0_supply.number);
bf32963c MS	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);
1755b0ae	223	iio_scan_mask_set(ring, iio_scan_el_in1.number);
bf32963c	224
15744090 JC	225	ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16350_poll_func_th);
	226	if (ret)
	227	goto error_iio_sw_rb_free;
	228
5763dcab BS	229	indio_dev->modes \|= INDIO_RING_TRIGGERED;
	230	return 0;
	231
	232	error_iio_sw_rb_free:
	233	iio_sw_rb_free(indio_dev->ring);
	234	return ret;
	235	}
	236