drivers/staging/iio/imu/adis16350_ring.c

   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
  20 static IIO_SCAN_EL_C(in0_supply, ADIS16350_SCAN_SUPPLY,
  21                 ADIS16350_SUPPLY_OUT, NULL);
  22 static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 12, 16);
  23
  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);
  27 static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16);
  28
  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);
  32 static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16);
  33
  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);
  37 static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16);
  38
  39 static IIO_SCAN_EL_C(in1, ADIS16350_SCAN_ADC_0, ADIS16350_AUX_ADC, NULL);
  40 static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16);
  41
  42 static IIO_SCAN_EL_TIMESTAMP(11);
  43 static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);
  44
  45 static 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
  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  **/
  88 static 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  * 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);
 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         /* Guaranteed to be aligned with 8 byte boundary */
 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
 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);
 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);
 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         /* Set default scan mode */
 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
 232 error_iio_sw_rb_free:
 233         iio_sw_rb_free(indio_dev->ring);
 234         return ret;
 235 }
 236