#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/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"
/**
* combine_8_to_16() utility function to munge to u8s into u16
**/
static inline u16 combine_8_to_16(u8 lower, u8 upper)
{
u16 _lower = lower;
u16 _upper = upper;
return _lower | (_upper << 8);
}
static IIO_SCAN_EL_C(supply, ADIS16350_SCAN_SUPPLY, IIO_UNSIGNED(12),
ADIS16350_SUPPLY_OUT, NULL);
static IIO_SCAN_EL_C(gyro_x, ADIS16350_SCAN_GYRO_X, IIO_SIGNED(14),
ADIS16350_XGYRO_OUT, NULL);
static IIO_SCAN_EL_C(gyro_y, ADIS16350_SCAN_GYRO_Y, IIO_SIGNED(14),
ADIS16350_YGYRO_OUT, NULL);
static IIO_SCAN_EL_C(gyro_z, ADIS16350_SCAN_GYRO_Z, IIO_SIGNED(14),
ADIS16350_ZGYRO_OUT, NULL);
static IIO_SCAN_EL_C(accel_x, ADIS16350_SCAN_ACC_X, IIO_SIGNED(14),
ADIS16350_XACCL_OUT, NULL);
static IIO_SCAN_EL_C(accel_y, ADIS16350_SCAN_ACC_Y, IIO_SIGNED(14),
ADIS16350_YACCL_OUT, NULL);
static IIO_SCAN_EL_C(accel_z, ADIS16350_SCAN_ACC_Z, IIO_SIGNED(14),
ADIS16350_ZACCL_OUT, NULL);
static IIO_SCAN_EL_C(temp_x, ADIS16350_SCAN_TEMP_X, IIO_SIGNED(12),
ADIS16350_XTEMP_OUT, NULL);
static IIO_SCAN_EL_C(temp_y, ADIS16350_SCAN_TEMP_Y, IIO_SIGNED(12),
ADIS16350_YTEMP_OUT, NULL);
static IIO_SCAN_EL_C(temp_z, ADIS16350_SCAN_TEMP_Z, IIO_SIGNED(12),
ADIS16350_ZTEMP_OUT, NULL);
static IIO_SCAN_EL_C(adc_0, ADIS16350_SCAN_ADC_0, IIO_UNSIGNED(12),
ADIS16350_AUX_ADC, NULL);
static IIO_SCAN_EL_TIMESTAMP(11);
static struct attribute *adis16350_scan_el_attrs[] = {
&iio_scan_el_supply.dev_attr.attr,
&iio_scan_el_gyro_x.dev_attr.attr,
&iio_scan_el_gyro_y.dev_attr.attr,
&iio_scan_el_gyro_z.dev_attr.attr,
&iio_scan_el_accel_x.dev_attr.attr,
&iio_scan_el_accel_y.dev_attr.attr,
&iio_scan_el_accel_z.dev_attr.attr,
&iio_scan_el_temp_x.dev_attr.attr,
&iio_scan_el_temp_y.dev_attr.attr,
&iio_scan_el_temp_z.dev_attr.attr,
&iio_scan_el_adc_0.dev_attr.attr,
&iio_scan_el_timestamp.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)
{
struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
st->last_timestamp = indio_dev->trig->timestamp;
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);
int i = 0;
s16 *data;
size_t datasize = st->indio_dev
->ring->access.get_bpd(st->indio_dev->ring);
data = kmalloc(datasize , GFP_KERNEL);
if (data == NULL) {
dev_err(&st->us->dev, "memory alloc failed in ring bh");
return;
}
if (st->indio_dev->scan_count)
if (adis16350_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
for (; i < st->indio_dev->scan_count; i++) {
data[i] = combine_8_to_16(st->rx[i*2+1],
st->rx[i*2]);
}
/* Guaranteed to be aligned with 8 byte boundary */
if (st->indio_dev->scan_timestamp)
*((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
st->indio_dev->ring->access.store_to(st->indio_dev->ring,
(u8 *)data,
st->last_timestamp);
iio_trigger_notify_done(st->indio_dev->trig);
kfree(data);
return;
}
static int adis16350_data_rdy_ring_preenable(struct iio_dev *indio_dev)
{
size_t size;
dev_dbg(&indio_dev->dev, "%s\n", __func__);
/* Check if there are any scan elements enabled, if not fail*/
if (!(indio_dev->scan_count || indio_dev->scan_timestamp))
return -EINVAL;
if (indio_dev->ring->access.set_bpd) {
if (indio_dev->scan_timestamp)
if (indio_dev->scan_count)
/* Timestamp (aligned sizeof(s64) and data */
size = (((indio_dev->scan_count * sizeof(s16))
+ sizeof(s64) - 1)
& ~(sizeof(s64) - 1))
+ sizeof(s64);
else /* Timestamp only */
size = sizeof(s64);
else /* Data only */
size = indio_dev->scan_count*sizeof(s16);
indio_dev->ring->access.set_bpd(indio_dev->ring, size);
}
return 0;
}
static int adis16350_data_rdy_ring_postenable(struct iio_dev *indio_dev)
{
return indio_dev->trig
? iio_trigger_attach_poll_func(indio_dev->trig,
indio_dev->pollfunc)
: 0;
}
static int adis16350_data_rdy_ring_predisable(struct iio_dev *indio_dev)
{
return indio_dev->trig
? iio_trigger_dettach_poll_func(indio_dev->trig,
indio_dev->pollfunc)
: 0;
}
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);
/* Set default scan mode */
iio_scan_mask_set(indio_dev, iio_scan_el_supply.number);
iio_scan_mask_set(indio_dev, iio_scan_el_gyro_x.number);
iio_scan_mask_set(indio_dev, iio_scan_el_gyro_y.number);
iio_scan_mask_set(indio_dev, iio_scan_el_gyro_z.number);
iio_scan_mask_set(indio_dev, iio_scan_el_accel_x.number);
iio_scan_mask_set(indio_dev, iio_scan_el_accel_y.number);
iio_scan_mask_set(indio_dev, iio_scan_el_accel_z.number);
iio_scan_mask_set(indio_dev, iio_scan_el_temp_x.number);
iio_scan_mask_set(indio_dev, iio_scan_el_temp_y.number);
iio_scan_mask_set(indio_dev, iio_scan_el_temp_z.number);
iio_scan_mask_set(indio_dev, iio_scan_el_adc_0.number);
indio_dev->scan_timestamp = true;
indio_dev->scan_el_attrs = &adis16350_scan_el_group;
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->preenable = &adis16350_data_rdy_ring_preenable;
ring->postenable = &adis16350_data_rdy_ring_postenable;
ring->predisable = &adis16350_data_rdy_ring_predisable;
ring->owner = THIS_MODULE;
indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL);
if (indio_dev->pollfunc == NULL) {
ret = -ENOMEM;
goto error_iio_sw_rb_free;;
}
indio_dev->pollfunc->poll_func_main = &adis16350_poll_func_th;
indio_dev->pollfunc->private_data = indio_dev;
indio_dev->modes |= INDIO_RING_TRIGGERED;
return 0;
error_iio_sw_rb_free:
iio_sw_rb_free(indio_dev->ring);
return ret;
}
int adis16350_initialize_ring(struct iio_ring_buffer *ring)
{
return iio_ring_buffer_register(ring, 0);
}
void adis16350_uninitialize_ring(struct iio_ring_buffer *ring)
{
iio_ring_buffer_unregister(ring);
}
