diff options
Diffstat (limited to 'drivers/staging/iio/imu/adis16400_ring.c')
| -rw-r--r-- | drivers/staging/iio/imu/adis16400_ring.c | 257 |
1 files changed, 130 insertions, 127 deletions
diff --git a/drivers/staging/iio/imu/adis16400_ring.c b/drivers/staging/iio/imu/adis16400_ring.c index 5529b32bd2e3..33293fba9bcc 100644 --- a/drivers/staging/iio/imu/adis16400_ring.c +++ b/drivers/staging/iio/imu/adis16400_ring.c @@ -6,6 +6,7 @@ #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> @@ -16,61 +17,68 @@ #include "../trigger.h" #include "adis16400.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, ADIS16400_SCAN_SUPPLY, IIO_SIGNED(14), +static IIO_SCAN_EL_C(in0_supply, ADIS16400_SCAN_SUPPLY, ADIS16400_SUPPLY_OUT, NULL); +static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 14, 16); -static IIO_SCAN_EL_C(gyro_x, ADIS16400_SCAN_GYRO_X, IIO_SIGNED(14), - ADIS16400_XGYRO_OUT, NULL); -static IIO_SCAN_EL_C(gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_SIGNED(14), - ADIS16400_YGYRO_OUT, NULL); -static IIO_SCAN_EL_C(gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_SIGNED(14), - ADIS16400_ZGYRO_OUT, NULL); - -static IIO_SCAN_EL_C(accel_x, ADIS16400_SCAN_ACC_X, IIO_SIGNED(14), - ADIS16400_XACCL_OUT, NULL); -static IIO_SCAN_EL_C(accel_y, ADIS16400_SCAN_ACC_Y, IIO_SIGNED(14), - ADIS16400_YACCL_OUT, NULL); -static IIO_SCAN_EL_C(accel_z, ADIS16400_SCAN_ACC_Z, IIO_SIGNED(14), - ADIS16400_ZACCL_OUT, NULL); - -static IIO_SCAN_EL_C(magn_x, ADIS16400_SCAN_MAGN_X, IIO_SIGNED(14), - ADIS16400_XMAGN_OUT, NULL); -static IIO_SCAN_EL_C(magn_y, ADIS16400_SCAN_MAGN_Y, IIO_SIGNED(14), - ADIS16400_YMAGN_OUT, NULL); -static IIO_SCAN_EL_C(magn_z, ADIS16400_SCAN_MAGN_Z, IIO_SIGNED(14), - ADIS16400_ZMAGN_OUT, NULL); - -static IIO_SCAN_EL_C(temp, ADIS16400_SCAN_TEMP, IIO_SIGNED(12), - ADIS16400_TEMP_OUT, NULL); -static IIO_SCAN_EL_C(adc_0, ADIS16400_SCAN_ADC_0, IIO_SIGNED(12), - ADIS16400_AUX_ADC, NULL); +static IIO_SCAN_EL_C(gyro_x, ADIS16400_SCAN_GYRO_X, ADIS16400_XGYRO_OUT, NULL); +static IIO_SCAN_EL_C(gyro_y, ADIS16400_SCAN_GYRO_Y, ADIS16400_YGYRO_OUT, NULL); +static IIO_SCAN_EL_C(gyro_z, ADIS16400_SCAN_GYRO_Z, ADIS16400_ZGYRO_OUT, NULL); +static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16); + +static IIO_SCAN_EL_C(accel_x, ADIS16400_SCAN_ACC_X, ADIS16400_XACCL_OUT, NULL); +static IIO_SCAN_EL_C(accel_y, ADIS16400_SCAN_ACC_Y, ADIS16400_YACCL_OUT, NULL); +static IIO_SCAN_EL_C(accel_z, ADIS16400_SCAN_ACC_Z, ADIS16400_ZACCL_OUT, NULL); +static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16); + +static IIO_SCAN_EL_C(magn_x, ADIS16400_SCAN_MAGN_X, ADIS16400_XMAGN_OUT, NULL); +static IIO_SCAN_EL_C(magn_y, ADIS16400_SCAN_MAGN_Y, ADIS16400_YMAGN_OUT, NULL); +static IIO_SCAN_EL_C(magn_z, ADIS16400_SCAN_MAGN_Z, ADIS16400_ZMAGN_OUT, NULL); +static IIO_CONST_ATTR_SCAN_EL_TYPE(magn, s, 14, 16); + +static IIO_SCAN_EL_C(temp, ADIS16400_SCAN_TEMP, ADIS16400_TEMP_OUT, NULL); +static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16); + +static IIO_SCAN_EL_C(in1, ADIS16400_SCAN_ADC_0, ADIS16400_AUX_ADC, NULL); +static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16); static IIO_SCAN_EL_TIMESTAMP(12); +static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64); static struct attribute *adis16400_scan_el_attrs[] = { - &iio_scan_el_supply.dev_attr.attr, + &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_magn_x.dev_attr.attr, + &iio_const_attr_magn_x_index.dev_attr.attr, &iio_scan_el_magn_y.dev_attr.attr, + &iio_const_attr_magn_y_index.dev_attr.attr, &iio_scan_el_magn_z.dev_attr.attr, + &iio_const_attr_magn_z_index.dev_attr.attr, + &iio_const_attr_magn_type.dev_attr.attr, &iio_scan_el_temp.dev_attr.attr, - &iio_scan_el_adc_0.dev_attr.attr, + &iio_const_attr_temp_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, }; @@ -83,10 +91,10 @@ static struct attribute_group adis16400_scan_el_group = { * adis16400_poll_func_th() top half interrupt handler called by trigger * @private_data: iio_dev **/ -static void adis16400_poll_func_th(struct iio_dev *indio_dev) +static void adis16400_poll_func_th(struct iio_dev *indio_dev, s64 time) { struct adis16400_state *st = iio_dev_get_devdata(indio_dev); - st->last_timestamp = indio_dev->trig->timestamp; + st->last_timestamp = time; schedule_work(&st->work_trigger_to_ring); /* Indicate that this interrupt is being handled */ @@ -96,6 +104,54 @@ static void adis16400_poll_func_th(struct iio_dev *indio_dev) */ } +/** + * adis16400_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 adis16400_spi_read_burst(struct device *dev, u8 *rx) +{ + struct spi_message msg; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16400_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 = 24, + .cs_change = 1, + }, + }; + + mutex_lock(&st->buf_lock); + st->tx[0] = ADIS16400_READ_REG(ADIS16400_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 = min(ADIS16400_SPI_BURST, old_speed_hz); + 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. */ @@ -104,11 +160,11 @@ static void adis16400_trigger_bh_to_ring(struct work_struct *work_s) struct adis16400_state *st = container_of(work_s, struct adis16400_state, work_trigger_to_ring); + struct iio_ring_buffer *ring = st->indio_dev->ring; int i = 0; s16 *data; - size_t datasize = st->indio_dev - ->ring->access.get_bpd(st->indio_dev->ring); + size_t datasize = ring->access.get_bytes_per_datum(ring); data = kmalloc(datasize , GFP_KERNEL); if (data == NULL) { @@ -116,65 +172,25 @@ static void adis16400_trigger_bh_to_ring(struct work_struct *work_s) return; } - if (st->indio_dev->scan_count) + if (ring->scan_count) if (adis16400_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]); - } + 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 (st->indio_dev->scan_timestamp) + if (ring->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); + ring->access.store_to(ring, + (u8 *) data, + st->last_timestamp); iio_trigger_notify_done(st->indio_dev->trig); kfree(data); return; } -/* in these circumstances is it better to go with unaligned packing and - * deal with the cost?*/ -static int adis16400_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 and data */ - size = 6*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 adis16400_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 adis16400_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 adis16400_unconfigure_ring(struct iio_dev *indio_dev) { @@ -188,23 +204,6 @@ int adis16400_configure_ring(struct iio_dev *indio_dev) struct adis16400_state *st = indio_dev->dev_data; struct iio_ring_buffer *ring; INIT_WORK(&st->work_trigger_to_ring, adis16400_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_magn_x.number); - iio_scan_mask_set(indio_dev, iio_scan_el_magn_y.number); - iio_scan_mask_set(indio_dev, iio_scan_el_magn_z.number); - iio_scan_mask_set(indio_dev, iio_scan_el_temp.number); - iio_scan_mask_set(indio_dev, iio_scan_el_adc_0.number); - indio_dev->scan_timestamp = true; - - indio_dev->scan_el_attrs = &adis16400_scan_el_group; ring = iio_sw_rb_allocate(indio_dev); if (!ring) { @@ -214,18 +213,32 @@ int adis16400_configure_ring(struct iio_dev *indio_dev) indio_dev->ring = ring; /* Effectively select the ring buffer implementation */ iio_ring_sw_register_funcs(&ring->access); - ring->preenable = &adis16400_data_rdy_ring_preenable; - ring->postenable = &adis16400_data_rdy_ring_postenable; - ring->predisable = &adis16400_data_rdy_ring_predisable; + ring->bpe = 2; + ring->scan_el_attrs = &adis16400_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; - 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 = &adis16400_poll_func_th; - indio_dev->pollfunc->private_data = indio_dev; + /* 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_magn_x.number); + iio_scan_mask_set(ring, iio_scan_el_magn_y.number); + iio_scan_mask_set(ring, iio_scan_el_magn_z.number); + iio_scan_mask_set(ring, iio_scan_el_temp.number); + iio_scan_mask_set(ring, iio_scan_el_in1.number); + + ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16400_poll_func_th); + if (ret) + goto error_iio_sw_rb_free; + indio_dev->modes |= INDIO_RING_TRIGGERED; return 0; @@ -233,13 +246,3 @@ error_iio_sw_rb_free: iio_sw_rb_free(indio_dev->ring); return ret; } - -int adis16400_initialize_ring(struct iio_ring_buffer *ring) -{ - return iio_ring_buffer_register(ring, 0); -} - -void adis16400_uninitialize_ring(struct iio_ring_buffer *ring) -{ - iio_ring_buffer_unregister(ring); -} |