1 #include <linux/interrupt.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/sysfs.h>
10 #include <linux/list.h>
14 #include "../ring_sw.h"
15 #include "../accel/accel.h"
16 #include "../trigger.h"
17 #include "adis16400.h"
20 * combine_8_to_16() utility function to munge to u8s into u16
22 static inline u16 combine_8_to_16(u8 lower, u8 upper)
26 return _lower | (_upper << 8);
29 static IIO_SCAN_EL_C(supply, ADIS16400_SCAN_SUPPLY, IIO_SIGNED(14),
30 ADIS16400_SUPPLY_OUT, NULL);
32 static IIO_SCAN_EL_C(gyro_x, ADIS16400_SCAN_GYRO_X, IIO_SIGNED(14),
33 ADIS16400_XGYRO_OUT, NULL);
34 static IIO_SCAN_EL_C(gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_SIGNED(14),
35 ADIS16400_YGYRO_OUT, NULL);
36 static IIO_SCAN_EL_C(gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_SIGNED(14),
37 ADIS16400_ZGYRO_OUT, NULL);
39 static IIO_SCAN_EL_C(accel_x, ADIS16400_SCAN_ACC_X, IIO_SIGNED(14),
40 ADIS16400_XACCL_OUT, NULL);
41 static IIO_SCAN_EL_C(accel_y, ADIS16400_SCAN_ACC_Y, IIO_SIGNED(14),
42 ADIS16400_YACCL_OUT, NULL);
43 static IIO_SCAN_EL_C(accel_z, ADIS16400_SCAN_ACC_Z, IIO_SIGNED(14),
44 ADIS16400_ZACCL_OUT, NULL);
46 static IIO_SCAN_EL_C(magn_x, ADIS16400_SCAN_MAGN_X, IIO_SIGNED(14),
47 ADIS16400_XMAGN_OUT, NULL);
48 static IIO_SCAN_EL_C(magn_y, ADIS16400_SCAN_MAGN_Y, IIO_SIGNED(14),
49 ADIS16400_YMAGN_OUT, NULL);
50 static IIO_SCAN_EL_C(magn_z, ADIS16400_SCAN_MAGN_Z, IIO_SIGNED(14),
51 ADIS16400_ZMAGN_OUT, NULL);
53 static IIO_SCAN_EL_C(temp, ADIS16400_SCAN_TEMP, IIO_SIGNED(12),
54 ADIS16400_TEMP_OUT, NULL);
55 static IIO_SCAN_EL_C(adc_0, ADIS16400_SCAN_ADC_0, IIO_SIGNED(12),
56 ADIS16400_AUX_ADC, NULL);
58 static IIO_SCAN_EL_TIMESTAMP(12);
60 static struct attribute *adis16400_scan_el_attrs[] = {
61 &iio_scan_el_supply.dev_attr.attr,
62 &iio_scan_el_gyro_x.dev_attr.attr,
63 &iio_scan_el_gyro_y.dev_attr.attr,
64 &iio_scan_el_gyro_z.dev_attr.attr,
65 &iio_scan_el_accel_x.dev_attr.attr,
66 &iio_scan_el_accel_y.dev_attr.attr,
67 &iio_scan_el_accel_z.dev_attr.attr,
68 &iio_scan_el_magn_x.dev_attr.attr,
69 &iio_scan_el_magn_y.dev_attr.attr,
70 &iio_scan_el_magn_z.dev_attr.attr,
71 &iio_scan_el_temp.dev_attr.attr,
72 &iio_scan_el_adc_0.dev_attr.attr,
73 &iio_scan_el_timestamp.dev_attr.attr,
77 static struct attribute_group adis16400_scan_el_group = {
78 .attrs = adis16400_scan_el_attrs,
79 .name = "scan_elements",
83 * adis16400_poll_func_th() top half interrupt handler called by trigger
84 * @private_data: iio_dev
86 static void adis16400_poll_func_th(struct iio_dev *indio_dev)
88 struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
89 st->last_timestamp = indio_dev->trig->timestamp;
90 schedule_work(&st->work_trigger_to_ring);
91 /* Indicate that this interrupt is being handled */
93 /* Technically this is trigger related, but without this
94 * handler running there is currently no way for the interrupt
99 /* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
100 * specific to be rolled into the core.
102 static void adis16400_trigger_bh_to_ring(struct work_struct *work_s)
104 struct adis16400_state *st
105 = container_of(work_s, struct adis16400_state,
106 work_trigger_to_ring);
110 size_t datasize = st->indio_dev
111 ->ring->access.get_bpd(st->indio_dev->ring);
113 data = kmalloc(datasize , GFP_KERNEL);
115 dev_err(&st->us->dev, "memory alloc failed in ring bh");
119 if (st->indio_dev->scan_count)
120 if (adis16400_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
121 for (; i < st->indio_dev->scan_count; i++) {
122 data[i] = combine_8_to_16(st->rx[i*2+1],
126 /* Guaranteed to be aligned with 8 byte boundary */
127 if (st->indio_dev->scan_timestamp)
128 *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
130 st->indio_dev->ring->access.store_to(st->indio_dev->ring,
134 iio_trigger_notify_done(st->indio_dev->trig);
139 /* in these circumstances is it better to go with unaligned packing and
140 * deal with the cost?*/
141 static int adis16400_data_rdy_ring_preenable(struct iio_dev *indio_dev)
144 dev_dbg(&indio_dev->dev, "%s\n", __func__);
145 /* Check if there are any scan elements enabled, if not fail*/
146 if (!(indio_dev->scan_count || indio_dev->scan_timestamp))
149 if (indio_dev->ring->access.set_bpd) {
150 if (indio_dev->scan_timestamp)
151 if (indio_dev->scan_count) /* Timestamp and data */
152 size = 6*sizeof(s64);
153 else /* Timestamp only */
156 size = indio_dev->scan_count*sizeof(s16);
157 indio_dev->ring->access.set_bpd(indio_dev->ring, size);
163 static int adis16400_data_rdy_ring_postenable(struct iio_dev *indio_dev)
165 return indio_dev->trig
166 ? iio_trigger_attach_poll_func(indio_dev->trig,
171 static int adis16400_data_rdy_ring_predisable(struct iio_dev *indio_dev)
173 return indio_dev->trig
174 ? iio_trigger_dettach_poll_func(indio_dev->trig,
179 void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
181 kfree(indio_dev->pollfunc);
182 iio_sw_rb_free(indio_dev->ring);
185 int adis16400_configure_ring(struct iio_dev *indio_dev)
188 struct adis16400_state *st = indio_dev->dev_data;
189 struct iio_ring_buffer *ring;
190 INIT_WORK(&st->work_trigger_to_ring, adis16400_trigger_bh_to_ring);
191 /* Set default scan mode */
193 iio_scan_mask_set(indio_dev, iio_scan_el_supply.number);
194 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_x.number);
195 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_y.number);
196 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_z.number);
197 iio_scan_mask_set(indio_dev, iio_scan_el_accel_x.number);
198 iio_scan_mask_set(indio_dev, iio_scan_el_accel_y.number);
199 iio_scan_mask_set(indio_dev, iio_scan_el_accel_z.number);
200 iio_scan_mask_set(indio_dev, iio_scan_el_magn_x.number);
201 iio_scan_mask_set(indio_dev, iio_scan_el_magn_y.number);
202 iio_scan_mask_set(indio_dev, iio_scan_el_magn_z.number);
203 iio_scan_mask_set(indio_dev, iio_scan_el_temp.number);
204 iio_scan_mask_set(indio_dev, iio_scan_el_adc_0.number);
205 indio_dev->scan_timestamp = true;
207 indio_dev->scan_el_attrs = &adis16400_scan_el_group;
209 ring = iio_sw_rb_allocate(indio_dev);
214 indio_dev->ring = ring;
215 /* Effectively select the ring buffer implementation */
216 iio_ring_sw_register_funcs(&ring->access);
217 ring->preenable = &adis16400_data_rdy_ring_preenable;
218 ring->postenable = &adis16400_data_rdy_ring_postenable;
219 ring->predisable = &adis16400_data_rdy_ring_predisable;
220 ring->owner = THIS_MODULE;
222 indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL);
223 if (indio_dev->pollfunc == NULL) {
225 goto error_iio_sw_rb_free;;
227 indio_dev->pollfunc->poll_func_main = &adis16400_poll_func_th;
228 indio_dev->pollfunc->private_data = indio_dev;
229 indio_dev->modes |= INDIO_RING_TRIGGERED;
232 error_iio_sw_rb_free:
233 iio_sw_rb_free(indio_dev->ring);
237 int adis16400_initialize_ring(struct iio_ring_buffer *ring)
239 return iio_ring_buffer_register(ring, 0);
242 void adis16400_uninitialize_ring(struct iio_ring_buffer *ring)
244 iio_ring_buffer_unregister(ring);