1 #include <linux/interrupt.h>
2 #include <linux/mutex.h>
3 #include <linux/kernel.h>
4 #include <linux/spi/spi.h>
5 #include <linux/slab.h>
6 #include <linux/bitops.h>
7 #include <linux/export.h>
9 #include <linux/iio/iio.h>
10 #include "../ring_sw.h"
11 #include <linux/iio/trigger_consumer.h>
12 #include "adis16400.h"
15 * adis16400_spi_read_burst() - read all data registers
16 * @indio_dev: the IIO device
17 * @rx: somewhere to pass back the value read (min size is 24 bytes)
19 static int adis16400_spi_read_burst(struct iio_dev *indio_dev, u8 *rx)
21 struct spi_message msg;
22 struct adis16400_state *st = iio_priv(indio_dev);
23 u32 old_speed_hz = st->us->max_speed_hz;
26 struct spi_transfer xfers[] = {
38 mutex_lock(&st->buf_lock);
39 st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD);
42 spi_message_init(&msg);
43 spi_message_add_tail(&xfers[0], &msg);
44 spi_message_add_tail(&xfers[1], &msg);
46 st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz);
49 ret = spi_sync(st->us, &msg);
51 dev_err(&st->us->dev, "problem when burst reading");
53 st->us->max_speed_hz = old_speed_hz;
55 mutex_unlock(&st->buf_lock);
59 static const u16 read_all_tx_array[] = {
60 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_SUPPLY_OUT)),
61 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XGYRO_OUT)),
62 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YGYRO_OUT)),
63 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZGYRO_OUT)),
64 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XACCL_OUT)),
65 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YACCL_OUT)),
66 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZACCL_OUT)),
67 cpu_to_be16(ADIS16400_READ_REG(ADIS16350_XTEMP_OUT)),
68 cpu_to_be16(ADIS16400_READ_REG(ADIS16350_YTEMP_OUT)),
69 cpu_to_be16(ADIS16400_READ_REG(ADIS16350_ZTEMP_OUT)),
70 cpu_to_be16(ADIS16400_READ_REG(ADIS16400_AUX_ADC)),
73 static int adis16350_spi_read_all(struct iio_dev *indio_dev, u8 *rx)
75 struct adis16400_state *st = iio_priv(indio_dev);
77 struct spi_message msg;
79 struct spi_transfer *xfers;
80 int scan_count = bitmap_weight(indio_dev->active_scan_mask,
81 indio_dev->masklength);
83 xfers = kzalloc(sizeof(*xfers)*(scan_count + 1),
88 for (i = 0; i < ARRAY_SIZE(read_all_tx_array); i++)
89 if (test_bit(i, indio_dev->active_scan_mask)) {
90 xfers[j].tx_buf = &read_all_tx_array[i];
91 xfers[j].bits_per_word = 16;
93 xfers[j + 1].rx_buf = rx + j*2;
96 xfers[j].bits_per_word = 16;
99 spi_message_init(&msg);
100 for (j = 0; j < scan_count + 1; j++)
101 spi_message_add_tail(&xfers[j], &msg);
103 ret = spi_sync(st->us, &msg);
109 /* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
110 * specific to be rolled into the core.
112 static irqreturn_t adis16400_trigger_handler(int irq, void *p)
114 struct iio_poll_func *pf = p;
115 struct iio_dev *indio_dev = pf->indio_dev;
116 struct adis16400_state *st = iio_priv(indio_dev);
117 struct iio_buffer *ring = indio_dev->buffer;
118 int i = 0, j, ret = 0;
121 /* Asumption that long is enough for maximum channels */
122 unsigned long mask = *indio_dev->active_scan_mask;
123 int scan_count = bitmap_weight(indio_dev->active_scan_mask,
124 indio_dev->masklength);
125 data = kmalloc(indio_dev->scan_bytes, GFP_KERNEL);
127 dev_err(&st->us->dev, "memory alloc failed in ring bh");
132 if (st->variant->flags & ADIS16400_NO_BURST) {
133 ret = adis16350_spi_read_all(indio_dev, st->rx);
136 for (; i < scan_count; i++)
137 data[i] = *(s16 *)(st->rx + i*2);
139 ret = adis16400_spi_read_burst(indio_dev, st->rx);
142 for (; i < scan_count; i++) {
145 data[i] = be16_to_cpup(
146 (__be16 *)&(st->rx[j*2]));
150 /* Guaranteed to be aligned with 8 byte boundary */
151 if (ring->scan_timestamp)
152 *((s64 *)(data + ((i + 3)/4)*4)) = pf->timestamp;
153 ring->access->store_to(indio_dev->buffer, (u8 *) data, pf->timestamp);
157 iio_trigger_notify_done(indio_dev->trig);
162 void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
164 iio_dealloc_pollfunc(indio_dev->pollfunc);
165 iio_sw_rb_free(indio_dev->buffer);
168 static const struct iio_buffer_setup_ops adis16400_ring_setup_ops = {
169 .preenable = &iio_sw_buffer_preenable,
170 .postenable = &iio_triggered_buffer_postenable,
171 .predisable = &iio_triggered_buffer_predisable,
174 int adis16400_configure_ring(struct iio_dev *indio_dev)
177 struct iio_buffer *ring;
179 ring = iio_sw_rb_allocate(indio_dev);
184 indio_dev->buffer = ring;
185 ring->scan_timestamp = true;
186 indio_dev->setup_ops = &adis16400_ring_setup_ops;
188 indio_dev->pollfunc = iio_alloc_pollfunc(&iio_pollfunc_store_time,
189 &adis16400_trigger_handler,
195 if (indio_dev->pollfunc == NULL) {
197 goto error_iio_sw_rb_free;
200 indio_dev->modes |= INDIO_BUFFER_TRIGGERED;
202 error_iio_sw_rb_free:
203 iio_sw_rb_free(indio_dev->buffer);