1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
|
#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/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include <linux/bitops.h>
#include "../iio.h"
#include "../sysfs.h"
#include "../ring_sw.h"
#include "../accel/accel.h"
#include "../trigger.h"
#include "adis16400.h"
/**
* 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_priv(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,
}, {
.rx_buf = rx,
.bits_per_word = 8,
.len = 24,
},
};
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;
}
static const u16 read_all_tx_array[] = {
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_SUPPLY_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XGYRO_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YGYRO_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZGYRO_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XACCL_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YACCL_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZACCL_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16350_XTEMP_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16350_YTEMP_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16350_ZTEMP_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_AUX_ADC)),
};
static int adis16350_spi_read_all(struct device *dev, u8 *rx)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16400_state *st = iio_priv(indio_dev);
struct spi_message msg;
int i, j = 0, ret;
struct spi_transfer *xfers;
xfers = kzalloc(sizeof(*xfers)*indio_dev->ring->scan_count + 1,
GFP_KERNEL);
if (xfers == NULL)
return -ENOMEM;
for (i = 0; i < ARRAY_SIZE(read_all_tx_array); i++)
if (indio_dev->ring->scan_mask & (1 << i)) {
xfers[j].tx_buf = &read_all_tx_array[i];
xfers[j].bits_per_word = 16;
xfers[j].len = 2;
xfers[j + 1].rx_buf = rx + j*2;
j++;
}
xfers[j].bits_per_word = 16;
xfers[j].len = 2;
spi_message_init(&msg);
for (j = 0; j < indio_dev->ring->scan_count + 1; j++)
spi_message_add_tail(&xfers[j], &msg);
ret = spi_sync(st->us, &msg);
kfree(xfers);
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 irqreturn_t adis16400_trigger_handler(int irq, void *p)
{
struct iio_poll_func *pf = p;
struct iio_dev *indio_dev = pf->private_data;
struct adis16400_state *st = iio_priv(indio_dev);
struct iio_ring_buffer *ring = indio_dev->ring;
int i = 0, j, ret = 0;
s16 *data;
size_t datasize = ring->access->get_bytes_per_datum(ring);
unsigned long mask = ring->scan_mask;
data = kmalloc(datasize , GFP_KERNEL);
if (data == NULL) {
dev_err(&st->us->dev, "memory alloc failed in ring bh");
return -ENOMEM;
}
if (ring->scan_count) {
if (st->variant->flags & ADIS16400_NO_BURST) {
ret = adis16350_spi_read_all(&indio_dev->dev, st->rx);
if (ret < 0)
return ret;
for (; i < ring->scan_count; i++)
data[i] = *(s16 *)(st->rx + i*2);
} else {
ret = adis16400_spi_read_burst(&indio_dev->dev, st->rx);
if (ret < 0)
return ret;
for (; i < indio_dev->ring->scan_count; i++) {
j = __ffs(mask);
mask &= ~(1 << j);
data[i] = be16_to_cpup(
(__be16 *)&(st->rx[j*2]));
}
}
}
/* Guaranteed to be aligned with 8 byte boundary */
if (ring->scan_timestamp)
*((s64 *)(data + ((i + 3)/4)*4)) = pf->timestamp;
ring->access->store_to(indio_dev->ring, (u8 *) data, pf->timestamp);
iio_trigger_notify_done(indio_dev->trig);
kfree(data);
return IRQ_HANDLED;
}
void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
{
iio_dealloc_pollfunc(indio_dev->pollfunc);
iio_sw_rb_free(indio_dev->ring);
}
static const struct iio_ring_setup_ops adis16400_ring_setup_ops = {
.preenable = &iio_sw_ring_preenable,
.postenable = &iio_triggered_ring_postenable,
.predisable = &iio_triggered_ring_predisable,
};
int adis16400_configure_ring(struct iio_dev *indio_dev)
{
int ret = 0;
struct adis16400_state *st = iio_priv(indio_dev);
struct iio_ring_buffer *ring;
ring = iio_sw_rb_allocate(indio_dev);
if (!ring) {
ret = -ENOMEM;
return ret;
}
indio_dev->ring = ring;
/* Effectively select the ring buffer implementation */
ring->access = &ring_sw_access_funcs;
ring->bpe = 2;
ring->scan_timestamp = true;
ring->setup_ops = &adis16400_ring_setup_ops;
ring->owner = THIS_MODULE;
/* Set default scan mode */
ring->scan_mask = st->variant->default_scan_mask;
ring->scan_count = hweight_long(st->variant->default_scan_mask);
indio_dev->pollfunc = iio_alloc_pollfunc(&iio_pollfunc_store_time,
&adis16400_trigger_handler,
IRQF_ONESHOT,
indio_dev,
"%s_consumer%d",
indio_dev->name,
indio_dev->id);
if (indio_dev->pollfunc == NULL) {
ret = -ENOMEM;
goto error_iio_sw_rb_free;
}
indio_dev->modes |= INDIO_RING_TRIGGERED;
return 0;
error_iio_sw_rb_free:
iio_sw_rb_free(indio_dev->ring);
return ret;
}
|
