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#include <linux/interrupt.h>
#include <linux/mutex.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/bitops.h>
#include <linux/export.h>
#include <linux/iio/iio.h>
#include "../ring_sw.h"
#include <linux/iio/trigger_consumer.h>
#include "adis16400.h"
/**
* adis16400_spi_read_burst() - read all data registers
* @indio_dev: the IIO device
* @rx: somewhere to pass back the value read (min size is 24 bytes)
**/
static int adis16400_spi_read_burst(struct iio_dev *indio_dev, u8 *rx)
{
struct spi_message msg;
struct adis16400_state *st = iio_priv(indio_dev);
u32 old_speed_hz = st->adis.spi->max_speed_hz;
int ret;
struct spi_transfer xfers[] = {
{
.tx_buf = st->adis.tx,
.bits_per_word = 8,
.len = 2,
}, {
.rx_buf = rx,
.bits_per_word = 8,
.len = 24,
},
};
mutex_lock(&st->adis.txrx_lock);
st->adis.tx[0] = ADIS_READ_REG(ADIS16400_GLOB_CMD);
st->adis.tx[1] = 0;
spi_message_init(&msg);
spi_message_add_tail(&xfers[0], &msg);
spi_message_add_tail(&xfers[1], &msg);
st->adis.spi->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz);
spi_setup(st->adis.spi);
ret = spi_sync(st->adis.spi, &msg);
if (ret)
dev_err(&st->adis.spi->dev, "problem when burst reading");
st->adis.spi->max_speed_hz = old_speed_hz;
spi_setup(st->adis.spi);
mutex_unlock(&st->adis.txrx_lock);
return ret;
}
static const u16 read_all_tx_array[] = {
cpu_to_be16(ADIS_READ_REG(ADIS16400_SUPPLY_OUT)),
cpu_to_be16(ADIS_READ_REG(ADIS16400_XGYRO_OUT)),
cpu_to_be16(ADIS_READ_REG(ADIS16400_YGYRO_OUT)),
cpu_to_be16(ADIS_READ_REG(ADIS16400_ZGYRO_OUT)),
cpu_to_be16(ADIS_READ_REG(ADIS16400_XACCL_OUT)),
cpu_to_be16(ADIS_READ_REG(ADIS16400_YACCL_OUT)),
cpu_to_be16(ADIS_READ_REG(ADIS16400_ZACCL_OUT)),
cpu_to_be16(ADIS_READ_REG(ADIS16350_XTEMP_OUT)),
cpu_to_be16(ADIS_READ_REG(ADIS16350_YTEMP_OUT)),
cpu_to_be16(ADIS_READ_REG(ADIS16350_ZTEMP_OUT)),
cpu_to_be16(ADIS_READ_REG(ADIS16400_AUX_ADC)),
};
static int adis16350_spi_read_all(struct iio_dev *indio_dev, u8 *rx)
{
struct adis16400_state *st = iio_priv(indio_dev);
struct spi_message msg;
int i, j = 0, ret;
struct spi_transfer *xfers;
int scan_count = bitmap_weight(indio_dev->active_scan_mask,
indio_dev->masklength);
xfers = kzalloc(sizeof(*xfers)*(scan_count + 1),
GFP_KERNEL);
if (xfers == NULL)
return -ENOMEM;
for (i = 0; i < ARRAY_SIZE(read_all_tx_array); i++)
if (test_bit(i, indio_dev->active_scan_mask)) {
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 < scan_count + 1; j++)
spi_message_add_tail(&xfers[j], &msg);
ret = spi_sync(st->adis.spi, &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->indio_dev;
struct adis16400_state *st = iio_priv(indio_dev);
int i = 0, j, ret = 0;
s16 *data;
/* Asumption that long is enough for maximum channels */
unsigned long mask = *indio_dev->active_scan_mask;
int scan_count = bitmap_weight(indio_dev->active_scan_mask,
indio_dev->masklength);
data = kmalloc(indio_dev->scan_bytes, GFP_KERNEL);
if (data == NULL) {
dev_err(&st->adis.spi->dev, "memory alloc failed in ring bh");
goto done;
}
if (scan_count) {
if (st->variant->flags & ADIS16400_NO_BURST) {
ret = adis16350_spi_read_all(indio_dev, st->adis.rx);
if (ret < 0)
goto done;
for (; i < scan_count; i++)
data[i] = *(s16 *)(st->adis.rx + i*2);
} else {
ret = adis16400_spi_read_burst(indio_dev, st->adis.rx);
if (ret < 0)
goto done;
for (; i < scan_count; i++) {
j = __ffs(mask);
mask &= ~(1 << j);
data[i] = be16_to_cpup(
(__be16 *)&(st->adis.rx[j*2]));
}
}
}
/* Guaranteed to be aligned with 8 byte boundary */
if (indio_dev->scan_timestamp)
*((s64 *)(data + ((i + 3)/4)*4)) = pf->timestamp;
iio_push_to_buffers(indio_dev, (u8 *) data);
done:
kfree(data);
iio_trigger_notify_done(indio_dev->trig);
return IRQ_HANDLED;
}
void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
{
iio_dealloc_pollfunc(indio_dev->pollfunc);
iio_sw_rb_free(indio_dev->buffer);
}
static const struct iio_buffer_setup_ops adis16400_ring_setup_ops = {
.preenable = &iio_sw_buffer_preenable,
.postenable = &iio_triggered_buffer_postenable,
.predisable = &iio_triggered_buffer_predisable,
};
int adis16400_configure_ring(struct iio_dev *indio_dev)
{
int ret = 0;
struct iio_buffer *ring;
ring = iio_sw_rb_allocate(indio_dev);
if (!ring) {
ret = -ENOMEM;
return ret;
}
indio_dev->buffer = ring;
ring->scan_timestamp = true;
indio_dev->setup_ops = &adis16400_ring_setup_ops;
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_BUFFER_TRIGGERED;
return 0;
error_iio_sw_rb_free:
iio_sw_rb_free(indio_dev->buffer);
return ret;
}
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