1ec04cb04SLars-Peter Clausen /* 2ec04cb04SLars-Peter Clausen * Common library for ADIS16XXX devices 3ec04cb04SLars-Peter Clausen * 4ec04cb04SLars-Peter Clausen * Copyright 2012 Analog Devices Inc. 5ec04cb04SLars-Peter Clausen * Author: Lars-Peter Clausen <lars@metafoo.de> 6ec04cb04SLars-Peter Clausen * 7ec04cb04SLars-Peter Clausen * Licensed under the GPL-2 or later. 8ec04cb04SLars-Peter Clausen */ 9ec04cb04SLars-Peter Clausen 10ec04cb04SLars-Peter Clausen #include <linux/export.h> 11ec04cb04SLars-Peter Clausen #include <linux/interrupt.h> 12ec04cb04SLars-Peter Clausen #include <linux/mutex.h> 13ec04cb04SLars-Peter Clausen #include <linux/kernel.h> 14ec04cb04SLars-Peter Clausen #include <linux/spi/spi.h> 15ec04cb04SLars-Peter Clausen #include <linux/slab.h> 16ec04cb04SLars-Peter Clausen 17ec04cb04SLars-Peter Clausen #include <linux/iio/iio.h> 18ec04cb04SLars-Peter Clausen #include <linux/iio/buffer.h> 19ec04cb04SLars-Peter Clausen #include <linux/iio/trigger_consumer.h> 20ec04cb04SLars-Peter Clausen #include <linux/iio/triggered_buffer.h> 21ec04cb04SLars-Peter Clausen #include <linux/iio/imu/adis.h> 22ec04cb04SLars-Peter Clausen 23ec04cb04SLars-Peter Clausen int adis_update_scan_mode(struct iio_dev *indio_dev, 24ec04cb04SLars-Peter Clausen const unsigned long *scan_mask) 25ec04cb04SLars-Peter Clausen { 26ec04cb04SLars-Peter Clausen struct adis *adis = iio_device_get_drvdata(indio_dev); 27ec04cb04SLars-Peter Clausen const struct iio_chan_spec *chan; 28ec04cb04SLars-Peter Clausen unsigned int scan_count; 29ec04cb04SLars-Peter Clausen unsigned int i, j; 30ec04cb04SLars-Peter Clausen __be16 *tx, *rx; 31ec04cb04SLars-Peter Clausen 32ec04cb04SLars-Peter Clausen kfree(adis->xfer); 33ec04cb04SLars-Peter Clausen kfree(adis->buffer); 34ec04cb04SLars-Peter Clausen 35ec04cb04SLars-Peter Clausen scan_count = indio_dev->scan_bytes / 2; 36ec04cb04SLars-Peter Clausen 37ec04cb04SLars-Peter Clausen adis->xfer = kcalloc(scan_count + 1, sizeof(*adis->xfer), GFP_KERNEL); 38ec04cb04SLars-Peter Clausen if (!adis->xfer) 39ec04cb04SLars-Peter Clausen return -ENOMEM; 40ec04cb04SLars-Peter Clausen 41ec04cb04SLars-Peter Clausen adis->buffer = kzalloc(indio_dev->scan_bytes * 2, GFP_KERNEL); 42ec04cb04SLars-Peter Clausen if (!adis->buffer) 43ec04cb04SLars-Peter Clausen return -ENOMEM; 44ec04cb04SLars-Peter Clausen 45ec04cb04SLars-Peter Clausen rx = adis->buffer; 46ec04cb04SLars-Peter Clausen tx = rx + indio_dev->scan_bytes; 47ec04cb04SLars-Peter Clausen 48ec04cb04SLars-Peter Clausen spi_message_init(&adis->msg); 49ec04cb04SLars-Peter Clausen 50ec04cb04SLars-Peter Clausen for (j = 0; j <= scan_count; j++) { 51ec04cb04SLars-Peter Clausen adis->xfer[j].bits_per_word = 8; 52ec04cb04SLars-Peter Clausen if (j != scan_count) 53ec04cb04SLars-Peter Clausen adis->xfer[j].cs_change = 1; 54ec04cb04SLars-Peter Clausen adis->xfer[j].len = 2; 55ec04cb04SLars-Peter Clausen adis->xfer[j].delay_usecs = adis->data->read_delay; 56ec04cb04SLars-Peter Clausen if (j < scan_count) 57ec04cb04SLars-Peter Clausen adis->xfer[j].tx_buf = &tx[j]; 58ec04cb04SLars-Peter Clausen if (j >= 1) 59ec04cb04SLars-Peter Clausen adis->xfer[j].rx_buf = &rx[j - 1]; 60ec04cb04SLars-Peter Clausen spi_message_add_tail(&adis->xfer[j], &adis->msg); 61ec04cb04SLars-Peter Clausen } 62ec04cb04SLars-Peter Clausen 63ec04cb04SLars-Peter Clausen chan = indio_dev->channels; 64ec04cb04SLars-Peter Clausen for (i = 0; i < indio_dev->num_channels; i++, chan++) { 65ec04cb04SLars-Peter Clausen if (!test_bit(chan->scan_index, scan_mask)) 66ec04cb04SLars-Peter Clausen continue; 6757a1228aSLars-Peter Clausen if (chan->scan_type.storagebits == 32) 6857a1228aSLars-Peter Clausen *tx++ = cpu_to_be16((chan->address + 2) << 8); 69ec04cb04SLars-Peter Clausen *tx++ = cpu_to_be16(chan->address << 8); 70ec04cb04SLars-Peter Clausen } 71ec04cb04SLars-Peter Clausen 72ec04cb04SLars-Peter Clausen return 0; 73ec04cb04SLars-Peter Clausen } 74ec04cb04SLars-Peter Clausen EXPORT_SYMBOL_GPL(adis_update_scan_mode); 75ec04cb04SLars-Peter Clausen 76ec04cb04SLars-Peter Clausen static irqreturn_t adis_trigger_handler(int irq, void *p) 77ec04cb04SLars-Peter Clausen { 78ec04cb04SLars-Peter Clausen struct iio_poll_func *pf = p; 79ec04cb04SLars-Peter Clausen struct iio_dev *indio_dev = pf->indio_dev; 80ec04cb04SLars-Peter Clausen struct adis *adis = iio_device_get_drvdata(indio_dev); 81ec04cb04SLars-Peter Clausen int ret; 82ec04cb04SLars-Peter Clausen 83ec04cb04SLars-Peter Clausen if (!adis->buffer) 84ec04cb04SLars-Peter Clausen return -ENOMEM; 85ec04cb04SLars-Peter Clausen 86ec04cb04SLars-Peter Clausen ret = spi_sync(adis->spi, &adis->msg); 87ec04cb04SLars-Peter Clausen if (ret) 88ec04cb04SLars-Peter Clausen dev_err(&adis->spi->dev, "Failed to read data: %d", ret); 89ec04cb04SLars-Peter Clausen 90ec04cb04SLars-Peter Clausen /* Guaranteed to be aligned with 8 byte boundary */ 91ec04cb04SLars-Peter Clausen if (indio_dev->scan_timestamp) { 92ec04cb04SLars-Peter Clausen void *b = adis->buffer + indio_dev->scan_bytes - sizeof(s64); 93ec04cb04SLars-Peter Clausen *(s64 *)b = pf->timestamp; 94ec04cb04SLars-Peter Clausen } 95ec04cb04SLars-Peter Clausen 96ec04cb04SLars-Peter Clausen iio_push_to_buffers(indio_dev, adis->buffer); 97ec04cb04SLars-Peter Clausen 98ec04cb04SLars-Peter Clausen iio_trigger_notify_done(indio_dev->trig); 99ec04cb04SLars-Peter Clausen 100ec04cb04SLars-Peter Clausen return IRQ_HANDLED; 101ec04cb04SLars-Peter Clausen } 102ec04cb04SLars-Peter Clausen 103ec04cb04SLars-Peter Clausen /** 104ec04cb04SLars-Peter Clausen * adis_setup_buffer_and_trigger() - Sets up buffer and trigger for the adis device 105ec04cb04SLars-Peter Clausen * @adis: The adis device. 106ec04cb04SLars-Peter Clausen * @indio_dev: The IIO device. 107ec04cb04SLars-Peter Clausen * @trigger_handler: Optional trigger handler, may be NULL. 108ec04cb04SLars-Peter Clausen * 109ec04cb04SLars-Peter Clausen * Returns 0 on success, a negative error code otherwise. 110ec04cb04SLars-Peter Clausen * 111ec04cb04SLars-Peter Clausen * This function sets up the buffer and trigger for a adis devices. If 112ec04cb04SLars-Peter Clausen * 'trigger_handler' is NULL the default trigger handler will be used. The 113ec04cb04SLars-Peter Clausen * default trigger handler will simply read the registers assigned to the 114ec04cb04SLars-Peter Clausen * currently active channels. 115ec04cb04SLars-Peter Clausen * 116ec04cb04SLars-Peter Clausen * adis_cleanup_buffer_and_trigger() should be called to free the resources 117ec04cb04SLars-Peter Clausen * allocated by this function. 118ec04cb04SLars-Peter Clausen */ 119ec04cb04SLars-Peter Clausen int adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev, 120ec04cb04SLars-Peter Clausen irqreturn_t (*trigger_handler)(int, void *)) 121ec04cb04SLars-Peter Clausen { 122ec04cb04SLars-Peter Clausen int ret; 123ec04cb04SLars-Peter Clausen 124ec04cb04SLars-Peter Clausen if (!trigger_handler) 125ec04cb04SLars-Peter Clausen trigger_handler = adis_trigger_handler; 126ec04cb04SLars-Peter Clausen 127ec04cb04SLars-Peter Clausen ret = iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time, 128ec04cb04SLars-Peter Clausen trigger_handler, NULL); 129ec04cb04SLars-Peter Clausen if (ret) 130ec04cb04SLars-Peter Clausen return ret; 131ec04cb04SLars-Peter Clausen 132ec04cb04SLars-Peter Clausen if (adis->spi->irq) { 133ec04cb04SLars-Peter Clausen ret = adis_probe_trigger(adis, indio_dev); 134ec04cb04SLars-Peter Clausen if (ret) 135ec04cb04SLars-Peter Clausen goto error_buffer_cleanup; 136ec04cb04SLars-Peter Clausen } 137ec04cb04SLars-Peter Clausen return 0; 138ec04cb04SLars-Peter Clausen 139ec04cb04SLars-Peter Clausen error_buffer_cleanup: 140ec04cb04SLars-Peter Clausen iio_triggered_buffer_cleanup(indio_dev); 141ec04cb04SLars-Peter Clausen return ret; 142ec04cb04SLars-Peter Clausen } 143ec04cb04SLars-Peter Clausen EXPORT_SYMBOL_GPL(adis_setup_buffer_and_trigger); 144ec04cb04SLars-Peter Clausen 145ec04cb04SLars-Peter Clausen /** 146ec04cb04SLars-Peter Clausen * adis_cleanup_buffer_and_trigger() - Free buffer and trigger resources 147ec04cb04SLars-Peter Clausen * @adis: The adis device. 148ec04cb04SLars-Peter Clausen * @indio_dev: The IIO device. 149ec04cb04SLars-Peter Clausen * 150ec04cb04SLars-Peter Clausen * Frees resources allocated by adis_setup_buffer_and_trigger() 151ec04cb04SLars-Peter Clausen */ 152ec04cb04SLars-Peter Clausen void adis_cleanup_buffer_and_trigger(struct adis *adis, 153ec04cb04SLars-Peter Clausen struct iio_dev *indio_dev) 154ec04cb04SLars-Peter Clausen { 155ec04cb04SLars-Peter Clausen if (adis->spi->irq) 156ec04cb04SLars-Peter Clausen adis_remove_trigger(adis); 157ec04cb04SLars-Peter Clausen kfree(adis->buffer); 158ec04cb04SLars-Peter Clausen kfree(adis->xfer); 159ec04cb04SLars-Peter Clausen iio_triggered_buffer_cleanup(indio_dev); 160ec04cb04SLars-Peter Clausen } 161ec04cb04SLars-Peter Clausen EXPORT_SYMBOL_GPL(adis_cleanup_buffer_and_trigger); 162