1 // SPDX-License-Identifier: GPL-2.0-or-later 2 /* 3 * Common library for ADIS16XXX devices 4 * 5 * Copyright 2012 Analog Devices Inc. 6 * Author: Lars-Peter Clausen <lars@metafoo.de> 7 */ 8 9 #include <linux/export.h> 10 #include <linux/interrupt.h> 11 #include <linux/mutex.h> 12 #include <linux/kernel.h> 13 #include <linux/spi/spi.h> 14 #include <linux/slab.h> 15 16 #include <linux/iio/iio.h> 17 #include <linux/iio/buffer.h> 18 #include <linux/iio/trigger_consumer.h> 19 #include <linux/iio/triggered_buffer.h> 20 #include <linux/iio/imu/adis.h> 21 22 static int adis_update_scan_mode_burst(struct iio_dev *indio_dev, 23 const unsigned long *scan_mask) 24 { 25 struct adis *adis = iio_device_get_drvdata(indio_dev); 26 unsigned int burst_length, burst_max_length; 27 u8 *tx; 28 29 burst_length = adis->data->burst_len + adis->burst_extra_len; 30 31 if (adis->data->burst_max_len) 32 burst_max_length = adis->data->burst_max_len; 33 else 34 burst_max_length = burst_length; 35 36 adis->xfer = kcalloc(2, sizeof(*adis->xfer), GFP_KERNEL); 37 if (!adis->xfer) 38 return -ENOMEM; 39 40 adis->buffer = kzalloc(burst_max_length + sizeof(u16), GFP_KERNEL); 41 if (!adis->buffer) { 42 kfree(adis->xfer); 43 adis->xfer = NULL; 44 return -ENOMEM; 45 } 46 47 tx = adis->buffer + burst_max_length; 48 tx[0] = ADIS_READ_REG(adis->data->burst_reg_cmd); 49 tx[1] = 0; 50 51 adis->xfer[0].tx_buf = tx; 52 adis->xfer[0].bits_per_word = 8; 53 adis->xfer[0].len = 2; 54 if (adis->data->burst_max_speed_hz) 55 adis->xfer[0].speed_hz = adis->data->burst_max_speed_hz; 56 adis->xfer[1].rx_buf = adis->buffer; 57 adis->xfer[1].bits_per_word = 8; 58 adis->xfer[1].len = burst_length; 59 if (adis->data->burst_max_speed_hz) 60 adis->xfer[1].speed_hz = adis->data->burst_max_speed_hz; 61 62 spi_message_init(&adis->msg); 63 spi_message_add_tail(&adis->xfer[0], &adis->msg); 64 spi_message_add_tail(&adis->xfer[1], &adis->msg); 65 66 return 0; 67 } 68 69 int adis_update_scan_mode(struct iio_dev *indio_dev, 70 const unsigned long *scan_mask) 71 { 72 struct adis *adis = iio_device_get_drvdata(indio_dev); 73 const struct iio_chan_spec *chan; 74 unsigned int scan_count; 75 unsigned int i, j; 76 __be16 *tx, *rx; 77 78 kfree(adis->xfer); 79 kfree(adis->buffer); 80 81 if (adis->data->burst_len) 82 return adis_update_scan_mode_burst(indio_dev, scan_mask); 83 84 scan_count = indio_dev->scan_bytes / 2; 85 86 adis->xfer = kcalloc(scan_count + 1, sizeof(*adis->xfer), GFP_KERNEL); 87 if (!adis->xfer) 88 return -ENOMEM; 89 90 adis->buffer = kcalloc(indio_dev->scan_bytes, 2, GFP_KERNEL); 91 if (!adis->buffer) { 92 kfree(adis->xfer); 93 adis->xfer = NULL; 94 return -ENOMEM; 95 } 96 97 rx = adis->buffer; 98 tx = rx + scan_count; 99 100 spi_message_init(&adis->msg); 101 102 for (j = 0; j <= scan_count; j++) { 103 adis->xfer[j].bits_per_word = 8; 104 if (j != scan_count) 105 adis->xfer[j].cs_change = 1; 106 adis->xfer[j].len = 2; 107 adis->xfer[j].delay.value = adis->data->read_delay; 108 adis->xfer[j].delay.unit = SPI_DELAY_UNIT_USECS; 109 if (j < scan_count) 110 adis->xfer[j].tx_buf = &tx[j]; 111 if (j >= 1) 112 adis->xfer[j].rx_buf = &rx[j - 1]; 113 spi_message_add_tail(&adis->xfer[j], &adis->msg); 114 } 115 116 chan = indio_dev->channels; 117 for (i = 0; i < indio_dev->num_channels; i++, chan++) { 118 if (!test_bit(chan->scan_index, scan_mask)) 119 continue; 120 if (chan->scan_type.storagebits == 32) 121 *tx++ = cpu_to_be16((chan->address + 2) << 8); 122 *tx++ = cpu_to_be16(chan->address << 8); 123 } 124 125 return 0; 126 } 127 EXPORT_SYMBOL_NS_GPL(adis_update_scan_mode, IIO_ADISLIB); 128 129 static int adis_paging_trigger_handler(struct adis *adis) 130 { 131 int ret; 132 133 guard(mutex)(&adis->state_lock); 134 if (adis->current_page != 0) { 135 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID); 136 adis->tx[1] = 0; 137 ret = spi_write(adis->spi, adis->tx, 2); 138 if (ret) { 139 dev_err(&adis->spi->dev, "Failed to change device page: %d\n", ret); 140 return ret; 141 } 142 143 adis->current_page = 0; 144 } 145 146 return spi_sync(adis->spi, &adis->msg); 147 } 148 149 static irqreturn_t adis_trigger_handler(int irq, void *p) 150 { 151 struct iio_poll_func *pf = p; 152 struct iio_dev *indio_dev = pf->indio_dev; 153 struct adis *adis = iio_device_get_drvdata(indio_dev); 154 int ret; 155 156 if (adis->data->has_paging) 157 ret = adis_paging_trigger_handler(adis); 158 else 159 ret = spi_sync(adis->spi, &adis->msg); 160 if (ret) { 161 dev_err(&adis->spi->dev, "Failed to read data: %d", ret); 162 goto irq_done; 163 } 164 165 iio_push_to_buffers_with_timestamp(indio_dev, adis->buffer, 166 pf->timestamp); 167 168 irq_done: 169 iio_trigger_notify_done(indio_dev->trig); 170 171 return IRQ_HANDLED; 172 } 173 174 static void adis_buffer_cleanup(void *arg) 175 { 176 struct adis *adis = arg; 177 178 kfree(adis->buffer); 179 kfree(adis->xfer); 180 } 181 182 /** 183 * devm_adis_setup_buffer_and_trigger_with_attrs() - Sets up buffer and trigger 184 * for the managed adis device with buffer attributes. 185 * @adis: The adis device 186 * @indio_dev: The IIO device 187 * @trigger_handler: Trigger handler: should handle the buffer readings. 188 * @ops: Optional buffer setup functions, may be NULL. 189 * @buffer_attrs: Extra buffer attributes. 190 * 191 * Returns 0 on success, a negative error code otherwise. 192 * 193 * This function sets up the buffer (with buffer setup functions and extra 194 * buffer attributes) and trigger for a adis devices with buffer attributes. 195 */ 196 int 197 devm_adis_setup_buffer_and_trigger_with_attrs(struct adis *adis, struct iio_dev *indio_dev, 198 irq_handler_t trigger_handler, 199 const struct iio_buffer_setup_ops *ops, 200 const struct iio_dev_attr **buffer_attrs) 201 { 202 int ret; 203 204 if (!trigger_handler) 205 trigger_handler = adis_trigger_handler; 206 207 ret = devm_iio_triggered_buffer_setup_ext(&adis->spi->dev, indio_dev, 208 &iio_pollfunc_store_time, 209 trigger_handler, 210 IIO_BUFFER_DIRECTION_IN, 211 ops, 212 buffer_attrs); 213 if (ret) 214 return ret; 215 216 if (adis->spi->irq) { 217 ret = devm_adis_probe_trigger(adis, indio_dev); 218 if (ret) 219 return ret; 220 } 221 222 return devm_add_action_or_reset(&adis->spi->dev, adis_buffer_cleanup, 223 adis); 224 } 225 EXPORT_SYMBOL_NS_GPL(devm_adis_setup_buffer_and_trigger_with_attrs, IIO_ADISLIB); 226