1 /* 2 * Common library for ADIS16XXX devices 3 * 4 * Copyright 2012 Analog Devices Inc. 5 * Author: Lars-Peter Clausen <lars@metafoo.de> 6 * 7 * Licensed under the GPL-2 or later. 8 */ 9 10 #include <linux/export.h> 11 #include <linux/interrupt.h> 12 #include <linux/mutex.h> 13 #include <linux/kernel.h> 14 #include <linux/spi/spi.h> 15 #include <linux/slab.h> 16 17 #include <linux/iio/iio.h> 18 #include <linux/iio/buffer.h> 19 #include <linux/iio/trigger_consumer.h> 20 #include <linux/iio/triggered_buffer.h> 21 #include <linux/iio/imu/adis.h> 22 23 int adis_update_scan_mode(struct iio_dev *indio_dev, 24 const unsigned long *scan_mask) 25 { 26 struct adis *adis = iio_device_get_drvdata(indio_dev); 27 const struct iio_chan_spec *chan; 28 unsigned int scan_count; 29 unsigned int i, j; 30 __be16 *tx, *rx; 31 32 kfree(adis->xfer); 33 kfree(adis->buffer); 34 35 scan_count = indio_dev->scan_bytes / 2; 36 37 adis->xfer = kcalloc(scan_count + 1, sizeof(*adis->xfer), GFP_KERNEL); 38 if (!adis->xfer) 39 return -ENOMEM; 40 41 adis->buffer = kzalloc(indio_dev->scan_bytes * 2, GFP_KERNEL); 42 if (!adis->buffer) 43 return -ENOMEM; 44 45 rx = adis->buffer; 46 tx = rx + indio_dev->scan_bytes; 47 48 spi_message_init(&adis->msg); 49 50 for (j = 0; j <= scan_count; j++) { 51 adis->xfer[j].bits_per_word = 8; 52 if (j != scan_count) 53 adis->xfer[j].cs_change = 1; 54 adis->xfer[j].len = 2; 55 adis->xfer[j].delay_usecs = adis->data->read_delay; 56 if (j < scan_count) 57 adis->xfer[j].tx_buf = &tx[j]; 58 if (j >= 1) 59 adis->xfer[j].rx_buf = &rx[j - 1]; 60 spi_message_add_tail(&adis->xfer[j], &adis->msg); 61 } 62 63 chan = indio_dev->channels; 64 for (i = 0; i < indio_dev->num_channels; i++, chan++) { 65 if (!test_bit(chan->scan_index, scan_mask)) 66 continue; 67 if (chan->scan_type.storagebits == 32) 68 *tx++ = cpu_to_be16((chan->address + 2) << 8); 69 *tx++ = cpu_to_be16(chan->address << 8); 70 } 71 72 return 0; 73 } 74 EXPORT_SYMBOL_GPL(adis_update_scan_mode); 75 76 static irqreturn_t adis_trigger_handler(int irq, void *p) 77 { 78 struct iio_poll_func *pf = p; 79 struct iio_dev *indio_dev = pf->indio_dev; 80 struct adis *adis = iio_device_get_drvdata(indio_dev); 81 int ret; 82 83 if (!adis->buffer) 84 return -ENOMEM; 85 86 if (adis->data->has_paging) { 87 mutex_lock(&adis->txrx_lock); 88 if (adis->current_page != 0) { 89 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID); 90 adis->tx[1] = 0; 91 spi_write(adis->spi, adis->tx, 2); 92 } 93 } 94 95 ret = spi_sync(adis->spi, &adis->msg); 96 if (ret) 97 dev_err(&adis->spi->dev, "Failed to read data: %d", ret); 98 99 100 if (adis->data->has_paging) { 101 adis->current_page = 0; 102 mutex_unlock(&adis->txrx_lock); 103 } 104 105 iio_push_to_buffers_with_timestamp(indio_dev, adis->buffer, 106 pf->timestamp); 107 108 iio_trigger_notify_done(indio_dev->trig); 109 110 return IRQ_HANDLED; 111 } 112 113 /** 114 * adis_setup_buffer_and_trigger() - Sets up buffer and trigger for the adis device 115 * @adis: The adis device. 116 * @indio_dev: The IIO device. 117 * @trigger_handler: Optional trigger handler, may be NULL. 118 * 119 * Returns 0 on success, a negative error code otherwise. 120 * 121 * This function sets up the buffer and trigger for a adis devices. If 122 * 'trigger_handler' is NULL the default trigger handler will be used. The 123 * default trigger handler will simply read the registers assigned to the 124 * currently active channels. 125 * 126 * adis_cleanup_buffer_and_trigger() should be called to free the resources 127 * allocated by this function. 128 */ 129 int adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev, 130 irqreturn_t (*trigger_handler)(int, void *)) 131 { 132 int ret; 133 134 if (!trigger_handler) 135 trigger_handler = adis_trigger_handler; 136 137 ret = iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time, 138 trigger_handler, NULL); 139 if (ret) 140 return ret; 141 142 if (adis->spi->irq) { 143 ret = adis_probe_trigger(adis, indio_dev); 144 if (ret) 145 goto error_buffer_cleanup; 146 } 147 return 0; 148 149 error_buffer_cleanup: 150 iio_triggered_buffer_cleanup(indio_dev); 151 return ret; 152 } 153 EXPORT_SYMBOL_GPL(adis_setup_buffer_and_trigger); 154 155 /** 156 * adis_cleanup_buffer_and_trigger() - Free buffer and trigger resources 157 * @adis: The adis device. 158 * @indio_dev: The IIO device. 159 * 160 * Frees resources allocated by adis_setup_buffer_and_trigger() 161 */ 162 void adis_cleanup_buffer_and_trigger(struct adis *adis, 163 struct iio_dev *indio_dev) 164 { 165 if (adis->spi->irq) 166 adis_remove_trigger(adis); 167 kfree(adis->buffer); 168 kfree(adis->xfer); 169 iio_triggered_buffer_cleanup(indio_dev); 170 } 171 EXPORT_SYMBOL_GPL(adis_cleanup_buffer_and_trigger); 172