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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
22static 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;
27 u8 *tx;
28
29 /* All but the timestamp channel */
30 burst_length = (indio_dev->num_channels - 1) * sizeof(u16);
31 burst_length += adis->burst->extra_len;
32
33 adis->xfer = kcalloc(2, sizeof(*adis->xfer), GFP_KERNEL);
34 if (!adis->xfer)
35 return -ENOMEM;
36
37 adis->buffer = kzalloc(burst_length + sizeof(u16), GFP_KERNEL);
38 if (!adis->buffer) {
39 kfree(adis->xfer);
40 adis->xfer = NULL;
41 return -ENOMEM;
42 }
43
44 tx = adis->buffer + burst_length;
45 tx[0] = ADIS_READ_REG(adis->burst->reg_cmd);
46 tx[1] = 0;
47
48 adis->xfer[0].tx_buf = tx;
49 adis->xfer[0].bits_per_word = 8;
50 adis->xfer[0].len = 2;
51 adis->xfer[1].rx_buf = adis->buffer;
52 adis->xfer[1].bits_per_word = 8;
53 adis->xfer[1].len = burst_length;
54
55 spi_message_init(&adis->msg);
56 spi_message_add_tail(&adis->xfer[0], &adis->msg);
57 spi_message_add_tail(&adis->xfer[1], &adis->msg);
58
59 return 0;
60}
61
62int adis_update_scan_mode(struct iio_dev *indio_dev,
63 const unsigned long *scan_mask)
64{
65 struct adis *adis = iio_device_get_drvdata(indio_dev);
66 const struct iio_chan_spec *chan;
67 unsigned int scan_count;
68 unsigned int i, j;
69 __be16 *tx, *rx;
70
71 kfree(adis->xfer);
72 kfree(adis->buffer);
73
74 if (adis->burst && adis->burst->en)
75 return adis_update_scan_mode_burst(indio_dev, scan_mask);
76
77 scan_count = indio_dev->scan_bytes / 2;
78
79 adis->xfer = kcalloc(scan_count + 1, sizeof(*adis->xfer), GFP_KERNEL);
80 if (!adis->xfer)
81 return -ENOMEM;
82
83 adis->buffer = kcalloc(indio_dev->scan_bytes, 2, GFP_KERNEL);
84 if (!adis->buffer) {
85 kfree(adis->xfer);
86 adis->xfer = NULL;
87 return -ENOMEM;
88 }
89
90 rx = adis->buffer;
91 tx = rx + scan_count;
92
93 spi_message_init(&adis->msg);
94
95 for (j = 0; j <= scan_count; j++) {
96 adis->xfer[j].bits_per_word = 8;
97 if (j != scan_count)
98 adis->xfer[j].cs_change = 1;
99 adis->xfer[j].len = 2;
100 adis->xfer[j].delay_usecs = adis->data->read_delay;
101 if (j < scan_count)
102 adis->xfer[j].tx_buf = &tx[j];
103 if (j >= 1)
104 adis->xfer[j].rx_buf = &rx[j - 1];
105 spi_message_add_tail(&adis->xfer[j], &adis->msg);
106 }
107
108 chan = indio_dev->channels;
109 for (i = 0; i < indio_dev->num_channels; i++, chan++) {
110 if (!test_bit(chan->scan_index, scan_mask))
111 continue;
112 if (chan->scan_type.storagebits == 32)
113 *tx++ = cpu_to_be16((chan->address + 2) << 8);
114 *tx++ = cpu_to_be16(chan->address << 8);
115 }
116
117 return 0;
118}
119EXPORT_SYMBOL_GPL(adis_update_scan_mode);
120
121static irqreturn_t adis_trigger_handler(int irq, void *p)
122{
123 struct iio_poll_func *pf = p;
124 struct iio_dev *indio_dev = pf->indio_dev;
125 struct adis *adis = iio_device_get_drvdata(indio_dev);
126 int ret;
127
128 if (!adis->buffer)
129 return -ENOMEM;
130
131 if (adis->data->has_paging) {
132 mutex_lock(&adis->txrx_lock);
133 if (adis->current_page != 0) {
134 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
135 adis->tx[1] = 0;
136 spi_write(adis->spi, adis->tx, 2);
137 }
138 }
139
140 ret = spi_sync(adis->spi, &adis->msg);
141 if (ret)
142 dev_err(&adis->spi->dev, "Failed to read data: %d", ret);
143
144
145 if (adis->data->has_paging) {
146 adis->current_page = 0;
147 mutex_unlock(&adis->txrx_lock);
148 }
149
150 iio_push_to_buffers_with_timestamp(indio_dev, adis->buffer,
151 pf->timestamp);
152
153 iio_trigger_notify_done(indio_dev->trig);
154
155 return IRQ_HANDLED;
156}
157
158/**
159 * adis_setup_buffer_and_trigger() - Sets up buffer and trigger for the adis device
160 * @adis: The adis device.
161 * @indio_dev: The IIO device.
162 * @trigger_handler: Optional trigger handler, may be NULL.
163 *
164 * Returns 0 on success, a negative error code otherwise.
165 *
166 * This function sets up the buffer and trigger for a adis devices. If
167 * 'trigger_handler' is NULL the default trigger handler will be used. The
168 * default trigger handler will simply read the registers assigned to the
169 * currently active channels.
170 *
171 * adis_cleanup_buffer_and_trigger() should be called to free the resources
172 * allocated by this function.
173 */
174int adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev,
175 irqreturn_t (*trigger_handler)(int, void *))
176{
177 int ret;
178
179 if (!trigger_handler)
180 trigger_handler = adis_trigger_handler;
181
182 ret = iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time,
183 trigger_handler, NULL);
184 if (ret)
185 return ret;
186
187 if (adis->spi->irq) {
188 ret = adis_probe_trigger(adis, indio_dev);
189 if (ret)
190 goto error_buffer_cleanup;
191 }
192 return 0;
193
194error_buffer_cleanup:
195 iio_triggered_buffer_cleanup(indio_dev);
196 return ret;
197}
198EXPORT_SYMBOL_GPL(adis_setup_buffer_and_trigger);
199
200/**
201 * adis_cleanup_buffer_and_trigger() - Free buffer and trigger resources
202 * @adis: The adis device.
203 * @indio_dev: The IIO device.
204 *
205 * Frees resources allocated by adis_setup_buffer_and_trigger()
206 */
207void adis_cleanup_buffer_and_trigger(struct adis *adis,
208 struct iio_dev *indio_dev)
209{
210 if (adis->spi->irq)
211 adis_remove_trigger(adis);
212 kfree(adis->buffer);
213 kfree(adis->xfer);
214 iio_triggered_buffer_cleanup(indio_dev);
215}
216EXPORT_SYMBOL_GPL(adis_cleanup_buffer_and_trigger);
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
22static 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
69int 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}
127EXPORT_SYMBOL_NS_GPL(adis_update_scan_mode, IIO_ADISLIB);
128
129static irqreturn_t adis_trigger_handler(int irq, void *p)
130{
131 struct iio_poll_func *pf = p;
132 struct iio_dev *indio_dev = pf->indio_dev;
133 struct adis *adis = iio_device_get_drvdata(indio_dev);
134 int ret;
135
136 if (adis->data->has_paging) {
137 mutex_lock(&adis->state_lock);
138 if (adis->current_page != 0) {
139 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
140 adis->tx[1] = 0;
141 ret = spi_write(adis->spi, adis->tx, 2);
142 if (ret) {
143 dev_err(&adis->spi->dev, "Failed to change device page: %d\n", ret);
144 mutex_unlock(&adis->state_lock);
145 goto irq_done;
146 }
147
148 adis->current_page = 0;
149 }
150 }
151
152 ret = spi_sync(adis->spi, &adis->msg);
153 if (adis->data->has_paging)
154 mutex_unlock(&adis->state_lock);
155 if (ret) {
156 dev_err(&adis->spi->dev, "Failed to read data: %d", ret);
157 goto irq_done;
158 }
159
160 iio_push_to_buffers_with_timestamp(indio_dev, adis->buffer,
161 pf->timestamp);
162
163irq_done:
164 iio_trigger_notify_done(indio_dev->trig);
165
166 return IRQ_HANDLED;
167}
168
169static void adis_buffer_cleanup(void *arg)
170{
171 struct adis *adis = arg;
172
173 kfree(adis->buffer);
174 kfree(adis->xfer);
175}
176
177/**
178 * devm_adis_setup_buffer_and_trigger() - Sets up buffer and trigger for
179 * the managed adis device
180 * @adis: The adis device
181 * @indio_dev: The IIO device
182 * @trigger_handler: Optional trigger handler, may be NULL.
183 *
184 * Returns 0 on success, a negative error code otherwise.
185 *
186 * This function sets up the buffer and trigger for a adis devices. If
187 * 'trigger_handler' is NULL the default trigger handler will be used. The
188 * default trigger handler will simply read the registers assigned to the
189 * currently active channels.
190 */
191int
192devm_adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev,
193 irq_handler_t trigger_handler)
194{
195 int ret;
196
197 if (!trigger_handler)
198 trigger_handler = adis_trigger_handler;
199
200 ret = devm_iio_triggered_buffer_setup(&adis->spi->dev, indio_dev,
201 &iio_pollfunc_store_time,
202 trigger_handler, NULL);
203 if (ret)
204 return ret;
205
206 if (adis->spi->irq) {
207 ret = devm_adis_probe_trigger(adis, indio_dev);
208 if (ret)
209 return ret;
210 }
211
212 return devm_add_action_or_reset(&adis->spi->dev, adis_buffer_cleanup,
213 adis);
214}
215EXPORT_SYMBOL_NS_GPL(devm_adis_setup_buffer_and_trigger, IIO_ADISLIB);
216