^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1) // SPDX-License-Identifier: GPL-2.0-or-later
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 2) /*
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 3) * Common library for ADIS16XXX devices
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 4) *
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 5) * Copyright 2012 Analog Devices Inc.
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 6) * Author: Lars-Peter Clausen <lars@metafoo.de>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 7) */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 8)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 9) #include <linux/export.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 10) #include <linux/interrupt.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 11) #include <linux/mutex.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 12) #include <linux/kernel.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 13) #include <linux/spi/spi.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 14) #include <linux/slab.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 15)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 16) #include <linux/iio/iio.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 17) #include <linux/iio/buffer.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 18) #include <linux/iio/trigger_consumer.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 19) #include <linux/iio/triggered_buffer.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 20) #include <linux/iio/imu/adis.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 21)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 22) static int adis_update_scan_mode_burst(struct iio_dev *indio_dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 23) const unsigned long *scan_mask)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 24) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 25) struct adis *adis = iio_device_get_drvdata(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 26) unsigned int burst_length, burst_max_length;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 27) u8 *tx;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 28)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 29) burst_length = adis->data->burst_len + adis->burst_extra_len;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 30)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 31) if (adis->data->burst_max_len)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 32) burst_max_length = adis->data->burst_max_len;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 33) else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 34) burst_max_length = burst_length;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 35)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 36) adis->xfer = kcalloc(2, sizeof(*adis->xfer), GFP_KERNEL);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 37) if (!adis->xfer)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 38) return -ENOMEM;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 39)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 40) adis->buffer = kzalloc(burst_max_length + sizeof(u16), GFP_KERNEL);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 41) if (!adis->buffer) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 42) kfree(adis->xfer);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 43) adis->xfer = NULL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 44) return -ENOMEM;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 45) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 46)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 47) tx = adis->buffer + burst_max_length;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 48) tx[0] = ADIS_READ_REG(adis->data->burst_reg_cmd);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 49) tx[1] = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 50)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 51) adis->xfer[0].tx_buf = tx;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 52) adis->xfer[0].bits_per_word = 8;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 53) adis->xfer[0].len = 2;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 54) adis->xfer[1].rx_buf = adis->buffer;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 55) adis->xfer[1].bits_per_word = 8;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 56) adis->xfer[1].len = burst_length;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 57)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 58) spi_message_init(&adis->msg);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 59) spi_message_add_tail(&adis->xfer[0], &adis->msg);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 60) spi_message_add_tail(&adis->xfer[1], &adis->msg);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 61)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 62) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 63) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 64)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 65) int adis_update_scan_mode(struct iio_dev *indio_dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 66) const unsigned long *scan_mask)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 67) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 68) struct adis *adis = iio_device_get_drvdata(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 69) const struct iio_chan_spec *chan;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 70) unsigned int scan_count;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 71) unsigned int i, j;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 72) __be16 *tx, *rx;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 73)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 74) kfree(adis->xfer);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 75) kfree(adis->buffer);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 76)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 77) if (adis->data->burst_len)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 78) return adis_update_scan_mode_burst(indio_dev, scan_mask);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 79)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 80) scan_count = indio_dev->scan_bytes / 2;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 81)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 82) adis->xfer = kcalloc(scan_count + 1, sizeof(*adis->xfer), GFP_KERNEL);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 83) if (!adis->xfer)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 84) return -ENOMEM;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 85)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 86) adis->buffer = kcalloc(indio_dev->scan_bytes, 2, GFP_KERNEL);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 87) if (!adis->buffer) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 88) kfree(adis->xfer);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 89) adis->xfer = NULL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 90) return -ENOMEM;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 91) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 92)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 93) rx = adis->buffer;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 94) tx = rx + scan_count;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 95)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 96) spi_message_init(&adis->msg);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 97)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 98) for (j = 0; j <= scan_count; j++) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 99) adis->xfer[j].bits_per_word = 8;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 100) if (j != scan_count)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 101) adis->xfer[j].cs_change = 1;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 102) adis->xfer[j].len = 2;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 103) adis->xfer[j].delay.value = adis->data->read_delay;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 104) adis->xfer[j].delay.unit = SPI_DELAY_UNIT_USECS;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 105) if (j < scan_count)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 106) adis->xfer[j].tx_buf = &tx[j];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 107) if (j >= 1)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 108) adis->xfer[j].rx_buf = &rx[j - 1];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 109) spi_message_add_tail(&adis->xfer[j], &adis->msg);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 110) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 111)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 112) chan = indio_dev->channels;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 113) for (i = 0; i < indio_dev->num_channels; i++, chan++) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 114) if (!test_bit(chan->scan_index, scan_mask))
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 115) continue;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 116) if (chan->scan_type.storagebits == 32)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 117) *tx++ = cpu_to_be16((chan->address + 2) << 8);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 118) *tx++ = cpu_to_be16(chan->address << 8);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 119) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 120)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 121) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 122) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 123) EXPORT_SYMBOL_GPL(adis_update_scan_mode);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 124)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 125) static irqreturn_t adis_trigger_handler(int irq, void *p)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 126) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 127) struct iio_poll_func *pf = p;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 128) struct iio_dev *indio_dev = pf->indio_dev;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 129) struct adis *adis = iio_device_get_drvdata(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 130) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 131)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 132) if (adis->data->has_paging) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 133) mutex_lock(&adis->state_lock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 134) if (adis->current_page != 0) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 135) adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 136) adis->tx[1] = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 137) spi_write(adis->spi, adis->tx, 2);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 138) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 139) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 140)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 141) ret = spi_sync(adis->spi, &adis->msg);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 142) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 143) dev_err(&adis->spi->dev, "Failed to read data: %d", ret);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 144)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 145)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 146) if (adis->data->has_paging) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 147) adis->current_page = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 148) mutex_unlock(&adis->state_lock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 149) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 150)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 151) iio_push_to_buffers_with_timestamp(indio_dev, adis->buffer,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 152) pf->timestamp);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 153)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 154) iio_trigger_notify_done(indio_dev->trig);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 155)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 156) return IRQ_HANDLED;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 157) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 158)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 159) static void adis_buffer_cleanup(void *arg)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 160) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 161) struct adis *adis = arg;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 162)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 163) kfree(adis->buffer);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 164) kfree(adis->xfer);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 165) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 166)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 167) /**
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 168) * devm_adis_setup_buffer_and_trigger() - Sets up buffer and trigger for
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 169) * the managed adis device
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 170) * @adis: The adis device
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 171) * @indio_dev: The IIO device
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 172) * @trigger_handler: Optional trigger handler, may be NULL.
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 173) *
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 174) * Returns 0 on success, a negative error code otherwise.
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 175) *
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 176) * This function sets up the buffer and trigger for a adis devices. If
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 177) * 'trigger_handler' is NULL the default trigger handler will be used. The
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 178) * default trigger handler will simply read the registers assigned to the
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 179) * currently active channels.
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 180) */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 181) int
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 182) devm_adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 183) irq_handler_t trigger_handler)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 184) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 185) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 186)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 187) if (!trigger_handler)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 188) trigger_handler = adis_trigger_handler;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 189)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 190) ret = devm_iio_triggered_buffer_setup(&adis->spi->dev, indio_dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 191) &iio_pollfunc_store_time,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 192) trigger_handler, NULL);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 193) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 194) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 195)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 196) if (adis->spi->irq) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 197) ret = devm_adis_probe_trigger(adis, indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 198) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 199) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 200) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 201)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 202) return devm_add_action_or_reset(&adis->spi->dev, adis_buffer_cleanup,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 203) adis);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 204) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 205) EXPORT_SYMBOL_GPL(devm_adis_setup_buffer_and_trigger);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 206)
Orange Pi5 kernel
Deprecated Linux kernel 5.10.110 for OrangePi 5/5B/5+ boards
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