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1// SPDX-License-Identifier: GPL-2.0-or-later2/*3 * Common library for ADIS16XXX devices4 *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 else34 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 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 149static 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 else159 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 168irq_done:169 iio_trigger_notify_done(indio_dev->trig);170 171 return IRQ_HANDLED;172}173 174static 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 trigger184 * for the managed adis device with buffer attributes.185 * @adis: The adis device186 * @indio_dev: The IIO device187 * @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 extra194 * buffer attributes) and trigger for a adis devices with buffer attributes.195 */196int197devm_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}225EXPORT_SYMBOL_NS_GPL(devm_adis_setup_buffer_and_trigger_with_attrs, IIO_ADISLIB);226