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#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/gpio.h>
#include <linux/workqueue.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include "../iio.h"
#include "../sysfs.h"
#include "../ring_sw.h"
#include "../accel/accel.h"
#include "../trigger.h"
#include "adis16400.h"
/**
* adis16400_spi_read_burst() - read all data registers
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @rx: somewhere to pass back the value read (min size is 24 bytes)
**/
static int adis16400_spi_read_burst(struct device *dev, u8 *rx)
{
struct spi_message msg;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
u32 old_speed_hz = st->us->max_speed_hz;
int ret;
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
}, {
.rx_buf = rx,
.bits_per_word = 8,
.len = 24,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD);
st->tx[1] = 0;
spi_message_init(&msg);
spi_message_add_tail(&xfers[0], &msg);
spi_message_add_tail(&xfers[1], &msg);
st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz);
spi_setup(st->us);
ret = spi_sync(st->us, &msg);
if (ret)
dev_err(&st->us->dev, "problem when burst reading");
st->us->max_speed_hz = old_speed_hz;
spi_setup(st->us);
mutex_unlock(&st->buf_lock);
return ret;
}
/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
* specific to be rolled into the core.
*/
static irqreturn_t adis16400_trigger_handler(int irq, void *p)
{
struct iio_poll_func *pf = p;
struct iio_dev *indio_dev = pf->private_data;
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
struct iio_ring_buffer *ring = indio_dev->ring;
int i = 0, j;
s16 *data;
size_t datasize = ring->access.get_bytes_per_datum(ring);
unsigned long mask = ring->scan_mask;
data = kmalloc(datasize , GFP_KERNEL);
if (data == NULL) {
dev_err(&st->us->dev, "memory alloc failed in ring bh");
return -ENOMEM;
}
if (ring->scan_count)
if (adis16400_spi_read_burst(&indio_dev->dev, st->rx) >= 0)
for (; i < ring->scan_count; i++) {
j = __ffs(mask);
mask &= ~(1 << j);
data[i] = be16_to_cpup(
(__be16 *)&(st->rx[j*2]));
}
/* Guaranteed to be aligned with 8 byte boundary */
if (ring->scan_timestamp)
*((s64 *)(data + ((i + 3)/4)*4)) = pf->timestamp;
ring->access.store_to(indio_dev->ring, (u8 *) data, pf->timestamp);
iio_trigger_notify_done(indio_dev->trig);
kfree(data);
return IRQ_HANDLED;
}
void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
{
kfree(indio_dev->pollfunc->name);
kfree(indio_dev->pollfunc);
iio_sw_rb_free(indio_dev->ring);
}
int adis16400_configure_ring(struct iio_dev *indio_dev)
{
int ret = 0;
struct iio_ring_buffer *ring;
ring = iio_sw_rb_allocate(indio_dev);
if (!ring) {
ret = -ENOMEM;
return ret;
}
indio_dev->ring = ring;
/* Effectively select the ring buffer implementation */
iio_ring_sw_register_funcs(&ring->access);
ring->bpe = 2;
ring->scan_timestamp = true;
ring->preenable = &iio_sw_ring_preenable;
ring->postenable = &iio_triggered_ring_postenable;
ring->predisable = &iio_triggered_ring_predisable;
ring->owner = THIS_MODULE;
/* Set default scan mode */
iio_scan_mask_set(ring, ADIS16400_SCAN_SUPPLY);
iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_X);
iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_Y);
iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_Z);
iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_X);
iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_Y);
iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_Z);
iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_X);
iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_Y);
iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_Z);
iio_scan_mask_set(ring, ADIS16400_SCAN_TEMP);
iio_scan_mask_set(ring, ADIS16400_SCAN_ADC_0);
indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL);
if (indio_dev->pollfunc == NULL) {
ret = -ENOMEM;
goto error_iio_sw_rb_free;
}
indio_dev->pollfunc->private_data = indio_dev;
indio_dev->pollfunc->h = &iio_pollfunc_store_time;
indio_dev->pollfunc->thread = &adis16400_trigger_handler;
indio_dev->pollfunc->type = IRQF_ONESHOT;
indio_dev->pollfunc->name =
kasprintf(GFP_KERNEL, "adis16400_consumer%d", indio_dev->id);
if (ret)
goto error_iio_free_pollfunc;
indio_dev->modes |= INDIO_RING_TRIGGERED;
return 0;
error_iio_free_pollfunc:
kfree(indio_dev->pollfunc);
error_iio_sw_rb_free:
iio_sw_rb_free(indio_dev->ring);
return ret;
}
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