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209 lines
5.1 KiB
209 lines
5.1 KiB
// SPDX-License-Identifier: GPL-2.0-or-later |
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/* |
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* Common library for ADIS16XXX devices |
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* |
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* Copyright 2012 Analog Devices Inc. |
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* Author: Lars-Peter Clausen <[email protected]> |
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*/ |
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#include <linux/export.h> |
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#include <linux/interrupt.h> |
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#include <linux/mutex.h> |
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#include <linux/kernel.h> |
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#include <linux/spi/spi.h> |
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#include <linux/slab.h> |
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#include <linux/iio/iio.h> |
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#include <linux/iio/buffer.h> |
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#include <linux/iio/trigger_consumer.h> |
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#include <linux/iio/triggered_buffer.h> |
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#include <linux/iio/imu/adis.h> |
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static int adis_update_scan_mode_burst(struct iio_dev *indio_dev, |
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const unsigned long *scan_mask) |
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{ |
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struct adis *adis = iio_device_get_drvdata(indio_dev); |
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unsigned int burst_length, burst_max_length; |
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u8 *tx; |
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burst_length = adis->data->burst_len + adis->burst_extra_len; |
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if (adis->data->burst_max_len) |
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burst_max_length = adis->data->burst_max_len; |
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else |
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burst_max_length = burst_length; |
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adis->xfer = kcalloc(2, sizeof(*adis->xfer), GFP_KERNEL); |
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if (!adis->xfer) |
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return -ENOMEM; |
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adis->buffer = kzalloc(burst_max_length + sizeof(u16), GFP_KERNEL); |
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if (!adis->buffer) { |
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kfree(adis->xfer); |
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adis->xfer = NULL; |
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return -ENOMEM; |
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} |
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tx = adis->buffer + burst_max_length; |
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tx[0] = ADIS_READ_REG(adis->data->burst_reg_cmd); |
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tx[1] = 0; |
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adis->xfer[0].tx_buf = tx; |
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adis->xfer[0].bits_per_word = 8; |
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adis->xfer[0].len = 2; |
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adis->xfer[1].rx_buf = adis->buffer; |
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adis->xfer[1].bits_per_word = 8; |
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adis->xfer[1].len = burst_length; |
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spi_message_init(&adis->msg); |
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spi_message_add_tail(&adis->xfer[0], &adis->msg); |
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spi_message_add_tail(&adis->xfer[1], &adis->msg); |
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return 0; |
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} |
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int adis_update_scan_mode(struct iio_dev *indio_dev, |
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const unsigned long *scan_mask) |
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{ |
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struct adis *adis = iio_device_get_drvdata(indio_dev); |
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const struct iio_chan_spec *chan; |
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unsigned int scan_count; |
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unsigned int i, j; |
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__be16 *tx, *rx; |
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kfree(adis->xfer); |
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kfree(adis->buffer); |
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if (adis->data->burst_len) |
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return adis_update_scan_mode_burst(indio_dev, scan_mask); |
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scan_count = indio_dev->scan_bytes / 2; |
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adis->xfer = kcalloc(scan_count + 1, sizeof(*adis->xfer), GFP_KERNEL); |
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if (!adis->xfer) |
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return -ENOMEM; |
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adis->buffer = kcalloc(indio_dev->scan_bytes, 2, GFP_KERNEL); |
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if (!adis->buffer) { |
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kfree(adis->xfer); |
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adis->xfer = NULL; |
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return -ENOMEM; |
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} |
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rx = adis->buffer; |
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tx = rx + scan_count; |
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spi_message_init(&adis->msg); |
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for (j = 0; j <= scan_count; j++) { |
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adis->xfer[j].bits_per_word = 8; |
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if (j != scan_count) |
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adis->xfer[j].cs_change = 1; |
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adis->xfer[j].len = 2; |
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adis->xfer[j].delay.value = adis->data->read_delay; |
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adis->xfer[j].delay.unit = SPI_DELAY_UNIT_USECS; |
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if (j < scan_count) |
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adis->xfer[j].tx_buf = &tx[j]; |
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if (j >= 1) |
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adis->xfer[j].rx_buf = &rx[j - 1]; |
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spi_message_add_tail(&adis->xfer[j], &adis->msg); |
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} |
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chan = indio_dev->channels; |
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for (i = 0; i < indio_dev->num_channels; i++, chan++) { |
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if (!test_bit(chan->scan_index, scan_mask)) |
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continue; |
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if (chan->scan_type.storagebits == 32) |
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*tx++ = cpu_to_be16((chan->address + 2) << 8); |
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*tx++ = cpu_to_be16(chan->address << 8); |
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} |
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return 0; |
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} |
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EXPORT_SYMBOL_GPL(adis_update_scan_mode); |
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static irqreturn_t adis_trigger_handler(int irq, void *p) |
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{ |
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struct iio_poll_func *pf = p; |
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struct iio_dev *indio_dev = pf->indio_dev; |
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struct adis *adis = iio_device_get_drvdata(indio_dev); |
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int ret; |
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if (!adis->buffer) |
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return -ENOMEM; |
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if (adis->data->has_paging) { |
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mutex_lock(&adis->state_lock); |
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if (adis->current_page != 0) { |
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adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID); |
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adis->tx[1] = 0; |
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spi_write(adis->spi, adis->tx, 2); |
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} |
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} |
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ret = spi_sync(adis->spi, &adis->msg); |
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if (ret) |
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dev_err(&adis->spi->dev, "Failed to read data: %d", ret); |
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if (adis->data->has_paging) { |
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adis->current_page = 0; |
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mutex_unlock(&adis->state_lock); |
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} |
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iio_push_to_buffers_with_timestamp(indio_dev, adis->buffer, |
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pf->timestamp); |
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iio_trigger_notify_done(indio_dev->trig); |
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return IRQ_HANDLED; |
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} |
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static void adis_buffer_cleanup(void *arg) |
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{ |
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struct adis *adis = arg; |
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kfree(adis->buffer); |
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kfree(adis->xfer); |
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} |
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/** |
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* devm_adis_setup_buffer_and_trigger() - Sets up buffer and trigger for |
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* the managed adis device |
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* @adis: The adis device |
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* @indio_dev: The IIO device |
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* @trigger_handler: Optional trigger handler, may be NULL. |
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* |
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* Returns 0 on success, a negative error code otherwise. |
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* |
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* This function sets up the buffer and trigger for a adis devices. If |
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* 'trigger_handler' is NULL the default trigger handler will be used. The |
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* default trigger handler will simply read the registers assigned to the |
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* currently active channels. |
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*/ |
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int |
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devm_adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev, |
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irq_handler_t trigger_handler) |
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{ |
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int ret; |
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if (!trigger_handler) |
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trigger_handler = adis_trigger_handler; |
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ret = devm_iio_triggered_buffer_setup(&adis->spi->dev, indio_dev, |
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&iio_pollfunc_store_time, |
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trigger_handler, NULL); |
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if (ret) |
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return ret; |
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if (adis->spi->irq) { |
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ret = devm_adis_probe_trigger(adis, indio_dev); |
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if (ret) |
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return ret; |
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} |
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return devm_add_action_or_reset(&adis->spi->dev, adis_buffer_cleanup, |
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adis); |
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} |
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EXPORT_SYMBOL_GPL(devm_adis_setup_buffer_and_trigger); |
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