On 02/02/2013 01:26 AM, Ge GAO wrote:
> From: Ge Gao <ggao@xxxxxxxxxxxxxx>
>
> --This the basic function of Invensense MPU6050 Deivce driver.
> --align coding style.
> --rearrange function from ring to trigger.
> --other cleanup.
>
> Signed-off-by: Ge Gao <ggao@xxxxxxxxxxxxxx>
Looks good to me:
Reviewed-by: Lars-Peter Clausen <lars@xxxxxxxxxx>
A few minor things inline, but these can all be fixed in a follow up patch.
> ---
> Documentation/ABI/testing/sysfs-bus-iio-mpu6050 | 14 +
> drivers/iio/imu/Kconfig | 2 +
> drivers/iio/imu/Makefile | 2 +
> drivers/iio/imu/inv_mpu6050/Kconfig | 13 +
> drivers/iio/imu/inv_mpu6050/Makefile | 6 +
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 786 ++++++++++++++++++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 247 +++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 194 ++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 153 +++++
> include/linux/platform_data/invensense_mpu6050.h | 32 +
> 10 files changed, 1449 insertions(+), 0 deletions(-)
> create mode 100644 Documentation/ABI/testing/sysfs-bus-iio-mpu6050
> create mode 100644 drivers/iio/imu/inv_mpu6050/Kconfig
> create mode 100644 drivers/iio/imu/inv_mpu6050/Makefile
> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> create mode 100644 include/linux/platform_data/invensense_mpu6050.h
>
[...]
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> new file mode 100644
> index 0000000..e1deee4
> --- /dev/null
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> @@ -0,0 +1,194 @@
> +/*
> + * inv_mpu6050_irq_handler() - Cache a timestamp at each data ready interrupt.
> + */
> +irqreturn_t inv_mpu6050_irq_handler(int irq, void *p)
> +{
> + struct iio_poll_func *pf = p;
> + struct iio_dev *indio_dev = pf->indio_dev;
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> + s64 timestamp;
> +
> + timestamp = iio_get_time_ns();
> + spin_lock(&st->time_stamp_lock);
> + kfifo_in(&st->timestamps, ×tamp, 1);
> + spin_unlock(&st->time_stamp_lock);
There is kfifo_in_spinlocked, which takes a pointer to the lock as the last
parameter and takes care of the locking.
> +
> + return IRQ_WAKE_THREAD;
> +}
> +
> +/*
> + * inv_mpu6050_read_fifo() - Transfer data from hardware FIFO to KFIFO.
> + */
> +irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
> +{
> + struct iio_poll_func *pf = p;
> + struct iio_dev *indio_dev = pf->indio_dev;
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> + size_t bytes_per_datum;
> + int result;
> + u8 data[INV_MPU6050_OUTPUT_DATA_SIZE];
> + u16 fifo_count;
> + s64 timestamp;
> + u64 *tmp;
> +
> + mutex_lock(&indio_dev->mlock);
> + if (!(st->chip_config.accl_fifo_enable |
> + st->chip_config.gyro_fifo_enable))
> + goto end_session;
> + bytes_per_datum = 0;
> + if (st->chip_config.accl_fifo_enable)
> + bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
> +
> + if (st->chip_config.gyro_fifo_enable)
> + bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
> +
> + /* read fifo_count register to know how many bytes inside FIFO
> + right now */
> + result = i2c_smbus_read_i2c_block_data(st->client,
> + st->reg->fifo_count_h,
> + INV_MPU6050_FIFO_COUNT_BYTE, data);
> + if (result != INV_MPU6050_FIFO_COUNT_BYTE)
> + goto end_session;
> + fifo_count = be16_to_cpup((__be16 *)(&data[0]));
> + if (fifo_count < bytes_per_datum)
> + goto end_session;
> + /* fifo count can't be odd number, if it is odd, reset fifo*/
> + if (fifo_count & 1)
> + goto flush_fifo;
> + if (fifo_count > INV_MPU6050_FIFO_THRESHOLD)
> + goto flush_fifo;
> + /* Timestamp mismatch. */
> + if (kfifo_len(&st->timestamps) >
> + fifo_count / bytes_per_datum + INV_MPU6050_TIME_STAMP_TOR)
> + goto flush_fifo;
> + while (fifo_count >= bytes_per_datum) {
> + result = i2c_smbus_read_i2c_block_data(st->client,
> + st->reg->fifo_r_w,
> + bytes_per_datum, data);
> + if (result != bytes_per_datum)
> + goto flush_fifo;
> +
> + result = kfifo_out(&st->timestamps, ×tamp, 1);
Do you need to take the timestamp lock while reading from the fifo?
> + /* when there is no timestamp, put timestamp as 0 */
> + if (0 == result)
> + timestamp = 0;
> +
> + tmp = (u64 *)data;
> + tmp[DIV_ROUND_UP(bytes_per_datum, 8)] = timestamp;
> + result = iio_push_to_buffers(indio_dev, data);
> + if (result)
> + goto flush_fifo;
> + fifo_count -= bytes_per_datum;
> + }
> +
> +end_session:
> + mutex_unlock(&indio_dev->mlock);
> + iio_trigger_notify_done(indio_dev->trig);
> +
> + return IRQ_HANDLED;
> +
> +flush_fifo:
> + /* Flush HW and SW FIFOs. */
> + inv_reset_fifo(indio_dev);
> + inv_clear_kfifo(st);
> + mutex_unlock(&indio_dev->mlock);
> + iio_trigger_notify_done(indio_dev->trig);
> +
> + return IRQ_HANDLED;
> +}
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> new file mode 100644
> index 0000000..6f62caf
> --- /dev/null
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> @@ -0,0 +1,153 @@
[...]
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