> This patch was developed primarily based on bmc150_accel hardware fifo
> implementation.
parts of the patch are cleanup and bugfixing; should be separate?
more comments below
> IRQ handler was added, which for now is responsible only for handling
> watermark interrupts. The BMI160 chip has two interrupt outputs. By
> default INT is considered to be connected. If INT2 is used instead, the
> interrupt-names device-tree property can be used to specify that.
>
> Signed-off-by: Marcin Niestroj <m.niestroj@xxxxxxxxxxxxxxxx>
> ---
> drivers/iio/imu/bmi160/bmi160.h | 3 +-
> drivers/iio/imu/bmi160/bmi160_core.c | 633 +++++++++++++++++++++++++++++++++--
> drivers/iio/imu/bmi160/bmi160_i2c.c | 7 +-
> drivers/iio/imu/bmi160/bmi160_spi.c | 3 +-
> 4 files changed, 618 insertions(+), 28 deletions(-)
>
> diff --git a/drivers/iio/imu/bmi160/bmi160.h b/drivers/iio/imu/bmi160/bmi160.h
> index d2ae6ed..4a7c10e 100644
> --- a/drivers/iio/imu/bmi160/bmi160.h
> +++ b/drivers/iio/imu/bmi160/bmi160.h
> @@ -4,7 +4,8 @@
> extern const struct regmap_config bmi160_regmap_config;
>
> int bmi160_core_probe(struct device *dev, struct regmap *regmap,
> - const char *name, bool use_spi);
> + const char *name, int irq,
> + bool use_spi, bool block_supported);
> void bmi160_core_remove(struct device *dev);
>
> #endif /* BMI160_H_ */
> diff --git a/drivers/iio/imu/bmi160/bmi160_core.c b/drivers/iio/imu/bmi160/bmi160_core.c
> index e0251b8..153734c 100644
> --- a/drivers/iio/imu/bmi160/bmi160_core.c
> +++ b/drivers/iio/imu/bmi160/bmi160_core.c
> @@ -2,6 +2,7 @@
> * BMI160 - Bosch IMU (accel, gyro plus external magnetometer)
> *
> * Copyright (c) 2016, Intel Corporation.
> + * Copyright (c) 2016, Grinn
> *
> * This file is subject to the terms and conditions of version 2 of
> * the GNU General Public License. See the file COPYING in the main
> @@ -9,7 +10,7 @@
> *
> * IIO core driver for BMI160, with support for I2C/SPI busses
> *
> - * TODO: magnetometer, interrupts, hardware FIFO
> + * TODO: magnetometer, interrupts
> */
> #include <linux/module.h>
> #include <linux/regmap.h>
> @@ -22,8 +23,12 @@
> #include <linux/iio/buffer.h>
> #include <linux/iio/sysfs.h>
>
> +#include <linux/of_irq.h>
> +
> #include "bmi160.h"
>
> +#define BMI160_IRQ_NAME "bmi160_event"
> +
> #define BMI160_REG_CHIP_ID 0x00
> #define BMI160_CHIP_ID_VAL 0xD1
>
> @@ -34,6 +39,21 @@
> #define BMI160_REG_DATA_GYRO_XOUT_L 0x0C
> #define BMI160_REG_DATA_ACCEL_XOUT_L 0x12
>
> +#define BMI160_REG_STATUS 0x1B
> +#define BMI160_STATUS_MAG_MAN_OP BIT(2)
> +
> +#define BMI160_REG_INT_STATUS0 0x1C
> +
> +#define BMI160_REG_INT_STATUS1 0x1D
> +#define BMI160_INT_STATUS_FWM BIT(6)
> +
> +#define BMI160_REG_INT_STATUS2 0x1E
> +
> +#define BMI160_REG_INT_STATUS3 0x1F
> +
> +#define BMI160_REG_FIFO_LENGTH 0x22
> +#define BMI160_REG_FIFO_DATA 0x24
> +
> #define BMI160_REG_ACCEL_CONFIG 0x40
> #define BMI160_ACCEL_CONFIG_ODR_MASK GENMASK(3, 0)
> #define BMI160_ACCEL_CONFIG_BWP_MASK GENMASK(6, 4)
> @@ -55,6 +75,36 @@
> #define BMI160_GYRO_RANGE_250DPS 0x03
> #define BMI160_GYRO_RANGE_125DPS 0x04
>
> +#define BMI160_REG_FIFO_CONFIG_0 0x46
> +
> +#define BMI160_REG_FIFO_CONFIG_1 0x47
> +#define BMI160_FIFO_GYRO_EN BIT(7)
> +#define BMI160_FIFO_ACCEL_EN BIT(6)
> +#define BMI160_FIFO_MAGN_EN BIT(5)
> +#define BMI160_FIFO_HEADER_EN BIT(4)
> +#define BMI160_FIFO_TAG_INT1_EN BIT(3)
> +#define BMI160_FIFO_TAG_INT2_EN BIT(2)
> +#define BMI160_FIFO_TIME_EN BIT(1)
> +
> +#define BMI160_REG_INT_EN_1 0x51
> +#define BMI160_INT_FWM_EN BIT(6)
> +#define BMI160_INT_FFULL_EN BIT(5)
> +#define BMI160_INT_DRDY_EN BIT(4)
> +
> +#define BMI160_REG_INT_OUT_CTRL 0x53
> +#define BMI160_INT2_OUTPUT_EN BIT(7)
> +#define BMI160_INT1_OUTPUT_EN BIT(3)
> +
> +#define BMI160_REG_INT_LATCH 0x54
> +
> +#define BMI160_REG_INT_MAP_1 0x56
> +#define BMI160_INT1_MAP_DRDY BIT(7)
> +#define BMI160_INT1_MAP_FWM BIT(6)
> +#define BMI160_INT1_MAP_FFULL BIT(5)
> +#define BMI160_INT2_MAP_DRDY BIT(3)
> +#define BMI160_INT2_MAP_FWM BIT(2)
> +#define BMI160_INT2_MAP_FFULL BIT(1)
> +
> #define BMI160_REG_CMD 0x7E
> #define BMI160_CMD_ACCEL_PM_SUSPEND 0x10
> #define BMI160_CMD_ACCEL_PM_NORMAL 0x11
> @@ -66,6 +116,8 @@
>
> #define BMI160_REG_DUMMY 0x7F
>
> +#define BMI160_FIFO_LENGTH 1024
> +
> #define BMI160_ACCEL_PMU_MIN_USLEEP 3200
> #define BMI160_ACCEL_PMU_MAX_USLEEP 3800
> #define BMI160_GYRO_PMU_MIN_USLEEP 55000
> @@ -110,8 +162,33 @@ enum bmi160_sensor_type {
> BMI160_NUM_SENSORS /* must be last */
> };
>
> +struct bmi160_irq_data {
> + unsigned int map_fwm;
> + unsigned int output_en;
> +};
> +
> +static const struct bmi160_irq_data bmi160_irq1_data = {
> + .map_fwm = BMI160_INT1_MAP_FWM,
> + .output_en = BMI160_INT1_OUTPUT_EN,
> +};
> +
> +static const struct bmi160_irq_data bmi160_irq2_data = {
> + .map_fwm = BMI160_INT2_MAP_FWM,
> + .output_en = BMI160_INT2_OUTPUT_EN,
> +};
> +
> struct bmi160_data {
> struct regmap *regmap;
> + struct mutex mutex;
> + const struct bmi160_irq_data *irq_data;
> + int irq;
> + int64_t timestamp;
> + int64_t fifo_sample_period;
> + bool fifo_enabled;
> + unsigned int fifo_config;
> + unsigned int fifo_sample_size;
> + u8 *fifo_buffer;
> + unsigned int watermark;
> };
>
> const struct regmap_config bmi160_regmap_config = {
> @@ -159,11 +236,11 @@ struct bmi160_pmu_time {
> static struct bmi160_pmu_time bmi160_pmu_time[] = {
> [BMI160_ACCEL] = {
> .min = BMI160_ACCEL_PMU_MIN_USLEEP,
> - .max = BMI160_ACCEL_PMU_MAX_USLEEP
> + .max = BMI160_ACCEL_PMU_MAX_USLEEP,
this is cosmetic cleanup
> },
> [BMI160_GYRO] = {
> .min = BMI160_GYRO_PMU_MIN_USLEEP,
> - .max = BMI160_GYRO_PMU_MIN_USLEEP,
this looks like bug fixing
> + .max = BMI160_GYRO_PMU_MAX_USLEEP,
> },
> };
>
> @@ -285,7 +362,9 @@ int bmi160_set_mode(struct bmi160_data *data, enum bmi160_sensor_type t,
> else
> cmd = bmi160_regs[t].pmu_cmd_suspend;
>
> + mutex_lock(&data->mutex);
what does the mutex protect?
is it also needed without the fifo/irq support?
probably split out as a separate patch
> ret = regmap_write(data->regmap, BMI160_REG_CMD, cmd);
> + mutex_unlock(&data->mutex);
> if (ret < 0)
> return ret;
>
> @@ -298,6 +377,7 @@ static
> int bmi160_set_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
> int uscale)
> {
> + int ret;
> int i;
>
> for (i = 0; i < bmi160_scale_table[t].num; i++)
> @@ -307,8 +387,12 @@ int bmi160_set_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
> if (i == bmi160_scale_table[t].num)
> return -EINVAL;
>
> - return regmap_write(data->regmap, bmi160_regs[t].range,
> - bmi160_scale_table[t].tbl[i].bits);
> + mutex_lock(&data->mutex);
> + ret = regmap_write(data->regmap, bmi160_regs[t].range,
> + bmi160_scale_table[t].tbl[i].bits);
> + mutex_unlock(&data->mutex);
> +
> + return ret;
> }
>
> static
> @@ -317,7 +401,9 @@ int bmi160_get_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
> {
> int i, ret, val;
>
> + mutex_lock(&data->mutex);
> ret = regmap_read(data->regmap, bmi160_regs[t].range, &val);
> + mutex_unlock(&data->mutex);
> if (ret < 0)
> return ret;
>
> @@ -340,7 +426,9 @@ static int bmi160_get_data(struct bmi160_data *data, int chan_type,
>
> reg = bmi160_regs[t].data + (axis - IIO_MOD_X) * sizeof(__le16);
>
> + mutex_lock(&data->mutex);
> ret = regmap_bulk_read(data->regmap, reg, &sample, sizeof(__le16));
> + mutex_unlock(&data->mutex);
> if (ret < 0)
> return ret;
>
> @@ -353,6 +441,7 @@ static
> int bmi160_set_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
> int odr, int uodr)
> {
> + int ret;
> int i;
>
> for (i = 0; i < bmi160_odr_table[t].num; i++)
> @@ -363,20 +452,30 @@ int bmi160_set_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
> if (i >= bmi160_odr_table[t].num)
> return -EINVAL;
>
> - return regmap_update_bits(data->regmap,
> - bmi160_regs[t].config,
> - bmi160_regs[t].config_odr_mask,
> - bmi160_odr_table[t].tbl[i].bits);
> + mutex_lock(&data->mutex);
> + ret = regmap_update_bits(data->regmap,
> + bmi160_regs[t].config,
> + bmi160_regs[t].config_odr_mask,
> + bmi160_odr_table[t].tbl[i].bits);
> + mutex_unlock(&data->mutex);
> +
> + return ret;
> }
>
> -static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
> - int *odr, int *uodr)
> +static int64_t bmi160_frequency_to_period(int odr, int uodr)
> {
> - int i, val, ret;
> + uint64_t period = 1000000000000000;
> + int64_t frequency = (int64_t) odr * 1000000 + uodr;
>
> - ret = regmap_read(data->regmap, bmi160_regs[t].config, &val);
> - if (ret < 0)
> - return ret;
> + do_div(period, frequency);
> +
> + return period;
> +}
> +
> +static const struct bmi160_odr *bmi160_reg_to_odr(enum bmi160_sensor_type t,
> + unsigned int val)
> +{
> + int i;
>
> val &= bmi160_regs[t].config_odr_mask;
>
> @@ -385,10 +484,52 @@ static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
> break;
>
> if (i >= bmi160_odr_table[t].num)
> - return -EINVAL;
> + return ERR_PTR(-EINVAL);
> +
> + return &bmi160_odr_table[t].tbl[i];
> +}
> +
> +static int bmi160_get_sample_period(struct bmi160_data *data,
> + enum bmi160_sensor_type t,
> + int64_t *sample_period)
> +{
> + const struct bmi160_odr *odr_entry;
> + int ret;
> + unsigned int val;
> +
no mutex here?
> + ret = regmap_read(data->regmap, bmi160_regs[t].config, &val);
> + if (ret < 0)
> + return ret;
>
> - *odr = bmi160_odr_table[t].tbl[i].odr;
> - *uodr = bmi160_odr_table[t].tbl[i].uodr;
> + odr_entry = bmi160_reg_to_odr(t, val);
> + if (IS_ERR(odr_entry))
> + return PTR_ERR(odr_entry);
> +
> + *sample_period = bmi160_frequency_to_period(odr_entry->odr,
> + odr_entry->uodr);
> +
> + return 0;
> +}
> +
> +static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
> + int *odr, int *uodr)
> +{
> + const struct bmi160_odr *odr_entry;
> + int ret;
> + unsigned int val;
> +
> + mutex_lock(&data->mutex);
> + ret = regmap_read(data->regmap, bmi160_regs[t].config, &val);
> + mutex_unlock(&data->mutex);
> + if (ret < 0)
> + return ret;
> +
> + odr_entry = bmi160_reg_to_odr(t, val);
> + if (IS_ERR(odr_entry))
> + return PTR_ERR(odr_entry);
> +
> + *odr = odr_entry->odr;
> + *uodr = odr_entry->uodr;
>
> return 0;
> }
> @@ -402,14 +543,18 @@ static irqreturn_t bmi160_trigger_handler(int irq, void *p)
> int i, ret, j = 0, base = BMI160_REG_DATA_MAGN_XOUT_L;
> __le16 sample;
>
> + mutex_lock(&data->mutex);
> for_each_set_bit(i, indio_dev->active_scan_mask,
> indio_dev->masklength) {
> ret = regmap_bulk_read(data->regmap, base + i * sizeof(__le16),
> &sample, sizeof(__le16));
> - if (ret < 0)
> + if (ret < 0) {
> + mutex_unlock(&data->mutex);
> goto done;
> + }
> buf[j++] = sample;
> }
> + mutex_unlock(&data->mutex);
>
> iio_push_to_buffers_with_timestamp(indio_dev, buf,
> iio_get_time_ns(indio_dev));
> @@ -493,11 +638,364 @@ static const struct attribute_group bmi160_attrs_group = {
> .attrs = bmi160_attrs,
> };
>
> +static int bmi160_update_sample_period(struct bmi160_data *data,
> + enum bmi160_sensor_type sensor_type)
> +{
> + struct device *dev = regmap_get_device(data->regmap);
> + int64_t sample_period;
> + int ret;
> +
> + ret = bmi160_get_sample_period(data, sensor_type, &sample_period);
> + if (ret < 0)
> + return ret;
> +
> + if (data->fifo_sample_period) {
> + if (data->fifo_sample_period != sample_period) {
> + dev_warn(dev, "Enabled sensors have unequal ODR values\n");
> + return -EINVAL;
> + }
> + } else {
> + data->fifo_sample_period = sample_period;
brackets not needed
> + }
> +
> + return 0;
> +}
> +
> +static int bmi160_fifo_enable(struct iio_dev *indio_dev,
> + struct bmi160_data *data)
> +{
> + struct regmap *regmap = data->regmap;
> + struct device *dev = regmap_get_device(regmap);
> + int ret;
> + int i;
> + unsigned int val;
> + unsigned int fifo_config = 0;
> +
> + /* Set fifo sample size and period */
> + for_each_set_bit(i, indio_dev->active_scan_mask,
> + indio_dev->masklength) {
> + if (i <= BMI160_SCAN_GYRO_Z)
> + fifo_config |= BMI160_FIFO_GYRO_EN;
> + else if (i <= BMI160_SCAN_ACCEL_Z)
> + fifo_config |= BMI160_FIFO_ACCEL_EN;
> + }
> +
> + data->fifo_sample_period = 0;
> + data->fifo_sample_size = 0;
> + if (fifo_config & BMI160_FIFO_GYRO_EN) {
> + data->fifo_sample_size += 6;
> + ret = bmi160_update_sample_period(data, BMI160_GYRO);
> + if (ret < 0)
> + return ret;
> + }
> + if (fifo_config & BMI160_FIFO_ACCEL_EN) {
> + data->fifo_sample_size += 6;
> + ret = bmi160_update_sample_period(data, BMI160_ACCEL);
> + if (ret < 0)
> + return ret;
> + }
> +
> + /*
> + * Set watermark level and write real value back, as it will be used
> + * in timestamp calculation.
> + */
> + val = data->watermark * data->fifo_sample_size;
> + if (val > BMI160_FIFO_LENGTH - 1) {
> + val = BMI160_FIFO_LENGTH - 1;
> + data->watermark = val / data->fifo_sample_size;
> + }
> + val = data->watermark * data->fifo_sample_size / 4;
> +
> + ret = regmap_write(regmap, BMI160_REG_FIFO_CONFIG_0, val);
> + if (ret < 0) {
> + dev_err(dev, "Failed to set watermark\n");
> + return ret;
> + }
> +
> + /* Enable FIFO channels */
> + ret = regmap_write(regmap, BMI160_REG_FIFO_CONFIG_1,
> + fifo_config);
> + if (ret < 0) {
> + dev_err(dev, "Failed to write FIFO_CONFIG_1\n");
> + return ret;
> + }
> +
> + data->fifo_config = fifo_config;
> + data->fifo_enabled = true;
> +
> + return 0;
> +}
> +
> +static int bmi160_fifo_disable(struct bmi160_data *data)
> +{
> + struct regmap *regmap = data->regmap;
> + struct device *dev = regmap_get_device(regmap);
> + int ret;
> +
> + /* Disable all FIFO channels */
> + ret = regmap_write(regmap, BMI160_REG_FIFO_CONFIG_1, 0);
> + if (ret < 0) {
> + dev_err(dev, "Failed to write FIFO_CONFIG_1\n");
> + return ret;
> + }
> +
> + data->fifo_enabled = false;
> +
> + return 0;
> +}
> +
> +static int bmi160_buffer_postenable(struct iio_dev *indio_dev)
> +{
> + struct bmi160_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + if (indio_dev->currentmode == INDIO_BUFFER_TRIGGERED)
> + return iio_triggered_buffer_postenable(indio_dev);
> +
> + mutex_lock(&data->mutex);
> + ret = regmap_update_bits(data->regmap, BMI160_REG_INT_MAP_1,
> + data->irq_data->map_fwm, data->irq_data->map_fwm);
> + if (ret < 0)
> + goto unlock;
> +
> + ret = regmap_update_bits(data->regmap, BMI160_REG_INT_EN_1,
> + BMI160_INT_FWM_EN, BMI160_INT_FWM_EN);
> + if (ret < 0)
> + goto unlock;
> +
> + ret = bmi160_fifo_enable(indio_dev, data);
> +
> +unlock:
> + mutex_unlock(&data->mutex);
> +
> + return ret;
> +}
> +
> +static int bmi160_buffer_predisable(struct iio_dev *indio_dev)
> +{
> + struct bmi160_data *data = iio_priv(indio_dev);
> + struct regmap *regmap = data->regmap;
> + int ret = 0;
> +
> + if (indio_dev->currentmode == INDIO_BUFFER_TRIGGERED)
> + return iio_triggered_buffer_predisable(indio_dev);
> +
> + mutex_lock(&data->mutex);
> +
> + ret = regmap_update_bits(regmap, BMI160_REG_INT_EN_1,
> + BMI160_INT_FWM_EN, 0);
> + if (ret < 0)
> + goto unlock;
> +
> + ret = bmi160_fifo_disable(data);
> +
> +unlock:
> + mutex_unlock(&data->mutex);
> +
> + return ret;
> +}
> +
> +static const struct iio_buffer_setup_ops bmi160_buffer_ops = {
> + .postenable = bmi160_buffer_postenable,
> + .predisable = bmi160_buffer_predisable,
> +};
> +
> +static ssize_t bmi160_get_fifo_state(struct device *dev,
> + struct device_attribute *attr,
> + char *buf)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct bmi160_data *data = iio_priv(indio_dev);
> + bool state;
> +
> + mutex_lock(&data->mutex);
> + state = data->fifo_enabled;
> + mutex_unlock(&data->mutex);
> +
> + return sprintf(buf, "%d\n", (int) state);
> +}
> +
> +static ssize_t bmi160_get_fifo_watermark(struct device *dev,
> + struct device_attribute *attr,
> + char *buf)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct bmi160_data *data = iio_priv(indio_dev);
> + int wm;
> +
> + mutex_lock(&data->mutex);
> + wm = data->watermark;
> + mutex_unlock(&data->mutex);
> +
> + return sprintf(buf, "%d\n", wm);
> +}
> +
> +static IIO_CONST_ATTR(hwfifo_watermark_min, "1");
> +static IIO_CONST_ATTR(hwfifo_watermark_max,
> + __stringify(BMI160_FIFO_LENGTH));
> +static IIO_DEVICE_ATTR(hwfifo_enabled, S_IRUGO,
> + bmi160_get_fifo_state, NULL, 0);
> +static IIO_DEVICE_ATTR(hwfifo_watermark, S_IRUGO,
> + bmi160_get_fifo_watermark, NULL, 0);
> +
> +static const struct attribute *bmi160_fifo_attributes[] = {
> + &iio_const_attr_hwfifo_watermark_min.dev_attr.attr,
> + &iio_const_attr_hwfifo_watermark_max.dev_attr.attr,
> + &iio_dev_attr_hwfifo_watermark.dev_attr.attr,
> + &iio_dev_attr_hwfifo_enabled.dev_attr.attr,
> + NULL,
> +};
> +
> +static int bmi160_set_watermark(struct iio_dev *indio_dev, unsigned int val)
> +{
> + struct bmi160_data *data = iio_priv(indio_dev);
> +
> + if (val > BMI160_FIFO_LENGTH)
> + val = BMI160_FIFO_LENGTH;
> +
> + data->watermark = val;
> +
> + return 0;
> +}
> +
> +static int bmi160_fifo_transfer(struct bmi160_data *data,
> + char *buffer, int num_bytes)
> +{
> + struct regmap *regmap = data->regmap;
> + struct device *dev = regmap_get_device(regmap);
> + size_t step = regmap_get_raw_read_max(regmap);
> + int ret = 0;
> + int i;
> +
> + if (!step || step > num_bytes)
> + step = num_bytes;
> + else if (step < num_bytes)
> + step = data->fifo_sample_size;
> +
> + for (i = 0; i < num_bytes; i += step) {
> + ret = regmap_raw_read(regmap, BMI160_REG_FIFO_DATA,
> + &buffer[i], step);
> +
> + if (ret)
> + break;
> + }
> +
> + if (ret)
> + dev_err(dev,
> + "Error transferring data from fifo in single steps of %zu\n",
> + step);
> +
> + return ret;
> +}
> +
> +static int __bmi160_fifo_flush(struct iio_dev *indio_dev,
> + unsigned int samples, bool irq)
what does the __ prefix denote?
likely that the function is supposed to be called with mutex held --
maybe use that convention elsewhere as well?
> +{
> + struct bmi160_data *data = iio_priv(indio_dev);
> + struct regmap *regmap = data->regmap;
> + struct device *dev = regmap_get_device(regmap);
> + int ret;
> + __le16 fifo_length;
> + unsigned int fifo_samples;
> + unsigned int fifo_bytes;
> + u8 *buffer = data->fifo_buffer;
> + u8 *buffer_iter;
> + int64_t last_timestamp, timestamp;
> + unsigned int last_samples;
> + unsigned int i;
> +
> + /* Get the current FIFO length */
> + ret = regmap_bulk_read(regmap, BMI160_REG_FIFO_LENGTH,
> + &fifo_length, sizeof(__le16));
> + if (ret < 0) {
> + dev_err(dev, "Error reading FIFO_LENGTH\n");
> + return ret;
> + }
> +
> + fifo_bytes = le16_to_cpu(fifo_length);
> + fifo_samples = fifo_bytes / data->fifo_sample_size;
> +
> + if (fifo_bytes % data->fifo_sample_size)
> + dev_warn(dev, "fifo_bytes %u is not dividable by %u\n",
> + fifo_bytes, data->fifo_sample_size);
> +
> + if (!fifo_samples)
> + return 0;
> +
> + if (samples && fifo_samples > samples) {
> + fifo_samples = samples;
> + fifo_bytes = fifo_samples * data->fifo_sample_size;
> + }
> +
> + /*
> + * If we are not called from IRQ, it means that we are flushing data
> + * on demand. In that case we do not have latest timestamp saved in
> + * data->timestamp. Get the time now instead.
> + *
> + * In case of IRQ flush, saved timestamp shows the time when number
> + * of samples configured by watermark were ready. Currently there might
> + * be more samples already.
> + * If we are not called from IRQ, than we are getting the current fifo
> + * length, as we are setting timestamp just after getting it.
> + */
> + if (!irq) {
> + last_timestamp = iio_get_time_ns(indio_dev);
> + last_samples = fifo_samples;
> + } else {
> + last_timestamp = data->timestamp;
> + last_samples = data->watermark;
> + }
> +
> + /* Get all measurements */
> + ret = bmi160_fifo_transfer(data, buffer, fifo_bytes);
> + if (ret)
> + return ret;
> +
> + /* Handle demux */
> + timestamp = last_timestamp - (last_samples * data->fifo_sample_period);
> + buffer_iter = buffer;
> + for (i = 0; i < fifo_samples; i++) {
> + u8 tmp_buf[indio_dev->scan_bytes];
non-constant array size, is this allowed these days?
> +
> + memcpy(tmp_buf, buffer_iter, data->fifo_sample_size);
> +
> + timestamp += data->fifo_sample_period;
> + iio_push_to_buffers_with_timestamp(indio_dev,
> + tmp_buf,
> + timestamp);
> +
> + buffer_iter += data->fifo_sample_size;
> + }
> +
> + return fifo_samples;
> +}
> +
> +static int bmi160_fifo_flush(struct iio_dev *indio_dev, unsigned int samples)
> +{
> + struct bmi160_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + mutex_lock(&data->mutex);
> + ret = __bmi160_fifo_flush(indio_dev, samples, false);
> + mutex_unlock(&data->mutex);
> +
> + return ret;
> +}
> +
> static const struct iio_info bmi160_info = {
> - .driver_module = THIS_MODULE,
> - .read_raw = bmi160_read_raw,
> - .write_raw = bmi160_write_raw,
> - .attrs = &bmi160_attrs_group,
> + .driver_module = THIS_MODULE,
> + .read_raw = bmi160_read_raw,
> + .write_raw = bmi160_write_raw,
> + .attrs = &bmi160_attrs_group,
> +};
> +
> +static const struct iio_info bmi160_info_fifo = {
> + .driver_module = THIS_MODULE,
> + .read_raw = bmi160_read_raw,
> + .write_raw = bmi160_write_raw,
> + .attrs = &bmi160_attrs_group,
> + .hwfifo_set_watermark = bmi160_set_watermark,
> + .hwfifo_flush_to_buffer = bmi160_fifo_flush,
> };
>
> static const char *bmi160_match_acpi_device(struct device *dev)
> @@ -561,12 +1059,54 @@ static void bmi160_chip_uninit(struct bmi160_data *data)
> bmi160_set_mode(data, BMI160_ACCEL, false);
> }
>
> +static int bmi160_enable_irq(struct bmi160_data *data)
> +{
> + int ret;
> +
> + mutex_lock(&data->mutex);
> + ret = regmap_update_bits(data->regmap, BMI160_REG_INT_OUT_CTRL,
> + data->irq_data->output_en,
> + data->irq_data->output_en);
> + mutex_unlock(&data->mutex);
> +
> + return ret;
> +}
> +
> +static irqreturn_t bmi160_irq_thread_handler(int irq, void *p)
> +{
> + struct iio_dev *indio_dev = p;
> + struct bmi160_data *data = iio_priv(indio_dev);
> + struct device *dev = regmap_get_device(data->regmap);
> +
> + mutex_lock(&data->mutex);
> + if (data->fifo_enabled)
> + __bmi160_fifo_flush(indio_dev, BMI160_FIFO_LENGTH, true);
> + else
> + dev_warn(dev,
> + "IRQ has been triggered, but FIFO is not enabled.\n");
> + mutex_unlock(&data->mutex);
> +
> + return IRQ_HANDLED;
> +}
> +
> +static irqreturn_t bmi160_irq_handler(int irq, void *p)
> +{
> + struct iio_dev *indio_dev = p;
> + struct bmi160_data *data = iio_priv(indio_dev);
> +
> + data->timestamp = iio_get_time_ns(indio_dev);
> +
> + return IRQ_WAKE_THREAD;
> +}
> +
> int bmi160_core_probe(struct device *dev, struct regmap *regmap,
> - const char *name, bool use_spi)
> + const char *name, int irq,
> + bool use_spi, bool block_supported)
> {
> struct iio_dev *indio_dev;
> struct bmi160_data *data;
> int ret;
> + int irq2;
>
> indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
> if (!indio_dev)
> @@ -574,8 +1114,11 @@ int bmi160_core_probe(struct device *dev, struct regmap *regmap,
>
> data = iio_priv(indio_dev);
> dev_set_drvdata(dev, indio_dev);
> + data->irq = irq;
> data->regmap = regmap;
>
> + mutex_init(&data->mutex);
> +
> ret = bmi160_chip_init(data, use_spi);
> if (ret < 0)
> return ret;
> @@ -591,10 +1134,50 @@ int bmi160_core_probe(struct device *dev, struct regmap *regmap,
> indio_dev->info = &bmi160_info;
>
> ret = iio_triggered_buffer_setup(indio_dev, NULL,
> - bmi160_trigger_handler, NULL);
> + bmi160_trigger_handler,
> + &bmi160_buffer_ops);
> if (ret < 0)
> goto uninit;
>
> + if (data->irq > 0) {
> + /* Check which interrupt pin is connected to our board */
> + irq2 = of_irq_get_byname(dev->of_node, "INT2");
> + if (irq2 == data->irq) {
> + dev_dbg(dev, "Using interrupt line INT2\n");
> + data->irq_data = &bmi160_irq2_data;
> + } else {
> + dev_dbg(dev, "Using interrupt line INT1\n");
> + data->irq_data = &bmi160_irq1_data;
> + }
> +
> + ret = devm_request_threaded_irq(dev,
> + data->irq,
> + bmi160_irq_handler,
> + bmi160_irq_thread_handler,
> + IRQF_ONESHOT,
> + BMI160_IRQ_NAME,
> + indio_dev);
> + if (ret)
> + return ret;
> +
> + ret = bmi160_enable_irq(data);
> + if (ret < 0)
> + goto buffer_cleanup;
> +
> + if (block_supported) {
> + indio_dev->modes |= INDIO_BUFFER_SOFTWARE;
> + indio_dev->info = &bmi160_info_fifo;
> + indio_dev->buffer->attrs = bmi160_fifo_attributes;
> + data->fifo_buffer = devm_kmalloc(dev,
> + BMI160_FIFO_LENGTH,
> + GFP_KERNEL);
> + if (!data->fifo_buffer) {
> + ret = -ENOMEM;
need to disable irq on failure?
> + goto buffer_cleanup;
> + }
> + }
> + }
> +
> ret = iio_device_register(indio_dev);
> if (ret < 0)
> goto buffer_cleanup;
> diff --git a/drivers/iio/imu/bmi160/bmi160_i2c.c b/drivers/iio/imu/bmi160/bmi160_i2c.c
> index 07a179d..aa63f89 100644
> --- a/drivers/iio/imu/bmi160/bmi160_i2c.c
> +++ b/drivers/iio/imu/bmi160/bmi160_i2c.c
> @@ -23,6 +23,10 @@ static int bmi160_i2c_probe(struct i2c_client *client,
> {
> struct regmap *regmap;
> const char *name = NULL;
> + bool block_supported =
> + i2c_check_functionality(client->adapter, I2C_FUNC_I2C) ||
> + i2c_check_functionality(client->adapter,
> + I2C_FUNC_SMBUS_READ_I2C_BLOCK);
>
> regmap = devm_regmap_init_i2c(client, &bmi160_regmap_config);
> if (IS_ERR(regmap)) {
> @@ -34,7 +38,8 @@ static int bmi160_i2c_probe(struct i2c_client *client,
> if (id)
> name = id->name;
>
> - return bmi160_core_probe(&client->dev, regmap, name, false);
> + return bmi160_core_probe(&client->dev, regmap, name, client->irq,
> + false, block_supported);
> }
>
> static int bmi160_i2c_remove(struct i2c_client *client)
> diff --git a/drivers/iio/imu/bmi160/bmi160_spi.c b/drivers/iio/imu/bmi160/bmi160_spi.c
> index 1ec8b12..9b57fbe 100644
> --- a/drivers/iio/imu/bmi160/bmi160_spi.c
> +++ b/drivers/iio/imu/bmi160/bmi160_spi.c
> @@ -25,7 +25,8 @@ static int bmi160_spi_probe(struct spi_device *spi)
> (int)PTR_ERR(regmap));
> return PTR_ERR(regmap);
> }
> - return bmi160_core_probe(&spi->dev, regmap, id->name, true);
> + return bmi160_core_probe(&spi->dev, regmap, id->name, spi->irq,
> + true, true);
> }
>
> static int bmi160_spi_remove(struct spi_device *spi)
>
--
Peter Meerwald-Stadler
+43-664-2444418 (mobile)
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