On Fri, 20 Apr 2018 19:04:17 +0200
Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx> wrote:
> On 20/04/2018 18:54, Martin Kelly wrote:
> > Currently, we support only rising edge interrupts, and in fact we assume
> > that the interrupt we're given is rising edge (and things won't work if
> > it's not). However, the device supports rising edge, falling edge, level
> > low, and level high interrupts.
> >
> > Empirically, on my system, switching to level interrupts has fixed a
> > problem I had with significant (~40%) interrupt loss with edge
> > interrupts. This issue is likely related to the SoC I'm using (Allwinner
> > H3), but being able to switch the interrupt type is still a very useful
> > workaround.
> >
> > I tested this with each interrupt type and verified correct behavior in
> > a logic analyzer.
> >
> > Add support for these interrupt types while also eliminating the error
> > case of the device tree and driver using different interrupt types.
> >
> > Signed-off-by: Martin Kelly <mkelly@xxxxxxxx>
> > ---
> > v7:
> > - Actually flush the FIFO when we fail to ACK the interrupt, and end the session
> > when we get a spurious interrupt.
> > v6:
> > - Use -EINVAL if devicetree interrupt configuration is missing.
> > - Use u8 for irq_mask.
> > - Stop mixing register and bit defines, and group them separately.
> > - If we fail to ACK the interrupt, flush the FIFO.
> > v5:
> > - Check interrupt status in all cases rather than only in the level triggered
> > case, and warn if we get spurious interrupts.
> > - Rename INV_MPU6050_LEVEL_TRIGGERED to INV_MPU6050_LATCH_INT_EN to match
> > datasheet naming.
> > - Write st->irq_mask prior to device power off to make sure it is fully set.
> > - Write st->irq_mask instead of 0 in inv_mpu6050_deselect_bypass.
> > - Make irq_type local instead of part of the driver state, as we use it only at
> > probe time and never again.
> > - Remove the comment about bus lockups, as I have determined them to be
> > unrelated.
> > - Add missing documentation for irq_type and irq_mask.
> > v4:
> > - Moved the ACK inside the mutex.
> > v3:
> > - Sent version 2 too quickly. Now that the ACK is moved to the top of the
> > function, the "goto out" logic is unnecessary, so we can clean it up.
> > v2:
> > - Changed to ACK level interrupts at the start of the bottom half thread instead
> > of at the end of it. Without this, the sample timestamps get distorted because
> > the time to handle the bottom half thread delays future interrupts. With this
> > change, the timestamps appear evenly distributed at the right frequency.
> >
> > drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 33 ++++++++++++++++++++++++++-
> > drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 5 ++--
> > drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 15 ++++++++++--
> > drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 15 ++++++++++++
> > drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 4 ++--
> > 5 files changed, 64 insertions(+), 8 deletions(-)
> >
> > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> > index 7d64be353403..c2cec7508451 100644
> > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> > @@ -24,6 +24,7 @@
> > #include <linux/spinlock.h>
> > #include <linux/iio/iio.h>
> > #include <linux/acpi.h>
> > +#include <linux/platform_device.h>
> > #include "inv_mpu_iio.h"
> >
> > /*
> > @@ -52,6 +53,7 @@ static const struct inv_mpu6050_reg_map reg_set_6500 = {
> > .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
> > .temperature = INV_MPU6050_REG_TEMPERATURE,
> > .int_enable = INV_MPU6050_REG_INT_ENABLE,
> > + .int_status = INV_MPU6050_REG_INT_STATUS,
> > .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
> > .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
> > .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
> > @@ -278,6 +280,10 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
> > if (result)
> > return result;
> >
> > + result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
> > + if (result)
> > + return result;
> > +
> > memcpy(&st->chip_config, hw_info[st->chip_type].config,
> > sizeof(struct inv_mpu6050_chip_config));
> > result = inv_mpu6050_set_power_itg(st, false);
> > @@ -882,6 +888,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> > struct inv_mpu6050_platform_data *pdata;
> > struct device *dev = regmap_get_device(regmap);
> > int result;
> > + struct irq_data *desc;
> > + int irq_type;
> >
> > indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
> > if (!indio_dev)
> > @@ -913,6 +921,29 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> > st->plat_data = *pdata;
> > }
> >
> > + desc = irq_get_irq_data(irq);
> > + if (!desc) {
> > + dev_err(dev, "Could not find IRQ %d\n", irq);
> > + return -EINVAL;
> > + }
> > +
> > + irq_type = irqd_get_trigger_type(desc);
> > + if (irq_type == IRQF_TRIGGER_RISING)
> > + st->irq_mask = INV_MPU6050_ACTIVE_HIGH;
> > + else if (irq_type == IRQF_TRIGGER_FALLING)
> > + st->irq_mask = INV_MPU6050_ACTIVE_LOW;
> > + else if (irq_type == IRQF_TRIGGER_HIGH)
> > + st->irq_mask = INV_MPU6050_ACTIVE_HIGH |
> > + INV_MPU6050_LATCH_INT_EN;
> > + else if (irq_type == IRQF_TRIGGER_LOW)
> > + st->irq_mask = INV_MPU6050_ACTIVE_LOW |
> > + INV_MPU6050_LATCH_INT_EN;
> > + else {
> > + dev_err(dev, "Invalid interrupt type 0x%x specified\n",
> > + irq_type);
> > + return -EINVAL;
> > + }
> > +
> > /* power is turned on inside check chip type*/
> > result = inv_check_and_setup_chip(st);
> > if (result)
> > @@ -948,7 +979,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> > dev_err(dev, "configure buffer fail %d\n", result);
> > return result;
> > }
> > - result = inv_mpu6050_probe_trigger(indio_dev);
> > + result = inv_mpu6050_probe_trigger(indio_dev, irq_type);
> > if (result) {
> > dev_err(dev, "trigger probe fail %d\n", result);
> > goto out_unreg_ring;
> > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> > index fcd7a92b6cf8..1b02d2b69174 100644
> > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> > @@ -44,8 +44,7 @@ static int inv_mpu6050_select_bypass(struct i2c_mux_core *muxc, u32 chan_id)
> > if (!ret) {
> > st->powerup_count++;
> > ret = regmap_write(st->map, st->reg->int_pin_cfg,
> > - INV_MPU6050_INT_PIN_CFG |
> > - INV_MPU6050_BIT_BYPASS_EN);
> > + st->irq_mask | INV_MPU6050_BIT_BYPASS_EN);
> > }
> > write_error:
> > mutex_unlock(&st->lock);
> > @@ -60,7 +59,7 @@ static int inv_mpu6050_deselect_bypass(struct i2c_mux_core *muxc, u32 chan_id)
> >
> > mutex_lock(&st->lock);
> > /* It doesn't really mattter, if any of the calls fails */
> > - regmap_write(st->map, st->reg->int_pin_cfg, INV_MPU6050_INT_PIN_CFG);
> > + regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
> > st->powerup_count--;
> > if (!st->powerup_count)
> > regmap_write(st->map, st->reg->pwr_mgmt_1,
> > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> > index 065794162d65..eaa9158ac753 100644
> > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> > @@ -40,6 +40,7 @@
> > * @raw_accl: Address of first accel register.
> > * @temperature: temperature register
> > * @int_enable: Interrupt enable register.
> > + * @int_status: Interrupt status register.
> > * @pwr_mgmt_1: Controls chip's power state and clock source.
> > * @pwr_mgmt_2: Controls power state of individual sensors.
> > * @int_pin_cfg; Controls interrupt pin configuration.
> > @@ -60,6 +61,7 @@ struct inv_mpu6050_reg_map {
> > u8 raw_accl;
> > u8 temperature;
> > u8 int_enable;
> > + u8 int_status;
> > u8 pwr_mgmt_1;
> > u8 pwr_mgmt_2;
> > u8 int_pin_cfg;
> > @@ -125,6 +127,7 @@ struct inv_mpu6050_hw {
> > * @timestamps: kfifo queue to store time stamp.
> > * @map regmap pointer.
> > * @irq interrupt number.
> > + * @irq_mask the int_pin_cfg mask to configure interrupt type.
> > */
> > struct inv_mpu6050_state {
> > #define TIMESTAMP_FIFO_SIZE 16
> > @@ -143,6 +146,7 @@ struct inv_mpu6050_state {
> > DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
> > struct regmap *map;
> > int irq;
> > + u8 irq_mask;
> > };
> >
> > /*register and associated bit definition*/
> > @@ -166,6 +170,9 @@ struct inv_mpu6050_state {
> > #define INV_MPU6050_REG_TEMPERATURE 0x41
> > #define INV_MPU6050_REG_RAW_GYRO 0x43
> >
> > +#define INV_MPU6050_REG_INT_STATUS 0x3A
> > +#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
> > +
> > #define INV_MPU6050_REG_USER_CTRL 0x6A
> > #define INV_MPU6050_BIT_FIFO_RST 0x04
> > #define INV_MPU6050_BIT_DMP_RST 0x08
> > @@ -215,8 +222,12 @@ struct inv_mpu6050_state {
> > #define INV_MPU6050_OUTPUT_DATA_SIZE 24
> >
> > #define INV_MPU6050_REG_INT_PIN_CFG 0x37
> > +#define INV_MPU6050_ACTIVE_HIGH 0x00
> > +#define INV_MPU6050_ACTIVE_LOW 0x80
> > +/* enable level triggering */
> > +#define INV_MPU6050_LATCH_INT_EN 0x20
> > #define INV_MPU6050_BIT_BYPASS_EN 0x2
> > -#define INV_MPU6050_INT_PIN_CFG 0
> > +
> >
> > /* init parameters */
> > #define INV_MPU6050_INIT_FIFO_RATE 50
> > @@ -287,7 +298,7 @@ enum inv_mpu6050_clock_sel_e {
> >
> > irqreturn_t inv_mpu6050_irq_handler(int irq, void *p);
> > irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
> > -int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev);
> > +int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
> > void inv_mpu6050_remove_trigger(struct inv_mpu6050_state *st);
> > int inv_reset_fifo(struct iio_dev *indio_dev);
> > int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
> > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> > index ff81c6aa009d..672c3df2d1d1 100644
> > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> > @@ -127,8 +127,23 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
> > u8 data[INV_MPU6050_OUTPUT_DATA_SIZE];
> > u16 fifo_count;
> > s64 timestamp;
> > + int int_status;
> >
> > mutex_lock(&st->lock);
> > +
> > + /* ack interrupt and check status */
> > + result = regmap_read(st->map, st->reg->int_status, &int_status);
> > + if (result) {
> > + dev_err(regmap_get_device(st->map),
> > + "failed to ack interrupt\n");
> > + goto flush_fifo;
> > + }
> > + if (!(int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT)) {
> > + dev_warn(regmap_get_device(st->map),
> > + "spurious interrupt with status 0x%x\n", int_status);
> > + goto end_session;
> > + }
> > +
> > if (!(st->chip_config.accl_fifo_enable |
> > st->chip_config.gyro_fifo_enable))
> > goto end_session;
> > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> > index f963f9fc98c0..b8c5584e4252 100644
> > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> > @@ -117,7 +117,7 @@ static const struct iio_trigger_ops inv_mpu_trigger_ops = {
> > .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
> > };
> >
> > -int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
> > +int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
> > {
> > int ret;
> > struct inv_mpu6050_state *st = iio_priv(indio_dev);
> > @@ -131,7 +131,7 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
> >
> > ret = devm_request_irq(&indio_dev->dev, st->irq,
> > &iio_trigger_generic_data_rdy_poll,
> > - IRQF_TRIGGER_RISING,
> > + irq_type,
> > "inv_mpu",
> > st->trig);
> > if (ret)
> >
>
> All OK for me now.
>
> Acked-by: Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx>
Applied to the togreg branch of iio.git. Note there was some fuzz
so please check I resolved things correctly.
Pushed out as testing for the autobuilders to play with it.
Thanks,
Jonathan
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