Re: [PATCH v2 2/6] iio:bmi160: add drdy interrupt support

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On Mon, 21 Jan 2019 18:04:27 -0800
Martin Kelly <martin@xxxxxxxxxxxxxxxx> wrote:

> From: Martin Kelly <martin@xxxxxxxxxxxxxxxx>
> 
> Add interrupt support for the data ready signal on the BMI160, which fires
> an interrupt whenever new accelerometer/gyroscope data is ready to read.
> 
> Signed-off-by: Martin Kelly <martin@xxxxxxxxxxxxxxxx>

Various minor bits inline.  I would also, if possible like Daniel to
take a glance at this series before we apply it. I don't know this hardware
at all well!

Jonathan

> ---
> v2:
> - Drop "BOTH" interrupt setting.
> - Change to "if (ret)" instead of "if (ret < 0)".
> - Stylistic changes suggested by Jonathan Cameron.
> - Fix bogus return check after iio_trigger_get.
> 
>  arch/arm/boot/dts/Makefile           |   1 +
>  drivers/iio/imu/bmi160/bmi160.h      |  13 +-
>  drivers/iio/imu/bmi160/bmi160_core.c | 294 ++++++++++++++++++++++++++++++++++-
>  drivers/iio/imu/bmi160/bmi160_i2c.c  |   3 +-
>  drivers/iio/imu/bmi160/bmi160_spi.c  |   2 +-
>  5 files changed, 303 insertions(+), 10 deletions(-)
> 
> diff --git a/arch/arm/boot/dts/Makefile b/arch/arm/boot/dts/Makefile
> index b0e966d625b9..df68910fc2c1 100644
> --- a/arch/arm/boot/dts/Makefile
> +++ b/arch/arm/boot/dts/Makefile
> @@ -701,6 +701,7 @@ dtb-$(CONFIG_SOC_AM33XX) += \
>  	am335x-base0033.dtb \
>  	am335x-bone.dtb \
>  	am335x-boneblack.dtb \
> +	am335x-boneblack-bmi160-i2c1.dtb \

Separate patch for this.

>  	am335x-boneblack-wireless.dtb \
>  	am335x-boneblue.dtb \
>  	am335x-bonegreen.dtb \
> diff --git a/drivers/iio/imu/bmi160/bmi160.h b/drivers/iio/imu/bmi160/bmi160.h
> index 2351049d930b..0c5e67e0d35b 100644
> --- a/drivers/iio/imu/bmi160/bmi160.h
> +++ b/drivers/iio/imu/bmi160/bmi160.h
> @@ -2,9 +2,20 @@
>  #ifndef BMI160_H_
>  #define BMI160_H_
> 
> +#include <linux/iio/iio.h>
> +
> +struct bmi160_data {
> +	struct regmap *regmap;
> +	struct iio_trigger *trig;
> +};
> +
>  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, bool use_spi, int irq);
> +
> +int bmi160_enable_irq(struct regmap *regmap, bool enable);
> +
> +int bmi160_probe_trigger(struct iio_dev *indio_dev, int irq, u32 irq_type);
> 
>  #endif  /* BMI160_H_ */
> diff --git a/drivers/iio/imu/bmi160/bmi160_core.c b/drivers/iio/imu/bmi160/bmi160_core.c
> index ce61026d84c3..c848fc1bce61 100644
> --- a/drivers/iio/imu/bmi160/bmi160_core.c
> +++ b/drivers/iio/imu/bmi160/bmi160_core.c
> @@ -3,21 +3,25 @@
>   * BMI160 - Bosch IMU (accel, gyro plus external magnetometer)
>   *
>   * Copyright (c) 2016, Intel Corporation.
> + * Copyright (c) 2019, Martin Kelly.
>   *
>   * IIO core driver for BMI160, with support for I2C/SPI busses
>   *
> - * TODO: magnetometer, interrupts, hardware FIFO
> + * TODO: magnetometer, hardware FIFO
>   */
>  #include <linux/module.h>
>  #include <linux/regmap.h>
>  #include <linux/acpi.h>
>  #include <linux/delay.h>
> +#include <linux/irq.h>
> +#include <linux/of_irq.h>
> 
>  #include <linux/iio/iio.h>
>  #include <linux/iio/triggered_buffer.h>
>  #include <linux/iio/trigger_consumer.h>
>  #include <linux/iio/buffer.h>
>  #include <linux/iio/sysfs.h>
> +#include <linux/iio/trigger.h>
> 
>  #include "bmi160.h"
> 
> @@ -61,8 +65,32 @@
>  #define BMI160_CMD_GYRO_PM_FAST_STARTUP	0x17
>  #define BMI160_CMD_SOFTRESET		0xB6
> 
> +#define BMI160_REG_INT_EN		0x51
> +#define BMI160_DRDY_INT_EN		BIT(4)
> +
> +#define BMI160_REG_INT_OUT_CTRL		0x53
> +#define BMI160_INT_OUT_CTRL_MASK	0x0f
> +#define BMI160_INT1_OUT_CTRL_SHIFT	0
> +#define BMI160_INT2_OUT_CTRL_SHIFT	4
> +#define BMI160_LEVEL_TRIGGERED		BIT(0)
> +#define BMI160_ACTIVE_HIGH		BIT(1)
> +#define BMI160_OPEN_DRAIN		BIT(2)
> +#define BMI160_OUTPUT_EN		BIT(3)
> +
> +#define BMI160_REG_INT_LATCH		0x54
> +#define BMI160_INT1_LATCH_MASK		BIT(4)
> +#define BMI160_INT2_LATCH_MASK		BIT(5)
> +
> +/* INT1 and INT2 are in the opposite order as in INT_OUT_CTRL! */
> +#define BMI160_REG_INT_MAP		0x56
> +#define BMI160_INT1_MAP_DRDY_EN		0x80
> +#define BMI160_INT2_MAP_DRDY_EN		0x08
> +
>  #define BMI160_REG_DUMMY		0x7F
> 
> +#define BMI160_NORMAL_WRITE_USLEEP	2
> +#define BMI160_SUSPENDED_WRITE_USLEEP	450
> +
>  #define BMI160_ACCEL_PMU_MIN_USLEEP	3800
>  #define BMI160_GYRO_PMU_MIN_USLEEP	80000
>  #define BMI160_SOFTRESET_USLEEP		1000
> @@ -105,8 +133,9 @@ enum bmi160_sensor_type {
>  	BMI160_NUM_SENSORS /* must be last */
>  };
> 
> -struct bmi160_data {
> -	struct regmap *regmap;
> +enum bmi160_int_pin {
> +	BMI160_PIN_INT1,
> +	BMI160_PIN_INT2
>  };
> 
>  const struct regmap_config bmi160_regmap_config = {
> @@ -495,7 +524,209 @@ static const char *bmi160_match_acpi_device(struct device *dev)
>  	return dev_name(dev);
>  }
> 
> -static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
> +static int bmi160_write_conf_reg(struct regmap *regmap, unsigned int reg,
> +				 unsigned int mask, unsigned int bits,
> +				 unsigned int write_usleep)
> +{
> +	int ret;
> +	unsigned int val;
> +
> +	ret = regmap_read(regmap, reg, &val);
> +	if (ret)
> +		return ret;
> +
> +	val = (val & ~mask) | bits;
> +
> +	ret = regmap_write(regmap, reg, val);
> +	if (ret)
> +		return ret;
> +
> +	/*
> +	 * We need to wait after writing before we can write again. See the
> +	 * datasheet, page 93.
> +	 */
> +	usleep_range(write_usleep, write_usleep + 1000);
> +
> +	return 0;
> +}
> +
> +static int bmi160_config_pin(struct regmap *regmap, enum bmi160_int_pin pin,
> +				bool open_drain, u8 irq_mask,
> +				unsigned long write_usleep)
> +{
> +	int ret;
> +	u8 int_out_ctrl_shift;
> +	u8 int_latch_mask;
> +	u8 int_map_mask;
> +	u8 int_out_ctrl_mask;
> +	u8 int_out_ctrl_bits;
> +
> +	switch (pin) {
> +	case BMI160_PIN_INT1:
> +		int_out_ctrl_shift = BMI160_INT1_OUT_CTRL_SHIFT;
> +		int_latch_mask = BMI160_INT1_LATCH_MASK;
> +		int_map_mask = BMI160_INT1_MAP_DRDY_EN;
> +		break;
> +	case BMI160_PIN_INT2:
> +		int_out_ctrl_shift = BMI160_INT2_OUT_CTRL_SHIFT;
> +		int_latch_mask = BMI160_INT2_LATCH_MASK;
> +		int_map_mask = BMI160_INT2_MAP_DRDY_EN;
> +		break;
> +	}
> +	int_out_ctrl_mask = BMI160_INT_OUT_CTRL_MASK << int_out_ctrl_shift;
> +
> +	/*
> +	 * Enable the requested pin with the right settings:
> +	 * - Push-pull/open-drain
> +	 * - Active low/high
> +	 * - Edge/level triggered
> +	 */
> +	int_out_ctrl_bits = BMI160_OUTPUT_EN;
> +	if (open_drain)
> +		/* Default is push-pull. */
> +		int_out_ctrl_bits |= BMI160_OPEN_DRAIN;
> +	int_out_ctrl_bits |= irq_mask;
> +	int_out_ctrl_bits <<= int_out_ctrl_shift;
> +
> +	ret = bmi160_write_conf_reg(regmap, BMI160_REG_INT_OUT_CTRL,
> +				    int_out_ctrl_mask, int_out_ctrl_bits,
> +				    write_usleep);
> +	if (ret)
> +		return ret;
> +
> +	/* Set the pin to input mode with no latching. */
> +	ret = bmi160_write_conf_reg(regmap, BMI160_REG_INT_LATCH,
> +				    int_latch_mask, int_latch_mask,
> +				    write_usleep);
> +	if (ret)
> +		return ret;
> +
> +	/* Map interrupts to the requested pin. */
> +	ret = bmi160_write_conf_reg(regmap, BMI160_REG_INT_MAP,
> +				    int_map_mask, int_map_mask,
> +				    write_usleep);
> +	if (ret)
> +		return ret;
return bmi160...
> +
> +	return 0;
> +}
> +
> +int bmi160_enable_irq(struct regmap *regmap, bool enable)
> +{
> +	unsigned int enable_bit = 0;
> +
> +	if (enable)
> +		enable_bit = BMI160_DRDY_INT_EN;
> +
> +	return bmi160_write_conf_reg(regmap, BMI160_REG_INT_EN,
> +				     BMI160_DRDY_INT_EN, enable_bit,
> +				     BMI160_NORMAL_WRITE_USLEEP);
> +}
> +EXPORT_SYMBOL(bmi160_enable_irq);
> +
> +static bool bmi160_parse_irqname(struct device_node *of_node, int irq,
> +				 enum bmi160_int_pin *pin)
> +{
> +	int ret;
> +
> +	/* of_irq_get_byname returns the IRQ number if the entry is found. */
> +	ret = of_irq_get_byname(of_node, "INT1");
> +	if (ret == irq) {
> +		*pin = BMI160_PIN_INT1;
> +		return true;
> +	}

Given both could be provided, and we are implying a preference,
why not just get INT1 first by name and if it's not there try for
INT2?  No need for this separate does the name match query.

> +
> +	ret = of_irq_get_byname(of_node, "INT2");
> +	if (ret == irq) {
> +		*pin = BMI160_PIN_INT2;
> +		return true;
> +	}
> +
> +	return false;
> +}
> +
> +static int bmi160_config_device_irq(struct iio_dev *indio_dev,
> +				    int irq, int irq_type)
> +{
> +	int ret;
> +	bool success;
> +	enum bmi160_int_pin int_pin;
> +	bool open_drain;
> +	const char *pin_name;
> +	u8 irq_mask;
> +	struct bmi160_data *data = iio_priv(indio_dev);
> +	struct device *dev = regmap_get_device(data->regmap);
> +
> +	/* Edge-triggered, active-low is the default if we set all zeroes. */
> +	if (irq_type == IRQF_TRIGGER_RISING)
> +		irq_mask = BMI160_ACTIVE_HIGH | BMI160_LEVEL_TRIGGERED;

That seems unlikely.  Why on a rising trigger are we setting a flag
that is named to imply it sets level triggering?

> +	else if (irq_type == IRQF_TRIGGER_FALLING)
> +		irq_mask = BMI160_LEVEL_TRIGGERED;
> +	else if (irq_type == IRQF_TRIGGER_HIGH)
> +		irq_mask = BMI160_ACTIVE_HIGH;
> +	else if (irq_type == IRQF_TRIGGER_LOW)
> +		irq_mask = 0;
> +	else {
> +		dev_err(&indio_dev->dev,
> +			"Invalid interrupt type 0x%x specified\n", irq_type);
> +		return -EINVAL;
> +	}
> +
> +	success = bmi160_parse_irqname(dev->of_node, irq, &int_pin);
> +	if (!success) {
> +		dev_err(&indio_dev->dev,
> +			"interrupt-names for IRQ %d must be set to either \"INT1\" or \"INT2\"",
> +			irq);
> +		return -EINVAL;
> +	}
> +
> +	open_drain = of_property_read_bool(dev->of_node, "bmi160,open-drain");
> +
> +	ret = bmi160_config_pin(data->regmap, int_pin, open_drain, irq_mask,
> +				BMI160_NORMAL_WRITE_USLEEP);
> +	if (ret) {
> +		switch (int_pin) {
> +		case BMI160_PIN_INT1:
> +			pin_name = "INT1";
> +			break;
> +		case BMI160_PIN_INT2:
> +			pin_name = "INT2";
> +			break;
> +		}
> +		dev_err(&indio_dev->dev, "Failed to configure %s IRQ pin",
> +			pin_name);

Why not do that within bmi160_config_pin?  Then we have
return bmi160_config_pin..

> +		return ret;
> +	}
> +
> +	return 0;
> +}
> +
> +static int bmi160_setup_irq(struct iio_dev *indio_dev, int irq)
> +{
> +	struct irq_data *desc;
> +	u32 irq_type;
> +	int ret;
> +
> +	desc = irq_get_irq_data(irq);
> +	if (!desc) {
> +		dev_warn(&indio_dev->dev, "Could not find IRQ %d\n", irq);
> +		return -EINVAL;
> +	}
> +
> +	irq_type = irqd_get_trigger_type(desc);
> +
> +	ret = bmi160_config_device_irq(indio_dev, irq, irq_type);
> +	if (ret)
> +		return ret;
> +
> +	ret = bmi160_probe_trigger(indio_dev, irq, irq_type);
> +	if (ret)
> +		return ret;

return bmi160_probe_trigger...  It's either zero or it's not.
Either way this gives the same as you have here.

> +
> +	return 0;
> +}
> +
> +static int bmi160_chip_init(struct bmi160_data *data, bool use_spi, int irq)
>  {
>  	int ret;
>  	unsigned int val;
> @@ -518,7 +749,7 @@ static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
>  	}
> 
>  	ret = regmap_read(data->regmap, BMI160_REG_CHIP_ID, &val);
> -	if (ret < 0) {
> +	if (ret) {

This should be a separate patch, not rolled in here.  It's
a good cleanup but within this patch it's noise.

>  		dev_err(dev, "Error reading chip id\n");
>  		return ret;
>  	}
> @@ -539,6 +770,49 @@ static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
>  	return 0;
>  }
> 
> +static int bmi160_data_rdy_trigger_set_state(struct iio_trigger *trig,
> +					     bool enable)
> +{
> +	struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
> +	struct bmi160_data *data = iio_priv(indio_dev);
> +
> +	return bmi160_enable_irq(data->regmap, enable);
> +}
> +
> +static const struct iio_trigger_ops bmi160_trigger_ops = {
> +	.set_trigger_state = &bmi160_data_rdy_trigger_set_state,
> +};
> +
> +int bmi160_probe_trigger(struct iio_dev *indio_dev, int irq, u32 irq_type)
> +{
> +	struct bmi160_data *data = iio_priv(indio_dev);
> +	int ret;
> +
> +	data->trig = devm_iio_trigger_alloc(&indio_dev->dev, "%s-dev%d",
> +					    indio_dev->name, indio_dev->id);
> +
> +	if (data->trig == NULL)
> +		return -ENOMEM;
> +
> +	ret = devm_request_irq(&indio_dev->dev, irq,
> +			       &iio_trigger_generic_data_rdy_poll,
> +			       irq_type, "bmi160", data->trig);
> +	if (ret < 0)
> +		return ret;
> +
> +	data->trig->dev.parent = regmap_get_device(data->regmap);
> +	data->trig->ops = &bmi160_trigger_ops;
> +	iio_trigger_set_drvdata(data->trig, indio_dev);
> +
> +	ret = devm_iio_trigger_register(&indio_dev->dev, data->trig);
> +	if (ret)
> +		return ret;
> +
> +	indio_dev->trig = iio_trigger_get(data->trig);
> +
> +	return 0;
> +}
> +
>  static void bmi160_chip_uninit(void *data)
>  {
>  	struct bmi160_data *bmi_data = data;
> @@ -548,7 +822,7 @@ static void bmi160_chip_uninit(void *data)
>  }
> 
>  int bmi160_core_probe(struct device *dev, struct regmap *regmap,
> -		      const char *name, bool use_spi)
> +		      const char *name, bool use_spi, int irq)
>  {
>  	struct iio_dev *indio_dev;
>  	struct bmi160_data *data;
> @@ -562,7 +836,7 @@ int bmi160_core_probe(struct device *dev, struct regmap *regmap,
>  	dev_set_drvdata(dev, indio_dev);
>  	data->regmap = regmap;
> 
> -	ret = bmi160_chip_init(data, use_spi);
> +	ret = bmi160_chip_init(data, use_spi, irq);
>  	if (ret < 0)
>  		return ret;
> 
> @@ -585,6 +859,12 @@ int bmi160_core_probe(struct device *dev, struct regmap *regmap,
>  	if (ret < 0)
>  		return ret;
> 
> +	if (irq) {
> +		ret = bmi160_setup_irq(indio_dev, irq);
> +		if (ret)
> +			return ret;
> +	}
> +
>  	ret = devm_iio_device_register(dev, indio_dev);
>  	if (ret < 0)
>  		return ret;
> diff --git a/drivers/iio/imu/bmi160/bmi160_i2c.c b/drivers/iio/imu/bmi160/bmi160_i2c.c
> index e36f5e82d400..98467d73c887 100644
> --- a/drivers/iio/imu/bmi160/bmi160_i2c.c
> +++ b/drivers/iio/imu/bmi160/bmi160_i2c.c
> @@ -32,7 +32,8 @@ 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, false, client->irq);
>  }
> 
>  static const struct i2c_device_id bmi160_i2c_id[] = {
> diff --git a/drivers/iio/imu/bmi160/bmi160_spi.c b/drivers/iio/imu/bmi160/bmi160_spi.c
> index c19e3df35559..23e323518873 100644
> --- a/drivers/iio/imu/bmi160/bmi160_spi.c
> +++ b/drivers/iio/imu/bmi160/bmi160_spi.c
> @@ -24,7 +24,7 @@ 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, true, spi->irq);
>  }
> 
>  static const struct spi_device_id bmi160_spi_id[] = {
> --
> 2.11.0
> 




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