On Tue, 16 Jul 2019 10:29:27 +0200
Lorenzo Bianconi <lorenzo@xxxxxxxxxx> wrote:
> > Add event channels that controls the creation of motion events.
> >
> > Signed-off-by: Sean Nyekjaer <sean@xxxxxxxxxx>
> > ---
> >
> > Changes since v1:
> > * added handling of LSM6
> > * added CHANNEL info with events for ACC
> > * removed st_lsm6dsx_set_event_threshold function
> > * added check of event type to event channels
> >
> > Issues:
> > * This currently breaks buffered reads, as the interrupt stays high.
> > This happens when MD1_CFG INT1_WU (wakeup event routes to INT1) is
> > enabled.
> > The datasheet doesn't seem to decribe whats happening and I can't
> > find a status register to read somehing useful.
> > Maybe it's impossible to share the buffered reads interrupt with
> > the wakeup interrupt?
>
> Could you explain this issue a bit more? adding st folks...
This isn't totally unheard of for other hardware. If it turns out to be
a hardware restriction then the software approach is to return -EBUSY
if anyone tries to enable an event whilst in buffered mode, and -EBUSY
if anyone tries to enable buffered mode with an event enabled.
It's rather ugly though definitely good to see if there is a proper
solution!
Thanks,
Jonathan
>
> >
> > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 30 ++++
> > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 164 +++++++++++++++++--
> > 2 files changed, 182 insertions(+), 12 deletions(-)
> >
> > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> > index 738bed4a9752..fef08b7cf2a0 100644
> > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
> > @@ -12,6 +12,7 @@
> > #define ST_LSM6DSX_H
> >
> > #include <linux/device.h>
> > +#include <linux/iio/iio.h>
> >
> > #define ST_LSM6DS3_DEV_NAME "lsm6ds3"
> > #define ST_LSM6DS3H_DEV_NAME "lsm6ds3h"
> > @@ -50,6 +51,26 @@ enum st_lsm6dsx_hw_id {
> > * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
> > #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
> >
> > +#define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \
> > +{ \
> > + .type = chan_type, \
> > + .address = addr, \
> > + .modified = 1, \
> > + .channel2 = mod, \
> > + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
> > + BIT(IIO_CHAN_INFO_SCALE), \
> > + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
> > + .scan_index = scan_idx, \
> > + .scan_type = { \
> > + .sign = 's', \
> > + .realbits = 16, \
> > + .storagebits = 16, \
> > + .endianness = IIO_LE, \
> > + }, \
> > + .event_spec = &st_lsm6dsx_event, \
> > + .num_event_specs = 1, \
> > +}
>
> I would prefer to extend existing macros
>
> > +
> > #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
> > { \
> > .type = chan_type, \
> > @@ -297,6 +318,8 @@ struct st_lsm6dsx_hw {
> > u8 enable_mask;
> > u8 ts_sip;
> > u8 sip;
> > + u8 event_threshold;
> > + bool enable_event;
> > int drdy_pin;
> >
> > u8 *buff;
> > @@ -306,6 +329,13 @@ struct st_lsm6dsx_hw {
> > const struct st_lsm6dsx_settings *settings;
> > };
> >
> > +static const struct iio_event_spec st_lsm6dsx_event = {
> > + .type = IIO_EV_TYPE_THRESH,
> > + .dir = IIO_EV_DIR_EITHER,
> > + .mask_separate = BIT(IIO_EV_INFO_VALUE) |
> > + BIT(IIO_EV_INFO_ENABLE)
> > +};
> > +
> > static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0};
> > extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
> >
> > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> > index 2c11addf568b..6decb0846f1a 100644
> > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> > @@ -76,6 +76,16 @@
> > #define ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR 0x24
> > #define ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR 0x26
> >
> > +#define ST_LSM6DSX_REG_TAP_CFG_ADDR 0x58
> > +#define ST_LSM6DSX_REG_TAP_CFG_INT_EN_MASK BIT(7)
>
> I am pretty sure this is not true at least for lsm6ds3/lsm6ds3h
>
> > +
> > +#define ST_LSM6DSX_REG_WAKE_UP_ADDR 0x5B
> > +#define ST_LSM6DSX_REG_WAKE_UP_THRES_MASK GENMASK(5, 0)
> > +
> > +#define ST_LSM6DSX_REG_MD1_CFG_ADDR 0x5E
> > +#define ST_LSM6DSX_REG_MD2_CFG_ADDR 0x5F
> > +#define ST_LSM6DSX_REG_MD_CFG_INT_WU_MASK BIT(5)
> > +
> > static const struct st_lsm6dsx_odr_table_entry st_lsm6dsx_odr_table[] = {
> > [ST_LSM6DSX_ID_ACC] = {
> > .reg = {
> > @@ -470,12 +480,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
> > };
> >
> > static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
> > - ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR,
> > - IIO_MOD_X, 0),
> > - ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR,
> > - IIO_MOD_Y, 1),
> > - ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Z_L_ADDR,
> > - IIO_MOD_Z, 2),
> > + ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR,
> > + IIO_MOD_X, 0),
> > + ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR,
> > + IIO_MOD_Y, 1),
> > + ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Z_L_ADDR,
> > + IIO_MOD_Z, 2),
> > IIO_CHAN_SOFT_TIMESTAMP(3),
> > };
> >
> > @@ -679,18 +689,21 @@ static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor,
> > int err, delay;
> > __le16 data;
> >
> > - err = st_lsm6dsx_sensor_set_enable(sensor, true);
> > - if (err < 0)
> > - return err;
> > + if (!hw->enable_event) {
> > + err = st_lsm6dsx_sensor_set_enable(sensor, true);
> > + if (err < 0)
> > + return err;
> >
> > - delay = 1000000 / sensor->odr;
> > - usleep_range(delay, 2 * delay);
> > + delay = 1000000 / sensor->odr;
> > + usleep_range(delay, 2 * delay);
> > + }
> >
> > err = st_lsm6dsx_read_locked(hw, addr, &data, sizeof(data));
> > if (err < 0)
> > return err;
> >
> > - st_lsm6dsx_sensor_set_enable(sensor, false);
> > + if (!hw->enable_event)
> > + st_lsm6dsx_sensor_set_enable(sensor, false);
> >
> > *val = (s16)le16_to_cpu(data);
> >
> > @@ -763,6 +776,94 @@ static int st_lsm6dsx_write_raw(struct iio_dev *iio_dev,
> > return err;
> > }
> >
> > +static int st_lsm6dsx_read_event(struct iio_dev *iio_dev,
> > + const struct iio_chan_spec *chan,
> > + enum iio_event_type type,
> > + enum iio_event_direction dir,
> > + enum iio_event_info info,
> > + int *val, int *val2)
> > +{
> > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
> > + struct st_lsm6dsx_hw *hw = sensor->hw;
> > +
> > + if (type != IIO_EV_TYPE_THRESH)
> > + return -EINVAL;
> > +
> > + *val2 = 0;
> > + *val = hw->event_threshold;
> > +
> > + return IIO_VAL_INT;
> > +}
> > +
> > +static int st_lsm6dsx_write_event(struct iio_dev *iio_dev,
> > + const struct iio_chan_spec *chan,
> > + enum iio_event_type type,
> > + enum iio_event_direction dir,
> > + enum iio_event_info info,
> > + int val, int val2)
> > +{
> > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
> > + struct st_lsm6dsx_hw *hw = sensor->hw;
> > + int err;
> > +
> > + if (type != IIO_EV_TYPE_THRESH)
> > + return -EINVAL;
> > +
> > + if (!hw->enable_event)
> > + return -EBUSY;
>
> I guess it is ok to configure the threshold first, no?
>
> > +
> > + if (val < 0 || val > 31)
> > + return -EINVAL;
> > +
> > + err = regmap_update_bits(hw->regmap, ST_LSM6DSX_REG_WAKE_UP_ADDR,
> > + ST_LSM6DSX_REG_WAKE_UP_THRES_MASK,
> > + val);
> > + if (err)
> > + return -EINVAL;
> > +
> > + hw->event_threshold = val;
> > +
> > + return 0;
> > +}
> > +
> > +static int st_lsm6dsx_read_event_config(struct iio_dev *iio_dev,
> > + const struct iio_chan_spec *chan,
> > + enum iio_event_type type,
> > + enum iio_event_direction dir)
> > +{
> > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
> > + struct st_lsm6dsx_hw *hw = sensor->hw;
> > +
> > + if (type != IIO_EV_TYPE_THRESH)
> > + return -EINVAL;
> > +
> > + return hw->enable_event;
> > +}
> > +
> > +static int st_lsm6dsx_write_event_config(struct iio_dev *iio_dev,
> > + const struct iio_chan_spec *chan,
> > + enum iio_event_type type,
> > + enum iio_event_direction dir,
> > + int state)
> > +{
> > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
> > + struct st_lsm6dsx_hw *hw = sensor->hw;
> > +
> > + if (type != IIO_EV_TYPE_THRESH)
> > + return -EINVAL;
> > +
> > + if (state && hw->enable_event)
> > + return 0;
> > +
> > + hw->enable_event = state;
> > + if (state)
> > + st_lsm6dsx_sensor_set_enable(sensor, true);
> > + else
> > + st_lsm6dsx_sensor_set_enable(sensor, false);
>
> st_lsm6dsx_sensor_set_enable can fails. Why not do
>
> err = st_lsm6dsx_sensor_set_enable(sensor, state);
> if (err < 0)
> return err;
>
> hw->enable_event = state;;
> return 0;
>
> > +
> > + return 0;
> > +}
> > +
> > int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val)
> > {
> > struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
> > @@ -839,6 +940,10 @@ static const struct iio_info st_lsm6dsx_acc_info = {
> > .attrs = &st_lsm6dsx_acc_attribute_group,
> > .read_raw = st_lsm6dsx_read_raw,
> > .write_raw = st_lsm6dsx_write_raw,
> > + .read_event_value = st_lsm6dsx_read_event,
> > + .write_event_value = st_lsm6dsx_write_event,
> > + .read_event_config = st_lsm6dsx_read_event_config,
> > + .write_event_config = st_lsm6dsx_write_event_config,
> > .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
> > };
> >
> > @@ -1076,6 +1181,38 @@ static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
> > return iio_dev;
> > }
> >
> > +int st_lsm6dsx_event_setup(int id, struct st_lsm6dsx_hw *hw)
> > +{
> > + int err;
> > + unsigned int md_reg;
> > +
> > + if (id == ST_ISM330DLC_ID) {
> > + /* Enable basic interrupts for ISM330 */
> > + err = regmap_update_bits(hw->regmap, ST_LSM6DSX_REG_TAP_CFG_ADDR,
> > + ST_LSM6DSX_REG_TAP_CFG_INT_EN_MASK,
> > + ST_LSM6DSX_REG_TAP_CFG_INT_EN_MASK);
>
> please put device differences in st_lsm6dsx_sensor_settings[]
>
> > + if (err < 0)
> > + return err;
> > + }
> > +
> > + switch (hw->drdy_pin) {
>
> drdy_pin it is only used here right? If so we do not need it just enable this
> configuration by default. I would prefer to maintain the code simple
>
> > + case 1:
> > + md_reg = ST_LSM6DSX_REG_MD1_CFG_ADDR;
> > + break;
> > + case 2:
> > + md_reg = ST_LSM6DSX_REG_MD2_CFG_ADDR;
> > + break;
> > + default:
> > + return -EINVAL;
> > + }
> > + /* Enable wakeup interrupt */
> > + err = regmap_update_bits(hw->regmap, md_reg,
> > + ST_LSM6DSX_REG_MD_CFG_INT_WU_MASK,
> > + ST_LSM6DSX_REG_MD_CFG_INT_WU_MASK);
> > +
> > + return err;
> > +}
> > +
> > static irqreturn_t st_lsm6dsx_handler_irq(int irq, void *private)
> > {
> > struct st_lsm6dsx_hw *hw = private;
> > @@ -1207,6 +1344,9 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
> > err = st_lsm6dsx_fifo_setup(hw);
> > if (err < 0)
> > return err;
>
> newline here please
>
> > + err = st_lsm6dsx_event_setup(hw_id, hw);
> > + if (err < 0)
> > + return err;
> > }
> >
> > for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
> > --
> > 2.22.0
> >
