On Sun, 25 Feb 2024 16:00:26 +0000
inv.git-commit@xxxxxxx wrote:
> From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@xxxxxxx>
>
> Add new interrupt handler for generating WoM event from int status
> register bits. Launch from interrupt the trigger poll function for
> data buffer.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@xxxxxxx>
> ---
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 +
> drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 11 ----
> drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 56 +++++++++++++++++--
> 3 files changed, 53 insertions(+), 16 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index 519c1eee96ad..9be67cebbd49 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -184,6 +184,7 @@ struct inv_mpu6050_hw {
> * @magn_orient: magnetometer sensor chip orientation if available.
> * @suspended_sensors: sensors mask of sensors turned off for suspend
> * @data: read buffer used for bulk reads.
> + * @it_timestamp: interrupt timestamp.
> */
> struct inv_mpu6050_state {
> struct mutex lock;
> @@ -209,6 +210,7 @@ struct inv_mpu6050_state {
> unsigned int suspended_sensors;
> bool level_shifter;
> u8 *data;
> + s64 it_timestamp;
> };
>
> /*register and associated bit definition*/
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> index 13da6f523ca2..e282378ee2ca 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> @@ -51,21 +51,10 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
> u32 fifo_period;
> s64 timestamp;
> u8 data[INV_MPU6050_OUTPUT_DATA_SIZE];
> - int int_status;
> size_t i, nb;
>
> 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))
> - goto end_session;
> -
> if (!(st->chip_config.accl_fifo_enable |
> st->chip_config.gyro_fifo_enable |
> st->chip_config.magn_fifo_enable))
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> index ec2398a87f45..7ffbb9e7c100 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> @@ -6,6 +6,7 @@
> #include <linux/pm_runtime.h>
>
> #include <linux/iio/common/inv_sensors_timestamp.h>
> +#include <linux/iio/events.h>
>
> #include "inv_mpu_iio.h"
>
> @@ -223,6 +224,52 @@ static const struct iio_trigger_ops inv_mpu_trigger_ops = {
> .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
> };
>
> +static irqreturn_t inv_mpu6050_interrupt_timestamp(int irq, void *p)
> +{
> + struct iio_dev *indio_dev = p;
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> +
> + st->it_timestamp = iio_get_time_ns(indio_dev);
> +
> + return IRQ_WAKE_THREAD;
I think you can use iio_pollfunc_store_time().
> +}
> +
> +static irqreturn_t inv_mpu6050_interrupt_handle(int irq, void *p)
> +{
> + struct iio_dev *indio_dev = p;
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> + unsigned int int_status = 0;
> + int result;
> +
> + 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 exit_unlock;
> + }
> +
> + /* handle WoM event */
> + if (st->chip_config.wom_en && (int_status & INV_MPU6500_BIT_WOM_INT))
> + iio_push_event(indio_dev,
> + IIO_UNMOD_EVENT_CODE(IIO_ACCEL, 0, IIO_EV_TYPE_MAG_ADAPTIVE,
> + IIO_EV_DIR_RISING),
Maybe should be modified.
Hmm. Is this magnitude of the overall acceleration or is it a per channel thing?
If it's overall then we need to know how they are combined to describe this right.
If it's an X or Y or Z thing we do have a modifier for that though I kind of
regret adding that and wish now we'd just always reported 3 events.
(problem with those X_OR_Y_OR_Z modifiers is they don't generalize well)
> + st->it_timestamp);
> +
> +exit_unlock:
> + mutex_unlock(&st->lock);
> +
> + /* handle raw data interrupt */
> + if (int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT) {
> + indio_dev->pollfunc->timestamp = st->it_timestamp;
As above, why not use the standard function for this.
I don't think anything will have cleared it.
> + iio_trigger_poll_nested(st->trig);
> + }
> +
> + return IRQ_HANDLED;
> +}
> +
> int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
> {
> int ret;
> @@ -235,11 +282,10 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
> if (!st->trig)
> return -ENOMEM;
>
> - ret = devm_request_irq(&indio_dev->dev, st->irq,
> - &iio_trigger_generic_data_rdy_poll,
> - irq_type,
> - "inv_mpu",
> - st->trig);
> + ret = devm_request_threaded_irq(&indio_dev->dev, st->irq,
> + &inv_mpu6050_interrupt_timestamp,
> + &inv_mpu6050_interrupt_handle,
> + irq_type, "inv_mpu", indio_dev);
> if (ret)
> return ret;
>
