Adding upstream version 6.1.76.upstream/6.1.76

Signed-off-by: Daniel Baumann <daniel.baumann@progress-linux.org>

1 files changed, 601 insertions, 0 deletions

diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
new file mode 100644
index 000000000..32d7f8364
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
@@ -0,0 +1,601 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/mutex.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+
+#include "inv_icm42600.h"
+#include "inv_icm42600_timestamp.h"
+#include "inv_icm42600_buffer.h"
+
+/* FIFO header: 1 byte */
+#define INV_ICM42600_FIFO_HEADER_MSG		BIT(7)
+#define INV_ICM42600_FIFO_HEADER_ACCEL		BIT(6)
+#define INV_ICM42600_FIFO_HEADER_GYRO		BIT(5)
+#define INV_ICM42600_FIFO_HEADER_TMST_FSYNC	GENMASK(3, 2)
+#define INV_ICM42600_FIFO_HEADER_ODR_ACCEL	BIT(1)
+#define INV_ICM42600_FIFO_HEADER_ODR_GYRO	BIT(0)
+
+struct inv_icm42600_fifo_1sensor_packet {
+	uint8_t header;
+	struct inv_icm42600_fifo_sensor_data data;
+	int8_t temp;
+} __packed;
+#define INV_ICM42600_FIFO_1SENSOR_PACKET_SIZE		8
+
+struct inv_icm42600_fifo_2sensors_packet {
+	uint8_t header;
+	struct inv_icm42600_fifo_sensor_data accel;
+	struct inv_icm42600_fifo_sensor_data gyro;
+	int8_t temp;
+	__be16 timestamp;
+} __packed;
+#define INV_ICM42600_FIFO_2SENSORS_PACKET_SIZE		16
+
+ssize_t inv_icm42600_fifo_decode_packet(const void *packet, const void **accel,
+					const void **gyro, const int8_t **temp,
+					const void **timestamp, unsigned int *odr)
+{
+	const struct inv_icm42600_fifo_1sensor_packet *pack1 = packet;
+	const struct inv_icm42600_fifo_2sensors_packet *pack2 = packet;
+	uint8_t header = *((const uint8_t *)packet);
+
+	/* FIFO empty */
+	if (header & INV_ICM42600_FIFO_HEADER_MSG) {
+		*accel = NULL;
+		*gyro = NULL;
+		*temp = NULL;
+		*timestamp = NULL;
+		*odr = 0;
+		return 0;
+	}
+
+	/* handle odr flags */
+	*odr = 0;
+	if (header & INV_ICM42600_FIFO_HEADER_ODR_GYRO)
+		*odr |= INV_ICM42600_SENSOR_GYRO;
+	if (header & INV_ICM42600_FIFO_HEADER_ODR_ACCEL)
+		*odr |= INV_ICM42600_SENSOR_ACCEL;
+
+	/* accel + gyro */
+	if ((header & INV_ICM42600_FIFO_HEADER_ACCEL) &&
+	    (header & INV_ICM42600_FIFO_HEADER_GYRO)) {
+		*accel = &pack2->accel;
+		*gyro = &pack2->gyro;
+		*temp = &pack2->temp;
+		*timestamp = &pack2->timestamp;
+		return INV_ICM42600_FIFO_2SENSORS_PACKET_SIZE;
+	}
+
+	/* accel only */
+	if (header & INV_ICM42600_FIFO_HEADER_ACCEL) {
+		*accel = &pack1->data;
+		*gyro = NULL;
+		*temp = &pack1->temp;
+		*timestamp = NULL;
+		return INV_ICM42600_FIFO_1SENSOR_PACKET_SIZE;
+	}
+
+	/* gyro only */
+	if (header & INV_ICM42600_FIFO_HEADER_GYRO) {
+		*accel = NULL;
+		*gyro = &pack1->data;
+		*temp = &pack1->temp;
+		*timestamp = NULL;
+		return INV_ICM42600_FIFO_1SENSOR_PACKET_SIZE;
+	}
+
+	/* invalid packet if here */
+	return -EINVAL;
+}
+
+void inv_icm42600_buffer_update_fifo_period(struct inv_icm42600_state *st)
+{
+	uint32_t period_gyro, period_accel, period;
+
+	if (st->fifo.en & INV_ICM42600_SENSOR_GYRO)
+		period_gyro = inv_icm42600_odr_to_period(st->conf.gyro.odr);
+	else
+		period_gyro = U32_MAX;
+
+	if (st->fifo.en & INV_ICM42600_SENSOR_ACCEL)
+		period_accel = inv_icm42600_odr_to_period(st->conf.accel.odr);
+	else
+		period_accel = U32_MAX;
+
+	if (period_gyro <= period_accel)
+		period = period_gyro;
+	else
+		period = period_accel;
+
+	st->fifo.period = period;
+}
+
+int inv_icm42600_buffer_set_fifo_en(struct inv_icm42600_state *st,
+				    unsigned int fifo_en)
+{
+	unsigned int mask, val;
+	int ret;
+
+	/* update only FIFO EN bits */
+	mask = INV_ICM42600_FIFO_CONFIG1_TMST_FSYNC_EN |
+		INV_ICM42600_FIFO_CONFIG1_TEMP_EN |
+		INV_ICM42600_FIFO_CONFIG1_GYRO_EN |
+		INV_ICM42600_FIFO_CONFIG1_ACCEL_EN;
+
+	val = 0;
+	if (fifo_en & INV_ICM42600_SENSOR_GYRO)
+		val |= INV_ICM42600_FIFO_CONFIG1_GYRO_EN;
+	if (fifo_en & INV_ICM42600_SENSOR_ACCEL)
+		val |= INV_ICM42600_FIFO_CONFIG1_ACCEL_EN;
+	if (fifo_en & INV_ICM42600_SENSOR_TEMP)
+		val |= INV_ICM42600_FIFO_CONFIG1_TEMP_EN;
+
+	ret = regmap_update_bits(st->map, INV_ICM42600_REG_FIFO_CONFIG1, mask, val);
+	if (ret)
+		return ret;
+
+	st->fifo.en = fifo_en;
+	inv_icm42600_buffer_update_fifo_period(st);
+
+	return 0;
+}
+
+static size_t inv_icm42600_get_packet_size(unsigned int fifo_en)
+{
+	size_t packet_size;
+
+	if ((fifo_en & INV_ICM42600_SENSOR_GYRO) &&
+	    (fifo_en & INV_ICM42600_SENSOR_ACCEL))
+		packet_size = INV_ICM42600_FIFO_2SENSORS_PACKET_SIZE;
+	else
+		packet_size = INV_ICM42600_FIFO_1SENSOR_PACKET_SIZE;
+
+	return packet_size;
+}
+
+static unsigned int inv_icm42600_wm_truncate(unsigned int watermark,
+					     size_t packet_size)
+{
+	size_t wm_size;
+	unsigned int wm;
+
+	wm_size = watermark * packet_size;
+	if (wm_size > INV_ICM42600_FIFO_WATERMARK_MAX)
+		wm_size = INV_ICM42600_FIFO_WATERMARK_MAX;
+
+	wm = wm_size / packet_size;
+
+	return wm;
+}
+
+/**
+ * inv_icm42600_buffer_update_watermark - update watermark FIFO threshold
+ * @st:	driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ *
+ * FIFO watermark threshold is computed based on the required watermark values
+ * set for gyro and accel sensors. Since watermark is all about acceptable data
+ * latency, use the smallest setting between the 2. It means choosing the
+ * smallest latency but this is not as simple as choosing the smallest watermark
+ * value. Latency depends on watermark and ODR. It requires several steps:
+ * 1) compute gyro and accel latencies and choose the smallest value.
+ * 2) adapt the choosen latency so that it is a multiple of both gyro and accel
+ *    ones. Otherwise it is possible that you don't meet a requirement. (for
+ *    example with gyro @100Hz wm 4 and accel @100Hz with wm 6, choosing the
+ *    value of 4 will not meet accel latency requirement because 6 is not a
+ *    multiple of 4. You need to use the value 2.)
+ * 3) Since all periods are multiple of each others, watermark is computed by
+ *    dividing this computed latency by the smallest period, which corresponds
+ *    to the FIFO frequency. Beware that this is only true because we are not
+ *    using 500Hz frequency which is not a multiple of the others.
+ */
+int inv_icm42600_buffer_update_watermark(struct inv_icm42600_state *st)
+{
+	size_t packet_size, wm_size;
+	unsigned int wm_gyro, wm_accel, watermark;
+	uint32_t period_gyro, period_accel, period;
+	uint32_t latency_gyro, latency_accel, latency;
+	bool restore;
+	__le16 raw_wm;
+	int ret;
+
+	packet_size = inv_icm42600_get_packet_size(st->fifo.en);
+
+	/* compute sensors latency, depending on sensor watermark and odr */
+	wm_gyro = inv_icm42600_wm_truncate(st->fifo.watermark.gyro, packet_size);
+	wm_accel = inv_icm42600_wm_truncate(st->fifo.watermark.accel, packet_size);
+	/* use us for odr to avoid overflow using 32 bits values */
+	period_gyro = inv_icm42600_odr_to_period(st->conf.gyro.odr) / 1000UL;
+	period_accel = inv_icm42600_odr_to_period(st->conf.accel.odr) / 1000UL;
+	latency_gyro = period_gyro * wm_gyro;
+	latency_accel = period_accel * wm_accel;
+
+	/* 0 value for watermark means that the sensor is turned off */
+	if (latency_gyro == 0) {
+		watermark = wm_accel;
+	} else if (latency_accel == 0) {
+		watermark = wm_gyro;
+	} else {
+		/* compute the smallest latency that is a multiple of both */
+		if (latency_gyro <= latency_accel)
+			latency = latency_gyro - (latency_accel % latency_gyro);
+		else
+			latency = latency_accel - (latency_gyro % latency_accel);
+		/* use the shortest period */
+		if (period_gyro <= period_accel)
+			period = period_gyro;
+		else
+			period = period_accel;
+		/* all this works because periods are multiple of each others */
+		watermark = latency / period;
+		if (watermark < 1)
+			watermark = 1;
+	}
+
+	/* compute watermark value in bytes */
+	wm_size = watermark * packet_size;
+
+	/* changing FIFO watermark requires to turn off watermark interrupt */
+	ret = regmap_update_bits_check(st->map, INV_ICM42600_REG_INT_SOURCE0,
+				       INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN,
+				       0, &restore);
+	if (ret)
+		return ret;
+
+	raw_wm = INV_ICM42600_FIFO_WATERMARK_VAL(wm_size);
+	memcpy(st->buffer, &raw_wm, sizeof(raw_wm));
+	ret = regmap_bulk_write(st->map, INV_ICM42600_REG_FIFO_WATERMARK,
+				st->buffer, sizeof(raw_wm));
+	if (ret)
+		return ret;
+
+	/* restore watermark interrupt */
+	if (restore) {
+		ret = regmap_update_bits(st->map, INV_ICM42600_REG_INT_SOURCE0,
+					 INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN,
+					 INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
+static int inv_icm42600_buffer_preenable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+
+	pm_runtime_get_sync(dev);
+
+	mutex_lock(&st->lock);
+	inv_icm42600_timestamp_reset(ts);
+	mutex_unlock(&st->lock);
+
+	return 0;
+}
+
+/*
+ * update_scan_mode callback is turning sensors on and setting data FIFO enable
+ * bits.
+ */
+static int inv_icm42600_buffer_postenable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	mutex_lock(&st->lock);
+
+	/* exit if FIFO is already on */
+	if (st->fifo.on) {
+		ret = 0;
+		goto out_on;
+	}
+
+	/* set FIFO threshold interrupt */
+	ret = regmap_update_bits(st->map, INV_ICM42600_REG_INT_SOURCE0,
+				 INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN,
+				 INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN);
+	if (ret)
+		goto out_unlock;
+
+	/* flush FIFO data */
+	ret = regmap_write(st->map, INV_ICM42600_REG_SIGNAL_PATH_RESET,
+			   INV_ICM42600_SIGNAL_PATH_RESET_FIFO_FLUSH);
+	if (ret)
+		goto out_unlock;
+
+	/* set FIFO in streaming mode */
+	ret = regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,
+			   INV_ICM42600_FIFO_CONFIG_STREAM);
+	if (ret)
+		goto out_unlock;
+
+	/* workaround: first read of FIFO count after reset is always 0 */
+	ret = regmap_bulk_read(st->map, INV_ICM42600_REG_FIFO_COUNT, st->buffer, 2);
+	if (ret)
+		goto out_unlock;
+
+out_on:
+	/* increase FIFO on counter */
+	st->fifo.on++;
+out_unlock:
+	mutex_unlock(&st->lock);
+	return ret;
+}
+
+static int inv_icm42600_buffer_predisable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	mutex_lock(&st->lock);
+
+	/* exit if there are several sensors using the FIFO */
+	if (st->fifo.on > 1) {
+		ret = 0;
+		goto out_off;
+	}
+
+	/* set FIFO in bypass mode */
+	ret = regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,
+			   INV_ICM42600_FIFO_CONFIG_BYPASS);
+	if (ret)
+		goto out_unlock;
+
+	/* flush FIFO data */
+	ret = regmap_write(st->map, INV_ICM42600_REG_SIGNAL_PATH_RESET,
+			   INV_ICM42600_SIGNAL_PATH_RESET_FIFO_FLUSH);
+	if (ret)
+		goto out_unlock;
+
+	/* disable FIFO threshold interrupt */
+	ret = regmap_update_bits(st->map, INV_ICM42600_REG_INT_SOURCE0,
+				 INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN, 0);
+	if (ret)
+		goto out_unlock;
+
+out_off:
+	/* decrease FIFO on counter */
+	st->fifo.on--;
+out_unlock:
+	mutex_unlock(&st->lock);
+	return ret;
+}
+
+static int inv_icm42600_buffer_postdisable(struct iio_dev *indio_dev)
+{
+	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+	struct device *dev = regmap_get_device(st->map);
+	unsigned int sensor;
+	unsigned int *watermark;
+	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
+	unsigned int sleep_temp = 0;
+	unsigned int sleep_sensor = 0;
+	unsigned int sleep;
+	int ret;
+
+	if (indio_dev == st->indio_gyro) {
+		sensor = INV_ICM42600_SENSOR_GYRO;
+		watermark = &st->fifo.watermark.gyro;
+	} else if (indio_dev == st->indio_accel) {
+		sensor = INV_ICM42600_SENSOR_ACCEL;
+		watermark = &st->fifo.watermark.accel;
+	} else {
+		return -EINVAL;
+	}
+
+	mutex_lock(&st->lock);
+
+	ret = inv_icm42600_buffer_set_fifo_en(st, st->fifo.en & ~sensor);
+	if (ret)
+		goto out_unlock;
+
+	*watermark = 0;
+	ret = inv_icm42600_buffer_update_watermark(st);
+	if (ret)
+		goto out_unlock;
+
+	conf.mode = INV_ICM42600_SENSOR_MODE_OFF;
+	if (sensor == INV_ICM42600_SENSOR_GYRO)
+		ret = inv_icm42600_set_gyro_conf(st, &conf, &sleep_sensor);
+	else
+		ret = inv_icm42600_set_accel_conf(st, &conf, &sleep_sensor);
+	if (ret)
+		goto out_unlock;
+
+	/* if FIFO is off, turn temperature off */
+	if (!st->fifo.on)
+		ret = inv_icm42600_set_temp_conf(st, false, &sleep_temp);
+
+out_unlock:
+	mutex_unlock(&st->lock);
+
+	/* sleep maximum required time */
+	if (sleep_sensor > sleep_temp)
+		sleep = sleep_sensor;
+	else
+		sleep = sleep_temp;
+	if (sleep)
+		msleep(sleep);
+
+	pm_runtime_mark_last_busy(dev);
+	pm_runtime_put_autosuspend(dev);
+
+	return ret;
+}
+
+const struct iio_buffer_setup_ops inv_icm42600_buffer_ops = {
+	.preenable = inv_icm42600_buffer_preenable,
+	.postenable = inv_icm42600_buffer_postenable,
+	.predisable = inv_icm42600_buffer_predisable,
+	.postdisable = inv_icm42600_buffer_postdisable,
+};
+
+int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st,
+				  unsigned int max)
+{
+	size_t max_count;
+	__be16 *raw_fifo_count;
+	ssize_t i, size;
+	const void *accel, *gyro, *timestamp;
+	const int8_t *temp;
+	unsigned int odr;
+	int ret;
+
+	/* reset all samples counters */
+	st->fifo.count = 0;
+	st->fifo.nb.gyro = 0;
+	st->fifo.nb.accel = 0;
+	st->fifo.nb.total = 0;
+
+	/* compute maximum FIFO read size */
+	if (max == 0)
+		max_count = sizeof(st->fifo.data);
+	else
+		max_count = max * inv_icm42600_get_packet_size(st->fifo.en);
+
+	/* read FIFO count value */
+	raw_fifo_count = (__be16 *)st->buffer;
+	ret = regmap_bulk_read(st->map, INV_ICM42600_REG_FIFO_COUNT,
+			       raw_fifo_count, sizeof(*raw_fifo_count));
+	if (ret)
+		return ret;
+	st->fifo.count = be16_to_cpup(raw_fifo_count);
+
+	/* check and clamp FIFO count value */
+	if (st->fifo.count == 0)
+		return 0;
+	if (st->fifo.count > max_count)
+		st->fifo.count = max_count;
+
+	/* read all FIFO data in internal buffer */
+	ret = regmap_noinc_read(st->map, INV_ICM42600_REG_FIFO_DATA,
+				st->fifo.data, st->fifo.count);
+	if (ret)
+		return ret;
+
+	/* compute number of samples for each sensor */
+	for (i = 0; i < st->fifo.count; i += size) {
+		size = inv_icm42600_fifo_decode_packet(&st->fifo.data[i],
+				&accel, &gyro, &temp, &timestamp, &odr);
+		if (size <= 0)
+			break;
+		if (gyro != NULL && inv_icm42600_fifo_is_data_valid(gyro))
+			st->fifo.nb.gyro++;
+		if (accel != NULL && inv_icm42600_fifo_is_data_valid(accel))
+			st->fifo.nb.accel++;
+		st->fifo.nb.total++;
+	}
+
+	return 0;
+}
+
+int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
+{
+	struct inv_icm42600_timestamp *ts;
+	int ret;
+
+	if (st->fifo.nb.total == 0)
+		return 0;
+
+	/* handle gyroscope timestamp and FIFO data parsing */
+	ts = iio_priv(st->indio_gyro);
+	inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
+					 st->fifo.nb.gyro, st->timestamp.gyro);
+	if (st->fifo.nb.gyro > 0) {
+		ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
+		if (ret)
+			return ret;
+	}
+
+	/* handle accelerometer timestamp and FIFO data parsing */
+	ts = iio_priv(st->indio_accel);
+	inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
+					 st->fifo.nb.accel, st->timestamp.accel);
+	if (st->fifo.nb.accel > 0) {
+		ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
+int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
+				     unsigned int count)
+{
+	struct inv_icm42600_timestamp *ts;
+	int64_t gyro_ts, accel_ts;
+	int ret;
+
+	gyro_ts = iio_get_time_ns(st->indio_gyro);
+	accel_ts = iio_get_time_ns(st->indio_accel);
+
+	ret = inv_icm42600_buffer_fifo_read(st, count);
+	if (ret)
+		return ret;
+
+	if (st->fifo.nb.total == 0)
+		return 0;
+
+	if (st->fifo.nb.gyro > 0) {
+		ts = iio_priv(st->indio_gyro);
+		inv_icm42600_timestamp_interrupt(ts, st->fifo.period,
+						 st->fifo.nb.total, st->fifo.nb.gyro,
+						 gyro_ts);
+		ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
+		if (ret)
+			return ret;
+	}
+
+	if (st->fifo.nb.accel > 0) {
+		ts = iio_priv(st->indio_accel);
+		inv_icm42600_timestamp_interrupt(ts, st->fifo.period,
+						 st->fifo.nb.total, st->fifo.nb.accel,
+						 accel_ts);
+		ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
+		if (ret)
+			return ret;
+	}
+
+	return 0;
+}
+
+int inv_icm42600_buffer_init(struct inv_icm42600_state *st)
+{
+	unsigned int val;
+	int ret;
+
+	/*
+	 * Default FIFO configuration (bits 7 to 5)
+	 * - use invalid value
+	 * - FIFO count in bytes
+	 * - FIFO count in big endian
+	 */
+	val = INV_ICM42600_INTF_CONFIG0_FIFO_COUNT_ENDIAN;
+	ret = regmap_update_bits(st->map, INV_ICM42600_REG_INTF_CONFIG0,
+				 GENMASK(7, 5), val);
+	if (ret)
+		return ret;
+
+	/*
+	 * Enable FIFO partial read and continuous watermark interrupt.
+	 * Disable all FIFO EN bits.
+	 */
+	val = INV_ICM42600_FIFO_CONFIG1_RESUME_PARTIAL_RD |
+	      INV_ICM42600_FIFO_CONFIG1_WM_GT_TH;
+	return regmap_update_bits(st->map, INV_ICM42600_REG_FIFO_CONFIG1,
+				  GENMASK(6, 5) | GENMASK(3, 0), val);
+}