1 | // SPDX-License-Identifier: GPL-2.0-only |
2 | /* |
3 | * STMicroelectronics st_lsm6dsx FIFO buffer library driver |
4 | * |
5 | * Pattern FIFO: |
6 | * The FIFO buffer can be configured to store data from gyroscope and |
7 | * accelerometer. Samples are queued without any tag according to a |
8 | * specific pattern based on 'FIFO data sets' (6 bytes each): |
9 | * - 1st data set is reserved for gyroscope data |
10 | * - 2nd data set is reserved for accelerometer data |
11 | * The FIFO pattern changes depending on the ODRs and decimation factors |
12 | * assigned to the FIFO data sets. The first sequence of data stored in FIFO |
13 | * buffer contains the data of all the enabled FIFO data sets |
14 | * (e.g. Gx, Gy, Gz, Ax, Ay, Az), then data are repeated depending on the |
15 | * value of the decimation factor and ODR set for each FIFO data set. |
16 | * |
17 | * Supported devices: |
18 | * - ISM330DLC |
19 | * - LSM6DS3 |
20 | * - LSM6DS3H |
21 | * - LSM6DS3TR-C |
22 | * - LSM6DSL |
23 | * - LSM6DSM |
24 | * |
25 | * Tagged FIFO: |
26 | * The FIFO buffer can be configured to store data from gyroscope and |
27 | * accelerometer. Each sample is queued with a tag (1B) indicating data |
28 | * source (gyroscope, accelerometer, hw timer). |
29 | * |
30 | * Supported devices: |
31 | * - ASM330LHB |
32 | * - ASM330LHH |
33 | * - ASM330LHHX |
34 | * - ASM330LHHXG1 |
35 | * - ISM330DHCX |
36 | * - LSM6DSO |
37 | * - LSM6DSOP |
38 | * - LSM6DSOX |
39 | * - LSM6DSR |
40 | * - LSM6DSRX |
41 | * - LSM6DST |
42 | * - LSM6DSTX |
43 | * - LSM6DSV |
44 | * |
45 | * FIFO supported modes: |
46 | * - BYPASS: FIFO disabled |
47 | * - CONTINUOUS: FIFO enabled. When the buffer is full, the FIFO index |
48 | * restarts from the beginning and the oldest sample is overwritten |
49 | * |
50 | * Copyright 2016 STMicroelectronics Inc. |
51 | * |
52 | * Lorenzo Bianconi <lorenzo.bianconi@st.com> |
53 | * Denis Ciocca <denis.ciocca@st.com> |
54 | */ |
55 | #include <linux/module.h> |
56 | #include <linux/iio/kfifo_buf.h> |
57 | #include <linux/iio/iio.h> |
58 | #include <linux/iio/buffer.h> |
59 | #include <linux/regmap.h> |
60 | #include <linux/bitfield.h> |
61 | |
62 | #include <linux/platform_data/st_sensors_pdata.h> |
63 | |
64 | #include "st_lsm6dsx.h" |
65 | |
66 | #define ST_LSM6DSX_REG_FIFO_MODE_ADDR 0x0a |
67 | #define ST_LSM6DSX_FIFO_MODE_MASK GENMASK(2, 0) |
68 | #define ST_LSM6DSX_FIFO_ODR_MASK GENMASK(6, 3) |
69 | #define ST_LSM6DSX_FIFO_EMPTY_MASK BIT(12) |
70 | #define ST_LSM6DSX_REG_FIFO_OUTL_ADDR 0x3e |
71 | #define ST_LSM6DSX_REG_FIFO_OUT_TAG_ADDR 0x78 |
72 | #define ST_LSM6DSX_REG_TS_RESET_ADDR 0x42 |
73 | |
74 | #define ST_LSM6DSX_MAX_FIFO_ODR_VAL 0x08 |
75 | |
76 | #define ST_LSM6DSX_TS_RESET_VAL 0xaa |
77 | |
78 | struct st_lsm6dsx_decimator_entry { |
79 | u8 decimator; |
80 | u8 val; |
81 | }; |
82 | |
83 | enum st_lsm6dsx_fifo_tag { |
84 | ST_LSM6DSX_GYRO_TAG = 0x01, |
85 | ST_LSM6DSX_ACC_TAG = 0x02, |
86 | ST_LSM6DSX_TS_TAG = 0x04, |
87 | ST_LSM6DSX_EXT0_TAG = 0x0f, |
88 | ST_LSM6DSX_EXT1_TAG = 0x10, |
89 | ST_LSM6DSX_EXT2_TAG = 0x11, |
90 | }; |
91 | |
92 | static const |
93 | struct st_lsm6dsx_decimator_entry st_lsm6dsx_decimator_table[] = { |
94 | { 0, 0x0 }, |
95 | { 1, 0x1 }, |
96 | { 2, 0x2 }, |
97 | { 3, 0x3 }, |
98 | { 4, 0x4 }, |
99 | { 8, 0x5 }, |
100 | { 16, 0x6 }, |
101 | { 32, 0x7 }, |
102 | }; |
103 | |
104 | static int |
105 | st_lsm6dsx_get_decimator_val(struct st_lsm6dsx_sensor *sensor, u32 max_odr) |
106 | { |
107 | const int max_size = ARRAY_SIZE(st_lsm6dsx_decimator_table); |
108 | u32 decimator = max_odr / sensor->odr; |
109 | int i; |
110 | |
111 | if (decimator > 1) |
112 | decimator = round_down(decimator, 2); |
113 | |
114 | for (i = 0; i < max_size; i++) { |
115 | if (st_lsm6dsx_decimator_table[i].decimator == decimator) |
116 | break; |
117 | } |
118 | |
119 | sensor->decimator = decimator; |
120 | return i == max_size ? 0 : st_lsm6dsx_decimator_table[i].val; |
121 | } |
122 | |
123 | static void st_lsm6dsx_get_max_min_odr(struct st_lsm6dsx_hw *hw, |
124 | u32 *max_odr, u32 *min_odr) |
125 | { |
126 | struct st_lsm6dsx_sensor *sensor; |
127 | int i; |
128 | |
129 | *max_odr = 0, *min_odr = ~0; |
130 | for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { |
131 | if (!hw->iio_devs[i]) |
132 | continue; |
133 | |
134 | sensor = iio_priv(indio_dev: hw->iio_devs[i]); |
135 | |
136 | if (!(hw->enable_mask & BIT(sensor->id))) |
137 | continue; |
138 | |
139 | *max_odr = max_t(u32, *max_odr, sensor->odr); |
140 | *min_odr = min_t(u32, *min_odr, sensor->odr); |
141 | } |
142 | } |
143 | |
144 | static u8 st_lsm6dsx_get_sip(struct st_lsm6dsx_sensor *sensor, u32 min_odr) |
145 | { |
146 | u8 sip = sensor->odr / min_odr; |
147 | |
148 | return sip > 1 ? round_down(sip, 2) : sip; |
149 | } |
150 | |
151 | static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw) |
152 | { |
153 | const struct st_lsm6dsx_reg *ts_dec_reg; |
154 | struct st_lsm6dsx_sensor *sensor; |
155 | u16 sip = 0, ts_sip = 0; |
156 | u32 max_odr, min_odr; |
157 | int err = 0, i; |
158 | u8 data; |
159 | |
160 | st_lsm6dsx_get_max_min_odr(hw, max_odr: &max_odr, min_odr: &min_odr); |
161 | |
162 | for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { |
163 | const struct st_lsm6dsx_reg *dec_reg; |
164 | |
165 | if (!hw->iio_devs[i]) |
166 | continue; |
167 | |
168 | sensor = iio_priv(indio_dev: hw->iio_devs[i]); |
169 | /* update fifo decimators and sample in pattern */ |
170 | if (hw->enable_mask & BIT(sensor->id)) { |
171 | sensor->sip = st_lsm6dsx_get_sip(sensor, min_odr); |
172 | data = st_lsm6dsx_get_decimator_val(sensor, max_odr); |
173 | } else { |
174 | sensor->sip = 0; |
175 | data = 0; |
176 | } |
177 | ts_sip = max_t(u16, ts_sip, sensor->sip); |
178 | |
179 | dec_reg = &hw->settings->decimator[sensor->id]; |
180 | if (dec_reg->addr) { |
181 | int val = ST_LSM6DSX_SHIFT_VAL(data, dec_reg->mask); |
182 | |
183 | err = st_lsm6dsx_update_bits_locked(hw, addr: dec_reg->addr, |
184 | mask: dec_reg->mask, |
185 | val); |
186 | if (err < 0) |
187 | return err; |
188 | } |
189 | sip += sensor->sip; |
190 | } |
191 | hw->sip = sip + ts_sip; |
192 | hw->ts_sip = ts_sip; |
193 | |
194 | /* |
195 | * update hw ts decimator if necessary. Decimator for hw timestamp |
196 | * is always 1 or 0 in order to have a ts sample for each data |
197 | * sample in FIFO |
198 | */ |
199 | ts_dec_reg = &hw->settings->ts_settings.decimator; |
200 | if (ts_dec_reg->addr) { |
201 | int val, ts_dec = !!hw->ts_sip; |
202 | |
203 | val = ST_LSM6DSX_SHIFT_VAL(ts_dec, ts_dec_reg->mask); |
204 | err = st_lsm6dsx_update_bits_locked(hw, addr: ts_dec_reg->addr, |
205 | mask: ts_dec_reg->mask, val); |
206 | } |
207 | return err; |
208 | } |
209 | |
210 | static int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw, |
211 | enum st_lsm6dsx_fifo_mode fifo_mode) |
212 | { |
213 | unsigned int data; |
214 | |
215 | data = FIELD_PREP(ST_LSM6DSX_FIFO_MODE_MASK, fifo_mode); |
216 | return st_lsm6dsx_update_bits_locked(hw, ST_LSM6DSX_REG_FIFO_MODE_ADDR, |
217 | ST_LSM6DSX_FIFO_MODE_MASK, val: data); |
218 | } |
219 | |
220 | static int st_lsm6dsx_set_fifo_odr(struct st_lsm6dsx_sensor *sensor, |
221 | bool enable) |
222 | { |
223 | struct st_lsm6dsx_hw *hw = sensor->hw; |
224 | const struct st_lsm6dsx_reg *batch_reg; |
225 | u8 data; |
226 | |
227 | batch_reg = &hw->settings->batch[sensor->id]; |
228 | if (batch_reg->addr) { |
229 | int val; |
230 | |
231 | if (enable) { |
232 | int err; |
233 | |
234 | err = st_lsm6dsx_check_odr(sensor, odr: sensor->odr, |
235 | val: &data); |
236 | if (err < 0) |
237 | return err; |
238 | } else { |
239 | data = 0; |
240 | } |
241 | val = ST_LSM6DSX_SHIFT_VAL(data, batch_reg->mask); |
242 | return st_lsm6dsx_update_bits_locked(hw, addr: batch_reg->addr, |
243 | mask: batch_reg->mask, val); |
244 | } else { |
245 | data = hw->enable_mask ? ST_LSM6DSX_MAX_FIFO_ODR_VAL : 0; |
246 | return st_lsm6dsx_update_bits_locked(hw, |
247 | ST_LSM6DSX_REG_FIFO_MODE_ADDR, |
248 | ST_LSM6DSX_FIFO_ODR_MASK, |
249 | FIELD_PREP(ST_LSM6DSX_FIFO_ODR_MASK, |
250 | data)); |
251 | } |
252 | } |
253 | |
254 | int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, u16 watermark) |
255 | { |
256 | u16 fifo_watermark = ~0, cur_watermark, fifo_th_mask; |
257 | struct st_lsm6dsx_hw *hw = sensor->hw; |
258 | struct st_lsm6dsx_sensor *cur_sensor; |
259 | int i, err, data; |
260 | __le16 wdata; |
261 | |
262 | if (!hw->sip) |
263 | return 0; |
264 | |
265 | for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { |
266 | if (!hw->iio_devs[i]) |
267 | continue; |
268 | |
269 | cur_sensor = iio_priv(indio_dev: hw->iio_devs[i]); |
270 | |
271 | if (!(hw->enable_mask & BIT(cur_sensor->id))) |
272 | continue; |
273 | |
274 | cur_watermark = (cur_sensor == sensor) ? watermark |
275 | : cur_sensor->watermark; |
276 | |
277 | fifo_watermark = min_t(u16, fifo_watermark, cur_watermark); |
278 | } |
279 | |
280 | fifo_watermark = max_t(u16, fifo_watermark, hw->sip); |
281 | fifo_watermark = (fifo_watermark / hw->sip) * hw->sip; |
282 | fifo_watermark = fifo_watermark * hw->settings->fifo_ops.th_wl; |
283 | |
284 | mutex_lock(&hw->page_lock); |
285 | err = regmap_read(map: hw->regmap, reg: hw->settings->fifo_ops.fifo_th.addr + 1, |
286 | val: &data); |
287 | if (err < 0) |
288 | goto out; |
289 | |
290 | fifo_th_mask = hw->settings->fifo_ops.fifo_th.mask; |
291 | fifo_watermark = ((data << 8) & ~fifo_th_mask) | |
292 | (fifo_watermark & fifo_th_mask); |
293 | |
294 | wdata = cpu_to_le16(fifo_watermark); |
295 | err = regmap_bulk_write(map: hw->regmap, |
296 | reg: hw->settings->fifo_ops.fifo_th.addr, |
297 | val: &wdata, val_count: sizeof(wdata)); |
298 | out: |
299 | mutex_unlock(lock: &hw->page_lock); |
300 | return err; |
301 | } |
302 | |
303 | static int st_lsm6dsx_reset_hw_ts(struct st_lsm6dsx_hw *hw) |
304 | { |
305 | struct st_lsm6dsx_sensor *sensor; |
306 | int i, err; |
307 | |
308 | /* reset hw ts counter */ |
309 | err = st_lsm6dsx_write_locked(hw, ST_LSM6DSX_REG_TS_RESET_ADDR, |
310 | ST_LSM6DSX_TS_RESET_VAL); |
311 | if (err < 0) |
312 | return err; |
313 | |
314 | for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { |
315 | if (!hw->iio_devs[i]) |
316 | continue; |
317 | |
318 | sensor = iio_priv(indio_dev: hw->iio_devs[i]); |
319 | /* |
320 | * store enable buffer timestamp as reference for |
321 | * hw timestamp |
322 | */ |
323 | sensor->ts_ref = iio_get_time_ns(indio_dev: hw->iio_devs[i]); |
324 | } |
325 | return 0; |
326 | } |
327 | |
328 | int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw) |
329 | { |
330 | int err; |
331 | |
332 | /* reset hw ts counter */ |
333 | err = st_lsm6dsx_reset_hw_ts(hw); |
334 | if (err < 0) |
335 | return err; |
336 | |
337 | return st_lsm6dsx_set_fifo_mode(hw, fifo_mode: ST_LSM6DSX_FIFO_CONT); |
338 | } |
339 | |
340 | /* |
341 | * Set max bulk read to ST_LSM6DSX_MAX_WORD_LEN/ST_LSM6DSX_MAX_TAGGED_WORD_LEN |
342 | * in order to avoid a kmalloc for each bus access |
343 | */ |
344 | static inline int st_lsm6dsx_read_block(struct st_lsm6dsx_hw *hw, u8 addr, |
345 | u8 *data, unsigned int data_len, |
346 | unsigned int max_word_len) |
347 | { |
348 | unsigned int word_len, read_len = 0; |
349 | int err; |
350 | |
351 | while (read_len < data_len) { |
352 | word_len = min_t(unsigned int, data_len - read_len, |
353 | max_word_len); |
354 | err = st_lsm6dsx_read_locked(hw, addr, val: data + read_len, |
355 | len: word_len); |
356 | if (err < 0) |
357 | return err; |
358 | read_len += word_len; |
359 | } |
360 | return 0; |
361 | } |
362 | |
363 | #define ST_LSM6DSX_IIO_BUFF_SIZE (ALIGN(ST_LSM6DSX_SAMPLE_SIZE, \ |
364 | sizeof(s64)) + sizeof(s64)) |
365 | /** |
366 | * st_lsm6dsx_read_fifo() - hw FIFO read routine |
367 | * @hw: Pointer to instance of struct st_lsm6dsx_hw. |
368 | * |
369 | * Read samples from the hw FIFO and push them to IIO buffers. |
370 | * |
371 | * Return: Number of bytes read from the FIFO |
372 | */ |
373 | int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) |
374 | { |
375 | struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor, *ext_sensor = NULL; |
376 | int err, sip, acc_sip, gyro_sip, ts_sip, ext_sip, read_len, offset; |
377 | u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE; |
378 | u16 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask; |
379 | bool reset_ts = false; |
380 | __le16 fifo_status; |
381 | s64 ts = 0; |
382 | |
383 | err = st_lsm6dsx_read_locked(hw, |
384 | addr: hw->settings->fifo_ops.fifo_diff.addr, |
385 | val: &fifo_status, len: sizeof(fifo_status)); |
386 | if (err < 0) { |
387 | dev_err(hw->dev, "failed to read fifo status (err=%d)\n" , |
388 | err); |
389 | return err; |
390 | } |
391 | |
392 | if (fifo_status & cpu_to_le16(ST_LSM6DSX_FIFO_EMPTY_MASK)) |
393 | return 0; |
394 | |
395 | fifo_len = (le16_to_cpu(fifo_status) & fifo_diff_mask) * |
396 | ST_LSM6DSX_CHAN_SIZE; |
397 | fifo_len = (fifo_len / pattern_len) * pattern_len; |
398 | |
399 | acc_sensor = iio_priv(indio_dev: hw->iio_devs[ST_LSM6DSX_ID_ACC]); |
400 | gyro_sensor = iio_priv(indio_dev: hw->iio_devs[ST_LSM6DSX_ID_GYRO]); |
401 | if (hw->iio_devs[ST_LSM6DSX_ID_EXT0]) |
402 | ext_sensor = iio_priv(indio_dev: hw->iio_devs[ST_LSM6DSX_ID_EXT0]); |
403 | |
404 | for (read_len = 0; read_len < fifo_len; read_len += pattern_len) { |
405 | err = st_lsm6dsx_read_block(hw, ST_LSM6DSX_REG_FIFO_OUTL_ADDR, |
406 | data: hw->buff, data_len: pattern_len, |
407 | ST_LSM6DSX_MAX_WORD_LEN); |
408 | if (err < 0) { |
409 | dev_err(hw->dev, |
410 | "failed to read pattern from fifo (err=%d)\n" , |
411 | err); |
412 | return err; |
413 | } |
414 | |
415 | /* |
416 | * Data are written to the FIFO with a specific pattern |
417 | * depending on the configured ODRs. The first sequence of data |
418 | * stored in FIFO contains the data of all enabled sensors |
419 | * (e.g. Gx, Gy, Gz, Ax, Ay, Az, Ts), then data are repeated |
420 | * depending on the value of the decimation factor set for each |
421 | * sensor. |
422 | * |
423 | * Supposing the FIFO is storing data from gyroscope and |
424 | * accelerometer at different ODRs: |
425 | * - gyroscope ODR = 208Hz, accelerometer ODR = 104Hz |
426 | * Since the gyroscope ODR is twice the accelerometer one, the |
427 | * following pattern is repeated every 9 samples: |
428 | * - Gx, Gy, Gz, Ax, Ay, Az, Ts, Gx, Gy, Gz, Ts, Gx, .. |
429 | */ |
430 | ext_sip = ext_sensor ? ext_sensor->sip : 0; |
431 | gyro_sip = gyro_sensor->sip; |
432 | acc_sip = acc_sensor->sip; |
433 | ts_sip = hw->ts_sip; |
434 | offset = 0; |
435 | sip = 0; |
436 | |
437 | while (acc_sip > 0 || gyro_sip > 0 || ext_sip > 0) { |
438 | if (gyro_sip > 0 && !(sip % gyro_sensor->decimator)) { |
439 | memcpy(hw->scan[ST_LSM6DSX_ID_GYRO].channels, |
440 | &hw->buff[offset], |
441 | sizeof(hw->scan[ST_LSM6DSX_ID_GYRO].channels)); |
442 | offset += sizeof(hw->scan[ST_LSM6DSX_ID_GYRO].channels); |
443 | } |
444 | if (acc_sip > 0 && !(sip % acc_sensor->decimator)) { |
445 | memcpy(hw->scan[ST_LSM6DSX_ID_ACC].channels, |
446 | &hw->buff[offset], |
447 | sizeof(hw->scan[ST_LSM6DSX_ID_ACC].channels)); |
448 | offset += sizeof(hw->scan[ST_LSM6DSX_ID_ACC].channels); |
449 | } |
450 | if (ext_sip > 0 && !(sip % ext_sensor->decimator)) { |
451 | memcpy(hw->scan[ST_LSM6DSX_ID_EXT0].channels, |
452 | &hw->buff[offset], |
453 | sizeof(hw->scan[ST_LSM6DSX_ID_EXT0].channels)); |
454 | offset += sizeof(hw->scan[ST_LSM6DSX_ID_EXT0].channels); |
455 | } |
456 | |
457 | if (ts_sip-- > 0) { |
458 | u8 data[ST_LSM6DSX_SAMPLE_SIZE]; |
459 | |
460 | memcpy(data, &hw->buff[offset], sizeof(data)); |
461 | /* |
462 | * hw timestamp is 3B long and it is stored |
463 | * in FIFO using 6B as 4th FIFO data set |
464 | * according to this schema: |
465 | * B0 = ts[15:8], B1 = ts[23:16], B3 = ts[7:0] |
466 | */ |
467 | ts = data[1] << 16 | data[0] << 8 | data[3]; |
468 | /* |
469 | * check if hw timestamp engine is going to |
470 | * reset (the sensor generates an interrupt |
471 | * to signal the hw timestamp will reset in |
472 | * 1.638s) |
473 | */ |
474 | if (!reset_ts && ts >= 0xff0000) |
475 | reset_ts = true; |
476 | ts *= hw->ts_gain; |
477 | |
478 | offset += ST_LSM6DSX_SAMPLE_SIZE; |
479 | } |
480 | |
481 | if (gyro_sip > 0 && !(sip % gyro_sensor->decimator)) { |
482 | /* |
483 | * We need to discards gyro samples during |
484 | * filters settling time |
485 | */ |
486 | if (gyro_sensor->samples_to_discard > 0) |
487 | gyro_sensor->samples_to_discard--; |
488 | else |
489 | iio_push_to_buffers_with_timestamp( |
490 | indio_dev: hw->iio_devs[ST_LSM6DSX_ID_GYRO], |
491 | data: &hw->scan[ST_LSM6DSX_ID_GYRO], |
492 | timestamp: gyro_sensor->ts_ref + ts); |
493 | gyro_sip--; |
494 | } |
495 | if (acc_sip > 0 && !(sip % acc_sensor->decimator)) { |
496 | /* |
497 | * We need to discards accel samples during |
498 | * filters settling time |
499 | */ |
500 | if (acc_sensor->samples_to_discard > 0) |
501 | acc_sensor->samples_to_discard--; |
502 | else |
503 | iio_push_to_buffers_with_timestamp( |
504 | indio_dev: hw->iio_devs[ST_LSM6DSX_ID_ACC], |
505 | data: &hw->scan[ST_LSM6DSX_ID_ACC], |
506 | timestamp: acc_sensor->ts_ref + ts); |
507 | acc_sip--; |
508 | } |
509 | if (ext_sip > 0 && !(sip % ext_sensor->decimator)) { |
510 | iio_push_to_buffers_with_timestamp( |
511 | indio_dev: hw->iio_devs[ST_LSM6DSX_ID_EXT0], |
512 | data: &hw->scan[ST_LSM6DSX_ID_EXT0], |
513 | timestamp: ext_sensor->ts_ref + ts); |
514 | ext_sip--; |
515 | } |
516 | sip++; |
517 | } |
518 | } |
519 | |
520 | if (unlikely(reset_ts)) { |
521 | err = st_lsm6dsx_reset_hw_ts(hw); |
522 | if (err < 0) { |
523 | dev_err(hw->dev, "failed to reset hw ts (err=%d)\n" , |
524 | err); |
525 | return err; |
526 | } |
527 | } |
528 | return read_len; |
529 | } |
530 | |
531 | #define ST_LSM6DSX_INVALID_SAMPLE 0x7ffd |
532 | static int |
533 | st_lsm6dsx_push_tagged_data(struct st_lsm6dsx_hw *hw, u8 tag, |
534 | u8 *data, s64 ts) |
535 | { |
536 | s16 val = le16_to_cpu(*(__le16 *)data); |
537 | struct st_lsm6dsx_sensor *sensor; |
538 | struct iio_dev *iio_dev; |
539 | |
540 | /* invalid sample during bootstrap phase */ |
541 | if (val >= ST_LSM6DSX_INVALID_SAMPLE) |
542 | return -EINVAL; |
543 | |
544 | /* |
545 | * EXT_TAG are managed in FIFO fashion so ST_LSM6DSX_EXT0_TAG |
546 | * corresponds to the first enabled channel, ST_LSM6DSX_EXT1_TAG |
547 | * to the second one and ST_LSM6DSX_EXT2_TAG to the last enabled |
548 | * channel |
549 | */ |
550 | switch (tag) { |
551 | case ST_LSM6DSX_GYRO_TAG: |
552 | iio_dev = hw->iio_devs[ST_LSM6DSX_ID_GYRO]; |
553 | break; |
554 | case ST_LSM6DSX_ACC_TAG: |
555 | iio_dev = hw->iio_devs[ST_LSM6DSX_ID_ACC]; |
556 | break; |
557 | case ST_LSM6DSX_EXT0_TAG: |
558 | if (hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT0)) |
559 | iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT0]; |
560 | else if (hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT1)) |
561 | iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT1]; |
562 | else |
563 | iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT2]; |
564 | break; |
565 | case ST_LSM6DSX_EXT1_TAG: |
566 | if ((hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT0)) && |
567 | (hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT1))) |
568 | iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT1]; |
569 | else |
570 | iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT2]; |
571 | break; |
572 | case ST_LSM6DSX_EXT2_TAG: |
573 | iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT2]; |
574 | break; |
575 | default: |
576 | return -EINVAL; |
577 | } |
578 | |
579 | sensor = iio_priv(indio_dev: iio_dev); |
580 | iio_push_to_buffers_with_timestamp(indio_dev: iio_dev, data, |
581 | timestamp: ts + sensor->ts_ref); |
582 | |
583 | return 0; |
584 | } |
585 | |
586 | /** |
587 | * st_lsm6dsx_read_tagged_fifo() - tagged hw FIFO read routine |
588 | * @hw: Pointer to instance of struct st_lsm6dsx_hw. |
589 | * |
590 | * Read samples from the hw FIFO and push them to IIO buffers. |
591 | * |
592 | * Return: Number of bytes read from the FIFO |
593 | */ |
594 | int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw) |
595 | { |
596 | u16 pattern_len = hw->sip * ST_LSM6DSX_TAGGED_SAMPLE_SIZE; |
597 | u16 fifo_len, fifo_diff_mask; |
598 | /* |
599 | * Alignment needed as this can ultimately be passed to a |
600 | * call to iio_push_to_buffers_with_timestamp() which |
601 | * must be passed a buffer that is aligned to 8 bytes so |
602 | * as to allow insertion of a naturally aligned timestamp. |
603 | */ |
604 | u8 iio_buff[ST_LSM6DSX_IIO_BUFF_SIZE] __aligned(8); |
605 | u8 tag; |
606 | bool reset_ts = false; |
607 | int i, err, read_len; |
608 | __le16 fifo_status; |
609 | s64 ts = 0; |
610 | |
611 | err = st_lsm6dsx_read_locked(hw, |
612 | addr: hw->settings->fifo_ops.fifo_diff.addr, |
613 | val: &fifo_status, len: sizeof(fifo_status)); |
614 | if (err < 0) { |
615 | dev_err(hw->dev, "failed to read fifo status (err=%d)\n" , |
616 | err); |
617 | return err; |
618 | } |
619 | |
620 | fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask; |
621 | fifo_len = (le16_to_cpu(fifo_status) & fifo_diff_mask) * |
622 | ST_LSM6DSX_TAGGED_SAMPLE_SIZE; |
623 | if (!fifo_len) |
624 | return 0; |
625 | |
626 | for (read_len = 0; read_len < fifo_len; read_len += pattern_len) { |
627 | err = st_lsm6dsx_read_block(hw, |
628 | ST_LSM6DSX_REG_FIFO_OUT_TAG_ADDR, |
629 | data: hw->buff, data_len: pattern_len, |
630 | ST_LSM6DSX_MAX_TAGGED_WORD_LEN); |
631 | if (err < 0) { |
632 | dev_err(hw->dev, |
633 | "failed to read pattern from fifo (err=%d)\n" , |
634 | err); |
635 | return err; |
636 | } |
637 | |
638 | for (i = 0; i < pattern_len; |
639 | i += ST_LSM6DSX_TAGGED_SAMPLE_SIZE) { |
640 | memcpy(iio_buff, &hw->buff[i + ST_LSM6DSX_TAG_SIZE], |
641 | ST_LSM6DSX_SAMPLE_SIZE); |
642 | |
643 | tag = hw->buff[i] >> 3; |
644 | if (tag == ST_LSM6DSX_TS_TAG) { |
645 | /* |
646 | * hw timestamp is 4B long and it is stored |
647 | * in FIFO according to this schema: |
648 | * B0 = ts[7:0], B1 = ts[15:8], B2 = ts[23:16], |
649 | * B3 = ts[31:24] |
650 | */ |
651 | ts = le32_to_cpu(*((__le32 *)iio_buff)); |
652 | /* |
653 | * check if hw timestamp engine is going to |
654 | * reset (the sensor generates an interrupt |
655 | * to signal the hw timestamp will reset in |
656 | * 1.638s) |
657 | */ |
658 | if (!reset_ts && ts >= 0xffff0000) |
659 | reset_ts = true; |
660 | ts *= hw->ts_gain; |
661 | } else { |
662 | st_lsm6dsx_push_tagged_data(hw, tag, data: iio_buff, |
663 | ts); |
664 | } |
665 | } |
666 | } |
667 | |
668 | if (unlikely(reset_ts)) { |
669 | err = st_lsm6dsx_reset_hw_ts(hw); |
670 | if (err < 0) |
671 | return err; |
672 | } |
673 | return read_len; |
674 | } |
675 | |
676 | int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw) |
677 | { |
678 | int err; |
679 | |
680 | if (!hw->settings->fifo_ops.read_fifo) |
681 | return -ENOTSUPP; |
682 | |
683 | mutex_lock(&hw->fifo_lock); |
684 | |
685 | hw->settings->fifo_ops.read_fifo(hw); |
686 | err = st_lsm6dsx_set_fifo_mode(hw, fifo_mode: ST_LSM6DSX_FIFO_BYPASS); |
687 | |
688 | mutex_unlock(lock: &hw->fifo_lock); |
689 | |
690 | return err; |
691 | } |
692 | |
693 | static void |
694 | st_lsm6dsx_update_samples_to_discard(struct st_lsm6dsx_sensor *sensor) |
695 | { |
696 | const struct st_lsm6dsx_samples_to_discard *data; |
697 | struct st_lsm6dsx_hw *hw = sensor->hw; |
698 | int i; |
699 | |
700 | if (sensor->id != ST_LSM6DSX_ID_GYRO && |
701 | sensor->id != ST_LSM6DSX_ID_ACC) |
702 | return; |
703 | |
704 | /* check if drdy mask is supported in hw */ |
705 | if (hw->settings->drdy_mask.addr) |
706 | return; |
707 | |
708 | data = &hw->settings->samples_to_discard[sensor->id]; |
709 | for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) { |
710 | if (data->val[i].milli_hz == sensor->odr) { |
711 | sensor->samples_to_discard = data->val[i].samples; |
712 | return; |
713 | } |
714 | } |
715 | } |
716 | |
717 | int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable) |
718 | { |
719 | struct st_lsm6dsx_hw *hw = sensor->hw; |
720 | u8 fifo_mask; |
721 | int err; |
722 | |
723 | mutex_lock(&hw->conf_lock); |
724 | |
725 | if (enable) |
726 | fifo_mask = hw->fifo_mask | BIT(sensor->id); |
727 | else |
728 | fifo_mask = hw->fifo_mask & ~BIT(sensor->id); |
729 | |
730 | if (hw->fifo_mask) { |
731 | err = st_lsm6dsx_flush_fifo(hw); |
732 | if (err < 0) |
733 | goto out; |
734 | } |
735 | |
736 | if (enable) |
737 | st_lsm6dsx_update_samples_to_discard(sensor); |
738 | |
739 | err = st_lsm6dsx_device_set_enable(sensor, enable); |
740 | if (err < 0) |
741 | goto out; |
742 | |
743 | err = st_lsm6dsx_set_fifo_odr(sensor, enable); |
744 | if (err < 0) |
745 | goto out; |
746 | |
747 | err = st_lsm6dsx_update_decimators(hw); |
748 | if (err < 0) |
749 | goto out; |
750 | |
751 | err = st_lsm6dsx_update_watermark(sensor, watermark: sensor->watermark); |
752 | if (err < 0) |
753 | goto out; |
754 | |
755 | if (fifo_mask) { |
756 | err = st_lsm6dsx_resume_fifo(hw); |
757 | if (err < 0) |
758 | goto out; |
759 | } |
760 | |
761 | hw->fifo_mask = fifo_mask; |
762 | |
763 | out: |
764 | mutex_unlock(lock: &hw->conf_lock); |
765 | |
766 | return err; |
767 | } |
768 | |
769 | static int st_lsm6dsx_buffer_preenable(struct iio_dev *iio_dev) |
770 | { |
771 | struct st_lsm6dsx_sensor *sensor = iio_priv(indio_dev: iio_dev); |
772 | struct st_lsm6dsx_hw *hw = sensor->hw; |
773 | |
774 | if (!hw->settings->fifo_ops.update_fifo) |
775 | return -ENOTSUPP; |
776 | |
777 | return hw->settings->fifo_ops.update_fifo(sensor, true); |
778 | } |
779 | |
780 | static int st_lsm6dsx_buffer_postdisable(struct iio_dev *iio_dev) |
781 | { |
782 | struct st_lsm6dsx_sensor *sensor = iio_priv(indio_dev: iio_dev); |
783 | struct st_lsm6dsx_hw *hw = sensor->hw; |
784 | |
785 | if (!hw->settings->fifo_ops.update_fifo) |
786 | return -ENOTSUPP; |
787 | |
788 | return hw->settings->fifo_ops.update_fifo(sensor, false); |
789 | } |
790 | |
791 | static const struct iio_buffer_setup_ops st_lsm6dsx_buffer_ops = { |
792 | .preenable = st_lsm6dsx_buffer_preenable, |
793 | .postdisable = st_lsm6dsx_buffer_postdisable, |
794 | }; |
795 | |
796 | int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw) |
797 | { |
798 | int i, ret; |
799 | |
800 | for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { |
801 | if (!hw->iio_devs[i]) |
802 | continue; |
803 | |
804 | ret = devm_iio_kfifo_buffer_setup(hw->dev, hw->iio_devs[i], |
805 | &st_lsm6dsx_buffer_ops); |
806 | if (ret) |
807 | return ret; |
808 | } |
809 | |
810 | return 0; |
811 | } |
812 | |