Re: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in iio devices
On Tue, 2 Jun 2020 12:57:26 + Jean-Baptiste Maneyrol wrote: > Hi Jonathan, > > I agree that this multiplexed watermark computation value is anything except > simple and clear to understand. > I will add more documentation about it. And it also triggered a > kbuild robot issue, because it is using 64 bits modulo without using > math64 macros. > > For buffer preenable/postenable/..., the sequence I am using > currently is: > - preenable -> turn chip on (pm_runtime_get) > - update_scan_mode -> set FIFO en bits configuration (which sensor > data is going into the fifo) > - hwfifo_watermark -> compute and set watermark value > - postenable -> turn FIFO on (and multiplexed with a FIFO on counter > since used by accel & gyro) > - predisable -> turn FIFO off (multiplexed with counter) > - postdisable -> turn chip off (pm_runtime_put) > > This setting is working well. Good to note that if there is an error > when enabling the buffer, postdisable will always get called after > preenable. So it ensures pm_runtime reference counter to be always OK. > > Another way would be to only store configuration in internal state > with update_scan_mode and hwfifo_watermark, and do everything in > postenable/predisable. This is a possibility, but makes things a > little more complex. What you have here is fine. Thanks for the explanation. > > For hwfifo flush, this is an interesting feature when there is a need > to have data immediately. Or when there is a need to do a clean > change of configuration. In Android systems, Android framework is > mainly using FIFO flush to change the sensor configuration (ODR, > watermark) in a clean way. For our case with the FIFO interleaved > this is a not an issue. If there are samples from the 2 sensors, it > means the 2 buffers are enabled. And if data is coming to the iio > buffer sooner than expected, that should not be a problem. The > limitation I see when the 2 sensors are runnings, is that we will > return less data than should have been possible. I limit FIFO reading > to the provided n bytes, so we could read less than n samples of 1 > sensor. Yes. I'm a little nervous about unexpected impacts of this last case. As you say early data rarely matters but late data can potentially be an issue as software will assume it didn't get the data because it didn't yet exist. > > Something I have in mind, that would be really interesting to be able > to set/change watermark value when the buffer is enabled. Otherwise, > we are always loosing events by turning sensor off when we want to > change the value. Is there any limitation to work this way, or should > it be possible to implement this feature in the future ? I can't see why it would particularly matter in general if we did this whilst 'live'. However, potentially we have sensors where reducing the value could result in not getting an interrupt from a hw fifo. (unwise design perhaps but we all know those exist :) So care would be needed - perhaps some kind of opt in? > > Thanks, > JB Please remember to wrap our email if possible. Thanks, Jonathan > > > From: Jonathan Cameron > Sent: Sunday, May 31, 2020 14:56 > To: Jean-Baptiste Maneyrol > Cc: robh...@kernel.org ; r...@kernel.org > ; mchehab+hua...@kernel.org ; > da...@davemloft.net ; gre...@linuxfoundation.org > ; linux-...@vger.kernel.org > ; devicet...@vger.kernel.org > ; linux-kernel@vger.kernel.org > > Subject: Re: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in > iio devices > > CAUTION: This email originated from outside of the organization. Please make > sure the sender is who they say they are and do not click links or open > attachments unless you recognize the sender and know the content is safe. > > On Wed, 27 May 2020 20:57:08 +0200 > Jean-Baptiste Maneyrol wrote: > > > Add all FIFO parsing and reading functions. Add accel and gyro > > kfifo buffer and FIFO data parsing. Use device interrupt for > > reading data FIFO and launching accel and gyro parsing. > > > > Support hwfifo watermark by multiplexing gyro and accel settings. > > Support hwfifo flush. > > Both of these are complex given the interactions of the two sensors > types and to be honest I couldn't figure out exactly what the intent was. > Needs more docs! > > Thanks, > > Jonathan > > > > > Signed-off-by: Jean-Baptiste Maneyrol > > --- > > drivers/iio/imu/inv_icm42600/Kconfig | 1 + > > drivers/iio/imu/inv_icm42600/Makefile | 1 + > > drivers/iio/imu/inv_icm42600/inv_icm42600.h | 8 + > > .../iio/imu/inv_icm42600/inv_icm42600_accel.c | 160 - > > .../imu/inv_icm426
Re: --[[SPOOF or PHISHING]]--Re: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in iio devices
Hi Jonathan, something I forgot, about the __packed attribute for the sensor data structure struct inv_icm42600_fifo_sensor_data located inside inv_icm42600_buffer.h. I added it because this structure is used for decoding the FIFO data frame which can be unaligned. It is also used for storing data in other modules, but __packed attribute should not change anything here. Thanks, JB From: linux-iio-ow...@vger.kernel.org on behalf of Jean-Baptiste Maneyrol Sent: Tuesday, June 2, 2020 14:57 To: Jonathan Cameron Cc: robh...@kernel.org ; r...@kernel.org ; mchehab+hua...@kernel.org ; da...@davemloft.net ; gre...@linuxfoundation.org ; linux-...@vger.kernel.org ; devicet...@vger.kernel.org ; linux-kernel@vger.kernel.org Subject: --[[SPOOF or PHISHING]]--Re: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in iio devices CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe. Hi Jonathan, I agree that this multiplexed watermark computation value is anything except simple and clear to understand. I will add more documentation about it. And it also triggered a kbuild robot issue, because it is using 64 bits modulo without using math64 macros. For buffer preenable/postenable/..., the sequence I am using currently is: - preenable -> turn chip on (pm_runtime_get) - update_scan_mode -> set FIFO en bits configuration (which sensor data is going into the fifo) - hwfifo_watermark -> compute and set watermark value - postenable -> turn FIFO on (and multiplexed with a FIFO on counter since used by accel & gyro) - predisable -> turn FIFO off (multiplexed with counter) - postdisable -> turn chip off (pm_runtime_put) This setting is working well. Good to note that if there is an error when enabling the buffer, postdisable will always get called after preenable. So it ensures pm_runtime reference counter to be always OK. Another way would be to only store configuration in internal state with update_scan_mode and hwfifo_watermark, and do everything in postenable/predisable. This is a possibility, but makes things a little more complex. For hwfifo flush, this is an interesting feature when there is a need to have data immediately. Or when there is a need to do a clean change of configuration. In Android systems, Android framework is mainly using FIFO flush to change the sensor configuration (ODR, watermark) in a clean way. For our case with the FIFO interleaved this is a not an issue. If there are samples from the 2 sensors, it means the 2 buffers are enabled. And if data is coming to the iio buffer sooner than expected, that should not be a problem. The limitation I see when the 2 sensors are runnings, is that we will return less data than should have been possible. I limit FIFO reading to the provided n bytes, so we could read less than n samples of 1 sensor. Something I have in mind, that would be really interesting to be able to set/change watermark value when the buffer is enabled. Otherwise, we are always loosing events by turning sensor off when we want to change the value. Is there any limitation to work this way, or should it be possible to implement this feature in the future ? Thanks, JB From: Jonathan Cameron Sent: Sunday, May 31, 2020 14:56 To: Jean-Baptiste Maneyrol Cc: robh...@kernel.org ; r...@kernel.org ; mchehab+hua...@kernel.org ; da...@davemloft.net ; gre...@linuxfoundation.org ; linux-...@vger.kernel.org ; devicet...@vger.kernel.org ; linux-kernel@vger.kernel.org Subject: Re: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in iio devices CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe. On Wed, 27 May 2020 20:57:08 +0200 Jean-Baptiste Maneyrol wrote: > Add all FIFO parsing and reading functions. Add accel and gyro > kfifo buffer and FIFO data parsing. Use device interrupt for > reading data FIFO and launching accel and gyro parsing. > > Support hwfifo watermark by multiplexing gyro and accel settings. > Support hwfifo flush. Both of these are complex given the interactions of the two sensors types and to be honest I couldn't figure out exactly what the intent was. Needs more docs! Thanks, Jonathan > > Signed-off-by: Jean-Baptiste Maneyrol > --- > drivers/iio/imu/inv_icm42600/Kconfig | 1 + > drivers/iio/imu/inv_icm42600/Makefile | 1 + > drivers/iio/imu/inv_icm42600/inv_icm42600.h | 8 + > .../iio/imu/inv_icm42600/inv_icm42600_accel.c | 160 - > .../imu/inv_icm42600/inv_icm42600_buffer.c | 555 ++ > .../imu/inv_icm42600/inv_icm42600_buffer.h | 98 >
Re: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in iio devices
Hi Jonathan, I agree that this multiplexed watermark computation value is anything except simple and clear to understand. I will add more documentation about it. And it also triggered a kbuild robot issue, because it is using 64 bits modulo without using math64 macros. For buffer preenable/postenable/..., the sequence I am using currently is: - preenable -> turn chip on (pm_runtime_get) - update_scan_mode -> set FIFO en bits configuration (which sensor data is going into the fifo) - hwfifo_watermark -> compute and set watermark value - postenable -> turn FIFO on (and multiplexed with a FIFO on counter since used by accel & gyro) - predisable -> turn FIFO off (multiplexed with counter) - postdisable -> turn chip off (pm_runtime_put) This setting is working well. Good to note that if there is an error when enabling the buffer, postdisable will always get called after preenable. So it ensures pm_runtime reference counter to be always OK. Another way would be to only store configuration in internal state with update_scan_mode and hwfifo_watermark, and do everything in postenable/predisable. This is a possibility, but makes things a little more complex. For hwfifo flush, this is an interesting feature when there is a need to have data immediately. Or when there is a need to do a clean change of configuration. In Android systems, Android framework is mainly using FIFO flush to change the sensor configuration (ODR, watermark) in a clean way. For our case with the FIFO interleaved this is a not an issue. If there are samples from the 2 sensors, it means the 2 buffers are enabled. And if data is coming to the iio buffer sooner than expected, that should not be a problem. The limitation I see when the 2 sensors are runnings, is that we will return less data than should have been possible. I limit FIFO reading to the provided n bytes, so we could read less than n samples of 1 sensor. Something I have in mind, that would be really interesting to be able to set/change watermark value when the buffer is enabled. Otherwise, we are always loosing events by turning sensor off when we want to change the value. Is there any limitation to work this way, or should it be possible to implement this feature in the future ? Thanks, JB From: Jonathan Cameron Sent: Sunday, May 31, 2020 14:56 To: Jean-Baptiste Maneyrol Cc: robh...@kernel.org ; r...@kernel.org ; mchehab+hua...@kernel.org ; da...@davemloft.net ; gre...@linuxfoundation.org ; linux-...@vger.kernel.org ; devicet...@vger.kernel.org ; linux-kernel@vger.kernel.org Subject: Re: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in iio devices CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe. On Wed, 27 May 2020 20:57:08 +0200 Jean-Baptiste Maneyrol wrote: > Add all FIFO parsing and reading functions. Add accel and gyro > kfifo buffer and FIFO data parsing. Use device interrupt for > reading data FIFO and launching accel and gyro parsing. > > Support hwfifo watermark by multiplexing gyro and accel settings. > Support hwfifo flush. Both of these are complex given the interactions of the two sensors types and to be honest I couldn't figure out exactly what the intent was. Needs more docs! Thanks, Jonathan > > Signed-off-by: Jean-Baptiste Maneyrol > --- > drivers/iio/imu/inv_icm42600/Kconfig | 1 + > drivers/iio/imu/inv_icm42600/Makefile | 1 + > drivers/iio/imu/inv_icm42600/inv_icm42600.h | 8 + > .../iio/imu/inv_icm42600/inv_icm42600_accel.c | 160 - > .../imu/inv_icm42600/inv_icm42600_buffer.c | 555 ++ > .../imu/inv_icm42600/inv_icm42600_buffer.h | 98 > .../iio/imu/inv_icm42600/inv_icm42600_core.c | 30 + > .../iio/imu/inv_icm42600/inv_icm42600_gyro.c | 160 - > 8 files changed, 1011 insertions(+), 2 deletions(-) > create mode 100644 drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c > create mode 100644 drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h > > diff --git a/drivers/iio/imu/inv_icm42600/Kconfig > b/drivers/iio/imu/inv_icm42600/Kconfig > index 22390a72f0a3..50cbcfcb6cf1 100644 > --- a/drivers/iio/imu/inv_icm42600/Kconfig > +++ b/drivers/iio/imu/inv_icm42600/Kconfig > @@ -2,6 +2,7 @@ > > config INV_ICM42600 > tristate > + select IIO_BUFFER > > config INV_ICM42600_I2C > tristate "InvenSense ICM-426xx I2C driver" > diff --git a/drivers/iio/imu/inv_icm42600/Makefile > b/drivers/iio/imu/inv_icm42600/Makefile > index 48965824f00c..0f49f6df3647 100644 > --- a/drivers/iio/imu/inv_icm42600/Makefile > +++ b/drivers/iio/imu/inv_icm42600/Makefile > @@ -5,6 +5,7 @@ inv-icm42600-y += inv_icm42
Re: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in iio devices
On Wed, 27 May 2020 20:57:08 +0200
Jean-Baptiste Maneyrol wrote:
> Add all FIFO parsing and reading functions. Add accel and gyro
> kfifo buffer and FIFO data parsing. Use device interrupt for
> reading data FIFO and launching accel and gyro parsing.
>
> Support hwfifo watermark by multiplexing gyro and accel settings.
> Support hwfifo flush.
Both of these are complex given the interactions of the two sensors
types and to be honest I couldn't figure out exactly what the intent was.
Needs more docs!
Thanks,
Jonathan
>
> Signed-off-by: Jean-Baptiste Maneyrol
> ---
> drivers/iio/imu/inv_icm42600/Kconfig | 1 +
> drivers/iio/imu/inv_icm42600/Makefile | 1 +
> drivers/iio/imu/inv_icm42600/inv_icm42600.h | 8 +
> .../iio/imu/inv_icm42600/inv_icm42600_accel.c | 160 -
> .../imu/inv_icm42600/inv_icm42600_buffer.c| 555 ++
> .../imu/inv_icm42600/inv_icm42600_buffer.h| 98
> .../iio/imu/inv_icm42600/inv_icm42600_core.c | 30 +
> .../iio/imu/inv_icm42600/inv_icm42600_gyro.c | 160 -
> 8 files changed, 1011 insertions(+), 2 deletions(-)
> create mode 100644 drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
> create mode 100644 drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h
>
> diff --git a/drivers/iio/imu/inv_icm42600/Kconfig
> b/drivers/iio/imu/inv_icm42600/Kconfig
> index 22390a72f0a3..50cbcfcb6cf1 100644
> --- a/drivers/iio/imu/inv_icm42600/Kconfig
> +++ b/drivers/iio/imu/inv_icm42600/Kconfig
> @@ -2,6 +2,7 @@
>
> config INV_ICM42600
> tristate
> + select IIO_BUFFER
>
> config INV_ICM42600_I2C
> tristate "InvenSense ICM-426xx I2C driver"
> diff --git a/drivers/iio/imu/inv_icm42600/Makefile
> b/drivers/iio/imu/inv_icm42600/Makefile
> index 48965824f00c..0f49f6df3647 100644
> --- a/drivers/iio/imu/inv_icm42600/Makefile
> +++ b/drivers/iio/imu/inv_icm42600/Makefile
> @@ -5,6 +5,7 @@ inv-icm42600-y += inv_icm42600_core.o
> inv-icm42600-y += inv_icm42600_gyro.o
> inv-icm42600-y += inv_icm42600_accel.o
> inv-icm42600-y += inv_icm42600_temp.o
> +inv-icm42600-y += inv_icm42600_buffer.o
>
> obj-$(CONFIG_INV_ICM42600_I2C) += inv-icm42600-i2c.o
> inv-icm42600-i2c-y += inv_icm42600_i2c.o
> diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h
> b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
> index 43749f56426c..4d5811562a61 100644
> --- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h
> +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
> @@ -14,6 +14,8 @@
> #include
> #include
>
> +#include "inv_icm42600_buffer.h"
> +
> enum inv_icm42600_chip {
> INV_CHIP_ICM42600,
> INV_CHIP_ICM42602,
> @@ -123,6 +125,7 @@ struct inv_icm42600_suspended {
> * @indio_gyro: gyroscope IIO device.
> * @indio_accel:accelerometer IIO device.
> * @buffer: data transfer buffer aligned for DMA.
> + * @fifo: FIFO management structure.
> */
> struct inv_icm42600_state {
> struct mutex lock;
> @@ -137,6 +140,7 @@ struct inv_icm42600_state {
> struct iio_dev *indio_gyro;
> struct iio_dev *indio_accel;
> uint8_t buffer[2] cacheline_aligned;
> + struct inv_icm42600_fifo fifo;
> };
>
> /* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB
> */
> @@ -377,6 +381,10 @@ int inv_icm42600_core_probe(struct regmap *regmap, int
> chip, int irq,
>
> int inv_icm42600_gyro_init(struct inv_icm42600_state *st);
>
> +int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev);
> +
> int inv_icm42600_accel_init(struct inv_icm42600_state *st);
>
> +int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev);
> +
> #endif
> diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
> b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
> index 6a615d7ffb24..c73ce204efc6 100644
> --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
> +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
> @@ -11,9 +11,12 @@
> #include
> #include
> #include
> +#include
> +#include
>
> #include "inv_icm42600.h"
> #include "inv_icm42600_temp.h"
> +#include "inv_icm42600_buffer.h"
>
> #define INV_ICM42600_ACCEL_CHAN(_modifier, _index, _ext_info)
> \
> { \
> @@ -64,6 +67,76 @@ static const struct iio_chan_spec
> inv_icm42600_accel_channels[] = {
> INV_ICM42600_TEMP_CHAN(INV_ICM42600_ACCEL_SCAN_TEMP),
> };
>
> +/* IIO buffer data: 8 bytes */
> +struct inv_icm42600_accel_buffer {
> + struct inv_icm42600_fifo_sensor_data accel;
> + int8_t temp;
> + uint8_t padding;
> +};
> +
> +#define INV_ICM42600_SCAN_MASK_ACCEL_3AXIS \
> + (BIT(INV_ICM42600_ACCEL_SCAN_X) | \
> + BIT(INV_ICM42600_ACCEL_SCAN_Y) |\
> + BIT(INV_ICM42600_ACCEL_SCAN_Z))
> +
> +#define INV_ICM42600_SCAN_MASK_TEMP BIT(INV_ICM42600_ACCEL_SCAN_TEMP)
> +
> +static const
Re: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in iio devices
Hi Jean-Baptiste, Thank you for the patch! Yet something to improve: [auto build test ERROR on iio/togreg] [also build test ERROR on robh/for-next linus/master v5.7-rc7 next-20200529] [if your patch is applied to the wrong git tree, please drop us a note to help improve the system. BTW, we also suggest to use '--base' option to specify the base tree in git format-patch, please see https://stackoverflow.com/a/37406982] url: https://github.com/0day-ci/linux/commits/Jean-Baptiste-Maneyrol/iio-imu-new-inv_icm42600-driver/20200528-030632 base: https://git.kernel.org/pub/scm/linux/kernel/git/jic23/iio.git togreg config: i386-randconfig-c001-20200529 (attached as .config) compiler: gcc-9 (Debian 9.3.0-13) 9.3.0 If you fix the issue, kindly add following tag as appropriate Reported-by: kbuild test robot All errors (new ones prefixed by >>, old ones prefixed by <<): ld: drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.o: in function `inv_icm42600_buffer_update_watermark': drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c:215: undefined reference to `__moddi3' >> ld: drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c:212: undefined >> reference to `__moddi3' --- 0-DAY CI Kernel Test Service, Intel Corporation https://lists.01.org/hyperkitty/list/kbuild-...@lists.01.org .config.gz Description: application/gzip
[PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in iio devices
Add all FIFO parsing and reading functions. Add accel and gyro
kfifo buffer and FIFO data parsing. Use device interrupt for
reading data FIFO and launching accel and gyro parsing.
Support hwfifo watermark by multiplexing gyro and accel settings.
Support hwfifo flush.
Signed-off-by: Jean-Baptiste Maneyrol
---
drivers/iio/imu/inv_icm42600/Kconfig | 1 +
drivers/iio/imu/inv_icm42600/Makefile | 1 +
drivers/iio/imu/inv_icm42600/inv_icm42600.h | 8 +
.../iio/imu/inv_icm42600/inv_icm42600_accel.c | 160 -
.../imu/inv_icm42600/inv_icm42600_buffer.c| 555 ++
.../imu/inv_icm42600/inv_icm42600_buffer.h| 98
.../iio/imu/inv_icm42600/inv_icm42600_core.c | 30 +
.../iio/imu/inv_icm42600/inv_icm42600_gyro.c | 160 -
8 files changed, 1011 insertions(+), 2 deletions(-)
create mode 100644 drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
create mode 100644 drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h
diff --git a/drivers/iio/imu/inv_icm42600/Kconfig
b/drivers/iio/imu/inv_icm42600/Kconfig
index 22390a72f0a3..50cbcfcb6cf1 100644
--- a/drivers/iio/imu/inv_icm42600/Kconfig
+++ b/drivers/iio/imu/inv_icm42600/Kconfig
@@ -2,6 +2,7 @@
config INV_ICM42600
tristate
+ select IIO_BUFFER
config INV_ICM42600_I2C
tristate "InvenSense ICM-426xx I2C driver"
diff --git a/drivers/iio/imu/inv_icm42600/Makefile
b/drivers/iio/imu/inv_icm42600/Makefile
index 48965824f00c..0f49f6df3647 100644
--- a/drivers/iio/imu/inv_icm42600/Makefile
+++ b/drivers/iio/imu/inv_icm42600/Makefile
@@ -5,6 +5,7 @@ inv-icm42600-y += inv_icm42600_core.o
inv-icm42600-y += inv_icm42600_gyro.o
inv-icm42600-y += inv_icm42600_accel.o
inv-icm42600-y += inv_icm42600_temp.o
+inv-icm42600-y += inv_icm42600_buffer.o
obj-$(CONFIG_INV_ICM42600_I2C) += inv-icm42600-i2c.o
inv-icm42600-i2c-y += inv_icm42600_i2c.o
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h
b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
index 43749f56426c..4d5811562a61 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
@@ -14,6 +14,8 @@
#include
#include
+#include "inv_icm42600_buffer.h"
+
enum inv_icm42600_chip {
INV_CHIP_ICM42600,
INV_CHIP_ICM42602,
@@ -123,6 +125,7 @@ struct inv_icm42600_suspended {
* @indio_gyro: gyroscope IIO device.
* @indio_accel: accelerometer IIO device.
* @buffer: data transfer buffer aligned for DMA.
+ * @fifo: FIFO management structure.
*/
struct inv_icm42600_state {
struct mutex lock;
@@ -137,6 +140,7 @@ struct inv_icm42600_state {
struct iio_dev *indio_gyro;
struct iio_dev *indio_accel;
uint8_t buffer[2] cacheline_aligned;
+ struct inv_icm42600_fifo fifo;
};
/* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
@@ -377,6 +381,10 @@ int inv_icm42600_core_probe(struct regmap *regmap, int
chip, int irq,
int inv_icm42600_gyro_init(struct inv_icm42600_state *st);
+int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev);
+
int inv_icm42600_accel_init(struct inv_icm42600_state *st);
+int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev);
+
#endif
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
index 6a615d7ffb24..c73ce204efc6 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
@@ -11,9 +11,12 @@
#include
#include
#include
+#include
+#include
#include "inv_icm42600.h"
#include "inv_icm42600_temp.h"
+#include "inv_icm42600_buffer.h"
#define INV_ICM42600_ACCEL_CHAN(_modifier, _index, _ext_info) \
{ \
@@ -64,6 +67,76 @@ static const struct iio_chan_spec
inv_icm42600_accel_channels[] = {
INV_ICM42600_TEMP_CHAN(INV_ICM42600_ACCEL_SCAN_TEMP),
};
+/* IIO buffer data: 8 bytes */
+struct inv_icm42600_accel_buffer {
+ struct inv_icm42600_fifo_sensor_data accel;
+ int8_t temp;
+ uint8_t padding;
+};
+
+#define INV_ICM42600_SCAN_MASK_ACCEL_3AXIS \
+ (BIT(INV_ICM42600_ACCEL_SCAN_X) | \
+ BIT(INV_ICM42600_ACCEL_SCAN_Y) |\
+ BIT(INV_ICM42600_ACCEL_SCAN_Z))
+
+#define INV_ICM42600_SCAN_MASK_TEMPBIT(INV_ICM42600_ACCEL_SCAN_TEMP)
+
+static const unsigned long inv_icm42600_accel_scan_masks[] = {
+ /* 3-axis accel + temperature */
+ INV_ICM42600_SCAN_MASK_ACCEL_3AXIS | INV_ICM42600_SCAN_MASK_TEMP,
+ 0,
+};
+
+/* enable accelerometer sensor and FIFO write */
+static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
+ const unsigned long *scan_mask)
+{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+
