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Tue, 2 Jun 2020 12:57:26 +0000 From: Jean-Baptiste Maneyrol To: Jonathan Cameron CC: "robh+dt@kernel.org" , "robh@kernel.org" , "mchehab+huawei@kernel.org" , "davem@davemloft.net" , "gregkh@linuxfoundation.org" , "linux-iio@vger.kernel.org" , "devicetree@vger.kernel.org" , "linux-kernel@vger.kernel.org" Subject: Re: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in iio devices Thread-Topic: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in iio devices Thread-Index: AQHWNFi6tZLv5q9Ga0evfLk0+jR/7qjCLRmAgAMbqbE= Date: Tue, 2 Jun 2020 12:57:26 +0000 Message-ID: References: <20200527185711.21331-1-jmaneyrol@invensense.com> <20200527185711.21331-10-jmaneyrol@invensense.com>,<20200531135615.7938fb96@archlinux> In-Reply-To: <20200531135615.7938fb96@archlinux> Accept-Language: en-US Content-Language: en-US X-MS-Has-Attach: X-MS-TNEF-Correlator: authentication-results: kernel.org; dkim=none (message not signed) header.d=none;kernel.org; dmarc=none action=none header.from=invensense.com; 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And it also triggered a kbuild robo= t issue, because it is using 64 bits modulo without using math64 macros.=0A= =0A= For buffer preenable/postenable/..., the sequence I am using currently is:= =0A= - preenable -> turn chip on (pm_runtime_get)=0A= - update_scan_mode -> set FIFO en bits configuration (which sensor data is = going into the fifo)=0A= - hwfifo_watermark -> compute and set watermark value=0A= - postenable -> turn FIFO on (and multiplexed with a FIFO on counter since = used by accel & gyro)=0A= - predisable -> turn FIFO off (multiplexed with counter)=0A= - postdisable -> turn chip off (pm_runtime_put)=0A= =0A= This setting is working well. Good to note that if there is an error when e= nabling the buffer, postdisable will always get called after preenable. So = it ensures pm_runtime reference counter to be always OK.=0A= =0A= Another way would be to only store configuration in internal state with upd= ate_scan_mode and hwfifo_watermark, and do everything in postenable/predisa= ble. This is a possibility, but makes things a little more complex.=0A= =0A= For hwfifo flush, this is an interesting feature when there is a need to ha= ve data immediately. Or when there is a need to do a clean change of config= uration. In Android systems, Android framework is mainly using FIFO flush t= o 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 com= ing to the iio buffer sooner than expected, that should not be a problem. T= he 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 prov= ided n bytes, so we could read less than n samples of 1 sensor.=0A= =0A= Something I have in mind, that would be really interesting to be able to se= t/change watermark value when the buffer is enabled. Otherwise, we are alwa= ys loosing events by turning sensor off when we want to change the value. I= s there any limitation to work this way, or should it be possible to implem= ent this feature in the future ?=0A= =0A= Thanks,=0A= JB=0A= =0A= =0A= From: Jonathan Cameron =0A= Sent: Sunday, May 31, 2020 14:56=0A= To: Jean-Baptiste Maneyrol =0A= Cc: robh+dt@kernel.org ; robh@kernel.org ; mchehab+huawei@kernel.org ; davem@davemloft= .net ; gregkh@linuxfoundation.org ; linux-iio@vger.kernel.org ; devicetree= @vger.kernel.org ; linux-kernel@vger.kernel.org= =0A= Subject: Re: [PATCH v2 09/12] iio: imu: inv_icm42600: add buffer support in= iio devices =0A= =A0=0A= =A0CAUTION: 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 ope= n attachments unless you recognize the sender and know the content is safe.= =0A= =0A= On Wed, 27 May 2020 20:57:08 +0200=0A= Jean-Baptiste Maneyrol wrote:=0A= =0A= > Add all FIFO parsing and reading functions. Add accel and gyro=0A= > kfifo buffer and FIFO data parsing. Use device interrupt for=0A= > reading data FIFO and launching accel and gyro parsing.=0A= > =0A= > Support hwfifo watermark by multiplexing gyro and accel settings.=0A= > Support hwfifo flush.=0A= =0A= Both of these are complex given the interactions of the two sensors=0A= types and to be honest I couldn't figure out exactly what the intent was.= =0A= Needs more docs!=0A= =0A= Thanks,=0A= =0A= Jonathan=0A= =0A= > =0A= > Signed-off-by: Jean-Baptiste Maneyrol =0A= > ---=0A= >=A0 drivers/iio/imu/inv_icm42600/Kconfig=A0=A0=A0=A0=A0=A0=A0=A0=A0 |=A0= =A0 1 +=0A= >=A0 drivers/iio/imu/inv_icm42600/Makefile=A0=A0=A0=A0=A0=A0=A0=A0 |=A0=A0 = 1 +=0A= >=A0 drivers/iio/imu/inv_icm42600/inv_icm42600.h=A0=A0 |=A0=A0 8 +=0A= >=A0 .../iio/imu/inv_icm42600/inv_icm42600_accel.c | 160 ++++-=0A= >=A0 .../imu/inv_icm42600/inv_icm42600_buffer.c=A0=A0=A0 | 555 ++++++++++++= ++++++=0A= >=A0 .../imu/inv_icm42600/inv_icm42600_buffer.h=A0=A0=A0 |=A0 98 ++++=0A= >=A0 .../iio/imu/inv_icm42600/inv_icm42600_core.c=A0 |=A0 30 +=0A= >=A0 .../iio/imu/inv_icm42600/inv_icm42600_gyro.c=A0 | 160 ++++-=0A= >=A0 8 files changed, 1011 insertions(+), 2 deletions(-)=0A= >=A0 create mode 100644 drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c= =0A= >=A0 create mode 100644 drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h= =0A= > =0A= > diff --git a/drivers/iio/imu/inv_icm42600/Kconfig b/drivers/iio/imu/inv_i= cm42600/Kconfig=0A= > index 22390a72f0a3..50cbcfcb6cf1 100644=0A= > --- a/drivers/iio/imu/inv_icm42600/Kconfig=0A= > +++ b/drivers/iio/imu/inv_icm42600/Kconfig=0A= > @@ -2,6 +2,7 @@=0A= >=A0 =0A= >=A0 config INV_ICM42600=0A= >=A0=A0=A0=A0=A0=A0=A0 tristate=0A= > +=A0=A0=A0=A0 select IIO_BUFFER=0A= >=A0 =0A= >=A0 config INV_ICM42600_I2C=0A= >=A0=A0=A0=A0=A0=A0=A0 tristate "InvenSense ICM-426xx I2C driver"=0A= > diff --git a/drivers/iio/imu/inv_icm42600/Makefile b/drivers/iio/imu/inv_= icm42600/Makefile=0A= > index 48965824f00c..0f49f6df3647 100644=0A= > --- a/drivers/iio/imu/inv_icm42600/Makefile=0A= > +++ b/drivers/iio/imu/inv_icm42600/Makefile=0A= > @@ -5,6 +5,7 @@ inv-icm42600-y +=3D inv_icm42600_core.o=0A= >=A0 inv-icm42600-y +=3D inv_icm42600_gyro.o=0A= >=A0 inv-icm42600-y +=3D inv_icm42600_accel.o=0A= >=A0 inv-icm42600-y +=3D inv_icm42600_temp.o=0A= > +inv-icm42600-y +=3D inv_icm42600_buffer.o=0A= >=A0 =0A= >=A0 obj-$(CONFIG_INV_ICM42600_I2C) +=3D inv-icm42600-i2c.o=0A= >=A0 inv-icm42600-i2c-y +=3D inv_icm42600_i2c.o=0A= > diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/im= u/inv_icm42600/inv_icm42600.h=0A= > index 43749f56426c..4d5811562a61 100644=0A= > --- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h=0A= > +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h=0A= > @@ -14,6 +14,8 @@=0A= >=A0 #include =0A= >=A0 #include =0A= >=A0 =0A= > +#include "inv_icm42600_buffer.h"=0A= > +=0A= >=A0 enum inv_icm42600_chip {=0A= >=A0=A0=A0=A0=A0=A0=A0 INV_CHIP_ICM42600,=0A= >=A0=A0=A0=A0=A0=A0=A0 INV_CHIP_ICM42602,=0A= > @@ -123,6 +125,7 @@ struct inv_icm42600_suspended {=0A= >=A0=A0 *=A0 @indio_gyro:=A0=A0=A0=A0 gyroscope IIO device.=0A= >=A0=A0 *=A0 @indio_accel:=A0=A0=A0 accelerometer IIO device.=0A= >=A0=A0 *=A0 @buffer:=A0=A0=A0=A0=A0=A0=A0=A0 data transfer buffer aligned = for DMA.=0A= > + *=A0 @fifo:=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 FIFO management structure.=0A= >=A0=A0 */=0A= >=A0 struct inv_icm42600_state {=0A= >=A0=A0=A0=A0=A0=A0=A0 struct mutex lock;=0A= > @@ -137,6 +140,7 @@ struct inv_icm42600_state {=0A= >=A0=A0=A0=A0=A0=A0=A0 struct iio_dev *indio_gyro;=0A= >=A0=A0=A0=A0=A0=A0=A0 struct iio_dev *indio_accel;=0A= >=A0=A0=A0=A0=A0=A0=A0 uint8_t buffer[2] ____cacheline_aligned;=0A= > +=A0=A0=A0=A0 struct inv_icm42600_fifo fifo;=0A= >=A0 };=0A= >=A0 =0A= >=A0 /* Virtual register addresses: @bank on MSB (4 upper bits), @address o= n LSB */=0A= > @@ -377,6 +381,10 @@ int inv_icm42600_core_probe(struct regmap *regmap, i= nt chip, int irq,=0A= >=A0 =0A= >=A0 int inv_icm42600_gyro_init(struct inv_icm42600_state *st);=0A= >=A0 =0A= > +int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev);=0A= > +=0A= >=A0 int inv_icm42600_accel_init(struct inv_icm42600_state *st);=0A= >=A0 =0A= > +int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev);=0A= > +=0A= >=A0 #endif=0A= > diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/= iio/imu/inv_icm42600/inv_icm42600_accel.c=0A= > index 6a615d7ffb24..c73ce204efc6 100644=0A= > --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c=0A= > +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c=0A= > @@ -11,9 +11,12 @@=0A= >=A0 #include =0A= >=A0 #include =0A= >=A0 #include =0A= > +#include =0A= > +#include =0A= >=A0 =0A= >=A0 #include "inv_icm42600.h"=0A= >=A0 #include "inv_icm42600_temp.h"=0A= > +#include "inv_icm42600_buffer.h"=0A= >=A0 =0A= >=A0 #define INV_ICM42600_ACCEL_CHAN(_modifier, _index, _ext_info)=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 \=0A= >=A0=A0=A0=A0=A0=A0=A0 {=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 \=0A= > @@ -64,6 +67,76 @@ static const struct iio_chan_spec inv_icm42600_accel_c= hannels[] =3D {=0A= >=A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_TEMP_CHAN(INV_ICM42600_ACCEL_SCAN_TEMP)= ,=0A= >=A0 };=0A= >=A0 =0A= > +/* IIO buffer data: 8 bytes */=0A= > +struct inv_icm42600_accel_buffer {=0A= > +=A0=A0=A0=A0 struct inv_icm42600_fifo_sensor_data accel;=0A= > +=A0=A0=A0=A0 int8_t temp;=0A= > +=A0=A0=A0=A0 uint8_t padding;=0A= > +};=0A= > +=0A= > +#define INV_ICM42600_SCAN_MASK_ACCEL_3AXIS=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 \=0A= > +=A0=A0=A0=A0 (BIT(INV_ICM42600_ACCEL_SCAN_X) |=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 \=0A= > +=A0=A0=A0=A0 BIT(INV_ICM42600_ACCEL_SCAN_Y) |=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 \=0A= > +=A0=A0=A0=A0 BIT(INV_ICM42600_ACCEL_SCAN_Z))=0A= > +=0A= > +#define INV_ICM42600_SCAN_MASK_TEMP=A0 BIT(INV_ICM42600_ACCEL_SCAN_TEMP)= =0A= > +=0A= > +static const unsigned long inv_icm42600_accel_scan_masks[] =3D {=0A= > +=A0=A0=A0=A0 /* 3-axis accel + temperature */=0A= > +=A0=A0=A0=A0 INV_ICM42600_SCAN_MASK_ACCEL_3AXIS | INV_ICM42600_SCAN_MASK= _TEMP,=0A= > +=A0=A0=A0=A0 0,=0A= > +};=0A= > +=0A= > +/* enable accelerometer sensor and FIFO write */=0A= > +static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev= ,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 const unsigned lo= ng *scan_mask)=0A= > +{=0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 struct inv_icm42600_sensor_conf conf =3D INV_ICM42600_SENSO= R_CONF_INIT;=0A= > +=A0=A0=A0=A0 unsigned int fifo_en =3D 0;=0A= > +=A0=A0=A0=A0 unsigned int sleep_temp =3D 0;=0A= > +=A0=A0=A0=A0 unsigned int sleep_accel =3D 0;=0A= > +=A0=A0=A0=A0 unsigned int sleep;=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 mutex_lock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* enable temp sensor */=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_set_temp_conf(= st, true, &sleep_temp);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_un= lock;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 fifo_en |=3D INV_ICM42600_SENSOR_TE= MP;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 if (*scan_mask & INV_ICM42600_SCAN_MASK_ACCEL_3AXIS) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* enable accel sensor */=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 conf.mode =3D INV_ICM42600_SENSOR_M= ODE_LOW_NOISE;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_set_accel_conf= (st, &conf, &sleep_accel);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_un= lock;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 fifo_en |=3D INV_ICM42600_SENSOR_AC= CEL;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 /* update data FIFO write */=0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->f= ifo.en);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_update_watermark(st);=0A= > +=0A= > +out_unlock:=0A= > +=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= > +=A0=A0=A0=A0 /* sleep maximum required time */=0A= > +=A0=A0=A0=A0 if (sleep_accel > sleep_temp)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 sleep =3D sleep_accel;=0A= > +=A0=A0=A0=A0 else=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 sleep =3D sleep_temp;=0A= > +=A0=A0=A0=A0 if (sleep)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 msleep(sleep);=0A= > +=A0=A0=A0=A0 return ret;=0A= > +}=0A= > +=0A= >=A0 static int inv_icm42600_accel_read_sensor(struct inv_icm42600_state *s= t,=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 struct iio_chan_spec co= nst *chan,=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 int16_t *val)=0A= > @@ -248,7 +321,12 @@ static int inv_icm42600_accel_write_odr(struct inv_i= cm42600_state *st,=0A= >=A0=A0=A0=A0=A0=A0=A0 mutex_lock(&st->lock);=0A= >=A0 =0A= >=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_set_accel_conf(st, &conf, NULL)= ;=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=A0=A0=A0=A0 inv_icm42600_buffer_update_fifo_period(st);=0A= > +=A0=A0=A0=A0 inv_icm42600_buffer_update_watermark(st);=0A= >=A0 =0A= > +out_unlock:=0A= >=A0=A0=A0=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= >=A0=A0=A0=A0=A0=A0=A0 pm_runtime_mark_last_busy(dev);=0A= >=A0=A0=A0=A0=A0=A0=A0 pm_runtime_put_autosuspend(dev);=0A= > @@ -563,12 +641,51 @@ static int inv_icm42600_accel_write_raw_get_fmt(str= uct iio_dev *indio_dev,=0A= >=A0=A0=A0=A0=A0=A0=A0 }=0A= >=A0 }=0A= >=A0 =0A= > +static int inv_icm42600_accel_hwfifo_set_watermark(struct iio_dev *indio= _dev,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 unsig= ned int val)=0A= > +{=0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 mutex_lock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 st->fifo.watermark.accel =3D val;=0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_update_watermark(st);=0A= > +=0A= > +=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 return ret;=0A= > +}=0A= > +=0A= > +static int inv_icm42600_accel_hwfifo_flush(struct iio_dev *indio_dev,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 unsigned int count)=0A= > +{=0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 if (count =3D=3D 0)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return 0;=0A= > +=0A= > +=A0=A0=A0=A0 mutex_lock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_hwfifo_flush(st, count);=0A= > +=A0=A0=A0=A0 if (!ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D st->fifo.nb.accel;=0A= > +=0A= > +=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 return ret;=0A= > +}=0A= > +=0A= >=A0 static const struct iio_info inv_icm42600_accel_info =3D {=0A= >=A0=A0=A0=A0=A0=A0=A0 .read_raw =3D inv_icm42600_accel_read_raw,=0A= >=A0=A0=A0=A0=A0=A0=A0 .read_avail =3D inv_icm42600_accel_read_avail,=0A= >=A0=A0=A0=A0=A0=A0=A0 .write_raw =3D inv_icm42600_accel_write_raw,=0A= >=A0=A0=A0=A0=A0=A0=A0 .write_raw_get_fmt =3D inv_icm42600_accel_write_raw_= get_fmt,=0A= >=A0=A0=A0=A0=A0=A0=A0 .debugfs_reg_access =3D inv_icm42600_debugfs_reg,=0A= > +=A0=A0=A0=A0 .update_scan_mode =3D inv_icm42600_accel_update_scan_mode,= =0A= > +=A0=A0=A0=A0 .hwfifo_set_watermark =3D inv_icm42600_accel_hwfifo_set_wat= ermark,=0A= > +=A0=A0=A0=A0 .hwfifo_flush_to_buffer =3D inv_icm42600_accel_hwfifo_flush= ,=0A= >=A0 };=0A= >=A0 =0A= >=A0 int inv_icm42600_accel_init(struct inv_icm42600_state *st)=0A= > @@ -576,6 +693,7 @@ int inv_icm42600_accel_init(struct inv_icm42600_state= *st)=0A= >=A0=A0=A0=A0=A0=A0=A0 struct device *dev =3D regmap_get_device(st->map);= =0A= >=A0=A0=A0=A0=A0=A0=A0 const char *name;=0A= >=A0=A0=A0=A0=A0=A0=A0 struct iio_dev *indio_dev;=0A= > +=A0=A0=A0=A0 struct iio_buffer *buffer;=0A= >=A0 =0A= >=A0=A0=A0=A0=A0=A0=A0 name =3D devm_kasprintf(dev, GFP_KERNEL, "%s-accel",= st->name);=0A= >=A0=A0=A0=A0=A0=A0=A0 if (!name)=0A= > @@ -585,14 +703,54 @@ int inv_icm42600_accel_init(struct inv_icm42600_sta= te *st)=0A= >=A0=A0=A0=A0=A0=A0=A0 if (!indio_dev)=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return -ENOMEM;=0A= >=A0 =0A= > +=A0=A0=A0=A0 buffer =3D devm_iio_kfifo_allocate(dev);=0A= > +=A0=A0=A0=A0 if (!buffer)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return -ENOMEM;=0A= > +=0A= >=A0=A0=A0=A0=A0=A0=A0 iio_device_set_drvdata(indio_dev, st);=0A= >=A0=A0=A0=A0=A0=A0=A0 indio_dev->dev.parent =3D dev;=0A= >=A0=A0=A0=A0=A0=A0=A0 indio_dev->name =3D name;=0A= >=A0=A0=A0=A0=A0=A0=A0 indio_dev->info =3D &inv_icm42600_accel_info;=0A= > -=A0=A0=A0=A0 indio_dev->modes =3D INDIO_DIRECT_MODE;=0A= > +=A0=A0=A0=A0 indio_dev->modes =3D INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTW= ARE;=0A= >=A0=A0=A0=A0=A0=A0=A0 indio_dev->channels =3D inv_icm42600_accel_channels;= =0A= >=A0=A0=A0=A0=A0=A0=A0 indio_dev->num_channels =3D ARRAY_SIZE(inv_icm42600_= accel_channels);=0A= > +=A0=A0=A0=A0 indio_dev->available_scan_masks =3D inv_icm42600_accel_scan= _masks;=0A= > +=A0=A0=A0=A0 indio_dev->setup_ops =3D &inv_icm42600_buffer_ops;=0A= > +=0A= > +=A0=A0=A0=A0 iio_device_attach_buffer(indio_dev, buffer);=0A= >=A0 =0A= >=A0=A0=A0=A0=A0=A0=A0 st->indio_accel =3D indio_dev;=0A= >=A0=A0=A0=A0=A0=A0=A0 return devm_iio_device_register(dev, st->indio_accel= );=0A= >=A0 }=0A= > +=0A= > +int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)=0A= > +{=0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 ssize_t i, size;=0A= > +=A0=A0=A0=A0 const void *accel, *gyro, *timestamp;=0A= > +=A0=A0=A0=A0 const int8_t *temp;=0A= > +=A0=A0=A0=A0 unsigned int odr;=0A= > +=A0=A0=A0=A0 struct inv_icm42600_accel_buffer buffer =3D {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 .padding =3D 0,=0A= > +=A0=A0=A0=A0 };=0A= > +=0A= > +=A0=A0=A0=A0 /* parse all fifo packets */=0A= > +=A0=A0=A0=A0 for (i =3D 0; i < st->fifo.count; i +=3D size) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 size =3D inv_icm42600_fifo_decode_p= acket(&st->fifo.data[i],=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0 &accel, &gyro, &temp, ×tamp, &odr);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* quit if error or FIFO is empty *= /=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (size <=3D 0)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return size= ;=0A= > +=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* skip packet if no accel data or = data is invalid */=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (accel =3D=3D NULL || !inv_icm42= 600_fifo_is_data_valid(accel))=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 continue;= =0A= > +=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* fill and push data buffer */=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 memcpy(&buffer.accel, accel, sizeof= (buffer.accel));=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 buffer.temp =3D temp ? *temp : 0;= =0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 iio_push_to_buffers(indio_dev, &buf= fer);=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 return 0;=0A= > +}=0A= > diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers= /iio/imu/inv_icm42600/inv_icm42600_buffer.c=0A= > new file mode 100644=0A= > index 000000000000..c91075f62231=0A= > --- /dev/null=0A= > +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c=0A= > @@ -0,0 +1,555 @@=0A= > +// SPDX-License-Identifier: GPL-2.0-or-later=0A= > +/*=0A= > + * Copyright (C) 2020 Invensense, Inc.=0A= > + */=0A= > +=0A= > +#include =0A= > +#include =0A= > +#include =0A= > +#include =0A= > +#include =0A= > +#include =0A= > +#include =0A= > +#include =0A= > +#include =0A= > +=0A= > +#include "inv_icm42600.h"=0A= > +#include "inv_icm42600_buffer.h"=0A= > +=0A= > +/* FIFO header: 1 byte */=0A= > +#define INV_ICM42600_FIFO_HEADER_MSG=A0=A0=A0=A0=A0=A0=A0=A0 BIT(7)=0A= > +#define INV_ICM42600_FIFO_HEADER_ACCEL=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0 BIT(6)=0A= > +#define INV_ICM42600_FIFO_HEADER_GYRO=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0 BIT(5)=0A= > +#define INV_ICM42600_FIFO_HEADER_TMST_FSYNC=A0 GENMASK(3, 2)=0A= > +#define INV_ICM42600_FIFO_HEADER_ODR_ACCEL=A0=A0 BIT(1)=0A= > +#define INV_ICM42600_FIFO_HEADER_ODR_GYRO=A0=A0=A0 BIT(0)=0A= > +=0A= > +struct inv_icm42600_fifo_1sensor_packet {=0A= > +=A0=A0=A0=A0 uint8_t header;=0A= > +=A0=A0=A0=A0 struct inv_icm42600_fifo_sensor_data data;=0A= > +=A0=A0=A0=A0 int8_t temp;=0A= > +} __packed;=0A= > +#define INV_ICM42600_FIFO_1SENSOR_PACKET_SIZE=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0 8=0A= > +=0A= > +struct inv_icm42600_fifo_2sensors_packet {=0A= > +=A0=A0=A0=A0 uint8_t header;=0A= > +=A0=A0=A0=A0 struct inv_icm42600_fifo_sensor_data accel;=0A= > +=A0=A0=A0=A0 struct inv_icm42600_fifo_sensor_data gyro;=0A= > +=A0=A0=A0=A0 int8_t temp;=0A= > +=A0=A0=A0=A0 __be16 timestamp;=0A= > +} __packed;=0A= > +#define INV_ICM42600_FIFO_2SENSORS_PACKET_SIZE=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0 16=0A= > +=0A= > +ssize_t inv_icm42600_fifo_decode_packet(const void *packet, const void *= *accel,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 const void **gyro, const int8_t **temp= ,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 const void **timestamp, unsigned int *= odr)=0A= > +{=0A= > +=A0=A0=A0=A0 const struct inv_icm42600_fifo_1sensor_packet *pack1 =3D pa= cket;=0A= > +=A0=A0=A0=A0 const struct inv_icm42600_fifo_2sensors_packet *pack2 =3D p= acket;=0A= > +=A0=A0=A0=A0 uint8_t header =3D *((const uint8_t *)packet);=0A= > +=0A= > +=A0=A0=A0=A0 /* FIFO empty */=0A= > +=A0=A0=A0=A0 if (header & INV_ICM42600_FIFO_HEADER_MSG) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *accel =3D NULL;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *gyro =3D NULL;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *temp =3D NULL;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *timestamp =3D NULL;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *odr =3D 0;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return 0;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 /* handle odr flags */=0A= > +=A0=A0=A0=A0 *odr =3D 0;=0A= > +=A0=A0=A0=A0 if (header & INV_ICM42600_FIFO_HEADER_ODR_GYRO)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *odr |=3D INV_ICM42600_SENSOR_GYRO;= =0A= > +=A0=A0=A0=A0 if (header & INV_ICM42600_FIFO_HEADER_ODR_ACCEL)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *odr |=3D INV_ICM42600_SENSOR_ACCEL= ;=0A= > +=0A= > +=A0=A0=A0=A0 /* accel + gyro */=0A= > +=A0=A0=A0=A0 if ((header & INV_ICM42600_FIFO_HEADER_ACCEL) &&=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0 (header & INV_ICM42600_FIFO_HEADER_GYRO)) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *accel =3D &pack2->accel;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *gyro =3D &pack2->gyro;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *temp =3D &pack2->temp;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *timestamp =3D &pack2->timestamp;= =0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return INV_ICM42600_FIFO_2SENSORS_P= ACKET_SIZE;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 /* accel only */=0A= > +=A0=A0=A0=A0 if (header & INV_ICM42600_FIFO_HEADER_ACCEL) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *accel =3D &pack1->data;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *gyro =3D NULL;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *temp =3D &pack1->temp;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *timestamp =3D NULL;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return INV_ICM42600_FIFO_1SENSOR_PA= CKET_SIZE;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 /* gyro only */=0A= > +=A0=A0=A0=A0 if (header & INV_ICM42600_FIFO_HEADER_GYRO) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *accel =3D NULL;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *gyro =3D &pack1->data;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *temp =3D &pack1->temp;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 *timestamp =3D NULL;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return INV_ICM42600_FIFO_1SENSOR_PA= CKET_SIZE;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 /* invalid packet if here */=0A= > +=A0=A0=A0=A0 return -EINVAL;=0A= > +}=0A= > +=0A= > +void inv_icm42600_buffer_update_fifo_period(struct inv_icm42600_state *s= t)=0A= > +{=0A= > +=A0=A0=A0=A0 uint32_t period_gyro, period_accel, period;=0A= > +=0A= > +=A0=A0=A0=A0 if (st->fifo.en & INV_ICM42600_SENSOR_GYRO)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 period_gyro =3D inv_icm42600_odr_to= _period(st->conf.gyro.odr);=0A= > +=A0=A0=A0=A0 else=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 period_gyro =3D U32_MAX;=0A= > +=0A= > +=A0=A0=A0=A0 if (st->fifo.en & INV_ICM42600_SENSOR_ACCEL)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 period_accel =3D inv_icm42600_odr_t= o_period(st->conf.accel.odr);=0A= > +=A0=A0=A0=A0 else=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 period_accel =3D U32_MAX;=0A= > +=0A= > +=A0=A0=A0=A0 if (period_gyro <=3D period_accel)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 period =3D period_gyro;=0A= > +=A0=A0=A0=A0 else=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 period =3D period_accel;=0A= > +=0A= > +=A0=A0=A0=A0 st->fifo.period =3D period;=0A= > +}=0A= > +=0A= > +int inv_icm42600_buffer_set_fifo_en(struct inv_icm42600_state *st,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0 unsigned int fifo_en)=0A= > +{=0A= > +=A0=A0=A0=A0 unsigned int mask, val;=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 /* update only FIFO EN bits */=0A= > +=A0=A0=A0=A0 mask =3D INV_ICM42600_FIFO_CONFIG1_TMST_FSYNC_EN |=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_FIFO_CONFIG1_TEMP_EN |= =0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_FIFO_CONFIG1_GYRO_EN |= =0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_FIFO_CONFIG1_ACCEL_EN;= =0A= > +=0A= > +=A0=A0=A0=A0 val =3D 0;=0A= > +=A0=A0=A0=A0 if (fifo_en & INV_ICM42600_SENSOR_GYRO)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 val |=3D INV_ICM42600_FIFO_CONFIG1_= GYRO_EN;=0A= > +=A0=A0=A0=A0 if (fifo_en & INV_ICM42600_SENSOR_ACCEL)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 val |=3D INV_ICM42600_FIFO_CONFIG1_= ACCEL_EN;=0A= > +=A0=A0=A0=A0 if (fifo_en & INV_ICM42600_SENSOR_TEMP)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 val |=3D INV_ICM42600_FIFO_CONFIG1_= TEMP_EN;=0A= > +=0A= > +=A0=A0=A0=A0 ret =3D regmap_update_bits(st->map, INV_ICM42600_REG_FIFO_C= ONFIG1,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0 mask, val);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;=0A= > +=0A= > +=A0=A0=A0=A0 st->fifo.en =3D fifo_en;=0A= > +=A0=A0=A0=A0 inv_icm42600_buffer_update_fifo_period(st);=0A= > +=0A= > +=A0=A0=A0=A0 return 0;=0A= > +}=0A= > +=0A= > +static size_t inv_icm42600_get_packet_size(unsigned int fifo_en)=0A= > +{=0A= > +=A0=A0=A0=A0 size_t packet_size;=0A= > +=0A= > +=A0=A0=A0=A0 if ((fifo_en & INV_ICM42600_SENSOR_GYRO) &&=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0 (fifo_en & INV_ICM42600_SENSOR_ACCEL))=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 packet_size =3D INV_ICM42600_FIFO_2= SENSORS_PACKET_SIZE;=0A= > +=A0=A0=A0=A0 else=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 packet_size =3D INV_ICM42600_FIFO_1= SENSOR_PACKET_SIZE;=0A= > +=0A= > +=A0=A0=A0=A0 return packet_size;=0A= > +}=0A= > +=0A= > +static unsigned int inv_icm42600_wm_truncate(unsigned int watermark,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 size_t packet_size)=0A= > +{=0A= > +=A0=A0=A0=A0 size_t wm_size;=0A= > +=A0=A0=A0=A0 unsigned int wm;=0A= > +=0A= > +=A0=A0=A0=A0 wm_size =3D watermark * packet_size;=0A= > +=A0=A0=A0=A0 if (wm_size > INV_ICM42600_FIFO_WATERMARK_MAX)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 wm_size =3D INV_ICM42600_FIFO_WATER= MARK_MAX;=0A= > +=0A= > +=A0=A0=A0=A0 wm =3D wm_size / packet_size;=0A= > +=0A= > +=A0=A0=A0=A0 return wm;=0A= > +}=0A= > +=0A= =0A= I think some overview docs on how this is working would be good.=0A= Set out the aims for the watermark selected and how it is achieved.=0A= =0A= > +int inv_icm42600_buffer_update_watermark(struct inv_icm42600_state *st)= =0A= > +{=0A= > +=A0=A0=A0=A0 size_t packet_size, wm_size;=0A= > +=A0=A0=A0=A0 unsigned int wm_gyro, wm_accel, watermark;=0A= > +=A0=A0=A0=A0 uint32_t period_gyro, period_accel, period;=0A= > +=A0=A0=A0=A0 int64_t latency_gyro, latency_accel, latency;=0A= > +=A0=A0=A0=A0 bool restore;=0A= > +=A0=A0=A0=A0 __le16 raw_wm;=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 packet_size =3D inv_icm42600_get_packet_size(st->fifo.en);= =0A= > +=0A= > +=A0=A0=A0=A0 /* get minimal latency, depending on sensor watermark and o= dr */=0A= > +=A0=A0=A0=A0 wm_gyro =3D inv_icm42600_wm_truncate(st->fifo.watermark.gyr= o,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 packet_size);=0A= > +=A0=A0=A0=A0 wm_accel =3D inv_icm42600_wm_truncate(st->fifo.watermark.ac= cel,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 packet_size);=0A= > +=A0=A0=A0=A0 period_gyro =3D inv_icm42600_odr_to_period(st->conf.gyro.od= r);=0A= > +=A0=A0=A0=A0 period_accel =3D inv_icm42600_odr_to_period(st->conf.accel.= odr);=0A= > +=A0=A0=A0=A0 latency_gyro =3D (int64_t)period_gyro * (int64_t)wm_gyro;= =0A= > +=A0=A0=A0=A0 latency_accel =3D (int64_t)period_accel * (int64_t)wm_accel= ;=0A= > +=A0=A0=A0=A0 if (latency_gyro =3D=3D 0) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 latency =3D latency_accel;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 watermark =3D wm_accel;=0A= > +=A0=A0=A0=A0 } else if (latency_accel =3D=3D 0) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 latency =3D latency_gyro;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 watermark =3D wm_gyro;=0A= > +=A0=A0=A0=A0 } else {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* compute the smallest latency tha= t is a multiple of both */=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (latency_gyro <=3D latency_accel= ) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 latency =3D= latency_gyro;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 latency -= =3D latency_accel % latency_gyro;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 } else {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 latency =3D= latency_accel;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 latency -= =3D latency_gyro % latency_accel;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 }=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* use the shortest period */=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (period_gyro <=3D period_accel)= =0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 period =3D = period_gyro;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 else=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 period =3D = period_accel;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* all this works because periods a= re multiple of each others */=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 watermark =3D div_s64(latency, peri= od);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (watermark < 1)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 watermark = =3D 1;=0A= > +=A0=A0=A0=A0 }=0A= > +=A0=A0=A0=A0 wm_size =3D watermark * packet_size;=0A= > +=0A= > +=A0=A0=A0=A0 /* changing FIFO watermark requires to turn off watermark i= nterrupt */=0A= > +=A0=A0=A0=A0 ret =3D regmap_update_bits_check(st->map, INV_ICM42600_REG_= INT_SOURCE0,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN= ,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 0, &restore);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;=0A= > +=0A= > +=A0=A0=A0=A0 raw_wm =3D INV_ICM42600_FIFO_WATERMARK_VAL(wm_size);=0A= > +=A0=A0=A0=A0 memcpy(st->buffer, &raw_wm, sizeof(raw_wm));=0A= > +=A0=A0=A0=A0 ret =3D regmap_bulk_write(st->map, INV_ICM42600_REG_FIFO_WA= TERMARK,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0 st->buffer, sizeof(raw_wm));=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;=0A= > +=0A= > +=A0=A0=A0=A0 /* restore watermark interrupt */=0A= > +=A0=A0=A0=A0 if (restore) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D regmap_update_bits(st->map,= INV_ICM42600_REG_INT_SOURCE0,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_INT_SOURCE0_FIFO_THS_I= NT1_EN,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_INT_SOURCE0_FIFO_THS_I= NT1_EN);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;= =0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 return 0;=0A= > +}=0A= > +=0A= > +static int inv_icm42600_buffer_preenable(struct iio_dev *indio_dev)=0A= > +{=0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 struct device *dev =3D regmap_get_device(st->map);=0A= > +=0A= > +=A0=A0=A0=A0 pm_runtime_get_sync(dev);=0A= > +=0A= > +=A0=A0=A0=A0 return 0;=0A= > +}=0A= > +=0A= > +/*=0A= > + * update_scan_mode callback is turning sensors on and setting data FIFO= enable=0A= > + * bits.=0A= > + */=0A= > +static int inv_icm42600_buffer_postenable(struct iio_dev *indio_dev)=0A= > +{=0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 mutex_lock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 /* exit if FIFO is already on */=0A= > +=A0=A0=A0=A0 if (st->fifo.on) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D 0;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_on;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 /* set FIFO threshold interrupt */=0A= > +=A0=A0=A0=A0 ret =3D regmap_update_bits(st->map, INV_ICM42600_REG_INT_SO= URCE0,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0 INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0 INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +=A0=A0=A0=A0 /* flush FIFO data */=0A= > +=A0=A0=A0=A0 ret =3D regmap_write(st->map, INV_ICM42600_REG_SIGNAL_PATH_= RESET,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 IN= V_ICM42600_SIGNAL_PATH_RESET_FIFO_FLUSH);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +=A0=A0=A0=A0 /* set FIFO in streaming mode */=0A= > +=A0=A0=A0=A0 ret =3D regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,= =0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 IN= V_ICM42600_FIFO_CONFIG_STREAM);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +=A0=A0=A0=A0 /* workaround: first read of FIFO count after reset is alwa= ys 0 */=0A= > +=A0=A0=A0=A0 ret =3D regmap_bulk_read(st->map, INV_ICM42600_REG_FIFO_COU= NT, st->buffer, 2);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +out_on:=0A= > +=A0=A0=A0=A0 /* increase FIFO on counter */=0A= > +=A0=A0=A0=A0 st->fifo.on++;=0A= > +out_unlock:=0A= > +=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= > +=A0=A0=A0=A0 return ret;=0A= > +}=0A= > +=0A= > +static int inv_icm42600_buffer_predisable(struct iio_dev *indio_dev)=0A= > +{=0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 mutex_lock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 /* exit if there are several sensors using the FIFO */=0A= > +=A0=A0=A0=A0 if (st->fifo.on > 1) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D 0;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_off;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 /* set FIFO in bypass mode */=0A= > +=A0=A0=A0=A0 ret =3D regmap_write(st->map, INV_ICM42600_REG_FIFO_CONFIG,= =0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 IN= V_ICM42600_FIFO_CONFIG_BYPASS);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +=A0=A0=A0=A0 /* flush FIFO data */=0A= > +=A0=A0=A0=A0 ret =3D regmap_write(st->map, INV_ICM42600_REG_SIGNAL_PATH_= RESET,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 IN= V_ICM42600_SIGNAL_PATH_RESET_FIFO_FLUSH);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +=A0=A0=A0=A0 /* disable FIFO threshold interrupt */=0A= > +=A0=A0=A0=A0 ret =3D regmap_update_bits(st->map, INV_ICM42600_REG_INT_SO= URCE0,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0 INV_ICM42600_INT_SOURCE0_FIFO_THS_INT1_EN, 0);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +out_off:=0A= > +=A0=A0=A0=A0 /* decrease FIFO on counter */=0A= > +=A0=A0=A0=A0 st->fifo.on--;=0A= > +out_unlock:=0A= > +=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= > +=A0=A0=A0=A0 return ret;=0A= > +}=0A= > +=0A= > +static int inv_icm42600_buffer_postdisable(struct iio_dev *indio_dev)=0A= > +{=0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 struct device *dev =3D regmap_get_device(st->map);=0A= > +=A0=A0=A0=A0 unsigned int sensor;=0A= > +=A0=A0=A0=A0 unsigned int *watermark;=0A= > +=A0=A0=A0=A0 struct inv_icm42600_sensor_conf conf =3D INV_ICM42600_SENSO= R_CONF_INIT;=0A= > +=A0=A0=A0=A0 unsigned int sleep_temp =3D 0;=0A= > +=A0=A0=A0=A0 unsigned int sleep_sensor =3D 0;=0A= > +=A0=A0=A0=A0 unsigned int sleep;=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 if (indio_dev =3D=3D st->indio_gyro) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 sensor =3D INV_ICM42600_SENSOR_GYRO= ;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 watermark =3D &st->fifo.watermark.g= yro;=0A= > +=A0=A0=A0=A0 } else if (indio_dev =3D=3D st->indio_accel) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 sensor =3D INV_ICM42600_SENSOR_ACCE= L;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 watermark =3D &st->fifo.watermark.a= ccel;=0A= > +=A0=A0=A0=A0 } else {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return -EINVAL;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 mutex_lock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_set_fifo_en(st, st->fifo.en & ~= sensor);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +=A0=A0=A0=A0 *watermark =3D 0;=0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_update_watermark(st);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +=A0=A0=A0=A0 conf.mode =3D INV_ICM42600_SENSOR_MODE_OFF;=0A= > +=A0=A0=A0=A0 if (sensor =3D=3D INV_ICM42600_SENSOR_GYRO)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_set_gyro_conf(= st, &conf, &sleep_sensor);=0A= > +=A0=A0=A0=A0 else=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_set_accel_conf= (st, &conf, &sleep_sensor);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +=A0=A0=A0=A0 /* if FIFO is off, turn temperature off */=0A= > +=A0=A0=A0=A0 if (!st->fifo.on)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_set_temp_conf(= st, false, &sleep_temp);=0A= > +=0A= > +out_unlock:=0A= > +=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 /* sleep maximum required time */=0A= > +=A0=A0=A0=A0 if (sleep_sensor > sleep_temp)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 sleep =3D sleep_sensor;=0A= > +=A0=A0=A0=A0 else=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 sleep =3D sleep_temp;=0A= > +=A0=A0=A0=A0 if (sleep)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 msleep(sleep);=0A= > +=0A= > +=A0=A0=A0=A0 pm_runtime_mark_last_busy(dev);=0A= > +=A0=A0=A0=A0 pm_runtime_put_autosuspend(dev);=0A= > +=0A= > +=A0=A0=A0=A0 return ret;=0A= > +}=0A= > +=0A= > +const struct iio_buffer_setup_ops inv_icm42600_buffer_ops =3D {=0A= > +=A0=A0=A0=A0 .preenable =3D inv_icm42600_buffer_preenable,=0A= > +=A0=A0=A0=A0 .postenable =3D inv_icm42600_buffer_postenable,=0A= =0A= We've been slowly eroding the difference between preenable and posteenable.= =0A= Would be good to understand why you need to define both?=0A= =0A= > +=A0=A0=A0=A0 .predisable =3D inv_icm42600_buffer_predisable,=0A= > +=A0=A0=A0=A0 .postdisable =3D inv_icm42600_buffer_postdisable,=0A= > +};=0A= > +=0A= > +int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0 unsigned int max)=0A= > +{=0A= > +=A0=A0=A0=A0 size_t max_count;=0A= > +=A0=A0=A0=A0 __be16 *raw_fifo_count;=0A= > +=A0=A0=A0=A0 ssize_t i, size;=0A= > +=A0=A0=A0=A0 const void *accel, *gyro, *timestamp;=0A= > +=A0=A0=A0=A0 const int8_t *temp;=0A= > +=A0=A0=A0=A0 unsigned int odr;=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 /* reset all samples counters */=0A= > +=A0=A0=A0=A0 st->fifo.count =3D 0;=0A= > +=A0=A0=A0=A0 st->fifo.nb.gyro =3D 0;=0A= > +=A0=A0=A0=A0 st->fifo.nb.accel =3D 0;=0A= > +=A0=A0=A0=A0 st->fifo.nb.total =3D 0;=0A= > +=0A= > +=A0=A0=A0=A0 /* compute maximum FIFO read size */=0A= > +=A0=A0=A0=A0 if (max =3D=3D 0)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 max_count =3D sizeof(st->fifo.data)= ;=0A= > +=A0=A0=A0=A0 else=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 max_count =3D max * inv_icm42600_ge= t_packet_size(st->fifo.en);=0A= > +=0A= > +=A0=A0=A0=A0 /* read FIFO count value */=0A= > +=A0=A0=A0=A0 raw_fifo_count =3D (__be16 *)st->buffer;=0A= > +=A0=A0=A0=A0 ret =3D regmap_bulk_read(st->map, INV_ICM42600_REG_FIFO_COU= NT,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0 raw_fifo_count, sizeof(*raw_fifo_count));=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;=0A= > +=A0=A0=A0=A0 st->fifo.count =3D be16_to_cpup(raw_fifo_count);=0A= > +=0A= > +=A0=A0=A0=A0 /* check and clamp FIFO count value */=0A= > +=A0=A0=A0=A0 if (st->fifo.count =3D=3D 0)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return 0;=0A= > +=A0=A0=A0=A0 if (st->fifo.count > max_count)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 st->fifo.count =3D max_count;=0A= > +=0A= > +=A0=A0=A0=A0 /* read all FIFO data in internal buffer */=0A= > +=A0=A0=A0=A0 ret =3D regmap_noinc_read(st->map, INV_ICM42600_REG_FIFO_DA= TA,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0 st->fifo.data, st->fifo.count);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;=0A= > +=0A= > +=A0=A0=A0=A0 /* compute number of samples for each sensor */=0A= > +=A0=A0=A0=A0 for (i =3D 0; i < st->fifo.count; i +=3D size) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 size =3D inv_icm42600_fifo_decode_p= acket(&st->fifo.data[i],=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0 &accel, &gyro, &temp, ×tamp, &odr);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (size <=3D 0)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 break;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (gyro !=3D NULL && inv_icm42600_= fifo_is_data_valid(gyro))=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 st->fifo.nb= .gyro++;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (accel !=3D NULL && inv_icm42600= _fifo_is_data_valid(accel))=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 st->fifo.nb= .accel++;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 st->fifo.nb.total++;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 return 0;=0A= > +}=0A= > +=0A= > +int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)=0A= > +{=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 if (st->fifo.nb.total =3D=3D 0)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return 0;=0A= > +=0A= > +=A0=A0=A0=A0 if (st->fifo.nb.gyro > 0) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_gyro_parse_fif= o(st->indio_gyro);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;= =0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 if (st->fifo.nb.accel > 0) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_accel_parse_fi= fo(st->indio_accel);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;= =0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 return 0;=0A= > +}=0A= > +=0A= > +int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0 unsigned int count)=0A= > +{=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_fifo_read(st, count);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;=0A= Definitely searching my memory for how this works in the core, so=0A= I may have it wrong.=0A= =0A= This is a bit unusual (I think).=A0 The intent of the flush=0A= is to read up to 'n' bytes because someone just did a read on the buffer=0A= or select, and there was data in the hwfifo capable of satisfying the read= =0A= even though we haven't yet reached the watermark.=0A= =0A= Given both sensor types are coming from one buffer, do we have a potential= =0A= issue here or under serving even though data is available?=0A= =0A= The case I worry may be served late is when an poll / select=0A= is waiting for sufficient data.=0A= =0A= So what should we be doing?=A0 We want to guarantee to provide data=0A= for each sensor type if it's in the hwfifo. As such we could keep reading= =0A= until we have enough, but that could cause some issues if the two data rate= s=0A= are very different (overflow on the other kfifo)=0A= =0A= Maybe what you have here is the best we can do. =0A= =0A= I'm assuming the watermark level has a similar problem.=A0 One value repres= ents=0A= the sum of the two types of data.=0A= =0A= > +=0A= > +=A0=A0=A0=A0 if (st->fifo.nb.total =3D=3D 0)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return 0;=0A= > +=0A= > +=A0=A0=A0=A0 if (st->fifo.nb.gyro > 0) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_gyro_parse_fif= o(st->indio_gyro);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;= =0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 if (st->fifo.nb.accel > 0) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_accel_parse_fi= fo(st->indio_accel);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;= =0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 return 0;=0A= > +}=0A= > +=0A= > +int inv_icm42600_buffer_init(struct inv_icm42600_state *st)=0A= > +{=0A= > +=A0=A0=A0=A0 unsigned int val;=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 /*=0A= > +=A0=A0=A0=A0=A0 * Default FIFO configuration (bits 7 to 5)=0A= > +=A0=A0=A0=A0=A0 * - use invalid value=0A= > +=A0=A0=A0=A0=A0 * - FIFO count in bytes=0A= > +=A0=A0=A0=A0=A0 * - FIFO count in big endian=0A= > +=A0=A0=A0=A0=A0 */=0A= > +=A0=A0=A0=A0 val =3D INV_ICM42600_INTF_CONFIG0_FIFO_COUNT_ENDIAN;=0A= > +=A0=A0=A0=A0 ret =3D regmap_update_bits(st->map, INV_ICM42600_REG_INTF_C= ONFIG0,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0 GENMASK(7, 5), val);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;=0A= > +=0A= > +=A0=A0=A0=A0 /*=0A= > +=A0=A0=A0=A0=A0 * Enable FIFO partial read and continuous watermark inte= rrupt.=0A= > +=A0=A0=A0=A0=A0 * Disable all FIFO EN bits.=0A= > +=A0=A0=A0=A0=A0 */=0A= > +=A0=A0=A0=A0 val =3D INV_ICM42600_FIFO_CONFIG1_RESUME_PARTIAL_RD |=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_FIFO_CONFIG1_WM_GT_TH;=0A= > +=A0=A0=A0=A0 return regmap_update_bits(st->map, INV_ICM42600_REG_FIFO_CO= NFIG1,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0 GENMASK(6, 5) | GENMASK(3, 0), val);=0A= > +}=0A= > diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h b/drivers= /iio/imu/inv_icm42600/inv_icm42600_buffer.h=0A= > new file mode 100644=0A= > index 000000000000..de2a3949dcc7=0A= > --- /dev/null=0A= > +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h=0A= > @@ -0,0 +1,98 @@=0A= > +/* SPDX-License-Identifier: GPL-2.0-or-later */=0A= > +/*=0A= > + * Copyright (C) 2020 Invensense, Inc.=0A= > + */=0A= > +=0A= > +#ifndef INV_ICM42600_BUFFER_H_=0A= > +#define INV_ICM42600_BUFFER_H_=0A= > +=0A= > +#include =0A= > +#include =0A= > +=0A= > +struct inv_icm42600_state;=0A= > +=0A= > +#define INV_ICM42600_SENSOR_GYRO=A0=A0=A0=A0 BIT(0)=0A= > +#define INV_ICM42600_SENSOR_ACCEL=A0=A0=A0 BIT(1)=0A= > +#define INV_ICM42600_SENSOR_TEMP=A0=A0=A0=A0 BIT(2)=0A= > +=0A= > +/**=0A= > + * struct inv_icm42600_fifo - FIFO state variables=0A= > + * @on:=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 reference counter for FIF= O on.=0A= > + * @en:=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 bits field of INV_ICM4260= 0_SENSOR_* for FIFO EN bits.=0A= > + * @period:=A0 FIFO internal period.=0A= > + * @watermark:=A0=A0=A0=A0=A0=A0 watermark configuration values for acce= l and gyro.=0A= > + * @count:=A0=A0 number of bytes in the FIFO data buffer.=0A= > + * @nb:=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 gyro, accel and total sam= ples in the FIFO data buffer.=0A= > + * @data:=A0=A0=A0 FIFO data buffer aligned for DMA (2kB + 32 bytes of r= ead cache).=0A= > + */=0A= > +struct inv_icm42600_fifo {=0A= > +=A0=A0=A0=A0 unsigned int on;=0A= > +=A0=A0=A0=A0 unsigned int en;=0A= > +=A0=A0=A0=A0 uint32_t period;=0A= > +=A0=A0=A0=A0 struct {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 unsigned int gyro;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 unsigned int accel;=0A= > +=A0=A0=A0=A0 } watermark;=0A= > +=A0=A0=A0=A0 size_t count;=0A= > +=A0=A0=A0=A0 struct {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 size_t gyro;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 size_t accel;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 size_t total;=0A= > +=A0=A0=A0=A0 } nb;=0A= > +=A0=A0=A0=A0 uint8_t data[2080] ____cacheline_aligned;=0A= > +};=0A= > +=0A= > +/* FIFO data packet */=0A= > +struct inv_icm42600_fifo_sensor_data {=0A= > +=A0=A0=A0=A0 __be16 x;=0A= > +=A0=A0=A0=A0 __be16 y;=0A= > +=A0=A0=A0=A0 __be16 z;=0A= > +} __packed;=0A= =0A= Why packed?=A0 Should be anyway I think.=0A= =0A= > +#define INV_ICM42600_FIFO_DATA_INVALID=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0 -32768=0A= > +=0A= > +static inline int16_t inv_icm42600_fifo_get_sensor_data(__be16 d)=0A= > +{=0A= > +=A0=A0=A0=A0 return be16_to_cpu(d);=0A= > +}=0A= > +=0A= > +static inline bool=0A= > +inv_icm42600_fifo_is_data_valid(const struct inv_icm42600_fifo_sensor_da= ta *s)=0A= > +{=0A= > +=A0=A0=A0=A0 int16_t x, y, z;=0A= > +=0A= > +=A0=A0=A0=A0 x =3D inv_icm42600_fifo_get_sensor_data(s->x);=0A= > +=A0=A0=A0=A0 y =3D inv_icm42600_fifo_get_sensor_data(s->y);=0A= > +=A0=A0=A0=A0 z =3D inv_icm42600_fifo_get_sensor_data(s->z);=0A= > +=0A= > +=A0=A0=A0=A0 if (x =3D=3D INV_ICM42600_FIFO_DATA_INVALID &&=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0 y =3D=3D INV_ICM42600_FIFO_DATA_INVALID &&=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0 z =3D=3D INV_ICM42600_FIFO_DATA_INVALID)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return false;=0A= > +=0A= > +=A0=A0=A0=A0 return true;=0A= > +}=0A= > +=0A= > +ssize_t inv_icm42600_fifo_decode_packet(const void *packet, const void *= *accel,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 const void **gyro, const int8_t **temp= ,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 const void **timestamp, unsigned int *= odr);=0A= > +=0A= > +extern const struct iio_buffer_setup_ops inv_icm42600_buffer_ops;=0A= > +=0A= > +int inv_icm42600_buffer_init(struct inv_icm42600_state *st);=0A= > +=0A= > +void inv_icm42600_buffer_update_fifo_period(struct inv_icm42600_state *s= t);=0A= > +=0A= > +int inv_icm42600_buffer_set_fifo_en(struct inv_icm42600_state *st,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0 unsigned int fifo_en);=0A= > +=0A= > +int inv_icm42600_buffer_update_watermark(struct inv_icm42600_state *st);= =0A= > +=0A= > +int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0 unsigned int max);=0A= > +=0A= > +int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st);=0A= > +=0A= > +int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0 unsigned int count);=0A= > +=0A= > +#endif=0A= > diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/i= io/imu/inv_icm42600/inv_icm42600_core.c=0A= > index 246c1eb52231..6f1c1eb83953 100644=0A= > --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c=0A= > +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c=0A= > @@ -18,6 +18,7 @@=0A= >=A0 #include =0A= >=A0 =0A= >=A0 #include "inv_icm42600.h"=0A= > +#include "inv_icm42600_buffer.h"=0A= >=A0 =0A= >=A0 static const struct regmap_range_cfg inv_icm42600_regmap_ranges[] =3D = {=0A= >=A0=A0=A0=A0=A0=A0=A0 {=0A= > @@ -429,6 +430,18 @@ static irqreturn_t inv_icm42600_irq_handler(int irq,= void *_data)=0A= >=A0=A0=A0=A0=A0=A0=A0 if (status & INV_ICM42600_INT_STATUS_FIFO_FULL)=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 dev_warn(dev, "FIFO full dat= a lost!\n");=0A= >=A0 =0A= > +=A0=A0=A0=A0 /* FIFO threshold reached */=0A= > +=A0=A0=A0=A0 if (status & INV_ICM42600_INT_STATUS_FIFO_THS) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_fifo_re= ad(st, 0);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 dev_err(dev= , "FIFO read error %d\n", ret);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_un= lock;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 }=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_fifo_pa= rse(st);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 dev_err(dev= , "FIFO parsing error %d\n", ret);=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= >=A0 out_unlock:=0A= >=A0=A0=A0=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= >=A0=A0=A0=A0=A0=A0=A0 return IRQ_HANDLED;=0A= > @@ -600,6 +613,10 @@ int inv_icm42600_core_probe(struct regmap *regmap, i= nt chip, int irq,=0A= >=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;=0A= >=A0 =0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_init(st);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;=0A= > +=0A= >=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_gyro_init(st);=0A= >=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return ret;=0A= > @@ -645,6 +662,14 @@ static int __maybe_unused inv_icm42600_suspend(struc= t device *dev)=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= >=A0=A0=A0=A0=A0=A0=A0 }=0A= >=A0 =0A= > +=A0=A0=A0=A0 /* disable FIFO data streaming */=0A= > +=A0=A0=A0=A0 if (st->fifo.on) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D regmap_write(st->map, INV_I= CM42600_REG_FIFO_CONFIG,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_FIFO_CONFIG_BYPASS);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_un= lock;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= >=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_set_pwr_mgmt0(st, INV_ICM42600_= SENSOR_MODE_OFF,=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_SENSOR_MODE_O= FF, false,=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 NULL);=0A= > @@ -684,6 +709,11 @@ static int __maybe_unused inv_icm42600_resume(struct= device *dev)=0A= >=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= >=A0 =0A= > +=A0=A0=A0=A0 /* restore FIFO data streaming */=0A= > +=A0=A0=A0=A0 if (st->fifo.on)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D regmap_write(st->map, INV_I= CM42600_REG_FIFO_CONFIG,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_FIFO_CONFIG_STREAM);=0A= > +=0A= >=A0 out_unlock:=0A= >=A0=A0=A0=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= >=A0=A0=A0=A0=A0=A0=A0 return ret;=0A= > diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/i= io/imu/inv_icm42600/inv_icm42600_gyro.c=0A= > index 38654e0d217b..b05c33876b8d 100644=0A= > --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c=0A= > +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c=0A= > @@ -11,9 +11,12 @@=0A= >=A0 #include =0A= >=A0 #include =0A= >=A0 #include =0A= > +#include =0A= > +#include =0A= >=A0 =0A= >=A0 #include "inv_icm42600.h"=0A= >=A0 #include "inv_icm42600_temp.h"=0A= > +#include "inv_icm42600_buffer.h"=0A= >=A0 =0A= >=A0 #define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info)=A0=A0=A0= =A0=A0=A0=A0=A0 \=0A= >=A0=A0=A0=A0=A0=A0=A0 {=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 \=0A= > @@ -64,6 +67,76 @@ static const struct iio_chan_spec inv_icm42600_gyro_ch= annels[] =3D {=0A= >=A0=A0=A0=A0=A0=A0=A0 INV_ICM42600_TEMP_CHAN(INV_ICM42600_GYRO_SCAN_TEMP),= =0A= >=A0 };=0A= >=A0 =0A= > +/* IIO buffer data: 8 bytes */=0A= > +struct inv_icm42600_gyro_buffer {=0A= > +=A0=A0=A0=A0 struct inv_icm42600_fifo_sensor_data gyro;=0A= > +=A0=A0=A0=A0 int8_t temp;=0A= > +=A0=A0=A0=A0 uint8_t padding;=0A= > +};=0A= > +=0A= > +#define INV_ICM42600_SCAN_MASK_GYRO_3AXIS=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 \=0A= > +=A0=A0=A0=A0 (BIT(INV_ICM42600_GYRO_SCAN_X) |=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 \=0A= > +=A0=A0=A0=A0 BIT(INV_ICM42600_GYRO_SCAN_Y) |=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 \=0A= > +=A0=A0=A0=A0 BIT(INV_ICM42600_GYRO_SCAN_Z))=0A= > +=0A= > +#define INV_ICM42600_SCAN_MASK_TEMP=A0 BIT(INV_ICM42600_GYRO_SCAN_TEMP)= =0A= > +=0A= > +static const unsigned long inv_icm42600_gyro_scan_masks[] =3D {=0A= > +=A0=A0=A0=A0 /* 3-axis gyro + temperature */=0A= > +=A0=A0=A0=A0 INV_ICM42600_SCAN_MASK_GYRO_3AXIS | INV_ICM42600_SCAN_MASK_= TEMP,=0A= > +=A0=A0=A0=A0 0,=0A= > +};=0A= > +=0A= > +/* enable gyroscope sensor and FIFO write */=0A= > +static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,= =0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 const unsigned long = *scan_mask)=0A= > +{=0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 struct inv_icm42600_sensor_conf conf =3D INV_ICM42600_SENSO= R_CONF_INIT;=0A= > +=A0=A0=A0=A0 unsigned int fifo_en =3D 0;=0A= > +=A0=A0=A0=A0 unsigned int sleep_gyro =3D 0;=0A= > +=A0=A0=A0=A0 unsigned int sleep_temp =3D 0;=0A= > +=A0=A0=A0=A0 unsigned int sleep;=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 mutex_lock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 if (*scan_mask & INV_ICM42600_SCAN_MASK_TEMP) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* enable temp sensor */=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_set_temp_conf(= st, true, &sleep_temp);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_un= lock;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 fifo_en |=3D INV_ICM42600_SENSOR_TE= MP;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 if (*scan_mask & INV_ICM42600_SCAN_MASK_GYRO_3AXIS) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* enable gyro sensor */=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 conf.mode =3D INV_ICM42600_SENSOR_M= ODE_LOW_NOISE;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_set_gyro_conf(= st, &conf, &sleep_gyro);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_un= lock;=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 fifo_en |=3D INV_ICM42600_SENSOR_GY= RO;=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 /* update data FIFO write */=0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->f= ifo.en);=0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_update_watermark(st);=0A= > +=0A= > +out_unlock:=0A= > +=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= > +=A0=A0=A0=A0 /* sleep maximum required time */=0A= > +=A0=A0=A0=A0 if (sleep_gyro > sleep_temp)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 sleep =3D sleep_gyro;=0A= > +=A0=A0=A0=A0 else=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 sleep =3D sleep_temp;=0A= > +=A0=A0=A0=A0 if (sleep)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 msleep(sleep);=0A= > +=A0=A0=A0=A0 return ret;=0A= > +}=0A= > +=0A= >=A0 static int inv_icm42600_gyro_read_sensor(struct inv_icm42600_state *st= ,=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 struct iio_chan_spec const= *chan,=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 int16_t *val)=0A= > @@ -260,7 +333,12 @@ static int inv_icm42600_gyro_write_odr(struct inv_ic= m42600_state *st,=0A= >=A0=A0=A0=A0=A0=A0=A0 mutex_lock(&st->lock);=0A= >=A0 =0A= >=A0=A0=A0=A0=A0=A0=A0 ret =3D inv_icm42600_set_gyro_conf(st, &conf, NULL);= =0A= > +=A0=A0=A0=A0 if (ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 goto out_unlock;=0A= > +=A0=A0=A0=A0 inv_icm42600_buffer_update_fifo_period(st);=0A= > +=A0=A0=A0=A0 inv_icm42600_buffer_update_watermark(st);=0A= >=A0 =0A= > +out_unlock:=0A= >=A0=A0=A0=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= >=A0=A0=A0=A0=A0=A0=A0 pm_runtime_mark_last_busy(dev);=0A= >=A0=A0=A0=A0=A0=A0=A0 pm_runtime_put_autosuspend(dev);=0A= > @@ -574,12 +652,51 @@ static int inv_icm42600_gyro_write_raw_get_fmt(stru= ct iio_dev *indio_dev,=0A= >=A0=A0=A0=A0=A0=A0=A0 }=0A= >=A0 }=0A= >=A0 =0A= > +static int inv_icm42600_gyro_hwfifo_set_watermark(struct iio_dev *indio_= dev,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 unsigned= int val)=0A= > +{=0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 mutex_lock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 st->fifo.watermark.gyro =3D val;=0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_update_watermark(st);=0A= > +=0A= > +=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 return ret;=0A= > +}=0A= > +=0A= > +static int inv_icm42600_gyro_hwfifo_flush(struct iio_dev *indio_dev,=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 unsigned int count)=0A= > +{=0A= =0A= Nothing to do with this patch, but I realised reading this that we have=0A= some 'unusual' use of the word flush here.=A0 It's a straight forward=0A= read function so not sure why we called it flush.=0A= =0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 int ret;=0A= > +=0A= > +=A0=A0=A0=A0 if (count =3D=3D 0)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return 0;=0A= > +=0A= > +=A0=A0=A0=A0 mutex_lock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 ret =3D inv_icm42600_buffer_hwfifo_flush(st, count);=0A= > +=A0=A0=A0=A0 if (!ret)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 ret =3D st->fifo.nb.gyro;=0A= > +=0A= > +=A0=A0=A0=A0 mutex_unlock(&st->lock);=0A= > +=0A= > +=A0=A0=A0=A0 return ret;=0A= > +}=0A= > +=0A= >=A0 static const struct iio_info inv_icm42600_gyro_info =3D {=0A= >=A0=A0=A0=A0=A0=A0=A0 .read_raw =3D inv_icm42600_gyro_read_raw,=0A= >=A0=A0=A0=A0=A0=A0=A0 .read_avail =3D inv_icm42600_gyro_read_avail,=0A= >=A0=A0=A0=A0=A0=A0=A0 .write_raw =3D inv_icm42600_gyro_write_raw,=0A= >=A0=A0=A0=A0=A0=A0=A0 .write_raw_get_fmt =3D inv_icm42600_gyro_write_raw_g= et_fmt,=0A= >=A0=A0=A0=A0=A0=A0=A0 .debugfs_reg_access =3D inv_icm42600_debugfs_reg,=0A= > +=A0=A0=A0=A0 .update_scan_mode =3D inv_icm42600_gyro_update_scan_mode,= =0A= > +=A0=A0=A0=A0 .hwfifo_set_watermark =3D inv_icm42600_gyro_hwfifo_set_wate= rmark,=0A= > +=A0=A0=A0=A0 .hwfifo_flush_to_buffer =3D inv_icm42600_gyro_hwfifo_flush,= =0A= >=A0 };=0A= >=A0 =0A= >=A0 int inv_icm42600_gyro_init(struct inv_icm42600_state *st)=0A= > @@ -587,6 +704,7 @@ int inv_icm42600_gyro_init(struct inv_icm42600_state = *st)=0A= >=A0=A0=A0=A0=A0=A0=A0 struct device *dev =3D regmap_get_device(st->map);= =0A= >=A0=A0=A0=A0=A0=A0=A0 const char *name;=0A= >=A0=A0=A0=A0=A0=A0=A0 struct iio_dev *indio_dev;=0A= > +=A0=A0=A0=A0 struct iio_buffer *buffer;=0A= >=A0 =0A= >=A0=A0=A0=A0=A0=A0=A0 name =3D devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", = st->name);=0A= >=A0=A0=A0=A0=A0=A0=A0 if (!name)=0A= > @@ -596,14 +714,54 @@ int inv_icm42600_gyro_init(struct inv_icm42600_stat= e *st)=0A= >=A0=A0=A0=A0=A0=A0=A0 if (!indio_dev)=0A= >=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return -ENOMEM;=0A= >=A0 =0A= > +=A0=A0=A0=A0 buffer =3D devm_iio_kfifo_allocate(dev);=0A= > +=A0=A0=A0=A0 if (!buffer)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return -ENOMEM;=0A= > +=0A= >=A0=A0=A0=A0=A0=A0=A0 iio_device_set_drvdata(indio_dev, st);=0A= >=A0=A0=A0=A0=A0=A0=A0 indio_dev->dev.parent =3D dev;=0A= >=A0=A0=A0=A0=A0=A0=A0 indio_dev->name =3D name;=0A= >=A0=A0=A0=A0=A0=A0=A0 indio_dev->info =3D &inv_icm42600_gyro_info;=0A= > -=A0=A0=A0=A0 indio_dev->modes =3D INDIO_DIRECT_MODE;=0A= > +=A0=A0=A0=A0 indio_dev->modes =3D INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTW= ARE;=0A= >=A0=A0=A0=A0=A0=A0=A0 indio_dev->channels =3D inv_icm42600_gyro_channels;= =0A= >=A0=A0=A0=A0=A0=A0=A0 indio_dev->num_channels =3D ARRAY_SIZE(inv_icm42600_= gyro_channels);=0A= > +=A0=A0=A0=A0 indio_dev->available_scan_masks =3D inv_icm42600_gyro_scan_= masks;=0A= > +=A0=A0=A0=A0 indio_dev->setup_ops =3D &inv_icm42600_buffer_ops;=0A= > +=0A= > +=A0=A0=A0=A0 iio_device_attach_buffer(indio_dev, buffer);=0A= >=A0 =0A= >=A0=A0=A0=A0=A0=A0=A0 st->indio_gyro =3D indio_dev;=0A= >=A0=A0=A0=A0=A0=A0=A0 return devm_iio_device_register(dev, st->indio_gyro)= ;=0A= >=A0 }=0A= > +=0A= > +int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)=0A= > +{=0A= > +=A0=A0=A0=A0 struct inv_icm42600_state *st =3D iio_device_get_drvdata(in= dio_dev);=0A= > +=A0=A0=A0=A0 ssize_t i, size;=0A= > +=A0=A0=A0=A0 const void *accel, *gyro, *timestamp;=0A= > +=A0=A0=A0=A0 const int8_t *temp;=0A= > +=A0=A0=A0=A0 unsigned int odr;=0A= > +=A0=A0=A0=A0 struct inv_icm42600_gyro_buffer buffer =3D {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 .padding =3D 0,=0A= =0A= Might be worth a comment here or where the structure is defined=0A= on why we make padding explicit.=0A= =0A= > +=A0=A0=A0=A0 };=0A= > +=0A= > +=A0=A0=A0=A0 /* parse all fifo packets */=0A= > +=A0=A0=A0=A0 for (i =3D 0; i < st->fifo.count; i +=3D size) {=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 size =3D inv_icm42600_fifo_decode_p= acket(&st->fifo.data[i],=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0= =A0=A0=A0=A0 &accel, &gyro, &temp, ×tamp, &odr);=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* quit if error or FIFO is empty *= /=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (size <=3D 0)=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 return size= ;=0A= > +=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* skip packet if no gyro data or d= ata is invalid */=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 if (gyro =3D=3D NULL || !inv_icm426= 00_fifo_is_data_valid(gyro))=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 continue;= =0A= > +=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 /* fill and push data buffer */=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 memcpy(&buffer.gyro, gyro, sizeof(b= uffer.gyro));=0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 buffer.temp =3D temp ? *temp : 0;= =0A= > +=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 iio_push_to_buffers(indio_dev, &buf= fer);=0A= > +=A0=A0=A0=A0 }=0A= > +=0A= > +=A0=A0=A0=A0 return 0;=0A= > +}=0A=