This implements buffered reads for the accelerometer data. A buffered
IIO device is created containing 3 channels. The device FIFO is used for
sample buffering to reduce the IRQ load on the host system.
Reading of the device is triggered by a FIFO waterlevel interrupt. The
waterlevel settings are dependent on the sampling frequency to leverage
IRQ load against responsiveness.
Signed-off-by: Paul Geurts <[email protected]>
---
drivers/iio/accel/adxl345.h | 2 +-
drivers/iio/accel/adxl345_core.c | 387 ++++++++++++++++++++++++++++---
drivers/iio/accel/adxl345_i2c.c | 2 +-
drivers/iio/accel/adxl345_spi.c | 2 +-
4 files changed, 363 insertions(+), 30 deletions(-)
diff --git a/drivers/iio/accel/adxl345.h b/drivers/iio/accel/adxl345.h
index 284bd387ce69..269ce69517ce 100644
--- a/drivers/iio/accel/adxl345.h
+++ b/drivers/iio/accel/adxl345.h
@@ -28,6 +28,6 @@ struct adxl345_chip_info {
int uscale;
};
-int adxl345_core_probe(struct device *dev, struct regmap *regmap);
+int adxl345_core_probe(struct device *dev, struct regmap *regmap, int irq);
#endif /* _ADXL345_H_ */
diff --git a/drivers/iio/accel/adxl345_core.c b/drivers/iio/accel/adxl345_core.c
index 8bd30a23ed3b..1f38d2287783 100644
--- a/drivers/iio/accel/adxl345_core.c
+++ b/drivers/iio/accel/adxl345_core.c
@@ -11,28 +11,50 @@
#include <linux/property.h>
#include <linux/regmap.h>
#include <linux/units.h>
+#include <linux/irq.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
#include "adxl345.h"
#define ADXL345_REG_DEVID 0x00
+#define ADXL345_REG_THRESH_TAP 0x1D
#define ADXL345_REG_OFSX 0x1e
#define ADXL345_REG_OFSY 0x1f
#define ADXL345_REG_OFSZ 0x20
#define ADXL345_REG_OFS_AXIS(index) (ADXL345_REG_OFSX + (index))
#define ADXL345_REG_BW_RATE 0x2C
#define ADXL345_REG_POWER_CTL 0x2D
+#define ADXL345_REG_INT_ENABLE 0x2E
+#define ADXL345_REG_INT_SOURCE 0x30
#define ADXL345_REG_DATA_FORMAT 0x31
#define ADXL345_REG_DATAX0 0x32
#define ADXL345_REG_DATAY0 0x34
#define ADXL345_REG_DATAZ0 0x36
#define ADXL345_REG_DATA_AXIS(index) \
(ADXL345_REG_DATAX0 + (index) * sizeof(__le16))
+#define ADXL345_REG_FIFO_CTL 0x38
+#define ADXL345_REG_FIFO_STATUS 0x39
#define ADXL345_BW_RATE GENMASK(3, 0)
#define ADXL345_BASE_RATE_NANO_HZ 97656250LL
+#define ADXL345_MAX_RATE_NANO_HZ (3200LL * NANOHZ_PER_HZ)
+#define ADXL345_MAX_BUFFERED_RATE 400L
+#define ADXL345_DEFAULT_RATE (100LL * NANOHZ_PER_HZ)
+
+#define ADXL345_INT_DATA_READY BIT(7)
+#define ADXL345_INT_SINGLE_TAP BIT(6)
+#define ADXL345_INT_DOUBLE_TAP BIT(5)
+#define ADXL345_INT_ACTIVITY BIT(4)
+#define ADXL345_INT_INACTIVITY BIT(3)
+#define ADXL345_INT_FREE_FALL BIT(2)
+#define ADXL345_INT_WATERMARK BIT(1)
+#define ADXL345_INT_OVERRUN BIT(0)
#define ADXL345_POWER_CTL_MEASURE BIT(3)
#define ADXL345_POWER_CTL_STANDBY 0x00
@@ -43,12 +65,30 @@
#define ADXL345_DATA_FORMAT_8G 2
#define ADXL345_DATA_FORMAT_16G 3
-#define ADXL345_DEVID 0xE5
+#define ADXL345_FIFO_CTL_MODE_FIFO BIT(6)
+#define ADXL345_FIFO_CTL_MODE_STREAM BIT(7)
+#define ADXL345_FIFO_CTL_MODE_TRIGGER (BIT(6) | BIT(7))
+#define ADXL345_FIFO_CTL_SAMPLES_MASK GENMASK(4, 0)
+#define ADXL345_FIFO_CTL_SAMPLES(n) ((n) & ADXL345_FIFO_CTL_SAMPLES_MASK)
+#define ADXL345_FIFO_MAX_FREQ_WATERLEVEL 20
+
+#define ADXL345_DEVID 0xE5
+
+#define ADXL345_SCAN_SIZE (sizeof(__le16) * 3)
struct adxl345_data {
const struct adxl345_chip_info *info;
struct regmap *regmap;
- u8 data_range;
+ int irq;
+
+ struct iio_trigger *drdy_trig;
+ /*
+ * This lock is for protecting the consistency of series of i2c operations, that is, to
+ * make sure a measurement process will not be interrupted by a set frequency operation,
+ * which should be taken where a series of i2c or SPI operations start, released where the
+ * operation ends.
+ */
+ struct mutex lock;
};
#define ADXL345_CHANNEL(index, axis) { \
@@ -60,6 +100,13 @@ struct adxl345_data {
BIT(IIO_CHAN_INFO_CALIBBIAS), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 13, \
+ .storagebits = 16, \
+ .endianness = IIO_BE, \
+ }, \
}
static const struct iio_chan_spec adxl345_channels[] = {
@@ -68,6 +115,98 @@ static const struct iio_chan_spec adxl345_channels[] = {
ADXL345_CHANNEL(2, Z),
};
+static const unsigned long adxl345_available_scan_masks[] = {
+ /* Only allow all axis to be sampled, as this is the only option in HW */
+ BIT(0) | BIT(1) | BIT(2),
+ 0, /* Array should end with 0 */
+};
+
+/* Trigger handling */
+static irqreturn_t adxl345_irq_handler(int irq, void *d)
+{
+ struct iio_dev *indio_dev = d;
+ struct adxl345_data *data = iio_priv(indio_dev);
+ int regval, ret;
+
+ ret = regmap_read(data->regmap, ADXL345_REG_INT_SOURCE, ®val);
+ if (ret < 0) {
+ dev_err(indio_dev->dev.parent, "Broken IRQ!\n");
+ return IRQ_HANDLED;
+ }
+
+ if (regval & ADXL345_INT_OVERRUN)
+ dev_err(indio_dev->dev.parent, "FIFO overrun detected! Data lost\n");
+
+ if (regval & ADXL345_INT_WATERMARK)
+ iio_trigger_poll_nested(data->drdy_trig);
+ else
+ dev_err(indio_dev->dev.parent, "Unexpected IRQ! Source: 0x%02X\n", regval);
+
+ return IRQ_HANDLED;
+}
+
+static int adxl345_get_sampling_freq(struct adxl345_data *data, s64 *freq_nhz)
+{
+ int ret;
+ unsigned int regval;
+
+ mutex_lock(&data->lock);
+ ret = regmap_read(data->regmap, ADXL345_REG_BW_RATE, ®val);
+ mutex_unlock(&data->lock);
+ if (ret < 0)
+ return ret;
+
+ *freq_nhz = ADXL345_BASE_RATE_NANO_HZ <<
+ (regval & ADXL345_BW_RATE);
+
+ return IIO_VAL_INT_PLUS_NANO;
+}
+
+static int adxl345_set_sampling_freq(struct adxl345_data *data, s64 freq_nhz)
+{
+ int ret, waterlevel;
+ s64 n;
+
+ /* Only allow valid sampling rates */
+ if (freq_nhz < ADXL345_BASE_RATE_NANO_HZ || freq_nhz > ADXL345_MAX_RATE_NANO_HZ)
+ return -EINVAL;
+
+ /*
+ * Trade-off the number of IRQs to the responsiveness on lower sample rates.
+ * sample rates < 100Hz don't use the FIFO
+ * 100<>1600Hz issue 100 IRQs per second
+ * 3200Hz issues 160 IRQs per second
+ */
+ if (freq_nhz < ADXL345_DEFAULT_RATE)
+ waterlevel = 0;
+ else if (freq_nhz < ADXL345_MAX_RATE_NANO_HZ)
+ waterlevel = (freq_nhz / ADXL345_DEFAULT_RATE);
+ else
+ waterlevel = ADXL345_FIFO_MAX_FREQ_WATERLEVEL;
+
+ n = div_s64(freq_nhz, ADXL345_BASE_RATE_NANO_HZ);
+
+ /* Disable the IRQ before claiming the mutex to prevent deadlocks */
+ if (data->irq)
+ disable_irq(data->irq);
+
+ mutex_lock(&data->lock);
+ ret = regmap_update_bits(data->regmap, ADXL345_REG_BW_RATE,
+ ADXL345_BW_RATE, clamp_val(ilog2(n), 0, ADXL345_BW_RATE));
+ if (ret < 0)
+ goto out;
+ ret = regmap_update_bits(data->regmap, ADXL345_REG_FIFO_CTL,
+ ADXL345_FIFO_CTL_SAMPLES_MASK,
+ ADXL345_FIFO_CTL_SAMPLES(waterlevel));
+
+out:
+ mutex_unlock(&data->lock);
+ if (data->irq)
+ enable_irq(data->irq);
+ return ret;
+}
+
+/* Direct mode functions */
static int adxl345_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val, int *val2, long mask)
@@ -80,26 +219,35 @@ static int adxl345_read_raw(struct iio_dev *indio_dev,
switch (mask) {
case IIO_CHAN_INFO_RAW:
+ ret = iio_device_claim_direct_mode(indio_dev);
+ if (ret < 0)
+ return ret;
/*
* Data is stored in adjacent registers:
* ADXL345_REG_DATA(X0/Y0/Z0) contain the least significant byte
* and ADXL345_REG_DATA(X0/Y0/Z0) + 1 the most significant byte
*/
+ mutex_lock(&data->lock);
ret = regmap_bulk_read(data->regmap,
ADXL345_REG_DATA_AXIS(chan->address),
&accel, sizeof(accel));
+ mutex_unlock(&data->lock);
if (ret < 0)
return ret;
*val = sign_extend32(le16_to_cpu(accel), 12);
+
+ iio_device_release_direct_mode(indio_dev);
return IIO_VAL_INT;
case IIO_CHAN_INFO_SCALE:
*val = 0;
*val2 = data->info->uscale;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_CHAN_INFO_CALIBBIAS:
+ mutex_lock(&data->lock);
ret = regmap_read(data->regmap,
ADXL345_REG_OFS_AXIS(chan->address), ®val);
+ mutex_unlock(&data->lock);
if (ret < 0)
return ret;
/*
@@ -110,15 +258,10 @@ static int adxl345_read_raw(struct iio_dev *indio_dev,
return IIO_VAL_INT;
case IIO_CHAN_INFO_SAMP_FREQ:
- ret = regmap_read(data->regmap, ADXL345_REG_BW_RATE, ®val);
- if (ret < 0)
- return ret;
-
- samp_freq_nhz = ADXL345_BASE_RATE_NANO_HZ <<
- (regval & ADXL345_BW_RATE);
+ ret = adxl345_get_sampling_freq(data, &samp_freq_nhz);
*val = div_s64_rem(samp_freq_nhz, NANOHZ_PER_HZ, val2);
- return IIO_VAL_INT_PLUS_NANO;
+ return ret;
}
return -EINVAL;
@@ -129,7 +272,7 @@ static int adxl345_write_raw(struct iio_dev *indio_dev,
int val, int val2, long mask)
{
struct adxl345_data *data = iio_priv(indio_dev);
- s64 n;
+ int ret = -EINVAL;
switch (mask) {
case IIO_CHAN_INFO_CALIBBIAS:
@@ -137,20 +280,17 @@ static int adxl345_write_raw(struct iio_dev *indio_dev,
* 8-bit resolution at +/- 2g, that is 4x accel data scale
* factor
*/
- return regmap_write(data->regmap,
- ADXL345_REG_OFS_AXIS(chan->address),
- val / 4);
+ mutex_lock(&data->lock);
+ ret = regmap_write(data->regmap,
+ ADXL345_REG_OFS_AXIS(chan->address), val / 4);
+ mutex_unlock(&data->lock);
+ break;
case IIO_CHAN_INFO_SAMP_FREQ:
- n = div_s64(val * NANOHZ_PER_HZ + val2,
- ADXL345_BASE_RATE_NANO_HZ);
-
- return regmap_update_bits(data->regmap, ADXL345_REG_BW_RATE,
- ADXL345_BW_RATE,
- clamp_val(ilog2(n), 0,
- ADXL345_BW_RATE));
+ ret = adxl345_set_sampling_freq(data, (s64)(val * NANOHZ_PER_HZ + val2));
+ break;
}
- return -EINVAL;
+ return ret;
}
static int adxl345_write_raw_get_fmt(struct iio_dev *indio_dev,
@@ -197,7 +337,149 @@ static void adxl345_powerdown(void *regmap)
regmap_write(regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_STANDBY);
}
-int adxl345_core_probe(struct device *dev, struct regmap *regmap)
+static int adxl345_flush_fifo(struct regmap *map)
+{
+ __le16 axis_data[3];
+ int ret, regval;
+
+ /* Clear the sample FIFO */
+ ret = regmap_read(map, ADXL345_REG_INT_SOURCE, ®val);
+ if (ret < 0)
+ goto out;
+ while (regval & ADXL345_INT_DATA_READY) {
+ ret = regmap_bulk_read(map, ADXL345_REG_DATA_AXIS(0), &axis_data,
+ sizeof(axis_data));
+ if (ret < 0)
+ goto out;
+ ret = regmap_read(map, ADXL345_REG_INT_SOURCE, ®val);
+ if (ret < 0)
+ goto out;
+ }
+
+out:
+ return ret;
+}
+
+static int adxl345_buffer_preenable(struct iio_dev *indio_dev)
+{
+ struct adxl345_data *data = iio_priv(indio_dev);
+ int ret;
+
+ mutex_lock(&data->lock);
+ /* Disable measurement mode to setup everything */
+ ret = regmap_clear_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
+ if (ret < 0)
+ goto out;
+
+ ret = adxl345_flush_fifo(data->regmap);
+ if (ret < 0)
+ goto out_enable;
+
+ /*
+ * Set the FIFO up in streaming mode so the chip keeps sampling.
+ * Waterlevel is set by the sample frequency functions as it is dynamic
+ */
+ ret = regmap_update_bits(data->regmap, ADXL345_REG_FIFO_CTL,
+ (int)~(ADXL345_FIFO_CTL_SAMPLES_MASK),
+ ADXL345_FIFO_CTL_MODE_STREAM);
+ if (ret < 0)
+ goto out_enable;
+
+ /* Enable the Watermark and Overrun interrupt */
+ ret = regmap_write(data->regmap, ADXL345_REG_INT_ENABLE, (ADXL345_INT_WATERMARK |
+ ADXL345_INT_OVERRUN));
+ if (ret < 0)
+ goto out_enable;
+
+ /* Re-enable measurement mode */
+ ret = regmap_set_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
+ goto out;
+
+out_enable:
+ dev_err(indio_dev->dev.parent, "Error %d Setting up device\n", ret);
+ /* Re-enable measurement mode */
+ regmap_set_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
+out:
+ mutex_unlock(&data->lock);
+ return ret;
+}
+
+static int adxl345_buffer_postdisable(struct iio_dev *indio_dev)
+{
+ struct adxl345_data *data = iio_priv(indio_dev);
+
+ mutex_lock(&data->lock);
+ /* Disable measurement mode and interrupts*/
+ regmap_clear_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
+ regmap_write(data->regmap, ADXL345_REG_INT_ENABLE, 0x00);
+
+ /* Clear the FIFO and disable FIFO mode */
+ adxl345_flush_fifo(data->regmap);
+ regmap_update_bits(data->regmap, ADXL345_REG_FIFO_CTL,
+ (int)~(ADXL345_FIFO_CTL_SAMPLES_MASK), 0x00);
+
+ /* re-enable measurement mode for direct reads */
+ regmap_set_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
+ mutex_unlock(&data->lock);
+
+ return 0;
+}
+
+static const struct iio_buffer_setup_ops adxl345_buffer_ops = {
+ .preenable = adxl345_buffer_preenable,
+ .postdisable = adxl345_buffer_postdisable,
+};
+
+static irqreturn_t adxl345_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct adxl345_data *data = iio_priv(indio_dev);
+ struct regmap *regmap = data->regmap;
+ u8 buffer[ADXL345_SCAN_SIZE] __aligned(8);
+ int ret, data_available;
+
+ mutex_lock(&data->lock);
+
+ /* Disable the IRQ before reading the FIFO */
+ if (data->irq)
+ disable_irq_nosync(data->irq);
+
+ ret = regmap_read(regmap, ADXL345_REG_INT_SOURCE, &data_available);
+ if (ret < 0) {
+ dev_err(indio_dev->dev.parent, "Could not read available data (%d)\n", ret);
+ goto done;
+ }
+
+ while (data_available & ADXL345_INT_DATA_READY) {
+ /* Read all axis data to make sure the IRQ flag is cleared. */
+ ret = regmap_bulk_read(regmap, ADXL345_REG_DATA_AXIS(0),
+ &buffer, (sizeof(buffer)));
+ if (ret < 0) {
+ dev_err(indio_dev->dev.parent, "Could not read device FIFO (%d)\n", ret);
+ goto done;
+ }
+ iio_push_to_buffers(indio_dev, buffer);
+ ret = regmap_read(regmap, ADXL345_REG_INT_SOURCE, &data_available);
+ if (ret < 0) {
+ dev_err(indio_dev->dev.parent, "Could not push data to buffers (%d)\n",
+ ret);
+ goto done;
+ }
+ }
+done:
+ iio_trigger_notify_done(indio_dev->trig);
+
+ /* Re-enable the IRQ */
+ if (data->irq)
+ enable_irq(data->irq);
+
+ mutex_unlock(&data->lock);
+
+ return IRQ_HANDLED;
+}
+
+int adxl345_core_probe(struct device *dev, struct regmap *regmap, int irq)
{
struct adxl345_data *data;
struct iio_dev *indio_dev;
@@ -218,22 +500,29 @@ int adxl345_core_probe(struct device *dev, struct regmap *regmap)
data = iio_priv(indio_dev);
data->regmap = regmap;
- /* Enable full-resolution mode */
- data->data_range = ADXL345_DATA_FORMAT_FULL_RES;
data->info = device_get_match_data(dev);
if (!data->info)
return -ENODEV;
+ /* Enable full-resolution mode */
ret = regmap_write(data->regmap, ADXL345_REG_DATA_FORMAT,
- data->data_range);
+ ADXL345_DATA_FORMAT_FULL_RES);
if (ret < 0)
return dev_err_probe(dev, ret, "Failed to set data range\n");
+ /* Set the default sampling frequency */
+ ret = adxl345_set_sampling_freq(data, ADXL345_DEFAULT_RATE);
+ if (ret < 0)
+ dev_err(dev, "Failed to set sampling rate: %d\n", ret);
+
+ mutex_init(&data->lock);
+
indio_dev->name = data->info->name;
indio_dev->info = &adxl345_info;
- indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_TRIGGERED;
indio_dev->channels = adxl345_channels;
indio_dev->num_channels = ARRAY_SIZE(adxl345_channels);
+ indio_dev->available_scan_masks = adxl345_available_scan_masks;
/* Enable measurement mode */
ret = adxl345_powerup(data->regmap);
@@ -244,7 +533,51 @@ int adxl345_core_probe(struct device *dev, struct regmap *regmap)
if (ret < 0)
return ret;
- return devm_iio_device_register(dev, indio_dev);
+ if (irq) {
+ /* Setup the data ready trigger */
+ ret = devm_request_threaded_irq(dev, irq, NULL, adxl345_irq_handler,
+ IRQF_TRIGGER_HIGH | IRQF_ONESHOT,
+ indio_dev->name, indio_dev);
+ if (ret < 0) {
+ dev_err(dev, "request irq line failed.\n");
+ return ret;
+ }
+ data->irq = irq;
+
+ data->drdy_trig = devm_iio_trigger_alloc(dev, "%s-drdy%d",
+ indio_dev->name, iio_device_id(indio_dev));
+ if (!data->drdy_trig) {
+ dev_err(dev, "Could not allocate drdy trigger\n");
+ return -ENOMEM;
+ }
+ iio_trigger_set_drvdata(data->drdy_trig, indio_dev);
+ ret = devm_iio_trigger_register(dev, data->drdy_trig);
+ if (ret < 0) {
+ dev_err(dev, "Could not register drdy trigger\n");
+ return ret;
+ }
+ /* Set the new trigger as the current trigger for this device */
+ indio_dev->trig = iio_trigger_get(data->drdy_trig);
+ } else {
+ dev_info(dev, "Not registering IIO trigger as no IRQ has been specified\n");
+ }
+
+ /* Setup the triggered buffer */
+ ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
+ NULL,
+ adxl345_trigger_handler,
+ &adxl345_buffer_ops);
+ if (ret < 0) {
+ dev_err(dev, "Error setting up the triggered buffer\n");
+ return ret;
+ }
+
+ ret = devm_iio_device_register(dev, indio_dev);
+ if (ret)
+ dev_err(dev, "Error registering IIO device: %d\n", ret);
+ else
+ dev_info(dev, "Registered IIO device\n");
+ return ret;
}
EXPORT_SYMBOL_NS_GPL(adxl345_core_probe, IIO_ADXL345);
diff --git a/drivers/iio/accel/adxl345_i2c.c b/drivers/iio/accel/adxl345_i2c.c
index a3084b0a8f78..b90d58a7a73c 100644
--- a/drivers/iio/accel/adxl345_i2c.c
+++ b/drivers/iio/accel/adxl345_i2c.c
@@ -27,7 +27,7 @@ static int adxl345_i2c_probe(struct i2c_client *client)
if (IS_ERR(regmap))
return dev_err_probe(&client->dev, PTR_ERR(regmap), "Error initializing regmap\n");
- return adxl345_core_probe(&client->dev, regmap);
+ return adxl345_core_probe(&client->dev, regmap, client->irq);
}
static const struct adxl345_chip_info adxl345_i2c_info = {
diff --git a/drivers/iio/accel/adxl345_spi.c b/drivers/iio/accel/adxl345_spi.c
index 93ca349f1780..ea9a8438b540 100644
--- a/drivers/iio/accel/adxl345_spi.c
+++ b/drivers/iio/accel/adxl345_spi.c
@@ -33,7 +33,7 @@ static int adxl345_spi_probe(struct spi_device *spi)
if (IS_ERR(regmap))
return dev_err_probe(&spi->dev, PTR_ERR(regmap), "Error initializing regmap\n");
- return adxl345_core_probe(&spi->dev, regmap);
+ return adxl345_core_probe(&spi->dev, regmap, spi->irq);
}
static const struct adxl345_chip_info adxl345_spi_info = {
--
2.20.1
On Wed, 17 Apr 2024 10:28:34 +0200
Paul Geurts <[email protected]> wrote:
Hi Paul, various comments inline.
> This implements buffered reads for the accelerometer data. A buffered
> IIO device is created containing 3 channels. The device FIFO is used for
> sample buffering to reduce the IRQ load on the host system.
>
> Reading of the device is triggered by a FIFO waterlevel interrupt. The
> waterlevel settings are dependent on the sampling frequency to leverage
> IRQ load against responsiveness.
I'm unconvinced that trade off belongs in the driver. Until now we
have exposed all the relevant controls to userspace via bufferX/watermark.
Set that to 0 or 1 if you don't want a fifo and appropriate level for whatever
responsiveness is needed for a particular application.
The need to manually disable / enable interrupts is also normally something
that needs a close look. Very very occasionally this is necessary but for most
devices IRQF_ONESHOT should provide suitable masking.
It's also not clear that a trigger is appropriate here. For FIFO equipped devices
like this, the trigger abstraction often doesn't work as we don't have one interrupt
per 'scan' of data. In these cases it is not necessary to use a trigger at all
and that can simplify things considerably.
Jonathan
>
> Signed-off-by: Paul Geurts <[email protected]>
> ---
> drivers/iio/accel/adxl345.h | 2 +-
> drivers/iio/accel/adxl345_core.c | 387 ++++++++++++++++++++++++++++---
> drivers/iio/accel/adxl345_i2c.c | 2 +-
> drivers/iio/accel/adxl345_spi.c | 2 +-
> 4 files changed, 363 insertions(+), 30 deletions(-)
>
> diff --git a/drivers/iio/accel/adxl345.h b/drivers/iio/accel/adxl345.h
> index 284bd387ce69..269ce69517ce 100644
> --- a/drivers/iio/accel/adxl345.h
> +++ b/drivers/iio/accel/adxl345.h
> @@ -28,6 +28,6 @@ struct adxl345_chip_info {
> int uscale;
> };
>
> -int adxl345_core_probe(struct device *dev, struct regmap *regmap);
> +int adxl345_core_probe(struct device *dev, struct regmap *regmap, int irq);
>
> #endif /* _ADXL345_H_ */
> diff --git a/drivers/iio/accel/adxl345_core.c b/drivers/iio/accel/adxl345_core.c
> index 8bd30a23ed3b..1f38d2287783 100644
> --- a/drivers/iio/accel/adxl345_core.c
> +++ b/drivers/iio/accel/adxl345_core.c
> @@ -11,28 +11,50 @@
> #include <linux/property.h>
> #include <linux/regmap.h>
> #include <linux/units.h>
> +#include <linux/irq.h>
>
> #include <linux/iio/iio.h>
> #include <linux/iio/sysfs.h>
> +#include <linux/iio/buffer.h>
> +#include <linux/iio/trigger.h>
> +#include <linux/iio/trigger_consumer.h>
> +#include <linux/iio/triggered_buffer.h>
>
> #include "adxl345.h"
>
> #define ADXL345_REG_DEVID 0x00
> +#define ADXL345_REG_THRESH_TAP 0x1D
> #define ADXL345_REG_OFSX 0x1e
> #define ADXL345_REG_OFSY 0x1f
> #define ADXL345_REG_OFSZ 0x20
> #define ADXL345_REG_OFS_AXIS(index) (ADXL345_REG_OFSX + (index))
> #define ADXL345_REG_BW_RATE 0x2C
> #define ADXL345_REG_POWER_CTL 0x2D
> +#define ADXL345_REG_INT_ENABLE 0x2E
> +#define ADXL345_REG_INT_SOURCE 0x30
> #define ADXL345_REG_DATA_FORMAT 0x31
> #define ADXL345_REG_DATAX0 0x32
> #define ADXL345_REG_DATAY0 0x34
> #define ADXL345_REG_DATAZ0 0x36
> #define ADXL345_REG_DATA_AXIS(index) \
> (ADXL345_REG_DATAX0 + (index) * sizeof(__le16))
> +#define ADXL345_REG_FIFO_CTL 0x38
> +#define ADXL345_REG_FIFO_STATUS 0x39
>
> #define ADXL345_BW_RATE GENMASK(3, 0)
> #define ADXL345_BASE_RATE_NANO_HZ 97656250LL
> +#define ADXL345_MAX_RATE_NANO_HZ (3200LL * NANOHZ_PER_HZ)
> +#define ADXL345_MAX_BUFFERED_RATE 400L
> +#define ADXL345_DEFAULT_RATE (100LL * NANOHZ_PER_HZ)
> +
> +#define ADXL345_INT_DATA_READY BIT(7)
> +#define ADXL345_INT_SINGLE_TAP BIT(6)
> +#define ADXL345_INT_DOUBLE_TAP BIT(5)
> +#define ADXL345_INT_ACTIVITY BIT(4)
> +#define ADXL345_INT_INACTIVITY BIT(3)
> +#define ADXL345_INT_FREE_FALL BIT(2)
> +#define ADXL345_INT_WATERMARK BIT(1)
> +#define ADXL345_INT_OVERRUN BIT(0)
>
> #define ADXL345_POWER_CTL_MEASURE BIT(3)
> #define ADXL345_POWER_CTL_STANDBY 0x00
> @@ -43,12 +65,30 @@
> #define ADXL345_DATA_FORMAT_8G 2
> #define ADXL345_DATA_FORMAT_16G 3
>
> -#define ADXL345_DEVID 0xE5
> +#define ADXL345_FIFO_CTL_MODE_FIFO BIT(6)
> +#define ADXL345_FIFO_CTL_MODE_STREAM BIT(7)
> +#define ADXL345_FIFO_CTL_MODE_TRIGGER (BIT(6) | BIT(7))
> +#define ADXL345_FIFO_CTL_SAMPLES_MASK GENMASK(4, 0)
> +#define ADXL345_FIFO_CTL_SAMPLES(n) ((n) & ADXL345_FIFO_CTL_SAMPLES_MASK)
> +#define ADXL345_FIFO_MAX_FREQ_WATERLEVEL 20
> +
> +#define ADXL345_DEVID 0xE5
No obvious reason to realign this so put it back as it was before.
> +
> +#define ADXL345_SCAN_SIZE (sizeof(__le16) * 3)
>
> struct adxl345_data {
> const struct adxl345_chip_info *info;
> struct regmap *regmap;
> - u8 data_range;
> + int irq;
> +
> + struct iio_trigger *drdy_trig;
> + /*
> + * This lock is for protecting the consistency of series of i2c operations, that is, to
> + * make sure a measurement process will not be interrupted by a set frequency operation,
> + * which should be taken where a series of i2c or SPI operations start, released where the
Wrap at 80 chars.
Also can probably just say "protects internal device state during a measurement."
> + * operation ends.
> + */
> + struct mutex lock;
> };
> +
> +/* Trigger handling */
> +static irqreturn_t adxl345_irq_handler(int irq, void *d)
> +{
> + struct iio_dev *indio_dev = d;
> + struct adxl345_data *data = iio_priv(indio_dev);
> + int regval, ret;
> +
> + ret = regmap_read(data->regmap, ADXL345_REG_INT_SOURCE, ®val);
> + if (ret < 0) {
> + dev_err(indio_dev->dev.parent, "Broken IRQ!\n");
It's a comms error, nothing necessarily wrong with the IRQ.
So perhaps just log that you couldn't read the int source regsiter.
> + return IRQ_HANDLED;
> + }
> +
> + if (regval & ADXL345_INT_OVERRUN)
> + dev_err(indio_dev->dev.parent, "FIFO overrun detected! Data lost\n");
Probably best to use a rate limited print here. Otherwise far too easy to fill
the whole kernel log with these.
> +
> + if (regval & ADXL345_INT_WATERMARK)
> + iio_trigger_poll_nested(data->drdy_trig);
As below - if it isn't useful to present a trigger to userspace, don't have one.
It's fine to have fifo equiped devices with buffers register the buffer directly
and fill it directly from the watermark interrupt. Several other drivers do this
because the trigger model isn't a good fit for them.
> + else
> + dev_err(indio_dev->dev.parent, "Unexpected IRQ! Source: 0x%02X\n", regval);
> +
> + return IRQ_HANDLED;
> +}
> +
> +static int adxl345_get_sampling_freq(struct adxl345_data *data, s64 *freq_nhz)
> +{
> + int ret;
> + unsigned int regval;
> +
> + mutex_lock(&data->lock);
> + ret = regmap_read(data->regmap, ADXL345_REG_BW_RATE, ®val);
Add a comment on why the lock is needed for this register read. If the device is
unable to cope with interleaving reads with other activity that is unusual
and we might need to think about how to enforce that more generally.
> + mutex_unlock(&data->lock);
> + if (ret < 0)
> + return ret;
> +
> + *freq_nhz = ADXL345_BASE_RATE_NANO_HZ <<
> + (regval & ADXL345_BW_RATE);
> +
> + return IIO_VAL_INT_PLUS_NANO;
It doesn't. It returns a value that is then acted on to make this true.
Return 0 from this function on success and only return this at the caller
after doing more maths.
> +}
> +
> +static int adxl345_set_sampling_freq(struct adxl345_data *data, s64 freq_nhz)
> +{
> + int ret, waterlevel;
> + s64 n;
> +
> + /* Only allow valid sampling rates */
> + if (freq_nhz < ADXL345_BASE_RATE_NANO_HZ || freq_nhz > ADXL345_MAX_RATE_NANO_HZ)
> + return -EINVAL;
> +
> + /*
> + * Trade-off the number of IRQs to the responsiveness on lower sample rates.
> + * sample rates < 100Hz don't use the FIFO
This feels like a userspace problem.
If userspace sets the watermark to 0 or 1, don't use the fifo, otherwise do
so. In driver handling is complex and the correct answers depend on the hardware
platform.
There is ABI to let userspace control the watermark directly.
> + * 100<>1600Hz issue 100 IRQs per second
> + * 3200Hz issues 160 IRQs per second
> + */
> + if (freq_nhz < ADXL345_DEFAULT_RATE)
> + waterlevel = 0;
> + else if (freq_nhz < ADXL345_MAX_RATE_NANO_HZ)
> + waterlevel = (freq_nhz / ADXL345_DEFAULT_RATE);
> + else
> + waterlevel = ADXL345_FIFO_MAX_FREQ_WATERLEVEL;
> +
> + n = div_s64(freq_nhz, ADXL345_BASE_RATE_NANO_HZ);
> +
> + /* Disable the IRQ before claiming the mutex to prevent deadlocks */
What is the deadlock? I can see some races with values, but not an obvious
deadlock.
Also can we do what most drivers do which is just prevent updating the sampling
frequency (and similar parameter) whilst in buffered mode?
iio_device_claim_direct_mode() is there to provide a race free way to do this
sort of thing.
It's fine to make userspace stop a buffer, update settings and restart it.
> + if (data->irq)
> + disable_irq(data->irq);
> +
> + mutex_lock(&data->lock);
> + ret = regmap_update_bits(data->regmap, ADXL345_REG_BW_RATE,
> + ADXL345_BW_RATE, clamp_val(ilog2(n), 0, ADXL345_BW_RATE));
> + if (ret < 0)
> + goto out;
> + ret = regmap_update_bits(data->regmap, ADXL345_REG_FIFO_CTL,
> + ADXL345_FIFO_CTL_SAMPLES_MASK,
> + ADXL345_FIFO_CTL_SAMPLES(waterlevel));
> +
> +out:
> + mutex_unlock(&data->lock);
> + if (data->irq)
> + enable_irq(data->irq);
> + return ret;
> +}
> +
> +/* Direct mode functions */
> static int adxl345_read_raw(struct iio_dev *indio_dev,
> struct iio_chan_spec const *chan,
> int *val, int *val2, long mask)
> @@ -80,26 +219,35 @@ static int adxl345_read_raw(struct iio_dev *indio_dev,
>
> switch (mask) {
> case IIO_CHAN_INFO_RAW:
> + ret = iio_device_claim_direct_mode(indio_dev);
> + if (ret < 0)
> + return ret;
> /*
> * Data is stored in adjacent registers:
> * ADXL345_REG_DATA(X0/Y0/Z0) contain the least significant byte
> * and ADXL345_REG_DATA(X0/Y0/Z0) + 1 the most significant byte
> */
> + mutex_lock(&data->lock);
> ret = regmap_bulk_read(data->regmap,
> ADXL345_REG_DATA_AXIS(chan->address),
> &accel, sizeof(accel));
> + mutex_unlock(&data->lock);
> if (ret < 0)
> return ret;
>
> *val = sign_extend32(le16_to_cpu(accel), 12);
> +
> + iio_device_release_direct_mode(indio_dev);
> return IIO_VAL_INT;
> case IIO_CHAN_INFO_SCALE:
> *val = 0;
> *val2 = data->info->uscale;
> return IIO_VAL_INT_PLUS_MICRO;
> case IIO_CHAN_INFO_CALIBBIAS:
> + mutex_lock(&data->lock);
> ret = regmap_read(data->regmap,
> ADXL345_REG_OFS_AXIS(chan->address), ®val);
> + mutex_unlock(&data->lock);
If we always need to take the lock because reads can interrupt fifo read out (seems
that might be the case from a quick look at the datasheet, then
set regmap to not use it's internal locking and wrap these calls up locally
with the lock.
Do that in a precursor patch with a comment to say why it is necessary later
in the series.
> if (ret < 0)
> return ret;
> /*
> @@ -110,15 +258,10 @@ static int adxl345_read_raw(struct iio_dev *indio_dev,
>
> return IIO_VAL_INT;
> case IIO_CHAN_INFO_SAMP_FREQ:
> - ret = regmap_read(data->regmap, ADXL345_REG_BW_RATE, ®val);
> - if (ret < 0)
> - return ret;
> -
> - samp_freq_nhz = ADXL345_BASE_RATE_NANO_HZ <<
> - (regval & ADXL345_BW_RATE);
> + ret = adxl345_get_sampling_freq(data, &samp_freq_nhz);
Data may be invalid, so don't carry on to do maths if it is.
> *val = div_s64_rem(samp_freq_nhz, NANOHZ_PER_HZ, val2);
as above,the value is not IIO_VAL_INT_PLUS_NANO until after this maths
so not appropriate to have the get_sampling_freq() function return
a value that implies this maths is not needed.
>
> - return IIO_VAL_INT_PLUS_NANO;
> + return ret;
> }
>
> return -EINVAL;
> @@ -129,7 +272,7 @@ static int adxl345_write_raw(struct iio_dev *indio_dev,
> int val, int val2, long mask)
> {
> struct adxl345_data *data = iio_priv(indio_dev);
> - s64 n;
> + int ret = -EINVAL;
>
> switch (mask) {
> case IIO_CHAN_INFO_CALIBBIAS:
> @@ -137,20 +280,17 @@ static int adxl345_write_raw(struct iio_dev *indio_dev,
> * 8-bit resolution at +/- 2g, that is 4x accel data scale
> * factor
> */
> - return regmap_write(data->regmap,
> - ADXL345_REG_OFS_AXIS(chan->address),
> - val / 4);
> + mutex_lock(&data->lock);
> + ret = regmap_write(data->regmap,
> + ADXL345_REG_OFS_AXIS(chan->address), val / 4);
> + mutex_unlock(&data->lock);
> + break;
return ret;
> case IIO_CHAN_INFO_SAMP_FREQ:
> - n = div_s64(val * NANOHZ_PER_HZ + val2,
> - ADXL345_BASE_RATE_NANO_HZ);
> -
> - return regmap_update_bits(data->regmap, ADXL345_REG_BW_RATE,
> - ADXL345_BW_RATE,
> - clamp_val(ilog2(n), 0,
> - ADXL345_BW_RATE));
> + ret = adxl345_set_sampling_freq(data, (s64)(val * NANOHZ_PER_HZ + val2));
> + break;
return adxl345...
We do direct returns for a reason, don't change it without a strong
argument (more on this below).
> }
>
> - return -EINVAL;
> + return ret;
You could push this into a default: statement in the switch, but definitely
don't make all paths now return down here. That makes the code harder
to review.
> }
>
> static int adxl345_write_raw_get_fmt(struct iio_dev *indio_dev,
> @@ -197,7 +337,149 @@ static void adxl345_powerdown(void *regmap)
> regmap_write(regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_STANDBY);
> }
>
> -int adxl345_core_probe(struct device *dev, struct regmap *regmap)
> +static int adxl345_flush_fifo(struct regmap *map)
> +{
> + __le16 axis_data[3];
> + int ret, regval;
> +
> + /* Clear the sample FIFO */
> + ret = regmap_read(map, ADXL345_REG_INT_SOURCE, ®val);
Why not use the FIFO_STATUS register and read out whatever that tells us is
in the FIFO? Can at least read that many before having to check if there are
more.
> + if (ret < 0)
> + goto out;
return ret;
> + while (regval & ADXL345_INT_DATA_READY) {
> + ret = regmap_bulk_read(map, ADXL345_REG_DATA_AXIS(0), &axis_data,
> + sizeof(axis_data));
> + if (ret < 0)
> + goto out;
The datasheet puts a timing requirement on repeat reads that you need to enforce..
5 usec.
return ret;
> + ret = regmap_read(map, ADXL345_REG_INT_SOURCE, ®val);
> + if (ret < 0)
> + goto out;
return directly - going to a label that does nothing makes a reviewer
following code paths have to go see that nothing happens.
return ret;
> + }
> +
> +out:
> + return ret;
> +}
> +
> +static int adxl345_buffer_preenable(struct iio_dev *indio_dev)
> +{
> + struct adxl345_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + mutex_lock(&data->lock);
> + /* Disable measurement mode to setup everything */
> + ret = regmap_clear_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
> + if (ret < 0)
> + goto out;
> +
> + ret = adxl345_flush_fifo(data->regmap);
> + if (ret < 0)
> + goto out_enable;
> +
> + /*
> + * Set the FIFO up in streaming mode so the chip keeps sampling.
> + * Waterlevel is set by the sample frequency functions as it is dynamic
This I don't follow. Why is it dynamic? It's fixed for a given run at a given
frequency. I can sort of see a true dynamic adjustment might make sense, but that
would be complex and isn't obviously a problem for the kernel.
I'd prefer to see this done like the majority of other fifo handling drivers:
Make setting the watermark vs frequency a userspace problem.
> + */
> + ret = regmap_update_bits(data->regmap, ADXL345_REG_FIFO_CTL,
> + (int)~(ADXL345_FIFO_CTL_SAMPLES_MASK),
> + ADXL345_FIFO_CTL_MODE_STREAM);
> + if (ret < 0)
> + goto out_enable;
> +
> + /* Enable the Watermark and Overrun interrupt */
> + ret = regmap_write(data->regmap, ADXL345_REG_INT_ENABLE, (ADXL345_INT_WATERMARK |
> + ADXL345_INT_OVERRUN));
> + if (ret < 0)
> + goto out_enable;
> +
> + /* Re-enable measurement mode */
> + ret = regmap_set_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
> + goto out;
Don't do this as it makes for messy control flow to review
if (ret)
goto out_enabled;
mutex_unlock(&data->lock)
return 0;
out_enable:
..
Can use guard(mutex)(&data->lock) to avoid need to unlock manually and allow at least
some paths to return directly.
> +
> +out_enable:
> + dev_err(indio_dev->dev.parent, "Error %d Setting up device\n", ret);
> + /* Re-enable measurement mode */
> + regmap_set_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
> +out:
> + mutex_unlock(&data->lock);
> + return ret;
> +}
> +
> +static int adxl345_buffer_postdisable(struct iio_dev *indio_dev)
> +{
> + struct adxl345_data *data = iio_priv(indio_dev);
> +
> + mutex_lock(&data->lock);
> + /* Disable measurement mode and interrupts*/
> + regmap_clear_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
Check errors on all these accesses.
> + regmap_write(data->regmap, ADXL345_REG_INT_ENABLE, 0x00);
> +
> + /* Clear the FIFO and disable FIFO mode */
> + adxl345_flush_fifo(data->regmap);
> + regmap_update_bits(data->regmap, ADXL345_REG_FIFO_CTL,
> + (int)~(ADXL345_FIFO_CTL_SAMPLES_MASK), 0x00);
> +
> + /* re-enable measurement mode for direct reads */
> + regmap_set_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
> + mutex_unlock(&data->lock);
> +
> + return 0;
> +}
> +
> +static const struct iio_buffer_setup_ops adxl345_buffer_ops = {
> + .preenable = adxl345_buffer_preenable,
> + .postdisable = adxl345_buffer_postdisable,
> +};
> +
> +static irqreturn_t adxl345_trigger_handler(int irq, void *p)
> +{
> + struct iio_poll_func *pf = p;
> + struct iio_dev *indio_dev = pf->indio_dev;
> + struct adxl345_data *data = iio_priv(indio_dev);
> + struct regmap *regmap = data->regmap;
> + u8 buffer[ADXL345_SCAN_SIZE] __aligned(8);
Not necessary to align - that's only need if there is a timestmap.
However, given this driver supports spi and regmap doesn't make any
guarantees on whether dma safe buffers are needed, this should be
DMA safe. Easiest option is to put an __aligned(IIO_DMA_MINALIGN)
buffer at the end of your iio_priv structure.
I'll note that you probably won't ever see the result of not doing
this as I believe regmap happens to always copy the buffers today
but in earlier discussions we concluded that it was better to always
use it as if it didn't make those copies (as there are optimizatons
that would get rid of them.) If you can find docs that say otherwise
then let me know!
I'll note there is already one bulk read in the driver that would suffer
from the same problem and should be fixed.
> + int ret, data_available;
> +
> + mutex_lock(&data->lock);
> +
> + /* Disable the IRQ before reading the FIFO */
This needs a lot more explanation. Disabling interrupts like
this can be very expensive and can be hard to reason about
+ it's not necessary most of the time because of IRQF_ONESHOT.
I'm not 100% sure there is a good reason for this driver to expose
at trigger - normally we only do that if it will support non fifo
buffered modes - even then if it's a fifo interrupt we often
switch to that mode explicitly by enabling the buffer _without_
a trigger set (to indicate that one doesn't make sense).
In that case this would be directly called from an interrupt thread
so it oneshot should protect it against additional IRQs until done
without the need for explicit handling.
> + if (data->irq)
> + disable_irq_nosync(data->irq);
> +
> + ret = regmap_read(regmap, ADXL345_REG_INT_SOURCE, &data_available);
I'd rename this to reflect it contains a lot of other things int_source
seems sensible.
> + if (ret < 0) {
> + dev_err(indio_dev->dev.parent, "Could not read available data (%d)\n", ret);
> + goto done;
> + }
> +
> + while (data_available & ADXL345_INT_DATA_READY) {
As for the flush above, read the FIFO_STATUS register to get an initial number of samples,
and read those without rechecking INT_SOURCE.
> + /* Read all axis data to make sure the IRQ flag is cleared. */
> + ret = regmap_bulk_read(regmap, ADXL345_REG_DATA_AXIS(0),
> + &buffer, (sizeof(buffer)));
> + if (ret < 0) {
> + dev_err(indio_dev->dev.parent, "Could not read device FIFO (%d)\n", ret);
> + goto done;
> + }
> + iio_push_to_buffers(indio_dev, buffer);
> + ret = regmap_read(regmap, ADXL345_REG_INT_SOURCE, &data_available);
> + if (ret < 0) {
> + dev_err(indio_dev->dev.parent, "Could not push data to buffers (%d)\n",
> + ret);
> + goto done;
> + }
> + }
> +done:
> + iio_trigger_notify_done(indio_dev->trig);
> +
> + /* Re-enable the IRQ */
> + if (data->irq)
> + enable_irq(data->irq);
> +
> + mutex_unlock(&data->lock);
> +
> + return IRQ_HANDLED;
> +}
> +
> +int adxl345_core_probe(struct device *dev, struct regmap *regmap, int irq)
> {
> struct adxl345_data *data;
> struct iio_dev *indio_dev;
> @@ -218,22 +500,29 @@ int adxl345_core_probe(struct device *dev, struct regmap *regmap)
>
> data = iio_priv(indio_dev);
> data->regmap = regmap;
> - /* Enable full-resolution mode */
> - data->data_range = ADXL345_DATA_FORMAT_FULL_RES;
> data->info = device_get_match_data(dev);
> if (!data->info)
> return -ENODEV;
>
> + /* Enable full-resolution mode */
> ret = regmap_write(data->regmap, ADXL345_REG_DATA_FORMAT,
> - data->data_range);
> + ADXL345_DATA_FORMAT_FULL_RES);
> if (ret < 0)
> return dev_err_probe(dev, ret, "Failed to set data range\n");
>
> + /* Set the default sampling frequency */
> + ret = adxl345_set_sampling_freq(data, ADXL345_DEFAULT_RATE);
> + if (ret < 0)
> + dev_err(dev, "Failed to set sampling rate: %d\n", ret);
return dev_err_probe() This should not happen, if it does, why does it
make sense to continue>?
> +
> + mutex_init(&data->lock);
> +
> indio_dev->name = data->info->name;
> indio_dev->info = &adxl345_info;
> - indio_dev->modes = INDIO_DIRECT_MODE;
> + indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_TRIGGERED;
No need as INDIO_BUFFER_TRIGGERED is set when you register the buffer.
> indio_dev->channels = adxl345_channels;
> indio_dev->num_channels = ARRAY_SIZE(adxl345_channels);
> + indio_dev->available_scan_masks = adxl345_available_scan_masks;
>
> /* Enable measurement mode */
> ret = adxl345_powerup(data->regmap);
> @@ -244,7 +533,51 @@ int adxl345_core_probe(struct device *dev, struct regmap *regmap)
> if (ret < 0)
> return ret;
>
> - return devm_iio_device_register(dev, indio_dev);
> + if (irq) {
> + /* Setup the data ready trigger */
> + ret = devm_request_threaded_irq(dev, irq, NULL, adxl345_irq_handler,
> + IRQF_TRIGGER_HIGH | IRQF_ONESHOT,
Given the possibility of inverters in the interrupt line that aren't represented
explicitly in DT, we tend to leave interrupt polarity as something documented
in the bindings and set from them not in the driver.
We used to do this wrong so there is plenty of legacy we can't remove
because boards may be relying on it.
> + indio_dev->name, indio_dev);
> + if (ret < 0) {
> + dev_err(dev, "request irq line failed.\n");
> + return ret;
> + }
> + data->irq = irq;
> +
> + data->drdy_trig = devm_iio_trigger_alloc(dev, "%s-drdy%d",
> + indio_dev->name, iio_device_id(indio_dev));
Line getting long. Wrap it after name,
For IIO aim for sub 80 chars unless readability is much better with a 80-100 char line.
> + if (!data->drdy_trig) {
> + dev_err(dev, "Could not allocate drdy trigger\n");
dev_err_probe() preferred for all errors in probe.
> + return -ENOMEM;
> + }
> + iio_trigger_set_drvdata(data->drdy_trig, indio_dev);
> + ret = devm_iio_trigger_register(dev, data->drdy_trig);
> + if (ret < 0) {
> + dev_err(dev, "Could not register drdy trigger\n");
return dev_err_probe(dev, ret, "Could not...")
> + return ret;
> + }
> + /* Set the new trigger as the current trigger for this device */
> + indio_dev->trig = iio_trigger_get(data->drdy_trig);
> + } else {
> + dev_info(dev, "Not registering IIO trigger as no IRQ has been specified\n");
dev_dbg() or not all. The absence of a trigger will make this obvious.
> + }
> +
> + /* Setup the triggered buffer */
> + ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
> + NULL,
> + adxl345_trigger_handler,
> + &adxl345_buffer_ops);
> + if (ret < 0) {
> + dev_err(dev, "Error setting up the triggered buffer\n");
dev_err_probe()
> + return ret;
> + }
> +
> + ret = devm_iio_device_register(dev, indio_dev);
> + if (ret)
> + dev_err(dev, "Error registering IIO device: %d\n", ret);
> + else
> + dev_info(dev, "Registered IIO device\n");
dev_dbg at most. There are many ways to find out if a device is registered
and the kernel boot log is far too noisy already!
> + return ret;
> }
> EXPORT_SYMBOL_NS_GPL(adxl345_core_probe, IIO_ADXL345);
>
> diff --git a/drivers/iio/accel/adxl345_i2c.c b/drivers/iio/accel/adxl345_i2c.c
> index a3084b0a8f78..b90d58a7a73c 100644
> --- a/drivers/iio/accel/adxl345_i2c.c
> +++ b/drivers/iio/accel/adxl345_i2c.c
> @@ -27,7 +27,7 @@ static int adxl345_i2c_probe(struct i2c_client *client)
> if (IS_ERR(regmap))
> return dev_err_probe(&client->dev, PTR_ERR(regmap), "Error initializing regmap\n");
>
> - return adxl345_core_probe(&client->dev, regmap);
> + return adxl345_core_probe(&client->dev, regmap, client->irq);
> }
>
> static const struct adxl345_chip_info adxl345_i2c_info = {
> diff --git a/drivers/iio/accel/adxl345_spi.c b/drivers/iio/accel/adxl345_spi.c
> index 93ca349f1780..ea9a8438b540 100644
> --- a/drivers/iio/accel/adxl345_spi.c
> +++ b/drivers/iio/accel/adxl345_spi.c
> @@ -33,7 +33,7 @@ static int adxl345_spi_probe(struct spi_device *spi)
> if (IS_ERR(regmap))
> return dev_err_probe(&spi->dev, PTR_ERR(regmap), "Error initializing regmap\n");
>
> - return adxl345_core_probe(&spi->dev, regmap);
> + return adxl345_core_probe(&spi->dev, regmap, spi->irq);
Device has two interrupt lines so you'll need to work out which one this is
(normally via interrupt-names in DT. Binding needs fixing as well to reflect that.
We can document in there that for backwards compatibility that the default
is that that if one interrupt is provided with no interrupt names then it is
INT1.
Jonathan
> }
>
> static const struct adxl345_chip_info adxl345_spi_info = {
On 20-04-2024 14:54, Jonathan Cameron wrote:
> On Wed, 17 Apr 2024 10:28:34 +0200
> Paul Geurts <[email protected]> wrote:
>
> Hi Paul, various comments inline.
>
>
>> This implements buffered reads for the accelerometer data. A buffered
>> IIO device is created containing 3 channels. The device FIFO is used for
>> sample buffering to reduce the IRQ load on the host system.
>>
>> Reading of the device is triggered by a FIFO waterlevel interrupt. The
>> waterlevel settings are dependent on the sampling frequency to leverage
>> IRQ load against responsiveness.
> I'm unconvinced that trade off belongs in the driver. Until now we
> have exposed all the relevant controls to userspace via bufferX/watermark
> Set that to 0 or 1 if you don't want a fifo and appropriate level for whatever
> responsiveness is needed for a particular application.
>
> The need to manually disable / enable interrupts is also normally something
> that needs a close look. Very very occasionally this is necessary but for most
> devices IRQF_ONESHOT should provide suitable masking.
>
> It's also not clear that a trigger is appropriate here. For FIFO equipped devices
> like this, the trigger abstraction often doesn't work as we don't have one interrupt
> per 'scan' of data. In these cases it is not necessary to use a trigger at all
> and that can simplify things considerably.
>
> Jonathan
This was my first interaction with the IIO subsystem, So these changes were somewhat of a
learning experience. Your review comments indicate major refactoring of my patch is in
order. I will see when I have time to get to it and resend it at some point
>
>> Signed-off-by: Paul Geurts <[email protected]>
>> ---
>> drivers/iio/accel/adxl345.h | 2 +-
>> drivers/iio/accel/adxl345_core.c | 387 ++++++++++++++++++++++++++++---
>> drivers/iio/accel/adxl345_i2c.c | 2 +-
>> drivers/iio/accel/adxl345_spi.c | 2 +-
>> 4 files changed, 363 insertions(+), 30 deletions(-)
>>
>> diff --git a/drivers/iio/accel/adxl345.h b/drivers/iio/accel/adxl345.h
>> index 284bd387ce69..269ce69517ce 100644
>> --- a/drivers/iio/accel/adxl345.h
>> +++ b/drivers/iio/accel/adxl345.h
>> @@ -28,6 +28,6 @@ struct adxl345_chip_info {
>> int uscale;
>> };
>>
>> -int adxl345_core_probe(struct device *dev, struct regmap *regmap);
>> +int adxl345_core_probe(struct device *dev, struct regmap *regmap, int irq);
>>
>> #endif /* _ADXL345_H_ */
>> diff --git a/drivers/iio/accel/adxl345_core.c b/drivers/iio/accel/adxl345_core.c
>> index 8bd30a23ed3b..1f38d2287783 100644
>> --- a/drivers/iio/accel/adxl345_core.c
>> +++ b/drivers/iio/accel/adxl345_core.c
>> @@ -11,28 +11,50 @@
>> #include <linux/property.h>
>> #include <linux/regmap.h>
>> #include <linux/units.h>
>> +#include <linux/irq.h>
>>
>> #include <linux/iio/iio.h>
>> #include <linux/iio/sysfs.h>
>> +#include <linux/iio/buffer.h>
>> +#include <linux/iio/trigger.h>
>> +#include <linux/iio/trigger_consumer.h>
>> +#include <linux/iio/triggered_buffer.h>
>>
>> #include "adxl345.h"
>>
>> #define ADXL345_REG_DEVID 0x00
>> +#define ADXL345_REG_THRESH_TAP 0x1D
>> #define ADXL345_REG_OFSX 0x1e
>> #define ADXL345_REG_OFSY 0x1f
>> #define ADXL345_REG_OFSZ 0x20
>> #define ADXL345_REG_OFS_AXIS(index) (ADXL345_REG_OFSX + (index))
>> #define ADXL345_REG_BW_RATE 0x2C
>> #define ADXL345_REG_POWER_CTL 0x2D
>> +#define ADXL345_REG_INT_ENABLE 0x2E
>> +#define ADXL345_REG_INT_SOURCE 0x30
>> #define ADXL345_REG_DATA_FORMAT 0x31
>> #define ADXL345_REG_DATAX0 0x32
>> #define ADXL345_REG_DATAY0 0x34
>> #define ADXL345_REG_DATAZ0 0x36
>> #define ADXL345_REG_DATA_AXIS(index) \
>> (ADXL345_REG_DATAX0 + (index) * sizeof(__le16))
>> +#define ADXL345_REG_FIFO_CTL 0x38
>> +#define ADXL345_REG_FIFO_STATUS 0x39
>>
>> #define ADXL345_BW_RATE GENMASK(3, 0)
>> #define ADXL345_BASE_RATE_NANO_HZ 97656250LL
>> +#define ADXL345_MAX_RATE_NANO_HZ (3200LL * NANOHZ_PER_HZ)
>> +#define ADXL345_MAX_BUFFERED_RATE 400L
>> +#define ADXL345_DEFAULT_RATE (100LL * NANOHZ_PER_HZ)
>> +
>> +#define ADXL345_INT_DATA_READY BIT(7)
>> +#define ADXL345_INT_SINGLE_TAP BIT(6)
>> +#define ADXL345_INT_DOUBLE_TAP BIT(5)
>> +#define ADXL345_INT_ACTIVITY BIT(4)
>> +#define ADXL345_INT_INACTIVITY BIT(3)
>> +#define ADXL345_INT_FREE_FALL BIT(2)
>> +#define ADXL345_INT_WATERMARK BIT(1)
>> +#define ADXL345_INT_OVERRUN BIT(0)
>>
>> #define ADXL345_POWER_CTL_MEASURE BIT(3)
>> #define ADXL345_POWER_CTL_STANDBY 0x00
>> @@ -43,12 +65,30 @@
>> #define ADXL345_DATA_FORMAT_8G 2
>> #define ADXL345_DATA_FORMAT_16G 3
>>
>> -#define ADXL345_DEVID 0xE5
>> +#define ADXL345_FIFO_CTL_MODE_FIFO BIT(6)
>> +#define ADXL345_FIFO_CTL_MODE_STREAM BIT(7)
>> +#define ADXL345_FIFO_CTL_MODE_TRIGGER (BIT(6) | BIT(7))
>> +#define ADXL345_FIFO_CTL_SAMPLES_MASK GENMASK(4, 0)
>> +#define ADXL345_FIFO_CTL_SAMPLES(n) ((n) & ADXL345_FIFO_CTL_SAMPLES_MASK)
>> +#define ADXL345_FIFO_MAX_FREQ_WATERLEVEL 20
>> +
>> +#define ADXL345_DEVID 0xE5
> No obvious reason to realign this so put it back as it was before.
>
>> +
>> +#define ADXL345_SCAN_SIZE (sizeof(__le16) * 3)
>>
>> struct adxl345_data {
>> const struct adxl345_chip_info *info;
>> struct regmap *regmap;
>> - u8 data_range;
>> + int irq;
>> +
>> + struct iio_trigger *drdy_trig;
>> + /*
>> + * This lock is for protecting the consistency of series of i2c operations, that is, to
>> + * make sure a measurement process will not be interrupted by a set frequency operation,
>> + * which should be taken where a series of i2c or SPI operations start, released where the
> Wrap at 80 chars.
>
> Also can probably just say "protects internal device state during a measurement."
>
>> + * operation ends.
>> + */
>> + struct mutex lock;
>> };
>> +
>> +/* Trigger handling */
>> +static irqreturn_t adxl345_irq_handler(int irq, void *d)
>> +{
>> + struct iio_dev *indio_dev = d;
>> + struct adxl345_data *data = iio_priv(indio_dev);
>> + int regval, ret;
>> +
>> + ret = regmap_read(data->regmap, ADXL345_REG_INT_SOURCE, ®val);
>> + if (ret < 0) {
>> + dev_err(indio_dev->dev.parent, "Broken IRQ!\n");
> It's a comms error, nothing necessarily wrong with the IRQ.
> So perhaps just log that you couldn't read the int source regsiter.
true
>
>> + return IRQ_HANDLED;
>> + }
>> +
>> + if (regval & ADXL345_INT_OVERRUN)
>> + dev_err(indio_dev->dev.parent, "FIFO overrun detected! Data lost\n");
> Probably best to use a rate limited print here. Otherwise far too easy to fill
> the whole kernel log with these.
>
>> +
>> + if (regval & ADXL345_INT_WATERMARK)
>> + iio_trigger_poll_nested(data->drdy_trig);
> As below - if it isn't useful to present a trigger to userspace, don't have one.
> It's fine to have fifo equiped devices with buffers register the buffer directly
> and fill it directly from the watermark interrupt. Several other drivers do this
> because the trigger model isn't a good fit for them.
I wasn't aware of this way of working withing. I will take a look into this
>
>> + else
>> + dev_err(indio_dev->dev.parent, "Unexpected IRQ! Source: 0x%02X\n", regval);
>> +
>> + return IRQ_HANDLED;
>> +}
>> +
>> +static int adxl345_get_sampling_freq(struct adxl345_data *data, s64 *freq_nhz)
>> +{
>> + int ret;
>> + unsigned int regval;
>> +
>> + mutex_lock(&data->lock);
>> + ret = regmap_read(data->regmap, ADXL345_REG_BW_RATE, ®val);
> Add a comment on why the lock is needed for this register read. If the device is
> unable to cope with interleaving reads with other activity that is unusual
> and we might need to think about how to enforce that more generally.
>
>> + mutex_unlock(&data->lock);
>> + if (ret < 0)
>> + return ret;
>> +
>> + *freq_nhz = ADXL345_BASE_RATE_NANO_HZ <<
>> + (regval & ADXL345_BW_RATE);
>> +
>> + return IIO_VAL_INT_PLUS_NANO;
> It doesn't. It returns a value that is then acted on to make this true.
> Return 0 from this function on success and only return this at the caller
> after doing more maths.
>
>> +}
>> +
>> +static int adxl345_set_sampling_freq(struct adxl345_data *data, s64 freq_nhz)
>> +{
>> + int ret, waterlevel;
>> + s64 n;
>> +
>> + /* Only allow valid sampling rates */
>> + if (freq_nhz < ADXL345_BASE_RATE_NANO_HZ || freq_nhz > ADXL345_MAX_RATE_NANO_HZ)
>> + return -EINVAL;
>> +
>> + /*
>> + * Trade-off the number of IRQs to the responsiveness on lower sample rates.
>> + * sample rates < 100Hz don't use the FIFO
> This feels like a userspace problem.
> If userspace sets the watermark to 0 or 1, don't use the fifo, otherwise do
> so. In driver handling is complex and the correct answers depend on the hardware
> platform.
>
> There is ABI to let userspace control the watermark directly.
Makes sense to use the ABI if it is there.
>
>
>> + * 100<>1600Hz issue 100 IRQs per second
>> + * 3200Hz issues 160 IRQs per second
>> + */
>> + if (freq_nhz < ADXL345_DEFAULT_RATE)
>> + waterlevel = 0;
>> + else if (freq_nhz < ADXL345_MAX_RATE_NANO_HZ)
>> + waterlevel = (freq_nhz / ADXL345_DEFAULT_RATE);
>> + else
>> + waterlevel = ADXL345_FIFO_MAX_FREQ_WATERLEVEL;
>> +
>> + n = div_s64(freq_nhz, ADXL345_BASE_RATE_NANO_HZ);
>> +
>> + /* Disable the IRQ before claiming the mutex to prevent deadlocks */
> What is the deadlock? I can see some races with values, but not an obvious
> deadlock.
>
> Also can we do what most drivers do which is just prevent updating the sampling
> frequency (and similar parameter) whilst in buffered mode?
> iio_device_claim_direct_mode() is there to provide a race free way to do this
> sort of thing.
>
> It's fine to make userspace stop a buffer, update settings and restart it
>
>> + if (data->irq)
>> + disable_irq(data->irq);
>> +
>> + mutex_lock(&data->lock);
>> + ret = regmap_update_bits(data->regmap, ADXL345_REG_BW_RATE,
>> + ADXL345_BW_RATE, clamp_val(ilog2(n), 0, ADXL345_BW_RATE));
>> + if (ret < 0)
>> + goto out;
>> + ret = regmap_update_bits(data->regmap, ADXL345_REG_FIFO_CTL,
>> + ADXL345_FIFO_CTL_SAMPLES_MASK,
>> + ADXL345_FIFO_CTL_SAMPLES(waterlevel));
>> +
>> +out:
>> + mutex_unlock(&data->lock);
>> + if (data->irq)
>> + enable_irq(data->irq);
>> + return ret;
>> +}
>> +
>> +/* Direct mode functions */
>> static int adxl345_read_raw(struct iio_dev *indio_dev,
>> struct iio_chan_spec const *chan,
>> int *val, int *val2, long mask)
>> @@ -80,26 +219,35 @@ static int adxl345_read_raw(struct iio_dev *indio_dev,
>>
>> switch (mask) {
>> case IIO_CHAN_INFO_RAW:
>> + ret = iio_device_claim_direct_mode(indio_dev);
>> + if (ret < 0)
>> + return ret;
>> /*
>> * Data is stored in adjacent registers:
>> * ADXL345_REG_DATA(X0/Y0/Z0) contain the least significant byte
>> * and ADXL345_REG_DATA(X0/Y0/Z0) + 1 the most significant byte
>> */
>> + mutex_lock(&data->lock);
>> ret = regmap_bulk_read(data->regmap,
>> ADXL345_REG_DATA_AXIS(chan->address),
>> &accel, sizeof(accel));
>> + mutex_unlock(&data->lock);
>> if (ret < 0)
>> return ret;
>>
>> *val = sign_extend32(le16_to_cpu(accel), 12);
>> +
>> + iio_device_release_direct_mode(indio_dev);
>> return IIO_VAL_INT;
>> case IIO_CHAN_INFO_SCALE:
>> *val = 0;
>> *val2 = data->info->uscale;
>> return IIO_VAL_INT_PLUS_MICRO;
>> case IIO_CHAN_INFO_CALIBBIAS:
>> + mutex_lock(&data->lock);
>> ret = regmap_read(data->regmap,
>> ADXL345_REG_OFS_AXIS(chan->address), ®val);
>> + mutex_unlock(&data->lock);
> If we always need to take the lock because reads can interrupt fifo read out (seems
> that might be the case from a quick look at the datasheet, then
> set regmap to not use it's internal locking and wrap these calls up locally
> with the lock.
>
> Do that in a precursor patch with a comment to say why it is necessary later
> in the series.
>
>> if (ret < 0)
>> return ret;
>> /*
>> @@ -110,15 +258,10 @@ static int adxl345_read_raw(struct iio_dev *indio_dev,
>>
>> return IIO_VAL_INT;
>> case IIO_CHAN_INFO_SAMP_FREQ:
>> - ret = regmap_read(data->regmap, ADXL345_REG_BW_RATE, ®val);
>> - if (ret < 0)
>> - return ret;
>> -
>> - samp_freq_nhz = ADXL345_BASE_RATE_NANO_HZ <<
>> - (regval & ADXL345_BW_RATE);
>> + ret = adxl345_get_sampling_freq(data, &samp_freq_nhz);
> Data may be invalid, so don't carry on to do maths if it is.
>
>> *val = div_s64_rem(samp_freq_nhz, NANOHZ_PER_HZ, val2);
> as above,the value is not IIO_VAL_INT_PLUS_NANO until after this maths
> so not appropriate to have the get_sampling_freq() function return
> a value that implies this maths is not needed.
>>
>> - return IIO_VAL_INT_PLUS_NANO;
>> + return ret;
>
>> }
>>
>> return -EINVAL;
>> @@ -129,7 +272,7 @@ static int adxl345_write_raw(struct iio_dev *indio_dev,
>> int val, int val2, long mask)
>> {
>> struct adxl345_data *data = iio_priv(indio_dev);
>> - s64 n;
>> + int ret = -EINVAL;
>>
>> switch (mask) {
>> case IIO_CHAN_INFO_CALIBBIAS:
>> @@ -137,20 +280,17 @@ static int adxl345_write_raw(struct iio_dev *indio_dev,
>> * 8-bit resolution at +/- 2g, that is 4x accel data scale
>> * factor
>> */
>> - return regmap_write(data->regmap,
>> - ADXL345_REG_OFS_AXIS(chan->address),
>> - val / 4);
>> + mutex_lock(&data->lock);
>> + ret = regmap_write(data->regmap,
>> + ADXL345_REG_OFS_AXIS(chan->address), val / 4);
>> + mutex_unlock(&data->lock);
>> + break;
> return ret;
>> case IIO_CHAN_INFO_SAMP_FREQ:
>> - n = div_s64(val * NANOHZ_PER_HZ + val2,
>> - ADXL345_BASE_RATE_NANO_HZ);
>> -
>> - return regmap_update_bits(data->regmap, ADXL345_REG_BW_RATE,
>> - ADXL345_BW_RATE,
>> - clamp_val(ilog2(n), 0,
>> - ADXL345_BW_RATE));
>> + ret = adxl345_set_sampling_freq(data, (s64)(val * NANOHZ_PER_HZ + val2));
>> + break;
> return adxl345...
>
> We do direct returns for a reason, don't change it without a strong
> argument (more on this below).
>
>> }
>>
>> - return -EINVAL;
>> + return ret;
> You could push this into a default: statement in the switch, but definitely
> don't make all paths now return down here. That makes the code harder
> to review.
>
>> }
>>
>> static int adxl345_write_raw_get_fmt(struct iio_dev *indio_dev,
>> @@ -197,7 +337,149 @@ static void adxl345_powerdown(void *regmap)
>> regmap_write(regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_STANDBY);
>> }
>>
>> -int adxl345_core_probe(struct device *dev, struct regmap *regmap)
>> +static int adxl345_flush_fifo(struct regmap *map)
>> +{
>> + __le16 axis_data[3];
>> + int ret, regval;
>> +
>> + /* Clear the sample FIFO */
>> + ret = regmap_read(map, ADXL345_REG_INT_SOURCE, ®val);
> Why not use the FIFO_STATUS register and read out whatever that tells us is
> in the FIFO? Can at least read that many before having to check if there are
> more.
That could be a good idea indeed.
>
>> + if (ret < 0)
>> + goto out;
> return ret;
>> + while (regval & ADXL345_INT_DATA_READY) {
>> + ret = regmap_bulk_read(map, ADXL345_REG_DATA_AXIS(0), &axis_data,
>> + sizeof(axis_data));
>> + if (ret < 0)
>> + goto out;
> The datasheet puts a timing requirement on repeat reads that you need to enforce..
> 5 usec.
>
> return ret;
I didn't find this requirement in the datasheet. I did however write this for ADXL343, which seems
to be compatible with ADXL345. But maybe I missed something here?
>> + ret = regmap_read(map, ADXL345_REG_INT_SOURCE, ®val);
>> + if (ret < 0)
>> + goto out;
> return directly - going to a label that does nothing makes a reviewer
> following code paths have to go see that nothing happens.
>
> return ret;
>
>> + }
>> +
>> +out:
>> + return ret;
>> +}
>> +
>> +static int adxl345_buffer_preenable(struct iio_dev *indio_dev)
>> +{
>> + struct adxl345_data *data = iio_priv(indio_dev);
>> + int ret;
>> +
>> + mutex_lock(&data->lock);
>> + /* Disable measurement mode to setup everything */
>> + ret = regmap_clear_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
>> + if (ret < 0)
>> + goto out;
>> +
>> + ret = adxl345_flush_fifo(data->regmap);
>> + if (ret < 0)
>> + goto out_enable;
>> +
>> + /*
>> + * Set the FIFO up in streaming mode so the chip keeps sampling.
>> + * Waterlevel is set by the sample frequency functions as it is dynamic
> This I don't follow. Why is it dynamic? It's fixed for a given run at a given
> frequency. I can sort of see a true dynamic adjustment might make sense, but that
> would be complex and isn't obviously a problem for the kernel.
>
> I'd prefer to see this done like the majority of other fifo handling drivers:
> Make setting the watermark vs frequency a userspace problem.
So having an interrupt coming in for every sample on 3200Hz sampling rate completely overloaded my
i.MX8M Mini CPU (1600MHz) I was testing this on. This was the main reason to be using the internal
FIFO in the accelerometer. But when doing that, the device becomes somewhat unresponsive on the
lower frequencies, as it first needs to fill the FIFO before actually firing an interrupt towards
the CPU. Therefore I created this, which only uses the water level interrupt on highter frequencies
to try to have best of both worlds. But I agree that this should be a userspace choice.
>
>> + */
>> + ret = regmap_update_bits(data->regmap, ADXL345_REG_FIFO_CTL,
>> + (int)~(ADXL345_FIFO_CTL_SAMPLES_MASK),
>> + ADXL345_FIFO_CTL_MODE_STREAM);
>> + if (ret < 0)
>> + goto out_enable;
>> +
>> + /* Enable the Watermark and Overrun interrupt */
>> + ret = regmap_write(data->regmap, ADXL345_REG_INT_ENABLE, (ADXL345_INT_WATERMARK |
>> + ADXL345_INT_OVERRUN));
>> + if (ret < 0)
>> + goto out_enable;
>> +
>> + /* Re-enable measurement mode */
>> + ret = regmap_set_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
>> + goto out;
> Don't do this as it makes for messy control flow to review
>
> if (ret)
> goto out_enabled;
>
> mutex_unlock(&data->lock)
> return 0;
>
> out_enable:
> ...
> Can use guard(mutex)(&data->lock) to avoid need to unlock manually and allow at least
> some paths to return directly.
I am very pleased to find out scoped locking is finally possible in the Linux kernel :-). I didn't know this.
>
>> +
>> +out_enable:
>> + dev_err(indio_dev->dev.parent, "Error %d Setting up device\n", ret);
>> + /* Re-enable measurement mode */
>> + regmap_set_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
>> +out:
>> + mutex_unlock(&data->lock);
>> + return ret;
>> +}
>> +
>> +static int adxl345_buffer_postdisable(struct iio_dev *indio_dev)
>> +{
>> + struct adxl345_data *data = iio_priv(indio_dev);
>> +
>> + mutex_lock(&data->lock);
>> + /* Disable measurement mode and interrupts*/
>> + regmap_clear_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
> Check errors on all these accesses.
>
>> + regmap_write(data->regmap, ADXL345_REG_INT_ENABLE, 0x00);
>> +
>> + /* Clear the FIFO and disable FIFO mode */
>> + adxl345_flush_fifo(data->regmap);
>> + regmap_update_bits(data->regmap, ADXL345_REG_FIFO_CTL,
>> + (int)~(ADXL345_FIFO_CTL_SAMPLES_MASK), 0x00);
>> +
>> + /* re-enable measurement mode for direct reads */
>> + regmap_set_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
>> + mutex_unlock(&data->lock);
>> +
>> + return 0;
>> +}
>> +
>> +static const struct iio_buffer_setup_ops adxl345_buffer_ops = {
>> + .preenable = adxl345_buffer_preenable,
>> + .postdisable = adxl345_buffer_postdisable,
>> +};
>> +
>> +static irqreturn_t adxl345_trigger_handler(int irq, void *p)
>> +{
>> + struct iio_poll_func *pf = p;
>> + struct iio_dev *indio_dev = pf->indio_dev;
>> + struct adxl345_data *data = iio_priv(indio_dev);
>> + struct regmap *regmap = data->regmap;
>> + u8 buffer[ADXL345_SCAN_SIZE] __aligned(8);
> Not necessary to align - that's only need if there is a timestmap.
> However, given this driver supports spi and regmap doesn't make any
> guarantees on whether dma safe buffers are needed, this should be
> DMA safe. Easiest option is to put an __aligned(IIO_DMA_MINALIGN)
> buffer at the end of your iio_priv structure.
> I'll note that you probably won't ever see the result of not doing
> this as I believe regmap happens to always copy the buffers today
> but in earlier discussions we concluded that it was better to always
> use it as if it didn't make those copies (as there are optimizatons
> that would get rid of them.) If you can find docs that say otherwise
> then let me know!
>
> I'll note there is already one bulk read in the driver that would suffer
> from the same problem and should be fixed.
>
>> + int ret, data_available;
>> +
>> + mutex_lock(&data->lock);
>> +
>> + /* Disable the IRQ before reading the FIFO */
> This needs a lot more explanation. Disabling interrupts like
> this can be very expensive and can be hard to reason about
> + it's not necessary most of the time because of IRQF_ONESHOT.
I did experience some issues with the interrupts, hence the disabling. But I might have just
implemented it badly. I will take a look into why things go bad and try to make it so that
disabling IRQs is not needed anymore.
>
> I'm not 100% sure there is a good reason for this driver to expose
> at trigger - normally we only do that if it will support non fifo
> buffered modes - even then if it's a fifo interrupt we often
> switch to that mode explicitly by enabling the buffer _without_
> a trigger set (to indicate that one doesn't make sense).
>
> In that case this would be directly called from an interrupt thread
> so it oneshot should protect it against additional IRQs until done
> without the need for explicit handling.
Fair enough. Maybe removing the trigger exposure will solve my problems anyway.
>
>
>> + if (data->irq)
>> + disable_irq_nosync(data->irq);
>> +
>> + ret = regmap_read(regmap, ADXL345_REG_INT_SOURCE, &data_available);
> I'd rename this to reflect it contains a lot of other things int_source
> seems sensible.
>
>> + if (ret < 0) {
>> + dev_err(indio_dev->dev.parent, "Could not read available data (%d)\n", ret);
>> + goto done;
>> + }
>> +
>> + while (data_available & ADXL345_INT_DATA_READY) {
> As for the flush above, read the FIFO_STATUS register to get an initial number of samples,
> and read those without rechecking INT_SOURCE.
>
>
>> + /* Read all axis data to make sure the IRQ flag is cleared. */
>> + ret = regmap_bulk_read(regmap, ADXL345_REG_DATA_AXIS(0),
>> + &buffer, (sizeof(buffer)));
>> + if (ret < 0) {
>> + dev_err(indio_dev->dev.parent, "Could not read device FIFO (%d)\n", ret);
>> + goto done;
>> + }
>> + iio_push_to_buffers(indio_dev, buffer);
>> + ret = regmap_read(regmap, ADXL345_REG_INT_SOURCE, &data_available);
>> + if (ret < 0) {
>> + dev_err(indio_dev->dev.parent, "Could not push data to buffers (%d)\n",
>> + ret);
>> + goto done;
>> + }
>> + }
>> +done:
>> + iio_trigger_notify_done(indio_dev->trig);
>> +
>> + /* Re-enable the IRQ */
>> + if (data->irq)
>> + enable_irq(data->irq);
>> +
>> + mutex_unlock(&data->lock);
>> +
>> + return IRQ_HANDLED;
>> +}
>> +
>> +int adxl345_core_probe(struct device *dev, struct regmap *regmap, int irq)
>> {
>> struct adxl345_data *data;
>> struct iio_dev *indio_dev;
>> @@ -218,22 +500,29 @@ int adxl345_core_probe(struct device *dev, struct regmap *regmap)
>>
>> data = iio_priv(indio_dev);
>> data->regmap = regmap;
>> - /* Enable full-resolution mode */
>> - data->data_range = ADXL345_DATA_FORMAT_FULL_RES;
>> data->info = device_get_match_data(dev);
>> if (!data->info)
>> return -ENODEV;
>>
>> + /* Enable full-resolution mode */
>> ret = regmap_write(data->regmap, ADXL345_REG_DATA_FORMAT,
>> - data->data_range);
>> + ADXL345_DATA_FORMAT_FULL_RES);
>> if (ret < 0)
>> return dev_err_probe(dev, ret, "Failed to set data range\n");
>>
>> + /* Set the default sampling frequency */
>> + ret = adxl345_set_sampling_freq(data, ADXL345_DEFAULT_RATE);
>> + if (ret < 0)
>> + dev_err(dev, "Failed to set sampling rate: %d\n", ret);
> return dev_err_probe() This should not happen, if it does, why does it
> make sense to continue>?
>
>> +
>> + mutex_init(&data->lock);
>> +
>> indio_dev->name = data->info->name;
>> indio_dev->info = &adxl345_info;
>> - indio_dev->modes = INDIO_DIRECT_MODE;
>> + indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_TRIGGERED;
> No need as INDIO_BUFFER_TRIGGERED is set when you register the buffer.
Didn't know that!
>
>> indio_dev->channels = adxl345_channels;
>> indio_dev->num_channels = ARRAY_SIZE(adxl345_channels);
>> + indio_dev->available_scan_masks = adxl345_available_scan_masks;
>>
>> /* Enable measurement mode */
>> ret = adxl345_powerup(data->regmap);
>> @@ -244,7 +533,51 @@ int adxl345_core_probe(struct device *dev, struct regmap *regmap)
>> if (ret < 0)
>> return ret;
>>
>> - return devm_iio_device_register(dev, indio_dev);
>> + if (irq) {
>> + /* Setup the data ready trigger */
>> + ret = devm_request_threaded_irq(dev, irq, NULL, adxl345_irq_handler,
>> + IRQF_TRIGGER_HIGH | IRQF_ONESHOT,
> Given the possibility of inverters in the interrupt line that aren't represented
> explicitly in DT, we tend to leave interrupt polarity as something documented
> in the bindings and set from them not in the driver.
>
> We used to do this wrong so there is plenty of legacy we can't remove
> because boards may be relying on it.
>
>> + indio_dev->name, indio_dev);
>> + if (ret < 0) {
>> + dev_err(dev, "request irq line failed.\n");
>> + return ret;
>> + }
>> + data->irq = irq;
>> +
>> + data->drdy_trig = devm_iio_trigger_alloc(dev, "%s-drdy%d",
>> + indio_dev->name, iio_device_id(indio_dev));
> Line getting long. Wrap it after name,
> For IIO aim for sub 80 chars unless readability is much better with a 80-100 char line.
>
>
>> + if (!data->drdy_trig) {
>> + dev_err(dev, "Could not allocate drdy trigger\n");
> dev_err_probe() preferred for all errors in probe.
>
>
>> + return -ENOMEM;
>> + }
>> + iio_trigger_set_drvdata(data->drdy_trig, indio_dev);
>> + ret = devm_iio_trigger_register(dev, data->drdy_trig);
>> + if (ret < 0) {
>> + dev_err(dev, "Could not register drdy trigger\n");
> return dev_err_probe(dev, ret, "Could not...")
>> + return ret;
>> + }
>> + /* Set the new trigger as the current trigger for this device */
>> + indio_dev->trig = iio_trigger_get(data->drdy_trig);
>> + } else {
>> + dev_info(dev, "Not registering IIO trigger as no IRQ has been specified\n");
> dev_dbg() or not all. The absence of a trigger will make this obvious.
>
>> + }
>> +
>> + /* Setup the triggered buffer */
>> + ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
>> + NULL,
>> + adxl345_trigger_handler,
>> + &adxl345_buffer_ops);
>> + if (ret < 0) {
>> + dev_err(dev, "Error setting up the triggered buffer\n");
> dev_err_probe()
>
>> + return ret;
>> + }
>> +
>> + ret = devm_iio_device_register(dev, indio_dev);
>> + if (ret)
>> + dev_err(dev, "Error registering IIO device: %d\n", ret);
>> + else
>> + dev_info(dev, "Registered IIO device\n");
> dev_dbg at most. There are many ways to find out if a device is registered
> and the kernel boot log is far too noisy already!
>
>> + return ret;
>> }
>> EXPORT_SYMBOL_NS_GPL(adxl345_core_probe, IIO_ADXL345);
>>
>> diff --git a/drivers/iio/accel/adxl345_i2c.c b/drivers/iio/accel/adxl345_i2c.c
>> index a3084b0a8f78..b90d58a7a73c 100644
>> --- a/drivers/iio/accel/adxl345_i2c.c
>> +++ b/drivers/iio/accel/adxl345_i2c.c
>> @@ -27,7 +27,7 @@ static int adxl345_i2c_probe(struct i2c_client *client)
>> if (IS_ERR(regmap))
>> return dev_err_probe(&client->dev, PTR_ERR(regmap), "Error initializing regmap\n");
>>
>> - return adxl345_core_probe(&client->dev, regmap);
>> + return adxl345_core_probe(&client->dev, regmap, client->irq);
>> }
>>
>> static const struct adxl345_chip_info adxl345_i2c_info = {
>> diff --git a/drivers/iio/accel/adxl345_spi.c b/drivers/iio/accel/adxl345_spi.c
>> index 93ca349f1780..ea9a8438b540 100644
>> --- a/drivers/iio/accel/adxl345_spi.c
>> +++ b/drivers/iio/accel/adxl345_spi.c
>> @@ -33,7 +33,7 @@ static int adxl345_spi_probe(struct spi_device *spi)
>> if (IS_ERR(regmap))
>> return dev_err_probe(&spi->dev, PTR_ERR(regmap), "Error initializing regmap\n");
>>
>> - return adxl345_core_probe(&spi->dev, regmap);
>> + return adxl345_core_probe(&spi->dev, regmap, spi->irq);
> Device has two interrupt lines so you'll need to work out which one this is
> (normally via interrupt-names in DT. Binding needs fixing as well to reflect that.
> We can document in there that for backwards compatibility that the default
> is that that if one interrupt is provided with no interrupt names then it is
> INT1.
Yes indeed.
>
> Jonathan
>
>
>> }
>>
>> static const struct adxl345_chip_info adxl345_spi_info = {
Thank you for the thorough review.
Best regards,
Paul
On Mon, 22 Apr 2024 15:17:47 +0000
Paul Geurts <[email protected]> wrote:
> On 20-04-2024 14:54, Jonathan Cameron wrote:
> > On Wed, 17 Apr 2024 10:28:34 +0200
> > Paul Geurts <[email protected]> wrote:
> >
> > Hi Paul, various comments inline.
> >
> >
> >> This implements buffered reads for the accelerometer data. A buffered
> >> IIO device is created containing 3 channels. The device FIFO is used for
> >> sample buffering to reduce the IRQ load on the host system.
> >>
> >> Reading of the device is triggered by a FIFO waterlevel interrupt. The
> >> waterlevel settings are dependent on the sampling frequency to leverage
> >> IRQ load against responsiveness.
> > I'm unconvinced that trade off belongs in the driver. Until now we
> > have exposed all the relevant controls to userspace via bufferX/watermark.
> > Set that to 0 or 1 if you don't want a fifo and appropriate level for whatever
> > responsiveness is needed for a particular application.
> >
> > The need to manually disable / enable interrupts is also normally something
> > that needs a close look. Very very occasionally this is necessary but for most
> > devices IRQF_ONESHOT should provide suitable masking.
> >
> > It's also not clear that a trigger is appropriate here. For FIFO equipped devices
> > like this, the trigger abstraction often doesn't work as we don't have one interrupt
> > per 'scan' of data. In these cases it is not necessary to use a trigger at all
> > and that can simplify things considerably.
> >
> > Jonathan
>
> This was my first interaction with the IIO subsystem, So these changes were somewhat of a
> learning experience. Your review comments indicate major refactoring of my patch is in
> order. I will see when I have time to get to it and resend it at some point.
Great that I didn't put you off too much and I should have said welcome!
As someone who has a v9 patch set to send out tomorrow (for another area of the kernel),
I'm well aware there can be quite a learning curve.
A few follow up comments below, but mostly guessing what might have made
things trickier rather than anything useful.
Jonathan
> >
> >> + if (ret < 0)
> >> + goto out;
> > return ret;
> >> + while (regval & ADXL345_INT_DATA_READY) {
> >> + ret = regmap_bulk_read(map, ADXL345_REG_DATA_AXIS(0), &axis_data,
> >> + sizeof(axis_data));
> >> + if (ret < 0)
> >> + goto out;
> > The datasheet puts a timing requirement on repeat reads that you need to enforce..
> > 5 usec.
> >
> > return ret;
>
> I didn't find this requirement in the datasheet. I did however write this for ADXL343, which seems
> to be compatible with ADXL345. But maybe I missed something here?
It's a slow bus, maybe the delay is above that anyway.
>
> >> + ret = regmap_read(map, ADXL345_REG_INT_SOURCE, ®val);
> >> + if (ret < 0)
> >> + goto out;
> > return directly - going to a label that does nothing makes a reviewer
> > following code paths have to go see that nothing happens.
> >
> > return ret;
> >
> >> + }
> >> +
> >> +out:
> >> + return ret;
> >> +}
> >> +
> >> +static int adxl345_buffer_preenable(struct iio_dev *indio_dev)
> >> +{
> >> + struct adxl345_data *data = iio_priv(indio_dev);
> >> + int ret;
> >> +
> >> + mutex_lock(&data->lock);
> >> + /* Disable measurement mode to setup everything */
> >> + ret = regmap_clear_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
> >> + if (ret < 0)
> >> + goto out;
> >> +
> >> + ret = adxl345_flush_fifo(data->regmap);
> >> + if (ret < 0)
> >> + goto out_enable;
> >> +
> >> + /*
> >> + * Set the FIFO up in streaming mode so the chip keeps sampling.
> >> + * Waterlevel is set by the sample frequency functions as it is dynamic
> > This I don't follow. Why is it dynamic? It's fixed for a given run at a given
> > frequency. I can sort of see a true dynamic adjustment might make sense, but that
> > would be complex and isn't obviously a problem for the kernel.
> >
> > I'd prefer to see this done like the majority of other fifo handling drivers:
> > Make setting the watermark vs frequency a userspace problem.
>
> So having an interrupt coming in for every sample on 3200Hz sampling rate completely overloaded my
> i.MX8M Mini CPU (1600MHz) I was testing this on. This was the main reason to be using the internal
> FIFO in the accelerometer. But when doing that, the device becomes somewhat unresponsive on the
> lower frequencies, as it first needs to fill the FIFO before actually firing an interrupt towards
> the CPU. Therefore I created this, which only uses the water level interrupt on highter frequencies
> to try to have best of both worlds. But I agree that this should be a userspace choice.
It's a neat bit of code and maybe one day worth considering if we should try to auto
tune, but definitely not something to do in a driver alongside the initial
enablement.
>
> >
> >> + */
> >> + ret = regmap_update_bits(data->regmap, ADXL345_REG_FIFO_CTL,
> >> + (int)~(ADXL345_FIFO_CTL_SAMPLES_MASK),
> >> + ADXL345_FIFO_CTL_MODE_STREAM);
> >> + if (ret < 0)
> >> + goto out_enable;
> >> +
> >> + /* Enable the Watermark and Overrun interrupt */
> >> + ret = regmap_write(data->regmap, ADXL345_REG_INT_ENABLE, (ADXL345_INT_WATERMARK |
> >> + ADXL345_INT_OVERRUN));
> >> + if (ret < 0)
> >> + goto out_enable;
> >> +
> >> + /* Re-enable measurement mode */
> >> + ret = regmap_set_bits(data->regmap, ADXL345_REG_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
> >> + goto out;
> > Don't do this as it makes for messy control flow to review
> >
> > if (ret)
> > goto out_enabled;
> >
> > mutex_unlock(&data->lock)
> > return 0;
> >
> > out_enable:
> > ...
> > Can use guard(mutex)(&data->lock) to avoid need to unlock manually and allow at least
> > some paths to return directly.
>
> I am very pleased to find out scoped locking is finally possible in the Linux kernel :-). I didn't know this.
>
Pretty new + the more complex corners of what can be done are still
controversial. Thankfully mutexes are a simple case.
> >> + int ret, data_available;
> >> +
> >> + mutex_lock(&data->lock);
> >> +
> >> + /* Disable the IRQ before reading the FIFO */
> > This needs a lot more explanation. Disabling interrupts like
> > this can be very expensive and can be hard to reason about
> > + it's not necessary most of the time because of IRQF_ONESHOT.
>
> I did experience some issues with the interrupts, hence the disabling. But I might have just
> implemented it badly. I will take a look into why things go bad and try to make it so that
> disabling IRQs is not needed anymore.
>
Often it's a type issue for interrupts - particularly level vs edge.
Thankfully it's fairly rare to get interrupt controllers that only
do one or the other these days - that used to be really painful to
try and handle in a driver.
> >> +
> >> + mutex_init(&data->lock);
> >> +
> >> indio_dev->name = data->info->name;
> >> indio_dev->info = &adxl345_info;
> >> - indio_dev->modes = INDIO_DIRECT_MODE;
> >> + indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_TRIGGERED;
> > No need as INDIO_BUFFER_TRIGGERED is set when you register the buffer.
>
> Didn't know that!
>
It's relatively recent (few years ago) so if you are on an older tree
it might not have been true.
Jonathan