| Message ID | 20241018233723.28757-6-justin@justinweiss.com (mailing list archive) |
|---|---|
| State | Changes Requested |
| Headers | show |
| Series | Add i2c driver for Bosch BMI260 IMU | expand |
On Fri, 18 Oct 2024 16:36:11 -0700 Justin Weiss <justin@justinweiss.com> wrote: > Set up a triggered buffer for the accel and angl_vel values. > > Signed-off-by: Justin Weiss <justin@justinweiss.com> Looks good. One trivial comment inline. Thanks, Jonathan > --- > drivers/iio/imu/bmi270/Kconfig | 1 + > drivers/iio/imu/bmi270/bmi270.h | 9 +++++ > drivers/iio/imu/bmi270/bmi270_core.c | 56 ++++++++++++++++++++++++++++ > 3 files changed, 66 insertions(+) > > diff --git a/drivers/iio/imu/bmi270/Kconfig b/drivers/iio/imu/bmi270/Kconfig > index 0ffd29794fda..6362acc706da 100644 > --- a/drivers/iio/imu/bmi270/Kconfig > +++ b/drivers/iio/imu/bmi270/Kconfig > @@ -6,6 +6,7 @@ > config BMI270 > tristate > select IIO_BUFFER > + select IIO_TRIGGERED_BUFFER > > config BMI270_I2C > tristate "Bosch BMI270 I2C driver" > diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h > index 51e374fd4290..844d70a7d32e 100644 > --- a/drivers/iio/imu/bmi270/bmi270.h > +++ b/drivers/iio/imu/bmi270/bmi270.h > @@ -11,6 +11,15 @@ struct bmi270_data { > struct device *dev; > struct regmap *regmap; > const struct bmi270_chip_info *chip_info; > + > + /* > + * Where IIO_DMA_MINALIGN is larger than 8 bytes, align to that maybe larger than 8 bytes on x86_64 I think it is 8 bytes exactly, though I could be remembering that wrong. > + * to ensure a DMA safe buffer. > + */ > + struct { > + __le16 channels[6]; > + aligned_s64 timestamp; > + } data __aligned(IIO_DMA_MINALIGN); > }; >
Jonathan Cameron <jic23@kernel.org> writes: > On Fri, 18 Oct 2024 16:36:11 -0700 > Justin Weiss <justin@justinweiss.com> wrote: > >> Set up a triggered buffer for the accel and angl_vel values. >> >> Signed-off-by: Justin Weiss <justin@justinweiss.com> > Looks good. One trivial comment inline. > > Thanks, > > Jonathan > >> --- >> drivers/iio/imu/bmi270/Kconfig | 1 + >> drivers/iio/imu/bmi270/bmi270.h | 9 +++++ >> drivers/iio/imu/bmi270/bmi270_core.c | 56 ++++++++++++++++++++++++++++ >> 3 files changed, 66 insertions(+) >> >> diff --git a/drivers/iio/imu/bmi270/Kconfig b/drivers/iio/imu/bmi270/Kconfig >> index 0ffd29794fda..6362acc706da 100644 >> --- a/drivers/iio/imu/bmi270/Kconfig >> +++ b/drivers/iio/imu/bmi270/Kconfig >> @@ -6,6 +6,7 @@ >> config BMI270 >> tristate >> select IIO_BUFFER >> + select IIO_TRIGGERED_BUFFER >> >> config BMI270_I2C >> tristate "Bosch BMI270 I2C driver" >> diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h >> index 51e374fd4290..844d70a7d32e 100644 >> --- a/drivers/iio/imu/bmi270/bmi270.h >> +++ b/drivers/iio/imu/bmi270/bmi270.h >> @@ -11,6 +11,15 @@ struct bmi270_data { >> struct device *dev; >> struct regmap *regmap; >> const struct bmi270_chip_info *chip_info; >> + >> + /* >> + * Where IIO_DMA_MINALIGN is larger than 8 bytes, align to that > > maybe larger than 8 bytes > on x86_64 I think it is 8 bytes exactly, though I could be remembering that wrong. Got it. I'll change this to "... IIO_DMA_MINALIGN may be larger than 8 bytes, ..." in v3. Justin >> + * to ensure a DMA safe buffer. >> + */ >> + struct { >> + __le16 channels[6]; >> + aligned_s64 timestamp; >> + } data __aligned(IIO_DMA_MINALIGN); >> }; >>
diff --git a/drivers/iio/imu/bmi270/Kconfig b/drivers/iio/imu/bmi270/Kconfig index 0ffd29794fda..6362acc706da 100644 --- a/drivers/iio/imu/bmi270/Kconfig +++ b/drivers/iio/imu/bmi270/Kconfig @@ -6,6 +6,7 @@ config BMI270 tristate select IIO_BUFFER + select IIO_TRIGGERED_BUFFER config BMI270_I2C tristate "Bosch BMI270 I2C driver" diff --git a/drivers/iio/imu/bmi270/bmi270.h b/drivers/iio/imu/bmi270/bmi270.h index 51e374fd4290..844d70a7d32e 100644 --- a/drivers/iio/imu/bmi270/bmi270.h +++ b/drivers/iio/imu/bmi270/bmi270.h @@ -11,6 +11,15 @@ struct bmi270_data { struct device *dev; struct regmap *regmap; const struct bmi270_chip_info *chip_info; + + /* + * Where IIO_DMA_MINALIGN is larger than 8 bytes, align to that + * to ensure a DMA safe buffer. + */ + struct { + __le16 channels[6]; + aligned_s64 timestamp; + } data __aligned(IIO_DMA_MINALIGN); }; enum bmi270_device_type { diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/bmi270_core.c index b30201dc4e22..69b011f97324 100644 --- a/drivers/iio/imu/bmi270/bmi270_core.c +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -7,6 +7,8 @@ #include <linux/regmap.h> #include <linux/iio/iio.h> +#include <linux/iio/triggered_buffer.h> +#include <linux/iio/trigger_consumer.h> #include "bmi270.h" @@ -67,6 +69,17 @@ enum bmi270_scan { BMI270_SCAN_GYRO_X, BMI270_SCAN_GYRO_Y, BMI270_SCAN_GYRO_Z, + BMI270_SCAN_TIMESTAMP, +}; + +static const unsigned long bmi270_avail_scan_masks[] = { + (BIT(BMI270_SCAN_ACCEL_X) | + BIT(BMI270_SCAN_ACCEL_Y) | + BIT(BMI270_SCAN_ACCEL_Z) | + BIT(BMI270_SCAN_GYRO_X) | + BIT(BMI270_SCAN_GYRO_Y) | + BIT(BMI270_SCAN_GYRO_Z)), + 0 }; const struct bmi270_chip_info bmi270_chip_info[] = { @@ -83,6 +96,27 @@ const struct bmi270_chip_info bmi270_chip_info[] = { }; EXPORT_SYMBOL_NS_GPL(bmi270_chip_info, IIO_BMI270); +static irqreturn_t bmi270_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct bmi270_data *bmi270_device = iio_priv(indio_dev); + int ret; + + ret = regmap_bulk_read(bmi270_device->regmap, BMI270_ACCEL_X_REG, + &bmi270_device->data.channels, + sizeof(bmi270_device->data.channels)); + + if (ret) + goto done; + + iio_push_to_buffers_with_timestamp(indio_dev, &bmi270_device->data, + pf->timestamp); +done: + iio_trigger_notify_done(indio_dev->trig); + return IRQ_HANDLED; +} + static int bmi270_get_data(struct bmi270_data *bmi270_device, int chan_type, int axis, int *val) { @@ -140,6 +174,13 @@ static const struct iio_info bmi270_info = { .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index = BMI270_SCAN_ACCEL_##_axis, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_LE \ + }, \ } #define BMI270_ANG_VEL_CHANNEL(_axis) { \ @@ -149,6 +190,13 @@ static const struct iio_info bmi270_info = { .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index = BMI270_SCAN_GYRO_##_axis, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_LE \ + }, \ } static const struct iio_chan_spec bmi270_channels[] = { @@ -158,6 +206,7 @@ static const struct iio_chan_spec bmi270_channels[] = { BMI270_ANG_VEL_CHANNEL(X), BMI270_ANG_VEL_CHANNEL(Y), BMI270_ANG_VEL_CHANNEL(Z), + IIO_CHAN_SOFT_TIMESTAMP(BMI270_SCAN_TIMESTAMP), }; static int bmi270_validate_chip_id(struct bmi270_data *bmi270_device) @@ -328,9 +377,16 @@ int bmi270_core_probe(struct device *dev, struct regmap *regmap, indio_dev->channels = bmi270_channels; indio_dev->num_channels = ARRAY_SIZE(bmi270_channels); indio_dev->name = chip_info->name; + indio_dev->available_scan_masks = bmi270_avail_scan_masks; indio_dev->modes = INDIO_DIRECT_MODE; indio_dev->info = &bmi270_info; + ret = devm_iio_triggered_buffer_setup(dev, indio_dev, + iio_pollfunc_store_time, + bmi270_trigger_handler, NULL); + if (ret) + return ret; + return devm_iio_device_register(dev, indio_dev); } EXPORT_SYMBOL_NS_GPL(bmi270_core_probe, IIO_BMI270);
Set up a triggered buffer for the accel and angl_vel values. Signed-off-by: Justin Weiss <justin@justinweiss.com> --- drivers/iio/imu/bmi270/Kconfig | 1 + drivers/iio/imu/bmi270/bmi270.h | 9 +++++ drivers/iio/imu/bmi270/bmi270_core.c | 56 ++++++++++++++++++++++++++++ 3 files changed, 66 insertions(+)