Linux 4.19.133

[linux/fpc-iii.git] / drivers / iio / imu / st_lsm6dsx / st_lsm6dsx_buffer.c

/*
 * STMicroelectronics st_lsm6dsx FIFO buffer library driver
 *
 * LSM6DS3/LSM6DS3H/LSM6DSL/LSM6DSM/ISM330DLC: The FIFO buffer can be
 * configured to store data from gyroscope and accelerometer. Samples are
 * queued without any tag according to a specific pattern based on
 * 'FIFO data sets' (6 bytes each):
 *  - 1st data set is reserved for gyroscope data
 *  - 2nd data set is reserved for accelerometer data
 * The FIFO pattern changes depending on the ODRs and decimation factors
 * assigned to the FIFO data sets. The first sequence of data stored in FIFO
 * buffer contains the data of all the enabled FIFO data sets
 * (e.g. Gx, Gy, Gz, Ax, Ay, Az), then data are repeated depending on the
 * value of the decimation factor and ODR set for each FIFO data set.
 * FIFO supported modes:
 *  - BYPASS: FIFO disabled
 *  - CONTINUOUS: FIFO enabled. When the buffer is full, the FIFO index
 *    restarts from the beginning and the oldest sample is overwritten
 *
 * Copyright 2016 STMicroelectronics Inc.
 *
 * Lorenzo Bianconi <lorenzo.bianconi@st.com>
 * Denis Ciocca <denis.ciocca@st.com>
 *
 * Licensed under the GPL-2.
 */
#include <linux/module.h>
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/iio/kfifo_buf.h>
#include <linux/iio/iio.h>
#include <linux/iio/buffer.h>
#include <linux/regmap.h>
#include <linux/bitfield.h>

#include <linux/platform_data/st_sensors_pdata.h>

#include "st_lsm6dsx.h"

#define ST_LSM6DSX_REG_HLACTIVE_ADDR            0x12
#define ST_LSM6DSX_REG_HLACTIVE_MASK            BIT(5)
#define ST_LSM6DSX_REG_PP_OD_ADDR               0x12
#define ST_LSM6DSX_REG_PP_OD_MASK               BIT(4)
#define ST_LSM6DSX_REG_FIFO_MODE_ADDR           0x0a
#define ST_LSM6DSX_FIFO_MODE_MASK               GENMASK(2, 0)
#define ST_LSM6DSX_FIFO_ODR_MASK                GENMASK(6, 3)
#define ST_LSM6DSX_FIFO_EMPTY_MASK              BIT(12)
#define ST_LSM6DSX_REG_FIFO_OUTL_ADDR           0x3e
#define ST_LSM6DSX_REG_TS_RESET_ADDR            0x42

#define ST_LSM6DSX_MAX_FIFO_ODR_VAL             0x08

#define ST_LSM6DSX_TS_SENSITIVITY               25000UL /* 25us */
#define ST_LSM6DSX_TS_RESET_VAL                 0xaa

struct st_lsm6dsx_decimator_entry {
        u8 decimator;
        u8 val;
};

static const
struct st_lsm6dsx_decimator_entry st_lsm6dsx_decimator_table[] = {
        {  0, 0x0 },
        {  1, 0x1 },
        {  2, 0x2 },
        {  3, 0x3 },
        {  4, 0x4 },
        {  8, 0x5 },
        { 16, 0x6 },
        { 32, 0x7 },
};

static int st_lsm6dsx_get_decimator_val(u8 val)
{
        const int max_size = ARRAY_SIZE(st_lsm6dsx_decimator_table);
        int i;

        for (i = 0; i < max_size; i++)
                if (st_lsm6dsx_decimator_table[i].decimator == val)
                        break;

        return i == max_size ? 0 : st_lsm6dsx_decimator_table[i].val;
}

static void st_lsm6dsx_get_max_min_odr(struct st_lsm6dsx_hw *hw,
                                       u16 *max_odr, u16 *min_odr)
{
        struct st_lsm6dsx_sensor *sensor;
        int i;

        *max_odr = 0, *min_odr = ~0;
        for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
                sensor = iio_priv(hw->iio_devs[i]);

                if (!(hw->enable_mask & BIT(sensor->id)))
                        continue;

                *max_odr = max_t(u16, *max_odr, sensor->odr);
                *min_odr = min_t(u16, *min_odr, sensor->odr);
        }
}

static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw)
{
        u16 max_odr, min_odr, sip = 0, ts_sip = 0;
        const struct st_lsm6dsx_reg *ts_dec_reg;
        struct st_lsm6dsx_sensor *sensor;
        int err = 0, i;
        u8 data;

        st_lsm6dsx_get_max_min_odr(hw, &max_odr, &min_odr);

        for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
                const struct st_lsm6dsx_reg *dec_reg;

                sensor = iio_priv(hw->iio_devs[i]);
                /* update fifo decimators and sample in pattern */
                if (hw->enable_mask & BIT(sensor->id)) {
                        sensor->sip = sensor->odr / min_odr;
                        sensor->decimator = max_odr / sensor->odr;
                        data = st_lsm6dsx_get_decimator_val(sensor->decimator);
                } else {
                        sensor->sip = 0;
                        sensor->decimator = 0;
                        data = 0;
                }
                ts_sip = max_t(u16, ts_sip, sensor->sip);

                dec_reg = &hw->settings->decimator[sensor->id];
                if (dec_reg->addr) {
                        int val = ST_LSM6DSX_SHIFT_VAL(data, dec_reg->mask);

                        err = regmap_update_bits(hw->regmap, dec_reg->addr,
                                                 dec_reg->mask, val);
                        if (err < 0)
                                return err;
                }
                sip += sensor->sip;
        }
        hw->sip = sip + ts_sip;
        hw->ts_sip = ts_sip;

        /*
         * update hw ts decimator if necessary. Decimator for hw timestamp
         * is always 1 or 0 in order to have a ts sample for each data
         * sample in FIFO
         */
        ts_dec_reg = &hw->settings->ts_settings.decimator;
        if (ts_dec_reg->addr) {
                int val, ts_dec = !!hw->ts_sip;

                val = ST_LSM6DSX_SHIFT_VAL(ts_dec, ts_dec_reg->mask);
                err = regmap_update_bits(hw->regmap, ts_dec_reg->addr,
                                         ts_dec_reg->mask, val);
        }
        return err;
}

int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
                             enum st_lsm6dsx_fifo_mode fifo_mode)
{
        int err;

        err = regmap_update_bits(hw->regmap, ST_LSM6DSX_REG_FIFO_MODE_ADDR,
                                 ST_LSM6DSX_FIFO_MODE_MASK,
                                 FIELD_PREP(ST_LSM6DSX_FIFO_MODE_MASK,
                                            fifo_mode));
        if (err < 0)
                return err;

        hw->fifo_mode = fifo_mode;

        return 0;
}

static int st_lsm6dsx_set_fifo_odr(struct st_lsm6dsx_sensor *sensor,
                                   bool enable)
{
        struct st_lsm6dsx_hw *hw = sensor->hw;
        u8 data;

        data = hw->enable_mask ? ST_LSM6DSX_MAX_FIFO_ODR_VAL : 0;
        return regmap_update_bits(hw->regmap, ST_LSM6DSX_REG_FIFO_MODE_ADDR,
                                 ST_LSM6DSX_FIFO_ODR_MASK,
                                 FIELD_PREP(ST_LSM6DSX_FIFO_ODR_MASK, data));
}

int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, u16 watermark)
{
        u16 fifo_watermark = ~0, cur_watermark, fifo_th_mask;
        struct st_lsm6dsx_hw *hw = sensor->hw;
        struct st_lsm6dsx_sensor *cur_sensor;
        int i, err, data;
        __le16 wdata;

        if (!hw->sip)
                return 0;

        for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
                cur_sensor = iio_priv(hw->iio_devs[i]);

                if (!(hw->enable_mask & BIT(cur_sensor->id)))
                        continue;

                cur_watermark = (cur_sensor == sensor) ? watermark
                                                       : cur_sensor->watermark;

                fifo_watermark = min_t(u16, fifo_watermark, cur_watermark);
        }

        fifo_watermark = max_t(u16, fifo_watermark, hw->sip);
        fifo_watermark = (fifo_watermark / hw->sip) * hw->sip;
        fifo_watermark = fifo_watermark * hw->settings->fifo_ops.th_wl;

        err = regmap_read(hw->regmap, hw->settings->fifo_ops.fifo_th.addr + 1,
                          &data);
        if (err < 0)
                return err;

        fifo_th_mask = hw->settings->fifo_ops.fifo_th.mask;
        fifo_watermark = ((data << 8) & ~fifo_th_mask) |
                         (fifo_watermark & fifo_th_mask);

        wdata = cpu_to_le16(fifo_watermark);
        return regmap_bulk_write(hw->regmap,
                                 hw->settings->fifo_ops.fifo_th.addr,
                                 &wdata, sizeof(wdata));
}

static int st_lsm6dsx_reset_hw_ts(struct st_lsm6dsx_hw *hw)
{
        struct st_lsm6dsx_sensor *sensor;
        int i, err;

        /* reset hw ts counter */
        err = regmap_write(hw->regmap, ST_LSM6DSX_REG_TS_RESET_ADDR,
                           ST_LSM6DSX_TS_RESET_VAL);
        if (err < 0)
                return err;

        for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
                sensor = iio_priv(hw->iio_devs[i]);
                /*
                 * store enable buffer timestamp as reference for
                 * hw timestamp
                 */
                sensor->ts_ref = iio_get_time_ns(hw->iio_devs[i]);
        }
        return 0;
}

/*
 * Set max bulk read to ST_LSM6DSX_MAX_WORD_LEN in order to avoid
 * a kmalloc for each bus access
 */
static inline int st_lsm6dsx_read_block(struct st_lsm6dsx_hw *hw, u8 *data,
                                        unsigned int data_len)
{
        unsigned int word_len, read_len = 0;
        int err;

        while (read_len < data_len) {
                word_len = min_t(unsigned int, data_len - read_len,
                                 ST_LSM6DSX_MAX_WORD_LEN);
                err = regmap_bulk_read(hw->regmap,
                                       ST_LSM6DSX_REG_FIFO_OUTL_ADDR,
                                       data + read_len, word_len);
                if (err < 0)
                        return err;
                read_len += word_len;
        }
        return 0;
}

#define ST_LSM6DSX_IIO_BUFF_SIZE        (ALIGN(ST_LSM6DSX_SAMPLE_SIZE, \
                                               sizeof(s64)) + sizeof(s64))
/**
 * st_lsm6dsx_read_fifo() - hw FIFO read routine
 * @hw: Pointer to instance of struct st_lsm6dsx_hw.
 *
 * Read samples from the hw FIFO and push them to IIO buffers.
 *
 * Return: Number of bytes read from the FIFO
 */
static int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
{
        u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE;
        u16 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask;
        int err, acc_sip, gyro_sip, ts_sip, read_len, offset;
        struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor;
        u8 gyro_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
        u8 acc_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
        bool reset_ts = false;
        __le16 fifo_status;
        s64 ts = 0;

        err = regmap_bulk_read(hw->regmap,
                               hw->settings->fifo_ops.fifo_diff.addr,
                               &fifo_status, sizeof(fifo_status));
        if (err < 0) {
                dev_err(hw->dev, "failed to read fifo status (err=%d)\n",
                        err);
                return err;
        }

        if (fifo_status & cpu_to_le16(ST_LSM6DSX_FIFO_EMPTY_MASK))
                return 0;

        fifo_len = (le16_to_cpu(fifo_status) & fifo_diff_mask) *
                   ST_LSM6DSX_CHAN_SIZE;
        fifo_len = (fifo_len / pattern_len) * pattern_len;

        acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
        gyro_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_GYRO]);

        for (read_len = 0; read_len < fifo_len; read_len += pattern_len) {
                err = st_lsm6dsx_read_block(hw, hw->buff, pattern_len);
                if (err < 0) {
                        dev_err(hw->dev,
                                "failed to read pattern from fifo (err=%d)\n",
                                err);
                        return err;
                }

                /*
                 * Data are written to the FIFO with a specific pattern
                 * depending on the configured ODRs. The first sequence of data
                 * stored in FIFO contains the data of all enabled sensors
                 * (e.g. Gx, Gy, Gz, Ax, Ay, Az, Ts), then data are repeated
                 * depending on the value of the decimation factor set for each
                 * sensor.
                 *
                 * Supposing the FIFO is storing data from gyroscope and
                 * accelerometer at different ODRs:
                 *   - gyroscope ODR = 208Hz, accelerometer ODR = 104Hz
                 * Since the gyroscope ODR is twice the accelerometer one, the
                 * following pattern is repeated every 9 samples:
                 *   - Gx, Gy, Gz, Ax, Ay, Az, Ts, Gx, Gy, Gz, Ts, Gx, ..
                 */
                gyro_sip = gyro_sensor->sip;
                acc_sip = acc_sensor->sip;
                ts_sip = hw->ts_sip;
                offset = 0;

                while (acc_sip > 0 || gyro_sip > 0) {
                        if (gyro_sip > 0) {
                                memcpy(gyro_buff, &hw->buff[offset],
                                       ST_LSM6DSX_SAMPLE_SIZE);
                                offset += ST_LSM6DSX_SAMPLE_SIZE;
                        }
                        if (acc_sip > 0) {
                                memcpy(acc_buff, &hw->buff[offset],
                                       ST_LSM6DSX_SAMPLE_SIZE);
                                offset += ST_LSM6DSX_SAMPLE_SIZE;
                        }

                        if (ts_sip-- > 0) {
                                u8 data[ST_LSM6DSX_SAMPLE_SIZE];

                                memcpy(data, &hw->buff[offset], sizeof(data));
                                /*
                                 * hw timestamp is 3B long and it is stored
                                 * in FIFO using 6B as 4th FIFO data set
                                 * according to this schema:
                                 * B0 = ts[15:8], B1 = ts[23:16], B3 = ts[7:0]
                                 */
                                ts = data[1] << 16 | data[0] << 8 | data[3];
                                /*
                                 * check if hw timestamp engine is going to
                                 * reset (the sensor generates an interrupt
                                 * to signal the hw timestamp will reset in
                                 * 1.638s)
                                 */
                                if (!reset_ts && ts >= 0xff0000)
                                        reset_ts = true;
                                ts *= ST_LSM6DSX_TS_SENSITIVITY;

                                offset += ST_LSM6DSX_SAMPLE_SIZE;
                        }

                        if (gyro_sip-- > 0)
                                iio_push_to_buffers_with_timestamp(
                                        hw->iio_devs[ST_LSM6DSX_ID_GYRO],
                                        gyro_buff, gyro_sensor->ts_ref + ts);
                        if (acc_sip-- > 0)
                                iio_push_to_buffers_with_timestamp(
                                        hw->iio_devs[ST_LSM6DSX_ID_ACC],
                                        acc_buff, acc_sensor->ts_ref + ts);
                }
        }

        if (unlikely(reset_ts)) {
                err = st_lsm6dsx_reset_hw_ts(hw);
                if (err < 0) {
                        dev_err(hw->dev, "failed to reset hw ts (err=%d)\n",
                                err);
                        return err;
                }
        }
        return read_len;
}

int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw)
{
        int err;

        mutex_lock(&hw->fifo_lock);

        st_lsm6dsx_read_fifo(hw);
        err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_BYPASS);

        mutex_unlock(&hw->fifo_lock);

        return err;
}

static int st_lsm6dsx_update_fifo(struct iio_dev *iio_dev, bool enable)
{
        struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
        struct st_lsm6dsx_hw *hw = sensor->hw;
        int err;

        mutex_lock(&hw->conf_lock);

        if (hw->fifo_mode != ST_LSM6DSX_FIFO_BYPASS) {
                err = st_lsm6dsx_flush_fifo(hw);
                if (err < 0)
                        goto out;
        }

        if (enable) {
                err = st_lsm6dsx_sensor_enable(sensor);
                if (err < 0)
                        goto out;
        } else {
                err = st_lsm6dsx_sensor_disable(sensor);
                if (err < 0)
                        goto out;
        }

        err = st_lsm6dsx_set_fifo_odr(sensor, enable);
        if (err < 0)
                goto out;

        err = st_lsm6dsx_update_decimators(hw);
        if (err < 0)
                goto out;

        err = st_lsm6dsx_update_watermark(sensor, sensor->watermark);
        if (err < 0)
                goto out;

        if (hw->enable_mask) {
                /* reset hw ts counter */
                err = st_lsm6dsx_reset_hw_ts(hw);
                if (err < 0)
                        goto out;

                err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT);
        }

out:
        mutex_unlock(&hw->conf_lock);

        return err;
}

static irqreturn_t st_lsm6dsx_handler_irq(int irq, void *private)
{
        struct st_lsm6dsx_hw *hw = private;

        return hw->sip > 0 ? IRQ_WAKE_THREAD : IRQ_NONE;
}

static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private)
{
        struct st_lsm6dsx_hw *hw = private;
        int count;

        mutex_lock(&hw->fifo_lock);
        count = st_lsm6dsx_read_fifo(hw);
        mutex_unlock(&hw->fifo_lock);

        return !count ? IRQ_NONE : IRQ_HANDLED;
}

static int st_lsm6dsx_buffer_preenable(struct iio_dev *iio_dev)
{
        return st_lsm6dsx_update_fifo(iio_dev, true);
}

static int st_lsm6dsx_buffer_postdisable(struct iio_dev *iio_dev)
{
        return st_lsm6dsx_update_fifo(iio_dev, false);
}

static const struct iio_buffer_setup_ops st_lsm6dsx_buffer_ops = {
        .preenable = st_lsm6dsx_buffer_preenable,
        .postdisable = st_lsm6dsx_buffer_postdisable,
};

int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw)
{
        struct device_node *np = hw->dev->of_node;
        struct st_sensors_platform_data *pdata;
        struct iio_buffer *buffer;
        unsigned long irq_type;
        bool irq_active_low;
        int i, err;

        irq_type = irqd_get_trigger_type(irq_get_irq_data(hw->irq));

        switch (irq_type) {
        case IRQF_TRIGGER_HIGH:
        case IRQF_TRIGGER_RISING:
                irq_active_low = false;
                break;
        case IRQF_TRIGGER_LOW:
        case IRQF_TRIGGER_FALLING:
                irq_active_low = true;
                break;
        default:
                dev_info(hw->dev, "mode %lx unsupported\n", irq_type);
                return -EINVAL;
        }

        err = regmap_update_bits(hw->regmap, ST_LSM6DSX_REG_HLACTIVE_ADDR,
                                 ST_LSM6DSX_REG_HLACTIVE_MASK,
                                 FIELD_PREP(ST_LSM6DSX_REG_HLACTIVE_MASK,
                                            irq_active_low));
        if (err < 0)
                return err;

        pdata = (struct st_sensors_platform_data *)hw->dev->platform_data;
        if ((np && of_property_read_bool(np, "drive-open-drain")) ||
            (pdata && pdata->open_drain)) {
                err = regmap_update_bits(hw->regmap, ST_LSM6DSX_REG_PP_OD_ADDR,
                                         ST_LSM6DSX_REG_PP_OD_MASK,
                                         FIELD_PREP(ST_LSM6DSX_REG_PP_OD_MASK,
                                                    1));
                if (err < 0)
                        return err;

                irq_type |= IRQF_SHARED;
        }

        err = devm_request_threaded_irq(hw->dev, hw->irq,
                                        st_lsm6dsx_handler_irq,
                                        st_lsm6dsx_handler_thread,
                                        irq_type | IRQF_ONESHOT,
                                        "lsm6dsx", hw);
        if (err) {
                dev_err(hw->dev, "failed to request trigger irq %d\n",
                        hw->irq);
                return err;
        }

        for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
                buffer = devm_iio_kfifo_allocate(hw->dev);
                if (!buffer)
                        return -ENOMEM;

                iio_device_attach_buffer(hw->iio_devs[i], buffer);
                hw->iio_devs[i]->modes |= INDIO_BUFFER_SOFTWARE;
                hw->iio_devs[i]->setup_ops = &st_lsm6dsx_buffer_ops;
        }

        return 0;
}