drivers/iio/imu/st_asm330lhh/st_asm330lhh_buffer.c - kernel/msm-4.9 - Gitiles

 /*
  * STMicroelectronics st_asm330lhh FIFO buffer library driver
  *
  * Copyright 2020 STMicroelectronics Inc.
  *
  * Lorenzo Bianconi <lorenzo.bianconi@st.com>
  *
  * Licensed under the GPL-2.
  */
 #include <linux/module.h>
 #include <linux/interrupt.h>
 #include <linux/irq.h>
 #include <linux/iio/iio.h>
 #include <linux/iio/kfifo_buf.h>
 #include <linux/iio/events.h>
 #include <asm/unaligned.h>
 #include <linux/iio/buffer.h>
 #include <linux/of.h>

 #include "st_asm330lhh.h"

 #define ST_ASM330LHH_REG_FIFO_THL_ADDR		0x07
 #define ST_ASM330LHH_REG_FIFO_LEN_MASK		GENMASK(8, 0)
 #define ST_ASM330LHH_REG_FIFO_STATUS_DIFF	GENMASK(9, 0)
 #define ST_ASM330LHH_REG_FIFO_MODE_MASK		GENMASK(2, 0)
 #define ST_ASM330LHH_REG_DEC_TS_MASK		GENMASK(7, 6)
 #define ST_ASM330LHH_REG_HLACTIVE_ADDR		0x12
 #define ST_ASM330LHH_REG_HLACTIVE_MASK		BIT(5)
 #define ST_ASM330LHH_REG_PP_OD_ADDR		0x12
 #define ST_ASM330LHH_REG_PP_OD_MASK		BIT(4)
 #define ST_ASM330LHH_REG_FIFO_STATUS1_ADDR	0x3a
 #define ST_ASM330LHH_REG_TS0_ADDR		0x40
 #define ST_ASM330LHH_REG_TS2_ADDR		0x42
 #define ST_ASM330LHH_REG_FIFO_OUT_TAG_ADDR	0x78

 #define ST_ASM330LHH_SAMPLE_DISCHARD		0x7ffd

 /* Timestamp convergence filter parameter */
 #define ST_ASM330LHH_EWMA_LEVEL			120
 #define ST_ASM330LHH_EWMA_DIV			128

 enum {
 	ST_ASM330LHH_GYRO_TAG = 0x01,
 	ST_ASM330LHH_ACC_TAG = 0x02,
 	ST_ASM330LHH_TS_TAG = 0x04,
 };

 static inline s64 st_asm330lhh_ewma(s64 old, s64 new, int weight)
 {
 	s64 diff, incr;

 	diff = new - old;
 	incr = div_s64((ST_ASM330LHH_EWMA_DIV - weight) * diff,
 		       ST_ASM330LHH_EWMA_DIV);

 	return old + incr;
 }

 static inline int st_asm330lhh_reset_hwts(struct st_asm330lhh_hw *hw)
 {
 	u8 data = 0xaa;

 	hw->ts = st_asm330lhh_get_time_ns();
 	hw->ts_offset = hw->ts;
 	hw->val_ts_old = 0;
 	hw->hw_ts_high = 0;
 	hw->tsample = 0ull;

 	if (hw->asm330_hrtimer)
 		st_asm330lhh_set_cpu_idle_state(true);

 	return hw->tf->write(hw->dev, ST_ASM330LHH_REG_TS2_ADDR, sizeof(data),
 			     &data);
 }

 int st_asm330lhh_set_fifo_mode(struct st_asm330lhh_hw *hw,
 			       enum st_asm330lhh_fifo_mode fifo_mode)
 {
 	int err;

 	err = st_asm330lhh_write_with_mask(hw, ST_ASM330LHH_REG_FIFO_CTRL4_ADDR,
 					   ST_ASM330LHH_REG_FIFO_MODE_MASK,
 					   fifo_mode);
 	if (err < 0)
 		return err;

 	hw->fifo_mode = fifo_mode;

 	if (fifo_mode == ST_ASM330LHH_FIFO_BYPASS)
 		clear_bit(ST_ASM330LHH_HW_OPERATIONAL, &hw->state);
 	else
 		set_bit(ST_ASM330LHH_HW_OPERATIONAL, &hw->state);

 	return 0;
 }

 static int st_asm330lhh_set_sensor_batching_odr(struct st_asm330lhh_sensor *sensor,
 						bool enable)
 {
 	struct st_asm330lhh_hw *hw = sensor->hw;
 	u8 data = 0;
 	int err;

 	if (enable) {
 		err = st_asm330lhh_get_odr_val(sensor->id, sensor->odr, &data);
 		if (err < 0)
 			return err;
 	}

 	return st_asm330lhh_write_with_mask(hw,
 					    sensor->batch_addr,
 					    sensor->batch_mask, data);
 }

 int st_asm330lhh_update_watermark(struct st_asm330lhh_sensor *sensor,
 					 u16 watermark)
 {
 	u16 fifo_watermark = ST_ASM330LHH_MAX_FIFO_DEPTH, cur_watermark = 0;
 	struct st_asm330lhh_hw *hw = sensor->hw;
 	struct st_asm330lhh_sensor *cur_sensor;
 	__le16 wdata;
 	int i, err;
 	u8 data;

 	for (i = 0; i < ST_ASM330LHH_ID_MAX; i++) {
 		if (!hw->iio_devs[i])
 			continue;

 		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, 2);

 	mutex_lock(&hw->lock);

 	err = hw->tf->read(hw->dev, ST_ASM330LHH_REG_FIFO_THL_ADDR + 1,
 			   sizeof(data), &data);
 	if (err < 0)
 		goto out;

 	fifo_watermark = ((data << 8) & ~ST_ASM330LHH_REG_FIFO_LEN_MASK) |
 			 (fifo_watermark & ST_ASM330LHH_REG_FIFO_LEN_MASK);
 	wdata = cpu_to_le16(fifo_watermark);
 	err = hw->tf->write(hw->dev, ST_ASM330LHH_REG_FIFO_THL_ADDR,
 			    sizeof(wdata), (u8 *)&wdata);

 out:
 	mutex_unlock(&hw->lock);

 	return err < 0 ? err : 0;
 }

 static struct iio_dev *st_asm330lhh_get_iiodev_from_tag(struct st_asm330lhh_hw *hw,
 							u8 tag)
 {
 	struct iio_dev *iio_dev;

 	switch (tag) {
 	case ST_ASM330LHH_GYRO_TAG:
 		iio_dev = hw->iio_devs[ST_ASM330LHH_ID_GYRO];
 		break;
 	case ST_ASM330LHH_ACC_TAG:
 		iio_dev = hw->iio_devs[ST_ASM330LHH_ID_ACC];
 		break;
 	default:
 		iio_dev = NULL;
 		break;
 	}

 	return iio_dev;
 }
 #ifdef CONFIG_ENABLE_ASM_ACC_GYRO_BUFFERING
 int asm330_check_acc_gyro_early_buff_enable_flag(
 		struct st_asm330lhh_sensor *sensor)
 {
 	if (sensor->buffer_asm_samples == true)
 		return 1;
 	else
 		return 0;
 }
 #else
 int asm330_check_acc_gyro_early_buff_enable_flag(
 		struct st_asm330lhh_sensor *sensor)
 {
 	return 0;
 }
 #endif

 #ifdef CONFIG_ENABLE_ASM_ACC_GYRO_BUFFERING
 static void store_acc_gyro_boot_sample(struct st_asm330lhh_sensor *sensor,
 					u8 *iio_buf, s64 tsample)
 {
 	int x, y, z;

 	if (false == sensor->buffer_asm_samples)
 		return;

 	mutex_lock(&sensor->sensor_buff);
 	sensor->timestamp = (ktime_t)tsample;
 	x = iio_buf[1]<<8|iio_buf[0];
 	y = iio_buf[3]<<8|iio_buf[2];
 	z = iio_buf[5]<<8|iio_buf[4];

 	if (ktime_to_timespec(sensor->timestamp).tv_sec
 			<  sensor->max_buffer_time) {
 		if (sensor->bufsample_cnt < ASM_MAXSAMPLE) {
 			sensor->asm_samplist[sensor->bufsample_cnt]->xyz[0] = x;
 			sensor->asm_samplist[sensor->bufsample_cnt]->xyz[1] = y;
 			sensor->asm_samplist[sensor->bufsample_cnt]->xyz[2] = z;
 			sensor->asm_samplist[sensor->bufsample_cnt]->tsec =
 				ktime_to_timespec(sensor->timestamp).tv_sec;
 			sensor->asm_samplist[sensor->bufsample_cnt]->tnsec =
 				ktime_to_timespec(sensor->timestamp).tv_nsec;
 			sensor->bufsample_cnt++;
 		}
 	} else {
 		dev_info(sensor->hw->dev, "End of sensor %d buffering %d\n",
 				sensor->id, sensor->bufsample_cnt);
 		sensor->buffer_asm_samples = false;
 	}
 	mutex_unlock(&sensor->sensor_buff);
 }
 #else
 static void store_acc_gyro_boot_sample(struct st_asm330lhh_sensor *sensor,
 					u8 *iio_buf, s64 tsample)
 {
 }
 #endif

 static inline void st_asm330lhh_sync_hw_ts(struct st_asm330lhh_hw *hw, s64 ts)
 {
 	s64 delta = ts - hw->hw_ts;

 	hw->ts_offset = st_asm330lhh_ewma(hw->ts_offset, delta,
 					  ST_ASM330LHH_EWMA_LEVEL);
 }

 static int st_asm330lhh_read_fifo(struct st_asm330lhh_hw *hw)
 {
 	u8 iio_buf[ALIGN(ST_ASM330LHH_SAMPLE_SIZE, sizeof(s64)) + sizeof(s64)];
 	u8 buf[30 * ST_ASM330LHH_FIFO_SAMPLE_SIZE], tag, *ptr;
 	int i, err, word_len, fifo_len, read_len;
 	struct iio_dev *iio_dev;
 	struct st_asm330lhh_sensor *sensor;
 	s64 ts_irq, hw_ts_old;
 	__le16 fifo_status;
 	u16 fifo_depth;
 	s16 drdymask;
 	u32 val;

 	/* return if FIFO is already disabled */
 	if (!test_bit(ST_ASM330LHH_HW_OPERATIONAL, &hw->state)) {
 		dev_warn(hw->dev, "%s: FIFO in bypass mode\n", __func__);

 		return 0;
 	}

 	ts_irq = hw->ts - hw->delta_ts;

 	err = st_asm330lhh_read_atomic(hw, ST_ASM330LHH_REG_FIFO_STATUS1_ADDR,
 				     sizeof(fifo_status), (u8 *)&fifo_status);
 	if (err < 0)
 		return err;

 	fifo_depth = le16_to_cpu(fifo_status) &
 		ST_ASM330LHH_REG_FIFO_STATUS_DIFF;
 	if (!fifo_depth)
 		return 0;

 	fifo_len = fifo_depth * ST_ASM330LHH_FIFO_SAMPLE_SIZE;
 	read_len = 0;
 	while (read_len < fifo_len) {
 		word_len = min_t(int, fifo_len - read_len, sizeof(buf));
 		err = st_asm330lhh_read_atomic(hw,
 					     ST_ASM330LHH_REG_FIFO_OUT_TAG_ADDR,
 					     word_len, buf);
 		if (err < 0)
 			return err;
 		for (i = 0; i < word_len; i += ST_ASM330LHH_FIFO_SAMPLE_SIZE) {
 			ptr = &buf[i + ST_ASM330LHH_TAG_SIZE];
 			tag = buf[i] >> 3;

 			if (tag == ST_ASM330LHH_TS_TAG) {
 				val = get_unaligned_le32(ptr);

 				if (hw->val_ts_old > val)
 					hw->hw_ts_high++;

 				hw_ts_old = hw->hw_ts;

 				/* check hw rollover */
 				hw->val_ts_old = val;
 				hw->hw_ts = (val + ((s64)hw->hw_ts_high <<
 							32)) * hw->ts_delta_ns;
 				hw->ts_offset = st_asm330lhh_ewma(hw->ts_offset,
 						ts_irq - hw->hw_ts,
 						ST_ASM330LHH_EWMA_LEVEL);

 				if (!test_bit(ST_ASM330LHH_HW_FLUSH,
 							&hw->state))
 					/* sync ap timestamp and sensor one */
 					st_asm330lhh_sync_hw_ts(hw, ts_irq);

 				ts_irq += hw->hw_ts;

 				if (!hw->tsample)
 					hw->tsample = hw->ts_offset + hw->hw_ts;
 				else
 					hw->tsample = hw->tsample +
 						hw->hw_ts - hw_ts_old;
 			} else {
 				iio_dev = st_asm330lhh_get_iiodev_from_tag(hw,
 						tag);
 				if (!iio_dev)
 					continue;
 				sensor = iio_priv(iio_dev);

 				/* skip samples if not ready */
 				drdymask = (s16)le16_to_cpu(
 						get_unaligned_le16(ptr));
 				if (unlikely(drdymask
 					>= ST_ASM330LHH_SAMPLE_DISCHARD)) {
 					continue;
 				}
 				memcpy(iio_buf, ptr, ST_ASM330LHH_SAMPLE_SIZE);

 				if ((i + (3*ST_ASM330LHH_FIFO_SAMPLE_SIZE)) >
 						word_len) {
 					hw->tsample = hw->ts;
 				}
 				iio_push_to_buffers_with_timestamp(iio_dev,
 								   iio_buf,
 								   hw->tsample);
 				store_acc_gyro_boot_sample(sensor,
 						iio_buf, hw->tsample);
 			}
 		}
 		read_len += word_len;
 	}

 	return read_len;
 }

 ssize_t st_asm330lhh_get_max_watermark(struct device *dev,
 				       struct device_attribute *attr, char *buf)
 {
 	return sprintf(buf, "%d\n", ST_ASM330LHH_MAX_FIFO_DEPTH);
 }

 ssize_t st_asm330lhh_get_watermark(struct device *dev,
 				   struct device_attribute *attr, char *buf)
 {
 	struct iio_dev *iio_dev = dev_get_drvdata(dev);
 	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);

 	return sprintf(buf, "%d\n", sensor->watermark);
 }

 ssize_t st_asm330lhh_set_watermark(struct device *dev,
 				   struct device_attribute *attr,
 				   const char *buf, size_t size)
 {
 	struct iio_dev *iio_dev = dev_get_drvdata(dev);
 	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);
 	int err, val;

 	if (asm330_check_acc_gyro_early_buff_enable_flag(sensor))
 		return -EBUSY;

 	mutex_lock(&iio_dev->mlock);
 	if (iio_buffer_enabled(iio_dev)) {
 		err = -EBUSY;
 		goto out;
 	}

 	err = kstrtoint(buf, 10, &val);
 	if (err < 0)
 		goto out;

 	err = st_asm330lhh_update_watermark(sensor, val);
 	if (err < 0)
 		goto out;

 	sensor->watermark = val;

 out:
 	mutex_unlock(&iio_dev->mlock);

 	return err < 0 ? err : size;
 }

 ssize_t st_asm330lhh_flush_fifo(struct device *dev,
 				struct device_attribute *attr,
 				const char *buf, size_t size)
 {
 	struct iio_dev *iio_dev = dev_get_drvdata(dev);
 	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);
 	struct st_asm330lhh_hw *hw = sensor->hw;
 	s64 event;
 	int count;
 	s64 type;
 	s64 ts;

 	mutex_lock(&hw->fifo_lock);
 	ts = st_asm330lhh_get_time_ns();
 	hw->delta_ts = ts - hw->ts;
 	hw->ts = ts;
 	set_bit(ST_ASM330LHH_HW_FLUSH, &hw->state);
 	count = st_asm330lhh_read_fifo(hw);
 	mutex_unlock(&hw->fifo_lock);

 	type = count > 0 ? CUSTOM_IIO_EV_DIR_FIFO_DATA : CUSTOM_IIO_EV_DIR_FIFO_EMPTY;
 	event = IIO_UNMOD_EVENT_CODE(iio_dev->channels[0].type, -1,
 				     CUSTOM_IIO_EV_TYPE_FIFO_FLUSH, type);
 	iio_push_event(iio_dev, event, st_asm330lhh_get_time_ns());

 	return size;
 }

 int st_asm330lhh_suspend_fifo(struct st_asm330lhh_hw *hw)
 {
 	int err;

 	mutex_lock(&hw->fifo_lock);
 	st_asm330lhh_read_fifo(hw);
 	err = st_asm330lhh_set_fifo_mode(hw, ST_ASM330LHH_FIFO_BYPASS);
 	mutex_unlock(&hw->fifo_lock);

 	return err;
 }

 int st_asm330lhh_update_fifo(struct iio_dev *iio_dev, bool enable)
 {
 	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);
 	struct st_asm330lhh_hw *hw = sensor->hw;
 	int err;

 	mutex_lock(&hw->fifo_lock);

 	err = st_asm330lhh_sensor_set_enable(sensor, enable);
 	if (err < 0)
 		goto out;

 	err = st_asm330lhh_set_sensor_batching_odr(sensor, enable);
 	if (err < 0)
 		goto out;

 	err = st_asm330lhh_update_watermark(sensor, sensor->watermark);
 	if (err < 0)
 		goto out;

 	if (enable && hw->fifo_mode == ST_ASM330LHH_FIFO_BYPASS) {
 		st_asm330lhh_reset_hwts(hw);
 		err = st_asm330lhh_set_fifo_mode(hw, ST_ASM330LHH_FIFO_CONT);
 	} else if (!hw->enable_mask) {
 		err = st_asm330lhh_set_fifo_mode(hw, ST_ASM330LHH_FIFO_BYPASS);
 	}

 out:
 	mutex_unlock(&hw->fifo_lock);

 	return err;
 }

 static irqreturn_t st_asm330lhh_handler_irq(int irq, void *private)
 {
 	struct st_asm330lhh_hw *hw = (struct st_asm330lhh_hw *)private;
 	s64 ts = st_asm330lhh_get_time_ns();

 	hw->delta_ts = ts - hw->ts;
 	hw->ts = ts;

 	if (hw->asm330_hrtimer)
 		st_asm330lhh_hrtimer_reset(hw, hw->delta_ts);

 	return IRQ_WAKE_THREAD;
 }

 static irqreturn_t st_asm330lhh_handler_thread(int irq, void *private)
 {
 	struct st_asm330lhh_hw *hw = (struct st_asm330lhh_hw *)private;

 	mutex_lock(&hw->fifo_lock);
 	st_asm330lhh_read_fifo(hw);
 	clear_bit(ST_ASM330LHH_HW_FLUSH, &hw->state);
 	mutex_unlock(&hw->fifo_lock);

 	if (hw->asm330_hrtimer)
 		st_asm330lhh_set_cpu_idle_state(false);

 	return IRQ_HANDLED;
 }

 static int st_asm330lhh_buffer_preenable(struct iio_dev *iio_dev)
 {
 	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);

 	if (asm330_check_acc_gyro_early_buff_enable_flag(sensor))
 		return 0;
 	else
 		return st_asm330lhh_update_fifo(iio_dev, true);
 }

 static int st_asm330lhh_buffer_postdisable(struct iio_dev *iio_dev)
 {
 	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);

 	if (asm330_check_acc_gyro_early_buff_enable_flag(sensor))
 		return 0;
 	else
 		return st_asm330lhh_update_fifo(iio_dev, false);
 }

 static const struct iio_buffer_setup_ops st_asm330lhh_buffer_ops = {
 	.preenable = st_asm330lhh_buffer_preenable,
 	.postdisable = st_asm330lhh_buffer_postdisable,
 };

 static int st_asm330lhh_fifo_init(struct st_asm330lhh_hw *hw)
 {
 	return st_asm330lhh_write_with_mask(hw, ST_ASM330LHH_REG_FIFO_CTRL4_ADDR,
 					    ST_ASM330LHH_REG_DEC_TS_MASK, 1);
 }

 int st_asm330lhh_fifo_setup(struct st_asm330lhh_hw *hw)
 {
 	struct device_node *np = hw->dev->of_node;
 	struct iio_buffer *buffer;
 	unsigned long irq_type;
 	bool irq_active_low;
 	int i, err;

 	if (!irq_get_irq_data(hw->irq))
 		return -EINVAL;
 	irq_type = irqd_get_trigger_type(irq_get_irq_data(hw->irq));
 	if (irq_type == IRQF_TRIGGER_NONE)
 		irq_type = IRQF_TRIGGER_HIGH;

 	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 = st_asm330lhh_write_with_mask(hw, ST_ASM330LHH_REG_HLACTIVE_ADDR,
 					   ST_ASM330LHH_REG_HLACTIVE_MASK,
 					   irq_active_low);
 	if (err < 0)
 		return err;

 	if (np && of_property_read_bool(np, "drive-open-drain")) {
 		err = st_asm330lhh_write_with_mask(hw,
 					ST_ASM330LHH_REG_PP_OD_ADDR,
 					ST_ASM330LHH_REG_PP_OD_MASK, 1);
 		if (err < 0)
 			return err;

 		irq_type |= IRQF_SHARED;
 	}

 	err = devm_request_threaded_irq(hw->dev, hw->irq,
 					st_asm330lhh_handler_irq,
 					st_asm330lhh_handler_thread,
 					irq_type | IRQF_ONESHOT,
 					"asm330lhh", hw);
 	if (err) {
 		dev_err(hw->dev, "failed to request trigger irq %d\n",
 			hw->irq);
 		return err;
 	}

 	for (i = ST_ASM330LHH_ID_ACC; i < ST_ASM330LHH_ID_MAX; i++) {
 		if (!hw->iio_devs[i])
 			continue;

 		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_asm330lhh_buffer_ops;
 	}

 	return st_asm330lhh_fifo_init(hw);
 }
	/*
	* STMicroelectronics st_asm330lhh FIFO buffer library driver
	*
	* Copyright 2020 STMicroelectronics Inc.
	*
	* Lorenzo Bianconi <lorenzo.bianconi@st.com>
	*
	* Licensed under the GPL-2.
	*/
	#include <linux/module.h>
	#include <linux/interrupt.h>
	#include <linux/irq.h>
	#include <linux/iio/iio.h>
	#include <linux/iio/kfifo_buf.h>
	#include <linux/iio/events.h>
	#include <asm/unaligned.h>
	#include <linux/iio/buffer.h>
	#include <linux/of.h>

	#include "st_asm330lhh.h"

	#define ST_ASM330LHH_REG_FIFO_THL_ADDR 0x07
	#define ST_ASM330LHH_REG_FIFO_LEN_MASK GENMASK(8, 0)
	#define ST_ASM330LHH_REG_FIFO_STATUS_DIFF GENMASK(9, 0)
	#define ST_ASM330LHH_REG_FIFO_MODE_MASK GENMASK(2, 0)
	#define ST_ASM330LHH_REG_DEC_TS_MASK GENMASK(7, 6)
	#define ST_ASM330LHH_REG_HLACTIVE_ADDR 0x12
	#define ST_ASM330LHH_REG_HLACTIVE_MASK BIT(5)
	#define ST_ASM330LHH_REG_PP_OD_ADDR 0x12
	#define ST_ASM330LHH_REG_PP_OD_MASK BIT(4)
	#define ST_ASM330LHH_REG_FIFO_STATUS1_ADDR 0x3a
	#define ST_ASM330LHH_REG_TS0_ADDR 0x40
	#define ST_ASM330LHH_REG_TS2_ADDR 0x42
	#define ST_ASM330LHH_REG_FIFO_OUT_TAG_ADDR 0x78

	#define ST_ASM330LHH_SAMPLE_DISCHARD 0x7ffd

	/* Timestamp convergence filter parameter */
	#define ST_ASM330LHH_EWMA_LEVEL 120
	#define ST_ASM330LHH_EWMA_DIV 128

	enum {
	ST_ASM330LHH_GYRO_TAG = 0x01,
	ST_ASM330LHH_ACC_TAG = 0x02,
	ST_ASM330LHH_TS_TAG = 0x04,
	};

	static inline s64 st_asm330lhh_ewma(s64 old, s64 new, int weight)
	{
	s64 diff, incr;

	diff = new - old;
	incr = div_s64((ST_ASM330LHH_EWMA_DIV - weight) * diff,
	ST_ASM330LHH_EWMA_DIV);

	return old + incr;
	}

	static inline int st_asm330lhh_reset_hwts(struct st_asm330lhh_hw *hw)
	{
	u8 data = 0xaa;

	hw->ts = st_asm330lhh_get_time_ns();
	hw->ts_offset = hw->ts;
	hw->val_ts_old = 0;
	hw->hw_ts_high = 0;
	hw->tsample = 0ull;

	if (hw->asm330_hrtimer)
	st_asm330lhh_set_cpu_idle_state(true);

	return hw->tf->write(hw->dev, ST_ASM330LHH_REG_TS2_ADDR, sizeof(data),
	&data);
	}

	int st_asm330lhh_set_fifo_mode(struct st_asm330lhh_hw *hw,
	enum st_asm330lhh_fifo_mode fifo_mode)
	{
	int err;

	err = st_asm330lhh_write_with_mask(hw, ST_ASM330LHH_REG_FIFO_CTRL4_ADDR,
	ST_ASM330LHH_REG_FIFO_MODE_MASK,
	fifo_mode);
	if (err < 0)
	return err;

	hw->fifo_mode = fifo_mode;

	if (fifo_mode == ST_ASM330LHH_FIFO_BYPASS)
	clear_bit(ST_ASM330LHH_HW_OPERATIONAL, &hw->state);
	else
	set_bit(ST_ASM330LHH_HW_OPERATIONAL, &hw->state);

	return 0;
	}

	static int st_asm330lhh_set_sensor_batching_odr(struct st_asm330lhh_sensor *sensor,
	bool enable)
	{
	struct st_asm330lhh_hw *hw = sensor->hw;
	u8 data = 0;
	int err;

	if (enable) {
	err = st_asm330lhh_get_odr_val(sensor->id, sensor->odr, &data);
	if (err < 0)
	return err;
	}

	return st_asm330lhh_write_with_mask(hw,
	sensor->batch_addr,
	sensor->batch_mask, data);
	}

	int st_asm330lhh_update_watermark(struct st_asm330lhh_sensor *sensor,
	u16 watermark)
	{
	u16 fifo_watermark = ST_ASM330LHH_MAX_FIFO_DEPTH, cur_watermark = 0;
	struct st_asm330lhh_hw *hw = sensor->hw;
	struct st_asm330lhh_sensor *cur_sensor;
	__le16 wdata;
	int i, err;
	u8 data;

	for (i = 0; i < ST_ASM330LHH_ID_MAX; i++) {
	if (!hw->iio_devs[i])
	continue;

	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, 2);

	mutex_lock(&hw->lock);

	err = hw->tf->read(hw->dev, ST_ASM330LHH_REG_FIFO_THL_ADDR + 1,
	sizeof(data), &data);
	if (err < 0)
	goto out;

	fifo_watermark = ((data << 8) & ~ST_ASM330LHH_REG_FIFO_LEN_MASK) \|
	(fifo_watermark & ST_ASM330LHH_REG_FIFO_LEN_MASK);
	wdata = cpu_to_le16(fifo_watermark);
	err = hw->tf->write(hw->dev, ST_ASM330LHH_REG_FIFO_THL_ADDR,
	sizeof(wdata), (u8 *)&wdata);

	out:
	mutex_unlock(&hw->lock);

	return err < 0 ? err : 0;
	}

	static struct iio_dev st_asm330lhh_get_iiodev_from_tag(struct st_asm330lhh_hw hw,
	u8 tag)
	{
	struct iio_dev *iio_dev;

	switch (tag) {
	case ST_ASM330LHH_GYRO_TAG:
	iio_dev = hw->iio_devs[ST_ASM330LHH_ID_GYRO];
	break;
	case ST_ASM330LHH_ACC_TAG:
	iio_dev = hw->iio_devs[ST_ASM330LHH_ID_ACC];
	break;
	default:
	iio_dev = NULL;
	break;
	}

	return iio_dev;
	}
	#ifdef CONFIG_ENABLE_ASM_ACC_GYRO_BUFFERING
	int asm330_check_acc_gyro_early_buff_enable_flag(
	struct st_asm330lhh_sensor *sensor)
	{
	if (sensor->buffer_asm_samples == true)
	return 1;
	else
	return 0;
	}
	#else
	int asm330_check_acc_gyro_early_buff_enable_flag(
	struct st_asm330lhh_sensor *sensor)
	{
	return 0;
	}
	#endif

	#ifdef CONFIG_ENABLE_ASM_ACC_GYRO_BUFFERING
	static void store_acc_gyro_boot_sample(struct st_asm330lhh_sensor *sensor,
	u8 *iio_buf, s64 tsample)
	{
	int x, y, z;

	if (false == sensor->buffer_asm_samples)
	return;

	mutex_lock(&sensor->sensor_buff);
	sensor->timestamp = (ktime_t)tsample;
	x = iio_buf[1]<<8\|iio_buf[0];
	y = iio_buf[3]<<8\|iio_buf[2];
	z = iio_buf[5]<<8\|iio_buf[4];

	if (ktime_to_timespec(sensor->timestamp).tv_sec
	< sensor->max_buffer_time) {
	if (sensor->bufsample_cnt < ASM_MAXSAMPLE) {
	sensor->asm_samplist[sensor->bufsample_cnt]->xyz[0] = x;
	sensor->asm_samplist[sensor->bufsample_cnt]->xyz[1] = y;
	sensor->asm_samplist[sensor->bufsample_cnt]->xyz[2] = z;
	sensor->asm_samplist[sensor->bufsample_cnt]->tsec =
	ktime_to_timespec(sensor->timestamp).tv_sec;
	sensor->asm_samplist[sensor->bufsample_cnt]->tnsec =
	ktime_to_timespec(sensor->timestamp).tv_nsec;
	sensor->bufsample_cnt++;
	}
	} else {
	dev_info(sensor->hw->dev, "End of sensor %d buffering %d\n",
	sensor->id, sensor->bufsample_cnt);
	sensor->buffer_asm_samples = false;
	}
	mutex_unlock(&sensor->sensor_buff);
	}
	#else
	static void store_acc_gyro_boot_sample(struct st_asm330lhh_sensor *sensor,
	u8 *iio_buf, s64 tsample)
	{
	}
	#endif

	static inline void st_asm330lhh_sync_hw_ts(struct st_asm330lhh_hw *hw, s64 ts)
	{
	s64 delta = ts - hw->hw_ts;

	hw->ts_offset = st_asm330lhh_ewma(hw->ts_offset, delta,
	ST_ASM330LHH_EWMA_LEVEL);
	}

	static int st_asm330lhh_read_fifo(struct st_asm330lhh_hw *hw)
	{
	u8 iio_buf[ALIGN(ST_ASM330LHH_SAMPLE_SIZE, sizeof(s64)) + sizeof(s64)];
	u8 buf[30 * ST_ASM330LHH_FIFO_SAMPLE_SIZE], tag, *ptr;
	int i, err, word_len, fifo_len, read_len;
	struct iio_dev *iio_dev;
	struct st_asm330lhh_sensor *sensor;
	s64 ts_irq, hw_ts_old;
	__le16 fifo_status;
	u16 fifo_depth;
	s16 drdymask;
	u32 val;

	/* return if FIFO is already disabled */
	if (!test_bit(ST_ASM330LHH_HW_OPERATIONAL, &hw->state)) {
	dev_warn(hw->dev, "%s: FIFO in bypass mode\n", __func__);

	return 0;
	}

	ts_irq = hw->ts - hw->delta_ts;

	err = st_asm330lhh_read_atomic(hw, ST_ASM330LHH_REG_FIFO_STATUS1_ADDR,
	sizeof(fifo_status), (u8 *)&fifo_status);
	if (err < 0)
	return err;

	fifo_depth = le16_to_cpu(fifo_status) &
	ST_ASM330LHH_REG_FIFO_STATUS_DIFF;
	if (!fifo_depth)
	return 0;

	fifo_len = fifo_depth * ST_ASM330LHH_FIFO_SAMPLE_SIZE;
	read_len = 0;
	while (read_len < fifo_len) {
	word_len = min_t(int, fifo_len - read_len, sizeof(buf));
	err = st_asm330lhh_read_atomic(hw,
	ST_ASM330LHH_REG_FIFO_OUT_TAG_ADDR,
	word_len, buf);
	if (err < 0)
	return err;
	for (i = 0; i < word_len; i += ST_ASM330LHH_FIFO_SAMPLE_SIZE) {
	ptr = &buf[i + ST_ASM330LHH_TAG_SIZE];
	tag = buf[i] >> 3;

	if (tag == ST_ASM330LHH_TS_TAG) {
	val = get_unaligned_le32(ptr);

	if (hw->val_ts_old > val)
	hw->hw_ts_high++;

	hw_ts_old = hw->hw_ts;

	/* check hw rollover */
	hw->val_ts_old = val;
	hw->hw_ts = (val + ((s64)hw->hw_ts_high <<
	32)) * hw->ts_delta_ns;
	hw->ts_offset = st_asm330lhh_ewma(hw->ts_offset,
	ts_irq - hw->hw_ts,
	ST_ASM330LHH_EWMA_LEVEL);

	if (!test_bit(ST_ASM330LHH_HW_FLUSH,
	&hw->state))
	/* sync ap timestamp and sensor one */
	st_asm330lhh_sync_hw_ts(hw, ts_irq);

	ts_irq += hw->hw_ts;

	if (!hw->tsample)
	hw->tsample = hw->ts_offset + hw->hw_ts;
	else
	hw->tsample = hw->tsample +
	hw->hw_ts - hw_ts_old;
	} else {
	iio_dev = st_asm330lhh_get_iiodev_from_tag(hw,
	tag);
	if (!iio_dev)
	continue;
	sensor = iio_priv(iio_dev);

	/* skip samples if not ready */
	drdymask = (s16)le16_to_cpu(
	get_unaligned_le16(ptr));
	if (unlikely(drdymask
	>= ST_ASM330LHH_SAMPLE_DISCHARD)) {
	continue;
	}
	memcpy(iio_buf, ptr, ST_ASM330LHH_SAMPLE_SIZE);

	if ((i + (3*ST_ASM330LHH_FIFO_SAMPLE_SIZE)) >
	word_len) {
	hw->tsample = hw->ts;
	}
	iio_push_to_buffers_with_timestamp(iio_dev,
	iio_buf,
	hw->tsample);
	store_acc_gyro_boot_sample(sensor,
	iio_buf, hw->tsample);
	}
	}
	read_len += word_len;
	}

	return read_len;
	}

	ssize_t st_asm330lhh_get_max_watermark(struct device *dev,
	struct device_attribute attr, char buf)
	{
	return sprintf(buf, "%d\n", ST_ASM330LHH_MAX_FIFO_DEPTH);
	}

	ssize_t st_asm330lhh_get_watermark(struct device *dev,
	struct device_attribute attr, char buf)
	{
	struct iio_dev *iio_dev = dev_get_drvdata(dev);
	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);

	return sprintf(buf, "%d\n", sensor->watermark);
	}

	ssize_t st_asm330lhh_set_watermark(struct device *dev,
	struct device_attribute *attr,
	const char *buf, size_t size)
	{
	struct iio_dev *iio_dev = dev_get_drvdata(dev);
	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);
	int err, val;

	if (asm330_check_acc_gyro_early_buff_enable_flag(sensor))
	return -EBUSY;

	mutex_lock(&iio_dev->mlock);
	if (iio_buffer_enabled(iio_dev)) {
	err = -EBUSY;
	goto out;
	}

	err = kstrtoint(buf, 10, &val);
	if (err < 0)
	goto out;

	err = st_asm330lhh_update_watermark(sensor, val);
	if (err < 0)
	goto out;

	sensor->watermark = val;

	out:
	mutex_unlock(&iio_dev->mlock);

	return err < 0 ? err : size;
	}

	ssize_t st_asm330lhh_flush_fifo(struct device *dev,
	struct device_attribute *attr,
	const char *buf, size_t size)
	{
	struct iio_dev *iio_dev = dev_get_drvdata(dev);
	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);
	struct st_asm330lhh_hw *hw = sensor->hw;
	s64 event;
	int count;
	s64 type;
	s64 ts;

	mutex_lock(&hw->fifo_lock);
	ts = st_asm330lhh_get_time_ns();
	hw->delta_ts = ts - hw->ts;
	hw->ts = ts;
	set_bit(ST_ASM330LHH_HW_FLUSH, &hw->state);
	count = st_asm330lhh_read_fifo(hw);
	mutex_unlock(&hw->fifo_lock);

	type = count > 0 ? CUSTOM_IIO_EV_DIR_FIFO_DATA : CUSTOM_IIO_EV_DIR_FIFO_EMPTY;
	event = IIO_UNMOD_EVENT_CODE(iio_dev->channels[0].type, -1,
	CUSTOM_IIO_EV_TYPE_FIFO_FLUSH, type);
	iio_push_event(iio_dev, event, st_asm330lhh_get_time_ns());

	return size;
	}

	int st_asm330lhh_suspend_fifo(struct st_asm330lhh_hw *hw)
	{
	int err;

	mutex_lock(&hw->fifo_lock);
	st_asm330lhh_read_fifo(hw);
	err = st_asm330lhh_set_fifo_mode(hw, ST_ASM330LHH_FIFO_BYPASS);
	mutex_unlock(&hw->fifo_lock);

	return err;
	}

	int st_asm330lhh_update_fifo(struct iio_dev *iio_dev, bool enable)
	{
	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);
	struct st_asm330lhh_hw *hw = sensor->hw;
	int err;

	mutex_lock(&hw->fifo_lock);

	err = st_asm330lhh_sensor_set_enable(sensor, enable);
	if (err < 0)
	goto out;

	err = st_asm330lhh_set_sensor_batching_odr(sensor, enable);
	if (err < 0)
	goto out;

	err = st_asm330lhh_update_watermark(sensor, sensor->watermark);
	if (err < 0)
	goto out;

	if (enable && hw->fifo_mode == ST_ASM330LHH_FIFO_BYPASS) {
	st_asm330lhh_reset_hwts(hw);
	err = st_asm330lhh_set_fifo_mode(hw, ST_ASM330LHH_FIFO_CONT);
	} else if (!hw->enable_mask) {
	err = st_asm330lhh_set_fifo_mode(hw, ST_ASM330LHH_FIFO_BYPASS);
	}

	out:
	mutex_unlock(&hw->fifo_lock);

	return err;
	}

	static irqreturn_t st_asm330lhh_handler_irq(int irq, void *private)
	{
	struct st_asm330lhh_hw hw = (struct st_asm330lhh_hw )private;
	s64 ts = st_asm330lhh_get_time_ns();

	hw->delta_ts = ts - hw->ts;
	hw->ts = ts;

	if (hw->asm330_hrtimer)
	st_asm330lhh_hrtimer_reset(hw, hw->delta_ts);

	return IRQ_WAKE_THREAD;
	}

	static irqreturn_t st_asm330lhh_handler_thread(int irq, void *private)
	{
	struct st_asm330lhh_hw hw = (struct st_asm330lhh_hw )private;

	mutex_lock(&hw->fifo_lock);
	st_asm330lhh_read_fifo(hw);
	clear_bit(ST_ASM330LHH_HW_FLUSH, &hw->state);
	mutex_unlock(&hw->fifo_lock);

	if (hw->asm330_hrtimer)
	st_asm330lhh_set_cpu_idle_state(false);

	return IRQ_HANDLED;
	}

	static int st_asm330lhh_buffer_preenable(struct iio_dev *iio_dev)
	{
	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);

	if (asm330_check_acc_gyro_early_buff_enable_flag(sensor))
	return 0;
	else
	return st_asm330lhh_update_fifo(iio_dev, true);
	}

	static int st_asm330lhh_buffer_postdisable(struct iio_dev *iio_dev)
	{
	struct st_asm330lhh_sensor *sensor = iio_priv(iio_dev);

	if (asm330_check_acc_gyro_early_buff_enable_flag(sensor))
	return 0;
	else
	return st_asm330lhh_update_fifo(iio_dev, false);
	}

	static const struct iio_buffer_setup_ops st_asm330lhh_buffer_ops = {
	.preenable = st_asm330lhh_buffer_preenable,
	.postdisable = st_asm330lhh_buffer_postdisable,
	};

	static int st_asm330lhh_fifo_init(struct st_asm330lhh_hw *hw)
	{
	return st_asm330lhh_write_with_mask(hw, ST_ASM330LHH_REG_FIFO_CTRL4_ADDR,
	ST_ASM330LHH_REG_DEC_TS_MASK, 1);
	}

	int st_asm330lhh_fifo_setup(struct st_asm330lhh_hw *hw)
	{
	struct device_node *np = hw->dev->of_node;
	struct iio_buffer *buffer;
	unsigned long irq_type;
	bool irq_active_low;
	int i, err;

	if (!irq_get_irq_data(hw->irq))
	return -EINVAL;
	irq_type = irqd_get_trigger_type(irq_get_irq_data(hw->irq));
	if (irq_type == IRQF_TRIGGER_NONE)
	irq_type = IRQF_TRIGGER_HIGH;

	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 = st_asm330lhh_write_with_mask(hw, ST_ASM330LHH_REG_HLACTIVE_ADDR,
	ST_ASM330LHH_REG_HLACTIVE_MASK,
	irq_active_low);
	if (err < 0)
	return err;

	if (np && of_property_read_bool(np, "drive-open-drain")) {
	err = st_asm330lhh_write_with_mask(hw,
	ST_ASM330LHH_REG_PP_OD_ADDR,
	ST_ASM330LHH_REG_PP_OD_MASK, 1);
	if (err < 0)
	return err;

	irq_type \|= IRQF_SHARED;
	}

	err = devm_request_threaded_irq(hw->dev, hw->irq,
	st_asm330lhh_handler_irq,
	st_asm330lhh_handler_thread,
	irq_type \| IRQF_ONESHOT,
	"asm330lhh", hw);
	if (err) {
	dev_err(hw->dev, "failed to request trigger irq %d\n",
	hw->irq);
	return err;
	}

	for (i = ST_ASM330LHH_ID_ACC; i < ST_ASM330LHH_ID_MAX; i++) {
	if (!hw->iio_devs[i])
	continue;

	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_asm330lhh_buffer_ops;
	}

	return st_asm330lhh_fifo_init(hw);
	}