Eiji Iwatsuki | a71da78 | 2018-04-17 11:56:16 -0700 | [diff] [blame] | 1 | /* |
| 2 | * Copyright (C) 2012-2018 InvenSense, Inc. |
| 3 | * |
| 4 | * This software is licensed under the terms of the GNU General Public |
| 5 | * License version 2, as published by the Free Software Foundation, and |
| 6 | * may be copied, distributed, and modified under those terms. |
| 7 | * |
| 8 | * This program is distributed in the hope that it will be useful, |
| 9 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| 10 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 11 | * GNU General Public License for more details. |
| 12 | */ |
| 13 | #define pr_fmt(fmt) "inv_mpu: " fmt |
| 14 | |
| 15 | #include <linux/export.h> |
| 16 | #include <linux/kernel.h> |
| 17 | #include <linux/device.h> |
| 18 | #include <linux/slab.h> |
| 19 | #include <linux/err.h> |
| 20 | #include <linux/delay.h> |
| 21 | #include <linux/sysfs.h> |
| 22 | #include <linux/jiffies.h> |
| 23 | #include <linux/irq.h> |
| 24 | #include <linux/interrupt.h> |
| 25 | #include <linux/kfifo.h> |
| 26 | #include <linux/poll.h> |
| 27 | #include <linux/math64.h> |
| 28 | #include <linux/miscdevice.h> |
| 29 | |
| 30 | #include "inv_mpu_iio.h" |
| 31 | |
| 32 | static void inv_push_timestamp(struct iio_dev *indio_dev, u64 t) |
| 33 | { |
| 34 | u8 buf[IIO_BUFFER_BYTES]; |
| 35 | struct inv_mpu_state *st; |
| 36 | |
| 37 | st = iio_priv(indio_dev); |
| 38 | if (st->poke_mode_on) |
| 39 | memcpy(buf, &st->poke_ts, sizeof(t)); |
| 40 | else |
| 41 | memcpy(buf, &t, sizeof(t)); |
| 42 | iio_push_to_buffers(indio_dev, buf); |
| 43 | } |
| 44 | |
| 45 | int inv_push_marker_to_buffer(struct inv_mpu_state *st, u16 hdr, int data) |
| 46 | { |
| 47 | struct iio_dev *indio_dev = iio_priv_to_dev(st); |
| 48 | u8 buf[IIO_BUFFER_BYTES]; |
| 49 | |
| 50 | memcpy(buf, &hdr, sizeof(hdr)); |
| 51 | memcpy(&buf[4], &data, sizeof(data)); |
| 52 | iio_push_to_buffers(indio_dev, buf); |
| 53 | |
| 54 | return 0; |
| 55 | } |
| 56 | static int inv_calc_precision(struct inv_mpu_state *st) |
| 57 | { |
| 58 | int diff; |
| 59 | int init; |
| 60 | |
| 61 | if (st->eis.voting_state != 8) |
| 62 | return 0; |
| 63 | diff = abs(st->eis.fsync_delay_s[1] - st->eis.fsync_delay_s[0]); |
| 64 | init = 0; |
| 65 | if (diff) |
| 66 | init = st->sensor[SENSOR_GYRO].dur / diff; |
| 67 | |
| 68 | if (abs(init - NSEC_PER_USEC) < (NSEC_PER_USEC >> 3)) |
| 69 | st->eis.count_precision = init; |
| 70 | else |
| 71 | st->eis.voting_state = 0; |
| 72 | |
| 73 | pr_debug("dur= %d prc= %d\n", st->sensor[SENSOR_GYRO].dur, |
| 74 | st->eis.count_precision); |
| 75 | |
| 76 | return 0; |
| 77 | } |
| 78 | |
| 79 | static s64 calc_frame_ave(struct inv_mpu_state *st, int delay) |
| 80 | { |
| 81 | s64 ts; |
| 82 | |
| 83 | ts = st->eis.current_timestamp - delay; |
| 84 | #if defined(CONFIG_INV_MPU_IIO_ICM20648) | defined(CONFIG_INV_MPU_IIO_ICM20690) |
| 85 | ts -= st->ts_algo.gyro_ts_shift; |
| 86 | #endif |
| 87 | pr_debug("shift= %d ts = %lld\n", st->ts_algo.gyro_ts_shift, ts); |
| 88 | |
| 89 | return ts; |
| 90 | } |
| 91 | |
| 92 | static void inv_push_eis_ring(struct inv_mpu_state *st, int *q, bool sync, |
| 93 | s64 t) |
| 94 | { |
| 95 | struct iio_dev *indio_dev = iio_priv_to_dev(st); |
| 96 | struct inv_eis *eis = &st->eis; |
| 97 | u8 buf[IIO_BUFFER_BYTES]; |
| 98 | int tmp, ii; |
| 99 | |
| 100 | buf[0] = (EIS_GYRO_HDR & 0xff); |
| 101 | buf[1] = (EIS_GYRO_HDR >> 8); |
| 102 | memcpy(buf + 4, &q[0], sizeof(q[0])); |
| 103 | iio_push_to_buffers(indio_dev, buf); |
| 104 | for (ii = 0; ii < 2; ii++) |
| 105 | memcpy(buf + 4 * ii, &q[ii + 1], sizeof(q[ii])); |
| 106 | iio_push_to_buffers(indio_dev, buf); |
| 107 | tmp = eis->frame_count; |
| 108 | if (sync) |
| 109 | tmp |= 0x80000000; |
| 110 | memcpy(buf, &tmp, sizeof(tmp)); |
| 111 | iio_push_to_buffers(indio_dev, buf); |
| 112 | inv_push_timestamp(indio_dev, t); |
| 113 | } |
| 114 | static int inv_do_interpolation_gyro(struct inv_mpu_state *st, int *prev, |
| 115 | s64 prev_t, int *curr, s64 curr_t, s64 t, bool trigger) |
| 116 | { |
| 117 | int i; |
| 118 | int out[3]; |
| 119 | #if defined(CONFIG_INV_MPU_IIO_ICM20648) | defined(CONFIG_INV_MPU_IIO_ICM20690) |
| 120 | prev_t -= st->ts_algo.gyro_ts_shift; |
| 121 | prev_t += MPU_4X_TS_GYRO_SHIFT; |
| 122 | curr_t -= st->ts_algo.gyro_ts_shift; |
| 123 | curr_t += MPU_4X_TS_GYRO_SHIFT; |
| 124 | #endif |
| 125 | if ((t > prev_t) && (t < curr_t)) { |
| 126 | for (i = 0; i < 3; i++) |
| 127 | out[i] = (int)div_s64((s64)(curr[i] - prev[i]) * |
| 128 | (s64)(t - prev_t), curr_t - prev_t) + prev[i]; |
| 129 | } else if (t < prev_t) { |
| 130 | for (i = 0; i < 3; i++) |
| 131 | out[i] = prev[i]; |
| 132 | } else { |
| 133 | for (i = 0; i < 3; i++) |
| 134 | out[i] = curr[i]; |
| 135 | } |
| 136 | pr_debug("prev= %lld t = %lld curr= %lld\n", prev_t, t, curr_t); |
| 137 | pr_debug("prev = %d, %d, %d\n", prev[0], prev[1], prev[2]); |
| 138 | pr_debug("curr = %d, %d, %d\n", curr[0], curr[1], curr[2]); |
| 139 | pr_debug("out = %d, %d, %d\n", out[0], out[1], out[2]); |
| 140 | inv_push_eis_ring(st, out, trigger, t); |
| 141 | |
| 142 | return 0; |
| 143 | } |
| 144 | #if defined(CONFIG_INV_MPU_IIO_ICM20648) | defined(CONFIG_INV_MPU_IIO_ICM20690) |
| 145 | static void inv_handle_triggered_eis(struct inv_mpu_state *st) |
| 146 | { |
| 147 | struct inv_eis *eis = &st->eis; |
| 148 | int delay; |
| 149 | |
| 150 | if (st->eis.eis_frame) { |
| 151 | inv_calc_precision(st); |
| 152 | delay = ((int)st->eis.fsync_delay) * st->eis.count_precision; |
| 153 | eis->fsync_timestamp = calc_frame_ave(st, delay); |
| 154 | inv_do_interpolation_gyro(st, |
| 155 | st->eis.prev_gyro, st->eis.prev_timestamp, |
| 156 | st->eis.current_gyro, st->eis.current_timestamp, |
| 157 | eis->fsync_timestamp, true); |
| 158 | pr_debug("fsync=%lld, curr=%lld, delay=%d\n", |
| 159 | eis->fsync_timestamp, eis->current_timestamp, delay); |
| 160 | inv_push_eis_ring(st, st->eis.current_gyro, false, |
| 161 | st->eis.current_timestamp - st->ts_algo.gyro_ts_shift |
| 162 | + MPU_4X_TS_GYRO_SHIFT); |
| 163 | eis->last_fsync_timestamp = eis->fsync_timestamp; |
| 164 | } else { |
| 165 | pr_debug("cur= %lld\n", st->eis.current_timestamp); |
| 166 | inv_push_eis_ring(st, st->eis.current_gyro, false, |
| 167 | st->eis.current_timestamp - st->ts_algo.gyro_ts_shift |
| 168 | + MPU_4X_TS_GYRO_SHIFT); |
| 169 | } |
| 170 | } |
| 171 | #else |
| 172 | static void inv_handle_triggered_eis(struct inv_mpu_state *st) |
| 173 | { |
| 174 | struct inv_eis *eis = &st->eis; |
| 175 | int delay; |
| 176 | |
| 177 | if ((st->eis.eis_frame && (st->eis.fsync_delay != 5)) || |
| 178 | (st->eis.eis_frame && (st->eis.fsync_delay == 5) && |
| 179 | (!st->eis.current_sync)) |
| 180 | ) { |
| 181 | inv_calc_precision(st); |
| 182 | delay = ((int)st->eis.fsync_delay) * st->eis.count_precision; |
| 183 | eis->fsync_timestamp = calc_frame_ave(st, delay); |
| 184 | inv_do_interpolation_gyro(st, |
| 185 | st->eis.prev_gyro, st->eis.prev_timestamp, |
| 186 | st->eis.current_gyro, st->eis.current_timestamp, |
| 187 | eis->fsync_timestamp, true); |
| 188 | pr_debug("fsync=%lld, curr=%lld, delay=%d\n", |
| 189 | eis->fsync_timestamp, eis->current_timestamp, delay); |
| 190 | inv_push_eis_ring(st, st->eis.current_gyro, false, |
| 191 | st->eis.current_timestamp); |
| 192 | eis->last_fsync_timestamp = eis->fsync_timestamp; |
| 193 | st->eis.eis_frame = false; |
| 194 | } else { |
| 195 | st->eis.current_sync = false; |
| 196 | pr_debug("cur= %lld\n", st->eis.current_timestamp); |
| 197 | inv_push_eis_ring(st, st->eis.current_gyro, false, |
| 198 | st->eis.current_timestamp); |
| 199 | } |
| 200 | } |
| 201 | #endif |
| 202 | static void inv_push_eis_buffer(struct inv_mpu_state *st, u64 t, int *q) |
| 203 | { |
| 204 | int ii; |
| 205 | |
| 206 | if (st->eis.eis_triggered) { |
| 207 | for (ii = 0; ii < 3; ii++) |
| 208 | st->eis.prev_gyro[ii] = st->eis.current_gyro[ii]; |
| 209 | st->eis.prev_timestamp = st->eis.current_timestamp; |
| 210 | |
| 211 | for (ii = 0; ii < 3; ii++) |
| 212 | st->eis.current_gyro[ii] = q[ii]; |
| 213 | st->eis.current_timestamp = t; |
| 214 | inv_handle_triggered_eis(st); |
| 215 | } else { |
| 216 | for (ii = 0; ii < 3; ii++) |
| 217 | st->eis.current_gyro[ii] = q[ii]; |
| 218 | st->eis.current_timestamp = t; |
| 219 | } |
| 220 | } |
| 221 | static int inv_push_16bytes_final(struct inv_mpu_state *st, int j, |
| 222 | s32 *q, u64 t, s16 accur) |
| 223 | { |
| 224 | struct iio_dev *indio_dev = iio_priv_to_dev(st); |
| 225 | u8 buf[IIO_BUFFER_BYTES]; |
| 226 | int ii; |
| 227 | |
| 228 | memcpy(buf, &st->sensor_l[j].header, sizeof(st->sensor_l[j].header)); |
| 229 | memcpy(buf + 2, &accur, sizeof(accur)); |
| 230 | memcpy(buf + 4, &q[0], sizeof(q[0])); |
| 231 | iio_push_to_buffers(indio_dev, buf); |
| 232 | for (ii = 0; ii < 2; ii++) |
| 233 | memcpy(buf + 4 * ii, &q[ii + 1], sizeof(q[ii])); |
| 234 | iio_push_to_buffers(indio_dev, buf); |
| 235 | inv_push_timestamp(indio_dev, t); |
| 236 | st->sensor_l[j].counter = 0; |
| 237 | if (st->sensor_l[j].wake_on) |
| 238 | st->wake_sensor_received = true; |
| 239 | |
| 240 | return 0; |
| 241 | } |
| 242 | int inv_push_16bytes_buffer(struct inv_mpu_state *st, u16 sensor, |
| 243 | u64 t, int *q, s16 accur) |
| 244 | { |
| 245 | int j; |
| 246 | |
| 247 | for (j = 0; j < SENSOR_L_NUM_MAX; j++) { |
| 248 | if (st->sensor_l[j].on && (st->sensor_l[j].base == sensor)) { |
| 249 | st->sensor_l[j].counter++; |
| 250 | if ((st->sensor_l[j].div != 0xffff) && |
| 251 | (st->sensor_l[j].counter >= |
| 252 | st->sensor_l[j].div)) { |
| 253 | pr_debug( |
| 254 | "Sensor_l = %d sensor = %d header [%04X] div [%d] ts [%lld] %d %d %d\n", |
| 255 | j, sensor, |
| 256 | st->sensor_l[j].header, |
| 257 | st->sensor_l[j].div, |
| 258 | t, q[0], q[1], q[2]); |
| 259 | inv_push_16bytes_final(st, j, q, t, accur); |
| 260 | } |
| 261 | } |
| 262 | } |
| 263 | return 0; |
| 264 | } |
| 265 | |
| 266 | void inv_convert_and_push_16bytes(struct inv_mpu_state *st, u16 hdr, |
| 267 | u8 *d, u64 t, s8 *m) |
| 268 | { |
| 269 | int i, j; |
| 270 | s32 in[3], out[3]; |
| 271 | |
| 272 | for (i = 0; i < 3; i++) |
| 273 | in[i] = be32_to_int(d + i * 4); |
| 274 | /* multiply with orientation matrix can be optimized like this */ |
| 275 | for (i = 0; i < 3; i++) |
| 276 | for (j = 0; j < 3; j++) |
| 277 | if (m[i * 3 + j]) |
| 278 | out[i] = in[j] * m[i * 3 + j]; |
| 279 | |
| 280 | inv_push_16bytes_buffer(st, hdr, t, out, 0); |
| 281 | } |
| 282 | |
| 283 | void inv_convert_and_push_8bytes(struct inv_mpu_state *st, u16 hdr, |
| 284 | u8 *d, u64 t, s8 *m) |
| 285 | { |
| 286 | int i, j; |
| 287 | s16 in[3], out[3]; |
| 288 | |
| 289 | for (i = 0; i < 3; i++) |
| 290 | in[i] = be16_to_cpup((__be16 *) (d + i * 2)); |
| 291 | |
| 292 | /* multiply with orientation matrix can be optimized like this */ |
| 293 | for (i = 0; i < 3; i++) |
| 294 | for (j = 0; j < 3; j++) |
| 295 | if (m[i * 3 + j]) |
| 296 | out[i] = in[j] * m[i * 3 + j]; |
| 297 | |
| 298 | inv_push_8bytes_buffer(st, hdr, t, out); |
| 299 | } |
Puneet yatnala | 6cf4140 | 2018-05-18 10:30:41 +0530 | [diff] [blame] | 300 | #ifdef CONFIG_ENABLE_IAM_ACC_GYRO_BUFFERING |
| 301 | static void store_acc_boot_sample(struct inv_mpu_state *st, u64 t, |
| 302 | s16 x, s16 y, s16 z) |
| 303 | { |
| 304 | if (false == st->acc_buffer_inv_samples) |
| 305 | return; |
| 306 | st->timestamp.tv64 = t; |
| 307 | if (ktime_to_timespec(st->timestamp).tv_sec |
| 308 | < st->max_buffer_time) { |
| 309 | if (st->acc_bufsample_cnt < INV_ACC_MAXSAMPLE) { |
| 310 | st->inv_acc_samplist[st-> |
| 311 | acc_bufsample_cnt]->xyz[0] = x; |
| 312 | st->inv_acc_samplist[st-> |
| 313 | acc_bufsample_cnt]->xyz[1] = y; |
| 314 | st->inv_acc_samplist[st-> |
| 315 | acc_bufsample_cnt]->xyz[2] = z; |
| 316 | st->inv_acc_samplist[st-> |
| 317 | acc_bufsample_cnt]->tsec = |
| 318 | ktime_to_timespec(st |
| 319 | ->timestamp).tv_sec; |
| 320 | st->inv_acc_samplist[st-> |
| 321 | acc_bufsample_cnt]->tnsec = |
| 322 | ktime_to_timespec(st |
| 323 | ->timestamp).tv_nsec; |
| 324 | st->acc_bufsample_cnt++; |
| 325 | } |
| 326 | } else { |
| 327 | dev_info(st->dev, "End of ACC buffering %d\n", |
| 328 | st->acc_bufsample_cnt); |
| 329 | st->acc_buffer_inv_samples = false; |
| 330 | } |
| 331 | } |
| 332 | static void store_gyro_boot_sample(struct inv_mpu_state *st, u64 t, |
| 333 | s16 x, s16 y, s16 z) |
| 334 | { |
| 335 | |
| 336 | if (false == st->gyro_buffer_inv_samples) |
| 337 | return; |
| 338 | st->timestamp.tv64 = t; |
| 339 | if (ktime_to_timespec(st->timestamp).tv_sec |
| 340 | < st->max_buffer_time) { |
| 341 | if (st->gyro_bufsample_cnt < INV_GYRO_MAXSAMPLE) { |
| 342 | st->inv_gyro_samplist[st-> |
| 343 | gyro_bufsample_cnt]->xyz[0] = x; |
| 344 | st->inv_gyro_samplist[st-> |
| 345 | gyro_bufsample_cnt]->xyz[1] = y; |
| 346 | st->inv_gyro_samplist[st-> |
| 347 | gyro_bufsample_cnt]->xyz[2] = z; |
| 348 | st->inv_gyro_samplist[st-> |
| 349 | gyro_bufsample_cnt]->tsec = |
| 350 | ktime_to_timespec(st-> |
| 351 | timestamp).tv_sec; |
| 352 | st->inv_gyro_samplist[st-> |
| 353 | gyro_bufsample_cnt]->tnsec = |
| 354 | ktime_to_timespec(st-> |
| 355 | timestamp).tv_nsec; |
| 356 | st->gyro_bufsample_cnt++; |
| 357 | } |
| 358 | } else { |
| 359 | dev_info(st->dev, "End of GYRO buffering %d\n", |
| 360 | st->gyro_bufsample_cnt); |
| 361 | st->gyro_buffer_inv_samples = false; |
| 362 | } |
| 363 | } |
| 364 | #else |
| 365 | static void store_acc_boot_sample(struct inv_mpu_state *st, u64 t, |
| 366 | s16 x, s16 y, s16 z) |
| 367 | { |
| 368 | } |
| 369 | static void store_gyro_boot_sample(struct inv_mpu_state *st, u64 t, |
| 370 | s16 x, s16 y, s16 z) |
| 371 | { |
| 372 | } |
| 373 | #endif |
Eiji Iwatsuki | a71da78 | 2018-04-17 11:56:16 -0700 | [diff] [blame] | 374 | |
| 375 | int inv_push_special_8bytes_buffer(struct inv_mpu_state *st, |
| 376 | u16 hdr, u64 t, s16 *d) |
| 377 | { |
| 378 | struct iio_dev *indio_dev = iio_priv_to_dev(st); |
| 379 | u8 buf[IIO_BUFFER_BYTES]; |
| 380 | int j; |
| 381 | |
| 382 | memcpy(buf, &hdr, sizeof(hdr)); |
| 383 | memcpy(&buf[2], &d[0], sizeof(d[0])); |
| 384 | for (j = 0; j < 2; j++) |
| 385 | memcpy(&buf[4 + j * 2], &d[j + 1], sizeof(d[j])); |
Puneet Yatnal | 3cbaa6f | 2020-01-08 18:09:41 +0530 | [diff] [blame] | 386 | mutex_lock(&st->gyro_sensor_buff); |
Puneet yatnala | 6cf4140 | 2018-05-18 10:30:41 +0530 | [diff] [blame] | 387 | store_gyro_boot_sample(st, t, d[0], d[1], d[2]); |
Puneet Yatnal | 3cbaa6f | 2020-01-08 18:09:41 +0530 | [diff] [blame] | 388 | mutex_unlock(&st->gyro_sensor_buff); |
Eiji Iwatsuki | a71da78 | 2018-04-17 11:56:16 -0700 | [diff] [blame] | 389 | iio_push_to_buffers(indio_dev, buf); |
| 390 | inv_push_timestamp(indio_dev, t); |
| 391 | |
| 392 | return 0; |
| 393 | } |
| 394 | |
| 395 | static int inv_s16_gyro_push(struct inv_mpu_state *st, int i, s16 *raw, u64 t) |
| 396 | { |
| 397 | if (st->sensor_l[i].on) { |
| 398 | st->sensor_l[i].counter++; |
| 399 | if ((st->sensor_l[i].div != 0xffff) && |
| 400 | (st->sensor_l[i].counter >= st->sensor_l[i].div)) { |
| 401 | inv_push_special_8bytes_buffer(st, |
| 402 | st->sensor_l[i].header, t, raw); |
| 403 | st->sensor_l[i].counter = 0; |
| 404 | if (st->sensor_l[i].wake_on) |
| 405 | st->wake_sensor_received = true; |
| 406 | } |
| 407 | } |
| 408 | |
| 409 | return 0; |
| 410 | } |
| 411 | |
| 412 | static int inv_s32_gyro_push(struct inv_mpu_state *st, int i, s32 *calib, u64 t) |
| 413 | { |
| 414 | if (st->sensor_l[i].on) { |
| 415 | st->sensor_l[i].counter++; |
| 416 | if ((st->sensor_l[i].div != 0xffff) && |
| 417 | (st->sensor_l[i].counter >= st->sensor_l[i].div)) { |
| 418 | inv_push_16bytes_final(st, i, calib, t, 0); |
| 419 | st->sensor_l[i].counter = 0; |
| 420 | if (st->sensor_l[i].wake_on) |
| 421 | st->wake_sensor_received = true; |
| 422 | } |
| 423 | } |
| 424 | |
| 425 | return 0; |
| 426 | } |
| 427 | |
| 428 | int inv_push_gyro_data(struct inv_mpu_state *st, s16 *raw, s32 *calib, u64 t) |
| 429 | { |
| 430 | int gyro_data[] = {SENSOR_L_GYRO, SENSOR_L_GYRO_WAKE}; |
| 431 | int calib_data[] = {SENSOR_L_GYRO_CAL, SENSOR_L_GYRO_CAL_WAKE}; |
| 432 | int i; |
| 433 | |
| 434 | if (st->sensor_l[SENSOR_L_EIS_GYRO].on) |
| 435 | inv_push_eis_buffer(st, t, calib); |
| 436 | |
| 437 | for (i = 0; i < 2; i++) |
| 438 | inv_s16_gyro_push(st, gyro_data[i], raw, t); |
| 439 | for (i = 0; i < 2; i++) |
| 440 | inv_s32_gyro_push(st, calib_data[i], calib, t); |
| 441 | |
| 442 | return 0; |
| 443 | } |
| 444 | int inv_push_8bytes_buffer(struct inv_mpu_state *st, u16 sensor, u64 t, s16 *d) |
| 445 | { |
| 446 | struct iio_dev *indio_dev = iio_priv_to_dev(st); |
| 447 | u8 buf[IIO_BUFFER_BYTES]; |
| 448 | int ii, j; |
| 449 | |
| 450 | if ((sensor == STEP_DETECTOR_HDR) || |
| 451 | (sensor == STEP_DETECTOR_WAKE_HDR)) { |
| 452 | memcpy(buf, &sensor, sizeof(sensor)); |
| 453 | memcpy(&buf[2], &d[0], sizeof(d[0])); |
| 454 | for (j = 0; j < 2; j++) |
| 455 | memcpy(&buf[4 + j * 2], &d[j + 1], sizeof(d[j])); |
| 456 | iio_push_to_buffers(indio_dev, buf); |
| 457 | inv_push_timestamp(indio_dev, t); |
| 458 | if (sensor == STEP_DETECTOR_WAKE_HDR) |
| 459 | st->wake_sensor_received = true; |
| 460 | return 0; |
| 461 | } |
| 462 | for (ii = 0; ii < SENSOR_L_NUM_MAX; ii++) { |
| 463 | if (st->sensor_l[ii].on && |
| 464 | (st->sensor_l[ii].base == sensor) && |
| 465 | (st->sensor_l[ii].div != 0xffff)) { |
| 466 | st->sensor_l[ii].counter++; |
| 467 | if (st->sensor_l[ii].counter >= st->sensor_l[ii].div) { |
| 468 | pr_debug( |
| 469 | "Sensor_l = %d sensor = %d header [%04X] div [%d] ts [%lld] %d %d %d\n", |
| 470 | ii, sensor, st->sensor_l[ii].header, |
| 471 | st->sensor_l[ii].div, t, d[0], d[1], d[2]); |
| 472 | |
| 473 | memcpy(buf, &st->sensor_l[ii].header, |
| 474 | sizeof(st->sensor_l[ii].header)); |
| 475 | memcpy(&buf[2], &d[0], sizeof(d[0])); |
| 476 | for (j = 0; j < 2; j++) |
| 477 | memcpy(&buf[4 + j * 2], &d[j + 1], |
| 478 | sizeof(d[j])); |
Puneet Yatnal | 3cbaa6f | 2020-01-08 18:09:41 +0530 | [diff] [blame] | 479 | mutex_lock(&st->acc_sensor_buff); |
Puneet yatnala | 6cf4140 | 2018-05-18 10:30:41 +0530 | [diff] [blame] | 480 | store_acc_boot_sample(st, t, d[0], d[1], d[2]); |
Puneet Yatnal | 3cbaa6f | 2020-01-08 18:09:41 +0530 | [diff] [blame] | 481 | mutex_unlock(&st->acc_sensor_buff); |
Eiji Iwatsuki | a71da78 | 2018-04-17 11:56:16 -0700 | [diff] [blame] | 482 | iio_push_to_buffers(indio_dev, buf); |
| 483 | inv_push_timestamp(indio_dev, t); |
| 484 | st->sensor_l[ii].counter = 0; |
| 485 | if (st->sensor_l[ii].wake_on) |
| 486 | st->wake_sensor_received = true; |
| 487 | } |
| 488 | } |
| 489 | } |
| 490 | |
| 491 | return 0; |
| 492 | } |
| 493 | #ifdef CONFIG_INV_MPU_IIO_ICM20648 |
| 494 | /* Implemented activity to string function for BAC test */ |
| 495 | #define TILT_DETECTED 0x1000 |
| 496 | #define NONE 0x00 |
| 497 | #define DRIVE 0x01 |
| 498 | #define WALK 0x02 |
| 499 | #define RUN 0x04 |
| 500 | #define BIKE 0x08 |
| 501 | #define TILT 0x10 |
| 502 | #define STILL 0x20 |
| 503 | #define DRIVE_WALK (DRIVE | WALK) |
| 504 | #define DRIVE_RUN (DRIVE | RUN) |
| 505 | |
| 506 | char *act_string(s16 data) |
| 507 | { |
| 508 | data &= (~TILT); |
| 509 | switch (data) { |
| 510 | case NONE: |
| 511 | return "None"; |
| 512 | case DRIVE: |
| 513 | return "Drive"; |
| 514 | case WALK: |
| 515 | return "Walk"; |
| 516 | case RUN: |
| 517 | return "Run"; |
| 518 | case BIKE: |
| 519 | return "Bike"; |
| 520 | case STILL: |
| 521 | return "Still"; |
| 522 | case DRIVE_WALK: |
| 523 | return "drive and walk"; |
| 524 | case DRIVE_RUN: |
| 525 | return "drive and run"; |
| 526 | default: |
| 527 | return "Unknown"; |
| 528 | } |
| 529 | return "Unknown"; |
| 530 | } |
| 531 | |
| 532 | char *inv_tilt_check(s16 data) |
| 533 | { |
| 534 | if (data & TILT) |
| 535 | return "Tilt"; |
| 536 | else |
| 537 | return "None"; |
| 538 | } |
| 539 | |
| 540 | int inv_push_8bytes_kf(struct inv_mpu_state *st, u16 hdr, u64 t, s16 *d) |
| 541 | { |
| 542 | struct iio_dev *indio_dev = iio_priv_to_dev(st); |
| 543 | u8 buf[IIO_BUFFER_BYTES]; |
| 544 | int i; |
| 545 | |
| 546 | if (st->chip_config.activity_on) { |
| 547 | memcpy(buf, &hdr, sizeof(hdr)); |
| 548 | for (i = 0; i < 3; i++) |
| 549 | memcpy(&buf[2 + i * 2], &d[i], sizeof(d[i])); |
| 550 | |
| 551 | kfifo_in(&st->kf, buf, IIO_BUFFER_BYTES); |
| 552 | memcpy(buf, &t, sizeof(t)); |
| 553 | kfifo_in(&st->kf, buf, IIO_BUFFER_BYTES); |
| 554 | st->activity_size += IIO_BUFFER_BYTES * 2; |
| 555 | } |
| 556 | if (st->chip_config.tilt_enable) { |
| 557 | pr_debug("d[0] = %04X, [%X : %s] to [%X : %s]", |
| 558 | d[0], d[0] & 0x00FF, |
| 559 | inv_tilt_check(d[0] & 0x00FF), |
| 560 | (d[0] & 0xFF00) >> 8, inv_tilt_check((d[0] & 0xFF00) >> 8)); |
| 561 | sysfs_notify(&indio_dev->dev.kobj, NULL, "poll_tilt"); |
| 562 | } |
| 563 | |
| 564 | pr_debug("d[0] = %04X, [%X : %s] to [%X : %s]", d[0], d[0] & 0x00FF, |
| 565 | act_string(d[0] & 0x00FF), |
| 566 | (d[0] & 0xFF00) >> 8, act_string((d[0] & 0xFF00) >> 8)); |
| 567 | |
| 568 | read_be32_from_mem(st, &st->bac_drive_conf, BAC_DRIVE_CONFIDENCE); |
| 569 | read_be32_from_mem(st, &st->bac_walk_conf, BAC_WALK_CONFIDENCE); |
| 570 | read_be32_from_mem(st, &st->bac_smd_conf, BAC_SMD_CONFIDENCE); |
| 571 | read_be32_from_mem(st, &st->bac_bike_conf, BAC_BIKE_CONFIDENCE); |
| 572 | read_be32_from_mem(st, &st->bac_still_conf, BAC_STILL_CONFIDENCE); |
| 573 | read_be32_from_mem(st, &st->bac_run_conf, BAC_RUN_CONFIDENCE); |
| 574 | |
| 575 | return 0; |
| 576 | } |
| 577 | #endif |
| 578 | |
| 579 | int inv_send_steps(struct inv_mpu_state *st, int step, u64 ts) |
| 580 | { |
| 581 | s16 s[3]; |
| 582 | |
| 583 | s[0] = 0; |
| 584 | s[1] = (s16) (step & 0xffff); |
| 585 | s[2] = (s16) ((step >> 16) & 0xffff); |
| 586 | if (st->step_counter_l_on) |
| 587 | inv_push_special_8bytes_buffer(st, STEP_COUNTER_HDR, ts, s); |
| 588 | if (st->step_counter_wake_l_on) { |
| 589 | inv_push_special_8bytes_buffer(st, STEP_COUNTER_WAKE_HDR, |
| 590 | ts, s); |
| 591 | st->wake_sensor_received = true; |
| 592 | } |
| 593 | return 0; |
| 594 | } |
| 595 | |
| 596 | void inv_push_step_indicator(struct inv_mpu_state *st, u64 t) |
| 597 | { |
| 598 | s16 sen[3]; |
| 599 | #define STEP_INDICATOR_HEADER 0x0001 |
| 600 | |
| 601 | sen[0] = 0; |
| 602 | sen[1] = 0; |
| 603 | sen[2] = 0; |
| 604 | inv_push_8bytes_buffer(st, STEP_INDICATOR_HEADER, t, sen); |
| 605 | } |
| 606 | |
| 607 | /* |
| 608 | * inv_irq_handler() - Cache a timestamp at each data ready interrupt. |
| 609 | */ |
| 610 | static irqreturn_t inv_irq_handler(int irq, void *dev_id) |
| 611 | { |
| 612 | return IRQ_WAKE_THREAD; |
| 613 | } |
| 614 | |
Eiji Iwatsuki | b1c8f25 | 2018-05-01 10:26:25 -0700 | [diff] [blame] | 615 | #ifdef TIMER_BASED_BATCHING |
| 616 | static enum hrtimer_restart inv_batch_timer_handler(struct hrtimer *timer) |
| 617 | { |
| 618 | struct inv_mpu_state *st = |
| 619 | container_of(timer, struct inv_mpu_state, hr_batch_timer); |
| 620 | |
| 621 | if (st->chip_config.gyro_enable || st->chip_config.accel_enable) { |
| 622 | hrtimer_forward_now(&st->hr_batch_timer, |
| 623 | ns_to_ktime(st->batch_timeout)); |
| 624 | schedule_work(&st->batch_work); |
| 625 | return HRTIMER_RESTART; |
| 626 | } |
| 627 | st->is_batch_timer_running = 0; |
| 628 | return HRTIMER_NORESTART; |
| 629 | } |
| 630 | #endif |
| 631 | |
Eiji Iwatsuki | a71da78 | 2018-04-17 11:56:16 -0700 | [diff] [blame] | 632 | void inv_mpu_unconfigure_ring(struct iio_dev *indio_dev) |
| 633 | { |
| 634 | struct inv_mpu_state *st = iio_priv(indio_dev); |
| 635 | #ifdef KERNEL_VERSION_4_X |
| 636 | devm_free_irq(st->dev, st->irq, st); |
| 637 | devm_iio_kfifo_free(st->dev, indio_dev->buffer); |
| 638 | #else |
| 639 | free_irq(st->irq, st); |
| 640 | iio_kfifo_free(indio_dev->buffer); |
| 641 | #endif |
| 642 | }; |
| 643 | EXPORT_SYMBOL_GPL(inv_mpu_unconfigure_ring); |
| 644 | |
| 645 | #ifndef KERNEL_VERSION_4_X |
| 646 | static int inv_predisable(struct iio_dev *indio_dev) |
| 647 | { |
| 648 | return 0; |
| 649 | } |
| 650 | |
| 651 | static int inv_preenable(struct iio_dev *indio_dev) |
| 652 | { |
| 653 | return 0; |
| 654 | } |
| 655 | |
| 656 | static const struct iio_buffer_setup_ops inv_mpu_ring_setup_ops = { |
| 657 | .preenable = &inv_preenable, |
| 658 | .predisable = &inv_predisable, |
| 659 | }; |
| 660 | #endif |
| 661 | |
| 662 | int inv_mpu_configure_ring(struct iio_dev *indio_dev) |
| 663 | { |
| 664 | int ret; |
| 665 | struct inv_mpu_state *st = iio_priv(indio_dev); |
| 666 | struct iio_buffer *ring; |
| 667 | |
Eiji Iwatsuki | b1c8f25 | 2018-05-01 10:26:25 -0700 | [diff] [blame] | 668 | #ifdef TIMER_BASED_BATCHING |
| 669 | /* configure hrtimer */ |
| 670 | hrtimer_init(&st->hr_batch_timer, CLOCK_BOOTTIME, HRTIMER_MODE_REL); |
| 671 | st->hr_batch_timer.function = inv_batch_timer_handler; |
| 672 | INIT_WORK(&st->batch_work, inv_batch_work); |
| 673 | #endif |
Eiji Iwatsuki | a71da78 | 2018-04-17 11:56:16 -0700 | [diff] [blame] | 674 | #ifdef KERNEL_VERSION_4_X |
| 675 | ring = devm_iio_kfifo_allocate(st->dev); |
| 676 | if (!ring) |
| 677 | return -ENOMEM; |
| 678 | ring->scan_timestamp = true; |
| 679 | iio_device_attach_buffer(indio_dev, ring); |
| 680 | ret = devm_request_threaded_irq(st->dev, |
| 681 | st->irq, |
| 682 | inv_irq_handler, |
| 683 | inv_read_fifo, |
| 684 | IRQF_TRIGGER_RISING | IRQF_SHARED, |
| 685 | "inv_irq", |
| 686 | st); |
| 687 | if (ret) { |
| 688 | devm_iio_kfifo_free(st->dev, ring); |
| 689 | return ret; |
| 690 | } |
| 691 | |
| 692 | // this mode does not use ops |
| 693 | indio_dev->modes = INDIO_ALL_BUFFER_MODES; |
| 694 | |
| 695 | return ret; |
| 696 | #else |
| 697 | ring = iio_kfifo_allocate(indio_dev); |
| 698 | if (!ring) |
| 699 | return -ENOMEM; |
| 700 | indio_dev->buffer = ring; |
| 701 | /* setup ring buffer */ |
| 702 | ring->scan_timestamp = true; |
| 703 | indio_dev->setup_ops = &inv_mpu_ring_setup_ops; |
| 704 | ret = request_threaded_irq(st->irq, |
| 705 | inv_irq_handler, |
| 706 | inv_read_fifo, |
| 707 | IRQF_TRIGGER_RISING | IRQF_SHARED, |
| 708 | "inv_irq", |
| 709 | st); |
| 710 | if (ret) |
| 711 | goto error_iio_sw_rb_free; |
| 712 | |
| 713 | indio_dev->modes |= INDIO_BUFFER_HARDWARE; |
| 714 | |
| 715 | return 0; |
| 716 | error_iio_sw_rb_free: |
| 717 | iio_kfifo_free(indio_dev->buffer); |
| 718 | |
| 719 | return ret; |
| 720 | #endif |
| 721 | } |
| 722 | EXPORT_SYMBOL_GPL(inv_mpu_configure_ring); |