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Mon, 30 Mar 2026 13:01:09 -0700 (PDT) Received: from localhost.localdomain ([2600:1700:fb0:1bc0::54]) by smtp.gmail.com with ESMTPSA id 46e09a7af769-7da0a336353sm6601068a34.2.2026.03.30.13.01.08 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Mon, 30 Mar 2026 13:01:08 -0700 (PDT) From: Chris Morgan To: linux-iio@vger.kernel.org Cc: andy@kernel.org, nuno.sa@analog.com, dlechner@baylibre.com, jic23@kernel.org, jean-baptiste.maneyrol@tdk.com, linux-rockchip@lists.infradead.org, devicetree@vger.kernel.org, heiko@sntech.de, conor+dt@kernel.org, krzk+dt@kernel.org, robh@kernel.org, andriy.shevchenko@intel.com, Chris Morgan Subject: [PATCH V3 4/9] iio: imu: inv_icm42607: Add Buffer support functions to icm42607 Date: Mon, 30 Mar 2026 14:58:48 -0500 Message-ID: <20260330195853.392877-5-macroalpha82@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20260330195853.392877-1-macroalpha82@gmail.com> References: <20260330195853.392877-1-macroalpha82@gmail.com> Precedence: bulk X-Mailing-List: linux-iio@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: 8bit From: Chris Morgan Add all FIFO parsing and reading functions to support inv_icm42607 hardware. Signed-off-by: Chris Morgan --- drivers/iio/imu/inv_icm42607/inv_icm42607.h | 4 + .../imu/inv_icm42607/inv_icm42607_buffer.c | 496 ++++++++++++++++++ .../imu/inv_icm42607/inv_icm42607_buffer.h | 98 ++++ .../iio/imu/inv_icm42607/inv_icm42607_core.c | 25 + 4 files changed, 623 insertions(+) create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h index 7d13091aa8df..5530fd3bc03f 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h @@ -15,6 +15,8 @@ #include #include +#include "inv_icm42607_buffer.h" + enum inv_icm42607_chip { INV_CHIP_INVALID, INV_CHIP_ICM42607P, @@ -137,6 +139,7 @@ struct inv_icm42607_apex { * @indio_accel: accelerometer IIO device. * @timestamp: interrupt timestamps. * @apex: APEX (Advanced Pedometer and Event detection) management + * @fifo: FIFO management structure. * @buffer: data transfer buffer aligned for DMA. */ struct inv_icm42607_state { @@ -156,6 +159,7 @@ struct inv_icm42607_state { s64 accel; } timestamp; struct inv_icm42607_apex apex; + struct inv_icm42607_fifo fifo; u8 buffer[3] __aligned(IIO_DMA_MINALIGN); }; diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c new file mode 100644 index 000000000000..4f5f199586fc --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.c @@ -0,0 +1,496 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "inv_icm42607.h" +#include "inv_icm42607_buffer.h" + +/* FIFO header: 1 byte */ +#define INV_ICM42607_FIFO_HEADER_MSG BIT(7) +#define INV_ICM42607_FIFO_HEADER_ACCEL BIT(6) +#define INV_ICM42607_FIFO_HEADER_GYRO BIT(5) +#define INV_ICM42607_FIFO_HEADER_TMST_FSYNC GENMASK(3, 2) +#define INV_ICM42607_FIFO_HEADER_ODR_ACCEL BIT(1) +#define INV_ICM42607_FIFO_HEADER_ODR_GYRO BIT(0) + +struct inv_icm42607_fifo_1sensor_packet { + u8 header; + struct inv_icm42607_fifo_sensor_data data; + s8 temp; +} __packed; +#define INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE 8 + +struct inv_icm42607_fifo_2sensors_packet { + u8 header; + struct inv_icm42607_fifo_sensor_data accel; + struct inv_icm42607_fifo_sensor_data gyro; + s8 temp; + __be16 timestamp; +} __packed; +#define INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE 16 + +ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel, + const void **gyro, const int8_t **temp, + const void **timestamp, unsigned int *odr) +{ + const struct inv_icm42607_fifo_1sensor_packet *pack1 = packet; + const struct inv_icm42607_fifo_2sensors_packet *pack2 = packet; + u8 header = *((const u8 *)packet); + + /* FIFO empty */ + if (header & INV_ICM42607_FIFO_HEADER_MSG) { + *accel = NULL; + *gyro = NULL; + *temp = NULL; + *timestamp = NULL; + *odr = 0; + return 0; + } + + /* handle odr flags */ + *odr = 0; + if (header & INV_ICM42607_FIFO_HEADER_ODR_GYRO) + *odr |= INV_ICM42607_SENSOR_GYRO; + if (header & INV_ICM42607_FIFO_HEADER_ODR_ACCEL) + *odr |= INV_ICM42607_SENSOR_ACCEL; + + /* accel + gyro */ + if ((header & INV_ICM42607_FIFO_HEADER_ACCEL) && + (header & INV_ICM42607_FIFO_HEADER_GYRO)) { + *accel = &pack2->accel; + *gyro = &pack2->gyro; + *temp = &pack2->temp; + *timestamp = &pack2->timestamp; + return INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE; + } + + /* accel only */ + if (header & INV_ICM42607_FIFO_HEADER_ACCEL) { + *accel = &pack1->data; + *gyro = NULL; + *temp = &pack1->temp; + *timestamp = NULL; + return INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE; + } + + /* gyro only */ + if (header & INV_ICM42607_FIFO_HEADER_GYRO) { + *accel = NULL; + *gyro = &pack1->data; + *temp = &pack1->temp; + *timestamp = NULL; + return INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE; + } + + /* invalid packet if here */ + return -EINVAL; +} + +void inv_icm42607_buffer_update_fifo_period(struct inv_icm42607_state *st) +{ + u32 period_gyro, period_accel; + + if (st->fifo.en & INV_ICM42607_SENSOR_GYRO) + period_gyro = inv_icm42607_odr_to_period(st->conf.gyro.odr); + else + period_gyro = U32_MAX; + + if (st->fifo.en & INV_ICM42607_SENSOR_ACCEL) + period_accel = inv_icm42607_odr_to_period(st->conf.accel.odr); + else + period_accel = U32_MAX; + + st->fifo.period = min(period_gyro, period_accel); +} + +int inv_icm42607_buffer_set_fifo_en(struct inv_icm42607_state *st, + unsigned int fifo_en) +{ + unsigned int val; + int ret; + + /* update FIFO EN bits for accel and gyro */ + val = 0; + if (fifo_en & INV_ICM42607_SENSOR_GYRO) + val |= INV_ICM42607_FIFO_CONFIG1_MODE; + if (fifo_en & INV_ICM42607_SENSOR_ACCEL) + val |= INV_ICM42607_FIFO_CONFIG1_MODE; + if (fifo_en & INV_ICM42607_SENSOR_TEMP) + val |= INV_ICM42607_FIFO_CONFIG1_MODE; + + ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1, val); + if (ret) + return ret; + + st->fifo.en = fifo_en; + inv_icm42607_buffer_update_fifo_period(st); + + return 0; +} + +static size_t inv_icm42607_get_packet_size(unsigned int fifo_en) +{ + size_t packet_size; + + if ((fifo_en & INV_ICM42607_SENSOR_GYRO) && + (fifo_en & INV_ICM42607_SENSOR_ACCEL)) + packet_size = INV_ICM42607_FIFO_2SENSORS_PACKET_SIZE; + else + packet_size = INV_ICM42607_FIFO_1SENSOR_PACKET_SIZE; + + return packet_size; +} + +static unsigned int inv_icm42607_wm_truncate(unsigned int watermark, + size_t packet_size) +{ + size_t wm_size; + unsigned int wm; + + wm_size = watermark * packet_size; + if (wm_size > INV_ICM42607_FIFO_WATERMARK_MAX) + wm_size = INV_ICM42607_FIFO_WATERMARK_MAX; + + wm = wm_size / packet_size; + + return wm; +} + +/** + * inv_icm42607_buffer_update_watermark - update watermark FIFO threshold + * @st: driver internal state + * + * Returns 0 on success, a negative error code otherwise. + */ +int inv_icm42607_buffer_update_watermark(struct inv_icm42607_state *st) +{ + size_t packet_size, wm_size; + unsigned int wm_gyro, wm_accel, watermark; + u32 period_gyro, period_accel; + u32 latency_gyro, latency_accel, latency; + bool restore; + __le16 raw_wm; + int ret; + + packet_size = inv_icm42607_get_packet_size(st->fifo.en); + + /* compute sensors latency, depending on sensor watermark and odr */ + wm_gyro = inv_icm42607_wm_truncate(st->fifo.watermark.gyro, packet_size); + wm_accel = inv_icm42607_wm_truncate(st->fifo.watermark.accel, packet_size); + /* use us for odr to avoid overflow using 32 bits values */ + period_gyro = inv_icm42607_odr_to_period(st->conf.gyro.odr) / 1000UL; + period_accel = inv_icm42607_odr_to_period(st->conf.accel.odr) / 1000UL; + latency_gyro = period_gyro * wm_gyro; + latency_accel = period_accel * wm_accel; + + /* 0 value for watermark means that the sensor is turned off */ + if (wm_gyro == 0 && wm_accel == 0) + return 0; + + if (latency_gyro == 0) { + watermark = wm_accel; + st->fifo.watermark.eff_accel = wm_accel; + } else if (latency_accel == 0) { + watermark = wm_gyro; + st->fifo.watermark.eff_gyro = wm_gyro; + } else { + /* compute the smallest latency that is a multiple of both */ + if (latency_gyro <= latency_accel) + latency = latency_gyro - (latency_accel % latency_gyro); + else + latency = latency_accel - (latency_gyro % latency_accel); + /* all this works because periods are multiple of each others */ + watermark = latency / min(period_gyro, period_accel); + if (watermark < 1) + watermark = 1; + /* update effective watermark */ + st->fifo.watermark.eff_gyro = latency / period_gyro; + if (st->fifo.watermark.eff_gyro < 1) + st->fifo.watermark.eff_gyro = 1; + st->fifo.watermark.eff_accel = latency / period_accel; + if (st->fifo.watermark.eff_accel < 1) + st->fifo.watermark.eff_accel = 1; + } + + /* compute watermark value in bytes */ + wm_size = watermark * packet_size; + + /* changing FIFO watermark requires to turn off watermark interrupt */ + ret = regmap_update_bits_check(st->map, INV_ICM42607_REG_INT_SOURCE0, + INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN, + 0, &restore); + if (ret) + return ret; + + raw_wm = INV_ICM42607_FIFO_WATERMARK_VAL(wm_size); + memcpy(st->buffer, &raw_wm, sizeof(raw_wm)); + ret = regmap_bulk_write(st->map, INV_ICM42607_REG_FIFO_CONFIG2, + st->buffer, sizeof(raw_wm)); + if (ret) + return ret; + + /* restore watermark interrupt */ + if (restore) { + ret = regmap_update_bits(st->map, INV_ICM42607_REG_INT_SOURCE0, + INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN, + INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN); + if (ret) + return ret; + } + + return 0; +} + +static int inv_icm42607_buffer_preenable(struct iio_dev *indio_dev) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + struct device *dev = regmap_get_device(st->map); + struct inv_icm42607_sensor_state *sensor_st = iio_priv(indio_dev); + struct inv_sensors_timestamp *ts = &sensor_st->ts; + + pm_runtime_get_sync(dev); + + guard(mutex)(&st->lock); + inv_sensors_timestamp_reset(ts); + + return 0; +} + +/* + * update_scan_mode callback is turning sensors on and setting data FIFO enable + * bits. + */ +static int inv_icm42607_buffer_postenable(struct iio_dev *indio_dev) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + int ret; + + guard(mutex)(&st->lock); + + /* exit if FIFO is already on */ + if (st->fifo.on) { + st->fifo.on++; + return 0; + } + + /* set FIFO threshold interrupt */ + ret = regmap_update_bits(st->map, INV_ICM42607_REG_INT_SOURCE0, + INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN, + INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN); + if (ret) + return ret; + + /* flush FIFO data */ + ret = regmap_write(st->map, INV_ICM42607_REG_SIGNAL_PATH_RESET, + INV_ICM42607_SIGNAL_PATH_RESET_FIFO_FLUSH); + if (ret) + return ret; + + /* set FIFO in streaming mode */ + ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1, + INV_ICM42607_FIFO_CONFIG1_MODE); + if (ret) + return ret; + + /* workaround: first read of FIFO count after reset is always 0 */ + ret = regmap_bulk_read(st->map, INV_ICM42607_REG_FIFO_COUNTH, st->buffer, 2); + if (ret) + return ret; + + st->fifo.on++; + + return 0; +} + +static int inv_icm42607_buffer_predisable(struct iio_dev *indio_dev) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + int ret; + + guard(mutex)(&st->lock); + + if (st->fifo.on > 1) { + st->fifo.on--; + return 0; + } + + /* set FIFO in bypass mode */ + ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1, + INV_ICM42607_FIFO_CONFIG1_BYPASS); + if (ret) + return ret; + + /* flush FIFO data */ + ret = regmap_write(st->map, INV_ICM42607_REG_SIGNAL_PATH_RESET, + INV_ICM42607_SIGNAL_PATH_RESET_FIFO_FLUSH); + if (ret) + return ret; + + /* disable FIFO threshold interrupt */ + ret = regmap_update_bits(st->map, INV_ICM42607_REG_INT_SOURCE0, + INV_ICM42607_INT_SOURCE0_FIFO_THS_INT1_EN, 0); + if (ret) + return ret; + + st->fifo.on--; + + return 0; +} + +static int inv_icm42607_buffer_postdisable(struct iio_dev *indio_dev) +{ + struct inv_icm42607_state *st = iio_device_get_drvdata(indio_dev); + struct device *dev = regmap_get_device(st->map); + unsigned int sensor; + unsigned int *watermark; + unsigned int sleep_temp = 0; + unsigned int sleep_sensor = 0; + unsigned int sleep; + int ret; + + if (indio_dev == st->indio_gyro) { + sensor = INV_ICM42607_SENSOR_GYRO; + watermark = &st->fifo.watermark.gyro; + } else if (indio_dev == st->indio_accel) { + sensor = INV_ICM42607_SENSOR_ACCEL; + watermark = &st->fifo.watermark.accel; + } else { + return -EINVAL; + } + + mutex_lock(&st->lock); + + ret = inv_icm42607_buffer_set_fifo_en(st, st->fifo.en & ~sensor); + if (ret) + goto out_unlock; + + *watermark = 0; + ret = inv_icm42607_buffer_update_watermark(st); + if (ret) + goto out_unlock; + +out_unlock: + mutex_unlock(&st->lock); + + /* sleep maximum required time */ + sleep = max(sleep_sensor, sleep_temp); + if (sleep) + msleep(sleep); + + pm_runtime_put_autosuspend(dev); + + return ret; +} + +const struct iio_buffer_setup_ops inv_icm42607_buffer_ops = { + .preenable = inv_icm42607_buffer_preenable, + .postenable = inv_icm42607_buffer_postenable, + .predisable = inv_icm42607_buffer_predisable, + .postdisable = inv_icm42607_buffer_postdisable, +}; + +int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st, + unsigned int max) +{ + size_t max_count; + __be16 *raw_fifo_count; + ssize_t i, size; + const void *accel, *gyro, *timestamp; + const s8 *temp; + unsigned int odr; + int ret; + + /* reset all samples counters */ + st->fifo.count = 0; + st->fifo.nb.gyro = 0; + st->fifo.nb.accel = 0; + st->fifo.nb.total = 0; + + /* compute maximum FIFO read size */ + if (max == 0) + max_count = sizeof(st->fifo.data); + else + max_count = max * inv_icm42607_get_packet_size(st->fifo.en); + + /* read FIFO count value */ + raw_fifo_count = (__be16 *)st->buffer; + ret = regmap_bulk_read(st->map, INV_ICM42607_REG_FIFO_COUNTH, + raw_fifo_count, sizeof(*raw_fifo_count)); + if (ret) + return ret; + st->fifo.count = be16_to_cpup(raw_fifo_count); + + /* check and clamp FIFO count value */ + if (st->fifo.count == 0) + return 0; + if (st->fifo.count > max_count) + st->fifo.count = max_count; + + /* read all FIFO data in internal buffer */ + ret = regmap_noinc_read(st->map, INV_ICM42607_REG_FIFO_DATA, + st->fifo.data, st->fifo.count); + if (ret) + return ret; + + /* compute number of samples for each sensor */ + for (i = 0; i < st->fifo.count; i += size) { + size = inv_icm42607_fifo_decode_packet(&st->fifo.data[i], + &accel, &gyro, &temp, ×tamp, &odr); + if (size <= 0) + break; + if (gyro != NULL && inv_icm42607_fifo_is_data_valid(gyro)) + st->fifo.nb.gyro++; + if (accel != NULL && inv_icm42607_fifo_is_data_valid(accel)) + st->fifo.nb.accel++; + st->fifo.nb.total++; + } + + return 0; +} + +int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st, + unsigned int count) +{ + s64 gyro_ts, accel_ts; + int ret; + + gyro_ts = iio_get_time_ns(st->indio_gyro); + accel_ts = iio_get_time_ns(st->indio_accel); + + ret = inv_icm42607_buffer_fifo_read(st, count); + + return ret; +} + +int inv_icm42607_buffer_init(struct inv_icm42607_state *st) +{ + unsigned int val; + int ret; + + st->fifo.watermark.eff_gyro = 1; + st->fifo.watermark.eff_accel = 1; + + /* Configure FIFO_COUNT format in bytes and big endian */ + val = INV_ICM42607_INTF_CONFIG0_FIFO_COUNT_ENDIAN; + ret = regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0, + val, val); + if (ret) + return ret; + + /* Initialize FIFO in bypass mode */ + return regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1, + INV_ICM42607_FIFO_CONFIG1_BYPASS); +} diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h new file mode 100644 index 000000000000..64a66c00a861 --- /dev/null +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_buffer.h @@ -0,0 +1,98 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2026 InvenSense, Inc. + */ + +#ifndef INV_ICM42607_BUFFER_H_ +#define INV_ICM42607_BUFFER_H_ + +#include +#include + +struct inv_icm42607_state; + +#define INV_ICM42607_SENSOR_GYRO BIT(0) +#define INV_ICM42607_SENSOR_ACCEL BIT(1) +#define INV_ICM42607_SENSOR_TEMP BIT(2) + +/** + * struct inv_icm42607_fifo - FIFO state variables + * @on: reference counter for FIFO on. + * @en: bits field of INV_ICM42607_SENSOR_* for FIFO EN bits. + * @period: FIFO internal period. + * @watermark: watermark configuration values for accel and gyro. + * @count: number of bytes in the FIFO data buffer. + * @nb: gyro, accel and total samples in the FIFO data buffer. + * @data: FIFO data buffer aligned for DMA (2kB + 32 bytes of read cache). + */ +struct inv_icm42607_fifo { + unsigned int on; + unsigned int en; + u32 period; + struct { + unsigned int gyro; + unsigned int accel; + unsigned int eff_gyro; + unsigned int eff_accel; + } watermark; + size_t count; + struct { + size_t gyro; + size_t accel; + size_t total; + } nb; + u8 data[2080] __aligned(IIO_DMA_MINALIGN); +}; + +/* FIFO data packet */ +struct inv_icm42607_fifo_sensor_data { + __be16 x; + __be16 y; + __be16 z; +} __packed; +#define INV_ICM42607_FIFO_DATA_INVALID -32768 + +static inline s16 inv_icm42607_fifo_get_sensor_data(__be16 d) +{ + return be16_to_cpu(d); +} + +static inline bool +inv_icm42607_fifo_is_data_valid(const struct inv_icm42607_fifo_sensor_data *s) +{ + s16 x, y, z; + + x = inv_icm42607_fifo_get_sensor_data(s->x); + y = inv_icm42607_fifo_get_sensor_data(s->y); + z = inv_icm42607_fifo_get_sensor_data(s->z); + + if (x == INV_ICM42607_FIFO_DATA_INVALID && + y == INV_ICM42607_FIFO_DATA_INVALID && + z == INV_ICM42607_FIFO_DATA_INVALID) + return false; + + return true; +} + +ssize_t inv_icm42607_fifo_decode_packet(const void *packet, const void **accel, + const void **gyro, const s8 **temp, + const void **timestamp, unsigned int *odr); + +extern const struct iio_buffer_setup_ops inv_icm42607_buffer_ops; + +int inv_icm42607_buffer_init(struct inv_icm42607_state *st); + +void inv_icm42607_buffer_update_fifo_period(struct inv_icm42607_state *st); + +int inv_icm42607_buffer_set_fifo_en(struct inv_icm42607_state *st, + unsigned int fifo_en); + +int inv_icm42607_buffer_update_watermark(struct inv_icm42607_state *st); + +int inv_icm42607_buffer_fifo_read(struct inv_icm42607_state *st, + unsigned int max); + +int inv_icm42607_buffer_hwfifo_flush(struct inv_icm42607_state *st, + unsigned int count); + +#endif diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c index da04c820dab2..344071089042 100644 --- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c +++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c @@ -18,6 +18,7 @@ #include #include "inv_icm42607.h" +#include "inv_icm42607_buffer.h" static const struct regmap_range_cfg inv_icm42607_regmap_ranges[] = { { @@ -373,6 +374,11 @@ int inv_icm42607_core_probe(struct regmap *regmap, int chip, if (ret) return ret; /* Return error from setup (e.g., WHOAMI fail) */ + /* Initialize buffer/FIFO handling */ + ret = inv_icm42607_buffer_init(st); + if (ret) + return ret; + /* Setup runtime power management */ ret = devm_pm_runtime_set_active_enabled(dev); if (ret) @@ -405,6 +411,13 @@ static int inv_icm42607_suspend(struct device *dev) if (pm_runtime_suspended(dev)) return 0; + if (st->fifo.on) { + ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1, + INV_ICM42607_FIFO_CONFIG1_BYPASS); + if (ret) + return ret; + } + /* keep chip on and wake-up capable if APEX and wakeup on */ accel_dev = &st->indio_accel->dev; wakeup = st->apex.on && device_may_wakeup(accel_dev); @@ -436,6 +449,8 @@ static int inv_icm42607_suspend(struct device *dev) static int inv_icm42607_resume(struct device *dev) { struct inv_icm42607_state *st = dev_get_drvdata(dev); + struct inv_icm42607_sensor_state *gyro_st = iio_priv(st->indio_gyro); + struct inv_icm42607_sensor_state *accel_st = iio_priv(st->indio_accel); struct device *accel_dev; bool wakeup; int ret; @@ -462,6 +477,16 @@ static int inv_icm42607_resume(struct device *dev) ret = inv_icm42607_set_pwr_mgmt0(st, st->suspended.gyro, st->suspended.accel, st->suspended.temp, NULL); + if (ret) + return ret; + + if (st->fifo.on) { + inv_sensors_timestamp_reset(&gyro_st->ts); + inv_sensors_timestamp_reset(&accel_st->ts); + ret = regmap_write(st->map, INV_ICM42607_REG_FIFO_CONFIG1, + INV_ICM42607_FIFO_CONFIG1_MODE); + } + return ret; } -- 2.43.0