From mboxrd@z Thu Jan 1 00:00:00 1970 Return-Path: Received: from saturn.retrosnub.co.uk ([178.18.118.26]:39831 "EHLO saturn.retrosnub.co.uk" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1751706AbaDEKXv (ORCPT ); Sat, 5 Apr 2014 06:23:51 -0400 Message-ID: <533FDA01.6070400@kernel.org> Date: Sat, 05 Apr 2014 11:25:05 +0100 From: Jonathan Cameron MIME-Version: 1.0 To: Srinivas Pandruvada CC: linux-iio@vger.kernel.org Subject: Re: [Patch v2 3/3] iio: hid-sensors: Added device rotation support References: <1396647041-22551-1-git-send-email-srinivas.pandruvada@linux.intel.com> <1396647041-22551-3-git-send-email-srinivas.pandruvada@linux.intel.com> In-Reply-To: <1396647041-22551-3-git-send-email-srinivas.pandruvada@linux.intel.com> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Sender: linux-iio-owner@vger.kernel.org List-Id: linux-iio@vger.kernel.org On 04/04/14 22:30, Srinivas Pandruvada wrote: > Added usage id processing for device rotation. This uses IIO > interfaces for triggered buffer to present data to user > mode.This uses HID sensor framework for registering callback Missing space after the full stop above. I'd just have fixed this up but given I want you to reroll the series anyway thought I'd mention it! > events from the sensor hub. > Data is exported to user space in the form of quaternion rotation > format. > A couple of trivial bits inline and a plea for a devm_kmemdup ;) Otherwise looks fine to me. If you would prefer to do the read_raw_multi at a later date then that is fine by me, though I'd prefer it was here as sooner or later we'll get the email saying 'why can't I read this in sysfs otherwise ;) J > Signed-off-by: Srinivas Pandruvada > --- > drivers/iio/orientation/Kconfig | 12 + > drivers/iio/orientation/Makefile | 1 + > drivers/iio/orientation/hid-sensor-rotation.c | 345 ++++++++++++++++++++++++++ > include/linux/hid-sensor-ids.h | 1 + > 4 files changed, 359 insertions(+) > create mode 100644 drivers/iio/orientation/hid-sensor-rotation.c > > diff --git a/drivers/iio/orientation/Kconfig b/drivers/iio/orientation/Kconfig > index 58c62c8..e3aa1e5 100644 > --- a/drivers/iio/orientation/Kconfig > +++ b/drivers/iio/orientation/Kconfig > @@ -16,4 +16,16 @@ config HID_SENSOR_INCLINOMETER_3D > Say yes here to build support for the HID SENSOR > Inclinometer 3D. > > +config HID_SENSOR_DEVICE_ROTATION > + depends on HID_SENSOR_HUB > + select IIO_BUFFER > + select IIO_TRIGGERED_BUFFER > + select HID_SENSOR_IIO_COMMON > + select HID_SENSOR_IIO_TRIGGER > + tristate "HID Device Rotation" > + help > + Say yes here to build support for the HID SENSOR > + device rotation. The output of a device rotation sensor > + is presented using quaternion format. > + > endmenu > diff --git a/drivers/iio/orientation/Makefile b/drivers/iio/orientation/Makefile > index 2c97572..4734dab 100644 > --- a/drivers/iio/orientation/Makefile > +++ b/drivers/iio/orientation/Makefile > @@ -4,3 +4,4 @@ > > # When adding new entries keep the list in alphabetical order > obj-$(CONFIG_HID_SENSOR_INCLINOMETER_3D) += hid-sensor-incl-3d.o > +obj-$(CONFIG_HID_SENSOR_DEVICE_ROTATION) += hid-sensor-rotation.o > diff --git a/drivers/iio/orientation/hid-sensor-rotation.c b/drivers/iio/orientation/hid-sensor-rotation.c > new file mode 100644 > index 0000000..b9cbb11 > --- /dev/null > +++ b/drivers/iio/orientation/hid-sensor-rotation.c > @@ -0,0 +1,345 @@ > +/* > + * HID Sensors Driver > + * Copyright (c) 2014, Intel Corporation. > + * > + * This program is free software; you can redistribute it and/or modify it > + * under the terms and conditions of the GNU General Public License, > + * version 2, as published by the Free Software Foundation. > + * > + * This program is distributed in the hope it will be useful, but WITHOUT > + * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or > + * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for > + * more details. > + */ > + > +#include > +#include > +#include > +#include > +#include > +#include > +#include > +#include > +#include > +#include > +#include > +#include > +#include "../common/hid-sensors/hid-sensor-trigger.h" > + Err, why MAX_? Quaternions aren't quaternions with less than 4! > +#define MAX_QUATERNION_COMP 4 > + > +struct dev_rot_state { > + struct hid_sensor_hub_callbacks callbacks; > + struct hid_sensor_common common_attributes; > + struct hid_sensor_hub_attribute_info quaternion; > + u32 sampled_vals[MAX_QUATERNION_COMP]; > +}; > + > +/* Channel definitions */ > +static const struct iio_chan_spec dev_rot_channels[] = { > + { > + .type = IIO_ROT, > + .modified = 1, > + .channel2 = IIO_MOD_QUATERNION, > + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) | > + BIT(IIO_CHAN_INFO_SAMP_FREQ) | > + BIT(IIO_CHAN_INFO_HYSTERESIS), > + } > +}; > + > +/* Adjust channel real bits based on report descriptor */ > +static void dev_rot_adjust_channel_bit_mask(struct iio_chan_spec *chan, > + int size) > +{ > + chan->scan_type.sign = 's'; > + /* Real storage bits will change based on the report desc. */ > + chan->scan_type.realbits = size * 8; > + /* Maximum size of a sample to capture is u32 */ > + chan->scan_type.storagebits = sizeof(u32) * 8; > + chan->scan_type.repeat = MAX_QUATERNION_COMP; > +} > + > +/* Channel read_raw handler */ > +static int dev_rot_read_raw(struct iio_dev *indio_dev, > + struct iio_chan_spec const *chan, > + int *val, int *val2, > + long mask) > +{ > + struct dev_rot_state *rot_state = iio_priv(indio_dev); > + int ret_type; > + > + *val = 0; > + *val2 = 0; > + switch (mask) { > + case IIO_CHAN_INFO_OFFSET: > + *val = hid_sensor_convert_exponent( > + rot_state->quaternion.unit_expo); > + ret_type = IIO_VAL_INT; > + break; > + case IIO_CHAN_INFO_SAMP_FREQ: > + ret_type = hid_sensor_read_samp_freq_value( > + &rot_state->common_attributes, val, val2); > + break; > + case IIO_CHAN_INFO_HYSTERESIS: > + ret_type = hid_sensor_read_raw_hyst_value( > + &rot_state->common_attributes, val, val2); > + break; > + default: > + ret_type = -EINVAL; > + break; > + } > + > + return ret_type; > +} > + > +/* Channel write_raw handler */ > +static int dev_rot_write_raw(struct iio_dev *indio_dev, > + struct iio_chan_spec const *chan, > + int val, > + int val2, > + long mask) > +{ > + struct dev_rot_state *rot_state = iio_priv(indio_dev); > + int ret; > + > + switch (mask) { > + case IIO_CHAN_INFO_SAMP_FREQ: > + ret = hid_sensor_write_samp_freq_value( > + &rot_state->common_attributes, val, val2); > + break; > + case IIO_CHAN_INFO_HYSTERESIS: > + ret = hid_sensor_write_raw_hyst_value( > + &rot_state->common_attributes, val, val2); > + break; > + default: > + ret = -EINVAL; > + } > + > + return ret; > +} > + > +static const struct iio_info dev_rot_info = { > + .driver_module = THIS_MODULE, > + .read_raw = &dev_rot_read_raw, > + .write_raw = &dev_rot_write_raw, > +}; > + > +/* Function to push data to buffer */ > +static void hid_sensor_push_data(struct iio_dev *indio_dev, u8 *data, int len) > +{ > + dev_dbg(&indio_dev->dev, "hid_sensor_push_data >>\n"); > + iio_push_to_buffers(indio_dev, (u8 *)data); > + dev_dbg(&indio_dev->dev, "hid_sensor_push_data <<\n"); > + > +} > + > +/* Callback handler to send event after all samples are received and captured */ > +static int dev_rot_proc_event(struct hid_sensor_hub_device *hsdev, > + unsigned usage_id, > + void *priv) > +{ > + struct iio_dev *indio_dev = platform_get_drvdata(priv); > + struct dev_rot_state *rot_state = iio_priv(indio_dev); > + > + dev_dbg(&indio_dev->dev, "dev_rot_proc_event [%d]\n", > + rot_state->common_attributes.data_ready); > + > + if (rot_state->common_attributes.data_ready) > + hid_sensor_push_data(indio_dev, > + (u8 *)rot_state->sampled_vals, > + sizeof(rot_state->sampled_vals)); > + > + return 0; > +} > + > +/* Capture samples in local storage */ > +static int dev_rot_capture_sample(struct hid_sensor_hub_device *hsdev, > + unsigned usage_id, > + size_t raw_len, char *raw_data, > + void *priv) > +{ > + struct iio_dev *indio_dev = platform_get_drvdata(priv); > + struct dev_rot_state *rot_state = iio_priv(indio_dev); > + > + if (usage_id == HID_USAGE_SENSOR_ORIENT_QUATERNION) { > + memcpy(rot_state->sampled_vals, raw_data, > + sizeof(rot_state->sampled_vals)); > + dev_dbg(&indio_dev->dev, "Recd Quat len:%lu::%lu\n", raw_len, > + sizeof(rot_state->sampled_vals)); > + } > + > + return 0; > +} > + > +/* Parse report which is specific to an usage id*/ > +static int dev_rot_parse_report(struct platform_device *pdev, > + struct hid_sensor_hub_device *hsdev, > + struct iio_chan_spec *channels, > + unsigned usage_id, > + struct dev_rot_state *st) > +{ > + int ret; > + > + ret = sensor_hub_input_get_attribute_info(hsdev, > + HID_INPUT_REPORT, > + usage_id, > + HID_USAGE_SENSOR_ORIENT_QUATERNION, > + &st->quaternion); > + if (ret) > + return ret; a blank line here would ever so slightly improve readability. > + dev_rot_adjust_channel_bit_mask(&channels[0], > + st->quaternion.size / MAX_QUATERNION_COMP); > + > + dev_dbg(&pdev->dev, "dev_rot %x:%x\n", st->quaternion.index, > + st->quaternion.report_id); > + > + dev_dbg(&pdev->dev, "dev_rot: attrib size %d\n", > + st->quaternion.size); > + > + /* Set Sensitivity field ids, when there is no individual modifier */ > + if (st->common_attributes.sensitivity.index < 0) { > + sensor_hub_input_get_attribute_info(hsdev, > + HID_FEATURE_REPORT, usage_id, > + HID_USAGE_SENSOR_DATA_MOD_CHANGE_SENSITIVITY_ABS | > + HID_USAGE_SENSOR_DATA_ORIENTATION, > + &st->common_attributes.sensitivity); > + dev_dbg(&pdev->dev, "Sensitivity index:report %d:%d\n", > + st->common_attributes.sensitivity.index, > + st->common_attributes.sensitivity.report_id); > + } blank line here would be nice... > + return 0; > +} > + > +/* Function to initialize the processing for usage id */ > +static int hid_dev_rot_probe(struct platform_device *pdev) > +{ > + int ret; > + static char *name = "dev_rotation"; > + struct iio_dev *indio_dev; > + struct dev_rot_state *rot_state; > + struct hid_sensor_hub_device *hsdev = pdev->dev.platform_data; > + struct iio_chan_spec *channels; > + > + indio_dev = devm_iio_device_alloc(&pdev->dev, > + sizeof(struct dev_rot_state)); > + if (indio_dev == NULL) > + return -ENOMEM; > + > + platform_set_drvdata(pdev, indio_dev); > + > + rot_state = iio_priv(indio_dev); > + rot_state->common_attributes.hsdev = hsdev; > + rot_state->common_attributes.pdev = pdev; > + > + ret = hid_sensor_parse_common_attributes(hsdev, > + HID_USAGE_SENSOR_DEVICE_ORIENTATION, > + &rot_state->common_attributes); > + if (ret) { > + dev_err(&pdev->dev, "failed to setup common attributes\n"); > + return ret; > + } > + > + channels = kmemdup(dev_rot_channels, sizeof(dev_rot_channels), > + GFP_KERNEL); Hmm. A devm_kmemdup would be nice wouldn't it ;) > + if (!channels) { > + dev_err(&pdev->dev, "failed to duplicate channels\n"); > + return -ENOMEM; > + } > + > + ret = dev_rot_parse_report(pdev, hsdev, channels, > + HID_USAGE_SENSOR_DEVICE_ORIENTATION, rot_state); > + if (ret) { > + dev_err(&pdev->dev, "failed to setup attributes\n"); > + goto error_free_dev_mem; > + } > + > + indio_dev->channels = channels; > + indio_dev->num_channels = ARRAY_SIZE(dev_rot_channels); > + indio_dev->dev.parent = &pdev->dev; > + indio_dev->info = &dev_rot_info; > + indio_dev->name = name; > + indio_dev->modes = INDIO_DIRECT_MODE; > + > + ret = iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time, > + NULL, NULL); > + if (ret) { > + dev_err(&pdev->dev, "failed to initialize trigger buffer\n"); > + goto error_free_dev_mem; > + } > + rot_state->common_attributes.data_ready = false; > + ret = hid_sensor_setup_trigger(indio_dev, name, > + &rot_state->common_attributes); > + if (ret) { > + dev_err(&pdev->dev, "trigger setup failed\n"); > + goto error_unreg_buffer_funcs; > + } > + > + ret = iio_device_register(indio_dev); > + if (ret) { > + dev_err(&pdev->dev, "device register failed\n"); > + goto error_remove_trigger; > + } > + > + rot_state->callbacks.send_event = dev_rot_proc_event; > + rot_state->callbacks.capture_sample = dev_rot_capture_sample; > + rot_state->callbacks.pdev = pdev; > + ret = sensor_hub_register_callback(hsdev, > + HID_USAGE_SENSOR_DEVICE_ORIENTATION, > + &rot_state->callbacks); > + if (ret) { > + dev_err(&pdev->dev, "callback reg failed\n"); > + goto error_iio_unreg; > + } > + > + return 0; > + > +error_iio_unreg: > + iio_device_unregister(indio_dev); > +error_remove_trigger: > + hid_sensor_remove_trigger(&rot_state->common_attributes); > +error_unreg_buffer_funcs: > + iio_triggered_buffer_cleanup(indio_dev); > +error_free_dev_mem: > + kfree(indio_dev->channels); > + return ret; > +} > + > +/* Function to deinitialize the processing for usage id */ > +static int hid_dev_rot_remove(struct platform_device *pdev) > +{ > + struct hid_sensor_hub_device *hsdev = pdev->dev.platform_data; > + struct iio_dev *indio_dev = platform_get_drvdata(pdev); > + struct dev_rot_state *rot_state = iio_priv(indio_dev); > + > + sensor_hub_remove_callback(hsdev, HID_USAGE_SENSOR_DEVICE_ORIENTATION); > + iio_device_unregister(indio_dev); > + hid_sensor_remove_trigger(&rot_state->common_attributes); > + iio_triggered_buffer_cleanup(indio_dev); > + kfree(indio_dev->channels); > + > + return 0; > +} > + > +static struct platform_device_id hid_dev_rot_ids[] = { > + { > + /* Format: HID-SENSOR-usage_id_in_hex_lowercase */ > + .name = "HID-SENSOR-20008a", > + }, > + { /* sentinel */ } > +}; > +MODULE_DEVICE_TABLE(platform, hid_dev_rot_ids); > + > +static struct platform_driver hid_dev_rot_platform_driver = { > + .id_table = hid_dev_rot_ids, > + .driver = { > + .name = KBUILD_MODNAME, > + .owner = THIS_MODULE, > + }, > + .probe = hid_dev_rot_probe, > + .remove = hid_dev_rot_remove, > +}; > +module_platform_driver(hid_dev_rot_platform_driver); > + > +MODULE_DESCRIPTION("HID Sensor Device Rotation"); > +MODULE_AUTHOR("Srinivas Pandruvada "); > +MODULE_LICENSE("GPL"); > diff --git a/include/linux/hid-sensor-ids.h b/include/linux/hid-sensor-ids.h > index beaf965..3fc44a0 100644 > --- a/include/linux/hid-sensor-ids.h > +++ b/include/linux/hid-sensor-ids.h > @@ -66,6 +66,7 @@ > #define HID_USAGE_SENSOR_ORIENT_TILT_Y 0x200480 > #define HID_USAGE_SENSOR_ORIENT_TILT_Z 0x200481 > > +#define HID_USAGE_SENSOR_DEVICE_ORIENTATION 0x20008A > #define HID_USAGE_SENSOR_ORIENT_ROTATION_MATRIX 0x200482 > #define HID_USAGE_SENSOR_ORIENT_QUATERNION 0x200483 > #define HID_USAGE_SENSOR_ORIENT_MAGN_FLUX 0x200484 >