[PATCH v8 6/7] iio: accel: adxl345: add FIFO with watermark events

Lothar Rubusch
2024-12-25T18:14:00Z

Add a basic setup for FIFO with configurable watermark. Add a handler
for watermark interrupt events and extend the channel for the
scan_index needed for the iio channel. The sensor is configurable to use
a FIFO_BYPASSED mode or a FIFO_STREAM mode. For the FIFO_STREAM mode now
a watermark can be configured, or disabled by setting 0. Further features
require a working FIFO setup.

Signed-off-by: Lothar Rubusch <l.rubusch@gmail.com>
---
drivers/iio/accel/adxl345.h | 27 ++-
drivers/iio/accel/adxl345_core.c | 305 ++++++++++++++++++++++++++++++-
2 files changed, 321 insertions(+), 11 deletions(-)

diff --git a/drivers/iio/accel/adxl345.h b/drivers/iio/accel/adxl345.h
index 6f39f16d3..bf9e86cff 100644
--- a/drivers/iio/accel/adxl345.h
+++ b/drivers/iio/accel/adxl345.h
@@ -15,18 +15,32 @@
#define ADXL345_REG_OFS_AXIS(index) (ADXL345_REG_OFSX + (index))
#define ADXL345_REG_BW_RATE 0x2C
#define ADXL345_REG_POWER_CTL 0x2D
+#define ADXL345_REG_INT_ENABLE 0x2E
+#define ADXL345_REG_INT_MAP 0x2F
+#define ADXL345_REG_INT_SOURCE 0x30
+#define ADXL345_REG_INT_SOURCE_MSK 0xFF
#define ADXL345_REG_DATA_FORMAT 0x31
-#define ADXL345_REG_DATAX0 0x32
-#define ADXL345_REG_DATAY0 0x34
-#define ADXL345_REG_DATAZ0 0x36
-#define ADXL345_REG_DATA_AXIS(index) \
- (ADXL345_REG_DATAX0 + (index) * sizeof(__le16))
+#define ADXL345_REG_XYZ_BASE 0x32
+#define ADXL345_REG_DATA_AXIS(index) \
+ (ADXL345_REG_XYZ_BASE + (index) * sizeof(__le16))

+#define ADXL345_REG_FIFO_CTL 0x38
+#define ADXL345_REG_FIFO_STATUS 0x39
+#define ADXL345_REG_FIFO_STATUS_MSK 0x3F
+
+#define ADXL345_FIFO_CTL_SAMPLES(x) FIELD_PREP(GENMASK(4, 0), x)
+/* 0: INT1, 1: INT2 */
+#define ADXL345_FIFO_CTL_TRIGGER(x) FIELD_PREP(BIT(5), x)
+#define ADXL345_FIFO_CTL_MODE(x) FIELD_PREP(GENMASK(7, 6), x)
+
+#define ADXL345_INT_DATA_READY BIT(7)
+#define ADXL345_INT_WATERMARK BIT(1)
+#define ADXL345_INT_OVERRUN BIT(0)
#define ADXL345_BW_RATE GENMASK(3, 0)
#define ADXL345_BASE_RATE_NANO_HZ 97656250LL

-#define ADXL345_POWER_CTL_MEASURE BIT(3)
#define ADXL345_POWER_CTL_STANDBY 0x00
+#define ADXL345_POWER_CTL_MEASURE BIT(3)

#define ADXL345_DATA_FORMAT_RANGE GENMASK(1, 0) /* Set the g range */
#define ADXL345_DATA_FORMAT_JUSTIFY BIT(2) /* Left-justified (MSB) mode */
@@ -40,6 +54,7 @@
#define ADXL345_DATA_FORMAT_16G 3

#define ADXL345_DEVID 0xE5
+#define ADXL345_FIFO_SIZE 32

/*
* In full-resolution mode, scale factor is maintained at ~4 mg/LSB
diff --git a/drivers/iio/accel/adxl345_core.c b/drivers/iio/accel/adxl345_core.c
index 987a0fe03..738960298 100644
--- a/drivers/iio/accel/adxl345_core.c
+++ b/drivers/iio/accel/adxl345_core.c
@@ -15,9 +15,17 @@

#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/kfifo_buf.h>

#include "adxl345.h"

+#define ADXL345_FIFO_BYPASS 0
+#define ADXL345_FIFO_FIFO 1
+#define ADXL345_FIFO_STREAM 2
+
+#define ADXL345_DIRS 3
+
#define ADXL345_INT_NONE 0xff
#define ADXL345_INT1 0
#define ADXL345_INT2 1
@@ -28,25 +36,66 @@ struct adxl345_state {
bool fifo_delay; /* delay: delay is needed for SPI */
int irq;
u8 intio;
+ u8 int_map;
+ u8 watermark;
+ u8 fifo_mode;
+ __le16 fifo_buf[ADXL345_DIRS * ADXL345_FIFO_SIZE + 1] __aligned(IIO_DMA_MINALIGN);
};

-#define ADXL345_CHANNEL(index, axis) { \
+#define ADXL345_CHANNEL(index, reg, axis) { \
.type = IIO_ACCEL, \
.modified = 1, \
.channel2 = IIO_MOD_##axis, \
- .address = index, \
+ .address = (reg), \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_CALIBBIAS), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = (index), \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 13, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ }, \
}

+enum adxl345_chans {
+ chan_x, chan_y, chan_z,
+};
+
static const struct iio_chan_spec adxl345_channels[] = {
- ADXL345_CHANNEL(0, X),
- ADXL345_CHANNEL(1, Y),
- ADXL345_CHANNEL(2, Z),
+ ADXL345_CHANNEL(0, chan_x, X),
+ ADXL345_CHANNEL(1, chan_y, Y),
+ ADXL345_CHANNEL(2, chan_z, Z),
};

+static const unsigned long adxl345_scan_masks[] = {
+ BIT(chan_x) | BIT(chan_y) | BIT(chan_z),
+ 0
+};
+
+static int adxl345_set_interrupts(struct adxl345_state *st)
+{
+ int ret;
+ unsigned int int_enable = st->int_map;
+ unsigned int int_map;
+
+ /*
+ * Any bits set to 0 in the INT map register send their respective
+ * interrupts to the INT1 pin, whereas bits set to 1 send their respective
+ * interrupts to the INT2 pin. The intio shall convert this accordingly.
+ */
+ int_map = FIELD_GET(ADXL345_REG_INT_SOURCE_MSK,
+ st->intio ? st->int_map : ~st->int_map);
+
+ ret = regmap_write(st->regmap, ADXL345_REG_INT_MAP, int_map);
+ if (ret)
+ return ret;
+
+ return regmap_write(st->regmap, ADXL345_REG_INT_ENABLE, int_enable);
+}
+
static int adxl345_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val, int *val2, long mask)
@@ -132,6 +181,24 @@ static int adxl345_write_raw(struct iio_dev *indio_dev,
return -EINVAL;
}

+static int adxl345_set_watermark(struct iio_dev *indio_dev, unsigned int value)
+{
+ struct adxl345_state *st = iio_priv(indio_dev);
+ unsigned int fifo_mask = 0x1F;
+ int ret;
+
+ value = min(value, ADXL345_FIFO_SIZE - 1);
+
+ ret = regmap_update_bits(st->regmap, ADXL345_REG_FIFO_CTL, fifo_mask, value);
+ if (ret)
+ return ret;
+
+ st->watermark = value;
+ st->int_map |= ADXL345_INT_WATERMARK;
+
+ return 0;
+}
+
static int adxl345_write_raw_get_fmt(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
long mask)
@@ -186,11 +253,217 @@ static const struct attribute_group adxl345_attrs_group = {
.attrs = adxl345_attrs,
};

+static int adxl345_set_fifo(struct adxl345_state *st)
+{
+ int ret;
+
+ /* FIFO should only be configured while in standby mode */
+ ret = adxl345_set_measure_en(st, false);
+ if (ret < 0)
+ return ret;
+
+ ret = regmap_write(st->regmap, ADXL345_REG_FIFO_CTL,
+ ADXL345_FIFO_CTL_SAMPLES(st->watermark) |
+ ADXL345_FIFO_CTL_TRIGGER(st->intio) |
+ ADXL345_FIFO_CTL_MODE(st->fifo_mode));
+ if (ret < 0)
+ return ret;
+
+ return adxl345_set_measure_en(st, true);
+}
+
+/**
+ * adxl345_get_samples() - Read number of FIFO entries.
+ * @st: The initialized state instance of this driver.
+ *
+ * The sensor does not support treating any axis individually, or exclude them
+ * from measuring.
+ *
+ * Return: negative error, or value.
+ */
+static int adxl345_get_samples(struct adxl345_state *st)
+{
+ unsigned int regval = 0;
+ int ret;
+
+ ret = regmap_read(st->regmap, ADXL345_REG_FIFO_STATUS, &regval);
+ if (ret < 0)
+ return ret;
+
+ return FIELD_GET(ADXL345_REG_FIFO_STATUS_MSK, regval);
+}
+
+/**
+ * adxl345_fifo_transfer() - Read samples number of elements.
+ * @st: The instance of the state object of this sensor.
+ * @samples: The number of lines in the FIFO referred to as fifo_entry.
+ *
+ * It is recommended that a multiple-byte read of all registers be performed to
+ * prevent a change in data between reads of sequential registers. That is to
+ * read out the data registers X0, X1, Y0, Y1, Z0, Z1, i.e. 6 bytes at once.
+ *
+ * Return: 0 or error value.
+ */
+static int adxl345_fifo_transfer(struct adxl345_state *st, int samples)
+{
+ size_t count;
+ int i, ret = 0;
+
+ /* count is the 3x the fifo_buf element size, hence 6B */
+ count = sizeof(st->fifo_buf[0]) * ADXL345_DIRS;
+ for (i = 0; i < samples; i++) {
+ /* read 3x 2 byte elements from base address into next fifo_buf position */
+ ret = regmap_bulk_read(st->regmap, ADXL345_REG_XYZ_BASE,
+ st->fifo_buf + (i * count / 2), count);
+ if (ret < 0)
+ return ret;
+
+ /*
+ * To ensure that the FIFO has completely popped, there must be at least 5
+ * us between the end of reading the data registers, signified by the
+ * transition to register 0x38 from 0x37 or the CS pin going high, and the
+ * start of new reads of the FIFO or reading the FIFO_STATUS register. For
+ * SPI operation at 1.5 MHz or lower, the register addressing portion of the
+ * transmission is sufficient delay to ensure the FIFO has completely
+ * popped. It is necessary for SPI operation greater than 1.5 MHz to
+ * de-assert the CS pin to ensure a total of 5 us, which is at most 3.4 us
+ * at 5 MHz operation.
+ */
+ if (st->fifo_delay && samples > 1)
+ udelay(3);
+ }
+ return ret;
+}
+
+/**
+ * adxl345_fifo_reset() - Empty the FIFO in error condition.
+ * @st: The instance to the state object of the sensor.
+ *
+ * Read all elements of the FIFO. Reading the interrupt source register
+ * resets the sensor.
+ */
+static void adxl345_fifo_reset(struct adxl345_state *st)
+{
+ int regval;
+ int samples;
+
+ adxl345_set_measure_en(st, false);
+
+ samples = adxl345_get_samples(st);
+ if (samples > 0)
+ adxl345_fifo_transfer(st, samples);
+
+ regmap_read(st->regmap, ADXL345_REG_INT_SOURCE, &regval);
+
+ adxl345_set_measure_en(st, true);
+}
+
+static int adxl345_buffer_postenable(struct iio_dev *indio_dev)
+{
+ struct adxl345_state *st = iio_priv(indio_dev);
+ int ret;
+
+ ret = adxl345_set_interrupts(st);
+ if (ret < 0)
+ return ret;
+
+ st->fifo_mode = ADXL345_FIFO_STREAM;
+ return adxl345_set_fifo(st);
+}
+
+static int adxl345_buffer_predisable(struct iio_dev *indio_dev)
+{
+ struct adxl345_state *st = iio_priv(indio_dev);
+ int ret;
+
+ st->fifo_mode = ADXL345_FIFO_BYPASS;
+ ret = adxl345_set_fifo(st);
+ if (ret < 0)
+ return ret;
+
+ st->int_map = 0x00;
+ return adxl345_set_interrupts(st);
+}
+
+static const struct iio_buffer_setup_ops adxl345_buffer_ops = {
+ .postenable = adxl345_buffer_postenable,
+ .predisable = adxl345_buffer_predisable,
+};
+
+static int adxl345_get_status(struct adxl345_state *st)
+{
+ int ret;
+ unsigned int regval;
+
+ ret = regmap_read(st->regmap, ADXL345_REG_INT_SOURCE, &regval);
+ if (ret < 0)
+ return ret;
+
+ return FIELD_GET(ADXL345_REG_INT_SOURCE_MSK, regval);
+}
+
+static int adxl345_fifo_push(struct iio_dev *indio_dev,
+ int samples)
+{
+ struct adxl345_state *st = iio_priv(indio_dev);
+ int i, ret;
+
+ if (samples <= 0)
+ return -EINVAL;
+
+ ret = adxl345_fifo_transfer(st, samples);
+ if (ret)
+ return ret;
+
+ for (i = 0; i < ADXL345_DIRS * samples; i += ADXL345_DIRS)
+ iio_push_to_buffers(indio_dev, &st->fifo_buf[i]);
+
+ return 0;
+}
+
+/**
+ * adxl345_irq_handler() - Handle irqs of the ADXL345.
+ * @irq: The irq being handled.
+ * @p: The struct iio_device pointer for the device.
+ *
+ * Return: The interrupt was handled.
+ */
+static irqreturn_t adxl345_irq_handler(int irq, void *p)
+{
+ struct iio_dev *indio_dev = p;
+ struct adxl345_state *st = iio_priv(indio_dev);
+ int int_stat;
+ int samples;
+
+ int_stat = adxl345_get_status(st);
+ if (int_stat <= 0)
+ return IRQ_NONE;
+
+ if (int_stat & ADXL345_INT_OVERRUN)
+ goto err;
+
+ if (int_stat & ADXL345_INT_WATERMARK) {
+ samples = adxl345_get_samples(st);
+ if (samples < 0)
+ goto err;
+
+ if (adxl345_fifo_push(indio_dev, samples) < 0)
+ goto err;
+ }
+ return IRQ_HANDLED;
+
+err:
+ adxl345_fifo_reset(st);
+
+ return IRQ_HANDLED;
+}
+
static const struct iio_info adxl345_info = {
.attrs = &adxl345_attrs_group,
.read_raw = adxl345_read_raw,
.write_raw = adxl345_write_raw,
.write_raw_get_fmt = adxl345_write_raw_get_fmt,
+ .hwfifo_set_watermark = adxl345_set_watermark,
};

/**
@@ -221,6 +494,7 @@ int adxl345_core_probe(struct device *dev, struct regmap *regmap,
ADXL345_DATA_FORMAT_JUSTIFY |
ADXL345_DATA_FORMAT_FULL_RES |
ADXL345_DATA_FORMAT_SELF_TEST);
+ u8 fifo_ctl;
int ret;

indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
@@ -239,6 +513,7 @@ int adxl345_core_probe(struct device *dev, struct regmap *regmap,
indio_dev->modes = INDIO_DIRECT_MODE;
indio_dev->channels = adxl345_channels;
indio_dev->num_channels = ARRAY_SIZE(adxl345_channels);
+ indio_dev->available_scan_masks = adxl345_scan_masks;

if (setup) {
/* Perform optional initial bus specific configuration */
@@ -289,6 +564,26 @@ int adxl345_core_probe(struct device *dev, struct regmap *regmap,
st->intio = ADXL345_INT_NONE;
}

+ if (st->intio != ADXL345_INT_NONE) {
+ /* FIFO_STREAM mode is going to be activated later */
+ ret = devm_iio_kfifo_buffer_setup(dev, indio_dev, &adxl345_buffer_ops);
+ if (ret)
+ return ret;
+
+ ret = devm_request_threaded_irq(dev, st->irq, NULL,
+ &adxl345_irq_handler,
+ IRQF_SHARED | IRQF_ONESHOT,
+ indio_dev->name, indio_dev);
+ if (ret)
+ return ret;
+ } else {
+ /* FIFO_BYPASS mode */
+ fifo_ctl = ADXL345_FIFO_CTL_MODE(ADXL345_FIFO_BYPASS);
+ ret = regmap_write(st->regmap, ADXL345_REG_FIFO_CTL, fifo_ctl);
+ if (ret < 0)
+ return ret;
+ }
+
return devm_iio_device_register(dev, indio_dev);
}
EXPORT_SYMBOL_NS_GPL(adxl345_core_probe, IIO_ADXL345);
--
2.39.5