1 // SPDX-License-Identifier: GPL-2.0-only 2 /* 3 * STMicroelectronics st_lsm6dsx FIFO buffer library driver 4 * 5 * LSM6DS3/LSM6DS3H/LSM6DSL/LSM6DSM/ISM330DLC/LSM6DS3TR-C: 6 * The FIFO buffer can be configured to store data from gyroscope and 7 * accelerometer. Samples are queued without any tag according to a 8 * specific pattern based on 'FIFO data sets' (6 bytes each): 9 * - 1st data set is reserved for gyroscope data 10 * - 2nd data set is reserved for accelerometer data 11 * The FIFO pattern changes depending on the ODRs and decimation factors 12 * assigned to the FIFO data sets. The first sequence of data stored in FIFO 13 * buffer contains the data of all the enabled FIFO data sets 14 * (e.g. Gx, Gy, Gz, Ax, Ay, Az), then data are repeated depending on the 15 * value of the decimation factor and ODR set for each FIFO data set. 16 * 17 * LSM6DSO/LSM6DSOX/ASM330LHH/LSM6DSR/LSM6DSRX/ISM330DHCX: 18 * The FIFO buffer can be configured to store data from gyroscope and 19 * accelerometer. Each sample is queued with a tag (1B) indicating data 20 * source (gyroscope, accelerometer, hw timer). 21 * 22 * FIFO supported modes: 23 * - BYPASS: FIFO disabled 24 * - CONTINUOUS: FIFO enabled. When the buffer is full, the FIFO index 25 * restarts from the beginning and the oldest sample is overwritten 26 * 27 * Copyright 2016 STMicroelectronics Inc. 28 * 29 * Lorenzo Bianconi <lorenzo.bianconi@st.com> 30 * Denis Ciocca <denis.ciocca@st.com> 31 */ 32 #include <linux/module.h> 33 #include <linux/iio/kfifo_buf.h> 34 #include <linux/iio/iio.h> 35 #include <linux/iio/buffer.h> 36 #include <linux/regmap.h> 37 #include <linux/bitfield.h> 38 39 #include <linux/platform_data/st_sensors_pdata.h> 40 41 #include "st_lsm6dsx.h" 42 43 #define ST_LSM6DSX_REG_FIFO_MODE_ADDR 0x0a 44 #define ST_LSM6DSX_FIFO_MODE_MASK GENMASK(2, 0) 45 #define ST_LSM6DSX_FIFO_ODR_MASK GENMASK(6, 3) 46 #define ST_LSM6DSX_FIFO_EMPTY_MASK BIT(12) 47 #define ST_LSM6DSX_REG_FIFO_OUTL_ADDR 0x3e 48 #define ST_LSM6DSX_REG_FIFO_OUT_TAG_ADDR 0x78 49 #define ST_LSM6DSX_REG_TS_RESET_ADDR 0x42 50 51 #define ST_LSM6DSX_MAX_FIFO_ODR_VAL 0x08 52 53 #define ST_LSM6DSX_TS_RESET_VAL 0xaa 54 55 struct st_lsm6dsx_decimator_entry { 56 u8 decimator; 57 u8 val; 58 }; 59 60 enum st_lsm6dsx_fifo_tag { 61 ST_LSM6DSX_GYRO_TAG = 0x01, 62 ST_LSM6DSX_ACC_TAG = 0x02, 63 ST_LSM6DSX_TS_TAG = 0x04, 64 ST_LSM6DSX_EXT0_TAG = 0x0f, 65 ST_LSM6DSX_EXT1_TAG = 0x10, 66 ST_LSM6DSX_EXT2_TAG = 0x11, 67 }; 68 69 static const 70 struct st_lsm6dsx_decimator_entry st_lsm6dsx_decimator_table[] = { 71 { 0, 0x0 }, 72 { 1, 0x1 }, 73 { 2, 0x2 }, 74 { 3, 0x3 }, 75 { 4, 0x4 }, 76 { 8, 0x5 }, 77 { 16, 0x6 }, 78 { 32, 0x7 }, 79 }; 80 81 static int 82 st_lsm6dsx_get_decimator_val(struct st_lsm6dsx_sensor *sensor, u32 max_odr) 83 { 84 const int max_size = ARRAY_SIZE(st_lsm6dsx_decimator_table); 85 u32 decimator = max_odr / sensor->odr; 86 int i; 87 88 if (decimator > 1) 89 decimator = round_down(decimator, 2); 90 91 for (i = 0; i < max_size; i++) { 92 if (st_lsm6dsx_decimator_table[i].decimator == decimator) 93 break; 94 } 95 96 return i == max_size ? 0 : st_lsm6dsx_decimator_table[i].val; 97 } 98 99 static void st_lsm6dsx_get_max_min_odr(struct st_lsm6dsx_hw *hw, 100 u32 *max_odr, u32 *min_odr) 101 { 102 struct st_lsm6dsx_sensor *sensor; 103 int i; 104 105 *max_odr = 0, *min_odr = ~0; 106 for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { 107 if (!hw->iio_devs[i]) 108 continue; 109 110 sensor = iio_priv(hw->iio_devs[i]); 111 112 if (!(hw->enable_mask & BIT(sensor->id))) 113 continue; 114 115 *max_odr = max_t(u32, *max_odr, sensor->odr); 116 *min_odr = min_t(u32, *min_odr, sensor->odr); 117 } 118 } 119 120 static u8 st_lsm6dsx_get_sip(struct st_lsm6dsx_sensor *sensor, u32 min_odr) 121 { 122 u8 sip = sensor->odr / min_odr; 123 124 return sip > 1 ? round_down(sip, 2) : sip; 125 } 126 127 static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw) 128 { 129 const struct st_lsm6dsx_reg *ts_dec_reg; 130 struct st_lsm6dsx_sensor *sensor; 131 u16 sip = 0, ts_sip = 0; 132 u32 max_odr, min_odr; 133 int err = 0, i; 134 u8 data; 135 136 st_lsm6dsx_get_max_min_odr(hw, &max_odr, &min_odr); 137 138 for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { 139 const struct st_lsm6dsx_reg *dec_reg; 140 141 if (!hw->iio_devs[i]) 142 continue; 143 144 sensor = iio_priv(hw->iio_devs[i]); 145 /* update fifo decimators and sample in pattern */ 146 if (hw->enable_mask & BIT(sensor->id)) { 147 sensor->sip = st_lsm6dsx_get_sip(sensor, min_odr); 148 data = st_lsm6dsx_get_decimator_val(sensor, max_odr); 149 } else { 150 sensor->sip = 0; 151 data = 0; 152 } 153 ts_sip = max_t(u16, ts_sip, sensor->sip); 154 155 dec_reg = &hw->settings->decimator[sensor->id]; 156 if (dec_reg->addr) { 157 int val = ST_LSM6DSX_SHIFT_VAL(data, dec_reg->mask); 158 159 err = st_lsm6dsx_update_bits_locked(hw, dec_reg->addr, 160 dec_reg->mask, 161 val); 162 if (err < 0) 163 return err; 164 } 165 sip += sensor->sip; 166 } 167 hw->sip = sip + ts_sip; 168 hw->ts_sip = ts_sip; 169 170 /* 171 * update hw ts decimator if necessary. Decimator for hw timestamp 172 * is always 1 or 0 in order to have a ts sample for each data 173 * sample in FIFO 174 */ 175 ts_dec_reg = &hw->settings->ts_settings.decimator; 176 if (ts_dec_reg->addr) { 177 int val, ts_dec = !!hw->ts_sip; 178 179 val = ST_LSM6DSX_SHIFT_VAL(ts_dec, ts_dec_reg->mask); 180 err = st_lsm6dsx_update_bits_locked(hw, ts_dec_reg->addr, 181 ts_dec_reg->mask, val); 182 } 183 return err; 184 } 185 186 int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw, 187 enum st_lsm6dsx_fifo_mode fifo_mode) 188 { 189 unsigned int data; 190 191 data = FIELD_PREP(ST_LSM6DSX_FIFO_MODE_MASK, fifo_mode); 192 return st_lsm6dsx_update_bits_locked(hw, ST_LSM6DSX_REG_FIFO_MODE_ADDR, 193 ST_LSM6DSX_FIFO_MODE_MASK, data); 194 } 195 196 static int st_lsm6dsx_set_fifo_odr(struct st_lsm6dsx_sensor *sensor, 197 bool enable) 198 { 199 struct st_lsm6dsx_hw *hw = sensor->hw; 200 const struct st_lsm6dsx_reg *batch_reg; 201 u8 data; 202 203 batch_reg = &hw->settings->batch[sensor->id]; 204 if (batch_reg->addr) { 205 int val; 206 207 if (enable) { 208 int err; 209 210 err = st_lsm6dsx_check_odr(sensor, sensor->odr, 211 &data); 212 if (err < 0) 213 return err; 214 } else { 215 data = 0; 216 } 217 val = ST_LSM6DSX_SHIFT_VAL(data, batch_reg->mask); 218 return st_lsm6dsx_update_bits_locked(hw, batch_reg->addr, 219 batch_reg->mask, val); 220 } else { 221 data = hw->enable_mask ? ST_LSM6DSX_MAX_FIFO_ODR_VAL : 0; 222 return st_lsm6dsx_update_bits_locked(hw, 223 ST_LSM6DSX_REG_FIFO_MODE_ADDR, 224 ST_LSM6DSX_FIFO_ODR_MASK, 225 FIELD_PREP(ST_LSM6DSX_FIFO_ODR_MASK, 226 data)); 227 } 228 } 229 230 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, u16 watermark) 231 { 232 u16 fifo_watermark = ~0, cur_watermark, fifo_th_mask; 233 struct st_lsm6dsx_hw *hw = sensor->hw; 234 struct st_lsm6dsx_sensor *cur_sensor; 235 int i, err, data; 236 __le16 wdata; 237 238 if (!hw->sip) 239 return 0; 240 241 for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { 242 if (!hw->iio_devs[i]) 243 continue; 244 245 cur_sensor = iio_priv(hw->iio_devs[i]); 246 247 if (!(hw->enable_mask & BIT(cur_sensor->id))) 248 continue; 249 250 cur_watermark = (cur_sensor == sensor) ? watermark 251 : cur_sensor->watermark; 252 253 fifo_watermark = min_t(u16, fifo_watermark, cur_watermark); 254 } 255 256 fifo_watermark = max_t(u16, fifo_watermark, hw->sip); 257 fifo_watermark = (fifo_watermark / hw->sip) * hw->sip; 258 fifo_watermark = fifo_watermark * hw->settings->fifo_ops.th_wl; 259 260 mutex_lock(&hw->page_lock); 261 err = regmap_read(hw->regmap, hw->settings->fifo_ops.fifo_th.addr + 1, 262 &data); 263 if (err < 0) 264 goto out; 265 266 fifo_th_mask = hw->settings->fifo_ops.fifo_th.mask; 267 fifo_watermark = ((data << 8) & ~fifo_th_mask) | 268 (fifo_watermark & fifo_th_mask); 269 270 wdata = cpu_to_le16(fifo_watermark); 271 err = regmap_bulk_write(hw->regmap, 272 hw->settings->fifo_ops.fifo_th.addr, 273 &wdata, sizeof(wdata)); 274 out: 275 mutex_unlock(&hw->page_lock); 276 return err; 277 } 278 279 static int st_lsm6dsx_reset_hw_ts(struct st_lsm6dsx_hw *hw) 280 { 281 struct st_lsm6dsx_sensor *sensor; 282 int i, err; 283 284 /* reset hw ts counter */ 285 err = st_lsm6dsx_write_locked(hw, ST_LSM6DSX_REG_TS_RESET_ADDR, 286 ST_LSM6DSX_TS_RESET_VAL); 287 if (err < 0) 288 return err; 289 290 for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { 291 if (!hw->iio_devs[i]) 292 continue; 293 294 sensor = iio_priv(hw->iio_devs[i]); 295 /* 296 * store enable buffer timestamp as reference for 297 * hw timestamp 298 */ 299 sensor->ts_ref = iio_get_time_ns(hw->iio_devs[i]); 300 } 301 return 0; 302 } 303 304 /* 305 * Set max bulk read to ST_LSM6DSX_MAX_WORD_LEN/ST_LSM6DSX_MAX_TAGGED_WORD_LEN 306 * in order to avoid a kmalloc for each bus access 307 */ 308 static inline int st_lsm6dsx_read_block(struct st_lsm6dsx_hw *hw, u8 addr, 309 u8 *data, unsigned int data_len, 310 unsigned int max_word_len) 311 { 312 unsigned int word_len, read_len = 0; 313 int err; 314 315 while (read_len < data_len) { 316 word_len = min_t(unsigned int, data_len - read_len, 317 max_word_len); 318 err = st_lsm6dsx_read_locked(hw, addr, data + read_len, 319 word_len); 320 if (err < 0) 321 return err; 322 read_len += word_len; 323 } 324 return 0; 325 } 326 327 #define ST_LSM6DSX_IIO_BUFF_SIZE (ALIGN(ST_LSM6DSX_SAMPLE_SIZE, \ 328 sizeof(s64)) + sizeof(s64)) 329 /** 330 * st_lsm6dsx_read_fifo() - hw FIFO read routine 331 * @hw: Pointer to instance of struct st_lsm6dsx_hw. 332 * 333 * Read samples from the hw FIFO and push them to IIO buffers. 334 * 335 * Return: Number of bytes read from the FIFO 336 */ 337 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) 338 { 339 u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE; 340 u16 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask; 341 int err, acc_sip, gyro_sip, ts_sip, read_len, offset; 342 struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor; 343 u8 gyro_buff[ST_LSM6DSX_IIO_BUFF_SIZE]; 344 u8 acc_buff[ST_LSM6DSX_IIO_BUFF_SIZE]; 345 bool reset_ts = false; 346 __le16 fifo_status; 347 s64 ts = 0; 348 349 err = st_lsm6dsx_read_locked(hw, 350 hw->settings->fifo_ops.fifo_diff.addr, 351 &fifo_status, sizeof(fifo_status)); 352 if (err < 0) { 353 dev_err(hw->dev, "failed to read fifo status (err=%d)\n", 354 err); 355 return err; 356 } 357 358 if (fifo_status & cpu_to_le16(ST_LSM6DSX_FIFO_EMPTY_MASK)) 359 return 0; 360 361 fifo_len = (le16_to_cpu(fifo_status) & fifo_diff_mask) * 362 ST_LSM6DSX_CHAN_SIZE; 363 fifo_len = (fifo_len / pattern_len) * pattern_len; 364 365 acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); 366 gyro_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_GYRO]); 367 368 for (read_len = 0; read_len < fifo_len; read_len += pattern_len) { 369 err = st_lsm6dsx_read_block(hw, ST_LSM6DSX_REG_FIFO_OUTL_ADDR, 370 hw->buff, pattern_len, 371 ST_LSM6DSX_MAX_WORD_LEN); 372 if (err < 0) { 373 dev_err(hw->dev, 374 "failed to read pattern from fifo (err=%d)\n", 375 err); 376 return err; 377 } 378 379 /* 380 * Data are written to the FIFO with a specific pattern 381 * depending on the configured ODRs. The first sequence of data 382 * stored in FIFO contains the data of all enabled sensors 383 * (e.g. Gx, Gy, Gz, Ax, Ay, Az, Ts), then data are repeated 384 * depending on the value of the decimation factor set for each 385 * sensor. 386 * 387 * Supposing the FIFO is storing data from gyroscope and 388 * accelerometer at different ODRs: 389 * - gyroscope ODR = 208Hz, accelerometer ODR = 104Hz 390 * Since the gyroscope ODR is twice the accelerometer one, the 391 * following pattern is repeated every 9 samples: 392 * - Gx, Gy, Gz, Ax, Ay, Az, Ts, Gx, Gy, Gz, Ts, Gx, .. 393 */ 394 gyro_sip = gyro_sensor->sip; 395 acc_sip = acc_sensor->sip; 396 ts_sip = hw->ts_sip; 397 offset = 0; 398 399 while (acc_sip > 0 || gyro_sip > 0) { 400 if (gyro_sip > 0) { 401 memcpy(gyro_buff, &hw->buff[offset], 402 ST_LSM6DSX_SAMPLE_SIZE); 403 offset += ST_LSM6DSX_SAMPLE_SIZE; 404 } 405 if (acc_sip > 0) { 406 memcpy(acc_buff, &hw->buff[offset], 407 ST_LSM6DSX_SAMPLE_SIZE); 408 offset += ST_LSM6DSX_SAMPLE_SIZE; 409 } 410 411 if (ts_sip-- > 0) { 412 u8 data[ST_LSM6DSX_SAMPLE_SIZE]; 413 414 memcpy(data, &hw->buff[offset], sizeof(data)); 415 /* 416 * hw timestamp is 3B long and it is stored 417 * in FIFO using 6B as 4th FIFO data set 418 * according to this schema: 419 * B0 = ts[15:8], B1 = ts[23:16], B3 = ts[7:0] 420 */ 421 ts = data[1] << 16 | data[0] << 8 | data[3]; 422 /* 423 * check if hw timestamp engine is going to 424 * reset (the sensor generates an interrupt 425 * to signal the hw timestamp will reset in 426 * 1.638s) 427 */ 428 if (!reset_ts && ts >= 0xff0000) 429 reset_ts = true; 430 ts *= hw->ts_gain; 431 432 offset += ST_LSM6DSX_SAMPLE_SIZE; 433 } 434 435 if (gyro_sip-- > 0) 436 iio_push_to_buffers_with_timestamp( 437 hw->iio_devs[ST_LSM6DSX_ID_GYRO], 438 gyro_buff, gyro_sensor->ts_ref + ts); 439 if (acc_sip-- > 0) 440 iio_push_to_buffers_with_timestamp( 441 hw->iio_devs[ST_LSM6DSX_ID_ACC], 442 acc_buff, acc_sensor->ts_ref + ts); 443 } 444 } 445 446 if (unlikely(reset_ts)) { 447 err = st_lsm6dsx_reset_hw_ts(hw); 448 if (err < 0) { 449 dev_err(hw->dev, "failed to reset hw ts (err=%d)\n", 450 err); 451 return err; 452 } 453 } 454 return read_len; 455 } 456 457 #define ST_LSM6DSX_INVALID_SAMPLE 0x7ffd 458 static int 459 st_lsm6dsx_push_tagged_data(struct st_lsm6dsx_hw *hw, u8 tag, 460 u8 *data, s64 ts) 461 { 462 s16 val = le16_to_cpu(*(__le16 *)data); 463 struct st_lsm6dsx_sensor *sensor; 464 struct iio_dev *iio_dev; 465 466 /* invalid sample during bootstrap phase */ 467 if (val >= ST_LSM6DSX_INVALID_SAMPLE) 468 return -EINVAL; 469 470 /* 471 * EXT_TAG are managed in FIFO fashion so ST_LSM6DSX_EXT0_TAG 472 * corresponds to the first enabled channel, ST_LSM6DSX_EXT1_TAG 473 * to the second one and ST_LSM6DSX_EXT2_TAG to the last enabled 474 * channel 475 */ 476 switch (tag) { 477 case ST_LSM6DSX_GYRO_TAG: 478 iio_dev = hw->iio_devs[ST_LSM6DSX_ID_GYRO]; 479 break; 480 case ST_LSM6DSX_ACC_TAG: 481 iio_dev = hw->iio_devs[ST_LSM6DSX_ID_ACC]; 482 break; 483 case ST_LSM6DSX_EXT0_TAG: 484 if (hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT0)) 485 iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT0]; 486 else if (hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT1)) 487 iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT1]; 488 else 489 iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT2]; 490 break; 491 case ST_LSM6DSX_EXT1_TAG: 492 if ((hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT0)) && 493 (hw->enable_mask & BIT(ST_LSM6DSX_ID_EXT1))) 494 iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT1]; 495 else 496 iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT2]; 497 break; 498 case ST_LSM6DSX_EXT2_TAG: 499 iio_dev = hw->iio_devs[ST_LSM6DSX_ID_EXT2]; 500 break; 501 default: 502 return -EINVAL; 503 } 504 505 sensor = iio_priv(iio_dev); 506 iio_push_to_buffers_with_timestamp(iio_dev, data, 507 ts + sensor->ts_ref); 508 509 return 0; 510 } 511 512 /** 513 * st_lsm6dsx_read_tagged_fifo() - tagged hw FIFO read routine 514 * @hw: Pointer to instance of struct st_lsm6dsx_hw. 515 * 516 * Read samples from the hw FIFO and push them to IIO buffers. 517 * 518 * Return: Number of bytes read from the FIFO 519 */ 520 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw) 521 { 522 u16 pattern_len = hw->sip * ST_LSM6DSX_TAGGED_SAMPLE_SIZE; 523 u16 fifo_len, fifo_diff_mask; 524 u8 iio_buff[ST_LSM6DSX_IIO_BUFF_SIZE], tag; 525 bool reset_ts = false; 526 int i, err, read_len; 527 __le16 fifo_status; 528 s64 ts = 0; 529 530 err = st_lsm6dsx_read_locked(hw, 531 hw->settings->fifo_ops.fifo_diff.addr, 532 &fifo_status, sizeof(fifo_status)); 533 if (err < 0) { 534 dev_err(hw->dev, "failed to read fifo status (err=%d)\n", 535 err); 536 return err; 537 } 538 539 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask; 540 fifo_len = (le16_to_cpu(fifo_status) & fifo_diff_mask) * 541 ST_LSM6DSX_TAGGED_SAMPLE_SIZE; 542 if (!fifo_len) 543 return 0; 544 545 for (read_len = 0; read_len < fifo_len; read_len += pattern_len) { 546 err = st_lsm6dsx_read_block(hw, 547 ST_LSM6DSX_REG_FIFO_OUT_TAG_ADDR, 548 hw->buff, pattern_len, 549 ST_LSM6DSX_MAX_TAGGED_WORD_LEN); 550 if (err < 0) { 551 dev_err(hw->dev, 552 "failed to read pattern from fifo (err=%d)\n", 553 err); 554 return err; 555 } 556 557 for (i = 0; i < pattern_len; 558 i += ST_LSM6DSX_TAGGED_SAMPLE_SIZE) { 559 memcpy(iio_buff, &hw->buff[i + ST_LSM6DSX_TAG_SIZE], 560 ST_LSM6DSX_SAMPLE_SIZE); 561 562 tag = hw->buff[i] >> 3; 563 if (tag == ST_LSM6DSX_TS_TAG) { 564 /* 565 * hw timestamp is 4B long and it is stored 566 * in FIFO according to this schema: 567 * B0 = ts[7:0], B1 = ts[15:8], B2 = ts[23:16], 568 * B3 = ts[31:24] 569 */ 570 ts = le32_to_cpu(*((__le32 *)iio_buff)); 571 /* 572 * check if hw timestamp engine is going to 573 * reset (the sensor generates an interrupt 574 * to signal the hw timestamp will reset in 575 * 1.638s) 576 */ 577 if (!reset_ts && ts >= 0xffff0000) 578 reset_ts = true; 579 ts *= hw->ts_gain; 580 } else { 581 st_lsm6dsx_push_tagged_data(hw, tag, iio_buff, 582 ts); 583 } 584 } 585 } 586 587 if (unlikely(reset_ts)) { 588 err = st_lsm6dsx_reset_hw_ts(hw); 589 if (err < 0) 590 return err; 591 } 592 return read_len; 593 } 594 595 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw) 596 { 597 int err; 598 599 if (!hw->settings->fifo_ops.read_fifo) 600 return -ENOTSUPP; 601 602 mutex_lock(&hw->fifo_lock); 603 604 hw->settings->fifo_ops.read_fifo(hw); 605 err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_BYPASS); 606 607 mutex_unlock(&hw->fifo_lock); 608 609 return err; 610 } 611 612 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable) 613 { 614 struct st_lsm6dsx_hw *hw = sensor->hw; 615 u8 fifo_mask; 616 int err; 617 618 mutex_lock(&hw->conf_lock); 619 620 if (enable) 621 fifo_mask = hw->fifo_mask | BIT(sensor->id); 622 else 623 fifo_mask = hw->fifo_mask & ~BIT(sensor->id); 624 625 if (hw->fifo_mask) { 626 err = st_lsm6dsx_flush_fifo(hw); 627 if (err < 0) 628 goto out; 629 } 630 631 if (sensor->id == ST_LSM6DSX_ID_EXT0 || 632 sensor->id == ST_LSM6DSX_ID_EXT1 || 633 sensor->id == ST_LSM6DSX_ID_EXT2) { 634 err = st_lsm6dsx_shub_set_enable(sensor, enable); 635 if (err < 0) 636 goto out; 637 } else { 638 err = st_lsm6dsx_sensor_set_enable(sensor, enable); 639 if (err < 0) 640 goto out; 641 642 err = st_lsm6dsx_set_fifo_odr(sensor, enable); 643 if (err < 0) 644 goto out; 645 } 646 647 err = st_lsm6dsx_update_decimators(hw); 648 if (err < 0) 649 goto out; 650 651 err = st_lsm6dsx_update_watermark(sensor, sensor->watermark); 652 if (err < 0) 653 goto out; 654 655 if (fifo_mask) { 656 /* reset hw ts counter */ 657 err = st_lsm6dsx_reset_hw_ts(hw); 658 if (err < 0) 659 goto out; 660 661 err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT); 662 if (err < 0) 663 goto out; 664 } 665 666 hw->fifo_mask = fifo_mask; 667 668 out: 669 mutex_unlock(&hw->conf_lock); 670 671 return err; 672 } 673 674 static int st_lsm6dsx_buffer_preenable(struct iio_dev *iio_dev) 675 { 676 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); 677 struct st_lsm6dsx_hw *hw = sensor->hw; 678 679 if (!hw->settings->fifo_ops.update_fifo) 680 return -ENOTSUPP; 681 682 return hw->settings->fifo_ops.update_fifo(sensor, true); 683 } 684 685 static int st_lsm6dsx_buffer_postdisable(struct iio_dev *iio_dev) 686 { 687 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); 688 struct st_lsm6dsx_hw *hw = sensor->hw; 689 690 if (!hw->settings->fifo_ops.update_fifo) 691 return -ENOTSUPP; 692 693 return hw->settings->fifo_ops.update_fifo(sensor, false); 694 } 695 696 static const struct iio_buffer_setup_ops st_lsm6dsx_buffer_ops = { 697 .preenable = st_lsm6dsx_buffer_preenable, 698 .postdisable = st_lsm6dsx_buffer_postdisable, 699 }; 700 701 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw) 702 { 703 struct iio_buffer *buffer; 704 int i; 705 706 for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { 707 if (!hw->iio_devs[i]) 708 continue; 709 710 buffer = devm_iio_kfifo_allocate(hw->dev); 711 if (!buffer) 712 return -ENOMEM; 713 714 iio_device_attach_buffer(hw->iio_devs[i], buffer); 715 hw->iio_devs[i]->modes |= INDIO_BUFFER_SOFTWARE; 716 hw->iio_devs[i]->setup_ops = &st_lsm6dsx_buffer_ops; 717 } 718 719 return 0; 720 } 721