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Date: Sun, 29 May 2016 16:47:22 +0100
From: Jonathan Cameron <jic23@...nel.org>
To: Crestez Dan Leonard <leonard.crestez@...el.com>,
linux-iio@...r.kernel.org
Cc: linux-kernel@...r.kernel.org, Hartmut Knaack <knaack.h@....de>,
Lars-Peter Clausen <lars@...afoo.de>,
Peter Meerwald-Stadler <pmeerw@...erw.net>,
Daniel Baluta <daniel.baluta@...el.com>,
Ge Gao <ggao@...ensense.com>, Peter Rosin <peda@...ntia.se>,
linux-i2c@...r.kernel.org, Wolfram Sang <wsa@...-dreams.de>,
devicetree@...r.kernel.org, Rob Herring <robh+dt@...nel.org>,
Pawel Moll <pawel.moll@....com>,
Mark Rutland <mark.rutland@....com>,
Ian Campbell <ijc+devicetree@...lion.org.uk>,
Kumar Gala <galak@...eaurora.org>
Subject: Re: [PATCH v2 6/7] iio: inv_mpu6050: Reformat sample for active scan
mask
On 18/05/16 16:00, Crestez Dan Leonard wrote:
> Right now it is possible to only enable some of the x/y/z channels, for
> example you can enable accel_z without x or y but if you actually do
> that what you get is actually only the x channel.
>
> Fix this by reformatting the hardware sample to only include the
> requested channels.
As it stands here there is no benefit in doing this over using the core
demux. In fact it's considerably less efficient (fair enough that you
are keeping it simple in the first instance).
The patch description should make that clear.
I'd definitely like to see simple extension of that option to handle
a callback to get the nearest scanmask that is possible (as an alternative
to the static scan_masks_available list.)
This only gets interesting if we are dealing with the unaligned case and for
these parts that only kicks in I think if the slave devices have say 3 bytes in
their data type.
>
> Signed-off-by: Crestez Dan Leonard <leonard.crestez@...el.com>
> ---
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 8 +++
> drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 107 ++++++++++++++++++++++++++++-
> 2 files changed, 112 insertions(+), 3 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index 85f9b50..ec1401d 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -152,6 +152,11 @@ struct inv_mpu6050_state {
> /* Value of I2C_MST_STATUS after slv4_done */
> u8 slv4_done_status;
> #endif
> +
> +#define INV_MPU6050_MAX_SCAN_ELEMENTS 7
> + unsigned int scan_offsets[INV_MPU6050_MAX_SCAN_ELEMENTS];
> + unsigned int scan_lengths[INV_MPU6050_MAX_SCAN_ELEMENTS];
> + bool realign_required;
> };
>
> /*register and associated bit definition*/
> @@ -274,6 +279,9 @@ enum inv_mpu6050_scan {
> INV_MPU6050_SCAN_TIMESTAMP,
> };
>
> +#define INV_MPU6050_SCAN_MASK_ACCEL 0x07
> +#define INV_MPU6050_SCAN_MASK_GYRO 0x38
> +
> enum inv_mpu6050_filter_e {
> INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
> INV_MPU6050_FILTER_188HZ,
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> index 56ee1e2..49e503c 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> @@ -24,6 +24,90 @@
> #include <linux/spi/spi.h>
> #include "inv_mpu_iio.h"
>
> +static void inv_mpu_get_scan_offsets(
> + struct iio_dev *indio_dev,
> + const unsigned long *mask,
> + const unsigned int masklen,
> + unsigned int *scan_offsets)
> +{
> + unsigned int pos = 0;
> +
> + if (*mask & INV_MPU6050_SCAN_MASK_ACCEL) {
> + scan_offsets[INV_MPU6050_SCAN_ACCL_X] = pos + 0;
> + scan_offsets[INV_MPU6050_SCAN_ACCL_Y] = pos + 2;
> + scan_offsets[INV_MPU6050_SCAN_ACCL_Z] = pos + 4;
> + pos += 6;
> + }
> + if (*mask & INV_MPU6050_SCAN_MASK_GYRO) {
> + scan_offsets[INV_MPU6050_SCAN_GYRO_X] = pos + 0;
> + scan_offsets[INV_MPU6050_SCAN_GYRO_Y] = pos + 2;
> + scan_offsets[INV_MPU6050_SCAN_GYRO_Z] = pos + 4;
> + pos += 6;
> + }
> +}
> +
> +/* This is slowish but relatively common */
> +static const struct iio_chan_spec *
> +iio_chan_by_scan_index(struct iio_dev *indio_dev, int index)
> +{
> + int i;
> +
> + for (i = 0; i < indio_dev->num_channels; ++i)
> + if (indio_dev->channels[i].scan_index == index)
> + return &indio_dev->channels[i];
> +
> + return NULL;
> +}
> +
> +static int iio_check_scan_offsets_aligned(
> + struct iio_dev *indio_dev,
> + const unsigned long *mask,
> + unsigned int masklen,
> + unsigned int *scan_offsets)
> +{
> + int scan_index;
> + unsigned int pos = 0;
> + const struct iio_chan_spec *chan;
> +
> + for_each_set_bit(scan_index, mask, masklen) {
> + chan = iio_chan_by_scan_index(indio_dev, scan_index);
> + if (scan_offsets[scan_index] != pos)
> + return false;
> + pos = ALIGN(pos + chan->scan_type.storagebits / 8,
> + chan->scan_type.storagebits / 8);
> + }
> +
> + return true;
> +}
> +
> +static void iio_get_scan_lengths(struct iio_dev *indio_dev, unsigned int *scan_length)
> +{
> + int i;
> + const struct iio_chan_spec *chan;
> +
> + for (i = 0; i < indio_dev->num_channels; ++i) {
> + chan = &indio_dev->channels[i];
> + if (chan->scan_index < 0)
> + continue;
> + scan_length[chan->scan_index] = chan->scan_type.storagebits / 8;
> + }
> +}
> +
> +static void iio_realign_sample(
> + struct iio_dev *indio_dev,
> + const u8 *ibuf, u8 *obuf,
> + const unsigned int *scan_offset,
> + const unsigned int *scan_lengths)
> +{
> + unsigned int pos = 0;
> + int i;
> +
> + for_each_set_bit(i, indio_dev->active_scan_mask, indio_dev->masklength) {
> + memcpy(&obuf[pos], &ibuf[scan_offset[i]], scan_lengths[i]);
> + pos = ALIGN(pos + scan_lengths[i], scan_lengths[i]);
> + }
> +}
Either rename these so they aren't so generic or propose adding them to
the core code as helper functions.
> +
> static void inv_clear_kfifo(struct inv_mpu6050_state *st)
> {
> unsigned long flags;
> @@ -38,7 +122,9 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
> {
> int result;
> u8 d;
> - struct inv_mpu6050_state *st = iio_priv(indio_dev);
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> + const unsigned long *mask = indio_dev->active_scan_mask;
> + unsigned int masklen = indio_dev->masklength;
>
> /* disable interrupt */
> result = regmap_update_bits(st->map, st->reg->int_enable,
> @@ -93,6 +179,13 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
> if (result)
> goto reset_fifo_fail;
>
> + /* check realign required */
> + inv_mpu_get_scan_offsets(indio_dev, mask, masklen, st->scan_offsets);
> + st->realign_required = !iio_check_scan_offsets_aligned(
> + indio_dev, mask, masklen, st->scan_offsets);
> + if (st->realign_required)
> + iio_get_scan_lengths(indio_dev, st->scan_lengths);
> +
> return 0;
>
> reset_fifo_fail:
> @@ -201,8 +294,16 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
> if (result == 0)
> timestamp = 0;
>
> - result = iio_push_to_buffers_with_timestamp(indio_dev, data,
> - timestamp);
> + if (st->realign_required) {
> + u8 adata[INV_MPU6050_OUTPUT_DATA_SIZE];
> + iio_realign_sample(indio_dev, data, adata,
> + st->scan_offsets, st->scan_lengths);
> + result = iio_push_to_buffers_with_timestamp(
> + indio_dev, adata, timestamp);
> + } else {
> + result = iio_push_to_buffers_with_timestamp(
> + indio_dev, data, timestamp);
> + }
> if (result)
> goto flush_fifo;
> fifo_count -= bytes_per_datum;
>
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