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Message-ID: <CABXOdTc6p3XOXmDmoTX57iU1qxPNoANH9ZT7XmuL0n0Xq6jKNw@mail.gmail.com>
Date: Tue, 26 Jul 2016 17:17:41 -0700
From: Guenter Roeck <groeck@...gle.com>
To: Enric Balletbo i Serra <enric.balletbo@...labora.com>
Cc: linux-kernel <linux-kernel@...r.kernel.org>,
linux-iio@...r.kernel.org, Olof Johansson <olof@...om.net>,
Lee Jones <lee.jones@...aro.org>,
Jonathan Cameron <jic23@...nel.org>,
Hartmut Knaack <knaack.h@....de>,
Lars-Peter Clausen <lars@...afoo.de>,
Peter Meerwald-Stadler <pmeerw@...erw.net>,
Guenter Roeck <groeck@...omium.org>,
Gwendal Grignou <gwendal@...omium.org>
Subject: Re: [PATCH 08/10] iio: cros_ec_sensors_ring: add ChromeOS EC Sensors Ring
On Mon, Jul 18, 2016 at 12:02 AM, Enric Balletbo i Serra
<enric.balletbo@...labora.com> wrote:
> Add support for handling sensor events FIFO produced by the sensor
> hub. A single device with a buffer will collect all samples produced
> by the sensors managed by the CrosEC sensor hub.
>
> Signed-off-by: Guenter Roeck <groeck@...omium.org>
It would probably be better to have Gwendal's Signed-off here.
All I did was to port the code to chromeos-4.4
Guenter
> Signed-off-by: Enric Balletbo i Serra <enric.balletbo@...labora.com>
> ---
> drivers/iio/common/cros_ec_sensors/Kconfig | 9 +
> drivers/iio/common/cros_ec_sensors/Makefile | 1 +
> .../common/cros_ec_sensors/cros_ec_sensors_ring.c | 541 +++++++++++++++++++++
> 3 files changed, 551 insertions(+)
> create mode 100644 drivers/iio/common/cros_ec_sensors/cros_ec_sensors_ring.c
>
> diff --git a/drivers/iio/common/cros_ec_sensors/Kconfig b/drivers/iio/common/cros_ec_sensors/Kconfig
> index 22b4211..778c3bf 100644
> --- a/drivers/iio/common/cros_ec_sensors/Kconfig
> +++ b/drivers/iio/common/cros_ec_sensors/Kconfig
> @@ -39,3 +39,12 @@ config IIO_CROS_EC_ACTIVITY
> Activities can be simple (low/no motion) or more complex (riding train).
> They are being reported by physical devices or the EC itself.
> Creates an IIO device to manage all activities.
> +
> +config IIO_CROS_EC_SENSORS_RING
> + tristate "ChromeOS EC Sensors Ring"
> + depends on IIO_CROS_EC_SENSORS || IIO_CROS_EC_LIGHT_PROX
> + help
> + Add support for handling sensor events FIFO produced by
> + the sensor hub.
> + A single device with a buffer will collect all samples produced
> + by the sensors managed by the CrosEC sensor hub
> diff --git a/drivers/iio/common/cros_ec_sensors/Makefile b/drivers/iio/common/cros_ec_sensors/Makefile
> index 8f54f1e..0eb3fc5 100644
> --- a/drivers/iio/common/cros_ec_sensors/Makefile
> +++ b/drivers/iio/common/cros_ec_sensors/Makefile
> @@ -6,3 +6,4 @@ obj-$(CONFIG_IIO_CROS_EC_SENSORS_CORE) += cros_ec_sensors_core.o
> obj-$(CONFIG_IIO_CROS_EC_SENSORS) += cros_ec_sensors.o
> obj-$(CONFIG_IIO_CROS_EC_LIGHT_PROX) += cros_ec_light_prox.o
> obj-$(CONFIG_IIO_CROS_EC_ACTIVITY) += cros_ec_activity.o
> +obj-$(CONFIG_IIO_CROS_EC_SENSORS_RING) += cros_ec_sensors_ring.o
> diff --git a/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_ring.c b/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_ring.c
> new file mode 100644
> index 0000000..1c74df9
> --- /dev/null
> +++ b/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_ring.c
> @@ -0,0 +1,541 @@
> +/*
> + * cros_ec_sensors_ring - Driver for Chrome OS EC Sensor hub FIFO.
> + *
> + * Copyright (C) 2015 Google, Inc
> + *
> + * This software is licensed under the terms of the GNU General Public
> + * License version 2, as published by the Free Software Foundation, and
> + * may be copied, distributed, and modified under those terms.
> + *
> + * This program is distributed in the hope that 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.
> + *
> + * This driver uses the cros-ec interface to communicate with the Chrome OS
> + * EC about accelerometer data. Accelerometer access is presented through
> + * iio sysfs.
> + */
> +
> +#include <linux/delay.h>
> +#include <linux/device.h>
> +#include <linux/iio/buffer.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/kfifo_buf.h>
> +#include <linux/iio/trigger.h>
> +#include <linux/iio/triggered_buffer.h>
> +#include <linux/iio/trigger_consumer.h>
> +#include <linux/kernel.h>
> +#include <linux/mfd/cros_ec.h>
> +#include <linux/mfd/cros_ec_commands.h>
> +#include <linux/module.h>
> +#include <linux/slab.h>
> +#include <linux/sysfs.h>
> +#include <linux/platform_device.h>
> +
> +#include "cros_ec_sensors_core.h"
> +
> +/* The ring is a FIFO that return sensor information from
> + * the single EC FIFO.
> + * There are always 5 channels returned:
> +* | ID | FLAG | X | Y | Z | Timestamp |
> + * ID is the EC sensor id
> + * FLAG is for meta data, only flush bit is defined.
> + */
> +#define CROS_EC_FLUSH_BIT 1
> +
> +enum {
> + CHANNEL_SENSOR_ID,
> + CHANNEL_SENSOR_FLAG,
> + CHANNEL_X,
> + CHANNEL_Y,
> + CHANNEL_Z,
> + CHANNEL_TIMESTAMP,
> + MAX_CHANNEL,
> +};
> +
> +enum {
> + LAST_TS,
> + NEW_TS,
> + ALL_TS
> +};
> +
> +#define CROS_EC_SENSOR_MAX 16
> +
> +struct cros_ec_fifo_info {
> + struct ec_response_motion_sense_fifo_info info;
> + uint16_t lost[CROS_EC_SENSOR_MAX];
> +};
> +
> +
> +struct cros_ec_sensors_ring_sample {
> + uint8_t sensor_id;
> + uint8_t flag;
> + int16_t vector[MAX_AXIS];
> + s64 timestamp;
> +} __packed;
> +
> +/* State data for ec_sensors iio driver. */
> +struct cros_ec_sensors_ring_state {
> + /* Shared by all sensors */
> + struct cros_ec_sensors_core_state core;
> +
> + /* Notifier to kick to the interrupt */
> + struct notifier_block notifier;
> +
> + /* Preprocessed ring to send to kfifo */
> + struct cros_ec_sensors_ring_sample *ring;
> +
> + struct iio_trigger *trig;
> + s64 fifo_timestamp[ALL_TS];
> + struct ec_response_motion_sense_fifo_info fifo_info;
> +};
> +
> +static const struct iio_info ec_sensors_info = {
> + .driver_module = THIS_MODULE,
> +};
> +
> +static s64 cros_ec_get_time_ns(void)
> +{
> + struct timespec ts;
> +
> + get_monotonic_boottime(&ts);
> + return timespec_to_ns(&ts);
> +}
> +
> +/*
> + * cros_ec_ring_process_event: process one EC FIFO event
> + *
> + * Process one EC event, add it in the ring if necessary.
> + *
> + * Return true if out event has been populated.
> + *
> + * fifo_info: fifo information from the EC.
> + * fifo_timestamp: timestamp at time of fifo_info collection.
> + * current_timestamp: estimated current timestamp.
> + * in: incoming FIFO event from EC
> + * out: outgoing event to user space.
> + */
> +bool cros_ec_ring_process_event(const struct cros_ec_fifo_info *fifo_info,
> + const s64 fifo_timestamp,
> + s64 *current_timestamp,
> + struct ec_response_motion_sensor_data *in,
> + struct cros_ec_sensors_ring_sample *out)
> +{
> + int axis;
> + s64 new_timestamp;
> +
> + if (in->flags & MOTIONSENSE_SENSOR_FLAG_TIMESTAMP) {
> + new_timestamp = fifo_timestamp -
> + ((s64)fifo_info->info.timestamp * 1000) +
> + ((s64)in->timestamp * 1000);
> + /*
> + * The timestamp can be stale if we had to use the fifo
> + * info timestamp.
> + */
> + if (new_timestamp - *current_timestamp > 0)
> + *current_timestamp = new_timestamp;
> + }
> +
> + if (in->flags & MOTIONSENSE_SENSOR_FLAG_FLUSH) {
> + out->sensor_id = in->sensor_num;
> + out->timestamp = *current_timestamp;
> + out->flag = CROS_EC_FLUSH_BIT;
> + return true;
> + }
> + if (in->flags & MOTIONSENSE_SENSOR_FLAG_TIMESTAMP)
> + /* If we just have a timestamp, skip this entry. */
> + return false;
> +
> + /* Regular sample */
> + out->sensor_id = in->sensor_num;
> + out->timestamp = *current_timestamp;
> + out->flag = 0;
> + for (axis = X; axis < MAX_AXIS; axis++)
> + out->vector[axis] = in->data[axis];
> + return true;
> +}
> +/*
> + * cros_ec_ring_handler - the trigger handler function
> + *
> + * @irq: the interrupt number
> + * @p: private data - always a pointer to the poll func.
> + *
> + * On a trigger event occurring, if the pollfunc is attached then this
> + * handler is called as a threaded interrupt (and hence may sleep). It
> + * is responsible for grabbing data from the device and pushing it into
> + * the associated buffer.
> + */
> +static irqreturn_t cros_ec_ring_handler(int irq, void *p)
> +{
> + struct iio_poll_func *pf = p;
> + struct iio_dev *indio_dev = pf->indio_dev;
> + struct cros_ec_sensors_ring_state *state = iio_priv(indio_dev);
> + struct cros_ec_fifo_info fifo_info;
> + s64 fifo_timestamp, current_timestamp;
> + int i, j, number_data, ret;
> + unsigned long sensor_mask = 0;
> + struct ec_response_motion_sensor_data *in;
> + struct cros_ec_sensors_ring_sample *out, *last_out;
> +
> +
> + /* Get FIFO information */
> + mutex_lock(&state->core.cmd_lock);
> + memcpy(&fifo_info, &state->fifo_info, sizeof(state->fifo_info));
> + fifo_timestamp = state->fifo_timestamp[NEW_TS];
> + mutex_unlock(&state->core.cmd_lock);
> +
> + /* Copy elements in the main fifo */
> + if (fifo_info.info.total_lost) {
> + /* Need to retrieve the number of lost vectors per sensor */
> + state->core.param.cmd = MOTIONSENSE_CMD_FIFO_INFO;
> + if (cros_ec_motion_send_host_cmd(&state->core, 0))
> + goto ring_handler_end;
> + memcpy(&fifo_info, &state->core.resp->fifo_info,
> + sizeof(fifo_info));
> + fifo_timestamp = cros_ec_get_time_ns();
> + }
> +
> + current_timestamp = state->fifo_timestamp[LAST_TS];
> + out = state->ring;
> + for (i = 0; i < fifo_info.info.count; i += number_data) {
> + state->core.param.cmd = MOTIONSENSE_CMD_FIFO_READ;
> + state->core.param.fifo_read.max_data_vector =
> + fifo_info.info.count - i;
> + ret = cros_ec_motion_send_host_cmd(&state->core,
> + sizeof(state->core.resp->fifo_read) +
> + state->core.param.fifo_read.max_data_vector *
> + sizeof(struct ec_response_motion_sensor_data));
> + if (ret != EC_RES_SUCCESS) {
> + dev_warn(&indio_dev->dev, "Fifo error: %d\n", ret);
> + break;
> + }
> + number_data =
> + state->core.resp->fifo_read.number_data;
> + if (number_data == 0) {
> + dev_dbg(&indio_dev->dev, "Unexpected empty FIFO\n");
> + break;
> + }
> +
> + for (in = state->core.resp->fifo_read.data, j = 0;
> + j < number_data; j++, in++) {
> + BUG_ON(out >= state->ring + fifo_info.info.size);
> + if (cros_ec_ring_process_event(
> + &fifo_info, fifo_timestamp,
> + ¤t_timestamp, in, out)) {
> + sensor_mask |= (1 << in->sensor_num);
> + out++;
> + }
> + }
> + }
> + last_out = out;
> +
> + if (out == state->ring)
> + /* Unexpected empty FIFO. */
> + goto ring_handler_end;
> +
> + /*
> + * Check if current_timestamp is ahead of the last sample.
> + * Normally, the EC appends a timestamp after the last sample, but if
> + * the AP is slow to respond to the IRQ, the EC may have added new
> + * samples. Use the FIFO info timestamp as last timestamp then.
> + */
> + if ((last_out-1)->timestamp == current_timestamp)
> + current_timestamp = fifo_timestamp;
> +
> + /* check if buffer is set properly */
> + if (!indio_dev->active_scan_mask ||
> + (bitmap_empty(indio_dev->active_scan_mask,
> + indio_dev->masklength)))
> + goto ring_handler_end;
> +
> + /*
> + * calculate proper timestamps
> + *
> + * If there is a sample with a proper timestamp
> + * timestamp | count
> + * older_unprocess_out --> TS1 | 1
> + * TS1 | 2
> + * out --> TS1 | 3
> + * next_out --> TS2 |
> + * We spread time for the samples [older_unprocess_out .. out]
> + * between TS1 and TS2: [TS1+1/4, TS1+2/4, TS1+3/4, TS2].
> + *
> + * If we reach the end of the samples, we compare with the
> + * current timestamp:
> + *
> + * older_unprocess_out --> TS1 | 1
> + * TS1 | 2
> + * out --> TS1 | 3
> + * We know have [TS1+1/3, TS1+2/3, current timestamp]
> + */
> + for_each_set_bit(i, &sensor_mask, BITS_PER_LONG) {
> + s64 older_timestamp;
> + s64 timestamp;
> + struct cros_ec_sensors_ring_sample *older_unprocess_out =
> + state->ring;
> + struct cros_ec_sensors_ring_sample *next_out;
> + int count = 1;
> +
> + if (fifo_info.info.total_lost) {
> + int lost = fifo_info.lost[i];
> +
> + if (lost)
> + dev_warn(&indio_dev->dev,
> + "Sensor %d: lost: %d out of %d\n", i,
> + lost, fifo_info.info.total_lost);
> + }
> +
> + for (out = state->ring; out < last_out; out = next_out) {
> + s64 time_period;
> +
> + next_out = out + 1;
> + if (out->sensor_id != i)
> + continue;
> +
> + /* Timestamp to start with */
> + older_timestamp = out->timestamp;
> +
> + /* find next sample */
> + while (next_out < last_out && next_out->sensor_id != i)
> + next_out++;
> +
> + if (next_out >= last_out) {
> + timestamp = current_timestamp;
> + } else {
> + timestamp = next_out->timestamp;
> + if (timestamp == older_timestamp) {
> + count++;
> + continue;
> + }
> + }
> +
> + /* The next sample has a new timestamp,
> + * spread the unprocessed samples
> + */
> + if (next_out < last_out)
> + count++;
> + time_period = div_s64(timestamp - older_timestamp,
> + count);
> +
> + for (; older_unprocess_out <= out;
> + older_unprocess_out++) {
> + if (older_unprocess_out->sensor_id != i)
> + continue;
> + older_timestamp += time_period;
> + older_unprocess_out->timestamp =
> + older_timestamp;
> + }
> + count = 1;
> + /* The next_out sample has a valid timestamp, skip. */
> + next_out++;
> + older_unprocess_out = next_out;
> + }
> + }
> +
> + /* push the event into the kfifo */
> + for (out = state->ring; out < last_out; out++)
> + iio_push_to_buffers(indio_dev, (u8 *)out);
> +
> +ring_handler_end:
> + state->fifo_timestamp[LAST_TS] = current_timestamp;
> + iio_trigger_notify_done(indio_dev->trig);
> + return IRQ_HANDLED;
> +}
> +
> +static int cros_ec_ring_event(struct notifier_block *nb,
> + unsigned long queued_during_suspend, void *_notify)
> +{
> + struct cros_ec_sensors_ring_state *state;
> + struct cros_ec_device *ec;
> +
> + state = container_of(nb, struct cros_ec_sensors_ring_state, notifier);
> + ec = state->core.ec;
> +
> + if (ec->event_data.event_type != EC_MKBP_EVENT_SENSOR_FIFO)
> + return NOTIFY_DONE;
> +
> + if (ec->event_size != sizeof(ec->event_data.data.sensor_fifo)) {
> + dev_warn(ec->dev, "Invalid fifo info size\n");
> + return NOTIFY_DONE;
> + }
> +
> + if (queued_during_suspend)
> + return NOTIFY_OK;
> +
> + mutex_lock(&state->core.cmd_lock);
> + memcpy(&state->fifo_info, &ec->event_data.data.sensor_fifo.info,
> + ec->event_size);
> + state->fifo_timestamp[NEW_TS] = cros_ec_get_time_ns();
> + mutex_unlock(&state->core.cmd_lock);
> +
> + /*
> + * We are not in a low level interrupt,
> + * we can not call iio_trigger_poll().
> + */
> + iio_trigger_poll_chained(state->trig);
> + return NOTIFY_OK;
> +}
> +
> +#define CROS_EC_RING_ID(_id, _name) \
> +{ \
> + .type = IIO_ACCEL, \
> + .modified = 1, \
> + .channel2 = IIO_NO_MOD, \
> + .scan_index = _id, \
> + .scan_type = { \
> + .sign = 'u', \
> + .realbits = 8, \
> + .storagebits = 8, \
> + }, \
> + .extend_name = _name, \
> +}
> +
> +#define CROS_EC_RING_AXIS(_axis) \
> +{ \
> + .type = IIO_ACCEL, \
> + .modified = 1, \
> + .channel2 = IIO_MOD_##_axis, \
> + .scan_index = CHANNEL_##_axis, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = 16, \
> + .storagebits = 16, \
> + }, \
> + .extend_name = "ring", \
> +}
> +
> +static const struct iio_chan_spec cros_ec_ring_channels[] = {
> + CROS_EC_RING_ID(CHANNEL_SENSOR_ID, "id"),
> + CROS_EC_RING_ID(CHANNEL_SENSOR_FLAG, "flag"),
> + CROS_EC_RING_AXIS(X),
> + CROS_EC_RING_AXIS(Y),
> + CROS_EC_RING_AXIS(Z),
> + IIO_CHAN_SOFT_TIMESTAMP(CHANNEL_TIMESTAMP)
> +};
> +
> +static int cros_ec_ring_probe(struct platform_device *pdev)
> +{
> + struct device *dev = &pdev->dev;
> + struct cros_ec_dev *ec_dev = dev_get_drvdata(dev->parent);
> + struct cros_ec_device *ec_device;
> + struct iio_dev *indio_dev;
> + struct cros_ec_sensors_ring_state *state;
> + int ret;
> +
> + if (!ec_dev || !ec_dev->ec_dev) {
> + dev_warn(&pdev->dev, "No CROS EC device found.\n");
> + return -EINVAL;
> + }
> + ec_device = ec_dev->ec_dev;
> +
> + indio_dev = devm_iio_device_alloc(&pdev->dev, sizeof(*state));
> + if (!indio_dev)
> + return -ENOMEM;
> +
> + platform_set_drvdata(pdev, indio_dev);
> +
> + ret = cros_ec_sensors_core_init(pdev, indio_dev, false);
> + if (ret)
> + return ret;
> +
> + state = iio_priv(indio_dev);
> + /* Retrieve FIFO information */
> + state->core.param.cmd = MOTIONSENSE_CMD_FIFO_INFO;
> + /* If it fails, just assume the FIFO is not supported.
> + * For other errors, the other sensor drivers would have noticed
> + * already.
> + */
> + if (cros_ec_motion_send_host_cmd(&state->core, 0))
> + return -ENODEV;
> +
> + /* Allocate the full fifo.
> + * We need to copy the whole FIFO to set timestamps properly *
> + */
> + state->ring = devm_kcalloc(&pdev->dev,
> + state->core.resp->fifo_info.size,
> + sizeof(*state->ring), GFP_KERNEL);
> + if (!state->ring)
> + return -ENOMEM;
> +
> + state->fifo_timestamp[LAST_TS] = cros_ec_get_time_ns();
> +
> + indio_dev->channels = cros_ec_ring_channels;
> + indio_dev->num_channels = ARRAY_SIZE(cros_ec_ring_channels);
> +
> + indio_dev->info = &ec_sensors_info;
> +
> + state->trig = devm_iio_trigger_alloc(&pdev->dev,
> + "%s-trigger%d", indio_dev->name, indio_dev->id);
> + if (!state->trig)
> + return -ENOMEM;
> + state->trig->dev.parent = &pdev->dev;
> + iio_trigger_set_drvdata(state->trig, indio_dev);
> +
> + ret = iio_trigger_register(state->trig);
> + if (ret)
> + return ret;
> +
> + ret = iio_triggered_buffer_setup(indio_dev, NULL,
> + cros_ec_ring_handler, NULL);
> + if (ret < 0)
> + goto err_trigger_unregister;
> +
> + ret = iio_device_register(indio_dev);
> + if (ret < 0)
> + goto err_buffer_cleanup;
> +
> + /* register the notifier that will act as a top half interrupt. */
> + state->notifier.notifier_call = cros_ec_ring_event;
> + ret = blocking_notifier_chain_register(&ec_device->event_notifier,
> + &state->notifier);
> + if (ret < 0) {
> + dev_warn(&indio_dev->dev, "failed to register notifier\n");
> + goto err_device_unregister;
> + }
> + return ret;
> +
> +err_device_unregister:
> + iio_device_unregister(indio_dev);
> +err_buffer_cleanup:
> + iio_triggered_buffer_cleanup(indio_dev);
> +err_trigger_unregister:
> + iio_trigger_unregister(state->trig);
> + return ret;
> +}
> +
> +static int cros_ec_ring_remove(struct platform_device *pdev)
> +{
> + struct iio_dev *indio_dev = platform_get_drvdata(pdev);
> + struct cros_ec_sensors_ring_state *state = iio_priv(indio_dev);
> + struct cros_ec_device *ec = state->core.ec;
> +
> + blocking_notifier_chain_unregister(&ec->event_notifier,
> + &state->notifier);
> + iio_device_unregister(indio_dev);
> + iio_triggered_buffer_cleanup(indio_dev);
> + iio_trigger_unregister(state->trig);
> + return 0;
> +}
> +
> +static const struct platform_device_id cros_ec_ring_ids[] = {
> + {
> + .name = "cros-ec-ring",
> + },
> + { /* sentinel */ }
> +};
> +MODULE_DEVICE_TABLE(platform, cros_ec_ring_ids);
> +
> +static struct platform_driver cros_ec_ring_platform_driver = {
> + .driver = {
> + .name = "cros-ec-ring",
> + .owner = THIS_MODULE,
> + },
> + .probe = cros_ec_ring_probe,
> + .remove = cros_ec_ring_remove,
> + .id_table = cros_ec_ring_ids,
> +};
> +module_platform_driver(cros_ec_ring_platform_driver);
> +
> +MODULE_DESCRIPTION("ChromeOS EC sensor hub ring driver");
> +MODULE_LICENSE("GPL v2");
> --
> 2.1.0
>
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