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Message-ID: <20180921112954.GA4639@Eros>
Date: Fri, 21 Sep 2018 19:29:54 +0800
From: Song Qiang <songqiang1304521@...il.com>
To: Phil Reid <preid@...ctromag.com.au>
Cc: Peter Meerwald-Stadler <pmeerw@...erw.net>, jic23@...nel.org,
lars@...afoo.de, linux-iio@...r.kernel.org,
devicetree@...r.kernel.org, linux-kernel@...r.kernel.org
Subject: Re: [PATCH] iio: magnetometer: Add support for PNI RM3100 9-axis
magnetometer
On Fri, Sep 21, 2018 at 01:07:17PM +0800, Phil Reid wrote:
> G'day Song,
>
> One more comment below.
> On 20/09/2018 9:46 PM, Peter Meerwald-Stadler wrote:
> > On Thu, 20 Sep 2018, Song Qiang wrote:
> >
> > > PNI RM3100 magnetometer is a high resolution, large signal immunity
> > > magnetometer, composed of 3 single sensors and a processing chip.
> > > PNI is currently not in the vendors list, so this is also adding it.
> >
> > comments below
> >
> > >
> > > Following functions are available:
> > > - Single-shot measurement from
> > > /sys/bus/iio/devices/iio:deviceX/in_magn_{axis}_raw
> > > - Triggerd buffer measurement.
> > > - Both i2c and spi interface are supported.
> > > - Both interrupt and polling measurement is supported, depands on if
> > > the 'interrupts' in DT is declared.
> > >
> > > Signed-off-by: Song Qiang <songqiang1304521@...il.com>
> > > ---
> > > .../bindings/iio/magnetometer/pni,rm3100.txt | 57 +++
> > > .../devicetree/bindings/vendor-prefixes.txt | 1 +
> > > MAINTAINERS | 10 +
> > > drivers/iio/magnetometer/Kconfig | 29 ++
> > > drivers/iio/magnetometer/Makefile | 4 +
> > > drivers/iio/magnetometer/rm3100-core.c | 399 ++++++++++++++++++
> > > drivers/iio/magnetometer/rm3100-i2c.c | 66 +++
> > > drivers/iio/magnetometer/rm3100-spi.c | 72 ++++
> > > drivers/iio/magnetometer/rm3100.h | 90 ++++
> > > 9 files changed, 728 insertions(+)
> > > create mode 100644 Documentation/devicetree/bindings/iio/magnetometer/pni,rm3100.txt
> > > create mode 100644 drivers/iio/magnetometer/rm3100-core.c
> > > create mode 100644 drivers/iio/magnetometer/rm3100-i2c.c
> > > create mode 100644 drivers/iio/magnetometer/rm3100-spi.c
> > > create mode 100644 drivers/iio/magnetometer/rm3100.h
> > >
> > > diff --git a/Documentation/devicetree/bindings/iio/magnetometer/pni,rm3100.txt b/Documentation/devicetree/bindings/iio/magnetometer/pni,rm3100.txt
> > > new file mode 100644
> > > index 000000000000..d0d2063e943f
> > > --- /dev/null
> > > +++ b/Documentation/devicetree/bindings/iio/magnetometer/pni,rm3100.txt
> > > @@ -0,0 +1,57 @@
> > > +* PNI RM3100 9-axis magnetometer sensor
> > > +
> > > +I2C Bus:
> > > +
> > > +Required properties:
> > > +
> > > +- compatible : should be "pni,rm3100-i2c"
> > > +- reg : the I2C address of the magnetometer
> > > +
> > > +Optional properties:
> > > +
> > > +- interrupts: data ready (DRDY) from the chip.
> > > + The interrupts can be triggered on rising edges.
> > > +
> > > + Refer to interrupt-controller/interrupts.txt for generic
> > > + interrupt client node bindings.
> > > +
> > > +- pinctrl-*: pinctrl setup for DRDY line.
> > > +
> > > +Example:
> > > +
> > > +rm3100: rm3100@20 {
> > > + pinctrl-names = "default";
> > > + pinctrl-0 = <&rm3100_pins>;
> > > +
> > > + compatible = "pni,rm3100-i2c";
> > > + reg = <0x20>;
> > > + interrupt-parent = <&gpio0>;
> > > + interrupts = <4 IRQ_TYPE_EDGE_RISING>;
> > > +};
> > > +
> > > +SPI Bus:
> > > +
> > > +Required properties:
> > > +
> > > +- compatible : should be "pni,rm3100-spi"
> > > +- reg : address of sensor, usually 0 or 1.
> > > +
> > > +Optional properties:
> > > +
> > > +- interrupts: data ready (DRDY) from the chip.
> > > + The interrupts can be triggered on rising edges.
> > > +
> > > + Refer to interrupt-controller/interrupts.txt for generic
> > > + interrupt client node bindings.
> > > +
> > > +- pinctrl-*: pinctrl setup for DRDY line, depands on archtechture.
> >
> > depends
> > architecture
> >
> > > +
> > > +Example:
> > > +
> > > +rm3100: rm3100@0{
> > > + compatible = "pni,rm3100-spi";
> > > + reg = <0>;
> > > +
> > > + interrupt-parent = <&gpio0>;
> > > + interrupts = <4 IRQ_TYPE_EDGE_RISING>;
> > > +};
> > > diff --git a/Documentation/devicetree/bindings/vendor-prefixes.txt b/Documentation/devicetree/bindings/vendor-prefixes.txt
> > > index 41f0b97eb933..5bf3395fe9ae 100644
> > > --- a/Documentation/devicetree/bindings/vendor-prefixes.txt
> > > +++ b/Documentation/devicetree/bindings/vendor-prefixes.txt
> > > @@ -288,6 +288,7 @@ pine64 Pine64
> > > pixcir PIXCIR MICROELECTRONICS Co., Ltd
> > > plathome Plat'Home Co., Ltd.
> > > plda PLDA
> > > +pni PNI
> > > portwell Portwell Inc.
> > > poslab Poslab Technology Co., Ltd.
> > > powervr PowerVR (deprecated, use img)
> > > diff --git a/MAINTAINERS b/MAINTAINERS
> > > index 967ce8cdd1cc..30ee8cf98312 100644
> > > --- a/MAINTAINERS
> > > +++ b/MAINTAINERS
> > > @@ -11393,6 +11393,16 @@ M: "Rafael J. Wysocki" <rafael.j.wysocki@...el.com>
> > > S: Maintained
> > > F: drivers/pnp/
> > > +PNI RM3100 IIO DRIVER
> > > +M: Song Qiang <songqiang1304521@...il.com>
> > > +L: linux-iio@...r.kernel.org
> > > +S: Maintained
> > > +F: drivers/iio/magnetometer/rm3100-core.c
> > > +F: drivers/iio/magnetometer/rm3100-i2c.c
> > > +F: drivers/iio/magnetometer/rm3100-spi.c
> > > +F: drivers/iio/magnetometer/rm3100.h
> > > +F: Documentation/devicetree/bindings/iio/magnetometer/rm3100.txt
> > > +
> > > POSIX CLOCKS and TIMERS
> > > M: Thomas Gleixner <tglx@...utronix.de>
> > > L: linux-kernel@...r.kernel.org
> > > diff --git a/drivers/iio/magnetometer/Kconfig b/drivers/iio/magnetometer/Kconfig
> > > index ed9d776d01af..f130b866a4fc 100644
> > > --- a/drivers/iio/magnetometer/Kconfig
> > > +++ b/drivers/iio/magnetometer/Kconfig
> > > @@ -175,4 +175,33 @@ config SENSORS_HMC5843_SPI
> > > - hmc5843_core (core functions)
> > > - hmc5843_spi (support for HMC5983)
> > > +config SENSORS_RM3100
> > > + tristate
> > > + select IIO_BUFFER
> > > + select IIO_TRIGGERED_BUFFER
> > > +
> > > +config SENSORS_RM3100_I2C
> > > + tristate "PNI RM3100 9-Axis Magnetometer (I2C)"
> > > + depends on I2C
> > > + select SENSORS_RM3100
> > > + select REGMAP_I2C
> > > + help
> > > + Say Y here to add support for the PNI RM3100 9-Axis Magnetometer.
> > > +
> > > + This driver can also be compiled as a module.
> > > + To compile this driver as a module, choose M here: the module
> > > + will be called rm3100-i2c.
> > > +
> > > +config SENSORS_RM3100_SPI
> > > + tristate "PNI RM3100 9-Axis Magnetometer (SPI)"
> > > + depends on SPI_MASTER
> > > + select SENSORS_RM3100
> > > + select REGMAP_SPI
> > > + help
> > > + Say Y here to add support for the PNI RM3100 9-Axis Magnetometer.
> > > +
> > > + This driver can also be compiled as a module.
> > > + To compile this driver as a module, choose M here: the module
> > > + will be called rm3100-spi.
> > > +
> > > endmenu
> > > diff --git a/drivers/iio/magnetometer/Makefile b/drivers/iio/magnetometer/Makefile
> > > index 664b2f866472..ba1bc34b82fa 100644
> > > --- a/drivers/iio/magnetometer/Makefile
> > > +++ b/drivers/iio/magnetometer/Makefile
> > > @@ -24,3 +24,7 @@ obj-$(CONFIG_IIO_ST_MAGN_SPI_3AXIS) += st_magn_spi.o
> > > obj-$(CONFIG_SENSORS_HMC5843) += hmc5843_core.o
> > > obj-$(CONFIG_SENSORS_HMC5843_I2C) += hmc5843_i2c.o
> > > obj-$(CONFIG_SENSORS_HMC5843_SPI) += hmc5843_spi.o
> > > +
> > > +obj-$(CONFIG_SENSORS_RM3100) += rm3100-core.o
> > > +obj-$(CONFIG_SENSORS_RM3100_I2C) += rm3100-i2c.o
> > > +obj-$(CONFIG_SENSORS_RM3100_SPI) += rm3100-spi.o
> > > diff --git a/drivers/iio/magnetometer/rm3100-core.c b/drivers/iio/magnetometer/rm3100-core.c
> > > new file mode 100644
> > > index 000000000000..55d515e0fe67
> > > --- /dev/null
> > > +++ b/drivers/iio/magnetometer/rm3100-core.c
> > > @@ -0,0 +1,399 @@
> > > +// SPDX-License-Identifier: GPL-2.0+
> > > +/*
> > > + * PNI RM3100 9-axis geomagnetic sensor driver core.
> > > + *
> > > + * Copyright (C) 2018 Song Qiang <songqiang1304521@...il.com>
> > > + *
> > > + * User Manual available at
> > > + * <https://www.pnicorp.com/download/rm3100-user-manual/>
> > > + *
> > > + * TODO: Scale channel, event generaton, pm.
> >
> > at least read support for _SCALE is mandatory, IMHO
> >
> > > + */
> > > +
> > > +#include <linux/delay.h>
> > > +#include <linux/interrupt.h>
> > > +#include <linux/slab.h>
> > > +
> > > +#include <linux/iio/iio.h>
> > > +#include <linux/iio/triggered_buffer.h>
> > > +#include <linux/iio/trigger_consumer.h>
> > > +#include <linux/iio/buffer.h>
> > > +#include <linux/iio/kfifo_buf.h>
> > > +
> > > +#include "rm3100.h"
> > > +
> > > +static const struct regmap_range rm3100_readable_ranges[] = {
> > > + regmap_reg_range(RM_W_REG_START, RM_W_REG_END),
> > > +};
> > > +
> > > +const struct regmap_access_table rm3100_readable_table = {
> >
> > static
> >
> > > + .yes_ranges = rm3100_readable_ranges,
> > > + .n_yes_ranges = ARRAY_SIZE(rm3100_readable_ranges),
> > > +};
> > > +
> > > +static const struct regmap_range rm3100_writable_ranges[] = {
> > > + regmap_reg_range(RM_R_REG_START, RM_R_REG_END),
> > > +};
> > > +
> > > +const struct regmap_access_table rm3100_writable_table = {
> >
> > static
> >
> > > + .yes_ranges = rm3100_writable_ranges,
> > > + .n_yes_ranges = ARRAY_SIZE(rm3100_writable_ranges),
> > > +};
> > > +
> > > +static const struct regmap_range rm3100_volatile_ranges[] = {
> > > + regmap_reg_range(RM_V_REG_START, RM_V_REG_END),
> > > +};
> > > +
> > > +const struct regmap_access_table rm3100_volatile_table = {
> >
> > static
> >
> > > + .yes_ranges = rm3100_volatile_ranges,
> > > + .n_yes_ranges = ARRAY_SIZE(rm3100_volatile_ranges),
> > > +};
> > > +
> > > +static irqreturn_t rm3100_measurement_irq_handler(int irq, void *d)
> > > +{
> > > + struct rm3100_data *data = d;
> > > +
> > > + complete(&data->measuring_done);
> > > +
> > > + return IRQ_HANDLED;
> > > +}
> > > +
> > > +static int rm3100_wait_measurement(struct rm3100_data *data)
> > > +{
> > > + struct regmap *regmap = data->regmap;
> > > + unsigned int val;
> > > + u16 tries = 20;
> >
> > why not use int for tries?
> >
> > > + int ret;
> > > +
> > > + /* A read cycle of 400kbits i2c bus is about 20us, plus the time
> > > + * used for schduling, a read cycle of fast mode of this device
> >
> > scheduling
> >
> > > + * can reach 1.7ms, it may be possible for data arrives just
> >
> > to arrive
> >
> > > + * after we check the RM_REG_STATUS. In this case, irq_handler is
> > > + * called before measuring_done is reinitialized, it will wait
> > > + * forever for a data that has already been ready.
> >
> > for data
> >
> > > + * Reinitialize measuring_done before looking up makes sure we
> > > + * will always capture interrupt no matter when it happened.
> > > + */
> > > + if (data->use_interrupt)
> > > + reinit_completion(&data->measuring_done);
> > > +
> > > + ret = regmap_read(regmap, RM_REG_STATUS, &val);
> > > + if (ret < 0)
> > > + return ret;
> > > +
> > > + if ((val & RM_STATUS_DRDY) != RM_STATUS_DRDY) {
> > > + if (data->use_interrupt) {
> > > + ret = wait_for_completion_timeout(&data->measuring_done,
> > > + msecs_to_jiffies(data->conversion_time));
> > > + if (!ret)
> > > + return -ETIMEDOUT;
> > > + } else {
> > > + do {
> > > + ret = regmap_read(regmap, RM_REG_STATUS, &val);
> > > + if (ret < 0)
> > > + return ret;
> > > +
> > > + if (val & RM_STATUS_DRDY)
> > > + break;
> > > +
> > > + usleep_range(1000, 5000);
> > > + } while (--tries);
> > > + if (!tries)
> > > + return -ETIMEDOUT;
> > > + }
> > > + }
> > > + return 0;
> > > +}
> > > +
> > > +static int rm3100_read_mag(struct rm3100_data *data, int idx, int *val)
> > > +{
> > > + struct regmap *regmap = data->regmap;
> > > + u8 buffer[3];
> > > + int ret;
> > > +
> > > + mutex_lock(&data->lock);
> > > + ret = rm3100_wait_measurement(data);
> > > + if (ret < 0) {
> > > + mutex_unlock(&data->lock);
> > > + return ret;
> > > + }
> > > +
> > > + ret = regmap_bulk_read(regmap, RM_REG_MX2 + 3 * idx, buffer, 3);
> >
> > sizeof(buf)
> >
> > > + mutex_unlock(&data->lock);
> > > + if (ret < 0)
> > > + return ret;
> > > +
> > > + *val = le32_to_cpu((buffer[0] << 16) + (buffer[1] << 8) + buffer[2]);
> >
> > no need for le32_to_cpu()
> >
> > > + *val = sign_extend32(*val, 23);
> > > +
> > > + return IIO_VAL_INT;
> > > +}
> > > +
> > > +#define RM_CHANNEL(axis, idx) \
> >
> > use RM3100_ prefix please
> >
> > > + { \
> > > + .type = IIO_MAGN, \
> > > + .modified = 1, \
> > > + .channel2 = IIO_MOD_##axis, \
> > > + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> > > + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ),\
> > > + .scan_index = idx, \
> > > + .scan_type = { \
> > > + .sign = 's', \
> > > + .realbits = 24, \
> > > + .storagebits = 32, \
> > > + .shift = 8, \
> > > + .endianness = IIO_LE, \
> > > + }, \
> > > + }
> > > +
> > > +static const struct iio_chan_spec rm3100_channels[] = {
> > > + RM_CHANNEL(X, 0),
> > > + RM_CHANNEL(Y, 1),
> > > + RM_CHANNEL(Z, 2),
> > > + IIO_CHAN_SOFT_TIMESTAMP(3),
> > > +};
> > > +
> > > +static const unsigned long rm3100_scan_masks[] = {GENMASK(2, 0), 0};
> > > +
> > > +#define RM_SAMP_NUM 14
> >
> > prefix
> >
> > > +
> > > +/* Frequency : rm3100_samp_rates[][0].rm3100_samp_rates[][1]Hz.
> > > + * Time between reading: rm3100_sam_rates[][2]ms (The first on is actially 1.7).
> >
> > one
> > actually
> > 1.7 what unit?
> >
> >
> > > + */
> > > +static const int rm3100_samp_rates[RM_SAMP_NUM][3] = {
> > > + {600, 0, 2}, {300, 0, 3}, {150, 0, 7}, {75, 0, 13}, {37, 0, 27},
> > > + {18, 0, 55}, {9, 0, 110}, {4, 500000, 220}, {2, 300000, 440},
> > > + {1, 200000, 800}, {0, 600000, 1600}, {0, 300000, 3300},
> > > + {0, 15000, 6700}, {0, 75000, 13000}
> > > +};
> > > +
> > > +static int rm3100_get_samp_freq(struct rm3100_data *data, int *val, int *val2)
> > > +{
> > > + int ret;
> > > + int tmp;
> > > +
> > > + ret = regmap_read(data->regmap, RM_REG_TMRC, &tmp);
> > > + if (ret < 0)
> > > + return ret;
> > > + *val = rm3100_samp_rates[tmp-RM_TMRC_OFFSET][0];
> >
> > space around - operator
> >
> > > + *val2 = rm3100_samp_rates[tmp-RM_TMRC_OFFSET][1];
> > > +
> > > + return IIO_VAL_INT_PLUS_MICRO;
> > > +}
> > > +
> > > +static int rm3100_set_samp_freq(struct rm3100_data *data, int val, int val2)
> > > +{
> > > + struct regmap *regmap = data->regmap;
> > > + int cycle_count;
> > > + int ret;
> > > + int i;
> > > +
> > > + /* All cycle count registers use the same value. */
> > > + ret = regmap_read(regmap, RM_REG_CCXL, &cycle_count);
> >
> > check ret?
> >
> > > + if (cycle_count < 0)
> > > + return cycle_count;
> > > +
> > > + for (i = 0; i < RM_SAMP_NUM; i++) {
> > > + if (val == rm3100_samp_rates[i][0] &&
> > > + val2 == rm3100_samp_rates[i][1])
> > > + break;
> > > + }
> > > +
> > > + if (i != RM_SAMP_NUM) {
> > > + mutex_lock(&data->lock);
> > > + ret = regmap_write(regmap, RM_REG_TMRC, i + RM_TMRC_OFFSET);
> > > + if (ret < 0)
> >
> > unlock?
> >
> > > + return ret;
> > > +
> > > + /* Checking if cycle count registers need changing. */
> > > + if (val == 600 && cycle_count == 200) {
> > > + for (i = 0; i < 3; i++) {
> > > + regmap_write(regmap, RM_REG_CCXL + 2 * i, 100);
> > > + if (ret < 0)
> >
> > unlock?
> >
> > > + return ret;
> > > + }
> > > + } else if (val != 600 && cycle_count == 100) {
> > > + for (i = 0; i < 3; i++) {
> > > + regmap_write(regmap, RM_REG_CCXL + 2 * i, 200);
> > > + if (ret < 0)
> >
> > unlock?
> >
> > > + return ret;
> > > + }
> > > + }
> > > + /* Writing TMRC registers requires CMM reset. */
> > > + ret = regmap_write(regmap, RM_REG_CMM, 0);
> > > + if (ret < 0)
> >
> > unlock?
> >
> > > + return ret;
> > > + ret = regmap_write(regmap, RM_REG_CMM, RM_CMM_PMX |
> > > + RM_CMM_PMY | RM_CMM_PMZ | RM_CMM_START);
> > > + if (ret < 0)
> >
> > unlock?
> >
> > > + return ret;
> > > + mutex_unlock(&data->lock);
> > > +
> > > + data->conversion_time = rm3100_samp_rates[i][2] + 3000;
> > > + return 0;
> > > + }
> > > + return -EINVAL;
> > > +}
> > > +
> > > +static int rm3100_read_raw(struct iio_dev *indio_dev,
> > > + const struct iio_chan_spec *chan,
> > > + int *val, int *val2, long mask)
> > > +{
> > > + struct rm3100_data *data = iio_priv(indio_dev);
> > > + int ret;
> > > +
> > > + switch (mask) {
> > > + case IIO_CHAN_INFO_RAW:
> > > + ret = iio_device_claim_direct_mode(indio_dev);
> > > + if (ret < 0)
> >
> > release_direct_mode() here?
> >
> > > + return ret;
> > > + ret = rm3100_read_mag(data, chan->scan_index, val);
> > > + iio_device_release_direct_mode(indio_dev);
> > > +
> > > + return ret;
> > > + case IIO_CHAN_INFO_SAMP_FREQ:
> > > + return ret = rm3100_get_samp_freq(data, val, val2);
> >
> > return ret = ???, just
> > return rm3100_...
> >
> > > + default:
> > > + return -EINVAL;
> > > + }
> > > +}
> > > +
> > > +static int rm3100_write_raw(struct iio_dev *indio_dev,
> > > + struct iio_chan_spec const *chan,
> > > + int val, int val2, long mask)
> > > +{
> > > + struct rm3100_data *data = iio_priv(indio_dev);
> > > + int ret;
> > > +
> > > + switch (mask) {
> > > + case IIO_CHAN_INFO_SAMP_FREQ:
> > > + ret = rm3100_set_samp_freq(data, val, val2);
> > > + if (ret < 0)
> > > + return ret;
> > > + return 0;
> > > + default:
> > > + return -EINVAL;
> > > + }
> > > +
> > > +}
> > > +
> > > +static const struct iio_info rm3100_info = {
> > > + .read_raw = rm3100_read_raw,
> > > + .write_raw = rm3100_write_raw,
> > > +};
> > > +
> > > +static irqreturn_t rm3100_trigger_handler(int irq, void *p)
> > > +{
> > > + struct iio_poll_func *pf = p;
> > > + struct iio_dev *indio_dev = pf->indio_dev;
> > > + struct rm3100_data *data = iio_priv(indio_dev);
> > > + struct regmap *regmap = data->regmap;
> > > + u8 *buffer;
> > > + int ret;
> > > + int i;
> > > +
> > > + buffer = devm_kzalloc(data->dev, indio_dev->scan_bytes, GFP_KERNEL);
> >
> > try to allocate the maximum needed amount of memory beforehand, in
> > _probe() perhaps
> >
> > > + if (!buffer)
> > > + goto done;
> > > +
> > > + mutex_lock(&data->lock);
> > > + ret = rm3100_wait_measurement(data);
> > > + if (ret < 0) {
> > > + mutex_unlock(&data->lock);
> > > + goto done;
> > > + }
> > > +
> > > + for (i = 0; i < 3; i++) {
> > > + ret = regmap_bulk_read(regmap, RM_REG_MX2 + 3 * i,
> > > + buffer + 4 * i, 3);
> > > + if (ret < 0)
> > > + return ret;
> > > + }
>
> Wouldn't it be better to read the 3 axis with one transaction here.
> And if required shuffle the data into the iio buffer.
>
>
Hi Phil,
That's surely something will make this code better!
But also, there is something worth discussing,
When triggered buffer is triggered here, I should push all the data into
userspace, and every time the buffer is enabled, the iio subsystem
automatically computes the alignment of my data. This sensor has 3
24bits channels, and my original thought of data alignment should be
like this because my machine is 32bits:
+----------+----+----+----+----+----+----+
| 3b(ytes) | 1b | 3b | 1b | 3b | 1b | 8b |
+----------+----+----+----+----+----+----+
3 bytes data and 1 byte for alignment, last 8 bytes for the timestamp.
Aligned to 4 bytes.
But the actual layout is like this:
+----------+----+----+----+----+----+----+----+
| 3b(ytes) | 1b | 3b | 1b | 3b | 1b | 4b | 8b |
+----------+----+----+----+----+----+----+----+
Soon after I debugged the code of industrial io core I found that in the
iio_compute_scanbytes() in industialio-buffer.c, alignment was computed
each channel a time, and was aligned with the length of next channel. (eg:
In the last case, before the timestamp channel was appended, there are
12 bytes already in the buffer, to align to the timetamp which is 8
bytes, it injected 4 bytes to make it 16, and then append timestamp. )
This leads to two questions:
1. I thought computer systems align their data in the memory for least
time access, shouldn't this always align to the bits of architecture,
like for a 32bits machine align to 4?? I'm a little confused here.
Jonathan must have considered something, Hoping to get some
explanations!
2. In this case I have 4 channels including the timetamp one, and I
thought it should be aligned like the first one. But actually it's
aligned like the second one, when I was testing the buffer, I got
confused, because the in_magn_x_type returned 24/32, 24/32, 24/32
and 64/64. If the iio core injected some empty bytes, shouldn't it
notify me? Or at least change the timestamp type in scan_bytes to
64/96>>0?? And when I only enabled two of three channels, the data
alignment in the buffer looks like this:
+----------+----+----+----+----+
| 3b(ytes) | 1b | 3b | 1b | 8b |
+----------+----+----+----+----+
Notice that 4 bytes have gone due to data of two channels have already
aligned to 8 bytes.
Hoping to get some answers, I'm very curious and interested about this!
yours,
Song Qiang
> > > + mutex_unlock(&data->lock);
> > > +
> > > + iio_push_to_buffers_with_timestamp(indio_dev, buffer,
> > > + iio_get_time_ns(indio_dev));
> > > +done:
> > > + iio_trigger_notify_done(indio_dev->trig);
> > > +
> > > + return IRQ_HANDLED;
> > > +}
> > > +
> > > +int rm3100_common_probe(struct device *dev, struct regmap *regmap, int irq)
> > > +{
> > > + struct iio_dev *indio_dev;
> > > + struct rm3100_data *data;
> > > + int tmp;
> > > + int ret;
> > > +
> > > + indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
> > > + if (!indio_dev)
> > > + return -ENOMEM;
> > > +
> > > + data = iio_priv(indio_dev);
> > > + dev_set_drvdata(dev, indio_dev);
> > > + data->dev = dev;
> > > + data->regmap = regmap;
> > > +
> > > + mutex_init(&data->lock);
> > > +
> > > + indio_dev->dev.parent = dev;
> > > + indio_dev->name = "rm3100";
> > > + indio_dev->info = &rm3100_info;
> > > + indio_dev->channels = rm3100_channels;
> > > + indio_dev->num_channels = ARRAY_SIZE(rm3100_channels);
> > > + indio_dev->modes = INDIO_DIRECT_MODE;
> > > + indio_dev->available_scan_masks = rm3100_scan_masks;
> > > +
> > > + if (!irq)
> > > + data->use_interrupt = false;
> > > + else {
> > > + data->use_interrupt = true;
> > > + ret = devm_request_irq(dev,
> > > + irq,
> > > + rm3100_measurement_irq_handler,
> > > + IRQF_TRIGGER_RISING,
> > > + indio_dev->name,
> > > + data);
> > > + if (ret < 0) {
> > > + dev_err(dev,
> > > + "request irq line failed.");
> >
> > \n
> >
> > > + return -ret;
> > > + }
> > > + init_completion(&data->measuring_done);
> > > + }
> > > +
> > > + ret = iio_triggered_buffer_setup(indio_dev, NULL,
> > > + rm3100_trigger_handler, NULL);
> > > + if (ret < 0)
> > > + return ret;
> > > +
> > > + /* 3sec more wait time. */
> > > + ret = regmap_read(data->regmap, RM_REG_TMRC, &tmp);
> >
> > check ret
> >
> > > + data->conversion_time = rm3100_samp_rates[tmp-RM_TMRC_OFFSET][2] + 3000;
> > > +
> > > + /* Starting all channels' conversion. */
> > > + ret = regmap_write(regmap, RM_REG_CMM,
> > > + RM_CMM_PMX | RM_CMM_PMY | RM_CMM_PMZ | RM_CMM_START);
> > > + if (ret < 0)
> > > + return ret;
> > > +
> > > + return devm_iio_device_register(dev, indio_dev);
> > > +}
> > > +EXPORT_SYMBOL(rm3100_common_probe);
> > > +
> > > +int rm3100_common_remove(struct device *dev)
> > > +{
> > > + struct iio_dev *indio_dev = dev_get_drvdata(dev);
> > > + struct rm3100_data *data = iio_priv(indio_dev);
> > > + struct regmap *regmap = data->regmap;
> > > +
> > > + regmap_write(regmap, RM_REG_CMM, 0x00);
> > > +
> > > + return 0;
> > > +}
> > > +EXPORT_SYMBOL(rm3100_common_remove);
> > > +
> > > +MODULE_AUTHOR("Song Qiang <songqiang1304521@...il.com>");
> > > +MODULE_DESCRIPTION("PNI RM3100 9-axis magnetometer i2c driver");
> > > +MODULE_LICENSE("GPL v2");
> > > diff --git a/drivers/iio/magnetometer/rm3100-i2c.c b/drivers/iio/magnetometer/rm3100-i2c.c
> > > new file mode 100644
> > > index 000000000000..b50dc5b1b30b
> > > --- /dev/null
> > > +++ b/drivers/iio/magnetometer/rm3100-i2c.c
> > > @@ -0,0 +1,66 @@
> > > +// SPDX-License-Identifier: GPL-2.0+
> > > +/*
> > > + * Support for PNI RM3100 9-axis geomagnetic sensor a i2c bus.
> > > + *
> > > + * Copyright (C) 2018 Song Qiang <songqiang1304521@...il.com>
> > > + *
> > > + * User Manual available at
> > > + * <https://www.pnicorp.com/download/rm3100-user-manual/>
> > > + *
> > > + * i2c slave address 0x20 + SA1 << 1 + SA0.
> > > + */
> > > +
> > > +#include <linux/i2c.h>
> > > +
> > > +#include "rm3100.h"
> > > +
> > > +static const struct regmap_config rm3100_regmap_config = {
> > > + .reg_bits = 8,
> > > + .val_bits = 8,
> > > +
> > > + .rd_table = &rm3100_readable_table,
> > > + .wr_table = &rm3100_writable_table,
> > > + .volatile_table = &rm3100_volatile_table,
> > > +
> > > + .cache_type = REGCACHE_RBTREE,
> > > +};
> > > +
> > > +static int rm3100_probe(struct i2c_client *client)
> > > +{
> > > + struct regmap *regmap;
> > > +
> > > + if (!i2c_check_functionality(client->adapter,
> > > + I2C_FUNC_SMBUS_READ_I2C_BLOCK | I2C_FUNC_SMBUS_BYTE_DATA))
> > > + return -EOPNOTSUPP;
> > > +
> > > + regmap = devm_regmap_init_i2c(client, &rm3100_regmap_config);
> > > + if (IS_ERR(regmap))
> > > + return PTR_ERR(regmap);
> > > +
> > > + return rm3100_common_probe(&client->dev, regmap, client->irq);
> > > +}
> > > +
> > > +static int rm3100_remove(struct i2c_client *client)
> > > +{
> > > + return rm3100_common_remove(&client->dev);
> > > +}
> > > +
> > > +static const struct of_device_id rm3100_dt_match[] = {
> > > + { .compatible = "pni,rm3100-i2c", },
> > > + { }
> > > +};
> > > +MODULE_DEVICE_TABLE(of, rm3100_dt_match);
> > > +
> > > +static struct i2c_driver rm3100_driver = {
> > > + .driver = {
> > > + .name = "rm3100-i2c",
> > > + .of_match_table = rm3100_dt_match,
> > > + },
> > > + .probe_new = rm3100_probe,
> > > + .remove = rm3100_remove,
> > > +};
> > > +module_i2c_driver(rm3100_driver);
> > > +
> > > +MODULE_AUTHOR("Song Qiang <songqiang1304521@...il.com>");
> > > +MODULE_DESCRIPTION("PNI RM3100 9-axis magnetometer i2c driver");
> > > +MODULE_LICENSE("GPL v2");
> > > diff --git a/drivers/iio/magnetometer/rm3100-spi.c b/drivers/iio/magnetometer/rm3100-spi.c
> > > new file mode 100644
> > > index 000000000000..2c7dd9e3a1a2
> > > --- /dev/null
> > > +++ b/drivers/iio/magnetometer/rm3100-spi.c
> > > @@ -0,0 +1,72 @@
> > > +// SPDX-License-Identifier: GPL-2.0+
> > > +/*
> > > + * Support for PNI RM3100 9-axis geomagnetic sensor a spi bus.
> > > + *
> > > + * Copyright (C) 2018 Song Qiang <songqiang1304521@...il.com>
> > > + *
> > > + * User Manual available at
> > > + * <https://www.pnicorp.com/download/rm3100-user-manual/>
> > > + */
> > > +
> > > +#include <linux/spi/spi.h>
> > > +
> > > +#include "rm3100.h"
> > > +
> > > +static const struct regmap_config rm3100_regmap_config = {
> > > + .reg_bits = 8,
> > > + .val_bits = 8,
> > > +
> > > + .rd_table = &rm3100_readable_table,
> > > + .wr_table = &rm3100_writable_table,
> > > + .volatile_table = &rm3100_volatile_table,
> > > +
> > > + .read_flag_mask = 0x80,
> > > +
> > > + .cache_type = REGCACHE_RBTREE,
> > > +};
> > > +
> > > +static int rm3100_probe(struct spi_device *spi)
> > > +{
> > > + struct regmap *regmap;
> > > + int ret;
> > > +
> > > + /* Actually this device supports both mode 0 and mode 3. */
> > > + spi->mode = SPI_MODE_0;
> > > + /* data rates cannot exceeds 1Mbits. */
> >
> > exceed
> >
> > > + spi->max_speed_hz = 1000000;
> > > + spi->bits_per_word = 8;
> > > + ret = spi_setup(spi);
> > > + if (ret)
> > > + return ret;
> > > +
> > > + regmap = devm_regmap_init_spi(spi, &rm3100_regmap_config);
> > > + if (IS_ERR(regmap))
> > > + return PTR_ERR(regmap);
> > > +
> > > + return rm3100_common_probe(&spi->dev, regmap, spi->irq);
> > > +}
> > > +
> > > +static int rm3100_remove(struct spi_device *spi)
> > > +{
> > > + return rm3100_common_remove(&spi->dev);
> > > +}
> > > +
> > > +static const struct of_device_id rm3100_dt_match[] = {
> > > + { .compatible = "pni,rm3100-spi", },
> > > + { }
> > > +};
> > > +MODULE_DEVICE_TABLE(of, rm3100_dt_match);
> > > +
> > > +static struct spi_driver rm3100_driver = {
> > > + .driver = {
> > > + .name = "rm3100-spi",
> > > + .of_match_table = rm3100_dt_match,
> > > + },
> > > + .probe = rm3100_probe,
> > > + .remove = rm3100_remove,
> > > +};
> > > +module_spi_driver(rm3100_driver);
> > > +
> > > +MODULE_AUTHOR("Song Qiang <songqiang1304521@...il.com>");
> > > +MODULE_DESCRIPTION("PNI RM3100 9-axis magnetometer spi driver");
> > > +MODULE_LICENSE("GPL v2");
> > > diff --git a/drivers/iio/magnetometer/rm3100.h b/drivers/iio/magnetometer/rm3100.h
> > > new file mode 100644
> > > index 000000000000..5e30bc0f5149
> > > --- /dev/null
> > > +++ b/drivers/iio/magnetometer/rm3100.h
> > > @@ -0,0 +1,90 @@
> > > +/* SPDX-License-Identifier: GPL-2.0+ */
> > > +/*
> > > + * Header file for PNI RM3100 driver
> > > + *
> > > + * Copyright (C) 2018 Song Qiang <songqiang1304521@...il.com>
> > > + */
> > > +
> > > +#ifndef RM3100_CORE_H
> > > +#define RM3100_CORE_H
> > > +
> > > +#include <linux/module.h>
> > > +#include <linux/regmap.h>
> > > +
> > > +#define RM_REG_REV_ID 0x36
> > > +
> > > +/* Cycle Count Registers MSBs and LSBs. */
> > > +#define RM_REG_CCXM 0x04
> > > +#define RM_REG_CCXL 0x05
> > > +#define RM_REG_CCYM 0x06
> > > +#define RM_REG_CCYL 0x07
> > > +#define RM_REG_CCZM 0x08
> > > +#define RM_REG_CCZL 0x09
> > > +
> > > +/* Single Measurement Mode register. */
> > > +#define RM_REG_POLL 0x00
> > > +#define RM_POLL_PMX BIT(4)
> > > +#define RM_POLL_PMY BIT(5)
> > > +#define RM_POLL_PMZ BIT(6)
> > > +
> > > +/* Continues Measurement Mode register. */
> > > +#define RM_REG_CMM 0x01
> > > +#define RM_CMM_START BIT(0)
> > > +#define RM_CMM_DRDM BIT(2)
> > > +#define RM_CMM_PMX BIT(4)
> > > +#define RM_CMM_PMY BIT(5)
> > > +#define RM_CMM_PMZ BIT(6)
> > > +
> > > +/* TiMe Rate Configuration register. */
> > > +#define RM_REG_TMRC 0x0B
> > > +#define RM_TMRC_OFFSET 0x92
> > > +
> > > +/* Result Status register. */
> > > +#define RM_REG_STATUS 0x34
> > > +#define RM_STATUS_DRDY BIT(7)
> > > +
> > > +/* Measurement result registers. */
> > > +#define RM_REG_MX2 0x24
> > > +#define RM_REG_MX1 0x25
> > > +#define RM_REG_MX0 0x26
> > > +#define RM_REG_MY2 0x27
> > > +#define RM_REG_MY1 0x28
> > > +#define RM_REG_MY0 0x29
> > > +#define RM_REG_MZ2 0x2a
> > > +#define RM_REG_MZ1 0x2b
> > > +#define RM_REG_MZ0 0x2c
> > > +
> > > +#define RM_REG_HSHAKE 0x35
> > > +
> > > +#define RM_W_REG_START RM_REG_POLL
> > > +#define RM_W_REG_END RM_REG_REV_ID
> > > +#define RM_R_REG_START RM_REG_POLL
> > > +#define RM_R_REG_END RM_REG_HSHAKE
> > > +#define RM_V_REG_START RM_REG_MX2
> > > +#define RM_V_REG_END RM_REG_HSHAKE
> > > +
> > > +/* Built-In Self Test reigister. */
> > > +#define RM_REG_BIST 0x33
> > > +
> > > +struct rm3100_data {
> > > + struct device *dev;
> > > + struct regmap *regmap;
> > > + struct completion measuring_done;
> > > + bool use_interrupt;
> > > +
> > > + int conversion_time;
> > > +
> > > + /* To protect consistency of every measurement and sampling
> > > + * frequency change operations.
> > > + */
> > > + struct mutex lock;
> > > +};
> > > +
> > > +extern const struct regmap_access_table rm3100_readable_table;
> > > +extern const struct regmap_access_table rm3100_writable_table;
> > > +extern const struct regmap_access_table rm3100_volatile_table;
> > > +
> > > +int rm3100_common_probe(struct device *dev, struct regmap *regmap, int irq);
> > > +int rm3100_common_remove(struct device *dev);
> > > +
> > > +#endif /* RM3100_CORE_H */
> > >
> >
>
>
> --
> Regards
> Phil Reid
>
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