[PATCH v4 0/1] iio:magnetometer:ak8975: fix and enhancements

[PATCH v4 0/1] iio:magnetometer:ak8975: fix and enhancements

[Gregor Boirie]

Various fixes and enhancements for the ak8975 magnetometers family driver.

Changes since v1:
* get rid of silly le16 to cpu conversion since SMBUS handles this for us when
  reading words (patch 3/6)
* get rid of axes caching and serialize bus access between trigger handler and
  read_raw
* pack triggered buffer sampling bus accesses into a single SMBUS data block
  access
* use channel address within read_raw

Changes since v2:
* use devm_regulator_get to allow dummy regulator usage
* ensure regulator is properly disabled
* drop first 3 patches since applied
* document in_magn_matrix sysfs attribute
* single line comments where appropriate
* remove explicit zero init for shift field of iio_chan_spec structure as that's
  the default
* drop unnecessary ak8975_read_axis signature modification
* remove useless cosmetic changes related to ak8975_channels
* normalize and make error handling code paths clearer
* make ak8975_remove less nitpick'able :)

Changes since v3:
* drop first patch as applied
* drop second patch as mounting matrix support will be included in another patch
  series (see "iio sensor mounting matrix support" thread)

Gregor.

Gregor Boirie (1):
  iio:magnetometer:ak8975: triggered buffer support

 drivers/iio/magnetometer/Kconfig  |   2 +
 drivers/iio/magnetometer/ak8975.c | 135 +++++++++++++++++++++++++++++++-------
 2 files changed, 112 insertions(+), 25 deletions(-)

-- 
2.1.4

[PATCH v4 1/1] iio:magnetometer:ak8975: triggered buffer support

[Gregor Boirie]

This will be used together with an external trigger (e.g hrtimer based
software trigger).

Signed-off-by: Gregor Boirie <gregor.boirie@parrot.com>
---
 drivers/iio/magnetometer/Kconfig  |   2 +
 drivers/iio/magnetometer/ak8975.c | 135 +++++++++++++++++++++++++++++++-------
 2 files changed, 112 insertions(+), 25 deletions(-)

diff --git a/drivers/iio/magnetometer/Kconfig b/drivers/iio/magnetometer/Kconfig
index 021dc53..d9834ed 100644
--- a/drivers/iio/magnetometer/Kconfig
+++ b/drivers/iio/magnetometer/Kconfig
@@ -9,6 +9,8 @@ config AK8975
 	tristate "Asahi Kasei AK 3-Axis Magnetometer"
 	depends on I2C
 	depends on GPIOLIB || COMPILE_TEST
+	select IIO_BUFFER
+	select IIO_TRIGGERED_BUFFER
 	help
 	  Say yes here to build support for Asahi Kasei AK8975, AK8963,
 	  AK09911 or AK09912 3-Axis Magnetometer.
diff --git a/drivers/iio/magnetometer/ak8975.c b/drivers/iio/magnetometer/ak8975.c
index 48d127a..1e68981 100644
--- a/drivers/iio/magnetometer/ak8975.c
+++ b/drivers/iio/magnetometer/ak8975.c
@@ -36,6 +36,12 @@
 
 #include <linux/iio/iio.h>
 #include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/regulator/consumer.h>
+
 /*
  * Register definitions, as well as various shifts and masks to get at the
  * individual fields of the registers.
@@ -633,22 +639,15 @@ static int wait_conversion_complete_interrupt(struct ak8975_data *data)
 	return ret > 0 ? 0 : -ETIME;
 }
 
-/*
- * Emits the raw flux value for the x, y, or z axis.
- */
-static int ak8975_read_axis(struct iio_dev *indio_dev, int index, int *val)
+static int ak8975_start_read_axis(struct ak8975_data *data,
+				  const struct i2c_client *client)
 {
-	struct ak8975_data *data = iio_priv(indio_dev);
-	struct i2c_client *client = data->client;
-	int ret;
-
-	mutex_lock(&data->lock);
-
 	/* Set up the device for taking a sample. */
-	ret = ak8975_set_mode(data, MODE_ONCE);
+	int ret = ak8975_set_mode(data, MODE_ONCE);
+
 	if (ret < 0) {
 		dev_err(&client->dev, "Error in setting operating mode\n");
-		goto exit;
+		return ret;
 	}
 
 	/* Wait for the conversion to complete. */
@@ -659,7 +658,7 @@ static int ak8975_read_axis(struct iio_dev *indio_dev, int index, int *val)
 	else
 		ret = wait_conversion_complete_polled(data);
 	if (ret < 0)
-		goto exit;
+		return ret;
 
 	/* This will be executed only for non-interrupt based waiting case */
 	if (ret & data->def->ctrl_masks[ST1_DRDY]) {
@@ -667,32 +666,45 @@ static int ak8975_read_axis(struct iio_dev *indio_dev, int index, int *val)
 					       data->def->ctrl_regs[ST2]);
 		if (ret < 0) {
 			dev_err(&client->dev, "Error in reading ST2\n");
-			goto exit;
+			return ret;
 		}
 		if (ret & (data->def->ctrl_masks[ST2_DERR] |
 			   data->def->ctrl_masks[ST2_HOFL])) {
 			dev_err(&client->dev, "ST2 status error 0x%x\n", ret);
-			ret = -EINVAL;
-			goto exit;
+			return -EINVAL;
 		}
 	}
 
-	/* Read the flux value from the appropriate register
-	   (the register is specified in the iio device attributes). */
-	ret = i2c_smbus_read_word_data(client, data->def->data_regs[index]);
-	if (ret < 0) {
-		dev_err(&client->dev, "Read axis data fails\n");
+	return 0;
+}
+
+/* Retrieve raw flux value for one of the x, y, or z axis.  */
+static int ak8975_read_axis(struct iio_dev *indio_dev, int index, int *val)
+{
+	struct ak8975_data *data = iio_priv(indio_dev);
+	const struct i2c_client *client = data->client;
+	const struct ak_def *def = data->def;
+	int ret;
+
+	mutex_lock(&data->lock);
+
+	ret = ak8975_start_read_axis(data, client);
+	if (ret)
+		goto exit;
+
+	ret = i2c_smbus_read_word_data(client, def->data_regs[index]);
+	if (ret < 0)
 		goto exit;
-	}
 
 	mutex_unlock(&data->lock);
 
 	/* Clamp to valid range. */
-	*val = clamp_t(s16, ret, -data->def->range, data->def->range);
+	*val = clamp_t(s16, ret, -def->range, def->range);
 	return IIO_VAL_INT;
 
 exit:
 	mutex_unlock(&data->lock);
+	dev_err(&client->dev, "Error in reading axis\n");
 	return ret;
 }
 
@@ -722,12 +734,22 @@ static int ak8975_read_raw(struct iio_dev *indio_dev,
 		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |		\
 			     BIT(IIO_CHAN_INFO_SCALE),			\
 		.address = index,					\
+		.scan_index = index,					\
+		.scan_type = {						\
+			.sign = 's',					\
+			.realbits = 16,					\
+			.storagebits = 16,				\
+			.endianness = IIO_CPU				\
+		}							\
 	}
 
 static const struct iio_chan_spec ak8975_channels[] = {
 	AK8975_CHANNEL(X, 0), AK8975_CHANNEL(Y, 1), AK8975_CHANNEL(Z, 2),
+	IIO_CHAN_SOFT_TIMESTAMP(3),
 };
 
+static const unsigned long ak8975_scan_masks[] = { 0x7, 0 };
+
 static const struct iio_info ak8975_info = {
 	.read_raw = &ak8975_read_raw,
 	.driver_module = THIS_MODULE,
@@ -756,6 +778,56 @@ static const char *ak8975_match_acpi_device(struct device *dev,
 	return dev_name(dev);
 }
 
+static void ak8975_fill_buffer(struct iio_dev *indio_dev)
+{
+	struct ak8975_data *data = iio_priv(indio_dev);
+	const struct i2c_client *client = data->client;
+	const struct ak_def *def = data->def;
+	int ret;
+	s16 buff[8]; /* 3 x 16 bits axis values + 1 aligned 64 bits timestamp */
+
+	mutex_lock(&data->lock);
+
+	ret = ak8975_start_read_axis(data, client);
+	if (ret)
+		goto unlock;
+
+	/*
+	 * For each axis, read the flux value from the appropriate register
+	 * (the register is specified in the iio device attributes).
+	 */
+	ret = i2c_smbus_read_i2c_block_data_or_emulated(client,
+							def->data_regs[0],
+							3 * sizeof(buff[0]),
+							(u8 *)buff);
+	if (ret < 0)
+		goto unlock;
+
+	mutex_unlock(&data->lock);
+
+	/* Clamp to valid range. */
+	buff[0] = clamp_t(s16, le16_to_cpu(buff[0]), -def->range, def->range);
+	buff[1] = clamp_t(s16, le16_to_cpu(buff[1]), -def->range, def->range);
+	buff[2] = clamp_t(s16, le16_to_cpu(buff[2]), -def->range, def->range);
+
+	iio_push_to_buffers_with_timestamp(indio_dev, buff, iio_get_time_ns());
+	return;
+
+unlock:
+	mutex_unlock(&data->lock);
+	dev_err(&client->dev, "Error in reading axes block\n");
+}
+
+static irqreturn_t ak8975_handle_trigger(int irq, void *p)
+{
+	const struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+
+	ak8975_fill_buffer(indio_dev);
+	iio_trigger_notify_done(indio_dev->trig);
+	return IRQ_HANDLED;
+}
+
 static int ak8975_probe(struct i2c_client *client,
 			const struct i2c_device_id *id)
 {
@@ -845,15 +917,27 @@ static int ak8975_probe(struct i2c_client *client,
 	indio_dev->channels = ak8975_channels;
 	indio_dev->num_channels = ARRAY_SIZE(ak8975_channels);
 	indio_dev->info = &ak8975_info;
+	indio_dev->available_scan_masks = ak8975_scan_masks;
 	indio_dev->modes = INDIO_DIRECT_MODE;
 	indio_dev->name = name;
 
-	err = iio_device_register(indio_dev);
-	if (err)
+	err = iio_triggered_buffer_setup(indio_dev, NULL, ak8975_handle_trigger,
+					 NULL);
+	if (err) {
+		dev_err(&client->dev, "triggered buffer setup failed\n");
 		goto power_off;
+	}
+
+	err = iio_device_register(indio_dev);
+	if (err) {
+		dev_err(&client->dev, "device register failed\n");
+		goto cleanup_buffer;
+	}
 
 	return 0;
 
+cleanup_buffer:
+	iio_triggered_buffer_cleanup(indio_dev);
 power_off:
 	ak8975_power_off(client);
 	return err;
@@ -864,6 +948,7 @@ static int ak8975_remove(struct i2c_client *client)
 	struct iio_dev *indio_dev = i2c_get_clientdata(client);
 
 	iio_device_unregister(indio_dev);
+	iio_triggered_buffer_cleanup(indio_dev);
 	ak8975_power_off(client);
 
 	return 0;
-- 
2.1.4

Re: [PATCH v4 1/1] iio:magnetometer:ak8975: triggered buffer support

[Jonathan Cameron]

On 08/04/16 16:09, Gregor Boirie wrote:
> This will be used together with an external trigger (e.g hrtimer based
> software trigger).
> 
> Signed-off-by: Gregor Boirie <gregor.boirie@parrot.com>
Applied to the togreg branch of iio.git - initially pushed out as testing for the
autobuilders to play with it.

Thanks,

Jonathan
> ---
>  drivers/iio/magnetometer/Kconfig  |   2 +
>  drivers/iio/magnetometer/ak8975.c | 135 +++++++++++++++++++++++++++++++-------
>  2 files changed, 112 insertions(+), 25 deletions(-)
> 
> diff --git a/drivers/iio/magnetometer/Kconfig b/drivers/iio/magnetometer/Kconfig
> index 021dc53..d9834ed 100644
> --- a/drivers/iio/magnetometer/Kconfig
> +++ b/drivers/iio/magnetometer/Kconfig
> @@ -9,6 +9,8 @@ config AK8975
>  	tristate "Asahi Kasei AK 3-Axis Magnetometer"
>  	depends on I2C
>  	depends on GPIOLIB || COMPILE_TEST
> +	select IIO_BUFFER
> +	select IIO_TRIGGERED_BUFFER
>  	help
>  	  Say yes here to build support for Asahi Kasei AK8975, AK8963,
>  	  AK09911 or AK09912 3-Axis Magnetometer.
> diff --git a/drivers/iio/magnetometer/ak8975.c b/drivers/iio/magnetometer/ak8975.c
> index 48d127a..1e68981 100644
> --- a/drivers/iio/magnetometer/ak8975.c
> +++ b/drivers/iio/magnetometer/ak8975.c
> @@ -36,6 +36,12 @@
>  
>  #include <linux/iio/iio.h>
>  #include <linux/iio/sysfs.h>
> +#include <linux/iio/buffer.h>
> +#include <linux/iio/trigger.h>
> +#include <linux/iio/trigger_consumer.h>
> +#include <linux/iio/triggered_buffer.h>
> +#include <linux/regulator/consumer.h>
> +
>  /*
>   * Register definitions, as well as various shifts and masks to get at the
>   * individual fields of the registers.
> @@ -633,22 +639,15 @@ static int wait_conversion_complete_interrupt(struct ak8975_data *data)
>  	return ret > 0 ? 0 : -ETIME;
>  }
>  
> -/*
> - * Emits the raw flux value for the x, y, or z axis.
> - */
> -static int ak8975_read_axis(struct iio_dev *indio_dev, int index, int *val)
> +static int ak8975_start_read_axis(struct ak8975_data *data,
> +				  const struct i2c_client *client)
>  {
> -	struct ak8975_data *data = iio_priv(indio_dev);
> -	struct i2c_client *client = data->client;
> -	int ret;
> -
> -	mutex_lock(&data->lock);
> -
>  	/* Set up the device for taking a sample. */
> -	ret = ak8975_set_mode(data, MODE_ONCE);
> +	int ret = ak8975_set_mode(data, MODE_ONCE);
> +
>  	if (ret < 0) {
>  		dev_err(&client->dev, "Error in setting operating mode\n");
> -		goto exit;
> +		return ret;
>  	}
>  
>  	/* Wait for the conversion to complete. */
> @@ -659,7 +658,7 @@ static int ak8975_read_axis(struct iio_dev *indio_dev, int index, int *val)
>  	else
>  		ret = wait_conversion_complete_polled(data);
>  	if (ret < 0)
> -		goto exit;
> +		return ret;
>  
>  	/* This will be executed only for non-interrupt based waiting case */
>  	if (ret & data->def->ctrl_masks[ST1_DRDY]) {
> @@ -667,32 +666,45 @@ static int ak8975_read_axis(struct iio_dev *indio_dev, int index, int *val)
>  					       data->def->ctrl_regs[ST2]);
>  		if (ret < 0) {
>  			dev_err(&client->dev, "Error in reading ST2\n");
> -			goto exit;
> +			return ret;
>  		}
>  		if (ret & (data->def->ctrl_masks[ST2_DERR] |
>  			   data->def->ctrl_masks[ST2_HOFL])) {
>  			dev_err(&client->dev, "ST2 status error 0x%x\n", ret);
> -			ret = -EINVAL;
> -			goto exit;
> +			return -EINVAL;
>  		}
>  	}
>  
> -	/* Read the flux value from the appropriate register
> -	   (the register is specified in the iio device attributes). */
> -	ret = i2c_smbus_read_word_data(client, data->def->data_regs[index]);
> -	if (ret < 0) {
> -		dev_err(&client->dev, "Read axis data fails\n");
> +	return 0;
> +}
> +
> +/* Retrieve raw flux value for one of the x, y, or z axis.  */
> +static int ak8975_read_axis(struct iio_dev *indio_dev, int index, int *val)
> +{
> +	struct ak8975_data *data = iio_priv(indio_dev);
> +	const struct i2c_client *client = data->client;
> +	const struct ak_def *def = data->def;
> +	int ret;
> +
> +	mutex_lock(&data->lock);
> +
> +	ret = ak8975_start_read_axis(data, client);
> +	if (ret)
> +		goto exit;
> +
> +	ret = i2c_smbus_read_word_data(client, def->data_regs[index]);
> +	if (ret < 0)
>  		goto exit;
> -	}
>  
>  	mutex_unlock(&data->lock);
>  
>  	/* Clamp to valid range. */
> -	*val = clamp_t(s16, ret, -data->def->range, data->def->range);
> +	*val = clamp_t(s16, ret, -def->range, def->range);
>  	return IIO_VAL_INT;
>  
>  exit:
>  	mutex_unlock(&data->lock);
> +	dev_err(&client->dev, "Error in reading axis\n");
>  	return ret;
>  }
>  
> @@ -722,12 +734,22 @@ static int ak8975_read_raw(struct iio_dev *indio_dev,
>  		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |		\
>  			     BIT(IIO_CHAN_INFO_SCALE),			\
>  		.address = index,					\
> +		.scan_index = index,					\
> +		.scan_type = {						\
> +			.sign = 's',					\
> +			.realbits = 16,					\
> +			.storagebits = 16,				\
> +			.endianness = IIO_CPU				\
> +		}							\
>  	}
>  
>  static const struct iio_chan_spec ak8975_channels[] = {
>  	AK8975_CHANNEL(X, 0), AK8975_CHANNEL(Y, 1), AK8975_CHANNEL(Z, 2),
> +	IIO_CHAN_SOFT_TIMESTAMP(3),
>  };
>  
> +static const unsigned long ak8975_scan_masks[] = { 0x7, 0 };
> +
>  static const struct iio_info ak8975_info = {
>  	.read_raw = &ak8975_read_raw,
>  	.driver_module = THIS_MODULE,
> @@ -756,6 +778,56 @@ static const char *ak8975_match_acpi_device(struct device *dev,
>  	return dev_name(dev);
>  }
>  
> +static void ak8975_fill_buffer(struct iio_dev *indio_dev)
> +{
> +	struct ak8975_data *data = iio_priv(indio_dev);
> +	const struct i2c_client *client = data->client;
> +	const struct ak_def *def = data->def;
> +	int ret;
> +	s16 buff[8]; /* 3 x 16 bits axis values + 1 aligned 64 bits timestamp */
> +
> +	mutex_lock(&data->lock);
> +
> +	ret = ak8975_start_read_axis(data, client);
> +	if (ret)
> +		goto unlock;
> +
> +	/*
> +	 * For each axis, read the flux value from the appropriate register
> +	 * (the register is specified in the iio device attributes).
> +	 */
> +	ret = i2c_smbus_read_i2c_block_data_or_emulated(client,
> +							def->data_regs[0],
> +							3 * sizeof(buff[0]),
> +							(u8 *)buff);
> +	if (ret < 0)
> +		goto unlock;
> +
> +	mutex_unlock(&data->lock);
> +
> +	/* Clamp to valid range. */
> +	buff[0] = clamp_t(s16, le16_to_cpu(buff[0]), -def->range, def->range);
> +	buff[1] = clamp_t(s16, le16_to_cpu(buff[1]), -def->range, def->range);
> +	buff[2] = clamp_t(s16, le16_to_cpu(buff[2]), -def->range, def->range);
> +
> +	iio_push_to_buffers_with_timestamp(indio_dev, buff, iio_get_time_ns());
> +	return;
> +
> +unlock:
> +	mutex_unlock(&data->lock);
> +	dev_err(&client->dev, "Error in reading axes block\n");
> +}
> +
> +static irqreturn_t ak8975_handle_trigger(int irq, void *p)
> +{
> +	const struct iio_poll_func *pf = p;
> +	struct iio_dev *indio_dev = pf->indio_dev;
> +
> +	ak8975_fill_buffer(indio_dev);
> +	iio_trigger_notify_done(indio_dev->trig);
> +	return IRQ_HANDLED;
> +}
> +
>  static int ak8975_probe(struct i2c_client *client,
>  			const struct i2c_device_id *id)
>  {
> @@ -845,15 +917,27 @@ static int ak8975_probe(struct i2c_client *client,
>  	indio_dev->channels = ak8975_channels;
>  	indio_dev->num_channels = ARRAY_SIZE(ak8975_channels);
>  	indio_dev->info = &ak8975_info;
> +	indio_dev->available_scan_masks = ak8975_scan_masks;
>  	indio_dev->modes = INDIO_DIRECT_MODE;
>  	indio_dev->name = name;
>  
> -	err = iio_device_register(indio_dev);
> -	if (err)
> +	err = iio_triggered_buffer_setup(indio_dev, NULL, ak8975_handle_trigger,
> +					 NULL);
> +	if (err) {
> +		dev_err(&client->dev, "triggered buffer setup failed\n");
>  		goto power_off;
> +	}
> +
> +	err = iio_device_register(indio_dev);
> +	if (err) {
> +		dev_err(&client->dev, "device register failed\n");
> +		goto cleanup_buffer;
> +	}
>  
>  	return 0;
>  
> +cleanup_buffer:
> +	iio_triggered_buffer_cleanup(indio_dev);
>  power_off:
>  	ak8975_power_off(client);
>  	return err;
> @@ -864,6 +948,7 @@ static int ak8975_remove(struct i2c_client *client)
>  	struct iio_dev *indio_dev = i2c_get_clientdata(client);
>  
>  	iio_device_unregister(indio_dev);
> +	iio_triggered_buffer_cleanup(indio_dev);
>  	ak8975_power_off(client);
>  
>  	return 0;
>