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drivers: imu: adis: Rework burst read API
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Rework burst read API such that it can be used for devices
which have 32-bit temperature data and 32-bit data counter.
Furthermore, some devices support burst reading with 16-bit LSB
first, while other support burst reading with 16-bit MSB first
in burst data, thus memcpy cannot be used anymore to simply
copy the whole burst data, instead, a burst data structure has
been created which should be populated accordingly by each driver.
The iio_adis generic implementation now populates the iio buffer
using this structure.
Rework the unit tests accordingly.

Signed-off-by: Ramona Gradinariu <[email protected]>
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@rbolboac
rbolboac committed Apr 26, 2024
1 parent 03c8253 commit c4249ae
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Showing 9 changed files with 313 additions and 192 deletions.
106 changes: 61 additions & 45 deletions drivers/imu/adis.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2456,10 +2456,7 @@ int adis_read_fls_mem_wr_cntr(struct adis_dev *adis, uint32_t *fls_mem_wr_cntr)
/**
* @brief Read burst data.
* @param adis - The adis device.
* @param buff_size - Size of buff, if burst32 is true size must be
* higher or equal to 30, if burst32 is false size
* must be higher or equal to 18
* @param buff - Array filled with read data.
* @param data - The burst read data structure to be populated.
* @param burst32 - True if 32-bit data is requested for accel
* and gyro (or delta angle and delta velocity)
* measurements, false if 16-bit data is requested.
Expand All @@ -2468,18 +2465,12 @@ int adis_read_fls_mem_wr_cntr(struct adis_dev *adis, uint32_t *fls_mem_wr_cntr)
* @param fifo_pop - In case FIFO is present, will pop the fifo if
* true. Unused if FIFO is not present.
* @return 0 in case of success, error code otherwise.
* -EAGAIN in case the request has to be sent again due to data being unavailable
* at the time of the request.
*/
int adis_read_burst_data(struct adis_dev *adis, uint8_t buff_size,
uint16_t *buff, bool burst32, uint8_t burst_sel,
bool fifo_pop)
int adis_read_burst_data(struct adis_dev *adis, struct adis_burst_data *data,
bool burst32, uint8_t burst_sel, bool fifo_pop)
{
/* If custom implementation is available, use it. */
if (adis->info->read_burst_data)
return adis->info->read_burst_data(adis, buff_size, buff, burst32, burst_sel,
fifo_pop);
int ret;
uint8_t msg_size, idx;

/* Device does not support delta data readings with burst method */
if (!(adis->info->flags & ADIS_HAS_BURST_DELTA_DATA) && burst_sel)
return -EINVAL;
Expand All @@ -2488,32 +2479,37 @@ int adis_read_burst_data(struct adis_dev *adis, uint8_t buff_size,
if (!(adis->info->flags & ADIS_HAS_BURST32) && burst32)
return -EINVAL;

/* Make sure enough size is allocated if burst32 is true */
/* burst 32 data: 1 * 2 (diag) + 6 * 4 + 1 * 2 (temp) + 1 * 2 (counter) = 30 */
if (burst32 && buff_size < 30)
return -EINVAL;
/* If custom implementation is available, use it. */
if (adis->info->read_burst_data)
return adis->info->read_burst_data(adis, data, burst32, burst_sel, fifo_pop);

/* Make sure enough size is allocated if burst32 is false */
/* burst 32 data: 1 * 2 (diag) + 6 * 2 + 1 * 2 (temp) + 1 * 2 (counter) = 18 */
if (!burst32 && buff_size < 18)
return -EINVAL;
int ret = 0;
uint8_t msg_size = ADIS_MSG_SIZE_16_BIT_BURST;

if (adis->info->flags & ADIS_HAS_BURST32) {
if (adis->burst32 != burst32) {
ret = adis_write_burst32(adis, burst32);
if (ret)
return ret;
ret = -EAGAIN;
}
if (adis->burst_sel != burst_sel) {
ret = adis_write_burst_sel(adis, burst_sel);
if (ret)
return ret;
ret = -EAGAIN;
}
msg_size = ADIS_MSG_SIZE_16_BIT_BURST;
} else {
msg_size = ADIS_MSG_SIZE_32_BIT_BURST;
}

/* If burst32 or burst select has changed, wait for the next reading
request to actually read the data, because the according data will be available
only after the next data ready impulse. */
if (ret == -EAGAIN)
return ret;

if (burst32)
msg_size = ADIS_MSG_SIZE_32_BIT_BURST;

uint8_t buffer[msg_size + ADIS_READ_BURST_DATA_CMD_SIZE];

buffer[0] = ADIS_READ_BURST_DATA_CMD_MSB;
Expand All @@ -2532,29 +2528,49 @@ int adis_read_burst_data(struct adis_dev *adis, uint8_t buff_size,

adis->diag_flags.checksum_err = false;

if (burst32 && !(adis->info->flags & ADIS_HAS_BURST32)) {
/* burst32 requested, but device does not support burst32 readings,
thus reading directly from registers */
uint32_t reg_val;
/* Diag data */
buff[0] = buffer[ADIS_READ_BURST_DATA_CMD_SIZE];

for (idx = 0; idx < 6; idx++) {
buff[idx * 2] = buffer[idx + ADIS_READ_BURST_DATA_CMD_SIZE + 1];
ret = adis_read_reg(adis, adis->info->field_map->x_gyro.reg_addr + idx * 4,
&reg_val, 2);
if (ret)
return ret;
buff[idx * 2 + 1] = reg_val;
}
/* Temp data */
buff[13] = buffer[7];
/* Counter data */
buff[14] = buffer[8];
uint8_t axis_data_size = 12;
if (burst32)
axis_data_size = 24;

uint8_t axis_data_offset = ADIS_READ_BURST_DATA_CMD_SIZE + 2;
uint8_t temp_offset = axis_data_offset + axis_data_size;
uint8_t data_cntr_offset = temp_offset + 2;

if (burst32) {
memcpy(&data->x_gyro_lsb, &buffer[axis_data_offset], 2);
memcpy(&data->x_gyro_msb, &buffer[axis_data_offset + 2], 2);
memcpy(&data->y_gyro_lsb, &buffer[axis_data_offset + 4], 2);
memcpy(&data->y_gyro_msb, &buffer[axis_data_offset + 6], 2);
memcpy(&data->z_gyro_lsb, &buffer[axis_data_offset + 8], 2);
memcpy(&data->z_gyro_msb, &buffer[axis_data_offset + 10], 2);
memcpy(&data->x_accel_lsb, &buffer[axis_data_offset + 12], 2);
memcpy(&data->x_accel_msb, &buffer[axis_data_offset + 14], 2);
memcpy(&data->y_accel_lsb, &buffer[axis_data_offset + 16], 2);
memcpy(&data->y_accel_msb, &buffer[axis_data_offset + 18], 2);
memcpy(&data->z_accel_lsb, &buffer[axis_data_offset + 20], 2);
memcpy(&data->z_accel_msb, &buffer[axis_data_offset + 22], 2);
} else {
memcpy(buff, &buffer[ADIS_READ_BURST_DATA_CMD_SIZE], buff_size);
data->x_gyro_lsb = 0;
memcpy(&data->x_gyro_msb, &buffer[axis_data_offset], 2);
data->y_gyro_lsb = 0;
memcpy(&data->y_gyro_msb, &buffer[axis_data_offset + 2], 2);
data->z_gyro_lsb = 0;
memcpy(&data->z_gyro_msb, &buffer[axis_data_offset + 4], 2);
data->x_accel_lsb = 0;
memcpy(&data->x_accel_msb, &buffer[axis_data_offset + 6], 2);
data->y_accel_lsb = 0;
memcpy(&data->y_accel_msb, &buffer[axis_data_offset + 8], 2);
data->z_accel_lsb = 0;
memcpy(&data->z_accel_msb, &buffer[axis_data_offset + 10], 2);
}

data->temp_msb = 0;
/* Temp data */
memcpy(&data->temp_lsb, &buffer[temp_offset], 2);
/* Counter data - aligned */
data->data_cntr_lsb = no_os_get_unaligned_be16(&buffer[data_cntr_offset]);
data->data_cntr_msb = 0;

/* Update diagnosis flags at each reading */
adis_update_diag_flags(adis, buffer[ADIS_READ_BURST_DATA_CMD_SIZE]);

Expand Down
28 changes: 25 additions & 3 deletions drivers/imu/adis.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -180,6 +180,29 @@ struct adis_scale_fractional_log2 {
uint32_t power;
};


/** @struct adis_burst_data
* @brief ADIS burst data structure
*/
struct adis_burst_data {
uint16_t temp_lsb;
uint16_t temp_msb;
uint16_t data_cntr_lsb;
uint16_t data_cntr_msb;
uint16_t x_gyro_lsb;
uint16_t x_gyro_msb;
uint16_t y_gyro_lsb;
uint16_t y_gyro_msb;
uint16_t z_gyro_lsb;
uint16_t z_gyro_msb;
uint16_t x_accel_lsb;
uint16_t x_accel_msb;
uint16_t y_accel_lsb;
uint16_t y_accel_msb;
uint16_t z_accel_lsb;
uint16_t z_accel_msb;
};

/** @struct adis_dev
* @brief ADIS device descriptor structure
*/
Expand Down Expand Up @@ -596,9 +619,8 @@ int adis_write_usr_scr_3(struct adis_dev *adis, uint32_t usr_scr_3);
int adis_read_fls_mem_wr_cntr(struct adis_dev *adis, uint32_t *fls_mem_wr_cntr);

/*! Read burst data */
int adis_read_burst_data(struct adis_dev *adis, uint8_t buff_size,
uint16_t *buff, bool burst32, uint8_t burst_sel,
bool fifo_pop);
int adis_read_burst_data(struct adis_dev *adis,struct adis_burst_data *data,
bool burst32, uint8_t burst_sel, bool fifo_pop);

/*! Update external clock frequency. */
int adis_update_ext_clk_freq(struct adis_dev *adis, uint32_t clk_freq);
Expand Down
103 changes: 70 additions & 33 deletions drivers/imu/adis1657x.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -260,52 +260,49 @@ static int adis1657x_get_scale(struct adis_dev *adis,
/**
* @brief Read burst data.
* @param adis - The adis device.
* @param buff_size - Size of buff, if burst32 is true size must be
* higher or equal to 30, if burst32 is false size
* must be higher or equal to 18
* @param buff - Array filled with read data.
* @param data - The burst read data structure to be populated.
* @param burst32 - True if 32-bit data is requested for accel
* and gyro (or delta angle and delta velocity)
* measurements, false if 16-bit data is requested.
* @param burst_sel - 0 if accel and gyro data is requested, 1
* if delta angle and delta velocity is requested.
* @param fifo_pop - Will pop the fifo if true.
* @param fifo_pop - In case FIFO is present, will pop the fifo if
* true. Unused if FIFO is not present.
* @return 0 in case of success, error code otherwise.
* -EAGAIN in case the request has to be sent again due to data being unavailable
* at the time of the request.
*/
int adis1657x_read_burst_data(struct adis_dev *adis, uint8_t buff_size,
uint16_t *buff, bool burst32, uint8_t burst_sel,
bool fifo_pop)
int adis1657x_read_burst_data(struct adis_dev *adis,
struct adis_burst_data *data,
bool burst32, uint8_t burst_sel, bool fifo_pop)
{
int ret;
uint8_t msg_size;
int ret = 0;
uint8_t msg_size = ADIS1657X_MSG_SIZE_16_BIT_BURST_FIFO;
uint8_t idx;

/* Make sure enough size is allocated if burst32 is true */
/* burst 32 data: 1 * 2 (diag) + 6 * 4 + 1 * 2 (temp) + 1 * 2 (counter) = 30 */
if (burst32 && buff_size < 30)
return -EINVAL;

/* Make sure enough size is allocated if burst32 is false */
/* burst 32 data: 1 * 2 (diag) + 6 * 2 + 1 * 2 (temp) + 1 * 2 (counter) = 18 */
if (!burst32 && buff_size < 18)
return -EINVAL;

if (adis->burst32 != burst32) {
ret = adis_write_burst32(adis, burst32);
if (ret)
return ret;
}
if (adis->burst_sel != burst_sel) {
ret = adis_write_burst_sel(adis, burst_sel);
if (ret)
return ret;
if (adis->info->flags & ADIS_HAS_BURST32) {
if (adis->burst32 != burst32) {
ret = adis_write_burst32(adis, burst32);
if (ret)
return ret;
ret = -EAGAIN;
}
if (adis->burst_sel != burst_sel) {
ret = adis_write_burst_sel(adis, burst_sel);
if (ret)
return ret;
ret = -EAGAIN;
}
}

/* If burst32 or burst select has changed, wait for the next reading
request to actually read the data, because the according data will be available
only after the next data ready impulse. */
if (ret == -EAGAIN)
return ret;

if (burst32)
msg_size = ADIS1657X_MSG_SIZE_32_BIT_BURST_FIFO;
else
msg_size = ADIS1657X_MSG_SIZE_16_BIT_BURST_FIFO;


uint8_t buffer[msg_size + ADIS_READ_BURST_DATA_CMD_SIZE];

Expand Down Expand Up @@ -337,8 +334,48 @@ int adis1657x_read_burst_data(struct adis_dev *adis, uint8_t buff_size,

adis->diag_flags.checksum_err = false;

memcpy(buff, &buffer[ADIS_READ_BURST_DATA_CMD_SIZE], buff_size);
uint8_t axis_data_size = 12;
if (burst32)
axis_data_size = 24;

uint8_t axis_data_offset = ADIS_READ_BURST_DATA_CMD_SIZE + 2;
uint8_t temp_offset = axis_data_offset + axis_data_size;
uint8_t data_cntr_offset = temp_offset + 2;

if (burst32) {
memcpy(&data->x_gyro_lsb, &buffer[axis_data_offset], 2);
memcpy(&data->x_gyro_msb, &buffer[axis_data_offset + 2], 2);
memcpy(&data->y_gyro_lsb, &buffer[axis_data_offset + 4], 2);
memcpy(&data->y_gyro_msb, &buffer[axis_data_offset + 6], 2);
memcpy(&data->z_gyro_lsb, &buffer[axis_data_offset + 8], 2);
memcpy(&data->z_gyro_msb, &buffer[axis_data_offset + 10], 2);
memcpy(&data->x_accel_lsb, &buffer[axis_data_offset + 12], 2);
memcpy(&data->x_accel_msb, &buffer[axis_data_offset + 14], 2);
memcpy(&data->y_accel_lsb, &buffer[axis_data_offset + 16], 2);
memcpy(&data->y_accel_msb, &buffer[axis_data_offset + 18], 2);
memcpy(&data->z_accel_lsb, &buffer[axis_data_offset + 20], 2);
memcpy(&data->z_accel_msb, &buffer[axis_data_offset + 22], 2);
} else {
data->x_gyro_lsb = 0;
memcpy(&data->x_gyro_msb, &buffer[axis_data_offset], 2);
data->y_gyro_lsb = 0;
memcpy(&data->y_gyro_msb, &buffer[axis_data_offset + 2], 2);
data->z_gyro_lsb = 0;
memcpy(&data->z_gyro_msb, &buffer[axis_data_offset + 4], 2);
data->x_accel_lsb = 0;
memcpy(&data->x_accel_msb, &buffer[axis_data_offset + 6], 2);
data->y_accel_lsb = 0;
memcpy(&data->y_accel_msb, &buffer[axis_data_offset + 8], 2);
data->z_accel_lsb = 0;
memcpy(&data->z_accel_msb, &buffer[axis_data_offset + 10], 2);
}

data->temp_msb = 0;
/* Temp data */
memcpy(&data->temp_lsb, &buffer[temp_offset], 2);
/* Counter data - aligned */
data->data_cntr_lsb = no_os_get_unaligned_be16(&buffer[data_cntr_offset]);;
data->data_cntr_msb = 0;
/* Update diagnosis flags at each reading */
adis_update_diag_flags(adis, buffer[ADIS_READ_BURST_DATA_CMD_SIZE]);

Expand Down
5 changes: 2 additions & 3 deletions drivers/imu/adis_internals.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -364,9 +364,8 @@ struct adis_chip_info {
int (*write_reg)(struct adis_dev *adis, uint32_t reg, uint32_t val,
uint32_t size);
/** Chip specifc implementation for reading burst data. */
int (*read_burst_data)(struct adis_dev *adis, uint8_t buff_size,
uint16_t *buff, bool burst32, uint8_t burst_sel,
bool fifo_pop);
int (*read_burst_data)(struct adis_dev *adis,struct adis_burst_data *data,
bool burst32, uint8_t burst_sel, bool fifo_pop);
};

/*! Check if the checksum for burst data is correct. */
Expand Down
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