Re: [PATCH 2/2] iio: accel: Add driver for Murata SCA3300 accelerometer

From: Tomas Melin
Date: Fri Apr 16 2021 - 08:21:23 EST


Updated email-address for Alexandru.


On 4/16/21 3:17 PM, Tomas Melin wrote:
On 4/15/21 11:41 AM, Tomas Melin wrote:


While working on updates I did notice something new which I cannot

reproduce on older (5.10.17 kernel) version. If compiling this as a module, getting error while

unloading module:

[   40.200084] Unable to handle kernel NULL pointer dereference at virtual address 00000104
...

[   40.510054] Backtrace:
[   40.512502] [<c06c5e0c>] (iio_device_ioctl_handler_unregister) from [<c06ca8c4>] (iio_buffers_free_sysfs_and_mask+0x2c/0x6c)
[   40.523735] [<c06ca898>] (iio_buffers_free_sysfs_and_mask) from [<c06c4a18>] (iio_device_unregister+0xa8/0xac)
[   40.533746]  r5:c1811228 r4:c1811000
[   40.537318] [<c06c4970>] (iio_device_unregister) from [<c06c4a38>] (devm_iio_device_unreg+0x1c/0x20)
[   40.546461]  r5:c2415000 r4:c25bab80
[   40.550025] [<c06c4a1c>] (devm_iio_device_unreg) from [<c0556820>] (release_nodes+0x1c0/0x1f0)
[   40.558654] [<c0556660>] (release_nodes) from [<c0556bb0>] (devres_release_all+0x40/0x60)
[   40.566847]  r10:00000081 r9:c2350000 r8:c0100264 r7:00000081 r6:bf00c010 r5:c19be000
[   40.574669]  r4:c1a91c00
[   40.577194] [<c0556b70>] (devres_release_all) from [<c055216c>] (device_release_driver_internal+0x120/0x1cc)
[   40.587031]  r5:c19be000 r4:c1a91c00
[   40.590596] [<c055204c>] (device_release_driver_internal) from [<c05522b4>] (driver_detach+0x54/0x90)
[   40.599828]  r7:00000081 r6:00000000 r5:bf00c010 r4:c1a91c00
[   40.605482] [<c0552260>] (driver_detach) from [<c0550ba4>] (bus_remove_driver+0x5c/0xb0)
[   40.613583]  r5:00000800 r4:bf00c010
[   40.617148] [<c0550b48>] (bus_remove_driver) from [<c0552c38>] (driver_unregister+0x38/0x5c)
[   40.625596]  r5:00000800 r4:bf00c010
[   40.629161] [<c0552c00>] (driver_unregister) from [<bf00a760>] (sca3300_driver_exit+0x14/0x8b4 [sca3300])
[   40.638747]  r5:00000800 r4:bf00c080
[   40.642311] [<bf00a74c>] (sca3300_driver_exit [sca3300]) from [<c01c06f0>] (sys_delete_module+0x16c/0x238)
[   40.651990] [<c01c0584>] (sys_delete_module) from [<c0100244>] (__sys_trace_return+0x0/0x1c)
[   40.660435] Exception stack(0xc2351fa8 to 0xc2351ff0)
[   40.665484] 1fa0:                   0050e5a8 00000000 0050e5e4 00000800 081d4b00 bec18af4
[   40.673661] 1fc0: 0050e5a8 00000000 bec18b50 00000081 bec18e51 0050e190 00000001 bec18d3c
[   40.681834] 1fe0: 0050cf70 bec18afc 004f1ec8 b6ecb27c
[   40.686887]  r6:bec18b50 r5:00000000 r4:0050e5a8
[   40.691507] Code: e8bd4000 e1c020d0 e3a0cc01 e3001122 (e5823004)
[   40.707675] ---[ end trace 189882b050077333 ]---

This happens when building against linux-next 5.12.0-rc6-next-20210409. I'm failing to see what is wrong. Any ideas?

Thanks,

Tomas


Tested further that for this driver, loading and unloading as module works fine until commit:

commit f73f7f4da581875f9b1f2fb8ebd1ab15ed634488
Author: Alexandru Ardelean <alexandru.ardelean@xxxxxxxxxx>
Date:   Mon Feb 15 12:40:39 2021 +0200

    iio: buffer: add ioctl() to support opening extra buffers for IIO device


Any thoughts what causes this issue?

Thanks,

Tomas






---
  drivers/iio/accel/Kconfig   |  13 ++
  drivers/iio/accel/Makefile  |   1 +
  drivers/iio/accel/sca3300.c | 434 ++++++++++++++++++++++++++++++++++++
  3 files changed, 448 insertions(+)
  create mode 100644 drivers/iio/accel/sca3300.c

diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig
index cceda3cecbcf..0dbf7b648e8a 100644
--- a/drivers/iio/accel/Kconfig
+++ b/drivers/iio/accel/Kconfig
@@ -450,6 +450,19 @@ config SCA3000
        To compile this driver as a module, say M here: the module will be
        called sca3000.
  +config SCA3300
+    tristate "Murata SCA3300 3-Axis Accelerometer Driver"
+    depends on SPI
+    select CRC8
+    select IIO_BUFFER
+    select IIO_TRIGGERED_BUFFER
+    help
+      Say yes here to build support for Murata SCA3300 3-Axis
+      accelerometer.
+
+      To compile this driver as a module, choose M here: the module will be
+      called sca3300.
+
  config STK8312
      tristate "Sensortek STK8312 3-Axis Accelerometer Driver"
      depends on I2C
diff --git a/drivers/iio/accel/Makefile b/drivers/iio/accel/Makefile
index 32cd1342a31a..4b56527a2b97 100644
--- a/drivers/iio/accel/Makefile
+++ b/drivers/iio/accel/Makefile
@@ -50,6 +50,7 @@ obj-$(CONFIG_MXC4005)        += mxc4005.o
  obj-$(CONFIG_MXC6255)        += mxc6255.o
    obj-$(CONFIG_SCA3000)        += sca3000.o
+obj-$(CONFIG_SCA3300)        += sca3300.o
    obj-$(CONFIG_STK8312)        += stk8312.o
  obj-$(CONFIG_STK8BA50)        += stk8ba50.o
diff --git a/drivers/iio/accel/sca3300.c b/drivers/iio/accel/sca3300.c
new file mode 100644
index 000000000000..112fb88ecd3a
--- /dev/null
+++ b/drivers/iio/accel/sca3300.c
@@ -0,0 +1,434 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * Copyright (c) Vaisala Oyj. All rights reserved.
Give a year for the copyright notice if you can.

+ */
+#include <linux/crc8.h>
+#include <linux/delay.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/spi/spi.h>
+
+#define SCA3300_ALIAS "sca3300"
+
+#define SCA3300_REG_STATUS 0x6
+#define SCA3300_REG_MODE 0xd
+#define SCA3300_REG_WHOAMI 0x10
+#define SCA3300_VALUE_SW_RESET 0x20
+#define SCA3300_CRC8_POLYNOMIAL 0x1d
+#define SCA3300_X_READ 0
I wouldn't bother defining this.

+#define SCA3300_X_WRITE BIT(7)
Even this one is something I'd just put inline with a comment.

+#define SCA3300_DEVICE_ID 0x51
+#define SCA3300_RS_ERROR 0x3
+
+enum sca3300_scan_indexes {
+    SCA3300_ACC_X = 0,
+    SCA3300_ACC_Y,
+    SCA3300_ACC_Z,
+    SCA3300_TEMP,
+    SCA3300_TIMESTAMP,
+};
+
+#define SCA3300_ACCEL_CHANNEL(index, reg, axis) { \
+        .type = IIO_ACCEL,                    \
+        .address = reg,                        \
+        .modified = 1,                        \
+        .channel2 = IIO_MOD_##axis,                \
+        .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+                      BIT(IIO_CHAN_INFO_PROCESSED),    \
As mentioned below, don't provide PROCESSED. Userspace is better at handling the
conversion so leave it to them.

+        .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),    \
+        .scan_index = index,                    \
+        .scan_type = {                        \
+            .sign = 's',                    \
+            .realbits = 16,                    \
+            .storagebits = 16,                \
+            .shift = 0,                    \
+            .endianness = IIO_CPU,                \
+        },                            \
+    }
+
+static const struct iio_chan_spec sca3300_channels[] = {
+    SCA3300_ACCEL_CHANNEL(SCA3300_ACC_X, 0x1, X),
+    SCA3300_ACCEL_CHANNEL(SCA3300_ACC_Y, 0x2, Y),
+    SCA3300_ACCEL_CHANNEL(SCA3300_ACC_Z, 0x3, Z),
+    {
+        .type = IIO_TEMP,
+        .address = 0x5,
+        .scan_index = SCA3300_TEMP,
+        .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+        .scan_type = {
+            .sign = 's',
+            .realbits = 16,
+            .storagebits = 16,
+            .shift = 0,
+            .endianness = IIO_CPU,
+        },
+    },
+    IIO_CHAN_SOFT_TIMESTAMP(4),
+};
+
+static const int sca3300_accel_scale[] = {2700, 1350, 5400, 5400};
+
+static const unsigned long sca3300_scan_masks[] = {
+    BIT(SCA3300_ACC_X) | BIT(SCA3300_ACC_Y) | BIT(SCA3300_ACC_Z) |
+    BIT(SCA3300_TEMP),
+    0};
+
+/**
+ * SCA3300 device data
run scripts/kernel-doc over the file and fix the warnings + errors.

+ *
+ * @spi SPI device structure
+ * @opmode Device operation mode
+ * @lock Data buffer lock
+ * @txbuf Transmit buffer
+ * @rxbuf Receive buffer
+ * @scan Triggered buffer. Four channel 16-bit data + 64-bit timestamp
+ */
+struct sca3300_data {
+    struct spi_device *spi;
+    u32 opmode;
+    struct mutex lock;
+    u8 txbuf[4];
+    u8 rxbuf[4];
+    struct {
+        s16 channels[4];
+        s64 ts __aligned(sizeof(s64));
+    } scan;
+};
+
+DECLARE_CRC8_TABLE(sca3300_crc_table);
+
+static int sca3300_transfer(struct sca3300_data *sca_data, int *val)
+{
+    struct spi_delay delay = {.value = 10, .unit = SPI_DELAY_UNIT_USECS};
+    int32_t ret;
+    int rs;
+    u8 crc;
+    struct spi_transfer xfers[2] = {
+        {
+            .tx_buf = sca_data->txbuf,
+            .rx_buf = NULL,
+            .len = ARRAY_SIZE(sca_data->txbuf),
+            .delay = delay,
+            .cs_change = 1,
+        },
+        {
+            .tx_buf = NULL,
+            .rx_buf = sca_data->rxbuf,
+            .len = ARRAY_SIZE(sca_data->rxbuf),
+            .delay = delay,
+            .cs_change = 0,
+        }
+    };
+
+    /* inverted crc value as described in device data sheet */
+    crc = ~crc8(sca3300_crc_table, &sca_data->txbuf[0], 3, CRC8_INIT_VALUE);
+    sca_data->txbuf[3] = crc;
+
+    ret = spi_sync_transfer(sca_data->spi, xfers, 2);
Use ARRAY_SIZE(xfers) instead of 2.

+    if (ret < 0) {
+        dev_err(&sca_data->spi->dev,
+            "transfer error, error: %d\n", ret);
+        return -EIO;
+    }
+
+    crc = ~crc8(sca3300_crc_table, &sca_data->rxbuf[0], 3, CRC8_INIT_VALUE);
+    if (sca_data->rxbuf[3] != crc) {
+        dev_err(&sca_data->spi->dev, "CRC checksum mismatch");
+        return -EIO;
+    }
+
+    /* get return status */
+    rs = sca_data->rxbuf[0] & 0x03;
+    if (rs == SCA3300_RS_ERROR)
+        return rs;
+
+    *val = (s16)(sca_data->rxbuf[2] | (sca_data->rxbuf[1] << 8));
Preference for an unaligned endian conversion here and explicit sign extend e.g
something like

sign_extend32(get_unaligned_le16(&sca_data->rxbuf[1]), 15)

+
+    return 0;
+}
+
+static int sca3300_read_reg(struct sca3300_data *sca_data, u8 reg, int *val)
+{
+    int ret;
+
+    mutex_lock(&sca_data->lock);
+    sca_data->txbuf[0] = SCA3300_X_READ | (reg << 2);
+    ret = sca3300_transfer(sca_data, val);
+    if (ret > 0) {
+        sca_data->txbuf[0] = SCA3300_X_READ | (SCA3300_REG_STATUS << 2);
+        ret = sca3300_transfer(sca_data, val);
+        /* status 0 = startup, 0x2 = mode change */
+        if (ret > 0 && *val != 0 && *val != 0x2) {
+ dev_err_ratelimited(&sca_data->spi->dev,
+                        "device status: %x\n",
+                        (u16)*val);
+            mutex_unlock(&sca_data->lock);
+            return -EIO;
+        }
+        if (ret > 0)
+            ret = 0;
+    }
+    mutex_unlock(&sca_data->lock);
+
+    return ret;
+}
+
+static int sca3300_write_reg(struct sca3300_data *sca_data, u8 reg, int val)
+{
+    int reg_val = 0;
+    int ret;
+
+    mutex_lock(&sca_data->lock);
+    sca_data->txbuf[0] = SCA3300_X_WRITE | (reg << 2);
+    sca_data->txbuf[1] = val >> 8;
+    sca_data->txbuf[2] = val & 0xFF;
Prefer (Slightly) an unaligned put.

+    ret = sca3300_transfer(sca_data, &reg_val);
+    if (ret > 0) {
Factor this error handling out to another function, plus trigger it from an
appropriate standard error code rather than a positive return value.

+        sca_data->txbuf[0] = SCA3300_X_READ | (SCA3300_REG_STATUS << 2);
+        ret = sca3300_transfer(sca_data, &reg_val);
+        /* status 0 = startup, 0x2 = mode change */
+        if (ret > 0 && reg_val != 0 && reg_val != 0x2) {
+ dev_err_ratelimited(&sca_data->spi->dev,
+                        "device status: %x\n",
+                        (u16)reg_val);
+            mutex_unlock(&sca_data->lock);
+            return -EIO;
+        }
+        if (ret > 0)
+            ret = 0;
Whenever you get this sort of juggling it rather implies your design is
less than ideal.

+    }
+    mutex_unlock(&sca_data->lock);
+
+    return ret;
+}
+
+static int sca3300_write_raw(struct iio_dev *indio_dev,
+                 struct iio_chan_spec const *chan,
+                 int val, int val2, long mask)
+{
+    struct sca3300_data *data = iio_priv(indio_dev);
+
+    switch (mask) {
+    case IIO_CHAN_INFO_SCALE:
+        if (val < 0 || val > 3)
+            return -EINVAL;
No.  Scale values need to be the value of 1LSB not a random integer
that requires you to look up the datasheet.

+        return sca3300_write_reg(data, SCA3300_REG_MODE, val);
+    default:
+        return -EINVAL;
+    }
+}
+
+static int sca3300_read_raw(struct iio_dev *indio_dev,
+                struct iio_chan_spec const *chan,
+                int *val, int *val2, long mask)
+{
+    struct sca3300_data *data = iio_priv(indio_dev);
+    int ret;
+    int reg_val;
+
+    switch (mask) {
+    case IIO_CHAN_INFO_RAW:
+        ret = sca3300_read_reg(data, chan->address, val);
+        if (ret < 0)
+            return ret;
+        return IIO_VAL_INT;
+    case IIO_CHAN_INFO_SCALE:
+        ret = sca3300_read_reg(data, SCA3300_REG_MODE, &reg_val);
+        if (ret < 0)
+            return ret;
+        *val = sca3300_accel_scale[reg_val];
Scale is very very rarely an integer value which makes me wonder what
you are returning here...  It should be the multiplier needed to
take the raw value to a reading in m/sec^2  Given you use it as fractional
below, I'm guessing this is 1/scale_value?

+        return IIO_VAL_INT;
+    case IIO_CHAN_INFO_PROCESSED:
Don't provide processed here.   Userspace needs to do the conversion itself
(and given it has floating point easily available will probably do a better
  job than we can).   I'm assuming the mode can't autonomously change?

+        ret = sca3300_read_reg(data, SCA3300_REG_MODE, &reg_val);
+        if (ret < 0)
+            return ret;
+        *val2 = sca3300_accel_scale[reg_val];
+        ret = sca3300_read_reg(data, chan->address, val);
+        if (ret < 0)
+            return ret;
+        return IIO_VAL_FRACTIONAL;
+    default:
+        return -EINVAL;
+    }
+}
+
+static irqreturn_t sca3300_trigger_handler(int irq, void *p)
+{
+    struct iio_poll_func *pf = p;
+    struct iio_dev *indio_dev = pf->indio_dev;
+    struct sca3300_data *data = iio_priv(indio_dev);
+    s64 time_ns = iio_get_time_ns(indio_dev);
Is the timestamp at the start more accurate that that at the end
of reading the channels?  If not, just put this inline in the
iio_push_to_buffers_with_timestamp() call.

+    int bit, ret, val, i = 0;
+
+    for_each_set_bit(bit, indio_dev->active_scan_mask,
+             indio_dev->masklength) {
+        ret = sca3300_read_reg(data, sca3300_channels[bit].address,
+                       &val);
+        if (ret < 0)
Given we can't return an error code from interrupt handlers, it is usually
a good idea to print something to the log. Otherwise we get missing data
with no idea of why..

+            goto out;
+        if (ARRAY_SIZE(data->scan.channels) > i)
How could this not be true?  If it's always true, don't bother
checking i.

+            ((s16 *)data->scan.channels)[i++] = val;
+    }
+
+    iio_push_to_buffers_with_timestamp(indio_dev, &data->scan, time_ns);
+out:
+    iio_trigger_notify_done(indio_dev->trig);
+
+    return IRQ_HANDLED;
+}
+
+static int sca3300_init(struct sca3300_data *sca_data,
+            struct iio_dev *indio_dev)
+{
+    int ret;
+    int value = 0;
+
+    if (sca_data->opmode < 1 || sca_data->opmode > 4)
+        return -EINVAL;
Whilst this is going anyway, better to check that next to where
it is read so we drop out immediately rather than buried in this
function.

+
+    ret = sca3300_write_reg(sca_data, SCA3300_REG_MODE,
+                SCA3300_VALUE_SW_RESET);
+    if (ret != 0)
+        return ret;
For sleeps, good to reference which section in data sheet gives the
timing.

+    usleep_range(2e3, 10e3);
+
+    ret = sca3300_write_reg(sca_data, SCA3300_REG_MODE,
+                sca_data->opmode - 1);
+    if (ret != 0)
if (ret) see below.

+        return ret;
+    msleep(100);
Again, document where the time comes from. Saves reviewers time if
they want to check it. (I'm too lazy :)

+    ret = sca3300_read_reg(sca_data, SCA3300_REG_WHOAMI, &value);
+    if (ret != 0)
if (ret) is more idiomatic in kernel code.

+        return ret;
+
+    if (value != SCA3300_DEVICE_ID) {
+        dev_err(&sca_data->spi->dev, "device id not expected value\n");
Perhaps useful to print what was expected and what was seen. Maybe it's
a new variant and this might help the user to identify that and add it to the
driver.

+        return -EIO;
-EINVAL probably more appropriate return.

+    }
+    return 0;
+}
+
+static int sca3300_debugfs_reg_access(struct iio_dev *indio_dev,
+                      unsigned int reg, unsigned int writeval,
+                      unsigned int *readval)
+{
+    struct sca3300_data *data = iio_priv(indio_dev);
+    int value;
+    int ret;
+
+    if (reg > 0x1f)
Use a define that names that register.

+        return -EINVAL;
+
+    if (!readval)
+        return sca3300_write_reg(data, reg, writeval);
+
+    ret = sca3300_read_reg(data, reg, &value);
+    if (ret < 0)
+        return ret;
+
+    *readval = (unsigned int)value;
+
+    return 0;
+}
+
+static const struct iio_info sca3300_info = {
+    .read_raw = sca3300_read_raw,
+    .write_raw = sca3300_write_raw,
+    .debugfs_reg_access = &sca3300_debugfs_reg_access,
+};
+
+static int sca3300_probe(struct spi_device *spi)
+{
+    struct sca3300_data *sca_data;
+    struct iio_dev *indio_dev;
+    int ret;
+
+    indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*sca_data));
+    if (!indio_dev) {
+        dev_err(&spi->dev,
+            "failed to allocate memory for iio device\n");
+        return -ENOMEM;
+    }
+
+    sca_data = iio_priv(indio_dev);
+    mutex_init(&sca_data->lock);
+    sca_data->spi = spi;
+    spi_set_drvdata(spi, indio_dev);
Won't be used once using devm as below and remove() is dropped, so drop this.

+
+    crc8_populate_msb(sca3300_crc_table, SCA3300_CRC8_POLYNOMIAL);
+
+    indio_dev->dev.parent = &spi->dev;
+    indio_dev->info = &sca3300_info;
+    indio_dev->name = SCA3300_ALIAS;
+    indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_TRIGGERED;
BUFFER_TRIGGERED bit now set by iio_triggered_buffer_setup() so shouldn't
be ehre as well.

+    indio_dev->channels = sca3300_channels;
+    indio_dev->num_channels = ARRAY_SIZE(sca3300_channels);
+    indio_dev->available_scan_masks = sca3300_scan_masks;
+
+    if (spi->dev.of_node) {
+        ret = of_property_read_u32(spi->dev.of_node, "murata,opmode",
Please use generic firmware access calls rather than the of specific ones.
That lets us get ACPI support for free :)

As per the binding review however, this one needs to go in favour of userspace
control of scale + filter frequencies / sampling freq.

+ &sca_data->opmode);
+        if (ret < 0)
+            return ret;
+    }
+
+    ret = sca3300_init(sca_data, indio_dev);
+    if (ret < 0) {
+        dev_err(&spi->dev, "failed to init device, error: %d\n", ret);
+        return ret;
+    }
+
+    ret = iio_triggered_buffer_setup(indio_dev, iio_pollfunc_store_time,
+                     sca3300_trigger_handler, NULL);
devm_iio_triggered_buffer_setup() and you can drop the manual cleanup in remove()
and hence drop remove() entirely as nothing else left.

+    if (ret < 0) {
+        dev_err(&spi->dev,
+            "iio triggered buffer setup failed, error: %d\n", ret);
+        return ret;
+    }
+
+    ret = devm_iio_device_register(&spi->dev, indio_dev);
+    if (ret < 0) {
+        dev_err(&spi->dev, "iio device register failed, error: %d\n",
+            ret);
+        iio_triggered_buffer_cleanup(indio_dev);
With devm above, no need to manually clean this up.

+        return ret;
+    }
+
+    return 0;
+}
+
+static int sca3300_remove(struct spi_device *spi)
+{
+    struct iio_dev *indio_dev = spi_get_drvdata(spi);
+
+    iio_triggered_buffer_cleanup(indio_dev);
+    return 0;
+}
+
+static const struct of_device_id sca3300_dt_ids[] = {
+    { .compatible = "murata,sca3300"},
+    {},
+};
+MODULE_DEVICE_TABLE(of, sca3300_dt_ids);
+
+static struct spi_driver sca3300_driver = {
+    .driver = {
+        .name        = SCA3300_ALIAS,
+        .owner        = THIS_MODULE,
+        .of_match_table = of_match_ptr(sca3300_dt_ids),
+    },
+
+    .probe    = sca3300_probe,
+    .remove    = sca3300_remove,
+};
+
+module_spi_driver(sca3300_driver);
+
+MODULE_AUTHOR("Tomas Melin <tomas.melin@xxxxxxxxxxx>");
+MODULE_DESCRIPTION("Murata SCA3300 SPI Accelerometer");
+MODULE_LICENSE("GPL v2");