* [PATCH v11 0/8] iio: add Open Sensor Fusion UART support
@ 2026-10-11 23:13 Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 1/8] dt-bindings: iio: add Open Sensor Fusion device Jinseob Kim
` (7 more replies)
0 siblings, 8 replies; 9+ messages in thread
From: Jinseob Kim @ 2026-10-11 23:13 UTC (permalink / raw)
To: jic23, linux-iio
Cc: kimjinseob88, dlechner, nuno.sa, andy, robh, krzk+dt, conor+dt,
neil.armstrong, andersson, prabhakar.mahadev-lad.rj, devicetree,
linux-kernel, corbet, skhan, rdunlap, linux-doc
This series adds a UART/serdev receiver for the project's fixed OSF
Device-to-Host 0.0 protocol. Complete capability snapshots create IIO
accelerometer, gyroscope, magnetometer and temperature devices with RAW,
descriptor-derived SCALE and initialized buffered scans.
The receiver validates the fixed OSF0 envelope, CRC and exact known
message lengths. Equivalent capability reports are idempotent; changes
to a bound supported inventory fault the session until explicit rebind.
IIO samples use host timestamps.
Changes since v10:
- Move OSF under drivers/iio/sensorhubs/osf/ following review.
- Use the OSF GREEN compatible with the generic OSF fallback.
- Clarify complete capability-report snapshot semantics.
- Use designated decoded-frame initialization and drop decoded reserved
fields while retaining reserved wire-byte tolerance.
- Reuse stream reset and simplify core/serdev locking and lifecycle.
- Use IIO buffer-mode claims instead of a private buffer lock.
- Simplify scan storage and channel declarations.
- Fix KUnit worker/device/mutex/resource/completion lifetimes.
Generic IIO self-test extraction remains deferred.
- Synchronize KUnit fault observation and configuration completion with
completions and thread joins instead of short polling/deadline windows.
The IIO buffer teardown serialization issue found during the v10 review
was fixed separately and is now in mainline as commit 84bb0fc46ccf
("iio: buffer: serialize buffer teardown with mode claims").
This series is based on the IIO testing snapshot fetched for this submission:
a22dc7ebb21a6bd4c8b63bc2c1dd46a24945aae7
Runtime validation used this testing base plus the eight OSF patches
and the exact mainline IIO core fix 84bb0fc46ccf6a545b8fdf57cda83770186ed8dd.
The core fix is not included in this series and must be present when
running the series on this testing base.
Fresh validation of this source:
- GCC and Clang W=1 kernel builds; module builds.
- osf-core (16 tests) and osf-iio (2 tests), with KASAN, lockdep,
DEBUG_MUTEXES, DEBUG_LOCK_ALLOC, DEBUG_OBJECTS and DEBUG_OBJECTS_FREE.
- 200 production module load/unload cycles and 200 test-enriched module
load/unload cycles using identical driver/test C sources, exercising
20,000 IIO buffer toggles, scan subsets, timestamps and unregister.
- DT binding/style/example/schema checks and IIO Sphinx build.
- Clean sequential application and relevant builds of all eight patches.
Physical board tests were not repeated for this revision.
Canonical specification (fixed revision):
https://github.com/opensensorfusion/opensensorfusion-protocol/blob/ca9cdea1ae550c2b4d6f29f87877adae99470744/spec/osf-d2h-0.0.md
The fixed public specification is maintained and adopted by the OSF
project. This does not imply Linux maintainer approval of the
specification or driver.
Jinseob Kim (8):
dt-bindings: iio: add Open Sensor Fusion device
Documentation: iio: add Open Sensor Fusion driver overview
iio: osf: add protocol decoding
iio: osf: add validated stream parser
iio: osf: add UART transport and core receive path
iio: osf: add IIO devices from capability reports
iio: osf: add core KUnit tests
iio: osf: add IIO KUnit tests
.../bindings/iio/opensensorfusion,osf.yaml | 55 +
.../devicetree/bindings/vendor-prefixes.yaml | 2 +
Documentation/iio/index.rst | 1 +
Documentation/iio/open-sensor-fusion.rst | 81 ++
MAINTAINERS | 8 +
drivers/iio/Kconfig | 1 +
drivers/iio/Makefile | 1 +
drivers/iio/sensorhubs/Kconfig | 7 +
drivers/iio/sensorhubs/Makefile | 3 +
drivers/iio/sensorhubs/osf/Kconfig | 27 +
drivers/iio/sensorhubs/osf/Makefile | 7 +
drivers/iio/sensorhubs/osf/osf_core.c | 460 +++++++
drivers/iio/sensorhubs/osf/osf_core.h | 75 ++
drivers/iio/sensorhubs/osf/osf_core_test.c | 1056 +++++++++++++++++
drivers/iio/sensorhubs/osf/osf_iio.c | 288 +++++
drivers/iio/sensorhubs/osf/osf_iio.h | 22 +
drivers/iio/sensorhubs/osf/osf_iio_test.c | 386 ++++++
drivers/iio/sensorhubs/osf/osf_protocol.c | 215 ++++
drivers/iio/sensorhubs/osf/osf_protocol.h | 99 ++
drivers/iio/sensorhubs/osf/osf_serdev.c | 151 +++
drivers/iio/sensorhubs/osf/osf_stream.c | 230 ++++
drivers/iio/sensorhubs/osf/osf_stream.h | 53 +
22 files changed, 3228 insertions(+)
create mode 100644 Documentation/devicetree/bindings/iio/opensensorfusion,osf.yaml
create mode 100644 Documentation/iio/open-sensor-fusion.rst
create mode 100644 drivers/iio/sensorhubs/Kconfig
create mode 100644 drivers/iio/sensorhubs/Makefile
create mode 100644 drivers/iio/sensorhubs/osf/Kconfig
create mode 100644 drivers/iio/sensorhubs/osf/Makefile
create mode 100644 drivers/iio/sensorhubs/osf/osf_core.c
create mode 100644 drivers/iio/sensorhubs/osf/osf_core.h
create mode 100644 drivers/iio/sensorhubs/osf/osf_core_test.c
create mode 100644 drivers/iio/sensorhubs/osf/osf_iio.c
create mode 100644 drivers/iio/sensorhubs/osf/osf_iio.h
create mode 100644 drivers/iio/sensorhubs/osf/osf_iio_test.c
create mode 100644 drivers/iio/sensorhubs/osf/osf_protocol.c
create mode 100644 drivers/iio/sensorhubs/osf/osf_protocol.h
create mode 100644 drivers/iio/sensorhubs/osf/osf_serdev.c
create mode 100644 drivers/iio/sensorhubs/osf/osf_stream.c
create mode 100644 drivers/iio/sensorhubs/osf/osf_stream.h
base-commit: a22dc7ebb21a6bd4c8b63bc2c1dd46a24945aae7
^ permalink raw reply [flat|nested] 9+ messages in thread
* [PATCH v11 1/8] dt-bindings: iio: add Open Sensor Fusion device
2026-10-11 23:13 [PATCH v11 0/8] iio: add Open Sensor Fusion UART support Jinseob Kim
@ 2026-10-11 23:13 ` Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 2/8] Documentation: iio: add Open Sensor Fusion driver overview Jinseob Kim
` (6 subsequent siblings)
7 siblings, 0 replies; 9+ messages in thread
From: Jinseob Kim @ 2026-10-11 23:13 UTC (permalink / raw)
To: jic23, linux-iio
Cc: kimjinseob88, dlechner, nuno.sa, andy, robh, krzk+dt, conor+dt,
neil.armstrong, andersson, prabhakar.mahadev-lad.rj, devicetree,
linux-kernel, corbet, skhan, rdunlap, linux-doc
Describe OSF GREEN as the current hardware model with a generic OSF
host-interface fallback. OSF hardware variants may use different sensor
configurations. A model-specific compatible allows future power sequencing,
errata and quirks without changing the common fallback.
The current Linux driver needs no GREEN-specific handling and matches the
generic compatible. Sensor inventory and protocol version are discovered
from runtime wire frames rather than encoded in the compatible strings.
Assisted-by: LLM
Signed-off-by: Jinseob Kim <kimjinseob88@gmail.com>
---
.../bindings/iio/opensensorfusion,osf.yaml | 55 +++++++++++++++++++
.../devicetree/bindings/vendor-prefixes.yaml | 2 +
MAINTAINERS | 6 ++
3 files changed, 63 insertions(+)
create mode 100644 Documentation/devicetree/bindings/iio/opensensorfusion,osf.yaml
diff --git a/Documentation/devicetree/bindings/iio/opensensorfusion,osf.yaml b/Documentation/devicetree/bindings/iio/opensensorfusion,osf.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c180c6e41008ee9443411a88c234ae1c19b8de2a
--- /dev/null
+++ b/Documentation/devicetree/bindings/iio/opensensorfusion,osf.yaml
@@ -0,0 +1,55 @@
+# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+%YAML 1.2
+---
+$id: http://devicetree.org/schemas/iio/opensensorfusion,osf.yaml#
+$schema: http://devicetree.org/meta-schemas/core.yaml#
+
+title: Open Sensor Fusion Sensor Aggregation Hub
+
+maintainers:
+ - Jinseob Kim <kimjinseob88@gmail.com>
+
+description: |
+ This binding documents the Open Sensor Fusion GREEN sensor hub and its
+ generic host interface. Open Sensor Fusion is a sensor aggregation hub. The hub exposes an OSF protocol
+ data stream over its host interface and reports capabilities and samples for
+ multiple sensor classes. The actual sensor channels are discovered at runtime
+ from OSF capability reports instead of describing them in Device Tree. The
+ protocol version is discovered at runtime.
+
+ Public project documentation is available at:
+
+ https://github.com/opensensorfusion
+
+ OSF0, protocol_major, and protocol_minor are wire-protocol details
+ exchanged in OSF frames.
+
+allOf:
+ - $ref: /schemas/serial/serial-peripheral-props.yaml#
+
+properties:
+ compatible:
+ items:
+ - const: opensensorfusion,osf-green
+ - const: opensensorfusion,osf
+
+ vcc-supply:
+ description:
+ Regulator supplying power to the Open Sensor Fusion device.
+
+required:
+ - compatible
+ - vcc-supply
+
+unevaluatedProperties: false
+
+examples:
+ - |
+ serial {
+ sensor {
+ compatible = "opensensorfusion,osf-green",
+ "opensensorfusion,osf";
+ vcc-supply = <&vcc_sensor>;
+ };
+ };
+...
diff --git a/Documentation/devicetree/bindings/vendor-prefixes.yaml b/Documentation/devicetree/bindings/vendor-prefixes.yaml
index ba2002969373433b1f48118872c46cf7bcfff276..0ec4e481c64bc0aac8937c4fbd0d96dbb359b0fb 100644
--- a/Documentation/devicetree/bindings/vendor-prefixes.yaml
+++ b/Documentation/devicetree/bindings/vendor-prefixes.yaml
@@ -1267,6 +1267,8 @@ patternProperties:
description: OpenPandora GmbH
"^openrisc,.*":
description: OpenRISC.io
+ "^opensensorfusion,.*":
+ description: Open Sensor Fusion
"^openwrt,.*":
description: OpenWrt
"^option,.*":
diff --git a/MAINTAINERS b/MAINTAINERS
index 3a2dfd1a4fd84ccb068332035f054ac77dada814..edae5bf594fc3c72fb39e14b797c7b2eccc11471 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -20537,6 +20537,12 @@ F: Documentation/process/maintainer-devicetree.rst
F: arch/*/boot/dts/
F: include/dt-bindings/
+OPEN SENSOR FUSION
+M: Jinseob Kim <kimjinseob88@gmail.com>
+S: Maintained
+F: Documentation/devicetree/bindings/iio/opensensorfusion,osf.yaml
+K: opensensorfusion
+
OPENCOMPUTE PTP CLOCK DRIVER
M: Vadim Fedorenko <vadim.fedorenko@linux.dev>
L: netdev@vger.kernel.org
^ permalink raw reply [flat|nested] 9+ messages in thread
* [PATCH v11 2/8] Documentation: iio: add Open Sensor Fusion driver overview
2026-10-11 23:13 [PATCH v11 0/8] iio: add Open Sensor Fusion UART support Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 1/8] dt-bindings: iio: add Open Sensor Fusion device Jinseob Kim
@ 2026-10-11 23:13 ` Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 3/8] iio: osf: add protocol decoding Jinseob Kim
` (5 subsequent siblings)
7 siblings, 0 replies; 9+ messages in thread
From: Jinseob Kim @ 2026-10-11 23:13 UTC (permalink / raw)
To: jic23, linux-iio
Cc: kimjinseob88, dlechner, nuno.sa, andy, robh, krzk+dt, conor+dt,
neil.armstrong, andersson, prabhakar.mahadev-lad.rj, devicetree,
linux-kernel, corbet, skhan, rdunlap, linux-doc
Document the supported OSF receiver profile, runtime sensor discovery,
IIO channel units, scale validation and session lifetime.
Link the project-maintained fixed wire specification instead of
duplicating its layouts and compatibility policy. Explain host IIO
timestamps and the explicit rebind needed after a changed inventory.
Assisted-by: LLM
Signed-off-by: Jinseob Kim <kimjinseob88@gmail.com>
---
Documentation/iio/index.rst | 1 +
Documentation/iio/open-sensor-fusion.rst | 81 ++++++++++++++++++++++++
MAINTAINERS | 1 +
3 files changed, 83 insertions(+)
create mode 100644 Documentation/iio/open-sensor-fusion.rst
diff --git a/Documentation/iio/index.rst b/Documentation/iio/index.rst
index d0fb32f4b80f079d837515c5f2451dd76d8f93c6..7f3654202ac457c2a8b3ade96d678426867c3362 100644
--- a/Documentation/iio/index.rst
+++ b/Documentation/iio/index.rst
@@ -42,4 +42,5 @@ Industrial I/O Kernel Drivers
adxl345
bno055
ep93xx_adc
+ open-sensor-fusion
opt4060
diff --git a/Documentation/iio/open-sensor-fusion.rst b/Documentation/iio/open-sensor-fusion.rst
new file mode 100644
index 0000000000000000000000000000000000000000..5d94a247ed8f351d92bfa2e1727d2004720015b6
--- /dev/null
+++ b/Documentation/iio/open-sensor-fusion.rst
@@ -0,0 +1,81 @@
+.. SPDX-License-Identifier: GPL-2.0-only
+
+Open Sensor Fusion
+==================
+
+Open Sensor Fusion is a sensor aggregation hub interface. The Linux IIO driver
+receives device-to-host frames over UART and discovers sensor channels from
+capability reports. Device Tree describes the hub using the
+``opensensorfusion,osf-green`` compatible with an ``opensensorfusion,osf``
+fallback; individual sensors are discovered at runtime. See the binding in
+``Documentation/devicetree/bindings/iio/opensensorfusion,osf.yaml``.
+
+The OSF Device-to-Host 0.0 specification is maintained by the Open Sensor Fusion
+project. The canonical specification_ defines the wire layout, compatibility
+rules, reserved fields and physical units. This document describes the Linux
+receiver profile and its mapping to IIO.
+
+.. _specification: https://github.com/opensensorfusion/opensensorfusion-protocol/blob/ca9cdea1ae550c2b4d6f29f87877adae99470744/spec/osf-d2h-0.0.md
+
+Supported receive profile
+-------------------------
+
+The driver supports the fixed OSF0 frame layout with protocol major version 0.
+Compatible minor versions use the same known message layouts. The decoder
+requires exact lengths for known messages, validates CRC and bounds before
+interpreting payloads, and tolerates reserved padding. Unsupported major
+versions and unknown message types are ignored. Unsupported capability entries are skipped
+individually. A CRC-valid application rejection consumes the complete frame;
+an invalid frame candidate is resynchronized without trusting its payload length.
+
+The receive path handles sensor samples, complete capability reports and
+device status. Its limits are 4096 bytes per frame and 16 supported sensor
+descriptors. These are implementation limits, not protocol-wide maxima.
+
+IIO mapping
+-----------
+
+The supported sensor classes map to:
+
+* accelerometer: ``IIO_ACCEL`` X/Y/Z, in m/s^2;
+* gyroscope: ``IIO_ANGL_VEL`` X/Y/Z, in rad/s;
+* magnetometer: ``IIO_MAGN`` X/Y/Z, in gauss;
+* temperature: ``IIO_TEMP``, in millidegrees Celsius.
+
+Each registered channel exposes signed ``RAW`` data and descriptor-derived
+``SCALE``. Multiplying RAW by SCALE gives a value in the channel's IIO unit.
+Buffered samples use signed 32-bit values with native CPU endianness. Active
+channels are packed into the scan, with initialized padding before an optional
+64-bit timestamp.
+
+Discovery and session lifetime
+------------------------------
+
+Each capability report is a complete inventory snapshot, not an incremental
+fragment. The driver validates all supported descriptors before registering
+IIO devices. An initial report containing supported descriptors establishes
+the supported inventory. An empty or entirely unsupported initial report
+establishes no supported inventory and leaves discovery open for a later
+supported complete report. Supported descriptors must advertise a nonzero scale.
+A sample's channel count, format and scale must match its registered descriptor
+before it can update the latest RAW cache or be published to a buffer. A
+rejected sample preserves previously accepted data.
+
+After inventory establishment, later complete reports continue to be processed.
+Equivalent supported inventories are idempotent. Reports are compared by sensor
+type and index, independently of entry order. Reserved padding, advisory flags and unsupported additions do not change
+the supported inventory. A supported key appearing or disappearing, or a
+change in its channel count, format or scale, faults the bound session.
+
+After a session fault, new cache updates and buffer publication stop, and
+direct RAW reads fail. Existing IIO devices remain until driver teardown.
+An equivalent report does not clear the fault; explicit unbind/rebind starts
+fresh discovery. No fault-specific userspace ABI is exposed.
+
+Timestamps
+----------
+
+Buffered samples use the selected IIO host clock when they are pushed into
+the buffer. The device timestamp is not correlated with that clock and is not
+used as the IIO buffer timestamp. Device timestamp or sequence discontinuities
+alone do not start a new host session.
diff --git a/MAINTAINERS b/MAINTAINERS
index edae5bf594fc3c72fb39e14b797c7b2eccc11471..86a3e5de2f01f7a1e9791724caa6e19df4e61d70 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -20541,6 +20541,7 @@ OPEN SENSOR FUSION
M: Jinseob Kim <kimjinseob88@gmail.com>
S: Maintained
F: Documentation/devicetree/bindings/iio/opensensorfusion,osf.yaml
+F: Documentation/iio/open-sensor-fusion.rst
K: opensensorfusion
OPENCOMPUTE PTP CLOCK DRIVER
^ permalink raw reply [flat|nested] 9+ messages in thread
* [PATCH v11 3/8] iio: osf: add protocol decoding
2026-10-11 23:13 [PATCH v11 0/8] iio: add Open Sensor Fusion UART support Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 1/8] dt-bindings: iio: add Open Sensor Fusion device Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 2/8] Documentation: iio: add Open Sensor Fusion driver overview Jinseob Kim
@ 2026-10-11 23:13 ` Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 4/8] iio: osf: add validated stream parser Jinseob Kim
` (4 subsequent siblings)
7 siblings, 0 replies; 9+ messages in thread
From: Jinseob Kim @ 2026-10-11 23:13 UTC (permalink / raw)
To: jic23, linux-iio
Cc: kimjinseob88, dlechner, nuno.sa, andy, robh, krzk+dt, conor+dt,
neil.armstrong, andersson, prabhakar.mahadev-lad.rj, devicetree,
linux-kernel, corbet, skhan, rdunlap, linux-doc
Add helpers for decoding Open Sensor Fusion frame headers and supported
message payloads.
Validate the fixed OSF0 envelope, payload bounds and CRC before exposing
decoded frame contents. Require exact known payload lengths and decode
capability entries structurally so the core can apply support policy.
Tolerate reserved padding as required by the fixed protocol contract.
Use explicit little-endian wire storage sizes and designated
initializers for decoded output structures.
Assisted-by: LLM
Signed-off-by: Jinseob Kim <kimjinseob88@gmail.com>
---
MAINTAINERS | 1 +
drivers/iio/sensorhubs/osf/osf_protocol.c | 215 ++++++++++++++++++++++
drivers/iio/sensorhubs/osf/osf_protocol.h | 99 ++++++++++
3 files changed, 315 insertions(+)
create mode 100644 drivers/iio/sensorhubs/osf/osf_protocol.c
create mode 100644 drivers/iio/sensorhubs/osf/osf_protocol.h
diff --git a/MAINTAINERS b/MAINTAINERS
index 86a3e5de2f01f7a1e9791724caa6e19df4e61d70..663e4e46ec0a45a4627bb08db0e6710ee3c1c70a 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -20542,6 +20542,7 @@ M: Jinseob Kim <kimjinseob88@gmail.com>
S: Maintained
F: Documentation/devicetree/bindings/iio/opensensorfusion,osf.yaml
F: Documentation/iio/open-sensor-fusion.rst
+F: drivers/iio/sensorhubs/osf/
K: opensensorfusion
OPENCOMPUTE PTP CLOCK DRIVER
diff --git a/drivers/iio/sensorhubs/osf/osf_protocol.c b/drivers/iio/sensorhubs/osf/osf_protocol.c
new file mode 100644
index 0000000000000000000000000000000000000000..0e3f9cc708a45940a0b441e86ef9791ae916ea7d
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/osf_protocol.c
@@ -0,0 +1,215 @@
+// SPDX-License-Identifier: GPL-2.0-only
+
+#include <linux/bits.h>
+#include <linux/crc32.h>
+#include <linux/errno.h>
+#include <linux/types.h>
+#include <linux/unaligned.h>
+
+#include "osf_protocol.h"
+
+#define OSF_CRC32_INIT GENMASK(31, 0)
+#define OSF_CRC32_XOROUT GENMASK(31, 0)
+
+static bool osf_sensor_type_valid(u16 sensor_type)
+{
+ return sensor_type >= OSF_SENSOR_ACCELEROMETER &&
+ sensor_type <= OSF_SENSOR_PROXIMITY;
+}
+
+static u32 osf_crc32_ieee(const u8 *buf, size_t len)
+{
+ return crc32_le(OSF_CRC32_INIT, buf, len) ^ OSF_CRC32_XOROUT;
+}
+
+int osf_protocol_decode_frame(const u8 *buf, size_t len,
+ struct osf_frame *frame, size_t *frame_len)
+{
+ u32 expected_crc;
+ u32 actual_crc;
+ u32 payload_len;
+ size_t total_len;
+
+ if (!buf || !frame || !frame_len)
+ return -EINVAL;
+
+ if (len < OSF_FRAME_MIN_LEN)
+ return -EMSGSIZE;
+
+ if (get_unaligned_le32(buf) != OSF_FRAME_MAGIC)
+ return -EPROTO;
+
+ if (get_unaligned_le16(buf + 6) != OSF_FRAME_HEADER_LEN)
+ return -EPROTO;
+
+ payload_len = get_unaligned_le32(buf + 10);
+ if (payload_len > len - OSF_FRAME_MIN_LEN)
+ return -EMSGSIZE;
+
+ total_len = OSF_FRAME_HEADER_LEN + payload_len + OSF_FRAME_CRC_LEN;
+ expected_crc = osf_crc32_ieee(buf, OSF_FRAME_HEADER_LEN + payload_len);
+ actual_crc = get_unaligned_le32(buf + OSF_FRAME_HEADER_LEN + payload_len);
+
+ if (actual_crc != expected_crc)
+ return -EBADMSG;
+
+ *frame = (struct osf_frame) {
+ .protocol_major = buf[4],
+ .protocol_minor = buf[5],
+ .message_type = get_unaligned_le16(buf + 8),
+ .payload_len = payload_len,
+ .sequence = get_unaligned_le64(buf + 14),
+ .timestamp_us = get_unaligned_le64(buf + 22),
+ .flags = get_unaligned_le32(buf + 30),
+ .payload = buf + OSF_FRAME_HEADER_LEN,
+ .crc = actual_crc,
+ };
+ *frame_len = total_len;
+
+ return 0;
+}
+
+int osf_protocol_decode_sensor_sample(const struct osf_frame *frame,
+ struct osf_sensor_sample *sample)
+{
+ u16 channel_count;
+ u16 sample_format;
+ u16 sensor_type;
+ size_t expected_len;
+ const u8 *payload;
+
+ if (!frame || !sample || !frame->payload)
+ return -EINVAL;
+
+ if (frame->message_type != OSF_MSG_SENSOR_SAMPLE)
+ return -EPROTO;
+
+ if (frame->payload_len < OSF_SENSOR_SAMPLE_BASE_LEN)
+ return -EMSGSIZE;
+
+ payload = frame->payload;
+ sensor_type = get_unaligned_le16(payload);
+ channel_count = get_unaligned_le16(payload + 4);
+ sample_format = get_unaligned_le16(payload + 6);
+
+ if (!osf_sensor_type_valid(sensor_type))
+ return -EPROTO;
+
+ if (!channel_count)
+ return -EPROTO;
+
+ if (sample_format != OSF_SAMPLE_FORMAT_S32)
+ return -EPROTO;
+
+ expected_len = OSF_SENSOR_SAMPLE_BASE_LEN + channel_count * sizeof(__le32);
+ if (frame->payload_len != expected_len)
+ return -EMSGSIZE;
+
+ *sample = (struct osf_sensor_sample) {
+ .sensor_type = sensor_type,
+ .sensor_index = get_unaligned_le16(payload + 2),
+ .channel_count = channel_count,
+ .sample_format = sample_format,
+ .scale_nano = get_unaligned_le32(payload + 8),
+ .samples = payload + OSF_SENSOR_SAMPLE_BASE_LEN,
+ };
+
+ return 0;
+}
+
+int osf_protocol_sensor_sample_value(const struct osf_sensor_sample *sample,
+ u16 index, s32 *value)
+{
+ if (!sample || !sample->samples || !value)
+ return -EINVAL;
+
+ if (index >= sample->channel_count)
+ return -ERANGE;
+
+ /* Samples are little-endian two's-complement signed values. */
+ *value = get_unaligned_le32(sample->samples + index * sizeof(__le32));
+
+ return 0;
+}
+
+int osf_protocol_decode_device_status(const struct osf_frame *frame,
+ struct osf_device_status *status)
+{
+ const u8 *payload;
+
+ if (!frame || !status || !frame->payload)
+ return -EINVAL;
+
+ if (frame->message_type != OSF_MSG_DEVICE_STATUS)
+ return -EPROTO;
+
+ if (frame->payload_len != OSF_DEVICE_STATUS_LEN)
+ return -EMSGSIZE;
+
+ payload = frame->payload;
+ *status = (struct osf_device_status) {
+ .uptime_s = get_unaligned_le32(payload),
+ .status_flags = get_unaligned_le32(payload + 4),
+ .error_flags = get_unaligned_le32(payload + 8),
+ .dropped_frames = get_unaligned_le32(payload + 12),
+ };
+
+ return 0;
+}
+
+int osf_protocol_decode_capability_report(const struct osf_frame *frame,
+ struct osf_capability_report *report)
+{
+ u16 capability_count;
+ size_t expected_len;
+ const u8 *payload;
+
+ if (!frame || !report || !frame->payload)
+ return -EINVAL;
+
+ if (frame->message_type != OSF_MSG_CAPABILITY_REPORT)
+ return -EPROTO;
+
+ if (frame->payload_len < OSF_CAP_REPORT_BASE_LEN)
+ return -EMSGSIZE;
+
+ payload = frame->payload;
+ capability_count = get_unaligned_le16(payload);
+
+ expected_len = OSF_CAP_REPORT_BASE_LEN +
+ capability_count * OSF_CAP_SENSOR_ENTRY_LEN;
+ if (frame->payload_len != expected_len)
+ return -EMSGSIZE;
+
+ *report = (struct osf_capability_report) {
+ .capability_count = capability_count,
+ .entries = payload + OSF_CAP_REPORT_BASE_LEN,
+ };
+
+ return 0;
+}
+
+int osf_protocol_decode_capability_entry(const struct osf_capability_report
+ *report, u16 index,
+ struct osf_capability_entry *entry)
+{
+ const u8 *payload;
+
+ if (!report || !report->entries || !entry)
+ return -EINVAL;
+
+ if (index >= report->capability_count)
+ return -ERANGE;
+
+ payload = report->entries + index * OSF_CAP_SENSOR_ENTRY_LEN;
+ *entry = (struct osf_capability_entry) {
+ .sensor_type = get_unaligned_le16(payload),
+ .sensor_index = get_unaligned_le16(payload + 2),
+ .channel_count = get_unaligned_le16(payload + 4),
+ .sample_format = get_unaligned_le16(payload + 6),
+ .scale_nano = get_unaligned_le32(payload + 8),
+ .flags = get_unaligned_le32(payload + 12),
+ };
+
+ return 0;
+}
diff --git a/drivers/iio/sensorhubs/osf/osf_protocol.h b/drivers/iio/sensorhubs/osf/osf_protocol.h
new file mode 100644
index 0000000000000000000000000000000000000000..a79151e106f9e826fbe23eaf306f1df76a7dee4f
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/osf_protocol.h
@@ -0,0 +1,99 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+#ifndef _OSF_PROTOCOL_H
+#define _OSF_PROTOCOL_H
+
+#include <linux/bits.h>
+#include <linux/types.h>
+
+#define OSF_PROTOCOL_MAJOR 0
+#define OSF_PROTOCOL_MINOR 0
+#define OSF_FRAME_HEADER_LEN 38
+#define OSF_FRAME_CRC_LEN 4
+#define OSF_FRAME_MIN_LEN (OSF_FRAME_HEADER_LEN + OSF_FRAME_CRC_LEN)
+#define OSF_FRAME_MAGIC 0x3046534f /* "OSF0", little-endian */
+
+#define OSF_SENSOR_SAMPLE_BASE_LEN 16
+#define OSF_DEVICE_STATUS_LEN 20
+#define OSF_CAP_REPORT_BASE_LEN 4
+#define OSF_CAP_SENSOR_ENTRY_LEN 20
+#define OSF_CAPABILITY_FLAGS_MASK GENMASK(1, 0)
+
+enum osf_message_type {
+ OSF_MSG_SENSOR_SAMPLE = 0x0001,
+ OSF_MSG_DEVICE_STATUS = 0x0002,
+ OSF_MSG_CAPABILITY_REPORT = 0x0003,
+};
+
+enum osf_sensor_type {
+ OSF_SENSOR_ACCELEROMETER = 0x0001,
+ OSF_SENSOR_GYROSCOPE = 0x0002,
+ OSF_SENSOR_MAGNETOMETER = 0x0003,
+ OSF_SENSOR_BAROMETER = 0x0004,
+ OSF_SENSOR_TEMPERATURE = 0x0005,
+ OSF_SENSOR_HUMIDITY = 0x0006,
+ OSF_SENSOR_AMBIENT_LIGHT = 0x0007,
+ OSF_SENSOR_PROXIMITY = 0x0008,
+};
+
+enum osf_sample_format {
+ OSF_SAMPLE_FORMAT_S32 = 0x0001,
+};
+
+struct osf_frame {
+ u8 protocol_major;
+ u8 protocol_minor;
+ u16 message_type;
+ u32 payload_len;
+ u64 sequence;
+ u64 timestamp_us;
+ u32 flags;
+ /* payload points into the caller-owned frame buffer. */
+ const u8 *payload;
+ u32 crc;
+};
+
+struct osf_sensor_sample {
+ u16 sensor_type;
+ u16 sensor_index;
+ u16 channel_count;
+ u16 sample_format;
+ u32 scale_nano;
+ const u8 *samples;
+};
+
+struct osf_device_status {
+ u32 uptime_s;
+ u32 status_flags;
+ u32 error_flags;
+ u32 dropped_frames;
+};
+
+struct osf_capability_report {
+ u16 capability_count;
+ const u8 *entries;
+};
+
+struct osf_capability_entry {
+ u16 sensor_type;
+ u16 sensor_index;
+ u16 channel_count;
+ u16 sample_format;
+ u32 scale_nano;
+ u32 flags;
+};
+
+int osf_protocol_decode_frame(const u8 *buf, size_t len,
+ struct osf_frame *frame, size_t *frame_len);
+int osf_protocol_decode_sensor_sample(const struct osf_frame *frame,
+ struct osf_sensor_sample *sample);
+int osf_protocol_decode_device_status(const struct osf_frame *frame,
+ struct osf_device_status *status);
+int osf_protocol_decode_capability_report(const struct osf_frame *frame,
+ struct osf_capability_report *report);
+int osf_protocol_decode_capability_entry(const struct osf_capability_report
+ *report, u16 index,
+ struct osf_capability_entry *entry);
+int osf_protocol_sensor_sample_value(const struct osf_sensor_sample *sample,
+ u16 index, s32 *value);
+
+#endif
^ permalink raw reply [flat|nested] 9+ messages in thread
* [PATCH v11 4/8] iio: osf: add validated stream parser
2026-10-11 23:13 [PATCH v11 0/8] iio: add Open Sensor Fusion UART support Jinseob Kim
` (2 preceding siblings ...)
2026-10-11 23:13 ` [PATCH v11 3/8] iio: osf: add protocol decoding Jinseob Kim
@ 2026-10-11 23:13 ` Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 5/8] iio: osf: add UART transport and core receive path Jinseob Kim
` (3 subsequent siblings)
7 siblings, 0 replies; 9+ messages in thread
From: Jinseob Kim @ 2026-10-11 23:13 UTC (permalink / raw)
To: jic23, linux-iio
Cc: kimjinseob88, dlechner, nuno.sa, andy, robh, krzk+dt, conor+dt,
neil.armstrong, andersson, prabhakar.mahadev-lad.rj, devicetree,
linux-kernel, corbet, skhan, rdunlap, linux-doc
Add a UART byte-stream parser for Open Sensor Fusion frames.
The parser searches for the OSF0 wire magic, keeps partial frames
buffered, checks header length and payload bounds, and passes complete
candidate frames to a registered frame callback.
Candidates rejected before validation drop only the current head
byte before resynchronizing, so a corrupted unvalidated payload length
cannot make the parser skip later valid frames. CRC-valid validated
frames are consumed in full and classified as handled, ignored, or
rejected.
Use a direct callback member with an opaque context and keep explicit
statistics for validated outcomes and framing failures.
Assisted-by: LLM
Signed-off-by: Jinseob Kim <kimjinseob88@gmail.com>
---
drivers/iio/sensorhubs/osf/osf_stream.c | 230 ++++++++++++++++++++++++
drivers/iio/sensorhubs/osf/osf_stream.h | 53 ++++++
2 files changed, 283 insertions(+)
create mode 100644 drivers/iio/sensorhubs/osf/osf_stream.c
create mode 100644 drivers/iio/sensorhubs/osf/osf_stream.h
diff --git a/drivers/iio/sensorhubs/osf/osf_stream.c b/drivers/iio/sensorhubs/osf/osf_stream.c
new file mode 100644
index 0000000000000000000000000000000000000000..c9c1284a88e772ec88f357e74120e22ebf440a13
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/osf_stream.c
@@ -0,0 +1,230 @@
+// SPDX-License-Identifier: GPL-2.0-only
+
+#include <linux/errno.h>
+#include <linux/minmax.h>
+#include <linux/string.h>
+#include <linux/types.h>
+#include <linux/unaligned.h>
+
+#include "osf_protocol.h"
+#include "osf_stream.h"
+
+#define OSF_STREAM_MAGIC_LEN sizeof(__le32)
+#define OSF_STREAM_MAX_PAYLOAD_LEN \
+ (OSF_STREAM_MAX_FRAME_LEN - OSF_FRAME_HEADER_LEN - OSF_FRAME_CRC_LEN)
+
+static void osf_stream_discard(struct osf_stream *stream, size_t count)
+{
+ if (count >= stream->len) {
+ stream->len = 0;
+ return;
+ }
+
+ memmove(stream->buf, stream->buf + count, stream->len - count);
+ stream->len -= count;
+}
+
+static void osf_stream_drop_invalid_head(struct osf_stream *stream)
+{
+ osf_stream_discard(stream, 1);
+}
+
+static bool osf_stream_magic_prefix_match(const u8 *buf, size_t len)
+{
+ for (size_t i = 0; i < len; i++) {
+ if (buf[i] != (u8)(OSF_FRAME_MAGIC >> (i * 8)))
+ return false;
+ }
+
+ return true;
+}
+
+static size_t osf_stream_discard_to_magic(struct osf_stream *stream)
+{
+ size_t old_len = stream->len;
+ size_t keep_len;
+
+ for (size_t i = 0; i + OSF_STREAM_MAGIC_LEN <= stream->len; i++) {
+ if (get_unaligned_le32(stream->buf + i) == OSF_FRAME_MAGIC) {
+ if (i)
+ osf_stream_discard(stream, i);
+ return i;
+ }
+ }
+
+ /*
+ * Keep a final 1-3 byte OSF_FRAME_MAGIC prefix so a magic split
+ * across receive_buf() calls can be completed by the next chunk.
+ */
+ keep_len = min(stream->len, OSF_STREAM_MAGIC_LEN - 1);
+ while (keep_len) {
+ size_t offset = stream->len - keep_len;
+
+ if (osf_stream_magic_prefix_match(stream->buf + offset, keep_len)) {
+ if (offset)
+ osf_stream_discard(stream, offset);
+ return offset;
+ }
+ keep_len--;
+ }
+
+ stream->len = 0;
+ return old_len;
+}
+
+static int osf_stream_process(struct osf_stream *stream)
+{
+ size_t discarded;
+ size_t frame_len;
+ u32 payload_len;
+ int frame_result;
+ int first_err = 0;
+
+ while (stream->len) {
+ discarded = osf_stream_discard_to_magic(stream);
+ if (discarded) {
+ stream->stats.bad_magic_resyncs++;
+ stream->stats.dropped_bytes += discarded;
+ if (!first_err)
+ first_err = -EPROTO;
+ }
+
+ if (!stream->len)
+ break;
+
+ if (stream->len < OSF_FRAME_HEADER_LEN)
+ break;
+
+ if (get_unaligned_le16(stream->buf + 6) != OSF_FRAME_HEADER_LEN) {
+ stream->stats.dropped_bytes++;
+ osf_stream_drop_invalid_head(stream);
+ if (!first_err)
+ first_err = -EPROTO;
+ continue;
+ }
+
+ payload_len = get_unaligned_le32(stream->buf + 10);
+ if (payload_len > OSF_STREAM_MAX_PAYLOAD_LEN) {
+ stream->stats.dropped_bytes++;
+ osf_stream_drop_invalid_head(stream);
+ if (!first_err)
+ first_err = -EMSGSIZE;
+ continue;
+ }
+
+ frame_len = OSF_FRAME_HEADER_LEN + payload_len + OSF_FRAME_CRC_LEN;
+ if (stream->len < frame_len)
+ break;
+
+ frame_result = stream->receive_frame(stream->frame_context,
+ stream->buf, frame_len);
+ if (frame_result < 0) {
+ if (frame_result == -EBADMSG)
+ stream->stats.bad_crc_frames++;
+
+ /*
+ * Decoding failed before the frame was validated;
+ * payload_len is still untrusted. Drop only the current
+ * head and resynchronize.
+ */
+ stream->stats.dropped_bytes++;
+ osf_stream_drop_invalid_head(stream);
+ if (!first_err)
+ first_err = frame_result;
+ continue;
+ }
+
+ /* Count exactly one outcome for every validated frame. */
+ stream->stats.validated_frames++;
+ switch (frame_result) {
+ case OSF_STREAM_FRAME_HANDLED:
+ stream->stats.handled_frames++;
+ break;
+ case OSF_STREAM_FRAME_IGNORED:
+ stream->stats.ignored_frames++;
+ break;
+ case OSF_STREAM_FRAME_REJECTED:
+ stream->stats.rejected_frames++;
+ break;
+ default:
+ /*
+ * Preserve the validated boundary without scanning the
+ * payload for another magic value.
+ */
+ stream->stats.rejected_frames++;
+ if (!first_err)
+ first_err = -EPROTO;
+ break;
+ }
+ osf_stream_discard(stream, frame_len);
+ }
+
+ return first_err;
+}
+
+void osf_stream_reset(struct osf_stream *stream)
+{
+ if (!stream)
+ return;
+
+ stream->len = 0;
+ memset(&stream->stats, 0, sizeof(stream->stats));
+}
+
+void osf_stream_init(struct osf_stream *stream,
+ int (*receive_frame)(void *context, const u8 *buf,
+ size_t len),
+ void *frame_context)
+{
+ if (!stream)
+ return;
+
+ stream->receive_frame = receive_frame;
+ stream->frame_context = frame_context;
+ osf_stream_reset(stream);
+}
+
+int osf_stream_receive_bytes(struct osf_stream *stream,
+ const u8 *buf, size_t len)
+{
+ size_t copy_len;
+ size_t space;
+ int first_err = 0;
+ int ret;
+
+ if (!stream || !stream->receive_frame || (!buf && len))
+ return -EINVAL;
+
+ if (!len)
+ return osf_stream_process(stream);
+
+ /*
+ * Continue processing this receive_buf() chunk after recoverable
+ * framing errors so later valid frames do not wait for another callback.
+ * first_err retains the first diagnostic return, while the serdev
+ * callback reports the full byte count consumed. Every validated
+ * callback result is consumed in full by osf_stream_process().
+ */
+ while (len) {
+ space = OSF_STREAM_MAX_FRAME_LEN - stream->len;
+ if (!space) {
+ stream->stats.dropped_bytes++;
+ osf_stream_discard(stream, 1);
+ if (!first_err)
+ first_err = -EMSGSIZE;
+ continue;
+ }
+
+ copy_len = min(len, space);
+ memcpy(stream->buf + stream->len, buf, copy_len);
+ stream->len += copy_len;
+ buf += copy_len;
+ len -= copy_len;
+
+ ret = osf_stream_process(stream);
+ if (ret && !first_err)
+ first_err = ret;
+ }
+
+ return first_err;
+}
diff --git a/drivers/iio/sensorhubs/osf/osf_stream.h b/drivers/iio/sensorhubs/osf/osf_stream.h
new file mode 100644
index 0000000000000000000000000000000000000000..9087533b2d04124e52ae5dbaa564a7ddad31499c
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/osf_stream.h
@@ -0,0 +1,53 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+#ifndef _OSF_STREAM_H
+#define _OSF_STREAM_H
+
+#include <linux/types.h>
+
+#define OSF_STREAM_MAX_FRAME_LEN 4096
+
+/**
+ * enum osf_stream_frame_result - validated frame callback result
+ * @OSF_STREAM_FRAME_HANDLED: frame was processed successfully
+ * @OSF_STREAM_FRAME_IGNORED: frame was valid but unsupported or ignored
+ * @OSF_STREAM_FRAME_REJECTED: validated application processing failed
+ *
+ * A frame callback returns a negative errno only when a candidate could not
+ * be validated and the parser may perform one-byte resynchronization.
+ * Every nonnegative result must be one of these values. Such a result means
+ * the CRC-valid frame boundary is trusted, so the parser must consume the
+ * full frame.
+ */
+enum osf_stream_frame_result {
+ OSF_STREAM_FRAME_HANDLED,
+ OSF_STREAM_FRAME_IGNORED,
+ OSF_STREAM_FRAME_REJECTED,
+};
+
+struct osf_stream_stats {
+ u64 validated_frames;
+ u64 handled_frames;
+ u64 ignored_frames;
+ u64 rejected_frames;
+ u64 bad_magic_resyncs;
+ u64 bad_crc_frames;
+ u64 dropped_bytes;
+};
+
+struct osf_stream {
+ int (*receive_frame)(void *context, const u8 *buf, size_t len);
+ void *frame_context;
+ u8 buf[OSF_STREAM_MAX_FRAME_LEN];
+ size_t len;
+ struct osf_stream_stats stats;
+};
+
+void osf_stream_init(struct osf_stream *stream,
+ int (*receive_frame)(void *context, const u8 *buf,
+ size_t len),
+ void *frame_context);
+void osf_stream_reset(struct osf_stream *stream);
+int osf_stream_receive_bytes(struct osf_stream *stream,
+ const u8 *buf, size_t len);
+
+#endif
^ permalink raw reply [flat|nested] 9+ messages in thread
* [PATCH v11 5/8] iio: osf: add UART transport and core receive path
2026-10-11 23:13 [PATCH v11 0/8] iio: add Open Sensor Fusion UART support Jinseob Kim
` (3 preceding siblings ...)
2026-10-11 23:13 ` [PATCH v11 4/8] iio: osf: add validated stream parser Jinseob Kim
@ 2026-10-11 23:13 ` Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 6/8] iio: osf: add IIO devices from capability reports Jinseob Kim
` (2 subsequent siblings)
7 siblings, 0 replies; 9+ messages in thread
From: Jinseob Kim @ 2026-10-11 23:13 UTC (permalink / raw)
To: jic23, linux-iio
Cc: kimjinseob88, dlechner, nuno.sa, andy, robh, krzk+dt, conor+dt,
neil.armstrong, andersson, prabhakar.mahadev-lad.rj, devicetree,
linux-kernel, corbet, skhan, rdunlap, linux-doc
Connect the validated stream parser to a serdev receiver and cache device
status. Configure the UART before enabling the supply, and close and drain
the receive producer during managed teardown.
Assisted-by: LLM
Signed-off-by: Jinseob Kim <kimjinseob88@gmail.com>
---
drivers/iio/Kconfig | 1 +
drivers/iio/Makefile | 1 +
drivers/iio/sensorhubs/Kconfig | 7 ++
drivers/iio/sensorhubs/Makefile | 3 +
drivers/iio/sensorhubs/osf/Kconfig | 12 ++
drivers/iio/sensorhubs/osf/Makefile | 5 +
drivers/iio/sensorhubs/osf/osf_core.c | 96 ++++++++++++++++
drivers/iio/sensorhubs/osf/osf_core.h | 29 +++++
drivers/iio/sensorhubs/osf/osf_serdev.c | 146 ++++++++++++++++++++++++
9 files changed, 300 insertions(+)
create mode 100644 drivers/iio/sensorhubs/Kconfig
create mode 100644 drivers/iio/sensorhubs/Makefile
create mode 100644 drivers/iio/sensorhubs/osf/Kconfig
create mode 100644 drivers/iio/sensorhubs/osf/Makefile
create mode 100644 drivers/iio/sensorhubs/osf/osf_core.c
create mode 100644 drivers/iio/sensorhubs/osf/osf_core.h
create mode 100644 drivers/iio/sensorhubs/osf/osf_serdev.c
diff --git a/drivers/iio/Kconfig b/drivers/iio/Kconfig
index 652557a5b851f461adc0b14d1a94c275efe7ca3a..202f9d6792f8b56ac3a8a6dea68656cad61ef288 100644
--- a/drivers/iio/Kconfig
+++ b/drivers/iio/Kconfig
@@ -112,6 +112,7 @@ source "drivers/iio/potentiostat/Kconfig"
source "drivers/iio/pressure/Kconfig"
source "drivers/iio/proximity/Kconfig"
source "drivers/iio/resolver/Kconfig"
+source "drivers/iio/sensorhubs/Kconfig"
source "drivers/iio/temperature/Kconfig"
endif # IIO
diff --git a/drivers/iio/Makefile b/drivers/iio/Makefile
index f03a4100c800b09e23bd06389cbb9df75a452bc2..4e1d930108de1971d5831d5cc4fdc37129894b22 100644
--- a/drivers/iio/Makefile
+++ b/drivers/iio/Makefile
@@ -44,6 +44,7 @@ obj-y += potentiostat/
obj-y += pressure/
obj-y += proximity/
obj-y += resolver/
+obj-y += sensorhubs/
obj-y += temperature/
obj-y += test/
obj-y += trigger/
diff --git a/drivers/iio/sensorhubs/Kconfig b/drivers/iio/sensorhubs/Kconfig
new file mode 100644
index 0000000000000000000000000000000000000000..d248b05d6767720d0cdb088302c76072385e0bea
--- /dev/null
+++ b/drivers/iio/sensorhubs/Kconfig
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: GPL-2.0-only
+
+menu "Sensor hubs"
+
+source "drivers/iio/sensorhubs/osf/Kconfig"
+
+endmenu
diff --git a/drivers/iio/sensorhubs/Makefile b/drivers/iio/sensorhubs/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..68467c0201026c7bb5fa21b305e1a904cc948edb
--- /dev/null
+++ b/drivers/iio/sensorhubs/Makefile
@@ -0,0 +1,3 @@
+# SPDX-License-Identifier: GPL-2.0-only
+
+obj-y += osf/
diff --git a/drivers/iio/sensorhubs/osf/Kconfig b/drivers/iio/sensorhubs/osf/Kconfig
new file mode 100644
index 0000000000000000000000000000000000000000..fa25ad24bef6e37ea53617894e121cb9f625ddb5
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/Kconfig
@@ -0,0 +1,12 @@
+# SPDX-License-Identifier: GPL-2.0-only
+
+config OPEN_SENSOR_FUSION
+ tristate "Open Sensor Fusion UART receiver"
+ depends on SERIAL_DEV_BUS
+ select CRC32
+ help
+ Build the Open Sensor Fusion UART receive path.
+
+ The driver receives and validates OSF protocol frames over a serdev
+ UART and caches device status reported by the sensor hub.
+ Message types without an application handler are ignored.
diff --git a/drivers/iio/sensorhubs/osf/Makefile b/drivers/iio/sensorhubs/osf/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..940c82eddc2e54d5a04dccf3ecb36c98ac638244
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/Makefile
@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: GPL-2.0-only
+
+obj-$(CONFIG_OPEN_SENSOR_FUSION) += open-sensor-fusion.o
+
+open-sensor-fusion-y := osf_core.o osf_protocol.o osf_serdev.o osf_stream.o
diff --git a/drivers/iio/sensorhubs/osf/osf_core.c b/drivers/iio/sensorhubs/osf/osf_core.c
new file mode 100644
index 0000000000000000000000000000000000000000..b76619335335f5b197374af90056a616c1c08f82
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/osf_core.c
@@ -0,0 +1,96 @@
+// SPDX-License-Identifier: GPL-2.0-only
+
+#include <linux/device.h>
+#include <linux/errno.h>
+#include <linux/types.h>
+
+#include "osf_core.h"
+#include "osf_stream.h"
+
+#define OSF_RESERVED_MSG_FIRST 0x7f00
+#define OSF_RESERVED_MSG_LAST 0x7fff
+#define OSF_VENDOR_PRIVATE_FIRST 0x8000
+
+void osf_core_init(struct osf_device *osf, struct device *dev)
+{
+ *osf = (struct osf_device) {
+ .dev = dev,
+ };
+}
+
+static int osf_core_handle_device_status(struct osf_device *osf,
+ const struct osf_frame *frame)
+{
+ struct osf_device_status status;
+ int ret;
+
+ ret = osf_protocol_decode_device_status(frame, &status);
+ if (ret) {
+ dev_warn_ratelimited(osf->dev,
+ "rejecting malformed device status: %d\n",
+ ret);
+ return ret;
+ }
+
+ osf->status_cache = (struct osf_status_cache) {
+ .uptime_s = status.uptime_s,
+ .status_flags = status.status_flags,
+ .error_flags = status.error_flags,
+ .dropped_frames = status.dropped_frames,
+ .sequence = frame->sequence,
+ .valid = true,
+ };
+ osf->last_sequence = frame->sequence;
+
+ return OSF_STREAM_FRAME_HANDLED;
+}
+
+int osf_core_receive_frame(struct osf_device *osf, const u8 *buf, size_t len)
+{
+ struct osf_frame frame;
+ size_t frame_len;
+ int ret;
+
+ ret = osf_protocol_decode_frame(buf, len, &frame, &frame_len);
+ if (ret)
+ return ret;
+
+ if (frame_len != len)
+ return -EMSGSIZE;
+
+ if (frame.protocol_major != OSF_PROTOCOL_MAJOR) {
+ dev_dbg_ratelimited(osf->dev,
+ "ignoring unsupported protocol major %u\n",
+ frame.protocol_major);
+ return OSF_STREAM_FRAME_IGNORED;
+ }
+
+ /*
+ * Handler failures are validated application rejections. Keep the
+ * trusted frame boundary and let the stream consume the complete frame.
+ */
+ switch (frame.message_type) {
+ case OSF_MSG_DEVICE_STATUS:
+ ret = osf_core_handle_device_status(osf, &frame);
+ return ret < 0 ? OSF_STREAM_FRAME_REJECTED : ret;
+ default:
+ if (frame.message_type >= OSF_RESERVED_MSG_FIRST &&
+ frame.message_type <= OSF_RESERVED_MSG_LAST) {
+ dev_dbg_ratelimited(osf->dev,
+ "ignoring reserved message type %#x\n",
+ frame.message_type);
+ return OSF_STREAM_FRAME_IGNORED;
+ }
+ if (frame.message_type >= OSF_VENDOR_PRIVATE_FIRST) {
+ dev_dbg_ratelimited(osf->dev,
+ "ignoring vendor message type %#x\n",
+ frame.message_type);
+ return OSF_STREAM_FRAME_IGNORED;
+ }
+
+ dev_dbg_ratelimited(osf->dev,
+ "ignoring unsupported message type %#x\n",
+ frame.message_type);
+ return OSF_STREAM_FRAME_IGNORED;
+ }
+}
diff --git a/drivers/iio/sensorhubs/osf/osf_core.h b/drivers/iio/sensorhubs/osf/osf_core.h
new file mode 100644
index 0000000000000000000000000000000000000000..7095e3f967fcde473f3f64b05061c3e9ab0996e4
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/osf_core.h
@@ -0,0 +1,29 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+#ifndef _OSF_CORE_H
+#define _OSF_CORE_H
+
+#include <linux/types.h>
+
+#include "osf_protocol.h"
+
+struct device;
+
+struct osf_status_cache {
+ u32 uptime_s;
+ u32 status_flags;
+ u32 error_flags;
+ u32 dropped_frames;
+ u64 sequence;
+ bool valid;
+};
+
+struct osf_device {
+ struct device *dev;
+ struct osf_status_cache status_cache;
+ u64 last_sequence;
+};
+
+void osf_core_init(struct osf_device *osf, struct device *dev);
+int osf_core_receive_frame(struct osf_device *osf, const u8 *buf, size_t len);
+
+#endif
diff --git a/drivers/iio/sensorhubs/osf/osf_serdev.c b/drivers/iio/sensorhubs/osf/osf_serdev.c
new file mode 100644
index 0000000000000000000000000000000000000000..791bef93e4b8495fdfdf673faddc2059696e8872
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/osf_serdev.c
@@ -0,0 +1,146 @@
+// SPDX-License-Identifier: GPL-2.0-only
+
+#include <linux/cleanup.h>
+#include <linux/device-id/of.h>
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/errno.h>
+#include <linux/module.h>
+#include <linux/mutex.h>
+#include <linux/regulator/consumer.h>
+#include <linux/serdev.h>
+#include <linux/slab.h>
+#include <linux/types.h>
+
+#include "osf_core.h"
+#include "osf_stream.h"
+
+#define OSF_SERDEV_BAUD 115200
+
+struct osf_serdev {
+ struct serdev_device *serdev;
+ struct regulator *vcc;
+ bool vcc_enabled;
+ struct osf_device osf;
+ struct osf_stream stream;
+ /* Protects parser and receive state, including publication setup. */
+ struct mutex lock;
+};
+
+static int osf_serdev_receive_frame(void *context, const u8 *buf, size_t len)
+{
+ struct osf_device *osf = context;
+
+ return osf_core_receive_frame(osf, buf, len);
+}
+
+static size_t osf_serdev_receive_buf(struct serdev_device *serdev,
+ const u8 *buf, size_t count)
+{
+ struct osf_serdev *osf_uart = serdev_device_get_drvdata(serdev);
+ const struct osf_stream_stats *stats;
+ u64 validated_before;
+ int ret;
+
+ guard(mutex)(&osf_uart->lock);
+ validated_before = osf_uart->stream.stats.validated_frames;
+ ret = osf_stream_receive_bytes(&osf_uart->stream, buf, count);
+ stats = &osf_uart->stream.stats;
+
+ if (ret || stats->validated_frames != validated_before)
+ dev_dbg_ratelimited(&serdev->dev,
+ "rx count=%zu validated=%llu handled=%llu ignored=%llu rejected=%llu bad_magic=%llu bad_crc=%llu dropped=%llu ret=%d\n",
+ count, stats->validated_frames,
+ stats->handled_frames, stats->ignored_frames,
+ stats->rejected_frames,
+ stats->bad_magic_resyncs,
+ stats->bad_crc_frames,
+ stats->dropped_bytes, ret);
+
+ return count;
+}
+
+static const struct serdev_device_ops osf_serdev_ops = {
+ .receive_buf = osf_serdev_receive_buf,
+};
+
+static void osf_serdev_release(void *data)
+{
+ struct osf_serdev *osf_uart = data;
+
+ /* The TTY controller drains RX work on close; hold no RX lock. */
+ serdev_device_close(osf_uart->serdev);
+ osf_stream_reset(&osf_uart->stream);
+ if (osf_uart->vcc_enabled)
+ regulator_disable(osf_uart->vcc);
+}
+
+static int osf_serdev_probe(struct serdev_device *serdev)
+{
+ struct device *dev = &serdev->dev;
+ struct osf_serdev *osf_uart;
+ unsigned int baudrate;
+ int ret;
+
+ osf_uart = devm_kzalloc(dev, sizeof(*osf_uart), GFP_KERNEL);
+ if (!osf_uart)
+ return -ENOMEM;
+
+ osf_uart->vcc = devm_regulator_get(dev, "vcc");
+ if (IS_ERR(osf_uart->vcc))
+ return dev_err_probe(dev, PTR_ERR(osf_uart->vcc),
+ "failed to get vcc regulator\n");
+
+ ret = devm_mutex_init(dev, &osf_uart->lock);
+ if (ret)
+ return ret;
+
+ osf_uart->serdev = serdev;
+ osf_core_init(&osf_uart->osf, dev);
+ osf_stream_init(&osf_uart->stream, osf_serdev_receive_frame,
+ &osf_uart->osf);
+
+ serdev_device_set_drvdata(serdev, osf_uart);
+ serdev_device_set_client_ops(serdev, &osf_serdev_ops);
+
+ ret = serdev_device_open(serdev);
+ if (ret)
+ return ret;
+
+ ret = devm_add_action_or_reset(dev, osf_serdev_release, osf_uart);
+ if (ret)
+ return ret;
+
+ baudrate = serdev_device_set_baudrate(serdev, OSF_SERDEV_BAUD);
+ if (baudrate != OSF_SERDEV_BAUD)
+ /* Keep accepting controller rounding after reporting the mismatch. */
+ dev_warn_probe(dev, -EINVAL, "requested %u baud, controller set %u\n",
+ OSF_SERDEV_BAUD, baudrate);
+
+ serdev_device_set_flow_control(serdev, false);
+
+ ret = regulator_enable(osf_uart->vcc);
+ if (ret)
+ return dev_err_probe(dev, ret, "failed to enable vcc regulator\n");
+ osf_uart->vcc_enabled = true;
+
+ return 0;
+}
+
+static const struct of_device_id osf_serdev_of_match[] = {
+ { .compatible = "opensensorfusion,osf" },
+ { }
+};
+MODULE_DEVICE_TABLE(of, osf_serdev_of_match);
+
+static struct serdev_device_driver osf_serdev_driver = {
+ .probe = osf_serdev_probe,
+ .driver = {
+ .name = "open-sensor-fusion-uart",
+ .of_match_table = osf_serdev_of_match,
+ },
+};
+module_serdev_device_driver(osf_serdev_driver);
+
+MODULE_DESCRIPTION("Open Sensor Fusion IIO driver");
+MODULE_LICENSE("GPL");
^ permalink raw reply [flat|nested] 9+ messages in thread
* [PATCH v11 6/8] iio: osf: add IIO devices from capability reports
2026-10-11 23:13 [PATCH v11 0/8] iio: add Open Sensor Fusion UART support Jinseob Kim
` (4 preceding siblings ...)
2026-10-11 23:13 ` [PATCH v11 5/8] iio: osf: add UART transport and core receive path Jinseob Kim
@ 2026-10-11 23:13 ` Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 7/8] iio: osf: add core KUnit tests Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 8/8] iio: osf: add IIO " Jinseob Kim
7 siblings, 0 replies; 9+ messages in thread
From: Jinseob Kim @ 2026-10-11 23:13 UTC (permalink / raw)
To: jic23, linux-iio
Cc: kimjinseob88, dlechner, nuno.sa, andy, robh, krzk+dt, conor+dt,
neil.armstrong, andersson, prabhakar.mahadev-lad.rj, devicetree,
linux-kernel, corbet, skhan, rdunlap, linux-doc
Register IIO devices from supported capability descriptors and expose RAW,
descriptor-derived SCALE and initialized active-scan buffers. Validate
complete inventories and sample meaning, and fault incompatible bound
sessions.
Hold an IIO buffer-mode claim while packing and publishing samples so that
the scan layout and buffer lifetime remain stable through reconfiguration
and unregister.
Assisted-by: LLM
Signed-off-by: Jinseob Kim <kimjinseob88@gmail.com>
---
drivers/iio/sensorhubs/osf/Kconfig | 13 +-
drivers/iio/sensorhubs/osf/Makefile | 3 +-
drivers/iio/sensorhubs/osf/osf_core.c | 364 ++++++++++++++++++++++++
drivers/iio/sensorhubs/osf/osf_core.h | 46 +++
drivers/iio/sensorhubs/osf/osf_iio.c | 288 +++++++++++++++++++
drivers/iio/sensorhubs/osf/osf_iio.h | 22 ++
drivers/iio/sensorhubs/osf/osf_serdev.c | 7 +-
7 files changed, 736 insertions(+), 7 deletions(-)
create mode 100644 drivers/iio/sensorhubs/osf/osf_iio.c
create mode 100644 drivers/iio/sensorhubs/osf/osf_iio.h
diff --git a/drivers/iio/sensorhubs/osf/Kconfig b/drivers/iio/sensorhubs/osf/Kconfig
index fa25ad24bef6e37ea53617894e121cb9f625ddb5..f955a1f2993d244369943efbd853b9d2c6d47139 100644
--- a/drivers/iio/sensorhubs/osf/Kconfig
+++ b/drivers/iio/sensorhubs/osf/Kconfig
@@ -1,12 +1,15 @@
# SPDX-License-Identifier: GPL-2.0-only
config OPEN_SENSOR_FUSION
- tristate "Open Sensor Fusion UART receiver"
+ tristate "Open Sensor Fusion UART IIO driver"
depends on SERIAL_DEV_BUS
select CRC32
+ select IIO_BUFFER
+ select IIO_KFIFO_BUF
help
- Build the Open Sensor Fusion UART receive path.
+ Build the Open Sensor Fusion UART IIO driver.
- The driver receives and validates OSF protocol frames over a serdev
- UART and caches device status reported by the sensor hub.
- Message types without an application handler are ignored.
+ The driver receives OSF protocol frames over a serdev UART and
+ registers IIO devices for supported capability entries. It exposes
+ accelerometer, gyroscope, magnetometer, and temperature samples
+ through IIO direct reads and software buffers.
diff --git a/drivers/iio/sensorhubs/osf/Makefile b/drivers/iio/sensorhubs/osf/Makefile
index 940c82eddc2e54d5a04dccf3ecb36c98ac638244..b4e03b80cfa4cca6a67e6cd8228a4776a38dcb72 100644
--- a/drivers/iio/sensorhubs/osf/Makefile
+++ b/drivers/iio/sensorhubs/osf/Makefile
@@ -2,4 +2,5 @@
obj-$(CONFIG_OPEN_SENSOR_FUSION) += open-sensor-fusion.o
-open-sensor-fusion-y := osf_core.o osf_protocol.o osf_serdev.o osf_stream.o
+open-sensor-fusion-y := osf_core.o osf_iio.o osf_protocol.o osf_serdev.o \
+ osf_stream.o
diff --git a/drivers/iio/sensorhubs/osf/osf_core.c b/drivers/iio/sensorhubs/osf/osf_core.c
index b76619335335f5b197374af90056a616c1c08f82..4f73ff5e9572b95e1cd237671f01e149784b92b5 100644
--- a/drivers/iio/sensorhubs/osf/osf_core.c
+++ b/drivers/iio/sensorhubs/osf/osf_core.c
@@ -1,10 +1,13 @@
// SPDX-License-Identifier: GPL-2.0-only
+#include <linux/cleanup.h>
#include <linux/device.h>
#include <linux/errno.h>
+#include <linux/string.h>
#include <linux/types.h>
#include "osf_core.h"
+#include "osf_iio.h"
#include "osf_stream.h"
#define OSF_RESERVED_MSG_FIRST 0x7f00
@@ -16,6 +19,247 @@ void osf_core_init(struct osf_device *osf, struct device *dev)
*osf = (struct osf_device) {
.dev = dev,
};
+ mutex_init(&osf->latest_lock);
+}
+
+void osf_core_unregister_iio(struct osf_device *osf)
+{
+ for (unsigned int i = 0; i < osf->iio_dev_count; i++)
+ osf_iio_unregister_sensor(osf->iio_devs[i].indio_dev);
+
+ osf->iio_dev_count = 0;
+}
+
+static struct iio_dev *osf_core_find_iio_dev(struct osf_device *osf,
+ u16 sensor_type, u16 sensor_index)
+{
+ const struct osf_iio_binding *binding;
+
+ for (unsigned int i = 0; i < osf->iio_dev_count; i++) {
+ binding = &osf->iio_devs[i];
+ if (binding->sensor_type == sensor_type &&
+ binding->sensor_index == sensor_index)
+ return binding->indio_dev;
+ }
+
+ return NULL;
+}
+
+static struct osf_latest_sample *
+osf_core_find_latest_sample(struct osf_device *osf, u16 sensor_type,
+ u16 sensor_index)
+{
+ struct osf_latest_sample *latest;
+
+ for (unsigned int i = 0; i < osf->latest_sample_count; i++) {
+ latest = &osf->latest_samples[i];
+ if (latest->sensor_type == sensor_type &&
+ latest->sensor_index == sensor_index)
+ return latest;
+ }
+
+ if (osf->latest_sample_count >= OSF_MAX_CAPABILITIES)
+ return NULL;
+
+ return &osf->latest_samples[osf->latest_sample_count++];
+}
+
+static bool
+osf_core_capability_supported(const struct osf_capability_entry *entry)
+{
+ return osf_iio_sensor_supported(entry->sensor_type,
+ entry->channel_count) &&
+ entry->sample_format == OSF_SAMPLE_FORMAT_S32 &&
+ !(entry->flags & ~OSF_CAPABILITY_FLAGS_MASK);
+}
+
+static const struct osf_capability_entry *
+osf_core_find_capability(const struct osf_capability_cache *cache,
+ u16 sensor_type, u16 sensor_index)
+{
+ for (u16 i = 0; i < cache->capability_count; i++) {
+ const struct osf_capability_entry *entry = &cache->entries[i];
+
+ if (entry->sensor_type == sensor_type &&
+ entry->sensor_index == sensor_index)
+ return entry;
+ }
+
+ return NULL;
+}
+
+static bool
+osf_core_capabilities_equal(const struct osf_capability_cache *old,
+ const struct osf_capability_cache *new)
+{
+ if (old->capability_count != new->capability_count)
+ return false;
+
+ for (u16 i = 0; i < old->capability_count; i++) {
+ const struct osf_capability_entry *entry = &old->entries[i];
+ const struct osf_capability_entry *other;
+
+ other = osf_core_find_capability(new, entry->sensor_type,
+ entry->sensor_index);
+ /* Type and the supported major version also fix the unit. */
+ if (!other || other->channel_count != entry->channel_count ||
+ other->sample_format != entry->sample_format ||
+ other->scale_nano != entry->scale_nano)
+ return false;
+ }
+
+ return true;
+}
+
+static bool osf_core_capability_is_duplicate(const struct osf_capability_cache *cache,
+ u16 index)
+{
+ const struct osf_capability_entry *entry = &cache->entries[index];
+
+ for (u16 i = 0; i < index; i++) {
+ if (cache->entries[i].sensor_type == entry->sensor_type &&
+ cache->entries[i].sensor_index == entry->sensor_index)
+ return true;
+ }
+
+ return false;
+}
+
+static int osf_core_register_capabilities(struct osf_device *osf,
+ const struct osf_capability_cache *cache)
+{
+ struct iio_dev *indio_dev;
+ int ret;
+
+ for (u16 i = 0; i < cache->capability_count; i++) {
+ ret = osf_iio_register_sensor(osf->dev, &cache->entries[i],
+ osf, &indio_dev);
+ if (ret)
+ goto err_unregister;
+
+ osf->iio_devs[osf->iio_dev_count++] = (struct osf_iio_binding) {
+ .sensor_type = cache->entries[i].sensor_type,
+ .sensor_index = cache->entries[i].sensor_index,
+ .indio_dev = indio_dev,
+ };
+ }
+
+ return 0;
+
+err_unregister:
+ osf_core_unregister_iio(osf);
+
+ return ret;
+}
+
+void osf_core_start(struct osf_device *osf)
+{
+ int ret;
+
+ if (osf->iio_ready)
+ return;
+
+ osf->iio_ready = true;
+ if (!osf->capability_cache.valid ||
+ !osf->capability_cache.capability_count)
+ return;
+
+ ret = osf_core_register_capabilities(osf, &osf->capability_cache);
+ if (ret) {
+ /* As with RX discovery failure, a later report may retry. */
+ osf->capability_cache.valid = false;
+ dev_err_ratelimited(osf->dev,
+ "failed to register pending capabilities: %d\n",
+ ret);
+ }
+}
+
+static int osf_core_handle_sensor_sample(struct osf_device *osf,
+ const struct osf_frame *frame)
+{
+ const struct osf_capability_entry *entry;
+ struct osf_latest_sample *latest;
+ struct osf_sensor_sample sample;
+ struct iio_dev *indio_dev;
+ s32 values[OSF_MAX_SAMPLE_CHANNELS] = { };
+ int ret;
+
+ ret = osf_protocol_decode_sensor_sample(frame, &sample);
+ if (ret) {
+ dev_warn_ratelimited(osf->dev,
+ "rejecting malformed sensor sample: %d\n",
+ ret);
+ return ret;
+ }
+
+ indio_dev = osf_core_find_iio_dev(osf, sample.sensor_type,
+ sample.sensor_index);
+ if (!indio_dev) {
+ dev_dbg_ratelimited(osf->dev,
+ "ignoring sample for unregistered sensor %#x:%u\n",
+ sample.sensor_type, sample.sensor_index);
+ return OSF_STREAM_FRAME_IGNORED;
+ }
+
+ entry = osf_core_find_capability(&osf->capability_cache,
+ sample.sensor_type, sample.sensor_index);
+ if (!entry || sample.channel_count != entry->channel_count ||
+ sample.sample_format != entry->sample_format ||
+ sample.scale_nano != entry->scale_nano)
+ return -EPROTO;
+
+ if (sample.channel_count > OSF_MAX_SAMPLE_CHANNELS) {
+ dev_warn_ratelimited(osf->dev,
+ "rejecting sensor sample with %u channels\n",
+ sample.channel_count);
+ return -E2BIG;
+ }
+
+ for (u16 i = 0; i < sample.channel_count; i++) {
+ ret = osf_protocol_sensor_sample_value(&sample, i, &values[i]);
+ if (ret) {
+ dev_warn_ratelimited(osf->dev,
+ "rejecting malformed sample value: %d\n",
+ ret);
+ return ret;
+ }
+ }
+
+ /* Serialize publication and cache admission with the session fault. */
+ guard(mutex)(&osf->latest_lock);
+ if (osf->session_fault)
+ return -EPROTO;
+
+ ret = osf_iio_push_sample(indio_dev, values, sample.channel_count);
+ if (ret) {
+ dev_err_ratelimited(osf->dev,
+ "failed to push sensor %#x:%u sample: %d\n",
+ sample.sensor_type, sample.sensor_index, ret);
+ return ret;
+ }
+
+ latest = osf_core_find_latest_sample(osf, sample.sensor_type,
+ sample.sensor_index);
+ if (!latest) {
+ dev_err_ratelimited(osf->dev,
+ "latest sample cache full for sensor %#x:%u\n",
+ sample.sensor_type,
+ sample.sensor_index);
+ return -ENOSPC;
+ }
+
+ memcpy(latest->values, values, sizeof(values));
+ latest->sensor_type = sample.sensor_type;
+ latest->sensor_index = sample.sensor_index;
+ latest->channel_count = sample.channel_count;
+ latest->sample_format = sample.sample_format;
+ latest->scale_nano = sample.scale_nano;
+ latest->sequence = frame->sequence;
+ latest->timestamp_us = frame->timestamp_us;
+ latest->valid = true;
+ osf->last_sequence = frame->sequence;
+
+ return OSF_STREAM_FRAME_HANDLED;
}
static int osf_core_handle_device_status(struct osf_device *osf,
@@ -45,6 +289,91 @@ static int osf_core_handle_device_status(struct osf_device *osf,
return OSF_STREAM_FRAME_HANDLED;
}
+static int osf_core_handle_capability_report(struct osf_device *osf,
+ const struct osf_frame *frame)
+{
+ struct osf_capability_cache cache = { };
+ struct osf_capability_report report;
+ int frame_result;
+ int ret;
+
+ ret = osf_protocol_decode_capability_report(frame, &report);
+ if (ret) {
+ dev_warn_ratelimited(osf->dev,
+ "rejecting malformed capability report: %d\n",
+ ret);
+ return ret;
+ }
+
+ for (u16 i = 0; i < report.capability_count; i++) {
+ struct osf_capability_entry entry;
+
+ ret = osf_protocol_decode_capability_entry(&report, i, &entry);
+ if (ret) {
+ dev_warn_ratelimited(osf->dev,
+ "rejecting malformed capability entry: %d\n",
+ ret);
+ return ret;
+ }
+
+ if (!osf_core_capability_supported(&entry))
+ continue;
+
+ if (!entry.scale_nano)
+ return -EPROTO;
+
+ if (cache.capability_count >= OSF_MAX_CAPABILITIES) {
+ dev_warn_ratelimited(osf->dev,
+ "too many supported capabilities\n");
+ return -E2BIG;
+ }
+
+ cache.entries[cache.capability_count] = entry;
+ if (osf_core_capability_is_duplicate(&cache, cache.capability_count)) {
+ dev_warn_ratelimited(osf->dev,
+ "rejecting duplicate capability\n");
+ return -EEXIST;
+ }
+ cache.capability_count++;
+ }
+
+ cache.sequence = frame->sequence;
+ cache.valid = cache.capability_count != 0;
+
+ if (osf->iio_dev_count) {
+ if (!osf_core_capabilities_equal(&osf->capability_cache, &cache)) {
+ guard(mutex)(&osf->latest_lock);
+ osf->session_fault = true;
+ return -EPROTO;
+ }
+
+ osf->last_sequence = frame->sequence;
+ return OSF_STREAM_FRAME_IGNORED;
+ }
+
+ frame_result = OSF_STREAM_FRAME_IGNORED;
+ if (cache.capability_count) {
+ if (osf->iio_ready) {
+ ret = osf_core_register_capabilities(osf, &cache);
+ if (ret) {
+ dev_err_ratelimited(osf->dev,
+ "failed to register capabilities: %d\n",
+ ret);
+ return ret;
+ }
+ }
+ frame_result = OSF_STREAM_FRAME_HANDLED;
+ } else {
+ dev_dbg_ratelimited(osf->dev,
+ "ignoring report without supported capabilities\n");
+ }
+
+ osf->capability_cache = cache;
+ osf->last_sequence = frame->sequence;
+
+ return frame_result;
+}
+
int osf_core_receive_frame(struct osf_device *osf, const u8 *buf, size_t len)
{
struct osf_frame frame;
@@ -70,9 +399,15 @@ int osf_core_receive_frame(struct osf_device *osf, const u8 *buf, size_t len)
* trusted frame boundary and let the stream consume the complete frame.
*/
switch (frame.message_type) {
+ case OSF_MSG_SENSOR_SAMPLE:
+ ret = osf_core_handle_sensor_sample(osf, &frame);
+ return ret < 0 ? OSF_STREAM_FRAME_REJECTED : ret;
case OSF_MSG_DEVICE_STATUS:
ret = osf_core_handle_device_status(osf, &frame);
return ret < 0 ? OSF_STREAM_FRAME_REJECTED : ret;
+ case OSF_MSG_CAPABILITY_REPORT:
+ ret = osf_core_handle_capability_report(osf, &frame);
+ return ret < 0 ? OSF_STREAM_FRAME_REJECTED : ret;
default:
if (frame.message_type >= OSF_RESERVED_MSG_FIRST &&
frame.message_type <= OSF_RESERVED_MSG_LAST) {
@@ -94,3 +429,32 @@ int osf_core_receive_frame(struct osf_device *osf, const u8 *buf, size_t len)
return OSF_STREAM_FRAME_IGNORED;
}
}
+
+int osf_core_read_latest_sample(struct osf_device *osf, u16 sensor_type,
+ u16 sensor_index, u16 channel,
+ s32 *value)
+{
+ const struct osf_latest_sample *latest;
+
+ if (!osf || !value)
+ return -EINVAL;
+
+ guard(mutex)(&osf->latest_lock);
+ if (osf->session_fault)
+ return -EPROTO;
+
+ for (unsigned int i = 0; i < osf->latest_sample_count; i++) {
+ latest = &osf->latest_samples[i];
+ if (latest->sensor_type != sensor_type ||
+ latest->sensor_index != sensor_index)
+ continue;
+
+ if (!latest->valid || channel >= latest->channel_count)
+ break;
+
+ *value = latest->values[channel];
+ return 0;
+ }
+
+ return -ENODATA;
+}
diff --git a/drivers/iio/sensorhubs/osf/osf_core.h b/drivers/iio/sensorhubs/osf/osf_core.h
index 7095e3f967fcde473f3f64b05061c3e9ab0996e4..1fd8e5db14434e8e3c67fa15186a842815ac3ab2 100644
--- a/drivers/iio/sensorhubs/osf/osf_core.h
+++ b/drivers/iio/sensorhubs/osf/osf_core.h
@@ -2,11 +2,35 @@
#ifndef _OSF_CORE_H
#define _OSF_CORE_H
+#include <linux/mutex.h>
#include <linux/types.h>
#include "osf_protocol.h"
+#define OSF_MAX_SAMPLE_CHANNELS 3
+#define OSF_MAX_CAPABILITIES 16
+
struct device;
+struct iio_dev;
+
+struct osf_latest_sample {
+ u16 sensor_type;
+ u16 sensor_index;
+ u16 channel_count;
+ u16 sample_format;
+ u32 scale_nano;
+ s32 values[OSF_MAX_SAMPLE_CHANNELS];
+ u64 sequence;
+ u64 timestamp_us;
+ bool valid;
+};
+
+struct osf_capability_cache {
+ u16 capability_count;
+ struct osf_capability_entry entries[OSF_MAX_CAPABILITIES];
+ u64 sequence;
+ bool valid;
+};
struct osf_status_cache {
u32 uptime_s;
@@ -17,13 +41,35 @@ struct osf_status_cache {
bool valid;
};
+struct osf_iio_binding {
+ u16 sensor_type;
+ u16 sensor_index;
+ struct iio_dev *indio_dev;
+};
+
struct osf_device {
struct device *dev;
+ bool iio_ready;
+ /* Protects session_fault and latest samples; nests outside buffer_lock. */
+ struct mutex latest_lock;
+ bool session_fault;
+ struct osf_latest_sample latest_samples[OSF_MAX_CAPABILITIES];
+ unsigned int latest_sample_count;
+ struct osf_capability_cache capability_cache;
struct osf_status_cache status_cache;
+ struct osf_iio_binding iio_devs[OSF_MAX_CAPABILITIES];
+ unsigned int iio_dev_count;
u64 last_sequence;
};
void osf_core_init(struct osf_device *osf, struct device *dev);
+/* Serialize start with receive_frame; pending entries own their data. */
+void osf_core_start(struct osf_device *osf);
+/* Stop the receive producer before teardown; init starts a fresh session. */
+void osf_core_unregister_iio(struct osf_device *osf);
int osf_core_receive_frame(struct osf_device *osf, const u8 *buf, size_t len);
+int osf_core_read_latest_sample(struct osf_device *osf, u16 sensor_type,
+ u16 sensor_index, u16 channel,
+ s32 *value);
#endif
diff --git a/drivers/iio/sensorhubs/osf/osf_iio.c b/drivers/iio/sensorhubs/osf/osf_iio.c
new file mode 100644
index 0000000000000000000000000000000000000000..24a5393ef4176aa4742833b01391dc88d03a5011
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/osf_iio.c
@@ -0,0 +1,288 @@
+// SPDX-License-Identifier: GPL-2.0-only
+
+#include <linux/array_size.h>
+#include <linux/bitmap.h>
+#include <linux/bitops.h>
+#include <linux/errno.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/kfifo_buf.h>
+#include <linux/types.h>
+#include <linux/units.h>
+
+#include "osf_core.h"
+#include "osf_iio.h"
+
+struct osf_iio_sensor_spec {
+ u16 sensor_type;
+ u16 channel_count;
+ const char *name;
+ const struct iio_chan_spec *channels;
+ unsigned int num_channels;
+};
+
+struct osf_iio_state {
+ const struct osf_iio_sensor_spec *spec;
+ struct iio_buffer *buffer;
+ u32 scale_nano;
+ u16 sensor_index;
+ struct osf_device *osf;
+};
+
+#define OSF_CHAN(_type, _mod, _idx) \
+ { \
+ .type = (_type), \
+ .modified = ((_mod) != IIO_NO_MOD), \
+ .channel2 = (_mod), \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .scan_index = (_idx), \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 32, \
+ .storagebits = 32, \
+ .endianness = IIO_CPU, \
+ }, \
+ }
+
+static const struct iio_chan_spec osf_accel_channels[] = {
+ OSF_CHAN(IIO_ACCEL, IIO_MOD_X, 0),
+ OSF_CHAN(IIO_ACCEL, IIO_MOD_Y, 1),
+ OSF_CHAN(IIO_ACCEL, IIO_MOD_Z, 2),
+ IIO_CHAN_SOFT_TIMESTAMP(3),
+};
+
+static const struct iio_chan_spec osf_gyro_channels[] = {
+ OSF_CHAN(IIO_ANGL_VEL, IIO_MOD_X, 0),
+ OSF_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, 1),
+ OSF_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, 2),
+ IIO_CHAN_SOFT_TIMESTAMP(3),
+};
+
+static const struct iio_chan_spec osf_mag_channels[] = {
+ OSF_CHAN(IIO_MAGN, IIO_MOD_X, 0),
+ OSF_CHAN(IIO_MAGN, IIO_MOD_Y, 1),
+ OSF_CHAN(IIO_MAGN, IIO_MOD_Z, 2),
+ IIO_CHAN_SOFT_TIMESTAMP(3),
+};
+
+static const struct iio_chan_spec osf_temp_channels[] = {
+ OSF_CHAN(IIO_TEMP, IIO_NO_MOD, 0),
+ IIO_CHAN_SOFT_TIMESTAMP(1),
+};
+
+static const struct osf_iio_sensor_spec osf_iio_sensor_specs[] = {
+ {
+ .sensor_type = OSF_SENSOR_ACCELEROMETER,
+ .channel_count = 3,
+ .name = "osf-accel",
+ .channels = osf_accel_channels,
+ .num_channels = ARRAY_SIZE(osf_accel_channels),
+ },
+ {
+ .sensor_type = OSF_SENSOR_GYROSCOPE,
+ .channel_count = 3,
+ .name = "osf-gyro",
+ .channels = osf_gyro_channels,
+ .num_channels = ARRAY_SIZE(osf_gyro_channels),
+ },
+ {
+ .sensor_type = OSF_SENSOR_MAGNETOMETER,
+ .channel_count = 3,
+ .name = "osf-magn",
+ .channels = osf_mag_channels,
+ .num_channels = ARRAY_SIZE(osf_mag_channels),
+ },
+ {
+ .sensor_type = OSF_SENSOR_TEMPERATURE,
+ .channel_count = 1,
+ .name = "osf-temp",
+ .channels = osf_temp_channels,
+ .num_channels = ARRAY_SIZE(osf_temp_channels),
+ },
+};
+
+static const struct osf_iio_sensor_spec *
+osf_iio_find_sensor_spec(u16 sensor_type, u16 channel_count)
+{
+ for (unsigned int i = 0; i < ARRAY_SIZE(osf_iio_sensor_specs); i++) {
+ if (osf_iio_sensor_specs[i].sensor_type == sensor_type &&
+ osf_iio_sensor_specs[i].channel_count == channel_count)
+ return &osf_iio_sensor_specs[i];
+ }
+
+ return NULL;
+}
+
+bool osf_iio_sensor_supported(u16 sensor_type, u16 channel_count)
+{
+ return osf_iio_find_sensor_spec(sensor_type, channel_count) != NULL;
+}
+
+const char *osf_iio_sensor_name(u16 sensor_type)
+{
+ for (unsigned int i = 0; i < ARRAY_SIZE(osf_iio_sensor_specs); i++) {
+ if (osf_iio_sensor_specs[i].sensor_type == sensor_type)
+ return osf_iio_sensor_specs[i].name;
+ }
+
+ return NULL;
+}
+
+static int osf_iio_read_raw(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan, int *val,
+ int *val2, long mask)
+{
+ struct osf_iio_state *state = iio_priv(indio_dev);
+ s32 raw;
+ int ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = osf_core_read_latest_sample(state->osf,
+ state->spec->sensor_type,
+ state->sensor_index,
+ chan->scan_index, &raw);
+ if (ret)
+ return ret;
+
+ *val = raw;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ *val = state->scale_nano / NANO;
+ *val2 = state->scale_nano % NANO;
+ return IIO_VAL_INT_PLUS_NANO;
+ default:
+ return -EINVAL;
+ }
+}
+
+static const struct iio_info osf_iio_info = {
+ .read_raw = osf_iio_read_raw,
+};
+
+int osf_iio_register_sensor(struct device *dev,
+ const struct osf_capability_entry *entry,
+ struct osf_device *osf, struct iio_dev **indio_dev)
+{
+ const struct osf_iio_sensor_spec *spec;
+ struct osf_iio_state *state;
+ struct iio_dev *iio_dev;
+ int ret;
+
+ spec = osf_iio_find_sensor_spec(entry->sensor_type,
+ entry->channel_count);
+ if (!spec)
+ return -EOPNOTSUPP;
+
+ if (entry->sample_format != OSF_SAMPLE_FORMAT_S32 ||
+ (entry->flags & ~OSF_CAPABILITY_FLAGS_MASK))
+ return -EOPNOTSUPP;
+
+ if (!entry->scale_nano)
+ return -EINVAL;
+
+ iio_dev = iio_device_alloc(dev, sizeof(*state));
+ if (!iio_dev)
+ return -ENOMEM;
+
+ state = iio_priv(iio_dev);
+ state->spec = spec;
+ state->scale_nano = entry->scale_nano;
+ state->sensor_index = entry->sensor_index;
+ state->osf = osf;
+
+ iio_dev->name = spec->name;
+ iio_dev->info = &osf_iio_info;
+ iio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE;
+ iio_dev->channels = spec->channels;
+ iio_dev->num_channels = spec->num_channels;
+
+ state->buffer = iio_kfifo_allocate();
+ if (!state->buffer) {
+ ret = -ENOMEM;
+ goto err_free_iio;
+ }
+
+ ret = iio_device_attach_buffer(iio_dev, state->buffer);
+ if (ret)
+ goto err_free_buffer;
+
+ ret = iio_device_register(iio_dev);
+ if (ret)
+ goto err_free_buffer;
+
+ *indio_dev = iio_dev;
+
+ return 0;
+
+err_free_buffer:
+ iio_kfifo_free(state->buffer);
+err_free_iio:
+ iio_device_free(iio_dev);
+
+ return ret;
+}
+
+void osf_iio_unregister_sensor(struct iio_dev *indio_dev)
+{
+ struct osf_iio_state *state = iio_priv(indio_dev);
+
+ iio_device_unregister(indio_dev);
+ iio_kfifo_free(state->buffer);
+ iio_device_free(indio_dev);
+}
+
+int osf_iio_push_sample(struct iio_dev *indio_dev, const s32 *values,
+ u16 channel_count)
+{
+ struct osf_iio_state *state = iio_priv(indio_dev);
+ s64 timestamp;
+ int ret;
+
+ if (channel_count != state->spec->channel_count)
+ return -EPROTO;
+
+ if (!iio_device_try_claim_buffer_mode(indio_dev))
+ return 0;
+
+ timestamp = iio_get_time_ns(indio_dev);
+
+ switch (channel_count) {
+ case 1: {
+ struct {
+ s32 value;
+ aligned_s64 timestamp;
+ } scan = { };
+
+ scan.value = values[0];
+
+ ret = iio_push_to_buffers_with_ts(indio_dev, &scan,
+ sizeof(scan), timestamp);
+ break;
+ }
+ case 3: {
+ struct {
+ s32 values[3];
+ aligned_s64 timestamp;
+ } scan = { };
+ unsigned int index = 0;
+ unsigned int channel;
+
+ /* Pack the active channels; unused storage remains initialized. */
+ for_each_set_bit(channel, indio_dev->active_scan_mask, channel_count)
+ scan.values[index++] = values[channel];
+
+ ret = iio_push_to_buffers_with_ts(indio_dev, &scan,
+ sizeof(scan), timestamp);
+ break;
+ }
+ default:
+ ret = -EPROTO;
+ break;
+ }
+
+ iio_device_release_buffer_mode(indio_dev);
+
+ return ret;
+}
diff --git a/drivers/iio/sensorhubs/osf/osf_iio.h b/drivers/iio/sensorhubs/osf/osf_iio.h
new file mode 100644
index 0000000000000000000000000000000000000000..d0745167f8e05666d7667555a027eeaad11fb0ec
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/osf_iio.h
@@ -0,0 +1,22 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+#ifndef _OSF_IIO_H
+#define _OSF_IIO_H
+
+#include <linux/types.h>
+
+#include "osf_protocol.h"
+
+struct device;
+struct iio_dev;
+struct osf_device;
+
+int osf_iio_register_sensor(struct device *dev,
+ const struct osf_capability_entry *entry,
+ struct osf_device *osf, struct iio_dev **indio_dev);
+void osf_iio_unregister_sensor(struct iio_dev *indio_dev);
+int osf_iio_push_sample(struct iio_dev *indio_dev, const s32 *values,
+ u16 channel_count);
+bool osf_iio_sensor_supported(u16 sensor_type, u16 channel_count);
+const char *osf_iio_sensor_name(u16 sensor_type);
+
+#endif
diff --git a/drivers/iio/sensorhubs/osf/osf_serdev.c b/drivers/iio/sensorhubs/osf/osf_serdev.c
index 791bef93e4b8495fdfdf673faddc2059696e8872..dceac281443206588ee42b6abf08bcdb7ae2dc25 100644
--- a/drivers/iio/sensorhubs/osf/osf_serdev.c
+++ b/drivers/iio/sensorhubs/osf/osf_serdev.c
@@ -68,9 +68,10 @@ static void osf_serdev_release(void *data)
{
struct osf_serdev *osf_uart = data;
- /* The TTY controller drains RX work on close; hold no RX lock. */
+ /* The TTY controller drains RX work on close; hold no RX or IIO lock. */
serdev_device_close(osf_uart->serdev);
osf_stream_reset(&osf_uart->stream);
+ osf_core_unregister_iio(&osf_uart->osf);
if (osf_uart->vcc_enabled)
regulator_disable(osf_uart->vcc);
}
@@ -124,6 +125,10 @@ static int osf_serdev_probe(struct serdev_device *serdev)
return dev_err_probe(dev, ret, "failed to enable vcc regulator\n");
osf_uart->vcc_enabled = true;
+ /* No fallible probe steps remain when IIO children become visible. */
+ scoped_guard(mutex, &osf_uart->lock)
+ osf_core_start(&osf_uart->osf);
+
return 0;
}
^ permalink raw reply [flat|nested] 9+ messages in thread
* [PATCH v11 7/8] iio: osf: add core KUnit tests
2026-10-11 23:13 [PATCH v11 0/8] iio: add Open Sensor Fusion UART support Jinseob Kim
` (5 preceding siblings ...)
2026-10-11 23:13 ` [PATCH v11 6/8] iio: osf: add IIO devices from capability reports Jinseob Kim
@ 2026-10-11 23:13 ` Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 8/8] iio: osf: add IIO " Jinseob Kim
7 siblings, 0 replies; 9+ messages in thread
From: Jinseob Kim @ 2026-10-11 23:13 UTC (permalink / raw)
To: jic23, linux-iio
Cc: kimjinseob88, dlechner, nuno.sa, andy, robh, krzk+dt, conor+dt,
neil.armstrong, andersson, prabhakar.mahadev-lad.rj, devicetree,
linux-kernel, corbet, skhan, rdunlap, linux-doc
Exercise capability discovery, complete repeated inventories, sample-cache
admission, exact lengths, reserved wire bytes and session faults. Protect
producer lifetime with deferred cleanup and close the session mutex
lifecycle before reinitialization.
Assisted-by: LLM
Signed-off-by: Jinseob Kim <kimjinseob88@gmail.com>
---
drivers/iio/sensorhubs/osf/Kconfig | 12 +
drivers/iio/sensorhubs/osf/Makefile | 1 +
drivers/iio/sensorhubs/osf/osf_core_test.c | 1056 ++++++++++++++++++++
3 files changed, 1069 insertions(+)
create mode 100644 drivers/iio/sensorhubs/osf/osf_core_test.c
diff --git a/drivers/iio/sensorhubs/osf/Kconfig b/drivers/iio/sensorhubs/osf/Kconfig
index f955a1f2993d244369943efbd853b9d2c6d47139..316f33be1327ca85eb18920b8d610a3e983439d2 100644
--- a/drivers/iio/sensorhubs/osf/Kconfig
+++ b/drivers/iio/sensorhubs/osf/Kconfig
@@ -13,3 +13,15 @@ config OPEN_SENSOR_FUSION
registers IIO devices for supported capability entries. It exposes
accelerometer, gyroscope, magnetometer, and temperature samples
through IIO direct reads and software buffers.
+
+config OPEN_SENSOR_FUSION_KUNIT_TEST
+ bool "KUnit tests for Open Sensor Fusion" if !KUNIT_ALL_TESTS
+ depends on OPEN_SENSOR_FUSION=y && KUNIT=y
+ default KUNIT_ALL_TESTS
+ help
+ Build focused unit tests for the Open Sensor Fusion core sample
+ acceptance, direct-read cache, and capability/session handling. The tests
+ exercise accepted, ignored, and rejected sample handling without
+ exposing additional production interfaces.
+
+ If unsure, say N.
diff --git a/drivers/iio/sensorhubs/osf/Makefile b/drivers/iio/sensorhubs/osf/Makefile
index b4e03b80cfa4cca6a67e6cd8228a4776a38dcb72..c2f5ba065a62fef2a4897034239b405ccdd69250 100644
--- a/drivers/iio/sensorhubs/osf/Makefile
+++ b/drivers/iio/sensorhubs/osf/Makefile
@@ -4,3 +4,4 @@ obj-$(CONFIG_OPEN_SENSOR_FUSION) += open-sensor-fusion.o
open-sensor-fusion-y := osf_core.o osf_iio.o osf_protocol.o osf_serdev.o \
osf_stream.o
+open-sensor-fusion-$(CONFIG_OPEN_SENSOR_FUSION_KUNIT_TEST) += osf_core_test.o
diff --git a/drivers/iio/sensorhubs/osf/osf_core_test.c b/drivers/iio/sensorhubs/osf/osf_core_test.c
new file mode 100644
index 0000000000000000000000000000000000000000..fabf19018b200359bcfe5a910e6190daae3d22f2
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/osf_core_test.c
@@ -0,0 +1,1056 @@
+// SPDX-License-Identifier: GPL-2.0-only
+
+#include <kunit/device.h>
+#include <kunit/test.h>
+
+#include <linux/bitmap.h>
+#include <linux/crc32.h>
+#include <linux/completion.h>
+#include <linux/delay.h>
+#include <linux/err.h>
+#include <linux/errno.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/buffer_impl.h>
+#include <linux/iio/iio.h>
+#include <linux/module.h>
+#include <linux/kthread.h>
+#include <linux/string.h>
+#include <linux/types.h>
+#include <linux/unaligned.h>
+
+#include "osf_core.h"
+#include "osf_protocol.h"
+#include "osf_stream.h"
+
+#define OSF_TEST_SENSOR_INDEX 0
+#define OSF_TEST_UNSUPPORTED_INDEX 7
+#define OSF_TEST_SCALE_NANO 1000000
+#define OSF_TEST_FLOOD_COUNT (OSF_MAX_CAPABILITIES + 4)
+#define OSF_TEST_MAX_PAYLOAD_LEN \
+ (OSF_SENSOR_SAMPLE_BASE_LEN + OSF_MAX_SAMPLE_CHANNELS * sizeof(__le32))
+#define OSF_TEST_MAX_FRAME_LEN \
+ (OSF_FRAME_HEADER_LEN + OSF_CAP_REPORT_BASE_LEN + \
+ 3 * OSF_CAP_SENSOR_ENTRY_LEN + OSF_FRAME_CRC_LEN)
+
+struct osf_test_context {
+ struct osf_device osf;
+ struct device *dev;
+ struct iio_dev *indio_dev;
+ struct iio_buffer *buffer;
+ bool buffer_enabled;
+};
+
+struct osf_test_scan_3axis {
+ s32 values[3];
+};
+
+static size_t osf_test_build_frame(u8 *buf, size_t buf_size,
+ u16 message_type, const u8 *payload,
+ u32 payload_len, u64 sequence)
+{
+ size_t frame_len = OSF_FRAME_HEADER_LEN + payload_len +
+ OSF_FRAME_CRC_LEN;
+ u32 crc;
+
+ if (frame_len > buf_size)
+ return 0;
+
+ memset(buf, 0, frame_len);
+ put_unaligned_le32(OSF_FRAME_MAGIC, buf);
+ buf[4] = OSF_PROTOCOL_MAJOR;
+ buf[5] = OSF_PROTOCOL_MINOR;
+ put_unaligned_le16(OSF_FRAME_HEADER_LEN, buf + 6);
+ put_unaligned_le16(message_type, buf + 8);
+ put_unaligned_le32(payload_len, buf + 10);
+ put_unaligned_le64(sequence, buf + 14);
+ put_unaligned_le64(sequence * 1000, buf + 22);
+ memcpy(buf + OSF_FRAME_HEADER_LEN, payload, payload_len);
+
+ crc = crc32_le(~0U, buf, OSF_FRAME_HEADER_LEN + payload_len) ^ ~0U;
+ put_unaligned_le32(crc, buf + OSF_FRAME_HEADER_LEN + payload_len);
+
+ return frame_len;
+}
+
+static size_t osf_test_build_capability_frame(u8 *buf, size_t buf_size,
+ u64 sequence)
+{
+ u8 payload[OSF_CAP_REPORT_BASE_LEN +
+ 2 * OSF_CAP_SENSOR_ENTRY_LEN] = { };
+ u8 *supported = payload + OSF_CAP_REPORT_BASE_LEN;
+ u8 *unsupported = supported + OSF_CAP_SENSOR_ENTRY_LEN;
+
+ put_unaligned_le16(2, payload);
+ put_unaligned_le16(OSF_SENSOR_ACCELEROMETER, supported);
+ put_unaligned_le16(OSF_TEST_SENSOR_INDEX, supported + 2);
+ put_unaligned_le16(3, supported + 4);
+ put_unaligned_le16(OSF_SAMPLE_FORMAT_S32, supported + 6);
+ put_unaligned_le32(OSF_TEST_SCALE_NANO, supported + 8);
+
+ put_unaligned_le16(OSF_SENSOR_BAROMETER, unsupported);
+ put_unaligned_le16(OSF_TEST_UNSUPPORTED_INDEX, unsupported + 2);
+ put_unaligned_le16(1, unsupported + 4);
+ put_unaligned_le16(OSF_SAMPLE_FORMAT_S32, unsupported + 6);
+ put_unaligned_le32(OSF_TEST_SCALE_NANO, unsupported + 8);
+
+ return osf_test_build_frame(buf, buf_size, OSF_MSG_CAPABILITY_REPORT,
+ payload, sizeof(payload), sequence);
+}
+
+static size_t osf_test_build_sample_frame(u8 *buf, size_t buf_size,
+ u16 sensor_type, u16 sensor_index,
+ u16 channel_count, u16 sample_format,
+ const s32 *values, u64 sequence)
+{
+ u8 payload[OSF_TEST_MAX_PAYLOAD_LEN] = { };
+ u32 payload_len;
+
+ if (!channel_count || channel_count > OSF_MAX_SAMPLE_CHANNELS)
+ return 0;
+
+ put_unaligned_le16(sensor_type, payload);
+ put_unaligned_le16(sensor_index, payload + 2);
+ put_unaligned_le16(channel_count, payload + 4);
+ put_unaligned_le16(sample_format, payload + 6);
+ put_unaligned_le32(OSF_TEST_SCALE_NANO, payload + 8);
+
+ for (u16 i = 0; i < channel_count; i++)
+ put_unaligned_le32(values[i],
+ payload + OSF_SENSOR_SAMPLE_BASE_LEN +
+ i * sizeof(__le32));
+
+ payload_len = OSF_SENSOR_SAMPLE_BASE_LEN +
+ channel_count * sizeof(__le32);
+
+ return osf_test_build_frame(buf, buf_size, OSF_MSG_SENSOR_SAMPLE,
+ payload, payload_len, sequence);
+}
+
+static size_t osf_test_build_truncated_sample_frame(u8 *buf, size_t buf_size,
+ u64 sequence)
+{
+ u8 payload[OSF_SENSOR_SAMPLE_BASE_LEN + sizeof(__le32)] = { };
+
+ put_unaligned_le16(OSF_SENSOR_ACCELEROMETER, payload);
+ put_unaligned_le16(OSF_TEST_SENSOR_INDEX, payload + 2);
+ put_unaligned_le16(3, payload + 4);
+ put_unaligned_le16(OSF_SAMPLE_FORMAT_S32, payload + 6);
+ put_unaligned_le32(OSF_TEST_SCALE_NANO, payload + 8);
+ put_unaligned_le32(42, payload + OSF_SENSOR_SAMPLE_BASE_LEN);
+
+ return osf_test_build_frame(buf, buf_size, OSF_MSG_SENSOR_SAMPLE,
+ payload, sizeof(payload), sequence);
+}
+
+/* Keep frame-construction scratch out of the caller's KASAN stack frame. */
+static noinline int osf_test_submit_sample(struct osf_test_context *ctx,
+ u16 sensor_type, u16 sensor_index,
+ u16 channel_count, u16 sample_format,
+ const s32 *values, u64 sequence)
+{
+ u8 frame[OSF_TEST_MAX_FRAME_LEN];
+ size_t frame_len;
+
+ frame_len = osf_test_build_sample_frame(frame, sizeof(frame),
+ sensor_type, sensor_index,
+ channel_count, sample_format,
+ values, sequence);
+ if (!frame_len)
+ return -EINVAL;
+
+ return osf_core_receive_frame(&ctx->osf, frame, frame_len);
+}
+
+static int osf_test_read_raw(struct osf_test_context *ctx,
+ unsigned int channel, int *value)
+{
+ int value2 = 0;
+
+ return ctx->indio_dev->info->read_raw(ctx->indio_dev,
+ &ctx->indio_dev->channels[channel],
+ value, &value2,
+ IIO_CHAN_INFO_RAW);
+}
+
+static int osf_test_remove_scan(struct osf_test_context *ctx,
+ struct osf_test_scan_3axis *scan)
+{
+ return iio_pop_from_buffer(ctx->buffer, scan);
+}
+
+static int osf_test_enable_buffer(struct osf_test_context *ctx)
+{
+ unsigned long *scan_mask;
+ int ret;
+
+ scan_mask = (unsigned long *)ctx->buffer->scan_mask;
+ for (unsigned int i = 0; i < 3; i++)
+ bitmap_set(scan_mask, ctx->indio_dev->channels[i].scan_index, 1);
+ ret = iio_update_buffers(ctx->indio_dev, ctx->buffer, NULL);
+ if (!ret)
+ ctx->buffer_enabled = true;
+
+ return ret;
+}
+
+static void osf_test_cleanup(void *data)
+{
+ struct osf_test_context *ctx = data;
+
+ if (ctx->buffer_enabled) {
+ iio_update_buffers(ctx->indio_dev, NULL, ctx->buffer);
+ ctx->buffer_enabled = false;
+ }
+
+ osf_core_unregister_iio(&ctx->osf);
+ mutex_destroy(&ctx->osf.latest_lock);
+}
+
+static int osf_test_init(struct kunit *test)
+{
+ struct osf_test_context *ctx;
+ u8 frame[OSF_TEST_MAX_FRAME_LEN];
+ size_t frame_len;
+ int ret;
+
+ ctx = kunit_kzalloc(test, sizeof(*ctx), GFP_KERNEL);
+ if (!ctx)
+ return -ENOMEM;
+
+ test->priv = ctx;
+ ctx->dev = kunit_device_register(test, "osf-core");
+ if (IS_ERR(ctx->dev))
+ return PTR_ERR(ctx->dev);
+ if (!ctx->dev)
+ return -ENOMEM;
+
+ osf_core_init(&ctx->osf, ctx->dev);
+ osf_core_start(&ctx->osf);
+ ret = kunit_add_action_or_reset(test, osf_test_cleanup, ctx);
+ if (ret)
+ return ret;
+
+ frame_len = osf_test_build_capability_frame(frame, sizeof(frame), 1);
+ if (!frame_len)
+ return -EINVAL;
+
+ ret = osf_core_receive_frame(&ctx->osf, frame, frame_len);
+ if (ret != OSF_STREAM_FRAME_HANDLED)
+ return ret < 0 ? ret : -EINVAL;
+ if (ctx->osf.iio_dev_count != 1 ||
+ ctx->osf.capability_cache.capability_count != 1)
+ return -EINVAL;
+
+ ctx->indio_dev = ctx->osf.iio_devs[0].indio_dev;
+ ctx->buffer = ctx->indio_dev->buffer;
+ if (!ctx->buffer)
+ return -EINVAL;
+
+ return 0;
+}
+
+static void osf_test_expect_direct_sample(struct kunit *test,
+ struct osf_test_context *ctx,
+ const s32 *expected)
+{
+ int value;
+ int ret;
+
+ for (unsigned int i = 0; i < 3; i++) {
+ value = 0;
+ ret = osf_test_read_raw(ctx, i, &value);
+ KUNIT_EXPECT_EQ(test, ret, IIO_VAL_INT);
+ KUNIT_EXPECT_EQ(test, value, expected[i]);
+ }
+}
+
+static void
+osf_rejected_channel_count_preserves_latest_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ const s32 baseline_values[] = { 11, 22, 33 };
+ const s32 rejected_values[] = { -999 };
+ struct osf_sensor_sample decoded_sample;
+ struct osf_latest_sample baseline;
+ struct osf_test_scan_3axis scan;
+ struct osf_frame decoded_frame;
+ u8 rejected_frame[OSF_TEST_MAX_FRAME_LEN];
+ size_t decoded_len;
+ size_t frame_len;
+ u64 baseline_sequence;
+ int ret;
+
+ KUNIT_ASSERT_EQ(test, osf_test_enable_buffer(ctx), 0);
+ KUNIT_ASSERT_TRUE(test, iio_buffer_enabled(ctx->indio_dev));
+
+ ret = osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ OSF_TEST_SENSOR_INDEX, 3,
+ OSF_SAMPLE_FORMAT_S32,
+ baseline_values, 2);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_HANDLED);
+ KUNIT_ASSERT_EQ(test, ctx->osf.latest_sample_count, 1U);
+ osf_test_expect_direct_sample(test, ctx, baseline_values);
+
+ KUNIT_ASSERT_EQ(test, osf_test_remove_scan(ctx, &scan), 0);
+
+ baseline = ctx->osf.latest_samples[0];
+ baseline_sequence = ctx->osf.last_sequence;
+ frame_len = osf_test_build_sample_frame(rejected_frame,
+ sizeof(rejected_frame),
+ OSF_SENSOR_ACCELEROMETER,
+ OSF_TEST_SENSOR_INDEX, 1,
+ OSF_SAMPLE_FORMAT_S32,
+ rejected_values, 3);
+ KUNIT_ASSERT_NE(test, frame_len, (size_t)0);
+ KUNIT_ASSERT_EQ(test,
+ osf_protocol_decode_frame(rejected_frame, frame_len,
+ &decoded_frame, &decoded_len), 0);
+ KUNIT_ASSERT_EQ(test, decoded_len, frame_len);
+ KUNIT_ASSERT_EQ(test,
+ osf_protocol_decode_sensor_sample(&decoded_frame,
+ &decoded_sample), 0);
+ KUNIT_ASSERT_EQ(test, decoded_sample.channel_count, (u16)1);
+ ret = osf_core_receive_frame(&ctx->osf, rejected_frame, frame_len);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_REJECTED);
+ KUNIT_EXPECT_EQ(test, ctx->osf.latest_sample_count, 1U);
+ KUNIT_EXPECT_MEMEQ(test, &ctx->osf.latest_samples[0], &baseline,
+ sizeof(baseline));
+ KUNIT_EXPECT_EQ(test, ctx->osf.last_sequence, baseline_sequence);
+ osf_test_expect_direct_sample(test, ctx, baseline_values);
+ KUNIT_EXPECT_EQ(test, osf_test_remove_scan(ctx, &scan), -EBUSY);
+}
+
+static void
+osf_valid_sample_updates_direct_and_buffer_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ const s32 baseline_values[] = { 1, 2, 3 };
+ const s32 rejected_values[] = { -1 };
+ const s32 valid_values[] = { 101, -202, 303 };
+ struct osf_test_scan_3axis scan = { };
+ int ret;
+
+ KUNIT_ASSERT_EQ(test, osf_test_enable_buffer(ctx), 0);
+
+ ret = osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ OSF_TEST_SENSOR_INDEX, 3,
+ OSF_SAMPLE_FORMAT_S32,
+ baseline_values, 2);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_HANDLED);
+ KUNIT_ASSERT_EQ(test, osf_test_remove_scan(ctx, &scan), 0);
+
+ ret = osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ OSF_TEST_SENSOR_INDEX, 1,
+ OSF_SAMPLE_FORMAT_S32,
+ rejected_values, 3);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_REJECTED);
+ KUNIT_ASSERT_EQ(test, osf_test_remove_scan(ctx, &scan), -EBUSY);
+
+ ret = osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ OSF_TEST_SENSOR_INDEX, 3,
+ OSF_SAMPLE_FORMAT_S32,
+ valid_values, 4);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_HANDLED);
+ osf_test_expect_direct_sample(test, ctx, valid_values);
+ KUNIT_ASSERT_EQ(test, ctx->indio_dev->scan_bytes, (int)sizeof(scan));
+ KUNIT_ASSERT_EQ(test, osf_test_remove_scan(ctx, &scan), 0);
+ KUNIT_EXPECT_EQ(test, scan.values[0], valid_values[0]);
+ KUNIT_EXPECT_EQ(test, scan.values[1], valid_values[1]);
+ KUNIT_EXPECT_EQ(test, scan.values[2], valid_values[2]);
+ KUNIT_EXPECT_EQ(test, osf_test_remove_scan(ctx, &scan), -EBUSY);
+}
+
+static void osf_unregistered_sample_is_ignored_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ const s32 baseline_values[] = { 10, 20, 30 };
+ const s32 ignored_values[] = { -10, -20, -30 };
+ struct osf_latest_sample baseline;
+ struct osf_test_scan_3axis scan;
+ s32 value;
+ int ret;
+
+ KUNIT_ASSERT_EQ(test, osf_test_enable_buffer(ctx), 0);
+ ret = osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ OSF_TEST_SENSOR_INDEX, 3,
+ OSF_SAMPLE_FORMAT_S32,
+ baseline_values, 2);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_HANDLED);
+ KUNIT_ASSERT_EQ(test, osf_test_remove_scan(ctx, &scan), 0);
+ baseline = ctx->osf.latest_samples[0];
+
+ ret = osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ OSF_TEST_SENSOR_INDEX + 1, 3,
+ OSF_SAMPLE_FORMAT_S32,
+ ignored_values, 3);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_IGNORED);
+ KUNIT_EXPECT_EQ(test, ctx->osf.iio_dev_count, 1U);
+ KUNIT_EXPECT_EQ(test, ctx->osf.latest_sample_count, 1U);
+ KUNIT_EXPECT_MEMEQ(test, &ctx->osf.latest_samples[0], &baseline,
+ sizeof(baseline));
+ osf_test_expect_direct_sample(test, ctx, baseline_values);
+ ret = osf_core_read_latest_sample(&ctx->osf,
+ OSF_SENSOR_ACCELEROMETER,
+ OSF_TEST_SENSOR_INDEX + 1,
+ 0, &value);
+ KUNIT_EXPECT_EQ(test, ret, -ENODATA);
+ KUNIT_EXPECT_EQ(test, osf_test_remove_scan(ctx, &scan), -EBUSY);
+}
+
+static void
+osf_unaccepted_samples_do_not_exhaust_cache_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ const s32 three_values[] = { 7, 8, 9 };
+ const s32 one_value[] = { 42 };
+ struct osf_latest_sample *empty_cache;
+ struct osf_sensor_sample decoded_sample;
+ struct osf_frame decoded_frame;
+ u8 malformed_frame[OSF_TEST_MAX_FRAME_LEN];
+ size_t decoded_len;
+ size_t frame_len;
+ int value;
+ int ret;
+
+ KUNIT_ASSERT_EQ(test, ctx->osf.latest_sample_count, 0U);
+ empty_cache = kunit_kzalloc(test, sizeof(ctx->osf.latest_samples), GFP_KERNEL);
+ KUNIT_ASSERT_NOT_NULL(test, empty_cache);
+ memcpy(empty_cache, ctx->osf.latest_samples, sizeof(ctx->osf.latest_samples));
+
+ for (unsigned int i = 0; i < OSF_TEST_FLOOD_COUNT; i++) {
+ ret = osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ OSF_TEST_SENSOR_INDEX + i + 1,
+ 3, OSF_SAMPLE_FORMAT_S32,
+ three_values, 100 + i);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_IGNORED);
+ }
+ KUNIT_ASSERT_EQ(test, ctx->osf.latest_sample_count, 0U);
+
+ for (unsigned int i = 0; i < OSF_TEST_FLOOD_COUNT; i++) {
+ ret = osf_test_submit_sample(ctx, OSF_SENSOR_BAROMETER,
+ OSF_TEST_UNSUPPORTED_INDEX, 1,
+ OSF_SAMPLE_FORMAT_S32,
+ one_value, 200 + i);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_IGNORED);
+ }
+ KUNIT_ASSERT_EQ(test, ctx->osf.latest_sample_count, 0U);
+
+ for (unsigned int i = 0; i < OSF_TEST_FLOOD_COUNT; i++) {
+ ret = osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ OSF_TEST_SENSOR_INDEX, 1,
+ OSF_SAMPLE_FORMAT_S32,
+ one_value, 300 + i);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_REJECTED);
+ }
+ KUNIT_ASSERT_EQ(test, ctx->osf.latest_sample_count, 0U);
+
+ frame_len = osf_test_build_truncated_sample_frame(malformed_frame,
+ sizeof(malformed_frame), 400);
+ KUNIT_ASSERT_NE(test, frame_len, (size_t)0);
+ KUNIT_ASSERT_EQ(test,
+ osf_protocol_decode_frame(malformed_frame, frame_len,
+ &decoded_frame, &decoded_len), 0);
+ KUNIT_ASSERT_EQ(test, decoded_len, frame_len);
+ KUNIT_ASSERT_EQ(test,
+ osf_protocol_decode_sensor_sample(&decoded_frame,
+ &decoded_sample),
+ -EMSGSIZE);
+
+ for (unsigned int i = 0; i < OSF_TEST_FLOOD_COUNT; i++) {
+ ret = osf_core_receive_frame(&ctx->osf, malformed_frame,
+ frame_len);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_REJECTED);
+ }
+ KUNIT_ASSERT_EQ(test, ctx->osf.latest_sample_count, 0U);
+
+ KUNIT_EXPECT_MEMEQ(test, ctx->osf.latest_samples, empty_cache,
+ sizeof(ctx->osf.latest_samples));
+ KUNIT_EXPECT_EQ(test, ctx->osf.last_sequence, (u64)1);
+
+ ret = osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ OSF_TEST_SENSOR_INDEX, 3,
+ OSF_SAMPLE_FORMAT_S32,
+ three_values, 500);
+ KUNIT_ASSERT_EQ(test, ret, OSF_STREAM_FRAME_HANDLED);
+ KUNIT_ASSERT_EQ(test, ctx->osf.latest_sample_count, 1U);
+
+ for (unsigned int i = 0; i < 3; i++) {
+ value = 0;
+ ret = osf_test_read_raw(ctx, i, &value);
+ KUNIT_ASSERT_EQ(test, ret, IIO_VAL_INT);
+ KUNIT_EXPECT_EQ(test, value, three_values[i]);
+ }
+}
+
+static void osf_test_unregister_pending(void *data)
+{
+ osf_core_unregister_iio(data);
+}
+
+static void osf_early_capability_is_owned_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ struct osf_device *pending;
+ struct iio_dev *indio_dev;
+ u8 frame[OSF_TEST_MAX_FRAME_LEN];
+ size_t len;
+ int scale, nano, ret;
+
+ pending = kunit_kzalloc(test, sizeof(*pending), GFP_KERNEL);
+ KUNIT_ASSERT_NOT_NULL(test, pending);
+ osf_core_init(pending, ctx->dev);
+ ret = kunit_add_action_or_reset(test, osf_test_unregister_pending, pending);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+ len = osf_test_build_capability_frame(frame, sizeof(frame), 10);
+ KUNIT_ASSERT_NE(test, len, (size_t)0);
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(pending, frame, len),
+ OSF_STREAM_FRAME_HANDLED);
+ KUNIT_EXPECT_EQ(test, pending->iio_dev_count, 0U);
+ KUNIT_ASSERT_TRUE(test, pending->capability_cache.valid);
+ KUNIT_EXPECT_EQ(test, pending->capability_cache.capability_count, (u16)1);
+
+ /* The stream may reuse its storage before probe opens the registration gate. */
+ memset(frame, 0xa5, sizeof(frame));
+ osf_core_start(pending);
+ KUNIT_ASSERT_EQ(test, pending->iio_dev_count, 1U);
+ indio_dev = pending->iio_devs[0].indio_dev;
+ ret = indio_dev->info->read_raw(indio_dev, &indio_dev->channels[0],
+ &scale, &nano, IIO_CHAN_INFO_SCALE);
+ KUNIT_EXPECT_EQ(test, ret, IIO_VAL_INT_PLUS_NANO);
+ KUNIT_EXPECT_EQ(test, scale, 0);
+ KUNIT_EXPECT_EQ(test, nano, OSF_TEST_SCALE_NANO);
+ osf_core_start(pending);
+ KUNIT_EXPECT_EQ(test, pending->iio_dev_count, 1U);
+ len = osf_test_build_capability_frame(frame, sizeof(frame), 11);
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(pending, frame, len),
+ OSF_STREAM_FRAME_IGNORED);
+ KUNIT_EXPECT_EQ(test, pending->iio_dev_count, 1U);
+ KUNIT_EXPECT_EQ(test, pending->latest_sample_count, 0U);
+}
+
+static void osf_early_duplicate_capability_is_rejected_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ struct osf_device *pending;
+ u8 payload[OSF_CAP_REPORT_BASE_LEN + 2 * OSF_CAP_SENSOR_ENTRY_LEN] = { };
+ u8 frame[OSF_TEST_MAX_FRAME_LEN];
+ u8 *entry = payload + OSF_CAP_REPORT_BASE_LEN;
+ size_t len;
+ int ret;
+
+ pending = kunit_kzalloc(test, sizeof(*pending), GFP_KERNEL);
+ KUNIT_ASSERT_NOT_NULL(test, pending);
+ osf_core_init(pending, ctx->dev);
+ ret = kunit_add_action_or_reset(test, osf_test_unregister_pending, pending);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+ put_unaligned_le16(2, payload);
+ put_unaligned_le16(OSF_SENSOR_ACCELEROMETER, entry);
+ put_unaligned_le16(3, entry + 4);
+ put_unaligned_le16(OSF_SAMPLE_FORMAT_S32, entry + 6);
+ put_unaligned_le32(OSF_TEST_SCALE_NANO, entry + 8);
+ memcpy(entry + OSF_CAP_SENSOR_ENTRY_LEN, entry, OSF_CAP_SENSOR_ENTRY_LEN);
+ len = osf_test_build_frame(frame, sizeof(frame), OSF_MSG_CAPABILITY_REPORT,
+ payload, sizeof(payload), 20);
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(pending, frame, len),
+ OSF_STREAM_FRAME_REJECTED);
+ KUNIT_EXPECT_FALSE(test, pending->capability_cache.valid);
+ KUNIT_EXPECT_EQ(test, pending->iio_dev_count, 0U);
+
+ /* A failed early report must not prevent a subsequent valid report. */
+ len = osf_test_build_capability_frame(frame, sizeof(frame), 21);
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(pending, frame, len),
+ OSF_STREAM_FRAME_HANDLED);
+ osf_core_start(pending);
+ KUNIT_EXPECT_EQ(test, pending->iio_dev_count, 1U);
+}
+
+static const struct osf_capability_entry osf_test_accel = {
+ .sensor_type = OSF_SENSOR_ACCELEROMETER,
+ .channel_count = 3,
+ .sample_format = OSF_SAMPLE_FORMAT_S32,
+ .scale_nano = OSF_TEST_SCALE_NANO,
+};
+
+static void osf_test_crc(u8 *frame, size_t len)
+{
+ put_unaligned_le32(crc32_le(~0U, frame, len - OSF_FRAME_CRC_LEN) ^ ~0U,
+ frame + len - OSF_FRAME_CRC_LEN);
+}
+
+static size_t osf_test_report(u8 *frame,
+ const struct osf_capability_entry *entries, u16 count)
+{
+ u8 payload[OSF_CAP_REPORT_BASE_LEN + 3 * OSF_CAP_SENSOR_ENTRY_LEN] = { };
+
+ put_unaligned_le16(count, payload);
+ for (u16 i = 0; i < count; i++) {
+ u8 *p = payload + OSF_CAP_REPORT_BASE_LEN + i * OSF_CAP_SENSOR_ENTRY_LEN;
+
+ put_unaligned_le16(entries[i].sensor_type, p);
+ put_unaligned_le16(entries[i].sensor_index, p + 2);
+ put_unaligned_le16(entries[i].channel_count, p + 4);
+ put_unaligned_le16(entries[i].sample_format, p + 6);
+ put_unaligned_le32(entries[i].scale_nano, p + 8);
+ put_unaligned_le32(entries[i].flags, p + 12);
+ }
+ return osf_test_build_frame(frame, OSF_TEST_MAX_FRAME_LEN,
+ OSF_MSG_CAPABILITY_REPORT, payload,
+ OSF_CAP_REPORT_BASE_LEN + count * OSF_CAP_SENSOR_ENTRY_LEN,
+ 10);
+}
+
+static int osf_test_submit_report(struct osf_test_context *ctx,
+ const struct osf_capability_entry *entries, u16 count)
+{
+ u8 frame[OSF_TEST_MAX_FRAME_LEN];
+ size_t len = osf_test_report(frame, entries, count);
+
+ return osf_core_receive_frame(&ctx->osf, frame, len);
+}
+
+static void osf_test_new_session(struct osf_test_context *ctx)
+{
+ osf_test_cleanup(ctx);
+ osf_core_init(&ctx->osf, ctx->dev);
+ osf_core_start(&ctx->osf);
+ ctx->indio_dev = NULL;
+ ctx->buffer = NULL;
+}
+
+static void osf_test_bind_accel(struct kunit *test, struct osf_test_context *ctx)
+{
+ KUNIT_ASSERT_EQ(test, osf_test_submit_report(ctx, &osf_test_accel, 1),
+ OSF_STREAM_FRAME_HANDLED);
+ KUNIT_ASSERT_EQ(test, ctx->osf.iio_dev_count, 1U);
+ ctx->indio_dev = ctx->osf.iio_devs[0].indio_dev;
+ ctx->buffer = ctx->indio_dev->buffer;
+}
+
+static void osf_zero_scale_is_atomic_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ struct osf_capability_entry entries[] = { osf_test_accel, osf_test_accel };
+
+ entries[1].sensor_index = 1;
+ entries[1].scale_nano = 0;
+ /* Even a repeat with a valid prefix must be rejected without a fault. */
+ KUNIT_EXPECT_EQ(test, osf_test_submit_report(ctx, entries, 2),
+ OSF_STREAM_FRAME_REJECTED);
+ KUNIT_EXPECT_FALSE(test, ctx->osf.session_fault);
+ KUNIT_EXPECT_EQ(test, ctx->osf.iio_dev_count, 1U);
+ osf_test_new_session(ctx);
+ KUNIT_EXPECT_EQ(test, osf_test_submit_report(ctx, entries, 2),
+ OSF_STREAM_FRAME_REJECTED);
+ KUNIT_EXPECT_EQ(test, ctx->osf.iio_dev_count, 0U);
+ KUNIT_EXPECT_FALSE(test, ctx->osf.capability_cache.valid);
+ osf_test_bind_accel(test, ctx);
+}
+
+static int osf_test_stream_frame(void *context, const u8 *buf, size_t len)
+{
+ return osf_core_receive_frame(context, buf, len);
+}
+
+static void osf_scale_mismatch_preserves_and_recovers_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ const s32 values[] = { OSF_FRAME_MAGIC, -22, 33 };
+ const s32 next[] = { 101, 202, 303 };
+ struct osf_latest_sample baseline;
+ struct osf_test_scan_3axis scan;
+ struct osf_stream *stream;
+ u8 frame[OSF_TEST_MAX_FRAME_LEN];
+ size_t len;
+
+ stream = kunit_kzalloc(test, sizeof(*stream), GFP_KERNEL);
+ KUNIT_ASSERT_NOT_NULL(test, stream);
+ osf_stream_init(stream, osf_test_stream_frame, &ctx->osf);
+ KUNIT_ASSERT_EQ(test, osf_test_enable_buffer(ctx), 0);
+ KUNIT_ASSERT_EQ(test, osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ 0, 3, OSF_SAMPLE_FORMAT_S32, values, 2),
+ OSF_STREAM_FRAME_HANDLED);
+ KUNIT_ASSERT_EQ(test, osf_test_remove_scan(ctx, &scan), 0);
+ baseline = ctx->osf.latest_samples[0];
+ len = osf_test_build_sample_frame(frame, sizeof(frame), OSF_SENSOR_ACCELEROMETER,
+ 0, 3, OSF_SAMPLE_FORMAT_S32, values, 3);
+ put_unaligned_le32(OSF_TEST_SCALE_NANO + 1, frame + OSF_FRAME_HEADER_LEN + 8);
+ osf_test_crc(frame, len);
+ KUNIT_EXPECT_EQ(test, osf_stream_receive_bytes(stream, frame, len), 0);
+ KUNIT_EXPECT_EQ(test, stream->stats.rejected_frames, 1ULL);
+ KUNIT_EXPECT_EQ(test, stream->stats.validated_frames, 1ULL);
+ KUNIT_EXPECT_EQ(test, stream->stats.bad_magic_resyncs, 0ULL);
+ KUNIT_EXPECT_MEMEQ(test, &ctx->osf.latest_samples[0], &baseline, sizeof(baseline));
+ KUNIT_EXPECT_FALSE(test, ctx->osf.session_fault);
+ osf_test_expect_direct_sample(test, ctx, values);
+ KUNIT_EXPECT_EQ(test, osf_test_remove_scan(ctx, &scan), -EBUSY);
+ KUNIT_EXPECT_EQ(test, osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ 0, 3, OSF_SAMPLE_FORMAT_S32, next, 4),
+ OSF_STREAM_FRAME_HANDLED);
+ osf_test_expect_direct_sample(test, ctx, next);
+ KUNIT_ASSERT_EQ(test, osf_test_remove_scan(ctx, &scan), 0);
+ KUNIT_EXPECT_MEMEQ(test, scan.values, next, sizeof(next));
+}
+
+static void osf_test_initial_recovery(struct kunit *test, bool unsupported)
+{
+ struct osf_test_context *ctx = test->priv;
+ struct osf_capability_entry entry = osf_test_accel;
+
+ osf_test_new_session(ctx);
+ entry.sensor_type = 0xffff;
+ KUNIT_EXPECT_EQ(test, osf_test_submit_report(ctx, &entry, unsupported ? 1 : 0),
+ OSF_STREAM_FRAME_IGNORED);
+ KUNIT_EXPECT_FALSE(test, ctx->osf.capability_cache.valid);
+ KUNIT_EXPECT_EQ(test, ctx->osf.iio_dev_count, 0U);
+ osf_test_bind_accel(test, ctx);
+ KUNIT_EXPECT_FALSE(test, ctx->osf.session_fault);
+}
+
+static void osf_initial_empty_recovers_test(struct kunit *test)
+{
+ osf_test_initial_recovery(test, false);
+}
+
+static void osf_initial_unsupported_recovers_test(struct kunit *test)
+{
+ osf_test_initial_recovery(test, true);
+}
+
+static void osf_equivalent_reports_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ struct osf_capability_entry entries[] = { osf_test_accel, osf_test_accel,
+ osf_test_accel };
+ struct osf_capability_entry swap;
+ struct iio_dev *first;
+
+ osf_test_new_session(ctx);
+ entries[1].sensor_type = OSF_SENSOR_GYROSCOPE;
+ KUNIT_ASSERT_EQ(test, osf_test_submit_report(ctx, entries, 2), OSF_STREAM_FRAME_HANDLED);
+ first = ctx->osf.iio_devs[0].indio_dev;
+ KUNIT_EXPECT_EQ(test, osf_test_submit_report(ctx, entries, 2), OSF_STREAM_FRAME_IGNORED);
+ swap = entries[0];
+ entries[0] = entries[1];
+ entries[1] = swap;
+ KUNIT_EXPECT_EQ(test, osf_test_submit_report(ctx, entries, 2), OSF_STREAM_FRAME_IGNORED);
+ entries[0].flags = OSF_CAPABILITY_FLAGS_MASK;
+ entries[2].sensor_type = 0xffff;
+ KUNIT_EXPECT_EQ(test, osf_test_submit_report(ctx, entries, 3), OSF_STREAM_FRAME_IGNORED);
+ /* Unknown flags make the added key unsupported. */
+ entries[2] = osf_test_accel;
+ entries[2].sensor_index = 1;
+ entries[2].flags = BIT(7);
+ KUNIT_EXPECT_EQ(test, osf_test_submit_report(ctx, entries, 3), OSF_STREAM_FRAME_IGNORED);
+ KUNIT_EXPECT_EQ(test, ctx->osf.iio_dev_count, 2U);
+ KUNIT_EXPECT_PTR_EQ(test, ctx->osf.iio_devs[0].indio_dev, first);
+ KUNIT_EXPECT_FALSE(test, ctx->osf.session_fault);
+}
+
+static void osf_changed_reports_fault_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ const s32 v[] = { 11, 22, 33 };
+ struct osf_test_scan_3axis scan;
+
+ for (unsigned int change = 0; change < 8; change++) {
+ struct osf_capability_entry entries[] = { osf_test_accel, osf_test_accel };
+ struct osf_latest_sample baseline;
+ struct iio_dev *child;
+ u16 count = 1;
+ int value = 0;
+
+ osf_test_new_session(ctx);
+ osf_test_bind_accel(test, ctx);
+ child = ctx->indio_dev;
+ KUNIT_ASSERT_EQ(test, osf_test_enable_buffer(ctx), 0);
+ KUNIT_ASSERT_EQ(test, osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ 0, 3, OSF_SAMPLE_FORMAT_S32, v, 2),
+ OSF_STREAM_FRAME_HANDLED);
+ KUNIT_ASSERT_EQ(test, osf_test_remove_scan(ctx, &scan), 0);
+ baseline = ctx->osf.latest_samples[0];
+ switch (change) {
+ case 0:
+ entries[0].scale_nano++;
+ break;
+ case 1:
+ entries[0].channel_count = 1;
+ break;
+ case 2:
+ entries[0].sample_format = 2;
+ break;
+ case 3:
+ entries[0].sensor_index = 1;
+ break;
+ case 4:
+ count = 0;
+ break;
+ case 5:
+ entries[0].sensor_type = 0xffff;
+ break;
+ case 6:
+ entries[1].sensor_index = 1;
+ count = 2;
+ break;
+ case 7:
+ entries[0].flags = BIT(7);
+ break;
+ }
+ kunit_info(test, "meaning change=%u\n", change);
+ KUNIT_EXPECT_EQ(test, osf_test_submit_report(ctx, entries, count),
+ OSF_STREAM_FRAME_REJECTED);
+ KUNIT_EXPECT_TRUE(test, ctx->osf.session_fault);
+ KUNIT_EXPECT_EQ(test, ctx->osf.iio_dev_count, 1U);
+ KUNIT_EXPECT_PTR_EQ(test, ctx->osf.iio_devs[0].indio_dev, child);
+ KUNIT_EXPECT_EQ(test, osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ 0, 3, OSF_SAMPLE_FORMAT_S32, v, 3),
+ OSF_STREAM_FRAME_REJECTED);
+ KUNIT_EXPECT_MEMEQ(test, &ctx->osf.latest_samples[0], &baseline, sizeof(baseline));
+ KUNIT_EXPECT_EQ(test, osf_test_remove_scan(ctx, &scan), -EBUSY);
+ KUNIT_EXPECT_EQ(test, osf_test_read_raw(ctx, 0, &value), -EPROTO);
+ /* Equivalent reports do not repair a faulted host session. */
+ KUNIT_EXPECT_EQ(test, osf_test_submit_report(ctx, &osf_test_accel, 1),
+ OSF_STREAM_FRAME_IGNORED);
+ KUNIT_EXPECT_EQ(test, osf_test_read_raw(ctx, 0, &value), -EPROTO);
+ }
+}
+
+static void osf_rebind_and_timestamp_restart_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ struct osf_capability_entry entry = osf_test_accel;
+ const s32 values[] = { 101, -202, 303 };
+ u8 frame[OSF_TEST_MAX_FRAME_LEN];
+ size_t len;
+
+ entry.scale_nano++;
+ KUNIT_ASSERT_EQ(test, osf_test_submit_report(ctx, &entry, 1), OSF_STREAM_FRAME_REJECTED);
+ KUNIT_ASSERT_TRUE(test, ctx->osf.session_fault);
+ osf_test_new_session(ctx);
+ KUNIT_ASSERT_EQ(test, osf_test_submit_report(ctx, &entry, 1), OSF_STREAM_FRAME_HANDLED);
+ ctx->indio_dev = ctx->osf.iio_devs[0].indio_dev;
+ ctx->buffer = ctx->indio_dev->buffer;
+ KUNIT_EXPECT_FALSE(test, ctx->osf.session_fault);
+ KUNIT_EXPECT_EQ(test, ctx->osf.latest_sample_count, 0U);
+ for (unsigned int i = 0; i < 2; i++) {
+ len = osf_test_build_sample_frame(frame, sizeof(frame), OSF_SENSOR_ACCELEROMETER,
+ 0, 3, OSF_SAMPLE_FORMAT_S32, values, i ? 0 : 100);
+ put_unaligned_le32(entry.scale_nano, frame + OSF_FRAME_HEADER_LEN + 8);
+ osf_test_crc(frame, len);
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(&ctx->osf, frame, len),
+ OSF_STREAM_FRAME_HANDLED);
+ KUNIT_EXPECT_EQ(test, osf_test_submit_report(ctx, &entry, 1),
+ OSF_STREAM_FRAME_IGNORED);
+ }
+ osf_test_expect_direct_sample(test, ctx, values);
+ KUNIT_EXPECT_FALSE(test, ctx->osf.session_fault);
+}
+
+static void osf_reserved_padding_is_ignored_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ struct osf_capability_entry entry = osf_test_accel;
+ const s32 values[] = { 11, 22, 33 };
+ u8 status[OSF_DEVICE_STATUS_LEN] = { };
+ u8 frame[OSF_TEST_MAX_FRAME_LEN];
+ size_t len;
+
+ osf_test_new_session(ctx);
+ len = osf_test_report(frame, &entry, 1);
+ put_unaligned_le32(0xdeadbeef, frame + 34);
+ put_unaligned_le16(0x1234, frame + OSF_FRAME_HEADER_LEN + 2);
+ put_unaligned_le32(0xa5a5a5a5,
+ frame + OSF_FRAME_HEADER_LEN + OSF_CAP_REPORT_BASE_LEN + 16);
+ osf_test_crc(frame, len);
+ KUNIT_ASSERT_EQ(test, osf_core_receive_frame(&ctx->osf, frame, len),
+ OSF_STREAM_FRAME_HANDLED);
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(&ctx->osf, frame, len),
+ OSF_STREAM_FRAME_IGNORED);
+ KUNIT_ASSERT_EQ(test, ctx->osf.iio_dev_count, 1U);
+ ctx->indio_dev = ctx->osf.iio_devs[0].indio_dev;
+ ctx->buffer = ctx->indio_dev->buffer;
+ len = osf_test_build_sample_frame(frame, sizeof(frame), OSF_SENSOR_ACCELEROMETER,
+ 0, 3, OSF_SAMPLE_FORMAT_S32, values, 2);
+ put_unaligned_le32(0xaabbccdd, frame + OSF_FRAME_HEADER_LEN + 12);
+ osf_test_crc(frame, len);
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(&ctx->osf, frame, len),
+ OSF_STREAM_FRAME_HANDLED);
+ osf_test_expect_direct_sample(test, ctx, values);
+ put_unaligned_le32(0x12345678, status + 16);
+ len = osf_test_build_frame(frame, sizeof(frame), OSF_MSG_DEVICE_STATUS,
+ status, sizeof(status), 3);
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(&ctx->osf, frame, len),
+ OSF_STREAM_FRAME_HANDLED);
+ KUNIT_EXPECT_TRUE(test, ctx->osf.status_cache.valid);
+}
+
+static void osf_bad_crc_bounds_and_extensions_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ const s32 values[] = { 11, 22, 33 };
+ struct osf_latest_sample baseline;
+ u8 frame[OSF_TEST_MAX_FRAME_LEN];
+ u8 payload[OSF_TEST_MAX_PAYLOAD_LEN + 1] = { };
+ size_t len;
+
+ KUNIT_ASSERT_EQ(test, osf_test_submit_sample(ctx, OSF_SENSOR_ACCELEROMETER,
+ 0, 3, OSF_SAMPLE_FORMAT_S32, values, 2),
+ OSF_STREAM_FRAME_HANDLED);
+ baseline = ctx->osf.latest_samples[0];
+ len = osf_test_report(frame, &osf_test_accel, 1);
+ frame[34] = 1;
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(&ctx->osf, frame, len), -EBADMSG);
+ osf_test_crc(frame, len);
+ put_unaligned_le32(U32_MAX, frame + 10);
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(&ctx->osf, frame, len), -EMSGSIZE);
+ len = osf_test_report(frame, &osf_test_accel, 1);
+ put_unaligned_le16(2, frame + OSF_FRAME_HEADER_LEN);
+ osf_test_crc(frame, len);
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(&ctx->osf, frame, len),
+ OSF_STREAM_FRAME_REJECTED);
+ /* A CRC-valid trailing byte is not an extension of any fixed baseline ID. */
+ for (u16 type = OSF_MSG_SENSOR_SAMPLE; type <= OSF_MSG_CAPABILITY_REPORT; type++) {
+ u32 size;
+
+ memset(payload, 0, sizeof(payload));
+ if (type == OSF_MSG_SENSOR_SAMPLE) {
+ put_unaligned_le16(OSF_SENSOR_ACCELEROMETER, payload);
+ put_unaligned_le16(3, payload + 4);
+ put_unaligned_le16(OSF_SAMPLE_FORMAT_S32, payload + 6);
+ put_unaligned_le32(OSF_TEST_SCALE_NANO, payload + 8);
+ size = OSF_TEST_MAX_PAYLOAD_LEN;
+ } else if (type == OSF_MSG_DEVICE_STATUS) {
+ size = OSF_DEVICE_STATUS_LEN;
+ } else {
+ size = OSF_CAP_REPORT_BASE_LEN;
+ }
+ len = osf_test_build_frame(frame, sizeof(frame), type, payload, size + 1, 3);
+ KUNIT_EXPECT_EQ(test, osf_core_receive_frame(&ctx->osf, frame, len),
+ OSF_STREAM_FRAME_REJECTED);
+ }
+ KUNIT_EXPECT_FALSE(test, ctx->osf.session_fault);
+ KUNIT_EXPECT_MEMEQ(test, &ctx->osf.latest_samples[0], &baseline, sizeof(baseline));
+}
+
+struct osf_session_race {
+ struct osf_test_context *ctx;
+ /* Model the transport serialization separately from IIO configuration. */
+ struct mutex rx_lock;
+ struct completion started;
+ struct completion fault_observed;
+ atomic_t faulted;
+ atomic_t rejected;
+ atomic_t errors;
+};
+
+static int osf_session_producer(void *data)
+{
+ struct osf_session_race *race = data;
+ const s32 values[] = { 101, 202, 303 };
+ u64 sequence = 100;
+ int ret, raw;
+
+ complete(&race->started);
+ while (!kthread_should_stop()) {
+ mutex_lock(&race->rx_lock);
+ ret = osf_test_submit_sample(race->ctx, OSF_SENSOR_ACCELEROMETER,
+ 0, 3, OSF_SAMPLE_FORMAT_S32, values, sequence++);
+ if (atomic_read(&race->faulted)) {
+ if (ret == OSF_STREAM_FRAME_REJECTED)
+ atomic_inc(&race->rejected);
+ else
+ atomic_inc(&race->errors);
+ complete(&race->fault_observed);
+ }
+ mutex_unlock(&race->rx_lock);
+ ret = osf_test_read_raw(race->ctx, 0, &raw);
+ if (ret != IIO_VAL_INT && ret != -EPROTO && ret != -ENODATA)
+ atomic_inc(&race->errors);
+ cond_resched();
+ }
+ return 0;
+}
+
+KUNIT_DEFINE_ACTION_WRAPPER(osf_test_stop_kthread, kthread_stop,
+ struct task_struct *);
+
+static void osf_session_fault_buffer_race_test(struct kunit *test)
+{
+ struct osf_test_context *ctx = test->priv;
+ struct osf_capability_entry entry = osf_test_accel;
+ struct osf_latest_sample baseline;
+ struct osf_test_scan_3axis scan;
+ struct osf_session_race *race;
+ struct task_struct *producer;
+ int ret, raw;
+
+ race = kunit_kzalloc(test, sizeof(*race), GFP_KERNEL);
+ KUNIT_ASSERT_NOT_NULL(test, race);
+ race->ctx = ctx;
+ mutex_init(&race->rx_lock);
+ init_completion(&race->started);
+ init_completion(&race->fault_observed);
+ KUNIT_ASSERT_EQ(test, osf_test_enable_buffer(ctx), 0);
+ producer = kthread_run(osf_session_producer, race, "osf-session-test");
+ KUNIT_ASSERT_NOT_ERR_OR_NULL(test, producer);
+ ret = kunit_add_action_or_reset(test, osf_test_stop_kthread, producer);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+ KUNIT_EXPECT_NE(test, wait_for_completion_timeout(&race->started, HZ), 0UL);
+ /* Exercise buffer reconfiguration against latest_lock -> IIO mlock. */
+ for (unsigned int i = 0; i < 100; i++) {
+ KUNIT_EXPECT_EQ(test, iio_update_buffers(ctx->indio_dev, NULL, ctx->buffer), 0);
+ KUNIT_EXPECT_EQ(test, iio_update_buffers(ctx->indio_dev, ctx->buffer, NULL), 0);
+ cond_resched();
+ }
+ mutex_lock(&race->rx_lock);
+ entry.scale_nano++;
+ ret = osf_test_submit_report(ctx, &entry, 1);
+ KUNIT_EXPECT_EQ(test, ret, OSF_STREAM_FRAME_REJECTED);
+ atomic_set(&race->faulted, 1);
+ baseline = ctx->osf.latest_samples[0];
+ while (!osf_test_remove_scan(ctx, &scan))
+ ;
+ mutex_unlock(&race->rx_lock);
+ KUNIT_EXPECT_NE(test, wait_for_completion_timeout(&race->fault_observed,
+ 5 * HZ), 0UL);
+ kunit_release_action(test, osf_test_stop_kthread, producer);
+ KUNIT_EXPECT_GT(test, atomic_read(&race->rejected), 0);
+ KUNIT_EXPECT_EQ(test, atomic_read(&race->errors), 0);
+ KUNIT_EXPECT_MEMEQ(test, &ctx->osf.latest_samples[0], &baseline, sizeof(baseline));
+ KUNIT_EXPECT_EQ(test, osf_test_remove_scan(ctx, &scan), -EBUSY);
+ KUNIT_EXPECT_EQ(test, osf_test_read_raw(ctx, 0, &raw), -EPROTO);
+ /* Cleanup follows the real producer-stop -> child-unregister ordering. */
+ osf_test_new_session(ctx);
+ osf_test_bind_accel(test, ctx);
+ KUNIT_EXPECT_FALSE(test, ctx->osf.session_fault);
+}
+
+static struct kunit_case osf_core_test_cases[] = {
+ KUNIT_CASE(osf_zero_scale_is_atomic_test),
+ KUNIT_CASE(osf_scale_mismatch_preserves_and_recovers_test),
+ KUNIT_CASE(osf_initial_empty_recovers_test),
+ KUNIT_CASE(osf_initial_unsupported_recovers_test),
+ KUNIT_CASE(osf_equivalent_reports_test),
+ KUNIT_CASE(osf_changed_reports_fault_test),
+ KUNIT_CASE(osf_rebind_and_timestamp_restart_test),
+ KUNIT_CASE(osf_reserved_padding_is_ignored_test),
+ KUNIT_CASE(osf_bad_crc_bounds_and_extensions_test),
+ KUNIT_CASE(osf_session_fault_buffer_race_test),
+
+ KUNIT_CASE(osf_early_capability_is_owned_test),
+ KUNIT_CASE(osf_early_duplicate_capability_is_rejected_test),
+ KUNIT_CASE(osf_rejected_channel_count_preserves_latest_test),
+ KUNIT_CASE(osf_valid_sample_updates_direct_and_buffer_test),
+ KUNIT_CASE(osf_unregistered_sample_is_ignored_test),
+ KUNIT_CASE(osf_unaccepted_samples_do_not_exhaust_cache_test),
+ { }
+};
+
+static struct kunit_suite osf_core_test_suite = {
+ .name = "osf-core",
+ .init = osf_test_init,
+ .test_cases = osf_core_test_cases,
+};
+
+kunit_test_suite(osf_core_test_suite);
+
+MODULE_LICENSE("GPL");
^ permalink raw reply [flat|nested] 9+ messages in thread
* [PATCH v11 8/8] iio: osf: add IIO KUnit tests
2026-10-11 23:13 [PATCH v11 0/8] iio: add Open Sensor Fusion UART support Jinseob Kim
` (6 preceding siblings ...)
2026-10-11 23:13 ` [PATCH v11 7/8] iio: osf: add core KUnit tests Jinseob Kim
@ 2026-10-11 23:13 ` Jinseob Kim
7 siblings, 0 replies; 9+ messages in thread
From: Jinseob Kim @ 2026-10-11 23:13 UTC (permalink / raw)
To: jic23, linux-iio
Cc: kimjinseob88, dlechner, nuno.sa, andy, robh, krzk+dt, conor+dt,
neil.armstrong, andersson, prabhakar.mahadev-lad.rj, devicetree,
linux-kernel, corbet, skhan, rdunlap, linux-doc
Exercise active-scan packing, timestamp alignment and producer quiescence
during buffer reconfiguration and unregister. Check that a blocked OSF
push retains its active scan mask until its mode claim is released.
Use deferred actions for
workers, registered devices, temporary buffer callbacks and extra device
references so assertion aborts release resources in ownership order.
Assisted-by: LLM
Signed-off-by: Jinseob Kim <kimjinseob88@gmail.com>
---
drivers/iio/sensorhubs/osf/Kconfig | 2 +-
drivers/iio/sensorhubs/osf/Makefile | 2 +-
drivers/iio/sensorhubs/osf/osf_iio_test.c | 386 ++++++++++++++++++++++
3 files changed, 388 insertions(+), 2 deletions(-)
create mode 100644 drivers/iio/sensorhubs/osf/osf_iio_test.c
diff --git a/drivers/iio/sensorhubs/osf/Kconfig b/drivers/iio/sensorhubs/osf/Kconfig
index 316f33be1327ca85eb18920b8d610a3e983439d2..b4a2cde9645e588703fd7f3f315a6d8b6a90f9c9 100644
--- a/drivers/iio/sensorhubs/osf/Kconfig
+++ b/drivers/iio/sensorhubs/osf/Kconfig
@@ -20,7 +20,7 @@ config OPEN_SENSOR_FUSION_KUNIT_TEST
default KUNIT_ALL_TESTS
help
Build focused unit tests for the Open Sensor Fusion core sample
- acceptance, direct-read cache, and capability/session handling. The tests
+ acceptance, direct-read cache, and IIO buffer paths. The tests
exercise accepted, ignored, and rejected sample handling without
exposing additional production interfaces.
diff --git a/drivers/iio/sensorhubs/osf/Makefile b/drivers/iio/sensorhubs/osf/Makefile
index c2f5ba065a62fef2a4897034239b405ccdd69250..6a28b14cae1f358d485cea67f44df3647939a560 100644
--- a/drivers/iio/sensorhubs/osf/Makefile
+++ b/drivers/iio/sensorhubs/osf/Makefile
@@ -4,4 +4,4 @@ obj-$(CONFIG_OPEN_SENSOR_FUSION) += open-sensor-fusion.o
open-sensor-fusion-y := osf_core.o osf_iio.o osf_protocol.o osf_serdev.o \
osf_stream.o
-open-sensor-fusion-$(CONFIG_OPEN_SENSOR_FUSION_KUNIT_TEST) += osf_core_test.o
+open-sensor-fusion-$(CONFIG_OPEN_SENSOR_FUSION_KUNIT_TEST) += osf_core_test.o osf_iio_test.o
diff --git a/drivers/iio/sensorhubs/osf/osf_iio_test.c b/drivers/iio/sensorhubs/osf/osf_iio_test.c
new file mode 100644
index 0000000000000000000000000000000000000000..4c3fd8cfb2b2674bbb91a311afbab812a19db284
--- /dev/null
+++ b/drivers/iio/sensorhubs/osf/osf_iio_test.c
@@ -0,0 +1,386 @@
+// SPDX-License-Identifier: GPL-2.0-only
+
+#include <kunit/device.h>
+#include <kunit/test.h>
+
+#include <linux/bitmap.h>
+#include <linux/completion.h>
+#include <linux/delay.h>
+#include <linux/err.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/buffer_impl.h>
+#include <linux/iio/iio.h>
+#include <linux/kthread.h>
+#include <linux/string.h>
+
+#include "osf_core.h"
+#include "osf_iio.h"
+
+KUNIT_DEFINE_ACTION_WRAPPER(osf_iio_test_unregister, osf_iio_unregister_sensor,
+ struct iio_dev *);
+
+KUNIT_DEFINE_ACTION_WRAPPER(osf_iio_test_put_device, put_device, struct device *);
+
+static noinline void osf_test_poison_stack(void)
+{
+ u8 bytes[1024];
+
+ memset(bytes, 0xa5, sizeof(bytes));
+ barrier_data(bytes);
+}
+
+static void osf_iio_check_scan(struct kunit *test, struct iio_dev *indio_dev,
+ const s32 *values, unsigned int channels,
+ unsigned int mask, bool ts)
+{
+ struct iio_buffer *buffer = indio_dev->buffer;
+ unsigned int data_bytes = hweight32(mask) * sizeof(s32);
+ unsigned int ts_offset = ALIGN(data_bytes, 8);
+ unsigned int scan_bytes = ts ? ts_offset + 8 : data_bytes;
+ unsigned int offset = 0;
+ u8 scan[24] __aligned(8);
+ s64 before, after, timestamp;
+ int ret;
+
+ bitmap_zero((unsigned long *)buffer->scan_mask, iio_get_masklength(indio_dev));
+ for (unsigned int i = 0; i < channels; i++)
+ if (mask & BIT(i))
+ set_bit(i, (unsigned long *)buffer->scan_mask);
+ buffer->scan_timestamp = ts;
+ ret = iio_update_buffers(indio_dev, buffer, NULL);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+
+ kunit_info(test, "device=%s mask=%u ts=%u bytes=%u\n",
+ indio_dev->name, mask, ts, scan_bytes);
+ memset(scan, 0xa5, sizeof(scan));
+ before = iio_get_time_ns(indio_dev);
+ osf_test_poison_stack();
+ ret = osf_iio_push_sample(indio_dev, values, channels);
+ after = iio_get_time_ns(indio_dev);
+ KUNIT_EXPECT_EQ(test, ret, 0);
+ KUNIT_EXPECT_EQ(test, buffer->bytes_per_datum, scan_bytes);
+ ret = iio_pop_from_buffer(buffer, scan);
+ KUNIT_EXPECT_EQ(test, ret, 0);
+ if (ret)
+ goto disable;
+
+ for (unsigned int i = 0; i < channels; i++) {
+ if (!(mask & BIT(i)))
+ continue;
+ KUNIT_EXPECT_MEMEQ(test, scan + offset, &values[i], sizeof(s32));
+ offset += sizeof(s32);
+ }
+ if (ts) {
+ for (unsigned int i = data_bytes; i < ts_offset; i++)
+ KUNIT_EXPECT_EQ(test, scan[i], (u8)0);
+ memcpy(×tamp, scan + ts_offset, sizeof(timestamp));
+ KUNIT_EXPECT_GE(test, timestamp, before);
+ KUNIT_EXPECT_LE(test, timestamp, after);
+ }
+ /* Neither kfifo nor the producer may write outside the consumer stride. */
+ for (unsigned int i = scan_bytes; i < sizeof(scan); i++)
+ KUNIT_EXPECT_EQ(test, scan[i], (u8)0xa5);
+
+disable:
+ KUNIT_EXPECT_EQ(test, iio_update_buffers(indio_dev, NULL, buffer), 0);
+}
+
+/* Protect timestamp alignment holes and every supported scan layout. */
+static void osf_iio_scan_bytes_test(struct kunit *test)
+{
+ static const u16 types[] = {
+ OSF_SENSOR_ACCELEROMETER, OSF_SENSOR_GYROSCOPE,
+ OSF_SENSOR_MAGNETOMETER, OSF_SENSOR_TEMPERATURE,
+ };
+ const s32 values[] = { 101, -202, 303 };
+ struct osf_capability_entry entry = {
+ .sample_format = OSF_SAMPLE_FORMAT_S32,
+ .scale_nano = 1000000,
+ };
+ struct osf_device *osf;
+ struct device *dev;
+
+ dev = kunit_device_register(test, "osf-iio");
+ KUNIT_ASSERT_NOT_ERR_OR_NULL(test, dev);
+ osf = kunit_kzalloc(test, sizeof(*osf), GFP_KERNEL);
+ KUNIT_ASSERT_NOT_NULL(test, osf);
+ osf_core_init(osf, dev);
+
+ for (unsigned int t = 0; t < ARRAY_SIZE(types); t++) {
+ unsigned int channels = t == 3 ? 1 : 3;
+ struct iio_dev *indio_dev;
+ int ret;
+
+ entry.sensor_type = types[t];
+ entry.channel_count = channels;
+ ret = osf_iio_register_sensor(dev, &entry, osf, &indio_dev);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+ ret = kunit_add_action_or_reset(test, osf_iio_test_unregister, indio_dev);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+ for (unsigned int mask = 1; mask < BIT(channels); mask++)
+ for (unsigned int ts = 0; ts < 2; ts++)
+ osf_iio_check_scan(test, indio_dev, values, channels, mask, ts);
+ kunit_release_action(test, osf_iio_test_unregister, indio_dev);
+ }
+}
+
+struct osf_iio_race {
+ struct iio_buffer_access_funcs access;
+ const struct iio_buffer_access_funcs *original;
+ struct iio_dev *indio_dev;
+ struct kunit *test;
+ struct task_struct *producer;
+ struct task_struct *config;
+ struct completion entered;
+ struct completion release;
+ struct completion config_started;
+ struct completion config_done;
+ atomic_t block_store;
+ atomic_t stores;
+ atomic_t disabled;
+ atomic_t bad_store;
+ int enable_error;
+ int disable_error;
+ int config_result;
+ bool unregister;
+};
+
+static void osf_iio_stop_producer(void *data)
+{
+ struct osf_iio_race *race = data;
+
+ atomic_set(&race->block_store, 0);
+ complete_all(&race->release);
+ kthread_stop(race->producer);
+}
+
+static void osf_iio_stop_config(void *data)
+{
+ struct osf_iio_race *race = data;
+
+ /* Configuration may be waiting for an admitted store to finish. */
+ atomic_set(&race->block_store, 0);
+ complete_all(&race->release);
+ kthread_stop(race->config);
+}
+
+static void osf_iio_restore_access(void *data)
+{
+ struct osf_iio_race *race = data;
+
+ race->indio_dev->buffer->access = race->original;
+}
+
+static struct osf_iio_race *osf_iio_race_from_buffer(struct iio_buffer *buffer)
+{
+ return container_of(buffer->access, struct osf_iio_race, access);
+}
+
+static int osf_iio_test_store(struct iio_buffer *buffer, const void *data)
+{
+ struct osf_iio_race *race = osf_iio_race_from_buffer(buffer);
+
+ if (atomic_xchg(&race->block_store, 0)) {
+ complete(&race->entered);
+ if (!wait_for_completion_timeout(&race->release, 5 * HZ))
+ return -ETIMEDOUT;
+ }
+ if (atomic_read(&race->disabled))
+ atomic_inc(&race->bad_store);
+ atomic_inc(&race->stores);
+ return race->original->store_to(buffer, data);
+}
+
+static int osf_iio_test_enable(struct iio_buffer *buffer, struct iio_dev *indio_dev)
+{
+ struct osf_iio_race *race = osf_iio_race_from_buffer(buffer);
+
+ if (race->enable_error)
+ return race->enable_error;
+ atomic_set(&race->disabled, 0);
+ return 0;
+}
+
+static int osf_iio_test_disable(struct iio_buffer *buffer, struct iio_dev *indio_dev)
+{
+ struct osf_iio_race *race = osf_iio_race_from_buffer(buffer);
+
+ atomic_set(&race->disabled, 1);
+ return race->disable_error;
+}
+
+static int osf_iio_test_producer(void *data)
+{
+ struct osf_iio_race *race = data;
+ const s32 values[] = { 101, -202, 303 };
+
+ while (!kthread_should_stop()) {
+ osf_iio_push_sample(race->indio_dev, values, ARRAY_SIZE(values));
+ cond_resched();
+ }
+ return 0;
+}
+
+static int osf_iio_test_configure(void *data)
+{
+ struct osf_iio_race *race = data;
+
+ complete(&race->config_started);
+ if (race->unregister) {
+ /* Consume the registered cleanup action exactly once. */
+ kunit_release_action(race->test, osf_iio_test_unregister, race->indio_dev);
+ race->config_result = 0;
+ } else {
+ race->config_result = iio_update_buffers(race->indio_dev, NULL,
+ race->indio_dev->buffer);
+ }
+ complete(&race->config_done);
+ while (!kthread_should_stop())
+ msleep(20);
+ return 0;
+}
+
+static void osf_iio_expect_quiesce(struct kunit *test, struct osf_iio_race *race)
+{
+ struct iio_dev *indio_dev = race->indio_dev;
+ const unsigned long *scan_mask = indio_dev->active_scan_mask;
+ unsigned long mask;
+ unsigned long waited;
+ int ret;
+
+ KUNIT_ASSERT_NOT_NULL(test, scan_mask);
+ mask = *scan_mask;
+ race->config = kthread_run(osf_iio_test_configure, race, "osf-cfg-test");
+ KUNIT_ASSERT_NOT_ERR_OR_NULL(test, race->config);
+ ret = kunit_add_action_or_reset(test, osf_iio_stop_config, race);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+ KUNIT_EXPECT_NE(test, wait_for_completion_timeout(&race->config_started, HZ), 0UL);
+ waited = wait_for_completion_timeout(&race->config_done, msecs_to_jiffies(20));
+ KUNIT_EXPECT_EQ(test, waited, 0UL);
+ /* The blocked OSF push owns the mode claim until its store returns. */
+ KUNIT_EXPECT_TRUE(test, iio_buffer_enabled(indio_dev));
+ KUNIT_EXPECT_PTR_EQ(test, indio_dev->active_scan_mask, scan_mask);
+ if (indio_dev->active_scan_mask)
+ KUNIT_EXPECT_EQ(test, *indio_dev->active_scan_mask, mask);
+ complete(&race->release);
+ kunit_release_action(test, osf_iio_stop_config, race);
+ KUNIT_EXPECT_TRUE(test, completion_done(&race->config_done));
+ KUNIT_EXPECT_EQ(test, race->config_result, 0);
+ KUNIT_EXPECT_FALSE(test, iio_buffer_enabled(indio_dev));
+ KUNIT_EXPECT_NULL(test, indio_dev->active_scan_mask);
+}
+
+/* Run real IIO configuration and kfifo code against an independent producer. */
+static void osf_iio_buffer_lifetime_test(struct kunit *test)
+{
+ struct osf_capability_entry entry = {
+ .sensor_type = OSF_SENSOR_ACCELEROMETER,
+ .channel_count = 3,
+ .sample_format = OSF_SAMPLE_FORMAT_S32,
+ .scale_nano = 1000000,
+ };
+ const s32 values[] = { 101, -202, 303 };
+ struct osf_iio_race *race;
+ struct osf_device *osf;
+ struct iio_dev *indio_dev;
+ struct iio_buffer *buffer;
+ struct device *dev;
+ int stores, ret;
+
+ dev = kunit_device_register(test, "osf-race");
+ KUNIT_ASSERT_NOT_ERR_OR_NULL(test, dev);
+ osf = kunit_kzalloc(test, sizeof(*osf), GFP_KERNEL);
+ race = kunit_kzalloc(test, sizeof(*race), GFP_KERNEL);
+ KUNIT_ASSERT_NOT_NULL(test, osf);
+ KUNIT_ASSERT_NOT_NULL(test, race);
+ osf_core_init(osf, dev);
+ ret = osf_iio_register_sensor(dev, &entry, osf, &indio_dev);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+ ret = kunit_add_action_or_reset(test, osf_iio_test_unregister, indio_dev);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+ buffer = indio_dev->buffer;
+ race->indio_dev = indio_dev;
+ race->test = test;
+ race->original = buffer->access;
+ race->access = *buffer->access;
+ race->access.store_to = osf_iio_test_store;
+ race->access.enable = osf_iio_test_enable;
+ race->access.disable = osf_iio_test_disable;
+ init_completion(&race->entered);
+ init_completion(&race->release);
+ init_completion(&race->config_started);
+ init_completion(&race->config_done);
+ atomic_set(&race->disabled, 1);
+ /* Keep the device and its attached buffer alive across unregister. */
+ get_device(&indio_dev->dev);
+ ret = kunit_add_action_or_reset(test, osf_iio_test_put_device, &indio_dev->dev);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+ buffer->access = &race->access;
+ ret = kunit_add_action_or_reset(test, osf_iio_restore_access, race);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+ set_bit(0, (unsigned long *)buffer->scan_mask);
+ KUNIT_EXPECT_EQ(test, iio_update_buffers(indio_dev, buffer, NULL), 0);
+
+ atomic_set(&race->block_store, 1);
+ race->producer = kthread_run(osf_iio_test_producer, race, "osf-rx-test");
+ KUNIT_ASSERT_NOT_ERR_OR_NULL(test, race->producer);
+ ret = kunit_add_action_or_reset(test, osf_iio_stop_producer, race);
+ KUNIT_ASSERT_EQ(test, ret, 0);
+ KUNIT_EXPECT_NE(test, wait_for_completion_timeout(&race->entered, HZ), 0UL);
+ osf_iio_expect_quiesce(test, race);
+
+ for (unsigned int i = 0; i < 100; i++) {
+ bitmap_zero((unsigned long *)buffer->scan_mask, iio_get_masklength(indio_dev));
+ *(unsigned long *)buffer->scan_mask = (i % 7) + 1;
+ buffer->scan_timestamp = i & 1;
+ KUNIT_EXPECT_EQ(test, iio_update_buffers(indio_dev, buffer, NULL), 0);
+ cond_resched();
+ KUNIT_EXPECT_EQ(test, iio_update_buffers(indio_dev, NULL, buffer), 0);
+ }
+
+ race->enable_error = -EIO;
+ KUNIT_EXPECT_EQ(test, iio_update_buffers(indio_dev, buffer, NULL), -EIO);
+ stores = atomic_read(&race->stores);
+ KUNIT_EXPECT_EQ(test, osf_iio_push_sample(indio_dev, values, 3), 0);
+ KUNIT_EXPECT_EQ(test, atomic_read(&race->stores), stores);
+ race->enable_error = 0;
+ KUNIT_EXPECT_EQ(test, iio_update_buffers(indio_dev, buffer, NULL), 0);
+ race->disable_error = -EIO;
+ KUNIT_EXPECT_EQ(test, iio_update_buffers(indio_dev, NULL, buffer), -EIO);
+ stores = atomic_read(&race->stores);
+ KUNIT_EXPECT_EQ(test, osf_iio_push_sample(indio_dev, values, 3), 0);
+ KUNIT_EXPECT_EQ(test, atomic_read(&race->stores), stores);
+ race->disable_error = 0;
+
+ KUNIT_EXPECT_EQ(test, iio_update_buffers(indio_dev, buffer, NULL), 0);
+ /* Rearm only after the first blocked store and configuration have ended. */
+ reinit_completion(&race->entered);
+ reinit_completion(&race->release);
+ reinit_completion(&race->config_started);
+ reinit_completion(&race->config_done);
+ /* Publish the completions to the producer's fully ordered atomic_xchg(). */
+ atomic_set_release(&race->block_store, 1);
+ KUNIT_EXPECT_NE(test, wait_for_completion_timeout(&race->entered, HZ), 0UL);
+ race->unregister = true;
+ osf_iio_expect_quiesce(test, race);
+ kunit_release_action(test, osf_iio_stop_producer, race);
+ KUNIT_EXPECT_EQ(test, atomic_read(&race->bad_store), 0);
+ KUNIT_EXPECT_GT(test, atomic_read(&race->stores), 0);
+ kunit_release_action(test, osf_iio_restore_access, race);
+ kunit_release_action(test, osf_iio_test_put_device, &indio_dev->dev);
+}
+
+static struct kunit_case osf_iio_test_cases[] = {
+ KUNIT_CASE(osf_iio_scan_bytes_test),
+ KUNIT_CASE(osf_iio_buffer_lifetime_test),
+ { }
+};
+
+static struct kunit_suite osf_iio_test_suite = {
+ .name = "osf-iio",
+ .test_cases = osf_iio_test_cases,
+};
+
+kunit_test_suite(osf_iio_test_suite);
+
+MODULE_LICENSE("GPL");
^ permalink raw reply [flat|nested] 9+ messages in thread
end of thread, other threads:[~2026-10-11 23:15 UTC | newest]
Thread overview: 9+ messages (download: mbox.gz / follow: Atom feed)
-- links below jump to the message on this page --
2026-10-11 23:13 [PATCH v11 0/8] iio: add Open Sensor Fusion UART support Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 1/8] dt-bindings: iio: add Open Sensor Fusion device Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 2/8] Documentation: iio: add Open Sensor Fusion driver overview Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 3/8] iio: osf: add protocol decoding Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 4/8] iio: osf: add validated stream parser Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 5/8] iio: osf: add UART transport and core receive path Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 6/8] iio: osf: add IIO devices from capability reports Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 7/8] iio: osf: add core KUnit tests Jinseob Kim
2026-10-11 23:13 ` [PATCH v11 8/8] iio: osf: add IIO " Jinseob Kim
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