From mboxrd@z Thu Jan 1 00:00:00 1970 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org Received: from vger.kernel.org (vger.kernel.org [23.128.96.18]) by smtp.lore.kernel.org (Postfix) with ESMTP id D5243C636CC for ; Sat, 18 Feb 2023 13:42:08 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S229763AbjBRNmI (ORCPT ); Sat, 18 Feb 2023 08:42:08 -0500 Received: from lindbergh.monkeyblade.net ([23.128.96.19]:51974 "EHLO lindbergh.monkeyblade.net" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S229489AbjBRNmH (ORCPT ); Sat, 18 Feb 2023 08:42:07 -0500 Received: from ams.source.kernel.org (ams.source.kernel.org [145.40.68.75]) by lindbergh.monkeyblade.net (Postfix) with ESMTPS id D3A0719696 for ; Sat, 18 Feb 2023 05:42:05 -0800 (PST) Received: from smtp.kernel.org (relay.kernel.org [52.25.139.140]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by ams.source.kernel.org (Postfix) with ESMTPS id 1F3C9B801BD for ; Sat, 18 Feb 2023 13:42:04 +0000 (UTC) Received: by smtp.kernel.org (Postfix) with ESMTPSA id 0E551C433EF; Sat, 18 Feb 2023 13:42:01 +0000 (UTC) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=kernel.org; s=k20201202; t=1676727722; bh=gNovSJnF0dKpxefyTfVwKvtB3ICPYFoCHK2ZbBf47ys=; h=Date:From:To:Cc:Subject:In-Reply-To:References:From; b=IMSr9rdJVnwmGOeZPJg2fijneUCrRdQ4BSmQWCTHuXHJWCHFYtg8WrIQ9zXR/dnyL DjP6LQcoNBiPByZDEMd69R/55J3+CEmt8+rCv49ZMo3yuIDA3ggyj0VKMPh9cSJ1Wk cn8HQIwzGApdvBndQKCs0NYM3QxklfATy9r8UK5F9VWSw4qyIbcJZleAn0eE5qG9Kc iANBSJGDYQbx5MZ6Lw+MKBrvt8/cRgs2V1x2hk75UTLmitOjP0UMAm9JPhlKVWwAHF 9e1aNLh7O4tW4NFpsNgEcEQEFRkTS0lnIIoHQpnDt1i2sdzUOIDdiea12wiqmhfYJI 7VRo4vCMYnMjA== Date: Sat, 18 Feb 2023 13:56:22 +0000 From: Jonathan Cameron To: Lorenzo Bianconi Cc: phdm@macq.eu, linux-iio@vger.kernel.org, lorenzo.bianconi@redhat.com Subject: Re: [PATCH] iio: imu: st_lsm6dsx: discard samples during filters settling time Message-ID: <20230218135622.6c5d4569@jic23-huawei> In-Reply-To: <1228b9ed2060b99d0df0f5549a37c8b520ea5429.1675867224.git.lorenzo@kernel.org> References: <1228b9ed2060b99d0df0f5549a37c8b520ea5429.1675867224.git.lorenzo@kernel.org> X-Mailer: Claws Mail 4.1.1 (GTK 3.24.36; x86_64-pc-linux-gnu) MIME-Version: 1.0 Content-Type: text/plain; charset=US-ASCII Content-Transfer-Encoding: 7bit Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org On Wed, 8 Feb 2023 15:42:31 +0100 Lorenzo Bianconi wrote: > During digital filters settling time the driver is expected to drop > samples since they can be corrupted. Introduce the capability to drop > a given number of samples according to the configured ODR. > Add the sample_to_discard data for LSM6DSM sensor. > > Signed-off-by: Lorenzo Bianconi Is this only necessary for the particular sensor you have provided values for? Or is it more general? I think the code will currently just set the number of samples to discard to 0 for other cases (as no value set for those sensor types). That's fine if 0 is definitely the right value for those other sensors. Thanks, Jonathan > --- > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 11 ++++ > .../iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 58 +++++++++++++++---- > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 18 ++++++ > 3 files changed, 77 insertions(+), 10 deletions(-) > > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > index 499fcf8875b4..8e119d78730b 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > @@ -137,6 +137,13 @@ struct st_lsm6dsx_odr_table_entry { > int odr_len; > }; > > +struct st_lsm6dsx_samples_to_discard { > + struct { > + u32 milli_hz; > + u16 samples; > + } val[ST_LSM6DSX_ODR_LIST_SIZE]; > +}; > + > struct st_lsm6dsx_fs { > u32 gain; > u8 val; > @@ -291,6 +298,7 @@ struct st_lsm6dsx_ext_dev_settings { > * @irq_config: interrupts related registers. > * @drdy_mask: register info for data-ready mask (addr + mask). > * @odr_table: Hw sensors odr table (Hz + val). > + * @samples_to_discard: Number of samples to discard for filters settling time. > * @fs_table: Hw sensors gain table (gain + val). > * @decimator: List of decimator register info (addr + mask). > * @batch: List of FIFO batching register info (addr + mask). > @@ -323,6 +331,7 @@ struct st_lsm6dsx_settings { > } irq_config; > struct st_lsm6dsx_reg drdy_mask; > struct st_lsm6dsx_odr_table_entry odr_table[2]; > + struct st_lsm6dsx_samples_to_discard samples_to_discard[2]; > struct st_lsm6dsx_fs_table_entry fs_table[2]; > struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID]; > struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID]; > @@ -353,6 +362,7 @@ enum st_lsm6dsx_fifo_mode { > * @hw: Pointer to instance of struct st_lsm6dsx_hw. > * @gain: Configured sensor sensitivity. > * @odr: Output data rate of the sensor [Hz]. > + * @samples_to_discard: Number of samples to discard for filters settling time. > * @watermark: Sensor watermark level. > * @decimator: Sensor decimation factor. > * @sip: Number of samples in a given pattern. > @@ -367,6 +377,7 @@ struct st_lsm6dsx_sensor { > u32 gain; > u32 odr; > > + u16 samples_to_discard; > u16 watermark; > u8 decimator; > u8 sip; > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > index 7dd5205aea5b..c1059a79f5ff 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > @@ -457,17 +457,29 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) > } > > if (gyro_sip > 0 && !(sip % gyro_sensor->decimator)) { > - iio_push_to_buffers_with_timestamp( > - hw->iio_devs[ST_LSM6DSX_ID_GYRO], > - &hw->scan[ST_LSM6DSX_ID_GYRO], > - gyro_sensor->ts_ref + ts); > + /* We need to discards gyro samples during Trivial but wrong comment syntax. If that's all that comes up I'll fix it here and in other instances below when applying. > + * filters settling time > + */ > + if (gyro_sensor->samples_to_discard > 0) > + gyro_sensor->samples_to_discard--; > + else > + iio_push_to_buffers_with_timestamp( > + hw->iio_devs[ST_LSM6DSX_ID_GYRO], > + &hw->scan[ST_LSM6DSX_ID_GYRO], > + gyro_sensor->ts_ref + ts); > gyro_sip--; > } > if (acc_sip > 0 && !(sip % acc_sensor->decimator)) { > - iio_push_to_buffers_with_timestamp( > - hw->iio_devs[ST_LSM6DSX_ID_ACC], > - &hw->scan[ST_LSM6DSX_ID_ACC], > - acc_sensor->ts_ref + ts); > + /* We need to discards accel samples during > + * filters settling time > + */ > + if (acc_sensor->samples_to_discard > 0) > + acc_sensor->samples_to_discard--; > + else > + iio_push_to_buffers_with_timestamp( > + hw->iio_devs[ST_LSM6DSX_ID_ACC], > + &hw->scan[ST_LSM6DSX_ID_ACC], > + acc_sensor->ts_ref + ts); > acc_sip--; > } > if (ext_sip > 0 && !(sip % ext_sensor->decimator)) { > @@ -541,8 +553,12 @@ st_lsm6dsx_push_tagged_data(struct st_lsm6dsx_hw *hw, u8 tag, > } > > sensor = iio_priv(iio_dev); > - iio_push_to_buffers_with_timestamp(iio_dev, data, > - ts + sensor->ts_ref); > + /* We need to discards gyro samples during filters settling time */ > + if (sensor->samples_to_discard > 0) > + sensor->samples_to_discard--; > + else > + iio_push_to_buffers_with_timestamp(iio_dev, data, > + ts + sensor->ts_ref); > > return 0; > } > @@ -654,6 +670,25 @@ int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw) > return err; > } > > +static void > +st_lsm6dsx_update_samples_to_discard(struct st_lsm6dsx_sensor *sensor) > +{ > + const struct st_lsm6dsx_samples_to_discard *data; > + int i; > + > + if (sensor->id != ST_LSM6DSX_ID_GYRO && > + sensor->id != ST_LSM6DSX_ID_ACC) > + return; > + > + data = &sensor->hw->settings->samples_to_discard[sensor->id]; > + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) { > + if (data->val[i].milli_hz == sensor->odr) { > + sensor->samples_to_discard = data->val[i].samples; > + return; > + } > + } > +} > + > int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable) > { > struct st_lsm6dsx_hw *hw = sensor->hw; > @@ -673,6 +708,9 @@ int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable) > goto out; > } > > + if (enable) > + st_lsm6dsx_update_samples_to_discard(sensor); > + > err = st_lsm6dsx_device_set_enable(sensor, enable); > if (err < 0) > goto out; > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > index 3f6060c64f32..966df6ffe874 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > @@ -634,6 +634,24 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { > .fs_len = 4, > }, > }, > + .samples_to_discard = { > + [ST_LSM6DSX_ID_ACC] = { > + .val[0] = { 12500, 1 }, > + .val[1] = { 26000, 1 }, > + .val[2] = { 52000, 1 }, > + .val[3] = { 104000, 2 }, > + .val[4] = { 208000, 2 }, > + .val[5] = { 416000, 2 }, > + }, > + [ST_LSM6DSX_ID_GYRO] = { > + .val[0] = { 12500, 2 }, > + .val[1] = { 26000, 5 }, > + .val[2] = { 52000, 7 }, > + .val[3] = { 104000, 12 }, > + .val[4] = { 208000, 20 }, > + .val[5] = { 416000, 36 }, > + }, > + }, > .irq_config = { > .irq1 = { > .addr = 0x0d,