* [PATCH v2 2/4] iio: move inv_icm42600 timestamp module in common
2023-06-06 16:21 [PATCH v2 0/4] Factorize timestamp module inv.git-commit
2023-06-06 16:21 ` [PATCH v2 1/4] iio: imu: inv_icm42600: make timestamp module chip independent inv.git-commit
@ 2023-06-06 16:21 ` inv.git-commit
2023-06-06 16:21 ` [PATCH v2 3/4] iio: make invensense timestamp module generic inv.git-commit
` (2 subsequent siblings)
4 siblings, 0 replies; 11+ messages in thread
From: inv.git-commit @ 2023-06-06 16:21 UTC (permalink / raw)
To: jic23, linux-iio; +Cc: lars, Jean-Baptiste Maneyrol
From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
Create new inv_sensors common modules and move inv_icm42600
timestamp module inside. This module will be used by IMUs and
also in the future by other chips.
Modify inv_icm42600 driver to use timestamp module and do some
headers cleanup.
Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
---
drivers/iio/common/Kconfig | 1 +
drivers/iio/common/Makefile | 1 +
drivers/iio/common/inv_sensors/Kconfig | 7 +++++++
drivers/iio/common/inv_sensors/Makefile | 6 ++++++
.../inv_sensors}/inv_icm42600_timestamp.c | 11 ++++++++++-
drivers/iio/imu/inv_icm42600/Kconfig | 1 +
drivers/iio/imu/inv_icm42600/Makefile | 1 -
drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c | 5 +++--
drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c | 5 +++--
drivers/iio/imu/inv_icm42600/inv_icm42600_core.c | 4 +++-
drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c | 5 +++--
.../linux/iio/common}/inv_icm42600_timestamp.h | 0
12 files changed, 38 insertions(+), 9 deletions(-)
create mode 100644 drivers/iio/common/inv_sensors/Kconfig
create mode 100644 drivers/iio/common/inv_sensors/Makefile
rename drivers/iio/{imu/inv_icm42600 => common/inv_sensors}/inv_icm42600_timestamp.c (91%)
rename {drivers/iio/imu/inv_icm42600 => include/linux/iio/common}/inv_icm42600_timestamp.h (100%)
diff --git a/drivers/iio/common/Kconfig b/drivers/iio/common/Kconfig
index 0334b4954773..1ccb5ccf3706 100644
--- a/drivers/iio/common/Kconfig
+++ b/drivers/iio/common/Kconfig
@@ -5,6 +5,7 @@
source "drivers/iio/common/cros_ec_sensors/Kconfig"
source "drivers/iio/common/hid-sensors/Kconfig"
+source "drivers/iio/common/inv_sensors/Kconfig"
source "drivers/iio/common/ms_sensors/Kconfig"
source "drivers/iio/common/scmi_sensors/Kconfig"
source "drivers/iio/common/ssp_sensors/Kconfig"
diff --git a/drivers/iio/common/Makefile b/drivers/iio/common/Makefile
index fad40e1e1718..d3e952239a62 100644
--- a/drivers/iio/common/Makefile
+++ b/drivers/iio/common/Makefile
@@ -10,6 +10,7 @@
# When adding new entries keep the list in alphabetical order
obj-y += cros_ec_sensors/
obj-y += hid-sensors/
+obj-y += inv_sensors/
obj-y += ms_sensors/
obj-y += scmi_sensors/
obj-y += ssp_sensors/
diff --git a/drivers/iio/common/inv_sensors/Kconfig b/drivers/iio/common/inv_sensors/Kconfig
new file mode 100644
index 000000000000..28815fb43157
--- /dev/null
+++ b/drivers/iio/common/inv_sensors/Kconfig
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: GPL-2.0-only
+#
+# TDK-InvenSense sensors common library
+#
+
+config IIO_INV_SENSORS_TIMESTAMP
+ tristate
diff --git a/drivers/iio/common/inv_sensors/Makefile b/drivers/iio/common/inv_sensors/Makefile
new file mode 100644
index 000000000000..93bddb9356b8
--- /dev/null
+++ b/drivers/iio/common/inv_sensors/Makefile
@@ -0,0 +1,6 @@
+# SPDX-License-Identifier: GPL-2.0
+#
+# Makefile for TDK-InvenSense sensors module.
+#
+
+obj-$(CONFIG_IIO_INV_SENSORS_TIMESTAMP) += inv_icm42600_timestamp.o
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.c b/drivers/iio/common/inv_sensors/inv_icm42600_timestamp.c
similarity index 91%
rename from drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.c
rename to drivers/iio/common/inv_sensors/inv_icm42600_timestamp.c
index 3e305e7e9887..7cd80cdf0ee5 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.c
+++ b/drivers/iio/common/inv_sensors/inv_icm42600_timestamp.c
@@ -6,8 +6,9 @@
#include <linux/errno.h>
#include <linux/kernel.h>
#include <linux/math64.h>
+#include <linux/module.h>
-#include "inv_icm42600_timestamp.h"
+#include <linux/iio/common/inv_icm42600_timestamp.h>
/* internal chip period is 32kHz, 31250ns */
#define INV_ICM42600_TIMESTAMP_PERIOD 31250
@@ -54,6 +55,7 @@ void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
/* use theoretical value for chip period */
inv_update_acc(&ts->chip_period, INV_ICM42600_TIMESTAMP_PERIOD);
}
+EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_init, IIO_INV_SENSORS_TIMESTAMP);
int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
uint32_t period, bool fifo)
@@ -66,6 +68,7 @@ int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
return 0;
}
+EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_update_odr, IIO_INV_SENSORS_TIMESTAMP);
static bool inv_validate_period(uint32_t period, uint32_t mult)
{
@@ -153,6 +156,7 @@ void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
if (valid)
inv_align_timestamp_it(ts);
}
+EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_interrupt, IIO_INV_SENSORS_TIMESTAMP);
void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
uint32_t fifo_period, size_t fifo_nb,
@@ -184,3 +188,8 @@ void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
ts->timestamp = ts->it.up - interval;
}
}
+EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_apply_odr, IIO_INV_SENSORS_TIMESTAMP);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense sensors timestamp module");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/inv_icm42600/Kconfig b/drivers/iio/imu/inv_icm42600/Kconfig
index 50cbcfcb6cf1..f56b0816cc4d 100644
--- a/drivers/iio/imu/inv_icm42600/Kconfig
+++ b/drivers/iio/imu/inv_icm42600/Kconfig
@@ -3,6 +3,7 @@
config INV_ICM42600
tristate
select IIO_BUFFER
+ select IIO_INV_SENSORS_TIMESTAMP
config INV_ICM42600_I2C
tristate "InvenSense ICM-426xx I2C driver"
diff --git a/drivers/iio/imu/inv_icm42600/Makefile b/drivers/iio/imu/inv_icm42600/Makefile
index 291714d9aa54..0f49f6df3647 100644
--- a/drivers/iio/imu/inv_icm42600/Makefile
+++ b/drivers/iio/imu/inv_icm42600/Makefile
@@ -6,7 +6,6 @@ inv-icm42600-y += inv_icm42600_gyro.o
inv-icm42600-y += inv_icm42600_accel.o
inv-icm42600-y += inv_icm42600_temp.o
inv-icm42600-y += inv_icm42600_buffer.o
-inv-icm42600-y += inv_icm42600_timestamp.o
obj-$(CONFIG_INV_ICM42600_I2C) += inv-icm42600-i2c.o
inv-icm42600-i2c-y += inv_icm42600_i2c.o
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
index c3f433ad3af6..c2591101645a 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
@@ -10,14 +10,15 @@
#include <linux/regmap.h>
#include <linux/delay.h>
#include <linux/math64.h>
-#include <linux/iio/iio.h>
+
#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/iio.h>
#include <linux/iio/kfifo_buf.h>
#include "inv_icm42600.h"
#include "inv_icm42600_temp.h"
#include "inv_icm42600_buffer.h"
-#include "inv_icm42600_timestamp.h"
#define INV_ICM42600_ACCEL_CHAN(_modifier, _index, _ext_info) \
{ \
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
index 32d7f8364230..ba4bb389a9fc 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
@@ -9,11 +9,12 @@
#include <linux/pm_runtime.h>
#include <linux/regmap.h>
#include <linux/delay.h>
-#include <linux/iio/iio.h>
+
#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/iio.h>
#include "inv_icm42600.h"
-#include "inv_icm42600_timestamp.h"
#include "inv_icm42600_buffer.h"
/* FIFO header: 1 byte */
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
index c34735b05830..9d227b4776eb 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
@@ -15,11 +15,12 @@
#include <linux/pm_runtime.h>
#include <linux/property.h>
#include <linux/regmap.h>
+
+#include <linux/iio/common/inv_icm42600_timestamp.h>
#include <linux/iio/iio.h>
#include "inv_icm42600.h"
#include "inv_icm42600_buffer.h"
-#include "inv_icm42600_timestamp.h"
static const struct regmap_range_cfg inv_icm42600_regmap_ranges[] = {
{
@@ -799,3 +800,4 @@ EXPORT_NS_GPL_DEV_PM_OPS(inv_icm42600_pm_ops, IIO_ICM42600) = {
MODULE_AUTHOR("InvenSense, Inc.");
MODULE_DESCRIPTION("InvenSense ICM-426xx device driver");
MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS(IIO_INV_SENSORS_TIMESTAMP);
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
index 9d94a8518e3c..0ea3d8bf709d 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -10,14 +10,15 @@
#include <linux/regmap.h>
#include <linux/delay.h>
#include <linux/math64.h>
-#include <linux/iio/iio.h>
+
#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/iio.h>
#include <linux/iio/kfifo_buf.h>
#include "inv_icm42600.h"
#include "inv_icm42600_temp.h"
#include "inv_icm42600_buffer.h"
-#include "inv_icm42600_timestamp.h"
#define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info) \
{ \
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.h b/include/linux/iio/common/inv_icm42600_timestamp.h
similarity index 100%
rename from drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.h
rename to include/linux/iio/common/inv_icm42600_timestamp.h
--
2.34.1
^ permalink raw reply related [flat|nested] 11+ messages in thread* [PATCH v2 3/4] iio: make invensense timestamp module generic
2023-06-06 16:21 [PATCH v2 0/4] Factorize timestamp module inv.git-commit
2023-06-06 16:21 ` [PATCH v2 1/4] iio: imu: inv_icm42600: make timestamp module chip independent inv.git-commit
2023-06-06 16:21 ` [PATCH v2 2/4] iio: move inv_icm42600 timestamp module in common inv.git-commit
@ 2023-06-06 16:21 ` inv.git-commit
2023-06-06 16:21 ` [PATCH v2 4/4] iio: imu: inv_mpu6050: use the common inv_sensors timestamp module inv.git-commit
2023-06-07 6:26 ` [PATCH v2 0/4] Factorize " andy.shevchenko
4 siblings, 0 replies; 11+ messages in thread
From: inv.git-commit @ 2023-06-06 16:21 UTC (permalink / raw)
To: jic23, linux-iio; +Cc: lars, Jean-Baptiste Maneyrol
From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
Rename common module to inv_sensors_timestamp, add configuration
at init (chip internal clock, acceptable jitter, ...) and update
inv_icm42600 driver integration.
Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
---
drivers/iio/common/inv_sensors/Makefile | 2 +-
...00_timestamp.c => inv_sensors_timestamp.c} | 87 +++++++++--------
.../iio/imu/inv_icm42600/inv_icm42600_accel.c | 32 ++++---
.../imu/inv_icm42600/inv_icm42600_buffer.c | 30 +++---
.../iio/imu/inv_icm42600/inv_icm42600_core.c | 1 -
.../iio/imu/inv_icm42600/inv_icm42600_gyro.c | 32 ++++---
.../linux/iio/common/inv_icm42600_timestamp.h | 79 ---------------
.../linux/iio/common/inv_sensors_timestamp.h | 95 +++++++++++++++++++
8 files changed, 194 insertions(+), 164 deletions(-)
rename drivers/iio/common/inv_sensors/{inv_icm42600_timestamp.c => inv_sensors_timestamp.c} (58%)
delete mode 100644 include/linux/iio/common/inv_icm42600_timestamp.h
create mode 100644 include/linux/iio/common/inv_sensors_timestamp.h
diff --git a/drivers/iio/common/inv_sensors/Makefile b/drivers/iio/common/inv_sensors/Makefile
index 93bddb9356b8..dcf39f249112 100644
--- a/drivers/iio/common/inv_sensors/Makefile
+++ b/drivers/iio/common/inv_sensors/Makefile
@@ -3,4 +3,4 @@
# Makefile for TDK-InvenSense sensors module.
#
-obj-$(CONFIG_IIO_INV_SENSORS_TIMESTAMP) += inv_icm42600_timestamp.o
+obj-$(CONFIG_IIO_INV_SENSORS_TIMESTAMP) += inv_sensors_timestamp.o
diff --git a/drivers/iio/common/inv_sensors/inv_icm42600_timestamp.c b/drivers/iio/common/inv_sensors/inv_sensors_timestamp.c
similarity index 58%
rename from drivers/iio/common/inv_sensors/inv_icm42600_timestamp.c
rename to drivers/iio/common/inv_sensors/inv_sensors_timestamp.c
index 7cd80cdf0ee5..03823ee57f59 100644
--- a/drivers/iio/common/inv_sensors/inv_icm42600_timestamp.c
+++ b/drivers/iio/common/inv_sensors/inv_sensors_timestamp.c
@@ -8,20 +8,18 @@
#include <linux/math64.h>
#include <linux/module.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
-
-/* internal chip period is 32kHz, 31250ns */
-#define INV_ICM42600_TIMESTAMP_PERIOD 31250
-/* allow a jitter of +/- 2% */
-#define INV_ICM42600_TIMESTAMP_JITTER 2
-/* compute min and max periods accepted */
-#define INV_ICM42600_TIMESTAMP_MIN_PERIOD(_p) \
- (((_p) * (100 - INV_ICM42600_TIMESTAMP_JITTER)) / 100)
-#define INV_ICM42600_TIMESTAMP_MAX_PERIOD(_p) \
- (((_p) * (100 + INV_ICM42600_TIMESTAMP_JITTER)) / 100)
+#include <linux/iio/common/inv_sensors_timestamp.h>
+
+/* compute jitter, min and max following jitter in per mille */
+#define INV_SENSORS_TIMESTAMP_JITTER(_val, _jitter) \
+ (div_s64((_val) * (_jitter), 1000))
+#define INV_SENSORS_TIMESTAMP_MIN(_val, _jitter) \
+ (((_val) * (1000 - (_jitter))) / 1000)
+#define INV_SENSORS_TIMESTAMP_MAX(_val, _jitter) \
+ (((_val) * (1000 + (_jitter))) / 1000)
/* Add a new value inside an accumulator and update the estimate value */
-static void inv_update_acc(struct inv_icm42600_timestamp_acc *acc, uint32_t val)
+static void inv_update_acc(struct inv_sensors_timestamp_acc *acc, uint32_t val)
{
uint64_t sum = 0;
size_t i;
@@ -40,56 +38,57 @@ static void inv_update_acc(struct inv_icm42600_timestamp_acc *acc, uint32_t val)
acc->val = div_u64(sum, i);
}
-void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
- uint32_t period)
+void inv_sensors_timestamp_init(struct inv_sensors_timestamp *ts,
+ const struct inv_sensors_timestamp_chip *chip)
{
- /* initial odr for sensor after reset is 1kHz */
- const uint32_t default_period = 1000000;
+ memset(ts, 0, sizeof(*ts));
+
+ /* save chip parameters and compute min and max clock period */
+ ts->chip = *chip;
+ ts->min_period = INV_SENSORS_TIMESTAMP_MIN(chip->clock_period, chip->jitter);
+ ts->max_period = INV_SENSORS_TIMESTAMP_MAX(chip->clock_period, chip->jitter);
/* current multiplier and period values after reset */
- ts->mult = default_period / INV_ICM42600_TIMESTAMP_PERIOD;
- ts->period = default_period;
- /* new set multiplier is the one from chip initialization */
- ts->new_mult = period / INV_ICM42600_TIMESTAMP_PERIOD;
+ ts->mult = chip->init_period / chip->clock_period;
+ ts->period = chip->init_period;
/* use theoretical value for chip period */
- inv_update_acc(&ts->chip_period, INV_ICM42600_TIMESTAMP_PERIOD);
+ inv_update_acc(&ts->chip_period, chip->clock_period);
}
-EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_init, IIO_INV_SENSORS_TIMESTAMP);
+EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_init, IIO_INV_SENSORS_TIMESTAMP);
-int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
- uint32_t period, bool fifo)
+int inv_sensors_timestamp_update_odr(struct inv_sensors_timestamp *ts,
+ uint32_t period, bool fifo)
{
/* when FIFO is on, prevent odr change if one is already pending */
if (fifo && ts->new_mult != 0)
return -EAGAIN;
- ts->new_mult = period / INV_ICM42600_TIMESTAMP_PERIOD;
+ ts->new_mult = period / ts->chip.clock_period;
return 0;
}
-EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_update_odr, IIO_INV_SENSORS_TIMESTAMP);
+EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_update_odr, IIO_INV_SENSORS_TIMESTAMP);
-static bool inv_validate_period(uint32_t period, uint32_t mult)
+static bool inv_validate_period(struct inv_sensors_timestamp *ts, uint32_t period, uint32_t mult)
{
- const uint32_t chip_period = INV_ICM42600_TIMESTAMP_PERIOD;
uint32_t period_min, period_max;
/* check that period is acceptable */
- period_min = INV_ICM42600_TIMESTAMP_MIN_PERIOD(chip_period) * mult;
- period_max = INV_ICM42600_TIMESTAMP_MAX_PERIOD(chip_period) * mult;
+ period_min = ts->min_period * mult;
+ period_max = ts->max_period * mult;
if (period > period_min && period < period_max)
return true;
else
return false;
}
-static bool inv_update_chip_period(struct inv_icm42600_timestamp *ts,
- uint32_t mult, uint32_t period)
+static bool inv_update_chip_period(struct inv_sensors_timestamp *ts,
+ uint32_t mult, uint32_t period)
{
uint32_t new_chip_period;
- if (!inv_validate_period(period, mult))
+ if (!inv_validate_period(ts, period, mult))
return false;
/* update chip internal period estimation */
@@ -100,7 +99,7 @@ static bool inv_update_chip_period(struct inv_icm42600_timestamp *ts,
return true;
}
-static void inv_align_timestamp_it(struct inv_icm42600_timestamp *ts)
+static void inv_align_timestamp_it(struct inv_sensors_timestamp *ts)
{
int64_t delta, jitter;
int64_t adjust;
@@ -109,7 +108,7 @@ static void inv_align_timestamp_it(struct inv_icm42600_timestamp *ts)
delta = ts->it.lo - ts->timestamp;
/* adjust timestamp while respecting jitter */
- jitter = div_s64((int64_t)ts->period * INV_ICM42600_TIMESTAMP_JITTER, 100);
+ jitter = INV_SENSORS_TIMESTAMP_JITTER((int64_t)ts->period, ts->chip.jitter);
if (delta > jitter)
adjust = jitter;
else if (delta < -jitter)
@@ -120,13 +119,13 @@ static void inv_align_timestamp_it(struct inv_icm42600_timestamp *ts)
ts->timestamp += adjust;
}
-void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
+void inv_sensors_timestamp_interrupt(struct inv_sensors_timestamp *ts,
uint32_t fifo_period, size_t fifo_nb,
size_t sensor_nb, int64_t timestamp)
{
- struct inv_icm42600_timestamp_interval *it;
+ struct inv_sensors_timestamp_interval *it;
int64_t delta, interval;
- const uint32_t fifo_mult = fifo_period / INV_ICM42600_TIMESTAMP_PERIOD;
+ const uint32_t fifo_mult = fifo_period / ts->chip.clock_period;
uint32_t period = ts->period;
bool valid = false;
@@ -156,11 +155,11 @@ void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
if (valid)
inv_align_timestamp_it(ts);
}
-EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_interrupt, IIO_INV_SENSORS_TIMESTAMP);
+EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_interrupt, IIO_INV_SENSORS_TIMESTAMP);
-void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
- uint32_t fifo_period, size_t fifo_nb,
- unsigned int fifo_no)
+void inv_sensors_timestamp_apply_odr(struct inv_sensors_timestamp *ts,
+ uint32_t fifo_period, size_t fifo_nb,
+ unsigned int fifo_no)
{
int64_t interval;
uint32_t fifo_mult;
@@ -181,14 +180,14 @@ void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
*/
if (ts->timestamp != 0) {
/* compute measured fifo period */
- fifo_mult = fifo_period / INV_ICM42600_TIMESTAMP_PERIOD;
+ fifo_mult = fifo_period / ts->chip.clock_period;
fifo_period = fifo_mult * ts->chip_period.val;
/* computes time interval between interrupt and this sample */
interval = (int64_t)(fifo_nb - fifo_no) * (int64_t)fifo_period;
ts->timestamp = ts->it.up - interval;
}
}
-EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_apply_odr, IIO_INV_SENSORS_TIMESTAMP);
+EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_apply_odr, IIO_INV_SENSORS_TIMESTAMP);
MODULE_AUTHOR("InvenSense, Inc.");
MODULE_DESCRIPTION("InvenSense sensors timestamp module");
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
index c2591101645a..b1e4fde27d25 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
@@ -12,7 +12,7 @@
#include <linux/math64.h>
#include <linux/iio/buffer.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/iio.h>
#include <linux/iio/kfifo_buf.h>
@@ -99,7 +99,7 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
const unsigned long *scan_mask)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
unsigned int fifo_en = 0;
unsigned int sleep_temp = 0;
@@ -127,7 +127,7 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
}
/* update data FIFO write */
- inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
+ inv_sensors_timestamp_apply_odr(ts, 0, 0, 0);
ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
if (ret)
goto out_unlock;
@@ -312,7 +312,7 @@ static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev,
int val, int val2)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
@@ -331,8 +331,8 @@ static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev,
pm_runtime_get_sync(dev);
mutex_lock(&st->lock);
- ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
- iio_buffer_enabled(indio_dev));
+ ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
+ iio_buffer_enabled(indio_dev));
if (ret)
goto out_unlock;
@@ -708,7 +708,8 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
{
struct device *dev = regmap_get_device(st->map);
const char *name;
- struct inv_icm42600_timestamp *ts;
+ struct inv_sensors_timestamp_chip ts_chip;
+ struct inv_sensors_timestamp *ts;
struct iio_dev *indio_dev;
int ret;
@@ -720,8 +721,15 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
if (!indio_dev)
return ERR_PTR(-ENOMEM);
+ /*
+ * clock period is 32kHz (31250ns)
+ * jitter is +/- 2% (20 per mille)
+ */
+ ts_chip.clock_period = 31250;
+ ts_chip.jitter = 20;
+ ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
ts = iio_priv(indio_dev);
- inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.accel.odr));
+ inv_sensors_timestamp_init(ts, &ts_chip);
iio_device_set_drvdata(indio_dev, st);
indio_dev->name = name;
@@ -746,7 +754,7 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
ssize_t i, size;
unsigned int no;
const void *accel, *gyro, *timestamp;
@@ -769,15 +777,15 @@ int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
/* update odr */
if (odr & INV_ICM42600_SENSOR_ACCEL)
- inv_icm42600_timestamp_apply_odr(ts, st->fifo.period,
- st->fifo.nb.total, no);
+ inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
+ st->fifo.nb.total, no);
/* buffer is copied to userspace, zeroing it to avoid any data leak */
memset(&buffer, 0, sizeof(buffer));
memcpy(&buffer.accel, accel, sizeof(buffer.accel));
/* convert 8 bits FIFO temperature in high resolution format */
buffer.temp = temp ? (*temp * 64) : 0;
- ts_val = inv_icm42600_timestamp_pop(ts);
+ ts_val = inv_sensors_timestamp_pop(ts);
iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
}
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
index ba4bb389a9fc..6ef1df9d60b7 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
@@ -11,7 +11,7 @@
#include <linux/delay.h>
#include <linux/iio/buffer.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/iio.h>
#include "inv_icm42600.h"
@@ -276,12 +276,12 @@ static int inv_icm42600_buffer_preenable(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
struct device *dev = regmap_get_device(st->map);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
pm_runtime_get_sync(dev);
mutex_lock(&st->lock);
- inv_icm42600_timestamp_reset(ts);
+ inv_sensors_timestamp_reset(ts);
mutex_unlock(&st->lock);
return 0;
@@ -505,7 +505,7 @@ int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st,
int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
{
- struct inv_icm42600_timestamp *ts;
+ struct inv_sensors_timestamp *ts;
int ret;
if (st->fifo.nb.total == 0)
@@ -513,8 +513,8 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
/* handle gyroscope timestamp and FIFO data parsing */
ts = iio_priv(st->indio_gyro);
- inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
- st->fifo.nb.gyro, st->timestamp.gyro);
+ inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
+ st->fifo.nb.gyro, st->timestamp.gyro);
if (st->fifo.nb.gyro > 0) {
ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
if (ret)
@@ -523,8 +523,8 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
/* handle accelerometer timestamp and FIFO data parsing */
ts = iio_priv(st->indio_accel);
- inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
- st->fifo.nb.accel, st->timestamp.accel);
+ inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
+ st->fifo.nb.accel, st->timestamp.accel);
if (st->fifo.nb.accel > 0) {
ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
if (ret)
@@ -537,7 +537,7 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
unsigned int count)
{
- struct inv_icm42600_timestamp *ts;
+ struct inv_sensors_timestamp *ts;
int64_t gyro_ts, accel_ts;
int ret;
@@ -553,9 +553,9 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
if (st->fifo.nb.gyro > 0) {
ts = iio_priv(st->indio_gyro);
- inv_icm42600_timestamp_interrupt(ts, st->fifo.period,
- st->fifo.nb.total, st->fifo.nb.gyro,
- gyro_ts);
+ inv_sensors_timestamp_interrupt(ts, st->fifo.period,
+ st->fifo.nb.total, st->fifo.nb.gyro,
+ gyro_ts);
ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
if (ret)
return ret;
@@ -563,9 +563,9 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
if (st->fifo.nb.accel > 0) {
ts = iio_priv(st->indio_accel);
- inv_icm42600_timestamp_interrupt(ts, st->fifo.period,
- st->fifo.nb.total, st->fifo.nb.accel,
- accel_ts);
+ inv_sensors_timestamp_interrupt(ts, st->fifo.period,
+ st->fifo.nb.total, st->fifo.nb.accel,
+ accel_ts);
ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
if (ret)
return ret;
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
index 9d227b4776eb..a5e81906e37e 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
@@ -16,7 +16,6 @@
#include <linux/property.h>
#include <linux/regmap.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
#include <linux/iio/iio.h>
#include "inv_icm42600.h"
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
index 0ea3d8bf709d..3bf946e56e1d 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -12,7 +12,7 @@
#include <linux/math64.h>
#include <linux/iio/buffer.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/iio.h>
#include <linux/iio/kfifo_buf.h>
@@ -99,7 +99,7 @@ static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
const unsigned long *scan_mask)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
unsigned int fifo_en = 0;
unsigned int sleep_gyro = 0;
@@ -127,7 +127,7 @@ static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
}
/* update data FIFO write */
- inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
+ inv_sensors_timestamp_apply_odr(ts, 0, 0, 0);
ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
if (ret)
goto out_unlock;
@@ -324,7 +324,7 @@ static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
int val, int val2)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
@@ -343,8 +343,8 @@ static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
pm_runtime_get_sync(dev);
mutex_lock(&st->lock);
- ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
- iio_buffer_enabled(indio_dev));
+ ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
+ iio_buffer_enabled(indio_dev));
if (ret)
goto out_unlock;
@@ -719,7 +719,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
{
struct device *dev = regmap_get_device(st->map);
const char *name;
- struct inv_icm42600_timestamp *ts;
+ struct inv_sensors_timestamp_chip ts_chip;
+ struct inv_sensors_timestamp *ts;
struct iio_dev *indio_dev;
int ret;
@@ -731,8 +732,15 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
if (!indio_dev)
return ERR_PTR(-ENOMEM);
+ /*
+ * clock period is 32kHz (31250ns)
+ * jitter is +/- 2% (20 per mille)
+ */
+ ts_chip.clock_period = 31250;
+ ts_chip.jitter = 20;
+ ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
ts = iio_priv(indio_dev);
- inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.gyro.odr));
+ inv_sensors_timestamp_init(ts, &ts_chip);
iio_device_set_drvdata(indio_dev, st);
indio_dev->name = name;
@@ -758,7 +766,7 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
ssize_t i, size;
unsigned int no;
const void *accel, *gyro, *timestamp;
@@ -781,15 +789,15 @@ int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
/* update odr */
if (odr & INV_ICM42600_SENSOR_GYRO)
- inv_icm42600_timestamp_apply_odr(ts, st->fifo.period,
- st->fifo.nb.total, no);
+ inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
+ st->fifo.nb.total, no);
/* buffer is copied to userspace, zeroing it to avoid any data leak */
memset(&buffer, 0, sizeof(buffer));
memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro));
/* convert 8 bits FIFO temperature in high resolution format */
buffer.temp = temp ? (*temp * 64) : 0;
- ts_val = inv_icm42600_timestamp_pop(ts);
+ ts_val = inv_sensors_timestamp_pop(ts);
iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
}
diff --git a/include/linux/iio/common/inv_icm42600_timestamp.h b/include/linux/iio/common/inv_icm42600_timestamp.h
deleted file mode 100644
index b808a6da15e5..000000000000
--- a/include/linux/iio/common/inv_icm42600_timestamp.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/* SPDX-License-Identifier: GPL-2.0-or-later */
-/*
- * Copyright (C) 2020 Invensense, Inc.
- */
-
-#ifndef INV_ICM42600_TIMESTAMP_H_
-#define INV_ICM42600_TIMESTAMP_H_
-
-/**
- * struct inv_icm42600_timestamp_interval - timestamps interval
- * @lo: interval lower bound
- * @up: interval upper bound
- */
-struct inv_icm42600_timestamp_interval {
- int64_t lo;
- int64_t up;
-};
-
-/**
- * struct inv_icm42600_timestamp_acc - accumulator for computing an estimation
- * @val: current estimation of the value, the mean of all values
- * @idx: current index of the next free place in values table
- * @values: table of all measured values, use for computing the mean
- */
-struct inv_icm42600_timestamp_acc {
- uint32_t val;
- size_t idx;
- uint32_t values[32];
-};
-
-/**
- * struct inv_icm42600_timestamp - timestamp management states
- * @it: interrupts interval timestamps
- * @timestamp: store last timestamp for computing next data timestamp
- * @mult: current internal period multiplier
- * @new_mult: new set internal period multiplier (not yet effective)
- * @period: measured current period of the sensor
- * @chip_period: accumulator for computing internal chip period
- */
-struct inv_icm42600_timestamp {
- struct inv_icm42600_timestamp_interval it;
- int64_t timestamp;
- uint32_t mult;
- uint32_t new_mult;
- uint32_t period;
- struct inv_icm42600_timestamp_acc chip_period;
-};
-
-void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
- uint32_t period);
-
-int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
- uint32_t period, bool fifo);
-
-void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
- uint32_t fifo_period, size_t fifo_nb,
- size_t sensor_nb, int64_t timestamp);
-
-static inline int64_t
-inv_icm42600_timestamp_pop(struct inv_icm42600_timestamp *ts)
-{
- ts->timestamp += ts->period;
- return ts->timestamp;
-}
-
-void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
- uint32_t fifo_period, size_t fifo_nb,
- unsigned int fifo_no);
-
-static inline void
-inv_icm42600_timestamp_reset(struct inv_icm42600_timestamp *ts)
-{
- const struct inv_icm42600_timestamp_interval interval_init = {0LL, 0LL};
-
- ts->it = interval_init;
- ts->timestamp = 0;
-}
-
-#endif
diff --git a/include/linux/iio/common/inv_sensors_timestamp.h b/include/linux/iio/common/inv_sensors_timestamp.h
new file mode 100644
index 000000000000..a47d304d1ba7
--- /dev/null
+++ b/include/linux/iio/common/inv_sensors_timestamp.h
@@ -0,0 +1,95 @@
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#ifndef INV_SENSORS_TIMESTAMP_H_
+#define INV_SENSORS_TIMESTAMP_H_
+
+/**
+ * struct inv_sensors_timestamp_chip - chip internal properties
+ * @clock_period: internal clock period in ns
+ * @jitter: acceptable jitter in per-mille
+ * @init_period: chip initial period at reset in ns
+ */
+struct inv_sensors_timestamp_chip {
+ uint32_t clock_period;
+ uint32_t jitter;
+ uint32_t init_period;
+};
+
+/**
+ * struct inv_sensors_timestamp_interval - timestamps interval
+ * @lo: interval lower bound
+ * @up: interval upper bound
+ */
+struct inv_sensors_timestamp_interval {
+ int64_t lo;
+ int64_t up;
+};
+
+/**
+ * struct inv_sensors_timestamp_acc - accumulator for computing an estimation
+ * @val: current estimation of the value, the mean of all values
+ * @idx: current index of the next free place in values table
+ * @values: table of all measured values, use for computing the mean
+ */
+struct inv_sensors_timestamp_acc {
+ uint32_t val;
+ size_t idx;
+ uint32_t values[32];
+};
+
+/**
+ * struct inv_sensors_timestamp - timestamp management states
+ * @chip: chip internal characteristics
+ * @min_period: minimal acceptable clock period
+ * @max_period: maximal acceptable clock period
+ * @it: interrupts interval timestamps
+ * @timestamp: store last timestamp for computing next data timestamp
+ * @mult: current internal period multiplier
+ * @new_mult: new set internal period multiplier (not yet effective)
+ * @period: measured current period of the sensor
+ * @chip_period: accumulator for computing internal chip period
+ */
+struct inv_sensors_timestamp {
+ struct inv_sensors_timestamp_chip chip;
+ uint32_t min_period;
+ uint32_t max_period;
+ struct inv_sensors_timestamp_interval it;
+ int64_t timestamp;
+ uint32_t mult;
+ uint32_t new_mult;
+ uint32_t period;
+ struct inv_sensors_timestamp_acc chip_period;
+};
+
+void inv_sensors_timestamp_init(struct inv_sensors_timestamp *ts,
+ const struct inv_sensors_timestamp_chip *chip);
+
+int inv_sensors_timestamp_update_odr(struct inv_sensors_timestamp *ts,
+ uint32_t period, bool fifo);
+
+void inv_sensors_timestamp_interrupt(struct inv_sensors_timestamp *ts,
+ uint32_t fifo_period, size_t fifo_nb,
+ size_t sensor_nb, int64_t timestamp);
+
+static inline int64_t inv_sensors_timestamp_pop(struct inv_sensors_timestamp *ts)
+{
+ ts->timestamp += ts->period;
+ return ts->timestamp;
+}
+
+void inv_sensors_timestamp_apply_odr(struct inv_sensors_timestamp *ts,
+ uint32_t fifo_period, size_t fifo_nb,
+ unsigned int fifo_no);
+
+static inline void inv_sensors_timestamp_reset(struct inv_sensors_timestamp *ts)
+{
+ const struct inv_sensors_timestamp_interval interval_init = {0LL, 0LL};
+
+ ts->it = interval_init;
+ ts->timestamp = 0;
+}
+
+#endif
--
2.34.1
^ permalink raw reply related [flat|nested] 11+ messages in thread* [PATCH v2 4/4] iio: imu: inv_mpu6050: use the common inv_sensors timestamp module
2023-06-06 16:21 [PATCH v2 0/4] Factorize timestamp module inv.git-commit
` (2 preceding siblings ...)
2023-06-06 16:21 ` [PATCH v2 3/4] iio: make invensense timestamp module generic inv.git-commit
@ 2023-06-06 16:21 ` inv.git-commit
2023-06-07 6:26 ` [PATCH v2 0/4] Factorize " andy.shevchenko
4 siblings, 0 replies; 11+ messages in thread
From: inv.git-commit @ 2023-06-06 16:21 UTC (permalink / raw)
To: jic23, linux-iio; +Cc: lars, Jean-Baptiste Maneyrol
From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
Replace timestamping by the new common inv_sensors timestamp
module. The principle behind is the same but the implementation in
the new module is far better providing less jitter and a better
estimation.
Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
---
drivers/iio/imu/inv_mpu6050/Kconfig | 1 +
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 30 +++++--
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 18 ++--
drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 83 ++-----------------
drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 6 +-
5 files changed, 45 insertions(+), 93 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 64dd73dcc4ba..5f62e4fd475d 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -7,6 +7,7 @@ config INV_MPU6050_IIO
tristate
select IIO_BUFFER
select IIO_TRIGGERED_BUFFER
+ select IIO_INV_SENSORS_TIMESTAMP
config INV_MPU6050_I2C
tristate "Invensense MPU6050 devices (I2C)"
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 592a6e60b413..13086b569b90 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -12,12 +12,15 @@
#include <linux/jiffies.h>
#include <linux/irq.h>
#include <linux/interrupt.h>
-#include <linux/iio/iio.h>
#include <linux/acpi.h>
#include <linux/platform_device.h>
#include <linux/regulator/consumer.h>
#include <linux/pm.h>
#include <linux/pm_runtime.h>
+
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+
#include "inv_mpu_iio.h"
#include "inv_mpu_magn.h"
@@ -521,6 +524,7 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
int result;
u8 d;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp_chip timestamp;
result = inv_mpu6050_set_gyro_fsr(st, st->chip_config.fsr);
if (result)
@@ -544,12 +548,12 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
if (result)
return result;
- /*
- * Internal chip period is 1ms (1kHz).
- * Let's use at the beginning the theorical value before measuring
- * with interrupt timestamps.
- */
- st->chip_period = NSEC_PER_MSEC;
+ /* clock jitter is +/- 2% */
+ timestamp.clock_period = NSEC_PER_SEC / INV_MPU6050_INTERNAL_FREQ_HZ;
+ timestamp.jitter = 20;
+ timestamp.init_period =
+ NSEC_PER_SEC / INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
+ inv_sensors_timestamp_init(&st->timestamp, ×tamp);
/* magn chip init, noop if not present in the chip */
result = inv_mpu_magn_probe(st);
@@ -936,6 +940,8 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
const char *buf, size_t count)
{
int fifo_rate;
+ u32 fifo_period;
+ bool fifo_on;
u8 d;
int result;
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
@@ -952,12 +958,21 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
/* compute back the fifo rate to handle truncation cases */
fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d);
+ fifo_period = NSEC_PER_SEC / fifo_rate;
mutex_lock(&st->lock);
if (d == st->chip_config.divider) {
result = 0;
goto fifo_rate_fail_unlock;
}
+
+ fifo_on = st->chip_config.accl_fifo_enable ||
+ st->chip_config.gyro_fifo_enable ||
+ st->chip_config.magn_fifo_enable;
+ result = inv_sensors_timestamp_update_odr(&st->timestamp, fifo_period, fifo_on);
+ if (result)
+ goto fifo_rate_fail_unlock;
+
result = pm_runtime_resume_and_get(pdev);
if (result)
goto fifo_rate_fail_unlock;
@@ -1785,3 +1800,4 @@ EXPORT_NS_GPL_DEV_PM_OPS(inv_mpu_pmops, IIO_MPU6050) = {
MODULE_AUTHOR("Invensense Corporation");
MODULE_DESCRIPTION("Invensense device MPU6050 driver");
MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS(IIO_INV_SENSORS_TIMESTAMP);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index b4ab2c397d0f..a51d103a57ca 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -9,15 +9,17 @@
#include <linux/i2c.h>
#include <linux/i2c-mux.h>
#include <linux/mutex.h>
-#include <linux/iio/iio.h>
-#include <linux/iio/buffer.h>
+#include <linux/platform_data/invensense_mpu6050.h>
#include <linux/regmap.h>
-#include <linux/iio/sysfs.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
#include <linux/iio/kfifo_buf.h>
#include <linux/iio/trigger.h>
#include <linux/iio/triggered_buffer.h>
#include <linux/iio/trigger_consumer.h>
-#include <linux/platform_data/invensense_mpu6050.h>
+#include <linux/iio/sysfs.h>
/**
* struct inv_mpu6050_reg_map - Notable registers.
@@ -170,9 +172,7 @@ struct inv_mpu6050_hw {
* @map regmap pointer.
* @irq interrupt number.
* @irq_mask the int_pin_cfg mask to configure interrupt type.
- * @chip_period: chip internal period estimation (~1kHz).
- * @it_timestamp: timestamp from previous interrupt.
- * @data_timestamp: timestamp for next data sample.
+ * @timestamp: timestamping module
* @vdd_supply: VDD voltage regulator for the chip.
* @vddio_supply I/O voltage regulator for the chip.
* @magn_disabled: magnetometer disabled for backward compatibility reason.
@@ -196,9 +196,7 @@ struct inv_mpu6050_state {
int irq;
u8 irq_mask;
unsigned skip_samples;
- s64 chip_period;
- s64 it_timestamp;
- s64 data_timestamp;
+ struct inv_sensors_timestamp timestamp;
struct regulator *vdd_supply;
struct regulator *vddio_supply;
bool magn_disabled;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index 45c37525c2f1..d83f61a99504 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -13,81 +13,10 @@
#include <linux/interrupt.h>
#include <linux/poll.h>
#include <linux/math64.h>
-#include "inv_mpu_iio.h"
-
-/**
- * inv_mpu6050_update_period() - Update chip internal period estimation
- *
- * @st: driver state
- * @timestamp: the interrupt timestamp
- * @nb: number of data set in the fifo
- *
- * This function uses interrupt timestamps to estimate the chip period and
- * to choose the data timestamp to come.
- */
-static void inv_mpu6050_update_period(struct inv_mpu6050_state *st,
- s64 timestamp, size_t nb)
-{
- /* Period boundaries for accepting timestamp */
- const s64 period_min =
- (NSEC_PER_MSEC * (100 - INV_MPU6050_TS_PERIOD_JITTER)) / 100;
- const s64 period_max =
- (NSEC_PER_MSEC * (100 + INV_MPU6050_TS_PERIOD_JITTER)) / 100;
- const s32 divider = INV_MPU6050_FREQ_DIVIDER(st);
- s64 delta, interval;
- bool use_it_timestamp = false;
-
- if (st->it_timestamp == 0) {
- /* not initialized, forced to use it_timestamp */
- use_it_timestamp = true;
- } else if (nb == 1) {
- /*
- * Validate the use of it timestamp by checking if interrupt
- * has been delayed.
- * nb > 1 means interrupt was delayed for more than 1 sample,
- * so it's obviously not good.
- * Compute the chip period between 2 interrupts for validating.
- */
- delta = div_s64(timestamp - st->it_timestamp, divider);
- if (delta > period_min && delta < period_max) {
- /* update chip period and use it timestamp */
- st->chip_period = (st->chip_period + delta) / 2;
- use_it_timestamp = true;
- }
- }
- if (use_it_timestamp) {
- /*
- * Manage case of multiple samples in the fifo (nb > 1):
- * compute timestamp corresponding to the first sample using
- * estimated chip period.
- */
- interval = (nb - 1) * st->chip_period * divider;
- st->data_timestamp = timestamp - interval;
- }
+#include <linux/iio/common/inv_sensors_timestamp.h>
- /* save it timestamp */
- st->it_timestamp = timestamp;
-}
-
-/**
- * inv_mpu6050_get_timestamp() - Return the current data timestamp
- *
- * @st: driver state
- * @return: current data timestamp
- *
- * This function returns the current data timestamp and prepares for next one.
- */
-static s64 inv_mpu6050_get_timestamp(struct inv_mpu6050_state *st)
-{
- s64 ts;
-
- /* return current data timestamp and increment */
- ts = st->data_timestamp;
- st->data_timestamp += st->chip_period * INV_MPU6050_FREQ_DIVIDER(st);
-
- return ts;
-}
+#include "inv_mpu_iio.h"
static int inv_reset_fifo(struct iio_dev *indio_dev)
{
@@ -121,6 +50,7 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
size_t bytes_per_datum;
int result;
u16 fifo_count;
+ u32 fifo_period;
s64 timestamp;
int int_status;
size_t i, nb;
@@ -177,7 +107,10 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
/* compute and process all complete datum */
nb = fifo_count / bytes_per_datum;
- inv_mpu6050_update_period(st, pf->timestamp, nb);
+ /* Each FIFO data contains all sensors, so same number for FIFO and sensor data */
+ fifo_period = NSEC_PER_SEC / INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
+ inv_sensors_timestamp_interrupt(&st->timestamp, fifo_period, nb, nb, pf->timestamp);
+ inv_sensors_timestamp_apply_odr(&st->timestamp, fifo_period, nb, 0);
for (i = 0; i < nb; ++i) {
result = regmap_noinc_read(st->map, st->reg->fifo_r_w,
st->data, bytes_per_datum);
@@ -188,7 +121,7 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
st->skip_samples--;
continue;
}
- timestamp = inv_mpu6050_get_timestamp(st);
+ timestamp = inv_sensors_timestamp_pop(&st->timestamp);
iio_push_to_buffers_with_timestamp(indio_dev, st->data, timestamp);
}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index 882546897255..676704f9151f 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -4,6 +4,9 @@
*/
#include <linux/pm_runtime.h>
+
+#include <linux/iio/common/inv_sensors_timestamp.h>
+
#include "inv_mpu_iio.h"
static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)
@@ -106,7 +109,8 @@ int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
int ret;
if (enable) {
- st->it_timestamp = 0;
+ /* reset timestamping */
+ inv_sensors_timestamp_reset(&st->timestamp);
/* reset FIFO */
d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
ret = regmap_write(st->map, st->reg->user_ctrl, d);
--
2.34.1
^ permalink raw reply related [flat|nested] 11+ messages in thread