Re: [PATCH] iio: imu: st_lsm6dsx: discard samples during filters settling time

[Lorenzo Bianconi <lorenzo.bianconi@redhat.com>]

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> 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 <lorenzo@kernel.org>
> ---
>  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(-)

I forgot to say I tested this patch on my LSM6DSM and it works fine for me.

Regards,
Lorenzo

> 
> 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
> +				 * 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,
> -- 
> 2.39.1
> 

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