Re: [PATCH v4 4/9] iio: imu: inv_icm45600: add IMU IIO gyroscope device

[Jonathan Cameron <jic23@kernel.org>]

On Thu, 14 Aug 2025 08:57:18 +0000
Remi Buisson via B4 Relay <devnull+remi.buisson.tdk.com@kernel.org> wrote:

> From: Remi Buisson <remi.buisson@tdk.com>
> 
> Add IIO device for gyroscope sensor
> with data polling interface and FIFO parsing.
> Attributes: raw, scale, sampling_frequency, calibbias.
> Temperature is available as a processed channel.
> 
> Signed-off-by: Remi Buisson <remi.buisson@tdk.com>
A few minor comments.

> diff --git a/drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c b/drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c
> new file mode 100644
> index 0000000000000000000000000000000000000000..7a5a2ce77f3e176bdcb5657c0b8d547024d04930
> --- /dev/null
> +++ b/drivers/iio/imu/inv_icm45600/inv_icm45600_gyro.c

> +int inv_icm45600_gyro_parse_fifo(struct iio_dev *indio_dev)

Ah. This is where this comes in.  Add header definition in this
patch as well.

> +{
> +	struct inv_icm45600_state *st = iio_device_get_drvdata(indio_dev);
> +	struct inv_icm45600_sensor_state *gyro_st = iio_priv(indio_dev);
> +	struct inv_sensors_timestamp *ts = &gyro_st->ts;
> +	ssize_t i, size;
> +	unsigned int no;
> +
> +	/* parse all fifo packets */
> +	for (i = 0, no = 0; i < st->fifo.count; i += size, ++no) {
> +		struct inv_icm45600_gyro_buffer buffer = { };
> +		const struct inv_icm45600_fifo_sensor_data *accel, *gyro;
> +		const __le16 *timestamp;
> +		const s8 *temp;
> +		unsigned int odr;
> +		s64 ts_val;
> +
> +		size = inv_icm45600_fifo_decode_packet(&st->fifo.data[i],

can drag size into this scope as well.

> +				&accel, &gyro, &temp, &timestamp, &odr);
> +		/* quit if error or FIFO is empty */
> +		if (size <= 0)
> +			return size;
> +
> +		/* skip packet if no gyro data or data is invalid */
> +		if (gyro == NULL || !inv_icm45600_fifo_is_data_valid(gyro))
> +			continue;
> +
> +		/* update odr */
> +		if (odr & INV_ICM45600_SENSOR_GYRO)
> +			inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
> +							st->fifo.nb.total, no);
> +
> +		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_sensors_timestamp_pop(ts);
> +		iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);

Please switch to new iio_push_to_buffers_with_ts().
I want to get rid of the with_timestamp() version eventually as we might as well
always provide the buffer size.

> +	}
> +
> +	return 0;
> +}
>