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 84A9AC77B73 for ; Sun, 7 May 2023 00:36:28 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S231923AbjEGAg0 (ORCPT ); Sat, 6 May 2023 20:36:26 -0400 Received: from lindbergh.monkeyblade.net ([23.128.96.19]:58140 "EHLO lindbergh.monkeyblade.net" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S231144AbjEGAf7 (ORCPT ); Sat, 6 May 2023 20:35:59 -0400 Received: from dfw.source.kernel.org (dfw.source.kernel.org [IPv6:2604:1380:4641:c500::1]) by lindbergh.monkeyblade.net (Postfix) with ESMTPS id 817247EC7; Sat, 6 May 2023 17:34:28 -0700 (PDT) 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 dfw.source.kernel.org (Postfix) with ESMTPS id A181C614CA; Sun, 7 May 2023 00:32:56 +0000 (UTC) Received: by smtp.kernel.org (Postfix) with ESMTPSA id 27F3AC433EF; Sun, 7 May 2023 00:32:55 +0000 (UTC) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=kernel.org; s=k20201202; t=1683419576; bh=V1l31RZMb0VNqSbTP+5hYW+j/2h1R/N2cDCGJ0hw49g=; h=From:To:Cc:Subject:Date:In-Reply-To:References:From; b=OriGkQdjPn0JIpHwC7PQswIxuALrT4W+x4Md+++dsXuQlUUZyrGw6aOafCwYInF1Y QDWVZBB5woBSjVEbkHliHxF2Wyj05mlHXsHIiTnroGLv6kXLiSK6Jgxek6WMJRsOkA aKyn2C6ido2ZDJXNEAZhyNhUugevWimnYKRoZtGFu+PiJMqz0Wb6lrKCaPP6DGaobB P0jQ5O4Sz/TVtbaCHkt1KLmP5XwN23aiZZr+7Z/lz9tEh4aqOBnryYxXZAZO/3DlmQ 0hJpcIzV+gGR7KSth5w3l83Fk1C9c5h91+uDC8yY/bzGNG7tN9ycOYhwmJuaP2SHib IISnJbIoyEcng== From: Sasha Levin To: linux-kernel@vger.kernel.org, stable@vger.kernel.org Cc: Lorenzo Bianconi , Philippe De Muyter , Jonathan Cameron , Sasha Levin , jic23@kernel.org, linux-iio@vger.kernel.org Subject: [PATCH AUTOSEL 6.2 04/20] iio: imu: st_lsm6dsx: discard samples during filters settling time Date: Sat, 6 May 2023 20:32:19 -0400 Message-Id: <20230507003237.4074305-4-sashal@kernel.org> X-Mailer: git-send-email 2.39.2 In-Reply-To: <20230507003237.4074305-1-sashal@kernel.org> References: <20230507003237.4074305-1-sashal@kernel.org> MIME-Version: 1.0 X-stable: review X-Patchwork-Hint: Ignore Content-Transfer-Encoding: 8bit Precedence: bulk List-ID: X-Mailing-List: stable@vger.kernel.org From: Lorenzo Bianconi [ Upstream commit db3c490503bee4d0611f9fc17fcd8cfe6fcdbcad ] 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 sample_to_discard for LSM6DSM-like sensors since new generation devices (e.g. LSM6DSO) support DRDY mask where corrupted samples are masked in hw with values greather than 0x7ffd so the driver can easily discard them. I have not added sample_to_discard support for LSM6DS3 or LSM6DS3H since I do not have any sample for testing at the moment. Reported-by: Philippe De Muyter Tested-by: Philippe De Muyter Signed-off-by: Lorenzo Bianconi Link: https://lore.kernel.org/r/21dcd94935c147ef9b1da4984b3da6264ee9609e.1677496295.git.lorenzo@kernel.org Signed-off-by: Jonathan Cameron Signed-off-by: Sasha Levin --- drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 11 ++++ .../iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 57 ++++++++++++++++--- drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 18 ++++++ 3 files changed, 78 insertions(+), 8 deletions(-) diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h index 5b6f195748fc6..c9723a3606103 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h @@ -136,6 +136,13 @@ 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; @@ -290,6 +297,7 @@ 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). @@ -322,6 +330,7 @@ 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]; @@ -352,6 +361,7 @@ 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. @@ -366,6 +376,7 @@ 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 7dd5205aea5b4..f6c11d6fb0b0f 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c @@ -457,17 +457,31 @@ 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)) { @@ -654,6 +668,30 @@ 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; + struct st_lsm6dsx_hw *hw = sensor->hw; + int i; + + if (sensor->id != ST_LSM6DSX_ID_GYRO && + sensor->id != ST_LSM6DSX_ID_ACC) + return; + + /* check if drdy mask is supported in hw */ + if (hw->settings->drdy_mask.addr) + return; + + data = &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 +711,9 @@ 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 3f6060c64f32b..966df6ffe8740 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, -- 2.39.2