From mboxrd@z Thu Jan 1 00:00:00 1970 Received: from smtp.kernel.org (aws-us-west-2-korg-mail-1.web.codeaurora.org [10.30.226.201]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id 3F0B34A3C; Thu, 15 Jan 2026 17:41:36 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=10.30.226.201 ARC-Seal:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1768498896; cv=none; b=q6FayVEsRG2C300TCsO+ewnbO5xoHNqDsDEVvAkqr5otZYhBq4/zS2lF/DwXFheMibfuMFHOHvfMBQEMGVemI+dgJLRrKQdHg5zYJViRFtfHmPDLuVUg2TYzWUZn38VaO8mazc17SCKLDJMxRhWNSwTvv5ram804R112yAO9kJo= ARC-Message-Signature:i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1768498896; c=relaxed/simple; bh=fBrlD7H797EfXNfHhxhR+oHC4pjFvBHxbrOuJSKDK7w=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=bPcROqqhkOjaXmBwbsh8yCRYewoKoytgYxP2Oz0LFfCkORjUXH2s1iS4bn2wRbJd0Xl9/OQuN5Y/nSsD2PV9nUccamFzkafSZjJ/VyGY7cLgKqTm9Nq4rZKaul4JaniuqWShKGKzv01TvjzYNhdQMnc5rXS9mmiVs7VaqIJWq8k= ARC-Authentication-Results:i=1; smtp.subspace.kernel.org; dkim=pass (1024-bit key) header.d=linuxfoundation.org header.i=@linuxfoundation.org header.b=a5lld4lw; arc=none smtp.client-ip=10.30.226.201 Authentication-Results: smtp.subspace.kernel.org; dkim=pass (1024-bit key) header.d=linuxfoundation.org header.i=@linuxfoundation.org header.b="a5lld4lw" Received: by smtp.kernel.org (Postfix) with ESMTPSA id C2699C16AAE; Thu, 15 Jan 2026 17:41:35 +0000 (UTC) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=linuxfoundation.org; s=korg; t=1768498896; bh=fBrlD7H797EfXNfHhxhR+oHC4pjFvBHxbrOuJSKDK7w=; h=From:To:Cc:Subject:Date:In-Reply-To:References:From; b=a5lld4lwdeH65tncDJXTmByY+lRSrDj6ETjNJ3y4uE+2yWSGZKmF81eU7DAGb+wFF glVCSvnvspJUojiyWLak6r0vIBV/VuMrTERYVovkBRBWXaGUhCZwrjZonge+8Z3MZu SEg5BJKObTz9w+6/oYKuvLmiYGphbjTZGqvqgPy4= From: Greg Kroah-Hartman To: stable@vger.kernel.org Cc: Greg Kroah-Hartman , patches@lists.linux.dev, Philippe De Muyter , Lorenzo Bianconi , Jonathan Cameron , Sasha Levin Subject: [PATCH 5.10 036/451] iio: imu: st_lsm6dsx: discard samples during filters settling time Date: Thu, 15 Jan 2026 17:43:57 +0100 Message-ID: <20260115164232.198746807@linuxfoundation.org> X-Mailer: git-send-email 2.52.0 In-Reply-To: <20260115164230.864985076@linuxfoundation.org> References: <20260115164230.864985076@linuxfoundation.org> User-Agent: quilt/0.69 X-stable: review X-Patchwork-Hint: ignore Precedence: bulk X-Mailing-List: stable@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: 8bit 5.10-stable review patch. If anyone has any objections, please let me know. ------------------ 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 Stable-dep-of: c6d702f2b771 ("iio: imu: st_lsm6dsx: Fix measurement unit for odr struct member") 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 b2202c5ad51e3..3c0ade6ab0d2e 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h @@ -119,6 +119,13 @@ 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; @@ -282,6 +289,7 @@ 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). @@ -315,6 +323,7 @@ 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_ID_MAX]; struct st_lsm6dsx_reg batch[2]; @@ -336,6 +345,7 @@ 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. @@ -350,6 +360,7 @@ 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 2ac08b8478968..29ee52c3036ba 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c @@ -459,17 +459,31 @@ 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)) { @@ -659,6 +673,30 @@ 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; @@ -678,6 +716,9 @@ 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 ce06ef7d80ee1..9ee1b29cfc27d 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c @@ -618,6 +618,24 @@ 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, -- 2.51.0