From: inv.git-commit@tdk.com
To: jic23@kernel.org, linux-iio@vger.kernel.org
Cc: lars@metafoo.de, Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
Subject: [PATCH v2 3/4] iio: make invensense timestamp module generic
Date: Tue, 6 Jun 2023 16:21:46 +0000 [thread overview]
Message-ID: <20230606162147.79667-4-inv.git-commit@tdk.com> (raw)
In-Reply-To: <20230606162147.79667-1-inv.git-commit@tdk.com>
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
next prev parent reply other threads:[~2023-06-06 16:22 UTC|newest]
Thread overview: 11+ messages / expand[flat|nested] mbox.gz Atom feed top
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 [this message]
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
2023-06-07 9:28 ` Jean-Baptiste Maneyrol
2023-06-07 14:44 ` Andy Shevchenko
2023-06-08 10:57 ` Jonathan Cameron
2023-06-17 18:51 ` Jonathan Cameron
2023-06-07 14:58 ` Jonathan Cameron
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