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charset="iso-8859-1" Content-Transfer-Encoding: quoted-printable MIME-Version: 1.0 X-OriginatorOrg: invensense.com X-MS-Exchange-CrossTenant-Network-Message-Id: f8c4934b-97ba-4158-b525-08d6dec27e54 X-MS-Exchange-CrossTenant-originalarrivaltime: 22 May 2019 14:33:44.0278 (UTC) X-MS-Exchange-CrossTenant-fromentityheader: Hosted X-MS-Exchange-CrossTenant-id: 462b3b3b-e42b-47ea-801a-f1581aac892d X-MS-Exchange-CrossTenant-mailboxtype: HOSTED X-MS-Exchange-CrossTenant-userprincipalname: JManeyrol@invensense.com X-MS-Exchange-Transport-CrossTenantHeadersStamped: MN2PR12MB4029 X-Proofpoint-Virus-Version: vendor=fsecure engine=2.50.10434:,, definitions=2019-05-22_07:,, signatures=0 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 priorityscore=1501 malwarescore=0 suspectscore=0 phishscore=0 bulkscore=0 spamscore=0 clxscore=1011 lowpriorityscore=0 mlxscore=0 impostorscore=0 mlxlogscore=999 adultscore=0 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.0.1-1810050000 definitions=main-1905220103 Sender: linux-iio-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org Hello,=0A= =0A= I had a look inside the driver to verify the buffer implementation. It look= s correct to me. I don't see where the problem can come from. I am sorry I = don't have a setup currently to test in live.=0A= =0A= For sure you can have a different result by reading the buffer through the = char device file compared to reading the raw sysfs entry. The buffer is tak= ing the data from the FIFO and the raw sysfs from the sensor data registers= .=0A= =0A= You can perhaps test value 1 by 1 in the buffer, and verify the correctness= of every attributes. If you can also send a complete buffer log that would= be helpful.=0A= Every data is 2 bytes long and in the following order: accel_x, accel_y, ac= cel_z, temp, gyro_x, gyro_y, gyro_z=0A= =0A= Best regards,=0A= JB Maneyrol=0A= =0A= From: Andreea Lutac =0A= Sent: Tuesday, May 21, 2019 12:40=0A= Cc: Jean-Baptiste Maneyrol; stevemo@skydio.com; jic23@kernel.org; knaack.h@= gmx.de; lars@metafoo.de; pmeerw@pmeerw.net; linux-iio@vger.kernel.org; linu= x-kernel@vger.kernel.org=0A= Subject: ICM20602 buffer issues with the inv_mpu6050 driver=0A= =A0=0A= Hello,=0A= =0A= I've been trying to get some data samples from the ICM20602 IMU using the m= pu6050 driver which recently added support for it, but I'm encountering an = issue with the ordering of the data in the FIFO.=0A= According to the specs of the device, if the accel and gyro XYZ channels ar= e enabled, then the hardware FIFO is filled with 14 bytes corresponding to = the following channels: accel_x, accel_y, accel_z, temp, anglvel_x, anglvel= _y, anglvel_z. However, when reading out the buffer, the value I get for an= glvel_x seems to actually be the temperature. This=A0 occurs both when read= ing with iio_channel_read (via libiio) and also if I read directly from /de= v/iio:device with only in_anglvel_x_en set. But in_anglvel_x_raw reports co= rrect values, which made me suspect that maybe somewhere in the driver this= interleaved temp channel is not accounted for in the buffer structure.=0A= =0A= I had a look at the driver code and inv_mpu6050_read_fifo() in particular, = but I can't identify anything amiss. I've applied the recent patch that add= ed the extra 2 temperature bytes ( ), but the problem persists. So far I've= tried changing the size of the data buffer, defined in inv_mpu_iio.h:=0A= =0A= /* 6 + 6 round up and plus 8 */=0A= #define INV_MPU6050_OUTPUT_DATA_SIZE=A0=A0=A0=A0 24=0A= =0A= from 24 to 32, according to the intuition that 24 corresponds to readings w= ithout temperature (i.e. 6 bytes for accel, rounded up to 8 + 6 bytes for g= yro, rounded up to 8 + 8 bytes for the timestamp =3D 24) and thus another 8= bytes would be needed, but that doesn't seem to have solved it.=0A= =0A= I'm quite new to driver development though, so I think there might be somet= hing I'm not getting. I would be really grateful if anyone could shed some = light over what's happening here or give some advice as to what I could be = doing wrong.=0A= =0A= Best regards,=0A= Andreea Lutac=0A= =0A=