iio: make invensense timestamp module generic
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> Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com> Link: https://lore.kernel.org/r/20230606162147.79667-4-inv.git-commit@tdk.com Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
parent
d99ff463ec
commit
0ecc363cce
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@ -3,4 +3,4 @@
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# Makefile for TDK-InvenSense sensors module.
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#
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obj-$(CONFIG_IIO_INV_SENSORS_TIMESTAMP) += inv_icm42600_timestamp.o
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obj-$(CONFIG_IIO_INV_SENSORS_TIMESTAMP) += inv_sensors_timestamp.o
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@ -8,20 +8,18 @@
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#include <linux/math64.h>
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#include <linux/module.h>
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#include <linux/iio/common/inv_icm42600_timestamp.h>
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#include <linux/iio/common/inv_sensors_timestamp.h>
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/* internal chip period is 32kHz, 31250ns */
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#define INV_ICM42600_TIMESTAMP_PERIOD 31250
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/* allow a jitter of +/- 2% */
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#define INV_ICM42600_TIMESTAMP_JITTER 2
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/* compute min and max periods accepted */
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#define INV_ICM42600_TIMESTAMP_MIN_PERIOD(_p) \
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(((_p) * (100 - INV_ICM42600_TIMESTAMP_JITTER)) / 100)
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#define INV_ICM42600_TIMESTAMP_MAX_PERIOD(_p) \
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(((_p) * (100 + INV_ICM42600_TIMESTAMP_JITTER)) / 100)
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/* compute jitter, min and max following jitter in per mille */
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#define INV_SENSORS_TIMESTAMP_JITTER(_val, _jitter) \
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(div_s64((_val) * (_jitter), 1000))
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#define INV_SENSORS_TIMESTAMP_MIN(_val, _jitter) \
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(((_val) * (1000 - (_jitter))) / 1000)
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#define INV_SENSORS_TIMESTAMP_MAX(_val, _jitter) \
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(((_val) * (1000 + (_jitter))) / 1000)
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/* Add a new value inside an accumulator and update the estimate value */
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static void inv_update_acc(struct inv_icm42600_timestamp_acc *acc, uint32_t val)
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static void inv_update_acc(struct inv_sensors_timestamp_acc *acc, uint32_t val)
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{
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uint64_t sum = 0;
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size_t i;
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@ -40,56 +38,57 @@ static void inv_update_acc(struct inv_icm42600_timestamp_acc *acc, uint32_t val)
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acc->val = div_u64(sum, i);
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}
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void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
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uint32_t period)
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void inv_sensors_timestamp_init(struct inv_sensors_timestamp *ts,
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const struct inv_sensors_timestamp_chip *chip)
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{
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/* initial odr for sensor after reset is 1kHz */
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const uint32_t default_period = 1000000;
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memset(ts, 0, sizeof(*ts));
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/* save chip parameters and compute min and max clock period */
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ts->chip = *chip;
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ts->min_period = INV_SENSORS_TIMESTAMP_MIN(chip->clock_period, chip->jitter);
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ts->max_period = INV_SENSORS_TIMESTAMP_MAX(chip->clock_period, chip->jitter);
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/* current multiplier and period values after reset */
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ts->mult = default_period / INV_ICM42600_TIMESTAMP_PERIOD;
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ts->period = default_period;
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/* new set multiplier is the one from chip initialization */
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ts->new_mult = period / INV_ICM42600_TIMESTAMP_PERIOD;
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ts->mult = chip->init_period / chip->clock_period;
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ts->period = chip->init_period;
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/* use theoretical value for chip period */
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inv_update_acc(&ts->chip_period, INV_ICM42600_TIMESTAMP_PERIOD);
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inv_update_acc(&ts->chip_period, chip->clock_period);
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}
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EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_init, IIO_INV_SENSORS_TIMESTAMP);
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EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_init, IIO_INV_SENSORS_TIMESTAMP);
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int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
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uint32_t period, bool fifo)
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int inv_sensors_timestamp_update_odr(struct inv_sensors_timestamp *ts,
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uint32_t period, bool fifo)
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{
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/* when FIFO is on, prevent odr change if one is already pending */
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if (fifo && ts->new_mult != 0)
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return -EAGAIN;
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ts->new_mult = period / INV_ICM42600_TIMESTAMP_PERIOD;
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ts->new_mult = period / ts->chip.clock_period;
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return 0;
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}
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EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_update_odr, IIO_INV_SENSORS_TIMESTAMP);
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EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_update_odr, IIO_INV_SENSORS_TIMESTAMP);
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static bool inv_validate_period(uint32_t period, uint32_t mult)
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static bool inv_validate_period(struct inv_sensors_timestamp *ts, uint32_t period, uint32_t mult)
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{
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const uint32_t chip_period = INV_ICM42600_TIMESTAMP_PERIOD;
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uint32_t period_min, period_max;
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/* check that period is acceptable */
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period_min = INV_ICM42600_TIMESTAMP_MIN_PERIOD(chip_period) * mult;
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period_max = INV_ICM42600_TIMESTAMP_MAX_PERIOD(chip_period) * mult;
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period_min = ts->min_period * mult;
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period_max = ts->max_period * mult;
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if (period > period_min && period < period_max)
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return true;
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else
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return false;
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}
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static bool inv_update_chip_period(struct inv_icm42600_timestamp *ts,
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uint32_t mult, uint32_t period)
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static bool inv_update_chip_period(struct inv_sensors_timestamp *ts,
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uint32_t mult, uint32_t period)
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{
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uint32_t new_chip_period;
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if (!inv_validate_period(period, mult))
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if (!inv_validate_period(ts, period, mult))
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return false;
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/* update chip internal period estimation */
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return true;
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}
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static void inv_align_timestamp_it(struct inv_icm42600_timestamp *ts)
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static void inv_align_timestamp_it(struct inv_sensors_timestamp *ts)
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{
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int64_t delta, jitter;
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int64_t adjust;
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@ -109,7 +108,7 @@ static void inv_align_timestamp_it(struct inv_icm42600_timestamp *ts)
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delta = ts->it.lo - ts->timestamp;
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/* adjust timestamp while respecting jitter */
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jitter = div_s64((int64_t)ts->period * INV_ICM42600_TIMESTAMP_JITTER, 100);
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jitter = INV_SENSORS_TIMESTAMP_JITTER((int64_t)ts->period, ts->chip.jitter);
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if (delta > jitter)
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adjust = jitter;
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else if (delta < -jitter)
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ts->timestamp += adjust;
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}
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void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
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void inv_sensors_timestamp_interrupt(struct inv_sensors_timestamp *ts,
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uint32_t fifo_period, size_t fifo_nb,
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size_t sensor_nb, int64_t timestamp)
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{
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struct inv_icm42600_timestamp_interval *it;
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struct inv_sensors_timestamp_interval *it;
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int64_t delta, interval;
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const uint32_t fifo_mult = fifo_period / INV_ICM42600_TIMESTAMP_PERIOD;
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const uint32_t fifo_mult = fifo_period / ts->chip.clock_period;
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uint32_t period = ts->period;
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bool valid = false;
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if (valid)
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inv_align_timestamp_it(ts);
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}
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EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_interrupt, IIO_INV_SENSORS_TIMESTAMP);
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EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_interrupt, IIO_INV_SENSORS_TIMESTAMP);
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void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
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uint32_t fifo_period, size_t fifo_nb,
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unsigned int fifo_no)
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void inv_sensors_timestamp_apply_odr(struct inv_sensors_timestamp *ts,
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uint32_t fifo_period, size_t fifo_nb,
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unsigned int fifo_no)
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{
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int64_t interval;
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uint32_t fifo_mult;
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*/
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if (ts->timestamp != 0) {
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/* compute measured fifo period */
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fifo_mult = fifo_period / INV_ICM42600_TIMESTAMP_PERIOD;
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fifo_mult = fifo_period / ts->chip.clock_period;
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fifo_period = fifo_mult * ts->chip_period.val;
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/* computes time interval between interrupt and this sample */
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interval = (int64_t)(fifo_nb - fifo_no) * (int64_t)fifo_period;
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ts->timestamp = ts->it.up - interval;
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}
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}
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EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_apply_odr, IIO_INV_SENSORS_TIMESTAMP);
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EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_apply_odr, IIO_INV_SENSORS_TIMESTAMP);
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MODULE_AUTHOR("InvenSense, Inc.");
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MODULE_DESCRIPTION("InvenSense sensors timestamp module");
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#include <linux/math64.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/common/inv_icm42600_timestamp.h>
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#include <linux/iio/common/inv_sensors_timestamp.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/kfifo_buf.h>
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const unsigned long *scan_mask)
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{
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
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struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
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struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
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unsigned int fifo_en = 0;
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unsigned int sleep_temp = 0;
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}
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/* update data FIFO write */
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inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
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inv_sensors_timestamp_apply_odr(ts, 0, 0, 0);
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ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
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if (ret)
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goto out_unlock;
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int val, int val2)
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{
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
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struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
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struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
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struct device *dev = regmap_get_device(st->map);
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unsigned int idx;
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struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
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pm_runtime_get_sync(dev);
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mutex_lock(&st->lock);
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ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
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iio_buffer_enabled(indio_dev));
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ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
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iio_buffer_enabled(indio_dev));
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if (ret)
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goto out_unlock;
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{
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struct device *dev = regmap_get_device(st->map);
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const char *name;
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struct inv_icm42600_timestamp *ts;
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struct inv_sensors_timestamp_chip ts_chip;
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struct inv_sensors_timestamp *ts;
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struct iio_dev *indio_dev;
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int ret;
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if (!indio_dev)
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return ERR_PTR(-ENOMEM);
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/*
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* clock period is 32kHz (31250ns)
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* jitter is +/- 2% (20 per mille)
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*/
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ts_chip.clock_period = 31250;
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ts_chip.jitter = 20;
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ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
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ts = iio_priv(indio_dev);
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inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.accel.odr));
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inv_sensors_timestamp_init(ts, &ts_chip);
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iio_device_set_drvdata(indio_dev, st);
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indio_dev->name = name;
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int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
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{
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
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struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
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struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
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ssize_t i, size;
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unsigned int no;
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const void *accel, *gyro, *timestamp;
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/* update odr */
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if (odr & INV_ICM42600_SENSOR_ACCEL)
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inv_icm42600_timestamp_apply_odr(ts, st->fifo.period,
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st->fifo.nb.total, no);
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inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
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st->fifo.nb.total, no);
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/* buffer is copied to userspace, zeroing it to avoid any data leak */
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memset(&buffer, 0, sizeof(buffer));
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memcpy(&buffer.accel, accel, sizeof(buffer.accel));
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/* convert 8 bits FIFO temperature in high resolution format */
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buffer.temp = temp ? (*temp * 64) : 0;
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ts_val = inv_icm42600_timestamp_pop(ts);
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ts_val = inv_sensors_timestamp_pop(ts);
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iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
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}
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#include <linux/delay.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/common/inv_icm42600_timestamp.h>
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#include <linux/iio/common/inv_sensors_timestamp.h>
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#include <linux/iio/iio.h>
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#include "inv_icm42600.h"
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{
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struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
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struct device *dev = regmap_get_device(st->map);
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struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
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struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
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pm_runtime_get_sync(dev);
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mutex_lock(&st->lock);
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inv_icm42600_timestamp_reset(ts);
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inv_sensors_timestamp_reset(ts);
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mutex_unlock(&st->lock);
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return 0;
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int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
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{
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struct inv_icm42600_timestamp *ts;
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struct inv_sensors_timestamp *ts;
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int ret;
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if (st->fifo.nb.total == 0)
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/* handle gyroscope timestamp and FIFO data parsing */
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ts = iio_priv(st->indio_gyro);
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inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
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st->fifo.nb.gyro, st->timestamp.gyro);
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inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
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st->fifo.nb.gyro, st->timestamp.gyro);
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if (st->fifo.nb.gyro > 0) {
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ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
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if (ret)
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/* handle accelerometer timestamp and FIFO data parsing */
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ts = iio_priv(st->indio_accel);
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inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
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st->fifo.nb.accel, st->timestamp.accel);
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inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
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st->fifo.nb.accel, st->timestamp.accel);
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if (st->fifo.nb.accel > 0) {
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ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
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if (ret)
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@ -537,7 +537,7 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
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int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
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unsigned int count)
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{
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struct inv_icm42600_timestamp *ts;
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struct inv_sensors_timestamp *ts;
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int64_t gyro_ts, accel_ts;
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int ret;
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@ -553,9 +553,9 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
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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;
|
||||
|
|
|
@ -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"
|
||||
|
|
|
@ -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);
|
||||
}
|
||||
|
||||
|
|
|
@ -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
|
|
@ -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
|
Loading…
Reference in New Issue