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-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h29
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c161
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c104
3 files changed, 224 insertions, 70 deletions
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index 8fdd723afa05..a3cc7cd97026 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -27,7 +27,7 @@ enum st_lsm6dsx_hw_id {
ST_LSM6DSX_MAX_ID,
};
-#define ST_LSM6DSX_BUFF_SIZE 256
+#define ST_LSM6DSX_BUFF_SIZE 400
#define ST_LSM6DSX_CHAN_SIZE 2
#define ST_LSM6DSX_SAMPLE_SIZE 6
#define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
@@ -58,12 +58,27 @@ struct st_lsm6dsx_fifo_ops {
};
/**
+ * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
+ * @timer_en: Hw timer enable register info (addr + mask).
+ * @hr_timer: Hw timer resolution register info (addr + mask).
+ * @fifo_en: Hw timer FIFO enable register info (addr + mask).
+ * @decimator: Hw timer FIFO decimator register info (addr + mask).
+ */
+struct st_lsm6dsx_hw_ts_settings {
+ struct st_lsm6dsx_reg timer_en;
+ struct st_lsm6dsx_reg hr_timer;
+ struct st_lsm6dsx_reg fifo_en;
+ struct st_lsm6dsx_reg decimator;
+};
+
+/**
* struct st_lsm6dsx_settings - ST IMU sensor settings
* @wai: Sensor WhoAmI default value.
* @max_fifo_size: Sensor max fifo length in FIFO words.
* @id: List of hw id supported by the driver configuration.
* @decimator: List of decimator register info (addr + mask).
* @fifo_ops: Sensor hw FIFO parameters.
+ * @ts_settings: Hw timer related settings.
*/
struct st_lsm6dsx_settings {
u8 wai;
@@ -71,6 +86,7 @@ struct st_lsm6dsx_settings {
enum st_lsm6dsx_hw_id id[ST_LSM6DSX_MAX_ID];
struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
struct st_lsm6dsx_fifo_ops fifo_ops;
+ struct st_lsm6dsx_hw_ts_settings ts_settings;
};
enum st_lsm6dsx_sensor_id {
@@ -94,8 +110,7 @@ enum st_lsm6dsx_fifo_mode {
* @watermark: Sensor watermark level.
* @sip: Number of samples in a given pattern.
* @decimator: FIFO decimation factor.
- * @delta_ts: Delta time between two consecutive interrupts.
- * @ts: Latest timestamp from the interrupt handler.
+ * @ts_ref: Sensor timestamp reference for hw one.
*/
struct st_lsm6dsx_sensor {
char name[32];
@@ -108,9 +123,7 @@ struct st_lsm6dsx_sensor {
u16 watermark;
u8 sip;
u8 decimator;
-
- s64 delta_ts;
- s64 ts;
+ s64 ts_ref;
};
/**
@@ -122,7 +135,8 @@ struct st_lsm6dsx_sensor {
* @conf_lock: Mutex to prevent concurrent FIFO configuration update.
* @fifo_mode: FIFO operating mode supported by the device.
* @enable_mask: Enabled sensor bitmask.
- * @sip: Total number of samples (acc/gyro) in a given pattern.
+ * @ts_sip: Total number of timestamp samples in a given pattern.
+ * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
* @buff: Device read buffer.
* @iio_devs: Pointers to acc/gyro iio_dev instances.
* @settings: Pointer to the specific sensor settings in use.
@@ -137,6 +151,7 @@ struct st_lsm6dsx_hw {
enum st_lsm6dsx_fifo_mode fifo_mode;
u8 enable_mask;
+ u8 ts_sip;
u8 sip;
u8 *buff;
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
index 1d6aa9b1a4cf..1045e025e92b 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
@@ -46,9 +46,13 @@
#define ST_LSM6DSX_FIFO_ODR_MASK GENMASK(6, 3)
#define ST_LSM6DSX_FIFO_EMPTY_MASK BIT(12)
#define ST_LSM6DSX_REG_FIFO_OUTL_ADDR 0x3e
+#define ST_LSM6DSX_REG_TS_RESET_ADDR 0x42
#define ST_LSM6DSX_MAX_FIFO_ODR_VAL 0x08
+#define ST_LSM6DSX_TS_SENSITIVITY 25000UL /* 25us */
+#define ST_LSM6DSX_TS_RESET_VAL 0xaa
+
struct st_lsm6dsx_decimator_entry {
u8 decimator;
u8 val;
@@ -98,9 +102,10 @@ static void st_lsm6dsx_get_max_min_odr(struct st_lsm6dsx_hw *hw,
static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw)
{
+ u16 max_odr, min_odr, sip = 0, ts_sip = 0;
+ const struct st_lsm6dsx_reg *ts_dec_reg;
struct st_lsm6dsx_sensor *sensor;
- u16 max_odr, min_odr, sip = 0;
- int err, i;
+ int err = 0, i;
u8 data;
st_lsm6dsx_get_max_min_odr(hw, &max_odr, &min_odr);
@@ -119,6 +124,7 @@ static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw)
sensor->decimator = 0;
data = 0;
}
+ ts_sip = max_t(u16, ts_sip, sensor->sip);
dec_reg = &hw->settings->decimator[sensor->id];
if (dec_reg->addr) {
@@ -131,9 +137,23 @@ static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw)
}
sip += sensor->sip;
}
- hw->sip = sip;
+ hw->sip = sip + ts_sip;
+ hw->ts_sip = ts_sip;
- return 0;
+ /*
+ * update hw ts decimator if necessary. Decimator for hw timestamp
+ * is always 1 or 0 in order to have a ts sample for each data
+ * sample in FIFO
+ */
+ ts_dec_reg = &hw->settings->ts_settings.decimator;
+ if (ts_dec_reg->addr) {
+ int val, ts_dec = !!hw->ts_sip;
+
+ val = ST_LSM6DSX_SHIFT_VAL(ts_dec, ts_dec_reg->mask);
+ err = regmap_update_bits(hw->regmap, ts_dec_reg->addr,
+ ts_dec_reg->mask, val);
+ }
+ return err;
}
int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
@@ -208,6 +228,28 @@ int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, u16 watermark)
&wdata, sizeof(wdata));
}
+static int st_lsm6dsx_reset_hw_ts(struct st_lsm6dsx_hw *hw)
+{
+ struct st_lsm6dsx_sensor *sensor;
+ int i, err;
+
+ /* reset hw ts counter */
+ err = regmap_write(hw->regmap, ST_LSM6DSX_REG_TS_RESET_ADDR,
+ ST_LSM6DSX_TS_RESET_VAL);
+ if (err < 0)
+ return err;
+
+ for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
+ sensor = iio_priv(hw->iio_devs[i]);
+ /*
+ * store enable buffer timestamp as reference for
+ * hw timestamp
+ */
+ sensor->ts_ref = iio_get_time_ns(hw->iio_devs[i]);
+ }
+ return 0;
+}
+
/*
* Set max bulk read to ST_LSM6DSX_MAX_WORD_LEN in order to avoid
* a kmalloc for each bus access
@@ -231,6 +273,8 @@ static inline int st_lsm6dsx_read_block(struct st_lsm6dsx_hw *hw, u8 *data,
return 0;
}
+#define ST_LSM6DSX_IIO_BUFF_SIZE (ALIGN(ST_LSM6DSX_SAMPLE_SIZE, \
+ sizeof(s64)) + sizeof(s64))
/**
* st_lsm6dsx_read_fifo() - LSM6DS3-LSM6DS3H-LSM6DSL-LSM6DSM read FIFO routine
* @hw: Pointer to instance of struct st_lsm6dsx_hw.
@@ -243,11 +287,13 @@ static int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
{
u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE;
u16 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask;
- int err, acc_sip, gyro_sip, read_len, samples, offset;
+ int err, acc_sip, gyro_sip, ts_sip, read_len, offset;
struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor;
- s64 acc_ts, acc_delta_ts, gyro_ts, gyro_delta_ts;
- u8 iio_buff[ALIGN(ST_LSM6DSX_SAMPLE_SIZE, sizeof(s64)) + sizeof(s64)];
+ u8 gyro_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
+ u8 acc_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
+ bool reset_ts = false;
__le16 fifo_status;
+ s64 ts = 0;
err = regmap_bulk_read(hw->regmap,
hw->settings->fifo_ops.fifo_diff.addr,
@@ -260,23 +306,10 @@ static int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
fifo_len = (le16_to_cpu(fifo_status) & fifo_diff_mask) *
ST_LSM6DSX_CHAN_SIZE;
- samples = fifo_len / ST_LSM6DSX_SAMPLE_SIZE;
fifo_len = (fifo_len / pattern_len) * pattern_len;
- /*
- * compute delta timestamp between two consecutive samples
- * in order to estimate queueing time of data generated
- * by the sensor
- */
acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
- acc_ts = acc_sensor->ts - acc_sensor->delta_ts;
- acc_delta_ts = div_s64(acc_sensor->delta_ts * acc_sensor->decimator,
- samples);
-
gyro_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_GYRO]);
- gyro_ts = gyro_sensor->ts - gyro_sensor->delta_ts;
- gyro_delta_ts = div_s64(gyro_sensor->delta_ts * gyro_sensor->decimator,
- samples);
for (read_len = 0; read_len < fifo_len; read_len += pattern_len) {
err = st_lsm6dsx_read_block(hw, hw->buff, pattern_len);
@@ -287,7 +320,7 @@ static int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
* Data are written to the FIFO with a specific pattern
* depending on the configured ODRs. The first sequence of data
* stored in FIFO contains the data of all enabled sensors
- * (e.g. Gx, Gy, Gz, Ax, Ay, Az), then data are repeated
+ * (e.g. Gx, Gy, Gz, Ax, Ay, Az, Ts), then data are repeated
* depending on the value of the decimation factor set for each
* sensor.
*
@@ -296,35 +329,65 @@ static int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
* - gyroscope ODR = 208Hz, accelerometer ODR = 104Hz
* Since the gyroscope ODR is twice the accelerometer one, the
* following pattern is repeated every 9 samples:
- * - Gx, Gy, Gz, Ax, Ay, Az, Gx, Gy, Gz
+ * - Gx, Gy, Gz, Ax, Ay, Az, Ts, Gx, Gy, Gz, Ts, Gx, ..
*/
gyro_sip = gyro_sensor->sip;
acc_sip = acc_sensor->sip;
+ ts_sip = hw->ts_sip;
offset = 0;
while (acc_sip > 0 || gyro_sip > 0) {
- if (gyro_sip-- > 0) {
- memcpy(iio_buff, &hw->buff[offset],
+ if (gyro_sip > 0) {
+ memcpy(gyro_buff, &hw->buff[offset],
ST_LSM6DSX_SAMPLE_SIZE);
- iio_push_to_buffers_with_timestamp(
- hw->iio_devs[ST_LSM6DSX_ID_GYRO],
- iio_buff, gyro_ts);
offset += ST_LSM6DSX_SAMPLE_SIZE;
- gyro_ts += gyro_delta_ts;
}
-
- if (acc_sip-- > 0) {
- memcpy(iio_buff, &hw->buff[offset],
+ if (acc_sip > 0) {
+ memcpy(acc_buff, &hw->buff[offset],
ST_LSM6DSX_SAMPLE_SIZE);
- iio_push_to_buffers_with_timestamp(
- hw->iio_devs[ST_LSM6DSX_ID_ACC],
- iio_buff, acc_ts);
offset += ST_LSM6DSX_SAMPLE_SIZE;
- acc_ts += acc_delta_ts;
}
+
+ if (ts_sip-- > 0) {
+ u8 data[ST_LSM6DSX_SAMPLE_SIZE];
+
+ memcpy(data, &hw->buff[offset], sizeof(data));
+ /*
+ * hw timestamp is 3B long and it is stored
+ * in FIFO using 6B as 4th FIFO data set
+ * according to this schema:
+ * B0 = ts[15:8], B1 = ts[23:16], B3 = ts[7:0]
+ */
+ ts = data[1] << 16 | data[0] << 8 | data[3];
+ /*
+ * check if hw timestamp engine is going to
+ * reset (the sensor generates an interrupt
+ * to signal the hw timestamp will reset in
+ * 1.638s)
+ */
+ if (!reset_ts && ts >= 0xff0000)
+ reset_ts = true;
+ ts *= ST_LSM6DSX_TS_SENSITIVITY;
+
+ offset += ST_LSM6DSX_SAMPLE_SIZE;
+ }
+
+ if (gyro_sip-- > 0)
+ iio_push_to_buffers_with_timestamp(
+ hw->iio_devs[ST_LSM6DSX_ID_GYRO],
+ gyro_buff, gyro_sensor->ts_ref + ts);
+ if (acc_sip-- > 0)
+ iio_push_to_buffers_with_timestamp(
+ hw->iio_devs[ST_LSM6DSX_ID_ACC],
+ acc_buff, acc_sensor->ts_ref + ts);
}
}
+ if (unlikely(reset_ts)) {
+ err = st_lsm6dsx_reset_hw_ts(hw);
+ if (err < 0)
+ return err;
+ }
return read_len;
}
@@ -379,15 +442,12 @@ static int st_lsm6dsx_update_fifo(struct iio_dev *iio_dev, bool enable)
goto out;
if (hw->enable_mask) {
- err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT);
+ /* reset hw ts counter */
+ err = st_lsm6dsx_reset_hw_ts(hw);
if (err < 0)
goto out;
- /*
- * store enable buffer timestamp as reference to compute
- * first delta timestamp
- */
- sensor->ts = iio_get_time_ns(iio_dev);
+ err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT);
}
out:
@@ -399,25 +459,8 @@ out:
static irqreturn_t st_lsm6dsx_handler_irq(int irq, void *private)
{
struct st_lsm6dsx_hw *hw = private;
- struct st_lsm6dsx_sensor *sensor;
- int i;
-
- if (!hw->sip)
- return IRQ_NONE;
-
- for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
- sensor = iio_priv(hw->iio_devs[i]);
-
- if (sensor->sip > 0) {
- s64 timestamp;
-
- timestamp = iio_get_time_ns(hw->iio_devs[i]);
- sensor->delta_ts = timestamp - sensor->ts;
- sensor->ts = timestamp;
- }
- }
- return IRQ_WAKE_THREAD;
+ return hw->sip > 0 ? IRQ_WAKE_THREAD : IRQ_NONE;
}
static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private)
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index c2fa3239b9c6..8656d72ef4ee 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -181,6 +181,24 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
},
.th_wl = 3, /* 1LSB = 2B */
},
+ .ts_settings = {
+ .timer_en = {
+ .addr = 0x58,
+ .mask = BIT(7),
+ },
+ .hr_timer = {
+ .addr = 0x5c,
+ .mask = BIT(4),
+ },
+ .fifo_en = {
+ .addr = 0x07,
+ .mask = BIT(7),
+ },
+ .decimator = {
+ .addr = 0x09,
+ .mask = GENMASK(5, 3),
+ },
+ },
},
{
.wai = 0x69,
@@ -209,6 +227,24 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
},
.th_wl = 3, /* 1LSB = 2B */
},
+ .ts_settings = {
+ .timer_en = {
+ .addr = 0x58,
+ .mask = BIT(7),
+ },
+ .hr_timer = {
+ .addr = 0x5c,
+ .mask = BIT(4),
+ },
+ .fifo_en = {
+ .addr = 0x07,
+ .mask = BIT(7),
+ },
+ .decimator = {
+ .addr = 0x09,
+ .mask = GENMASK(5, 3),
+ },
+ },
},
{
.wai = 0x6a,
@@ -238,6 +274,24 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
},
.th_wl = 3, /* 1LSB = 2B */
},
+ .ts_settings = {
+ .timer_en = {
+ .addr = 0x19,
+ .mask = BIT(5),
+ },
+ .hr_timer = {
+ .addr = 0x5c,
+ .mask = BIT(4),
+ },
+ .fifo_en = {
+ .addr = 0x07,
+ .mask = BIT(7),
+ },
+ .decimator = {
+ .addr = 0x09,
+ .mask = GENMASK(5, 3),
+ },
+ },
},
};
@@ -630,6 +684,44 @@ static int st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, u8 *drdy_reg)
return err;
}
+static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw)
+{
+ const struct st_lsm6dsx_hw_ts_settings *ts_settings;
+ int err, val;
+
+ ts_settings = &hw->settings->ts_settings;
+ /* enable hw timestamp generation if necessary */
+ if (ts_settings->timer_en.addr) {
+ val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->timer_en.mask);
+ err = regmap_update_bits(hw->regmap,
+ ts_settings->timer_en.addr,
+ ts_settings->timer_en.mask, val);
+ if (err < 0)
+ return err;
+ }
+
+ /* enable high resolution for hw ts timer if necessary */
+ if (ts_settings->hr_timer.addr) {
+ val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->hr_timer.mask);
+ err = regmap_update_bits(hw->regmap,
+ ts_settings->hr_timer.addr,
+ ts_settings->hr_timer.mask, val);
+ if (err < 0)
+ return err;
+ }
+
+ /* enable ts queueing in FIFO if necessary */
+ if (ts_settings->fifo_en.addr) {
+ val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->fifo_en.mask);
+ err = regmap_update_bits(hw->regmap,
+ ts_settings->fifo_en.addr,
+ ts_settings->fifo_en.mask, val);
+ if (err < 0)
+ return err;
+ }
+ return 0;
+}
+
static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
{
u8 drdy_int_reg;
@@ -654,10 +746,14 @@ static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
if (err < 0)
return err;
- return regmap_update_bits(hw->regmap, drdy_int_reg,
- ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK,
- FIELD_PREP(ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK,
- 1));
+ err = regmap_update_bits(hw->regmap, drdy_int_reg,
+ ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK,
+ FIELD_PREP(ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK,
+ 1));
+ if (err < 0)
+ return err;
+
+ return st_lsm6dsx_init_hw_timer(hw);
}
static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-27 08:35:48 +0000