diff options
Diffstat (limited to 'drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c')
-rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 102 |
1 files changed, 21 insertions, 81 deletions
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c index 45c37525c2f1..66d4ba088e70 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c @@ -13,81 +13,10 @@ #include <linux/interrupt.h> #include <linux/poll.h> #include <linux/math64.h> -#include "inv_mpu_iio.h" - -/** - * inv_mpu6050_update_period() - Update chip internal period estimation - * - * @st: driver state - * @timestamp: the interrupt timestamp - * @nb: number of data set in the fifo - * - * This function uses interrupt timestamps to estimate the chip period and - * to choose the data timestamp to come. - */ -static void inv_mpu6050_update_period(struct inv_mpu6050_state *st, - s64 timestamp, size_t nb) -{ - /* Period boundaries for accepting timestamp */ - const s64 period_min = - (NSEC_PER_MSEC * (100 - INV_MPU6050_TS_PERIOD_JITTER)) / 100; - const s64 period_max = - (NSEC_PER_MSEC * (100 + INV_MPU6050_TS_PERIOD_JITTER)) / 100; - const s32 divider = INV_MPU6050_FREQ_DIVIDER(st); - s64 delta, interval; - bool use_it_timestamp = false; - - if (st->it_timestamp == 0) { - /* not initialized, forced to use it_timestamp */ - use_it_timestamp = true; - } else if (nb == 1) { - /* - * Validate the use of it timestamp by checking if interrupt - * has been delayed. - * nb > 1 means interrupt was delayed for more than 1 sample, - * so it's obviously not good. - * Compute the chip period between 2 interrupts for validating. - */ - delta = div_s64(timestamp - st->it_timestamp, divider); - if (delta > period_min && delta < period_max) { - /* update chip period and use it timestamp */ - st->chip_period = (st->chip_period + delta) / 2; - use_it_timestamp = true; - } - } - if (use_it_timestamp) { - /* - * Manage case of multiple samples in the fifo (nb > 1): - * compute timestamp corresponding to the first sample using - * estimated chip period. - */ - interval = (nb - 1) * st->chip_period * divider; - st->data_timestamp = timestamp - interval; - } +#include <linux/iio/common/inv_sensors_timestamp.h> - /* save it timestamp */ - st->it_timestamp = timestamp; -} - -/** - * inv_mpu6050_get_timestamp() - Return the current data timestamp - * - * @st: driver state - * @return: current data timestamp - * - * This function returns the current data timestamp and prepares for next one. - */ -static s64 inv_mpu6050_get_timestamp(struct inv_mpu6050_state *st) -{ - s64 ts; - - /* return current data timestamp and increment */ - ts = st->data_timestamp; - st->data_timestamp += st->chip_period * INV_MPU6050_FREQ_DIVIDER(st); - - return ts; -} +#include "inv_mpu_iio.h" static int inv_reset_fifo(struct iio_dev *indio_dev) { @@ -121,7 +50,9 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) size_t bytes_per_datum; int result; u16 fifo_count; + u32 fifo_period; s64 timestamp; + u8 data[INV_MPU6050_OUTPUT_DATA_SIZE]; int int_status; size_t i, nb; @@ -175,21 +106,30 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) goto flush_fifo; } - /* compute and process all complete datum */ + /* compute and process only all complete datum */ nb = fifo_count / bytes_per_datum; - inv_mpu6050_update_period(st, pf->timestamp, nb); + fifo_count = nb * bytes_per_datum; + /* Each FIFO data contains all sensors, so same number for FIFO and sensor data */ + fifo_period = NSEC_PER_SEC / INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider); + inv_sensors_timestamp_interrupt(&st->timestamp, fifo_period, nb, nb, pf->timestamp); + inv_sensors_timestamp_apply_odr(&st->timestamp, fifo_period, nb, 0); + + /* clear internal data buffer for avoiding kernel data leak */ + memset(data, 0, sizeof(data)); + + /* read all data once and process every samples */ + result = regmap_noinc_read(st->map, st->reg->fifo_r_w, st->data, fifo_count); + if (result) + goto flush_fifo; for (i = 0; i < nb; ++i) { - result = regmap_noinc_read(st->map, st->reg->fifo_r_w, - st->data, bytes_per_datum); - if (result) - goto flush_fifo; /* skip first samples if needed */ if (st->skip_samples) { st->skip_samples--; continue; } - timestamp = inv_mpu6050_get_timestamp(st); - iio_push_to_buffers_with_timestamp(indio_dev, st->data, timestamp); + memcpy(data, &st->data[i * bytes_per_datum], bytes_per_datum); + timestamp = inv_sensors_timestamp_pop(&st->timestamp); + iio_push_to_buffers_with_timestamp(indio_dev, data, timestamp); } end_session: |