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Diffstat (limited to 'drivers/iio/imu/st_lsm6dsx')
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h3
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c23
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c24
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c29
4 files changed, 64 insertions, 15 deletions
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index f2113a63721a..41cb20cb3809 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -337,6 +337,7 @@ enum st_lsm6dsx_fifo_mode {
* @gain: Configured sensor sensitivity.
* @odr: Output data rate of the sensor [Hz].
* @watermark: Sensor watermark level.
+ * @decimator: Sensor decimation factor.
* @sip: Number of samples in a given pattern.
* @ts_ref: Sensor timestamp reference for hw one.
* @ext_info: Sensor settings if it is connected to i2c controller
@@ -350,11 +351,13 @@ struct st_lsm6dsx_sensor {
u32 odr;
u16 watermark;
+ u8 decimator;
u8 sip;
s64 ts_ref;
struct {
const struct st_lsm6dsx_ext_dev_settings *settings;
+ u32 slv_odr;
u8 addr;
} ext_info;
};
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
index bb899345f2bb..afd00daeefb2 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
@@ -93,6 +93,7 @@ st_lsm6dsx_get_decimator_val(struct st_lsm6dsx_sensor *sensor, u32 max_odr)
break;
}
+ sensor->decimator = decimator;
return i == max_size ? 0 : st_lsm6dsx_decimator_table[i].val;
}
@@ -337,7 +338,7 @@ static inline int st_lsm6dsx_read_block(struct st_lsm6dsx_hw *hw, u8 addr,
int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
{
struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor, *ext_sensor = NULL;
- int err, acc_sip, gyro_sip, ts_sip, ext_sip, read_len, offset;
+ int err, sip, acc_sip, gyro_sip, ts_sip, ext_sip, read_len, offset;
u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE;
u16 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask;
u8 gyro_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
@@ -399,19 +400,20 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
acc_sip = acc_sensor->sip;
ts_sip = hw->ts_sip;
offset = 0;
+ sip = 0;
while (acc_sip > 0 || gyro_sip > 0 || ext_sip > 0) {
- if (gyro_sip > 0) {
+ if (gyro_sip > 0 && !(sip % gyro_sensor->decimator)) {
memcpy(gyro_buff, &hw->buff[offset],
ST_LSM6DSX_SAMPLE_SIZE);
offset += ST_LSM6DSX_SAMPLE_SIZE;
}
- if (acc_sip > 0) {
+ if (acc_sip > 0 && !(sip % acc_sensor->decimator)) {
memcpy(acc_buff, &hw->buff[offset],
ST_LSM6DSX_SAMPLE_SIZE);
offset += ST_LSM6DSX_SAMPLE_SIZE;
}
- if (ext_sip > 0) {
+ if (ext_sip > 0 && !(sip % ext_sensor->decimator)) {
memcpy(ext_buff, &hw->buff[offset],
ST_LSM6DSX_SAMPLE_SIZE);
offset += ST_LSM6DSX_SAMPLE_SIZE;
@@ -441,18 +443,25 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
offset += ST_LSM6DSX_SAMPLE_SIZE;
}
- if (gyro_sip-- > 0)
+ if (gyro_sip > 0 && !(sip % gyro_sensor->decimator)) {
iio_push_to_buffers_with_timestamp(
hw->iio_devs[ST_LSM6DSX_ID_GYRO],
gyro_buff, gyro_sensor->ts_ref + ts);
- if (acc_sip-- > 0)
+ gyro_sip--;
+ }
+ if (acc_sip > 0 && !(sip % acc_sensor->decimator)) {
iio_push_to_buffers_with_timestamp(
hw->iio_devs[ST_LSM6DSX_ID_ACC],
acc_buff, acc_sensor->ts_ref + ts);
- if (ext_sip-- > 0)
+ acc_sip--;
+ }
+ if (ext_sip > 0 && !(sip % ext_sensor->decimator)) {
iio_push_to_buffers_with_timestamp(
hw->iio_devs[ST_LSM6DSX_ID_EXT0],
ext_buff, ext_sensor->ts_ref + ts);
+ ext_sip--;
+ }
+ sip++;
}
}
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index 84d219ae6aee..4426524b59f2 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -2036,11 +2036,21 @@ static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw)
return 0;
}
-static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
+static int st_lsm6dsx_reset_device(struct st_lsm6dsx_hw *hw)
{
const struct st_lsm6dsx_reg *reg;
int err;
+ /*
+ * flush hw FIFO before device reset in order to avoid
+ * possible races on interrupt line 1. If the first interrupt
+ * line is asserted during hw reset the device will work in
+ * I3C-only mode (if it is supported)
+ */
+ err = st_lsm6dsx_flush_fifo(hw);
+ if (err < 0 && err != -ENOTSUPP)
+ return err;
+
/* device sw reset */
reg = &hw->settings->reset;
err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
@@ -2059,6 +2069,18 @@ static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
msleep(50);
+ return 0;
+}
+
+static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
+{
+ const struct st_lsm6dsx_reg *reg;
+ int err;
+
+ err = st_lsm6dsx_reset_device(hw);
+ if (err < 0)
+ return err;
+
/* enable Block Data Update */
reg = &hw->settings->bdu;
err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
index 95ddd19d1aa7..64ef07a30726 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
@@ -421,7 +421,8 @@ int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
settings = sensor->ext_info.settings;
if (enable) {
- err = st_lsm6dsx_shub_set_odr(sensor, sensor->odr);
+ err = st_lsm6dsx_shub_set_odr(sensor,
+ sensor->ext_info.slv_odr);
if (err < 0)
return err;
} else {
@@ -459,7 +460,7 @@ st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor,
if (err < 0)
return err;
- delay = 1000000000 / sensor->odr;
+ delay = 1000000000 / sensor->ext_info.slv_odr;
usleep_range(delay, 2 * delay);
len = min_t(int, sizeof(data), ch->scan_type.realbits >> 3);
@@ -500,8 +501,8 @@ st_lsm6dsx_shub_read_raw(struct iio_dev *iio_dev,
iio_device_release_direct_mode(iio_dev);
break;
case IIO_CHAN_INFO_SAMP_FREQ:
- *val = sensor->odr / 1000;
- *val2 = (sensor->odr % 1000) * 1000;
+ *val = sensor->ext_info.slv_odr / 1000;
+ *val2 = (sensor->ext_info.slv_odr % 1000) * 1000;
ret = IIO_VAL_INT_PLUS_MICRO;
break;
case IIO_CHAN_INFO_SCALE:
@@ -535,8 +536,20 @@ st_lsm6dsx_shub_write_raw(struct iio_dev *iio_dev,
val = val * 1000 + val2 / 1000;
err = st_lsm6dsx_shub_get_odr_val(sensor, val, &data);
- if (!err)
- sensor->odr = val;
+ if (!err) {
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ struct st_lsm6dsx_sensor *ref_sensor;
+ u8 odr_val;
+ int odr;
+
+ ref_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
+ odr = st_lsm6dsx_check_odr(ref_sensor, val, &odr_val);
+ if (odr < 0)
+ return odr;
+
+ sensor->ext_info.slv_odr = val;
+ sensor->odr = odr;
+ }
break;
}
default:
@@ -613,6 +626,7 @@ st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw,
const struct st_lsm6dsx_ext_dev_settings *info,
u8 i2c_addr, const char *name)
{
+ enum st_lsm6dsx_sensor_id ref_id = ST_LSM6DSX_ID_ACC;
struct iio_chan_spec *ext_channels;
struct st_lsm6dsx_sensor *sensor;
struct iio_dev *iio_dev;
@@ -628,7 +642,8 @@ st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw,
sensor = iio_priv(iio_dev);
sensor->id = id;
sensor->hw = hw;
- sensor->odr = info->odr_table.odr_avl[0].milli_hz;
+ sensor->odr = hw->settings->odr_table[ref_id].odr_avl[0].milli_hz;
+ sensor->ext_info.slv_odr = info->odr_table.odr_avl[0].milli_hz;
sensor->gain = info->fs_table.fs_avl[0].gain;
sensor->ext_info.settings = info;
sensor->ext_info.addr = i2c_addr;
generated by cgit 1.2.3-korg (git 2.39.0) at 2024-05-17 23:32:30 +0000