From bf8367b00c33c64a9391c262bb2e11d274c9f2a4 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Maneyrol Date: Fri, 26 Apr 2024 09:48:35 +0000 Subject: iio: invensense: fix timestamp glitches when switching frequency When a sensor is running and there is a FIFO frequency change due to another sensor turned on/off, there are glitches on timestamp. Fix that by using only interrupt timestamp when there is the corresponding sensor data in the FIFO. Delete FIFO period handling and simplify internal functions. Update integration inside inv_mpu6050 and inv_icm42600 drivers. Fixes: 0ecc363ccea7 ("iio: make invensense timestamp module generic") Cc: Stable@vger.kernel.org Signed-off-by: Jean-Baptiste Maneyrol Link: https://lore.kernel.org/r/20240426094835.138389-1-inv.git-commit@tdk.com Signed-off-by: Jonathan Cameron --- drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c | 20 ++++++++------------ drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 2 +- 2 files changed, 9 insertions(+), 13 deletions(-) (limited to 'drivers/iio/imu') diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c index cfb4a41ab7c1..63b85ec88c13 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c @@ -512,20 +512,20 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st) return 0; /* handle gyroscope timestamp and FIFO data parsing */ - ts = &gyro_st->ts; - inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total, - st->fifo.nb.gyro, st->timestamp.gyro); if (st->fifo.nb.gyro > 0) { + ts = &gyro_st->ts; + inv_sensors_timestamp_interrupt(ts, st->fifo.nb.gyro, + st->timestamp.gyro); ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro); if (ret) return ret; } /* handle accelerometer timestamp and FIFO data parsing */ - ts = &accel_st->ts; - inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total, - st->fifo.nb.accel, st->timestamp.accel); if (st->fifo.nb.accel > 0) { + ts = &accel_st->ts; + inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, + st->timestamp.accel); ret = inv_icm42600_accel_parse_fifo(st->indio_accel); if (ret) return ret; @@ -555,9 +555,7 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st, if (st->fifo.nb.gyro > 0) { ts = &gyro_st->ts; - inv_sensors_timestamp_interrupt(ts, st->fifo.period, - st->fifo.nb.total, st->fifo.nb.gyro, - gyro_ts); + inv_sensors_timestamp_interrupt(ts, st->fifo.nb.gyro, gyro_ts); ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro); if (ret) return ret; @@ -565,9 +563,7 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st, if (st->fifo.nb.accel > 0) { ts = &accel_st->ts; - inv_sensors_timestamp_interrupt(ts, st->fifo.period, - st->fifo.nb.total, st->fifo.nb.accel, - accel_ts); + inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts); ret = inv_icm42600_accel_parse_fifo(st->indio_accel); if (ret) return ret; diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c index 86465226f7e1..0dc0f22a5582 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c @@ -100,7 +100,7 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) goto end_session; /* 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_interrupt(&st->timestamp, nb, pf->timestamp); inv_sensors_timestamp_apply_odr(&st->timestamp, fifo_period, nb, 0); /* clear internal data buffer for avoiding kernel data leak */ -- cgit v1.2.3