From 7762902c89c4c78d32ec562f1ada44d02039104b Mon Sep 17 00:00:00 2001 From: Lorenzo Bianconi Date: Fri, 13 Mar 2020 18:54:41 +0100 Subject: iio: imu: st_lsm6dsx: fix read misalignment on untagged FIFO st_lsm6dsx suffers of a read misalignment on untagged FIFO when all 3 supported sensors (accel, gyro and ext device) are running at different ODRs (the use-case is reported in the LSM6DSM Application Note at pag 100). Fix the issue taking into account decimation factor reading the FIFO pattern. Fixes: e485e2a2cfd6 ("iio: imu: st_lsm6dsx: enable sensor-hub support for lsm6dsm") Signed-off-by: Lorenzo Bianconi Signed-off-by: Jonathan Cameron --- drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 2 ++ drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 23 ++++++++++++++++------- 2 files changed, 18 insertions(+), 7 deletions(-) (limited to 'drivers/iio/imu') diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h index f2113a63721a..e9e756b1e92f 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 @@ -350,6 +351,7 @@ struct st_lsm6dsx_sensor { u32 odr; u16 watermark; + u8 decimator; u8 sip; s64 ts_ref; 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++; } } -- cgit v1.2.3 From 76551a3c3df151750a842b003c6899e9c62e0fd2 Mon Sep 17 00:00:00 2001 From: Lorenzo Bianconi Date: Fri, 13 Mar 2020 18:54:42 +0100 Subject: iio: imu: st_lsm6dsx: specify slave odr in slv_odr Introduce slv_odr in ext_info data structure in order to distinguish between sensor hub trigger (accel sensor) odr and i2c slave odr and properly compute samples in FIFO pattern Fixes: e485e2a2cfd6 ("iio: imu: st_lsm6dsx: enable sensor-hub support for lsm6dsm") Signed-off-by: Lorenzo Bianconi Signed-off-by: Jonathan Cameron --- drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 1 + drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c | 29 +++++++++++++++++++++------- 2 files changed, 23 insertions(+), 7 deletions(-) (limited to 'drivers/iio/imu') diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h index e9e756b1e92f..41cb20cb3809 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h @@ -357,6 +357,7 @@ struct st_lsm6dsx_sensor { 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_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; -- cgit v1.2.3 From 3a63da26db0a864134f023f088d41deacd509997 Mon Sep 17 00:00:00 2001 From: Lorenzo Bianconi Date: Fri, 13 Mar 2020 19:06:00 +0100 Subject: iio: imu: st_lsm6dsx: flush hw FIFO before resetting the device 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) Fixes: 801a6e0af0c6 ("iio: imu: st_lsm6dsx: add support to LSM6DSO") Fixes: 43901008fde0 ("iio: imu: st_lsm6dsx: add support to LSM6DSR") Reported-by: Mario Tesi Signed-off-by: Lorenzo Bianconi Reviewed-by: Vitor Soares Tested-by: Vitor Soares Cc: Signed-off-by: Jonathan Cameron --- drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 24 +++++++++++++++++++++++- 1 file changed, 23 insertions(+), 1 deletion(-) (limited to 'drivers/iio/imu') 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, -- cgit v1.2.3 From 0a2bf9200aeaa8c1dd23ec65af30af3643ace887 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Maneyrol Date: Tue, 31 Mar 2020 15:38:50 +0200 Subject: iio: imu: inv_mpu6050: fix suspend/resume with runtime power Suspend/resume were not working correctly with pm runtime. Now suspend check if the chip is already suspended, and resume put runtime pm in the correct state. Issues seen prior to this were: When entering suspend, there was an error in logs because we were disabling vddio regulator although it was already disabled. And when resuming, the chip was pull back to full power but the pm_runtime state was not updated. So it was believing it was still suspended. Fixes: 4599cac84614 ("iio: imu: inv_mpu6050: use runtime pm with autosuspend") Signed-off-by: Jean-Baptiste Maneyrol Signed-off-by: Jonathan Cameron --- drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) (limited to 'drivers/iio/imu') diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index 7cb9ff3d3e94..0b8d2f7a0165 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -1617,6 +1617,10 @@ static int __maybe_unused inv_mpu_resume(struct device *dev) if (result) goto out_unlock; + pm_runtime_disable(dev); + pm_runtime_set_active(dev); + pm_runtime_enable(dev); + result = inv_mpu6050_switch_engine(st, true, st->suspended_sensors); if (result) goto out_unlock; @@ -1638,13 +1642,18 @@ static int __maybe_unused inv_mpu_suspend(struct device *dev) mutex_lock(&st->lock); + st->suspended_sensors = 0; + if (pm_runtime_suspended(dev)) { + result = 0; + goto out_unlock; + } + if (iio_buffer_enabled(indio_dev)) { result = inv_mpu6050_prepare_fifo(st, false); if (result) goto out_unlock; } - st->suspended_sensors = 0; if (st->chip_config.accl_en) st->suspended_sensors |= INV_MPU6050_SENSOR_ACCL; if (st->chip_config.gyro_en) -- cgit v1.2.3