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 <jean-baptiste.maneyrol@tdk.com>
Link: https://lore.kernel.org/r/20240426094835.138389-1-inv.git-commit@tdk.com
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

diff --git a/drivers/iio/common/inv_sensors/inv_sensors_timestamp.c b/drivers/iio/common/inv_sensors/inv_sensors_timestamp.c
index 4b8ec16240b5aaaaa96165da27757c9e826a6403..fa205f17bd905f3f29d938f43bbf9929f7109c69 100644 (file)
--- a/drivers/iio/common/inv_sensors/inv_sensors_timestamp.c
+++ b/drivers/iio/common/inv_sensors/inv_sensors_timestamp.c
@@ -70,13 +70,13 @@ int inv_sensors_timestamp_update_odr(struct inv_sensors_timestamp *ts,
 }
 EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_update_odr, IIO_INV_SENSORS_TIMESTAMP);
 
-static bool inv_validate_period(struct inv_sensors_timestamp *ts, uint32_t period, uint32_t mult)
+static bool inv_validate_period(struct inv_sensors_timestamp *ts, uint32_t period)
 {
        uint32_t period_min, period_max;
 
        /* check that period is acceptable */
-       period_min = ts->min_period * mult;
-       period_max = ts->max_period * mult;
+       period_min = ts->min_period * ts->mult;
+       period_max = ts->max_period * ts->mult;
        if (period > period_min && period < period_max)
                return true;
        else
@@ -84,15 +84,15 @@ static bool inv_validate_period(struct inv_sensors_timestamp *ts, uint32_t perio
 }
 
 static bool inv_update_chip_period(struct inv_sensors_timestamp *ts,
-                                   uint32_t mult, uint32_t period)
+                                  uint32_t period)
 {
        uint32_t new_chip_period;
 
-       if (!inv_validate_period(ts, period, mult))
+       if (!inv_validate_period(ts, period))
                return false;
 
        /* update chip internal period estimation */
-       new_chip_period = period / mult;
+       new_chip_period = period / ts->mult;
        inv_update_acc(&ts->chip_period, new_chip_period);
        ts->period = ts->mult * ts->chip_period.val;
 
@@ -125,16 +125,14 @@ static void inv_align_timestamp_it(struct inv_sensors_timestamp *ts)
 }
 
 void inv_sensors_timestamp_interrupt(struct inv_sensors_timestamp *ts,
-                                     uint32_t fifo_period, size_t fifo_nb,
-                                     size_t sensor_nb, int64_t timestamp)
+                                    size_t sample_nb, int64_t timestamp)
 {
        struct inv_sensors_timestamp_interval *it;
        int64_t delta, interval;
-       const uint32_t fifo_mult = fifo_period / ts->chip.clock_period;
        uint32_t period;
        bool valid = false;
 
-       if (fifo_nb == 0)
+       if (sample_nb == 0)
                return;
 
        /* update interrupt timestamp and compute chip and sensor periods */
@@ -144,14 +142,14 @@ void inv_sensors_timestamp_interrupt(struct inv_sensors_timestamp *ts,
        delta = it->up - it->lo;
        if (it->lo != 0) {
                /* compute period: delta time divided by number of samples */
-               period = div_s64(delta, fifo_nb);
-               valid = inv_update_chip_period(ts, fifo_mult, period);
+               period = div_s64(delta, sample_nb);
+               valid = inv_update_chip_period(ts, period);
        }
 
        /* no previous data, compute theoritical value from interrupt */
        if (ts->timestamp == 0) {
                /* elapsed time: sensor period * sensor samples number */
-               interval = (int64_t)ts->period * (int64_t)sensor_nb;
+               interval = (int64_t)ts->period * (int64_t)sample_nb;
                ts->timestamp = it->up - interval;
                return;
        }

diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
index cfb4a41ab7c11e9ee6f39a74aa30c726a4b12717..63b85ec88c131f7558bb143fb04f13428cd57081 100644 (file)
--- 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 86465226f7e1068a3e6ca7ceadd087bec62ff4e9..0dc0f22a5582799441bb8ed3ccd2baad93322dee 100644 (file)
--- 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 */

diff --git a/include/linux/iio/common/inv_sensors_timestamp.h b/include/linux/iio/common/inv_sensors_timestamp.h
index a47d304d1ba7c4608d93d1c9cf47df1ced43c43b..8d506f1e9df2926fc8339199dcc175722d34887b 100644 (file)
--- a/include/linux/iio/common/inv_sensors_timestamp.h
+++ b/include/linux/iio/common/inv_sensors_timestamp.h
@@ -71,8 +71,7 @@ int inv_sensors_timestamp_update_odr(struct inv_sensors_timestamp *ts,
                                     uint32_t period, bool fifo);
 
 void inv_sensors_timestamp_interrupt(struct inv_sensors_timestamp *ts,
-                                    uint32_t fifo_period, size_t fifo_nb,
-                                    size_t sensor_nb, int64_t timestamp);
+                                    size_t sample_nb, int64_t timestamp);
 
 static inline int64_t inv_sensors_timestamp_pop(struct inv_sensors_timestamp *ts)
 {