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iio: imu: inv_mpu6050: use the common inv_sensors timestamp module

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Replace timestamping by the new common inv_sensors timestamp
module. The principle behind is the same but the implementation in
the new module is far better providing less jitter and a better
estimation.

Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>
Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com>
Link: https://lore.kernel.org/r/20230606162147.79667-5-inv.git-commit@tdk.com
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Jean-Baptiste Maneyrol 2023-06-06 16:21:47 +00:00 committed by Jonathan Cameron
parent 0ecc363cce
commit 111e1abd00
5 changed files with 46 additions and 94 deletions
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1
drivers/iio/imu/inv_mpu6050/Kconfig
View File

@ -7,6 +7,7 @@ config INV_MPU6050_IIO
tristate
select IIO_BUFFER
select IIO_TRIGGERED_BUFFER
select IIO_INV_SENSORS_TIMESTAMP
config INV_MPU6050_I2C
tristate "Invensense MPU6050 devices (I2C)"

30
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
View File

@ -12,12 +12,15 @@
#include <linux/jiffies.h>
#include <linux/irq.h>
#include <linux/interrupt.h>
#include <linux/iio/iio.h>
#include <linux/acpi.h>
#include <linux/platform_device.h>
#include <linux/regulator/consumer.h>
#include <linux/pm.h>
#include <linux/pm_runtime.h>
#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/iio.h>
#include "inv_mpu_iio.h"
#include "inv_mpu_magn.h"
@ -521,6 +524,7 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
int result;
u8 d;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
struct inv_sensors_timestamp_chip timestamp;
result = inv_mpu6050_set_gyro_fsr(st, st->chip_config.fsr);
if (result)
@ -544,12 +548,12 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
if (result)
return result;
/*
* Internal chip period is 1ms (1kHz).
* Let's use at the beginning the theorical value before measuring
* with interrupt timestamps.
*/
st->chip_period = NSEC_PER_MSEC;
/* clock jitter is +/- 2% */
timestamp.clock_period = NSEC_PER_SEC / INV_MPU6050_INTERNAL_FREQ_HZ;
timestamp.jitter = 20;
timestamp.init_period =
NSEC_PER_SEC / INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
inv_sensors_timestamp_init(&st->timestamp, &timestamp);
/* magn chip init, noop if not present in the chip */
result = inv_mpu_magn_probe(st);
@ -936,6 +940,8 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
const char *buf, size_t count)
{
int fifo_rate;
u32 fifo_period;
bool fifo_on;
u8 d;
int result;
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
@ -952,12 +958,21 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
/* compute back the fifo rate to handle truncation cases */
fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d);
fifo_period = NSEC_PER_SEC / fifo_rate;
mutex_lock(&st->lock);
if (d == st->chip_config.divider) {
result = 0;
goto fifo_rate_fail_unlock;
}
fifo_on = st->chip_config.accl_fifo_enable ||
st->chip_config.gyro_fifo_enable ||
st->chip_config.magn_fifo_enable;
result = inv_sensors_timestamp_update_odr(&st->timestamp, fifo_period, fifo_on);
if (result)
goto fifo_rate_fail_unlock;
result = pm_runtime_resume_and_get(pdev);
if (result)
goto fifo_rate_fail_unlock;
@ -1785,3 +1800,4 @@ EXPORT_NS_GPL_DEV_PM_OPS(inv_mpu_pmops, IIO_MPU6050) = {
MODULE_AUTHOR("Invensense Corporation");
MODULE_DESCRIPTION("Invensense device MPU6050 driver");
MODULE_LICENSE("GPL");
MODULE_IMPORT_NS(IIO_INV_SENSORS_TIMESTAMP);

18
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
View File

@ -9,15 +9,17 @@
#include <linux/i2c.h>
#include <linux/i2c-mux.h>
#include <linux/mutex.h>
#include <linux/iio/iio.h>
#include <linux/iio/buffer.h>
#include <linux/platform_data/invensense_mpu6050.h>
#include <linux/regmap.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/buffer.h>
#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/iio.h>
#include <linux/iio/kfifo_buf.h>
#include <linux/iio/trigger.h>
#include <linux/iio/triggered_buffer.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/platform_data/invensense_mpu6050.h>
#include <linux/iio/sysfs.h>
/**
* struct inv_mpu6050_reg_map - Notable registers.
@ -170,9 +172,7 @@ struct inv_mpu6050_hw {
* @map regmap pointer.
* @irq interrupt number.
* @irq_mask the int_pin_cfg mask to configure interrupt type.
* @chip_period: chip internal period estimation (~1kHz).
* @it_timestamp: timestamp from previous interrupt.
* @data_timestamp: timestamp for next data sample.
* @timestamp: timestamping module
* @vdd_supply: VDD voltage regulator for the chip.
* @vddio_supply I/O voltage regulator for the chip.
* @magn_disabled: magnetometer disabled for backward compatibility reason.
@ -196,9 +196,7 @@ struct inv_mpu6050_state {
int irq;
u8 irq_mask;
unsigned skip_samples;
s64 chip_period;
s64 it_timestamp;
s64 data_timestamp;
struct inv_sensors_timestamp timestamp;
struct regulator *vdd_supply;
struct regulator *vddio_supply;
bool magn_disabled;

85
drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
View File

@ -13,82 +13,11 @@
#include <linux/interrupt.h>
#include <linux/poll.h>
#include <linux/math64.h>
#include <linux/iio/common/inv_sensors_timestamp.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;
}
/* 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;
}
static int inv_reset_fifo(struct iio_dev *indio_dev)
{
int result;
@ -121,6 +50,7 @@ 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;
int int_status;
size_t i, nb;
@ -177,7 +107,10 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
/* compute and process all complete datum */
nb = fifo_count / bytes_per_datum;
inv_mpu6050_update_period(st, pf->timestamp, nb);
/* 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);
for (i = 0; i < nb; ++i) {
result = regmap_noinc_read(st->map, st->reg->fifo_r_w,
st->data, bytes_per_datum);
@ -188,7 +121,7 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
st->skip_samples--;
continue;
}
timestamp = inv_mpu6050_get_timestamp(st);
timestamp = inv_sensors_timestamp_pop(&st->timestamp);
iio_push_to_buffers_with_timestamp(indio_dev, st->data, timestamp);
}

6
drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
View File

@ -4,6 +4,9 @@
*/
#include <linux/pm_runtime.h>
#include <linux/iio/common/inv_sensors_timestamp.h>
#include "inv_mpu_iio.h"
static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)
@ -106,7 +109,8 @@ int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
int ret;
if (enable) {
st->it_timestamp = 0;
/* reset timestamping */
inv_sensors_timestamp_reset(&st->timestamp);
/* reset FIFO */
d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
ret = regmap_write(st->map, st->reg->user_ctrl, d);