# Makefile for TDK-InvenSense sensors module.
#
-obj-$(CONFIG_IIO_INV_SENSORS_TIMESTAMP) += inv_icm42600_timestamp.o
+obj-$(CONFIG_IIO_INV_SENSORS_TIMESTAMP) += inv_sensors_timestamp.o
+++ /dev/null
-// SPDX-License-Identifier: GPL-2.0-or-later
-/*
- * Copyright (C) 2020 Invensense, Inc.
- */
-
-#include <linux/errno.h>
-#include <linux/kernel.h>
-#include <linux/math64.h>
-#include <linux/module.h>
-
-#include <linux/iio/common/inv_icm42600_timestamp.h>
-
-/* internal chip period is 32kHz, 31250ns */
-#define INV_ICM42600_TIMESTAMP_PERIOD 31250
-/* allow a jitter of +/- 2% */
-#define INV_ICM42600_TIMESTAMP_JITTER 2
-/* compute min and max periods accepted */
-#define INV_ICM42600_TIMESTAMP_MIN_PERIOD(_p) \
- (((_p) * (100 - INV_ICM42600_TIMESTAMP_JITTER)) / 100)
-#define INV_ICM42600_TIMESTAMP_MAX_PERIOD(_p) \
- (((_p) * (100 + INV_ICM42600_TIMESTAMP_JITTER)) / 100)
-
-/* Add a new value inside an accumulator and update the estimate value */
-static void inv_update_acc(struct inv_icm42600_timestamp_acc *acc, uint32_t val)
-{
- uint64_t sum = 0;
- size_t i;
-
- acc->values[acc->idx++] = val;
- if (acc->idx >= ARRAY_SIZE(acc->values))
- acc->idx = 0;
-
- /* compute the mean of all stored values, use 0 as empty slot */
- for (i = 0; i < ARRAY_SIZE(acc->values); ++i) {
- if (acc->values[i] == 0)
- break;
- sum += acc->values[i];
- }
-
- acc->val = div_u64(sum, i);
-}
-
-void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
- uint32_t period)
-{
- /* initial odr for sensor after reset is 1kHz */
- const uint32_t default_period = 1000000;
-
- /* current multiplier and period values after reset */
- ts->mult = default_period / INV_ICM42600_TIMESTAMP_PERIOD;
- ts->period = default_period;
- /* new set multiplier is the one from chip initialization */
- ts->new_mult = period / INV_ICM42600_TIMESTAMP_PERIOD;
-
- /* use theoretical value for chip period */
- inv_update_acc(&ts->chip_period, INV_ICM42600_TIMESTAMP_PERIOD);
-}
-EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_init, IIO_INV_SENSORS_TIMESTAMP);
-
-int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
- uint32_t period, bool fifo)
-{
- /* when FIFO is on, prevent odr change if one is already pending */
- if (fifo && ts->new_mult != 0)
- return -EAGAIN;
-
- ts->new_mult = period / INV_ICM42600_TIMESTAMP_PERIOD;
-
- return 0;
-}
-EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_update_odr, IIO_INV_SENSORS_TIMESTAMP);
-
-static bool inv_validate_period(uint32_t period, uint32_t mult)
-{
- const uint32_t chip_period = INV_ICM42600_TIMESTAMP_PERIOD;
- uint32_t period_min, period_max;
-
- /* check that period is acceptable */
- period_min = INV_ICM42600_TIMESTAMP_MIN_PERIOD(chip_period) * mult;
- period_max = INV_ICM42600_TIMESTAMP_MAX_PERIOD(chip_period) * mult;
- if (period > period_min && period < period_max)
- return true;
- else
- return false;
-}
-
-static bool inv_update_chip_period(struct inv_icm42600_timestamp *ts,
- uint32_t mult, uint32_t period)
-{
- uint32_t new_chip_period;
-
- if (!inv_validate_period(period, mult))
- return false;
-
- /* update chip internal period estimation */
- new_chip_period = period / mult;
- inv_update_acc(&ts->chip_period, new_chip_period);
- ts->period = ts->mult * ts->chip_period.val;
-
- return true;
-}
-
-static void inv_align_timestamp_it(struct inv_icm42600_timestamp *ts)
-{
- int64_t delta, jitter;
- int64_t adjust;
-
- /* delta time between last sample and last interrupt */
- delta = ts->it.lo - ts->timestamp;
-
- /* adjust timestamp while respecting jitter */
- jitter = div_s64((int64_t)ts->period * INV_ICM42600_TIMESTAMP_JITTER, 100);
- if (delta > jitter)
- adjust = jitter;
- else if (delta < -jitter)
- adjust = -jitter;
- else
- adjust = 0;
-
- ts->timestamp += adjust;
-}
-
-void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
- uint32_t fifo_period, size_t fifo_nb,
- size_t sensor_nb, int64_t timestamp)
-{
- struct inv_icm42600_timestamp_interval *it;
- int64_t delta, interval;
- const uint32_t fifo_mult = fifo_period / INV_ICM42600_TIMESTAMP_PERIOD;
- uint32_t period = ts->period;
- bool valid = false;
-
- if (fifo_nb == 0)
- return;
-
- /* update interrupt timestamp and compute chip and sensor periods */
- it = &ts->it;
- it->lo = it->up;
- it->up = timestamp;
- 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);
- }
-
- /* 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;
- ts->timestamp = it->up - interval;
- return;
- }
-
- /* if interrupt interval is valid, sync with interrupt timestamp */
- if (valid)
- inv_align_timestamp_it(ts);
-}
-EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_interrupt, IIO_INV_SENSORS_TIMESTAMP);
-
-void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
- uint32_t fifo_period, size_t fifo_nb,
- unsigned int fifo_no)
-{
- int64_t interval;
- uint32_t fifo_mult;
-
- if (ts->new_mult == 0)
- return;
-
- /* update to new multiplier and update period */
- ts->mult = ts->new_mult;
- ts->new_mult = 0;
- ts->period = ts->mult * ts->chip_period.val;
-
- /*
- * After ODR change the time interval with the previous sample is
- * undertermined (depends when the change occures). So we compute the
- * timestamp from the current interrupt using the new FIFO period, the
- * total number of samples and the current sample numero.
- */
- if (ts->timestamp != 0) {
- /* compute measured fifo period */
- fifo_mult = fifo_period / INV_ICM42600_TIMESTAMP_PERIOD;
- fifo_period = fifo_mult * ts->chip_period.val;
- /* computes time interval between interrupt and this sample */
- interval = (int64_t)(fifo_nb - fifo_no) * (int64_t)fifo_period;
- ts->timestamp = ts->it.up - interval;
- }
-}
-EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_apply_odr, IIO_INV_SENSORS_TIMESTAMP);
-
-MODULE_AUTHOR("InvenSense, Inc.");
-MODULE_DESCRIPTION("InvenSense sensors timestamp module");
-MODULE_LICENSE("GPL");
--- /dev/null
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#include <linux/errno.h>
+#include <linux/kernel.h>
+#include <linux/math64.h>
+#include <linux/module.h>
+
+#include <linux/iio/common/inv_sensors_timestamp.h>
+
+/* compute jitter, min and max following jitter in per mille */
+#define INV_SENSORS_TIMESTAMP_JITTER(_val, _jitter) \
+ (div_s64((_val) * (_jitter), 1000))
+#define INV_SENSORS_TIMESTAMP_MIN(_val, _jitter) \
+ (((_val) * (1000 - (_jitter))) / 1000)
+#define INV_SENSORS_TIMESTAMP_MAX(_val, _jitter) \
+ (((_val) * (1000 + (_jitter))) / 1000)
+
+/* Add a new value inside an accumulator and update the estimate value */
+static void inv_update_acc(struct inv_sensors_timestamp_acc *acc, uint32_t val)
+{
+ uint64_t sum = 0;
+ size_t i;
+
+ acc->values[acc->idx++] = val;
+ if (acc->idx >= ARRAY_SIZE(acc->values))
+ acc->idx = 0;
+
+ /* compute the mean of all stored values, use 0 as empty slot */
+ for (i = 0; i < ARRAY_SIZE(acc->values); ++i) {
+ if (acc->values[i] == 0)
+ break;
+ sum += acc->values[i];
+ }
+
+ acc->val = div_u64(sum, i);
+}
+
+void inv_sensors_timestamp_init(struct inv_sensors_timestamp *ts,
+ const struct inv_sensors_timestamp_chip *chip)
+{
+ memset(ts, 0, sizeof(*ts));
+
+ /* save chip parameters and compute min and max clock period */
+ ts->chip = *chip;
+ ts->min_period = INV_SENSORS_TIMESTAMP_MIN(chip->clock_period, chip->jitter);
+ ts->max_period = INV_SENSORS_TIMESTAMP_MAX(chip->clock_period, chip->jitter);
+
+ /* current multiplier and period values after reset */
+ ts->mult = chip->init_period / chip->clock_period;
+ ts->period = chip->init_period;
+
+ /* use theoretical value for chip period */
+ inv_update_acc(&ts->chip_period, chip->clock_period);
+}
+EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_init, IIO_INV_SENSORS_TIMESTAMP);
+
+int inv_sensors_timestamp_update_odr(struct inv_sensors_timestamp *ts,
+ uint32_t period, bool fifo)
+{
+ /* when FIFO is on, prevent odr change if one is already pending */
+ if (fifo && ts->new_mult != 0)
+ return -EAGAIN;
+
+ ts->new_mult = period / ts->chip.clock_period;
+
+ return 0;
+}
+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)
+{
+ uint32_t period_min, period_max;
+
+ /* check that period is acceptable */
+ period_min = ts->min_period * mult;
+ period_max = ts->max_period * mult;
+ if (period > period_min && period < period_max)
+ return true;
+ else
+ return false;
+}
+
+static bool inv_update_chip_period(struct inv_sensors_timestamp *ts,
+ uint32_t mult, uint32_t period)
+{
+ uint32_t new_chip_period;
+
+ if (!inv_validate_period(ts, period, mult))
+ return false;
+
+ /* update chip internal period estimation */
+ new_chip_period = period / mult;
+ inv_update_acc(&ts->chip_period, new_chip_period);
+ ts->period = ts->mult * ts->chip_period.val;
+
+ return true;
+}
+
+static void inv_align_timestamp_it(struct inv_sensors_timestamp *ts)
+{
+ int64_t delta, jitter;
+ int64_t adjust;
+
+ /* delta time between last sample and last interrupt */
+ delta = ts->it.lo - ts->timestamp;
+
+ /* adjust timestamp while respecting jitter */
+ jitter = INV_SENSORS_TIMESTAMP_JITTER((int64_t)ts->period, ts->chip.jitter);
+ if (delta > jitter)
+ adjust = jitter;
+ else if (delta < -jitter)
+ adjust = -jitter;
+ else
+ adjust = 0;
+
+ ts->timestamp += adjust;
+}
+
+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)
+{
+ struct inv_sensors_timestamp_interval *it;
+ int64_t delta, interval;
+ const uint32_t fifo_mult = fifo_period / ts->chip.clock_period;
+ uint32_t period = ts->period;
+ bool valid = false;
+
+ if (fifo_nb == 0)
+ return;
+
+ /* update interrupt timestamp and compute chip and sensor periods */
+ it = &ts->it;
+ it->lo = it->up;
+ it->up = timestamp;
+ 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);
+ }
+
+ /* 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;
+ ts->timestamp = it->up - interval;
+ return;
+ }
+
+ /* if interrupt interval is valid, sync with interrupt timestamp */
+ if (valid)
+ inv_align_timestamp_it(ts);
+}
+EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_interrupt, IIO_INV_SENSORS_TIMESTAMP);
+
+void inv_sensors_timestamp_apply_odr(struct inv_sensors_timestamp *ts,
+ uint32_t fifo_period, size_t fifo_nb,
+ unsigned int fifo_no)
+{
+ int64_t interval;
+ uint32_t fifo_mult;
+
+ if (ts->new_mult == 0)
+ return;
+
+ /* update to new multiplier and update period */
+ ts->mult = ts->new_mult;
+ ts->new_mult = 0;
+ ts->period = ts->mult * ts->chip_period.val;
+
+ /*
+ * After ODR change the time interval with the previous sample is
+ * undertermined (depends when the change occures). So we compute the
+ * timestamp from the current interrupt using the new FIFO period, the
+ * total number of samples and the current sample numero.
+ */
+ if (ts->timestamp != 0) {
+ /* compute measured fifo period */
+ fifo_mult = fifo_period / ts->chip.clock_period;
+ fifo_period = fifo_mult * ts->chip_period.val;
+ /* computes time interval between interrupt and this sample */
+ interval = (int64_t)(fifo_nb - fifo_no) * (int64_t)fifo_period;
+ ts->timestamp = ts->it.up - interval;
+ }
+}
+EXPORT_SYMBOL_NS_GPL(inv_sensors_timestamp_apply_odr, IIO_INV_SENSORS_TIMESTAMP);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense sensors timestamp module");
+MODULE_LICENSE("GPL");
#include <linux/math64.h>
#include <linux/iio/buffer.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/iio.h>
#include <linux/iio/kfifo_buf.h>
const unsigned long *scan_mask)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
unsigned int fifo_en = 0;
unsigned int sleep_temp = 0;
}
/* update data FIFO write */
- inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
+ inv_sensors_timestamp_apply_odr(ts, 0, 0, 0);
ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
if (ret)
goto out_unlock;
int val, int val2)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
pm_runtime_get_sync(dev);
mutex_lock(&st->lock);
- ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
- iio_buffer_enabled(indio_dev));
+ ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
+ iio_buffer_enabled(indio_dev));
if (ret)
goto out_unlock;
{
struct device *dev = regmap_get_device(st->map);
const char *name;
- struct inv_icm42600_timestamp *ts;
+ struct inv_sensors_timestamp_chip ts_chip;
+ struct inv_sensors_timestamp *ts;
struct iio_dev *indio_dev;
int ret;
if (!indio_dev)
return ERR_PTR(-ENOMEM);
+ /*
+ * clock period is 32kHz (31250ns)
+ * jitter is +/- 2% (20 per mille)
+ */
+ ts_chip.clock_period = 31250;
+ ts_chip.jitter = 20;
+ ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
ts = iio_priv(indio_dev);
- inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.accel.odr));
+ inv_sensors_timestamp_init(ts, &ts_chip);
iio_device_set_drvdata(indio_dev, st);
indio_dev->name = name;
int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
ssize_t i, size;
unsigned int no;
const void *accel, *gyro, *timestamp;
/* update odr */
if (odr & INV_ICM42600_SENSOR_ACCEL)
- inv_icm42600_timestamp_apply_odr(ts, st->fifo.period,
- st->fifo.nb.total, no);
+ inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
+ st->fifo.nb.total, no);
/* buffer is copied to userspace, zeroing it to avoid any data leak */
memset(&buffer, 0, sizeof(buffer));
memcpy(&buffer.accel, accel, sizeof(buffer.accel));
/* convert 8 bits FIFO temperature in high resolution format */
buffer.temp = temp ? (*temp * 64) : 0;
- ts_val = inv_icm42600_timestamp_pop(ts);
+ ts_val = inv_sensors_timestamp_pop(ts);
iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
}
#include <linux/delay.h>
#include <linux/iio/buffer.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/iio.h>
#include "inv_icm42600.h"
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
struct device *dev = regmap_get_device(st->map);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
pm_runtime_get_sync(dev);
mutex_lock(&st->lock);
- inv_icm42600_timestamp_reset(ts);
+ inv_sensors_timestamp_reset(ts);
mutex_unlock(&st->lock);
return 0;
int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
{
- struct inv_icm42600_timestamp *ts;
+ struct inv_sensors_timestamp *ts;
int ret;
if (st->fifo.nb.total == 0)
/* handle gyroscope timestamp and FIFO data parsing */
ts = iio_priv(st->indio_gyro);
- inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
- st->fifo.nb.gyro, st->timestamp.gyro);
+ 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) {
ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
if (ret)
/* handle accelerometer timestamp and FIFO data parsing */
ts = iio_priv(st->indio_accel);
- inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
- st->fifo.nb.accel, st->timestamp.accel);
+ 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) {
ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
if (ret)
int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
unsigned int count)
{
- struct inv_icm42600_timestamp *ts;
+ struct inv_sensors_timestamp *ts;
int64_t gyro_ts, accel_ts;
int ret;
if (st->fifo.nb.gyro > 0) {
ts = iio_priv(st->indio_gyro);
- inv_icm42600_timestamp_interrupt(ts, st->fifo.period,
- st->fifo.nb.total, st->fifo.nb.gyro,
- gyro_ts);
+ inv_sensors_timestamp_interrupt(ts, st->fifo.period,
+ st->fifo.nb.total, st->fifo.nb.gyro,
+ gyro_ts);
ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
if (ret)
return ret;
if (st->fifo.nb.accel > 0) {
ts = iio_priv(st->indio_accel);
- inv_icm42600_timestamp_interrupt(ts, st->fifo.period,
- st->fifo.nb.total, st->fifo.nb.accel,
- accel_ts);
+ inv_sensors_timestamp_interrupt(ts, st->fifo.period,
+ st->fifo.nb.total, st->fifo.nb.accel,
+ accel_ts);
ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
if (ret)
return ret;
#include <linux/property.h>
#include <linux/regmap.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
#include <linux/iio/iio.h>
#include "inv_icm42600.h"
#include <linux/math64.h>
#include <linux/iio/buffer.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/iio.h>
#include <linux/iio/kfifo_buf.h>
const unsigned long *scan_mask)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
unsigned int fifo_en = 0;
unsigned int sleep_gyro = 0;
}
/* update data FIFO write */
- inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
+ inv_sensors_timestamp_apply_odr(ts, 0, 0, 0);
ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
if (ret)
goto out_unlock;
int val, int val2)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
pm_runtime_get_sync(dev);
mutex_lock(&st->lock);
- ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
- iio_buffer_enabled(indio_dev));
+ ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
+ iio_buffer_enabled(indio_dev));
if (ret)
goto out_unlock;
{
struct device *dev = regmap_get_device(st->map);
const char *name;
- struct inv_icm42600_timestamp *ts;
+ struct inv_sensors_timestamp_chip ts_chip;
+ struct inv_sensors_timestamp *ts;
struct iio_dev *indio_dev;
int ret;
if (!indio_dev)
return ERR_PTR(-ENOMEM);
+ /*
+ * clock period is 32kHz (31250ns)
+ * jitter is +/- 2% (20 per mille)
+ */
+ ts_chip.clock_period = 31250;
+ ts_chip.jitter = 20;
+ ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
ts = iio_priv(indio_dev);
- inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.gyro.odr));
+ inv_sensors_timestamp_init(ts, &ts_chip);
iio_device_set_drvdata(indio_dev, st);
indio_dev->name = name;
int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
ssize_t i, size;
unsigned int no;
const void *accel, *gyro, *timestamp;
/* update odr */
if (odr & INV_ICM42600_SENSOR_GYRO)
- inv_icm42600_timestamp_apply_odr(ts, st->fifo.period,
- st->fifo.nb.total, no);
+ inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
+ st->fifo.nb.total, no);
/* buffer is copied to userspace, zeroing it to avoid any data leak */
memset(&buffer, 0, sizeof(buffer));
memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro));
/* convert 8 bits FIFO temperature in high resolution format */
buffer.temp = temp ? (*temp * 64) : 0;
- ts_val = inv_icm42600_timestamp_pop(ts);
+ ts_val = inv_sensors_timestamp_pop(ts);
iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
}
+++ /dev/null
-/* SPDX-License-Identifier: GPL-2.0-or-later */
-/*
- * Copyright (C) 2020 Invensense, Inc.
- */
-
-#ifndef INV_ICM42600_TIMESTAMP_H_
-#define INV_ICM42600_TIMESTAMP_H_
-
-/**
- * struct inv_icm42600_timestamp_interval - timestamps interval
- * @lo: interval lower bound
- * @up: interval upper bound
- */
-struct inv_icm42600_timestamp_interval {
- int64_t lo;
- int64_t up;
-};
-
-/**
- * struct inv_icm42600_timestamp_acc - accumulator for computing an estimation
- * @val: current estimation of the value, the mean of all values
- * @idx: current index of the next free place in values table
- * @values: table of all measured values, use for computing the mean
- */
-struct inv_icm42600_timestamp_acc {
- uint32_t val;
- size_t idx;
- uint32_t values[32];
-};
-
-/**
- * struct inv_icm42600_timestamp - timestamp management states
- * @it: interrupts interval timestamps
- * @timestamp: store last timestamp for computing next data timestamp
- * @mult: current internal period multiplier
- * @new_mult: new set internal period multiplier (not yet effective)
- * @period: measured current period of the sensor
- * @chip_period: accumulator for computing internal chip period
- */
-struct inv_icm42600_timestamp {
- struct inv_icm42600_timestamp_interval it;
- int64_t timestamp;
- uint32_t mult;
- uint32_t new_mult;
- uint32_t period;
- struct inv_icm42600_timestamp_acc chip_period;
-};
-
-void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
- uint32_t period);
-
-int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
- uint32_t period, bool fifo);
-
-void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
- uint32_t fifo_period, size_t fifo_nb,
- size_t sensor_nb, int64_t timestamp);
-
-static inline int64_t
-inv_icm42600_timestamp_pop(struct inv_icm42600_timestamp *ts)
-{
- ts->timestamp += ts->period;
- return ts->timestamp;
-}
-
-void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
- uint32_t fifo_period, size_t fifo_nb,
- unsigned int fifo_no);
-
-static inline void
-inv_icm42600_timestamp_reset(struct inv_icm42600_timestamp *ts)
-{
- const struct inv_icm42600_timestamp_interval interval_init = {0LL, 0LL};
-
- ts->it = interval_init;
- ts->timestamp = 0;
-}
-
-#endif
--- /dev/null
+/* SPDX-License-Identifier: GPL-2.0-or-later */
+/*
+ * Copyright (C) 2020 Invensense, Inc.
+ */
+
+#ifndef INV_SENSORS_TIMESTAMP_H_
+#define INV_SENSORS_TIMESTAMP_H_
+
+/**
+ * struct inv_sensors_timestamp_chip - chip internal properties
+ * @clock_period: internal clock period in ns
+ * @jitter: acceptable jitter in per-mille
+ * @init_period: chip initial period at reset in ns
+ */
+struct inv_sensors_timestamp_chip {
+ uint32_t clock_period;
+ uint32_t jitter;
+ uint32_t init_period;
+};
+
+/**
+ * struct inv_sensors_timestamp_interval - timestamps interval
+ * @lo: interval lower bound
+ * @up: interval upper bound
+ */
+struct inv_sensors_timestamp_interval {
+ int64_t lo;
+ int64_t up;
+};
+
+/**
+ * struct inv_sensors_timestamp_acc - accumulator for computing an estimation
+ * @val: current estimation of the value, the mean of all values
+ * @idx: current index of the next free place in values table
+ * @values: table of all measured values, use for computing the mean
+ */
+struct inv_sensors_timestamp_acc {
+ uint32_t val;
+ size_t idx;
+ uint32_t values[32];
+};
+
+/**
+ * struct inv_sensors_timestamp - timestamp management states
+ * @chip: chip internal characteristics
+ * @min_period: minimal acceptable clock period
+ * @max_period: maximal acceptable clock period
+ * @it: interrupts interval timestamps
+ * @timestamp: store last timestamp for computing next data timestamp
+ * @mult: current internal period multiplier
+ * @new_mult: new set internal period multiplier (not yet effective)
+ * @period: measured current period of the sensor
+ * @chip_period: accumulator for computing internal chip period
+ */
+struct inv_sensors_timestamp {
+ struct inv_sensors_timestamp_chip chip;
+ uint32_t min_period;
+ uint32_t max_period;
+ struct inv_sensors_timestamp_interval it;
+ int64_t timestamp;
+ uint32_t mult;
+ uint32_t new_mult;
+ uint32_t period;
+ struct inv_sensors_timestamp_acc chip_period;
+};
+
+void inv_sensors_timestamp_init(struct inv_sensors_timestamp *ts,
+ const struct inv_sensors_timestamp_chip *chip);
+
+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);
+
+static inline int64_t inv_sensors_timestamp_pop(struct inv_sensors_timestamp *ts)
+{
+ ts->timestamp += ts->period;
+ return ts->timestamp;
+}
+
+void inv_sensors_timestamp_apply_odr(struct inv_sensors_timestamp *ts,
+ uint32_t fifo_period, size_t fifo_nb,
+ unsigned int fifo_no);
+
+static inline void inv_sensors_timestamp_reset(struct inv_sensors_timestamp *ts)
+{
+ const struct inv_sensors_timestamp_interval interval_init = {0LL, 0LL};
+
+ ts->it = interval_init;
+ ts->timestamp = 0;
+}
+
+#endif
projects / linux-block.git / commitdiff