Commit 7762902c authored by Lorenzo Bianconi's avatar Lorenzo Bianconi Committed by Jonathan Cameron
Browse files

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: e485e2a2 ("iio: imu: st_lsm6dsx: enable sensor-hub support for lsm6dsm")
Signed-off-by: default avatarLorenzo Bianconi <lorenzo@kernel.org>
Signed-off-by: default avatarJonathan Cameron <Jonathan.Cameron@huawei.com>
parent e2042d29

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h

+2 −0
Original line number Diff line number Diff line
@@ -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;

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c

+16 −7
Original line number Diff line number Diff line
@@ -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++;

		}

	}

CRA Git | Maintained and supported by SUSTech CRA and CCSE