| Message ID | 1570456586-16696-1-git-send-email-mario.tesi@st.com (mailing list archive) |
|---|---|
| State | New, archived |
| Headers | show |
| Series | iio: imu: st_lsm6dsx: add odr calibration feature | expand |
> On LSM6DSO/LSM6DSR/LSM6DSOX/ASM330LHH and ISH330DHCX > devices it is possible to trim the hardware timestamp > resolution through the FREQ_FINE[7:0] bits of the > INTERNAL_FREQ_FINE register, which contains the difference > in percentage of the effective ODR (and timestamp rate) > with respect to the typical value. > > The formula for calculating the effective ODR reported > in the application notes has been linearized to the first > order to simplify the calculation (pls. see note on source > code). > > This change may be useful in the outcome of CTS > tests regarding the SingleSensorTests and the > SensorTest#testSensorTimeStamps for high ODRs > > Signed-off-by: Mario Tesi <mario.tesi@st.com> Acked-by: Lorenzo Bianconi <lorenzo@kernel.org> > --- > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 4 ++++ > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 5 ++--- > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 23 +++++++++++++++++++++++ > 3 files changed, 29 insertions(+), 3 deletions(-) > > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > index 7485423..9a40587 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > @@ -153,12 +153,14 @@ struct st_lsm6dsx_fifo_ops { > * @hr_timer: Hw timer resolution register info (addr + mask). > * @fifo_en: Hw timer FIFO enable register info (addr + mask). > * @decimator: Hw timer FIFO decimator register info (addr + mask). > + * @freq_fine: Difference in % of ODR with respect to the typical. > */ > struct st_lsm6dsx_hw_ts_settings { > struct st_lsm6dsx_reg timer_en; > struct st_lsm6dsx_reg hr_timer; > struct st_lsm6dsx_reg fifo_en; > struct st_lsm6dsx_reg decimator; > + u8 freq_fine; > }; > > /** > @@ -344,6 +346,7 @@ struct st_lsm6dsx_sensor { > * @fifo_mode: FIFO operating mode supported by the device. > * @suspend_mask: Suspended sensor bitmask. > * @enable_mask: Enabled sensor bitmask. > + * @ts_gain: Hw timestamp rate after internal calibration. > * @ts_sip: Total number of timestamp samples in a given pattern. > * @sip: Total number of samples (acc/gyro/ts) in a given pattern. > * @buff: Device read buffer. > @@ -365,6 +368,7 @@ struct st_lsm6dsx_hw { > enum st_lsm6dsx_fifo_mode fifo_mode; > u8 suspend_mask; > u8 enable_mask; > + s64 ts_gain; > u8 ts_sip; > u8 sip; > > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > index cabd4bf..d7cacb9 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > @@ -50,7 +50,6 @@ > > #define ST_LSM6DSX_MAX_FIFO_ODR_VAL 0x08 > > -#define ST_LSM6DSX_TS_SENSITIVITY 25000UL /* 25us */ > #define ST_LSM6DSX_TS_RESET_VAL 0xaa > > struct st_lsm6dsx_decimator_entry { > @@ -423,7 +422,7 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) > */ > if (!reset_ts && ts >= 0xff0000) > reset_ts = true; > - ts *= ST_LSM6DSX_TS_SENSITIVITY; > + ts *= hw->ts_gain; > > offset += ST_LSM6DSX_SAMPLE_SIZE; > } > @@ -566,7 +565,7 @@ int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw) > */ > if (!reset_ts && ts >= 0xffff0000) > reset_ts = true; > - ts *= ST_LSM6DSX_TS_SENSITIVITY; > + ts *= hw->ts_gain; > } else { > st_lsm6dsx_push_tagged_data(hw, tag, iio_buff, > ts); > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > index bacc908..2b54ce1 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > @@ -63,6 +63,8 @@ > > #define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f > > +#define ST_LSM6DSX_TS_SENSITIVITY 25000UL /* 25us */ > + > static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = { > ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x28, IIO_MOD_X, 0), > ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2a, IIO_MOD_Y, 1), > @@ -832,6 +834,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { > .addr = 0x0a, > .mask = GENMASK(7, 6), > }, > + .freq_fine = 0x63, > }, > .shub_settings = { > .page_mux = { > @@ -1020,6 +1023,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { > .addr = 0x0a, > .mask = GENMASK(7, 6), > }, > + .freq_fine = 0x63, > }, > .event_settings = { > .enable_reg = { > @@ -1185,6 +1189,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { > .addr = 0x0a, > .mask = GENMASK(7, 6), > }, > + .freq_fine = 0x63, > }, > .shub_settings = { > .page_mux = { > @@ -1874,6 +1879,24 @@ static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw) > if (err < 0) > return err; > } > + > + /* calibrate timestamp sensitivity */ > + hw->ts_gain = ST_LSM6DSX_TS_SENSITIVITY; > + if (ts_settings->freq_fine) { > + err = regmap_read(hw->regmap, ts_settings->freq_fine, &val); > + if (err < 0) > + return err; > + > + /* > + * linearize the AN5192 formula: > + * 1 / (1 + x) ~= 1 - x (Taylor’s Series) > + * ttrim[s] = 1 / (40000 * (1 + 0.0015 * val)) > + * ttrim[ns] ~= 25000 - 37.5 * val > + * ttrim[ns] ~= 25000 - (37500 * val) / 1000 > + */ > + hw->ts_gain -= ((s8)val * 37500) / 1000; > + } > + > return 0; > } > > -- > 2.7.4 >
On Mon, 7 Oct 2019 16:07:27 +0200 Lorenzo Bianconi <lorenzo@kernel.org> wrote: > > On LSM6DSO/LSM6DSR/LSM6DSOX/ASM330LHH and ISH330DHCX > > devices it is possible to trim the hardware timestamp > > resolution through the FREQ_FINE[7:0] bits of the > > INTERNAL_FREQ_FINE register, which contains the difference > > in percentage of the effective ODR (and timestamp rate) > > with respect to the typical value. > > > > The formula for calculating the effective ODR reported > > in the application notes has been linearized to the first > > order to simplify the calculation (pls. see note on source > > code). > > > > This change may be useful in the outcome of CTS > > tests regarding the SingleSensorTests and the > > SensorTest#testSensorTimeStamps for high ODRs > > > > Signed-off-by: Mario Tesi <mario.tesi@st.com> > > Acked-by: Lorenzo Bianconi <lorenzo@kernel.org> Hi. The leading tabs on the commit message are a bit unusual, but as far as I can tell the code is good. Applied to the togreg branch of iio.git and pushed out as testing for the autobuilders to play with it. Thanks, Jonathan > > > --- > > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 4 ++++ > > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 5 ++--- > > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 23 +++++++++++++++++++++++ > > 3 files changed, 29 insertions(+), 3 deletions(-) > > > > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > > index 7485423..9a40587 100644 > > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > > @@ -153,12 +153,14 @@ struct st_lsm6dsx_fifo_ops { > > * @hr_timer: Hw timer resolution register info (addr + mask). > > * @fifo_en: Hw timer FIFO enable register info (addr + mask). > > * @decimator: Hw timer FIFO decimator register info (addr + mask). > > + * @freq_fine: Difference in % of ODR with respect to the typical. > > */ > > struct st_lsm6dsx_hw_ts_settings { > > struct st_lsm6dsx_reg timer_en; > > struct st_lsm6dsx_reg hr_timer; > > struct st_lsm6dsx_reg fifo_en; > > struct st_lsm6dsx_reg decimator; > > + u8 freq_fine; > > }; > > > > /** > > @@ -344,6 +346,7 @@ struct st_lsm6dsx_sensor { > > * @fifo_mode: FIFO operating mode supported by the device. > > * @suspend_mask: Suspended sensor bitmask. > > * @enable_mask: Enabled sensor bitmask. > > + * @ts_gain: Hw timestamp rate after internal calibration. > > * @ts_sip: Total number of timestamp samples in a given pattern. > > * @sip: Total number of samples (acc/gyro/ts) in a given pattern. > > * @buff: Device read buffer. > > @@ -365,6 +368,7 @@ struct st_lsm6dsx_hw { > > enum st_lsm6dsx_fifo_mode fifo_mode; > > u8 suspend_mask; > > u8 enable_mask; > > + s64 ts_gain; > > u8 ts_sip; > > u8 sip; > > > > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > > index cabd4bf..d7cacb9 100644 > > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c > > @@ -50,7 +50,6 @@ > > > > #define ST_LSM6DSX_MAX_FIFO_ODR_VAL 0x08 > > > > -#define ST_LSM6DSX_TS_SENSITIVITY 25000UL /* 25us */ > > #define ST_LSM6DSX_TS_RESET_VAL 0xaa > > > > struct st_lsm6dsx_decimator_entry { > > @@ -423,7 +422,7 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) > > */ > > if (!reset_ts && ts >= 0xff0000) > > reset_ts = true; > > - ts *= ST_LSM6DSX_TS_SENSITIVITY; > > + ts *= hw->ts_gain; > > > > offset += ST_LSM6DSX_SAMPLE_SIZE; > > } > > @@ -566,7 +565,7 @@ int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw) > > */ > > if (!reset_ts && ts >= 0xffff0000) > > reset_ts = true; > > - ts *= ST_LSM6DSX_TS_SENSITIVITY; > > + ts *= hw->ts_gain; > > } else { > > st_lsm6dsx_push_tagged_data(hw, tag, iio_buff, > > ts); > > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > > index bacc908..2b54ce1 100644 > > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > > @@ -63,6 +63,8 @@ > > > > #define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f > > > > +#define ST_LSM6DSX_TS_SENSITIVITY 25000UL /* 25us */ > > + > > static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = { > > ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x28, IIO_MOD_X, 0), > > ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2a, IIO_MOD_Y, 1), > > @@ -832,6 +834,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { > > .addr = 0x0a, > > .mask = GENMASK(7, 6), > > }, > > + .freq_fine = 0x63, > > }, > > .shub_settings = { > > .page_mux = { > > @@ -1020,6 +1023,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { > > .addr = 0x0a, > > .mask = GENMASK(7, 6), > > }, > > + .freq_fine = 0x63, > > }, > > .event_settings = { > > .enable_reg = { > > @@ -1185,6 +1189,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { > > .addr = 0x0a, > > .mask = GENMASK(7, 6), > > }, > > + .freq_fine = 0x63, > > }, > > .shub_settings = { > > .page_mux = { > > @@ -1874,6 +1879,24 @@ static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw) > > if (err < 0) > > return err; > > } > > + > > + /* calibrate timestamp sensitivity */ > > + hw->ts_gain = ST_LSM6DSX_TS_SENSITIVITY; > > + if (ts_settings->freq_fine) { > > + err = regmap_read(hw->regmap, ts_settings->freq_fine, &val); > > + if (err < 0) > > + return err; > > + > > + /* > > + * linearize the AN5192 formula: > > + * 1 / (1 + x) ~= 1 - x (Taylor’s Series) > > + * ttrim[s] = 1 / (40000 * (1 + 0.0015 * val)) > > + * ttrim[ns] ~= 25000 - 37.5 * val > > + * ttrim[ns] ~= 25000 - (37500 * val) / 1000 > > + */ > > + hw->ts_gain -= ((s8)val * 37500) / 1000; > > + } > > + > > return 0; > > } > > > > -- > > 2.7.4 > >
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h index 7485423..9a40587 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h @@ -153,12 +153,14 @@ struct st_lsm6dsx_fifo_ops { * @hr_timer: Hw timer resolution register info (addr + mask). * @fifo_en: Hw timer FIFO enable register info (addr + mask). * @decimator: Hw timer FIFO decimator register info (addr + mask). + * @freq_fine: Difference in % of ODR with respect to the typical. */ struct st_lsm6dsx_hw_ts_settings { struct st_lsm6dsx_reg timer_en; struct st_lsm6dsx_reg hr_timer; struct st_lsm6dsx_reg fifo_en; struct st_lsm6dsx_reg decimator; + u8 freq_fine; }; /** @@ -344,6 +346,7 @@ struct st_lsm6dsx_sensor { * @fifo_mode: FIFO operating mode supported by the device. * @suspend_mask: Suspended sensor bitmask. * @enable_mask: Enabled sensor bitmask. + * @ts_gain: Hw timestamp rate after internal calibration. * @ts_sip: Total number of timestamp samples in a given pattern. * @sip: Total number of samples (acc/gyro/ts) in a given pattern. * @buff: Device read buffer. @@ -365,6 +368,7 @@ struct st_lsm6dsx_hw { enum st_lsm6dsx_fifo_mode fifo_mode; u8 suspend_mask; u8 enable_mask; + s64 ts_gain; u8 ts_sip; u8 sip; diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c index cabd4bf..d7cacb9 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c @@ -50,7 +50,6 @@ #define ST_LSM6DSX_MAX_FIFO_ODR_VAL 0x08 -#define ST_LSM6DSX_TS_SENSITIVITY 25000UL /* 25us */ #define ST_LSM6DSX_TS_RESET_VAL 0xaa struct st_lsm6dsx_decimator_entry { @@ -423,7 +422,7 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) */ if (!reset_ts && ts >= 0xff0000) reset_ts = true; - ts *= ST_LSM6DSX_TS_SENSITIVITY; + ts *= hw->ts_gain; offset += ST_LSM6DSX_SAMPLE_SIZE; } @@ -566,7 +565,7 @@ int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw) */ if (!reset_ts && ts >= 0xffff0000) reset_ts = true; - ts *= ST_LSM6DSX_TS_SENSITIVITY; + ts *= hw->ts_gain; } else { st_lsm6dsx_push_tagged_data(hw, tag, iio_buff, ts); diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c index bacc908..2b54ce1 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c @@ -63,6 +63,8 @@ #define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f +#define ST_LSM6DSX_TS_SENSITIVITY 25000UL /* 25us */ + static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = { ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x28, IIO_MOD_X, 0), ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2a, IIO_MOD_Y, 1), @@ -832,6 +834,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .addr = 0x0a, .mask = GENMASK(7, 6), }, + .freq_fine = 0x63, }, .shub_settings = { .page_mux = { @@ -1020,6 +1023,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .addr = 0x0a, .mask = GENMASK(7, 6), }, + .freq_fine = 0x63, }, .event_settings = { .enable_reg = { @@ -1185,6 +1189,7 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .addr = 0x0a, .mask = GENMASK(7, 6), }, + .freq_fine = 0x63, }, .shub_settings = { .page_mux = { @@ -1874,6 +1879,24 @@ static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw) if (err < 0) return err; } + + /* calibrate timestamp sensitivity */ + hw->ts_gain = ST_LSM6DSX_TS_SENSITIVITY; + if (ts_settings->freq_fine) { + err = regmap_read(hw->regmap, ts_settings->freq_fine, &val); + if (err < 0) + return err; + + /* + * linearize the AN5192 formula: + * 1 / (1 + x) ~= 1 - x (Taylor’s Series) + * ttrim[s] = 1 / (40000 * (1 + 0.0015 * val)) + * ttrim[ns] ~= 25000 - 37.5 * val + * ttrim[ns] ~= 25000 - (37500 * val) / 1000 + */ + hw->ts_gain -= ((s8)val * 37500) / 1000; + } + return 0; }
On LSM6DSO/LSM6DSR/LSM6DSOX/ASM330LHH and ISH330DHCX devices it is possible to trim the hardware timestamp resolution through the FREQ_FINE[7:0] bits of the INTERNAL_FREQ_FINE register, which contains the difference in percentage of the effective ODR (and timestamp rate) with respect to the typical value. The formula for calculating the effective ODR reported in the application notes has been linearized to the first order to simplify the calculation (pls. see note on source code). This change may be useful in the outcome of CTS tests regarding the SingleSensorTests and the SensorTest#testSensorTimeStamps for high ODRs Signed-off-by: Mario Tesi <mario.tesi@st.com> --- drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 4 ++++ drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 5 ++--- drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 23 +++++++++++++++++++++++ 3 files changed, 29 insertions(+), 3 deletions(-)