| Message ID | 20230623082924.283967-1-inv.git-commit@tdk.com (mailing list archive) |
|---|---|
| State | Accepted |
| Headers | show |
| Series | iio: imu: inv_mpu6050: read the full fifo when processing data | expand |
Hello Jonathan, any news about this patch? Thanks for your feedback, JB From: INV Git Commit <INV.git-commit@tdk.com> Sent: Friday, June 23, 2023 10:29 To: jic23@kernel.org <jic23@kernel.org> Cc: lars@metafoo.de <lars@metafoo.de>; linux-iio@vger.kernel.org <linux-iio@vger.kernel.org>; Jean-Baptiste Maneyrol <Jean-Baptiste.Maneyrol@tdk.com> Subject: [PATCH] iio: imu: inv_mpu6050: read the full fifo when processing data From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com> When processing data read the full fifo data in 1 time. If there are several samples in the FIFO, it means we are experiencing system delay. In this case, it is better to read all data with 1 bus access than to add additional latency by doing several ones. This requires to use a bigger buffer depending on chip FIFO size and do an additional local data copy before sending. But the cost is minimal and behavior is still better like this under system heavy load. Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com> --- drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 3 +++ drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 4 ++-- drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 19 +++++++++++++------ 3 files changed, 18 insertions(+), 8 deletions(-) diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index 13086b569b90..29f906c884bd 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -1345,6 +1345,9 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st) st->reg = hw_info[st->chip_type].reg; memcpy(&st->chip_config, hw_info[st->chip_type].config, sizeof(st->chip_config)); + st->data = devm_kzalloc(regmap_get_device(st->map), st->hw->fifo_size, GFP_KERNEL); + if (st->data == NULL) + return -ENOMEM; /* check chip self-identification */ result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, ®val); diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h index a51d103a57ca..ed5a96e78df0 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h @@ -179,7 +179,7 @@ struct inv_mpu6050_hw { * @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss. * @magn_orient: magnetometer sensor chip orientation if available. * @suspended_sensors: sensors mask of sensors turned off for suspend - * @data: dma safe buffer used for bulk reads. + * @data: read buffer used for bulk reads. */ struct inv_mpu6050_state { struct mutex lock; @@ -203,7 +203,7 @@ struct inv_mpu6050_state { s32 magn_raw_to_gauss[3]; struct iio_mount_matrix magn_orient; unsigned int suspended_sensors; - u8 data[INV_MPU6050_OUTPUT_DATA_SIZE] __aligned(IIO_DMA_MINALIGN); + u8 *data; }; /*register and associated bit definition*/ diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c index d83f61a99504..66d4ba088e70 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c @@ -52,6 +52,7 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) u16 fifo_count; u32 fifo_period; s64 timestamp; + u8 data[INV_MPU6050_OUTPUT_DATA_SIZE]; int int_status; size_t i, nb; @@ -105,24 +106,30 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) goto flush_fifo; } - /* compute and process all complete datum */ + /* compute and process only all complete datum */ nb = fifo_count / bytes_per_datum; + fifo_count = nb * bytes_per_datum; /* 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); + + /* clear internal data buffer for avoiding kernel data leak */ + memset(data, 0, sizeof(data)); + + /* read all data once and process every samples */ + result = regmap_noinc_read(st->map, st->reg->fifo_r_w, st->data, fifo_count); + if (result) + goto flush_fifo; for (i = 0; i < nb; ++i) { - result = regmap_noinc_read(st->map, st->reg->fifo_r_w, - st->data, bytes_per_datum); - if (result) - goto flush_fifo; /* skip first samples if needed */ if (st->skip_samples) { st->skip_samples--; continue; } + memcpy(data, &st->data[i * bytes_per_datum], bytes_per_datum); timestamp = inv_sensors_timestamp_pop(&st->timestamp); - iio_push_to_buffers_with_timestamp(indio_dev, st->data, timestamp); + iio_push_to_buffers_with_timestamp(indio_dev, data, timestamp); } end_session:
On Mon, 3 Jul 2023 15:19:52 +0000 Jean-Baptiste Maneyrol <Jean-Baptiste.Maneyrol@tdk.com> wrote: > Hello Jonathan, > > any news about this patch? > > Thanks for your feedback, LGTM. I'm traveling however, so I've just been marking stuff that is ready for queuing up in patchwork. Will send replies when I actually queue them. https://patchwork.kernel.org/project/linux-iio/list/ See patches labeled 'queued' which I'm using for this purpose. Normally I'd just use applied and push the tree out the same day. Jonathan > JB > > > From: INV Git Commit <INV.git-commit@tdk.com> > Sent: Friday, June 23, 2023 10:29 > To: jic23@kernel.org <jic23@kernel.org> > Cc: lars@metafoo.de <lars@metafoo.de>; linux-iio@vger.kernel.org <linux-iio@vger.kernel.org>; Jean-Baptiste Maneyrol <Jean-Baptiste.Maneyrol@tdk.com> > Subject: [PATCH] iio: imu: inv_mpu6050: read the full fifo when processing data > > From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com> > > When processing data read the full fifo data in 1 time. If there > are several samples in the FIFO, it means we are experiencing > system delay. In this case, it is better to read all data with 1 > bus access than to add additional latency by doing several ones. > > This requires to use a bigger buffer depending on chip FIFO size > and do an additional local data copy before sending. But the cost > is minimal and behavior is still better like this under system > heavy load. > > Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com> > --- > drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 3 +++ > drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 4 ++-- > drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 19 +++++++++++++------ > 3 files changed, 18 insertions(+), 8 deletions(-) > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > index 13086b569b90..29f906c884bd 100644 > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > @@ -1345,6 +1345,9 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st) > st->reg = hw_info[st->chip_type].reg; > memcpy(&st->chip_config, hw_info[st->chip_type].config, > sizeof(st->chip_config)); > + st->data = devm_kzalloc(regmap_get_device(st->map), st->hw->fifo_size, GFP_KERNEL); > + if (st->data == NULL) > + return -ENOMEM; > > /* check chip self-identification */ > result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, ®val); > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > index a51d103a57ca..ed5a96e78df0 100644 > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > @@ -179,7 +179,7 @@ struct inv_mpu6050_hw { > * @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss. > * @magn_orient: magnetometer sensor chip orientation if available. > * @suspended_sensors: sensors mask of sensors turned off for suspend > - * @data: dma safe buffer used for bulk reads. > + * @data: read buffer used for bulk reads. > */ > struct inv_mpu6050_state { > struct mutex lock; > @@ -203,7 +203,7 @@ struct inv_mpu6050_state { > s32 magn_raw_to_gauss[3]; > struct iio_mount_matrix magn_orient; > unsigned int suspended_sensors; > - u8 data[INV_MPU6050_OUTPUT_DATA_SIZE] __aligned(IIO_DMA_MINALIGN); > + u8 *data; > }; > > /*register and associated bit definition*/ > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > index d83f61a99504..66d4ba088e70 100644 > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > @@ -52,6 +52,7 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) > u16 fifo_count; > u32 fifo_period; > s64 timestamp; > + u8 data[INV_MPU6050_OUTPUT_DATA_SIZE]; > int int_status; > size_t i, nb; > > @@ -105,24 +106,30 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) > goto flush_fifo; > } > > - /* compute and process all complete datum */ > + /* compute and process only all complete datum */ > nb = fifo_count / bytes_per_datum; > + fifo_count = nb * bytes_per_datum; > /* 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); > + > + /* clear internal data buffer for avoiding kernel data leak */ > + memset(data, 0, sizeof(data)); > + > + /* read all data once and process every samples */ > + result = regmap_noinc_read(st->map, st->reg->fifo_r_w, st->data, fifo_count); > + if (result) > + goto flush_fifo; > for (i = 0; i < nb; ++i) { > - result = regmap_noinc_read(st->map, st->reg->fifo_r_w, > - st->data, bytes_per_datum); > - if (result) > - goto flush_fifo; > /* skip first samples if needed */ > if (st->skip_samples) { > st->skip_samples--; > continue; > } > + memcpy(data, &st->data[i * bytes_per_datum], bytes_per_datum); > timestamp = inv_sensors_timestamp_pop(&st->timestamp); > - iio_push_to_buffers_with_timestamp(indio_dev, st->data, timestamp); > + iio_push_to_buffers_with_timestamp(indio_dev, data, timestamp); > } > > end_session:
On Wed, 5 Jul 2023 15:58:34 +0800 Jonathan Cameron <Jonathan.Cameron@Huawei.com> wrote: > On Mon, 3 Jul 2023 15:19:52 +0000 > Jean-Baptiste Maneyrol <Jean-Baptiste.Maneyrol@tdk.com> wrote: > > > Hello Jonathan, > > > > any news about this patch? > > > > Thanks for your feedback, > > LGTM. I'm traveling however, so I've just been marking stuff that > is ready for queuing up in patchwork. Will send replies when I actually > queue them. > > https://patchwork.kernel.org/project/linux-iio/list/ > > See patches labeled 'queued' which I'm using for this purpose. > Normally I'd just use applied and push the tree out the same > day. > Back home. Applied to the togreg branch of iio.git. However, as mid merge window that will only be exposed as testing for 0-day to poke at until I can rebase on rc1. Thanks, Jonathan > Jonathan > > > JB > > > > > > From: INV Git Commit <INV.git-commit@tdk.com> > > Sent: Friday, June 23, 2023 10:29 > > To: jic23@kernel.org <jic23@kernel.org> > > Cc: lars@metafoo.de <lars@metafoo.de>; linux-iio@vger.kernel.org <linux-iio@vger.kernel.org>; Jean-Baptiste Maneyrol <Jean-Baptiste.Maneyrol@tdk.com> > > Subject: [PATCH] iio: imu: inv_mpu6050: read the full fifo when processing data > > > > From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com> > > > > When processing data read the full fifo data in 1 time. If there > > are several samples in the FIFO, it means we are experiencing > > system delay. In this case, it is better to read all data with 1 > > bus access than to add additional latency by doing several ones. > > > > This requires to use a bigger buffer depending on chip FIFO size > > and do an additional local data copy before sending. But the cost > > is minimal and behavior is still better like this under system > > heavy load. > > > > Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com> > > --- > > drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 3 +++ > > drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 4 ++-- > > drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 19 +++++++++++++------ > > 3 files changed, 18 insertions(+), 8 deletions(-) > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > > index 13086b569b90..29f906c884bd 100644 > > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > > @@ -1345,6 +1345,9 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st) > > st->reg = hw_info[st->chip_type].reg; > > memcpy(&st->chip_config, hw_info[st->chip_type].config, > > sizeof(st->chip_config)); > > + st->data = devm_kzalloc(regmap_get_device(st->map), st->hw->fifo_size, GFP_KERNEL); > > + if (st->data == NULL) > > + return -ENOMEM; > > > > /* check chip self-identification */ > > result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, ®val); > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > > index a51d103a57ca..ed5a96e78df0 100644 > > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > > @@ -179,7 +179,7 @@ struct inv_mpu6050_hw { > > * @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss. > > * @magn_orient: magnetometer sensor chip orientation if available. > > * @suspended_sensors: sensors mask of sensors turned off for suspend > > - * @data: dma safe buffer used for bulk reads. > > + * @data: read buffer used for bulk reads. > > */ > > struct inv_mpu6050_state { > > struct mutex lock; > > @@ -203,7 +203,7 @@ struct inv_mpu6050_state { > > s32 magn_raw_to_gauss[3]; > > struct iio_mount_matrix magn_orient; > > unsigned int suspended_sensors; > > - u8 data[INV_MPU6050_OUTPUT_DATA_SIZE] __aligned(IIO_DMA_MINALIGN); > > + u8 *data; > > }; > > > > /*register and associated bit definition*/ > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > index d83f61a99504..66d4ba088e70 100644 > > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > @@ -52,6 +52,7 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) > > u16 fifo_count; > > u32 fifo_period; > > s64 timestamp; > > + u8 data[INV_MPU6050_OUTPUT_DATA_SIZE]; > > int int_status; > > size_t i, nb; > > > > @@ -105,24 +106,30 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) > > goto flush_fifo; > > } > > > > - /* compute and process all complete datum */ > > + /* compute and process only all complete datum */ > > nb = fifo_count / bytes_per_datum; > > + fifo_count = nb * bytes_per_datum; > > /* 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); > > + > > + /* clear internal data buffer for avoiding kernel data leak */ > > + memset(data, 0, sizeof(data)); > > + > > + /* read all data once and process every samples */ > > + result = regmap_noinc_read(st->map, st->reg->fifo_r_w, st->data, fifo_count); > > + if (result) > > + goto flush_fifo; > > for (i = 0; i < nb; ++i) { > > - result = regmap_noinc_read(st->map, st->reg->fifo_r_w, > > - st->data, bytes_per_datum); > > - if (result) > > - goto flush_fifo; > > /* skip first samples if needed */ > > if (st->skip_samples) { > > st->skip_samples--; > > continue; > > } > > + memcpy(data, &st->data[i * bytes_per_datum], bytes_per_datum); > > timestamp = inv_sensors_timestamp_pop(&st->timestamp); > > - iio_push_to_buffers_with_timestamp(indio_dev, st->data, timestamp); > > + iio_push_to_buffers_with_timestamp(indio_dev, data, timestamp); > > } > > > > end_session: >
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index 13086b569b90..29f906c884bd 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -1345,6 +1345,9 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st) st->reg = hw_info[st->chip_type].reg; memcpy(&st->chip_config, hw_info[st->chip_type].config, sizeof(st->chip_config)); + st->data = devm_kzalloc(regmap_get_device(st->map), st->hw->fifo_size, GFP_KERNEL); + if (st->data == NULL) + return -ENOMEM; /* check chip self-identification */ result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, ®val); diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h index a51d103a57ca..ed5a96e78df0 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h @@ -179,7 +179,7 @@ struct inv_mpu6050_hw { * @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss. * @magn_orient: magnetometer sensor chip orientation if available. * @suspended_sensors: sensors mask of sensors turned off for suspend - * @data: dma safe buffer used for bulk reads. + * @data: read buffer used for bulk reads. */ struct inv_mpu6050_state { struct mutex lock; @@ -203,7 +203,7 @@ struct inv_mpu6050_state { s32 magn_raw_to_gauss[3]; struct iio_mount_matrix magn_orient; unsigned int suspended_sensors; - u8 data[INV_MPU6050_OUTPUT_DATA_SIZE] __aligned(IIO_DMA_MINALIGN); + u8 *data; }; /*register and associated bit definition*/ diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c index d83f61a99504..66d4ba088e70 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c @@ -52,6 +52,7 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) u16 fifo_count; u32 fifo_period; s64 timestamp; + u8 data[INV_MPU6050_OUTPUT_DATA_SIZE]; int int_status; size_t i, nb; @@ -105,24 +106,30 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) goto flush_fifo; } - /* compute and process all complete datum */ + /* compute and process only all complete datum */ nb = fifo_count / bytes_per_datum; + fifo_count = nb * bytes_per_datum; /* 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); + + /* clear internal data buffer for avoiding kernel data leak */ + memset(data, 0, sizeof(data)); + + /* read all data once and process every samples */ + result = regmap_noinc_read(st->map, st->reg->fifo_r_w, st->data, fifo_count); + if (result) + goto flush_fifo; for (i = 0; i < nb; ++i) { - result = regmap_noinc_read(st->map, st->reg->fifo_r_w, - st->data, bytes_per_datum); - if (result) - goto flush_fifo; /* skip first samples if needed */ if (st->skip_samples) { st->skip_samples--; continue; } + memcpy(data, &st->data[i * bytes_per_datum], bytes_per_datum); timestamp = inv_sensors_timestamp_pop(&st->timestamp); - iio_push_to_buffers_with_timestamp(indio_dev, st->data, timestamp); + iio_push_to_buffers_with_timestamp(indio_dev, data, timestamp); } end_session: