> -----Original Message----- > From: Jonathan Cameron <jic23@xxxxxxxxxx> > Sent: Sunday, January 31, 2021 12:36 PM > To: Sa, Nuno <Nuno.Sa@xxxxxxxxxx> > Cc: devicetree@xxxxxxxxxxxxxxx; linux-iio@xxxxxxxxxxxxxxx; Rob > Herring <robh+dt@xxxxxxxxxx>; Peter Meerwald-Stadler > <pmeerw@xxxxxxxxxx>; Lars-Peter Clausen <lars@xxxxxxxxxx>; > Hennerich, Michael <Michael.Hennerich@xxxxxxxxxx>; Ardelean, > Alexandru <alexandru.Ardelean@xxxxxxxxxx> > Subject: Re: [PATCH 0/4] Fix/Improve sync clock mode handling > > > On Mon, 25 Jan 2021 09:16:19 +0000 > "Sa, Nuno" <Nuno.Sa@xxxxxxxxxx> wrote: > > > > -----Original Message----- > > > From: Jonathan Cameron <jic23@xxxxxxxxxx> > > > Sent: Sunday, January 24, 2021 3:21 PM > > > To: Sa, Nuno <Nuno.Sa@xxxxxxxxxx> > > > Cc: devicetree@xxxxxxxxxxxxxxx; linux-iio@xxxxxxxxxxxxxxx; Rob > > > Herring <robh+dt@xxxxxxxxxx>; Peter Meerwald-Stadler > > > <pmeerw@xxxxxxxxxx>; Lars-Peter Clausen <lars@xxxxxxxxxx>; > > > Hennerich, Michael <Michael.Hennerich@xxxxxxxxxx>; Ardelean, > > > Alexandru <alexandru.Ardelean@xxxxxxxxxx> > > > Subject: Re: [PATCH 0/4] Fix/Improve sync clock mode handling > > > > > > > > > On Thu, 21 Jan 2021 12:49:50 +0100 > > > Nuno Sá <nuno.sa@xxxxxxxxxx> wrote: > > > > > > > The first patch in this series is just a simple helper to lock/unlock > > > > the device. Having these helpers make the code slightly neater > > > (IMHO). > > > > > > > > The following patches introduces changes in the sampling > frequency > > > > calculation when sync scale/pps modes are used. First, it's > important > > > > to understand the purpose of this mode and how it should be > used. > > > Let's > > > > say our part has an internal rate of 4250 (e.g adis1649x family) and > > > the > > > > user wants an output rate of 200SPS. Obviously, we can't use this > > > > sampling rate and divide back down to get 200 SPS with > decimation > > > on. > > > > Hence, we can use this mode to give an input clock of 1HZ, scale it > to > > > > something like 4200 or 4000 SPS and then use the decimation > filter to > > > get > > > > the exact desired 200SPS. There are also some limits that should > be > > > > taken into account when scaling: > > > > > > > > * For the devices in the adis16475 driver: > > > > - Input sync frequency range is 1 to 128 Hz > > > > - Native sample rate: 2 kSPS. Optimal range: 1900-2100 sps > > > > > > > > * For the adis1649x family (adis16480 driver): > > > > - Input sync frequency range is 1 to 128 Hz > > > > - Native sample rate: 4.25 kSPS. Optimal range: 4000-4250 sps > > > > > > > > I'm not 100% convinced on how to handle the optimal minimum. > For > > > now, > > > > I'm just throwing a warning saying we might get into trouble if we > get > > > a > > > > value lower than that. I was also tempted to just return -EINVAL > or > > > > clamp the value. However, I know that there are ADI customers > that > > > > (for some reason) are using a sampling rate lower than the > minimum > > > > advised. > > > > > > So the opening question I'd have here is how critical is the actual > > > userspace sampling rate to your users? Often they don't mind > > > getting a little more data than they asked for (say 200.5Hz when > asking > > > for 200) and can always read back the attribute after writing it to > > > discover this has happened. > > > > Well, honestly I'm not really sure here. I can just say (from the info I > got internally) that some > > users are really using these parts with a data rate lower than the > advised. However, I'd say > > that this would depend on the use case. For some critical cases, I > would expect that users really > > want to have an exact sample rate. Though I'd argue that in those > cases, they should know what > > they are doing and provide an output rate that fits nicely (multiple of > both the input clock and IMU > > internal sample rate). And as you said, they can always readback the > value to check if they are > > getting something that is not really what they expect... > > > > > As such, once you've discovered that value doesn't have an exact > > > match, perhaps tweak the output data rate until it fits nicely? > > > > I did thought about this. The reason why I didn't went for it in this > first version is because of those > > who seems to really want to run the part at lower rates. Let's assume > we have an input clock of > > 1HZ and someone writes an output rate of 3000SPS. The only way to > accomplish this is to set > > sync_scale at 3000 and let the IMU run at 3000SPS with decimation > off (DEC_RATE=0). If we are > > going to tweak the output rate to fit nicely, we would have to force it > to 4000SPS which is > > significantly different from the desired 3000SPS. > > Good point. If someone wants to do that there isn't much we can do > to make it work nicely. I'd argue they are wrong and move it to > the nearest within the constraints, but that might be rather > unexpected > for them... > > I wonder if we do something ugly like have an extra control to > say 'really do what I say even if it's horrible'. > That would mean we'd get what 'most' users expect (I hope) in that > it's within the documented range, but provide the control to those > who want to do something horrible.. Not nice, what do you think? You mean like a driver parameter? Not sure a runtime control would make much sense (either you want this or not). Yeah, it is definitely not pretty but I seems to be the only way to make everyone 'happy'. > > > > > A bit of quick investigation suggests (by my wife who happened > > > to be sat across the room) suggests that you have a hideous set > > > of local minima so your best bet is to brute force search > > > (not that bad and we don't expect to change this a lot!) > > > > Hmm, not sure what do you have in mind here :)? > > You have two controllable parameters both of which are integers. As > such > there isn't a nice easy 'right' answer for what combination to use. > For example, if we have a case where there is no right answer, you > will have to search for every possible multiplier, find the best divisor > and check how far that is above the desired frequency. Of those > find the smallest one (best option given constraints). Hmm, I need to give it a thought and see what I can come up to v2. We continue from there. But this opens one question... Do we want to tweak the output rate to fit nicely only for 'if (imu_rate) < 4000' or should we also do it in the other cases? By other cases I mean 'if (lcm(output_rate, input_ckl) > max_imu_rate)' and in the generic case where we don't have external clock and the IMU runs with it's internal rate (pretty much all the time the value does not fit nicely)? Note that DEC_RATE is an integer parameter and for things to fit nicely, the rate given by the user should be a multiple of the IMU sampling rate. I'm bringing this up because if we are going into this much trouble to tweak the user rate to fit nicely and avoid 'possible' undersampling issues, we might do the same for the other cases... Otherwise, to avoid the oversampling case we could just force the IMU sample rate to the maximum multiple of the input clock lower than max_rate and calculate DEC_RATE with 'DIV_ROUND_CLOSEST()' which is what we are already doing for the generic case. Naturally with this, the user won't get exactly what he might expect as DEC_RATE is an integer (but again, that is how things are now anyways)... We would still need the extra control for those who really want to stick to lower IMU rates. - Nuno Sá > Jonathan > > > > > - Nuno Sá > > > > > > > > > > That said, the patch for the adis16480 driver is a fix as this mode > was > > > > being wrongly handled. There should not be a "separation" > between > > > using > > > > the sync_scale and the dec_rate registers. The way things were > > > being done, > > > > we could easily get into a situation where the part could be > running > > > with > > > > an internal rate way lower than the optimal minimum. > > > > > > > > For the adis16475 drivers, things were not really wrong. They > were > > > just > > > > not optimal as we were forcing users to specify the IMU scaled > > > internal > > > > rate once in the devicetree. Calculating things at runtime gives > much > > > > more flexibility to choose the output rate. > > > > > > > > Nuno Sá (4): > > > > iio: adis: add helpers for locking > > > > iio: adis16480: fix pps mode sampling frequency math > > > > iio: adis16475: improve sync scale mode handling > > > > dt-bindings: adis16475: remove property > > > > > > > > .../bindings/iio/imu/adi,adis16475.yaml | 9 -- > > > > drivers/iio/imu/adis16475.c | 110 ++++++++++++---- > > > > drivers/iio/imu/adis16480.c | 120 +++++++++++++----- > > > > include/linux/iio/imu/adis.h | 10 ++ > > > > 4 files changed, 178 insertions(+), 71 deletions(-) > > > > > >
