> On Sun, 14 Jan 2018 12:51:57 +0100
> Lorenzo Bianconi <lorenzo.bianconi@xxxxxxxxxx> wrote:
>
>> > On Sat, 13 Jan 2018 18:57:56 +0100
>> > Lorenzo Bianconi <lorenzo.bianconi@xxxxxxxxxx> wrote:
>> >
>> >> Introduce hw timestamp support instead of compute sample timestamps
>> >> according to interrupt rate and configured watermark. LSM6DSx based
>> >> devices are able to queue in hw FIFO the time reference of data
>> >> sampling
>> >>
>> >> Signed-off-by: Lorenzo Bianconi <lorenzo.bianconi@xxxxxxxxxx>
>> >
>> > I am curious, how good is the clock? Do you see significant jumps when
>> > the timer reset happens and you rebase on the cpu timestamp?
>>
>> At the moment I do not have an answer to that question but I can carry
>> out some tests :)
>>
>> >
>> > The patch looks good to me, but I'd like to let it sit on the list
>> > a little longer given its more or less a new feature to IIO.
>> >
>>
>> Sure, fine for me
> Long enough. Applied to the togreg branch of iio.git and pushed out
> as testing for the autobuilders to play with it.
>
-ETIMEDOUT :-)
Regards,
Lorenzo
> Thanks,
>
> Jonathan
>
>> Regards,
>>
>> Lorenzo
>>
>> > Jonathan
>> >> ---
>> >> drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 29 +++--
>> >> drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 161 ++++++++++++++++---------
>> >> drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 104 +++++++++++++++-
>> >> 3 files changed, 224 insertions(+), 70 deletions(-)
>> >>
>> >> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
>> >> index 8fdd723afa05..a3cc7cd97026 100644
>> >> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
>> >> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
>> >> @@ -27,7 +27,7 @@ enum st_lsm6dsx_hw_id {
>> >> ST_LSM6DSX_MAX_ID,
>> >> };
>> >>
>> >> -#define ST_LSM6DSX_BUFF_SIZE 256
>> >> +#define ST_LSM6DSX_BUFF_SIZE 400
>> >> #define ST_LSM6DSX_CHAN_SIZE 2
>> >> #define ST_LSM6DSX_SAMPLE_SIZE 6
>> >> #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
>> >> @@ -57,6 +57,20 @@ struct st_lsm6dsx_fifo_ops {
>> >> u8 th_wl;
>> >> };
>> >>
>> >> +/**
>> >> + * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
>> >> + * @timer_en: Hw timer enable register info (addr + mask).
>> >> + * @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).
>> >> + */
>> >> +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;
>> >> +};
>> >> +
>> >> /**
>> >> * struct st_lsm6dsx_settings - ST IMU sensor settings
>> >> * @wai: Sensor WhoAmI default value.
>> >> @@ -64,6 +78,7 @@ struct st_lsm6dsx_fifo_ops {
>> >> * @id: List of hw id supported by the driver configuration.
>> >> * @decimator: List of decimator register info (addr + mask).
>> >> * @fifo_ops: Sensor hw FIFO parameters.
>> >> + * @ts_settings: Hw timer related settings.
>> >> */
>> >> struct st_lsm6dsx_settings {
>> >> u8 wai;
>> >> @@ -71,6 +86,7 @@ struct st_lsm6dsx_settings {
>> >> enum st_lsm6dsx_hw_id id[ST_LSM6DSX_MAX_ID];
>> >> struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
>> >> struct st_lsm6dsx_fifo_ops fifo_ops;
>> >> + struct st_lsm6dsx_hw_ts_settings ts_settings;
>> >> };
>> >>
>> >> enum st_lsm6dsx_sensor_id {
>> >> @@ -94,8 +110,7 @@ enum st_lsm6dsx_fifo_mode {
>> >> * @watermark: Sensor watermark level.
>> >> * @sip: Number of samples in a given pattern.
>> >> * @decimator: FIFO decimation factor.
>> >> - * @delta_ts: Delta time between two consecutive interrupts.
>> >> - * @ts: Latest timestamp from the interrupt handler.
>> >> + * @ts_ref: Sensor timestamp reference for hw one.
>> >> */
>> >> struct st_lsm6dsx_sensor {
>> >> char name[32];
>> >> @@ -108,9 +123,7 @@ struct st_lsm6dsx_sensor {
>> >> u16 watermark;
>> >> u8 sip;
>> >> u8 decimator;
>> >> -
>> >> - s64 delta_ts;
>> >> - s64 ts;
>> >> + s64 ts_ref;
>> >> };
>> >>
>> >> /**
>> >> @@ -122,7 +135,8 @@ struct st_lsm6dsx_sensor {
>> >> * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
>> >> * @fifo_mode: FIFO operating mode supported by the device.
>> >> * @enable_mask: Enabled sensor bitmask.
>> >> - * @sip: Total number of samples (acc/gyro) in a given pattern.
>> >> + * @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.
>> >> * @iio_devs: Pointers to acc/gyro iio_dev instances.
>> >> * @settings: Pointer to the specific sensor settings in use.
>> >> @@ -137,6 +151,7 @@ struct st_lsm6dsx_hw {
>> >>
>> >> enum st_lsm6dsx_fifo_mode fifo_mode;
>> >> u8 enable_mask;
>> >> + u8 ts_sip;
>> >> u8 sip;
>> >>
>> >> u8 *buff;
>> >> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
>> >> index 1d6aa9b1a4cf..1045e025e92b 100644
>> >> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
>> >> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
>> >> @@ -46,9 +46,13 @@
>> >> #define ST_LSM6DSX_FIFO_ODR_MASK GENMASK(6, 3)
>> >> #define ST_LSM6DSX_FIFO_EMPTY_MASK BIT(12)
>> >> #define ST_LSM6DSX_REG_FIFO_OUTL_ADDR 0x3e
>> >> +#define ST_LSM6DSX_REG_TS_RESET_ADDR 0x42
>> >>
>> >> #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 {
>> >> u8 decimator;
>> >> u8 val;
>> >> @@ -98,9 +102,10 @@ static void st_lsm6dsx_get_max_min_odr(struct st_lsm6dsx_hw *hw,
>> >>
>> >> static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw)
>> >> {
>> >> + u16 max_odr, min_odr, sip = 0, ts_sip = 0;
>> >> + const struct st_lsm6dsx_reg *ts_dec_reg;
>> >> struct st_lsm6dsx_sensor *sensor;
>> >> - u16 max_odr, min_odr, sip = 0;
>> >> - int err, i;
>> >> + int err = 0, i;
>> >> u8 data;
>> >>
>> >> st_lsm6dsx_get_max_min_odr(hw, &max_odr, &min_odr);
>> >> @@ -119,6 +124,7 @@ static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw)
>> >> sensor->decimator = 0;
>> >> data = 0;
>> >> }
>> >> + ts_sip = max_t(u16, ts_sip, sensor->sip);
>> >>
>> >> dec_reg = &hw->settings->decimator[sensor->id];
>> >> if (dec_reg->addr) {
>> >> @@ -131,9 +137,23 @@ static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw)
>> >> }
>> >> sip += sensor->sip;
>> >> }
>> >> - hw->sip = sip;
>> >> + hw->sip = sip + ts_sip;
>> >> + hw->ts_sip = ts_sip;
>> >>
>> >> - return 0;
>> >> + /*
>> >> + * update hw ts decimator if necessary. Decimator for hw timestamp
>> >> + * is always 1 or 0 in order to have a ts sample for each data
>> >> + * sample in FIFO
>> >> + */
>> >> + ts_dec_reg = &hw->settings->ts_settings.decimator;
>> >> + if (ts_dec_reg->addr) {
>> >> + int val, ts_dec = !!hw->ts_sip;
>> >> +
>> >> + val = ST_LSM6DSX_SHIFT_VAL(ts_dec, ts_dec_reg->mask);
>> >> + err = regmap_update_bits(hw->regmap, ts_dec_reg->addr,
>> >> + ts_dec_reg->mask, val);
>> >> + }
>> >> + return err;
>> >> }
>> >>
>> >> int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
>> >> @@ -208,6 +228,28 @@ int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, u16 watermark)
>> >> &wdata, sizeof(wdata));
>> >> }
>> >>
>> >> +static int st_lsm6dsx_reset_hw_ts(struct st_lsm6dsx_hw *hw)
>> >> +{
>> >> + struct st_lsm6dsx_sensor *sensor;
>> >> + int i, err;
>> >> +
>> >> + /* reset hw ts counter */
>> >> + err = regmap_write(hw->regmap, ST_LSM6DSX_REG_TS_RESET_ADDR,
>> >> + ST_LSM6DSX_TS_RESET_VAL);
>> >> + if (err < 0)
>> >> + return err;
>> >> +
>> >> + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
>> >> + sensor = iio_priv(hw->iio_devs[i]);
>> >> + /*
>> >> + * store enable buffer timestamp as reference for
>> >> + * hw timestamp
>> >> + */
>> >> + sensor->ts_ref = iio_get_time_ns(hw->iio_devs[i]);
>> >> + }
>> >> + return 0;
>> >> +}
>> >> +
>> >> /*
>> >> * Set max bulk read to ST_LSM6DSX_MAX_WORD_LEN in order to avoid
>> >> * a kmalloc for each bus access
>> >> @@ -231,6 +273,8 @@ static inline int st_lsm6dsx_read_block(struct st_lsm6dsx_hw *hw, u8 *data,
>> >> return 0;
>> >> }
>> >>
>> >> +#define ST_LSM6DSX_IIO_BUFF_SIZE (ALIGN(ST_LSM6DSX_SAMPLE_SIZE, \
>> >> + sizeof(s64)) + sizeof(s64))
>> >> /**
>> >> * st_lsm6dsx_read_fifo() - LSM6DS3-LSM6DS3H-LSM6DSL-LSM6DSM read FIFO routine
>> >> * @hw: Pointer to instance of struct st_lsm6dsx_hw.
>> >> @@ -243,11 +287,13 @@ static int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
>> >> {
>> >> u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE;
>> >> u16 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask;
>> >> - int err, acc_sip, gyro_sip, read_len, samples, offset;
>> >> + int err, acc_sip, gyro_sip, ts_sip, read_len, offset;
>> >> struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor;
>> >> - s64 acc_ts, acc_delta_ts, gyro_ts, gyro_delta_ts;
>> >> - u8 iio_buff[ALIGN(ST_LSM6DSX_SAMPLE_SIZE, sizeof(s64)) + sizeof(s64)];
>> >> + u8 gyro_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
>> >> + u8 acc_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
>> >> + bool reset_ts = false;
>> >> __le16 fifo_status;
>> >> + s64 ts = 0;
>> >>
>> >> err = regmap_bulk_read(hw->regmap,
>> >> hw->settings->fifo_ops.fifo_diff.addr,
>> >> @@ -260,23 +306,10 @@ static int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
>> >>
>> >> fifo_len = (le16_to_cpu(fifo_status) & fifo_diff_mask) *
>> >> ST_LSM6DSX_CHAN_SIZE;
>> >> - samples = fifo_len / ST_LSM6DSX_SAMPLE_SIZE;
>> >> fifo_len = (fifo_len / pattern_len) * pattern_len;
>> >>
>> >> - /*
>> >> - * compute delta timestamp between two consecutive samples
>> >> - * in order to estimate queueing time of data generated
>> >> - * by the sensor
>> >> - */
>> >> acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
>> >> - acc_ts = acc_sensor->ts - acc_sensor->delta_ts;
>> >> - acc_delta_ts = div_s64(acc_sensor->delta_ts * acc_sensor->decimator,
>> >> - samples);
>> >> -
>> >> gyro_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_GYRO]);
>> >> - gyro_ts = gyro_sensor->ts - gyro_sensor->delta_ts;
>> >> - gyro_delta_ts = div_s64(gyro_sensor->delta_ts * gyro_sensor->decimator,
>> >> - samples);
>> >>
>> >> for (read_len = 0; read_len < fifo_len; read_len += pattern_len) {
>> >> err = st_lsm6dsx_read_block(hw, hw->buff, pattern_len);
>> >> @@ -287,7 +320,7 @@ static int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
>> >> * Data are written to the FIFO with a specific pattern
>> >> * depending on the configured ODRs. The first sequence of data
>> >> * stored in FIFO contains the data of all enabled sensors
>> >> - * (e.g. Gx, Gy, Gz, Ax, Ay, Az), then data are repeated
>> >> + * (e.g. Gx, Gy, Gz, Ax, Ay, Az, Ts), then data are repeated
>> >> * depending on the value of the decimation factor set for each
>> >> * sensor.
>> >> *
>> >> @@ -296,35 +329,65 @@ static int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
>> >> * - gyroscope ODR = 208Hz, accelerometer ODR = 104Hz
>> >> * Since the gyroscope ODR is twice the accelerometer one, the
>> >> * following pattern is repeated every 9 samples:
>> >> - * - Gx, Gy, Gz, Ax, Ay, Az, Gx, Gy, Gz
>> >> + * - Gx, Gy, Gz, Ax, Ay, Az, Ts, Gx, Gy, Gz, Ts, Gx, ..
>> >> */
>> >> gyro_sip = gyro_sensor->sip;
>> >> acc_sip = acc_sensor->sip;
>> >> + ts_sip = hw->ts_sip;
>> >> offset = 0;
>> >>
>> >> while (acc_sip > 0 || gyro_sip > 0) {
>> >> - if (gyro_sip-- > 0) {
>> >> - memcpy(iio_buff, &hw->buff[offset],
>> >> + if (gyro_sip > 0) {
>> >> + memcpy(gyro_buff, &hw->buff[offset],
>> >> ST_LSM6DSX_SAMPLE_SIZE);
>> >> - iio_push_to_buffers_with_timestamp(
>> >> - hw->iio_devs[ST_LSM6DSX_ID_GYRO],
>> >> - iio_buff, gyro_ts);
>> >> offset += ST_LSM6DSX_SAMPLE_SIZE;
>> >> - gyro_ts += gyro_delta_ts;
>> >> }
>> >> -
>> >> - if (acc_sip-- > 0) {
>> >> - memcpy(iio_buff, &hw->buff[offset],
>> >> + if (acc_sip > 0) {
>> >> + memcpy(acc_buff, &hw->buff[offset],
>> >> ST_LSM6DSX_SAMPLE_SIZE);
>> >> - iio_push_to_buffers_with_timestamp(
>> >> - hw->iio_devs[ST_LSM6DSX_ID_ACC],
>> >> - iio_buff, acc_ts);
>> >> offset += ST_LSM6DSX_SAMPLE_SIZE;
>> >> - acc_ts += acc_delta_ts;
>> >> }
>> >> +
>> >> + if (ts_sip-- > 0) {
>> >> + u8 data[ST_LSM6DSX_SAMPLE_SIZE];
>> >> +
>> >> + memcpy(data, &hw->buff[offset], sizeof(data));
>> >> + /*
>> >> + * hw timestamp is 3B long and it is stored
>> >> + * in FIFO using 6B as 4th FIFO data set
>> >> + * according to this schema:
>> >> + * B0 = ts[15:8], B1 = ts[23:16], B3 = ts[7:0]
>> >> + */
>> >> + ts = data[1] << 16 | data[0] << 8 | data[3];
>> >> + /*
>> >> + * check if hw timestamp engine is going to
>> >> + * reset (the sensor generates an interrupt
>> >> + * to signal the hw timestamp will reset in
>> >> + * 1.638s)
>> >> + */
>> >> + if (!reset_ts && ts >= 0xff0000)
>> >> + reset_ts = true;
>> >> + ts *= ST_LSM6DSX_TS_SENSITIVITY;
>> >> +
>> >> + offset += ST_LSM6DSX_SAMPLE_SIZE;
>> >> + }
>> >> +
>> >> + if (gyro_sip-- > 0)
>> >> + iio_push_to_buffers_with_timestamp(
>> >> + hw->iio_devs[ST_LSM6DSX_ID_GYRO],
>> >> + gyro_buff, gyro_sensor->ts_ref + ts);
>> >> + if (acc_sip-- > 0)
>> >> + iio_push_to_buffers_with_timestamp(
>> >> + hw->iio_devs[ST_LSM6DSX_ID_ACC],
>> >> + acc_buff, acc_sensor->ts_ref + ts);
>> >> }
>> >> }
>> >>
>> >> + if (unlikely(reset_ts)) {
>> >> + err = st_lsm6dsx_reset_hw_ts(hw);
>> >> + if (err < 0)
>> >> + return err;
>> >> + }
>> >> return read_len;
>> >> }
>> >>
>> >> @@ -379,15 +442,12 @@ static int st_lsm6dsx_update_fifo(struct iio_dev *iio_dev, bool enable)
>> >> goto out;
>> >>
>> >> if (hw->enable_mask) {
>> >> - err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT);
>> >> + /* reset hw ts counter */
>> >> + err = st_lsm6dsx_reset_hw_ts(hw);
>> >> if (err < 0)
>> >> goto out;
>> >>
>> >> - /*
>> >> - * store enable buffer timestamp as reference to compute
>> >> - * first delta timestamp
>> >> - */
>> >> - sensor->ts = iio_get_time_ns(iio_dev);
>> >> + err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT);
>> >> }
>> >>
>> >> out:
>> >> @@ -399,25 +459,8 @@ static int st_lsm6dsx_update_fifo(struct iio_dev *iio_dev, bool enable)
>> >> static irqreturn_t st_lsm6dsx_handler_irq(int irq, void *private)
>> >> {
>> >> struct st_lsm6dsx_hw *hw = private;
>> >> - struct st_lsm6dsx_sensor *sensor;
>> >> - int i;
>> >> -
>> >> - if (!hw->sip)
>> >> - return IRQ_NONE;
>> >> -
>> >> - for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
>> >> - sensor = iio_priv(hw->iio_devs[i]);
>> >> -
>> >> - if (sensor->sip > 0) {
>> >> - s64 timestamp;
>> >> -
>> >> - timestamp = iio_get_time_ns(hw->iio_devs[i]);
>> >> - sensor->delta_ts = timestamp - sensor->ts;
>> >> - sensor->ts = timestamp;
>> >> - }
>> >> - }
>> >>
>> >> - return IRQ_WAKE_THREAD;
>> >> + return hw->sip > 0 ? IRQ_WAKE_THREAD : IRQ_NONE;
>> >> }
>> >>
>> >> static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private)
>> >> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
>> >> index c2fa3239b9c6..8656d72ef4ee 100644
>> >> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
>> >> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
>> >> @@ -181,6 +181,24 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>> >> },
>> >> .th_wl = 3, /* 1LSB = 2B */
>> >> },
>> >> + .ts_settings = {
>> >> + .timer_en = {
>> >> + .addr = 0x58,
>> >> + .mask = BIT(7),
>> >> + },
>> >> + .hr_timer = {
>> >> + .addr = 0x5c,
>> >> + .mask = BIT(4),
>> >> + },
>> >> + .fifo_en = {
>> >> + .addr = 0x07,
>> >> + .mask = BIT(7),
>> >> + },
>> >> + .decimator = {
>> >> + .addr = 0x09,
>> >> + .mask = GENMASK(5, 3),
>> >> + },
>> >> + },
>> >> },
>> >> {
>> >> .wai = 0x69,
>> >> @@ -209,6 +227,24 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>> >> },
>> >> .th_wl = 3, /* 1LSB = 2B */
>> >> },
>> >> + .ts_settings = {
>> >> + .timer_en = {
>> >> + .addr = 0x58,
>> >> + .mask = BIT(7),
>> >> + },
>> >> + .hr_timer = {
>> >> + .addr = 0x5c,
>> >> + .mask = BIT(4),
>> >> + },
>> >> + .fifo_en = {
>> >> + .addr = 0x07,
>> >> + .mask = BIT(7),
>> >> + },
>> >> + .decimator = {
>> >> + .addr = 0x09,
>> >> + .mask = GENMASK(5, 3),
>> >> + },
>> >> + },
>> >> },
>> >> {
>> >> .wai = 0x6a,
>> >> @@ -238,6 +274,24 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>> >> },
>> >> .th_wl = 3, /* 1LSB = 2B */
>> >> },
>> >> + .ts_settings = {
>> >> + .timer_en = {
>> >> + .addr = 0x19,
>> >> + .mask = BIT(5),
>> >> + },
>> >> + .hr_timer = {
>> >> + .addr = 0x5c,
>> >> + .mask = BIT(4),
>> >> + },
>> >> + .fifo_en = {
>> >> + .addr = 0x07,
>> >> + .mask = BIT(7),
>> >> + },
>> >> + .decimator = {
>> >> + .addr = 0x09,
>> >> + .mask = GENMASK(5, 3),
>> >> + },
>> >> + },
>> >> },
>> >> };
>> >>
>> >> @@ -630,6 +684,44 @@ static int st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, u8 *drdy_reg)
>> >> return err;
>> >> }
>> >>
>> >> +static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw)
>> >> +{
>> >> + const struct st_lsm6dsx_hw_ts_settings *ts_settings;
>> >> + int err, val;
>> >> +
>> >> + ts_settings = &hw->settings->ts_settings;
>> >> + /* enable hw timestamp generation if necessary */
>> >> + if (ts_settings->timer_en.addr) {
>> >> + val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->timer_en.mask);
>> >> + err = regmap_update_bits(hw->regmap,
>> >> + ts_settings->timer_en.addr,
>> >> + ts_settings->timer_en.mask, val);
>> >> + if (err < 0)
>> >> + return err;
>> >> + }
>> >> +
>> >> + /* enable high resolution for hw ts timer if necessary */
>> >> + if (ts_settings->hr_timer.addr) {
>> >> + val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->hr_timer.mask);
>> >> + err = regmap_update_bits(hw->regmap,
>> >> + ts_settings->hr_timer.addr,
>> >> + ts_settings->hr_timer.mask, val);
>> >> + if (err < 0)
>> >> + return err;
>> >> + }
>> >> +
>> >> + /* enable ts queueing in FIFO if necessary */
>> >> + if (ts_settings->fifo_en.addr) {
>> >> + val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->fifo_en.mask);
>> >> + err = regmap_update_bits(hw->regmap,
>> >> + ts_settings->fifo_en.addr,
>> >> + ts_settings->fifo_en.mask, val);
>> >> + if (err < 0)
>> >> + return err;
>> >> + }
>> >> + return 0;
>> >> +}
>> >> +
>> >> static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
>> >> {
>> >> u8 drdy_int_reg;
>> >> @@ -654,10 +746,14 @@ static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
>> >> if (err < 0)
>> >> return err;
>> >>
>> >> - return regmap_update_bits(hw->regmap, drdy_int_reg,
>> >> - ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK,
>> >> - FIELD_PREP(ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK,
>> >> - 1));
>> >> + err = regmap_update_bits(hw->regmap, drdy_int_reg,
>> >> + ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK,
>> >> + FIELD_PREP(ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK,
>> >> + 1));
>> >> + if (err < 0)
>> >> + return err;
>> >> +
>> >> + return st_lsm6dsx_init_hw_timer(hw);
>> >> }
>> >>
>> >> static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
>> >
>
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