On Wed, 5 Jul 2023 15:58:34 +0800 Jonathan Cameron <Jonathan.Cameron@xxxxxxxxxx> wrote: > On Mon, 3 Jul 2023 15:19:52 +0000 > Jean-Baptiste Maneyrol <Jean-Baptiste.Maneyrol@xxxxxxx> 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@xxxxxxx> > > Sent: Friday, June 23, 2023 10:29 > > To: jic23@xxxxxxxxxx <jic23@xxxxxxxxxx> > > Cc: lars@xxxxxxxxxx <lars@xxxxxxxxxx>; linux-iio@xxxxxxxxxxxxxxx <linux-iio@xxxxxxxxxxxxxxx>; Jean-Baptiste Maneyrol <Jean-Baptiste.Maneyrol@xxxxxxx> > > Subject: [PATCH] iio: imu: inv_mpu6050: read the full fifo when processing data > > > > From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@xxxxxxx> > > > > 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@xxxxxxx> > > --- > > 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: >
