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iio: imu: st_lsm6dsx: Scaling factor type set to IIO_VAL_INT_PLUS_NANO
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Scaling factor values for Acc lead to an unacceptable rounding of the
full scale (FS) calculated by some SensorHAL on Android devices. For examples
setting FS to 4g the in_accel_x_scale, in_accel_y_scale and in_accel_z_scale
are 0.001196 on 6 decimal digits and the FS is
0.001196 × ((2^15) − 1) ~= 39.1893 m/s^2.

Android CTS R10 SensorParameterRangeTest test expects a value greater than
39.20 m/s^2 so this test fails (ACCELEROMETER_MAX_RANGE = 4 * 9.80).

Using 9 decimal digits the new scale factor is 0.001196411 and the FS now
is 0.001196411 × ((2^15)−1) ~= 39.2028 m/s^2.

This patch extends to IIO_VAL_INT_PLUS_NANO type the scaling factor to all
IMU devices where SensorParameterRangeTest CTS test fails.

Signed-off-by: Mario Tesi <mario.tesi@st.com>
Acked-by: Lorenzo Bianconi <lorenzo@kernel.org>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
Link: https://lore.kernel.org/r/1600361236-2285-1-git-send-email-martepisa@gmail.com
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Mario Tesi authored and Jonathan Cameron committed Sep 21, 2020
1 parent e817316 commit 44a76de
Showing 1 changed file with 77 additions and 57 deletions.
134 changes: 77 additions & 57 deletions drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
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Original file line number Diff line number Diff line change
Expand Up @@ -157,10 +157,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x20,
.mask = GENMASK(4, 3),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(732), 0x1 },
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(732000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
Expand All @@ -169,9 +169,9 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(4, 3),
},

.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 3,
},
},
Expand Down Expand Up @@ -259,21 +259,21 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
Expand Down Expand Up @@ -425,21 +425,21 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
Expand Down Expand Up @@ -600,21 +600,21 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
Expand Down Expand Up @@ -816,21 +816,21 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
Expand Down Expand Up @@ -1021,21 +1021,21 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
Expand Down Expand Up @@ -1200,21 +1200,21 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
Expand Down Expand Up @@ -1598,7 +1598,7 @@ static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev,
case IIO_CHAN_INFO_SCALE:
*val = 0;
*val2 = sensor->gain;
ret = IIO_VAL_INT_PLUS_MICRO;
ret = IIO_VAL_INT_PLUS_NANO;
break;
default:
ret = -EINVAL;
Expand Down Expand Up @@ -1836,13 +1836,31 @@ static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev,

fs_table = &hw->settings->fs_table[sensor->id];
for (i = 0; i < fs_table->fs_len; i++)
len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
len += scnprintf(buf + len, PAGE_SIZE - len, "0.%09u ",
fs_table->fs_avl[i].gain);
buf[len - 1] = '\n';

return len;
}

static int st_lsm6dsx_write_raw_get_fmt(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
long mask)
{
switch (mask) {
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_ANGL_VEL:
case IIO_ACCEL:
return IIO_VAL_INT_PLUS_NANO;
default:
return IIO_VAL_INT_PLUS_MICRO;
}
default:
return IIO_VAL_INT_PLUS_MICRO;
}
}

static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_sysfs_sampling_frequency_avail);
static IIO_DEVICE_ATTR(in_accel_scale_available, 0444,
st_lsm6dsx_sysfs_scale_avail, NULL, 0);
Expand All @@ -1868,6 +1886,7 @@ static const struct iio_info st_lsm6dsx_acc_info = {
.read_event_config = st_lsm6dsx_read_event_config,
.write_event_config = st_lsm6dsx_write_event_config,
.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
.write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
};

static struct attribute *st_lsm6dsx_gyro_attributes[] = {
Expand All @@ -1885,6 +1904,7 @@ static const struct iio_info st_lsm6dsx_gyro_info = {
.read_raw = st_lsm6dsx_read_raw,
.write_raw = st_lsm6dsx_write_raw,
.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
.write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
};

static int st_lsm6dsx_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin)
Expand Down

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