6.18-stable review patch. If anyone has any objections, please let me know. ------------------ From: Jean-Baptiste Maneyrol [ Upstream commit d52047d84963e5cf7c8ad502e0adf003fb0669de ] When accel must switch from low-power mode to low-noise due to a change in ODR, there is an hardware bug that sometimes prevent the ODR change flag to be set in the FIFO header. If this happens, the driver is stuck waiting for the ODR change flag that is never happening. Fix this by using accel_force_odr flag set when switching mode for forcing apply of ODR change. Do the apply after parsing FIFO data to let the flag do the job if it is here. Fixes: ec74ae9fd37c ("iio: imu: inv_icm42600: add accurate timestamping") Cc: stable@vger.kernel.org Signed-off-by: Jean-Baptiste Maneyrol Signed-off-by: Jonathan Cameron Signed-off-by: Sasha Levin --- drivers/iio/imu/inv_icm42600/inv_icm42600.h | 1 + drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c | 9 ++++++++- drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c | 2 ++ drivers/iio/imu/inv_icm42600/inv_icm42600_core.c | 9 +++++++++ 4 files changed, 20 insertions(+), 1 deletion(-) diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h index c8b48a5c5ed06..a44e4ea746a6d 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h @@ -177,6 +177,7 @@ struct inv_icm42600_state { struct { s64 gyro; s64 accel; + bool accel_force_odr; } timestamp; struct inv_icm42600_apex apex; struct inv_icm42600_fifo fifo; diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c index d19ff0e76c668..d858acad3bfb6 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c @@ -1226,9 +1226,11 @@ int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev) return size; /* update odr */ - if (odr & INV_ICM42600_SENSOR_ACCEL) + if (odr & INV_ICM42600_SENSOR_ACCEL) { inv_sensors_timestamp_apply_odr(ts, st->fifo.period, st->fifo.nb.total, no); + st->timestamp.accel_force_odr = false; + } /* skip packet if no accel data or data is invalid */ if (accel == NULL || !inv_icm42600_fifo_is_data_valid(accel)) @@ -1241,5 +1243,10 @@ int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev) iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val); } + if (st->timestamp.accel_force_odr) { + inv_sensors_timestamp_apply_odr(ts, 0, 0, 0); + st->timestamp.accel_force_odr = false; + } + return 0; } diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c index 5c3840acf0857..2c3e41a24b33d 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c @@ -396,6 +396,8 @@ static int inv_icm42600_buffer_postdisable(struct iio_dev *indio_dev) mutex_lock(&st->lock); inv_sensors_timestamp_apply_odr(ts, 0, 0, 0); + if (sensor == INV_ICM42600_SENSOR_ACCEL) + st->timestamp.accel_force_odr = false; ret = inv_icm42600_buffer_set_fifo_en(st, st->fifo.en & ~sensor); if (ret) diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c index 76eb22488e5f3..e37b395dbd90b 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c @@ -324,6 +324,15 @@ int inv_icm42600_set_accel_conf(struct inv_icm42600_state *st, break; } + /* + * If we change mode from low-power to low-noise because of odr, + * we need to force odr change. + */ + if (oldconf->mode == INV_ICM42600_SENSOR_MODE_LOW_POWER && + conf->mode == INV_ICM42600_SENSOR_MODE_LOW_NOISE && + conf->odr != oldconf->odr) + st->timestamp.accel_force_odr = true; + /* set ACCEL_CONFIG0 register (accel fullscale & odr) */ if (conf->fs != oldconf->fs || conf->odr != oldconf->odr) { val = INV_ICM42600_ACCEL_CONFIG0_FS(conf->fs) | -- 2.53.0