Port Missing parts of the Robust Clock patches for VSTAB.
Introduce ioctl to get 32KHz clock
Expose ioctl to userspace from the RPMSG driver
(probably not the wisest thing)
Signed-off-by: Milen Mitkov <mmitkov@mm-sol.com>
IO:Take gyro timestamp from the 32KHz timer
This is done so that we are in sync with ducati for
vstab algorithm usage.
Signed-off-by: Milen Mitkov <mmitkov@mm-sol.com>
Change-Id: Idc87c750ad4910a00c57b86c8b05f12698878d8a
diff --git a/drivers/rpmsg/rpmsg_omx.c b/drivers/rpmsg/rpmsg_omx.c
index e82d266..f9f8d43 100644
--- a/drivers/rpmsg/rpmsg_omx.c
+++ b/drivers/rpmsg/rpmsg_omx.c
@@ -41,6 +41,8 @@
#ifdef CONFIG_ION_OMAP
#include <linux/ion.h>
#include <linux/omap_ion.h>
+#include <plat/usb.h>
+#include <plat/omap44xx.h>
extern struct ion_device *omap_ion_device;
#endif
@@ -577,6 +579,26 @@
break;
}
#endif
+#ifdef CONFIG_ION_OMAP
+ case OMX_GET_TIMER:
+ {
+ struct omx_get_timer data;
+ struct timespec ts;
+
+ /*read_persistent_clock(&ts);*/
+ data.persistent_timer = read_robust_clock();
+
+ data.clock32k = omap_readl(OMAP4430_32KSYNCT_BASE + 0x10);
+
+ if (copy_to_user((char __user *) arg, &data, sizeof(data))) {
+ dev_err(omxserv->dev,
+ "GetTimer: %s: %d: copy_to_user fail: %d\n", __func__,
+ _IOC_NR(cmd), ret);
+ }
+
+ break;
+ }
+#endif
default:
dev_warn(omxserv->dev, "unhandled ioctl cmd: %d\n", cmd);
break;
diff --git a/drivers/staging/iio/imu/inv_mpu/inv_mpu_core.c b/drivers/staging/iio/imu/inv_mpu/inv_mpu_core.c
index cec67ea..eb60c8c 100644
--- a/drivers/staging/iio/imu/inv_mpu/inv_mpu_core.c
+++ b/drivers/staging/iio/imu/inv_mpu/inv_mpu_core.c
@@ -51,9 +51,7 @@
s64 get_time_ns(void)
{
- struct timespec ts;
- ktime_get_ts(&ts);
- return timespec_to_ns(&ts);
+ return read_robust_clock();
}
static const short AKM8975_ST_Lower[3] = {-100, -100, -1000};
diff --git a/include/linux/rpmsg_omx.h b/include/linux/rpmsg_omx.h
index 3d5e42a..c433823 100644
--- a/include/linux/rpmsg_omx.h
+++ b/include/linux/rpmsg_omx.h
@@ -54,8 +54,9 @@
#define OMX_IOCIONREGISTER _IOWR(OMX_IOC_MAGIC, 2, struct ion_fd_data)
#define OMX_IOCIONUNREGISTER _IOWR(OMX_IOC_MAGIC, 3, struct ion_fd_data)
#define OMX_IOCPVRREGISTER _IOWR(OMX_IOC_MAGIC, 4, struct omx_pvr_data)
+#define OMX_GET_TIMER _IOWR(OMX_IOC_MAGIC, 5, struct omx_get_timer)
-#define OMX_IOC_MAXNR (4)
+#define OMX_IOC_MAXNR (5)
#ifdef __KERNEL__
@@ -155,4 +156,9 @@
function. */
};
+struct omx_get_timer {
+ long long int persistent_timer;
+ unsigned int clock32k;
+};
+
#endif /* RPMSG_OMX_H */
