This is a note to let you know that I've just added the patch titled
iio: srf04: fix wrong limitation in distance measuring
to my staging git tree which can be found at git://git.kernel.org/pub/scm/linux/kernel/git/gregkh/staging.git in the staging-linus branch.
The patch will show up in the next release of the linux-next tree (usually sometime within the next 24 hours during the week.)
The patch will hopefully also be merged in Linus's tree for the next -rc kernel release.
If you have any questions about this process, please let me know.
From 431f7667bd6889a274913162dfd19cce9d84848e Mon Sep 17 00:00:00 2001
From: Andreas Klinger ak@it-klinger.de Date: Sun, 6 Oct 2019 16:29:56 +0200 Subject: iio: srf04: fix wrong limitation in distance measuring MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit
The measured time value in the driver is limited to the maximum distance which can be read by the sensor. This limitation was wrong and is fixed by this patch.
It also takes into account that we are supporting a variety of sensors today and that the recently added sensors have a higher maximum distance range.
Changes in v2: - Added a Tested-by
Suggested-by: Zbyněk Kocur zbynek.kocur@fel.cvut.cz Tested-by: Zbyněk Kocur zbynek.kocur@fel.cvut.cz Signed-off-by: Andreas Klinger ak@it-klinger.de Cc:Stable@vger.kernel.org Signed-off-by: Jonathan Cameron Jonathan.Cameron@huawei.com --- drivers/iio/proximity/srf04.c | 29 +++++++++++++++-------------- 1 file changed, 15 insertions(+), 14 deletions(-)
diff --git a/drivers/iio/proximity/srf04.c b/drivers/iio/proximity/srf04.c index 8b50d56b0a03..01eb8cc63076 100644 --- a/drivers/iio/proximity/srf04.c +++ b/drivers/iio/proximity/srf04.c @@ -110,7 +110,7 @@ static int srf04_read(struct srf04_data *data) udelay(data->cfg->trigger_pulse_us); gpiod_set_value(data->gpiod_trig, 0);
- /* it cannot take more than 20 ms */ + /* it should not take more than 20 ms until echo is rising */ ret = wait_for_completion_killable_timeout(&data->rising, HZ/50); if (ret < 0) { mutex_unlock(&data->lock); @@ -120,7 +120,8 @@ static int srf04_read(struct srf04_data *data) return -ETIMEDOUT; }
- ret = wait_for_completion_killable_timeout(&data->falling, HZ/50); + /* it cannot take more than 50 ms until echo is falling */ + ret = wait_for_completion_killable_timeout(&data->falling, HZ/20); if (ret < 0) { mutex_unlock(&data->lock); return ret; @@ -135,19 +136,19 @@ static int srf04_read(struct srf04_data *data)
dt_ns = ktime_to_ns(ktime_dt); /* - * measuring more than 3 meters is beyond the capabilities of - * the sensor + * measuring more than 6,45 meters is beyond the capabilities of + * the supported sensors * ==> filter out invalid results for not measuring echos of * another us sensor * * formula: - * distance 3 m - * time = ---------- = --------- = 9404389 ns - * speed 319 m/s + * distance 6,45 * 2 m + * time = ---------- = ------------ = 40438871 ns + * speed 319 m/s * * using a minimum speed at -20 °C of 319 m/s */ - if (dt_ns > 9404389) + if (dt_ns > 40438871) return -EIO;
time_ns = dt_ns; @@ -159,20 +160,20 @@ static int srf04_read(struct srf04_data *data) * with Temp in °C * and speed in m/s * - * use 343 m/s as ultrasonic speed at 20 °C here in absence of the + * use 343,5 m/s as ultrasonic speed at 20 °C here in absence of the * temperature * * therefore: - * time 343 - * distance = ------ * ----- - * 10^6 2 + * time 343,5 time * 106 + * distance = ------ * ------- = ------------ + * 10^6 2 617176 * with time in ns * and distance in mm (one way) * - * because we limit to 3 meters the multiplication with 343 just + * because we limit to 6,45 meters the multiplication with 106 just * fits into 32 bit */ - distance_mm = time_ns * 343 / 2000000; + distance_mm = time_ns * 106 / 617176;
return distance_mm; }