Re: [PATCH 3/4] iio: imu: inv_icm42600: simplify watermark computation by using gcd

[Jonathan Cameron]

On Thu, 20 Aug 2026 21:02:39 +0200
Jean-Baptiste Maneyrol via B4 Relay <devnull+jean-baptiste.maneyrol.tdk.com@xxxxxxxxxx> wrote:

> From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@xxxxxxx>
> 
> The watermark computation was in fact resulting in computing the gcd

Maybe GCD if we are referring to it by acronym rather than talking
about the function that implements it. 

> of the latencies when both sensors are on. Gcd is required because
> of the IIO buffer watermark. We need to use a divider of IIO buffer
> watermark, otherwise we will overflow the requested watermark.
> 
> Move to use gcd and update documentation accordingly.

gcd()
as this is about the function I think.

> 
> Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@xxxxxxx>
> ---
>  drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c | 47 ++++++++++------------
>  1 file changed, 21 insertions(+), 26 deletions(-)
> 
> diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
> index 043ae9deee65..1428f18408ce 100644
> --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
> +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
> @@ -5,6 +5,7 @@
>  
>  #include <linux/delay.h>
>  #include <linux/device.h>
> +#include <linux/gcd.h>
>  #include <linux/kernel.h>
>  #include <linux/minmax.h>
>  #include <linux/mutex.h>
> @@ -172,15 +173,14 @@ static unsigned int inv_icm42600_wm_truncate(unsigned int watermark,
>   *
>   * FIFO watermark threshold is computed based on the required watermark values
>   * set for gyro and accel sensors. Since watermark is all about acceptable data
> - * latency, use the smallest setting between the 2. It means choosing the
> - * smallest latency but this is not as simple as choosing the smallest watermark
> - * value. Latency depends on watermark and ODR. It requires several steps:
> - * 1) compute gyro and accel latencies and choose the smallest value.
> - * 2) adapt the chosen latency so that it is a multiple of both gyro and accel
> - *    ones. Otherwise it is possible that you don't meet a requirement. (for
> - *    example with gyro @100Hz wm 4 and accel @100Hz with wm 6, choosing the
> - *    value of 4 will not meet accel latency requirement because 6 is not a
> - *    multiple of 4. You need to use the value 2.)
> + * latency, we should need to use the smallest latency value. But it is not as
> + * simple as choosing the smallest watermark value. Latency depends on watermark
> + * and ODR and IIO buffer watermark adds another requirement. The required steps:
> + * 1) compute gyro and accel periods and latencies
> + * 2) Use the smallest period and the gcd of the latencies. Gcd is required

GCD here as well.

> + *    because of the IIO buffer watermark that will prevent send of data if not
> + *    crossed. Thus accel and gyro watermarks must be a multiple of the watermark
> + *    value. Computing the gcd gives us the biggest value that meets this criteria.
>   * 3) Since all periods are multiple of each others, watermark is computed by
>   *    dividing this computed latency by the smallest period, which corresponds
>   *    to the FIFO frequency. Beware that this is only true because we are not
> @@ -190,7 +190,7 @@ int inv_icm42600_buffer_update_watermark(struct inv_icm42600_state *st)
>  {
>  	size_t packet_size, wm_size;
>  	unsigned int wm_gyro, wm_accel, watermark;
> -	u32 period_gyro, period_accel;
> +	u32 period_gyro, period_accel, period;
>  	u32 latency_gyro, latency_accel, latency;
>  	bool restore;
>  	__le16 raw_wm;
> @@ -218,22 +218,17 @@ int inv_icm42600_buffer_update_watermark(struct inv_icm42600_state *st)
>  		watermark = wm_gyro;
>  		st->fifo.watermark.eff_gyro = wm_gyro;
>  	} else {
> -		/* compute the smallest latency that is a multiple of both */
> -		if (latency_gyro <= latency_accel)
> -			latency = latency_gyro - (latency_accel % latency_gyro);
> -		else
> -			latency = latency_accel - (latency_gyro % latency_accel);
> -		/* all this works because periods are multiple of each others */
> -		watermark = latency / min(period_gyro, period_accel);
> -		if (watermark < 1)
> -			watermark = 1;
> -		/* update effective watermark */
> -		st->fifo.watermark.eff_gyro = latency / period_gyro;
> -		if (st->fifo.watermark.eff_gyro < 1)
> -			st->fifo.watermark.eff_gyro = 1;
> -		st->fifo.watermark.eff_accel = latency / period_accel;
> -		if (st->fifo.watermark.eff_accel < 1)
> -			st->fifo.watermark.eff_accel = 1;
> +		/*
> +		 * In case of both accel and gyro enabled, we need to use the
> +		 * shortest period and the gcd of the latencies. Gcd is required
> +		 * because of the IIO buffer watermark that will prevent data
> +		 * sending if we are not crossing the watermark level.
> +		 */
> +		period = min(period_gyro, period_accel);
> +		latency = gcd(latency_gyro, latency_accel);
> +		watermark = max(latency / period, 1);
> +		st->fifo.watermark.eff_gyro = max(latency / period_gyro, 1);
> +		st->fifo.watermark.eff_accel = max(latency / period_accel, 1);
>  	}
>  
>  	/* compute watermark value in bytes */
>