iio: imu: st_lsm6dsx: express odr in mHZ

Express available frequencies in mHZ in order to support even
rational ODRs. This patch is need to fix an Android CTS failure
Signed-off-by: Lorenzo Bianconi <lorenzo@kernel.org>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h

@@ -106,7 +106,7 @@ struct st_lsm6dsx_sensor;
 struct st_lsm6dsx_hw;
 
 struct st_lsm6dsx_odr {
-	u16 hz;
+	u32 milli_hz;
 	u8 val;
 };
 
@@ -330,7 +330,7 @@ struct st_lsm6dsx_sensor {
 	struct st_lsm6dsx_hw *hw;
 
 	u32 gain;
-	u16 odr;
+	u32 odr;
 
 	u16 watermark;
 	u8 sip;
@@ -415,7 +415,7 @@ int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
 			     enum st_lsm6dsx_fifo_mode fifo_mode);
 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
-int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, u8 *val);
+int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c

@@ -91,7 +91,7 @@ static int st_lsm6dsx_get_decimator_val(u8 val)
 }
 
 static void st_lsm6dsx_get_max_min_odr(struct st_lsm6dsx_hw *hw,
-				       u16 *max_odr, u16 *min_odr)
+				       u32 *max_odr, u32 *min_odr)
 {
 	struct st_lsm6dsx_sensor *sensor;
 	int i;
@@ -106,16 +106,17 @@ static void st_lsm6dsx_get_max_min_odr(struct st_lsm6dsx_hw *hw,
 		if (!(hw->enable_mask & BIT(sensor->id)))
 			continue;
 
-		*max_odr = max_t(u16, *max_odr, sensor->odr);
-		*min_odr = min_t(u16, *min_odr, sensor->odr);
+		*max_odr = max_t(u32, *max_odr, sensor->odr);
+		*min_odr = min_t(u32, *min_odr, sensor->odr);
 	}
 }
 
 static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw)
 {
-	u16 max_odr, min_odr, sip = 0, ts_sip = 0;
 	const struct st_lsm6dsx_reg *ts_dec_reg;
 	struct st_lsm6dsx_sensor *sensor;
+	u16 sip = 0, ts_sip = 0;
+	u32 max_odr, min_odr;
 	int err = 0, i;
 	u8 data;
 

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c

@@ -127,12 +127,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x20,
 					.mask = GENMASK(7, 5),
 				},
-				.odr_avl[0] = {  10, 0x01 },
-				.odr_avl[1] = {  50, 0x02 },
-				.odr_avl[2] = { 119, 0x03 },
-				.odr_avl[3] = { 238, 0x04 },
-				.odr_avl[4] = { 476, 0x05 },
-				.odr_avl[5] = { 952, 0x06 },
+				.odr_avl[0] = {  10000, 0x01 },
+				.odr_avl[1] = {  50000, 0x02 },
+				.odr_avl[2] = { 119000, 0x03 },
+				.odr_avl[3] = { 238000, 0x04 },
+				.odr_avl[4] = { 476000, 0x05 },
+				.odr_avl[5] = { 952000, 0x06 },
 				.odr_len = 6,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -140,12 +140,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(7, 5),
 				},
-				.odr_avl[0] = {  15, 0x01 },
-				.odr_avl[1] = {  60, 0x02 },
-				.odr_avl[2] = { 119, 0x03 },
-				.odr_avl[3] = { 238, 0x04 },
-				.odr_avl[4] = { 476, 0x05 },
-				.odr_avl[5] = { 952, 0x06 },
+				.odr_avl[0] = {  14900, 0x01 },
+				.odr_avl[1] = {  59500, 0x02 },
+				.odr_avl[2] = { 119000, 0x03 },
+				.odr_avl[3] = { 238000, 0x04 },
+				.odr_avl[4] = { 476000, 0x05 },
+				.odr_avl[5] = { 952000, 0x06 },
 				.odr_len = 6,
 			},
 		},
@@ -229,12 +229,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -242,12 +242,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 		},
@@ -395,12 +395,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -408,12 +408,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 		},
@@ -570,12 +570,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -583,12 +583,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 		},
@@ -747,12 +747,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -760,12 +760,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 		},
@@ -944,12 +944,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -957,12 +957,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 		},
@@ -1121,12 +1121,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -1134,12 +1134,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(7, 4),
 				},
-				.odr_avl[0] = {  13, 0x01 },
-				.odr_avl[1] = {  26, 0x02 },
-				.odr_avl[2] = {  52, 0x03 },
-				.odr_avl[3] = { 104, 0x04 },
-				.odr_avl[4] = { 208, 0x05 },
-				.odr_avl[5] = { 416, 0x06 },
+				.odr_avl[0] = {  12500, 0x01 },
+				.odr_avl[1] = {  26000, 0x02 },
+				.odr_avl[2] = {  52000, 0x03 },
+				.odr_avl[3] = { 104000, 0x04 },
+				.odr_avl[4] = { 208000, 0x05 },
+				.odr_avl[5] = { 416000, 0x06 },
 				.odr_len = 6,
 			},
 		},
@@ -1358,7 +1358,7 @@ static int st_lsm6dsx_set_full_scale(struct st_lsm6dsx_sensor *sensor,
 	return 0;
 }
 
-int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, u8 *val)
+int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val)
 {
 	const struct st_lsm6dsx_odr_table_entry *odr_table;
 	int i;
@@ -1369,7 +1369,7 @@ int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, u8 *val)
 		 * ext devices can run at different odr respect to
 		 * accel sensor
 		 */
-		if (odr_table->odr_avl[i].hz >= odr)
+		if (odr_table->odr_avl[i].milli_hz >= odr)
 			break;
 	}
 
@@ -1377,17 +1377,18 @@ int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, u8 *val)
 		return -EINVAL;
 
 	*val = odr_table->odr_avl[i].val;
-	return odr_table->odr_avl[i].hz;
+	return odr_table->odr_avl[i].milli_hz;
 }
 
-static u16 st_lsm6dsx_check_odr_dependency(struct st_lsm6dsx_hw *hw, u16 odr,
-					   enum st_lsm6dsx_sensor_id id)
+static int
+st_lsm6dsx_check_odr_dependency(struct st_lsm6dsx_hw *hw, u32 odr,
+				enum st_lsm6dsx_sensor_id id)
 {
 	struct st_lsm6dsx_sensor *ref = iio_priv(hw->iio_devs[id]);
 
 	if (odr > 0) {
 		if (hw->enable_mask & BIT(id))
-			return max_t(u16, ref->odr, odr);
+			return max_t(u32, ref->odr, odr);
 		else
 			return odr;
 	} else {
@@ -1395,7 +1396,8 @@ static u16 st_lsm6dsx_check_odr_dependency(struct st_lsm6dsx_hw *hw, u16 odr,
 	}
 }
 
-static int st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u16 req_odr)
+static int
+st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u32 req_odr)
 {
 	struct st_lsm6dsx_sensor *ref_sensor = sensor;
 	struct st_lsm6dsx_hw *hw = sensor->hw;
@@ -1409,7 +1411,7 @@ static int st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u16 req_odr)
 	case ST_LSM6DSX_ID_EXT1:
 	case ST_LSM6DSX_ID_EXT2:
 	case ST_LSM6DSX_ID_ACC: {
-		u16 odr;
+		u32 odr;
 		int i;
 
 		/*
@@ -1449,7 +1451,7 @@ int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
 				 bool enable)
 {
 	struct st_lsm6dsx_hw *hw = sensor->hw;
-	u16 odr = enable ? sensor->odr : 0;
+	u32 odr = enable ? sensor->odr : 0;
 	int err;
 
 	err = st_lsm6dsx_set_odr(sensor, odr);
@@ -1475,7 +1477,7 @@ static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor,
 	if (err < 0)
 		return err;
 
-	delay = 1000000 / sensor->odr;
+	delay = 1000000000 / sensor->odr;
 	usleep_range(delay, 2 * delay);
 
 	err = st_lsm6dsx_read_locked(hw, addr, &data, sizeof(data));
@@ -1507,8 +1509,9 @@ static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev,
 		iio_device_release_direct_mode(iio_dev);
 		break;
 	case IIO_CHAN_INFO_SAMP_FREQ:
-		*val = sensor->odr;
-		ret = IIO_VAL_INT;
+		*val = sensor->odr / 1000;
+		*val2 = (sensor->odr % 1000) * 1000;
+		ret = IIO_VAL_INT_PLUS_MICRO;
 		break;
 	case IIO_CHAN_INFO_SCALE:
 		*val = 0;
@@ -1541,6 +1544,7 @@ static int st_lsm6dsx_write_raw(struct iio_dev *iio_dev,
 	case IIO_CHAN_INFO_SAMP_FREQ: {
 		u8 data;
 
+		val = val * 1000 + val2 / 1000;
 		val = st_lsm6dsx_check_odr(sensor, val, &data);
 		if (val < 0)
 			err = val;
@@ -1730,8 +1734,9 @@ st_lsm6dsx_sysfs_sampling_frequency_avail(struct device *dev,
 
 	odr_table = &sensor->hw->settings->odr_table[sensor->id];
 	for (i = 0; i < odr_table->odr_len; i++)
-		len += scnprintf(buf + len, PAGE_SIZE - len, "%d ",
-				 odr_table->odr_avl[i].hz);
+		len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%03d ",
+				 odr_table->odr_avl[i].milli_hz / 1000,
+				 odr_table->odr_avl[i].milli_hz % 1000);
 	buf[len - 1] = '\n';
 
 	return len;
@@ -2037,7 +2042,7 @@ static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
 	sensor = iio_priv(iio_dev);
 	sensor->id = id;
 	sensor->hw = hw;
-	sensor->odr = hw->settings->odr_table[id].odr_avl[0].hz;
+	sensor->odr = hw->settings->odr_table[id].odr_avl[0].milli_hz;
 	sensor->gain = hw->settings->fs_table[id].fs_avl[0].gain;
 	sensor->watermark = 1;
 

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c

@@ -51,10 +51,10 @@ static const struct st_lsm6dsx_ext_dev_settings st_lsm6dsx_ext_dev_table[] = {
 				.addr = 0x60,
 				.mask = GENMASK(3, 2),
 			},
-			.odr_avl[0] = {  10, 0x0 },
-			.odr_avl[1] = {  20, 0x1 },
-			.odr_avl[2] = {  50, 0x2 },
-			.odr_avl[3] = { 100, 0x3 },
+			.odr_avl[0] = {  10000, 0x0 },
+			.odr_avl[1] = {  20000, 0x1 },
+			.odr_avl[2] = {  50000, 0x2 },
+			.odr_avl[3] = { 100000, 0x3 },
 			.odr_len = 4,
 		},
 		.fs_table = {
@@ -94,11 +94,11 @@ static const struct st_lsm6dsx_ext_dev_settings st_lsm6dsx_ext_dev_table[] = {
 static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw)
 {
 	struct st_lsm6dsx_sensor *sensor;
-	u16 odr;
+	u32 odr;
 
 	sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
-	odr = (hw->enable_mask & BIT(ST_LSM6DSX_ID_ACC)) ? sensor->odr : 13;
-	msleep((2000U / odr) + 1);
+	odr = (hw->enable_mask & BIT(ST_LSM6DSX_ID_ACC)) ? sensor->odr : 12500;
+	msleep((2000000U / odr) + 1);
 }
 
 /**
@@ -318,14 +318,14 @@ st_lsm6dsx_shub_write_with_mask(struct st_lsm6dsx_sensor *sensor,
 
 static int
 st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor,
-			    u16 odr, u16 *val)
+			    u32 odr, u16 *val)
 {
 	const struct st_lsm6dsx_ext_dev_settings *settings;
 	int i;
 
 	settings = sensor->ext_info.settings;
 	for (i = 0; i < settings->odr_table.odr_len; i++) {
-		if (settings->odr_table.odr_avl[i].hz == odr)
+		if (settings->odr_table.odr_avl[i].milli_hz == odr)
 			break;
 	}
 
@@ -337,7 +337,7 @@ st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor,
 }
 
 static int
-st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u16 odr)
+st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u32 odr)
 {
 	const struct st_lsm6dsx_ext_dev_settings *settings;
 	u16 val;
@@ -442,7 +442,7 @@ st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor,
 	if (err < 0)
 		return err;
 
-	delay = 1000000 / sensor->odr;
+	delay = 1000000000 / sensor->odr;
 	usleep_range(delay, 2 * delay);
 
 	len = min_t(int, sizeof(data), ch->scan_type.realbits >> 3);
@@ -482,8 +482,9 @@ st_lsm6dsx_shub_read_raw(struct iio_dev *iio_dev,
 		iio_device_release_direct_mode(iio_dev);
 		break;
 	case IIO_CHAN_INFO_SAMP_FREQ:
-		*val = sensor->odr;
-		ret = IIO_VAL_INT;
+		*val = sensor->odr / 1000;
+		*val2 = (sensor->odr % 1000) * 1000;
+		ret = IIO_VAL_INT_PLUS_MICRO;
 		break;
 	case IIO_CHAN_INFO_SCALE:
 		*val = 0;
@@ -514,6 +515,7 @@ st_lsm6dsx_shub_write_raw(struct iio_dev *iio_dev,
 	case IIO_CHAN_INFO_SAMP_FREQ: {
 		u16 data;
 
+		val = val * 1000 + val2 / 1000;
 		err = st_lsm6dsx_shub_get_odr_val(sensor, val, &data);
 		if (!err)
 			sensor->odr = val;
@@ -540,9 +542,10 @@ st_lsm6dsx_shub_sampling_freq_avail(struct device *dev,
 
 	settings = sensor->ext_info.settings;
 	for (i = 0; i < settings->odr_table.odr_len; i++) {
-		u16 val = settings->odr_table.odr_avl[i].hz;
+		u32 val = settings->odr_table.odr_avl[i].milli_hz;
 
-		len += scnprintf(buf + len, PAGE_SIZE - len, "%d ", val);
+		len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%03d ",
+				 val / 1000, val % 1000);
 	}
 	buf[len - 1] = '\n';
 
@@ -607,7 +610,7 @@ st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw,
 	sensor = iio_priv(iio_dev);
 	sensor->id = id;
 	sensor->hw = hw;
-	sensor->odr = info->odr_table.odr_avl[0].hz;
+	sensor->odr = info->odr_table.odr_avl[0].milli_hz;
 	sensor->gain = info->fs_table.fs_avl[0].gain;
 	sensor->ext_info.settings = info;
 	sensor->ext_info.addr = i2c_addr;