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Commit c2b82a69 authored by Jean-Baptiste Maneyrol's avatar Jean-Baptiste Maneyrol Committed by Jonathan Cameron
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iio: imu: inv_mpu6050: skip first sample when gyro is on 



Implement generic skip first samples mechanism and use it to
filter out first sample when gyro is on.

The problem for these chips is that the first sample of the gyro
is out of specs, because gyro is not completely stabilized. To
ensure all data are within sensor specs, we just skip the first
sample when turning gyro on.

Signed-off-by: default avatarJean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Signed-off-by: default avatarJonathan Cameron <Jonathan.Cameron@huawei.com>
parent ca4c8fc9

drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

+1 −0
Original line number Diff line number Diff line
@@ -148,6 +148,7 @@ struct inv_mpu6050_state { 
	struct regmap *map;

	int irq;

	u8 irq_mask;

	unsigned skip_samples;

};



/*register and associated bit definition*/

drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c

+6 −1
Original line number Diff line number Diff line
@@ -185,7 +185,12 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) 
		if (result == 0)

			timestamp = 0;



		iio_push_to_buffers_with_timestamp(indio_dev, data, timestamp);

		/* skip first samples if needed */

		if (st->skip_samples)

			st->skip_samples--;

		else

			iio_push_to_buffers_with_timestamp(indio_dev, data,

							   timestamp);



		fifo_count -= bytes_per_datum;

	}

drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c

+3 −0
Original line number Diff line number Diff line
@@ -49,11 +49,14 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable) 
		if (result)

			return result;

		inv_scan_query(indio_dev);

		st->skip_samples = 0;

		if (st->chip_config.gyro_fifo_enable) {

			result = inv_mpu6050_switch_engine(st, true,

					INV_MPU6050_BIT_PWR_GYRO_STBY);

			if (result)

				goto error_power_off;

			/* gyro first sample is out of specs, skip it */

			st->skip_samples = 1;

		}

		if (st->chip_config.accl_fifo_enable) {

			result = inv_mpu6050_switch_engine(st, true,