Donate to e Foundation | Murena handsets with /e/OS | Own a part of Murena! Learn more

Commit 948588e2 authored by Jean-Baptiste Maneyrol's avatar Jean-Baptiste Maneyrol Committed by Jonathan Cameron
Browse files

iio: imu: inv_mpu6050: add accel lpf setting for chip >= MPU6500 



Starting from MPU6500, accelerometer dlpf is set in a separate
register named ACCEL_CONFIG_2.
Add this new register in the map and set it for the corresponding
chips.

Signed-off-by: default avatarJean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Cc: stable@vger.kernel.org
Signed-off-by: default avatarJonathan Cameron <jic23@kernel.org>
parent 95264c8c

drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

+36 −3
Original line number Diff line number Diff line
@@ -41,6 +41,7 @@ static const int accel_scale[] = {598, 1196, 2392, 4785}; 
static const struct inv_mpu6050_reg_map reg_set_6500 = {

	.sample_rate_div	= INV_MPU6050_REG_SAMPLE_RATE_DIV,

	.lpf                    = INV_MPU6050_REG_CONFIG,

	.accel_lpf              = INV_MPU6500_REG_ACCEL_CONFIG_2,

	.user_ctrl              = INV_MPU6050_REG_USER_CTRL,

	.fifo_en                = INV_MPU6050_REG_FIFO_EN,

	.gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
@@ -210,6 +211,37 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on) 
}

EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);



/**

 *  inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent

 *

 *  MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope

 *  MPU6500 and above have a dedicated register for accelerometer

 */

static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,

				    enum inv_mpu6050_filter_e val)

{

	int result;



	result = regmap_write(st->map, st->reg->lpf, val);

	if (result)

		return result;



	switch (st->chip_type) {

	case INV_MPU6050:

	case INV_MPU6000:

	case INV_MPU9150:

		/* old chips, nothing to do */

		result = 0;

		break;

	default:

		/* set accel lpf */

		result = regmap_write(st->map, st->reg->accel_lpf, val);

		break;

	}



	return result;

}



/**

 *  inv_mpu6050_init_config() - Initialize hardware, disable FIFO.

 *
@@ -233,8 +265,7 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev) 
	if (result)

		return result;



	d = INV_MPU6050_FILTER_20HZ;

	result = regmap_write(st->map, st->reg->lpf, d);

	result = inv_mpu6050_set_lpf_regs(st, INV_MPU6050_FILTER_20HZ);

	if (result)

		return result;
@@ -537,6 +568,8 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev, 
 *                  would be alising. This function basically search for the

 *                  correct low pass parameters based on the fifo rate, e.g,

 *                  sampling frequency.

 *

 *  lpf is set automatically when setting sampling rate to avoid any aliases.

 */

static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)

{
@@ -552,7 +585,7 @@ static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate) 
	while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))

		i++;

	data = d[i];

	result = regmap_write(st->map, st->reg->lpf, data);

	result = inv_mpu6050_set_lpf_regs(st, data);

	if (result)

		return result;

	st->chip_config.lpf = data;

drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

+3 −0
Original line number Diff line number Diff line
@@ -28,6 +28,7 @@ 
 *  struct inv_mpu6050_reg_map - Notable registers.

 *  @sample_rate_div:	Divider applied to gyro output rate.

 *  @lpf:		Configures internal low pass filter.

 *  @accel_lpf:		Configures accelerometer low pass filter.

 *  @user_ctrl:		Enables/resets the FIFO.

 *  @fifo_en:		Determines which data will appear in FIFO.

 *  @gyro_config:	gyro config register.
@@ -47,6 +48,7 @@ 
struct inv_mpu6050_reg_map {

	u8 sample_rate_div;

	u8 lpf;

	u8 accel_lpf;

	u8 user_ctrl;

	u8 fifo_en;

	u8 gyro_config;
@@ -188,6 +190,7 @@ struct inv_mpu6050_state { 
#define INV_MPU6050_FIFO_THRESHOLD           500



/* mpu6500 registers */

#define INV_MPU6500_REG_ACCEL_CONFIG_2      0x1D

#define INV_MPU6500_REG_ACCEL_OFFSET        0x77



/* delay time in milliseconds */