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

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
...@@ -41,6 +41,7 @@ static const int accel_scale[] = {598, 1196, 2392, 4785}; ...@@ -41,6 +41,7 @@ static const int accel_scale[] = {598, 1196, 2392, 4785};
static const struct inv_mpu6050_reg_map reg_set_6500 = { static const struct inv_mpu6050_reg_map reg_set_6500 = {
.sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV, .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
.lpf = INV_MPU6050_REG_CONFIG, .lpf = INV_MPU6050_REG_CONFIG,
.accel_lpf = INV_MPU6500_REG_ACCEL_CONFIG_2,
.user_ctrl = INV_MPU6050_REG_USER_CTRL, .user_ctrl = INV_MPU6050_REG_USER_CTRL,
.fifo_en = INV_MPU6050_REG_FIFO_EN, .fifo_en = INV_MPU6050_REG_FIFO_EN,
.gyro_config = INV_MPU6050_REG_GYRO_CONFIG, .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) ...@@ -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); 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. * inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
* *
...@@ -233,8 +265,7 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev) ...@@ -233,8 +265,7 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
if (result) if (result)
return result; return result;
d = INV_MPU6050_FILTER_20HZ; result = inv_mpu6050_set_lpf_regs(st, INV_MPU6050_FILTER_20HZ);
result = regmap_write(st->map, st->reg->lpf, d);
if (result) if (result)
return result; return result;
...@@ -537,6 +568,8 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev, ...@@ -537,6 +568,8 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
* would be alising. This function basically search for the * would be alising. This function basically search for the
* correct low pass parameters based on the fifo rate, e.g, * correct low pass parameters based on the fifo rate, e.g,
* sampling frequency. * 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) 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) ...@@ -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)) while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
i++; i++;
data = d[i]; data = d[i];
result = regmap_write(st->map, st->reg->lpf, data); result = inv_mpu6050_set_lpf_regs(st, data);
if (result) if (result)
return result; return result;
st->chip_config.lpf = data; st->chip_config.lpf = data;
......
...@@ -28,6 +28,7 @@ ...@@ -28,6 +28,7 @@
* struct inv_mpu6050_reg_map - Notable registers. * struct inv_mpu6050_reg_map - Notable registers.
* @sample_rate_div: Divider applied to gyro output rate. * @sample_rate_div: Divider applied to gyro output rate.
* @lpf: Configures internal low pass filter. * @lpf: Configures internal low pass filter.
* @accel_lpf: Configures accelerometer low pass filter.
* @user_ctrl: Enables/resets the FIFO. * @user_ctrl: Enables/resets the FIFO.
* @fifo_en: Determines which data will appear in FIFO. * @fifo_en: Determines which data will appear in FIFO.
* @gyro_config: gyro config register. * @gyro_config: gyro config register.
...@@ -47,6 +48,7 @@ ...@@ -47,6 +48,7 @@
struct inv_mpu6050_reg_map { struct inv_mpu6050_reg_map {
u8 sample_rate_div; u8 sample_rate_div;
u8 lpf; u8 lpf;
u8 accel_lpf;
u8 user_ctrl; u8 user_ctrl;
u8 fifo_en; u8 fifo_en;
u8 gyro_config; u8 gyro_config;
...@@ -188,6 +190,7 @@ struct inv_mpu6050_state { ...@@ -188,6 +190,7 @@ struct inv_mpu6050_state {
#define INV_MPU6050_FIFO_THRESHOLD 500 #define INV_MPU6050_FIFO_THRESHOLD 500
/* mpu6500 registers */ /* mpu6500 registers */
#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
#define INV_MPU6500_REG_ACCEL_OFFSET 0x77 #define INV_MPU6500_REG_ACCEL_OFFSET 0x77
/* delay time in milliseconds */ /* delay time in milliseconds */
......
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