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

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commit 948588e25b8af5e66962ed3f53e1cae1656fa5af upstream.

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: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Signed-off-by: Jonathan Cameron <jic23@kernel.org>
Signed-off-by: Greg Kroah-Hartman <gregkh@linuxfoundation.org>
This commit is contained in:
Jean-Baptiste Maneyrol 2017-05-29 09:59:40 +00:00 committed by Greg Kroah-Hartman
parent f7ae7d2229
commit cf6ac3abb3
2 changed files with 39 additions and 3 deletions
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39
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
View File

@ -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,
@ -204,6 +205,37 @@ 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.
*
@ -227,8 +259,7 @@ 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;
@ -531,6 +562,8 @@ error_write_raw:
* 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)
{
@ -546,7 +579,7 @@ 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;

3
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
View File

@ -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;
@ -187,6 +189,7 @@ 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 */