From c2b82a690c9bc5dd1da4c12150dc2a0d3d570e97 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Maneyrol Date: Mon, 30 Apr 2018 12:14:10 +0200 Subject: 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: Jean-Baptiste Maneyrol Signed-off-by: Jonathan Cameron --- drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 1 + drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 7 ++++++- drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 3 +++ 3 files changed, 10 insertions(+), 1 deletion(-) (limited to 'drivers/iio') diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h index 142a835a29e4..dfb9e4e8c40a 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h @@ -148,6 +148,7 @@ struct inv_mpu6050_state { struct regmap *map; int irq; u8 irq_mask; + unsigned skip_samples; }; /*register and associated bit definition*/ diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c index e51404fdce97..1b5735474728 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c @@ -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; } diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c index 8a9f869b9d14..f4b1c7135bfd 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c @@ -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, -- cgit v1.2.3-58-ga151