From: Baptiste Mansuy <bmansuy@invensense.com>
To: linux-iio@vger.kernel.org
Cc: Baptiste Mansuy <bmansuy@invensense.com>
Subject: [PATCH] Add startup time for each chip using inv_mpu6050 driver
Date: Mon, 21 Jun 2021 10:57:31 +0200 [thread overview]
Message-ID: <20210621085731.9212-1-bmansuy@invensense.com> (raw)
Add startup time for each chip familly. This allows a better behaviour of
the gyro and the accel. The gyro has now the time to stabilise itself
thus making initial data discarding for gyro irrelevant.
Signed-off-by: Baptiste Mansuy <bmansuy@invensense.com>
---
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 22 +++++++++++++++----
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 18 +++++++++++++--
drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 15 ++-----------
3 files changed, 36 insertions(+), 19 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 6244a07048df..50be32b60f19 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -143,6 +143,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6050,
.fifo_size = 1024,
.temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
+ .startup_time = {INV_MPU6050_GYRO_STARTUP_TIME, INV_MPU6050_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_MPU6500_WHOAMI_VALUE,
@@ -151,6 +152,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_MPU6515_WHOAMI_VALUE,
@@ -159,6 +161,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_MPU6880_WHOAMI_VALUE,
@@ -167,6 +170,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6500,
.fifo_size = 4096,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_MPU6000_WHOAMI_VALUE,
@@ -175,6 +179,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6050,
.fifo_size = 1024,
.temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
+ .startup_time = {INV_MPU6050_GYRO_STARTUP_TIME, INV_MPU6050_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_MPU9150_WHOAMI_VALUE,
@@ -183,6 +188,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6050,
.fifo_size = 1024,
.temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
+ .startup_time = {INV_MPU6050_GYRO_STARTUP_TIME, INV_MPU6050_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_MPU9250_WHOAMI_VALUE,
@@ -191,6 +197,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_MPU9255_WHOAMI_VALUE,
@@ -199,6 +206,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_ICM20608_WHOAMI_VALUE,
@@ -207,6 +215,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_ICM20609_WHOAMI_VALUE,
@@ -215,6 +224,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6500,
.fifo_size = 4 * 1024,
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_ICM20689_WHOAMI_VALUE,
@@ -223,6 +233,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6500,
.fifo_size = 4 * 1024,
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_ICM20602_WHOAMI_VALUE,
@@ -231,6 +242,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6500,
.fifo_size = 1008,
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_ICM20602_GYRO_STARTUP_TIME, INV_ICM20602_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_ICM20690_WHOAMI_VALUE,
@@ -239,6 +251,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6500,
.fifo_size = 1024,
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_ICM20690_GYRO_STARTUP_TIME, INV_ICM20690_ACCEL_STARTUP_TIME},
},
{
.whoami = INV_IAM20680_WHOAMI_VALUE,
@@ -247,6 +260,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ .startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
},
};
@@ -379,12 +393,12 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
sleep = 0;
if (en) {
if (mask & INV_MPU6050_SENSOR_ACCL) {
- if (sleep < INV_MPU6050_ACCEL_UP_TIME)
- sleep = INV_MPU6050_ACCEL_UP_TIME;
+ if (sleep < st->hw->startup_time.accel)
+ sleep = st->hw->startup_time.accel;
}
if (mask & INV_MPU6050_SENSOR_GYRO) {
- if (sleep < INV_MPU6050_GYRO_UP_TIME)
- sleep = INV_MPU6050_GYRO_UP_TIME;
+ if (sleep < st->hw->startup_time.gyro)
+ sleep = st->hw->startup_time.gyro;
}
} else {
if (mask & INV_MPU6050_SENSOR_GYRO) {
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 58188dc0dd13..c6aa36ee966a 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -149,6 +149,10 @@ struct inv_mpu6050_hw {
int offset;
int scale;
} temp;
+ struct {
+ unsigned int accel;
+ unsigned int gyro;
+ } startup_time;
};
/*
@@ -320,11 +324,21 @@ struct inv_mpu6050_state {
/* delay time in milliseconds */
#define INV_MPU6050_POWER_UP_TIME 100
#define INV_MPU6050_TEMP_UP_TIME 100
-#define INV_MPU6050_ACCEL_UP_TIME 20
-#define INV_MPU6050_GYRO_UP_TIME 35
+#define INV_MPU6050_ACCEL_STARTUP_TIME 20
+#define INV_MPU6050_GYRO_STARTUP_TIME 60
#define INV_MPU6050_GYRO_DOWN_TIME 150
#define INV_MPU6050_SUSPEND_DELAY_MS 2000
+#define INV_MPU6500_GYRO_STARTUP_TIME 70
+#define INV_MPU6500_ACCEL_STARTUP_TIME 30
+
+#define INV_ICM20602_GYRO_STARTUP_TIME 100
+#define INV_ICM20602_ACCEL_STARTUP_TIME 20
+
+#define INV_ICM20690_GYRO_STARTUP_TIME 80
+#define INV_ICM20690_ACCEL_STARTUP_TIME 10
+
+
/* delay time in microseconds */
#define INV_MPU6050_REG_UP_TIME_MIN 5000
#define INV_MPU6050_REG_UP_TIME_MAX 10000
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index e21ba778595a..28416a09c462 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -91,22 +91,11 @@ static unsigned int inv_scan_query(struct iio_dev *indio_dev)
static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
{
- unsigned int gyro_skip = 0;
- unsigned int magn_skip = 0;
- unsigned int skip_samples;
-
- /* gyro first sample is out of specs, skip it */
- if (st->chip_config.gyro_fifo_enable)
- gyro_skip = 1;
+ unsigned int skip_samples = 0;
/* mag first sample is always not ready, skip it */
if (st->chip_config.magn_fifo_enable)
- magn_skip = 1;
-
- /* compute first samples to skip */
- skip_samples = gyro_skip;
- if (magn_skip > skip_samples)
- skip_samples = magn_skip;
+ skip_samples = 1;
return skip_samples;
}
--
2.25.1
next reply other threads:[~2021-06-21 9:10 UTC|newest]
Thread overview: 5+ messages / expand[flat|nested] mbox.gz Atom feed top
2021-06-21 8:57 Baptiste Mansuy [this message]
2021-06-21 9:16 ` --[[SPOOF or PHISHING]]--[PATCH] Add startup time for each chip using inv_mpu6050 driver Jean-Baptiste Maneyrol
2021-07-01 7:43 ` --[[SPOOF or PHISHING]]--Re: " Jean-Baptiste Maneyrol
2021-07-04 17:32 ` Jonathan Cameron
2021-07-18 14:41 ` Jonathan Cameron
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