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iio: imu: inv_mpu6050: skip first sample when gyro is on

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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 <jmaneyrol@invensense.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Jean-Baptiste Maneyrol 2018-04-30 12:14:10 +02:00 committed by Jonathan Cameron
parent ca4c8fc97e
commit c2b82a690c
3 changed files with 10 additions and 1 deletions
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1
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
View file

@ -148,6 +148,7 @@ struct inv_mpu6050_state {
struct regmap *map;
int irq;
u8 irq_mask;
unsigned skip_samples;
};
/*register and associated bit definition*/

7
drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
View file

@ -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;
}

3
drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
View file

@ -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,