From: Jonathan Cameron <jic23@xxxxxxxxx>
Bartlett filter used. Values read of figures on datasheet
so far from precise.
Signed-off-by: Jonathan Cameron <jic23@xxxxxxxxx>
---
drivers/staging/iio/imu/adis16400.h | 2 +
drivers/staging/iio/imu/adis16400_core.c | 177 +++++++++++++++++++++++------
2 files changed, 142 insertions(+), 37 deletions(-)
diff --git a/drivers/staging/iio/imu/adis16400.h b/drivers/staging/iio/imu/adis16400.h
index f3546ee..83d133e 100644
--- a/drivers/staging/iio/imu/adis16400.h
+++ b/drivers/staging/iio/imu/adis16400.h
@@ -148,12 +148,14 @@ struct adis16400_chip_info {
* @tx: transmit buffer
* @rx: receive buffer
* @buf_lock: mutex to protect tx and rx
+ * @filt_int: integer part of requested filter frequency
**/
struct adis16400_state {
struct spi_device *us;
struct iio_trigger *trig;
struct mutex buf_lock;
struct adis16400_chip_info *variant;
+ int filt_int;
u8 tx[ADIS16400_MAX_TX] ____cacheline_aligned;
u8 rx[ADIS16400_MAX_RX] ____cacheline_aligned;
diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c
index a6da69f..de12f9a 100644
--- a/drivers/staging/iio/imu/adis16400_core.c
+++ b/drivers/staging/iio/imu/adis16400_core.c
@@ -161,25 +161,65 @@ error_ret:
return ret;
}
+static int adis16400_get_freq(struct iio_dev *indio_dev)
+{
+ u16 t;
+ int sps, ret;
+
+ ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t);
+ if (ret < 0)
+ return ret;
+ sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
+ sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
+
+ return sps;
+}
+
static ssize_t adis16400_read_frequency(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
int ret, len = 0;
- u16 t;
- int sps;
- ret = adis16400_spi_read_reg_16(indio_dev,
- ADIS16400_SMPL_PRD,
- &t);
- if (ret)
+ ret = adis16400_get_freq(indio_dev);
+ if (ret < 0)
return ret;
- sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
- sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
- len = sprintf(buf, "%d SPS\n", sps);
+ len = sprintf(buf, "%d SPS\n", ret);
return len;
}
+static const unsigned adis16400_3db_divisors[] = {
+ [0] = 2, /* Special case */
+ [1] = 5,
+ [2] = 10,
+ [3] = 50,
+ [4] = 200,
+};
+
+static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
+{
+ int i, ret;
+ u16 val16;
+ for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 0; i--)
+ if (sps/adis16400_3db_divisors[i] > val)
+ break;
+ if (i == -1)
+ ret = -EINVAL;
+ else {
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ ADIS16400_SENS_AVG,
+ &val16);
+ if (ret < 0)
+ goto error_ret;
+
+ ret = adis16400_spi_write_reg_16(indio_dev,
+ ADIS16400_SENS_AVG,
+ (val16 & ~0x03) | i);
+ }
+error_ret:
+ return ret;
+}
+
static ssize_t adis16400_write_frequency(struct device *dev,
struct device_attribute *attr,
const char *buf,
@@ -210,6 +250,7 @@ static ssize_t adis16400_write_frequency(struct device *dev,
ADIS16400_SMPL_PRD,
t);
+ /* Also update the filter */
mutex_unlock(&indio_dev->mlock);
return ret ? ret : len;
@@ -455,13 +496,15 @@ static u8 adis16400_addresses[17][2] = {
[incli_y] = { ADIS16300_ROLL_OUT }
};
+
static int adis16400_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int val,
int val2,
long mask)
{
- int ret;
+ struct adis16400_state *st = iio_priv(indio_dev);
+ int ret, sps;
switch (mask) {
case IIO_CHAN_INFO_CALIBBIAS:
@@ -471,6 +514,21 @@ static int adis16400_write_raw(struct iio_dev *indio_dev,
val);
mutex_unlock(&indio_dev->mlock);
return ret;
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ /* Need to cache values so we can update if the frequency
+ changes */
+ mutex_lock(&indio_dev->mlock);
+ st->filt_int = val;
+ /* Work out update to current value */
+ sps = adis16400_get_freq(indio_dev);
+ if (sps < 0) {
+ mutex_unlock(&indio_dev->mlock);
+ return sps;
+ }
+
+ ret = adis16400_set_filter(indio_dev, sps, val);
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
default:
return -EINVAL;
}
@@ -548,6 +606,24 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
*val = 198;
*val2 = 160000;
return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ mutex_lock(&indio_dev->mlock);
+ /* Need both the number of taps and the sampling frequency */
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ ADIS16400_SENS_AVG,
+ &val16);
+ if (ret < 0) {
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
+ }
+ ret = adis16400_get_freq(indio_dev);
+ if (ret > 0)
+ *val = ret/adis16400_3db_divisors[val16 & 0x03];
+ *val2 = 0;
+ mutex_unlock(&indio_dev->mlock);
+ if (ret < 0)
+ return ret;
+ return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
@@ -568,7 +644,8 @@ static struct iio_chan_spec adis16400_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_X,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_x,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0)
@@ -577,7 +654,8 @@ static struct iio_chan_spec adis16400_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Y,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_y,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -586,7 +664,8 @@ static struct iio_chan_spec adis16400_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Z,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_z,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -595,7 +674,8 @@ static struct iio_chan_spec adis16400_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_X,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_x,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -604,7 +684,8 @@ static struct iio_chan_spec adis16400_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Y,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_y,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -613,7 +694,8 @@ static struct iio_chan_spec adis16400_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Z,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_z,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -621,7 +703,8 @@ static struct iio_chan_spec adis16400_channels[] = {
.type = IIO_MAGN,
.modified = 1,
.channel2 = IIO_MOD_X,
- .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = magn_x,
.scan_index = ADIS16400_SCAN_MAGN_X,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -629,7 +712,8 @@ static struct iio_chan_spec adis16400_channels[] = {
.type = IIO_MAGN,
.modified = 1,
.channel2 = IIO_MOD_Y,
- .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = magn_y,
.scan_index = ADIS16400_SCAN_MAGN_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -637,7 +721,8 @@ static struct iio_chan_spec adis16400_channels[] = {
.type = IIO_MAGN,
.modified = 1,
.channel2 = IIO_MOD_Z,
- .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = magn_z,
.scan_index = ADIS16400_SCAN_MAGN_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -677,7 +762,8 @@ static struct iio_chan_spec adis16350_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_X,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_x,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0)
@@ -686,7 +772,8 @@ static struct iio_chan_spec adis16350_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Y,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_y,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -695,7 +782,8 @@ static struct iio_chan_spec adis16350_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Z,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_z,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -704,7 +792,8 @@ static struct iio_chan_spec adis16350_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_X,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_x,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -713,7 +802,8 @@ static struct iio_chan_spec adis16350_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Y,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_y,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -722,7 +812,8 @@ static struct iio_chan_spec adis16350_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Z,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_z,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -732,7 +823,8 @@ static struct iio_chan_spec adis16350_channels[] = {
.channel = 0,
.extend_name = "x",
.info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = temp0,
.scan_index = ADIS16350_SCAN_TEMP_X,
.scan_type = IIO_ST('s', 12, 16, 0),
@@ -742,7 +834,8 @@ static struct iio_chan_spec adis16350_channels[] = {
.channel = 1,
.extend_name = "y",
.info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = temp1,
.scan_index = ADIS16350_SCAN_TEMP_Y,
.scan_type = IIO_ST('s', 12, 16, 0),
@@ -783,7 +876,8 @@ static struct iio_chan_spec adis16300_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_X,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_x,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -792,7 +886,8 @@ static struct iio_chan_spec adis16300_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_X,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_x,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -801,7 +896,8 @@ static struct iio_chan_spec adis16300_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Y,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_y,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -810,7 +906,8 @@ static struct iio_chan_spec adis16300_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Z,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_z,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -857,7 +954,8 @@ static const struct iio_chan_spec adis16334_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_X,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_x,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -866,7 +964,8 @@ static const struct iio_chan_spec adis16334_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Y,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_y,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -875,7 +974,8 @@ static const struct iio_chan_spec adis16334_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Z,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_z,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -884,7 +984,8 @@ static const struct iio_chan_spec adis16334_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_X,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_x,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -893,7 +994,8 @@ static const struct iio_chan_spec adis16334_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Y,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_y,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
@@ -902,7 +1004,8 @@ static const struct iio_chan_spec adis16334_channels[] = {
.modified = 1,
.channel2 = IIO_MOD_Z,
.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = accel_z,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
--
1.7.7.3
--
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