> Moved functionality from IIO_DEV_ATTR_SAMP_FREQ macro into
> IIO_CHAN_INFO_SAMP_FREQ in order to create a generic attribute.
> Modified inv_mpu6050_read_raw and inv_mpu6050_write_raw to allow
> reading and writing the element.
comments below
> Signed-off-by: Juliana Rodrigues <juliana.orod@xxxxxxxxx>
> ---
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 187 ++++++++++++++---------------
> 1 file changed, 92 insertions(+), 95 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index b9fcbf1..20722c8 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -263,6 +263,88 @@ static int inv_mpu6050_sensor_set(struct inv_mpu6050_state *st, int reg,
> return 0;
> }
>
> +/**
> + * inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
filter
> + *
> + * Based on the Nyquist principle, the sampling rate must
> + * exceed twice of the bandwidth of the signal, or there
> + * would be alising. This function basically search for the
will be
searches
> + * correct low pass parameters based on the fifo rate, e.g,
e.g.
but maybe it should be rather i.e.
> + * sampling frequency.
> + */
> +static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
> +{
> + const int hz[] = {188, 98, 42, 20, 10, 5};
> + const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
> + INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
> + INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
it is not/only somewhat obvious that hz and d must have the same number of
entries, could use a #define to make that clear (and could be used
instead of ARRAY_SIZE)
> + int i, h, result;
> + u8 data;
> +
> + h = (rate >> 1);
> + i = 0;
i, h could be unsigned
can't we use initialization instead of assignment to save some lines?
> + while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
> + i++;
> + data = d[i];
> + result = regmap_write(st->map, st->reg->lpf, data);
> + if (result)
> + return result;
> + st->chip_config.lpf = data;
> +
> + return 0;
> +}
> +
> +/**
> + * inv_mpu6050_write_raw_samp_freq() - Set current raw sampling rate.
frequency is not the same as rate
> + */
> +static int inv_mpu6050_write_raw_samp_freq(struct iio_dev *indio_dev,
> + struct inv_mpu6050_state *st,
> + int val) {
> +
> + u8 d;
> + int result;
> +
> + if (val < INV_MPU6050_MIN_FIFO_RATE || val > INV_MPU6050_MAX_FIFO_RATE)
> + return -EINVAL;
> + if (val == st->chip_config.fifo_rate)
> + return 0;
> +
> + mutex_lock(&indio_dev->mlock);
> + if (st->chip_config.enable) {
> + result = -EBUSY;
> + goto fifo_rate_fail;
> + }
> +
> + result = inv_mpu6050_set_power_itg(st, true);
> + if (result)
> + goto fifo_rate_fail;
> +
> + d = INV_MPU6050_ONE_K_HZ / val - 1;
> +
> + result = regmap_write(st->map, st->reg->sample_rate_div, d);
> +
drop newline
> + if (result)
> + goto fifo_rate_fail;
> +
> + st->chip_config.fifo_rate = val;
> +
> + result = inv_mpu6050_set_lpf(st, val);
> +
drop newline
> + if (result)
> + goto fifo_rate_fail;
> +
> +fifo_rate_fail:
> + result |= inv_mpu6050_set_power_itg(st, false);
> + mutex_unlock(&indio_dev->mlock);
> +
just
return result;
> + if (result)
> + return result;
> +
> + return 0;
> +
> +}
> +
> +
> static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
> int axis, int *val)
> {
> @@ -399,6 +481,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
> default:
> return -EINVAL;
> }
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + *val = st->chip_config.fifo_rate;
> +
> + return IIO_VAL_INT;
> default:
> return -EINVAL;
> }
> @@ -511,6 +597,10 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
> default:
> result = -EINVAL;
> }
> + break;
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + result = inv_mpu6050_write_raw_samp_freq(indio_dev, st, val);
> + break;
> default:
> result = -EINVAL;
> break;
> @@ -524,98 +614,6 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
> }
>
> /**
> - * inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
> - *
> - * Based on the Nyquist principle, the sampling rate must
> - * exceed twice of the bandwidth of the signal, or there
> - * would be alising. This function basically search for the
> - * correct low pass parameters based on the fifo rate, e.g,
> - * sampling frequency.
> - */
> -static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
> -{
> - const int hz[] = {188, 98, 42, 20, 10, 5};
> - const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
> - INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
> - INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
> - int i, h, result;
> - u8 data;
> -
> - h = (rate >> 1);
> - i = 0;
> - while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
> - i++;
> - data = d[i];
> - result = regmap_write(st->map, st->reg->lpf, data);
> - if (result)
> - return result;
> - st->chip_config.lpf = data;
> -
> - return 0;
> -}
> -
> -/**
> - * inv_mpu6050_fifo_rate_store() - Set fifo rate.
> - */
> -static ssize_t
> -inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
> - const char *buf, size_t count)
> -{
> - s32 fifo_rate;
> - u8 d;
> - int result;
> - struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> - struct inv_mpu6050_state *st = iio_priv(indio_dev);
> -
> - if (kstrtoint(buf, 10, &fifo_rate))
> - return -EINVAL;
> - if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
> - fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
> - return -EINVAL;
> - if (fifo_rate == st->chip_config.fifo_rate)
> - return count;
> -
> - mutex_lock(&indio_dev->mlock);
> - if (st->chip_config.enable) {
> - result = -EBUSY;
> - goto fifo_rate_fail;
> - }
> - result = inv_mpu6050_set_power_itg(st, true);
> - if (result)
> - goto fifo_rate_fail;
> -
> - d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
> - result = regmap_write(st->map, st->reg->sample_rate_div, d);
> - if (result)
> - goto fifo_rate_fail;
> - st->chip_config.fifo_rate = fifo_rate;
> -
> - result = inv_mpu6050_set_lpf(st, fifo_rate);
> - if (result)
> - goto fifo_rate_fail;
> -
> -fifo_rate_fail:
> - result |= inv_mpu6050_set_power_itg(st, false);
> - mutex_unlock(&indio_dev->mlock);
> - if (result)
> - return result;
> -
> - return count;
> -}
> -
> -/**
> - * inv_fifo_rate_show() - Get the current sampling rate.
> - */
> -static ssize_t
> -inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
> - char *buf)
> -{
> - struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
> -
> - return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
> -}
> -
> -/**
> * inv_attr_show() - calling this function will show current
> * parameters.
> *
> @@ -686,6 +684,7 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = {
> .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
> .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
> BIT(IIO_CHAN_INFO_CALIBBIAS), \
> + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
> .scan_index = _index, \
> .scan_type = { \
> .sign = 's', \
> @@ -708,6 +707,7 @@ static const struct iio_chan_spec inv_mpu_channels[] = {
> .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
> | BIT(IIO_CHAN_INFO_OFFSET)
> | BIT(IIO_CHAN_INFO_SCALE),
> + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
> .scan_index = -1,
> },
> INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
> @@ -725,8 +725,6 @@ static IIO_CONST_ATTR(in_anglvel_scale_available,
> "0.000133090 0.000266181 0.000532362 0.001064724");
> static IIO_CONST_ATTR(in_accel_scale_available,
> "0.000598 0.001196 0.002392 0.004785");
> -static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
> - inv_mpu6050_fifo_rate_store);
>
> /* Deprecated: kept for userspace backward compatibility. */
> static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
> @@ -737,7 +735,6 @@ static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
> static struct attribute *inv_attributes[] = {
> &iio_dev_attr_in_gyro_matrix.dev_attr.attr, /* deprecated */
> &iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
> - &iio_dev_attr_sampling_frequency.dev_attr.attr,
> &iio_const_attr_sampling_frequency_available.dev_attr.attr,
> &iio_const_attr_in_accel_scale_available.dev_attr.attr,
> &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
>
--
Peter Meerwald-Stadler
+43-664-2444418 (mobile)
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