Do not change the sampling rate value. Let userspace decide what
is the sampling rate to use.
Read only the requested axis.
Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx>
---
drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c | 34 +++++++++-------------
1 file changed, 13 insertions(+), 21 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
index 4f192352521e..607104a2631e 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
@@ -319,36 +319,36 @@ int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
{
unsigned int user_ctrl, status;
- __be16 data[3];
+ __be16 data;
uint8_t addr;
- uint8_t d;
- unsigned int period_ms;
+ unsigned int freq_hz, period_ms;
int ret;
/* quit if chip is not supported */
if (!inv_magn_supported(st))
return -ENODEV;
- /* Mag data: X - Y - Z */
+ /* Mag data: XH,XL,YH,YL,ZH,ZL */
switch (axis) {
case IIO_MOD_X:
addr = 0;
break;
case IIO_MOD_Y:
- addr = 1;
+ addr = 2;
break;
case IIO_MOD_Z:
- addr = 2;
+ addr = 4;
break;
default:
return -EINVAL;
}
+ addr += INV_MPU6050_REG_EXT_SENS_DATA;
- /* set sample rate to max mag freq */
- d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU_MAGN_FREQ_HZ_MAX);
- ret = regmap_write(st->map, st->reg->sample_rate_div, d);
- if (ret)
- return ret;
+ /* compute period depending on current sampling rate */
+ freq_hz = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
+ if (freq_hz > INV_MPU_MAGN_FREQ_HZ_MAX)
+ freq_hz = INV_MPU_MAGN_FREQ_HZ_MAX;
+ period_ms = 1000 / freq_hz;
/* start i2c master, wait for xfer, stop */
user_ctrl = st->chip_config.user_ctrl | INV_MPU6050_BIT_I2C_MST_EN;
@@ -357,19 +357,12 @@ int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
return ret;
/* need to wait 2 periods + half-period margin */
- period_ms = 1000 / INV_MPU_MAGN_FREQ_HZ_MAX;
msleep(period_ms * 2 + period_ms / 2);
user_ctrl = st->chip_config.user_ctrl;
ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
if (ret)
return ret;
- /* restore sample rate */
- d = st->chip_config.divider;
- ret = regmap_write(st->map, st->reg->sample_rate_div, d);
- if (ret)
- return ret;
-
/* check i2c status and read raw data */
ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
if (ret)
@@ -379,12 +372,11 @@ int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
status & INV_MPU6050_BIT_I2C_SLV1_NACK)
return -EIO;
- ret = regmap_bulk_read(st->map, INV_MPU6050_REG_EXT_SENS_DATA,
- data, sizeof(data));
+ ret = regmap_bulk_read(st->map, addr, &data, sizeof(data));
if (ret)
return ret;
- *val = (int16_t)be16_to_cpu(data[addr]);
+ *val = (int16_t)be16_to_cpu(data);
return IIO_VAL_INT;
}
--
2.17.1
