Hello Jonathan,
any news about this patch?
Thanks for your feedback,
JB
From: Jean-Baptiste Maneyrol <JManeyrol@xxxxxxxxxxxxxx>
Sent: Monday, June 21, 2021 11:16
To: Baptiste Mansuy <bmansuy@xxxxxxxxxxxxxx>; linux-iio@xxxxxxxxxxxxxxx <linux-iio@xxxxxxxxxxxxxxx>
Subject: --[[SPOOF or PHISHING]]--Re: --[[SPOOF or PHISHING]]--[PATCH] Add startup time for each chip using inv_mpu6050 driver
CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe.
Hello,
looks good for me, thanks for the patch.
Acked-by: Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx>
Thanks,
JB
From: Baptiste Mansuy <bmansuy@xxxxxxxxxxxxxx>
Sent: Monday, June 21, 2021 10:57
To: linux-iio@xxxxxxxxxxxxxxx <linux-iio@xxxxxxxxxxxxxxx>
Cc: Baptiste Mansuy <bmansuy@xxxxxxxxxxxxxx>
Subject: --[[SPOOF or PHISHING]]--[PATCH] Add startup time for each chip using inv_mpu6050 driver
CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe.
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@xxxxxxxxxxxxxx>
---
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
