Commit e46a36d9 authored by Baptiste Mansuy's avatar Baptiste Mansuy Committed by Jonathan Cameron
Browse files

Add startup time for each chip using inv_mpu6050 driver 



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: default avatarBaptiste Mansuy <bmansuy@invensense.com>
Acked-by: default avatarJean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Link: https://lore.kernel.org/r/20210621085731.9212-1-bmansuy@invensense.com


Signed-off-by: default avatarJonathan Cameron <Jonathan.Cameron@huawei.com>
parent d372e5a1

drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

+18 −4
Original line number Diff line number Diff line
@@ -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) {

drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

+16 −2
Original line number Diff line number Diff line
@@ -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

drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c

+2 −13
Original line number Diff line number Diff line
@@ -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;

}