diff options
Diffstat (limited to 'drivers/iio/imu/inv_mpu6050/inv_mpu_core.c')
| -rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 33 |
1 files changed, 26 insertions, 7 deletions
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index 592a6e60b413..29f906c884bd 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -12,12 +12,15 @@ #include <linux/jiffies.h> #include <linux/irq.h> #include <linux/interrupt.h> -#include <linux/iio/iio.h> #include <linux/acpi.h> #include <linux/platform_device.h> #include <linux/regulator/consumer.h> #include <linux/pm.h> #include <linux/pm_runtime.h> + +#include <linux/iio/common/inv_sensors_timestamp.h> +#include <linux/iio/iio.h> + #include "inv_mpu_iio.h" #include "inv_mpu_magn.h" @@ -521,6 +524,7 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev) int result; u8 d; struct inv_mpu6050_state *st = iio_priv(indio_dev); + struct inv_sensors_timestamp_chip timestamp; result = inv_mpu6050_set_gyro_fsr(st, st->chip_config.fsr); if (result) @@ -544,12 +548,12 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev) if (result) return result; - /* - * Internal chip period is 1ms (1kHz). - * Let's use at the beginning the theorical value before measuring - * with interrupt timestamps. - */ - st->chip_period = NSEC_PER_MSEC; + /* clock jitter is +/- 2% */ + timestamp.clock_period = NSEC_PER_SEC / INV_MPU6050_INTERNAL_FREQ_HZ; + timestamp.jitter = 20; + timestamp.init_period = + NSEC_PER_SEC / INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider); + inv_sensors_timestamp_init(&st->timestamp, ×tamp); /* magn chip init, noop if not present in the chip */ result = inv_mpu_magn_probe(st); @@ -936,6 +940,8 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) { int fifo_rate; + u32 fifo_period; + bool fifo_on; u8 d; int result; struct iio_dev *indio_dev = dev_to_iio_dev(dev); @@ -952,12 +958,21 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr, d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate); /* compute back the fifo rate to handle truncation cases */ fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d); + fifo_period = NSEC_PER_SEC / fifo_rate; mutex_lock(&st->lock); if (d == st->chip_config.divider) { result = 0; goto fifo_rate_fail_unlock; } + + fifo_on = st->chip_config.accl_fifo_enable || + st->chip_config.gyro_fifo_enable || + st->chip_config.magn_fifo_enable; + result = inv_sensors_timestamp_update_odr(&st->timestamp, fifo_period, fifo_on); + if (result) + goto fifo_rate_fail_unlock; + result = pm_runtime_resume_and_get(pdev); if (result) goto fifo_rate_fail_unlock; @@ -1330,6 +1345,9 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st) st->reg = hw_info[st->chip_type].reg; memcpy(&st->chip_config, hw_info[st->chip_type].config, sizeof(st->chip_config)); + st->data = devm_kzalloc(regmap_get_device(st->map), st->hw->fifo_size, GFP_KERNEL); + if (st->data == NULL) + return -ENOMEM; /* check chip self-identification */ result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, ®val); @@ -1785,3 +1803,4 @@ EXPORT_NS_GPL_DEV_PM_OPS(inv_mpu_pmops, IIO_MPU6050) = { MODULE_AUTHOR("Invensense Corporation"); MODULE_DESCRIPTION("Invensense device MPU6050 driver"); MODULE_LICENSE("GPL"); +MODULE_IMPORT_NS(IIO_INV_SENSORS_TIMESTAMP); |