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path: root/drivers/iio/imu
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Diffstat (limited to 'drivers/iio/imu')
-rw-r--r--drivers/iio/imu/adis.c3
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_core.c22
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h18
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c15
-rw-r--r--drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c1
-rw-r--r--drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c3
-rw-r--r--drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c3
7 files changed, 42 insertions, 23 deletions
diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c
index a5b421f42287..b9a06ca29bee 100644
--- a/drivers/iio/imu/adis.c
+++ b/drivers/iio/imu/adis.c
@@ -411,12 +411,11 @@ int __adis_initial_startup(struct adis *adis)
int ret;
/* check if the device has rst pin low */
- gpio = devm_gpiod_get_optional(&adis->spi->dev, "reset", GPIOD_ASIS);
+ gpio = devm_gpiod_get_optional(&adis->spi->dev, "reset", GPIOD_OUT_HIGH);
if (IS_ERR(gpio))
return PTR_ERR(gpio);
if (gpio) {
- gpiod_set_value_cansleep(gpio, 1);
msleep(10);
/* bring device out of reset */
gpiod_set_value_cansleep(gpio, 0);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 8a7a920e6200..597768c29a72 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 2d0e8cdd4848..882546897255 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;
}
diff --git a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c
index 8204f7303fd7..5e6625140db7 100644
--- a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c
+++ b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_core.c
@@ -10,6 +10,7 @@
#include <linux/device.h>
#include <linux/err.h>
#include <linux/module.h>
+#include <linux/regmap.h>
#include <linux/regulator/consumer.h>
#include <linux/iio/common/st_sensors.h>
diff --git a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c
index 50a36ab53bc3..78bede358747 100644
--- a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c
+++ b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_i2c.c
@@ -10,7 +10,8 @@
#include <linux/i2c.h>
#include <linux/kernel.h>
#include <linux/module.h>
-#include <linux/slab.h>
+#include <linux/mod_devicetable.h>
+#include <linux/regmap.h>
#include <linux/iio/common/st_sensors_i2c.h>
diff --git a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c
index 272c88990dd0..180b54e66438 100644
--- a/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c
+++ b/drivers/iio/imu/st_lsm9ds0/st_lsm9ds0_spi.c
@@ -9,7 +9,8 @@
#include <linux/kernel.h>
#include <linux/module.h>
-#include <linux/slab.h>
+#include <linux/mod_devicetable.h>
+#include <linux/regmap.h>
#include <linux/spi/spi.h>
#include <linux/iio/common/st_sensors_spi.h>
generated by cgit v1.2.3 (git 2.46.0) at 2025-08-23 19:31:50 +0000