* [PATCH v3 0/7] add magnetometer support for MPU925x
@ 2019-09-16 9:41 Jean-Baptiste Maneyrol
2019-09-16 9:41 ` [PATCH v3 1/7] iio: imu: inv_mpu6050: disable i2c mux " Jean-Baptiste Maneyrol
` (6 more replies)
0 siblings, 7 replies; 15+ messages in thread
From: Jean-Baptiste Maneyrol @ 2019-09-16 9:41 UTC (permalink / raw)
To: jic23; +Cc: linux-iio, Jean-Baptiste Maneyrol
This series of patches adds support of magnetometer inside MPU925x chips.
It is using the MPU i2c master to drive the integrated magnetometer and
read data into the MPU FIFO.
Driving the magnetometer requires to disable access to i2c auxiliary bus.
To avoid breakage in existing setups we are disabling magnetometer support
if the i2c auxiliary bus is used (i2c-gate dt node defined).
Changes in v2:
* delete Kconfig option and check for dt i2c-gate instead
* simplification by using the same scan defines than mpu6050
* simplify magnetometer support by having 1 unique module inv_mpu_magn
* fixes and cleanup
Changes in v3:
* move documentation from header to implementation for mpu i2c aux helpers
Jean-Baptiste Maneyrol (7):
iio: imu: inv_mpu6050: disable i2c mux for MPU925x
iio: imu: inv_mpu6050: add header include protection macro
iio: imu: inv_mpu6050: add defines for supporting 9-axis chips
iio: imu: inv_mpu6050: fix objects syntax in Makefile
iio: imu: inv_mpu6050: helpers for using i2c master on auxiliary bus
iio: imu: inv_mpu6050: add MPU925x magnetometer support
iio: imu: inv_mpu6050: add fifo support for magnetometer data
drivers/iio/imu/inv_mpu6050/Makefile | 7 +-
drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c | 203 ++++++++++
drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h | 19 +
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 152 +++++++-
drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 60 ++-
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 70 +++-
drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c | 355 ++++++++++++++++++
drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h | 36 ++
drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 11 +-
drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 86 ++++-
10 files changed, 968 insertions(+), 31 deletions(-)
create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h
create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
--
2.17.1
^ permalink raw reply [flat|nested] 15+ messages in thread
* [PATCH v3 1/7] iio: imu: inv_mpu6050: disable i2c mux for MPU925x
2019-09-16 9:41 [PATCH v3 0/7] add magnetometer support for MPU925x Jean-Baptiste Maneyrol
@ 2019-09-16 9:41 ` Jean-Baptiste Maneyrol
2019-10-05 10:57 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 2/7] iio: imu: inv_mpu6050: add header include protection macro Jean-Baptiste Maneyrol
` (5 subsequent siblings)
6 siblings, 1 reply; 15+ messages in thread
From: Jean-Baptiste Maneyrol @ 2019-09-16 9:41 UTC (permalink / raw)
To: jic23; +Cc: linux-iio, Jean-Baptiste Maneyrol
Disable i2c mux for supported 9xxx chips. This is a
pre-requesite for controling 9xxx magnetometer using the
i2c master of the chip.
Check in device-tree that there is no i2c-gate device declared
for ensuring backward compatibility with existing setups.
Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 7 +--
drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 60 +++++++++++++++++++---
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 +
3 files changed, 58 insertions(+), 11 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index b17f060b52fc..7b2e4d81bbba 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -1156,9 +1156,6 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
return result;
}
- if (inv_mpu_bus_setup)
- inv_mpu_bus_setup(indio_dev);
-
dev_set_drvdata(dev, indio_dev);
indio_dev->dev.parent = dev;
/* name will be NULL when enumerated via ACPI */
@@ -1167,6 +1164,10 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
else
indio_dev->name = dev_name(dev);
+ /* requires parent device set in indio_dev */
+ if (inv_mpu_bus_setup)
+ inv_mpu_bus_setup(indio_dev);
+
if (chip_type == INV_ICM20602) {
indio_dev->channels = inv_icm20602_channels;
indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index 4b8b5a87398c..389cc8505e0e 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -68,6 +68,56 @@ static const char *inv_mpu_match_acpi_device(struct device *dev,
return dev_name(dev);
}
+static bool inv_mpu_i2c_aux_bus(struct device *dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
+
+ switch (st->chip_type) {
+ case INV_ICM20608:
+ case INV_ICM20602:
+ /* no i2c auxiliary bus on the chip */
+ return false;
+ case INV_MPU9250:
+ case INV_MPU9255:
+ if (st->magn_disabled)
+ return true;
+ else
+ return false;
+ default:
+ return true;
+ }
+}
+
+/*
+ * MPU9xxx magnetometer support requires to disable i2c auxiliary bus support.
+ * To ensure backward compatibility with existing setups, do not disable
+ * i2c auxiliary bus if it used.
+ * Check for i2c-gate node in devicetree and set magnetometer disabled.
+ * Only MPU6500 is supported by ACPI, no need to check.
+ */
+static int inv_mpu_magn_disable(struct iio_dev *indio_dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct device *dev = indio_dev->dev.parent;
+ struct device_node *mux_node;
+
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ mux_node = of_get_child_by_name(dev->of_node, "i2c-gate");
+ if (mux_node != NULL) {
+ st->magn_disabled = true;
+ dev_warn(dev, "disable internal use of magnetometer\n");
+ }
+ of_node_put(mux_node);
+ break;
+ default:
+ break;
+ }
+
+ return 0;
+}
+
/**
* inv_mpu_probe() - probe function.
* @client: i2c client.
@@ -112,17 +162,12 @@ static int inv_mpu_probe(struct i2c_client *client,
}
result = inv_mpu_core_probe(regmap, client->irq, name,
- NULL, chip_type);
+ inv_mpu_magn_disable, chip_type);
if (result < 0)
return result;
st = iio_priv(dev_get_drvdata(&client->dev));
- switch (st->chip_type) {
- case INV_ICM20608:
- case INV_ICM20602:
- /* no i2c auxiliary bus on the chip */
- break;
- default:
+ if (inv_mpu_i2c_aux_bus(&client->dev)) {
/* declare i2c auxiliary bus */
st->muxc = i2c_mux_alloc(client->adapter, &client->dev,
1, 0, I2C_MUX_LOCKED | I2C_MUX_GATE,
@@ -137,7 +182,6 @@ static int inv_mpu_probe(struct i2c_client *client,
result = inv_mpu_acpi_create_mux_client(client);
if (result)
goto out_del_mux;
- break;
}
return 0;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index db1c6904388b..cbbb2fb8949a 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -125,6 +125,7 @@ struct inv_mpu6050_hw {
* @it_timestamp: timestamp from previous interrupt.
* @data_timestamp: timestamp for next data sample.
* @vddio_supply voltage regulator for the chip.
+ * @magn_disabled: magnetometer disabled for backward compatibility reason.
*/
struct inv_mpu6050_state {
struct mutex lock;
@@ -146,6 +147,7 @@ struct inv_mpu6050_state {
s64 it_timestamp;
s64 data_timestamp;
struct regulator *vddio_supply;
+ bool magn_disabled;
};
/*register and associated bit definition*/
--
2.17.1
^ permalink raw reply related [flat|nested] 15+ messages in thread
* [PATCH v3 2/7] iio: imu: inv_mpu6050: add header include protection macro
2019-09-16 9:41 [PATCH v3 0/7] add magnetometer support for MPU925x Jean-Baptiste Maneyrol
2019-09-16 9:41 ` [PATCH v3 1/7] iio: imu: inv_mpu6050: disable i2c mux " Jean-Baptiste Maneyrol
@ 2019-09-16 9:42 ` Jean-Baptiste Maneyrol
2019-10-05 10:58 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 3/7] iio: imu: inv_mpu6050: add defines for supporting 9-axis chips Jean-Baptiste Maneyrol
` (4 subsequent siblings)
6 siblings, 1 reply; 15+ messages in thread
From: Jean-Baptiste Maneyrol @ 2019-09-16 9:42 UTC (permalink / raw)
To: jic23; +Cc: linux-iio, Jean-Baptiste Maneyrol
Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index cbbb2fb8949a..7cfd3a05c144 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -2,6 +2,10 @@
/*
* Copyright (C) 2012 Invensense, Inc.
*/
+
+#ifndef INV_MPU_IIO_H_
+#define INV_MPU_IIO_H_
+
#include <linux/i2c.h>
#include <linux/i2c-mux.h>
#include <linux/mutex.h>
@@ -344,3 +348,5 @@ void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
extern const struct dev_pm_ops inv_mpu_pmops;
+
+#endif
--
2.17.1
^ permalink raw reply related [flat|nested] 15+ messages in thread
* [PATCH v3 3/7] iio: imu: inv_mpu6050: add defines for supporting 9-axis chips
2019-09-16 9:41 [PATCH v3 0/7] add magnetometer support for MPU925x Jean-Baptiste Maneyrol
2019-09-16 9:41 ` [PATCH v3 1/7] iio: imu: inv_mpu6050: disable i2c mux " Jean-Baptiste Maneyrol
2019-09-16 9:42 ` [PATCH v3 2/7] iio: imu: inv_mpu6050: add header include protection macro Jean-Baptiste Maneyrol
@ 2019-09-16 9:42 ` Jean-Baptiste Maneyrol
2019-10-05 10:58 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 4/7] iio: imu: inv_mpu6050: fix objects syntax in Makefile Jean-Baptiste Maneyrol
` (3 subsequent siblings)
6 siblings, 1 reply; 15+ messages in thread
From: Jean-Baptiste Maneyrol @ 2019-09-16 9:42 UTC (permalink / raw)
To: jic23; +Cc: linux-iio, Jean-Baptiste Maneyrol
Add registers defines required for driving chip i2c master ip.
Add MPU9xxx magnetometer scan elements and update data bytes size.
Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 56 ++++++++++++++++++++++-
1 file changed, 54 insertions(+), 2 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 7cfd3a05c144..04215bc6e8ab 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -164,9 +164,41 @@ struct inv_mpu6050_state {
#define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
#define INV_MPU6050_REG_FIFO_EN 0x23
+#define INV_MPU6050_BIT_SLAVE_0 0x01
+#define INV_MPU6050_BIT_SLAVE_1 0x02
+#define INV_MPU6050_BIT_SLAVE_2 0x04
#define INV_MPU6050_BIT_ACCEL_OUT 0x08
#define INV_MPU6050_BITS_GYRO_OUT 0x70
+#define INV_MPU6050_REG_I2C_MST_CTRL 0x24
+#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
+#define INV_MPU6050_BIT_I2C_MST_P_NSR 0x10
+#define INV_MPU6050_BIT_SLV3_FIFO_EN 0x20
+#define INV_MPU6050_BIT_WAIT_FOR_ES 0x40
+#define INV_MPU6050_BIT_MULT_MST_EN 0x80
+
+/* control I2C slaves from 0 to 3 */
+#define INV_MPU6050_REG_I2C_SLV_ADDR(_x) (0x25 + 3 * (_x))
+#define INV_MPU6050_BIT_I2C_SLV_RNW 0x80
+
+#define INV_MPU6050_REG_I2C_SLV_REG(_x) (0x26 + 3 * (_x))
+
+#define INV_MPU6050_REG_I2C_SLV_CTRL(_x) (0x27 + 3 * (_x))
+#define INV_MPU6050_BIT_SLV_GRP 0x10
+#define INV_MPU6050_BIT_SLV_REG_DIS 0x20
+#define INV_MPU6050_BIT_SLV_BYTE_SW 0x40
+#define INV_MPU6050_BIT_SLV_EN 0x80
+
+/* I2C master delay register */
+#define INV_MPU6050_REG_I2C_SLV4_CTRL 0x34
+#define INV_MPU6050_BITS_I2C_MST_DLY(_x) ((_x) & 0x1F)
+
+#define INV_MPU6050_REG_I2C_MST_STATUS 0x36
+#define INV_MPU6050_BIT_I2C_SLV0_NACK 0x01
+#define INV_MPU6050_BIT_I2C_SLV1_NACK 0x02
+#define INV_MPU6050_BIT_I2C_SLV2_NACK 0x04
+#define INV_MPU6050_BIT_I2C_SLV3_NACK 0x08
+
#define INV_MPU6050_REG_INT_ENABLE 0x38
#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
#define INV_MPU6050_BIT_DMP_INT_EN 0x02
@@ -179,6 +211,18 @@ struct inv_mpu6050_state {
#define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
+#define INV_MPU6050_REG_EXT_SENS_DATA 0x49
+
+/* I2C slaves data output from 0 to 3 */
+#define INV_MPU6050_REG_I2C_SLV_DO(_x) (0x63 + (_x))
+
+#define INV_MPU6050_REG_I2C_MST_DELAY_CTRL 0x67
+#define INV_MPU6050_BIT_I2C_SLV0_DLY_EN 0x01
+#define INV_MPU6050_BIT_I2C_SLV1_DLY_EN 0x02
+#define INV_MPU6050_BIT_I2C_SLV2_DLY_EN 0x04
+#define INV_MPU6050_BIT_I2C_SLV3_DLY_EN 0x08
+#define INV_MPU6050_BIT_DELAY_ES_SHADOW 0x80
+
#define INV_MPU6050_REG_USER_CTRL 0x6A
#define INV_MPU6050_BIT_FIFO_RST 0x04
#define INV_MPU6050_BIT_DMP_RST 0x08
@@ -206,6 +250,9 @@ struct inv_mpu6050_state {
#define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
#define INV_MPU6050_FIFO_COUNT_BYTE 2
+/* MPU9X50 9-axis magnetometer */
+#define INV_MPU9X50_BYTES_MAGN 7
+
/* ICM20602 FIFO samples include temperature readings */
#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2
@@ -233,8 +280,8 @@ struct inv_mpu6050_state {
#define INV_ICM20602_TEMP_OFFSET 8170
#define INV_ICM20602_TEMP_SCALE 3060
-/* 6 + 6 round up and plus 8 */
-#define INV_MPU6050_OUTPUT_DATA_SIZE 24
+/* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */
+#define INV_MPU6050_OUTPUT_DATA_SIZE 32
#define INV_MPU6050_REG_INT_PIN_CFG 0x37
#define INV_MPU6050_ACTIVE_HIGH 0x00
@@ -283,6 +330,11 @@ enum inv_mpu6050_scan {
INV_MPU6050_SCAN_GYRO_Y,
INV_MPU6050_SCAN_GYRO_Z,
INV_MPU6050_SCAN_TIMESTAMP,
+
+ INV_MPU9X50_SCAN_MAGN_X = INV_MPU6050_SCAN_GYRO_Z + 1,
+ INV_MPU9X50_SCAN_MAGN_Y,
+ INV_MPU9X50_SCAN_MAGN_Z,
+ INV_MPU9X50_SCAN_TIMESTAMP,
};
/* scan element definition for ICM20602, which includes temperature */
--
2.17.1
^ permalink raw reply related [flat|nested] 15+ messages in thread
* [PATCH v3 4/7] iio: imu: inv_mpu6050: fix objects syntax in Makefile
2019-09-16 9:41 [PATCH v3 0/7] add magnetometer support for MPU925x Jean-Baptiste Maneyrol
` (2 preceding siblings ...)
2019-09-16 9:42 ` [PATCH v3 3/7] iio: imu: inv_mpu6050: add defines for supporting 9-axis chips Jean-Baptiste Maneyrol
@ 2019-09-16 9:42 ` Jean-Baptiste Maneyrol
2019-10-05 11:00 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 5/7] iio: imu: inv_mpu6050: helpers for using i2c master on auxiliary bus Jean-Baptiste Maneyrol
` (2 subsequent siblings)
6 siblings, 1 reply; 15+ messages in thread
From: Jean-Baptiste Maneyrol @ 2019-09-16 9:42 UTC (permalink / raw)
To: jic23; +Cc: linux-iio, Jean-Baptiste Maneyrol
Use the correct syntax *-y for declaring object files.
Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
drivers/iio/imu/inv_mpu6050/Makefile | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
index 70ffe0d13d8c..33bec09fee9b 100644
--- a/drivers/iio/imu/inv_mpu6050/Makefile
+++ b/drivers/iio/imu/inv_mpu6050/Makefile
@@ -4,10 +4,10 @@
#
obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
-inv-mpu6050-objs := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
+inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
-inv-mpu6050-i2c-objs := inv_mpu_i2c.o inv_mpu_acpi.o
+inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o
obj-$(CONFIG_INV_MPU6050_SPI) += inv-mpu6050-spi.o
-inv-mpu6050-spi-objs := inv_mpu_spi.o
+inv-mpu6050-spi-y := inv_mpu_spi.o
--
2.17.1
^ permalink raw reply related [flat|nested] 15+ messages in thread
* [PATCH v3 5/7] iio: imu: inv_mpu6050: helpers for using i2c master on auxiliary bus
2019-09-16 9:41 [PATCH v3 0/7] add magnetometer support for MPU925x Jean-Baptiste Maneyrol
` (3 preceding siblings ...)
2019-09-16 9:42 ` [PATCH v3 4/7] iio: imu: inv_mpu6050: fix objects syntax in Makefile Jean-Baptiste Maneyrol
@ 2019-09-16 9:42 ` Jean-Baptiste Maneyrol
2019-10-05 11:06 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 6/7] iio: imu: inv_mpu6050: add MPU925x magnetometer support Jean-Baptiste Maneyrol
2019-09-16 9:42 ` [PATCH v3 7/7] iio: imu: inv_mpu6050: add fifo support for magnetometer data Jean-Baptiste Maneyrol
6 siblings, 1 reply; 15+ messages in thread
From: Jean-Baptiste Maneyrol @ 2019-09-16 9:42 UTC (permalink / raw)
To: jic23; +Cc: linux-iio, Jean-Baptiste Maneyrol
Add helper functions to use the i2c auxiliary bus with the MPU i2c
master block.
Support only register based chip, reading and 1 byte writing. These
will be useful for initializing magnetometers inside MPU9x50 chips.
Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
drivers/iio/imu/inv_mpu6050/Makefile | 3 +-
drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c | 203 ++++++++++++++++++++++
drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h | 19 ++
3 files changed, 224 insertions(+), 1 deletion(-)
create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h
diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
index 33bec09fee9b..2cfbd926522f 100644
--- a/drivers/iio/imu/inv_mpu6050/Makefile
+++ b/drivers/iio/imu/inv_mpu6050/Makefile
@@ -4,7 +4,8 @@
#
obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
-inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
+inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o \
+ inv_mpu_aux.o
obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
new file mode 100644
index 000000000000..576548e28120
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
@@ -0,0 +1,203 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/regmap.h>
+#include <linux/delay.h>
+
+#include "inv_mpu_iio.h"
+
+/*
+ * i2c master auxiliary bus transfer function.
+ * Requires the i2c operations to be correctly setup before.
+ */
+static int inv_mpu_i2c_master_xfer(const struct inv_mpu6050_state *st)
+{
+ /* use 50hz frequency for xfer */
+ const unsigned int freq = 50;
+ const unsigned int period_ms = 1000 / freq;
+ uint8_t d;
+ unsigned int user_ctrl;
+ int ret;
+
+ /* set sample rate */
+ d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(freq);
+ ret = regmap_write(st->map, st->reg->sample_rate_div, d);
+ if (ret)
+ return ret;
+
+ /* start i2c master */
+ user_ctrl = st->chip_config.user_ctrl | INV_MPU6050_BIT_I2C_MST_EN;
+ ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
+ if (ret)
+ goto error_restore_rate;
+
+ /* wait for xfer: 1 period + half-period margin */
+ msleep(period_ms + period_ms / 2);
+
+ /* stop i2c master */
+ user_ctrl = st->chip_config.user_ctrl;
+ ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
+ if (ret)
+ goto error_stop_i2c;
+
+ /* restore sample rate */
+ d = st->chip_config.divider;
+ ret = regmap_write(st->map, st->reg->sample_rate_div, d);
+ if (ret)
+ goto error_restore_rate;
+
+ return 0;
+
+error_stop_i2c:
+ regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl);
+error_restore_rate:
+ regmap_write(st->map, st->reg->sample_rate_div, st->chip_config.divider);
+ return ret;
+}
+
+/**
+ * inv_mpu_aux_init() - init i2c auxiliary bus
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+int inv_mpu_aux_init(const struct inv_mpu6050_state *st)
+{
+ unsigned int val;
+ int ret;
+
+ /* configure i2c master */
+ val = INV_MPU6050_BITS_I2C_MST_CLK_400KHZ |
+ INV_MPU6050_BIT_WAIT_FOR_ES;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_MST_CTRL, val);
+ if (ret)
+ return ret;
+
+ /* configure i2c master delay */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, 0);
+ if (ret)
+ return ret;
+
+ val = INV_MPU6050_BIT_I2C_SLV0_DLY_EN |
+ INV_MPU6050_BIT_I2C_SLV1_DLY_EN |
+ INV_MPU6050_BIT_I2C_SLV2_DLY_EN |
+ INV_MPU6050_BIT_I2C_SLV3_DLY_EN |
+ INV_MPU6050_BIT_DELAY_ES_SHADOW;
+ return regmap_write(st->map, INV_MPU6050_REG_I2C_MST_DELAY_CTRL, val);
+}
+
+/**
+ * inv_mpu_aux_read() - read register function for i2c auxiliary bus
+ * @st: driver internal state.
+ * @addr: chip i2c Address
+ * @reg: chip register address
+ * @val: buffer for storing read bytes
+ * @size: number of bytes to read
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+int inv_mpu_aux_read(const struct inv_mpu6050_state *st, uint8_t addr,
+ uint8_t reg, uint8_t *val, size_t size)
+{
+ unsigned int status;
+ int ret;
+
+ if (size > 0x0F)
+ return -EINVAL;
+
+ /* setup i2c SLV0 control: i2c addr, register, enable + size */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0),
+ INV_MPU6050_BIT_I2C_SLV_RNW | addr);
+ if (ret)
+ return ret;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
+ if (ret)
+ return ret;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
+ INV_MPU6050_BIT_SLV_EN | size);
+ if (ret)
+ return ret;
+
+ /* do i2c xfer */
+ ret = inv_mpu_i2c_master_xfer(st);
+ if (ret)
+ goto error_disable_i2c;
+
+ /* disable i2c slave */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
+ if (ret)
+ goto error_disable_i2c;
+
+ /* check i2c status */
+ ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
+ if (ret)
+ return ret;
+ if (status & INV_MPU6050_BIT_I2C_SLV0_NACK)
+ return -EIO;
+
+ /* read data in registers */
+ return regmap_bulk_read(st->map, INV_MPU6050_REG_EXT_SENS_DATA,
+ val, size);
+
+error_disable_i2c:
+ regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
+ return ret;
+}
+
+/**
+ * inv_mpu_aux_write() - write register function for i2c auxiliary bus
+ * @st: driver internal state.
+ * @addr: chip i2c Address
+ * @reg: chip register address
+ * @val: 1 byte value to write
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+int inv_mpu_aux_write(const struct inv_mpu6050_state *st, uint8_t addr,
+ uint8_t reg, uint8_t val)
+{
+ unsigned int status;
+ int ret;
+
+ /* setup i2c SLV0 control: i2c addr, register, value, enable + size */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0), addr);
+ if (ret)
+ return ret;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
+ if (ret)
+ return ret;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(0), val);
+ if (ret)
+ return ret;
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
+ INV_MPU6050_BIT_SLV_EN | 1);
+ if (ret)
+ return ret;
+
+ /* do i2c xfer */
+ ret = inv_mpu_i2c_master_xfer(st);
+ if (ret)
+ goto error_disable_i2c;
+
+ /* disable i2c slave */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
+ if (ret)
+ goto error_disable_i2c;
+
+ /* check i2c status */
+ ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
+ if (ret)
+ return ret;
+ if (status & INV_MPU6050_BIT_I2C_SLV0_NACK)
+ return -EIO;
+
+ return 0;
+
+error_disable_i2c:
+ regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
+ return ret;
+}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h
new file mode 100644
index 000000000000..b66997545762
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h
@@ -0,0 +1,19 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#ifndef INV_MPU_AUX_H_
+#define INV_MPU_AUX_H_
+
+#include "inv_mpu_iio.h"
+
+int inv_mpu_aux_init(const struct inv_mpu6050_state *st);
+
+int inv_mpu_aux_read(const struct inv_mpu6050_state *st, uint8_t addr,
+ uint8_t reg, uint8_t *val, size_t size);
+
+int inv_mpu_aux_write(const struct inv_mpu6050_state *st, uint8_t addr,
+ uint8_t reg, uint8_t val);
+
+#endif /* INV_MPU_AUX_H_ */
--
2.17.1
^ permalink raw reply related [flat|nested] 15+ messages in thread
* [PATCH v3 6/7] iio: imu: inv_mpu6050: add MPU925x magnetometer support
2019-09-16 9:41 [PATCH v3 0/7] add magnetometer support for MPU925x Jean-Baptiste Maneyrol
` (4 preceding siblings ...)
2019-09-16 9:42 ` [PATCH v3 5/7] iio: imu: inv_mpu6050: helpers for using i2c master on auxiliary bus Jean-Baptiste Maneyrol
@ 2019-09-16 9:42 ` Jean-Baptiste Maneyrol
2019-10-05 11:13 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 7/7] iio: imu: inv_mpu6050: add fifo support for magnetometer data Jean-Baptiste Maneyrol
6 siblings, 1 reply; 15+ messages in thread
From: Jean-Baptiste Maneyrol @ 2019-09-16 9:42 UTC (permalink / raw)
To: jic23; +Cc: linux-iio, Jean-Baptiste Maneyrol
Add support of driving MPU9250 magnetometer connected on i2c
auxiliary bus using the MPU i2c master.
Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
drivers/iio/imu/inv_mpu6050/Makefile | 2 +-
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 144 ++++++++-
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 4 +
drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c | 355 +++++++++++++++++++++
drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h | 36 +++
5 files changed, 537 insertions(+), 4 deletions(-)
create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
index 2cfbd926522f..c103441a906b 100644
--- a/drivers/iio/imu/inv_mpu6050/Makefile
+++ b/drivers/iio/imu/inv_mpu6050/Makefile
@@ -5,7 +5,7 @@
obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o \
- inv_mpu_aux.o
+ inv_mpu_aux.o inv_mpu_magn.o
obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 7b2e4d81bbba..f1c65e0dd1a5 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -17,6 +17,7 @@
#include <linux/platform_device.h>
#include <linux/regulator/consumer.h>
#include "inv_mpu_iio.h"
+#include "inv_mpu_magn.h"
/*
* this is the gyro scale translated from dynamic range plus/minus
@@ -332,6 +333,11 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
*/
st->chip_period = NSEC_PER_MSEC;
+ /* magn chip init, noop if not present in the chip */
+ result = inv_mpu_magn_probe(st);
+ if (result)
+ goto error_power_off;
+
return inv_mpu6050_set_power_itg(st, false);
error_power_off:
@@ -411,6 +417,9 @@ static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
IIO_MOD_X, val);
break;
+ case IIO_MAGN:
+ ret = inv_mpu_magn_read(st, chan->channel2, val);
+ break;
default:
ret = -EINVAL;
break;
@@ -469,6 +478,8 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
*val2 = INV_MPU6050_TEMP_SCALE;
return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_MAGN:
+ return inv_mpu_magn_get_scale(st, chan, val, val2);
default:
return -EINVAL;
}
@@ -710,6 +721,11 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
if (result)
goto fifo_rate_fail_power_off;
+ /* update rate for magn, noop if not present in chip */
+ result = inv_mpu_magn_set_rate(st, fifo_rate);
+ if (result)
+ goto fifo_rate_fail_power_off;
+
fifo_rate_fail_power_off:
result |= inv_mpu6050_set_power_itg(st, false);
fifo_rate_fail_unlock:
@@ -795,8 +811,14 @@ inv_get_mount_matrix(const struct iio_dev *indio_dev,
const struct iio_chan_spec *chan)
{
struct inv_mpu6050_state *data = iio_priv(indio_dev);
+ const struct iio_mount_matrix *matrix;
+
+ if (chan->type == IIO_MAGN)
+ matrix = &data->magn_orient;
+ else
+ matrix = &data->orientation;
- return &data->orientation;
+ return matrix;
}
static const struct iio_chan_spec_ext_info inv_ext_info[] = {
@@ -864,6 +886,98 @@ static const unsigned long inv_mpu_scan_masks[] = {
0,
};
+#define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index) \
+ { \
+ .type = IIO_MAGN, \
+ .modified = 1, \
+ .channel2 = _chan2, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_RAW), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = _bits, \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+ .ext_info = inv_ext_info, \
+ }
+
+static const struct iio_chan_spec inv_mpu9250_channels[] = {
+ IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
+ /*
+ * Note that temperature should only be via polled reading only,
+ * not the final scan elements output.
+ */
+ {
+ .type = IIO_TEMP,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
+ | BIT(IIO_CHAN_INFO_OFFSET)
+ | BIT(IIO_CHAN_INFO_SCALE),
+ .scan_index = -1,
+ },
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
+
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
+
+ /* Magnetometer resolution is 16 bits */
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
+};
+
+static const unsigned long inv_mpu9x50_scan_masks[] = {
+ /* 3-axis accel */
+ BIT(INV_MPU6050_SCAN_ACCL_X)
+ | BIT(INV_MPU6050_SCAN_ACCL_Y)
+ | BIT(INV_MPU6050_SCAN_ACCL_Z),
+ /* 3-axis gyro */
+ BIT(INV_MPU6050_SCAN_GYRO_X)
+ | BIT(INV_MPU6050_SCAN_GYRO_Y)
+ | BIT(INV_MPU6050_SCAN_GYRO_Z),
+ /* 3-axis magn */
+ BIT(INV_MPU9X50_SCAN_MAGN_X)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Y)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ /* 6-axis accel + gyro */
+ BIT(INV_MPU6050_SCAN_ACCL_X)
+ | BIT(INV_MPU6050_SCAN_ACCL_Y)
+ | BIT(INV_MPU6050_SCAN_ACCL_Z)
+ | BIT(INV_MPU6050_SCAN_GYRO_X)
+ | BIT(INV_MPU6050_SCAN_GYRO_Y)
+ | BIT(INV_MPU6050_SCAN_GYRO_Z),
+ /* 6-axis accel + magn */
+ BIT(INV_MPU6050_SCAN_ACCL_X)
+ | BIT(INV_MPU6050_SCAN_ACCL_Y)
+ | BIT(INV_MPU6050_SCAN_ACCL_Z)
+ | BIT(INV_MPU9X50_SCAN_MAGN_X)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Y)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ /* 6-axis gyro + magn */
+ BIT(INV_MPU6050_SCAN_GYRO_X)
+ | BIT(INV_MPU6050_SCAN_GYRO_Y)
+ | BIT(INV_MPU6050_SCAN_GYRO_Z)
+ | BIT(INV_MPU9X50_SCAN_MAGN_X)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Y)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ /* 9-axis accel + gyro + magn */
+ BIT(INV_MPU6050_SCAN_ACCL_X)
+ | BIT(INV_MPU6050_SCAN_ACCL_Y)
+ | BIT(INV_MPU6050_SCAN_ACCL_Z)
+ | BIT(INV_MPU6050_SCAN_GYRO_X)
+ | BIT(INV_MPU6050_SCAN_GYRO_Y)
+ | BIT(INV_MPU6050_SCAN_GYRO_Z)
+ | BIT(INV_MPU9X50_SCAN_MAGN_X)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Y)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ 0,
+};
+
static const struct iio_chan_spec inv_icm20602_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
{
@@ -1145,6 +1259,11 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
return result;
}
+ /* fill magnetometer orientation */
+ result = inv_mpu_magn_set_orient(st);
+ if (result)
+ return result;
+
/* power is turned on inside check chip type*/
result = inv_check_and_setup_chip(st);
if (result)
@@ -1168,14 +1287,33 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
if (inv_mpu_bus_setup)
inv_mpu_bus_setup(indio_dev);
- if (chip_type == INV_ICM20602) {
+ switch (chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ /*
+ * Use magnetometer inside the chip only if there is no i2c
+ * auxiliary device in use.
+ */
+ if (!st->magn_disabled) {
+ indio_dev->channels = inv_mpu9250_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
+ indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
+ } else {
+ indio_dev->channels = inv_mpu_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+ indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ }
+ break;
+ case INV_ICM20602:
indio_dev->channels = inv_icm20602_channels;
indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
indio_dev->available_scan_masks = inv_icm20602_scan_masks;
- } else {
+ break;
+ default:
indio_dev->channels = inv_mpu_channels;
indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ break;
}
indio_dev->info = &mpu_info;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 04215bc6e8ab..953f85618199 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -130,6 +130,8 @@ struct inv_mpu6050_hw {
* @data_timestamp: timestamp for next data sample.
* @vddio_supply voltage regulator for the chip.
* @magn_disabled: magnetometer disabled for backward compatibility reason.
+ * @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss.
+ * @magn_orient: magnetometer sensor chip orientation if available.
*/
struct inv_mpu6050_state {
struct mutex lock;
@@ -152,6 +154,8 @@ struct inv_mpu6050_state {
s64 data_timestamp;
struct regulator *vddio_supply;
bool magn_disabled;
+ s32 magn_raw_to_gauss[3];
+ struct iio_mount_matrix magn_orient;
};
/*register and associated bit definition*/
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
new file mode 100644
index 000000000000..415d8acece54
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
@@ -0,0 +1,355 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/string.h>
+
+#include "inv_mpu_iio.h"
+#include "inv_mpu_aux.h"
+
+/*
+ * MPU9250 magnetometer is an AKM AK8963 chip on I2C aux bus
+ */
+#define INV_MPU_MAGN_I2C_ADDR 0x0C
+
+#define INV_MPU_MAGN_REG_WIA 0x00
+#define INV_MPU_MAGN_BITS_WIA 0x48
+
+#define INV_MPU_MAGN_REG_ST1 0x02
+#define INV_MPU_MAGN_BIT_DRDY 0x01
+#define INV_MPU_MAGN_BIT_DOR 0x02
+
+#define INV_MPU_MAGN_REG_DATA 0x03
+
+#define INV_MPU_MAGN_REG_ST2 0x09
+#define INV_MPU_MAGN_BIT_HOFL 0x08
+#define INV_MPU_MAGN_BIT_BITM 0x10
+
+#define INV_MPU_MAGN_REG_CNTL1 0x0A
+#define INV_MPU_MAGN_BITS_MODE_PWDN 0x00
+#define INV_MPU_MAGN_BITS_MODE_SINGLE 0x01
+#define INV_MPU_MAGN_BITS_MODE_FUSE 0x0F
+#define INV_MPU_MAGN_BIT_OUTPUT_BIT 0x10
+
+#define INV_MPU_MAGN_REG_CNTL2 0x0B
+#define INV_MPU_MAGN_BIT_SRST 0x01
+
+#define INV_MPU_MAGN_REG_ASAX 0x10
+#define INV_MPU_MAGN_REG_ASAY 0x11
+#define INV_MPU_MAGN_REG_ASAZ 0x12
+
+/* Magnetometer maximum frequency */
+#define INV_MPU_MAGN_FREQ_HZ_MAX 50
+
+static bool inv_magn_supported(const struct inv_mpu6050_state *st)
+{
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ return true;
+ default:
+ return false;
+ }
+}
+
+/* init magnetometer chip */
+static int inv_magn_init(struct inv_mpu6050_state *st)
+{
+ uint8_t val;
+ uint8_t asa[3];
+ int ret;
+
+ /* check whoami */
+ ret = inv_mpu_aux_read(st, INV_MPU_MAGN_I2C_ADDR, INV_MPU_MAGN_REG_WIA,
+ &val, sizeof(val));
+ if (ret)
+ return ret;
+ if (val != INV_MPU_MAGN_BITS_WIA)
+ return -ENODEV;
+
+ /* reset chip */
+ ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
+ INV_MPU_MAGN_REG_CNTL2,
+ INV_MPU_MAGN_BIT_SRST);
+ if (ret)
+ return ret;
+
+ /* read fuse ROM data */
+ ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
+ INV_MPU_MAGN_REG_CNTL1,
+ INV_MPU_MAGN_BITS_MODE_FUSE);
+ if (ret)
+ return ret;
+
+ ret = inv_mpu_aux_read(st, INV_MPU_MAGN_I2C_ADDR, INV_MPU_MAGN_REG_ASAX,
+ asa, sizeof(asa));
+ if (ret)
+ return ret;
+
+ /* switch back to power-down */
+ ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
+ INV_MPU_MAGN_REG_CNTL1,
+ INV_MPU_MAGN_BITS_MODE_PWDN);
+ if (ret)
+ return ret;
+
+ /*
+ * Sensitivity adjustement and scale to Gauss
+ *
+ * Hadj = H * (((ASA - 128) * 0.5 / 128) + 1)
+ * Factor simplification:
+ * Hadj = H * ((ASA + 128) / 256)
+ *
+ * Sensor sentivity
+ * 0.15 uT in 16 bits mode
+ * 1 uT = 0.01 G and value is in micron (1e6)
+ * sensitvity = 0.15 uT * 0.01 * 1e6
+ *
+ * raw_to_gauss = Hadj * 1500
+ */
+ st->magn_raw_to_gauss[0] = (((int32_t)asa[0] + 128) * 1500) / 256;
+ st->magn_raw_to_gauss[1] = (((int32_t)asa[1] + 128) * 1500) / 256;
+ st->magn_raw_to_gauss[2] = (((int32_t)asa[2] + 128) * 1500) / 256;
+
+ return 0;
+}
+
+/**
+ * inv_mpu_magn_probe() - probe and setup magnetometer chip
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * It is probing the chip and setting up all needed i2c transfers.
+ * Noop if there is no magnetometer in the chip.
+ */
+int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
+{
+ int ret;
+
+ /* quit if chip is not supported */
+ if (!inv_magn_supported(st))
+ return 0;
+
+ /* configure i2c master aux port */
+ ret = inv_mpu_aux_init(st);
+ if (ret)
+ return ret;
+
+ /* check and init mag chip */
+ ret = inv_magn_init(st);
+ if (ret)
+ return ret;
+
+ /*
+ * configure mpu i2c master accesses
+ * i2c SLV0: read sensor data, 7 bytes data(6)-ST2
+ * Byte swap data to store them in big-endian in impair address groups
+ */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0),
+ INV_MPU6050_BIT_I2C_SLV_RNW | INV_MPU_MAGN_I2C_ADDR);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0),
+ INV_MPU_MAGN_REG_DATA);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
+ INV_MPU6050_BIT_SLV_EN |
+ INV_MPU6050_BIT_SLV_BYTE_SW |
+ INV_MPU6050_BIT_SLV_GRP |
+ INV_MPU9X50_BYTES_MAGN);
+ if (ret)
+ return ret;
+
+ /* i2c SLV1: launch single measurement */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(1),
+ INV_MPU_MAGN_I2C_ADDR);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(1),
+ INV_MPU_MAGN_REG_CNTL1);
+ if (ret)
+ return ret;
+
+ /* add 16 bits mode */
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(1),
+ INV_MPU_MAGN_BITS_MODE_SINGLE |
+ INV_MPU_MAGN_BIT_OUTPUT_BIT);
+ if (ret)
+ return ret;
+
+ return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(1),
+ INV_MPU6050_BIT_SLV_EN | 1);
+}
+
+/**
+ * inv_mpu_magn_set_rate() - set magnetometer sampling rate
+ * @st: driver internal state
+ * @fifo_rate: mpu set fifo rate
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * Limit sampling frequency to the maximum value supported by the
+ * magnetometer chip. Resulting in duplicated data for higher frequencies.
+ * Noop if there is no magnetometer in the chip.
+ */
+int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate)
+{
+ uint8_t d;
+
+ /* quit if chip is not supported */
+ if (!inv_magn_supported(st))
+ return 0;
+
+ /*
+ * update i2c master delay to limit mag sampling to max frequency
+ * compute fifo_rate divider d: rate = fifo_rate / (d + 1)
+ */
+ if (fifo_rate > INV_MPU_MAGN_FREQ_HZ_MAX)
+ d = fifo_rate / INV_MPU_MAGN_FREQ_HZ_MAX - 1;
+ else
+ d = 0;
+
+ return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, d);
+}
+
+/**
+ * inv_mpu_magn_set_orient() - fill magnetometer mounting matrix
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * Fill magnetometer mounting matrix using the provided chip matrix.
+ */
+int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
+{
+ const char *orient;
+ char *str;
+ int i;
+
+ /* fill magnetometer orientation */
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ /* x <- y */
+ st->magn_orient.rotation[0] = st->orientation.rotation[3];
+ st->magn_orient.rotation[1] = st->orientation.rotation[4];
+ st->magn_orient.rotation[2] = st->orientation.rotation[5];
+ /* y <- x */
+ st->magn_orient.rotation[3] = st->orientation.rotation[0];
+ st->magn_orient.rotation[4] = st->orientation.rotation[1];
+ st->magn_orient.rotation[5] = st->orientation.rotation[2];
+ /* z <- -z */
+ for (i = 0; i < 3; ++i) {
+ orient = st->orientation.rotation[6 + i];
+ /* use length + 2 for adding minus sign if needed */
+ str = devm_kzalloc(regmap_get_device(st->map),
+ strlen(orient) + 2, GFP_KERNEL);
+ if (str == NULL)
+ return -ENOMEM;
+ if (strcmp(orient, "0") == 0) {
+ strcpy(str, orient);
+ } else if (orient[0] == '-') {
+ strcpy(str, &orient[1]);
+ } else {
+ str[0] = '-';
+ strcpy(&str[1], orient);
+ }
+ st->magn_orient.rotation[6 + i] = str;
+ }
+ break;
+ default:
+ st->magn_orient = st->orientation;
+ break;
+ }
+
+ return 0;
+}
+
+/**
+ * inv_mpu_magn_read() - read magnetometer data
+ * @st: driver internal state
+ * @axis: IIO modifier axis value
+ * @val: store corresponding axis value
+ *
+ * Returns 0 on success, a negative error code otherwise
+ */
+int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
+{
+ unsigned int user_ctrl, status;
+ __be16 data[3];
+ uint8_t addr;
+ uint8_t d;
+ unsigned int period_ms;
+ int ret;
+
+ /* quit if chip is not supported */
+ if (!inv_magn_supported(st))
+ return -ENODEV;
+
+ /* Mag data: X - Y - Z */
+ switch (axis) {
+ case IIO_MOD_X:
+ addr = 0;
+ break;
+ case IIO_MOD_Y:
+ addr = 1;
+ break;
+ case IIO_MOD_Z:
+ addr = 2;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ /* 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;
+
+ /* start i2c master, wait for xfer, stop */
+ user_ctrl = st->chip_config.user_ctrl | INV_MPU6050_BIT_I2C_MST_EN;
+ ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
+ if (ret)
+ 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)
+ return ret;
+
+ if (status & INV_MPU6050_BIT_I2C_SLV0_NACK ||
+ status & INV_MPU6050_BIT_I2C_SLV1_NACK)
+ return -EIO;
+
+ ret = regmap_bulk_read(st->map, INV_MPU6050_REG_EXT_SENS_DATA,
+ data, sizeof(data));
+ if (ret)
+ return ret;
+
+ *val = (int16_t)be16_to_cpu(data[addr]);
+
+ return IIO_VAL_INT;
+}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
new file mode 100644
index 000000000000..b41bd0578478
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
@@ -0,0 +1,36 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#ifndef INV_MPU_MAGN_H_
+#define INV_MPU_MAGN_H_
+
+#include <linux/kernel.h>
+
+#include "inv_mpu_iio.h"
+
+int inv_mpu_magn_probe(struct inv_mpu6050_state *st);
+
+/**
+ * inv_mpu_magn_get_scale() - get magnetometer scale value
+ * @st: driver internal state
+ *
+ * Returns IIO data format.
+ */
+static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,
+ const struct iio_chan_spec *chan,
+ int *val, int *val2)
+{
+ *val = 0;
+ *val2 = st->magn_raw_to_gauss[chan->address];
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate);
+
+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);
+
+#endif /* INV_MPU_MAGN_H_ */
--
2.17.1
^ permalink raw reply related [flat|nested] 15+ messages in thread
* [PATCH v3 7/7] iio: imu: inv_mpu6050: add fifo support for magnetometer data
2019-09-16 9:41 [PATCH v3 0/7] add magnetometer support for MPU925x Jean-Baptiste Maneyrol
` (5 preceding siblings ...)
2019-09-16 9:42 ` [PATCH v3 6/7] iio: imu: inv_mpu6050: add MPU925x magnetometer support Jean-Baptiste Maneyrol
@ 2019-09-16 9:42 ` Jean-Baptiste Maneyrol
2019-10-05 11:15 ` Jonathan Cameron
6 siblings, 1 reply; 15+ messages in thread
From: Jean-Baptiste Maneyrol @ 2019-09-16 9:42 UTC (permalink / raw)
To: jic23; +Cc: linux-iio, Jean-Baptiste Maneyrol
Put read magnetometer data by mpu inside the fifo.
Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 1 +
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 +
drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 11 ++-
drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 86 ++++++++++++++++---
4 files changed, 88 insertions(+), 12 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index f1c65e0dd1a5..354030e9bed5 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -104,6 +104,7 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = {
.divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE),
.gyro_fifo_enable = false,
.accl_fifo_enable = false,
+ .magn_fifo_enable = false,
.accl_fs = INV_MPU6050_FS_02G,
.user_ctrl = 0,
};
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 953f85618199..52fcf45050a5 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -86,6 +86,7 @@ enum inv_devices {
* @accl_fs: accel full scale range.
* @accl_fifo_enable: enable accel data output
* @gyro_fifo_enable: enable gyro data output
+ * @magn_fifo_enable: enable magn data output
* @divider: chip sample rate divider (sample rate divider - 1)
*/
struct inv_mpu6050_chip_config {
@@ -94,6 +95,7 @@ struct inv_mpu6050_chip_config {
unsigned int accl_fs:2;
unsigned int accl_fifo_enable:1;
unsigned int gyro_fifo_enable:1;
+ unsigned int magn_fifo_enable:1;
u8 divider;
u8 user_ctrl;
};
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index 5f9a5de0bab4..bbf68b474556 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -124,7 +124,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
/* enable interrupt */
if (st->chip_config.accl_fifo_enable ||
- st->chip_config.gyro_fifo_enable) {
+ st->chip_config.gyro_fifo_enable ||
+ st->chip_config.magn_fifo_enable) {
result = regmap_write(st->map, st->reg->int_enable,
INV_MPU6050_BIT_DATA_RDY_EN);
if (result)
@@ -141,6 +142,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
d |= INV_MPU6050_BITS_GYRO_OUT;
if (st->chip_config.accl_fifo_enable)
d |= INV_MPU6050_BIT_ACCEL_OUT;
+ if (st->chip_config.magn_fifo_enable)
+ d |= INV_MPU6050_BIT_SLAVE_0;
result = regmap_write(st->map, st->reg->fifo_en, d);
if (result)
goto reset_fifo_fail;
@@ -190,7 +193,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
}
if (!(st->chip_config.accl_fifo_enable |
- st->chip_config.gyro_fifo_enable))
+ st->chip_config.gyro_fifo_enable |
+ st->chip_config.magn_fifo_enable))
goto end_session;
bytes_per_datum = 0;
if (st->chip_config.accl_fifo_enable)
@@ -202,6 +206,9 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
if (st->chip_type == INV_ICM20602)
bytes_per_datum += INV_ICM20602_BYTES_PER_TEMP_SENSOR;
+ if (st->chip_config.magn_fifo_enable)
+ bytes_per_datum += INV_MPU9X50_BYTES_MAGN;
+
/*
* read fifo_count register to know how many bytes are inside the FIFO
* right now
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index dd55e70b6f77..d7d951927a44 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -5,7 +5,7 @@
#include "inv_mpu_iio.h"
-static void inv_scan_query(struct iio_dev *indio_dev)
+static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
@@ -26,6 +26,60 @@ static void inv_scan_query(struct iio_dev *indio_dev)
indio_dev->active_scan_mask);
}
+static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ inv_scan_query_mpu6050(indio_dev);
+
+ /* no magnetometer if i2c auxiliary bus is used */
+ if (st->magn_disabled)
+ return;
+
+ st->chip_config.magn_fifo_enable =
+ test_bit(INV_MPU9X50_SCAN_MAGN_X,
+ indio_dev->active_scan_mask) ||
+ test_bit(INV_MPU9X50_SCAN_MAGN_Y,
+ indio_dev->active_scan_mask) ||
+ test_bit(INV_MPU9X50_SCAN_MAGN_Z,
+ indio_dev->active_scan_mask);
+}
+
+static void inv_scan_query(struct iio_dev *indio_dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ return inv_scan_query_mpu9x50(indio_dev);
+ default:
+ return inv_scan_query_mpu6050(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;
+
+ /* 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;
+
+ return skip_samples;
+}
+
/**
* inv_mpu6050_set_enable() - enable chip functions.
* @indio_dev: Device driver instance.
@@ -34,6 +88,7 @@ static void inv_scan_query(struct iio_dev *indio_dev)
static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ uint8_t d;
int result;
if (enable) {
@@ -41,14 +96,11 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
if (result)
return result;
inv_scan_query(indio_dev);
- st->skip_samples = 0;
if (st->chip_config.gyro_fifo_enable) {
result = inv_mpu6050_switch_engine(st, true,
INV_MPU6050_BIT_PWR_GYRO_STBY);
if (result)
goto error_power_off;
- /* gyro first sample is out of specs, skip it */
- st->skip_samples = 1;
}
if (st->chip_config.accl_fifo_enable) {
result = inv_mpu6050_switch_engine(st, true,
@@ -56,22 +108,32 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
if (result)
goto error_gyro_off;
}
+ if (st->chip_config.magn_fifo_enable) {
+ d = st->chip_config.user_ctrl |
+ INV_MPU6050_BIT_I2C_MST_EN;
+ result = regmap_write(st->map, st->reg->user_ctrl, d);
+ if (result)
+ goto error_accl_off;
+ st->chip_config.user_ctrl = d;
+ }
+ st->skip_samples = inv_compute_skip_samples(st);
result = inv_reset_fifo(indio_dev);
if (result)
- goto error_accl_off;
+ goto error_magn_off;
} else {
result = regmap_write(st->map, st->reg->fifo_en, 0);
if (result)
- goto error_accl_off;
+ goto error_magn_off;
result = regmap_write(st->map, st->reg->int_enable, 0);
if (result)
- goto error_accl_off;
+ goto error_magn_off;
- result = regmap_write(st->map, st->reg->user_ctrl,
- st->chip_config.user_ctrl);
+ d = st->chip_config.user_ctrl & ~INV_MPU6050_BIT_I2C_MST_EN;
+ result = regmap_write(st->map, st->reg->user_ctrl, d);
if (result)
- goto error_accl_off;
+ goto error_magn_off;
+ st->chip_config.user_ctrl = d;
result = inv_mpu6050_switch_engine(st, false,
INV_MPU6050_BIT_PWR_ACCL_STBY);
@@ -90,6 +152,10 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
return 0;
+error_magn_off:
+ /* always restore user_ctrl to disable fifo properly */
+ st->chip_config.user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN;
+ regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl);
error_accl_off:
if (st->chip_config.accl_fifo_enable)
inv_mpu6050_switch_engine(st, false,
--
2.17.1
^ permalink raw reply related [flat|nested] 15+ messages in thread
* Re: [PATCH v3 1/7] iio: imu: inv_mpu6050: disable i2c mux for MPU925x
2019-09-16 9:41 ` [PATCH v3 1/7] iio: imu: inv_mpu6050: disable i2c mux " Jean-Baptiste Maneyrol
@ 2019-10-05 10:57 ` Jonathan Cameron
0 siblings, 0 replies; 15+ messages in thread
From: Jonathan Cameron @ 2019-10-05 10:57 UTC (permalink / raw)
To: Jean-Baptiste Maneyrol; +Cc: linux-iio
On Mon, 16 Sep 2019 09:41:58 +0000
Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote:
> Disable i2c mux for supported 9xxx chips. This is a
> pre-requesite for controling 9xxx magnetometer using the
> i2c master of the chip.
>
> Check in device-tree that there is no i2c-gate device declared
> for ensuring backward compatibility with existing setups.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Applied to the togreg branch of iio.git and pushed out as testing for
the autobuilders to play with it.
Thanks,
Jonathan
> ---
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 7 +--
> drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 60 +++++++++++++++++++---
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 +
> 3 files changed, 58 insertions(+), 11 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index b17f060b52fc..7b2e4d81bbba 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -1156,9 +1156,6 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> return result;
> }
>
> - if (inv_mpu_bus_setup)
> - inv_mpu_bus_setup(indio_dev);
> -
> dev_set_drvdata(dev, indio_dev);
> indio_dev->dev.parent = dev;
> /* name will be NULL when enumerated via ACPI */
> @@ -1167,6 +1164,10 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> else
> indio_dev->name = dev_name(dev);
>
> + /* requires parent device set in indio_dev */
> + if (inv_mpu_bus_setup)
> + inv_mpu_bus_setup(indio_dev);
> +
> if (chip_type == INV_ICM20602) {
> indio_dev->channels = inv_icm20602_channels;
> indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> index 4b8b5a87398c..389cc8505e0e 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
> @@ -68,6 +68,56 @@ static const char *inv_mpu_match_acpi_device(struct device *dev,
> return dev_name(dev);
> }
>
> +static bool inv_mpu_i2c_aux_bus(struct device *dev)
> +{
> + struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
> +
> + switch (st->chip_type) {
> + case INV_ICM20608:
> + case INV_ICM20602:
> + /* no i2c auxiliary bus on the chip */
> + return false;
> + case INV_MPU9250:
> + case INV_MPU9255:
> + if (st->magn_disabled)
> + return true;
> + else
> + return false;
> + default:
> + return true;
> + }
> +}
> +
> +/*
> + * MPU9xxx magnetometer support requires to disable i2c auxiliary bus support.
> + * To ensure backward compatibility with existing setups, do not disable
> + * i2c auxiliary bus if it used.
> + * Check for i2c-gate node in devicetree and set magnetometer disabled.
> + * Only MPU6500 is supported by ACPI, no need to check.
> + */
> +static int inv_mpu_magn_disable(struct iio_dev *indio_dev)
> +{
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> + struct device *dev = indio_dev->dev.parent;
> + struct device_node *mux_node;
> +
> + switch (st->chip_type) {
> + case INV_MPU9250:
> + case INV_MPU9255:
> + mux_node = of_get_child_by_name(dev->of_node, "i2c-gate");
> + if (mux_node != NULL) {
> + st->magn_disabled = true;
> + dev_warn(dev, "disable internal use of magnetometer\n");
> + }
> + of_node_put(mux_node);
> + break;
> + default:
> + break;
> + }
> +
> + return 0;
> +}
> +
> /**
> * inv_mpu_probe() - probe function.
> * @client: i2c client.
> @@ -112,17 +162,12 @@ static int inv_mpu_probe(struct i2c_client *client,
> }
>
> result = inv_mpu_core_probe(regmap, client->irq, name,
> - NULL, chip_type);
> + inv_mpu_magn_disable, chip_type);
> if (result < 0)
> return result;
>
> st = iio_priv(dev_get_drvdata(&client->dev));
> - switch (st->chip_type) {
> - case INV_ICM20608:
> - case INV_ICM20602:
> - /* no i2c auxiliary bus on the chip */
> - break;
> - default:
> + if (inv_mpu_i2c_aux_bus(&client->dev)) {
> /* declare i2c auxiliary bus */
> st->muxc = i2c_mux_alloc(client->adapter, &client->dev,
> 1, 0, I2C_MUX_LOCKED | I2C_MUX_GATE,
> @@ -137,7 +182,6 @@ static int inv_mpu_probe(struct i2c_client *client,
> result = inv_mpu_acpi_create_mux_client(client);
> if (result)
> goto out_del_mux;
> - break;
> }
>
> return 0;
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index db1c6904388b..cbbb2fb8949a 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -125,6 +125,7 @@ struct inv_mpu6050_hw {
> * @it_timestamp: timestamp from previous interrupt.
> * @data_timestamp: timestamp for next data sample.
> * @vddio_supply voltage regulator for the chip.
> + * @magn_disabled: magnetometer disabled for backward compatibility reason.
> */
> struct inv_mpu6050_state {
> struct mutex lock;
> @@ -146,6 +147,7 @@ struct inv_mpu6050_state {
> s64 it_timestamp;
> s64 data_timestamp;
> struct regulator *vddio_supply;
> + bool magn_disabled;
> };
>
> /*register and associated bit definition*/
^ permalink raw reply [flat|nested] 15+ messages in thread
* Re: [PATCH v3 2/7] iio: imu: inv_mpu6050: add header include protection macro
2019-09-16 9:42 ` [PATCH v3 2/7] iio: imu: inv_mpu6050: add header include protection macro Jean-Baptiste Maneyrol
@ 2019-10-05 10:58 ` Jonathan Cameron
0 siblings, 0 replies; 15+ messages in thread
From: Jonathan Cameron @ 2019-10-05 10:58 UTC (permalink / raw)
To: Jean-Baptiste Maneyrol; +Cc: linux-iio
On Mon, 16 Sep 2019 09:42:00 +0000
Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote:
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Applied.
Thanks,
> ---
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 6 ++++++
> 1 file changed, 6 insertions(+)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index cbbb2fb8949a..7cfd3a05c144 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -2,6 +2,10 @@
> /*
> * Copyright (C) 2012 Invensense, Inc.
> */
> +
> +#ifndef INV_MPU_IIO_H_
> +#define INV_MPU_IIO_H_
> +
> #include <linux/i2c.h>
> #include <linux/i2c-mux.h>
> #include <linux/mutex.h>
> @@ -344,3 +348,5 @@ void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
> int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
> extern const struct dev_pm_ops inv_mpu_pmops;
> +
> +#endif
^ permalink raw reply [flat|nested] 15+ messages in thread
* Re: [PATCH v3 3/7] iio: imu: inv_mpu6050: add defines for supporting 9-axis chips
2019-09-16 9:42 ` [PATCH v3 3/7] iio: imu: inv_mpu6050: add defines for supporting 9-axis chips Jean-Baptiste Maneyrol
@ 2019-10-05 10:58 ` Jonathan Cameron
0 siblings, 0 replies; 15+ messages in thread
From: Jonathan Cameron @ 2019-10-05 10:58 UTC (permalink / raw)
To: Jean-Baptiste Maneyrol; +Cc: linux-iio
On Mon, 16 Sep 2019 09:42:02 +0000
Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote:
> Add registers defines required for driving chip i2c master ip.
> Add MPU9xxx magnetometer scan elements and update data bytes size.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Applied.
Thanks,
Jonathan
> ---
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 56 ++++++++++++++++++++++-
> 1 file changed, 54 insertions(+), 2 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index 7cfd3a05c144..04215bc6e8ab 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -164,9 +164,41 @@ struct inv_mpu6050_state {
> #define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
>
> #define INV_MPU6050_REG_FIFO_EN 0x23
> +#define INV_MPU6050_BIT_SLAVE_0 0x01
> +#define INV_MPU6050_BIT_SLAVE_1 0x02
> +#define INV_MPU6050_BIT_SLAVE_2 0x04
> #define INV_MPU6050_BIT_ACCEL_OUT 0x08
> #define INV_MPU6050_BITS_GYRO_OUT 0x70
>
> +#define INV_MPU6050_REG_I2C_MST_CTRL 0x24
> +#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
> +#define INV_MPU6050_BIT_I2C_MST_P_NSR 0x10
> +#define INV_MPU6050_BIT_SLV3_FIFO_EN 0x20
> +#define INV_MPU6050_BIT_WAIT_FOR_ES 0x40
> +#define INV_MPU6050_BIT_MULT_MST_EN 0x80
> +
> +/* control I2C slaves from 0 to 3 */
> +#define INV_MPU6050_REG_I2C_SLV_ADDR(_x) (0x25 + 3 * (_x))
> +#define INV_MPU6050_BIT_I2C_SLV_RNW 0x80
> +
> +#define INV_MPU6050_REG_I2C_SLV_REG(_x) (0x26 + 3 * (_x))
> +
> +#define INV_MPU6050_REG_I2C_SLV_CTRL(_x) (0x27 + 3 * (_x))
> +#define INV_MPU6050_BIT_SLV_GRP 0x10
> +#define INV_MPU6050_BIT_SLV_REG_DIS 0x20
> +#define INV_MPU6050_BIT_SLV_BYTE_SW 0x40
> +#define INV_MPU6050_BIT_SLV_EN 0x80
> +
> +/* I2C master delay register */
> +#define INV_MPU6050_REG_I2C_SLV4_CTRL 0x34
> +#define INV_MPU6050_BITS_I2C_MST_DLY(_x) ((_x) & 0x1F)
> +
> +#define INV_MPU6050_REG_I2C_MST_STATUS 0x36
> +#define INV_MPU6050_BIT_I2C_SLV0_NACK 0x01
> +#define INV_MPU6050_BIT_I2C_SLV1_NACK 0x02
> +#define INV_MPU6050_BIT_I2C_SLV2_NACK 0x04
> +#define INV_MPU6050_BIT_I2C_SLV3_NACK 0x08
> +
> #define INV_MPU6050_REG_INT_ENABLE 0x38
> #define INV_MPU6050_BIT_DATA_RDY_EN 0x01
> #define INV_MPU6050_BIT_DMP_INT_EN 0x02
> @@ -179,6 +211,18 @@ struct inv_mpu6050_state {
> #define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
> #define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
>
> +#define INV_MPU6050_REG_EXT_SENS_DATA 0x49
> +
> +/* I2C slaves data output from 0 to 3 */
> +#define INV_MPU6050_REG_I2C_SLV_DO(_x) (0x63 + (_x))
> +
> +#define INV_MPU6050_REG_I2C_MST_DELAY_CTRL 0x67
> +#define INV_MPU6050_BIT_I2C_SLV0_DLY_EN 0x01
> +#define INV_MPU6050_BIT_I2C_SLV1_DLY_EN 0x02
> +#define INV_MPU6050_BIT_I2C_SLV2_DLY_EN 0x04
> +#define INV_MPU6050_BIT_I2C_SLV3_DLY_EN 0x08
> +#define INV_MPU6050_BIT_DELAY_ES_SHADOW 0x80
> +
> #define INV_MPU6050_REG_USER_CTRL 0x6A
> #define INV_MPU6050_BIT_FIFO_RST 0x04
> #define INV_MPU6050_BIT_DMP_RST 0x08
> @@ -206,6 +250,9 @@ struct inv_mpu6050_state {
> #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
> #define INV_MPU6050_FIFO_COUNT_BYTE 2
>
> +/* MPU9X50 9-axis magnetometer */
> +#define INV_MPU9X50_BYTES_MAGN 7
> +
> /* ICM20602 FIFO samples include temperature readings */
> #define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2
>
> @@ -233,8 +280,8 @@ struct inv_mpu6050_state {
> #define INV_ICM20602_TEMP_OFFSET 8170
> #define INV_ICM20602_TEMP_SCALE 3060
>
> -/* 6 + 6 round up and plus 8 */
> -#define INV_MPU6050_OUTPUT_DATA_SIZE 24
> +/* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */
> +#define INV_MPU6050_OUTPUT_DATA_SIZE 32
>
> #define INV_MPU6050_REG_INT_PIN_CFG 0x37
> #define INV_MPU6050_ACTIVE_HIGH 0x00
> @@ -283,6 +330,11 @@ enum inv_mpu6050_scan {
> INV_MPU6050_SCAN_GYRO_Y,
> INV_MPU6050_SCAN_GYRO_Z,
> INV_MPU6050_SCAN_TIMESTAMP,
> +
> + INV_MPU9X50_SCAN_MAGN_X = INV_MPU6050_SCAN_GYRO_Z + 1,
> + INV_MPU9X50_SCAN_MAGN_Y,
> + INV_MPU9X50_SCAN_MAGN_Z,
> + INV_MPU9X50_SCAN_TIMESTAMP,
> };
>
> /* scan element definition for ICM20602, which includes temperature */
^ permalink raw reply [flat|nested] 15+ messages in thread
* Re: [PATCH v3 4/7] iio: imu: inv_mpu6050: fix objects syntax in Makefile
2019-09-16 9:42 ` [PATCH v3 4/7] iio: imu: inv_mpu6050: fix objects syntax in Makefile Jean-Baptiste Maneyrol
@ 2019-10-05 11:00 ` Jonathan Cameron
0 siblings, 0 replies; 15+ messages in thread
From: Jonathan Cameron @ 2019-10-05 11:00 UTC (permalink / raw)
To: Jean-Baptiste Maneyrol; +Cc: linux-iio
On Mon, 16 Sep 2019 09:42:04 +0000
Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote:
> Use the correct syntax *-y for declaring object files.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Applied.
Thanks,
Jonathan
> ---
> drivers/iio/imu/inv_mpu6050/Makefile | 6 +++---
> 1 file changed, 3 insertions(+), 3 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
> index 70ffe0d13d8c..33bec09fee9b 100644
> --- a/drivers/iio/imu/inv_mpu6050/Makefile
> +++ b/drivers/iio/imu/inv_mpu6050/Makefile
> @@ -4,10 +4,10 @@
> #
>
> obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
> -inv-mpu6050-objs := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
> +inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
>
> obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
> -inv-mpu6050-i2c-objs := inv_mpu_i2c.o inv_mpu_acpi.o
> +inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o
>
> obj-$(CONFIG_INV_MPU6050_SPI) += inv-mpu6050-spi.o
> -inv-mpu6050-spi-objs := inv_mpu_spi.o
> +inv-mpu6050-spi-y := inv_mpu_spi.o
^ permalink raw reply [flat|nested] 15+ messages in thread
* Re: [PATCH v3 5/7] iio: imu: inv_mpu6050: helpers for using i2c master on auxiliary bus
2019-09-16 9:42 ` [PATCH v3 5/7] iio: imu: inv_mpu6050: helpers for using i2c master on auxiliary bus Jean-Baptiste Maneyrol
@ 2019-10-05 11:06 ` Jonathan Cameron
0 siblings, 0 replies; 15+ messages in thread
From: Jonathan Cameron @ 2019-10-05 11:06 UTC (permalink / raw)
To: Jean-Baptiste Maneyrol; +Cc: linux-iio
On Mon, 16 Sep 2019 09:42:05 +0000
Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote:
> Add helper functions to use the i2c auxiliary bus with the MPU i2c
> master block.
>
> Support only register based chip, reading and 1 byte writing. These
> will be useful for initializing magnetometers inside MPU9x50 chips.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
I'm getting sparse warnings on this one about not marking the functions
static because the header isn't included by the c file. Fixed up.
Applied to the togreg branch of iio.git and pushed out as testing
for the autobuilders to play with it.
Thanks,
Jonathan
> ---
> drivers/iio/imu/inv_mpu6050/Makefile | 3 +-
> drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c | 203 ++++++++++++++++++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h | 19 ++
> 3 files changed, 224 insertions(+), 1 deletion(-)
> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h
>
> diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
> index 33bec09fee9b..2cfbd926522f 100644
> --- a/drivers/iio/imu/inv_mpu6050/Makefile
> +++ b/drivers/iio/imu/inv_mpu6050/Makefile
> @@ -4,7 +4,8 @@
> #
>
> obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
> -inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
> +inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o \
> + inv_mpu_aux.o
>
> obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
> inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
> new file mode 100644
> index 000000000000..576548e28120
> --- /dev/null
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
> @@ -0,0 +1,203 @@
> +// SPDX-License-Identifier: GPL-2.0
> +/*
> + * Copyright (C) 2019 TDK-InvenSense, Inc.
> + */
> +
> +#include <linux/kernel.h>
> +#include <linux/device.h>
> +#include <linux/regmap.h>
> +#include <linux/delay.h>
> +
> +#include "inv_mpu_iio.h"
> +
> +/*
> + * i2c master auxiliary bus transfer function.
> + * Requires the i2c operations to be correctly setup before.
> + */
> +static int inv_mpu_i2c_master_xfer(const struct inv_mpu6050_state *st)
> +{
> + /* use 50hz frequency for xfer */
> + const unsigned int freq = 50;
> + const unsigned int period_ms = 1000 / freq;
> + uint8_t d;
> + unsigned int user_ctrl;
> + int ret;
> +
> + /* set sample rate */
> + d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(freq);
> + ret = regmap_write(st->map, st->reg->sample_rate_div, d);
> + if (ret)
> + return ret;
> +
> + /* start i2c master */
> + user_ctrl = st->chip_config.user_ctrl | INV_MPU6050_BIT_I2C_MST_EN;
> + ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
> + if (ret)
> + goto error_restore_rate;
> +
> + /* wait for xfer: 1 period + half-period margin */
> + msleep(period_ms + period_ms / 2);
> +
> + /* stop i2c master */
> + user_ctrl = st->chip_config.user_ctrl;
> + ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
> + if (ret)
> + goto error_stop_i2c;
> +
> + /* restore sample rate */
> + d = st->chip_config.divider;
> + ret = regmap_write(st->map, st->reg->sample_rate_div, d);
> + if (ret)
> + goto error_restore_rate;
> +
> + return 0;
> +
> +error_stop_i2c:
> + regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl);
> +error_restore_rate:
> + regmap_write(st->map, st->reg->sample_rate_div, st->chip_config.divider);
> + return ret;
> +}
> +
> +/**
> + * inv_mpu_aux_init() - init i2c auxiliary bus
> + * @st: driver internal state
> + *
> + * Returns 0 on success, a negative error code otherwise.
> + */
> +int inv_mpu_aux_init(const struct inv_mpu6050_state *st)
> +{
> + unsigned int val;
> + int ret;
> +
> + /* configure i2c master */
> + val = INV_MPU6050_BITS_I2C_MST_CLK_400KHZ |
> + INV_MPU6050_BIT_WAIT_FOR_ES;
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_MST_CTRL, val);
> + if (ret)
> + return ret;
> +
> + /* configure i2c master delay */
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, 0);
> + if (ret)
> + return ret;
> +
> + val = INV_MPU6050_BIT_I2C_SLV0_DLY_EN |
> + INV_MPU6050_BIT_I2C_SLV1_DLY_EN |
> + INV_MPU6050_BIT_I2C_SLV2_DLY_EN |
> + INV_MPU6050_BIT_I2C_SLV3_DLY_EN |
> + INV_MPU6050_BIT_DELAY_ES_SHADOW;
> + return regmap_write(st->map, INV_MPU6050_REG_I2C_MST_DELAY_CTRL, val);
> +}
> +
> +/**
> + * inv_mpu_aux_read() - read register function for i2c auxiliary bus
> + * @st: driver internal state.
> + * @addr: chip i2c Address
> + * @reg: chip register address
> + * @val: buffer for storing read bytes
> + * @size: number of bytes to read
> + *
> + * Returns 0 on success, a negative error code otherwise.
> + */
> +int inv_mpu_aux_read(const struct inv_mpu6050_state *st, uint8_t addr,
> + uint8_t reg, uint8_t *val, size_t size)
> +{
> + unsigned int status;
> + int ret;
> +
> + if (size > 0x0F)
> + return -EINVAL;
> +
> + /* setup i2c SLV0 control: i2c addr, register, enable + size */
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0),
> + INV_MPU6050_BIT_I2C_SLV_RNW | addr);
> + if (ret)
> + return ret;
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
> + if (ret)
> + return ret;
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
> + INV_MPU6050_BIT_SLV_EN | size);
> + if (ret)
> + return ret;
> +
> + /* do i2c xfer */
> + ret = inv_mpu_i2c_master_xfer(st);
> + if (ret)
> + goto error_disable_i2c;
> +
> + /* disable i2c slave */
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
> + if (ret)
> + goto error_disable_i2c;
> +
> + /* check i2c status */
> + ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
> + if (ret)
> + return ret;
> + if (status & INV_MPU6050_BIT_I2C_SLV0_NACK)
> + return -EIO;
> +
> + /* read data in registers */
> + return regmap_bulk_read(st->map, INV_MPU6050_REG_EXT_SENS_DATA,
> + val, size);
> +
> +error_disable_i2c:
> + regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
> + return ret;
> +}
> +
> +/**
> + * inv_mpu_aux_write() - write register function for i2c auxiliary bus
> + * @st: driver internal state.
> + * @addr: chip i2c Address
> + * @reg: chip register address
> + * @val: 1 byte value to write
> + *
> + * Returns 0 on success, a negative error code otherwise.
> + */
> +int inv_mpu_aux_write(const struct inv_mpu6050_state *st, uint8_t addr,
> + uint8_t reg, uint8_t val)
> +{
> + unsigned int status;
> + int ret;
> +
> + /* setup i2c SLV0 control: i2c addr, register, value, enable + size */
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0), addr);
> + if (ret)
> + return ret;
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
> + if (ret)
> + return ret;
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(0), val);
> + if (ret)
> + return ret;
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
> + INV_MPU6050_BIT_SLV_EN | 1);
> + if (ret)
> + return ret;
> +
> + /* do i2c xfer */
> + ret = inv_mpu_i2c_master_xfer(st);
> + if (ret)
> + goto error_disable_i2c;
> +
> + /* disable i2c slave */
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
> + if (ret)
> + goto error_disable_i2c;
> +
> + /* check i2c status */
> + ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
> + if (ret)
> + return ret;
> + if (status & INV_MPU6050_BIT_I2C_SLV0_NACK)
> + return -EIO;
> +
> + return 0;
> +
> +error_disable_i2c:
> + regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
> + return ret;
> +}
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h
> new file mode 100644
> index 000000000000..b66997545762
> --- /dev/null
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.h
> @@ -0,0 +1,19 @@
> +/* SPDX-License-Identifier: GPL-2.0 */
> +/*
> + * Copyright (C) 2019 TDK-InvenSense, Inc.
> + */
> +
> +#ifndef INV_MPU_AUX_H_
> +#define INV_MPU_AUX_H_
> +
> +#include "inv_mpu_iio.h"
> +
> +int inv_mpu_aux_init(const struct inv_mpu6050_state *st);
> +
> +int inv_mpu_aux_read(const struct inv_mpu6050_state *st, uint8_t addr,
> + uint8_t reg, uint8_t *val, size_t size);
> +
> +int inv_mpu_aux_write(const struct inv_mpu6050_state *st, uint8_t addr,
> + uint8_t reg, uint8_t val);
> +
> +#endif /* INV_MPU_AUX_H_ */
^ permalink raw reply [flat|nested] 15+ messages in thread
* Re: [PATCH v3 6/7] iio: imu: inv_mpu6050: add MPU925x magnetometer support
2019-09-16 9:42 ` [PATCH v3 6/7] iio: imu: inv_mpu6050: add MPU925x magnetometer support Jean-Baptiste Maneyrol
@ 2019-10-05 11:13 ` Jonathan Cameron
0 siblings, 0 replies; 15+ messages in thread
From: Jonathan Cameron @ 2019-10-05 11:13 UTC (permalink / raw)
To: Jean-Baptiste Maneyrol; +Cc: linux-iio
On Mon, 16 Sep 2019 09:42:07 +0000
Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote:
> Add support of driving MPU9250 magnetometer connected on i2c
> auxiliary bus using the MPU i2c master.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Same issue of the c file not including it's own header. Fixed up.
Applied to the togreg branch of iio.git and pushed out as testing
for the autobuilders to play with it.
Thanks,
Jonathan
> ---
> drivers/iio/imu/inv_mpu6050/Makefile | 2 +-
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 144 ++++++++-
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 4 +
> drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c | 355 +++++++++++++++++++++
> drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h | 36 +++
> 5 files changed, 537 insertions(+), 4 deletions(-)
> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
>
> diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
> index 2cfbd926522f..c103441a906b 100644
> --- a/drivers/iio/imu/inv_mpu6050/Makefile
> +++ b/drivers/iio/imu/inv_mpu6050/Makefile
> @@ -5,7 +5,7 @@
>
> obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
> inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o \
> - inv_mpu_aux.o
> + inv_mpu_aux.o inv_mpu_magn.o
>
> obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
> inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index 7b2e4d81bbba..f1c65e0dd1a5 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -17,6 +17,7 @@
> #include <linux/platform_device.h>
> #include <linux/regulator/consumer.h>
> #include "inv_mpu_iio.h"
> +#include "inv_mpu_magn.h"
>
> /*
> * this is the gyro scale translated from dynamic range plus/minus
> @@ -332,6 +333,11 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
> */
> st->chip_period = NSEC_PER_MSEC;
>
> + /* magn chip init, noop if not present in the chip */
> + result = inv_mpu_magn_probe(st);
> + if (result)
> + goto error_power_off;
> +
> return inv_mpu6050_set_power_itg(st, false);
>
> error_power_off:
> @@ -411,6 +417,9 @@ static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
> ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
> IIO_MOD_X, val);
> break;
> + case IIO_MAGN:
> + ret = inv_mpu_magn_read(st, chan->channel2, val);
> + break;
> default:
> ret = -EINVAL;
> break;
> @@ -469,6 +478,8 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
> *val2 = INV_MPU6050_TEMP_SCALE;
>
> return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_MAGN:
> + return inv_mpu_magn_get_scale(st, chan, val, val2);
> default:
> return -EINVAL;
> }
> @@ -710,6 +721,11 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
> if (result)
> goto fifo_rate_fail_power_off;
>
> + /* update rate for magn, noop if not present in chip */
> + result = inv_mpu_magn_set_rate(st, fifo_rate);
> + if (result)
> + goto fifo_rate_fail_power_off;
> +
> fifo_rate_fail_power_off:
> result |= inv_mpu6050_set_power_itg(st, false);
> fifo_rate_fail_unlock:
> @@ -795,8 +811,14 @@ inv_get_mount_matrix(const struct iio_dev *indio_dev,
> const struct iio_chan_spec *chan)
> {
> struct inv_mpu6050_state *data = iio_priv(indio_dev);
> + const struct iio_mount_matrix *matrix;
> +
> + if (chan->type == IIO_MAGN)
> + matrix = &data->magn_orient;
> + else
> + matrix = &data->orientation;
>
> - return &data->orientation;
> + return matrix;
> }
>
> static const struct iio_chan_spec_ext_info inv_ext_info[] = {
> @@ -864,6 +886,98 @@ static const unsigned long inv_mpu_scan_masks[] = {
> 0,
> };
>
> +#define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index) \
> + { \
> + .type = IIO_MAGN, \
> + .modified = 1, \
> + .channel2 = _chan2, \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) | \
> + BIT(IIO_CHAN_INFO_RAW), \
> + .scan_index = _index, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = _bits, \
> + .storagebits = 16, \
> + .shift = 0, \
This doesn't need to be set as 0 is the 'obvious' default.
> + .endianness = IIO_BE, \
> + }, \
> + .ext_info = inv_ext_info, \
> + }
> +
> +static const struct iio_chan_spec inv_mpu9250_channels[] = {
> + IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
> + /*
> + * Note that temperature should only be via polled reading only,
> + * not the final scan elements output.
> + */
> + {
> + .type = IIO_TEMP,
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
> + | BIT(IIO_CHAN_INFO_OFFSET)
> + | BIT(IIO_CHAN_INFO_SCALE),
> + .scan_index = -1,
> + },
> + INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
> + INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
> + INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
> +
> + INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
> + INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
> + INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
> +
> + /* Magnetometer resolution is 16 bits */
> + INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
> + INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),
> + INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
> +};
> +
> +static const unsigned long inv_mpu9x50_scan_masks[] = {
> + /* 3-axis accel */
> + BIT(INV_MPU6050_SCAN_ACCL_X)
> + | BIT(INV_MPU6050_SCAN_ACCL_Y)
> + | BIT(INV_MPU6050_SCAN_ACCL_Z),
> + /* 3-axis gyro */
> + BIT(INV_MPU6050_SCAN_GYRO_X)
> + | BIT(INV_MPU6050_SCAN_GYRO_Y)
> + | BIT(INV_MPU6050_SCAN_GYRO_Z),
> + /* 3-axis magn */
> + BIT(INV_MPU9X50_SCAN_MAGN_X)
> + | BIT(INV_MPU9X50_SCAN_MAGN_Y)
> + | BIT(INV_MPU9X50_SCAN_MAGN_Z),
> + /* 6-axis accel + gyro */
> + BIT(INV_MPU6050_SCAN_ACCL_X)
> + | BIT(INV_MPU6050_SCAN_ACCL_Y)
> + | BIT(INV_MPU6050_SCAN_ACCL_Z)
> + | BIT(INV_MPU6050_SCAN_GYRO_X)
> + | BIT(INV_MPU6050_SCAN_GYRO_Y)
> + | BIT(INV_MPU6050_SCAN_GYRO_Z),
> + /* 6-axis accel + magn */
> + BIT(INV_MPU6050_SCAN_ACCL_X)
> + | BIT(INV_MPU6050_SCAN_ACCL_Y)
> + | BIT(INV_MPU6050_SCAN_ACCL_Z)
> + | BIT(INV_MPU9X50_SCAN_MAGN_X)
> + | BIT(INV_MPU9X50_SCAN_MAGN_Y)
> + | BIT(INV_MPU9X50_SCAN_MAGN_Z),
> + /* 6-axis gyro + magn */
> + BIT(INV_MPU6050_SCAN_GYRO_X)
> + | BIT(INV_MPU6050_SCAN_GYRO_Y)
> + | BIT(INV_MPU6050_SCAN_GYRO_Z)
> + | BIT(INV_MPU9X50_SCAN_MAGN_X)
> + | BIT(INV_MPU9X50_SCAN_MAGN_Y)
> + | BIT(INV_MPU9X50_SCAN_MAGN_Z),
> + /* 9-axis accel + gyro + magn */
> + BIT(INV_MPU6050_SCAN_ACCL_X)
> + | BIT(INV_MPU6050_SCAN_ACCL_Y)
> + | BIT(INV_MPU6050_SCAN_ACCL_Z)
> + | BIT(INV_MPU6050_SCAN_GYRO_X)
> + | BIT(INV_MPU6050_SCAN_GYRO_Y)
> + | BIT(INV_MPU6050_SCAN_GYRO_Z)
> + | BIT(INV_MPU9X50_SCAN_MAGN_X)
> + | BIT(INV_MPU9X50_SCAN_MAGN_Y)
> + | BIT(INV_MPU9X50_SCAN_MAGN_Z),
> + 0,
> +};
> +
> static const struct iio_chan_spec inv_icm20602_channels[] = {
> IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
> {
> @@ -1145,6 +1259,11 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> return result;
> }
>
> + /* fill magnetometer orientation */
> + result = inv_mpu_magn_set_orient(st);
> + if (result)
> + return result;
> +
> /* power is turned on inside check chip type*/
> result = inv_check_and_setup_chip(st);
> if (result)
> @@ -1168,14 +1287,33 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> if (inv_mpu_bus_setup)
> inv_mpu_bus_setup(indio_dev);
>
> - if (chip_type == INV_ICM20602) {
> + switch (chip_type) {
> + case INV_MPU9250:
> + case INV_MPU9255:
> + /*
> + * Use magnetometer inside the chip only if there is no i2c
> + * auxiliary device in use.
> + */
> + if (!st->magn_disabled) {
> + indio_dev->channels = inv_mpu9250_channels;
> + indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
> + indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
> + } else {
> + indio_dev->channels = inv_mpu_channels;
> + indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
> + indio_dev->available_scan_masks = inv_mpu_scan_masks;
> + }
> + break;
> + case INV_ICM20602:
> indio_dev->channels = inv_icm20602_channels;
> indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
> indio_dev->available_scan_masks = inv_icm20602_scan_masks;
> - } else {
> + break;
> + default:
> indio_dev->channels = inv_mpu_channels;
> indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
> indio_dev->available_scan_masks = inv_mpu_scan_masks;
> + break;
> }
>
> indio_dev->info = &mpu_info;
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index 04215bc6e8ab..953f85618199 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -130,6 +130,8 @@ struct inv_mpu6050_hw {
> * @data_timestamp: timestamp for next data sample.
> * @vddio_supply voltage regulator for the chip.
> * @magn_disabled: magnetometer disabled for backward compatibility reason.
> + * @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss.
> + * @magn_orient: magnetometer sensor chip orientation if available.
> */
> struct inv_mpu6050_state {
> struct mutex lock;
> @@ -152,6 +154,8 @@ struct inv_mpu6050_state {
> s64 data_timestamp;
> struct regulator *vddio_supply;
> bool magn_disabled;
> + s32 magn_raw_to_gauss[3];
> + struct iio_mount_matrix magn_orient;
> };
>
> /*register and associated bit definition*/
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
> new file mode 100644
> index 000000000000..415d8acece54
> --- /dev/null
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
> @@ -0,0 +1,355 @@
> +// SPDX-License-Identifier: GPL-2.0
> +/*
> + * Copyright (C) 2019 TDK-InvenSense, Inc.
> + */
> +
> +#include <linux/kernel.h>
> +#include <linux/device.h>
> +#include <linux/string.h>
> +
> +#include "inv_mpu_iio.h"
> +#include "inv_mpu_aux.h"
> +
> +/*
> + * MPU9250 magnetometer is an AKM AK8963 chip on I2C aux bus
> + */
> +#define INV_MPU_MAGN_I2C_ADDR 0x0C
> +
> +#define INV_MPU_MAGN_REG_WIA 0x00
> +#define INV_MPU_MAGN_BITS_WIA 0x48
> +
> +#define INV_MPU_MAGN_REG_ST1 0x02
> +#define INV_MPU_MAGN_BIT_DRDY 0x01
> +#define INV_MPU_MAGN_BIT_DOR 0x02
> +
> +#define INV_MPU_MAGN_REG_DATA 0x03
> +
> +#define INV_MPU_MAGN_REG_ST2 0x09
> +#define INV_MPU_MAGN_BIT_HOFL 0x08
> +#define INV_MPU_MAGN_BIT_BITM 0x10
> +
> +#define INV_MPU_MAGN_REG_CNTL1 0x0A
> +#define INV_MPU_MAGN_BITS_MODE_PWDN 0x00
> +#define INV_MPU_MAGN_BITS_MODE_SINGLE 0x01
> +#define INV_MPU_MAGN_BITS_MODE_FUSE 0x0F
> +#define INV_MPU_MAGN_BIT_OUTPUT_BIT 0x10
> +
> +#define INV_MPU_MAGN_REG_CNTL2 0x0B
> +#define INV_MPU_MAGN_BIT_SRST 0x01
> +
> +#define INV_MPU_MAGN_REG_ASAX 0x10
> +#define INV_MPU_MAGN_REG_ASAY 0x11
> +#define INV_MPU_MAGN_REG_ASAZ 0x12
> +
> +/* Magnetometer maximum frequency */
> +#define INV_MPU_MAGN_FREQ_HZ_MAX 50
> +
> +static bool inv_magn_supported(const struct inv_mpu6050_state *st)
> +{
> + switch (st->chip_type) {
> + case INV_MPU9250:
> + case INV_MPU9255:
> + return true;
> + default:
> + return false;
> + }
> +}
> +
> +/* init magnetometer chip */
> +static int inv_magn_init(struct inv_mpu6050_state *st)
> +{
> + uint8_t val;
> + uint8_t asa[3];
> + int ret;
> +
> + /* check whoami */
> + ret = inv_mpu_aux_read(st, INV_MPU_MAGN_I2C_ADDR, INV_MPU_MAGN_REG_WIA,
> + &val, sizeof(val));
> + if (ret)
> + return ret;
> + if (val != INV_MPU_MAGN_BITS_WIA)
> + return -ENODEV;
> +
> + /* reset chip */
> + ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
> + INV_MPU_MAGN_REG_CNTL2,
> + INV_MPU_MAGN_BIT_SRST);
> + if (ret)
> + return ret;
> +
> + /* read fuse ROM data */
> + ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
> + INV_MPU_MAGN_REG_CNTL1,
> + INV_MPU_MAGN_BITS_MODE_FUSE);
> + if (ret)
> + return ret;
> +
> + ret = inv_mpu_aux_read(st, INV_MPU_MAGN_I2C_ADDR, INV_MPU_MAGN_REG_ASAX,
> + asa, sizeof(asa));
> + if (ret)
> + return ret;
> +
> + /* switch back to power-down */
> + ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
> + INV_MPU_MAGN_REG_CNTL1,
> + INV_MPU_MAGN_BITS_MODE_PWDN);
> + if (ret)
> + return ret;
> +
> + /*
> + * Sensitivity adjustement and scale to Gauss
> + *
> + * Hadj = H * (((ASA - 128) * 0.5 / 128) + 1)
> + * Factor simplification:
> + * Hadj = H * ((ASA + 128) / 256)
> + *
> + * Sensor sentivity
> + * 0.15 uT in 16 bits mode
> + * 1 uT = 0.01 G and value is in micron (1e6)
> + * sensitvity = 0.15 uT * 0.01 * 1e6
> + *
> + * raw_to_gauss = Hadj * 1500
> + */
> + st->magn_raw_to_gauss[0] = (((int32_t)asa[0] + 128) * 1500) / 256;
> + st->magn_raw_to_gauss[1] = (((int32_t)asa[1] + 128) * 1500) / 256;
> + st->magn_raw_to_gauss[2] = (((int32_t)asa[2] + 128) * 1500) / 256;
> +
> + return 0;
> +}
> +
> +/**
> + * inv_mpu_magn_probe() - probe and setup magnetometer chip
> + * @st: driver internal state
> + *
> + * Returns 0 on success, a negative error code otherwise
> + *
> + * It is probing the chip and setting up all needed i2c transfers.
> + * Noop if there is no magnetometer in the chip.
> + */
> +int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
> +{
> + int ret;
> +
> + /* quit if chip is not supported */
> + if (!inv_magn_supported(st))
> + return 0;
> +
> + /* configure i2c master aux port */
> + ret = inv_mpu_aux_init(st);
> + if (ret)
> + return ret;
> +
> + /* check and init mag chip */
> + ret = inv_magn_init(st);
> + if (ret)
> + return ret;
> +
> + /*
> + * configure mpu i2c master accesses
> + * i2c SLV0: read sensor data, 7 bytes data(6)-ST2
> + * Byte swap data to store them in big-endian in impair address groups
> + */
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0),
> + INV_MPU6050_BIT_I2C_SLV_RNW | INV_MPU_MAGN_I2C_ADDR);
> + if (ret)
> + return ret;
> +
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0),
> + INV_MPU_MAGN_REG_DATA);
> + if (ret)
> + return ret;
> +
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
> + INV_MPU6050_BIT_SLV_EN |
> + INV_MPU6050_BIT_SLV_BYTE_SW |
> + INV_MPU6050_BIT_SLV_GRP |
> + INV_MPU9X50_BYTES_MAGN);
> + if (ret)
> + return ret;
> +
> + /* i2c SLV1: launch single measurement */
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(1),
> + INV_MPU_MAGN_I2C_ADDR);
> + if (ret)
> + return ret;
> +
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(1),
> + INV_MPU_MAGN_REG_CNTL1);
> + if (ret)
> + return ret;
> +
> + /* add 16 bits mode */
> + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(1),
> + INV_MPU_MAGN_BITS_MODE_SINGLE |
> + INV_MPU_MAGN_BIT_OUTPUT_BIT);
> + if (ret)
> + return ret;
> +
> + return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(1),
> + INV_MPU6050_BIT_SLV_EN | 1);
> +}
> +
> +/**
> + * inv_mpu_magn_set_rate() - set magnetometer sampling rate
> + * @st: driver internal state
> + * @fifo_rate: mpu set fifo rate
> + *
> + * Returns 0 on success, a negative error code otherwise
> + *
> + * Limit sampling frequency to the maximum value supported by the
> + * magnetometer chip. Resulting in duplicated data for higher frequencies.
> + * Noop if there is no magnetometer in the chip.
> + */
> +int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate)
> +{
> + uint8_t d;
> +
> + /* quit if chip is not supported */
> + if (!inv_magn_supported(st))
> + return 0;
> +
> + /*
> + * update i2c master delay to limit mag sampling to max frequency
> + * compute fifo_rate divider d: rate = fifo_rate / (d + 1)
> + */
> + if (fifo_rate > INV_MPU_MAGN_FREQ_HZ_MAX)
> + d = fifo_rate / INV_MPU_MAGN_FREQ_HZ_MAX - 1;
> + else
> + d = 0;
> +
> + return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, d);
> +}
> +
> +/**
> + * inv_mpu_magn_set_orient() - fill magnetometer mounting matrix
> + * @st: driver internal state
> + *
> + * Returns 0 on success, a negative error code otherwise
> + *
> + * Fill magnetometer mounting matrix using the provided chip matrix.
> + */
> +int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
> +{
> + const char *orient;
> + char *str;
> + int i;
> +
> + /* fill magnetometer orientation */
> + switch (st->chip_type) {
> + case INV_MPU9250:
> + case INV_MPU9255:
> + /* x <- y */
> + st->magn_orient.rotation[0] = st->orientation.rotation[3];
> + st->magn_orient.rotation[1] = st->orientation.rotation[4];
> + st->magn_orient.rotation[2] = st->orientation.rotation[5];
> + /* y <- x */
> + st->magn_orient.rotation[3] = st->orientation.rotation[0];
> + st->magn_orient.rotation[4] = st->orientation.rotation[1];
> + st->magn_orient.rotation[5] = st->orientation.rotation[2];
> + /* z <- -z */
> + for (i = 0; i < 3; ++i) {
> + orient = st->orientation.rotation[6 + i];
> + /* use length + 2 for adding minus sign if needed */
> + str = devm_kzalloc(regmap_get_device(st->map),
> + strlen(orient) + 2, GFP_KERNEL);
> + if (str == NULL)
> + return -ENOMEM;
> + if (strcmp(orient, "0") == 0) {
> + strcpy(str, orient);
> + } else if (orient[0] == '-') {
> + strcpy(str, &orient[1]);
> + } else {
> + str[0] = '-';
> + strcpy(&str[1], orient);
> + }
> + st->magn_orient.rotation[6 + i] = str;
> + }
> + break;
> + default:
> + st->magn_orient = st->orientation;
> + break;
> + }
> +
> + return 0;
> +}
> +
> +/**
> + * inv_mpu_magn_read() - read magnetometer data
> + * @st: driver internal state
> + * @axis: IIO modifier axis value
> + * @val: store corresponding axis value
> + *
> + * Returns 0 on success, a negative error code otherwise
> + */
> +int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
> +{
> + unsigned int user_ctrl, status;
> + __be16 data[3];
> + uint8_t addr;
> + uint8_t d;
> + unsigned int period_ms;
> + int ret;
> +
> + /* quit if chip is not supported */
> + if (!inv_magn_supported(st))
> + return -ENODEV;
> +
> + /* Mag data: X - Y - Z */
> + switch (axis) {
> + case IIO_MOD_X:
> + addr = 0;
> + break;
> + case IIO_MOD_Y:
> + addr = 1;
> + break;
> + case IIO_MOD_Z:
> + addr = 2;
> + break;
> + default:
> + return -EINVAL;
> + }
> +
> + /* 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;
> +
> + /* start i2c master, wait for xfer, stop */
> + user_ctrl = st->chip_config.user_ctrl | INV_MPU6050_BIT_I2C_MST_EN;
> + ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
> + if (ret)
> + 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)
> + return ret;
> +
> + if (status & INV_MPU6050_BIT_I2C_SLV0_NACK ||
> + status & INV_MPU6050_BIT_I2C_SLV1_NACK)
> + return -EIO;
> +
> + ret = regmap_bulk_read(st->map, INV_MPU6050_REG_EXT_SENS_DATA,
> + data, sizeof(data));
> + if (ret)
> + return ret;
> +
> + *val = (int16_t)be16_to_cpu(data[addr]);
> +
> + return IIO_VAL_INT;
> +}
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
> new file mode 100644
> index 000000000000..b41bd0578478
> --- /dev/null
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
> @@ -0,0 +1,36 @@
> +/* SPDX-License-Identifier: GPL-2.0 */
> +/*
> + * Copyright (C) 2019 TDK-InvenSense, Inc.
> + */
> +
> +#ifndef INV_MPU_MAGN_H_
> +#define INV_MPU_MAGN_H_
> +
> +#include <linux/kernel.h>
> +
> +#include "inv_mpu_iio.h"
> +
> +int inv_mpu_magn_probe(struct inv_mpu6050_state *st);
> +
> +/**
> + * inv_mpu_magn_get_scale() - get magnetometer scale value
> + * @st: driver internal state
> + *
> + * Returns IIO data format.
> + */
> +static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,
> + const struct iio_chan_spec *chan,
> + int *val, int *val2)
> +{
> + *val = 0;
> + *val2 = st->magn_raw_to_gauss[chan->address];
> + return IIO_VAL_INT_PLUS_MICRO;
> +}
> +
> +int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate);
> +
> +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);
> +
> +#endif /* INV_MPU_MAGN_H_ */
^ permalink raw reply [flat|nested] 15+ messages in thread
* Re: [PATCH v3 7/7] iio: imu: inv_mpu6050: add fifo support for magnetometer data
2019-09-16 9:42 ` [PATCH v3 7/7] iio: imu: inv_mpu6050: add fifo support for magnetometer data Jean-Baptiste Maneyrol
@ 2019-10-05 11:15 ` Jonathan Cameron
0 siblings, 0 replies; 15+ messages in thread
From: Jonathan Cameron @ 2019-10-05 11:15 UTC (permalink / raw)
To: Jean-Baptiste Maneyrol; +Cc: linux-iio
On Mon, 16 Sep 2019 09:42:09 +0000
Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote:
> Put read magnetometer data by mpu inside the fifo.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Applied to the togreg branch of iio.git and pushed out as testing
for the autobuilders to poke at it.
Thanks,
Jonathan
> ---
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 1 +
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 +
> drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 11 ++-
> drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 86 ++++++++++++++++---
> 4 files changed, 88 insertions(+), 12 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index f1c65e0dd1a5..354030e9bed5 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -104,6 +104,7 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = {
> .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE),
> .gyro_fifo_enable = false,
> .accl_fifo_enable = false,
> + .magn_fifo_enable = false,
> .accl_fs = INV_MPU6050_FS_02G,
> .user_ctrl = 0,
> };
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index 953f85618199..52fcf45050a5 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -86,6 +86,7 @@ enum inv_devices {
> * @accl_fs: accel full scale range.
> * @accl_fifo_enable: enable accel data output
> * @gyro_fifo_enable: enable gyro data output
> + * @magn_fifo_enable: enable magn data output
> * @divider: chip sample rate divider (sample rate divider - 1)
> */
> struct inv_mpu6050_chip_config {
> @@ -94,6 +95,7 @@ struct inv_mpu6050_chip_config {
> unsigned int accl_fs:2;
> unsigned int accl_fifo_enable:1;
> unsigned int gyro_fifo_enable:1;
> + unsigned int magn_fifo_enable:1;
> u8 divider;
> u8 user_ctrl;
> };
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> index 5f9a5de0bab4..bbf68b474556 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> @@ -124,7 +124,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
>
> /* enable interrupt */
> if (st->chip_config.accl_fifo_enable ||
> - st->chip_config.gyro_fifo_enable) {
> + st->chip_config.gyro_fifo_enable ||
> + st->chip_config.magn_fifo_enable) {
> result = regmap_write(st->map, st->reg->int_enable,
> INV_MPU6050_BIT_DATA_RDY_EN);
> if (result)
> @@ -141,6 +142,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
> d |= INV_MPU6050_BITS_GYRO_OUT;
> if (st->chip_config.accl_fifo_enable)
> d |= INV_MPU6050_BIT_ACCEL_OUT;
> + if (st->chip_config.magn_fifo_enable)
> + d |= INV_MPU6050_BIT_SLAVE_0;
> result = regmap_write(st->map, st->reg->fifo_en, d);
> if (result)
> goto reset_fifo_fail;
> @@ -190,7 +193,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
> }
>
> if (!(st->chip_config.accl_fifo_enable |
> - st->chip_config.gyro_fifo_enable))
> + st->chip_config.gyro_fifo_enable |
> + st->chip_config.magn_fifo_enable))
> goto end_session;
> bytes_per_datum = 0;
> if (st->chip_config.accl_fifo_enable)
> @@ -202,6 +206,9 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
> if (st->chip_type == INV_ICM20602)
> bytes_per_datum += INV_ICM20602_BYTES_PER_TEMP_SENSOR;
>
> + if (st->chip_config.magn_fifo_enable)
> + bytes_per_datum += INV_MPU9X50_BYTES_MAGN;
> +
> /*
> * read fifo_count register to know how many bytes are inside the FIFO
> * right now
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> index dd55e70b6f77..d7d951927a44 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> @@ -5,7 +5,7 @@
>
> #include "inv_mpu_iio.h"
>
> -static void inv_scan_query(struct iio_dev *indio_dev)
> +static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
> {
> struct inv_mpu6050_state *st = iio_priv(indio_dev);
>
> @@ -26,6 +26,60 @@ static void inv_scan_query(struct iio_dev *indio_dev)
> indio_dev->active_scan_mask);
> }
>
> +static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
> +{
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> +
> + inv_scan_query_mpu6050(indio_dev);
> +
> + /* no magnetometer if i2c auxiliary bus is used */
> + if (st->magn_disabled)
> + return;
> +
> + st->chip_config.magn_fifo_enable =
> + test_bit(INV_MPU9X50_SCAN_MAGN_X,
> + indio_dev->active_scan_mask) ||
> + test_bit(INV_MPU9X50_SCAN_MAGN_Y,
> + indio_dev->active_scan_mask) ||
> + test_bit(INV_MPU9X50_SCAN_MAGN_Z,
> + indio_dev->active_scan_mask);
> +}
> +
> +static void inv_scan_query(struct iio_dev *indio_dev)
> +{
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> +
> + switch (st->chip_type) {
> + case INV_MPU9250:
> + case INV_MPU9255:
> + return inv_scan_query_mpu9x50(indio_dev);
> + default:
> + return inv_scan_query_mpu6050(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;
> +
> + /* 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;
> +
> + return skip_samples;
> +}
> +
> /**
> * inv_mpu6050_set_enable() - enable chip functions.
> * @indio_dev: Device driver instance.
> @@ -34,6 +88,7 @@ static void inv_scan_query(struct iio_dev *indio_dev)
> static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
> {
> struct inv_mpu6050_state *st = iio_priv(indio_dev);
> + uint8_t d;
> int result;
>
> if (enable) {
> @@ -41,14 +96,11 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
> if (result)
> return result;
> inv_scan_query(indio_dev);
> - st->skip_samples = 0;
> if (st->chip_config.gyro_fifo_enable) {
> result = inv_mpu6050_switch_engine(st, true,
> INV_MPU6050_BIT_PWR_GYRO_STBY);
> if (result)
> goto error_power_off;
> - /* gyro first sample is out of specs, skip it */
> - st->skip_samples = 1;
> }
> if (st->chip_config.accl_fifo_enable) {
> result = inv_mpu6050_switch_engine(st, true,
> @@ -56,22 +108,32 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
> if (result)
> goto error_gyro_off;
> }
> + if (st->chip_config.magn_fifo_enable) {
> + d = st->chip_config.user_ctrl |
> + INV_MPU6050_BIT_I2C_MST_EN;
> + result = regmap_write(st->map, st->reg->user_ctrl, d);
> + if (result)
> + goto error_accl_off;
> + st->chip_config.user_ctrl = d;
> + }
> + st->skip_samples = inv_compute_skip_samples(st);
> result = inv_reset_fifo(indio_dev);
> if (result)
> - goto error_accl_off;
> + goto error_magn_off;
> } else {
> result = regmap_write(st->map, st->reg->fifo_en, 0);
> if (result)
> - goto error_accl_off;
> + goto error_magn_off;
>
> result = regmap_write(st->map, st->reg->int_enable, 0);
> if (result)
> - goto error_accl_off;
> + goto error_magn_off;
>
> - result = regmap_write(st->map, st->reg->user_ctrl,
> - st->chip_config.user_ctrl);
> + d = st->chip_config.user_ctrl & ~INV_MPU6050_BIT_I2C_MST_EN;
> + result = regmap_write(st->map, st->reg->user_ctrl, d);
> if (result)
> - goto error_accl_off;
> + goto error_magn_off;
> + st->chip_config.user_ctrl = d;
>
> result = inv_mpu6050_switch_engine(st, false,
> INV_MPU6050_BIT_PWR_ACCL_STBY);
> @@ -90,6 +152,10 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
>
> return 0;
>
> +error_magn_off:
> + /* always restore user_ctrl to disable fifo properly */
> + st->chip_config.user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN;
> + regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl);
> error_accl_off:
> if (st->chip_config.accl_fifo_enable)
> inv_mpu6050_switch_engine(st, false,
^ permalink raw reply [flat|nested] 15+ messages in thread
end of thread, other threads:[~2019-10-05 11:15 UTC | newest]
Thread overview: 15+ messages (download: mbox.gz / follow: Atom feed)
-- links below jump to the message on this page --
2019-09-16 9:41 [PATCH v3 0/7] add magnetometer support for MPU925x Jean-Baptiste Maneyrol
2019-09-16 9:41 ` [PATCH v3 1/7] iio: imu: inv_mpu6050: disable i2c mux " Jean-Baptiste Maneyrol
2019-10-05 10:57 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 2/7] iio: imu: inv_mpu6050: add header include protection macro Jean-Baptiste Maneyrol
2019-10-05 10:58 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 3/7] iio: imu: inv_mpu6050: add defines for supporting 9-axis chips Jean-Baptiste Maneyrol
2019-10-05 10:58 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 4/7] iio: imu: inv_mpu6050: fix objects syntax in Makefile Jean-Baptiste Maneyrol
2019-10-05 11:00 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 5/7] iio: imu: inv_mpu6050: helpers for using i2c master on auxiliary bus Jean-Baptiste Maneyrol
2019-10-05 11:06 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 6/7] iio: imu: inv_mpu6050: add MPU925x magnetometer support Jean-Baptiste Maneyrol
2019-10-05 11:13 ` Jonathan Cameron
2019-09-16 9:42 ` [PATCH v3 7/7] iio: imu: inv_mpu6050: add fifo support for magnetometer data Jean-Baptiste Maneyrol
2019-10-05 11:15 ` Jonathan Cameron
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