* [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* 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
* [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* 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
* [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* 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
* [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-$(CONFIG_INV_MPU6050_SPI) += inv-mpu6050-spi.o
-inv-mpu6050-spi-objs := inv_mpu_spi.o
+inv-mpu6050-spi-y := inv_mpu_spi.o
--
2.17.1
^ permalink raw reply related [flat|nested] 15+ messages in thread* Re: [PATCH v3 4/7] iio: imu: inv_mpu6050: fix objects syntax in Makefile
2019-09-16 9:42 ` [PATCH v3 4/7] iio: imu: inv_mpu6050: fix objects syntax in Makefile Jean-Baptiste Maneyrol
@ 2019-10-05 11:00 ` Jonathan Cameron
0 siblings, 0 replies; 15+ messages in thread
From: Jonathan Cameron @ 2019-10-05 11:00 UTC (permalink / raw)
To: Jean-Baptiste Maneyrol; +Cc: linux-iio
On Mon, 16 Sep 2019 09:42:04 +0000
Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote:
> Use the correct syntax *-y for declaring object files.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Applied.
Thanks,
Jonathan
> ---
> drivers/iio/imu/inv_mpu6050/Makefile | 6 +++---
> 1 file changed, 3 insertions(+), 3 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
> index 70ffe0d13d8c..33bec09fee9b 100644
> --- a/drivers/iio/imu/inv_mpu6050/Makefile
> +++ b/drivers/iio/imu/inv_mpu6050/Makefile
> @@ -4,10 +4,10 @@
> #
>
> obj-$(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
* [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* 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
* [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* 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
* [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 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