| Message ID | 20190916094128.30122-4-jmaneyrol@invensense.com (mailing list archive) |
|---|---|
| State | New, archived |
| Headers | show |
| Series | add magnetometer support for MPU925x | expand |
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 */
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 */
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(-)