| Message ID | 20190916094128.30122-7-jmaneyrol@invensense.com (mailing list archive) |
|---|---|
| State | New, archived |
| Headers | show |
| Series | add magnetometer support for MPU925x | expand |
On Mon, 16 Sep 2019 09:42:07 +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_ */
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_ */
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