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Fri, 15 Nov 2019 14:06:43 +0000 From: Jean-Baptiste Maneyrol To: jic23@kernel.org Cc: linux-iio@vger.kernel.org, Jean-Baptiste Maneyrol Subject: [PATCH 2/2] iio: imu: inv_mpu6050: add support of MPU9150 magnetometer Date: Fri, 15 Nov 2019 15:06:22 +0100 Message-Id: <20191115140622.6429-3-jmaneyrol@invensense.com> X-Mailer: git-send-email 2.17.1 In-Reply-To: <20191115140622.6429-1-jmaneyrol@invensense.com> References: <20191115140622.6429-1-jmaneyrol@invensense.com> X-ClientProxiedBy: LNXP265CA0064.GBRP265.PROD.OUTLOOK.COM (2603:10a6:600:5d::28) To MN2PR12MB3373.namprd12.prod.outlook.com (2603:10b6:208:c8::33) MIME-Version: 1.0 X-Mailer: git-send-email 2.17.1 X-Originating-IP: [77.157.193.39] X-MS-PublicTrafficType: Email X-MS-Office365-Filtering-Correlation-Id: 5addba2b-fcb6-4ecf-a059-08d769d50b21 X-MS-TrafficTypeDiagnostic: MN2PR12MB4126: X-MS-Exchange-Transport-Forked: True X-Microsoft-Antispam-PRVS: X-MS-Oob-TLC-OOBClassifiers: OLM:9508; X-Forefront-PRVS: 02229A4115 X-Forefront-Antispam-Report: SFV:NSPM;SFS:(10009020)(346002)(396003)(136003)(39850400004)(376002)(366004)(189003)(199004)(8936002)(6916009)(186003)(99286004)(7736002)(6506007)(478600001)(486006)(16586007)(25786009)(11346002)(36756003)(386003)(2616005)(476003)(14454004)(26005)(6436002)(80792005)(48376002)(305945005)(4326008)(50466002)(2351001)(14444005)(47776003)(66066001)(2361001)(2906002)(66556008)(50226002)(66476007)(66946007)(86362001)(81156014)(107886003)(81166006)(6666004)(5660300002)(6486002)(8676002)(446003)(52116002)(51416003)(316002)(76176011)(6116002)(3846002)(1076003)(6512007);DIR:OUT;SFP:1101;SCL:1;SRVR:MN2PR12MB4126;H:MN2PR12MB3373.namprd12.prod.outlook.com;FPR:;SPF:None;LANG:en;PTR:InfoNoRecords;MX:1;A:1; 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Signed-off-by: Jean-Baptiste Maneyrol --- drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 57 ++++++++++--- drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 2 + drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c | 80 +++++++++++++------ drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 1 + 4 files changed, 104 insertions(+), 36 deletions(-) diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index 45e77b308238..23c0557891a0 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -914,6 +914,33 @@ static const unsigned long inv_mpu_scan_masks[] = { .ext_info = inv_ext_info, \ } +static const struct iio_chan_spec inv_mpu9150_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 13 bits */ + INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 13, INV_MPU9X50_SCAN_MAGN_X), + INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 13, INV_MPU9X50_SCAN_MAGN_Y), + INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 13, INV_MPU9X50_SCAN_MAGN_Z), +}; + static const struct iio_chan_spec inv_mpu9250_channels[] = { IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP), /* @@ -1323,21 +1350,16 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, inv_mpu_bus_setup(indio_dev); switch (chip_type) { + case INV_MPU9150: + indio_dev->channels = inv_mpu9150_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_mpu9150_channels); + indio_dev->available_scan_masks = inv_mpu9x50_scan_masks; + break; 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; - } + indio_dev->channels = inv_mpu9250_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels); + indio_dev->available_scan_masks = inv_mpu9x50_scan_masks; break; case INV_ICM20602: indio_dev->channels = inv_icm20602_channels; @@ -1350,6 +1372,15 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, indio_dev->available_scan_masks = inv_mpu_scan_masks; break; } + /* + * Use magnetometer inside the chip only if there is no i2c + * auxiliary device in use. Otherwise Going back to 6-axis only. + */ + if (st->magn_disabled) { + indio_dev->channels = inv_mpu_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels); + indio_dev->available_scan_masks = inv_mpu_scan_masks; + } indio_dev->info = &mpu_info; indio_dev->modes = INDIO_BUFFER_TRIGGERED; diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c index 389cc8505e0e..f47a28b4be23 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c @@ -77,6 +77,7 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev) case INV_ICM20602: /* no i2c auxiliary bus on the chip */ return false; + case INV_MPU9150: case INV_MPU9250: case INV_MPU9255: if (st->magn_disabled) @@ -102,6 +103,7 @@ static int inv_mpu_magn_disable(struct iio_dev *indio_dev) struct device_node *mux_node; switch (st->chip_type) { + case INV_MPU9150: case INV_MPU9250: case INV_MPU9255: mux_node = of_get_child_by_name(dev->of_node, "i2c-gate"); diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c index 02735af152c8..4f192352521e 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c @@ -12,7 +12,9 @@ #include "inv_mpu_magn.h" /* - * MPU9250 magnetometer is an AKM AK8963 chip on I2C aux bus + * MPU9xxx magnetometer are AKM chips on I2C aux bus + * MPU9150 is AK8975 + * MPU9250 is AK8963 */ #define INV_MPU_MAGN_I2C_ADDR 0x0C @@ -33,10 +35,10 @@ #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_MPU9250_MAGN_BIT_OUTPUT_BIT 0x10 -#define INV_MPU_MAGN_REG_CNTL2 0x0B -#define INV_MPU_MAGN_BIT_SRST 0x01 +#define INV_MPU9250_MAGN_REG_CNTL2 0x0B +#define INV_MPU9250_MAGN_BIT_SRST 0x01 #define INV_MPU_MAGN_REG_ASAX 0x10 #define INV_MPU_MAGN_REG_ASAY 0x11 @@ -48,6 +50,7 @@ static bool inv_magn_supported(const struct inv_mpu6050_state *st) { switch (st->chip_type) { + case INV_MPU9150: case INV_MPU9250: case INV_MPU9255: return true; @@ -61,6 +64,7 @@ static int inv_magn_init(struct inv_mpu6050_state *st) { uint8_t val; uint8_t asa[3]; + int32_t sensitivity; int ret; /* check whoami */ @@ -71,12 +75,19 @@ static int inv_magn_init(struct inv_mpu6050_state *st) 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; + /* software reset for MPU925x only */ + switch (st->chip_type) { + case INV_MPU9250: + case INV_MPU9255: + ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR, + INV_MPU9250_MAGN_REG_CNTL2, + INV_MPU9250_MAGN_BIT_SRST); + if (ret) + return ret; + break; + default: + break; + } /* read fuse ROM data */ ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR, @@ -97,6 +108,25 @@ static int inv_magn_init(struct inv_mpu6050_state *st) if (ret) return ret; + /* + * Sensor sentivity + * 1 uT = 0.01 G and value is in micron (1e6) + * sensitvity = x uT * 0.01 * 1e6 + */ + switch (st->chip_type) { + case INV_MPU9150: + /* sensor sensitivity is 0.3 uT */ + sensitivity = 3000; + break; + case INV_MPU9250: + case INV_MPU9255: + /* sensor sensitivity in 16 bits mode: 0.15 uT */ + sensitivity = 1500; + break; + default: + return -EINVAL; + } + /* * Sensitivity adjustement and scale to Gauss * @@ -104,16 +134,11 @@ static int inv_magn_init(struct inv_mpu6050_state *st) * 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 + * raw_to_gauss = Hadj * sensitivity */ - 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; + st->magn_raw_to_gauss[0] = (((int32_t)asa[0] + 128) * sensitivity) / 256; + st->magn_raw_to_gauss[1] = (((int32_t)asa[1] + 128) * sensitivity) / 256; + st->magn_raw_to_gauss[2] = (((int32_t)asa[2] + 128) * sensitivity) / 256; return 0; } @@ -129,6 +154,7 @@ static int inv_magn_init(struct inv_mpu6050_state *st) */ int inv_mpu_magn_probe(struct inv_mpu6050_state *st) { + uint8_t val; int ret; /* quit if chip is not supported */ @@ -179,10 +205,17 @@ int inv_mpu_magn_probe(struct inv_mpu6050_state *st) 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); + /* add 16 bits mode for MPU925x */ + val = INV_MPU_MAGN_BITS_MODE_SINGLE; + switch (st->chip_type) { + case INV_MPU9250: + case INV_MPU9255: + val |= INV_MPU9250_MAGN_BIT_OUTPUT_BIT; + break; + default: + break; + } + ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(1), val); if (ret) return ret; @@ -237,6 +270,7 @@ int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st) /* fill magnetometer orientation */ switch (st->chip_type) { + case INV_MPU9150: case INV_MPU9250: case INV_MPU9255: /* x <- y */ diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c index d7d951927a44..a9c75bc62f18 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c @@ -50,6 +50,7 @@ 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_MPU9150: case INV_MPU9250: case INV_MPU9255: return inv_scan_query_mpu9x50(indio_dev);