| Message ID | 20191118103406.9353-1-jmaneyrol@invensense.com (mailing list archive) |
|---|---|
| State | New, archived |
| Headers | show |
| Series | [1/2] iio: imu: inv_mpu6050: fix temperature reporting using bad unit | expand |
On Mon, 18 Nov 2019 11:34:05 +0100 Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> wrote: > Temperature should be reported in milli-degrees, not degrees. Fix > scale values to use the correct unit. > Fix round-up offset value for MPU6050 and add the values for > MPU6500 family (different from MPU6050). > > Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> Hi. This is combining several different things, but I can see that it isn't easy to separate them out so I'll take it as is. However, we need some information on how to backport this? I'm guessing it won't be clean to do as the different parts were added over time. Perhaps a fixes tag for now to the latest change that affects this code, then look at backporting relevant parts by hand. Thanks, Jonathan > --- > drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 23 +++++++++++----------- > drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 16 +++++++++++---- > 2 files changed, 24 insertions(+), 15 deletions(-) > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > index 23c0557891a0..268240644adf 100644 > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > @@ -117,6 +117,7 @@ static const struct inv_mpu6050_hw hw_info[] = { > .reg = ®_set_6050, > .config = &chip_config_6050, > .fifo_size = 1024, > + .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE}, > }, > { > .whoami = INV_MPU6500_WHOAMI_VALUE, > @@ -124,6 +125,7 @@ static const struct inv_mpu6050_hw hw_info[] = { > .reg = ®_set_6500, > .config = &chip_config_6050, > .fifo_size = 512, > + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, > }, > { > .whoami = INV_MPU6515_WHOAMI_VALUE, > @@ -131,6 +133,7 @@ static const struct inv_mpu6050_hw hw_info[] = { > .reg = ®_set_6500, > .config = &chip_config_6050, > .fifo_size = 512, > + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, > }, > { > .whoami = INV_MPU6000_WHOAMI_VALUE, > @@ -138,6 +141,7 @@ static const struct inv_mpu6050_hw hw_info[] = { > .reg = ®_set_6050, > .config = &chip_config_6050, > .fifo_size = 1024, > + .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE}, > }, > { > .whoami = INV_MPU9150_WHOAMI_VALUE, > @@ -145,6 +149,7 @@ static const struct inv_mpu6050_hw hw_info[] = { > .reg = ®_set_6050, > .config = &chip_config_6050, > .fifo_size = 1024, > + .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE}, > }, > { > .whoami = INV_MPU9250_WHOAMI_VALUE, > @@ -152,6 +157,7 @@ static const struct inv_mpu6050_hw hw_info[] = { > .reg = ®_set_6500, > .config = &chip_config_6050, > .fifo_size = 512, > + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, > }, > { > .whoami = INV_MPU9255_WHOAMI_VALUE, > @@ -159,6 +165,7 @@ static const struct inv_mpu6050_hw hw_info[] = { > .reg = ®_set_6500, > .config = &chip_config_6050, > .fifo_size = 512, > + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, > }, > { > .whoami = INV_ICM20608_WHOAMI_VALUE, > @@ -166,6 +173,7 @@ static const struct inv_mpu6050_hw hw_info[] = { > .reg = ®_set_6500, > .config = &chip_config_6050, > .fifo_size = 512, > + .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE}, > }, > { > .whoami = INV_ICM20602_WHOAMI_VALUE, > @@ -173,6 +181,7 @@ static const struct inv_mpu6050_hw hw_info[] = { > .reg = ®_set_icm20602, > .config = &chip_config_6050, > .fifo_size = 1008, > + .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE}, > }, > }; > > @@ -481,12 +490,8 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, > > return IIO_VAL_INT_PLUS_MICRO; > case IIO_TEMP: > - *val = 0; > - if (st->chip_type == INV_ICM20602) > - *val2 = INV_ICM20602_TEMP_SCALE; > - else > - *val2 = INV_MPU6050_TEMP_SCALE; > - > + *val = st->hw->temp.scale / 1000000; > + *val2 = st->hw->temp.scale % 1000000; > return IIO_VAL_INT_PLUS_MICRO; > case IIO_MAGN: > return inv_mpu_magn_get_scale(st, chan, val, val2); > @@ -496,11 +501,7 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, > case IIO_CHAN_INFO_OFFSET: > switch (chan->type) { > case IIO_TEMP: > - if (st->chip_type == INV_ICM20602) > - *val = INV_ICM20602_TEMP_OFFSET; > - else > - *val = INV_MPU6050_TEMP_OFFSET; > - > + *val = st->hw->temp.offset; > return IIO_VAL_INT; > default: > return -EINVAL; > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > index f1fb7b6bdab1..b096e010d4ee 100644 > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > @@ -107,6 +107,7 @@ struct inv_mpu6050_chip_config { > * @reg: register map of the chip. > * @config: configuration of the chip. > * @fifo_size: size of the FIFO in bytes. > + * @temp: offset and scale to apply to raw temperature. > */ > struct inv_mpu6050_hw { > u8 whoami; > @@ -114,6 +115,10 @@ struct inv_mpu6050_hw { > const struct inv_mpu6050_reg_map *reg; > const struct inv_mpu6050_chip_config *config; > size_t fifo_size; > + struct { > + int offset; > + int scale; > + } temp; > }; > > /* > @@ -279,16 +284,19 @@ struct inv_mpu6050_state { > #define INV_MPU6050_REG_UP_TIME_MIN 5000 > #define INV_MPU6050_REG_UP_TIME_MAX 10000 > > -#define INV_MPU6050_TEMP_OFFSET 12421 > -#define INV_MPU6050_TEMP_SCALE 2941 > +#define INV_MPU6050_TEMP_OFFSET 12420 > +#define INV_MPU6050_TEMP_SCALE 2941176 > #define INV_MPU6050_MAX_GYRO_FS_PARAM 3 > #define INV_MPU6050_MAX_ACCL_FS_PARAM 3 > #define INV_MPU6050_THREE_AXIS 3 > #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3 > #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3 > > -#define INV_ICM20602_TEMP_OFFSET 8170 > -#define INV_ICM20602_TEMP_SCALE 3060 > +#define INV_MPU6500_TEMP_OFFSET 7011 > +#define INV_MPU6500_TEMP_SCALE 2995178 > + > +#define INV_ICM20608_TEMP_OFFSET 8170 > +#define INV_ICM20608_TEMP_SCALE 3059976 > > /* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */ > #define INV_MPU6050_OUTPUT_DATA_SIZE 32
Hi Jonathan,
any news about my 2nd patch ("[PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support") now that the 1st is included inside fixes-togreg branch?
The 1st one is still not yet available inside testing branch.
Should I resend it now or wait for testing to be in sync with fixes-togreg?
Thanks,
JB
From: Jean-Baptiste Maneyrol <JManeyrol@invensense.com>
Sent: Monday, December 2, 2019 14:50
To: Jonathan Cameron <jic23@kernel.org>
Subject: Re: [PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support
Hi Jonathan,
just a reminder for not forgetting this patch now that the first is in fixes-togreg branch.
Thanks,
JB
From: Jonathan Cameron <jic23@kernel.org>
Sent: Saturday, November 23, 2019 17:22
To: Jean-Baptiste Maneyrol <JManeyrol@invensense.com>
Cc: linux-iio@vger.kernel.org <linux-iio@vger.kernel.org>
Subject: Re: [PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support
CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe.
On Mon, 18 Nov 2019 11:34:06 +0100
Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> wrote:
> Add support of temperature data in fifo for all chips.
> Enable unification of scan elements for icm20602.
> Add macros for generating scan elements with and without temp.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Looks fine to me. I'll pick up once we've worked out what
we are doing with patch 1.
Remind me if I seem to have lost it.
Thanks,
Jonathan
> ---
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 194 +++++++-----------
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 22 +-
> drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 6 +-
> drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 3 +
> 4 files changed, 84 insertions(+), 141 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index 268240644adf..7c2f6951364d 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,
> + .temp_fifo_enable = false,
> .magn_fifo_enable = false,
> .accl_fs = INV_MPU6050_FS_02G,
> .user_ctrl = 0,
> @@ -856,19 +857,27 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = {
> .ext_info = inv_ext_info, \
> }
>
> +#define INV_MPU6050_TEMP_CHAN(_index) \
> + { \
> + .type = IIO_TEMP, \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \
> + | BIT(IIO_CHAN_INFO_OFFSET) \
> + | BIT(IIO_CHAN_INFO_SCALE), \
> + .scan_index = _index, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = 16, \
> + .storagebits = 16, \
> + .shift = 0, \
> + .endianness = IIO_BE, \
> + }, \
> + }
> +
> static const struct iio_chan_spec inv_mpu_channels[] = {
> IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
> +
> 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),
> @@ -878,22 +887,31 @@ static const struct iio_chan_spec inv_mpu_channels[] = {
> INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
> };
>
> +#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \
> + (BIT(INV_MPU6050_SCAN_ACCL_X) \
> + | BIT(INV_MPU6050_SCAN_ACCL_Y) \
> + | BIT(INV_MPU6050_SCAN_ACCL_Z))
> +
> +#define INV_MPU6050_SCAN_MASK_3AXIS_GYRO \
> + (BIT(INV_MPU6050_SCAN_GYRO_X) \
> + | BIT(INV_MPU6050_SCAN_GYRO_Y) \
> + | BIT(INV_MPU6050_SCAN_GYRO_Z))
> +
> +#define INV_MPU6050_SCAN_MASK_TEMP (BIT(INV_MPU6050_SCAN_TEMP))
> +
> +/* generate scan mask and a duplicate with temperature enabled */
> +#define INV_MPU6050_SCAN_MASK_DUP_TEMP(_mask) \
> + (_mask), \
> + (_mask) | INV_MPU6050_SCAN_MASK_TEMP
> +
> static const unsigned long inv_mpu_scan_masks[] = {
> /* 3-axis accel */
> - BIT(INV_MPU6050_SCAN_ACCL_X)
> - | BIT(INV_MPU6050_SCAN_ACCL_Y)
> - | BIT(INV_MPU6050_SCAN_ACCL_Z),
> + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL),
> /* 3-axis gyro */
> - BIT(INV_MPU6050_SCAN_GYRO_X)
> - | BIT(INV_MPU6050_SCAN_GYRO_Y)
> - | BIT(INV_MPU6050_SCAN_GYRO_Z),
> + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO),
> /* 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),
> + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL
> + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO),
> 0,
> };
>
> @@ -917,17 +935,9 @@ static const unsigned long inv_mpu_scan_masks[] = {
>
> 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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
> +
> 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),
> @@ -944,17 +954,9 @@ static const struct iio_chan_spec inv_mpu9150_channels[] = {
>
> 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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
> +
> 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),
> @@ -969,98 +971,42 @@ static const struct iio_chan_spec inv_mpu9250_channels[] = {
> INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
> };
>
> +#define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN \
> + (BIT(INV_MPU9X50_SCAN_MAGN_X) \
> + | BIT(INV_MPU9X50_SCAN_MAGN_Y) \
> + | BIT(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),
> + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL),
> /* 3-axis gyro */
> - BIT(INV_MPU6050_SCAN_GYRO_X)
> - | BIT(INV_MPU6050_SCAN_GYRO_Y)
> - | BIT(INV_MPU6050_SCAN_GYRO_Z),
> + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO),
> /* 3-axis magn */
> - BIT(INV_MPU9X50_SCAN_MAGN_X)
> - | BIT(INV_MPU9X50_SCAN_MAGN_Y)
> - | BIT(INV_MPU9X50_SCAN_MAGN_Z),
> + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU9X50_SCAN_MASK_3AXIS_MAGN),
> /* 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),
> + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL
> + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO),
> /* 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),
> + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL
> + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN),
> /* 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),
> + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO
> + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN),
> /* 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),
> + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL
> + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
> + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN),
> 0,
> };
>
> -static const struct iio_chan_spec inv_icm20602_channels[] = {
> - IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
> - {
> - .type = IIO_TEMP,
> - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
> - | BIT(IIO_CHAN_INFO_OFFSET)
> - | BIT(IIO_CHAN_INFO_SCALE),
> - .scan_index = INV_ICM20602_SCAN_TEMP,
> - .scan_type = {
> - .sign = 's',
> - .realbits = 16,
> - .storagebits = 16,
> - .shift = 0,
> - .endianness = IIO_BE,
> - },
> - },
> -
> - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
> - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
> - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),
> -
> - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
> - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
> - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
> -};
> -
> static const unsigned long inv_icm20602_scan_masks[] = {
> /* 3-axis accel + temp (mandatory) */
> - BIT(INV_ICM20602_SCAN_ACCL_X)
> - | BIT(INV_ICM20602_SCAN_ACCL_Y)
> - | BIT(INV_ICM20602_SCAN_ACCL_Z)
> - | BIT(INV_ICM20602_SCAN_TEMP),
> + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
> /* 3-axis gyro + temp (mandatory) */
> - BIT(INV_ICM20602_SCAN_GYRO_X)
> - | BIT(INV_ICM20602_SCAN_GYRO_Y)
> - | BIT(INV_ICM20602_SCAN_GYRO_Z)
> - | BIT(INV_ICM20602_SCAN_TEMP),
> + INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
> /* 6-axis accel + gyro + temp (mandatory) */
> - BIT(INV_ICM20602_SCAN_ACCL_X)
> - | BIT(INV_ICM20602_SCAN_ACCL_Y)
> - | BIT(INV_ICM20602_SCAN_ACCL_Z)
> - | BIT(INV_ICM20602_SCAN_GYRO_X)
> - | BIT(INV_ICM20602_SCAN_GYRO_Y)
> - | BIT(INV_ICM20602_SCAN_GYRO_Z)
> - | BIT(INV_ICM20602_SCAN_TEMP),
> + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
> + | INV_MPU6050_SCAN_MASK_TEMP,
> 0,
> };
>
> @@ -1363,8 +1309,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
> break;
> case INV_ICM20602:
> - indio_dev->channels = inv_icm20602_channels;
> - indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
> + indio_dev->channels = inv_mpu_channels;
> + indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
> indio_dev->available_scan_masks = inv_icm20602_scan_masks;
> break;
> default:
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index b096e010d4ee..6158fca7f70e 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
> + * @temp_fifo_enable: enable temp data output
> * @magn_fifo_enable: enable magn data output
> * @divider: chip sample rate divider (sample rate divider - 1)
> */
> @@ -95,6 +96,7 @@ struct inv_mpu6050_chip_config {
> unsigned int accl_fs:2;
> unsigned int accl_fifo_enable:1;
> unsigned int gyro_fifo_enable:1;
> + unsigned int temp_fifo_enable:1;
> unsigned int magn_fifo_enable:1;
> u8 divider;
> u8 user_ctrl;
> @@ -184,6 +186,7 @@ struct inv_mpu6050_state {
> #define INV_MPU6050_BIT_SLAVE_2 0x04
> #define INV_MPU6050_BIT_ACCEL_OUT 0x08
> #define INV_MPU6050_BITS_GYRO_OUT 0x70
> +#define INV_MPU6050_BIT_TEMP_OUT 0x80
>
> #define INV_MPU6050_REG_I2C_MST_CTRL 0x24
> #define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
> @@ -268,8 +271,8 @@ struct inv_mpu6050_state {
> /* MPU9X50 9-axis magnetometer */
> #define INV_MPU9X50_BYTES_MAGN 7
>
> -/* ICM20602 FIFO samples include temperature readings */
> -#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2
> +/* FIFO temperature sample size */
> +#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2
>
> /* mpu6500 registers */
> #define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
> @@ -298,7 +301,7 @@ struct inv_mpu6050_state {
> #define INV_ICM20608_TEMP_OFFSET 8170
> #define INV_ICM20608_TEMP_SCALE 3059976
>
> -/* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */
> +/* 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8 */
> #define INV_MPU6050_OUTPUT_DATA_SIZE 32
>
> #define INV_MPU6050_REG_INT_PIN_CFG 0x37
> @@ -344,6 +347,7 @@ enum inv_mpu6050_scan {
> INV_MPU6050_SCAN_ACCL_X,
> INV_MPU6050_SCAN_ACCL_Y,
> INV_MPU6050_SCAN_ACCL_Z,
> + INV_MPU6050_SCAN_TEMP,
> INV_MPU6050_SCAN_GYRO_X,
> INV_MPU6050_SCAN_GYRO_Y,
> INV_MPU6050_SCAN_GYRO_Z,
> @@ -355,18 +359,6 @@ enum inv_mpu6050_scan {
> INV_MPU9X50_SCAN_TIMESTAMP,
> };
>
> -/* scan element definition for ICM20602, which includes temperature */
> -enum inv_icm20602_scan {
> - INV_ICM20602_SCAN_ACCL_X,
> - INV_ICM20602_SCAN_ACCL_Y,
> - INV_ICM20602_SCAN_ACCL_Z,
> - INV_ICM20602_SCAN_TEMP,
> - INV_ICM20602_SCAN_GYRO_X,
> - INV_ICM20602_SCAN_GYRO_Y,
> - INV_ICM20602_SCAN_GYRO_Z,
> - INV_ICM20602_SCAN_TIMESTAMP,
> -};
> -
> enum inv_mpu6050_filter_e {
> INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
> INV_MPU6050_FILTER_188HZ,
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> index 10d16ec5104b..3755577dc449 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> @@ -142,6 +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.temp_fifo_enable)
> + d |= INV_MPU6050_BIT_TEMP_OUT;
> if (st->chip_config.magn_fifo_enable)
> d |= INV_MPU6050_BIT_SLAVE_0;
> result = regmap_write(st->map, st->reg->fifo_en, d);
> @@ -200,8 +202,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
> if (st->chip_config.gyro_fifo_enable)
> bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
>
> - if (st->chip_type == INV_ICM20602)
> - bytes_per_datum += INV_ICM20602_BYTES_PER_TEMP_SENSOR;
> + if (st->chip_config.temp_fifo_enable)
> + bytes_per_datum += INV_MPU6050_BYTES_PER_TEMP_SENSOR;
>
> if (st->chip_config.magn_fifo_enable)
> bytes_per_datum += INV_MPU9X50_BYTES_MAGN;
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> index a9c75bc62f18..5199fe790c30 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> @@ -24,6 +24,9 @@ static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
> indio_dev->active_scan_mask) ||
> test_bit(INV_MPU6050_SCAN_ACCL_Z,
> indio_dev->active_scan_mask);
> +
> + st->chip_config.temp_fifo_enable =
> + test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
> }
>
> static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
On Tue, 24 Dec 2019 09:17:05 +0000 Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote: > Hi Jonathan, > > any news about my 2nd patch ("[PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support") now that the 1st is included inside fixes-togreg branch? > > The 1st one is still not yet available inside testing branch. > Should I resend it now or wait for testing to be in sync with fixes-togreg? I have it flagged in my email so in theory at least I will grab it without a resend. I think I'll do a pull request for togreg later this week and after that I should be fine applying this. Things got a bit slowed down for the holidays :) Too easy to put things off to tomorrow! Jonathan > > Thanks, > JB > > > > > > > From: Jean-Baptiste Maneyrol <JManeyrol@invensense.com> > > Sent: Monday, December 2, 2019 14:50 > > To: Jonathan Cameron <jic23@kernel.org> > > Subject: Re: [PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support > > > > > Hi Jonathan, > > > > just a reminder for not forgetting this patch now that the first is in fixes-togreg branch. > > > > Thanks, > > JB > > > > > > From: Jonathan Cameron <jic23@kernel.org> > > > > Sent: Saturday, November 23, 2019 17:22 > > > > To: Jean-Baptiste Maneyrol <JManeyrol@invensense.com> > > > > Cc: linux-iio@vger.kernel.org <linux-iio@vger.kernel.org> > > > > Subject: Re: [PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support > > > > > > > > > > CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe. > > > > > > > > On Mon, 18 Nov 2019 11:34:06 +0100 > > > > Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> wrote: > > > > > > > > > Add support of temperature data in fifo for all chips. > > > > > Enable unification of scan elements for icm20602. > > > > > Add macros for generating scan elements with and without temp. > > > > > > > > > > Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> > > > > Looks fine to me. I'll pick up once we've worked out what > > > > we are doing with patch 1. > > > > > > > > Remind me if I seem to have lost it. > > > > > > > > Thanks, > > > > > > > > Jonathan > > > > > > > > > --- > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 194 +++++++----------- > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 22 +- > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 6 +- > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 3 + > > > > > 4 files changed, 84 insertions(+), 141 deletions(-) > > > > > > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > > > > > index 268240644adf..7c2f6951364d 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, > > > > > + .temp_fifo_enable = false, > > > > > .magn_fifo_enable = false, > > > > > .accl_fs = INV_MPU6050_FS_02G, > > > > > .user_ctrl = 0, > > > > > @@ -856,19 +857,27 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = { > > > > > .ext_info = inv_ext_info, \ > > > > > } > > > > > > > > > > +#define INV_MPU6050_TEMP_CHAN(_index) \ > > > > > + { \ > > > > > + .type = IIO_TEMP, \ > > > > > + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \ > > > > > + | BIT(IIO_CHAN_INFO_OFFSET) \ > > > > > + | BIT(IIO_CHAN_INFO_SCALE), \ > > > > > + .scan_index = _index, \ > > > > > + .scan_type = { \ > > > > > + .sign = 's', \ > > > > > + .realbits = 16, \ > > > > > + .storagebits = 16, \ > > > > > + .shift = 0, \ > > > > > + .endianness = IIO_BE, \ > > > > > + }, \ > > > > > + } > > > > > + > > > > > static const struct iio_chan_spec inv_mpu_channels[] = { > > > > > IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP), > > > > > + > > > > > 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), > > > > > @@ -878,22 +887,31 @@ static const struct iio_chan_spec inv_mpu_channels[] = { > > > > > INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z), > > > > > }; > > > > > > > > > > +#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \ > > > > > + (BIT(INV_MPU6050_SCAN_ACCL_X) \ > > > > > + | BIT(INV_MPU6050_SCAN_ACCL_Y) \ > > > > > + | BIT(INV_MPU6050_SCAN_ACCL_Z)) > > > > > + > > > > > +#define INV_MPU6050_SCAN_MASK_3AXIS_GYRO \ > > > > > + (BIT(INV_MPU6050_SCAN_GYRO_X) \ > > > > > + | BIT(INV_MPU6050_SCAN_GYRO_Y) \ > > > > > + | BIT(INV_MPU6050_SCAN_GYRO_Z)) > > > > > + > > > > > +#define INV_MPU6050_SCAN_MASK_TEMP (BIT(INV_MPU6050_SCAN_TEMP)) > > > > > + > > > > > +/* generate scan mask and a duplicate with temperature enabled */ > > > > > +#define INV_MPU6050_SCAN_MASK_DUP_TEMP(_mask) \ > > > > > + (_mask), \ > > > > > + (_mask) | INV_MPU6050_SCAN_MASK_TEMP > > > > > + > > > > > static const unsigned long inv_mpu_scan_masks[] = { > > > > > /* 3-axis accel */ > > > > > - BIT(INV_MPU6050_SCAN_ACCL_X) > > > > > - | BIT(INV_MPU6050_SCAN_ACCL_Y) > > > > > - | BIT(INV_MPU6050_SCAN_ACCL_Z), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL), > > > > > /* 3-axis gyro */ > > > > > - BIT(INV_MPU6050_SCAN_GYRO_X) > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Y) > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Z), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > /* 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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > 0, > > > > > }; > > > > > > > > > > @@ -917,17 +935,9 @@ static const unsigned long inv_mpu_scan_masks[] = { > > > > > > > > > > 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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP), > > > > > + > > > > > 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), > > > > > @@ -944,17 +954,9 @@ static const struct iio_chan_spec inv_mpu9150_channels[] = { > > > > > > > > > > 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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP), > > > > > + > > > > > 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), > > > > > @@ -969,98 +971,42 @@ static const struct iio_chan_spec inv_mpu9250_channels[] = { > > > > > INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z), > > > > > }; > > > > > > > > > > +#define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN \ > > > > > + (BIT(INV_MPU9X50_SCAN_MAGN_X) \ > > > > > + | BIT(INV_MPU9X50_SCAN_MAGN_Y) \ > > > > > + | BIT(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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL), > > > > > /* 3-axis gyro */ > > > > > - BIT(INV_MPU6050_SCAN_GYRO_X) > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Y) > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Z), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > /* 3-axis magn */ > > > > > - BIT(INV_MPU9X50_SCAN_MAGN_X) > > > > > - | BIT(INV_MPU9X50_SCAN_MAGN_Y) > > > > > - | BIT(INV_MPU9X50_SCAN_MAGN_Z), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > /* 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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > /* 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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > /* 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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO > > > > > + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > /* 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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO > > > > > + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > 0, > > > > > }; > > > > > > > > > > -static const struct iio_chan_spec inv_icm20602_channels[] = { > > > > > - IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP), > > > > > - { > > > > > - .type = IIO_TEMP, > > > > > - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) > > > > > - | BIT(IIO_CHAN_INFO_OFFSET) > > > > > - | BIT(IIO_CHAN_INFO_SCALE), > > > > > - .scan_index = INV_ICM20602_SCAN_TEMP, > > > > > - .scan_type = { > > > > > - .sign = 's', > > > > > - .realbits = 16, > > > > > - .storagebits = 16, > > > > > - .shift = 0, > > > > > - .endianness = IIO_BE, > > > > > - }, > > > > > - }, > > > > > - > > > > > - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X), > > > > > - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y), > > > > > - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z), > > > > > - > > > > > - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y), > > > > > - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X), > > > > > - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z), > > > > > -}; > > > > > - > > > > > static const unsigned long inv_icm20602_scan_masks[] = { > > > > > /* 3-axis accel + temp (mandatory) */ > > > > > - BIT(INV_ICM20602_SCAN_ACCL_X) > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Y) > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Z) > > > > > - | BIT(INV_ICM20602_SCAN_TEMP), > > > > > + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP, > > > > > /* 3-axis gyro + temp (mandatory) */ > > > > > - BIT(INV_ICM20602_SCAN_GYRO_X) > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Y) > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Z) > > > > > - | BIT(INV_ICM20602_SCAN_TEMP), > > > > > + INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP, > > > > > /* 6-axis accel + gyro + temp (mandatory) */ > > > > > - BIT(INV_ICM20602_SCAN_ACCL_X) > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Y) > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Z) > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_X) > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Y) > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Z) > > > > > - | BIT(INV_ICM20602_SCAN_TEMP), > > > > > + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO > > > > > + | INV_MPU6050_SCAN_MASK_TEMP, > > > > > 0, > > > > > }; > > > > > > > > > > @@ -1363,8 +1309,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, > > > > > indio_dev->available_scan_masks = inv_mpu9x50_scan_masks; > > > > > break; > > > > > case INV_ICM20602: > > > > > - indio_dev->channels = inv_icm20602_channels; > > > > > - indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels); > > > > > + indio_dev->channels = inv_mpu_channels; > > > > > + indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels); > > > > > indio_dev->available_scan_masks = inv_icm20602_scan_masks; > > > > > break; > > > > > default: > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > > > > > index b096e010d4ee..6158fca7f70e 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 > > > > > + * @temp_fifo_enable: enable temp data output > > > > > * @magn_fifo_enable: enable magn data output > > > > > * @divider: chip sample rate divider (sample rate divider - 1) > > > > > */ > > > > > @@ -95,6 +96,7 @@ struct inv_mpu6050_chip_config { > > > > > unsigned int accl_fs:2; > > > > > unsigned int accl_fifo_enable:1; > > > > > unsigned int gyro_fifo_enable:1; > > > > > + unsigned int temp_fifo_enable:1; > > > > > unsigned int magn_fifo_enable:1; > > > > > u8 divider; > > > > > u8 user_ctrl; > > > > > @@ -184,6 +186,7 @@ struct inv_mpu6050_state { > > > > > #define INV_MPU6050_BIT_SLAVE_2 0x04 > > > > > #define INV_MPU6050_BIT_ACCEL_OUT 0x08 > > > > > #define INV_MPU6050_BITS_GYRO_OUT 0x70 > > > > > +#define INV_MPU6050_BIT_TEMP_OUT 0x80 > > > > > > > > > > #define INV_MPU6050_REG_I2C_MST_CTRL 0x24 > > > > > #define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D > > > > > @@ -268,8 +271,8 @@ struct inv_mpu6050_state { > > > > > /* MPU9X50 9-axis magnetometer */ > > > > > #define INV_MPU9X50_BYTES_MAGN 7 > > > > > > > > > > -/* ICM20602 FIFO samples include temperature readings */ > > > > > -#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2 > > > > > +/* FIFO temperature sample size */ > > > > > +#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2 > > > > > > > > > > /* mpu6500 registers */ > > > > > #define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D > > > > > @@ -298,7 +301,7 @@ struct inv_mpu6050_state { > > > > > #define INV_ICM20608_TEMP_OFFSET 8170 > > > > > #define INV_ICM20608_TEMP_SCALE 3059976 > > > > > > > > > > -/* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */ > > > > > +/* 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8 */ > > > > > #define INV_MPU6050_OUTPUT_DATA_SIZE 32 > > > > > > > > > > #define INV_MPU6050_REG_INT_PIN_CFG 0x37 > > > > > @@ -344,6 +347,7 @@ enum inv_mpu6050_scan { > > > > > INV_MPU6050_SCAN_ACCL_X, > > > > > INV_MPU6050_SCAN_ACCL_Y, > > > > > INV_MPU6050_SCAN_ACCL_Z, > > > > > + INV_MPU6050_SCAN_TEMP, > > > > > INV_MPU6050_SCAN_GYRO_X, > > > > > INV_MPU6050_SCAN_GYRO_Y, > > > > > INV_MPU6050_SCAN_GYRO_Z, > > > > > @@ -355,18 +359,6 @@ enum inv_mpu6050_scan { > > > > > INV_MPU9X50_SCAN_TIMESTAMP, > > > > > }; > > > > > > > > > > -/* scan element definition for ICM20602, which includes temperature */ > > > > > -enum inv_icm20602_scan { > > > > > - INV_ICM20602_SCAN_ACCL_X, > > > > > - INV_ICM20602_SCAN_ACCL_Y, > > > > > - INV_ICM20602_SCAN_ACCL_Z, > > > > > - INV_ICM20602_SCAN_TEMP, > > > > > - INV_ICM20602_SCAN_GYRO_X, > > > > > - INV_ICM20602_SCAN_GYRO_Y, > > > > > - INV_ICM20602_SCAN_GYRO_Z, > > > > > - INV_ICM20602_SCAN_TIMESTAMP, > > > > > -}; > > > > > - > > > > > enum inv_mpu6050_filter_e { > > > > > INV_MPU6050_FILTER_256HZ_NOLPF2 = 0, > > > > > INV_MPU6050_FILTER_188HZ, > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > > > > index 10d16ec5104b..3755577dc449 100644 > > > > > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > > > > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > > > > @@ -142,6 +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.temp_fifo_enable) > > > > > + d |= INV_MPU6050_BIT_TEMP_OUT; > > > > > if (st->chip_config.magn_fifo_enable) > > > > > d |= INV_MPU6050_BIT_SLAVE_0; > > > > > result = regmap_write(st->map, st->reg->fifo_en, d); > > > > > @@ -200,8 +202,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) > > > > > if (st->chip_config.gyro_fifo_enable) > > > > > bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR; > > > > > > > > > > - if (st->chip_type == INV_ICM20602) > > > > > - bytes_per_datum += INV_ICM20602_BYTES_PER_TEMP_SENSOR; > > > > > + if (st->chip_config.temp_fifo_enable) > > > > > + bytes_per_datum += INV_MPU6050_BYTES_PER_TEMP_SENSOR; > > > > > > > > > > if (st->chip_config.magn_fifo_enable) > > > > > bytes_per_datum += INV_MPU9X50_BYTES_MAGN; > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c > > > > > index a9c75bc62f18..5199fe790c30 100644 > > > > > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c > > > > > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c > > > > > @@ -24,6 +24,9 @@ static void inv_scan_query_mpu6050(struct iio_dev *indio_dev) > > > > > indio_dev->active_scan_mask) || > > > > > test_bit(INV_MPU6050_SCAN_ACCL_Z, > > > > > indio_dev->active_scan_mask); > > > > > + > > > > > + st->chip_config.temp_fifo_enable = > > > > > + test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask); > > > > > } > > > > > > > > > > static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev) > > > > > > >
Hi Jonathan, a kind reminder about this patch still waiting. Now testing branch is ready for it to be applied. I've got a good number of other patches just waiting for this one to be accepted before sending. Thanks, JB From: Jonathan Cameron <jic23@kernel.org> Sent: Monday, December 30, 2019 17:26 To: Jean-Baptiste Maneyrol <JManeyrol@invensense.com> Cc: linux-iio <linux-iio@vger.kernel.org> Subject: Re: [PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe. On Tue, 24 Dec 2019 09:17:05 +0000 Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote: > Hi Jonathan, > > any news about my 2nd patch ("[PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support") now that the 1st is included inside fixes-togreg branch? > > The 1st one is still not yet available inside testing branch. > Should I resend it now or wait for testing to be in sync with fixes-togreg? I have it flagged in my email so in theory at least I will grab it without a resend. I think I'll do a pull request for togreg later this week and after that I should be fine applying this. Things got a bit slowed down for the holidays :) Too easy to put things off to tomorrow! Jonathan > > Thanks, > JB > > > > > > > From: Jean-Baptiste Maneyrol <JManeyrol@invensense.com> > > Sent: Monday, December 2, 2019 14:50 > > To: Jonathan Cameron <jic23@kernel.org> > > Subject: Re: [PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support > > > > > Hi Jonathan, > > > > just a reminder for not forgetting this patch now that the first is in fixes-togreg branch. > > > > Thanks, > > JB > > > > > > From: Jonathan Cameron <jic23@kernel.org> > > > > Sent: Saturday, November 23, 2019 17:22 > > > > To: Jean-Baptiste Maneyrol <JManeyrol@invensense.com> > > > > Cc: linux-iio@vger.kernel.org <linux-iio@vger.kernel.org> > > > > Subject: Re: [PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support > > > > > > > > > > CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe. > > > > > > > > On Mon, 18 Nov 2019 11:34:06 +0100 > > > > Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> wrote: > > > > > > > > > Add support of temperature data in fifo for all chips. > > > > > Enable unification of scan elements for icm20602. > > > > > Add macros for generating scan elements with and without temp. > > > > > > > > > > Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> > > > > Looks fine to me. I'll pick up once we've worked out what > > > > we are doing with patch 1. > > > > > > > > Remind me if I seem to have lost it. > > > > > > > > Thanks, > > > > > > > > Jonathan > > > > > > > > > --- > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 194 +++++++----------- > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 22 +- > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 6 +- > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 3 + > > > > > 4 files changed, 84 insertions(+), 141 deletions(-) > > > > > > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > > > > > index 268240644adf..7c2f6951364d 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, > > > > > + .temp_fifo_enable = false, > > > > > .magn_fifo_enable = false, > > > > > .accl_fs = INV_MPU6050_FS_02G, > > > > > .user_ctrl = 0, > > > > > @@ -856,19 +857,27 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = { > > > > > .ext_info = inv_ext_info, \ > > > > > } > > > > > > > > > > +#define INV_MPU6050_TEMP_CHAN(_index) \ > > > > > + { \ > > > > > + .type = IIO_TEMP, \ > > > > > + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \ > > > > > + | BIT(IIO_CHAN_INFO_OFFSET) \ > > > > > + | BIT(IIO_CHAN_INFO_SCALE), \ > > > > > + .scan_index = _index, \ > > > > > + .scan_type = { \ > > > > > + .sign = 's', \ > > > > > + .realbits = 16, \ > > > > > + .storagebits = 16, \ > > > > > + .shift = 0, \ > > > > > + .endianness = IIO_BE, \ > > > > > + }, \ > > > > > + } > > > > > + > > > > > static const struct iio_chan_spec inv_mpu_channels[] = { > > > > > IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP), > > > > > + > > > > > 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), > > > > > @@ -878,22 +887,31 @@ static const struct iio_chan_spec inv_mpu_channels[] = { > > > > > INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z), > > > > > }; > > > > > > > > > > +#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \ > > > > > + (BIT(INV_MPU6050_SCAN_ACCL_X) \ > > > > > + | BIT(INV_MPU6050_SCAN_ACCL_Y) \ > > > > > + | BIT(INV_MPU6050_SCAN_ACCL_Z)) > > > > > + > > > > > +#define INV_MPU6050_SCAN_MASK_3AXIS_GYRO \ > > > > > + (BIT(INV_MPU6050_SCAN_GYRO_X) \ > > > > > + | BIT(INV_MPU6050_SCAN_GYRO_Y) \ > > > > > + | BIT(INV_MPU6050_SCAN_GYRO_Z)) > > > > > + > > > > > +#define INV_MPU6050_SCAN_MASK_TEMP (BIT(INV_MPU6050_SCAN_TEMP)) > > > > > + > > > > > +/* generate scan mask and a duplicate with temperature enabled */ > > > > > +#define INV_MPU6050_SCAN_MASK_DUP_TEMP(_mask) \ > > > > > + (_mask), \ > > > > > + (_mask) | INV_MPU6050_SCAN_MASK_TEMP > > > > > + > > > > > static const unsigned long inv_mpu_scan_masks[] = { > > > > > /* 3-axis accel */ > > > > > - BIT(INV_MPU6050_SCAN_ACCL_X) > > > > > - | BIT(INV_MPU6050_SCAN_ACCL_Y) > > > > > - | BIT(INV_MPU6050_SCAN_ACCL_Z), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL), > > > > > /* 3-axis gyro */ > > > > > - BIT(INV_MPU6050_SCAN_GYRO_X) > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Y) > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Z), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > /* 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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > 0, > > > > > }; > > > > > > > > > > @@ -917,17 +935,9 @@ static const unsigned long inv_mpu_scan_masks[] = { > > > > > > > > > > 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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP), > > > > > + > > > > > 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), > > > > > @@ -944,17 +954,9 @@ static const struct iio_chan_spec inv_mpu9150_channels[] = { > > > > > > > > > > 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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP), > > > > > + > > > > > 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), > > > > > @@ -969,98 +971,42 @@ static const struct iio_chan_spec inv_mpu9250_channels[] = { > > > > > INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z), > > > > > }; > > > > > > > > > > +#define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN \ > > > > > + (BIT(INV_MPU9X50_SCAN_MAGN_X) \ > > > > > + | BIT(INV_MPU9X50_SCAN_MAGN_Y) \ > > > > > + | BIT(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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL), > > > > > /* 3-axis gyro */ > > > > > - BIT(INV_MPU6050_SCAN_GYRO_X) > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Y) > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Z), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > /* 3-axis magn */ > > > > > - BIT(INV_MPU9X50_SCAN_MAGN_X) > > > > > - | BIT(INV_MPU9X50_SCAN_MAGN_Y) > > > > > - | BIT(INV_MPU9X50_SCAN_MAGN_Z), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > /* 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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > /* 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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > /* 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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO > > > > > + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > /* 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), > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO > > > > > + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > 0, > > > > > }; > > > > > > > > > > -static const struct iio_chan_spec inv_icm20602_channels[] = { > > > > > - IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP), > > > > > - { > > > > > - .type = IIO_TEMP, > > > > > - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) > > > > > - | BIT(IIO_CHAN_INFO_OFFSET) > > > > > - | BIT(IIO_CHAN_INFO_SCALE), > > > > > - .scan_index = INV_ICM20602_SCAN_TEMP, > > > > > - .scan_type = { > > > > > - .sign = 's', > > > > > - .realbits = 16, > > > > > - .storagebits = 16, > > > > > - .shift = 0, > > > > > - .endianness = IIO_BE, > > > > > - }, > > > > > - }, > > > > > - > > > > > - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X), > > > > > - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y), > > > > > - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z), > > > > > - > > > > > - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y), > > > > > - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X), > > > > > - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z), > > > > > -}; > > > > > - > > > > > static const unsigned long inv_icm20602_scan_masks[] = { > > > > > /* 3-axis accel + temp (mandatory) */ > > > > > - BIT(INV_ICM20602_SCAN_ACCL_X) > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Y) > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Z) > > > > > - | BIT(INV_ICM20602_SCAN_TEMP), > > > > > + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP, > > > > > /* 3-axis gyro + temp (mandatory) */ > > > > > - BIT(INV_ICM20602_SCAN_GYRO_X) > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Y) > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Z) > > > > > - | BIT(INV_ICM20602_SCAN_TEMP), > > > > > + INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP, > > > > > /* 6-axis accel + gyro + temp (mandatory) */ > > > > > - BIT(INV_ICM20602_SCAN_ACCL_X) > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Y) > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Z) > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_X) > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Y) > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Z) > > > > > - | BIT(INV_ICM20602_SCAN_TEMP), > > > > > + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO > > > > > + | INV_MPU6050_SCAN_MASK_TEMP, > > > > > 0, > > > > > }; > > > > > > > > > > @@ -1363,8 +1309,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, > > > > > indio_dev->available_scan_masks = inv_mpu9x50_scan_masks; > > > > > break; > > > > > case INV_ICM20602: > > > > > - indio_dev->channels = inv_icm20602_channels; > > > > > - indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels); > > > > > + indio_dev->channels = inv_mpu_channels; > > > > > + indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels); > > > > > indio_dev->available_scan_masks = inv_icm20602_scan_masks; > > > > > break; > > > > > default: > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > > > > > index b096e010d4ee..6158fca7f70e 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 > > > > > + * @temp_fifo_enable: enable temp data output > > > > > * @magn_fifo_enable: enable magn data output > > > > > * @divider: chip sample rate divider (sample rate divider - 1) > > > > > */ > > > > > @@ -95,6 +96,7 @@ struct inv_mpu6050_chip_config { > > > > > unsigned int accl_fs:2; > > > > > unsigned int accl_fifo_enable:1; > > > > > unsigned int gyro_fifo_enable:1; > > > > > + unsigned int temp_fifo_enable:1; > > > > > unsigned int magn_fifo_enable:1; > > > > > u8 divider; > > > > > u8 user_ctrl; > > > > > @@ -184,6 +186,7 @@ struct inv_mpu6050_state { > > > > > #define INV_MPU6050_BIT_SLAVE_2 0x04 > > > > > #define INV_MPU6050_BIT_ACCEL_OUT 0x08 > > > > > #define INV_MPU6050_BITS_GYRO_OUT 0x70 > > > > > +#define INV_MPU6050_BIT_TEMP_OUT 0x80 > > > > > > > > > > #define INV_MPU6050_REG_I2C_MST_CTRL 0x24 > > > > > #define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D > > > > > @@ -268,8 +271,8 @@ struct inv_mpu6050_state { > > > > > /* MPU9X50 9-axis magnetometer */ > > > > > #define INV_MPU9X50_BYTES_MAGN 7 > > > > > > > > > > -/* ICM20602 FIFO samples include temperature readings */ > > > > > -#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2 > > > > > +/* FIFO temperature sample size */ > > > > > +#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2 > > > > > > > > > > /* mpu6500 registers */ > > > > > #define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D > > > > > @@ -298,7 +301,7 @@ struct inv_mpu6050_state { > > > > > #define INV_ICM20608_TEMP_OFFSET 8170 > > > > > #define INV_ICM20608_TEMP_SCALE 3059976 > > > > > > > > > > -/* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */ > > > > > +/* 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8 */ > > > > > #define INV_MPU6050_OUTPUT_DATA_SIZE 32 > > > > > > > > > > #define INV_MPU6050_REG_INT_PIN_CFG 0x37 > > > > > @@ -344,6 +347,7 @@ enum inv_mpu6050_scan { > > > > > INV_MPU6050_SCAN_ACCL_X, > > > > > INV_MPU6050_SCAN_ACCL_Y, > > > > > INV_MPU6050_SCAN_ACCL_Z, > > > > > + INV_MPU6050_SCAN_TEMP, > > > > > INV_MPU6050_SCAN_GYRO_X, > > > > > INV_MPU6050_SCAN_GYRO_Y, > > > > > INV_MPU6050_SCAN_GYRO_Z, > > > > > @@ -355,18 +359,6 @@ enum inv_mpu6050_scan { > > > > > INV_MPU9X50_SCAN_TIMESTAMP, > > > > > }; > > > > > > > > > > -/* scan element definition for ICM20602, which includes temperature */ > > > > > -enum inv_icm20602_scan { > > > > > - INV_ICM20602_SCAN_ACCL_X, > > > > > - INV_ICM20602_SCAN_ACCL_Y, > > > > > - INV_ICM20602_SCAN_ACCL_Z, > > > > > - INV_ICM20602_SCAN_TEMP, > > > > > - INV_ICM20602_SCAN_GYRO_X, > > > > > - INV_ICM20602_SCAN_GYRO_Y, > > > > > - INV_ICM20602_SCAN_GYRO_Z, > > > > > - INV_ICM20602_SCAN_TIMESTAMP, > > > > > -}; > > > > > - > > > > > enum inv_mpu6050_filter_e { > > > > > INV_MPU6050_FILTER_256HZ_NOLPF2 = 0, > > > > > INV_MPU6050_FILTER_188HZ, > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > > > > index 10d16ec5104b..3755577dc449 100644 > > > > > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > > > > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > > > > @@ -142,6 +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.temp_fifo_enable) > > > > > + d |= INV_MPU6050_BIT_TEMP_OUT; > > > > > if (st->chip_config.magn_fifo_enable) > > > > > d |= INV_MPU6050_BIT_SLAVE_0; > > > > > result = regmap_write(st->map, st->reg->fifo_en, d); > > > > > @@ -200,8 +202,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) > > > > > if (st->chip_config.gyro_fifo_enable) > > > > > bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR; > > > > > > > > > > - if (st->chip_type == INV_ICM20602) > > > > > - bytes_per_datum += INV_ICM20602_BYTES_PER_TEMP_SENSOR; > > > > > + if (st->chip_config.temp_fifo_enable) > > > > > + bytes_per_datum += INV_MPU6050_BYTES_PER_TEMP_SENSOR; > > > > > > > > > > if (st->chip_config.magn_fifo_enable) > > > > > bytes_per_datum += INV_MPU9X50_BYTES_MAGN; > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c > > > > > index a9c75bc62f18..5199fe790c30 100644 > > > > > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c > > > > > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c > > > > > @@ -24,6 +24,9 @@ static void inv_scan_query_mpu6050(struct iio_dev *indio_dev) > > > > > indio_dev->active_scan_mask) || > > > > > test_bit(INV_MPU6050_SCAN_ACCL_Z, > > > > > indio_dev->active_scan_mask); > > > > > + > > > > > + st->chip_config.temp_fifo_enable = > > > > > + test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask); > > > > > } > > > > > > > > > > static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev) > > > > > > >
On Tue, 14 Jan 2020 09:22:59 +0000 Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote: > Hi Jonathan, > > a kind reminder about this patch still waiting. Now testing branch is ready for it to be applied. > > I've got a good number of other patches just waiting for this one to be accepted before sending. Applied to the togreg branch of iio.git and pushed out as testing. For some reason I got confused and thought there was still a question on patch 1 so kept ignoring patch 2 despite having applied patch 1. Sorry about that. Jonathan > > Thanks, > JB > > > From: Jonathan Cameron <jic23@kernel.org> > > Sent: Monday, December 30, 2019 17:26 > > To: Jean-Baptiste Maneyrol <JManeyrol@invensense.com> > > Cc: linux-iio <linux-iio@vger.kernel.org> > > Subject: Re: [PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support > > > > > CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe. > > > > On Tue, 24 Dec 2019 09:17:05 +0000 > > Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote: > > > > > Hi Jonathan, > > > > > > any news about my 2nd patch ("[PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support") now that the 1st is included inside fixes-togreg branch? > > > > > > The 1st one is still not yet available inside testing branch. > > > Should I resend it now or wait for testing to be in sync with fixes-togreg? > > I have it flagged in my email so in theory at least I will grab it > > without a resend. I think I'll do a pull request for togreg later this > > week and after that I should be fine applying this. > > > > Things got a bit slowed down for the holidays :) Too easy to put > > things off to tomorrow! > > > > Jonathan > > > > > > > > Thanks, > > > JB > > > > > > > > > > > > > > > > > > > > > From: Jean-Baptiste Maneyrol <JManeyrol@invensense.com> > > > > > > Sent: Monday, December 2, 2019 14:50 > > > > > > To: Jonathan Cameron <jic23@kernel.org> > > > > > > Subject: Re: [PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support > > > > > > > > > > > > > > > Hi Jonathan, > > > > > > > > > > > > just a reminder for not forgetting this patch now that the first is in fixes-togreg branch. > > > > > > > > > > > > Thanks, > > > > > > JB > > > > > > > > > > > > > > > > > > From: Jonathan Cameron <jic23@kernel.org> > > > > > > > > > > > > Sent: Saturday, November 23, 2019 17:22 > > > > > > > > > > > > To: Jean-Baptiste Maneyrol <JManeyrol@invensense.com> > > > > > > > > > > > > Cc: linux-iio@vger.kernel.org <linux-iio@vger.kernel.org> > > > > > > > > > > > > Subject: Re: [PATCH 2/2] iio: imu: inv_mpu6050: add fifo temperature data support > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe. > > > > > > > > > > > > > > > > > > > > > > > > On Mon, 18 Nov 2019 11:34:06 +0100 > > > > > > > > > > > > Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> wrote: > > > > > > > > > > > > > > > > > > > > > > > > > Add support of temperature data in fifo for all chips. > > > > > > > > > > > > > Enable unification of scan elements for icm20602. > > > > > > > > > > > > > Add macros for generating scan elements with and without temp. > > > > > > > > > > > > > > > > > > > > > > > > > > Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> > > > > > > > > > > > > Looks fine to me. I'll pick up once we've worked out what > > > > > > > > > > > > we are doing with patch 1. > > > > > > > > > > > > > > > > > > > > > > > > Remind me if I seem to have lost it. > > > > > > > > > > > > > > > > > > > > > > > > Thanks, > > > > > > > > > > > > > > > > > > > > > > > > Jonathan > > > > > > > > > > > > > > > > > > > > > > > > > --- > > > > > > > > > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 194 +++++++----------- > > > > > > > > > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 22 +- > > > > > > > > > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 6 +- > > > > > > > > > > > > > drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 3 + > > > > > > > > > > > > > 4 files changed, 84 insertions(+), 141 deletions(-) > > > > > > > > > > > > > > > > > > > > > > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > > > > > > > > > > > > > > index 268240644adf..7c2f6951364d 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, > > > > > > > > > > > > > + .temp_fifo_enable = false, > > > > > > > > > > > > > .magn_fifo_enable = false, > > > > > > > > > > > > > .accl_fs = INV_MPU6050_FS_02G, > > > > > > > > > > > > > .user_ctrl = 0, > > > > > > > > > > > > > @@ -856,19 +857,27 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = { > > > > > > > > > > > > > > .ext_info = inv_ext_info, \ > > > > > > > > > > > > > } > > > > > > > > > > > > > > > > > > > > > > > > > > +#define INV_MPU6050_TEMP_CHAN(_index) \ > > > > > > > > > > > > > + { \ > > > > > > > > > > > > > + .type = IIO_TEMP, \ > > > > > > > > > > > > > + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \ > > > > > > > > > > > > > + | BIT(IIO_CHAN_INFO_OFFSET) \ > > > > > > > > > > > > > + | BIT(IIO_CHAN_INFO_SCALE), \ > > > > > > > > > > > > > + .scan_index = _index, \ > > > > > > > > > > > > > + .scan_type = { \ > > > > > > > > > > > > > + .sign = 's', \ > > > > > > > > > > > > > + .realbits = 16, \ > > > > > > > > > > > > > + .storagebits = 16, \ > > > > > > > > > > > > > + .shift = 0, \ > > > > > > > > > > > > > + .endianness = IIO_BE, \ > > > > > > > > > > > > > + }, \ > > > > > > > > > > > > > + } > > > > > > > > > > > > > + > > > > > > > > > > > > > static const struct iio_chan_spec inv_mpu_channels[] = { > > > > > > > > > > > > > IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP), > > > > > > > > > > > > > + > > > > > > > > > > > > > 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), > > > > > > > > > > > > > @@ -878,22 +887,31 @@ static const struct iio_chan_spec inv_mpu_channels[] = { > > > > > > > > > > > > > > INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z), > > > > > > > > > > > > > }; > > > > > > > > > > > > > > > > > > > > > > > > > > +#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \ > > > > > > > > > > > > > + (BIT(INV_MPU6050_SCAN_ACCL_X) \ > > > > > > > > > > > > > + | BIT(INV_MPU6050_SCAN_ACCL_Y) \ > > > > > > > > > > > > > + | BIT(INV_MPU6050_SCAN_ACCL_Z)) > > > > > > > > > > > > > + > > > > > > > > > > > > > +#define INV_MPU6050_SCAN_MASK_3AXIS_GYRO \ > > > > > > > > > > > > > + (BIT(INV_MPU6050_SCAN_GYRO_X) \ > > > > > > > > > > > > > + | BIT(INV_MPU6050_SCAN_GYRO_Y) \ > > > > > > > > > > > > > + | BIT(INV_MPU6050_SCAN_GYRO_Z)) > > > > > > > > > > > > > + > > > > > > > > > > > > > +#define INV_MPU6050_SCAN_MASK_TEMP (BIT(INV_MPU6050_SCAN_TEMP)) > > > > > > > > > > > > > + > > > > > > > > > > > > > +/* generate scan mask and a duplicate with temperature enabled */ > > > > > > > > > > > > > +#define INV_MPU6050_SCAN_MASK_DUP_TEMP(_mask) \ > > > > > > > > > > > > > + (_mask), \ > > > > > > > > > > > > > + (_mask) | INV_MPU6050_SCAN_MASK_TEMP > > > > > > > > > > > > > + > > > > > > > > > > > > > static const unsigned long inv_mpu_scan_masks[] = { > > > > > > > > > > > > > /* 3-axis accel */ > > > > > > > > > > > > > - BIT(INV_MPU6050_SCAN_ACCL_X) > > > > > > > > > > > > > - | BIT(INV_MPU6050_SCAN_ACCL_Y) > > > > > > > > > > > > > - | BIT(INV_MPU6050_SCAN_ACCL_Z), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL), > > > > > > > > > > > > > /* 3-axis gyro */ > > > > > > > > > > > > > - BIT(INV_MPU6050_SCAN_GYRO_X) > > > > > > > > > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Y) > > > > > > > > > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Z), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > > > > > > > > > /* 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), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > > > > > > > > > + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > > > > > > > > > 0, > > > > > > > > > > > > > }; > > > > > > > > > > > > > > > > > > > > > > > > > > @@ -917,17 +935,9 @@ static const unsigned long inv_mpu_scan_masks[] = { > > > > > > > > > > > > > > > > > > > > > > > > > > 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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP), > > > > > > > > > > > > > + > > > > > > > > > > > > > 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), > > > > > > > > > > > > > @@ -944,17 +954,9 @@ static const struct iio_chan_spec inv_mpu9150_channels[] = { > > > > > > > > > > > > > > > > > > > > > > > > > > > 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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP), > > > > > > > > > > > > > + > > > > > > > > > > > > > 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), > > > > > > > > > > > > > @@ -969,98 +971,42 @@ static const struct iio_chan_spec inv_mpu9250_channels[] = { > > > > > > > > > > > > > > INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z), > > > > > > > > > > > > > }; > > > > > > > > > > > > > > > > > > > > > > > > > > +#define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN \ > > > > > > > > > > > > > + (BIT(INV_MPU9X50_SCAN_MAGN_X) \ > > > > > > > > > > > > > + | BIT(INV_MPU9X50_SCAN_MAGN_Y) \ > > > > > > > > > > > > > + | BIT(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), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL), > > > > > > > > > > > > > /* 3-axis gyro */ > > > > > > > > > > > > > - BIT(INV_MPU6050_SCAN_GYRO_X) > > > > > > > > > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Y) > > > > > > > > > > > > > - | BIT(INV_MPU6050_SCAN_GYRO_Z), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > > > > > > > > > /* 3-axis magn */ > > > > > > > > > > > > > - BIT(INV_MPU9X50_SCAN_MAGN_X) > > > > > > > > > > > > > - | BIT(INV_MPU9X50_SCAN_MAGN_Y) > > > > > > > > > > > > > - | BIT(INV_MPU9X50_SCAN_MAGN_Z), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > > > > > > > > > /* 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), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > > > > > > > > > + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO), > > > > > > > > > > > > > /* 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), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > > > > > > > > > + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > > > > > > > > > /* 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), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO > > > > > > > > > > > > > + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > > > > > > > > > /* 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), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL > > > > > > > > > > > > > + | INV_MPU6050_SCAN_MASK_3AXIS_GYRO > > > > > > > > > > > > > + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN), > > > > > > > > > > > > > 0, > > > > > > > > > > > > > }; > > > > > > > > > > > > > > > > > > > > > > > > > > -static const struct iio_chan_spec inv_icm20602_channels[] = { > > > > > > > > > > > > > - IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP), > > > > > > > > > > > > > - { > > > > > > > > > > > > > - .type = IIO_TEMP, > > > > > > > > > > > > > - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) > > > > > > > > > > > > > - | BIT(IIO_CHAN_INFO_OFFSET) > > > > > > > > > > > > > - | BIT(IIO_CHAN_INFO_SCALE), > > > > > > > > > > > > > - .scan_index = INV_ICM20602_SCAN_TEMP, > > > > > > > > > > > > > - .scan_type = { > > > > > > > > > > > > > - .sign = 's', > > > > > > > > > > > > > - .realbits = 16, > > > > > > > > > > > > > - .storagebits = 16, > > > > > > > > > > > > > - .shift = 0, > > > > > > > > > > > > > - .endianness = IIO_BE, > > > > > > > > > > > > > - }, > > > > > > > > > > > > > - }, > > > > > > > > > > > > > - > > > > > > > > > > > > > - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X), > > > > > > > > > > > > > - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y), > > > > > > > > > > > > > - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z), > > > > > > > > > > > > > - > > > > > > > > > > > > > - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y), > > > > > > > > > > > > > - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X), > > > > > > > > > > > > > - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z), > > > > > > > > > > > > > -}; > > > > > > > > > > > > > - > > > > > > > > > > > > > static const unsigned long inv_icm20602_scan_masks[] = { > > > > > > > > > > > > > /* 3-axis accel + temp (mandatory) */ > > > > > > > > > > > > > - BIT(INV_ICM20602_SCAN_ACCL_X) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Y) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Z) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_TEMP), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP, > > > > > > > > > > > > > /* 3-axis gyro + temp (mandatory) */ > > > > > > > > > > > > > - BIT(INV_ICM20602_SCAN_GYRO_X) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Y) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Z) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_TEMP), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP, > > > > > > > > > > > > > /* 6-axis accel + gyro + temp (mandatory) */ > > > > > > > > > > > > > - BIT(INV_ICM20602_SCAN_ACCL_X) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Y) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_ACCL_Z) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_X) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Y) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_GYRO_Z) > > > > > > > > > > > > > - | BIT(INV_ICM20602_SCAN_TEMP), > > > > > > > > > > > > > + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO > > > > > > > > > > > > > + | INV_MPU6050_SCAN_MASK_TEMP, > > > > > > > > > > > > > 0, > > > > > > > > > > > > > }; > > > > > > > > > > > > > > > > > > > > > > > > > > @@ -1363,8 +1309,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, > > > > > > > > > > > > > > indio_dev->available_scan_masks = inv_mpu9x50_scan_masks; > > > > > > > > > > > > > break; > > > > > > > > > > > > > case INV_ICM20602: > > > > > > > > > > > > > - indio_dev->channels = inv_icm20602_channels; > > > > > > > > > > > > > - indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels); > > > > > > > > > > > > > + indio_dev->channels = inv_mpu_channels; > > > > > > > > > > > > > + indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels); > > > > > > > > > > > > > indio_dev->available_scan_masks = inv_icm20602_scan_masks; > > > > > > > > > > > > > break; > > > > > > > > > > > > > default: > > > > > > > > > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > > > > > > > > > > > > > > index b096e010d4ee..6158fca7f70e 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 > > > > > > > > > > > > > + * @temp_fifo_enable: enable temp data output > > > > > > > > > > > > > * @magn_fifo_enable: enable magn data output > > > > > > > > > > > > > * @divider: chip sample rate divider (sample rate divider - 1) > > > > > > > > > > > > > > */ > > > > > > > > > > > > > @@ -95,6 +96,7 @@ struct inv_mpu6050_chip_config { > > > > > > > > > > > > > unsigned int accl_fs:2; > > > > > > > > > > > > > unsigned int accl_fifo_enable:1; > > > > > > > > > > > > > unsigned int gyro_fifo_enable:1; > > > > > > > > > > > > > + unsigned int temp_fifo_enable:1; > > > > > > > > > > > > > unsigned int magn_fifo_enable:1; > > > > > > > > > > > > > u8 divider; > > > > > > > > > > > > > u8 user_ctrl; > > > > > > > > > > > > > @@ -184,6 +186,7 @@ struct inv_mpu6050_state { > > > > > > > > > > > > > #define INV_MPU6050_BIT_SLAVE_2 0x04 > > > > > > > > > > > > > #define INV_MPU6050_BIT_ACCEL_OUT 0x08 > > > > > > > > > > > > > #define INV_MPU6050_BITS_GYRO_OUT 0x70 > > > > > > > > > > > > > +#define INV_MPU6050_BIT_TEMP_OUT 0x80 > > > > > > > > > > > > > > > > > > > > > > > > > > #define INV_MPU6050_REG_I2C_MST_CTRL 0x24 > > > > > > > > > > > > > #define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D > > > > > > > > > > > > > @@ -268,8 +271,8 @@ struct inv_mpu6050_state { > > > > > > > > > > > > > /* MPU9X50 9-axis magnetometer */ > > > > > > > > > > > > > #define INV_MPU9X50_BYTES_MAGN 7 > > > > > > > > > > > > > > > > > > > > > > > > > > -/* ICM20602 FIFO samples include temperature readings */ > > > > > > > > > > > > > -#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2 > > > > > > > > > > > > > +/* FIFO temperature sample size */ > > > > > > > > > > > > > +#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2 > > > > > > > > > > > > > > > > > > > > > > > > > > /* mpu6500 registers */ > > > > > > > > > > > > > #define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D > > > > > > > > > > > > > @@ -298,7 +301,7 @@ struct inv_mpu6050_state { > > > > > > > > > > > > > #define INV_ICM20608_TEMP_OFFSET 8170 > > > > > > > > > > > > > #define INV_ICM20608_TEMP_SCALE 3059976 > > > > > > > > > > > > > > > > > > > > > > > > > > -/* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */ > > > > > > > > > > > > > +/* 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8 */ > > > > > > > > > > > > > #define INV_MPU6050_OUTPUT_DATA_SIZE 32 > > > > > > > > > > > > > > > > > > > > > > > > > > #define INV_MPU6050_REG_INT_PIN_CFG 0x37 > > > > > > > > > > > > > @@ -344,6 +347,7 @@ enum inv_mpu6050_scan { > > > > > > > > > > > > > INV_MPU6050_SCAN_ACCL_X, > > > > > > > > > > > > > INV_MPU6050_SCAN_ACCL_Y, > > > > > > > > > > > > > INV_MPU6050_SCAN_ACCL_Z, > > > > > > > > > > > > > + INV_MPU6050_SCAN_TEMP, > > > > > > > > > > > > > INV_MPU6050_SCAN_GYRO_X, > > > > > > > > > > > > > INV_MPU6050_SCAN_GYRO_Y, > > > > > > > > > > > > > INV_MPU6050_SCAN_GYRO_Z, > > > > > > > > > > > > > @@ -355,18 +359,6 @@ enum inv_mpu6050_scan { > > > > > > > > > > > > > INV_MPU9X50_SCAN_TIMESTAMP, > > > > > > > > > > > > > }; > > > > > > > > > > > > > > > > > > > > > > > > > > -/* scan element definition for ICM20602, which includes temperature */ > > > > > > > > > > > > > -enum inv_icm20602_scan { > > > > > > > > > > > > > - INV_ICM20602_SCAN_ACCL_X, > > > > > > > > > > > > > - INV_ICM20602_SCAN_ACCL_Y, > > > > > > > > > > > > > - INV_ICM20602_SCAN_ACCL_Z, > > > > > > > > > > > > > - INV_ICM20602_SCAN_TEMP, > > > > > > > > > > > > > - INV_ICM20602_SCAN_GYRO_X, > > > > > > > > > > > > > - INV_ICM20602_SCAN_GYRO_Y, > > > > > > > > > > > > > - INV_ICM20602_SCAN_GYRO_Z, > > > > > > > > > > > > > - INV_ICM20602_SCAN_TIMESTAMP, > > > > > > > > > > > > > -}; > > > > > > > > > > > > > - > > > > > > > > > > > > > enum inv_mpu6050_filter_e { > > > > > > > > > > > > > INV_MPU6050_FILTER_256HZ_NOLPF2 = 0, > > > > > > > > > > > > > INV_MPU6050_FILTER_188HZ, > > > > > > > > > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > > > > > > > > > > > > > index 10d16ec5104b..3755577dc449 100644 > > > > > > > > > > > > > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > > > > > > > > > > > > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > > > > > > > > > > > > > @@ -142,6 +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.temp_fifo_enable) > > > > > > > > > > > > > + d |= INV_MPU6050_BIT_TEMP_OUT; > > > > > > > > > > > > > if (st->chip_config.magn_fifo_enable) > > > > > > > > > > > > > d |= INV_MPU6050_BIT_SLAVE_0; > > > > > > > > > > > > > result = regmap_write(st->map, st->reg->fifo_en, d); > > > > > > > > > > > > > @@ -200,8 +202,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) > > > > > > > > > > > > > if (st->chip_config.gyro_fifo_enable) > > > > > > > > > > > > > bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR; > > > > > > > > > > > > > > > > > > > > > > > > > > - if (st->chip_type == INV_ICM20602) > > > > > > > > > > > > > - bytes_per_datum += INV_ICM20602_BYTES_PER_TEMP_SENSOR; > > > > > > > > > > > > > + if (st->chip_config.temp_fifo_enable) > > > > > > > > > > > > > + bytes_per_datum += INV_MPU6050_BYTES_PER_TEMP_SENSOR; > > > > > > > > > > > > > > > > > > > > > > > > > > if (st->chip_config.magn_fifo_enable) > > > > > > > > > > > > > bytes_per_datum += INV_MPU9X50_BYTES_MAGN; > > > > > > > > > > > > > diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c > > > > > > > > > > > > > > index a9c75bc62f18..5199fe790c30 100644 > > > > > > > > > > > > > --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c > > > > > > > > > > > > > +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c > > > > > > > > > > > > > @@ -24,6 +24,9 @@ static void inv_scan_query_mpu6050(struct iio_dev *indio_dev) > > > > > > > > > > > > > > indio_dev->active_scan_mask) || > > > > > > > > > > > > > test_bit(INV_MPU6050_SCAN_ACCL_Z, > > > > > > > > > > > > > indio_dev->active_scan_mask); > > > > > > > > > > > > > + > > > > > > > > > > > > > + st->chip_config.temp_fifo_enable = > > > > > > > > > > > > > + test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask); > > > > > > > > > > > > > } > > > > > > > > > > > > > > > > > > > > > > > > > > static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev) > > > > > > > > > > > > > > > > > > > > > > > >
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index 23c0557891a0..268240644adf 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -117,6 +117,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6050, .config = &chip_config_6050, .fifo_size = 1024, + .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE}, }, { .whoami = INV_MPU6500_WHOAMI_VALUE, @@ -124,6 +125,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6500, .config = &chip_config_6050, .fifo_size = 512, + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, }, { .whoami = INV_MPU6515_WHOAMI_VALUE, @@ -131,6 +133,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6500, .config = &chip_config_6050, .fifo_size = 512, + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, }, { .whoami = INV_MPU6000_WHOAMI_VALUE, @@ -138,6 +141,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6050, .config = &chip_config_6050, .fifo_size = 1024, + .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE}, }, { .whoami = INV_MPU9150_WHOAMI_VALUE, @@ -145,6 +149,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6050, .config = &chip_config_6050, .fifo_size = 1024, + .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE}, }, { .whoami = INV_MPU9250_WHOAMI_VALUE, @@ -152,6 +157,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6500, .config = &chip_config_6050, .fifo_size = 512, + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, }, { .whoami = INV_MPU9255_WHOAMI_VALUE, @@ -159,6 +165,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6500, .config = &chip_config_6050, .fifo_size = 512, + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, }, { .whoami = INV_ICM20608_WHOAMI_VALUE, @@ -166,6 +173,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6500, .config = &chip_config_6050, .fifo_size = 512, + .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE}, }, { .whoami = INV_ICM20602_WHOAMI_VALUE, @@ -173,6 +181,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_icm20602, .config = &chip_config_6050, .fifo_size = 1008, + .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE}, }, }; @@ -481,12 +490,8 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, return IIO_VAL_INT_PLUS_MICRO; case IIO_TEMP: - *val = 0; - if (st->chip_type == INV_ICM20602) - *val2 = INV_ICM20602_TEMP_SCALE; - else - *val2 = INV_MPU6050_TEMP_SCALE; - + *val = st->hw->temp.scale / 1000000; + *val2 = st->hw->temp.scale % 1000000; return IIO_VAL_INT_PLUS_MICRO; case IIO_MAGN: return inv_mpu_magn_get_scale(st, chan, val, val2); @@ -496,11 +501,7 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, case IIO_CHAN_INFO_OFFSET: switch (chan->type) { case IIO_TEMP: - if (st->chip_type == INV_ICM20602) - *val = INV_ICM20602_TEMP_OFFSET; - else - *val = INV_MPU6050_TEMP_OFFSET; - + *val = st->hw->temp.offset; return IIO_VAL_INT; default: return -EINVAL; diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h index f1fb7b6bdab1..b096e010d4ee 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h @@ -107,6 +107,7 @@ struct inv_mpu6050_chip_config { * @reg: register map of the chip. * @config: configuration of the chip. * @fifo_size: size of the FIFO in bytes. + * @temp: offset and scale to apply to raw temperature. */ struct inv_mpu6050_hw { u8 whoami; @@ -114,6 +115,10 @@ struct inv_mpu6050_hw { const struct inv_mpu6050_reg_map *reg; const struct inv_mpu6050_chip_config *config; size_t fifo_size; + struct { + int offset; + int scale; + } temp; }; /* @@ -279,16 +284,19 @@ struct inv_mpu6050_state { #define INV_MPU6050_REG_UP_TIME_MIN 5000 #define INV_MPU6050_REG_UP_TIME_MAX 10000 -#define INV_MPU6050_TEMP_OFFSET 12421 -#define INV_MPU6050_TEMP_SCALE 2941 +#define INV_MPU6050_TEMP_OFFSET 12420 +#define INV_MPU6050_TEMP_SCALE 2941176 #define INV_MPU6050_MAX_GYRO_FS_PARAM 3 #define INV_MPU6050_MAX_ACCL_FS_PARAM 3 #define INV_MPU6050_THREE_AXIS 3 #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3 #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3 -#define INV_ICM20602_TEMP_OFFSET 8170 -#define INV_ICM20602_TEMP_SCALE 3060 +#define INV_MPU6500_TEMP_OFFSET 7011 +#define INV_MPU6500_TEMP_SCALE 2995178 + +#define INV_ICM20608_TEMP_OFFSET 8170 +#define INV_ICM20608_TEMP_SCALE 3059976 /* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */ #define INV_MPU6050_OUTPUT_DATA_SIZE 32
Temperature should be reported in milli-degrees, not degrees. Fix scale values to use the correct unit. Fix round-up offset value for MPU6050 and add the values for MPU6500 family (different from MPU6050). Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> --- drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 23 +++++++++++----------- drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 16 +++++++++++---- 2 files changed, 24 insertions(+), 15 deletions(-)