| Message ID | 20191118103406.9353-2-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 11:34:06 +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 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)
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> --- 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(-)