Commit 2e4c0a5e authored by Jean-Baptiste Maneyrol's avatar Jean-Baptiste Maneyrol Committed by Jonathan Cameron
Browse files

iio: imu: inv_mpu6050: add fifo temperature data support 



Add support of temperature data in fifo for all chips.
Enable unification of scan elements for icm20602.
Add macros for generating scan elements.

Signed-off-by: default avatarJean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Signed-off-by: default avatarJonathan Cameron <Jonathan.Cameron@huawei.com>
parent 71f221f8

drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

+76 −124
Original line number Diff line number Diff line
@@ -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 +887,29 @@ 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))



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_3AXIS_ACCEL,

	INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,

	/* 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_3AXIS_GYRO,

	INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,

	/* 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_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,

	INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO

		| INV_MPU6050_SCAN_MASK_TEMP,

	0,

};
@@ -917,17 +933,9 @@ 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 +952,9 @@ 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 +969,50 @@ 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_3AXIS_ACCEL,

	INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,

	/* 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_3AXIS_GYRO,

	INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,

	/* 3-axis magn */

	BIT(INV_MPU9X50_SCAN_MAGN_X)

		| BIT(INV_MPU9X50_SCAN_MAGN_Y)

		| BIT(INV_MPU9X50_SCAN_MAGN_Z),

	INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,

	INV_MPU9X50_SCAN_MASK_3AXIS_MAGN | INV_MPU6050_SCAN_MASK_TEMP,

	/* 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_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,

	INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO

		| INV_MPU6050_SCAN_MASK_TEMP,

	/* 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_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,

	INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN

		| INV_MPU6050_SCAN_MASK_TEMP,

	/* 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_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,

	INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN

		| INV_MPU6050_SCAN_MASK_TEMP,

	/* 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_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO

		| INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,

	INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO

		| INV_MPU9X50_SCAN_MASK_3AXIS_MAGN

		| INV_MPU6050_SCAN_MASK_TEMP,

	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 +1315,8 @@ 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:

drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

+7 −15
Original line number Diff line number Diff line
@@ -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,

drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c

+4 −2
Original line number Diff line number Diff line
@@ -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;

drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c

+3 −0
Original line number Diff line number Diff line
@@ -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)