Commit a2587eb0 authored by Jean-Baptiste Maneyrol's avatar Jean-Baptiste Maneyrol Committed by Jonathan Cameron
Browse files

iio: imu: inv_mpu6050: add support of MPU9150 magnetometer 



Add support for driving MPU9150 magnetometer (AK8975) from mpu.

Signed-off-by: default avatarJean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Signed-off-by: default avatarJonathan Cameron <Jonathan.Cameron@huawei.com>
parent b95ed406

drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

+44 −13
Original line number Diff line number Diff line
@@ -914,6 +914,33 @@ static const unsigned long inv_mpu_scan_masks[] = { 
		.ext_info = inv_ext_info,				\

	}



static const struct iio_chan_spec inv_mpu9150_channels[] = {

	IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),

	/*

	 * Note that temperature should only be via polled reading only,

	 * not the final scan elements output.

	 */

	{

		.type = IIO_TEMP,

		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)

				| BIT(IIO_CHAN_INFO_OFFSET)

				| BIT(IIO_CHAN_INFO_SCALE),

		.scan_index = -1,

	},

	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),

	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),

	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),



	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),

	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),

	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),



	/* Magnetometer resolution is 13 bits */

	INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 13, INV_MPU9X50_SCAN_MAGN_X),

	INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 13, INV_MPU9X50_SCAN_MAGN_Y),

	INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 13, INV_MPU9X50_SCAN_MAGN_Z),

};



static const struct iio_chan_spec inv_mpu9250_channels[] = {

	IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),

	/*
@@ -1323,21 +1350,16 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, 
		inv_mpu_bus_setup(indio_dev);



	switch (chip_type) {

	case INV_MPU9150:

		indio_dev->channels = inv_mpu9150_channels;

		indio_dev->num_channels = ARRAY_SIZE(inv_mpu9150_channels);

		indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;

		break;

	case INV_MPU9250:

	case INV_MPU9255:

		/*

		 * Use magnetometer inside the chip only if there is no i2c

		 * auxiliary device in use.

		 */

		if (!st->magn_disabled) {

		indio_dev->channels = inv_mpu9250_channels;

		indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);

		indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;

		} else {

			indio_dev->channels = inv_mpu_channels;

			indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);

			indio_dev->available_scan_masks = inv_mpu_scan_masks;

		}

		break;

	case INV_ICM20602:

		indio_dev->channels = inv_icm20602_channels;
@@ -1350,6 +1372,15 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, 
		indio_dev->available_scan_masks = inv_mpu_scan_masks;

		break;

	}

	/*

	 * Use magnetometer inside the chip only if there is no i2c

	 * auxiliary device in use. Otherwise Going back to 6-axis only.

	 */

	if (st->magn_disabled) {

		indio_dev->channels = inv_mpu_channels;

		indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);

		indio_dev->available_scan_masks = inv_mpu_scan_masks;

	}



	indio_dev->info = &mpu_info;

	indio_dev->modes = INDIO_BUFFER_TRIGGERED;

drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c

+2 −0
Original line number Diff line number Diff line
@@ -77,6 +77,7 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev) 
	case INV_ICM20602:

		/* no i2c auxiliary bus on the chip */

		return false;

	case INV_MPU9150:

	case INV_MPU9250:

	case INV_MPU9255:

		if (st->magn_disabled)
@@ -102,6 +103,7 @@ static int inv_mpu_magn_disable(struct iio_dev *indio_dev) 
	struct device_node *mux_node;



	switch (st->chip_type) {

	case INV_MPU9150:

	case INV_MPU9250:

	case INV_MPU9255:

		mux_node = of_get_child_by_name(dev->of_node, "i2c-gate");

drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c

+57 −23
Original line number Diff line number Diff line
@@ -12,7 +12,9 @@ 
#include "inv_mpu_magn.h"



/*

 * MPU9250 magnetometer is an AKM AK8963 chip on I2C aux bus

 * MPU9xxx magnetometer are AKM chips on I2C aux bus

 * MPU9150 is AK8975

 * MPU9250 is AK8963

 */

#define INV_MPU_MAGN_I2C_ADDR		0x0C
@@ -33,10 +35,10 @@ 
#define INV_MPU_MAGN_BITS_MODE_PWDN	0x00

#define INV_MPU_MAGN_BITS_MODE_SINGLE	0x01

#define INV_MPU_MAGN_BITS_MODE_FUSE	0x0F

#define INV_MPU_MAGN_BIT_OUTPUT_BIT	0x10

#define INV_MPU9250_MAGN_BIT_OUTPUT_BIT	0x10



#define INV_MPU_MAGN_REG_CNTL2		0x0B

#define INV_MPU_MAGN_BIT_SRST		0x01

#define INV_MPU9250_MAGN_REG_CNTL2	0x0B

#define INV_MPU9250_MAGN_BIT_SRST	0x01



#define INV_MPU_MAGN_REG_ASAX		0x10

#define INV_MPU_MAGN_REG_ASAY		0x11
@@ -48,6 +50,7 @@ 
static bool inv_magn_supported(const struct inv_mpu6050_state *st)

{

	switch (st->chip_type) {

	case INV_MPU9150:

	case INV_MPU9250:

	case INV_MPU9255:

		return true;
@@ -61,6 +64,7 @@ static int inv_magn_init(struct inv_mpu6050_state *st) 
{

	uint8_t val;

	uint8_t asa[3];

	int32_t sensitivity;

	int ret;



	/* check whoami */
@@ -71,12 +75,19 @@ static int inv_magn_init(struct inv_mpu6050_state *st) 
	if (val != INV_MPU_MAGN_BITS_WIA)

		return -ENODEV;



	/* reset chip */

	/* software reset for MPU925x only */

	switch (st->chip_type) {

	case INV_MPU9250:

	case INV_MPU9255:

		ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,

				INV_MPU_MAGN_REG_CNTL2,

				INV_MPU_MAGN_BIT_SRST);

					INV_MPU9250_MAGN_REG_CNTL2,

					INV_MPU9250_MAGN_BIT_SRST);

		if (ret)

			return ret;

		break;

	default:

		break;

	}



	/* read fuse ROM data */

	ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
@@ -97,6 +108,25 @@ static int inv_magn_init(struct inv_mpu6050_state *st) 
	if (ret)

		return ret;



	/*

	 * Sensor sentivity

	 * 1 uT = 0.01 G and value is in micron (1e6)

	 * sensitvity = x uT * 0.01 * 1e6

	 */

	switch (st->chip_type) {

	case INV_MPU9150:

		/* sensor sensitivity is 0.3 uT */

		sensitivity = 3000;

		break;

	case INV_MPU9250:

	case INV_MPU9255:

		/* sensor sensitivity in 16 bits mode: 0.15 uT */

		sensitivity = 1500;

		break;

	default:

		return -EINVAL;

	}



	/*

	 * Sensitivity adjustement and scale to Gauss

	 *
@@ -104,16 +134,11 @@ static int inv_magn_init(struct inv_mpu6050_state *st) 
	 * Factor simplification:

	 * Hadj = H * ((ASA + 128) / 256)

	 *

	 * Sensor sentivity

	 * 0.15 uT in 16 bits mode

	 * 1 uT = 0.01 G and value is in micron (1e6)

	 * sensitvity = 0.15 uT * 0.01 * 1e6

	 *

	 * raw_to_gauss = Hadj * 1500

	 * raw_to_gauss = Hadj * sensitivity

	 */

	st->magn_raw_to_gauss[0] = (((int32_t)asa[0] + 128) * 1500) / 256;

	st->magn_raw_to_gauss[1] = (((int32_t)asa[1] + 128) * 1500) / 256;

	st->magn_raw_to_gauss[2] = (((int32_t)asa[2] + 128) * 1500) / 256;

	st->magn_raw_to_gauss[0] = (((int32_t)asa[0] + 128) * sensitivity) / 256;

	st->magn_raw_to_gauss[1] = (((int32_t)asa[1] + 128) * sensitivity) / 256;

	st->magn_raw_to_gauss[2] = (((int32_t)asa[2] + 128) * sensitivity) / 256;



	return 0;

}
@@ -129,6 +154,7 @@ static int inv_magn_init(struct inv_mpu6050_state *st) 
 */

int inv_mpu_magn_probe(struct inv_mpu6050_state *st)

{

	uint8_t val;

	int ret;



	/* quit if chip is not supported */
@@ -179,10 +205,17 @@ int inv_mpu_magn_probe(struct inv_mpu6050_state *st) 
	if (ret)

		return ret;



	/* add 16 bits mode */

	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(1),

			   INV_MPU_MAGN_BITS_MODE_SINGLE |

			   INV_MPU_MAGN_BIT_OUTPUT_BIT);

	/* add 16 bits mode for MPU925x */

	val = INV_MPU_MAGN_BITS_MODE_SINGLE;

	switch (st->chip_type) {

	case INV_MPU9250:

	case INV_MPU9255:

		val |= INV_MPU9250_MAGN_BIT_OUTPUT_BIT;

		break;

	default:

		break;

	}

	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(1), val);

	if (ret)

		return ret;
@@ -237,6 +270,7 @@ int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st) 


	/* fill magnetometer orientation */

	switch (st->chip_type) {

	case INV_MPU9150:

	case INV_MPU9250:

	case INV_MPU9255:

		/* x <- y */

drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c

+1 −0
Original line number Diff line number Diff line
@@ -50,6 +50,7 @@ static void inv_scan_query(struct iio_dev *indio_dev) 
	struct inv_mpu6050_state *st = iio_priv(indio_dev);



	switch (st->chip_type) {

	case INV_MPU9150:

	case INV_MPU9250:

	case INV_MPU9255:

		return inv_scan_query_mpu9x50(indio_dev);