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  1. Oct 26, 2016
    • Linus Walleij's avatar
      iio: gyro: Add driver for the MPU-3050 gyroscope · 3904b28e
      Linus Walleij authored
      
      
      This adds a new driver for the Invensense MPU-3050 gyroscope.
      This driver is based on information from the rough input driver
      in drivers/input/misc/mpu3050.c and the scratch misc driver
      posted by Nathan Royer in 2011. Some years have passed but this
      is finally a fully-fledged driver for this gyroscope. It was
      developed and tested on the Qualcomm APQ8060 Dragonboard.
      
      The driver supports both raw and buffered input. It also
      supports the internal trigger mechanism by registering a trigger
      that can fire in response to the internal sample engine of the
      component. In addition to reading out the gyroscope sensor
      values, the driver also supports reading the temperature from
      the sensor.
      
      The driver currently only supports I2C but the MPU-3050 can
      also be used from SPI, so the I2C portions are split in their
      own file and we just use regmap to access all registers, so
      it will be trivial to plug in SPI support if/when someone has
      a system requiring this.
      
      To conserve power, the driver utilizes the runtime PM
      framework and will put the sensor in off mode and disable the
      regulators when unused, after a timeout of 10 seconds.
      
      The fullscale can be set for the sensor to 250, 500, 1000 or
      2000 deg/s. This corresponds to scale values of rougly 0.000122,
      0.000275, 0.000512 or 0.001068. By writing such values (or close
      to these) into "in_anglevel_scale", the corresponding fullscale
      can be chosen. It will default to 2000 deg/s (~35 rad/s).
      
      The gyro component can have DC offsets on all axes. These can be
      compensated using the standard sysfs ABI property
      "in_anglevel_[xyz]_calibbias". This is in positive/negative
      values of the raw values, so a suitable calibration bias can be
      determined by userspace by reading the "in_anglevel_[xyz]_raw"
      for a few iterations while holding the sensor still, create an
      average integer, and writing the negative inverse of that into
      "in_anglevel_[xyz]_calibbias". After this the hardware will
      automatically subtract the bias, also when using buffered
      readings.
      
      Since the MPU-3050 has an outgoing I2C port it needs to act as
      an I2C mux. This means that the device is switching I2C traffic
      to devices beyond it. On my system this is the only way to reach
      the accelerometer. The "sensor fusion" ability of the MPU-3050
      to directly talk to the device on the outgoing I2C port is
      currently not used by the driver, but it has code to allow I2C
      traffic to pass through so that the Linux kernel can reach the
      device on the other side with a kernel driver.
      
      Example usage with the native trigger:
      
      $ generic_buffer -a -c10 -n mpu3050
      iio device number being used is 0
      iio trigger number being used is 0
      No channels are enabled, enabling all channels
      Enabling: in_anglvel_z_en
      Enabling: in_timestamp_en
      Enabling: in_anglvel_y_en
      Enabling: in_temp_en
      Enabling: in_anglvel_x_en
      /sys/bus/iio/devices/iio:device0 mpu3050-dev0
      29607.142578 -0.117493 0.074768 0.012817 180788797150
      29639.285156 -0.117493 0.076904 0.013885 180888982335
      29696.427734 -0.116425 0.076904 0.012817 180989178039
      29742.857422 -0.117493 0.076904 0.012817 181089377742
      29764.285156 -0.116425 0.077972 0.012817 181189574187
      29860.714844 -0.115356 0.076904 0.012817 181289772705
      29864.285156 -0.117493 0.076904 0.012817 181389971520
      29910.714844 -0.115356 0.076904 0.013885 181490170483
      29917.857422 -0.116425 0.076904 0.011749 181590369742
      29975.000000 -0.116425 0.076904 0.012817 181690567075
      Disabling: in_anglvel_z_en
      Disabling: in_timestamp_en
      Disabling: in_anglvel_y_en
      Disabling: in_temp_en
      Disabling: in_anglvel_x_en
      
      The first column is the temperature in millidegrees, then the x,y,z
      axes in succession followed by the timestamp. Also tested successfully
      using the HRTimer trigger.
      
      Cc: Nick Vaccaro <nvaccaro@google.com>
      Cc: Ge Gao <ggao@invensense.com>
      Cc: Anna Si <asi@invensense.com>
      Cc: Dmitry Torokhov <dmitry.torokhov@gmail.com>
      Cc: Crestez Dan Leonard <leonard.crestez@intel.com>
      Cc: Daniel Baluta <daniel.baluta@intel.com>
      Cc: Gregor Boirie <gregor.boirie@parrot.com>
      Cc: Peter Rosin <peda@axentia.se>
      Cc: Peter Meerwald-Stadler <pmeerw@pmeerw.net>
      Signed-off-by: default avatarLinus Walleij <linus.walleij@linaro.org>
      Signed-off-by: default avatarJonathan Cameron <jic23@kernel.org>
      3904b28e
  2. Oct 25, 2016
  3. Oct 24, 2016