The magnetometer included in the mpu9150 will be exported to the
I2C bus at address 0x0C and can be accessed by the IIO driver
ak8975.
Signed-off-by: Manuel Stahl <manuel.stahl@xxxxxxxxxxxxxxxxx>
---
drivers/iio/imu/inv_mpu6050/Kconfig | 6 ++++--
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 21 ++++++++++++++++++++-
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 4 ++++
3 files changed, 28 insertions(+), 3 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 361b232..9843f9e 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -3,12 +3,14 @@
#
config INV_MPU6050_IIO
- tristate "Invensense MPU6050 devices"
+ tristate "Invensense MPU6050 and MPU9150 devices"
depends on I2C && SYSFS
select IIO_BUFFER
select IIO_TRIGGERED_BUFFER
help
- This driver supports the Invensense MPU6050 devices.
+ This driver supports the Invensense MPU6050 and MPU9150 devices.
It is a gyroscope/accelerometer combo device.
+ The MPU9150 has an additional magnetometer, but this is currently
+ only exported as a separate device on I2C address 0x0C.
This driver can be built as a module. The module will be called
inv-mpu6050.
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index fda1ee2..a121b5c 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -71,6 +71,12 @@ static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
.reg = ®_set_6050,
.config = &chip_config_6050,
},
+ {
+ .num_reg = 118,
+ .name = "MPU9150",
+ .reg = ®_set_6050,
+ .config = &chip_config_6050,
+ },
};
int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
@@ -616,7 +622,12 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
{
int result;
- st->chip_type = INV_MPU6050;
+ st->chip_type = (unsigned)id->driver_data;
+ if (st->chip_type >= INV_NUM_PARTS) {
+ dev_err(&st->client->dev,
+ "Invalid chip type: %s.\n", id->name);
+ return -ENODEV;
+ }
st->hw = &hw_info[st->chip_type];
st->reg = hw_info[st->chip_type].reg;
@@ -646,6 +657,11 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
if (result)
return result;
+ /* set to bypass mode */
+ result = inv_mpu6050_write_reg(st, INV_MPU6050_REG_INT_PIN_CFG,
+ INV_MPU6050_BIT_BYPASS_EN);
+ if (result)
+ return result;
return 0;
}
@@ -719,6 +735,8 @@ static int inv_mpu_probe(struct i2c_client *client,
goto out_remove_trigger;
}
+ dev_info(&st->client->dev, "IMU %s found\n", id->name);
+
return 0;
out_remove_trigger:
@@ -765,6 +783,7 @@ static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
*/
static const struct i2c_device_id inv_mpu_id[] = {
{"mpu6050", INV_MPU6050},
+ {"mpu9150", INV_MPU9150},
{}
};
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 0ab382b..d91b1e4 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -59,6 +59,7 @@ struct inv_mpu6050_reg_map {
/*device enum */
enum inv_devices {
INV_MPU6050,
+ INV_MPU9150,
INV_NUM_PARTS
};
@@ -132,6 +133,9 @@ struct inv_mpu6050_state {
#define INV_MPU6050_BIT_ACCEL_OUT 0x08
#define INV_MPU6050_BITS_GYRO_OUT 0x70
+#define INV_MPU6050_REG_INT_PIN_CFG 0x37
+#define INV_MPU6050_BIT_BYPASS_EN 0x02
+
#define INV_MPU6050_REG_INT_ENABLE 0x38
#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
#define INV_MPU6050_BIT_DMP_INT_EN 0x02
--
1.8.3.2
--
To unsubscribe from this list: send the line "unsubscribe linux-iio" in
the body of a message to majordomo@xxxxxxxxxxxxxxx
More majordomo info at http://vger.kernel.org/majordomo-info.html
