This is looks fine to me. It is used for primary bus for compass. However, the actual use for MPU9150 is through a secondary bus interface for MPU9150. This interface send a fixed preprogrammed command to AK8975 compass to make it work. The compass result can be read through registers located in MPU9150. Thanks. Best Regards, Ge GAO -----Original Message----- From: Jonathan Cameron [mailto:jic23@xxxxxxxxxx] Sent: Saturday, February 08, 2014 4:32 AM To: Manuel Stahl; jic23@xxxxxxxxx Cc: Ge Gao; linux-iio@xxxxxxxxxxxxxxx Subject: Re: [PATCH 3/3] iio: imu: inv_mpu6050: Add basic support for mpu9150 On 05/02/14 10:34, Manuel Stahl wrote: > 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> This looks straight forward to me, but I'll let it sit for a few days to give Ge an oportunity to comment. Jonathan > --- > 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 > -- 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
