Allow setting of the x/y/z axes calibration offsets for the gyroscope
and accelerometer.
Signed-off-by: Matt Ranostay <matt.ranostay@xxxxxxxxx>
---
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 51 ++++++++++++++++++++++++++++--
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 10 ++++++
2 files changed, 59 insertions(+), 2 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 6d4b19dd16f8..3acf0863e558 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -55,6 +55,8 @@ static const struct inv_mpu6050_reg_map reg_set_6050 = {
.pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
.pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
.int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
+ .accl_offset = INV_MPU6050_REG_ACCEL_OFFSET,
+ .gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
};
static const struct inv_mpu6050_chip_config chip_config_6050 = {
@@ -200,6 +202,20 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
return result;
}
+static int inv_mpu6050_sensor_set(struct inv_mpu6050_state *st, int reg,
+ int axis, int val)
+{
+ int ind, result;
+ __be16 d = cpu_to_be16(val);
+
+ ind = (axis - IIO_MOD_X) * 2;
+ result = regmap_bulk_write(st->map, reg + ind, (u8 *)&d, 2);
+ if (result)
+ return -EINVAL;
+
+ return 0;
+}
+
static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
int axis, int *val)
{
@@ -221,11 +237,12 @@ static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
int *val2,
long mask) {
struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ int ret = 0;
switch (mask) {
case IIO_CHAN_INFO_RAW:
{
- int ret, result;
+ int result;
ret = IIO_VAL_INT;
result = 0;
@@ -321,6 +338,20 @@ error_read_raw:
default:
return -EINVAL;
}
+ case IIO_CHAN_INFO_CALIBBIAS:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
+ chan->channel2, val);
+ return IIO_VAL_INT;
+ case IIO_ACCEL:
+ ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
+ chan->channel2, val);
+ return IIO_VAL_INT;
+
+ default:
+ return -EINVAL;
+ }
default:
return -EINVAL;
}
@@ -416,6 +447,21 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
break;
}
break;
+ case IIO_CHAN_INFO_CALIBBIAS:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ result = inv_mpu6050_sensor_set(st,
+ st->reg->gyro_offset,
+ chan->channel2, val);
+ break;
+ case IIO_ACCEL:
+ result = inv_mpu6050_sensor_set(st,
+ st->reg->accl_offset,
+ chan->channel2, val);
+ break;
+ default:
+ result = -EINVAL;
+ }
default:
result = -EINVAL;
break;
@@ -569,7 +615,8 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
.modified = 1, \
.channel2 = _channel2, \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
.scan_index = _index, \
.scan_type = { \
.sign = 's', \
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index a6c45ce459ee..c4e24148c733 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -40,6 +40,8 @@
* @pwr_mgmt_1: Controls chip's power state and clock source.
* @pwr_mgmt_2: Controls power state of individual sensors.
* @int_pin_cfg; Controls interrupt pin configuration.
+ * @accl_offset: Controls the accelerometer calibration offset.
+ * @gyro_offset: Controls the gyroscope calibration offset.
*/
struct inv_mpu6050_reg_map {
u8 sample_rate_div;
@@ -57,6 +59,8 @@ struct inv_mpu6050_reg_map {
u8 pwr_mgmt_1;
u8 pwr_mgmt_2;
u8 int_pin_cfg;
+ u8 accl_offset;
+ u8 gyro_offset;
};
/*device enum */
@@ -133,6 +137,9 @@ struct inv_mpu6050_state {
};
/*register and associated bit definition*/
+#define INV_MPU6050_REG_ACCEL_OFFSET 0x06
+#define INV_MPU6050_REG_GYRO_OFFSET 0x13
+
#define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19
#define INV_MPU6050_REG_CONFIG 0x1A
#define INV_MPU6050_REG_GYRO_CONFIG 0x1B
@@ -174,6 +181,9 @@ struct inv_mpu6050_state {
#define INV_MPU6050_FIFO_COUNT_BYTE 2
#define INV_MPU6050_FIFO_THRESHOLD 500
+/* mpu6500 registers */
+#define INV_MPU6500_REG_ACCEL_OFFSET 0x77
+
/* delay time in milliseconds */
#define INV_MPU6050_POWER_UP_TIME 100
#define INV_MPU6050_TEMP_UP_TIME 100
--
1.9.1
--
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
