Add inv_mpu_magn layer to manage several chip specific
implementations and be noop when Kconfig option is not set.
Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx>
---
drivers/iio/imu/inv_mpu6050/Makefile | 3 +-
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 140 ++++++++++++++++++++-
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 +
drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c | 120 ++++++++++++++++++
drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h | 107 ++++++++++++++++
5 files changed, 368 insertions(+), 4 deletions(-)
create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
index fee41415ebdb..6f5baac29f81 100644
--- a/drivers/iio/imu/inv_mpu6050/Makefile
+++ b/drivers/iio/imu/inv_mpu6050/Makefile
@@ -5,7 +5,8 @@
obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
-inv-mpu6050-$(CONFIG_INV_MPU6050_MAGN) += inv_mpu_aux.o inv_mpu9250_magn.o
+inv-mpu6050-$(CONFIG_INV_MPU6050_MAGN) += inv_mpu_aux.o inv_mpu_magn.o \
+ inv_mpu9250_magn.o
obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index b17f060b52fc..d08cec6a8a7a 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -16,7 +16,9 @@
#include <linux/acpi.h>
#include <linux/platform_device.h>
#include <linux/regulator/consumer.h>
+
#include "inv_mpu_iio.h"
+#include "inv_mpu_magn.h"
/*
* this is the gyro scale translated from dynamic range plus/minus
@@ -332,6 +334,11 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
*/
st->chip_period = NSEC_PER_MSEC;
+ /* magn chip init, noop if not present in the chip */
+ result = inv_mpu_magn_probe(st);
+ if (result)
+ goto error_power_off;
+
return inv_mpu6050_set_power_itg(st, false);
error_power_off:
@@ -411,6 +418,9 @@ static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
IIO_MOD_X, val);
break;
+ case IIO_MAGN:
+ ret = inv_mpu_magn_read(st, chan->channel2, val);
+ break;
default:
ret = -EINVAL;
break;
@@ -469,6 +479,8 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
*val2 = INV_MPU6050_TEMP_SCALE;
return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_MAGN:
+ return inv_mpu_magn_get_scale(st, chan, val, val2);
default:
return -EINVAL;
}
@@ -710,6 +722,11 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
if (result)
goto fifo_rate_fail_power_off;
+ /* update rate for magn, noop if not present in chip */
+ result = inv_mpu_magn_set_rate(st, fifo_rate);
+ if (result)
+ goto fifo_rate_fail_power_off;
+
fifo_rate_fail_power_off:
result |= inv_mpu6050_set_power_itg(st, false);
fifo_rate_fail_unlock:
@@ -795,8 +812,13 @@ inv_get_mount_matrix(const struct iio_dev *indio_dev,
const struct iio_chan_spec *chan)
{
struct inv_mpu6050_state *data = iio_priv(indio_dev);
+ const struct iio_mount_matrix *matrix = &data->orientation;
- return &data->orientation;
+#ifdef CONFIG_INV_MPU6050_MAGN
+ if (chan->type == IIO_MAGN)
+ matrix = &data->magn_orient;
+#endif
+ return matrix;
}
static const struct iio_chan_spec_ext_info inv_ext_info[] = {
@@ -864,6 +886,102 @@ static const unsigned long inv_mpu_scan_masks[] = {
0,
};
+#ifdef CONFIG_INV_MPU6050_MAGN
+
+#define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index) \
+ { \
+ .type = IIO_MAGN, \
+ .modified = 1, \
+ .channel2 = _chan2, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_RAW), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = _bits, \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+ .ext_info = inv_ext_info, \
+ }
+
+static const struct iio_chan_spec inv_mpu9250_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_MPU9X50_SCAN_GYRO_X),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU9X50_SCAN_GYRO_Y),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU9X50_SCAN_GYRO_Z),
+
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU9X50_SCAN_ACCL_X),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU9X50_SCAN_ACCL_Y),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU9X50_SCAN_ACCL_Z),
+
+ /* Magnetometer resolution is 16 bits */
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
+};
+
+static const unsigned long inv_mpu9x50_scan_masks[] = {
+ /* 3-axis accel */
+ BIT(INV_MPU9X50_SCAN_ACCL_X)
+ | BIT(INV_MPU9X50_SCAN_ACCL_Y)
+ | BIT(INV_MPU9X50_SCAN_ACCL_Z),
+ /* 3-axis gyro */
+ BIT(INV_MPU9X50_SCAN_GYRO_X)
+ | BIT(INV_MPU9X50_SCAN_GYRO_Y)
+ | BIT(INV_MPU9X50_SCAN_GYRO_Z),
+ /* 3-axis magn */
+ BIT(INV_MPU9X50_SCAN_MAGN_X)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Y)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ /* 6-axis accel + gyro */
+ BIT(INV_MPU9X50_SCAN_ACCL_X)
+ | BIT(INV_MPU9X50_SCAN_ACCL_Y)
+ | BIT(INV_MPU9X50_SCAN_ACCL_Z)
+ | BIT(INV_MPU9X50_SCAN_GYRO_X)
+ | BIT(INV_MPU9X50_SCAN_GYRO_Y)
+ | BIT(INV_MPU9X50_SCAN_GYRO_Z),
+ /* 6-axis accel + magn */
+ BIT(INV_MPU9X50_SCAN_ACCL_X)
+ | BIT(INV_MPU9X50_SCAN_ACCL_Y)
+ | BIT(INV_MPU9X50_SCAN_ACCL_Z)
+ | BIT(INV_MPU9X50_SCAN_MAGN_X)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Y)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ /* 6-axis gyro + magn */
+ BIT(INV_MPU9X50_SCAN_GYRO_X)
+ | BIT(INV_MPU9X50_SCAN_GYRO_Y)
+ | BIT(INV_MPU9X50_SCAN_GYRO_Z)
+ | BIT(INV_MPU9X50_SCAN_MAGN_X)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Y)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ /* 9-axis accel + gyro + magn */
+ BIT(INV_MPU9X50_SCAN_ACCL_X)
+ | BIT(INV_MPU9X50_SCAN_ACCL_Y)
+ | BIT(INV_MPU9X50_SCAN_ACCL_Z)
+ | BIT(INV_MPU9X50_SCAN_GYRO_X)
+ | BIT(INV_MPU9X50_SCAN_GYRO_Y)
+ | BIT(INV_MPU9X50_SCAN_GYRO_Z)
+ | BIT(INV_MPU9X50_SCAN_MAGN_X)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Y)
+ | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ 0,
+};
+
+#endif
+
static const struct iio_chan_spec inv_icm20602_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
{
@@ -1145,6 +1263,11 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
return result;
}
+ /* fill magnetometer orientation */
+ result = inv_mpu_magn_set_orient(st);
+ if (result)
+ return result;
+
/* power is turned on inside check chip type*/
result = inv_check_and_setup_chip(st);
if (result)
@@ -1167,14 +1290,25 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
else
indio_dev->name = dev_name(dev);
- if (chip_type == INV_ICM20602) {
+ switch (chip_type) {
+#ifdef CONFIG_INV_MPU6050_MAGN
+ case INV_MPU9250:
+ case INV_MPU9255:
+ indio_dev->channels = inv_mpu9250_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
+ indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
+ break;
+#endif
+ case INV_ICM20602:
indio_dev->channels = inv_icm20602_channels;
indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
indio_dev->available_scan_masks = inv_icm20602_scan_masks;
- } else {
+ break;
+ default:
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;
}
indio_dev->info = &mpu_info;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 5b462672bbcb..cfc11cb0a36c 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -130,6 +130,7 @@ struct inv_mpu6050_hw {
* @data_timestamp: timestamp for next data sample.
* @vddio_supply voltage regulator for the chip.
* @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss.
+ * @magn_orient: magnetometer sensor chip orientation if available.
*/
struct inv_mpu6050_state {
struct mutex lock;
@@ -153,6 +154,7 @@ struct inv_mpu6050_state {
struct regulator *vddio_supply;
#ifdef CONFIG_INV_MPU6050_MAGN
s32 magn_raw_to_gauss[3];
+ struct iio_mount_matrix magn_orient;
#endif
};
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
new file mode 100644
index 000000000000..2bb40dae0429
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
@@ -0,0 +1,120 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/string.h>
+
+#include "inv_mpu_iio.h"
+#include "inv_mpu_aux.h"
+#include "inv_mpu9250_magn.h"
+
+int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
+{
+ int ret;
+
+ /* probe and init mag chip */
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ /* configure i2c master aux port */
+ ret = inv_mpu_aux_init(st);
+ if (ret)
+ return ret;
+ return inv_mpu9250_magn_probe(st);
+ default:
+ break;
+ }
+
+ return 0;
+}
+
+int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate)
+{
+ int max_freq;
+ uint8_t d;
+
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ max_freq = INV_MPU9250_MAGN_FREQ_HZ_MAX;
+ break;
+ default:
+ return 0;
+ }
+
+ /*
+ * update i2c master delay to limit mag sampling to max frequency
+ * compute fifo_rate divider d: rate = fifo_rate / (d + 1)
+ */
+ if (fifo_rate > max_freq)
+ d = fifo_rate / max_freq - 1;
+ else
+ d = 0;
+
+ return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, d);
+}
+
+int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
+{
+ const char *orient;
+ char *str;
+ int i;
+
+ /* fill magnetometer orientation */
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ /* x <- y */
+ st->magn_orient.rotation[0] = st->orientation.rotation[3];
+ st->magn_orient.rotation[1] = st->orientation.rotation[4];
+ st->magn_orient.rotation[2] = st->orientation.rotation[5];
+ /* y <- x */
+ st->magn_orient.rotation[3] = st->orientation.rotation[0];
+ st->magn_orient.rotation[4] = st->orientation.rotation[1];
+ st->magn_orient.rotation[5] = st->orientation.rotation[2];
+ /* z <- -z */
+ for (i = 0; i < 3; ++i) {
+ orient = st->orientation.rotation[6 + i];
+ /* use length + 2 for adding minus sign if needed */
+ str = devm_kzalloc(regmap_get_device(st->map),
+ strlen(orient) + 2, GFP_KERNEL);
+ if (str == NULL)
+ return -ENOMEM;
+ if (strcmp(orient, "0") == 0) {
+ strcpy(str, orient);
+ } else if (orient[0] == '-') {
+ strcpy(str, &orient[1]);
+ } else {
+ str[0] = '-';
+ strcpy(&str[1], orient);
+ }
+ st->magn_orient.rotation[6 + i] = str;
+ }
+ break;
+ default:
+ st->magn_orient = st->orientation;
+ break;
+ }
+
+ return 0;
+}
+
+int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
+{
+ int ret;
+
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ ret = inv_mpu9250_magn_read(st, axis, val);
+ break;
+ default:
+ ret = -ENODEV;
+ break;
+ }
+
+ return ret;
+}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
new file mode 100644
index 000000000000..efa2ec1b3b2f
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
@@ -0,0 +1,107 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#ifndef INV_MPU_MAGN_H_
+#define INV_MPU_MAGN_H_
+
+#include <linux/kernel.h>
+
+#include "inv_mpu_iio.h"
+
+#ifdef CONFIG_INV_MPU6050_MAGN
+
+/**
+ * inv_mpu_magn_probe() - probe and setup magnetometer chip
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * It is probing the chip and setting up all needed i2c transfers.
+ * Noop if there is no magnetometer in the chip.
+ */
+int inv_mpu_magn_probe(struct inv_mpu6050_state *st);
+
+/**
+ * inv_mpu_magn_get_scale() - get magnetometer scale value
+ * @st: driver internal state
+ *
+ * Returns IIO data format.
+ */
+static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,
+ const struct iio_chan_spec *chan,
+ int *val, int *val2)
+{
+ *val = 0;
+ *val2 = st->magn_raw_to_gauss[chan->address];
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+/**
+ * inv_mpu_magn_set_rate() - set magnetometer sampling rate
+ * @st: driver internal state
+ * @fifo_rate: mpu set fifo rate
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * Limit sampling frequency to the maximum value supported by the
+ * magnetometer chip. Resulting in duplicated data for higher frequencies.
+ * Noop if there is no magnetometer in the chip.
+ */
+int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate);
+
+/**
+ * inv_mpu_magn_set_orient() - fill magnetometer mounting matrix
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * Fill magnetometer mounting matrix using the provided chip matrix.
+ */
+int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st);
+
+/**
+ * inv_mpu_magn_read() - read magnetometer data
+ * @st: driver internal state
+ * @axis: IIO modifier axis value
+ * @val: store corresponding axis value
+ *
+ * Returns 0 on success, a negative error code otherwise
+ */
+int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val);
+
+#else /* CONFIG_INV_MPU6050_MAGN */
+
+static inline int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
+{
+ return 0;
+}
+
+static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,
+ const struct iio_chan_spec *chan,
+ int *val, int *val2)
+{
+ return -EINVAL;
+}
+
+static inline int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st,
+ int fifo_rate)
+{
+ return 0;
+}
+
+static inline int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
+{
+ return 0;
+}
+
+static inline int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis,
+ int *val)
+{
+ return 0;
+}
+
+#endif /* CONFIG_INV_MPU6050_MAGN */
+
+#endif /* INV_MPU_MAGN_H_ */
--
2.17.1
