On Thu, 29 Aug 2019 15:18:45 +0000
Jean-Baptiste Maneyrol <JManeyrol@xxxxxxxxxxxxxx> wrote:
> 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>
A few minor bits inline.
Thanks,
Jonathan
> ---
> 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:
This is a bit paranoid given we can't get anywhere near here if it isn't one of
these devices. I suppose you might have other magn containing devices to be
supported in the near future?
> + 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.
> + */
Comments generally next to implementations rather than definitions...
We got this wrong a fair bit in early IIO but let us move forward
correctly!
> +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_ */
