Add support for driving MPU9150 magnetometer (AK8975) from mpu.
Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx>
---
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 57 ++++++++++---
drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c | 2 +
drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c | 80 +++++++++++++------
drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 1 +
4 files changed, 104 insertions(+), 36 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 45e77b308238..23c0557891a0 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -914,6 +914,33 @@ static const unsigned long inv_mpu_scan_masks[] = {
.ext_info = inv_ext_info, \
}
+static const struct iio_chan_spec inv_mpu9150_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_MPU6050_SCAN_GYRO_X),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
+
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
+
+ /* Magnetometer resolution is 13 bits */
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 13, INV_MPU9X50_SCAN_MAGN_X),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 13, INV_MPU9X50_SCAN_MAGN_Y),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 13, INV_MPU9X50_SCAN_MAGN_Z),
+};
+
static const struct iio_chan_spec inv_mpu9250_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
/*
@@ -1323,21 +1350,16 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
inv_mpu_bus_setup(indio_dev);
switch (chip_type) {
+ case INV_MPU9150:
+ indio_dev->channels = inv_mpu9150_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu9150_channels);
+ indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
+ break;
case INV_MPU9250:
case INV_MPU9255:
- /*
- * Use magnetometer inside the chip only if there is no i2c
- * auxiliary device in use.
- */
- if (!st->magn_disabled) {
- indio_dev->channels = inv_mpu9250_channels;
- indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
- indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
- } else {
- indio_dev->channels = inv_mpu_channels;
- indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
- indio_dev->available_scan_masks = inv_mpu_scan_masks;
- }
+ 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;
case INV_ICM20602:
indio_dev->channels = inv_icm20602_channels;
@@ -1350,6 +1372,15 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
indio_dev->available_scan_masks = inv_mpu_scan_masks;
break;
}
+ /*
+ * Use magnetometer inside the chip only if there is no i2c
+ * auxiliary device in use. Otherwise Going back to 6-axis only.
+ */
+ if (st->magn_disabled) {
+ indio_dev->channels = inv_mpu_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+ indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ }
indio_dev->info = &mpu_info;
indio_dev->modes = INDIO_BUFFER_TRIGGERED;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index 389cc8505e0e..f47a28b4be23 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -77,6 +77,7 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev)
case INV_ICM20602:
/* no i2c auxiliary bus on the chip */
return false;
+ case INV_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
if (st->magn_disabled)
@@ -102,6 +103,7 @@ static int inv_mpu_magn_disable(struct iio_dev *indio_dev)
struct device_node *mux_node;
switch (st->chip_type) {
+ case INV_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
mux_node = of_get_child_by_name(dev->of_node, "i2c-gate");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
index 02735af152c8..4f192352521e 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
@@ -12,7 +12,9 @@
#include "inv_mpu_magn.h"
/*
- * MPU9250 magnetometer is an AKM AK8963 chip on I2C aux bus
+ * MPU9xxx magnetometer are AKM chips on I2C aux bus
+ * MPU9150 is AK8975
+ * MPU9250 is AK8963
*/
#define INV_MPU_MAGN_I2C_ADDR 0x0C
@@ -33,10 +35,10 @@
#define INV_MPU_MAGN_BITS_MODE_PWDN 0x00
#define INV_MPU_MAGN_BITS_MODE_SINGLE 0x01
#define INV_MPU_MAGN_BITS_MODE_FUSE 0x0F
-#define INV_MPU_MAGN_BIT_OUTPUT_BIT 0x10
+#define INV_MPU9250_MAGN_BIT_OUTPUT_BIT 0x10
-#define INV_MPU_MAGN_REG_CNTL2 0x0B
-#define INV_MPU_MAGN_BIT_SRST 0x01
+#define INV_MPU9250_MAGN_REG_CNTL2 0x0B
+#define INV_MPU9250_MAGN_BIT_SRST 0x01
#define INV_MPU_MAGN_REG_ASAX 0x10
#define INV_MPU_MAGN_REG_ASAY 0x11
@@ -48,6 +50,7 @@
static bool inv_magn_supported(const struct inv_mpu6050_state *st)
{
switch (st->chip_type) {
+ case INV_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
return true;
@@ -61,6 +64,7 @@ static int inv_magn_init(struct inv_mpu6050_state *st)
{
uint8_t val;
uint8_t asa[3];
+ int32_t sensitivity;
int ret;
/* check whoami */
@@ -71,12 +75,19 @@ static int inv_magn_init(struct inv_mpu6050_state *st)
if (val != INV_MPU_MAGN_BITS_WIA)
return -ENODEV;
- /* reset chip */
- ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
- INV_MPU_MAGN_REG_CNTL2,
- INV_MPU_MAGN_BIT_SRST);
- if (ret)
- return ret;
+ /* software reset for MPU925x only */
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
+ INV_MPU9250_MAGN_REG_CNTL2,
+ INV_MPU9250_MAGN_BIT_SRST);
+ if (ret)
+ return ret;
+ break;
+ default:
+ break;
+ }
/* read fuse ROM data */
ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
@@ -97,6 +108,25 @@ static int inv_magn_init(struct inv_mpu6050_state *st)
if (ret)
return ret;
+ /*
+ * Sensor sentivity
+ * 1 uT = 0.01 G and value is in micron (1e6)
+ * sensitvity = x uT * 0.01 * 1e6
+ */
+ switch (st->chip_type) {
+ case INV_MPU9150:
+ /* sensor sensitivity is 0.3 uT */
+ sensitivity = 3000;
+ break;
+ case INV_MPU9250:
+ case INV_MPU9255:
+ /* sensor sensitivity in 16 bits mode: 0.15 uT */
+ sensitivity = 1500;
+ break;
+ default:
+ return -EINVAL;
+ }
+
/*
* Sensitivity adjustement and scale to Gauss
*
@@ -104,16 +134,11 @@ static int inv_magn_init(struct inv_mpu6050_state *st)
* Factor simplification:
* Hadj = H * ((ASA + 128) / 256)
*
- * Sensor sentivity
- * 0.15 uT in 16 bits mode
- * 1 uT = 0.01 G and value is in micron (1e6)
- * sensitvity = 0.15 uT * 0.01 * 1e6
- *
- * raw_to_gauss = Hadj * 1500
+ * raw_to_gauss = Hadj * sensitivity
*/
- st->magn_raw_to_gauss[0] = (((int32_t)asa[0] + 128) * 1500) / 256;
- st->magn_raw_to_gauss[1] = (((int32_t)asa[1] + 128) * 1500) / 256;
- st->magn_raw_to_gauss[2] = (((int32_t)asa[2] + 128) * 1500) / 256;
+ st->magn_raw_to_gauss[0] = (((int32_t)asa[0] + 128) * sensitivity) / 256;
+ st->magn_raw_to_gauss[1] = (((int32_t)asa[1] + 128) * sensitivity) / 256;
+ st->magn_raw_to_gauss[2] = (((int32_t)asa[2] + 128) * sensitivity) / 256;
return 0;
}
@@ -129,6 +154,7 @@ static int inv_magn_init(struct inv_mpu6050_state *st)
*/
int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
{
+ uint8_t val;
int ret;
/* quit if chip is not supported */
@@ -179,10 +205,17 @@ int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
if (ret)
return ret;
- /* add 16 bits mode */
- ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(1),
- INV_MPU_MAGN_BITS_MODE_SINGLE |
- INV_MPU_MAGN_BIT_OUTPUT_BIT);
+ /* add 16 bits mode for MPU925x */
+ val = INV_MPU_MAGN_BITS_MODE_SINGLE;
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ val |= INV_MPU9250_MAGN_BIT_OUTPUT_BIT;
+ break;
+ default:
+ break;
+ }
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(1), val);
if (ret)
return ret;
@@ -237,6 +270,7 @@ int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
/* fill magnetometer orientation */
switch (st->chip_type) {
+ case INV_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
/* x <- y */
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index d7d951927a44..a9c75bc62f18 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -50,6 +50,7 @@ static void inv_scan_query(struct iio_dev *indio_dev)
struct inv_mpu6050_state *st = iio_priv(indio_dev);
switch (st->chip_type) {
+ case INV_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
return inv_scan_query_mpu9x50(indio_dev);
--
2.17.1
