On Fri, 15 Nov 2019 15:06:22 +0100
Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx> wrote:
> Add support for driving MPU9150 magnetometer (AK8975) from mpu.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx>
All the prerequisits are now (I think) in my togreg branch so
applied to that and pushed out as testing for the autobuilders
to do more build tests than I can be bothered with :)
Thanks,
Jonathan
> ---
> 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);
