From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@xxxxxxx>
Add WoM (mag_adaptive rising) event in accel channels for all
chips >= MPU-6500. This requires to create new MPU-6500 channels
as default and MPU-6050 channels for older chips.
Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@xxxxxxx>
---
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 132 ++++++++++++++-------
1 file changed, 89 insertions(+), 43 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index fca7fc1ba4e2..d2544c758815 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -1303,23 +1303,34 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = {
{ }
};
-#define INV_MPU6050_CHAN(_type, _channel2, _index) \
- { \
- .type = _type, \
- .modified = 1, \
- .channel2 = _channel2, \
- .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
- BIT(IIO_CHAN_INFO_CALIBBIAS), \
- .scan_index = _index, \
- .scan_type = { \
- .sign = 's', \
- .realbits = 16, \
- .storagebits = 16, \
- .shift = 0, \
- .endianness = IIO_BE, \
- }, \
- .ext_info = inv_ext_info, \
+static const struct iio_event_spec inv_accel_events[] = {
+ {
+ .type = IIO_EV_TYPE_MAG_ADAPTIVE,
+ .dir = IIO_EV_DIR_RISING,
+ .mask_shared_by_type = BIT(IIO_EV_INFO_ENABLE) |
+ BIT(IIO_EV_INFO_VALUE),
+ },
+};
+
+#define INV_MPU6050_CHAN(_type, _channel2, _index, _events, _events_nb) \
+ { \
+ .type = _type, \
+ .modified = 1, \
+ .channel2 = _channel2, \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .event_spec = _events, \
+ .num_event_specs = _events_nb, \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+ .ext_info = inv_ext_info, \
}
#define INV_MPU6050_TEMP_CHAN(_index) \
@@ -1338,18 +1349,35 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = {
}, \
}
-static const struct iio_chan_spec inv_mpu_channels[] = {
+static const struct iio_chan_spec inv_mpu6050_channels[] = {
+ IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
+
+ INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
+
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z, NULL, 0),
+
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z, NULL, 0),
+};
+
+static const struct iio_chan_spec inv_mpu6500_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
- 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_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z, NULL, 0),
- 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),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X,
+ inv_accel_events, ARRAY_SIZE(inv_accel_events)),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y,
+ inv_accel_events, ARRAY_SIZE(inv_accel_events)),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z,
+ inv_accel_events, ARRAY_SIZE(inv_accel_events)),
};
#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \
@@ -1401,13 +1429,13 @@ static const struct iio_chan_spec inv_mpu9150_channels[] = {
INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
- 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_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z, NULL, 0),
- 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),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z, NULL, 0),
/* Magnetometer resolution is 13 bits */
INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 13, INV_MPU9X50_SCAN_MAGN_X),
@@ -1420,13 +1448,16 @@ static const struct iio_chan_spec inv_mpu9250_channels[] = {
INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
- 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_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y, NULL, 0),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z, NULL, 0),
- 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),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X,
+ inv_accel_events, ARRAY_SIZE(inv_accel_events)),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y,
+ inv_accel_events, ARRAY_SIZE(inv_accel_events)),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z,
+ inv_accel_events, ARRAY_SIZE(inv_accel_events)),
/* Magnetometer resolution is 16 bits */
INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
@@ -1831,6 +1862,12 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
return result;
switch (chip_type) {
+ case INV_MPU6000:
+ case INV_MPU6050:
+ indio_dev->channels = inv_mpu6050_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu6050_channels);
+ indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ break;
case INV_MPU9150:
indio_dev->channels = inv_mpu9150_channels;
indio_dev->num_channels = ARRAY_SIZE(inv_mpu9150_channels);
@@ -1844,13 +1881,13 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
break;
case INV_ICM20600:
case INV_ICM20602:
- indio_dev->channels = inv_mpu_channels;
- indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+ indio_dev->channels = inv_mpu6500_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu6500_channels);
indio_dev->available_scan_masks = inv_icm20602_scan_masks;
break;
default:
- indio_dev->channels = inv_mpu_channels;
- indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+ indio_dev->channels = inv_mpu6500_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu6500_channels);
indio_dev->available_scan_masks = inv_mpu_scan_masks;
break;
}
@@ -1859,9 +1896,18 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
* 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;
+ switch (chip_type) {
+ case INV_MPU9150:
+ indio_dev->channels = inv_mpu6050_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu6050_channels);
+ indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ break;
+ default:
+ indio_dev->channels = inv_mpu6500_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu6500_channels);
+ indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ break;
+ }
}
indio_dev->info = &mpu_info;
--
2.34.1
