AuxXxilium/linux_dsm_epyc7002
1
0
Fork 0
mirror of https://github.com/AuxXxilium/linux_dsm_epyc7002.git synced 2024-12-18 04:30:08 +07:00
Code Issues Actions Packages Projects Releases Wiki Activity

iio: imu: inv_mpu6050: add support of MPU9150 magnetometer

Browse Source 
Add support for driving MPU9150 magnetometer (AK8975) from mpu.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Jean-Baptiste Maneyrol 2019-11-15 15:06:22 +01:00 committed by Jonathan Cameron
parent b95ed40627
commit a2587eb032
4 changed files with 104 additions and 36 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

51
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
View File

@ -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;
}
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;

2
drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
View File

@ -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");

74
drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
View File

@ -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 */
/* 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_MPU_MAGN_REG_CNTL2,
INV_MPU_MAGN_BIT_SRST);
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 */

1
drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
View File

@ -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);