diff options
Diffstat (limited to 'drivers/iio/imu/inv_mpu6050/inv_mpu_core.c')
-rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 260 |
1 files changed, 122 insertions, 138 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..5096fc49012d 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -104,6 +104,7 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = { .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE), .gyro_fifo_enable = false, .accl_fifo_enable = false, + .temp_fifo_enable = false, .magn_fifo_enable = false, .accl_fs = INV_MPU6050_FS_02G, .user_ctrl = 0, @@ -117,6 +118,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6050, .config = &chip_config_6050, .fifo_size = 1024, + .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE}, }, { .whoami = INV_MPU6500_WHOAMI_VALUE, @@ -124,6 +126,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6500, .config = &chip_config_6050, .fifo_size = 512, + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, }, { .whoami = INV_MPU6515_WHOAMI_VALUE, @@ -131,6 +134,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6500, .config = &chip_config_6050, .fifo_size = 512, + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, }, { .whoami = INV_MPU6000_WHOAMI_VALUE, @@ -138,6 +142,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6050, .config = &chip_config_6050, .fifo_size = 1024, + .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE}, }, { .whoami = INV_MPU9150_WHOAMI_VALUE, @@ -145,6 +150,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6050, .config = &chip_config_6050, .fifo_size = 1024, + .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE}, }, { .whoami = INV_MPU9250_WHOAMI_VALUE, @@ -152,6 +158,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6500, .config = &chip_config_6050, .fifo_size = 512, + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, }, { .whoami = INV_MPU9255_WHOAMI_VALUE, @@ -159,6 +166,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6500, .config = &chip_config_6050, .fifo_size = 512, + .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE}, }, { .whoami = INV_ICM20608_WHOAMI_VALUE, @@ -166,6 +174,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_6500, .config = &chip_config_6050, .fifo_size = 512, + .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE}, }, { .whoami = INV_ICM20602_WHOAMI_VALUE, @@ -173,6 +182,7 @@ static const struct inv_mpu6050_hw hw_info[] = { .reg = ®_set_icm20602, .config = &chip_config_6050, .fifo_size = 1008, + .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE}, }, }; @@ -481,12 +491,8 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, return IIO_VAL_INT_PLUS_MICRO; case IIO_TEMP: - *val = 0; - if (st->chip_type == INV_ICM20602) - *val2 = INV_ICM20602_TEMP_SCALE; - else - *val2 = INV_MPU6050_TEMP_SCALE; - + *val = st->hw->temp.scale / 1000000; + *val2 = st->hw->temp.scale % 1000000; return IIO_VAL_INT_PLUS_MICRO; case IIO_MAGN: return inv_mpu_magn_get_scale(st, chan, val, val2); @@ -496,11 +502,7 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, case IIO_CHAN_INFO_OFFSET: switch (chan->type) { case IIO_TEMP: - if (st->chip_type == INV_ICM20602) - *val = INV_ICM20602_TEMP_OFFSET; - else - *val = INV_MPU6050_TEMP_OFFSET; - + *val = st->hw->temp.offset; return IIO_VAL_INT; default: return -EINVAL; @@ -855,19 +857,27 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = { .ext_info = inv_ext_info, \ } +#define INV_MPU6050_TEMP_CHAN(_index) \ + { \ + .type = IIO_TEMP, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \ + | BIT(IIO_CHAN_INFO_OFFSET) \ + | BIT(IIO_CHAN_INFO_SCALE), \ + .scan_index = _index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .shift = 0, \ + .endianness = IIO_BE, \ + }, \ + } + static const struct iio_chan_spec inv_mpu_channels[] = { IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_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_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), @@ -877,22 +887,29 @@ static const struct iio_chan_spec inv_mpu_channels[] = { INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z), }; +#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \ + (BIT(INV_MPU6050_SCAN_ACCL_X) \ + | BIT(INV_MPU6050_SCAN_ACCL_Y) \ + | BIT(INV_MPU6050_SCAN_ACCL_Z)) + +#define INV_MPU6050_SCAN_MASK_3AXIS_GYRO \ + (BIT(INV_MPU6050_SCAN_GYRO_X) \ + | BIT(INV_MPU6050_SCAN_GYRO_Y) \ + | BIT(INV_MPU6050_SCAN_GYRO_Z)) + +#define INV_MPU6050_SCAN_MASK_TEMP (BIT(INV_MPU6050_SCAN_TEMP)) + static const unsigned long inv_mpu_scan_masks[] = { /* 3-axis accel */ - BIT(INV_MPU6050_SCAN_ACCL_X) - | BIT(INV_MPU6050_SCAN_ACCL_Y) - | BIT(INV_MPU6050_SCAN_ACCL_Z), + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL, + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP, /* 3-axis gyro */ - BIT(INV_MPU6050_SCAN_GYRO_X) - | BIT(INV_MPU6050_SCAN_GYRO_Y) - | BIT(INV_MPU6050_SCAN_GYRO_Z), + INV_MPU6050_SCAN_MASK_3AXIS_GYRO, + INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP, /* 6-axis accel + gyro */ - BIT(INV_MPU6050_SCAN_ACCL_X) - | BIT(INV_MPU6050_SCAN_ACCL_Y) - | BIT(INV_MPU6050_SCAN_ACCL_Z) - | BIT(INV_MPU6050_SCAN_GYRO_X) - | BIT(INV_MPU6050_SCAN_GYRO_Y) - | BIT(INV_MPU6050_SCAN_GYRO_Z), + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO, + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO + | INV_MPU6050_SCAN_MASK_TEMP, 0, }; @@ -914,19 +931,30 @@ 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), + + 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_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), - /* - * 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_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), @@ -941,98 +969,50 @@ static const struct iio_chan_spec inv_mpu9250_channels[] = { INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z), }; +#define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN \ + (BIT(INV_MPU9X50_SCAN_MAGN_X) \ + | BIT(INV_MPU9X50_SCAN_MAGN_Y) \ + | BIT(INV_MPU9X50_SCAN_MAGN_Z)) + static const unsigned long inv_mpu9x50_scan_masks[] = { /* 3-axis accel */ - BIT(INV_MPU6050_SCAN_ACCL_X) - | BIT(INV_MPU6050_SCAN_ACCL_Y) - | BIT(INV_MPU6050_SCAN_ACCL_Z), + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL, + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP, /* 3-axis gyro */ - BIT(INV_MPU6050_SCAN_GYRO_X) - | BIT(INV_MPU6050_SCAN_GYRO_Y) - | BIT(INV_MPU6050_SCAN_GYRO_Z), + INV_MPU6050_SCAN_MASK_3AXIS_GYRO, + INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP, /* 3-axis magn */ - BIT(INV_MPU9X50_SCAN_MAGN_X) - | BIT(INV_MPU9X50_SCAN_MAGN_Y) - | BIT(INV_MPU9X50_SCAN_MAGN_Z), + INV_MPU9X50_SCAN_MASK_3AXIS_MAGN, + INV_MPU9X50_SCAN_MASK_3AXIS_MAGN | INV_MPU6050_SCAN_MASK_TEMP, /* 6-axis accel + gyro */ - BIT(INV_MPU6050_SCAN_ACCL_X) - | BIT(INV_MPU6050_SCAN_ACCL_Y) - | BIT(INV_MPU6050_SCAN_ACCL_Z) - | BIT(INV_MPU6050_SCAN_GYRO_X) - | BIT(INV_MPU6050_SCAN_GYRO_Y) - | BIT(INV_MPU6050_SCAN_GYRO_Z), + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO, + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO + | INV_MPU6050_SCAN_MASK_TEMP, /* 6-axis accel + magn */ - BIT(INV_MPU6050_SCAN_ACCL_X) - | BIT(INV_MPU6050_SCAN_ACCL_Y) - | BIT(INV_MPU6050_SCAN_ACCL_Z) - | BIT(INV_MPU9X50_SCAN_MAGN_X) - | BIT(INV_MPU9X50_SCAN_MAGN_Y) - | BIT(INV_MPU9X50_SCAN_MAGN_Z), + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN, + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN + | INV_MPU6050_SCAN_MASK_TEMP, /* 6-axis gyro + magn */ - BIT(INV_MPU6050_SCAN_GYRO_X) - | BIT(INV_MPU6050_SCAN_GYRO_Y) - | BIT(INV_MPU6050_SCAN_GYRO_Z) - | BIT(INV_MPU9X50_SCAN_MAGN_X) - | BIT(INV_MPU9X50_SCAN_MAGN_Y) - | BIT(INV_MPU9X50_SCAN_MAGN_Z), + INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN, + INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN + | INV_MPU6050_SCAN_MASK_TEMP, /* 9-axis accel + gyro + magn */ - BIT(INV_MPU6050_SCAN_ACCL_X) - | BIT(INV_MPU6050_SCAN_ACCL_Y) - | BIT(INV_MPU6050_SCAN_ACCL_Z) - | BIT(INV_MPU6050_SCAN_GYRO_X) - | BIT(INV_MPU6050_SCAN_GYRO_Y) - | BIT(INV_MPU6050_SCAN_GYRO_Z) - | BIT(INV_MPU9X50_SCAN_MAGN_X) - | BIT(INV_MPU9X50_SCAN_MAGN_Y) - | BIT(INV_MPU9X50_SCAN_MAGN_Z), + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN, + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO + | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN + | INV_MPU6050_SCAN_MASK_TEMP, 0, }; -static const struct iio_chan_spec inv_icm20602_channels[] = { - IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP), - { - .type = IIO_TEMP, - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) - | BIT(IIO_CHAN_INFO_OFFSET) - | BIT(IIO_CHAN_INFO_SCALE), - .scan_index = INV_ICM20602_SCAN_TEMP, - .scan_type = { - .sign = 's', - .realbits = 16, - .storagebits = 16, - .shift = 0, - .endianness = IIO_BE, - }, - }, - - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X), - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y), - INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z), - - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y), - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X), - INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z), -}; - static const unsigned long inv_icm20602_scan_masks[] = { /* 3-axis accel + temp (mandatory) */ - BIT(INV_ICM20602_SCAN_ACCL_X) - | BIT(INV_ICM20602_SCAN_ACCL_Y) - | BIT(INV_ICM20602_SCAN_ACCL_Z) - | BIT(INV_ICM20602_SCAN_TEMP), + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP, /* 3-axis gyro + temp (mandatory) */ - BIT(INV_ICM20602_SCAN_GYRO_X) - | BIT(INV_ICM20602_SCAN_GYRO_Y) - | BIT(INV_ICM20602_SCAN_GYRO_Z) - | BIT(INV_ICM20602_SCAN_TEMP), + INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP, /* 6-axis accel + gyro + temp (mandatory) */ - BIT(INV_ICM20602_SCAN_ACCL_X) - | BIT(INV_ICM20602_SCAN_ACCL_Y) - | BIT(INV_ICM20602_SCAN_ACCL_Z) - | BIT(INV_ICM20602_SCAN_GYRO_X) - | BIT(INV_ICM20602_SCAN_GYRO_Y) - | BIT(INV_ICM20602_SCAN_GYRO_Z) - | BIT(INV_ICM20602_SCAN_TEMP), + INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO + | INV_MPU6050_SCAN_MASK_TEMP, 0, }; @@ -1240,7 +1220,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, irq_type = irqd_get_trigger_type(desc); if (!irq_type) irq_type = IRQF_TRIGGER_RISING; - if (irq_type == IRQF_TRIGGER_RISING) + if (irq_type & IRQF_TRIGGER_RISING) // rising or both-edge st->irq_mask = INV_MPU6050_ACTIVE_HIGH; else if (irq_type == IRQF_TRIGGER_FALLING) st->irq_mask = INV_MPU6050_ACTIVE_LOW; @@ -1323,25 +1303,20 @@ 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; - indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels); + indio_dev->channels = inv_mpu_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels); indio_dev->available_scan_masks = inv_icm20602_scan_masks; break; default: @@ -1350,6 +1325,15 @@ 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; |