diff options
Diffstat (limited to 'drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c')
| -rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c | 80 |
1 files changed, 57 insertions, 23 deletions
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, @@ -98,22 +109,36 @@ static int inv_magn_init(struct inv_mpu6050_state *st) 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 * * Hadj = H * (((ASA - 128) * 0.5 / 128) + 1) * 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 */ |