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-rw-r--r--drivers/iio/imu/inv_mpu6050/Kconfig9
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_core.c237
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c2
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h22
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c80
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c11
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c1
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c4
8 files changed, 190 insertions, 176 deletions
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index e4c4c12236a7..017bc0fcc365 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -10,11 +10,12 @@ config INV_MPU6050_IIO
config INV_MPU6050_I2C
tristate "Invensense MPU6050 devices (I2C)"
- depends on I2C_MUX
+ depends on I2C
+ select I2C_MUX
select INV_MPU6050_IIO
select REGMAP_I2C
help
- This driver supports the Invensense MPU6000/6050/6500/6515,
+ This driver supports the Invensense MPU6050/6500/6515,
MPU9150/9250/9255 and ICM20608/20602 motion tracking devices
over I2C.
This driver can be built as a module. The module will be called
@@ -26,8 +27,8 @@ config INV_MPU6050_SPI
select INV_MPU6050_IIO
select REGMAP_SPI
help
- This driver supports the Invensense MPU6000/6050/6500/6515,
- MPU9150/9250/9255 and ICM20608/20602 motion tracking devices
+ This driver supports the Invensense MPU6000/6500/6515,
+ MPU9250/9255 and ICM20608/20602 motion tracking devices
over SPI.
This driver can be built as a module. The module will be called
inv-mpu6050-spi.
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 0686e41bb8a1..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,
@@ -856,19 +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),
@@ -878,22 +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,
};
@@ -915,19 +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),
@@ -942,98 +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,
};
@@ -1241,7 +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;
@@ -1324,25 +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:
@@ -1351,6 +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;
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_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index b096e010d4ee..6158fca7f70e 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -86,6 +86,7 @@ enum inv_devices {
* @accl_fs: accel full scale range.
* @accl_fifo_enable: enable accel data output
* @gyro_fifo_enable: enable gyro data output
+ * @temp_fifo_enable: enable temp data output
* @magn_fifo_enable: enable magn data output
* @divider: chip sample rate divider (sample rate divider - 1)
*/
@@ -95,6 +96,7 @@ struct inv_mpu6050_chip_config {
unsigned int accl_fs:2;
unsigned int accl_fifo_enable:1;
unsigned int gyro_fifo_enable:1;
+ unsigned int temp_fifo_enable:1;
unsigned int magn_fifo_enable:1;
u8 divider;
u8 user_ctrl;
@@ -184,6 +186,7 @@ struct inv_mpu6050_state {
#define INV_MPU6050_BIT_SLAVE_2 0x04
#define INV_MPU6050_BIT_ACCEL_OUT 0x08
#define INV_MPU6050_BITS_GYRO_OUT 0x70
+#define INV_MPU6050_BIT_TEMP_OUT 0x80
#define INV_MPU6050_REG_I2C_MST_CTRL 0x24
#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
@@ -268,8 +271,8 @@ struct inv_mpu6050_state {
/* MPU9X50 9-axis magnetometer */
#define INV_MPU9X50_BYTES_MAGN 7
-/* ICM20602 FIFO samples include temperature readings */
-#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2
+/* FIFO temperature sample size */
+#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2
/* mpu6500 registers */
#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
@@ -298,7 +301,7 @@ struct inv_mpu6050_state {
#define INV_ICM20608_TEMP_OFFSET 8170
#define INV_ICM20608_TEMP_SCALE 3059976
-/* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */
+/* 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8 */
#define INV_MPU6050_OUTPUT_DATA_SIZE 32
#define INV_MPU6050_REG_INT_PIN_CFG 0x37
@@ -344,6 +347,7 @@ enum inv_mpu6050_scan {
INV_MPU6050_SCAN_ACCL_X,
INV_MPU6050_SCAN_ACCL_Y,
INV_MPU6050_SCAN_ACCL_Z,
+ INV_MPU6050_SCAN_TEMP,
INV_MPU6050_SCAN_GYRO_X,
INV_MPU6050_SCAN_GYRO_Y,
INV_MPU6050_SCAN_GYRO_Z,
@@ -355,18 +359,6 @@ enum inv_mpu6050_scan {
INV_MPU9X50_SCAN_TIMESTAMP,
};
-/* scan element definition for ICM20602, which includes temperature */
-enum inv_icm20602_scan {
- INV_ICM20602_SCAN_ACCL_X,
- INV_ICM20602_SCAN_ACCL_Y,
- INV_ICM20602_SCAN_ACCL_Z,
- INV_ICM20602_SCAN_TEMP,
- INV_ICM20602_SCAN_GYRO_X,
- INV_ICM20602_SCAN_GYRO_Y,
- INV_ICM20602_SCAN_GYRO_Z,
- INV_ICM20602_SCAN_TIMESTAMP,
-};
-
enum inv_mpu6050_filter_e {
INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
INV_MPU6050_FILTER_188HZ,
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 */
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index 10d16ec5104b..f9fdf4302a91 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -142,6 +142,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
d |= INV_MPU6050_BITS_GYRO_OUT;
if (st->chip_config.accl_fifo_enable)
d |= INV_MPU6050_BIT_ACCEL_OUT;
+ if (st->chip_config.temp_fifo_enable)
+ d |= INV_MPU6050_BIT_TEMP_OUT;
if (st->chip_config.magn_fifo_enable)
d |= INV_MPU6050_BIT_SLAVE_0;
result = regmap_write(st->map, st->reg->fifo_en, d);
@@ -183,11 +185,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
"failed to ack interrupt\n");
goto flush_fifo;
}
- if (!(int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT)) {
- dev_warn(regmap_get_device(st->map),
- "spurious interrupt with status 0x%x\n", int_status);
+ if (!(int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT))
goto end_session;
- }
if (!(st->chip_config.accl_fifo_enable |
st->chip_config.gyro_fifo_enable |
@@ -200,8 +199,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
if (st->chip_config.gyro_fifo_enable)
bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
- if (st->chip_type == INV_ICM20602)
- bytes_per_datum += INV_ICM20602_BYTES_PER_TEMP_SENSOR;
+ if (st->chip_config.temp_fifo_enable)
+ bytes_per_datum += INV_MPU6050_BYTES_PER_TEMP_SENSOR;
if (st->chip_config.magn_fifo_enable)
bytes_per_datum += INV_MPU9X50_BYTES_MAGN;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
index 142692fc0758..ec102d5a5c77 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -74,7 +74,6 @@ static int inv_mpu_probe(struct spi_device *spi)
static const struct spi_device_id inv_mpu_id[] = {
{"mpu6000", INV_MPU6000},
{"mpu6500", INV_MPU6500},
- {"mpu9150", INV_MPU9150},
{"mpu9250", INV_MPU9250},
{"mpu9255", INV_MPU9255},
{"icm20608", INV_ICM20608},
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index d7d951927a44..5199fe790c30 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -24,6 +24,9 @@ static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
indio_dev->active_scan_mask) ||
test_bit(INV_MPU6050_SCAN_ACCL_Z,
indio_dev->active_scan_mask);
+
+ st->chip_config.temp_fifo_enable =
+ test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
}
static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
@@ -50,6 +53,7 @@ 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);
Copyright © 1996 – 2023 Jason A. Donenfeld. All Rights Reverse Engineered.