iio: imu: inv_mpu6050: add support of MPU9150 magnetometer

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>

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 45e77b3..23c0557 100644 (file)
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -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;
-               }
+               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;
@@ -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;

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index 389cc85..f47a28b 100644 (file)
--- 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_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
index 02735af..4f19235 100644 (file)
--- 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_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index d7d9519..a9c75bc 100644 (file)
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -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);