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iio: imu: inv_mpu6050: add fifo temperature data support
Add support of temperature data in fifo for all chips. Enable unification of scan elements for icm20602. Add macros for generating scan elements. Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
parent
71f221f8a0
commit
2e4c0a5e25
4 changed files with 90 additions and 141 deletions
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@ -104,6 +104,7 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = {
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.divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE),
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.gyro_fifo_enable = false,
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.accl_fifo_enable = false,
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.temp_fifo_enable = false,
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.magn_fifo_enable = false,
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.accl_fs = INV_MPU6050_FS_02G,
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.user_ctrl = 0,
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@ -856,19 +857,27 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = {
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.ext_info = inv_ext_info, \
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}
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#define INV_MPU6050_TEMP_CHAN(_index) \
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{ \
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.type = IIO_TEMP, \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \
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| BIT(IIO_CHAN_INFO_OFFSET) \
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| BIT(IIO_CHAN_INFO_SCALE), \
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.scan_index = _index, \
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.scan_type = { \
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.sign = 's', \
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.realbits = 16, \
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.storagebits = 16, \
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.shift = 0, \
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.endianness = IIO_BE, \
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}, \
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}
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static const struct iio_chan_spec inv_mpu_channels[] = {
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IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
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/*
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* Note that temperature should only be via polled reading only,
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* not the final scan elements output.
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*/
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{
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.type = IIO_TEMP,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
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| BIT(IIO_CHAN_INFO_OFFSET)
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| BIT(IIO_CHAN_INFO_SCALE),
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.scan_index = -1,
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},
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INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
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@ -878,22 +887,29 @@ static const struct iio_chan_spec inv_mpu_channels[] = {
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INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
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};
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#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \
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(BIT(INV_MPU6050_SCAN_ACCL_X) \
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| BIT(INV_MPU6050_SCAN_ACCL_Y) \
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| BIT(INV_MPU6050_SCAN_ACCL_Z))
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#define INV_MPU6050_SCAN_MASK_3AXIS_GYRO \
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(BIT(INV_MPU6050_SCAN_GYRO_X) \
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| BIT(INV_MPU6050_SCAN_GYRO_Y) \
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| BIT(INV_MPU6050_SCAN_GYRO_Z))
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#define INV_MPU6050_SCAN_MASK_TEMP (BIT(INV_MPU6050_SCAN_TEMP))
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static const unsigned long inv_mpu_scan_masks[] = {
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/* 3-axis accel */
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BIT(INV_MPU6050_SCAN_ACCL_X)
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| BIT(INV_MPU6050_SCAN_ACCL_Y)
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| BIT(INV_MPU6050_SCAN_ACCL_Z),
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
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/* 3-axis gyro */
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BIT(INV_MPU6050_SCAN_GYRO_X)
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| BIT(INV_MPU6050_SCAN_GYRO_Y)
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| BIT(INV_MPU6050_SCAN_GYRO_Z),
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INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
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INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
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/* 6-axis accel + gyro */
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BIT(INV_MPU6050_SCAN_ACCL_X)
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| BIT(INV_MPU6050_SCAN_ACCL_Y)
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| BIT(INV_MPU6050_SCAN_ACCL_Z)
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| BIT(INV_MPU6050_SCAN_GYRO_X)
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| BIT(INV_MPU6050_SCAN_GYRO_Y)
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| BIT(INV_MPU6050_SCAN_GYRO_Z),
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
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| INV_MPU6050_SCAN_MASK_TEMP,
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0,
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};
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@ -917,17 +933,9 @@ static const unsigned long inv_mpu_scan_masks[] = {
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static const struct iio_chan_spec inv_mpu9150_channels[] = {
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IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
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/*
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* Note that temperature should only be via polled reading only,
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* not the final scan elements output.
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*/
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{
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.type = IIO_TEMP,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
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| BIT(IIO_CHAN_INFO_OFFSET)
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| BIT(IIO_CHAN_INFO_SCALE),
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.scan_index = -1,
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},
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INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
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@ -944,17 +952,9 @@ static const struct iio_chan_spec inv_mpu9150_channels[] = {
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static const struct iio_chan_spec inv_mpu9250_channels[] = {
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IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
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/*
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* Note that temperature should only be via polled reading only,
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* not the final scan elements output.
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*/
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{
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.type = IIO_TEMP,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
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| BIT(IIO_CHAN_INFO_OFFSET)
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| BIT(IIO_CHAN_INFO_SCALE),
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.scan_index = -1,
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},
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INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
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@ -969,98 +969,50 @@ static const struct iio_chan_spec inv_mpu9250_channels[] = {
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INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
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};
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#define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN \
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(BIT(INV_MPU9X50_SCAN_MAGN_X) \
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| BIT(INV_MPU9X50_SCAN_MAGN_Y) \
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| BIT(INV_MPU9X50_SCAN_MAGN_Z))
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static const unsigned long inv_mpu9x50_scan_masks[] = {
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/* 3-axis accel */
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BIT(INV_MPU6050_SCAN_ACCL_X)
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| BIT(INV_MPU6050_SCAN_ACCL_Y)
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| BIT(INV_MPU6050_SCAN_ACCL_Z),
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
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/* 3-axis gyro */
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BIT(INV_MPU6050_SCAN_GYRO_X)
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| BIT(INV_MPU6050_SCAN_GYRO_Y)
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| BIT(INV_MPU6050_SCAN_GYRO_Z),
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INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
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INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
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/* 3-axis magn */
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BIT(INV_MPU9X50_SCAN_MAGN_X)
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| BIT(INV_MPU9X50_SCAN_MAGN_Y)
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| BIT(INV_MPU9X50_SCAN_MAGN_Z),
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INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
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INV_MPU9X50_SCAN_MASK_3AXIS_MAGN | INV_MPU6050_SCAN_MASK_TEMP,
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/* 6-axis accel + gyro */
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BIT(INV_MPU6050_SCAN_ACCL_X)
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| BIT(INV_MPU6050_SCAN_ACCL_Y)
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| BIT(INV_MPU6050_SCAN_ACCL_Z)
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| BIT(INV_MPU6050_SCAN_GYRO_X)
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| BIT(INV_MPU6050_SCAN_GYRO_Y)
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| BIT(INV_MPU6050_SCAN_GYRO_Z),
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
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| INV_MPU6050_SCAN_MASK_TEMP,
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/* 6-axis accel + magn */
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BIT(INV_MPU6050_SCAN_ACCL_X)
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| BIT(INV_MPU6050_SCAN_ACCL_Y)
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| BIT(INV_MPU6050_SCAN_ACCL_Z)
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| BIT(INV_MPU9X50_SCAN_MAGN_X)
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| BIT(INV_MPU9X50_SCAN_MAGN_Y)
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| BIT(INV_MPU9X50_SCAN_MAGN_Z),
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
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| INV_MPU6050_SCAN_MASK_TEMP,
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/* 6-axis gyro + magn */
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BIT(INV_MPU6050_SCAN_GYRO_X)
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| BIT(INV_MPU6050_SCAN_GYRO_Y)
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| BIT(INV_MPU6050_SCAN_GYRO_Z)
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| BIT(INV_MPU9X50_SCAN_MAGN_X)
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| BIT(INV_MPU9X50_SCAN_MAGN_Y)
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| BIT(INV_MPU9X50_SCAN_MAGN_Z),
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INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
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INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
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| INV_MPU6050_SCAN_MASK_TEMP,
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/* 9-axis accel + gyro + magn */
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BIT(INV_MPU6050_SCAN_ACCL_X)
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| BIT(INV_MPU6050_SCAN_ACCL_Y)
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| BIT(INV_MPU6050_SCAN_ACCL_Z)
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| BIT(INV_MPU6050_SCAN_GYRO_X)
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| BIT(INV_MPU6050_SCAN_GYRO_Y)
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| BIT(INV_MPU6050_SCAN_GYRO_Z)
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| BIT(INV_MPU9X50_SCAN_MAGN_X)
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| BIT(INV_MPU9X50_SCAN_MAGN_Y)
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| BIT(INV_MPU9X50_SCAN_MAGN_Z),
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
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| INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
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| INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
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| INV_MPU6050_SCAN_MASK_TEMP,
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0,
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};
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static const struct iio_chan_spec inv_icm20602_channels[] = {
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IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
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{
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.type = IIO_TEMP,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
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| BIT(IIO_CHAN_INFO_OFFSET)
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| BIT(IIO_CHAN_INFO_SCALE),
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.scan_index = INV_ICM20602_SCAN_TEMP,
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.scan_type = {
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.sign = 's',
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.realbits = 16,
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.storagebits = 16,
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.shift = 0,
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.endianness = IIO_BE,
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},
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},
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
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INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),
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INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
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INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
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INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
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};
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static const unsigned long inv_icm20602_scan_masks[] = {
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/* 3-axis accel + temp (mandatory) */
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BIT(INV_ICM20602_SCAN_ACCL_X)
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| BIT(INV_ICM20602_SCAN_ACCL_Y)
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| BIT(INV_ICM20602_SCAN_ACCL_Z)
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| BIT(INV_ICM20602_SCAN_TEMP),
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
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/* 3-axis gyro + temp (mandatory) */
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BIT(INV_ICM20602_SCAN_GYRO_X)
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| BIT(INV_ICM20602_SCAN_GYRO_Y)
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| BIT(INV_ICM20602_SCAN_GYRO_Z)
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| BIT(INV_ICM20602_SCAN_TEMP),
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INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
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/* 6-axis accel + gyro + temp (mandatory) */
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BIT(INV_ICM20602_SCAN_ACCL_X)
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| BIT(INV_ICM20602_SCAN_ACCL_Y)
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| BIT(INV_ICM20602_SCAN_ACCL_Z)
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| BIT(INV_ICM20602_SCAN_GYRO_X)
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| BIT(INV_ICM20602_SCAN_GYRO_Y)
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| BIT(INV_ICM20602_SCAN_GYRO_Z)
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| BIT(INV_ICM20602_SCAN_TEMP),
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INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
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| INV_MPU6050_SCAN_MASK_TEMP,
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0,
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};
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@ -1363,8 +1315,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
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indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
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break;
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case INV_ICM20602:
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indio_dev->channels = inv_icm20602_channels;
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indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
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indio_dev->channels = inv_mpu_channels;
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indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
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indio_dev->available_scan_masks = inv_icm20602_scan_masks;
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break;
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default:
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@ -86,6 +86,7 @@ enum inv_devices {
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* @accl_fs: accel full scale range.
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* @accl_fifo_enable: enable accel data output
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* @gyro_fifo_enable: enable gyro data output
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* @temp_fifo_enable: enable temp data output
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* @magn_fifo_enable: enable magn data output
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* @divider: chip sample rate divider (sample rate divider - 1)
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*/
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@ -95,6 +96,7 @@ struct inv_mpu6050_chip_config {
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unsigned int accl_fs:2;
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unsigned int accl_fifo_enable:1;
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unsigned int gyro_fifo_enable:1;
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unsigned int temp_fifo_enable:1;
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unsigned int magn_fifo_enable:1;
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u8 divider;
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u8 user_ctrl;
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@ -184,6 +186,7 @@ struct inv_mpu6050_state {
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#define INV_MPU6050_BIT_SLAVE_2 0x04
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#define INV_MPU6050_BIT_ACCEL_OUT 0x08
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#define INV_MPU6050_BITS_GYRO_OUT 0x70
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#define INV_MPU6050_BIT_TEMP_OUT 0x80
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#define INV_MPU6050_REG_I2C_MST_CTRL 0x24
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#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
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@ -268,8 +271,8 @@ struct inv_mpu6050_state {
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/* MPU9X50 9-axis magnetometer */
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#define INV_MPU9X50_BYTES_MAGN 7
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/* ICM20602 FIFO samples include temperature readings */
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#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2
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/* FIFO temperature sample size */
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#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2
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/* mpu6500 registers */
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#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
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@ -298,7 +301,7 @@ struct inv_mpu6050_state {
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#define INV_ICM20608_TEMP_OFFSET 8170
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#define INV_ICM20608_TEMP_SCALE 3059976
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/* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */
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/* 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8 */
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#define INV_MPU6050_OUTPUT_DATA_SIZE 32
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#define INV_MPU6050_REG_INT_PIN_CFG 0x37
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|
@ -344,6 +347,7 @@ enum inv_mpu6050_scan {
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INV_MPU6050_SCAN_ACCL_X,
|
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INV_MPU6050_SCAN_ACCL_Y,
|
||||
INV_MPU6050_SCAN_ACCL_Z,
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INV_MPU6050_SCAN_TEMP,
|
||||
INV_MPU6050_SCAN_GYRO_X,
|
||||
INV_MPU6050_SCAN_GYRO_Y,
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||||
INV_MPU6050_SCAN_GYRO_Z,
|
||||
|
@ -355,18 +359,6 @@ enum inv_mpu6050_scan {
|
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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,
|
||||
|
|
|
@ -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);
|
||||
|
@ -200,8 +202,8 @@ 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;
|
||||
|
|
|
@ -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)
|
||||
|
|
Loading…
Reference in a new issue