[7/8] iio: imu: inv_mpu6050: add magnetometer support inside mpu driver
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Message ID 20190829151801.13014-8-jmaneyrol@invensense.com
State New
Headers show
Series
  • add magnetometer support for MPU925x
Related show

Commit Message

Jean-Baptiste Maneyrol Aug. 29, 2019, 3:18 p.m. UTC
Add inv_mpu_magn layer to manage several chip specific
implementations and be noop when Kconfig option is not set.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
---
 drivers/iio/imu/inv_mpu6050/Makefile       |   3 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 140 ++++++++++++++++++++-
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |   2 +
 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c | 120 ++++++++++++++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h | 107 ++++++++++++++++
 5 files changed, 368 insertions(+), 4 deletions(-)
 create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
 create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h

Comments

Jonathan Cameron Sept. 8, 2019, 12:05 p.m. UTC | #1
On Thu, 29 Aug 2019 15:18:45 +0000
Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote:

> Add inv_mpu_magn layer to manage several chip specific
> implementations and be noop when Kconfig option is not set.
> 
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>

A few minor bits inline.

Thanks,

Jonathan

> ---
>  drivers/iio/imu/inv_mpu6050/Makefile       |   3 +-
>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 140 ++++++++++++++++++++-
>  drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |   2 +
>  drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c | 120 ++++++++++++++++++
>  drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h | 107 ++++++++++++++++
>  5 files changed, 368 insertions(+), 4 deletions(-)
>  create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
>  create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
> 
> diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
> index fee41415ebdb..6f5baac29f81 100644
> --- a/drivers/iio/imu/inv_mpu6050/Makefile
> +++ b/drivers/iio/imu/inv_mpu6050/Makefile
> @@ -5,7 +5,8 @@
>  
>  obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
>  inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
> -inv-mpu6050-$(CONFIG_INV_MPU6050_MAGN) += inv_mpu_aux.o inv_mpu9250_magn.o
> +inv-mpu6050-$(CONFIG_INV_MPU6050_MAGN) += inv_mpu_aux.o inv_mpu_magn.o \
> +	inv_mpu9250_magn.o
>  
>  obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
>  inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index b17f060b52fc..d08cec6a8a7a 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -16,7 +16,9 @@
>  #include <linux/acpi.h>
>  #include <linux/platform_device.h>
>  #include <linux/regulator/consumer.h>
> +
>  #include "inv_mpu_iio.h"
> +#include "inv_mpu_magn.h"
>  
>  /*
>   * this is the gyro scale translated from dynamic range plus/minus
> @@ -332,6 +334,11 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
>  	 */
>  	st->chip_period = NSEC_PER_MSEC;
>  
> +	/* magn chip init, noop if not present in the chip */
> +	result = inv_mpu_magn_probe(st);
> +	if (result)
> +		goto error_power_off;
> +
>  	return inv_mpu6050_set_power_itg(st, false);
>  
>  error_power_off:
> @@ -411,6 +418,9 @@ static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
>  		ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
>  					      IIO_MOD_X, val);
>  		break;
> +	case IIO_MAGN:
> +		ret = inv_mpu_magn_read(st, chan->channel2, val);
> +		break;
>  	default:
>  		ret = -EINVAL;
>  		break;
> @@ -469,6 +479,8 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
>  				*val2 = INV_MPU6050_TEMP_SCALE;
>  
>  			return IIO_VAL_INT_PLUS_MICRO;
> +		case IIO_MAGN:
> +			return inv_mpu_magn_get_scale(st, chan, val, val2);
>  		default:
>  			return -EINVAL;
>  		}
> @@ -710,6 +722,11 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
>  	if (result)
>  		goto fifo_rate_fail_power_off;
>  
> +	/* update rate for magn, noop if not present in chip */
> +	result = inv_mpu_magn_set_rate(st, fifo_rate);
> +	if (result)
> +		goto fifo_rate_fail_power_off;
> +
>  fifo_rate_fail_power_off:
>  	result |= inv_mpu6050_set_power_itg(st, false);
>  fifo_rate_fail_unlock:
> @@ -795,8 +812,13 @@ inv_get_mount_matrix(const struct iio_dev *indio_dev,
>  		     const struct iio_chan_spec *chan)
>  {
>  	struct inv_mpu6050_state *data = iio_priv(indio_dev);
> +	const struct iio_mount_matrix *matrix = &data->orientation;
>  
> -	return &data->orientation;
> +#ifdef CONFIG_INV_MPU6050_MAGN
> +	if (chan->type == IIO_MAGN)
> +		matrix = &data->magn_orient;
> +#endif
> +	return matrix;
>  }
>  
>  static const struct iio_chan_spec_ext_info inv_ext_info[] = {
> @@ -864,6 +886,102 @@ static const unsigned long inv_mpu_scan_masks[] = {
>  	0,
>  };
>  
> +#ifdef CONFIG_INV_MPU6050_MAGN
> +
> +#define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index)			\
> +	{								\
> +		.type = IIO_MAGN,					\
> +		.modified = 1,						\
> +		.channel2 = _chan2,					\
> +		.info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) |	\
> +				      BIT(IIO_CHAN_INFO_RAW),		\
> +		.scan_index = _index,					\
> +		.scan_type = {						\
> +			.sign = 's',					\
> +			.realbits = _bits,				\
> +			.storagebits = 16,				\
> +			.shift = 0,					\
> +			.endianness = IIO_BE,				\
> +		},							\
> +		.ext_info = inv_ext_info,				\
> +	}
> +
> +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_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU9X50_SCAN_GYRO_X),
> +	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU9X50_SCAN_GYRO_Y),
> +	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU9X50_SCAN_GYRO_Z),
> +
> +	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU9X50_SCAN_ACCL_X),
> +	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU9X50_SCAN_ACCL_Y),
> +	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU9X50_SCAN_ACCL_Z),
> +
> +	/* Magnetometer resolution is 16 bits */
> +	INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
> +	INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),
> +	INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
> +};
> +
> +static const unsigned long inv_mpu9x50_scan_masks[] = {
> +	/* 3-axis accel */
> +	BIT(INV_MPU9X50_SCAN_ACCL_X)
> +		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
> +		| BIT(INV_MPU9X50_SCAN_ACCL_Z),
> +	/* 3-axis gyro */
> +	BIT(INV_MPU9X50_SCAN_GYRO_X)
> +		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
> +		| BIT(INV_MPU9X50_SCAN_GYRO_Z),
> +	/* 3-axis magn */
> +	BIT(INV_MPU9X50_SCAN_MAGN_X)
> +		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
> +		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
> +	/* 6-axis accel + gyro */
> +	BIT(INV_MPU9X50_SCAN_ACCL_X)
> +		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
> +		| BIT(INV_MPU9X50_SCAN_ACCL_Z)
> +		| BIT(INV_MPU9X50_SCAN_GYRO_X)
> +		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
> +		| BIT(INV_MPU9X50_SCAN_GYRO_Z),
> +	/* 6-axis accel + magn */
> +	BIT(INV_MPU9X50_SCAN_ACCL_X)
> +		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
> +		| BIT(INV_MPU9X50_SCAN_ACCL_Z)
> +		| BIT(INV_MPU9X50_SCAN_MAGN_X)
> +		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
> +		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
> +	/* 6-axis gyro + magn */
> +	BIT(INV_MPU9X50_SCAN_GYRO_X)
> +		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
> +		| BIT(INV_MPU9X50_SCAN_GYRO_Z)
> +		| BIT(INV_MPU9X50_SCAN_MAGN_X)
> +		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
> +		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
> +	/* 9-axis accel + gyro + magn */
> +	BIT(INV_MPU9X50_SCAN_ACCL_X)
> +		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
> +		| BIT(INV_MPU9X50_SCAN_ACCL_Z)
> +		| BIT(INV_MPU9X50_SCAN_GYRO_X)
> +		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
> +		| BIT(INV_MPU9X50_SCAN_GYRO_Z)
> +		| BIT(INV_MPU9X50_SCAN_MAGN_X)
> +		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
> +		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
> +	0,
> +};
> +
> +#endif
> +
>  static const struct iio_chan_spec inv_icm20602_channels[] = {
>  	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
>  	{
> @@ -1145,6 +1263,11 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
>  		return result;
>  	}
>  
> +	/* fill magnetometer orientation */
> +	result = inv_mpu_magn_set_orient(st);
> +	if (result)
> +		return result;
> +
>  	/* power is turned on inside check chip type*/
>  	result = inv_check_and_setup_chip(st);
>  	if (result)
> @@ -1167,14 +1290,25 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
>  	else
>  		indio_dev->name = dev_name(dev);
>  
> -	if (chip_type == INV_ICM20602) {
> +	switch (chip_type) {
> +#ifdef CONFIG_INV_MPU6050_MAGN
> +	case INV_MPU9250:
> +	case INV_MPU9255:
> +		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;
> +#endif
> +	case INV_ICM20602:
>  		indio_dev->channels = inv_icm20602_channels;
>  		indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
>  		indio_dev->available_scan_masks = inv_icm20602_scan_masks;
> -	} else {
> +		break;
> +	default:
>  		indio_dev->channels = inv_mpu_channels;
>  		indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
>  		indio_dev->available_scan_masks = inv_mpu_scan_masks;
> +		break;
>  	}
>  
>  	indio_dev->info = &mpu_info;
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index 5b462672bbcb..cfc11cb0a36c 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -130,6 +130,7 @@ struct inv_mpu6050_hw {
>   *  @data_timestamp:	timestamp for next data sample.
>   *  @vddio_supply	voltage regulator for the chip.
>   *  @magn_raw_to_gauss:	coefficient to convert mag raw value to Gauss.
> + *  @magn_orient:	magnetometer sensor chip orientation if available.
>   */
>  struct inv_mpu6050_state {
>  	struct mutex lock;
> @@ -153,6 +154,7 @@ struct inv_mpu6050_state {
>  	struct regulator *vddio_supply;
>  #ifdef CONFIG_INV_MPU6050_MAGN
>  	s32 magn_raw_to_gauss[3];
> +	struct iio_mount_matrix magn_orient;
>  #endif
>  };
>  
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
> new file mode 100644
> index 000000000000..2bb40dae0429
> --- /dev/null
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
> @@ -0,0 +1,120 @@
> +// SPDX-License-Identifier: GPL-2.0
> +/*
> + * Copyright (C) 2019 TDK-InvenSense, Inc.
> + */
> +
> +#include <linux/kernel.h>
> +#include <linux/device.h>
> +#include <linux/string.h>
> +
> +#include "inv_mpu_iio.h"
> +#include "inv_mpu_aux.h"
> +#include "inv_mpu9250_magn.h"
> +
> +int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
> +{
> +	int ret;
> +
> +	/* probe and init mag chip */
> +	switch (st->chip_type) {
> +	case INV_MPU9250:
> +	case INV_MPU9255:
> +		/* configure i2c master aux port */
> +		ret = inv_mpu_aux_init(st);
> +		if (ret)
> +			return ret;
> +		return inv_mpu9250_magn_probe(st);
> +	default:
> +		break;
> +	}
> +
> +	return 0;
> +}
> +
> +int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate)
> +{
> +	int max_freq;
> +	uint8_t d;
> +
> +	switch (st->chip_type) {
> +	case INV_MPU9250:
> +	case INV_MPU9255:
> +		max_freq = INV_MPU9250_MAGN_FREQ_HZ_MAX;
> +		break;
> +	default:
> +		return 0;
> +	}
> +
> +	/*
> +	 * update i2c master delay to limit mag sampling to max frequency
> +	 * compute fifo_rate divider d: rate = fifo_rate / (d + 1)
> +	 */
> +	if (fifo_rate > max_freq)
> +		d = fifo_rate / max_freq - 1;
> +	else
> +		d = 0;
> +
> +	return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, d);
> +}
> +
> +int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
> +{
> +	const char *orient;
> +	char *str;
> +	int i;
> +
> +	/* fill magnetometer orientation */
> +	switch (st->chip_type) {
> +	case INV_MPU9250:
> +	case INV_MPU9255:
> +		/* x <- y */
> +		st->magn_orient.rotation[0] = st->orientation.rotation[3];
> +		st->magn_orient.rotation[1] = st->orientation.rotation[4];
> +		st->magn_orient.rotation[2] = st->orientation.rotation[5];
> +		/* y <- x */
> +		st->magn_orient.rotation[3] = st->orientation.rotation[0];
> +		st->magn_orient.rotation[4] = st->orientation.rotation[1];
> +		st->magn_orient.rotation[5] = st->orientation.rotation[2];
> +		/* z <- -z */
> +		for (i = 0; i < 3; ++i) {
> +			orient = st->orientation.rotation[6 + i];
> +			/* use length + 2 for adding minus sign if needed */
> +			str = devm_kzalloc(regmap_get_device(st->map),
> +					   strlen(orient) + 2, GFP_KERNEL);
> +			if (str == NULL)
> +				return -ENOMEM;
> +			if (strcmp(orient, "0") == 0) {
> +				strcpy(str, orient);
> +			} else if (orient[0] == '-') {
> +				strcpy(str, &orient[1]);
> +			} else {
> +				str[0] = '-';
> +				strcpy(&str[1], orient);
> +			}
> +			st->magn_orient.rotation[6 + i] = str;
> +		}
> +		break;
> +	default:
> +		st->magn_orient = st->orientation;
> +		break;
> +	}
> +
> +	return 0;
> +}
> +
> +int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
> +{
> +	int ret;
> +
> +	switch (st->chip_type) {
> +	case INV_MPU9250:
> +	case INV_MPU9255:

This is a bit paranoid given we can't get anywhere near here if it isn't one of
these devices.  I suppose you might have other magn containing devices to be
supported in the near future?

> +		ret = inv_mpu9250_magn_read(st, axis, val);
> +		break;
> +	default:
> +		ret = -ENODEV;
> +		break;
> +	}
> +
> +	return ret;
> +}
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
> new file mode 100644
> index 000000000000..efa2ec1b3b2f
> --- /dev/null
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
> @@ -0,0 +1,107 @@
> +/* SPDX-License-Identifier: GPL-2.0 */
> +/*
> + * Copyright (C) 2019 TDK-InvenSense, Inc.
> + */
> +
> +#ifndef INV_MPU_MAGN_H_
> +#define INV_MPU_MAGN_H_
> +
> +#include <linux/kernel.h>
> +
> +#include "inv_mpu_iio.h"
> +
> +#ifdef CONFIG_INV_MPU6050_MAGN
> +
> +/**
> + * inv_mpu_magn_probe() - probe and setup magnetometer chip
> + * @st: driver internal state
> + *
> + * Returns 0 on success, a negative error code otherwise
> + *
> + * It is probing the chip and setting up all needed i2c transfers.
> + * Noop if there is no magnetometer in the chip.
> + */

Comments generally next to implementations rather than definitions...
We got this wrong a fair bit in early IIO but let us move forward
correctly!

> +int inv_mpu_magn_probe(struct inv_mpu6050_state *st);
> +
> +/**
> + * inv_mpu_magn_get_scale() - get magnetometer scale value
> + * @st: driver internal state
> + *
> + * Returns IIO data format.
> + */
> +static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,
> +					 const struct iio_chan_spec *chan,
> +					 int *val, int *val2)
> +{
> +	*val = 0;
> +	*val2 = st->magn_raw_to_gauss[chan->address];
> +	return IIO_VAL_INT_PLUS_MICRO;
> +}
> +
> +/**
> + * inv_mpu_magn_set_rate() - set magnetometer sampling rate
> + * @st: driver internal state
> + * @fifo_rate: mpu set fifo rate
> + *
> + * Returns 0 on success, a negative error code otherwise
> + *
> + * Limit sampling frequency to the maximum value supported by the
> + * magnetometer chip. Resulting in duplicated data for higher frequencies.
> + * Noop if there is no magnetometer in the chip.
> + */
> +int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate);
> +
> +/**
> + * inv_mpu_magn_set_orient() - fill magnetometer mounting matrix
> + * @st: driver internal state
> + *
> + * Returns 0 on success, a negative error code otherwise
> + *
> + * Fill magnetometer mounting matrix using the provided chip matrix.
> + */
> +int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st);
> +
> +/**
> + * inv_mpu_magn_read() - read magnetometer data
> + * @st: driver internal state
> + * @axis: IIO modifier axis value
> + * @val: store corresponding axis value
> + *
> + * Returns 0 on success, a negative error code otherwise
> + */
> +int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val);
> +
> +#else		/* CONFIG_INV_MPU6050_MAGN */
> +
> +static inline int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
> +{
> +	return 0;
> +}
> +
> +static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,
> +					 const struct iio_chan_spec *chan,
> +					 int *val, int *val2)
> +{
> +	return -EINVAL;
> +}
> +
> +static inline int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st,
> +					int fifo_rate)
> +{
> +	return 0;
> +}
> +
> +static inline int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
> +{
> +	return 0;
> +}
> +
> +static inline int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis,
> +				    int *val)
> +{
> +	return 0;
> +}
> +
> +#endif		/* CONFIG_INV_MPU6050_MAGN */
> +
> +#endif		/* INV_MPU_MAGN_H_ */
Jean-Baptiste Maneyrol Sept. 9, 2019, 4:18 p.m. UTC | #2
Hi Jonathan,

I think this one is effectively a little overdoing it. The idea is to add in the future support of other 9-axis chips

But let's try to be simple first. I will merge the inv_mpu9250_magn and inv_mpu_magn together in the v2 series.

Thanks for the feedback.
JB


From: Jonathan Cameron <jic23@kernel.org>

Sent: Sunday, September 8, 2019 14:05

To: Jean-Baptiste Maneyrol <JManeyrol@invensense.com>

Cc: linux-iio@vger.kernel.org <linux-iio@vger.kernel.org>

Subject: Re: [PATCH 7/8] iio: imu: inv_mpu6050: add magnetometer support inside mpu driver

 


 CAUTION: This email originated from outside of the organization. Please make sure the sender is who they say they are and do not click links or open attachments unless you recognize the sender and know the content is safe.



On Thu, 29 Aug 2019 15:18:45 +0000

Jean-Baptiste Maneyrol <JManeyrol@invensense.com> wrote:



> Add inv_mpu_magn layer to manage several chip specific

> implementations and be noop when Kconfig option is not set.

> 

> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>



A few minor bits inline.



Thanks,



Jonathan



> ---

>  drivers/iio/imu/inv_mpu6050/Makefile       |   3 +-

>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 140 ++++++++++++++++++++-

>  drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |   2 +

>  drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c | 120 ++++++++++++++++++

>  drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h | 107 ++++++++++++++++

>  5 files changed, 368 insertions(+), 4 deletions(-)

>  create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c

>  create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h

> 

> diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile

> index fee41415ebdb..6f5baac29f81 100644

> --- a/drivers/iio/imu/inv_mpu6050/Makefile

> +++ b/drivers/iio/imu/inv_mpu6050/Makefile

> @@ -5,7 +5,8 @@


>  obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o

>  inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o

> -inv-mpu6050-$(CONFIG_INV_MPU6050_MAGN) += inv_mpu_aux.o inv_mpu9250_magn.o

> +inv-mpu6050-$(CONFIG_INV_MPU6050_MAGN) += inv_mpu_aux.o inv_mpu_magn.o \

> +     inv_mpu9250_magn.o


>  obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o

>  inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o

> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

> index b17f060b52fc..d08cec6a8a7a 100644

> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

> @@ -16,7 +16,9 @@

>  #include <linux/acpi.h>

>  #include <linux/platform_device.h>

>  #include <linux/regulator/consumer.h>

> +

>  #include "inv_mpu_iio.h"

> +#include "inv_mpu_magn.h"


>  /*

>   * this is the gyro scale translated from dynamic range plus/minus

> @@ -332,6 +334,11 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)

>         */

>        st->chip_period = NSEC_PER_MSEC;


> +     /* magn chip init, noop if not present in the chip */

> +     result = inv_mpu_magn_probe(st);

> +     if (result)

> +             goto error_power_off;

> +

>        return inv_mpu6050_set_power_itg(st, false);


>  error_power_off:

> @@ -411,6 +418,9 @@ static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,

>                ret = inv_mpu6050_sensor_show(st, st->reg->temperature,

>                                              IIO_MOD_X, val);

>                break;

> +     case IIO_MAGN:

> +             ret = inv_mpu_magn_read(st, chan->channel2, val);

> +             break;

>        default:

>                ret = -EINVAL;

>                break;

> @@ -469,6 +479,8 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,

>                                *val2 = INV_MPU6050_TEMP_SCALE;


>                        return IIO_VAL_INT_PLUS_MICRO;

> +             case IIO_MAGN:

> +                     return inv_mpu_magn_get_scale(st, chan, val, val2);

>                default:

>                        return -EINVAL;

>                }

> @@ -710,6 +722,11 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,

>        if (result)

>                goto fifo_rate_fail_power_off;


> +     /* update rate for magn, noop if not present in chip */

> +     result = inv_mpu_magn_set_rate(st, fifo_rate);

> +     if (result)

> +             goto fifo_rate_fail_power_off;

> +

>  fifo_rate_fail_power_off:

>        result |= inv_mpu6050_set_power_itg(st, false);

>  fifo_rate_fail_unlock:

> @@ -795,8 +812,13 @@ inv_get_mount_matrix(const struct iio_dev *indio_dev,

>                     const struct iio_chan_spec *chan)

>  {

>        struct inv_mpu6050_state *data = iio_priv(indio_dev);

> +     const struct iio_mount_matrix *matrix = &data->orientation;


> -     return &data->orientation;

> +#ifdef CONFIG_INV_MPU6050_MAGN

> +     if (chan->type == IIO_MAGN)

> +             matrix = &data->magn_orient;

> +#endif

> +     return matrix;

>  }


>  static const struct iio_chan_spec_ext_info inv_ext_info[] = {

> @@ -864,6 +886,102 @@ static const unsigned long inv_mpu_scan_masks[] = {

>        0,

>  };


> +#ifdef CONFIG_INV_MPU6050_MAGN

> +

> +#define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index)                 \

> +     {                                                               \

> +             .type = IIO_MAGN,                                       \

> +             .modified = 1,                                          \

> +             .channel2 = _chan2,                                     \

> +             .info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) |        \

> +                                   BIT(IIO_CHAN_INFO_RAW),            \

> +             .scan_index = _index,                                   \

> +             .scan_type = {                                          \

> +                     .sign = 's',                                    \

> +                     .realbits = _bits,                              \

> +                     .storagebits = 16,                              \

> +                     .shift = 0,                                     \

> +                     .endianness = IIO_BE,                           \

> +             },                                                      \

> +             .ext_info = inv_ext_info,                               \

> +     }

> +

> +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_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU9X50_SCAN_GYRO_X),

> +     INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU9X50_SCAN_GYRO_Y),

> +     INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU9X50_SCAN_GYRO_Z),

> +

> +     INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU9X50_SCAN_ACCL_X),

> +     INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU9X50_SCAN_ACCL_Y),

> +     INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU9X50_SCAN_ACCL_Z),

> +

> +     /* Magnetometer resolution is 16 bits */

> +     INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),

> +     INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),

> +     INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),

> +};

> +

> +static const unsigned long inv_mpu9x50_scan_masks[] = {

> +     /* 3-axis accel */

> +     BIT(INV_MPU9X50_SCAN_ACCL_X)

> +             | BIT(INV_MPU9X50_SCAN_ACCL_Y)

> +             | BIT(INV_MPU9X50_SCAN_ACCL_Z),

> +     /* 3-axis gyro */

> +     BIT(INV_MPU9X50_SCAN_GYRO_X)

> +             | BIT(INV_MPU9X50_SCAN_GYRO_Y)

> +             | BIT(INV_MPU9X50_SCAN_GYRO_Z),

> +     /* 3-axis magn */

> +     BIT(INV_MPU9X50_SCAN_MAGN_X)

> +             | BIT(INV_MPU9X50_SCAN_MAGN_Y)

> +             | BIT(INV_MPU9X50_SCAN_MAGN_Z),

> +     /* 6-axis accel + gyro */

> +     BIT(INV_MPU9X50_SCAN_ACCL_X)

> +             | BIT(INV_MPU9X50_SCAN_ACCL_Y)

> +             | BIT(INV_MPU9X50_SCAN_ACCL_Z)

> +             | BIT(INV_MPU9X50_SCAN_GYRO_X)

> +             | BIT(INV_MPU9X50_SCAN_GYRO_Y)

> +             | BIT(INV_MPU9X50_SCAN_GYRO_Z),

> +     /* 6-axis accel + magn */

> +     BIT(INV_MPU9X50_SCAN_ACCL_X)

> +             | BIT(INV_MPU9X50_SCAN_ACCL_Y)

> +             | BIT(INV_MPU9X50_SCAN_ACCL_Z)

> +             | BIT(INV_MPU9X50_SCAN_MAGN_X)

> +             | BIT(INV_MPU9X50_SCAN_MAGN_Y)

> +             | BIT(INV_MPU9X50_SCAN_MAGN_Z),

> +     /* 6-axis gyro + magn */

> +     BIT(INV_MPU9X50_SCAN_GYRO_X)

> +             | BIT(INV_MPU9X50_SCAN_GYRO_Y)

> +             | BIT(INV_MPU9X50_SCAN_GYRO_Z)

> +             | BIT(INV_MPU9X50_SCAN_MAGN_X)

> +             | BIT(INV_MPU9X50_SCAN_MAGN_Y)

> +             | BIT(INV_MPU9X50_SCAN_MAGN_Z),

> +     /* 9-axis accel + gyro + magn */

> +     BIT(INV_MPU9X50_SCAN_ACCL_X)

> +             | BIT(INV_MPU9X50_SCAN_ACCL_Y)

> +             | BIT(INV_MPU9X50_SCAN_ACCL_Z)

> +             | BIT(INV_MPU9X50_SCAN_GYRO_X)

> +             | BIT(INV_MPU9X50_SCAN_GYRO_Y)

> +             | BIT(INV_MPU9X50_SCAN_GYRO_Z)

> +             | BIT(INV_MPU9X50_SCAN_MAGN_X)

> +             | BIT(INV_MPU9X50_SCAN_MAGN_Y)

> +             | BIT(INV_MPU9X50_SCAN_MAGN_Z),

> +     0,

> +};

> +

> +#endif

> +

>  static const struct iio_chan_spec inv_icm20602_channels[] = {

>        IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),

>        {

> @@ -1145,6 +1263,11 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,

>                return result;

>        }


> +     /* fill magnetometer orientation */

> +     result = inv_mpu_magn_set_orient(st);

> +     if (result)

> +             return result;

> +

>        /* power is turned on inside check chip type*/

>        result = inv_check_and_setup_chip(st);

>        if (result)

> @@ -1167,14 +1290,25 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,

>        else

>                indio_dev->name = dev_name(dev);


> -     if (chip_type == INV_ICM20602) {

> +     switch (chip_type) {

> +#ifdef CONFIG_INV_MPU6050_MAGN

> +     case INV_MPU9250:

> +     case INV_MPU9255:

> +             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;

> +#endif

> +     case INV_ICM20602:

>                indio_dev->channels = inv_icm20602_channels;

>                indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);

>                indio_dev->available_scan_masks = inv_icm20602_scan_masks;

> -     } else {

> +             break;

> +     default:

>                indio_dev->channels = inv_mpu_channels;

>                indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);

>                indio_dev->available_scan_masks = inv_mpu_scan_masks;

> +             break;

>        }


>        indio_dev->info = &mpu_info;

> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

> index 5b462672bbcb..cfc11cb0a36c 100644

> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

> @@ -130,6 +130,7 @@ struct inv_mpu6050_hw {

>   *  @data_timestamp: timestamp for next data sample.

>   *  @vddio_supply    voltage regulator for the chip.

>   *  @magn_raw_to_gauss:      coefficient to convert mag raw value to Gauss.

> + *  @magn_orient:    magnetometer sensor chip orientation if available.

>   */

>  struct inv_mpu6050_state {

>        struct mutex lock;

> @@ -153,6 +154,7 @@ struct inv_mpu6050_state {

>        struct regulator *vddio_supply;

>  #ifdef CONFIG_INV_MPU6050_MAGN

>        s32 magn_raw_to_gauss[3];

> +     struct iio_mount_matrix magn_orient;

>  #endif

>  };


> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c

> new file mode 100644

> index 000000000000..2bb40dae0429

> --- /dev/null

> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c

> @@ -0,0 +1,120 @@

> +// SPDX-License-Identifier: GPL-2.0

> +/*

> + * Copyright (C) 2019 TDK-InvenSense, Inc.

> + */

> +

> +#include <linux/kernel.h>

> +#include <linux/device.h>

> +#include <linux/string.h>

> +

> +#include "inv_mpu_iio.h"

> +#include "inv_mpu_aux.h"

> +#include "inv_mpu9250_magn.h"

> +

> +int inv_mpu_magn_probe(struct inv_mpu6050_state *st)

> +{

> +     int ret;

> +

> +     /* probe and init mag chip */

> +     switch (st->chip_type) {

> +     case INV_MPU9250:

> +     case INV_MPU9255:

> +             /* configure i2c master aux port */

> +             ret = inv_mpu_aux_init(st);

> +             if (ret)

> +                     return ret;

> +             return inv_mpu9250_magn_probe(st);

> +     default:

> +             break;

> +     }

> +

> +     return 0;

> +}

> +

> +int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate)

> +{

> +     int max_freq;

> +     uint8_t d;

> +

> +     switch (st->chip_type) {

> +     case INV_MPU9250:

> +     case INV_MPU9255:

> +             max_freq = INV_MPU9250_MAGN_FREQ_HZ_MAX;

> +             break;

> +     default:

> +             return 0;

> +     }

> +

> +     /*

> +      * update i2c master delay to limit mag sampling to max frequency

> +      * compute fifo_rate divider d: rate = fifo_rate / (d + 1)

> +      */

> +     if (fifo_rate > max_freq)

> +             d = fifo_rate / max_freq - 1;

> +     else

> +             d = 0;

> +

> +     return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, d);

> +}

> +

> +int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)

> +{

> +     const char *orient;

> +     char *str;

> +     int i;

> +

> +     /* fill magnetometer orientation */

> +     switch (st->chip_type) {

> +     case INV_MPU9250:

> +     case INV_MPU9255:

> +             /* x <- y */

> +             st->magn_orient.rotation[0] = st->orientation.rotation[3];

> +             st->magn_orient.rotation[1] = st->orientation.rotation[4];

> +             st->magn_orient.rotation[2] = st->orientation.rotation[5];

> +             /* y <- x */

> +             st->magn_orient.rotation[3] = st->orientation.rotation[0];

> +             st->magn_orient.rotation[4] = st->orientation.rotation[1];

> +             st->magn_orient.rotation[5] = st->orientation.rotation[2];

> +             /* z <- -z */

> +             for (i = 0; i < 3; ++i) {

> +                     orient = st->orientation.rotation[6 + i];

> +                     /* use length + 2 for adding minus sign if needed */

> +                     str = devm_kzalloc(regmap_get_device(st->map),

> +                                        strlen(orient) + 2, GFP_KERNEL);

> +                     if (str == NULL)

> +                             return -ENOMEM;

> +                     if (strcmp(orient, "0") == 0) {

> +                             strcpy(str, orient);

> +                     } else if (orient[0] == '-') {

> +                             strcpy(str, &orient[1]);

> +                     } else {

> +                             str[0] = '-';

> +                             strcpy(&str[1], orient);

> +                     }

> +                     st->magn_orient.rotation[6 + i] = str;

> +             }

> +             break;

> +     default:

> +             st->magn_orient = st->orientation;

> +             break;

> +     }

> +

> +     return 0;

> +}

> +

> +int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)

> +{

> +     int ret;

> +

> +     switch (st->chip_type) {

> +     case INV_MPU9250:

> +     case INV_MPU9255:



This is a bit paranoid given we can't get anywhere near here if it isn't one of

these devices.  I suppose you might have other magn containing devices to be

supported in the near future?



> +             ret = inv_mpu9250_magn_read(st, axis, val);

> +             break;

> +     default:

> +             ret = -ENODEV;

> +             break;

> +     }

> +

> +     return ret;

> +}

> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h

> new file mode 100644

> index 000000000000..efa2ec1b3b2f

> --- /dev/null

> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h

> @@ -0,0 +1,107 @@

> +/* SPDX-License-Identifier: GPL-2.0 */

> +/*

> + * Copyright (C) 2019 TDK-InvenSense, Inc.

> + */

> +

> +#ifndef INV_MPU_MAGN_H_

> +#define INV_MPU_MAGN_H_

> +

> +#include <linux/kernel.h>

> +

> +#include "inv_mpu_iio.h"

> +

> +#ifdef CONFIG_INV_MPU6050_MAGN

> +

> +/**

> + * inv_mpu_magn_probe() - probe and setup magnetometer chip

> + * @st: driver internal state

> + *

> + * Returns 0 on success, a negative error code otherwise

> + *

> + * It is probing the chip and setting up all needed i2c transfers.

> + * Noop if there is no magnetometer in the chip.

> + */



Comments generally next to implementations rather than definitions...

We got this wrong a fair bit in early IIO but let us move forward

correctly!



> +int inv_mpu_magn_probe(struct inv_mpu6050_state *st);

> +

> +/**

> + * inv_mpu_magn_get_scale() - get magnetometer scale value

> + * @st: driver internal state

> + *

> + * Returns IIO data format.

> + */

> +static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,

> +                                      const struct iio_chan_spec *chan,

> +                                      int *val, int *val2)

> +{

> +     *val = 0;

> +     *val2 = st->magn_raw_to_gauss[chan->address];

> +     return IIO_VAL_INT_PLUS_MICRO;

> +}

> +

> +/**

> + * inv_mpu_magn_set_rate() - set magnetometer sampling rate

> + * @st: driver internal state

> + * @fifo_rate: mpu set fifo rate

> + *

> + * Returns 0 on success, a negative error code otherwise

> + *

> + * Limit sampling frequency to the maximum value supported by the

> + * magnetometer chip. Resulting in duplicated data for higher frequencies.

> + * Noop if there is no magnetometer in the chip.

> + */

> +int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate);

> +

> +/**

> + * inv_mpu_magn_set_orient() - fill magnetometer mounting matrix

> + * @st: driver internal state

> + *

> + * Returns 0 on success, a negative error code otherwise

> + *

> + * Fill magnetometer mounting matrix using the provided chip matrix.

> + */

> +int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st);

> +

> +/**

> + * inv_mpu_magn_read() - read magnetometer data

> + * @st: driver internal state

> + * @axis: IIO modifier axis value

> + * @val: store corresponding axis value

> + *

> + * Returns 0 on success, a negative error code otherwise

> + */

> +int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val);

> +

> +#else                /* CONFIG_INV_MPU6050_MAGN */

> +

> +static inline int inv_mpu_magn_probe(struct inv_mpu6050_state *st)

> +{

> +     return 0;

> +}

> +

> +static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,

> +                                      const struct iio_chan_spec *chan,

> +                                      int *val, int *val2)

> +{

> +     return -EINVAL;

> +}

> +

> +static inline int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st,

> +                                     int fifo_rate)

> +{

> +     return 0;

> +}

> +

> +static inline int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)

> +{

> +     return 0;

> +}

> +

> +static inline int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis,

> +                                 int *val)

> +{

> +     return 0;

> +}

> +

> +#endif               /* CONFIG_INV_MPU6050_MAGN */

> +

> +#endif               /* INV_MPU_MAGN_H_ */

Patch
diff mbox series

diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
index fee41415ebdb..6f5baac29f81 100644
--- a/drivers/iio/imu/inv_mpu6050/Makefile
+++ b/drivers/iio/imu/inv_mpu6050/Makefile
@@ -5,7 +5,8 @@ 
 
 obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
 inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
-inv-mpu6050-$(CONFIG_INV_MPU6050_MAGN) += inv_mpu_aux.o inv_mpu9250_magn.o
+inv-mpu6050-$(CONFIG_INV_MPU6050_MAGN) += inv_mpu_aux.o inv_mpu_magn.o \
+	inv_mpu9250_magn.o
 
 obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
 inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index b17f060b52fc..d08cec6a8a7a 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -16,7 +16,9 @@ 
 #include <linux/acpi.h>
 #include <linux/platform_device.h>
 #include <linux/regulator/consumer.h>
+
 #include "inv_mpu_iio.h"
+#include "inv_mpu_magn.h"
 
 /*
  * this is the gyro scale translated from dynamic range plus/minus
@@ -332,6 +334,11 @@  static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 	 */
 	st->chip_period = NSEC_PER_MSEC;
 
+	/* magn chip init, noop if not present in the chip */
+	result = inv_mpu_magn_probe(st);
+	if (result)
+		goto error_power_off;
+
 	return inv_mpu6050_set_power_itg(st, false);
 
 error_power_off:
@@ -411,6 +418,9 @@  static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
 		ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
 					      IIO_MOD_X, val);
 		break;
+	case IIO_MAGN:
+		ret = inv_mpu_magn_read(st, chan->channel2, val);
+		break;
 	default:
 		ret = -EINVAL;
 		break;
@@ -469,6 +479,8 @@  inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 				*val2 = INV_MPU6050_TEMP_SCALE;
 
 			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_MAGN:
+			return inv_mpu_magn_get_scale(st, chan, val, val2);
 		default:
 			return -EINVAL;
 		}
@@ -710,6 +722,11 @@  inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
 	if (result)
 		goto fifo_rate_fail_power_off;
 
+	/* update rate for magn, noop if not present in chip */
+	result = inv_mpu_magn_set_rate(st, fifo_rate);
+	if (result)
+		goto fifo_rate_fail_power_off;
+
 fifo_rate_fail_power_off:
 	result |= inv_mpu6050_set_power_itg(st, false);
 fifo_rate_fail_unlock:
@@ -795,8 +812,13 @@  inv_get_mount_matrix(const struct iio_dev *indio_dev,
 		     const struct iio_chan_spec *chan)
 {
 	struct inv_mpu6050_state *data = iio_priv(indio_dev);
+	const struct iio_mount_matrix *matrix = &data->orientation;
 
-	return &data->orientation;
+#ifdef CONFIG_INV_MPU6050_MAGN
+	if (chan->type == IIO_MAGN)
+		matrix = &data->magn_orient;
+#endif
+	return matrix;
 }
 
 static const struct iio_chan_spec_ext_info inv_ext_info[] = {
@@ -864,6 +886,102 @@  static const unsigned long inv_mpu_scan_masks[] = {
 	0,
 };
 
+#ifdef CONFIG_INV_MPU6050_MAGN
+
+#define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index)			\
+	{								\
+		.type = IIO_MAGN,					\
+		.modified = 1,						\
+		.channel2 = _chan2,					\
+		.info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) |	\
+				      BIT(IIO_CHAN_INFO_RAW),		\
+		.scan_index = _index,					\
+		.scan_type = {						\
+			.sign = 's',					\
+			.realbits = _bits,				\
+			.storagebits = 16,				\
+			.shift = 0,					\
+			.endianness = IIO_BE,				\
+		},							\
+		.ext_info = inv_ext_info,				\
+	}
+
+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_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU9X50_SCAN_GYRO_X),
+	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU9X50_SCAN_GYRO_Y),
+	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU9X50_SCAN_GYRO_Z),
+
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU9X50_SCAN_ACCL_X),
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU9X50_SCAN_ACCL_Y),
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU9X50_SCAN_ACCL_Z),
+
+	/* Magnetometer resolution is 16 bits */
+	INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
+	INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),
+	INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
+};
+
+static const unsigned long inv_mpu9x50_scan_masks[] = {
+	/* 3-axis accel */
+	BIT(INV_MPU9X50_SCAN_ACCL_X)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Z),
+	/* 3-axis gyro */
+	BIT(INV_MPU9X50_SCAN_GYRO_X)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Z),
+	/* 3-axis magn */
+	BIT(INV_MPU9X50_SCAN_MAGN_X)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	/* 6-axis accel + gyro */
+	BIT(INV_MPU9X50_SCAN_ACCL_X)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Z)
+		| BIT(INV_MPU9X50_SCAN_GYRO_X)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Z),
+	/* 6-axis accel + magn */
+	BIT(INV_MPU9X50_SCAN_ACCL_X)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Z)
+		| BIT(INV_MPU9X50_SCAN_MAGN_X)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	/* 6-axis gyro + magn */
+	BIT(INV_MPU9X50_SCAN_GYRO_X)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Z)
+		| BIT(INV_MPU9X50_SCAN_MAGN_X)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	/* 9-axis accel + gyro + magn */
+	BIT(INV_MPU9X50_SCAN_ACCL_X)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Z)
+		| BIT(INV_MPU9X50_SCAN_GYRO_X)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Z)
+		| BIT(INV_MPU9X50_SCAN_MAGN_X)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	0,
+};
+
+#endif
+
 static const struct iio_chan_spec inv_icm20602_channels[] = {
 	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
 	{
@@ -1145,6 +1263,11 @@  int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 		return result;
 	}
 
+	/* fill magnetometer orientation */
+	result = inv_mpu_magn_set_orient(st);
+	if (result)
+		return result;
+
 	/* power is turned on inside check chip type*/
 	result = inv_check_and_setup_chip(st);
 	if (result)
@@ -1167,14 +1290,25 @@  int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 	else
 		indio_dev->name = dev_name(dev);
 
-	if (chip_type == INV_ICM20602) {
+	switch (chip_type) {
+#ifdef CONFIG_INV_MPU6050_MAGN
+	case INV_MPU9250:
+	case INV_MPU9255:
+		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;
+#endif
+	case INV_ICM20602:
 		indio_dev->channels = inv_icm20602_channels;
 		indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
 		indio_dev->available_scan_masks = inv_icm20602_scan_masks;
-	} else {
+		break;
+	default:
 		indio_dev->channels = inv_mpu_channels;
 		indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
 		indio_dev->available_scan_masks = inv_mpu_scan_masks;
+		break;
 	}
 
 	indio_dev->info = &mpu_info;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 5b462672bbcb..cfc11cb0a36c 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -130,6 +130,7 @@  struct inv_mpu6050_hw {
  *  @data_timestamp:	timestamp for next data sample.
  *  @vddio_supply	voltage regulator for the chip.
  *  @magn_raw_to_gauss:	coefficient to convert mag raw value to Gauss.
+ *  @magn_orient:	magnetometer sensor chip orientation if available.
  */
 struct inv_mpu6050_state {
 	struct mutex lock;
@@ -153,6 +154,7 @@  struct inv_mpu6050_state {
 	struct regulator *vddio_supply;
 #ifdef CONFIG_INV_MPU6050_MAGN
 	s32 magn_raw_to_gauss[3];
+	struct iio_mount_matrix magn_orient;
 #endif
 };
 
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
new file mode 100644
index 000000000000..2bb40dae0429
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
@@ -0,0 +1,120 @@ 
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/string.h>
+
+#include "inv_mpu_iio.h"
+#include "inv_mpu_aux.h"
+#include "inv_mpu9250_magn.h"
+
+int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
+{
+	int ret;
+
+	/* probe and init mag chip */
+	switch (st->chip_type) {
+	case INV_MPU9250:
+	case INV_MPU9255:
+		/* configure i2c master aux port */
+		ret = inv_mpu_aux_init(st);
+		if (ret)
+			return ret;
+		return inv_mpu9250_magn_probe(st);
+	default:
+		break;
+	}
+
+	return 0;
+}
+
+int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate)
+{
+	int max_freq;
+	uint8_t d;
+
+	switch (st->chip_type) {
+	case INV_MPU9250:
+	case INV_MPU9255:
+		max_freq = INV_MPU9250_MAGN_FREQ_HZ_MAX;
+		break;
+	default:
+		return 0;
+	}
+
+	/*
+	 * update i2c master delay to limit mag sampling to max frequency
+	 * compute fifo_rate divider d: rate = fifo_rate / (d + 1)
+	 */
+	if (fifo_rate > max_freq)
+		d = fifo_rate / max_freq - 1;
+	else
+		d = 0;
+
+	return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, d);
+}
+
+int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
+{
+	const char *orient;
+	char *str;
+	int i;
+
+	/* fill magnetometer orientation */
+	switch (st->chip_type) {
+	case INV_MPU9250:
+	case INV_MPU9255:
+		/* x <- y */
+		st->magn_orient.rotation[0] = st->orientation.rotation[3];
+		st->magn_orient.rotation[1] = st->orientation.rotation[4];
+		st->magn_orient.rotation[2] = st->orientation.rotation[5];
+		/* y <- x */
+		st->magn_orient.rotation[3] = st->orientation.rotation[0];
+		st->magn_orient.rotation[4] = st->orientation.rotation[1];
+		st->magn_orient.rotation[5] = st->orientation.rotation[2];
+		/* z <- -z */
+		for (i = 0; i < 3; ++i) {
+			orient = st->orientation.rotation[6 + i];
+			/* use length + 2 for adding minus sign if needed */
+			str = devm_kzalloc(regmap_get_device(st->map),
+					   strlen(orient) + 2, GFP_KERNEL);
+			if (str == NULL)
+				return -ENOMEM;
+			if (strcmp(orient, "0") == 0) {
+				strcpy(str, orient);
+			} else if (orient[0] == '-') {
+				strcpy(str, &orient[1]);
+			} else {
+				str[0] = '-';
+				strcpy(&str[1], orient);
+			}
+			st->magn_orient.rotation[6 + i] = str;
+		}
+		break;
+	default:
+		st->magn_orient = st->orientation;
+		break;
+	}
+
+	return 0;
+}
+
+int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
+{
+	int ret;
+
+	switch (st->chip_type) {
+	case INV_MPU9250:
+	case INV_MPU9255:
+		ret = inv_mpu9250_magn_read(st, axis, val);
+		break;
+	default:
+		ret = -ENODEV;
+		break;
+	}
+
+	return ret;
+}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
new file mode 100644
index 000000000000..efa2ec1b3b2f
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
@@ -0,0 +1,107 @@ 
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#ifndef INV_MPU_MAGN_H_
+#define INV_MPU_MAGN_H_
+
+#include <linux/kernel.h>
+
+#include "inv_mpu_iio.h"
+
+#ifdef CONFIG_INV_MPU6050_MAGN
+
+/**
+ * inv_mpu_magn_probe() - probe and setup magnetometer chip
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * It is probing the chip and setting up all needed i2c transfers.
+ * Noop if there is no magnetometer in the chip.
+ */
+int inv_mpu_magn_probe(struct inv_mpu6050_state *st);
+
+/**
+ * inv_mpu_magn_get_scale() - get magnetometer scale value
+ * @st: driver internal state
+ *
+ * Returns IIO data format.
+ */
+static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,
+					 const struct iio_chan_spec *chan,
+					 int *val, int *val2)
+{
+	*val = 0;
+	*val2 = st->magn_raw_to_gauss[chan->address];
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+/**
+ * inv_mpu_magn_set_rate() - set magnetometer sampling rate
+ * @st: driver internal state
+ * @fifo_rate: mpu set fifo rate
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * Limit sampling frequency to the maximum value supported by the
+ * magnetometer chip. Resulting in duplicated data for higher frequencies.
+ * Noop if there is no magnetometer in the chip.
+ */
+int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate);
+
+/**
+ * inv_mpu_magn_set_orient() - fill magnetometer mounting matrix
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * Fill magnetometer mounting matrix using the provided chip matrix.
+ */
+int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st);
+
+/**
+ * inv_mpu_magn_read() - read magnetometer data
+ * @st: driver internal state
+ * @axis: IIO modifier axis value
+ * @val: store corresponding axis value
+ *
+ * Returns 0 on success, a negative error code otherwise
+ */
+int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val);
+
+#else		/* CONFIG_INV_MPU6050_MAGN */
+
+static inline int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
+{
+	return 0;
+}
+
+static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,
+					 const struct iio_chan_spec *chan,
+					 int *val, int *val2)
+{
+	return -EINVAL;
+}
+
+static inline int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st,
+					int fifo_rate)
+{
+	return 0;
+}
+
+static inline int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
+{
+	return 0;
+}
+
+static inline int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis,
+				    int *val)
+{
+	return 0;
+}
+
+#endif		/* CONFIG_INV_MPU6050_MAGN */
+
+#endif		/* INV_MPU_MAGN_H_ */