From patchwork Wed Apr 3 06:28:56 2019 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Stepan Moskovchenko X-Patchwork-Id: 10882883 Return-Path: Received: from mail.wl.linuxfoundation.org (pdx-wl-mail.web.codeaurora.org [172.30.200.125]) by pdx-korg-patchwork-2.web.codeaurora.org (Postfix) with ESMTP id AA3EF1390 for ; Wed, 3 Apr 2019 06:29:42 +0000 (UTC) Received: from mail.wl.linuxfoundation.org (localhost [127.0.0.1]) by mail.wl.linuxfoundation.org (Postfix) with ESMTP id 84AED2871C for ; Wed, 3 Apr 2019 06:29:42 +0000 (UTC) Received: by mail.wl.linuxfoundation.org (Postfix, from userid 486) id 7195B28756; Wed, 3 Apr 2019 06:29:42 +0000 (UTC) X-Spam-Checker-Version: SpamAssassin 3.3.1 (2010-03-16) on pdx-wl-mail.web.codeaurora.org X-Spam-Level: X-Spam-Status: No, score=-8.0 required=2.0 tests=BAYES_00,DKIM_SIGNED, DKIM_VALID,DKIM_VALID_AU,MAILING_LIST_MULTI,RCVD_IN_DNSWL_HI autolearn=ham version=3.3.1 Received: from vger.kernel.org (vger.kernel.org [209.132.180.67]) by mail.wl.linuxfoundation.org (Postfix) with ESMTP id CB62E2871C for ; Wed, 3 Apr 2019 06:29:41 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1725936AbfDCG3l (ORCPT ); Wed, 3 Apr 2019 02:29:41 -0400 Received: from mail-pl1-f196.google.com ([209.85.214.196]:38456 "EHLO mail-pl1-f196.google.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1725879AbfDCG3l (ORCPT ); Wed, 3 Apr 2019 02:29:41 -0400 Received: by mail-pl1-f196.google.com with SMTP id g37so7511647plb.5 for ; Tue, 02 Apr 2019 23:29:40 -0700 (PDT) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=skydio.com; s=google; h=from:to:cc:subject:date:message-id:in-reply-to:references :mime-version:content-transfer-encoding; bh=XP7U60ZYVT0uUBZTkEg4Hm9QJC3LmZWFKNaW0HDMkxI=; b=nHCqK7woN2yfUmCyd6wS8NPfEbCp0d2lsi/2/BucuceS+p6e1ugRTLNEjiwLKWm8t/ l0fD43+XtEgMcUjtlChDeBs7Ctq3zY25++HnI6njHWzgnzoIpjKW9j+V3C5LWWGT7l75 Cr5iQMaPgZ7HBc/33PX/jVUa45StQvy74p38cwTIZIl7BIAGheQgdC4YNX/GvnxBLqCv xPG4JTZQk2tqOrOcpuhBSSa5WovfaRURUJmEBUezUeGSG5e3bN4IpCW6qOqnl/Gzh5qD 0iuMYox6Uy7/cwbreFMA9JQmx2KsGp0z2kEGZHosrHyyU/Zt0NNdAqrdya7PL2GSiVGS DnEw== X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20161025; h=x-gm-message-state:from:to:cc:subject:date:message-id:in-reply-to :references:mime-version:content-transfer-encoding; bh=XP7U60ZYVT0uUBZTkEg4Hm9QJC3LmZWFKNaW0HDMkxI=; b=NUHPkOwCKgLtPjIwJnutQzl0wmkNO1do4EUSbNVVTYyt7HbvoeutF+jDNe8kkUzwLT pOyhgIMjgV9YlK380giYYk1yNDsJjtA5KG6OYTdz+gFSkuv/L8xM3ebAUs9fK2/2qENJ gRP7CBOTQ+k3xXNj/2ugiP5kVZHODELL2CkDHb9czqD1mnoX01n2O+nFWF0AGt5mDYB+ F3ZQ89KLzQWSWqG3CYH1nVV0BLbDeoYeFHZBOH2oq0PJP0ToFBkPq4io1MRWLPmcsKmy JyRh5IiZcn0EcwpPT3S95c9eLSjedRvHa6OG5nD7DuvVMJA3jk6yqEK7xy1fuBz4W2J1 K5dg== X-Gm-Message-State: APjAAAU/cK/rg6JkoBi7JK/vYXgaW62Lxv4274bS2NZ/fpUOk713VMOS l3qmtoU56lhUsX/iMzGfvYVDPk6PfhPz7w== X-Google-Smtp-Source: APXvYqzFAgGoNw4D6bfqQcO/OmbtgB1O8tRSzVWlPBtrTXJ+9GD1YKXDNnqHmRW7eaMFCZHLSSZW3Q== X-Received: by 2002:a17:902:b713:: with SMTP id d19mr59926975pls.54.1554272980197; Tue, 02 Apr 2019 23:29:40 -0700 (PDT) Received: from stevemo-laptop.localdomain ([50.236.240.214]) by smtp.gmail.com with ESMTPSA id d11sm17226216pgq.6.2019.04.02.23.29.38 (version=TLS1_2 cipher=ECDHE-RSA-AES128-SHA bits=128/128); Tue, 02 Apr 2019 23:29:39 -0700 (PDT) From: stevemo@skydio.com To: jmaneyrol@invensense.com Cc: Steve Moskovchenko , Jonathan Cameron , Hartmut Knaack , Lars-Peter Clausen , Peter Meerwald-Stadler , Martin Kelly , Jonathan Marek , Brian Masney , =?utf-8?q?Randolph_Maa=C3=9Fen?= , Douglas Fischer , linux-iio@vger.kernel.org, linux-kernel@vger.kernel.org Subject: [PATCH v2] iio: imu: mpu6050: Fix FIFO layout for ICM20602 Date: Tue, 2 Apr 2019 23:28:56 -0700 Message-Id: <20190403062910.5047-1-stevemo@skydio.com> X-Mailer: git-send-email 2.21.0 In-Reply-To: <20190326090238.23651-1-stevemo@skydio.com> References: <20190326090238.23651-1-stevemo@skydio.com> MIME-Version: 1.0 Sender: linux-iio-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org X-Virus-Scanned: ClamAV using ClamSMTP From: Steve Moskovchenko The MPU6050 driver has recently gained support for the ICM20602 IMU, which is very similar to MPU6xxx. However, the ICM20602's FIFO data specifically includes temperature readings, which were not present on MPU6xxx parts. As a result, the driver will under-read the ICM20602's FIFO register, causing the same (partial) sample to be returned for all reads, until the FIFO overflows. Fix this by adding a table of scan elements specifically for the ICM20602, which takes the extra temperature data into consideration. While we're at it, fix the temperature offset and scaling on ICM20602, since it uses different scale/offset constants than the rest of the MPU6xxx devices. Signed-off-by: Steve Moskovchenko --- v2: Read temperature when running in accel-only mode, too. drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 46 ++++++++++++++++++++-- drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 20 +++++++++- drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 3 ++ 3 files changed, 64 insertions(+), 5 deletions(-) diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index 650de0fefb7b..fedd3f2b0135 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -471,7 +471,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, return IIO_VAL_INT_PLUS_MICRO; case IIO_TEMP: *val = 0; - *val2 = INV_MPU6050_TEMP_SCALE; + if (st->chip_type == INV_ICM20602) + *val2 = INV_ICM20602_TEMP_SCALE; + else + *val2 = INV_MPU6050_TEMP_SCALE; return IIO_VAL_INT_PLUS_MICRO; default: @@ -480,7 +483,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, case IIO_CHAN_INFO_OFFSET: switch (chan->type) { case IIO_TEMP: - *val = INV_MPU6050_TEMP_OFFSET; + if (st->chip_type == INV_ICM20602) + *val = INV_ICM20602_TEMP_OFFSET; + else + *val = INV_MPU6050_TEMP_OFFSET; return IIO_VAL_INT; default: @@ -845,6 +851,32 @@ static const struct iio_chan_spec inv_mpu_channels[] = { INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z), }; +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_GYRO_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), +}; + /* * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the @@ -1100,8 +1132,14 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, indio_dev->name = name; else indio_dev->name = dev_name(dev); - indio_dev->channels = inv_mpu_channels; - indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels); + + if (chip_type == INV_ICM20602) { + indio_dev->channels = inv_icm20602_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels); + } else { + indio_dev->channels = inv_mpu_channels; + indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels); + } indio_dev->info = &mpu_info; indio_dev->modes = INDIO_BUFFER_TRIGGERED; diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h index 325afd9f5f61..2ed4b98e0cd7 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h @@ -208,6 +208,9 @@ struct inv_mpu6050_state { #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6 #define INV_MPU6050_FIFO_COUNT_BYTE 2 +/* ICM20602 FIFO samples include temperature readings */ +#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2 + /* mpu6500 registers */ #define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D #define INV_MPU6500_REG_ACCEL_OFFSET 0x77 @@ -229,6 +232,9 @@ struct inv_mpu6050_state { #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3 #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3 +#define INV_ICM20602_TEMP_OFFSET 8170 +#define INV_ICM20602_TEMP_SCALE 3060 + /* 6 + 6 round up and plus 8 */ #define INV_MPU6050_OUTPUT_DATA_SIZE 24 @@ -270,7 +276,7 @@ struct inv_mpu6050_state { #define INV_ICM20608_WHOAMI_VALUE 0xAF #define INV_ICM20602_WHOAMI_VALUE 0x12 -/* scan element definition */ +/* scan element definition for generic MPU6xxx devices */ enum inv_mpu6050_scan { INV_MPU6050_SCAN_ACCL_X, INV_MPU6050_SCAN_ACCL_Y, @@ -281,6 +287,18 @@ enum inv_mpu6050_scan { INV_MPU6050_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_GYRO_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_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c index 548e042f7b5b..57bd11bde56b 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c @@ -207,6 +207,9 @@ 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; + /* * read fifo_count register to know how many bytes are inside the FIFO * right now