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path: root/drivers/iio/imu/inv_mpu6050
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Diffstat (limited to 'drivers/iio/imu/inv_mpu6050')
-rw-r--r--drivers/iio/imu/inv_mpu6050/Kconfig2
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_core.c50
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h39
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c12
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c4
5 files changed, 51 insertions, 56 deletions
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 361b2328453..2d0608ba88d 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -9,6 +9,8 @@ config INV_MPU6050_IIO
select IIO_TRIGGERED_BUFFER
help
This driver supports the Invensense MPU6050 devices.
+ This driver can also support MPU6500 in MPU6050 compatibility mode
+ and also in MPU6500 mode with some limitations.
It is a gyroscope/accelerometer combo device.
This driver can be built as a module. The module will be called
inv-mpu6050.
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 37ca05b47e4..0c6517c94a9 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -12,7 +12,6 @@
*/
#include <linux/module.h>
-#include <linux/init.h>
#include <linux/slab.h>
#include <linux/i2c.h>
#include <linux/err.h>
@@ -23,6 +22,7 @@
#include <linux/interrupt.h>
#include <linux/kfifo.h>
#include <linux/spinlock.h>
+#include <linux/iio/iio.h>
#include "inv_mpu_iio.h"
/*
@@ -116,7 +116,7 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
return result;
if (en) {
- /* Wait for output stablize */
+ /* Wait for output stabilize */
msleep(INV_MPU6050_TEMP_UP_TIME);
if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
/* switch internal clock to PLL */
@@ -544,8 +544,8 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
.type = _type, \
.modified = 1, \
.channel2 = _channel2, \
- .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT \
- | IIO_CHAN_INFO_RAW_SEPARATE_BIT, \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
.scan_index = _index, \
.scan_type = { \
.sign = 's', \
@@ -564,9 +564,9 @@ static const struct iio_chan_spec inv_mpu_channels[] = {
*/
{
.type = IIO_TEMP,
- .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT
- | IIO_CHAN_INFO_OFFSET_SEPARATE_BIT
- | IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .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),
@@ -660,33 +660,33 @@ static int inv_mpu_probe(struct i2c_client *client,
{
struct inv_mpu6050_state *st;
struct iio_dev *indio_dev;
+ struct inv_mpu6050_platform_data *pdata;
int result;
if (!i2c_check_functionality(client->adapter,
- I2C_FUNC_SMBUS_READ_I2C_BLOCK |
- I2C_FUNC_SMBUS_WRITE_I2C_BLOCK)) {
- result = -ENOSYS;
- goto out_no_free;
- }
- indio_dev = iio_device_alloc(sizeof(*st));
- if (indio_dev == NULL) {
- result = -ENOMEM;
- goto out_no_free;
- }
+ I2C_FUNC_SMBUS_I2C_BLOCK))
+ return -ENOSYS;
+
+ indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
+ if (!indio_dev)
+ return -ENOMEM;
+
st = iio_priv(indio_dev);
st->client = client;
- st->plat_data = *(struct inv_mpu6050_platform_data
- *)dev_get_platdata(&client->dev);
+ pdata = (struct inv_mpu6050_platform_data
+ *)dev_get_platdata(&client->dev);
+ if (pdata)
+ st->plat_data = *pdata;
/* power is turned on inside check chip type*/
result = inv_check_and_setup_chip(st, id);
if (result)
- goto out_free;
+ return result;
result = inv_mpu6050_init_config(indio_dev);
if (result) {
dev_err(&client->dev,
"Could not initialize device.\n");
- goto out_free;
+ return result;
}
i2c_set_clientdata(client, indio_dev);
@@ -705,7 +705,7 @@ static int inv_mpu_probe(struct i2c_client *client,
if (result) {
dev_err(&st->client->dev, "configure buffer fail %d\n",
result);
- goto out_free;
+ return result;
}
result = inv_mpu6050_probe_trigger(indio_dev);
if (result) {
@@ -727,10 +727,6 @@ out_remove_trigger:
inv_mpu6050_remove_trigger(st);
out_unreg_ring:
iio_triggered_buffer_cleanup(indio_dev);
-out_free:
- iio_device_free(indio_dev);
-out_no_free:
-
return result;
}
@@ -742,7 +738,6 @@ static int inv_mpu_remove(struct i2c_client *client)
iio_device_unregister(indio_dev);
inv_mpu6050_remove_trigger(st);
iio_triggered_buffer_cleanup(indio_dev);
- iio_device_free(indio_dev);
return 0;
}
@@ -772,6 +767,7 @@ static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
*/
static const struct i2c_device_id inv_mpu_id[] = {
{"mpu6050", INV_MPU6050},
+ {"mpu6500", INV_MPU6500},
{}
};
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index f38395529a4..e7799315d4d 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -59,6 +59,7 @@ struct inv_mpu6050_reg_map {
/*device enum */
enum inv_devices {
INV_MPU6050,
+ INV_MPU6500,
INV_NUM_PARTS
};
@@ -126,35 +127,35 @@ struct inv_mpu6050_state {
#define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19
#define INV_MPU6050_REG_CONFIG 0x1A
#define INV_MPU6050_REG_GYRO_CONFIG 0x1B
-#define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
+#define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
#define INV_MPU6050_REG_FIFO_EN 0x23
-#define INV_MPU6050_BIT_ACCEL_OUT 0x08
-#define INV_MPU6050_BITS_GYRO_OUT 0x70
+#define INV_MPU6050_BIT_ACCEL_OUT 0x08
+#define INV_MPU6050_BITS_GYRO_OUT 0x70
#define INV_MPU6050_REG_INT_ENABLE 0x38
-#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
-#define INV_MPU6050_BIT_DMP_INT_EN 0x02
+#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
+#define INV_MPU6050_BIT_DMP_INT_EN 0x02
#define INV_MPU6050_REG_RAW_ACCEL 0x3B
#define INV_MPU6050_REG_TEMPERATURE 0x41
#define INV_MPU6050_REG_RAW_GYRO 0x43
#define INV_MPU6050_REG_USER_CTRL 0x6A
-#define INV_MPU6050_BIT_FIFO_RST 0x04
-#define INV_MPU6050_BIT_DMP_RST 0x08
-#define INV_MPU6050_BIT_I2C_MST_EN 0x20
-#define INV_MPU6050_BIT_FIFO_EN 0x40
-#define INV_MPU6050_BIT_DMP_EN 0x80
+#define INV_MPU6050_BIT_FIFO_RST 0x04
+#define INV_MPU6050_BIT_DMP_RST 0x08
+#define INV_MPU6050_BIT_I2C_MST_EN 0x20
+#define INV_MPU6050_BIT_FIFO_EN 0x40
+#define INV_MPU6050_BIT_DMP_EN 0x80
#define INV_MPU6050_REG_PWR_MGMT_1 0x6B
-#define INV_MPU6050_BIT_H_RESET 0x80
-#define INV_MPU6050_BIT_SLEEP 0x40
-#define INV_MPU6050_BIT_CLK_MASK 0x7
+#define INV_MPU6050_BIT_H_RESET 0x80
+#define INV_MPU6050_BIT_SLEEP 0x40
+#define INV_MPU6050_BIT_CLK_MASK 0x7
#define INV_MPU6050_REG_PWR_MGMT_2 0x6C
-#define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
-#define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
+#define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
+#define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
#define INV_MPU6050_REG_FIFO_COUNT_H 0x72
#define INV_MPU6050_REG_FIFO_R_W 0x74
@@ -180,10 +181,10 @@ struct inv_mpu6050_state {
/* init parameters */
#define INV_MPU6050_INIT_FIFO_RATE 50
-#define INV_MPU6050_TIME_STAMP_TOR 5
-#define INV_MPU6050_MAX_FIFO_RATE 1000
-#define INV_MPU6050_MIN_FIFO_RATE 4
-#define INV_MPU6050_ONE_K_HZ 1000
+#define INV_MPU6050_TIME_STAMP_TOR 5
+#define INV_MPU6050_MAX_FIFO_RATE 1000
+#define INV_MPU6050_MIN_FIFO_RATE 4
+#define INV_MPU6050_ONE_K_HZ 1000
/* scan element definition */
enum inv_mpu6050_scan {
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index 331781ffbb1..0cd306a72a6 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -12,7 +12,6 @@
*/
#include <linux/module.h>
-#include <linux/init.h>
#include <linux/slab.h>
#include <linux/i2c.h>
#include <linux/err.h>
@@ -105,9 +104,8 @@ irqreturn_t inv_mpu6050_irq_handler(int irq, void *p)
s64 timestamp;
timestamp = iio_get_time_ns();
- spin_lock(&st->time_stamp_lock);
- kfifo_in(&st->timestamps, &timestamp, 1);
- spin_unlock(&st->time_stamp_lock);
+ kfifo_in_spinlocked(&st->timestamps, &timestamp, 1,
+ &st->time_stamp_lock);
return IRQ_WAKE_THREAD;
}
@@ -125,7 +123,6 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
u8 data[INV_MPU6050_OUTPUT_DATA_SIZE];
u16 fifo_count;
s64 timestamp;
- u64 *tmp;
mutex_lock(&indio_dev->mlock);
if (!(st->chip_config.accl_fifo_enable |
@@ -171,9 +168,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
if (0 == result)
timestamp = 0;
- tmp = (u64 *)data;
- tmp[DIV_ROUND_UP(bytes_per_datum, 8)] = timestamp;
- result = iio_push_to_buffers(indio_dev, data);
+ result = iio_push_to_buffers_with_timestamp(indio_dev, data,
+ timestamp);
if (result)
goto flush_fifo;
fifo_count -= bytes_per_datum;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index e1d0869e0ad..03b9372c121 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -103,7 +103,7 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
bool state)
{
- return inv_mpu6050_set_enable(trig->private_data, state);
+ return inv_mpu6050_set_enable(iio_trigger_get_drvdata(trig), state);
}
static const struct iio_trigger_ops inv_mpu_trigger_ops = {
@@ -130,8 +130,8 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
if (ret)
goto error_free_trig;
st->trig->dev.parent = &st->client->dev;
- st->trig->private_data = indio_dev;
st->trig->ops = &inv_mpu_trigger_ops;
+ iio_trigger_set_drvdata(st->trig, indio_dev);
ret = iio_trigger_register(st->trig);
if (ret)
goto error_free_irq;
generated by cgit v1.2.3-70-g09d2 (git 2.46.0) at 2025-12-19 01:18:45 +0000