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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.c40
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h39
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c7
4 files changed, 42 insertions, 46 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 fe4c61e219f..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 */
@@ -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 7da0832f187..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>
@@ -124,7 +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 |
@@ -170,9 +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;
generated by cgit v1.2.3-70-g09d2 (git 2.46.0) at 2025-11-10 08:32:19 +0000