Donate to e Foundation | Murena handsets with /e/OS | Own a part of Murena! Learn more

Commit 3904b28e authored by Linus Walleij's avatar Linus Walleij Committed by Jonathan Cameron
Browse files

iio: gyro: Add driver for the MPU-3050 gyroscope 



This adds a new driver for the Invensense MPU-3050 gyroscope.
This driver is based on information from the rough input driver
in drivers/input/misc/mpu3050.c and the scratch misc driver
posted by Nathan Royer in 2011. Some years have passed but this
is finally a fully-fledged driver for this gyroscope. It was
developed and tested on the Qualcomm APQ8060 Dragonboard.

The driver supports both raw and buffered input. It also
supports the internal trigger mechanism by registering a trigger
that can fire in response to the internal sample engine of the
component. In addition to reading out the gyroscope sensor
values, the driver also supports reading the temperature from
the sensor.

The driver currently only supports I2C but the MPU-3050 can
also be used from SPI, so the I2C portions are split in their
own file and we just use regmap to access all registers, so
it will be trivial to plug in SPI support if/when someone has
a system requiring this.

To conserve power, the driver utilizes the runtime PM
framework and will put the sensor in off mode and disable the
regulators when unused, after a timeout of 10 seconds.

The fullscale can be set for the sensor to 250, 500, 1000 or
2000 deg/s. This corresponds to scale values of rougly 0.000122,
0.000275, 0.000512 or 0.001068. By writing such values (or close
to these) into "in_anglevel_scale", the corresponding fullscale
can be chosen. It will default to 2000 deg/s (~35 rad/s).

The gyro component can have DC offsets on all axes. These can be
compensated using the standard sysfs ABI property
"in_anglevel_[xyz]_calibbias". This is in positive/negative
values of the raw values, so a suitable calibration bias can be
determined by userspace by reading the "in_anglevel_[xyz]_raw"
for a few iterations while holding the sensor still, create an
average integer, and writing the negative inverse of that into
"in_anglevel_[xyz]_calibbias". After this the hardware will
automatically subtract the bias, also when using buffered
readings.

Since the MPU-3050 has an outgoing I2C port it needs to act as
an I2C mux. This means that the device is switching I2C traffic
to devices beyond it. On my system this is the only way to reach
the accelerometer. The "sensor fusion" ability of the MPU-3050
to directly talk to the device on the outgoing I2C port is
currently not used by the driver, but it has code to allow I2C
traffic to pass through so that the Linux kernel can reach the
device on the other side with a kernel driver.

Example usage with the native trigger:

$ generic_buffer -a -c10 -n mpu3050
iio device number being used is 0
iio trigger number being used is 0
No channels are enabled, enabling all channels
Enabling: in_anglvel_z_en
Enabling: in_timestamp_en
Enabling: in_anglvel_y_en
Enabling: in_temp_en
Enabling: in_anglvel_x_en
/sys/bus/iio/devices/iio:device0 mpu3050-dev0
29607.142578 -0.117493 0.074768 0.012817 180788797150
29639.285156 -0.117493 0.076904 0.013885 180888982335
29696.427734 -0.116425 0.076904 0.012817 180989178039
29742.857422 -0.117493 0.076904 0.012817 181089377742
29764.285156 -0.116425 0.077972 0.012817 181189574187
29860.714844 -0.115356 0.076904 0.012817 181289772705
29864.285156 -0.117493 0.076904 0.012817 181389971520
29910.714844 -0.115356 0.076904 0.013885 181490170483
29917.857422 -0.116425 0.076904 0.011749 181590369742
29975.000000 -0.116425 0.076904 0.012817 181690567075
Disabling: in_anglvel_z_en
Disabling: in_timestamp_en
Disabling: in_anglvel_y_en
Disabling: in_temp_en
Disabling: in_anglvel_x_en

The first column is the temperature in millidegrees, then the x,y,z
axes in succession followed by the timestamp. Also tested successfully
using the HRTimer trigger.

Cc: Nick Vaccaro <nvaccaro@google.com>
Cc: Ge Gao <ggao@invensense.com>
Cc: Anna Si <asi@invensense.com>
Cc: Dmitry Torokhov <dmitry.torokhov@gmail.com>
Cc: Crestez Dan Leonard <leonard.crestez@intel.com>
Cc: Daniel Baluta <daniel.baluta@intel.com>
Cc: Gregor Boirie <gregor.boirie@parrot.com>
Cc: Peter Rosin <peda@axentia.se>
Cc: Peter Meerwald-Stadler <pmeerw@pmeerw.net>
Signed-off-by: default avatarLinus Walleij <linus.walleij@linaro.org>
Signed-off-by: default avatarJonathan Cameron <jic23@kernel.org>
parent e0549df6

MAINTAINERS

+7 −0
Original line number Diff line number Diff line
@@ -6496,6 +6496,13 @@ S: Maintained 
F:	arch/x86/include/asm/pmc_core.h

F:	drivers/platform/x86/intel_pmc_core*



INVENSENSE MPU-3050 GYROSCOPE DRIVER

M:	Linus Walleij <linus.walleij@linaro.org>

L:	linux-iio@vger.kernel.org

S:	Maintained

F:	drivers/iio/gyro/mpu3050*

F:	Documentation/devicetree/bindings/iio/gyroscope/inv,mpu3050.txt



IOC3 ETHERNET DRIVER

M:	Ralf Baechle <ralf@linux-mips.org>

L:	linux-mips@linux-mips.org

drivers/iio/gyro/Kconfig

+17 −0
Original line number Diff line number Diff line
@@ -84,6 +84,23 @@ config HID_SENSOR_GYRO_3D 
	  Say yes here to build support for the HID SENSOR

	  Gyroscope 3D.



config MPU3050

	tristate

	select IIO_BUFFER

	select IIO_TRIGGERED_BUFFER

	select REGMAP



config MPU3050_I2C

	tristate "Invensense MPU3050 devices on I2C"

	depends on !(INPUT_MPU3050=y || INPUT_MPU3050=m)

	select MPU3050

	select REGMAP_I2C

	select I2C_MUX

	help

	  This driver supports the Invensense MPU3050 gyroscope over I2C.

	  This driver can be built as a module. The module will be called

	  inv-mpu3050-i2c.



config IIO_ST_GYRO_3AXIS

	tristate "STMicroelectronics gyroscopes 3-Axis Driver"

	depends on (I2C || SPI_MASTER) && SYSFS

drivers/iio/gyro/Makefile

+5 −0
Original line number Diff line number Diff line
@@ -14,6 +14,11 @@ obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o 


obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o



# Currently this is rolled into one module, split it if

# we ever create a separate SPI interface for MPU-3050

obj-$(CONFIG_MPU3050) += mpu3050.o

mpu3050-objs := mpu3050-core.o mpu3050-i2c.o



itg3200-y               := itg3200_core.o

itg3200-$(CONFIG_IIO_BUFFER) += itg3200_buffer.o

obj-$(CONFIG_ITG3200)   += itg3200.o

drivers/iio/gyro/mpu3050-core.c

0 → 100644
+1307 −0

File added.

Preview size limit exceeded, changes collapsed.

drivers/iio/gyro/mpu3050-i2c.c

0 → 100644
+124 −0
Original line number Diff line number Diff line 
#include <linux/err.h>

#include <linux/i2c.h>

#include <linux/i2c-mux.h>

#include <linux/iio/iio.h>

#include <linux/module.h>

#include <linux/regmap.h>

#include <linux/pm_runtime.h>



#include "mpu3050.h"



static const struct regmap_config mpu3050_i2c_regmap_config = {

	.reg_bits = 8,

	.val_bits = 8,

};



static int mpu3050_i2c_bypass_select(struct i2c_mux_core *mux, u32 chan_id)

{

	struct mpu3050 *mpu3050 = i2c_mux_priv(mux);



	/* Just power up the device, that is all that is needed */

	pm_runtime_get_sync(mpu3050->dev);

	return 0;

}



static int mpu3050_i2c_bypass_deselect(struct i2c_mux_core *mux, u32 chan_id)

{

	struct mpu3050 *mpu3050 = i2c_mux_priv(mux);



	pm_runtime_mark_last_busy(mpu3050->dev);

	pm_runtime_put_autosuspend(mpu3050->dev);

	return 0;

}



static int mpu3050_i2c_probe(struct i2c_client *client,

			     const struct i2c_device_id *id)

{

	struct regmap *regmap;

	const char *name;

	struct mpu3050 *mpu3050;

	int ret;



	if (!i2c_check_functionality(client->adapter,

				     I2C_FUNC_SMBUS_I2C_BLOCK))

		return -EOPNOTSUPP;



	if (id)

		name = id->name;

	else

		return -ENODEV;



	regmap = devm_regmap_init_i2c(client, &mpu3050_i2c_regmap_config);

	if (IS_ERR(regmap)) {

		dev_err(&client->dev, "Failed to register i2c regmap %d\n",

			(int)PTR_ERR(regmap));

		return PTR_ERR(regmap);

	}



	ret = mpu3050_common_probe(&client->dev, regmap, client->irq, name);

	if (ret)

		return ret;



	/* The main driver is up, now register the I2C mux */

	mpu3050 = iio_priv(dev_get_drvdata(&client->dev));

	mpu3050->i2cmux = i2c_mux_alloc(client->adapter, &client->dev,

					1, 0, I2C_MUX_LOCKED | I2C_MUX_GATE,

					mpu3050_i2c_bypass_select,

					mpu3050_i2c_bypass_deselect);

	/* Just fail the mux, there is no point in killing the driver */

	if (!mpu3050->i2cmux)

		dev_err(&client->dev, "failed to allocate I2C mux\n");

	else {

		mpu3050->i2cmux->priv = mpu3050;

		ret = i2c_mux_add_adapter(mpu3050->i2cmux, 0, 0, 0);

		if (ret)

			dev_err(&client->dev, "failed to add I2C mux\n");

	}



	return 0;

}



static int mpu3050_i2c_remove(struct i2c_client *client)

{

	struct iio_dev *indio_dev = dev_get_drvdata(&client->dev);

	struct mpu3050 *mpu3050 = iio_priv(indio_dev);



	if (mpu3050->i2cmux)

		i2c_mux_del_adapters(mpu3050->i2cmux);



	return mpu3050_common_remove(&client->dev);

}



/*

 * device id table is used to identify what device can be

 * supported by this driver

 */

static const struct i2c_device_id mpu3050_i2c_id[] = {

	{ "mpu3050" },

	{}

};

MODULE_DEVICE_TABLE(i2c, mpu3050_i2c_id);



static const struct of_device_id mpu3050_i2c_of_match[] = {

	{ .compatible = "invensense,mpu3050", .data = "mpu3050" },

	/* Deprecated vendor ID from the Input driver */

	{ .compatible = "invn,mpu3050", .data = "mpu3050" },

	{ },

};

MODULE_DEVICE_TABLE(of, mpu3050_i2c_of_match);



static struct i2c_driver mpu3050_i2c_driver = {

	.probe = mpu3050_i2c_probe,

	.remove = mpu3050_i2c_remove,

	.id_table = mpu3050_i2c_id,

	.driver = {

		.of_match_table = mpu3050_i2c_of_match,

		.name = "mpu3050-i2c",

		.pm = &mpu3050_dev_pm_ops,

	},

};

module_i2c_driver(mpu3050_i2c_driver);



MODULE_AUTHOR("Linus Walleij");

MODULE_DESCRIPTION("Invensense MPU3050 gyroscope driver");

MODULE_LICENSE("GPL");