[PATCH v3 0/3] ARM: omap: omap4-embt2ws: Add IMU on control unit

[PATCH v3 0/3] ARM: omap: omap4-embt2ws: Add IMU on control unit

[Andreas Kemnade]

Contrary to the IMU at the head, a bit needs to be set to
make probe of the magnetometer successful.

Changes in V3:
- correct another - vs _ issue in device tree
- more standard kernel version description

Changes in V2:
- add types in binding doc
- more description / comments in binding doc
- limit register change to imu9150
- correct node name in device tree (- vs _)

Andreas Kemnade (3):
  dt-bindings: iio: imu: mpu6050: Add level shifter
  iio: imu: mpu6050: add level shifter flag
  ARM: dts: omap: omap4-embt2ws: Add IMU at control unit

 .../bindings/iio/imu/invensense,mpu6050.yaml    |  5 +++++
 .../boot/dts/ti/omap/omap4-epson-embt2ws.dts    | 17 ++++++++++++++++-
 drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c       | 13 +++++++++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c      |  3 +++
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h       |  1 +
 5 files changed, 38 insertions(+), 1 deletion(-)

-- 
2.39.2

[PATCH v3 1/3] dt-bindings: iio: imu: mpu6050: Add level shifter

[Andreas Kemnade]

Add a level shifter flag as found in ancient platform data struct:
level_shifter: 0: VLogic, 1: VDD

Signed-off-by: Andreas Kemnade <andreas@kemnade.info>
---
 .../devicetree/bindings/iio/imu/invensense,mpu6050.yaml      | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Documentation/devicetree/bindings/iio/imu/invensense,mpu6050.yaml b/Documentation/devicetree/bindings/iio/imu/invensense,mpu6050.yaml
index 1db6952ddca5e..297b8a1a7ffbc 100644
--- a/Documentation/devicetree/bindings/iio/imu/invensense,mpu6050.yaml
+++ b/Documentation/devicetree/bindings/iio/imu/invensense,mpu6050.yaml
@@ -48,6 +48,11 @@ properties:
 
   mount-matrix: true
 
+  invensense,level-shifter:
+    type: boolean
+    description: |
+      From ancient platform data struct: false: VLogic, true: VDD
+
   i2c-gate:
     $ref: /schemas/i2c/i2c-controller.yaml
     unevaluatedProperties: false
-- 
2.39.2

[PATCH v3 2/3] iio: imu: mpu6050: add level shifter flag

[Andreas Kemnade]

Some boards fail in magnetometer probe if level shifter flag is not set,
definition was found in the vendor Linux kernel v3.0.

Signed-off-by: Andreas Kemnade <andreas@kemnade.info>
Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com>
---
 drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c  | 13 +++++++++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c |  3 +++
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |  1 +
 3 files changed, 17 insertions(+)

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
index 7327e5723f961..8a7f2911905af 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
@@ -71,6 +71,19 @@ int inv_mpu_aux_init(const struct inv_mpu6050_state *st)
 	unsigned int val;
 	int ret;
 
+	/*
+	 * Code based on the vendor Linux kernel v3.0,
+	 * the exact meaning is unknown.
+	 */
+	if (st->chip_type == INV_MPU9150) {
+		unsigned int mask = BIT(7);
+
+		val = st->level_shifter ? mask : 0;
+		ret = regmap_update_bits(st->map, 0x1, mask, val);
+		if (ret)
+			return ret;
+	}
+
 	/* configure i2c master */
 	val = INV_MPU6050_BITS_I2C_MST_CLK_400KHZ |
 			INV_MPU6050_BIT_WAIT_FOR_ES;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 29f906c884bd8..3fbeef1a70186 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -17,6 +17,7 @@
 #include <linux/regulator/consumer.h>
 #include <linux/pm.h>
 #include <linux/pm_runtime.h>
+#include <linux/property.h>
 
 #include <linux/iio/common/inv_sensors_timestamp.h>
 #include <linux/iio/iio.h>
@@ -1495,6 +1496,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 	st->irq = irq;
 	st->map = regmap;
 
+	st->level_shifter = device_property_read_bool(dev,
+						      "invensense,level-shifter");
 	pdata = dev_get_platdata(dev);
 	if (!pdata) {
 		result = iio_read_mount_matrix(dev, &st->orientation);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index ed5a96e78df05..7eba1439c8093 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -203,6 +203,7 @@ struct inv_mpu6050_state {
 	s32 magn_raw_to_gauss[3];
 	struct iio_mount_matrix magn_orient;
 	unsigned int suspended_sensors;
+	bool level_shifter;
 	u8 *data;
 };
 
-- 
2.39.2

[PATCH v3 3/3] ARM: dts: omap: omap4-embt2ws: Add IMU at control unit

[Andreas Kemnade]

Add also the level-shifter flag to avoid probe failure in magnetometer
probe.

Signed-off-by: Andreas Kemnade <andreas@kemnade.info>
---
 .../boot/dts/ti/omap/omap4-epson-embt2ws.dts    | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/arch/arm/boot/dts/ti/omap/omap4-epson-embt2ws.dts b/arch/arm/boot/dts/ti/omap/omap4-epson-embt2ws.dts
index cd4f858d846ab..284a438fc5dcf 100644
--- a/arch/arm/boot/dts/ti/omap/omap4-epson-embt2ws.dts
+++ b/arch/arm/boot/dts/ti/omap/omap4-epson-embt2ws.dts
@@ -391,7 +391,16 @@ tlv320aic3x: codec@18 {
 		reset-gpios = <&gpio2 23 GPIO_ACTIVE_LOW>;
 	};
 
-	/* TODO: mpu9150 at control unit, seems to require quirks */
+	mpu9150: imu@68 {
+		compatible = "invensense,mpu9150";
+		reg = <0x68>;
+
+		pinctrl-names = "default";
+		pinctrl-0 = <&mpu9150_pins>;
+		interrupt-parent = <&gpio2>;
+		interrupt = <7 IRQ_TYPE_LEVEL_HIGH>;
+		invensense,level-shifter;
+	};
 };
 
 &keypad {
@@ -530,6 +539,12 @@ OMAP4_IOPAD(0x0fc, PIN_INPUT | MUX_MODE0)       /* abe_mcbsp2_fsx */
 		>;
 	};
 
+	mpu9150_pins: pinmux-mpu9150-pins {
+		pinctrl-single,pins = <
+			OMAP4_IOPAD(0x5e, PIN_INPUT_PULLUP | MUX_MODE3)
+		>;
+	};
+
 	mpu9150h_pins: pinmux-mpu9150h-pins {
 		pinctrl-single,pins = <
 			OMAP4_IOPAD(0x76, PIN_INPUT_PULLUP | MUX_MODE3)
-- 
2.39.2

Re: [PATCH v3 1/3] dt-bindings: iio: imu: mpu6050: Add level shifter

[Jean-Baptiste Maneyrol]

Hello,

looks good for me, thanks.

Acked-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>

Thanks,
JB


From: Andreas Kemnade <andreas@kemnade.info>
Sent: Wednesday, September 27, 2023 19:32
To: jic23@kernel.org <jic23@kernel.org>; lars@metafoo.de <lars@metafoo.de>; robh+dt@kernel.org <robh+dt@kernel.org>; krzysztof.kozlowski+dt@linaro.org <krzysztof.kozlowski+dt@linaro.org>; conor+dt@kernel.org <conor+dt@kernel.org>; bcousson@baylibre.com <bcousson@baylibre.com>; tony@atomide.com <tony@atomide.com>; andreas@kemnade.info <andreas@kemnade.info>; chenhuiz@axis.com <chenhuiz@axis.com>; Jean-Baptiste Maneyrol <Jean-Baptiste.Maneyrol@tdk.com>; andy.shevchenko@gmail.com <andy.shevchenko@gmail.com>; linux-iio@vger.kernel.org <linux-iio@vger.kernel.org>; devicetree@vger.kernel.org <devicetree@vger.kernel.org>; linux-kernel@vger.kernel.org <linux-kernel@vger.kernel.org>; linux-omap@vger.kernel.org <linux-omap@vger.kernel.org>
Subject: [PATCH v3 1/3] dt-bindings: iio: imu: mpu6050: Add level shifter 
 
Add a level shifter flag as found in ancient platform data struct: level_shifter: 0: VLogic, 1: VDD Signed-off-by: Andreas Kemnade <andreas@ kemnade. info> --- .. . /devicetree/bindings/iio/imu/invensense,mpu6050. yaml | 5 +++++ 1 file changed, 
ZjQcmQRYFpfptBannerStart
This Message Is From an External Sender 
This message came from outside your organization. 
 
ZjQcmQRYFpfptBannerEnd
Add a level shifter flag as found in ancient platform data struct:
level_shifter: 0: VLogic, 1: VDD

Signed-off-by: Andreas Kemnade <andreas@kemnade.info>
---
 .../devicetree/bindings/iio/imu/invensense,mpu6050.yaml      | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Documentation/devicetree/bindings/iio/imu/invensense,mpu6050.yaml b/Documentation/devicetree/bindings/iio/imu/invensense,mpu6050.yaml
index 1db6952ddca5e..297b8a1a7ffbc 100644
--- a/Documentation/devicetree/bindings/iio/imu/invensense,mpu6050.yaml
+++ b/Documentation/devicetree/bindings/iio/imu/invensense,mpu6050.yaml
@@ -48,6 +48,11 @@ properties:
 
   mount-matrix: true
 
+  invensense,level-shifter:
+    type: boolean
+    description: |
+      From ancient platform data struct: false: VLogic, true: VDD
+
   i2c-gate:
     $ref: /schemas/i2c/i2c-controller.yaml
     unevaluatedProperties: false
-- 
2.39.2

Re: [PATCH v3 2/3] iio: imu: mpu6050: add level shifter flag

[Jean-Baptiste Maneyrol]

Hello,

looks good for me.

Acked-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>

Thanks,
JB


From: Andreas Kemnade <andreas@kemnade.info>
Sent: Wednesday, September 27, 2023 19:32
To: jic23@kernel.org <jic23@kernel.org>; lars@metafoo.de <lars@metafoo.de>; robh+dt@kernel.org <robh+dt@kernel.org>; krzysztof.kozlowski+dt@linaro.org <krzysztof.kozlowski+dt@linaro.org>; conor+dt@kernel.org <conor+dt@kernel.org>; bcousson@baylibre.com <bcousson@baylibre.com>; tony@atomide.com <tony@atomide.com>; andreas@kemnade.info <andreas@kemnade.info>; chenhuiz@axis.com <chenhuiz@axis.com>; Jean-Baptiste Maneyrol <Jean-Baptiste.Maneyrol@tdk.com>; andy.shevchenko@gmail.com <andy.shevchenko@gmail.com>; linux-iio@vger.kernel.org <linux-iio@vger.kernel.org>; devicetree@vger.kernel.org <devicetree@vger.kernel.org>; linux-kernel@vger.kernel.org <linux-kernel@vger.kernel.org>; linux-omap@vger.kernel.org <linux-omap@vger.kernel.org>
Subject: [PATCH v3 2/3] iio: imu: mpu6050: add level shifter flag 
 
Some boards fail in magnetometer probe if level shifter flag is not set, definition was found in the vendor Linux kernel v3. 0. Signed-off-by: Andreas Kemnade <andreas@ kemnade. info> Reviewed-by: Andy Shevchenko <andy. shevchenko@ gmail. com> 
ZjQcmQRYFpfptBannerStart
This Message Is From an External Sender 
This message came from outside your organization. 
 
ZjQcmQRYFpfptBannerEnd
Some boards fail in magnetometer probe if level shifter flag is not set,
definition was found in the vendor Linux kernel v3.0.

Signed-off-by: Andreas Kemnade <andreas@kemnade.info>
Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com>
---
 drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c  | 13 +++++++++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c |  3 +++
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |  1 +
 3 files changed, 17 insertions(+)

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
index 7327e5723f961..8a7f2911905af 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
@@ -71,6 +71,19 @@ int inv_mpu_aux_init(const struct inv_mpu6050_state *st)
 	unsigned int val;
 	int ret;
 
+	/*
+	 * Code based on the vendor Linux kernel v3.0,
+	 * the exact meaning is unknown.
+	 */
+	if (st->chip_type == INV_MPU9150) {
+		unsigned int mask = BIT(7);
+
+		val = st->level_shifter ? mask : 0;
+		ret = regmap_update_bits(st->map, 0x1, mask, val);
+		if (ret)
+			return ret;
+	}
+
 	/* configure i2c master */
 	val = INV_MPU6050_BITS_I2C_MST_CLK_400KHZ |
 			INV_MPU6050_BIT_WAIT_FOR_ES;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 29f906c884bd8..3fbeef1a70186 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -17,6 +17,7 @@
 #include <linux/regulator/consumer.h>
 #include <linux/pm.h>
 #include <linux/pm_runtime.h>
+#include <linux/property.h>
 
 #include <linux/iio/common/inv_sensors_timestamp.h>
 #include <linux/iio/iio.h>
@@ -1495,6 +1496,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 	st->irq = irq;
 	st->map = regmap;
 
+	st->level_shifter = device_property_read_bool(dev,
+						      "invensense,level-shifter");
 	pdata = dev_get_platdata(dev);
 	if (!pdata) {
 		result = iio_read_mount_matrix(dev, &st->orientation);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index ed5a96e78df05..7eba1439c8093 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -203,6 +203,7 @@ struct inv_mpu6050_state {
 	s32 magn_raw_to_gauss[3];
 	struct iio_mount_matrix magn_orient;
 	unsigned int suspended_sensors;
+	bool level_shifter;
 	u8 *data;
 };
 
-- 
2.39.2

Re: [PATCH v3 1/3] dt-bindings: iio: imu: mpu6050: Add level shifter

[Rob Herring]

On Wed, 27 Sep 2023 19:32:43 +0200, Andreas Kemnade wrote:
> Add a level shifter flag as found in ancient platform data struct:
> level_shifter: 0: VLogic, 1: VDD
> 
> Signed-off-by: Andreas Kemnade <andreas@kemnade.info>
> ---
>  .../devicetree/bindings/iio/imu/invensense,mpu6050.yaml      | 5 +++++
>  1 file changed, 5 insertions(+)
> 

Acked-by: Rob Herring <robh@kernel.org>

Re: [PATCH v3 2/3] iio: imu: mpu6050: add level shifter flag

[Jonathan Cameron]

On Wed, 27 Sep 2023 19:08:31 +0000
Jean-Baptiste Maneyrol <Jean-Baptiste.Maneyrol@tdk.com> wrote:

> Hello,
> 
> looks good for me.
> 
> Acked-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com>

Applied patches 1 and 2 to the togreg branch of iio.git which I will
initially push out as testing to let 0-day poke at it,

Thanks,

Jonathan

> 
> Thanks,
> JB
> 
> 
> From: Andreas Kemnade <andreas@kemnade.info>
> Sent: Wednesday, September 27, 2023 19:32
> To: jic23@kernel.org <jic23@kernel.org>; lars@metafoo.de <lars@metafoo.de>; robh+dt@kernel.org <robh+dt@kernel.org>; krzysztof.kozlowski+dt@linaro.org <krzysztof.kozlowski+dt@linaro.org>; conor+dt@kernel.org <conor+dt@kernel.org>; bcousson@baylibre.com <bcousson@baylibre.com>; tony@atomide.com <tony@atomide.com>; andreas@kemnade.info <andreas@kemnade.info>; chenhuiz@axis.com <chenhuiz@axis.com>; Jean-Baptiste Maneyrol <Jean-Baptiste.Maneyrol@tdk.com>; andy.shevchenko@gmail.com <andy.shevchenko@gmail.com>; linux-iio@vger.kernel.org <linux-iio@vger.kernel.org>; devicetree@vger.kernel.org <devicetree@vger.kernel.org>; linux-kernel@vger.kernel.org <linux-kernel@vger.kernel.org>; linux-omap@vger.kernel.org <linux-omap@vger.kernel.org>
> Subject: [PATCH v3 2/3] iio: imu: mpu6050: add level shifter flag 
>  
> Some boards fail in magnetometer probe if level shifter flag is not set, definition was found in the vendor Linux kernel v3. 0. Signed-off-by: Andreas Kemnade <andreas@ kemnade. info> Reviewed-by: Andy Shevchenko <andy. shevchenko@ gmail. com> 
> ZjQcmQRYFpfptBannerStart
> This Message Is From an External Sender 
> This message came from outside your organization. 
>  
> ZjQcmQRYFpfptBannerEnd
> Some boards fail in magnetometer probe if level shifter flag is not set,
> definition was found in the vendor Linux kernel v3.0.
> 
> Signed-off-by: Andreas Kemnade <andreas@kemnade.info>
> Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com>
> ---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c  | 13 +++++++++++++
>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c |  3 +++
>  drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |  1 +
>  3 files changed, 17 insertions(+)
> 
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
> index 7327e5723f961..8a7f2911905af 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
> @@ -71,6 +71,19 @@ int inv_mpu_aux_init(const struct inv_mpu6050_state *st)
>  	unsigned int val;
>  	int ret;
>  
> +	/*
> +	 * Code based on the vendor Linux kernel v3.0,
> +	 * the exact meaning is unknown.
> +	 */
> +	if (st->chip_type == INV_MPU9150) {
> +		unsigned int mask = BIT(7);
> +
> +		val = st->level_shifter ? mask : 0;
> +		ret = regmap_update_bits(st->map, 0x1, mask, val);
> +		if (ret)
> +			return ret;
> +	}
> +
>  	/* configure i2c master */
>  	val = INV_MPU6050_BITS_I2C_MST_CLK_400KHZ |
>  			INV_MPU6050_BIT_WAIT_FOR_ES;
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index 29f906c884bd8..3fbeef1a70186 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -17,6 +17,7 @@
>  #include <linux/regulator/consumer.h>
>  #include <linux/pm.h>
>  #include <linux/pm_runtime.h>
> +#include <linux/property.h>
>  
>  #include <linux/iio/common/inv_sensors_timestamp.h>
>  #include <linux/iio/iio.h>
> @@ -1495,6 +1496,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
>  	st->irq = irq;
>  	st->map = regmap;
>  
> +	st->level_shifter = device_property_read_bool(dev,
> +						      "invensense,level-shifter");
>  	pdata = dev_get_platdata(dev);
>  	if (!pdata) {
>  		result = iio_read_mount_matrix(dev, &st->orientation);
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index ed5a96e78df05..7eba1439c8093 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -203,6 +203,7 @@ struct inv_mpu6050_state {
>  	s32 magn_raw_to_gauss[3];
>  	struct iio_mount_matrix magn_orient;
>  	unsigned int suspended_sensors;
> +	bool level_shifter;
>  	u8 *data;
>  };
>  

Re: [PATCH v3 3/3] ARM: dts: omap: omap4-embt2ws: Add IMU at control unit

[Tony Lindgren]

* Andreas Kemnade <andreas@kemnade.info> [230927 17:32]:
> Add also the level-shifter flag to avoid probe failure in magnetometer
> probe.

Applying this patch into omap-for-v6.7/dt thanks.

Regards,

Tony