Re: [PATCH 3/3] iio: imu: inv_mpu6050: Add basic support for mpu9150

[Jonathan Cameron <jic23@kernel.org>]

On 05/02/14 10:34, Manuel Stahl wrote:
> The magnetometer included in the mpu9150 will be exported to the
> I2C bus at address 0x0C and can be accessed by the IIO driver
> ak8975.
>
> Signed-off-by: Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
This looks straight forward to me, but I'll let it sit for a few
days to give Ge an oportunity to comment.

Jonathan

> ---
>   drivers/iio/imu/inv_mpu6050/Kconfig        |  6 ++++--
>   drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 21 ++++++++++++++++++++-
>   drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |  4 ++++
>   3 files changed, 28 insertions(+), 3 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
> index 361b232..9843f9e 100644
> --- a/drivers/iio/imu/inv_mpu6050/Kconfig
> +++ b/drivers/iio/imu/inv_mpu6050/Kconfig
> @@ -3,12 +3,14 @@
>   #
>
>   config INV_MPU6050_IIO
> -	tristate "Invensense MPU6050 devices"
> +	tristate "Invensense MPU6050 and MPU9150 devices"
>   	depends on I2C && SYSFS
>   	select IIO_BUFFER
>   	select IIO_TRIGGERED_BUFFER
>   	help
> -	  This driver supports the Invensense MPU6050 devices.
> +	  This driver supports the Invensense MPU6050 and MPU9150 devices.
>   	  It is a gyroscope/accelerometer combo device.
> +	  The MPU9150 has an additional magnetometer, but this is currently
> +	  only exported as a separate device on I2C address 0x0C.
>   	  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 fda1ee2..a121b5c 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -71,6 +71,12 @@ static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
>   		.reg = &reg_set_6050,
>   		.config = &chip_config_6050,
>   	},
> +	{
> +		.num_reg = 118,
> +		.name = "MPU9150",
> +		.reg = &reg_set_6050,
> +		.config = &chip_config_6050,
> +	},
>   };
>
>   int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
> @@ -616,7 +622,12 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
>   {
>   	int result;
>
> -	st->chip_type = INV_MPU6050;
> +	st->chip_type = (unsigned)id->driver_data;
> +	if (st->chip_type >= INV_NUM_PARTS) {
> +		dev_err(&st->client->dev,
> +			"Invalid chip type: %s.\n", id->name);
> +		return -ENODEV;
> +	}
>   	st->hw  = &hw_info[st->chip_type];
>   	st->reg = hw_info[st->chip_type].reg;
>
> @@ -646,6 +657,11 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
>   	if (result)
>   		return result;
>
> +	/* set to bypass mode */
> +	result = inv_mpu6050_write_reg(st, INV_MPU6050_REG_INT_PIN_CFG,
> +			INV_MPU6050_BIT_BYPASS_EN);
> +	if (result)
> +		return result;
>   	return 0;
>   }
>
> @@ -719,6 +735,8 @@ static int inv_mpu_probe(struct i2c_client *client,
>   		goto out_remove_trigger;
>   	}
>
> +	dev_info(&st->client->dev, "IMU %s found\n", id->name);
> +
>   	return 0;
>
>   out_remove_trigger:
> @@ -765,6 +783,7 @@ 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},
> +	{"mpu9150", INV_MPU9150},
>   	{}
>   };
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index 0ab382b..d91b1e4 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_MPU9150,
>   	INV_NUM_PARTS
>   };
>
> @@ -132,6 +133,9 @@ struct inv_mpu6050_state {
>   #define INV_MPU6050_BIT_ACCEL_OUT           0x08
>   #define INV_MPU6050_BITS_GYRO_OUT           0x70
>
> +#define INV_MPU6050_REG_INT_PIN_CFG         0x37
> +#define INV_MPU6050_BIT_BYPASS_EN           0x02
> +
>   #define INV_MPU6050_REG_INT_ENABLE          0x38
>   #define INV_MPU6050_BIT_DATA_RDY_EN         0x01
>   #define INV_MPU6050_BIT_DMP_INT_EN          0x02
>