660 lines
21 KiB
Plaintext
660 lines
21 KiB
Plaintext
Kernel driver inv-mpu-iio
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Author: Invensense <http://invensense.com>
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Table of Contents:
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==================
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- Description
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- Integrating the Driver in the Linux Kernel
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- Board and Platform Data
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> Interrupt Pin
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> Platform Data
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- Board File Modifications for Secondary I2C Configuration
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> MPU-6050 + AKM8963 on the secondary I2C interface
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> MPU-6500 + AKM8963 on the secondary I2C interface
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> MPU-6515 + AKM8975 and BMP280 on the secondary I2C interface
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> MPU-9150
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> MPU-9250
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> MPU-3050 + BMA250 on the secondary I2C interface
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- Board File Modifications for Invensense Devices
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> MPU-3050
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> ITG-3500
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> MPU-6050
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> MPU-6515
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> MPU-6500
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> MPU-6XXX
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> MPU-9150
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> MPU-9250
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- IIO Subsystem
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> Communicating with the Driver in Userspace
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> ITG-3500
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> MPU-6050 and MPU-6500
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> MPU-9150
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> MPU-9250
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> MPU-3050 + BMA250 on the secondary I2C interface
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- Suspend and Resume
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- Wake up CPU using event interrupt
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- DMP Event
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- Motion Event
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- Streaming Data to an Userspace Application
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- Recommended Sysfs Entry Setup Sequence
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> With DMP Firmware
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> Without DMP Firmware
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- Test Applications
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> Running Test Applications with MPU-9150/MPU-6050/MPU-6500/MPU-9250
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> Running Test Applications with MPU-3050/ITG-3500
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Description
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===========
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This document describes how to install the Invensense device driver into a
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Linux kernel. The Invensense driver currently supports the following sensors:
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- ITG-3500
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- MPU-6050
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- MPU-9150
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- MPU-6500
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- MPU-9250
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- MPU-3050
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- MPU-6XXX(either MPU6050 or MPU6500, driver to do auto detection)
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The slave address of each device is either 0x68 or 0x69, depending on the AD0
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pin value of the device. Please refer to the appropriate product specification
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document for further information regarding the AD0 pin. The driver supports both
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addresses.
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The following files are included in this package:
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- Kconfig
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- Makefile
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- inv_mpu_core.c
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- inv_mpu_misc.c
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- inv_mpu_trigger.c
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- inv_mpu3050_iio.c
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- inv_mpu_iio.h
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- inv_mpu_ring.c
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- inv_slave_bma250.c
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- inv_slave_compass.c
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- dmpDefaultMPU6050.c
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- dmpkey.h
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- dmpmap.h
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- mpu.h
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Integrating the Driver in the Linux Kernel
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==========================================
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Please add the files as follows:
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- Add mpu.h to "kernel/include/linux".
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- Add all other files to drivers/staging/iio/imu/inv_mpu
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(another directory is acceptable, but this is the recommended destination)
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In order to see the driver in menuconfig when building the kernel, please
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make modifications as shown below:
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modify "drivers/staging/iio/imu/Kconfig" with:
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>> source "drivers/staging/iio/imu/inv_mpu/Kconfig"
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modify "drivers/staging/iio/imu/Makefile" with:
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>> obj-y += inv_mpu/
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Board and Platform Data
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=======================
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In order to recognize the Invensense device on the I2C bus, the board file must
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be modified.
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The i2c_board_info instance must be defined as shown below.
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Interrupt Pin
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-------------
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The hardcoded value of 140 corresponds to the GPIO input pin connected to the
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Invensense device's interrupt pin.
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This pin will most likely be different for your platform, and the value should
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be changed accordingly.
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Platform Data
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-------------
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The platform data (orientation matrix and secondary bus configurations) must be
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modified as show below, according to your particular platform configuration.
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Please note that the MPU-9150 it is treated as a MPU-6050 with AKM8975 on the
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device's secondary I2C interface. Thus the secondary I2C address must be
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provided.
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Please note that the MPU-9250 it is treated as a MPU-6500 with AKM8963 on the
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device's secondary I2C interface. Thus the secondary I2C address must be
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provided.
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Board File Modifications for Secondary I2C Configuration
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========================================================
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For the Panda Board, the board file can be found at
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arch/arm/mach-omap2/board-omap4panda.c.
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Please modify the pertinent baord file in your system according to the examples
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shown below:
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MPU-6050 + AKM8963 on the secondary I2C interface
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-------------------------------------------------
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static struct mpu_platform_data gyro_platform_data = {
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.int_config = 0x00,
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.level_shifter = 0,
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.orientation = { -1, 0, 0,
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0, 1, 0,
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0, 0, -1 },
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.sec_slave_type = SECONDARY_SLAVE_TYPE_COMPASS,
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.sec_slave_id = COMPASS_ID_AK8963,
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.secondary_i2c_addr = 0x0E,
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.secondary_orientation = { 0, 1, 0,
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1, 0, 0,
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0, 0, -1 },
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};
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MPU-6500 + AKM8963 on the secondary I2C interface
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-------------------------------------------------
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static struct mpu_platform_data gyro_platform_data = {
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.int_config = 0x00,
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.level_shifter = 0,
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.orientation = { -1, 0, 0,
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0, 1, 0,
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0, 0, -1 },
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.sec_slave_type = SECONDARY_SLAVE_TYPE_COMPASS,
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.sec_slave_id = COMPASS_ID_AK8963,
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.secondary_i2c_addr = 0x0E,
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.secondary_orientation = { 0, 1, 0,
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1, 0, 0,
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0, 0, -1 },
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};
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MPU-6500 + AK09911 on the secondary I2C interface
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-------------------------------------------------
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static struct mpu_platform_data gyro_platform_data = {
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.int_config = 0x00,
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.level_shifter = 0,
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.orientation = { -1, 0, 0,
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0, 1, 0,
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0, 0, -1 },
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.sec_slave_type = SECONDARY_SLAVE_TYPE_COMPASS,
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.sec_slave_id = COMPASS_ID_AK09911,
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.secondary_i2c_addr = 0x0D,
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.secondary_orientation = { 0, 1, 0,
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1, 0, 0,
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0, 0, -1 },
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};
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MPU-6515 + AK8975 + BMP280 on the secondary I2C interface
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Note: sec_slave_XXX can only be compass or accelerometer in 3050 case.
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aux_slave_XXX can only be pressure.
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--------------------------------------------------
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static struct mpu_platform_data mpu_data = {
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.int_config = 0x00,
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.level_shifter = 0,
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.orientation = { -1, 0, 0,
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0, 1, 0,
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0, 0, -1 },
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.sec_slave_type = SECONDARY_SLAVE_TYPE_COMPASS,
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.sec_slave_id = COMPASS_ID_AK8975,
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.secondary_i2c_addr = 0x0E,
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.secondary_orientation = { 0, 1, 0,
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1, 0, 0,
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0, 0, -1 },
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.aux_slave_type = SECONDARY_SLAVE_TYPE_PRESSURE,
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.aux_slave_id = PRESSURE_ID_BMP280,
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.aux_i2c_addr = 0x77,
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};
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static struct i2c_board_info __initdata chip_board_info[] = {
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{
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I2C_BOARD_INFO("mpu6515", 0x68),
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.irq = (IH_GPIO_BASE + MPUIRQ_GPIO),
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.platform_data = &mpu_data,
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}
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};
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MPU-9150
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--------
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For MPU-9150, please provide the following secondary I2C bus information.
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static struct mpu_platform_data gyro_platform_data = {
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.int_config = 0x10,
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.level_shifter = 0,
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.orientation = { 1, 0, 0,
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0, 1, 0,
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0, 0, 1 },
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.sec_slave_type = SECONDARY_SLAVE_TYPE_COMPASS,
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.sec_slave_id = COMPASS_ID_AK8975,
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.secondary_i2c_addr = 0x0C,
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.secondary_orientation = { 0, 1, 0,
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1, 0, 0,
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0, 0, -1 },
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};
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MPU-9250
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--------
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For MPU-9250, please provide the following secondary I2C bus information.
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static struct mpu_platform_data gyro_platform_data = {
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.int_config = 0x00,
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.level_shifter = 0,
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.orientation = { 1, 0, 0,
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0, 1, 0,
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0, 0, 1 },
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.sec_slave_type = SECONDARY_SLAVE_TYPE_COMPASS,
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.sec_slave_id = COMPASS_ID_AK8963,
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.secondary_i2c_addr = 0x0C,
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.secondary_orientation = { 0, 1, 0,
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-1, 0, 0,
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0, 0, 1 },
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};
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MPU-3050 + BMA250 on the secondary I2C interface
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------------------------------------------------
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For BMA250 on the secondary I2C bus, please provide the following information.
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static struct mpu_platform_data gyro_platform_data = {
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.int_config = 0x10,
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.level_shifter = 0,
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.orientation = { -1, 0, 0,
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0, 1, 0,
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0, 0, -1 },
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.sec_slave_type = SECONDARY_SLAVE_TYPE_ACCEL,
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.sec_slave_id = ACCEL_ID_BMA250,
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.secondary_i2c_addr = 0x18,
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};
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Board File Modifications for Invensense Devices
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===============================================
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For Invensense devices, please provide the i2c init data as shown in the
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examples below.
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In the _i2c_init function, the device is registered in the following manner:
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// arch/arm/mach-omap2/board-omap4panda.c
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// in static int __init omap4_panda_i2c_init(void)
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omap_register_i2c_bus(4, 400,
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single_chip_board_info,
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ARRAY_SIZE(single_chip_board_info));
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MPU-3050
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--------
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static struct i2c_board_info __initdata single_chip_board_info[] = {
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{
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I2C_BOARD_INFO("mpu3050", 0x68),
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.irq = (IH_GPIO_BASE + MPUIRQ_GPIO),
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.platform_data = &gyro_platform_data,
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},
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};
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ITG-3500
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--------
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static struct i2c_board_info __initdata single_chip_board_info[] = {
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{
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I2C_BOARD_INFO("itg3500", 0x68),
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.irq = (IH_GPIO_BASE + MPUIRQ_GPIO),
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.platform_data = &gyro_platform_data,
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},
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};
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MPU6050
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-------
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static struct i2c_board_info __initdata single_chip_board_info[] = {
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{
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I2C_BOARD_INFO("mpu6050", 0x68),
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.irq = (IH_GPIO_BASE + MPUIRQ_GPIO),
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.platform_data = &gyro_platform_data,
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},
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};
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MPU6500
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-------
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static struct i2c_board_info __initdata single_chip_board_info[] = {
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{
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I2C_BOARD_INFO("mpu6500", 0x68),
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.irq = (IH_GPIO_BASE + MPUIRQ_GPIO),
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.platform_data = &gyro_platform_data,
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},
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};
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MPU6XXX
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-------
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static struct i2c_board_info __initdata single_chip_board_info[] = {
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{
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I2C_BOARD_INFO("mpu6xxx", 0x68),
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.irq = (IH_GPIO_BASE + MPUIRQ_GPIO),
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.platform_data = &gyro_platform_data,
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},
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};
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MPU9150
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-------
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arch/arm/mach-omap2/board-omap4panda.c
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static struct i2c_board_info __initdata single_chip_board_info[] = {
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{
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I2C_BOARD_INFO("mpu9150", 0x68),
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.irq = (IH_GPIO_BASE + MPUIRQ_GPIO),
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.platform_data = &gyro_platform_data,
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},
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};
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MPU9250
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-------
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arch/arm/mach-omap2/board-omap4panda.c
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static struct i2c_board_info __initdata single_chip_board_info[] = {
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{
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I2C_BOARD_INFO("mpu9250", 0x68),
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.irq = (IH_GPIO_BASE + MPUIRQ_GPIO),
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.platform_data = &gyro_platform_data,
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},
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};
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IIO subsystem
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=============
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A successful installation will create the following two new directories under
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/sys/bus/iio/devices:
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- iio:device0
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- trigger0
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Also, a new file, "iio:device0", will be created in the /dev/ diretory.
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(if you have more than one IIO device, the file will be named "iio:deviceX",
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where X is a number)
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Communicating with the Driver in Userspace
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------------------------------------------
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The driver generates several files in sysfs upon installation.
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These files are used to communicate with the driver. The files can be found
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at /sys/bus/iio/devices/iio:device0 (or ../iio:deviceX as shown above).
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A brief description of the pertinent files for each Invensense device is shown
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below:
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ITG-3500
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--------
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temperature (Read-only)
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--Read temperature data directly from the temperature register.
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sampling_frequency (Read/write)
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--Configure the ADC sampling rate and FIFO output rate.
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sampling_frequency_available(read-only)
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--show commonly used frequency
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clock_source (Read-only)
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--Check which clock-source is used by the chip.
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power_state (Read/write)
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--turn on/off the power supply
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self_test (read-only)
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--read this entry trigger self test. The return value is D.
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D is the success/fail.
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For different chip, the result is different for success/fail.
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1 means success 0 means fail. The LSB of D is for gyro; the bit
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next to LSB of D is for accel. The bit 2 of D is for compass result.
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key (read-only)
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--show the key value of this driver. Used by MPL.
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gyro_matrix (read-only)
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--show the orientation matrix obtained from the board file.
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MPU-6050 and MPU-6500
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---------------------
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MPU-6050 and MPU-6500 have all sysfs files belonging to ITG-3500 (shown above).
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In addition, it has the files below:
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gyro_enable (read/write)
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--enable/disable gyro functionality. Affects raw_gyro. Turning this off this
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will shut down gyro and save power.
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accl_enable (read/write)
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--enable/disable accelerometer functionality. Affects raw_accl.
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Turning this off this will shut down accel and save power.
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firmware_loaded (read/write)
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--Flag indicating the whether firmware is loaded or not in the DMP engine.
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0 means no firmware loaded. 1 means firmware is already loaded . This
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flag can only be written as 0. It internally updates to 1.
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dmp_on(read/write)
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--This entry controls whether to run DMP or not.
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Write 1 to enable DMP and write 0 to disable dmp.
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Please note that firmware_loaded must be 1 in order to enable DMP.
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dmp_int_on(read/write)
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--This entry controls whether dmp interrupt is on/off.
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Please note that firmware_loaded must be 1.
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Also, we'd like to remind you that it is sometimes advantageous to
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turn interrupts off while the DMP is running.
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dmp_output_rate
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--control dmp output rate when dmp is on.
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dmp_event_int_on(read/write)
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--This entry controls whether dmp event interrupt is on/off.
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Please note that turning this on will turn off the data interrupt.
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Interrupts will be generated only when events occur.
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This is useful for saving power when the system is waiting for a special event
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to wake up.
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dmp_firmware (write only binary file)
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--DMP firmware code is loaded into this entry.
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If loading is successful, the firmware_loaded flag will be updated to 1.
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In order to load new firmware, the firmware_loaded flag must be first set to 0.
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accel_matrix
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--orientation matrix for accelerometer.
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quaternion_on
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--Turn on/off quaterniion data output. DMP is required for this feature.
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pedometer_time
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pedometer_steps,
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--Pedometer related entries
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event_tap
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event_display_orientation
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event_accel_motion
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event_smd
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--Event related entries.
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Please poll these entries to read their values. Direct reads will yield
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meaningless results.
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Further details are provided in the DMP Events section of this README.
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tap_on
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--Controls tap function of DMP
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tap_time
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tap_min_count
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tap_threshold
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--Tap related entries. Controls various parameters of tap function.
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display_orientation_on
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--Turn on/off display orientation function of DMP.
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smd_enable
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enable SMD(Significant Motion Detection) detection.
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smd_threshold
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This set the threshold of the motion when SMD start to be triggered. The
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value is in acclerometer counts.
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smd_delay_threshold
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This sets the threshold of time after which SMD can be triggered.
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The value is in seconds.
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smd_delay_threshold2
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This sets the threshold of time during which SMD can be triggered (after the
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smd_delay_threshold timer has expired).
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The value is in seconds.
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quaternion_on
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--Turn on/off quaterniion data output. DMP is required for this feature.
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Low power accel motion interrupt related settings.
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if motion_lpa_on is set, this will disable all engines except accel. Accel will
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enter low power mode and the whole chip will be turned on/off at specific frequency.
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-----------------------------------------------------------------------------
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motion_lpa_threshold
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--set motion threshold. in mg. The maximum is 1020mg and resolution is 32mg.
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motion_lpa_on
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--turn on/off motion function.
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motion_lpa_freq
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--motion lpa frequency. which determines power on/off frequency.
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------------------------------------------------------------------------------
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MPU-9150
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--------
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MPU-9150 has all of MPU-6050's entries. It also has two additional entries,
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described below.
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compass_enable (read/write)
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--Enables compass function.
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compass_matrix (read-only)
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--Compass orientation matrix
|
|
|
|
MPU-3050 with BMA250 on secondary I2C interface
|
|
-----------------------------------------------
|
|
MPU-3050 with BMA250 on the secondary I2C interface has ever ITG-3500 entry.
|
|
It also has two additional entries, shown below:
|
|
|
|
accl_matrix
|
|
|
|
accl_enable
|
|
|
|
Suspend and Resume
|
|
===================================================
|
|
The suspend and resume functions are call backs registered to the system
|
|
and executed when the system goes in suspend and resumes.
|
|
It is enabled when CONFIG_PM is defined.
|
|
The current behavior is simple:
|
|
- suspend will turn off the chip
|
|
- resume will turn on the chip
|
|
|
|
However, it is possible for the driver to do more complex things;
|
|
for example, leaving pedometers running when system is off. This can save whole
|
|
system power while letting pedometer working. Other behaviors are possible
|
|
too.
|
|
|
|
Wake up CPU using event interrupt
|
|
====================================================
|
|
It is common practice in current mobile device to save power as much as
|
|
possible. Ususally the device can sleep when not use and only be wake up when in use.
|
|
Invensense MPU series provides an efficient way of waking up CPU by events.
|
|
The events could be pedometer steps, tap action, SMD(significant Motion Detection),
|
|
or any customer defined actions. CPU can sleep to save power, when event happens,
|
|
DMP will calculate the motion data to detemine whether a pre-defined event happens
|
|
or not. If an pre-defined happens, an interrupt is generated to wake up the CPU
|
|
to do further processing.
|
|
The requirements of doing event wake is the following:
|
|
1. Add enable_irq_wake() either in the driver or in the board file.
|
|
2. Connect the interrupt pin to the CPU wake up pin.
|
|
3. Configure CPU to be woken up by wake up pin.
|
|
|
|
DMP Event
|
|
=========
|
|
A DMP Event is an event that is output by the DMP unit within the Invensense
|
|
device (MPU).
|
|
Only the MPU-6050, MPU-6500, MPU-9250, MPU-9150, MPU-9250 feature the DMP.
|
|
|
|
There are four sysfs entries for DMP events:
|
|
- event_tap
|
|
- event_display_orientation
|
|
- event_accel_motion
|
|
- event_smd
|
|
|
|
These events must be polled before reading.
|
|
|
|
The proper method to poll sysfs is as follows:
|
|
1. open file.
|
|
2. dummy read.
|
|
3. poll.
|
|
4. once the poll passed, use fopen and fread to read the sysfs entry.
|
|
5. interpret the data.
|
|
|
|
Streaming Data to an Userspace Application
|
|
==========================================
|
|
When streaming data to an userspace application, we recommend that you access
|
|
gyro/accel/compass data via /dev/iio:device0.
|
|
|
|
Please follow the steps below to read data at a constant rate from the driver:
|
|
|
|
1. Write a 1 to power_state to turn on the chip. This is the default setting
|
|
after installing the driver.
|
|
2. Write the desired output rate to fifo_rate.
|
|
3. Write 1 to enable to turn on the event.
|
|
4. Read /dev/iio:device0 to get a string of gyro/accel/compass data.
|
|
5. Parse this string to obtain each gyro/accel/compass element.
|
|
6. If dmp firmware code is loaded, use "dmp_on" to enable/disable dmp.
|
|
7. If compass is enabled, the output will contain compass data.
|
|
|
|
|
|
Recommended Sysfs Entry Setup Senquence
|
|
=======================================
|
|
|
|
Without DMP Firmware
|
|
--------------------
|
|
1. Set "power_state" to 1,
|
|
2. Set the scale and fifo rate values according to your needs.
|
|
3. Set gyro_enable, accel_enable, and compass_enable according to your needs.
|
|
For example:
|
|
- If you only want gyro data, set accel_enable to 0 (and compass_enable to
|
|
0, if applicable).
|
|
- If you only want accel data, set gyro_enable to 0 (and compass_enable to
|
|
0, if applicable).
|
|
- If you only want compass data, set gyro_enable to 0 and accel_enable to 0.
|
|
4. Set "enable" to 1.
|
|
5. You will now get the output that you want.
|
|
|
|
With DMP Firmware
|
|
-----------------
|
|
1. Set "power_state" to 1.
|
|
2. Write "0" to firmware_loaded if it is not zero already.
|
|
3. Load firmware into "dmp_firmware" as a whole. Don't split the DMP firmware
|
|
image.
|
|
4. Make sure firmware_loaded is 1 after loading the DMP image.
|
|
5. Make appropriate configurations as shown above in the "without DMP firmware"
|
|
case.
|
|
6. Set dmp_on to 1.
|
|
7. Set "enable" to 1.
|
|
|
|
Please note that the enable function uses the enable entry under
|
|
"/sys/bus/iio/devices/iio:device0/buffer"
|
|
|
|
Test Applications
|
|
=================
|
|
A test application is located under software/simple_apps/mpu_iio.
|
|
This application is stand-alone in that it cannot be run concurrently with other
|
|
entities trying to access the device node(s) or sysfs entries; in particular,
|
|
the
|
|
|
|
Running Test Applications with MPU-9150/MPU-6050/MPU-6500/MPU-9250
|
|
---------------------------------------------------------
|
|
To run test applications with MPU-9150, MPU-9250, MPU-6050, or MPU-6500 devices,
|
|
please use the following commands:
|
|
|
|
1. For tap/display orientation events:
|
|
mpu_iio -c 10 -l 3 -p
|
|
|
|
2. In addition, to test the motion interrupt (and no_motion on MPU6050) use:
|
|
mpu_iio -c 10 -l 3 -p -m
|
|
|
|
3. For printing data normally:
|
|
mpu_iio -c 10 -l 3 -r
|
|
|
|
Running Test Applications with MPU-3050/ITG-3500
|
|
------------------------------------------------
|
|
To run test applications with MPU-3050 or ITG-3500 devices,
|
|
please use the following command:
|
|
|
|
1. For printing data normally:
|
|
mpu_iio -c 10 -l 3 -r
|
|
|
|
Please use mpu_iio.c and iio_utils.h as example code for your development
|
|
purposes.
|
|
|
|
Stress test application
|
|
=================================
|
|
A stress test application is located under software/simple_apps/stress_iio.
|
|
This application simulates HAL's usage calls to the driver. It creates three
|
|
threads. One for data read; one for event read; one for sysfs control.
|
|
It can run without any parameters or run with some control parameters. Please
|
|
see README in the same directories for details.
|
|
|