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118 lines
3.6 KiB
118 lines
3.6 KiB
7 years ago
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Kernel driver inv-mpu-iio
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Author: InvenSense, Inc.
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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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- Dts file
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- Communicating with the Driver in Userspace
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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 supported chips are listed in Kconfig and user selects an
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appropriate one from .e.g. menuconfig.
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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 (kernel 3.10):
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- Copy mpu.h to <kernel_root>/include/linux/iio/imu/
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- Copy inv_mpu folder under <kernel_root>/drivers/iio/imu/
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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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add "source "drivers/iio/imu/inv_mpu/Kconfig""
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in <kernel_root>/drivers/iio/imu/Kconfig
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add "obj-y += inv_mpu/"
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in <kernel_root>/drivers/iio/imu/Makefile
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Dts file
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========
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In order to recognize the Invensense device on the I2C/SPI bus, dts(or dtsi)
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file must be modified.
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Example)
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ICM20648 + AK09911/BMP280/APDS9930 on AUX I2C
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i2c@f9968000 {
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/* Invensense */
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mpu6515_acc@68 {
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compatible = "inven,icm20648";
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reg = <0x68>;
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interrupt-parent = <&msmgpio>;
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interrupts = <73 0x2>;
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inven,vdd_ana-supply = <&pm8941_l17>;
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inven,vcc_i2c-supply = <&pm8941_lvs1>;
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inven,gpio_int1 = <&msmgpio 73 0x00>;
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fs_range = <0x00>;
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/* mount matrix */
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axis_map_x = <1>;
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axis_map_y = <0>;
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axis_map_z = <2>;
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negate_x = <0>;
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negate_y = <0>;
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negate_z = <1>;
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poll_interval = <200>;
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min_interval = <5>;
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inven,secondary_reg = <0x0c>;
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/* If no compass sensor,
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* replace "compass" with "none"
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*/
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inven,secondary_type = "compass";
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inven,secondary_name = "ak09911";
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inven,secondary_axis_map_x = <1>;
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inven,secondary_axis_map_y = <0>;
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inven,secondary_axis_map_z = <2>;
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inven,secondary_negate_x = <1>;
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inven,secondary_negate_y = <1>;
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inven,secondary_negate_z = <1>;
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/* If no pressure sensor,
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* replace "pressure" with "none"
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*/
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inven,aux_type = "pressure";
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inven,aux_name = "bmp280";
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inven,aux_reg = <0x76>;
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/* If no ALS sensor
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* replace "als" with "none"
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*/
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inven,read_only_slave_type = "als";
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inven,read_only_slave_name = "apds9930";
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inven,read_only_slave_reg = <0x39>;
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};
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};
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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 at:
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(I2C) /sys/devices/*.i2c/i2c-*/*-*/iio:device*
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(SPI) /sys/devices/*.spi/spi_master/spi*/spi*.*/iio:device*
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Group and Owner for all entries should be updated to system/system at
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boot time to allow userspace to access properly.
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License
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=======
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Copyright (C) 2018 InvenSense, Inc.
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This software is licensed under the terms of the GNU General Public
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License version 2, as published by the Free Software Foundation, and
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may be copied, distributed, and modified under those terms.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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