1 // SPDX-License-Identifier: GPL-2.0
3  * Copyright (C) 2019 TDK-InvenSense, Inc.
49 	switch (st->chip_type) {  in inv_magn_supported()
73 		return -ENODEV;  in inv_magn_init()
76 	switch (st->chip_type) {  in inv_magn_init()
101 	/* switch back to power-down */  in inv_magn_init()
113 	switch (st->chip_type) {  in inv_magn_init()
124 		return -EINVAL;  in inv_magn_init()
130 	 * Hadj = H * (((ASA - 128) * 0.5 / 128) + 1)  in inv_magn_init()
136 	st->magn_raw_to_gauss[0] = (((int32_t)asa[0] + 128) * sensitivity) / 256;  in inv_magn_init()
137 	st->magn_raw_to_gauss[1] = (((int32_t)asa[1] + 128) * sensitivity) / 256;  in inv_magn_init()
138 	st->magn_raw_to_gauss[2] = (((int32_t)asa[2] + 128) * sensitivity) / 256;  in inv_magn_init()
144  * inv_mpu_magn_probe() - probe and setup magnetometer chip
173 	 * i2c SLV0: read sensor data, 7 bytes data(6)-ST2  in inv_mpu_magn_probe()
174 	 * Byte swap data to store them in big-endian in impair address groups  in inv_mpu_magn_probe()
176 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0),  in inv_mpu_magn_probe()
181 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0),  in inv_mpu_magn_probe()
186 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),  in inv_mpu_magn_probe()
195 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(1),  in inv_mpu_magn_probe()
200 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(1),  in inv_mpu_magn_probe()
207 	switch (st->chip_type) {  in inv_mpu_magn_probe()
215 	ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(1), val);  in inv_mpu_magn_probe()
219 	return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(1),  in inv_mpu_magn_probe()
224  * inv_mpu_magn_set_rate() - set magnetometer sampling rate
247 		d = fifo_rate / INV_MPU_MAGN_FREQ_HZ_MAX - 1;  in inv_mpu_magn_set_rate()
251 	return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, d);  in inv_mpu_magn_set_rate()
255  * inv_mpu_magn_set_orient() - fill magnetometer mounting matrix
264 	struct device *dev = regmap_get_device(st->map);  in inv_mpu_magn_set_orient()
269 	/* fill magnetometer orientation */  in inv_mpu_magn_set_orient()
270 	switch (st->chip_type) {  in inv_mpu_magn_set_orient()
274 		/* x <- y */  in inv_mpu_magn_set_orient()
275 		st->magn_orient.rotation[0] = st->orientation.rotation[3];  in inv_mpu_magn_set_orient()
276 		st->magn_orient.rotation[1] = st->orientation.rotation[4];  in inv_mpu_magn_set_orient()
277 		st->magn_orient.rotation[2] = st->orientation.rotation[5];  in inv_mpu_magn_set_orient()
278 		/* y <- x */  in inv_mpu_magn_set_orient()
279 		st->magn_orient.rotation[3] = st->orientation.rotation[0];  in inv_mpu_magn_set_orient()
280 		st->magn_orient.rotation[4] = st->orientation.rotation[1];  in inv_mpu_magn_set_orient()
281 		st->magn_orient.rotation[5] = st->orientation.rotation[2];  in inv_mpu_magn_set_orient()
282 		/* z <- -z */  in inv_mpu_magn_set_orient()
284 			orient = st->orientation.rotation[i];  in inv_mpu_magn_set_orient()
294 			if (orient[0] == '-')  in inv_mpu_magn_set_orient()
299 				str = devm_kasprintf(dev, GFP_KERNEL, "-%s", orient);  in inv_mpu_magn_set_orient()
301 				return -ENOMEM;  in inv_mpu_magn_set_orient()
303 			st->magn_orient.rotation[i] = str;  in inv_mpu_magn_set_orient()
307 		st->magn_orient = st->orientation;  in inv_mpu_magn_set_orient()
315  * inv_mpu_magn_read() - read magnetometer data
331 		return -ENODEV;  in inv_mpu_magn_read()
334 	switch (axis) {  in inv_mpu_magn_read()
345 		return -EINVAL;  in inv_mpu_magn_read()
350 	ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);  in inv_mpu_magn_read()
356 		return -EIO;  in inv_mpu_magn_read()
358 	ret = regmap_bulk_read(st->map, addr, &data, sizeof(data));  in inv_mpu_magn_read()