Mark, Near as I can tell, no one has done better than just file i/o via /dev/i2c/... This works, but doesn't seem to expose or take advantage of the Invensense kernel driver functionality. Plus it seems to be very slow. Jason Kridner was tackling it a couple weeks ago, but didn't report any success. I haven't made any progress either. Seems we are stuck. I wish someone could figure out how to ping the author at Invensense. I tried writing via thier support web page but didn't get a reply. Clark On Tuesday, November 12, 2013 12:57:54 PM UTC-8, Mark A. Yoder wrote:
> Did anyone every get the inv-mpu6050 kernel driver to work? I have the > device on the i2c bus and I can read and write registers using > *i2cset/i2cget*, but *modprobe inv-mpu605* doesn't make anything appear. > > --Mark > > On Saturday, November 2, 2013 11:51:04 AM UTC-4, clarkbr...@gmail.comwrote: >> >> Jason, >> I apologize for taking so long to answer. It wasn't quick to figure out >> which breakout board we had with the MPU6050 on it. It is apparently a >> Kootek® >> Arduino GY-521 MPU-6050 Module from Amazon. >> Itis wired: >> >> P9_1->Gnd >> >> P9_3->VCC >> >> P9_19 ->SCL >> >> P9_20 -> SDA >> >> Your P9_19 SCL and P9_20 SDA should be fine. >> >> Later posts suggest you can talk to you device and have shown us via W >> Smith the way to straighten out which bus is which. >> >> Clark >> On Thursday, October 31, 2013 1:32:46 PM UTC-7, Jason Kridner wrote: >> >>> On Tue, Oct 29, 2013 at 2:19 PM, Jason Kridner <jkri...@beagleboard.org> >>> wrote: >>> > >>> > On Thu, Oct 17, 2013 at 6:12 PM, <clarkbr...@gmail.com> wrote: >>> > > AIW: >>> > > I went back thru the adafruit library and didn't find anything >>> specific on >>> > > I2C, although it is listed as a topic. I have been looking at their >>> github >>> > > adafruit-beaglebone-io-python library. I also found and looked thru >>> PyBBIO. >>> > > Even tho I'm not using Python, I can see the access mechanisms that >>> they >>> > > use. >>> > > I can use the MPU6050 device ok enough just reading via >>> /dev/i2c/i2c-x, but >>> > > that is too slow. >>> > > I'm trying to figure out how to invoke and use the inv-mpu6050 >>> driver and >>> > > adafruit doesn't use that. >>> > > Thx -- Clark >>> > > >>> > > On Thursday, October 17, 2013 9:47:44 AM UTC-7, AIW wrote: >>> > >> >>> > >> Some good info on I2C tools at http://www.acmesystems.it/i2c. >>> > >> >>> > >> Python and the adafruit BBIO I2C library makes it very easy to use >>> I2C on >>> > >> Beaglebone Black as well. Python import smbus is fairly easy to use >>> too. >>> > >> Some examples of use is available in the code I provide for my >>> radio project >>> > >> here....www.aiwindustries.com. >>> > >> >>> > >> Not trying to sell the product, but I know that the I2C function >>> was >>> > >> giving me some issues so I'm just trying to help the community. >>> Python code >>> > >> is available to download and look at usage so feel free. >>> > >> >>> > >> On Tuesday, October 15, 2013 5:02:59 PM UTC-5, >>> > >> clarkbr...@gmail.comwrote: >>> > >>> >>> > >>> We are using the Invensense MPU6050 IMU on I2C with Beaglebone >>> Black >>> > >>> (Angstrom 3.8.13). We can use I2C-tools and file I/O thru /dev/i2c >>> but the >>> > >>> read speed is disappointingly slow. We only read the 3x gyros and >>> 3x accels >>> > >>> (each one byte at a time plus the 2 byte temperature reading) and >>> it takes >>> > >>> ~2msecs. My estimate of the I2C bus cycles for a block read >>> suggests this >>> > >>> should take ~160 bus cycles or .38msec on a 400MHz I2C bus. >>> > >>> > You are running at 400kHz, not 400MHz, right? I2C doesn't do 400MHz. >>> > >>> > >>> >>> > >>> The distribution includes the Invensense driver inv-mpu6050.ko but >>> there >>> > >>> is no indication that reading through /dev/i2c invokes it. This >>> is a very >>> > >>> popular IMU and Invensense widely distributes the driver over many >>> Linux >>> > >>> platforms. The driver source includes “successful installation >>> will create >>> > >>> two directories under /sys/bus/iio/devices” and lists the files >>> there (aka >>> > >>> functions). I can never get these to show up. >>> > >>> >>> > >>> I can “insmod >>> > >>> >>> /lib/modules/3.8.13/kernel/drivers/iio/imu/inv_mpu6050/inv-mpu6050.ko” and >>> > >>> “echo inv-mpu6050 0x68 > /sys/class/i2c-adapter/i2c-1/new_device”. >>> This >>> > >>> causes a new directory named 1-0068 to show in >>> > >>> /sys/class/i2c-adapter/i2c-1with entries like name and modalias >>> but no >>> > >>> functions. It never shows in /sys/bus/iio/devices. >>> > >>> > I don't have an MPU6050, but I just ordered a couple on express >>> > overnight from Sparkfun. >>> >>> I bought https://www.sparkfun.com/products/11028 and played with it >>> briefly before being distracted and again today, but I don't >>> understand why I'm not able to get it to reply to me. >>> >>> I have the following connections: >>> VCC: P9_4 (VDD_3V3) >>> GNC: P9_1 (GND) >>> INT: P9_11 (GPIO) >>> FSYNC: - >>> SCL: P9_19 (I2C2_SCL) >>> SDA: P9_20 (I2C2_SDA) >>> VIO: P9_3 (VDD_3V3) >>> CLK: - >>> ASCL: - >>> ASDA: - >>> >>> I then perform: >>> >>> root@beaglebone:~# i2cdetect -y -r 1 >>> 0 1 2 3 4 5 6 7 8 9 a b c d e f >>> 00: -- -- -- -- -- -- -- -- -- -- -- -- -- >>> 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- >>> 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- >>> 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- >>> 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- >>> 50: -- -- -- -- UU UU UU UU -- -- -- -- -- -- -- -- >>> 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- >>> 70: -- -- -- -- -- -- -- -- >>> >>> Very confused why it doesn't show up. >>> >>> Since you have it responding to you, how do you have it wired? >>> >>> > >>> > Here's the behavior I'm seeing without the board connected: >>> > >>> > >>> root@beaglebone:/lib/modules/3.8.13/kernel/drivers/iio/imu/inv_mpu6050# ls >>> > inv-mpu6050.ko >>> > >>> root@beaglebone:/lib/modules/3.8.13/kernel/drivers/iio/imu/inv_mpu6050# >>> > dmesg | tail -1 >>> > [ 2992.799594] i2c i2c-1: new_device: Instantiated device inv-mpu6050 >>> at 0x68 >>> > >>> root@beaglebone:/lib/modules/3.8.13/kernel/drivers/iio/imu/inv_mpu6050# >>> lsmod >>> > Module Size Used by >>> > ip_tables 8294 0 >>> > x_tables 15072 1 ip_tables >>> > g_multi 55905 2 >>> > libcomposite 15228 1 g_multi >>> > rfcomm 25106 0 >>> > ircomm_tty 14503 0 >>> > ircomm 8846 1 ircomm_tty >>> > irda 89974 2 ircomm_tty,ircomm >>> > ipv6 229989 14 >>> > hidp 10112 0 >>> > bluetooth 146100 4 hidp,rfcomm >>> > rfkill 16510 2 bluetooth >>> > autofs4 17432 2 >>> > >>> > I looked for the installed device: >>> > >>> > >>> root@beaglebone:/lib/modules/3.8.13/kernel/drivers/iio/imu/inv_mpu6050# >>> > cat /sys/bus/iio/devices/iio*/name >>> > tiadc >>> > >>> root@beaglebone:/lib/modules/3.8.13/kernel/drivers/iio/imu/inv_mpu6050# >>> > ls /sys/bus/iio/devices/iio* -d >>> > /sys/bus/iio/devices/iio:device0 >>> > >>> > It is clearly missing per the documentation >>> > ( >>> https://www.kernel.org/doc/Documentation/ABI/testing/sysfs-bus-iio-mpu6050) >>> >>> > that says there should be a sysfs entry there. >>> > >>> > Just in case I could get it to show up, I did try manually doing a >>> modprobe. >>> > >>> > >>> root@beaglebone:/lib/modules/3.8.13/kernel/drivers/iio/imu/inv_mpu6050# >>> > modprobe inv-mpu6050 >>> > >>> root@beaglebone:/lib/modules/3.8.13/kernel/drivers/iio/imu/inv_mpu6050# >>> lsmod >>> > Module Size Used by >>> > inv_mpu6050 7190 0 >>> > ip_tables 8294 0 >>> > x_tables 15072 1 ip_tables >>> > g_multi 55905 2 >>> > libcomposite 15228 1 g_multi >>> > rfcomm 25106 0 >>> > ircomm_tty 14503 0 >>> > ircomm 8846 1 ircomm_tty >>> > irda 89974 2 ircomm_tty,ircomm >>> > ipv6 229989 14 >>> > hidp 10112 0 >>> > bluetooth 146100 4 hidp,rfcomm >>> > rfkill 16510 2 bluetooth >>> > autofs4 17432 2 >>> > >>> root@beaglebone:/lib/modules/3.8.13/kernel/drivers/iio/imu/inv_mpu6050# >>> > ls /sys/bus/iio/devices/iio* -d >>> > /sys/bus/iio/devices/iio:device0 >>> > >>> > Of course, this all makes perfect sense since the driver should exit >>> > upon failing the 'probe': >>> > >>> https://github.com/beagleboard/linux/blob/3.8/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c#L658 >>> >>> > >>> > I'd have to look up how to turn on more debugging statements. I tried >>> > the hints at http://elinux.org/Debugging_by_printing, but I'm >>> > surprised the 'dmesg' log didn't show any extra errors. >>> > >>> > >>> > >>> >>> > >>> What constitutes “successful installation”? >>> > >>> >>> > >>> What else is needed to get the inv-mpu6050 to expose functions in >>> > >>> /sys/bus/iio/devices like the driver sources says? >>> > >>> > I don't think anything else should be required. To build the kernel >>> > properly, there are a few things that need to be enabled >>> > ( >>> https://github.com/beagleboard/linux/blob/3.8/drivers/iio/imu/inv_mpu6050/Kconfig): >>> >>> >>> > >>> > INV_MPU6050_IIO, I2C, SYSFS, IIO_BUFFER, IIO_TRIGGERED_BUFFER >>> > >>> > And they are all there: >>> > >>> https://github.com/beagleboard/kernel/blob/3.8/configs/beaglebone#L3676 >>> > >>> > >>> >>> > >>> Beaglebone Black uses bone_capemgr for exposing driver functions >>> for many >>> > >>> devices. “echo inv-mpu6050 0x68 > >>> /sys/devices/bone_capmgr.9/slots” raises >>> > >>> the gripe “write error: no such file or directory”. (I can >>> successfully >>> > >>> load the am33xx_pwm driver this way.) Is this because there is no >>> matching >>> > >>> DT fragment in /lib/firmware? >>> > >>> > Yes. >>> > >>> > >>> Is the inv-mpu6050 driver supposed to be >>> > >>> invoked thru cape manager? >>> > >>> > No, because the I2C bus software provides another mechanism. I believe >>> > you could create a DT fragment, but I think it is pointless. >>> > >>> > >>> >>> > >>> Then, most importantly, if I did read and write through the /sys >>> tree >>> > >>> using the Invensense driver would it be faster than /dev/i2c? >>> > >>> Help on sorting this out would be much appreciated. >>> > >>> > Yes, because the driver running in kernel mode is going to be higher >>> > performance than your pokes from userspace. >>> > >>> > > >>> > > -- >>> > > For more options, visit http://beagleboard.org/discuss >>> > > --- >>> > > You received this message because you are subscribed to the Google >>> Groups >>> > > "BeagleBoard" group. >>> > > To unsubscribe from this group and stop receiving emails from it, >>> send an >>> > > email to beagleboard...@googlegroups.com. >>> > > For more options, visit https://groups.google.com/groups/opt_out. >>> >> -- For more options, visit http://beagleboard.org/discuss --- You received this message because you are subscribed to the Google Groups "BeagleBoard" group. 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