It looks like someone has done a nice port to Andriod[1]. How hard would it be to port it to Angstrom?
--Mark [1] https://android.googlesource.com/kernel/tegra/+/74f15aa73e1d999368e3a8287cdb85718e987d48/drivers/staging/iio/imu/mpu/README On Wednesday, November 13, 2013 10:30:07 PM UTC-5, clarkbr...@gmail.com wrote: > > 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.com wrote: >>>> > >>> >>>> > >>> 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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