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drivers: sensors: mpu6050: add support for mpu9250

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mpu9250 is a single package that contains both an mpu6050 6-axis
motion sensor and an ak8963 magnetometer. The two parts have
separate i2c addresses, yet despite the common mpu6050 component,
it has a different value in the "WHOAMI" register -- 0x71 instead
of 0x68.

This adds the additional chip id value in order to enable the use
of mpu9250.

Signed-off-by: Adam Serbinski <adam@serbinski.com>
This commit is contained in:
Adam Serbinski 2021-02-24 11:09:41 -05:00 • committed by Maureen Helm
commit c70fc85909
2 changed files with 2 additions and 1 deletions
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2
drivers/sensor/mpu6050/mpu6050.c
View file

@ -161,7 +161,7 @@ int mpu6050_init(const struct device *dev)
return -EIO;
}
if (id != MPU6050_CHIP_ID) {
if (id != MPU6050_CHIP_ID && id != MPU9250_CHIP_ID) {
LOG_ERR("Invalid chip ID.");
return -EINVAL;
}

1
drivers/sensor/mpu6050/mpu6050.h
View file

@ -14,6 +14,7 @@
#define MPU6050_REG_CHIP_ID 0x75
#define MPU6050_CHIP_ID 0x68
#define MPU9250_CHIP_ID 0x71
#define MPU6050_REG_GYRO_CFG 0x1B
#define MPU6050_GYRO_FS_SHIFT 3