From 04d0060017c137fabb4282811dc9dfd05478cc4c Mon Sep 17 00:00:00 2001 From: guoyi Date: Tue, 24 Mar 2015 14:30:23 +0800 Subject: [PATCH] sensor: add mpu6500 accel support --- arch/arm64/boot/dts/rk3368-p9_818.dts | 32 +-- drivers/input/sensors/accel/Kconfig | 7 + drivers/input/sensors/accel/Makefile | 1 + drivers/input/sensors/accel/mpu6500_acc.c | 286 ++++++++++++++++++++++ drivers/input/sensors/sensor-dev.c | 4 + include/linux/mpu6500.h | 238 ++++++++++++++++++ include/linux/sensor-dev.h | 1 + 7 files changed, 543 insertions(+), 26 deletions(-) create mode 100644 drivers/input/sensors/accel/mpu6500_acc.c create mode 100644 include/linux/mpu6500.h diff --git a/arch/arm64/boot/dts/rk3368-p9_818.dts b/arch/arm64/boot/dts/rk3368-p9_818.dts index c180283a6c64..158adb5d62f7 100755 --- a/arch/arm64/boot/dts/rk3368-p9_818.dts +++ b/arch/arm64/boot/dts/rk3368-p9_818.dts @@ -368,34 +368,14 @@ &i2c4 { status = "okay"; - - mpu6050:mpu@68{ - compatible = "mpu6050"; + mpu6500_acc:mpu_acc@68{ + compatible = "mpu6500_acc"; reg = <0x68>; - mpu-int_config = <0x10>; - mpu-level_shifter = <0>; - mpu-orientation = <0 1 0 1 0 0 0 0 1>; - orientation-x= <0>; - orientation-y= <1>; - orientation-z= <1>; - irq-gpio = <&gpio3 GPIO_B6 IRQ_TYPE_LEVEL_LOW>; - mpu-debug = <0>; - }; - - - ak8963:compass@0d{ - compatible = "mpu_ak8963"; - reg = <0x0d>; - compass-bus = <0>; - compass-adapt_num = <0>; - compass-orientation = <1 0 0 0 1 0 0 0 1>; - orientation-x= <0>; - orientation-y= <0>; - orientation-z= <1>; - compass-debug = <1>; - status = "okay"; + irq_enable = <0>; + poll_delay_ms = <30>; + type = ; + layout = <7>; }; - }; &i2c5 { diff --git a/drivers/input/sensors/accel/Kconfig b/drivers/input/sensors/accel/Kconfig index d37e937bf486..4d4f1cd48959 100755 --- a/drivers/input/sensors/accel/Kconfig +++ b/drivers/input/sensors/accel/Kconfig @@ -24,6 +24,13 @@ config MPU6880_ACC To have support for your specific gsesnor you will have to select the proper drivers which depend on this option. +config MPU6500_ACC + bool "Sensor mpu6500_acc" + default y + help + To have support for your specific gsesnor you will have to + select the proper drivers which depend on this option. + config GS_KXTIK bool "gsensor kxtik" help diff --git a/drivers/input/sensors/accel/Makefile b/drivers/input/sensors/accel/Makefile index 87dbb03bac96..add3a9541704 100755 --- a/drivers/input/sensors/accel/Makefile +++ b/drivers/input/sensors/accel/Makefile @@ -8,3 +8,4 @@ obj-$(CONFIG_GS_DMT10) += dmard10.o obj-$(CONFIG_GS_LSM303D) += lsm303d.o obj-$(CONFIG_GS_MC3230) += mc3230.o obj-$(CONFIG_MPU6880_ACC) += mpu6880_acc.o +obj-$(CONFIG_MPU6500_ACC) += mpu6500_acc.o diff --git a/drivers/input/sensors/accel/mpu6500_acc.c b/drivers/input/sensors/accel/mpu6500_acc.c new file mode 100644 index 000000000000..07a807ffedff --- /dev/null +++ b/drivers/input/sensors/accel/mpu6500_acc.c @@ -0,0 +1,286 @@ +/* drivers/input/sensors/access/mpu6500_acc.c + * + * Copyright (C) 2012-2015 ROCKCHIP. + * Author: oeh + * + * This software is licensed under the terms of the GNU General Public + * License version 2, as published by the Free Software Foundation, and + * may be copied, distributed, and modified under those terms. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#ifdef CONFIG_HAS_EARLYSUSPEND +#include +#endif +#include +#include + + + +static int sensor_active(struct i2c_client *client, int enable, int rate) +{ + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + int result = 0; + int status = 0; + u8 pwrm1 = 0; + + sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg); + pwrm1 = sensor_read_reg(client, MPU6500_PWR_MGMT_1); + //¹Ø±Õ + if(!enable) + { + status = BIT_ACCEL_STBY; + sensor->ops->ctrl_data |= status; + //gyroºÍacc¶¼²»¹¤×÷ʱ£¬Ä£¿é½øÈëÐÝÃß + if(sensor->ops->ctrl_data && (BIT_ACCEL_STBY | BIT_GYRO_STBY) != 0) + { + pwrm1 |= MPU6500_PWRM1_SLEEP; + } + } + else//´ò¿ª + { + status = ~BIT_ACCEL_STBY; + sensor->ops->ctrl_data &= status; + pwrm1 &=~MPU6500_PWRM1_SLEEP; + } + result = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data); + if(result) + { + printk("%s:fail to set pwrm2\n",__func__); + return -1; + } + msleep(20); + + result = sensor_write_reg(client, MPU6500_PWR_MGMT_1,pwrm1); + if(result) + { + printk("%s:fail to set pwrm1\n",__func__); + return -1; + } + msleep(20); + + return result; + +} + +static int sensor_init(struct i2c_client *client) +{ + int res=0; + u8 read_data = 0; + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + + //¼ì²âICÊÇ·ñΪMPU6500 + read_data = sensor_read_reg(client,sensor->ops->id_reg); + + if(read_data != sensor->ops->id_data) + { + printk("%s:check id err,read_data:%d,ops->id_data:%d\n",__func__,read_data,sensor->ops->id_data); + return -1; + } + + //¼Ä´æÆ÷³õʼ»¯ + res = sensor_write_reg(client, MPU6500_PWR_MGMT_1,0x80); + if (res) + { + printk("set MPU6500_PWR_MGMT_1 error,res: %d!\n", res); + return res; + } + msleep(40); + + res = sensor_write_reg(client, MPU6500_GYRO_CONFIG,0x18); //config gyro for 2000dps + if (res) + { + printk("set MPU6500_GYRO_CONFIG error,res: %d!\n", res); + return res; + } + msleep(10); + + res = sensor_write_reg(client, MPU6500_ACCEL_CONFIG,0x00); //config Accel for +_2G + if (res) + { + printk("set MPU6500_ACCEL_CONFIG error,res: %d!\n", res); + return res; + } + msleep(10); + + res = sensor_write_reg(client, MPU6500_ACCEL_CONFIG2,0x00); + if (res) + { + printk("set MPU6500_ACCEL_CONFIG2 error,res: %d!\n", res); + return res; + } + res = sensor_write_reg(client, MPU6500_PWR_MGMT_2,0x3F); //set accl and gyro all axis into standby mode + if (res) + { + printk("set MPU6500_PWR_MGMT_2 error,res: %d!\n", res); + return res; + } + msleep(10); + res = sensor_write_reg(client, MPU6500_PWR_MGMT_1,0x41); + if (res) + { + printk("set MPU6500_PWR_MGMT_1 error,res: %d!\n", res); + return res; + } + msleep(10); + + //ĬÈÏ¹Ø±Õ + res = sensor->ops->active(client,0,0); + if(res) + { + printk("%s:line=%d,error\n",__func__,__LINE__); + return res; + } + return res; +} + +static int gsensor_report_value(struct i2c_client *client, struct sensor_axis *axis) +{ + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + + /* Report acceleration sensor information */ + input_report_abs(sensor->input_dev, ABS_X, axis->x); + input_report_abs(sensor->input_dev, ABS_Y, axis->y); + input_report_abs(sensor->input_dev, ABS_Z, axis->z); + input_sync(sensor->input_dev); + DBG("Gsensor x==%d y==%d z==%d\n",axis->x,axis->y,axis->z); + + return 0; +} + +#define GSENSOR_MIN 10 +static int sensor_report_value(struct i2c_client *client) +{ + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + struct sensor_platform_data *pdata = sensor->pdata; + int ret = 0; + short x,y,z; + struct sensor_axis axis; + u8 buffer[6] = {0}; + char value = 0; + + if(sensor->ops->read_len < 6) //sensor->ops->read_len = 6 + { + printk("%s:lenth is error,len=%d\n",__func__,sensor->ops->read_len); + return -1; + } + + memset(buffer, 0, 6); + + /* Data bytes from hardware xL, xH, yL, yH, zL, zH */ + do { + *buffer = sensor->ops->read_reg; + ret = sensor_rx_data(client, buffer, sensor->ops->read_len); + if (ret < 0) + return ret; + } while (0); + + x = ((buffer[0] << 8) & 0xff00) + (buffer[1] & 0xFF); + y = ((buffer[2] << 8) & 0xff00) + (buffer[3] & 0xFF); + z = ((buffer[4] << 8) & 0xff00) + (buffer[5] & 0xFF); + /* + printk("mpu6500_acc: x:%d,y:%d,z:%d,-4:%d\n",x,y,z,-4); + printk("mpu6500_acc:orientation:\n%d %d %d\n%d %d %d\n%d %d %d\n",pdata->orientation[0], + pdata->orientation[1],pdata->orientation[2],pdata->orientation[3],pdata->orientation[4], + pdata->orientation[5],pdata->orientation[6],pdata->orientation[7],pdata->orientation[8]); + */ + axis.x = (pdata->orientation[0])*x + (pdata->orientation[1])*y + (pdata->orientation[2])*z; + axis.y = (pdata->orientation[3])*x + (pdata->orientation[4])*y + (pdata->orientation[5])*z; + axis.z = (pdata->orientation[6])*x + (pdata->orientation[7])*y + (pdata->orientation[8])*z; + + //ΪÁ˲»ÐÞ¸Ähal²ã´úÂ룬Êý¾Ýת»»ºóÉϱ¨ + axis.x = 61*axis.x; + axis.y = 61*axis.y; + axis.z = 61*axis.z; + + //if((abs(sensor->axis.x - axis.x) > GSENSOR_MIN) || (abs(sensor->axis.y - axis.y) > GSENSOR_MIN) || (abs(sensor->axis.z - axis.z) > GSENSOR_MIN)) + { + gsensor_report_value(client, &axis); + + /* »¥³âµØ»º´æÊý¾Ý. */ + mutex_lock(&(sensor->data_mutex) ); + sensor->axis = axis; + mutex_unlock(&(sensor->data_mutex) ); + } + + if((sensor->pdata->irq_enable)&& (sensor->ops->int_status_reg >= 0)) //read sensor intterupt status register + { + + value = sensor_read_reg(client, sensor->ops->int_status_reg); + DBG("%s:sensor int status :0x%x\n",__func__,value); + } + + return ret; +} + + +struct sensor_operate gsensor_mpu6500_ops = { + .name = "mpu6500_acc", + .type = SENSOR_TYPE_ACCEL, //sensor type and it should be correct + .id_i2c = ACCEL_ID_MPU6500, //i2c id number + .read_reg = MPU6500_ACCEL_XOUT_H, //read data + .read_len = 6, //data length + .id_reg = MPU6500_WHOAMI, //read device id from this register + .id_data = MPU6500_DEVICE_ID, //device id + .precision = MPU6500_PRECISION, //16 bit + .ctrl_reg = MPU6500_PWR_MGMT_2, //enable or disable + .int_status_reg = MPU6500_INT_STATUS, //intterupt status register + .range = {-32768*61,32768*61}, //range + .trig = IRQF_TRIGGER_HIGH |IRQF_ONESHOT, + .active = sensor_active, + .init = sensor_init, + .report = sensor_report_value, +}; + +/****************operate according to sensor chip:end************/ + +//function name should not be changed +static struct sensor_operate *gsensor_get_ops(void) +{ + return &gsensor_mpu6500_ops; +} + + +static int __init gsensor_mpu6500_init(void) +{ + struct sensor_operate *ops = gsensor_get_ops(); + int result = 0; + int type = ops->type; + result = sensor_register_slave(type, NULL, NULL, gsensor_get_ops); + return result; +} + +static void __exit gsensor_mpu6500_exit(void) +{ + struct sensor_operate *ops = gsensor_get_ops(); + int type = ops->type; + sensor_unregister_slave(type, NULL, NULL, gsensor_get_ops); +} + + +module_init(gsensor_mpu6500_init); +module_exit(gsensor_mpu6500_exit); + + + diff --git a/drivers/input/sensors/sensor-dev.c b/drivers/input/sensors/sensor-dev.c index b952f1797275..d7536fc421f7 100755 --- a/drivers/input/sensors/sensor-dev.c +++ b/drivers/input/sensors/sensor-dev.c @@ -1456,6 +1456,9 @@ static int sensor_misc_device_register(struct sensor_private_data *sensor, int t { sensor->fops.owner = THIS_MODULE; sensor->fops.unlocked_ioctl = gsensor_dev_ioctl; + #ifdef CONFIG_COMPAT + sensor->fops.compat_ioctl = gsensor_dev_ioctl; + #endif sensor->fops.open = gsensor_dev_open; sensor->fops.release = gsensor_dev_release; @@ -2099,6 +2102,7 @@ static const struct i2c_device_id sensor_id[] = { {"gs_lsm303d", ACCEL_ID_LSM303D}, {"gs_mc3230",ACCEL_ID_MC3230}, {"mpu6880_acc",ACCEL_ID_MPU6880}, + {"mpu6500_acc",ACCEL_ID_MPU6500}, /*compass*/ {"compass", COMPASS_ID_ALL}, {"ak8975", COMPASS_ID_AK8975}, diff --git a/include/linux/mpu6500.h b/include/linux/mpu6500.h new file mode 100644 index 000000000000..e601c300b490 --- /dev/null +++ b/include/linux/mpu6500.h @@ -0,0 +1,238 @@ +/* + * Definitions for mma8452 compass chip. + */ +#ifndef __MPU6500_H +#define __MPU6500_H + +#include +/**add***/ +#define MPU6500_PRECISION 16 +#define MPU6500_RANGE 2000000 + +#define MPU6500_SMPLRT_DIV 0x19 +#define MPU6500_CONFIG 0x1A +#define MPU6500_GYRO_CONFIG 0x1B +#define MPU6500_ACCEL_CONFIG 0x1C +#define MPU6500_ACCEL_CONFIG2 0x1D +#define MPU6500_LP_ACCEL_ODR 0x1E +#define MPU6500_WOM_THRESH 0x1F +#define MPU6500_FIFO_EN 0x23 +#define MPU6500_INT_PIN_CFG 0x37 +#define MPU6500_INT_ENABLE 0x38 +#define MPU6500_DMP_INT_STATUS 0x39 +#define MPU6500_INT_STATUS 0x3A +#define MPU6500_ACCEL_XOUT_H 0x3B +#define MPU6500_TEMP_OUT_H 0x41 +#define MPU6500_GYRO_XOUT_H 0x43 +#define MPU6500_ACCEL_INTEL_CTRL 0x69 +#define MPU6500_USER_CTRL 0x6A +#define MPU6500_PWR_MGMT_1 0x6B +#define MPU6500_PWR_MGMT_2 0x6C +#define MPU6500_PRGM_STRT_ADDRH 0x70 +#define MPU6500_FIFO_COUNTH 0x72 +#define MPU6500_FIFO_R_W 0x74 +#define MPU6500_WHOAMI 0x75 + +#define MPU6500_DEVICE_ID 0x70 +/*------------------------------ + MPU6500_CONFIG +--------------------------------*/ +#define DLPF_CFG_250HZ 0x00 +#define DLPF_CFG_184HZ 0x01 +#define DLPF_CFG_98HZ 0x02 +#define DLPF_CFG_41HZ 0x03 +#define DLPF_CFG_20HZ 0x04 +#define DLPF_CFG_10HZ 0x05 +#define DLPF_CFG_5HZ 0x06 +#define DLPF_CFG_3600HZ 0x07 +#define EXT_SYNC_SET_TEMP 0x08 +#define EXT_SYNC_SET_GYRO_X 0x10 +#define EXT_SYNC_SET_GYRO_Y 0x18 +#define EXT_SYNC_SET_GYRO_Z 0x20 +#define EXT_SYNC_SET_ACCEL_X 0x28 +#define EXT_SYNC_SET_ACCEL_Y 0x30 +#define EXT_SYNC_SET_ACCEL_Z 0x38 + + +/*------------------------------ + MPU6500_GYRO_CONFIG +--------------------------------*/ +#define GFSR_250DPS (0 <<3) +#define GFSR_500DPS (1 <<3) +#define GFSR_1000DPS (2 <<3) +#define GFSR_2000DPS (3 <<3) + +/*------------------------------ + MPU6500_ACCEL_CONFIG +--------------------------------*/ +#define AFSR_2G (0 <<3) +#define AFSR_4G (1 <<3) +#define AFSR_8G (2 <<3) +#define AFSR_16G (3 <<3) + + +/*------------------------------ + MPU6500_ACCEL_CONFIG2 +--------------------------------*/ +#define A_DLPF_CFG_460HZ 0x00 +#define A_DLPF_CFG_184HZ 0x01 +#define A_DLPF_CFG_92HZ 0x02 +#define A_DLPF_CFG_41HZ 0x03 +#define A_DLPF_CFG_20HZ 0x04 +#define A_DLPF_CFG_10HZ 0x05 +#define A_DLPF_CFG_5HZ 0x06 +//#define A_DLPF_CFG_460HZ 0x07 +#define BIT_FIFO_SIZE_1K 0x40 +#define BIT_ACCEL_FCHOICE_B 0x08 + + +/*------------------------------ + MPU6500_LP_ACCEL_ODR +--------------------------------*/ +#define LPA_CLK_P24HZ 0x0 +#define LPA_CLK_P49HZ 0x1 +#define LPA_CLK_P98HZ 0x2 +#define LPA_CLK_1P95HZ 0x3 +#define LPA_CLK_3P91HZ 0x4 +#define LPA_CLK_7P81HZ 0x5 +#define LPA_CLK_15P63HZ 0x6 +#define LPA_CLK_31P25HZ 0x7 +#define LPA_CLK_62P50HZ 0x8 +#define LPA_CLK_125HZ 0x9 +#define LPA_CLK_250HZ 0xa +#define LPA_CLK_500HZ 0xb + + +/*------------------------------ + MPU6500_PWR_MGMT_1 +--------------------------------*/ +#define BIT_H_RESET (1<<7) +#define BIT_SLEEP (1<<6) +#define BIT_CYCLE (1<<5) +#define BIT_GYRO_STANDBY (1<<4) +#define BIT_PD_PTAT (1<<3) +#define BIT_CLKSEL (1<<0) + +#define CLKSEL_INTERNAL 0 +#define CLKSEL_PLL 1 + +/*------------------------------ + MPU6500_PWR_MGMT_2 +--------------------------------*/ +#define BIT_ACCEL_STBY 0x38 +#define BIT_GYRO_STBY 0x07 +#define BITS_LPA_WAKE_CTRL 0xC0 +#define BITS_LPA_WAKE_1HZ 0x00 +#define BITS_LPA_WAKE_2HZ 0x40 +#define BITS_LPA_WAKE_20HZ 0x80 + +#define MPU6500_PWRM1_SLEEP 0x40 +#define MPU6500_PWRM1_GYRO_STANDBY 0x10 +#define MPU6500_PWRM2_ACCEL_DISABLE 0x38 +#define MPU6500_PWRM2_GYRO_DISABLE 0x07 + +/*------------------------------ + MPU6500_ACCEL_INTEL_CTRL +--------------------------------*/ +#define BIT_ACCEL_INTEL_EN 0x80 +#define BIT_ACCEL_INTEL_MODE 0x40 + + +/*------------------------------ + MPU6500_USER_CTRL +--------------------------------*/ +#define BIT_FIFO_RST 0x04 +#define BIT_DMP_RST 0x08 +#define BIT_I2C_MST_EN 0x20 +#define BIT_FIFO_EN 0x40 +#define BIT_DMP_EN 0x80 + + +/*------------------------------ + MPU6500_FIFO_EN +--------------------------------*/ +#define BIT_ACCEL_OUT 0x08 +#define BITS_GYRO_OUT 0x70 + + +/*------------------------------ + MPU6500_INT_PIN_CFG +--------------------------------*/ +#define BIT_BYPASS_EN 0x2 + +/*------------------------------ + MPU6500_INT_EN/INT_STATUS +--------------------------------*/ +#define BIT_FIFO_OVERLOW 0x80 +#define BIT_MOT_INT 0x40 +#define BIT_MPU_RDY 0x04 +#define BIT_DMP_INT 0x02 +#define BIT_RAW_RDY 0x01 + + +#define DMP_START_ADDR 0x400 + + + +#define AXIS_NUM 3 +#define AXIS_ADC_BYTE 2 +#define SENSOR_PACKET (AXIS_NUM * AXIS_ADC_BYTE) + + + + + +/* + self-test parameter +*/ + +#define DEF_ST_PRECISION 1000 +#define DEF_ST_MPU6500_ACCEL_LPF 2 +#define DEF_STABLE_TIME_ST 50 +#define DEF_SELFTEST_GYRO_FS (0 << 3) +#define DEF_SELFTEST_ACCEL_FS (2 << 3) +#define DEF_SELFTEST_6500_ACCEL_FS (0 << 3) +#define DEF_SW_SELFTEST_GYRO_FS GFSR_2000DPS +#define DEF_SW_SELFTEST_SENSITIVITY \ + (2000*DEF_ST_PRECISION)/32768 + +#define DEF_SW_SELFTEST_SAMPLE_COUNT 75 +#define DEF_SW_SELFTEST_SAMPLE_TIME 75 +#define DEF_SW_ACCEL_CAL_SAMPLE_TIME 50 +#define DEF_SW_SKIP_COUNT 10 + +#define DEF_ST_6500_STABLE_TIME 20 +#define BYTES_PER_SENSOR (6) +#define DEF_SELFTEST_SAMPLE_RATE 0 +#define DEF_GYRO_WAIT_TIME 50 +#define THREE_AXIS (3) +#define INIT_ST_SAMPLES 200 +#define FIFO_COUNT_BYTE (2) +#define DEF_ST_TRY_TIMES 2 +#define REG_6500_XG_ST_DATA 0x0 +#define REG_6500_XA_ST_DATA 0xD +#define BITS_SELF_TEST_EN 0xE0 + +#define DEF_ST_SCALE (1L << 15) + +/*---- MPU6500 Self Test Pass/Fail Criteria ----*/ +/* Gyro Offset Max Value (dps) */ +#define DEF_GYRO_OFFSET_MAX 20 +/* Gyro Self Test Absolute Limits ST_AL (dps) */ +#define DEF_GYRO_ST_AL 60 +/* Accel Self Test Absolute Limits ST_AL (mg) */ +#define DEF_ACCEL_ST_AL_MIN 225 +#define DEF_ACCEL_ST_AL_MAX 675 +#define DEF_6500_ACCEL_ST_SHIFT_DELTA 500 +#define DEF_6500_GYRO_CT_SHIFT_DELTA 500 +#define DEF_ST_MPU6500_ACCEL_LPF 2 +#define DEF_ST_6500_ACCEL_FS_MG 2000UL +#define DEF_SELFTEST_6500_ACCEL_FS (0 << 3) + +#define DEF_SELFTEST_GYRO_SENS (32768 / 250) + + +#define GSENSOR_DEV_PATH "/dev/mma8452_daemon" + +#endif + diff --git a/include/linux/sensor-dev.h b/include/linux/sensor-dev.h index c10c76045a3b..b009cf48ec36 100755 --- a/include/linux/sensor-dev.h +++ b/include/linux/sensor-dev.h @@ -56,6 +56,7 @@ enum sensor_id { ACCEL_ID_LSM303D, ACCEL_ID_MC3230, ACCEL_ID_MPU6880, + ACCEL_ID_MPU6500, COMPASS_ID_ALL, COMPASS_ID_AK8975, COMPASS_ID_AK8963, -- 2.34.1