252 lines
6.3 KiB
C
252 lines
6.3 KiB
C
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// SPDX-License-Identifier: GPL-2.0-only
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/*
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* Copyright (C) 2012 Invensense, Inc.
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*/
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#include <linux/pm_runtime.h>
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#include "inv_mpu_iio.h"
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static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)
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{
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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unsigned int mask;
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/*
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* If the MPU6050 is just used as a trigger, then the scan mask
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* is not allocated so we simply enable the temperature channel
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* as a dummy and bail out.
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*/
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if (!indio_dev->active_scan_mask) {
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st->chip_config.temp_fifo_enable = true;
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return INV_MPU6050_SENSOR_TEMP;
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}
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st->chip_config.gyro_fifo_enable =
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test_bit(INV_MPU6050_SCAN_GYRO_X,
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indio_dev->active_scan_mask) ||
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test_bit(INV_MPU6050_SCAN_GYRO_Y,
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indio_dev->active_scan_mask) ||
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test_bit(INV_MPU6050_SCAN_GYRO_Z,
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indio_dev->active_scan_mask);
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st->chip_config.accl_fifo_enable =
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test_bit(INV_MPU6050_SCAN_ACCL_X,
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indio_dev->active_scan_mask) ||
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test_bit(INV_MPU6050_SCAN_ACCL_Y,
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indio_dev->active_scan_mask) ||
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test_bit(INV_MPU6050_SCAN_ACCL_Z,
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indio_dev->active_scan_mask);
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st->chip_config.temp_fifo_enable =
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test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
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mask = 0;
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if (st->chip_config.gyro_fifo_enable)
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mask |= INV_MPU6050_SENSOR_GYRO;
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if (st->chip_config.accl_fifo_enable)
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mask |= INV_MPU6050_SENSOR_ACCL;
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if (st->chip_config.temp_fifo_enable)
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mask |= INV_MPU6050_SENSOR_TEMP;
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return mask;
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}
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static unsigned int inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
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{
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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unsigned int mask;
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mask = inv_scan_query_mpu6050(indio_dev);
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/* no magnetometer if i2c auxiliary bus is used */
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if (st->magn_disabled)
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return mask;
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st->chip_config.magn_fifo_enable =
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test_bit(INV_MPU9X50_SCAN_MAGN_X,
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indio_dev->active_scan_mask) ||
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test_bit(INV_MPU9X50_SCAN_MAGN_Y,
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indio_dev->active_scan_mask) ||
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test_bit(INV_MPU9X50_SCAN_MAGN_Z,
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indio_dev->active_scan_mask);
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if (st->chip_config.magn_fifo_enable)
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mask |= INV_MPU6050_SENSOR_MAGN;
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return mask;
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}
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static unsigned int inv_scan_query(struct iio_dev *indio_dev)
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{
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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switch (st->chip_type) {
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case INV_MPU9150:
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case INV_MPU9250:
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case INV_MPU9255:
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return inv_scan_query_mpu9x50(indio_dev);
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default:
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return inv_scan_query_mpu6050(indio_dev);
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}
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}
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static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
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{
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unsigned int skip_samples = 0;
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/* mag first sample is always not ready, skip it */
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if (st->chip_config.magn_fifo_enable)
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skip_samples = 1;
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return skip_samples;
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}
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int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
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{
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uint8_t d;
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int ret;
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if (enable) {
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st->it_timestamp = 0;
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/* reset FIFO */
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d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
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ret = regmap_write(st->map, st->reg->user_ctrl, d);
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if (ret)
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return ret;
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/* enable sensor output to FIFO */
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d = 0;
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if (st->chip_config.gyro_fifo_enable)
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d |= INV_MPU6050_BITS_GYRO_OUT;
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if (st->chip_config.accl_fifo_enable)
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d |= INV_MPU6050_BIT_ACCEL_OUT;
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if (st->chip_config.temp_fifo_enable)
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d |= INV_MPU6050_BIT_TEMP_OUT;
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if (st->chip_config.magn_fifo_enable)
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d |= INV_MPU6050_BIT_SLAVE_0;
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ret = regmap_write(st->map, st->reg->fifo_en, d);
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if (ret)
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return ret;
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/* enable FIFO reading */
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d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_EN;
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ret = regmap_write(st->map, st->reg->user_ctrl, d);
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if (ret)
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return ret;
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/* enable interrupt */
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ret = regmap_write(st->map, st->reg->int_enable,
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INV_MPU6050_BIT_DATA_RDY_EN);
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} else {
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ret = regmap_write(st->map, st->reg->int_enable, 0);
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if (ret)
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return ret;
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ret = regmap_write(st->map, st->reg->fifo_en, 0);
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if (ret)
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return ret;
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/* restore user_ctrl for disabling FIFO reading */
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ret = regmap_write(st->map, st->reg->user_ctrl,
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st->chip_config.user_ctrl);
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}
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return ret;
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}
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/**
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* inv_mpu6050_set_enable() - enable chip functions.
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* @indio_dev: Device driver instance.
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* @enable: enable/disable
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*/
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static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
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{
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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struct device *pdev = regmap_get_device(st->map);
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unsigned int scan;
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int result;
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if (enable) {
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scan = inv_scan_query(indio_dev);
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result = pm_runtime_resume_and_get(pdev);
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if (result)
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return result;
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/*
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* In case autosuspend didn't trigger, turn off first not
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* required sensors.
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*/
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result = inv_mpu6050_switch_engine(st, false, ~scan);
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if (result)
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goto error_power_off;
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result = inv_mpu6050_switch_engine(st, true, scan);
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if (result)
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goto error_power_off;
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st->skip_samples = inv_compute_skip_samples(st);
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result = inv_mpu6050_prepare_fifo(st, true);
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if (result)
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goto error_power_off;
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} else {
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result = inv_mpu6050_prepare_fifo(st, false);
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if (result)
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goto error_power_off;
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pm_runtime_mark_last_busy(pdev);
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pm_runtime_put_autosuspend(pdev);
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}
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return 0;
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error_power_off:
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pm_runtime_put_autosuspend(pdev);
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return result;
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}
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/**
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* inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
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* @trig: Trigger instance
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* @state: Desired trigger state
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*/
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static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
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bool state)
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{
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struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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int result;
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mutex_lock(&st->lock);
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result = inv_mpu6050_set_enable(indio_dev, state);
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mutex_unlock(&st->lock);
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return result;
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}
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static const struct iio_trigger_ops inv_mpu_trigger_ops = {
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.set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
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};
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int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
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{
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int ret;
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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st->trig = devm_iio_trigger_alloc(&indio_dev->dev,
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"%s-dev%d",
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indio_dev->name,
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iio_device_id(indio_dev));
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if (!st->trig)
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return -ENOMEM;
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ret = devm_request_irq(&indio_dev->dev, st->irq,
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&iio_trigger_generic_data_rdy_poll,
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irq_type,
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"inv_mpu",
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st->trig);
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if (ret)
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return ret;
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st->trig->dev.parent = regmap_get_device(st->map);
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st->trig->ops = &inv_mpu_trigger_ops;
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iio_trigger_set_drvdata(st->trig, indio_dev);
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ret = devm_iio_trigger_register(&indio_dev->dev, st->trig);
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if (ret)
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return ret;
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indio_dev->trig = iio_trigger_get(st->trig);
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return 0;
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}
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