1 // SPDX-License-Identifier: GPL-2.0-only 2 /* 3 * Copyright (C) 2012 Invensense, Inc. 4 */ 5 6 #include "inv_mpu_iio.h" 7 8 static void inv_scan_query_mpu6050(struct iio_dev *indio_dev) 9 { 10 struct inv_mpu6050_state *st = iio_priv(indio_dev); 11 12 st->chip_config.gyro_fifo_enable = 13 test_bit(INV_MPU6050_SCAN_GYRO_X, 14 indio_dev->active_scan_mask) || 15 test_bit(INV_MPU6050_SCAN_GYRO_Y, 16 indio_dev->active_scan_mask) || 17 test_bit(INV_MPU6050_SCAN_GYRO_Z, 18 indio_dev->active_scan_mask); 19 20 st->chip_config.accl_fifo_enable = 21 test_bit(INV_MPU6050_SCAN_ACCL_X, 22 indio_dev->active_scan_mask) || 23 test_bit(INV_MPU6050_SCAN_ACCL_Y, 24 indio_dev->active_scan_mask) || 25 test_bit(INV_MPU6050_SCAN_ACCL_Z, 26 indio_dev->active_scan_mask); 27 28 st->chip_config.temp_fifo_enable = 29 test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask); 30 } 31 32 static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev) 33 { 34 struct inv_mpu6050_state *st = iio_priv(indio_dev); 35 36 inv_scan_query_mpu6050(indio_dev); 37 38 /* no magnetometer if i2c auxiliary bus is used */ 39 if (st->magn_disabled) 40 return; 41 42 st->chip_config.magn_fifo_enable = 43 test_bit(INV_MPU9X50_SCAN_MAGN_X, 44 indio_dev->active_scan_mask) || 45 test_bit(INV_MPU9X50_SCAN_MAGN_Y, 46 indio_dev->active_scan_mask) || 47 test_bit(INV_MPU9X50_SCAN_MAGN_Z, 48 indio_dev->active_scan_mask); 49 } 50 51 static void inv_scan_query(struct iio_dev *indio_dev) 52 { 53 struct inv_mpu6050_state *st = iio_priv(indio_dev); 54 55 switch (st->chip_type) { 56 case INV_MPU9150: 57 case INV_MPU9250: 58 case INV_MPU9255: 59 return inv_scan_query_mpu9x50(indio_dev); 60 default: 61 return inv_scan_query_mpu6050(indio_dev); 62 } 63 } 64 65 static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st) 66 { 67 unsigned int gyro_skip = 0; 68 unsigned int magn_skip = 0; 69 unsigned int skip_samples; 70 71 /* gyro first sample is out of specs, skip it */ 72 if (st->chip_config.gyro_fifo_enable) 73 gyro_skip = 1; 74 75 /* mag first sample is always not ready, skip it */ 76 if (st->chip_config.magn_fifo_enable) 77 magn_skip = 1; 78 79 /* compute first samples to skip */ 80 skip_samples = gyro_skip; 81 if (magn_skip > skip_samples) 82 skip_samples = magn_skip; 83 84 return skip_samples; 85 } 86 87 /** 88 * inv_mpu6050_set_enable() - enable chip functions. 89 * @indio_dev: Device driver instance. 90 * @enable: enable/disable 91 */ 92 static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable) 93 { 94 struct inv_mpu6050_state *st = iio_priv(indio_dev); 95 uint8_t d; 96 int result; 97 98 if (enable) { 99 result = inv_mpu6050_set_power_itg(st, true); 100 if (result) 101 return result; 102 inv_scan_query(indio_dev); 103 if (st->chip_config.gyro_fifo_enable) { 104 result = inv_mpu6050_switch_engine(st, true, 105 INV_MPU6050_BIT_PWR_GYRO_STBY); 106 if (result) 107 goto error_power_off; 108 } 109 if (st->chip_config.accl_fifo_enable) { 110 result = inv_mpu6050_switch_engine(st, true, 111 INV_MPU6050_BIT_PWR_ACCL_STBY); 112 if (result) 113 goto error_gyro_off; 114 } 115 if (st->chip_config.magn_fifo_enable) { 116 d = st->chip_config.user_ctrl | 117 INV_MPU6050_BIT_I2C_MST_EN; 118 result = regmap_write(st->map, st->reg->user_ctrl, d); 119 if (result) 120 goto error_accl_off; 121 st->chip_config.user_ctrl = d; 122 } 123 st->skip_samples = inv_compute_skip_samples(st); 124 result = inv_reset_fifo(indio_dev); 125 if (result) 126 goto error_magn_off; 127 } else { 128 result = regmap_write(st->map, st->reg->fifo_en, 0); 129 if (result) 130 goto error_magn_off; 131 132 result = regmap_write(st->map, st->reg->int_enable, 0); 133 if (result) 134 goto error_magn_off; 135 136 d = st->chip_config.user_ctrl & ~INV_MPU6050_BIT_I2C_MST_EN; 137 result = regmap_write(st->map, st->reg->user_ctrl, d); 138 if (result) 139 goto error_magn_off; 140 st->chip_config.user_ctrl = d; 141 142 result = inv_mpu6050_switch_engine(st, false, 143 INV_MPU6050_BIT_PWR_ACCL_STBY); 144 if (result) 145 goto error_accl_off; 146 147 result = inv_mpu6050_switch_engine(st, false, 148 INV_MPU6050_BIT_PWR_GYRO_STBY); 149 if (result) 150 goto error_gyro_off; 151 152 result = inv_mpu6050_set_power_itg(st, false); 153 if (result) 154 goto error_power_off; 155 } 156 157 return 0; 158 159 error_magn_off: 160 /* always restore user_ctrl to disable fifo properly */ 161 st->chip_config.user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN; 162 regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl); 163 error_accl_off: 164 if (st->chip_config.accl_fifo_enable) 165 inv_mpu6050_switch_engine(st, false, 166 INV_MPU6050_BIT_PWR_ACCL_STBY); 167 error_gyro_off: 168 if (st->chip_config.gyro_fifo_enable) 169 inv_mpu6050_switch_engine(st, false, 170 INV_MPU6050_BIT_PWR_GYRO_STBY); 171 error_power_off: 172 inv_mpu6050_set_power_itg(st, false); 173 return result; 174 } 175 176 /** 177 * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state 178 * @trig: Trigger instance 179 * @state: Desired trigger state 180 */ 181 static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig, 182 bool state) 183 { 184 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); 185 struct inv_mpu6050_state *st = iio_priv(indio_dev); 186 int result; 187 188 mutex_lock(&st->lock); 189 result = inv_mpu6050_set_enable(indio_dev, state); 190 mutex_unlock(&st->lock); 191 192 return result; 193 } 194 195 static const struct iio_trigger_ops inv_mpu_trigger_ops = { 196 .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state, 197 }; 198 199 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type) 200 { 201 int ret; 202 struct inv_mpu6050_state *st = iio_priv(indio_dev); 203 204 st->trig = devm_iio_trigger_alloc(&indio_dev->dev, 205 "%s-dev%d", 206 indio_dev->name, 207 indio_dev->id); 208 if (!st->trig) 209 return -ENOMEM; 210 211 ret = devm_request_irq(&indio_dev->dev, st->irq, 212 &iio_trigger_generic_data_rdy_poll, 213 irq_type, 214 "inv_mpu", 215 st->trig); 216 if (ret) 217 return ret; 218 219 st->trig->dev.parent = regmap_get_device(st->map); 220 st->trig->ops = &inv_mpu_trigger_ops; 221 iio_trigger_set_drvdata(st->trig, indio_dev); 222 223 ret = devm_iio_trigger_register(&indio_dev->dev, st->trig); 224 if (ret) 225 return ret; 226 227 indio_dev->trig = iio_trigger_get(st->trig); 228 229 return 0; 230 } 231