drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c

   1 // SPDX-License-Identifier: GPL-2.0-only
   2 /*
   3 * Copyright (C) 2012 Invensense, Inc.
   4 */
   5
   6 #include <linux/pm_runtime.h>
   7
   8 #include <linux/iio/common/inv_sensors_timestamp.h>
   9
  10 #include "inv_mpu_iio.h"
  11
  12 static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)
  13 {
  14         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
  15         unsigned int mask;
  16
  17         /*
  18          * If the MPU6050 is just used as a trigger, then the scan mask
  19          * is not allocated so we simply enable the temperature channel
  20          * as a dummy and bail out.
  21          */
  22         if (!indio_dev->active_scan_mask) {
  23                 st->chip_config.temp_fifo_enable = true;
  24                 return INV_MPU6050_SENSOR_TEMP;
  25         }
  26
  27         st->chip_config.gyro_fifo_enable =
  28                 test_bit(INV_MPU6050_SCAN_GYRO_X,
  29                          indio_dev->active_scan_mask) ||
  30                 test_bit(INV_MPU6050_SCAN_GYRO_Y,
  31                          indio_dev->active_scan_mask) ||
  32                 test_bit(INV_MPU6050_SCAN_GYRO_Z,
  33                          indio_dev->active_scan_mask);
  34
  35         st->chip_config.accl_fifo_enable =
  36                 test_bit(INV_MPU6050_SCAN_ACCL_X,
  37                          indio_dev->active_scan_mask) ||
  38                 test_bit(INV_MPU6050_SCAN_ACCL_Y,
  39                          indio_dev->active_scan_mask) ||
  40                 test_bit(INV_MPU6050_SCAN_ACCL_Z,
  41                          indio_dev->active_scan_mask);
  42
  43         st->chip_config.temp_fifo_enable =
  44                 test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
  45
  46         mask = 0;
  47         if (st->chip_config.gyro_fifo_enable)
  48                 mask |= INV_MPU6050_SENSOR_GYRO;
  49         if (st->chip_config.accl_fifo_enable)
  50                 mask |= INV_MPU6050_SENSOR_ACCL;
  51         if (st->chip_config.temp_fifo_enable)
  52                 mask |= INV_MPU6050_SENSOR_TEMP;
  53
  54         return mask;
  55 }
  56
  57 static unsigned int inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
  58 {
  59         struct inv_mpu6050_state *st = iio_priv(indio_dev);
  60         unsigned int mask;
  61
  62         mask = inv_scan_query_mpu6050(indio_dev);
  63
  64         /* no magnetometer if i2c auxiliary bus is used */
  65         if (st->magn_disabled)
  66                 return mask;
  67
  68         st->chip_config.magn_fifo_enable =
  69                 test_bit(INV_MPU9X50_SCAN_MAGN_X,
  70                          indio_dev->active_scan_mask) ||
  71                 test_bit(INV_MPU9X50_SCAN_MAGN_Y,
  72                          indio_dev->active_scan_mask) ||
  73                 test_bit(INV_MPU9X50_SCAN_MAGN_Z,
  74                          indio_dev->active_scan_mask);
  75         if (st->chip_config.magn_fifo_enable)
  76                 mask |= INV_MPU6050_SENSOR_MAGN;
  77
  78         return mask;
  79 }
  80
  81 static unsigned int inv_scan_query(struct iio_dev *indio_dev)
  82 {
  83         struct inv_mpu6050_state *st = iio_priv(indio_dev);
  84
  85         switch (st->chip_type) {
  86         case INV_MPU9150:
  87         case INV_MPU9250:
  88         case INV_MPU9255:
  89                 return inv_scan_query_mpu9x50(indio_dev);
  90         default:
  91                 return inv_scan_query_mpu6050(indio_dev);
  92         }
  93 }
  94
  95 static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
  96 {
  97         unsigned int skip_samples = 0;
  98
  99         /* mag first sample is always not ready, skip it */
 100         if (st->chip_config.magn_fifo_enable)
 101                 skip_samples = 1;
 102
 103         return skip_samples;
 104 }
 105
 106 int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
 107 {
 108         uint8_t d;
 109         int ret;
 110
 111         if (enable) {
 112                 /* reset timestamping */
 113                 inv_sensors_timestamp_reset(&st->timestamp);
 114                 /* reset FIFO */
 115                 d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
 116                 ret = regmap_write(st->map, st->reg->user_ctrl, d);
 117                 if (ret)
 118                         return ret;
 119                 /* enable sensor output to FIFO */
 120                 d = 0;
 121                 if (st->chip_config.gyro_fifo_enable)
 122                         d |= INV_MPU6050_BITS_GYRO_OUT;
 123                 if (st->chip_config.accl_fifo_enable)
 124                         d |= INV_MPU6050_BIT_ACCEL_OUT;
 125                 if (st->chip_config.temp_fifo_enable)
 126                         d |= INV_MPU6050_BIT_TEMP_OUT;
 127                 if (st->chip_config.magn_fifo_enable)
 128                         d |= INV_MPU6050_BIT_SLAVE_0;
 129                 ret = regmap_write(st->map, st->reg->fifo_en, d);
 130                 if (ret)
 131                         return ret;
 132                 /* enable FIFO reading */
 133                 d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_EN;
 134                 ret = regmap_write(st->map, st->reg->user_ctrl, d);
 135                 if (ret)
 136                         return ret;
 137                 /* enable interrupt */
 138                 ret = regmap_write(st->map, st->reg->int_enable,
 139                                    INV_MPU6050_BIT_DATA_RDY_EN);
 140         } else {
 141                 ret = regmap_write(st->map, st->reg->int_enable, 0);
 142                 if (ret)
 143                         return ret;
 144                 ret = regmap_write(st->map, st->reg->fifo_en, 0);
 145                 if (ret)
 146                         return ret;
 147                 /* restore user_ctrl for disabling FIFO reading */
 148                 ret = regmap_write(st->map, st->reg->user_ctrl,
 149                                    st->chip_config.user_ctrl);
 150         }
 151
 152         return ret;
 153 }
 154
 155 /**
 156  *  inv_mpu6050_set_enable() - enable chip functions.
 157  *  @indio_dev: Device driver instance.
 158  *  @enable: enable/disable
 159  */
 160 static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
 161 {
 162         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 163         struct device *pdev = regmap_get_device(st->map);
 164         unsigned int scan;
 165         int result;
 166
 167         if (enable) {
 168                 scan = inv_scan_query(indio_dev);
 169                 result = pm_runtime_resume_and_get(pdev);
 170                 if (result)
 171                         return result;
 172                 /*
 173                  * In case autosuspend didn't trigger, turn off first not
 174                  * required sensors.
 175                  */
 176                 result = inv_mpu6050_switch_engine(st, false, ~scan);
 177                 if (result)
 178                         goto error_power_off;
 179                 result = inv_mpu6050_switch_engine(st, true, scan);
 180                 if (result)
 181                         goto error_power_off;
 182                 st->skip_samples = inv_compute_skip_samples(st);
 183                 result = inv_mpu6050_prepare_fifo(st, true);
 184                 if (result)
 185                         goto error_power_off;
 186         } else {
 187                 result = inv_mpu6050_prepare_fifo(st, false);
 188                 if (result)
 189                         goto error_power_off;
 190                 pm_runtime_mark_last_busy(pdev);
 191                 pm_runtime_put_autosuspend(pdev);
 192         }
 193
 194         return 0;
 195
 196 error_power_off:
 197         pm_runtime_put_autosuspend(pdev);
 198         return result;
 199 }
 200
 201 /**
 202  * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
 203  * @trig: Trigger instance
 204  * @state: Desired trigger state
 205  */
 206 static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
 207                                               bool state)
 208 {
 209         struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
 210         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 211         int result;
 212
 213         mutex_lock(&st->lock);
 214         result = inv_mpu6050_set_enable(indio_dev, state);
 215         mutex_unlock(&st->lock);
 216
 217         return result;
 218 }
 219
 220 static const struct iio_trigger_ops inv_mpu_trigger_ops = {
 221         .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
 222 };
 223
 224 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
 225 {
 226         int ret;
 227         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 228
 229         st->trig = devm_iio_trigger_alloc(&indio_dev->dev,
 230                                           "%s-dev%d",
 231                                           indio_dev->name,
 232                                           iio_device_id(indio_dev));
 233         if (!st->trig)
 234                 return -ENOMEM;
 235
 236         ret = devm_request_irq(&indio_dev->dev, st->irq,
 237                                &iio_trigger_generic_data_rdy_poll,
 238                                irq_type,
 239                                "inv_mpu",
 240                                st->trig);
 241         if (ret)
 242                 return ret;
 243
 244         st->trig->dev.parent = regmap_get_device(st->map);
 245         st->trig->ops = &inv_mpu_trigger_ops;
 246         iio_trigger_set_drvdata(st->trig, indio_dev);
 247
 248         ret = devm_iio_trigger_register(&indio_dev->dev, st->trig);
 249         if (ret)
 250                 return ret;
 251
 252         indio_dev->trig = iio_trigger_get(st->trig);
 253
 254         return 0;
 255 }