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