1 // SPDX-License-Identifier: GPL-2.0-only
3 * Copyright (C) 2012 Invensense, Inc.
6 #include "inv_mpu_iio.h"
8 static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
10 struct inv_mpu6050_state *st = iio_priv(indio_dev);
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);
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);
29 static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
31 struct inv_mpu6050_state *st = iio_priv(indio_dev);
33 inv_scan_query_mpu6050(indio_dev);
35 /* no magnetometer if i2c auxiliary bus is used */
36 if (st->magn_disabled)
39 st->chip_config.magn_fifo_enable =
40 test_bit(INV_MPU9X50_SCAN_MAGN_X,
41 indio_dev->active_scan_mask) ||
42 test_bit(INV_MPU9X50_SCAN_MAGN_Y,
43 indio_dev->active_scan_mask) ||
44 test_bit(INV_MPU9X50_SCAN_MAGN_Z,
45 indio_dev->active_scan_mask);
48 static void inv_scan_query(struct iio_dev *indio_dev)
50 struct inv_mpu6050_state *st = iio_priv(indio_dev);
52 switch (st->chip_type) {
55 return inv_scan_query_mpu9x50(indio_dev);
57 return inv_scan_query_mpu6050(indio_dev);
61 static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
63 unsigned int gyro_skip = 0;
64 unsigned int magn_skip = 0;
65 unsigned int skip_samples;
67 /* gyro first sample is out of specs, skip it */
68 if (st->chip_config.gyro_fifo_enable)
71 /* mag first sample is always not ready, skip it */
72 if (st->chip_config.magn_fifo_enable)
75 /* compute first samples to skip */
76 skip_samples = gyro_skip;
77 if (magn_skip > skip_samples)
78 skip_samples = magn_skip;
84 * inv_mpu6050_set_enable() - enable chip functions.
85 * @indio_dev: Device driver instance.
86 * @enable: enable/disable
88 static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
90 struct inv_mpu6050_state *st = iio_priv(indio_dev);
95 result = inv_mpu6050_set_power_itg(st, true);
98 inv_scan_query(indio_dev);
99 if (st->chip_config.gyro_fifo_enable) {
100 result = inv_mpu6050_switch_engine(st, true,
101 INV_MPU6050_BIT_PWR_GYRO_STBY);
103 goto error_power_off;
105 if (st->chip_config.accl_fifo_enable) {
106 result = inv_mpu6050_switch_engine(st, true,
107 INV_MPU6050_BIT_PWR_ACCL_STBY);
111 if (st->chip_config.magn_fifo_enable) {
112 d = st->chip_config.user_ctrl |
113 INV_MPU6050_BIT_I2C_MST_EN;
114 result = regmap_write(st->map, st->reg->user_ctrl, d);
117 st->chip_config.user_ctrl = d;
119 st->skip_samples = inv_compute_skip_samples(st);
120 result = inv_reset_fifo(indio_dev);
124 result = regmap_write(st->map, st->reg->fifo_en, 0);
128 result = regmap_write(st->map, st->reg->int_enable, 0);
132 d = st->chip_config.user_ctrl & ~INV_MPU6050_BIT_I2C_MST_EN;
133 result = regmap_write(st->map, st->reg->user_ctrl, d);
136 st->chip_config.user_ctrl = d;
138 result = inv_mpu6050_switch_engine(st, false,
139 INV_MPU6050_BIT_PWR_ACCL_STBY);
143 result = inv_mpu6050_switch_engine(st, false,
144 INV_MPU6050_BIT_PWR_GYRO_STBY);
148 result = inv_mpu6050_set_power_itg(st, false);
150 goto error_power_off;
156 /* always restore user_ctrl to disable fifo properly */
157 st->chip_config.user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN;
158 regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl);
160 if (st->chip_config.accl_fifo_enable)
161 inv_mpu6050_switch_engine(st, false,
162 INV_MPU6050_BIT_PWR_ACCL_STBY);
164 if (st->chip_config.gyro_fifo_enable)
165 inv_mpu6050_switch_engine(st, false,
166 INV_MPU6050_BIT_PWR_GYRO_STBY);
168 inv_mpu6050_set_power_itg(st, false);
173 * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
174 * @trig: Trigger instance
175 * @state: Desired trigger state
177 static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
180 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
181 struct inv_mpu6050_state *st = iio_priv(indio_dev);
184 mutex_lock(&st->lock);
185 result = inv_mpu6050_set_enable(indio_dev, state);
186 mutex_unlock(&st->lock);
191 static const struct iio_trigger_ops inv_mpu_trigger_ops = {
192 .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
195 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
198 struct inv_mpu6050_state *st = iio_priv(indio_dev);
200 st->trig = devm_iio_trigger_alloc(&indio_dev->dev,
207 ret = devm_request_irq(&indio_dev->dev, st->irq,
208 &iio_trigger_generic_data_rdy_poll,
215 st->trig->dev.parent = regmap_get_device(st->map);
216 st->trig->ops = &inv_mpu_trigger_ops;
217 iio_trigger_set_drvdata(st->trig, indio_dev);
219 ret = devm_iio_trigger_register(&indio_dev->dev, st->trig);
223 indio_dev->trig = iio_trigger_get(st->trig);