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);
28 st->chip_config.temp_fifo_enable =
29 test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
32 static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
34 struct inv_mpu6050_state *st = iio_priv(indio_dev);
36 inv_scan_query_mpu6050(indio_dev);
38 /* no magnetometer if i2c auxiliary bus is used */
39 if (st->magn_disabled)
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);
51 static void inv_scan_query(struct iio_dev *indio_dev)
53 struct inv_mpu6050_state *st = iio_priv(indio_dev);
55 switch (st->chip_type) {
59 return inv_scan_query_mpu9x50(indio_dev);
61 return inv_scan_query_mpu6050(indio_dev);
65 static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
67 unsigned int gyro_skip = 0;
68 unsigned int magn_skip = 0;
69 unsigned int skip_samples;
71 /* gyro first sample is out of specs, skip it */
72 if (st->chip_config.gyro_fifo_enable)
75 /* mag first sample is always not ready, skip it */
76 if (st->chip_config.magn_fifo_enable)
79 /* compute first samples to skip */
80 skip_samples = gyro_skip;
81 if (magn_skip > skip_samples)
82 skip_samples = magn_skip;
88 * inv_mpu6050_set_enable() - enable chip functions.
89 * @indio_dev: Device driver instance.
90 * @enable: enable/disable
92 static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
94 struct inv_mpu6050_state *st = iio_priv(indio_dev);
99 result = inv_mpu6050_set_power_itg(st, true);
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);
107 goto error_power_off;
109 if (st->chip_config.accl_fifo_enable) {
110 result = inv_mpu6050_switch_engine(st, true,
111 INV_MPU6050_BIT_PWR_ACCL_STBY);
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);
121 st->chip_config.user_ctrl = d;
123 st->skip_samples = inv_compute_skip_samples(st);
124 result = inv_reset_fifo(indio_dev);
128 result = regmap_write(st->map, st->reg->fifo_en, 0);
132 result = regmap_write(st->map, st->reg->int_enable, 0);
136 d = st->chip_config.user_ctrl & ~INV_MPU6050_BIT_I2C_MST_EN;
137 result = regmap_write(st->map, st->reg->user_ctrl, d);
140 st->chip_config.user_ctrl = d;
142 result = inv_mpu6050_switch_engine(st, false,
143 INV_MPU6050_BIT_PWR_ACCL_STBY);
147 result = inv_mpu6050_switch_engine(st, false,
148 INV_MPU6050_BIT_PWR_GYRO_STBY);
152 result = inv_mpu6050_set_power_itg(st, false);
154 goto error_power_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);
164 if (st->chip_config.accl_fifo_enable)
165 inv_mpu6050_switch_engine(st, false,
166 INV_MPU6050_BIT_PWR_ACCL_STBY);
168 if (st->chip_config.gyro_fifo_enable)
169 inv_mpu6050_switch_engine(st, false,
170 INV_MPU6050_BIT_PWR_GYRO_STBY);
172 inv_mpu6050_set_power_itg(st, false);
177 * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
178 * @trig: Trigger instance
179 * @state: Desired trigger state
181 static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
184 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
185 struct inv_mpu6050_state *st = iio_priv(indio_dev);
188 mutex_lock(&st->lock);
189 result = inv_mpu6050_set_enable(indio_dev, state);
190 mutex_unlock(&st->lock);
195 static const struct iio_trigger_ops inv_mpu_trigger_ops = {
196 .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
199 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
202 struct inv_mpu6050_state *st = iio_priv(indio_dev);
204 st->trig = devm_iio_trigger_alloc(&indio_dev->dev,
211 ret = devm_request_irq(&indio_dev->dev, st->irq,
212 &iio_trigger_generic_data_rdy_poll,
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);
223 ret = devm_iio_trigger_register(&indio_dev->dev, st->trig);
227 indio_dev->trig = iio_trigger_get(st->trig);