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