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 12static 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 57static 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 81static 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 95static 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 106int 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 inv_sensors_timestamp_apply_odr(&st->timestamp, 0, 0, 0); 115 /* reset FIFO */ 116 d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST; 117 ret = regmap_write(st->map, st->reg->user_ctrl, d); 118 if (ret) 119 return ret; 120 /* enable sensor output to FIFO */ 121 d = 0; 122 if (st->chip_config.gyro_fifo_enable) 123 d |= INV_MPU6050_BITS_GYRO_OUT; 124 if (st->chip_config.accl_fifo_enable) 125 d |= INV_MPU6050_BIT_ACCEL_OUT; 126 if (st->chip_config.temp_fifo_enable) 127 d |= INV_MPU6050_BIT_TEMP_OUT; 128 if (st->chip_config.magn_fifo_enable) 129 d |= INV_MPU6050_BIT_SLAVE_0; 130 ret = regmap_write(st->map, st->reg->fifo_en, d); 131 if (ret) 132 return ret; 133 /* enable FIFO reading */ 134 d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_EN; 135 ret = regmap_write(st->map, st->reg->user_ctrl, d); 136 if (ret) 137 return ret; 138 /* enable interrupt */ 139 ret = regmap_write(st->map, st->reg->int_enable, 140 INV_MPU6050_BIT_DATA_RDY_EN); 141 } else { 142 ret = regmap_write(st->map, st->reg->int_enable, 0); 143 if (ret) 144 return ret; 145 ret = regmap_write(st->map, st->reg->fifo_en, 0); 146 if (ret) 147 return ret; 148 /* restore user_ctrl for disabling FIFO reading */ 149 ret = regmap_write(st->map, st->reg->user_ctrl, 150 st->chip_config.user_ctrl); 151 } 152 153 return ret; 154} 155 156/** 157 * inv_mpu6050_set_enable() - enable chip functions. 158 * @indio_dev: Device driver instance. 159 * @enable: enable/disable 160 */ 161static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable) 162{ 163 struct inv_mpu6050_state *st = iio_priv(indio_dev); 164 struct device *pdev = regmap_get_device(st->map); 165 unsigned int scan; 166 int result; 167 168 if (enable) { 169 scan = inv_scan_query(indio_dev); 170 result = pm_runtime_resume_and_get(pdev); 171 if (result) 172 return result; 173 /* 174 * In case autosuspend didn't trigger, turn off first not 175 * required sensors. 176 */ 177 result = inv_mpu6050_switch_engine(st, false, ~scan); 178 if (result) 179 goto error_power_off; 180 result = inv_mpu6050_switch_engine(st, true, scan); 181 if (result) 182 goto error_power_off; 183 st->skip_samples = inv_compute_skip_samples(st); 184 result = inv_mpu6050_prepare_fifo(st, true); 185 if (result) 186 goto error_power_off; 187 } else { 188 st->chip_config.gyro_fifo_enable = 0; 189 st->chip_config.accl_fifo_enable = 0; 190 st->chip_config.temp_fifo_enable = 0; 191 st->chip_config.magn_fifo_enable = 0; 192 result = inv_mpu6050_prepare_fifo(st, false); 193 if (result) 194 goto error_power_off; 195 pm_runtime_mark_last_busy(pdev); 196 pm_runtime_put_autosuspend(pdev); 197 } 198 199 return 0; 200 201error_power_off: 202 pm_runtime_put_autosuspend(pdev); 203 return result; 204} 205 206/** 207 * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state 208 * @trig: Trigger instance 209 * @state: Desired trigger state 210 */ 211static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig, 212 bool state) 213{ 214 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); 215 struct inv_mpu6050_state *st = iio_priv(indio_dev); 216 int result; 217 218 mutex_lock(&st->lock); 219 result = inv_mpu6050_set_enable(indio_dev, state); 220 mutex_unlock(&st->lock); 221 222 return result; 223} 224 225static const struct iio_trigger_ops inv_mpu_trigger_ops = { 226 .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state, 227}; 228 229int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type) 230{ 231 int ret; 232 struct inv_mpu6050_state *st = iio_priv(indio_dev); 233 234 st->trig = devm_iio_trigger_alloc(&indio_dev->dev, 235 "%s-dev%d", 236 indio_dev->name, 237 iio_device_id(indio_dev)); 238 if (!st->trig) 239 return -ENOMEM; 240 241 ret = devm_request_irq(&indio_dev->dev, st->irq, 242 &iio_trigger_generic_data_rdy_poll, 243 irq_type, 244 "inv_mpu", 245 st->trig); 246 if (ret) 247 return ret; 248 249 st->trig->dev.parent = regmap_get_device(st->map); 250 st->trig->ops = &inv_mpu_trigger_ops; 251 iio_trigger_set_drvdata(st->trig, indio_dev); 252 253 ret = devm_iio_trigger_register(&indio_dev->dev, st->trig); 254 if (ret) 255 return ret; 256 257 indio_dev->trig = iio_trigger_get(st->trig); 258 259 return 0; 260} 261