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(ts: &st->timestamp);
114 inv_sensors_timestamp_apply_odr(ts: &st->timestamp, fifo_period: 0, fifo_nb: 0, fifo_no: 0);
115 /* reset FIFO */
116 d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
117 ret = regmap_write(map: st->map, reg: st->reg->user_ctrl, val: 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(map: st->map, reg: st->reg->fifo_en, val: 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(map: st->map, reg: st->reg->user_ctrl, val: d);
136 if (ret)
137 return ret;
138 /* enable interrupt */
139 ret = regmap_write(map: st->map, reg: st->reg->int_enable,
140 INV_MPU6050_BIT_DATA_RDY_EN);
141 } else {
142 ret = regmap_write(map: st->map, reg: st->reg->int_enable, val: 0);
143 if (ret)
144 return ret;
145 ret = regmap_write(map: st->map, reg: st->reg->fifo_en, val: 0);
146 if (ret)
147 return ret;
148 /* restore user_ctrl for disabling FIFO reading */
149 ret = regmap_write(map: st->map, reg: st->reg->user_ctrl,
150 val: 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(map: 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(dev: 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, en: false, mask: ~scan);
178 if (result)
179 goto error_power_off;
180 result = inv_mpu6050_switch_engine(st, en: true, mask: 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, enable: 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, enable: false);
193 if (result)
194 goto error_power_off;
195 pm_runtime_mark_last_busy(dev: pdev);
196 pm_runtime_put_autosuspend(dev: pdev);
197 }
198
199 return 0;
200
201error_power_off:
202 pm_runtime_put_autosuspend(dev: 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, enable: state);
220 mutex_unlock(lock: &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(dev: &indio_dev->dev, irq: st->irq,
242 handler: &iio_trigger_generic_data_rdy_poll,
243 irqflags: irq_type,
244 devname: "inv_mpu",
245 dev_id: st->trig);
246 if (ret)
247 return ret;
248
249 st->trig->dev.parent = regmap_get_device(map: st->map);
250 st->trig->ops = &inv_mpu_trigger_ops;
251 iio_trigger_set_drvdata(trig: st->trig, data: indio_dev);
252
253 ret = devm_iio_trigger_register(dev: &indio_dev->dev, trig_info: st->trig);
254 if (ret)
255 return ret;
256
257 indio_dev->trig = iio_trigger_get(trig: st->trig);
258
259 return 0;
260}
261

source code of linux/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c