diff options
Diffstat (limited to 'drivers/iio/imu/inv_mpu6050/inv_mpu_core.c')
| -rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 284 |
1 files changed, 164 insertions, 120 deletions
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index 7d64be353403..f9c0624505a2 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -24,6 +24,7 @@ #include <linux/spinlock.h> #include <linux/iio/iio.h> #include <linux/acpi.h> +#include <linux/platform_device.h> #include "inv_mpu_iio.h" /* @@ -52,6 +53,7 @@ static const struct inv_mpu6050_reg_map reg_set_6500 = { .raw_accl = INV_MPU6050_REG_RAW_ACCEL, .temperature = INV_MPU6050_REG_TEMPERATURE, .int_enable = INV_MPU6050_REG_INT_ENABLE, + .int_status = INV_MPU6050_REG_INT_STATUS, .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1, .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2, .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG, @@ -86,6 +88,7 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = { .gyro_fifo_enable = false, .accl_fifo_enable = false, .accl_fs = INV_MPU6050_FS_02G, + .user_ctrl = 0, }; /* Indexed by enum inv_devices */ @@ -121,6 +124,12 @@ static const struct inv_mpu6050_hw hw_info[] = { .config = &chip_config_6050, }, { + .whoami = INV_MPU9255_WHOAMI_VALUE, + .name = "MPU9255", + .reg = ®_set_6500, + .config = &chip_config_6050, + }, + { .whoami = INV_ICM20608_WHOAMI_VALUE, .name = "ICM20608", .reg = ®_set_6500, @@ -168,7 +177,7 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask) return result; if (en) { - /* Wait for output stabilize */ + /* Wait for output to stabilize */ msleep(INV_MPU6050_TEMP_UP_TIME); if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) { /* switch internal clock to PLL */ @@ -185,26 +194,29 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask) int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on) { - int result = 0; + int result; if (power_on) { - if (!st->powerup_count) + if (!st->powerup_count) { result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0); - if (!result) - st->powerup_count++; + if (result) + return result; + usleep_range(INV_MPU6050_REG_UP_TIME_MIN, + INV_MPU6050_REG_UP_TIME_MAX); + } + st->powerup_count++; } else { - st->powerup_count--; - if (!st->powerup_count) + if (st->powerup_count == 1) { result = regmap_write(st->map, st->reg->pwr_mgmt_1, INV_MPU6050_BIT_SLEEP); + if (result) + return result; + } + st->powerup_count--; } - if (result) - return result; - - if (power_on) - usleep_range(INV_MPU6050_REG_UP_TIME_MIN, - INV_MPU6050_REG_UP_TIME_MAX); + dev_dbg(regmap_get_device(st->map), "set power %d, count=%u\n", + power_on, st->powerup_count); return 0; } @@ -262,26 +274,33 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev) d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT); result = regmap_write(st->map, st->reg->gyro_config, d); if (result) - return result; + goto error_power_off; result = inv_mpu6050_set_lpf_regs(st, INV_MPU6050_FILTER_20HZ); if (result) - return result; + goto error_power_off; d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1; result = regmap_write(st->map, st->reg->sample_rate_div, d); if (result) - return result; + goto error_power_off; d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT); result = regmap_write(st->map, st->reg->accl_config, d); if (result) + goto error_power_off; + + result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask); + if (result) return result; memcpy(&st->chip_config, hw_info[st->chip_type].config, sizeof(struct inv_mpu6050_chip_config)); - result = inv_mpu6050_set_power_itg(st, false); + return inv_mpu6050_set_power_itg(st, false); + +error_power_off: + inv_mpu6050_set_power_itg(st, false); return result; } @@ -314,6 +333,65 @@ static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg, return IIO_VAL_INT; } +static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val) +{ + struct inv_mpu6050_state *st = iio_priv(indio_dev); + int result; + int ret; + + result = inv_mpu6050_set_power_itg(st, true); + if (result) + return result; + + switch (chan->type) { + case IIO_ANGL_VEL: + result = inv_mpu6050_switch_engine(st, true, + INV_MPU6050_BIT_PWR_GYRO_STBY); + if (result) + goto error_power_off; + ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro, + chan->channel2, val); + result = inv_mpu6050_switch_engine(st, false, + INV_MPU6050_BIT_PWR_GYRO_STBY); + if (result) + goto error_power_off; + break; + case IIO_ACCEL: + result = inv_mpu6050_switch_engine(st, true, + INV_MPU6050_BIT_PWR_ACCL_STBY); + if (result) + goto error_power_off; + ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl, + chan->channel2, val); + result = inv_mpu6050_switch_engine(st, false, + INV_MPU6050_BIT_PWR_ACCL_STBY); + if (result) + goto error_power_off; + break; + case IIO_TEMP: + /* wait for stablization */ + msleep(INV_MPU6050_SENSOR_UP_TIME); + ret = inv_mpu6050_sensor_show(st, st->reg->temperature, + IIO_MOD_X, val); + break; + default: + ret = -EINVAL; + break; + } + + result = inv_mpu6050_set_power_itg(st, false); + if (result) + goto error_power_off; + + return ret; + +error_power_off: + inv_mpu6050_set_power_itg(st, false); + return result; +} + static int inv_mpu6050_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, @@ -324,63 +402,14 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, switch (mask) { case IIO_CHAN_INFO_RAW: - { - int result; - - ret = IIO_VAL_INT; + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + return ret; mutex_lock(&st->lock); - result = iio_device_claim_direct_mode(indio_dev); - if (result) - goto error_read_raw_unlock; - result = inv_mpu6050_set_power_itg(st, true); - if (result) - goto error_read_raw_release; - switch (chan->type) { - case IIO_ANGL_VEL: - result = inv_mpu6050_switch_engine(st, true, - INV_MPU6050_BIT_PWR_GYRO_STBY); - if (result) - goto error_read_raw_power_off; - ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro, - chan->channel2, val); - result = inv_mpu6050_switch_engine(st, false, - INV_MPU6050_BIT_PWR_GYRO_STBY); - if (result) - goto error_read_raw_power_off; - break; - case IIO_ACCEL: - result = inv_mpu6050_switch_engine(st, true, - INV_MPU6050_BIT_PWR_ACCL_STBY); - if (result) - goto error_read_raw_power_off; - ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl, - chan->channel2, val); - result = inv_mpu6050_switch_engine(st, false, - INV_MPU6050_BIT_PWR_ACCL_STBY); - if (result) - goto error_read_raw_power_off; - break; - case IIO_TEMP: - /* wait for stablization */ - msleep(INV_MPU6050_SENSOR_UP_TIME); - ret = inv_mpu6050_sensor_show(st, st->reg->temperature, - IIO_MOD_X, val); - break; - default: - ret = -EINVAL; - break; - } -error_read_raw_power_off: - result |= inv_mpu6050_set_power_itg(st, false); -error_read_raw_release: - iio_device_release_direct_mode(indio_dev); -error_read_raw_unlock: + ret = inv_mpu6050_read_channel_data(indio_dev, chan, val); mutex_unlock(&st->lock); - if (result) - return result; - + iio_device_release_direct_mode(indio_dev); return ret; - } case IIO_CHAN_INFO_SCALE: switch (chan->type) { case IIO_ANGL_VEL: @@ -502,17 +531,18 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev, struct inv_mpu6050_state *st = iio_priv(indio_dev); int result; - mutex_lock(&st->lock); /* * we should only update scale when the chip is disabled, i.e. * not running */ result = iio_device_claim_direct_mode(indio_dev); if (result) - goto error_write_raw_unlock; + return result; + + mutex_lock(&st->lock); result = inv_mpu6050_set_power_itg(st, true); if (result) - goto error_write_raw_release; + goto error_write_raw_unlock; switch (mask) { case IIO_CHAN_INFO_SCALE: @@ -551,10 +581,9 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev, } result |= inv_mpu6050_set_power_itg(st, false); -error_write_raw_release: - iio_device_release_direct_mode(indio_dev); error_write_raw_unlock: mutex_unlock(&st->lock); + iio_device_release_direct_mode(indio_dev); return result; } @@ -613,17 +642,18 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr, fifo_rate > INV_MPU6050_MAX_FIFO_RATE) return -EINVAL; + result = iio_device_claim_direct_mode(indio_dev); + if (result) + return result; + mutex_lock(&st->lock); if (fifo_rate == st->chip_config.fifo_rate) { result = 0; goto fifo_rate_fail_unlock; } - result = iio_device_claim_direct_mode(indio_dev); - if (result) - goto fifo_rate_fail_unlock; result = inv_mpu6050_set_power_itg(st, true); if (result) - goto fifo_rate_fail_release; + goto fifo_rate_fail_unlock; d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1; result = regmap_write(st->map, st->reg->sample_rate_div, d); @@ -637,10 +667,9 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr, fifo_rate_fail_power_off: result |= inv_mpu6050_set_power_itg(st, false); -fifo_rate_fail_release: - iio_device_release_direct_mode(indio_dev); fifo_rate_fail_unlock: mutex_unlock(&st->lock); + iio_device_release_direct_mode(indio_dev); if (result) return result; @@ -769,7 +798,14 @@ static const struct iio_chan_spec inv_mpu_channels[] = { INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z), }; -/* constant IIO attribute */ +/* + * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and + * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the + * low-pass filter. Specifically, each of these sampling rates are about twice + * the bandwidth of a corresponding low-pass filter, which should eliminate + * aliasing following the Nyquist principle. By picking a frequency different + * from these, the user risks aliasing effects. + */ static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500"); static IIO_CONST_ATTR(in_anglvel_scale_available, "0.000133090 0.000266181 0.000532362 0.001064724"); @@ -850,14 +886,11 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st) msleep(INV_MPU6050_POWER_UP_TIME); /* - * toggle power state. After reset, the sleep bit could be on - * or off depending on the OTP settings. Toggling power would + * Turn power on. After reset, the sleep bit could be on + * or off depending on the OTP settings. Turning power on * make it in a definite state as well as making the hardware * state align with the software state */ - result = inv_mpu6050_set_power_itg(st, false); - if (result) - return result; result = inv_mpu6050_set_power_itg(st, true); if (result) return result; @@ -865,13 +898,17 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st) result = inv_mpu6050_switch_engine(st, false, INV_MPU6050_BIT_PWR_ACCL_STBY); if (result) - return result; + goto error_power_off; result = inv_mpu6050_switch_engine(st, false, INV_MPU6050_BIT_PWR_GYRO_STBY); if (result) - return result; + goto error_power_off; - return 0; + return inv_mpu6050_set_power_itg(st, false); + +error_power_off: + inv_mpu6050_set_power_itg(st, false); + return result; } int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, @@ -882,6 +919,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, struct inv_mpu6050_platform_data *pdata; struct device *dev = regmap_get_device(regmap); int result; + struct irq_data *desc; + int irq_type; indio_dev = devm_iio_device_alloc(dev, sizeof(*st)); if (!indio_dev) @@ -913,20 +952,43 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, st->plat_data = *pdata; } + desc = irq_get_irq_data(irq); + if (!desc) { + dev_err(dev, "Could not find IRQ %d\n", irq); + return -EINVAL; + } + + irq_type = irqd_get_trigger_type(desc); + if (irq_type == IRQF_TRIGGER_RISING) + st->irq_mask = INV_MPU6050_ACTIVE_HIGH; + else if (irq_type == IRQF_TRIGGER_FALLING) + st->irq_mask = INV_MPU6050_ACTIVE_LOW; + else if (irq_type == IRQF_TRIGGER_HIGH) + st->irq_mask = INV_MPU6050_ACTIVE_HIGH | + INV_MPU6050_LATCH_INT_EN; + else if (irq_type == IRQF_TRIGGER_LOW) + st->irq_mask = INV_MPU6050_ACTIVE_LOW | + INV_MPU6050_LATCH_INT_EN; + else { + dev_err(dev, "Invalid interrupt type 0x%x specified\n", + irq_type); + return -EINVAL; + } + /* power is turned on inside check chip type*/ result = inv_check_and_setup_chip(st); if (result) return result; - if (inv_mpu_bus_setup) - inv_mpu_bus_setup(indio_dev); - result = inv_mpu6050_init_config(indio_dev); if (result) { dev_err(dev, "Could not initialize device.\n"); return result; } + if (inv_mpu_bus_setup) + inv_mpu_bus_setup(indio_dev); + dev_set_drvdata(dev, indio_dev); indio_dev->dev.parent = dev; /* name will be NULL when enumerated via ACPI */ @@ -940,50 +1002,32 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, indio_dev->info = &mpu_info; indio_dev->modes = INDIO_BUFFER_TRIGGERED; - result = iio_triggered_buffer_setup(indio_dev, - inv_mpu6050_irq_handler, - inv_mpu6050_read_fifo, - NULL); + result = devm_iio_triggered_buffer_setup(dev, indio_dev, + inv_mpu6050_irq_handler, + inv_mpu6050_read_fifo, + NULL); if (result) { dev_err(dev, "configure buffer fail %d\n", result); return result; } - result = inv_mpu6050_probe_trigger(indio_dev); + result = inv_mpu6050_probe_trigger(indio_dev, irq_type); if (result) { dev_err(dev, "trigger probe fail %d\n", result); - goto out_unreg_ring; + return result; } INIT_KFIFO(st->timestamps); spin_lock_init(&st->time_stamp_lock); - result = iio_device_register(indio_dev); + result = devm_iio_device_register(dev, indio_dev); if (result) { dev_err(dev, "IIO register fail %d\n", result); - goto out_remove_trigger; + return result; } return 0; - -out_remove_trigger: - inv_mpu6050_remove_trigger(st); -out_unreg_ring: - iio_triggered_buffer_cleanup(indio_dev); - return result; } EXPORT_SYMBOL_GPL(inv_mpu_core_probe); -int inv_mpu_core_remove(struct device *dev) -{ - struct iio_dev *indio_dev = dev_get_drvdata(dev); - - iio_device_unregister(indio_dev); - inv_mpu6050_remove_trigger(iio_priv(indio_dev)); - iio_triggered_buffer_cleanup(indio_dev); - - return 0; -} -EXPORT_SYMBOL_GPL(inv_mpu_core_remove); - #ifdef CONFIG_PM_SLEEP static int inv_mpu_resume(struct device *dev) |