From 4599cac8461468a10dc375f4d4e12442e2d16d3f Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Maneyrol Date: Wed, 19 Feb 2020 15:39:57 +0100 Subject: iio: imu: inv_mpu6050: use runtime pm with autosuspend Use runtime power management for handling chip power and sensor engines on/off. Simplifies things a lot since pm runtime already has reference counter. Usage of autosuspend reduces the number of power on/off. This makes polling interface now usable to get data at low frequency. Signed-off-by: Jean-Baptiste Maneyrol Signed-off-by: Jonathan Cameron --- drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 270 +++++++++++++++++--------- drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 5 +- drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 33 ++-- 3 files changed, 196 insertions(+), 112 deletions(-) (limited to 'drivers/iio/imu/inv_mpu6050') diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index 9076b6bb099c..56e5731eb7de 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -16,6 +16,8 @@ #include #include #include +#include +#include #include "inv_mpu_iio.h" #include "inv_mpu_magn.h" @@ -396,30 +398,18 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, return 0; } -int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on) +static int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, + bool power_on) { int result; - if (power_on) { - if (!st->powerup_count) { - result = inv_mpu6050_pwr_mgmt_1_write(st, false, -1, -1); - if (result) - return result; - usleep_range(INV_MPU6050_REG_UP_TIME_MIN, - INV_MPU6050_REG_UP_TIME_MAX); - } - st->powerup_count++; - } else { - if (st->powerup_count == 1) { - result = inv_mpu6050_pwr_mgmt_1_write(st, true, -1, -1); - if (result) - return result; - } - st->powerup_count--; - } + result = inv_mpu6050_pwr_mgmt_1_write(st, !power_on, -1, -1); + if (result) + return result; - dev_dbg(regmap_get_device(st->map), "set power %d, count=%u\n", - power_on, st->powerup_count); + if (power_on) + usleep_range(INV_MPU6050_REG_UP_TIME_MIN, + INV_MPU6050_REG_UP_TIME_MAX); return 0; } @@ -563,6 +553,7 @@ static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev, int *val) { struct inv_mpu6050_state *st = iio_priv(indio_dev); + struct device *pdev = regmap_get_device(st->map); unsigned int freq_hz, period_us, min_sleep_us, max_sleep_us; int result; int ret; @@ -571,92 +562,85 @@ static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev, freq_hz = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider); period_us = 1000000 / freq_hz; - result = inv_mpu6050_set_power_itg(st, true); - if (result) + result = pm_runtime_get_sync(pdev); + if (result < 0) { + pm_runtime_put_noidle(pdev); return result; + } switch (chan->type) { case IIO_ANGL_VEL: - result = inv_mpu6050_switch_engine(st, true, - INV_MPU6050_SENSOR_GYRO); - if (result) - goto error_power_off; - /* need to wait 2 periods to have first valid sample */ - min_sleep_us = 2 * period_us; - max_sleep_us = 2 * (period_us + period_us / 2); - usleep_range(min_sleep_us, max_sleep_us); + if (!st->chip_config.gyro_en) { + result = inv_mpu6050_switch_engine(st, true, + INV_MPU6050_SENSOR_GYRO); + if (result) + goto error_power_off; + /* need to wait 2 periods to have first valid sample */ + min_sleep_us = 2 * period_us; + max_sleep_us = 2 * (period_us + period_us / 2); + usleep_range(min_sleep_us, max_sleep_us); + } ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro, chan->channel2, val); - result = inv_mpu6050_switch_engine(st, false, - INV_MPU6050_SENSOR_GYRO); - if (result) - goto error_power_off; break; case IIO_ACCEL: - result = inv_mpu6050_switch_engine(st, true, - INV_MPU6050_SENSOR_ACCL); - if (result) - goto error_power_off; - /* wait 1 period for first sample availability */ - min_sleep_us = period_us; - max_sleep_us = period_us + period_us / 2; - usleep_range(min_sleep_us, max_sleep_us); + if (!st->chip_config.accl_en) { + result = inv_mpu6050_switch_engine(st, true, + INV_MPU6050_SENSOR_ACCL); + if (result) + goto error_power_off; + /* wait 1 period for first sample availability */ + min_sleep_us = period_us; + max_sleep_us = period_us + period_us / 2; + usleep_range(min_sleep_us, max_sleep_us); + } ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl, chan->channel2, val); - result = inv_mpu6050_switch_engine(st, false, - INV_MPU6050_SENSOR_ACCL); - if (result) - goto error_power_off; break; case IIO_TEMP: - result = inv_mpu6050_switch_engine(st, true, - INV_MPU6050_SENSOR_TEMP); - if (result) - goto error_power_off; - /* wait 1 period for first sample availability */ - min_sleep_us = period_us; - max_sleep_us = period_us + period_us / 2; - usleep_range(min_sleep_us, max_sleep_us); + if (!st->chip_config.temp_en) { + result = inv_mpu6050_switch_engine(st, true, + INV_MPU6050_SENSOR_TEMP); + if (result) + goto error_power_off; + /* wait 1 period for first sample availability */ + min_sleep_us = period_us; + max_sleep_us = period_us + period_us / 2; + usleep_range(min_sleep_us, max_sleep_us); + } ret = inv_mpu6050_sensor_show(st, st->reg->temperature, IIO_MOD_X, val); - result = inv_mpu6050_switch_engine(st, false, - INV_MPU6050_SENSOR_TEMP); - if (result) - goto error_power_off; break; case IIO_MAGN: - result = inv_mpu6050_switch_engine(st, true, - INV_MPU6050_SENSOR_MAGN); - if (result) - goto error_power_off; - /* frequency is limited for magnetometer */ - if (freq_hz > INV_MPU_MAGN_FREQ_HZ_MAX) { - freq_hz = INV_MPU_MAGN_FREQ_HZ_MAX; - period_us = 1000000 / freq_hz; + if (!st->chip_config.magn_en) { + result = inv_mpu6050_switch_engine(st, true, + INV_MPU6050_SENSOR_MAGN); + if (result) + goto error_power_off; + /* frequency is limited for magnetometer */ + if (freq_hz > INV_MPU_MAGN_FREQ_HZ_MAX) { + freq_hz = INV_MPU_MAGN_FREQ_HZ_MAX; + period_us = 1000000 / freq_hz; + } + /* need to wait 2 periods to have first valid sample */ + min_sleep_us = 2 * period_us; + max_sleep_us = 2 * (period_us + period_us / 2); + usleep_range(min_sleep_us, max_sleep_us); } - /* need to wait 2 periods to have first valid sample */ - min_sleep_us = 2 * period_us; - max_sleep_us = 2 * (period_us + period_us / 2); - usleep_range(min_sleep_us, max_sleep_us); ret = inv_mpu_magn_read(st, chan->channel2, val); - result = inv_mpu6050_switch_engine(st, false, - INV_MPU6050_SENSOR_MAGN); - if (result) - goto error_power_off; break; default: ret = -EINVAL; break; } - result = inv_mpu6050_set_power_itg(st, false); - if (result) - goto error_power_off; + pm_runtime_mark_last_busy(pdev); + pm_runtime_put_autosuspend(pdev); return ret; error_power_off: - inv_mpu6050_set_power_itg(st, false); + pm_runtime_put_autosuspend(pdev); return result; } @@ -795,6 +779,7 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev, int val, int val2, long mask) { struct inv_mpu6050_state *st = iio_priv(indio_dev); + struct device *pdev = regmap_get_device(st->map); int result; /* @@ -806,9 +791,11 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev, return result; mutex_lock(&st->lock); - result = inv_mpu6050_set_power_itg(st, true); - if (result) + result = pm_runtime_get_sync(pdev); + if (result < 0) { + pm_runtime_put_noidle(pdev); goto error_write_raw_unlock; + } switch (mask) { case IIO_CHAN_INFO_SCALE: @@ -846,7 +833,8 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev, break; } - result |= inv_mpu6050_set_power_itg(st, false); + pm_runtime_mark_last_busy(pdev); + pm_runtime_put_autosuspend(pdev); error_write_raw_unlock: mutex_unlock(&st->lock); iio_device_release_direct_mode(indio_dev); @@ -903,6 +891,7 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr, int result; struct iio_dev *indio_dev = dev_to_iio_dev(dev); struct inv_mpu6050_state *st = iio_priv(indio_dev); + struct device *pdev = regmap_get_device(st->map); if (kstrtoint(buf, 10, &fifo_rate)) return -EINVAL; @@ -920,9 +909,11 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr, result = 0; goto fifo_rate_fail_unlock; } - result = inv_mpu6050_set_power_itg(st, true); - if (result) + result = pm_runtime_get_sync(pdev); + if (result < 0) { + pm_runtime_put_noidle(pdev); goto fifo_rate_fail_unlock; + } result = regmap_write(st->map, st->reg->sample_rate_div, d); if (result) @@ -938,8 +929,9 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr, if (result) goto fifo_rate_fail_power_off; + pm_runtime_mark_last_busy(pdev); fifo_rate_fail_power_off: - result |= inv_mpu6050_set_power_itg(st, false); + pm_runtime_put_autosuspend(pdev); fifo_rate_fail_unlock: mutex_unlock(&st->lock); if (result) @@ -1385,6 +1377,14 @@ static void inv_mpu_core_disable_regulator_action(void *_data) inv_mpu_core_disable_regulator_vddio(st); } +static void inv_mpu_pm_disable(void *data) +{ + struct device *dev = data; + + pm_runtime_put_sync_suspend(dev); + pm_runtime_disable(dev); +} + int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type) { @@ -1409,7 +1409,6 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, st = iio_priv(indio_dev); mutex_init(&st->lock); st->chip_type = chip_type; - st->powerup_count = 0; st->irq = irq; st->map = regmap; @@ -1521,8 +1520,16 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, goto error_power_off; } - /* chip init is done, turning off */ - result = inv_mpu6050_set_power_itg(st, false); + /* chip init is done, turning on runtime power management */ + result = pm_runtime_set_active(dev); + if (result) + goto error_power_off; + pm_runtime_get_noresume(dev); + pm_runtime_enable(dev); + pm_runtime_set_autosuspend_delay(dev, INV_MPU6050_SUSPEND_DELAY_MS); + pm_runtime_use_autosuspend(dev); + pm_runtime_put(dev); + result = devm_add_action_or_reset(dev, inv_mpu_pm_disable, dev); if (result) return result; @@ -1590,11 +1597,10 @@ error_power_off: } EXPORT_SYMBOL_GPL(inv_mpu_core_probe); -#ifdef CONFIG_PM_SLEEP - -static int inv_mpu_resume(struct device *dev) +static int __maybe_unused inv_mpu_resume(struct device *dev) { - struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev)); + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct inv_mpu6050_state *st = iio_priv(indio_dev); int result; mutex_lock(&st->lock); @@ -1603,27 +1609,101 @@ static int inv_mpu_resume(struct device *dev) goto out_unlock; result = inv_mpu6050_set_power_itg(st, true); + if (result) + goto out_unlock; + + result = inv_mpu6050_switch_engine(st, true, st->suspended_sensors); + if (result) + goto out_unlock; + + if (iio_buffer_enabled(indio_dev)) + result = inv_mpu6050_prepare_fifo(st, true); + out_unlock: mutex_unlock(&st->lock); return result; } -static int inv_mpu_suspend(struct device *dev) +static int __maybe_unused inv_mpu_suspend(struct device *dev) { - struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev)); + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct inv_mpu6050_state *st = iio_priv(indio_dev); int result; mutex_lock(&st->lock); + + if (iio_buffer_enabled(indio_dev)) { + result = inv_mpu6050_prepare_fifo(st, false); + if (result) + goto out_unlock; + } + + st->suspended_sensors = 0; + if (st->chip_config.accl_en) + st->suspended_sensors |= INV_MPU6050_SENSOR_ACCL; + if (st->chip_config.gyro_en) + st->suspended_sensors |= INV_MPU6050_SENSOR_GYRO; + if (st->chip_config.temp_en) + st->suspended_sensors |= INV_MPU6050_SENSOR_TEMP; + if (st->chip_config.magn_en) + st->suspended_sensors |= INV_MPU6050_SENSOR_MAGN; + result = inv_mpu6050_switch_engine(st, false, st->suspended_sensors); + if (result) + goto out_unlock; + result = inv_mpu6050_set_power_itg(st, false); + if (result) + goto out_unlock; + inv_mpu_core_disable_regulator_vddio(st); +out_unlock: mutex_unlock(&st->lock); return result; } -#endif /* CONFIG_PM_SLEEP */ -SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume); +static int __maybe_unused inv_mpu_runtime_suspend(struct device *dev) +{ + struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev)); + unsigned int sensors; + int ret; + + mutex_lock(&st->lock); + + sensors = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO | + INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN; + ret = inv_mpu6050_switch_engine(st, false, sensors); + if (ret) + goto out_unlock; + + ret = inv_mpu6050_set_power_itg(st, false); + if (ret) + goto out_unlock; + + inv_mpu_core_disable_regulator_vddio(st); + +out_unlock: + mutex_unlock(&st->lock); + return ret; +} + +static int __maybe_unused inv_mpu_runtime_resume(struct device *dev) +{ + struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev)); + int ret; + + ret = inv_mpu_core_enable_regulator_vddio(st); + if (ret) + return ret; + + return inv_mpu6050_set_power_itg(st, true); +} + +const struct dev_pm_ops inv_mpu_pmops = { + SET_SYSTEM_SLEEP_PM_OPS(inv_mpu_suspend, inv_mpu_resume) + SET_RUNTIME_PM_OPS(inv_mpu_runtime_suspend, inv_mpu_runtime_resume, NULL) +}; EXPORT_SYMBOL_GPL(inv_mpu_pmops); MODULE_AUTHOR("Invensense Corporation"); diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h index e328c98e362c..cd38b3fccc7b 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h @@ -164,6 +164,7 @@ struct inv_mpu6050_hw { * @magn_disabled: magnetometer disabled for backward compatibility reason. * @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss. * @magn_orient: magnetometer sensor chip orientation if available. + * @suspended_sensors: sensors mask of sensors turned off for suspend */ struct inv_mpu6050_state { struct mutex lock; @@ -174,7 +175,6 @@ struct inv_mpu6050_state { enum inv_devices chip_type; struct i2c_mux_core *muxc; struct i2c_client *mux_client; - unsigned int powerup_count; struct inv_mpu6050_platform_data plat_data; struct iio_mount_matrix orientation; struct regmap *map; @@ -189,6 +189,7 @@ struct inv_mpu6050_state { bool magn_disabled; s32 magn_raw_to_gauss[3]; struct iio_mount_matrix magn_orient; + unsigned int suspended_sensors; }; /*register and associated bit definition*/ @@ -312,6 +313,7 @@ struct inv_mpu6050_state { #define INV_MPU6050_ACCEL_UP_TIME 20 #define INV_MPU6050_GYRO_UP_TIME 35 #define INV_MPU6050_GYRO_DOWN_TIME 150 +#define INV_MPU6050_SUSPEND_DELAY_MS 2000 /* delay time in microseconds */ #define INV_MPU6050_REG_UP_TIME_MIN 5000 @@ -439,7 +441,6 @@ int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable); int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, unsigned int mask); int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val); -int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on); int inv_mpu_acpi_create_mux_client(struct i2c_client *client); void inv_mpu_acpi_delete_mux_client(struct i2c_client *client); int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c index f53f50d08b9e..f7b5a70be30f 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c @@ -3,6 +3,7 @@ * Copyright (C) 2012 Invensense, Inc. */ +#include #include "inv_mpu_iio.h" static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev) @@ -156,41 +157,43 @@ int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable) static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable) { struct inv_mpu6050_state *st = iio_priv(indio_dev); + struct device *pdev = regmap_get_device(st->map); unsigned int scan; int result; - scan = inv_scan_query(indio_dev); - if (enable) { - result = inv_mpu6050_set_power_itg(st, true); - if (result) + scan = inv_scan_query(indio_dev); + result = pm_runtime_get_sync(pdev); + if (result < 0) { + pm_runtime_put_noidle(pdev); return result; + } + /* + * In case autosuspend didn't trigger, turn off first not + * required sensors. + */ + result = inv_mpu6050_switch_engine(st, false, ~scan); + if (result) + goto error_power_off; result = inv_mpu6050_switch_engine(st, true, scan); if (result) goto error_power_off; st->skip_samples = inv_compute_skip_samples(st); result = inv_mpu6050_prepare_fifo(st, true); if (result) - goto error_sensors_off; + goto error_power_off; } else { result = inv_mpu6050_prepare_fifo(st, false); - if (result) - goto error_sensors_off; - result = inv_mpu6050_switch_engine(st, false, scan); - if (result) - goto error_power_off; - - result = inv_mpu6050_set_power_itg(st, false); if (result) goto error_power_off; + pm_runtime_mark_last_busy(pdev); + pm_runtime_put_autosuspend(pdev); } return 0; -error_sensors_off: - inv_mpu6050_switch_engine(st, false, scan); error_power_off: - inv_mpu6050_set_power_itg(st, false); + pm_runtime_put_autosuspend(pdev); return result; } -- cgit v1.2.3-59-g8ed1b