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1// SPDX-License-Identifier: GPL-2.0-only2/*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#include <linux/iio/events.h>10 11#include "inv_mpu_iio.h"12 13static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)14{15 struct inv_mpu6050_state *st = iio_priv(indio_dev);16 unsigned int mask;17 18 /*19 * If the MPU6050 is just used as a trigger, then the scan mask20 * is not allocated so we simply enable the temperature channel21 * as a dummy and bail out.22 */23 if (!indio_dev->active_scan_mask) {24 st->chip_config.temp_fifo_enable = true;25 return INV_MPU6050_SENSOR_TEMP;26 }27 28 st->chip_config.gyro_fifo_enable =29 test_bit(INV_MPU6050_SCAN_GYRO_X,30 indio_dev->active_scan_mask) ||31 test_bit(INV_MPU6050_SCAN_GYRO_Y,32 indio_dev->active_scan_mask) ||33 test_bit(INV_MPU6050_SCAN_GYRO_Z,34 indio_dev->active_scan_mask);35 36 st->chip_config.accl_fifo_enable =37 test_bit(INV_MPU6050_SCAN_ACCL_X,38 indio_dev->active_scan_mask) ||39 test_bit(INV_MPU6050_SCAN_ACCL_Y,40 indio_dev->active_scan_mask) ||41 test_bit(INV_MPU6050_SCAN_ACCL_Z,42 indio_dev->active_scan_mask);43 44 st->chip_config.temp_fifo_enable =45 test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);46 47 mask = 0;48 if (st->chip_config.gyro_fifo_enable)49 mask |= INV_MPU6050_SENSOR_GYRO;50 if (st->chip_config.accl_fifo_enable)51 mask |= INV_MPU6050_SENSOR_ACCL;52 if (st->chip_config.temp_fifo_enable)53 mask |= INV_MPU6050_SENSOR_TEMP;54 55 return mask;56}57 58static unsigned int inv_scan_query_mpu9x50(struct iio_dev *indio_dev)59{60 struct inv_mpu6050_state *st = iio_priv(indio_dev);61 unsigned int mask;62 63 mask = inv_scan_query_mpu6050(indio_dev);64 65 /* no magnetometer if i2c auxiliary bus is used */66 if (st->magn_disabled)67 return mask;68 69 st->chip_config.magn_fifo_enable =70 test_bit(INV_MPU9X50_SCAN_MAGN_X,71 indio_dev->active_scan_mask) ||72 test_bit(INV_MPU9X50_SCAN_MAGN_Y,73 indio_dev->active_scan_mask) ||74 test_bit(INV_MPU9X50_SCAN_MAGN_Z,75 indio_dev->active_scan_mask);76 if (st->chip_config.magn_fifo_enable)77 mask |= INV_MPU6050_SENSOR_MAGN;78 79 return mask;80}81 82static unsigned int inv_scan_query(struct iio_dev *indio_dev)83{84 struct inv_mpu6050_state *st = iio_priv(indio_dev);85 86 switch (st->chip_type) {87 case INV_MPU9150:88 case INV_MPU9250:89 case INV_MPU9255:90 return inv_scan_query_mpu9x50(indio_dev);91 default:92 return inv_scan_query_mpu6050(indio_dev);93 }94}95 96static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)97{98 unsigned int skip_samples = 0;99 100 /* mag first sample is always not ready, skip it */101 if (st->chip_config.magn_fifo_enable)102 skip_samples = 1;103 104 return skip_samples;105}106 107int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)108{109 uint8_t d;110 int ret;111 112 if (enable) {113 /* reset timestamping */114 inv_sensors_timestamp_reset(&st->timestamp);115 inv_sensors_timestamp_apply_odr(&st->timestamp, 0, 0, 0);116 /* reset FIFO */117 d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;118 ret = regmap_write(st->map, st->reg->user_ctrl, d);119 if (ret)120 return ret;121 /* enable sensor output to FIFO */122 d = 0;123 if (st->chip_config.gyro_fifo_enable)124 d |= INV_MPU6050_BITS_GYRO_OUT;125 if (st->chip_config.accl_fifo_enable)126 d |= INV_MPU6050_BIT_ACCEL_OUT;127 if (st->chip_config.temp_fifo_enable)128 d |= INV_MPU6050_BIT_TEMP_OUT;129 if (st->chip_config.magn_fifo_enable)130 d |= INV_MPU6050_BIT_SLAVE_0;131 ret = regmap_write(st->map, st->reg->fifo_en, d);132 if (ret)133 return ret;134 /* enable FIFO reading */135 d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_EN;136 ret = regmap_write(st->map, st->reg->user_ctrl, d);137 if (ret)138 return ret;139 /* enable data interrupt */140 ret = regmap_update_bits(st->map, st->reg->int_enable,141 INV_MPU6050_BIT_DATA_RDY_EN, INV_MPU6050_BIT_DATA_RDY_EN);142 } else {143 /* disable data interrupt */144 ret = regmap_update_bits(st->map, st->reg->int_enable,145 INV_MPU6050_BIT_DATA_RDY_EN, 0);146 if (ret)147 return ret;148 ret = regmap_write(st->map, st->reg->fifo_en, 0);149 if (ret)150 return ret;151 /* restore user_ctrl for disabling FIFO reading */152 ret = regmap_write(st->map, st->reg->user_ctrl,153 st->chip_config.user_ctrl);154 }155 156 return ret;157}158 159/**160 * inv_mpu6050_set_enable() - enable chip functions.161 * @indio_dev: Device driver instance.162 * @enable: enable/disable163 */164static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)165{166 struct inv_mpu6050_state *st = iio_priv(indio_dev);167 struct device *pdev = regmap_get_device(st->map);168 unsigned int scan;169 int result;170 171 if (enable) {172 scan = inv_scan_query(indio_dev);173 result = pm_runtime_resume_and_get(pdev);174 if (result)175 return result;176 /*177 * In case autosuspend didn't trigger, turn off first not178 * required sensors excepted WoM179 */180 result = inv_mpu6050_switch_engine(st, false, ~scan & ~INV_MPU6050_SENSOR_WOM);181 if (result)182 goto error_power_off;183 result = inv_mpu6050_switch_engine(st, true, scan);184 if (result)185 goto error_power_off;186 st->skip_samples = inv_compute_skip_samples(st);187 result = inv_mpu6050_prepare_fifo(st, true);188 if (result)189 goto error_power_off;190 } else {191 st->chip_config.gyro_fifo_enable = 0;192 st->chip_config.accl_fifo_enable = 0;193 st->chip_config.temp_fifo_enable = 0;194 st->chip_config.magn_fifo_enable = 0;195 result = inv_mpu6050_prepare_fifo(st, false);196 if (result)197 goto error_power_off;198 pm_runtime_mark_last_busy(pdev);199 pm_runtime_put_autosuspend(pdev);200 }201 202 return 0;203 204error_power_off:205 pm_runtime_put_autosuspend(pdev);206 return result;207}208 209/**210 * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state211 * @trig: Trigger instance212 * @state: Desired trigger state213 */214static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,215 bool state)216{217 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);218 struct inv_mpu6050_state *st = iio_priv(indio_dev);219 int result;220 221 mutex_lock(&st->lock);222 result = inv_mpu6050_set_enable(indio_dev, state);223 mutex_unlock(&st->lock);224 225 return result;226}227 228static const struct iio_trigger_ops inv_mpu_trigger_ops = {229 .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,230};231 232static irqreturn_t inv_mpu6050_interrupt_timestamp(int irq, void *p)233{234 struct iio_dev *indio_dev = p;235 struct inv_mpu6050_state *st = iio_priv(indio_dev);236 237 st->it_timestamp = iio_get_time_ns(indio_dev);238 239 return IRQ_WAKE_THREAD;240}241 242static irqreturn_t inv_mpu6050_interrupt_handle(int irq, void *p)243{244 struct iio_dev *indio_dev = p;245 struct inv_mpu6050_state *st = iio_priv(indio_dev);246 unsigned int int_status, wom_bits;247 u64 ev_code;248 int result;249 250 switch (st->chip_type) {251 case INV_MPU6000:252 case INV_MPU6050:253 case INV_MPU9150:254 /*255 * WoM is not supported and interrupt status read seems to be broken for256 * some chips. Since data ready is the only interrupt, bypass interrupt257 * status read and always assert data ready bit.258 */259 wom_bits = 0;260 int_status = INV_MPU6050_BIT_RAW_DATA_RDY_INT;261 goto data_ready_interrupt;262 case INV_MPU6500:263 case INV_MPU6515:264 case INV_MPU6880:265 case INV_MPU9250:266 case INV_MPU9255:267 wom_bits = INV_MPU6500_BIT_WOM_INT;268 break;269 default:270 wom_bits = INV_ICM20608_BIT_WOM_INT;271 break;272 }273 274 scoped_guard(mutex, &st->lock) {275 /* ack interrupt and check status */276 result = regmap_read(st->map, st->reg->int_status, &int_status);277 if (result) {278 dev_err(regmap_get_device(st->map), "failed to ack interrupt\n");279 return IRQ_HANDLED;280 }281 282 /* handle WoM event */283 if (st->chip_config.wom_en && (int_status & wom_bits)) {284 ev_code = IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, IIO_MOD_X_OR_Y_OR_Z,285 IIO_EV_TYPE_ROC, IIO_EV_DIR_RISING);286 iio_push_event(indio_dev, ev_code, st->it_timestamp);287 }288 }289 290data_ready_interrupt:291 /* handle raw data interrupt */292 if (int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT) {293 indio_dev->pollfunc->timestamp = st->it_timestamp;294 iio_trigger_poll_nested(st->trig);295 }296 297 return IRQ_HANDLED;298}299 300int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)301{302 int ret;303 struct inv_mpu6050_state *st = iio_priv(indio_dev);304 305 st->trig = devm_iio_trigger_alloc(&indio_dev->dev,306 "%s-dev%d",307 indio_dev->name,308 iio_device_id(indio_dev));309 if (!st->trig)310 return -ENOMEM;311 312 irq_type |= IRQF_ONESHOT;313 ret = devm_request_threaded_irq(&indio_dev->dev, st->irq,314 &inv_mpu6050_interrupt_timestamp,315 &inv_mpu6050_interrupt_handle,316 irq_type, "inv_mpu", indio_dev);317 if (ret)318 return ret;319 320 st->trig->dev.parent = regmap_get_device(st->map);321 st->trig->ops = &inv_mpu_trigger_ops;322 iio_trigger_set_drvdata(st->trig, indio_dev);323 324 ret = devm_iio_trigger_register(&indio_dev->dev, st->trig);325 if (ret)326 return ret;327 328 indio_dev->trig = iio_trigger_get(st->trig);329 330 return 0;331}332