diff options
Diffstat (limited to 'drivers/iio')
| -rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 116 |
1 files changed, 62 insertions, 54 deletions
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index 45f57f734e3b..79b44fd42c13 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -332,6 +332,67 @@ 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 = IIO_VAL_INT; + + result = iio_device_claim_direct_mode(indio_dev); + if (result) + return result; + result = inv_mpu6050_set_power_itg(st, true); + if (result) + goto error_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_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; + } + +error_power_off: + result |= inv_mpu6050_set_power_itg(st, false); +error_release: + iio_device_release_direct_mode(indio_dev); + if (result) + return result; + + return ret; +} + static int inv_mpu6050_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, @@ -342,63 +403,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, switch (mask) { case IIO_CHAN_INFO_RAW: - { - int result; - - ret = IIO_VAL_INT; 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; - return ret; - } case IIO_CHAN_INFO_SCALE: switch (chan->type) { case IIO_ANGL_VEL: |