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// SPDX-License-Identifier: GPL-2.0-only
/*
* Copyright (C) 2012 Invensense, Inc.
*/
#include <linux/pm_runtime.h>
#include <linux/iio/common/inv_sensors_timestamp.h>
#include <linux/iio/events.h>
#include "inv_mpu_iio.h"
static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
unsigned int mask;
/*
* If the MPU6050 is just used as a trigger, then the scan mask
* is not allocated so we simply enable the temperature channel
* as a dummy and bail out.
*/
if (!indio_dev->active_scan_mask) {
st->chip_config.temp_fifo_enable = true;
return INV_MPU6050_SENSOR_TEMP;
}
st->chip_config.gyro_fifo_enable =
test_bit(INV_MPU6050_SCAN_GYRO_X,
indio_dev->active_scan_mask) ||
test_bit(INV_MPU6050_SCAN_GYRO_Y,
indio_dev->active_scan_mask) ||
test_bit(INV_MPU6050_SCAN_GYRO_Z,
indio_dev->active_scan_mask);
st->chip_config.accl_fifo_enable =
test_bit(INV_MPU6050_SCAN_ACCL_X,
indio_dev->active_scan_mask) ||
test_bit(INV_MPU6050_SCAN_ACCL_Y,
indio_dev->active_scan_mask) ||
test_bit(INV_MPU6050_SCAN_ACCL_Z,
indio_dev->active_scan_mask);
st->chip_config.temp_fifo_enable =
test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
mask = 0;
if (st->chip_config.gyro_fifo_enable)
mask |= INV_MPU6050_SENSOR_GYRO;
if (st->chip_config.accl_fifo_enable)
mask |= INV_MPU6050_SENSOR_ACCL;
if (st->chip_config.temp_fifo_enable)
mask |= INV_MPU6050_SENSOR_TEMP;
return mask;
}
static unsigned int inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
unsigned int mask;
mask = inv_scan_query_mpu6050(indio_dev);
/* no magnetometer if i2c auxiliary bus is used */
if (st->magn_disabled)
return mask;
st->chip_config.magn_fifo_enable =
test_bit(INV_MPU9X50_SCAN_MAGN_X,
indio_dev->active_scan_mask) ||
test_bit(INV_MPU9X50_SCAN_MAGN_Y,
indio_dev->active_scan_mask) ||
test_bit(INV_MPU9X50_SCAN_MAGN_Z,
indio_dev->active_scan_mask);
if (st->chip_config.magn_fifo_enable)
mask |= INV_MPU6050_SENSOR_MAGN;
return mask;
}
static unsigned int inv_scan_query(struct iio_dev *indio_dev)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
switch (st->chip_type) {
case INV_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
return inv_scan_query_mpu9x50(indio_dev);
default:
return inv_scan_query_mpu6050(indio_dev);
}
}
static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
{
unsigned int skip_samples = 0;
/* mag first sample is always not ready, skip it */
if (st->chip_config.magn_fifo_enable)
skip_samples = 1;
return skip_samples;
}
int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
{
uint8_t d;
int ret;
if (enable) {
/* reset timestamping */
inv_sensors_timestamp_reset(&st->timestamp);
inv_sensors_timestamp_apply_odr(&st->timestamp, 0, 0, 0);
/* reset FIFO */
d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
ret = regmap_write(st->map, st->reg->user_ctrl, d);
if (ret)
return ret;
/* enable sensor output to FIFO */
d = 0;
if (st->chip_config.gyro_fifo_enable)
d |= INV_MPU6050_BITS_GYRO_OUT;
if (st->chip_config.accl_fifo_enable)
d |= INV_MPU6050_BIT_ACCEL_OUT;
if (st->chip_config.temp_fifo_enable)
d |= INV_MPU6050_BIT_TEMP_OUT;
if (st->chip_config.magn_fifo_enable)
d |= INV_MPU6050_BIT_SLAVE_0;
ret = regmap_write(st->map, st->reg->fifo_en, d);
if (ret)
return ret;
/* enable FIFO reading */
d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_EN;
ret = regmap_write(st->map, st->reg->user_ctrl, d);
if (ret)
return ret;
/* enable data interrupt */
ret = regmap_update_bits(st->map, st->reg->int_enable,
INV_MPU6050_BIT_DATA_RDY_EN, INV_MPU6050_BIT_DATA_RDY_EN);
} else {
/* disable data interrupt */
ret = regmap_update_bits(st->map, st->reg->int_enable,
INV_MPU6050_BIT_DATA_RDY_EN, 0);
if (ret)
return ret;
ret = regmap_write(st->map, st->reg->fifo_en, 0);
if (ret)
return ret;
/* restore user_ctrl for disabling FIFO reading */
ret = regmap_write(st->map, st->reg->user_ctrl,
st->chip_config.user_ctrl);
}
return ret;
}
/**
* inv_mpu6050_set_enable() - enable chip functions.
* @indio_dev: Device driver instance.
* @enable: enable/disable
*/
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;
if (enable) {
scan = inv_scan_query(indio_dev);
result = pm_runtime_resume_and_get(pdev);
if (result)
return result;
/*
* In case autosuspend didn't trigger, turn off first not
* required sensors excepted WoM
*/
result = inv_mpu6050_switch_engine(st, false, ~scan & ~INV_MPU6050_SENSOR_WOM);
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_power_off;
} else {
st->chip_config.gyro_fifo_enable = 0;
st->chip_config.accl_fifo_enable = 0;
st->chip_config.temp_fifo_enable = 0;
st->chip_config.magn_fifo_enable = 0;
result = inv_mpu6050_prepare_fifo(st, false);
if (result)
goto error_power_off;
pm_runtime_mark_last_busy(pdev);
pm_runtime_put_autosuspend(pdev);
}
return 0;
error_power_off:
pm_runtime_put_autosuspend(pdev);
return result;
}
/**
* inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
* @trig: Trigger instance
* @state: Desired trigger state
*/
static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
bool state)
{
struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
struct inv_mpu6050_state *st = iio_priv(indio_dev);
int result;
mutex_lock(&st->lock);
result = inv_mpu6050_set_enable(indio_dev, state);
mutex_unlock(&st->lock);
return result;
}
static const struct iio_trigger_ops inv_mpu_trigger_ops = {
.set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
};
static irqreturn_t inv_mpu6050_interrupt_timestamp(int irq, void *p)
{
struct iio_dev *indio_dev = p;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
st->it_timestamp = iio_get_time_ns(indio_dev);
return IRQ_WAKE_THREAD;
}
static irqreturn_t inv_mpu6050_interrupt_handle(int irq, void *p)
{
struct iio_dev *indio_dev = p;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
unsigned int int_status, wom_bits;
u64 ev_code;
int result;
switch (st->chip_type) {
case INV_MPU6050:
case INV_MPU6500:
case INV_MPU6515:
case INV_MPU6880:
case INV_MPU6000:
case INV_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
wom_bits = INV_MPU6500_BIT_WOM_INT;
break;
default:
wom_bits = INV_ICM20608_BIT_WOM_INT;
break;
}
scoped_guard(mutex, &st->lock) {
/* ack interrupt and check status */
result = regmap_read(st->map, st->reg->int_status, &int_status);
if (result) {
dev_err(regmap_get_device(st->map), "failed to ack interrupt\n");
return IRQ_HANDLED;
}
/* handle WoM event */
if (st->chip_config.wom_en && (int_status & wom_bits)) {
ev_code = IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, IIO_MOD_X_OR_Y_OR_Z,
IIO_EV_TYPE_ROC, IIO_EV_DIR_RISING);
iio_push_event(indio_dev, ev_code, st->it_timestamp);
}
}
/* handle raw data interrupt */
if (int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT) {
indio_dev->pollfunc->timestamp = st->it_timestamp;
iio_trigger_poll_nested(st->trig);
}
return IRQ_HANDLED;
}
int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
{
int ret;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
st->trig = devm_iio_trigger_alloc(&indio_dev->dev,
"%s-dev%d",
indio_dev->name,
iio_device_id(indio_dev));
if (!st->trig)
return -ENOMEM;
ret = devm_request_threaded_irq(&indio_dev->dev, st->irq,
&inv_mpu6050_interrupt_timestamp,
&inv_mpu6050_interrupt_handle,
irq_type, "inv_mpu", indio_dev);
if (ret)
return ret;
st->trig->dev.parent = regmap_get_device(st->map);
st->trig->ops = &inv_mpu_trigger_ops;
iio_trigger_set_drvdata(st->trig, indio_dev);
ret = devm_iio_trigger_register(&indio_dev->dev, st->trig);
if (ret)
return ret;
indio_dev->trig = iio_trigger_get(st->trig);
return 0;
}
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