1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
|
// SPDX-License-Identifier: GPL-2.0-only
/*
* Copyright (C) 2012 Invensense, Inc.
*/
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/err.h>
#include <linux/delay.h>
#include <linux/sysfs.h>
#include <linux/jiffies.h>
#include <linux/irq.h>
#include <linux/interrupt.h>
#include <linux/poll.h>
#include <linux/math64.h>
#include <asm/unaligned.h>
#include "inv_mpu_iio.h"
/**
* inv_mpu6050_update_period() - Update chip internal period estimation
*
* @st: driver state
* @timestamp: the interrupt timestamp
* @nb: number of data set in the fifo
*
* This function uses interrupt timestamps to estimate the chip period and
* to choose the data timestamp to come.
*/
static void inv_mpu6050_update_period(struct inv_mpu6050_state *st,
s64 timestamp, size_t nb)
{
/* Period boundaries for accepting timestamp */
const s64 period_min =
(NSEC_PER_MSEC * (100 - INV_MPU6050_TS_PERIOD_JITTER)) / 100;
const s64 period_max =
(NSEC_PER_MSEC * (100 + INV_MPU6050_TS_PERIOD_JITTER)) / 100;
const s32 divider = INV_MPU6050_FREQ_DIVIDER(st);
s64 delta, interval;
bool use_it_timestamp = false;
if (st->it_timestamp == 0) {
/* not initialized, forced to use it_timestamp */
use_it_timestamp = true;
} else if (nb == 1) {
/*
* Validate the use of it timestamp by checking if interrupt
* has been delayed.
* nb > 1 means interrupt was delayed for more than 1 sample,
* so it's obviously not good.
* Compute the chip period between 2 interrupts for validating.
*/
delta = div_s64(timestamp - st->it_timestamp, divider);
if (delta > period_min && delta < period_max) {
/* update chip period and use it timestamp */
st->chip_period = (st->chip_period + delta) / 2;
use_it_timestamp = true;
}
}
if (use_it_timestamp) {
/*
* Manage case of multiple samples in the fifo (nb > 1):
* compute timestamp corresponding to the first sample using
* estimated chip period.
*/
interval = (nb - 1) * st->chip_period * divider;
st->data_timestamp = timestamp - interval;
}
/* save it timestamp */
st->it_timestamp = timestamp;
}
/**
* inv_mpu6050_get_timestamp() - Return the current data timestamp
*
* @st: driver state
* @return: current data timestamp
*
* This function returns the current data timestamp and prepares for next one.
*/
static s64 inv_mpu6050_get_timestamp(struct inv_mpu6050_state *st)
{
s64 ts;
/* return current data timestamp and increment */
ts = st->data_timestamp;
st->data_timestamp += st->chip_period * INV_MPU6050_FREQ_DIVIDER(st);
return ts;
}
int inv_reset_fifo(struct iio_dev *indio_dev)
{
int result;
u8 d;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
/* reset it timestamp validation */
st->it_timestamp = 0;
/* disable interrupt */
result = regmap_write(st->map, st->reg->int_enable, 0);
if (result) {
dev_err(regmap_get_device(st->map), "int_enable failed %d\n",
result);
return result;
}
/* disable the sensor output to FIFO */
result = regmap_write(st->map, st->reg->fifo_en, 0);
if (result)
goto reset_fifo_fail;
/* disable fifo reading */
result = regmap_write(st->map, st->reg->user_ctrl,
st->chip_config.user_ctrl);
if (result)
goto reset_fifo_fail;
/* reset FIFO*/
d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
result = regmap_write(st->map, st->reg->user_ctrl, d);
if (result)
goto reset_fifo_fail;
/* enable interrupt */
if (st->chip_config.accl_fifo_enable ||
st->chip_config.gyro_fifo_enable) {
result = regmap_write(st->map, st->reg->int_enable,
INV_MPU6050_BIT_DATA_RDY_EN);
if (result)
return result;
}
/* enable FIFO reading */
d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_EN;
result = regmap_write(st->map, st->reg->user_ctrl, d);
if (result)
goto reset_fifo_fail;
/* 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;
result = regmap_write(st->map, st->reg->fifo_en, d);
if (result)
goto reset_fifo_fail;
return 0;
reset_fifo_fail:
dev_err(regmap_get_device(st->map), "reset fifo failed %d\n", result);
result = regmap_write(st->map, st->reg->int_enable,
INV_MPU6050_BIT_DATA_RDY_EN);
return result;
}
/**
* inv_mpu6050_read_fifo() - Transfer data from hardware FIFO to KFIFO.
*/
irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
{
struct iio_poll_func *pf = p;
struct iio_dev *indio_dev = pf->indio_dev;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
size_t bytes_per_datum;
int result;
u8 data[INV_MPU6050_OUTPUT_DATA_SIZE];
u16 fifo_count;
s64 timestamp;
int int_status;
size_t i, nb;
mutex_lock(&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");
goto flush_fifo;
}
/* handle fifo overflow by reseting fifo */
if (int_status & INV_MPU6050_BIT_FIFO_OVERFLOW_INT)
goto flush_fifo;
if (!(int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT)) {
dev_warn(regmap_get_device(st->map),
"spurious interrupt with status 0x%x\n", int_status);
goto end_session;
}
if (!(st->chip_config.accl_fifo_enable |
st->chip_config.gyro_fifo_enable))
goto end_session;
bytes_per_datum = 0;
if (st->chip_config.accl_fifo_enable)
bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
if (st->chip_config.gyro_fifo_enable)
bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
if (st->chip_type == INV_ICM20602)
bytes_per_datum += INV_ICM20602_BYTES_PER_TEMP_SENSOR;
/*
* read fifo_count register to know how many bytes are inside the FIFO
* right now
*/
result = regmap_bulk_read(st->map, st->reg->fifo_count_h, data,
INV_MPU6050_FIFO_COUNT_BYTE);
if (result)
goto end_session;
fifo_count = get_unaligned_be16(&data[0]);
/* compute and process all complete datum */
nb = fifo_count / bytes_per_datum;
inv_mpu6050_update_period(st, pf->timestamp, nb);
for (i = 0; i < nb; ++i) {
result = regmap_bulk_read(st->map, st->reg->fifo_r_w,
data, bytes_per_datum);
if (result)
goto flush_fifo;
/* skip first samples if needed */
if (st->skip_samples) {
st->skip_samples--;
continue;
}
timestamp = inv_mpu6050_get_timestamp(st);
iio_push_to_buffers_with_timestamp(indio_dev, data, timestamp);
}
end_session:
mutex_unlock(&st->lock);
iio_trigger_notify_done(indio_dev->trig);
return IRQ_HANDLED;
flush_fifo:
/* Flush HW and SW FIFOs. */
inv_reset_fifo(indio_dev);
mutex_unlock(&st->lock);
iio_trigger_notify_done(indio_dev->trig);
return IRQ_HANDLED;
}
|
