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// SPDX-License-Identifier: GPL-2.0-only
/*
* Copyright (C) 2012 Invensense, Inc.
*/
#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;
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 gyro_skip = 0;
unsigned int magn_skip = 0;
unsigned int skip_samples;
/* gyro first sample is out of specs, skip it */
if (st->chip_config.gyro_fifo_enable)
gyro_skip = 1;
/* mag first sample is always not ready, skip it */
if (st->chip_config.magn_fifo_enable)
magn_skip = 1;
/* compute first samples to skip */
skip_samples = gyro_skip;
if (magn_skip > skip_samples)
skip_samples = magn_skip;
return skip_samples;
}
int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
{
uint8_t d;
int ret;
if (enable) {
st->it_timestamp = 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 interrupt */
ret = regmap_write(st->map, st->reg->int_enable,
INV_MPU6050_BIT_DATA_RDY_EN);
} else {
ret = regmap_write(st->map, st->reg->int_enable, 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);
unsigned int scan;
int result;
scan = inv_scan_query(indio_dev);
if (enable) {
result = inv_mpu6050_set_power_itg(st, true);
if (result)
return result;
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;
} 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;
}
return 0;
error_sensors_off:
inv_mpu6050_switch_engine(st, false, scan);
error_power_off:
inv_mpu6050_set_power_itg(st, false);
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,
};
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,
indio_dev->id);
if (!st->trig)
return -ENOMEM;
ret = devm_request_irq(&indio_dev->dev, st->irq,
&iio_trigger_generic_data_rdy_poll,
irq_type,
"inv_mpu",
st->trig);
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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