1 // SPDX-License-Identifier: GPL-2.0-only
2 /*
3 * Copyright (C) 2012 Invensense, Inc.
4 */
5 
6 #include <linux/pm_runtime.h>
7 #include "inv_mpu_iio.h"
8 
inv_scan_query_mpu6050(struct iio_dev * indio_dev)9 static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)
10 {
11 	struct inv_mpu6050_state  *st = iio_priv(indio_dev);
12 	unsigned int mask;
13 
14 	/*
15 	 * If the MPU6050 is just used as a trigger, then the scan mask
16 	 * is not allocated so we simply enable the temperature channel
17 	 * as a dummy and bail out.
18 	 */
19 	if (!indio_dev->active_scan_mask) {
20 		st->chip_config.temp_fifo_enable = true;
21 		return INV_MPU6050_SENSOR_TEMP;
22 	}
23 
24 	st->chip_config.gyro_fifo_enable =
25 		test_bit(INV_MPU6050_SCAN_GYRO_X,
26 			 indio_dev->active_scan_mask) ||
27 		test_bit(INV_MPU6050_SCAN_GYRO_Y,
28 			 indio_dev->active_scan_mask) ||
29 		test_bit(INV_MPU6050_SCAN_GYRO_Z,
30 			 indio_dev->active_scan_mask);
31 
32 	st->chip_config.accl_fifo_enable =
33 		test_bit(INV_MPU6050_SCAN_ACCL_X,
34 			 indio_dev->active_scan_mask) ||
35 		test_bit(INV_MPU6050_SCAN_ACCL_Y,
36 			 indio_dev->active_scan_mask) ||
37 		test_bit(INV_MPU6050_SCAN_ACCL_Z,
38 			 indio_dev->active_scan_mask);
39 
40 	st->chip_config.temp_fifo_enable =
41 		test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
42 
43 	mask = 0;
44 	if (st->chip_config.gyro_fifo_enable)
45 		mask |= INV_MPU6050_SENSOR_GYRO;
46 	if (st->chip_config.accl_fifo_enable)
47 		mask |= INV_MPU6050_SENSOR_ACCL;
48 	if (st->chip_config.temp_fifo_enable)
49 		mask |= INV_MPU6050_SENSOR_TEMP;
50 
51 	return mask;
52 }
53 
inv_scan_query_mpu9x50(struct iio_dev * indio_dev)54 static unsigned int inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
55 {
56 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
57 	unsigned int mask;
58 
59 	mask = inv_scan_query_mpu6050(indio_dev);
60 
61 	/* no magnetometer if i2c auxiliary bus is used */
62 	if (st->magn_disabled)
63 		return mask;
64 
65 	st->chip_config.magn_fifo_enable =
66 		test_bit(INV_MPU9X50_SCAN_MAGN_X,
67 			 indio_dev->active_scan_mask) ||
68 		test_bit(INV_MPU9X50_SCAN_MAGN_Y,
69 			 indio_dev->active_scan_mask) ||
70 		test_bit(INV_MPU9X50_SCAN_MAGN_Z,
71 			 indio_dev->active_scan_mask);
72 	if (st->chip_config.magn_fifo_enable)
73 		mask |= INV_MPU6050_SENSOR_MAGN;
74 
75 	return mask;
76 }
77 
inv_scan_query(struct iio_dev * indio_dev)78 static unsigned int inv_scan_query(struct iio_dev *indio_dev)
79 {
80 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
81 
82 	switch (st->chip_type) {
83 	case INV_MPU9150:
84 	case INV_MPU9250:
85 	case INV_MPU9255:
86 		return inv_scan_query_mpu9x50(indio_dev);
87 	default:
88 		return inv_scan_query_mpu6050(indio_dev);
89 	}
90 }
91 
inv_compute_skip_samples(const struct inv_mpu6050_state * st)92 static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
93 {
94 	unsigned int skip_samples = 0;
95 
96 	/* mag first sample is always not ready, skip it */
97 	if (st->chip_config.magn_fifo_enable)
98 		skip_samples = 1;
99 
100 	return skip_samples;
101 }
102 
inv_mpu6050_prepare_fifo(struct inv_mpu6050_state * st,bool enable)103 int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
104 {
105 	uint8_t d;
106 	int ret;
107 
108 	if (enable) {
109 		st->it_timestamp = 0;
110 		/* reset FIFO */
111 		d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
112 		ret = regmap_write(st->map, st->reg->user_ctrl, d);
113 		if (ret)
114 			return ret;
115 		/* enable sensor output to FIFO */
116 		d = 0;
117 		if (st->chip_config.gyro_fifo_enable)
118 			d |= INV_MPU6050_BITS_GYRO_OUT;
119 		if (st->chip_config.accl_fifo_enable)
120 			d |= INV_MPU6050_BIT_ACCEL_OUT;
121 		if (st->chip_config.temp_fifo_enable)
122 			d |= INV_MPU6050_BIT_TEMP_OUT;
123 		if (st->chip_config.magn_fifo_enable)
124 			d |= INV_MPU6050_BIT_SLAVE_0;
125 		ret = regmap_write(st->map, st->reg->fifo_en, d);
126 		if (ret)
127 			return ret;
128 		/* enable FIFO reading */
129 		d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_EN;
130 		ret = regmap_write(st->map, st->reg->user_ctrl, d);
131 		if (ret)
132 			return ret;
133 		/* enable interrupt */
134 		ret = regmap_write(st->map, st->reg->int_enable,
135 				   INV_MPU6050_BIT_DATA_RDY_EN);
136 	} else {
137 		ret = regmap_write(st->map, st->reg->int_enable, 0);
138 		if (ret)
139 			return ret;
140 		ret = regmap_write(st->map, st->reg->fifo_en, 0);
141 		if (ret)
142 			return ret;
143 		/* restore user_ctrl for disabling FIFO reading */
144 		ret = regmap_write(st->map, st->reg->user_ctrl,
145 				   st->chip_config.user_ctrl);
146 	}
147 
148 	return ret;
149 }
150 
151 /**
152  *  inv_mpu6050_set_enable() - enable chip functions.
153  *  @indio_dev:	Device driver instance.
154  *  @enable: enable/disable
155  */
inv_mpu6050_set_enable(struct iio_dev * indio_dev,bool enable)156 static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
157 {
158 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
159 	struct device *pdev = regmap_get_device(st->map);
160 	unsigned int scan;
161 	int result;
162 
163 	if (enable) {
164 		scan = inv_scan_query(indio_dev);
165 		result = pm_runtime_resume_and_get(pdev);
166 		if (result)
167 			return result;
168 		/*
169 		 * In case autosuspend didn't trigger, turn off first not
170 		 * required sensors.
171 		 */
172 		result = inv_mpu6050_switch_engine(st, false, ~scan);
173 		if (result)
174 			goto error_power_off;
175 		result = inv_mpu6050_switch_engine(st, true, scan);
176 		if (result)
177 			goto error_power_off;
178 		st->skip_samples = inv_compute_skip_samples(st);
179 		result = inv_mpu6050_prepare_fifo(st, true);
180 		if (result)
181 			goto error_power_off;
182 	} else {
183 		result = inv_mpu6050_prepare_fifo(st, false);
184 		if (result)
185 			goto error_power_off;
186 		pm_runtime_mark_last_busy(pdev);
187 		pm_runtime_put_autosuspend(pdev);
188 	}
189 
190 	return 0;
191 
192 error_power_off:
193 	pm_runtime_put_autosuspend(pdev);
194 	return result;
195 }
196 
197 /**
198  * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
199  * @trig: Trigger instance
200  * @state: Desired trigger state
201  */
inv_mpu_data_rdy_trigger_set_state(struct iio_trigger * trig,bool state)202 static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
203 					      bool state)
204 {
205 	struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
206 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
207 	int result;
208 
209 	mutex_lock(&st->lock);
210 	result = inv_mpu6050_set_enable(indio_dev, state);
211 	mutex_unlock(&st->lock);
212 
213 	return result;
214 }
215 
216 static const struct iio_trigger_ops inv_mpu_trigger_ops = {
217 	.set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
218 };
219 
inv_mpu6050_probe_trigger(struct iio_dev * indio_dev,int irq_type)220 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
221 {
222 	int ret;
223 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
224 
225 	st->trig = devm_iio_trigger_alloc(&indio_dev->dev,
226 					  "%s-dev%d",
227 					  indio_dev->name,
228 					  iio_device_id(indio_dev));
229 	if (!st->trig)
230 		return -ENOMEM;
231 
232 	ret = devm_request_irq(&indio_dev->dev, st->irq,
233 			       &iio_trigger_generic_data_rdy_poll,
234 			       irq_type,
235 			       "inv_mpu",
236 			       st->trig);
237 	if (ret)
238 		return ret;
239 
240 	st->trig->dev.parent = regmap_get_device(st->map);
241 	st->trig->ops = &inv_mpu_trigger_ops;
242 	iio_trigger_set_drvdata(st->trig, indio_dev);
243 
244 	ret = devm_iio_trigger_register(&indio_dev->dev, st->trig);
245 	if (ret)
246 		return ret;
247 
248 	indio_dev->trig = iio_trigger_get(st->trig);
249 
250 	return 0;
251 }
252