LXR linux/drivers/iio/imu/inv_mpu6050/inv_mpu

   1// SPDX-License-Identifier: GPL-2.0-only
   2/*
   3* Copyright (C) 2012 Invensense, Inc.
   4*/
   5
   6#include "inv_mpu_iio.h"
   7
   8static void inv_scan_query(struct iio_dev *indio_dev)
   9{
  10        struct inv_mpu6050_state  *st = iio_priv(indio_dev);
  11
  12        st->chip_config.gyro_fifo_enable =
  13                test_bit(INV_MPU6050_SCAN_GYRO_X,
  14                         indio_dev->active_scan_mask) ||
  15                test_bit(INV_MPU6050_SCAN_GYRO_Y,
  16                         indio_dev->active_scan_mask) ||
  17                test_bit(INV_MPU6050_SCAN_GYRO_Z,
  18                         indio_dev->active_scan_mask);
  19
  20        st->chip_config.accl_fifo_enable =
  21                test_bit(INV_MPU6050_SCAN_ACCL_X,
  22                         indio_dev->active_scan_mask) ||
  23                test_bit(INV_MPU6050_SCAN_ACCL_Y,
  24                         indio_dev->active_scan_mask) ||
  25                test_bit(INV_MPU6050_SCAN_ACCL_Z,
  26                         indio_dev->active_scan_mask);
  27}
  28
  29/**
  30 *  inv_mpu6050_set_enable() - enable chip functions.
  31 *  @indio_dev: Device driver instance.
  32 *  @enable: enable/disable
  33 */
  34static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
  35{
  36        struct inv_mpu6050_state *st = iio_priv(indio_dev);
  37        int result;
  38
  39        if (enable) {
  40                result = inv_mpu6050_set_power_itg(st, true);
  41                if (result)
  42                        return result;
  43                inv_scan_query(indio_dev);
  44                st->skip_samples = 0;
  45                if (st->chip_config.gyro_fifo_enable) {
  46                        result = inv_mpu6050_switch_engine(st, true,
  47                                        INV_MPU6050_BIT_PWR_GYRO_STBY);
  48                        if (result)
  49                                goto error_power_off;
  50                        /* gyro first sample is out of specs, skip it */
  51                        st->skip_samples = 1;
  52                }
  53                if (st->chip_config.accl_fifo_enable) {
  54                        result = inv_mpu6050_switch_engine(st, true,
  55                                        INV_MPU6050_BIT_PWR_ACCL_STBY);
  56                        if (result)
  57                                goto error_gyro_off;
  58                }
  59                result = inv_reset_fifo(indio_dev);
  60                if (result)
  61                        goto error_accl_off;
  62        } else {
  63                result = regmap_write(st->map, st->reg->fifo_en, 0);
  64                if (result)
  65                        goto error_accl_off;
  66
  67                result = regmap_write(st->map, st->reg->int_enable, 0);
  68                if (result)
  69                        goto error_accl_off;
  70
  71                result = regmap_write(st->map, st->reg->user_ctrl,
  72                                      st->chip_config.user_ctrl);
  73                if (result)
  74                        goto error_accl_off;
  75
  76                result = inv_mpu6050_switch_engine(st, false,
  77                                        INV_MPU6050_BIT_PWR_ACCL_STBY);
  78                if (result)
  79                        goto error_accl_off;
  80
  81                result = inv_mpu6050_switch_engine(st, false,
  82                                        INV_MPU6050_BIT_PWR_GYRO_STBY);
  83                if (result)
  84                        goto error_gyro_off;
  85
  86                result = inv_mpu6050_set_power_itg(st, false);
  87                if (result)
  88                        goto error_power_off;
  89        }
  90
  91        return 0;
  92
  93error_accl_off:
  94        if (st->chip_config.accl_fifo_enable)
  95                inv_mpu6050_switch_engine(st, false,
  96                                          INV_MPU6050_BIT_PWR_ACCL_STBY);
  97error_gyro_off:
  98        if (st->chip_config.gyro_fifo_enable)
  99                inv_mpu6050_switch_engine(st, false,
 100                                          INV_MPU6050_BIT_PWR_GYRO_STBY);
 101error_power_off:
 102        inv_mpu6050_set_power_itg(st, false);
 103        return result;
 104}
 105
 106/**
 107 * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
 108 * @trig: Trigger instance
 109 * @state: Desired trigger state
 110 */
 111static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
 112                                              bool state)
 113{
 114        struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
 115        struct inv_mpu6050_state *st = iio_priv(indio_dev);
 116        int result;
 117
 118        mutex_lock(&st->lock);
 119        result = inv_mpu6050_set_enable(indio_dev, state);
 120        mutex_unlock(&st->lock);
 121
 122        return result;
 123}
 124
 125static const struct iio_trigger_ops inv_mpu_trigger_ops = {
 126        .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
 127};
 128
 129int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
 130{
 131        int ret;
 132        struct inv_mpu6050_state *st = iio_priv(indio_dev);
 133
 134        st->trig = devm_iio_trigger_alloc(&indio_dev->dev,
 135                                          "%s-dev%d",
 136                                          indio_dev->name,
 137                                          indio_dev->id);
 138        if (!st->trig)
 139                return -ENOMEM;
 140
 141        ret = devm_request_irq(&indio_dev->dev, st->irq,
 142                               &iio_trigger_generic_data_rdy_poll,
 143                               irq_type,
 144                               "inv_mpu",
 145                               st->trig);
 146        if (ret)
 147                return ret;
 148
 149        st->trig->dev.parent = regmap_get_device(st->map);
 150        st->trig->ops = &inv_mpu_trigger_ops;
 151        iio_trigger_set_drvdata(st->trig, indio_dev);
 152
 153        ret = devm_iio_trigger_register(&indio_dev->dev, st->trig);
 154        if (ret)
 155                return ret;
 156
 157        indio_dev->trig = iio_trigger_get(st->trig);
 158
 159        return 0;
 160}
 161