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Thu, 29 Aug 2019 15:18:46 +0000 From: Jean-Baptiste Maneyrol To: "jic23@kernel.org" CC: "linux-iio@vger.kernel.org" , Jean-Baptiste Maneyrol Subject: [PATCH 8/8] iio: imu: inv_mpu6050: add fifo support for magnetometer data Thread-Topic: [PATCH 8/8] iio: imu: inv_mpu6050: add fifo support for magnetometer data Thread-Index: AQHVXn0N9geTb3i1l0qss4zhN1di9Q== Date: Thu, 29 Aug 2019 15:18:46 +0000 Message-ID: <20190829151801.13014-9-jmaneyrol@invensense.com> References: <20190829151801.13014-1-jmaneyrol@invensense.com> In-Reply-To: <20190829151801.13014-1-jmaneyrol@invensense.com> Accept-Language: en-US Content-Language: en-US X-MS-Has-Attach: X-MS-TNEF-Correlator: x-clientproxiedby: PR0P264CA0137.FRAP264.PROD.OUTLOOK.COM (2603:10a6:100:1a::29) To BYAPR12MB3366.namprd12.prod.outlook.com (2603:10b6:a03:a9::15) x-originating-ip: [77.157.193.39] x-ms-exchange-messagesentrepresentingtype: 1 x-mailer: git-send-email 2.17.1 x-ms-publictraffictype: Email x-ms-office365-filtering-correlation-id: ce490043-6b12-4977-a097-08d72c942fd1 x-microsoft-antispam: BCL:0;PCL:0;RULEID:(2390118)(7020095)(4652040)(8989299)(4534185)(4627221)(201703031133081)(201702281549075)(8990200)(5600166)(711020)(4605104)(1401327)(2017052603328)(7193020);SRVR:BYAPR12MB3638; 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Signed-off-by: Jean-Baptiste Maneyrol --- drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 1 + drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 + drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 14 ++- drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 90 +++++++++++++++++-- 4 files changed, 94 insertions(+), 13 deletions(-) diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index d08cec6a8a7a..d4a321fd03a9 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -105,6 +105,7 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = { .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE), .gyro_fifo_enable = false, .accl_fifo_enable = false, + .magn_fifo_enable = false, .accl_fs = INV_MPU6050_FS_02G, .user_ctrl = 0, }; diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h index cfc11cb0a36c..48ed66e39cda 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h @@ -86,6 +86,7 @@ enum inv_devices { * @accl_fs: accel full scale range. * @accl_fifo_enable: enable accel data output * @gyro_fifo_enable: enable gyro data output + * @magn_fifo_enable: enable magn data output * @divider: chip sample rate divider (sample rate divider - 1) */ struct inv_mpu6050_chip_config { @@ -94,6 +95,7 @@ struct inv_mpu6050_chip_config { unsigned int accl_fs:2; unsigned int accl_fifo_enable:1; unsigned int gyro_fifo_enable:1; + unsigned int magn_fifo_enable:1; u8 divider; u8 user_ctrl; }; diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c index 5f9a5de0bab4..f0a5350c1848 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c @@ -14,6 +14,7 @@ #include #include #include + #include "inv_mpu_iio.h" /** @@ -124,7 +125,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev) /* enable interrupt */ if (st->chip_config.accl_fifo_enable || - st->chip_config.gyro_fifo_enable) { + st->chip_config.gyro_fifo_enable || + st->chip_config.magn_fifo_enable) { result = regmap_write(st->map, st->reg->int_enable, INV_MPU6050_BIT_DATA_RDY_EN); if (result) @@ -141,6 +143,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev) d |= INV_MPU6050_BITS_GYRO_OUT; if (st->chip_config.accl_fifo_enable) d |= INV_MPU6050_BIT_ACCEL_OUT; + if (st->chip_config.magn_fifo_enable) + d |= INV_MPU6050_BIT_SLAVE_0; result = regmap_write(st->map, st->reg->fifo_en, d); if (result) goto reset_fifo_fail; @@ -190,17 +194,19 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) } if (!(st->chip_config.accl_fifo_enable | - st->chip_config.gyro_fifo_enable)) + st->chip_config.gyro_fifo_enable | + st->chip_config.magn_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; + if (st->chip_config.magn_fifo_enable) + bytes_per_datum += INV_MPU9X50_BYTES_MAGN; /* * read fifo_count register to know how many bytes are inside the FIFO diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c index dd55e70b6f77..fa4928e589b9 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c @@ -5,7 +5,7 @@ #include "inv_mpu_iio.h" -static void inv_scan_query(struct iio_dev *indio_dev) +static void inv_scan_query_mpu6050(struct iio_dev *indio_dev) { struct inv_mpu6050_state *st = iio_priv(indio_dev); @@ -26,6 +26,52 @@ static void inv_scan_query(struct iio_dev *indio_dev) indio_dev->active_scan_mask); } +#ifdef CONFIG_INV_MPU6050_MAGN +static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev) +{ + struct inv_mpu6050_state *st = iio_priv(indio_dev); + + st->chip_config.gyro_fifo_enable = + test_bit(INV_MPU9X50_SCAN_GYRO_X, + indio_dev->active_scan_mask) || + test_bit(INV_MPU9X50_SCAN_GYRO_Y, + indio_dev->active_scan_mask) || + test_bit(INV_MPU9X50_SCAN_GYRO_Z, + indio_dev->active_scan_mask); + + st->chip_config.accl_fifo_enable = + test_bit(INV_MPU9X50_SCAN_ACCL_X, + indio_dev->active_scan_mask) || + test_bit(INV_MPU9X50_SCAN_ACCL_Y, + indio_dev->active_scan_mask) || + test_bit(INV_MPU9X50_SCAN_ACCL_Z, + indio_dev->active_scan_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); +} +#endif + +static void inv_scan_query(struct iio_dev *indio_dev) +{ + struct inv_mpu6050_state *st = iio_priv(indio_dev); + + switch (st->chip_type) { +#ifdef CONFIG_INV_MPU6050_MAGN + case INV_MPU9250: + case INV_MPU9255: + return inv_scan_query_mpu9x50(indio_dev); +#endif + default: + return inv_scan_query_mpu6050(indio_dev); + } +} + /** * inv_mpu6050_set_enable() - enable chip functions. * @indio_dev: Device driver instance. @@ -34,6 +80,11 @@ static void inv_scan_query(struct iio_dev *indio_dev) static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable) { struct inv_mpu6050_state *st = iio_priv(indio_dev); + uint8_t d; + unsigned int gyro_skip = 0; + unsigned int accl_skip = 0; + unsigned int magn_skip = 0; + unsigned int skip_samples; int result; if (enable) { @@ -41,14 +92,13 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable) if (result) return result; inv_scan_query(indio_dev); - st->skip_samples = 0; if (st->chip_config.gyro_fifo_enable) { result = inv_mpu6050_switch_engine(st, true, INV_MPU6050_BIT_PWR_GYRO_STBY); if (result) goto error_power_off; /* gyro first sample is out of specs, skip it */ - st->skip_samples = 1; + gyro_skip = 1; } if (st->chip_config.accl_fifo_enable) { result = inv_mpu6050_switch_engine(st, true, @@ -56,22 +106,40 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable) if (result) goto error_gyro_off; } + if (st->chip_config.magn_fifo_enable) { + d = st->chip_config.user_ctrl | + INV_MPU6050_BIT_I2C_MST_EN; + result = regmap_write(st->map, st->reg->user_ctrl, d); + if (result) + goto error_accl_off; + st->chip_config.user_ctrl = d; + /* mag first sample is always not ready, skip it */ + magn_skip = 1; + } + /* compute first samples to skip */ + skip_samples = gyro_skip; + if (accl_skip > skip_samples) + skip_samples = accl_skip; + if (magn_skip > skip_samples) + skip_samples = magn_skip; + st->skip_samples = skip_samples; result = inv_reset_fifo(indio_dev); if (result) - goto error_accl_off; + goto error_magn_off; } else { result = regmap_write(st->map, st->reg->fifo_en, 0); if (result) - goto error_accl_off; + goto error_magn_off; result = regmap_write(st->map, st->reg->int_enable, 0); if (result) - goto error_accl_off; + goto error_magn_off; - result = regmap_write(st->map, st->reg->user_ctrl, - st->chip_config.user_ctrl); + d = st->chip_config.user_ctrl & ~INV_MPU6050_BIT_I2C_MST_EN; + result = regmap_write(st->map, st->reg->user_ctrl, d); if (result) - goto error_accl_off; + goto error_magn_off; + st->chip_config.user_ctrl = d; result = inv_mpu6050_switch_engine(st, false, INV_MPU6050_BIT_PWR_ACCL_STBY); @@ -90,6 +158,10 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable) return 0; +error_magn_off: + /* always restore user_ctrl to disable fifo properly */ + st->chip_config.user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN; + regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl); error_accl_off: if (st->chip_config.accl_fifo_enable) inv_mpu6050_switch_engine(st, false,