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-rw-r--r--drivers/iio/imu/adis.c68
-rw-r--r--drivers/iio/imu/adis16400.c140
-rw-r--r--drivers/iio/imu/adis16460.c40
-rw-r--r--drivers/iio/imu/adis16480.c197
-rw-r--r--drivers/iio/imu/adis_buffer.c3
-rw-r--r--drivers/iio/imu/inv_mpu6050/Kconfig12
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_core.c651
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c111
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h58
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c49
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h5
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c57
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c74
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c160
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h4
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c5
16 files changed, 953 insertions, 681 deletions
diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c
index 022bb54fb748..a8afd01de4f3 100644
--- a/drivers/iio/imu/adis.c
+++ b/drivers/iio/imu/adis.c
@@ -7,6 +7,7 @@
*/
#include <linux/delay.h>
+#include <linux/gpio/consumer.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
@@ -346,8 +347,8 @@ static int adis_self_test(struct adis *adis)
int ret;
const struct adis_timeout *timeouts = adis->data->timeouts;
- ret = __adis_write_reg_16(adis, adis->data->msc_ctrl_reg,
- adis->data->self_test_mask);
+ ret = __adis_write_reg_16(adis, adis->data->self_test_reg,
+ adis->data->self_test_mask);
if (ret) {
dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n",
ret);
@@ -359,42 +360,71 @@ static int adis_self_test(struct adis *adis)
ret = __adis_check_status(adis);
if (adis->data->self_test_no_autoclear)
- __adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00);
+ __adis_write_reg_16(adis, adis->data->self_test_reg, 0x00);
return ret;
}
/**
- * adis_inital_startup() - Performs device self-test
+ * __adis_initial_startup() - Device initial setup
* @adis: The adis device
*
+ * The function performs a HW reset via a reset pin that should be specified
+ * via GPIOLIB. If no pin is configured a SW reset will be performed.
+ * The RST pin for the ADIS devices should be configured as ACTIVE_LOW.
+ *
+ * After the self-test operation is performed, the function will also check
+ * that the product ID is as expected. This assumes that drivers providing
+ * 'prod_id_reg' will also provide the 'prod_id'.
+ *
* Returns 0 if the device is operational, a negative error code otherwise.
*
* This function should be called early on in the device initialization sequence
* to ensure that the device is in a sane and known state and that it is usable.
*/
-int adis_initial_startup(struct adis *adis)
+int __adis_initial_startup(struct adis *adis)
{
+ const struct adis_timeout *timeouts = adis->data->timeouts;
+ struct gpio_desc *gpio;
+ uint16_t prod_id;
int ret;
- mutex_lock(&adis->state_lock);
+ /* check if the device has rst pin low */
+ gpio = devm_gpiod_get_optional(&adis->spi->dev, "reset", GPIOD_ASIS);
+ if (IS_ERR(gpio))
+ return PTR_ERR(gpio);
+
+ if (gpio) {
+ gpiod_set_value_cansleep(gpio, 1);
+ msleep(10);
+ /* bring device out of reset */
+ gpiod_set_value_cansleep(gpio, 0);
+ msleep(timeouts->reset_ms);
+ } else {
+ ret = __adis_reset(adis);
+ if (ret)
+ return ret;
+ }
ret = adis_self_test(adis);
- if (ret) {
- dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n");
- __adis_reset(adis);
- ret = adis_self_test(adis);
- if (ret) {
- dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n");
- goto out_unlock;
- }
- }
+ if (ret)
+ return ret;
-out_unlock:
- mutex_unlock(&adis->state_lock);
- return ret;
+ if (!adis->data->prod_id_reg)
+ return 0;
+
+ ret = adis_read_reg_16(adis, adis->data->prod_id_reg, &prod_id);
+ if (ret)
+ return ret;
+
+ if (prod_id != adis->data->prod_id)
+ dev_warn(&adis->spi->dev,
+ "Device ID(%u) and product ID(%u) do not match.",
+ adis->data->prod_id, prod_id);
+
+ return 0;
}
-EXPORT_SYMBOL_GPL(adis_initial_startup);
+EXPORT_SYMBOL_GPL(__adis_initial_startup);
/**
* adis_single_conversion() - Performs a single sample conversion
diff --git a/drivers/iio/imu/adis16400.c b/drivers/iio/imu/adis16400.c
index cfb1c19eb930..05e70c1c4835 100644
--- a/drivers/iio/imu/adis16400.c
+++ b/drivers/iio/imu/adis16400.c
@@ -156,7 +156,7 @@ struct adis16400_state;
struct adis16400_chip_info {
const struct iio_chan_spec *channels;
- const struct adis_timeout *timeouts;
+ const struct adis_data adis_data;
const int num_channels;
const long flags;
unsigned int gyro_scale_micro;
@@ -930,12 +930,64 @@ static const struct iio_chan_spec adis16334_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};
+static const char * const adis16400_status_error_msgs[] = {
+ [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
+ [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
+ [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
+ [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
+ [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
+ [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
+ [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
+ [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
+ [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
+};
+
+#define ADIS16400_DATA(_timeouts) \
+{ \
+ .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
+ .glob_cmd_reg = ADIS16400_GLOB_CMD, \
+ .diag_stat_reg = ADIS16400_DIAG_STAT, \
+ .read_delay = 50, \
+ .write_delay = 50, \
+ .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
+ .self_test_reg = ADIS16400_MSC_CTRL, \
+ .status_error_msgs = adis16400_status_error_msgs, \
+ .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_ALARM2) | \
+ BIT(ADIS16400_DIAG_STAT_ALARM1) | \
+ BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
+ BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
+ BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
+ BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
+ BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
+ BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
+ .timeouts = (_timeouts), \
+}
+
static const struct adis_timeout adis16300_timeouts = {
.reset_ms = ADIS16400_STARTUP_DELAY,
.sw_reset_ms = ADIS16400_STARTUP_DELAY,
.self_test_ms = ADIS16400_STARTUP_DELAY,
};
+static const struct adis_timeout adis16334_timeouts = {
+ .reset_ms = 60,
+ .sw_reset_ms = 60,
+ .self_test_ms = 14,
+};
+
static const struct adis_timeout adis16362_timeouts = {
.reset_ms = 130,
.sw_reset_ms = 130,
@@ -972,7 +1024,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16300_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts),
},
[ADIS16334] = {
.channels = adis16334_channels,
@@ -985,6 +1037,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16334_timeouts),
},
[ADIS16350] = {
.channels = adis16350_channels,
@@ -996,7 +1049,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16300_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts),
},
[ADIS16360] = {
.channels = adis16350_channels,
@@ -1009,7 +1062,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16300_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts),
},
[ADIS16362] = {
.channels = adis16350_channels,
@@ -1022,7 +1075,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16362_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16362_timeouts),
},
[ADIS16364] = {
.channels = adis16350_channels,
@@ -1035,7 +1088,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16362_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16362_timeouts),
},
[ADIS16367] = {
.channels = adis16350_channels,
@@ -1048,7 +1101,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16300_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts),
},
[ADIS16400] = {
.channels = adis16400_channels,
@@ -1060,7 +1113,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16400_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16400_timeouts),
},
[ADIS16445] = {
.channels = adis16445_channels,
@@ -1074,7 +1127,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
- .timeouts = &adis16445_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16445_timeouts),
},
[ADIS16448] = {
.channels = adis16448_channels,
@@ -1088,7 +1141,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
- .timeouts = &adis16448_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16448_timeouts),
}
};
@@ -1099,52 +1152,6 @@ static const struct iio_info adis16400_info = {
.debugfs_reg_access = adis_debugfs_reg_access,
};
-static const char * const adis16400_status_error_msgs[] = {
- [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
- [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
- [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
- [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
- [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
- [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
- [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
- [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
- [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
- [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
- [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
- [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
- [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
- [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
- [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
-};
-
-static const struct adis_data adis16400_data = {
- .msc_ctrl_reg = ADIS16400_MSC_CTRL,
- .glob_cmd_reg = ADIS16400_GLOB_CMD,
- .diag_stat_reg = ADIS16400_DIAG_STAT,
-
- .read_delay = 50,
- .write_delay = 50,
-
- .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
-
- .status_error_msgs = adis16400_status_error_msgs,
- .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
- BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
- BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
- BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
- BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
- BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
- BIT(ADIS16400_DIAG_STAT_ALARM2) |
- BIT(ADIS16400_DIAG_STAT_ALARM1) |
- BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
- BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
- BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
- BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
- BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
- BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
- BIT(ADIS16400_DIAG_STAT_POWER_LOW),
-};
-
static void adis16400_setup_chan_mask(struct adis16400_state *st)
{
const struct adis16400_chip_info *chip_info = st->variant;
@@ -1158,23 +1165,6 @@ static void adis16400_setup_chan_mask(struct adis16400_state *st)
st->avail_scan_mask[0] |= BIT(ch->scan_index);
}
}
-
-static struct adis_data *adis16400_adis_data_alloc(struct adis16400_state *st,
- struct device *dev)
-{
- struct adis_data *data;
-
- data = devm_kmalloc(dev, sizeof(struct adis_data), GFP_KERNEL);
- if (!data)
- return ERR_PTR(-ENOMEM);
-
- memcpy(data, &adis16400_data, sizeof(*data));
-
- data->timeouts = st->variant->timeouts;
-
- return data;
-}
-
static int adis16400_probe(struct spi_device *spi)
{
struct adis16400_state *st;
@@ -1207,9 +1197,7 @@ static int adis16400_probe(struct spi_device *spi)
st->adis.burst->extra_len = sizeof(u16);
}
- adis16400_data = adis16400_adis_data_alloc(st, &spi->dev);
- if (IS_ERR(adis16400_data))
- return PTR_ERR(adis16400_data);
+ adis16400_data = &st->variant->adis_data;
ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
if (ret)
diff --git a/drivers/iio/imu/adis16460.c b/drivers/iio/imu/adis16460.c
index 9539cfe4a259..0027683d0256 100644
--- a/drivers/iio/imu/adis16460.c
+++ b/drivers/iio/imu/adis16460.c
@@ -333,40 +333,6 @@ static int adis16460_enable_irq(struct adis *adis, bool enable)
return 0;
}
-static int adis16460_initial_setup(struct iio_dev *indio_dev)
-{
- struct adis16460 *st = iio_priv(indio_dev);
- uint16_t prod_id;
- unsigned int device_id;
- int ret;
-
- adis_reset(&st->adis);
- msleep(222);
-
- ret = adis_write_reg_16(&st->adis, ADIS16460_REG_GLOB_CMD, BIT(1));
- if (ret)
- return ret;
- msleep(75);
-
- ret = adis_check_status(&st->adis);
- if (ret)
- return ret;
-
- ret = adis_read_reg_16(&st->adis, ADIS16460_REG_PROD_ID, &prod_id);
- if (ret)
- return ret;
-
- ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
- if (ret != 1)
- return -EINVAL;
-
- if (prod_id != device_id)
- dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
- device_id, prod_id);
-
- return 0;
-}
-
#define ADIS16460_DIAG_STAT_IN_CLK_OOS 7
#define ADIS16460_DIAG_STAT_FLASH_MEM 6
#define ADIS16460_DIAG_STAT_SELF_TEST 5
@@ -392,6 +358,10 @@ static const struct adis_timeout adis16460_timeouts = {
static const struct adis_data adis16460_data = {
.diag_stat_reg = ADIS16460_REG_DIAG_STAT,
.glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
+ .prod_id_reg = ADIS16460_REG_PROD_ID,
+ .prod_id = 16460,
+ .self_test_mask = BIT(2),
+ .self_test_reg = ADIS16460_REG_GLOB_CMD,
.has_paging = false,
.read_delay = 5,
.write_delay = 5,
@@ -439,7 +409,7 @@ static int adis16460_probe(struct spi_device *spi)
adis16460_enable_irq(&st->adis, 0);
- ret = adis16460_initial_setup(indio_dev);
+ ret = __adis_initial_startup(&st->adis);
if (ret)
goto error_cleanup_buffer;
diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index dac87f1001fd..cfae0e4476e7 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -138,7 +138,7 @@ struct adis16480_chip_info {
unsigned int max_dec_rate;
const unsigned int *filter_freqs;
bool has_pps_clk_mode;
- const struct adis_timeout *timeouts;
+ const struct adis_data adis_data;
};
enum adis16480_int_pin {
@@ -796,6 +796,58 @@ enum adis16480_variant {
ADIS16497_3,
};
+#define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
+#define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
+#define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
+#define ADIS16480_DIAG_STAT_XACCL_FAIL 3
+#define ADIS16480_DIAG_STAT_YACCL_FAIL 4
+#define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
+#define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
+#define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
+#define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
+#define ADIS16480_DIAG_STAT_BARO_FAIL 11
+
+static const char * const adis16480_status_error_msgs[] = {
+ [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+ [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+ [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+ [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+ [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+ [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+ [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
+ [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
+ [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
+ [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
+};
+
+static int adis16480_enable_irq(struct adis *adis, bool enable);
+
+#define ADIS16480_DATA(_prod_id, _timeouts) \
+{ \
+ .diag_stat_reg = ADIS16480_REG_DIAG_STS, \
+ .glob_cmd_reg = ADIS16480_REG_GLOB_CMD, \
+ .prod_id_reg = ADIS16480_REG_PROD_ID, \
+ .prod_id = (_prod_id), \
+ .has_paging = true, \
+ .read_delay = 5, \
+ .write_delay = 5, \
+ .self_test_mask = BIT(1), \
+ .self_test_reg = ADIS16480_REG_GLOB_CMD, \
+ .status_error_msgs = adis16480_status_error_msgs, \
+ .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_BARO_FAIL), \
+ .enable_irq = adis16480_enable_irq, \
+ .timeouts = (_timeouts), \
+}
+
static const struct adis_timeout adis16485_timeouts = {
.reset_ms = 560,
.sw_reset_ms = 120,
@@ -838,7 +890,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
- .timeouts = &adis16485_timeouts,
+ .adis_data = ADIS16480_DATA(16375, &adis16485_timeouts),
},
[ADIS16480] = {
.channels = adis16480_channels,
@@ -851,7 +903,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
- .timeouts = &adis16480_timeouts,
+ .adis_data = ADIS16480_DATA(16480, &adis16480_timeouts),
},
[ADIS16485] = {
.channels = adis16485_channels,
@@ -864,7 +916,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
- .timeouts = &adis16485_timeouts,
+ .adis_data = ADIS16480_DATA(16485, &adis16485_timeouts),
},
[ADIS16488] = {
.channels = adis16480_channels,
@@ -877,7 +929,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
- .timeouts = &adis16485_timeouts,
+ .adis_data = ADIS16480_DATA(16488, &adis16485_timeouts),
},
[ADIS16490] = {
.channels = adis16485_channels,
@@ -891,7 +943,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_timeouts,
+ .adis_data = ADIS16480_DATA(16490, &adis16495_timeouts),
},
[ADIS16495_1] = {
.channels = adis16485_channels,
@@ -905,7 +957,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts),
},
[ADIS16495_2] = {
.channels = adis16485_channels,
@@ -919,7 +971,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts),
},
[ADIS16495_3] = {
.channels = adis16485_channels,
@@ -933,7 +985,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts),
},
[ADIS16497_1] = {
.channels = adis16485_channels,
@@ -947,7 +999,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts),
},
[ADIS16497_2] = {
.channels = adis16485_channels,
@@ -961,7 +1013,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts),
},
[ADIS16497_3] = {
.channels = adis16485_channels,
@@ -975,7 +1027,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts),
},
};
@@ -1014,87 +1066,6 @@ static int adis16480_enable_irq(struct adis *adis, bool enable)
return __adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, val);
}
-static int adis16480_initial_setup(struct iio_dev *indio_dev)
-{
- struct adis16480 *st = iio_priv(indio_dev);
- uint16_t prod_id;
- unsigned int device_id;
- int ret;
-
- adis_reset(&st->adis);
- msleep(70);
-
- ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1));
- if (ret)
- return ret;
- msleep(30);
-
- ret = adis_check_status(&st->adis);
- if (ret)
- return ret;
-
- ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id);
- if (ret)
- return ret;
-
- ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
- if (ret != 1)
- return -EINVAL;
-
- if (prod_id != device_id)
- dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
- device_id, prod_id);
-
- return 0;
-}
-
-#define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
-#define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
-#define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
-#define ADIS16480_DIAG_STAT_XACCL_FAIL 3
-#define ADIS16480_DIAG_STAT_YACCL_FAIL 4
-#define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
-#define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
-#define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
-#define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
-#define ADIS16480_DIAG_STAT_BARO_FAIL 11
-
-static const char * const adis16480_status_error_msgs[] = {
- [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
- [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
- [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
- [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
- [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
- [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
- [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
- [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
- [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
- [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
-};
-
-static const struct adis_data adis16480_data = {
- .diag_stat_reg = ADIS16480_REG_DIAG_STS,
- .glob_cmd_reg = ADIS16480_REG_GLOB_CMD,
- .has_paging = true,
-
- .read_delay = 5,
- .write_delay = 5,
-
- .status_error_msgs = adis16480_status_error_msgs,
- .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) |
- BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) |
- BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) |
- BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) |
- BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) |
- BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) |
- BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) |
- BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) |
- BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) |
- BIT(ADIS16480_DIAG_STAT_BARO_FAIL),
-
- .enable_irq = adis16480_enable_irq,
-};
-
static int adis16480_config_irq_pin(struct device_node *of_node,
struct adis16480 *st)
{
@@ -1245,22 +1216,6 @@ static int adis16480_get_ext_clocks(struct adis16480 *st)
return 0;
}
-static struct adis_data *adis16480_adis_data_alloc(struct adis16480 *st,
- struct device *dev)
-{
- struct adis_data *data;
-
- data = devm_kmalloc(dev, sizeof(struct adis_data), GFP_KERNEL);
- if (!data)
- return ERR_PTR(-ENOMEM);
-
- memcpy(data, &adis16480_data, sizeof(*data));
-
- data->timeouts = st->chip_info->timeouts;
-
- return data;
-}
-
static int adis16480_probe(struct spi_device *spi)
{
const struct spi_device_id *id = spi_get_device_id(spi);
@@ -1285,26 +1240,28 @@ static int adis16480_probe(struct spi_device *spi)
indio_dev->info = &adis16480_info;
indio_dev->modes = INDIO_DIRECT_MODE;
- adis16480_data = adis16480_adis_data_alloc(st, &spi->dev);
- if (IS_ERR(adis16480_data))
- return PTR_ERR(adis16480_data);
+ adis16480_data = &st->chip_info->adis_data;
ret = adis_init(&st->adis, indio_dev, spi, adis16480_data);
if (ret)
return ret;
- ret = adis16480_config_irq_pin(spi->dev.of_node, st);
+ ret = __adis_initial_startup(&st->adis);
if (ret)
return ret;
+ ret = adis16480_config_irq_pin(spi->dev.of_node, st);
+ if (ret)
+ goto error_stop_device;
+
ret = adis16480_get_ext_clocks(st);
if (ret)
- return ret;
+ goto error_stop_device;
if (!IS_ERR_OR_NULL(st->ext_clk)) {
ret = adis16480_ext_clk_config(st, spi->dev.of_node, true);
if (ret)
- return ret;
+ goto error_stop_device;
st->clk_freq = clk_get_rate(st->ext_clk);
st->clk_freq *= 1000; /* micro */
@@ -1316,24 +1273,20 @@ static int adis16480_probe(struct spi_device *spi)
if (ret)
goto error_clk_disable_unprepare;
- ret = adis16480_initial_setup(indio_dev);
- if (ret)
- goto error_cleanup_buffer;
-
ret = iio_device_register(indio_dev);
if (ret)
- goto error_stop_device;
+ goto error_cleanup_buffer;
adis16480_debugfs_init(indio_dev);
return 0;
-error_stop_device:
- adis16480_stop_device(indio_dev);
error_cleanup_buffer:
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
error_clk_disable_unprepare:
clk_disable_unprepare(st->ext_clk);
+error_stop_device:
+ adis16480_stop_device(indio_dev);
return ret;
}
diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c
index 3f4dd5c00b03..04e5e2a0fd6b 100644
--- a/drivers/iio/imu/adis_buffer.c
+++ b/drivers/iio/imu/adis_buffer.c
@@ -97,7 +97,8 @@ int adis_update_scan_mode(struct iio_dev *indio_dev,
if (j != scan_count)
adis->xfer[j].cs_change = 1;
adis->xfer[j].len = 2;
- adis->xfer[j].delay_usecs = adis->data->read_delay;
+ adis->xfer[j].delay.value = adis->data->read_delay;
+ adis->xfer[j].delay.unit = SPI_DELAY_UNIT_USECS;
if (j < scan_count)
adis->xfer[j].tx_buf = &tx[j];
if (j >= 1)
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 017bc0fcc365..7137ea6f25db 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -15,9 +15,9 @@ config INV_MPU6050_I2C
select INV_MPU6050_IIO
select REGMAP_I2C
help
- This driver supports the Invensense MPU6050/6500/6515,
- MPU9150/9250/9255 and ICM20608/20602 motion tracking devices
- over I2C.
+ This driver supports the Invensense MPU6050/9150,
+ MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602/ICM20690 and
+ IAM20680 motion tracking devices over I2C.
This driver can be built as a module. The module will be called
inv-mpu6050-i2c.
@@ -27,8 +27,8 @@ config INV_MPU6050_SPI
select INV_MPU6050_IIO
select REGMAP_SPI
help
- This driver supports the Invensense MPU6000/6500/6515,
- MPU9250/9255 and ICM20608/20602 motion tracking devices
- over SPI.
+ This driver supports the Invensense MPU6000,
+ MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602/ICM20690 and
+ IAM20680 motion tracking devices over SPI.
This driver can be built as a module. The module will be called
inv-mpu6050-spi.
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 5096fc49012d..7cb9ff3d3e94 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -16,6 +16,8 @@
#include <linux/acpi.h>
#include <linux/platform_device.h>
#include <linux/regulator/consumer.h>
+#include <linux/pm.h>
+#include <linux/pm_runtime.h>
#include "inv_mpu_iio.h"
#include "inv_mpu_magn.h"
@@ -99,9 +101,31 @@ static const struct inv_mpu6050_reg_map reg_set_6050 = {
};
static const struct inv_mpu6050_chip_config chip_config_6050 = {
+ .clk = INV_CLK_INTERNAL,
.fsr = INV_MPU6050_FSR_2000DPS,
.lpf = INV_MPU6050_FILTER_20HZ,
- .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE),
+ .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
+ .gyro_en = true,
+ .accl_en = true,
+ .temp_en = true,
+ .magn_en = false,
+ .gyro_fifo_enable = false,
+ .accl_fifo_enable = false,
+ .temp_fifo_enable = false,
+ .magn_fifo_enable = false,
+ .accl_fs = INV_MPU6050_FS_02G,
+ .user_ctrl = 0,
+};
+
+static const struct inv_mpu6050_chip_config chip_config_6500 = {
+ .clk = INV_CLK_PLL,
+ .fsr = INV_MPU6050_FSR_2000DPS,
+ .lpf = INV_MPU6050_FILTER_20HZ,
+ .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
+ .gyro_en = true,
+ .accl_en = true,
+ .temp_en = true,
+ .magn_en = false,
.gyro_fifo_enable = false,
.accl_fifo_enable = false,
.temp_fifo_enable = false,
@@ -124,7 +148,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.whoami = INV_MPU6500_WHOAMI_VALUE,
.name = "MPU6500",
.reg = &reg_set_6500,
- .config = &chip_config_6050,
+ .config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
},
@@ -132,7 +156,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.whoami = INV_MPU6515_WHOAMI_VALUE,
.name = "MPU6515",
.reg = &reg_set_6500,
- .config = &chip_config_6050,
+ .config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
},
@@ -156,7 +180,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.whoami = INV_MPU9250_WHOAMI_VALUE,
.name = "MPU9250",
.reg = &reg_set_6500,
- .config = &chip_config_6050,
+ .config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
},
@@ -164,7 +188,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.whoami = INV_MPU9255_WHOAMI_VALUE,
.name = "MPU9255",
.reg = &reg_set_6500,
- .config = &chip_config_6050,
+ .config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
},
@@ -172,104 +196,242 @@ static const struct inv_mpu6050_hw hw_info[] = {
.whoami = INV_ICM20608_WHOAMI_VALUE,
.name = "ICM20608",
.reg = &reg_set_6500,
- .config = &chip_config_6050,
+ .config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
},
{
+ .whoami = INV_ICM20609_WHOAMI_VALUE,
+ .name = "ICM20609",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 4 * 1024,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ },
+ {
+ .whoami = INV_ICM20689_WHOAMI_VALUE,
+ .name = "ICM20689",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 4 * 1024,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ },
+ {
.whoami = INV_ICM20602_WHOAMI_VALUE,
.name = "ICM20602",
.reg = &reg_set_icm20602,
- .config = &chip_config_6050,
+ .config = &chip_config_6500,
.fifo_size = 1008,
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
},
+ {
+ .whoami = INV_ICM20690_WHOAMI_VALUE,
+ .name = "ICM20690",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 1024,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ },
+ {
+ .whoami = INV_IAM20680_WHOAMI_VALUE,
+ .name = "IAM20680",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 512,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ },
};
-int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
+static int inv_mpu6050_pwr_mgmt_1_write(struct inv_mpu6050_state *st, bool sleep,
+ int clock, int temp_dis)
{
- unsigned int d, mgmt_1;
- int result;
- /*
- * switch clock needs to be careful. Only when gyro is on, can
- * clock source be switched to gyro. Otherwise, it must be set to
- * internal clock
- */
- if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
- result = regmap_read(st->map, st->reg->pwr_mgmt_1, &mgmt_1);
- if (result)
- return result;
+ u8 val;
+
+ if (clock < 0)
+ clock = st->chip_config.clk;
+ if (temp_dis < 0)
+ temp_dis = !st->chip_config.temp_en;
- mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
+ val = clock & INV_MPU6050_BIT_CLK_MASK;
+ if (temp_dis)
+ val |= INV_MPU6050_BIT_TEMP_DIS;
+ if (sleep)
+ val |= INV_MPU6050_BIT_SLEEP;
+
+ dev_dbg(regmap_get_device(st->map), "pwr_mgmt_1: 0x%x\n", val);
+ return regmap_write(st->map, st->reg->pwr_mgmt_1, val);
+}
+
+static int inv_mpu6050_clock_switch(struct inv_mpu6050_state *st,
+ unsigned int clock)
+{
+ int ret;
+
+ switch (st->chip_type) {
+ case INV_MPU6050:
+ case INV_MPU6000:
+ case INV_MPU9150:
+ /* old chips: switch clock manually */
+ ret = inv_mpu6050_pwr_mgmt_1_write(st, false, clock, -1);
+ if (ret)
+ return ret;
+ st->chip_config.clk = clock;
+ break;
+ default:
+ /* automatic clock switching, nothing to do */
+ break;
}
- if ((mask == INV_MPU6050_BIT_PWR_GYRO_STBY) && (!en)) {
- /*
- * turning off gyro requires switch to internal clock first.
- * Then turn off gyro engine
- */
- mgmt_1 |= INV_CLK_INTERNAL;
- result = regmap_write(st->map, st->reg->pwr_mgmt_1, mgmt_1);
- if (result)
- return result;
+ return 0;
+}
+
+int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
+ unsigned int mask)
+{
+ unsigned int sleep;
+ u8 pwr_mgmt2, user_ctrl;
+ int ret;
+
+ /* delete useless requests */
+ if (mask & INV_MPU6050_SENSOR_ACCL && en == st->chip_config.accl_en)
+ mask &= ~INV_MPU6050_SENSOR_ACCL;
+ if (mask & INV_MPU6050_SENSOR_GYRO && en == st->chip_config.gyro_en)
+ mask &= ~INV_MPU6050_SENSOR_GYRO;
+ if (mask & INV_MPU6050_SENSOR_TEMP && en == st->chip_config.temp_en)
+ mask &= ~INV_MPU6050_SENSOR_TEMP;
+ if (mask & INV_MPU6050_SENSOR_MAGN && en == st->chip_config.magn_en)
+ mask &= ~INV_MPU6050_SENSOR_MAGN;
+ if (mask == 0)
+ return 0;
+
+ /* turn on/off temperature sensor */
+ if (mask & INV_MPU6050_SENSOR_TEMP) {
+ ret = inv_mpu6050_pwr_mgmt_1_write(st, false, -1, !en);
+ if (ret)
+ return ret;
+ st->chip_config.temp_en = en;
}
- result = regmap_read(st->map, st->reg->pwr_mgmt_2, &d);
- if (result)
- return result;
- if (en)
- d &= ~mask;
- else
- d |= mask;
- result = regmap_write(st->map, st->reg->pwr_mgmt_2, d);
- if (result)
- return result;
+ /* update user_crtl for driving magnetometer */
+ if (mask & INV_MPU6050_SENSOR_MAGN) {
+ user_ctrl = st->chip_config.user_ctrl;
+ if (en)
+ user_ctrl |= INV_MPU6050_BIT_I2C_MST_EN;
+ else
+ user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN;
+ ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
+ if (ret)
+ return ret;
+ st->chip_config.user_ctrl = user_ctrl;
+ st->chip_config.magn_en = en;
+ }
- if (en) {
- /* Wait for output to stabilize */
- msleep(INV_MPU6050_TEMP_UP_TIME);
- if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
- /* switch internal clock to PLL */
- mgmt_1 |= INV_CLK_PLL;
- result = regmap_write(st->map,
- st->reg->pwr_mgmt_1, mgmt_1);
- if (result)
- return result;
+ /* manage accel & gyro engines */
+ if (mask & (INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO)) {
+ /* compute power management 2 current value */
+ pwr_mgmt2 = 0;
+ if (!st->chip_config.accl_en)
+ pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
+ if (!st->chip_config.gyro_en)
+ pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;
+
+ /* update to new requested value */
+ if (mask & INV_MPU6050_SENSOR_ACCL) {
+ if (en)
+ pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_ACCL_STBY;
+ else
+ pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
+ }
+ if (mask & INV_MPU6050_SENSOR_GYRO) {
+ if (en)
+ pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_GYRO_STBY;
+ else
+ pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;
+ }
+
+ /* switch clock to internal when turning gyro off */
+ if (mask & INV_MPU6050_SENSOR_GYRO && !en) {
+ ret = inv_mpu6050_clock_switch(st, INV_CLK_INTERNAL);
+ if (ret)
+ return ret;
+ }
+
+ /* update sensors engine */
+ dev_dbg(regmap_get_device(st->map), "pwr_mgmt_2: 0x%x\n",
+ pwr_mgmt2);
+ ret = regmap_write(st->map, st->reg->pwr_mgmt_2, pwr_mgmt2);
+ if (ret)
+ return ret;
+ if (mask & INV_MPU6050_SENSOR_ACCL)
+ st->chip_config.accl_en = en;
+ if (mask & INV_MPU6050_SENSOR_GYRO)
+ st->chip_config.gyro_en = en;
+
+ /* compute required time to have sensors stabilized */
+ sleep = 0;
+ if (en) {
+ if (mask & INV_MPU6050_SENSOR_ACCL) {
+ if (sleep < INV_MPU6050_ACCEL_UP_TIME)
+ sleep = INV_MPU6050_ACCEL_UP_TIME;
+ }
+ if (mask & INV_MPU6050_SENSOR_GYRO) {
+ if (sleep < INV_MPU6050_GYRO_UP_TIME)
+ sleep = INV_MPU6050_GYRO_UP_TIME;
+ }
+ } else {
+ if (mask & INV_MPU6050_SENSOR_GYRO) {
+ if (sleep < INV_MPU6050_GYRO_DOWN_TIME)
+ sleep = INV_MPU6050_GYRO_DOWN_TIME;
+ }
+ }
+ if (sleep)
+ msleep(sleep);
+
+ /* switch clock to PLL when turning gyro on */
+ if (mask & INV_MPU6050_SENSOR_GYRO && en) {
+ ret = inv_mpu6050_clock_switch(st, INV_CLK_PLL);
+ if (ret)
+ return ret;
}
}
return 0;
}
-int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
+static int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st,
+ bool power_on)
{
int result;
- if (power_on) {
- if (!st->powerup_count) {
- result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);
- if (result)
- return result;
- usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
- INV_MPU6050_REG_UP_TIME_MAX);
- }
- st->powerup_count++;
- } else {
- if (st->powerup_count == 1) {
- result = regmap_write(st->map, st->reg->pwr_mgmt_1,
- INV_MPU6050_BIT_SLEEP);
- if (result)
- return result;
- }
- st->powerup_count--;
- }
+ result = inv_mpu6050_pwr_mgmt_1_write(st, !power_on, -1, -1);
+ if (result)
+ return result;
- dev_dbg(regmap_get_device(st->map), "set power %d, count=%u\n",
- power_on, st->powerup_count);
+ if (power_on)
+ usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
+ INV_MPU6050_REG_UP_TIME_MAX);
return 0;
}
-EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);
+
+static int inv_mpu6050_set_gyro_fsr(struct inv_mpu6050_state *st,
+ enum inv_mpu6050_fsr_e val)
+{
+ unsigned int gyro_shift;
+ u8 data;
+
+ switch (st->chip_type) {
+ case INV_ICM20690:
+ gyro_shift = INV_ICM20690_GYRO_CONFIG_FSR_SHIFT;
+ break;
+ default:
+ gyro_shift = INV_MPU6050_GYRO_CONFIG_FSR_SHIFT;
+ break;
+ }
+
+ data = val << gyro_shift;
+ return regmap_write(st->map, st->reg->gyro_config, data);
+}
/**
* inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
@@ -286,20 +448,23 @@ static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
if (result)
return result;
+ /* set accel lpf */
switch (st->chip_type) {
case INV_MPU6050:
case INV_MPU6000:
case INV_MPU9150:
/* old chips, nothing to do */
- result = 0;
+ return 0;
+ case INV_ICM20689:
+ case INV_ICM20690:
+ /* set FIFO size to maximum value */
+ val |= INV_ICM20689_BITS_FIFO_SIZE_MAX;
break;
default:
- /* set accel lpf */
- result = regmap_write(st->map, st->reg->accel_lpf, val);
break;
}
- return result;
+ return regmap_write(st->map, st->reg->accel_lpf, val);
}
/**
@@ -317,35 +482,28 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
u8 d;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
- result = inv_mpu6050_set_power_itg(st, true);
+ result = inv_mpu6050_set_gyro_fsr(st, st->chip_config.fsr);
if (result)
return result;
- d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
- result = regmap_write(st->map, st->reg->gyro_config, d);
- if (result)
- goto error_power_off;
- result = inv_mpu6050_set_lpf_regs(st, INV_MPU6050_FILTER_20HZ);
+ result = inv_mpu6050_set_lpf_regs(st, st->chip_config.lpf);
if (result)
- goto error_power_off;
+ return result;
- d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE);
+ d = st->chip_config.divider;
result = regmap_write(st->map, st->reg->sample_rate_div, d);
if (result)
- goto error_power_off;
+ return result;
- d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
+ d = (st->chip_config.accl_fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
result = regmap_write(st->map, st->reg->accl_config, d);
if (result)
- goto error_power_off;
+ return result;
result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
if (result)
return result;
- memcpy(&st->chip_config, hw_info[st->chip_type].config,
- sizeof(struct inv_mpu6050_chip_config));
-
/*
* Internal chip period is 1ms (1kHz).
* Let's use at the beginning the theorical value before measuring
@@ -356,13 +514,9 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
/* magn chip init, noop if not present in the chip */
result = inv_mpu_magn_probe(st);
if (result)
- goto error_power_off;
-
- return inv_mpu6050_set_power_itg(st, false);
+ return result;
-error_power_off:
- inv_mpu6050_set_power_itg(st, false);
- return result;
+ return 0;
}
static int inv_mpu6050_sensor_set(struct inv_mpu6050_state *st, int reg,
@@ -399,45 +553,85 @@ static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
int *val)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct device *pdev = regmap_get_device(st->map);
+ unsigned int freq_hz, period_us, min_sleep_us, max_sleep_us;
int result;
int ret;
- result = inv_mpu6050_set_power_itg(st, true);
- if (result)
+ /* compute sample period */
+ freq_hz = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
+ period_us = 1000000 / freq_hz;
+
+ result = pm_runtime_get_sync(pdev);
+ if (result < 0) {
+ pm_runtime_put_noidle(pdev);
return result;
+ }
switch (chan->type) {
case IIO_ANGL_VEL:
- result = inv_mpu6050_switch_engine(st, true,
- INV_MPU6050_BIT_PWR_GYRO_STBY);
- if (result)
- goto error_power_off;
+ if (!st->chip_config.gyro_en) {
+ result = inv_mpu6050_switch_engine(st, true,
+ INV_MPU6050_SENSOR_GYRO);
+ if (result)
+ goto error_power_off;
+ /* need to wait 2 periods to have first valid sample */
+ min_sleep_us = 2 * period_us;
+ max_sleep_us = 2 * (period_us + period_us / 2);
+ usleep_range(min_sleep_us, max_sleep_us);
+ }
ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
chan->channel2, val);
- result = inv_mpu6050_switch_engine(st, false,
- INV_MPU6050_BIT_PWR_GYRO_STBY);
- if (result)
- goto error_power_off;
break;
case IIO_ACCEL:
- result = inv_mpu6050_switch_engine(st, true,
- INV_MPU6050_BIT_PWR_ACCL_STBY);
- if (result)
- goto error_power_off;
+ if (!st->chip_config.accl_en) {
+ result = inv_mpu6050_switch_engine(st, true,
+ INV_MPU6050_SENSOR_ACCL);
+ if (result)
+ goto error_power_off;
+ /* wait 1 period for first sample availability */
+ min_sleep_us = period_us;
+ max_sleep_us = period_us + period_us / 2;
+ usleep_range(min_sleep_us, max_sleep_us);
+ }
ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
chan->channel2, val);
- result = inv_mpu6050_switch_engine(st, false,
- INV_MPU6050_BIT_PWR_ACCL_STBY);
- if (result)
- goto error_power_off;
break;
case IIO_TEMP:
- /* wait for stablization */
- msleep(INV_MPU6050_SENSOR_UP_TIME);
+ /* temperature sensor work only with accel and/or gyro */
+ if (!st->chip_config.accl_en && !st->chip_config.gyro_en) {
+ result = -EBUSY;
+ goto error_power_off;
+ }
+ if (!st->chip_config.temp_en) {
+ result = inv_mpu6050_switch_engine(st, true,
+ INV_MPU6050_SENSOR_TEMP);
+ if (result)
+ goto error_power_off;
+ /* wait 1 period for first sample availability */
+ min_sleep_us = period_us;
+ max_sleep_us = period_us + period_us / 2;
+ usleep_range(min_sleep_us, max_sleep_us);
+ }
ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
IIO_MOD_X, val);
break;
case IIO_MAGN:
+ if (!st->chip_config.magn_en) {
+ result = inv_mpu6050_switch_engine(st, true,
+ INV_MPU6050_SENSOR_MAGN);
+ if (result)
+ goto error_power_off;
+ /* frequency is limited for magnetometer */
+ if (freq_hz > INV_MPU_MAGN_FREQ_HZ_MAX) {
+ freq_hz = INV_MPU_MAGN_FREQ_HZ_MAX;
+ period_us = 1000000 / freq_hz;
+ }
+ /* need to wait 2 periods to have first valid sample */
+ min_sleep_us = 2 * period_us;
+ max_sleep_us = 2 * (period_us + period_us / 2);
+ usleep_range(min_sleep_us, max_sleep_us);
+ }
ret = inv_mpu_magn_read(st, chan->channel2, val);
break;
default:
@@ -445,14 +639,13 @@ static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
break;
}
- result = inv_mpu6050_set_power_itg(st, false);
- if (result)
- goto error_power_off;
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
return ret;
error_power_off:
- inv_mpu6050_set_power_itg(st, false);
+ pm_runtime_put_autosuspend(pdev);
return result;
}
@@ -533,12 +726,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
{
int result, i;
- u8 d;
for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
if (gyro_scale_6050[i] == val) {
- d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
- result = regmap_write(st->map, st->reg->gyro_config, d);
+ result = inv_mpu6050_set_gyro_fsr(st, i);
if (result)
return result;
@@ -593,6 +784,7 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
int val, int val2, long mask)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct device *pdev = regmap_get_device(st->map);
int result;
/*
@@ -604,9 +796,11 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
return result;
mutex_lock(&st->lock);
- result = inv_mpu6050_set_power_itg(st, true);
- if (result)
+ result = pm_runtime_get_sync(pdev);
+ if (result < 0) {
+ pm_runtime_put_noidle(pdev);
goto error_write_raw_unlock;
+ }
switch (mask) {
case IIO_CHAN_INFO_SCALE:
@@ -644,7 +838,8 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
break;
}
- result |= inv_mpu6050_set_power_itg(st, false);
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
error_write_raw_unlock:
mutex_unlock(&st->lock);
iio_device_release_direct_mode(indio_dev);
@@ -655,30 +850,32 @@ error_write_raw_unlock:
/**
* inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
*
- * Based on the Nyquist principle, the sampling rate must
- * exceed twice of the bandwidth of the signal, or there
- * would be alising. This function basically search for the
- * correct low pass parameters based on the fifo rate, e.g,
- * sampling frequency.
+ * Based on the Nyquist principle, the bandwidth of the low
+ * pass filter must not exceed the signal sampling rate divided
+ * by 2, or there would be aliasing.
+ * This function basically search for the correct low pass
+ * parameters based on the fifo rate, e.g, sampling frequency.
*
* lpf is set automatically when setting sampling rate to avoid any aliases.
*/
static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
{
- static const int hz[] = {188, 98, 42, 20, 10, 5};
+ static const int hz[] = {400, 200, 90, 40, 20, 10};
static const int d[] = {
- INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
- INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
+ INV_MPU6050_FILTER_200HZ, INV_MPU6050_FILTER_100HZ,
+ INV_MPU6050_FILTER_45HZ, INV_MPU6050_FILTER_20HZ,
INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
};
- int i, h, result;
+ int i, result;
u8 data;
- h = (rate >> 1);
- i = 0;
- while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
- i++;
- data = d[i];
+ data = INV_MPU6050_FILTER_5HZ;
+ for (i = 0; i < ARRAY_SIZE(hz); ++i) {
+ if (rate >= hz[i]) {
+ data = d[i];
+ break;
+ }
+ }
result = inv_mpu6050_set_lpf_regs(st, data);
if (result)
return result;
@@ -699,6 +896,7 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
int result;
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct device *pdev = regmap_get_device(st->map);
if (kstrtoint(buf, 10, &fifo_rate))
return -EINVAL;
@@ -706,10 +904,6 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
return -EINVAL;
- result = iio_device_claim_direct_mode(indio_dev);
- if (result)
- return result;
-
/* compute the chip sample rate divider */
d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
/* compute back the fifo rate to handle truncation cases */
@@ -720,9 +914,11 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
result = 0;
goto fifo_rate_fail_unlock;
}
- result = inv_mpu6050_set_power_itg(st, true);
- if (result)
+ result = pm_runtime_get_sync(pdev);
+ if (result < 0) {
+ pm_runtime_put_noidle(pdev);
goto fifo_rate_fail_unlock;
+ }
result = regmap_write(st->map, st->reg->sample_rate_div, d);
if (result)
@@ -738,11 +934,11 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
if (result)
goto fifo_rate_fail_power_off;
+ pm_runtime_mark_last_busy(pdev);
fifo_rate_fail_power_off:
- result |= inv_mpu6050_set_power_itg(st, false);
+ pm_runtime_put_autosuspend(pdev);
fifo_rate_fail_unlock:
mutex_unlock(&st->lock);
- iio_device_release_direct_mode(indio_dev);
if (result)
return result;
@@ -1066,11 +1262,13 @@ static const struct iio_info mpu_info = {
static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
{
int result;
- unsigned int regval;
+ unsigned int regval, mask;
int i;
st->hw = &hw_info[st->chip_type];
st->reg = hw_info[st->chip_type].reg;
+ memcpy(&st->chip_config, hw_info[st->chip_type].config,
+ sizeof(st->chip_config));
/* check chip self-identification */
result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, &regval);
@@ -1102,6 +1300,24 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
if (result)
return result;
msleep(INV_MPU6050_POWER_UP_TIME);
+ switch (st->chip_type) {
+ case INV_MPU6000:
+ case INV_MPU6500:
+ case INV_MPU6515:
+ case INV_MPU9250:
+ case INV_MPU9255:
+ /* reset signal path (required for spi connection) */
+ regval = INV_MPU6050_BIT_TEMP_RST | INV_MPU6050_BIT_ACCEL_RST |
+ INV_MPU6050_BIT_GYRO_RST;
+ result = regmap_write(st->map, INV_MPU6050_REG_SIGNAL_PATH_RESET,
+ regval);
+ if (result)
+ return result;
+ msleep(INV_MPU6050_POWER_UP_TIME);
+ break;
+ default:
+ break;
+ }
/*
* Turn power on. After reset, the sleep bit could be on
@@ -1112,17 +1328,13 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
result = inv_mpu6050_set_power_itg(st, true);
if (result)
return result;
-
- result = inv_mpu6050_switch_engine(st, false,
- INV_MPU6050_BIT_PWR_ACCL_STBY);
- if (result)
- goto error_power_off;
- result = inv_mpu6050_switch_engine(st, false,
- INV_MPU6050_BIT_PWR_GYRO_STBY);
+ mask = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
+ INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
+ result = inv_mpu6050_switch_engine(st, false, mask);
if (result)
goto error_power_off;
- return inv_mpu6050_set_power_itg(st, false);
+ return 0;
error_power_off:
inv_mpu6050_set_power_itg(st, false);
@@ -1139,7 +1351,7 @@ static int inv_mpu_core_enable_regulator_vddio(struct inv_mpu6050_state *st)
"Failed to enable vddio regulator: %d\n", result);
} else {
/* Give the device a little bit of time to start up. */
- usleep_range(35000, 70000);
+ usleep_range(3000, 5000);
}
return result;
@@ -1170,6 +1382,14 @@ static void inv_mpu_core_disable_regulator_action(void *_data)
inv_mpu_core_disable_regulator_vddio(st);
}
+static void inv_mpu_pm_disable(void *data)
+{
+ struct device *dev = data;
+
+ pm_runtime_put_sync_suspend(dev);
+ pm_runtime_disable(dev);
+}
+
int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
{
@@ -1194,7 +1414,6 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
st = iio_priv(indio_dev);
mutex_init(&st->lock);
st->chip_type = chip_type;
- st->powerup_count = 0;
st->irq = irq;
st->map = regmap;
@@ -1259,6 +1478,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
dev_err(dev, "Failed to enable vdd regulator: %d\n", result);
return result;
}
+ msleep(INV_MPU6050_POWER_UP_TIME);
result = inv_mpu_core_enable_regulator_vddio(st);
if (result) {
@@ -1287,7 +1507,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
result = inv_mpu6050_init_config(indio_dev);
if (result) {
dev_err(dev, "Could not initialize device.\n");
- return result;
+ goto error_power_off;
}
dev_set_drvdata(dev, indio_dev);
@@ -1299,8 +1519,24 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
indio_dev->name = dev_name(dev);
/* requires parent device set in indio_dev */
- if (inv_mpu_bus_setup)
- inv_mpu_bus_setup(indio_dev);
+ if (inv_mpu_bus_setup) {
+ result = inv_mpu_bus_setup(indio_dev);
+ if (result)
+ goto error_power_off;
+ }
+
+ /* chip init is done, turning on runtime power management */
+ result = pm_runtime_set_active(dev);
+ if (result)
+ goto error_power_off;
+ pm_runtime_get_noresume(dev);
+ pm_runtime_enable(dev);
+ pm_runtime_set_autosuspend_delay(dev, INV_MPU6050_SUSPEND_DELAY_MS);
+ pm_runtime_use_autosuspend(dev);
+ pm_runtime_put(dev);
+ result = devm_add_action_or_reset(dev, inv_mpu_pm_disable, dev);
+ if (result)
+ return result;
switch (chip_type) {
case INV_MPU9150:
@@ -1359,14 +1595,17 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
}
return 0;
+
+error_power_off:
+ inv_mpu6050_set_power_itg(st, false);
+ return result;
}
EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
-#ifdef CONFIG_PM_SLEEP
-
-static int inv_mpu_resume(struct device *dev)
+static int __maybe_unused inv_mpu_resume(struct device *dev)
{
- struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
int result;
mutex_lock(&st->lock);
@@ -1375,27 +1614,101 @@ static int inv_mpu_resume(struct device *dev)
goto out_unlock;
result = inv_mpu6050_set_power_itg(st, true);
+ if (result)
+ goto out_unlock;
+
+ result = inv_mpu6050_switch_engine(st, true, st->suspended_sensors);
+ if (result)
+ goto out_unlock;
+
+ if (iio_buffer_enabled(indio_dev))
+ result = inv_mpu6050_prepare_fifo(st, true);
+
out_unlock:
mutex_unlock(&st->lock);
return result;
}
-static int inv_mpu_suspend(struct device *dev)
+static int __maybe_unused inv_mpu_suspend(struct device *dev)
{
- struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
int result;
mutex_lock(&st->lock);
+
+ if (iio_buffer_enabled(indio_dev)) {
+ result = inv_mpu6050_prepare_fifo(st, false);
+ if (result)
+ goto out_unlock;
+ }
+
+ st->suspended_sensors = 0;
+ if (st->chip_config.accl_en)
+ st->suspended_sensors |= INV_MPU6050_SENSOR_ACCL;
+ if (st->chip_config.gyro_en)
+ st->suspended_sensors |= INV_MPU6050_SENSOR_GYRO;
+ if (st->chip_config.temp_en)
+ st->suspended_sensors |= INV_MPU6050_SENSOR_TEMP;
+ if (st->chip_config.magn_en)
+ st->suspended_sensors |= INV_MPU6050_SENSOR_MAGN;
+ result = inv_mpu6050_switch_engine(st, false, st->suspended_sensors);
+ if (result)
+ goto out_unlock;
+
result = inv_mpu6050_set_power_itg(st, false);
+ if (result)
+ goto out_unlock;
+
inv_mpu_core_disable_regulator_vddio(st);
+out_unlock:
mutex_unlock(&st->lock);
return result;
}
-#endif /* CONFIG_PM_SLEEP */
-SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
+static int __maybe_unused inv_mpu_runtime_suspend(struct device *dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
+ unsigned int sensors;
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ sensors = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
+ INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
+ ret = inv_mpu6050_switch_engine(st, false, sensors);
+ if (ret)
+ goto out_unlock;
+
+ ret = inv_mpu6050_set_power_itg(st, false);
+ if (ret)
+ goto out_unlock;
+
+ inv_mpu_core_disable_regulator_vddio(st);
+
+out_unlock:
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+static int __maybe_unused inv_mpu_runtime_resume(struct device *dev)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
+ int ret;
+
+ ret = inv_mpu_core_enable_regulator_vddio(st);
+ if (ret)
+ return ret;
+
+ return inv_mpu6050_set_power_itg(st, true);
+}
+
+const struct dev_pm_ops inv_mpu_pmops = {
+ SET_SYSTEM_SLEEP_PM_OPS(inv_mpu_suspend, inv_mpu_resume)
+ SET_RUNTIME_PM_OPS(inv_mpu_runtime_suspend, inv_mpu_runtime_resume, NULL)
+};
EXPORT_SYMBOL_GPL(inv_mpu_pmops);
MODULE_AUTHOR("Invensense Corporation");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index f47a28b4be23..6993d3b87bb0 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -10,6 +10,7 @@
#include <linux/iio/iio.h>
#include <linux/module.h>
#include <linux/of_device.h>
+#include <linux/property.h>
#include "inv_mpu_iio.h"
static const struct regmap_config inv_mpu_regmap_config = {
@@ -19,62 +20,19 @@ static const struct regmap_config inv_mpu_regmap_config = {
static int inv_mpu6050_select_bypass(struct i2c_mux_core *muxc, u32 chan_id)
{
- struct iio_dev *indio_dev = i2c_mux_priv(muxc);
- struct inv_mpu6050_state *st = iio_priv(indio_dev);
- int ret;
-
- mutex_lock(&st->lock);
-
- ret = inv_mpu6050_set_power_itg(st, true);
- if (ret)
- goto error_unlock;
-
- ret = regmap_write(st->map, st->reg->int_pin_cfg,
- st->irq_mask | INV_MPU6050_BIT_BYPASS_EN);
-
-error_unlock:
- mutex_unlock(&st->lock);
-
- return ret;
-}
-
-static int inv_mpu6050_deselect_bypass(struct i2c_mux_core *muxc, u32 chan_id)
-{
- struct iio_dev *indio_dev = i2c_mux_priv(muxc);
- struct inv_mpu6050_state *st = iio_priv(indio_dev);
-
- mutex_lock(&st->lock);
-
- /* It doesn't really matter if any of the calls fail */
- regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
- inv_mpu6050_set_power_itg(st, false);
-
- mutex_unlock(&st->lock);
-
return 0;
}
-static const char *inv_mpu_match_acpi_device(struct device *dev,
- enum inv_devices *chip_id)
-{
- const struct acpi_device_id *id;
-
- id = acpi_match_device(dev->driver->acpi_match_table, dev);
- if (!id)
- return NULL;
-
- *chip_id = (int)id->driver_data;
-
- return dev_name(dev);
-}
-
static bool inv_mpu_i2c_aux_bus(struct device *dev)
{
struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
switch (st->chip_type) {
case INV_ICM20608:
+ case INV_ICM20609:
+ case INV_ICM20689:
case INV_ICM20602:
+ case INV_IAM20680:
/* no i2c auxiliary bus on the chip */
return false;
case INV_MPU9150:
@@ -89,19 +47,20 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev)
}
}
-/*
- * MPU9xxx magnetometer support requires to disable i2c auxiliary bus support.
- * To ensure backward compatibility with existing setups, do not disable
- * i2c auxiliary bus if it used.
- * Check for i2c-gate node in devicetree and set magnetometer disabled.
- * Only MPU6500 is supported by ACPI, no need to check.
- */
-static int inv_mpu_magn_disable(struct iio_dev *indio_dev)
+static int inv_mpu_i2c_aux_setup(struct iio_dev *indio_dev)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
struct device *dev = indio_dev->dev.parent;
struct device_node *mux_node;
+ int ret;
+ /*
+ * MPU9xxx magnetometer support requires to disable i2c auxiliary bus.
+ * To ensure backward compatibility with existing setups, do not disable
+ * i2c auxiliary bus if it used.
+ * Check for i2c-gate node in devicetree and set magnetometer disabled.
+ * Only MPU6500 is supported by ACPI, no need to check.
+ */
switch (st->chip_type) {
case INV_MPU9150:
case INV_MPU9250:
@@ -117,6 +76,14 @@ static int inv_mpu_magn_disable(struct iio_dev *indio_dev)
break;
}
+ /* enable i2c bypass when using i2c auxiliary bus */
+ if (inv_mpu_i2c_aux_bus(dev)) {
+ ret = regmap_write(st->map, st->reg->int_pin_cfg,
+ st->irq_mask | INV_MPU6050_BIT_BYPASS_EN);
+ if (ret)
+ return ret;
+ }
+
return 0;
}
@@ -130,6 +97,7 @@ static int inv_mpu_magn_disable(struct iio_dev *indio_dev)
static int inv_mpu_probe(struct i2c_client *client,
const struct i2c_device_id *id)
{
+ const void *match;
struct inv_mpu6050_state *st;
int result;
enum inv_devices chip_type;
@@ -140,18 +108,14 @@ static int inv_mpu_probe(struct i2c_client *client,
I2C_FUNC_SMBUS_I2C_BLOCK))
return -EOPNOTSUPP;
- if (client->dev.of_node) {
- chip_type = (enum inv_devices)
- of_device_get_match_data(&client->dev);
+ match = device_get_match_data(&client->dev);
+ if (match) {
+ chip_type = (enum inv_devices)match;
name = client->name;
} else if (id) {
chip_type = (enum inv_devices)
id->driver_data;
name = id->name;
- } else if (ACPI_HANDLE(&client->dev)) {
- name = inv_mpu_match_acpi_device(&client->dev, &chip_type);
- if (!name)
- return -ENODEV;
} else {
return -ENOSYS;
}
@@ -164,7 +128,7 @@ static int inv_mpu_probe(struct i2c_client *client,
}
result = inv_mpu_core_probe(regmap, client->irq, name,
- inv_mpu_magn_disable, chip_type);
+ inv_mpu_i2c_aux_setup, chip_type);
if (result < 0)
return result;
@@ -173,8 +137,7 @@ static int inv_mpu_probe(struct i2c_client *client,
/* declare i2c auxiliary bus */
st->muxc = i2c_mux_alloc(client->adapter, &client->dev,
1, 0, I2C_MUX_LOCKED | I2C_MUX_GATE,
- inv_mpu6050_select_bypass,
- inv_mpu6050_deselect_bypass);
+ inv_mpu6050_select_bypass, NULL);
if (!st->muxc)
return -ENOMEM;
st->muxc->priv = dev_get_drvdata(&client->dev);
@@ -218,7 +181,11 @@ static const struct i2c_device_id inv_mpu_id[] = {
{"mpu9250", INV_MPU9250},
{"mpu9255", INV_MPU9255},
{"icm20608", INV_ICM20608},
+ {"icm20609", INV_ICM20609},
+ {"icm20689", INV_ICM20689},
{"icm20602", INV_ICM20602},
+ {"icm20690", INV_ICM20690},
+ {"iam20680", INV_IAM20680},
{}
};
@@ -254,9 +221,25 @@ static const struct of_device_id inv_of_match[] = {
.data = (void *)INV_ICM20608
},
{
+ .compatible = "invensense,icm20609",
+ .data = (void *)INV_ICM20609
+ },
+ {
+ .compatible = "invensense,icm20689",
+ .data = (void *)INV_ICM20689
+ },
+ {
.compatible = "invensense,icm20602",
.data = (void *)INV_ICM20602
},
+ {
+ .compatible = "invensense,icm20690",
+ .data = (void *)INV_ICM20690
+ },
+ {
+ .compatible = "invensense,iam20680",
+ .data = (void *)INV_IAM20680
+ },
{ }
};
MODULE_DEVICE_TABLE(of, inv_of_match);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 6158fca7f70e..cd38b3fccc7b 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -75,15 +75,30 @@ enum inv_devices {
INV_MPU9250,
INV_MPU9255,
INV_ICM20608,
+ INV_ICM20609,
+ INV_ICM20689,
INV_ICM20602,
+ INV_ICM20690,
+ INV_IAM20680,
INV_NUM_PARTS
};
+/* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer */
+#define INV_MPU6050_SENSOR_ACCL BIT(0)
+#define INV_MPU6050_SENSOR_GYRO BIT(1)
+#define INV_MPU6050_SENSOR_TEMP BIT(2)
+#define INV_MPU6050_SENSOR_MAGN BIT(3)
+
/**
* struct inv_mpu6050_chip_config - Cached chip configuration data.
+ * @clk: selected chip clock
* @fsr: Full scale range.
* @lpf: Digital low pass filter frequency.
* @accl_fs: accel full scale range.
+ * @accl_en: accel engine enabled
+ * @gyro_en: gyro engine enabled
+ * @temp_en: temperature sensor enabled
+ * @magn_en: magn engine (i2c master) enabled
* @accl_fifo_enable: enable accel data output
* @gyro_fifo_enable: enable gyro data output
* @temp_fifo_enable: enable temp data output
@@ -91,9 +106,14 @@ enum inv_devices {
* @divider: chip sample rate divider (sample rate divider - 1)
*/
struct inv_mpu6050_chip_config {
+ unsigned int clk:3;
unsigned int fsr:2;
unsigned int lpf:3;
unsigned int accl_fs:2;
+ unsigned int accl_en:1;
+ unsigned int gyro_en:1;
+ unsigned int temp_en:1;
+ unsigned int magn_en:1;
unsigned int accl_fifo_enable:1;
unsigned int gyro_fifo_enable:1;
unsigned int temp_fifo_enable:1;
@@ -144,6 +164,7 @@ struct inv_mpu6050_hw {
* @magn_disabled: magnetometer disabled for backward compatibility reason.
* @magn_raw_to_gauss: coefficient to convert mag raw value to Gauss.
* @magn_orient: magnetometer sensor chip orientation if available.
+ * @suspended_sensors: sensors mask of sensors turned off for suspend
*/
struct inv_mpu6050_state {
struct mutex lock;
@@ -154,7 +175,6 @@ struct inv_mpu6050_state {
enum inv_devices chip_type;
struct i2c_mux_core *muxc;
struct i2c_client *mux_client;
- unsigned int powerup_count;
struct inv_mpu6050_platform_data plat_data;
struct iio_mount_matrix orientation;
struct regmap *map;
@@ -169,6 +189,7 @@ struct inv_mpu6050_state {
bool magn_disabled;
s32 magn_raw_to_gauss[3];
struct iio_mount_matrix magn_orient;
+ unsigned int suspended_sensors;
};
/*register and associated bit definition*/
@@ -241,7 +262,13 @@ struct inv_mpu6050_state {
#define INV_MPU6050_BIT_I2C_SLV3_DLY_EN 0x08
#define INV_MPU6050_BIT_DELAY_ES_SHADOW 0x80
+#define INV_MPU6050_REG_SIGNAL_PATH_RESET 0x68
+#define INV_MPU6050_BIT_TEMP_RST BIT(0)
+#define INV_MPU6050_BIT_ACCEL_RST BIT(1)
+#define INV_MPU6050_BIT_GYRO_RST BIT(2)
+
#define INV_MPU6050_REG_USER_CTRL 0x6A
+#define INV_MPU6050_BIT_SIG_COND_RST 0x01
#define INV_MPU6050_BIT_FIFO_RST 0x04
#define INV_MPU6050_BIT_DMP_RST 0x08
#define INV_MPU6050_BIT_I2C_MST_EN 0x20
@@ -252,6 +279,7 @@ struct inv_mpu6050_state {
#define INV_MPU6050_REG_PWR_MGMT_1 0x6B
#define INV_MPU6050_BIT_H_RESET 0x80
#define INV_MPU6050_BIT_SLEEP 0x40
+#define INV_MPU6050_BIT_TEMP_DIS 0x08
#define INV_MPU6050_BIT_CLK_MASK 0x7
#define INV_MPU6050_REG_PWR_MGMT_2 0x6C
@@ -276,12 +304,16 @@ struct inv_mpu6050_state {
/* mpu6500 registers */
#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
+#define INV_ICM20689_BITS_FIFO_SIZE_MAX 0xC0
#define INV_MPU6500_REG_ACCEL_OFFSET 0x77
/* delay time in milliseconds */
#define INV_MPU6050_POWER_UP_TIME 100
#define INV_MPU6050_TEMP_UP_TIME 100
-#define INV_MPU6050_SENSOR_UP_TIME 30
+#define INV_MPU6050_ACCEL_UP_TIME 20
+#define INV_MPU6050_GYRO_UP_TIME 35
+#define INV_MPU6050_GYRO_DOWN_TIME 150
+#define INV_MPU6050_SUSPEND_DELAY_MS 2000
/* delay time in microseconds */
#define INV_MPU6050_REG_UP_TIME_MIN 5000
@@ -293,6 +325,7 @@ struct inv_mpu6050_state {
#define INV_MPU6050_MAX_ACCL_FS_PARAM 3
#define INV_MPU6050_THREE_AXIS 3
#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
+#define INV_ICM20690_GYRO_CONFIG_FSR_SHIFT 2
#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3
#define INV_MPU6500_TEMP_OFFSET 7011
@@ -315,7 +348,6 @@ struct inv_mpu6050_state {
#define INV_MPU6050_TS_PERIOD_JITTER 4
/* init parameters */
-#define INV_MPU6050_INIT_FIFO_RATE 50
#define INV_MPU6050_MAX_FIFO_RATE 1000
#define INV_MPU6050_MIN_FIFO_RATE 4
@@ -340,7 +372,11 @@ struct inv_mpu6050_state {
#define INV_MPU9255_WHOAMI_VALUE 0x73
#define INV_MPU6515_WHOAMI_VALUE 0x74
#define INV_ICM20608_WHOAMI_VALUE 0xAF
+#define INV_ICM20609_WHOAMI_VALUE 0xA6
+#define INV_ICM20689_WHOAMI_VALUE 0x98
#define INV_ICM20602_WHOAMI_VALUE 0x12
+#define INV_ICM20690_WHOAMI_VALUE 0x20
+#define INV_IAM20680_WHOAMI_VALUE 0xA9
/* scan element definition for generic MPU6xxx devices */
enum inv_mpu6050_scan {
@@ -360,14 +396,14 @@ enum inv_mpu6050_scan {
};
enum inv_mpu6050_filter_e {
- INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
- INV_MPU6050_FILTER_188HZ,
- INV_MPU6050_FILTER_98HZ,
- INV_MPU6050_FILTER_42HZ,
+ INV_MPU6050_FILTER_NOLPF2 = 0,
+ INV_MPU6050_FILTER_200HZ,
+ INV_MPU6050_FILTER_100HZ,
+ INV_MPU6050_FILTER_45HZ,
INV_MPU6050_FILTER_20HZ,
INV_MPU6050_FILTER_10HZ,
INV_MPU6050_FILTER_5HZ,
- INV_MPU6050_FILTER_2100HZ_NOLPF,
+ INV_MPU6050_FILTER_NOLPF,
NUM_MPU6050_FILTER
};
@@ -401,10 +437,10 @@ enum inv_mpu6050_clock_sel_e {
irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
-int inv_reset_fifo(struct iio_dev *indio_dev);
-int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
+int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable);
+int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
+ unsigned int mask);
int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
-int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
index 4f192352521e..f282e9cc34c5 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
@@ -44,9 +44,6 @@
#define INV_MPU_MAGN_REG_ASAY 0x11
#define INV_MPU_MAGN_REG_ASAZ 0x12
-/* Magnetometer maximum frequency */
-#define INV_MPU_MAGN_FREQ_HZ_MAX 50
-
static bool inv_magn_supported(const struct inv_mpu6050_state *st)
{
switch (st->chip_type) {
@@ -316,59 +313,32 @@ int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
*
* Returns 0 on success, a negative error code otherwise
*/
-int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
+int inv_mpu_magn_read(struct inv_mpu6050_state *st, int axis, int *val)
{
- unsigned int user_ctrl, status;
- __be16 data[3];
+ unsigned int status;
+ __be16 data;
uint8_t addr;
- uint8_t d;
- unsigned int period_ms;
int ret;
/* quit if chip is not supported */
if (!inv_magn_supported(st))
return -ENODEV;
- /* Mag data: X - Y - Z */
+ /* Mag data: XH,XL,YH,YL,ZH,ZL */
switch (axis) {
case IIO_MOD_X:
addr = 0;
break;
case IIO_MOD_Y:
- addr = 1;
+ addr = 2;
break;
case IIO_MOD_Z:
- addr = 2;
+ addr = 4;
break;
default:
return -EINVAL;
}
-
- /* set sample rate to max mag freq */
- d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU_MAGN_FREQ_HZ_MAX);
- ret = regmap_write(st->map, st->reg->sample_rate_div, d);
- if (ret)
- return ret;
-
- /* start i2c master, wait for xfer, stop */
- user_ctrl = st->chip_config.user_ctrl | INV_MPU6050_BIT_I2C_MST_EN;
- ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
- if (ret)
- return ret;
-
- /* need to wait 2 periods + half-period margin */
- period_ms = 1000 / INV_MPU_MAGN_FREQ_HZ_MAX;
- msleep(period_ms * 2 + period_ms / 2);
- user_ctrl = st->chip_config.user_ctrl;
- ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
- if (ret)
- return ret;
-
- /* restore sample rate */
- d = st->chip_config.divider;
- ret = regmap_write(st->map, st->reg->sample_rate_div, d);
- if (ret)
- return ret;
+ addr += INV_MPU6050_REG_EXT_SENS_DATA;
/* check i2c status and read raw data */
ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
@@ -379,12 +349,11 @@ int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
status & INV_MPU6050_BIT_I2C_SLV1_NACK)
return -EIO;
- ret = regmap_bulk_read(st->map, INV_MPU6050_REG_EXT_SENS_DATA,
- data, sizeof(data));
+ ret = regmap_bulk_read(st->map, addr, &data, sizeof(data));
if (ret)
return ret;
- *val = (int16_t)be16_to_cpu(data[addr]);
+ *val = (int16_t)be16_to_cpu(data);
return IIO_VAL_INT;
}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
index b41bd0578478..185c000c697c 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
@@ -10,6 +10,9 @@
#include "inv_mpu_iio.h"
+/* Magnetometer maximum frequency */
+#define INV_MPU_MAGN_FREQ_HZ_MAX 50
+
int inv_mpu_magn_probe(struct inv_mpu6050_state *st);
/**
@@ -31,6 +34,6 @@ int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate);
int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st);
-int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val);
+int inv_mpu_magn_read(struct inv_mpu6050_state *st, int axis, int *val);
#endif /* INV_MPU_MAGN_H_ */
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index f9fdf4302a91..9511e4715e2c 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -90,63 +90,14 @@ static s64 inv_mpu6050_get_timestamp(struct inv_mpu6050_state *st)
return ts;
}
-int inv_reset_fifo(struct iio_dev *indio_dev)
+static 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 ||
- st->chip_config.magn_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;
- 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;
- result = regmap_write(st->map, st->reg->fifo_en, d);
+ /* disable fifo and reenable it */
+ inv_mpu6050_prepare_fifo(st, false);
+ result = inv_mpu6050_prepare_fifo(st, true);
if (result)
goto reset_fifo_fail;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
index ec102d5a5c77..673b198e6368 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -4,6 +4,8 @@
*/
#include <linux/module.h>
#include <linux/acpi.h>
+#include <linux/of.h>
+#include <linux/property.h>
#include <linux/spi/spi.h>
#include <linux/regmap.h>
#include <linux/iio/iio.h>
@@ -19,10 +21,6 @@ static int inv_mpu_i2c_disable(struct iio_dev *indio_dev)
struct inv_mpu6050_state *st = iio_priv(indio_dev);
int ret = 0;
- ret = inv_mpu6050_set_power_itg(st, true);
- if (ret)
- return ret;
-
if (st->reg->i2c_if) {
ret = regmap_write(st->map, st->reg->i2c_if,
INV_ICM20602_BIT_I2C_IF_DIS);
@@ -31,27 +29,24 @@ static int inv_mpu_i2c_disable(struct iio_dev *indio_dev)
ret = regmap_write(st->map, st->reg->user_ctrl,
st->chip_config.user_ctrl);
}
- if (ret) {
- inv_mpu6050_set_power_itg(st, false);
- return ret;
- }
- return inv_mpu6050_set_power_itg(st, false);
+ return ret;
}
static int inv_mpu_probe(struct spi_device *spi)
{
+ const void *match;
struct regmap *regmap;
const struct spi_device_id *spi_id;
- const struct acpi_device_id *acpi_id;
const char *name = NULL;
enum inv_devices chip_type;
if ((spi_id = spi_get_device_id(spi))) {
chip_type = (enum inv_devices)spi_id->driver_data;
name = spi_id->name;
- } else if ((acpi_id = acpi_match_device(spi->dev.driver->acpi_match_table, &spi->dev))) {
- chip_type = (enum inv_devices)acpi_id->driver_data;
+ } else if ((match = device_get_match_data(&spi->dev))) {
+ chip_type = (enum inv_devices)match;
+ name = dev_name(&spi->dev);
} else {
return -ENODEV;
}
@@ -74,15 +69,69 @@ static int inv_mpu_probe(struct spi_device *spi)
static const struct spi_device_id inv_mpu_id[] = {
{"mpu6000", INV_MPU6000},
{"mpu6500", INV_MPU6500},
+ {"mpu6515", INV_MPU6515},
{"mpu9250", INV_MPU9250},
{"mpu9255", INV_MPU9255},
{"icm20608", INV_ICM20608},
+ {"icm20609", INV_ICM20609},
+ {"icm20689", INV_ICM20689},
{"icm20602", INV_ICM20602},
+ {"icm20690", INV_ICM20690},
+ {"iam20680", INV_IAM20680},
{}
};
MODULE_DEVICE_TABLE(spi, inv_mpu_id);
+static const struct of_device_id inv_of_match[] = {
+ {
+ .compatible = "invensense,mpu6000",
+ .data = (void *)INV_MPU6000
+ },
+ {
+ .compatible = "invensense,mpu6500",
+ .data = (void *)INV_MPU6500
+ },
+ {
+ .compatible = "invensense,mpu6515",
+ .data = (void *)INV_MPU6515
+ },
+ {
+ .compatible = "invensense,mpu9250",
+ .data = (void *)INV_MPU9250
+ },
+ {
+ .compatible = "invensense,mpu9255",
+ .data = (void *)INV_MPU9255
+ },
+ {
+ .compatible = "invensense,icm20608",
+ .data = (void *)INV_ICM20608
+ },
+ {
+ .compatible = "invensense,icm20609",
+ .data = (void *)INV_ICM20609
+ },
+ {
+ .compatible = "invensense,icm20689",
+ .data = (void *)INV_ICM20689
+ },
+ {
+ .compatible = "invensense,icm20602",
+ .data = (void *)INV_ICM20602
+ },
+ {
+ .compatible = "invensense,icm20690",
+ .data = (void *)INV_ICM20690
+ },
+ {
+ .compatible = "invensense,iam20680",
+ .data = (void *)INV_IAM20680
+ },
+ { }
+};
+MODULE_DEVICE_TABLE(of, inv_of_match);
+
static const struct acpi_device_id inv_acpi_match[] = {
{"INVN6000", INV_MPU6000},
{ },
@@ -93,6 +142,7 @@ static struct spi_driver inv_mpu_driver = {
.probe = inv_mpu_probe,
.id_table = inv_mpu_id,
.driver = {
+ .of_match_table = inv_of_match,
.acpi_match_table = ACPI_PTR(inv_acpi_match),
.name = "inv-mpu6000-spi",
.pm = &inv_mpu_pmops,
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index 5199fe790c30..f7b5a70be30f 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -3,11 +3,13 @@
* Copyright (C) 2012 Invensense, Inc.
*/
+#include <linux/pm_runtime.h>
#include "inv_mpu_iio.h"
-static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
+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,
@@ -27,17 +29,28 @@ static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
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 void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
+static unsigned int inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ unsigned int mask;
- inv_scan_query_mpu6050(indio_dev);
+ mask = inv_scan_query_mpu6050(indio_dev);
/* no magnetometer if i2c auxiliary bus is used */
if (st->magn_disabled)
- return;
+ return mask;
st->chip_config.magn_fifo_enable =
test_bit(INV_MPU9X50_SCAN_MAGN_X,
@@ -46,9 +59,13 @@ static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
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 void inv_scan_query(struct iio_dev *indio_dev)
+static unsigned int inv_scan_query(struct iio_dev *indio_dev)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
@@ -84,6 +101,54 @@ static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
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.
@@ -92,84 +157,43 @@ static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
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;
+ struct device *pdev = regmap_get_device(st->map);
+ unsigned int scan;
int result;
if (enable) {
- result = inv_mpu6050_set_power_itg(st, true);
- if (result)
+ scan = inv_scan_query(indio_dev);
+ result = pm_runtime_get_sync(pdev);
+ if (result < 0) {
+ pm_runtime_put_noidle(pdev);
return result;
- inv_scan_query(indio_dev);
- 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;
- }
- if (st->chip_config.accl_fifo_enable) {
- result = inv_mpu6050_switch_engine(st, true,
- INV_MPU6050_BIT_PWR_ACCL_STBY);
- 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;
- }
- st->skip_samples = inv_compute_skip_samples(st);
- result = inv_reset_fifo(indio_dev);
+ /*
+ * In case autosuspend didn't trigger, turn off first not
+ * required sensors.
+ */
+ result = inv_mpu6050_switch_engine(st, false, ~scan);
if (result)
- goto error_magn_off;
- } else {
- result = regmap_write(st->map, st->reg->fifo_en, 0);
- if (result)
- goto error_magn_off;
-
- result = regmap_write(st->map, st->reg->int_enable, 0);
- if (result)
- goto error_magn_off;
-
- 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_magn_off;
- st->chip_config.user_ctrl = d;
-
- result = inv_mpu6050_switch_engine(st, false,
- INV_MPU6050_BIT_PWR_ACCL_STBY);
+ goto error_power_off;
+ result = inv_mpu6050_switch_engine(st, true, scan);
if (result)
- goto error_accl_off;
-
- result = inv_mpu6050_switch_engine(st, false,
- INV_MPU6050_BIT_PWR_GYRO_STBY);
+ goto error_power_off;
+ st->skip_samples = inv_compute_skip_samples(st);
+ result = inv_mpu6050_prepare_fifo(st, true);
if (result)
- goto error_gyro_off;
-
- result = inv_mpu6050_set_power_itg(st, false);
+ goto error_power_off;
+ } else {
+ result = inv_mpu6050_prepare_fifo(st, false);
if (result)
goto error_power_off;
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
}
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,
- INV_MPU6050_BIT_PWR_ACCL_STBY);
-error_gyro_off:
- if (st->chip_config.gyro_fifo_enable)
- inv_mpu6050_switch_engine(st, false,
- INV_MPU6050_BIT_PWR_GYRO_STBY);
error_power_off:
- inv_mpu6050_set_power_itg(st, false);
+ pm_runtime_put_autosuspend(pdev);
return result;
}
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index 9c3486a8134f..f2113a63721a 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -230,8 +230,8 @@ enum st_lsm6dsx_ext_sensor_id {
* @i2c_addr: I2c slave address list.
* @wai: Wai address info.
* @id: external sensor id.
- * @odr: Output data rate of the sensor [Hz].
- * @gain: Configured sensor sensitivity.
+ * @odr_table: Output data rate of the sensor [Hz].
+ * @fs_table: Configured sensor sensitivity table depending on full scale.
* @temp_comp: Temperature compensation register info (addr + mask).
* @pwr_table: Power on register info (addr + mask).
* @off_canc: Offset cancellation register info (addr + mask).
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
index eea555617d4a..95ddd19d1aa7 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
@@ -464,9 +464,10 @@ st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor,
len = min_t(int, sizeof(data), ch->scan_type.realbits >> 3);
err = st_lsm6dsx_shub_read(sensor, ch->address, data, len);
+ if (err < 0)
+ return err;
- st_lsm6dsx_shub_set_enable(sensor, false);
-
+ err = st_lsm6dsx_shub_set_enable(sensor, false);
if (err < 0)
return err;
generated by cgit v1.2.3 (git 2.39.0) at 2025-01-28 00:34:10 +0300