From af8a41271b56f6d79cb4d7c7f3ca688a2d97a801 Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Fri, 15 Apr 2016 16:59:38 +0200 Subject: iio:adis: Add support for manual self-test flag clear Some variants of the devices from the ADIS family don't auto-clear the self-test bit after the self-test has completed. Instead we have to manually clear. Add support for this to the ADIS library. Signed-off-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron --- include/linux/iio/imu/adis.h | 1 + 1 file changed, 1 insertion(+) (limited to 'include/linux') diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h index fa2d01ef8f55..360da7d18a3d 100644 --- a/include/linux/iio/imu/adis.h +++ b/include/linux/iio/imu/adis.h @@ -41,6 +41,7 @@ struct adis_data { unsigned int diag_stat_reg; unsigned int self_test_mask; + bool self_test_no_autoclear; unsigned int startup_delay; const char * const *status_error_msgs; -- cgit v1.2.3 From 97865fe41322d83dac4373fe0a0de5b1a1b318c5 Mon Sep 17 00:00:00 2001 From: Linus Walleij Date: Thu, 24 Mar 2016 14:18:05 +0100 Subject: iio: st_sensors: verify interrupt event to status This makes all ST sensor drivers check that they actually have new data available for the requested channel(s) before claiming an IRQ, by reading the status register (which is conveniently the same for all ST sensors) and check that the channel has new data before proceeding to read it and fill the buffer. This way sensors can share an interrupt line: it can be flaged as shared and then the sensor that did not fire will return NO_IRQ, and the sensor that fired will handle the IRQ and return IRQ_HANDLED. Cc: Giuseppe Barba Cc: Denis Ciocca Signed-off-by: Linus Walleij Signed-off-by: Jonathan Cameron --- drivers/iio/accel/st_accel_core.c | 5 +++++ drivers/iio/common/st_sensors/st_sensors_buffer.c | 18 ++++++++++++++++++ drivers/iio/gyro/st_gyro_core.c | 3 +++ drivers/iio/magnetometer/st_magn_core.c | 1 + drivers/iio/pressure/st_pressure_core.c | 2 ++ include/linux/iio/common/st_sensors.h | 3 +++ 6 files changed, 32 insertions(+) (limited to 'include/linux') diff --git a/drivers/iio/accel/st_accel_core.c b/drivers/iio/accel/st_accel_core.c index fee32e3d7a05..9fb6d35fce5b 100644 --- a/drivers/iio/accel/st_accel_core.c +++ b/drivers/iio/accel/st_accel_core.c @@ -332,6 +332,7 @@ static const struct st_sensor_settings st_accel_sensors_settings[] = { .mask_int2 = ST_ACCEL_1_DRDY_IRQ_INT2_MASK, .addr_ihl = ST_ACCEL_1_IHL_IRQ_ADDR, .mask_ihl = ST_ACCEL_1_IHL_IRQ_MASK, + .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_ACCEL_1_MULTIREAD_BIT, .bootime = 2, @@ -397,6 +398,7 @@ static const struct st_sensor_settings st_accel_sensors_settings[] = { .mask_int2 = ST_ACCEL_2_DRDY_IRQ_INT2_MASK, .addr_ihl = ST_ACCEL_2_IHL_IRQ_ADDR, .mask_ihl = ST_ACCEL_2_IHL_IRQ_MASK, + .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_ACCEL_2_MULTIREAD_BIT, .bootime = 2, @@ -474,6 +476,7 @@ static const struct st_sensor_settings st_accel_sensors_settings[] = { .mask_int2 = ST_ACCEL_3_DRDY_IRQ_INT2_MASK, .addr_ihl = ST_ACCEL_3_IHL_IRQ_ADDR, .mask_ihl = ST_ACCEL_3_IHL_IRQ_MASK, + .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, .ig1 = { .en_addr = ST_ACCEL_3_IG1_EN_ADDR, .en_mask = ST_ACCEL_3_IG1_EN_MASK, @@ -532,6 +535,7 @@ static const struct st_sensor_settings st_accel_sensors_settings[] = { .drdy_irq = { .addr = ST_ACCEL_4_DRDY_IRQ_ADDR, .mask_int1 = ST_ACCEL_4_DRDY_IRQ_INT1_MASK, + .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_ACCEL_4_MULTIREAD_BIT, .bootime = 2, /* guess */ @@ -583,6 +587,7 @@ static const struct st_sensor_settings st_accel_sensors_settings[] = { .mask_int2 = ST_ACCEL_5_DRDY_IRQ_INT2_MASK, .addr_ihl = ST_ACCEL_5_IHL_IRQ_ADDR, .mask_ihl = ST_ACCEL_5_IHL_IRQ_MASK, + .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_ACCEL_5_MULTIREAD_BIT, .bootime = 2, /* guess */ diff --git a/drivers/iio/common/st_sensors/st_sensors_buffer.c b/drivers/iio/common/st_sensors/st_sensors_buffer.c index 2ce0d2a3f855..c55898543a47 100644 --- a/drivers/iio/common/st_sensors/st_sensors_buffer.c +++ b/drivers/iio/common/st_sensors/st_sensors_buffer.c @@ -58,6 +58,24 @@ irqreturn_t st_sensors_trigger_handler(int irq, void *p) struct iio_dev *indio_dev = pf->indio_dev; struct st_sensor_data *sdata = iio_priv(indio_dev); + /* If we have a status register, check if this IRQ came from us */ + if (sdata->sensor_settings->drdy_irq.addr_stat_drdy) { + u8 status; + + len = sdata->tf->read_byte(&sdata->tb, sdata->dev, + sdata->sensor_settings->drdy_irq.addr_stat_drdy, + &status); + if (len < 0) + dev_err(sdata->dev, "could not read channel status\n"); + + /* + * If this was not caused by any channels on this sensor, + * return IRQ_NONE + */ + if (!(status & (u8)indio_dev->active_scan_mask[0])) + return IRQ_NONE; + } + len = st_sensors_get_buffer_element(indio_dev, sdata->buffer_data); if (len < 0) goto st_sensors_get_buffer_element_error; diff --git a/drivers/iio/gyro/st_gyro_core.c b/drivers/iio/gyro/st_gyro_core.c index 110f95b6e52f..be9057e89dc3 100644 --- a/drivers/iio/gyro/st_gyro_core.c +++ b/drivers/iio/gyro/st_gyro_core.c @@ -190,6 +190,7 @@ static const struct st_sensor_settings st_gyro_sensors_settings[] = { * drain settings, but only for INT1 and not * for the DRDY line on INT2. */ + .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT, .bootime = 2, @@ -258,6 +259,7 @@ static const struct st_sensor_settings st_gyro_sensors_settings[] = { * drain settings, but only for INT1 and not * for the DRDY line on INT2. */ + .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT, .bootime = 2, @@ -322,6 +324,7 @@ static const struct st_sensor_settings st_gyro_sensors_settings[] = { * drain settings, but only for INT1 and not * for the DRDY line on INT2. */ + .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_GYRO_3_MULTIREAD_BIT, .bootime = 2, diff --git a/drivers/iio/magnetometer/st_magn_core.c b/drivers/iio/magnetometer/st_magn_core.c index 501f858df413..62036d2a9956 100644 --- a/drivers/iio/magnetometer/st_magn_core.c +++ b/drivers/iio/magnetometer/st_magn_core.c @@ -484,6 +484,7 @@ static const struct st_sensor_settings st_magn_sensors_settings[] = { .mask_int1 = ST_MAGN_3_DRDY_INT_MASK, .addr_ihl = ST_MAGN_3_IHL_IRQ_ADDR, .mask_ihl = ST_MAGN_3_IHL_IRQ_MASK, + .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_MAGN_3_MULTIREAD_BIT, .bootime = 2, diff --git a/drivers/iio/pressure/st_pressure_core.c b/drivers/iio/pressure/st_pressure_core.c index 172393ad34af..1cd37eaa4a57 100644 --- a/drivers/iio/pressure/st_pressure_core.c +++ b/drivers/iio/pressure/st_pressure_core.c @@ -226,6 +226,7 @@ static const struct st_sensor_settings st_press_sensors_settings[] = { .mask_int2 = ST_PRESS_LPS331AP_DRDY_IRQ_INT2_MASK, .addr_ihl = ST_PRESS_LPS331AP_IHL_IRQ_ADDR, .mask_ihl = ST_PRESS_LPS331AP_IHL_IRQ_MASK, + .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_PRESS_LPS331AP_MULTIREAD_BIT, .bootime = 2, @@ -312,6 +313,7 @@ static const struct st_sensor_settings st_press_sensors_settings[] = { .mask_int2 = ST_PRESS_LPS25H_DRDY_IRQ_INT2_MASK, .addr_ihl = ST_PRESS_LPS25H_IHL_IRQ_ADDR, .mask_ihl = ST_PRESS_LPS25H_IHL_IRQ_MASK, + .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_PRESS_LPS25H_MULTIREAD_BIT, .bootime = 2, diff --git a/include/linux/iio/common/st_sensors.h b/include/linux/iio/common/st_sensors.h index 6670c3d25c58..d8da075bfda0 100644 --- a/include/linux/iio/common/st_sensors.h +++ b/include/linux/iio/common/st_sensors.h @@ -37,6 +37,7 @@ #define ST_SENSORS_DEFAULT_AXIS_ADDR 0x20 #define ST_SENSORS_DEFAULT_AXIS_MASK 0x07 #define ST_SENSORS_DEFAULT_AXIS_N_BIT 3 +#define ST_SENSORS_DEFAULT_STAT_ADDR 0x27 #define ST_SENSORS_MAX_NAME 17 #define ST_SENSORS_MAX_4WAI 7 @@ -121,6 +122,7 @@ struct st_sensor_bdu { * @mask_int2: mask to enable/disable IRQ on INT2 pin. * @addr_ihl: address to enable/disable active low on the INT lines. * @mask_ihl: mask to enable/disable active low on the INT lines. + * @addr_stat_drdy: address to read status of DRDY (data ready) interrupt * struct ig1 - represents the Interrupt Generator 1 of sensors. * @en_addr: address of the enable ig1 register. * @en_mask: mask to write the on/off value for enable. @@ -131,6 +133,7 @@ struct st_sensor_data_ready_irq { u8 mask_int2; u8 addr_ihl; u8 mask_ihl; + u8 addr_stat_drdy; struct { u8 en_addr; u8 en_mask; -- cgit v1.2.3 From 0e6f6871a1591f4bb0971809c45bc91a991f1967 Mon Sep 17 00:00:00 2001 From: Linus Walleij Date: Thu, 14 Apr 2016 10:45:21 +0200 Subject: iio: st_sensors: support open drain mode Some types of ST Sensors can be connected to the same IRQ line as other peripherals using open drain. Add a device tree binding and a sensor data property to flip the right bit in the interrupt control register to enable open drain mode on the INT line. If the line is set to be open drain, also tag on IRQF_SHARED to the IRQ flags when requesting the interrupt, as the whole point of using open drain interrupt lines is to share them with more than one peripheral (wire-or). Cc: devicetree@vger.kernel.org Cc: Giuseppe Barba Cc: Denis Ciocca Acked-by: Rob Herring Signed-off-by: Linus Walleij Signed-off-by: Jonathan Cameron --- Documentation/devicetree/bindings/iio/st-sensors.txt | 4 ++++ drivers/iio/accel/st_accel_core.c | 8 ++++++++ drivers/iio/common/st_sensors/st_sensors_core.c | 20 ++++++++++++++++++++ drivers/iio/common/st_sensors/st_sensors_trigger.c | 13 +++++++++++++ drivers/iio/pressure/st_pressure_core.c | 8 ++++++++ include/linux/iio/common/st_sensors.h | 6 ++++++ include/linux/platform_data/st_sensors_pdata.h | 2 ++ 7 files changed, 61 insertions(+) (limited to 'include/linux') diff --git a/Documentation/devicetree/bindings/iio/st-sensors.txt b/Documentation/devicetree/bindings/iio/st-sensors.txt index 71b7bdff21cd..637e283f4a8b 100644 --- a/Documentation/devicetree/bindings/iio/st-sensors.txt +++ b/Documentation/devicetree/bindings/iio/st-sensors.txt @@ -16,6 +16,10 @@ Optional properties: - st,drdy-int-pin: the pin on the package that will be used to signal "data ready" (valid values: 1 or 2). This property is not configurable on all sensors. +- drive-open-drain: the interrupt/data ready line will be configured + as open drain, which is useful if several sensors share the same + interrupt line. (This binding is taken from pinctrl/pinctrl-bindings.txt) + This is a boolean property. Sensors may also have applicable pin control settings, those use the standard bindings from pinctrl/pinctrl-bindings.txt. diff --git a/drivers/iio/accel/st_accel_core.c b/drivers/iio/accel/st_accel_core.c index 9fb6d35fce5b..dc73f2d85e6d 100644 --- a/drivers/iio/accel/st_accel_core.c +++ b/drivers/iio/accel/st_accel_core.c @@ -99,6 +99,8 @@ #define ST_ACCEL_2_DRDY_IRQ_INT2_MASK 0x10 #define ST_ACCEL_2_IHL_IRQ_ADDR 0x22 #define ST_ACCEL_2_IHL_IRQ_MASK 0x80 +#define ST_ACCEL_2_OD_IRQ_ADDR 0x22 +#define ST_ACCEL_2_OD_IRQ_MASK 0x40 #define ST_ACCEL_2_MULTIREAD_BIT true /* CUSTOM VALUES FOR SENSOR 3 */ @@ -180,6 +182,8 @@ #define ST_ACCEL_5_DRDY_IRQ_INT2_MASK 0x20 #define ST_ACCEL_5_IHL_IRQ_ADDR 0x22 #define ST_ACCEL_5_IHL_IRQ_MASK 0x80 +#define ST_ACCEL_5_OD_IRQ_ADDR 0x22 +#define ST_ACCEL_5_OD_IRQ_MASK 0x40 #define ST_ACCEL_5_IG1_EN_ADDR 0x21 #define ST_ACCEL_5_IG1_EN_MASK 0x08 #define ST_ACCEL_5_MULTIREAD_BIT false @@ -398,6 +402,8 @@ static const struct st_sensor_settings st_accel_sensors_settings[] = { .mask_int2 = ST_ACCEL_2_DRDY_IRQ_INT2_MASK, .addr_ihl = ST_ACCEL_2_IHL_IRQ_ADDR, .mask_ihl = ST_ACCEL_2_IHL_IRQ_MASK, + .addr_od = ST_ACCEL_2_OD_IRQ_ADDR, + .mask_od = ST_ACCEL_2_OD_IRQ_MASK, .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_ACCEL_2_MULTIREAD_BIT, @@ -587,6 +593,8 @@ static const struct st_sensor_settings st_accel_sensors_settings[] = { .mask_int2 = ST_ACCEL_5_DRDY_IRQ_INT2_MASK, .addr_ihl = ST_ACCEL_5_IHL_IRQ_ADDR, .mask_ihl = ST_ACCEL_5_IHL_IRQ_MASK, + .addr_od = ST_ACCEL_5_OD_IRQ_ADDR, + .mask_od = ST_ACCEL_5_OD_IRQ_MASK, .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_ACCEL_5_MULTIREAD_BIT, diff --git a/drivers/iio/common/st_sensors/st_sensors_core.c b/drivers/iio/common/st_sensors/st_sensors_core.c index f5a2d445d0c0..dffe00692169 100644 --- a/drivers/iio/common/st_sensors/st_sensors_core.c +++ b/drivers/iio/common/st_sensors/st_sensors_core.c @@ -301,6 +301,14 @@ static int st_sensors_set_drdy_int_pin(struct iio_dev *indio_dev, return -EINVAL; } + if (pdata->open_drain) { + if (!sdata->sensor_settings->drdy_irq.addr_od) + dev_err(&indio_dev->dev, + "open drain requested but unsupported.\n"); + else + sdata->int_pin_open_drain = true; + } + return 0; } @@ -321,6 +329,8 @@ static struct st_sensors_platform_data *st_sensors_of_probe(struct device *dev, else pdata->drdy_int_pin = defdata ? defdata->drdy_int_pin : 0; + pdata->open_drain = of_property_read_bool(np, "drive-open-drain"); + return pdata; } #else @@ -374,6 +384,16 @@ int st_sensors_init_sensor(struct iio_dev *indio_dev, return err; } + if (sdata->int_pin_open_drain) { + dev_info(&indio_dev->dev, + "set interrupt line to open drain mode\n"); + err = st_sensors_write_data_with_mask(indio_dev, + sdata->sensor_settings->drdy_irq.addr_od, + sdata->sensor_settings->drdy_irq.mask_od, 1); + if (err < 0) + return err; + } + err = st_sensors_set_axis_enable(indio_dev, ST_SENSORS_ENABLE_ALL_AXIS); return err; diff --git a/drivers/iio/common/st_sensors/st_sensors_trigger.c b/drivers/iio/common/st_sensors/st_sensors_trigger.c index 6a8c98327945..da72279fcf99 100644 --- a/drivers/iio/common/st_sensors/st_sensors_trigger.c +++ b/drivers/iio/common/st_sensors/st_sensors_trigger.c @@ -64,6 +64,19 @@ int st_sensors_allocate_trigger(struct iio_dev *indio_dev, "rising edge\n", irq_trig); irq_trig = IRQF_TRIGGER_RISING; } + + /* + * If the interrupt pin is Open Drain, by definition this + * means that the interrupt line may be shared with other + * peripherals. But to do this we also need to have a status + * register and mask to figure out if this sensor was firing + * the IRQ or not, so we can tell the interrupt handle that + * it was "our" interrupt. + */ + if (sdata->int_pin_open_drain && + sdata->sensor_settings->drdy_irq.addr_stat_drdy) + irq_trig |= IRQF_SHARED; + err = request_threaded_irq(irq, iio_trigger_generic_data_rdy_poll, NULL, diff --git a/drivers/iio/pressure/st_pressure_core.c b/drivers/iio/pressure/st_pressure_core.c index 1cd37eaa4a57..9e9b72a8f18f 100644 --- a/drivers/iio/pressure/st_pressure_core.c +++ b/drivers/iio/pressure/st_pressure_core.c @@ -64,6 +64,8 @@ #define ST_PRESS_LPS331AP_DRDY_IRQ_INT2_MASK 0x20 #define ST_PRESS_LPS331AP_IHL_IRQ_ADDR 0x22 #define ST_PRESS_LPS331AP_IHL_IRQ_MASK 0x80 +#define ST_PRESS_LPS331AP_OD_IRQ_ADDR 0x22 +#define ST_PRESS_LPS331AP_OD_IRQ_MASK 0x40 #define ST_PRESS_LPS331AP_MULTIREAD_BIT true #define ST_PRESS_LPS331AP_TEMP_OFFSET 42500 @@ -104,6 +106,8 @@ #define ST_PRESS_LPS25H_DRDY_IRQ_INT2_MASK 0x10 #define ST_PRESS_LPS25H_IHL_IRQ_ADDR 0x22 #define ST_PRESS_LPS25H_IHL_IRQ_MASK 0x80 +#define ST_PRESS_LPS25H_OD_IRQ_ADDR 0x22 +#define ST_PRESS_LPS25H_OD_IRQ_MASK 0x40 #define ST_PRESS_LPS25H_MULTIREAD_BIT true #define ST_PRESS_LPS25H_TEMP_OFFSET 42500 #define ST_PRESS_LPS25H_OUT_XL_ADDR 0x28 @@ -226,6 +230,8 @@ static const struct st_sensor_settings st_press_sensors_settings[] = { .mask_int2 = ST_PRESS_LPS331AP_DRDY_IRQ_INT2_MASK, .addr_ihl = ST_PRESS_LPS331AP_IHL_IRQ_ADDR, .mask_ihl = ST_PRESS_LPS331AP_IHL_IRQ_MASK, + .addr_od = ST_PRESS_LPS331AP_OD_IRQ_ADDR, + .mask_od = ST_PRESS_LPS331AP_OD_IRQ_MASK, .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_PRESS_LPS331AP_MULTIREAD_BIT, @@ -313,6 +319,8 @@ static const struct st_sensor_settings st_press_sensors_settings[] = { .mask_int2 = ST_PRESS_LPS25H_DRDY_IRQ_INT2_MASK, .addr_ihl = ST_PRESS_LPS25H_IHL_IRQ_ADDR, .mask_ihl = ST_PRESS_LPS25H_IHL_IRQ_MASK, + .addr_od = ST_PRESS_LPS25H_OD_IRQ_ADDR, + .mask_od = ST_PRESS_LPS25H_OD_IRQ_MASK, .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, }, .multi_read_bit = ST_PRESS_LPS25H_MULTIREAD_BIT, diff --git a/include/linux/iio/common/st_sensors.h b/include/linux/iio/common/st_sensors.h index d8da075bfda0..d029ffac0d69 100644 --- a/include/linux/iio/common/st_sensors.h +++ b/include/linux/iio/common/st_sensors.h @@ -122,6 +122,8 @@ struct st_sensor_bdu { * @mask_int2: mask to enable/disable IRQ on INT2 pin. * @addr_ihl: address to enable/disable active low on the INT lines. * @mask_ihl: mask to enable/disable active low on the INT lines. + * @addr_od: address to enable/disable Open Drain on the INT lines. + * @mask_od: mask to enable/disable Open Drain on the INT lines. * @addr_stat_drdy: address to read status of DRDY (data ready) interrupt * struct ig1 - represents the Interrupt Generator 1 of sensors. * @en_addr: address of the enable ig1 register. @@ -133,6 +135,8 @@ struct st_sensor_data_ready_irq { u8 mask_int2; u8 addr_ihl; u8 mask_ihl; + u8 addr_od; + u8 mask_od; u8 addr_stat_drdy; struct { u8 en_addr; @@ -215,6 +219,7 @@ struct st_sensor_settings { * @odr: Output data rate of the sensor [Hz]. * num_data_channels: Number of data channels used in buffer. * @drdy_int_pin: Redirect DRDY on pin 1 (1) or pin 2 (2). + * @int_pin_open_drain: Set the interrupt/DRDY to open drain. * @get_irq_data_ready: Function to get the IRQ used for data ready signal. * @tf: Transfer function structure used by I/O operations. * @tb: Transfer buffers and mutex used by I/O operations. @@ -236,6 +241,7 @@ struct st_sensor_data { unsigned int num_data_channels; u8 drdy_int_pin; + bool int_pin_open_drain; unsigned int (*get_irq_data_ready) (struct iio_dev *indio_dev); diff --git a/include/linux/platform_data/st_sensors_pdata.h b/include/linux/platform_data/st_sensors_pdata.h index 753839187ba0..79b0e4cdb814 100644 --- a/include/linux/platform_data/st_sensors_pdata.h +++ b/include/linux/platform_data/st_sensors_pdata.h @@ -16,9 +16,11 @@ * @drdy_int_pin: Redirect DRDY on pin 1 (1) or pin 2 (2). * Available only for accelerometer and pressure sensors. * Accelerometer DRDY on LSM330 available only on pin 1 (see datasheet). + * @open_drain: set the interrupt line to be open drain if possible. */ struct st_sensors_platform_data { u8 drdy_int_pin; + bool open_drain; }; #endif /* ST_SENSORS_PDATA_H */ -- cgit v1.2.3 From 8bf872d8d261feefcdf67027522e3f717cad2bfe Mon Sep 17 00:00:00 2001 From: Laxman Dewangan Date: Wed, 6 Apr 2016 16:01:06 +0530 Subject: iio: core: Add devm_ APIs for iio_channel_{get,release} Some of kernel driver uses the IIO framework to get the sensor value via ADC or IIO HW driver. The client driver get iio channel by iio_channel_get() and release it by calling iio_channel_release(). Add resource managed version (devm_*) of these APIs so that if client calls the devm_iio_channel_get() then it need not to release it explicitly, it can be done by managed device framework when driver get un-binded. This reduces the code in error path and also need of .remove callback in some cases. Signed-off-by: Laxman Dewangan Signed-off-by: Jonathan Cameron --- drivers/iio/inkern.c | 48 ++++++++++++++++++++++++++++++++++++++++++++ include/linux/iio/consumer.h | 27 +++++++++++++++++++++++++ 2 files changed, 75 insertions(+) (limited to 'include/linux') diff --git a/drivers/iio/inkern.c b/drivers/iio/inkern.c index 2fc7928f401d..9fd8934c1887 100644 --- a/drivers/iio/inkern.c +++ b/drivers/iio/inkern.c @@ -356,6 +356,54 @@ void iio_channel_release(struct iio_channel *channel) } EXPORT_SYMBOL_GPL(iio_channel_release); +static void devm_iio_channel_free(struct device *dev, void *res) +{ + struct iio_channel *channel = *(struct iio_channel **)res; + + iio_channel_release(channel); +} + +static int devm_iio_channel_match(struct device *dev, void *res, void *data) +{ + struct iio_channel **r = res; + + if (!r || !*r) { + WARN_ON(!r || !*r); + return 0; + } + + return *r == data; +} + +struct iio_channel *devm_iio_channel_get(struct device *dev, + const char *channel_name) +{ + struct iio_channel **ptr, *channel; + + ptr = devres_alloc(devm_iio_channel_free, sizeof(*ptr), GFP_KERNEL); + if (!ptr) + return ERR_PTR(-ENOMEM); + + channel = iio_channel_get(dev, channel_name); + if (IS_ERR(channel)) { + devres_free(ptr); + return channel; + } + + *ptr = channel; + devres_add(dev, ptr); + + return channel; +} +EXPORT_SYMBOL_GPL(devm_iio_channel_get); + +void devm_iio_channel_release(struct device *dev, struct iio_channel *channel) +{ + WARN_ON(devres_release(dev, devm_iio_channel_free, + devm_iio_channel_match, channel)); +} +EXPORT_SYMBOL_GPL(devm_iio_channel_release); + struct iio_channel *iio_channel_get_all(struct device *dev) { const char *name; diff --git a/include/linux/iio/consumer.h b/include/linux/iio/consumer.h index fad58671c49e..e1e033d6a81f 100644 --- a/include/linux/iio/consumer.h +++ b/include/linux/iio/consumer.h @@ -48,6 +48,33 @@ struct iio_channel *iio_channel_get(struct device *dev, */ void iio_channel_release(struct iio_channel *chan); +/** + * devm_iio_channel_get() - Resource managed version of iio_channel_get(). + * @dev: Pointer to consumer device. Device name must match + * the name of the device as provided in the iio_map + * with which the desired provider to consumer mapping + * was registered. + * @consumer_channel: Unique name to identify the channel on the consumer + * side. This typically describes the channels use within + * the consumer. E.g. 'battery_voltage' + * + * Returns a pointer to negative errno if it is not able to get the iio channel + * otherwise returns valid pointer for iio channel. + * + * The allocated iio channel is automatically released when the device is + * unbound. + */ +struct iio_channel *devm_iio_channel_get(struct device *dev, + const char *consumer_channel); +/** + * devm_iio_channel_release() - Resource managed version of + * iio_channel_release(). + * @dev: Pointer to consumer device for which resource + * is allocared. + * @chan: The channel to be released. + */ +void devm_iio_channel_release(struct device *dev, struct iio_channel *chan); + /** * iio_channel_get_all() - get all channels associated with a client * @dev: Pointer to consumer device. -- cgit v1.2.3 From efc2c0133f198bc65593a67015af358919b0c48f Mon Sep 17 00:00:00 2001 From: Laxman Dewangan Date: Wed, 6 Apr 2016 16:01:07 +0530 Subject: iio: core: Add devm_ APIs for iio_channel_{get,release}_all Some of kernel driver uses the IIO framework to get the sensor value via ADC or IIO HW driver. The client driver get iio channel by iio_channel_get_all() and release it by calling iio_channel_release_all(). Add resource managed version (devm_*) of these APIs so that if client calls the devm_iio_channel_get_all() then it need not to release it explicitly, it can be done by managed device framework when driver get un-binded. This reduces the code in error path and also need of .remove callback in some cases. Signed-off-by: Laxman Dewangan Signed-off-by: Jonathan Cameron --- drivers/iio/inkern.c | 36 ++++++++++++++++++++++++++++++++++++ include/linux/iio/consumer.h | 26 ++++++++++++++++++++++++++ 2 files changed, 62 insertions(+) (limited to 'include/linux') diff --git a/drivers/iio/inkern.c b/drivers/iio/inkern.c index 9fd8934c1887..c4757e6367e7 100644 --- a/drivers/iio/inkern.c +++ b/drivers/iio/inkern.c @@ -489,6 +489,42 @@ void iio_channel_release_all(struct iio_channel *channels) } EXPORT_SYMBOL_GPL(iio_channel_release_all); +static void devm_iio_channel_free_all(struct device *dev, void *res) +{ + struct iio_channel *channels = *(struct iio_channel **)res; + + iio_channel_release_all(channels); +} + +struct iio_channel *devm_iio_channel_get_all(struct device *dev) +{ + struct iio_channel **ptr, *channels; + + ptr = devres_alloc(devm_iio_channel_free_all, sizeof(*ptr), GFP_KERNEL); + if (!ptr) + return ERR_PTR(-ENOMEM); + + channels = iio_channel_get_all(dev); + if (IS_ERR(channels)) { + devres_free(ptr); + return channels; + } + + *ptr = channels; + devres_add(dev, ptr); + + return channels; +} +EXPORT_SYMBOL_GPL(devm_iio_channel_get_all); + +void devm_iio_channel_release_all(struct device *dev, + struct iio_channel *channels) +{ + WARN_ON(devres_release(dev, devm_iio_channel_free_all, + devm_iio_channel_match, channels)); +} +EXPORT_SYMBOL_GPL(devm_iio_channel_release_all); + static int iio_channel_read(struct iio_channel *chan, int *val, int *val2, enum iio_chan_info_enum info) { diff --git a/include/linux/iio/consumer.h b/include/linux/iio/consumer.h index e1e033d6a81f..3d672f72e7ec 100644 --- a/include/linux/iio/consumer.h +++ b/include/linux/iio/consumer.h @@ -92,6 +92,32 @@ struct iio_channel *iio_channel_get_all(struct device *dev); */ void iio_channel_release_all(struct iio_channel *chan); +/** + * devm_iio_channel_get_all() - Resource managed version of + * iio_channel_get_all(). + * @dev: Pointer to consumer device. + * + * Returns a pointer to negative errno if it is not able to get the iio channel + * otherwise returns an array of iio_channel structures terminated with one with + * null iio_dev pointer. + * + * This function is used by fairly generic consumers to get all the + * channels registered as having this consumer. + * + * The allocated iio channels are automatically released when the device is + * unbounded. + */ +struct iio_channel *devm_iio_channel_get_all(struct device *dev); + +/** + * devm_iio_channel_release_all() - Resource managed version of + * iio_channel_release_all(). + * @dev: Pointer to consumer device for which resource + * is allocared. + * @chan: Array channel to be released. + */ +void devm_iio_channel_release_all(struct device *dev, struct iio_channel *chan); + struct iio_cb_buffer; /** * iio_channel_get_all_cb() - register callback for triggered capture -- cgit v1.2.3 From dfc57732ad38f93ae6232a3b4e64fd077383a0f1 Mon Sep 17 00:00:00 2001 From: Gregor Boirie Date: Wed, 20 Apr 2016 19:23:43 +0200 Subject: iio:core: mounting matrix support Expose a rotation matrix to indicate userspace the chip placement with respect to the overall hardware system. This is needed to adjust coordinates sampled from a sensor chip when its position deviates from the main hardware system. Final coordinates computation is delegated to userspace since: * computation may involve floating point arithmetics ; * it allows an application to combine adjustments with arbitrary transformations. This 3 dimentional space rotation matrix is expressed as 3x3 array of strings to support floating point numbers. It may be retrieved from a "[_][_]mount_matrix" sysfs attribute file. It is declared into a device / driver specific DTS property or platform data. Signed-off-by: Gregor Boirie Signed-off-by: Jonathan Cameron --- Documentation/ABI/testing/sysfs-bus-iio | 51 ++++++++++++++++++++ drivers/iio/industrialio-core.c | 82 +++++++++++++++++++++++++++++++++ include/linux/iio/iio.h | 31 +++++++++++++ 3 files changed, 164 insertions(+) (limited to 'include/linux') diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio index f155eff910f9..ba8df69d40b0 100644 --- a/Documentation/ABI/testing/sysfs-bus-iio +++ b/Documentation/ABI/testing/sysfs-bus-iio @@ -1512,3 +1512,54 @@ Contact: linux-iio@vger.kernel.org Description: Raw (unscaled no offset etc.) pH reading of a substance as a negative base-10 logarithm of hydrodium ions in a litre of water. + +What: /sys/bus/iio/devices/iio:deviceX/mount_matrix +What: /sys/bus/iio/devices/iio:deviceX/in_mount_matrix +What: /sys/bus/iio/devices/iio:deviceX/out_mount_matrix +KernelVersion: 4.6 +Contact: linux-iio@vger.kernel.org +Description: + Mounting matrix for IIO sensors. This is a rotation matrix which + informs userspace about sensor chip's placement relative to the + main hardware it is mounted on. + Main hardware placement is defined according to the local + reference frame related to the physical quantity the sensor + measures. + Given that the rotation matrix is defined in a board specific + way (platform data and / or device-tree), the main hardware + reference frame definition is left to the implementor's choice + (see below for a magnetometer example). + Applications should apply this rotation matrix to samples so + that when main hardware reference frame is aligned onto local + reference frame, then sensor chip reference frame is also + perfectly aligned with it. + Matrix is a 3x3 unitary matrix and typically looks like + [0, 1, 0; 1, 0, 0; 0, 0, -1]. Identity matrix + [1, 0, 0; 0, 1, 0; 0, 0, 1] means sensor chip and main hardware + are perfectly aligned with each other. + + For example, a mounting matrix for a magnetometer sensor informs + userspace about sensor chip's ORIENTATION relative to the main + hardware. + More specifically, main hardware orientation is defined with + respect to the LOCAL EARTH GEOMAGNETIC REFERENCE FRAME where : + * Y is in the ground plane and positive towards magnetic North ; + * X is in the ground plane, perpendicular to the North axis and + positive towards the East ; + * Z is perpendicular to the ground plane and positive upwards. + + An implementor might consider that for a hand-held device, a + 'natural' orientation would be 'front facing camera at the top'. + The main hardware reference frame could then be described as : + * Y is in the plane of the screen and is positive towards the + top of the screen ; + * X is in the plane of the screen, perpendicular to Y axis, and + positive towards the right hand side of the screen ; + * Z is perpendicular to the screen plane and positive out of the + screen. + Another example for a quadrotor UAV might be : + * Y is in the plane of the propellers and positive towards the + front-view camera; + * X is in the plane of the propellers, perpendicular to Y axis, + and positive towards the starboard side of the UAV ; + * Z is perpendicular to propellers plane and positive upwards. diff --git a/drivers/iio/industrialio-core.c b/drivers/iio/industrialio-core.c index 190a5939fd8c..e6319a9346b2 100644 --- a/drivers/iio/industrialio-core.c +++ b/drivers/iio/industrialio-core.c @@ -412,6 +412,88 @@ ssize_t iio_enum_write(struct iio_dev *indio_dev, } EXPORT_SYMBOL_GPL(iio_enum_write); +static const struct iio_mount_matrix iio_mount_idmatrix = { + .rotation = { + "1", "0", "0", + "0", "1", "0", + "0", "0", "1" + } +}; + +static int iio_setup_mount_idmatrix(const struct device *dev, + struct iio_mount_matrix *matrix) +{ + *matrix = iio_mount_idmatrix; + dev_info(dev, "mounting matrix not found: using identity...\n"); + return 0; +} + +ssize_t iio_show_mount_matrix(struct iio_dev *indio_dev, uintptr_t priv, + const struct iio_chan_spec *chan, char *buf) +{ + const struct iio_mount_matrix *mtx = ((iio_get_mount_matrix_t *) + priv)(indio_dev, chan); + + if (IS_ERR(mtx)) + return PTR_ERR(mtx); + + if (!mtx) + mtx = &iio_mount_idmatrix; + + return snprintf(buf, PAGE_SIZE, "%s, %s, %s; %s, %s, %s; %s, %s, %s\n", + mtx->rotation[0], mtx->rotation[1], mtx->rotation[2], + mtx->rotation[3], mtx->rotation[4], mtx->rotation[5], + mtx->rotation[6], mtx->rotation[7], mtx->rotation[8]); +} +EXPORT_SYMBOL_GPL(iio_show_mount_matrix); + +/** + * of_iio_read_mount_matrix() - retrieve iio device mounting matrix from + * device-tree "mount-matrix" property + * @dev: device the mounting matrix property is assigned to + * @propname: device specific mounting matrix property name + * @matrix: where to store retrieved matrix + * + * If device is assigned no mounting matrix property, a default 3x3 identity + * matrix will be filled in. + * + * Return: 0 if success, or a negative error code on failure. + */ +#ifdef CONFIG_OF +int of_iio_read_mount_matrix(const struct device *dev, + const char *propname, + struct iio_mount_matrix *matrix) +{ + if (dev->of_node) { + int err = of_property_read_string_array(dev->of_node, + propname, matrix->rotation, + ARRAY_SIZE(iio_mount_idmatrix.rotation)); + + if (err == ARRAY_SIZE(iio_mount_idmatrix.rotation)) + return 0; + + if (err >= 0) + /* Invalid number of matrix entries. */ + return -EINVAL; + + if (err != -EINVAL) + /* Invalid matrix declaration format. */ + return err; + } + + /* Matrix was not declared at all: fallback to identity. */ + return iio_setup_mount_idmatrix(dev, matrix); +} +#else +int of_iio_read_mount_matrix(const struct device *dev, + const char *propname, + struct iio_mount_matrix *matrix) +{ + return iio_setup_mount_idmatrix(dev, matrix); +} +#endif +EXPORT_SYMBOL(of_iio_read_mount_matrix); + /** * iio_format_value() - Formats a IIO value into its string representation * @buf: The buffer to which the formatted value gets written diff --git a/include/linux/iio/iio.h b/include/linux/iio/iio.h index 0b2773ada0ba..7c29cb0124ae 100644 --- a/include/linux/iio/iio.h +++ b/include/linux/iio/iio.h @@ -147,6 +147,37 @@ ssize_t iio_enum_write(struct iio_dev *indio_dev, .private = (uintptr_t)(_e), \ } +/** + * struct iio_mount_matrix - iio mounting matrix + * @rotation: 3 dimensional space rotation matrix defining sensor alignment with + * main hardware + */ +struct iio_mount_matrix { + const char *rotation[9]; +}; + +ssize_t iio_show_mount_matrix(struct iio_dev *indio_dev, uintptr_t priv, + const struct iio_chan_spec *chan, char *buf); +int of_iio_read_mount_matrix(const struct device *dev, const char *propname, + struct iio_mount_matrix *matrix); + +typedef const struct iio_mount_matrix * + (iio_get_mount_matrix_t)(const struct iio_dev *indio_dev, + const struct iio_chan_spec *chan); + +/** + * IIO_MOUNT_MATRIX() - Initialize mount matrix extended channel attribute + * @_shared: Whether the attribute is shared between all channels + * @_get: Pointer to an iio_get_mount_matrix_t accessor + */ +#define IIO_MOUNT_MATRIX(_shared, _get) \ +{ \ + .name = "mount_matrix", \ + .shared = (_shared), \ + .read = iio_show_mount_matrix, \ + .private = (uintptr_t)(_get), \ +} + /** * struct iio_event_spec - specification for a channel event * @type: Type of the event -- cgit v1.2.3 From 97eacb9166f4810368e180073dcbceeff0de34df Mon Sep 17 00:00:00 2001 From: Gregor Boirie Date: Wed, 20 Apr 2016 19:23:44 +0200 Subject: iio:ak8975: add mounting matrix support Expose a rotation matrix to indicate userspace the chip orientation with respect to the overall hardware system. Matrix is retrieved from "in_mount_matrix". It is declared into ak8975 DTS entry as a "mount-matrix" property. Signed-off-by: Gregor Boirie Acked-by: Rob Herring Signed-off-by: Jonathan Cameron --- .../bindings/iio/magnetometer/ak8975.txt | 10 +++++++ drivers/iio/magnetometer/ak8975.c | 34 +++++++++++++++++++--- include/linux/iio/magnetometer/ak8975.h | 16 ++++++++++ 3 files changed, 56 insertions(+), 4 deletions(-) create mode 100644 include/linux/iio/magnetometer/ak8975.h (limited to 'include/linux') diff --git a/Documentation/devicetree/bindings/iio/magnetometer/ak8975.txt b/Documentation/devicetree/bindings/iio/magnetometer/ak8975.txt index 34a3206eefdf..e1e7dd3259f6 100644 --- a/Documentation/devicetree/bindings/iio/magnetometer/ak8975.txt +++ b/Documentation/devicetree/bindings/iio/magnetometer/ak8975.txt @@ -9,6 +9,7 @@ Optional properties: - gpios : should be device tree identifier of the magnetometer DRDY pin - vdd-supply: an optional regulator that needs to be on to provide VDD + - mount-matrix: an optional 3x3 mounting rotation matrix Example: @@ -17,4 +18,13 @@ ak8975@0c { reg = <0x0c>; gpios = <&gpj0 7 0>; vdd-supply = <&ldo_3v3_gnss>; + mount-matrix = "-0.984807753012208", /* x0 */ + "0", /* y0 */ + "-0.173648177666930", /* z0 */ + "0", /* x1 */ + "-1", /* y1 */ + "0", /* z1 */ + "-0.173648177666930", /* x2 */ + "0", /* y2 */ + "0.984807753012208"; /* z2 */ }; diff --git a/drivers/iio/magnetometer/ak8975.c b/drivers/iio/magnetometer/ak8975.c index a2aac50a0149..dbf066129a04 100644 --- a/drivers/iio/magnetometer/ak8975.c +++ b/drivers/iio/magnetometer/ak8975.c @@ -40,7 +40,8 @@ #include #include #include -#include + +#include /* * Register definitions, as well as various shifts and masks to get at the @@ -376,6 +377,7 @@ struct ak8975_data { wait_queue_head_t data_ready_queue; unsigned long flags; u8 cntl_cache; + struct iio_mount_matrix orientation; struct regulator *vdd; }; @@ -726,6 +728,18 @@ static int ak8975_read_raw(struct iio_dev *indio_dev, return -EINVAL; } +static const struct iio_mount_matrix * +ak8975_get_mount_matrix(const struct iio_dev *indio_dev, + const struct iio_chan_spec *chan) +{ + return &((struct ak8975_data *)iio_priv(indio_dev))->orientation; +} + +static const struct iio_chan_spec_ext_info ak8975_ext_info[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, ak8975_get_mount_matrix), + { }, +}; + #define AK8975_CHANNEL(axis, index) \ { \ .type = IIO_MAGN, \ @@ -740,7 +754,8 @@ static int ak8975_read_raw(struct iio_dev *indio_dev, .realbits = 16, \ .storagebits = 16, \ .endianness = IIO_CPU \ - } \ + }, \ + .ext_info = ak8975_ext_info, \ } static const struct iio_chan_spec ak8975_channels[] = { @@ -837,10 +852,12 @@ static int ak8975_probe(struct i2c_client *client, int err; const char *name = NULL; enum asahi_compass_chipset chipset; + const struct ak8975_platform_data *pdata = + dev_get_platdata(&client->dev); /* Grab and set up the supplied GPIO. */ - if (client->dev.platform_data) - eoc_gpio = *(int *)(client->dev.platform_data); + if (pdata) + eoc_gpio = pdata->eoc_gpio; else if (client->dev.of_node) eoc_gpio = of_get_gpio(client->dev.of_node, 0); else @@ -874,6 +891,15 @@ static int ak8975_probe(struct i2c_client *client, data->eoc_gpio = eoc_gpio; data->eoc_irq = 0; + if (!pdata) { + err = of_iio_read_mount_matrix(&client->dev, + "mount-matrix", + &data->orientation); + if (err) + return err; + } else + data->orientation = pdata->orientation; + /* id will be NULL when enumerated via ACPI */ if (id) { chipset = (enum asahi_compass_chipset)(id->driver_data); diff --git a/include/linux/iio/magnetometer/ak8975.h b/include/linux/iio/magnetometer/ak8975.h new file mode 100644 index 000000000000..c8400959d197 --- /dev/null +++ b/include/linux/iio/magnetometer/ak8975.h @@ -0,0 +1,16 @@ +#ifndef __IIO_MAGNETOMETER_AK8975_H__ +#define __IIO_MAGNETOMETER_AK8975_H__ + +#include + +/** + * struct ak8975_platform_data - AK8975 magnetometer driver platform data + * @eoc_gpio: data ready event gpio + * @orientation: mounting matrix relative to main hardware + */ +struct ak8975_platform_data { + int eoc_gpio; + struct iio_mount_matrix orientation; +}; + +#endif -- cgit v1.2.3 From eb3798463f71afc77abd25b2f62708be06f7173b Mon Sep 17 00:00:00 2001 From: Gregor Boirie Date: Wed, 20 Apr 2016 19:23:45 +0200 Subject: iio:imu:mpu6050: enhance mounting matrix support Add a new rotation matrix sysfs attribute compliant with IIO core mounting matrix API. Matrix is retrieved from "in_anglvel_mount_matrix" and "in_accel_mount_matrix" sysfs attributes. It is declared into mpu6050 DTS entry as a "mount-matrix" property. Old interface is kept for backward userspace compatibility and may be retrieved from legacy platform_data mechanism only. Signed-off-by: Gregor Boirie Acked-by: Rob Herring Signed-off-by: Jonathan Cameron --- Documentation/ABI/testing/sysfs-bus-iio | 2 ++ .../devicetree/bindings/iio/imu/inv_mpu6050.txt | 13 ++++++++ drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 36 ++++++++++++++++++++-- drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 4 ++- include/linux/platform_data/invensense_mpu6050.h | 5 ++- 5 files changed, 55 insertions(+), 5 deletions(-) (limited to 'include/linux') diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio index ba8df69d40b0..df44998e7506 100644 --- a/Documentation/ABI/testing/sysfs-bus-iio +++ b/Documentation/ABI/testing/sysfs-bus-iio @@ -1516,6 +1516,8 @@ Description: What: /sys/bus/iio/devices/iio:deviceX/mount_matrix What: /sys/bus/iio/devices/iio:deviceX/in_mount_matrix What: /sys/bus/iio/devices/iio:deviceX/out_mount_matrix +What: /sys/bus/iio/devices/iio:deviceX/in_anglvel_mount_matrix +What: /sys/bus/iio/devices/iio:deviceX/in_accel_mount_matrix KernelVersion: 4.6 Contact: linux-iio@vger.kernel.org Description: diff --git a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt index e4d8f1c52f4a..a9fc11e43b45 100644 --- a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt +++ b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt @@ -8,10 +8,23 @@ Required properties: - interrupt-parent : should be the phandle for the interrupt controller - interrupts : interrupt mapping for GPIO IRQ +Optional properties: + - mount-matrix: an optional 3x3 mounting rotation matrix + + Example: mpu6050@68 { compatible = "invensense,mpu6050"; reg = <0x68>; interrupt-parent = <&gpio1>; interrupts = <18 1>; + mount-matrix = "-0.984807753012208", /* x0 */ + "0", /* y0 */ + "-0.173648177666930", /* z0 */ + "0", /* x1 */ + "-1", /* y1 */ + "0", /* z1 */ + "-0.173648177666930", /* x2 */ + "0", /* y2 */ + "0.984807753012208"; /* z2 */ }; diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index d192953e9a38..482a2490c53a 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -600,6 +600,10 @@ inv_fifo_rate_show(struct device *dev, struct device_attribute *attr, /** * inv_attr_show() - calling this function will show current * parameters. + * + * Deprecated in favor of IIO mounting matrix API. + * + * See inv_get_mount_matrix() */ static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr, char *buf) @@ -644,6 +648,18 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev, return 0; } +static const struct iio_mount_matrix * +inv_get_mount_matrix(const struct iio_dev *indio_dev, + const struct iio_chan_spec *chan) +{ + return &((struct inv_mpu6050_state *)iio_priv(indio_dev))->orientation; +} + +static const struct iio_chan_spec_ext_info inv_ext_info[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix), + { }, +}; + #define INV_MPU6050_CHAN(_type, _channel2, _index) \ { \ .type = _type, \ @@ -660,6 +676,7 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev, .shift = 0, \ .endianness = IIO_BE, \ }, \ + .ext_info = inv_ext_info, \ } static const struct iio_chan_spec inv_mpu_channels[] = { @@ -692,14 +709,16 @@ static IIO_CONST_ATTR(in_accel_scale_available, "0.000598 0.001196 0.002392 0.004785"); static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show, inv_mpu6050_fifo_rate_store); + +/* Deprecated: kept for userspace backward compatibility. */ static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL, ATTR_GYRO_MATRIX); static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL, ATTR_ACCL_MATRIX); static struct attribute *inv_attributes[] = { - &iio_dev_attr_in_gyro_matrix.dev_attr.attr, - &iio_dev_attr_in_accel_matrix.dev_attr.attr, + &iio_dev_attr_in_gyro_matrix.dev_attr.attr, /* deprecated */ + &iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */ &iio_dev_attr_sampling_frequency.dev_attr.attr, &iio_const_attr_sampling_frequency_available.dev_attr.attr, &iio_const_attr_in_accel_scale_available.dev_attr.attr, @@ -779,9 +798,20 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, st->powerup_count = 0; st->irq = irq; st->map = regmap; + pdata = dev_get_platdata(dev); - if (pdata) + if (!pdata) { + result = of_iio_read_mount_matrix(dev, "mount-matrix", + &st->orientation); + if (result) { + dev_err(dev, "Failed to retrieve mounting matrix %d\n", + result); + return result; + } + } else { st->plat_data = *pdata; + } + /* power is turned on inside check chip type*/ result = inv_check_and_setup_chip(st); if (result) diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h index e302a49703bf..52d60cdc9f16 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h @@ -114,7 +114,8 @@ struct inv_mpu6050_hw { * @hw: Other hardware-specific information. * @chip_type: chip type. * @time_stamp_lock: spin lock to time stamp. - * @plat_data: platform data. + * @plat_data: platform data (deprecated in favor of @orientation). + * @orientation: sensor chip orientation relative to main hardware. * @timestamps: kfifo queue to store time stamp. * @map regmap pointer. * @irq interrupt number. @@ -131,6 +132,7 @@ struct inv_mpu6050_state { struct i2c_client *mux_client; unsigned int powerup_count; struct inv_mpu6050_platform_data plat_data; + struct iio_mount_matrix orientation; DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE); struct regmap *map; int irq; diff --git a/include/linux/platform_data/invensense_mpu6050.h b/include/linux/platform_data/invensense_mpu6050.h index ad3aa7b95f35..554b59801aa8 100644 --- a/include/linux/platform_data/invensense_mpu6050.h +++ b/include/linux/platform_data/invensense_mpu6050.h @@ -16,13 +16,16 @@ /** * struct inv_mpu6050_platform_data - Platform data for the mpu driver - * @orientation: Orientation matrix of the chip + * @orientation: Orientation matrix of the chip (deprecated in favor of + * mounting matrix retrieved from device-tree) * * Contains platform specific information on how to configure the MPU6050 to * work on this platform. The orientation matricies are 3x3 rotation matricies * that are applied to the data to rotate from the mounting orientation to the * platform orientation. The values must be one of 0, 1, or -1 and each row and * column should have exactly 1 non-zero value. + * + * Deprecated in favor of mounting matrix retrieved from device-tree. */ struct inv_mpu6050_platform_data { __s8 orientation[9]; -- cgit v1.2.3