diff options
Diffstat (limited to 'drivers/iio/imu')
| -rw-r--r-- | drivers/iio/imu/adis16400.c | 22 | ||||
| -rw-r--r-- | drivers/iio/imu/adis16460.c | 4 | ||||
| -rw-r--r-- | drivers/iio/imu/adis16475.c | 123 | ||||
| -rw-r--r-- | drivers/iio/imu/adis16480.c | 133 | ||||
| -rw-r--r-- | drivers/iio/imu/adis_trigger.c | 21 | ||||
| -rw-r--r-- | drivers/iio/imu/fxos8700_i2c.c | 3 | ||||
| -rw-r--r-- | drivers/iio/imu/fxos8700_spi.c | 3 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c | 14 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c | 13 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 72 | ||||
| -rw-r--r-- | drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 10 | ||||
| -rw-r--r-- | drivers/iio/imu/kmx61.c | 1 | ||||
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 15 | ||||
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c | 3 | ||||
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i3c.c | 3 | ||||
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c | 3 |
16 files changed, 288 insertions, 155 deletions
diff --git a/drivers/iio/imu/adis16400.c b/drivers/iio/imu/adis16400.c index 785a4ce606d8..768aa493a1a6 100644 --- a/drivers/iio/imu/adis16400.c +++ b/drivers/iio/imu/adis16400.c @@ -504,7 +504,6 @@ static int adis16400_write_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int val, int val2, long info) { struct adis16400_state *st = iio_priv(indio_dev); - struct mutex *slock = &st->adis.state_lock; int ret, sps; switch (info) { @@ -517,18 +516,18 @@ static int adis16400_write_raw(struct iio_dev *indio_dev, * Need to cache values so we can update if the frequency * changes. */ - mutex_lock(slock); + adis_dev_lock(&st->adis); st->filt_int = val; /* Work out update to current value */ sps = st->variant->get_freq(st); if (sps < 0) { - mutex_unlock(slock); + adis_dev_unlock(&st->adis); return sps; } ret = __adis16400_set_filter(indio_dev, sps, val * 1000 + val2 / 1000); - mutex_unlock(slock); + adis_dev_unlock(&st->adis); return ret; case IIO_CHAN_INFO_SAMP_FREQ: sps = val * 1000 + val2 / 1000; @@ -536,9 +535,9 @@ static int adis16400_write_raw(struct iio_dev *indio_dev, if (sps <= 0) return -EINVAL; - mutex_lock(slock); + adis_dev_lock(&st->adis); ret = st->variant->set_freq(st, sps); - mutex_unlock(slock); + adis_dev_unlock(&st->adis); return ret; default: return -EINVAL; @@ -549,7 +548,6 @@ static int adis16400_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val, int *val2, long info) { struct adis16400_state *st = iio_priv(indio_dev); - struct mutex *slock = &st->adis.state_lock; int16_t val16; int ret; @@ -605,17 +603,17 @@ static int adis16400_read_raw(struct iio_dev *indio_dev, *val = st->variant->temp_offset; return IIO_VAL_INT; case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: - mutex_lock(slock); + adis_dev_lock(&st->adis); /* Need both the number of taps and the sampling frequency */ ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); if (ret) { - mutex_unlock(slock); + adis_dev_unlock(&st->adis); return ret; } ret = st->variant->get_freq(st); - mutex_unlock(slock); + adis_dev_unlock(&st->adis); if (ret) return ret; ret /= adis16400_3db_divisors[val16 & 0x07]; @@ -623,9 +621,9 @@ static int adis16400_read_raw(struct iio_dev *indio_dev, *val2 = (ret % 1000) * 1000; return IIO_VAL_INT_PLUS_MICRO; case IIO_CHAN_INFO_SAMP_FREQ: - mutex_lock(slock); + adis_dev_lock(&st->adis); ret = st->variant->get_freq(st); - mutex_unlock(slock); + adis_dev_unlock(&st->adis); if (ret) return ret; *val = ret / 1000; diff --git a/drivers/iio/imu/adis16460.c b/drivers/iio/imu/adis16460.c index 74a161e39733..73bf45e859b8 100644 --- a/drivers/iio/imu/adis16460.c +++ b/drivers/iio/imu/adis16460.c @@ -403,12 +403,12 @@ static int adis16460_probe(struct spi_device *spi) if (ret) return ret; + /* We cannot mask the interrupt, so ensure it isn't auto enabled */ + st->adis.irq_flag |= IRQF_NO_AUTOEN; ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); if (ret) return ret; - adis16460_enable_irq(&st->adis, 0); - ret = __adis_initial_startup(&st->adis); if (ret) return ret; diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c index 197d48240991..1de62fc79e0f 100644 --- a/drivers/iio/imu/adis16475.c +++ b/drivers/iio/imu/adis16475.c @@ -17,6 +17,8 @@ #include <linux/iio/sysfs.h> #include <linux/iio/trigger_consumer.h> #include <linux/irq.h> +#include <linux/lcm.h> +#include <linux/math.h> #include <linux/module.h> #include <linux/mod_devicetable.h> #include <linux/property.h> @@ -101,6 +103,7 @@ struct adis16475 { u32 clk_freq; bool burst32; unsigned long lsb_flag; + u16 sync_mode; /* Alignment needed for the timestamp */ __be16 data[ADIS16475_MAX_SCAN_DATA] __aligned(8); }; @@ -117,6 +120,11 @@ enum { ADIS16475_SCAN_CRC_FAILURE, }; +static bool low_rate_allow; +module_param(low_rate_allow, bool, 0444); +MODULE_PARM_DESC(low_rate_allow, + "Allow IMU rates below the minimum advisable when external clk is used in SCALED mode (default: N)"); + #ifdef CONFIG_DEBUG_FS static ssize_t adis16475_show_firmware_revision(struct file *file, char __user *userbuf, @@ -253,25 +261,92 @@ static int adis16475_get_freq(struct adis16475 *st, u32 *freq) { int ret; u16 dec; + u32 sample_rate = st->clk_freq; + + adis_dev_lock(&st->adis); + + if (st->sync_mode == ADIS16475_SYNC_SCALED) { + u16 sync_scale; + + ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, &sync_scale); + if (ret) + goto error; + + sample_rate = st->clk_freq * sync_scale; + } - ret = adis_read_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, &dec); + ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, &dec); if (ret) - return -EINVAL; + goto error; + + adis_dev_unlock(&st->adis); - *freq = DIV_ROUND_CLOSEST(st->clk_freq, dec + 1); + *freq = DIV_ROUND_CLOSEST(sample_rate, dec + 1); return 0; +error: + adis_dev_unlock(&st->adis); + return ret; } static int adis16475_set_freq(struct adis16475 *st, const u32 freq) { u16 dec; int ret; + u32 sample_rate = st->clk_freq; if (!freq) return -EINVAL; - dec = DIV_ROUND_CLOSEST(st->clk_freq, freq); + adis_dev_lock(&st->adis); + /* + * When using sync scaled mode, the input clock needs to be scaled so that we have + * an IMU sample rate between (optimally) 1900 and 2100. After this, we can use the + * decimation filter to lower the sampling rate in order to get what the user wants. + * Optimally, the user sample rate is a multiple of both the IMU sample rate and + * the input clock. Hence, calculating the sync_scale dynamically gives us better + * chances of achieving a perfect/integer value for DEC_RATE. The math here is: + * 1. lcm of the input clock and the desired output rate. + * 2. get the highest multiple of the previous result lower than the adis max rate. + * 3. The last result becomes the IMU sample rate. Use that to calculate SYNC_SCALE + * and DEC_RATE (to get the user output rate) + */ + if (st->sync_mode == ADIS16475_SYNC_SCALED) { + unsigned long scaled_rate = lcm(st->clk_freq, freq); + int sync_scale; + + /* + * If lcm is bigger than the IMU maximum sampling rate there's no perfect + * solution. In this case, we get the highest multiple of the input clock + * lower than the IMU max sample rate. + */ + if (scaled_rate > 2100000) + scaled_rate = 2100000 / st->clk_freq * st->clk_freq; + else + scaled_rate = 2100000 / scaled_rate * scaled_rate; + + /* + * This is not an hard requirement but it's not advised to run the IMU + * with a sample rate lower than 4000Hz due to possible undersampling + * issues. However, there are users that might really want to take the risk. + * Hence, we provide a module parameter for them. If set, we allow sample + * rates lower than 4KHz. By default, we won't allow this and we just roundup + * the rate to the next multiple of the input clock bigger than 4KHz. This + * is done like this as in some cases (when DEC_RATE is 0) might give + * us the closest value to the one desired by the user... + */ + if (scaled_rate < 1900000 && !low_rate_allow) + scaled_rate = roundup(1900000, st->clk_freq); + + sync_scale = scaled_rate / st->clk_freq; + ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, sync_scale); + if (ret) + goto error; + + sample_rate = scaled_rate; + } + + dec = DIV_ROUND_CLOSEST(sample_rate, freq); if (dec) dec--; @@ -281,7 +356,7 @@ static int adis16475_set_freq(struct adis16475 *st, const u32 freq) ret = adis_write_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, dec); if (ret) - return ret; + goto error; /* * If decimation is used, then gyro and accel data will have meaningful @@ -290,6 +365,9 @@ static int adis16475_set_freq(struct adis16475 *st, const u32 freq) assign_bit(ADIS16475_LSB_DEC_MASK, &st->lsb_flag, dec); return 0; +error: + adis_dev_unlock(&st->adis); + return ret; } /* The values are approximated. */ @@ -1085,6 +1163,7 @@ static int adis16475_config_sync_mode(struct adis16475 *st) } sync = &st->info->sync[sync_mode]; + st->sync_mode = sync->sync_mode; /* All the other modes require external input signal */ if (sync->sync_mode != ADIS16475_SYNC_OUTPUT) { @@ -1112,37 +1191,20 @@ static int adis16475_config_sync_mode(struct adis16475 *st) if (sync->sync_mode == ADIS16475_SYNC_SCALED) { u16 up_scale; - u32 scaled_out_freq = 0; + /* - * If we are in scaled mode, we must have an up_scale. - * In scaled mode the allowable input clock range is - * 1 Hz to 128 Hz, and the allowable output range is - * 1900 to 2100 Hz. Hence, a scale must be given to - * get the allowable output. + * In sync scaled mode, the IMU sample rate is the clk_freq * sync_scale. + * Hence, default the IMU sample rate to the highest multiple of the input + * clock lower than the IMU max sample rate. The optimal range is + * 1900-2100 sps... */ - ret = device_property_read_u32(dev, - "adi,scaled-output-hz", - &scaled_out_freq); - if (ret) { - dev_err(dev, "adi,scaled-output-hz must be given when in scaled sync mode"); - return -EINVAL; - } else if (scaled_out_freq < 1900 || - scaled_out_freq > 2100) { - dev_err(dev, "Invalid value: %u for adi,scaled-output-hz", - scaled_out_freq); - return -EINVAL; - } - - up_scale = DIV_ROUND_CLOSEST(scaled_out_freq, - st->clk_freq); + up_scale = 2100 / st->clk_freq; ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, up_scale); if (ret) return ret; - - st->clk_freq = scaled_out_freq; } st->clk_freq *= 1000; @@ -1196,6 +1258,9 @@ static int adis16475_config_irq_pin(struct adis16475 *st) return -EINVAL; } + /* We cannot mask the interrupt so ensure it's not enabled at request */ + st->adis.irq_flag |= IRQF_NO_AUTOEN; + val = ADIS16475_MSG_CTRL_DR_POL(polarity); ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, ADIS16475_MSG_CTRL_DR_POL_MASK, val); @@ -1300,8 +1365,6 @@ static int adis16475_probe(struct spi_device *spi) if (ret) return ret; - adis16475_enable_irq(&st->adis, false); - ret = devm_iio_device_register(&spi->dev, indio_dev); if (ret) return ret; diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c index dfe86c589325..f81b86690b76 100644 --- a/drivers/iio/imu/adis16480.c +++ b/drivers/iio/imu/adis16480.c @@ -10,6 +10,7 @@ #include <linux/of_irq.h> #include <linux/interrupt.h> #include <linux/delay.h> +#include <linux/math.h> #include <linux/mutex.h> #include <linux/device.h> #include <linux/kernel.h> @@ -17,6 +18,7 @@ #include <linux/slab.h> #include <linux/sysfs.h> #include <linux/module.h> +#include <linux/lcm.h> #include <linux/iio/iio.h> #include <linux/iio/sysfs.h> @@ -170,6 +172,11 @@ static const char * const adis16480_int_pin_names[4] = { [ADIS16480_PIN_DIO4] = "DIO4", }; +static bool low_rate_allow; +module_param(low_rate_allow, bool, 0444); +MODULE_PARM_DESC(low_rate_allow, + "Allow IMU rates below the minimum advisable when external clk is used in PPS mode (default: N)"); + #ifdef CONFIG_DEBUG_FS static ssize_t adis16480_show_firmware_revision(struct file *file, @@ -312,7 +319,8 @@ static int adis16480_debugfs_init(struct iio_dev *indio_dev) static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2) { struct adis16480 *st = iio_priv(indio_dev); - unsigned int t, reg; + unsigned int t, sample_rate = st->clk_freq; + int ret; if (val < 0 || val2 < 0) return -EINVAL; @@ -321,28 +329,65 @@ static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2) if (t == 0) return -EINVAL; + adis_dev_lock(&st->adis); /* - * When using PPS mode, the rate of data collection is equal to the - * product of the external clock frequency and the scale factor in the - * SYNC_SCALE register. - * When using sync mode, or internal clock, the output data rate is - * equal with the clock frequency divided by DEC_RATE + 1. + * When using PPS mode, the input clock needs to be scaled so that we have an IMU + * sample rate between (optimally) 4000 and 4250. After this, we can use the + * decimation filter to lower the sampling rate in order to get what the user wants. + * Optimally, the user sample rate is a multiple of both the IMU sample rate and + * the input clock. Hence, calculating the sync_scale dynamically gives us better + * chances of achieving a perfect/integer value for DEC_RATE. The math here is: + * 1. lcm of the input clock and the desired output rate. + * 2. get the highest multiple of the previous result lower than the adis max rate. + * 3. The last result becomes the IMU sample rate. Use that to calculate SYNC_SCALE + * and DEC_RATE (to get the user output rate) */ if (st->clk_mode == ADIS16480_CLK_PPS) { - t = t / st->clk_freq; - reg = ADIS16495_REG_SYNC_SCALE; - } else { - t = st->clk_freq / t; - reg = ADIS16480_REG_DEC_RATE; + unsigned long scaled_rate = lcm(st->clk_freq, t); + int sync_scale; + + /* + * If lcm is bigger than the IMU maximum sampling rate there's no perfect + * solution. In this case, we get the highest multiple of the input clock + * lower than the IMU max sample rate. + */ + if (scaled_rate > st->chip_info->int_clk) + scaled_rate = st->chip_info->int_clk / st->clk_freq * st->clk_freq; + else + scaled_rate = st->chip_info->int_clk / scaled_rate * scaled_rate; + + /* + * This is not an hard requirement but it's not advised to run the IMU + * with a sample rate lower than 4000Hz due to possible undersampling + * issues. However, there are users that might really want to take the risk. + * Hence, we provide a module parameter for them. If set, we allow sample + * rates lower than 4KHz. By default, we won't allow this and we just roundup + * the rate to the next multiple of the input clock bigger than 4KHz. This + * is done like this as in some cases (when DEC_RATE is 0) might give + * us the closest value to the one desired by the user... + */ + if (scaled_rate < 4000000 && !low_rate_allow) + scaled_rate = roundup(4000000, st->clk_freq); + + sync_scale = scaled_rate / st->clk_freq; + ret = __adis_write_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, sync_scale); + if (ret) + goto error; + + sample_rate = scaled_rate; } + t = DIV_ROUND_CLOSEST(sample_rate, t); + if (t) + t--; + if (t > st->chip_info->max_dec_rate) t = st->chip_info->max_dec_rate; - if ((t != 0) && (st->clk_mode != ADIS16480_CLK_PPS)) - t--; - - return adis_write_reg_16(&st->adis, reg, t); + ret = __adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t); +error: + adis_dev_unlock(&st->adis); + return ret; } static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2) @@ -350,34 +395,35 @@ static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2) struct adis16480 *st = iio_priv(indio_dev); uint16_t t; int ret; - unsigned int freq; - unsigned int reg; + unsigned int freq, sample_rate = st->clk_freq; - if (st->clk_mode == ADIS16480_CLK_PPS) - reg = ADIS16495_REG_SYNC_SCALE; - else - reg = ADIS16480_REG_DEC_RATE; + adis_dev_lock(&st->adis); + + if (st->clk_mode == ADIS16480_CLK_PPS) { + u16 sync_scale; + + ret = __adis_read_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, &sync_scale); + if (ret) + goto error; - ret = adis_read_reg_16(&st->adis, reg, &t); + sample_rate = st->clk_freq * sync_scale; + } + + ret = __adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t); if (ret) - return ret; + goto error; - /* - * When using PPS mode, the rate of data collection is equal to the - * product of the external clock frequency and the scale factor in the - * SYNC_SCALE register. - * When using sync mode, or internal clock, the output data rate is - * equal with the clock frequency divided by DEC_RATE + 1. - */ - if (st->clk_mode == ADIS16480_CLK_PPS) - freq = st->clk_freq * t; - else - freq = st->clk_freq / (t + 1); + adis_dev_unlock(&st->adis); + + freq = DIV_ROUND_CLOSEST(sample_rate, (t + 1)); *val = freq / 1000; *val2 = (freq % 1000) * 1000; return IIO_VAL_INT_PLUS_MICRO; +error: + adis_dev_unlock(&st->adis); + return ret; } enum { @@ -552,7 +598,6 @@ static int adis16480_set_filter_freq(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, unsigned int freq) { struct adis16480 *st = iio_priv(indio_dev); - struct mutex *slock = &st->adis.state_lock; unsigned int enable_mask, offset, reg; unsigned int diff, best_diff; unsigned int i, best_freq; @@ -563,7 +608,7 @@ static int adis16480_set_filter_freq(struct iio_dev *indio_dev, offset = ad16480_filter_data[chan->scan_index][1]; enable_mask = BIT(offset + 2); - mutex_lock(slock); + adis_dev_lock(&st->adis); ret = __adis_read_reg_16(&st->adis, reg, &val); if (ret) @@ -591,7 +636,7 @@ static int adis16480_set_filter_freq(struct iio_dev *indio_dev, ret = __adis_write_reg_16(&st->adis, reg, val); out_unlock: - mutex_unlock(slock); + adis_dev_unlock(&st->adis); return ret; } @@ -1278,6 +1323,20 @@ static int adis16480_probe(struct spi_device *spi) st->clk_freq = clk_get_rate(st->ext_clk); st->clk_freq *= 1000; /* micro */ + if (st->clk_mode == ADIS16480_CLK_PPS) { + u16 sync_scale; + + /* + * In PPS mode, the IMU sample rate is the clk_freq * sync_scale. Hence, + * default the IMU sample rate to the highest multiple of the input clock + * lower than the IMU max sample rate. The internal sample rate is the + * max... + */ + sync_scale = st->chip_info->int_clk / st->clk_freq; + ret = __adis_write_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, sync_scale); + if (ret) + return ret; + } } else { st->clk_freq = st->chip_info->int_clk; } diff --git a/drivers/iio/imu/adis_trigger.c b/drivers/iio/imu/adis_trigger.c index 64e0ba51cb18..fa5540fabacc 100644 --- a/drivers/iio/imu/adis_trigger.c +++ b/drivers/iio/imu/adis_trigger.c @@ -27,27 +27,21 @@ static const struct iio_trigger_ops adis_trigger_ops = { .set_trigger_state = &adis_data_rdy_trigger_set_state, }; -static void adis_trigger_setup(struct adis *adis) -{ - adis->trig->dev.parent = &adis->spi->dev; - adis->trig->ops = &adis_trigger_ops; - iio_trigger_set_drvdata(adis->trig, adis); -} - static int adis_validate_irq_flag(struct adis *adis) { + unsigned long direction = adis->irq_flag & IRQF_TRIGGER_MASK; /* * Typically this devices have data ready either on the rising edge or * on the falling edge of the data ready pin. This checks enforces that * one of those is set in the drivers... It defaults to - * IRQF_TRIGGER_RISING for backward compatibility wiht devices that + * IRQF_TRIGGER_RISING for backward compatibility with devices that * don't support changing the pin polarity. */ - if (!adis->irq_flag) { - adis->irq_flag = IRQF_TRIGGER_RISING; + if (direction == IRQF_TRIGGER_NONE) { + adis->irq_flag |= IRQF_TRIGGER_RISING; return 0; - } else if (adis->irq_flag != IRQF_TRIGGER_RISING && - adis->irq_flag != IRQF_TRIGGER_FALLING) { + } else if (direction != IRQF_TRIGGER_RISING && + direction != IRQF_TRIGGER_FALLING) { dev_err(&adis->spi->dev, "Invalid IRQ mask: %08lx\n", adis->irq_flag); return -EINVAL; @@ -72,7 +66,8 @@ int devm_adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev) if (!adis->trig) return -ENOMEM; - adis_trigger_setup(adis); + adis->trig->ops = &adis_trigger_ops; + iio_trigger_set_drvdata(adis->trig, adis); ret = adis_validate_irq_flag(adis); if (ret) diff --git a/drivers/iio/imu/fxos8700_i2c.c b/drivers/iio/imu/fxos8700_i2c.c index 3ceb76366313..40a570325b0a 100644 --- a/drivers/iio/imu/fxos8700_i2c.c +++ b/drivers/iio/imu/fxos8700_i2c.c @@ -26,8 +26,7 @@ static int fxos8700_i2c_probe(struct i2c_client *client, regmap = devm_regmap_init_i2c(client, &fxos8700_regmap_config); if (IS_ERR(regmap)) { - dev_err(&client->dev, "Failed to register i2c regmap %d\n", - (int)PTR_ERR(regmap)); + dev_err(&client->dev, "Failed to register i2c regmap %ld\n", PTR_ERR(regmap)); return PTR_ERR(regmap); } diff --git a/drivers/iio/imu/fxos8700_spi.c b/drivers/iio/imu/fxos8700_spi.c index 57e7bb6444e7..27e694cce173 100644 --- a/drivers/iio/imu/fxos8700_spi.c +++ b/drivers/iio/imu/fxos8700_spi.c @@ -17,8 +17,7 @@ static int fxos8700_spi_probe(struct spi_device *spi) regmap = devm_regmap_init_spi(spi, &fxos8700_regmap_config); if (IS_ERR(regmap)) { - dev_err(&spi->dev, "Failed to register spi regmap %d\n", - (int)PTR_ERR(regmap)); + dev_err(&spi->dev, "Failed to register spi regmap %ld\n", PTR_ERR(regmap)); return PTR_ERR(regmap); } diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c index 3441b0d61c5d..383cc3250342 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c @@ -709,7 +709,6 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st) const char *name; struct inv_icm42600_timestamp *ts; struct iio_dev *indio_dev; - struct iio_buffer *buffer; int ret; name = devm_kasprintf(dev, GFP_KERNEL, "%s-accel", st->name); @@ -720,23 +719,22 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st) if (!indio_dev) return ERR_PTR(-ENOMEM); - buffer = devm_iio_kfifo_allocate(dev); - if (!buffer) - return ERR_PTR(-ENOMEM); - ts = iio_priv(indio_dev); inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.accel.odr)); iio_device_set_drvdata(indio_dev, st); indio_dev->name = name; indio_dev->info = &inv_icm42600_accel_info; - indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE; + indio_dev->modes = INDIO_DIRECT_MODE; indio_dev->channels = inv_icm42600_accel_channels; indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_accel_channels); indio_dev->available_scan_masks = inv_icm42600_accel_scan_masks; - indio_dev->setup_ops = &inv_icm42600_buffer_ops; - iio_device_attach_buffer(indio_dev, buffer); + ret = devm_iio_kfifo_buffer_setup(dev, indio_dev, + INDIO_BUFFER_SOFTWARE, + &inv_icm42600_buffer_ops); + if (ret) + return ERR_PTR(ret); ret = devm_iio_device_register(dev, indio_dev); if (ret) diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c index aee7b9ff4bf4..cec1dd0e0464 100644 --- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c +++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c @@ -720,7 +720,6 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st) const char *name; struct inv_icm42600_timestamp *ts; struct iio_dev *indio_dev; - struct iio_buffer *buffer; int ret; name = devm_kasprintf(dev, GFP_KERNEL, "%s-gyro", st->name); @@ -731,23 +730,23 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st) if (!indio_dev) return ERR_PTR(-ENOMEM); - buffer = devm_iio_kfifo_allocate(dev); - if (!buffer) - return ERR_PTR(-ENOMEM); - ts = iio_priv(indio_dev); inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.gyro.odr)); iio_device_set_drvdata(indio_dev, st); indio_dev->name = name; indio_dev->info = &inv_icm42600_gyro_info; - indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_SOFTWARE; + indio_dev->modes = INDIO_DIRECT_MODE; indio_dev->channels = inv_icm42600_gyro_channels; indio_dev->num_channels = ARRAY_SIZE(inv_icm42600_gyro_channels); indio_dev->available_scan_masks = inv_icm42600_gyro_scan_masks; indio_dev->setup_ops = &inv_icm42600_buffer_ops; - iio_device_attach_buffer(indio_dev, buffer); + ret = devm_iio_kfifo_buffer_setup(dev, indio_dev, + INDIO_BUFFER_SOFTWARE, + &inv_icm42600_buffer_ops); + if (ret) + return ERR_PTR(ret); ret = devm_iio_device_register(dev, indio_dev); if (ret) diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index 453c51c79655..6244a07048df 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -731,12 +731,16 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev, } } -static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val) +static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val, + int val2) { int result, i; + if (val != 0) + return -EINVAL; + for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) { - if (gyro_scale_6050[i] == val) { + if (gyro_scale_6050[i] == val2) { result = inv_mpu6050_set_gyro_fsr(st, i); if (result) return result; @@ -767,13 +771,17 @@ static int inv_write_raw_get_fmt(struct iio_dev *indio_dev, return -EINVAL; } -static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val) +static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val, + int val2) { int result, i; u8 d; + if (val != 0) + return -EINVAL; + for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) { - if (accel_scale[i] == val) { + if (accel_scale[i] == val2) { d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT); result = regmap_write(st->map, st->reg->accl_config, d); if (result) @@ -814,10 +822,10 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev, case IIO_CHAN_INFO_SCALE: switch (chan->type) { case IIO_ANGL_VEL: - result = inv_mpu6050_write_gyro_scale(st, val2); + result = inv_mpu6050_write_gyro_scale(st, val, val2); break; case IIO_ACCEL: - result = inv_mpu6050_write_accel_scale(st, val2); + result = inv_mpu6050_write_accel_scale(st, val, val2); break; default: result = -EINVAL; @@ -1458,15 +1466,21 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, st->plat_data = *pdata; } - desc = irq_get_irq_data(irq); - if (!desc) { - dev_err(dev, "Could not find IRQ %d\n", irq); - return -EINVAL; - } + if (irq > 0) { + desc = irq_get_irq_data(irq); + if (!desc) { + dev_err(dev, "Could not find IRQ %d\n", irq); + return -EINVAL; + } - irq_type = irqd_get_trigger_type(desc); - if (!irq_type) + irq_type = irqd_get_trigger_type(desc); + if (!irq_type) + irq_type = IRQF_TRIGGER_RISING; + } else { + /* Doesn't really matter, use the default */ irq_type = IRQF_TRIGGER_RISING; + } + if (irq_type & IRQF_TRIGGER_RISING) // rising or both-edge st->irq_mask = INV_MPU6050_ACTIVE_HIGH; else if (irq_type == IRQF_TRIGGER_FALLING) @@ -1591,20 +1605,26 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, } indio_dev->info = &mpu_info; - indio_dev->modes = INDIO_BUFFER_TRIGGERED; - result = devm_iio_triggered_buffer_setup(dev, indio_dev, - iio_pollfunc_store_time, - inv_mpu6050_read_fifo, - NULL); - if (result) { - dev_err(dev, "configure buffer fail %d\n", result); - return result; - } - result = inv_mpu6050_probe_trigger(indio_dev, irq_type); - if (result) { - dev_err(dev, "trigger probe fail %d\n", result); - return result; + if (irq > 0) { + /* + * The driver currently only supports buffered capture with its + * own trigger. So no IRQ, no trigger, no buffer + */ + result = devm_iio_triggered_buffer_setup(dev, indio_dev, + iio_pollfunc_store_time, + inv_mpu6050_read_fifo, + NULL); + if (result) { + dev_err(dev, "configure buffer fail %d\n", result); + return result; + } + + result = inv_mpu6050_probe_trigger(indio_dev, irq_type); + if (result) { + dev_err(dev, "trigger probe fail %d\n", result); + return result; + } } result = devm_iio_device_register(dev, indio_dev); diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c index f7b5a70be30f..de8ed1446d60 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c @@ -11,6 +11,16 @@ static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev) struct inv_mpu6050_state *st = iio_priv(indio_dev); unsigned int mask; + /* + * If the MPU6050 is just used as a trigger, then the scan mask + * is not allocated so we simply enable the temperature channel + * as a dummy and bail out. + */ + if (!indio_dev->active_scan_mask) { + st->chip_config.temp_fifo_enable = true; + return INV_MPU6050_SENSOR_TEMP; + } + st->chip_config.gyro_fifo_enable = test_bit(INV_MPU6050_SCAN_GYRO_X, indio_dev->active_scan_mask) || diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c index 4377047d503a..fc5a60fcfec0 100644 --- a/drivers/iio/imu/kmx61.c +++ b/drivers/iio/imu/kmx61.c @@ -1268,7 +1268,6 @@ static struct iio_trigger *kmx61_trigger_setup(struct kmx61_data *data, if (!trig) return ERR_PTR(-ENOMEM); - trig->dev.parent = &data->client->dev; trig->ops = &kmx61_trigger_ops; iio_trigger_set_drvdata(trig, indio_dev); diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c index f1103ecedd64..16730a780964 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c @@ -739,20 +739,17 @@ static const struct iio_buffer_setup_ops st_lsm6dsx_buffer_ops = { int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw) { - struct iio_buffer *buffer; - int i; + int i, ret; for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { if (!hw->iio_devs[i]) continue; - buffer = devm_iio_kfifo_allocate(hw->dev); - if (!buffer) - return -ENOMEM; - - iio_device_attach_buffer(hw->iio_devs[i], buffer); - hw->iio_devs[i]->modes |= INDIO_BUFFER_SOFTWARE; - hw->iio_devs[i]->setup_ops = &st_lsm6dsx_buffer_ops; + ret = devm_iio_kfifo_buffer_setup(hw->dev, hw->iio_devs[i], + INDIO_BUFFER_SOFTWARE, + &st_lsm6dsx_buffer_ops); + if (ret) + return ret; } return 0; diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c index ec8d4351390a..8b4fc2c15622 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c @@ -29,8 +29,7 @@ static int st_lsm6dsx_i2c_probe(struct i2c_client *client, regmap = devm_regmap_init_i2c(client, &st_lsm6dsx_i2c_regmap_config); if (IS_ERR(regmap)) { - dev_err(&client->dev, "Failed to register i2c regmap %d\n", - (int)PTR_ERR(regmap)); + dev_err(&client->dev, "Failed to register i2c regmap %ld\n", PTR_ERR(regmap)); return PTR_ERR(regmap); } diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i3c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i3c.c index 57e633121bdc..8d4201b86e87 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i3c.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i3c.c @@ -34,8 +34,7 @@ static int st_lsm6dsx_i3c_probe(struct i3c_device *i3cdev) regmap = devm_regmap_init_i3c(i3cdev, &st_lsm6dsx_i3c_regmap_config); if (IS_ERR(regmap)) { - dev_err(&i3cdev->dev, "Failed to register i3c regmap %d\n", - (int)PTR_ERR(regmap)); + dev_err(&i3cdev->dev, "Failed to register i3c regmap %ld\n", PTR_ERR(regmap)); return PTR_ERR(regmap); } diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c index 349ec9c1890d..e80110b6b280 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c @@ -29,8 +29,7 @@ static int st_lsm6dsx_spi_probe(struct spi_device *spi) regmap = devm_regmap_init_spi(spi, &st_lsm6dsx_spi_regmap_config); if (IS_ERR(regmap)) { - dev_err(&spi->dev, "Failed to register spi regmap %d\n", - (int)PTR_ERR(regmap)); + dev_err(&spi->dev, "Failed to register spi regmap %ld\n", PTR_ERR(regmap)); return PTR_ERR(regmap); } |