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![Andy Shevchenko](/assets/img/avatar_default.png)
All of the users of iio_read_mount_matrix() are using the very same property name. Moreover, the property name is hard coded in the API documentation. Make this clear and avoid duplication now and in the future. Signed-off-by: Andy Shevchenko <andriy.shevchenko@linux.intel.com> Reviewed-by: Sean Nyekjaer <sean@geanix.com> Reviewed-by: Linus Walleij <linus.walleij@linaro.org> Link: https://lore.kernel.org/r/20210518112546.44592-1-andriy.shevchenko@linux.intel.com Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
1308 lines
33 KiB
C
1308 lines
33 KiB
C
// SPDX-License-Identifier: GPL-2.0-only
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/*
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* MPU3050 gyroscope driver
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*
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* Copyright (C) 2016 Linaro Ltd.
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* Author: Linus Walleij <linus.walleij@linaro.org>
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*
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* Based on the input subsystem driver, Copyright (C) 2011 Wistron Co.Ltd
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* Joseph Lai <joseph_lai@wistron.com> and trimmed down by
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* Alan Cox <alan@linux.intel.com> in turn based on bma023.c.
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* Device behaviour based on a misc driver posted by Nathan Royer in 2011.
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*
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* TODO: add support for setting up the low pass 3dB frequency.
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*/
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#include <linux/bitfield.h>
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#include <linux/bitops.h>
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#include <linux/delay.h>
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#include <linux/err.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include <linux/iio/trigger.h>
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#include <linux/iio/trigger_consumer.h>
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#include <linux/iio/triggered_buffer.h>
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#include <linux/interrupt.h>
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#include <linux/module.h>
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#include <linux/pm_runtime.h>
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#include <linux/random.h>
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#include <linux/slab.h>
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#include "mpu3050.h"
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#define MPU3050_CHIP_ID 0x68
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#define MPU3050_CHIP_ID_MASK 0x7E
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/*
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* Register map: anything suffixed *_H is a big-endian high byte and always
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* followed by the corresponding low byte (*_L) even though these are not
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* explicitly included in the register definitions.
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*/
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#define MPU3050_CHIP_ID_REG 0x00
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#define MPU3050_PRODUCT_ID_REG 0x01
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#define MPU3050_XG_OFFS_TC 0x05
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#define MPU3050_YG_OFFS_TC 0x08
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#define MPU3050_ZG_OFFS_TC 0x0B
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#define MPU3050_X_OFFS_USR_H 0x0C
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#define MPU3050_Y_OFFS_USR_H 0x0E
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#define MPU3050_Z_OFFS_USR_H 0x10
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#define MPU3050_FIFO_EN 0x12
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#define MPU3050_AUX_VDDIO 0x13
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#define MPU3050_SLV_ADDR 0x14
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#define MPU3050_SMPLRT_DIV 0x15
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#define MPU3050_DLPF_FS_SYNC 0x16
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#define MPU3050_INT_CFG 0x17
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#define MPU3050_AUX_ADDR 0x18
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#define MPU3050_INT_STATUS 0x1A
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#define MPU3050_TEMP_H 0x1B
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#define MPU3050_XOUT_H 0x1D
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#define MPU3050_YOUT_H 0x1F
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#define MPU3050_ZOUT_H 0x21
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#define MPU3050_DMP_CFG1 0x35
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#define MPU3050_DMP_CFG2 0x36
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#define MPU3050_BANK_SEL 0x37
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#define MPU3050_MEM_START_ADDR 0x38
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#define MPU3050_MEM_R_W 0x39
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#define MPU3050_FIFO_COUNT_H 0x3A
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#define MPU3050_FIFO_R 0x3C
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#define MPU3050_USR_CTRL 0x3D
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#define MPU3050_PWR_MGM 0x3E
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/* MPU memory bank read options */
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#define MPU3050_MEM_PRFTCH BIT(5)
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#define MPU3050_MEM_USER_BANK BIT(4)
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/* Bits 8-11 select memory bank */
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#define MPU3050_MEM_RAM_BANK_0 0
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#define MPU3050_MEM_RAM_BANK_1 1
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#define MPU3050_MEM_RAM_BANK_2 2
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#define MPU3050_MEM_RAM_BANK_3 3
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#define MPU3050_MEM_OTP_BANK_0 4
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#define MPU3050_AXIS_REGS(axis) (MPU3050_XOUT_H + (axis * 2))
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/* Register bits */
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/* FIFO Enable */
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#define MPU3050_FIFO_EN_FOOTER BIT(0)
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#define MPU3050_FIFO_EN_AUX_ZOUT BIT(1)
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#define MPU3050_FIFO_EN_AUX_YOUT BIT(2)
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#define MPU3050_FIFO_EN_AUX_XOUT BIT(3)
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#define MPU3050_FIFO_EN_GYRO_ZOUT BIT(4)
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#define MPU3050_FIFO_EN_GYRO_YOUT BIT(5)
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#define MPU3050_FIFO_EN_GYRO_XOUT BIT(6)
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#define MPU3050_FIFO_EN_TEMP_OUT BIT(7)
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/*
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* Digital Low Pass filter (DLPF)
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* Full Scale (FS)
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* and Synchronization
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*/
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#define MPU3050_EXT_SYNC_NONE 0x00
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#define MPU3050_EXT_SYNC_TEMP 0x20
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#define MPU3050_EXT_SYNC_GYROX 0x40
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#define MPU3050_EXT_SYNC_GYROY 0x60
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#define MPU3050_EXT_SYNC_GYROZ 0x80
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#define MPU3050_EXT_SYNC_ACCELX 0xA0
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#define MPU3050_EXT_SYNC_ACCELY 0xC0
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#define MPU3050_EXT_SYNC_ACCELZ 0xE0
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#define MPU3050_EXT_SYNC_MASK 0xE0
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#define MPU3050_EXT_SYNC_SHIFT 5
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#define MPU3050_FS_250DPS 0x00
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#define MPU3050_FS_500DPS 0x08
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#define MPU3050_FS_1000DPS 0x10
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#define MPU3050_FS_2000DPS 0x18
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#define MPU3050_FS_MASK 0x18
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#define MPU3050_FS_SHIFT 3
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#define MPU3050_DLPF_CFG_256HZ_NOLPF2 0x00
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#define MPU3050_DLPF_CFG_188HZ 0x01
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#define MPU3050_DLPF_CFG_98HZ 0x02
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#define MPU3050_DLPF_CFG_42HZ 0x03
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#define MPU3050_DLPF_CFG_20HZ 0x04
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#define MPU3050_DLPF_CFG_10HZ 0x05
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#define MPU3050_DLPF_CFG_5HZ 0x06
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#define MPU3050_DLPF_CFG_2100HZ_NOLPF 0x07
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#define MPU3050_DLPF_CFG_MASK 0x07
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#define MPU3050_DLPF_CFG_SHIFT 0
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/* Interrupt config */
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#define MPU3050_INT_RAW_RDY_EN BIT(0)
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#define MPU3050_INT_DMP_DONE_EN BIT(1)
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#define MPU3050_INT_MPU_RDY_EN BIT(2)
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#define MPU3050_INT_ANYRD_2CLEAR BIT(4)
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#define MPU3050_INT_LATCH_EN BIT(5)
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#define MPU3050_INT_OPEN BIT(6)
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#define MPU3050_INT_ACTL BIT(7)
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/* Interrupt status */
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#define MPU3050_INT_STATUS_RAW_RDY BIT(0)
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#define MPU3050_INT_STATUS_DMP_DONE BIT(1)
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#define MPU3050_INT_STATUS_MPU_RDY BIT(2)
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#define MPU3050_INT_STATUS_FIFO_OVFLW BIT(7)
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/* USR_CTRL */
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#define MPU3050_USR_CTRL_FIFO_EN BIT(6)
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#define MPU3050_USR_CTRL_AUX_IF_EN BIT(5)
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#define MPU3050_USR_CTRL_AUX_IF_RST BIT(3)
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#define MPU3050_USR_CTRL_FIFO_RST BIT(1)
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#define MPU3050_USR_CTRL_GYRO_RST BIT(0)
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/* PWR_MGM */
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#define MPU3050_PWR_MGM_PLL_X 0x01
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#define MPU3050_PWR_MGM_PLL_Y 0x02
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#define MPU3050_PWR_MGM_PLL_Z 0x03
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#define MPU3050_PWR_MGM_CLKSEL_MASK 0x07
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#define MPU3050_PWR_MGM_STBY_ZG BIT(3)
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#define MPU3050_PWR_MGM_STBY_YG BIT(4)
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#define MPU3050_PWR_MGM_STBY_XG BIT(5)
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#define MPU3050_PWR_MGM_SLEEP BIT(6)
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#define MPU3050_PWR_MGM_RESET BIT(7)
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#define MPU3050_PWR_MGM_MASK 0xff
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/*
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* Fullscale precision is (for finest precision) +/- 250 deg/s, so the full
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* scale is actually 500 deg/s. All 16 bits are then used to cover this scale,
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* in two's complement.
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*/
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static unsigned int mpu3050_fs_precision[] = {
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IIO_DEGREE_TO_RAD(250),
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IIO_DEGREE_TO_RAD(500),
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IIO_DEGREE_TO_RAD(1000),
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IIO_DEGREE_TO_RAD(2000)
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};
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/*
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* Regulator names
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*/
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static const char mpu3050_reg_vdd[] = "vdd";
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static const char mpu3050_reg_vlogic[] = "vlogic";
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static unsigned int mpu3050_get_freq(struct mpu3050 *mpu3050)
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{
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unsigned int freq;
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if (mpu3050->lpf == MPU3050_DLPF_CFG_256HZ_NOLPF2)
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freq = 8000;
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else
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freq = 1000;
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freq /= (mpu3050->divisor + 1);
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return freq;
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}
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static int mpu3050_start_sampling(struct mpu3050 *mpu3050)
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{
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__be16 raw_val[3];
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int ret;
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int i;
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/* Reset */
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ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
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MPU3050_PWR_MGM_RESET, MPU3050_PWR_MGM_RESET);
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if (ret)
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return ret;
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/* Turn on the Z-axis PLL */
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ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
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MPU3050_PWR_MGM_CLKSEL_MASK,
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MPU3050_PWR_MGM_PLL_Z);
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if (ret)
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return ret;
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/* Write calibration offset registers */
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for (i = 0; i < 3; i++)
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raw_val[i] = cpu_to_be16(mpu3050->calibration[i]);
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ret = regmap_bulk_write(mpu3050->map, MPU3050_X_OFFS_USR_H, raw_val,
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sizeof(raw_val));
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if (ret)
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return ret;
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/* Set low pass filter (sample rate), sync and full scale */
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ret = regmap_write(mpu3050->map, MPU3050_DLPF_FS_SYNC,
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MPU3050_EXT_SYNC_NONE << MPU3050_EXT_SYNC_SHIFT |
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mpu3050->fullscale << MPU3050_FS_SHIFT |
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mpu3050->lpf << MPU3050_DLPF_CFG_SHIFT);
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if (ret)
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return ret;
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/* Set up sampling frequency */
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ret = regmap_write(mpu3050->map, MPU3050_SMPLRT_DIV, mpu3050->divisor);
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if (ret)
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return ret;
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/*
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* Max 50 ms start-up time after setting DLPF_FS_SYNC
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* according to the data sheet, then wait for the next sample
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* at this frequency T = 1000/f ms.
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*/
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msleep(50 + 1000 / mpu3050_get_freq(mpu3050));
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return 0;
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}
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static int mpu3050_set_8khz_samplerate(struct mpu3050 *mpu3050)
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{
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int ret;
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u8 divisor;
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enum mpu3050_lpf lpf;
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lpf = mpu3050->lpf;
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divisor = mpu3050->divisor;
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mpu3050->lpf = LPF_256_HZ_NOLPF; /* 8 kHz base frequency */
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mpu3050->divisor = 0; /* Divide by 1 */
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ret = mpu3050_start_sampling(mpu3050);
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mpu3050->lpf = lpf;
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mpu3050->divisor = divisor;
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return ret;
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}
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static int mpu3050_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val, int *val2,
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long mask)
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{
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struct mpu3050 *mpu3050 = iio_priv(indio_dev);
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int ret;
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__be16 raw_val;
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switch (mask) {
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case IIO_CHAN_INFO_OFFSET:
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switch (chan->type) {
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case IIO_TEMP:
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/*
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* The temperature scaling is (x+23000)/280 Celsius
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* for the "best fit straight line" temperature range
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* of -30C..85C. The 23000 includes room temperature
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* offset of +35C, 280 is the precision scale and x is
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* the 16-bit signed integer reported by hardware.
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*
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* Temperature value itself represents temperature of
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* the sensor die.
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*/
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*val = 23000;
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return IIO_VAL_INT;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_CALIBBIAS:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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*val = mpu3050->calibration[chan->scan_index-1];
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return IIO_VAL_INT;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_SAMP_FREQ:
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*val = mpu3050_get_freq(mpu3050);
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_TEMP:
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/* Millidegrees, see about temperature scaling above */
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*val = 1000;
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*val2 = 280;
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return IIO_VAL_FRACTIONAL;
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case IIO_ANGL_VEL:
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/*
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* Convert to the corresponding full scale in
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* radians. All 16 bits are used with sign to
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* span the available scale: to account for the one
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* missing value if we multiply by 1/S16_MAX, instead
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* multiply with 2/U16_MAX.
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*/
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*val = mpu3050_fs_precision[mpu3050->fullscale] * 2;
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*val2 = U16_MAX;
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return IIO_VAL_FRACTIONAL;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_RAW:
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/* Resume device */
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pm_runtime_get_sync(mpu3050->dev);
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mutex_lock(&mpu3050->lock);
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ret = mpu3050_set_8khz_samplerate(mpu3050);
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if (ret)
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goto out_read_raw_unlock;
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switch (chan->type) {
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case IIO_TEMP:
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ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H,
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&raw_val, sizeof(raw_val));
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if (ret) {
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dev_err(mpu3050->dev,
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"error reading temperature\n");
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goto out_read_raw_unlock;
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}
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*val = (s16)be16_to_cpu(raw_val);
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ret = IIO_VAL_INT;
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goto out_read_raw_unlock;
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case IIO_ANGL_VEL:
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ret = regmap_bulk_read(mpu3050->map,
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MPU3050_AXIS_REGS(chan->scan_index-1),
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&raw_val,
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sizeof(raw_val));
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if (ret) {
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dev_err(mpu3050->dev,
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"error reading axis data\n");
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goto out_read_raw_unlock;
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}
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*val = be16_to_cpu(raw_val);
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ret = IIO_VAL_INT;
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goto out_read_raw_unlock;
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default:
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ret = -EINVAL;
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goto out_read_raw_unlock;
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}
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default:
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break;
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}
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return -EINVAL;
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out_read_raw_unlock:
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mutex_unlock(&mpu3050->lock);
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pm_runtime_mark_last_busy(mpu3050->dev);
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pm_runtime_put_autosuspend(mpu3050->dev);
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return ret;
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}
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static int mpu3050_write_raw(struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan,
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int val, int val2, long mask)
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{
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struct mpu3050 *mpu3050 = iio_priv(indio_dev);
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/*
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* Couldn't figure out a way to precalculate these at compile time.
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*/
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unsigned int fs250 =
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DIV_ROUND_CLOSEST(mpu3050_fs_precision[0] * 1000000 * 2,
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U16_MAX);
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unsigned int fs500 =
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DIV_ROUND_CLOSEST(mpu3050_fs_precision[1] * 1000000 * 2,
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U16_MAX);
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unsigned int fs1000 =
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DIV_ROUND_CLOSEST(mpu3050_fs_precision[2] * 1000000 * 2,
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U16_MAX);
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unsigned int fs2000 =
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DIV_ROUND_CLOSEST(mpu3050_fs_precision[3] * 1000000 * 2,
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U16_MAX);
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switch (mask) {
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case IIO_CHAN_INFO_CALIBBIAS:
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if (chan->type != IIO_ANGL_VEL)
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return -EINVAL;
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mpu3050->calibration[chan->scan_index-1] = val;
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return 0;
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case IIO_CHAN_INFO_SAMP_FREQ:
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/*
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* The max samplerate is 8000 Hz, the minimum
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* 1000 / 256 ~= 4 Hz
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*/
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if (val < 4 || val > 8000)
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return -EINVAL;
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|
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/*
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* Above 1000 Hz we must turn off the digital low pass filter
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* so we get a base frequency of 8kHz to the divider
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*/
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if (val > 1000) {
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mpu3050->lpf = LPF_256_HZ_NOLPF;
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mpu3050->divisor = DIV_ROUND_CLOSEST(8000, val) - 1;
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return 0;
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}
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mpu3050->lpf = LPF_188_HZ;
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mpu3050->divisor = DIV_ROUND_CLOSEST(1000, val) - 1;
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return 0;
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case IIO_CHAN_INFO_SCALE:
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if (chan->type != IIO_ANGL_VEL)
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return -EINVAL;
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/*
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* We support +/-250, +/-500, +/-1000 and +/2000 deg/s
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* which means we need to round to the closest radians
|
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* which will be roughly +/-4.3, +/-8.7, +/-17.5, +/-35
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* rad/s. The scale is then for the 16 bits used to cover
|
|
* it 2/(2^16) of that.
|
|
*/
|
|
|
|
/* Just too large, set the max range */
|
|
if (val != 0) {
|
|
mpu3050->fullscale = FS_2000_DPS;
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* Now we're dealing with fractions below zero in millirad/s
|
|
* do some integer interpolation and match with the closest
|
|
* fullscale in the table.
|
|
*/
|
|
if (val2 <= fs250 ||
|
|
val2 < ((fs500 + fs250) / 2))
|
|
mpu3050->fullscale = FS_250_DPS;
|
|
else if (val2 <= fs500 ||
|
|
val2 < ((fs1000 + fs500) / 2))
|
|
mpu3050->fullscale = FS_500_DPS;
|
|
else if (val2 <= fs1000 ||
|
|
val2 < ((fs2000 + fs1000) / 2))
|
|
mpu3050->fullscale = FS_1000_DPS;
|
|
else
|
|
/* Catch-all */
|
|
mpu3050->fullscale = FS_2000_DPS;
|
|
return 0;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
return -EINVAL;
|
|
}
|
|
|
|
static irqreturn_t mpu3050_trigger_handler(int irq, void *p)
|
|
{
|
|
const struct iio_poll_func *pf = p;
|
|
struct iio_dev *indio_dev = pf->indio_dev;
|
|
struct mpu3050 *mpu3050 = iio_priv(indio_dev);
|
|
int ret;
|
|
/*
|
|
* Temperature 1*16 bits
|
|
* Three axes 3*16 bits
|
|
* Timestamp 64 bits (4*16 bits)
|
|
* Sum total 8*16 bits
|
|
*/
|
|
__be16 hw_values[8];
|
|
s64 timestamp;
|
|
unsigned int datums_from_fifo = 0;
|
|
|
|
/*
|
|
* If we're using the hardware trigger, get the precise timestamp from
|
|
* the top half of the threaded IRQ handler. Otherwise get the
|
|
* timestamp here so it will be close in time to the actual values
|
|
* read from the registers.
|
|
*/
|
|
if (iio_trigger_using_own(indio_dev))
|
|
timestamp = mpu3050->hw_timestamp;
|
|
else
|
|
timestamp = iio_get_time_ns(indio_dev);
|
|
|
|
mutex_lock(&mpu3050->lock);
|
|
|
|
/* Using the hardware IRQ trigger? Check the buffer then. */
|
|
if (mpu3050->hw_irq_trigger) {
|
|
__be16 raw_fifocnt;
|
|
u16 fifocnt;
|
|
/* X, Y, Z + temperature */
|
|
unsigned int bytes_per_datum = 8;
|
|
bool fifo_overflow = false;
|
|
|
|
ret = regmap_bulk_read(mpu3050->map,
|
|
MPU3050_FIFO_COUNT_H,
|
|
&raw_fifocnt,
|
|
sizeof(raw_fifocnt));
|
|
if (ret)
|
|
goto out_trigger_unlock;
|
|
fifocnt = be16_to_cpu(raw_fifocnt);
|
|
|
|
if (fifocnt == 512) {
|
|
dev_info(mpu3050->dev,
|
|
"FIFO overflow! Emptying and resetting FIFO\n");
|
|
fifo_overflow = true;
|
|
/* Reset and enable the FIFO */
|
|
ret = regmap_update_bits(mpu3050->map,
|
|
MPU3050_USR_CTRL,
|
|
MPU3050_USR_CTRL_FIFO_EN |
|
|
MPU3050_USR_CTRL_FIFO_RST,
|
|
MPU3050_USR_CTRL_FIFO_EN |
|
|
MPU3050_USR_CTRL_FIFO_RST);
|
|
if (ret) {
|
|
dev_info(mpu3050->dev, "error resetting FIFO\n");
|
|
goto out_trigger_unlock;
|
|
}
|
|
mpu3050->pending_fifo_footer = false;
|
|
}
|
|
|
|
if (fifocnt)
|
|
dev_dbg(mpu3050->dev,
|
|
"%d bytes in the FIFO\n",
|
|
fifocnt);
|
|
|
|
while (!fifo_overflow && fifocnt > bytes_per_datum) {
|
|
unsigned int toread;
|
|
unsigned int offset;
|
|
__be16 fifo_values[5];
|
|
|
|
/*
|
|
* If there is a FIFO footer in the pipe, first clear
|
|
* that out. This follows the complex algorithm in the
|
|
* datasheet that states that you may never leave the
|
|
* FIFO empty after the first reading: you have to
|
|
* always leave two footer bytes in it. The footer is
|
|
* in practice just two zero bytes.
|
|
*/
|
|
if (mpu3050->pending_fifo_footer) {
|
|
toread = bytes_per_datum + 2;
|
|
offset = 0;
|
|
} else {
|
|
toread = bytes_per_datum;
|
|
offset = 1;
|
|
/* Put in some dummy value */
|
|
fifo_values[0] = cpu_to_be16(0xAAAA);
|
|
}
|
|
|
|
ret = regmap_bulk_read(mpu3050->map,
|
|
MPU3050_FIFO_R,
|
|
&fifo_values[offset],
|
|
toread);
|
|
if (ret)
|
|
goto out_trigger_unlock;
|
|
|
|
dev_dbg(mpu3050->dev,
|
|
"%04x %04x %04x %04x %04x\n",
|
|
fifo_values[0],
|
|
fifo_values[1],
|
|
fifo_values[2],
|
|
fifo_values[3],
|
|
fifo_values[4]);
|
|
|
|
/* Index past the footer (fifo_values[0]) and push */
|
|
iio_push_to_buffers_with_timestamp(indio_dev,
|
|
&fifo_values[1],
|
|
timestamp);
|
|
|
|
fifocnt -= toread;
|
|
datums_from_fifo++;
|
|
mpu3050->pending_fifo_footer = true;
|
|
|
|
/*
|
|
* If we're emptying the FIFO, just make sure to
|
|
* check if something new appeared.
|
|
*/
|
|
if (fifocnt < bytes_per_datum) {
|
|
ret = regmap_bulk_read(mpu3050->map,
|
|
MPU3050_FIFO_COUNT_H,
|
|
&raw_fifocnt,
|
|
sizeof(raw_fifocnt));
|
|
if (ret)
|
|
goto out_trigger_unlock;
|
|
fifocnt = be16_to_cpu(raw_fifocnt);
|
|
}
|
|
|
|
if (fifocnt < bytes_per_datum)
|
|
dev_dbg(mpu3050->dev,
|
|
"%d bytes left in the FIFO\n",
|
|
fifocnt);
|
|
|
|
/*
|
|
* At this point, the timestamp that triggered the
|
|
* hardware interrupt is no longer valid for what
|
|
* we are reading (the interrupt likely fired for
|
|
* the value on the top of the FIFO), so set the
|
|
* timestamp to zero and let userspace deal with it.
|
|
*/
|
|
timestamp = 0;
|
|
}
|
|
}
|
|
|
|
/*
|
|
* If we picked some datums from the FIFO that's enough, else
|
|
* fall through and just read from the current value registers.
|
|
* This happens in two cases:
|
|
*
|
|
* - We are using some other trigger (external, like an HRTimer)
|
|
* than the sensor's own sample generator. In this case the
|
|
* sensor is just set to the max sampling frequency and we give
|
|
* the trigger a copy of the latest value every time we get here.
|
|
*
|
|
* - The hardware trigger is active but unused and we actually use
|
|
* another trigger which calls here with a frequency higher
|
|
* than what the device provides data. We will then just read
|
|
* duplicate values directly from the hardware registers.
|
|
*/
|
|
if (datums_from_fifo) {
|
|
dev_dbg(mpu3050->dev,
|
|
"read %d datums from the FIFO\n",
|
|
datums_from_fifo);
|
|
goto out_trigger_unlock;
|
|
}
|
|
|
|
ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H, &hw_values,
|
|
sizeof(hw_values));
|
|
if (ret) {
|
|
dev_err(mpu3050->dev,
|
|
"error reading axis data\n");
|
|
goto out_trigger_unlock;
|
|
}
|
|
|
|
iio_push_to_buffers_with_timestamp(indio_dev, hw_values, timestamp);
|
|
|
|
out_trigger_unlock:
|
|
mutex_unlock(&mpu3050->lock);
|
|
iio_trigger_notify_done(indio_dev->trig);
|
|
|
|
return IRQ_HANDLED;
|
|
}
|
|
|
|
static int mpu3050_buffer_preenable(struct iio_dev *indio_dev)
|
|
{
|
|
struct mpu3050 *mpu3050 = iio_priv(indio_dev);
|
|
|
|
pm_runtime_get_sync(mpu3050->dev);
|
|
|
|
/* Unless we have OUR trigger active, run at full speed */
|
|
if (!mpu3050->hw_irq_trigger)
|
|
return mpu3050_set_8khz_samplerate(mpu3050);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int mpu3050_buffer_postdisable(struct iio_dev *indio_dev)
|
|
{
|
|
struct mpu3050 *mpu3050 = iio_priv(indio_dev);
|
|
|
|
pm_runtime_mark_last_busy(mpu3050->dev);
|
|
pm_runtime_put_autosuspend(mpu3050->dev);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static const struct iio_buffer_setup_ops mpu3050_buffer_setup_ops = {
|
|
.preenable = mpu3050_buffer_preenable,
|
|
.postdisable = mpu3050_buffer_postdisable,
|
|
};
|
|
|
|
static const struct iio_mount_matrix *
|
|
mpu3050_get_mount_matrix(const struct iio_dev *indio_dev,
|
|
const struct iio_chan_spec *chan)
|
|
{
|
|
struct mpu3050 *mpu3050 = iio_priv(indio_dev);
|
|
|
|
return &mpu3050->orientation;
|
|
}
|
|
|
|
static const struct iio_chan_spec_ext_info mpu3050_ext_info[] = {
|
|
IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, mpu3050_get_mount_matrix),
|
|
{ },
|
|
};
|
|
|
|
#define MPU3050_AXIS_CHANNEL(axis, index) \
|
|
{ \
|
|
.type = IIO_ANGL_VEL, \
|
|
.modified = 1, \
|
|
.channel2 = IIO_MOD_##axis, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
|
BIT(IIO_CHAN_INFO_CALIBBIAS), \
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),\
|
|
.ext_info = mpu3050_ext_info, \
|
|
.scan_index = index, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = 16, \
|
|
.storagebits = 16, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
static const struct iio_chan_spec mpu3050_channels[] = {
|
|
{
|
|
.type = IIO_TEMP,
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
|
|
BIT(IIO_CHAN_INFO_SCALE) |
|
|
BIT(IIO_CHAN_INFO_OFFSET),
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
|
|
.scan_index = 0,
|
|
.scan_type = {
|
|
.sign = 's',
|
|
.realbits = 16,
|
|
.storagebits = 16,
|
|
.endianness = IIO_BE,
|
|
},
|
|
},
|
|
MPU3050_AXIS_CHANNEL(X, 1),
|
|
MPU3050_AXIS_CHANNEL(Y, 2),
|
|
MPU3050_AXIS_CHANNEL(Z, 3),
|
|
IIO_CHAN_SOFT_TIMESTAMP(4),
|
|
};
|
|
|
|
/* Four channels apart from timestamp, scan mask = 0x0f */
|
|
static const unsigned long mpu3050_scan_masks[] = { 0xf, 0 };
|
|
|
|
/*
|
|
* These are just the hardcoded factors resulting from the more elaborate
|
|
* calculations done with fractions in the scale raw get/set functions.
|
|
*/
|
|
static IIO_CONST_ATTR(anglevel_scale_available,
|
|
"0.000122070 "
|
|
"0.000274658 "
|
|
"0.000518798 "
|
|
"0.001068115");
|
|
|
|
static struct attribute *mpu3050_attributes[] = {
|
|
&iio_const_attr_anglevel_scale_available.dev_attr.attr,
|
|
NULL,
|
|
};
|
|
|
|
static const struct attribute_group mpu3050_attribute_group = {
|
|
.attrs = mpu3050_attributes,
|
|
};
|
|
|
|
static const struct iio_info mpu3050_info = {
|
|
.read_raw = mpu3050_read_raw,
|
|
.write_raw = mpu3050_write_raw,
|
|
.attrs = &mpu3050_attribute_group,
|
|
};
|
|
|
|
/**
|
|
* mpu3050_read_mem() - read MPU-3050 internal memory
|
|
* @mpu3050: device to read from
|
|
* @bank: target bank
|
|
* @addr: target address
|
|
* @len: number of bytes
|
|
* @buf: the buffer to store the read bytes in
|
|
*/
|
|
static int mpu3050_read_mem(struct mpu3050 *mpu3050,
|
|
u8 bank,
|
|
u8 addr,
|
|
u8 len,
|
|
u8 *buf)
|
|
{
|
|
int ret;
|
|
|
|
ret = regmap_write(mpu3050->map,
|
|
MPU3050_BANK_SEL,
|
|
bank);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = regmap_write(mpu3050->map,
|
|
MPU3050_MEM_START_ADDR,
|
|
addr);
|
|
if (ret)
|
|
return ret;
|
|
|
|
return regmap_bulk_read(mpu3050->map,
|
|
MPU3050_MEM_R_W,
|
|
buf,
|
|
len);
|
|
}
|
|
|
|
static int mpu3050_hw_init(struct mpu3050 *mpu3050)
|
|
{
|
|
int ret;
|
|
__le64 otp_le;
|
|
u64 otp;
|
|
|
|
/* Reset */
|
|
ret = regmap_update_bits(mpu3050->map,
|
|
MPU3050_PWR_MGM,
|
|
MPU3050_PWR_MGM_RESET,
|
|
MPU3050_PWR_MGM_RESET);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* Turn on the PLL */
|
|
ret = regmap_update_bits(mpu3050->map,
|
|
MPU3050_PWR_MGM,
|
|
MPU3050_PWR_MGM_CLKSEL_MASK,
|
|
MPU3050_PWR_MGM_PLL_Z);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* Disable IRQs */
|
|
ret = regmap_write(mpu3050->map,
|
|
MPU3050_INT_CFG,
|
|
0);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* Read out the 8 bytes of OTP (one-time-programmable) memory */
|
|
ret = mpu3050_read_mem(mpu3050,
|
|
(MPU3050_MEM_PRFTCH |
|
|
MPU3050_MEM_USER_BANK |
|
|
MPU3050_MEM_OTP_BANK_0),
|
|
0,
|
|
sizeof(otp_le),
|
|
(u8 *)&otp_le);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* This is device-unique data so it goes into the entropy pool */
|
|
add_device_randomness(&otp_le, sizeof(otp_le));
|
|
|
|
otp = le64_to_cpu(otp_le);
|
|
|
|
dev_info(mpu3050->dev,
|
|
"die ID: %04llX, wafer ID: %02llX, A lot ID: %04llX, "
|
|
"W lot ID: %03llX, WP ID: %01llX, rev ID: %02llX\n",
|
|
/* Die ID, bits 0-12 */
|
|
FIELD_GET(GENMASK_ULL(12, 0), otp),
|
|
/* Wafer ID, bits 13-17 */
|
|
FIELD_GET(GENMASK_ULL(17, 13), otp),
|
|
/* A lot ID, bits 18-33 */
|
|
FIELD_GET(GENMASK_ULL(33, 18), otp),
|
|
/* W lot ID, bits 34-45 */
|
|
FIELD_GET(GENMASK_ULL(45, 34), otp),
|
|
/* WP ID, bits 47-49 */
|
|
FIELD_GET(GENMASK_ULL(49, 47), otp),
|
|
/* rev ID, bits 50-55 */
|
|
FIELD_GET(GENMASK_ULL(55, 50), otp));
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int mpu3050_power_up(struct mpu3050 *mpu3050)
|
|
{
|
|
int ret;
|
|
|
|
ret = regulator_bulk_enable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs);
|
|
if (ret) {
|
|
dev_err(mpu3050->dev, "cannot enable regulators\n");
|
|
return ret;
|
|
}
|
|
/*
|
|
* 20-100 ms start-up time for register read/write according to
|
|
* the datasheet, be on the safe side and wait 200 ms.
|
|
*/
|
|
msleep(200);
|
|
|
|
/* Take device out of sleep mode */
|
|
ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
|
|
MPU3050_PWR_MGM_SLEEP, 0);
|
|
if (ret) {
|
|
dev_err(mpu3050->dev, "error setting power mode\n");
|
|
return ret;
|
|
}
|
|
usleep_range(10000, 20000);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int mpu3050_power_down(struct mpu3050 *mpu3050)
|
|
{
|
|
int ret;
|
|
|
|
/*
|
|
* Put MPU-3050 into sleep mode before cutting regulators.
|
|
* This is important, because we may not be the sole user
|
|
* of the regulator so the power may stay on after this, and
|
|
* then we would be wasting power unless we go to sleep mode
|
|
* first.
|
|
*/
|
|
ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
|
|
MPU3050_PWR_MGM_SLEEP, MPU3050_PWR_MGM_SLEEP);
|
|
if (ret)
|
|
dev_err(mpu3050->dev, "error putting to sleep\n");
|
|
|
|
ret = regulator_bulk_disable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs);
|
|
if (ret)
|
|
dev_err(mpu3050->dev, "error disabling regulators\n");
|
|
|
|
return 0;
|
|
}
|
|
|
|
static irqreturn_t mpu3050_irq_handler(int irq, void *p)
|
|
{
|
|
struct iio_trigger *trig = p;
|
|
struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
|
|
struct mpu3050 *mpu3050 = iio_priv(indio_dev);
|
|
|
|
if (!mpu3050->hw_irq_trigger)
|
|
return IRQ_NONE;
|
|
|
|
/* Get the time stamp as close in time as possible */
|
|
mpu3050->hw_timestamp = iio_get_time_ns(indio_dev);
|
|
|
|
return IRQ_WAKE_THREAD;
|
|
}
|
|
|
|
static irqreturn_t mpu3050_irq_thread(int irq, void *p)
|
|
{
|
|
struct iio_trigger *trig = p;
|
|
struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
|
|
struct mpu3050 *mpu3050 = iio_priv(indio_dev);
|
|
unsigned int val;
|
|
int ret;
|
|
|
|
/* ACK IRQ and check if it was from us */
|
|
ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
|
|
if (ret) {
|
|
dev_err(mpu3050->dev, "error reading IRQ status\n");
|
|
return IRQ_HANDLED;
|
|
}
|
|
if (!(val & MPU3050_INT_STATUS_RAW_RDY))
|
|
return IRQ_NONE;
|
|
|
|
iio_trigger_poll_chained(p);
|
|
|
|
return IRQ_HANDLED;
|
|
}
|
|
|
|
/**
|
|
* mpu3050_drdy_trigger_set_state() - set data ready interrupt state
|
|
* @trig: trigger instance
|
|
* @enable: true if trigger should be enabled, false to disable
|
|
*/
|
|
static int mpu3050_drdy_trigger_set_state(struct iio_trigger *trig,
|
|
bool enable)
|
|
{
|
|
struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
|
|
struct mpu3050 *mpu3050 = iio_priv(indio_dev);
|
|
unsigned int val;
|
|
int ret;
|
|
|
|
/* Disabling trigger: disable interrupt and return */
|
|
if (!enable) {
|
|
/* Disable all interrupts */
|
|
ret = regmap_write(mpu3050->map,
|
|
MPU3050_INT_CFG,
|
|
0);
|
|
if (ret)
|
|
dev_err(mpu3050->dev, "error disabling IRQ\n");
|
|
|
|
/* Clear IRQ flag */
|
|
ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
|
|
if (ret)
|
|
dev_err(mpu3050->dev, "error clearing IRQ status\n");
|
|
|
|
/* Disable all things in the FIFO and reset it */
|
|
ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0);
|
|
if (ret)
|
|
dev_err(mpu3050->dev, "error disabling FIFO\n");
|
|
|
|
ret = regmap_write(mpu3050->map, MPU3050_USR_CTRL,
|
|
MPU3050_USR_CTRL_FIFO_RST);
|
|
if (ret)
|
|
dev_err(mpu3050->dev, "error resetting FIFO\n");
|
|
|
|
pm_runtime_mark_last_busy(mpu3050->dev);
|
|
pm_runtime_put_autosuspend(mpu3050->dev);
|
|
mpu3050->hw_irq_trigger = false;
|
|
|
|
return 0;
|
|
} else {
|
|
/* Else we're enabling the trigger from this point */
|
|
pm_runtime_get_sync(mpu3050->dev);
|
|
mpu3050->hw_irq_trigger = true;
|
|
|
|
/* Disable all things in the FIFO */
|
|
ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* Reset and enable the FIFO */
|
|
ret = regmap_update_bits(mpu3050->map, MPU3050_USR_CTRL,
|
|
MPU3050_USR_CTRL_FIFO_EN |
|
|
MPU3050_USR_CTRL_FIFO_RST,
|
|
MPU3050_USR_CTRL_FIFO_EN |
|
|
MPU3050_USR_CTRL_FIFO_RST);
|
|
if (ret)
|
|
return ret;
|
|
|
|
mpu3050->pending_fifo_footer = false;
|
|
|
|
/* Turn on the FIFO for temp+X+Y+Z */
|
|
ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN,
|
|
MPU3050_FIFO_EN_TEMP_OUT |
|
|
MPU3050_FIFO_EN_GYRO_XOUT |
|
|
MPU3050_FIFO_EN_GYRO_YOUT |
|
|
MPU3050_FIFO_EN_GYRO_ZOUT |
|
|
MPU3050_FIFO_EN_FOOTER);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* Configure the sample engine */
|
|
ret = mpu3050_start_sampling(mpu3050);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* Clear IRQ flag */
|
|
ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
|
|
if (ret)
|
|
dev_err(mpu3050->dev, "error clearing IRQ status\n");
|
|
|
|
/* Give us interrupts whenever there is new data ready */
|
|
val = MPU3050_INT_RAW_RDY_EN;
|
|
|
|
if (mpu3050->irq_actl)
|
|
val |= MPU3050_INT_ACTL;
|
|
if (mpu3050->irq_latch)
|
|
val |= MPU3050_INT_LATCH_EN;
|
|
if (mpu3050->irq_opendrain)
|
|
val |= MPU3050_INT_OPEN;
|
|
|
|
ret = regmap_write(mpu3050->map, MPU3050_INT_CFG, val);
|
|
if (ret)
|
|
return ret;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static const struct iio_trigger_ops mpu3050_trigger_ops = {
|
|
.set_trigger_state = mpu3050_drdy_trigger_set_state,
|
|
};
|
|
|
|
static int mpu3050_trigger_probe(struct iio_dev *indio_dev, int irq)
|
|
{
|
|
struct mpu3050 *mpu3050 = iio_priv(indio_dev);
|
|
unsigned long irq_trig;
|
|
int ret;
|
|
|
|
mpu3050->trig = devm_iio_trigger_alloc(&indio_dev->dev,
|
|
"%s-dev%d",
|
|
indio_dev->name,
|
|
iio_device_id(indio_dev));
|
|
if (!mpu3050->trig)
|
|
return -ENOMEM;
|
|
|
|
/* Check if IRQ is open drain */
|
|
if (of_property_read_bool(mpu3050->dev->of_node, "drive-open-drain"))
|
|
mpu3050->irq_opendrain = true;
|
|
|
|
irq_trig = irqd_get_trigger_type(irq_get_irq_data(irq));
|
|
/*
|
|
* Configure the interrupt generator hardware to supply whatever
|
|
* the interrupt is configured for, edges low/high level low/high,
|
|
* we can provide it all.
|
|
*/
|
|
switch (irq_trig) {
|
|
case IRQF_TRIGGER_RISING:
|
|
dev_info(&indio_dev->dev,
|
|
"pulse interrupts on the rising edge\n");
|
|
break;
|
|
case IRQF_TRIGGER_FALLING:
|
|
mpu3050->irq_actl = true;
|
|
dev_info(&indio_dev->dev,
|
|
"pulse interrupts on the falling edge\n");
|
|
break;
|
|
case IRQF_TRIGGER_HIGH:
|
|
mpu3050->irq_latch = true;
|
|
dev_info(&indio_dev->dev,
|
|
"interrupts active high level\n");
|
|
/*
|
|
* With level IRQs, we mask the IRQ until it is processed,
|
|
* but with edge IRQs (pulses) we can queue several interrupts
|
|
* in the top half.
|
|
*/
|
|
irq_trig |= IRQF_ONESHOT;
|
|
break;
|
|
case IRQF_TRIGGER_LOW:
|
|
mpu3050->irq_latch = true;
|
|
mpu3050->irq_actl = true;
|
|
irq_trig |= IRQF_ONESHOT;
|
|
dev_info(&indio_dev->dev,
|
|
"interrupts active low level\n");
|
|
break;
|
|
default:
|
|
/* This is the most preferred mode, if possible */
|
|
dev_err(&indio_dev->dev,
|
|
"unsupported IRQ trigger specified (%lx), enforce "
|
|
"rising edge\n", irq_trig);
|
|
irq_trig = IRQF_TRIGGER_RISING;
|
|
break;
|
|
}
|
|
|
|
/* An open drain line can be shared with several devices */
|
|
if (mpu3050->irq_opendrain)
|
|
irq_trig |= IRQF_SHARED;
|
|
|
|
ret = request_threaded_irq(irq,
|
|
mpu3050_irq_handler,
|
|
mpu3050_irq_thread,
|
|
irq_trig,
|
|
mpu3050->trig->name,
|
|
mpu3050->trig);
|
|
if (ret) {
|
|
dev_err(mpu3050->dev,
|
|
"can't get IRQ %d, error %d\n", irq, ret);
|
|
return ret;
|
|
}
|
|
|
|
mpu3050->irq = irq;
|
|
mpu3050->trig->dev.parent = mpu3050->dev;
|
|
mpu3050->trig->ops = &mpu3050_trigger_ops;
|
|
iio_trigger_set_drvdata(mpu3050->trig, indio_dev);
|
|
|
|
ret = iio_trigger_register(mpu3050->trig);
|
|
if (ret)
|
|
return ret;
|
|
|
|
indio_dev->trig = iio_trigger_get(mpu3050->trig);
|
|
|
|
return 0;
|
|
}
|
|
|
|
int mpu3050_common_probe(struct device *dev,
|
|
struct regmap *map,
|
|
int irq,
|
|
const char *name)
|
|
{
|
|
struct iio_dev *indio_dev;
|
|
struct mpu3050 *mpu3050;
|
|
unsigned int val;
|
|
int ret;
|
|
|
|
indio_dev = devm_iio_device_alloc(dev, sizeof(*mpu3050));
|
|
if (!indio_dev)
|
|
return -ENOMEM;
|
|
mpu3050 = iio_priv(indio_dev);
|
|
|
|
mpu3050->dev = dev;
|
|
mpu3050->map = map;
|
|
mutex_init(&mpu3050->lock);
|
|
/* Default fullscale: 2000 degrees per second */
|
|
mpu3050->fullscale = FS_2000_DPS;
|
|
/* 1 kHz, divide by 100, default frequency = 10 Hz */
|
|
mpu3050->lpf = MPU3050_DLPF_CFG_188HZ;
|
|
mpu3050->divisor = 99;
|
|
|
|
/* Read the mounting matrix, if present */
|
|
ret = iio_read_mount_matrix(dev, &mpu3050->orientation);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* Fetch and turn on regulators */
|
|
mpu3050->regs[0].supply = mpu3050_reg_vdd;
|
|
mpu3050->regs[1].supply = mpu3050_reg_vlogic;
|
|
ret = devm_regulator_bulk_get(dev, ARRAY_SIZE(mpu3050->regs),
|
|
mpu3050->regs);
|
|
if (ret) {
|
|
dev_err(dev, "Cannot get regulators\n");
|
|
return ret;
|
|
}
|
|
|
|
ret = mpu3050_power_up(mpu3050);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = regmap_read(map, MPU3050_CHIP_ID_REG, &val);
|
|
if (ret) {
|
|
dev_err(dev, "could not read device ID\n");
|
|
ret = -ENODEV;
|
|
|
|
goto err_power_down;
|
|
}
|
|
|
|
if ((val & MPU3050_CHIP_ID_MASK) != MPU3050_CHIP_ID) {
|
|
dev_err(dev, "unsupported chip id %02x\n",
|
|
(u8)(val & MPU3050_CHIP_ID_MASK));
|
|
ret = -ENODEV;
|
|
goto err_power_down;
|
|
}
|
|
|
|
ret = regmap_read(map, MPU3050_PRODUCT_ID_REG, &val);
|
|
if (ret) {
|
|
dev_err(dev, "could not read device ID\n");
|
|
ret = -ENODEV;
|
|
|
|
goto err_power_down;
|
|
}
|
|
dev_info(dev, "found MPU-3050 part no: %d, version: %d\n",
|
|
((val >> 4) & 0xf), (val & 0xf));
|
|
|
|
ret = mpu3050_hw_init(mpu3050);
|
|
if (ret)
|
|
goto err_power_down;
|
|
|
|
indio_dev->channels = mpu3050_channels;
|
|
indio_dev->num_channels = ARRAY_SIZE(mpu3050_channels);
|
|
indio_dev->info = &mpu3050_info;
|
|
indio_dev->available_scan_masks = mpu3050_scan_masks;
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
|
indio_dev->name = name;
|
|
|
|
ret = iio_triggered_buffer_setup(indio_dev, iio_pollfunc_store_time,
|
|
mpu3050_trigger_handler,
|
|
&mpu3050_buffer_setup_ops);
|
|
if (ret) {
|
|
dev_err(dev, "triggered buffer setup failed\n");
|
|
goto err_power_down;
|
|
}
|
|
|
|
ret = iio_device_register(indio_dev);
|
|
if (ret) {
|
|
dev_err(dev, "device register failed\n");
|
|
goto err_cleanup_buffer;
|
|
}
|
|
|
|
dev_set_drvdata(dev, indio_dev);
|
|
|
|
/* Check if we have an assigned IRQ to use as trigger */
|
|
if (irq) {
|
|
ret = mpu3050_trigger_probe(indio_dev, irq);
|
|
if (ret)
|
|
dev_err(dev, "failed to register trigger\n");
|
|
}
|
|
|
|
/* Enable runtime PM */
|
|
pm_runtime_get_noresume(dev);
|
|
pm_runtime_set_active(dev);
|
|
pm_runtime_enable(dev);
|
|
/*
|
|
* Set autosuspend to two orders of magnitude larger than the
|
|
* start-up time. 100ms start-up time means 10000ms autosuspend,
|
|
* i.e. 10 seconds.
|
|
*/
|
|
pm_runtime_set_autosuspend_delay(dev, 10000);
|
|
pm_runtime_use_autosuspend(dev);
|
|
pm_runtime_put(dev);
|
|
|
|
return 0;
|
|
|
|
err_cleanup_buffer:
|
|
iio_triggered_buffer_cleanup(indio_dev);
|
|
err_power_down:
|
|
mpu3050_power_down(mpu3050);
|
|
|
|
return ret;
|
|
}
|
|
EXPORT_SYMBOL(mpu3050_common_probe);
|
|
|
|
int mpu3050_common_remove(struct device *dev)
|
|
{
|
|
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
|
struct mpu3050 *mpu3050 = iio_priv(indio_dev);
|
|
|
|
pm_runtime_get_sync(dev);
|
|
pm_runtime_put_noidle(dev);
|
|
pm_runtime_disable(dev);
|
|
iio_triggered_buffer_cleanup(indio_dev);
|
|
if (mpu3050->irq)
|
|
free_irq(mpu3050->irq, mpu3050);
|
|
iio_device_unregister(indio_dev);
|
|
mpu3050_power_down(mpu3050);
|
|
|
|
return 0;
|
|
}
|
|
EXPORT_SYMBOL(mpu3050_common_remove);
|
|
|
|
#ifdef CONFIG_PM
|
|
static int mpu3050_runtime_suspend(struct device *dev)
|
|
{
|
|
return mpu3050_power_down(iio_priv(dev_get_drvdata(dev)));
|
|
}
|
|
|
|
static int mpu3050_runtime_resume(struct device *dev)
|
|
{
|
|
return mpu3050_power_up(iio_priv(dev_get_drvdata(dev)));
|
|
}
|
|
#endif /* CONFIG_PM */
|
|
|
|
const struct dev_pm_ops mpu3050_dev_pm_ops = {
|
|
SET_SYSTEM_SLEEP_PM_OPS(pm_runtime_force_suspend,
|
|
pm_runtime_force_resume)
|
|
SET_RUNTIME_PM_OPS(mpu3050_runtime_suspend,
|
|
mpu3050_runtime_resume, NULL)
|
|
};
|
|
EXPORT_SYMBOL(mpu3050_dev_pm_ops);
|
|
|
|
MODULE_AUTHOR("Linus Walleij");
|
|
MODULE_DESCRIPTION("MPU3050 gyroscope driver");
|
|
MODULE_LICENSE("GPL");
|