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-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600.h37
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c75
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c46
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h2
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_core.c27
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c84
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c6
-rw-r--r--drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c6
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_core.c542
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c2
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h36
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c21
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c84
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c2
14 files changed, 830 insertions, 140 deletions
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600.h b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
index 0e290c807b..c4ac91f6ba 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600.h
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600.h
@@ -13,6 +13,7 @@
#include <linux/regulator/consumer.h>
#include <linux/pm.h>
#include <linux/iio/iio.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
#include "inv_icm42600_buffer.h"
@@ -21,7 +22,9 @@ enum inv_icm42600_chip {
INV_CHIP_ICM42600,
INV_CHIP_ICM42602,
INV_CHIP_ICM42605,
+ INV_CHIP_ICM42686,
INV_CHIP_ICM42622,
+ INV_CHIP_ICM42688,
INV_CHIP_ICM42631,
INV_CHIP_NB,
};
@@ -56,6 +59,17 @@ enum inv_icm42600_gyro_fs {
INV_ICM42600_GYRO_FS_15_625DPS,
INV_ICM42600_GYRO_FS_NB,
};
+enum inv_icm42686_gyro_fs {
+ INV_ICM42686_GYRO_FS_4000DPS,
+ INV_ICM42686_GYRO_FS_2000DPS,
+ INV_ICM42686_GYRO_FS_1000DPS,
+ INV_ICM42686_GYRO_FS_500DPS,
+ INV_ICM42686_GYRO_FS_250DPS,
+ INV_ICM42686_GYRO_FS_125DPS,
+ INV_ICM42686_GYRO_FS_62_5DPS,
+ INV_ICM42686_GYRO_FS_31_25DPS,
+ INV_ICM42686_GYRO_FS_NB,
+};
/* accelerometer fullscale values */
enum inv_icm42600_accel_fs {
@@ -65,6 +79,14 @@ enum inv_icm42600_accel_fs {
INV_ICM42600_ACCEL_FS_2G,
INV_ICM42600_ACCEL_FS_NB,
};
+enum inv_icm42686_accel_fs {
+ INV_ICM42686_ACCEL_FS_32G,
+ INV_ICM42686_ACCEL_FS_16G,
+ INV_ICM42686_ACCEL_FS_8G,
+ INV_ICM42686_ACCEL_FS_4G,
+ INV_ICM42686_ACCEL_FS_2G,
+ INV_ICM42686_ACCEL_FS_NB,
+};
/* ODR suffixed by LN or LP are Low-Noise or Low-Power mode only */
enum inv_icm42600_odr {
@@ -150,6 +172,19 @@ struct inv_icm42600_state {
} timestamp;
};
+
+/**
+ * struct inv_icm42600_sensor_state - sensor state variables
+ * @scales: table of scales.
+ * @scales_len: length (nb of items) of the scales table.
+ * @ts: timestamp module states.
+ */
+struct inv_icm42600_sensor_state {
+ const int *scales;
+ size_t scales_len;
+ struct inv_sensors_timestamp ts;
+};
+
/* Virtual register addresses: @bank on MSB (4 upper bits), @address on LSB */
/* Bank selection register, available in all banks */
@@ -303,7 +338,9 @@ struct inv_icm42600_state {
#define INV_ICM42600_WHOAMI_ICM42600 0x40
#define INV_ICM42600_WHOAMI_ICM42602 0x41
#define INV_ICM42600_WHOAMI_ICM42605 0x42
+#define INV_ICM42600_WHOAMI_ICM42686 0x44
#define INV_ICM42600_WHOAMI_ICM42622 0x46
+#define INV_ICM42600_WHOAMI_ICM42688 0x47
#define INV_ICM42600_WHOAMI_ICM42631 0x5C
/* User bank 1 (MSB 0x10) */
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
index 6d9cb010f6..4b25666936 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
@@ -99,7 +99,8 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
const unsigned long *scan_mask)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &accel_st->ts;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
unsigned int fifo_en = 0;
unsigned int sleep_temp = 0;
@@ -206,33 +207,54 @@ static const int inv_icm42600_accel_scale[] = {
[2 * INV_ICM42600_ACCEL_FS_2G] = 0,
[2 * INV_ICM42600_ACCEL_FS_2G + 1] = 598550,
};
+static const int inv_icm42686_accel_scale[] = {
+ /* +/- 32G => 0.009576807 m/s-2 */
+ [2 * INV_ICM42686_ACCEL_FS_32G] = 0,
+ [2 * INV_ICM42686_ACCEL_FS_32G + 1] = 9576807,
+ /* +/- 16G => 0.004788403 m/s-2 */
+ [2 * INV_ICM42686_ACCEL_FS_16G] = 0,
+ [2 * INV_ICM42686_ACCEL_FS_16G + 1] = 4788403,
+ /* +/- 8G => 0.002394202 m/s-2 */
+ [2 * INV_ICM42686_ACCEL_FS_8G] = 0,
+ [2 * INV_ICM42686_ACCEL_FS_8G + 1] = 2394202,
+ /* +/- 4G => 0.001197101 m/s-2 */
+ [2 * INV_ICM42686_ACCEL_FS_4G] = 0,
+ [2 * INV_ICM42686_ACCEL_FS_4G + 1] = 1197101,
+ /* +/- 2G => 0.000598550 m/s-2 */
+ [2 * INV_ICM42686_ACCEL_FS_2G] = 0,
+ [2 * INV_ICM42686_ACCEL_FS_2G + 1] = 598550,
+};
-static int inv_icm42600_accel_read_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_accel_read_scale(struct iio_dev *indio_dev,
int *val, int *val2)
{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
unsigned int idx;
idx = st->conf.accel.fs;
- *val = inv_icm42600_accel_scale[2 * idx];
- *val2 = inv_icm42600_accel_scale[2 * idx + 1];
+ *val = accel_st->scales[2 * idx];
+ *val2 = accel_st->scales[2 * idx + 1];
return IIO_VAL_INT_PLUS_NANO;
}
-static int inv_icm42600_accel_write_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_accel_write_scale(struct iio_dev *indio_dev,
int val, int val2)
{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
int ret;
- for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_accel_scale); idx += 2) {
- if (val == inv_icm42600_accel_scale[idx] &&
- val2 == inv_icm42600_accel_scale[idx + 1])
+ for (idx = 0; idx < accel_st->scales_len; idx += 2) {
+ if (val == accel_st->scales[idx] &&
+ val2 == accel_st->scales[idx + 1])
break;
}
- if (idx >= ARRAY_SIZE(inv_icm42600_accel_scale))
+ if (idx >= accel_st->scales_len)
return -EINVAL;
conf.fs = idx / 2;
@@ -305,7 +327,8 @@ static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev,
int val, int val2)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &accel_st->ts;
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
@@ -561,7 +584,7 @@ static int inv_icm42600_accel_read_raw(struct iio_dev *indio_dev,
*val = data;
return IIO_VAL_INT;
case IIO_CHAN_INFO_SCALE:
- return inv_icm42600_accel_read_scale(st, val, val2);
+ return inv_icm42600_accel_read_scale(indio_dev, val, val2);
case IIO_CHAN_INFO_SAMP_FREQ:
return inv_icm42600_accel_read_odr(st, val, val2);
case IIO_CHAN_INFO_CALIBBIAS:
@@ -576,14 +599,16 @@ static int inv_icm42600_accel_read_avail(struct iio_dev *indio_dev,
const int **vals,
int *type, int *length, long mask)
{
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+
if (chan->type != IIO_ACCEL)
return -EINVAL;
switch (mask) {
case IIO_CHAN_INFO_SCALE:
- *vals = inv_icm42600_accel_scale;
+ *vals = accel_st->scales;
*type = IIO_VAL_INT_PLUS_NANO;
- *length = ARRAY_SIZE(inv_icm42600_accel_scale);
+ *length = accel_st->scales_len;
return IIO_AVAIL_LIST;
case IIO_CHAN_INFO_SAMP_FREQ:
*vals = inv_icm42600_accel_odr;
@@ -614,7 +639,7 @@ static int inv_icm42600_accel_write_raw(struct iio_dev *indio_dev,
ret = iio_device_claim_direct_mode(indio_dev);
if (ret)
return ret;
- ret = inv_icm42600_accel_write_scale(st, val, val2);
+ ret = inv_icm42600_accel_write_scale(indio_dev, val, val2);
iio_device_release_direct_mode(indio_dev);
return ret;
case IIO_CHAN_INFO_SAMP_FREQ:
@@ -701,8 +726,8 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
{
struct device *dev = regmap_get_device(st->map);
const char *name;
+ struct inv_icm42600_sensor_state *accel_st;
struct inv_sensors_timestamp_chip ts_chip;
- struct inv_sensors_timestamp *ts;
struct iio_dev *indio_dev;
int ret;
@@ -710,9 +735,21 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
if (!name)
return ERR_PTR(-ENOMEM);
- indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*accel_st));
if (!indio_dev)
return ERR_PTR(-ENOMEM);
+ accel_st = iio_priv(indio_dev);
+
+ switch (st->chip) {
+ case INV_CHIP_ICM42686:
+ accel_st->scales = inv_icm42686_accel_scale;
+ accel_st->scales_len = ARRAY_SIZE(inv_icm42686_accel_scale);
+ break;
+ default:
+ accel_st->scales = inv_icm42600_accel_scale;
+ accel_st->scales_len = ARRAY_SIZE(inv_icm42600_accel_scale);
+ break;
+ }
/*
* clock period is 32kHz (31250ns)
@@ -721,8 +758,7 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
ts_chip.clock_period = 31250;
ts_chip.jitter = 20;
ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
- ts = iio_priv(indio_dev);
- inv_sensors_timestamp_init(ts, &ts_chip);
+ inv_sensors_timestamp_init(&accel_st->ts, &ts_chip);
iio_device_set_drvdata(indio_dev, st);
indio_dev->name = name;
@@ -747,7 +783,8 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &accel_st->ts;
ssize_t i, size;
unsigned int no;
const void *accel, *gyro, *timestamp;
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
index b52f328fd2..a8cf74c84c 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
@@ -222,10 +222,15 @@ int inv_icm42600_buffer_update_watermark(struct inv_icm42600_state *st)
latency_accel = period_accel * wm_accel;
/* 0 value for watermark means that the sensor is turned off */
+ if (wm_gyro == 0 && wm_accel == 0)
+ return 0;
+
if (latency_gyro == 0) {
watermark = wm_accel;
+ st->fifo.watermark.eff_accel = wm_accel;
} else if (latency_accel == 0) {
watermark = wm_gyro;
+ st->fifo.watermark.eff_gyro = wm_gyro;
} else {
/* compute the smallest latency that is a multiple of both */
if (latency_gyro <= latency_accel)
@@ -241,6 +246,13 @@ int inv_icm42600_buffer_update_watermark(struct inv_icm42600_state *st)
watermark = latency / period;
if (watermark < 1)
watermark = 1;
+ /* update effective watermark */
+ st->fifo.watermark.eff_gyro = latency / period_gyro;
+ if (st->fifo.watermark.eff_gyro < 1)
+ st->fifo.watermark.eff_gyro = 1;
+ st->fifo.watermark.eff_accel = latency / period_accel;
+ if (st->fifo.watermark.eff_accel < 1)
+ st->fifo.watermark.eff_accel = 1;
}
/* compute watermark value in bytes */
@@ -276,7 +288,8 @@ static int inv_icm42600_buffer_preenable(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
struct device *dev = regmap_get_device(st->map);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *sensor_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &sensor_st->ts;
pm_runtime_get_sync(dev);
@@ -502,6 +515,8 @@ int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st,
int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
{
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel);
struct inv_sensors_timestamp *ts;
int ret;
@@ -509,20 +524,20 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
return 0;
/* handle gyroscope timestamp and FIFO data parsing */
- ts = iio_priv(st->indio_gyro);
- inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
- st->fifo.nb.gyro, st->timestamp.gyro);
if (st->fifo.nb.gyro > 0) {
+ ts = &gyro_st->ts;
+ inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_gyro,
+ st->timestamp.gyro);
ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
if (ret)
return ret;
}
/* handle accelerometer timestamp and FIFO data parsing */
- ts = iio_priv(st->indio_accel);
- inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
- st->fifo.nb.accel, st->timestamp.accel);
if (st->fifo.nb.accel > 0) {
+ ts = &accel_st->ts;
+ inv_sensors_timestamp_interrupt(ts, st->fifo.watermark.eff_accel,
+ st->timestamp.accel);
ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
if (ret)
return ret;
@@ -534,6 +549,8 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
unsigned int count)
{
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(st->indio_gyro);
+ struct inv_icm42600_sensor_state *accel_st = iio_priv(st->indio_accel);
struct inv_sensors_timestamp *ts;
int64_t gyro_ts, accel_ts;
int ret;
@@ -549,20 +566,16 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
return 0;
if (st->fifo.nb.gyro > 0) {
- ts = iio_priv(st->indio_gyro);
- inv_sensors_timestamp_interrupt(ts, st->fifo.period,
- st->fifo.nb.total, st->fifo.nb.gyro,
- gyro_ts);
+ ts = &gyro_st->ts;
+ inv_sensors_timestamp_interrupt(ts, st->fifo.nb.gyro, gyro_ts);
ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
if (ret)
return ret;
}
if (st->fifo.nb.accel > 0) {
- ts = iio_priv(st->indio_accel);
- inv_sensors_timestamp_interrupt(ts, st->fifo.period,
- st->fifo.nb.total, st->fifo.nb.accel,
- accel_ts);
+ ts = &accel_st->ts;
+ inv_sensors_timestamp_interrupt(ts, st->fifo.nb.accel, accel_ts);
ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
if (ret)
return ret;
@@ -576,6 +589,9 @@ int inv_icm42600_buffer_init(struct inv_icm42600_state *st)
unsigned int val;
int ret;
+ st->fifo.watermark.eff_gyro = 1;
+ st->fifo.watermark.eff_accel = 1;
+
/*
* Default FIFO configuration (bits 7 to 5)
* - use invalid value
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h
index 8b85ee333b..f6c85daf42 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.h
@@ -32,6 +32,8 @@ struct inv_icm42600_fifo {
struct {
unsigned int gyro;
unsigned int accel;
+ unsigned int eff_gyro;
+ unsigned int eff_accel;
} watermark;
size_t count;
struct {
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
index a5e81906e3..62fdae5303 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
@@ -66,6 +66,22 @@ static const struct inv_icm42600_conf inv_icm42600_default_conf = {
.temp_en = false,
};
+static const struct inv_icm42600_conf inv_icm42686_default_conf = {
+ .gyro = {
+ .mode = INV_ICM42600_SENSOR_MODE_OFF,
+ .fs = INV_ICM42686_GYRO_FS_4000DPS,
+ .odr = INV_ICM42600_ODR_50HZ,
+ .filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
+ },
+ .accel = {
+ .mode = INV_ICM42600_SENSOR_MODE_OFF,
+ .fs = INV_ICM42686_ACCEL_FS_32G,
+ .odr = INV_ICM42600_ODR_50HZ,
+ .filter = INV_ICM42600_FILTER_BW_ODR_DIV_2,
+ },
+ .temp_en = false,
+};
+
static const struct inv_icm42600_hw inv_icm42600_hw[INV_CHIP_NB] = {
[INV_CHIP_ICM42600] = {
.whoami = INV_ICM42600_WHOAMI_ICM42600,
@@ -82,11 +98,21 @@ static const struct inv_icm42600_hw inv_icm42600_hw[INV_CHIP_NB] = {
.name = "icm42605",
.conf = &inv_icm42600_default_conf,
},
+ [INV_CHIP_ICM42686] = {
+ .whoami = INV_ICM42600_WHOAMI_ICM42686,
+ .name = "icm42686",
+ .conf = &inv_icm42686_default_conf,
+ },
[INV_CHIP_ICM42622] = {
.whoami = INV_ICM42600_WHOAMI_ICM42622,
.name = "icm42622",
.conf = &inv_icm42600_default_conf,
},
+ [INV_CHIP_ICM42688] = {
+ .whoami = INV_ICM42600_WHOAMI_ICM42688,
+ .name = "icm42688",
+ .conf = &inv_icm42600_default_conf,
+ },
[INV_CHIP_ICM42631] = {
.whoami = INV_ICM42600_WHOAMI_ICM42631,
.name = "icm42631",
@@ -511,6 +537,7 @@ static int inv_icm42600_irq_init(struct inv_icm42600_state *st, int irq,
if (ret)
return ret;
+ irq_type |= IRQF_ONESHOT;
return devm_request_threaded_irq(dev, irq, inv_icm42600_irq_timestamp,
inv_icm42600_irq_handler, irq_type,
"inv_icm42600", st);
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
index fc80b4a97f..938af5b640 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -99,7 +99,8 @@ static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
const unsigned long *scan_mask)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &gyro_st->ts;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
unsigned int fifo_en = 0;
unsigned int sleep_gyro = 0;
@@ -218,33 +219,63 @@ static const int inv_icm42600_gyro_scale[] = {
[2 * INV_ICM42600_GYRO_FS_15_625DPS] = 0,
[2 * INV_ICM42600_GYRO_FS_15_625DPS + 1] = 8322,
};
+static const int inv_icm42686_gyro_scale[] = {
+ /* +/- 4000dps => 0.002130529 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_4000DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_4000DPS + 1] = 2130529,
+ /* +/- 2000dps => 0.001065264 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_2000DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_2000DPS + 1] = 1065264,
+ /* +/- 1000dps => 0.000532632 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_1000DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_1000DPS + 1] = 532632,
+ /* +/- 500dps => 0.000266316 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_500DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_500DPS + 1] = 266316,
+ /* +/- 250dps => 0.000133158 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_250DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_250DPS + 1] = 133158,
+ /* +/- 125dps => 0.000066579 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_125DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_125DPS + 1] = 66579,
+ /* +/- 62.5dps => 0.000033290 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_62_5DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_62_5DPS + 1] = 33290,
+ /* +/- 31.25dps => 0.000016645 rad/s */
+ [2 * INV_ICM42686_GYRO_FS_31_25DPS] = 0,
+ [2 * INV_ICM42686_GYRO_FS_31_25DPS + 1] = 16645,
+};
-static int inv_icm42600_gyro_read_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_gyro_read_scale(struct iio_dev *indio_dev,
int *val, int *val2)
{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
unsigned int idx;
idx = st->conf.gyro.fs;
- *val = inv_icm42600_gyro_scale[2 * idx];
- *val2 = inv_icm42600_gyro_scale[2 * idx + 1];
+ *val = gyro_st->scales[2 * idx];
+ *val2 = gyro_st->scales[2 * idx + 1];
return IIO_VAL_INT_PLUS_NANO;
}
-static int inv_icm42600_gyro_write_scale(struct inv_icm42600_state *st,
+static int inv_icm42600_gyro_write_scale(struct iio_dev *indio_dev,
int val, int val2)
{
+ struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
int ret;
- for (idx = 0; idx < ARRAY_SIZE(inv_icm42600_gyro_scale); idx += 2) {
- if (val == inv_icm42600_gyro_scale[idx] &&
- val2 == inv_icm42600_gyro_scale[idx + 1])
+ for (idx = 0; idx < gyro_st->scales_len; idx += 2) {
+ if (val == gyro_st->scales[idx] &&
+ val2 == gyro_st->scales[idx + 1])
break;
}
- if (idx >= ARRAY_SIZE(inv_icm42600_gyro_scale))
+ if (idx >= gyro_st->scales_len)
return -EINVAL;
conf.fs = idx / 2;
@@ -317,7 +348,8 @@ static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
int val, int val2)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &gyro_st->ts;
struct device *dev = regmap_get_device(st->map);
unsigned int idx;
struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
@@ -572,7 +604,7 @@ static int inv_icm42600_gyro_read_raw(struct iio_dev *indio_dev,
*val = data;
return IIO_VAL_INT;
case IIO_CHAN_INFO_SCALE:
- return inv_icm42600_gyro_read_scale(st, val, val2);
+ return inv_icm42600_gyro_read_scale(indio_dev, val, val2);
case IIO_CHAN_INFO_SAMP_FREQ:
return inv_icm42600_gyro_read_odr(st, val, val2);
case IIO_CHAN_INFO_CALIBBIAS:
@@ -587,14 +619,16 @@ static int inv_icm42600_gyro_read_avail(struct iio_dev *indio_dev,
const int **vals,
int *type, int *length, long mask)
{
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+
if (chan->type != IIO_ANGL_VEL)
return -EINVAL;
switch (mask) {
case IIO_CHAN_INFO_SCALE:
- *vals = inv_icm42600_gyro_scale;
+ *vals = gyro_st->scales;
*type = IIO_VAL_INT_PLUS_NANO;
- *length = ARRAY_SIZE(inv_icm42600_gyro_scale);
+ *length = gyro_st->scales_len;
return IIO_AVAIL_LIST;
case IIO_CHAN_INFO_SAMP_FREQ:
*vals = inv_icm42600_gyro_odr;
@@ -625,7 +659,7 @@ static int inv_icm42600_gyro_write_raw(struct iio_dev *indio_dev,
ret = iio_device_claim_direct_mode(indio_dev);
if (ret)
return ret;
- ret = inv_icm42600_gyro_write_scale(st, val, val2);
+ ret = inv_icm42600_gyro_write_scale(indio_dev, val, val2);
iio_device_release_direct_mode(indio_dev);
return ret;
case IIO_CHAN_INFO_SAMP_FREQ:
@@ -712,8 +746,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
{
struct device *dev = regmap_get_device(st->map);
const char *name;
+ struct inv_icm42600_sensor_state *gyro_st;
struct inv_sensors_timestamp_chip ts_chip;
- struct inv_sensors_timestamp *ts;
struct iio_dev *indio_dev;
int ret;
@@ -721,9 +755,21 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
if (!name)
return ERR_PTR(-ENOMEM);
- indio_dev = devm_iio_device_alloc(dev, sizeof(*ts));
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*gyro_st));
if (!indio_dev)
return ERR_PTR(-ENOMEM);
+ gyro_st = iio_priv(indio_dev);
+
+ switch (st->chip) {
+ case INV_CHIP_ICM42686:
+ gyro_st->scales = inv_icm42686_gyro_scale;
+ gyro_st->scales_len = ARRAY_SIZE(inv_icm42686_gyro_scale);
+ break;
+ default:
+ gyro_st->scales = inv_icm42600_gyro_scale;
+ gyro_st->scales_len = ARRAY_SIZE(inv_icm42600_gyro_scale);
+ break;
+ }
/*
* clock period is 32kHz (31250ns)
@@ -732,8 +778,7 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
ts_chip.clock_period = 31250;
ts_chip.jitter = 20;
ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
- ts = iio_priv(indio_dev);
- inv_sensors_timestamp_init(ts, &ts_chip);
+ inv_sensors_timestamp_init(&gyro_st->ts, &ts_chip);
iio_device_set_drvdata(indio_dev, st);
indio_dev->name = name;
@@ -759,7 +804,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
{
struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
- struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
+ struct inv_icm42600_sensor_state *gyro_st = iio_priv(indio_dev);
+ struct inv_sensors_timestamp *ts = &gyro_st->ts;
ssize_t i, size;
unsigned int no;
const void *accel, *gyro, *timestamp;
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
index 1af559403b..8d33504d77 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_i2c.c
@@ -82,9 +82,15 @@ static const struct of_device_id inv_icm42600_of_matches[] = {
.compatible = "invensense,icm42605",
.data = (void *)INV_CHIP_ICM42605,
}, {
+ .compatible = "invensense,icm42686",
+ .data = (void *)INV_CHIP_ICM42686,
+ }, {
.compatible = "invensense,icm42622",
.data = (void *)INV_CHIP_ICM42622,
}, {
+ .compatible = "invensense,icm42688",
+ .data = (void *)INV_CHIP_ICM42688,
+ }, {
.compatible = "invensense,icm42631",
.data = (void *)INV_CHIP_ICM42631,
},
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
index 6be4ac7949..cc2bf1799a 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_spi.c
@@ -78,9 +78,15 @@ static const struct of_device_id inv_icm42600_of_matches[] = {
.compatible = "invensense,icm42605",
.data = (void *)INV_CHIP_ICM42605,
}, {
+ .compatible = "invensense,icm42686",
+ .data = (void *)INV_CHIP_ICM42686,
+ }, {
.compatible = "invensense,icm42622",
.data = (void *)INV_CHIP_ICM42622,
}, {
+ .compatible = "invensense,icm42688",
+ .data = (void *)INV_CHIP_ICM42688,
+ }, {
.compatible = "invensense,icm42631",
.data = (void *)INV_CHIP_ICM42631,
},
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 0e94e5335e..14d95f34e9 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -15,6 +15,8 @@
#include <linux/acpi.h>
#include <linux/platform_device.h>
#include <linux/regulator/consumer.h>
+#include <linux/math64.h>
+#include <linux/minmax.h>
#include <linux/pm.h>
#include <linux/pm_runtime.h>
#include <linux/property.h>
@@ -287,7 +289,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
};
static int inv_mpu6050_pwr_mgmt_1_write(struct inv_mpu6050_state *st, bool sleep,
- int clock, int temp_dis)
+ bool cycle, int clock, int temp_dis)
{
u8 val;
@@ -301,6 +303,8 @@ static int inv_mpu6050_pwr_mgmt_1_write(struct inv_mpu6050_state *st, bool sleep
val |= INV_MPU6050_BIT_TEMP_DIS;
if (sleep)
val |= INV_MPU6050_BIT_SLEEP;
+ if (cycle)
+ val |= INV_MPU6050_BIT_CYCLE;
dev_dbg(regmap_get_device(st->map), "pwr_mgmt_1: 0x%x\n", val);
return regmap_write(st->map, st->reg->pwr_mgmt_1, val);
@@ -316,7 +320,7 @@ static int inv_mpu6050_clock_switch(struct inv_mpu6050_state *st,
case INV_MPU6000:
case INV_MPU9150:
/* old chips: switch clock manually */
- ret = inv_mpu6050_pwr_mgmt_1_write(st, false, clock, -1);
+ ret = inv_mpu6050_pwr_mgmt_1_write(st, false, false, clock, -1);
if (ret)
return ret;
st->chip_config.clk = clock;
@@ -332,7 +336,7 @@ static int inv_mpu6050_clock_switch(struct inv_mpu6050_state *st,
int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
unsigned int mask)
{
- unsigned int sleep;
+ unsigned int sleep, val;
u8 pwr_mgmt2, user_ctrl;
int ret;
@@ -345,12 +349,20 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
mask &= ~INV_MPU6050_SENSOR_TEMP;
if (mask & INV_MPU6050_SENSOR_MAGN && en == st->chip_config.magn_en)
mask &= ~INV_MPU6050_SENSOR_MAGN;
+ if (mask & INV_MPU6050_SENSOR_WOM && en == st->chip_config.wom_en)
+ mask &= ~INV_MPU6050_SENSOR_WOM;
+
+ /* force accel on if WoM is on and not going off */
+ if (!en && (mask & INV_MPU6050_SENSOR_ACCL) && st->chip_config.wom_en &&
+ !(mask & INV_MPU6050_SENSOR_WOM))
+ mask &= ~INV_MPU6050_SENSOR_ACCL;
+
if (mask == 0)
return 0;
/* turn on/off temperature sensor */
if (mask & INV_MPU6050_SENSOR_TEMP) {
- ret = inv_mpu6050_pwr_mgmt_1_write(st, false, -1, !en);
+ ret = inv_mpu6050_pwr_mgmt_1_write(st, false, false, -1, !en);
if (ret)
return ret;
st->chip_config.temp_en = en;
@@ -439,6 +451,16 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
}
}
+ /* enable/disable accel intelligence control */
+ if (mask & INV_MPU6050_SENSOR_WOM) {
+ val = en ? INV_MPU6500_BIT_ACCEL_INTEL_EN |
+ INV_MPU6500_BIT_ACCEL_INTEL_MODE : 0;
+ ret = regmap_write(st->map, INV_MPU6500_REG_ACCEL_INTEL_CTRL, val);
+ if (ret)
+ return ret;
+ st->chip_config.wom_en = en;
+ }
+
return 0;
}
@@ -447,7 +469,7 @@ static int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st,
{
int result;
- result = inv_mpu6050_pwr_mgmt_1_write(st, !power_on, -1, -1);
+ result = inv_mpu6050_pwr_mgmt_1_write(st, !power_on, false, -1, -1);
if (result)
return result;
@@ -477,22 +499,9 @@ static int inv_mpu6050_set_gyro_fsr(struct inv_mpu6050_state *st,
return regmap_write(st->map, st->reg->gyro_config, data);
}
-/*
- * inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
- *
- * MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope
- * MPU6500 and above have a dedicated register for accelerometer
- */
-static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
- enum inv_mpu6050_filter_e val)
+static int inv_mpu6050_set_accel_lpf_regs(struct inv_mpu6050_state *st,
+ enum inv_mpu6050_filter_e val)
{
- int result;
-
- result = regmap_write(st->map, st->reg->lpf, val);
- if (result)
- return result;
-
- /* set accel lpf */
switch (st->chip_type) {
case INV_MPU6050:
case INV_MPU6000:
@@ -512,6 +521,25 @@ static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
}
/*
+ * inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
+ *
+ * MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope
+ * MPU6500 and above have a dedicated register for accelerometer
+ */
+static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
+ enum inv_mpu6050_filter_e val)
+{
+ int result;
+
+ result = regmap_write(st->map, st->reg->lpf, val);
+ if (result)
+ return result;
+
+ /* set accel lpf */
+ return inv_mpu6050_set_accel_lpf_regs(st, val);
+}
+
+/*
* inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
*
* Initial configuration:
@@ -893,6 +921,317 @@ error_write_raw_unlock:
return result;
}
+static u64 inv_mpu6050_convert_wom_to_roc(unsigned int threshold, unsigned int freq_div)
+{
+ /* 4mg per LSB converted in m/s² in micro (1000000) */
+ const unsigned int convert = 4U * 9807U;
+ u64 value;
+
+ value = threshold * convert;
+
+ /* compute the differential by multiplying by the frequency */
+ return div_u64(value * INV_MPU6050_INTERNAL_FREQ_HZ, freq_div);
+}
+
+static unsigned int inv_mpu6050_convert_roc_to_wom(u64 roc, unsigned int freq_div)
+{
+ /* 4mg per LSB converted in m/s² in micro (1000000) */
+ const unsigned int convert = 4U * 9807U;
+ u64 value;
+
+ /* return 0 only if roc is 0 */
+ if (roc == 0)
+ return 0;
+
+ value = div_u64(roc * freq_div, convert * INV_MPU6050_INTERNAL_FREQ_HZ);
+
+ /* limit value to 8 bits and prevent 0 */
+ return min(255, max(1, value));
+}
+
+static int inv_mpu6050_set_wom_int(struct inv_mpu6050_state *st, bool on)
+{
+ unsigned int reg_val, val;
+
+ switch (st->chip_type) {
+ case INV_MPU6050:
+ case INV_MPU6500:
+ case INV_MPU6515:
+ case INV_MPU6880:
+ case INV_MPU6000:
+ case INV_MPU9150:
+ case INV_MPU9250:
+ case INV_MPU9255:
+ reg_val = INV_MPU6500_BIT_WOM_INT_EN;
+ break;
+ default:
+ reg_val = INV_ICM20608_BIT_WOM_INT_EN;
+ break;
+ }
+
+ val = on ? reg_val : 0;
+
+ return regmap_update_bits(st->map, st->reg->int_enable, reg_val, val);
+}
+
+static int inv_mpu6050_set_wom_threshold(struct inv_mpu6050_state *st, u64 value,
+ unsigned int freq_div)
+{
+ unsigned int threshold;
+ int result;
+
+ /* convert roc to wom threshold and convert back to handle clipping */
+ threshold = inv_mpu6050_convert_roc_to_wom(value, freq_div);
+ value = inv_mpu6050_convert_wom_to_roc(threshold, freq_div);
+
+ dev_dbg(regmap_get_device(st->map), "wom_threshold: 0x%x\n", threshold);
+
+ switch (st->chip_type) {
+ case INV_ICM20609:
+ case INV_ICM20689:
+ case INV_ICM20600:
+ case INV_ICM20602:
+ case INV_ICM20690:
+ st->data[0] = threshold;
+ st->data[1] = threshold;
+ st->data[2] = threshold;
+ result = regmap_bulk_write(st->map, INV_ICM20609_REG_ACCEL_WOM_X_THR,
+ st->data, 3);
+ break;
+ default:
+ result = regmap_write(st->map, INV_MPU6500_REG_WOM_THRESHOLD, threshold);
+ break;
+ }
+ if (result)
+ return result;
+
+ st->chip_config.roc_threshold = value;
+
+ return 0;
+}
+
+static int inv_mpu6050_set_lp_odr(struct inv_mpu6050_state *st, unsigned int freq_div,
+ unsigned int *lp_div)
+{
+ static const unsigned int freq_dividers[] = {2, 4, 8, 16, 32, 64, 128, 256};
+ static const unsigned int reg_values[] = {
+ INV_MPU6050_LPOSC_500HZ, INV_MPU6050_LPOSC_250HZ,
+ INV_MPU6050_LPOSC_125HZ, INV_MPU6050_LPOSC_62HZ,
+ INV_MPU6050_LPOSC_31HZ, INV_MPU6050_LPOSC_16HZ,
+ INV_MPU6050_LPOSC_8HZ, INV_MPU6050_LPOSC_4HZ,
+ };
+ unsigned int val, i;
+
+ switch (st->chip_type) {
+ case INV_ICM20609:
+ case INV_ICM20689:
+ case INV_ICM20600:
+ case INV_ICM20602:
+ case INV_ICM20690:
+ /* nothing to do */
+ *lp_div = INV_MPU6050_FREQ_DIVIDER(st);
+ return 0;
+ default:
+ break;
+ }
+
+ /* found the nearest superior frequency divider */
+ i = ARRAY_SIZE(reg_values) - 1;
+ val = reg_values[i];
+ *lp_div = freq_dividers[i];
+ for (i = 0; i < ARRAY_SIZE(freq_dividers); ++i) {
+ if (freq_div <= freq_dividers[i]) {
+ val = reg_values[i];
+ *lp_div = freq_dividers[i];
+ break;
+ }
+ }
+
+ dev_dbg(regmap_get_device(st->map), "lp_odr: 0x%x\n", val);
+ return regmap_write(st->map, INV_MPU6500_REG_LP_ODR, val);
+}
+
+static int inv_mpu6050_set_wom_lp(struct inv_mpu6050_state *st, bool on)
+{
+ unsigned int lp_div;
+ int result;
+
+ if (on) {
+ /* set low power ODR */
+ result = inv_mpu6050_set_lp_odr(st, INV_MPU6050_FREQ_DIVIDER(st), &lp_div);
+ if (result)
+ return result;
+ /* disable accel low pass filter */
+ result = inv_mpu6050_set_accel_lpf_regs(st, INV_MPU6050_FILTER_NOLPF);
+ if (result)
+ return result;
+ /* update wom threshold with new low-power frequency divider */
+ result = inv_mpu6050_set_wom_threshold(st, st->chip_config.roc_threshold, lp_div);
+ if (result)
+ return result;
+ /* set cycle mode */
+ result = inv_mpu6050_pwr_mgmt_1_write(st, false, true, -1, -1);
+ } else {
+ /* disable cycle mode */
+ result = inv_mpu6050_pwr_mgmt_1_write(st, false, false, -1, -1);
+ if (result)
+ return result;
+ /* restore wom threshold */
+ result = inv_mpu6050_set_wom_threshold(st, st->chip_config.roc_threshold,
+ INV_MPU6050_FREQ_DIVIDER(st));
+ if (result)
+ return result;
+ /* restore accel low pass filter */
+ result = inv_mpu6050_set_accel_lpf_regs(st, st->chip_config.lpf);
+ }
+
+ return result;
+}
+
+static int inv_mpu6050_enable_wom(struct inv_mpu6050_state *st, bool en)
+{
+ struct device *pdev = regmap_get_device(st->map);
+ unsigned int mask;
+ int result;
+
+ if (en) {
+ result = pm_runtime_resume_and_get(pdev);
+ if (result)
+ return result;
+
+ mask = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_WOM;
+ result = inv_mpu6050_switch_engine(st, true, mask);
+ if (result)
+ goto error_suspend;
+
+ result = inv_mpu6050_set_wom_int(st, true);
+ if (result)
+ goto error_suspend;
+ } else {
+ result = inv_mpu6050_set_wom_int(st, false);
+ if (result)
+ dev_err(pdev, "error %d disabling WoM interrupt bit", result);
+
+ /* disable only WoM and let accel be disabled by autosuspend */
+ result = inv_mpu6050_switch_engine(st, false, INV_MPU6050_SENSOR_WOM);
+ if (result) {
+ dev_err(pdev, "error %d disabling WoM force off", result);
+ /* force WoM off */
+ st->chip_config.wom_en = false;
+ }
+
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
+ }
+
+ return result;
+
+error_suspend:
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
+ return result;
+}
+
+static int inv_mpu6050_read_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ /* support only WoM (accel roc rising) event */
+ if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
+ dir != IIO_EV_DIR_RISING)
+ return -EINVAL;
+
+ guard(mutex)(&st->lock);
+
+ return st->chip_config.wom_en ? 1 : 0;
+}
+
+static int inv_mpu6050_write_event_config(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ int state)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ int enable;
+
+ /* support only WoM (accel roc rising) event */
+ if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
+ dir != IIO_EV_DIR_RISING)
+ return -EINVAL;
+
+ enable = !!state;
+
+ guard(mutex)(&st->lock);
+
+ if (st->chip_config.wom_en == enable)
+ return 0;
+
+ return inv_mpu6050_enable_wom(st, enable);
+}
+
+static int inv_mpu6050_read_event_value(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info,
+ int *val, int *val2)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ u32 rem;
+
+ /* support only WoM (accel roc rising) event value */
+ if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
+ dir != IIO_EV_DIR_RISING || info != IIO_EV_INFO_VALUE)
+ return -EINVAL;
+
+ guard(mutex)(&st->lock);
+
+ /* return value in micro */
+ *val = div_u64_rem(st->chip_config.roc_threshold, 1000000U, &rem);
+ *val2 = rem;
+
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int inv_mpu6050_write_event_value(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ enum iio_event_info info,
+ int val, int val2)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct device *pdev = regmap_get_device(st->map);
+ u64 value;
+ int result;
+
+ /* support only WoM (accel roc rising) event value */
+ if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
+ dir != IIO_EV_DIR_RISING || info != IIO_EV_INFO_VALUE)
+ return -EINVAL;
+
+ if (val < 0 || val2 < 0)
+ return -EINVAL;
+
+ guard(mutex)(&st->lock);
+
+ result = pm_runtime_resume_and_get(pdev);
+ if (result)
+ return result;
+
+ value = (u64)val * 1000000ULL + (u64)val2;
+ result = inv_mpu6050_set_wom_threshold(st, value, INV_MPU6050_FREQ_DIVIDER(st));
+
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
+
+ return result;
+}
+
/*
* inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
*
@@ -989,6 +1328,12 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
if (result)
goto fifo_rate_fail_power_off;
+ /* update wom threshold since roc is dependent on sampling frequency */
+ result = inv_mpu6050_set_wom_threshold(st, st->chip_config.roc_threshold,
+ INV_MPU6050_FREQ_DIVIDER(st));
+ if (result)
+ goto fifo_rate_fail_power_off;
+
pm_runtime_mark_last_busy(pdev);
fifo_rate_fail_power_off:
pm_runtime_put_autosuspend(pdev);
@@ -1089,6 +1434,15 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = {
{ }
};
+static const struct iio_event_spec inv_wom_events[] = {
+ {
+ .type = IIO_EV_TYPE_ROC,
+ .dir = IIO_EV_DIR_RISING,
+ .mask_separate = BIT(IIO_EV_INFO_ENABLE) |
+ BIT(IIO_EV_INFO_VALUE),
+ },
+};
+
#define INV_MPU6050_CHAN(_type, _channel2, _index) \
{ \
.type = _type, \
@@ -1124,7 +1478,31 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = {
}, \
}
-static const struct iio_chan_spec inv_mpu_channels[] = {
+#define INV_MPU6050_EVENT_CHAN(_type, _channel2, _events, _events_nb) \
+{ \
+ .type = _type, \
+ .modified = 1, \
+ .channel2 = _channel2, \
+ .event_spec = _events, \
+ .num_event_specs = _events_nb, \
+ .scan_index = -1, \
+}
+
+static const struct iio_chan_spec inv_mpu6050_channels[] = {
+ IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
+
+ INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
+
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
+
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
+};
+
+static const struct iio_chan_spec inv_mpu6500_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
@@ -1136,6 +1514,9 @@ static const struct iio_chan_spec inv_mpu_channels[] = {
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
+
+ INV_MPU6050_EVENT_CHAN(IIO_ACCEL, IIO_MOD_X_OR_Y_OR_Z,
+ inv_wom_events, ARRAY_SIZE(inv_wom_events)),
};
#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \
@@ -1326,6 +1707,10 @@ static const struct iio_info mpu_info = {
.write_raw = &inv_mpu6050_write_raw,
.write_raw_get_fmt = &inv_write_raw_get_fmt,
.attrs = &inv_attribute_group,
+ .read_event_config = inv_mpu6050_read_event_config,
+ .write_event_config = inv_mpu6050_write_event_config,
+ .read_event_value = inv_mpu6050_read_event_value,
+ .write_event_value = inv_mpu6050_write_event_value,
.validate_trigger = inv_mpu6050_validate_trigger,
.debugfs_reg_access = &inv_mpu6050_reg_access,
};
@@ -1537,6 +1922,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
irq_type);
return -EINVAL;
}
+ device_set_wakeup_capable(dev, true);
st->vdd_supply = devm_regulator_get(dev, "vdd");
if (IS_ERR(st->vdd_supply))
@@ -1613,6 +1999,12 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
return result;
switch (chip_type) {
+ case INV_MPU6000:
+ case INV_MPU6050:
+ indio_dev->channels = inv_mpu6050_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu6050_channels);
+ indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ break;
case INV_MPU9150:
indio_dev->channels = inv_mpu9150_channels;
indio_dev->num_channels = ARRAY_SIZE(inv_mpu9150_channels);
@@ -1626,13 +2018,13 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
break;
case INV_ICM20600:
case INV_ICM20602:
- indio_dev->channels = inv_mpu_channels;
- indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+ indio_dev->channels = inv_mpu6500_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu6500_channels);
indio_dev->available_scan_masks = inv_icm20602_scan_masks;
break;
default:
- indio_dev->channels = inv_mpu_channels;
- indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+ indio_dev->channels = inv_mpu6500_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu6500_channels);
indio_dev->available_scan_masks = inv_mpu_scan_masks;
break;
}
@@ -1641,9 +2033,18 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
* auxiliary device in use. Otherwise Going back to 6-axis only.
*/
if (st->magn_disabled) {
- indio_dev->channels = inv_mpu_channels;
- indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
- indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ switch (chip_type) {
+ case INV_MPU9150:
+ indio_dev->channels = inv_mpu6050_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu6050_channels);
+ indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ break;
+ default:
+ indio_dev->channels = inv_mpu6500_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu6500_channels);
+ indio_dev->available_scan_masks = inv_mpu_scan_masks;
+ break;
+ }
}
indio_dev->info = &mpu_info;
@@ -1687,16 +2088,27 @@ static int inv_mpu_resume(struct device *dev)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ bool wakeup;
int result;
- mutex_lock(&st->lock);
- result = inv_mpu_core_enable_regulator_vddio(st);
- if (result)
- goto out_unlock;
+ guard(mutex)(&st->lock);
- result = inv_mpu6050_set_power_itg(st, true);
- if (result)
- goto out_unlock;
+ wakeup = device_may_wakeup(dev) && st->chip_config.wom_en;
+
+ if (wakeup) {
+ enable_irq(st->irq);
+ disable_irq_wake(st->irq);
+ result = inv_mpu6050_set_wom_lp(st, false);
+ if (result)
+ return result;
+ } else {
+ result = inv_mpu_core_enable_regulator_vddio(st);
+ if (result)
+ return result;
+ result = inv_mpu6050_set_power_itg(st, true);
+ if (result)
+ return result;
+ }
pm_runtime_disable(dev);
pm_runtime_set_active(dev);
@@ -1704,14 +2116,17 @@ static int inv_mpu_resume(struct device *dev)
result = inv_mpu6050_switch_engine(st, true, st->suspended_sensors);
if (result)
- goto out_unlock;
+ return result;
+
+ if (st->chip_config.wom_en && !wakeup) {
+ result = inv_mpu6050_set_wom_int(st, true);
+ if (result)
+ return result;
+ }
if (iio_buffer_enabled(indio_dev))
result = inv_mpu6050_prepare_fifo(st, true);
-out_unlock:
- mutex_unlock(&st->lock);
-
return result;
}
@@ -1719,23 +2134,30 @@ static int inv_mpu_suspend(struct device *dev)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ bool wakeup;
int result;
- mutex_lock(&st->lock);
+ guard(mutex)(&st->lock);
st->suspended_sensors = 0;
- if (pm_runtime_suspended(dev)) {
- result = 0;
- goto out_unlock;
- }
+ if (pm_runtime_suspended(dev))
+ return 0;
if (iio_buffer_enabled(indio_dev)) {
result = inv_mpu6050_prepare_fifo(st, false);
if (result)
- goto out_unlock;
+ return result;
+ }
+
+ wakeup = device_may_wakeup(dev) && st->chip_config.wom_en;
+
+ if (st->chip_config.wom_en && !wakeup) {
+ result = inv_mpu6050_set_wom_int(st, false);
+ if (result)
+ return result;
}
- if (st->chip_config.accl_en)
+ if (st->chip_config.accl_en && !wakeup)
st->suspended_sensors |= INV_MPU6050_SENSOR_ACCL;
if (st->chip_config.gyro_en)
st->suspended_sensors |= INV_MPU6050_SENSOR_GYRO;
@@ -1743,19 +2165,26 @@ static int inv_mpu_suspend(struct device *dev)
st->suspended_sensors |= INV_MPU6050_SENSOR_TEMP;
if (st->chip_config.magn_en)
st->suspended_sensors |= INV_MPU6050_SENSOR_MAGN;
+ if (st->chip_config.wom_en && !wakeup)
+ st->suspended_sensors |= INV_MPU6050_SENSOR_WOM;
result = inv_mpu6050_switch_engine(st, false, st->suspended_sensors);
if (result)
- goto out_unlock;
-
- result = inv_mpu6050_set_power_itg(st, false);
- if (result)
- goto out_unlock;
+ return result;
- inv_mpu_core_disable_regulator_vddio(st);
-out_unlock:
- mutex_unlock(&st->lock);
+ if (wakeup) {
+ result = inv_mpu6050_set_wom_lp(st, true);
+ if (result)
+ return result;
+ enable_irq_wake(st->irq);
+ disable_irq(st->irq);
+ } else {
+ result = inv_mpu6050_set_power_itg(st, false);
+ if (result)
+ return result;
+ inv_mpu_core_disable_regulator_vddio(st);
+ }
- return result;
+ return 0;
}
static int inv_mpu_runtime_suspend(struct device *dev)
@@ -1767,7 +2196,8 @@ static int inv_mpu_runtime_suspend(struct device *dev)
mutex_lock(&st->lock);
sensors = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
- INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
+ INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN |
+ INV_MPU6050_SENSOR_WOM;
ret = inv_mpu6050_switch_engine(st, false, sensors);
if (ret)
goto out_unlock;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index 410ea39fd4..0e03137fb3 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -142,7 +142,7 @@ static int inv_mpu_probe(struct i2c_client *client)
if (!st->muxc)
return -ENOMEM;
st->muxc->priv = dev_get_drvdata(&client->dev);
- result = i2c_mux_add_adapter(st->muxc, 0, 0, 0);
+ result = i2c_mux_add_adapter(st->muxc, 0, 0);
if (result)
return result;
result = inv_mpu_acpi_create_mux_client(client);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 5950e2419e..e1c0c51468 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -88,11 +88,12 @@ enum inv_devices {
INV_NUM_PARTS
};
-/* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer */
+/* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer, WoM */
#define INV_MPU6050_SENSOR_ACCL BIT(0)
#define INV_MPU6050_SENSOR_GYRO BIT(1)
#define INV_MPU6050_SENSOR_TEMP BIT(2)
#define INV_MPU6050_SENSOR_MAGN BIT(3)
+#define INV_MPU6050_SENSOR_WOM BIT(4)
/**
* struct inv_mpu6050_chip_config - Cached chip configuration data.
@@ -104,11 +105,13 @@ enum inv_devices {
* @gyro_en: gyro engine enabled
* @temp_en: temperature sensor enabled
* @magn_en: magn engine (i2c master) enabled
+ * @wom_en: Wake-on-Motion enabled
* @accl_fifo_enable: enable accel data output
* @gyro_fifo_enable: enable gyro data output
* @temp_fifo_enable: enable temp data output
* @magn_fifo_enable: enable magn data output
* @divider: chip sample rate divider (sample rate divider - 1)
+ * @roc_threshold: save ROC threshold (WoM) set value
*/
struct inv_mpu6050_chip_config {
unsigned int clk:3;
@@ -119,12 +122,14 @@ struct inv_mpu6050_chip_config {
unsigned int gyro_en:1;
unsigned int temp_en:1;
unsigned int magn_en:1;
+ unsigned int wom_en:1;
unsigned int accl_fifo_enable:1;
unsigned int gyro_fifo_enable:1;
unsigned int temp_fifo_enable:1;
unsigned int magn_fifo_enable:1;
u8 divider;
u8 user_ctrl;
+ u64 roc_threshold;
};
/*
@@ -180,6 +185,7 @@ struct inv_mpu6050_hw {
* @magn_orient: magnetometer sensor chip orientation if available.
* @suspended_sensors: sensors mask of sensors turned off for suspend
* @data: read buffer used for bulk reads.
+ * @it_timestamp: interrupt timestamp.
*/
struct inv_mpu6050_state {
struct mutex lock;
@@ -205,6 +211,7 @@ struct inv_mpu6050_state {
unsigned int suspended_sensors;
bool level_shifter;
u8 *data;
+ s64 it_timestamp;
};
/*register and associated bit definition*/
@@ -256,12 +263,16 @@ struct inv_mpu6050_state {
#define INV_MPU6050_REG_INT_ENABLE 0x38
#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
#define INV_MPU6050_BIT_DMP_INT_EN 0x02
+#define INV_MPU6500_BIT_WOM_INT_EN BIT(6)
+#define INV_ICM20608_BIT_WOM_INT_EN GENMASK(7, 5)
#define INV_MPU6050_REG_RAW_ACCEL 0x3B
#define INV_MPU6050_REG_TEMPERATURE 0x41
#define INV_MPU6050_REG_RAW_GYRO 0x43
#define INV_MPU6050_REG_INT_STATUS 0x3A
+#define INV_MPU6500_BIT_WOM_INT BIT(6)
+#define INV_ICM20608_BIT_WOM_INT GENMASK(7, 5)
#define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
@@ -294,6 +305,7 @@ struct inv_mpu6050_state {
#define INV_MPU6050_REG_PWR_MGMT_1 0x6B
#define INV_MPU6050_BIT_H_RESET 0x80
#define INV_MPU6050_BIT_SLEEP 0x40
+#define INV_MPU6050_BIT_CYCLE 0x20
#define INV_MPU6050_BIT_TEMP_DIS 0x08
#define INV_MPU6050_BIT_CLK_MASK 0x7
@@ -301,6 +313,11 @@ struct inv_mpu6050_state {
#define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
#define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
+/* ICM20609 registers */
+#define INV_ICM20609_REG_ACCEL_WOM_X_THR 0x20
+#define INV_ICM20609_REG_ACCEL_WOM_Y_THR 0x21
+#define INV_ICM20609_REG_ACCEL_WOM_Z_THR 0x22
+
/* ICM20602 register */
#define INV_ICM20602_REG_I2C_IF 0x70
#define INV_ICM20602_BIT_I2C_IF_DIS 0x40
@@ -320,6 +337,11 @@ struct inv_mpu6050_state {
/* mpu6500 registers */
#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
#define INV_ICM20689_BITS_FIFO_SIZE_MAX 0xC0
+#define INV_MPU6500_REG_LP_ODR 0x1E
+#define INV_MPU6500_REG_WOM_THRESHOLD 0x1F
+#define INV_MPU6500_REG_ACCEL_INTEL_CTRL 0x69
+#define INV_MPU6500_BIT_ACCEL_INTEL_EN BIT(7)
+#define INV_MPU6500_BIT_ACCEL_INTEL_MODE BIT(6)
#define INV_MPU6500_REG_ACCEL_OFFSET 0x77
/* delay time in milliseconds */
@@ -432,6 +454,18 @@ enum inv_mpu6050_filter_e {
NUM_MPU6050_FILTER
};
+enum inv_mpu6050_lposc_e {
+ INV_MPU6050_LPOSC_4HZ = 4,
+ INV_MPU6050_LPOSC_8HZ,
+ INV_MPU6050_LPOSC_16HZ,
+ INV_MPU6050_LPOSC_31HZ,
+ INV_MPU6050_LPOSC_62HZ,
+ INV_MPU6050_LPOSC_125HZ,
+ INV_MPU6050_LPOSC_250HZ,
+ INV_MPU6050_LPOSC_500HZ,
+ NUM_MPU6050_LPOSC,
+};
+
/* IIO attribute address */
enum INV_MPU6050_IIO_ATTR_ADDR {
ATTR_GYRO_MATRIX,
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index d4f9b5d8d2..3d3b27f28c 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -33,10 +33,8 @@ static int inv_reset_fifo(struct iio_dev *indio_dev)
reset_fifo_fail:
dev_err(regmap_get_device(st->map), "reset fifo failed %d\n", result);
- result = regmap_write(st->map, st->reg->int_enable,
- INV_MPU6050_BIT_DATA_RDY_EN);
-
- return result;
+ return regmap_update_bits(st->map, st->reg->int_enable,
+ INV_MPU6050_BIT_DATA_RDY_EN, INV_MPU6050_BIT_DATA_RDY_EN);
}
/*
@@ -53,21 +51,10 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
u32 fifo_period;
s64 timestamp;
u8 data[INV_MPU6050_OUTPUT_DATA_SIZE];
- int int_status;
size_t i, nb;
mutex_lock(&st->lock);
- /* ack interrupt and check status */
- result = regmap_read(st->map, st->reg->int_status, &int_status);
- if (result) {
- dev_err(regmap_get_device(st->map),
- "failed to ack interrupt\n");
- goto flush_fifo;
- }
- if (!(int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT))
- goto end_session;
-
if (!(st->chip_config.accl_fifo_enable |
st->chip_config.gyro_fifo_enable |
st->chip_config.magn_fifo_enable))
@@ -113,8 +100,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
goto end_session;
/* Each FIFO data contains all sensors, so same number for FIFO and sensor data */
fifo_period = NSEC_PER_SEC / INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
- inv_sensors_timestamp_interrupt(&st->timestamp, fifo_period, nb, nb, pf->timestamp);
- inv_sensors_timestamp_apply_odr(&st->timestamp, fifo_period, nb, 0);
+ inv_sensors_timestamp_interrupt(&st->timestamp, 1, pf->timestamp);
+ inv_sensors_timestamp_apply_odr(&st->timestamp, fifo_period, 1, 0);
/* clear internal data buffer for avoiding kernel data leak */
memset(data, 0, sizeof(data));
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index e6e6e94452..84273660ca 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -6,6 +6,7 @@
#include <linux/pm_runtime.h>
#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/events.h>
#include "inv_mpu_iio.h"
@@ -135,11 +136,13 @@ int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
ret = regmap_write(st->map, st->reg->user_ctrl, d);
if (ret)
return ret;
- /* enable interrupt */
- ret = regmap_write(st->map, st->reg->int_enable,
- INV_MPU6050_BIT_DATA_RDY_EN);
+ /* enable data interrupt */
+ ret = regmap_update_bits(st->map, st->reg->int_enable,
+ INV_MPU6050_BIT_DATA_RDY_EN, INV_MPU6050_BIT_DATA_RDY_EN);
} else {
- ret = regmap_write(st->map, st->reg->int_enable, 0);
+ /* disable data interrupt */
+ ret = regmap_update_bits(st->map, st->reg->int_enable,
+ INV_MPU6050_BIT_DATA_RDY_EN, 0);
if (ret)
return ret;
ret = regmap_write(st->map, st->reg->fifo_en, 0);
@@ -172,9 +175,9 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
return result;
/*
* In case autosuspend didn't trigger, turn off first not
- * required sensors.
+ * required sensors excepted WoM
*/
- result = inv_mpu6050_switch_engine(st, false, ~scan);
+ result = inv_mpu6050_switch_engine(st, false, ~scan & ~INV_MPU6050_SENSOR_WOM);
if (result)
goto error_power_off;
result = inv_mpu6050_switch_engine(st, true, scan);
@@ -226,6 +229,65 @@ static const struct iio_trigger_ops inv_mpu_trigger_ops = {
.set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
};
+static irqreturn_t inv_mpu6050_interrupt_timestamp(int irq, void *p)
+{
+ struct iio_dev *indio_dev = p;
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ st->it_timestamp = iio_get_time_ns(indio_dev);
+
+ return IRQ_WAKE_THREAD;
+}
+
+static irqreturn_t inv_mpu6050_interrupt_handle(int irq, void *p)
+{
+ struct iio_dev *indio_dev = p;
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ unsigned int int_status, wom_bits;
+ u64 ev_code;
+ int result;
+
+ switch (st->chip_type) {
+ case INV_MPU6050:
+ case INV_MPU6500:
+ case INV_MPU6515:
+ case INV_MPU6880:
+ case INV_MPU6000:
+ case INV_MPU9150:
+ case INV_MPU9250:
+ case INV_MPU9255:
+ wom_bits = INV_MPU6500_BIT_WOM_INT;
+ break;
+ default:
+ wom_bits = INV_ICM20608_BIT_WOM_INT;
+ break;
+ }
+
+ scoped_guard(mutex, &st->lock) {
+ /* ack interrupt and check status */
+ result = regmap_read(st->map, st->reg->int_status, &int_status);
+ if (result) {
+ dev_err(regmap_get_device(st->map), "failed to ack interrupt\n");
+ return IRQ_HANDLED;
+ }
+
+ /* handle WoM event */
+ if (st->chip_config.wom_en && (int_status & wom_bits)) {
+ ev_code = IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, IIO_MOD_X_OR_Y_OR_Z,
+ IIO_EV_TYPE_ROC, IIO_EV_DIR_RISING);
+ iio_push_event(indio_dev, ev_code, st->it_timestamp);
+ }
+ }
+
+ /* handle raw data interrupt */
+ if (int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT) {
+ indio_dev->pollfunc->timestamp = st->it_timestamp;
+ iio_trigger_poll_nested(st->trig);
+ }
+
+ return IRQ_HANDLED;
+}
+
int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
{
int ret;
@@ -238,11 +300,11 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
if (!st->trig)
return -ENOMEM;
- ret = devm_request_irq(&indio_dev->dev, st->irq,
- &iio_trigger_generic_data_rdy_poll,
- irq_type,
- "inv_mpu",
- st->trig);
+ irq_type |= IRQF_ONESHOT;
+ ret = devm_request_threaded_irq(&indio_dev->dev, st->irq,
+ &inv_mpu6050_interrupt_timestamp,
+ &inv_mpu6050_interrupt_handle,
+ irq_type, "inv_mpu", indio_dev);
if (ret)
return ret;
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index 0716986f98..937ff9c5a7 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -2726,7 +2726,7 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
if (!hw)
return -ENOMEM;
- dev_set_drvdata(dev, (void *)hw);
+ dev_set_drvdata(dev, hw);
mutex_init(&hw->fifo_lock);
mutex_init(&hw->conf_lock);
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-30 20:29:08 +0000