Right now it is possible to only enable some of the x/y/z channels, for
example you can enable accel_z without x or y but if you actually do
that what you get is actually only the x channel.
Fix this by reformatting the hardware sample to only include the
requested channels.
Signed-off-by: Crestez Dan Leonard <leonard.crestez@xxxxxxxxx>
---
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 8 +++
drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 107 ++++++++++++++++++++++++++++-
2 files changed, 112 insertions(+), 3 deletions(-)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 85f9b50..ec1401d 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -152,6 +152,11 @@ struct inv_mpu6050_state {
/* Value of I2C_MST_STATUS after slv4_done */
u8 slv4_done_status;
#endif
+
+#define INV_MPU6050_MAX_SCAN_ELEMENTS 7
+ unsigned int scan_offsets[INV_MPU6050_MAX_SCAN_ELEMENTS];
+ unsigned int scan_lengths[INV_MPU6050_MAX_SCAN_ELEMENTS];
+ bool realign_required;
};
/*register and associated bit definition*/
@@ -274,6 +279,9 @@ enum inv_mpu6050_scan {
INV_MPU6050_SCAN_TIMESTAMP,
};
+#define INV_MPU6050_SCAN_MASK_ACCEL 0x07
+#define INV_MPU6050_SCAN_MASK_GYRO 0x38
+
enum inv_mpu6050_filter_e {
INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
INV_MPU6050_FILTER_188HZ,
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index 56ee1e2..49e503c 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -24,6 +24,90 @@
#include <linux/spi/spi.h>
#include "inv_mpu_iio.h"
+static void inv_mpu_get_scan_offsets(
+ struct iio_dev *indio_dev,
+ const unsigned long *mask,
+ const unsigned int masklen,
+ unsigned int *scan_offsets)
+{
+ unsigned int pos = 0;
+
+ if (*mask & INV_MPU6050_SCAN_MASK_ACCEL) {
+ scan_offsets[INV_MPU6050_SCAN_ACCL_X] = pos + 0;
+ scan_offsets[INV_MPU6050_SCAN_ACCL_Y] = pos + 2;
+ scan_offsets[INV_MPU6050_SCAN_ACCL_Z] = pos + 4;
+ pos += 6;
+ }
+ if (*mask & INV_MPU6050_SCAN_MASK_GYRO) {
+ scan_offsets[INV_MPU6050_SCAN_GYRO_X] = pos + 0;
+ scan_offsets[INV_MPU6050_SCAN_GYRO_Y] = pos + 2;
+ scan_offsets[INV_MPU6050_SCAN_GYRO_Z] = pos + 4;
+ pos += 6;
+ }
+}
+
+/* This is slowish but relatively common */
+static const struct iio_chan_spec *
+iio_chan_by_scan_index(struct iio_dev *indio_dev, int index)
+{
+ int i;
+
+ for (i = 0; i < indio_dev->num_channels; ++i)
+ if (indio_dev->channels[i].scan_index == index)
+ return &indio_dev->channels[i];
+
+ return NULL;
+}
+
+static int iio_check_scan_offsets_aligned(
+ struct iio_dev *indio_dev,
+ const unsigned long *mask,
+ unsigned int masklen,
+ unsigned int *scan_offsets)
+{
+ int scan_index;
+ unsigned int pos = 0;
+ const struct iio_chan_spec *chan;
+
+ for_each_set_bit(scan_index, mask, masklen) {
+ chan = iio_chan_by_scan_index(indio_dev, scan_index);
+ if (scan_offsets[scan_index] != pos)
+ return false;
+ pos = ALIGN(pos + chan->scan_type.storagebits / 8,
+ chan->scan_type.storagebits / 8);
+ }
+
+ return true;
+}
+
+static void iio_get_scan_lengths(struct iio_dev *indio_dev, unsigned int *scan_length)
+{
+ int i;
+ const struct iio_chan_spec *chan;
+
+ for (i = 0; i < indio_dev->num_channels; ++i) {
+ chan = &indio_dev->channels[i];
+ if (chan->scan_index < 0)
+ continue;
+ scan_length[chan->scan_index] = chan->scan_type.storagebits / 8;
+ }
+}
+
+static void iio_realign_sample(
+ struct iio_dev *indio_dev,
+ const u8 *ibuf, u8 *obuf,
+ const unsigned int *scan_offset,
+ const unsigned int *scan_lengths)
+{
+ unsigned int pos = 0;
+ int i;
+
+ for_each_set_bit(i, indio_dev->active_scan_mask, indio_dev->masklength) {
+ memcpy(&obuf[pos], &ibuf[scan_offset[i]], scan_lengths[i]);
+ pos = ALIGN(pos + scan_lengths[i], scan_lengths[i]);
+ }
+}
+
static void inv_clear_kfifo(struct inv_mpu6050_state *st)
{
unsigned long flags;
@@ -38,7 +122,9 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
{
int result;
u8 d;
- struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ const unsigned long *mask = indio_dev->active_scan_mask;
+ unsigned int masklen = indio_dev->masklength;
/* disable interrupt */
result = regmap_update_bits(st->map, st->reg->int_enable,
@@ -93,6 +179,13 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
if (result)
goto reset_fifo_fail;
+ /* check realign required */
+ inv_mpu_get_scan_offsets(indio_dev, mask, masklen, st->scan_offsets);
+ st->realign_required = !iio_check_scan_offsets_aligned(
+ indio_dev, mask, masklen, st->scan_offsets);
+ if (st->realign_required)
+ iio_get_scan_lengths(indio_dev, st->scan_lengths);
+
return 0;
reset_fifo_fail:
@@ -201,8 +294,16 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
if (result == 0)
timestamp = 0;
- result = iio_push_to_buffers_with_timestamp(indio_dev, data,
- timestamp);
+ if (st->realign_required) {
+ u8 adata[INV_MPU6050_OUTPUT_DATA_SIZE];
+ iio_realign_sample(indio_dev, data, adata,
+ st->scan_offsets, st->scan_lengths);
+ result = iio_push_to_buffers_with_timestamp(
+ indio_dev, adata, timestamp);
+ } else {
+ result = iio_push_to_buffers_with_timestamp(
+ indio_dev, data, timestamp);
+ }
if (result)
goto flush_fifo;
fifo_count -= bytes_per_datum;
--
2.5.5
--
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