On Thu, 29 Aug 2019 15:18:46 +0000
Jean-Baptiste Maneyrol <JManeyrol@xxxxxxxxxxxxxx> wrote:
> Put read magnetometer data by mpu inside the fifo.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx>
Inline...
> ---
> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 1 +
> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 2 +
> drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 14 ++-
> drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 90 +++++++++++++++++--
> 4 files changed, 94 insertions(+), 13 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index d08cec6a8a7a..d4a321fd03a9 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -105,6 +105,7 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = {
> .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE),
> .gyro_fifo_enable = false,
> .accl_fifo_enable = false,
> + .magn_fifo_enable = false,
> .accl_fs = INV_MPU6050_FS_02G,
> .user_ctrl = 0,
> };
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index cfc11cb0a36c..48ed66e39cda 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -86,6 +86,7 @@ enum inv_devices {
> * @accl_fs: accel full scale range.
> * @accl_fifo_enable: enable accel data output
> * @gyro_fifo_enable: enable gyro data output
> + * @magn_fifo_enable: enable magn data output
> * @divider: chip sample rate divider (sample rate divider - 1)
> */
> struct inv_mpu6050_chip_config {
> @@ -94,6 +95,7 @@ struct inv_mpu6050_chip_config {
> unsigned int accl_fs:2;
> unsigned int accl_fifo_enable:1;
> unsigned int gyro_fifo_enable:1;
> + unsigned int magn_fifo_enable:1;
> u8 divider;
> u8 user_ctrl;
> };
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> index 5f9a5de0bab4..f0a5350c1848 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> @@ -14,6 +14,7 @@
> #include <linux/poll.h>
> #include <linux/math64.h>
> #include <asm/unaligned.h>
> +
Clean this stuff up - should not be in this patch.
> #include "inv_mpu_iio.h"
>
> /**
> @@ -124,7 +125,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
>
> /* enable interrupt */
> if (st->chip_config.accl_fifo_enable ||
> - st->chip_config.gyro_fifo_enable) {
> + st->chip_config.gyro_fifo_enable ||
> + st->chip_config.magn_fifo_enable) {
> result = regmap_write(st->map, st->reg->int_enable,
> INV_MPU6050_BIT_DATA_RDY_EN);
> if (result)
> @@ -141,6 +143,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
> d |= INV_MPU6050_BITS_GYRO_OUT;
> if (st->chip_config.accl_fifo_enable)
> d |= INV_MPU6050_BIT_ACCEL_OUT;
> + if (st->chip_config.magn_fifo_enable)
> + d |= INV_MPU6050_BIT_SLAVE_0;
> result = regmap_write(st->map, st->reg->fifo_en, d);
> if (result)
> goto reset_fifo_fail;
> @@ -190,17 +194,19 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
> }
>
> if (!(st->chip_config.accl_fifo_enable |
> - st->chip_config.gyro_fifo_enable))
> + st->chip_config.gyro_fifo_enable |
> + st->chip_config.magn_fifo_enable))
> goto end_session;
> +
> bytes_per_datum = 0;
> if (st->chip_config.accl_fifo_enable)
> bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
> -
I don't want to see white space changes in a patch doing something else.
Better to just be consistent and carry on with the blank line for your new
case.
> if (st->chip_config.gyro_fifo_enable)
> bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
> -
> if (st->chip_type == INV_ICM20602)
> bytes_per_datum += INV_ICM20602_BYTES_PER_TEMP_SENSOR;
> + if (st->chip_config.magn_fifo_enable)
> + bytes_per_datum += INV_MPU9X50_BYTES_MAGN;
>
> /*
> * read fifo_count register to know how many bytes are inside the FIFO
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> index dd55e70b6f77..fa4928e589b9 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> @@ -5,7 +5,7 @@
>
> #include "inv_mpu_iio.h"
>
> -static void inv_scan_query(struct iio_dev *indio_dev)
> +static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
> {
> struct inv_mpu6050_state *st = iio_priv(indio_dev);
>
> @@ -26,6 +26,52 @@ static void inv_scan_query(struct iio_dev *indio_dev)
> indio_dev->active_scan_mask);
> }
>
> +#ifdef CONFIG_INV_MPU6050_MAGN
> +static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
> +{
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> +
> + st->chip_config.gyro_fifo_enable =
> + test_bit(INV_MPU9X50_SCAN_GYRO_X,
> + indio_dev->active_scan_mask) ||
> + test_bit(INV_MPU9X50_SCAN_GYRO_Y,
> + indio_dev->active_scan_mask) ||
> + test_bit(INV_MPU9X50_SCAN_GYRO_Z,
> + indio_dev->active_scan_mask);
> +
> + st->chip_config.accl_fifo_enable =
> + test_bit(INV_MPU9X50_SCAN_ACCL_X,
> + indio_dev->active_scan_mask) ||
> + test_bit(INV_MPU9X50_SCAN_ACCL_Y,
> + indio_dev->active_scan_mask) ||
> + test_bit(INV_MPU9X50_SCAN_ACCL_Z,
> + indio_dev->active_scan_mask);
> +
> + st->chip_config.magn_fifo_enable =
> + test_bit(INV_MPU9X50_SCAN_MAGN_X,
> + indio_dev->active_scan_mask) ||
> + test_bit(INV_MPU9X50_SCAN_MAGN_Y,
> + indio_dev->active_scan_mask) ||
> + test_bit(INV_MPU9X50_SCAN_MAGN_Z,
> + indio_dev->active_scan_mask);
> +}
> +#endif
> +
> +static void inv_scan_query(struct iio_dev *indio_dev)
> +{
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> +
> + switch (st->chip_type) {
> +#ifdef CONFIG_INV_MPU6050_MAGN
> + case INV_MPU9250:
> + case INV_MPU9255:
> + return inv_scan_query_mpu9x50(indio_dev);
> +#endif
> + default:
> + return inv_scan_query_mpu6050(indio_dev);
> + }
> +}
> +
> /**
> * inv_mpu6050_set_enable() - enable chip functions.
> * @indio_dev: Device driver instance.
> @@ -34,6 +80,11 @@ static void inv_scan_query(struct iio_dev *indio_dev)
> static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
> {
> struct inv_mpu6050_state *st = iio_priv(indio_dev);
> + uint8_t d;
> + unsigned int gyro_skip = 0;
> + unsigned int accl_skip = 0;
> + unsigned int magn_skip = 0;
> + unsigned int skip_samples;
> int result;
>
> if (enable) {
> @@ -41,14 +92,13 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
> if (result)
> return result;
> inv_scan_query(indio_dev);
> - st->skip_samples = 0;
> if (st->chip_config.gyro_fifo_enable) {
> result = inv_mpu6050_switch_engine(st, true,
> INV_MPU6050_BIT_PWR_GYRO_STBY);
> if (result)
> goto error_power_off;
> /* gyro first sample is out of specs, skip it */
> - st->skip_samples = 1;
> + gyro_skip = 1;
> }
> if (st->chip_config.accl_fifo_enable) {
> result = inv_mpu6050_switch_engine(st, true,
> @@ -56,22 +106,40 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
> if (result)
> goto error_gyro_off;
> }
> + if (st->chip_config.magn_fifo_enable) {
> + d = st->chip_config.user_ctrl |
> + INV_MPU6050_BIT_I2C_MST_EN;
> + result = regmap_write(st->map, st->reg->user_ctrl, d);
> + if (result)
> + goto error_accl_off;
> + st->chip_config.user_ctrl = d;
> + /* mag first sample is always not ready, skip it */
> + magn_skip = 1;
> + }
> + /* compute first samples to skip */
> + skip_samples = gyro_skip;
> + if (accl_skip > skip_samples)
> + skip_samples = accl_skip;
> + if (magn_skip > skip_samples)
> + skip_samples = magn_skip;
> + st->skip_samples = skip_samples;
> result = inv_reset_fifo(indio_dev);
> if (result)
> - goto error_accl_off;
> + goto error_magn_off;
> } else {
> result = regmap_write(st->map, st->reg->fifo_en, 0);
> if (result)
> - goto error_accl_off;
> + goto error_magn_off;
>
> result = regmap_write(st->map, st->reg->int_enable, 0);
> if (result)
> - goto error_accl_off;
> + goto error_magn_off;
>
> - result = regmap_write(st->map, st->reg->user_ctrl,
> - st->chip_config.user_ctrl);
> + d = st->chip_config.user_ctrl & ~INV_MPU6050_BIT_I2C_MST_EN;
> + result = regmap_write(st->map, st->reg->user_ctrl, d);
> if (result)
> - goto error_accl_off;
> + goto error_magn_off;
> + st->chip_config.user_ctrl = d;
>
> result = inv_mpu6050_switch_engine(st, false,
> INV_MPU6050_BIT_PWR_ACCL_STBY);
> @@ -90,6 +158,10 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
>
> return 0;
>
> +error_magn_off:
> + /* always restore user_ctrl to disable fifo properly */
> + st->chip_config.user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN;
> + regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl);
> error_accl_off:
> if (st->chip_config.accl_fifo_enable)
> inv_mpu6050_switch_engine(st, false,
