On Mon, 16 Sep 2019 09:42:09 +0000
Jean-Baptiste Maneyrol <JManeyrol@xxxxxxxxxxxxxx> wrote:
> Put read magnetometer data by mpu inside the fifo.
>
> Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@xxxxxxxxxxxxxx>
Applied to the togreg branch of iio.git and pushed out as testing
for the autobuilders to poke at it.
Thanks,
Jonathan
> ---
> 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 | 11 ++-
> drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 86 ++++++++++++++++---
> 4 files changed, 88 insertions(+), 12 deletions(-)
>
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index f1c65e0dd1a5..354030e9bed5 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -104,6 +104,7 @@ 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 953f85618199..52fcf45050a5 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..bbf68b474556 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
> @@ -124,7 +124,8 @@ 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 +142,8 @@ 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;
> @@ -190,7 +193,8 @@ 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)
> @@ -202,6 +206,9 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
> 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
> * right now
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
> index dd55e70b6f77..d7d951927a44 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 +26,60 @@ static void inv_scan_query(struct iio_dev *indio_dev)
> indio_dev->active_scan_mask);
> }
>
> +static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
> +{
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> +
> + inv_scan_query_mpu6050(indio_dev);
> +
> + /* no magnetometer if i2c auxiliary bus is used */
> + if (st->magn_disabled)
> + return;
> +
> + 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);
> +}
> +
> +static void inv_scan_query(struct iio_dev *indio_dev)
> +{
> + struct inv_mpu6050_state *st = iio_priv(indio_dev);
> +
> + switch (st->chip_type) {
> + case INV_MPU9250:
> + case INV_MPU9255:
> + return inv_scan_query_mpu9x50(indio_dev);
> + default:
> + return inv_scan_query_mpu6050(indio_dev);
> + }
> +}
> +
> +static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
> +{
> + unsigned int gyro_skip = 0;
> + unsigned int magn_skip = 0;
> + unsigned int skip_samples;
> +
> + /* gyro first sample is out of specs, skip it */
> + if (st->chip_config.gyro_fifo_enable)
> + gyro_skip = 1;
> +
> + /* mag first sample is always not ready, skip it */
> + if (st->chip_config.magn_fifo_enable)
> + magn_skip = 1;
> +
> + /* compute first samples to skip */
> + skip_samples = gyro_skip;
> + if (magn_skip > skip_samples)
> + skip_samples = magn_skip;
> +
> + return skip_samples;
> +}
> +
> /**
> * inv_mpu6050_set_enable() - enable chip functions.
> * @indio_dev: Device driver instance.
> @@ -34,6 +88,7 @@ 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;
> int result;
>
> if (enable) {
> @@ -41,14 +96,11 @@ 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;
> }
> if (st->chip_config.accl_fifo_enable) {
> result = inv_mpu6050_switch_engine(st, true,
> @@ -56,22 +108,32 @@ 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;
> + }
> + st->skip_samples = inv_compute_skip_samples(st);
> 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 +152,10 @@ 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,
