From: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@xxxxxxx>
WoM is a threshold test on accel value comparing actual sample
with previous one. It maps best to magnitude adaptive rising
event.
Add support of a new WOM sensor and functions for handling the
corresponding mag_adaptive_rising event. The event value is in
SI units. Ensure WOM is stopped and restarted at suspend-resume
and handle usage with buffer data ready interrupt.
Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@xxxxxxx>
---
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 237 +++++++++++++++++-
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 17 +-
drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 6 +-
drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c | 14 +-
4 files changed, 261 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 0e94e5335e93..fca7fc1ba4e2 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -332,7 +332,7 @@ 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;
@@ -345,6 +345,14 @@ 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;
@@ -439,6 +447,16 @@ 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;
}
@@ -893,6 +911,202 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
return result;
}
+static int inv_mpu6050_set_wom_int(struct inv_mpu6050_state *st, bool on)
+{
+ unsigned int val;
+
+ val = on ? INV_MPU6500_BIT_WOM_INT_EN : 0;
+
+ return regmap_update_bits(st->map, st->reg->int_enable,
+ INV_MPU6500_BIT_WOM_INT_EN, val);
+}
+
+static int inv_mpu6050_set_wom_threshold(struct inv_mpu6050_state *st, unsigned int value)
+{
+ struct device *pdev = regmap_get_device(st->map);
+ int result;
+
+ mutex_lock(&st->lock);
+
+ result = pm_runtime_resume_and_get(pdev);
+ if (result)
+ goto exit_unlock;
+
+ switch (st->chip_type) {
+ case INV_ICM20609:
+ case INV_ICM20689:
+ case INV_ICM20600:
+ case INV_ICM20602:
+ case INV_ICM20690:
+ st->data[0] = value;
+ st->data[1] = value;
+ st->data[2] = value;
+ 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, value);
+ break;
+ }
+ if (result)
+ goto exit_suspend;
+
+ st->chip_config.wom_threshold = value;
+
+exit_suspend:
+ pm_runtime_mark_last_busy(pdev);
+ pm_runtime_put_autosuspend(pdev);
+exit_unlock:
+ mutex_unlock(&st->lock);
+ 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);
+ int result;
+
+ /* support only WoM (accel mag_adaptive rising) event */
+ if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_MAG_ADAPTIVE ||
+ dir != IIO_EV_DIR_RISING)
+ return -EINVAL;
+
+ mutex_lock(&st->lock);
+ result = st->chip_config.wom_en ? 1 : 0;
+ mutex_unlock(&st->lock);
+
+ return result;
+}
+
+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;
+ int result;
+
+ /* support only WoM (accel mag_adaptive rising) event */
+ if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_MAG_ADAPTIVE ||
+ dir != IIO_EV_DIR_RISING)
+ return -EINVAL;
+
+ enable = !!state;
+
+ mutex_lock(&st->lock);
+
+ if (st->chip_config.wom_en == enable) {
+ result = 0;
+ goto exit_unlock;
+ }
+
+ result = inv_mpu6050_enable_wom(st, enable);
+
+exit_unlock:
+ mutex_unlock(&st->lock);
+ return result;
+}
+
+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);
+ unsigned int value;
+
+ /* support only WoM (accel mag_adaptive rising) event threshold value */
+ if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_MAG_ADAPTIVE ||
+ dir != IIO_EV_DIR_RISING || info != IIO_EV_INFO_VALUE)
+ return -EINVAL;
+
+ /* 4mg per LSB converted in m/s² in micro (1000000) */
+ value = (unsigned int)st->chip_config.wom_threshold * 4U * 9807U;
+ *val = value / 1000000;
+ *val2 = value % 1000000;
+
+ 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);
+ const int max = 4 * 255 * 9807;
+ const int max_val = max / 1000000;
+ const int max_val2 = max % 1000000;
+ unsigned int value;
+
+ /* support only WoM (accel mag_adaptive rising) event threshold value */
+ if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_MAG_ADAPTIVE ||
+ dir != IIO_EV_DIR_RISING || info != IIO_EV_INFO_VALUE)
+ return -EINVAL;
+
+ if (val < 0 || val2 < 0)
+ return -EINVAL;
+ if (val > max_val || (val == max_val && val2 > max_val2)) {
+ val = max_val;
+ val2 = max_val2;
+ }
+ value = val * 1000000U + val2;
+ value /= (4U * 9807U);
+
+ return inv_mpu6050_set_wom_threshold(st, value);
+}
+
/*
* inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
*
@@ -1326,6 +1540,10 @@ 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,
};
@@ -1706,6 +1924,12 @@ static int inv_mpu_resume(struct device *dev)
if (result)
goto out_unlock;
+ if (st->chip_config.wom_en) {
+ result = inv_mpu6050_set_wom_int(st, true);
+ if (result)
+ goto out_unlock;
+ }
+
if (iio_buffer_enabled(indio_dev))
result = inv_mpu6050_prepare_fifo(st, true);
@@ -1735,6 +1959,12 @@ static int inv_mpu_suspend(struct device *dev)
goto out_unlock;
}
+ if (st->chip_config.wom_en) {
+ result = inv_mpu6050_set_wom_int(st, false);
+ if (result)
+ goto out_unlock;
+ }
+
if (st->chip_config.accl_en)
st->suspended_sensors |= INV_MPU6050_SENSOR_ACCL;
if (st->chip_config.gyro_en)
@@ -1743,6 +1973,8 @@ 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)
+ st->suspended_sensors |= INV_MPU6050_SENSOR_WOM;
result = inv_mpu6050_switch_engine(st, false, st->suspended_sensors);
if (result)
goto out_unlock;
@@ -1767,7 +1999,8 @@ 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_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 5950e2419ebb..519c1eee96ad 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.
@@ -104,6 +105,7 @@ 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
@@ -119,12 +121,14 @@ 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;
+ u8 wom_threshold;
};
/*
@@ -256,12 +260,14 @@ 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(7) | BIT(6) | BIT(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(7) | BIT(6) | BIT(5))
#define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
@@ -301,6 +307,11 @@ 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 +331,10 @@ 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_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 */
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index 66d4ba088e70..13da6f523ca2 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);
}
/*
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index 676704f9151f..ec2398a87f45 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -134,11 +134,13 @@ 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);
@@ -171,9 +173,9 @@ 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);
--
2.34.1
