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-rw-r--r--drivers/iio/imu/adis.c139
-rw-r--r--drivers/iio/imu/adis16400.c115
-rw-r--r--drivers/iio/imu/adis16460.c7
-rw-r--r--drivers/iio/imu/adis16480.c92
-rw-r--r--drivers/iio/imu/adis_buffer.c4
-rw-r--r--drivers/iio/imu/inv_mpu6050/Kconfig9
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_core.c237
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c2
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h22
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c80
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c11
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c1
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c4
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h49
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c27
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c121
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c3
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c76
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c3
19 files changed, 664 insertions, 338 deletions
diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c
index e14c8536fd09..022bb54fb748 100644
--- a/drivers/iio/imu/adis.c
+++ b/drivers/iio/imu/adis.c
@@ -26,7 +26,14 @@
#define ADIS_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
#define ADIS_GLOB_CMD_SW_RESET BIT(7)
-int adis_write_reg(struct adis *adis, unsigned int reg,
+/**
+ * __adis_write_reg() - write N bytes to register (unlocked version)
+ * @adis: The adis device
+ * @reg: The address of the lower of the two registers
+ * @value: The value to write to device (up to 4 bytes)
+ * @size: The size of the @value (in bytes)
+ */
+int __adis_write_reg(struct adis *adis, unsigned int reg,
unsigned int value, unsigned int size)
{
unsigned int page = reg / ADIS_PAGE_SIZE;
@@ -38,7 +45,8 @@ int adis_write_reg(struct adis *adis, unsigned int reg,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
- .delay_usecs = adis->data->write_delay,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
.cs_change_delay.value = adis->data->cs_change_delay,
.cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
}, {
@@ -46,7 +54,8 @@ int adis_write_reg(struct adis *adis, unsigned int reg,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
- .delay_usecs = adis->data->write_delay,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
.cs_change_delay.value = adis->data->cs_change_delay,
.cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
}, {
@@ -54,24 +63,25 @@ int adis_write_reg(struct adis *adis, unsigned int reg,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
- .delay_usecs = adis->data->write_delay,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
.cs_change_delay.value = adis->data->cs_change_delay,
.cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
}, {
.tx_buf = adis->tx + 6,
.bits_per_word = 8,
.len = 2,
- .delay_usecs = adis->data->write_delay,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
}, {
.tx_buf = adis->tx + 8,
.bits_per_word = 8,
.len = 2,
- .delay_usecs = adis->data->write_delay,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
},
};
- mutex_lock(&adis->txrx_lock);
-
spi_message_init(&msg);
if (adis->current_page != page) {
@@ -96,8 +106,7 @@ int adis_write_reg(struct adis *adis, unsigned int reg,
adis->tx[3] = value & 0xff;
break;
default:
- ret = -EINVAL;
- goto out_unlock;
+ return -EINVAL;
}
xfers[size].cs_change = 0;
@@ -113,20 +122,18 @@ int adis_write_reg(struct adis *adis, unsigned int reg,
adis->current_page = page;
}
-out_unlock:
- mutex_unlock(&adis->txrx_lock);
-
return ret;
}
-EXPORT_SYMBOL_GPL(adis_write_reg);
+EXPORT_SYMBOL_GPL(__adis_write_reg);
/**
- * adis_read_reg() - read 2 bytes from a 16-bit register
+ * __adis_read_reg() - read N bytes from register (unlocked version)
* @adis: The adis device
* @reg: The address of the lower of the two registers
* @val: The value read back from the device
+ * @size: The size of the @val buffer
*/
-int adis_read_reg(struct adis *adis, unsigned int reg,
+int __adis_read_reg(struct adis *adis, unsigned int reg,
unsigned int *val, unsigned int size)
{
unsigned int page = reg / ADIS_PAGE_SIZE;
@@ -138,7 +145,8 @@ int adis_read_reg(struct adis *adis, unsigned int reg,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
- .delay_usecs = adis->data->write_delay,
+ .delay.value = adis->data->write_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
.cs_change_delay.value = adis->data->cs_change_delay,
.cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
}, {
@@ -146,7 +154,8 @@ int adis_read_reg(struct adis *adis, unsigned int reg,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
- .delay_usecs = adis->data->read_delay,
+ .delay.value = adis->data->read_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
.cs_change_delay.value = adis->data->cs_change_delay,
.cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
}, {
@@ -155,18 +164,19 @@ int adis_read_reg(struct adis *adis, unsigned int reg,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
- .delay_usecs = adis->data->read_delay,
+ .delay.value = adis->data->read_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
.cs_change_delay.value = adis->data->cs_change_delay,
.cs_change_delay.unit = SPI_DELAY_UNIT_USECS,
}, {
.rx_buf = adis->rx + 2,
.bits_per_word = 8,
.len = 2,
- .delay_usecs = adis->data->read_delay,
+ .delay.value = adis->data->read_delay,
+ .delay.unit = SPI_DELAY_UNIT_USECS,
},
};
- mutex_lock(&adis->txrx_lock);
spi_message_init(&msg);
if (adis->current_page != page) {
@@ -188,15 +198,14 @@ int adis_read_reg(struct adis *adis, unsigned int reg,
spi_message_add_tail(&xfers[3], &msg);
break;
default:
- ret = -EINVAL;
- goto out_unlock;
+ return -EINVAL;
}
ret = spi_sync(adis->spi, &msg);
if (ret) {
dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n",
reg, ret);
- goto out_unlock;
+ return ret;
} else {
adis->current_page = page;
}
@@ -210,12 +219,9 @@ int adis_read_reg(struct adis *adis, unsigned int reg,
break;
}
-out_unlock:
- mutex_unlock(&adis->txrx_lock);
-
return ret;
}
-EXPORT_SYMBOL_GPL(adis_read_reg);
+EXPORT_SYMBOL_GPL(__adis_read_reg);
#ifdef CONFIG_DEBUG_FS
@@ -253,12 +259,16 @@ int adis_enable_irq(struct adis *adis, bool enable)
int ret = 0;
uint16_t msc;
- if (adis->data->enable_irq)
- return adis->data->enable_irq(adis, enable);
+ mutex_lock(&adis->state_lock);
+
+ if (adis->data->enable_irq) {
+ ret = adis->data->enable_irq(adis, enable);
+ goto out_unlock;
+ }
- ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc);
+ ret = __adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc);
if (ret)
- goto error_ret;
+ goto out_unlock;
msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH;
msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2;
@@ -267,26 +277,27 @@ int adis_enable_irq(struct adis *adis, bool enable)
else
msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN;
- ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc);
+ ret = __adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc);
-error_ret:
+out_unlock:
+ mutex_unlock(&adis->state_lock);
return ret;
}
EXPORT_SYMBOL(adis_enable_irq);
/**
- * adis_check_status() - Check the device for error conditions
+ * __adis_check_status() - Check the device for error conditions (unlocked)
* @adis: The adis device
*
* Returns 0 on success, a negative error code otherwise
*/
-int adis_check_status(struct adis *adis)
+int __adis_check_status(struct adis *adis)
{
uint16_t status;
int ret;
int i;
- ret = adis_read_reg_16(adis, adis->data->diag_stat_reg, &status);
+ ret = __adis_read_reg_16(adis, adis->data->diag_stat_reg, &status);
if (ret)
return ret;
@@ -304,32 +315,38 @@ int adis_check_status(struct adis *adis)
return -EIO;
}
-EXPORT_SYMBOL_GPL(adis_check_status);
+EXPORT_SYMBOL_GPL(__adis_check_status);
/**
- * adis_reset() - Reset the device
+ * __adis_reset() - Reset the device (unlocked version)
* @adis: The adis device
*
* Returns 0 on success, a negative error code otherwise
*/
-int adis_reset(struct adis *adis)
+int __adis_reset(struct adis *adis)
{
int ret;
+ const struct adis_timeout *timeouts = adis->data->timeouts;
- ret = adis_write_reg_8(adis, adis->data->glob_cmd_reg,
+ ret = __adis_write_reg_8(adis, adis->data->glob_cmd_reg,
ADIS_GLOB_CMD_SW_RESET);
- if (ret)
+ if (ret) {
dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret);
+ return ret;
+ }
- return ret;
+ msleep(timeouts->sw_reset_ms);
+
+ return 0;
}
-EXPORT_SYMBOL_GPL(adis_reset);
+EXPORT_SYMBOL_GPL(__adis_reset);
static int adis_self_test(struct adis *adis)
{
int ret;
+ const struct adis_timeout *timeouts = adis->data->timeouts;
- ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg,
+ ret = __adis_write_reg_16(adis, adis->data->msc_ctrl_reg,
adis->data->self_test_mask);
if (ret) {
dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n",
@@ -337,12 +354,12 @@ static int adis_self_test(struct adis *adis)
return ret;
}
- msleep(adis->data->startup_delay);
+ msleep(timeouts->self_test_ms);
- ret = adis_check_status(adis);
+ ret = __adis_check_status(adis);
if (adis->data->self_test_no_autoclear)
- adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00);
+ __adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00);
return ret;
}
@@ -360,19 +377,22 @@ int adis_initial_startup(struct adis *adis)
{
int ret;
+ mutex_lock(&adis->state_lock);
+
ret = adis_self_test(adis);
if (ret) {
dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n");
- adis_reset(adis);
- msleep(adis->data->startup_delay);
+ __adis_reset(adis);
ret = adis_self_test(adis);
if (ret) {
dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n");
- return ret;
+ goto out_unlock;
}
}
- return 0;
+out_unlock:
+ mutex_unlock(&adis->state_lock);
+ return ret;
}
EXPORT_SYMBOL_GPL(adis_initial_startup);
@@ -398,15 +418,15 @@ int adis_single_conversion(struct iio_dev *indio_dev,
unsigned int uval;
int ret;
- mutex_lock(&indio_dev->mlock);
+ mutex_lock(&adis->state_lock);
- ret = adis_read_reg(adis, chan->address, &uval,
+ ret = __adis_read_reg(adis, chan->address, &uval,
chan->scan_type.storagebits / 8);
if (ret)
goto err_unlock;
if (uval & error_mask) {
- ret = adis_check_status(adis);
+ ret = __adis_check_status(adis);
if (ret)
goto err_unlock;
}
@@ -418,7 +438,7 @@ int adis_single_conversion(struct iio_dev *indio_dev,
ret = IIO_VAL_INT;
err_unlock:
- mutex_unlock(&indio_dev->mlock);
+ mutex_unlock(&adis->state_lock);
return ret;
}
EXPORT_SYMBOL_GPL(adis_single_conversion);
@@ -438,7 +458,12 @@ EXPORT_SYMBOL_GPL(adis_single_conversion);
int adis_init(struct adis *adis, struct iio_dev *indio_dev,
struct spi_device *spi, const struct adis_data *data)
{
- mutex_init(&adis->txrx_lock);
+ if (!data || !data->timeouts) {
+ dev_err(&spi->dev, "No config data or timeouts not defined!\n");
+ return -EINVAL;
+ }
+
+ mutex_init(&adis->state_lock);
adis->spi = spi;
adis->data = data;
iio_device_set_drvdata(indio_dev, adis);
diff --git a/drivers/iio/imu/adis16400.c b/drivers/iio/imu/adis16400.c
index 44e46dc96e00..cfb1c19eb930 100644
--- a/drivers/iio/imu/adis16400.c
+++ b/drivers/iio/imu/adis16400.c
@@ -156,12 +156,14 @@ struct adis16400_state;
struct adis16400_chip_info {
const struct iio_chan_spec *channels;
+ const struct adis_timeout *timeouts;
const int num_channels;
const long flags;
unsigned int gyro_scale_micro;
unsigned int accel_scale_micro;
int temp_scale_nano;
int temp_offset;
+ /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
int (*set_freq)(struct adis16400_state *st, unsigned int freq);
int (*get_freq)(struct adis16400_state *st);
};
@@ -326,7 +328,7 @@ static int adis16334_get_freq(struct adis16400_state *st)
int ret;
uint16_t t;
- ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+ ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
if (ret)
return ret;
@@ -350,7 +352,7 @@ static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
t <<= ADIS16334_RATE_DIV_SHIFT;
t |= ADIS16334_RATE_INT_CLK;
- return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
+ return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
}
static int adis16400_get_freq(struct adis16400_state *st)
@@ -358,7 +360,7 @@ static int adis16400_get_freq(struct adis16400_state *st)
int sps, ret;
uint16_t t;
- ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+ ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
if (ret)
return ret;
@@ -390,7 +392,7 @@ static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
else
st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
- return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
+ return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
}
static const unsigned int adis16400_3db_divisors[] = {
@@ -404,7 +406,7 @@ static const unsigned int adis16400_3db_divisors[] = {
[7] = 200, /* Not a valid setting */
};
-static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
+static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
{
struct adis16400_state *st = iio_priv(indio_dev);
uint16_t val16;
@@ -415,11 +417,11 @@ static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
break;
}
- ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
+ ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
if (ret)
return ret;
- ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
+ ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
(val16 & ~0x07) | i);
return ret;
}
@@ -507,32 +509,31 @@ static int adis16400_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan, int val, int val2, long info)
{
struct adis16400_state *st = iio_priv(indio_dev);
+ struct mutex *slock = &st->adis.state_lock;
int ret, sps;
switch (info) {
case IIO_CHAN_INFO_CALIBBIAS:
- mutex_lock(&indio_dev->mlock);
ret = adis_write_reg_16(&st->adis,
adis16400_addresses[chan->scan_index], val);
- mutex_unlock(&indio_dev->mlock);
return ret;
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
/*
* Need to cache values so we can update if the frequency
* changes.
*/
- mutex_lock(&indio_dev->mlock);
+ mutex_lock(slock);
st->filt_int = val;
/* Work out update to current value */
sps = st->variant->get_freq(st);
if (sps < 0) {
- mutex_unlock(&indio_dev->mlock);
+ mutex_unlock(slock);
return sps;
}
- ret = adis16400_set_filter(indio_dev, sps,
+ ret = __adis16400_set_filter(indio_dev, sps,
val * 1000 + val2 / 1000);
- mutex_unlock(&indio_dev->mlock);
+ mutex_unlock(slock);
return ret;
case IIO_CHAN_INFO_SAMP_FREQ:
sps = val * 1000 + val2 / 1000;
@@ -540,9 +541,9 @@ static int adis16400_write_raw(struct iio_dev *indio_dev,
if (sps <= 0)
return -EINVAL;
- mutex_lock(&indio_dev->mlock);
+ mutex_lock(slock);
ret = st->variant->set_freq(st, sps);
- mutex_unlock(&indio_dev->mlock);
+ mutex_unlock(slock);
return ret;
default:
return -EINVAL;
@@ -553,6 +554,7 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan, int *val, int *val2, long info)
{
struct adis16400_state *st = iio_priv(indio_dev);
+ struct mutex *slock = &st->adis.state_lock;
int16_t val16;
int ret;
@@ -596,10 +598,8 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
return -EINVAL;
}
case IIO_CHAN_INFO_CALIBBIAS:
- mutex_lock(&indio_dev->mlock);
ret = adis_read_reg_16(&st->adis,
adis16400_addresses[chan->scan_index], &val16);
- mutex_unlock(&indio_dev->mlock);
if (ret)
return ret;
val16 = sign_extend32(val16, 11);
@@ -610,27 +610,27 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
*val = st->variant->temp_offset;
return IIO_VAL_INT;
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
- mutex_lock(&indio_dev->mlock);
+ mutex_lock(slock);
/* Need both the number of taps and the sampling frequency */
- ret = adis_read_reg_16(&st->adis,
+ ret = __adis_read_reg_16(&st->adis,
ADIS16400_SENS_AVG,
&val16);
if (ret) {
- mutex_unlock(&indio_dev->mlock);
+ mutex_unlock(slock);
return ret;
}
ret = st->variant->get_freq(st);
- if (ret >= 0) {
- ret /= adis16400_3db_divisors[val16 & 0x07];
- *val = ret / 1000;
- *val2 = (ret % 1000) * 1000;
- }
- mutex_unlock(&indio_dev->mlock);
+ mutex_unlock(slock);
if (ret)
return ret;
+ ret /= adis16400_3db_divisors[val16 & 0x07];
+ *val = ret / 1000;
+ *val2 = (ret % 1000) * 1000;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_CHAN_INFO_SAMP_FREQ:
+ mutex_lock(slock);
ret = st->variant->get_freq(st);
+ mutex_unlock(slock);
if (ret)
return ret;
*val = ret / 1000;
@@ -930,6 +930,36 @@ static const struct iio_chan_spec adis16334_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};
+static const struct adis_timeout adis16300_timeouts = {
+ .reset_ms = ADIS16400_STARTUP_DELAY,
+ .sw_reset_ms = ADIS16400_STARTUP_DELAY,
+ .self_test_ms = ADIS16400_STARTUP_DELAY,
+};
+
+static const struct adis_timeout adis16362_timeouts = {
+ .reset_ms = 130,
+ .sw_reset_ms = 130,
+ .self_test_ms = 12,
+};
+
+static const struct adis_timeout adis16400_timeouts = {
+ .reset_ms = 170,
+ .sw_reset_ms = 170,
+ .self_test_ms = 12,
+};
+
+static const struct adis_timeout adis16445_timeouts = {
+ .reset_ms = 55,
+ .sw_reset_ms = 55,
+ .self_test_ms = 16,
+};
+
+static const struct adis_timeout adis16448_timeouts = {
+ .reset_ms = 90,
+ .sw_reset_ms = 90,
+ .self_test_ms = 45,
+};
+
static struct adis16400_chip_info adis16400_chips[] = {
[ADIS16300] = {
.channels = adis16300_channels,
@@ -942,6 +972,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
+ .timeouts = &adis16300_timeouts,
},
[ADIS16334] = {
.channels = adis16334_channels,
@@ -965,6 +996,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
+ .timeouts = &adis16300_timeouts,
},
[ADIS16360] = {
.channels = adis16350_channels,
@@ -977,6 +1009,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
+ .timeouts = &adis16300_timeouts,
},
[ADIS16362] = {
.channels = adis16350_channels,
@@ -989,6 +1022,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
+ .timeouts = &adis16362_timeouts,
},
[ADIS16364] = {
.channels = adis16350_channels,
@@ -1001,6 +1035,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
+ .timeouts = &adis16362_timeouts,
},
[ADIS16367] = {
.channels = adis16350_channels,
@@ -1013,6 +1048,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
+ .timeouts = &adis16300_timeouts,
},
[ADIS16400] = {
.channels = adis16400_channels,
@@ -1024,6 +1060,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
+ .timeouts = &adis16400_timeouts,
},
[ADIS16445] = {
.channels = adis16445_channels,
@@ -1037,6 +1074,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
+ .timeouts = &adis16445_timeouts,
},
[ADIS16448] = {
.channels = adis16448_channels,
@@ -1050,6 +1088,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
+ .timeouts = &adis16448_timeouts,
}
};
@@ -1087,7 +1126,6 @@ static const struct adis_data adis16400_data = {
.write_delay = 50,
.self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
- .startup_delay = ADIS16400_STARTUP_DELAY,
.status_error_msgs = adis16400_status_error_msgs,
.status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
@@ -1121,11 +1159,28 @@ static void adis16400_setup_chan_mask(struct adis16400_state *st)
}
}
+static struct adis_data *adis16400_adis_data_alloc(struct adis16400_state *st,
+ struct device *dev)
+{
+ struct adis_data *data;
+
+ data = devm_kmalloc(dev, sizeof(struct adis_data), GFP_KERNEL);
+ if (!data)
+ return ERR_PTR(-ENOMEM);
+
+ memcpy(data, &adis16400_data, sizeof(*data));
+
+ data->timeouts = st->variant->timeouts;
+
+ return data;
+}
+
static int adis16400_probe(struct spi_device *spi)
{
struct adis16400_state *st;
struct iio_dev *indio_dev;
int ret;
+ const struct adis_data *adis16400_data;
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
if (indio_dev == NULL)
@@ -1152,7 +1207,11 @@ static int adis16400_probe(struct spi_device *spi)
st->adis.burst->extra_len = sizeof(u16);
}
- ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
+ adis16400_data = adis16400_adis_data_alloc(st, &spi->dev);
+ if (IS_ERR(adis16400_data))
+ return PTR_ERR(adis16400_data);
+
+ ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
if (ret)
return ret;
diff --git a/drivers/iio/imu/adis16460.c b/drivers/iio/imu/adis16460.c
index b55812521537..9539cfe4a259 100644
--- a/drivers/iio/imu/adis16460.c
+++ b/drivers/iio/imu/adis16460.c
@@ -383,6 +383,12 @@ static const char * const adis16460_status_error_msgs[] = {
[ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
};
+static const struct adis_timeout adis16460_timeouts = {
+ .reset_ms = 225,
+ .sw_reset_ms = 225,
+ .self_test_ms = 10,
+};
+
static const struct adis_data adis16460_data = {
.diag_stat_reg = ADIS16460_REG_DIAG_STAT,
.glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
@@ -398,6 +404,7 @@ static const struct adis_data adis16460_data = {
BIT(ADIS16460_DIAG_STAT_SPI_COMM) |
BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
.enable_irq = adis16460_enable_irq,
+ .timeouts = &adis16460_timeouts,
};
static int adis16460_probe(struct spi_device *spi)
diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index 748f8bbf184d..dac87f1001fd 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -138,6 +138,7 @@ struct adis16480_chip_info {
unsigned int max_dec_rate;
const unsigned int *filter_freqs;
bool has_pps_clk_mode;
+ const struct adis_timeout *timeouts;
};
enum adis16480_int_pin {
@@ -555,6 +556,7 @@ static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
const struct iio_chan_spec *chan, unsigned int freq)
{
struct adis16480 *st = iio_priv(indio_dev);
+ struct mutex *slock = &st->adis.state_lock;
unsigned int enable_mask, offset, reg;
unsigned int diff, best_diff;
unsigned int i, best_freq;
@@ -565,9 +567,11 @@ static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
offset = ad16480_filter_data[chan->scan_index][1];
enable_mask = BIT(offset + 2);
- ret = adis_read_reg_16(&st->adis, reg, &val);
+ mutex_lock(slock);
+
+ ret = __adis_read_reg_16(&st->adis, reg, &val);
if (ret)
- return ret;
+ goto out_unlock;
if (freq == 0) {
val &= ~enable_mask;
@@ -589,7 +593,11 @@ static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
val |= enable_mask;
}
- return adis_write_reg_16(&st->adis, reg, val);
+ ret = __adis_write_reg_16(&st->adis, reg, val);
+out_unlock:
+ mutex_unlock(slock);
+
+ return ret;
}
static int adis16480_read_raw(struct iio_dev *indio_dev,
@@ -779,6 +787,7 @@ enum adis16480_variant {
ADIS16480,
ADIS16485,
ADIS16488,
+ ADIS16490,
ADIS16495_1,
ADIS16495_2,
ADIS16495_3,
@@ -787,6 +796,30 @@ enum adis16480_variant {
ADIS16497_3,
};
+static const struct adis_timeout adis16485_timeouts = {
+ .reset_ms = 560,
+ .sw_reset_ms = 120,
+ .self_test_ms = 12,
+};
+
+static const struct adis_timeout adis16480_timeouts = {
+ .reset_ms = 560,
+ .sw_reset_ms = 560,
+ .self_test_ms = 12,
+};
+
+static const struct adis_timeout adis16495_timeouts = {
+ .reset_ms = 170,
+ .sw_reset_ms = 130,
+ .self_test_ms = 40,
+};
+
+static const struct adis_timeout adis16495_1_timeouts = {
+ .reset_ms = 250,
+ .sw_reset_ms = 210,
+ .self_test_ms = 20,
+};
+
static const struct adis16480_chip_info adis16480_chip_info[] = {
[ADIS16375] = {
.channels = adis16485_channels,
@@ -805,6 +838,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
+ .timeouts = &adis16485_timeouts,
},
[ADIS16480] = {
.channels = adis16480_channels,
@@ -817,6 +851,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
+ .timeouts = &adis16480_timeouts,
},
[ADIS16485] = {
.channels = adis16485_channels,
@@ -829,6 +864,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
+ .timeouts = &adis16485_timeouts,
},
[ADIS16488] = {
.channels = adis16480_channels,
@@ -841,6 +877,21 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
+ .timeouts = &adis16485_timeouts,
+ },
+ [ADIS16490] = {
+ .channels = adis16485_channels,
+ .num_channels = ARRAY_SIZE(adis16485_channels),
+ .gyro_max_val = 20000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(100),
+ .accel_max_val = IIO_M_S_2_TO_G(16000 << 16),
+ .accel_max_scale = 8,
+ .temp_scale = 14285, /* 14.285 milli degree Celsius */
+ .int_clk = 4250000,
+ .max_dec_rate = 4250,
+ .filter_freqs = adis16495_def_filter_freqs,
+ .has_pps_clk_mode = true,
+ .timeouts = &adis16495_timeouts,
},
[ADIS16495_1] = {
.channels = adis16485_channels,
@@ -854,6 +905,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
+ .timeouts = &adis16495_1_timeouts,
},
[ADIS16495_2] = {
.channels = adis16485_channels,
@@ -867,6 +919,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
+ .timeouts = &adis16495_1_timeouts,
},
[ADIS16495_3] = {
.channels = adis16485_channels,
@@ -880,6 +933,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
+ .timeouts = &adis16495_1_timeouts,
},
[ADIS16497_1] = {
.channels = adis16485_channels,
@@ -893,6 +947,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
+ .timeouts = &adis16495_1_timeouts,
},
[ADIS16497_2] = {
.channels = adis16485_channels,
@@ -906,6 +961,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
+ .timeouts = &adis16495_1_timeouts,
},
[ADIS16497_3] = {
.channels = adis16485_channels,
@@ -919,6 +975,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
+ .timeouts = &adis16495_1_timeouts,
},
};
@@ -947,14 +1004,14 @@ static int adis16480_enable_irq(struct adis *adis, bool enable)
uint16_t val;
int ret;
- ret = adis_read_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, &val);
+ ret = __adis_read_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, &val);
if (ret)
return ret;
val &= ~ADIS16480_DRDY_EN_MSK;
val |= ADIS16480_DRDY_EN(enable);
- return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, val);
+ return __adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, val);
}
static int adis16480_initial_setup(struct iio_dev *indio_dev)
@@ -1188,9 +1245,26 @@ static int adis16480_get_ext_clocks(struct adis16480 *st)
return 0;
}
+static struct adis_data *adis16480_adis_data_alloc(struct adis16480 *st,
+ struct device *dev)
+{
+ struct adis_data *data;
+
+ data = devm_kmalloc(dev, sizeof(struct adis_data), GFP_KERNEL);
+ if (!data)
+ return ERR_PTR(-ENOMEM);
+
+ memcpy(data, &adis16480_data, sizeof(*data));
+
+ data->timeouts = st->chip_info->timeouts;
+
+ return data;
+}
+
static int adis16480_probe(struct spi_device *spi)
{
const struct spi_device_id *id = spi_get_device_id(spi);
+ const struct adis_data *adis16480_data;
struct iio_dev *indio_dev;
struct adis16480 *st;
int ret;
@@ -1211,7 +1285,11 @@ static int adis16480_probe(struct spi_device *spi)
indio_dev->info = &adis16480_info;
indio_dev->modes = INDIO_DIRECT_MODE;
- ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data);
+ adis16480_data = adis16480_adis_data_alloc(st, &spi->dev);
+ if (IS_ERR(adis16480_data))
+ return PTR_ERR(adis16480_data);
+
+ ret = adis_init(&st->adis, indio_dev, spi, adis16480_data);
if (ret)
return ret;
@@ -1278,6 +1356,7 @@ static const struct spi_device_id adis16480_ids[] = {
{ "adis16480", ADIS16480 },
{ "adis16485", ADIS16485 },
{ "adis16488", ADIS16488 },
+ { "adis16490", ADIS16490 },
{ "adis16495-1", ADIS16495_1 },
{ "adis16495-2", ADIS16495_2 },
{ "adis16495-3", ADIS16495_3 },
@@ -1293,6 +1372,7 @@ static const struct of_device_id adis16480_of_match[] = {
{ .compatible = "adi,adis16480" },
{ .compatible = "adi,adis16485" },
{ .compatible = "adi,adis16488" },
+ { .compatible = "adi,adis16490" },
{ .compatible = "adi,adis16495-1" },
{ .compatible = "adi,adis16495-2" },
{ .compatible = "adi,adis16495-3" },
diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c
index 4998a89d083d..3f4dd5c00b03 100644
--- a/drivers/iio/imu/adis_buffer.c
+++ b/drivers/iio/imu/adis_buffer.c
@@ -129,7 +129,7 @@ static irqreturn_t adis_trigger_handler(int irq, void *p)
return -ENOMEM;
if (adis->data->has_paging) {
- mutex_lock(&adis->txrx_lock);
+ mutex_lock(&adis->state_lock);
if (adis->current_page != 0) {
adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
adis->tx[1] = 0;
@@ -144,7 +144,7 @@ static irqreturn_t adis_trigger_handler(int irq, void *p)
if (adis->data->has_paging) {
adis->current_page = 0;
- mutex_unlock(&adis->txrx_lock);
+ mutex_unlock(&adis->state_lock);
}
iio_push_to_buffers_with_timestamp(indio_dev, adis->buffer,
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index e4c4c12236a7..017bc0fcc365 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -10,11 +10,12 @@ config INV_MPU6050_IIO
config INV_MPU6050_I2C
tristate "Invensense MPU6050 devices (I2C)"
- depends on I2C_MUX
+ depends on I2C
+ select I2C_MUX
select INV_MPU6050_IIO
select REGMAP_I2C
help
- This driver supports the Invensense MPU6000/6050/6500/6515,
+ This driver supports the Invensense MPU6050/6500/6515,
MPU9150/9250/9255 and ICM20608/20602 motion tracking devices
over I2C.
This driver can be built as a module. The module will be called
@@ -26,8 +27,8 @@ config INV_MPU6050_SPI
select INV_MPU6050_IIO
select REGMAP_SPI
help
- This driver supports the Invensense MPU6000/6050/6500/6515,
- MPU9150/9250/9255 and ICM20608/20602 motion tracking devices
+ This driver supports the Invensense MPU6000/6500/6515,
+ MPU9250/9255 and ICM20608/20602 motion tracking devices
over SPI.
This driver can be built as a module. The module will be called
inv-mpu6050-spi.
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 0686e41bb8a1..5096fc49012d 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,
+ .temp_fifo_enable = false,
.magn_fifo_enable = false,
.accl_fs = INV_MPU6050_FS_02G,
.user_ctrl = 0,
@@ -856,19 +857,27 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = {
.ext_info = inv_ext_info, \
}
+#define INV_MPU6050_TEMP_CHAN(_index) \
+ { \
+ .type = IIO_TEMP, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \
+ | BIT(IIO_CHAN_INFO_OFFSET) \
+ | BIT(IIO_CHAN_INFO_SCALE), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
static const struct iio_chan_spec inv_mpu_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
- /*
- * Note that temperature should only be via polled reading only,
- * not the final scan elements output.
- */
- {
- .type = IIO_TEMP,
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
- | BIT(IIO_CHAN_INFO_OFFSET)
- | BIT(IIO_CHAN_INFO_SCALE),
- .scan_index = -1,
- },
+
+ 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),
@@ -878,22 +887,29 @@ static const struct iio_chan_spec inv_mpu_channels[] = {
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
};
+#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \
+ (BIT(INV_MPU6050_SCAN_ACCL_X) \
+ | BIT(INV_MPU6050_SCAN_ACCL_Y) \
+ | BIT(INV_MPU6050_SCAN_ACCL_Z))
+
+#define INV_MPU6050_SCAN_MASK_3AXIS_GYRO \
+ (BIT(INV_MPU6050_SCAN_GYRO_X) \
+ | BIT(INV_MPU6050_SCAN_GYRO_Y) \
+ | BIT(INV_MPU6050_SCAN_GYRO_Z))
+
+#define INV_MPU6050_SCAN_MASK_TEMP (BIT(INV_MPU6050_SCAN_TEMP))
+
static const unsigned long inv_mpu_scan_masks[] = {
/* 3-axis accel */
- BIT(INV_MPU6050_SCAN_ACCL_X)
- | BIT(INV_MPU6050_SCAN_ACCL_Y)
- | BIT(INV_MPU6050_SCAN_ACCL_Z),
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
/* 3-axis gyro */
- BIT(INV_MPU6050_SCAN_GYRO_X)
- | BIT(INV_MPU6050_SCAN_GYRO_Y)
- | BIT(INV_MPU6050_SCAN_GYRO_Z),
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
/* 6-axis accel + gyro */
- BIT(INV_MPU6050_SCAN_ACCL_X)
- | BIT(INV_MPU6050_SCAN_ACCL_Y)
- | BIT(INV_MPU6050_SCAN_ACCL_Z)
- | BIT(INV_MPU6050_SCAN_GYRO_X)
- | BIT(INV_MPU6050_SCAN_GYRO_Y)
- | BIT(INV_MPU6050_SCAN_GYRO_Z),
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+ | INV_MPU6050_SCAN_MASK_TEMP,
0,
};
@@ -915,19 +931,30 @@ static const unsigned long inv_mpu_scan_masks[] = {
.ext_info = inv_ext_info, \
}
+static const struct iio_chan_spec inv_mpu9150_channels[] = {
+ IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_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),
+
+ /* Magnetometer resolution is 13 bits */
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 13, INV_MPU9X50_SCAN_MAGN_X),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 13, INV_MPU9X50_SCAN_MAGN_Y),
+ INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 13, INV_MPU9X50_SCAN_MAGN_Z),
+};
+
static const struct iio_chan_spec inv_mpu9250_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
- /*
- * Note that temperature should only be via polled reading only,
- * not the final scan elements output.
- */
- {
- .type = IIO_TEMP,
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
- | BIT(IIO_CHAN_INFO_OFFSET)
- | BIT(IIO_CHAN_INFO_SCALE),
- .scan_index = -1,
- },
+
+ 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),
@@ -942,98 +969,50 @@ static const struct iio_chan_spec inv_mpu9250_channels[] = {
INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
};
+#define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN \
+ (BIT(INV_MPU9X50_SCAN_MAGN_X) \
+ | BIT(INV_MPU9X50_SCAN_MAGN_Y) \
+ | BIT(INV_MPU9X50_SCAN_MAGN_Z))
+
static const unsigned long inv_mpu9x50_scan_masks[] = {
/* 3-axis accel */
- BIT(INV_MPU6050_SCAN_ACCL_X)
- | BIT(INV_MPU6050_SCAN_ACCL_Y)
- | BIT(INV_MPU6050_SCAN_ACCL_Z),
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
/* 3-axis gyro */
- BIT(INV_MPU6050_SCAN_GYRO_X)
- | BIT(INV_MPU6050_SCAN_GYRO_Y)
- | BIT(INV_MPU6050_SCAN_GYRO_Z),
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
/* 3-axis magn */
- BIT(INV_MPU9X50_SCAN_MAGN_X)
- | BIT(INV_MPU9X50_SCAN_MAGN_Y)
- | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
+ INV_MPU9X50_SCAN_MASK_3AXIS_MAGN | INV_MPU6050_SCAN_MASK_TEMP,
/* 6-axis accel + gyro */
- BIT(INV_MPU6050_SCAN_ACCL_X)
- | BIT(INV_MPU6050_SCAN_ACCL_Y)
- | BIT(INV_MPU6050_SCAN_ACCL_Z)
- | BIT(INV_MPU6050_SCAN_GYRO_X)
- | BIT(INV_MPU6050_SCAN_GYRO_Y)
- | BIT(INV_MPU6050_SCAN_GYRO_Z),
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+ | INV_MPU6050_SCAN_MASK_TEMP,
/* 6-axis accel + magn */
- BIT(INV_MPU6050_SCAN_ACCL_X)
- | BIT(INV_MPU6050_SCAN_ACCL_Y)
- | BIT(INV_MPU6050_SCAN_ACCL_Z)
- | BIT(INV_MPU9X50_SCAN_MAGN_X)
- | BIT(INV_MPU9X50_SCAN_MAGN_Y)
- | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
+ | INV_MPU6050_SCAN_MASK_TEMP,
/* 6-axis gyro + magn */
- BIT(INV_MPU6050_SCAN_GYRO_X)
- | BIT(INV_MPU6050_SCAN_GYRO_Y)
- | BIT(INV_MPU6050_SCAN_GYRO_Z)
- | BIT(INV_MPU9X50_SCAN_MAGN_X)
- | BIT(INV_MPU9X50_SCAN_MAGN_Y)
- | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
+ | INV_MPU6050_SCAN_MASK_TEMP,
/* 9-axis accel + gyro + magn */
- BIT(INV_MPU6050_SCAN_ACCL_X)
- | BIT(INV_MPU6050_SCAN_ACCL_Y)
- | BIT(INV_MPU6050_SCAN_ACCL_Z)
- | BIT(INV_MPU6050_SCAN_GYRO_X)
- | BIT(INV_MPU6050_SCAN_GYRO_Y)
- | BIT(INV_MPU6050_SCAN_GYRO_Z)
- | BIT(INV_MPU9X50_SCAN_MAGN_X)
- | BIT(INV_MPU9X50_SCAN_MAGN_Y)
- | BIT(INV_MPU9X50_SCAN_MAGN_Z),
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+ | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+ | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
+ | INV_MPU6050_SCAN_MASK_TEMP,
0,
};
-static const struct iio_chan_spec inv_icm20602_channels[] = {
- IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
- {
- .type = IIO_TEMP,
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
- | BIT(IIO_CHAN_INFO_OFFSET)
- | BIT(IIO_CHAN_INFO_SCALE),
- .scan_index = INV_ICM20602_SCAN_TEMP,
- .scan_type = {
- .sign = 's',
- .realbits = 16,
- .storagebits = 16,
- .shift = 0,
- .endianness = IIO_BE,
- },
- },
-
- INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
- INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
- INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),
-
- INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
- INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
- INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
-};
-
static const unsigned long inv_icm20602_scan_masks[] = {
/* 3-axis accel + temp (mandatory) */
- BIT(INV_ICM20602_SCAN_ACCL_X)
- | BIT(INV_ICM20602_SCAN_ACCL_Y)
- | BIT(INV_ICM20602_SCAN_ACCL_Z)
- | BIT(INV_ICM20602_SCAN_TEMP),
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
/* 3-axis gyro + temp (mandatory) */
- BIT(INV_ICM20602_SCAN_GYRO_X)
- | BIT(INV_ICM20602_SCAN_GYRO_Y)
- | BIT(INV_ICM20602_SCAN_GYRO_Z)
- | BIT(INV_ICM20602_SCAN_TEMP),
+ INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
/* 6-axis accel + gyro + temp (mandatory) */
- BIT(INV_ICM20602_SCAN_ACCL_X)
- | BIT(INV_ICM20602_SCAN_ACCL_Y)
- | BIT(INV_ICM20602_SCAN_ACCL_Z)
- | BIT(INV_ICM20602_SCAN_GYRO_X)
- | BIT(INV_ICM20602_SCAN_GYRO_Y)
- | BIT(INV_ICM20602_SCAN_GYRO_Z)
- | BIT(INV_ICM20602_SCAN_TEMP),
+ INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+ | INV_MPU6050_SCAN_MASK_TEMP,
0,
};
@@ -1241,7 +1220,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
irq_type = irqd_get_trigger_type(desc);
if (!irq_type)
irq_type = IRQF_TRIGGER_RISING;
- if (irq_type == IRQF_TRIGGER_RISING)
+ if (irq_type & IRQF_TRIGGER_RISING) // rising or both-edge
st->irq_mask = INV_MPU6050_ACTIVE_HIGH;
else if (irq_type == IRQF_TRIGGER_FALLING)
st->irq_mask = INV_MPU6050_ACTIVE_LOW;
@@ -1324,25 +1303,20 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
inv_mpu_bus_setup(indio_dev);
switch (chip_type) {
+ case INV_MPU9150:
+ indio_dev->channels = inv_mpu9150_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu9150_channels);
+ indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
+ break;
case INV_MPU9250:
case INV_MPU9255:
- /*
- * Use magnetometer inside the chip only if there is no i2c
- * auxiliary device in use.
- */
- if (!st->magn_disabled) {
- indio_dev->channels = inv_mpu9250_channels;
- indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
- indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
- } else {
- indio_dev->channels = inv_mpu_channels;
- indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
- indio_dev->available_scan_masks = inv_mpu_scan_masks;
- }
+ indio_dev->channels = inv_mpu9250_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
+ indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
break;
case INV_ICM20602:
- indio_dev->channels = inv_icm20602_channels;
- indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
+ indio_dev->channels = inv_mpu_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
indio_dev->available_scan_masks = inv_icm20602_scan_masks;
break;
default:
@@ -1351,6 +1325,15 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
indio_dev->available_scan_masks = inv_mpu_scan_masks;
break;
}
+ /*
+ * Use magnetometer inside the chip only if there is no i2c
+ * 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;
+ }
indio_dev->info = &mpu_info;
indio_dev->modes = INDIO_BUFFER_TRIGGERED;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index 389cc8505e0e..f47a28b4be23 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -77,6 +77,7 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev)
case INV_ICM20602:
/* no i2c auxiliary bus on the chip */
return false;
+ case INV_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
if (st->magn_disabled)
@@ -102,6 +103,7 @@ static int inv_mpu_magn_disable(struct iio_dev *indio_dev)
struct device_node *mux_node;
switch (st->chip_type) {
+ case INV_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
mux_node = of_get_child_by_name(dev->of_node, "i2c-gate");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index b096e010d4ee..6158fca7f70e 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
+ * @temp_fifo_enable: enable temp data output
* @magn_fifo_enable: enable magn data output
* @divider: chip sample rate divider (sample rate divider - 1)
*/
@@ -95,6 +96,7 @@ struct inv_mpu6050_chip_config {
unsigned int accl_fs:2;
unsigned int accl_fifo_enable:1;
unsigned int gyro_fifo_enable:1;
+ unsigned int temp_fifo_enable:1;
unsigned int magn_fifo_enable:1;
u8 divider;
u8 user_ctrl;
@@ -184,6 +186,7 @@ struct inv_mpu6050_state {
#define INV_MPU6050_BIT_SLAVE_2 0x04
#define INV_MPU6050_BIT_ACCEL_OUT 0x08
#define INV_MPU6050_BITS_GYRO_OUT 0x70
+#define INV_MPU6050_BIT_TEMP_OUT 0x80
#define INV_MPU6050_REG_I2C_MST_CTRL 0x24
#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
@@ -268,8 +271,8 @@ struct inv_mpu6050_state {
/* MPU9X50 9-axis magnetometer */
#define INV_MPU9X50_BYTES_MAGN 7
-/* ICM20602 FIFO samples include temperature readings */
-#define INV_ICM20602_BYTES_PER_TEMP_SENSOR 2
+/* FIFO temperature sample size */
+#define INV_MPU6050_BYTES_PER_TEMP_SENSOR 2
/* mpu6500 registers */
#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
@@ -298,7 +301,7 @@ struct inv_mpu6050_state {
#define INV_ICM20608_TEMP_OFFSET 8170
#define INV_ICM20608_TEMP_SCALE 3059976
-/* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */
+/* 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8 */
#define INV_MPU6050_OUTPUT_DATA_SIZE 32
#define INV_MPU6050_REG_INT_PIN_CFG 0x37
@@ -344,6 +347,7 @@ enum inv_mpu6050_scan {
INV_MPU6050_SCAN_ACCL_X,
INV_MPU6050_SCAN_ACCL_Y,
INV_MPU6050_SCAN_ACCL_Z,
+ INV_MPU6050_SCAN_TEMP,
INV_MPU6050_SCAN_GYRO_X,
INV_MPU6050_SCAN_GYRO_Y,
INV_MPU6050_SCAN_GYRO_Z,
@@ -355,18 +359,6 @@ enum inv_mpu6050_scan {
INV_MPU9X50_SCAN_TIMESTAMP,
};
-/* scan element definition for ICM20602, which includes temperature */
-enum inv_icm20602_scan {
- INV_ICM20602_SCAN_ACCL_X,
- INV_ICM20602_SCAN_ACCL_Y,
- INV_ICM20602_SCAN_ACCL_Z,
- INV_ICM20602_SCAN_TEMP,
- INV_ICM20602_SCAN_GYRO_X,
- INV_ICM20602_SCAN_GYRO_Y,
- INV_ICM20602_SCAN_GYRO_Z,
- INV_ICM20602_SCAN_TIMESTAMP,
-};
-
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_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
index 02735af152c8..4f192352521e 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
@@ -12,7 +12,9 @@
#include "inv_mpu_magn.h"
/*
- * MPU9250 magnetometer is an AKM AK8963 chip on I2C aux bus
+ * MPU9xxx magnetometer are AKM chips on I2C aux bus
+ * MPU9150 is AK8975
+ * MPU9250 is AK8963
*/
#define INV_MPU_MAGN_I2C_ADDR 0x0C
@@ -33,10 +35,10 @@
#define INV_MPU_MAGN_BITS_MODE_PWDN 0x00
#define INV_MPU_MAGN_BITS_MODE_SINGLE 0x01
#define INV_MPU_MAGN_BITS_MODE_FUSE 0x0F
-#define INV_MPU_MAGN_BIT_OUTPUT_BIT 0x10
+#define INV_MPU9250_MAGN_BIT_OUTPUT_BIT 0x10
-#define INV_MPU_MAGN_REG_CNTL2 0x0B
-#define INV_MPU_MAGN_BIT_SRST 0x01
+#define INV_MPU9250_MAGN_REG_CNTL2 0x0B
+#define INV_MPU9250_MAGN_BIT_SRST 0x01
#define INV_MPU_MAGN_REG_ASAX 0x10
#define INV_MPU_MAGN_REG_ASAY 0x11
@@ -48,6 +50,7 @@
static bool inv_magn_supported(const struct inv_mpu6050_state *st)
{
switch (st->chip_type) {
+ case INV_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
return true;
@@ -61,6 +64,7 @@ static int inv_magn_init(struct inv_mpu6050_state *st)
{
uint8_t val;
uint8_t asa[3];
+ int32_t sensitivity;
int ret;
/* check whoami */
@@ -71,12 +75,19 @@ static int inv_magn_init(struct inv_mpu6050_state *st)
if (val != INV_MPU_MAGN_BITS_WIA)
return -ENODEV;
- /* reset chip */
- ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
- INV_MPU_MAGN_REG_CNTL2,
- INV_MPU_MAGN_BIT_SRST);
- if (ret)
- return ret;
+ /* software reset for MPU925x only */
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
+ INV_MPU9250_MAGN_REG_CNTL2,
+ INV_MPU9250_MAGN_BIT_SRST);
+ if (ret)
+ return ret;
+ break;
+ default:
+ break;
+ }
/* read fuse ROM data */
ret = inv_mpu_aux_write(st, INV_MPU_MAGN_I2C_ADDR,
@@ -98,22 +109,36 @@ static int inv_magn_init(struct inv_mpu6050_state *st)
return ret;
/*
+ * Sensor sentivity
+ * 1 uT = 0.01 G and value is in micron (1e6)
+ * sensitvity = x uT * 0.01 * 1e6
+ */
+ switch (st->chip_type) {
+ case INV_MPU9150:
+ /* sensor sensitivity is 0.3 uT */
+ sensitivity = 3000;
+ break;
+ case INV_MPU9250:
+ case INV_MPU9255:
+ /* sensor sensitivity in 16 bits mode: 0.15 uT */
+ sensitivity = 1500;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ /*
* Sensitivity adjustement and scale to Gauss
*
* Hadj = H * (((ASA - 128) * 0.5 / 128) + 1)
* Factor simplification:
* Hadj = H * ((ASA + 128) / 256)
*
- * Sensor sentivity
- * 0.15 uT in 16 bits mode
- * 1 uT = 0.01 G and value is in micron (1e6)
- * sensitvity = 0.15 uT * 0.01 * 1e6
- *
- * raw_to_gauss = Hadj * 1500
+ * raw_to_gauss = Hadj * sensitivity
*/
- st->magn_raw_to_gauss[0] = (((int32_t)asa[0] + 128) * 1500) / 256;
- st->magn_raw_to_gauss[1] = (((int32_t)asa[1] + 128) * 1500) / 256;
- st->magn_raw_to_gauss[2] = (((int32_t)asa[2] + 128) * 1500) / 256;
+ st->magn_raw_to_gauss[0] = (((int32_t)asa[0] + 128) * sensitivity) / 256;
+ st->magn_raw_to_gauss[1] = (((int32_t)asa[1] + 128) * sensitivity) / 256;
+ st->magn_raw_to_gauss[2] = (((int32_t)asa[2] + 128) * sensitivity) / 256;
return 0;
}
@@ -129,6 +154,7 @@ static int inv_magn_init(struct inv_mpu6050_state *st)
*/
int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
{
+ uint8_t val;
int ret;
/* quit if chip is not supported */
@@ -179,10 +205,17 @@ int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
if (ret)
return ret;
- /* add 16 bits mode */
- ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(1),
- INV_MPU_MAGN_BITS_MODE_SINGLE |
- INV_MPU_MAGN_BIT_OUTPUT_BIT);
+ /* add 16 bits mode for MPU925x */
+ val = INV_MPU_MAGN_BITS_MODE_SINGLE;
+ switch (st->chip_type) {
+ case INV_MPU9250:
+ case INV_MPU9255:
+ val |= INV_MPU9250_MAGN_BIT_OUTPUT_BIT;
+ break;
+ default:
+ break;
+ }
+ ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(1), val);
if (ret)
return ret;
@@ -237,6 +270,7 @@ int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
/* fill magnetometer orientation */
switch (st->chip_type) {
+ case INV_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
/* x <- y */
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index 10d16ec5104b..f9fdf4302a91 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -142,6 +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.temp_fifo_enable)
+ d |= INV_MPU6050_BIT_TEMP_OUT;
if (st->chip_config.magn_fifo_enable)
d |= INV_MPU6050_BIT_SLAVE_0;
result = regmap_write(st->map, st->reg->fifo_en, d);
@@ -183,11 +185,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
"failed to ack interrupt\n");
goto flush_fifo;
}
- if (!(int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT)) {
- dev_warn(regmap_get_device(st->map),
- "spurious interrupt with status 0x%x\n", int_status);
+ 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 |
@@ -200,8 +199,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
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.temp_fifo_enable)
+ bytes_per_datum += INV_MPU6050_BYTES_PER_TEMP_SENSOR;
if (st->chip_config.magn_fifo_enable)
bytes_per_datum += INV_MPU9X50_BYTES_MAGN;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
index 142692fc0758..ec102d5a5c77 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -74,7 +74,6 @@ static int inv_mpu_probe(struct spi_device *spi)
static const struct spi_device_id inv_mpu_id[] = {
{"mpu6000", INV_MPU6000},
{"mpu6500", INV_MPU6500},
- {"mpu9150", INV_MPU9150},
{"mpu9250", INV_MPU9250},
{"mpu9255", INV_MPU9255},
{"icm20608", INV_ICM20608},
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index d7d951927a44..5199fe790c30 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -24,6 +24,9 @@ static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
indio_dev->active_scan_mask) ||
test_bit(INV_MPU6050_SCAN_ACCL_Z,
indio_dev->active_scan_mask);
+
+ st->chip_config.temp_fifo_enable =
+ test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
}
static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
@@ -50,6 +53,7 @@ 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_MPU9150:
case INV_MPU9250:
case INV_MPU9255:
return inv_scan_query_mpu9x50(indio_dev);
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index dc55d7dff3eb..9c3486a8134f 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -76,6 +76,7 @@ enum st_lsm6dsx_hw_id {
.endianness = IIO_LE, \
}, \
.event_spec = &st_lsm6dsx_event, \
+ .ext_info = st_lsm6dsx_accel_ext_info, \
.num_event_specs = 1, \
}
@@ -176,21 +177,38 @@ struct st_lsm6dsx_hw_ts_settings {
* @pullup_en: i2c controller pull-up register info (addr + mask).
* @aux_sens: aux sensor register info (addr + mask).
* @wr_once: write_once register info (addr + mask).
+ * @emb_func: embedded function register info (addr + mask).
+ * @num_ext_dev: max number of slave devices.
* @shub_out: sensor hub first output register info.
* @slv0_addr: slave0 address in secondary page.
* @dw_slv0_addr: slave0 write register address in secondary page.
* @batch_en: Enable/disable FIFO batching.
+ * @pause: controller pause value.
*/
struct st_lsm6dsx_shub_settings {
struct st_lsm6dsx_reg page_mux;
- struct st_lsm6dsx_reg master_en;
- struct st_lsm6dsx_reg pullup_en;
+ struct {
+ bool sec_page;
+ u8 addr;
+ u8 mask;
+ } master_en;
+ struct {
+ bool sec_page;
+ u8 addr;
+ u8 mask;
+ } pullup_en;
struct st_lsm6dsx_reg aux_sens;
struct st_lsm6dsx_reg wr_once;
- u8 shub_out;
+ struct st_lsm6dsx_reg emb_func;
+ u8 num_ext_dev;
+ struct {
+ bool sec_page;
+ u8 addr;
+ } shub_out;
u8 slv0_addr;
u8 dw_slv0_addr;
u8 batch_en;
+ u8 pause;
};
struct st_lsm6dsx_event_settings {
@@ -361,6 +379,7 @@ struct st_lsm6dsx_sensor {
* @enable_event: enabled event bitmask.
* @iio_devs: Pointers to acc/gyro iio_dev instances.
* @settings: Pointer to the specific sensor settings in use.
+ * @orientation: sensor chip orientation relative to main hardware.
*/
struct st_lsm6dsx_hw {
struct device *dev;
@@ -387,16 +406,21 @@ struct st_lsm6dsx_hw {
struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
const struct st_lsm6dsx_settings *settings;
+
+ struct iio_mount_matrix orientation;
};
-static const struct iio_event_spec st_lsm6dsx_event = {
+static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
.type = IIO_EV_TYPE_THRESH,
.dir = IIO_EV_DIR_EITHER,
.mask_separate = BIT(IIO_EV_INFO_VALUE) |
BIT(IIO_EV_INFO_ENABLE)
};
-static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0};
+static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
+ 0x7, 0x0,
+};
+
extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
@@ -457,4 +481,19 @@ st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
return err;
}
+static const inline struct iio_mount_matrix *
+st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
+ const struct iio_chan_spec *chan)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+
+ return &hw->orientation;
+}
+
+static const struct iio_chan_spec_ext_info st_lsm6dsx_accel_ext_info[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
+ { }
+};
+
#endif /* ST_LSM6DSX_H */
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
index cb536b81a1c2..bb899345f2bb 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c
@@ -336,12 +336,13 @@ static inline int st_lsm6dsx_read_block(struct st_lsm6dsx_hw *hw, u8 addr,
*/
int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
{
+ struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor, *ext_sensor = NULL;
+ int err, acc_sip, gyro_sip, ts_sip, ext_sip, read_len, offset;
u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE;
u16 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask;
- int err, acc_sip, gyro_sip, ts_sip, read_len, offset;
- struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor;
u8 gyro_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
u8 acc_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
+ u8 ext_buff[ST_LSM6DSX_IIO_BUFF_SIZE];
bool reset_ts = false;
__le16 fifo_status;
s64 ts = 0;
@@ -364,6 +365,8 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
gyro_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_GYRO]);
+ if (hw->iio_devs[ST_LSM6DSX_ID_EXT0])
+ ext_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_EXT0]);
for (read_len = 0; read_len < fifo_len; read_len += pattern_len) {
err = st_lsm6dsx_read_block(hw, ST_LSM6DSX_REG_FIFO_OUTL_ADDR,
@@ -391,12 +394,13 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
* following pattern is repeated every 9 samples:
* - Gx, Gy, Gz, Ax, Ay, Az, Ts, Gx, Gy, Gz, Ts, Gx, ..
*/
+ ext_sip = ext_sensor ? ext_sensor->sip : 0;
gyro_sip = gyro_sensor->sip;
acc_sip = acc_sensor->sip;
ts_sip = hw->ts_sip;
offset = 0;
- while (acc_sip > 0 || gyro_sip > 0) {
+ while (acc_sip > 0 || gyro_sip > 0 || ext_sip > 0) {
if (gyro_sip > 0) {
memcpy(gyro_buff, &hw->buff[offset],
ST_LSM6DSX_SAMPLE_SIZE);
@@ -407,6 +411,11 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
ST_LSM6DSX_SAMPLE_SIZE);
offset += ST_LSM6DSX_SAMPLE_SIZE;
}
+ if (ext_sip > 0) {
+ memcpy(ext_buff, &hw->buff[offset],
+ ST_LSM6DSX_SAMPLE_SIZE);
+ offset += ST_LSM6DSX_SAMPLE_SIZE;
+ }
if (ts_sip-- > 0) {
u8 data[ST_LSM6DSX_SAMPLE_SIZE];
@@ -440,6 +449,10 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw)
iio_push_to_buffers_with_timestamp(
hw->iio_devs[ST_LSM6DSX_ID_ACC],
acc_buff, acc_sensor->ts_ref + ts);
+ if (ext_sip-- > 0)
+ iio_push_to_buffers_with_timestamp(
+ hw->iio_devs[ST_LSM6DSX_ID_EXT0],
+ ext_buff, ext_sensor->ts_ref + ts);
}
}
@@ -638,12 +651,12 @@ int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable)
err = st_lsm6dsx_sensor_set_enable(sensor, enable);
if (err < 0)
goto out;
-
- err = st_lsm6dsx_set_fifo_odr(sensor, enable);
- if (err < 0)
- goto out;
}
+ err = st_lsm6dsx_set_fifo_odr(sensor, enable);
+ if (err < 0)
+ goto out;
+
err = st_lsm6dsx_update_decimators(hw);
if (err < 0)
goto out;
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index b921dd9e108f..84d219ae6aee 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -54,6 +54,7 @@
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/pm.h>
+#include <linux/property.h>
#include <linux/regmap.h>
#include <linux/bitfield.h>
@@ -655,6 +656,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x08,
.mask = GENMASK(5, 3),
},
+ [ST_LSM6DSX_ID_EXT0] = {
+ .addr = 0x09,
+ .mask = GENMASK(2, 0),
+ },
},
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
@@ -687,6 +692,39 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(5, 3),
},
},
+ .shub_settings = {
+ .page_mux = {
+ .addr = 0x01,
+ .mask = BIT(7),
+ },
+ .master_en = {
+ .addr = 0x1a,
+ .mask = BIT(0),
+ },
+ .pullup_en = {
+ .addr = 0x1a,
+ .mask = BIT(3),
+ },
+ .aux_sens = {
+ .addr = 0x04,
+ .mask = GENMASK(5, 4),
+ },
+ .wr_once = {
+ .addr = 0x07,
+ .mask = BIT(5),
+ },
+ .emb_func = {
+ .addr = 0x19,
+ .mask = BIT(2),
+ },
+ .num_ext_dev = 1,
+ .shub_out = {
+ .addr = 0x2e,
+ },
+ .slv0_addr = 0x02,
+ .dw_slv0_addr = 0x0e,
+ .pause = 0x7,
+ },
.event_settings = {
.enable_reg = {
.addr = 0x58,
@@ -867,10 +905,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = BIT(6),
},
.master_en = {
+ .sec_page = true,
.addr = 0x14,
.mask = BIT(2),
},
.pullup_en = {
+ .sec_page = true,
.addr = 0x14,
.mask = BIT(3),
},
@@ -882,7 +922,11 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x14,
.mask = BIT(6),
},
- .shub_out = 0x02,
+ .num_ext_dev = 3,
+ .shub_out = {
+ .sec_page = true,
+ .addr = 0x02,
+ },
.slv0_addr = 0x15,
.dw_slv0_addr = 0x21,
.batch_en = BIT(3),
@@ -1241,10 +1285,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = BIT(6),
},
.master_en = {
+ .sec_page = true,
.addr = 0x14,
.mask = BIT(2),
},
.pullup_en = {
+ .sec_page = true,
.addr = 0x14,
.mask = BIT(3),
},
@@ -1256,7 +1302,11 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.addr = 0x14,
.mask = BIT(6),
},
- .shub_out = 0x02,
+ .num_ext_dev = 3,
+ .shub_out = {
+ .sec_page = true,
+ .addr = 0x02,
+ },
.slv0_addr = 0x15,
.dw_slv0_addr = 0x21,
.batch_en = BIT(3),
@@ -1506,8 +1556,11 @@ static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor,
if (err < 0)
return err;
- if (!hw->enable_event)
- st_lsm6dsx_sensor_set_enable(sensor, false);
+ if (!hw->enable_event) {
+ err = st_lsm6dsx_sensor_set_enable(sensor, false);
+ if (err < 0)
+ return err;
+ }
*val = (s16)le16_to_cpu(data);
@@ -1609,11 +1662,11 @@ static int st_lsm6dsx_event_setup(struct st_lsm6dsx_hw *hw, int state)
}
static int st_lsm6dsx_read_event(struct iio_dev *iio_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)
+ 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 st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
struct st_lsm6dsx_hw *hw = sensor->hw;
@@ -1827,14 +1880,14 @@ static const struct iio_info st_lsm6dsx_gyro_info = {
.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
};
-static int st_lsm6dsx_of_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin)
+static int st_lsm6dsx_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin)
{
- struct device_node *np = hw->dev->of_node;
+ struct device *dev = hw->dev;
- if (!np)
+ if (!dev_fwnode(dev))
return -EINVAL;
- return of_property_read_u32(np, "st,drdy-int-pin", drdy_pin);
+ return device_property_read_u32(dev, "st,drdy-int-pin", drdy_pin);
}
static int
@@ -1843,7 +1896,7 @@ st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw,
{
int err = 0, drdy_pin;
- if (st_lsm6dsx_of_get_drdy_pin(hw, &drdy_pin) < 0) {
+ if (st_lsm6dsx_get_drdy_pin(hw, &drdy_pin) < 0) {
struct st_sensors_platform_data *pdata;
struct device *dev = hw->dev;
@@ -1872,26 +1925,29 @@ st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw,
static int st_lsm6dsx_init_shub(struct st_lsm6dsx_hw *hw)
{
const struct st_lsm6dsx_shub_settings *hub_settings;
- struct device_node *np = hw->dev->of_node;
struct st_sensors_platform_data *pdata;
+ struct device *dev = hw->dev;
unsigned int data;
int err = 0;
hub_settings = &hw->settings->shub_settings;
- pdata = (struct st_sensors_platform_data *)hw->dev->platform_data;
- if ((np && of_property_read_bool(np, "st,pullups")) ||
+ pdata = (struct st_sensors_platform_data *)dev->platform_data;
+ if ((dev_fwnode(dev) && device_property_read_bool(dev, "st,pullups")) ||
(pdata && pdata->pullups)) {
- err = st_lsm6dsx_set_page(hw, true);
- if (err < 0)
- return err;
+ if (hub_settings->pullup_en.sec_page) {
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ return err;
+ }
data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->pullup_en.mask);
err = regmap_update_bits(hw->regmap,
hub_settings->pullup_en.addr,
hub_settings->pullup_en.mask, data);
- st_lsm6dsx_set_page(hw, false);
+ if (hub_settings->pullup_en.sec_page)
+ st_lsm6dsx_set_page(hw, false);
if (err < 0)
return err;
@@ -1909,6 +1965,16 @@ static int st_lsm6dsx_init_shub(struct st_lsm6dsx_hw *hw)
hub_settings->aux_sens.mask, data);
st_lsm6dsx_set_page(hw, false);
+
+ if (err < 0)
+ return err;
+ }
+
+ if (hub_settings->emb_func.addr) {
+ data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->emb_func.mask);
+ err = regmap_update_bits(hw->regmap,
+ hub_settings->emb_func.addr,
+ hub_settings->emb_func.mask, data);
}
return err;
@@ -2158,9 +2224,9 @@ static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private)
static int st_lsm6dsx_irq_setup(struct st_lsm6dsx_hw *hw)
{
- struct device_node *np = hw->dev->of_node;
struct st_sensors_platform_data *pdata;
const struct st_lsm6dsx_reg *reg;
+ struct device *dev = hw->dev;
unsigned long irq_type;
bool irq_active_low;
int err;
@@ -2188,8 +2254,8 @@ static int st_lsm6dsx_irq_setup(struct st_lsm6dsx_hw *hw)
if (err < 0)
return err;
- pdata = (struct st_sensors_platform_data *)hw->dev->platform_data;
- if ((np && of_property_read_bool(np, "drive-open-drain")) ||
+ pdata = (struct st_sensors_platform_data *)dev->platform_data;
+ if ((dev_fwnode(dev) && device_property_read_bool(dev, "drive-open-drain")) ||
(pdata && pdata->open_drain)) {
reg = &hw->settings->irq_config.od;
err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
@@ -2219,7 +2285,6 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
{
struct st_sensors_platform_data *pdata = dev->platform_data;
const struct st_lsm6dsx_shub_settings *hub_settings;
- struct device_node *np = dev->of_node;
struct st_lsm6dsx_hw *hw;
const char *name = NULL;
int i, err;
@@ -2273,6 +2338,10 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
return err;
}
+ err = iio_read_mount_matrix(hw->dev, "mount-matrix", &hw->orientation);
+ if (err)
+ return err;
+
for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
if (!hw->iio_devs[i])
continue;
@@ -2282,7 +2351,7 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
return err;
}
- if ((np && of_property_read_bool(np, "wakeup-source")) ||
+ if ((dev_fwnode(dev) && device_property_read_bool(dev, "wakeup-source")) ||
(pdata && pdata->wakeup_source))
device_init_wakeup(dev, true);
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
index cd47ec1fedcb..0fb32131afce 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c
@@ -12,7 +12,6 @@
#include <linux/module.h>
#include <linux/i2c.h>
#include <linux/slab.h>
-#include <linux/of.h>
#include <linux/regmap.h>
#include "st_lsm6dsx.h"
@@ -122,7 +121,7 @@ static struct i2c_driver st_lsm6dsx_driver = {
.driver = {
.name = "st_lsm6dsx_i2c",
.pm = &st_lsm6dsx_pm_ops,
- .of_match_table = of_match_ptr(st_lsm6dsx_i2c_of_match),
+ .of_match_table = st_lsm6dsx_i2c_of_match,
},
.probe = st_lsm6dsx_i2c_probe,
.id_table = st_lsm6dsx_i2c_id_table,
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
index fa5d1001a46c..eea555617d4a 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c
@@ -30,7 +30,6 @@
#include "st_lsm6dsx.h"
-#define ST_LSM6DSX_MAX_SLV_NUM 3
#define ST_LSM6DSX_SLV_ADDR(n, base) ((base) + (n) * 3)
#define ST_LSM6DSX_SLV_SUB_ADDR(n, base) ((base) + 1 + (n) * 3)
#define ST_LSM6DSX_SLV_CONFIG(n, base) ((base) + 2 + (n) * 3)
@@ -102,24 +101,31 @@ static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw)
}
/**
- * st_lsm6dsx_shub_read_reg - read i2c controller register
+ * st_lsm6dsx_shub_read_output - read i2c controller register
*
* Read st_lsm6dsx i2c controller register
*/
-static int st_lsm6dsx_shub_read_reg(struct st_lsm6dsx_hw *hw, u8 addr,
- u8 *data, int len)
+static int
+st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data,
+ int len)
{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
int err;
mutex_lock(&hw->page_lock);
- err = st_lsm6dsx_set_page(hw, true);
- if (err < 0)
- goto out;
+ hub_settings = &hw->settings->shub_settings;
+ if (hub_settings->shub_out.sec_page) {
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ goto out;
+ }
- err = regmap_bulk_read(hw->regmap, addr, data, len);
+ err = regmap_bulk_read(hw->regmap, hub_settings->shub_out.addr,
+ data, len);
- st_lsm6dsx_set_page(hw, false);
+ if (hub_settings->shub_out.sec_page)
+ st_lsm6dsx_set_page(hw, false);
out:
mutex_unlock(&hw->page_lock);
@@ -186,15 +192,18 @@ static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor,
mutex_lock(&hw->page_lock);
hub_settings = &hw->settings->shub_settings;
- err = st_lsm6dsx_set_page(hw, true);
- if (err < 0)
- goto out;
+ if (hub_settings->master_en.sec_page) {
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ goto out;
+ }
data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->master_en.mask);
err = regmap_update_bits(hw->regmap, hub_settings->master_en.addr,
hub_settings->master_en.mask, data);
- st_lsm6dsx_set_page(hw, false);
+ if (hub_settings->master_en.sec_page)
+ st_lsm6dsx_set_page(hw, false);
out:
mutex_unlock(&hw->page_lock);
@@ -212,16 +221,21 @@ st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
u8 *data, int len)
{
const struct st_lsm6dsx_shub_settings *hub_settings;
+ u8 config[3], slv_addr, slv_config = 0;
struct st_lsm6dsx_hw *hw = sensor->hw;
- u8 config[3], slv_addr;
+ const struct st_lsm6dsx_reg *aux_sens;
int err;
hub_settings = &hw->settings->shub_settings;
slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
+ aux_sens = &hw->settings->shub_settings.aux_sens;
+ /* do not overwrite aux_sens */
+ if (slv_addr + 2 == aux_sens->addr)
+ slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
config[0] = (sensor->ext_info.addr << 1) | 1;
config[1] = addr;
- config[2] = len & ST_LS6DSX_READ_OP_MASK;
+ config[2] = (len & ST_LS6DSX_READ_OP_MASK) | slv_config;
err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
sizeof(config));
@@ -234,12 +248,14 @@ st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
st_lsm6dsx_shub_wait_complete(hw);
- err = st_lsm6dsx_shub_read_reg(hw, hub_settings->shub_out, data,
- len & ST_LS6DSX_READ_OP_MASK);
+ err = st_lsm6dsx_shub_read_output(hw, data,
+ len & ST_LS6DSX_READ_OP_MASK);
st_lsm6dsx_shub_master_enable(sensor, false);
- memset(config, 0, sizeof(config));
+ config[0] = hub_settings->pause;
+ config[1] = 0;
+ config[2] = slv_config;
return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
sizeof(config));
}
@@ -296,7 +312,8 @@ st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr,
st_lsm6dsx_shub_master_enable(sensor, false);
}
- memset(config, 0, sizeof(config));
+ config[0] = hub_settings->pause;
+ config[1] = 0;
return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config));
}
@@ -688,14 +705,19 @@ st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
const struct st_lsm6dsx_ext_dev_settings *settings)
{
const struct st_lsm6dsx_shub_settings *hub_settings;
+ u8 config[3], data, slv_addr, slv_config = 0;
+ const struct st_lsm6dsx_reg *aux_sens;
struct st_lsm6dsx_sensor *sensor;
- u8 config[3], data, slv_addr;
bool found = false;
int i, err;
+ sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
hub_settings = &hw->settings->shub_settings;
+ aux_sens = &hw->settings->shub_settings.aux_sens;
slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
- sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
+ /* do not overwrite aux_sens */
+ if (slv_addr + 2 == aux_sens->addr)
+ slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
for (i = 0; i < ARRAY_SIZE(settings->i2c_addr); i++) {
if (!settings->i2c_addr[i])
@@ -704,7 +726,7 @@ st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
/* read wai slave register */
config[0] = (settings->i2c_addr[i] << 1) | 0x1;
config[1] = settings->wai.addr;
- config[2] = 0x1;
+ config[2] = 0x1 | slv_config;
err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
sizeof(config));
@@ -717,9 +739,7 @@ st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
st_lsm6dsx_shub_wait_complete(hw);
- err = st_lsm6dsx_shub_read_reg(hw,
- hub_settings->shub_out,
- &data, sizeof(data));
+ err = st_lsm6dsx_shub_read_output(hw, &data, sizeof(data));
st_lsm6dsx_shub_master_enable(sensor, false);
@@ -735,7 +755,9 @@ st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
}
/* reset SLV0 channel */
- memset(config, 0, sizeof(config));
+ config[0] = hub_settings->pause;
+ config[1] = 0;
+ config[2] = slv_config;
err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
sizeof(config));
if (err < 0)
@@ -770,7 +792,7 @@ int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name)
if (err < 0)
return err;
- if (++num_ext_dev >= ST_LSM6DSX_MAX_SLV_NUM)
+ if (++num_ext_dev >= hw->settings->shub_settings.num_ext_dev)
break;
id++;
}
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
index 67ff36eac247..eb1086e4a951 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c
@@ -12,7 +12,6 @@
#include <linux/module.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
-#include <linux/of.h>
#include <linux/regmap.h>
#include "st_lsm6dsx.h"
@@ -122,7 +121,7 @@ static struct spi_driver st_lsm6dsx_driver = {
.driver = {
.name = "st_lsm6dsx_spi",
.pm = &st_lsm6dsx_pm_ops,
- .of_match_table = of_match_ptr(st_lsm6dsx_spi_of_match),
+ .of_match_table = st_lsm6dsx_spi_of_match,
},
.probe = st_lsm6dsx_spi_probe,
.id_table = st_lsm6dsx_spi_id_table,
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