iio: imu: inv_mpu6050: rewrite power and engine management

Rewrite clock management to use automatic clock switching
present since MPU6500.
Sensors engine management can now turn on or off a batch of
sensors which simplifies usage a lot.
Temperature sensor is now turned on/off depending on usage.

Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 63cdde20df7e2ca0fd52aa9a4bef9cf686469835..a51efc4c941b951df7b63536aba1b3f788bbf8c3 100644 (file)
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -99,9 +99,31 @@ static const struct inv_mpu6050_reg_map reg_set_6050 = {
 };
 
 static const struct inv_mpu6050_chip_config chip_config_6050 = {
+       .clk = INV_CLK_INTERNAL,
        .fsr = INV_MPU6050_FSR_2000DPS,
        .lpf = INV_MPU6050_FILTER_20HZ,
        .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
+       .gyro_en = true,
+       .accl_en = true,
+       .temp_en = true,
+       .magn_en = false,
+       .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,
+};
+
+static const struct inv_mpu6050_chip_config chip_config_6500 = {
+       .clk = INV_CLK_PLL,
+       .fsr = INV_MPU6050_FSR_2000DPS,
+       .lpf = INV_MPU6050_FILTER_20HZ,
+       .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
+       .gyro_en = true,
+       .accl_en = true,
+       .temp_en = true,
+       .magn_en = false,
        .gyro_fifo_enable = false,
        .accl_fifo_enable = false,
        .temp_fifo_enable = false,
@@ -124,7 +146,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
                .whoami = INV_MPU6500_WHOAMI_VALUE,
                .name = "MPU6500",
                .reg = &reg_set_6500,
-               .config = &chip_config_6050,
+               .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
        },
@@ -132,7 +154,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
                .whoami = INV_MPU6515_WHOAMI_VALUE,
                .name = "MPU6515",
                .reg = &reg_set_6500,
-               .config = &chip_config_6050,
+               .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
        },
@@ -156,7 +178,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
                .whoami = INV_MPU9250_WHOAMI_VALUE,
                .name = "MPU9250",
                .reg = &reg_set_6500,
-               .config = &chip_config_6050,
+               .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
        },
@@ -164,7 +186,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
                .whoami = INV_MPU9255_WHOAMI_VALUE,
                .name = "MPU9255",
                .reg = &reg_set_6500,
-               .config = &chip_config_6050,
+               .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
        },
@@ -172,7 +194,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
                .whoami = INV_ICM20608_WHOAMI_VALUE,
                .name = "ICM20608",
                .reg = &reg_set_6500,
-               .config = &chip_config_6050,
+               .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
        },
@@ -180,7 +202,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
                .whoami = INV_ICM20609_WHOAMI_VALUE,
                .name = "ICM20609",
                .reg = &reg_set_6500,
-               .config = &chip_config_6050,
+               .config = &chip_config_6500,
                .fifo_size = 4 * 1024,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
        },
@@ -188,7 +210,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
                .whoami = INV_ICM20689_WHOAMI_VALUE,
                .name = "ICM20689",
                .reg = &reg_set_6500,
-               .config = &chip_config_6050,
+               .config = &chip_config_6500,
                .fifo_size = 4 * 1024,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
        },
@@ -196,15 +218,15 @@ static const struct inv_mpu6050_hw hw_info[] = {
                .whoami = INV_ICM20602_WHOAMI_VALUE,
                .name = "ICM20602",
                .reg = &reg_set_icm20602,
-               .config = &chip_config_6050,
+               .config = &chip_config_6500,
                .fifo_size = 1008,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
        },
        {
                .whoami = INV_ICM20690_WHOAMI_VALUE,
                .name = "ICM20690",
-               .reg = &reg_set_icm20602,
-               .config = &chip_config_6050,
+               .reg = &reg_set_6500,
+               .config = &chip_config_6500,
                .fifo_size = 1024,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
        },
@@ -212,61 +234,162 @@ static const struct inv_mpu6050_hw hw_info[] = {
                .whoami = INV_IAM20680_WHOAMI_VALUE,
                .name = "IAM20680",
                .reg = &reg_set_6500,
-               .config = &chip_config_6050,
+               .config = &chip_config_6500,
                .fifo_size = 512,
                .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
        },
 };
 
-int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
+static int inv_mpu6050_pwr_mgmt_1_write(struct inv_mpu6050_state *st, bool sleep,
+                                       int clock, int temp_dis)
 {
-       unsigned int d, mgmt_1;
-       int result;
-       /*
-        * switch clock needs to be careful. Only when gyro is on, can
-        * clock source be switched to gyro. Otherwise, it must be set to
-        * internal clock
-        */
-       if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
-               result = regmap_read(st->map, st->reg->pwr_mgmt_1, &mgmt_1);
-               if (result)
-                       return result;
+       u8 val;
+
+       if (clock < 0)
+               clock = st->chip_config.clk;
+       if (temp_dis < 0)
+               temp_dis = !st->chip_config.temp_en;
+
+       val = clock & INV_MPU6050_BIT_CLK_MASK;
+       if (temp_dis)
+               val |= INV_MPU6050_BIT_TEMP_DIS;
+       if (sleep)
+               val |= INV_MPU6050_BIT_SLEEP;
+
+       dev_dbg(regmap_get_device(st->map), "pwr_mgmt_1: 0x%x\n", val);
+       return regmap_write(st->map, st->reg->pwr_mgmt_1, val);
+}
+
+static int inv_mpu6050_clock_switch(struct inv_mpu6050_state *st,
+                                   unsigned int clock)
+{
+       int ret;
+
+       switch (st->chip_type) {
+       case INV_MPU6050:
+       case INV_MPU6000:
+       case INV_MPU9150:
+               /* old chips: switch clock manually */
+               ret = inv_mpu6050_pwr_mgmt_1_write(st, false, clock, -1);
+               if (ret)
+                       return ret;
+               st->chip_config.clk = clock;
+               break;
+       default:
+               /* automatic clock switching, nothing to do */
+               break;
+       }
+
+       return 0;
+}
 
-               mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
+int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
+                             unsigned int mask)
+{
+       unsigned int sleep;
+       u8 pwr_mgmt2, user_ctrl;
+       int ret;
+
+       /* delete useless requests */
+       if (mask & INV_MPU6050_SENSOR_ACCL && en == st->chip_config.accl_en)
+               mask &= ~INV_MPU6050_SENSOR_ACCL;
+       if (mask & INV_MPU6050_SENSOR_GYRO && en == st->chip_config.gyro_en)
+               mask &= ~INV_MPU6050_SENSOR_GYRO;
+       if (mask & INV_MPU6050_SENSOR_TEMP && en == st->chip_config.temp_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 == 0)
+               return 0;
+
+       /* turn on/off temperature sensor */
+       if (mask & INV_MPU6050_SENSOR_TEMP) {
+               ret = inv_mpu6050_pwr_mgmt_1_write(st, false, -1, !en);
+               if (ret)
+                       return ret;
+               st->chip_config.temp_en = en;
        }
 
-       if ((mask == INV_MPU6050_BIT_PWR_GYRO_STBY) && (!en)) {
-               /*
-                * turning off gyro requires switch to internal clock first.
-                * Then turn off gyro engine
-                */
-               mgmt_1 |= INV_CLK_INTERNAL;
-               result = regmap_write(st->map, st->reg->pwr_mgmt_1, mgmt_1);
-               if (result)
-                       return result;
+       /* update user_crtl for driving magnetometer */
+       if (mask & INV_MPU6050_SENSOR_MAGN) {
+               user_ctrl = st->chip_config.user_ctrl;
+               if (en)
+                       user_ctrl |= INV_MPU6050_BIT_I2C_MST_EN;
+               else
+                       user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN;
+               ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
+               if (ret)
+                       return ret;
+               st->chip_config.user_ctrl = user_ctrl;
+               st->chip_config.magn_en = en;
        }
 
-       result = regmap_read(st->map, st->reg->pwr_mgmt_2, &d);
-       if (result)
-               return result;
-       if (en)
-               d &= ~mask;
-       else
-               d |= mask;
-       result = regmap_write(st->map, st->reg->pwr_mgmt_2, d);
-       if (result)
-               return result;
+       /* manage accel & gyro engines */
+       if (mask & (INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO)) {
+               /* compute power management 2 current value */
+               pwr_mgmt2 = 0;
+               if (!st->chip_config.accl_en)
+                       pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
+               if (!st->chip_config.gyro_en)
+                       pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;
+
+               /* update to new requested value */
+               if (mask & INV_MPU6050_SENSOR_ACCL) {
+                       if (en)
+                               pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_ACCL_STBY;
+                       else
+                               pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
+               }
+               if (mask & INV_MPU6050_SENSOR_GYRO) {
+                       if (en)
+                               pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_GYRO_STBY;
+                       else
+                               pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;
+               }
 
-       if (en) {
-               /* Wait for output to stabilize */
-               msleep(INV_MPU6050_TEMP_UP_TIME);
-               if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
-                       /* switch internal clock to PLL */
-                       mgmt_1 |= INV_CLK_PLL;
-                       result = regmap_write(st->map,
-                                             st->reg->pwr_mgmt_1, mgmt_1);
-                       if (result)
-                               return result;
+               /* switch clock to internal when turning gyro off */
+               if (mask & INV_MPU6050_SENSOR_GYRO && !en) {
+                       ret = inv_mpu6050_clock_switch(st, INV_CLK_INTERNAL);
+                       if (ret)
+                               return ret;
+               }
+
+               /* update sensors engine */
+               dev_dbg(regmap_get_device(st->map), "pwr_mgmt_2: 0x%x\n",
+                       pwr_mgmt2);
+               ret = regmap_write(st->map, st->reg->pwr_mgmt_2, pwr_mgmt2);
+               if (ret)
+                       return ret;
+               if (mask & INV_MPU6050_SENSOR_ACCL)
+                       st->chip_config.accl_en = en;
+               if (mask & INV_MPU6050_SENSOR_GYRO)
+                       st->chip_config.gyro_en = en;
+
+               /* compute required time to have sensors stabilized */
+               sleep = 0;
+               if (en) {
+                       if (mask & INV_MPU6050_SENSOR_ACCL) {
+                               if (sleep < INV_MPU6050_ACCEL_UP_TIME)
+                                       sleep = INV_MPU6050_ACCEL_UP_TIME;
+                       }
+                       if (mask & INV_MPU6050_SENSOR_GYRO) {
+                               if (sleep < INV_MPU6050_GYRO_UP_TIME)
+                                       sleep = INV_MPU6050_GYRO_UP_TIME;
+                       }
+               } else {
+                       if (mask & INV_MPU6050_SENSOR_GYRO) {
+                               if (sleep < INV_MPU6050_GYRO_DOWN_TIME)
+                                       sleep = INV_MPU6050_GYRO_DOWN_TIME;
+                       }
+               }
+               if (sleep)
+                       msleep(sleep);
+
+               /* switch clock to PLL when turning gyro on */
+               if (mask & INV_MPU6050_SENSOR_GYRO && en) {
+                       ret = inv_mpu6050_clock_switch(st, INV_CLK_PLL);
+                       if (ret)
+                               return ret;
                }
        }
 
@@ -279,7 +402,7 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 
        if (power_on) {
                if (!st->powerup_count) {
-                       result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);
+                       result = inv_mpu6050_pwr_mgmt_1_write(st, false, -1, -1);
                        if (result)
                                return result;
                        usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
@@ -288,8 +411,7 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
                st->powerup_count++;
        } else {
                if (st->powerup_count == 1) {
-                       result = regmap_write(st->map, st->reg->pwr_mgmt_1,
-                                             INV_MPU6050_BIT_SLEEP);
+                       result = inv_mpu6050_pwr_mgmt_1_write(st, true, -1, -1);
                        if (result)
                                return result;
                }
@@ -451,33 +573,41 @@ static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
        switch (chan->type) {
        case IIO_ANGL_VEL:
                result = inv_mpu6050_switch_engine(st, true,
-                               INV_MPU6050_BIT_PWR_GYRO_STBY);
+                               INV_MPU6050_SENSOR_GYRO);
                if (result)
                        goto error_power_off;
                ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
                                              chan->channel2, val);
                result = inv_mpu6050_switch_engine(st, false,
-                               INV_MPU6050_BIT_PWR_GYRO_STBY);
+                               INV_MPU6050_SENSOR_GYRO);
                if (result)
                        goto error_power_off;
                break;
        case IIO_ACCEL:
                result = inv_mpu6050_switch_engine(st, true,
-                               INV_MPU6050_BIT_PWR_ACCL_STBY);
+                               INV_MPU6050_SENSOR_ACCL);
                if (result)
                        goto error_power_off;
                ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
                                              chan->channel2, val);
                result = inv_mpu6050_switch_engine(st, false,
-                               INV_MPU6050_BIT_PWR_ACCL_STBY);
+                               INV_MPU6050_SENSOR_ACCL);
                if (result)
                        goto error_power_off;
                break;
        case IIO_TEMP:
+               result = inv_mpu6050_switch_engine(st, true,
+                               INV_MPU6050_SENSOR_TEMP);
+               if (result)
+                       goto error_power_off;
                /* wait for stablization */
-               msleep(INV_MPU6050_SENSOR_UP_TIME);
+               msleep(INV_MPU6050_TEMP_UP_TIME);
                ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
                                              IIO_MOD_X, val);
+               result = inv_mpu6050_switch_engine(st, false,
+                               INV_MPU6050_SENSOR_TEMP);
+               if (result)
+                       goto error_power_off;
                break;
        case IIO_MAGN:
                ret = inv_mpu_magn_read(st, chan->channel2, val);
@@ -1108,7 +1238,7 @@ static const struct iio_info mpu_info = {
 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 {
        int result;
-       unsigned int regval;
+       unsigned int regval, mask;
        int i;
 
        st->hw  = &hw_info[st->chip_type];
@@ -1174,13 +1304,9 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
        result = inv_mpu6050_set_power_itg(st, true);
        if (result)
                return result;
-
-       result = inv_mpu6050_switch_engine(st, false,
-                                          INV_MPU6050_BIT_PWR_ACCL_STBY);
-       if (result)
-               goto error_power_off;
-       result = inv_mpu6050_switch_engine(st, false,
-                                          INV_MPU6050_BIT_PWR_GYRO_STBY);
+       mask = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
+                       INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
+       result = inv_mpu6050_switch_engine(st, false, mask);
        if (result)
                goto error_power_off;
 

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 17f1f6a15f95f19a045c9b941d23dbdab428742b..a578789c9210fb8921ad2bb719dfd916998b86b0 100644 (file)
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -83,11 +83,22 @@ enum inv_devices {
        INV_NUM_PARTS
 };
 
+/* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer */
+#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)
+
 /**
  *  struct inv_mpu6050_chip_config - Cached chip configuration data.
+ *  @clk:              selected chip clock
  *  @fsr:              Full scale range.
  *  @lpf:              Digital low pass filter frequency.
  *  @accl_fs:          accel full scale range.
+ *  @accl_en:          accel engine enabled
+ *  @gyro_en:          gyro engine enabled
+ *  @temp_en:          temperature sensor enabled
+ *  @magn_en:          magn engine (i2c master) enabled
  *  @accl_fifo_enable: enable accel data output
  *  @gyro_fifo_enable: enable gyro data output
  *  @temp_fifo_enable: enable temp data output
@@ -95,9 +106,14 @@ enum inv_devices {
  *  @divider:          chip sample rate divider (sample rate divider - 1)
  */
 struct inv_mpu6050_chip_config {
+       unsigned int clk:3;
        unsigned int fsr:2;
        unsigned int lpf:3;
        unsigned int accl_fs:2;
+       unsigned int accl_en:1;
+       unsigned int gyro_en:1;
+       unsigned int temp_en:1;
+       unsigned int magn_en:1;
        unsigned int accl_fifo_enable:1;
        unsigned int gyro_fifo_enable:1;
        unsigned int temp_fifo_enable:1;
@@ -262,6 +278,7 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_REG_PWR_MGMT_1          0x6B
 #define INV_MPU6050_BIT_H_RESET             0x80
 #define INV_MPU6050_BIT_SLEEP               0x40
+#define INV_MPU6050_BIT_TEMP_DIS            0x08
 #define INV_MPU6050_BIT_CLK_MASK            0x7
 
 #define INV_MPU6050_REG_PWR_MGMT_2          0x6C
@@ -292,7 +309,9 @@ struct inv_mpu6050_state {
 /* delay time in milliseconds */
 #define INV_MPU6050_POWER_UP_TIME            100
 #define INV_MPU6050_TEMP_UP_TIME             100
-#define INV_MPU6050_SENSOR_UP_TIME           30
+#define INV_MPU6050_ACCEL_UP_TIME            20
+#define INV_MPU6050_GYRO_UP_TIME             35
+#define INV_MPU6050_GYRO_DOWN_TIME           150
 
 /* delay time in microseconds */
 #define INV_MPU6050_REG_UP_TIME_MIN          5000
@@ -417,7 +436,8 @@ enum inv_mpu6050_clock_sel_e {
 irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
 int inv_reset_fifo(struct iio_dev *indio_dev);
-int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
+int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
+                             unsigned int mask);
 int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
 int inv_mpu_acpi_create_mux_client(struct i2c_client *client);

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
index 607104a2631ed5d7775a4f6d65804a034bcde527..3f402fa56d9551414242900c76dc8327526c10ab 100644 (file)
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
@@ -316,9 +316,9 @@ int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
  *
  * Returns 0 on success, a negative error code otherwise
  */
-int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
+int inv_mpu_magn_read(struct inv_mpu6050_state *st, int axis, int *val)
 {
-       unsigned int user_ctrl, status;
+       unsigned int status;
        __be16 data;
        uint8_t addr;
        unsigned int freq_hz, period_ms;
@@ -350,16 +350,14 @@ int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
                freq_hz = INV_MPU_MAGN_FREQ_HZ_MAX;
        period_ms = 1000 / freq_hz;
 
-       /* start i2c master, wait for xfer, stop */
-       user_ctrl = st->chip_config.user_ctrl | INV_MPU6050_BIT_I2C_MST_EN;
-       ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
+       ret = inv_mpu6050_switch_engine(st, true, INV_MPU6050_SENSOR_MAGN);
        if (ret)
                return ret;
 
        /* need to wait 2 periods + half-period margin */
        msleep(period_ms * 2 + period_ms / 2);
-       user_ctrl = st->chip_config.user_ctrl;
-       ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
+
+       ret = inv_mpu6050_switch_engine(st, false, INV_MPU6050_SENSOR_MAGN);
        if (ret)
                return ret;
 

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
index b41bd0578478ce197f5ed79af00121893cfcdf2e..f7ad50ca6c1b111a07fb2157b082f7af9aa49ade 100644 (file)
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
@@ -31,6 +31,6 @@ int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate);
 
 int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st);
 
-int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val);
+int inv_mpu_magn_read(struct inv_mpu6050_state *st, int axis, int *val);
 
 #endif         /* INV_MPU_MAGN_H_ */

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index 5199fe790c3057df30b8575e06374c3046017e90..cfd7243159f65da719b32c4d572de37ff3979a6b 100644 (file)
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -5,9 +5,10 @@
 
 #include "inv_mpu_iio.h"
 
-static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
+static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)
 {
        struct inv_mpu6050_state  *st = iio_priv(indio_dev);
+       unsigned int mask;
 
        st->chip_config.gyro_fifo_enable =
                test_bit(INV_MPU6050_SCAN_GYRO_X,
@@ -27,17 +28,28 @@ static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
 
        st->chip_config.temp_fifo_enable =
                test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
+
+       mask = 0;
+       if (st->chip_config.gyro_fifo_enable)
+               mask |= INV_MPU6050_SENSOR_GYRO;
+       if (st->chip_config.accl_fifo_enable)
+               mask |= INV_MPU6050_SENSOR_ACCL;
+       if (st->chip_config.temp_fifo_enable)
+               mask |= INV_MPU6050_SENSOR_TEMP;
+
+       return mask;
 }
 
-static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
+static unsigned int inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
 {
        struct inv_mpu6050_state *st = iio_priv(indio_dev);
+       unsigned int mask;
 
-       inv_scan_query_mpu6050(indio_dev);
+       mask = inv_scan_query_mpu6050(indio_dev);
 
        /* no magnetometer if i2c auxiliary bus is used */
        if (st->magn_disabled)
-               return;
+               return mask;
 
        st->chip_config.magn_fifo_enable =
                test_bit(INV_MPU9X50_SCAN_MAGN_X,
@@ -46,9 +58,13 @@ static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
                         indio_dev->active_scan_mask) ||
                test_bit(INV_MPU9X50_SCAN_MAGN_Z,
                         indio_dev->active_scan_mask);
+       if (st->chip_config.magn_fifo_enable)
+               mask |= INV_MPU6050_SENSOR_MAGN;
+
+       return mask;
 }
 
-static void inv_scan_query(struct iio_dev *indio_dev)
+static unsigned int inv_scan_query(struct iio_dev *indio_dev)
 {
        struct inv_mpu6050_state *st = iio_priv(indio_dev);
 
@@ -92,62 +108,40 @@ static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
 static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
 {
        struct inv_mpu6050_state *st = iio_priv(indio_dev);
-       uint8_t d;
+       unsigned int scan;
        int result;
 
+       scan = inv_scan_query(indio_dev);
+
        if (enable) {
                result = inv_mpu6050_set_power_itg(st, true);
                if (result)
                        return result;
-               inv_scan_query(indio_dev);
-               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;
-               }
-               if (st->chip_config.accl_fifo_enable) {
-                       result = inv_mpu6050_switch_engine(st, true,
-                                       INV_MPU6050_BIT_PWR_ACCL_STBY);
-                       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;
-               }
+               result = inv_mpu6050_switch_engine(st, true, scan);
+               if (result)
+                       goto error_power_off;
                st->skip_samples = inv_compute_skip_samples(st);
                result = inv_reset_fifo(indio_dev);
                if (result)
-                       goto error_magn_off;
+                       goto error_sensors_off;
        } else {
                result = regmap_write(st->map, st->reg->fifo_en, 0);
                if (result)
-                       goto error_magn_off;
+                       goto error_fifo_off;
 
                result = regmap_write(st->map, st->reg->int_enable, 0);
                if (result)
-                       goto error_magn_off;
-
-               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_magn_off;
-               st->chip_config.user_ctrl = d;
+                       goto error_fifo_off;
 
-               result = inv_mpu6050_switch_engine(st, false,
-                                       INV_MPU6050_BIT_PWR_ACCL_STBY);
+               /* restore user_ctrl for disabling FIFO reading */
+               result = regmap_write(st->map, st->reg->user_ctrl,
+                                     st->chip_config.user_ctrl);
                if (result)
-                       goto error_accl_off;
+                       goto error_sensors_off;
 
-               result = inv_mpu6050_switch_engine(st, false,
-                                       INV_MPU6050_BIT_PWR_GYRO_STBY);
+               result = inv_mpu6050_switch_engine(st, false, scan);
                if (result)
-                       goto error_gyro_off;
+                       goto error_power_off;
 
                result = inv_mpu6050_set_power_itg(st, false);
                if (result)
@@ -156,18 +150,11 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
 
        return 0;
 
-error_magn_off:
+error_fifo_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,
-                                         INV_MPU6050_BIT_PWR_ACCL_STBY);
-error_gyro_off:
-       if (st->chip_config.gyro_fifo_enable)
-               inv_mpu6050_switch_engine(st, false,
-                                         INV_MPU6050_BIT_PWR_GYRO_STBY);
+error_sensors_off:
+       inv_mpu6050_switch_engine(st, false, scan);
 error_power_off:
        inv_mpu6050_set_power_itg(st, false);
        return result;