iio: imu: kmx61: Add support for any motion trigger (fd3ae7a9) · Commits · 方亚芬 / raspberrypi_linux

drivers/iio/imu/kmx61.c

+426 −7

Original line number	Diff line number	Diff line
		@@ -20,6 +20,7 @@
		#include <linux/pm_runtime.h>
		#include <linux/iio/iio.h>
		#include <linux/iio/sysfs.h>
		#include <linux/iio/events.h>
		#include <linux/iio/trigger.h>
		#include <linux/iio/buffer.h>
		#include <linux/iio/triggered_buffer.h>
		@@ -30,6 +31,8 @@
		#define KMX61_IRQ_NAME "kmx61_event"

		#define KMX61_REG_WHO_AM_I 0x00
		#define KMX61_REG_INS1 0x01
		#define KMX61_REG_INS2 0x02

		/*
		* three 16-bit accelerometer output registers for X/Y/Z axis
		@@ -63,20 +66,36 @@
		#define KMX61_REG_INL 0x28
		#define KMX61_REG_STBY 0x29
		#define KMX61_REG_CTRL1 0x2A
		#define KMX61_REG_CTRL2 0x2B
		#define KMX61_REG_ODCNTL 0x2C
		#define KMX61_REG_INC1 0x2D

		#define KMX61_REG_WUF_THRESH 0x3D
		#define KMX61_REG_WUF_TIMER 0x3E

		#define KMX61_ACC_STBY_BIT BIT(0)
		#define KMX61_MAG_STBY_BIT BIT(1)
		#define KMX61_ACT_STBY_BIT BIT(7)

		#define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT \| KMX61_MAG_STBY_BIT)

		#define KMX61_REG_INS1_BIT_WUFS BIT(1)

		#define KMX61_REG_INS2_BIT_ZP BIT(0)
		#define KMX61_REG_INS2_BIT_ZN BIT(1)
		#define KMX61_REG_INS2_BIT_YP BIT(2)
		#define KMX61_REG_INS2_BIT_YN BIT(3)
		#define KMX61_REG_INS2_BIT_XP BIT(4)
		#define KMX61_REG_INS2_BIT_XN BIT(5)

		#define KMX61_REG_CTRL1_GSEL_MASK 0x03

		#define KMX61_REG_CTRL1_BIT_RES BIT(4)
		#define KMX61_REG_CTRL1_BIT_DRDYE BIT(5)
		#define KMX61_REG_CTRL1_BIT_WUFE BIT(6)
		#define KMX61_REG_CTRL1_BIT_BTSE BIT(7)

		#define KMX61_REG_INC1_BIT_WUFS BIT(0)
		#define KMX61_REG_INC1_BIT_DRDYM BIT(1)
		#define KMX61_REG_INC1_BIT_DRDYA BIT(2)
		#define KMX61_REG_INC1_BIT_IEN BIT(5)
		@@ -86,6 +105,11 @@
		#define KMX61_ACC_ODR_MASK 0x0F
		#define KMX61_MAG_ODR_MASK 0xF0

		#define KMX61_OWUF_MASK 0x7

		#define KMX61_DEFAULT_WAKE_THRESH 1
		#define KMX61_DEFAULT_WAKE_DURATION 1

		#define KMX61_SLEEP_DELAY_MS 2000

		#define KMX61_CHIP_ID 0x12
		@@ -111,11 +135,16 @@ struct kmx61_data {
		/* config bits */
		u8 range;
		u8 odr_bits;
		u8 wake_thresh;
		u8 wake_duration;

		/* accelerometer specific data */
		struct iio_dev *acc_indio_dev;
		struct iio_trigger *acc_dready_trig;
		struct iio_trigger *motion_trig;
		bool acc_dready_trig_on;
		bool motion_trig_on;
		bool ev_enable_state;

		/* magnetometer specific data */
		struct iio_dev *mag_indio_dev;
		@@ -154,6 +183,23 @@ static const struct {
		{3, 125000, 0x0A},
		{6, 250000, 0x0B} };

		static const struct {
		int val;
		int val2;
		int odr_bits;
		} kmx61_wake_up_odr_table[] = { {0, 781000, 0x00},
		{1, 563000, 0x01},
		{3, 125000, 0x02},
		{6, 250000, 0x03},
		{12, 500000, 0x04},
		{25, 0, 0x05},
		{50, 0, 0x06},
		{100, 0, 0x06},
		{200, 0, 0x06},
		{400, 0, 0x06},
		{800, 0, 0x06},
		{1600, 0, 0x06} };

		static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326");
		static IIO_CONST_ATTR(magn_scale_available, "0.001465");
		static IIO_CONST_ATTR_SAMP_FREQ_AVAIL(
		@@ -179,6 +225,14 @@ static const struct attribute_group kmx61_mag_attribute_group = {
		.attrs = kmx61_mag_attributes,
		};

		static const struct iio_event_spec kmx61_event = {
		.type = IIO_EV_TYPE_THRESH,
		.dir = IIO_EV_DIR_EITHER,
		.mask_separate = BIT(IIO_EV_INFO_VALUE) \|
		BIT(IIO_EV_INFO_ENABLE) \|
		BIT(IIO_EV_INFO_PERIOD),
		};

		#define KMX61_ACC_CHAN(_axis) { \
		.type = IIO_ACCEL, \
		.modified = 1, \
		@@ -195,6 +249,8 @@ static const struct attribute_group kmx61_mag_attribute_group = {
		.shift = 4, \
		.endianness = IIO_LE, \
		}, \
		.event_spec = &kmx61_event, \
		.num_event_specs = 1 \
		}

		#define KMX61_MAG_CHAN(_axis) { \
		@@ -250,6 +306,31 @@ static int kmx61_convert_freq_to_bit(int val, int val2)
		return -EINVAL;
		}

		static int kmx61_convert_bit_to_freq(u8 odr_bits, int val, int val2)
		{
		int i;

		for (i = 0; i < ARRAY_SIZE(kmx61_samp_freq_table); i++)
		if (odr_bits == kmx61_samp_freq_table[i].odr_bits) {
		*val = kmx61_samp_freq_table[i].val;
		*val2 = kmx61_samp_freq_table[i].val2;
		return 0;
		}
		return -EINVAL;
		}


		static int kmx61_convert_wake_up_odr_to_bit(int val, int val2)
		{
		int i;

		for (i = 0; i < ARRAY_SIZE(kmx61_wake_up_odr_table); ++i)
		if (kmx61_wake_up_odr_table[i].val == val &&
		kmx61_wake_up_odr_table[i].val2 == val2)
		return kmx61_wake_up_odr_table[i].odr_bits;
		return -EINVAL;
		}

		/**
		* kmx61_set_mode() - set KMX61 device operating mode
		* @data - kmx61 device private data pointer
		@@ -338,6 +419,21 @@ static int kmx61_get_mode(struct kmx61_data data, u8 mode, u8 device)
		return 0;
		}

		int kmx61_set_wake_up_odr(struct kmx61_data *data, int val, int val2)
		{
		int ret, odr_bits;

		odr_bits = kmx61_convert_wake_up_odr_to_bit(val, val2);
		if (odr_bits < 0)
		return odr_bits;

		ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL2,
		odr_bits);
		if (ret < 0)
		dev_err(&data->client->dev, "Error writing reg_ctrl2\n");
		return ret;
		}

		static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device)
		{
		int ret;
		@@ -369,6 +465,12 @@ static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device)
		if (ret < 0)
		return ret;

		if (device & KMX61_ACC) {
		ret = kmx61_set_wake_up_odr(data, val, val2);
		if (ret)
		return ret;
		}

		return kmx61_set_mode(data, mode, KMX61_ACC \| KMX61_MAG, true);
		}

		@@ -449,7 +551,7 @@ static int kmx61_set_scale(struct kmx61_data *data, u16 uscale)

		static int kmx61_chip_init(struct kmx61_data *data)
		{
		int ret;
		int ret, val, val2;

		ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I);
		if (ret < 0) {
		@@ -476,11 +578,23 @@ static int kmx61_chip_init(struct kmx61_data *data)
		}
		data->odr_bits = ret;

		/* set output data rate for wake up (motion detection) function */
		ret = kmx61_convert_bit_to_freq(data->odr_bits, &val, &val2);
		if (ret < 0)
		return ret;

		ret = kmx61_set_wake_up_odr(data, val, val2);
		if (ret < 0)
		return ret;

		/* set acc/magn to OPERATION mode */
		ret = kmx61_set_mode(data, 0, KMX61_ACC \| KMX61_MAG, true);
		if (ret < 0)
		return ret;

		data->wake_thresh = KMX61_DEFAULT_WAKE_THRESH;
		data->wake_duration = KMX61_DEFAULT_WAKE_DURATION;

		return 0;
		}

		@@ -547,6 +661,87 @@ static int kmx61_setup_new_data_interrupt(struct kmx61_data *data,
		return 0;
		}

		static int kmx61_chip_update_thresholds(struct kmx61_data *data)
		{
		int ret;

		ret = i2c_smbus_write_byte_data(data->client,
		KMX61_REG_WUF_TIMER,
		data->wake_duration);
		if (ret < 0) {
		dev_err(&data->client->dev, "Errow writing reg_wuf_timer\n");
		return ret;
		}

		ret = i2c_smbus_write_byte_data(data->client,
		KMX61_REG_WUF_THRESH,
		data->wake_thresh);
		if (ret < 0) {
		dev_err(&data->client->dev, "Error writing reg_wuf_thresh\n");
		return ret;
		}

		return 0;
		}

		static int kmx61_setup_any_motion_interrupt(struct kmx61_data *data,
		bool status, u8 device)
		{
		u8 mode;
		int ret;

		ret = kmx61_get_mode(data, &mode, KMX61_ACC \| KMX61_MAG);
		if (ret < 0)
		return ret;

		ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC \| KMX61_MAG, true);
		if (ret < 0)
		return ret;

		ret = kmx61_chip_update_thresholds(data);
		if (ret < 0)
		return ret;

		ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INC1);
		if (ret < 0) {
		dev_err(&data->client->dev, "Error reading reg_inc1\n");
		return ret;
		}
		if (status)
		ret \|= (KMX61_REG_INC1_BIT_IEN \| KMX61_REG_INC1_BIT_WUFS);
		else
		ret &= ~(KMX61_REG_INC1_BIT_IEN \| KMX61_REG_INC1_BIT_WUFS);

		ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_INC1, ret);
		if (ret < 0) {
		dev_err(&data->client->dev, "Error writing reg_inc1\n");
		return ret;
		}

		ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
		if (ret < 0) {
		dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
		return ret;
		}

		if (status)
		ret \|= KMX61_REG_CTRL1_BIT_WUFE \| KMX61_REG_CTRL1_BIT_BTSE;
		else
		ret &= ~(KMX61_REG_CTRL1_BIT_WUFE \| KMX61_REG_CTRL1_BIT_BTSE);

		ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
		if (ret < 0) {
		dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
		return ret;
		}
		mode \|= KMX61_ACT_STBY_BIT;
		ret = kmx61_set_mode(data, mode, KMX61_ACC \| KMX61_MAG, true);
		if (ret)
		return ret;

		return 0;
		}

		/**
		* kmx61_set_power_state() - set power state for kmx61 @device
		* @data - kmx61 device private pointer
		@@ -707,12 +902,111 @@ static int kmx61_write_raw(struct iio_dev *indio_dev,
		}
		}

		static int kmx61_read_event(struct iio_dev *indio_dev,
		const struct iio_chan_spec *chan,
		enum iio_event_type type,
		enum iio_event_direction dir,
		enum iio_event_info info,
		int val, int val2)
		{
		struct kmx61_data *data = kmx61_get_data(indio_dev);

		*val2 = 0;
		switch (info) {
		case IIO_EV_INFO_VALUE:
		*val = data->wake_thresh;
		break;
		case IIO_EV_INFO_PERIOD:
		*val = data->wake_duration;
		break;
		default:
		return -EINVAL;
		}

		return IIO_VAL_INT;
		}

		static int kmx61_write_event(struct iio_dev *indio_dev,
		const struct iio_chan_spec *chan,
		enum iio_event_type type,
		enum iio_event_direction dir,
		enum iio_event_info info,
		int val, int val2)
		{
		struct kmx61_data *data = kmx61_get_data(indio_dev);

		if (data->ev_enable_state)
		return -EBUSY;

		switch (info) {
		case IIO_EV_INFO_VALUE:
		data->wake_thresh = val;
		break;
		case IIO_EV_INFO_PERIOD:
		data->wake_duration = val;
		break;
		default:
		return -EINVAL;
		}

		return IIO_VAL_INT;
		}

		static int kmx61_read_event_config(struct iio_dev *indio_dev,
		const struct iio_chan_spec *chan,
		enum iio_event_type type,
		enum iio_event_direction dir)
		{
		struct kmx61_data *data = kmx61_get_data(indio_dev);

		return data->ev_enable_state;
		}

		static int kmx61_write_event_config(struct iio_dev *indio_dev,
		const struct iio_chan_spec *chan,
		enum iio_event_type type,
		enum iio_event_direction dir,
		int state)
		{
		struct kmx61_data *data = kmx61_get_data(indio_dev);
		int ret;

		if (state && data->ev_enable_state)
		return 0;

		mutex_lock(&data->lock);

		if (!state && data->motion_trig_on) {
		data->ev_enable_state = 0;
		mutex_unlock(&data->lock);
		return 0;
		}

		ret = kmx61_set_power_state(data, state, KMX61_ACC);
		if (ret < 0) {
		mutex_unlock(&data->lock);
		return ret;
		}

		ret = kmx61_setup_any_motion_interrupt(data, state, KMX61_ACC);
		if (ret < 0) {
		kmx61_set_power_state(data, false, KMX61_ACC);
		mutex_unlock(&data->lock);
		return ret;
		}

		data->ev_enable_state = state;
		mutex_unlock(&data->lock);

		return 0;
		}

		static int kmx61_acc_validate_trigger(struct iio_dev *indio_dev,
		struct iio_trigger *trig)
		{
		struct kmx61_data *data = kmx61_get_data(indio_dev);

		if (data->acc_dready_trig != trig)
		if (data->acc_dready_trig != trig && data->motion_trig != trig)
		return -EINVAL;

		return 0;
		@@ -734,6 +1028,10 @@ static const struct iio_info kmx61_acc_info = {
		.read_raw = kmx61_read_raw,
		.write_raw = kmx61_write_raw,
		.attrs = &kmx61_acc_attribute_group,
		.read_event_value = kmx61_read_event,
		.write_event_value = kmx61_write_event,
		.read_event_config = kmx61_read_event_config,
		.write_event_config = kmx61_write_event_config,
		.validate_trigger = kmx61_acc_validate_trigger,
		};

		@@ -753,11 +1051,18 @@ static int kmx61_data_rdy_trigger_set_state(struct iio_trigger *trig,
		u8 device;

		struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
		struct kmx61_data *data = iio_priv(indio_dev);
		struct kmx61_data *data = kmx61_get_data(indio_dev);

		mutex_lock(&data->lock);

		if (data->acc_dready_trig == trig)
		if (!state && data->ev_enable_state && data->motion_trig_on) {
		data->motion_trig_on = false;
		mutex_unlock(&data->lock);
		return 0;
		}


		if (data->acc_dready_trig == trig \|\| data->motion_trig)
		device = KMX61_ACC;
		else
		device = KMX61_MAG;
		@@ -768,7 +1073,10 @@ static int kmx61_data_rdy_trigger_set_state(struct iio_trigger *trig,
		return ret;
		}

		if (data->acc_dready_trig == trig \|\| data->mag_dready_trig == trig)
		ret = kmx61_setup_new_data_interrupt(data, state, device);
		else
		ret = kmx61_setup_any_motion_interrupt(data, state, KMX61_ACC);
		if (ret < 0) {
		kmx61_set_power_state(data, false, device);
		mutex_unlock(&data->lock);
		@@ -777,8 +1085,10 @@ static int kmx61_data_rdy_trigger_set_state(struct iio_trigger *trig,

		if (data->acc_dready_trig == trig)
		data->acc_dready_trig_on = state;
		else
		else if (data->mag_dready_trig == trig)
		data->mag_dready_trig_on = state;
		else
		data->motion_trig_on = state;

		mutex_unlock(&data->lock);

		@@ -806,6 +1116,99 @@ static const struct iio_trigger_ops kmx61_trigger_ops = {
		.owner = THIS_MODULE,
		};

		static irqreturn_t kmx61_event_handler(int irq, void *private)
		{
		struct kmx61_data *data = private;
		struct iio_dev *indio_dev = data->acc_indio_dev;
		int ret;

		ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INS1);
		if (ret < 0) {
		dev_err(&data->client->dev, "Error reading reg_ins1\n");
		goto ack_intr;
		}

		if (ret & KMX61_REG_INS1_BIT_WUFS) {
		ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INS2);
		if (ret < 0) {
		dev_err(&data->client->dev, "Error reading reg_ins2\n");
		goto ack_intr;
		}

		if (ret & KMX61_REG_INS2_BIT_XN)
		iio_push_event(indio_dev,
		IIO_MOD_EVENT_CODE(IIO_ACCEL,
		0,
		IIO_MOD_X,
		IIO_EV_TYPE_THRESH,
		IIO_EV_DIR_FALLING),
		0);

		if (ret & KMX61_REG_INS2_BIT_XP)
		iio_push_event(indio_dev,
		IIO_MOD_EVENT_CODE(IIO_ACCEL,
		0,
		IIO_MOD_X,
		IIO_EV_TYPE_THRESH,
		IIO_EV_DIR_RISING),
		0);

		if (ret & KMX61_REG_INS2_BIT_YN)
		iio_push_event(indio_dev,
		IIO_MOD_EVENT_CODE(IIO_ACCEL,
		0,
		IIO_MOD_Y,
		IIO_EV_TYPE_THRESH,
		IIO_EV_DIR_FALLING),
		0);

		if (ret & KMX61_REG_INS2_BIT_YP)
		iio_push_event(indio_dev,
		IIO_MOD_EVENT_CODE(IIO_ACCEL,
		0,
		IIO_MOD_Y,
		IIO_EV_TYPE_THRESH,
		IIO_EV_DIR_RISING),
		0);

		if (ret & KMX61_REG_INS2_BIT_ZN)
		iio_push_event(indio_dev,
		IIO_MOD_EVENT_CODE(IIO_ACCEL,
		0,
		IIO_MOD_Z,
		IIO_EV_TYPE_THRESH,
		IIO_EV_DIR_FALLING),
		0);

		if (ret & KMX61_REG_INS2_BIT_ZP)
		iio_push_event(indio_dev,
		IIO_MOD_EVENT_CODE(IIO_ACCEL,
		0,
		IIO_MOD_Z,
		IIO_EV_TYPE_THRESH,
		IIO_EV_DIR_RISING),
		0);
		}

		ack_intr:
		ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
		if (ret < 0)
		dev_err(&data->client->dev, "Error reading reg_ctrl1\n");

		ret \|= KMX61_REG_CTRL1_BIT_RES;
		ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
		if (ret < 0)
		dev_err(&data->client->dev, "Error reading reg_ctrl1\n");

		ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INL);
		if (ret < 0)
		dev_err(&data->client->dev, "Error reading reg_inl\n");

		ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INS1);

		return IRQ_HANDLED;
		}

		static irqreturn_t kmx61_data_rdy_trig_poll(int irq, void *private)
		{
		struct kmx61_data *data = private;
		@@ -815,6 +1218,11 @@ static irqreturn_t kmx61_data_rdy_trig_poll(int irq, void *private)
		if (data->mag_dready_trig_on)
		iio_trigger_poll(data->mag_dready_trig);

		if (data->motion_trig_on)
		iio_trigger_poll(data->motion_trig);

		if (data->ev_enable_state)
		return IRQ_WAKE_THREAD;
		return IRQ_HANDLED;
		}

		@@ -982,7 +1390,7 @@ static int kmx61_probe(struct i2c_client *client,
		if (client->irq >= 0) {
		ret = devm_request_threaded_irq(&client->dev, client->irq,
		kmx61_data_rdy_trig_poll,
		NULL,
		kmx61_event_handler,
		IRQF_TRIGGER_RISING,
		KMX61_IRQ_NAME,
		data);
		@@ -1003,6 +1411,14 @@ static int kmx61_probe(struct i2c_client *client,
		goto err_trigger_unregister;
		}

		data->motion_trig =
		kmx61_trigger_setup(data, data->acc_indio_dev,
		"any-motion");
		if (IS_ERR(data->motion_trig)) {
		ret = PTR_ERR(data->motion_trig);
		goto err_trigger_unregister;
		}

		ret = iio_triggered_buffer_setup(data->acc_indio_dev,
		&iio_pollfunc_store_time,
		kmx61_trigger_handler,
		@@ -1060,6 +1476,8 @@ err_trigger_unregister:
		iio_trigger_unregister(data->acc_dready_trig);
		if (data->mag_dready_trig)
		iio_trigger_unregister(data->mag_dready_trig);
		if (data->motion_trig)
		iio_trigger_unregister(data->motion_trig);
		err_chip_uninit:
		kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC \| KMX61_MAG, true);
		return ret;
		@@ -1081,6 +1499,7 @@ static int kmx61_remove(struct i2c_client *client)
		iio_triggered_buffer_cleanup(data->mag_indio_dev);
		iio_trigger_unregister(data->acc_dready_trig);
		iio_trigger_unregister(data->mag_dready_trig);
		iio_trigger_unregister(data->motion_trig);
		}

		mutex_lock(&data->lock);