iio: imu: inv_mpu6050: add WoM (Wake-on-Motion) sensor
WoM is a threshold test on accel value comparing actual sample with previous one. It maps best to roc rising event. Add support of a new WOM sensor and functions for handling the associated roc_rising event. The event value is in SI units. Ensure WOM is stopped and restarted at suspend-resume, handle usage with buffer data ready interrupt, and handle change in sampling rate impacting already set roc value. Signed-off-by: Jean-Baptiste Maneyrol <jean-baptiste.maneyrol@tdk.com> Link: https://lore.kernel.org/r/20240311160557.437337-2-inv.git-commit@tdk.com Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Jean-Baptiste Maneyrol
Jonathan Cameron
parent
e264b086f4
commit
0b70c08449
@ -15,6 +15,8 @@
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#include <linux/acpi.h>
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#include <linux/platform_device.h>
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#include <linux/regulator/consumer.h>
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#include <linux/math64.h>
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#include <linux/minmax.h>
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#include <linux/pm.h>
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#include <linux/pm_runtime.h>
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#include <linux/property.h>
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@ -332,7 +334,7 @@ static int inv_mpu6050_clock_switch(struct inv_mpu6050_state *st,
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int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
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unsigned int mask)
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{
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unsigned int sleep;
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unsigned int sleep, val;
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u8 pwr_mgmt2, user_ctrl;
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int ret;
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@ -345,6 +347,14 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
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mask &= ~INV_MPU6050_SENSOR_TEMP;
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if (mask & INV_MPU6050_SENSOR_MAGN && en == st->chip_config.magn_en)
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mask &= ~INV_MPU6050_SENSOR_MAGN;
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if (mask & INV_MPU6050_SENSOR_WOM && en == st->chip_config.wom_en)
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mask &= ~INV_MPU6050_SENSOR_WOM;
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/* force accel on if WoM is on and not going off */
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if (!en && (mask & INV_MPU6050_SENSOR_ACCL) && st->chip_config.wom_en &&
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!(mask & INV_MPU6050_SENSOR_WOM))
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mask &= ~INV_MPU6050_SENSOR_ACCL;
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if (mask == 0)
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return 0;
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@ -439,6 +449,16 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
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}
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}
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/* enable/disable accel intelligence control */
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if (mask & INV_MPU6050_SENSOR_WOM) {
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val = en ? INV_MPU6500_BIT_ACCEL_INTEL_EN |
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INV_MPU6500_BIT_ACCEL_INTEL_MODE : 0;
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ret = regmap_write(st->map, INV_MPU6500_REG_ACCEL_INTEL_CTRL, val);
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if (ret)
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return ret;
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st->chip_config.wom_en = en;
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}
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return 0;
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}
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@ -893,6 +913,239 @@ error_write_raw_unlock:
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return result;
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}
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static u64 inv_mpu6050_convert_wom_to_roc(unsigned int threshold, unsigned int freq_div)
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{
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/* 4mg per LSB converted in m/s² in micro (1000000) */
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const unsigned int convert = 4U * 9807U;
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u64 value;
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value = threshold * convert;
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/* compute the differential by multiplying by the frequency */
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return div_u64(value * INV_MPU6050_INTERNAL_FREQ_HZ, freq_div);
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}
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static unsigned int inv_mpu6050_convert_roc_to_wom(u64 roc, unsigned int freq_div)
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{
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/* 4mg per LSB converted in m/s² in micro (1000000) */
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const unsigned int convert = 4U * 9807U;
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u64 value;
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/* return 0 only if roc is 0 */
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if (roc == 0)
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return 0;
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value = div_u64(roc * freq_div, convert * INV_MPU6050_INTERNAL_FREQ_HZ);
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/* limit value to 8 bits and prevent 0 */
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return min(255, max(1, value));
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}
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static int inv_mpu6050_set_wom_int(struct inv_mpu6050_state *st, bool on)
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{
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unsigned int reg_val, val;
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switch (st->chip_type) {
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case INV_MPU6050:
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case INV_MPU6500:
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case INV_MPU6515:
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case INV_MPU6880:
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case INV_MPU6000:
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case INV_MPU9150:
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case INV_MPU9250:
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case INV_MPU9255:
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reg_val = INV_MPU6500_BIT_WOM_INT_EN;
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break;
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default:
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reg_val = INV_ICM20608_BIT_WOM_INT_EN;
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break;
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}
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val = on ? reg_val : 0;
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return regmap_update_bits(st->map, st->reg->int_enable, reg_val, val);
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}
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static int inv_mpu6050_set_wom_threshold(struct inv_mpu6050_state *st, u64 value,
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unsigned int freq_div)
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{
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unsigned int threshold;
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int result;
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/* convert roc to wom threshold and convert back to handle clipping */
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threshold = inv_mpu6050_convert_roc_to_wom(value, freq_div);
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value = inv_mpu6050_convert_wom_to_roc(threshold, freq_div);
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dev_dbg(regmap_get_device(st->map), "wom_threshold: 0x%x\n", threshold);
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switch (st->chip_type) {
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case INV_ICM20609:
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case INV_ICM20689:
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case INV_ICM20600:
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case INV_ICM20602:
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case INV_ICM20690:
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st->data[0] = threshold;
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st->data[1] = threshold;
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st->data[2] = threshold;
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result = regmap_bulk_write(st->map, INV_ICM20609_REG_ACCEL_WOM_X_THR,
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st->data, 3);
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break;
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default:
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result = regmap_write(st->map, INV_MPU6500_REG_WOM_THRESHOLD, threshold);
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break;
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}
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if (result)
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return result;
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st->chip_config.roc_threshold = value;
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return 0;
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}
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static int inv_mpu6050_enable_wom(struct inv_mpu6050_state *st, bool en)
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{
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struct device *pdev = regmap_get_device(st->map);
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unsigned int mask;
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int result;
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if (en) {
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result = pm_runtime_resume_and_get(pdev);
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if (result)
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return result;
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mask = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_WOM;
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result = inv_mpu6050_switch_engine(st, true, mask);
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if (result)
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goto error_suspend;
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result = inv_mpu6050_set_wom_int(st, true);
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if (result)
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goto error_suspend;
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} else {
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result = inv_mpu6050_set_wom_int(st, false);
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if (result)
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dev_err(pdev, "error %d disabling WoM interrupt bit", result);
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/* disable only WoM and let accel be disabled by autosuspend */
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result = inv_mpu6050_switch_engine(st, false, INV_MPU6050_SENSOR_WOM);
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if (result) {
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dev_err(pdev, "error %d disabling WoM force off", result);
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/* force WoM off */
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st->chip_config.wom_en = false;
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}
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pm_runtime_mark_last_busy(pdev);
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pm_runtime_put_autosuspend(pdev);
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}
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return result;
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error_suspend:
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pm_runtime_mark_last_busy(pdev);
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pm_runtime_put_autosuspend(pdev);
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return result;
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}
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static int inv_mpu6050_read_event_config(struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan,
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enum iio_event_type type,
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enum iio_event_direction dir)
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{
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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/* support only WoM (accel roc rising) event */
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if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
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dir != IIO_EV_DIR_RISING)
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return -EINVAL;
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guard(mutex)(&st->lock);
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return st->chip_config.wom_en ? 1 : 0;
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}
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static int inv_mpu6050_write_event_config(struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan,
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enum iio_event_type type,
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enum iio_event_direction dir,
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int state)
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{
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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int enable;
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/* support only WoM (accel roc rising) event */
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if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
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dir != IIO_EV_DIR_RISING)
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return -EINVAL;
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enable = !!state;
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guard(mutex)(&st->lock);
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if (st->chip_config.wom_en == enable)
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return 0;
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return inv_mpu6050_enable_wom(st, enable);
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}
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static int inv_mpu6050_read_event_value(struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan,
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enum iio_event_type type,
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enum iio_event_direction dir,
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enum iio_event_info info,
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int *val, int *val2)
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{
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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u32 rem;
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/* support only WoM (accel roc rising) event value */
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if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
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dir != IIO_EV_DIR_RISING || info != IIO_EV_INFO_VALUE)
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return -EINVAL;
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guard(mutex)(&st->lock);
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/* return value in micro */
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*val = div_u64_rem(st->chip_config.roc_threshold, 1000000U, &rem);
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*val2 = rem;
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return IIO_VAL_INT_PLUS_MICRO;
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}
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static int inv_mpu6050_write_event_value(struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan,
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enum iio_event_type type,
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enum iio_event_direction dir,
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enum iio_event_info info,
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int val, int val2)
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{
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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struct device *pdev = regmap_get_device(st->map);
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u64 value;
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int result;
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/* support only WoM (accel roc rising) event value */
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if (chan->type != IIO_ACCEL || type != IIO_EV_TYPE_ROC ||
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dir != IIO_EV_DIR_RISING || info != IIO_EV_INFO_VALUE)
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return -EINVAL;
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if (val < 0 || val2 < 0)
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return -EINVAL;
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guard(mutex)(&st->lock);
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result = pm_runtime_resume_and_get(pdev);
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if (result)
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return result;
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value = (u64)val * 1000000ULL + (u64)val2;
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result = inv_mpu6050_set_wom_threshold(st, value, INV_MPU6050_FREQ_DIVIDER(st));
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pm_runtime_mark_last_busy(pdev);
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pm_runtime_put_autosuspend(pdev);
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return result;
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}
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/*
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* inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
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*
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@ -989,6 +1242,12 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
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if (result)
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goto fifo_rate_fail_power_off;
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/* update wom threshold since roc is dependent on sampling frequency */
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result = inv_mpu6050_set_wom_threshold(st, st->chip_config.roc_threshold,
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INV_MPU6050_FREQ_DIVIDER(st));
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if (result)
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goto fifo_rate_fail_power_off;
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pm_runtime_mark_last_busy(pdev);
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fifo_rate_fail_power_off:
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pm_runtime_put_autosuspend(pdev);
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@ -1326,6 +1585,10 @@ static const struct iio_info mpu_info = {
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.write_raw = &inv_mpu6050_write_raw,
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.write_raw_get_fmt = &inv_write_raw_get_fmt,
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.attrs = &inv_attribute_group,
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.read_event_config = inv_mpu6050_read_event_config,
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.write_event_config = inv_mpu6050_write_event_config,
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.read_event_value = inv_mpu6050_read_event_value,
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.write_event_value = inv_mpu6050_write_event_value,
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.validate_trigger = inv_mpu6050_validate_trigger,
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.debugfs_reg_access = &inv_mpu6050_reg_access,
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};
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@ -1706,6 +1969,12 @@ static int inv_mpu_resume(struct device *dev)
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if (result)
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goto out_unlock;
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if (st->chip_config.wom_en) {
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result = inv_mpu6050_set_wom_int(st, true);
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if (result)
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goto out_unlock;
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}
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if (iio_buffer_enabled(indio_dev))
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result = inv_mpu6050_prepare_fifo(st, true);
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@ -1735,6 +2004,12 @@ static int inv_mpu_suspend(struct device *dev)
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goto out_unlock;
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}
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if (st->chip_config.wom_en) {
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result = inv_mpu6050_set_wom_int(st, false);
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if (result)
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goto out_unlock;
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}
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if (st->chip_config.accl_en)
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st->suspended_sensors |= INV_MPU6050_SENSOR_ACCL;
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if (st->chip_config.gyro_en)
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@ -1743,6 +2018,8 @@ static int inv_mpu_suspend(struct device *dev)
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st->suspended_sensors |= INV_MPU6050_SENSOR_TEMP;
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if (st->chip_config.magn_en)
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st->suspended_sensors |= INV_MPU6050_SENSOR_MAGN;
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if (st->chip_config.wom_en)
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st->suspended_sensors |= INV_MPU6050_SENSOR_WOM;
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result = inv_mpu6050_switch_engine(st, false, st->suspended_sensors);
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if (result)
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goto out_unlock;
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@ -1767,7 +2044,8 @@ static int inv_mpu_runtime_suspend(struct device *dev)
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mutex_lock(&st->lock);
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sensors = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
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INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
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INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN |
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INV_MPU6050_SENSOR_WOM;
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ret = inv_mpu6050_switch_engine(st, false, sensors);
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if (ret)
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goto out_unlock;
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@ -88,11 +88,12 @@ enum inv_devices {
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INV_NUM_PARTS
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};
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/* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer */
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/* chip sensors mask: accelerometer, gyroscope, temperature, magnetometer, WoM */
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#define INV_MPU6050_SENSOR_ACCL BIT(0)
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#define INV_MPU6050_SENSOR_GYRO BIT(1)
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#define INV_MPU6050_SENSOR_TEMP BIT(2)
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#define INV_MPU6050_SENSOR_MAGN BIT(3)
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#define INV_MPU6050_SENSOR_WOM BIT(4)
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/**
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* struct inv_mpu6050_chip_config - Cached chip configuration data.
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@ -104,11 +105,13 @@ enum inv_devices {
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* @gyro_en: gyro engine enabled
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* @temp_en: temperature sensor enabled
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* @magn_en: magn engine (i2c master) enabled
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* @wom_en: Wake-on-Motion enabled
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* @accl_fifo_enable: enable accel data output
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* @gyro_fifo_enable: enable gyro data output
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* @temp_fifo_enable: enable temp data output
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* @magn_fifo_enable: enable magn data output
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* @divider: chip sample rate divider (sample rate divider - 1)
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* @roc_threshold: save ROC threshold (WoM) set value
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*/
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struct inv_mpu6050_chip_config {
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unsigned int clk:3;
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@ -119,12 +122,14 @@ struct inv_mpu6050_chip_config {
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unsigned int gyro_en:1;
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unsigned int temp_en:1;
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unsigned int magn_en:1;
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unsigned int wom_en:1;
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unsigned int accl_fifo_enable:1;
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unsigned int gyro_fifo_enable:1;
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unsigned int temp_fifo_enable:1;
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unsigned int magn_fifo_enable:1;
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u8 divider;
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u8 user_ctrl;
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u64 roc_threshold;
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};
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/*
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@ -256,12 +261,16 @@ struct inv_mpu6050_state {
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#define INV_MPU6050_REG_INT_ENABLE 0x38
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#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
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#define INV_MPU6050_BIT_DMP_INT_EN 0x02
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#define INV_MPU6500_BIT_WOM_INT_EN BIT(6)
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#define INV_ICM20608_BIT_WOM_INT_EN GENMASK(7, 5)
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#define INV_MPU6050_REG_RAW_ACCEL 0x3B
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#define INV_MPU6050_REG_TEMPERATURE 0x41
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#define INV_MPU6050_REG_RAW_GYRO 0x43
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#define INV_MPU6050_REG_INT_STATUS 0x3A
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#define INV_MPU6500_BIT_WOM_INT BIT(6)
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#define INV_ICM20608_BIT_WOM_INT GENMASK(7, 5)
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#define INV_MPU6050_BIT_FIFO_OVERFLOW_INT 0x10
|
||||
#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01
|
||||
|
||||
@ -301,6 +310,11 @@ struct inv_mpu6050_state {
|
||||
#define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
|
||||
#define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
|
||||
|
||||
/* ICM20609 registers */
|
||||
#define INV_ICM20609_REG_ACCEL_WOM_X_THR 0x20
|
||||
#define INV_ICM20609_REG_ACCEL_WOM_Y_THR 0x21
|
||||
#define INV_ICM20609_REG_ACCEL_WOM_Z_THR 0x22
|
||||
|
||||
/* ICM20602 register */
|
||||
#define INV_ICM20602_REG_I2C_IF 0x70
|
||||
#define INV_ICM20602_BIT_I2C_IF_DIS 0x40
|
||||
@ -320,6 +334,10 @@ struct inv_mpu6050_state {
|
||||
/* mpu6500 registers */
|
||||
#define INV_MPU6500_REG_ACCEL_CONFIG_2 0x1D
|
||||
#define INV_ICM20689_BITS_FIFO_SIZE_MAX 0xC0
|
||||
#define INV_MPU6500_REG_WOM_THRESHOLD 0x1F
|
||||
#define INV_MPU6500_REG_ACCEL_INTEL_CTRL 0x69
|
||||
#define INV_MPU6500_BIT_ACCEL_INTEL_EN BIT(7)
|
||||
#define INV_MPU6500_BIT_ACCEL_INTEL_MODE BIT(6)
|
||||
#define INV_MPU6500_REG_ACCEL_OFFSET 0x77
|
||||
|
||||
/* delay time in milliseconds */
|
||||
|
||||
@ -33,10 +33,8 @@ static int inv_reset_fifo(struct iio_dev *indio_dev)
|
||||
|
||||
reset_fifo_fail:
|
||||
dev_err(regmap_get_device(st->map), "reset fifo failed %d\n", result);
|
||||
result = regmap_write(st->map, st->reg->int_enable,
|
||||
INV_MPU6050_BIT_DATA_RDY_EN);
|
||||
|
||||
return result;
|
||||
return regmap_update_bits(st->map, st->reg->int_enable,
|
||||
INV_MPU6050_BIT_DATA_RDY_EN, INV_MPU6050_BIT_DATA_RDY_EN);
|
||||
}
|
||||
|
||||
/*
|
||||
|
||||
@ -135,11 +135,13 @@ int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
|
||||
ret = regmap_write(st->map, st->reg->user_ctrl, d);
|
||||
if (ret)
|
||||
return ret;
|
||||
/* enable interrupt */
|
||||
ret = regmap_write(st->map, st->reg->int_enable,
|
||||
INV_MPU6050_BIT_DATA_RDY_EN);
|
||||
/* enable data interrupt */
|
||||
ret = regmap_update_bits(st->map, st->reg->int_enable,
|
||||
INV_MPU6050_BIT_DATA_RDY_EN, INV_MPU6050_BIT_DATA_RDY_EN);
|
||||
} else {
|
||||
ret = regmap_write(st->map, st->reg->int_enable, 0);
|
||||
/* disable data interrupt */
|
||||
ret = regmap_update_bits(st->map, st->reg->int_enable,
|
||||
INV_MPU6050_BIT_DATA_RDY_EN, 0);
|
||||
if (ret)
|
||||
return ret;
|
||||
ret = regmap_write(st->map, st->reg->fifo_en, 0);
|
||||
@ -172,9 +174,9 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
|
||||
return result;
|
||||
/*
|
||||
* In case autosuspend didn't trigger, turn off first not
|
||||
* required sensors.
|
||||
* required sensors excepted WoM
|
||||
*/
|
||||
result = inv_mpu6050_switch_engine(st, false, ~scan);
|
||||
result = inv_mpu6050_switch_engine(st, false, ~scan & ~INV_MPU6050_SENSOR_WOM);
|
||||
if (result)
|
||||
goto error_power_off;
|
||||
result = inv_mpu6050_switch_engine(st, true, scan);
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user