drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c

   1 // SPDX-License-Identifier: GPL-2.0
   2 /*
   3  * Copyright (C) 2019 TDK-InvenSense, Inc.
   4  */
   5
   6 #include <linux/kernel.h>
   7 #include <linux/device.h>
   8 #include <linux/regmap.h>
   9 #include <linux/delay.h>
  10
  11 #include "inv_mpu_aux.h"
  12 #include "inv_mpu_iio.h"
  13
  14 /*
  15  * i2c master auxiliary bus transfer function.
  16  * Requires the i2c operations to be correctly setup before.
  17  */
  18 static int inv_mpu_i2c_master_xfer(const struct inv_mpu6050_state *st)
  19 {
  20         /* use 50hz frequency for xfer */
  21         const unsigned int freq = 50;
  22         const unsigned int period_ms = 1000 / freq;
  23         uint8_t d;
  24         unsigned int user_ctrl;
  25         int ret;
  26
  27         /* set sample rate */
  28         d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(freq);
  29         ret = regmap_write(st->map, st->reg->sample_rate_div, d);
  30         if (ret)
  31                 return ret;
  32
  33         /* start i2c master */
  34         user_ctrl = st->chip_config.user_ctrl | INV_MPU6050_BIT_I2C_MST_EN;
  35         ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
  36         if (ret)
  37                 goto error_restore_rate;
  38
  39         /* wait for xfer: 1 period + half-period margin */
  40         msleep(period_ms + period_ms / 2);
  41
  42         /* stop i2c master */
  43         user_ctrl = st->chip_config.user_ctrl;
  44         ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
  45         if (ret)
  46                 goto error_stop_i2c;
  47
  48         /* restore sample rate */
  49         d = st->chip_config.divider;
  50         ret = regmap_write(st->map, st->reg->sample_rate_div, d);
  51         if (ret)
  52                 goto error_restore_rate;
  53
  54         return 0;
  55
  56 error_stop_i2c:
  57         regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl);
  58 error_restore_rate:
  59         regmap_write(st->map, st->reg->sample_rate_div, st->chip_config.divider);
  60         return ret;
  61 }
  62
  63 /**
  64  * inv_mpu_aux_init() - init i2c auxiliary bus
  65  * @st: driver internal state
  66  *
  67  * Returns 0 on success, a negative error code otherwise.
  68  */
  69 int inv_mpu_aux_init(const struct inv_mpu6050_state *st)
  70 {
  71         unsigned int val;
  72         int ret;
  73
  74         /* configure i2c master */
  75         val = INV_MPU6050_BITS_I2C_MST_CLK_400KHZ |
  76                         INV_MPU6050_BIT_WAIT_FOR_ES;
  77         ret = regmap_write(st->map, INV_MPU6050_REG_I2C_MST_CTRL, val);
  78         if (ret)
  79                 return ret;
  80
  81         /* configure i2c master delay */
  82         ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, 0);
  83         if (ret)
  84                 return ret;
  85
  86         val = INV_MPU6050_BIT_I2C_SLV0_DLY_EN |
  87                         INV_MPU6050_BIT_I2C_SLV1_DLY_EN |
  88                         INV_MPU6050_BIT_I2C_SLV2_DLY_EN |
  89                         INV_MPU6050_BIT_I2C_SLV3_DLY_EN |
  90                         INV_MPU6050_BIT_DELAY_ES_SHADOW;
  91         return regmap_write(st->map, INV_MPU6050_REG_I2C_MST_DELAY_CTRL, val);
  92 }
  93
  94 /**
  95  * inv_mpu_aux_read() - read register function for i2c auxiliary bus
  96  * @st: driver internal state.
  97  * @addr: chip i2c Address
  98  * @reg: chip register address
  99  * @val: buffer for storing read bytes
 100  * @size: number of bytes to read
 101  *
 102  *  Returns 0 on success, a negative error code otherwise.
 103  */
 104 int inv_mpu_aux_read(const struct inv_mpu6050_state *st, uint8_t addr,
 105                      uint8_t reg, uint8_t *val, size_t size)
 106 {
 107         unsigned int status;
 108         int ret;
 109
 110         if (size > 0x0F)
 111                 return -EINVAL;
 112
 113         /* setup i2c SLV0 control: i2c addr, register, enable + size */
 114         ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0),
 115                            INV_MPU6050_BIT_I2C_SLV_RNW | addr);
 116         if (ret)
 117                 return ret;
 118         ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
 119         if (ret)
 120                 return ret;
 121         ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
 122                            INV_MPU6050_BIT_SLV_EN | size);
 123         if (ret)
 124                 return ret;
 125
 126         /* do i2c xfer */
 127         ret = inv_mpu_i2c_master_xfer(st);
 128         if (ret)
 129                 goto error_disable_i2c;
 130
 131         /* disable i2c slave */
 132         ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
 133         if (ret)
 134                 goto error_disable_i2c;
 135
 136         /* check i2c status */
 137         ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
 138         if (ret)
 139                 return ret;
 140         if (status & INV_MPU6050_BIT_I2C_SLV0_NACK)
 141                 return -EIO;
 142
 143         /* read data in registers */
 144         return regmap_bulk_read(st->map, INV_MPU6050_REG_EXT_SENS_DATA,
 145                                 val, size);
 146
 147 error_disable_i2c:
 148         regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
 149         return ret;
 150 }
 151
 152 /**
 153  * inv_mpu_aux_write() - write register function for i2c auxiliary bus
 154  * @st: driver internal state.
 155  * @addr: chip i2c Address
 156  * @reg: chip register address
 157  * @val: 1 byte value to write
 158  *
 159  *  Returns 0 on success, a negative error code otherwise.
 160  */
 161 int inv_mpu_aux_write(const struct inv_mpu6050_state *st, uint8_t addr,
 162                       uint8_t reg, uint8_t val)
 163 {
 164         unsigned int status;
 165         int ret;
 166
 167         /* setup i2c SLV0 control: i2c addr, register, value, enable + size */
 168         ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0), addr);
 169         if (ret)
 170                 return ret;
 171         ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
 172         if (ret)
 173                 return ret;
 174         ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(0), val);
 175         if (ret)
 176                 return ret;
 177         ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
 178                            INV_MPU6050_BIT_SLV_EN | 1);
 179         if (ret)
 180                 return ret;
 181
 182         /* do i2c xfer */
 183         ret = inv_mpu_i2c_master_xfer(st);
 184         if (ret)
 185                 goto error_disable_i2c;
 186
 187         /* disable i2c slave */
 188         ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
 189         if (ret)
 190                 goto error_disable_i2c;
 191
 192         /* check i2c status */
 193         ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
 194         if (ret)
 195                 return ret;
 196         if (status & INV_MPU6050_BIT_I2C_SLV0_NACK)
 197                 return -EIO;
 198
 199         return 0;
 200
 201 error_disable_i2c:
 202         regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
 203         return ret;
 204 }