1 // SPDX-License-Identifier: GPL-2.0
3 * Copyright (C) 2019 TDK-InvenSense, Inc.
6 #include <linux/kernel.h>
7 #include <linux/device.h>
8 #include <linux/regmap.h>
9 #include <linux/delay.h>
11 #include "inv_mpu_aux.h"
12 #include "inv_mpu_iio.h"
15 * i2c master auxiliary bus transfer function.
16 * Requires the i2c operations to be correctly setup before.
18 static int inv_mpu_i2c_master_xfer(const struct inv_mpu6050_state *st)
20 /* use 50hz frequency for xfer */
21 const unsigned int freq = 50;
22 const unsigned int period_ms = 1000 / freq;
24 unsigned int user_ctrl;
28 d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(freq);
29 ret = regmap_write(st->map, st->reg->sample_rate_div, d);
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);
37 goto error_restore_rate;
39 /* wait for xfer: 1 period + half-period margin */
40 msleep(period_ms + period_ms / 2);
43 user_ctrl = st->chip_config.user_ctrl;
44 ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
48 /* restore sample rate */
49 d = st->chip_config.divider;
50 ret = regmap_write(st->map, st->reg->sample_rate_div, d);
52 goto error_restore_rate;
57 regmap_write(st->map, st->reg->user_ctrl, st->chip_config.user_ctrl);
59 regmap_write(st->map, st->reg->sample_rate_div, st->chip_config.divider);
64 * inv_mpu_aux_init() - init i2c auxiliary bus
65 * @st: driver internal state
67 * Returns 0 on success, a negative error code otherwise.
69 int inv_mpu_aux_init(const struct inv_mpu6050_state *st)
75 * Code based on the vendor Linux kernel v3.0,
76 * the exact meaning is unknown.
78 if (st->chip_type == INV_MPU9150) {
79 unsigned int mask = BIT(7);
81 val = st->level_shifter ? mask : 0;
82 ret = regmap_update_bits(st->map, 0x1, mask, val);
87 /* configure i2c master */
88 val = INV_MPU6050_BITS_I2C_MST_CLK_400KHZ |
89 INV_MPU6050_BIT_WAIT_FOR_ES;
90 ret = regmap_write(st->map, INV_MPU6050_REG_I2C_MST_CTRL, val);
94 /* configure i2c master delay */
95 ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, 0);
99 val = INV_MPU6050_BIT_I2C_SLV0_DLY_EN |
100 INV_MPU6050_BIT_I2C_SLV1_DLY_EN |
101 INV_MPU6050_BIT_I2C_SLV2_DLY_EN |
102 INV_MPU6050_BIT_I2C_SLV3_DLY_EN |
103 INV_MPU6050_BIT_DELAY_ES_SHADOW;
104 return regmap_write(st->map, INV_MPU6050_REG_I2C_MST_DELAY_CTRL, val);
108 * inv_mpu_aux_read() - read register function for i2c auxiliary bus
109 * @st: driver internal state.
110 * @addr: chip i2c Address
111 * @reg: chip register address
112 * @val: buffer for storing read bytes
113 * @size: number of bytes to read
115 * Returns 0 on success, a negative error code otherwise.
117 int inv_mpu_aux_read(const struct inv_mpu6050_state *st, uint8_t addr,
118 uint8_t reg, uint8_t *val, size_t size)
126 /* setup i2c SLV0 control: i2c addr, register, enable + size */
127 ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0),
128 INV_MPU6050_BIT_I2C_SLV_RNW | addr);
131 ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
134 ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
135 INV_MPU6050_BIT_SLV_EN | size);
140 ret = inv_mpu_i2c_master_xfer(st);
142 goto error_disable_i2c;
144 /* disable i2c slave */
145 ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
147 goto error_disable_i2c;
149 /* check i2c status */
150 ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
153 if (status & INV_MPU6050_BIT_I2C_SLV0_NACK)
156 /* read data in registers */
157 return regmap_bulk_read(st->map, INV_MPU6050_REG_EXT_SENS_DATA,
161 regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
166 * inv_mpu_aux_write() - write register function for i2c auxiliary bus
167 * @st: driver internal state.
168 * @addr: chip i2c Address
169 * @reg: chip register address
170 * @val: 1 byte value to write
172 * Returns 0 on success, a negative error code otherwise.
174 int inv_mpu_aux_write(const struct inv_mpu6050_state *st, uint8_t addr,
175 uint8_t reg, uint8_t val)
180 /* setup i2c SLV0 control: i2c addr, register, value, enable + size */
181 ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_ADDR(0), addr);
184 ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_REG(0), reg);
187 ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_DO(0), val);
190 ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0),
191 INV_MPU6050_BIT_SLV_EN | 1);
196 ret = inv_mpu_i2c_master_xfer(st);
198 goto error_disable_i2c;
200 /* disable i2c slave */
201 ret = regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);
203 goto error_disable_i2c;
205 /* check i2c status */
206 ret = regmap_read(st->map, INV_MPU6050_REG_I2C_MST_STATUS, &status);
209 if (status & INV_MPU6050_BIT_I2C_SLV0_NACK)
215 regmap_write(st->map, INV_MPU6050_REG_I2C_SLV_CTRL(0), 0);