diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c index f3cf32788ea2..e73c88c22e2f 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c @@ -24,6 +24,7 @@ #include #include #include +#include #include "inv_mpu_iio.h" /* @@ -52,6 +53,7 @@ static const struct inv_mpu6050_reg_map reg_set_6500 = { .raw_accl = INV_MPU6050_REG_RAW_ACCEL, .temperature = INV_MPU6050_REG_TEMPERATURE, .int_enable = INV_MPU6050_REG_INT_ENABLE, + .int_status = INV_MPU6050_REG_INT_STATUS, .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1, .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2, .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG, @@ -287,6 +289,10 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev) if (result) return result; + result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask); + if (result) + return result; + memcpy(&st->chip_config, hw_info[st->chip_type].config, sizeof(struct inv_mpu6050_chip_config)); result = inv_mpu6050_set_power_itg(st, false); @@ -892,6 +898,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, struct inv_mpu6050_platform_data *pdata; struct device *dev = regmap_get_device(regmap); int result; + struct irq_data *desc; + int irq_type; indio_dev = devm_iio_device_alloc(dev, sizeof(*st)); if (!indio_dev) @@ -923,6 +931,29 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, st->plat_data = *pdata; } + desc = irq_get_irq_data(irq); + if (!desc) { + dev_err(dev, "Could not find IRQ %d\n", irq); + return -EINVAL; + } + + irq_type = irqd_get_trigger_type(desc); + if (irq_type == IRQF_TRIGGER_RISING) + st->irq_mask = INV_MPU6050_ACTIVE_HIGH; + else if (irq_type == IRQF_TRIGGER_FALLING) + st->irq_mask = INV_MPU6050_ACTIVE_LOW; + else if (irq_type == IRQF_TRIGGER_HIGH) + st->irq_mask = INV_MPU6050_ACTIVE_HIGH | + INV_MPU6050_LATCH_INT_EN; + else if (irq_type == IRQF_TRIGGER_LOW) + st->irq_mask = INV_MPU6050_ACTIVE_LOW | + INV_MPU6050_LATCH_INT_EN; + else { + dev_err(dev, "Invalid interrupt type 0x%x specified\n", + irq_type); + return -EINVAL; + } + /* power is turned on inside check chip type*/ result = inv_check_and_setup_chip(st); if (result) @@ -958,7 +989,7 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, dev_err(dev, "configure buffer fail %d\n", result); return result; } - result = inv_mpu6050_probe_trigger(indio_dev); + result = inv_mpu6050_probe_trigger(indio_dev, irq_type); if (result) { dev_err(dev, "trigger probe fail %d\n", result); goto out_unreg_ring; diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c index eca34b9ed838..27e777c58bbe 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c @@ -38,8 +38,7 @@ static int inv_mpu6050_select_bypass(struct i2c_mux_core *muxc, u32 chan_id) goto error_unlock; ret = regmap_write(st->map, st->reg->int_pin_cfg, - INV_MPU6050_INT_PIN_CFG | - INV_MPU6050_BIT_BYPASS_EN); + st->irq_mask | INV_MPU6050_BIT_BYPASS_EN); error_unlock: mutex_unlock(&st->lock); @@ -55,7 +54,7 @@ static int inv_mpu6050_deselect_bypass(struct i2c_mux_core *muxc, u32 chan_id) mutex_lock(&st->lock); /* It doesn't really mattter, if any of the calls fails */ - regmap_write(st->map, st->reg->int_pin_cfg, INV_MPU6050_INT_PIN_CFG); + regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask); inv_mpu6050_set_power_itg(st, false); mutex_unlock(&st->lock); diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h index d476dc3d20fa..c8aad1386a63 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h @@ -40,6 +40,7 @@ * @raw_accl: Address of first accel register. * @temperature: temperature register * @int_enable: Interrupt enable register. + * @int_status: Interrupt status register. * @pwr_mgmt_1: Controls chip's power state and clock source. * @pwr_mgmt_2: Controls power state of individual sensors. * @int_pin_cfg; Controls interrupt pin configuration. @@ -60,6 +61,7 @@ struct inv_mpu6050_reg_map { u8 raw_accl; u8 temperature; u8 int_enable; + u8 int_status; u8 pwr_mgmt_1; u8 pwr_mgmt_2; u8 int_pin_cfg; @@ -126,6 +128,7 @@ struct inv_mpu6050_hw { * @timestamps: kfifo queue to store time stamp. * @map regmap pointer. * @irq interrupt number. + * @irq_mask the int_pin_cfg mask to configure interrupt type. */ struct inv_mpu6050_state { #define TIMESTAMP_FIFO_SIZE 16 @@ -144,6 +147,7 @@ struct inv_mpu6050_state { DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE); struct regmap *map; int irq; + u8 irq_mask; }; /*register and associated bit definition*/ @@ -167,6 +171,9 @@ struct inv_mpu6050_state { #define INV_MPU6050_REG_TEMPERATURE 0x41 #define INV_MPU6050_REG_RAW_GYRO 0x43 +#define INV_MPU6050_REG_INT_STATUS 0x3A +#define INV_MPU6050_BIT_RAW_DATA_RDY_INT 0x01 + #define INV_MPU6050_REG_USER_CTRL 0x6A #define INV_MPU6050_BIT_FIFO_RST 0x04 #define INV_MPU6050_BIT_DMP_RST 0x08 @@ -216,8 +223,12 @@ struct inv_mpu6050_state { #define INV_MPU6050_OUTPUT_DATA_SIZE 24 #define INV_MPU6050_REG_INT_PIN_CFG 0x37 +#define INV_MPU6050_ACTIVE_HIGH 0x00 +#define INV_MPU6050_ACTIVE_LOW 0x80 +/* enable level triggering */ +#define INV_MPU6050_LATCH_INT_EN 0x20 #define INV_MPU6050_BIT_BYPASS_EN 0x2 -#define INV_MPU6050_INT_PIN_CFG 0 + /* init parameters */ #define INV_MPU6050_INIT_FIFO_RATE 50 @@ -289,7 +300,7 @@ enum inv_mpu6050_clock_sel_e { irqreturn_t inv_mpu6050_irq_handler(int irq, void *p); irqreturn_t inv_mpu6050_read_fifo(int irq, void *p); -int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev); +int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type); void inv_mpu6050_remove_trigger(struct inv_mpu6050_state *st); int inv_reset_fifo(struct iio_dev *indio_dev); int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask); diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c index 27c663ca1f44..e51404fdce97 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c @@ -127,8 +127,23 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) u8 data[INV_MPU6050_OUTPUT_DATA_SIZE]; u16 fifo_count; s64 timestamp; + int int_status; mutex_lock(&st->lock); + + /* ack interrupt and check status */ + result = regmap_read(st->map, st->reg->int_status, &int_status); + if (result) { + dev_err(regmap_get_device(st->map), + "failed to ack interrupt\n"); + goto flush_fifo; + } + if (!(int_status & INV_MPU6050_BIT_RAW_DATA_RDY_INT)) { + dev_warn(regmap_get_device(st->map), + "spurious interrupt with status 0x%x\n", int_status); + goto end_session; + } + if (!(st->chip_config.accl_fifo_enable | st->chip_config.gyro_fifo_enable)) goto end_session; diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c index f963f9fc98c0..b8c5584e4252 100644 --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c @@ -117,7 +117,7 @@ static const struct iio_trigger_ops inv_mpu_trigger_ops = { .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state, }; -int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev) +int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type) { int ret; struct inv_mpu6050_state *st = iio_priv(indio_dev); @@ -131,7 +131,7 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev) ret = devm_request_irq(&indio_dev->dev, st->irq, &iio_trigger_generic_data_rdy_poll, - IRQF_TRIGGER_RISING, + irq_type, "inv_mpu", st->trig); if (ret)