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Commit d430f3c3 authored by Adriana Reus's avatar Adriana Reus Committed by Jonathan Cameron
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iio: imu: inv_mpu6050: Use regmap instead of i2c specific functions 



Use regmap instead of i2c specific functions.
This is in preparation of splitting this driver into core and
i2c specific functionality.

Signed-off-by: default avatarAdriana Reus <adriana.reus@intel.com>
Acked-by: default avatarCrt Mori <cmo@melexis.com>
Reviewed-by: default avatarLucas De Marchi <lucas.demarchi@intel.com>
Signed-off-by: default avatarJonathan Cameron <jic23@kernel.org>
parent c278ac0e

drivers/iio/imu/inv_mpu6050/Kconfig

+1 −0
Original line number Diff line number Diff line
@@ -8,6 +8,7 @@ config INV_MPU6050_IIO 
	select IIO_BUFFER

	select IIO_TRIGGERED_BUFFER

	select I2C_MUX

	select REGMAP_I2C

	help

	  This driver supports the Invensense MPU6050 devices.

	  This driver can also support MPU6500 in MPU6050 compatibility mode

drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

+37 −34
Original line number Diff line number Diff line
@@ -27,6 +27,11 @@ 
#include <linux/acpi.h>

#include "inv_mpu_iio.h"



static const struct regmap_config inv_mpu_regmap_config = {

	.reg_bits = 8,

	.val_bits = 8,

};



/*

 * this is the gyro scale translated from dynamic range plus/minus

 * {250, 500, 1000, 2000} to rad/s
@@ -75,11 +80,6 @@ static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = { 
	},

};



int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)

{

	return i2c_smbus_write_i2c_block_data(st->client, reg, 1, &d);

}



/*

 * The i2c read/write needs to happen in unlocked mode. As the parent

 * adapter is common. If we use locked versions, it will fail as
@@ -159,16 +159,15 @@ static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap, 


int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)

{

	u8 d, mgmt_1;

	unsigned int d, mgmt_1;

	int result;



	/* switch clock needs to be careful. Only when gyro is on, can

	   clock source be switched to gyro. Otherwise, it must be set to

	   internal clock */

	if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {

		result = i2c_smbus_read_i2c_block_data(st->client,

				       st->reg->pwr_mgmt_1, 1, &mgmt_1);

		if (result != 1)

		result = regmap_read(st->map, st->reg->pwr_mgmt_1, &mgmt_1);

		if (result)

			return result;



		mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
@@ -178,20 +177,19 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask) 
		/* turning off gyro requires switch to internal clock first.

		   Then turn off gyro engine */

		mgmt_1 |= INV_CLK_INTERNAL;

		result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, mgmt_1);

		result = regmap_write(st->map, st->reg->pwr_mgmt_1, mgmt_1);

		if (result)

			return result;

	}



	result = i2c_smbus_read_i2c_block_data(st->client,

				       st->reg->pwr_mgmt_2, 1, &d);

	if (result != 1)

	result = regmap_read(st->map, st->reg->pwr_mgmt_2, &d);

	if (result)

		return result;

	if (en)

		d &= ~mask;

	else

		d |= mask;

	result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);

	result = regmap_write(st->map, st->reg->pwr_mgmt_2, d);

	if (result)

		return result;
@@ -201,7 +199,7 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask) 
		if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {

			/* switch internal clock to PLL */

			mgmt_1 |= INV_CLK_PLL;

			result = inv_mpu6050_write_reg(st,

			result = regmap_write(st->map,

					st->reg->pwr_mgmt_1, mgmt_1);

			if (result)

				return result;
@@ -218,14 +216,13 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on) 
	if (power_on) {

		/* Already under indio-dev->mlock mutex */

		if (!st->powerup_count)

			result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,

						       0);

			result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);

		if (!result)

			st->powerup_count++;

	} else {

		st->powerup_count--;

		if (!st->powerup_count)

			result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,

			result = regmap_write(st->map, st->reg->pwr_mgmt_1,

					      INV_MPU6050_BIT_SLEEP);

	}
@@ -257,22 +254,22 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev) 
	if (result)

		return result;

	d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);

	result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);

	result = regmap_write(st->map, st->reg->gyro_config, d);

	if (result)

		return result;



	d = INV_MPU6050_FILTER_20HZ;

	result = inv_mpu6050_write_reg(st, st->reg->lpf, d);

	result = regmap_write(st->map, st->reg->lpf, d);

	if (result)

		return result;



	d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;

	result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);

	result = regmap_write(st->map, st->reg->sample_rate_div, d);

	if (result)

		return result;



	d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);

	result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);

	result = regmap_write(st->map, st->reg->accl_config, d);

	if (result)

		return result;
@@ -290,9 +287,8 @@ static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg, 
	__be16 d;



	ind = (axis - IIO_MOD_X) * 2;

	result = i2c_smbus_read_i2c_block_data(st->client, reg + ind,  2,

						(u8 *)&d);

	if (result != 2)

	result = regmap_bulk_read(st->map, reg + ind, (u8 *)&d, 2);

	if (result)

		return -EINVAL;

	*val = (short)be16_to_cpup(&d);
@@ -418,8 +414,7 @@ static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val) 
	for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {

		if (gyro_scale_6050[i] == val) {

			d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);

			result = inv_mpu6050_write_reg(st,

					st->reg->gyro_config, d);

			result = regmap_write(st->map, st->reg->gyro_config, d);

			if (result)

				return result;
@@ -456,8 +451,7 @@ static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val) 
	for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {

		if (accel_scale[i] == val) {

			d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);

			result = inv_mpu6050_write_reg(st,

					st->reg->accl_config, d);

			result = regmap_write(st->map, st->reg->accl_config, d);

			if (result)

				return result;
@@ -537,7 +531,7 @@ static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate) 
	while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))

		i++;

	data = d[i];

	result = inv_mpu6050_write_reg(st, st->reg->lpf, data);

	result = regmap_write(st->map, st->reg->lpf, data);

	if (result)

		return result;

	st->chip_config.lpf = data;
@@ -575,7 +569,7 @@ static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev, 
		goto fifo_rate_fail;



	d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;

	result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);

	result = regmap_write(st->map, st->reg->sample_rate_div, d);

	if (result)

		goto fifo_rate_fail;

	st->chip_config.fifo_rate = fifo_rate;
@@ -736,7 +730,7 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st) 
	st->reg = hw_info[st->chip_type].reg;



	/* reset to make sure previous state are not there */

	result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,

	result = regmap_write(st->map, st->reg->pwr_mgmt_1,

			      INV_MPU6050_BIT_H_RESET);

	if (result)

		return result;
@@ -778,11 +772,19 @@ static int inv_mpu_probe(struct i2c_client *client, 
	struct iio_dev *indio_dev;

	struct inv_mpu6050_platform_data *pdata;

	int result;

	struct regmap *regmap;



	if (!i2c_check_functionality(client->adapter,

		I2C_FUNC_SMBUS_I2C_BLOCK))

		return -ENOSYS;



	regmap = devm_regmap_init_i2c(client, &inv_mpu_regmap_config);

	if (IS_ERR(regmap)) {

		dev_err(&client->dev, "Failed to register i2c regmap %d\n",

			(int)PTR_ERR(regmap));

		return PTR_ERR(regmap);

	}



	indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));

	if (!indio_dev)

		return -ENOMEM;
@@ -790,6 +792,7 @@ static int inv_mpu_probe(struct i2c_client *client, 
	st = iio_priv(indio_dev);

	st->client = client;

	st->powerup_count = 0;

	st->map = regmap;

	pdata = dev_get_platdata(&client->dev);

	if (pdata)

		st->plat_data = *pdata;

drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

+2 −0
Original line number Diff line number Diff line
@@ -15,6 +15,7 @@ 
#include <linux/spinlock.h>

#include <linux/iio/iio.h>

#include <linux/iio/buffer.h>

#include <linux/regmap.h>

#include <linux/iio/sysfs.h>

#include <linux/iio/kfifo_buf.h>

#include <linux/iio/trigger.h>
@@ -125,6 +126,7 @@ struct inv_mpu6050_state { 
	unsigned int powerup_count;

	struct inv_mpu6050_platform_data plat_data;

	DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);

	struct regmap *map;

};



/*register and associated bit definition*/

drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c

+14 −16
Original line number Diff line number Diff line
@@ -13,7 +13,6 @@ 


#include <linux/module.h>

#include <linux/slab.h>

#include <linux/i2c.h>

#include <linux/err.h>

#include <linux/delay.h>

#include <linux/sysfs.h>
@@ -41,22 +40,22 @@ int inv_reset_fifo(struct iio_dev *indio_dev) 
	struct inv_mpu6050_state  *st = iio_priv(indio_dev);



	/* disable interrupt */

	result = inv_mpu6050_write_reg(st, st->reg->int_enable, 0);

	result = regmap_write(st->map, st->reg->int_enable, 0);

	if (result) {

		dev_err(&st->client->dev, "int_enable failed %d\n", result);

		return result;

	}

	/* disable the sensor output to FIFO */

	result = inv_mpu6050_write_reg(st, st->reg->fifo_en, 0);

	result = regmap_write(st->map, st->reg->fifo_en, 0);

	if (result)

		goto reset_fifo_fail;

	/* disable fifo reading */

	result = inv_mpu6050_write_reg(st, st->reg->user_ctrl, 0);

	result = regmap_write(st->map, st->reg->user_ctrl, 0);

	if (result)

		goto reset_fifo_fail;



	/* reset FIFO*/

	result = inv_mpu6050_write_reg(st, st->reg->user_ctrl,

	result = regmap_write(st->map, st->reg->user_ctrl,

					INV_MPU6050_BIT_FIFO_RST);

	if (result)

		goto reset_fifo_fail;
@@ -67,13 +66,13 @@ int inv_reset_fifo(struct iio_dev *indio_dev) 
	/* enable interrupt */

	if (st->chip_config.accl_fifo_enable ||

	    st->chip_config.gyro_fifo_enable) {

		result = inv_mpu6050_write_reg(st, st->reg->int_enable,

		result = regmap_write(st->map, st->reg->int_enable,

					INV_MPU6050_BIT_DATA_RDY_EN);

		if (result)

			return result;

	}

	/* enable FIFO reading and I2C master interface*/

	result = inv_mpu6050_write_reg(st, st->reg->user_ctrl,

	result = regmap_write(st->map, st->reg->user_ctrl,

					INV_MPU6050_BIT_FIFO_EN);

	if (result)

		goto reset_fifo_fail;
@@ -83,7 +82,7 @@ int inv_reset_fifo(struct iio_dev *indio_dev) 
		d |= INV_MPU6050_BITS_GYRO_OUT;

	if (st->chip_config.accl_fifo_enable)

		d |= INV_MPU6050_BIT_ACCEL_OUT;

	result = inv_mpu6050_write_reg(st, st->reg->fifo_en, d);

	result = regmap_write(st->map, st->reg->fifo_en, d);

	if (result)

		goto reset_fifo_fail;
@@ -91,7 +90,7 @@ int inv_reset_fifo(struct iio_dev *indio_dev) 


reset_fifo_fail:

	dev_err(&st->client->dev, "reset fifo failed %d\n", result);

	result = inv_mpu6050_write_reg(st, st->reg->int_enable,

	result = regmap_write(st->map, st->reg->int_enable,

					INV_MPU6050_BIT_DATA_RDY_EN);



	return result;
@@ -143,10 +142,10 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) 
	 * read fifo_count register to know how many bytes inside FIFO

	 * right now

	 */

	result = i2c_smbus_read_i2c_block_data(st->client,

	result = regmap_bulk_read(st->map,

				       st->reg->fifo_count_h,

				       INV_MPU6050_FIFO_COUNT_BYTE, data);

	if (result != INV_MPU6050_FIFO_COUNT_BYTE)

				       data, INV_MPU6050_FIFO_COUNT_BYTE);

	if (result)

		goto end_session;

	fifo_count = be16_to_cpup((__be16 *)(&data[0]));

	if (fifo_count < bytes_per_datum)
@@ -161,10 +160,9 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p) 
		fifo_count / bytes_per_datum + INV_MPU6050_TIME_STAMP_TOR)

			goto flush_fifo;

	while (fifo_count >= bytes_per_datum) {

		result = i2c_smbus_read_i2c_block_data(st->client,

						       st->reg->fifo_r_w,

						       bytes_per_datum, data);

		if (result != bytes_per_datum)

		result = regmap_bulk_read(st->map, st->reg->fifo_r_w,

					  data, bytes_per_datum);

		if (result)

			goto flush_fifo;



		result = kfifo_out(&st->timestamps, &timestamp, 1);

drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c

+3 −3
Original line number Diff line number Diff line
@@ -65,15 +65,15 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable) 
		if (result)

			return result;

	} else {

		result = inv_mpu6050_write_reg(st, st->reg->fifo_en, 0);

		result = regmap_write(st->map, st->reg->fifo_en, 0);

		if (result)

			return result;



		result = inv_mpu6050_write_reg(st, st->reg->int_enable, 0);

		result = regmap_write(st->map, st->reg->int_enable, 0);

		if (result)

			return result;



		result = inv_mpu6050_write_reg(st, st->reg->user_ctrl, 0);

		result = regmap_write(st->map, st->reg->user_ctrl, 0);

		if (result)

			return result;