1 // SPDX-License-Identifier: GPL-2.0-only
14 #include <linux/poll.h>
19  *  inv_mpu6050_update_period() - Update chip internal period estimation
33 		(NSEC_PER_MSEC * (100 - INV_MPU6050_TS_PERIOD_JITTER)) / 100;  in inv_mpu6050_update_period()
37 	s64 delta, interval;  in inv_mpu6050_update_period()  local
40 	if (st->it_timestamp == 0) {  in inv_mpu6050_update_period()
51 		delta = div_s64(timestamp - st->it_timestamp, divider);  in inv_mpu6050_update_period()
54 			st->chip_period = (st->chip_period + delta) / 2;  in inv_mpu6050_update_period()
65 		interval = (nb - 1) * st->chip_period * divider;  in inv_mpu6050_update_period()
66 		st->data_timestamp = timestamp - interval;  in inv_mpu6050_update_period()
70 	st->it_timestamp = timestamp;  in inv_mpu6050_update_period()
74  *  inv_mpu6050_get_timestamp() - Return the current data timestamp
86 	ts = st->data_timestamp;  in inv_mpu6050_get_timestamp()
87 	st->data_timestamp += st->chip_period * INV_MPU6050_FREQ_DIVIDER(st);  in inv_mpu6050_get_timestamp()
106 	dev_err(regmap_get_device(st->map), "reset fifo failed %d\n", result);  in inv_reset_fifo()
107 	result = regmap_write(st->map, st->reg->int_enable,  in inv_reset_fifo()
114  * inv_mpu6050_read_fifo() - Transfer data from hardware FIFO to KFIFO.
119 	struct iio_dev *indio_dev = pf->indio_dev;  in inv_mpu6050_read_fifo()
128 	mutex_lock(&st->lock);  in inv_mpu6050_read_fifo()
131 	result = regmap_read(st->map, st->reg->int_status, &int_status);  in inv_mpu6050_read_fifo()
133 		dev_err(regmap_get_device(st->map),  in inv_mpu6050_read_fifo()
140 	if (!(st->chip_config.accl_fifo_enable |  in inv_mpu6050_read_fifo()
141 		st->chip_config.gyro_fifo_enable |  in inv_mpu6050_read_fifo()
142 		st->chip_config.magn_fifo_enable))  in inv_mpu6050_read_fifo()
145 	if (st->chip_config.accl_fifo_enable)  in inv_mpu6050_read_fifo()
148 	if (st->chip_config.gyro_fifo_enable)  in inv_mpu6050_read_fifo()
151 	if (st->chip_config.temp_fifo_enable)  in inv_mpu6050_read_fifo()
154 	if (st->chip_config.magn_fifo_enable)  in inv_mpu6050_read_fifo()
161 	result = regmap_bulk_read(st->map, st->reg->fifo_count_h,  in inv_mpu6050_read_fifo()
162 				  st->data, INV_MPU6050_FIFO_COUNT_BYTE);  in inv_mpu6050_read_fifo()
165 	fifo_count = be16_to_cpup((__be16 *)&st->data[0]);  in inv_mpu6050_read_fifo()
173 	if (fifo_count >= st->hw->fifo_size - nb) {  in inv_mpu6050_read_fifo()
174 		dev_warn(regmap_get_device(st->map), "fifo overflow reset\n");  in inv_mpu6050_read_fifo()
180 	inv_mpu6050_update_period(st, pf->timestamp, nb);  in inv_mpu6050_read_fifo()
182 		result = regmap_noinc_read(st->map, st->reg->fifo_r_w,  in inv_mpu6050_read_fifo()
183 					   st->data, bytes_per_datum);  in inv_mpu6050_read_fifo()
187 		if (st->skip_samples) {  in inv_mpu6050_read_fifo()
188 			st->skip_samples--;  in inv_mpu6050_read_fifo()
192 		iio_push_to_buffers_with_timestamp(indio_dev, st->data, timestamp);  in inv_mpu6050_read_fifo()
196 	mutex_unlock(&st->lock);  in inv_mpu6050_read_fifo()
197 	iio_trigger_notify_done(indio_dev->trig);  in inv_mpu6050_read_fifo()
204 	mutex_unlock(&st->lock);  in inv_mpu6050_read_fifo()
205 	iio_trigger_notify_done(indio_dev->trig);  in inv_mpu6050_read_fifo()