From ff83b530e9447c66722c945b30190ab13ab68191 Mon Sep 17 00:00:00 2001 From: lanshh Date: Sun, 28 Aug 2016 19:08:55 +0800 Subject: [PATCH] iio: imu: add usb sensor driver to support rkvr Change-Id: I7aeaba5a90f427304b0debf0e0063685fa2f6f09 Signed-off-by: lanshh Signed-off-by: Zorro Liu --- drivers/staging/iio/imu/inv_mpu/Makefile | 3 + .../staging/iio/imu/inv_mpu/inv_mpu_core.c | 10 +- drivers/staging/iio/imu/inv_mpu/inv_mpu_hid.c | 304 ++++++++++++++++++ drivers/staging/iio/imu/inv_mpu/inv_mpu_iio.h | 3 + .../staging/iio/imu/inv_mpu/inv_mpu_misc.c | 33 +- .../staging/iio/imu/inv_mpu/inv_mpu_ring.c | 131 ++++++-- 6 files changed, 440 insertions(+), 44 deletions(-) create mode 100644 drivers/staging/iio/imu/inv_mpu/inv_mpu_hid.c diff --git a/drivers/staging/iio/imu/inv_mpu/Makefile b/drivers/staging/iio/imu/inv_mpu/Makefile index 471676a6fbc7..c11ad51899d7 100644 --- a/drivers/staging/iio/imu/inv_mpu/Makefile +++ b/drivers/staging/iio/imu/inv_mpu/Makefile @@ -6,6 +6,7 @@ obj-$(CONFIG_INV_MPU_IIO) += inv-mpu-iio.o inv-mpu-iio-objs := inv_mpu_spi.o inv-mpu-iio-objs += inv_mpu_i2c.o +inv-mpu-iio-objs += inv_mpu_hid.o inv-mpu-iio-objs += inv_mpu_core.o inv-mpu-iio-objs += inv_mpu_ring.o inv-mpu-iio-objs += inv_mpu_trigger.o @@ -20,6 +21,7 @@ ifeq ($(PATCHLEVEL),4) CFLAGS_inv_mpu_core.o += -Idrivers/iio -DINV_KERNEL_3_10 CFLAGS_inv_mpu_i2c.o += -Idrivers/iio -DINV_KERNEL_3_10 CFLAGS_inv_mpu_spi.o += -Idrivers/iio -DINV_KERNEL_3_10 +CFLAGS_inv_mpu_hid.o += -Idrivers/iio -DINV_KERNEL_3_10 CFLAGS_inv_mpu_ring.o += -Idrivers/iio -DINV_KERNEL_3_10 CFLAGS_inv_mpu_trigger.o += -Idrivers/iio -DINV_KERNEL_3_10 CFLAGS_inv_mpu_common.o += -Idrivers/iio -DINV_KERNEL_3_10 @@ -30,6 +32,7 @@ CFLAGS_dmpDefaultMPU6050.o += -Idrivers/iio -DINV_KERNEL_3_10 else CFLAGS_inv_mpu_i2c.o += -Idrivers/staging/iio CFLAGS_inv_mpu_spi.o += -Idrivers/staging/iio +CFLAGS_inv_mpu_hid.o += -Idrivers/staging/iio CFLAGS_inv_mpu_core.o += -Idrivers/staging/iio CFLAGS_inv_mpu_ring.o += -Idrivers/staging/iio CFLAGS_inv_mpu_trigger.o += -Idrivers/staging/iio diff --git a/drivers/staging/iio/imu/inv_mpu/inv_mpu_core.c b/drivers/staging/iio/imu/inv_mpu/inv_mpu_core.c index bba1def5bae8..58dcb08236ec 100644 --- a/drivers/staging/iio/imu/inv_mpu/inv_mpu_core.c +++ b/drivers/staging/iio/imu/inv_mpu/inv_mpu_core.c @@ -1047,7 +1047,10 @@ static ssize_t inv_temperature_show(struct device *dev, pr_err("Could not read temperature register.\n"); return result; } - temp = (signed short)(be16_to_cpup((short *)&data[0])); + if (st->use_hid) + temp = st->hid_temperature; + else + temp = (signed short)(be16_to_cpup((short *)&data[0])); switch (st->chip_type) { case INV_MPU3050: cur_scale = scale[0]; @@ -1069,7 +1072,10 @@ static ssize_t inv_temperature_show(struct device *dev, INV_I2C_INC_TEMPREAD(1); - return sprintf(buf, "%ld %lld\n", scale_t, get_time_ns()); + if (st->use_hid) + return sprintf(buf, "%ld %lld\n", scale_t, st->hid_timestamp); + else + return sprintf(buf, "%ld %lld\n", scale_t, get_time_ns()); } /** diff --git a/drivers/staging/iio/imu/inv_mpu/inv_mpu_hid.c b/drivers/staging/iio/imu/inv_mpu/inv_mpu_hid.c new file mode 100644 index 000000000000..02bfca825f79 --- /dev/null +++ b/drivers/staging/iio/imu/inv_mpu/inv_mpu_hid.c @@ -0,0 +1,304 @@ +/* +* Copyright (C) 2012 Invensense, Inc. +* +* This software is licensed under the terms of the GNU General Public +* License version 2, as published by the Free Software Foundation, and +* may be copied, distributed, and modified under those terms. +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* GNU General Public License for more details. +* +*/ + +#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt + +#include +#include +#include +#include +#include +#include + +#include "inv_mpu_iio.h" + +static int inv_hid_read(struct inv_mpu_iio_s *st, u8 reg, int len, u8 *data) +{ + return 0; +} + +static int inv_hid_single_write(struct inv_mpu_iio_s *st, u8 reg, u8 data) +{ + return 0; +} + +static int inv_hid_secondary_read(struct inv_mpu_iio_s *st, u8 reg, int len, u8 *data) +{ + return 0; +} + +static int inv_hid_secondary_write(struct inv_mpu_iio_s *st, u8 reg, u8 data) +{ + return 0; +} + +static int mpu_hid_memory_write(struct inv_mpu_iio_s *st, u8 mpu_addr, u16 mem_addr, + u32 len, u8 const *data) +{ + return 0; +} + +static int mpu_hid_memory_read(struct inv_mpu_iio_s *st, u8 mpu_addr, u16 mem_addr, + u32 len, u8 *data) +{ + return 0; +} + +static struct mpu_platform_data mpu_data = { + .int_config = 0x00, + .level_shifter = 0, + .orientation = { + 1, 0, 0, + 0, 1, 0, + 0, 0, 1, + }, +}; + +/** + * inv_mpu_probe() - probe function. + */ +static int inv_mpu_probe(struct platform_device *pdev) +{ + struct inv_mpu_iio_s *st; + struct iio_dev *indio_dev; + int result = -ENOMEM; + +#ifdef INV_KERNEL_3_10 + indio_dev = iio_device_alloc(sizeof(*st)); +#else + indio_dev = iio_allocate_device(sizeof(*st)); +#endif + if (!indio_dev) { + pr_err("memory allocation failed\n"); + goto out_no_free; + } + st = iio_priv(indio_dev); + st->plat_data = mpu_data; + st->dev = &pdev->dev; + indio_dev->dev.parent = &pdev->dev; + indio_dev->name = "mpu6500"; + platform_set_drvdata(pdev, indio_dev); + st->use_hid = 1; + + st->plat_read = inv_hid_read; + st->plat_single_write = inv_hid_single_write; + st->secondary_read = inv_hid_secondary_read; + st->secondary_write = inv_hid_secondary_write; + st->memory_read = mpu_hid_memory_read; + st->memory_write = mpu_hid_memory_write; + + /* power is turned on inside check chip type*/ + result = inv_check_chip_type(st, indio_dev->name); + if (result) + goto out_free; + + result = st->init_config(indio_dev); + if (result) { + dev_err(&pdev->dev, "Could not initialize device.\n"); + goto out_free; + } + result = st->set_power_state(st, false); + if (result) { + dev_err(&pdev->dev, "%s could not be turned off.\n", st->hw->name); + goto out_free; + } + + inv_set_iio_info(st, indio_dev); + + result = inv_mpu_configure_ring(indio_dev); + if (result) { + dev_err(&pdev->dev, "configure ring buffer fail\n"); + goto out_free; + } + + result = inv_mpu_probe_trigger(indio_dev); + if (result) { + dev_err(&pdev->dev, "trigger probe fail\n"); + goto out_unreg_ring; + } + + result = iio_device_register(indio_dev); + if (result) { + dev_err(&pdev->dev, "IIO device register fail\n"); + goto out_remove_trigger; + } + + if (INV_MPU6050 == st->chip_type || + INV_MPU6500 == st->chip_type) { + result = inv_create_dmp_sysfs(indio_dev); + if (result) { + dev_err(&pdev->dev, "create dmp sysfs failed\n"); + goto out_unreg_iio; + } + } + + INIT_KFIFO(st->timestamps); + spin_lock_init(&st->time_stamp_lock); + dev_info(&pdev->dev, "%s is ready to go!\n", + indio_dev->name); + + return 0; +out_unreg_iio: + iio_device_unregister(indio_dev); +out_remove_trigger: + if (indio_dev->modes & INDIO_BUFFER_TRIGGERED) + inv_mpu_remove_trigger(indio_dev); +out_unreg_ring: + inv_mpu_unconfigure_ring(indio_dev); +out_free: +#ifdef INV_KERNEL_3_10 + iio_device_free(indio_dev); +#else + iio_free_device(indio_dev); +#endif +out_no_free: + dev_err(&pdev->dev, "%s failed %d\n", __func__, result); + + return -EIO; +} + +/** + * inv_mpu_remove() - remove function. + */ +static int inv_mpu_remove(struct platform_device *pdev) +{ + struct iio_dev *indio_dev = platform_get_drvdata(pdev); + struct inv_mpu_iio_s *st = iio_priv(indio_dev); + + kfifo_free(&st->timestamps); + iio_device_unregister(indio_dev); + if (indio_dev->modes & INDIO_BUFFER_TRIGGERED) + inv_mpu_remove_trigger(indio_dev); + inv_mpu_unconfigure_ring(indio_dev); +#ifdef INV_KERNEL_3_10 + iio_device_free(indio_dev); +#else + iio_free_device(indio_dev); +#endif + + dev_info(&pdev->dev, "inv-mpu-iio module removed.\n"); + + return 0; +} + +static void inv_mpu_shutdown(struct platform_device *pdev) +{ + struct iio_dev *indio_dev = platform_get_drvdata(pdev); + struct inv_mpu_iio_s *st = iio_priv(indio_dev); + struct inv_reg_map_s *reg; + int result; + + reg = &st->reg; + dev_dbg(&pdev->dev, "Shutting down %s...\n", st->hw->name); + + /* reset to make sure previous state are not there */ + result = inv_plat_single_write(st, reg->pwr_mgmt_1, BIT_H_RESET); + if (result) + dev_err(&pdev->dev, "Failed to reset %s\n", + st->hw->name); + msleep(POWER_UP_TIME); + /* turn off power to ensure gyro engine is off */ + result = st->set_power_state(st, false); + if (result) + dev_err(&pdev->dev, "Failed to turn off %s\n", + st->hw->name); +} + +#ifdef CONFIG_PM +static int inv_mpu_resume(struct device *dev) +{ + struct inv_mpu_iio_s *st = + iio_priv(platform_get_drvdata(to_platform_device(dev))); + pr_debug("%s inv_mpu_resume\n", st->hw->name); + return st->set_power_state(st, true); +} + +static int inv_mpu_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = platform_get_drvdata(to_platform_device(dev)); + struct inv_mpu_iio_s *st = iio_priv(indio_dev); + int result; + + pr_debug("%s inv_mpu_suspend\n", st->hw->name); + mutex_lock(&indio_dev->mlock); + result = 0; + if ((!st->chip_config.dmp_on) || + (!st->chip_config.enable) || + (!st->chip_config.dmp_event_int_on)) + result = st->set_power_state(st, false); + mutex_unlock(&indio_dev->mlock); + + return result; +} + +static const struct dev_pm_ops inv_mpu_pmops = { + SET_SYSTEM_SLEEP_PM_OPS(inv_mpu_suspend, inv_mpu_resume) +}; + +#define INV_MPU_PMOPS (&inv_mpu_pmops) +#else +#define INV_MPU_PMOPS NULL +#endif /* CONFIG_PM */ + +/* device id table is used to identify what device can be + * supported by this driver + */ +static const struct platform_device_id inv_mpu_id[] = { + {"itg3500", INV_ITG3500}, + {"mpu3050", INV_MPU3050}, + {"mpu6050", INV_MPU6050}, + {"mpu9150", INV_MPU9150}, + {"mpu6500", INV_MPU6500}, + {"mpu9250", INV_MPU9250}, + {"mpu6xxx", INV_MPU6XXX}, + {"mpu6515", INV_MPU6515}, + {} +}; + +MODULE_DEVICE_TABLE(platform, inv_mpu_id); + +static const struct of_device_id inv_mpu_of_match[] = { + { .compatible = "inv-hid,itg3500", }, + { .compatible = "inv-hid,mpu3050", }, + { .compatible = "inv-hid,mpu6050", }, + { .compatible = "inv-hid,mpu9150", }, + { .compatible = "inv-hid,mpu6500", }, + { .compatible = "inv-hid,mpu9250", }, + { .compatible = "inv-hid,mpu6xxx", }, + { .compatible = "inv-hid,mpu9350", }, + { .compatible = "inv-hid,mpu6515", }, + {} +}; + +MODULE_DEVICE_TABLE(of, inv_mpu_of_match); + +static struct platform_driver inv_mpu_platform_driver = { + .driver = { + .owner = THIS_MODULE, + .name = "inv_mpu_iio_hid", + .pm = INV_MPU_PMOPS, + .of_match_table = of_match_ptr(inv_mpu_of_match), + }, + .probe = inv_mpu_probe, + .remove = inv_mpu_remove, + .id_table = inv_mpu_id, + .shutdown = inv_mpu_shutdown, +}; + +module_platform_driver(inv_mpu_platform_driver); + +MODULE_AUTHOR("lyx "); +MODULE_DESCRIPTION("Invensense device driver"); +MODULE_LICENSE("GPL"); +MODULE_ALIAS("inv-mpu-iio-hid"); diff --git a/drivers/staging/iio/imu/inv_mpu/inv_mpu_iio.h b/drivers/staging/iio/imu/inv_mpu/inv_mpu_iio.h index 41b163b02ebf..0722c6397ab0 100644 --- a/drivers/staging/iio/imu/inv_mpu/inv_mpu_iio.h +++ b/drivers/staging/iio/imu/inv_mpu/inv_mpu_iio.h @@ -362,6 +362,9 @@ struct inv_mpu_iio_s { const short *compass_st_upper; const short *compass_st_lower; short irq; + signed short hid_temperature; + u64 hid_timestamp; + int use_hid; int accel_bias[3]; int gyro_bias[3]; short raw_gyro[3]; diff --git a/drivers/staging/iio/imu/inv_mpu/inv_mpu_misc.c b/drivers/staging/iio/imu/inv_mpu/inv_mpu_misc.c index 60bcbba9f87e..93cdba6acdf1 100644 --- a/drivers/staging/iio/imu/inv_mpu/inv_mpu_misc.c +++ b/drivers/staging/iio/imu/inv_mpu/inv_mpu_misc.c @@ -340,23 +340,24 @@ int inv_get_silicon_rev_mpu6500(struct inv_mpu_iio_s *st) int result; u8 whoami, sw_rev; - result = inv_plat_read(st, REG_WHOAMI, 1, &whoami); - if (result) - return result; - if (whoami != MPU6500_ID && whoami != MPU9250_ID && - whoami != MPU6515_ID) - return -EINVAL; - - /*memory read need more time after power up */ - msleep(POWER_UP_TIME); - result = mpu_memory_read(st, st->i2c_addr, - MPU6500_MEM_REV_ADDR, 1, &sw_rev); - sw_rev &= INV_MPU_REV_MASK; - if (result) - return result; - if (sw_rev != 0) - return -EINVAL; + if (!st->use_hid) { + result = inv_plat_read(st, REG_WHOAMI, 1, &whoami); + if (result) + return result; + if (whoami != MPU6500_ID && whoami != MPU9250_ID && + whoami != MPU6515_ID) + return -EINVAL; + /*memory read need more time after power up */ + msleep(POWER_UP_TIME); + result = mpu_memory_read(st, st->i2c_addr, + MPU6500_MEM_REV_ADDR, 1, &sw_rev); + sw_rev &= INV_MPU_REV_MASK; + if (result) + return result; + if (sw_rev != 0) + return -EINVAL; + } /* these values are place holders and not real values */ chip_info->product_id = MPU6500_PRODUCT_REVISION; chip_info->product_revision = MPU6500_PRODUCT_REVISION; diff --git a/drivers/staging/iio/imu/inv_mpu/inv_mpu_ring.c b/drivers/staging/iio/imu/inv_mpu/inv_mpu_ring.c index 4ea592e1da5d..7ddb67f5aa96 100644 --- a/drivers/staging/iio/imu/inv_mpu/inv_mpu_ring.c +++ b/drivers/staging/iio/imu/inv_mpu/inv_mpu_ring.c @@ -50,6 +50,7 @@ #endif #include "inv_mpu_iio.h" +#include "../../../../hid/hid-rkvr.h" /** * reset_fifo_mpu3050() - Reset FIFO related registers @@ -547,9 +548,9 @@ static irqreturn_t inv_irq_handler(int irq, void *dev_id) catch_up = 0; while ((time_since_last_irq > st->irq_dur_ns * 2) && - (catch_up < MAX_CATCH_UP) && - (!st->chip_config.lpa_mode) && - (!st->chip_config.dmp_on)) { + (catch_up < MAX_CATCH_UP) && + (!st->chip_config.lpa_mode) && + (!st->chip_config.dmp_on)) { st->last_isr_time += st->irq_dur_ns; kfifo_in(&st->timestamps, &st->last_isr_time, 1); @@ -1053,7 +1054,8 @@ flush_fifo: void inv_mpu_unconfigure_ring(struct iio_dev *indio_dev) { struct inv_mpu_iio_s *st = iio_priv(indio_dev); - free_irq(st->irq, st); + if (!st->use_hid) + free_irq(st->irq, st); iio_kfifo_free(indio_dev->buffer); }; @@ -1074,22 +1076,22 @@ static void inv_scan_query(struct iio_dev *indio_dev) int result; if (iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_GYRO_X) || - iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_GYRO_Y) || - iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_GYRO_Z)) + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_GYRO_Y) || + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_GYRO_Z)) st->chip_config.gyro_fifo_enable = 1; else st->chip_config.gyro_fifo_enable = 0; if (iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_ACCL_X) || - iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_ACCL_Y) || - iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_ACCL_Z)) + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_ACCL_Y) || + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_ACCL_Z)) st->chip_config.accl_fifo_enable = 1; else st->chip_config.accl_fifo_enable = 0; if (iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_MAGN_X) || - iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_MAGN_Y) || - iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_MAGN_Z)) + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_MAGN_Y) || + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_MAGN_Z)) st->chip_config.compass_fifo_enable = 1; else st->chip_config.compass_fifo_enable = 0; @@ -1119,10 +1121,10 @@ static int inv_check_quaternion(struct iio_dev *indio_dev) if (st->chip_config.dmp_on) { if ( - iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_QUAT_R) || - iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_QUAT_X) || - iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_QUAT_Y) || - iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_QUAT_Z)) + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_QUAT_R) || + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_QUAT_X) || + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_QUAT_Y) || + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_QUAT_Z)) st->chip_config.quaternion_on = 1; else st->chip_config.quaternion_on = 0; @@ -1195,6 +1197,76 @@ static const struct iio_buffer_setup_ops inv_mpu_ring_setup_ops = { .predisable = &inv_predisable, }; +#ifdef CONFIG_HID_RKVR +/* Callback handler to send event */ +static int inv_proc_event(char *raw_data, size_t raw_len, void *priv) +{ + struct inv_mpu_iio_s *st = (struct inv_mpu_iio_s *)priv; + struct iio_dev *indio_dev = iio_priv_to_dev(st); + short g[THREE_AXIS], a[THREE_AXIS]; + int ind; + u8 buf[64]; + u64 *tmp; + int i; + char *p; + struct inv_chip_config_s *conf; + + conf = &st->chip_config; + ind = 0; + +#ifdef DUMP_HEX +{ + int hex_index; + char hex[raw_len * 3 + (8 - 3)]; + + for (hex_index = 0; hex_index < raw_len; hex_index++) + sprintf(&hex[hex_index * 3], "%02X ", raw_data[hex_index]); + hex[hex_index * 3] = '\n'; + hex[hex_index * 3 + 1] = '\0'; + pr_info("in:%s\n", hex); +} +#endif + p = raw_data + 6; + st->hid_temperature = (p[1] << 8) | p[0]; + p = raw_data + 8; + + if (conf->quaternion_on) + ind += BYTES_FOR_DMP; + + if (conf->accl_fifo_enable) { + for (i = 0; i < ARRAY_SIZE(a); i++) { + a[i] = (p[1] << 8) | p[0]; + p += 2; + } + memcpy(&buf[ind], a, sizeof(a)); + ind += BYTES_PER_SENSOR; + } + + if (conf->gyro_fifo_enable) { + for (i = 0; i < ARRAY_SIZE(g); i++) { + g[i] = (p[1] << 8) | p[0]; + p += 2; + } + memcpy(&buf[ind], g, sizeof(g)); + ind += BYTES_PER_SENSOR; + } + + tmp = (u64 *)buf; + st->hid_timestamp = get_time_ns(); + tmp[DIV_ROUND_UP(ind, 8)] = st->hid_timestamp; + + if (ind > 0) { +#ifdef INV_KERNEL_3_10 + iio_push_to_buffers(indio_dev, buf); +#else + iio_push_to_buffer(indio_dev->buffer, buf, st->hid_timestamp); +#endif + } + + return 0; +} +#endif + int inv_mpu_configure_ring(struct iio_dev *indio_dev) { int ret; @@ -1208,19 +1280,26 @@ int inv_mpu_configure_ring(struct iio_dev *indio_dev) /* setup ring buffer */ ring->scan_timestamp = true; indio_dev->setup_ops = &inv_mpu_ring_setup_ops; - /*scan count double count timestamp. should subtract 1. but - number of channels still includes timestamp*/ - if (INV_MPU3050 == st->chip_type) - ret = request_threaded_irq(st->irq, inv_irq_handler, - inv_read_fifo_mpu3050, - IRQF_TRIGGER_RISING | IRQF_SHARED, "inv_irq", st); - else - ret = request_threaded_irq(st->irq, inv_irq_handler, - inv_read_fifo, - IRQF_TRIGGER_RISING | IRQF_SHARED, "inv_irq", st); - if (ret) - goto error_iio_sw_rb_free; + if (st->use_hid) { +#ifdef CONFIG_HID_RKVR + pr_info("register event callback\n"); + rkvr_sensor_register_callback(inv_proc_event, st); +#endif + } else { + /*scan count double count timestamp. should subtract 1. but + number of channels still includes timestamp*/ + if (INV_MPU3050 == st->chip_type) + ret = request_threaded_irq(st->irq, inv_irq_handler, + inv_read_fifo_mpu3050, + IRQF_TRIGGER_RISING | IRQF_SHARED, "inv_irq", st); + else + ret = request_threaded_irq(st->irq, inv_irq_handler, + inv_read_fifo, + IRQF_TRIGGER_RISING | IRQF_SHARED, "inv_irq", st); + if (ret) + goto error_iio_sw_rb_free; + } indio_dev->modes |= INDIO_BUFFER_TRIGGERED; return 0; error_iio_sw_rb_free: -- 2.34.1