Re: [PATCH 3/3] iio: imu: mpu6050: Add support for auxiliary I2C master

Re: [PATCH 3/3] iio: imu: mpu6050: Add support for auxiliary I2C master

[Jonathan Cameron]

On 17/03/16 16:32, Daniel Baluta wrote:
> The MPU-60X0 [1] has an auxiliary I2C bus for connecting external
> sensors. This bus has two operating modes:
> 	* pass-through, which connects the primary and auxiliary busses
> 	together [already implemented]
> 	* I2C master mode, where MPU60X0 acts as a master to any
> 	external connected sensors [implemented in this patch]
> 
> I2C master supports up to 5 slaves. Slaves 0-3 have a common operating
> mode while slave 4 is different.
> 
> This patch only adds support for slave 4 because it has a cleaner
> interface and it has an interrupt that signals when data from slave
> to master arrived.
> 
> Registers are described here [2].
> 
> We use threaded handler for reading slave4 done interrupt bit.
> 
> [1]
> https://www.cdiweb.com/datasheets/invensense/MPU-6050_DataSheet_V3%204.pdf
> [2]
> http://www6.in.tum.de/pub/Main/TeachingWs2015SeminarAuonomousFahren/RM-MPU-6000A.pdf
> 
> Signed-off-by: Daniel Baluta <daniel.baluta-ral2JQCrhuEAvxtiuMwx3w@public.gmane.org>
hmm. Daniel - this is an i2c driver (be it within an IIO driver) so you need
to cc Wolfram and the i2c list.

I'll be needing an Ack from Wolfram if I am to take this,

Jonathan
> ---
>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 137 ++++++++++++++++++++++++++++-
>  drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |  38 ++++++++
>  2 files changed, 172 insertions(+), 3 deletions(-)
> 
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> index 659a4be..a89854c 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
> @@ -25,6 +25,8 @@
>  #include <linux/iio/iio.h>
>  #include <linux/i2c-mux.h>
>  #include <linux/acpi.h>
> +#include <linux/completion.h>
> +
>  #include "inv_mpu_iio.h"
>  
>  /*
> @@ -57,6 +59,12 @@ static const struct inv_mpu6050_reg_map reg_set_6500 = {
>  	.int_pin_cfg		= INV_MPU6050_REG_INT_PIN_CFG,
>  	.accl_offset		= INV_MPU6500_REG_ACCEL_OFFSET,
>  	.gyro_offset		= INV_MPU6050_REG_GYRO_OFFSET,
> +	.slv4_addr		= INV_MPU6050_REG_I2C_SLV4_ADDR,
> +	.slv4_reg		= INV_MPU6050_REG_I2C_SLV4_REG,
> +	.slv4_do		= INV_MPU6050_REG_I2C_SLV4_DO,
> +	.slv4_ctrl		= INV_MPU6050_REG_I2C_SLV4_CTRL,
> +	.slv4_di		= INV_MPU6050_REG_I2C_SLV4_DI,
> +	.mst_status		= INV_MPU6050_REG_I2C_MST_STATUS,
>  };
>  
>  static const struct inv_mpu6050_reg_map reg_set_6050 = {
> @@ -77,6 +85,12 @@ static const struct inv_mpu6050_reg_map reg_set_6050 = {
>  	.int_pin_cfg		= INV_MPU6050_REG_INT_PIN_CFG,
>  	.accl_offset		= INV_MPU6050_REG_ACCEL_OFFSET,
>  	.gyro_offset		= INV_MPU6050_REG_GYRO_OFFSET,
> +	.slv4_addr		= INV_MPU6050_REG_I2C_SLV4_ADDR,
> +	.slv4_reg		= INV_MPU6050_REG_I2C_SLV4_REG,
> +	.slv4_do		= INV_MPU6050_REG_I2C_SLV4_DO,
> +	.slv4_ctrl		= INV_MPU6050_REG_I2C_SLV4_CTRL,
> +	.slv4_di		= INV_MPU6050_REG_I2C_SLV4_DI,
> +	.mst_status		= INV_MPU6050_REG_I2C_MST_STATUS,
>  };
>  
>  static const struct inv_mpu6050_chip_config chip_config_6050 = {
> @@ -761,6 +775,114 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
>  	return 0;
>  }
>  
> +static irqreturn_t inv_mpu_datardy_irq_handler(int irq, void *private)
> +{
> +	struct inv_mpu6050_state *st = (struct inv_mpu6050_state *)private;
> +
> +	iio_trigger_poll(st->trig);
> +
> +	return IRQ_WAKE_THREAD;
> +}
> +
> +static irqreturn_t inv_mpu_datardy_thread_handler(int irq, void *private)
> +{
> +	struct inv_mpu6050_state *st = (struct inv_mpu6050_state *)private;
> +	int ret, val;
> +
> +	ret = regmap_read(st->map, st->reg->mst_status, &val);
> +	if (ret < 0)
> +		return ret;
> +
> +	if (val & INV_MPU6050_BIT_I2C_SLV4_DONE)
> +		complete(&st->slv4_done);
> +
> +	return IRQ_HANDLED;
> +}
> +
> +static u32 inv_mpu_i2c_functionality(struct i2c_adapter *adap)
> +{
> +	return I2C_FUNC_SMBUS_BYTE | I2C_FUNC_SMBUS_BYTE_DATA;
> +}
> +
> +static int
> +inv_mpu_i2c_smbus_xfer(struct i2c_adapter *adap, u16 addr,
> +		       unsigned short flags, char read_write, u8 command,
> +		       int size, union i2c_smbus_data *data)
> +{
> +	struct inv_mpu6050_state *st = i2c_get_adapdata(adap);
> +
> +	unsigned long time_left;
> +	int ret, val;
> +	u8 ctrl;
> +
> +	ret = inv_mpu6050_set_power_itg(st, true);
> +	if (ret < 0)
> +		return ret;
> +
> +	ret = regmap_update_bits(st->map, st->reg->user_ctrl,
> +				 INV_MPU6050_BIT_I2C_MST_EN,
> +				 INV_MPU6050_BIT_I2C_MST_EN);
> +	if (ret < 0)
> +		return ret;
> +
> +	ret = regmap_update_bits(st->map, st->reg->int_enable,
> +				 INV_MPU6050_BIT_MST_INT_EN,
> +				 INV_MPU6050_BIT_MST_INT_EN);
> +	if (ret < 0)
> +		return ret;
> +
> +	if (read_write == I2C_SMBUS_WRITE)
> +		addr |= INV_MPU6050_BIT_I2C_SLV4_W;
> +	else
> +		addr |= INV_MPU6050_BIT_I2C_SLV4_R;
> +
> +	ret = regmap_write(st->map, st->reg->slv4_addr, addr);
> +	if (ret < 0)
> +		return ret;
> +
> +	ret = regmap_write(st->map, st->reg->slv4_reg, command);
> +	if (ret < 0)
> +		return ret;
> +
> +	if (read_write == I2C_SMBUS_WRITE) {
> +		ret = regmap_write(st->map, st->reg->slv4_do, data->byte);
> +		if (ret < 0)
> +			return ret;
> +	}
> +
> +	ctrl = INV_MPU6050_BIT_SLV4_EN | INV_MPU6050_BIT_SLV4_INT_EN;
> +	ret = regmap_write(st->map, st->reg->slv4_ctrl, ctrl);
> +	if (ret < 0)
> +		return ret;
> +	if (read_write == I2C_SMBUS_READ) {
> +		time_left = wait_for_completion_timeout(&st->slv4_done, HZ);
> +		if (!time_left)
> +			return -ETIMEDOUT;
> +
> +		ret = regmap_read(st->map, st->reg->slv4_di, &val);
> +		if (ret < 0)
> +			return ret;
> +		data->byte = val;
> +	}
> +
> +	ret = inv_mpu6050_set_power_itg(st, false);
> +	if (ret < 0)
> +		return ret;
> +	return 0;
> +}
> +
> +static const struct i2c_algorithm inv_mpu_i2c_algo = {
> +	.smbus_xfer	=	inv_mpu_i2c_smbus_xfer,
> +	.functionality	=	inv_mpu_i2c_functionality,
> +};
> +
> +static struct i2c_adapter inv_mpu_i2c_adapter = {
> +	.owner		= THIS_MODULE,
> +	.class		= I2C_CLASS_HWMON,
> +	.algo		= &inv_mpu_i2c_algo,
> +	.name		= "INV MPU secondary I2C",
> +};
> +
>  int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
>  		int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
>  {
> @@ -796,6 +918,13 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
>  		return result;
>  	}
>  
> +	init_completion(&st->slv4_done);
> +
> +	result = i2c_add_adapter(&inv_mpu_i2c_adapter);
> +	if (result < 0)
> +		return result;
> +
> +	i2c_set_adapdata(&inv_mpu_i2c_adapter, st);
>  	dev_set_drvdata(dev, indio_dev);
>  	indio_dev->dev.parent = dev;
>  	/* name will be NULL when enumerated via ACPI */
> @@ -823,9 +952,11 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
>  		goto out_unreg_ring;
>  	}
>  
> -	result = devm_request_irq(&indio_dev->dev, st->irq,
> -				  &iio_trigger_generic_data_rdy_poll,
> -				  IRQF_TRIGGER_RISING, "inv_mpu", st->trig);
> +	result = devm_request_threaded_irq(&indio_dev->dev, st->irq,
> +					   &inv_mpu_datardy_irq_handler,
> +					   &inv_mpu_datardy_thread_handler,
> +					   IRQF_TRIGGER_RISING, "inv_mpu",
> +					   st);
>  	if (result) {
>  		dev_err(dev, "request irq fail %d\n", result);
>  		goto out_remove_trigger;
> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> index e302a49..5c3ea9a 100644
> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
> @@ -42,6 +42,13 @@
>   *  @int_pin_cfg;	Controls interrupt pin configuration.
>   *  @accl_offset:	Controls the accelerometer calibration offset.
>   *  @gyro_offset:	Controls the gyroscope calibration offset.
> + *  @mst_status:	secondary I2C master interrupt source status
> + *  @slv4_addr:		I2C slave address for slave 4 transaction
> + *  @slv4_reg:		I2C register used with slave 4 transaction
> + *  @slv4_di:		I2C data in register for slave 4 transaction
> + *  @slv4_ctrl:		I2C slave 4 control register
> + *  @slv4_do:		I2C data out register for slave 4 transaction
> +
>   */
>  struct inv_mpu6050_reg_map {
>  	u8 sample_rate_div;
> @@ -61,6 +68,15 @@ struct inv_mpu6050_reg_map {
>  	u8 int_pin_cfg;
>  	u8 accl_offset;
>  	u8 gyro_offset;
> +	u8 mst_status;
> +
> +	/* slave 4 registers */
> +	u8 slv4_addr;
> +	u8 slv4_reg;
> +	u8 slv4_di; /* data in */
> +	u8 slv4_ctrl;
> +	u8 slv4_do; /* data out */
> +
>  };
>  
>  /*device enum */
> @@ -133,6 +149,7 @@ struct inv_mpu6050_state {
>  	struct inv_mpu6050_platform_data plat_data;
>  	DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
>  	struct regmap *map;
> +	struct completion slv4_done;
>  	int irq;
>  };
>  
> @@ -149,9 +166,30 @@ struct inv_mpu6050_state {
>  #define INV_MPU6050_BIT_ACCEL_OUT           0x08
>  #define INV_MPU6050_BITS_GYRO_OUT           0x70
>  
> +#define INV_MPU6050_REG_I2C_SLV4_ADDR       0x31
> +#define INV_MPU6050_BIT_I2C_SLV4_R          0x80
> +#define INV_MPU6050_BIT_I2C_SLV4_W          0x00
> +
> +#define INV_MPU6050_REG_I2C_SLV4_REG        0x32
> +#define INV_MPU6050_REG_I2C_SLV4_DO         0x33
> +#define INV_MPU6050_REG_I2C_SLV4_CTRL       0x34
> +
> +#define INV_MPU6050_BIT_SLV4_EN             0x80
> +#define INV_MPU6050_BIT_SLV4_INT_EN         0x40
> +#define INV_MPU6050_BIT_SLV4_DIS            0x20
> +
> +#define INV_MPU6050_REG_I2C_SLV4_DI         0x35
> +
> +#define INV_MPU6050_REG_I2C_MST_STATUS      0x36
> +#define INV_MPU6050_BIT_I2C_SLV4_DONE       0x40
> +
>  #define INV_MPU6050_REG_INT_ENABLE          0x38
>  #define INV_MPU6050_BIT_DATA_RDY_EN         0x01
>  #define INV_MPU6050_BIT_DMP_INT_EN          0x02
> +#define INV_MPU6050_BIT_MST_INT_EN          0x08
> +
> +#define INV_MPU6050_REG_INT_STATUS          0x3A
> +#define INV_MPU6050_BIT_MST_INT             0x08
>  
>  #define INV_MPU6050_REG_RAW_ACCEL           0x3B
>  #define INV_MPU6050_REG_TEMPERATURE         0x41
> 

Re: [PATCH 3/3] iio: imu: mpu6050: Add support for auxiliary I2C master

[Daniel Baluta]

On Sun, Mar 20, 2016 at 12:47 PM, Jonathan Cameron <jic23@kernel.org> wrote:
> On 17/03/16 16:32, Daniel Baluta wrote:
>> The MPU-60X0 [1] has an auxiliary I2C bus for connecting external
>> sensors. This bus has two operating modes:
>>       * pass-through, which connects the primary and auxiliary busses
>>       together [already implemented]
>>       * I2C master mode, where MPU60X0 acts as a master to any
>>       external connected sensors [implemented in this patch]
>>
>> I2C master supports up to 5 slaves. Slaves 0-3 have a common operating
>> mode while slave 4 is different.
>>
>> This patch only adds support for slave 4 because it has a cleaner
>> interface and it has an interrupt that signals when data from slave
>> to master arrived.
>>
>> Registers are described here [2].
>>
>> We use threaded handler for reading slave4 done interrupt bit.
>>
>> [1]
>> https://www.cdiweb.com/datasheets/invensense/MPU-6050_DataSheet_V3%204.pdf
>> [2]
>> http://www6.in.tum.de/pub/Main/TeachingWs2015SeminarAuonomousFahren/RM-MPU-6000A.pdf
>>
>> Signed-off-by: Daniel Baluta <daniel.baluta@intel.com>
> hmm. Daniel - this is an i2c driver (be it within an IIO driver) so you need
> to cc Wolfram and the i2c list.
>
> I'll be needing an Ack from Wolfram if I am to take this,

Will do with v2.

Daniel.

Re: [PATCH 3/3] iio: imu: mpu6050: Add support for auxiliary I2C master

[Jonathan Cameron]

On 17/03/16 18:11, Ge Gao wrote:
> Hi Matt, I am not sure about slave 4. I always use slave0~3. MPU6050
> can connect up to 4 slaves by using slave 0~3. However, we only use 3
> slaves. Each slave can be configured as read or write independently.
> For example, AKM8973 compass as a slave, I usually configure slave0
> as read and slave 1 as write. The rate is 100Hz, for example, the
> read will read first and write happens subsequently. Of course, the
> read will read a dummy data for the first time. However, after first
> read, it will read the correct data. Write will send AKM the measure
> command. The measurement takes several mili-seconds to finish. That
> is why we read like that. For pressure sensor or ALS(light/proximity
> sensor), they all have autonomous mode. As long as the sample period
> is longer than the output rate, the data is guaranteed to be new
> data. 
Thanks.

Weird ;)

Anyhow, the upshot is that practically these are autonomous once setup
and will on a cycle continuously 'pinging' the device.  If we want to do
this in a generic way (i.e. not have to have large amounts of additional
code in every driver for devices on the end of this) it will be interesting!

Lars, superficially this sounds a bit like it could be done in a similar
way to SPI offload.  What do you think?

Maybe we just ultimately conclude these are too weird to support in any
generic way (which would be a pain).

Jonathan
> Ge
> 
> 
> -----Original Message-----
> From: Matt Ranostay [mailto:mranostay-Re5JQEeQqe8AvxtiuMwx3w@public.gmane.org] 
> Sent: Thursday, March 17, 2016 10:28 AM
> To: Daniel Baluta
> Cc: Jonathan Cameron; Hartmut Knaack; Lars-Peter Clausen; Peter Meerwald-Stadler; Matt Ranostay; Lucas De Marchi; cmo-fc6wVz46lShBDgjK7y7TUQ@public.gmane.org; linux-iio-u79uwXL29TY76Z2rM5mHXA@public.gmane.org; Ge Gao; srinivas.pandruvada-VuQAYsv1563Yd54FQh9/CA@public.gmane.org; adi.reus-Re5JQEeQqe8AvxtiuMwx3w@public.gmane.org
> Subject: Re: [PATCH 3/3] iio: imu: mpu6050: Add support for auxiliary I2C master
> 
> Reviewed-by: Matt Ranostay <matt.ranostay-ral2JQCrhuEAvxtiuMwx3w@public.gmane.org>
> 
> On Thu, Mar 17, 2016 at 9:32 AM, Daniel Baluta <daniel.baluta-ral2JQCrhuEAvxtiuMwx3w@public.gmane.org> wrote:
>> The MPU-60X0 [1] has an auxiliary I2C bus for connecting external 
>> sensors. This bus has two operating modes:
>>         * pass-through, which connects the primary and auxiliary busses
>>         together [already implemented]
>>         * I2C master mode, where MPU60X0 acts as a master to any
>>         external connected sensors [implemented in this patch]
>>
>> I2C master supports up to 5 slaves. Slaves 0-3 have a common operating 
>> mode while slave 4 is different.
>>
>> This patch only adds support for slave 4 because it has a cleaner 
>> interface and it has an interrupt that signals when data from slave to 
>> master arrived.
>>
>> Registers are described here [2].
>>
>> We use threaded handler for reading slave4 done interrupt bit.
>>
>> [1]
>> https://www.cdiweb.com/datasheets/invensense/MPU-6050_DataSheet_V3%204
>> .pdf
>> [2]
>> http://www6.in.tum.de/pub/Main/TeachingWs2015SeminarAuonomousFahren/RM
>> -MPU-6000A.pdf
>>
>> Signed-off-by: Daniel Baluta <daniel.baluta-ral2JQCrhuEAvxtiuMwx3w@public.gmane.org>
>> ---
>>  drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 137 
>> ++++++++++++++++++++++++++++-  
>> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |  38 ++++++++
>>  2 files changed, 172 insertions(+), 3 deletions(-)
>>
>> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c 
>> b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
>> index 659a4be..a89854c 100644
>> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
>> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
>> @@ -25,6 +25,8 @@
>>  #include <linux/iio/iio.h>
>>  #include <linux/i2c-mux.h>
>>  #include <linux/acpi.h>
>> +#include <linux/completion.h>
>> +
>>  #include "inv_mpu_iio.h"
>>
>>  /*
>> @@ -57,6 +59,12 @@ static const struct inv_mpu6050_reg_map reg_set_6500 = {
>>         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
>>         .accl_offset            = INV_MPU6500_REG_ACCEL_OFFSET,
>>         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
>> +       .slv4_addr              = INV_MPU6050_REG_I2C_SLV4_ADDR,
>> +       .slv4_reg               = INV_MPU6050_REG_I2C_SLV4_REG,
>> +       .slv4_do                = INV_MPU6050_REG_I2C_SLV4_DO,
>> +       .slv4_ctrl              = INV_MPU6050_REG_I2C_SLV4_CTRL,
>> +       .slv4_di                = INV_MPU6050_REG_I2C_SLV4_DI,
>> +       .mst_status             = INV_MPU6050_REG_I2C_MST_STATUS,
>>  };
>>
>>  static const struct inv_mpu6050_reg_map reg_set_6050 = { @@ -77,6 
>> +85,12 @@ static const struct inv_mpu6050_reg_map reg_set_6050 = {
>>         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
>>         .accl_offset            = INV_MPU6050_REG_ACCEL_OFFSET,
>>         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
>> +       .slv4_addr              = INV_MPU6050_REG_I2C_SLV4_ADDR,
>> +       .slv4_reg               = INV_MPU6050_REG_I2C_SLV4_REG,
>> +       .slv4_do                = INV_MPU6050_REG_I2C_SLV4_DO,
>> +       .slv4_ctrl              = INV_MPU6050_REG_I2C_SLV4_CTRL,
>> +       .slv4_di                = INV_MPU6050_REG_I2C_SLV4_DI,
>> +       .mst_status             = INV_MPU6050_REG_I2C_MST_STATUS,
>>  };
>>
>>  static const struct inv_mpu6050_chip_config chip_config_6050 = { @@ 
>> -761,6 +775,114 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
>>         return 0;
>>  }
>>
>> +static irqreturn_t inv_mpu_datardy_irq_handler(int irq, void 
>> +*private) {
>> +       struct inv_mpu6050_state *st = (struct inv_mpu6050_state 
>> +*)private;
>> +
>> +       iio_trigger_poll(st->trig);
>> +
>> +       return IRQ_WAKE_THREAD;
>> +}
>> +
>> +static irqreturn_t inv_mpu_datardy_thread_handler(int irq, void 
>> +*private) {
>> +       struct inv_mpu6050_state *st = (struct inv_mpu6050_state *)private;
>> +       int ret, val;
>> +
>> +       ret = regmap_read(st->map, st->reg->mst_status, &val);
>> +       if (ret < 0)
>> +               return ret;
>> +
>> +       if (val & INV_MPU6050_BIT_I2C_SLV4_DONE)
>> +               complete(&st->slv4_done);
>> +
>> +       return IRQ_HANDLED;
>> +}
>> +
>> +static u32 inv_mpu_i2c_functionality(struct i2c_adapter *adap) {
>> +       return I2C_FUNC_SMBUS_BYTE | I2C_FUNC_SMBUS_BYTE_DATA; }
>> +
>> +static int
>> +inv_mpu_i2c_smbus_xfer(struct i2c_adapter *adap, u16 addr,
>> +                      unsigned short flags, char read_write, u8 command,
>> +                      int size, union i2c_smbus_data *data) {
>> +       struct inv_mpu6050_state *st = i2c_get_adapdata(adap);
>> +
>> +       unsigned long time_left;
>> +       int ret, val;
>> +       u8 ctrl;
>> +
>> +       ret = inv_mpu6050_set_power_itg(st, true);
>> +       if (ret < 0)
>> +               return ret;
>> +
>> +       ret = regmap_update_bits(st->map, st->reg->user_ctrl,
>> +                                INV_MPU6050_BIT_I2C_MST_EN,
>> +                                INV_MPU6050_BIT_I2C_MST_EN);
>> +       if (ret < 0)
>> +               return ret;
>> +
>> +       ret = regmap_update_bits(st->map, st->reg->int_enable,
>> +                                INV_MPU6050_BIT_MST_INT_EN,
>> +                                INV_MPU6050_BIT_MST_INT_EN);
>> +       if (ret < 0)
>> +               return ret;
>> +
>> +       if (read_write == I2C_SMBUS_WRITE)
>> +               addr |= INV_MPU6050_BIT_I2C_SLV4_W;
>> +       else
>> +               addr |= INV_MPU6050_BIT_I2C_SLV4_R;
>> +
>> +       ret = regmap_write(st->map, st->reg->slv4_addr, addr);
>> +       if (ret < 0)
>> +               return ret;
>> +
>> +       ret = regmap_write(st->map, st->reg->slv4_reg, command);
>> +       if (ret < 0)
>> +               return ret;
>> +
>> +       if (read_write == I2C_SMBUS_WRITE) {
>> +               ret = regmap_write(st->map, st->reg->slv4_do, data->byte);
>> +               if (ret < 0)
>> +                       return ret;
>> +       }
>> +
>> +       ctrl = INV_MPU6050_BIT_SLV4_EN | INV_MPU6050_BIT_SLV4_INT_EN;
>> +       ret = regmap_write(st->map, st->reg->slv4_ctrl, ctrl);
>> +       if (ret < 0)
>> +               return ret;
>> +       if (read_write == I2C_SMBUS_READ) {
>> +               time_left = wait_for_completion_timeout(&st->slv4_done, HZ);
>> +               if (!time_left)
>> +                       return -ETIMEDOUT;
>> +
>> +               ret = regmap_read(st->map, st->reg->slv4_di, &val);
>> +               if (ret < 0)
>> +                       return ret;
>> +               data->byte = val;
>> +       }
>> +
>> +       ret = inv_mpu6050_set_power_itg(st, false);
>> +       if (ret < 0)
>> +               return ret;
>> +       return 0;
>> +}
>> +
>> +static const struct i2c_algorithm inv_mpu_i2c_algo = {
>> +       .smbus_xfer     =       inv_mpu_i2c_smbus_xfer,
>> +       .functionality  =       inv_mpu_i2c_functionality,
>> +};
>> +
>> +static struct i2c_adapter inv_mpu_i2c_adapter = {
>> +       .owner          = THIS_MODULE,
>> +       .class          = I2C_CLASS_HWMON,
>> +       .algo           = &inv_mpu_i2c_algo,
>> +       .name           = "INV MPU secondary I2C",
>> +};
>> +
>>  int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
>>                 int (*inv_mpu_bus_setup)(struct iio_dev *), int 
>> chip_type)  { @@ -796,6 +918,13 @@ int inv_mpu_core_probe(struct 
>> regmap *regmap, int irq, const char *name,
>>                 return result;
>>         }
>>
>> +       init_completion(&st->slv4_done);
>> +
>> +       result = i2c_add_adapter(&inv_mpu_i2c_adapter);
>> +       if (result < 0)
>> +               return result;
>> +
>> +       i2c_set_adapdata(&inv_mpu_i2c_adapter, st);
>>         dev_set_drvdata(dev, indio_dev);
>>         indio_dev->dev.parent = dev;
>>         /* name will be NULL when enumerated via ACPI */ @@ -823,9 
>> +952,11 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
>>                 goto out_unreg_ring;
>>         }
>>
>> -       result = devm_request_irq(&indio_dev->dev, st->irq,
>> -                                 &iio_trigger_generic_data_rdy_poll,
>> -                                 IRQF_TRIGGER_RISING, "inv_mpu", st->trig);
>> +       result = devm_request_threaded_irq(&indio_dev->dev, st->irq,
>> +                                          &inv_mpu_datardy_irq_handler,
>> +                                          &inv_mpu_datardy_thread_handler,
>> +                                          IRQF_TRIGGER_RISING, "inv_mpu",
>> +                                          st);
>>         if (result) {
>>                 dev_err(dev, "request irq fail %d\n", result);
>>                 goto out_remove_trigger; diff --git 
>> a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h 
>> b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
>> index e302a49..5c3ea9a 100644
>> --- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
>> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
>> @@ -42,6 +42,13 @@
>>   *  @int_pin_cfg;      Controls interrupt pin configuration.
>>   *  @accl_offset:      Controls the accelerometer calibration offset.
>>   *  @gyro_offset:      Controls the gyroscope calibration offset.
>> + *  @mst_status:       secondary I2C master interrupt source status
>> + *  @slv4_addr:                I2C slave address for slave 4 transaction
>> + *  @slv4_reg:         I2C register used with slave 4 transaction
>> + *  @slv4_di:          I2C data in register for slave 4 transaction
>> + *  @slv4_ctrl:                I2C slave 4 control register
>> + *  @slv4_do:          I2C data out register for slave 4 transaction
>> +
>>   */
>>  struct inv_mpu6050_reg_map {
>>         u8 sample_rate_div;
>> @@ -61,6 +68,15 @@ struct inv_mpu6050_reg_map {
>>         u8 int_pin_cfg;
>>         u8 accl_offset;
>>         u8 gyro_offset;
>> +       u8 mst_status;
>> +
>> +       /* slave 4 registers */
>> +       u8 slv4_addr;
>> +       u8 slv4_reg;
>> +       u8 slv4_di; /* data in */
>> +       u8 slv4_ctrl;
>> +       u8 slv4_do; /* data out */
>> +
>>  };
>>
>>  /*device enum */
>> @@ -133,6 +149,7 @@ struct inv_mpu6050_state {
>>         struct inv_mpu6050_platform_data plat_data;
>>         DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
>>         struct regmap *map;
>> +       struct completion slv4_done;
>>         int irq;
>>  };
>>
>> @@ -149,9 +166,30 @@ struct inv_mpu6050_state {
>>  #define INV_MPU6050_BIT_ACCEL_OUT           0x08
>>  #define INV_MPU6050_BITS_GYRO_OUT           0x70
>>
>> +#define INV_MPU6050_REG_I2C_SLV4_ADDR       0x31
>> +#define INV_MPU6050_BIT_I2C_SLV4_R          0x80
>> +#define INV_MPU6050_BIT_I2C_SLV4_W          0x00
>> +
>> +#define INV_MPU6050_REG_I2C_SLV4_REG        0x32
>> +#define INV_MPU6050_REG_I2C_SLV4_DO         0x33
>> +#define INV_MPU6050_REG_I2C_SLV4_CTRL       0x34
>> +
>> +#define INV_MPU6050_BIT_SLV4_EN             0x80
>> +#define INV_MPU6050_BIT_SLV4_INT_EN         0x40
>> +#define INV_MPU6050_BIT_SLV4_DIS            0x20
>> +
>> +#define INV_MPU6050_REG_I2C_SLV4_DI         0x35
>> +
>> +#define INV_MPU6050_REG_I2C_MST_STATUS      0x36
>> +#define INV_MPU6050_BIT_I2C_SLV4_DONE       0x40
>> +
>>  #define INV_MPU6050_REG_INT_ENABLE          0x38
>>  #define INV_MPU6050_BIT_DATA_RDY_EN         0x01
>>  #define INV_MPU6050_BIT_DMP_INT_EN          0x02
>> +#define INV_MPU6050_BIT_MST_INT_EN          0x08
>> +
>> +#define INV_MPU6050_REG_INT_STATUS          0x3A
>> +#define INV_MPU6050_BIT_MST_INT             0x08
>>
>>  #define INV_MPU6050_REG_RAW_ACCEL           0x3B
>>  #define INV_MPU6050_REG_TEMPERATURE         0x41
>> --
>> 2.5.0
>>
>> --
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