1 /*
2 * Copyright (C) 2012 Invensense, Inc.
3 *
4 * This software is licensed under the terms of the GNU General Public
5 * License version 2, as published by the Free Software Foundation, and
6 * may be copied, distributed, and modified under those terms.
7 *
8 * This program is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11 * GNU General Public License for more details.
12 */
13
14 #include <linux/module.h>
15 #include <linux/init.h>
16 #include <linux/slab.h>
17 #include <linux/i2c.h>
18 #include <linux/err.h>
19 #include <linux/delay.h>
20 #include <linux/sysfs.h>
21 #include <linux/jiffies.h>
22 #include <linux/irq.h>
23 #include <linux/interrupt.h>
24 #include <linux/kfifo.h>
25 #include <linux/spinlock.h>
26 #include "inv_mpu_iio.h"
27
28 /*
29 * this is the gyro scale translated from dynamic range plus/minus
30 * {250, 500, 1000, 2000} to rad/s
31 */
32 static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
33
34 /*
35 * this is the accel scale translated from dynamic range plus/minus
36 * {2, 4, 8, 16} to m/s^2
37 */
38 static const int accel_scale[] = {598, 1196, 2392, 4785};
39
40 static const struct inv_mpu6050_reg_map reg_set_6050 = {
41 .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
42 .lpf = INV_MPU6050_REG_CONFIG,
43 .user_ctrl = INV_MPU6050_REG_USER_CTRL,
44 .fifo_en = INV_MPU6050_REG_FIFO_EN,
45 .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
46 .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
47 .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
48 .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
49 .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
50 .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
51 .temperature = INV_MPU6050_REG_TEMPERATURE,
52 .int_enable = INV_MPU6050_REG_INT_ENABLE,
53 .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
54 .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
55 };
56
57 static const struct inv_mpu6050_chip_config chip_config_6050 = {
58 .fsr = INV_MPU6050_FSR_2000DPS,
59 .lpf = INV_MPU6050_FILTER_20HZ,
60 .fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
61 .gyro_fifo_enable = false,
62 .accl_fifo_enable = false,
63 .accl_fs = INV_MPU6050_FS_02G,
64 };
65
66 static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
67 {
68 .num_reg = 117,
69 .name = "MPU6050",
70 .reg = ®_set_6050,
71 .config = &chip_config_6050,
72 },
73 };
74
inv_mpu6050_write_reg(struct inv_mpu6050_state * st,int reg,u8 d)75 int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
76 {
77 return i2c_smbus_write_i2c_block_data(st->client, reg, 1, &d);
78 }
79
inv_mpu6050_switch_engine(struct inv_mpu6050_state * st,bool en,u32 mask)80 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
81 {
82 u8 d, mgmt_1;
83 int result;
84
85 /* switch clock needs to be careful. Only when gyro is on, can
86 clock source be switched to gyro. Otherwise, it must be set to
87 internal clock */
88 if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
89 result = i2c_smbus_read_i2c_block_data(st->client,
90 st->reg->pwr_mgmt_1, 1, &mgmt_1);
91 if (result != 1)
92 return result;
93
94 mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
95 }
96
97 if ((INV_MPU6050_BIT_PWR_GYRO_STBY == mask) && (!en)) {
98 /* turning off gyro requires switch to internal clock first.
99 Then turn off gyro engine */
100 mgmt_1 |= INV_CLK_INTERNAL;
101 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, mgmt_1);
102 if (result)
103 return result;
104 }
105
106 result = i2c_smbus_read_i2c_block_data(st->client,
107 st->reg->pwr_mgmt_2, 1, &d);
108 if (result != 1)
109 return result;
110 if (en)
111 d &= ~mask;
112 else
113 d |= mask;
114 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
115 if (result)
116 return result;
117
118 if (en) {
119 /* Wait for output stablize */
120 msleep(INV_MPU6050_TEMP_UP_TIME);
121 if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
122 /* switch internal clock to PLL */
123 mgmt_1 |= INV_CLK_PLL;
124 result = inv_mpu6050_write_reg(st,
125 st->reg->pwr_mgmt_1, mgmt_1);
126 if (result)
127 return result;
128 }
129 }
130
131 return 0;
132 }
133
inv_mpu6050_set_power_itg(struct inv_mpu6050_state * st,bool power_on)134 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
135 {
136 int result;
137
138 if (power_on)
139 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, 0);
140 else
141 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
142 INV_MPU6050_BIT_SLEEP);
143 if (result)
144 return result;
145
146 if (power_on)
147 msleep(INV_MPU6050_REG_UP_TIME);
148
149 return 0;
150 }
151
152 /**
153 * inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
154 *
155 * Initial configuration:
156 * FSR: ± 2000DPS
157 * DLPF: 20Hz
158 * FIFO rate: 50Hz
159 * Clock source: Gyro PLL
160 */
inv_mpu6050_init_config(struct iio_dev * indio_dev)161 static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
162 {
163 int result;
164 u8 d;
165 struct inv_mpu6050_state *st = iio_priv(indio_dev);
166
167 result = inv_mpu6050_set_power_itg(st, true);
168 if (result)
169 return result;
170 d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
171 result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
172 if (result)
173 return result;
174
175 d = INV_MPU6050_FILTER_20HZ;
176 result = inv_mpu6050_write_reg(st, st->reg->lpf, d);
177 if (result)
178 return result;
179
180 d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;
181 result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
182 if (result)
183 return result;
184
185 d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
186 result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
187 if (result)
188 return result;
189
190 memcpy(&st->chip_config, hw_info[st->chip_type].config,
191 sizeof(struct inv_mpu6050_chip_config));
192 result = inv_mpu6050_set_power_itg(st, false);
193
194 return result;
195 }
196
inv_mpu6050_sensor_show(struct inv_mpu6050_state * st,int reg,int axis,int * val)197 static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
198 int axis, int *val)
199 {
200 int ind, result;
201 __be16 d;
202
203 ind = (axis - IIO_MOD_X) * 2;
204 result = i2c_smbus_read_i2c_block_data(st->client, reg + ind, 2,
205 (u8 *)&d);
206 if (result != 2)
207 return -EINVAL;
208 *val = (short)be16_to_cpup(&d);
209
210 return IIO_VAL_INT;
211 }
212
inv_mpu6050_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)213 static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
214 struct iio_chan_spec const *chan,
215 int *val,
216 int *val2,
217 long mask) {
218 struct inv_mpu6050_state *st = iio_priv(indio_dev);
219
220 switch (mask) {
221 case IIO_CHAN_INFO_RAW:
222 {
223 int ret, result;
224
225 ret = IIO_VAL_INT;
226 result = 0;
227 mutex_lock(&indio_dev->mlock);
228 if (!st->chip_config.enable) {
229 result = inv_mpu6050_set_power_itg(st, true);
230 if (result)
231 goto error_read_raw;
232 }
233 /* when enable is on, power is already on */
234 switch (chan->type) {
235 case IIO_ANGL_VEL:
236 if (!st->chip_config.gyro_fifo_enable ||
237 !st->chip_config.enable) {
238 result = inv_mpu6050_switch_engine(st, true,
239 INV_MPU6050_BIT_PWR_GYRO_STBY);
240 if (result)
241 goto error_read_raw;
242 }
243 ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
244 chan->channel2, val);
245 if (!st->chip_config.gyro_fifo_enable ||
246 !st->chip_config.enable) {
247 result = inv_mpu6050_switch_engine(st, false,
248 INV_MPU6050_BIT_PWR_GYRO_STBY);
249 if (result)
250 goto error_read_raw;
251 }
252 break;
253 case IIO_ACCEL:
254 if (!st->chip_config.accl_fifo_enable ||
255 !st->chip_config.enable) {
256 result = inv_mpu6050_switch_engine(st, true,
257 INV_MPU6050_BIT_PWR_ACCL_STBY);
258 if (result)
259 goto error_read_raw;
260 }
261 ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
262 chan->channel2, val);
263 if (!st->chip_config.accl_fifo_enable ||
264 !st->chip_config.enable) {
265 result = inv_mpu6050_switch_engine(st, false,
266 INV_MPU6050_BIT_PWR_ACCL_STBY);
267 if (result)
268 goto error_read_raw;
269 }
270 break;
271 case IIO_TEMP:
272 /* wait for stablization */
273 msleep(INV_MPU6050_SENSOR_UP_TIME);
274 inv_mpu6050_sensor_show(st, st->reg->temperature,
275 IIO_MOD_X, val);
276 break;
277 default:
278 ret = -EINVAL;
279 break;
280 }
281 error_read_raw:
282 if (!st->chip_config.enable)
283 result |= inv_mpu6050_set_power_itg(st, false);
284 mutex_unlock(&indio_dev->mlock);
285 if (result)
286 return result;
287
288 return ret;
289 }
290 case IIO_CHAN_INFO_SCALE:
291 switch (chan->type) {
292 case IIO_ANGL_VEL:
293 *val = 0;
294 *val2 = gyro_scale_6050[st->chip_config.fsr];
295
296 return IIO_VAL_INT_PLUS_NANO;
297 case IIO_ACCEL:
298 *val = 0;
299 *val2 = accel_scale[st->chip_config.accl_fs];
300
301 return IIO_VAL_INT_PLUS_MICRO;
302 case IIO_TEMP:
303 *val = 0;
304 *val2 = INV_MPU6050_TEMP_SCALE;
305
306 return IIO_VAL_INT_PLUS_MICRO;
307 default:
308 return -EINVAL;
309 }
310 case IIO_CHAN_INFO_OFFSET:
311 switch (chan->type) {
312 case IIO_TEMP:
313 *val = INV_MPU6050_TEMP_OFFSET;
314
315 return IIO_VAL_INT;
316 default:
317 return -EINVAL;
318 }
319 default:
320 return -EINVAL;
321 }
322 }
323
inv_mpu6050_write_fsr(struct inv_mpu6050_state * st,int fsr)324 static int inv_mpu6050_write_fsr(struct inv_mpu6050_state *st, int fsr)
325 {
326 int result;
327 u8 d;
328
329 if (fsr < 0 || fsr > INV_MPU6050_MAX_GYRO_FS_PARAM)
330 return -EINVAL;
331 if (fsr == st->chip_config.fsr)
332 return 0;
333
334 d = (fsr << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
335 result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
336 if (result)
337 return result;
338 st->chip_config.fsr = fsr;
339
340 return 0;
341 }
342
inv_mpu6050_write_accel_fs(struct inv_mpu6050_state * st,int fs)343 static int inv_mpu6050_write_accel_fs(struct inv_mpu6050_state *st, int fs)
344 {
345 int result;
346 u8 d;
347
348 if (fs < 0 || fs > INV_MPU6050_MAX_ACCL_FS_PARAM)
349 return -EINVAL;
350 if (fs == st->chip_config.accl_fs)
351 return 0;
352
353 d = (fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
354 result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
355 if (result)
356 return result;
357 st->chip_config.accl_fs = fs;
358
359 return 0;
360 }
361
inv_mpu6050_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)362 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
363 struct iio_chan_spec const *chan,
364 int val,
365 int val2,
366 long mask) {
367 struct inv_mpu6050_state *st = iio_priv(indio_dev);
368 int result;
369
370 mutex_lock(&indio_dev->mlock);
371 /* we should only update scale when the chip is disabled, i.e.,
372 not running */
373 if (st->chip_config.enable) {
374 result = -EBUSY;
375 goto error_write_raw;
376 }
377 result = inv_mpu6050_set_power_itg(st, true);
378 if (result)
379 goto error_write_raw;
380
381 switch (mask) {
382 case IIO_CHAN_INFO_SCALE:
383 switch (chan->type) {
384 case IIO_ANGL_VEL:
385 result = inv_mpu6050_write_fsr(st, val);
386 break;
387 case IIO_ACCEL:
388 result = inv_mpu6050_write_accel_fs(st, val);
389 break;
390 default:
391 result = -EINVAL;
392 break;
393 }
394 break;
395 default:
396 result = -EINVAL;
397 break;
398 }
399
400 error_write_raw:
401 result |= inv_mpu6050_set_power_itg(st, false);
402 mutex_unlock(&indio_dev->mlock);
403
404 return result;
405 }
406
407 /**
408 * inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
409 *
410 * Based on the Nyquist principle, the sampling rate must
411 * exceed twice of the bandwidth of the signal, or there
412 * would be alising. This function basically search for the
413 * correct low pass parameters based on the fifo rate, e.g,
414 * sampling frequency.
415 */
inv_mpu6050_set_lpf(struct inv_mpu6050_state * st,int rate)416 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
417 {
418 const int hz[] = {188, 98, 42, 20, 10, 5};
419 const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
420 INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
421 INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
422 int i, h, result;
423 u8 data;
424
425 h = (rate >> 1);
426 i = 0;
427 while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
428 i++;
429 data = d[i];
430 result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
431 if (result)
432 return result;
433 st->chip_config.lpf = data;
434
435 return 0;
436 }
437
438 /**
439 * inv_mpu6050_fifo_rate_store() - Set fifo rate.
440 */
inv_mpu6050_fifo_rate_store(struct device * dev,struct device_attribute * attr,const char * buf,size_t count)441 static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
442 struct device_attribute *attr, const char *buf, size_t count)
443 {
444 s32 fifo_rate;
445 u8 d;
446 int result;
447 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
448 struct inv_mpu6050_state *st = iio_priv(indio_dev);
449
450 if (kstrtoint(buf, 10, &fifo_rate))
451 return -EINVAL;
452 if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
453 fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
454 return -EINVAL;
455 if (fifo_rate == st->chip_config.fifo_rate)
456 return count;
457
458 mutex_lock(&indio_dev->mlock);
459 if (st->chip_config.enable) {
460 result = -EBUSY;
461 goto fifo_rate_fail;
462 }
463 result = inv_mpu6050_set_power_itg(st, true);
464 if (result)
465 goto fifo_rate_fail;
466
467 d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
468 result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
469 if (result)
470 goto fifo_rate_fail;
471 st->chip_config.fifo_rate = fifo_rate;
472
473 result = inv_mpu6050_set_lpf(st, fifo_rate);
474 if (result)
475 goto fifo_rate_fail;
476
477 fifo_rate_fail:
478 result |= inv_mpu6050_set_power_itg(st, false);
479 mutex_unlock(&indio_dev->mlock);
480 if (result)
481 return result;
482
483 return count;
484 }
485
486 /**
487 * inv_fifo_rate_show() - Get the current sampling rate.
488 */
inv_fifo_rate_show(struct device * dev,struct device_attribute * attr,char * buf)489 static ssize_t inv_fifo_rate_show(struct device *dev,
490 struct device_attribute *attr, char *buf)
491 {
492 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
493
494 return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
495 }
496
497 /**
498 * inv_attr_show() - calling this function will show current
499 * parameters.
500 */
inv_attr_show(struct device * dev,struct device_attribute * attr,char * buf)501 static ssize_t inv_attr_show(struct device *dev,
502 struct device_attribute *attr, char *buf)
503 {
504 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
505 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
506 s8 *m;
507
508 switch (this_attr->address) {
509 /* In MPU6050, the two matrix are the same because gyro and accel
510 are integrated in one chip */
511 case ATTR_GYRO_MATRIX:
512 case ATTR_ACCL_MATRIX:
513 m = st->plat_data.orientation;
514
515 return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
516 m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
517 default:
518 return -EINVAL;
519 }
520 }
521
522 /**
523 * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
524 * MPU6050 device.
525 * @indio_dev: The IIO device
526 * @trig: The new trigger
527 *
528 * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
529 * device, -EINVAL otherwise.
530 */
inv_mpu6050_validate_trigger(struct iio_dev * indio_dev,struct iio_trigger * trig)531 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
532 struct iio_trigger *trig)
533 {
534 struct inv_mpu6050_state *st = iio_priv(indio_dev);
535
536 if (st->trig != trig)
537 return -EINVAL;
538
539 return 0;
540 }
541
542 #define INV_MPU6050_CHAN(_type, _channel2, _index) \
543 { \
544 .type = _type, \
545 .modified = 1, \
546 .channel2 = _channel2, \
547 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
548 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
549 .scan_index = _index, \
550 .scan_type = { \
551 .sign = 's', \
552 .realbits = 16, \
553 .storagebits = 16, \
554 .shift = 0 , \
555 .endianness = IIO_BE, \
556 }, \
557 }
558
559 static const struct iio_chan_spec inv_mpu_channels[] = {
560 IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
561 /*
562 * Note that temperature should only be via polled reading only,
563 * not the final scan elements output.
564 */
565 {
566 .type = IIO_TEMP,
567 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
568 | BIT(IIO_CHAN_INFO_OFFSET)
569 | BIT(IIO_CHAN_INFO_SCALE),
570 .scan_index = -1,
571 },
572 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
573 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
574 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
575
576 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
577 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
578 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
579 };
580
581 /* constant IIO attribute */
582 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
583 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
584 inv_mpu6050_fifo_rate_store);
585 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
586 ATTR_GYRO_MATRIX);
587 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
588 ATTR_ACCL_MATRIX);
589
590 static struct attribute *inv_attributes[] = {
591 &iio_dev_attr_in_gyro_matrix.dev_attr.attr,
592 &iio_dev_attr_in_accel_matrix.dev_attr.attr,
593 &iio_dev_attr_sampling_frequency.dev_attr.attr,
594 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
595 NULL,
596 };
597
598 static const struct attribute_group inv_attribute_group = {
599 .attrs = inv_attributes
600 };
601
602 static const struct iio_info mpu_info = {
603 .driver_module = THIS_MODULE,
604 .read_raw = &inv_mpu6050_read_raw,
605 .write_raw = &inv_mpu6050_write_raw,
606 .attrs = &inv_attribute_group,
607 .validate_trigger = inv_mpu6050_validate_trigger,
608 };
609
610 /**
611 * inv_check_and_setup_chip() - check and setup chip.
612 */
inv_check_and_setup_chip(struct inv_mpu6050_state * st,const struct i2c_device_id * id)613 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
614 const struct i2c_device_id *id)
615 {
616 int result;
617
618 st->chip_type = INV_MPU6050;
619 st->hw = &hw_info[st->chip_type];
620 st->reg = hw_info[st->chip_type].reg;
621
622 /* reset to make sure previous state are not there */
623 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
624 INV_MPU6050_BIT_H_RESET);
625 if (result)
626 return result;
627 msleep(INV_MPU6050_POWER_UP_TIME);
628 /* toggle power state. After reset, the sleep bit could be on
629 or off depending on the OTP settings. Toggling power would
630 make it in a definite state as well as making the hardware
631 state align with the software state */
632 result = inv_mpu6050_set_power_itg(st, false);
633 if (result)
634 return result;
635 result = inv_mpu6050_set_power_itg(st, true);
636 if (result)
637 return result;
638
639 result = inv_mpu6050_switch_engine(st, false,
640 INV_MPU6050_BIT_PWR_ACCL_STBY);
641 if (result)
642 return result;
643 result = inv_mpu6050_switch_engine(st, false,
644 INV_MPU6050_BIT_PWR_GYRO_STBY);
645 if (result)
646 return result;
647
648 return 0;
649 }
650
651 /**
652 * inv_mpu_probe() - probe function.
653 * @client: i2c client.
654 * @id: i2c device id.
655 *
656 * Returns 0 on success, a negative error code otherwise.
657 */
inv_mpu_probe(struct i2c_client * client,const struct i2c_device_id * id)658 static int inv_mpu_probe(struct i2c_client *client,
659 const struct i2c_device_id *id)
660 {
661 struct inv_mpu6050_state *st;
662 struct iio_dev *indio_dev;
663 int result;
664
665 if (!i2c_check_functionality(client->adapter,
666 I2C_FUNC_SMBUS_READ_I2C_BLOCK |
667 I2C_FUNC_SMBUS_WRITE_I2C_BLOCK)) {
668 result = -ENOSYS;
669 goto out_no_free;
670 }
671 indio_dev = iio_device_alloc(sizeof(*st));
672 if (indio_dev == NULL) {
673 result = -ENOMEM;
674 goto out_no_free;
675 }
676 st = iio_priv(indio_dev);
677 st->client = client;
678 st->plat_data = *(struct inv_mpu6050_platform_data
679 *)dev_get_platdata(&client->dev);
680 /* power is turned on inside check chip type*/
681 result = inv_check_and_setup_chip(st, id);
682 if (result)
683 goto out_free;
684
685 result = inv_mpu6050_init_config(indio_dev);
686 if (result) {
687 dev_err(&client->dev,
688 "Could not initialize device.\n");
689 goto out_free;
690 }
691
692 i2c_set_clientdata(client, indio_dev);
693 indio_dev->dev.parent = &client->dev;
694 indio_dev->name = id->name;
695 indio_dev->channels = inv_mpu_channels;
696 indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
697
698 indio_dev->info = &mpu_info;
699 indio_dev->modes = INDIO_BUFFER_TRIGGERED;
700
701 result = iio_triggered_buffer_setup(indio_dev,
702 inv_mpu6050_irq_handler,
703 inv_mpu6050_read_fifo,
704 NULL);
705 if (result) {
706 dev_err(&st->client->dev, "configure buffer fail %d\n",
707 result);
708 goto out_free;
709 }
710 result = inv_mpu6050_probe_trigger(indio_dev);
711 if (result) {
712 dev_err(&st->client->dev, "trigger probe fail %d\n", result);
713 goto out_unreg_ring;
714 }
715
716 INIT_KFIFO(st->timestamps);
717 spin_lock_init(&st->time_stamp_lock);
718 result = iio_device_register(indio_dev);
719 if (result) {
720 dev_err(&st->client->dev, "IIO register fail %d\n", result);
721 goto out_remove_trigger;
722 }
723
724 return 0;
725
726 out_remove_trigger:
727 inv_mpu6050_remove_trigger(st);
728 out_unreg_ring:
729 iio_triggered_buffer_cleanup(indio_dev);
730 out_free:
731 iio_device_free(indio_dev);
732 out_no_free:
733
734 return result;
735 }
736
inv_mpu_remove(struct i2c_client * client)737 static int inv_mpu_remove(struct i2c_client *client)
738 {
739 struct iio_dev *indio_dev = i2c_get_clientdata(client);
740 struct inv_mpu6050_state *st = iio_priv(indio_dev);
741
742 iio_device_unregister(indio_dev);
743 inv_mpu6050_remove_trigger(st);
744 iio_triggered_buffer_cleanup(indio_dev);
745 iio_device_free(indio_dev);
746
747 return 0;
748 }
749 #ifdef CONFIG_PM_SLEEP
750
inv_mpu_resume(struct device * dev)751 static int inv_mpu_resume(struct device *dev)
752 {
753 return inv_mpu6050_set_power_itg(
754 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
755 }
756
inv_mpu_suspend(struct device * dev)757 static int inv_mpu_suspend(struct device *dev)
758 {
759 return inv_mpu6050_set_power_itg(
760 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
761 }
762 static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
763
764 #define INV_MPU6050_PMOPS (&inv_mpu_pmops)
765 #else
766 #define INV_MPU6050_PMOPS NULL
767 #endif /* CONFIG_PM_SLEEP */
768
769 /*
770 * device id table is used to identify what device can be
771 * supported by this driver
772 */
773 static const struct i2c_device_id inv_mpu_id[] = {
774 {"mpu6050", INV_MPU6050},
775 {}
776 };
777
778 MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
779
780 static struct i2c_driver inv_mpu_driver = {
781 .probe = inv_mpu_probe,
782 .remove = inv_mpu_remove,
783 .id_table = inv_mpu_id,
784 .driver = {
785 .owner = THIS_MODULE,
786 .name = "inv-mpu6050",
787 .pm = INV_MPU6050_PMOPS,
788 },
789 };
790
791 module_i2c_driver(inv_mpu_driver);
792
793 MODULE_AUTHOR("Invensense Corporation");
794 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
795 MODULE_LICENSE("GPL");
796