--- /dev/null
+/*
+* 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.
+*/
+
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/i2c.h>
+#include <linux/err.h>
+#include <linux/delay.h>
+#include <linux/sysfs.h>
+#include <linux/jiffies.h>
+#include <linux/irq.h>
+#include <linux/interrupt.h>
+#include <linux/kfifo.h>
+#include <linux/spinlock.h>
+#include <linux/iio/iio.h>
+#include <linux/i2c-mux.h>
+#include <linux/acpi.h>
+#include "inv_mpu_iio.h"
+
+/*
+ * this is the gyro scale translated from dynamic range plus/minus
+ * {250, 500, 1000, 2000} to rad/s
+ */
+static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
+
+/*
+ * this is the accel scale translated from dynamic range plus/minus
+ * {2, 4, 8, 16} to m/s^2
+ */
+static const int accel_scale[] = {598, 1196, 2392, 4785};
+
+static const struct inv_mpu6050_reg_map reg_set_6050 = {
+ .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
+ .lpf = INV_MPU6050_REG_CONFIG,
+ .user_ctrl = INV_MPU6050_REG_USER_CTRL,
+ .fifo_en = INV_MPU6050_REG_FIFO_EN,
+ .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
+ .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
+ .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
+ .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
+ .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
+ .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
+ .temperature = INV_MPU6050_REG_TEMPERATURE,
+ .int_enable = INV_MPU6050_REG_INT_ENABLE,
+ .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
+ .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
+ .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
+};
+
+static const struct inv_mpu6050_chip_config chip_config_6050 = {
+ .fsr = INV_MPU6050_FSR_2000DPS,
+ .lpf = INV_MPU6050_FILTER_20HZ,
+ .fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
+ .gyro_fifo_enable = false,
+ .accl_fifo_enable = false,
+ .accl_fs = INV_MPU6050_FS_02G,
+};
+
+static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
+ {
+ .num_reg = 117,
+ .name = "MPU6050",
+ .reg = ®_set_6050,
+ .config = &chip_config_6050,
+ },
+};
+
+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
+ * the mux adapter will lock the parent i2c adapter, while calling
+ * select/deselect functions.
+ */
+static int inv_mpu6050_write_reg_unlocked(struct inv_mpu6050_state *st,
+ u8 reg, u8 d)
+{
+ int ret;
+ u8 buf[2];
+ struct i2c_msg msg[1] = {
+ {
+ .addr = st->client->addr,
+ .flags = 0,
+ .len = sizeof(buf),
+ .buf = buf,
+ }
+ };
+
+ buf[0] = reg;
+ buf[1] = d;
+ ret = __i2c_transfer(st->client->adapter, msg, 1);
+ if (ret != 1)
+ return ret;
+
+ return 0;
+}
+
+static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
+ u32 chan_id)
+{
+ struct iio_dev *indio_dev = mux_priv;
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ int ret = 0;
+
+ /* Use the same mutex which was used everywhere to protect power-op */
+ mutex_lock(&indio_dev->mlock);
+ if (!st->powerup_count) {
+ ret = inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
+ 0);
+ if (ret)
+ goto write_error;
+
+ msleep(INV_MPU6050_REG_UP_TIME);
+ }
+ if (!ret) {
+ st->powerup_count++;
+ ret = inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
+ st->client->irq |
+ INV_MPU6050_BIT_BYPASS_EN);
+ }
+write_error:
+ mutex_unlock(&indio_dev->mlock);
+
+ return ret;
+}
+
+static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
+ void *mux_priv, u32 chan_id)
+{
+ struct iio_dev *indio_dev = mux_priv;
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ mutex_lock(&indio_dev->mlock);
+ /* It doesn't really mattter, if any of the calls fails */
+ inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
+ st->client->irq);
+ st->powerup_count--;
+ if (!st->powerup_count)
+ inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
+ INV_MPU6050_BIT_SLEEP);
+ mutex_unlock(&indio_dev->mlock);
+
+ return 0;
+}
+
+int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
+{
+ u8 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)
+ return result;
+
+ mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
+ }
+
+ if ((INV_MPU6050_BIT_PWR_GYRO_STBY == mask) && (!en)) {
+ /* 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);
+ if (result)
+ return result;
+ }
+
+ result = i2c_smbus_read_i2c_block_data(st->client,
+ st->reg->pwr_mgmt_2, 1, &d);
+ if (result != 1)
+ return result;
+ if (en)
+ d &= ~mask;
+ else
+ d |= mask;
+ result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
+ if (result)
+ return result;
+
+ if (en) {
+ /* Wait for output stabilize */
+ msleep(INV_MPU6050_TEMP_UP_TIME);
+ if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
+ /* switch internal clock to PLL */
+ mgmt_1 |= INV_CLK_PLL;
+ result = inv_mpu6050_write_reg(st,
+ st->reg->pwr_mgmt_1, mgmt_1);
+ if (result)
+ return result;
+ }
+ }
+
+ return 0;
+}
+
+int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
+{
+ int result = 0;
+
+ 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);
+ if (!result)
+ st->powerup_count++;
+ } else {
+ st->powerup_count--;
+ if (!st->powerup_count)
+ result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
+ INV_MPU6050_BIT_SLEEP);
+ }
+
+ if (result)
+ return result;
+
+ if (power_on)
+ msleep(INV_MPU6050_REG_UP_TIME);
+
+ return 0;
+}
+
+/**
+ * inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
+ *
+ * Initial configuration:
+ * FSR: ± 2000DPS
+ * DLPF: 20Hz
+ * FIFO rate: 50Hz
+ * Clock source: Gyro PLL
+ */
+static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
+{
+ int result;
+ u8 d;
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ result = inv_mpu6050_set_power_itg(st, true);
+ 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);
+ if (result)
+ return result;
+
+ d = INV_MPU6050_FILTER_20HZ;
+ result = inv_mpu6050_write_reg(st, 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);
+ 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);
+ if (result)
+ return result;
+
+ memcpy(&st->chip_config, hw_info[st->chip_type].config,
+ sizeof(struct inv_mpu6050_chip_config));
+ result = inv_mpu6050_set_power_itg(st, false);
+
+ return result;
+}
+
+static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
+ int axis, int *val)
+{
+ int ind, result;
+ __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)
+ return -EINVAL;
+ *val = (short)be16_to_cpup(&d);
+
+ return IIO_VAL_INT;
+}
+
+static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val,
+ int *val2,
+ long mask) {
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ {
+ int ret, result;
+
+ ret = IIO_VAL_INT;
+ result = 0;
+ mutex_lock(&indio_dev->mlock);
+ if (!st->chip_config.enable) {
+ result = inv_mpu6050_set_power_itg(st, true);
+ if (result)
+ goto error_read_raw;
+ }
+ /* when enable is on, power is already on */
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ if (!st->chip_config.gyro_fifo_enable ||
+ !st->chip_config.enable) {
+ result = inv_mpu6050_switch_engine(st, true,
+ INV_MPU6050_BIT_PWR_GYRO_STBY);
+ if (result)
+ goto error_read_raw;
+ }
+ ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
+ chan->channel2, val);
+ if (!st->chip_config.gyro_fifo_enable ||
+ !st->chip_config.enable) {
+ result = inv_mpu6050_switch_engine(st, false,
+ INV_MPU6050_BIT_PWR_GYRO_STBY);
+ if (result)
+ goto error_read_raw;
+ }
+ break;
+ case IIO_ACCEL:
+ if (!st->chip_config.accl_fifo_enable ||
+ !st->chip_config.enable) {
+ result = inv_mpu6050_switch_engine(st, true,
+ INV_MPU6050_BIT_PWR_ACCL_STBY);
+ if (result)
+ goto error_read_raw;
+ }
+ ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
+ chan->channel2, val);
+ if (!st->chip_config.accl_fifo_enable ||
+ !st->chip_config.enable) {
+ result = inv_mpu6050_switch_engine(st, false,
+ INV_MPU6050_BIT_PWR_ACCL_STBY);
+ if (result)
+ goto error_read_raw;
+ }
+ break;
+ case IIO_TEMP:
+ /* wait for stablization */
+ msleep(INV_MPU6050_SENSOR_UP_TIME);
+ inv_mpu6050_sensor_show(st, st->reg->temperature,
+ IIO_MOD_X, val);
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+error_read_raw:
+ if (!st->chip_config.enable)
+ result |= inv_mpu6050_set_power_itg(st, false);
+ mutex_unlock(&indio_dev->mlock);
+ if (result)
+ return result;
+
+ return ret;
+ }
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = 0;
+ *val2 = gyro_scale_6050[st->chip_config.fsr];
+
+ return IIO_VAL_INT_PLUS_NANO;
+ case IIO_ACCEL:
+ *val = 0;
+ *val2 = accel_scale[st->chip_config.accl_fs];
+
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_TEMP:
+ *val = 0;
+ *val2 = INV_MPU6050_TEMP_SCALE;
+
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_OFFSET:
+ switch (chan->type) {
+ case IIO_TEMP:
+ *val = INV_MPU6050_TEMP_OFFSET;
+
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ default:
+ return -EINVAL;
+ }
+}
+
+static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
+{
+ int result, i;
+ u8 d;
+
+ 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);
+ if (result)
+ return result;
+
+ st->chip_config.fsr = i;
+ return 0;
+ }
+ }
+
+ return -EINVAL;
+}
+
+static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
+{
+ int result, i;
+ u8 d;
+
+ 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);
+ if (result)
+ return result;
+
+ st->chip_config.accl_fs = i;
+ return 0;
+ }
+ }
+
+ return -EINVAL;
+}
+
+static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val,
+ int val2,
+ long mask) {
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+ int result;
+
+ mutex_lock(&indio_dev->mlock);
+ /* we should only update scale when the chip is disabled, i.e.,
+ not running */
+ if (st->chip_config.enable) {
+ result = -EBUSY;
+ goto error_write_raw;
+ }
+ result = inv_mpu6050_set_power_itg(st, true);
+ if (result)
+ goto error_write_raw;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ result = inv_mpu6050_write_gyro_scale(st, val2);
+ break;
+ case IIO_ACCEL:
+ result = inv_mpu6050_write_accel_scale(st, val2);
+ break;
+ default:
+ result = -EINVAL;
+ break;
+ }
+ break;
+ default:
+ result = -EINVAL;
+ break;
+ }
+
+error_write_raw:
+ result |= inv_mpu6050_set_power_itg(st, false);
+ mutex_unlock(&indio_dev->mlock);
+
+ return result;
+}
+
+/**
+ * inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
+ *
+ * Based on the Nyquist principle, the sampling rate must
+ * exceed twice of the bandwidth of the signal, or there
+ * would be alising. This function basically search for the
+ * correct low pass parameters based on the fifo rate, e.g,
+ * sampling frequency.
+ */
+static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
+{
+ const int hz[] = {188, 98, 42, 20, 10, 5};
+ const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
+ INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
+ INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
+ int i, h, result;
+ u8 data;
+
+ h = (rate >> 1);
+ i = 0;
+ while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
+ i++;
+ data = d[i];
+ result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
+ if (result)
+ return result;
+ st->chip_config.lpf = data;
+
+ return 0;
+}
+
+/**
+ * inv_mpu6050_fifo_rate_store() - Set fifo rate.
+ */
+static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
+ struct device_attribute *attr, const char *buf, size_t count)
+{
+ s32 fifo_rate;
+ u8 d;
+ int result;
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ if (kstrtoint(buf, 10, &fifo_rate))
+ return -EINVAL;
+ if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
+ fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
+ return -EINVAL;
+ if (fifo_rate == st->chip_config.fifo_rate)
+ return count;
+
+ mutex_lock(&indio_dev->mlock);
+ if (st->chip_config.enable) {
+ result = -EBUSY;
+ goto fifo_rate_fail;
+ }
+ result = inv_mpu6050_set_power_itg(st, true);
+ if (result)
+ 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);
+ if (result)
+ goto fifo_rate_fail;
+ st->chip_config.fifo_rate = fifo_rate;
+
+ result = inv_mpu6050_set_lpf(st, fifo_rate);
+ if (result)
+ goto fifo_rate_fail;
+
+fifo_rate_fail:
+ result |= inv_mpu6050_set_power_itg(st, false);
+ mutex_unlock(&indio_dev->mlock);
+ if (result)
+ return result;
+
+ return count;
+}
+
+/**
+ * inv_fifo_rate_show() - Get the current sampling rate.
+ */
+static ssize_t inv_fifo_rate_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
+
+ return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
+}
+
+/**
+ * inv_attr_show() - calling this function will show current
+ * parameters.
+ */
+static ssize_t inv_attr_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
+ struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
+ s8 *m;
+
+ switch (this_attr->address) {
+ /* In MPU6050, the two matrix are the same because gyro and accel
+ are integrated in one chip */
+ case ATTR_GYRO_MATRIX:
+ case ATTR_ACCL_MATRIX:
+ m = st->plat_data.orientation;
+
+ return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
+ m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
+ default:
+ return -EINVAL;
+ }
+}
+
+/**
+ * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
+ * MPU6050 device.
+ * @indio_dev: The IIO device
+ * @trig: The new trigger
+ *
+ * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
+ * device, -EINVAL otherwise.
+ */
+static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
+ struct iio_trigger *trig)
+{
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ if (st->trig != trig)
+ return -EINVAL;
+
+ return 0;
+}
+
+#define INV_MPU6050_CHAN(_type, _channel2, _index) \
+ { \
+ .type = _type, \
+ .modified = 1, \
+ .channel2 = _channel2, \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .shift = 0 , \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
+static const struct iio_chan_spec inv_mpu_channels[] = {
+ IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
+ /*
+ * Note that temperature should only be via polled reading only,
+ * not the final scan elements output.
+ */
+ {
+ .type = IIO_TEMP,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
+ | BIT(IIO_CHAN_INFO_OFFSET)
+ | BIT(IIO_CHAN_INFO_SCALE),
+ .scan_index = -1,
+ },
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
+ INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
+
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
+ INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
+};
+
+/* constant IIO attribute */
+static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
+static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
+ inv_mpu6050_fifo_rate_store);
+static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
+ ATTR_GYRO_MATRIX);
+static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
+ ATTR_ACCL_MATRIX);
+
+static struct attribute *inv_attributes[] = {
+ &iio_dev_attr_in_gyro_matrix.dev_attr.attr,
+ &iio_dev_attr_in_accel_matrix.dev_attr.attr,
+ &iio_dev_attr_sampling_frequency.dev_attr.attr,
+ &iio_const_attr_sampling_frequency_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group inv_attribute_group = {
+ .attrs = inv_attributes
+};
+
+static const struct iio_info mpu_info = {
+ .driver_module = THIS_MODULE,
+ .read_raw = &inv_mpu6050_read_raw,
+ .write_raw = &inv_mpu6050_write_raw,
+ .attrs = &inv_attribute_group,
+ .validate_trigger = inv_mpu6050_validate_trigger,
+};
+
+/**
+ * inv_check_and_setup_chip() - check and setup chip.
+ */
+static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
+ const struct i2c_device_id *id)
+{
+ int result;
+
+ st->chip_type = INV_MPU6050;
+ st->hw = &hw_info[st->chip_type];
+ 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,
+ INV_MPU6050_BIT_H_RESET);
+ if (result)
+ return result;
+ msleep(INV_MPU6050_POWER_UP_TIME);
+ /* toggle power state. After reset, the sleep bit could be on
+ or off depending on the OTP settings. Toggling power would
+ make it in a definite state as well as making the hardware
+ state align with the software state */
+ result = inv_mpu6050_set_power_itg(st, false);
+ if (result)
+ return result;
+ result = inv_mpu6050_set_power_itg(st, true);
+ if (result)
+ return result;
+
+ result = inv_mpu6050_switch_engine(st, false,
+ INV_MPU6050_BIT_PWR_ACCL_STBY);
+ if (result)
+ return result;
+ result = inv_mpu6050_switch_engine(st, false,
+ INV_MPU6050_BIT_PWR_GYRO_STBY);
+ if (result)
+ return result;
+
+ return 0;
+}
+
+/**
+ * inv_mpu_probe() - probe function.
+ * @client: i2c client.
+ * @id: i2c device id.
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ */
+static int inv_mpu_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ struct inv_mpu6050_state *st;
+ struct iio_dev *indio_dev;
+ struct inv_mpu6050_platform_data *pdata;
+ int result;
+
+ if (!i2c_check_functionality(client->adapter,
+ I2C_FUNC_SMBUS_I2C_BLOCK))
+ return -ENOSYS;
+
+ indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ st = iio_priv(indio_dev);
+ st->client = client;
+ st->powerup_count = 0;
+ pdata = dev_get_platdata(&client->dev);
+ if (pdata)
+ st->plat_data = *pdata;
+ /* power is turned on inside check chip type*/
+ result = inv_check_and_setup_chip(st, id);
+ if (result)
+ return result;
+
+ result = inv_mpu6050_init_config(indio_dev);
+ if (result) {
+ dev_err(&client->dev,
+ "Could not initialize device.\n");
+ return result;
+ }
+
+ i2c_set_clientdata(client, indio_dev);
+ indio_dev->dev.parent = &client->dev;
+ /* id will be NULL when enumerated via ACPI */
+ if (id)
+ indio_dev->name = (char *)id->name;
+ else
+ indio_dev->name = (char *)dev_name(&client->dev);
+ indio_dev->channels = inv_mpu_channels;
+ indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+
+ indio_dev->info = &mpu_info;
+ indio_dev->modes = INDIO_BUFFER_TRIGGERED;
+
+ result = iio_triggered_buffer_setup(indio_dev,
+ inv_mpu6050_irq_handler,
+ inv_mpu6050_read_fifo,
+ NULL);
+ if (result) {
+ dev_err(&st->client->dev, "configure buffer fail %d\n",
+ result);
+ return result;
+ }
+ result = inv_mpu6050_probe_trigger(indio_dev);
+ if (result) {
+ dev_err(&st->client->dev, "trigger probe fail %d\n", result);
+ goto out_unreg_ring;
+ }
+
+ INIT_KFIFO(st->timestamps);
+ spin_lock_init(&st->time_stamp_lock);
+ result = iio_device_register(indio_dev);
+ if (result) {
+ dev_err(&st->client->dev, "IIO register fail %d\n", result);
+ goto out_remove_trigger;
+ }
+
+ st->mux_adapter = i2c_add_mux_adapter(client->adapter,
+ &client->dev,
+ indio_dev,
+ 0, 0, 0,
+ inv_mpu6050_select_bypass,
+ inv_mpu6050_deselect_bypass);
+ if (!st->mux_adapter) {
+ result = -ENODEV;
+ goto out_unreg_device;
+ }
+
+ result = inv_mpu_acpi_create_mux_client(st);
+ if (result)
+ goto out_del_mux;
+
+ return 0;
+
+out_del_mux:
+ i2c_del_mux_adapter(st->mux_adapter);
+out_unreg_device:
+ iio_device_unregister(indio_dev);
+out_remove_trigger:
+ inv_mpu6050_remove_trigger(st);
+out_unreg_ring:
+ iio_triggered_buffer_cleanup(indio_dev);
+ return result;
+}
+
+static int inv_mpu_remove(struct i2c_client *client)
+{
+ struct iio_dev *indio_dev = i2c_get_clientdata(client);
+ struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+ inv_mpu_acpi_delete_mux_client(st);
+ i2c_del_mux_adapter(st->mux_adapter);
+ iio_device_unregister(indio_dev);
+ inv_mpu6050_remove_trigger(st);
+ iio_triggered_buffer_cleanup(indio_dev);
+
+ return 0;
+}
+#ifdef CONFIG_PM_SLEEP
+
+static int inv_mpu_resume(struct device *dev)
+{
+ return inv_mpu6050_set_power_itg(
+ iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
+}
+
+static int inv_mpu_suspend(struct device *dev)
+{
+ return inv_mpu6050_set_power_itg(
+ iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
+}
+static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
+
+#define INV_MPU6050_PMOPS (&inv_mpu_pmops)
+#else
+#define INV_MPU6050_PMOPS NULL
+#endif /* CONFIG_PM_SLEEP */
+
+/*
+ * device id table is used to identify what device can be
+ * supported by this driver
+ */
+static const struct i2c_device_id inv_mpu_id[] = {
+ {"mpu6050", INV_MPU6050},
+ {"mpu6500", INV_MPU6500},
+ {}
+};
+
+MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
+
+static const struct acpi_device_id inv_acpi_match[] = {
+ {"INVN6500", 0},
+ { },
+};
+
+MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
+
+static struct i2c_driver inv_mpu_driver = {
+ .probe = inv_mpu_probe,
+ .remove = inv_mpu_remove,
+ .id_table = inv_mpu_id,
+ .driver = {
+ .owner = THIS_MODULE,
+ .name = "inv-mpu6050",
+ .pm = INV_MPU6050_PMOPS,
+ .acpi_match_table = ACPI_PTR(inv_acpi_match),
+ },
+};
+
+module_i2c_driver(inv_mpu_driver);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("Invensense device MPU6050 driver");
+MODULE_LICENSE("GPL");
Code Review / kvmfornfv.git / blobdiff