drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

   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/slab.h>
  16 #include <linux/i2c.h>
  17 #include <linux/err.h>
  18 #include <linux/delay.h>
  19 #include <linux/sysfs.h>
  20 #include <linux/jiffies.h>
  21 #include <linux/irq.h>
  22 #include <linux/interrupt.h>
  23 #include <linux/kfifo.h>
  24 #include <linux/spinlock.h>
  25 #include <linux/iio/iio.h>
  26 #include <linux/i2c-mux.h>
  27 #include <linux/acpi.h>
  28 #include "inv_mpu_iio.h"
  29
  30 /*
  31  * this is the gyro scale translated from dynamic range plus/minus
  32  * {250, 500, 1000, 2000} to rad/s
  33  */
  34 static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
  35
  36 /*
  37  * this is the accel scale translated from dynamic range plus/minus
  38  * {2, 4, 8, 16} to m/s^2
  39  */
  40 static const int accel_scale[] = {598, 1196, 2392, 4785};
  41
  42 static const struct inv_mpu6050_reg_map reg_set_6050 = {
  43         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  44         .lpf                    = INV_MPU6050_REG_CONFIG,
  45         .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
  46         .fifo_en                = INV_MPU6050_REG_FIFO_EN,
  47         .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
  48         .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
  49         .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
  50         .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
  51         .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
  52         .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
  53         .temperature            = INV_MPU6050_REG_TEMPERATURE,
  54         .int_enable             = INV_MPU6050_REG_INT_ENABLE,
  55         .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
  56         .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
  57         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
  58 };
  59
  60 static const struct inv_mpu6050_chip_config chip_config_6050 = {
  61         .fsr = INV_MPU6050_FSR_2000DPS,
  62         .lpf = INV_MPU6050_FILTER_20HZ,
  63         .fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
  64         .gyro_fifo_enable = false,
  65         .accl_fifo_enable = false,
  66         .accl_fs = INV_MPU6050_FS_02G,
  67 };
  68
  69 static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
  70         {
  71                 .num_reg = 117,
  72                 .name = "MPU6050",
  73                 .reg = &reg_set_6050,
  74                 .config = &chip_config_6050,
  75         },
  76 };
  77
  78 int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
  79 {
  80         return i2c_smbus_write_i2c_block_data(st->client, reg, 1, &d);
  81 }
  82
  83 /*
  84  * The i2c read/write needs to happen in unlocked mode. As the parent
  85  * adapter is common. If we use locked versions, it will fail as
  86  * the mux adapter will lock the parent i2c adapter, while calling
  87  * select/deselect functions.
  88  */
  89 static int inv_mpu6050_write_reg_unlocked(struct inv_mpu6050_state *st,
  90                                           u8 reg, u8 d)
  91 {
  92         int ret;
  93         u8 buf[2];
  94         struct i2c_msg msg[1] = {
  95                 {
  96                         .addr = st->client->addr,
  97                         .flags = 0,
  98                         .len = sizeof(buf),
  99                         .buf = buf,
 100                 }
 101         };
 102
 103         buf[0] = reg;
 104         buf[1] = d;
 105         ret = __i2c_transfer(st->client->adapter, msg, 1);
 106         if (ret != 1)
 107                 return ret;
 108
 109         return 0;
 110 }
 111
 112 static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
 113                                      u32 chan_id)
 114 {
 115         struct iio_dev *indio_dev = mux_priv;
 116         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 117         int ret = 0;
 118
 119         /* Use the same mutex which was used everywhere to protect power-op */
 120         mutex_lock(&indio_dev->mlock);
 121         if (!st->powerup_count) {
 122                 ret = inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
 123                                                      0);
 124                 if (ret)
 125                         goto write_error;
 126
 127                 msleep(INV_MPU6050_REG_UP_TIME);
 128         }
 129         if (!ret) {
 130                 st->powerup_count++;
 131                 ret = inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
 132                                                      st->client->irq |
 133                                                      INV_MPU6050_BIT_BYPASS_EN);
 134         }
 135 write_error:
 136         mutex_unlock(&indio_dev->mlock);
 137
 138         return ret;
 139 }
 140
 141 static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
 142                                        void *mux_priv, u32 chan_id)
 143 {
 144         struct iio_dev *indio_dev = mux_priv;
 145         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 146
 147         mutex_lock(&indio_dev->mlock);
 148         /* It doesn't really mattter, if any of the calls fails */
 149         inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
 150                                        st->client->irq);
 151         st->powerup_count--;
 152         if (!st->powerup_count)
 153                 inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
 154                                                INV_MPU6050_BIT_SLEEP);
 155         mutex_unlock(&indio_dev->mlock);
 156
 157         return 0;
 158 }
 159
 160 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
 161 {
 162         u8 d, mgmt_1;
 163         int result;
 164
 165         /* switch clock needs to be careful. Only when gyro is on, can
 166            clock source be switched to gyro. Otherwise, it must be set to
 167            internal clock */
 168         if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
 169                 result = i2c_smbus_read_i2c_block_data(st->client,
 170                                        st->reg->pwr_mgmt_1, 1, &mgmt_1);
 171                 if (result != 1)
 172                         return result;
 173
 174                 mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
 175         }
 176
 177         if ((INV_MPU6050_BIT_PWR_GYRO_STBY == mask) && (!en)) {
 178                 /* turning off gyro requires switch to internal clock first.
 179                    Then turn off gyro engine */
 180                 mgmt_1 |= INV_CLK_INTERNAL;
 181                 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, mgmt_1);
 182                 if (result)
 183                         return result;
 184         }
 185
 186         result = i2c_smbus_read_i2c_block_data(st->client,
 187                                        st->reg->pwr_mgmt_2, 1, &d);
 188         if (result != 1)
 189                 return result;
 190         if (en)
 191                 d &= ~mask;
 192         else
 193                 d |= mask;
 194         result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
 195         if (result)
 196                 return result;
 197
 198         if (en) {
 199                 /* Wait for output stabilize */
 200                 msleep(INV_MPU6050_TEMP_UP_TIME);
 201                 if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
 202                         /* switch internal clock to PLL */
 203                         mgmt_1 |= INV_CLK_PLL;
 204                         result = inv_mpu6050_write_reg(st,
 205                                         st->reg->pwr_mgmt_1, mgmt_1);
 206                         if (result)
 207                                 return result;
 208                 }
 209         }
 210
 211         return 0;
 212 }
 213
 214 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 215 {
 216         int result = 0;
 217
 218         if (power_on) {
 219                 /* Already under indio-dev->mlock mutex */
 220                 if (!st->powerup_count)
 221                         result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
 222                                                        0);
 223                 if (!result)
 224                         st->powerup_count++;
 225         } else {
 226                 st->powerup_count--;
 227                 if (!st->powerup_count)
 228                         result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
 229                                                        INV_MPU6050_BIT_SLEEP);
 230         }
 231
 232         if (result)
 233                 return result;
 234
 235         if (power_on)
 236                 msleep(INV_MPU6050_REG_UP_TIME);
 237
 238         return 0;
 239 }
 240
 241 /**
 242  *  inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
 243  *
 244  *  Initial configuration:
 245  *  FSR: ± 2000DPS
 246  *  DLPF: 20Hz
 247  *  FIFO rate: 50Hz
 248  *  Clock source: Gyro PLL
 249  */
 250 static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 251 {
 252         int result;
 253         u8 d;
 254         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 255
 256         result = inv_mpu6050_set_power_itg(st, true);
 257         if (result)
 258                 return result;
 259         d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 260         result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
 261         if (result)
 262                 return result;
 263
 264         d = INV_MPU6050_FILTER_20HZ;
 265         result = inv_mpu6050_write_reg(st, st->reg->lpf, d);
 266         if (result)
 267                 return result;
 268
 269         d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;
 270         result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
 271         if (result)
 272                 return result;
 273
 274         d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 275         result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
 276         if (result)
 277                 return result;
 278
 279         memcpy(&st->chip_config, hw_info[st->chip_type].config,
 280                 sizeof(struct inv_mpu6050_chip_config));
 281         result = inv_mpu6050_set_power_itg(st, false);
 282
 283         return result;
 284 }
 285
 286 static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
 287                                 int axis, int *val)
 288 {
 289         int ind, result;
 290         __be16 d;
 291
 292         ind = (axis - IIO_MOD_X) * 2;
 293         result = i2c_smbus_read_i2c_block_data(st->client, reg + ind,  2,
 294                                                 (u8 *)&d);
 295         if (result != 2)
 296                 return -EINVAL;
 297         *val = (short)be16_to_cpup(&d);
 298
 299         return IIO_VAL_INT;
 300 }
 301
 302 static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 303                               struct iio_chan_spec const *chan,
 304                               int *val,
 305                               int *val2,
 306                               long mask) {
 307         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 308
 309         switch (mask) {
 310         case IIO_CHAN_INFO_RAW:
 311         {
 312                 int ret, result;
 313
 314                 ret = IIO_VAL_INT;
 315                 result = 0;
 316                 mutex_lock(&indio_dev->mlock);
 317                 if (!st->chip_config.enable) {
 318                         result = inv_mpu6050_set_power_itg(st, true);
 319                         if (result)
 320                                 goto error_read_raw;
 321                 }
 322                 /* when enable is on, power is already on */
 323                 switch (chan->type) {
 324                 case IIO_ANGL_VEL:
 325                         if (!st->chip_config.gyro_fifo_enable ||
 326                                         !st->chip_config.enable) {
 327                                 result = inv_mpu6050_switch_engine(st, true,
 328                                                 INV_MPU6050_BIT_PWR_GYRO_STBY);
 329                                 if (result)
 330                                         goto error_read_raw;
 331                         }
 332                         ret =  inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
 333                                                 chan->channel2, val);
 334                         if (!st->chip_config.gyro_fifo_enable ||
 335                                         !st->chip_config.enable) {
 336                                 result = inv_mpu6050_switch_engine(st, false,
 337                                                 INV_MPU6050_BIT_PWR_GYRO_STBY);
 338                                 if (result)
 339                                         goto error_read_raw;
 340                         }
 341                         break;
 342                 case IIO_ACCEL:
 343                         if (!st->chip_config.accl_fifo_enable ||
 344                                         !st->chip_config.enable) {
 345                                 result = inv_mpu6050_switch_engine(st, true,
 346                                                 INV_MPU6050_BIT_PWR_ACCL_STBY);
 347                                 if (result)
 348                                         goto error_read_raw;
 349                         }
 350                         ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
 351                                                 chan->channel2, val);
 352                         if (!st->chip_config.accl_fifo_enable ||
 353                                         !st->chip_config.enable) {
 354                                 result = inv_mpu6050_switch_engine(st, false,
 355                                                 INV_MPU6050_BIT_PWR_ACCL_STBY);
 356                                 if (result)
 357                                         goto error_read_raw;
 358                         }
 359                         break;
 360                 case IIO_TEMP:
 361                         /* wait for stablization */
 362                         msleep(INV_MPU6050_SENSOR_UP_TIME);
 363                         inv_mpu6050_sensor_show(st, st->reg->temperature,
 364                                                         IIO_MOD_X, val);
 365                         break;
 366                 default:
 367                         ret = -EINVAL;
 368                         break;
 369                 }
 370 error_read_raw:
 371                 if (!st->chip_config.enable)
 372                         result |= inv_mpu6050_set_power_itg(st, false);
 373                 mutex_unlock(&indio_dev->mlock);
 374                 if (result)
 375                         return result;
 376
 377                 return ret;
 378         }
 379         case IIO_CHAN_INFO_SCALE:
 380                 switch (chan->type) {
 381                 case IIO_ANGL_VEL:
 382                         *val  = 0;
 383                         *val2 = gyro_scale_6050[st->chip_config.fsr];
 384
 385                         return IIO_VAL_INT_PLUS_NANO;
 386                 case IIO_ACCEL:
 387                         *val = 0;
 388                         *val2 = accel_scale[st->chip_config.accl_fs];
 389
 390                         return IIO_VAL_INT_PLUS_MICRO;
 391                 case IIO_TEMP:
 392                         *val = 0;
 393                         *val2 = INV_MPU6050_TEMP_SCALE;
 394
 395                         return IIO_VAL_INT_PLUS_MICRO;
 396                 default:
 397                         return -EINVAL;
 398                 }
 399         case IIO_CHAN_INFO_OFFSET:
 400                 switch (chan->type) {
 401                 case IIO_TEMP:
 402                         *val = INV_MPU6050_TEMP_OFFSET;
 403
 404                         return IIO_VAL_INT;
 405                 default:
 406                         return -EINVAL;
 407                 }
 408         default:
 409                 return -EINVAL;
 410         }
 411 }
 412
 413 static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
 414 {
 415         int result, i;
 416         u8 d;
 417
 418         for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
 419                 if (gyro_scale_6050[i] == val) {
 420                         d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 421                         result = inv_mpu6050_write_reg(st,
 422                                         st->reg->gyro_config, d);
 423                         if (result)
 424                                 return result;
 425
 426                         st->chip_config.fsr = i;
 427                         return 0;
 428                 }
 429         }
 430
 431         return -EINVAL;
 432 }
 433
 434 static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
 435 {
 436         int result, i;
 437         u8 d;
 438
 439         for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
 440                 if (accel_scale[i] == val) {
 441                         d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 442                         result = inv_mpu6050_write_reg(st,
 443                                         st->reg->accl_config, d);
 444                         if (result)
 445                                 return result;
 446
 447                         st->chip_config.accl_fs = i;
 448                         return 0;
 449                 }
 450         }
 451
 452         return -EINVAL;
 453 }
 454
 455 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
 456                                struct iio_chan_spec const *chan,
 457                                int val,
 458                                int val2,
 459                                long mask) {
 460         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 461         int result;
 462
 463         mutex_lock(&indio_dev->mlock);
 464         /* we should only update scale when the chip is disabled, i.e.,
 465                 not running */
 466         if (st->chip_config.enable) {
 467                 result = -EBUSY;
 468                 goto error_write_raw;
 469         }
 470         result = inv_mpu6050_set_power_itg(st, true);
 471         if (result)
 472                 goto error_write_raw;
 473
 474         switch (mask) {
 475         case IIO_CHAN_INFO_SCALE:
 476                 switch (chan->type) {
 477                 case IIO_ANGL_VEL:
 478                         result = inv_mpu6050_write_gyro_scale(st, val2);
 479                         break;
 480                 case IIO_ACCEL:
 481                         result = inv_mpu6050_write_accel_scale(st, val2);
 482                         break;
 483                 default:
 484                         result = -EINVAL;
 485                         break;
 486                 }
 487                 break;
 488         default:
 489                 result = -EINVAL;
 490                 break;
 491         }
 492
 493 error_write_raw:
 494         result |= inv_mpu6050_set_power_itg(st, false);
 495         mutex_unlock(&indio_dev->mlock);
 496
 497         return result;
 498 }
 499
 500 /**
 501  *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
 502  *
 503  *                  Based on the Nyquist principle, the sampling rate must
 504  *                  exceed twice of the bandwidth of the signal, or there
 505  *                  would be alising. This function basically search for the
 506  *                  correct low pass parameters based on the fifo rate, e.g,
 507  *                  sampling frequency.
 508  */
 509 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 510 {
 511         const int hz[] = {188, 98, 42, 20, 10, 5};
 512         const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
 513                         INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
 514                         INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
 515         int i, h, result;
 516         u8 data;
 517
 518         h = (rate >> 1);
 519         i = 0;
 520         while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
 521                 i++;
 522         data = d[i];
 523         result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
 524         if (result)
 525                 return result;
 526         st->chip_config.lpf = data;
 527
 528         return 0;
 529 }
 530
 531 /**
 532  * inv_mpu6050_fifo_rate_store() - Set fifo rate.
 533  */
 534 static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
 535         struct device_attribute *attr, const char *buf, size_t count)
 536 {
 537         s32 fifo_rate;
 538         u8 d;
 539         int result;
 540         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 541         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 542
 543         if (kstrtoint(buf, 10, &fifo_rate))
 544                 return -EINVAL;
 545         if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
 546                                 fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
 547                 return -EINVAL;
 548         if (fifo_rate == st->chip_config.fifo_rate)
 549                 return count;
 550
 551         mutex_lock(&indio_dev->mlock);
 552         if (st->chip_config.enable) {
 553                 result = -EBUSY;
 554                 goto fifo_rate_fail;
 555         }
 556         result = inv_mpu6050_set_power_itg(st, true);
 557         if (result)
 558                 goto fifo_rate_fail;
 559
 560         d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
 561         result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
 562         if (result)
 563                 goto fifo_rate_fail;
 564         st->chip_config.fifo_rate = fifo_rate;
 565
 566         result = inv_mpu6050_set_lpf(st, fifo_rate);
 567         if (result)
 568                 goto fifo_rate_fail;
 569
 570 fifo_rate_fail:
 571         result |= inv_mpu6050_set_power_itg(st, false);
 572         mutex_unlock(&indio_dev->mlock);
 573         if (result)
 574                 return result;
 575
 576         return count;
 577 }
 578
 579 /**
 580  * inv_fifo_rate_show() - Get the current sampling rate.
 581  */
 582 static ssize_t inv_fifo_rate_show(struct device *dev,
 583         struct device_attribute *attr, char *buf)
 584 {
 585         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 586
 587         return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
 588 }
 589
 590 /**
 591  * inv_attr_show() - calling this function will show current
 592  *                    parameters.
 593  */
 594 static ssize_t inv_attr_show(struct device *dev,
 595         struct device_attribute *attr, char *buf)
 596 {
 597         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 598         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 599         s8 *m;
 600
 601         switch (this_attr->address) {
 602         /* In MPU6050, the two matrix are the same because gyro and accel
 603            are integrated in one chip */
 604         case ATTR_GYRO_MATRIX:
 605         case ATTR_ACCL_MATRIX:
 606                 m = st->plat_data.orientation;
 607
 608                 return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
 609                         m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
 610         default:
 611                 return -EINVAL;
 612         }
 613 }
 614
 615 /**
 616  * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
 617  *                                  MPU6050 device.
 618  * @indio_dev: The IIO device
 619  * @trig: The new trigger
 620  *
 621  * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
 622  * device, -EINVAL otherwise.
 623  */
 624 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 625                                         struct iio_trigger *trig)
 626 {
 627         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 628
 629         if (st->trig != trig)
 630                 return -EINVAL;
 631
 632         return 0;
 633 }
 634
 635 #define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
 636         {                                                             \
 637                 .type = _type,                                        \
 638                 .modified = 1,                                        \
 639                 .channel2 = _channel2,                                \
 640                 .info_mask_shared_by_type =  BIT(IIO_CHAN_INFO_SCALE), \
 641                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),         \
 642                 .scan_index = _index,                                 \
 643                 .scan_type = {                                        \
 644                                 .sign = 's',                          \
 645                                 .realbits = 16,                       \
 646                                 .storagebits = 16,                    \
 647                                 .shift = 0 ,                          \
 648                                 .endianness = IIO_BE,                 \
 649                              },                                       \
 650         }
 651
 652 static const struct iio_chan_spec inv_mpu_channels[] = {
 653         IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
 654         /*
 655          * Note that temperature should only be via polled reading only,
 656          * not the final scan elements output.
 657          */
 658         {
 659                 .type = IIO_TEMP,
 660                 .info_mask_separate =  BIT(IIO_CHAN_INFO_RAW)
 661                                 | BIT(IIO_CHAN_INFO_OFFSET)
 662                                 | BIT(IIO_CHAN_INFO_SCALE),
 663                 .scan_index = -1,
 664         },
 665         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 666         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 667         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
 668
 669         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
 670         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
 671         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
 672 };
 673
 674 /* constant IIO attribute */
 675 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
 676 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
 677         inv_mpu6050_fifo_rate_store);
 678 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
 679         ATTR_GYRO_MATRIX);
 680 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
 681         ATTR_ACCL_MATRIX);
 682
 683 static struct attribute *inv_attributes[] = {
 684         &iio_dev_attr_in_gyro_matrix.dev_attr.attr,
 685         &iio_dev_attr_in_accel_matrix.dev_attr.attr,
 686         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 687         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
 688         NULL,
 689 };
 690
 691 static const struct attribute_group inv_attribute_group = {
 692         .attrs = inv_attributes
 693 };
 694
 695 static const struct iio_info mpu_info = {
 696         .driver_module = THIS_MODULE,
 697         .read_raw = &inv_mpu6050_read_raw,
 698         .write_raw = &inv_mpu6050_write_raw,
 699         .attrs = &inv_attribute_group,
 700         .validate_trigger = inv_mpu6050_validate_trigger,
 701 };
 702
 703 /**
 704  *  inv_check_and_setup_chip() - check and setup chip.
 705  */
 706 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
 707                 const struct i2c_device_id *id)
 708 {
 709         int result;
 710
 711         st->chip_type = INV_MPU6050;
 712         st->hw  = &hw_info[st->chip_type];
 713         st->reg = hw_info[st->chip_type].reg;
 714
 715         /* reset to make sure previous state are not there */
 716         result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
 717                                         INV_MPU6050_BIT_H_RESET);
 718         if (result)
 719                 return result;
 720         msleep(INV_MPU6050_POWER_UP_TIME);
 721         /* toggle power state. After reset, the sleep bit could be on
 722                 or off depending on the OTP settings. Toggling power would
 723                 make it in a definite state as well as making the hardware
 724                 state align with the software state */
 725         result = inv_mpu6050_set_power_itg(st, false);
 726         if (result)
 727                 return result;
 728         result = inv_mpu6050_set_power_itg(st, true);
 729         if (result)
 730                 return result;
 731
 732         result = inv_mpu6050_switch_engine(st, false,
 733                                         INV_MPU6050_BIT_PWR_ACCL_STBY);
 734         if (result)
 735                 return result;
 736         result = inv_mpu6050_switch_engine(st, false,
 737                                         INV_MPU6050_BIT_PWR_GYRO_STBY);
 738         if (result)
 739                 return result;
 740
 741         return 0;
 742 }
 743
 744 /**
 745  *  inv_mpu_probe() - probe function.
 746  *  @client:          i2c client.
 747  *  @id:              i2c device id.
 748  *
 749  *  Returns 0 on success, a negative error code otherwise.
 750  */
 751 static int inv_mpu_probe(struct i2c_client *client,
 752         const struct i2c_device_id *id)
 753 {
 754         struct inv_mpu6050_state *st;
 755         struct iio_dev *indio_dev;
 756         struct inv_mpu6050_platform_data *pdata;
 757         int result;
 758
 759         if (!i2c_check_functionality(client->adapter,
 760                 I2C_FUNC_SMBUS_I2C_BLOCK))
 761                 return -ENOSYS;
 762
 763         indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
 764         if (!indio_dev)
 765                 return -ENOMEM;
 766
 767         st = iio_priv(indio_dev);
 768         st->client = client;
 769         st->powerup_count = 0;
 770         pdata = dev_get_platdata(&client->dev);
 771         if (pdata)
 772                 st->plat_data = *pdata;
 773         /* power is turned on inside check chip type*/
 774         result = inv_check_and_setup_chip(st, id);
 775         if (result)
 776                 return result;
 777
 778         result = inv_mpu6050_init_config(indio_dev);
 779         if (result) {
 780                 dev_err(&client->dev,
 781                         "Could not initialize device.\n");
 782                 return result;
 783         }
 784
 785         i2c_set_clientdata(client, indio_dev);
 786         indio_dev->dev.parent = &client->dev;
 787         /* id will be NULL when enumerated via ACPI */
 788         if (id)
 789                 indio_dev->name = (char *)id->name;
 790         else
 791                 indio_dev->name = (char *)dev_name(&client->dev);
 792         indio_dev->channels = inv_mpu_channels;
 793         indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
 794
 795         indio_dev->info = &mpu_info;
 796         indio_dev->modes = INDIO_BUFFER_TRIGGERED;
 797
 798         result = iio_triggered_buffer_setup(indio_dev,
 799                                             inv_mpu6050_irq_handler,
 800                                             inv_mpu6050_read_fifo,
 801                                             NULL);
 802         if (result) {
 803                 dev_err(&st->client->dev, "configure buffer fail %d\n",
 804                                 result);
 805                 return result;
 806         }
 807         result = inv_mpu6050_probe_trigger(indio_dev);
 808         if (result) {
 809                 dev_err(&st->client->dev, "trigger probe fail %d\n", result);
 810                 goto out_unreg_ring;
 811         }
 812
 813         INIT_KFIFO(st->timestamps);
 814         spin_lock_init(&st->time_stamp_lock);
 815         result = iio_device_register(indio_dev);
 816         if (result) {
 817                 dev_err(&st->client->dev, "IIO register fail %d\n", result);
 818                 goto out_remove_trigger;
 819         }
 820
 821         st->mux_adapter = i2c_add_mux_adapter(client->adapter,
 822                                               &client->dev,
 823                                               indio_dev,
 824                                               0, 0, 0,
 825                                               inv_mpu6050_select_bypass,
 826                                               inv_mpu6050_deselect_bypass);
 827         if (!st->mux_adapter) {
 828                 result = -ENODEV;
 829                 goto out_unreg_device;
 830         }
 831
 832         return 0;
 833
 834 out_unreg_device:
 835         iio_device_unregister(indio_dev);
 836 out_remove_trigger:
 837         inv_mpu6050_remove_trigger(st);
 838 out_unreg_ring:
 839         iio_triggered_buffer_cleanup(indio_dev);
 840         return result;
 841 }
 842
 843 static int inv_mpu_remove(struct i2c_client *client)
 844 {
 845         struct iio_dev *indio_dev = i2c_get_clientdata(client);
 846         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 847
 848         i2c_del_mux_adapter(st->mux_adapter);
 849         iio_device_unregister(indio_dev);
 850         inv_mpu6050_remove_trigger(st);
 851         iio_triggered_buffer_cleanup(indio_dev);
 852
 853         return 0;
 854 }
 855 #ifdef CONFIG_PM_SLEEP
 856
 857 static int inv_mpu_resume(struct device *dev)
 858 {
 859         return inv_mpu6050_set_power_itg(
 860                 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
 861 }
 862
 863 static int inv_mpu_suspend(struct device *dev)
 864 {
 865         return inv_mpu6050_set_power_itg(
 866                 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
 867 }
 868 static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
 869
 870 #define INV_MPU6050_PMOPS (&inv_mpu_pmops)
 871 #else
 872 #define INV_MPU6050_PMOPS NULL
 873 #endif /* CONFIG_PM_SLEEP */
 874
 875 /*
 876  * device id table is used to identify what device can be
 877  * supported by this driver
 878  */
 879 static const struct i2c_device_id inv_mpu_id[] = {
 880         {"mpu6050", INV_MPU6050},
 881         {"mpu6500", INV_MPU6500},
 882         {}
 883 };
 884
 885 MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
 886
 887 static const struct acpi_device_id inv_acpi_match[] = {
 888         {"INVN6500", 0},
 889         { },
 890 };
 891
 892 MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
 893
 894 static struct i2c_driver inv_mpu_driver = {
 895         .probe          =       inv_mpu_probe,
 896         .remove         =       inv_mpu_remove,
 897         .id_table       =       inv_mpu_id,
 898         .driver = {
 899                 .owner  =       THIS_MODULE,
 900                 .name   =       "inv-mpu6050",
 901                 .pm     =       INV_MPU6050_PMOPS,
 902                 .acpi_match_table = ACPI_PTR(inv_acpi_match),
 903         },
 904 };
 905
 906 module_i2c_driver(inv_mpu_driver);
 907
 908 MODULE_AUTHOR("Invensense Corporation");
 909 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
 910 MODULE_LICENSE("GPL");