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/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 = &reg_set_6050,
  71                 .config = &chip_config_6050,
  72         },
  73 };
  74
  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
  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
 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  */
 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
 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
 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
 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
 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
 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  */
 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  */
 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  */
 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  */
 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  */
 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  */
 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  */
 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
 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
 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
 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");