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_write_raw_get_fmt(struct iio_dev *indio_dev,
 435                                  struct iio_chan_spec const *chan, long mask)
 436 {
 437         switch (mask) {
 438         case IIO_CHAN_INFO_SCALE:
 439                 switch (chan->type) {
 440                 case IIO_ANGL_VEL:
 441                         return IIO_VAL_INT_PLUS_NANO;
 442                 default:
 443                         return IIO_VAL_INT_PLUS_MICRO;
 444                 }
 445         default:
 446                 return IIO_VAL_INT_PLUS_MICRO;
 447         }
 448
 449         return -EINVAL;
 450 }
 451 static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
 452 {
 453         int result, i;
 454         u8 d;
 455
 456         for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
 457                 if (accel_scale[i] == val) {
 458                         d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 459                         result = inv_mpu6050_write_reg(st,
 460                                         st->reg->accl_config, d);
 461                         if (result)
 462                                 return result;
 463
 464                         st->chip_config.accl_fs = i;
 465                         return 0;
 466                 }
 467         }
 468
 469         return -EINVAL;
 470 }
 471
 472 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
 473                                struct iio_chan_spec const *chan,
 474                                int val,
 475                                int val2,
 476                                long mask) {
 477         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 478         int result;
 479
 480         mutex_lock(&indio_dev->mlock);
 481         /* we should only update scale when the chip is disabled, i.e.,
 482                 not running */
 483         if (st->chip_config.enable) {
 484                 result = -EBUSY;
 485                 goto error_write_raw;
 486         }
 487         result = inv_mpu6050_set_power_itg(st, true);
 488         if (result)
 489                 goto error_write_raw;
 490
 491         switch (mask) {
 492         case IIO_CHAN_INFO_SCALE:
 493                 switch (chan->type) {
 494                 case IIO_ANGL_VEL:
 495                         result = inv_mpu6050_write_gyro_scale(st, val2);
 496                         break;
 497                 case IIO_ACCEL:
 498                         result = inv_mpu6050_write_accel_scale(st, val2);
 499                         break;
 500                 default:
 501                         result = -EINVAL;
 502                         break;
 503                 }
 504                 break;
 505         default:
 506                 result = -EINVAL;
 507                 break;
 508         }
 509
 510 error_write_raw:
 511         result |= inv_mpu6050_set_power_itg(st, false);
 512         mutex_unlock(&indio_dev->mlock);
 513
 514         return result;
 515 }
 516
 517 /**
 518  *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
 519  *
 520  *                  Based on the Nyquist principle, the sampling rate must
 521  *                  exceed twice of the bandwidth of the signal, or there
 522  *                  would be alising. This function basically search for the
 523  *                  correct low pass parameters based on the fifo rate, e.g,
 524  *                  sampling frequency.
 525  */
 526 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 527 {
 528         const int hz[] = {188, 98, 42, 20, 10, 5};
 529         const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
 530                         INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
 531                         INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
 532         int i, h, result;
 533         u8 data;
 534
 535         h = (rate >> 1);
 536         i = 0;
 537         while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
 538                 i++;
 539         data = d[i];
 540         result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
 541         if (result)
 542                 return result;
 543         st->chip_config.lpf = data;
 544
 545         return 0;
 546 }
 547
 548 /**
 549  * inv_mpu6050_fifo_rate_store() - Set fifo rate.
 550  */
 551 static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
 552         struct device_attribute *attr, const char *buf, size_t count)
 553 {
 554         s32 fifo_rate;
 555         u8 d;
 556         int result;
 557         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 558         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 559
 560         if (kstrtoint(buf, 10, &fifo_rate))
 561                 return -EINVAL;
 562         if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
 563                                 fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
 564                 return -EINVAL;
 565         if (fifo_rate == st->chip_config.fifo_rate)
 566                 return count;
 567
 568         mutex_lock(&indio_dev->mlock);
 569         if (st->chip_config.enable) {
 570                 result = -EBUSY;
 571                 goto fifo_rate_fail;
 572         }
 573         result = inv_mpu6050_set_power_itg(st, true);
 574         if (result)
 575                 goto fifo_rate_fail;
 576
 577         d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
 578         result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
 579         if (result)
 580                 goto fifo_rate_fail;
 581         st->chip_config.fifo_rate = fifo_rate;
 582
 583         result = inv_mpu6050_set_lpf(st, fifo_rate);
 584         if (result)
 585                 goto fifo_rate_fail;
 586
 587 fifo_rate_fail:
 588         result |= inv_mpu6050_set_power_itg(st, false);
 589         mutex_unlock(&indio_dev->mlock);
 590         if (result)
 591                 return result;
 592
 593         return count;
 594 }
 595
 596 /**
 597  * inv_fifo_rate_show() - Get the current sampling rate.
 598  */
 599 static ssize_t inv_fifo_rate_show(struct device *dev,
 600         struct device_attribute *attr, char *buf)
 601 {
 602         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 603
 604         return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
 605 }
 606
 607 /**
 608  * inv_attr_show() - calling this function will show current
 609  *                    parameters.
 610  */
 611 static ssize_t inv_attr_show(struct device *dev,
 612         struct device_attribute *attr, char *buf)
 613 {
 614         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 615         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 616         s8 *m;
 617
 618         switch (this_attr->address) {
 619         /* In MPU6050, the two matrix are the same because gyro and accel
 620            are integrated in one chip */
 621         case ATTR_GYRO_MATRIX:
 622         case ATTR_ACCL_MATRIX:
 623                 m = st->plat_data.orientation;
 624
 625                 return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
 626                         m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
 627         default:
 628                 return -EINVAL;
 629         }
 630 }
 631
 632 /**
 633  * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
 634  *                                  MPU6050 device.
 635  * @indio_dev: The IIO device
 636  * @trig: The new trigger
 637  *
 638  * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
 639  * device, -EINVAL otherwise.
 640  */
 641 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 642                                         struct iio_trigger *trig)
 643 {
 644         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 645
 646         if (st->trig != trig)
 647                 return -EINVAL;
 648
 649         return 0;
 650 }
 651
 652 #define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
 653         {                                                             \
 654                 .type = _type,                                        \
 655                 .modified = 1,                                        \
 656                 .channel2 = _channel2,                                \
 657                 .info_mask_shared_by_type =  BIT(IIO_CHAN_INFO_SCALE), \
 658                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),         \
 659                 .scan_index = _index,                                 \
 660                 .scan_type = {                                        \
 661                                 .sign = 's',                          \
 662                                 .realbits = 16,                       \
 663                                 .storagebits = 16,                    \
 664                                 .shift = 0 ,                          \
 665                                 .endianness = IIO_BE,                 \
 666                              },                                       \
 667         }
 668
 669 static const struct iio_chan_spec inv_mpu_channels[] = {
 670         IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
 671         /*
 672          * Note that temperature should only be via polled reading only,
 673          * not the final scan elements output.
 674          */
 675         {
 676                 .type = IIO_TEMP,
 677                 .info_mask_separate =  BIT(IIO_CHAN_INFO_RAW)
 678                                 | BIT(IIO_CHAN_INFO_OFFSET)
 679                                 | BIT(IIO_CHAN_INFO_SCALE),
 680                 .scan_index = -1,
 681         },
 682         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 683         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 684         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
 685
 686         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
 687         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
 688         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
 689 };
 690
 691 /* constant IIO attribute */
 692 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
 693 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
 694         inv_mpu6050_fifo_rate_store);
 695 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
 696         ATTR_GYRO_MATRIX);
 697 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
 698         ATTR_ACCL_MATRIX);
 699
 700 static struct attribute *inv_attributes[] = {
 701         &iio_dev_attr_in_gyro_matrix.dev_attr.attr,
 702         &iio_dev_attr_in_accel_matrix.dev_attr.attr,
 703         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 704         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
 705         NULL,
 706 };
 707
 708 static const struct attribute_group inv_attribute_group = {
 709         .attrs = inv_attributes
 710 };
 711
 712 static const struct iio_info mpu_info = {
 713         .driver_module = THIS_MODULE,
 714         .read_raw = &inv_mpu6050_read_raw,
 715         .write_raw = &inv_mpu6050_write_raw,
 716         .write_raw_get_fmt = &inv_write_raw_get_fmt,
 717         .attrs = &inv_attribute_group,
 718         .validate_trigger = inv_mpu6050_validate_trigger,
 719 };
 720
 721 /**
 722  *  inv_check_and_setup_chip() - check and setup chip.
 723  */
 724 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
 725                 const struct i2c_device_id *id)
 726 {
 727         int result;
 728
 729         st->chip_type = INV_MPU6050;
 730         st->hw  = &hw_info[st->chip_type];
 731         st->reg = hw_info[st->chip_type].reg;
 732
 733         /* reset to make sure previous state are not there */
 734         result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
 735                                         INV_MPU6050_BIT_H_RESET);
 736         if (result)
 737                 return result;
 738         msleep(INV_MPU6050_POWER_UP_TIME);
 739         /* toggle power state. After reset, the sleep bit could be on
 740                 or off depending on the OTP settings. Toggling power would
 741                 make it in a definite state as well as making the hardware
 742                 state align with the software state */
 743         result = inv_mpu6050_set_power_itg(st, false);
 744         if (result)
 745                 return result;
 746         result = inv_mpu6050_set_power_itg(st, true);
 747         if (result)
 748                 return result;
 749
 750         result = inv_mpu6050_switch_engine(st, false,
 751                                         INV_MPU6050_BIT_PWR_ACCL_STBY);
 752         if (result)
 753                 return result;
 754         result = inv_mpu6050_switch_engine(st, false,
 755                                         INV_MPU6050_BIT_PWR_GYRO_STBY);
 756         if (result)
 757                 return result;
 758
 759         return 0;
 760 }
 761
 762 /**
 763  *  inv_mpu_probe() - probe function.
 764  *  @client:          i2c client.
 765  *  @id:              i2c device id.
 766  *
 767  *  Returns 0 on success, a negative error code otherwise.
 768  */
 769 static int inv_mpu_probe(struct i2c_client *client,
 770         const struct i2c_device_id *id)
 771 {
 772         struct inv_mpu6050_state *st;
 773         struct iio_dev *indio_dev;
 774         struct inv_mpu6050_platform_data *pdata;
 775         int result;
 776
 777         if (!i2c_check_functionality(client->adapter,
 778                 I2C_FUNC_SMBUS_I2C_BLOCK))
 779                 return -ENOSYS;
 780
 781         indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
 782         if (!indio_dev)
 783                 return -ENOMEM;
 784
 785         st = iio_priv(indio_dev);
 786         st->client = client;
 787         st->powerup_count = 0;
 788         pdata = dev_get_platdata(&client->dev);
 789         if (pdata)
 790                 st->plat_data = *pdata;
 791         /* power is turned on inside check chip type*/
 792         result = inv_check_and_setup_chip(st, id);
 793         if (result)
 794                 return result;
 795
 796         result = inv_mpu6050_init_config(indio_dev);
 797         if (result) {
 798                 dev_err(&client->dev,
 799                         "Could not initialize device.\n");
 800                 return result;
 801         }
 802
 803         i2c_set_clientdata(client, indio_dev);
 804         indio_dev->dev.parent = &client->dev;
 805         /* id will be NULL when enumerated via ACPI */
 806         if (id)
 807                 indio_dev->name = (char *)id->name;
 808         else
 809                 indio_dev->name = (char *)dev_name(&client->dev);
 810         indio_dev->channels = inv_mpu_channels;
 811         indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
 812
 813         indio_dev->info = &mpu_info;
 814         indio_dev->modes = INDIO_BUFFER_TRIGGERED;
 815
 816         result = iio_triggered_buffer_setup(indio_dev,
 817                                             inv_mpu6050_irq_handler,
 818                                             inv_mpu6050_read_fifo,
 819                                             NULL);
 820         if (result) {
 821                 dev_err(&st->client->dev, "configure buffer fail %d\n",
 822                                 result);
 823                 return result;
 824         }
 825         result = inv_mpu6050_probe_trigger(indio_dev);
 826         if (result) {
 827                 dev_err(&st->client->dev, "trigger probe fail %d\n", result);
 828                 goto out_unreg_ring;
 829         }
 830
 831         INIT_KFIFO(st->timestamps);
 832         spin_lock_init(&st->time_stamp_lock);
 833         result = iio_device_register(indio_dev);
 834         if (result) {
 835                 dev_err(&st->client->dev, "IIO register fail %d\n", result);
 836                 goto out_remove_trigger;
 837         }
 838
 839         st->mux_adapter = i2c_add_mux_adapter(client->adapter,
 840                                               &client->dev,
 841                                               indio_dev,
 842                                               0, 0, 0,
 843                                               inv_mpu6050_select_bypass,
 844                                               inv_mpu6050_deselect_bypass);
 845         if (!st->mux_adapter) {
 846                 result = -ENODEV;
 847                 goto out_unreg_device;
 848         }
 849
 850         result = inv_mpu_acpi_create_mux_client(st);
 851         if (result)
 852                 goto out_del_mux;
 853
 854         return 0;
 855
 856 out_del_mux:
 857         i2c_del_mux_adapter(st->mux_adapter);
 858 out_unreg_device:
 859         iio_device_unregister(indio_dev);
 860 out_remove_trigger:
 861         inv_mpu6050_remove_trigger(st);
 862 out_unreg_ring:
 863         iio_triggered_buffer_cleanup(indio_dev);
 864         return result;
 865 }
 866
 867 static int inv_mpu_remove(struct i2c_client *client)
 868 {
 869         struct iio_dev *indio_dev = i2c_get_clientdata(client);
 870         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 871
 872         inv_mpu_acpi_delete_mux_client(st);
 873         i2c_del_mux_adapter(st->mux_adapter);
 874         iio_device_unregister(indio_dev);
 875         inv_mpu6050_remove_trigger(st);
 876         iio_triggered_buffer_cleanup(indio_dev);
 877
 878         return 0;
 879 }
 880 #ifdef CONFIG_PM_SLEEP
 881
 882 static int inv_mpu_resume(struct device *dev)
 883 {
 884         return inv_mpu6050_set_power_itg(
 885                 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
 886 }
 887
 888 static int inv_mpu_suspend(struct device *dev)
 889 {
 890         return inv_mpu6050_set_power_itg(
 891                 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
 892 }
 893 static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
 894
 895 #define INV_MPU6050_PMOPS (&inv_mpu_pmops)
 896 #else
 897 #define INV_MPU6050_PMOPS NULL
 898 #endif /* CONFIG_PM_SLEEP */
 899
 900 /*
 901  * device id table is used to identify what device can be
 902  * supported by this driver
 903  */
 904 static const struct i2c_device_id inv_mpu_id[] = {
 905         {"mpu6050", INV_MPU6050},
 906         {"mpu6500", INV_MPU6500},
 907         {}
 908 };
 909
 910 MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
 911
 912 static const struct acpi_device_id inv_acpi_match[] = {
 913         {"INVN6500", 0},
 914         { },
 915 };
 916
 917 MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
 918
 919 static struct i2c_driver inv_mpu_driver = {
 920         .probe          =       inv_mpu_probe,
 921         .remove         =       inv_mpu_remove,
 922         .id_table       =       inv_mpu_id,
 923         .driver = {
 924                 .owner  =       THIS_MODULE,
 925                 .name   =       "inv-mpu6050",
 926                 .pm     =       INV_MPU6050_PMOPS,
 927                 .acpi_match_table = ACPI_PTR(inv_acpi_match),
 928         },
 929 };
 930
 931 module_i2c_driver(inv_mpu_driver);
 932
 933 MODULE_AUTHOR("Invensense Corporation");
 934 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
 935 MODULE_LICENSE("GPL");