1 // SPDX-License-Identifier: GPL-2.0-only
3 * Copyright (C) 2012 Invensense, Inc.
6 #include <linux/module.h>
7 #include <linux/slab.h>
10 #include <linux/delay.h>
11 #include <linux/sysfs.h>
12 #include <linux/jiffies.h>
13 #include <linux/irq.h>
14 #include <linux/interrupt.h>
15 #include <linux/iio/iio.h>
16 #include <linux/acpi.h>
17 #include <linux/platform_device.h>
18 #include <linux/regulator/consumer.h>
20 #include <linux/pm_runtime.h>
21 #include "inv_mpu_iio.h"
22 #include "inv_mpu_magn.h"
25 * this is the gyro scale translated from dynamic range plus/minus
26 * {250, 500, 1000, 2000} to rad/s
28 static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
31 * this is the accel scale translated from dynamic range plus/minus
32 * {2, 4, 8, 16} to m/s^2
34 static const int accel_scale[] = {598, 1196, 2392, 4785};
36 static const struct inv_mpu6050_reg_map reg_set_icm20602 = {
37 .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
38 .lpf = INV_MPU6050_REG_CONFIG,
39 .accel_lpf = INV_MPU6500_REG_ACCEL_CONFIG_2,
40 .user_ctrl = INV_MPU6050_REG_USER_CTRL,
41 .fifo_en = INV_MPU6050_REG_FIFO_EN,
42 .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
43 .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
44 .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
45 .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
46 .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
47 .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
48 .temperature = INV_MPU6050_REG_TEMPERATURE,
49 .int_enable = INV_MPU6050_REG_INT_ENABLE,
50 .int_status = INV_MPU6050_REG_INT_STATUS,
51 .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
52 .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
53 .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
54 .accl_offset = INV_MPU6500_REG_ACCEL_OFFSET,
55 .gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
56 .i2c_if = INV_ICM20602_REG_I2C_IF,
59 static const struct inv_mpu6050_reg_map reg_set_6500 = {
60 .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
61 .lpf = INV_MPU6050_REG_CONFIG,
62 .accel_lpf = INV_MPU6500_REG_ACCEL_CONFIG_2,
63 .user_ctrl = INV_MPU6050_REG_USER_CTRL,
64 .fifo_en = INV_MPU6050_REG_FIFO_EN,
65 .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
66 .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
67 .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
68 .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
69 .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
70 .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
71 .temperature = INV_MPU6050_REG_TEMPERATURE,
72 .int_enable = INV_MPU6050_REG_INT_ENABLE,
73 .int_status = INV_MPU6050_REG_INT_STATUS,
74 .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
75 .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
76 .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
77 .accl_offset = INV_MPU6500_REG_ACCEL_OFFSET,
78 .gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
82 static const struct inv_mpu6050_reg_map reg_set_6050 = {
83 .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
84 .lpf = INV_MPU6050_REG_CONFIG,
85 .user_ctrl = INV_MPU6050_REG_USER_CTRL,
86 .fifo_en = INV_MPU6050_REG_FIFO_EN,
87 .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
88 .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
89 .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
90 .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
91 .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
92 .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
93 .temperature = INV_MPU6050_REG_TEMPERATURE,
94 .int_enable = INV_MPU6050_REG_INT_ENABLE,
95 .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
96 .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
97 .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
98 .accl_offset = INV_MPU6050_REG_ACCEL_OFFSET,
99 .gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
103 static const struct inv_mpu6050_chip_config chip_config_6050 = {
104 .clk = INV_CLK_INTERNAL,
105 .fsr = INV_MPU6050_FSR_2000DPS,
106 .lpf = INV_MPU6050_FILTER_20HZ,
107 .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
112 .gyro_fifo_enable = false,
113 .accl_fifo_enable = false,
114 .temp_fifo_enable = false,
115 .magn_fifo_enable = false,
116 .accl_fs = INV_MPU6050_FS_02G,
120 static const struct inv_mpu6050_chip_config chip_config_6500 = {
122 .fsr = INV_MPU6050_FSR_2000DPS,
123 .lpf = INV_MPU6050_FILTER_20HZ,
124 .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
129 .gyro_fifo_enable = false,
130 .accl_fifo_enable = false,
131 .temp_fifo_enable = false,
132 .magn_fifo_enable = false,
133 .accl_fs = INV_MPU6050_FS_02G,
137 /* Indexed by enum inv_devices */
138 static const struct inv_mpu6050_hw hw_info[] = {
140 .whoami = INV_MPU6050_WHOAMI_VALUE,
142 .reg = ®_set_6050,
143 .config = &chip_config_6050,
145 .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
148 .whoami = INV_MPU6500_WHOAMI_VALUE,
150 .reg = ®_set_6500,
151 .config = &chip_config_6500,
153 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
156 .whoami = INV_MPU6515_WHOAMI_VALUE,
158 .reg = ®_set_6500,
159 .config = &chip_config_6500,
161 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
164 .whoami = INV_MPU6880_WHOAMI_VALUE,
166 .reg = ®_set_6500,
167 .config = &chip_config_6500,
169 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
172 .whoami = INV_MPU6000_WHOAMI_VALUE,
174 .reg = ®_set_6050,
175 .config = &chip_config_6050,
177 .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
180 .whoami = INV_MPU9150_WHOAMI_VALUE,
182 .reg = ®_set_6050,
183 .config = &chip_config_6050,
185 .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
188 .whoami = INV_MPU9250_WHOAMI_VALUE,
190 .reg = ®_set_6500,
191 .config = &chip_config_6500,
193 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
196 .whoami = INV_MPU9255_WHOAMI_VALUE,
198 .reg = ®_set_6500,
199 .config = &chip_config_6500,
201 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
204 .whoami = INV_ICM20608_WHOAMI_VALUE,
206 .reg = ®_set_6500,
207 .config = &chip_config_6500,
209 .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
212 .whoami = INV_ICM20609_WHOAMI_VALUE,
214 .reg = ®_set_6500,
215 .config = &chip_config_6500,
216 .fifo_size = 4 * 1024,
217 .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
220 .whoami = INV_ICM20689_WHOAMI_VALUE,
222 .reg = ®_set_6500,
223 .config = &chip_config_6500,
224 .fifo_size = 4 * 1024,
225 .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
228 .whoami = INV_ICM20602_WHOAMI_VALUE,
230 .reg = ®_set_icm20602,
231 .config = &chip_config_6500,
233 .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
236 .whoami = INV_ICM20690_WHOAMI_VALUE,
238 .reg = ®_set_6500,
239 .config = &chip_config_6500,
241 .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
244 .whoami = INV_IAM20680_WHOAMI_VALUE,
246 .reg = ®_set_6500,
247 .config = &chip_config_6500,
249 .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
253 static int inv_mpu6050_pwr_mgmt_1_write(struct inv_mpu6050_state *st, bool sleep,
254 int clock, int temp_dis)
259 clock = st->chip_config.clk;
261 temp_dis = !st->chip_config.temp_en;
263 val = clock & INV_MPU6050_BIT_CLK_MASK;
265 val |= INV_MPU6050_BIT_TEMP_DIS;
267 val |= INV_MPU6050_BIT_SLEEP;
269 dev_dbg(regmap_get_device(st->map), "pwr_mgmt_1: 0x%x\n", val);
270 return regmap_write(st->map, st->reg->pwr_mgmt_1, val);
273 static int inv_mpu6050_clock_switch(struct inv_mpu6050_state *st,
278 switch (st->chip_type) {
282 /* old chips: switch clock manually */
283 ret = inv_mpu6050_pwr_mgmt_1_write(st, false, clock, -1);
286 st->chip_config.clk = clock;
289 /* automatic clock switching, nothing to do */
296 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
300 u8 pwr_mgmt2, user_ctrl;
303 /* delete useless requests */
304 if (mask & INV_MPU6050_SENSOR_ACCL && en == st->chip_config.accl_en)
305 mask &= ~INV_MPU6050_SENSOR_ACCL;
306 if (mask & INV_MPU6050_SENSOR_GYRO && en == st->chip_config.gyro_en)
307 mask &= ~INV_MPU6050_SENSOR_GYRO;
308 if (mask & INV_MPU6050_SENSOR_TEMP && en == st->chip_config.temp_en)
309 mask &= ~INV_MPU6050_SENSOR_TEMP;
310 if (mask & INV_MPU6050_SENSOR_MAGN && en == st->chip_config.magn_en)
311 mask &= ~INV_MPU6050_SENSOR_MAGN;
315 /* turn on/off temperature sensor */
316 if (mask & INV_MPU6050_SENSOR_TEMP) {
317 ret = inv_mpu6050_pwr_mgmt_1_write(st, false, -1, !en);
320 st->chip_config.temp_en = en;
323 /* update user_crtl for driving magnetometer */
324 if (mask & INV_MPU6050_SENSOR_MAGN) {
325 user_ctrl = st->chip_config.user_ctrl;
327 user_ctrl |= INV_MPU6050_BIT_I2C_MST_EN;
329 user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN;
330 ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
333 st->chip_config.user_ctrl = user_ctrl;
334 st->chip_config.magn_en = en;
337 /* manage accel & gyro engines */
338 if (mask & (INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO)) {
339 /* compute power management 2 current value */
341 if (!st->chip_config.accl_en)
342 pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
343 if (!st->chip_config.gyro_en)
344 pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;
346 /* update to new requested value */
347 if (mask & INV_MPU6050_SENSOR_ACCL) {
349 pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_ACCL_STBY;
351 pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
353 if (mask & INV_MPU6050_SENSOR_GYRO) {
355 pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_GYRO_STBY;
357 pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;
360 /* switch clock to internal when turning gyro off */
361 if (mask & INV_MPU6050_SENSOR_GYRO && !en) {
362 ret = inv_mpu6050_clock_switch(st, INV_CLK_INTERNAL);
367 /* update sensors engine */
368 dev_dbg(regmap_get_device(st->map), "pwr_mgmt_2: 0x%x\n",
370 ret = regmap_write(st->map, st->reg->pwr_mgmt_2, pwr_mgmt2);
373 if (mask & INV_MPU6050_SENSOR_ACCL)
374 st->chip_config.accl_en = en;
375 if (mask & INV_MPU6050_SENSOR_GYRO)
376 st->chip_config.gyro_en = en;
378 /* compute required time to have sensors stabilized */
381 if (mask & INV_MPU6050_SENSOR_ACCL) {
382 if (sleep < INV_MPU6050_ACCEL_UP_TIME)
383 sleep = INV_MPU6050_ACCEL_UP_TIME;
385 if (mask & INV_MPU6050_SENSOR_GYRO) {
386 if (sleep < INV_MPU6050_GYRO_UP_TIME)
387 sleep = INV_MPU6050_GYRO_UP_TIME;
390 if (mask & INV_MPU6050_SENSOR_GYRO) {
391 if (sleep < INV_MPU6050_GYRO_DOWN_TIME)
392 sleep = INV_MPU6050_GYRO_DOWN_TIME;
398 /* switch clock to PLL when turning gyro on */
399 if (mask & INV_MPU6050_SENSOR_GYRO && en) {
400 ret = inv_mpu6050_clock_switch(st, INV_CLK_PLL);
409 static int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st,
414 result = inv_mpu6050_pwr_mgmt_1_write(st, !power_on, -1, -1);
419 usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
420 INV_MPU6050_REG_UP_TIME_MAX);
425 static int inv_mpu6050_set_gyro_fsr(struct inv_mpu6050_state *st,
426 enum inv_mpu6050_fsr_e val)
428 unsigned int gyro_shift;
431 switch (st->chip_type) {
433 gyro_shift = INV_ICM20690_GYRO_CONFIG_FSR_SHIFT;
436 gyro_shift = INV_MPU6050_GYRO_CONFIG_FSR_SHIFT;
440 data = val << gyro_shift;
441 return regmap_write(st->map, st->reg->gyro_config, data);
445 * inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
447 * MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope
448 * MPU6500 and above have a dedicated register for accelerometer
450 static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
451 enum inv_mpu6050_filter_e val)
455 result = regmap_write(st->map, st->reg->lpf, val);
460 switch (st->chip_type) {
464 /* old chips, nothing to do */
468 /* set FIFO size to maximum value */
469 val |= INV_ICM20689_BITS_FIFO_SIZE_MAX;
475 return regmap_write(st->map, st->reg->accel_lpf, val);
479 * inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
481 * Initial configuration:
485 * Clock source: Gyro PLL
487 static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
491 struct inv_mpu6050_state *st = iio_priv(indio_dev);
493 result = inv_mpu6050_set_gyro_fsr(st, st->chip_config.fsr);
497 result = inv_mpu6050_set_lpf_regs(st, st->chip_config.lpf);
501 d = st->chip_config.divider;
502 result = regmap_write(st->map, st->reg->sample_rate_div, d);
506 d = (st->chip_config.accl_fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
507 result = regmap_write(st->map, st->reg->accl_config, d);
511 result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
516 * Internal chip period is 1ms (1kHz).
517 * Let's use at the beginning the theorical value before measuring
518 * with interrupt timestamps.
520 st->chip_period = NSEC_PER_MSEC;
522 /* magn chip init, noop if not present in the chip */
523 result = inv_mpu_magn_probe(st);
530 static int inv_mpu6050_sensor_set(struct inv_mpu6050_state *st, int reg,
534 __be16 d = cpu_to_be16(val);
536 ind = (axis - IIO_MOD_X) * 2;
537 result = regmap_bulk_write(st->map, reg + ind, &d, sizeof(d));
544 static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
550 ind = (axis - IIO_MOD_X) * 2;
551 result = regmap_bulk_read(st->map, reg + ind, &d, sizeof(d));
554 *val = (short)be16_to_cpup(&d);
559 static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
560 struct iio_chan_spec const *chan,
563 struct inv_mpu6050_state *st = iio_priv(indio_dev);
564 struct device *pdev = regmap_get_device(st->map);
565 unsigned int freq_hz, period_us, min_sleep_us, max_sleep_us;
569 /* compute sample period */
570 freq_hz = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
571 period_us = 1000000 / freq_hz;
573 result = pm_runtime_get_sync(pdev);
575 pm_runtime_put_noidle(pdev);
579 switch (chan->type) {
581 if (!st->chip_config.gyro_en) {
582 result = inv_mpu6050_switch_engine(st, true,
583 INV_MPU6050_SENSOR_GYRO);
585 goto error_power_off;
586 /* need to wait 2 periods to have first valid sample */
587 min_sleep_us = 2 * period_us;
588 max_sleep_us = 2 * (period_us + period_us / 2);
589 usleep_range(min_sleep_us, max_sleep_us);
591 ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
592 chan->channel2, val);
595 if (!st->chip_config.accl_en) {
596 result = inv_mpu6050_switch_engine(st, true,
597 INV_MPU6050_SENSOR_ACCL);
599 goto error_power_off;
600 /* wait 1 period for first sample availability */
601 min_sleep_us = period_us;
602 max_sleep_us = period_us + period_us / 2;
603 usleep_range(min_sleep_us, max_sleep_us);
605 ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
606 chan->channel2, val);
609 /* temperature sensor work only with accel and/or gyro */
610 if (!st->chip_config.accl_en && !st->chip_config.gyro_en) {
612 goto error_power_off;
614 if (!st->chip_config.temp_en) {
615 result = inv_mpu6050_switch_engine(st, true,
616 INV_MPU6050_SENSOR_TEMP);
618 goto error_power_off;
619 /* wait 1 period for first sample availability */
620 min_sleep_us = period_us;
621 max_sleep_us = period_us + period_us / 2;
622 usleep_range(min_sleep_us, max_sleep_us);
624 ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
628 if (!st->chip_config.magn_en) {
629 result = inv_mpu6050_switch_engine(st, true,
630 INV_MPU6050_SENSOR_MAGN);
632 goto error_power_off;
633 /* frequency is limited for magnetometer */
634 if (freq_hz > INV_MPU_MAGN_FREQ_HZ_MAX) {
635 freq_hz = INV_MPU_MAGN_FREQ_HZ_MAX;
636 period_us = 1000000 / freq_hz;
638 /* need to wait 2 periods to have first valid sample */
639 min_sleep_us = 2 * period_us;
640 max_sleep_us = 2 * (period_us + period_us / 2);
641 usleep_range(min_sleep_us, max_sleep_us);
643 ret = inv_mpu_magn_read(st, chan->channel2, val);
650 pm_runtime_mark_last_busy(pdev);
651 pm_runtime_put_autosuspend(pdev);
656 pm_runtime_put_autosuspend(pdev);
661 inv_mpu6050_read_raw(struct iio_dev *indio_dev,
662 struct iio_chan_spec const *chan,
663 int *val, int *val2, long mask)
665 struct inv_mpu6050_state *st = iio_priv(indio_dev);
669 case IIO_CHAN_INFO_RAW:
670 ret = iio_device_claim_direct_mode(indio_dev);
673 mutex_lock(&st->lock);
674 ret = inv_mpu6050_read_channel_data(indio_dev, chan, val);
675 mutex_unlock(&st->lock);
676 iio_device_release_direct_mode(indio_dev);
678 case IIO_CHAN_INFO_SCALE:
679 switch (chan->type) {
681 mutex_lock(&st->lock);
683 *val2 = gyro_scale_6050[st->chip_config.fsr];
684 mutex_unlock(&st->lock);
686 return IIO_VAL_INT_PLUS_NANO;
688 mutex_lock(&st->lock);
690 *val2 = accel_scale[st->chip_config.accl_fs];
691 mutex_unlock(&st->lock);
693 return IIO_VAL_INT_PLUS_MICRO;
695 *val = st->hw->temp.scale / 1000000;
696 *val2 = st->hw->temp.scale % 1000000;
697 return IIO_VAL_INT_PLUS_MICRO;
699 return inv_mpu_magn_get_scale(st, chan, val, val2);
703 case IIO_CHAN_INFO_OFFSET:
704 switch (chan->type) {
706 *val = st->hw->temp.offset;
711 case IIO_CHAN_INFO_CALIBBIAS:
712 switch (chan->type) {
714 mutex_lock(&st->lock);
715 ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
716 chan->channel2, val);
717 mutex_unlock(&st->lock);
720 mutex_lock(&st->lock);
721 ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
722 chan->channel2, val);
723 mutex_unlock(&st->lock);
734 static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val,
742 for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
743 if (gyro_scale_6050[i] == val2) {
744 result = inv_mpu6050_set_gyro_fsr(st, i);
748 st->chip_config.fsr = i;
756 static int inv_write_raw_get_fmt(struct iio_dev *indio_dev,
757 struct iio_chan_spec const *chan, long mask)
760 case IIO_CHAN_INFO_SCALE:
761 switch (chan->type) {
763 return IIO_VAL_INT_PLUS_NANO;
765 return IIO_VAL_INT_PLUS_MICRO;
768 return IIO_VAL_INT_PLUS_MICRO;
774 static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val,
783 for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
784 if (accel_scale[i] == val2) {
785 d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
786 result = regmap_write(st->map, st->reg->accl_config, d);
790 st->chip_config.accl_fs = i;
798 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
799 struct iio_chan_spec const *chan,
800 int val, int val2, long mask)
802 struct inv_mpu6050_state *st = iio_priv(indio_dev);
803 struct device *pdev = regmap_get_device(st->map);
807 * we should only update scale when the chip is disabled, i.e.
810 result = iio_device_claim_direct_mode(indio_dev);
814 mutex_lock(&st->lock);
815 result = pm_runtime_get_sync(pdev);
817 pm_runtime_put_noidle(pdev);
818 goto error_write_raw_unlock;
822 case IIO_CHAN_INFO_SCALE:
823 switch (chan->type) {
825 result = inv_mpu6050_write_gyro_scale(st, val, val2);
828 result = inv_mpu6050_write_accel_scale(st, val, val2);
835 case IIO_CHAN_INFO_CALIBBIAS:
836 switch (chan->type) {
838 result = inv_mpu6050_sensor_set(st,
839 st->reg->gyro_offset,
840 chan->channel2, val);
843 result = inv_mpu6050_sensor_set(st,
844 st->reg->accl_offset,
845 chan->channel2, val);
857 pm_runtime_mark_last_busy(pdev);
858 pm_runtime_put_autosuspend(pdev);
859 error_write_raw_unlock:
860 mutex_unlock(&st->lock);
861 iio_device_release_direct_mode(indio_dev);
867 * inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
869 * Based on the Nyquist principle, the bandwidth of the low
870 * pass filter must not exceed the signal sampling rate divided
871 * by 2, or there would be aliasing.
872 * This function basically search for the correct low pass
873 * parameters based on the fifo rate, e.g, sampling frequency.
875 * lpf is set automatically when setting sampling rate to avoid any aliases.
877 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
879 static const int hz[] = {400, 200, 90, 40, 20, 10};
880 static const int d[] = {
881 INV_MPU6050_FILTER_200HZ, INV_MPU6050_FILTER_100HZ,
882 INV_MPU6050_FILTER_45HZ, INV_MPU6050_FILTER_20HZ,
883 INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
888 data = INV_MPU6050_FILTER_5HZ;
889 for (i = 0; i < ARRAY_SIZE(hz); ++i) {
895 result = inv_mpu6050_set_lpf_regs(st, data);
898 st->chip_config.lpf = data;
904 * inv_mpu6050_fifo_rate_store() - Set fifo rate.
907 inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
908 const char *buf, size_t count)
913 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
914 struct inv_mpu6050_state *st = iio_priv(indio_dev);
915 struct device *pdev = regmap_get_device(st->map);
917 if (kstrtoint(buf, 10, &fifo_rate))
919 if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
920 fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
923 /* compute the chip sample rate divider */
924 d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
925 /* compute back the fifo rate to handle truncation cases */
926 fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d);
928 mutex_lock(&st->lock);
929 if (d == st->chip_config.divider) {
931 goto fifo_rate_fail_unlock;
933 result = pm_runtime_get_sync(pdev);
935 pm_runtime_put_noidle(pdev);
936 goto fifo_rate_fail_unlock;
939 result = regmap_write(st->map, st->reg->sample_rate_div, d);
941 goto fifo_rate_fail_power_off;
942 st->chip_config.divider = d;
944 result = inv_mpu6050_set_lpf(st, fifo_rate);
946 goto fifo_rate_fail_power_off;
948 /* update rate for magn, noop if not present in chip */
949 result = inv_mpu_magn_set_rate(st, fifo_rate);
951 goto fifo_rate_fail_power_off;
953 pm_runtime_mark_last_busy(pdev);
954 fifo_rate_fail_power_off:
955 pm_runtime_put_autosuspend(pdev);
956 fifo_rate_fail_unlock:
957 mutex_unlock(&st->lock);
965 * inv_fifo_rate_show() - Get the current sampling rate.
968 inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
971 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
974 mutex_lock(&st->lock);
975 fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
976 mutex_unlock(&st->lock);
978 return scnprintf(buf, PAGE_SIZE, "%u\n", fifo_rate);
982 * inv_attr_show() - calling this function will show current
985 * Deprecated in favor of IIO mounting matrix API.
987 * See inv_get_mount_matrix()
989 static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
992 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
993 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
996 switch (this_attr->address) {
998 * In MPU6050, the two matrix are the same because gyro and accel
999 * are integrated in one chip
1001 case ATTR_GYRO_MATRIX:
1002 case ATTR_ACCL_MATRIX:
1003 m = st->plat_data.orientation;
1005 return scnprintf(buf, PAGE_SIZE,
1006 "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
1007 m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
1014 * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
1016 * @indio_dev: The IIO device
1017 * @trig: The new trigger
1019 * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
1020 * device, -EINVAL otherwise.
1022 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
1023 struct iio_trigger *trig)
1025 struct inv_mpu6050_state *st = iio_priv(indio_dev);
1027 if (st->trig != trig)
1033 static const struct iio_mount_matrix *
1034 inv_get_mount_matrix(const struct iio_dev *indio_dev,
1035 const struct iio_chan_spec *chan)
1037 struct inv_mpu6050_state *data = iio_priv(indio_dev);
1038 const struct iio_mount_matrix *matrix;
1040 if (chan->type == IIO_MAGN)
1041 matrix = &data->magn_orient;
1043 matrix = &data->orientation;
1048 static const struct iio_chan_spec_ext_info inv_ext_info[] = {
1049 IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
1053 #define INV_MPU6050_CHAN(_type, _channel2, _index) \
1057 .channel2 = _channel2, \
1058 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
1059 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
1060 BIT(IIO_CHAN_INFO_CALIBBIAS), \
1061 .scan_index = _index, \
1065 .storagebits = 16, \
1067 .endianness = IIO_BE, \
1069 .ext_info = inv_ext_info, \
1072 #define INV_MPU6050_TEMP_CHAN(_index) \
1075 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \
1076 | BIT(IIO_CHAN_INFO_OFFSET) \
1077 | BIT(IIO_CHAN_INFO_SCALE), \
1078 .scan_index = _index, \
1082 .storagebits = 16, \
1084 .endianness = IIO_BE, \
1088 static const struct iio_chan_spec inv_mpu_channels[] = {
1089 IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
1091 INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
1093 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
1094 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
1095 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
1097 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
1098 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
1099 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
1102 #define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \
1103 (BIT(INV_MPU6050_SCAN_ACCL_X) \
1104 | BIT(INV_MPU6050_SCAN_ACCL_Y) \
1105 | BIT(INV_MPU6050_SCAN_ACCL_Z))
1107 #define INV_MPU6050_SCAN_MASK_3AXIS_GYRO \
1108 (BIT(INV_MPU6050_SCAN_GYRO_X) \
1109 | BIT(INV_MPU6050_SCAN_GYRO_Y) \
1110 | BIT(INV_MPU6050_SCAN_GYRO_Z))
1112 #define INV_MPU6050_SCAN_MASK_TEMP (BIT(INV_MPU6050_SCAN_TEMP))
1114 static const unsigned long inv_mpu_scan_masks[] = {
1116 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
1117 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
1119 INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
1120 INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
1121 /* 6-axis accel + gyro */
1122 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
1123 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
1124 | INV_MPU6050_SCAN_MASK_TEMP,
1128 #define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index) \
1132 .channel2 = _chan2, \
1133 .info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) | \
1134 BIT(IIO_CHAN_INFO_RAW), \
1135 .scan_index = _index, \
1138 .realbits = _bits, \
1139 .storagebits = 16, \
1141 .endianness = IIO_BE, \
1143 .ext_info = inv_ext_info, \
1146 static const struct iio_chan_spec inv_mpu9150_channels[] = {
1147 IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
1149 INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
1151 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
1152 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
1153 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
1155 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
1156 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
1157 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
1159 /* Magnetometer resolution is 13 bits */
1160 INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 13, INV_MPU9X50_SCAN_MAGN_X),
1161 INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 13, INV_MPU9X50_SCAN_MAGN_Y),
1162 INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 13, INV_MPU9X50_SCAN_MAGN_Z),
1165 static const struct iio_chan_spec inv_mpu9250_channels[] = {
1166 IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
1168 INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
1170 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
1171 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
1172 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
1174 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
1175 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
1176 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
1178 /* Magnetometer resolution is 16 bits */
1179 INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
1180 INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),
1181 INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
1184 #define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN \
1185 (BIT(INV_MPU9X50_SCAN_MAGN_X) \
1186 | BIT(INV_MPU9X50_SCAN_MAGN_Y) \
1187 | BIT(INV_MPU9X50_SCAN_MAGN_Z))
1189 static const unsigned long inv_mpu9x50_scan_masks[] = {
1191 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
1192 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
1194 INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
1195 INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
1197 INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
1198 INV_MPU9X50_SCAN_MASK_3AXIS_MAGN | INV_MPU6050_SCAN_MASK_TEMP,
1199 /* 6-axis accel + gyro */
1200 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
1201 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
1202 | INV_MPU6050_SCAN_MASK_TEMP,
1203 /* 6-axis accel + magn */
1204 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
1205 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
1206 | INV_MPU6050_SCAN_MASK_TEMP,
1207 /* 6-axis gyro + magn */
1208 INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
1209 INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
1210 | INV_MPU6050_SCAN_MASK_TEMP,
1211 /* 9-axis accel + gyro + magn */
1212 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
1213 | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
1214 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
1215 | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
1216 | INV_MPU6050_SCAN_MASK_TEMP,
1220 static const unsigned long inv_icm20602_scan_masks[] = {
1221 /* 3-axis accel + temp (mandatory) */
1222 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
1223 /* 3-axis gyro + temp (mandatory) */
1224 INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
1225 /* 6-axis accel + gyro + temp (mandatory) */
1226 INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
1227 | INV_MPU6050_SCAN_MASK_TEMP,
1232 * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and
1233 * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the
1234 * low-pass filter. Specifically, each of these sampling rates are about twice
1235 * the bandwidth of a corresponding low-pass filter, which should eliminate
1236 * aliasing following the Nyquist principle. By picking a frequency different
1237 * from these, the user risks aliasing effects.
1239 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
1240 static IIO_CONST_ATTR(in_anglvel_scale_available,
1241 "0.000133090 0.000266181 0.000532362 0.001064724");
1242 static IIO_CONST_ATTR(in_accel_scale_available,
1243 "0.000598 0.001196 0.002392 0.004785");
1244 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
1245 inv_mpu6050_fifo_rate_store);
1247 /* Deprecated: kept for userspace backward compatibility. */
1248 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
1250 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
1253 static struct attribute *inv_attributes[] = {
1254 &iio_dev_attr_in_gyro_matrix.dev_attr.attr, /* deprecated */
1255 &iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
1256 &iio_dev_attr_sampling_frequency.dev_attr.attr,
1257 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
1258 &iio_const_attr_in_accel_scale_available.dev_attr.attr,
1259 &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
1263 static const struct attribute_group inv_attribute_group = {
1264 .attrs = inv_attributes
1267 static int inv_mpu6050_reg_access(struct iio_dev *indio_dev,
1269 unsigned int writeval,
1270 unsigned int *readval)
1272 struct inv_mpu6050_state *st = iio_priv(indio_dev);
1275 mutex_lock(&st->lock);
1277 ret = regmap_read(st->map, reg, readval);
1279 ret = regmap_write(st->map, reg, writeval);
1280 mutex_unlock(&st->lock);
1285 static const struct iio_info mpu_info = {
1286 .read_raw = &inv_mpu6050_read_raw,
1287 .write_raw = &inv_mpu6050_write_raw,
1288 .write_raw_get_fmt = &inv_write_raw_get_fmt,
1289 .attrs = &inv_attribute_group,
1290 .validate_trigger = inv_mpu6050_validate_trigger,
1291 .debugfs_reg_access = &inv_mpu6050_reg_access,
1295 * inv_check_and_setup_chip() - check and setup chip.
1297 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
1300 unsigned int regval, mask;
1303 st->hw = &hw_info[st->chip_type];
1304 st->reg = hw_info[st->chip_type].reg;
1305 memcpy(&st->chip_config, hw_info[st->chip_type].config,
1306 sizeof(st->chip_config));
1308 /* check chip self-identification */
1309 result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, ®val);
1312 if (regval != st->hw->whoami) {
1313 /* check whoami against all possible values */
1314 for (i = 0; i < INV_NUM_PARTS; ++i) {
1315 if (regval == hw_info[i].whoami) {
1316 dev_warn(regmap_get_device(st->map),
1317 "whoami mismatch got %#02x (%s)"
1318 "expected %#02hhx (%s)\n",
1319 regval, hw_info[i].name,
1320 st->hw->whoami, st->hw->name);
1324 if (i >= INV_NUM_PARTS) {
1325 dev_err(regmap_get_device(st->map),
1326 "invalid whoami %#02x expected %#02hhx (%s)\n",
1327 regval, st->hw->whoami, st->hw->name);
1332 /* reset to make sure previous state are not there */
1333 result = regmap_write(st->map, st->reg->pwr_mgmt_1,
1334 INV_MPU6050_BIT_H_RESET);
1337 msleep(INV_MPU6050_POWER_UP_TIME);
1338 switch (st->chip_type) {
1345 /* reset signal path (required for spi connection) */
1346 regval = INV_MPU6050_BIT_TEMP_RST | INV_MPU6050_BIT_ACCEL_RST |
1347 INV_MPU6050_BIT_GYRO_RST;
1348 result = regmap_write(st->map, INV_MPU6050_REG_SIGNAL_PATH_RESET,
1352 msleep(INV_MPU6050_POWER_UP_TIME);
1359 * Turn power on. After reset, the sleep bit could be on
1360 * or off depending on the OTP settings. Turning power on
1361 * make it in a definite state as well as making the hardware
1362 * state align with the software state
1364 result = inv_mpu6050_set_power_itg(st, true);
1367 mask = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
1368 INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
1369 result = inv_mpu6050_switch_engine(st, false, mask);
1371 goto error_power_off;
1376 inv_mpu6050_set_power_itg(st, false);
1380 static int inv_mpu_core_enable_regulator_vddio(struct inv_mpu6050_state *st)
1384 result = regulator_enable(st->vddio_supply);
1386 dev_err(regmap_get_device(st->map),
1387 "Failed to enable vddio regulator: %d\n", result);
1389 /* Give the device a little bit of time to start up. */
1390 usleep_range(3000, 5000);
1396 static int inv_mpu_core_disable_regulator_vddio(struct inv_mpu6050_state *st)
1400 result = regulator_disable(st->vddio_supply);
1402 dev_err(regmap_get_device(st->map),
1403 "Failed to disable vddio regulator: %d\n", result);
1408 static void inv_mpu_core_disable_regulator_action(void *_data)
1410 struct inv_mpu6050_state *st = _data;
1413 result = regulator_disable(st->vdd_supply);
1415 dev_err(regmap_get_device(st->map),
1416 "Failed to disable vdd regulator: %d\n", result);
1418 inv_mpu_core_disable_regulator_vddio(st);
1421 static void inv_mpu_pm_disable(void *data)
1423 struct device *dev = data;
1425 pm_runtime_put_sync_suspend(dev);
1426 pm_runtime_disable(dev);
1429 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
1430 int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
1432 struct inv_mpu6050_state *st;
1433 struct iio_dev *indio_dev;
1434 struct inv_mpu6050_platform_data *pdata;
1435 struct device *dev = regmap_get_device(regmap);
1437 struct irq_data *desc;
1440 indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
1444 BUILD_BUG_ON(ARRAY_SIZE(hw_info) != INV_NUM_PARTS);
1445 if (chip_type < 0 || chip_type >= INV_NUM_PARTS) {
1446 dev_err(dev, "Bad invensense chip_type=%d name=%s\n",
1450 st = iio_priv(indio_dev);
1451 mutex_init(&st->lock);
1452 st->chip_type = chip_type;
1456 pdata = dev_get_platdata(dev);
1458 result = iio_read_mount_matrix(dev, "mount-matrix",
1461 dev_err(dev, "Failed to retrieve mounting matrix %d\n",
1466 st->plat_data = *pdata;
1470 desc = irq_get_irq_data(irq);
1472 dev_err(dev, "Could not find IRQ %d\n", irq);
1476 irq_type = irqd_get_trigger_type(desc);
1478 irq_type = IRQF_TRIGGER_RISING;
1480 /* Doesn't really matter, use the default */
1481 irq_type = IRQF_TRIGGER_RISING;
1484 if (irq_type & IRQF_TRIGGER_RISING) // rising or both-edge
1485 st->irq_mask = INV_MPU6050_ACTIVE_HIGH;
1486 else if (irq_type == IRQF_TRIGGER_FALLING)
1487 st->irq_mask = INV_MPU6050_ACTIVE_LOW;
1488 else if (irq_type == IRQF_TRIGGER_HIGH)
1489 st->irq_mask = INV_MPU6050_ACTIVE_HIGH |
1490 INV_MPU6050_LATCH_INT_EN;
1491 else if (irq_type == IRQF_TRIGGER_LOW)
1492 st->irq_mask = INV_MPU6050_ACTIVE_LOW |
1493 INV_MPU6050_LATCH_INT_EN;
1495 dev_err(dev, "Invalid interrupt type 0x%x specified\n",
1500 st->vdd_supply = devm_regulator_get(dev, "vdd");
1501 if (IS_ERR(st->vdd_supply))
1502 return dev_err_probe(dev, PTR_ERR(st->vdd_supply),
1503 "Failed to get vdd regulator\n");
1505 st->vddio_supply = devm_regulator_get(dev, "vddio");
1506 if (IS_ERR(st->vddio_supply))
1507 return dev_err_probe(dev, PTR_ERR(st->vddio_supply),
1508 "Failed to get vddio regulator\n");
1510 result = regulator_enable(st->vdd_supply);
1512 dev_err(dev, "Failed to enable vdd regulator: %d\n", result);
1515 msleep(INV_MPU6050_POWER_UP_TIME);
1517 result = inv_mpu_core_enable_regulator_vddio(st);
1519 regulator_disable(st->vdd_supply);
1523 result = devm_add_action_or_reset(dev, inv_mpu_core_disable_regulator_action,
1526 dev_err(dev, "Failed to setup regulator cleanup action %d\n",
1531 /* fill magnetometer orientation */
1532 result = inv_mpu_magn_set_orient(st);
1536 /* power is turned on inside check chip type*/
1537 result = inv_check_and_setup_chip(st);
1541 result = inv_mpu6050_init_config(indio_dev);
1543 dev_err(dev, "Could not initialize device.\n");
1544 goto error_power_off;
1547 dev_set_drvdata(dev, indio_dev);
1548 /* name will be NULL when enumerated via ACPI */
1550 indio_dev->name = name;
1552 indio_dev->name = dev_name(dev);
1554 /* requires parent device set in indio_dev */
1555 if (inv_mpu_bus_setup) {
1556 result = inv_mpu_bus_setup(indio_dev);
1558 goto error_power_off;
1561 /* chip init is done, turning on runtime power management */
1562 result = pm_runtime_set_active(dev);
1564 goto error_power_off;
1565 pm_runtime_get_noresume(dev);
1566 pm_runtime_enable(dev);
1567 pm_runtime_set_autosuspend_delay(dev, INV_MPU6050_SUSPEND_DELAY_MS);
1568 pm_runtime_use_autosuspend(dev);
1569 pm_runtime_put(dev);
1570 result = devm_add_action_or_reset(dev, inv_mpu_pm_disable, dev);
1574 switch (chip_type) {
1576 indio_dev->channels = inv_mpu9150_channels;
1577 indio_dev->num_channels = ARRAY_SIZE(inv_mpu9150_channels);
1578 indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
1582 indio_dev->channels = inv_mpu9250_channels;
1583 indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
1584 indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
1587 indio_dev->channels = inv_mpu_channels;
1588 indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
1589 indio_dev->available_scan_masks = inv_icm20602_scan_masks;
1592 indio_dev->channels = inv_mpu_channels;
1593 indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
1594 indio_dev->available_scan_masks = inv_mpu_scan_masks;
1598 * Use magnetometer inside the chip only if there is no i2c
1599 * auxiliary device in use. Otherwise Going back to 6-axis only.
1601 if (st->magn_disabled) {
1602 indio_dev->channels = inv_mpu_channels;
1603 indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
1604 indio_dev->available_scan_masks = inv_mpu_scan_masks;
1607 indio_dev->info = &mpu_info;
1611 * The driver currently only supports buffered capture with its
1612 * own trigger. So no IRQ, no trigger, no buffer
1614 result = devm_iio_triggered_buffer_setup(dev, indio_dev,
1615 iio_pollfunc_store_time,
1616 inv_mpu6050_read_fifo,
1619 dev_err(dev, "configure buffer fail %d\n", result);
1623 result = inv_mpu6050_probe_trigger(indio_dev, irq_type);
1625 dev_err(dev, "trigger probe fail %d\n", result);
1630 result = devm_iio_device_register(dev, indio_dev);
1632 dev_err(dev, "IIO register fail %d\n", result);
1639 inv_mpu6050_set_power_itg(st, false);
1642 EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
1644 static int __maybe_unused inv_mpu_resume(struct device *dev)
1646 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1647 struct inv_mpu6050_state *st = iio_priv(indio_dev);
1650 mutex_lock(&st->lock);
1651 result = inv_mpu_core_enable_regulator_vddio(st);
1655 result = inv_mpu6050_set_power_itg(st, true);
1659 pm_runtime_disable(dev);
1660 pm_runtime_set_active(dev);
1661 pm_runtime_enable(dev);
1663 result = inv_mpu6050_switch_engine(st, true, st->suspended_sensors);
1667 if (iio_buffer_enabled(indio_dev))
1668 result = inv_mpu6050_prepare_fifo(st, true);
1671 mutex_unlock(&st->lock);
1676 static int __maybe_unused inv_mpu_suspend(struct device *dev)
1678 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1679 struct inv_mpu6050_state *st = iio_priv(indio_dev);
1682 mutex_lock(&st->lock);
1684 st->suspended_sensors = 0;
1685 if (pm_runtime_suspended(dev)) {
1690 if (iio_buffer_enabled(indio_dev)) {
1691 result = inv_mpu6050_prepare_fifo(st, false);
1696 if (st->chip_config.accl_en)
1697 st->suspended_sensors |= INV_MPU6050_SENSOR_ACCL;
1698 if (st->chip_config.gyro_en)
1699 st->suspended_sensors |= INV_MPU6050_SENSOR_GYRO;
1700 if (st->chip_config.temp_en)
1701 st->suspended_sensors |= INV_MPU6050_SENSOR_TEMP;
1702 if (st->chip_config.magn_en)
1703 st->suspended_sensors |= INV_MPU6050_SENSOR_MAGN;
1704 result = inv_mpu6050_switch_engine(st, false, st->suspended_sensors);
1708 result = inv_mpu6050_set_power_itg(st, false);
1712 inv_mpu_core_disable_regulator_vddio(st);
1714 mutex_unlock(&st->lock);
1719 static int __maybe_unused inv_mpu_runtime_suspend(struct device *dev)
1721 struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
1722 unsigned int sensors;
1725 mutex_lock(&st->lock);
1727 sensors = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
1728 INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
1729 ret = inv_mpu6050_switch_engine(st, false, sensors);
1733 ret = inv_mpu6050_set_power_itg(st, false);
1737 inv_mpu_core_disable_regulator_vddio(st);
1740 mutex_unlock(&st->lock);
1744 static int __maybe_unused inv_mpu_runtime_resume(struct device *dev)
1746 struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
1749 ret = inv_mpu_core_enable_regulator_vddio(st);
1753 return inv_mpu6050_set_power_itg(st, true);
1756 const struct dev_pm_ops inv_mpu_pmops = {
1757 SET_SYSTEM_SLEEP_PM_OPS(inv_mpu_suspend, inv_mpu_resume)
1758 SET_RUNTIME_PM_OPS(inv_mpu_runtime_suspend, inv_mpu_runtime_resume, NULL)
1760 EXPORT_SYMBOL_GPL(inv_mpu_pmops);
1762 MODULE_AUTHOR("Invensense Corporation");
1763 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
1764 MODULE_LICENSE("GPL");