drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

   1 // SPDX-License-Identifier: GPL-2.0-only
   2 /*
   3 * Copyright (C) 2012 Invensense, Inc.
   4 */
   5
   6 #include <linux/module.h>
   7 #include <linux/slab.h>
   8 #include <linux/i2c.h>
   9 #include <linux/err.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>
  19 #include "inv_mpu_iio.h"
  20 #include "inv_mpu_magn.h"
  21
  22 /*
  23  * this is the gyro scale translated from dynamic range plus/minus
  24  * {250, 500, 1000, 2000} to rad/s
  25  */
  26 static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
  27
  28 /*
  29  * this is the accel scale translated from dynamic range plus/minus
  30  * {2, 4, 8, 16} to m/s^2
  31  */
  32 static const int accel_scale[] = {598, 1196, 2392, 4785};
  33
  34 static const struct inv_mpu6050_reg_map reg_set_icm20602 = {
  35         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  36         .lpf                    = INV_MPU6050_REG_CONFIG,
  37         .accel_lpf              = INV_MPU6500_REG_ACCEL_CONFIG_2,
  38         .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
  39         .fifo_en                = INV_MPU6050_REG_FIFO_EN,
  40         .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
  41         .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
  42         .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
  43         .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
  44         .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
  45         .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
  46         .temperature            = INV_MPU6050_REG_TEMPERATURE,
  47         .int_enable             = INV_MPU6050_REG_INT_ENABLE,
  48         .int_status             = INV_MPU6050_REG_INT_STATUS,
  49         .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
  50         .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
  51         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
  52         .accl_offset            = INV_MPU6500_REG_ACCEL_OFFSET,
  53         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
  54         .i2c_if                 = INV_ICM20602_REG_I2C_IF,
  55 };
  56
  57 static const struct inv_mpu6050_reg_map reg_set_6500 = {
  58         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  59         .lpf                    = INV_MPU6050_REG_CONFIG,
  60         .accel_lpf              = INV_MPU6500_REG_ACCEL_CONFIG_2,
  61         .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
  62         .fifo_en                = INV_MPU6050_REG_FIFO_EN,
  63         .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
  64         .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
  65         .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
  66         .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
  67         .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
  68         .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
  69         .temperature            = INV_MPU6050_REG_TEMPERATURE,
  70         .int_enable             = INV_MPU6050_REG_INT_ENABLE,
  71         .int_status             = INV_MPU6050_REG_INT_STATUS,
  72         .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
  73         .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
  74         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
  75         .accl_offset            = INV_MPU6500_REG_ACCEL_OFFSET,
  76         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
  77         .i2c_if                 = 0,
  78 };
  79
  80 static const struct inv_mpu6050_reg_map reg_set_6050 = {
  81         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  82         .lpf                    = INV_MPU6050_REG_CONFIG,
  83         .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
  84         .fifo_en                = INV_MPU6050_REG_FIFO_EN,
  85         .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
  86         .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
  87         .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
  88         .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
  89         .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
  90         .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
  91         .temperature            = INV_MPU6050_REG_TEMPERATURE,
  92         .int_enable             = INV_MPU6050_REG_INT_ENABLE,
  93         .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
  94         .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
  95         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
  96         .accl_offset            = INV_MPU6050_REG_ACCEL_OFFSET,
  97         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
  98         .i2c_if                 = 0,
  99 };
 100
 101 static const struct inv_mpu6050_chip_config chip_config_6050 = {
 102         .fsr = INV_MPU6050_FSR_2000DPS,
 103         .lpf = INV_MPU6050_FILTER_20HZ,
 104         .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE),
 105         .gyro_fifo_enable = false,
 106         .accl_fifo_enable = false,
 107         .magn_fifo_enable = false,
 108         .accl_fs = INV_MPU6050_FS_02G,
 109         .user_ctrl = 0,
 110 };
 111
 112 /* Indexed by enum inv_devices */
 113 static const struct inv_mpu6050_hw hw_info[] = {
 114         {
 115                 .whoami = INV_MPU6050_WHOAMI_VALUE,
 116                 .name = "MPU6050",
 117                 .reg = &reg_set_6050,
 118                 .config = &chip_config_6050,
 119                 .fifo_size = 1024,
 120                 .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
 121         },
 122         {
 123                 .whoami = INV_MPU6500_WHOAMI_VALUE,
 124                 .name = "MPU6500",
 125                 .reg = &reg_set_6500,
 126                 .config = &chip_config_6050,
 127                 .fifo_size = 512,
 128                 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
 129         },
 130         {
 131                 .whoami = INV_MPU6515_WHOAMI_VALUE,
 132                 .name = "MPU6515",
 133                 .reg = &reg_set_6500,
 134                 .config = &chip_config_6050,
 135                 .fifo_size = 512,
 136                 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
 137         },
 138         {
 139                 .whoami = INV_MPU6000_WHOAMI_VALUE,
 140                 .name = "MPU6000",
 141                 .reg = &reg_set_6050,
 142                 .config = &chip_config_6050,
 143                 .fifo_size = 1024,
 144                 .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
 145         },
 146         {
 147                 .whoami = INV_MPU9150_WHOAMI_VALUE,
 148                 .name = "MPU9150",
 149                 .reg = &reg_set_6050,
 150                 .config = &chip_config_6050,
 151                 .fifo_size = 1024,
 152                 .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
 153         },
 154         {
 155                 .whoami = INV_MPU9250_WHOAMI_VALUE,
 156                 .name = "MPU9250",
 157                 .reg = &reg_set_6500,
 158                 .config = &chip_config_6050,
 159                 .fifo_size = 512,
 160                 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
 161         },
 162         {
 163                 .whoami = INV_MPU9255_WHOAMI_VALUE,
 164                 .name = "MPU9255",
 165                 .reg = &reg_set_6500,
 166                 .config = &chip_config_6050,
 167                 .fifo_size = 512,
 168                 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
 169         },
 170         {
 171                 .whoami = INV_ICM20608_WHOAMI_VALUE,
 172                 .name = "ICM20608",
 173                 .reg = &reg_set_6500,
 174                 .config = &chip_config_6050,
 175                 .fifo_size = 512,
 176                 .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
 177         },
 178         {
 179                 .whoami = INV_ICM20602_WHOAMI_VALUE,
 180                 .name = "ICM20602",
 181                 .reg = &reg_set_icm20602,
 182                 .config = &chip_config_6050,
 183                 .fifo_size = 1008,
 184                 .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
 185         },
 186 };
 187
 188 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
 189 {
 190         unsigned int d, mgmt_1;
 191         int result;
 192         /*
 193          * switch clock needs to be careful. Only when gyro is on, can
 194          * clock source be switched to gyro. Otherwise, it must be set to
 195          * internal clock
 196          */
 197         if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
 198                 result = regmap_read(st->map, st->reg->pwr_mgmt_1, &mgmt_1);
 199                 if (result)
 200                         return result;
 201
 202                 mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
 203         }
 204
 205         if ((mask == INV_MPU6050_BIT_PWR_GYRO_STBY) && (!en)) {
 206                 /*
 207                  * turning off gyro requires switch to internal clock first.
 208                  * Then turn off gyro engine
 209                  */
 210                 mgmt_1 |= INV_CLK_INTERNAL;
 211                 result = regmap_write(st->map, st->reg->pwr_mgmt_1, mgmt_1);
 212                 if (result)
 213                         return result;
 214         }
 215
 216         result = regmap_read(st->map, st->reg->pwr_mgmt_2, &d);
 217         if (result)
 218                 return result;
 219         if (en)
 220                 d &= ~mask;
 221         else
 222                 d |= mask;
 223         result = regmap_write(st->map, st->reg->pwr_mgmt_2, d);
 224         if (result)
 225                 return result;
 226
 227         if (en) {
 228                 /* Wait for output to stabilize */
 229                 msleep(INV_MPU6050_TEMP_UP_TIME);
 230                 if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
 231                         /* switch internal clock to PLL */
 232                         mgmt_1 |= INV_CLK_PLL;
 233                         result = regmap_write(st->map,
 234                                               st->reg->pwr_mgmt_1, mgmt_1);
 235                         if (result)
 236                                 return result;
 237                 }
 238         }
 239
 240         return 0;
 241 }
 242
 243 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 244 {
 245         int result;
 246
 247         if (power_on) {
 248                 if (!st->powerup_count) {
 249                         result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);
 250                         if (result)
 251                                 return result;
 252                         usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
 253                                      INV_MPU6050_REG_UP_TIME_MAX);
 254                 }
 255                 st->powerup_count++;
 256         } else {
 257                 if (st->powerup_count == 1) {
 258                         result = regmap_write(st->map, st->reg->pwr_mgmt_1,
 259                                               INV_MPU6050_BIT_SLEEP);
 260                         if (result)
 261                                 return result;
 262                 }
 263                 st->powerup_count--;
 264         }
 265
 266         dev_dbg(regmap_get_device(st->map), "set power %d, count=%u\n",
 267                 power_on, st->powerup_count);
 268
 269         return 0;
 270 }
 271 EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);
 272
 273 /**
 274  *  inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
 275  *
 276  *  MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope
 277  *  MPU6500 and above have a dedicated register for accelerometer
 278  */
 279 static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
 280                                     enum inv_mpu6050_filter_e val)
 281 {
 282         int result;
 283
 284         result = regmap_write(st->map, st->reg->lpf, val);
 285         if (result)
 286                 return result;
 287
 288         switch (st->chip_type) {
 289         case INV_MPU6050:
 290         case INV_MPU6000:
 291         case INV_MPU9150:
 292                 /* old chips, nothing to do */
 293                 result = 0;
 294                 break;
 295         default:
 296                 /* set accel lpf */
 297                 result = regmap_write(st->map, st->reg->accel_lpf, val);
 298                 break;
 299         }
 300
 301         return result;
 302 }
 303
 304 /**
 305  *  inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
 306  *
 307  *  Initial configuration:
 308  *  FSR: ± 2000DPS
 309  *  DLPF: 20Hz
 310  *  FIFO rate: 50Hz
 311  *  Clock source: Gyro PLL
 312  */
 313 static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 314 {
 315         int result;
 316         u8 d;
 317         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 318
 319         result = inv_mpu6050_set_power_itg(st, true);
 320         if (result)
 321                 return result;
 322         d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 323         result = regmap_write(st->map, st->reg->gyro_config, d);
 324         if (result)
 325                 goto error_power_off;
 326
 327         result = inv_mpu6050_set_lpf_regs(st, INV_MPU6050_FILTER_20HZ);
 328         if (result)
 329                 goto error_power_off;
 330
 331         d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE);
 332         result = regmap_write(st->map, st->reg->sample_rate_div, d);
 333         if (result)
 334                 goto error_power_off;
 335
 336         d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 337         result = regmap_write(st->map, st->reg->accl_config, d);
 338         if (result)
 339                 goto error_power_off;
 340
 341         result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
 342         if (result)
 343                 return result;
 344
 345         memcpy(&st->chip_config, hw_info[st->chip_type].config,
 346                sizeof(struct inv_mpu6050_chip_config));
 347
 348         /*
 349          * Internal chip period is 1ms (1kHz).
 350          * Let's use at the beginning the theorical value before measuring
 351          * with interrupt timestamps.
 352          */
 353         st->chip_period = NSEC_PER_MSEC;
 354
 355         /* magn chip init, noop if not present in the chip */
 356         result = inv_mpu_magn_probe(st);
 357         if (result)
 358                 goto error_power_off;
 359
 360         return inv_mpu6050_set_power_itg(st, false);
 361
 362 error_power_off:
 363         inv_mpu6050_set_power_itg(st, false);
 364         return result;
 365 }
 366
 367 static int inv_mpu6050_sensor_set(struct inv_mpu6050_state  *st, int reg,
 368                                 int axis, int val)
 369 {
 370         int ind, result;
 371         __be16 d = cpu_to_be16(val);
 372
 373         ind = (axis - IIO_MOD_X) * 2;
 374         result = regmap_bulk_write(st->map, reg + ind, (u8 *)&d, 2);
 375         if (result)
 376                 return -EINVAL;
 377
 378         return 0;
 379 }
 380
 381 static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
 382                                    int axis, int *val)
 383 {
 384         int ind, result;
 385         __be16 d;
 386
 387         ind = (axis - IIO_MOD_X) * 2;
 388         result = regmap_bulk_read(st->map, reg + ind, (u8 *)&d, 2);
 389         if (result)
 390                 return -EINVAL;
 391         *val = (short)be16_to_cpup(&d);
 392
 393         return IIO_VAL_INT;
 394 }
 395
 396 static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
 397                                          struct iio_chan_spec const *chan,
 398                                          int *val)
 399 {
 400         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 401         int result;
 402         int ret;
 403
 404         result = inv_mpu6050_set_power_itg(st, true);
 405         if (result)
 406                 return result;
 407
 408         switch (chan->type) {
 409         case IIO_ANGL_VEL:
 410                 result = inv_mpu6050_switch_engine(st, true,
 411                                 INV_MPU6050_BIT_PWR_GYRO_STBY);
 412                 if (result)
 413                         goto error_power_off;
 414                 ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
 415                                               chan->channel2, val);
 416                 result = inv_mpu6050_switch_engine(st, false,
 417                                 INV_MPU6050_BIT_PWR_GYRO_STBY);
 418                 if (result)
 419                         goto error_power_off;
 420                 break;
 421         case IIO_ACCEL:
 422                 result = inv_mpu6050_switch_engine(st, true,
 423                                 INV_MPU6050_BIT_PWR_ACCL_STBY);
 424                 if (result)
 425                         goto error_power_off;
 426                 ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
 427                                               chan->channel2, val);
 428                 result = inv_mpu6050_switch_engine(st, false,
 429                                 INV_MPU6050_BIT_PWR_ACCL_STBY);
 430                 if (result)
 431                         goto error_power_off;
 432                 break;
 433         case IIO_TEMP:
 434                 /* wait for stablization */
 435                 msleep(INV_MPU6050_SENSOR_UP_TIME);
 436                 ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
 437                                               IIO_MOD_X, val);
 438                 break;
 439         case IIO_MAGN:
 440                 ret = inv_mpu_magn_read(st, chan->channel2, val);
 441                 break;
 442         default:
 443                 ret = -EINVAL;
 444                 break;
 445         }
 446
 447         result = inv_mpu6050_set_power_itg(st, false);
 448         if (result)
 449                 goto error_power_off;
 450
 451         return ret;
 452
 453 error_power_off:
 454         inv_mpu6050_set_power_itg(st, false);
 455         return result;
 456 }
 457
 458 static int
 459 inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 460                      struct iio_chan_spec const *chan,
 461                      int *val, int *val2, long mask)
 462 {
 463         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 464         int ret = 0;
 465
 466         switch (mask) {
 467         case IIO_CHAN_INFO_RAW:
 468                 ret = iio_device_claim_direct_mode(indio_dev);
 469                 if (ret)
 470                         return ret;
 471                 mutex_lock(&st->lock);
 472                 ret = inv_mpu6050_read_channel_data(indio_dev, chan, val);
 473                 mutex_unlock(&st->lock);
 474                 iio_device_release_direct_mode(indio_dev);
 475                 return ret;
 476         case IIO_CHAN_INFO_SCALE:
 477                 switch (chan->type) {
 478                 case IIO_ANGL_VEL:
 479                         mutex_lock(&st->lock);
 480                         *val  = 0;
 481                         *val2 = gyro_scale_6050[st->chip_config.fsr];
 482                         mutex_unlock(&st->lock);
 483
 484                         return IIO_VAL_INT_PLUS_NANO;
 485                 case IIO_ACCEL:
 486                         mutex_lock(&st->lock);
 487                         *val = 0;
 488                         *val2 = accel_scale[st->chip_config.accl_fs];
 489                         mutex_unlock(&st->lock);
 490
 491                         return IIO_VAL_INT_PLUS_MICRO;
 492                 case IIO_TEMP:
 493                         *val = st->hw->temp.scale / 1000000;
 494                         *val2 = st->hw->temp.scale % 1000000;
 495                         return IIO_VAL_INT_PLUS_MICRO;
 496                 case IIO_MAGN:
 497                         return inv_mpu_magn_get_scale(st, chan, val, val2);
 498                 default:
 499                         return -EINVAL;
 500                 }
 501         case IIO_CHAN_INFO_OFFSET:
 502                 switch (chan->type) {
 503                 case IIO_TEMP:
 504                         *val = st->hw->temp.offset;
 505                         return IIO_VAL_INT;
 506                 default:
 507                         return -EINVAL;
 508                 }
 509         case IIO_CHAN_INFO_CALIBBIAS:
 510                 switch (chan->type) {
 511                 case IIO_ANGL_VEL:
 512                         mutex_lock(&st->lock);
 513                         ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
 514                                                 chan->channel2, val);
 515                         mutex_unlock(&st->lock);
 516                         return IIO_VAL_INT;
 517                 case IIO_ACCEL:
 518                         mutex_lock(&st->lock);
 519                         ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
 520                                                 chan->channel2, val);
 521                         mutex_unlock(&st->lock);
 522                         return IIO_VAL_INT;
 523
 524                 default:
 525                         return -EINVAL;
 526                 }
 527         default:
 528                 return -EINVAL;
 529         }
 530 }
 531
 532 static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
 533 {
 534         int result, i;
 535         u8 d;
 536
 537         for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
 538                 if (gyro_scale_6050[i] == val) {
 539                         d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 540                         result = regmap_write(st->map, st->reg->gyro_config, d);
 541                         if (result)
 542                                 return result;
 543
 544                         st->chip_config.fsr = i;
 545                         return 0;
 546                 }
 547         }
 548
 549         return -EINVAL;
 550 }
 551
 552 static int inv_write_raw_get_fmt(struct iio_dev *indio_dev,
 553                                  struct iio_chan_spec const *chan, long mask)
 554 {
 555         switch (mask) {
 556         case IIO_CHAN_INFO_SCALE:
 557                 switch (chan->type) {
 558                 case IIO_ANGL_VEL:
 559                         return IIO_VAL_INT_PLUS_NANO;
 560                 default:
 561                         return IIO_VAL_INT_PLUS_MICRO;
 562                 }
 563         default:
 564                 return IIO_VAL_INT_PLUS_MICRO;
 565         }
 566
 567         return -EINVAL;
 568 }
 569
 570 static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
 571 {
 572         int result, i;
 573         u8 d;
 574
 575         for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
 576                 if (accel_scale[i] == val) {
 577                         d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 578                         result = regmap_write(st->map, st->reg->accl_config, d);
 579                         if (result)
 580                                 return result;
 581
 582                         st->chip_config.accl_fs = i;
 583                         return 0;
 584                 }
 585         }
 586
 587         return -EINVAL;
 588 }
 589
 590 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
 591                                  struct iio_chan_spec const *chan,
 592                                  int val, int val2, long mask)
 593 {
 594         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 595         int result;
 596
 597         /*
 598          * we should only update scale when the chip is disabled, i.e.
 599          * not running
 600          */
 601         result = iio_device_claim_direct_mode(indio_dev);
 602         if (result)
 603                 return result;
 604
 605         mutex_lock(&st->lock);
 606         result = inv_mpu6050_set_power_itg(st, true);
 607         if (result)
 608                 goto error_write_raw_unlock;
 609
 610         switch (mask) {
 611         case IIO_CHAN_INFO_SCALE:
 612                 switch (chan->type) {
 613                 case IIO_ANGL_VEL:
 614                         result = inv_mpu6050_write_gyro_scale(st, val2);
 615                         break;
 616                 case IIO_ACCEL:
 617                         result = inv_mpu6050_write_accel_scale(st, val2);
 618                         break;
 619                 default:
 620                         result = -EINVAL;
 621                         break;
 622                 }
 623                 break;
 624         case IIO_CHAN_INFO_CALIBBIAS:
 625                 switch (chan->type) {
 626                 case IIO_ANGL_VEL:
 627                         result = inv_mpu6050_sensor_set(st,
 628                                                         st->reg->gyro_offset,
 629                                                         chan->channel2, val);
 630                         break;
 631                 case IIO_ACCEL:
 632                         result = inv_mpu6050_sensor_set(st,
 633                                                         st->reg->accl_offset,
 634                                                         chan->channel2, val);
 635                         break;
 636                 default:
 637                         result = -EINVAL;
 638                         break;
 639                 }
 640                 break;
 641         default:
 642                 result = -EINVAL;
 643                 break;
 644         }
 645
 646         result |= inv_mpu6050_set_power_itg(st, false);
 647 error_write_raw_unlock:
 648         mutex_unlock(&st->lock);
 649         iio_device_release_direct_mode(indio_dev);
 650
 651         return result;
 652 }
 653
 654 /**
 655  *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
 656  *
 657  *                  Based on the Nyquist principle, the sampling rate must
 658  *                  exceed twice of the bandwidth of the signal, or there
 659  *                  would be alising. This function basically search for the
 660  *                  correct low pass parameters based on the fifo rate, e.g,
 661  *                  sampling frequency.
 662  *
 663  *  lpf is set automatically when setting sampling rate to avoid any aliases.
 664  */
 665 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 666 {
 667         static const int hz[] = {188, 98, 42, 20, 10, 5};
 668         static const int d[] = {
 669                 INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
 670                 INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
 671                 INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
 672         };
 673         int i, h, result;
 674         u8 data;
 675
 676         h = (rate >> 1);
 677         i = 0;
 678         while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
 679                 i++;
 680         data = d[i];
 681         result = inv_mpu6050_set_lpf_regs(st, data);
 682         if (result)
 683                 return result;
 684         st->chip_config.lpf = data;
 685
 686         return 0;
 687 }
 688
 689 /**
 690  * inv_mpu6050_fifo_rate_store() - Set fifo rate.
 691  */
 692 static ssize_t
 693 inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
 694                             const char *buf, size_t count)
 695 {
 696         int fifo_rate;
 697         u8 d;
 698         int result;
 699         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 700         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 701
 702         if (kstrtoint(buf, 10, &fifo_rate))
 703                 return -EINVAL;
 704         if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
 705             fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
 706                 return -EINVAL;
 707
 708         result = iio_device_claim_direct_mode(indio_dev);
 709         if (result)
 710                 return result;
 711
 712         /* compute the chip sample rate divider */
 713         d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
 714         /* compute back the fifo rate to handle truncation cases */
 715         fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d);
 716
 717         mutex_lock(&st->lock);
 718         if (d == st->chip_config.divider) {
 719                 result = 0;
 720                 goto fifo_rate_fail_unlock;
 721         }
 722         result = inv_mpu6050_set_power_itg(st, true);
 723         if (result)
 724                 goto fifo_rate_fail_unlock;
 725
 726         result = regmap_write(st->map, st->reg->sample_rate_div, d);
 727         if (result)
 728                 goto fifo_rate_fail_power_off;
 729         st->chip_config.divider = d;
 730
 731         result = inv_mpu6050_set_lpf(st, fifo_rate);
 732         if (result)
 733                 goto fifo_rate_fail_power_off;
 734
 735         /* update rate for magn, noop if not present in chip */
 736         result = inv_mpu_magn_set_rate(st, fifo_rate);
 737         if (result)
 738                 goto fifo_rate_fail_power_off;
 739
 740 fifo_rate_fail_power_off:
 741         result |= inv_mpu6050_set_power_itg(st, false);
 742 fifo_rate_fail_unlock:
 743         mutex_unlock(&st->lock);
 744         iio_device_release_direct_mode(indio_dev);
 745         if (result)
 746                 return result;
 747
 748         return count;
 749 }
 750
 751 /**
 752  * inv_fifo_rate_show() - Get the current sampling rate.
 753  */
 754 static ssize_t
 755 inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
 756                    char *buf)
 757 {
 758         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 759         unsigned fifo_rate;
 760
 761         mutex_lock(&st->lock);
 762         fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
 763         mutex_unlock(&st->lock);
 764
 765         return scnprintf(buf, PAGE_SIZE, "%u\n", fifo_rate);
 766 }
 767
 768 /**
 769  * inv_attr_show() - calling this function will show current
 770  *                    parameters.
 771  *
 772  * Deprecated in favor of IIO mounting matrix API.
 773  *
 774  * See inv_get_mount_matrix()
 775  */
 776 static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
 777                              char *buf)
 778 {
 779         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 780         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 781         s8 *m;
 782
 783         switch (this_attr->address) {
 784         /*
 785          * In MPU6050, the two matrix are the same because gyro and accel
 786          * are integrated in one chip
 787          */
 788         case ATTR_GYRO_MATRIX:
 789         case ATTR_ACCL_MATRIX:
 790                 m = st->plat_data.orientation;
 791
 792                 return scnprintf(buf, PAGE_SIZE,
 793                         "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
 794                         m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
 795         default:
 796                 return -EINVAL;
 797         }
 798 }
 799
 800 /**
 801  * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
 802  *                                  MPU6050 device.
 803  * @indio_dev: The IIO device
 804  * @trig: The new trigger
 805  *
 806  * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
 807  * device, -EINVAL otherwise.
 808  */
 809 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 810                                         struct iio_trigger *trig)
 811 {
 812         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 813
 814         if (st->trig != trig)
 815                 return -EINVAL;
 816
 817         return 0;
 818 }
 819
 820 static const struct iio_mount_matrix *
 821 inv_get_mount_matrix(const struct iio_dev *indio_dev,
 822                      const struct iio_chan_spec *chan)
 823 {
 824         struct inv_mpu6050_state *data = iio_priv(indio_dev);
 825         const struct iio_mount_matrix *matrix;
 826
 827         if (chan->type == IIO_MAGN)
 828                 matrix = &data->magn_orient;
 829         else
 830                 matrix = &data->orientation;
 831
 832         return matrix;
 833 }
 834
 835 static const struct iio_chan_spec_ext_info inv_ext_info[] = {
 836         IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
 837         { }
 838 };
 839
 840 #define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
 841         {                                                             \
 842                 .type = _type,                                        \
 843                 .modified = 1,                                        \
 844                 .channel2 = _channel2,                                \
 845                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 846                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |        \
 847                                       BIT(IIO_CHAN_INFO_CALIBBIAS),   \
 848                 .scan_index = _index,                                 \
 849                 .scan_type = {                                        \
 850                                 .sign = 's',                          \
 851                                 .realbits = 16,                       \
 852                                 .storagebits = 16,                    \
 853                                 .shift = 0,                           \
 854                                 .endianness = IIO_BE,                 \
 855                              },                                       \
 856                 .ext_info = inv_ext_info,                             \
 857         }
 858
 859 static const struct iio_chan_spec inv_mpu_channels[] = {
 860         IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
 861         /*
 862          * Note that temperature should only be via polled reading only,
 863          * not the final scan elements output.
 864          */
 865         {
 866                 .type = IIO_TEMP,
 867                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
 868                                 | BIT(IIO_CHAN_INFO_OFFSET)
 869                                 | BIT(IIO_CHAN_INFO_SCALE),
 870                 .scan_index = -1,
 871         },
 872         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 873         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 874         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
 875
 876         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
 877         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
 878         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
 879 };
 880
 881 static const unsigned long inv_mpu_scan_masks[] = {
 882         /* 3-axis accel */
 883         BIT(INV_MPU6050_SCAN_ACCL_X)
 884                 | BIT(INV_MPU6050_SCAN_ACCL_Y)
 885                 | BIT(INV_MPU6050_SCAN_ACCL_Z),
 886         /* 3-axis gyro */
 887         BIT(INV_MPU6050_SCAN_GYRO_X)
 888                 | BIT(INV_MPU6050_SCAN_GYRO_Y)
 889                 | BIT(INV_MPU6050_SCAN_GYRO_Z),
 890         /* 6-axis accel + gyro */
 891         BIT(INV_MPU6050_SCAN_ACCL_X)
 892                 | BIT(INV_MPU6050_SCAN_ACCL_Y)
 893                 | BIT(INV_MPU6050_SCAN_ACCL_Z)
 894                 | BIT(INV_MPU6050_SCAN_GYRO_X)
 895                 | BIT(INV_MPU6050_SCAN_GYRO_Y)
 896                 | BIT(INV_MPU6050_SCAN_GYRO_Z),
 897         0,
 898 };
 899
 900 #define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index)                    \
 901         {                                                               \
 902                 .type = IIO_MAGN,                                       \
 903                 .modified = 1,                                          \
 904                 .channel2 = _chan2,                                     \
 905                 .info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) |        \
 906                                       BIT(IIO_CHAN_INFO_RAW),           \
 907                 .scan_index = _index,                                   \
 908                 .scan_type = {                                          \
 909                         .sign = 's',                                    \
 910                         .realbits = _bits,                              \
 911                         .storagebits = 16,                              \
 912                         .shift = 0,                                     \
 913                         .endianness = IIO_BE,                           \
 914                 },                                                      \
 915                 .ext_info = inv_ext_info,                               \
 916         }
 917
 918 static const struct iio_chan_spec inv_mpu9250_channels[] = {
 919         IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
 920         /*
 921          * Note that temperature should only be via polled reading only,
 922          * not the final scan elements output.
 923          */
 924         {
 925                 .type = IIO_TEMP,
 926                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
 927                                 | BIT(IIO_CHAN_INFO_OFFSET)
 928                                 | BIT(IIO_CHAN_INFO_SCALE),
 929                 .scan_index = -1,
 930         },
 931         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 932         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 933         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
 934
 935         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
 936         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
 937         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
 938
 939         /* Magnetometer resolution is 16 bits */
 940         INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
 941         INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),
 942         INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
 943 };
 944
 945 static const unsigned long inv_mpu9x50_scan_masks[] = {
 946         /* 3-axis accel */
 947         BIT(INV_MPU6050_SCAN_ACCL_X)
 948                 | BIT(INV_MPU6050_SCAN_ACCL_Y)
 949                 | BIT(INV_MPU6050_SCAN_ACCL_Z),
 950         /* 3-axis gyro */
 951         BIT(INV_MPU6050_SCAN_GYRO_X)
 952                 | BIT(INV_MPU6050_SCAN_GYRO_Y)
 953                 | BIT(INV_MPU6050_SCAN_GYRO_Z),
 954         /* 3-axis magn */
 955         BIT(INV_MPU9X50_SCAN_MAGN_X)
 956                 | BIT(INV_MPU9X50_SCAN_MAGN_Y)
 957                 | BIT(INV_MPU9X50_SCAN_MAGN_Z),
 958         /* 6-axis accel + gyro */
 959         BIT(INV_MPU6050_SCAN_ACCL_X)
 960                 | BIT(INV_MPU6050_SCAN_ACCL_Y)
 961                 | BIT(INV_MPU6050_SCAN_ACCL_Z)
 962                 | BIT(INV_MPU6050_SCAN_GYRO_X)
 963                 | BIT(INV_MPU6050_SCAN_GYRO_Y)
 964                 | BIT(INV_MPU6050_SCAN_GYRO_Z),
 965         /* 6-axis accel + magn */
 966         BIT(INV_MPU6050_SCAN_ACCL_X)
 967                 | BIT(INV_MPU6050_SCAN_ACCL_Y)
 968                 | BIT(INV_MPU6050_SCAN_ACCL_Z)
 969                 | BIT(INV_MPU9X50_SCAN_MAGN_X)
 970                 | BIT(INV_MPU9X50_SCAN_MAGN_Y)
 971                 | BIT(INV_MPU9X50_SCAN_MAGN_Z),
 972         /* 6-axis gyro + magn */
 973         BIT(INV_MPU6050_SCAN_GYRO_X)
 974                 | BIT(INV_MPU6050_SCAN_GYRO_Y)
 975                 | BIT(INV_MPU6050_SCAN_GYRO_Z)
 976                 | BIT(INV_MPU9X50_SCAN_MAGN_X)
 977                 | BIT(INV_MPU9X50_SCAN_MAGN_Y)
 978                 | BIT(INV_MPU9X50_SCAN_MAGN_Z),
 979         /* 9-axis accel + gyro + magn */
 980         BIT(INV_MPU6050_SCAN_ACCL_X)
 981                 | BIT(INV_MPU6050_SCAN_ACCL_Y)
 982                 | BIT(INV_MPU6050_SCAN_ACCL_Z)
 983                 | BIT(INV_MPU6050_SCAN_GYRO_X)
 984                 | BIT(INV_MPU6050_SCAN_GYRO_Y)
 985                 | BIT(INV_MPU6050_SCAN_GYRO_Z)
 986                 | BIT(INV_MPU9X50_SCAN_MAGN_X)
 987                 | BIT(INV_MPU9X50_SCAN_MAGN_Y)
 988                 | BIT(INV_MPU9X50_SCAN_MAGN_Z),
 989         0,
 990 };
 991
 992 static const struct iio_chan_spec inv_icm20602_channels[] = {
 993         IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
 994         {
 995                 .type = IIO_TEMP,
 996                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
 997                                 | BIT(IIO_CHAN_INFO_OFFSET)
 998                                 | BIT(IIO_CHAN_INFO_SCALE),
 999                 .scan_index = INV_ICM20602_SCAN_TEMP,
1000                 .scan_type = {
1001                                 .sign = 's',
1002                                 .realbits = 16,
1003                                 .storagebits = 16,
1004                                 .shift = 0,
1005                                 .endianness = IIO_BE,
1006                              },
1007         },
1008
1009         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
1010         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
1011         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),
1012
1013         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
1014         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
1015         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
1016 };
1017
1018 static const unsigned long inv_icm20602_scan_masks[] = {
1019         /* 3-axis accel + temp (mandatory) */
1020         BIT(INV_ICM20602_SCAN_ACCL_X)
1021                 | BIT(INV_ICM20602_SCAN_ACCL_Y)
1022                 | BIT(INV_ICM20602_SCAN_ACCL_Z)
1023                 | BIT(INV_ICM20602_SCAN_TEMP),
1024         /* 3-axis gyro + temp (mandatory) */
1025         BIT(INV_ICM20602_SCAN_GYRO_X)
1026                 | BIT(INV_ICM20602_SCAN_GYRO_Y)
1027                 | BIT(INV_ICM20602_SCAN_GYRO_Z)
1028                 | BIT(INV_ICM20602_SCAN_TEMP),
1029         /* 6-axis accel + gyro + temp (mandatory) */
1030         BIT(INV_ICM20602_SCAN_ACCL_X)
1031                 | BIT(INV_ICM20602_SCAN_ACCL_Y)
1032                 | BIT(INV_ICM20602_SCAN_ACCL_Z)
1033                 | BIT(INV_ICM20602_SCAN_GYRO_X)
1034                 | BIT(INV_ICM20602_SCAN_GYRO_Y)
1035                 | BIT(INV_ICM20602_SCAN_GYRO_Z)
1036                 | BIT(INV_ICM20602_SCAN_TEMP),
1037         0,
1038 };
1039
1040 /*
1041  * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and
1042  * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the
1043  * low-pass filter. Specifically, each of these sampling rates are about twice
1044  * the bandwidth of a corresponding low-pass filter, which should eliminate
1045  * aliasing following the Nyquist principle. By picking a frequency different
1046  * from these, the user risks aliasing effects.
1047  */
1048 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
1049 static IIO_CONST_ATTR(in_anglvel_scale_available,
1050                                           "0.000133090 0.000266181 0.000532362 0.001064724");
1051 static IIO_CONST_ATTR(in_accel_scale_available,
1052                                           "0.000598 0.001196 0.002392 0.004785");
1053 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
1054         inv_mpu6050_fifo_rate_store);
1055
1056 /* Deprecated: kept for userspace backward compatibility. */
1057 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
1058         ATTR_GYRO_MATRIX);
1059 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
1060         ATTR_ACCL_MATRIX);
1061
1062 static struct attribute *inv_attributes[] = {
1063         &iio_dev_attr_in_gyro_matrix.dev_attr.attr,  /* deprecated */
1064         &iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
1065         &iio_dev_attr_sampling_frequency.dev_attr.attr,
1066         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
1067         &iio_const_attr_in_accel_scale_available.dev_attr.attr,
1068         &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
1069         NULL,
1070 };
1071
1072 static const struct attribute_group inv_attribute_group = {
1073         .attrs = inv_attributes
1074 };
1075
1076 static const struct iio_info mpu_info = {
1077         .read_raw = &inv_mpu6050_read_raw,
1078         .write_raw = &inv_mpu6050_write_raw,
1079         .write_raw_get_fmt = &inv_write_raw_get_fmt,
1080         .attrs = &inv_attribute_group,
1081         .validate_trigger = inv_mpu6050_validate_trigger,
1082 };
1083
1084 /**
1085  *  inv_check_and_setup_chip() - check and setup chip.
1086  */
1087 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
1088 {
1089         int result;
1090         unsigned int regval;
1091         int i;
1092
1093         st->hw  = &hw_info[st->chip_type];
1094         st->reg = hw_info[st->chip_type].reg;
1095
1096         /* check chip self-identification */
1097         result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, &regval);
1098         if (result)
1099                 return result;
1100         if (regval != st->hw->whoami) {
1101                 /* check whoami against all possible values */
1102                 for (i = 0; i < INV_NUM_PARTS; ++i) {
1103                         if (regval == hw_info[i].whoami) {
1104                                 dev_warn(regmap_get_device(st->map),
1105                                         "whoami mismatch got %#02x (%s)"
1106                                         "expected %#02hhx (%s)\n",
1107                                         regval, hw_info[i].name,
1108                                         st->hw->whoami, st->hw->name);
1109                                 break;
1110                         }
1111                 }
1112                 if (i >= INV_NUM_PARTS) {
1113                         dev_err(regmap_get_device(st->map),
1114                                 "invalid whoami %#02x expected %#02hhx (%s)\n",
1115                                 regval, st->hw->whoami, st->hw->name);
1116                         return -ENODEV;
1117                 }
1118         }
1119
1120         /* reset to make sure previous state are not there */
1121         result = regmap_write(st->map, st->reg->pwr_mgmt_1,
1122                               INV_MPU6050_BIT_H_RESET);
1123         if (result)
1124                 return result;
1125         msleep(INV_MPU6050_POWER_UP_TIME);
1126
1127         /*
1128          * Turn power on. After reset, the sleep bit could be on
1129          * or off depending on the OTP settings. Turning power on
1130          * make it in a definite state as well as making the hardware
1131          * state align with the software state
1132          */
1133         result = inv_mpu6050_set_power_itg(st, true);
1134         if (result)
1135                 return result;
1136
1137         result = inv_mpu6050_switch_engine(st, false,
1138                                            INV_MPU6050_BIT_PWR_ACCL_STBY);
1139         if (result)
1140                 goto error_power_off;
1141         result = inv_mpu6050_switch_engine(st, false,
1142                                            INV_MPU6050_BIT_PWR_GYRO_STBY);
1143         if (result)
1144                 goto error_power_off;
1145
1146         return inv_mpu6050_set_power_itg(st, false);
1147
1148 error_power_off:
1149         inv_mpu6050_set_power_itg(st, false);
1150         return result;
1151 }
1152
1153 static int inv_mpu_core_enable_regulator_vddio(struct inv_mpu6050_state *st)
1154 {
1155         int result;
1156
1157         result = regulator_enable(st->vddio_supply);
1158         if (result) {
1159                 dev_err(regmap_get_device(st->map),
1160                         "Failed to enable vddio regulator: %d\n", result);
1161         } else {
1162                 /* Give the device a little bit of time to start up. */
1163                 usleep_range(35000, 70000);
1164         }
1165
1166         return result;
1167 }
1168
1169 static int inv_mpu_core_disable_regulator_vddio(struct inv_mpu6050_state *st)
1170 {
1171         int result;
1172
1173         result = regulator_disable(st->vddio_supply);
1174         if (result)
1175                 dev_err(regmap_get_device(st->map),
1176                         "Failed to disable vddio regulator: %d\n", result);
1177
1178         return result;
1179 }
1180
1181 static void inv_mpu_core_disable_regulator_action(void *_data)
1182 {
1183         struct inv_mpu6050_state *st = _data;
1184         int result;
1185
1186         result = regulator_disable(st->vdd_supply);
1187         if (result)
1188                 dev_err(regmap_get_device(st->map),
1189                         "Failed to disable vdd regulator: %d\n", result);
1190
1191         inv_mpu_core_disable_regulator_vddio(st);
1192 }
1193
1194 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
1195                 int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
1196 {
1197         struct inv_mpu6050_state *st;
1198         struct iio_dev *indio_dev;
1199         struct inv_mpu6050_platform_data *pdata;
1200         struct device *dev = regmap_get_device(regmap);
1201         int result;
1202         struct irq_data *desc;
1203         int irq_type;
1204
1205         indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
1206         if (!indio_dev)
1207                 return -ENOMEM;
1208
1209         BUILD_BUG_ON(ARRAY_SIZE(hw_info) != INV_NUM_PARTS);
1210         if (chip_type < 0 || chip_type >= INV_NUM_PARTS) {
1211                 dev_err(dev, "Bad invensense chip_type=%d name=%s\n",
1212                                 chip_type, name);
1213                 return -ENODEV;
1214         }
1215         st = iio_priv(indio_dev);
1216         mutex_init(&st->lock);
1217         st->chip_type = chip_type;
1218         st->powerup_count = 0;
1219         st->irq = irq;
1220         st->map = regmap;
1221
1222         pdata = dev_get_platdata(dev);
1223         if (!pdata) {
1224                 result = iio_read_mount_matrix(dev, "mount-matrix",
1225                                                &st->orientation);
1226                 if (result) {
1227                         dev_err(dev, "Failed to retrieve mounting matrix %d\n",
1228                                 result);
1229                         return result;
1230                 }
1231         } else {
1232                 st->plat_data = *pdata;
1233         }
1234
1235         desc = irq_get_irq_data(irq);
1236         if (!desc) {
1237                 dev_err(dev, "Could not find IRQ %d\n", irq);
1238                 return -EINVAL;
1239         }
1240
1241         irq_type = irqd_get_trigger_type(desc);
1242         if (!irq_type)
1243                 irq_type = IRQF_TRIGGER_RISING;
1244         if (irq_type == IRQF_TRIGGER_RISING)
1245                 st->irq_mask = INV_MPU6050_ACTIVE_HIGH;
1246         else if (irq_type == IRQF_TRIGGER_FALLING)
1247                 st->irq_mask = INV_MPU6050_ACTIVE_LOW;
1248         else if (irq_type == IRQF_TRIGGER_HIGH)
1249                 st->irq_mask = INV_MPU6050_ACTIVE_HIGH |
1250                         INV_MPU6050_LATCH_INT_EN;
1251         else if (irq_type == IRQF_TRIGGER_LOW)
1252                 st->irq_mask = INV_MPU6050_ACTIVE_LOW |
1253                         INV_MPU6050_LATCH_INT_EN;
1254         else {
1255                 dev_err(dev, "Invalid interrupt type 0x%x specified\n",
1256                         irq_type);
1257                 return -EINVAL;
1258         }
1259
1260         st->vdd_supply = devm_regulator_get(dev, "vdd");
1261         if (IS_ERR(st->vdd_supply)) {
1262                 if (PTR_ERR(st->vdd_supply) != -EPROBE_DEFER)
1263                         dev_err(dev, "Failed to get vdd regulator %d\n",
1264                                 (int)PTR_ERR(st->vdd_supply));
1265
1266                 return PTR_ERR(st->vdd_supply);
1267         }
1268
1269         st->vddio_supply = devm_regulator_get(dev, "vddio");
1270         if (IS_ERR(st->vddio_supply)) {
1271                 if (PTR_ERR(st->vddio_supply) != -EPROBE_DEFER)
1272                         dev_err(dev, "Failed to get vddio regulator %d\n",
1273                                 (int)PTR_ERR(st->vddio_supply));
1274
1275                 return PTR_ERR(st->vddio_supply);
1276         }
1277
1278         result = regulator_enable(st->vdd_supply);
1279         if (result) {
1280                 dev_err(dev, "Failed to enable vdd regulator: %d\n", result);
1281                 return result;
1282         }
1283
1284         result = inv_mpu_core_enable_regulator_vddio(st);
1285         if (result) {
1286                 regulator_disable(st->vdd_supply);
1287                 return result;
1288         }
1289
1290         result = devm_add_action_or_reset(dev, inv_mpu_core_disable_regulator_action,
1291                                  st);
1292         if (result) {
1293                 dev_err(dev, "Failed to setup regulator cleanup action %d\n",
1294                         result);
1295                 return result;
1296         }
1297
1298         /* fill magnetometer orientation */
1299         result = inv_mpu_magn_set_orient(st);
1300         if (result)
1301                 return result;
1302
1303         /* power is turned on inside check chip type*/
1304         result = inv_check_and_setup_chip(st);
1305         if (result)
1306                 return result;
1307
1308         result = inv_mpu6050_init_config(indio_dev);
1309         if (result) {
1310                 dev_err(dev, "Could not initialize device.\n");
1311                 return result;
1312         }
1313
1314         dev_set_drvdata(dev, indio_dev);
1315         indio_dev->dev.parent = dev;
1316         /* name will be NULL when enumerated via ACPI */
1317         if (name)
1318                 indio_dev->name = name;
1319         else
1320                 indio_dev->name = dev_name(dev);
1321
1322         /* requires parent device set in indio_dev */
1323         if (inv_mpu_bus_setup)
1324                 inv_mpu_bus_setup(indio_dev);
1325
1326         switch (chip_type) {
1327         case INV_MPU9250:
1328         case INV_MPU9255:
1329                 /*
1330                  * Use magnetometer inside the chip only if there is no i2c
1331                  * auxiliary device in use.
1332                  */
1333                 if (!st->magn_disabled) {
1334                         indio_dev->channels = inv_mpu9250_channels;
1335                         indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
1336                         indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
1337                 } else {
1338                         indio_dev->channels = inv_mpu_channels;
1339                         indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
1340                         indio_dev->available_scan_masks = inv_mpu_scan_masks;
1341                 }
1342                 break;
1343         case INV_ICM20602:
1344                 indio_dev->channels = inv_icm20602_channels;
1345                 indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
1346                 indio_dev->available_scan_masks = inv_icm20602_scan_masks;
1347                 break;
1348         default:
1349                 indio_dev->channels = inv_mpu_channels;
1350                 indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
1351                 indio_dev->available_scan_masks = inv_mpu_scan_masks;
1352                 break;
1353         }
1354
1355         indio_dev->info = &mpu_info;
1356         indio_dev->modes = INDIO_BUFFER_TRIGGERED;
1357
1358         result = devm_iio_triggered_buffer_setup(dev, indio_dev,
1359                                                  iio_pollfunc_store_time,
1360                                                  inv_mpu6050_read_fifo,
1361                                                  NULL);
1362         if (result) {
1363                 dev_err(dev, "configure buffer fail %d\n", result);
1364                 return result;
1365         }
1366         result = inv_mpu6050_probe_trigger(indio_dev, irq_type);
1367         if (result) {
1368                 dev_err(dev, "trigger probe fail %d\n", result);
1369                 return result;
1370         }
1371
1372         result = devm_iio_device_register(dev, indio_dev);
1373         if (result) {
1374                 dev_err(dev, "IIO register fail %d\n", result);
1375                 return result;
1376         }
1377
1378         return 0;
1379 }
1380 EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
1381
1382 #ifdef CONFIG_PM_SLEEP
1383
1384 static int inv_mpu_resume(struct device *dev)
1385 {
1386         struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
1387         int result;
1388
1389         mutex_lock(&st->lock);
1390         result = inv_mpu_core_enable_regulator_vddio(st);
1391         if (result)
1392                 goto out_unlock;
1393
1394         result = inv_mpu6050_set_power_itg(st, true);
1395 out_unlock:
1396         mutex_unlock(&st->lock);
1397
1398         return result;
1399 }
1400
1401 static int inv_mpu_suspend(struct device *dev)
1402 {
1403         struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
1404         int result;
1405
1406         mutex_lock(&st->lock);
1407         result = inv_mpu6050_set_power_itg(st, false);
1408         inv_mpu_core_disable_regulator_vddio(st);
1409         mutex_unlock(&st->lock);
1410
1411         return result;
1412 }
1413 #endif /* CONFIG_PM_SLEEP */
1414
1415 SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
1416 EXPORT_SYMBOL_GPL(inv_mpu_pmops);
1417
1418 MODULE_AUTHOR("Invensense Corporation");
1419 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
1420 MODULE_LICENSE("GPL");