drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

   1 /*
   2 * Copyright (C) 2012 Invensense, Inc.
   3 *
   4 * This software is licensed under the terms of the GNU General Public
   5 * License version 2, as published by the Free Software Foundation, and
   6 * may be copied, distributed, and modified under those terms.
   7 *
   8 * This program is distributed in the hope that it will be useful,
   9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
  10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  11 * GNU General Public License for more details.
  12 */
  13
  14 #include <linux/module.h>
  15 #include <linux/slab.h>
  16 #include <linux/i2c.h>
  17 #include <linux/err.h>
  18 #include <linux/delay.h>
  19 #include <linux/sysfs.h>
  20 #include <linux/jiffies.h>
  21 #include <linux/irq.h>
  22 #include <linux/interrupt.h>
  23 #include <linux/iio/iio.h>
  24 #include <linux/acpi.h>
  25 #include <linux/platform_device.h>
  26 #include <linux/regulator/consumer.h>
  27 #include "inv_mpu_iio.h"
  28
  29 /*
  30  * this is the gyro scale translated from dynamic range plus/minus
  31  * {250, 500, 1000, 2000} to rad/s
  32  */
  33 static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
  34
  35 /*
  36  * this is the accel scale translated from dynamic range plus/minus
  37  * {2, 4, 8, 16} to m/s^2
  38  */
  39 static const int accel_scale[] = {598, 1196, 2392, 4785};
  40
  41 static const struct inv_mpu6050_reg_map reg_set_icm20602 = {
  42         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  43         .lpf                    = INV_MPU6050_REG_CONFIG,
  44         .accel_lpf              = INV_MPU6500_REG_ACCEL_CONFIG_2,
  45         .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
  46         .fifo_en                = INV_MPU6050_REG_FIFO_EN,
  47         .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
  48         .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
  49         .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
  50         .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
  51         .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
  52         .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
  53         .temperature            = INV_MPU6050_REG_TEMPERATURE,
  54         .int_enable             = INV_MPU6050_REG_INT_ENABLE,
  55         .int_status             = INV_MPU6050_REG_INT_STATUS,
  56         .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
  57         .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
  58         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
  59         .accl_offset            = INV_MPU6500_REG_ACCEL_OFFSET,
  60         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
  61         .i2c_if                 = INV_ICM20602_REG_I2C_IF,
  62 };
  63
  64 static const struct inv_mpu6050_reg_map reg_set_6500 = {
  65         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  66         .lpf                    = INV_MPU6050_REG_CONFIG,
  67         .accel_lpf              = INV_MPU6500_REG_ACCEL_CONFIG_2,
  68         .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
  69         .fifo_en                = INV_MPU6050_REG_FIFO_EN,
  70         .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
  71         .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
  72         .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
  73         .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
  74         .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
  75         .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
  76         .temperature            = INV_MPU6050_REG_TEMPERATURE,
  77         .int_enable             = INV_MPU6050_REG_INT_ENABLE,
  78         .int_status             = INV_MPU6050_REG_INT_STATUS,
  79         .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
  80         .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
  81         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
  82         .accl_offset            = INV_MPU6500_REG_ACCEL_OFFSET,
  83         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
  84         .i2c_if                 = 0,
  85 };
  86
  87 static const struct inv_mpu6050_reg_map reg_set_6050 = {
  88         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  89         .lpf                    = INV_MPU6050_REG_CONFIG,
  90         .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
  91         .fifo_en                = INV_MPU6050_REG_FIFO_EN,
  92         .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
  93         .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
  94         .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
  95         .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
  96         .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
  97         .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
  98         .temperature            = INV_MPU6050_REG_TEMPERATURE,
  99         .int_enable             = INV_MPU6050_REG_INT_ENABLE,
 100         .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
 101         .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
 102         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
 103         .accl_offset            = INV_MPU6050_REG_ACCEL_OFFSET,
 104         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
 105         .i2c_if                 = 0,
 106 };
 107
 108 static const struct inv_mpu6050_chip_config chip_config_6050 = {
 109         .fsr = INV_MPU6050_FSR_2000DPS,
 110         .lpf = INV_MPU6050_FILTER_20HZ,
 111         .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE),
 112         .gyro_fifo_enable = false,
 113         .accl_fifo_enable = false,
 114         .accl_fs = INV_MPU6050_FS_02G,
 115         .user_ctrl = 0,
 116 };
 117
 118 /* Indexed by enum inv_devices */
 119 static const struct inv_mpu6050_hw hw_info[] = {
 120         {
 121                 .whoami = INV_MPU6050_WHOAMI_VALUE,
 122                 .name = "MPU6050",
 123                 .reg = &reg_set_6050,
 124                 .config = &chip_config_6050,
 125         },
 126         {
 127                 .whoami = INV_MPU6500_WHOAMI_VALUE,
 128                 .name = "MPU6500",
 129                 .reg = &reg_set_6500,
 130                 .config = &chip_config_6050,
 131         },
 132         {
 133                 .whoami = INV_MPU6515_WHOAMI_VALUE,
 134                 .name = "MPU6515",
 135                 .reg = &reg_set_6500,
 136                 .config = &chip_config_6050,
 137         },
 138         {
 139                 .whoami = INV_MPU6000_WHOAMI_VALUE,
 140                 .name = "MPU6000",
 141                 .reg = &reg_set_6050,
 142                 .config = &chip_config_6050,
 143         },
 144         {
 145                 .whoami = INV_MPU9150_WHOAMI_VALUE,
 146                 .name = "MPU9150",
 147                 .reg = &reg_set_6050,
 148                 .config = &chip_config_6050,
 149         },
 150         {
 151                 .whoami = INV_MPU9250_WHOAMI_VALUE,
 152                 .name = "MPU9250",
 153                 .reg = &reg_set_6500,
 154                 .config = &chip_config_6050,
 155         },
 156         {
 157                 .whoami = INV_MPU9255_WHOAMI_VALUE,
 158                 .name = "MPU9255",
 159                 .reg = &reg_set_6500,
 160                 .config = &chip_config_6050,
 161         },
 162         {
 163                 .whoami = INV_ICM20608_WHOAMI_VALUE,
 164                 .name = "ICM20608",
 165                 .reg = &reg_set_6500,
 166                 .config = &chip_config_6050,
 167         },
 168         {
 169                 .whoami = INV_ICM20602_WHOAMI_VALUE,
 170                 .name = "ICM20602",
 171                 .reg = &reg_set_icm20602,
 172                 .config = &chip_config_6050,
 173         },
 174 };
 175
 176 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
 177 {
 178         unsigned int d, mgmt_1;
 179         int result;
 180         /*
 181          * switch clock needs to be careful. Only when gyro is on, can
 182          * clock source be switched to gyro. Otherwise, it must be set to
 183          * internal clock
 184          */
 185         if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
 186                 result = regmap_read(st->map, st->reg->pwr_mgmt_1, &mgmt_1);
 187                 if (result)
 188                         return result;
 189
 190                 mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
 191         }
 192
 193         if ((mask == INV_MPU6050_BIT_PWR_GYRO_STBY) && (!en)) {
 194                 /*
 195                  * turning off gyro requires switch to internal clock first.
 196                  * Then turn off gyro engine
 197                  */
 198                 mgmt_1 |= INV_CLK_INTERNAL;
 199                 result = regmap_write(st->map, st->reg->pwr_mgmt_1, mgmt_1);
 200                 if (result)
 201                         return result;
 202         }
 203
 204         result = regmap_read(st->map, st->reg->pwr_mgmt_2, &d);
 205         if (result)
 206                 return result;
 207         if (en)
 208                 d &= ~mask;
 209         else
 210                 d |= mask;
 211         result = regmap_write(st->map, st->reg->pwr_mgmt_2, d);
 212         if (result)
 213                 return result;
 214
 215         if (en) {
 216                 /* Wait for output to stabilize */
 217                 msleep(INV_MPU6050_TEMP_UP_TIME);
 218                 if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
 219                         /* switch internal clock to PLL */
 220                         mgmt_1 |= INV_CLK_PLL;
 221                         result = regmap_write(st->map,
 222                                               st->reg->pwr_mgmt_1, mgmt_1);
 223                         if (result)
 224                                 return result;
 225                 }
 226         }
 227
 228         return 0;
 229 }
 230
 231 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 232 {
 233         int result;
 234
 235         if (power_on) {
 236                 if (!st->powerup_count) {
 237                         result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);
 238                         if (result)
 239                                 return result;
 240                         usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
 241                                      INV_MPU6050_REG_UP_TIME_MAX);
 242                 }
 243                 st->powerup_count++;
 244         } else {
 245                 if (st->powerup_count == 1) {
 246                         result = regmap_write(st->map, st->reg->pwr_mgmt_1,
 247                                               INV_MPU6050_BIT_SLEEP);
 248                         if (result)
 249                                 return result;
 250                 }
 251                 st->powerup_count--;
 252         }
 253
 254         dev_dbg(regmap_get_device(st->map), "set power %d, count=%u\n",
 255                 power_on, st->powerup_count);
 256
 257         return 0;
 258 }
 259 EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);
 260
 261 /**
 262  *  inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
 263  *
 264  *  MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope
 265  *  MPU6500 and above have a dedicated register for accelerometer
 266  */
 267 static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
 268                                     enum inv_mpu6050_filter_e val)
 269 {
 270         int result;
 271
 272         result = regmap_write(st->map, st->reg->lpf, val);
 273         if (result)
 274                 return result;
 275
 276         switch (st->chip_type) {
 277         case INV_MPU6050:
 278         case INV_MPU6000:
 279         case INV_MPU9150:
 280                 /* old chips, nothing to do */
 281                 result = 0;
 282                 break;
 283         default:
 284                 /* set accel lpf */
 285                 result = regmap_write(st->map, st->reg->accel_lpf, val);
 286                 break;
 287         }
 288
 289         return result;
 290 }
 291
 292 /**
 293  *  inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
 294  *
 295  *  Initial configuration:
 296  *  FSR: ± 2000DPS
 297  *  DLPF: 20Hz
 298  *  FIFO rate: 50Hz
 299  *  Clock source: Gyro PLL
 300  */
 301 static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 302 {
 303         int result;
 304         u8 d;
 305         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 306
 307         result = inv_mpu6050_set_power_itg(st, true);
 308         if (result)
 309                 return result;
 310         d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 311         result = regmap_write(st->map, st->reg->gyro_config, d);
 312         if (result)
 313                 goto error_power_off;
 314
 315         result = inv_mpu6050_set_lpf_regs(st, INV_MPU6050_FILTER_20HZ);
 316         if (result)
 317                 goto error_power_off;
 318
 319         d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE);
 320         result = regmap_write(st->map, st->reg->sample_rate_div, d);
 321         if (result)
 322                 goto error_power_off;
 323
 324         d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 325         result = regmap_write(st->map, st->reg->accl_config, d);
 326         if (result)
 327                 goto error_power_off;
 328
 329         result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
 330         if (result)
 331                 return result;
 332
 333         memcpy(&st->chip_config, hw_info[st->chip_type].config,
 334                sizeof(struct inv_mpu6050_chip_config));
 335
 336         /*
 337          * Internal chip period is 1ms (1kHz).
 338          * Let's use at the beginning the theorical value before measuring
 339          * with interrupt timestamps.
 340          */
 341         st->chip_period = NSEC_PER_MSEC;
 342
 343         return inv_mpu6050_set_power_itg(st, false);
 344
 345 error_power_off:
 346         inv_mpu6050_set_power_itg(st, false);
 347         return result;
 348 }
 349
 350 static int inv_mpu6050_sensor_set(struct inv_mpu6050_state  *st, int reg,
 351                                 int axis, int val)
 352 {
 353         int ind, result;
 354         __be16 d = cpu_to_be16(val);
 355
 356         ind = (axis - IIO_MOD_X) * 2;
 357         result = regmap_bulk_write(st->map, reg + ind, (u8 *)&d, 2);
 358         if (result)
 359                 return -EINVAL;
 360
 361         return 0;
 362 }
 363
 364 static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
 365                                    int axis, int *val)
 366 {
 367         int ind, result;
 368         __be16 d;
 369
 370         ind = (axis - IIO_MOD_X) * 2;
 371         result = regmap_bulk_read(st->map, reg + ind, (u8 *)&d, 2);
 372         if (result)
 373                 return -EINVAL;
 374         *val = (short)be16_to_cpup(&d);
 375
 376         return IIO_VAL_INT;
 377 }
 378
 379 static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
 380                                          struct iio_chan_spec const *chan,
 381                                          int *val)
 382 {
 383         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 384         int result;
 385         int ret;
 386
 387         result = inv_mpu6050_set_power_itg(st, true);
 388         if (result)
 389                 return result;
 390
 391         switch (chan->type) {
 392         case IIO_ANGL_VEL:
 393                 result = inv_mpu6050_switch_engine(st, true,
 394                                 INV_MPU6050_BIT_PWR_GYRO_STBY);
 395                 if (result)
 396                         goto error_power_off;
 397                 ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
 398                                               chan->channel2, val);
 399                 result = inv_mpu6050_switch_engine(st, false,
 400                                 INV_MPU6050_BIT_PWR_GYRO_STBY);
 401                 if (result)
 402                         goto error_power_off;
 403                 break;
 404         case IIO_ACCEL:
 405                 result = inv_mpu6050_switch_engine(st, true,
 406                                 INV_MPU6050_BIT_PWR_ACCL_STBY);
 407                 if (result)
 408                         goto error_power_off;
 409                 ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
 410                                               chan->channel2, val);
 411                 result = inv_mpu6050_switch_engine(st, false,
 412                                 INV_MPU6050_BIT_PWR_ACCL_STBY);
 413                 if (result)
 414                         goto error_power_off;
 415                 break;
 416         case IIO_TEMP:
 417                 /* wait for stablization */
 418                 msleep(INV_MPU6050_SENSOR_UP_TIME);
 419                 ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
 420                                               IIO_MOD_X, val);
 421                 break;
 422         default:
 423                 ret = -EINVAL;
 424                 break;
 425         }
 426
 427         result = inv_mpu6050_set_power_itg(st, false);
 428         if (result)
 429                 goto error_power_off;
 430
 431         return ret;
 432
 433 error_power_off:
 434         inv_mpu6050_set_power_itg(st, false);
 435         return result;
 436 }
 437
 438 static int
 439 inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 440                      struct iio_chan_spec const *chan,
 441                      int *val, int *val2, long mask)
 442 {
 443         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 444         int ret = 0;
 445
 446         switch (mask) {
 447         case IIO_CHAN_INFO_RAW:
 448                 ret = iio_device_claim_direct_mode(indio_dev);
 449                 if (ret)
 450                         return ret;
 451                 mutex_lock(&st->lock);
 452                 ret = inv_mpu6050_read_channel_data(indio_dev, chan, val);
 453                 mutex_unlock(&st->lock);
 454                 iio_device_release_direct_mode(indio_dev);
 455                 return ret;
 456         case IIO_CHAN_INFO_SCALE:
 457                 switch (chan->type) {
 458                 case IIO_ANGL_VEL:
 459                         mutex_lock(&st->lock);
 460                         *val  = 0;
 461                         *val2 = gyro_scale_6050[st->chip_config.fsr];
 462                         mutex_unlock(&st->lock);
 463
 464                         return IIO_VAL_INT_PLUS_NANO;
 465                 case IIO_ACCEL:
 466                         mutex_lock(&st->lock);
 467                         *val = 0;
 468                         *val2 = accel_scale[st->chip_config.accl_fs];
 469                         mutex_unlock(&st->lock);
 470
 471                         return IIO_VAL_INT_PLUS_MICRO;
 472                 case IIO_TEMP:
 473                         *val = 0;
 474                         if (st->chip_type == INV_ICM20602)
 475                                 *val2 = INV_ICM20602_TEMP_SCALE;
 476                         else
 477                                 *val2 = INV_MPU6050_TEMP_SCALE;
 478
 479                         return IIO_VAL_INT_PLUS_MICRO;
 480                 default:
 481                         return -EINVAL;
 482                 }
 483         case IIO_CHAN_INFO_OFFSET:
 484                 switch (chan->type) {
 485                 case IIO_TEMP:
 486                         if (st->chip_type == INV_ICM20602)
 487                                 *val = INV_ICM20602_TEMP_OFFSET;
 488                         else
 489                                 *val = INV_MPU6050_TEMP_OFFSET;
 490
 491                         return IIO_VAL_INT;
 492                 default:
 493                         return -EINVAL;
 494                 }
 495         case IIO_CHAN_INFO_CALIBBIAS:
 496                 switch (chan->type) {
 497                 case IIO_ANGL_VEL:
 498                         mutex_lock(&st->lock);
 499                         ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
 500                                                 chan->channel2, val);
 501                         mutex_unlock(&st->lock);
 502                         return IIO_VAL_INT;
 503                 case IIO_ACCEL:
 504                         mutex_lock(&st->lock);
 505                         ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
 506                                                 chan->channel2, val);
 507                         mutex_unlock(&st->lock);
 508                         return IIO_VAL_INT;
 509
 510                 default:
 511                         return -EINVAL;
 512                 }
 513         default:
 514                 return -EINVAL;
 515         }
 516 }
 517
 518 static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
 519 {
 520         int result, i;
 521         u8 d;
 522
 523         for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
 524                 if (gyro_scale_6050[i] == val) {
 525                         d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 526                         result = regmap_write(st->map, st->reg->gyro_config, d);
 527                         if (result)
 528                                 return result;
 529
 530                         st->chip_config.fsr = i;
 531                         return 0;
 532                 }
 533         }
 534
 535         return -EINVAL;
 536 }
 537
 538 static int inv_write_raw_get_fmt(struct iio_dev *indio_dev,
 539                                  struct iio_chan_spec const *chan, long mask)
 540 {
 541         switch (mask) {
 542         case IIO_CHAN_INFO_SCALE:
 543                 switch (chan->type) {
 544                 case IIO_ANGL_VEL:
 545                         return IIO_VAL_INT_PLUS_NANO;
 546                 default:
 547                         return IIO_VAL_INT_PLUS_MICRO;
 548                 }
 549         default:
 550                 return IIO_VAL_INT_PLUS_MICRO;
 551         }
 552
 553         return -EINVAL;
 554 }
 555
 556 static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
 557 {
 558         int result, i;
 559         u8 d;
 560
 561         for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
 562                 if (accel_scale[i] == val) {
 563                         d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 564                         result = regmap_write(st->map, st->reg->accl_config, d);
 565                         if (result)
 566                                 return result;
 567
 568                         st->chip_config.accl_fs = i;
 569                         return 0;
 570                 }
 571         }
 572
 573         return -EINVAL;
 574 }
 575
 576 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
 577                                  struct iio_chan_spec const *chan,
 578                                  int val, int val2, long mask)
 579 {
 580         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 581         int result;
 582
 583         /*
 584          * we should only update scale when the chip is disabled, i.e.
 585          * not running
 586          */
 587         result = iio_device_claim_direct_mode(indio_dev);
 588         if (result)
 589                 return result;
 590
 591         mutex_lock(&st->lock);
 592         result = inv_mpu6050_set_power_itg(st, true);
 593         if (result)
 594                 goto error_write_raw_unlock;
 595
 596         switch (mask) {
 597         case IIO_CHAN_INFO_SCALE:
 598                 switch (chan->type) {
 599                 case IIO_ANGL_VEL:
 600                         result = inv_mpu6050_write_gyro_scale(st, val2);
 601                         break;
 602                 case IIO_ACCEL:
 603                         result = inv_mpu6050_write_accel_scale(st, val2);
 604                         break;
 605                 default:
 606                         result = -EINVAL;
 607                         break;
 608                 }
 609                 break;
 610         case IIO_CHAN_INFO_CALIBBIAS:
 611                 switch (chan->type) {
 612                 case IIO_ANGL_VEL:
 613                         result = inv_mpu6050_sensor_set(st,
 614                                                         st->reg->gyro_offset,
 615                                                         chan->channel2, val);
 616                         break;
 617                 case IIO_ACCEL:
 618                         result = inv_mpu6050_sensor_set(st,
 619                                                         st->reg->accl_offset,
 620                                                         chan->channel2, val);
 621                         break;
 622                 default:
 623                         result = -EINVAL;
 624                         break;
 625                 }
 626                 break;
 627         default:
 628                 result = -EINVAL;
 629                 break;
 630         }
 631
 632         result |= inv_mpu6050_set_power_itg(st, false);
 633 error_write_raw_unlock:
 634         mutex_unlock(&st->lock);
 635         iio_device_release_direct_mode(indio_dev);
 636
 637         return result;
 638 }
 639
 640 /**
 641  *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
 642  *
 643  *                  Based on the Nyquist principle, the sampling rate must
 644  *                  exceed twice of the bandwidth of the signal, or there
 645  *                  would be alising. This function basically search for the
 646  *                  correct low pass parameters based on the fifo rate, e.g,
 647  *                  sampling frequency.
 648  *
 649  *  lpf is set automatically when setting sampling rate to avoid any aliases.
 650  */
 651 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 652 {
 653         static const int hz[] = {188, 98, 42, 20, 10, 5};
 654         static const int d[] = {
 655                 INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
 656                 INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
 657                 INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
 658         };
 659         int i, h, result;
 660         u8 data;
 661
 662         h = (rate >> 1);
 663         i = 0;
 664         while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
 665                 i++;
 666         data = d[i];
 667         result = inv_mpu6050_set_lpf_regs(st, data);
 668         if (result)
 669                 return result;
 670         st->chip_config.lpf = data;
 671
 672         return 0;
 673 }
 674
 675 /**
 676  * inv_mpu6050_fifo_rate_store() - Set fifo rate.
 677  */
 678 static ssize_t
 679 inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
 680                             const char *buf, size_t count)
 681 {
 682         int fifo_rate;
 683         u8 d;
 684         int result;
 685         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 686         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 687
 688         if (kstrtoint(buf, 10, &fifo_rate))
 689                 return -EINVAL;
 690         if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
 691             fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
 692                 return -EINVAL;
 693
 694         result = iio_device_claim_direct_mode(indio_dev);
 695         if (result)
 696                 return result;
 697
 698         /* compute the chip sample rate divider */
 699         d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
 700         /* compute back the fifo rate to handle truncation cases */
 701         fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d);
 702
 703         mutex_lock(&st->lock);
 704         if (d == st->chip_config.divider) {
 705                 result = 0;
 706                 goto fifo_rate_fail_unlock;
 707         }
 708         result = inv_mpu6050_set_power_itg(st, true);
 709         if (result)
 710                 goto fifo_rate_fail_unlock;
 711
 712         result = regmap_write(st->map, st->reg->sample_rate_div, d);
 713         if (result)
 714                 goto fifo_rate_fail_power_off;
 715         st->chip_config.divider = d;
 716
 717         result = inv_mpu6050_set_lpf(st, fifo_rate);
 718         if (result)
 719                 goto fifo_rate_fail_power_off;
 720
 721 fifo_rate_fail_power_off:
 722         result |= inv_mpu6050_set_power_itg(st, false);
 723 fifo_rate_fail_unlock:
 724         mutex_unlock(&st->lock);
 725         iio_device_release_direct_mode(indio_dev);
 726         if (result)
 727                 return result;
 728
 729         return count;
 730 }
 731
 732 /**
 733  * inv_fifo_rate_show() - Get the current sampling rate.
 734  */
 735 static ssize_t
 736 inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
 737                    char *buf)
 738 {
 739         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 740         unsigned fifo_rate;
 741
 742         mutex_lock(&st->lock);
 743         fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
 744         mutex_unlock(&st->lock);
 745
 746         return scnprintf(buf, PAGE_SIZE, "%u\n", fifo_rate);
 747 }
 748
 749 /**
 750  * inv_attr_show() - calling this function will show current
 751  *                    parameters.
 752  *
 753  * Deprecated in favor of IIO mounting matrix API.
 754  *
 755  * See inv_get_mount_matrix()
 756  */
 757 static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
 758                              char *buf)
 759 {
 760         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 761         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 762         s8 *m;
 763
 764         switch (this_attr->address) {
 765         /*
 766          * In MPU6050, the two matrix are the same because gyro and accel
 767          * are integrated in one chip
 768          */
 769         case ATTR_GYRO_MATRIX:
 770         case ATTR_ACCL_MATRIX:
 771                 m = st->plat_data.orientation;
 772
 773                 return scnprintf(buf, PAGE_SIZE,
 774                         "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
 775                         m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
 776         default:
 777                 return -EINVAL;
 778         }
 779 }
 780
 781 /**
 782  * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
 783  *                                  MPU6050 device.
 784  * @indio_dev: The IIO device
 785  * @trig: The new trigger
 786  *
 787  * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
 788  * device, -EINVAL otherwise.
 789  */
 790 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 791                                         struct iio_trigger *trig)
 792 {
 793         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 794
 795         if (st->trig != trig)
 796                 return -EINVAL;
 797
 798         return 0;
 799 }
 800
 801 static const struct iio_mount_matrix *
 802 inv_get_mount_matrix(const struct iio_dev *indio_dev,
 803                      const struct iio_chan_spec *chan)
 804 {
 805         struct inv_mpu6050_state *data = iio_priv(indio_dev);
 806
 807         return &data->orientation;
 808 }
 809
 810 static const struct iio_chan_spec_ext_info inv_ext_info[] = {
 811         IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
 812         { }
 813 };
 814
 815 #define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
 816         {                                                             \
 817                 .type = _type,                                        \
 818                 .modified = 1,                                        \
 819                 .channel2 = _channel2,                                \
 820                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 821                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |        \
 822                                       BIT(IIO_CHAN_INFO_CALIBBIAS),   \
 823                 .scan_index = _index,                                 \
 824                 .scan_type = {                                        \
 825                                 .sign = 's',                          \
 826                                 .realbits = 16,                       \
 827                                 .storagebits = 16,                    \
 828                                 .shift = 0,                           \
 829                                 .endianness = IIO_BE,                 \
 830                              },                                       \
 831                 .ext_info = inv_ext_info,                             \
 832         }
 833
 834 static const struct iio_chan_spec inv_mpu_channels[] = {
 835         IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
 836         /*
 837          * Note that temperature should only be via polled reading only,
 838          * not the final scan elements output.
 839          */
 840         {
 841                 .type = IIO_TEMP,
 842                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
 843                                 | BIT(IIO_CHAN_INFO_OFFSET)
 844                                 | BIT(IIO_CHAN_INFO_SCALE),
 845                 .scan_index = -1,
 846         },
 847         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 848         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 849         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
 850
 851         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
 852         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
 853         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
 854 };
 855
 856 static const struct iio_chan_spec inv_icm20602_channels[] = {
 857         IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
 858         {
 859                 .type = IIO_TEMP,
 860                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
 861                                 | BIT(IIO_CHAN_INFO_OFFSET)
 862                                 | BIT(IIO_CHAN_INFO_SCALE),
 863                 .scan_index = INV_ICM20602_SCAN_TEMP,
 864                 .scan_type = {
 865                                 .sign = 's',
 866                                 .realbits = 16,
 867                                 .storagebits = 16,
 868                                 .shift = 0,
 869                                 .endianness = IIO_BE,
 870                              },
 871         },
 872
 873         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
 874         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
 875         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),
 876
 877         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
 878         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
 879         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
 880 };
 881
 882 /*
 883  * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and
 884  * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the
 885  * low-pass filter. Specifically, each of these sampling rates are about twice
 886  * the bandwidth of a corresponding low-pass filter, which should eliminate
 887  * aliasing following the Nyquist principle. By picking a frequency different
 888  * from these, the user risks aliasing effects.
 889  */
 890 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
 891 static IIO_CONST_ATTR(in_anglvel_scale_available,
 892                                           "0.000133090 0.000266181 0.000532362 0.001064724");
 893 static IIO_CONST_ATTR(in_accel_scale_available,
 894                                           "0.000598 0.001196 0.002392 0.004785");
 895 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
 896         inv_mpu6050_fifo_rate_store);
 897
 898 /* Deprecated: kept for userspace backward compatibility. */
 899 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
 900         ATTR_GYRO_MATRIX);
 901 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
 902         ATTR_ACCL_MATRIX);
 903
 904 static struct attribute *inv_attributes[] = {
 905         &iio_dev_attr_in_gyro_matrix.dev_attr.attr,  /* deprecated */
 906         &iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
 907         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 908         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
 909         &iio_const_attr_in_accel_scale_available.dev_attr.attr,
 910         &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
 911         NULL,
 912 };
 913
 914 static const struct attribute_group inv_attribute_group = {
 915         .attrs = inv_attributes
 916 };
 917
 918 static const struct iio_info mpu_info = {
 919         .read_raw = &inv_mpu6050_read_raw,
 920         .write_raw = &inv_mpu6050_write_raw,
 921         .write_raw_get_fmt = &inv_write_raw_get_fmt,
 922         .attrs = &inv_attribute_group,
 923         .validate_trigger = inv_mpu6050_validate_trigger,
 924 };
 925
 926 /**
 927  *  inv_check_and_setup_chip() - check and setup chip.
 928  */
 929 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 930 {
 931         int result;
 932         unsigned int regval;
 933         int i;
 934
 935         st->hw  = &hw_info[st->chip_type];
 936         st->reg = hw_info[st->chip_type].reg;
 937
 938         /* check chip self-identification */
 939         result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, &regval);
 940         if (result)
 941                 return result;
 942         if (regval != st->hw->whoami) {
 943                 /* check whoami against all possible values */
 944                 for (i = 0; i < INV_NUM_PARTS; ++i) {
 945                         if (regval == hw_info[i].whoami) {
 946                                 dev_warn(regmap_get_device(st->map),
 947                                         "whoami mismatch got %#02x (%s)"
 948                                         "expected %#02hhx (%s)\n",
 949                                         regval, hw_info[i].name,
 950                                         st->hw->whoami, st->hw->name);
 951                                 break;
 952                         }
 953                 }
 954                 if (i >= INV_NUM_PARTS) {
 955                         dev_err(regmap_get_device(st->map),
 956                                 "invalid whoami %#02x expected %#02hhx (%s)\n",
 957                                 regval, st->hw->whoami, st->hw->name);
 958                         return -ENODEV;
 959                 }
 960         }
 961
 962         /* reset to make sure previous state are not there */
 963         result = regmap_write(st->map, st->reg->pwr_mgmt_1,
 964                               INV_MPU6050_BIT_H_RESET);
 965         if (result)
 966                 return result;
 967         msleep(INV_MPU6050_POWER_UP_TIME);
 968
 969         /*
 970          * Turn power on. After reset, the sleep bit could be on
 971          * or off depending on the OTP settings. Turning power on
 972          * make it in a definite state as well as making the hardware
 973          * state align with the software state
 974          */
 975         result = inv_mpu6050_set_power_itg(st, true);
 976         if (result)
 977                 return result;
 978
 979         result = inv_mpu6050_switch_engine(st, false,
 980                                            INV_MPU6050_BIT_PWR_ACCL_STBY);
 981         if (result)
 982                 goto error_power_off;
 983         result = inv_mpu6050_switch_engine(st, false,
 984                                            INV_MPU6050_BIT_PWR_GYRO_STBY);
 985         if (result)
 986                 goto error_power_off;
 987
 988         return inv_mpu6050_set_power_itg(st, false);
 989
 990 error_power_off:
 991         inv_mpu6050_set_power_itg(st, false);
 992         return result;
 993 }
 994
 995 static int inv_mpu_core_enable_regulator(struct inv_mpu6050_state *st)
 996 {
 997         int result;
 998
 999         result = regulator_enable(st->vddio_supply);
1000         if (result) {
1001                 dev_err(regmap_get_device(st->map),
1002                         "Failed to enable regulator: %d\n", result);
1003         } else {
1004                 /* Give the device a little bit of time to start up. */
1005                 usleep_range(35000, 70000);
1006         }
1007
1008         return result;
1009 }
1010
1011 static int inv_mpu_core_disable_regulator(struct inv_mpu6050_state *st)
1012 {
1013         int result;
1014
1015         result = regulator_disable(st->vddio_supply);
1016         if (result)
1017                 dev_err(regmap_get_device(st->map),
1018                         "Failed to disable regulator: %d\n", result);
1019
1020         return result;
1021 }
1022
1023 static void inv_mpu_core_disable_regulator_action(void *_data)
1024 {
1025         inv_mpu_core_disable_regulator(_data);
1026 }
1027
1028 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
1029                 int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
1030 {
1031         struct inv_mpu6050_state *st;
1032         struct iio_dev *indio_dev;
1033         struct inv_mpu6050_platform_data *pdata;
1034         struct device *dev = regmap_get_device(regmap);
1035         int result;
1036         struct irq_data *desc;
1037         int irq_type;
1038
1039         indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
1040         if (!indio_dev)
1041                 return -ENOMEM;
1042
1043         BUILD_BUG_ON(ARRAY_SIZE(hw_info) != INV_NUM_PARTS);
1044         if (chip_type < 0 || chip_type >= INV_NUM_PARTS) {
1045                 dev_err(dev, "Bad invensense chip_type=%d name=%s\n",
1046                                 chip_type, name);
1047                 return -ENODEV;
1048         }
1049         st = iio_priv(indio_dev);
1050         mutex_init(&st->lock);
1051         st->chip_type = chip_type;
1052         st->powerup_count = 0;
1053         st->irq = irq;
1054         st->map = regmap;
1055
1056         pdata = dev_get_platdata(dev);
1057         if (!pdata) {
1058                 result = iio_read_mount_matrix(dev, "mount-matrix",
1059                                                &st->orientation);
1060                 if (result) {
1061                         dev_err(dev, "Failed to retrieve mounting matrix %d\n",
1062                                 result);
1063                         return result;
1064                 }
1065         } else {
1066                 st->plat_data = *pdata;
1067         }
1068
1069         desc = irq_get_irq_data(irq);
1070         if (!desc) {
1071                 dev_err(dev, "Could not find IRQ %d\n", irq);
1072                 return -EINVAL;
1073         }
1074
1075         irq_type = irqd_get_trigger_type(desc);
1076         if (!irq_type)
1077                 irq_type = IRQF_TRIGGER_RISING;
1078         if (irq_type == IRQF_TRIGGER_RISING)
1079                 st->irq_mask = INV_MPU6050_ACTIVE_HIGH;
1080         else if (irq_type == IRQF_TRIGGER_FALLING)
1081                 st->irq_mask = INV_MPU6050_ACTIVE_LOW;
1082         else if (irq_type == IRQF_TRIGGER_HIGH)
1083                 st->irq_mask = INV_MPU6050_ACTIVE_HIGH |
1084                         INV_MPU6050_LATCH_INT_EN;
1085         else if (irq_type == IRQF_TRIGGER_LOW)
1086                 st->irq_mask = INV_MPU6050_ACTIVE_LOW |
1087                         INV_MPU6050_LATCH_INT_EN;
1088         else {
1089                 dev_err(dev, "Invalid interrupt type 0x%x specified\n",
1090                         irq_type);
1091                 return -EINVAL;
1092         }
1093
1094         st->vddio_supply = devm_regulator_get(dev, "vddio");
1095         if (IS_ERR(st->vddio_supply)) {
1096                 if (PTR_ERR(st->vddio_supply) != -EPROBE_DEFER)
1097                         dev_err(dev, "Failed to get vddio regulator %d\n",
1098                                 (int)PTR_ERR(st->vddio_supply));
1099
1100                 return PTR_ERR(st->vddio_supply);
1101         }
1102
1103         result = inv_mpu_core_enable_regulator(st);
1104         if (result)
1105                 return result;
1106
1107         result = devm_add_action(dev, inv_mpu_core_disable_regulator_action,
1108                                  st);
1109         if (result) {
1110                 inv_mpu_core_disable_regulator_action(st);
1111                 dev_err(dev, "Failed to setup regulator cleanup action %d\n",
1112                         result);
1113                 return result;
1114         }
1115
1116         /* power is turned on inside check chip type*/
1117         result = inv_check_and_setup_chip(st);
1118         if (result)
1119                 return result;
1120
1121         result = inv_mpu6050_init_config(indio_dev);
1122         if (result) {
1123                 dev_err(dev, "Could not initialize device.\n");
1124                 return result;
1125         }
1126
1127         if (inv_mpu_bus_setup)
1128                 inv_mpu_bus_setup(indio_dev);
1129
1130         dev_set_drvdata(dev, indio_dev);
1131         indio_dev->dev.parent = dev;
1132         /* name will be NULL when enumerated via ACPI */
1133         if (name)
1134                 indio_dev->name = name;
1135         else
1136                 indio_dev->name = dev_name(dev);
1137
1138         if (chip_type == INV_ICM20602) {
1139                 indio_dev->channels = inv_icm20602_channels;
1140                 indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
1141         } else {
1142                 indio_dev->channels = inv_mpu_channels;
1143                 indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
1144         }
1145
1146         indio_dev->info = &mpu_info;
1147         indio_dev->modes = INDIO_BUFFER_TRIGGERED;
1148
1149         result = devm_iio_triggered_buffer_setup(dev, indio_dev,
1150                                                  iio_pollfunc_store_time,
1151                                                  inv_mpu6050_read_fifo,
1152                                                  NULL);
1153         if (result) {
1154                 dev_err(dev, "configure buffer fail %d\n", result);
1155                 return result;
1156         }
1157         result = inv_mpu6050_probe_trigger(indio_dev, irq_type);
1158         if (result) {
1159                 dev_err(dev, "trigger probe fail %d\n", result);
1160                 return result;
1161         }
1162
1163         result = devm_iio_device_register(dev, indio_dev);
1164         if (result) {
1165                 dev_err(dev, "IIO register fail %d\n", result);
1166                 return result;
1167         }
1168
1169         return 0;
1170 }
1171 EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
1172
1173 #ifdef CONFIG_PM_SLEEP
1174
1175 static int inv_mpu_resume(struct device *dev)
1176 {
1177         struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
1178         int result;
1179
1180         mutex_lock(&st->lock);
1181         result = inv_mpu_core_enable_regulator(st);
1182         if (result)
1183                 goto out_unlock;
1184
1185         result = inv_mpu6050_set_power_itg(st, true);
1186 out_unlock:
1187         mutex_unlock(&st->lock);
1188
1189         return result;
1190 }
1191
1192 static int inv_mpu_suspend(struct device *dev)
1193 {
1194         struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
1195         int result;
1196
1197         mutex_lock(&st->lock);
1198         result = inv_mpu6050_set_power_itg(st, false);
1199         inv_mpu_core_disable_regulator(st);
1200         mutex_unlock(&st->lock);
1201
1202         return result;
1203 }
1204 #endif /* CONFIG_PM_SLEEP */
1205
1206 SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
1207 EXPORT_SYMBOL_GPL(inv_mpu_pmops);
1208
1209 MODULE_AUTHOR("Invensense Corporation");
1210 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
1211 MODULE_LICENSE("GPL");