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                         *val2 = INV_MPU6050_TEMP_SCALE;
 475
 476                         return IIO_VAL_INT_PLUS_MICRO;
 477                 default:
 478                         return -EINVAL;
 479                 }
 480         case IIO_CHAN_INFO_OFFSET:
 481                 switch (chan->type) {
 482                 case IIO_TEMP:
 483                         *val = INV_MPU6050_TEMP_OFFSET;
 484
 485                         return IIO_VAL_INT;
 486                 default:
 487                         return -EINVAL;
 488                 }
 489         case IIO_CHAN_INFO_CALIBBIAS:
 490                 switch (chan->type) {
 491                 case IIO_ANGL_VEL:
 492                         mutex_lock(&st->lock);
 493                         ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
 494                                                 chan->channel2, val);
 495                         mutex_unlock(&st->lock);
 496                         return IIO_VAL_INT;
 497                 case IIO_ACCEL:
 498                         mutex_lock(&st->lock);
 499                         ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
 500                                                 chan->channel2, val);
 501                         mutex_unlock(&st->lock);
 502                         return IIO_VAL_INT;
 503
 504                 default:
 505                         return -EINVAL;
 506                 }
 507         default:
 508                 return -EINVAL;
 509         }
 510 }
 511
 512 static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
 513 {
 514         int result, i;
 515         u8 d;
 516
 517         for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
 518                 if (gyro_scale_6050[i] == val) {
 519                         d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 520                         result = regmap_write(st->map, st->reg->gyro_config, d);
 521                         if (result)
 522                                 return result;
 523
 524                         st->chip_config.fsr = i;
 525                         return 0;
 526                 }
 527         }
 528
 529         return -EINVAL;
 530 }
 531
 532 static int inv_write_raw_get_fmt(struct iio_dev *indio_dev,
 533                                  struct iio_chan_spec const *chan, long mask)
 534 {
 535         switch (mask) {
 536         case IIO_CHAN_INFO_SCALE:
 537                 switch (chan->type) {
 538                 case IIO_ANGL_VEL:
 539                         return IIO_VAL_INT_PLUS_NANO;
 540                 default:
 541                         return IIO_VAL_INT_PLUS_MICRO;
 542                 }
 543         default:
 544                 return IIO_VAL_INT_PLUS_MICRO;
 545         }
 546
 547         return -EINVAL;
 548 }
 549
 550 static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
 551 {
 552         int result, i;
 553         u8 d;
 554
 555         for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
 556                 if (accel_scale[i] == val) {
 557                         d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 558                         result = regmap_write(st->map, st->reg->accl_config, d);
 559                         if (result)
 560                                 return result;
 561
 562                         st->chip_config.accl_fs = i;
 563                         return 0;
 564                 }
 565         }
 566
 567         return -EINVAL;
 568 }
 569
 570 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
 571                                  struct iio_chan_spec const *chan,
 572                                  int val, int val2, long mask)
 573 {
 574         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 575         int result;
 576
 577         /*
 578          * we should only update scale when the chip is disabled, i.e.
 579          * not running
 580          */
 581         result = iio_device_claim_direct_mode(indio_dev);
 582         if (result)
 583                 return result;
 584
 585         mutex_lock(&st->lock);
 586         result = inv_mpu6050_set_power_itg(st, true);
 587         if (result)
 588                 goto error_write_raw_unlock;
 589
 590         switch (mask) {
 591         case IIO_CHAN_INFO_SCALE:
 592                 switch (chan->type) {
 593                 case IIO_ANGL_VEL:
 594                         result = inv_mpu6050_write_gyro_scale(st, val2);
 595                         break;
 596                 case IIO_ACCEL:
 597                         result = inv_mpu6050_write_accel_scale(st, val2);
 598                         break;
 599                 default:
 600                         result = -EINVAL;
 601                         break;
 602                 }
 603                 break;
 604         case IIO_CHAN_INFO_CALIBBIAS:
 605                 switch (chan->type) {
 606                 case IIO_ANGL_VEL:
 607                         result = inv_mpu6050_sensor_set(st,
 608                                                         st->reg->gyro_offset,
 609                                                         chan->channel2, val);
 610                         break;
 611                 case IIO_ACCEL:
 612                         result = inv_mpu6050_sensor_set(st,
 613                                                         st->reg->accl_offset,
 614                                                         chan->channel2, val);
 615                         break;
 616                 default:
 617                         result = -EINVAL;
 618                         break;
 619                 }
 620                 break;
 621         default:
 622                 result = -EINVAL;
 623                 break;
 624         }
 625
 626         result |= inv_mpu6050_set_power_itg(st, false);
 627 error_write_raw_unlock:
 628         mutex_unlock(&st->lock);
 629         iio_device_release_direct_mode(indio_dev);
 630
 631         return result;
 632 }
 633
 634 /**
 635  *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
 636  *
 637  *                  Based on the Nyquist principle, the sampling rate must
 638  *                  exceed twice of the bandwidth of the signal, or there
 639  *                  would be alising. This function basically search for the
 640  *                  correct low pass parameters based on the fifo rate, e.g,
 641  *                  sampling frequency.
 642  *
 643  *  lpf is set automatically when setting sampling rate to avoid any aliases.
 644  */
 645 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 646 {
 647         static const int hz[] = {188, 98, 42, 20, 10, 5};
 648         static const int d[] = {
 649                 INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
 650                 INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
 651                 INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
 652         };
 653         int i, h, result;
 654         u8 data;
 655
 656         h = (rate >> 1);
 657         i = 0;
 658         while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
 659                 i++;
 660         data = d[i];
 661         result = inv_mpu6050_set_lpf_regs(st, data);
 662         if (result)
 663                 return result;
 664         st->chip_config.lpf = data;
 665
 666         return 0;
 667 }
 668
 669 /**
 670  * inv_mpu6050_fifo_rate_store() - Set fifo rate.
 671  */
 672 static ssize_t
 673 inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
 674                             const char *buf, size_t count)
 675 {
 676         int fifo_rate;
 677         u8 d;
 678         int result;
 679         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 680         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 681
 682         if (kstrtoint(buf, 10, &fifo_rate))
 683                 return -EINVAL;
 684         if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
 685             fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
 686                 return -EINVAL;
 687
 688         result = iio_device_claim_direct_mode(indio_dev);
 689         if (result)
 690                 return result;
 691
 692         /* compute the chip sample rate divider */
 693         d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
 694         /* compute back the fifo rate to handle truncation cases */
 695         fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d);
 696
 697         mutex_lock(&st->lock);
 698         if (d == st->chip_config.divider) {
 699                 result = 0;
 700                 goto fifo_rate_fail_unlock;
 701         }
 702         result = inv_mpu6050_set_power_itg(st, true);
 703         if (result)
 704                 goto fifo_rate_fail_unlock;
 705
 706         result = regmap_write(st->map, st->reg->sample_rate_div, d);
 707         if (result)
 708                 goto fifo_rate_fail_power_off;
 709         st->chip_config.divider = d;
 710
 711         result = inv_mpu6050_set_lpf(st, fifo_rate);
 712         if (result)
 713                 goto fifo_rate_fail_power_off;
 714
 715 fifo_rate_fail_power_off:
 716         result |= inv_mpu6050_set_power_itg(st, false);
 717 fifo_rate_fail_unlock:
 718         mutex_unlock(&st->lock);
 719         iio_device_release_direct_mode(indio_dev);
 720         if (result)
 721                 return result;
 722
 723         return count;
 724 }
 725
 726 /**
 727  * inv_fifo_rate_show() - Get the current sampling rate.
 728  */
 729 static ssize_t
 730 inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
 731                    char *buf)
 732 {
 733         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 734         unsigned fifo_rate;
 735
 736         mutex_lock(&st->lock);
 737         fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
 738         mutex_unlock(&st->lock);
 739
 740         return scnprintf(buf, PAGE_SIZE, "%u\n", fifo_rate);
 741 }
 742
 743 /**
 744  * inv_attr_show() - calling this function will show current
 745  *                    parameters.
 746  *
 747  * Deprecated in favor of IIO mounting matrix API.
 748  *
 749  * See inv_get_mount_matrix()
 750  */
 751 static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
 752                              char *buf)
 753 {
 754         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 755         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 756         s8 *m;
 757
 758         switch (this_attr->address) {
 759         /*
 760          * In MPU6050, the two matrix are the same because gyro and accel
 761          * are integrated in one chip
 762          */
 763         case ATTR_GYRO_MATRIX:
 764         case ATTR_ACCL_MATRIX:
 765                 m = st->plat_data.orientation;
 766
 767                 return scnprintf(buf, PAGE_SIZE,
 768                         "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
 769                         m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
 770         default:
 771                 return -EINVAL;
 772         }
 773 }
 774
 775 /**
 776  * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
 777  *                                  MPU6050 device.
 778  * @indio_dev: The IIO device
 779  * @trig: The new trigger
 780  *
 781  * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
 782  * device, -EINVAL otherwise.
 783  */
 784 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 785                                         struct iio_trigger *trig)
 786 {
 787         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 788
 789         if (st->trig != trig)
 790                 return -EINVAL;
 791
 792         return 0;
 793 }
 794
 795 static const struct iio_mount_matrix *
 796 inv_get_mount_matrix(const struct iio_dev *indio_dev,
 797                      const struct iio_chan_spec *chan)
 798 {
 799         struct inv_mpu6050_state *data = iio_priv(indio_dev);
 800
 801         return &data->orientation;
 802 }
 803
 804 static const struct iio_chan_spec_ext_info inv_ext_info[] = {
 805         IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
 806         { }
 807 };
 808
 809 #define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
 810         {                                                             \
 811                 .type = _type,                                        \
 812                 .modified = 1,                                        \
 813                 .channel2 = _channel2,                                \
 814                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 815                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |        \
 816                                       BIT(IIO_CHAN_INFO_CALIBBIAS),   \
 817                 .scan_index = _index,                                 \
 818                 .scan_type = {                                        \
 819                                 .sign = 's',                          \
 820                                 .realbits = 16,                       \
 821                                 .storagebits = 16,                    \
 822                                 .shift = 0,                           \
 823                                 .endianness = IIO_BE,                 \
 824                              },                                       \
 825                 .ext_info = inv_ext_info,                             \
 826         }
 827
 828 static const struct iio_chan_spec inv_mpu_channels[] = {
 829         IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
 830         /*
 831          * Note that temperature should only be via polled reading only,
 832          * not the final scan elements output.
 833          */
 834         {
 835                 .type = IIO_TEMP,
 836                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
 837                                 | BIT(IIO_CHAN_INFO_OFFSET)
 838                                 | BIT(IIO_CHAN_INFO_SCALE),
 839                 .scan_index = -1,
 840         },
 841         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 842         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 843         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
 844
 845         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
 846         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
 847         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
 848 };
 849
 850 /*
 851  * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and
 852  * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the
 853  * low-pass filter. Specifically, each of these sampling rates are about twice
 854  * the bandwidth of a corresponding low-pass filter, which should eliminate
 855  * aliasing following the Nyquist principle. By picking a frequency different
 856  * from these, the user risks aliasing effects.
 857  */
 858 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
 859 static IIO_CONST_ATTR(in_anglvel_scale_available,
 860                                           "0.000133090 0.000266181 0.000532362 0.001064724");
 861 static IIO_CONST_ATTR(in_accel_scale_available,
 862                                           "0.000598 0.001196 0.002392 0.004785");
 863 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
 864         inv_mpu6050_fifo_rate_store);
 865
 866 /* Deprecated: kept for userspace backward compatibility. */
 867 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
 868         ATTR_GYRO_MATRIX);
 869 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
 870         ATTR_ACCL_MATRIX);
 871
 872 static struct attribute *inv_attributes[] = {
 873         &iio_dev_attr_in_gyro_matrix.dev_attr.attr,  /* deprecated */
 874         &iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
 875         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 876         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
 877         &iio_const_attr_in_accel_scale_available.dev_attr.attr,
 878         &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
 879         NULL,
 880 };
 881
 882 static const struct attribute_group inv_attribute_group = {
 883         .attrs = inv_attributes
 884 };
 885
 886 static const struct iio_info mpu_info = {
 887         .read_raw = &inv_mpu6050_read_raw,
 888         .write_raw = &inv_mpu6050_write_raw,
 889         .write_raw_get_fmt = &inv_write_raw_get_fmt,
 890         .attrs = &inv_attribute_group,
 891         .validate_trigger = inv_mpu6050_validate_trigger,
 892 };
 893
 894 /**
 895  *  inv_check_and_setup_chip() - check and setup chip.
 896  */
 897 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 898 {
 899         int result;
 900         unsigned int regval;
 901         int i;
 902
 903         st->hw  = &hw_info[st->chip_type];
 904         st->reg = hw_info[st->chip_type].reg;
 905
 906         /* check chip self-identification */
 907         result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, &regval);
 908         if (result)
 909                 return result;
 910         if (regval != st->hw->whoami) {
 911                 /* check whoami against all possible values */
 912                 for (i = 0; i < INV_NUM_PARTS; ++i) {
 913                         if (regval == hw_info[i].whoami) {
 914                                 dev_warn(regmap_get_device(st->map),
 915                                         "whoami mismatch got %#02x (%s)"
 916                                         "expected %#02hhx (%s)\n",
 917                                         regval, hw_info[i].name,
 918                                         st->hw->whoami, st->hw->name);
 919                                 break;
 920                         }
 921                 }
 922                 if (i >= INV_NUM_PARTS) {
 923                         dev_err(regmap_get_device(st->map),
 924                                 "invalid whoami %#02x expected %#02hhx (%s)\n",
 925                                 regval, st->hw->whoami, st->hw->name);
 926                         return -ENODEV;
 927                 }
 928         }
 929
 930         /* reset to make sure previous state are not there */
 931         result = regmap_write(st->map, st->reg->pwr_mgmt_1,
 932                               INV_MPU6050_BIT_H_RESET);
 933         if (result)
 934                 return result;
 935         msleep(INV_MPU6050_POWER_UP_TIME);
 936
 937         /*
 938          * Turn power on. After reset, the sleep bit could be on
 939          * or off depending on the OTP settings. Turning power on
 940          * make it in a definite state as well as making the hardware
 941          * state align with the software state
 942          */
 943         result = inv_mpu6050_set_power_itg(st, true);
 944         if (result)
 945                 return result;
 946
 947         result = inv_mpu6050_switch_engine(st, false,
 948                                            INV_MPU6050_BIT_PWR_ACCL_STBY);
 949         if (result)
 950                 goto error_power_off;
 951         result = inv_mpu6050_switch_engine(st, false,
 952                                            INV_MPU6050_BIT_PWR_GYRO_STBY);
 953         if (result)
 954                 goto error_power_off;
 955
 956         return inv_mpu6050_set_power_itg(st, false);
 957
 958 error_power_off:
 959         inv_mpu6050_set_power_itg(st, false);
 960         return result;
 961 }
 962
 963 static int inv_mpu_core_enable_regulator(struct inv_mpu6050_state *st)
 964 {
 965         int result;
 966
 967         result = regulator_enable(st->vddio_supply);
 968         if (result) {
 969                 dev_err(regmap_get_device(st->map),
 970                         "Failed to enable regulator: %d\n", result);
 971         } else {
 972                 /* Give the device a little bit of time to start up. */
 973                 usleep_range(35000, 70000);
 974         }
 975
 976         return result;
 977 }
 978
 979 static int inv_mpu_core_disable_regulator(struct inv_mpu6050_state *st)
 980 {
 981         int result;
 982
 983         result = regulator_disable(st->vddio_supply);
 984         if (result)
 985                 dev_err(regmap_get_device(st->map),
 986                         "Failed to disable regulator: %d\n", result);
 987
 988         return result;
 989 }
 990
 991 static void inv_mpu_core_disable_regulator_action(void *_data)
 992 {
 993         inv_mpu_core_disable_regulator(_data);
 994 }
 995
 996 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 997                 int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
 998 {
 999         struct inv_mpu6050_state *st;
1000         struct iio_dev *indio_dev;
1001         struct inv_mpu6050_platform_data *pdata;
1002         struct device *dev = regmap_get_device(regmap);
1003         int result;
1004         struct irq_data *desc;
1005         int irq_type;
1006
1007         indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
1008         if (!indio_dev)
1009                 return -ENOMEM;
1010
1011         BUILD_BUG_ON(ARRAY_SIZE(hw_info) != INV_NUM_PARTS);
1012         if (chip_type < 0 || chip_type >= INV_NUM_PARTS) {
1013                 dev_err(dev, "Bad invensense chip_type=%d name=%s\n",
1014                                 chip_type, name);
1015                 return -ENODEV;
1016         }
1017         st = iio_priv(indio_dev);
1018         mutex_init(&st->lock);
1019         st->chip_type = chip_type;
1020         st->powerup_count = 0;
1021         st->irq = irq;
1022         st->map = regmap;
1023
1024         pdata = dev_get_platdata(dev);
1025         if (!pdata) {
1026                 result = iio_read_mount_matrix(dev, "mount-matrix",
1027                                                &st->orientation);
1028                 if (result) {
1029                         dev_err(dev, "Failed to retrieve mounting matrix %d\n",
1030                                 result);
1031                         return result;
1032                 }
1033         } else {
1034                 st->plat_data = *pdata;
1035         }
1036
1037         desc = irq_get_irq_data(irq);
1038         if (!desc) {
1039                 dev_err(dev, "Could not find IRQ %d\n", irq);
1040                 return -EINVAL;
1041         }
1042
1043         irq_type = irqd_get_trigger_type(desc);
1044         if (!irq_type)
1045                 irq_type = IRQF_TRIGGER_RISING;
1046         if (irq_type == IRQF_TRIGGER_RISING)
1047                 st->irq_mask = INV_MPU6050_ACTIVE_HIGH;
1048         else if (irq_type == IRQF_TRIGGER_FALLING)
1049                 st->irq_mask = INV_MPU6050_ACTIVE_LOW;
1050         else if (irq_type == IRQF_TRIGGER_HIGH)
1051                 st->irq_mask = INV_MPU6050_ACTIVE_HIGH |
1052                         INV_MPU6050_LATCH_INT_EN;
1053         else if (irq_type == IRQF_TRIGGER_LOW)
1054                 st->irq_mask = INV_MPU6050_ACTIVE_LOW |
1055                         INV_MPU6050_LATCH_INT_EN;
1056         else {
1057                 dev_err(dev, "Invalid interrupt type 0x%x specified\n",
1058                         irq_type);
1059                 return -EINVAL;
1060         }
1061
1062         st->vddio_supply = devm_regulator_get(dev, "vddio");
1063         if (IS_ERR(st->vddio_supply)) {
1064                 if (PTR_ERR(st->vddio_supply) != -EPROBE_DEFER)
1065                         dev_err(dev, "Failed to get vddio regulator %d\n",
1066                                 (int)PTR_ERR(st->vddio_supply));
1067
1068                 return PTR_ERR(st->vddio_supply);
1069         }
1070
1071         result = inv_mpu_core_enable_regulator(st);
1072         if (result)
1073                 return result;
1074
1075         result = devm_add_action(dev, inv_mpu_core_disable_regulator_action,
1076                                  st);
1077         if (result) {
1078                 inv_mpu_core_disable_regulator_action(st);
1079                 dev_err(dev, "Failed to setup regulator cleanup action %d\n",
1080                         result);
1081                 return result;
1082         }
1083
1084         /* power is turned on inside check chip type*/
1085         result = inv_check_and_setup_chip(st);
1086         if (result)
1087                 return result;
1088
1089         result = inv_mpu6050_init_config(indio_dev);
1090         if (result) {
1091                 dev_err(dev, "Could not initialize device.\n");
1092                 return result;
1093         }
1094
1095         if (inv_mpu_bus_setup)
1096                 inv_mpu_bus_setup(indio_dev);
1097
1098         dev_set_drvdata(dev, indio_dev);
1099         indio_dev->dev.parent = dev;
1100         /* name will be NULL when enumerated via ACPI */
1101         if (name)
1102                 indio_dev->name = name;
1103         else
1104                 indio_dev->name = dev_name(dev);
1105         indio_dev->channels = inv_mpu_channels;
1106         indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
1107
1108         indio_dev->info = &mpu_info;
1109         indio_dev->modes = INDIO_BUFFER_TRIGGERED;
1110
1111         result = devm_iio_triggered_buffer_setup(dev, indio_dev,
1112                                                  iio_pollfunc_store_time,
1113                                                  inv_mpu6050_read_fifo,
1114                                                  NULL);
1115         if (result) {
1116                 dev_err(dev, "configure buffer fail %d\n", result);
1117                 return result;
1118         }
1119         result = inv_mpu6050_probe_trigger(indio_dev, irq_type);
1120         if (result) {
1121                 dev_err(dev, "trigger probe fail %d\n", result);
1122                 return result;
1123         }
1124
1125         result = devm_iio_device_register(dev, indio_dev);
1126         if (result) {
1127                 dev_err(dev, "IIO register fail %d\n", result);
1128                 return result;
1129         }
1130
1131         return 0;
1132 }
1133 EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
1134
1135 #ifdef CONFIG_PM_SLEEP
1136
1137 static int inv_mpu_resume(struct device *dev)
1138 {
1139         struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
1140         int result;
1141
1142         mutex_lock(&st->lock);
1143         result = inv_mpu_core_enable_regulator(st);
1144         if (result)
1145                 goto out_unlock;
1146
1147         result = inv_mpu6050_set_power_itg(st, true);
1148 out_unlock:
1149         mutex_unlock(&st->lock);
1150
1151         return result;
1152 }
1153
1154 static int inv_mpu_suspend(struct device *dev)
1155 {
1156         struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
1157         int result;
1158
1159         mutex_lock(&st->lock);
1160         result = inv_mpu6050_set_power_itg(st, false);
1161         inv_mpu_core_disable_regulator(st);
1162         mutex_unlock(&st->lock);
1163
1164         return result;
1165 }
1166 #endif /* CONFIG_PM_SLEEP */
1167
1168 SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
1169 EXPORT_SYMBOL_GPL(inv_mpu_pmops);
1170
1171 MODULE_AUTHOR("Invensense Corporation");
1172 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
1173 MODULE_LICENSE("GPL");