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Merge tag 'vmwgfx-fixes-3.14-2014-02-18' of git://people.freedesktop.org/~thomash...
[deliverable/linux.git] / drivers / iio / imu / inv_mpu6050 / inv_mpu_core.c
CommitLineData
09a642b7
GG		 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/init.h>
16#include <linux/slab.h>
17#include <linux/i2c.h>
18#include <linux/err.h>
19#include <linux/delay.h>
20#include <linux/sysfs.h>
21#include <linux/jiffies.h>
22#include <linux/irq.h>
23#include <linux/interrupt.h>
24#include <linux/kfifo.h>
25#include <linux/spinlock.h>
452204ae 26#include <linux/iio/iio.h>
09a642b7
GG		 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 */
33static 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 */
39static const int accel_scale[] = {598, 1196, 2392, 4785};
40
41static const struct inv_mpu6050_reg_map reg_set_6050 = {
42 .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
43 .lpf = INV_MPU6050_REG_CONFIG,
44 .user_ctrl = INV_MPU6050_REG_USER_CTRL,
45 .fifo_en = INV_MPU6050_REG_FIFO_EN,
46 .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
47 .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
48 .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
49 .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
50 .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
51 .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
52 .temperature = INV_MPU6050_REG_TEMPERATURE,
53 .int_enable = INV_MPU6050_REG_INT_ENABLE,
54 .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
55 .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
56};
57
58static const struct inv_mpu6050_chip_config chip_config_6050 = {
59 .fsr = INV_MPU6050_FSR_2000DPS,
60 .lpf = INV_MPU6050_FILTER_20HZ,
61 .fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
62 .gyro_fifo_enable = false,
63 .accl_fifo_enable = false,
64 .accl_fs = INV_MPU6050_FS_02G,
65};
66
67static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
68 {
69 .num_reg = 117,
70 .name = "MPU6050",
71 .reg = &reg_set_6050,
72 .config = &chip_config_6050,
73 },
74};
75
76int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
77{
78 return i2c_smbus_write_i2c_block_data(st->client, reg, 1, &d);
79}
80
81int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
82{
83 u8 d, mgmt_1;
84 int result;
85
86 /* switch clock needs to be careful. Only when gyro is on, can
87 clock source be switched to gyro. Otherwise, it must be set to
88 internal clock */
89 if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
90 result = i2c_smbus_read_i2c_block_data(st->client,
91 st->reg->pwr_mgmt_1, 1, &mgmt_1);
92 if (result != 1)
93 return result;
94
95 mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
96 }
97
98 if ((INV_MPU6050_BIT_PWR_GYRO_STBY == mask) && (!en)) {
99 /* turning off gyro requires switch to internal clock first.
100 Then turn off gyro engine */
101 mgmt_1 |= INV_CLK_INTERNAL;
102 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, mgmt_1);
103 if (result)
104 return result;
105 }
106
107 result = i2c_smbus_read_i2c_block_data(st->client,
108 st->reg->pwr_mgmt_2, 1, &d);
109 if (result != 1)
110 return result;
111 if (en)
112 d &= ~mask;
113 else
114 d |= mask;
115 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
116 if (result)
117 return result;
118
119 if (en) {
120 /* Wait for output stablize */
121 msleep(INV_MPU6050_TEMP_UP_TIME);
122 if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
123 /* switch internal clock to PLL */
124 mgmt_1 |= INV_CLK_PLL;
125 result = inv_mpu6050_write_reg(st,
126 st->reg->pwr_mgmt_1, mgmt_1);
127 if (result)
128 return result;
129 }
130 }
131
132 return 0;
133}
134
135int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
136{
137 int result;
138
139 if (power_on)
140 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, 0);
141 else
142 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
143 INV_MPU6050_BIT_SLEEP);
144 if (result)
145 return result;
146
147 if (power_on)
148 msleep(INV_MPU6050_REG_UP_TIME);
149
150 return 0;
151}
152
153/**
154 * inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
155 *
156 * Initial configuration:
157 * FSR: ± 2000DPS
158 * DLPF: 20Hz
159 * FIFO rate: 50Hz
160 * Clock source: Gyro PLL
161 */
162static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
163{
164 int result;
165 u8 d;
166 struct inv_mpu6050_state *st = iio_priv(indio_dev);
167
168 result = inv_mpu6050_set_power_itg(st, true);
169 if (result)
170 return result;
171 d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
172 result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
173 if (result)
174 return result;
175
176 d = INV_MPU6050_FILTER_20HZ;
177 result = inv_mpu6050_write_reg(st, st->reg->lpf, d);
178 if (result)
179 return result;
180
181 d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;
182 result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
183 if (result)
184 return result;
185
186 d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
187 result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
188 if (result)
189 return result;
190
191 memcpy(&st->chip_config, hw_info[st->chip_type].config,
192 sizeof(struct inv_mpu6050_chip_config));
193 result = inv_mpu6050_set_power_itg(st, false);
194
195 return result;
196}
197
198static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
199 int axis, int *val)
200{
201 int ind, result;
202 __be16 d;
203
204 ind = (axis - IIO_MOD_X) * 2;
205 result = i2c_smbus_read_i2c_block_data(st->client, reg + ind, 2,
206 (u8 *)&d);
207 if (result != 2)
208 return -EINVAL;
209 *val = (short)be16_to_cpup(&d);
210
211 return IIO_VAL_INT;
212}
213
214static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
215 struct iio_chan_spec const *chan,
216 int *val,
217 int *val2,
218 long mask) {
219 struct inv_mpu6050_state *st = iio_priv(indio_dev);
220
221 switch (mask) {
222 case IIO_CHAN_INFO_RAW:
223 {
224 int ret, result;
225
226 ret = IIO_VAL_INT;
227 result = 0;
228 mutex_lock(&indio_dev->mlock);
229 if (!st->chip_config.enable) {
230 result = inv_mpu6050_set_power_itg(st, true);
231 if (result)
232 goto error_read_raw;
233 }
234 /* when enable is on, power is already on */
235 switch (chan->type) {
236 case IIO_ANGL_VEL:
237 if (!st->chip_config.gyro_fifo_enable ||
238 !st->chip_config.enable) {
239 result = inv_mpu6050_switch_engine(st, true,
240 INV_MPU6050_BIT_PWR_GYRO_STBY);
241 if (result)
242 goto error_read_raw;
243 }
244 ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
245 chan->channel2, val);
246 if (!st->chip_config.gyro_fifo_enable ||
247 !st->chip_config.enable) {
248 result = inv_mpu6050_switch_engine(st, false,
249 INV_MPU6050_BIT_PWR_GYRO_STBY);
250 if (result)
251 goto error_read_raw;
252 }
253 break;
254 case IIO_ACCEL:
255 if (!st->chip_config.accl_fifo_enable ||
256 !st->chip_config.enable) {
257 result = inv_mpu6050_switch_engine(st, true,
258 INV_MPU6050_BIT_PWR_ACCL_STBY);
259 if (result)
260 goto error_read_raw;
261 }
262 ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
263 chan->channel2, val);
264 if (!st->chip_config.accl_fifo_enable ||
265 !st->chip_config.enable) {
266 result = inv_mpu6050_switch_engine(st, false,
267 INV_MPU6050_BIT_PWR_ACCL_STBY);
268 if (result)
269 goto error_read_raw;
270 }
271 break;
272 case IIO_TEMP:
273 /* wait for stablization */
274 msleep(INV_MPU6050_SENSOR_UP_TIME);
275 inv_mpu6050_sensor_show(st, st->reg->temperature,
276 IIO_MOD_X, val);
277 break;
278 default:
279 ret = -EINVAL;
280 break;
281 }
282error_read_raw:
283 if (!st->chip_config.enable)
284 result |= inv_mpu6050_set_power_itg(st, false);
285 mutex_unlock(&indio_dev->mlock);
286 if (result)
287 return result;
288
289 return ret;
290 }
291 case IIO_CHAN_INFO_SCALE:
292 switch (chan->type) {
293 case IIO_ANGL_VEL:
294 *val = 0;
295 *val2 = gyro_scale_6050[st->chip_config.fsr];
296
297 return IIO_VAL_INT_PLUS_NANO;
298 case IIO_ACCEL:
299 *val = 0;
300 *val2 = accel_scale[st->chip_config.accl_fs];
301
302 return IIO_VAL_INT_PLUS_MICRO;
303 case IIO_TEMP:
304 *val = 0;
305 *val2 = INV_MPU6050_TEMP_SCALE;
306
307 return IIO_VAL_INT_PLUS_MICRO;
308 default:
309 return -EINVAL;
310 }
311 case IIO_CHAN_INFO_OFFSET:
312 switch (chan->type) {
313 case IIO_TEMP:
314 *val = INV_MPU6050_TEMP_OFFSET;
315
316 return IIO_VAL_INT;
317 default:
318 return -EINVAL;
319 }
320 default:
321 return -EINVAL;
322 }
323}
324
325static int inv_mpu6050_write_fsr(struct inv_mpu6050_state *st, int fsr)
326{
327 int result;
328 u8 d;
329
330 if (fsr < 0 || fsr > INV_MPU6050_MAX_GYRO_FS_PARAM)
331 return -EINVAL;
332 if (fsr == st->chip_config.fsr)
333 return 0;
334
335 d = (fsr << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
336 result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
337 if (result)
338 return result;
339 st->chip_config.fsr = fsr;
340
341 return 0;
342}
343
344static int inv_mpu6050_write_accel_fs(struct inv_mpu6050_state *st, int fs)
345{
346 int result;
347 u8 d;
348
349 if (fs < 0 || fs > INV_MPU6050_MAX_ACCL_FS_PARAM)
350 return -EINVAL;
351 if (fs == st->chip_config.accl_fs)
352 return 0;
353
354 d = (fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
355 result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
356 if (result)
357 return result;
358 st->chip_config.accl_fs = fs;
359
360 return 0;
361}
362
363static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
364 struct iio_chan_spec const *chan,
365 int val,
366 int val2,
367 long mask) {
368 struct inv_mpu6050_state *st = iio_priv(indio_dev);
369 int result;
370
371 mutex_lock(&indio_dev->mlock);
372 /* we should only update scale when the chip is disabled, i.e.,
373 not running */
374 if (st->chip_config.enable) {
375 result = -EBUSY;
376 goto error_write_raw;
377 }
378 result = inv_mpu6050_set_power_itg(st, true);
379 if (result)
380 goto error_write_raw;
381
382 switch (mask) {
383 case IIO_CHAN_INFO_SCALE:
384 switch (chan->type) {
385 case IIO_ANGL_VEL:
386 result = inv_mpu6050_write_fsr(st, val);
387 break;
388 case IIO_ACCEL:
389 result = inv_mpu6050_write_accel_fs(st, val);
390 break;
391 default:
392 result = -EINVAL;
393 break;
394 }
395 break;
396 default:
397 result = -EINVAL;
398 break;
399 }
400
401error_write_raw:
402 result |= inv_mpu6050_set_power_itg(st, false);
403 mutex_unlock(&indio_dev->mlock);
404
405 return result;
406}
407
408/**
409 * inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
410 *
411 * Based on the Nyquist principle, the sampling rate must
412 * exceed twice of the bandwidth of the signal, or there
413 * would be alising. This function basically search for the
414 * correct low pass parameters based on the fifo rate, e.g,
415 * sampling frequency.
416 */
417static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
418{
419 const int hz[] = {188, 98, 42, 20, 10, 5};
420 const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
421 INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
422 INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
423 int i, h, result;
424 u8 data;
425
426 h = (rate >> 1);
427 i = 0;
428 while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
429 i++;
430 data = d[i];
431 result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
432 if (result)
433 return result;
434 st->chip_config.lpf = data;
435
436 return 0;
437}
438
439/**
440 * inv_mpu6050_fifo_rate_store() - Set fifo rate.
441 */
442static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
443 struct device_attribute *attr, const char *buf, size_t count)
444{
445 s32 fifo_rate;
446 u8 d;
447 int result;
448 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
449 struct inv_mpu6050_state *st = iio_priv(indio_dev);
450
451 if (kstrtoint(buf, 10, &fifo_rate))
452 return -EINVAL;
453 if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
454 fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
455 return -EINVAL;
456 if (fifo_rate == st->chip_config.fifo_rate)
457 return count;
458
459 mutex_lock(&indio_dev->mlock);
460 if (st->chip_config.enable) {
461 result = -EBUSY;
462 goto fifo_rate_fail;
463 }
464 result = inv_mpu6050_set_power_itg(st, true);
465 if (result)
466 goto fifo_rate_fail;
467
468 d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
469 result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
470 if (result)
471 goto fifo_rate_fail;
472 st->chip_config.fifo_rate = fifo_rate;
473
474 result = inv_mpu6050_set_lpf(st, fifo_rate);
475 if (result)
476 goto fifo_rate_fail;
477
478fifo_rate_fail:
479 result |= inv_mpu6050_set_power_itg(st, false);
480 mutex_unlock(&indio_dev->mlock);
481 if (result)
482 return result;
483
484 return count;
485}
486
487/**
488 * inv_fifo_rate_show() - Get the current sampling rate.
489 */
490static ssize_t inv_fifo_rate_show(struct device *dev,
491 struct device_attribute *attr, char *buf)
492{
493 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
494
495 return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
496}
497
498/**
499 * inv_attr_show() - calling this function will show current
500 * parameters.
501 */
502static ssize_t inv_attr_show(struct device *dev,
503 struct device_attribute *attr, char *buf)
504{
505 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
506 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
507 s8 *m;
508
509 switch (this_attr->address) {
510 /* In MPU6050, the two matrix are the same because gyro and accel
511 are integrated in one chip */
512 case ATTR_GYRO_MATRIX:
513 case ATTR_ACCL_MATRIX:
514 m = st->plat_data.orientation;
515
516 return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
517 m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
518 default:
519 return -EINVAL;
520 }
521}
522
523/**
524 * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
525 * MPU6050 device.
526 * @indio_dev: The IIO device
527 * @trig: The new trigger
528 *
529 * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
530 * device, -EINVAL otherwise.
531 */
532static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
533 struct iio_trigger *trig)
534{
535 struct inv_mpu6050_state *st = iio_priv(indio_dev);
536
537 if (st->trig != trig)
538 return -EINVAL;
539
540 return 0;
541}
542
543#define INV_MPU6050_CHAN(_type, _channel2, _index) \
544 { \
545 .type = _type, \
546 .modified = 1, \
547 .channel2 = _channel2, \
0b1f8da3
JC		 548 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
549 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
09a642b7
GG		 550 .scan_index = _index, \
551 .scan_type = { \
552 .sign = 's', \
553 .realbits = 16, \
554 .storagebits = 16, \
555 .shift = 0 , \
556 .endianness = IIO_BE, \
557 }, \
558 }
559
560static const struct iio_chan_spec inv_mpu_channels[] = {
561 IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
562 /*
563 * Note that temperature should only be via polled reading only,
564 * not the final scan elements output.
565 */
566 {
567 .type = IIO_TEMP,
0b1f8da3
JC		 568 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
569 | BIT(IIO_CHAN_INFO_OFFSET)
570 | BIT(IIO_CHAN_INFO_SCALE),
09a642b7
GG		 571 .scan_index = -1,
572 },
573 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
574 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
575 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
576
577 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
578 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
579 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
580};
581
582/* constant IIO attribute */
583static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
584static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
585 inv_mpu6050_fifo_rate_store);
586static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
587 ATTR_GYRO_MATRIX);
588static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
589 ATTR_ACCL_MATRIX);
590
591static struct attribute *inv_attributes[] = {
592 &iio_dev_attr_in_gyro_matrix.dev_attr.attr,
593 &iio_dev_attr_in_accel_matrix.dev_attr.attr,
594 &iio_dev_attr_sampling_frequency.dev_attr.attr,
595 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
596 NULL,
597};
598
599static const struct attribute_group inv_attribute_group = {
600 .attrs = inv_attributes
601};
602
603static const struct iio_info mpu_info = {
604 .driver_module = THIS_MODULE,
605 .read_raw = &inv_mpu6050_read_raw,
606 .write_raw = &inv_mpu6050_write_raw,
607 .attrs = &inv_attribute_group,
608 .validate_trigger = inv_mpu6050_validate_trigger,
609};
610
611/**
612 * inv_check_and_setup_chip() - check and setup chip.
613 */
614static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
615 const struct i2c_device_id *id)
616{
617 int result;
618
619 st->chip_type = INV_MPU6050;
620 st->hw = &hw_info[st->chip_type];
621 st->reg = hw_info[st->chip_type].reg;
622
623 /* reset to make sure previous state are not there */
624 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
625 INV_MPU6050_BIT_H_RESET);
626 if (result)
627 return result;
628 msleep(INV_MPU6050_POWER_UP_TIME);
629 /* toggle power state. After reset, the sleep bit could be on
630 or off depending on the OTP settings. Toggling power would
631 make it in a definite state as well as making the hardware
632 state align with the software state */
633 result = inv_mpu6050_set_power_itg(st, false);
634 if (result)
635 return result;
636 result = inv_mpu6050_set_power_itg(st, true);
637 if (result)
638 return result;
639
640 result = inv_mpu6050_switch_engine(st, false,
641 INV_MPU6050_BIT_PWR_ACCL_STBY);
642 if (result)
643 return result;
644 result = inv_mpu6050_switch_engine(st, false,
645 INV_MPU6050_BIT_PWR_GYRO_STBY);
646 if (result)
647 return result;
648
649 return 0;
650}
651
652/**
653 * inv_mpu_probe() - probe function.
654 * @client: i2c client.
655 * @id: i2c device id.
656 *
657 * Returns 0 on success, a negative error code otherwise.
658 */
659static int inv_mpu_probe(struct i2c_client *client,
660 const struct i2c_device_id *id)
661{
662 struct inv_mpu6050_state *st;
663 struct iio_dev *indio_dev;
664 int result;
665
666 if (!i2c_check_functionality(client->adapter,
452204ae
SK		 667 I2C_FUNC_SMBUS_I2C_BLOCK))
668 return -ENOSYS;
669
670 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
671 if (!indio_dev)
672 return -ENOMEM;
2ffdcd3d 673
09a642b7
GG		 674 st = iio_priv(indio_dev);
675 st->client = client;
676 st->plat_data = *(struct inv_mpu6050_platform_data
677 *)dev_get_platdata(&client->dev);
678 /* power is turned on inside check chip type*/
679 result = inv_check_and_setup_chip(st, id);
680 if (result)
452204ae 681 return result;
09a642b7
GG		 682
683 result = inv_mpu6050_init_config(indio_dev);
684 if (result) {
685 dev_err(&client->dev,
686 "Could not initialize device.\n");
452204ae 687 return result;
09a642b7
GG		 688 }
689
690 i2c_set_clientdata(client, indio_dev);
691 indio_dev->dev.parent = &client->dev;
692 indio_dev->name = id->name;
693 indio_dev->channels = inv_mpu_channels;
694 indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
695
696 indio_dev->info = &mpu_info;
697 indio_dev->modes = INDIO_BUFFER_TRIGGERED;
698
699 result = iio_triggered_buffer_setup(indio_dev,
700 inv_mpu6050_irq_handler,
701 inv_mpu6050_read_fifo,
702 NULL);
703 if (result) {
704 dev_err(&st->client->dev, "configure buffer fail %d\n",
705 result);
452204ae 706 return result;
09a642b7
GG		 707 }
708 result = inv_mpu6050_probe_trigger(indio_dev);
709 if (result) {
710 dev_err(&st->client->dev, "trigger probe fail %d\n", result);
711 goto out_unreg_ring;
712 }
713
714 INIT_KFIFO(st->timestamps);
715 spin_lock_init(&st->time_stamp_lock);
716 result = iio_device_register(indio_dev);
717 if (result) {
718 dev_err(&st->client->dev, "IIO register fail %d\n", result);
719 goto out_remove_trigger;
720 }
721
722 return 0;
723
724out_remove_trigger:
725 inv_mpu6050_remove_trigger(st);
726out_unreg_ring:
727 iio_triggered_buffer_cleanup(indio_dev);
09a642b7
GG		 728 return result;
729}
730
731static int inv_mpu_remove(struct i2c_client *client)
732{
733 struct iio_dev *indio_dev = i2c_get_clientdata(client);
734 struct inv_mpu6050_state *st = iio_priv(indio_dev);
735
736 iio_device_unregister(indio_dev);
737 inv_mpu6050_remove_trigger(st);
738 iio_triggered_buffer_cleanup(indio_dev);
09a642b7
GG		 739
740 return 0;
741}
742#ifdef CONFIG_PM_SLEEP
743
744static int inv_mpu_resume(struct device *dev)
745{
746 return inv_mpu6050_set_power_itg(
747 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
748}
749
750static int inv_mpu_suspend(struct device *dev)
751{
752 return inv_mpu6050_set_power_itg(
753 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
754}
755static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
756
757#define INV_MPU6050_PMOPS (&inv_mpu_pmops)
758#else
759#define INV_MPU6050_PMOPS NULL
760#endif /* CONFIG_PM_SLEEP */
761
762/*
763 * device id table is used to identify what device can be
764 * supported by this driver
765 */
766static const struct i2c_device_id inv_mpu_id[] = {
767 {"mpu6050", INV_MPU6050},
768 {}
769};
770
771MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
772
773static struct i2c_driver inv_mpu_driver = {
774 .probe = inv_mpu_probe,
775 .remove = inv_mpu_remove,
776 .id_table = inv_mpu_id,
777 .driver = {
778 .owner = THIS_MODULE,
779 .name = "inv-mpu6050",
780 .pm = INV_MPU6050_PMOPS,
781 },
782};
783
784module_i2c_driver(inv_mpu_driver);
785
786MODULE_AUTHOR("Invensense Corporation");
787MODULE_DESCRIPTION("Invensense device MPU6050 driver");
788MODULE_LICENSE("GPL");
Linux kernel - Deliverables
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