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/kfifo.h>
  24 #include <linux/spinlock.h>
  25 #include <linux/iio/iio.h>
  26 #include <linux/i2c-mux.h>
  27 #include <linux/acpi.h>
  28 #include "inv_mpu_iio.h"
  29
  30 /*
  31  * this is the gyro scale translated from dynamic range plus/minus
  32  * {250, 500, 1000, 2000} to rad/s
  33  */
  34 static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
  35
  36 /*
  37  * this is the accel scale translated from dynamic range plus/minus
  38  * {2, 4, 8, 16} to m/s^2
  39  */
  40 static const int accel_scale[] = {598, 1196, 2392, 4785};
  41
  42 static const struct inv_mpu6050_reg_map reg_set_6050 = {
  43         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  44         .lpf                    = INV_MPU6050_REG_CONFIG,
  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         .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
  56         .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
  57         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
  58 };
  59
  60 static const struct inv_mpu6050_chip_config chip_config_6050 = {
  61         .fsr = INV_MPU6050_FSR_2000DPS,
  62         .lpf = INV_MPU6050_FILTER_20HZ,
  63         .fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
  64         .gyro_fifo_enable = false,
  65         .accl_fifo_enable = false,
  66         .accl_fs = INV_MPU6050_FS_02G,
  67 };
  68
  69 static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
  70         {
  71                 .num_reg = 117,
  72                 .name = "MPU6050",
  73                 .reg = &reg_set_6050,
  74                 .config = &chip_config_6050,
  75         },
  76 };
  77
  78 int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
  79 {
  80         return i2c_smbus_write_i2c_block_data(st->client, reg, 1, &d);
  81 }
  82
  83 /*
  84  * The i2c read/write needs to happen in unlocked mode. As the parent
  85  * adapter is common. If we use locked versions, it will fail as
  86  * the mux adapter will lock the parent i2c adapter, while calling
  87  * select/deselect functions.
  88  */
  89 static int inv_mpu6050_write_reg_unlocked(struct inv_mpu6050_state *st,
  90                                           u8 reg, u8 d)
  91 {
  92         int ret;
  93         u8 buf[2];
  94         struct i2c_msg msg[1] = {
  95                 {
  96                         .addr = st->client->addr,
  97                         .flags = 0,
  98                         .len = sizeof(buf),
  99                         .buf = buf,
 100                 }
 101         };
 102
 103         buf[0] = reg;
 104         buf[1] = d;
 105         ret = __i2c_transfer(st->client->adapter, msg, 1);
 106         if (ret != 1)
 107                 return ret;
 108
 109         return 0;
 110 }
 111
 112 static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
 113                                      u32 chan_id)
 114 {
 115         struct iio_dev *indio_dev = mux_priv;
 116         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 117         int ret = 0;
 118
 119         /* Use the same mutex which was used everywhere to protect power-op */
 120         mutex_lock(&indio_dev->mlock);
 121         if (!st->powerup_count) {
 122                 ret = inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
 123                                                      0);
 124                 if (ret)
 125                         goto write_error;
 126
 127                 msleep(INV_MPU6050_REG_UP_TIME);
 128         }
 129         if (!ret) {
 130                 st->powerup_count++;
 131                 ret = inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
 132                                                      st->client->irq |
 133                                                      INV_MPU6050_BIT_BYPASS_EN);
 134         }
 135 write_error:
 136         mutex_unlock(&indio_dev->mlock);
 137
 138         return ret;
 139 }
 140
 141 static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
 142                                        void *mux_priv, u32 chan_id)
 143 {
 144         struct iio_dev *indio_dev = mux_priv;
 145         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 146
 147         mutex_lock(&indio_dev->mlock);
 148         /* It doesn't really mattter, if any of the calls fails */
 149         inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
 150                                        st->client->irq);
 151         st->powerup_count--;
 152         if (!st->powerup_count)
 153                 inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
 154                                                INV_MPU6050_BIT_SLEEP);
 155         mutex_unlock(&indio_dev->mlock);
 156
 157         return 0;
 158 }
 159
 160 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
 161 {
 162         u8 d, mgmt_1;
 163         int result;
 164
 165         /* switch clock needs to be careful. Only when gyro is on, can
 166            clock source be switched to gyro. Otherwise, it must be set to
 167            internal clock */
 168         if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
 169                 result = i2c_smbus_read_i2c_block_data(st->client,
 170                                        st->reg->pwr_mgmt_1, 1, &mgmt_1);
 171                 if (result != 1)
 172                         return result;
 173
 174                 mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
 175         }
 176
 177         if ((INV_MPU6050_BIT_PWR_GYRO_STBY == mask) && (!en)) {
 178                 /* turning off gyro requires switch to internal clock first.
 179                    Then turn off gyro engine */
 180                 mgmt_1 |= INV_CLK_INTERNAL;
 181                 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, mgmt_1);
 182                 if (result)
 183                         return result;
 184         }
 185
 186         result = i2c_smbus_read_i2c_block_data(st->client,
 187                                        st->reg->pwr_mgmt_2, 1, &d);
 188         if (result != 1)
 189                 return result;
 190         if (en)
 191                 d &= ~mask;
 192         else
 193                 d |= mask;
 194         result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
 195         if (result)
 196                 return result;
 197
 198         if (en) {
 199                 /* Wait for output stabilize */
 200                 msleep(INV_MPU6050_TEMP_UP_TIME);
 201                 if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
 202                         /* switch internal clock to PLL */
 203                         mgmt_1 |= INV_CLK_PLL;
 204                         result = inv_mpu6050_write_reg(st,
 205                                         st->reg->pwr_mgmt_1, mgmt_1);
 206                         if (result)
 207                                 return result;
 208                 }
 209         }
 210
 211         return 0;
 212 }
 213
 214 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 215 {
 216         int result = 0;
 217
 218         if (power_on) {
 219                 /* Already under indio-dev->mlock mutex */
 220                 if (!st->powerup_count)
 221                         result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
 222                                                        0);
 223                 if (!result)
 224                         st->powerup_count++;
 225         } else {
 226                 st->powerup_count--;
 227                 if (!st->powerup_count)
 228                         result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
 229                                                        INV_MPU6050_BIT_SLEEP);
 230         }
 231
 232         if (result)
 233                 return result;
 234
 235         if (power_on)
 236                 msleep(INV_MPU6050_REG_UP_TIME);
 237
 238         return 0;
 239 }
 240
 241 /**
 242  *  inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
 243  *
 244  *  Initial configuration:
 245  *  FSR: ± 2000DPS
 246  *  DLPF: 20Hz
 247  *  FIFO rate: 50Hz
 248  *  Clock source: Gyro PLL
 249  */
 250 static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 251 {
 252         int result;
 253         u8 d;
 254         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 255
 256         result = inv_mpu6050_set_power_itg(st, true);
 257         if (result)
 258                 return result;
 259         d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 260         result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
 261         if (result)
 262                 return result;
 263
 264         d = INV_MPU6050_FILTER_20HZ;
 265         result = inv_mpu6050_write_reg(st, st->reg->lpf, d);
 266         if (result)
 267                 return result;
 268
 269         d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;
 270         result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
 271         if (result)
 272                 return result;
 273
 274         d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 275         result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
 276         if (result)
 277                 return result;
 278
 279         memcpy(&st->chip_config, hw_info[st->chip_type].config,
 280                 sizeof(struct inv_mpu6050_chip_config));
 281         result = inv_mpu6050_set_power_itg(st, false);
 282
 283         return result;
 284 }
 285
 286 static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
 287                                 int axis, int *val)
 288 {
 289         int ind, result;
 290         __be16 d;
 291
 292         ind = (axis - IIO_MOD_X) * 2;
 293         result = i2c_smbus_read_i2c_block_data(st->client, reg + ind,  2,
 294                                                 (u8 *)&d);
 295         if (result != 2)
 296                 return -EINVAL;
 297         *val = (short)be16_to_cpup(&d);
 298
 299         return IIO_VAL_INT;
 300 }
 301
 302 static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 303                               struct iio_chan_spec const *chan,
 304                               int *val,
 305                               int *val2,
 306                               long mask) {
 307         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 308
 309         switch (mask) {
 310         case IIO_CHAN_INFO_RAW:
 311         {
 312                 int ret, result;
 313
 314                 ret = IIO_VAL_INT;
 315                 result = 0;
 316                 mutex_lock(&indio_dev->mlock);
 317                 if (!st->chip_config.enable) {
 318                         result = inv_mpu6050_set_power_itg(st, true);
 319                         if (result)
 320                                 goto error_read_raw;
 321                 }
 322                 /* when enable is on, power is already on */
 323                 switch (chan->type) {
 324                 case IIO_ANGL_VEL:
 325                         if (!st->chip_config.gyro_fifo_enable ||
 326                                         !st->chip_config.enable) {
 327                                 result = inv_mpu6050_switch_engine(st, true,
 328                                                 INV_MPU6050_BIT_PWR_GYRO_STBY);
 329                                 if (result)
 330                                         goto error_read_raw;
 331                         }
 332                         ret =  inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
 333                                                 chan->channel2, val);
 334                         if (!st->chip_config.gyro_fifo_enable ||
 335                                         !st->chip_config.enable) {
 336                                 result = inv_mpu6050_switch_engine(st, false,
 337                                                 INV_MPU6050_BIT_PWR_GYRO_STBY);
 338                                 if (result)
 339                                         goto error_read_raw;
 340                         }
 341                         break;
 342                 case IIO_ACCEL:
 343                         if (!st->chip_config.accl_fifo_enable ||
 344                                         !st->chip_config.enable) {
 345                                 result = inv_mpu6050_switch_engine(st, true,
 346                                                 INV_MPU6050_BIT_PWR_ACCL_STBY);
 347                                 if (result)
 348                                         goto error_read_raw;
 349                         }
 350                         ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
 351                                                 chan->channel2, val);
 352                         if (!st->chip_config.accl_fifo_enable ||
 353                                         !st->chip_config.enable) {
 354                                 result = inv_mpu6050_switch_engine(st, false,
 355                                                 INV_MPU6050_BIT_PWR_ACCL_STBY);
 356                                 if (result)
 357                                         goto error_read_raw;
 358                         }
 359                         break;
 360                 case IIO_TEMP:
 361                         /* wait for stablization */
 362                         msleep(INV_MPU6050_SENSOR_UP_TIME);
 363                         inv_mpu6050_sensor_show(st, st->reg->temperature,
 364                                                         IIO_MOD_X, val);
 365                         break;
 366                 default:
 367                         ret = -EINVAL;
 368                         break;
 369                 }
 370 error_read_raw:
 371                 if (!st->chip_config.enable)
 372                         result |= inv_mpu6050_set_power_itg(st, false);
 373                 mutex_unlock(&indio_dev->mlock);
 374                 if (result)
 375                         return result;
 376
 377                 return ret;
 378         }
 379         case IIO_CHAN_INFO_SCALE:
 380                 switch (chan->type) {
 381                 case IIO_ANGL_VEL:
 382                         *val  = 0;
 383                         *val2 = gyro_scale_6050[st->chip_config.fsr];
 384
 385                         return IIO_VAL_INT_PLUS_NANO;
 386                 case IIO_ACCEL:
 387                         *val = 0;
 388                         *val2 = accel_scale[st->chip_config.accl_fs];
 389
 390                         return IIO_VAL_INT_PLUS_MICRO;
 391                 case IIO_TEMP:
 392                         *val = 0;
 393                         *val2 = INV_MPU6050_TEMP_SCALE;
 394
 395                         return IIO_VAL_INT_PLUS_MICRO;
 396                 default:
 397                         return -EINVAL;
 398                 }
 399         case IIO_CHAN_INFO_OFFSET:
 400                 switch (chan->type) {
 401                 case IIO_TEMP:
 402                         *val = INV_MPU6050_TEMP_OFFSET;
 403
 404                         return IIO_VAL_INT;
 405                 default:
 406                         return -EINVAL;
 407                 }
 408         default:
 409                 return -EINVAL;
 410         }
 411 }
 412
 413 static int inv_mpu6050_write_fsr(struct inv_mpu6050_state *st, int fsr)
 414 {
 415         int result;
 416         u8 d;
 417
 418         if (fsr < 0 || fsr > INV_MPU6050_MAX_GYRO_FS_PARAM)
 419                 return -EINVAL;
 420         if (fsr == st->chip_config.fsr)
 421                 return 0;
 422
 423         d = (fsr << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 424         result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
 425         if (result)
 426                 return result;
 427         st->chip_config.fsr = fsr;
 428
 429         return 0;
 430 }
 431
 432 static int inv_mpu6050_write_accel_fs(struct inv_mpu6050_state *st, int fs)
 433 {
 434         int result;
 435         u8 d;
 436
 437         if (fs < 0 || fs > INV_MPU6050_MAX_ACCL_FS_PARAM)
 438                 return -EINVAL;
 439         if (fs == st->chip_config.accl_fs)
 440                 return 0;
 441
 442         d = (fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 443         result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
 444         if (result)
 445                 return result;
 446         st->chip_config.accl_fs = fs;
 447
 448         return 0;
 449 }
 450
 451 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
 452                                struct iio_chan_spec const *chan,
 453                                int val,
 454                                int val2,
 455                                long mask) {
 456         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 457         int result;
 458
 459         mutex_lock(&indio_dev->mlock);
 460         /* we should only update scale when the chip is disabled, i.e.,
 461                 not running */
 462         if (st->chip_config.enable) {
 463                 result = -EBUSY;
 464                 goto error_write_raw;
 465         }
 466         result = inv_mpu6050_set_power_itg(st, true);
 467         if (result)
 468                 goto error_write_raw;
 469
 470         switch (mask) {
 471         case IIO_CHAN_INFO_SCALE:
 472                 switch (chan->type) {
 473                 case IIO_ANGL_VEL:
 474                         result = inv_mpu6050_write_fsr(st, val);
 475                         break;
 476                 case IIO_ACCEL:
 477                         result = inv_mpu6050_write_accel_fs(st, val);
 478                         break;
 479                 default:
 480                         result = -EINVAL;
 481                         break;
 482                 }
 483                 break;
 484         default:
 485                 result = -EINVAL;
 486                 break;
 487         }
 488
 489 error_write_raw:
 490         result |= inv_mpu6050_set_power_itg(st, false);
 491         mutex_unlock(&indio_dev->mlock);
 492
 493         return result;
 494 }
 495
 496 /**
 497  *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
 498  *
 499  *                  Based on the Nyquist principle, the sampling rate must
 500  *                  exceed twice of the bandwidth of the signal, or there
 501  *                  would be alising. This function basically search for the
 502  *                  correct low pass parameters based on the fifo rate, e.g,
 503  *                  sampling frequency.
 504  */
 505 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 506 {
 507         const int hz[] = {188, 98, 42, 20, 10, 5};
 508         const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
 509                         INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
 510                         INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
 511         int i, h, result;
 512         u8 data;
 513
 514         h = (rate >> 1);
 515         i = 0;
 516         while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
 517                 i++;
 518         data = d[i];
 519         result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
 520         if (result)
 521                 return result;
 522         st->chip_config.lpf = data;
 523
 524         return 0;
 525 }
 526
 527 /**
 528  * inv_mpu6050_fifo_rate_store() - Set fifo rate.
 529  */
 530 static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
 531         struct device_attribute *attr, const char *buf, size_t count)
 532 {
 533         s32 fifo_rate;
 534         u8 d;
 535         int result;
 536         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 537         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 538
 539         if (kstrtoint(buf, 10, &fifo_rate))
 540                 return -EINVAL;
 541         if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
 542                                 fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
 543                 return -EINVAL;
 544         if (fifo_rate == st->chip_config.fifo_rate)
 545                 return count;
 546
 547         mutex_lock(&indio_dev->mlock);
 548         if (st->chip_config.enable) {
 549                 result = -EBUSY;
 550                 goto fifo_rate_fail;
 551         }
 552         result = inv_mpu6050_set_power_itg(st, true);
 553         if (result)
 554                 goto fifo_rate_fail;
 555
 556         d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
 557         result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
 558         if (result)
 559                 goto fifo_rate_fail;
 560         st->chip_config.fifo_rate = fifo_rate;
 561
 562         result = inv_mpu6050_set_lpf(st, fifo_rate);
 563         if (result)
 564                 goto fifo_rate_fail;
 565
 566 fifo_rate_fail:
 567         result |= inv_mpu6050_set_power_itg(st, false);
 568         mutex_unlock(&indio_dev->mlock);
 569         if (result)
 570                 return result;
 571
 572         return count;
 573 }
 574
 575 /**
 576  * inv_fifo_rate_show() - Get the current sampling rate.
 577  */
 578 static ssize_t inv_fifo_rate_show(struct device *dev,
 579         struct device_attribute *attr, char *buf)
 580 {
 581         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 582
 583         return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
 584 }
 585
 586 /**
 587  * inv_attr_show() - calling this function will show current
 588  *                    parameters.
 589  */
 590 static ssize_t inv_attr_show(struct device *dev,
 591         struct device_attribute *attr, char *buf)
 592 {
 593         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 594         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 595         s8 *m;
 596
 597         switch (this_attr->address) {
 598         /* In MPU6050, the two matrix are the same because gyro and accel
 599            are integrated in one chip */
 600         case ATTR_GYRO_MATRIX:
 601         case ATTR_ACCL_MATRIX:
 602                 m = st->plat_data.orientation;
 603
 604                 return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
 605                         m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
 606         default:
 607                 return -EINVAL;
 608         }
 609 }
 610
 611 /**
 612  * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
 613  *                                  MPU6050 device.
 614  * @indio_dev: The IIO device
 615  * @trig: The new trigger
 616  *
 617  * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
 618  * device, -EINVAL otherwise.
 619  */
 620 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 621                                         struct iio_trigger *trig)
 622 {
 623         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 624
 625         if (st->trig != trig)
 626                 return -EINVAL;
 627
 628         return 0;
 629 }
 630
 631 #define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
 632         {                                                             \
 633                 .type = _type,                                        \
 634                 .modified = 1,                                        \
 635                 .channel2 = _channel2,                                \
 636                 .info_mask_shared_by_type =  BIT(IIO_CHAN_INFO_SCALE), \
 637                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),         \
 638                 .scan_index = _index,                                 \
 639                 .scan_type = {                                        \
 640                                 .sign = 's',                          \
 641                                 .realbits = 16,                       \
 642                                 .storagebits = 16,                    \
 643                                 .shift = 0 ,                          \
 644                                 .endianness = IIO_BE,                 \
 645                              },                                       \
 646         }
 647
 648 static const struct iio_chan_spec inv_mpu_channels[] = {
 649         IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
 650         /*
 651          * Note that temperature should only be via polled reading only,
 652          * not the final scan elements output.
 653          */
 654         {
 655                 .type = IIO_TEMP,
 656                 .info_mask_separate =  BIT(IIO_CHAN_INFO_RAW)
 657                                 | BIT(IIO_CHAN_INFO_OFFSET)
 658                                 | BIT(IIO_CHAN_INFO_SCALE),
 659                 .scan_index = -1,
 660         },
 661         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 662         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 663         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
 664
 665         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
 666         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
 667         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
 668 };
 669
 670 /* constant IIO attribute */
 671 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
 672 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
 673         inv_mpu6050_fifo_rate_store);
 674 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
 675         ATTR_GYRO_MATRIX);
 676 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
 677         ATTR_ACCL_MATRIX);
 678
 679 static struct attribute *inv_attributes[] = {
 680         &iio_dev_attr_in_gyro_matrix.dev_attr.attr,
 681         &iio_dev_attr_in_accel_matrix.dev_attr.attr,
 682         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 683         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
 684         NULL,
 685 };
 686
 687 static const struct attribute_group inv_attribute_group = {
 688         .attrs = inv_attributes
 689 };
 690
 691 static const struct iio_info mpu_info = {
 692         .driver_module = THIS_MODULE,
 693         .read_raw = &inv_mpu6050_read_raw,
 694         .write_raw = &inv_mpu6050_write_raw,
 695         .attrs = &inv_attribute_group,
 696         .validate_trigger = inv_mpu6050_validate_trigger,
 697 };
 698
 699 /**
 700  *  inv_check_and_setup_chip() - check and setup chip.
 701  */
 702 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
 703                 const struct i2c_device_id *id)
 704 {
 705         int result;
 706
 707         st->chip_type = INV_MPU6050;
 708         st->hw  = &hw_info[st->chip_type];
 709         st->reg = hw_info[st->chip_type].reg;
 710
 711         /* reset to make sure previous state are not there */
 712         result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
 713                                         INV_MPU6050_BIT_H_RESET);
 714         if (result)
 715                 return result;
 716         msleep(INV_MPU6050_POWER_UP_TIME);
 717         /* toggle power state. After reset, the sleep bit could be on
 718                 or off depending on the OTP settings. Toggling power would
 719                 make it in a definite state as well as making the hardware
 720                 state align with the software state */
 721         result = inv_mpu6050_set_power_itg(st, false);
 722         if (result)
 723                 return result;
 724         result = inv_mpu6050_set_power_itg(st, true);
 725         if (result)
 726                 return result;
 727
 728         result = inv_mpu6050_switch_engine(st, false,
 729                                         INV_MPU6050_BIT_PWR_ACCL_STBY);
 730         if (result)
 731                 return result;
 732         result = inv_mpu6050_switch_engine(st, false,
 733                                         INV_MPU6050_BIT_PWR_GYRO_STBY);
 734         if (result)
 735                 return result;
 736
 737         return 0;
 738 }
 739
 740 /**
 741  *  inv_mpu_probe() - probe function.
 742  *  @client:          i2c client.
 743  *  @id:              i2c device id.
 744  *
 745  *  Returns 0 on success, a negative error code otherwise.
 746  */
 747 static int inv_mpu_probe(struct i2c_client *client,
 748         const struct i2c_device_id *id)
 749 {
 750         struct inv_mpu6050_state *st;
 751         struct iio_dev *indio_dev;
 752         struct inv_mpu6050_platform_data *pdata;
 753         int result;
 754
 755         if (!i2c_check_functionality(client->adapter,
 756                 I2C_FUNC_SMBUS_I2C_BLOCK))
 757                 return -ENOSYS;
 758
 759         indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
 760         if (!indio_dev)
 761                 return -ENOMEM;
 762
 763         st = iio_priv(indio_dev);
 764         st->client = client;
 765         st->powerup_count = 0;
 766         pdata = dev_get_platdata(&client->dev);
 767         if (pdata)
 768                 st->plat_data = *pdata;
 769         /* power is turned on inside check chip type*/
 770         result = inv_check_and_setup_chip(st, id);
 771         if (result)
 772                 return result;
 773
 774         result = inv_mpu6050_init_config(indio_dev);
 775         if (result) {
 776                 dev_err(&client->dev,
 777                         "Could not initialize device.\n");
 778                 return result;
 779         }
 780
 781         i2c_set_clientdata(client, indio_dev);
 782         indio_dev->dev.parent = &client->dev;
 783         /* id will be NULL when enumerated via ACPI */
 784         if (id)
 785                 indio_dev->name = (char *)id->name;
 786         else
 787                 indio_dev->name = (char *)dev_name(&client->dev);
 788         indio_dev->channels = inv_mpu_channels;
 789         indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
 790
 791         indio_dev->info = &mpu_info;
 792         indio_dev->modes = INDIO_BUFFER_TRIGGERED;
 793
 794         result = iio_triggered_buffer_setup(indio_dev,
 795                                             inv_mpu6050_irq_handler,
 796                                             inv_mpu6050_read_fifo,
 797                                             NULL);
 798         if (result) {
 799                 dev_err(&st->client->dev, "configure buffer fail %d\n",
 800                                 result);
 801                 return result;
 802         }
 803         result = inv_mpu6050_probe_trigger(indio_dev);
 804         if (result) {
 805                 dev_err(&st->client->dev, "trigger probe fail %d\n", result);
 806                 goto out_unreg_ring;
 807         }
 808
 809         INIT_KFIFO(st->timestamps);
 810         spin_lock_init(&st->time_stamp_lock);
 811         result = iio_device_register(indio_dev);
 812         if (result) {
 813                 dev_err(&st->client->dev, "IIO register fail %d\n", result);
 814                 goto out_remove_trigger;
 815         }
 816
 817         st->mux_adapter = i2c_add_mux_adapter(client->adapter,
 818                                               &client->dev,
 819                                               indio_dev,
 820                                               0, 0, 0,
 821                                               inv_mpu6050_select_bypass,
 822                                               inv_mpu6050_deselect_bypass);
 823         if (!st->mux_adapter) {
 824                 result = -ENODEV;
 825                 goto out_unreg_device;
 826         }
 827
 828         return 0;
 829
 830 out_unreg_device:
 831         iio_device_unregister(indio_dev);
 832 out_remove_trigger:
 833         inv_mpu6050_remove_trigger(st);
 834 out_unreg_ring:
 835         iio_triggered_buffer_cleanup(indio_dev);
 836         return result;
 837 }
 838
 839 static int inv_mpu_remove(struct i2c_client *client)
 840 {
 841         struct iio_dev *indio_dev = i2c_get_clientdata(client);
 842         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 843
 844         i2c_del_mux_adapter(st->mux_adapter);
 845         iio_device_unregister(indio_dev);
 846         inv_mpu6050_remove_trigger(st);
 847         iio_triggered_buffer_cleanup(indio_dev);
 848
 849         return 0;
 850 }
 851 #ifdef CONFIG_PM_SLEEP
 852
 853 static int inv_mpu_resume(struct device *dev)
 854 {
 855         return inv_mpu6050_set_power_itg(
 856                 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
 857 }
 858
 859 static int inv_mpu_suspend(struct device *dev)
 860 {
 861         return inv_mpu6050_set_power_itg(
 862                 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
 863 }
 864 static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
 865
 866 #define INV_MPU6050_PMOPS (&inv_mpu_pmops)
 867 #else
 868 #define INV_MPU6050_PMOPS NULL
 869 #endif /* CONFIG_PM_SLEEP */
 870
 871 /*
 872  * device id table is used to identify what device can be
 873  * supported by this driver
 874  */
 875 static const struct i2c_device_id inv_mpu_id[] = {
 876         {"mpu6050", INV_MPU6050},
 877         {"mpu6500", INV_MPU6500},
 878         {}
 879 };
 880
 881 MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
 882
 883 static const struct acpi_device_id inv_acpi_match[] = {
 884         {"INVN6500", 0},
 885         { },
 886 };
 887
 888 MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
 889
 890 static struct i2c_driver inv_mpu_driver = {
 891         .probe          =       inv_mpu_probe,
 892         .remove         =       inv_mpu_remove,
 893         .id_table       =       inv_mpu_id,
 894         .driver = {
 895                 .owner  =       THIS_MODULE,
 896                 .name   =       "inv-mpu6050",
 897                 .pm     =       INV_MPU6050_PMOPS,
 898                 .acpi_match_table = ACPI_PTR(inv_acpi_match),
 899         },
 900 };
 901
 902 module_i2c_driver(inv_mpu_driver);
 903
 904 MODULE_AUTHOR("Invensense Corporation");
 905 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
 906 MODULE_LICENSE("GPL");