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/acpi.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_6500 = {
  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         .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         .accl_offset            = INV_MPU6500_REG_ACCEL_OFFSET,
  59         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
  60 };
  61
  62 static const struct inv_mpu6050_reg_map reg_set_6050 = {
  63         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  64         .lpf                    = INV_MPU6050_REG_CONFIG,
  65         .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
  66         .fifo_en                = INV_MPU6050_REG_FIFO_EN,
  67         .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
  68         .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
  69         .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
  70         .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
  71         .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
  72         .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
  73         .temperature            = INV_MPU6050_REG_TEMPERATURE,
  74         .int_enable             = INV_MPU6050_REG_INT_ENABLE,
  75         .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
  76         .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
  77         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
  78         .accl_offset            = INV_MPU6050_REG_ACCEL_OFFSET,
  79         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
  80 };
  81
  82 static const struct inv_mpu6050_chip_config chip_config_6050 = {
  83         .fsr = INV_MPU6050_FSR_2000DPS,
  84         .lpf = INV_MPU6050_FILTER_20HZ,
  85         .fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
  86         .gyro_fifo_enable = false,
  87         .accl_fifo_enable = false,
  88         .accl_fs = INV_MPU6050_FS_02G,
  89 };
  90
  91 /* Indexed by enum inv_devices */
  92 static const struct inv_mpu6050_hw hw_info[] = {
  93         {
  94                 .whoami = INV_MPU6050_WHOAMI_VALUE,
  95                 .name = "MPU6050",
  96                 .reg = &reg_set_6050,
  97                 .config = &chip_config_6050,
  98         },
  99         {
 100                 .whoami = INV_MPU6500_WHOAMI_VALUE,
 101                 .name = "MPU6500",
 102                 .reg = &reg_set_6500,
 103                 .config = &chip_config_6050,
 104         },
 105         {
 106                 .whoami = INV_MPU6000_WHOAMI_VALUE,
 107                 .name = "MPU6000",
 108                 .reg = &reg_set_6050,
 109                 .config = &chip_config_6050,
 110         },
 111         {
 112                 .whoami = INV_MPU9150_WHOAMI_VALUE,
 113                 .name = "MPU9150",
 114                 .reg = &reg_set_6050,
 115                 .config = &chip_config_6050,
 116         },
 117         {
 118                 .whoami = INV_MPU9250_WHOAMI_VALUE,
 119                 .name = "MPU9250",
 120                 .reg = &reg_set_6500,
 121                 .config = &chip_config_6050,
 122         },
 123         {
 124                 .whoami = INV_ICM20608_WHOAMI_VALUE,
 125                 .name = "ICM20608",
 126                 .reg = &reg_set_6500,
 127                 .config = &chip_config_6050,
 128         },
 129 };
 130
 131 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
 132 {
 133         unsigned int d, mgmt_1;
 134         int result;
 135         /*
 136          * switch clock needs to be careful. Only when gyro is on, can
 137          * clock source be switched to gyro. Otherwise, it must be set to
 138          * internal clock
 139          */
 140         if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
 141                 result = regmap_read(st->map, st->reg->pwr_mgmt_1, &mgmt_1);
 142                 if (result)
 143                         return result;
 144
 145                 mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
 146         }
 147
 148         if ((mask == INV_MPU6050_BIT_PWR_GYRO_STBY) && (!en)) {
 149                 /*
 150                  * turning off gyro requires switch to internal clock first.
 151                  * Then turn off gyro engine
 152                  */
 153                 mgmt_1 |= INV_CLK_INTERNAL;
 154                 result = regmap_write(st->map, st->reg->pwr_mgmt_1, mgmt_1);
 155                 if (result)
 156                         return result;
 157         }
 158
 159         result = regmap_read(st->map, st->reg->pwr_mgmt_2, &d);
 160         if (result)
 161                 return result;
 162         if (en)
 163                 d &= ~mask;
 164         else
 165                 d |= mask;
 166         result = regmap_write(st->map, st->reg->pwr_mgmt_2, d);
 167         if (result)
 168                 return result;
 169
 170         if (en) {
 171                 /* Wait for output stabilize */
 172                 msleep(INV_MPU6050_TEMP_UP_TIME);
 173                 if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
 174                         /* switch internal clock to PLL */
 175                         mgmt_1 |= INV_CLK_PLL;
 176                         result = regmap_write(st->map,
 177                                               st->reg->pwr_mgmt_1, mgmt_1);
 178                         if (result)
 179                                 return result;
 180                 }
 181         }
 182
 183         return 0;
 184 }
 185
 186 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 187 {
 188         int result = 0;
 189
 190         if (power_on) {
 191                 if (!st->powerup_count)
 192                         result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);
 193                 if (!result)
 194                         st->powerup_count++;
 195         } else {
 196                 st->powerup_count--;
 197                 if (!st->powerup_count)
 198                         result = regmap_write(st->map, st->reg->pwr_mgmt_1,
 199                                               INV_MPU6050_BIT_SLEEP);
 200         }
 201
 202         if (result)
 203                 return result;
 204
 205         if (power_on)
 206                 usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
 207                              INV_MPU6050_REG_UP_TIME_MAX);
 208
 209         return 0;
 210 }
 211 EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);
 212
 213 /**
 214  *  inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
 215  *
 216  *  MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope
 217  *  MPU6500 and above have a dedicated register for accelerometer
 218  */
 219 static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
 220                                     enum inv_mpu6050_filter_e val)
 221 {
 222         int result;
 223
 224         result = regmap_write(st->map, st->reg->lpf, val);
 225         if (result)
 226                 return result;
 227
 228         switch (st->chip_type) {
 229         case INV_MPU6050:
 230         case INV_MPU6000:
 231         case INV_MPU9150:
 232                 /* old chips, nothing to do */
 233                 result = 0;
 234                 break;
 235         default:
 236                 /* set accel lpf */
 237                 result = regmap_write(st->map, st->reg->accel_lpf, val);
 238                 break;
 239         }
 240
 241         return result;
 242 }
 243
 244 /**
 245  *  inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
 246  *
 247  *  Initial configuration:
 248  *  FSR: ± 2000DPS
 249  *  DLPF: 20Hz
 250  *  FIFO rate: 50Hz
 251  *  Clock source: Gyro PLL
 252  */
 253 static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 254 {
 255         int result;
 256         u8 d;
 257         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 258
 259         result = inv_mpu6050_set_power_itg(st, true);
 260         if (result)
 261                 return result;
 262         d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 263         result = regmap_write(st->map, st->reg->gyro_config, d);
 264         if (result)
 265                 return result;
 266
 267         result = inv_mpu6050_set_lpf_regs(st, INV_MPU6050_FILTER_20HZ);
 268         if (result)
 269                 return result;
 270
 271         d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;
 272         result = regmap_write(st->map, st->reg->sample_rate_div, d);
 273         if (result)
 274                 return result;
 275
 276         d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 277         result = regmap_write(st->map, st->reg->accl_config, d);
 278         if (result)
 279                 return result;
 280
 281         memcpy(&st->chip_config, hw_info[st->chip_type].config,
 282                sizeof(struct inv_mpu6050_chip_config));
 283         result = inv_mpu6050_set_power_itg(st, false);
 284
 285         return result;
 286 }
 287
 288 static int inv_mpu6050_sensor_set(struct inv_mpu6050_state  *st, int reg,
 289                                 int axis, int val)
 290 {
 291         int ind, result;
 292         __be16 d = cpu_to_be16(val);
 293
 294         ind = (axis - IIO_MOD_X) * 2;
 295         result = regmap_bulk_write(st->map, reg + ind, (u8 *)&d, 2);
 296         if (result)
 297                 return -EINVAL;
 298
 299         return 0;
 300 }
 301
 302 static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
 303                                    int axis, int *val)
 304 {
 305         int ind, result;
 306         __be16 d;
 307
 308         ind = (axis - IIO_MOD_X) * 2;
 309         result = regmap_bulk_read(st->map, reg + ind, (u8 *)&d, 2);
 310         if (result)
 311                 return -EINVAL;
 312         *val = (short)be16_to_cpup(&d);
 313
 314         return IIO_VAL_INT;
 315 }
 316
 317 static int
 318 inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 319                      struct iio_chan_spec const *chan,
 320                      int *val, int *val2, long mask)
 321 {
 322         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 323         int ret = 0;
 324
 325         switch (mask) {
 326         case IIO_CHAN_INFO_RAW:
 327         {
 328                 int result;
 329
 330                 ret = IIO_VAL_INT;
 331                 mutex_lock(&st->lock);
 332                 result = iio_device_claim_direct_mode(indio_dev);
 333                 if (result)
 334                         goto error_read_raw_unlock;
 335                 result = inv_mpu6050_set_power_itg(st, true);
 336                 if (result)
 337                         goto error_read_raw_release;
 338                 switch (chan->type) {
 339                 case IIO_ANGL_VEL:
 340                         result = inv_mpu6050_switch_engine(st, true,
 341                                         INV_MPU6050_BIT_PWR_GYRO_STBY);
 342                         if (result)
 343                                 goto error_read_raw_power_off;
 344                         ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
 345                                                       chan->channel2, val);
 346                         result = inv_mpu6050_switch_engine(st, false,
 347                                         INV_MPU6050_BIT_PWR_GYRO_STBY);
 348                         if (result)
 349                                 goto error_read_raw_power_off;
 350                         break;
 351                 case IIO_ACCEL:
 352                         result = inv_mpu6050_switch_engine(st, true,
 353                                         INV_MPU6050_BIT_PWR_ACCL_STBY);
 354                         if (result)
 355                                 goto error_read_raw_power_off;
 356                         ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
 357                                                       chan->channel2, val);
 358                         result = inv_mpu6050_switch_engine(st, false,
 359                                         INV_MPU6050_BIT_PWR_ACCL_STBY);
 360                         if (result)
 361                                 goto error_read_raw_power_off;
 362                         break;
 363                 case IIO_TEMP:
 364                         /* wait for stablization */
 365                         msleep(INV_MPU6050_SENSOR_UP_TIME);
 366                         ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
 367                                                 IIO_MOD_X, val);
 368                         break;
 369                 default:
 370                         ret = -EINVAL;
 371                         break;
 372                 }
 373 error_read_raw_power_off:
 374                 result |= inv_mpu6050_set_power_itg(st, false);
 375 error_read_raw_release:
 376                 iio_device_release_direct_mode(indio_dev);
 377 error_read_raw_unlock:
 378                 mutex_unlock(&st->lock);
 379                 if (result)
 380                         return result;
 381
 382                 return ret;
 383         }
 384         case IIO_CHAN_INFO_SCALE:
 385                 switch (chan->type) {
 386                 case IIO_ANGL_VEL:
 387                         mutex_lock(&st->lock);
 388                         *val  = 0;
 389                         *val2 = gyro_scale_6050[st->chip_config.fsr];
 390                         mutex_unlock(&st->lock);
 391
 392                         return IIO_VAL_INT_PLUS_NANO;
 393                 case IIO_ACCEL:
 394                         mutex_lock(&st->lock);
 395                         *val = 0;
 396                         *val2 = accel_scale[st->chip_config.accl_fs];
 397                         mutex_unlock(&st->lock);
 398
 399                         return IIO_VAL_INT_PLUS_MICRO;
 400                 case IIO_TEMP:
 401                         *val = 0;
 402                         *val2 = INV_MPU6050_TEMP_SCALE;
 403
 404                         return IIO_VAL_INT_PLUS_MICRO;
 405                 default:
 406                         return -EINVAL;
 407                 }
 408         case IIO_CHAN_INFO_OFFSET:
 409                 switch (chan->type) {
 410                 case IIO_TEMP:
 411                         *val = INV_MPU6050_TEMP_OFFSET;
 412
 413                         return IIO_VAL_INT;
 414                 default:
 415                         return -EINVAL;
 416                 }
 417         case IIO_CHAN_INFO_CALIBBIAS:
 418                 switch (chan->type) {
 419                 case IIO_ANGL_VEL:
 420                         mutex_lock(&st->lock);
 421                         ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
 422                                                 chan->channel2, val);
 423                         mutex_unlock(&st->lock);
 424                         return IIO_VAL_INT;
 425                 case IIO_ACCEL:
 426                         mutex_lock(&st->lock);
 427                         ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
 428                                                 chan->channel2, val);
 429                         mutex_unlock(&st->lock);
 430                         return IIO_VAL_INT;
 431
 432                 default:
 433                         return -EINVAL;
 434                 }
 435         default:
 436                 return -EINVAL;
 437         }
 438 }
 439
 440 static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
 441 {
 442         int result, i;
 443         u8 d;
 444
 445         for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
 446                 if (gyro_scale_6050[i] == val) {
 447                         d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 448                         result = regmap_write(st->map, st->reg->gyro_config, d);
 449                         if (result)
 450                                 return result;
 451
 452                         st->chip_config.fsr = i;
 453                         return 0;
 454                 }
 455         }
 456
 457         return -EINVAL;
 458 }
 459
 460 static int inv_write_raw_get_fmt(struct iio_dev *indio_dev,
 461                                  struct iio_chan_spec const *chan, long mask)
 462 {
 463         switch (mask) {
 464         case IIO_CHAN_INFO_SCALE:
 465                 switch (chan->type) {
 466                 case IIO_ANGL_VEL:
 467                         return IIO_VAL_INT_PLUS_NANO;
 468                 default:
 469                         return IIO_VAL_INT_PLUS_MICRO;
 470                 }
 471         default:
 472                 return IIO_VAL_INT_PLUS_MICRO;
 473         }
 474
 475         return -EINVAL;
 476 }
 477
 478 static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
 479 {
 480         int result, i;
 481         u8 d;
 482
 483         for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
 484                 if (accel_scale[i] == val) {
 485                         d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 486                         result = regmap_write(st->map, st->reg->accl_config, d);
 487                         if (result)
 488                                 return result;
 489
 490                         st->chip_config.accl_fs = i;
 491                         return 0;
 492                 }
 493         }
 494
 495         return -EINVAL;
 496 }
 497
 498 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
 499                                  struct iio_chan_spec const *chan,
 500                                  int val, int val2, long mask)
 501 {
 502         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 503         int result;
 504
 505         mutex_lock(&st->lock);
 506         /*
 507          * we should only update scale when the chip is disabled, i.e.
 508          * not running
 509          */
 510         result = iio_device_claim_direct_mode(indio_dev);
 511         if (result)
 512                 goto error_write_raw_unlock;
 513         result = inv_mpu6050_set_power_itg(st, true);
 514         if (result)
 515                 goto error_write_raw_release;
 516
 517         switch (mask) {
 518         case IIO_CHAN_INFO_SCALE:
 519                 switch (chan->type) {
 520                 case IIO_ANGL_VEL:
 521                         result = inv_mpu6050_write_gyro_scale(st, val2);
 522                         break;
 523                 case IIO_ACCEL:
 524                         result = inv_mpu6050_write_accel_scale(st, val2);
 525                         break;
 526                 default:
 527                         result = -EINVAL;
 528                         break;
 529                 }
 530                 break;
 531         case IIO_CHAN_INFO_CALIBBIAS:
 532                 switch (chan->type) {
 533                 case IIO_ANGL_VEL:
 534                         result = inv_mpu6050_sensor_set(st,
 535                                                         st->reg->gyro_offset,
 536                                                         chan->channel2, val);
 537                         break;
 538                 case IIO_ACCEL:
 539                         result = inv_mpu6050_sensor_set(st,
 540                                                         st->reg->accl_offset,
 541                                                         chan->channel2, val);
 542                         break;
 543                 default:
 544                         result = -EINVAL;
 545                 }
 546         default:
 547                 result = -EINVAL;
 548                 break;
 549         }
 550
 551         result |= inv_mpu6050_set_power_itg(st, false);
 552 error_write_raw_release:
 553         iio_device_release_direct_mode(indio_dev);
 554 error_write_raw_unlock:
 555         mutex_unlock(&st->lock);
 556
 557         return result;
 558 }
 559
 560 /**
 561  *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
 562  *
 563  *                  Based on the Nyquist principle, the sampling rate must
 564  *                  exceed twice of the bandwidth of the signal, or there
 565  *                  would be alising. This function basically search for the
 566  *                  correct low pass parameters based on the fifo rate, e.g,
 567  *                  sampling frequency.
 568  *
 569  *  lpf is set automatically when setting sampling rate to avoid any aliases.
 570  */
 571 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 572 {
 573         const int hz[] = {188, 98, 42, 20, 10, 5};
 574         const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
 575                         INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
 576                         INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
 577         int i, h, result;
 578         u8 data;
 579
 580         h = (rate >> 1);
 581         i = 0;
 582         while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
 583                 i++;
 584         data = d[i];
 585         result = inv_mpu6050_set_lpf_regs(st, data);
 586         if (result)
 587                 return result;
 588         st->chip_config.lpf = data;
 589
 590         return 0;
 591 }
 592
 593 /**
 594  * inv_mpu6050_fifo_rate_store() - Set fifo rate.
 595  */
 596 static ssize_t
 597 inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
 598                             const char *buf, size_t count)
 599 {
 600         s32 fifo_rate;
 601         u8 d;
 602         int result;
 603         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 604         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 605
 606         if (kstrtoint(buf, 10, &fifo_rate))
 607                 return -EINVAL;
 608         if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
 609             fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
 610                 return -EINVAL;
 611
 612         mutex_lock(&st->lock);
 613         if (fifo_rate == st->chip_config.fifo_rate) {
 614                 result = 0;
 615                 goto fifo_rate_fail_unlock;
 616         }
 617         result = iio_device_claim_direct_mode(indio_dev);
 618         if (result)
 619                 goto fifo_rate_fail_unlock;
 620         result = inv_mpu6050_set_power_itg(st, true);
 621         if (result)
 622                 goto fifo_rate_fail_release;
 623
 624         d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
 625         result = regmap_write(st->map, st->reg->sample_rate_div, d);
 626         if (result)
 627                 goto fifo_rate_fail_power_off;
 628         st->chip_config.fifo_rate = fifo_rate;
 629
 630         result = inv_mpu6050_set_lpf(st, fifo_rate);
 631         if (result)
 632                 goto fifo_rate_fail_power_off;
 633
 634 fifo_rate_fail_power_off:
 635         result |= inv_mpu6050_set_power_itg(st, false);
 636 fifo_rate_fail_release:
 637         iio_device_release_direct_mode(indio_dev);
 638 fifo_rate_fail_unlock:
 639         mutex_unlock(&st->lock);
 640         if (result)
 641                 return result;
 642
 643         return count;
 644 }
 645
 646 /**
 647  * inv_fifo_rate_show() - Get the current sampling rate.
 648  */
 649 static ssize_t
 650 inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
 651                    char *buf)
 652 {
 653         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 654         unsigned fifo_rate;
 655
 656         mutex_lock(&st->lock);
 657         fifo_rate = st->chip_config.fifo_rate;
 658         mutex_unlock(&st->lock);
 659
 660         return scnprintf(buf, PAGE_SIZE, "%u\n", fifo_rate);
 661 }
 662
 663 /**
 664  * inv_attr_show() - calling this function will show current
 665  *                    parameters.
 666  *
 667  * Deprecated in favor of IIO mounting matrix API.
 668  *
 669  * See inv_get_mount_matrix()
 670  */
 671 static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
 672                              char *buf)
 673 {
 674         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 675         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 676         s8 *m;
 677
 678         switch (this_attr->address) {
 679         /*
 680          * In MPU6050, the two matrix are the same because gyro and accel
 681          * are integrated in one chip
 682          */
 683         case ATTR_GYRO_MATRIX:
 684         case ATTR_ACCL_MATRIX:
 685                 m = st->plat_data.orientation;
 686
 687                 return scnprintf(buf, PAGE_SIZE,
 688                         "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
 689                         m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
 690         default:
 691                 return -EINVAL;
 692         }
 693 }
 694
 695 /**
 696  * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
 697  *                                  MPU6050 device.
 698  * @indio_dev: The IIO device
 699  * @trig: The new trigger
 700  *
 701  * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
 702  * device, -EINVAL otherwise.
 703  */
 704 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 705                                         struct iio_trigger *trig)
 706 {
 707         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 708
 709         if (st->trig != trig)
 710                 return -EINVAL;
 711
 712         return 0;
 713 }
 714
 715 static const struct iio_mount_matrix *
 716 inv_get_mount_matrix(const struct iio_dev *indio_dev,
 717                      const struct iio_chan_spec *chan)
 718 {
 719         return &((struct inv_mpu6050_state *)iio_priv(indio_dev))->orientation;
 720 }
 721
 722 static const struct iio_chan_spec_ext_info inv_ext_info[] = {
 723         IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
 724         { },
 725 };
 726
 727 #define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
 728         {                                                             \
 729                 .type = _type,                                        \
 730                 .modified = 1,                                        \
 731                 .channel2 = _channel2,                                \
 732                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 733                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |        \
 734                                       BIT(IIO_CHAN_INFO_CALIBBIAS),   \
 735                 .scan_index = _index,                                 \
 736                 .scan_type = {                                        \
 737                                 .sign = 's',                          \
 738                                 .realbits = 16,                       \
 739                                 .storagebits = 16,                    \
 740                                 .shift = 0,                           \
 741                                 .endianness = IIO_BE,                 \
 742                              },                                       \
 743                 .ext_info = inv_ext_info,                             \
 744         }
 745
 746 static const struct iio_chan_spec inv_mpu_channels[] = {
 747         IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
 748         /*
 749          * Note that temperature should only be via polled reading only,
 750          * not the final scan elements output.
 751          */
 752         {
 753                 .type = IIO_TEMP,
 754                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
 755                                 | BIT(IIO_CHAN_INFO_OFFSET)
 756                                 | BIT(IIO_CHAN_INFO_SCALE),
 757                 .scan_index = -1,
 758         },
 759         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 760         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 761         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
 762
 763         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
 764         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
 765         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
 766 };
 767
 768 /* constant IIO attribute */
 769 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
 770 static IIO_CONST_ATTR(in_anglvel_scale_available,
 771                                           "0.000133090 0.000266181 0.000532362 0.001064724");
 772 static IIO_CONST_ATTR(in_accel_scale_available,
 773                                           "0.000598 0.001196 0.002392 0.004785");
 774 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
 775         inv_mpu6050_fifo_rate_store);
 776
 777 /* Deprecated: kept for userspace backward compatibility. */
 778 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
 779         ATTR_GYRO_MATRIX);
 780 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
 781         ATTR_ACCL_MATRIX);
 782
 783 static struct attribute *inv_attributes[] = {
 784         &iio_dev_attr_in_gyro_matrix.dev_attr.attr,  /* deprecated */
 785         &iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
 786         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 787         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
 788         &iio_const_attr_in_accel_scale_available.dev_attr.attr,
 789         &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
 790         NULL,
 791 };
 792
 793 static const struct attribute_group inv_attribute_group = {
 794         .attrs = inv_attributes
 795 };
 796
 797 static const struct iio_info mpu_info = {
 798         .driver_module = THIS_MODULE,
 799         .read_raw = &inv_mpu6050_read_raw,
 800         .write_raw = &inv_mpu6050_write_raw,
 801         .write_raw_get_fmt = &inv_write_raw_get_fmt,
 802         .attrs = &inv_attribute_group,
 803         .validate_trigger = inv_mpu6050_validate_trigger,
 804 };
 805
 806 /**
 807  *  inv_check_and_setup_chip() - check and setup chip.
 808  */
 809 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 810 {
 811         int result;
 812         unsigned int regval;
 813         int i;
 814
 815         st->hw  = &hw_info[st->chip_type];
 816         st->reg = hw_info[st->chip_type].reg;
 817
 818         /* check chip self-identification */
 819         result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, &regval);
 820         if (result)
 821                 return result;
 822         if (regval != st->hw->whoami) {
 823                 /* check whoami against all possible values */
 824                 for (i = 0; i < INV_NUM_PARTS; ++i) {
 825                         if (regval == hw_info[i].whoami) {
 826                                 dev_warn(regmap_get_device(st->map),
 827                                         "whoami mismatch got %#02x (%s)"
 828                                         "expected %#02hhx (%s)\n",
 829                                         regval, hw_info[i].name,
 830                                         st->hw->whoami, st->hw->name);
 831                                 break;
 832                         }
 833                 }
 834                 if (i >= INV_NUM_PARTS) {
 835                         dev_err(regmap_get_device(st->map),
 836                                 "invalid whoami %#02x expected %#02hhx (%s)\n",
 837                                 regval, st->hw->whoami, st->hw->name);
 838                         return -ENODEV;
 839                 }
 840         }
 841
 842         /* reset to make sure previous state are not there */
 843         result = regmap_write(st->map, st->reg->pwr_mgmt_1,
 844                               INV_MPU6050_BIT_H_RESET);
 845         if (result)
 846                 return result;
 847         msleep(INV_MPU6050_POWER_UP_TIME);
 848
 849         /*
 850          * toggle power state. After reset, the sleep bit could be on
 851          * or off depending on the OTP settings. Toggling power would
 852          * make it in a definite state as well as making the hardware
 853          * state align with the software state
 854          */
 855         result = inv_mpu6050_set_power_itg(st, false);
 856         if (result)
 857                 return result;
 858         result = inv_mpu6050_set_power_itg(st, true);
 859         if (result)
 860                 return result;
 861
 862         result = inv_mpu6050_switch_engine(st, false,
 863                                            INV_MPU6050_BIT_PWR_ACCL_STBY);
 864         if (result)
 865                 return result;
 866         result = inv_mpu6050_switch_engine(st, false,
 867                                            INV_MPU6050_BIT_PWR_GYRO_STBY);
 868         if (result)
 869                 return result;
 870
 871         return 0;
 872 }
 873
 874 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 875                 int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
 876 {
 877         struct inv_mpu6050_state *st;
 878         struct iio_dev *indio_dev;
 879         struct inv_mpu6050_platform_data *pdata;
 880         struct device *dev = regmap_get_device(regmap);
 881         int result;
 882
 883         indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
 884         if (!indio_dev)
 885                 return -ENOMEM;
 886
 887         BUILD_BUG_ON(ARRAY_SIZE(hw_info) != INV_NUM_PARTS);
 888         if (chip_type < 0 || chip_type >= INV_NUM_PARTS) {
 889                 dev_err(dev, "Bad invensense chip_type=%d name=%s\n",
 890                                 chip_type, name);
 891                 return -ENODEV;
 892         }
 893         st = iio_priv(indio_dev);
 894         mutex_init(&st->lock);
 895         st->chip_type = chip_type;
 896         st->powerup_count = 0;
 897         st->irq = irq;
 898         st->map = regmap;
 899
 900         pdata = dev_get_platdata(dev);
 901         if (!pdata) {
 902                 result = of_iio_read_mount_matrix(dev, "mount-matrix",
 903                                                   &st->orientation);
 904                 if (result) {
 905                         dev_err(dev, "Failed to retrieve mounting matrix %d\n",
 906                                 result);
 907                         return result;
 908                 }
 909         } else {
 910                 st->plat_data = *pdata;
 911         }
 912
 913         /* power is turned on inside check chip type*/
 914         result = inv_check_and_setup_chip(st);
 915         if (result)
 916                 return result;
 917
 918         if (inv_mpu_bus_setup)
 919                 inv_mpu_bus_setup(indio_dev);
 920
 921         result = inv_mpu6050_init_config(indio_dev);
 922         if (result) {
 923                 dev_err(dev, "Could not initialize device.\n");
 924                 return result;
 925         }
 926
 927         dev_set_drvdata(dev, indio_dev);
 928         indio_dev->dev.parent = dev;
 929         /* name will be NULL when enumerated via ACPI */
 930         if (name)
 931                 indio_dev->name = name;
 932         else
 933                 indio_dev->name = dev_name(dev);
 934         indio_dev->channels = inv_mpu_channels;
 935         indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
 936
 937         indio_dev->info = &mpu_info;
 938         indio_dev->modes = INDIO_BUFFER_TRIGGERED;
 939
 940         result = iio_triggered_buffer_setup(indio_dev,
 941                                             inv_mpu6050_irq_handler,
 942                                             inv_mpu6050_read_fifo,
 943                                             NULL);
 944         if (result) {
 945                 dev_err(dev, "configure buffer fail %d\n", result);
 946                 return result;
 947         }
 948         result = inv_mpu6050_probe_trigger(indio_dev);
 949         if (result) {
 950                 dev_err(dev, "trigger probe fail %d\n", result);
 951                 goto out_unreg_ring;
 952         }
 953
 954         INIT_KFIFO(st->timestamps);
 955         spin_lock_init(&st->time_stamp_lock);
 956         result = iio_device_register(indio_dev);
 957         if (result) {
 958                 dev_err(dev, "IIO register fail %d\n", result);
 959                 goto out_remove_trigger;
 960         }
 961
 962         return 0;
 963
 964 out_remove_trigger:
 965         inv_mpu6050_remove_trigger(st);
 966 out_unreg_ring:
 967         iio_triggered_buffer_cleanup(indio_dev);
 968         return result;
 969 }
 970 EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
 971
 972 int inv_mpu_core_remove(struct device  *dev)
 973 {
 974         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 975
 976         iio_device_unregister(indio_dev);
 977         inv_mpu6050_remove_trigger(iio_priv(indio_dev));
 978         iio_triggered_buffer_cleanup(indio_dev);
 979
 980         return 0;
 981 }
 982 EXPORT_SYMBOL_GPL(inv_mpu_core_remove);
 983
 984 #ifdef CONFIG_PM_SLEEP
 985
 986 static int inv_mpu_resume(struct device *dev)
 987 {
 988         struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
 989         int result;
 990
 991         mutex_lock(&st->lock);
 992         result = inv_mpu6050_set_power_itg(st, true);
 993         mutex_unlock(&st->lock);
 994
 995         return result;
 996 }
 997
 998 static int inv_mpu_suspend(struct device *dev)
 999 {
1000         struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
1001         int result;
1002
1003         mutex_lock(&st->lock);
1004         result = inv_mpu6050_set_power_itg(st, false);
1005         mutex_unlock(&st->lock);
1006
1007         return result;
1008 }
1009 #endif /* CONFIG_PM_SLEEP */
1010
1011 SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
1012 EXPORT_SYMBOL_GPL(inv_mpu_pmops);
1013
1014 MODULE_AUTHOR("Invensense Corporation");
1015 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
1016 MODULE_LICENSE("GPL");