drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

   1 /*
   2 * Copyright (C) 2012 Invensense, Inc.
   3 *
   4 * This software is licensed under the terms of the GNU General Public
   5 * License version 2, as published by the Free Software Foundation, and
   6 * may be copied, distributed, and modified under those terms.
   7 *
   8 * This program is distributed in the hope that it will be useful,
   9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
  10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  11 * GNU General Public License for more details.
  12 */
  13
  14 #include <linux/module.h>
  15 #include <linux/slab.h>
  16 #include <linux/i2c.h>
  17 #include <linux/err.h>
  18 #include <linux/delay.h>
  19 #include <linux/sysfs.h>
  20 #include <linux/jiffies.h>
  21 #include <linux/irq.h>
  22 #include <linux/interrupt.h>
  23 #include <linux/iio/iio.h>
  24 #include <linux/acpi.h>
  25 #include <linux/platform_device.h>
  26 #include "inv_mpu_iio.h"
  27
  28 /*
  29  * this is the gyro scale translated from dynamic range plus/minus
  30  * {250, 500, 1000, 2000} to rad/s
  31  */
  32 static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
  33
  34 /*
  35  * this is the accel scale translated from dynamic range plus/minus
  36  * {2, 4, 8, 16} to m/s^2
  37  */
  38 static const int accel_scale[] = {598, 1196, 2392, 4785};
  39
  40 static const struct inv_mpu6050_reg_map reg_set_icm20602 = {
  41         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  42         .lpf                    = INV_MPU6050_REG_CONFIG,
  43         .accel_lpf              = INV_MPU6500_REG_ACCEL_CONFIG_2,
  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         .int_status             = INV_MPU6050_REG_INT_STATUS,
  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         .i2c_if                 = INV_ICM20602_REG_I2C_IF,
  61 };
  62
  63 static const struct inv_mpu6050_reg_map reg_set_6500 = {
  64         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  65         .lpf                    = INV_MPU6050_REG_CONFIG,
  66         .accel_lpf              = INV_MPU6500_REG_ACCEL_CONFIG_2,
  67         .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
  68         .fifo_en                = INV_MPU6050_REG_FIFO_EN,
  69         .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
  70         .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
  71         .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
  72         .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
  73         .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
  74         .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
  75         .temperature            = INV_MPU6050_REG_TEMPERATURE,
  76         .int_enable             = INV_MPU6050_REG_INT_ENABLE,
  77         .int_status             = INV_MPU6050_REG_INT_STATUS,
  78         .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
  79         .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
  80         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
  81         .accl_offset            = INV_MPU6500_REG_ACCEL_OFFSET,
  82         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
  83         .i2c_if                 = 0,
  84 };
  85
  86 static const struct inv_mpu6050_reg_map reg_set_6050 = {
  87         .sample_rate_div        = INV_MPU6050_REG_SAMPLE_RATE_DIV,
  88         .lpf                    = INV_MPU6050_REG_CONFIG,
  89         .user_ctrl              = INV_MPU6050_REG_USER_CTRL,
  90         .fifo_en                = INV_MPU6050_REG_FIFO_EN,
  91         .gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
  92         .accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
  93         .fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
  94         .fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
  95         .raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
  96         .raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
  97         .temperature            = INV_MPU6050_REG_TEMPERATURE,
  98         .int_enable             = INV_MPU6050_REG_INT_ENABLE,
  99         .pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
 100         .pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
 101         .int_pin_cfg            = INV_MPU6050_REG_INT_PIN_CFG,
 102         .accl_offset            = INV_MPU6050_REG_ACCEL_OFFSET,
 103         .gyro_offset            = INV_MPU6050_REG_GYRO_OFFSET,
 104         .i2c_if                 = 0,
 105 };
 106
 107 static const struct inv_mpu6050_chip_config chip_config_6050 = {
 108         .fsr = INV_MPU6050_FSR_2000DPS,
 109         .lpf = INV_MPU6050_FILTER_20HZ,
 110         .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE),
 111         .gyro_fifo_enable = false,
 112         .accl_fifo_enable = false,
 113         .accl_fs = INV_MPU6050_FS_02G,
 114         .user_ctrl = 0,
 115 };
 116
 117 /* Indexed by enum inv_devices */
 118 static const struct inv_mpu6050_hw hw_info[] = {
 119         {
 120                 .whoami = INV_MPU6050_WHOAMI_VALUE,
 121                 .name = "MPU6050",
 122                 .reg = &reg_set_6050,
 123                 .config = &chip_config_6050,
 124                 .fifo_size = 1024,
 125                 .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
 126         },
 127         {
 128                 .whoami = INV_MPU6500_WHOAMI_VALUE,
 129                 .name = "MPU6500",
 130                 .reg = &reg_set_6500,
 131                 .config = &chip_config_6050,
 132                 .fifo_size = 512,
 133                 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
 134         },
 135         {
 136                 .whoami = INV_MPU6515_WHOAMI_VALUE,
 137                 .name = "MPU6515",
 138                 .reg = &reg_set_6500,
 139                 .config = &chip_config_6050,
 140                 .fifo_size = 512,
 141                 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
 142         },
 143         {
 144                 .whoami = INV_MPU6000_WHOAMI_VALUE,
 145                 .name = "MPU6000",
 146                 .reg = &reg_set_6050,
 147                 .config = &chip_config_6050,
 148                 .fifo_size = 1024,
 149                 .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
 150         },
 151         {
 152                 .whoami = INV_MPU9150_WHOAMI_VALUE,
 153                 .name = "MPU9150",
 154                 .reg = &reg_set_6050,
 155                 .config = &chip_config_6050,
 156                 .fifo_size = 1024,
 157                 .temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
 158         },
 159         {
 160                 .whoami = INV_MPU9250_WHOAMI_VALUE,
 161                 .name = "MPU9250",
 162                 .reg = &reg_set_6500,
 163                 .config = &chip_config_6050,
 164                 .fifo_size = 512,
 165                 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
 166         },
 167         {
 168                 .whoami = INV_MPU9255_WHOAMI_VALUE,
 169                 .name = "MPU9255",
 170                 .reg = &reg_set_6500,
 171                 .config = &chip_config_6050,
 172                 .fifo_size = 512,
 173                 .temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
 174         },
 175         {
 176                 .whoami = INV_ICM20608_WHOAMI_VALUE,
 177                 .name = "ICM20608",
 178                 .reg = &reg_set_6500,
 179                 .config = &chip_config_6050,
 180                 .fifo_size = 512,
 181                 .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
 182         },
 183         {
 184                 .whoami = INV_ICM20602_WHOAMI_VALUE,
 185                 .name = "ICM20602",
 186                 .reg = &reg_set_icm20602,
 187                 .config = &chip_config_6050,
 188                 .fifo_size = 1008,
 189                 .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
 190         },
 191 };
 192
 193 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
 194 {
 195         unsigned int d, mgmt_1;
 196         int result;
 197         /*
 198          * switch clock needs to be careful. Only when gyro is on, can
 199          * clock source be switched to gyro. Otherwise, it must be set to
 200          * internal clock
 201          */
 202         if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
 203                 result = regmap_read(st->map, st->reg->pwr_mgmt_1, &mgmt_1);
 204                 if (result)
 205                         return result;
 206
 207                 mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
 208         }
 209
 210         if ((mask == INV_MPU6050_BIT_PWR_GYRO_STBY) && (!en)) {
 211                 /*
 212                  * turning off gyro requires switch to internal clock first.
 213                  * Then turn off gyro engine
 214                  */
 215                 mgmt_1 |= INV_CLK_INTERNAL;
 216                 result = regmap_write(st->map, st->reg->pwr_mgmt_1, mgmt_1);
 217                 if (result)
 218                         return result;
 219         }
 220
 221         result = regmap_read(st->map, st->reg->pwr_mgmt_2, &d);
 222         if (result)
 223                 return result;
 224         if (en)
 225                 d &= ~mask;
 226         else
 227                 d |= mask;
 228         result = regmap_write(st->map, st->reg->pwr_mgmt_2, d);
 229         if (result)
 230                 return result;
 231
 232         if (en) {
 233                 /* Wait for output to stabilize */
 234                 msleep(INV_MPU6050_TEMP_UP_TIME);
 235                 if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
 236                         /* switch internal clock to PLL */
 237                         mgmt_1 |= INV_CLK_PLL;
 238                         result = regmap_write(st->map,
 239                                               st->reg->pwr_mgmt_1, mgmt_1);
 240                         if (result)
 241                                 return result;
 242                 }
 243         }
 244
 245         return 0;
 246 }
 247
 248 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 249 {
 250         int result;
 251
 252         if (power_on) {
 253                 if (!st->powerup_count) {
 254                         result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);
 255                         if (result)
 256                                 return result;
 257                         usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
 258                                      INV_MPU6050_REG_UP_TIME_MAX);
 259                 }
 260                 st->powerup_count++;
 261         } else {
 262                 if (st->powerup_count == 1) {
 263                         result = regmap_write(st->map, st->reg->pwr_mgmt_1,
 264                                               INV_MPU6050_BIT_SLEEP);
 265                         if (result)
 266                                 return result;
 267                 }
 268                 st->powerup_count--;
 269         }
 270
 271         dev_dbg(regmap_get_device(st->map), "set power %d, count=%u\n",
 272                 power_on, st->powerup_count);
 273
 274         return 0;
 275 }
 276 EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);
 277
 278 /**
 279  *  inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
 280  *
 281  *  MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope
 282  *  MPU6500 and above have a dedicated register for accelerometer
 283  */
 284 static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
 285                                     enum inv_mpu6050_filter_e val)
 286 {
 287         int result;
 288
 289         result = regmap_write(st->map, st->reg->lpf, val);
 290         if (result)
 291                 return result;
 292
 293         switch (st->chip_type) {
 294         case INV_MPU6050:
 295         case INV_MPU6000:
 296         case INV_MPU9150:
 297                 /* old chips, nothing to do */
 298                 result = 0;
 299                 break;
 300         default:
 301                 /* set accel lpf */
 302                 result = regmap_write(st->map, st->reg->accel_lpf, val);
 303                 break;
 304         }
 305
 306         return result;
 307 }
 308
 309 /**
 310  *  inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
 311  *
 312  *  Initial configuration:
 313  *  FSR: ± 2000DPS
 314  *  DLPF: 20Hz
 315  *  FIFO rate: 50Hz
 316  *  Clock source: Gyro PLL
 317  */
 318 static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 319 {
 320         int result;
 321         u8 d;
 322         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 323
 324         result = inv_mpu6050_set_power_itg(st, true);
 325         if (result)
 326                 return result;
 327         d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 328         result = regmap_write(st->map, st->reg->gyro_config, d);
 329         if (result)
 330                 goto error_power_off;
 331
 332         result = inv_mpu6050_set_lpf_regs(st, INV_MPU6050_FILTER_20HZ);
 333         if (result)
 334                 goto error_power_off;
 335
 336         d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE);
 337         result = regmap_write(st->map, st->reg->sample_rate_div, d);
 338         if (result)
 339                 goto error_power_off;
 340
 341         d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 342         result = regmap_write(st->map, st->reg->accl_config, d);
 343         if (result)
 344                 goto error_power_off;
 345
 346         result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
 347         if (result)
 348                 return result;
 349
 350         memcpy(&st->chip_config, hw_info[st->chip_type].config,
 351                sizeof(struct inv_mpu6050_chip_config));
 352
 353         /*
 354          * Internal chip period is 1ms (1kHz).
 355          * Let's use at the beginning the theorical value before measuring
 356          * with interrupt timestamps.
 357          */
 358         st->chip_period = NSEC_PER_MSEC;
 359
 360         return inv_mpu6050_set_power_itg(st, false);
 361
 362 error_power_off:
 363         inv_mpu6050_set_power_itg(st, false);
 364         return result;
 365 }
 366
 367 static int inv_mpu6050_sensor_set(struct inv_mpu6050_state  *st, int reg,
 368                                 int axis, int val)
 369 {
 370         int ind, result;
 371         __be16 d = cpu_to_be16(val);
 372
 373         ind = (axis - IIO_MOD_X) * 2;
 374         result = regmap_bulk_write(st->map, reg + ind, (u8 *)&d, 2);
 375         if (result)
 376                 return -EINVAL;
 377
 378         return 0;
 379 }
 380
 381 static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
 382                                    int axis, int *val)
 383 {
 384         int ind, result;
 385         __be16 d;
 386
 387         ind = (axis - IIO_MOD_X) * 2;
 388         result = regmap_bulk_read(st->map, reg + ind, (u8 *)&d, 2);
 389         if (result)
 390                 return -EINVAL;
 391         *val = (short)be16_to_cpup(&d);
 392
 393         return IIO_VAL_INT;
 394 }
 395
 396 static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
 397                                          struct iio_chan_spec const *chan,
 398                                          int *val)
 399 {
 400         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 401         int result;
 402         int ret;
 403
 404         result = inv_mpu6050_set_power_itg(st, true);
 405         if (result)
 406                 return result;
 407
 408         switch (chan->type) {
 409         case IIO_ANGL_VEL:
 410                 result = inv_mpu6050_switch_engine(st, true,
 411                                 INV_MPU6050_BIT_PWR_GYRO_STBY);
 412                 if (result)
 413                         goto error_power_off;
 414                 ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
 415                                               chan->channel2, val);
 416                 result = inv_mpu6050_switch_engine(st, false,
 417                                 INV_MPU6050_BIT_PWR_GYRO_STBY);
 418                 if (result)
 419                         goto error_power_off;
 420                 break;
 421         case IIO_ACCEL:
 422                 result = inv_mpu6050_switch_engine(st, true,
 423                                 INV_MPU6050_BIT_PWR_ACCL_STBY);
 424                 if (result)
 425                         goto error_power_off;
 426                 ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
 427                                               chan->channel2, val);
 428                 result = inv_mpu6050_switch_engine(st, false,
 429                                 INV_MPU6050_BIT_PWR_ACCL_STBY);
 430                 if (result)
 431                         goto error_power_off;
 432                 break;
 433         case IIO_TEMP:
 434                 /* wait for stablization */
 435                 msleep(INV_MPU6050_SENSOR_UP_TIME);
 436                 ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
 437                                               IIO_MOD_X, val);
 438                 break;
 439         default:
 440                 ret = -EINVAL;
 441                 break;
 442         }
 443
 444         result = inv_mpu6050_set_power_itg(st, false);
 445         if (result)
 446                 goto error_power_off;
 447
 448         return ret;
 449
 450 error_power_off:
 451         inv_mpu6050_set_power_itg(st, false);
 452         return result;
 453 }
 454
 455 static int
 456 inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 457                      struct iio_chan_spec const *chan,
 458                      int *val, int *val2, long mask)
 459 {
 460         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 461         int ret = 0;
 462
 463         switch (mask) {
 464         case IIO_CHAN_INFO_RAW:
 465                 ret = iio_device_claim_direct_mode(indio_dev);
 466                 if (ret)
 467                         return ret;
 468                 mutex_lock(&st->lock);
 469                 ret = inv_mpu6050_read_channel_data(indio_dev, chan, val);
 470                 mutex_unlock(&st->lock);
 471                 iio_device_release_direct_mode(indio_dev);
 472                 return ret;
 473         case IIO_CHAN_INFO_SCALE:
 474                 switch (chan->type) {
 475                 case IIO_ANGL_VEL:
 476                         mutex_lock(&st->lock);
 477                         *val  = 0;
 478                         *val2 = gyro_scale_6050[st->chip_config.fsr];
 479                         mutex_unlock(&st->lock);
 480
 481                         return IIO_VAL_INT_PLUS_NANO;
 482                 case IIO_ACCEL:
 483                         mutex_lock(&st->lock);
 484                         *val = 0;
 485                         *val2 = accel_scale[st->chip_config.accl_fs];
 486                         mutex_unlock(&st->lock);
 487
 488                         return IIO_VAL_INT_PLUS_MICRO;
 489                 case IIO_TEMP:
 490                         *val = st->hw->temp.scale / 1000000;
 491                         *val2 = st->hw->temp.scale % 1000000;
 492                         return IIO_VAL_INT_PLUS_MICRO;
 493                 default:
 494                         return -EINVAL;
 495                 }
 496         case IIO_CHAN_INFO_OFFSET:
 497                 switch (chan->type) {
 498                 case IIO_TEMP:
 499                         *val = st->hw->temp.offset;
 500                         return IIO_VAL_INT;
 501                 default:
 502                         return -EINVAL;
 503                 }
 504         case IIO_CHAN_INFO_CALIBBIAS:
 505                 switch (chan->type) {
 506                 case IIO_ANGL_VEL:
 507                         mutex_lock(&st->lock);
 508                         ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
 509                                                 chan->channel2, val);
 510                         mutex_unlock(&st->lock);
 511                         return IIO_VAL_INT;
 512                 case IIO_ACCEL:
 513                         mutex_lock(&st->lock);
 514                         ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
 515                                                 chan->channel2, val);
 516                         mutex_unlock(&st->lock);
 517                         return IIO_VAL_INT;
 518
 519                 default:
 520                         return -EINVAL;
 521                 }
 522         default:
 523                 return -EINVAL;
 524         }
 525 }
 526
 527 static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
 528 {
 529         int result, i;
 530         u8 d;
 531
 532         for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
 533                 if (gyro_scale_6050[i] == val) {
 534                         d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
 535                         result = regmap_write(st->map, st->reg->gyro_config, d);
 536                         if (result)
 537                                 return result;
 538
 539                         st->chip_config.fsr = i;
 540                         return 0;
 541                 }
 542         }
 543
 544         return -EINVAL;
 545 }
 546
 547 static int inv_write_raw_get_fmt(struct iio_dev *indio_dev,
 548                                  struct iio_chan_spec const *chan, long mask)
 549 {
 550         switch (mask) {
 551         case IIO_CHAN_INFO_SCALE:
 552                 switch (chan->type) {
 553                 case IIO_ANGL_VEL:
 554                         return IIO_VAL_INT_PLUS_NANO;
 555                 default:
 556                         return IIO_VAL_INT_PLUS_MICRO;
 557                 }
 558         default:
 559                 return IIO_VAL_INT_PLUS_MICRO;
 560         }
 561
 562         return -EINVAL;
 563 }
 564
 565 static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
 566 {
 567         int result, i;
 568         u8 d;
 569
 570         for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
 571                 if (accel_scale[i] == val) {
 572                         d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
 573                         result = regmap_write(st->map, st->reg->accl_config, d);
 574                         if (result)
 575                                 return result;
 576
 577                         st->chip_config.accl_fs = i;
 578                         return 0;
 579                 }
 580         }
 581
 582         return -EINVAL;
 583 }
 584
 585 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
 586                                  struct iio_chan_spec const *chan,
 587                                  int val, int val2, long mask)
 588 {
 589         struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 590         int result;
 591
 592         /*
 593          * we should only update scale when the chip is disabled, i.e.
 594          * not running
 595          */
 596         result = iio_device_claim_direct_mode(indio_dev);
 597         if (result)
 598                 return result;
 599
 600         mutex_lock(&st->lock);
 601         result = inv_mpu6050_set_power_itg(st, true);
 602         if (result)
 603                 goto error_write_raw_unlock;
 604
 605         switch (mask) {
 606         case IIO_CHAN_INFO_SCALE:
 607                 switch (chan->type) {
 608                 case IIO_ANGL_VEL:
 609                         result = inv_mpu6050_write_gyro_scale(st, val2);
 610                         break;
 611                 case IIO_ACCEL:
 612                         result = inv_mpu6050_write_accel_scale(st, val2);
 613                         break;
 614                 default:
 615                         result = -EINVAL;
 616                         break;
 617                 }
 618                 break;
 619         case IIO_CHAN_INFO_CALIBBIAS:
 620                 switch (chan->type) {
 621                 case IIO_ANGL_VEL:
 622                         result = inv_mpu6050_sensor_set(st,
 623                                                         st->reg->gyro_offset,
 624                                                         chan->channel2, val);
 625                         break;
 626                 case IIO_ACCEL:
 627                         result = inv_mpu6050_sensor_set(st,
 628                                                         st->reg->accl_offset,
 629                                                         chan->channel2, val);
 630                         break;
 631                 default:
 632                         result = -EINVAL;
 633                         break;
 634                 }
 635                 break;
 636         default:
 637                 result = -EINVAL;
 638                 break;
 639         }
 640
 641         result |= inv_mpu6050_set_power_itg(st, false);
 642 error_write_raw_unlock:
 643         mutex_unlock(&st->lock);
 644         iio_device_release_direct_mode(indio_dev);
 645
 646         return result;
 647 }
 648
 649 /**
 650  *  inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
 651  *
 652  *                  Based on the Nyquist principle, the sampling rate must
 653  *                  exceed twice of the bandwidth of the signal, or there
 654  *                  would be alising. This function basically search for the
 655  *                  correct low pass parameters based on the fifo rate, e.g,
 656  *                  sampling frequency.
 657  *
 658  *  lpf is set automatically when setting sampling rate to avoid any aliases.
 659  */
 660 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 661 {
 662         static const int hz[] = {188, 98, 42, 20, 10, 5};
 663         static const int d[] = {
 664                 INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
 665                 INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
 666                 INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
 667         };
 668         int i, h, result;
 669         u8 data;
 670
 671         h = (rate >> 1);
 672         i = 0;
 673         while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
 674                 i++;
 675         data = d[i];
 676         result = inv_mpu6050_set_lpf_regs(st, data);
 677         if (result)
 678                 return result;
 679         st->chip_config.lpf = data;
 680
 681         return 0;
 682 }
 683
 684 /**
 685  * inv_mpu6050_fifo_rate_store() - Set fifo rate.
 686  */
 687 static ssize_t
 688 inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
 689                             const char *buf, size_t count)
 690 {
 691         int fifo_rate;
 692         u8 d;
 693         int result;
 694         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 695         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 696
 697         if (kstrtoint(buf, 10, &fifo_rate))
 698                 return -EINVAL;
 699         if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
 700             fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
 701                 return -EINVAL;
 702
 703         result = iio_device_claim_direct_mode(indio_dev);
 704         if (result)
 705                 return result;
 706
 707         /* compute the chip sample rate divider */
 708         d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
 709         /* compute back the fifo rate to handle truncation cases */
 710         fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d);
 711
 712         mutex_lock(&st->lock);
 713         if (d == st->chip_config.divider) {
 714                 result = 0;
 715                 goto fifo_rate_fail_unlock;
 716         }
 717         result = inv_mpu6050_set_power_itg(st, true);
 718         if (result)
 719                 goto fifo_rate_fail_unlock;
 720
 721         result = regmap_write(st->map, st->reg->sample_rate_div, d);
 722         if (result)
 723                 goto fifo_rate_fail_power_off;
 724         st->chip_config.divider = d;
 725
 726         result = inv_mpu6050_set_lpf(st, fifo_rate);
 727         if (result)
 728                 goto fifo_rate_fail_power_off;
 729
 730 fifo_rate_fail_power_off:
 731         result |= inv_mpu6050_set_power_itg(st, false);
 732 fifo_rate_fail_unlock:
 733         mutex_unlock(&st->lock);
 734         iio_device_release_direct_mode(indio_dev);
 735         if (result)
 736                 return result;
 737
 738         return count;
 739 }
 740
 741 /**
 742  * inv_fifo_rate_show() - Get the current sampling rate.
 743  */
 744 static ssize_t
 745 inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
 746                    char *buf)
 747 {
 748         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 749         unsigned fifo_rate;
 750
 751         mutex_lock(&st->lock);
 752         fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
 753         mutex_unlock(&st->lock);
 754
 755         return scnprintf(buf, PAGE_SIZE, "%u\n", fifo_rate);
 756 }
 757
 758 /**
 759  * inv_attr_show() - calling this function will show current
 760  *                    parameters.
 761  *
 762  * Deprecated in favor of IIO mounting matrix API.
 763  *
 764  * See inv_get_mount_matrix()
 765  */
 766 static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
 767                              char *buf)
 768 {
 769         struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
 770         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 771         s8 *m;
 772
 773         switch (this_attr->address) {
 774         /*
 775          * In MPU6050, the two matrix are the same because gyro and accel
 776          * are integrated in one chip
 777          */
 778         case ATTR_GYRO_MATRIX:
 779         case ATTR_ACCL_MATRIX:
 780                 m = st->plat_data.orientation;
 781
 782                 return scnprintf(buf, PAGE_SIZE,
 783                         "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
 784                         m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
 785         default:
 786                 return -EINVAL;
 787         }
 788 }
 789
 790 /**
 791  * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
 792  *                                  MPU6050 device.
 793  * @indio_dev: The IIO device
 794  * @trig: The new trigger
 795  *
 796  * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
 797  * device, -EINVAL otherwise.
 798  */
 799 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 800                                         struct iio_trigger *trig)
 801 {
 802         struct inv_mpu6050_state *st = iio_priv(indio_dev);
 803
 804         if (st->trig != trig)
 805                 return -EINVAL;
 806
 807         return 0;
 808 }
 809
 810 static const struct iio_mount_matrix *
 811 inv_get_mount_matrix(const struct iio_dev *indio_dev,
 812                      const struct iio_chan_spec *chan)
 813 {
 814         return &((struct inv_mpu6050_state *)iio_priv(indio_dev))->orientation;
 815 }
 816
 817 static const struct iio_chan_spec_ext_info inv_ext_info[] = {
 818         IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
 819         { },
 820 };
 821
 822 #define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
 823         {                                                             \
 824                 .type = _type,                                        \
 825                 .modified = 1,                                        \
 826                 .channel2 = _channel2,                                \
 827                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 828                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |        \
 829                                       BIT(IIO_CHAN_INFO_CALIBBIAS),   \
 830                 .scan_index = _index,                                 \
 831                 .scan_type = {                                        \
 832                                 .sign = 's',                          \
 833                                 .realbits = 16,                       \
 834                                 .storagebits = 16,                    \
 835                                 .shift = 0,                           \
 836                                 .endianness = IIO_BE,                 \
 837                              },                                       \
 838                 .ext_info = inv_ext_info,                             \
 839         }
 840
 841 static const struct iio_chan_spec inv_mpu_channels[] = {
 842         IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
 843         /*
 844          * Note that temperature should only be via polled reading only,
 845          * not the final scan elements output.
 846          */
 847         {
 848                 .type = IIO_TEMP,
 849                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
 850                                 | BIT(IIO_CHAN_INFO_OFFSET)
 851                                 | BIT(IIO_CHAN_INFO_SCALE),
 852                 .scan_index = -1,
 853         },
 854         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 855         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 856         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
 857
 858         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
 859         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
 860         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
 861 };
 862
 863 static const unsigned long inv_mpu_scan_masks[] = {
 864         /* 3-axis accel */
 865         BIT(INV_MPU6050_SCAN_ACCL_X)
 866                 | BIT(INV_MPU6050_SCAN_ACCL_Y)
 867                 | BIT(INV_MPU6050_SCAN_ACCL_Z),
 868         /* 3-axis gyro */
 869         BIT(INV_MPU6050_SCAN_GYRO_X)
 870                 | BIT(INV_MPU6050_SCAN_GYRO_Y)
 871                 | BIT(INV_MPU6050_SCAN_GYRO_Z),
 872         /* 6-axis accel + gyro */
 873         BIT(INV_MPU6050_SCAN_ACCL_X)
 874                 | BIT(INV_MPU6050_SCAN_ACCL_Y)
 875                 | BIT(INV_MPU6050_SCAN_ACCL_Z)
 876                 | BIT(INV_MPU6050_SCAN_GYRO_X)
 877                 | BIT(INV_MPU6050_SCAN_GYRO_Y)
 878                 | BIT(INV_MPU6050_SCAN_GYRO_Z),
 879         0,
 880 };
 881
 882 static const struct iio_chan_spec inv_icm20602_channels[] = {
 883         IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
 884         {
 885                 .type = IIO_TEMP,
 886                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
 887                                 | BIT(IIO_CHAN_INFO_OFFSET)
 888                                 | BIT(IIO_CHAN_INFO_SCALE),
 889                 .scan_index = INV_ICM20602_SCAN_TEMP,
 890                 .scan_type = {
 891                                 .sign = 's',
 892                                 .realbits = 16,
 893                                 .storagebits = 16,
 894                                 .shift = 0,
 895                                 .endianness = IIO_BE,
 896                              },
 897         },
 898
 899         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
 900         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
 901         INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),
 902
 903         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
 904         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
 905         INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
 906 };
 907
 908 static const unsigned long inv_icm20602_scan_masks[] = {
 909         /* 3-axis accel + temp (mandatory) */
 910         BIT(INV_ICM20602_SCAN_ACCL_X)
 911                 | BIT(INV_ICM20602_SCAN_ACCL_Y)
 912                 | BIT(INV_ICM20602_SCAN_ACCL_Z)
 913                 | BIT(INV_ICM20602_SCAN_TEMP),
 914         /* 3-axis gyro + temp (mandatory) */
 915         BIT(INV_ICM20602_SCAN_GYRO_X)
 916                 | BIT(INV_ICM20602_SCAN_GYRO_Y)
 917                 | BIT(INV_ICM20602_SCAN_GYRO_Z)
 918                 | BIT(INV_ICM20602_SCAN_TEMP),
 919         /* 6-axis accel + gyro + temp (mandatory) */
 920         BIT(INV_ICM20602_SCAN_ACCL_X)
 921                 | BIT(INV_ICM20602_SCAN_ACCL_Y)
 922                 | BIT(INV_ICM20602_SCAN_ACCL_Z)
 923                 | BIT(INV_ICM20602_SCAN_GYRO_X)
 924                 | BIT(INV_ICM20602_SCAN_GYRO_Y)
 925                 | BIT(INV_ICM20602_SCAN_GYRO_Z)
 926                 | BIT(INV_ICM20602_SCAN_TEMP),
 927         0,
 928 };
 929
 930 /*
 931  * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and
 932  * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the
 933  * low-pass filter. Specifically, each of these sampling rates are about twice
 934  * the bandwidth of a corresponding low-pass filter, which should eliminate
 935  * aliasing following the Nyquist principle. By picking a frequency different
 936  * from these, the user risks aliasing effects.
 937  */
 938 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
 939 static IIO_CONST_ATTR(in_anglvel_scale_available,
 940                                           "0.000133090 0.000266181 0.000532362 0.001064724");
 941 static IIO_CONST_ATTR(in_accel_scale_available,
 942                                           "0.000598 0.001196 0.002392 0.004785");
 943 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
 944         inv_mpu6050_fifo_rate_store);
 945
 946 /* Deprecated: kept for userspace backward compatibility. */
 947 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
 948         ATTR_GYRO_MATRIX);
 949 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
 950         ATTR_ACCL_MATRIX);
 951
 952 static struct attribute *inv_attributes[] = {
 953         &iio_dev_attr_in_gyro_matrix.dev_attr.attr,  /* deprecated */
 954         &iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
 955         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 956         &iio_const_attr_sampling_frequency_available.dev_attr.attr,
 957         &iio_const_attr_in_accel_scale_available.dev_attr.attr,
 958         &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
 959         NULL,
 960 };
 961
 962 static const struct attribute_group inv_attribute_group = {
 963         .attrs = inv_attributes
 964 };
 965
 966 static const struct iio_info mpu_info = {
 967         .read_raw = &inv_mpu6050_read_raw,
 968         .write_raw = &inv_mpu6050_write_raw,
 969         .write_raw_get_fmt = &inv_write_raw_get_fmt,
 970         .attrs = &inv_attribute_group,
 971         .validate_trigger = inv_mpu6050_validate_trigger,
 972 };
 973
 974 /**
 975  *  inv_check_and_setup_chip() - check and setup chip.
 976  */
 977 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 978 {
 979         int result;
 980         unsigned int regval;
 981         int i;
 982
 983         st->hw  = &hw_info[st->chip_type];
 984         st->reg = hw_info[st->chip_type].reg;
 985
 986         /* check chip self-identification */
 987         result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, &regval);
 988         if (result)
 989                 return result;
 990         if (regval != st->hw->whoami) {
 991                 /* check whoami against all possible values */
 992                 for (i = 0; i < INV_NUM_PARTS; ++i) {
 993                         if (regval == hw_info[i].whoami) {
 994                                 dev_warn(regmap_get_device(st->map),
 995                                         "whoami mismatch got %#02x (%s)"
 996                                         "expected %#02hhx (%s)\n",
 997                                         regval, hw_info[i].name,
 998                                         st->hw->whoami, st->hw->name);
 999                                 break;
1000                         }
1001                 }
1002                 if (i >= INV_NUM_PARTS) {
1003                         dev_err(regmap_get_device(st->map),
1004                                 "invalid whoami %#02x expected %#02hhx (%s)\n",
1005                                 regval, st->hw->whoami, st->hw->name);
1006                         return -ENODEV;
1007                 }
1008         }
1009
1010         /* reset to make sure previous state are not there */
1011         result = regmap_write(st->map, st->reg->pwr_mgmt_1,
1012                               INV_MPU6050_BIT_H_RESET);
1013         if (result)
1014                 return result;
1015         msleep(INV_MPU6050_POWER_UP_TIME);
1016
1017         /*
1018          * Turn power on. After reset, the sleep bit could be on
1019          * or off depending on the OTP settings. Turning power on
1020          * make it in a definite state as well as making the hardware
1021          * state align with the software state
1022          */
1023         result = inv_mpu6050_set_power_itg(st, true);
1024         if (result)
1025                 return result;
1026
1027         result = inv_mpu6050_switch_engine(st, false,
1028                                            INV_MPU6050_BIT_PWR_ACCL_STBY);
1029         if (result)
1030                 goto error_power_off;
1031         result = inv_mpu6050_switch_engine(st, false,
1032                                            INV_MPU6050_BIT_PWR_GYRO_STBY);
1033         if (result)
1034                 goto error_power_off;
1035
1036         return inv_mpu6050_set_power_itg(st, false);
1037
1038 error_power_off:
1039         inv_mpu6050_set_power_itg(st, false);
1040         return result;
1041 }
1042
1043 int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
1044                 int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
1045 {
1046         struct inv_mpu6050_state *st;
1047         struct iio_dev *indio_dev;
1048         struct inv_mpu6050_platform_data *pdata;
1049         struct device *dev = regmap_get_device(regmap);
1050         int result;
1051         struct irq_data *desc;
1052         int irq_type;
1053
1054         indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
1055         if (!indio_dev)
1056                 return -ENOMEM;
1057
1058         BUILD_BUG_ON(ARRAY_SIZE(hw_info) != INV_NUM_PARTS);
1059         if (chip_type < 0 || chip_type >= INV_NUM_PARTS) {
1060                 dev_err(dev, "Bad invensense chip_type=%d name=%s\n",
1061                                 chip_type, name);
1062                 return -ENODEV;
1063         }
1064         st = iio_priv(indio_dev);
1065         mutex_init(&st->lock);
1066         st->chip_type = chip_type;
1067         st->powerup_count = 0;
1068         st->irq = irq;
1069         st->map = regmap;
1070
1071         pdata = dev_get_platdata(dev);
1072         if (!pdata) {
1073                 result = of_iio_read_mount_matrix(dev, "mount-matrix",
1074                                                   &st->orientation);
1075                 if (result) {
1076                         dev_err(dev, "Failed to retrieve mounting matrix %d\n",
1077                                 result);
1078                         return result;
1079                 }
1080         } else {
1081                 st->plat_data = *pdata;
1082         }
1083
1084         desc = irq_get_irq_data(irq);
1085         if (!desc) {
1086                 dev_err(dev, "Could not find IRQ %d\n", irq);
1087                 return -EINVAL;
1088         }
1089
1090         irq_type = irqd_get_trigger_type(desc);
1091         if (!irq_type)
1092                 irq_type = IRQF_TRIGGER_RISING;
1093         if (irq_type == IRQF_TRIGGER_RISING)
1094                 st->irq_mask = INV_MPU6050_ACTIVE_HIGH;
1095         else if (irq_type == IRQF_TRIGGER_FALLING)
1096                 st->irq_mask = INV_MPU6050_ACTIVE_LOW;
1097         else if (irq_type == IRQF_TRIGGER_HIGH)
1098                 st->irq_mask = INV_MPU6050_ACTIVE_HIGH |
1099                         INV_MPU6050_LATCH_INT_EN;
1100         else if (irq_type == IRQF_TRIGGER_LOW)
1101                 st->irq_mask = INV_MPU6050_ACTIVE_LOW |
1102                         INV_MPU6050_LATCH_INT_EN;
1103         else {
1104                 dev_err(dev, "Invalid interrupt type 0x%x specified\n",
1105                         irq_type);
1106                 return -EINVAL;
1107         }
1108
1109         /* power is turned on inside check chip type*/
1110         result = inv_check_and_setup_chip(st);
1111         if (result)
1112                 return result;
1113
1114         result = inv_mpu6050_init_config(indio_dev);
1115         if (result) {
1116                 dev_err(dev, "Could not initialize device.\n");
1117                 return result;
1118         }
1119
1120         if (inv_mpu_bus_setup)
1121                 inv_mpu_bus_setup(indio_dev);
1122
1123         dev_set_drvdata(dev, indio_dev);
1124         indio_dev->dev.parent = dev;
1125         /* name will be NULL when enumerated via ACPI */
1126         if (name)
1127                 indio_dev->name = name;
1128         else
1129                 indio_dev->name = dev_name(dev);
1130
1131         if (chip_type == INV_ICM20602) {
1132                 indio_dev->channels = inv_icm20602_channels;
1133                 indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
1134                 indio_dev->available_scan_masks = inv_icm20602_scan_masks;
1135         } else {
1136                 indio_dev->channels = inv_mpu_channels;
1137                 indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
1138                 indio_dev->available_scan_masks = inv_mpu_scan_masks;
1139         }
1140
1141         indio_dev->info = &mpu_info;
1142         indio_dev->modes = INDIO_BUFFER_TRIGGERED;
1143
1144         result = devm_iio_triggered_buffer_setup(dev, indio_dev,
1145                                                  iio_pollfunc_store_time,
1146                                                  inv_mpu6050_read_fifo,
1147                                                  NULL);
1148         if (result) {
1149                 dev_err(dev, "configure buffer fail %d\n", result);
1150                 return result;
1151         }
1152         result = inv_mpu6050_probe_trigger(indio_dev, irq_type);
1153         if (result) {
1154                 dev_err(dev, "trigger probe fail %d\n", result);
1155                 return result;
1156         }
1157
1158         result = devm_iio_device_register(dev, indio_dev);
1159         if (result) {
1160                 dev_err(dev, "IIO register fail %d\n", result);
1161                 return result;
1162         }
1163
1164         return 0;
1165 }
1166 EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
1167
1168 #ifdef CONFIG_PM_SLEEP
1169
1170 static int inv_mpu_resume(struct device *dev)
1171 {
1172         struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
1173         int result;
1174
1175         mutex_lock(&st->lock);
1176         result = inv_mpu6050_set_power_itg(st, true);
1177         mutex_unlock(&st->lock);
1178
1179         return result;
1180 }
1181
1182 static int inv_mpu_suspend(struct device *dev)
1183 {
1184         struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
1185         int result;
1186
1187         mutex_lock(&st->lock);
1188         result = inv_mpu6050_set_power_itg(st, false);
1189         mutex_unlock(&st->lock);
1190
1191         return result;
1192 }
1193 #endif /* CONFIG_PM_SLEEP */
1194
1195 SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
1196 EXPORT_SYMBOL_GPL(inv_mpu_pmops);
1197
1198 MODULE_AUTHOR("Invensense Corporation");
1199 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
1200 MODULE_LICENSE("GPL");