936 lines
24 KiB
C
936 lines
24 KiB
C
/*
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* Copyright (C) 2012 Invensense, Inc.
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*
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* This software is licensed under the terms of the GNU General Public
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* License version 2, as published by the Free Software Foundation, and
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* may be copied, distributed, and modified under those terms.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include <linux/module.h>
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#include <linux/slab.h>
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#include <linux/i2c.h>
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#include <linux/err.h>
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#include <linux/delay.h>
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#include <linux/sysfs.h>
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#include <linux/jiffies.h>
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#include <linux/irq.h>
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#include <linux/interrupt.h>
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#include <linux/kfifo.h>
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#include <linux/spinlock.h>
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#include <linux/iio/iio.h>
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#include <linux/i2c-mux.h>
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#include <linux/acpi.h>
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#include "inv_mpu_iio.h"
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/*
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* this is the gyro scale translated from dynamic range plus/minus
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* {250, 500, 1000, 2000} to rad/s
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*/
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static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
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/*
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* this is the accel scale translated from dynamic range plus/minus
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* {2, 4, 8, 16} to m/s^2
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*/
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static const int accel_scale[] = {598, 1196, 2392, 4785};
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static const struct inv_mpu6050_reg_map reg_set_6050 = {
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.sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
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.lpf = INV_MPU6050_REG_CONFIG,
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.user_ctrl = INV_MPU6050_REG_USER_CTRL,
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.fifo_en = INV_MPU6050_REG_FIFO_EN,
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.gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
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.accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
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.fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
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.fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
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.raw_gyro = INV_MPU6050_REG_RAW_GYRO,
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.raw_accl = INV_MPU6050_REG_RAW_ACCEL,
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.temperature = INV_MPU6050_REG_TEMPERATURE,
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.int_enable = INV_MPU6050_REG_INT_ENABLE,
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.pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
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.pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
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.int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
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};
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static const struct inv_mpu6050_chip_config chip_config_6050 = {
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.fsr = INV_MPU6050_FSR_2000DPS,
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.lpf = INV_MPU6050_FILTER_20HZ,
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.fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
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.gyro_fifo_enable = false,
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.accl_fifo_enable = false,
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.accl_fs = INV_MPU6050_FS_02G,
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};
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static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
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{
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.num_reg = 117,
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.name = "MPU6050",
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.reg = ®_set_6050,
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.config = &chip_config_6050,
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},
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};
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int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
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{
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return i2c_smbus_write_i2c_block_data(st->client, reg, 1, &d);
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}
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/*
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* The i2c read/write needs to happen in unlocked mode. As the parent
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* adapter is common. If we use locked versions, it will fail as
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* the mux adapter will lock the parent i2c adapter, while calling
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* select/deselect functions.
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*/
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static int inv_mpu6050_write_reg_unlocked(struct inv_mpu6050_state *st,
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u8 reg, u8 d)
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{
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int ret;
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u8 buf[2];
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struct i2c_msg msg[1] = {
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{
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.addr = st->client->addr,
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.flags = 0,
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.len = sizeof(buf),
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.buf = buf,
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}
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};
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buf[0] = reg;
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buf[1] = d;
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ret = __i2c_transfer(st->client->adapter, msg, 1);
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if (ret != 1)
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return ret;
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return 0;
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}
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static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
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u32 chan_id)
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{
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struct iio_dev *indio_dev = mux_priv;
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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int ret = 0;
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/* Use the same mutex which was used everywhere to protect power-op */
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mutex_lock(&indio_dev->mlock);
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if (!st->powerup_count) {
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ret = inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
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0);
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if (ret)
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goto write_error;
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msleep(INV_MPU6050_REG_UP_TIME);
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}
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if (!ret) {
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st->powerup_count++;
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ret = inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
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st->client->irq |
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INV_MPU6050_BIT_BYPASS_EN);
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}
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write_error:
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mutex_unlock(&indio_dev->mlock);
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return ret;
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}
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static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
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void *mux_priv, u32 chan_id)
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{
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struct iio_dev *indio_dev = mux_priv;
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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mutex_lock(&indio_dev->mlock);
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/* It doesn't really mattter, if any of the calls fails */
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inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
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st->client->irq);
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st->powerup_count--;
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if (!st->powerup_count)
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inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
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INV_MPU6050_BIT_SLEEP);
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mutex_unlock(&indio_dev->mlock);
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return 0;
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}
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int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
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{
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u8 d, mgmt_1;
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int result;
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/* switch clock needs to be careful. Only when gyro is on, can
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clock source be switched to gyro. Otherwise, it must be set to
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internal clock */
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if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
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result = i2c_smbus_read_i2c_block_data(st->client,
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st->reg->pwr_mgmt_1, 1, &mgmt_1);
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if (result != 1)
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return result;
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mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
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}
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if ((INV_MPU6050_BIT_PWR_GYRO_STBY == mask) && (!en)) {
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/* turning off gyro requires switch to internal clock first.
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Then turn off gyro engine */
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mgmt_1 |= INV_CLK_INTERNAL;
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result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, mgmt_1);
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if (result)
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return result;
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}
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result = i2c_smbus_read_i2c_block_data(st->client,
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st->reg->pwr_mgmt_2, 1, &d);
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if (result != 1)
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return result;
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if (en)
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d &= ~mask;
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else
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d |= mask;
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result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
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if (result)
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return result;
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if (en) {
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/* Wait for output stabilize */
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msleep(INV_MPU6050_TEMP_UP_TIME);
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if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
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/* switch internal clock to PLL */
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mgmt_1 |= INV_CLK_PLL;
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result = inv_mpu6050_write_reg(st,
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st->reg->pwr_mgmt_1, mgmt_1);
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if (result)
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return result;
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}
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}
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return 0;
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}
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int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
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{
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int result = 0;
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if (power_on) {
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/* Already under indio-dev->mlock mutex */
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if (!st->powerup_count)
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result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
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0);
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if (!result)
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st->powerup_count++;
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} else {
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st->powerup_count--;
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if (!st->powerup_count)
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result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
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INV_MPU6050_BIT_SLEEP);
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}
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if (result)
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return result;
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if (power_on)
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msleep(INV_MPU6050_REG_UP_TIME);
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return 0;
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}
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/**
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* inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
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*
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* Initial configuration:
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* FSR: ± 2000DPS
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* DLPF: 20Hz
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* FIFO rate: 50Hz
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* Clock source: Gyro PLL
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*/
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static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
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{
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int result;
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u8 d;
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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result = inv_mpu6050_set_power_itg(st, true);
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if (result)
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return result;
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d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
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result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
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if (result)
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return result;
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d = INV_MPU6050_FILTER_20HZ;
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result = inv_mpu6050_write_reg(st, st->reg->lpf, d);
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if (result)
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return result;
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d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;
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result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
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if (result)
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return result;
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d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
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result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
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if (result)
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return result;
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memcpy(&st->chip_config, hw_info[st->chip_type].config,
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sizeof(struct inv_mpu6050_chip_config));
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result = inv_mpu6050_set_power_itg(st, false);
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return result;
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}
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static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
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int axis, int *val)
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{
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int ind, result;
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__be16 d;
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ind = (axis - IIO_MOD_X) * 2;
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result = i2c_smbus_read_i2c_block_data(st->client, reg + ind, 2,
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(u8 *)&d);
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if (result != 2)
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return -EINVAL;
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*val = (short)be16_to_cpup(&d);
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return IIO_VAL_INT;
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}
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static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val,
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int *val2,
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long mask) {
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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{
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int ret, result;
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ret = IIO_VAL_INT;
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result = 0;
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mutex_lock(&indio_dev->mlock);
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if (!st->chip_config.enable) {
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result = inv_mpu6050_set_power_itg(st, true);
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if (result)
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goto error_read_raw;
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}
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/* when enable is on, power is already on */
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switch (chan->type) {
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case IIO_ANGL_VEL:
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if (!st->chip_config.gyro_fifo_enable ||
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!st->chip_config.enable) {
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result = inv_mpu6050_switch_engine(st, true,
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INV_MPU6050_BIT_PWR_GYRO_STBY);
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if (result)
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goto error_read_raw;
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}
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ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
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chan->channel2, val);
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if (!st->chip_config.gyro_fifo_enable ||
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!st->chip_config.enable) {
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result = inv_mpu6050_switch_engine(st, false,
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INV_MPU6050_BIT_PWR_GYRO_STBY);
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if (result)
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goto error_read_raw;
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}
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break;
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case IIO_ACCEL:
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if (!st->chip_config.accl_fifo_enable ||
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!st->chip_config.enable) {
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result = inv_mpu6050_switch_engine(st, true,
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INV_MPU6050_BIT_PWR_ACCL_STBY);
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if (result)
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goto error_read_raw;
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}
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ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
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chan->channel2, val);
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if (!st->chip_config.accl_fifo_enable ||
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!st->chip_config.enable) {
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result = inv_mpu6050_switch_engine(st, false,
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INV_MPU6050_BIT_PWR_ACCL_STBY);
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if (result)
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goto error_read_raw;
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}
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break;
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case IIO_TEMP:
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/* wait for stablization */
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msleep(INV_MPU6050_SENSOR_UP_TIME);
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inv_mpu6050_sensor_show(st, st->reg->temperature,
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IIO_MOD_X, val);
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break;
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default:
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ret = -EINVAL;
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break;
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}
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error_read_raw:
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if (!st->chip_config.enable)
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result |= inv_mpu6050_set_power_itg(st, false);
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mutex_unlock(&indio_dev->mlock);
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if (result)
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return result;
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return ret;
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}
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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*val = 0;
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*val2 = gyro_scale_6050[st->chip_config.fsr];
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|
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return IIO_VAL_INT_PLUS_NANO;
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case IIO_ACCEL:
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*val = 0;
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*val2 = accel_scale[st->chip_config.accl_fs];
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|
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_TEMP:
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*val = 0;
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*val2 = INV_MPU6050_TEMP_SCALE;
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|
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return IIO_VAL_INT_PLUS_MICRO;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_OFFSET:
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switch (chan->type) {
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case IIO_TEMP:
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*val = INV_MPU6050_TEMP_OFFSET;
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|
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return IIO_VAL_INT;
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default:
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return -EINVAL;
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}
|
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default:
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return -EINVAL;
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}
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}
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|
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static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
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{
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int result, i;
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u8 d;
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for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
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if (gyro_scale_6050[i] == val) {
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d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
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result = inv_mpu6050_write_reg(st,
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st->reg->gyro_config, d);
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if (result)
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return result;
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st->chip_config.fsr = i;
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return 0;
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}
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}
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|
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return -EINVAL;
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}
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|
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static int inv_write_raw_get_fmt(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan, long mask)
|
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{
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switch (mask) {
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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return IIO_VAL_INT_PLUS_NANO;
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default:
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return IIO_VAL_INT_PLUS_MICRO;
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}
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default:
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return IIO_VAL_INT_PLUS_MICRO;
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}
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|
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return -EINVAL;
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}
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static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
|
|
{
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int result, i;
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u8 d;
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|
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for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
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if (accel_scale[i] == val) {
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d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
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result = inv_mpu6050_write_reg(st,
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st->reg->accl_config, d);
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if (result)
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return result;
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|
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st->chip_config.accl_fs = i;
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return 0;
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}
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}
|
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|
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return -EINVAL;
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}
|
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|
|
static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
|
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struct iio_chan_spec const *chan,
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int val,
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int val2,
|
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long mask) {
|
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struct inv_mpu6050_state *st = iio_priv(indio_dev);
|
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int result;
|
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|
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mutex_lock(&indio_dev->mlock);
|
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/* we should only update scale when the chip is disabled, i.e.,
|
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not running */
|
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if (st->chip_config.enable) {
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result = -EBUSY;
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goto error_write_raw;
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}
|
|
result = inv_mpu6050_set_power_itg(st, true);
|
|
if (result)
|
|
goto error_write_raw;
|
|
|
|
switch (mask) {
|
|
case IIO_CHAN_INFO_SCALE:
|
|
switch (chan->type) {
|
|
case IIO_ANGL_VEL:
|
|
result = inv_mpu6050_write_gyro_scale(st, val2);
|
|
break;
|
|
case IIO_ACCEL:
|
|
result = inv_mpu6050_write_accel_scale(st, val2);
|
|
break;
|
|
default:
|
|
result = -EINVAL;
|
|
break;
|
|
}
|
|
break;
|
|
default:
|
|
result = -EINVAL;
|
|
break;
|
|
}
|
|
|
|
error_write_raw:
|
|
result |= inv_mpu6050_set_power_itg(st, false);
|
|
mutex_unlock(&indio_dev->mlock);
|
|
|
|
return result;
|
|
}
|
|
|
|
/**
|
|
* inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
|
|
*
|
|
* Based on the Nyquist principle, the sampling rate must
|
|
* exceed twice of the bandwidth of the signal, or there
|
|
* would be alising. This function basically search for the
|
|
* correct low pass parameters based on the fifo rate, e.g,
|
|
* sampling frequency.
|
|
*/
|
|
static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
|
|
{
|
|
const int hz[] = {188, 98, 42, 20, 10, 5};
|
|
const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
|
|
INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
|
|
INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
|
|
int i, h, result;
|
|
u8 data;
|
|
|
|
h = (rate >> 1);
|
|
i = 0;
|
|
while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
|
|
i++;
|
|
data = d[i];
|
|
result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
|
|
if (result)
|
|
return result;
|
|
st->chip_config.lpf = data;
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* inv_mpu6050_fifo_rate_store() - Set fifo rate.
|
|
*/
|
|
static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
|
|
struct device_attribute *attr, const char *buf, size_t count)
|
|
{
|
|
s32 fifo_rate;
|
|
u8 d;
|
|
int result;
|
|
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
|
|
struct inv_mpu6050_state *st = iio_priv(indio_dev);
|
|
|
|
if (kstrtoint(buf, 10, &fifo_rate))
|
|
return -EINVAL;
|
|
if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
|
|
fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
|
|
return -EINVAL;
|
|
if (fifo_rate == st->chip_config.fifo_rate)
|
|
return count;
|
|
|
|
mutex_lock(&indio_dev->mlock);
|
|
if (st->chip_config.enable) {
|
|
result = -EBUSY;
|
|
goto fifo_rate_fail;
|
|
}
|
|
result = inv_mpu6050_set_power_itg(st, true);
|
|
if (result)
|
|
goto fifo_rate_fail;
|
|
|
|
d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
|
|
result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
|
|
if (result)
|
|
goto fifo_rate_fail;
|
|
st->chip_config.fifo_rate = fifo_rate;
|
|
|
|
result = inv_mpu6050_set_lpf(st, fifo_rate);
|
|
if (result)
|
|
goto fifo_rate_fail;
|
|
|
|
fifo_rate_fail:
|
|
result |= inv_mpu6050_set_power_itg(st, false);
|
|
mutex_unlock(&indio_dev->mlock);
|
|
if (result)
|
|
return result;
|
|
|
|
return count;
|
|
}
|
|
|
|
/**
|
|
* inv_fifo_rate_show() - Get the current sampling rate.
|
|
*/
|
|
static ssize_t inv_fifo_rate_show(struct device *dev,
|
|
struct device_attribute *attr, char *buf)
|
|
{
|
|
struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
|
|
|
|
return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
|
|
}
|
|
|
|
/**
|
|
* inv_attr_show() - calling this function will show current
|
|
* parameters.
|
|
*/
|
|
static ssize_t inv_attr_show(struct device *dev,
|
|
struct device_attribute *attr, char *buf)
|
|
{
|
|
struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
|
|
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
|
|
s8 *m;
|
|
|
|
switch (this_attr->address) {
|
|
/* In MPU6050, the two matrix are the same because gyro and accel
|
|
are integrated in one chip */
|
|
case ATTR_GYRO_MATRIX:
|
|
case ATTR_ACCL_MATRIX:
|
|
m = st->plat_data.orientation;
|
|
|
|
return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
|
|
m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
|
|
* MPU6050 device.
|
|
* @indio_dev: The IIO device
|
|
* @trig: The new trigger
|
|
*
|
|
* Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
|
|
* device, -EINVAL otherwise.
|
|
*/
|
|
static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
|
|
struct iio_trigger *trig)
|
|
{
|
|
struct inv_mpu6050_state *st = iio_priv(indio_dev);
|
|
|
|
if (st->trig != trig)
|
|
return -EINVAL;
|
|
|
|
return 0;
|
|
}
|
|
|
|
#define INV_MPU6050_CHAN(_type, _channel2, _index) \
|
|
{ \
|
|
.type = _type, \
|
|
.modified = 1, \
|
|
.channel2 = _channel2, \
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
|
|
.scan_index = _index, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = 16, \
|
|
.storagebits = 16, \
|
|
.shift = 0 , \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
static const struct iio_chan_spec inv_mpu_channels[] = {
|
|
IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
|
|
/*
|
|
* Note that temperature should only be via polled reading only,
|
|
* not the final scan elements output.
|
|
*/
|
|
{
|
|
.type = IIO_TEMP,
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
|
|
| BIT(IIO_CHAN_INFO_OFFSET)
|
|
| BIT(IIO_CHAN_INFO_SCALE),
|
|
.scan_index = -1,
|
|
},
|
|
INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
|
|
INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
|
|
INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
|
|
|
|
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
|
|
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
|
|
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
|
|
};
|
|
|
|
/* constant IIO attribute */
|
|
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
|
|
static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
|
|
inv_mpu6050_fifo_rate_store);
|
|
static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
|
|
ATTR_GYRO_MATRIX);
|
|
static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
|
|
ATTR_ACCL_MATRIX);
|
|
|
|
static struct attribute *inv_attributes[] = {
|
|
&iio_dev_attr_in_gyro_matrix.dev_attr.attr,
|
|
&iio_dev_attr_in_accel_matrix.dev_attr.attr,
|
|
&iio_dev_attr_sampling_frequency.dev_attr.attr,
|
|
&iio_const_attr_sampling_frequency_available.dev_attr.attr,
|
|
NULL,
|
|
};
|
|
|
|
static const struct attribute_group inv_attribute_group = {
|
|
.attrs = inv_attributes
|
|
};
|
|
|
|
static const struct iio_info mpu_info = {
|
|
.driver_module = THIS_MODULE,
|
|
.read_raw = &inv_mpu6050_read_raw,
|
|
.write_raw = &inv_mpu6050_write_raw,
|
|
.write_raw_get_fmt = &inv_write_raw_get_fmt,
|
|
.attrs = &inv_attribute_group,
|
|
.validate_trigger = inv_mpu6050_validate_trigger,
|
|
};
|
|
|
|
/**
|
|
* inv_check_and_setup_chip() - check and setup chip.
|
|
*/
|
|
static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
|
|
const struct i2c_device_id *id)
|
|
{
|
|
int result;
|
|
|
|
st->chip_type = INV_MPU6050;
|
|
st->hw = &hw_info[st->chip_type];
|
|
st->reg = hw_info[st->chip_type].reg;
|
|
|
|
/* reset to make sure previous state are not there */
|
|
result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
|
|
INV_MPU6050_BIT_H_RESET);
|
|
if (result)
|
|
return result;
|
|
msleep(INV_MPU6050_POWER_UP_TIME);
|
|
/* toggle power state. After reset, the sleep bit could be on
|
|
or off depending on the OTP settings. Toggling power would
|
|
make it in a definite state as well as making the hardware
|
|
state align with the software state */
|
|
result = inv_mpu6050_set_power_itg(st, false);
|
|
if (result)
|
|
return result;
|
|
result = inv_mpu6050_set_power_itg(st, true);
|
|
if (result)
|
|
return result;
|
|
|
|
result = inv_mpu6050_switch_engine(st, false,
|
|
INV_MPU6050_BIT_PWR_ACCL_STBY);
|
|
if (result)
|
|
return result;
|
|
result = inv_mpu6050_switch_engine(st, false,
|
|
INV_MPU6050_BIT_PWR_GYRO_STBY);
|
|
if (result)
|
|
return result;
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* inv_mpu_probe() - probe function.
|
|
* @client: i2c client.
|
|
* @id: i2c device id.
|
|
*
|
|
* Returns 0 on success, a negative error code otherwise.
|
|
*/
|
|
static int inv_mpu_probe(struct i2c_client *client,
|
|
const struct i2c_device_id *id)
|
|
{
|
|
struct inv_mpu6050_state *st;
|
|
struct iio_dev *indio_dev;
|
|
struct inv_mpu6050_platform_data *pdata;
|
|
int result;
|
|
|
|
if (!i2c_check_functionality(client->adapter,
|
|
I2C_FUNC_SMBUS_I2C_BLOCK))
|
|
return -ENOSYS;
|
|
|
|
indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
|
|
if (!indio_dev)
|
|
return -ENOMEM;
|
|
|
|
st = iio_priv(indio_dev);
|
|
st->client = client;
|
|
st->powerup_count = 0;
|
|
pdata = dev_get_platdata(&client->dev);
|
|
if (pdata)
|
|
st->plat_data = *pdata;
|
|
/* power is turned on inside check chip type*/
|
|
result = inv_check_and_setup_chip(st, id);
|
|
if (result)
|
|
return result;
|
|
|
|
result = inv_mpu6050_init_config(indio_dev);
|
|
if (result) {
|
|
dev_err(&client->dev,
|
|
"Could not initialize device.\n");
|
|
return result;
|
|
}
|
|
|
|
i2c_set_clientdata(client, indio_dev);
|
|
indio_dev->dev.parent = &client->dev;
|
|
/* id will be NULL when enumerated via ACPI */
|
|
if (id)
|
|
indio_dev->name = (char *)id->name;
|
|
else
|
|
indio_dev->name = (char *)dev_name(&client->dev);
|
|
indio_dev->channels = inv_mpu_channels;
|
|
indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
|
|
|
|
indio_dev->info = &mpu_info;
|
|
indio_dev->modes = INDIO_BUFFER_TRIGGERED;
|
|
|
|
result = iio_triggered_buffer_setup(indio_dev,
|
|
inv_mpu6050_irq_handler,
|
|
inv_mpu6050_read_fifo,
|
|
NULL);
|
|
if (result) {
|
|
dev_err(&st->client->dev, "configure buffer fail %d\n",
|
|
result);
|
|
return result;
|
|
}
|
|
result = inv_mpu6050_probe_trigger(indio_dev);
|
|
if (result) {
|
|
dev_err(&st->client->dev, "trigger probe fail %d\n", result);
|
|
goto out_unreg_ring;
|
|
}
|
|
|
|
INIT_KFIFO(st->timestamps);
|
|
spin_lock_init(&st->time_stamp_lock);
|
|
result = iio_device_register(indio_dev);
|
|
if (result) {
|
|
dev_err(&st->client->dev, "IIO register fail %d\n", result);
|
|
goto out_remove_trigger;
|
|
}
|
|
|
|
st->mux_adapter = i2c_add_mux_adapter(client->adapter,
|
|
&client->dev,
|
|
indio_dev,
|
|
0, 0, 0,
|
|
inv_mpu6050_select_bypass,
|
|
inv_mpu6050_deselect_bypass);
|
|
if (!st->mux_adapter) {
|
|
result = -ENODEV;
|
|
goto out_unreg_device;
|
|
}
|
|
|
|
result = inv_mpu_acpi_create_mux_client(st);
|
|
if (result)
|
|
goto out_del_mux;
|
|
|
|
return 0;
|
|
|
|
out_del_mux:
|
|
i2c_del_mux_adapter(st->mux_adapter);
|
|
out_unreg_device:
|
|
iio_device_unregister(indio_dev);
|
|
out_remove_trigger:
|
|
inv_mpu6050_remove_trigger(st);
|
|
out_unreg_ring:
|
|
iio_triggered_buffer_cleanup(indio_dev);
|
|
return result;
|
|
}
|
|
|
|
static int inv_mpu_remove(struct i2c_client *client)
|
|
{
|
|
struct iio_dev *indio_dev = i2c_get_clientdata(client);
|
|
struct inv_mpu6050_state *st = iio_priv(indio_dev);
|
|
|
|
inv_mpu_acpi_delete_mux_client(st);
|
|
i2c_del_mux_adapter(st->mux_adapter);
|
|
iio_device_unregister(indio_dev);
|
|
inv_mpu6050_remove_trigger(st);
|
|
iio_triggered_buffer_cleanup(indio_dev);
|
|
|
|
return 0;
|
|
}
|
|
#ifdef CONFIG_PM_SLEEP
|
|
|
|
static int inv_mpu_resume(struct device *dev)
|
|
{
|
|
return inv_mpu6050_set_power_itg(
|
|
iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
|
|
}
|
|
|
|
static int inv_mpu_suspend(struct device *dev)
|
|
{
|
|
return inv_mpu6050_set_power_itg(
|
|
iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
|
|
}
|
|
static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
|
|
|
|
#define INV_MPU6050_PMOPS (&inv_mpu_pmops)
|
|
#else
|
|
#define INV_MPU6050_PMOPS NULL
|
|
#endif /* CONFIG_PM_SLEEP */
|
|
|
|
/*
|
|
* device id table is used to identify what device can be
|
|
* supported by this driver
|
|
*/
|
|
static const struct i2c_device_id inv_mpu_id[] = {
|
|
{"mpu6050", INV_MPU6050},
|
|
{"mpu6500", INV_MPU6500},
|
|
{}
|
|
};
|
|
|
|
MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
|
|
|
|
static const struct acpi_device_id inv_acpi_match[] = {
|
|
{"INVN6500", 0},
|
|
{ },
|
|
};
|
|
|
|
MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
|
|
|
|
static struct i2c_driver inv_mpu_driver = {
|
|
.probe = inv_mpu_probe,
|
|
.remove = inv_mpu_remove,
|
|
.id_table = inv_mpu_id,
|
|
.driver = {
|
|
.owner = THIS_MODULE,
|
|
.name = "inv-mpu6050",
|
|
.pm = INV_MPU6050_PMOPS,
|
|
.acpi_match_table = ACPI_PTR(inv_acpi_match),
|
|
},
|
|
};
|
|
|
|
module_i2c_driver(inv_mpu_driver);
|
|
|
|
MODULE_AUTHOR("Invensense Corporation");
|
|
MODULE_DESCRIPTION("Invensense device MPU6050 driver");
|
|
MODULE_LICENSE("GPL");
|