/*
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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/iio/iio.h>
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#include <linux/acpi.h>
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#include <linux/platform_device.h>
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#include "inv_mpu_iio.h"
|
|
/*
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* this is the gyro scale translated from dynamic range plus/minus
|
* {250, 500, 1000, 2000} to rad/s
|
*/
|
static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
|
|
/*
|
* 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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static const int accel_scale[] = {598, 1196, 2392, 4785};
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|
static const struct inv_mpu6050_reg_map reg_set_icm20602 = {
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.sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
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.lpf = INV_MPU6050_REG_CONFIG,
|
.accel_lpf = INV_MPU6500_REG_ACCEL_CONFIG_2,
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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,
|
.int_enable = INV_MPU6050_REG_INT_ENABLE,
|
.int_status = INV_MPU6050_REG_INT_STATUS,
|
.pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
|
.pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
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.int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
|
.accl_offset = INV_MPU6500_REG_ACCEL_OFFSET,
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.gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
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.i2c_if = INV_ICM20602_REG_I2C_IF,
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};
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static const struct inv_mpu6050_reg_map reg_set_6500 = {
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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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.accel_lpf = INV_MPU6500_REG_ACCEL_CONFIG_2,
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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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.int_status = INV_MPU6050_REG_INT_STATUS,
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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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.accl_offset = INV_MPU6500_REG_ACCEL_OFFSET,
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.gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
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.i2c_if = 0,
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};
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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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.accl_offset = INV_MPU6050_REG_ACCEL_OFFSET,
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.gyro_offset = INV_MPU6050_REG_GYRO_OFFSET,
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.i2c_if = 0,
|
};
|
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static const struct inv_mpu6050_chip_config chip_config_6050 = {
|
.fsr = INV_MPU6050_FSR_2000DPS,
|
.lpf = INV_MPU6050_FILTER_20HZ,
|
.divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(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,
|
.user_ctrl = 0,
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};
|
|
/* Indexed by enum inv_devices */
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static const struct inv_mpu6050_hw hw_info[] = {
|
{
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.whoami = INV_MPU6050_WHOAMI_VALUE,
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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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.fifo_size = 1024,
|
.temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
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},
|
{
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.whoami = INV_MPU6500_WHOAMI_VALUE,
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.name = "MPU6500",
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.reg = ®_set_6500,
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.config = &chip_config_6050,
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.fifo_size = 512,
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.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
|
},
|
{
|
.whoami = INV_MPU6515_WHOAMI_VALUE,
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.name = "MPU6515",
|
.reg = ®_set_6500,
|
.config = &chip_config_6050,
|
.fifo_size = 512,
|
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
|
},
|
{
|
.whoami = INV_MPU6000_WHOAMI_VALUE,
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.name = "MPU6000",
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.reg = ®_set_6050,
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.config = &chip_config_6050,
|
.fifo_size = 1024,
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.temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
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},
|
{
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.whoami = INV_MPU9150_WHOAMI_VALUE,
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.name = "MPU9150",
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.reg = ®_set_6050,
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.config = &chip_config_6050,
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.fifo_size = 1024,
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.temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
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},
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{
|
.whoami = INV_MPU9250_WHOAMI_VALUE,
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.name = "MPU9250",
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.reg = ®_set_6500,
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.config = &chip_config_6050,
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.fifo_size = 512,
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.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
|
},
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{
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.whoami = INV_MPU9255_WHOAMI_VALUE,
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.name = "MPU9255",
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.reg = ®_set_6500,
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.config = &chip_config_6050,
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.fifo_size = 512,
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.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
|
},
|
{
|
.whoami = INV_ICM20608_WHOAMI_VALUE,
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.name = "ICM20608",
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.reg = ®_set_6500,
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.config = &chip_config_6050,
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.fifo_size = 512,
|
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
|
},
|
{
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.whoami = INV_ICM20602_WHOAMI_VALUE,
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.name = "ICM20602",
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.reg = ®_set_icm20602,
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.config = &chip_config_6050,
|
.fifo_size = 1008,
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.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
|
},
|
};
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|
int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
|
{
|
unsigned int d, mgmt_1;
|
int result;
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/*
|
* switch clock needs to be careful. Only when gyro is on, can
|
* clock source be switched to gyro. Otherwise, it must be set to
|
* internal clock
|
*/
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if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
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result = regmap_read(st->map, st->reg->pwr_mgmt_1, &mgmt_1);
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if (result)
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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 ((mask == INV_MPU6050_BIT_PWR_GYRO_STBY) && (!en)) {
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/*
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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 = regmap_write(st->map, 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 = regmap_read(st->map, 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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d &= ~mask;
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else
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d |= mask;
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result = regmap_write(st->map, st->reg->pwr_mgmt_2, d);
|
if (result)
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return result;
|
|
if (en) {
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/* Wait for output to stabilize */
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msleep(INV_MPU6050_TEMP_UP_TIME);
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if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
|
/* switch internal clock to PLL */
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mgmt_1 |= INV_CLK_PLL;
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result = regmap_write(st->map,
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st->reg->pwr_mgmt_1, mgmt_1);
|
if (result)
|
return result;
|
}
|
}
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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)
|
{
|
int result;
|
|
if (power_on) {
|
if (!st->powerup_count) {
|
result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);
|
if (result)
|
return result;
|
usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
|
INV_MPU6050_REG_UP_TIME_MAX);
|
}
|
st->powerup_count++;
|
} else {
|
if (st->powerup_count == 1) {
|
result = regmap_write(st->map, st->reg->pwr_mgmt_1,
|
INV_MPU6050_BIT_SLEEP);
|
if (result)
|
return result;
|
}
|
st->powerup_count--;
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}
|
|
dev_dbg(regmap_get_device(st->map), "set power %d, count=%u\n",
|
power_on, st->powerup_count);
|
|
return 0;
|
}
|
EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);
|
|
/**
|
* inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
|
*
|
* MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope
|
* MPU6500 and above have a dedicated register for accelerometer
|
*/
|
static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
|
enum inv_mpu6050_filter_e val)
|
{
|
int result;
|
|
result = regmap_write(st->map, st->reg->lpf, val);
|
if (result)
|
return result;
|
|
switch (st->chip_type) {
|
case INV_MPU6050:
|
case INV_MPU6000:
|
case INV_MPU9150:
|
/* old chips, nothing to do */
|
result = 0;
|
break;
|
default:
|
/* set accel lpf */
|
result = regmap_write(st->map, st->reg->accel_lpf, val);
|
break;
|
}
|
|
return result;
|
}
|
|
/**
|
* inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
|
*
|
* Initial configuration:
|
* FSR: ± 2000DPS
|
* DLPF: 20Hz
|
* FIFO rate: 50Hz
|
* Clock source: Gyro PLL
|
*/
|
static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
|
{
|
int result;
|
u8 d;
|
struct inv_mpu6050_state *st = iio_priv(indio_dev);
|
|
result = inv_mpu6050_set_power_itg(st, true);
|
if (result)
|
return result;
|
d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
|
result = regmap_write(st->map, st->reg->gyro_config, d);
|
if (result)
|
goto error_power_off;
|
|
result = inv_mpu6050_set_lpf_regs(st, INV_MPU6050_FILTER_20HZ);
|
if (result)
|
goto error_power_off;
|
|
d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE);
|
result = regmap_write(st->map, st->reg->sample_rate_div, d);
|
if (result)
|
goto error_power_off;
|
|
d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
|
result = regmap_write(st->map, st->reg->accl_config, d);
|
if (result)
|
goto error_power_off;
|
|
result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
|
if (result)
|
return result;
|
|
memcpy(&st->chip_config, hw_info[st->chip_type].config,
|
sizeof(struct inv_mpu6050_chip_config));
|
|
/*
|
* Internal chip period is 1ms (1kHz).
|
* Let's use at the beginning the theorical value before measuring
|
* with interrupt timestamps.
|
*/
|
st->chip_period = NSEC_PER_MSEC;
|
|
return inv_mpu6050_set_power_itg(st, false);
|
|
error_power_off:
|
inv_mpu6050_set_power_itg(st, false);
|
return result;
|
}
|
|
static int inv_mpu6050_sensor_set(struct inv_mpu6050_state *st, int reg,
|
int axis, int val)
|
{
|
int ind, result;
|
__be16 d = cpu_to_be16(val);
|
|
ind = (axis - IIO_MOD_X) * 2;
|
result = regmap_bulk_write(st->map, reg + ind, (u8 *)&d, 2);
|
if (result)
|
return -EINVAL;
|
|
return 0;
|
}
|
|
static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
|
int axis, int *val)
|
{
|
int ind, result;
|
__be16 d;
|
|
ind = (axis - IIO_MOD_X) * 2;
|
result = regmap_bulk_read(st->map, reg + ind, (u8 *)&d, 2);
|
if (result)
|
return -EINVAL;
|
*val = (short)be16_to_cpup(&d);
|
|
return IIO_VAL_INT;
|
}
|
|
static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
|
struct iio_chan_spec const *chan,
|
int *val)
|
{
|
struct inv_mpu6050_state *st = iio_priv(indio_dev);
|
int result;
|
int ret;
|
|
result = inv_mpu6050_set_power_itg(st, true);
|
if (result)
|
return result;
|
|
switch (chan->type) {
|
case IIO_ANGL_VEL:
|
result = inv_mpu6050_switch_engine(st, true,
|
INV_MPU6050_BIT_PWR_GYRO_STBY);
|
if (result)
|
goto error_power_off;
|
ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
|
chan->channel2, val);
|
result = inv_mpu6050_switch_engine(st, false,
|
INV_MPU6050_BIT_PWR_GYRO_STBY);
|
if (result)
|
goto error_power_off;
|
break;
|
case IIO_ACCEL:
|
result = inv_mpu6050_switch_engine(st, true,
|
INV_MPU6050_BIT_PWR_ACCL_STBY);
|
if (result)
|
goto error_power_off;
|
ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
|
chan->channel2, val);
|
result = inv_mpu6050_switch_engine(st, false,
|
INV_MPU6050_BIT_PWR_ACCL_STBY);
|
if (result)
|
goto error_power_off;
|
break;
|
case IIO_TEMP:
|
/* wait for stablization */
|
msleep(INV_MPU6050_SENSOR_UP_TIME);
|
ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
|
IIO_MOD_X, val);
|
break;
|
default:
|
ret = -EINVAL;
|
break;
|
}
|
|
result = inv_mpu6050_set_power_itg(st, false);
|
if (result)
|
goto error_power_off;
|
|
return ret;
|
|
error_power_off:
|
inv_mpu6050_set_power_itg(st, false);
|
return result;
|
}
|
|
static int
|
inv_mpu6050_read_raw(struct iio_dev *indio_dev,
|
struct iio_chan_spec const *chan,
|
int *val, int *val2, long mask)
|
{
|
struct inv_mpu6050_state *st = iio_priv(indio_dev);
|
int ret = 0;
|
|
switch (mask) {
|
case IIO_CHAN_INFO_RAW:
|
ret = iio_device_claim_direct_mode(indio_dev);
|
if (ret)
|
return ret;
|
mutex_lock(&st->lock);
|
ret = inv_mpu6050_read_channel_data(indio_dev, chan, val);
|
mutex_unlock(&st->lock);
|
iio_device_release_direct_mode(indio_dev);
|
return ret;
|
case IIO_CHAN_INFO_SCALE:
|
switch (chan->type) {
|
case IIO_ANGL_VEL:
|
mutex_lock(&st->lock);
|
*val = 0;
|
*val2 = gyro_scale_6050[st->chip_config.fsr];
|
mutex_unlock(&st->lock);
|
|
return IIO_VAL_INT_PLUS_NANO;
|
case IIO_ACCEL:
|
mutex_lock(&st->lock);
|
*val = 0;
|
*val2 = accel_scale[st->chip_config.accl_fs];
|
mutex_unlock(&st->lock);
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
case IIO_TEMP:
|
*val = st->hw->temp.scale / 1000000;
|
*val2 = st->hw->temp.scale % 1000000;
|
return IIO_VAL_INT_PLUS_MICRO;
|
default:
|
return -EINVAL;
|
}
|
case IIO_CHAN_INFO_OFFSET:
|
switch (chan->type) {
|
case IIO_TEMP:
|
*val = st->hw->temp.offset;
|
return IIO_VAL_INT;
|
default:
|
return -EINVAL;
|
}
|
case IIO_CHAN_INFO_CALIBBIAS:
|
switch (chan->type) {
|
case IIO_ANGL_VEL:
|
mutex_lock(&st->lock);
|
ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
|
chan->channel2, val);
|
mutex_unlock(&st->lock);
|
return IIO_VAL_INT;
|
case IIO_ACCEL:
|
mutex_lock(&st->lock);
|
ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
|
chan->channel2, val);
|
mutex_unlock(&st->lock);
|
return IIO_VAL_INT;
|
|
default:
|
return -EINVAL;
|
}
|
default:
|
return -EINVAL;
|
}
|
}
|
|
static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
|
{
|
int result, i;
|
u8 d;
|
|
for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
|
if (gyro_scale_6050[i] == val) {
|
d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
|
result = regmap_write(st->map, st->reg->gyro_config, d);
|
if (result)
|
return result;
|
|
st->chip_config.fsr = i;
|
return 0;
|
}
|
}
|
|
return -EINVAL;
|
}
|
|
static int inv_write_raw_get_fmt(struct iio_dev *indio_dev,
|
struct iio_chan_spec const *chan, long mask)
|
{
|
switch (mask) {
|
case IIO_CHAN_INFO_SCALE:
|
switch (chan->type) {
|
case IIO_ANGL_VEL:
|
return IIO_VAL_INT_PLUS_NANO;
|
default:
|
return IIO_VAL_INT_PLUS_MICRO;
|
}
|
default:
|
return IIO_VAL_INT_PLUS_MICRO;
|
}
|
|
return -EINVAL;
|
}
|
|
static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
|
{
|
int result, i;
|
u8 d;
|
|
for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
|
if (accel_scale[i] == val) {
|
d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
|
result = regmap_write(st->map, st->reg->accl_config, d);
|
if (result)
|
return result;
|
|
st->chip_config.accl_fs = i;
|
return 0;
|
}
|
}
|
|
return -EINVAL;
|
}
|
|
static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
|
struct iio_chan_spec const *chan,
|
int val, int val2, long mask)
|
{
|
struct inv_mpu6050_state *st = iio_priv(indio_dev);
|
int result;
|
|
/*
|
* we should only update scale when the chip is disabled, i.e.
|
* not running
|
*/
|
result = iio_device_claim_direct_mode(indio_dev);
|
if (result)
|
return result;
|
|
mutex_lock(&st->lock);
|
result = inv_mpu6050_set_power_itg(st, true);
|
if (result)
|
goto error_write_raw_unlock;
|
|
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;
|
case IIO_CHAN_INFO_CALIBBIAS:
|
switch (chan->type) {
|
case IIO_ANGL_VEL:
|
result = inv_mpu6050_sensor_set(st,
|
st->reg->gyro_offset,
|
chan->channel2, val);
|
break;
|
case IIO_ACCEL:
|
result = inv_mpu6050_sensor_set(st,
|
st->reg->accl_offset,
|
chan->channel2, val);
|
break;
|
default:
|
result = -EINVAL;
|
break;
|
}
|
break;
|
default:
|
result = -EINVAL;
|
break;
|
}
|
|
result |= inv_mpu6050_set_power_itg(st, false);
|
error_write_raw_unlock:
|
mutex_unlock(&st->lock);
|
iio_device_release_direct_mode(indio_dev);
|
|
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.
|
*
|
* lpf is set automatically when setting sampling rate to avoid any aliases.
|
*/
|
static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
|
{
|
static const int hz[] = {188, 98, 42, 20, 10, 5};
|
static 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_set_lpf_regs(st, 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)
|
{
|
int 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;
|
|
result = iio_device_claim_direct_mode(indio_dev);
|
if (result)
|
return result;
|
|
/* compute the chip sample rate divider */
|
d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
|
/* compute back the fifo rate to handle truncation cases */
|
fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d);
|
|
mutex_lock(&st->lock);
|
if (d == st->chip_config.divider) {
|
result = 0;
|
goto fifo_rate_fail_unlock;
|
}
|
result = inv_mpu6050_set_power_itg(st, true);
|
if (result)
|
goto fifo_rate_fail_unlock;
|
|
result = regmap_write(st->map, st->reg->sample_rate_div, d);
|
if (result)
|
goto fifo_rate_fail_power_off;
|
st->chip_config.divider = d;
|
|
result = inv_mpu6050_set_lpf(st, fifo_rate);
|
if (result)
|
goto fifo_rate_fail_power_off;
|
|
fifo_rate_fail_power_off:
|
result |= inv_mpu6050_set_power_itg(st, false);
|
fifo_rate_fail_unlock:
|
mutex_unlock(&st->lock);
|
iio_device_release_direct_mode(indio_dev);
|
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));
|
unsigned fifo_rate;
|
|
mutex_lock(&st->lock);
|
fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
|
mutex_unlock(&st->lock);
|
|
return scnprintf(buf, PAGE_SIZE, "%u\n", fifo_rate);
|
}
|
|
/**
|
* inv_attr_show() - calling this function will show current
|
* parameters.
|
*
|
* Deprecated in favor of IIO mounting matrix API.
|
*
|
* See inv_get_mount_matrix()
|
*/
|
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 scnprintf(buf, PAGE_SIZE,
|
"%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;
|
}
|
|
static const struct iio_mount_matrix *
|
inv_get_mount_matrix(const struct iio_dev *indio_dev,
|
const struct iio_chan_spec *chan)
|
{
|
return &((struct inv_mpu6050_state *)iio_priv(indio_dev))->orientation;
|
}
|
|
static const struct iio_chan_spec_ext_info inv_ext_info[] = {
|
IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
|
{ },
|
};
|
|
#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) | \
|
BIT(IIO_CHAN_INFO_CALIBBIAS), \
|
.scan_index = _index, \
|
.scan_type = { \
|
.sign = 's', \
|
.realbits = 16, \
|
.storagebits = 16, \
|
.shift = 0, \
|
.endianness = IIO_BE, \
|
}, \
|
.ext_info = inv_ext_info, \
|
}
|
|
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),
|
};
|
|
static const unsigned long inv_mpu_scan_masks[] = {
|
/* 3-axis accel */
|
BIT(INV_MPU6050_SCAN_ACCL_X)
|
| BIT(INV_MPU6050_SCAN_ACCL_Y)
|
| BIT(INV_MPU6050_SCAN_ACCL_Z),
|
/* 3-axis gyro */
|
BIT(INV_MPU6050_SCAN_GYRO_X)
|
| BIT(INV_MPU6050_SCAN_GYRO_Y)
|
| BIT(INV_MPU6050_SCAN_GYRO_Z),
|
/* 6-axis accel + gyro */
|
BIT(INV_MPU6050_SCAN_ACCL_X)
|
| BIT(INV_MPU6050_SCAN_ACCL_Y)
|
| BIT(INV_MPU6050_SCAN_ACCL_Z)
|
| BIT(INV_MPU6050_SCAN_GYRO_X)
|
| BIT(INV_MPU6050_SCAN_GYRO_Y)
|
| BIT(INV_MPU6050_SCAN_GYRO_Z),
|
0,
|
};
|
|
static const struct iio_chan_spec inv_icm20602_channels[] = {
|
IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
|
{
|
.type = IIO_TEMP,
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
|
| BIT(IIO_CHAN_INFO_OFFSET)
|
| BIT(IIO_CHAN_INFO_SCALE),
|
.scan_index = INV_ICM20602_SCAN_TEMP,
|
.scan_type = {
|
.sign = 's',
|
.realbits = 16,
|
.storagebits = 16,
|
.shift = 0,
|
.endianness = IIO_BE,
|
},
|
},
|
|
INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
|
INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
|
INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),
|
|
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
|
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
|
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
|
};
|
|
static const unsigned long inv_icm20602_scan_masks[] = {
|
/* 3-axis accel + temp (mandatory) */
|
BIT(INV_ICM20602_SCAN_ACCL_X)
|
| BIT(INV_ICM20602_SCAN_ACCL_Y)
|
| BIT(INV_ICM20602_SCAN_ACCL_Z)
|
| BIT(INV_ICM20602_SCAN_TEMP),
|
/* 3-axis gyro + temp (mandatory) */
|
BIT(INV_ICM20602_SCAN_GYRO_X)
|
| BIT(INV_ICM20602_SCAN_GYRO_Y)
|
| BIT(INV_ICM20602_SCAN_GYRO_Z)
|
| BIT(INV_ICM20602_SCAN_TEMP),
|
/* 6-axis accel + gyro + temp (mandatory) */
|
BIT(INV_ICM20602_SCAN_ACCL_X)
|
| BIT(INV_ICM20602_SCAN_ACCL_Y)
|
| BIT(INV_ICM20602_SCAN_ACCL_Z)
|
| BIT(INV_ICM20602_SCAN_GYRO_X)
|
| BIT(INV_ICM20602_SCAN_GYRO_Y)
|
| BIT(INV_ICM20602_SCAN_GYRO_Z)
|
| BIT(INV_ICM20602_SCAN_TEMP),
|
0,
|
};
|
|
/*
|
* The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and
|
* INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the
|
* low-pass filter. Specifically, each of these sampling rates are about twice
|
* the bandwidth of a corresponding low-pass filter, which should eliminate
|
* aliasing following the Nyquist principle. By picking a frequency different
|
* from these, the user risks aliasing effects.
|
*/
|
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
|
static IIO_CONST_ATTR(in_anglvel_scale_available,
|
"0.000133090 0.000266181 0.000532362 0.001064724");
|
static IIO_CONST_ATTR(in_accel_scale_available,
|
"0.000598 0.001196 0.002392 0.004785");
|
static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
|
inv_mpu6050_fifo_rate_store);
|
|
/* Deprecated: kept for userspace backward compatibility. */
|
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, /* deprecated */
|
&iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
|
&iio_dev_attr_sampling_frequency.dev_attr.attr,
|
&iio_const_attr_sampling_frequency_available.dev_attr.attr,
|
&iio_const_attr_in_accel_scale_available.dev_attr.attr,
|
&iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
|
NULL,
|
};
|
|
static const struct attribute_group inv_attribute_group = {
|
.attrs = inv_attributes
|
};
|
|
static const struct iio_info mpu_info = {
|
.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)
|
{
|
int result;
|
unsigned int regval;
|
int i;
|
|
st->hw = &hw_info[st->chip_type];
|
st->reg = hw_info[st->chip_type].reg;
|
|
/* check chip self-identification */
|
result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, ®val);
|
if (result)
|
return result;
|
if (regval != st->hw->whoami) {
|
/* check whoami against all possible values */
|
for (i = 0; i < INV_NUM_PARTS; ++i) {
|
if (regval == hw_info[i].whoami) {
|
dev_warn(regmap_get_device(st->map),
|
"whoami mismatch got %#02x (%s)"
|
"expected %#02hhx (%s)\n",
|
regval, hw_info[i].name,
|
st->hw->whoami, st->hw->name);
|
break;
|
}
|
}
|
if (i >= INV_NUM_PARTS) {
|
dev_err(regmap_get_device(st->map),
|
"invalid whoami %#02x expected %#02hhx (%s)\n",
|
regval, st->hw->whoami, st->hw->name);
|
return -ENODEV;
|
}
|
}
|
|
/* reset to make sure previous state are not there */
|
result = regmap_write(st->map, st->reg->pwr_mgmt_1,
|
INV_MPU6050_BIT_H_RESET);
|
if (result)
|
return result;
|
msleep(INV_MPU6050_POWER_UP_TIME);
|
|
/*
|
* Turn power on. After reset, the sleep bit could be on
|
* or off depending on the OTP settings. Turning power on
|
* 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, true);
|
if (result)
|
return result;
|
|
result = inv_mpu6050_switch_engine(st, false,
|
INV_MPU6050_BIT_PWR_ACCL_STBY);
|
if (result)
|
goto error_power_off;
|
result = inv_mpu6050_switch_engine(st, false,
|
INV_MPU6050_BIT_PWR_GYRO_STBY);
|
if (result)
|
goto error_power_off;
|
|
return inv_mpu6050_set_power_itg(st, false);
|
|
error_power_off:
|
inv_mpu6050_set_power_itg(st, false);
|
return result;
|
}
|
|
int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
|
int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
|
{
|
struct inv_mpu6050_state *st;
|
struct iio_dev *indio_dev;
|
struct inv_mpu6050_platform_data *pdata;
|
struct device *dev = regmap_get_device(regmap);
|
int result;
|
struct irq_data *desc;
|
int irq_type;
|
|
indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
|
if (!indio_dev)
|
return -ENOMEM;
|
|
BUILD_BUG_ON(ARRAY_SIZE(hw_info) != INV_NUM_PARTS);
|
if (chip_type < 0 || chip_type >= INV_NUM_PARTS) {
|
dev_err(dev, "Bad invensense chip_type=%d name=%s\n",
|
chip_type, name);
|
return -ENODEV;
|
}
|
st = iio_priv(indio_dev);
|
mutex_init(&st->lock);
|
st->chip_type = chip_type;
|
st->powerup_count = 0;
|
st->irq = irq;
|
st->map = regmap;
|
|
pdata = dev_get_platdata(dev);
|
if (!pdata) {
|
result = of_iio_read_mount_matrix(dev, "mount-matrix",
|
&st->orientation);
|
if (result) {
|
dev_err(dev, "Failed to retrieve mounting matrix %d\n",
|
result);
|
return result;
|
}
|
} else {
|
st->plat_data = *pdata;
|
}
|
|
desc = irq_get_irq_data(irq);
|
if (!desc) {
|
dev_err(dev, "Could not find IRQ %d\n", irq);
|
return -EINVAL;
|
}
|
|
irq_type = irqd_get_trigger_type(desc);
|
if (!irq_type)
|
irq_type = IRQF_TRIGGER_RISING;
|
if (irq_type == IRQF_TRIGGER_RISING)
|
st->irq_mask = INV_MPU6050_ACTIVE_HIGH;
|
else if (irq_type == IRQF_TRIGGER_FALLING)
|
st->irq_mask = INV_MPU6050_ACTIVE_LOW;
|
else if (irq_type == IRQF_TRIGGER_HIGH)
|
st->irq_mask = INV_MPU6050_ACTIVE_HIGH |
|
INV_MPU6050_LATCH_INT_EN;
|
else if (irq_type == IRQF_TRIGGER_LOW)
|
st->irq_mask = INV_MPU6050_ACTIVE_LOW |
|
INV_MPU6050_LATCH_INT_EN;
|
else {
|
dev_err(dev, "Invalid interrupt type 0x%x specified\n",
|
irq_type);
|
return -EINVAL;
|
}
|
|
/* power is turned on inside check chip type*/
|
result = inv_check_and_setup_chip(st);
|
if (result)
|
return result;
|
|
result = inv_mpu6050_init_config(indio_dev);
|
if (result) {
|
dev_err(dev, "Could not initialize device.\n");
|
return result;
|
}
|
|
if (inv_mpu_bus_setup)
|
inv_mpu_bus_setup(indio_dev);
|
|
dev_set_drvdata(dev, indio_dev);
|
indio_dev->dev.parent = dev;
|
/* name will be NULL when enumerated via ACPI */
|
if (name)
|
indio_dev->name = name;
|
else
|
indio_dev->name = dev_name(dev);
|
|
if (chip_type == INV_ICM20602) {
|
indio_dev->channels = inv_icm20602_channels;
|
indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
|
indio_dev->available_scan_masks = inv_icm20602_scan_masks;
|
} else {
|
indio_dev->channels = inv_mpu_channels;
|
indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
|
indio_dev->available_scan_masks = inv_mpu_scan_masks;
|
}
|
|
indio_dev->info = &mpu_info;
|
indio_dev->modes = INDIO_BUFFER_TRIGGERED;
|
|
result = devm_iio_triggered_buffer_setup(dev, indio_dev,
|
iio_pollfunc_store_time,
|
inv_mpu6050_read_fifo,
|
NULL);
|
if (result) {
|
dev_err(dev, "configure buffer fail %d\n", result);
|
return result;
|
}
|
result = inv_mpu6050_probe_trigger(indio_dev, irq_type);
|
if (result) {
|
dev_err(dev, "trigger probe fail %d\n", result);
|
return result;
|
}
|
|
result = devm_iio_device_register(dev, indio_dev);
|
if (result) {
|
dev_err(dev, "IIO register fail %d\n", result);
|
return result;
|
}
|
|
return 0;
|
}
|
EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
|
|
#ifdef CONFIG_PM_SLEEP
|
|
static int inv_mpu_resume(struct device *dev)
|
{
|
struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
|
int result;
|
|
mutex_lock(&st->lock);
|
result = inv_mpu6050_set_power_itg(st, true);
|
mutex_unlock(&st->lock);
|
|
return result;
|
}
|
|
static int inv_mpu_suspend(struct device *dev)
|
{
|
struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
|
int result;
|
|
mutex_lock(&st->lock);
|
result = inv_mpu6050_set_power_itg(st, false);
|
mutex_unlock(&st->lock);
|
|
return result;
|
}
|
#endif /* CONFIG_PM_SLEEP */
|
|
SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
|
EXPORT_SYMBOL_GPL(inv_mpu_pmops);
|
|
MODULE_AUTHOR("Invensense Corporation");
|
MODULE_DESCRIPTION("Invensense device MPU6050 driver");
|
MODULE_LICENSE("GPL");
|
