// SPDX-License-Identifier: GPL-2.0-only
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/*
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* Copyright (C) 2012 Invensense, Inc.
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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 <linux/regulator/consumer.h>
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#include <linux/pm.h>
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#include <linux/pm_runtime.h>
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#include "inv_mpu_iio.h"
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#include "inv_mpu_magn.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_icm20602 = {
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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 = 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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};
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static const struct inv_mpu6050_chip_config chip_config_6050 = {
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.clk = INV_CLK_INTERNAL,
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.fsr = INV_MPU6050_FSR_2000DPS,
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.lpf = INV_MPU6050_FILTER_20HZ,
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.divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
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.gyro_en = true,
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.accl_en = true,
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.temp_en = true,
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.magn_en = false,
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.gyro_fifo_enable = false,
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.accl_fifo_enable = false,
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.temp_fifo_enable = false,
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.magn_fifo_enable = false,
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.accl_fs = INV_MPU6050_FS_02G,
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.user_ctrl = 0,
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};
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static const struct inv_mpu6050_chip_config chip_config_6500 = {
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.clk = INV_CLK_PLL,
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.fsr = INV_MPU6050_FSR_2000DPS,
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.lpf = INV_MPU6050_FILTER_20HZ,
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.divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
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.gyro_en = true,
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.accl_en = true,
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.temp_en = true,
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.magn_en = false,
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.gyro_fifo_enable = false,
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.accl_fifo_enable = false,
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.temp_fifo_enable = false,
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.magn_fifo_enable = false,
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.accl_fs = INV_MPU6050_FS_02G,
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.user_ctrl = 0,
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};
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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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{
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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,
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.temp = {INV_MPU6050_TEMP_OFFSET, INV_MPU6050_TEMP_SCALE},
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},
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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_6500,
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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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{
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.whoami = INV_MPU6515_WHOAMI_VALUE,
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.name = "MPU6515",
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.reg = ®_set_6500,
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.config = &chip_config_6500,
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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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{
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.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,
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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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{
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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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{
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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_6500,
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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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{
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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_6500,
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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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{
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.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_6500,
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.fifo_size = 512,
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.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
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},
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{
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.whoami = INV_ICM20609_WHOAMI_VALUE,
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.name = "ICM20609",
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.reg = ®_set_6500,
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.config = &chip_config_6500,
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.fifo_size = 4 * 1024,
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.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
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},
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{
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.whoami = INV_ICM20689_WHOAMI_VALUE,
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.name = "ICM20689",
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.reg = ®_set_6500,
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.config = &chip_config_6500,
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.fifo_size = 4 * 1024,
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.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
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},
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{
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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_6500,
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.fifo_size = 1008,
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.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
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},
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{
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.whoami = INV_ICM20690_WHOAMI_VALUE,
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.name = "ICM20690",
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.reg = ®_set_6500,
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.config = &chip_config_6500,
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.fifo_size = 1024,
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.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
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},
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{
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.whoami = INV_IAM20680_WHOAMI_VALUE,
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.name = "IAM20680",
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.reg = ®_set_6500,
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.config = &chip_config_6500,
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.fifo_size = 512,
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.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
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},
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};
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static int inv_mpu6050_pwr_mgmt_1_write(struct inv_mpu6050_state *st, bool sleep,
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int clock, int temp_dis)
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{
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u8 val;
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if (clock < 0)
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clock = st->chip_config.clk;
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if (temp_dis < 0)
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temp_dis = !st->chip_config.temp_en;
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val = clock & INV_MPU6050_BIT_CLK_MASK;
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if (temp_dis)
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val |= INV_MPU6050_BIT_TEMP_DIS;
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if (sleep)
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val |= INV_MPU6050_BIT_SLEEP;
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dev_dbg(regmap_get_device(st->map), "pwr_mgmt_1: 0x%x\n", val);
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return regmap_write(st->map, st->reg->pwr_mgmt_1, val);
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}
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static int inv_mpu6050_clock_switch(struct inv_mpu6050_state *st,
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unsigned int clock)
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{
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int ret;
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switch (st->chip_type) {
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case INV_MPU6050:
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case INV_MPU6000:
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case INV_MPU9150:
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/* old chips: switch clock manually */
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ret = inv_mpu6050_pwr_mgmt_1_write(st, false, clock, -1);
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if (ret)
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return ret;
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st->chip_config.clk = clock;
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break;
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default:
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/* automatic clock switching, nothing to do */
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break;
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}
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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,
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unsigned int mask)
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{
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unsigned int sleep;
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u8 pwr_mgmt2, user_ctrl;
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int ret;
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/* delete useless requests */
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if (mask & INV_MPU6050_SENSOR_ACCL && en == st->chip_config.accl_en)
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mask &= ~INV_MPU6050_SENSOR_ACCL;
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if (mask & INV_MPU6050_SENSOR_GYRO && en == st->chip_config.gyro_en)
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mask &= ~INV_MPU6050_SENSOR_GYRO;
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if (mask & INV_MPU6050_SENSOR_TEMP && en == st->chip_config.temp_en)
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mask &= ~INV_MPU6050_SENSOR_TEMP;
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if (mask & INV_MPU6050_SENSOR_MAGN && en == st->chip_config.magn_en)
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mask &= ~INV_MPU6050_SENSOR_MAGN;
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if (mask == 0)
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return 0;
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/* turn on/off temperature sensor */
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if (mask & INV_MPU6050_SENSOR_TEMP) {
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ret = inv_mpu6050_pwr_mgmt_1_write(st, false, -1, !en);
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if (ret)
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return ret;
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st->chip_config.temp_en = en;
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}
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/* update user_crtl for driving magnetometer */
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if (mask & INV_MPU6050_SENSOR_MAGN) {
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user_ctrl = st->chip_config.user_ctrl;
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if (en)
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user_ctrl |= INV_MPU6050_BIT_I2C_MST_EN;
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else
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user_ctrl &= ~INV_MPU6050_BIT_I2C_MST_EN;
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ret = regmap_write(st->map, st->reg->user_ctrl, user_ctrl);
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if (ret)
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return ret;
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st->chip_config.user_ctrl = user_ctrl;
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st->chip_config.magn_en = en;
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}
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/* manage accel & gyro engines */
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if (mask & (INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO)) {
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/* compute power management 2 current value */
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pwr_mgmt2 = 0;
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if (!st->chip_config.accl_en)
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pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
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if (!st->chip_config.gyro_en)
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pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;
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/* update to new requested value */
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if (mask & INV_MPU6050_SENSOR_ACCL) {
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if (en)
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pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_ACCL_STBY;
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else
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pwr_mgmt2 |= INV_MPU6050_BIT_PWR_ACCL_STBY;
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}
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if (mask & INV_MPU6050_SENSOR_GYRO) {
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if (en)
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pwr_mgmt2 &= ~INV_MPU6050_BIT_PWR_GYRO_STBY;
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else
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pwr_mgmt2 |= INV_MPU6050_BIT_PWR_GYRO_STBY;
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}
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/* switch clock to internal when turning gyro off */
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if (mask & INV_MPU6050_SENSOR_GYRO && !en) {
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ret = inv_mpu6050_clock_switch(st, INV_CLK_INTERNAL);
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if (ret)
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return ret;
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}
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/* update sensors engine */
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dev_dbg(regmap_get_device(st->map), "pwr_mgmt_2: 0x%x\n",
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pwr_mgmt2);
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ret = regmap_write(st->map, st->reg->pwr_mgmt_2, pwr_mgmt2);
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if (ret)
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return ret;
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if (mask & INV_MPU6050_SENSOR_ACCL)
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st->chip_config.accl_en = en;
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if (mask & INV_MPU6050_SENSOR_GYRO)
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st->chip_config.gyro_en = en;
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/* compute required time to have sensors stabilized */
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sleep = 0;
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if (en) {
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if (mask & INV_MPU6050_SENSOR_ACCL) {
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if (sleep < INV_MPU6050_ACCEL_UP_TIME)
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sleep = INV_MPU6050_ACCEL_UP_TIME;
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}
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if (mask & INV_MPU6050_SENSOR_GYRO) {
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if (sleep < INV_MPU6050_GYRO_UP_TIME)
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sleep = INV_MPU6050_GYRO_UP_TIME;
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}
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} else {
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if (mask & INV_MPU6050_SENSOR_GYRO) {
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if (sleep < INV_MPU6050_GYRO_DOWN_TIME)
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sleep = INV_MPU6050_GYRO_DOWN_TIME;
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}
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}
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if (sleep)
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msleep(sleep);
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/* switch clock to PLL when turning gyro on */
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if (mask & INV_MPU6050_SENSOR_GYRO && en) {
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ret = inv_mpu6050_clock_switch(st, INV_CLK_PLL);
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if (ret)
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return ret;
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}
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}
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return 0;
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}
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static int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st,
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bool power_on)
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{
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int result;
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result = inv_mpu6050_pwr_mgmt_1_write(st, !power_on, -1, -1);
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if (result)
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return result;
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if (power_on)
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usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
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INV_MPU6050_REG_UP_TIME_MAX);
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return 0;
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}
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static int inv_mpu6050_set_gyro_fsr(struct inv_mpu6050_state *st,
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enum inv_mpu6050_fsr_e val)
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{
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unsigned int gyro_shift;
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u8 data;
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switch (st->chip_type) {
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case INV_ICM20690:
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gyro_shift = INV_ICM20690_GYRO_CONFIG_FSR_SHIFT;
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break;
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default:
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gyro_shift = INV_MPU6050_GYRO_CONFIG_FSR_SHIFT;
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break;
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}
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data = val << gyro_shift;
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return regmap_write(st->map, st->reg->gyro_config, data);
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}
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/*
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* inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent
|
*
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* MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope
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* MPU6500 and above have a dedicated register for accelerometer
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*/
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static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st,
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enum inv_mpu6050_filter_e val)
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{
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int result;
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result = regmap_write(st->map, st->reg->lpf, val);
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if (result)
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return result;
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/* set accel lpf */
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switch (st->chip_type) {
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case INV_MPU6050:
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case INV_MPU6000:
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case INV_MPU9150:
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/* old chips, nothing to do */
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return 0;
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case INV_ICM20689:
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case INV_ICM20690:
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/* set FIFO size to maximum value */
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val |= INV_ICM20689_BITS_FIFO_SIZE_MAX;
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break;
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default:
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break;
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}
|
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return regmap_write(st->map, st->reg->accel_lpf, val);
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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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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_gyro_fsr(st, st->chip_config.fsr);
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if (result)
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return result;
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result = inv_mpu6050_set_lpf_regs(st, st->chip_config.lpf);
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if (result)
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return result;
|
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d = st->chip_config.divider;
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result = regmap_write(st->map, st->reg->sample_rate_div, d);
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if (result)
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return result;
|
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d = (st->chip_config.accl_fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
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result = regmap_write(st->map, st->reg->accl_config, d);
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if (result)
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return result;
|
|
result = regmap_write(st->map, st->reg->int_pin_cfg, st->irq_mask);
|
if (result)
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return result;
|
|
/*
|
* 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;
|
|
/* magn chip init, noop if not present in the chip */
|
result = inv_mpu_magn_probe(st);
|
if (result)
|
return result;
|
|
return 0;
|
}
|
|
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, &d, sizeof(d));
|
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, &d, sizeof(d));
|
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);
|
struct device *pdev = regmap_get_device(st->map);
|
unsigned int freq_hz, period_us, min_sleep_us, max_sleep_us;
|
int result;
|
int ret;
|
|
/* compute sample period */
|
freq_hz = INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
|
period_us = 1000000 / freq_hz;
|
|
result = pm_runtime_get_sync(pdev);
|
if (result < 0) {
|
pm_runtime_put_noidle(pdev);
|
return result;
|
}
|
|
switch (chan->type) {
|
case IIO_ANGL_VEL:
|
if (!st->chip_config.gyro_en) {
|
result = inv_mpu6050_switch_engine(st, true,
|
INV_MPU6050_SENSOR_GYRO);
|
if (result)
|
goto error_power_off;
|
/* need to wait 2 periods to have first valid sample */
|
min_sleep_us = 2 * period_us;
|
max_sleep_us = 2 * (period_us + period_us / 2);
|
usleep_range(min_sleep_us, max_sleep_us);
|
}
|
ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
|
chan->channel2, val);
|
break;
|
case IIO_ACCEL:
|
if (!st->chip_config.accl_en) {
|
result = inv_mpu6050_switch_engine(st, true,
|
INV_MPU6050_SENSOR_ACCL);
|
if (result)
|
goto error_power_off;
|
/* wait 1 period for first sample availability */
|
min_sleep_us = period_us;
|
max_sleep_us = period_us + period_us / 2;
|
usleep_range(min_sleep_us, max_sleep_us);
|
}
|
ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
|
chan->channel2, val);
|
break;
|
case IIO_TEMP:
|
/* temperature sensor work only with accel and/or gyro */
|
if (!st->chip_config.accl_en && !st->chip_config.gyro_en) {
|
result = -EBUSY;
|
goto error_power_off;
|
}
|
if (!st->chip_config.temp_en) {
|
result = inv_mpu6050_switch_engine(st, true,
|
INV_MPU6050_SENSOR_TEMP);
|
if (result)
|
goto error_power_off;
|
/* wait 1 period for first sample availability */
|
min_sleep_us = period_us;
|
max_sleep_us = period_us + period_us / 2;
|
usleep_range(min_sleep_us, max_sleep_us);
|
}
|
ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
|
IIO_MOD_X, val);
|
break;
|
case IIO_MAGN:
|
if (!st->chip_config.magn_en) {
|
result = inv_mpu6050_switch_engine(st, true,
|
INV_MPU6050_SENSOR_MAGN);
|
if (result)
|
goto error_power_off;
|
/* frequency is limited for magnetometer */
|
if (freq_hz > INV_MPU_MAGN_FREQ_HZ_MAX) {
|
freq_hz = INV_MPU_MAGN_FREQ_HZ_MAX;
|
period_us = 1000000 / freq_hz;
|
}
|
/* need to wait 2 periods to have first valid sample */
|
min_sleep_us = 2 * period_us;
|
max_sleep_us = 2 * (period_us + period_us / 2);
|
usleep_range(min_sleep_us, max_sleep_us);
|
}
|
ret = inv_mpu_magn_read(st, chan->channel2, val);
|
break;
|
default:
|
ret = -EINVAL;
|
break;
|
}
|
|
pm_runtime_mark_last_busy(pdev);
|
pm_runtime_put_autosuspend(pdev);
|
|
return ret;
|
|
error_power_off:
|
pm_runtime_put_autosuspend(pdev);
|
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;
|
case IIO_MAGN:
|
return inv_mpu_magn_get_scale(st, chan, val, val2);
|
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 val2)
|
{
|
int result, i;
|
|
if (val != 0)
|
return -EINVAL;
|
|
for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
|
if (gyro_scale_6050[i] == val2) {
|
result = inv_mpu6050_set_gyro_fsr(st, i);
|
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 val2)
|
{
|
int result, i;
|
u8 d;
|
|
if (val != 0)
|
return -EINVAL;
|
|
for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
|
if (accel_scale[i] == val2) {
|
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);
|
struct device *pdev = regmap_get_device(st->map);
|
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 = pm_runtime_get_sync(pdev);
|
if (result < 0) {
|
pm_runtime_put_noidle(pdev);
|
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, val, val2);
|
break;
|
case IIO_ACCEL:
|
result = inv_mpu6050_write_accel_scale(st, val, 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;
|
}
|
|
pm_runtime_mark_last_busy(pdev);
|
pm_runtime_put_autosuspend(pdev);
|
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 bandwidth of the low
|
* pass filter must not exceed the signal sampling rate divided
|
* by 2, or there would be aliasing.
|
* 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[] = {400, 200, 90, 40, 20, 10};
|
static const int d[] = {
|
INV_MPU6050_FILTER_200HZ, INV_MPU6050_FILTER_100HZ,
|
INV_MPU6050_FILTER_45HZ, INV_MPU6050_FILTER_20HZ,
|
INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ
|
};
|
int i, result;
|
u8 data;
|
|
data = INV_MPU6050_FILTER_5HZ;
|
for (i = 0; i < ARRAY_SIZE(hz); ++i) {
|
if (rate >= hz[i]) {
|
data = d[i];
|
break;
|
}
|
}
|
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);
|
struct device *pdev = regmap_get_device(st->map);
|
|
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;
|
|
/* 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 = pm_runtime_get_sync(pdev);
|
if (result < 0) {
|
pm_runtime_put_noidle(pdev);
|
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;
|
|
/* update rate for magn, noop if not present in chip */
|
result = inv_mpu_magn_set_rate(st, fifo_rate);
|
if (result)
|
goto fifo_rate_fail_power_off;
|
|
pm_runtime_mark_last_busy(pdev);
|
fifo_rate_fail_power_off:
|
pm_runtime_put_autosuspend(pdev);
|
fifo_rate_fail_unlock:
|
mutex_unlock(&st->lock);
|
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)
|
{
|
struct inv_mpu6050_state *data = iio_priv(indio_dev);
|
const struct iio_mount_matrix *matrix;
|
|
if (chan->type == IIO_MAGN)
|
matrix = &data->magn_orient;
|
else
|
matrix = &data->orientation;
|
|
return matrix;
|
}
|
|
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, \
|
}
|
|
#define INV_MPU6050_TEMP_CHAN(_index) \
|
{ \
|
.type = IIO_TEMP, \
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \
|
| BIT(IIO_CHAN_INFO_OFFSET) \
|
| BIT(IIO_CHAN_INFO_SCALE), \
|
.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),
|
|
INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
|
|
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),
|
};
|
|
#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL \
|
(BIT(INV_MPU6050_SCAN_ACCL_X) \
|
| BIT(INV_MPU6050_SCAN_ACCL_Y) \
|
| BIT(INV_MPU6050_SCAN_ACCL_Z))
|
|
#define INV_MPU6050_SCAN_MASK_3AXIS_GYRO \
|
(BIT(INV_MPU6050_SCAN_GYRO_X) \
|
| BIT(INV_MPU6050_SCAN_GYRO_Y) \
|
| BIT(INV_MPU6050_SCAN_GYRO_Z))
|
|
#define INV_MPU6050_SCAN_MASK_TEMP (BIT(INV_MPU6050_SCAN_TEMP))
|
|
static const unsigned long inv_mpu_scan_masks[] = {
|
/* 3-axis accel */
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
|
/* 3-axis gyro */
|
INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
|
INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
|
/* 6-axis accel + gyro */
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
|
| INV_MPU6050_SCAN_MASK_TEMP,
|
0,
|
};
|
|
#define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index) \
|
{ \
|
.type = IIO_MAGN, \
|
.modified = 1, \
|
.channel2 = _chan2, \
|
.info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) | \
|
BIT(IIO_CHAN_INFO_RAW), \
|
.scan_index = _index, \
|
.scan_type = { \
|
.sign = 's', \
|
.realbits = _bits, \
|
.storagebits = 16, \
|
.shift = 0, \
|
.endianness = IIO_BE, \
|
}, \
|
.ext_info = inv_ext_info, \
|
}
|
|
static const struct iio_chan_spec inv_mpu9150_channels[] = {
|
IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
|
|
INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
|
|
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),
|
|
/* Magnetometer resolution is 13 bits */
|
INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 13, INV_MPU9X50_SCAN_MAGN_X),
|
INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 13, INV_MPU9X50_SCAN_MAGN_Y),
|
INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 13, INV_MPU9X50_SCAN_MAGN_Z),
|
};
|
|
static const struct iio_chan_spec inv_mpu9250_channels[] = {
|
IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
|
|
INV_MPU6050_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
|
|
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),
|
|
/* Magnetometer resolution is 16 bits */
|
INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
|
INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),
|
INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
|
};
|
|
#define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN \
|
(BIT(INV_MPU9X50_SCAN_MAGN_X) \
|
| BIT(INV_MPU9X50_SCAN_MAGN_Y) \
|
| BIT(INV_MPU9X50_SCAN_MAGN_Z))
|
|
static const unsigned long inv_mpu9x50_scan_masks[] = {
|
/* 3-axis accel */
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL,
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
|
/* 3-axis gyro */
|
INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
|
INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
|
/* 3-axis magn */
|
INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
|
INV_MPU9X50_SCAN_MASK_3AXIS_MAGN | INV_MPU6050_SCAN_MASK_TEMP,
|
/* 6-axis accel + gyro */
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO,
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
|
| INV_MPU6050_SCAN_MASK_TEMP,
|
/* 6-axis accel + magn */
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
|
| INV_MPU6050_SCAN_MASK_TEMP,
|
/* 6-axis gyro + magn */
|
INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
|
INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
|
| INV_MPU6050_SCAN_MASK_TEMP,
|
/* 9-axis accel + gyro + magn */
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
|
| INV_MPU9X50_SCAN_MASK_3AXIS_MAGN,
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
|
| INV_MPU9X50_SCAN_MASK_3AXIS_MAGN
|
| INV_MPU6050_SCAN_MASK_TEMP,
|
0,
|
};
|
|
static const unsigned long inv_icm20602_scan_masks[] = {
|
/* 3-axis accel + temp (mandatory) */
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
|
/* 3-axis gyro + temp (mandatory) */
|
INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
|
/* 6-axis accel + gyro + temp (mandatory) */
|
INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
|
| INV_MPU6050_SCAN_MASK_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 int inv_mpu6050_reg_access(struct iio_dev *indio_dev,
|
unsigned int reg,
|
unsigned int writeval,
|
unsigned int *readval)
|
{
|
struct inv_mpu6050_state *st = iio_priv(indio_dev);
|
int ret;
|
|
mutex_lock(&st->lock);
|
if (readval)
|
ret = regmap_read(st->map, reg, readval);
|
else
|
ret = regmap_write(st->map, reg, writeval);
|
mutex_unlock(&st->lock);
|
|
return ret;
|
}
|
|
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,
|
.debugfs_reg_access = &inv_mpu6050_reg_access,
|
};
|
|
/*
|
* 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, mask;
|
int i;
|
|
st->hw = &hw_info[st->chip_type];
|
st->reg = hw_info[st->chip_type].reg;
|
memcpy(&st->chip_config, hw_info[st->chip_type].config,
|
sizeof(st->chip_config));
|
|
/* 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);
|
switch (st->chip_type) {
|
case INV_MPU6000:
|
case INV_MPU6500:
|
case INV_MPU6515:
|
case INV_MPU9250:
|
case INV_MPU9255:
|
/* reset signal path (required for spi connection) */
|
regval = INV_MPU6050_BIT_TEMP_RST | INV_MPU6050_BIT_ACCEL_RST |
|
INV_MPU6050_BIT_GYRO_RST;
|
result = regmap_write(st->map, INV_MPU6050_REG_SIGNAL_PATH_RESET,
|
regval);
|
if (result)
|
return result;
|
msleep(INV_MPU6050_POWER_UP_TIME);
|
break;
|
default:
|
break;
|
}
|
|
/*
|
* 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;
|
mask = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
|
INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
|
result = inv_mpu6050_switch_engine(st, false, mask);
|
if (result)
|
goto error_power_off;
|
|
return 0;
|
|
error_power_off:
|
inv_mpu6050_set_power_itg(st, false);
|
return result;
|
}
|
|
static int inv_mpu_core_enable_regulator_vddio(struct inv_mpu6050_state *st)
|
{
|
int result;
|
|
result = regulator_enable(st->vddio_supply);
|
if (result) {
|
dev_err(regmap_get_device(st->map),
|
"Failed to enable vddio regulator: %d\n", result);
|
} else {
|
/* Give the device a little bit of time to start up. */
|
usleep_range(3000, 5000);
|
}
|
|
return result;
|
}
|
|
static int inv_mpu_core_disable_regulator_vddio(struct inv_mpu6050_state *st)
|
{
|
int result;
|
|
result = regulator_disable(st->vddio_supply);
|
if (result)
|
dev_err(regmap_get_device(st->map),
|
"Failed to disable vddio regulator: %d\n", result);
|
|
return result;
|
}
|
|
static void inv_mpu_core_disable_regulator_action(void *_data)
|
{
|
struct inv_mpu6050_state *st = _data;
|
int result;
|
|
result = regulator_disable(st->vdd_supply);
|
if (result)
|
dev_err(regmap_get_device(st->map),
|
"Failed to disable vdd regulator: %d\n", result);
|
|
inv_mpu_core_disable_regulator_vddio(st);
|
}
|
|
static void inv_mpu_pm_disable(void *data)
|
{
|
struct device *dev = data;
|
|
pm_runtime_put_sync_suspend(dev);
|
pm_runtime_disable(dev);
|
}
|
|
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->irq = irq;
|
st->map = regmap;
|
|
pdata = dev_get_platdata(dev);
|
if (!pdata) {
|
result = 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) // rising or both-edge
|
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;
|
}
|
|
st->vdd_supply = devm_regulator_get(dev, "vdd");
|
if (IS_ERR(st->vdd_supply))
|
return dev_err_probe(dev, PTR_ERR(st->vdd_supply),
|
"Failed to get vdd regulator\n");
|
|
st->vddio_supply = devm_regulator_get(dev, "vddio");
|
if (IS_ERR(st->vddio_supply))
|
return dev_err_probe(dev, PTR_ERR(st->vddio_supply),
|
"Failed to get vddio regulator\n");
|
|
result = regulator_enable(st->vdd_supply);
|
if (result) {
|
dev_err(dev, "Failed to enable vdd regulator: %d\n", result);
|
return result;
|
}
|
msleep(INV_MPU6050_POWER_UP_TIME);
|
|
result = inv_mpu_core_enable_regulator_vddio(st);
|
if (result) {
|
regulator_disable(st->vdd_supply);
|
return result;
|
}
|
|
result = devm_add_action_or_reset(dev, inv_mpu_core_disable_regulator_action,
|
st);
|
if (result) {
|
dev_err(dev, "Failed to setup regulator cleanup action %d\n",
|
result);
|
return result;
|
}
|
|
/* fill magnetometer orientation */
|
result = inv_mpu_magn_set_orient(st);
|
if (result)
|
return result;
|
|
/* 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");
|
goto error_power_off;
|
}
|
|
dev_set_drvdata(dev, indio_dev);
|
/* name will be NULL when enumerated via ACPI */
|
if (name)
|
indio_dev->name = name;
|
else
|
indio_dev->name = dev_name(dev);
|
|
/* requires parent device set in indio_dev */
|
if (inv_mpu_bus_setup) {
|
result = inv_mpu_bus_setup(indio_dev);
|
if (result)
|
goto error_power_off;
|
}
|
|
/* chip init is done, turning on runtime power management */
|
result = pm_runtime_set_active(dev);
|
if (result)
|
goto error_power_off;
|
pm_runtime_get_noresume(dev);
|
pm_runtime_enable(dev);
|
pm_runtime_set_autosuspend_delay(dev, INV_MPU6050_SUSPEND_DELAY_MS);
|
pm_runtime_use_autosuspend(dev);
|
pm_runtime_put(dev);
|
result = devm_add_action_or_reset(dev, inv_mpu_pm_disable, dev);
|
if (result)
|
return result;
|
|
switch (chip_type) {
|
case INV_MPU9150:
|
indio_dev->channels = inv_mpu9150_channels;
|
indio_dev->num_channels = ARRAY_SIZE(inv_mpu9150_channels);
|
indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
|
break;
|
case INV_MPU9250:
|
case INV_MPU9255:
|
indio_dev->channels = inv_mpu9250_channels;
|
indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
|
indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
|
break;
|
case INV_ICM20602:
|
indio_dev->channels = inv_mpu_channels;
|
indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
|
indio_dev->available_scan_masks = inv_icm20602_scan_masks;
|
break;
|
default:
|
indio_dev->channels = inv_mpu_channels;
|
indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
|
indio_dev->available_scan_masks = inv_mpu_scan_masks;
|
break;
|
}
|
/*
|
* Use magnetometer inside the chip only if there is no i2c
|
* auxiliary device in use. Otherwise Going back to 6-axis only.
|
*/
|
if (st->magn_disabled) {
|
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;
|
|
error_power_off:
|
inv_mpu6050_set_power_itg(st, false);
|
return result;
|
}
|
EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
|
|
static int __maybe_unused inv_mpu_resume(struct device *dev)
|
{
|
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
struct inv_mpu6050_state *st = iio_priv(indio_dev);
|
int result;
|
|
mutex_lock(&st->lock);
|
result = inv_mpu_core_enable_regulator_vddio(st);
|
if (result)
|
goto out_unlock;
|
|
result = inv_mpu6050_set_power_itg(st, true);
|
if (result)
|
goto out_unlock;
|
|
pm_runtime_disable(dev);
|
pm_runtime_set_active(dev);
|
pm_runtime_enable(dev);
|
|
result = inv_mpu6050_switch_engine(st, true, st->suspended_sensors);
|
if (result)
|
goto out_unlock;
|
|
if (iio_buffer_enabled(indio_dev))
|
result = inv_mpu6050_prepare_fifo(st, true);
|
|
out_unlock:
|
mutex_unlock(&st->lock);
|
|
return result;
|
}
|
|
static int __maybe_unused inv_mpu_suspend(struct device *dev)
|
{
|
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
struct inv_mpu6050_state *st = iio_priv(indio_dev);
|
int result;
|
|
mutex_lock(&st->lock);
|
|
st->suspended_sensors = 0;
|
if (pm_runtime_suspended(dev)) {
|
result = 0;
|
goto out_unlock;
|
}
|
|
if (iio_buffer_enabled(indio_dev)) {
|
result = inv_mpu6050_prepare_fifo(st, false);
|
if (result)
|
goto out_unlock;
|
}
|
|
if (st->chip_config.accl_en)
|
st->suspended_sensors |= INV_MPU6050_SENSOR_ACCL;
|
if (st->chip_config.gyro_en)
|
st->suspended_sensors |= INV_MPU6050_SENSOR_GYRO;
|
if (st->chip_config.temp_en)
|
st->suspended_sensors |= INV_MPU6050_SENSOR_TEMP;
|
if (st->chip_config.magn_en)
|
st->suspended_sensors |= INV_MPU6050_SENSOR_MAGN;
|
result = inv_mpu6050_switch_engine(st, false, st->suspended_sensors);
|
if (result)
|
goto out_unlock;
|
|
result = inv_mpu6050_set_power_itg(st, false);
|
if (result)
|
goto out_unlock;
|
|
inv_mpu_core_disable_regulator_vddio(st);
|
out_unlock:
|
mutex_unlock(&st->lock);
|
|
return result;
|
}
|
|
static int __maybe_unused inv_mpu_runtime_suspend(struct device *dev)
|
{
|
struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
|
unsigned int sensors;
|
int ret;
|
|
mutex_lock(&st->lock);
|
|
sensors = INV_MPU6050_SENSOR_ACCL | INV_MPU6050_SENSOR_GYRO |
|
INV_MPU6050_SENSOR_TEMP | INV_MPU6050_SENSOR_MAGN;
|
ret = inv_mpu6050_switch_engine(st, false, sensors);
|
if (ret)
|
goto out_unlock;
|
|
ret = inv_mpu6050_set_power_itg(st, false);
|
if (ret)
|
goto out_unlock;
|
|
inv_mpu_core_disable_regulator_vddio(st);
|
|
out_unlock:
|
mutex_unlock(&st->lock);
|
return ret;
|
}
|
|
static int __maybe_unused inv_mpu_runtime_resume(struct device *dev)
|
{
|
struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));
|
int ret;
|
|
ret = inv_mpu_core_enable_regulator_vddio(st);
|
if (ret)
|
return ret;
|
|
return inv_mpu6050_set_power_itg(st, true);
|
}
|
|
const struct dev_pm_ops inv_mpu_pmops = {
|
SET_SYSTEM_SLEEP_PM_OPS(inv_mpu_suspend, inv_mpu_resume)
|
SET_RUNTIME_PM_OPS(inv_mpu_runtime_suspend, inv_mpu_runtime_resume, NULL)
|
};
|
EXPORT_SYMBOL_GPL(inv_mpu_pmops);
|
|
MODULE_AUTHOR("Invensense Corporation");
|
MODULE_DESCRIPTION("Invensense device MPU6050 driver");
|
MODULE_LICENSE("GPL");
|
