--- /dev/null
+/*
+ * MPU3050 gyroscope driver
+ *
+ * Copyright (C) 2016 Linaro Ltd.
+ * Author: Linus Walleij <linus.walleij@linaro.org>
+ *
+ * Based on the input subsystem driver, Copyright (C) 2011 Wistron Co.Ltd
+ * Joseph Lai <joseph_lai@wistron.com> and trimmed down by
+ * Alan Cox <alan@linux.intel.com> in turn based on bma023.c.
+ * Device behaviour based on a misc driver posted by Nathan Royer in 2011.
+ *
+ * TODO: add support for setting up the low pass 3dB frequency.
+ */
+
+#include <linux/bitops.h>
+#include <linux/delay.h>
+#include <linux/err.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/pm_runtime.h>
+#include <linux/random.h>
+#include <linux/slab.h>
+
+#include "mpu3050.h"
+
+#define MPU3050_CHIP_ID 0x69
+
+/*
+ * Register map: anything suffixed *_H is a big-endian high byte and always
+ * followed by the corresponding low byte (*_L) even though these are not
+ * explicitly included in the register definitions.
+ */
+#define MPU3050_CHIP_ID_REG 0x00
+#define MPU3050_PRODUCT_ID_REG 0x01
+#define MPU3050_XG_OFFS_TC 0x05
+#define MPU3050_YG_OFFS_TC 0x08
+#define MPU3050_ZG_OFFS_TC 0x0B
+#define MPU3050_X_OFFS_USR_H 0x0C
+#define MPU3050_Y_OFFS_USR_H 0x0E
+#define MPU3050_Z_OFFS_USR_H 0x10
+#define MPU3050_FIFO_EN 0x12
+#define MPU3050_AUX_VDDIO 0x13
+#define MPU3050_SLV_ADDR 0x14
+#define MPU3050_SMPLRT_DIV 0x15
+#define MPU3050_DLPF_FS_SYNC 0x16
+#define MPU3050_INT_CFG 0x17
+#define MPU3050_AUX_ADDR 0x18
+#define MPU3050_INT_STATUS 0x1A
+#define MPU3050_TEMP_H 0x1B
+#define MPU3050_XOUT_H 0x1D
+#define MPU3050_YOUT_H 0x1F
+#define MPU3050_ZOUT_H 0x21
+#define MPU3050_DMP_CFG1 0x35
+#define MPU3050_DMP_CFG2 0x36
+#define MPU3050_BANK_SEL 0x37
+#define MPU3050_MEM_START_ADDR 0x38
+#define MPU3050_MEM_R_W 0x39
+#define MPU3050_FIFO_COUNT_H 0x3A
+#define MPU3050_FIFO_R 0x3C
+#define MPU3050_USR_CTRL 0x3D
+#define MPU3050_PWR_MGM 0x3E
+
+/* MPU memory bank read options */
+#define MPU3050_MEM_PRFTCH BIT(5)
+#define MPU3050_MEM_USER_BANK BIT(4)
+/* Bits 8-11 select memory bank */
+#define MPU3050_MEM_RAM_BANK_0 0
+#define MPU3050_MEM_RAM_BANK_1 1
+#define MPU3050_MEM_RAM_BANK_2 2
+#define MPU3050_MEM_RAM_BANK_3 3
+#define MPU3050_MEM_OTP_BANK_0 4
+
+#define MPU3050_AXIS_REGS(axis) (MPU3050_XOUT_H + (axis * 2))
+
+/* Register bits */
+
+/* FIFO Enable */
+#define MPU3050_FIFO_EN_FOOTER BIT(0)
+#define MPU3050_FIFO_EN_AUX_ZOUT BIT(1)
+#define MPU3050_FIFO_EN_AUX_YOUT BIT(2)
+#define MPU3050_FIFO_EN_AUX_XOUT BIT(3)
+#define MPU3050_FIFO_EN_GYRO_ZOUT BIT(4)
+#define MPU3050_FIFO_EN_GYRO_YOUT BIT(5)
+#define MPU3050_FIFO_EN_GYRO_XOUT BIT(6)
+#define MPU3050_FIFO_EN_TEMP_OUT BIT(7)
+
+/*
+ * Digital Low Pass filter (DLPF)
+ * Full Scale (FS)
+ * and Synchronization
+ */
+#define MPU3050_EXT_SYNC_NONE 0x00
+#define MPU3050_EXT_SYNC_TEMP 0x20
+#define MPU3050_EXT_SYNC_GYROX 0x40
+#define MPU3050_EXT_SYNC_GYROY 0x60
+#define MPU3050_EXT_SYNC_GYROZ 0x80
+#define MPU3050_EXT_SYNC_ACCELX 0xA0
+#define MPU3050_EXT_SYNC_ACCELY 0xC0
+#define MPU3050_EXT_SYNC_ACCELZ 0xE0
+#define MPU3050_EXT_SYNC_MASK 0xE0
+#define MPU3050_EXT_SYNC_SHIFT 5
+
+#define MPU3050_FS_250DPS 0x00
+#define MPU3050_FS_500DPS 0x08
+#define MPU3050_FS_1000DPS 0x10
+#define MPU3050_FS_2000DPS 0x18
+#define MPU3050_FS_MASK 0x18
+#define MPU3050_FS_SHIFT 3
+
+#define MPU3050_DLPF_CFG_256HZ_NOLPF2 0x00
+#define MPU3050_DLPF_CFG_188HZ 0x01
+#define MPU3050_DLPF_CFG_98HZ 0x02
+#define MPU3050_DLPF_CFG_42HZ 0x03
+#define MPU3050_DLPF_CFG_20HZ 0x04
+#define MPU3050_DLPF_CFG_10HZ 0x05
+#define MPU3050_DLPF_CFG_5HZ 0x06
+#define MPU3050_DLPF_CFG_2100HZ_NOLPF 0x07
+#define MPU3050_DLPF_CFG_MASK 0x07
+#define MPU3050_DLPF_CFG_SHIFT 0
+
+/* Interrupt config */
+#define MPU3050_INT_RAW_RDY_EN BIT(0)
+#define MPU3050_INT_DMP_DONE_EN BIT(1)
+#define MPU3050_INT_MPU_RDY_EN BIT(2)
+#define MPU3050_INT_ANYRD_2CLEAR BIT(4)
+#define MPU3050_INT_LATCH_EN BIT(5)
+#define MPU3050_INT_OPEN BIT(6)
+#define MPU3050_INT_ACTL BIT(7)
+/* Interrupt status */
+#define MPU3050_INT_STATUS_RAW_RDY BIT(0)
+#define MPU3050_INT_STATUS_DMP_DONE BIT(1)
+#define MPU3050_INT_STATUS_MPU_RDY BIT(2)
+#define MPU3050_INT_STATUS_FIFO_OVFLW BIT(7)
+/* USR_CTRL */
+#define MPU3050_USR_CTRL_FIFO_EN BIT(6)
+#define MPU3050_USR_CTRL_AUX_IF_EN BIT(5)
+#define MPU3050_USR_CTRL_AUX_IF_RST BIT(3)
+#define MPU3050_USR_CTRL_FIFO_RST BIT(1)
+#define MPU3050_USR_CTRL_GYRO_RST BIT(0)
+/* PWR_MGM */
+#define MPU3050_PWR_MGM_PLL_X 0x01
+#define MPU3050_PWR_MGM_PLL_Y 0x02
+#define MPU3050_PWR_MGM_PLL_Z 0x03
+#define MPU3050_PWR_MGM_CLKSEL_MASK 0x07
+#define MPU3050_PWR_MGM_STBY_ZG BIT(3)
+#define MPU3050_PWR_MGM_STBY_YG BIT(4)
+#define MPU3050_PWR_MGM_STBY_XG BIT(5)
+#define MPU3050_PWR_MGM_SLEEP BIT(6)
+#define MPU3050_PWR_MGM_RESET BIT(7)
+#define MPU3050_PWR_MGM_MASK 0xff
+
+/*
+ * Fullscale precision is (for finest precision) +/- 250 deg/s, so the full
+ * scale is actually 500 deg/s. All 16 bits are then used to cover this scale,
+ * in two's complement.
+ */
+static unsigned int mpu3050_fs_precision[] = {
+ IIO_DEGREE_TO_RAD(250),
+ IIO_DEGREE_TO_RAD(500),
+ IIO_DEGREE_TO_RAD(1000),
+ IIO_DEGREE_TO_RAD(2000)
+};
+
+/*
+ * Regulator names
+ */
+static const char mpu3050_reg_vdd[] = "vdd";
+static const char mpu3050_reg_vlogic[] = "vlogic";
+
+static unsigned int mpu3050_get_freq(struct mpu3050 *mpu3050)
+{
+ unsigned int freq;
+
+ if (mpu3050->lpf == MPU3050_DLPF_CFG_256HZ_NOLPF2)
+ freq = 8000;
+ else
+ freq = 1000;
+ freq /= (mpu3050->divisor + 1);
+
+ return freq;
+}
+
+static int mpu3050_start_sampling(struct mpu3050 *mpu3050)
+{
+ __be16 raw_val[3];
+ int ret;
+ int i;
+
+ /* Reset */
+ ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_RESET, MPU3050_PWR_MGM_RESET);
+ if (ret)
+ return ret;
+
+ /* Turn on the Z-axis PLL */
+ ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_CLKSEL_MASK,
+ MPU3050_PWR_MGM_PLL_Z);
+ if (ret)
+ return ret;
+
+ /* Write calibration offset registers */
+ for (i = 0; i < 3; i++)
+ raw_val[i] = cpu_to_be16(mpu3050->calibration[i]);
+
+ ret = regmap_bulk_write(mpu3050->map, MPU3050_X_OFFS_USR_H, raw_val,
+ sizeof(raw_val));
+ if (ret)
+ return ret;
+
+ /* Set low pass filter (sample rate), sync and full scale */
+ ret = regmap_write(mpu3050->map, MPU3050_DLPF_FS_SYNC,
+ MPU3050_EXT_SYNC_NONE << MPU3050_EXT_SYNC_SHIFT |
+ mpu3050->fullscale << MPU3050_FS_SHIFT |
+ mpu3050->lpf << MPU3050_DLPF_CFG_SHIFT);
+ if (ret)
+ return ret;
+
+ /* Set up sampling frequency */
+ ret = regmap_write(mpu3050->map, MPU3050_SMPLRT_DIV, mpu3050->divisor);
+ if (ret)
+ return ret;
+
+ /*
+ * Max 50 ms start-up time after setting DLPF_FS_SYNC
+ * according to the data sheet, then wait for the next sample
+ * at this frequency T = 1000/f ms.
+ */
+ msleep(50 + 1000 / mpu3050_get_freq(mpu3050));
+
+ return 0;
+}
+
+static int mpu3050_set_8khz_samplerate(struct mpu3050 *mpu3050)
+{
+ int ret;
+ u8 divisor;
+ enum mpu3050_lpf lpf;
+
+ lpf = mpu3050->lpf;
+ divisor = mpu3050->divisor;
+
+ mpu3050->lpf = LPF_256_HZ_NOLPF; /* 8 kHz base frequency */
+ mpu3050->divisor = 0; /* Divide by 1 */
+ ret = mpu3050_start_sampling(mpu3050);
+
+ mpu3050->lpf = lpf;
+ mpu3050->divisor = divisor;
+
+ return ret;
+}
+
+static int mpu3050_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2,
+ long mask)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ int ret;
+ __be16 raw_val;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_OFFSET:
+ switch (chan->type) {
+ case IIO_TEMP:
+ /* The temperature scaling is (x+23000)/280 Celsius */
+ *val = 23000;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_CALIBBIAS:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = mpu3050->calibration[chan->scan_index-1];
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ *val = mpu3050_get_freq(mpu3050);
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_TEMP:
+ /* Millidegrees, see about temperature scaling above */
+ *val = 1000;
+ *val2 = 280;
+ return IIO_VAL_FRACTIONAL;
+ case IIO_ANGL_VEL:
+ /*
+ * Convert to the corresponding full scale in
+ * radians. All 16 bits are used with sign to
+ * span the available scale: to account for the one
+ * missing value if we multiply by 1/S16_MAX, instead
+ * multiply with 2/U16_MAX.
+ */
+ *val = mpu3050_fs_precision[mpu3050->fullscale] * 2;
+ *val2 = U16_MAX;
+ return IIO_VAL_FRACTIONAL;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_RAW:
+ /* Resume device */
+ pm_runtime_get_sync(mpu3050->dev);
+ mutex_lock(&mpu3050->lock);
+
+ ret = mpu3050_set_8khz_samplerate(mpu3050);
+ if (ret)
+ goto out_read_raw_unlock;
+
+ switch (chan->type) {
+ case IIO_TEMP:
+ ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H,
+ &raw_val, sizeof(raw_val));
+ if (ret) {
+ dev_err(mpu3050->dev,
+ "error reading temperature\n");
+ goto out_read_raw_unlock;
+ }
+
+ *val = be16_to_cpu(raw_val);
+ ret = IIO_VAL_INT;
+
+ goto out_read_raw_unlock;
+ case IIO_ANGL_VEL:
+ ret = regmap_bulk_read(mpu3050->map,
+ MPU3050_AXIS_REGS(chan->scan_index-1),
+ &raw_val,
+ sizeof(raw_val));
+ if (ret) {
+ dev_err(mpu3050->dev,
+ "error reading axis data\n");
+ goto out_read_raw_unlock;
+ }
+
+ *val = be16_to_cpu(raw_val);
+ ret = IIO_VAL_INT;
+
+ goto out_read_raw_unlock;
+ default:
+ ret = -EINVAL;
+ goto out_read_raw_unlock;
+ }
+ default:
+ break;
+ }
+
+ return -EINVAL;
+
+out_read_raw_unlock:
+ mutex_unlock(&mpu3050->lock);
+ pm_runtime_mark_last_busy(mpu3050->dev);
+ pm_runtime_put_autosuspend(mpu3050->dev);
+
+ return ret;
+}
+
+static int mpu3050_write_raw(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ int val, int val2, long mask)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ /*
+ * Couldn't figure out a way to precalculate these at compile time.
+ */
+ unsigned int fs250 =
+ DIV_ROUND_CLOSEST(mpu3050_fs_precision[0] * 1000000 * 2,
+ U16_MAX);
+ unsigned int fs500 =
+ DIV_ROUND_CLOSEST(mpu3050_fs_precision[1] * 1000000 * 2,
+ U16_MAX);
+ unsigned int fs1000 =
+ DIV_ROUND_CLOSEST(mpu3050_fs_precision[2] * 1000000 * 2,
+ U16_MAX);
+ unsigned int fs2000 =
+ DIV_ROUND_CLOSEST(mpu3050_fs_precision[3] * 1000000 * 2,
+ U16_MAX);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_CALIBBIAS:
+ if (chan->type != IIO_ANGL_VEL)
+ return -EINVAL;
+ mpu3050->calibration[chan->scan_index-1] = val;
+ return 0;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ /*
+ * The max samplerate is 8000 Hz, the minimum
+ * 1000 / 256 ~= 4 Hz
+ */
+ if (val < 4 || val > 8000)
+ return -EINVAL;
+
+ /*
+ * Above 1000 Hz we must turn off the digital low pass filter
+ * so we get a base frequency of 8kHz to the divider
+ */
+ if (val > 1000) {
+ mpu3050->lpf = LPF_256_HZ_NOLPF;
+ mpu3050->divisor = DIV_ROUND_CLOSEST(8000, val) - 1;
+ return 0;
+ }
+
+ mpu3050->lpf = LPF_188_HZ;
+ mpu3050->divisor = DIV_ROUND_CLOSEST(1000, val) - 1;
+ return 0;
+ case IIO_CHAN_INFO_SCALE:
+ if (chan->type != IIO_ANGL_VEL)
+ return -EINVAL;
+ /*
+ * We support +/-250, +/-500, +/-1000 and +/2000 deg/s
+ * which means we need to round to the closest radians
+ * which will be roughly +/-4.3, +/-8.7, +/-17.5, +/-35
+ * rad/s. The scale is then for the 16 bits used to cover
+ * it 2/(2^16) of that.
+ */
+
+ /* Just too large, set the max range */
+ if (val != 0) {
+ mpu3050->fullscale = FS_2000_DPS;
+ return 0;
+ }
+
+ /*
+ * Now we're dealing with fractions below zero in millirad/s
+ * do some integer interpolation and match with the closest
+ * fullscale in the table.
+ */
+ if (val2 <= fs250 ||
+ val2 < ((fs500 + fs250) / 2))
+ mpu3050->fullscale = FS_250_DPS;
+ else if (val2 <= fs500 ||
+ val2 < ((fs1000 + fs500) / 2))
+ mpu3050->fullscale = FS_500_DPS;
+ else if (val2 <= fs1000 ||
+ val2 < ((fs2000 + fs1000) / 2))
+ mpu3050->fullscale = FS_1000_DPS;
+ else
+ /* Catch-all */
+ mpu3050->fullscale = FS_2000_DPS;
+ return 0;
+ default:
+ break;
+ }
+
+ return -EINVAL;
+}
+
+static irqreturn_t mpu3050_trigger_handler(int irq, void *p)
+{
+ const struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ int ret;
+ /*
+ * Temperature 1*16 bits
+ * Three axes 3*16 bits
+ * Timestamp 64 bits (4*16 bits)
+ * Sum total 8*16 bits
+ */
+ __be16 hw_values[8];
+ s64 timestamp;
+ unsigned int datums_from_fifo = 0;
+
+ /*
+ * If we're using the hardware trigger, get the precise timestamp from
+ * the top half of the threaded IRQ handler. Otherwise get the
+ * timestamp here so it will be close in time to the actual values
+ * read from the registers.
+ */
+ if (iio_trigger_using_own(indio_dev))
+ timestamp = mpu3050->hw_timestamp;
+ else
+ timestamp = iio_get_time_ns(indio_dev);
+
+ mutex_lock(&mpu3050->lock);
+
+ /* Using the hardware IRQ trigger? Check the buffer then. */
+ if (mpu3050->hw_irq_trigger) {
+ __be16 raw_fifocnt;
+ u16 fifocnt;
+ /* X, Y, Z + temperature */
+ unsigned int bytes_per_datum = 8;
+ bool fifo_overflow = false;
+
+ ret = regmap_bulk_read(mpu3050->map,
+ MPU3050_FIFO_COUNT_H,
+ &raw_fifocnt,
+ sizeof(raw_fifocnt));
+ if (ret)
+ goto out_trigger_unlock;
+ fifocnt = be16_to_cpu(raw_fifocnt);
+
+ if (fifocnt == 512) {
+ dev_info(mpu3050->dev,
+ "FIFO overflow! Emptying and resetting FIFO\n");
+ fifo_overflow = true;
+ /* Reset and enable the FIFO */
+ ret = regmap_update_bits(mpu3050->map,
+ MPU3050_USR_CTRL,
+ MPU3050_USR_CTRL_FIFO_EN |
+ MPU3050_USR_CTRL_FIFO_RST,
+ MPU3050_USR_CTRL_FIFO_EN |
+ MPU3050_USR_CTRL_FIFO_RST);
+ if (ret) {
+ dev_info(mpu3050->dev, "error resetting FIFO\n");
+ goto out_trigger_unlock;
+ }
+ mpu3050->pending_fifo_footer = false;
+ }
+
+ if (fifocnt)
+ dev_dbg(mpu3050->dev,
+ "%d bytes in the FIFO\n",
+ fifocnt);
+
+ while (!fifo_overflow && fifocnt > bytes_per_datum) {
+ unsigned int toread;
+ unsigned int offset;
+ __be16 fifo_values[5];
+
+ /*
+ * If there is a FIFO footer in the pipe, first clear
+ * that out. This follows the complex algorithm in the
+ * datasheet that states that you may never leave the
+ * FIFO empty after the first reading: you have to
+ * always leave two footer bytes in it. The footer is
+ * in practice just two zero bytes.
+ */
+ if (mpu3050->pending_fifo_footer) {
+ toread = bytes_per_datum + 2;
+ offset = 0;
+ } else {
+ toread = bytes_per_datum;
+ offset = 1;
+ /* Put in some dummy value */
+ fifo_values[0] = 0xAAAA;
+ }
+
+ ret = regmap_bulk_read(mpu3050->map,
+ MPU3050_FIFO_R,
+ &fifo_values[offset],
+ toread);
+
+ dev_dbg(mpu3050->dev,
+ "%04x %04x %04x %04x %04x\n",
+ fifo_values[0],
+ fifo_values[1],
+ fifo_values[2],
+ fifo_values[3],
+ fifo_values[4]);
+
+ /* Index past the footer (fifo_values[0]) and push */
+ iio_push_to_buffers_with_timestamp(indio_dev,
+ &fifo_values[1],
+ timestamp);
+
+ fifocnt -= toread;
+ datums_from_fifo++;
+ mpu3050->pending_fifo_footer = true;
+
+ /*
+ * If we're emptying the FIFO, just make sure to
+ * check if something new appeared.
+ */
+ if (fifocnt < bytes_per_datum) {
+ ret = regmap_bulk_read(mpu3050->map,
+ MPU3050_FIFO_COUNT_H,
+ &raw_fifocnt,
+ sizeof(raw_fifocnt));
+ if (ret)
+ goto out_trigger_unlock;
+ fifocnt = be16_to_cpu(raw_fifocnt);
+ }
+
+ if (fifocnt < bytes_per_datum)
+ dev_dbg(mpu3050->dev,
+ "%d bytes left in the FIFO\n",
+ fifocnt);
+
+ /*
+ * At this point, the timestamp that triggered the
+ * hardware interrupt is no longer valid for what
+ * we are reading (the interrupt likely fired for
+ * the value on the top of the FIFO), so set the
+ * timestamp to zero and let userspace deal with it.
+ */
+ timestamp = 0;
+ }
+ }
+
+ /*
+ * If we picked some datums from the FIFO that's enough, else
+ * fall through and just read from the current value registers.
+ * This happens in two cases:
+ *
+ * - We are using some other trigger (external, like an HRTimer)
+ * than the sensor's own sample generator. In this case the
+ * sensor is just set to the max sampling frequency and we give
+ * the trigger a copy of the latest value every time we get here.
+ *
+ * - The hardware trigger is active but unused and we actually use
+ * another trigger which calls here with a frequency higher
+ * than what the device provides data. We will then just read
+ * duplicate values directly from the hardware registers.
+ */
+ if (datums_from_fifo) {
+ dev_dbg(mpu3050->dev,
+ "read %d datums from the FIFO\n",
+ datums_from_fifo);
+ goto out_trigger_unlock;
+ }
+
+ ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H, &hw_values,
+ sizeof(hw_values));
+ if (ret) {
+ dev_err(mpu3050->dev,
+ "error reading axis data\n");
+ goto out_trigger_unlock;
+ }
+
+ iio_push_to_buffers_with_timestamp(indio_dev, hw_values, timestamp);
+
+out_trigger_unlock:
+ mutex_unlock(&mpu3050->lock);
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+
+static int mpu3050_buffer_preenable(struct iio_dev *indio_dev)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+
+ pm_runtime_get_sync(mpu3050->dev);
+
+ /* Unless we have OUR trigger active, run at full speed */
+ if (!mpu3050->hw_irq_trigger)
+ return mpu3050_set_8khz_samplerate(mpu3050);
+
+ return 0;
+}
+
+static int mpu3050_buffer_postdisable(struct iio_dev *indio_dev)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+
+ pm_runtime_mark_last_busy(mpu3050->dev);
+ pm_runtime_put_autosuspend(mpu3050->dev);
+
+ return 0;
+}
+
+static const struct iio_buffer_setup_ops mpu3050_buffer_setup_ops = {
+ .preenable = mpu3050_buffer_preenable,
+ .postenable = iio_triggered_buffer_postenable,
+ .predisable = iio_triggered_buffer_predisable,
+ .postdisable = mpu3050_buffer_postdisable,
+};
+
+static const struct iio_mount_matrix *
+mpu3050_get_mount_matrix(const struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+
+ return &mpu3050->orientation;
+}
+
+static const struct iio_chan_spec_ext_info mpu3050_ext_info[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, mpu3050_get_mount_matrix),
+ { },
+};
+
+#define MPU3050_AXIS_CHANNEL(axis, index) \
+ { \
+ .type = IIO_ANGL_VEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),\
+ .ext_info = mpu3050_ext_info, \
+ .scan_index = index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
+static const struct iio_chan_spec mpu3050_channels[] = {
+ {
+ .type = IIO_TEMP,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+ BIT(IIO_CHAN_INFO_SCALE) |
+ BIT(IIO_CHAN_INFO_OFFSET),
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
+ .scan_index = 0,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_BE,
+ },
+ },
+ MPU3050_AXIS_CHANNEL(X, 1),
+ MPU3050_AXIS_CHANNEL(Y, 2),
+ MPU3050_AXIS_CHANNEL(Z, 3),
+ IIO_CHAN_SOFT_TIMESTAMP(4),
+};
+
+/* Four channels apart from timestamp, scan mask = 0x0f */
+static const unsigned long mpu3050_scan_masks[] = { 0xf, 0 };
+
+/*
+ * These are just the hardcoded factors resulting from the more elaborate
+ * calculations done with fractions in the scale raw get/set functions.
+ */
+static IIO_CONST_ATTR(anglevel_scale_available,
+ "0.000122070 "
+ "0.000274658 "
+ "0.000518798 "
+ "0.001068115");
+
+static struct attribute *mpu3050_attributes[] = {
+ &iio_const_attr_anglevel_scale_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group mpu3050_attribute_group = {
+ .attrs = mpu3050_attributes,
+};
+
+static const struct iio_info mpu3050_info = {
+ .driver_module = THIS_MODULE,
+ .read_raw = mpu3050_read_raw,
+ .write_raw = mpu3050_write_raw,
+ .attrs = &mpu3050_attribute_group,
+ .driver_module = THIS_MODULE,
+};
+
+/**
+ * mpu3050_read_mem() - read MPU-3050 internal memory
+ * @mpu3050: device to read from
+ * @bank: target bank
+ * @addr: target address
+ * @len: number of bytes
+ * @buf: the buffer to store the read bytes in
+ */
+static int mpu3050_read_mem(struct mpu3050 *mpu3050,
+ u8 bank,
+ u8 addr,
+ u8 len,
+ u8 *buf)
+{
+ int ret;
+
+ ret = regmap_write(mpu3050->map,
+ MPU3050_BANK_SEL,
+ bank);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(mpu3050->map,
+ MPU3050_MEM_START_ADDR,
+ addr);
+ if (ret)
+ return ret;
+
+ return regmap_bulk_read(mpu3050->map,
+ MPU3050_MEM_R_W,
+ buf,
+ len);
+}
+
+static int mpu3050_hw_init(struct mpu3050 *mpu3050)
+{
+ int ret;
+ u8 otp[8];
+
+ /* Reset */
+ ret = regmap_update_bits(mpu3050->map,
+ MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_RESET,
+ MPU3050_PWR_MGM_RESET);
+ if (ret)
+ return ret;
+
+ /* Turn on the PLL */
+ ret = regmap_update_bits(mpu3050->map,
+ MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_CLKSEL_MASK,
+ MPU3050_PWR_MGM_PLL_Z);
+ if (ret)
+ return ret;
+
+ /* Disable IRQs */
+ ret = regmap_write(mpu3050->map,
+ MPU3050_INT_CFG,
+ 0);
+ if (ret)
+ return ret;
+
+ /* Read out the 8 bytes of OTP (one-time-programmable) memory */
+ ret = mpu3050_read_mem(mpu3050,
+ (MPU3050_MEM_PRFTCH |
+ MPU3050_MEM_USER_BANK |
+ MPU3050_MEM_OTP_BANK_0),
+ 0,
+ sizeof(otp),
+ otp);
+ if (ret)
+ return ret;
+
+ /* This is device-unique data so it goes into the entropy pool */
+ add_device_randomness(otp, sizeof(otp));
+
+ dev_info(mpu3050->dev,
+ "die ID: %04X, wafer ID: %02X, A lot ID: %04X, "
+ "W lot ID: %03X, WP ID: %01X, rev ID: %02X\n",
+ /* Die ID, bits 0-12 */
+ (otp[1] << 8 | otp[0]) & 0x1fff,
+ /* Wafer ID, bits 13-17 */
+ ((otp[2] << 8 | otp[1]) & 0x03e0) >> 5,
+ /* A lot ID, bits 18-33 */
+ ((otp[4] << 16 | otp[3] << 8 | otp[2]) & 0x3fffc) >> 2,
+ /* W lot ID, bits 34-45 */
+ ((otp[5] << 8 | otp[4]) & 0x3ffc) >> 2,
+ /* WP ID, bits 47-49 */
+ ((otp[6] << 8 | otp[5]) & 0x0380) >> 7,
+ /* rev ID, bits 50-55 */
+ otp[6] >> 2);
+
+ return 0;
+}
+
+static int mpu3050_power_up(struct mpu3050 *mpu3050)
+{
+ int ret;
+
+ ret = regulator_bulk_enable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs);
+ if (ret) {
+ dev_err(mpu3050->dev, "cannot enable regulators\n");
+ return ret;
+ }
+ /*
+ * 20-100 ms start-up time for register read/write according to
+ * the datasheet, be on the safe side and wait 200 ms.
+ */
+ msleep(200);
+
+ /* Take device out of sleep mode */
+ ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_SLEEP, 0);
+ if (ret) {
+ dev_err(mpu3050->dev, "error setting power mode\n");
+ return ret;
+ }
+ msleep(10);
+
+ return 0;
+}
+
+static int mpu3050_power_down(struct mpu3050 *mpu3050)
+{
+ int ret;
+
+ /*
+ * Put MPU-3050 into sleep mode before cutting regulators.
+ * This is important, because we may not be the sole user
+ * of the regulator so the power may stay on after this, and
+ * then we would be wasting power unless we go to sleep mode
+ * first.
+ */
+ ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_SLEEP, MPU3050_PWR_MGM_SLEEP);
+ if (ret)
+ dev_err(mpu3050->dev, "error putting to sleep\n");
+
+ ret = regulator_bulk_disable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs);
+ if (ret)
+ dev_err(mpu3050->dev, "error disabling regulators\n");
+
+ return 0;
+}
+
+static irqreturn_t mpu3050_irq_handler(int irq, void *p)
+{
+ struct iio_trigger *trig = p;
+ struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+
+ if (!mpu3050->hw_irq_trigger)
+ return IRQ_NONE;
+
+ /* Get the time stamp as close in time as possible */
+ mpu3050->hw_timestamp = iio_get_time_ns(indio_dev);
+
+ return IRQ_WAKE_THREAD;
+}
+
+static irqreturn_t mpu3050_irq_thread(int irq, void *p)
+{
+ struct iio_trigger *trig = p;
+ struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ unsigned int val;
+ int ret;
+
+ /* ACK IRQ and check if it was from us */
+ ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
+ if (ret) {
+ dev_err(mpu3050->dev, "error reading IRQ status\n");
+ return IRQ_HANDLED;
+ }
+ if (!(val & MPU3050_INT_STATUS_RAW_RDY))
+ return IRQ_NONE;
+
+ iio_trigger_poll_chained(p);
+
+ return IRQ_HANDLED;
+}
+
+/**
+ * mpu3050_drdy_trigger_set_state() - set data ready interrupt state
+ * @trig: trigger instance
+ * @enable: true if trigger should be enabled, false to disable
+ */
+static int mpu3050_drdy_trigger_set_state(struct iio_trigger *trig,
+ bool enable)
+{
+ struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ unsigned int val;
+ int ret;
+
+ /* Disabling trigger: disable interrupt and return */
+ if (!enable) {
+ /* Disable all interrupts */
+ ret = regmap_write(mpu3050->map,
+ MPU3050_INT_CFG,
+ 0);
+ if (ret)
+ dev_err(mpu3050->dev, "error disabling IRQ\n");
+
+ /* Clear IRQ flag */
+ ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
+ if (ret)
+ dev_err(mpu3050->dev, "error clearing IRQ status\n");
+
+ /* Disable all things in the FIFO and reset it */
+ ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0);
+ if (ret)
+ dev_err(mpu3050->dev, "error disabling FIFO\n");
+
+ ret = regmap_write(mpu3050->map, MPU3050_USR_CTRL,
+ MPU3050_USR_CTRL_FIFO_RST);
+ if (ret)
+ dev_err(mpu3050->dev, "error resetting FIFO\n");
+
+ pm_runtime_mark_last_busy(mpu3050->dev);
+ pm_runtime_put_autosuspend(mpu3050->dev);
+ mpu3050->hw_irq_trigger = false;
+
+ return 0;
+ } else {
+ /* Else we're enabling the trigger from this point */
+ pm_runtime_get_sync(mpu3050->dev);
+ mpu3050->hw_irq_trigger = true;
+
+ /* Disable all things in the FIFO */
+ ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0);
+ if (ret)
+ return ret;
+
+ /* Reset and enable the FIFO */
+ ret = regmap_update_bits(mpu3050->map, MPU3050_USR_CTRL,
+ MPU3050_USR_CTRL_FIFO_EN |
+ MPU3050_USR_CTRL_FIFO_RST,
+ MPU3050_USR_CTRL_FIFO_EN |
+ MPU3050_USR_CTRL_FIFO_RST);
+ if (ret)
+ return ret;
+
+ mpu3050->pending_fifo_footer = false;
+
+ /* Turn on the FIFO for temp+X+Y+Z */
+ ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN,
+ MPU3050_FIFO_EN_TEMP_OUT |
+ MPU3050_FIFO_EN_GYRO_XOUT |
+ MPU3050_FIFO_EN_GYRO_YOUT |
+ MPU3050_FIFO_EN_GYRO_ZOUT |
+ MPU3050_FIFO_EN_FOOTER);
+ if (ret)
+ return ret;
+
+ /* Configure the sample engine */
+ ret = mpu3050_start_sampling(mpu3050);
+ if (ret)
+ return ret;
+
+ /* Clear IRQ flag */
+ ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
+ if (ret)
+ dev_err(mpu3050->dev, "error clearing IRQ status\n");
+
+ /* Give us interrupts whenever there is new data ready */
+ val = MPU3050_INT_RAW_RDY_EN;
+
+ if (mpu3050->irq_actl)
+ val |= MPU3050_INT_ACTL;
+ if (mpu3050->irq_latch)
+ val |= MPU3050_INT_LATCH_EN;
+ if (mpu3050->irq_opendrain)
+ val |= MPU3050_INT_OPEN;
+
+ ret = regmap_write(mpu3050->map, MPU3050_INT_CFG, val);
+ if (ret)
+ return ret;
+ }
+
+ return 0;
+}
+
+static const struct iio_trigger_ops mpu3050_trigger_ops = {
+ .owner = THIS_MODULE,
+ .set_trigger_state = mpu3050_drdy_trigger_set_state,
+};
+
+static int mpu3050_trigger_probe(struct iio_dev *indio_dev, int irq)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ unsigned long irq_trig;
+ int ret;
+
+ mpu3050->trig = devm_iio_trigger_alloc(&indio_dev->dev,
+ "%s-dev%d",
+ indio_dev->name,
+ indio_dev->id);
+ if (!mpu3050->trig)
+ return -ENOMEM;
+
+ /* Check if IRQ is open drain */
+ if (of_property_read_bool(mpu3050->dev->of_node, "drive-open-drain"))
+ mpu3050->irq_opendrain = true;
+
+ irq_trig = irqd_get_trigger_type(irq_get_irq_data(irq));
+ /*
+ * Configure the interrupt generator hardware to supply whatever
+ * the interrupt is configured for, edges low/high level low/high,
+ * we can provide it all.
+ */
+ switch (irq_trig) {
+ case IRQF_TRIGGER_RISING:
+ dev_info(&indio_dev->dev,
+ "pulse interrupts on the rising edge\n");
+ if (mpu3050->irq_opendrain) {
+ dev_info(&indio_dev->dev,
+ "rising edge incompatible with open drain\n");
+ mpu3050->irq_opendrain = false;
+ }
+ break;
+ case IRQF_TRIGGER_FALLING:
+ mpu3050->irq_actl = true;
+ dev_info(&indio_dev->dev,
+ "pulse interrupts on the falling edge\n");
+ break;
+ case IRQF_TRIGGER_HIGH:
+ mpu3050->irq_latch = true;
+ dev_info(&indio_dev->dev,
+ "interrupts active high level\n");
+ if (mpu3050->irq_opendrain) {
+ dev_info(&indio_dev->dev,
+ "active high incompatible with open drain\n");
+ mpu3050->irq_opendrain = false;
+ }
+ /*
+ * With level IRQs, we mask the IRQ until it is processed,
+ * but with edge IRQs (pulses) we can queue several interrupts
+ * in the top half.
+ */
+ irq_trig |= IRQF_ONESHOT;
+ break;
+ case IRQF_TRIGGER_LOW:
+ mpu3050->irq_latch = true;
+ mpu3050->irq_actl = true;
+ irq_trig |= IRQF_ONESHOT;
+ dev_info(&indio_dev->dev,
+ "interrupts active low level\n");
+ break;
+ default:
+ /* This is the most preferred mode, if possible */
+ dev_err(&indio_dev->dev,
+ "unsupported IRQ trigger specified (%lx), enforce "
+ "rising edge\n", irq_trig);
+ irq_trig = IRQF_TRIGGER_RISING;
+ break;
+ }
+
+ /* An open drain line can be shared with several devices */
+ if (mpu3050->irq_opendrain)
+ irq_trig |= IRQF_SHARED;
+
+ ret = request_threaded_irq(irq,
+ mpu3050_irq_handler,
+ mpu3050_irq_thread,
+ irq_trig,
+ mpu3050->trig->name,
+ mpu3050->trig);
+ if (ret) {
+ dev_err(mpu3050->dev,
+ "can't get IRQ %d, error %d\n", irq, ret);
+ return ret;
+ }
+
+ mpu3050->irq = irq;
+ mpu3050->trig->dev.parent = mpu3050->dev;
+ mpu3050->trig->ops = &mpu3050_trigger_ops;
+ iio_trigger_set_drvdata(mpu3050->trig, indio_dev);
+
+ ret = iio_trigger_register(mpu3050->trig);
+ if (ret)
+ return ret;
+
+ indio_dev->trig = iio_trigger_get(mpu3050->trig);
+
+ return 0;
+}
+
+int mpu3050_common_probe(struct device *dev,
+ struct regmap *map,
+ int irq,
+ const char *name)
+{
+ struct iio_dev *indio_dev;
+ struct mpu3050 *mpu3050;
+ unsigned int val;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*mpu3050));
+ if (!indio_dev)
+ return -ENOMEM;
+ mpu3050 = iio_priv(indio_dev);
+
+ mpu3050->dev = dev;
+ mpu3050->map = map;
+ mutex_init(&mpu3050->lock);
+ /* Default fullscale: 2000 degrees per second */
+ mpu3050->fullscale = FS_2000_DPS;
+ /* 1 kHz, divide by 100, default frequency = 10 Hz */
+ mpu3050->lpf = MPU3050_DLPF_CFG_188HZ;
+ mpu3050->divisor = 99;
+
+ /* Read the mounting matrix, if present */
+ ret = of_iio_read_mount_matrix(dev, "mount-matrix",
+ &mpu3050->orientation);
+ if (ret)
+ return ret;
+
+ /* Fetch and turn on regulators */
+ mpu3050->regs[0].supply = mpu3050_reg_vdd;
+ mpu3050->regs[1].supply = mpu3050_reg_vlogic;
+ ret = devm_regulator_bulk_get(dev, ARRAY_SIZE(mpu3050->regs),
+ mpu3050->regs);
+ if (ret) {
+ dev_err(dev, "Cannot get regulators\n");
+ return ret;
+ }
+
+ ret = mpu3050_power_up(mpu3050);
+ if (ret)
+ return ret;
+
+ ret = regmap_read(map, MPU3050_CHIP_ID_REG, &val);
+ if (ret) {
+ dev_err(dev, "could not read device ID\n");
+ ret = -ENODEV;
+
+ goto err_power_down;
+ }
+
+ if (val != MPU3050_CHIP_ID) {
+ dev_err(dev, "unsupported chip id %02x\n", (u8)val);
+ ret = -ENODEV;
+ goto err_power_down;
+ }
+
+ ret = regmap_read(map, MPU3050_PRODUCT_ID_REG, &val);
+ if (ret) {
+ dev_err(dev, "could not read device ID\n");
+ ret = -ENODEV;
+
+ goto err_power_down;
+ }
+ dev_info(dev, "found MPU-3050 part no: %d, version: %d\n",
+ ((val >> 4) & 0xf), (val & 0xf));
+
+ ret = mpu3050_hw_init(mpu3050);
+ if (ret)
+ goto err_power_down;
+
+ indio_dev->dev.parent = dev;
+ indio_dev->channels = mpu3050_channels;
+ indio_dev->num_channels = ARRAY_SIZE(mpu3050_channels);
+ indio_dev->info = &mpu3050_info;
+ indio_dev->available_scan_masks = mpu3050_scan_masks;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->name = name;
+
+ ret = iio_triggered_buffer_setup(indio_dev, iio_pollfunc_store_time,
+ mpu3050_trigger_handler,
+ &mpu3050_buffer_setup_ops);
+ if (ret) {
+ dev_err(dev, "triggered buffer setup failed\n");
+ goto err_power_down;
+ }
+
+ ret = iio_device_register(indio_dev);
+ if (ret) {
+ dev_err(dev, "device register failed\n");
+ goto err_cleanup_buffer;
+ }
+
+ dev_set_drvdata(dev, indio_dev);
+
+ /* Check if we have an assigned IRQ to use as trigger */
+ if (irq) {
+ ret = mpu3050_trigger_probe(indio_dev, irq);
+ if (ret)
+ dev_err(dev, "failed to register trigger\n");
+ }
+
+ /* Enable runtime PM */
+ pm_runtime_get_noresume(dev);
+ pm_runtime_set_active(dev);
+ pm_runtime_enable(dev);
+ /*
+ * Set autosuspend to two orders of magnitude larger than the
+ * start-up time. 100ms start-up time means 10000ms autosuspend,
+ * i.e. 10 seconds.
+ */
+ pm_runtime_set_autosuspend_delay(dev, 10000);
+ pm_runtime_use_autosuspend(dev);
+ pm_runtime_put(dev);
+
+ return 0;
+
+err_cleanup_buffer:
+ iio_triggered_buffer_cleanup(indio_dev);
+err_power_down:
+ mpu3050_power_down(mpu3050);
+
+ return ret;
+}
+EXPORT_SYMBOL(mpu3050_common_probe);
+
+int mpu3050_common_remove(struct device *dev)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+
+ pm_runtime_get_sync(dev);
+ pm_runtime_put_noidle(dev);
+ pm_runtime_disable(dev);
+ iio_triggered_buffer_cleanup(indio_dev);
+ if (mpu3050->irq)
+ free_irq(mpu3050->irq, mpu3050);
+ iio_device_unregister(indio_dev);
+ mpu3050_power_down(mpu3050);
+
+ return 0;
+}
+EXPORT_SYMBOL(mpu3050_common_remove);
+
+#ifdef CONFIG_PM
+static int mpu3050_runtime_suspend(struct device *dev)
+{
+ return mpu3050_power_down(iio_priv(dev_get_drvdata(dev)));
+}
+
+static int mpu3050_runtime_resume(struct device *dev)
+{
+ return mpu3050_power_up(iio_priv(dev_get_drvdata(dev)));
+}
+#endif /* CONFIG_PM */
+
+const struct dev_pm_ops mpu3050_dev_pm_ops = {
+ SET_SYSTEM_SLEEP_PM_OPS(pm_runtime_force_suspend,
+ pm_runtime_force_resume)
+ SET_RUNTIME_PM_OPS(mpu3050_runtime_suspend,
+ mpu3050_runtime_resume, NULL)
+};
+EXPORT_SYMBOL(mpu3050_dev_pm_ops);
+
+MODULE_AUTHOR("Linus Walleij");
+MODULE_DESCRIPTION("MPU3050 gyroscope driver");
+MODULE_LICENSE("GPL");
projects / GitHub / moto-9609 / android_kernel_motorola_exynos9610.git / commitdiff