/* * MPU3050 Tri-axis gyroscope driver * * Copyright (C) 2011 Wistron Co.Ltd * Joseph Lai <joseph_lai@wistron.com> * * Trimmed down by Alan Cox <alan@linux.intel.com> to produce this version * * This is a 'lite' version of the driver, while we consider the right way * to present the other features to user space. In particular it requires the * device has an IRQ, and it only provides an input interface, so is not much * use for device orientation. A fuller version is available from the Meego * tree. * * This program is based on bma023.c. * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; version 2 of the License. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. * */ #include <linux/module.h>#include <linux/init.h>#include <linux/interrupt.h>#include <linux/platform_device.h>#include <linux/mutex.h>#include <linux/err.h>#include <linux/i2c.h>#include <linux/input.h>#include <linux/delay.h>#include <linux/slab.h>#include <linux/pm_runtime.h> #define MPU3050_CHIP_ID		0x69 #define MPU3050_AUTO_DELAY	1000 #define MPU3050_MIN_VALUE	-32768#define MPU3050_MAX_VALUE	32767 #define MPU3050_DEFAULT_POLL_INTERVAL	200#define MPU3050_DEFAULT_FS_RANGE	3 /* Register map */#define MPU3050_CHIP_ID_REG	0x00#define MPU3050_SMPLRT_DIV	0x15#define MPU3050_DLPF_FS_SYNC	0x16#define MPU3050_INT_CFG		0x17#define MPU3050_XOUT_H		0x1D#define MPU3050_PWR_MGM		0x3E#define MPU3050_PWR_MGM_POS	6 /* Register bits */ /* DLPF_FS_SYNC */#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_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_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/* INT_CFG */#define MPU3050_RAW_RDY_EN		0x01#define MPU3050_MPU_RDY_EN		0x02#define MPU3050_LATCH_INT_EN		0x04/* 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		0x07#define MPU3050_PWR_MGM_STBY_ZG	0x08#define MPU3050_PWR_MGM_STBY_YG	0x10#define MPU3050_PWR_MGM_STBY_XG	0x20#define MPU3050_PWR_MGM_SLEEP		0x40#define MPU3050_PWR_MGM_RESET		0x80#define MPU3050_PWR_MGM_MASK		0x40 struct axis_data {	s16 x;	s16 y;	s16 z;}; struct mpu3050_sensor {	struct i2c_client *client;	struct device *dev;	struct input_dev *idev;}; /** *	mpu3050_xyz_read_reg	-	read the axes values *	@buffer: provide register addr and get register *	@length: length of register * *	Reads the register values in one transaction or returns a negative *	error code on failure. */static int mpu3050_xyz_read_reg(struct i2c_client *client,			       u8 *buffer, int length){	/*	 * Annoying we can't make this const because the i2c layer doesn't	 * declare input buffers const.	 */	char cmd = MPU3050_XOUT_H;	struct i2c_msg msg[] = {		{			.addr = client->addr,			.flags = 0,			.len = 1,			.buf = &cmd,		},		{			.addr = client->addr,			.flags = I2C_M_RD,			.len = length,			.buf = buffer,		},	}; 	return i2c_transfer(client->adapter, msg, 2);} /** *	mpu3050_read_xyz	-	get co-ordinates from device *	@client: i2c address of sensor *	@coords: co-ordinates to update * *	Return the converted X Y and Z co-ordinates from the sensor device */static void mpu3050_read_xyz(struct i2c_client *client,			     struct axis_data *coords){	u16 buffer[3]; 	mpu3050_xyz_read_reg(client, (u8 *)buffer, 6);	coords->x = be16_to_cpu(buffer[0]);	coords->y = be16_to_cpu(buffer[1]);	coords->z = be16_to_cpu(buffer[2]);	dev_dbg(&client->dev, "%s: x %d, y %d, z %d\n", __func__,					coords->x, coords->y, coords->z);} /** *	mpu3050_set_power_mode	-	set the power mode *	@client: i2c client for the sensor *	@val: value to switch on/off of power, 1: normal power, 0: low power * *	Put device to normal-power mode or low-power mode. */static void mpu3050_set_power_mode(struct i2c_client *client, u8 val){	u8 value; 	value = i2c_smbus_read_byte_data(client, MPU3050_PWR_MGM);	value = (value & ~MPU3050_PWR_MGM_MASK) |		(((val << MPU3050_PWR_MGM_POS) & MPU3050_PWR_MGM_MASK) ^		 MPU3050_PWR_MGM_MASK);	i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM, value);} /** *	mpu3050_input_open	-	called on input event open *	@input: input dev of opened device * *	The input layer calls this function when input event is opened. The *	function will push the device to resume. Then, the device is ready *	to provide data. */static int mpu3050_input_open(struct input_dev *input){	struct mpu3050_sensor *sensor = input_get_drvdata(input);	int error; 	pm_runtime_get(sensor->dev); 	/* Enable interrupts */	error = i2c_smbus_write_byte_data(sensor->client, MPU3050_INT_CFG,					  MPU3050_LATCH_INT_EN |					  MPU3050_RAW_RDY_EN |					  MPU3050_MPU_RDY_EN);	if (error < 0) {		pm_runtime_put(sensor->dev);		return error;	} 	return 0;} /** *	mpu3050_input_close	-	called on input event close *	@input: input dev of closed device * *	The input layer calls this function when input event is closed. The *	function will push the device to suspend. */static void mpu3050_input_close(struct input_dev *input){	struct mpu3050_sensor *sensor = input_get_drvdata(input); 	pm_runtime_put(sensor->dev);} /** *	mpu3050_interrupt_thread	-	handle an IRQ *	@irq: interrupt numner *	@data: the sensor * *	Called by the kernel single threaded after an interrupt occurs. Read *	the sensor data and generate an input event for it. */static irqreturn_t mpu3050_interrupt_thread(int irq, void *data){	struct mpu3050_sensor *sensor = data;	struct axis_data axis; 	mpu3050_read_xyz(sensor->client, &axis); 	input_report_abs(sensor->idev, ABS_X, axis.x);	input_report_abs(sensor->idev, ABS_Y, axis.y);	input_report_abs(sensor->idev, ABS_Z, axis.z);	input_sync(sensor->idev); 	return IRQ_HANDLED;} /** *	mpu3050_hw_init	-	initialize hardware *	@sensor: the sensor * *	Called during device probe; configures the sampling method. */static int mpu3050_hw_init(struct mpu3050_sensor *sensor){	struct i2c_client *client = sensor->client;	int ret;	u8 reg; 	/* Reset */	ret = i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM,					MPU3050_PWR_MGM_RESET);	if (ret < 0)		return ret; 	ret = i2c_smbus_read_byte_data(client, MPU3050_PWR_MGM);	if (ret < 0)		return ret; 	ret &= ~MPU3050_PWR_MGM_CLKSEL;	ret |= MPU3050_PWR_MGM_PLL_Z;	ret = i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM, ret);	if (ret < 0)		return ret; 	/* Output frequency divider. The poll interval */	ret = i2c_smbus_write_byte_data(client, MPU3050_SMPLRT_DIV,					MPU3050_DEFAULT_POLL_INTERVAL - 1);	if (ret < 0)		return ret; 	/* Set low pass filter and full scale */	reg = MPU3050_DEFAULT_FS_RANGE;	reg |= MPU3050_DLPF_CFG_42HZ << 3;	reg |= MPU3050_EXT_SYNC_NONE << 5;	ret = i2c_smbus_write_byte_data(client, MPU3050_DLPF_FS_SYNC, reg);	if (ret < 0)		return ret; 	return 0;} /** *	mpu3050_probe	-	device detection callback *	@client: i2c client of found device *	@id: id match information * *	The I2C layer calls us when it believes a sensor is present at this *	address. Probe to see if this is correct and to validate the device. * *	If present install the relevant sysfs interfaces and input device. */static int mpu3050_probe(struct i2c_client *client,				   const struct i2c_device_id *id){	struct mpu3050_sensor *sensor;	struct input_dev *idev;	int ret;	int error; 	sensor = kzalloc(sizeof(struct mpu3050_sensor), GFP_KERNEL);	idev = input_allocate_device();	if (!sensor || !idev) {		dev_err(&client->dev, "failed to allocate driver data\n");		error = -ENOMEM;		goto err_free_mem;	} 	sensor->client = client;	sensor->dev = &client->dev;	sensor->idev = idev; 	mpu3050_set_power_mode(client, 1);	msleep(10); 	ret = i2c_smbus_read_byte_data(client, MPU3050_CHIP_ID_REG);	if (ret < 0) {		dev_err(&client->dev, "failed to detect device\n");		error = -ENXIO;		goto err_free_mem;	} 	if (ret != MPU3050_CHIP_ID) {		dev_err(&client->dev, "unsupported chip id\n");		error = -ENXIO;		goto err_free_mem;	} 	idev->name = "MPU3050";	idev->id.bustype = BUS_I2C;	idev->dev.parent = &client->dev; 	idev->open = mpu3050_input_open;	idev->close = mpu3050_input_close; 	__set_bit(EV_ABS, idev->evbit);	input_set_abs_params(idev, ABS_X,			     MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0);	input_set_abs_params(idev, ABS_Y,			     MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0);	input_set_abs_params(idev, ABS_Z,			     MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0); 	input_set_drvdata(idev, sensor); 	pm_runtime_set_active(&client->dev); 	error = mpu3050_hw_init(sensor);	if (error)		goto err_pm_set_suspended; 	error = request_threaded_irq(client->irq,				     NULL, mpu3050_interrupt_thread,				     IRQF_TRIGGER_RISING | IRQF_ONESHOT,				     "mpu3050", sensor);	if (error) {		dev_err(&client->dev,			"can't get IRQ %d, error %d\n", client->irq, error);		goto err_pm_set_suspended;	} 	error = input_register_device(idev);	if (error) {		dev_err(&client->dev, "failed to register input device\n");		goto err_free_irq;	} 	pm_runtime_enable(&client->dev);	pm_runtime_set_autosuspend_delay(&client->dev, MPU3050_AUTO_DELAY);	i2c_set_clientdata(client, sensor); 	return 0; err_free_irq:	free_irq(client->irq, sensor);err_pm_set_suspended:	pm_runtime_set_suspended(&client->dev);err_free_mem:	input_free_device(idev);	kfree(sensor);	return error;} /** *	mpu3050_remove	-	remove a sensor *	@client: i2c client of sensor being removed * *	Our sensor is going away, clean up the resources. */static int mpu3050_remove(struct i2c_client *client){	struct mpu3050_sensor *sensor = i2c_get_clientdata(client); 	pm_runtime_disable(&client->dev);	pm_runtime_set_suspended(&client->dev); 	free_irq(client->irq, sensor);	input_unregister_device(sensor->idev);	kfree(sensor); 	return 0;} #ifdef CONFIG_PM/** *	mpu3050_suspend		-	called on device suspend *	@dev: device being suspended * *	Put the device into sleep mode before we suspend the machine. */static int mpu3050_suspend(struct device *dev){	struct i2c_client *client = to_i2c_client(dev); 	mpu3050_set_power_mode(client, 0); 	return 0;} /** *	mpu3050_resume		-	called on device resume *	@dev: device being resumed * *	Put the device into powered mode on resume. */static int mpu3050_resume(struct device *dev){	struct i2c_client *client = to_i2c_client(dev); 	mpu3050_set_power_mode(client, 1);	msleep(100);  /* wait for gyro chip resume */ 	return 0;}#endif static UNIVERSAL_DEV_PM_OPS(mpu3050_pm, mpu3050_suspend, mpu3050_resume, NULL); static const struct i2c_device_id mpu3050_ids[] = {	{ "mpu3050", 0 },	{ }};MODULE_DEVICE_TABLE(i2c, mpu3050_ids); static const struct of_device_id mpu3050_of_match[] = {	{ .compatible = "invn,mpu3050", },	{ },};MODULE_DEVICE_TABLE(of, mpu3050_of_match); static struct i2c_driver mpu3050_i2c_driver = {	.driver	= {		.name	= "mpu3050",		.owner	= THIS_MODULE,		.pm	= &mpu3050_pm,		.of_match_table = mpu3050_of_match,	},	.probe		= mpu3050_probe,	.remove		= mpu3050_remove,	.id_table	= mpu3050_ids,}; module_i2c_driver(mpu3050_i2c_driver); MODULE_AUTHOR("Wistron Corp.");MODULE_DESCRIPTION("MPU3050 Tri-axis gyroscope driver");MODULE_LICENSE("GPL");