// SPDX-License-Identifier: GPL-2.0-only /* * Copyright (C) 2012 Invensense, Inc. */ #include <linux/module.h> #include <linux/slab.h> #include <linux/i2c.h> #include <linux/err.h> #include <linux/delay.h> #include <linux/sysfs.h> #include <linux/jiffies.h> #include <linux/irq.h> #include <linux/interrupt.h> #include <linux/acpi.h> #include <linux/platform_device.h> #include <linux/regulator/consumer.h> #include <linux/math64.h> #include <linux/minmax.h> #include <linux/pm.h> #include <linux/pm_runtime.h> #include <linux/property.h> #include <linux/iio/common/inv_sensors_timestamp.h> #include <linux/iio/iio.h> #include "inv_mpu_iio.h" #include "inv_mpu_magn.h" /* * this is the gyro scale translated from dynamic range plus/minus * {250, 500, 1000, 2000} to rad/s */ static const int gyro_scale_6050[] = …; /* * this is the accel scale translated from dynamic range plus/minus * {2, 4, 8, 16} to m/s^2 */ static const int accel_scale[] = …; static const struct inv_mpu6050_reg_map reg_set_icm20602 = …; static const struct inv_mpu6050_reg_map reg_set_6500 = …; static const struct inv_mpu6050_reg_map reg_set_6050 = …; static const struct inv_mpu6050_chip_config chip_config_6050 = …; static const struct inv_mpu6050_chip_config chip_config_6500 = …; /* Indexed by enum inv_devices */ static const struct inv_mpu6050_hw hw_info[] = …; static int inv_mpu6050_pwr_mgmt_1_write(struct inv_mpu6050_state *st, bool sleep, bool cycle, int clock, int temp_dis) { … } static int inv_mpu6050_clock_switch(struct inv_mpu6050_state *st, unsigned int clock) { … } int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, unsigned int mask) { … } static int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on) { … } static int inv_mpu6050_set_gyro_fsr(struct inv_mpu6050_state *st, enum inv_mpu6050_fsr_e val) { … } static int inv_mpu6050_set_accel_lpf_regs(struct inv_mpu6050_state *st, enum inv_mpu6050_filter_e val) { … } /* * inv_mpu6050_set_lpf_regs() - set low pass filter registers, chip dependent * * MPU60xx/MPU9150 use only 1 register for accelerometer + gyroscope * MPU6500 and above have a dedicated register for accelerometer */ static int inv_mpu6050_set_lpf_regs(struct inv_mpu6050_state *st, enum inv_mpu6050_filter_e val) { … } /* * inv_mpu6050_init_config() - Initialize hardware, disable FIFO. * * Initial configuration: * FSR: ± 2000DPS * DLPF: 20Hz * FIFO rate: 50Hz * Clock source: Gyro PLL */ static int inv_mpu6050_init_config(struct iio_dev *indio_dev) { … } static int inv_mpu6050_sensor_set(struct inv_mpu6050_state *st, int reg, int axis, int val) { … } static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg, int axis, int *val) { … } static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val) { … } static int inv_mpu6050_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val, int *val2, long mask) { … } static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val, int val2) { … } static int inv_write_raw_get_fmt(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, long mask) { … } static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val, int val2) { … } static int inv_mpu6050_write_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int val, int val2, long mask) { … } static u64 inv_mpu6050_convert_wom_to_roc(unsigned int threshold, unsigned int freq_div) { … } static unsigned int inv_mpu6050_convert_roc_to_wom(u64 roc, unsigned int freq_div) { … } static int inv_mpu6050_set_wom_int(struct inv_mpu6050_state *st, bool on) { … } static int inv_mpu6050_set_wom_threshold(struct inv_mpu6050_state *st, u64 value, unsigned int freq_div) { … } static int inv_mpu6050_set_lp_odr(struct inv_mpu6050_state *st, unsigned int freq_div, unsigned int *lp_div) { … } static int inv_mpu6050_set_wom_lp(struct inv_mpu6050_state *st, bool on) { … } static int inv_mpu6050_enable_wom(struct inv_mpu6050_state *st, bool en) { … } static int inv_mpu6050_read_event_config(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, enum iio_event_type type, enum iio_event_direction dir) { … } static int inv_mpu6050_write_event_config(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, enum iio_event_type type, enum iio_event_direction dir, int state) { … } static int inv_mpu6050_read_event_value(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, enum iio_event_type type, enum iio_event_direction dir, enum iio_event_info info, int *val, int *val2) { … } static int inv_mpu6050_write_event_value(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, enum iio_event_type type, enum iio_event_direction dir, enum iio_event_info info, int val, int val2) { … } /* * 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) { … } /* * 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) { … } /* * 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) { … } /* * 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) { … } /** * 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) { … } static const struct iio_mount_matrix * inv_get_mount_matrix(const struct iio_dev *indio_dev, const struct iio_chan_spec *chan) { … } static const struct iio_chan_spec_ext_info inv_ext_info[] = …; static const struct iio_event_spec inv_wom_events[] = …; #define INV_MPU6050_CHAN(_type, _channel2, _index) … #define INV_MPU6050_TEMP_CHAN(_index) … #define INV_MPU6050_EVENT_CHAN(_type, _channel2, _events, _events_nb) … static const struct iio_chan_spec inv_mpu6050_channels[] = …; static const struct iio_chan_spec inv_mpu6500_channels[] = …; #define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL … #define INV_MPU6050_SCAN_MASK_3AXIS_GYRO … #define INV_MPU6050_SCAN_MASK_TEMP … static const unsigned long inv_mpu_scan_masks[] = …; #define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index) … static const struct iio_chan_spec inv_mpu9150_channels[] = …; static const struct iio_chan_spec inv_mpu9250_channels[] = …; #define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN … static const unsigned long inv_mpu9x50_scan_masks[] = …; static const unsigned long inv_icm20602_scan_masks[] = …; /* * 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[] = …; static const struct attribute_group inv_attribute_group = …; static int inv_mpu6050_reg_access(struct iio_dev *indio_dev, unsigned int reg, unsigned int writeval, unsigned int *readval) { … } static const struct iio_info mpu_info = …; /* * inv_check_and_setup_chip() - check and setup chip. */ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st) { … } static int inv_mpu_core_enable_regulator_vddio(struct inv_mpu6050_state *st) { … } static int inv_mpu_core_disable_regulator_vddio(struct inv_mpu6050_state *st) { … } static void inv_mpu_core_disable_regulator_action(void *_data) { … } static void inv_mpu_pm_disable(void *data) { … } int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name, int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type) { … } EXPORT_SYMBOL_NS_GPL(…); static int inv_mpu_resume(struct device *dev) { … } static int inv_mpu_suspend(struct device *dev) { … } static int inv_mpu_runtime_suspend(struct device *dev) { … } static int inv_mpu_runtime_resume(struct device *dev) { … } EXPORT_NS_GPL_DEV_PM_OPS(inv_mpu_pmops, IIO_MPU6050) = …; MODULE_AUTHOR(…) …; MODULE_DESCRIPTION(…) …; MODULE_LICENSE(…) …; MODULE_IMPORT_NS(…);
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