1 // SPDX-License-Identifier: GPL-2.0-only 2 /* 3 * MPU3050 gyroscope driver 4 * 5 * Copyright (C) 2016 Linaro Ltd. 6 * Author: Linus Walleij <linus.walleij@linaro.org> 7 * 8 * Based on the input subsystem driver, Copyright (C) 2011 Wistron Co.Ltd 9 * Joseph Lai <joseph_lai@wistron.com> and trimmed down by 10 * Alan Cox <alan@linux.intel.com> in turn based on bma023.c. 11 * Device behaviour based on a misc driver posted by Nathan Royer in 2011. 12 * 13 * TODO: add support for setting up the low pass 3dB frequency. 14 */ 15 16 #include <linux/bitops.h> 17 #include <linux/delay.h> 18 #include <linux/err.h> 19 #include <linux/iio/buffer.h> 20 #include <linux/iio/iio.h> 21 #include <linux/iio/sysfs.h> 22 #include <linux/iio/trigger.h> 23 #include <linux/iio/trigger_consumer.h> 24 #include <linux/iio/triggered_buffer.h> 25 #include <linux/interrupt.h> 26 #include <linux/module.h> 27 #include <linux/pm_runtime.h> 28 #include <linux/random.h> 29 #include <linux/slab.h> 30 31 #include "mpu3050.h" 32 33 #define MPU3050_CHIP_ID 0x68 34 #define MPU3050_CHIP_ID_MASK 0x7E 35 36 /* 37 * Register map: anything suffixed *_H is a big-endian high byte and always 38 * followed by the corresponding low byte (*_L) even though these are not 39 * explicitly included in the register definitions. 40 */ 41 #define MPU3050_CHIP_ID_REG 0x00 42 #define MPU3050_PRODUCT_ID_REG 0x01 43 #define MPU3050_XG_OFFS_TC 0x05 44 #define MPU3050_YG_OFFS_TC 0x08 45 #define MPU3050_ZG_OFFS_TC 0x0B 46 #define MPU3050_X_OFFS_USR_H 0x0C 47 #define MPU3050_Y_OFFS_USR_H 0x0E 48 #define MPU3050_Z_OFFS_USR_H 0x10 49 #define MPU3050_FIFO_EN 0x12 50 #define MPU3050_AUX_VDDIO 0x13 51 #define MPU3050_SLV_ADDR 0x14 52 #define MPU3050_SMPLRT_DIV 0x15 53 #define MPU3050_DLPF_FS_SYNC 0x16 54 #define MPU3050_INT_CFG 0x17 55 #define MPU3050_AUX_ADDR 0x18 56 #define MPU3050_INT_STATUS 0x1A 57 #define MPU3050_TEMP_H 0x1B 58 #define MPU3050_XOUT_H 0x1D 59 #define MPU3050_YOUT_H 0x1F 60 #define MPU3050_ZOUT_H 0x21 61 #define MPU3050_DMP_CFG1 0x35 62 #define MPU3050_DMP_CFG2 0x36 63 #define MPU3050_BANK_SEL 0x37 64 #define MPU3050_MEM_START_ADDR 0x38 65 #define MPU3050_MEM_R_W 0x39 66 #define MPU3050_FIFO_COUNT_H 0x3A 67 #define MPU3050_FIFO_R 0x3C 68 #define MPU3050_USR_CTRL 0x3D 69 #define MPU3050_PWR_MGM 0x3E 70 71 /* MPU memory bank read options */ 72 #define MPU3050_MEM_PRFTCH BIT(5) 73 #define MPU3050_MEM_USER_BANK BIT(4) 74 /* Bits 8-11 select memory bank */ 75 #define MPU3050_MEM_RAM_BANK_0 0 76 #define MPU3050_MEM_RAM_BANK_1 1 77 #define MPU3050_MEM_RAM_BANK_2 2 78 #define MPU3050_MEM_RAM_BANK_3 3 79 #define MPU3050_MEM_OTP_BANK_0 4 80 81 #define MPU3050_AXIS_REGS(axis) (MPU3050_XOUT_H + (axis * 2)) 82 83 /* Register bits */ 84 85 /* FIFO Enable */ 86 #define MPU3050_FIFO_EN_FOOTER BIT(0) 87 #define MPU3050_FIFO_EN_AUX_ZOUT BIT(1) 88 #define MPU3050_FIFO_EN_AUX_YOUT BIT(2) 89 #define MPU3050_FIFO_EN_AUX_XOUT BIT(3) 90 #define MPU3050_FIFO_EN_GYRO_ZOUT BIT(4) 91 #define MPU3050_FIFO_EN_GYRO_YOUT BIT(5) 92 #define MPU3050_FIFO_EN_GYRO_XOUT BIT(6) 93 #define MPU3050_FIFO_EN_TEMP_OUT BIT(7) 94 95 /* 96 * Digital Low Pass filter (DLPF) 97 * Full Scale (FS) 98 * and Synchronization 99 */ 100 #define MPU3050_EXT_SYNC_NONE 0x00 101 #define MPU3050_EXT_SYNC_TEMP 0x20 102 #define MPU3050_EXT_SYNC_GYROX 0x40 103 #define MPU3050_EXT_SYNC_GYROY 0x60 104 #define MPU3050_EXT_SYNC_GYROZ 0x80 105 #define MPU3050_EXT_SYNC_ACCELX 0xA0 106 #define MPU3050_EXT_SYNC_ACCELY 0xC0 107 #define MPU3050_EXT_SYNC_ACCELZ 0xE0 108 #define MPU3050_EXT_SYNC_MASK 0xE0 109 #define MPU3050_EXT_SYNC_SHIFT 5 110 111 #define MPU3050_FS_250DPS 0x00 112 #define MPU3050_FS_500DPS 0x08 113 #define MPU3050_FS_1000DPS 0x10 114 #define MPU3050_FS_2000DPS 0x18 115 #define MPU3050_FS_MASK 0x18 116 #define MPU3050_FS_SHIFT 3 117 118 #define MPU3050_DLPF_CFG_256HZ_NOLPF2 0x00 119 #define MPU3050_DLPF_CFG_188HZ 0x01 120 #define MPU3050_DLPF_CFG_98HZ 0x02 121 #define MPU3050_DLPF_CFG_42HZ 0x03 122 #define MPU3050_DLPF_CFG_20HZ 0x04 123 #define MPU3050_DLPF_CFG_10HZ 0x05 124 #define MPU3050_DLPF_CFG_5HZ 0x06 125 #define MPU3050_DLPF_CFG_2100HZ_NOLPF 0x07 126 #define MPU3050_DLPF_CFG_MASK 0x07 127 #define MPU3050_DLPF_CFG_SHIFT 0 128 129 /* Interrupt config */ 130 #define MPU3050_INT_RAW_RDY_EN BIT(0) 131 #define MPU3050_INT_DMP_DONE_EN BIT(1) 132 #define MPU3050_INT_MPU_RDY_EN BIT(2) 133 #define MPU3050_INT_ANYRD_2CLEAR BIT(4) 134 #define MPU3050_INT_LATCH_EN BIT(5) 135 #define MPU3050_INT_OPEN BIT(6) 136 #define MPU3050_INT_ACTL BIT(7) 137 /* Interrupt status */ 138 #define MPU3050_INT_STATUS_RAW_RDY BIT(0) 139 #define MPU3050_INT_STATUS_DMP_DONE BIT(1) 140 #define MPU3050_INT_STATUS_MPU_RDY BIT(2) 141 #define MPU3050_INT_STATUS_FIFO_OVFLW BIT(7) 142 /* USR_CTRL */ 143 #define MPU3050_USR_CTRL_FIFO_EN BIT(6) 144 #define MPU3050_USR_CTRL_AUX_IF_EN BIT(5) 145 #define MPU3050_USR_CTRL_AUX_IF_RST BIT(3) 146 #define MPU3050_USR_CTRL_FIFO_RST BIT(1) 147 #define MPU3050_USR_CTRL_GYRO_RST BIT(0) 148 /* PWR_MGM */ 149 #define MPU3050_PWR_MGM_PLL_X 0x01 150 #define MPU3050_PWR_MGM_PLL_Y 0x02 151 #define MPU3050_PWR_MGM_PLL_Z 0x03 152 #define MPU3050_PWR_MGM_CLKSEL_MASK 0x07 153 #define MPU3050_PWR_MGM_STBY_ZG BIT(3) 154 #define MPU3050_PWR_MGM_STBY_YG BIT(4) 155 #define MPU3050_PWR_MGM_STBY_XG BIT(5) 156 #define MPU3050_PWR_MGM_SLEEP BIT(6) 157 #define MPU3050_PWR_MGM_RESET BIT(7) 158 #define MPU3050_PWR_MGM_MASK 0xff 159 160 /* 161 * Fullscale precision is (for finest precision) +/- 250 deg/s, so the full 162 * scale is actually 500 deg/s. All 16 bits are then used to cover this scale, 163 * in two's complement. 164 */ 165 static unsigned int mpu3050_fs_precision[] = { 166 IIO_DEGREE_TO_RAD(250), 167 IIO_DEGREE_TO_RAD(500), 168 IIO_DEGREE_TO_RAD(1000), 169 IIO_DEGREE_TO_RAD(2000) 170 }; 171 172 /* 173 * Regulator names 174 */ 175 static const char mpu3050_reg_vdd[] = "vdd"; 176 static const char mpu3050_reg_vlogic[] = "vlogic"; 177 178 static unsigned int mpu3050_get_freq(struct mpu3050 *mpu3050) 179 { 180 unsigned int freq; 181 182 if (mpu3050->lpf == MPU3050_DLPF_CFG_256HZ_NOLPF2) 183 freq = 8000; 184 else 185 freq = 1000; 186 freq /= (mpu3050->divisor + 1); 187 188 return freq; 189 } 190 191 static int mpu3050_start_sampling(struct mpu3050 *mpu3050) 192 { 193 __be16 raw_val[3]; 194 int ret; 195 int i; 196 197 /* Reset */ 198 ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM, 199 MPU3050_PWR_MGM_RESET, MPU3050_PWR_MGM_RESET); 200 if (ret) 201 return ret; 202 203 /* Turn on the Z-axis PLL */ 204 ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM, 205 MPU3050_PWR_MGM_CLKSEL_MASK, 206 MPU3050_PWR_MGM_PLL_Z); 207 if (ret) 208 return ret; 209 210 /* Write calibration offset registers */ 211 for (i = 0; i < 3; i++) 212 raw_val[i] = cpu_to_be16(mpu3050->calibration[i]); 213 214 ret = regmap_bulk_write(mpu3050->map, MPU3050_X_OFFS_USR_H, raw_val, 215 sizeof(raw_val)); 216 if (ret) 217 return ret; 218 219 /* Set low pass filter (sample rate), sync and full scale */ 220 ret = regmap_write(mpu3050->map, MPU3050_DLPF_FS_SYNC, 221 MPU3050_EXT_SYNC_NONE << MPU3050_EXT_SYNC_SHIFT | 222 mpu3050->fullscale << MPU3050_FS_SHIFT | 223 mpu3050->lpf << MPU3050_DLPF_CFG_SHIFT); 224 if (ret) 225 return ret; 226 227 /* Set up sampling frequency */ 228 ret = regmap_write(mpu3050->map, MPU3050_SMPLRT_DIV, mpu3050->divisor); 229 if (ret) 230 return ret; 231 232 /* 233 * Max 50 ms start-up time after setting DLPF_FS_SYNC 234 * according to the data sheet, then wait for the next sample 235 * at this frequency T = 1000/f ms. 236 */ 237 msleep(50 + 1000 / mpu3050_get_freq(mpu3050)); 238 239 return 0; 240 } 241 242 static int mpu3050_set_8khz_samplerate(struct mpu3050 *mpu3050) 243 { 244 int ret; 245 u8 divisor; 246 enum mpu3050_lpf lpf; 247 248 lpf = mpu3050->lpf; 249 divisor = mpu3050->divisor; 250 251 mpu3050->lpf = LPF_256_HZ_NOLPF; /* 8 kHz base frequency */ 252 mpu3050->divisor = 0; /* Divide by 1 */ 253 ret = mpu3050_start_sampling(mpu3050); 254 255 mpu3050->lpf = lpf; 256 mpu3050->divisor = divisor; 257 258 return ret; 259 } 260 261 static int mpu3050_read_raw(struct iio_dev *indio_dev, 262 struct iio_chan_spec const *chan, 263 int *val, int *val2, 264 long mask) 265 { 266 struct mpu3050 *mpu3050 = iio_priv(indio_dev); 267 int ret; 268 __be16 raw_val; 269 270 switch (mask) { 271 case IIO_CHAN_INFO_OFFSET: 272 switch (chan->type) { 273 case IIO_TEMP: 274 /* The temperature scaling is (x+23000)/280 Celsius */ 275 *val = 23000; 276 return IIO_VAL_INT; 277 default: 278 return -EINVAL; 279 } 280 case IIO_CHAN_INFO_CALIBBIAS: 281 switch (chan->type) { 282 case IIO_ANGL_VEL: 283 *val = mpu3050->calibration[chan->scan_index-1]; 284 return IIO_VAL_INT; 285 default: 286 return -EINVAL; 287 } 288 case IIO_CHAN_INFO_SAMP_FREQ: 289 *val = mpu3050_get_freq(mpu3050); 290 return IIO_VAL_INT; 291 case IIO_CHAN_INFO_SCALE: 292 switch (chan->type) { 293 case IIO_TEMP: 294 /* Millidegrees, see about temperature scaling above */ 295 *val = 1000; 296 *val2 = 280; 297 return IIO_VAL_FRACTIONAL; 298 case IIO_ANGL_VEL: 299 /* 300 * Convert to the corresponding full scale in 301 * radians. All 16 bits are used with sign to 302 * span the available scale: to account for the one 303 * missing value if we multiply by 1/S16_MAX, instead 304 * multiply with 2/U16_MAX. 305 */ 306 *val = mpu3050_fs_precision[mpu3050->fullscale] * 2; 307 *val2 = U16_MAX; 308 return IIO_VAL_FRACTIONAL; 309 default: 310 return -EINVAL; 311 } 312 case IIO_CHAN_INFO_RAW: 313 /* Resume device */ 314 pm_runtime_get_sync(mpu3050->dev); 315 mutex_lock(&mpu3050->lock); 316 317 ret = mpu3050_set_8khz_samplerate(mpu3050); 318 if (ret) 319 goto out_read_raw_unlock; 320 321 switch (chan->type) { 322 case IIO_TEMP: 323 ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H, 324 &raw_val, sizeof(raw_val)); 325 if (ret) { 326 dev_err(mpu3050->dev, 327 "error reading temperature\n"); 328 goto out_read_raw_unlock; 329 } 330 331 *val = be16_to_cpu(raw_val); 332 ret = IIO_VAL_INT; 333 334 goto out_read_raw_unlock; 335 case IIO_ANGL_VEL: 336 ret = regmap_bulk_read(mpu3050->map, 337 MPU3050_AXIS_REGS(chan->scan_index-1), 338 &raw_val, 339 sizeof(raw_val)); 340 if (ret) { 341 dev_err(mpu3050->dev, 342 "error reading axis data\n"); 343 goto out_read_raw_unlock; 344 } 345 346 *val = be16_to_cpu(raw_val); 347 ret = IIO_VAL_INT; 348 349 goto out_read_raw_unlock; 350 default: 351 ret = -EINVAL; 352 goto out_read_raw_unlock; 353 } 354 default: 355 break; 356 } 357 358 return -EINVAL; 359 360 out_read_raw_unlock: 361 mutex_unlock(&mpu3050->lock); 362 pm_runtime_mark_last_busy(mpu3050->dev); 363 pm_runtime_put_autosuspend(mpu3050->dev); 364 365 return ret; 366 } 367 368 static int mpu3050_write_raw(struct iio_dev *indio_dev, 369 const struct iio_chan_spec *chan, 370 int val, int val2, long mask) 371 { 372 struct mpu3050 *mpu3050 = iio_priv(indio_dev); 373 /* 374 * Couldn't figure out a way to precalculate these at compile time. 375 */ 376 unsigned int fs250 = 377 DIV_ROUND_CLOSEST(mpu3050_fs_precision[0] * 1000000 * 2, 378 U16_MAX); 379 unsigned int fs500 = 380 DIV_ROUND_CLOSEST(mpu3050_fs_precision[1] * 1000000 * 2, 381 U16_MAX); 382 unsigned int fs1000 = 383 DIV_ROUND_CLOSEST(mpu3050_fs_precision[2] * 1000000 * 2, 384 U16_MAX); 385 unsigned int fs2000 = 386 DIV_ROUND_CLOSEST(mpu3050_fs_precision[3] * 1000000 * 2, 387 U16_MAX); 388 389 switch (mask) { 390 case IIO_CHAN_INFO_CALIBBIAS: 391 if (chan->type != IIO_ANGL_VEL) 392 return -EINVAL; 393 mpu3050->calibration[chan->scan_index-1] = val; 394 return 0; 395 case IIO_CHAN_INFO_SAMP_FREQ: 396 /* 397 * The max samplerate is 8000 Hz, the minimum 398 * 1000 / 256 ~= 4 Hz 399 */ 400 if (val < 4 || val > 8000) 401 return -EINVAL; 402 403 /* 404 * Above 1000 Hz we must turn off the digital low pass filter 405 * so we get a base frequency of 8kHz to the divider 406 */ 407 if (val > 1000) { 408 mpu3050->lpf = LPF_256_HZ_NOLPF; 409 mpu3050->divisor = DIV_ROUND_CLOSEST(8000, val) - 1; 410 return 0; 411 } 412 413 mpu3050->lpf = LPF_188_HZ; 414 mpu3050->divisor = DIV_ROUND_CLOSEST(1000, val) - 1; 415 return 0; 416 case IIO_CHAN_INFO_SCALE: 417 if (chan->type != IIO_ANGL_VEL) 418 return -EINVAL; 419 /* 420 * We support +/-250, +/-500, +/-1000 and +/2000 deg/s 421 * which means we need to round to the closest radians 422 * which will be roughly +/-4.3, +/-8.7, +/-17.5, +/-35 423 * rad/s. The scale is then for the 16 bits used to cover 424 * it 2/(2^16) of that. 425 */ 426 427 /* Just too large, set the max range */ 428 if (val != 0) { 429 mpu3050->fullscale = FS_2000_DPS; 430 return 0; 431 } 432 433 /* 434 * Now we're dealing with fractions below zero in millirad/s 435 * do some integer interpolation and match with the closest 436 * fullscale in the table. 437 */ 438 if (val2 <= fs250 || 439 val2 < ((fs500 + fs250) / 2)) 440 mpu3050->fullscale = FS_250_DPS; 441 else if (val2 <= fs500 || 442 val2 < ((fs1000 + fs500) / 2)) 443 mpu3050->fullscale = FS_500_DPS; 444 else if (val2 <= fs1000 || 445 val2 < ((fs2000 + fs1000) / 2)) 446 mpu3050->fullscale = FS_1000_DPS; 447 else 448 /* Catch-all */ 449 mpu3050->fullscale = FS_2000_DPS; 450 return 0; 451 default: 452 break; 453 } 454 455 return -EINVAL; 456 } 457 458 static irqreturn_t mpu3050_trigger_handler(int irq, void *p) 459 { 460 const struct iio_poll_func *pf = p; 461 struct iio_dev *indio_dev = pf->indio_dev; 462 struct mpu3050 *mpu3050 = iio_priv(indio_dev); 463 int ret; 464 /* 465 * Temperature 1*16 bits 466 * Three axes 3*16 bits 467 * Timestamp 64 bits (4*16 bits) 468 * Sum total 8*16 bits 469 */ 470 __be16 hw_values[8]; 471 s64 timestamp; 472 unsigned int datums_from_fifo = 0; 473 474 /* 475 * If we're using the hardware trigger, get the precise timestamp from 476 * the top half of the threaded IRQ handler. Otherwise get the 477 * timestamp here so it will be close in time to the actual values 478 * read from the registers. 479 */ 480 if (iio_trigger_using_own(indio_dev)) 481 timestamp = mpu3050->hw_timestamp; 482 else 483 timestamp = iio_get_time_ns(indio_dev); 484 485 mutex_lock(&mpu3050->lock); 486 487 /* Using the hardware IRQ trigger? Check the buffer then. */ 488 if (mpu3050->hw_irq_trigger) { 489 __be16 raw_fifocnt; 490 u16 fifocnt; 491 /* X, Y, Z + temperature */ 492 unsigned int bytes_per_datum = 8; 493 bool fifo_overflow = false; 494 495 ret = regmap_bulk_read(mpu3050->map, 496 MPU3050_FIFO_COUNT_H, 497 &raw_fifocnt, 498 sizeof(raw_fifocnt)); 499 if (ret) 500 goto out_trigger_unlock; 501 fifocnt = be16_to_cpu(raw_fifocnt); 502 503 if (fifocnt == 512) { 504 dev_info(mpu3050->dev, 505 "FIFO overflow! Emptying and resetting FIFO\n"); 506 fifo_overflow = true; 507 /* Reset and enable the FIFO */ 508 ret = regmap_update_bits(mpu3050->map, 509 MPU3050_USR_CTRL, 510 MPU3050_USR_CTRL_FIFO_EN | 511 MPU3050_USR_CTRL_FIFO_RST, 512 MPU3050_USR_CTRL_FIFO_EN | 513 MPU3050_USR_CTRL_FIFO_RST); 514 if (ret) { 515 dev_info(mpu3050->dev, "error resetting FIFO\n"); 516 goto out_trigger_unlock; 517 } 518 mpu3050->pending_fifo_footer = false; 519 } 520 521 if (fifocnt) 522 dev_dbg(mpu3050->dev, 523 "%d bytes in the FIFO\n", 524 fifocnt); 525 526 while (!fifo_overflow && fifocnt > bytes_per_datum) { 527 unsigned int toread; 528 unsigned int offset; 529 __be16 fifo_values[5]; 530 531 /* 532 * If there is a FIFO footer in the pipe, first clear 533 * that out. This follows the complex algorithm in the 534 * datasheet that states that you may never leave the 535 * FIFO empty after the first reading: you have to 536 * always leave two footer bytes in it. The footer is 537 * in practice just two zero bytes. 538 */ 539 if (mpu3050->pending_fifo_footer) { 540 toread = bytes_per_datum + 2; 541 offset = 0; 542 } else { 543 toread = bytes_per_datum; 544 offset = 1; 545 /* Put in some dummy value */ 546 fifo_values[0] = cpu_to_be16(0xAAAA); 547 } 548 549 ret = regmap_bulk_read(mpu3050->map, 550 MPU3050_FIFO_R, 551 &fifo_values[offset], 552 toread); 553 554 dev_dbg(mpu3050->dev, 555 "%04x %04x %04x %04x %04x\n", 556 fifo_values[0], 557 fifo_values[1], 558 fifo_values[2], 559 fifo_values[3], 560 fifo_values[4]); 561 562 /* Index past the footer (fifo_values[0]) and push */ 563 iio_push_to_buffers_with_timestamp(indio_dev, 564 &fifo_values[1], 565 timestamp); 566 567 fifocnt -= toread; 568 datums_from_fifo++; 569 mpu3050->pending_fifo_footer = true; 570 571 /* 572 * If we're emptying the FIFO, just make sure to 573 * check if something new appeared. 574 */ 575 if (fifocnt < bytes_per_datum) { 576 ret = regmap_bulk_read(mpu3050->map, 577 MPU3050_FIFO_COUNT_H, 578 &raw_fifocnt, 579 sizeof(raw_fifocnt)); 580 if (ret) 581 goto out_trigger_unlock; 582 fifocnt = be16_to_cpu(raw_fifocnt); 583 } 584 585 if (fifocnt < bytes_per_datum) 586 dev_dbg(mpu3050->dev, 587 "%d bytes left in the FIFO\n", 588 fifocnt); 589 590 /* 591 * At this point, the timestamp that triggered the 592 * hardware interrupt is no longer valid for what 593 * we are reading (the interrupt likely fired for 594 * the value on the top of the FIFO), so set the 595 * timestamp to zero and let userspace deal with it. 596 */ 597 timestamp = 0; 598 } 599 } 600 601 /* 602 * If we picked some datums from the FIFO that's enough, else 603 * fall through and just read from the current value registers. 604 * This happens in two cases: 605 * 606 * - We are using some other trigger (external, like an HRTimer) 607 * than the sensor's own sample generator. In this case the 608 * sensor is just set to the max sampling frequency and we give 609 * the trigger a copy of the latest value every time we get here. 610 * 611 * - The hardware trigger is active but unused and we actually use 612 * another trigger which calls here with a frequency higher 613 * than what the device provides data. We will then just read 614 * duplicate values directly from the hardware registers. 615 */ 616 if (datums_from_fifo) { 617 dev_dbg(mpu3050->dev, 618 "read %d datums from the FIFO\n", 619 datums_from_fifo); 620 goto out_trigger_unlock; 621 } 622 623 ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H, &hw_values, 624 sizeof(hw_values)); 625 if (ret) { 626 dev_err(mpu3050->dev, 627 "error reading axis data\n"); 628 goto out_trigger_unlock; 629 } 630 631 iio_push_to_buffers_with_timestamp(indio_dev, hw_values, timestamp); 632 633 out_trigger_unlock: 634 mutex_unlock(&mpu3050->lock); 635 iio_trigger_notify_done(indio_dev->trig); 636 637 return IRQ_HANDLED; 638 } 639 640 static int mpu3050_buffer_preenable(struct iio_dev *indio_dev) 641 { 642 struct mpu3050 *mpu3050 = iio_priv(indio_dev); 643 644 pm_runtime_get_sync(mpu3050->dev); 645 646 /* Unless we have OUR trigger active, run at full speed */ 647 if (!mpu3050->hw_irq_trigger) 648 return mpu3050_set_8khz_samplerate(mpu3050); 649 650 return 0; 651 } 652 653 static int mpu3050_buffer_postdisable(struct iio_dev *indio_dev) 654 { 655 struct mpu3050 *mpu3050 = iio_priv(indio_dev); 656 657 pm_runtime_mark_last_busy(mpu3050->dev); 658 pm_runtime_put_autosuspend(mpu3050->dev); 659 660 return 0; 661 } 662 663 static const struct iio_buffer_setup_ops mpu3050_buffer_setup_ops = { 664 .preenable = mpu3050_buffer_preenable, 665 .postenable = iio_triggered_buffer_postenable, 666 .predisable = iio_triggered_buffer_predisable, 667 .postdisable = mpu3050_buffer_postdisable, 668 }; 669 670 static const struct iio_mount_matrix * 671 mpu3050_get_mount_matrix(const struct iio_dev *indio_dev, 672 const struct iio_chan_spec *chan) 673 { 674 struct mpu3050 *mpu3050 = iio_priv(indio_dev); 675 676 return &mpu3050->orientation; 677 } 678 679 static const struct iio_chan_spec_ext_info mpu3050_ext_info[] = { 680 IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, mpu3050_get_mount_matrix), 681 { }, 682 }; 683 684 #define MPU3050_AXIS_CHANNEL(axis, index) \ 685 { \ 686 .type = IIO_ANGL_VEL, \ 687 .modified = 1, \ 688 .channel2 = IIO_MOD_##axis, \ 689 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 690 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 691 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 692 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),\ 693 .ext_info = mpu3050_ext_info, \ 694 .scan_index = index, \ 695 .scan_type = { \ 696 .sign = 's', \ 697 .realbits = 16, \ 698 .storagebits = 16, \ 699 .endianness = IIO_BE, \ 700 }, \ 701 } 702 703 static const struct iio_chan_spec mpu3050_channels[] = { 704 { 705 .type = IIO_TEMP, 706 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 707 BIT(IIO_CHAN_INFO_SCALE) | 708 BIT(IIO_CHAN_INFO_OFFSET), 709 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), 710 .scan_index = 0, 711 .scan_type = { 712 .sign = 's', 713 .realbits = 16, 714 .storagebits = 16, 715 .endianness = IIO_BE, 716 }, 717 }, 718 MPU3050_AXIS_CHANNEL(X, 1), 719 MPU3050_AXIS_CHANNEL(Y, 2), 720 MPU3050_AXIS_CHANNEL(Z, 3), 721 IIO_CHAN_SOFT_TIMESTAMP(4), 722 }; 723 724 /* Four channels apart from timestamp, scan mask = 0x0f */ 725 static const unsigned long mpu3050_scan_masks[] = { 0xf, 0 }; 726 727 /* 728 * These are just the hardcoded factors resulting from the more elaborate 729 * calculations done with fractions in the scale raw get/set functions. 730 */ 731 static IIO_CONST_ATTR(anglevel_scale_available, 732 "0.000122070 " 733 "0.000274658 " 734 "0.000518798 " 735 "0.001068115"); 736 737 static struct attribute *mpu3050_attributes[] = { 738 &iio_const_attr_anglevel_scale_available.dev_attr.attr, 739 NULL, 740 }; 741 742 static const struct attribute_group mpu3050_attribute_group = { 743 .attrs = mpu3050_attributes, 744 }; 745 746 static const struct iio_info mpu3050_info = { 747 .read_raw = mpu3050_read_raw, 748 .write_raw = mpu3050_write_raw, 749 .attrs = &mpu3050_attribute_group, 750 }; 751 752 /** 753 * mpu3050_read_mem() - read MPU-3050 internal memory 754 * @mpu3050: device to read from 755 * @bank: target bank 756 * @addr: target address 757 * @len: number of bytes 758 * @buf: the buffer to store the read bytes in 759 */ 760 static int mpu3050_read_mem(struct mpu3050 *mpu3050, 761 u8 bank, 762 u8 addr, 763 u8 len, 764 u8 *buf) 765 { 766 int ret; 767 768 ret = regmap_write(mpu3050->map, 769 MPU3050_BANK_SEL, 770 bank); 771 if (ret) 772 return ret; 773 774 ret = regmap_write(mpu3050->map, 775 MPU3050_MEM_START_ADDR, 776 addr); 777 if (ret) 778 return ret; 779 780 return regmap_bulk_read(mpu3050->map, 781 MPU3050_MEM_R_W, 782 buf, 783 len); 784 } 785 786 static int mpu3050_hw_init(struct mpu3050 *mpu3050) 787 { 788 int ret; 789 u8 otp[8]; 790 791 /* Reset */ 792 ret = regmap_update_bits(mpu3050->map, 793 MPU3050_PWR_MGM, 794 MPU3050_PWR_MGM_RESET, 795 MPU3050_PWR_MGM_RESET); 796 if (ret) 797 return ret; 798 799 /* Turn on the PLL */ 800 ret = regmap_update_bits(mpu3050->map, 801 MPU3050_PWR_MGM, 802 MPU3050_PWR_MGM_CLKSEL_MASK, 803 MPU3050_PWR_MGM_PLL_Z); 804 if (ret) 805 return ret; 806 807 /* Disable IRQs */ 808 ret = regmap_write(mpu3050->map, 809 MPU3050_INT_CFG, 810 0); 811 if (ret) 812 return ret; 813 814 /* Read out the 8 bytes of OTP (one-time-programmable) memory */ 815 ret = mpu3050_read_mem(mpu3050, 816 (MPU3050_MEM_PRFTCH | 817 MPU3050_MEM_USER_BANK | 818 MPU3050_MEM_OTP_BANK_0), 819 0, 820 sizeof(otp), 821 otp); 822 if (ret) 823 return ret; 824 825 /* This is device-unique data so it goes into the entropy pool */ 826 add_device_randomness(otp, sizeof(otp)); 827 828 dev_info(mpu3050->dev, 829 "die ID: %04X, wafer ID: %02X, A lot ID: %04X, " 830 "W lot ID: %03X, WP ID: %01X, rev ID: %02X\n", 831 /* Die ID, bits 0-12 */ 832 (otp[1] << 8 | otp[0]) & 0x1fff, 833 /* Wafer ID, bits 13-17 */ 834 ((otp[2] << 8 | otp[1]) & 0x03e0) >> 5, 835 /* A lot ID, bits 18-33 */ 836 ((otp[4] << 16 | otp[3] << 8 | otp[2]) & 0x3fffc) >> 2, 837 /* W lot ID, bits 34-45 */ 838 ((otp[5] << 8 | otp[4]) & 0x3ffc) >> 2, 839 /* WP ID, bits 47-49 */ 840 ((otp[6] << 8 | otp[5]) & 0x0380) >> 7, 841 /* rev ID, bits 50-55 */ 842 otp[6] >> 2); 843 844 return 0; 845 } 846 847 static int mpu3050_power_up(struct mpu3050 *mpu3050) 848 { 849 int ret; 850 851 ret = regulator_bulk_enable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs); 852 if (ret) { 853 dev_err(mpu3050->dev, "cannot enable regulators\n"); 854 return ret; 855 } 856 /* 857 * 20-100 ms start-up time for register read/write according to 858 * the datasheet, be on the safe side and wait 200 ms. 859 */ 860 msleep(200); 861 862 /* Take device out of sleep mode */ 863 ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM, 864 MPU3050_PWR_MGM_SLEEP, 0); 865 if (ret) { 866 dev_err(mpu3050->dev, "error setting power mode\n"); 867 return ret; 868 } 869 usleep_range(10000, 20000); 870 871 return 0; 872 } 873 874 static int mpu3050_power_down(struct mpu3050 *mpu3050) 875 { 876 int ret; 877 878 /* 879 * Put MPU-3050 into sleep mode before cutting regulators. 880 * This is important, because we may not be the sole user 881 * of the regulator so the power may stay on after this, and 882 * then we would be wasting power unless we go to sleep mode 883 * first. 884 */ 885 ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM, 886 MPU3050_PWR_MGM_SLEEP, MPU3050_PWR_MGM_SLEEP); 887 if (ret) 888 dev_err(mpu3050->dev, "error putting to sleep\n"); 889 890 ret = regulator_bulk_disable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs); 891 if (ret) 892 dev_err(mpu3050->dev, "error disabling regulators\n"); 893 894 return 0; 895 } 896 897 static irqreturn_t mpu3050_irq_handler(int irq, void *p) 898 { 899 struct iio_trigger *trig = p; 900 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); 901 struct mpu3050 *mpu3050 = iio_priv(indio_dev); 902 903 if (!mpu3050->hw_irq_trigger) 904 return IRQ_NONE; 905 906 /* Get the time stamp as close in time as possible */ 907 mpu3050->hw_timestamp = iio_get_time_ns(indio_dev); 908 909 return IRQ_WAKE_THREAD; 910 } 911 912 static irqreturn_t mpu3050_irq_thread(int irq, void *p) 913 { 914 struct iio_trigger *trig = p; 915 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); 916 struct mpu3050 *mpu3050 = iio_priv(indio_dev); 917 unsigned int val; 918 int ret; 919 920 /* ACK IRQ and check if it was from us */ 921 ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val); 922 if (ret) { 923 dev_err(mpu3050->dev, "error reading IRQ status\n"); 924 return IRQ_HANDLED; 925 } 926 if (!(val & MPU3050_INT_STATUS_RAW_RDY)) 927 return IRQ_NONE; 928 929 iio_trigger_poll_chained(p); 930 931 return IRQ_HANDLED; 932 } 933 934 /** 935 * mpu3050_drdy_trigger_set_state() - set data ready interrupt state 936 * @trig: trigger instance 937 * @enable: true if trigger should be enabled, false to disable 938 */ 939 static int mpu3050_drdy_trigger_set_state(struct iio_trigger *trig, 940 bool enable) 941 { 942 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); 943 struct mpu3050 *mpu3050 = iio_priv(indio_dev); 944 unsigned int val; 945 int ret; 946 947 /* Disabling trigger: disable interrupt and return */ 948 if (!enable) { 949 /* Disable all interrupts */ 950 ret = regmap_write(mpu3050->map, 951 MPU3050_INT_CFG, 952 0); 953 if (ret) 954 dev_err(mpu3050->dev, "error disabling IRQ\n"); 955 956 /* Clear IRQ flag */ 957 ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val); 958 if (ret) 959 dev_err(mpu3050->dev, "error clearing IRQ status\n"); 960 961 /* Disable all things in the FIFO and reset it */ 962 ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0); 963 if (ret) 964 dev_err(mpu3050->dev, "error disabling FIFO\n"); 965 966 ret = regmap_write(mpu3050->map, MPU3050_USR_CTRL, 967 MPU3050_USR_CTRL_FIFO_RST); 968 if (ret) 969 dev_err(mpu3050->dev, "error resetting FIFO\n"); 970 971 pm_runtime_mark_last_busy(mpu3050->dev); 972 pm_runtime_put_autosuspend(mpu3050->dev); 973 mpu3050->hw_irq_trigger = false; 974 975 return 0; 976 } else { 977 /* Else we're enabling the trigger from this point */ 978 pm_runtime_get_sync(mpu3050->dev); 979 mpu3050->hw_irq_trigger = true; 980 981 /* Disable all things in the FIFO */ 982 ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0); 983 if (ret) 984 return ret; 985 986 /* Reset and enable the FIFO */ 987 ret = regmap_update_bits(mpu3050->map, MPU3050_USR_CTRL, 988 MPU3050_USR_CTRL_FIFO_EN | 989 MPU3050_USR_CTRL_FIFO_RST, 990 MPU3050_USR_CTRL_FIFO_EN | 991 MPU3050_USR_CTRL_FIFO_RST); 992 if (ret) 993 return ret; 994 995 mpu3050->pending_fifo_footer = false; 996 997 /* Turn on the FIFO for temp+X+Y+Z */ 998 ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 999 MPU3050_FIFO_EN_TEMP_OUT | 1000 MPU3050_FIFO_EN_GYRO_XOUT | 1001 MPU3050_FIFO_EN_GYRO_YOUT | 1002 MPU3050_FIFO_EN_GYRO_ZOUT | 1003 MPU3050_FIFO_EN_FOOTER); 1004 if (ret) 1005 return ret; 1006 1007 /* Configure the sample engine */ 1008 ret = mpu3050_start_sampling(mpu3050); 1009 if (ret) 1010 return ret; 1011 1012 /* Clear IRQ flag */ 1013 ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val); 1014 if (ret) 1015 dev_err(mpu3050->dev, "error clearing IRQ status\n"); 1016 1017 /* Give us interrupts whenever there is new data ready */ 1018 val = MPU3050_INT_RAW_RDY_EN; 1019 1020 if (mpu3050->irq_actl) 1021 val |= MPU3050_INT_ACTL; 1022 if (mpu3050->irq_latch) 1023 val |= MPU3050_INT_LATCH_EN; 1024 if (mpu3050->irq_opendrain) 1025 val |= MPU3050_INT_OPEN; 1026 1027 ret = regmap_write(mpu3050->map, MPU3050_INT_CFG, val); 1028 if (ret) 1029 return ret; 1030 } 1031 1032 return 0; 1033 } 1034 1035 static const struct iio_trigger_ops mpu3050_trigger_ops = { 1036 .set_trigger_state = mpu3050_drdy_trigger_set_state, 1037 }; 1038 1039 static int mpu3050_trigger_probe(struct iio_dev *indio_dev, int irq) 1040 { 1041 struct mpu3050 *mpu3050 = iio_priv(indio_dev); 1042 unsigned long irq_trig; 1043 int ret; 1044 1045 mpu3050->trig = devm_iio_trigger_alloc(&indio_dev->dev, 1046 "%s-dev%d", 1047 indio_dev->name, 1048 indio_dev->id); 1049 if (!mpu3050->trig) 1050 return -ENOMEM; 1051 1052 /* Check if IRQ is open drain */ 1053 if (of_property_read_bool(mpu3050->dev->of_node, "drive-open-drain")) 1054 mpu3050->irq_opendrain = true; 1055 1056 irq_trig = irqd_get_trigger_type(irq_get_irq_data(irq)); 1057 /* 1058 * Configure the interrupt generator hardware to supply whatever 1059 * the interrupt is configured for, edges low/high level low/high, 1060 * we can provide it all. 1061 */ 1062 switch (irq_trig) { 1063 case IRQF_TRIGGER_RISING: 1064 dev_info(&indio_dev->dev, 1065 "pulse interrupts on the rising edge\n"); 1066 break; 1067 case IRQF_TRIGGER_FALLING: 1068 mpu3050->irq_actl = true; 1069 dev_info(&indio_dev->dev, 1070 "pulse interrupts on the falling edge\n"); 1071 break; 1072 case IRQF_TRIGGER_HIGH: 1073 mpu3050->irq_latch = true; 1074 dev_info(&indio_dev->dev, 1075 "interrupts active high level\n"); 1076 /* 1077 * With level IRQs, we mask the IRQ until it is processed, 1078 * but with edge IRQs (pulses) we can queue several interrupts 1079 * in the top half. 1080 */ 1081 irq_trig |= IRQF_ONESHOT; 1082 break; 1083 case IRQF_TRIGGER_LOW: 1084 mpu3050->irq_latch = true; 1085 mpu3050->irq_actl = true; 1086 irq_trig |= IRQF_ONESHOT; 1087 dev_info(&indio_dev->dev, 1088 "interrupts active low level\n"); 1089 break; 1090 default: 1091 /* This is the most preferred mode, if possible */ 1092 dev_err(&indio_dev->dev, 1093 "unsupported IRQ trigger specified (%lx), enforce " 1094 "rising edge\n", irq_trig); 1095 irq_trig = IRQF_TRIGGER_RISING; 1096 break; 1097 } 1098 1099 /* An open drain line can be shared with several devices */ 1100 if (mpu3050->irq_opendrain) 1101 irq_trig |= IRQF_SHARED; 1102 1103 ret = request_threaded_irq(irq, 1104 mpu3050_irq_handler, 1105 mpu3050_irq_thread, 1106 irq_trig, 1107 mpu3050->trig->name, 1108 mpu3050->trig); 1109 if (ret) { 1110 dev_err(mpu3050->dev, 1111 "can't get IRQ %d, error %d\n", irq, ret); 1112 return ret; 1113 } 1114 1115 mpu3050->irq = irq; 1116 mpu3050->trig->dev.parent = mpu3050->dev; 1117 mpu3050->trig->ops = &mpu3050_trigger_ops; 1118 iio_trigger_set_drvdata(mpu3050->trig, indio_dev); 1119 1120 ret = iio_trigger_register(mpu3050->trig); 1121 if (ret) 1122 return ret; 1123 1124 indio_dev->trig = iio_trigger_get(mpu3050->trig); 1125 1126 return 0; 1127 } 1128 1129 int mpu3050_common_probe(struct device *dev, 1130 struct regmap *map, 1131 int irq, 1132 const char *name) 1133 { 1134 struct iio_dev *indio_dev; 1135 struct mpu3050 *mpu3050; 1136 unsigned int val; 1137 int ret; 1138 1139 indio_dev = devm_iio_device_alloc(dev, sizeof(*mpu3050)); 1140 if (!indio_dev) 1141 return -ENOMEM; 1142 mpu3050 = iio_priv(indio_dev); 1143 1144 mpu3050->dev = dev; 1145 mpu3050->map = map; 1146 mutex_init(&mpu3050->lock); 1147 /* Default fullscale: 2000 degrees per second */ 1148 mpu3050->fullscale = FS_2000_DPS; 1149 /* 1 kHz, divide by 100, default frequency = 10 Hz */ 1150 mpu3050->lpf = MPU3050_DLPF_CFG_188HZ; 1151 mpu3050->divisor = 99; 1152 1153 /* Read the mounting matrix, if present */ 1154 ret = iio_read_mount_matrix(dev, "mount-matrix", &mpu3050->orientation); 1155 if (ret) 1156 return ret; 1157 1158 /* Fetch and turn on regulators */ 1159 mpu3050->regs[0].supply = mpu3050_reg_vdd; 1160 mpu3050->regs[1].supply = mpu3050_reg_vlogic; 1161 ret = devm_regulator_bulk_get(dev, ARRAY_SIZE(mpu3050->regs), 1162 mpu3050->regs); 1163 if (ret) { 1164 dev_err(dev, "Cannot get regulators\n"); 1165 return ret; 1166 } 1167 1168 ret = mpu3050_power_up(mpu3050); 1169 if (ret) 1170 return ret; 1171 1172 ret = regmap_read(map, MPU3050_CHIP_ID_REG, &val); 1173 if (ret) { 1174 dev_err(dev, "could not read device ID\n"); 1175 ret = -ENODEV; 1176 1177 goto err_power_down; 1178 } 1179 1180 if ((val & MPU3050_CHIP_ID_MASK) != MPU3050_CHIP_ID) { 1181 dev_err(dev, "unsupported chip id %02x\n", 1182 (u8)(val & MPU3050_CHIP_ID_MASK)); 1183 ret = -ENODEV; 1184 goto err_power_down; 1185 } 1186 1187 ret = regmap_read(map, MPU3050_PRODUCT_ID_REG, &val); 1188 if (ret) { 1189 dev_err(dev, "could not read device ID\n"); 1190 ret = -ENODEV; 1191 1192 goto err_power_down; 1193 } 1194 dev_info(dev, "found MPU-3050 part no: %d, version: %d\n", 1195 ((val >> 4) & 0xf), (val & 0xf)); 1196 1197 ret = mpu3050_hw_init(mpu3050); 1198 if (ret) 1199 goto err_power_down; 1200 1201 indio_dev->dev.parent = dev; 1202 indio_dev->channels = mpu3050_channels; 1203 indio_dev->num_channels = ARRAY_SIZE(mpu3050_channels); 1204 indio_dev->info = &mpu3050_info; 1205 indio_dev->available_scan_masks = mpu3050_scan_masks; 1206 indio_dev->modes = INDIO_DIRECT_MODE; 1207 indio_dev->name = name; 1208 1209 ret = iio_triggered_buffer_setup(indio_dev, iio_pollfunc_store_time, 1210 mpu3050_trigger_handler, 1211 &mpu3050_buffer_setup_ops); 1212 if (ret) { 1213 dev_err(dev, "triggered buffer setup failed\n"); 1214 goto err_power_down; 1215 } 1216 1217 ret = iio_device_register(indio_dev); 1218 if (ret) { 1219 dev_err(dev, "device register failed\n"); 1220 goto err_cleanup_buffer; 1221 } 1222 1223 dev_set_drvdata(dev, indio_dev); 1224 1225 /* Check if we have an assigned IRQ to use as trigger */ 1226 if (irq) { 1227 ret = mpu3050_trigger_probe(indio_dev, irq); 1228 if (ret) 1229 dev_err(dev, "failed to register trigger\n"); 1230 } 1231 1232 /* Enable runtime PM */ 1233 pm_runtime_get_noresume(dev); 1234 pm_runtime_set_active(dev); 1235 pm_runtime_enable(dev); 1236 /* 1237 * Set autosuspend to two orders of magnitude larger than the 1238 * start-up time. 100ms start-up time means 10000ms autosuspend, 1239 * i.e. 10 seconds. 1240 */ 1241 pm_runtime_set_autosuspend_delay(dev, 10000); 1242 pm_runtime_use_autosuspend(dev); 1243 pm_runtime_put(dev); 1244 1245 return 0; 1246 1247 err_cleanup_buffer: 1248 iio_triggered_buffer_cleanup(indio_dev); 1249 err_power_down: 1250 mpu3050_power_down(mpu3050); 1251 1252 return ret; 1253 } 1254 EXPORT_SYMBOL(mpu3050_common_probe); 1255 1256 int mpu3050_common_remove(struct device *dev) 1257 { 1258 struct iio_dev *indio_dev = dev_get_drvdata(dev); 1259 struct mpu3050 *mpu3050 = iio_priv(indio_dev); 1260 1261 pm_runtime_get_sync(dev); 1262 pm_runtime_put_noidle(dev); 1263 pm_runtime_disable(dev); 1264 iio_triggered_buffer_cleanup(indio_dev); 1265 if (mpu3050->irq) 1266 free_irq(mpu3050->irq, mpu3050); 1267 iio_device_unregister(indio_dev); 1268 mpu3050_power_down(mpu3050); 1269 1270 return 0; 1271 } 1272 EXPORT_SYMBOL(mpu3050_common_remove); 1273 1274 #ifdef CONFIG_PM 1275 static int mpu3050_runtime_suspend(struct device *dev) 1276 { 1277 return mpu3050_power_down(iio_priv(dev_get_drvdata(dev))); 1278 } 1279 1280 static int mpu3050_runtime_resume(struct device *dev) 1281 { 1282 return mpu3050_power_up(iio_priv(dev_get_drvdata(dev))); 1283 } 1284 #endif /* CONFIG_PM */ 1285 1286 const struct dev_pm_ops mpu3050_dev_pm_ops = { 1287 SET_SYSTEM_SLEEP_PM_OPS(pm_runtime_force_suspend, 1288 pm_runtime_force_resume) 1289 SET_RUNTIME_PM_OPS(mpu3050_runtime_suspend, 1290 mpu3050_runtime_resume, NULL) 1291 }; 1292 EXPORT_SYMBOL(mpu3050_dev_pm_ops); 1293 1294 MODULE_AUTHOR("Linus Walleij"); 1295 MODULE_DESCRIPTION("MPU3050 gyroscope driver"); 1296 MODULE_LICENSE("GPL"); 1297