1/* 2 * MPU3050 Tri-axis gyroscope driver 3 * 4 * Copyright (C) 2011 Wistron Co.Ltd 5 * Joseph Lai <joseph_lai@wistron.com> 6 * 7 * Trimmed down by Alan Cox <alan@linux.intel.com> to produce this version 8 * 9 * This is a 'lite' version of the driver, while we consider the right way 10 * to present the other features to user space. In particular it requires the 11 * device has an IRQ, and it only provides an input interface, so is not much 12 * use for device orientation. A fuller version is available from the Meego 13 * tree. 14 * 15 * This program is based on bma023.c. 16 * 17 * This program is free software; you can redistribute it and/or modify 18 * it under the terms of the GNU General Public License as published by 19 * the Free Software Foundation; version 2 of the License. 20 * 21 * This program is distributed in the hope that it will be useful, but 22 * WITHOUT ANY WARRANTY; without even the implied warranty of 23 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 24 * General Public License for more details. 25 * 26 * You should have received a copy of the GNU General Public License along 27 * with this program; if not, write to the Free Software Foundation, Inc., 28 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. 29 * 30 */ 31 32#include <linux/module.h> 33#include <linux/interrupt.h> 34#include <linux/platform_device.h> 35#include <linux/mutex.h> 36#include <linux/err.h> 37#include <linux/i2c.h> 38#include <linux/input.h> 39#include <linux/delay.h> 40#include <linux/slab.h> 41#include <linux/pm_runtime.h> 42 43#define MPU3050_CHIP_ID 0x69 44 45#define MPU3050_AUTO_DELAY 1000 46 47#define MPU3050_MIN_VALUE -32768 48#define MPU3050_MAX_VALUE 32767 49 50#define MPU3050_DEFAULT_POLL_INTERVAL 200 51#define MPU3050_DEFAULT_FS_RANGE 3 52 53/* Register map */ 54#define MPU3050_CHIP_ID_REG 0x00 55#define MPU3050_SMPLRT_DIV 0x15 56#define MPU3050_DLPF_FS_SYNC 0x16 57#define MPU3050_INT_CFG 0x17 58#define MPU3050_XOUT_H 0x1D 59#define MPU3050_PWR_MGM 0x3E 60#define MPU3050_PWR_MGM_POS 6 61 62/* Register bits */ 63 64/* DLPF_FS_SYNC */ 65#define MPU3050_EXT_SYNC_NONE 0x00 66#define MPU3050_EXT_SYNC_TEMP 0x20 67#define MPU3050_EXT_SYNC_GYROX 0x40 68#define MPU3050_EXT_SYNC_GYROY 0x60 69#define MPU3050_EXT_SYNC_GYROZ 0x80 70#define MPU3050_EXT_SYNC_ACCELX 0xA0 71#define MPU3050_EXT_SYNC_ACCELY 0xC0 72#define MPU3050_EXT_SYNC_ACCELZ 0xE0 73#define MPU3050_EXT_SYNC_MASK 0xE0 74#define MPU3050_FS_250DPS 0x00 75#define MPU3050_FS_500DPS 0x08 76#define MPU3050_FS_1000DPS 0x10 77#define MPU3050_FS_2000DPS 0x18 78#define MPU3050_FS_MASK 0x18 79#define MPU3050_DLPF_CFG_256HZ_NOLPF2 0x00 80#define MPU3050_DLPF_CFG_188HZ 0x01 81#define MPU3050_DLPF_CFG_98HZ 0x02 82#define MPU3050_DLPF_CFG_42HZ 0x03 83#define MPU3050_DLPF_CFG_20HZ 0x04 84#define MPU3050_DLPF_CFG_10HZ 0x05 85#define MPU3050_DLPF_CFG_5HZ 0x06 86#define MPU3050_DLPF_CFG_2100HZ_NOLPF 0x07 87#define MPU3050_DLPF_CFG_MASK 0x07 88/* INT_CFG */ 89#define MPU3050_RAW_RDY_EN 0x01 90#define MPU3050_MPU_RDY_EN 0x02 91#define MPU3050_LATCH_INT_EN 0x04 92/* PWR_MGM */ 93#define MPU3050_PWR_MGM_PLL_X 0x01 94#define MPU3050_PWR_MGM_PLL_Y 0x02 95#define MPU3050_PWR_MGM_PLL_Z 0x03 96#define MPU3050_PWR_MGM_CLKSEL 0x07 97#define MPU3050_PWR_MGM_STBY_ZG 0x08 98#define MPU3050_PWR_MGM_STBY_YG 0x10 99#define MPU3050_PWR_MGM_STBY_XG 0x20 100#define MPU3050_PWR_MGM_SLEEP 0x40 101#define MPU3050_PWR_MGM_RESET 0x80 102#define MPU3050_PWR_MGM_MASK 0x40 103 104struct axis_data { 105 s16 x; 106 s16 y; 107 s16 z; 108}; 109 110struct mpu3050_sensor { 111 struct i2c_client *client; 112 struct device *dev; 113 struct input_dev *idev; 114}; 115 116/** 117 * mpu3050_xyz_read_reg - read the axes values 118 * @buffer: provide register addr and get register 119 * @length: length of register 120 * 121 * Reads the register values in one transaction or returns a negative 122 * error code on failure. 123 */ 124static int mpu3050_xyz_read_reg(struct i2c_client *client, 125 u8 *buffer, int length) 126{ 127 /* 128 * Annoying we can't make this const because the i2c layer doesn't 129 * declare input buffers const. 130 */ 131 char cmd = MPU3050_XOUT_H; 132 struct i2c_msg msg[] = { 133 { 134 .addr = client->addr, 135 .flags = 0, 136 .len = 1, 137 .buf = &cmd, 138 }, 139 { 140 .addr = client->addr, 141 .flags = I2C_M_RD, 142 .len = length, 143 .buf = buffer, 144 }, 145 }; 146 147 return i2c_transfer(client->adapter, msg, 2); 148} 149 150/** 151 * mpu3050_read_xyz - get co-ordinates from device 152 * @client: i2c address of sensor 153 * @coords: co-ordinates to update 154 * 155 * Return the converted X Y and Z co-ordinates from the sensor device 156 */ 157static void mpu3050_read_xyz(struct i2c_client *client, 158 struct axis_data *coords) 159{ 160 u16 buffer[3]; 161 162 mpu3050_xyz_read_reg(client, (u8 *)buffer, 6); 163 coords->x = be16_to_cpu(buffer[0]); 164 coords->y = be16_to_cpu(buffer[1]); 165 coords->z = be16_to_cpu(buffer[2]); 166 dev_dbg(&client->dev, "%s: x %d, y %d, z %d\n", __func__, 167 coords->x, coords->y, coords->z); 168} 169 170/** 171 * mpu3050_set_power_mode - set the power mode 172 * @client: i2c client for the sensor 173 * @val: value to switch on/off of power, 1: normal power, 0: low power 174 * 175 * Put device to normal-power mode or low-power mode. 176 */ 177static void mpu3050_set_power_mode(struct i2c_client *client, u8 val) 178{ 179 u8 value; 180 181 value = i2c_smbus_read_byte_data(client, MPU3050_PWR_MGM); 182 value = (value & ~MPU3050_PWR_MGM_MASK) | 183 (((val << MPU3050_PWR_MGM_POS) & MPU3050_PWR_MGM_MASK) ^ 184 MPU3050_PWR_MGM_MASK); 185 i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM, value); 186} 187 188/** 189 * mpu3050_input_open - called on input event open 190 * @input: input dev of opened device 191 * 192 * The input layer calls this function when input event is opened. The 193 * function will push the device to resume. Then, the device is ready 194 * to provide data. 195 */ 196static int mpu3050_input_open(struct input_dev *input) 197{ 198 struct mpu3050_sensor *sensor = input_get_drvdata(input); 199 int error; 200 201 pm_runtime_get(sensor->dev); 202 203 /* Enable interrupts */ 204 error = i2c_smbus_write_byte_data(sensor->client, MPU3050_INT_CFG, 205 MPU3050_LATCH_INT_EN | 206 MPU3050_RAW_RDY_EN | 207 MPU3050_MPU_RDY_EN); 208 if (error < 0) { 209 pm_runtime_put(sensor->dev); 210 return error; 211 } 212 213 return 0; 214} 215 216/** 217 * mpu3050_input_close - called on input event close 218 * @input: input dev of closed device 219 * 220 * The input layer calls this function when input event is closed. The 221 * function will push the device to suspend. 222 */ 223static void mpu3050_input_close(struct input_dev *input) 224{ 225 struct mpu3050_sensor *sensor = input_get_drvdata(input); 226 227 pm_runtime_put(sensor->dev); 228} 229 230/** 231 * mpu3050_interrupt_thread - handle an IRQ 232 * @irq: interrupt numner 233 * @data: the sensor 234 * 235 * Called by the kernel single threaded after an interrupt occurs. Read 236 * the sensor data and generate an input event for it. 237 */ 238static irqreturn_t mpu3050_interrupt_thread(int irq, void *data) 239{ 240 struct mpu3050_sensor *sensor = data; 241 struct axis_data axis; 242 243 mpu3050_read_xyz(sensor->client, &axis); 244 245 input_report_abs(sensor->idev, ABS_X, axis.x); 246 input_report_abs(sensor->idev, ABS_Y, axis.y); 247 input_report_abs(sensor->idev, ABS_Z, axis.z); 248 input_sync(sensor->idev); 249 250 return IRQ_HANDLED; 251} 252 253/** 254 * mpu3050_hw_init - initialize hardware 255 * @sensor: the sensor 256 * 257 * Called during device probe; configures the sampling method. 258 */ 259static int mpu3050_hw_init(struct mpu3050_sensor *sensor) 260{ 261 struct i2c_client *client = sensor->client; 262 int ret; 263 u8 reg; 264 265 /* Reset */ 266 ret = i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM, 267 MPU3050_PWR_MGM_RESET); 268 if (ret < 0) 269 return ret; 270 271 ret = i2c_smbus_read_byte_data(client, MPU3050_PWR_MGM); 272 if (ret < 0) 273 return ret; 274 275 ret &= ~MPU3050_PWR_MGM_CLKSEL; 276 ret |= MPU3050_PWR_MGM_PLL_Z; 277 ret = i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM, ret); 278 if (ret < 0) 279 return ret; 280 281 /* Output frequency divider. The poll interval */ 282 ret = i2c_smbus_write_byte_data(client, MPU3050_SMPLRT_DIV, 283 MPU3050_DEFAULT_POLL_INTERVAL - 1); 284 if (ret < 0) 285 return ret; 286 287 /* Set low pass filter and full scale */ 288 reg = MPU3050_DEFAULT_FS_RANGE; 289 reg |= MPU3050_DLPF_CFG_42HZ << 3; 290 reg |= MPU3050_EXT_SYNC_NONE << 5; 291 ret = i2c_smbus_write_byte_data(client, MPU3050_DLPF_FS_SYNC, reg); 292 if (ret < 0) 293 return ret; 294 295 return 0; 296} 297 298/** 299 * mpu3050_probe - device detection callback 300 * @client: i2c client of found device 301 * @id: id match information 302 * 303 * The I2C layer calls us when it believes a sensor is present at this 304 * address. Probe to see if this is correct and to validate the device. 305 * 306 * If present install the relevant sysfs interfaces and input device. 307 */ 308static int mpu3050_probe(struct i2c_client *client, 309 const struct i2c_device_id *id) 310{ 311 struct mpu3050_sensor *sensor; 312 struct input_dev *idev; 313 int ret; 314 int error; 315 316 sensor = kzalloc(sizeof(struct mpu3050_sensor), GFP_KERNEL); 317 idev = input_allocate_device(); 318 if (!sensor || !idev) { 319 dev_err(&client->dev, "failed to allocate driver data\n"); 320 error = -ENOMEM; 321 goto err_free_mem; 322 } 323 324 sensor->client = client; 325 sensor->dev = &client->dev; 326 sensor->idev = idev; 327 328 mpu3050_set_power_mode(client, 1); 329 msleep(10); 330 331 ret = i2c_smbus_read_byte_data(client, MPU3050_CHIP_ID_REG); 332 if (ret < 0) { 333 dev_err(&client->dev, "failed to detect device\n"); 334 error = -ENXIO; 335 goto err_free_mem; 336 } 337 338 if (ret != MPU3050_CHIP_ID) { 339 dev_err(&client->dev, "unsupported chip id\n"); 340 error = -ENXIO; 341 goto err_free_mem; 342 } 343 344 idev->name = "MPU3050"; 345 idev->id.bustype = BUS_I2C; 346 idev->dev.parent = &client->dev; 347 348 idev->open = mpu3050_input_open; 349 idev->close = mpu3050_input_close; 350 351 __set_bit(EV_ABS, idev->evbit); 352 input_set_abs_params(idev, ABS_X, 353 MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0); 354 input_set_abs_params(idev, ABS_Y, 355 MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0); 356 input_set_abs_params(idev, ABS_Z, 357 MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0); 358 359 input_set_drvdata(idev, sensor); 360 361 pm_runtime_set_active(&client->dev); 362 363 error = mpu3050_hw_init(sensor); 364 if (error) 365 goto err_pm_set_suspended; 366 367 error = request_threaded_irq(client->irq, 368 NULL, mpu3050_interrupt_thread, 369 IRQF_TRIGGER_RISING | IRQF_ONESHOT, 370 "mpu3050", sensor); 371 if (error) { 372 dev_err(&client->dev, 373 "can't get IRQ %d, error %d\n", client->irq, error); 374 goto err_pm_set_suspended; 375 } 376 377 error = input_register_device(idev); 378 if (error) { 379 dev_err(&client->dev, "failed to register input device\n"); 380 goto err_free_irq; 381 } 382 383 pm_runtime_enable(&client->dev); 384 pm_runtime_set_autosuspend_delay(&client->dev, MPU3050_AUTO_DELAY); 385 i2c_set_clientdata(client, sensor); 386 387 return 0; 388 389err_free_irq: 390 free_irq(client->irq, sensor); 391err_pm_set_suspended: 392 pm_runtime_set_suspended(&client->dev); 393err_free_mem: 394 input_free_device(idev); 395 kfree(sensor); 396 return error; 397} 398 399/** 400 * mpu3050_remove - remove a sensor 401 * @client: i2c client of sensor being removed 402 * 403 * Our sensor is going away, clean up the resources. 404 */ 405static int mpu3050_remove(struct i2c_client *client) 406{ 407 struct mpu3050_sensor *sensor = i2c_get_clientdata(client); 408 409 pm_runtime_disable(&client->dev); 410 pm_runtime_set_suspended(&client->dev); 411 412 free_irq(client->irq, sensor); 413 input_unregister_device(sensor->idev); 414 kfree(sensor); 415 416 return 0; 417} 418 419#ifdef CONFIG_PM 420/** 421 * mpu3050_suspend - called on device suspend 422 * @dev: device being suspended 423 * 424 * Put the device into sleep mode before we suspend the machine. 425 */ 426static int mpu3050_suspend(struct device *dev) 427{ 428 struct i2c_client *client = to_i2c_client(dev); 429 430 mpu3050_set_power_mode(client, 0); 431 432 return 0; 433} 434 435/** 436 * mpu3050_resume - called on device resume 437 * @dev: device being resumed 438 * 439 * Put the device into powered mode on resume. 440 */ 441static int mpu3050_resume(struct device *dev) 442{ 443 struct i2c_client *client = to_i2c_client(dev); 444 445 mpu3050_set_power_mode(client, 1); 446 msleep(100); /* wait for gyro chip resume */ 447 448 return 0; 449} 450#endif 451 452static UNIVERSAL_DEV_PM_OPS(mpu3050_pm, mpu3050_suspend, mpu3050_resume, NULL); 453 454static const struct i2c_device_id mpu3050_ids[] = { 455 { "mpu3050", 0 }, 456 { } 457}; 458MODULE_DEVICE_TABLE(i2c, mpu3050_ids); 459 460static const struct of_device_id mpu3050_of_match[] = { 461 { .compatible = "invn,mpu3050", }, 462 { }, 463}; 464MODULE_DEVICE_TABLE(of, mpu3050_of_match); 465 466static struct i2c_driver mpu3050_i2c_driver = { 467 .driver = { 468 .name = "mpu3050", 469 .owner = THIS_MODULE, 470 .pm = &mpu3050_pm, 471 .of_match_table = mpu3050_of_match, 472 }, 473 .probe = mpu3050_probe, 474 .remove = mpu3050_remove, 475 .id_table = mpu3050_ids, 476}; 477 478module_i2c_driver(mpu3050_i2c_driver); 479 480MODULE_AUTHOR("Wistron Corp."); 481MODULE_DESCRIPTION("MPU3050 Tri-axis gyroscope driver"); 482MODULE_LICENSE("GPL"); 483