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/bitfield.h>
17 #include <linux/bitops.h>
18 #include <linux/delay.h>
19 #include <linux/err.h>
20 #include <linux/iio/buffer.h>
21 #include <linux/iio/iio.h>
22 #include <linux/iio/sysfs.h>
23 #include <linux/iio/trigger.h>
24 #include <linux/iio/trigger_consumer.h>
25 #include <linux/iio/triggered_buffer.h>
26 #include <linux/interrupt.h>
27 #include <linux/module.h>
28 #include <linux/pm_runtime.h>
29 #include <linux/property.h>
30 #include <linux/random.h>
31 #include <linux/slab.h>
32
33 #include "mpu3050.h"
34
35 #define MPU3050_CHIP_ID 0x68
36 #define MPU3050_CHIP_ID_MASK 0x7E
37
38 /*
39 * Register map: anything suffixed *_H is a big-endian high byte and always
40 * followed by the corresponding low byte (*_L) even though these are not
41 * explicitly included in the register definitions.
42 */
43 #define MPU3050_CHIP_ID_REG 0x00
44 #define MPU3050_PRODUCT_ID_REG 0x01
45 #define MPU3050_XG_OFFS_TC 0x05
46 #define MPU3050_YG_OFFS_TC 0x08
47 #define MPU3050_ZG_OFFS_TC 0x0B
48 #define MPU3050_X_OFFS_USR_H 0x0C
49 #define MPU3050_Y_OFFS_USR_H 0x0E
50 #define MPU3050_Z_OFFS_USR_H 0x10
51 #define MPU3050_FIFO_EN 0x12
52 #define MPU3050_AUX_VDDIO 0x13
53 #define MPU3050_SLV_ADDR 0x14
54 #define MPU3050_SMPLRT_DIV 0x15
55 #define MPU3050_DLPF_FS_SYNC 0x16
56 #define MPU3050_INT_CFG 0x17
57 #define MPU3050_AUX_ADDR 0x18
58 #define MPU3050_INT_STATUS 0x1A
59 #define MPU3050_TEMP_H 0x1B
60 #define MPU3050_XOUT_H 0x1D
61 #define MPU3050_YOUT_H 0x1F
62 #define MPU3050_ZOUT_H 0x21
63 #define MPU3050_DMP_CFG1 0x35
64 #define MPU3050_DMP_CFG2 0x36
65 #define MPU3050_BANK_SEL 0x37
66 #define MPU3050_MEM_START_ADDR 0x38
67 #define MPU3050_MEM_R_W 0x39
68 #define MPU3050_FIFO_COUNT_H 0x3A
69 #define MPU3050_FIFO_R 0x3C
70 #define MPU3050_USR_CTRL 0x3D
71 #define MPU3050_PWR_MGM 0x3E
72
73 /* MPU memory bank read options */
74 #define MPU3050_MEM_PRFTCH BIT(5)
75 #define MPU3050_MEM_USER_BANK BIT(4)
76 /* Bits 8-11 select memory bank */
77 #define MPU3050_MEM_RAM_BANK_0 0
78 #define MPU3050_MEM_RAM_BANK_1 1
79 #define MPU3050_MEM_RAM_BANK_2 2
80 #define MPU3050_MEM_RAM_BANK_3 3
81 #define MPU3050_MEM_OTP_BANK_0 4
82
83 #define MPU3050_AXIS_REGS(axis) (MPU3050_XOUT_H + (axis * 2))
84
85 /* Register bits */
86
87 /* FIFO Enable */
88 #define MPU3050_FIFO_EN_FOOTER BIT(0)
89 #define MPU3050_FIFO_EN_AUX_ZOUT BIT(1)
90 #define MPU3050_FIFO_EN_AUX_YOUT BIT(2)
91 #define MPU3050_FIFO_EN_AUX_XOUT BIT(3)
92 #define MPU3050_FIFO_EN_GYRO_ZOUT BIT(4)
93 #define MPU3050_FIFO_EN_GYRO_YOUT BIT(5)
94 #define MPU3050_FIFO_EN_GYRO_XOUT BIT(6)
95 #define MPU3050_FIFO_EN_TEMP_OUT BIT(7)
96
97 /*
98 * Digital Low Pass filter (DLPF)
99 * Full Scale (FS)
100 * and Synchronization
101 */
102 #define MPU3050_EXT_SYNC_NONE 0x00
103 #define MPU3050_EXT_SYNC_TEMP 0x20
104 #define MPU3050_EXT_SYNC_GYROX 0x40
105 #define MPU3050_EXT_SYNC_GYROY 0x60
106 #define MPU3050_EXT_SYNC_GYROZ 0x80
107 #define MPU3050_EXT_SYNC_ACCELX 0xA0
108 #define MPU3050_EXT_SYNC_ACCELY 0xC0
109 #define MPU3050_EXT_SYNC_ACCELZ 0xE0
110 #define MPU3050_EXT_SYNC_MASK 0xE0
111 #define MPU3050_EXT_SYNC_SHIFT 5
112
113 #define MPU3050_FS_250DPS 0x00
114 #define MPU3050_FS_500DPS 0x08
115 #define MPU3050_FS_1000DPS 0x10
116 #define MPU3050_FS_2000DPS 0x18
117 #define MPU3050_FS_MASK 0x18
118 #define MPU3050_FS_SHIFT 3
119
120 #define MPU3050_DLPF_CFG_256HZ_NOLPF2 0x00
121 #define MPU3050_DLPF_CFG_188HZ 0x01
122 #define MPU3050_DLPF_CFG_98HZ 0x02
123 #define MPU3050_DLPF_CFG_42HZ 0x03
124 #define MPU3050_DLPF_CFG_20HZ 0x04
125 #define MPU3050_DLPF_CFG_10HZ 0x05
126 #define MPU3050_DLPF_CFG_5HZ 0x06
127 #define MPU3050_DLPF_CFG_2100HZ_NOLPF 0x07
128 #define MPU3050_DLPF_CFG_MASK 0x07
129 #define MPU3050_DLPF_CFG_SHIFT 0
130
131 /* Interrupt config */
132 #define MPU3050_INT_RAW_RDY_EN BIT(0)
133 #define MPU3050_INT_DMP_DONE_EN BIT(1)
134 #define MPU3050_INT_MPU_RDY_EN BIT(2)
135 #define MPU3050_INT_ANYRD_2CLEAR BIT(4)
136 #define MPU3050_INT_LATCH_EN BIT(5)
137 #define MPU3050_INT_OPEN BIT(6)
138 #define MPU3050_INT_ACTL BIT(7)
139 /* Interrupt status */
140 #define MPU3050_INT_STATUS_RAW_RDY BIT(0)
141 #define MPU3050_INT_STATUS_DMP_DONE BIT(1)
142 #define MPU3050_INT_STATUS_MPU_RDY BIT(2)
143 #define MPU3050_INT_STATUS_FIFO_OVFLW BIT(7)
144 /* USR_CTRL */
145 #define MPU3050_USR_CTRL_FIFO_EN BIT(6)
146 #define MPU3050_USR_CTRL_AUX_IF_EN BIT(5)
147 #define MPU3050_USR_CTRL_AUX_IF_RST BIT(3)
148 #define MPU3050_USR_CTRL_FIFO_RST BIT(1)
149 #define MPU3050_USR_CTRL_GYRO_RST BIT(0)
150 /* PWR_MGM */
151 #define MPU3050_PWR_MGM_PLL_X 0x01
152 #define MPU3050_PWR_MGM_PLL_Y 0x02
153 #define MPU3050_PWR_MGM_PLL_Z 0x03
154 #define MPU3050_PWR_MGM_CLKSEL_MASK 0x07
155 #define MPU3050_PWR_MGM_STBY_ZG BIT(3)
156 #define MPU3050_PWR_MGM_STBY_YG BIT(4)
157 #define MPU3050_PWR_MGM_STBY_XG BIT(5)
158 #define MPU3050_PWR_MGM_SLEEP BIT(6)
159 #define MPU3050_PWR_MGM_RESET BIT(7)
160 #define MPU3050_PWR_MGM_MASK 0xff
161
162 /*
163 * Fullscale precision is (for finest precision) +/- 250 deg/s, so the full
164 * scale is actually 500 deg/s. All 16 bits are then used to cover this scale,
165 * in two's complement.
166 */
167 static unsigned int mpu3050_fs_precision[] = {
168 IIO_DEGREE_TO_RAD(250),
169 IIO_DEGREE_TO_RAD(500),
170 IIO_DEGREE_TO_RAD(1000),
171 IIO_DEGREE_TO_RAD(2000)
172 };
173
174 /*
175 * Regulator names
176 */
177 static const char mpu3050_reg_vdd[] = "vdd";
178 static const char mpu3050_reg_vlogic[] = "vlogic";
179
mpu3050_get_freq(struct mpu3050 * mpu3050)180 static unsigned int mpu3050_get_freq(struct mpu3050 *mpu3050)
181 {
182 unsigned int freq;
183
184 if (mpu3050->lpf == MPU3050_DLPF_CFG_256HZ_NOLPF2)
185 freq = 8000;
186 else
187 freq = 1000;
188 freq /= (mpu3050->divisor + 1);
189
190 return freq;
191 }
192
mpu3050_start_sampling(struct mpu3050 * mpu3050)193 static int mpu3050_start_sampling(struct mpu3050 *mpu3050)
194 {
195 __be16 raw_val[3];
196 int ret;
197 int i;
198
199 /* Reset */
200 ret = regmap_set_bits(mpu3050->map, MPU3050_PWR_MGM,
201 MPU3050_PWR_MGM_RESET);
202 if (ret)
203 return ret;
204
205 /* Turn on the Z-axis PLL */
206 ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
207 MPU3050_PWR_MGM_CLKSEL_MASK,
208 MPU3050_PWR_MGM_PLL_Z);
209 if (ret)
210 return ret;
211
212 /* Write calibration offset registers */
213 for (i = 0; i < 3; i++)
214 raw_val[i] = cpu_to_be16(mpu3050->calibration[i]);
215
216 ret = regmap_bulk_write(mpu3050->map, MPU3050_X_OFFS_USR_H, raw_val,
217 sizeof(raw_val));
218 if (ret)
219 return ret;
220
221 /* Set low pass filter (sample rate), sync and full scale */
222 ret = regmap_write(mpu3050->map, MPU3050_DLPF_FS_SYNC,
223 MPU3050_EXT_SYNC_NONE << MPU3050_EXT_SYNC_SHIFT |
224 mpu3050->fullscale << MPU3050_FS_SHIFT |
225 mpu3050->lpf << MPU3050_DLPF_CFG_SHIFT);
226 if (ret)
227 return ret;
228
229 /* Set up sampling frequency */
230 ret = regmap_write(mpu3050->map, MPU3050_SMPLRT_DIV, mpu3050->divisor);
231 if (ret)
232 return ret;
233
234 /*
235 * Max 50 ms start-up time after setting DLPF_FS_SYNC
236 * according to the data sheet, then wait for the next sample
237 * at this frequency T = 1000/f ms.
238 */
239 msleep(50 + 1000 / mpu3050_get_freq(mpu3050));
240
241 return 0;
242 }
243
mpu3050_set_8khz_samplerate(struct mpu3050 * mpu3050)244 static int mpu3050_set_8khz_samplerate(struct mpu3050 *mpu3050)
245 {
246 int ret;
247 u8 divisor;
248 enum mpu3050_lpf lpf;
249
250 lpf = mpu3050->lpf;
251 divisor = mpu3050->divisor;
252
253 mpu3050->lpf = LPF_256_HZ_NOLPF; /* 8 kHz base frequency */
254 mpu3050->divisor = 0; /* Divide by 1 */
255 ret = mpu3050_start_sampling(mpu3050);
256
257 mpu3050->lpf = lpf;
258 mpu3050->divisor = divisor;
259
260 return ret;
261 }
262
mpu3050_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)263 static int mpu3050_read_raw(struct iio_dev *indio_dev,
264 struct iio_chan_spec const *chan,
265 int *val, int *val2,
266 long mask)
267 {
268 struct mpu3050 *mpu3050 = iio_priv(indio_dev);
269 int ret;
270 __be16 raw_val;
271
272 switch (mask) {
273 case IIO_CHAN_INFO_OFFSET:
274 switch (chan->type) {
275 case IIO_TEMP:
276 /*
277 * The temperature scaling is (x+23000)/280 Celsius
278 * for the "best fit straight line" temperature range
279 * of -30C..85C. The 23000 includes room temperature
280 * offset of +35C, 280 is the precision scale and x is
281 * the 16-bit signed integer reported by hardware.
282 *
283 * Temperature value itself represents temperature of
284 * the sensor die.
285 */
286 *val = 23000;
287 return IIO_VAL_INT;
288 default:
289 return -EINVAL;
290 }
291 case IIO_CHAN_INFO_CALIBBIAS:
292 switch (chan->type) {
293 case IIO_ANGL_VEL:
294 *val = mpu3050->calibration[chan->scan_index-1];
295 return IIO_VAL_INT;
296 default:
297 return -EINVAL;
298 }
299 case IIO_CHAN_INFO_SAMP_FREQ:
300 *val = mpu3050_get_freq(mpu3050);
301 return IIO_VAL_INT;
302 case IIO_CHAN_INFO_SCALE:
303 switch (chan->type) {
304 case IIO_TEMP:
305 /* Millidegrees, see about temperature scaling above */
306 *val = 1000;
307 *val2 = 280;
308 return IIO_VAL_FRACTIONAL;
309 case IIO_ANGL_VEL:
310 /*
311 * Convert to the corresponding full scale in
312 * radians. All 16 bits are used with sign to
313 * span the available scale: to account for the one
314 * missing value if we multiply by 1/S16_MAX, instead
315 * multiply with 2/U16_MAX.
316 */
317 *val = mpu3050_fs_precision[mpu3050->fullscale] * 2;
318 *val2 = U16_MAX;
319 return IIO_VAL_FRACTIONAL;
320 default:
321 return -EINVAL;
322 }
323 case IIO_CHAN_INFO_RAW:
324 /* Resume device */
325 pm_runtime_get_sync(mpu3050->dev);
326 mutex_lock(&mpu3050->lock);
327
328 ret = mpu3050_set_8khz_samplerate(mpu3050);
329 if (ret)
330 goto out_read_raw_unlock;
331
332 switch (chan->type) {
333 case IIO_TEMP:
334 ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H,
335 &raw_val, sizeof(raw_val));
336 if (ret) {
337 dev_err(mpu3050->dev,
338 "error reading temperature\n");
339 goto out_read_raw_unlock;
340 }
341
342 *val = (s16)be16_to_cpu(raw_val);
343 ret = IIO_VAL_INT;
344
345 goto out_read_raw_unlock;
346 case IIO_ANGL_VEL:
347 ret = regmap_bulk_read(mpu3050->map,
348 MPU3050_AXIS_REGS(chan->scan_index-1),
349 &raw_val,
350 sizeof(raw_val));
351 if (ret) {
352 dev_err(mpu3050->dev,
353 "error reading axis data\n");
354 goto out_read_raw_unlock;
355 }
356
357 *val = be16_to_cpu(raw_val);
358 ret = IIO_VAL_INT;
359
360 goto out_read_raw_unlock;
361 default:
362 ret = -EINVAL;
363 goto out_read_raw_unlock;
364 }
365 default:
366 break;
367 }
368
369 return -EINVAL;
370
371 out_read_raw_unlock:
372 mutex_unlock(&mpu3050->lock);
373 pm_runtime_mark_last_busy(mpu3050->dev);
374 pm_runtime_put_autosuspend(mpu3050->dev);
375
376 return ret;
377 }
378
mpu3050_write_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int val,int val2,long mask)379 static int mpu3050_write_raw(struct iio_dev *indio_dev,
380 const struct iio_chan_spec *chan,
381 int val, int val2, long mask)
382 {
383 struct mpu3050 *mpu3050 = iio_priv(indio_dev);
384 /*
385 * Couldn't figure out a way to precalculate these at compile time.
386 */
387 unsigned int fs250 =
388 DIV_ROUND_CLOSEST(mpu3050_fs_precision[0] * 1000000 * 2,
389 U16_MAX);
390 unsigned int fs500 =
391 DIV_ROUND_CLOSEST(mpu3050_fs_precision[1] * 1000000 * 2,
392 U16_MAX);
393 unsigned int fs1000 =
394 DIV_ROUND_CLOSEST(mpu3050_fs_precision[2] * 1000000 * 2,
395 U16_MAX);
396 unsigned int fs2000 =
397 DIV_ROUND_CLOSEST(mpu3050_fs_precision[3] * 1000000 * 2,
398 U16_MAX);
399
400 switch (mask) {
401 case IIO_CHAN_INFO_CALIBBIAS:
402 if (chan->type != IIO_ANGL_VEL)
403 return -EINVAL;
404 mpu3050->calibration[chan->scan_index-1] = val;
405 return 0;
406 case IIO_CHAN_INFO_SAMP_FREQ:
407 /*
408 * The max samplerate is 8000 Hz, the minimum
409 * 1000 / 256 ~= 4 Hz
410 */
411 if (val < 4 || val > 8000)
412 return -EINVAL;
413
414 /*
415 * Above 1000 Hz we must turn off the digital low pass filter
416 * so we get a base frequency of 8kHz to the divider
417 */
418 if (val > 1000) {
419 mpu3050->lpf = LPF_256_HZ_NOLPF;
420 mpu3050->divisor = DIV_ROUND_CLOSEST(8000, val) - 1;
421 return 0;
422 }
423
424 mpu3050->lpf = LPF_188_HZ;
425 mpu3050->divisor = DIV_ROUND_CLOSEST(1000, val) - 1;
426 return 0;
427 case IIO_CHAN_INFO_SCALE:
428 if (chan->type != IIO_ANGL_VEL)
429 return -EINVAL;
430 /*
431 * We support +/-250, +/-500, +/-1000 and +/2000 deg/s
432 * which means we need to round to the closest radians
433 * which will be roughly +/-4.3, +/-8.7, +/-17.5, +/-35
434 * rad/s. The scale is then for the 16 bits used to cover
435 * it 2/(2^16) of that.
436 */
437
438 /* Just too large, set the max range */
439 if (val != 0) {
440 mpu3050->fullscale = FS_2000_DPS;
441 return 0;
442 }
443
444 /*
445 * Now we're dealing with fractions below zero in millirad/s
446 * do some integer interpolation and match with the closest
447 * fullscale in the table.
448 */
449 if (val2 <= fs250 ||
450 val2 < ((fs500 + fs250) / 2))
451 mpu3050->fullscale = FS_250_DPS;
452 else if (val2 <= fs500 ||
453 val2 < ((fs1000 + fs500) / 2))
454 mpu3050->fullscale = FS_500_DPS;
455 else if (val2 <= fs1000 ||
456 val2 < ((fs2000 + fs1000) / 2))
457 mpu3050->fullscale = FS_1000_DPS;
458 else
459 /* Catch-all */
460 mpu3050->fullscale = FS_2000_DPS;
461 return 0;
462 default:
463 break;
464 }
465
466 return -EINVAL;
467 }
468
mpu3050_trigger_handler(int irq,void * p)469 static irqreturn_t mpu3050_trigger_handler(int irq, void *p)
470 {
471 const struct iio_poll_func *pf = p;
472 struct iio_dev *indio_dev = pf->indio_dev;
473 struct mpu3050 *mpu3050 = iio_priv(indio_dev);
474 int ret;
475 struct {
476 __be16 chans[4];
477 s64 timestamp __aligned(8);
478 } scan;
479 s64 timestamp;
480 unsigned int datums_from_fifo = 0;
481
482 /*
483 * If we're using the hardware trigger, get the precise timestamp from
484 * the top half of the threaded IRQ handler. Otherwise get the
485 * timestamp here so it will be close in time to the actual values
486 * read from the registers.
487 */
488 if (iio_trigger_using_own(indio_dev))
489 timestamp = mpu3050->hw_timestamp;
490 else
491 timestamp = iio_get_time_ns(indio_dev);
492
493 mutex_lock(&mpu3050->lock);
494
495 /* Using the hardware IRQ trigger? Check the buffer then. */
496 if (mpu3050->hw_irq_trigger) {
497 __be16 raw_fifocnt;
498 u16 fifocnt;
499 /* X, Y, Z + temperature */
500 unsigned int bytes_per_datum = 8;
501 bool fifo_overflow = false;
502
503 ret = regmap_bulk_read(mpu3050->map,
504 MPU3050_FIFO_COUNT_H,
505 &raw_fifocnt,
506 sizeof(raw_fifocnt));
507 if (ret)
508 goto out_trigger_unlock;
509 fifocnt = be16_to_cpu(raw_fifocnt);
510
511 if (fifocnt == 512) {
512 dev_info(mpu3050->dev,
513 "FIFO overflow! Emptying and resetting FIFO\n");
514 fifo_overflow = true;
515 /* Reset and enable the FIFO */
516 ret = regmap_set_bits(mpu3050->map, MPU3050_USR_CTRL,
517 MPU3050_USR_CTRL_FIFO_EN |
518 MPU3050_USR_CTRL_FIFO_RST);
519 if (ret) {
520 dev_info(mpu3050->dev, "error resetting FIFO\n");
521 goto out_trigger_unlock;
522 }
523 mpu3050->pending_fifo_footer = false;
524 }
525
526 if (fifocnt)
527 dev_dbg(mpu3050->dev,
528 "%d bytes in the FIFO\n",
529 fifocnt);
530
531 while (!fifo_overflow && fifocnt > bytes_per_datum) {
532 unsigned int toread;
533 unsigned int offset;
534 __be16 fifo_values[5];
535
536 /*
537 * If there is a FIFO footer in the pipe, first clear
538 * that out. This follows the complex algorithm in the
539 * datasheet that states that you may never leave the
540 * FIFO empty after the first reading: you have to
541 * always leave two footer bytes in it. The footer is
542 * in practice just two zero bytes.
543 */
544 if (mpu3050->pending_fifo_footer) {
545 toread = bytes_per_datum + 2;
546 offset = 0;
547 } else {
548 toread = bytes_per_datum;
549 offset = 1;
550 /* Put in some dummy value */
551 fifo_values[0] = cpu_to_be16(0xAAAA);
552 }
553
554 ret = regmap_bulk_read(mpu3050->map,
555 MPU3050_FIFO_R,
556 &fifo_values[offset],
557 toread);
558 if (ret)
559 goto out_trigger_unlock;
560
561 dev_dbg(mpu3050->dev,
562 "%04x %04x %04x %04x %04x\n",
563 fifo_values[0],
564 fifo_values[1],
565 fifo_values[2],
566 fifo_values[3],
567 fifo_values[4]);
568
569 /* Index past the footer (fifo_values[0]) and push */
570 iio_push_to_buffers_with_ts_unaligned(indio_dev,
571 &fifo_values[1],
572 sizeof(__be16) * 4,
573 timestamp);
574
575 fifocnt -= toread;
576 datums_from_fifo++;
577 mpu3050->pending_fifo_footer = true;
578
579 /*
580 * If we're emptying the FIFO, just make sure to
581 * check if something new appeared.
582 */
583 if (fifocnt < bytes_per_datum) {
584 ret = regmap_bulk_read(mpu3050->map,
585 MPU3050_FIFO_COUNT_H,
586 &raw_fifocnt,
587 sizeof(raw_fifocnt));
588 if (ret)
589 goto out_trigger_unlock;
590 fifocnt = be16_to_cpu(raw_fifocnt);
591 }
592
593 if (fifocnt < bytes_per_datum)
594 dev_dbg(mpu3050->dev,
595 "%d bytes left in the FIFO\n",
596 fifocnt);
597
598 /*
599 * At this point, the timestamp that triggered the
600 * hardware interrupt is no longer valid for what
601 * we are reading (the interrupt likely fired for
602 * the value on the top of the FIFO), so set the
603 * timestamp to zero and let userspace deal with it.
604 */
605 timestamp = 0;
606 }
607 }
608
609 /*
610 * If we picked some datums from the FIFO that's enough, else
611 * fall through and just read from the current value registers.
612 * This happens in two cases:
613 *
614 * - We are using some other trigger (external, like an HRTimer)
615 * than the sensor's own sample generator. In this case the
616 * sensor is just set to the max sampling frequency and we give
617 * the trigger a copy of the latest value every time we get here.
618 *
619 * - The hardware trigger is active but unused and we actually use
620 * another trigger which calls here with a frequency higher
621 * than what the device provides data. We will then just read
622 * duplicate values directly from the hardware registers.
623 */
624 if (datums_from_fifo) {
625 dev_dbg(mpu3050->dev,
626 "read %d datums from the FIFO\n",
627 datums_from_fifo);
628 goto out_trigger_unlock;
629 }
630
631 ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H, scan.chans,
632 sizeof(scan.chans));
633 if (ret) {
634 dev_err(mpu3050->dev,
635 "error reading axis data\n");
636 goto out_trigger_unlock;
637 }
638
639 iio_push_to_buffers_with_timestamp(indio_dev, &scan, timestamp);
640
641 out_trigger_unlock:
642 mutex_unlock(&mpu3050->lock);
643 iio_trigger_notify_done(indio_dev->trig);
644
645 return IRQ_HANDLED;
646 }
647
mpu3050_buffer_preenable(struct iio_dev * indio_dev)648 static int mpu3050_buffer_preenable(struct iio_dev *indio_dev)
649 {
650 struct mpu3050 *mpu3050 = iio_priv(indio_dev);
651
652 pm_runtime_get_sync(mpu3050->dev);
653
654 /* Unless we have OUR trigger active, run at full speed */
655 if (!mpu3050->hw_irq_trigger)
656 return mpu3050_set_8khz_samplerate(mpu3050);
657
658 return 0;
659 }
660
mpu3050_buffer_postdisable(struct iio_dev * indio_dev)661 static int mpu3050_buffer_postdisable(struct iio_dev *indio_dev)
662 {
663 struct mpu3050 *mpu3050 = iio_priv(indio_dev);
664
665 pm_runtime_mark_last_busy(mpu3050->dev);
666 pm_runtime_put_autosuspend(mpu3050->dev);
667
668 return 0;
669 }
670
671 static const struct iio_buffer_setup_ops mpu3050_buffer_setup_ops = {
672 .preenable = mpu3050_buffer_preenable,
673 .postdisable = mpu3050_buffer_postdisable,
674 };
675
676 static const struct iio_mount_matrix *
mpu3050_get_mount_matrix(const struct iio_dev * indio_dev,const struct iio_chan_spec * chan)677 mpu3050_get_mount_matrix(const struct iio_dev *indio_dev,
678 const struct iio_chan_spec *chan)
679 {
680 struct mpu3050 *mpu3050 = iio_priv(indio_dev);
681
682 return &mpu3050->orientation;
683 }
684
685 static const struct iio_chan_spec_ext_info mpu3050_ext_info[] = {
686 IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, mpu3050_get_mount_matrix),
687 { },
688 };
689
690 #define MPU3050_AXIS_CHANNEL(axis, index) \
691 { \
692 .type = IIO_ANGL_VEL, \
693 .modified = 1, \
694 .channel2 = IIO_MOD_##axis, \
695 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
696 BIT(IIO_CHAN_INFO_CALIBBIAS), \
697 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
698 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),\
699 .ext_info = mpu3050_ext_info, \
700 .scan_index = index, \
701 .scan_type = { \
702 .sign = 's', \
703 .realbits = 16, \
704 .storagebits = 16, \
705 .endianness = IIO_BE, \
706 }, \
707 }
708
709 static const struct iio_chan_spec mpu3050_channels[] = {
710 {
711 .type = IIO_TEMP,
712 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
713 BIT(IIO_CHAN_INFO_SCALE) |
714 BIT(IIO_CHAN_INFO_OFFSET),
715 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
716 .scan_index = 0,
717 .scan_type = {
718 .sign = 's',
719 .realbits = 16,
720 .storagebits = 16,
721 .endianness = IIO_BE,
722 },
723 },
724 MPU3050_AXIS_CHANNEL(X, 1),
725 MPU3050_AXIS_CHANNEL(Y, 2),
726 MPU3050_AXIS_CHANNEL(Z, 3),
727 IIO_CHAN_SOFT_TIMESTAMP(4),
728 };
729
730 /* Four channels apart from timestamp, scan mask = 0x0f */
731 static const unsigned long mpu3050_scan_masks[] = { 0xf, 0 };
732
733 /*
734 * These are just the hardcoded factors resulting from the more elaborate
735 * calculations done with fractions in the scale raw get/set functions.
736 */
737 static IIO_CONST_ATTR(anglevel_scale_available,
738 "0.000122070 "
739 "0.000274658 "
740 "0.000518798 "
741 "0.001068115");
742
743 static struct attribute *mpu3050_attributes[] = {
744 &iio_const_attr_anglevel_scale_available.dev_attr.attr,
745 NULL,
746 };
747
748 static const struct attribute_group mpu3050_attribute_group = {
749 .attrs = mpu3050_attributes,
750 };
751
752 static const struct iio_info mpu3050_info = {
753 .read_raw = mpu3050_read_raw,
754 .write_raw = mpu3050_write_raw,
755 .attrs = &mpu3050_attribute_group,
756 };
757
758 /**
759 * mpu3050_read_mem() - read MPU-3050 internal memory
760 * @mpu3050: device to read from
761 * @bank: target bank
762 * @addr: target address
763 * @len: number of bytes
764 * @buf: the buffer to store the read bytes in
765 */
mpu3050_read_mem(struct mpu3050 * mpu3050,u8 bank,u8 addr,u8 len,u8 * buf)766 static int mpu3050_read_mem(struct mpu3050 *mpu3050,
767 u8 bank,
768 u8 addr,
769 u8 len,
770 u8 *buf)
771 {
772 int ret;
773
774 ret = regmap_write(mpu3050->map,
775 MPU3050_BANK_SEL,
776 bank);
777 if (ret)
778 return ret;
779
780 ret = regmap_write(mpu3050->map,
781 MPU3050_MEM_START_ADDR,
782 addr);
783 if (ret)
784 return ret;
785
786 return regmap_bulk_read(mpu3050->map,
787 MPU3050_MEM_R_W,
788 buf,
789 len);
790 }
791
mpu3050_hw_init(struct mpu3050 * mpu3050)792 static int mpu3050_hw_init(struct mpu3050 *mpu3050)
793 {
794 int ret;
795 __le64 otp_le;
796 u64 otp;
797
798 /* Reset */
799 ret = regmap_set_bits(mpu3050->map, MPU3050_PWR_MGM,
800 MPU3050_PWR_MGM_RESET);
801 if (ret)
802 return ret;
803
804 /* Turn on the PLL */
805 ret = regmap_update_bits(mpu3050->map,
806 MPU3050_PWR_MGM,
807 MPU3050_PWR_MGM_CLKSEL_MASK,
808 MPU3050_PWR_MGM_PLL_Z);
809 if (ret)
810 return ret;
811
812 /* Disable IRQs */
813 ret = regmap_write(mpu3050->map,
814 MPU3050_INT_CFG,
815 0);
816 if (ret)
817 return ret;
818
819 /* Read out the 8 bytes of OTP (one-time-programmable) memory */
820 ret = mpu3050_read_mem(mpu3050,
821 (MPU3050_MEM_PRFTCH |
822 MPU3050_MEM_USER_BANK |
823 MPU3050_MEM_OTP_BANK_0),
824 0,
825 sizeof(otp_le),
826 (u8 *)&otp_le);
827 if (ret)
828 return ret;
829
830 /* This is device-unique data so it goes into the entropy pool */
831 add_device_randomness(&otp_le, sizeof(otp_le));
832
833 otp = le64_to_cpu(otp_le);
834
835 dev_info(mpu3050->dev,
836 "die ID: %04llX, wafer ID: %02llX, A lot ID: %04llX, "
837 "W lot ID: %03llX, WP ID: %01llX, rev ID: %02llX\n",
838 /* Die ID, bits 0-12 */
839 FIELD_GET(GENMASK_ULL(12, 0), otp),
840 /* Wafer ID, bits 13-17 */
841 FIELD_GET(GENMASK_ULL(17, 13), otp),
842 /* A lot ID, bits 18-33 */
843 FIELD_GET(GENMASK_ULL(33, 18), otp),
844 /* W lot ID, bits 34-45 */
845 FIELD_GET(GENMASK_ULL(45, 34), otp),
846 /* WP ID, bits 47-49 */
847 FIELD_GET(GENMASK_ULL(49, 47), otp),
848 /* rev ID, bits 50-55 */
849 FIELD_GET(GENMASK_ULL(55, 50), otp));
850
851 return 0;
852 }
853
mpu3050_power_up(struct mpu3050 * mpu3050)854 static int mpu3050_power_up(struct mpu3050 *mpu3050)
855 {
856 int ret;
857
858 ret = regulator_bulk_enable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs);
859 if (ret) {
860 dev_err(mpu3050->dev, "cannot enable regulators\n");
861 return ret;
862 }
863 /*
864 * 20-100 ms start-up time for register read/write according to
865 * the datasheet, be on the safe side and wait 200 ms.
866 */
867 msleep(200);
868
869 /* Take device out of sleep mode */
870 ret = regmap_clear_bits(mpu3050->map, MPU3050_PWR_MGM,
871 MPU3050_PWR_MGM_SLEEP);
872 if (ret) {
873 regulator_bulk_disable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs);
874 dev_err(mpu3050->dev, "error setting power mode\n");
875 return ret;
876 }
877 usleep_range(10000, 20000);
878
879 return 0;
880 }
881
mpu3050_power_down(struct mpu3050 * mpu3050)882 static int mpu3050_power_down(struct mpu3050 *mpu3050)
883 {
884 int ret;
885
886 /*
887 * Put MPU-3050 into sleep mode before cutting regulators.
888 * This is important, because we may not be the sole user
889 * of the regulator so the power may stay on after this, and
890 * then we would be wasting power unless we go to sleep mode
891 * first.
892 */
893 ret = regmap_set_bits(mpu3050->map, MPU3050_PWR_MGM,
894 MPU3050_PWR_MGM_SLEEP);
895 if (ret)
896 dev_err(mpu3050->dev, "error putting to sleep\n");
897
898 ret = regulator_bulk_disable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs);
899 if (ret)
900 dev_err(mpu3050->dev, "error disabling regulators\n");
901
902 return 0;
903 }
904
mpu3050_irq_handler(int irq,void * p)905 static irqreturn_t mpu3050_irq_handler(int irq, void *p)
906 {
907 struct iio_trigger *trig = p;
908 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
909 struct mpu3050 *mpu3050 = iio_priv(indio_dev);
910
911 if (!mpu3050->hw_irq_trigger)
912 return IRQ_NONE;
913
914 /* Get the time stamp as close in time as possible */
915 mpu3050->hw_timestamp = iio_get_time_ns(indio_dev);
916
917 return IRQ_WAKE_THREAD;
918 }
919
mpu3050_irq_thread(int irq,void * p)920 static irqreturn_t mpu3050_irq_thread(int irq, void *p)
921 {
922 struct iio_trigger *trig = p;
923 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
924 struct mpu3050 *mpu3050 = iio_priv(indio_dev);
925 unsigned int val;
926 int ret;
927
928 /* ACK IRQ and check if it was from us */
929 ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
930 if (ret) {
931 dev_err(mpu3050->dev, "error reading IRQ status\n");
932 return IRQ_HANDLED;
933 }
934 if (!(val & MPU3050_INT_STATUS_RAW_RDY))
935 return IRQ_NONE;
936
937 iio_trigger_poll_nested(p);
938
939 return IRQ_HANDLED;
940 }
941
942 /**
943 * mpu3050_drdy_trigger_set_state() - set data ready interrupt state
944 * @trig: trigger instance
945 * @enable: true if trigger should be enabled, false to disable
946 */
mpu3050_drdy_trigger_set_state(struct iio_trigger * trig,bool enable)947 static int mpu3050_drdy_trigger_set_state(struct iio_trigger *trig,
948 bool enable)
949 {
950 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
951 struct mpu3050 *mpu3050 = iio_priv(indio_dev);
952 unsigned int val;
953 int ret;
954
955 /* Disabling trigger: disable interrupt and return */
956 if (!enable) {
957 /* Disable all interrupts */
958 ret = regmap_write(mpu3050->map,
959 MPU3050_INT_CFG,
960 0);
961 if (ret)
962 dev_err(mpu3050->dev, "error disabling IRQ\n");
963
964 /* Clear IRQ flag */
965 ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
966 if (ret)
967 dev_err(mpu3050->dev, "error clearing IRQ status\n");
968
969 /* Disable all things in the FIFO and reset it */
970 ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0);
971 if (ret)
972 dev_err(mpu3050->dev, "error disabling FIFO\n");
973
974 ret = regmap_write(mpu3050->map, MPU3050_USR_CTRL,
975 MPU3050_USR_CTRL_FIFO_RST);
976 if (ret)
977 dev_err(mpu3050->dev, "error resetting FIFO\n");
978
979 pm_runtime_mark_last_busy(mpu3050->dev);
980 pm_runtime_put_autosuspend(mpu3050->dev);
981 mpu3050->hw_irq_trigger = false;
982
983 return 0;
984 } else {
985 /* Else we're enabling the trigger from this point */
986 pm_runtime_get_sync(mpu3050->dev);
987 mpu3050->hw_irq_trigger = true;
988
989 /* Disable all things in the FIFO */
990 ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0);
991 if (ret)
992 return ret;
993
994 /* Reset and enable the FIFO */
995 ret = regmap_set_bits(mpu3050->map, MPU3050_USR_CTRL,
996 MPU3050_USR_CTRL_FIFO_EN |
997 MPU3050_USR_CTRL_FIFO_RST);
998 if (ret)
999 return ret;
1000
1001 mpu3050->pending_fifo_footer = false;
1002
1003 /* Turn on the FIFO for temp+X+Y+Z */
1004 ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN,
1005 MPU3050_FIFO_EN_TEMP_OUT |
1006 MPU3050_FIFO_EN_GYRO_XOUT |
1007 MPU3050_FIFO_EN_GYRO_YOUT |
1008 MPU3050_FIFO_EN_GYRO_ZOUT |
1009 MPU3050_FIFO_EN_FOOTER);
1010 if (ret)
1011 return ret;
1012
1013 /* Configure the sample engine */
1014 ret = mpu3050_start_sampling(mpu3050);
1015 if (ret)
1016 return ret;
1017
1018 /* Clear IRQ flag */
1019 ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
1020 if (ret)
1021 dev_err(mpu3050->dev, "error clearing IRQ status\n");
1022
1023 /* Give us interrupts whenever there is new data ready */
1024 val = MPU3050_INT_RAW_RDY_EN;
1025
1026 if (mpu3050->irq_actl)
1027 val |= MPU3050_INT_ACTL;
1028 if (mpu3050->irq_latch)
1029 val |= MPU3050_INT_LATCH_EN;
1030 if (mpu3050->irq_opendrain)
1031 val |= MPU3050_INT_OPEN;
1032
1033 ret = regmap_write(mpu3050->map, MPU3050_INT_CFG, val);
1034 if (ret)
1035 return ret;
1036 }
1037
1038 return 0;
1039 }
1040
1041 static const struct iio_trigger_ops mpu3050_trigger_ops = {
1042 .set_trigger_state = mpu3050_drdy_trigger_set_state,
1043 };
1044
mpu3050_trigger_probe(struct iio_dev * indio_dev,int irq)1045 static int mpu3050_trigger_probe(struct iio_dev *indio_dev, int irq)
1046 {
1047 struct mpu3050 *mpu3050 = iio_priv(indio_dev);
1048 struct device *dev = mpu3050->dev;
1049 unsigned long irq_trig;
1050 int ret;
1051
1052 mpu3050->trig = devm_iio_trigger_alloc(&indio_dev->dev,
1053 "%s-dev%d",
1054 indio_dev->name,
1055 iio_device_id(indio_dev));
1056 if (!mpu3050->trig)
1057 return -ENOMEM;
1058
1059 /* Check if IRQ is open drain */
1060 mpu3050->irq_opendrain = device_property_read_bool(dev, "drive-open-drain");
1061
1062 irq_trig = irqd_get_trigger_type(irq_get_irq_data(irq));
1063 /*
1064 * Configure the interrupt generator hardware to supply whatever
1065 * the interrupt is configured for, edges low/high level low/high,
1066 * we can provide it all.
1067 */
1068 switch (irq_trig) {
1069 case IRQF_TRIGGER_RISING:
1070 dev_info(&indio_dev->dev,
1071 "pulse interrupts on the rising edge\n");
1072 break;
1073 case IRQF_TRIGGER_FALLING:
1074 mpu3050->irq_actl = true;
1075 dev_info(&indio_dev->dev,
1076 "pulse interrupts on the falling edge\n");
1077 break;
1078 case IRQF_TRIGGER_HIGH:
1079 mpu3050->irq_latch = true;
1080 dev_info(&indio_dev->dev,
1081 "interrupts active high level\n");
1082 /*
1083 * With level IRQs, we mask the IRQ until it is processed,
1084 * but with edge IRQs (pulses) we can queue several interrupts
1085 * in the top half.
1086 */
1087 irq_trig |= IRQF_ONESHOT;
1088 break;
1089 case IRQF_TRIGGER_LOW:
1090 mpu3050->irq_latch = true;
1091 mpu3050->irq_actl = true;
1092 irq_trig |= IRQF_ONESHOT;
1093 dev_info(&indio_dev->dev,
1094 "interrupts active low level\n");
1095 break;
1096 default:
1097 /* This is the most preferred mode, if possible */
1098 dev_err(&indio_dev->dev,
1099 "unsupported IRQ trigger specified (%lx), enforce "
1100 "rising edge\n", irq_trig);
1101 irq_trig = IRQF_TRIGGER_RISING;
1102 break;
1103 }
1104
1105 /* An open drain line can be shared with several devices */
1106 if (mpu3050->irq_opendrain)
1107 irq_trig |= IRQF_SHARED;
1108
1109 ret = request_threaded_irq(irq,
1110 mpu3050_irq_handler,
1111 mpu3050_irq_thread,
1112 irq_trig,
1113 mpu3050->trig->name,
1114 mpu3050->trig);
1115 if (ret) {
1116 dev_err(dev, "can't get IRQ %d, error %d\n", irq, ret);
1117 return ret;
1118 }
1119
1120 mpu3050->irq = irq;
1121 mpu3050->trig->dev.parent = dev;
1122 mpu3050->trig->ops = &mpu3050_trigger_ops;
1123 iio_trigger_set_drvdata(mpu3050->trig, indio_dev);
1124
1125 ret = iio_trigger_register(mpu3050->trig);
1126 if (ret)
1127 return ret;
1128
1129 indio_dev->trig = iio_trigger_get(mpu3050->trig);
1130
1131 return 0;
1132 }
1133
mpu3050_common_probe(struct device * dev,struct regmap * map,int irq,const char * name)1134 int mpu3050_common_probe(struct device *dev,
1135 struct regmap *map,
1136 int irq,
1137 const char *name)
1138 {
1139 struct iio_dev *indio_dev;
1140 struct mpu3050 *mpu3050;
1141 unsigned int val;
1142 int ret;
1143
1144 indio_dev = devm_iio_device_alloc(dev, sizeof(*mpu3050));
1145 if (!indio_dev)
1146 return -ENOMEM;
1147 mpu3050 = iio_priv(indio_dev);
1148
1149 mpu3050->dev = dev;
1150 mpu3050->map = map;
1151 mutex_init(&mpu3050->lock);
1152 /* Default fullscale: 2000 degrees per second */
1153 mpu3050->fullscale = FS_2000_DPS;
1154 /* 1 kHz, divide by 100, default frequency = 10 Hz */
1155 mpu3050->lpf = MPU3050_DLPF_CFG_188HZ;
1156 mpu3050->divisor = 99;
1157
1158 /* Read the mounting matrix, if present */
1159 ret = iio_read_mount_matrix(dev, &mpu3050->orientation);
1160 if (ret)
1161 return ret;
1162
1163 /* Fetch and turn on regulators */
1164 mpu3050->regs[0].supply = mpu3050_reg_vdd;
1165 mpu3050->regs[1].supply = mpu3050_reg_vlogic;
1166 ret = devm_regulator_bulk_get(dev, ARRAY_SIZE(mpu3050->regs),
1167 mpu3050->regs);
1168 if (ret) {
1169 dev_err(dev, "Cannot get regulators\n");
1170 return ret;
1171 }
1172
1173 ret = mpu3050_power_up(mpu3050);
1174 if (ret)
1175 return ret;
1176
1177 ret = regmap_read(map, MPU3050_CHIP_ID_REG, &val);
1178 if (ret) {
1179 dev_err(dev, "could not read device ID\n");
1180 ret = -ENODEV;
1181
1182 goto err_power_down;
1183 }
1184
1185 if ((val & MPU3050_CHIP_ID_MASK) != MPU3050_CHIP_ID) {
1186 dev_err(dev, "unsupported chip id %02x\n",
1187 (u8)(val & MPU3050_CHIP_ID_MASK));
1188 ret = -ENODEV;
1189 goto err_power_down;
1190 }
1191
1192 ret = regmap_read(map, MPU3050_PRODUCT_ID_REG, &val);
1193 if (ret) {
1194 dev_err(dev, "could not read device ID\n");
1195 ret = -ENODEV;
1196
1197 goto err_power_down;
1198 }
1199 dev_info(dev, "found MPU-3050 part no: %d, version: %d\n",
1200 ((val >> 4) & 0xf), (val & 0xf));
1201
1202 ret = mpu3050_hw_init(mpu3050);
1203 if (ret)
1204 goto err_power_down;
1205
1206 indio_dev->channels = mpu3050_channels;
1207 indio_dev->num_channels = ARRAY_SIZE(mpu3050_channels);
1208 indio_dev->info = &mpu3050_info;
1209 indio_dev->available_scan_masks = mpu3050_scan_masks;
1210 indio_dev->modes = INDIO_DIRECT_MODE;
1211 indio_dev->name = name;
1212
1213 ret = iio_triggered_buffer_setup(indio_dev, iio_pollfunc_store_time,
1214 mpu3050_trigger_handler,
1215 &mpu3050_buffer_setup_ops);
1216 if (ret) {
1217 dev_err(dev, "triggered buffer setup failed\n");
1218 goto err_power_down;
1219 }
1220
1221 ret = iio_device_register(indio_dev);
1222 if (ret) {
1223 dev_err(dev, "device register failed\n");
1224 goto err_cleanup_buffer;
1225 }
1226
1227 dev_set_drvdata(dev, indio_dev);
1228
1229 /* Check if we have an assigned IRQ to use as trigger */
1230 if (irq) {
1231 ret = mpu3050_trigger_probe(indio_dev, irq);
1232 if (ret)
1233 dev_err(dev, "failed to register trigger\n");
1234 }
1235
1236 /* Enable runtime PM */
1237 pm_runtime_get_noresume(dev);
1238 pm_runtime_set_active(dev);
1239 pm_runtime_enable(dev);
1240 /*
1241 * Set autosuspend to two orders of magnitude larger than the
1242 * start-up time. 100ms start-up time means 10000ms autosuspend,
1243 * i.e. 10 seconds.
1244 */
1245 pm_runtime_set_autosuspend_delay(dev, 10000);
1246 pm_runtime_use_autosuspend(dev);
1247 pm_runtime_put(dev);
1248
1249 return 0;
1250
1251 err_cleanup_buffer:
1252 iio_triggered_buffer_cleanup(indio_dev);
1253 err_power_down:
1254 mpu3050_power_down(mpu3050);
1255
1256 return ret;
1257 }
1258
mpu3050_common_remove(struct device * dev)1259 void mpu3050_common_remove(struct device *dev)
1260 {
1261 struct iio_dev *indio_dev = dev_get_drvdata(dev);
1262 struct mpu3050 *mpu3050 = iio_priv(indio_dev);
1263
1264 pm_runtime_get_sync(dev);
1265 pm_runtime_put_noidle(dev);
1266 pm_runtime_disable(dev);
1267 iio_triggered_buffer_cleanup(indio_dev);
1268 if (mpu3050->irq)
1269 free_irq(mpu3050->irq, mpu3050);
1270 iio_device_unregister(indio_dev);
1271 mpu3050_power_down(mpu3050);
1272 }
1273
mpu3050_runtime_suspend(struct device * dev)1274 static int mpu3050_runtime_suspend(struct device *dev)
1275 {
1276 return mpu3050_power_down(iio_priv(dev_get_drvdata(dev)));
1277 }
1278
mpu3050_runtime_resume(struct device * dev)1279 static int mpu3050_runtime_resume(struct device *dev)
1280 {
1281 return mpu3050_power_up(iio_priv(dev_get_drvdata(dev)));
1282 }
1283
1284 DEFINE_RUNTIME_DEV_PM_OPS(mpu3050_dev_pm_ops, mpu3050_runtime_suspend,
1285 mpu3050_runtime_resume, NULL);
1286 MODULE_AUTHOR("Linus Walleij");
1287 MODULE_DESCRIPTION("MPU3050 gyroscope driver");
1288 MODULE_LICENSE("GPL");
1289