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-rw-r--r--drivers/iio/accel/Kconfig3
-rw-r--r--drivers/iio/accel/st_accel.h1
-rw-r--r--drivers/iio/accel/st_accel_core.c73
-rw-r--r--drivers/iio/accel/st_accel_i2c.c5
-rw-r--r--drivers/iio/accel/st_accel_spi.c1
-rw-r--r--drivers/iio/adc/at91_adc.c28
-rw-r--r--drivers/iio/adc/ti_am335x_adc.c148
-rw-r--r--drivers/iio/common/Kconfig1
-rw-r--r--drivers/iio/common/Makefile1
-rw-r--r--drivers/iio/common/cros_ec_sensors/Kconfig22
-rw-r--r--drivers/iio/common/cros_ec_sensors/Makefile6
-rw-r--r--drivers/iio/common/cros_ec_sensors/cros_ec_sensors.c322
-rw-r--r--drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.c450
-rw-r--r--drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.h175
-rw-r--r--drivers/iio/common/hid-sensors/hid-sensor-attributes.c5
-rw-r--r--drivers/iio/gyro/Kconfig17
-rw-r--r--drivers/iio/gyro/Makefile5
-rw-r--r--drivers/iio/gyro/mpu3050-core.c1307
-rw-r--r--drivers/iio/gyro/mpu3050-i2c.c124
-rw-r--r--drivers/iio/gyro/mpu3050.h96
-rw-r--r--drivers/iio/humidity/hts221_buffer.c1
-rw-r--r--drivers/iio/humidity/si7020.c11
-rw-r--r--drivers/iio/temperature/maxim_thermocouple.c2
23 files changed, 2797 insertions, 7 deletions
diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig
index c6cc2c0909a1..c68bdb649005 100644
--- a/drivers/iio/accel/Kconfig
+++ b/drivers/iio/accel/Kconfig
@@ -127,7 +127,8 @@ config IIO_ST_ACCEL_3AXIS
help
Say yes here to build support for STMicroelectronics accelerometers:
LSM303DLH, LSM303DLHC, LIS3DH, LSM330D, LSM330DL, LSM330DLC,
- LIS331DLH, LSM303DL, LSM303DLM, LSM330, LIS2DH12, H3LIS331DL.
+ LIS331DLH, LSM303DL, LSM303DLM, LSM330, LIS2DH12, H3LIS331DL,
+ LNG2DM
This driver can also be built as a module. If so, these modules
will be created:
diff --git a/drivers/iio/accel/st_accel.h b/drivers/iio/accel/st_accel.h
index f8dfdb690563..7c231687109a 100644
--- a/drivers/iio/accel/st_accel.h
+++ b/drivers/iio/accel/st_accel.h
@@ -30,6 +30,7 @@
#define LSM303AGR_ACCEL_DEV_NAME "lsm303agr_accel"
#define LIS2DH12_ACCEL_DEV_NAME "lis2dh12_accel"
#define LIS3L02DQ_ACCEL_DEV_NAME "lis3l02dq"
+#define LNG2DM_ACCEL_DEV_NAME "lng2dm"
/**
* struct st_sensors_platform_data - default accel platform data
diff --git a/drivers/iio/accel/st_accel_core.c b/drivers/iio/accel/st_accel_core.c
index da3fb069ec5c..b242457d0c80 100644
--- a/drivers/iio/accel/st_accel_core.c
+++ b/drivers/iio/accel/st_accel_core.c
@@ -231,6 +231,12 @@
#define ST_ACCEL_7_DRDY_IRQ_INT1_MASK 0x04
#define ST_ACCEL_7_MULTIREAD_BIT false
+/* CUSTOM VALUES FOR SENSOR 8 */
+#define ST_ACCEL_8_FS_AVL_2_GAIN IIO_G_TO_M_S_2(15600)
+#define ST_ACCEL_8_FS_AVL_4_GAIN IIO_G_TO_M_S_2(31200)
+#define ST_ACCEL_8_FS_AVL_8_GAIN IIO_G_TO_M_S_2(62500)
+#define ST_ACCEL_8_FS_AVL_16_GAIN IIO_G_TO_M_S_2(187500)
+
static const struct iio_chan_spec st_accel_8bit_channels[] = {
ST_SENSORS_LSM_CHANNELS(IIO_ACCEL,
BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
@@ -726,6 +732,73 @@ static const struct st_sensor_settings st_accel_sensors_settings[] = {
.multi_read_bit = ST_ACCEL_7_MULTIREAD_BIT,
.bootime = 2,
},
+ {
+ .wai = ST_ACCEL_1_WAI_EXP,
+ .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
+ .sensors_supported = {
+ [0] = LNG2DM_ACCEL_DEV_NAME,
+ },
+ .ch = (struct iio_chan_spec *)st_accel_8bit_channels,
+ .odr = {
+ .addr = ST_ACCEL_1_ODR_ADDR,
+ .mask = ST_ACCEL_1_ODR_MASK,
+ .odr_avl = {
+ { 1, ST_ACCEL_1_ODR_AVL_1HZ_VAL, },
+ { 10, ST_ACCEL_1_ODR_AVL_10HZ_VAL, },
+ { 25, ST_ACCEL_1_ODR_AVL_25HZ_VAL, },
+ { 50, ST_ACCEL_1_ODR_AVL_50HZ_VAL, },
+ { 100, ST_ACCEL_1_ODR_AVL_100HZ_VAL, },
+ { 200, ST_ACCEL_1_ODR_AVL_200HZ_VAL, },
+ { 400, ST_ACCEL_1_ODR_AVL_400HZ_VAL, },
+ { 1600, ST_ACCEL_1_ODR_AVL_1600HZ_VAL, },
+ },
+ },
+ .pw = {
+ .addr = ST_ACCEL_1_ODR_ADDR,
+ .mask = ST_ACCEL_1_ODR_MASK,
+ .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
+ },
+ .enable_axis = {
+ .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
+ .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
+ },
+ .fs = {
+ .addr = ST_ACCEL_1_FS_ADDR,
+ .mask = ST_ACCEL_1_FS_MASK,
+ .fs_avl = {
+ [0] = {
+ .num = ST_ACCEL_FS_AVL_2G,
+ .value = ST_ACCEL_1_FS_AVL_2_VAL,
+ .gain = ST_ACCEL_8_FS_AVL_2_GAIN,
+ },
+ [1] = {
+ .num = ST_ACCEL_FS_AVL_4G,
+ .value = ST_ACCEL_1_FS_AVL_4_VAL,
+ .gain = ST_ACCEL_8_FS_AVL_4_GAIN,
+ },
+ [2] = {
+ .num = ST_ACCEL_FS_AVL_8G,
+ .value = ST_ACCEL_1_FS_AVL_8_VAL,
+ .gain = ST_ACCEL_8_FS_AVL_8_GAIN,
+ },
+ [3] = {
+ .num = ST_ACCEL_FS_AVL_16G,
+ .value = ST_ACCEL_1_FS_AVL_16_VAL,
+ .gain = ST_ACCEL_8_FS_AVL_16_GAIN,
+ },
+ },
+ },
+ .drdy_irq = {
+ .addr = ST_ACCEL_1_DRDY_IRQ_ADDR,
+ .mask_int1 = ST_ACCEL_1_DRDY_IRQ_INT1_MASK,
+ .mask_int2 = ST_ACCEL_1_DRDY_IRQ_INT2_MASK,
+ .addr_ihl = ST_ACCEL_1_IHL_IRQ_ADDR,
+ .mask_ihl = ST_ACCEL_1_IHL_IRQ_MASK,
+ .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
+ },
+ .multi_read_bit = ST_ACCEL_1_MULTIREAD_BIT,
+ .bootime = 2,
+ },
};
static int st_accel_read_raw(struct iio_dev *indio_dev,
diff --git a/drivers/iio/accel/st_accel_i2c.c b/drivers/iio/accel/st_accel_i2c.c
index e9d427a5df7c..c0f8867aa1ea 100644
--- a/drivers/iio/accel/st_accel_i2c.c
+++ b/drivers/iio/accel/st_accel_i2c.c
@@ -84,6 +84,10 @@ static const struct of_device_id st_accel_of_match[] = {
.compatible = "st,lis3l02dq",
.data = LIS3L02DQ_ACCEL_DEV_NAME,
},
+ {
+ .compatible = "st,lng2dm-accel",
+ .data = LNG2DM_ACCEL_DEV_NAME,
+ },
{},
};
MODULE_DEVICE_TABLE(of, st_accel_of_match);
@@ -135,6 +139,7 @@ static const struct i2c_device_id st_accel_id_table[] = {
{ LSM303AGR_ACCEL_DEV_NAME },
{ LIS2DH12_ACCEL_DEV_NAME },
{ LIS3L02DQ_ACCEL_DEV_NAME },
+ { LNG2DM_ACCEL_DEV_NAME },
{},
};
MODULE_DEVICE_TABLE(i2c, st_accel_id_table);
diff --git a/drivers/iio/accel/st_accel_spi.c b/drivers/iio/accel/st_accel_spi.c
index efd43941d45d..c25ac50d4600 100644
--- a/drivers/iio/accel/st_accel_spi.c
+++ b/drivers/iio/accel/st_accel_spi.c
@@ -60,6 +60,7 @@ static const struct spi_device_id st_accel_id_table[] = {
{ LSM303AGR_ACCEL_DEV_NAME },
{ LIS2DH12_ACCEL_DEV_NAME },
{ LIS3L02DQ_ACCEL_DEV_NAME },
+ { LNG2DM_ACCEL_DEV_NAME },
{},
};
MODULE_DEVICE_TABLE(spi, st_accel_id_table);
diff --git a/drivers/iio/adc/at91_adc.c b/drivers/iio/adc/at91_adc.c
index bbdac07f4aaa..34b928cefeed 100644
--- a/drivers/iio/adc/at91_adc.c
+++ b/drivers/iio/adc/at91_adc.c
@@ -30,6 +30,7 @@
#include <linux/iio/trigger.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/iio/triggered_buffer.h>
+#include <linux/pinctrl/consumer.h>
/* Registers */
#define AT91_ADC_CR 0x00 /* Control Register */
@@ -1347,6 +1348,32 @@ static int at91_adc_remove(struct platform_device *pdev)
return 0;
}
+#ifdef CONFIG_PM_SLEEP
+static int at91_adc_suspend(struct device *dev)
+{
+ struct iio_dev *idev = platform_get_drvdata(to_platform_device(dev));
+ struct at91_adc_state *st = iio_priv(idev);
+
+ pinctrl_pm_select_sleep_state(dev);
+ clk_disable_unprepare(st->clk);
+
+ return 0;
+}
+
+static int at91_adc_resume(struct device *dev)
+{
+ struct iio_dev *idev = platform_get_drvdata(to_platform_device(dev));
+ struct at91_adc_state *st = iio_priv(idev);
+
+ clk_prepare_enable(st->clk);
+ pinctrl_pm_select_default_state(dev);
+
+ return 0;
+}
+#endif
+
+static SIMPLE_DEV_PM_OPS(at91_adc_pm_ops, at91_adc_suspend, at91_adc_resume);
+
static struct at91_adc_caps at91sam9260_caps = {
.calc_startup_ticks = calc_startup_ticks_9260,
.num_channels = 4,
@@ -1441,6 +1468,7 @@ static struct platform_driver at91_adc_driver = {
.driver = {
.name = DRIVER_NAME,
.of_match_table = of_match_ptr(at91_adc_dt_ids),
+ .pm = &at91_adc_pm_ops,
},
};
diff --git a/drivers/iio/adc/ti_am335x_adc.c b/drivers/iio/adc/ti_am335x_adc.c
index c3cfacca2541..ad9dec30bb30 100644
--- a/drivers/iio/adc/ti_am335x_adc.c
+++ b/drivers/iio/adc/ti_am335x_adc.c
@@ -30,10 +30,28 @@
#include <linux/iio/buffer.h>
#include <linux/iio/kfifo_buf.h>
+#include <linux/dmaengine.h>
+#include <linux/dma-mapping.h>
+
+#define DMA_BUFFER_SIZE SZ_2K
+
+struct tiadc_dma {
+ struct dma_slave_config conf;
+ struct dma_chan *chan;
+ dma_addr_t addr;
+ dma_cookie_t cookie;
+ u8 *buf;
+ int current_period;
+ int period_size;
+ u8 fifo_thresh;
+};
+
struct tiadc_device {
struct ti_tscadc_dev *mfd_tscadc;
+ struct tiadc_dma dma;
struct mutex fifo1_lock; /* to protect fifo access */
int channels;
+ int total_ch_enabled;
u8 channel_line[8];
u8 channel_step[8];
int buffer_en_ch_steps;
@@ -198,6 +216,67 @@ static irqreturn_t tiadc_worker_h(int irq, void *private)
return IRQ_HANDLED;
}
+static void tiadc_dma_rx_complete(void *param)
+{
+ struct iio_dev *indio_dev = param;
+ struct tiadc_device *adc_dev = iio_priv(indio_dev);
+ struct tiadc_dma *dma = &adc_dev->dma;
+ u8 *data;
+ int i;
+
+ data = dma->buf + dma->current_period * dma->period_size;
+ dma->current_period = 1 - dma->current_period; /* swap the buffer ID */
+
+ for (i = 0; i < dma->period_size; i += indio_dev->scan_bytes) {
+ iio_push_to_buffers(indio_dev, data);
+ data += indio_dev->scan_bytes;
+ }
+}
+
+static int tiadc_start_dma(struct iio_dev *indio_dev)
+{
+ struct tiadc_device *adc_dev = iio_priv(indio_dev);
+ struct tiadc_dma *dma = &adc_dev->dma;
+ struct dma_async_tx_descriptor *desc;
+
+ dma->current_period = 0; /* We start to fill period 0 */
+ /*
+ * Make the fifo thresh as the multiple of total number of
+ * channels enabled, so make sure that cyclic DMA period
+ * length is also a multiple of total number of channels
+ * enabled. This ensures that no invalid data is reported
+ * to the stack via iio_push_to_buffers().
+ */
+ dma->fifo_thresh = rounddown(FIFO1_THRESHOLD + 1,
+ adc_dev->total_ch_enabled) - 1;
+ /* Make sure that period length is multiple of fifo thresh level */
+ dma->period_size = rounddown(DMA_BUFFER_SIZE / 2,
+ (dma->fifo_thresh + 1) * sizeof(u16));
+
+ dma->conf.src_maxburst = dma->fifo_thresh + 1;
+ dmaengine_slave_config(dma->chan, &dma->conf);
+
+ desc = dmaengine_prep_dma_cyclic(dma->chan, dma->addr,
+ dma->period_size * 2,
+ dma->period_size, DMA_DEV_TO_MEM,
+ DMA_PREP_INTERRUPT);
+ if (!desc)
+ return -EBUSY;
+
+ desc->callback = tiadc_dma_rx_complete;
+ desc->callback_param = indio_dev;
+
+ dma->cookie = dmaengine_submit(desc);
+
+ dma_async_issue_pending(dma->chan);
+
+ tiadc_writel(adc_dev, REG_FIFO1THR, dma->fifo_thresh);
+ tiadc_writel(adc_dev, REG_DMA1REQ, dma->fifo_thresh);
+ tiadc_writel(adc_dev, REG_DMAENABLE_SET, DMA_FIFO1);
+
+ return 0;
+}
+
static int tiadc_buffer_preenable(struct iio_dev *indio_dev)
{
struct tiadc_device *adc_dev = iio_priv(indio_dev);
@@ -218,20 +297,30 @@ static int tiadc_buffer_preenable(struct iio_dev *indio_dev)
static int tiadc_buffer_postenable(struct iio_dev *indio_dev)
{
struct tiadc_device *adc_dev = iio_priv(indio_dev);
+ struct tiadc_dma *dma = &adc_dev->dma;
+ unsigned int irq_enable;
unsigned int enb = 0;
u8 bit;
tiadc_step_config(indio_dev);
- for_each_set_bit(bit, indio_dev->active_scan_mask, adc_dev->channels)
+ for_each_set_bit(bit, indio_dev->active_scan_mask, adc_dev->channels) {
enb |= (get_adc_step_bit(adc_dev, bit) << 1);
+ adc_dev->total_ch_enabled++;
+ }
adc_dev->buffer_en_ch_steps = enb;
+ if (dma->chan)
+ tiadc_start_dma(indio_dev);
+
am335x_tsc_se_set_cache(adc_dev->mfd_tscadc, enb);
tiadc_writel(adc_dev, REG_IRQSTATUS, IRQENB_FIFO1THRES
| IRQENB_FIFO1OVRRUN | IRQENB_FIFO1UNDRFLW);
- tiadc_writel(adc_dev, REG_IRQENABLE, IRQENB_FIFO1THRES
- | IRQENB_FIFO1OVRRUN);
+
+ irq_enable = IRQENB_FIFO1OVRRUN;
+ if (!dma->chan)
+ irq_enable |= IRQENB_FIFO1THRES;
+ tiadc_writel(adc_dev, REG_IRQENABLE, irq_enable);
return 0;
}
@@ -239,12 +328,18 @@ static int tiadc_buffer_postenable(struct iio_dev *indio_dev)
static int tiadc_buffer_predisable(struct iio_dev *indio_dev)
{
struct tiadc_device *adc_dev = iio_priv(indio_dev);
+ struct tiadc_dma *dma = &adc_dev->dma;
int fifo1count, i, read;
tiadc_writel(adc_dev, REG_IRQCLR, (IRQENB_FIFO1THRES |
IRQENB_FIFO1OVRRUN | IRQENB_FIFO1UNDRFLW));
am335x_tsc_se_clr(adc_dev->mfd_tscadc, adc_dev->buffer_en_ch_steps);
adc_dev->buffer_en_ch_steps = 0;
+ adc_dev->total_ch_enabled = 0;
+ if (dma->chan) {
+ tiadc_writel(adc_dev, REG_DMAENABLE_CLEAR, 0x2);
+ dmaengine_terminate_async(dma->chan);
+ }
/* Flush FIFO of leftover data in the time it takes to disable adc */
fifo1count = tiadc_readl(adc_dev, REG_FIFO1CNT);
@@ -430,6 +525,41 @@ static const struct iio_info tiadc_info = {
.driver_module = THIS_MODULE,
};
+static int tiadc_request_dma(struct platform_device *pdev,
+ struct tiadc_device *adc_dev)
+{
+ struct tiadc_dma *dma = &adc_dev->dma;
+ dma_cap_mask_t mask;
+
+ /* Default slave configuration parameters */
+ dma->conf.direction = DMA_DEV_TO_MEM;
+ dma->conf.src_addr_width = DMA_SLAVE_BUSWIDTH_2_BYTES;
+ dma->conf.src_addr = adc_dev->mfd_tscadc->tscadc_phys_base + REG_FIFO1;
+
+ dma_cap_zero(mask);
+ dma_cap_set(DMA_CYCLIC, mask);
+
+ /* Get a channel for RX */
+ dma->chan = dma_request_chan(adc_dev->mfd_tscadc->dev, "fifo1");
+ if (IS_ERR(dma->chan)) {
+ int ret = PTR_ERR(dma->chan);
+
+ dma->chan = NULL;
+ return ret;
+ }
+
+ /* RX buffer */
+ dma->buf = dma_alloc_coherent(dma->chan->device->dev, DMA_BUFFER_SIZE,
+ &dma->addr, GFP_KERNEL);
+ if (!dma->buf)
+ goto err;
+
+ return 0;
+err:
+ dma_release_channel(dma->chan);
+ return -ENOMEM;
+}
+
static int tiadc_parse_dt(struct platform_device *pdev,
struct tiadc_device *adc_dev)
{
@@ -512,8 +642,14 @@ static int tiadc_probe(struct platform_device *pdev)
platform_set_drvdata(pdev, indio_dev);
+ err = tiadc_request_dma(pdev, adc_dev);
+ if (err && err == -EPROBE_DEFER)
+ goto err_dma;
+
return 0;
+err_dma:
+ iio_device_unregister(indio_dev);
err_buffer_unregister:
tiadc_iio_buffered_hardware_remove(indio_dev);
err_free_channels:
@@ -525,8 +661,14 @@ static int tiadc_remove(struct platform_device *pdev)
{
struct iio_dev *indio_dev = platform_get_drvdata(pdev);
struct tiadc_device *adc_dev = iio_priv(indio_dev);
+ struct tiadc_dma *dma = &adc_dev->dma;
u32 step_en;
+ if (dma->chan) {
+ dma_free_coherent(dma->chan->device->dev, DMA_BUFFER_SIZE,
+ dma->buf, dma->addr);
+ dma_release_channel(dma->chan);
+ }
iio_device_unregister(indio_dev);
tiadc_iio_buffered_hardware_remove(indio_dev);
tiadc_channels_remove(indio_dev);
diff --git a/drivers/iio/common/Kconfig b/drivers/iio/common/Kconfig
index 26a6026de614..e108996a9627 100644
--- a/drivers/iio/common/Kconfig
+++ b/drivers/iio/common/Kconfig
@@ -2,6 +2,7 @@
# IIO common modules
#
+source "drivers/iio/common/cros_ec_sensors/Kconfig"
source "drivers/iio/common/hid-sensors/Kconfig"
source "drivers/iio/common/ms_sensors/Kconfig"
source "drivers/iio/common/ssp_sensors/Kconfig"
diff --git a/drivers/iio/common/Makefile b/drivers/iio/common/Makefile
index 585da6a1b188..6fa760e1bdd5 100644
--- a/drivers/iio/common/Makefile
+++ b/drivers/iio/common/Makefile
@@ -7,6 +7,7 @@
#
# When adding new entries keep the list in alphabetical order
+obj-y += cros_ec_sensors/
obj-y += hid-sensors/
obj-y += ms_sensors/
obj-y += ssp_sensors/
diff --git a/drivers/iio/common/cros_ec_sensors/Kconfig b/drivers/iio/common/cros_ec_sensors/Kconfig
new file mode 100644
index 000000000000..135f6825903f
--- /dev/null
+++ b/drivers/iio/common/cros_ec_sensors/Kconfig
@@ -0,0 +1,22 @@
+#
+# Chrome OS Embedded Controller managed sensors library
+#
+config IIO_CROS_EC_SENSORS_CORE
+ tristate "ChromeOS EC Sensors Core"
+ depends on SYSFS && MFD_CROS_EC
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+ help
+ Base module for the ChromeOS EC Sensors module.
+ Contains core functions used by other IIO CrosEC sensor
+ drivers.
+ Define common attributes and sysfs interrupt handler.
+
+config IIO_CROS_EC_SENSORS
+ tristate "ChromeOS EC Contiguous Sensors"
+ depends on IIO_CROS_EC_SENSORS_CORE
+ help
+ Module to handle 3d contiguous sensors like
+ Accelerometers, Gyroscope and Magnetometer that are
+ presented by the ChromeOS EC Sensor hub.
+ Creates an IIO device for each functions.
diff --git a/drivers/iio/common/cros_ec_sensors/Makefile b/drivers/iio/common/cros_ec_sensors/Makefile
new file mode 100644
index 000000000000..ec716ff2a775
--- /dev/null
+++ b/drivers/iio/common/cros_ec_sensors/Makefile
@@ -0,0 +1,6 @@
+#
+# Makefile for sensors seen through the ChromeOS EC sensor hub.
+#
+
+obj-$(CONFIG_IIO_CROS_EC_SENSORS_CORE) += cros_ec_sensors_core.o
+obj-$(CONFIG_IIO_CROS_EC_SENSORS) += cros_ec_sensors.o
diff --git a/drivers/iio/common/cros_ec_sensors/cros_ec_sensors.c b/drivers/iio/common/cros_ec_sensors/cros_ec_sensors.c
new file mode 100644
index 000000000000..d6c372bb433b
--- /dev/null
+++ b/drivers/iio/common/cros_ec_sensors/cros_ec_sensors.c
@@ -0,0 +1,322 @@
+/*
+ * cros_ec_sensors - Driver for Chrome OS Embedded Controller sensors.
+ *
+ * Copyright (C) 2016 Google, Inc
+ *
+ * This software is licensed under the terms of the GNU General Public
+ * License version 2, as published by the Free Software Foundation, and
+ * may be copied, distributed, and modified under those terms.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * This driver uses the cros-ec interface to communicate with the Chrome OS
+ * EC about sensors data. Data access is presented through iio sysfs.
+ */
+
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/kfifo_buf.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/kernel.h>
+#include <linux/mfd/cros_ec.h>
+#include <linux/mfd/cros_ec_commands.h>
+#include <linux/module.h>
+#include <linux/platform_device.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+
+#include "cros_ec_sensors_core.h"
+
+#define CROS_EC_SENSORS_MAX_CHANNELS 4
+
+/* State data for ec_sensors iio driver. */
+struct cros_ec_sensors_state {
+ /* Shared by all sensors */
+ struct cros_ec_sensors_core_state core;
+
+ struct iio_chan_spec channels[CROS_EC_SENSORS_MAX_CHANNELS];
+};
+
+static int cros_ec_sensors_read(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ struct cros_ec_sensors_state *st = iio_priv(indio_dev);
+ s16 data = 0;
+ s64 val64;
+ int i;
+ int ret;
+ int idx = chan->scan_index;
+
+ mutex_lock(&st->core.cmd_lock);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = st->core.read_ec_sensors_data(indio_dev, 1 << idx, &data);
+ if (ret < 0)
+ break;
+
+ *val = data;
+ break;
+ case IIO_CHAN_INFO_CALIBBIAS:
+ st->core.param.cmd = MOTIONSENSE_CMD_SENSOR_OFFSET;
+ st->core.param.sensor_offset.flags = 0;
+
+ ret = cros_ec_motion_send_host_cmd(&st->core, 0);
+ if (ret < 0)
+ break;
+
+ /* Save values */
+ for (i = CROS_EC_SENSOR_X; i < CROS_EC_SENSOR_MAX_AXIS; i++)
+ st->core.calib[i] =
+ st->core.resp->sensor_offset.offset[i];
+
+ *val = st->core.calib[idx];
+ break;
+ case IIO_CHAN_INFO_SCALE:
+ st->core.param.cmd = MOTIONSENSE_CMD_SENSOR_RANGE;
+ st->core.param.sensor_range.data = EC_MOTION_SENSE_NO_VALUE;
+
+ ret = cros_ec_motion_send_host_cmd(&st->core, 0);
+ if (ret < 0)
+ break;
+
+ val64 = st->core.resp->sensor_range.ret;
+ switch (st->core.type) {
+ case MOTIONSENSE_TYPE_ACCEL:
+ /*
+ * EC returns data in g, iio exepects m/s^2.
+ * Do not use IIO_G_TO_M_S_2 to avoid precision loss.
+ */
+ *val = div_s64(val64 * 980665, 10);
+ *val2 = 10000 << (CROS_EC_SENSOR_BITS - 1);
+ ret = IIO_VAL_FRACTIONAL;
+ break;
+ case MOTIONSENSE_TYPE_GYRO:
+ /*
+ * EC returns data in dps, iio expects rad/s.
+ * Do not use IIO_DEGREE_TO_RAD to avoid precision
+ * loss. Round to the nearest integer.
+ */
+ *val = div_s64(val64 * 314159 + 9000000ULL, 1000);
+ *val2 = 18000 << (CROS_EC_SENSOR_BITS - 1);
+ ret = IIO_VAL_FRACTIONAL;
+ break;
+ case MOTIONSENSE_TYPE_MAG:
+ /*
+ * EC returns data in 16LSB / uT,
+ * iio expects Gauss
+ */
+ *val = val64;
+ *val2 = 100 << (CROS_EC_SENSOR_BITS - 1);
+ ret = IIO_VAL_FRACTIONAL;
+ break;
+ default:
+ ret = -EINVAL;
+ }
+ break;
+ default:
+ ret = cros_ec_sensors_core_read(&st->core, chan, val, val2,
+ mask);
+ break;
+ }
+ mutex_unlock(&st->core.cmd_lock);
+
+ return ret;
+}
+
+static int cros_ec_sensors_write(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct cros_ec_sensors_state *st = iio_priv(indio_dev);
+ int i;
+ int ret;
+ int idx = chan->scan_index;
+
+ mutex_lock(&st->core.cmd_lock);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_CALIBBIAS:
+ st->core.calib[idx] = val;
+
+ /* Send to EC for each axis, even if not complete */
+ st->core.param.cmd = MOTIONSENSE_CMD_SENSOR_OFFSET;
+ st->core.param.sensor_offset.flags =
+ MOTION_SENSE_SET_OFFSET;
+ for (i = CROS_EC_SENSOR_X; i < CROS_EC_SENSOR_MAX_AXIS; i++)
+ st->core.param.sensor_offset.offset[i] =
+ st->core.calib[i];
+ st->core.param.sensor_offset.temp =
+ EC_MOTION_SENSE_INVALID_CALIB_TEMP;
+
+ ret = cros_ec_motion_send_host_cmd(&st->core, 0);
+ break;
+ case IIO_CHAN_INFO_SCALE:
+ if (st->core.type == MOTIONSENSE_TYPE_MAG) {
+ ret = -EINVAL;
+ break;
+ }
+ st->core.param.cmd = MOTIONSENSE_CMD_SENSOR_RANGE;
+ st->core.param.sensor_range.data = val;
+
+ /* Always roundup, so caller gets at least what it asks for. */
+ st->core.param.sensor_range.roundup = 1;
+
+ ret = cros_ec_motion_send_host_cmd(&st->core, 0);
+ break;
+ default:
+ ret = cros_ec_sensors_core_write(
+ &st->core, chan, val, val2, mask);
+ break;
+ }
+
+ mutex_unlock(&st->core.cmd_lock);
+
+ return ret;
+}
+
+static const struct iio_info ec_sensors_info = {
+ .read_raw = &cros_ec_sensors_read,
+ .write_raw = &cros_ec_sensors_write,
+ .driver_module = THIS_MODULE,
+};
+
+static int cros_ec_sensors_probe(struct platform_device *pdev)
+{
+ struct device *dev = &pdev->dev;
+ struct cros_ec_dev *ec_dev = dev_get_drvdata(dev->parent);
+ struct cros_ec_device *ec_device;
+ struct iio_dev *indio_dev;
+ struct cros_ec_sensors_state *state;
+ struct iio_chan_spec *channel;
+ int ret, i;
+
+ if (!ec_dev || !ec_dev->ec_dev) {
+ dev_warn(&pdev->dev, "No CROS EC device found.\n");
+ return -EINVAL;
+ }
+ ec_device = ec_dev->ec_dev;
+
+ indio_dev = devm_iio_device_alloc(&pdev->dev, sizeof(*state));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ ret = cros_ec_sensors_core_init(pdev, indio_dev, true);
+ if (ret)
+ return ret;
+
+ indio_dev->info = &ec_sensors_info;
+ state = iio_priv(indio_dev);
+ for (channel = state->channels, i = CROS_EC_SENSOR_X;
+ i < CROS_EC_SENSOR_MAX_AXIS; i++, channel++) {
+ /* Common part */
+ channel->info_mask_separate =
+ BIT(IIO_CHAN_INFO_RAW) |
+ BIT(IIO_CHAN_INFO_CALIBBIAS);
+ channel->info_mask_shared_by_all =
+ BIT(IIO_CHAN_INFO_SCALE) |
+ BIT(IIO_CHAN_INFO_FREQUENCY) |
+ BIT(IIO_CHAN_INFO_SAMP_FREQ);
+ channel->scan_type.realbits = CROS_EC_SENSOR_BITS;
+ channel->scan_type.storagebits = CROS_EC_SENSOR_BITS;
+ channel->scan_index = i;
+ channel->ext_info = cros_ec_sensors_ext_info;
+ channel->modified = 1;
+ channel->channel2 = IIO_MOD_X + i;
+ channel->scan_type.sign = 's';
+
+ /* Sensor specific */
+ switch (state->core.type) {
+ case MOTIONSENSE_TYPE_ACCEL:
+ channel->type = IIO_ACCEL;
+ break;
+ case MOTIONSENSE_TYPE_GYRO:
+ channel->type = IIO_ANGL_VEL;
+ break;
+ case MOTIONSENSE_TYPE_MAG:
+ channel->type = IIO_MAGN;
+ break;
+ default:
+ dev_err(&pdev->dev, "Unknown motion sensor\n");
+ return -EINVAL;
+ }
+ }
+
+ /* Timestamp */
+ channel->type = IIO_TIMESTAMP;
+ channel->channel = -1;
+ channel->scan_index = CROS_EC_SENSOR_MAX_AXIS;
+ channel->scan_type.sign = 's';
+ channel->scan_type.realbits = 64;
+ channel->scan_type.storagebits = 64;
+
+ indio_dev->channels = state->channels;
+ indio_dev->num_channels = CROS_EC_SENSORS_MAX_CHANNELS;
+
+ /* There is only enough room for accel and gyro in the io space */
+ if ((state->core.ec->cmd_readmem != NULL) &&
+ (state->core.type != MOTIONSENSE_TYPE_MAG))
+ state->core.read_ec_sensors_data = cros_ec_sensors_read_lpc;
+ else
+ state->core.read_ec_sensors_data = cros_ec_sensors_read_cmd;
+
+ ret = iio_triggered_buffer_setup(indio_dev, NULL,
+ cros_ec_sensors_capture, NULL);
+ if (ret)
+ return ret;
+
+ ret = iio_device_register(indio_dev);
+ if (ret)
+ goto error_uninit_buffer;
+
+ return 0;
+
+error_uninit_buffer:
+ iio_triggered_buffer_cleanup(indio_dev);
+
+ return ret;
+}
+
+static int cros_ec_sensors_remove(struct platform_device *pdev)
+{
+ struct iio_dev *indio_dev = platform_get_drvdata(pdev);
+
+ iio_device_unregister(indio_dev);
+ iio_triggered_buffer_cleanup(indio_dev);
+
+ return 0;
+}
+
+static const struct platform_device_id cros_ec_sensors_ids[] = {
+ {
+ .name = "cros-ec-accel",
+ },
+ {
+ .name = "cros-ec-gyro",
+ },
+ {
+ .name = "cros-ec-mag",
+ },
+ { /* sentinel */ }
+};
+MODULE_DEVICE_TABLE(platform, cros_ec_sensors_ids);
+
+static struct platform_driver cros_ec_sensors_platform_driver = {
+ .driver = {
+ .name = "cros-ec-sensors",
+ },
+ .probe = cros_ec_sensors_probe,
+ .remove = cros_ec_sensors_remove,
+ .id_table = cros_ec_sensors_ids,
+};
+module_platform_driver(cros_ec_sensors_platform_driver);
+
+MODULE_DESCRIPTION("ChromeOS EC 3-axis sensors driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.c b/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.c
new file mode 100644
index 000000000000..a3be7991355e
--- /dev/null
+++ b/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.c
@@ -0,0 +1,450 @@
+/*
+ * cros_ec_sensors_core - Common function for Chrome OS EC sensor driver.
+ *
+ * Copyright (C) 2016 Google, Inc
+ *
+ * This software is licensed under the terms of the GNU General Public
+ * License version 2, as published by the Free Software Foundation, and
+ * may be copied, distributed, and modified under those terms.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ */
+
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/kfifo_buf.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/kernel.h>
+#include <linux/mfd/cros_ec.h>
+#include <linux/mfd/cros_ec_commands.h>
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+#include <linux/platform_device.h>
+
+#include "cros_ec_sensors_core.h"
+
+static char *cros_ec_loc[] = {
+ [MOTIONSENSE_LOC_BASE] = "base",
+ [MOTIONSENSE_LOC_LID] = "lid",
+ [MOTIONSENSE_LOC_MAX] = "unknown",
+};
+
+int cros_ec_sensors_core_init(struct platform_device *pdev,
+ struct iio_dev *indio_dev,
+ bool physical_device)
+{
+ struct device *dev = &pdev->dev;
+ struct cros_ec_sensors_core_state *state = iio_priv(indio_dev);
+ struct cros_ec_dev *ec = dev_get_drvdata(pdev->dev.parent);
+ struct cros_ec_sensor_platform *sensor_platform = dev_get_platdata(dev);
+
+ platform_set_drvdata(pdev, indio_dev);
+
+ state->ec = ec->ec_dev;
+ state->msg = devm_kzalloc(&pdev->dev,
+ max((u16)sizeof(struct ec_params_motion_sense),
+ state->ec->max_response), GFP_KERNEL);
+ if (!state->msg)
+ return -ENOMEM;
+
+ state->resp = (struct ec_response_motion_sense *)state->msg->data;
+
+ mutex_init(&state->cmd_lock);
+
+ /* Set up the host command structure. */
+ state->msg->version = 2;
+ state->msg->command = EC_CMD_MOTION_SENSE_CMD + ec->cmd_offset;
+ state->msg->outsize = sizeof(struct ec_params_motion_sense);
+
+ indio_dev->dev.parent = &pdev->dev;
+ indio_dev->name = pdev->name;
+
+ if (physical_device) {
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ state->param.cmd = MOTIONSENSE_CMD_INFO;
+ state->param.info.sensor_num = sensor_platform->sensor_num;
+ if (cros_ec_motion_send_host_cmd(state, 0)) {
+ dev_warn(dev, "Can not access sensor info\n");
+ return -EIO;
+ }
+ state->type = state->resp->info.type;
+ state->loc = state->resp->info.location;
+ }
+
+ return 0;
+}
+EXPORT_SYMBOL_GPL(cros_ec_sensors_core_init);
+
+int cros_ec_motion_send_host_cmd(struct cros_ec_sensors_core_state *state,
+ u16 opt_length)
+{
+ int ret;
+
+ if (opt_length)
+ state->msg->insize = min(opt_length, state->ec->max_response);
+ else
+ state->msg->insize = state->ec->max_response;
+
+ memcpy(state->msg->data, &state->param, sizeof(state->param));
+
+ ret = cros_ec_cmd_xfer_status(state->ec, state->msg);
+ if (ret < 0)
+ return -EIO;
+
+ if (ret &&
+ state->resp != (struct ec_response_motion_sense *)state->msg->data)
+ memcpy(state->resp, state->msg->data, ret);
+
+ return 0;
+}
+EXPORT_SYMBOL_GPL(cros_ec_motion_send_host_cmd);
+
+static ssize_t cros_ec_sensors_calibrate(struct iio_dev *indio_dev,
+ uintptr_t private, const struct iio_chan_spec *chan,
+ const char *buf, size_t len)
+{
+ struct cros_ec_sensors_core_state *st = iio_priv(indio_dev);
+ int ret, i;
+ bool calibrate;
+
+ ret = strtobool(buf, &calibrate);
+ if (ret < 0)
+ return ret;
+ if (!calibrate)
+ return -EINVAL;
+
+ mutex_lock(&st->cmd_lock);
+ st->param.cmd = MOTIONSENSE_CMD_PERFORM_CALIB;
+ ret = cros_ec_motion_send_host_cmd(st, 0);
+ if (ret != 0) {
+ dev_warn(&indio_dev->dev, "Unable to calibrate sensor\n");
+ } else {
+ /* Save values */
+ for (i = CROS_EC_SENSOR_X; i < CROS_EC_SENSOR_MAX_AXIS; i++)
+ st->calib[i] = st->resp->perform_calib.offset[i];
+ }
+ mutex_unlock(&st->cmd_lock);
+
+ return ret ? ret : len;
+}
+
+static ssize_t cros_ec_sensors_loc(struct iio_dev *indio_dev,
+ uintptr_t private, const struct iio_chan_spec *chan,
+ char *buf)
+{
+ struct cros_ec_sensors_core_state *st = iio_priv(indio_dev);
+
+ return snprintf(buf, PAGE_SIZE, "%s\n", cros_ec_loc[st->loc]);
+}
+
+const struct iio_chan_spec_ext_info cros_ec_sensors_ext_info[] = {
+ {
+ .name = "calibrate",
+ .shared = IIO_SHARED_BY_ALL,
+ .write = cros_ec_sensors_calibrate
+ },
+ {
+ .name = "location",
+ .shared = IIO_SHARED_BY_ALL,
+ .read = cros_ec_sensors_loc
+ },
+ { },
+};
+EXPORT_SYMBOL_GPL(cros_ec_sensors_ext_info);
+
+/**
+ * cros_ec_sensors_idx_to_reg - convert index into offset in shared memory
+ * @st: pointer to state information for device
+ * @idx: sensor index (should be element of enum sensor_index)
+ *
+ * Return: address to read at
+ */
+static unsigned int cros_ec_sensors_idx_to_reg(
+ struct cros_ec_sensors_core_state *st,
+ unsigned int idx)
+{
+ /*
+ * When using LPC interface, only space for 2 Accel and one Gyro.
+ * First halfword of MOTIONSENSE_TYPE_ACCEL is used by angle.
+ */
+ if (st->type == MOTIONSENSE_TYPE_ACCEL)
+ return EC_MEMMAP_ACC_DATA + sizeof(u16) *
+ (1 + idx + st->param.info.sensor_num *
+ CROS_EC_SENSOR_MAX_AXIS);
+
+ return EC_MEMMAP_GYRO_DATA + sizeof(u16) * idx;
+}
+
+static int cros_ec_sensors_cmd_read_u8(struct cros_ec_device *ec,
+ unsigned int offset, u8 *dest)
+{
+ return ec->cmd_readmem(ec, offset, 1, dest);
+}
+
+static int cros_ec_sensors_cmd_read_u16(struct cros_ec_device *ec,
+ unsigned int offset, u16 *dest)
+{
+ __le16 tmp;
+ int ret = ec->cmd_readmem(ec, offset, 2, &tmp);
+
+ if (ret >= 0)
+ *dest = le16_to_cpu(tmp);
+
+ return ret;
+}
+
+/**
+ * cros_ec_sensors_read_until_not_busy() - read until is not busy
+ *
+ * @st: pointer to state information for device
+ *
+ * Read from EC status byte until it reads not busy.
+ * Return: 8-bit status if ok, -errno on failure.
+ */
+static int cros_ec_sensors_read_until_not_busy(
+ struct cros_ec_sensors_core_state *st)
+{
+ struct cros_ec_device *ec = st->ec;
+ u8 status;
+ int ret, attempts = 0;
+
+ ret = cros_ec_sensors_cmd_read_u8(ec, EC_MEMMAP_ACC_STATUS, &status);
+ if (ret < 0)
+ return ret;
+
+ while (status & EC_MEMMAP_ACC_STATUS_BUSY_BIT) {
+ /* Give up after enough attempts, return error. */
+ if (attempts++ >= 50)
+ return -EIO;
+
+ /* Small delay every so often. */
+ if (attempts % 5 == 0)
+ msleep(25);
+
+ ret = cros_ec_sensors_cmd_read_u8(ec, EC_MEMMAP_ACC_STATUS,
+ &status);
+ if (ret < 0)
+ return ret;
+ }
+
+ return status;
+}
+
+/**
+ * read_ec_sensors_data_unsafe() - read acceleration data from EC shared memory
+ * @indio_dev: pointer to IIO device
+ * @scan_mask: bitmap of the sensor indices to scan
+ * @data: location to store data
+ *
+ * This is the unsafe function for reading the EC data. It does not guarantee
+ * that the EC will not modify the data as it is being read in.
+ *
+ * Return: 0 on success, -errno on failure.
+ */
+static int cros_ec_sensors_read_data_unsafe(struct iio_dev *indio_dev,
+ unsigned long scan_mask, s16 *data)
+{
+ struct cros_ec_sensors_core_state *st = iio_priv(indio_dev);
+ struct cros_ec_device *ec = st->ec;
+ unsigned int i;
+ int ret;
+
+ /* Read all sensors enabled in scan_mask. Each value is 2 bytes. */
+ for_each_set_bit(i, &scan_mask, indio_dev->masklength) {
+ ret = cros_ec_sensors_cmd_read_u16(ec,
+ cros_ec_sensors_idx_to_reg(st, i),
+ data);
+ if (ret < 0)
+ return ret;
+
+ data++;
+ }
+
+ return 0;
+}
+
+int cros_ec_sensors_read_lpc(struct iio_dev *indio_dev,
+ unsigned long scan_mask, s16 *data)
+{
+ struct cros_ec_sensors_core_state *st = iio_priv(indio_dev);
+ struct cros_ec_device *ec = st->ec;
+ u8 samp_id = 0xff, status = 0;
+ int ret, attempts = 0;
+
+ /*
+ * Continually read all data from EC until the status byte after
+ * all reads reflects that the EC is not busy and the sample id
+ * matches the sample id from before all reads. This guarantees
+ * that data read in was not modified by the EC while reading.
+ */
+ while ((status & (EC_MEMMAP_ACC_STATUS_BUSY_BIT |
+ EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK)) != samp_id) {
+ /* If we have tried to read too many times, return error. */
+ if (attempts++ >= 5)
+ return -EIO;
+
+ /* Read status byte until EC is not busy. */
+ status = cros_ec_sensors_read_until_not_busy(st);
+ if (status < 0)
+ return status;
+
+ /*
+ * Store the current sample id so that we can compare to the
+ * sample id after reading the data.
+ */
+ samp_id = status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
+
+ /* Read all EC data, format it, and store it into data. */
+ ret = cros_ec_sensors_read_data_unsafe(indio_dev, scan_mask,
+ data);
+ if (ret < 0)
+ return ret;
+
+ /* Read status byte. */
+ ret = cros_ec_sensors_cmd_read_u8(ec, EC_MEMMAP_ACC_STATUS,
+ &status);
+ if (ret < 0)
+ return ret;
+ }
+
+ return 0;
+}
+EXPORT_SYMBOL_GPL(cros_ec_sensors_read_lpc);
+
+int cros_ec_sensors_read_cmd(struct iio_dev *indio_dev,
+ unsigned long scan_mask, s16 *data)
+{
+ struct cros_ec_sensors_core_state *st = iio_priv(indio_dev);
+ int ret;
+ unsigned int i;
+
+ /* Read all sensor data through a command. */
+ st->param.cmd = MOTIONSENSE_CMD_DATA;
+ ret = cros_ec_motion_send_host_cmd(st, sizeof(st->resp->data));
+ if (ret != 0) {
+ dev_warn(&indio_dev->dev, "Unable to read sensor data\n");
+ return ret;
+ }
+
+ for_each_set_bit(i, &scan_mask, indio_dev->masklength) {
+ *data = st->resp->data.data[i];
+ data++;
+ }
+
+ return 0;
+}
+EXPORT_SYMBOL_GPL(cros_ec_sensors_read_cmd);
+
+irqreturn_t cros_ec_sensors_capture(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct cros_ec_sensors_core_state *st = iio_priv(indio_dev);
+ int ret;
+
+ mutex_lock(&st->cmd_lock);
+
+ /* Clear capture data. */
+ memset(st->samples, 0, indio_dev->scan_bytes);
+
+ /* Read data based on which channels are enabled in scan mask. */
+ ret = st->read_ec_sensors_data(indio_dev,
+ *(indio_dev->active_scan_mask),
+ (s16 *)st->samples);
+ if (ret < 0)
+ goto done;
+
+ iio_push_to_buffers_with_timestamp(indio_dev, st->samples,
+ iio_get_time_ns(indio_dev));
+
+done:
+ /*
+ * Tell the core we are done with this trigger and ready for the
+ * next one.
+ */
+ iio_trigger_notify_done(indio_dev->trig);
+
+ mutex_unlock(&st->cmd_lock);
+
+ return IRQ_HANDLED;
+}
+EXPORT_SYMBOL_GPL(cros_ec_sensors_capture);
+
+int cros_ec_sensors_core_read(struct cros_ec_sensors_core_state *st,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ int ret = IIO_VAL_INT;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ st->param.cmd = MOTIONSENSE_CMD_EC_RATE;
+ st->param.ec_rate.data =
+ EC_MOTION_SENSE_NO_VALUE;
+
+ if (cros_ec_motion_send_host_cmd(st, 0))
+ ret = -EIO;
+ else
+ *val = st->resp->ec_rate.ret;
+ break;
+ case IIO_CHAN_INFO_FREQUENCY:
+ st->param.cmd = MOTIONSENSE_CMD_SENSOR_ODR;
+ st->param.sensor_odr.data =
+ EC_MOTION_SENSE_NO_VALUE;
+
+ if (cros_ec_motion_send_host_cmd(st, 0))
+ ret = -EIO;
+ else
+ *val = st->resp->sensor_odr.ret;
+ break;
+ default:
+ break;
+ }
+
+ return ret;
+}
+EXPORT_SYMBOL_GPL(cros_ec_sensors_core_read);
+
+int cros_ec_sensors_core_write(struct cros_ec_sensors_core_state *st,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ int ret = 0;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_FREQUENCY:
+ st->param.cmd = MOTIONSENSE_CMD_SENSOR_ODR;
+ st->param.sensor_odr.data = val;
+
+ /* Always roundup, so caller gets at least what it asks for. */
+ st->param.sensor_odr.roundup = 1;
+
+ if (cros_ec_motion_send_host_cmd(st, 0))
+ ret = -EIO;
+ break;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ st->param.cmd = MOTIONSENSE_CMD_EC_RATE;
+ st->param.ec_rate.data = val;
+
+ if (cros_ec_motion_send_host_cmd(st, 0))
+ ret = -EIO;
+ else
+ st->curr_sampl_freq = val;
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+ return ret;
+}
+EXPORT_SYMBOL_GPL(cros_ec_sensors_core_write);
+
+MODULE_DESCRIPTION("ChromeOS EC sensor hub core functions");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.h b/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.h
new file mode 100644
index 000000000000..8bc2ca3c2e2e
--- /dev/null
+++ b/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.h
@@ -0,0 +1,175 @@
+/*
+ * ChromeOS EC sensor hub
+ *
+ * Copyright (C) 2016 Google, Inc
+ *
+ * This software is licensed under the terms of the GNU General Public
+ * License version 2, as published by the Free Software Foundation, and
+ * may be copied, distributed, and modified under those terms.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ */
+
+#ifndef __CROS_EC_SENSORS_CORE_H
+#define __CROS_EC_SENSORS_CORE_H
+
+#include <linux/irqreturn.h>
+
+enum {
+ CROS_EC_SENSOR_X,
+ CROS_EC_SENSOR_Y,
+ CROS_EC_SENSOR_Z,
+ CROS_EC_SENSOR_MAX_AXIS,
+};
+
+/* EC returns sensor values using signed 16 bit registers */
+#define CROS_EC_SENSOR_BITS 16
+
+/*
+ * 4 16 bit channels are allowed.
+ * Good enough for current sensors, they use up to 3 16 bit vectors.
+ */
+#define CROS_EC_SAMPLE_SIZE (sizeof(s64) * 2)
+
+/* Minimum sampling period to use when device is suspending */
+#define CROS_EC_MIN_SUSPEND_SAMPLING_FREQUENCY 1000 /* 1 second */
+
+/**
+ * struct cros_ec_sensors_core_state - state data for EC sensors IIO driver
+ * @ec: cros EC device structure
+ * @cmd_lock: lock used to prevent simultaneous access to the
+ * commands.
+ * @msg: cros EC command structure
+ * @param: motion sensor parameters structure
+ * @resp: motion sensor response structure
+ * @type: type of motion sensor
+ * @loc: location where the motion sensor is placed
+ * @calib: calibration parameters. Note that trigger
+ * captured data will always provide the calibrated
+ * data
+ * @samples: static array to hold data from a single capture.
+ * For each channel we need 2 bytes, except for
+ * the timestamp. The timestamp is always last and
+ * is always 8-byte aligned.
+ * @read_ec_sensors_data: function used for accessing sensors values
+ * @cuur_sampl_freq: current sampling period
+ */
+struct cros_ec_sensors_core_state {
+ struct cros_ec_device *ec;
+ struct mutex cmd_lock;
+
+ struct cros_ec_command *msg;
+ struct ec_params_motion_sense param;
+ struct ec_response_motion_sense *resp;
+
+ enum motionsensor_type type;
+ enum motionsensor_location loc;
+
+ s16 calib[CROS_EC_SENSOR_MAX_AXIS];
+
+ u8 samples[CROS_EC_SAMPLE_SIZE];
+
+ int (*read_ec_sensors_data)(struct iio_dev *indio_dev,
+ unsigned long scan_mask, s16 *data);
+
+ int curr_sampl_freq;
+};
+
+/**
+ * cros_ec_sensors_read_lpc() - retrieve data from EC shared memory
+ * @indio_dev: pointer to IIO device
+ * @scan_mask: bitmap of the sensor indices to scan
+ * @data: location to store data
+ *
+ * This is the safe function for reading the EC data. It guarantees that the
+ * data sampled was not modified by the EC while being read.
+ *
+ * Return: 0 on success, -errno on failure.
+ */
+int cros_ec_sensors_read_lpc(struct iio_dev *indio_dev, unsigned long scan_mask,
+ s16 *data);
+
+/**
+ * cros_ec_sensors_read_cmd() - retrieve data using the EC command protocol
+ * @indio_dev: pointer to IIO device
+ * @scan_mask: bitmap of the sensor indices to scan
+ * @data: location to store data
+ *
+ * Return: 0 on success, -errno on failure.
+ */
+int cros_ec_sensors_read_cmd(struct iio_dev *indio_dev, unsigned long scan_mask,
+ s16 *data);
+
+/**
+ * cros_ec_sensors_core_init() - basic initialization of the core structure
+ * @pdev: platform device created for the sensors
+ * @indio_dev: iio device structure of the device
+ * @physical_device: true if the device refers to a physical device
+ *
+ * Return: 0 on success, -errno on failure.
+ */
+int cros_ec_sensors_core_init(struct platform_device *pdev,
+ struct iio_dev *indio_dev, bool physical_device);
+
+/**
+ * cros_ec_sensors_capture() - the trigger handler function
+ * @irq: the interrupt number.
+ * @p: a pointer to the poll function.
+ *
+ * On a trigger event occurring, if the pollfunc is attached then this
+ * handler is called as a threaded interrupt (and hence may sleep). It
+ * is responsible for grabbing data from the device and pushing it into
+ * the associated buffer.
+ *
+ * Return: IRQ_HANDLED
+ */
+irqreturn_t cros_ec_sensors_capture(int irq, void *p);
+
+/**
+ * cros_ec_motion_send_host_cmd() - send motion sense host command
+ * @st: pointer to state information for device
+ * @opt_length: optional length to reduce the response size, useful on the data
+ * path. Otherwise, the maximal allowed response size is used
+ *
+ * When called, the sub-command is assumed to be set in param->cmd.
+ *
+ * Return: 0 on success, -errno on failure.
+ */
+int cros_ec_motion_send_host_cmd(struct cros_ec_sensors_core_state *st,
+ u16 opt_length);
+
+/**
+ * cros_ec_sensors_core_read() - function to request a value from the sensor
+ * @st: pointer to state information for device
+ * @chan: channel specification structure table
+ * @val: will contain one element making up the returned value
+ * @val2: will contain another element making up the returned value
+ * @mask: specifies which values to be requested
+ *
+ * Return: the type of value returned by the device
+ */
+int cros_ec_sensors_core_read(struct cros_ec_sensors_core_state *st,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask);
+
+/**
+ * cros_ec_sensors_core_write() - function to write a value to the sensor
+ * @st: pointer to state information for device
+ * @chan: channel specification structure table
+ * @val: first part of value to write
+ * @val2: second part of value to write
+ * @mask: specifies which values to write
+ *
+ * Return: the type of value returned by the device
+ */
+int cros_ec_sensors_core_write(struct cros_ec_sensors_core_state *st,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask);
+
+/* List of extended channel specification for all sensors */
+extern const struct iio_chan_spec_ext_info cros_ec_sensors_ext_info[];
+
+#endif /* __CROS_EC_SENSORS_CORE_H */
diff --git a/drivers/iio/common/hid-sensors/hid-sensor-attributes.c b/drivers/iio/common/hid-sensors/hid-sensor-attributes.c
index dc33c1dd5191..4509f8475c54 100644
--- a/drivers/iio/common/hid-sensors/hid-sensor-attributes.c
+++ b/drivers/iio/common/hid-sensors/hid-sensor-attributes.c
@@ -201,7 +201,7 @@ int hid_sensor_write_samp_freq_value(struct hid_sensor_common *st,
int ret;
if (val1 < 0 || val2 < 0)
- ret = -EINVAL;
+ return -EINVAL;
value = val1 * pow_10(6) + val2;
if (value) {
@@ -250,6 +250,9 @@ int hid_sensor_write_raw_hyst_value(struct hid_sensor_common *st,
s32 value;
int ret;
+ if (val1 < 0 || val2 < 0)
+ return -EINVAL;
+
value = convert_to_vtf_format(st->sensitivity.size,
st->sensitivity.unit_expo,
val1, val2);
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index 205a84420ae9..107b5efd4178 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -84,6 +84,23 @@ config HID_SENSOR_GYRO_3D
Say yes here to build support for the HID SENSOR
Gyroscope 3D.
+config MPU3050
+ tristate
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+ select REGMAP
+
+config MPU3050_I2C
+ tristate "Invensense MPU3050 devices on I2C"
+ depends on !(INPUT_MPU3050=y || INPUT_MPU3050=m)
+ select MPU3050
+ select REGMAP_I2C
+ select I2C_MUX
+ help
+ This driver supports the Invensense MPU3050 gyroscope over I2C.
+ This driver can be built as a module. The module will be called
+ inv-mpu3050-i2c.
+
config IIO_ST_GYRO_3AXIS
tristate "STMicroelectronics gyroscopes 3-Axis Driver"
depends on (I2C || SPI_MASTER) && SYSFS
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
index f866a4be0667..f0e149a606b0 100644
--- a/drivers/iio/gyro/Makefile
+++ b/drivers/iio/gyro/Makefile
@@ -14,6 +14,11 @@ obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o
obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
+# Currently this is rolled into one module, split it if
+# we ever create a separate SPI interface for MPU-3050
+obj-$(CONFIG_MPU3050) += mpu3050.o
+mpu3050-objs := mpu3050-core.o mpu3050-i2c.o
+
itg3200-y := itg3200_core.o
itg3200-$(CONFIG_IIO_BUFFER) += itg3200_buffer.o
obj-$(CONFIG_ITG3200) += itg3200.o
diff --git a/drivers/iio/gyro/mpu3050-core.c b/drivers/iio/gyro/mpu3050-core.c
new file mode 100644
index 000000000000..ed681c70a7b4
--- /dev/null
+++ b/drivers/iio/gyro/mpu3050-core.c
@@ -0,0 +1,1307 @@
+/*
+ * MPU3050 gyroscope driver
+ *
+ * Copyright (C) 2016 Linaro Ltd.
+ * Author: Linus Walleij <linus.walleij@linaro.org>
+ *
+ * Based on the input subsystem driver, Copyright (C) 2011 Wistron Co.Ltd
+ * Joseph Lai <joseph_lai@wistron.com> and trimmed down by
+ * Alan Cox <alan@linux.intel.com> in turn based on bma023.c.
+ * Device behaviour based on a misc driver posted by Nathan Royer in 2011.
+ *
+ * TODO: add support for setting up the low pass 3dB frequency.
+ */
+
+#include <linux/bitops.h>
+#include <linux/delay.h>
+#include <linux/err.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/pm_runtime.h>
+#include <linux/random.h>
+#include <linux/slab.h>
+
+#include "mpu3050.h"
+
+#define MPU3050_CHIP_ID 0x69
+
+/*
+ * Register map: anything suffixed *_H is a big-endian high byte and always
+ * followed by the corresponding low byte (*_L) even though these are not
+ * explicitly included in the register definitions.
+ */
+#define MPU3050_CHIP_ID_REG 0x00
+#define MPU3050_PRODUCT_ID_REG 0x01
+#define MPU3050_XG_OFFS_TC 0x05
+#define MPU3050_YG_OFFS_TC 0x08
+#define MPU3050_ZG_OFFS_TC 0x0B
+#define MPU3050_X_OFFS_USR_H 0x0C
+#define MPU3050_Y_OFFS_USR_H 0x0E
+#define MPU3050_Z_OFFS_USR_H 0x10
+#define MPU3050_FIFO_EN 0x12
+#define MPU3050_AUX_VDDIO 0x13
+#define MPU3050_SLV_ADDR 0x14
+#define MPU3050_SMPLRT_DIV 0x15
+#define MPU3050_DLPF_FS_SYNC 0x16
+#define MPU3050_INT_CFG 0x17
+#define MPU3050_AUX_ADDR 0x18
+#define MPU3050_INT_STATUS 0x1A
+#define MPU3050_TEMP_H 0x1B
+#define MPU3050_XOUT_H 0x1D
+#define MPU3050_YOUT_H 0x1F
+#define MPU3050_ZOUT_H 0x21
+#define MPU3050_DMP_CFG1 0x35
+#define MPU3050_DMP_CFG2 0x36
+#define MPU3050_BANK_SEL 0x37
+#define MPU3050_MEM_START_ADDR 0x38
+#define MPU3050_MEM_R_W 0x39
+#define MPU3050_FIFO_COUNT_H 0x3A
+#define MPU3050_FIFO_R 0x3C
+#define MPU3050_USR_CTRL 0x3D
+#define MPU3050_PWR_MGM 0x3E
+
+/* MPU memory bank read options */
+#define MPU3050_MEM_PRFTCH BIT(5)
+#define MPU3050_MEM_USER_BANK BIT(4)
+/* Bits 8-11 select memory bank */
+#define MPU3050_MEM_RAM_BANK_0 0
+#define MPU3050_MEM_RAM_BANK_1 1
+#define MPU3050_MEM_RAM_BANK_2 2
+#define MPU3050_MEM_RAM_BANK_3 3
+#define MPU3050_MEM_OTP_BANK_0 4
+
+#define MPU3050_AXIS_REGS(axis) (MPU3050_XOUT_H + (axis * 2))
+
+/* Register bits */
+
+/* FIFO Enable */
+#define MPU3050_FIFO_EN_FOOTER BIT(0)
+#define MPU3050_FIFO_EN_AUX_ZOUT BIT(1)
+#define MPU3050_FIFO_EN_AUX_YOUT BIT(2)
+#define MPU3050_FIFO_EN_AUX_XOUT BIT(3)
+#define MPU3050_FIFO_EN_GYRO_ZOUT BIT(4)
+#define MPU3050_FIFO_EN_GYRO_YOUT BIT(5)
+#define MPU3050_FIFO_EN_GYRO_XOUT BIT(6)
+#define MPU3050_FIFO_EN_TEMP_OUT BIT(7)
+
+/*
+ * Digital Low Pass filter (DLPF)
+ * Full Scale (FS)
+ * and Synchronization
+ */
+#define MPU3050_EXT_SYNC_NONE 0x00
+#define MPU3050_EXT_SYNC_TEMP 0x20
+#define MPU3050_EXT_SYNC_GYROX 0x40
+#define MPU3050_EXT_SYNC_GYROY 0x60
+#define MPU3050_EXT_SYNC_GYROZ 0x80
+#define MPU3050_EXT_SYNC_ACCELX 0xA0
+#define MPU3050_EXT_SYNC_ACCELY 0xC0
+#define MPU3050_EXT_SYNC_ACCELZ 0xE0
+#define MPU3050_EXT_SYNC_MASK 0xE0
+#define MPU3050_EXT_SYNC_SHIFT 5
+
+#define MPU3050_FS_250DPS 0x00
+#define MPU3050_FS_500DPS 0x08
+#define MPU3050_FS_1000DPS 0x10
+#define MPU3050_FS_2000DPS 0x18
+#define MPU3050_FS_MASK 0x18
+#define MPU3050_FS_SHIFT 3
+
+#define MPU3050_DLPF_CFG_256HZ_NOLPF2 0x00
+#define MPU3050_DLPF_CFG_188HZ 0x01
+#define MPU3050_DLPF_CFG_98HZ 0x02
+#define MPU3050_DLPF_CFG_42HZ 0x03
+#define MPU3050_DLPF_CFG_20HZ 0x04
+#define MPU3050_DLPF_CFG_10HZ 0x05
+#define MPU3050_DLPF_CFG_5HZ 0x06
+#define MPU3050_DLPF_CFG_2100HZ_NOLPF 0x07
+#define MPU3050_DLPF_CFG_MASK 0x07
+#define MPU3050_DLPF_CFG_SHIFT 0
+
+/* Interrupt config */
+#define MPU3050_INT_RAW_RDY_EN BIT(0)
+#define MPU3050_INT_DMP_DONE_EN BIT(1)
+#define MPU3050_INT_MPU_RDY_EN BIT(2)
+#define MPU3050_INT_ANYRD_2CLEAR BIT(4)
+#define MPU3050_INT_LATCH_EN BIT(5)
+#define MPU3050_INT_OPEN BIT(6)
+#define MPU3050_INT_ACTL BIT(7)
+/* Interrupt status */
+#define MPU3050_INT_STATUS_RAW_RDY BIT(0)
+#define MPU3050_INT_STATUS_DMP_DONE BIT(1)
+#define MPU3050_INT_STATUS_MPU_RDY BIT(2)
+#define MPU3050_INT_STATUS_FIFO_OVFLW BIT(7)
+/* USR_CTRL */
+#define MPU3050_USR_CTRL_FIFO_EN BIT(6)
+#define MPU3050_USR_CTRL_AUX_IF_EN BIT(5)
+#define MPU3050_USR_CTRL_AUX_IF_RST BIT(3)
+#define MPU3050_USR_CTRL_FIFO_RST BIT(1)
+#define MPU3050_USR_CTRL_GYRO_RST BIT(0)
+/* PWR_MGM */
+#define MPU3050_PWR_MGM_PLL_X 0x01
+#define MPU3050_PWR_MGM_PLL_Y 0x02
+#define MPU3050_PWR_MGM_PLL_Z 0x03
+#define MPU3050_PWR_MGM_CLKSEL_MASK 0x07
+#define MPU3050_PWR_MGM_STBY_ZG BIT(3)
+#define MPU3050_PWR_MGM_STBY_YG BIT(4)
+#define MPU3050_PWR_MGM_STBY_XG BIT(5)
+#define MPU3050_PWR_MGM_SLEEP BIT(6)
+#define MPU3050_PWR_MGM_RESET BIT(7)
+#define MPU3050_PWR_MGM_MASK 0xff
+
+/*
+ * Fullscale precision is (for finest precision) +/- 250 deg/s, so the full
+ * scale is actually 500 deg/s. All 16 bits are then used to cover this scale,
+ * in two's complement.
+ */
+static unsigned int mpu3050_fs_precision[] = {
+ IIO_DEGREE_TO_RAD(250),
+ IIO_DEGREE_TO_RAD(500),
+ IIO_DEGREE_TO_RAD(1000),
+ IIO_DEGREE_TO_RAD(2000)
+};
+
+/*
+ * Regulator names
+ */
+static const char mpu3050_reg_vdd[] = "vdd";
+static const char mpu3050_reg_vlogic[] = "vlogic";
+
+static unsigned int mpu3050_get_freq(struct mpu3050 *mpu3050)
+{
+ unsigned int freq;
+
+ if (mpu3050->lpf == MPU3050_DLPF_CFG_256HZ_NOLPF2)
+ freq = 8000;
+ else
+ freq = 1000;
+ freq /= (mpu3050->divisor + 1);
+
+ return freq;
+}
+
+static int mpu3050_start_sampling(struct mpu3050 *mpu3050)
+{
+ __be16 raw_val[3];
+ int ret;
+ int i;
+
+ /* Reset */
+ ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_RESET, MPU3050_PWR_MGM_RESET);
+ if (ret)
+ return ret;
+
+ /* Turn on the Z-axis PLL */
+ ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_CLKSEL_MASK,
+ MPU3050_PWR_MGM_PLL_Z);
+ if (ret)
+ return ret;
+
+ /* Write calibration offset registers */
+ for (i = 0; i < 3; i++)
+ raw_val[i] = cpu_to_be16(mpu3050->calibration[i]);
+
+ ret = regmap_bulk_write(mpu3050->map, MPU3050_X_OFFS_USR_H, raw_val,
+ sizeof(raw_val));
+ if (ret)
+ return ret;
+
+ /* Set low pass filter (sample rate), sync and full scale */
+ ret = regmap_write(mpu3050->map, MPU3050_DLPF_FS_SYNC,
+ MPU3050_EXT_SYNC_NONE << MPU3050_EXT_SYNC_SHIFT |
+ mpu3050->fullscale << MPU3050_FS_SHIFT |
+ mpu3050->lpf << MPU3050_DLPF_CFG_SHIFT);
+ if (ret)
+ return ret;
+
+ /* Set up sampling frequency */
+ ret = regmap_write(mpu3050->map, MPU3050_SMPLRT_DIV, mpu3050->divisor);
+ if (ret)
+ return ret;
+
+ /*
+ * Max 50 ms start-up time after setting DLPF_FS_SYNC
+ * according to the data sheet, then wait for the next sample
+ * at this frequency T = 1000/f ms.
+ */
+ msleep(50 + 1000 / mpu3050_get_freq(mpu3050));
+
+ return 0;
+}
+
+static int mpu3050_set_8khz_samplerate(struct mpu3050 *mpu3050)
+{
+ int ret;
+ u8 divisor;
+ enum mpu3050_lpf lpf;
+
+ lpf = mpu3050->lpf;
+ divisor = mpu3050->divisor;
+
+ mpu3050->lpf = LPF_256_HZ_NOLPF; /* 8 kHz base frequency */
+ mpu3050->divisor = 0; /* Divide by 1 */
+ ret = mpu3050_start_sampling(mpu3050);
+
+ mpu3050->lpf = lpf;
+ mpu3050->divisor = divisor;
+
+ return ret;
+}
+
+static int mpu3050_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2,
+ long mask)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ int ret;
+ __be16 raw_val;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_OFFSET:
+ switch (chan->type) {
+ case IIO_TEMP:
+ /* The temperature scaling is (x+23000)/280 Celsius */
+ *val = 23000;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_CALIBBIAS:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = mpu3050->calibration[chan->scan_index-1];
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ *val = mpu3050_get_freq(mpu3050);
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_TEMP:
+ /* Millidegrees, see about temperature scaling above */
+ *val = 1000;
+ *val2 = 280;
+ return IIO_VAL_FRACTIONAL;
+ case IIO_ANGL_VEL:
+ /*
+ * Convert to the corresponding full scale in
+ * radians. All 16 bits are used with sign to
+ * span the available scale: to account for the one
+ * missing value if we multiply by 1/S16_MAX, instead
+ * multiply with 2/U16_MAX.
+ */
+ *val = mpu3050_fs_precision[mpu3050->fullscale] * 2;
+ *val2 = U16_MAX;
+ return IIO_VAL_FRACTIONAL;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_RAW:
+ /* Resume device */
+ pm_runtime_get_sync(mpu3050->dev);
+ mutex_lock(&mpu3050->lock);
+
+ ret = mpu3050_set_8khz_samplerate(mpu3050);
+ if (ret)
+ goto out_read_raw_unlock;
+
+ switch (chan->type) {
+ case IIO_TEMP:
+ ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H,
+ &raw_val, sizeof(raw_val));
+ if (ret) {
+ dev_err(mpu3050->dev,
+ "error reading temperature\n");
+ goto out_read_raw_unlock;
+ }
+
+ *val = be16_to_cpu(raw_val);
+ ret = IIO_VAL_INT;
+
+ goto out_read_raw_unlock;
+ case IIO_ANGL_VEL:
+ ret = regmap_bulk_read(mpu3050->map,
+ MPU3050_AXIS_REGS(chan->scan_index-1),
+ &raw_val,
+ sizeof(raw_val));
+ if (ret) {
+ dev_err(mpu3050->dev,
+ "error reading axis data\n");
+ goto out_read_raw_unlock;
+ }
+
+ *val = be16_to_cpu(raw_val);
+ ret = IIO_VAL_INT;
+
+ goto out_read_raw_unlock;
+ default:
+ ret = -EINVAL;
+ goto out_read_raw_unlock;
+ }
+ default:
+ break;
+ }
+
+ return -EINVAL;
+
+out_read_raw_unlock:
+ mutex_unlock(&mpu3050->lock);
+ pm_runtime_mark_last_busy(mpu3050->dev);
+ pm_runtime_put_autosuspend(mpu3050->dev);
+
+ return ret;
+}
+
+static int mpu3050_write_raw(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ int val, int val2, long mask)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ /*
+ * Couldn't figure out a way to precalculate these at compile time.
+ */
+ unsigned int fs250 =
+ DIV_ROUND_CLOSEST(mpu3050_fs_precision[0] * 1000000 * 2,
+ U16_MAX);
+ unsigned int fs500 =
+ DIV_ROUND_CLOSEST(mpu3050_fs_precision[1] * 1000000 * 2,
+ U16_MAX);
+ unsigned int fs1000 =
+ DIV_ROUND_CLOSEST(mpu3050_fs_precision[2] * 1000000 * 2,
+ U16_MAX);
+ unsigned int fs2000 =
+ DIV_ROUND_CLOSEST(mpu3050_fs_precision[3] * 1000000 * 2,
+ U16_MAX);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_CALIBBIAS:
+ if (chan->type != IIO_ANGL_VEL)
+ return -EINVAL;
+ mpu3050->calibration[chan->scan_index-1] = val;
+ return 0;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ /*
+ * The max samplerate is 8000 Hz, the minimum
+ * 1000 / 256 ~= 4 Hz
+ */
+ if (val < 4 || val > 8000)
+ return -EINVAL;
+
+ /*
+ * Above 1000 Hz we must turn off the digital low pass filter
+ * so we get a base frequency of 8kHz to the divider
+ */
+ if (val > 1000) {
+ mpu3050->lpf = LPF_256_HZ_NOLPF;
+ mpu3050->divisor = DIV_ROUND_CLOSEST(8000, val) - 1;
+ return 0;
+ }
+
+ mpu3050->lpf = LPF_188_HZ;
+ mpu3050->divisor = DIV_ROUND_CLOSEST(1000, val) - 1;
+ return 0;
+ case IIO_CHAN_INFO_SCALE:
+ if (chan->type != IIO_ANGL_VEL)
+ return -EINVAL;
+ /*
+ * We support +/-250, +/-500, +/-1000 and +/2000 deg/s
+ * which means we need to round to the closest radians
+ * which will be roughly +/-4.3, +/-8.7, +/-17.5, +/-35
+ * rad/s. The scale is then for the 16 bits used to cover
+ * it 2/(2^16) of that.
+ */
+
+ /* Just too large, set the max range */
+ if (val != 0) {
+ mpu3050->fullscale = FS_2000_DPS;
+ return 0;
+ }
+
+ /*
+ * Now we're dealing with fractions below zero in millirad/s
+ * do some integer interpolation and match with the closest
+ * fullscale in the table.
+ */
+ if (val2 <= fs250 ||
+ val2 < ((fs500 + fs250) / 2))
+ mpu3050->fullscale = FS_250_DPS;
+ else if (val2 <= fs500 ||
+ val2 < ((fs1000 + fs500) / 2))
+ mpu3050->fullscale = FS_500_DPS;
+ else if (val2 <= fs1000 ||
+ val2 < ((fs2000 + fs1000) / 2))
+ mpu3050->fullscale = FS_1000_DPS;
+ else
+ /* Catch-all */
+ mpu3050->fullscale = FS_2000_DPS;
+ return 0;
+ default:
+ break;
+ }
+
+ return -EINVAL;
+}
+
+static irqreturn_t mpu3050_trigger_handler(int irq, void *p)
+{
+ const struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ int ret;
+ /*
+ * Temperature 1*16 bits
+ * Three axes 3*16 bits
+ * Timestamp 64 bits (4*16 bits)
+ * Sum total 8*16 bits
+ */
+ __be16 hw_values[8];
+ s64 timestamp;
+ unsigned int datums_from_fifo = 0;
+
+ /*
+ * If we're using the hardware trigger, get the precise timestamp from
+ * the top half of the threaded IRQ handler. Otherwise get the
+ * timestamp here so it will be close in time to the actual values
+ * read from the registers.
+ */
+ if (iio_trigger_using_own(indio_dev))
+ timestamp = mpu3050->hw_timestamp;
+ else
+ timestamp = iio_get_time_ns(indio_dev);
+
+ mutex_lock(&mpu3050->lock);
+
+ /* Using the hardware IRQ trigger? Check the buffer then. */
+ if (mpu3050->hw_irq_trigger) {
+ __be16 raw_fifocnt;
+ u16 fifocnt;
+ /* X, Y, Z + temperature */
+ unsigned int bytes_per_datum = 8;
+ bool fifo_overflow = false;
+
+ ret = regmap_bulk_read(mpu3050->map,
+ MPU3050_FIFO_COUNT_H,
+ &raw_fifocnt,
+ sizeof(raw_fifocnt));
+ if (ret)
+ goto out_trigger_unlock;
+ fifocnt = be16_to_cpu(raw_fifocnt);
+
+ if (fifocnt == 512) {
+ dev_info(mpu3050->dev,
+ "FIFO overflow! Emptying and resetting FIFO\n");
+ fifo_overflow = true;
+ /* Reset and enable the FIFO */
+ ret = regmap_update_bits(mpu3050->map,
+ MPU3050_USR_CTRL,
+ MPU3050_USR_CTRL_FIFO_EN |
+ MPU3050_USR_CTRL_FIFO_RST,
+ MPU3050_USR_CTRL_FIFO_EN |
+ MPU3050_USR_CTRL_FIFO_RST);
+ if (ret) {
+ dev_info(mpu3050->dev, "error resetting FIFO\n");
+ goto out_trigger_unlock;
+ }
+ mpu3050->pending_fifo_footer = false;
+ }
+
+ if (fifocnt)
+ dev_dbg(mpu3050->dev,
+ "%d bytes in the FIFO\n",
+ fifocnt);
+
+ while (!fifo_overflow && fifocnt > bytes_per_datum) {
+ unsigned int toread;
+ unsigned int offset;
+ __be16 fifo_values[5];
+
+ /*
+ * If there is a FIFO footer in the pipe, first clear
+ * that out. This follows the complex algorithm in the
+ * datasheet that states that you may never leave the
+ * FIFO empty after the first reading: you have to
+ * always leave two footer bytes in it. The footer is
+ * in practice just two zero bytes.
+ */
+ if (mpu3050->pending_fifo_footer) {
+ toread = bytes_per_datum + 2;
+ offset = 0;
+ } else {
+ toread = bytes_per_datum;
+ offset = 1;
+ /* Put in some dummy value */
+ fifo_values[0] = 0xAAAA;
+ }
+
+ ret = regmap_bulk_read(mpu3050->map,
+ MPU3050_FIFO_R,
+ &fifo_values[offset],
+ toread);
+
+ dev_dbg(mpu3050->dev,
+ "%04x %04x %04x %04x %04x\n",
+ fifo_values[0],
+ fifo_values[1],
+ fifo_values[2],
+ fifo_values[3],
+ fifo_values[4]);
+
+ /* Index past the footer (fifo_values[0]) and push */
+ iio_push_to_buffers_with_timestamp(indio_dev,
+ &fifo_values[1],
+ timestamp);
+
+ fifocnt -= toread;
+ datums_from_fifo++;
+ mpu3050->pending_fifo_footer = true;
+
+ /*
+ * If we're emptying the FIFO, just make sure to
+ * check if something new appeared.
+ */
+ if (fifocnt < bytes_per_datum) {
+ ret = regmap_bulk_read(mpu3050->map,
+ MPU3050_FIFO_COUNT_H,
+ &raw_fifocnt,
+ sizeof(raw_fifocnt));
+ if (ret)
+ goto out_trigger_unlock;
+ fifocnt = be16_to_cpu(raw_fifocnt);
+ }
+
+ if (fifocnt < bytes_per_datum)
+ dev_dbg(mpu3050->dev,
+ "%d bytes left in the FIFO\n",
+ fifocnt);
+
+ /*
+ * At this point, the timestamp that triggered the
+ * hardware interrupt is no longer valid for what
+ * we are reading (the interrupt likely fired for
+ * the value on the top of the FIFO), so set the
+ * timestamp to zero and let userspace deal with it.
+ */
+ timestamp = 0;
+ }
+ }
+
+ /*
+ * If we picked some datums from the FIFO that's enough, else
+ * fall through and just read from the current value registers.
+ * This happens in two cases:
+ *
+ * - We are using some other trigger (external, like an HRTimer)
+ * than the sensor's own sample generator. In this case the
+ * sensor is just set to the max sampling frequency and we give
+ * the trigger a copy of the latest value every time we get here.
+ *
+ * - The hardware trigger is active but unused and we actually use
+ * another trigger which calls here with a frequency higher
+ * than what the device provides data. We will then just read
+ * duplicate values directly from the hardware registers.
+ */
+ if (datums_from_fifo) {
+ dev_dbg(mpu3050->dev,
+ "read %d datums from the FIFO\n",
+ datums_from_fifo);
+ goto out_trigger_unlock;
+ }
+
+ ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H, &hw_values,
+ sizeof(hw_values));
+ if (ret) {
+ dev_err(mpu3050->dev,
+ "error reading axis data\n");
+ goto out_trigger_unlock;
+ }
+
+ iio_push_to_buffers_with_timestamp(indio_dev, hw_values, timestamp);
+
+out_trigger_unlock:
+ mutex_unlock(&mpu3050->lock);
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+
+static int mpu3050_buffer_preenable(struct iio_dev *indio_dev)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+
+ pm_runtime_get_sync(mpu3050->dev);
+
+ /* Unless we have OUR trigger active, run at full speed */
+ if (!mpu3050->hw_irq_trigger)
+ return mpu3050_set_8khz_samplerate(mpu3050);
+
+ return 0;
+}
+
+static int mpu3050_buffer_postdisable(struct iio_dev *indio_dev)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+
+ pm_runtime_mark_last_busy(mpu3050->dev);
+ pm_runtime_put_autosuspend(mpu3050->dev);
+
+ return 0;
+}
+
+static const struct iio_buffer_setup_ops mpu3050_buffer_setup_ops = {
+ .preenable = mpu3050_buffer_preenable,
+ .postenable = iio_triggered_buffer_postenable,
+ .predisable = iio_triggered_buffer_predisable,
+ .postdisable = mpu3050_buffer_postdisable,
+};
+
+static const struct iio_mount_matrix *
+mpu3050_get_mount_matrix(const struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+
+ return &mpu3050->orientation;
+}
+
+static const struct iio_chan_spec_ext_info mpu3050_ext_info[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, mpu3050_get_mount_matrix),
+ { },
+};
+
+#define MPU3050_AXIS_CHANNEL(axis, index) \
+ { \
+ .type = IIO_ANGL_VEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_##axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),\
+ .ext_info = mpu3050_ext_info, \
+ .scan_index = index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_BE, \
+ }, \
+ }
+
+static const struct iio_chan_spec mpu3050_channels[] = {
+ {
+ .type = IIO_TEMP,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+ BIT(IIO_CHAN_INFO_SCALE) |
+ BIT(IIO_CHAN_INFO_OFFSET),
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
+ .scan_index = 0,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_BE,
+ },
+ },
+ MPU3050_AXIS_CHANNEL(X, 1),
+ MPU3050_AXIS_CHANNEL(Y, 2),
+ MPU3050_AXIS_CHANNEL(Z, 3),
+ IIO_CHAN_SOFT_TIMESTAMP(4),
+};
+
+/* Four channels apart from timestamp, scan mask = 0x0f */
+static const unsigned long mpu3050_scan_masks[] = { 0xf, 0 };
+
+/*
+ * These are just the hardcoded factors resulting from the more elaborate
+ * calculations done with fractions in the scale raw get/set functions.
+ */
+static IIO_CONST_ATTR(anglevel_scale_available,
+ "0.000122070 "
+ "0.000274658 "
+ "0.000518798 "
+ "0.001068115");
+
+static struct attribute *mpu3050_attributes[] = {
+ &iio_const_attr_anglevel_scale_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group mpu3050_attribute_group = {
+ .attrs = mpu3050_attributes,
+};
+
+static const struct iio_info mpu3050_info = {
+ .driver_module = THIS_MODULE,
+ .read_raw = mpu3050_read_raw,
+ .write_raw = mpu3050_write_raw,
+ .attrs = &mpu3050_attribute_group,
+ .driver_module = THIS_MODULE,
+};
+
+/**
+ * mpu3050_read_mem() - read MPU-3050 internal memory
+ * @mpu3050: device to read from
+ * @bank: target bank
+ * @addr: target address
+ * @len: number of bytes
+ * @buf: the buffer to store the read bytes in
+ */
+static int mpu3050_read_mem(struct mpu3050 *mpu3050,
+ u8 bank,
+ u8 addr,
+ u8 len,
+ u8 *buf)
+{
+ int ret;
+
+ ret = regmap_write(mpu3050->map,
+ MPU3050_BANK_SEL,
+ bank);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(mpu3050->map,
+ MPU3050_MEM_START_ADDR,
+ addr);
+ if (ret)
+ return ret;
+
+ return regmap_bulk_read(mpu3050->map,
+ MPU3050_MEM_R_W,
+ buf,
+ len);
+}
+
+static int mpu3050_hw_init(struct mpu3050 *mpu3050)
+{
+ int ret;
+ u8 otp[8];
+
+ /* Reset */
+ ret = regmap_update_bits(mpu3050->map,
+ MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_RESET,
+ MPU3050_PWR_MGM_RESET);
+ if (ret)
+ return ret;
+
+ /* Turn on the PLL */
+ ret = regmap_update_bits(mpu3050->map,
+ MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_CLKSEL_MASK,
+ MPU3050_PWR_MGM_PLL_Z);
+ if (ret)
+ return ret;
+
+ /* Disable IRQs */
+ ret = regmap_write(mpu3050->map,
+ MPU3050_INT_CFG,
+ 0);
+ if (ret)
+ return ret;
+
+ /* Read out the 8 bytes of OTP (one-time-programmable) memory */
+ ret = mpu3050_read_mem(mpu3050,
+ (MPU3050_MEM_PRFTCH |
+ MPU3050_MEM_USER_BANK |
+ MPU3050_MEM_OTP_BANK_0),
+ 0,
+ sizeof(otp),
+ otp);
+ if (ret)
+ return ret;
+
+ /* This is device-unique data so it goes into the entropy pool */
+ add_device_randomness(otp, sizeof(otp));
+
+ dev_info(mpu3050->dev,
+ "die ID: %04X, wafer ID: %02X, A lot ID: %04X, "
+ "W lot ID: %03X, WP ID: %01X, rev ID: %02X\n",
+ /* Die ID, bits 0-12 */
+ (otp[1] << 8 | otp[0]) & 0x1fff,
+ /* Wafer ID, bits 13-17 */
+ ((otp[2] << 8 | otp[1]) & 0x03e0) >> 5,
+ /* A lot ID, bits 18-33 */
+ ((otp[4] << 16 | otp[3] << 8 | otp[2]) & 0x3fffc) >> 2,
+ /* W lot ID, bits 34-45 */
+ ((otp[5] << 8 | otp[4]) & 0x3ffc) >> 2,
+ /* WP ID, bits 47-49 */
+ ((otp[6] << 8 | otp[5]) & 0x0380) >> 7,
+ /* rev ID, bits 50-55 */
+ otp[6] >> 2);
+
+ return 0;
+}
+
+static int mpu3050_power_up(struct mpu3050 *mpu3050)
+{
+ int ret;
+
+ ret = regulator_bulk_enable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs);
+ if (ret) {
+ dev_err(mpu3050->dev, "cannot enable regulators\n");
+ return ret;
+ }
+ /*
+ * 20-100 ms start-up time for register read/write according to
+ * the datasheet, be on the safe side and wait 200 ms.
+ */
+ msleep(200);
+
+ /* Take device out of sleep mode */
+ ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_SLEEP, 0);
+ if (ret) {
+ dev_err(mpu3050->dev, "error setting power mode\n");
+ return ret;
+ }
+ msleep(10);
+
+ return 0;
+}
+
+static int mpu3050_power_down(struct mpu3050 *mpu3050)
+{
+ int ret;
+
+ /*
+ * Put MPU-3050 into sleep mode before cutting regulators.
+ * This is important, because we may not be the sole user
+ * of the regulator so the power may stay on after this, and
+ * then we would be wasting power unless we go to sleep mode
+ * first.
+ */
+ ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM,
+ MPU3050_PWR_MGM_SLEEP, MPU3050_PWR_MGM_SLEEP);
+ if (ret)
+ dev_err(mpu3050->dev, "error putting to sleep\n");
+
+ ret = regulator_bulk_disable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs);
+ if (ret)
+ dev_err(mpu3050->dev, "error disabling regulators\n");
+
+ return 0;
+}
+
+static irqreturn_t mpu3050_irq_handler(int irq, void *p)
+{
+ struct iio_trigger *trig = p;
+ struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+
+ if (!mpu3050->hw_irq_trigger)
+ return IRQ_NONE;
+
+ /* Get the time stamp as close in time as possible */
+ mpu3050->hw_timestamp = iio_get_time_ns(indio_dev);
+
+ return IRQ_WAKE_THREAD;
+}
+
+static irqreturn_t mpu3050_irq_thread(int irq, void *p)
+{
+ struct iio_trigger *trig = p;
+ struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ unsigned int val;
+ int ret;
+
+ /* ACK IRQ and check if it was from us */
+ ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
+ if (ret) {
+ dev_err(mpu3050->dev, "error reading IRQ status\n");
+ return IRQ_HANDLED;
+ }
+ if (!(val & MPU3050_INT_STATUS_RAW_RDY))
+ return IRQ_NONE;
+
+ iio_trigger_poll_chained(p);
+
+ return IRQ_HANDLED;
+}
+
+/**
+ * mpu3050_drdy_trigger_set_state() - set data ready interrupt state
+ * @trig: trigger instance
+ * @enable: true if trigger should be enabled, false to disable
+ */
+static int mpu3050_drdy_trigger_set_state(struct iio_trigger *trig,
+ bool enable)
+{
+ struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ unsigned int val;
+ int ret;
+
+ /* Disabling trigger: disable interrupt and return */
+ if (!enable) {
+ /* Disable all interrupts */
+ ret = regmap_write(mpu3050->map,
+ MPU3050_INT_CFG,
+ 0);
+ if (ret)
+ dev_err(mpu3050->dev, "error disabling IRQ\n");
+
+ /* Clear IRQ flag */
+ ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
+ if (ret)
+ dev_err(mpu3050->dev, "error clearing IRQ status\n");
+
+ /* Disable all things in the FIFO and reset it */
+ ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0);
+ if (ret)
+ dev_err(mpu3050->dev, "error disabling FIFO\n");
+
+ ret = regmap_write(mpu3050->map, MPU3050_USR_CTRL,
+ MPU3050_USR_CTRL_FIFO_RST);
+ if (ret)
+ dev_err(mpu3050->dev, "error resetting FIFO\n");
+
+ pm_runtime_mark_last_busy(mpu3050->dev);
+ pm_runtime_put_autosuspend(mpu3050->dev);
+ mpu3050->hw_irq_trigger = false;
+
+ return 0;
+ } else {
+ /* Else we're enabling the trigger from this point */
+ pm_runtime_get_sync(mpu3050->dev);
+ mpu3050->hw_irq_trigger = true;
+
+ /* Disable all things in the FIFO */
+ ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0);
+ if (ret)
+ return ret;
+
+ /* Reset and enable the FIFO */
+ ret = regmap_update_bits(mpu3050->map, MPU3050_USR_CTRL,
+ MPU3050_USR_CTRL_FIFO_EN |
+ MPU3050_USR_CTRL_FIFO_RST,
+ MPU3050_USR_CTRL_FIFO_EN |
+ MPU3050_USR_CTRL_FIFO_RST);
+ if (ret)
+ return ret;
+
+ mpu3050->pending_fifo_footer = false;
+
+ /* Turn on the FIFO for temp+X+Y+Z */
+ ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN,
+ MPU3050_FIFO_EN_TEMP_OUT |
+ MPU3050_FIFO_EN_GYRO_XOUT |
+ MPU3050_FIFO_EN_GYRO_YOUT |
+ MPU3050_FIFO_EN_GYRO_ZOUT |
+ MPU3050_FIFO_EN_FOOTER);
+ if (ret)
+ return ret;
+
+ /* Configure the sample engine */
+ ret = mpu3050_start_sampling(mpu3050);
+ if (ret)
+ return ret;
+
+ /* Clear IRQ flag */
+ ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val);
+ if (ret)
+ dev_err(mpu3050->dev, "error clearing IRQ status\n");
+
+ /* Give us interrupts whenever there is new data ready */
+ val = MPU3050_INT_RAW_RDY_EN;
+
+ if (mpu3050->irq_actl)
+ val |= MPU3050_INT_ACTL;
+ if (mpu3050->irq_latch)
+ val |= MPU3050_INT_LATCH_EN;
+ if (mpu3050->irq_opendrain)
+ val |= MPU3050_INT_OPEN;
+
+ ret = regmap_write(mpu3050->map, MPU3050_INT_CFG, val);
+ if (ret)
+ return ret;
+ }
+
+ return 0;
+}
+
+static const struct iio_trigger_ops mpu3050_trigger_ops = {
+ .owner = THIS_MODULE,
+ .set_trigger_state = mpu3050_drdy_trigger_set_state,
+};
+
+static int mpu3050_trigger_probe(struct iio_dev *indio_dev, int irq)
+{
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+ unsigned long irq_trig;
+ int ret;
+
+ mpu3050->trig = devm_iio_trigger_alloc(&indio_dev->dev,
+ "%s-dev%d",
+ indio_dev->name,
+ indio_dev->id);
+ if (!mpu3050->trig)
+ return -ENOMEM;
+
+ /* Check if IRQ is open drain */
+ if (of_property_read_bool(mpu3050->dev->of_node, "drive-open-drain"))
+ mpu3050->irq_opendrain = true;
+
+ irq_trig = irqd_get_trigger_type(irq_get_irq_data(irq));
+ /*
+ * Configure the interrupt generator hardware to supply whatever
+ * the interrupt is configured for, edges low/high level low/high,
+ * we can provide it all.
+ */
+ switch (irq_trig) {
+ case IRQF_TRIGGER_RISING:
+ dev_info(&indio_dev->dev,
+ "pulse interrupts on the rising edge\n");
+ if (mpu3050->irq_opendrain) {
+ dev_info(&indio_dev->dev,
+ "rising edge incompatible with open drain\n");
+ mpu3050->irq_opendrain = false;
+ }
+ break;
+ case IRQF_TRIGGER_FALLING:
+ mpu3050->irq_actl = true;
+ dev_info(&indio_dev->dev,
+ "pulse interrupts on the falling edge\n");
+ break;
+ case IRQF_TRIGGER_HIGH:
+ mpu3050->irq_latch = true;
+ dev_info(&indio_dev->dev,
+ "interrupts active high level\n");
+ if (mpu3050->irq_opendrain) {
+ dev_info(&indio_dev->dev,
+ "active high incompatible with open drain\n");
+ mpu3050->irq_opendrain = false;
+ }
+ /*
+ * With level IRQs, we mask the IRQ until it is processed,
+ * but with edge IRQs (pulses) we can queue several interrupts
+ * in the top half.
+ */
+ irq_trig |= IRQF_ONESHOT;
+ break;
+ case IRQF_TRIGGER_LOW:
+ mpu3050->irq_latch = true;
+ mpu3050->irq_actl = true;
+ irq_trig |= IRQF_ONESHOT;
+ dev_info(&indio_dev->dev,
+ "interrupts active low level\n");
+ break;
+ default:
+ /* This is the most preferred mode, if possible */
+ dev_err(&indio_dev->dev,
+ "unsupported IRQ trigger specified (%lx), enforce "
+ "rising edge\n", irq_trig);
+ irq_trig = IRQF_TRIGGER_RISING;
+ break;
+ }
+
+ /* An open drain line can be shared with several devices */
+ if (mpu3050->irq_opendrain)
+ irq_trig |= IRQF_SHARED;
+
+ ret = request_threaded_irq(irq,
+ mpu3050_irq_handler,
+ mpu3050_irq_thread,
+ irq_trig,
+ mpu3050->trig->name,
+ mpu3050->trig);
+ if (ret) {
+ dev_err(mpu3050->dev,
+ "can't get IRQ %d, error %d\n", irq, ret);
+ return ret;
+ }
+
+ mpu3050->irq = irq;
+ mpu3050->trig->dev.parent = mpu3050->dev;
+ mpu3050->trig->ops = &mpu3050_trigger_ops;
+ iio_trigger_set_drvdata(mpu3050->trig, indio_dev);
+
+ ret = iio_trigger_register(mpu3050->trig);
+ if (ret)
+ return ret;
+
+ indio_dev->trig = iio_trigger_get(mpu3050->trig);
+
+ return 0;
+}
+
+int mpu3050_common_probe(struct device *dev,
+ struct regmap *map,
+ int irq,
+ const char *name)
+{
+ struct iio_dev *indio_dev;
+ struct mpu3050 *mpu3050;
+ unsigned int val;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*mpu3050));
+ if (!indio_dev)
+ return -ENOMEM;
+ mpu3050 = iio_priv(indio_dev);
+
+ mpu3050->dev = dev;
+ mpu3050->map = map;
+ mutex_init(&mpu3050->lock);
+ /* Default fullscale: 2000 degrees per second */
+ mpu3050->fullscale = FS_2000_DPS;
+ /* 1 kHz, divide by 100, default frequency = 10 Hz */
+ mpu3050->lpf = MPU3050_DLPF_CFG_188HZ;
+ mpu3050->divisor = 99;
+
+ /* Read the mounting matrix, if present */
+ ret = of_iio_read_mount_matrix(dev, "mount-matrix",
+ &mpu3050->orientation);
+ if (ret)
+ return ret;
+
+ /* Fetch and turn on regulators */
+ mpu3050->regs[0].supply = mpu3050_reg_vdd;
+ mpu3050->regs[1].supply = mpu3050_reg_vlogic;
+ ret = devm_regulator_bulk_get(dev, ARRAY_SIZE(mpu3050->regs),
+ mpu3050->regs);
+ if (ret) {
+ dev_err(dev, "Cannot get regulators\n");
+ return ret;
+ }
+
+ ret = mpu3050_power_up(mpu3050);
+ if (ret)
+ return ret;
+
+ ret = regmap_read(map, MPU3050_CHIP_ID_REG, &val);
+ if (ret) {
+ dev_err(dev, "could not read device ID\n");
+ ret = -ENODEV;
+
+ goto err_power_down;
+ }
+
+ if (val != MPU3050_CHIP_ID) {
+ dev_err(dev, "unsupported chip id %02x\n", (u8)val);
+ ret = -ENODEV;
+ goto err_power_down;
+ }
+
+ ret = regmap_read(map, MPU3050_PRODUCT_ID_REG, &val);
+ if (ret) {
+ dev_err(dev, "could not read device ID\n");
+ ret = -ENODEV;
+
+ goto err_power_down;
+ }
+ dev_info(dev, "found MPU-3050 part no: %d, version: %d\n",
+ ((val >> 4) & 0xf), (val & 0xf));
+
+ ret = mpu3050_hw_init(mpu3050);
+ if (ret)
+ goto err_power_down;
+
+ indio_dev->dev.parent = dev;
+ indio_dev->channels = mpu3050_channels;
+ indio_dev->num_channels = ARRAY_SIZE(mpu3050_channels);
+ indio_dev->info = &mpu3050_info;
+ indio_dev->available_scan_masks = mpu3050_scan_masks;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->name = name;
+
+ ret = iio_triggered_buffer_setup(indio_dev, iio_pollfunc_store_time,
+ mpu3050_trigger_handler,
+ &mpu3050_buffer_setup_ops);
+ if (ret) {
+ dev_err(dev, "triggered buffer setup failed\n");
+ goto err_power_down;
+ }
+
+ ret = iio_device_register(indio_dev);
+ if (ret) {
+ dev_err(dev, "device register failed\n");
+ goto err_cleanup_buffer;
+ }
+
+ dev_set_drvdata(dev, indio_dev);
+
+ /* Check if we have an assigned IRQ to use as trigger */
+ if (irq) {
+ ret = mpu3050_trigger_probe(indio_dev, irq);
+ if (ret)
+ dev_err(dev, "failed to register trigger\n");
+ }
+
+ /* Enable runtime PM */
+ pm_runtime_get_noresume(dev);
+ pm_runtime_set_active(dev);
+ pm_runtime_enable(dev);
+ /*
+ * Set autosuspend to two orders of magnitude larger than the
+ * start-up time. 100ms start-up time means 10000ms autosuspend,
+ * i.e. 10 seconds.
+ */
+ pm_runtime_set_autosuspend_delay(dev, 10000);
+ pm_runtime_use_autosuspend(dev);
+ pm_runtime_put(dev);
+
+ return 0;
+
+err_cleanup_buffer:
+ iio_triggered_buffer_cleanup(indio_dev);
+err_power_down:
+ mpu3050_power_down(mpu3050);
+
+ return ret;
+}
+EXPORT_SYMBOL(mpu3050_common_probe);
+
+int mpu3050_common_remove(struct device *dev)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+
+ pm_runtime_get_sync(dev);
+ pm_runtime_put_noidle(dev);
+ pm_runtime_disable(dev);
+ iio_triggered_buffer_cleanup(indio_dev);
+ if (mpu3050->irq)
+ free_irq(mpu3050->irq, mpu3050);
+ iio_device_unregister(indio_dev);
+ mpu3050_power_down(mpu3050);
+
+ return 0;
+}
+EXPORT_SYMBOL(mpu3050_common_remove);
+
+#ifdef CONFIG_PM
+static int mpu3050_runtime_suspend(struct device *dev)
+{
+ return mpu3050_power_down(iio_priv(dev_get_drvdata(dev)));
+}
+
+static int mpu3050_runtime_resume(struct device *dev)
+{
+ return mpu3050_power_up(iio_priv(dev_get_drvdata(dev)));
+}
+#endif /* CONFIG_PM */
+
+const struct dev_pm_ops mpu3050_dev_pm_ops = {
+ SET_SYSTEM_SLEEP_PM_OPS(pm_runtime_force_suspend,
+ pm_runtime_force_resume)
+ SET_RUNTIME_PM_OPS(mpu3050_runtime_suspend,
+ mpu3050_runtime_resume, NULL)
+};
+EXPORT_SYMBOL(mpu3050_dev_pm_ops);
+
+MODULE_AUTHOR("Linus Walleij");
+MODULE_DESCRIPTION("MPU3050 gyroscope driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/gyro/mpu3050-i2c.c b/drivers/iio/gyro/mpu3050-i2c.c
new file mode 100644
index 000000000000..06007200bf49
--- /dev/null
+++ b/drivers/iio/gyro/mpu3050-i2c.c
@@ -0,0 +1,124 @@
+#include <linux/err.h>
+#include <linux/i2c.h>
+#include <linux/i2c-mux.h>
+#include <linux/iio/iio.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/pm_runtime.h>
+
+#include "mpu3050.h"
+
+static const struct regmap_config mpu3050_i2c_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+};
+
+static int mpu3050_i2c_bypass_select(struct i2c_mux_core *mux, u32 chan_id)
+{
+ struct mpu3050 *mpu3050 = i2c_mux_priv(mux);
+
+ /* Just power up the device, that is all that is needed */
+ pm_runtime_get_sync(mpu3050->dev);
+ return 0;
+}
+
+static int mpu3050_i2c_bypass_deselect(struct i2c_mux_core *mux, u32 chan_id)
+{
+ struct mpu3050 *mpu3050 = i2c_mux_priv(mux);
+
+ pm_runtime_mark_last_busy(mpu3050->dev);
+ pm_runtime_put_autosuspend(mpu3050->dev);
+ return 0;
+}
+
+static int mpu3050_i2c_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ struct regmap *regmap;
+ const char *name;
+ struct mpu3050 *mpu3050;
+ int ret;
+
+ if (!i2c_check_functionality(client->adapter,
+ I2C_FUNC_SMBUS_I2C_BLOCK))
+ return -EOPNOTSUPP;
+
+ if (id)
+ name = id->name;
+ else
+ return -ENODEV;
+
+ regmap = devm_regmap_init_i2c(client, &mpu3050_i2c_regmap_config);
+ if (IS_ERR(regmap)) {
+ dev_err(&client->dev, "Failed to register i2c regmap %d\n",
+ (int)PTR_ERR(regmap));
+ return PTR_ERR(regmap);
+ }
+
+ ret = mpu3050_common_probe(&client->dev, regmap, client->irq, name);
+ if (ret)
+ return ret;
+
+ /* The main driver is up, now register the I2C mux */
+ mpu3050 = iio_priv(dev_get_drvdata(&client->dev));
+ mpu3050->i2cmux = i2c_mux_alloc(client->adapter, &client->dev,
+ 1, 0, I2C_MUX_LOCKED | I2C_MUX_GATE,
+ mpu3050_i2c_bypass_select,
+ mpu3050_i2c_bypass_deselect);
+ /* Just fail the mux, there is no point in killing the driver */
+ if (!mpu3050->i2cmux)
+ dev_err(&client->dev, "failed to allocate I2C mux\n");
+ else {
+ mpu3050->i2cmux->priv = mpu3050;
+ ret = i2c_mux_add_adapter(mpu3050->i2cmux, 0, 0, 0);
+ if (ret)
+ dev_err(&client->dev, "failed to add I2C mux\n");
+ }
+
+ return 0;
+}
+
+static int mpu3050_i2c_remove(struct i2c_client *client)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(&client->dev);
+ struct mpu3050 *mpu3050 = iio_priv(indio_dev);
+
+ if (mpu3050->i2cmux)
+ i2c_mux_del_adapters(mpu3050->i2cmux);
+
+ return mpu3050_common_remove(&client->dev);
+}
+
+/*
+ * device id table is used to identify what device can be
+ * supported by this driver
+ */
+static const struct i2c_device_id mpu3050_i2c_id[] = {
+ { "mpu3050" },
+ {}
+};
+MODULE_DEVICE_TABLE(i2c, mpu3050_i2c_id);
+
+static const struct of_device_id mpu3050_i2c_of_match[] = {
+ { .compatible = "invensense,mpu3050", .data = "mpu3050" },
+ /* Deprecated vendor ID from the Input driver */
+ { .compatible = "invn,mpu3050", .data = "mpu3050" },
+ { },
+};
+MODULE_DEVICE_TABLE(of, mpu3050_i2c_of_match);
+
+static struct i2c_driver mpu3050_i2c_driver = {
+ .probe = mpu3050_i2c_probe,
+ .remove = mpu3050_i2c_remove,
+ .id_table = mpu3050_i2c_id,
+ .driver = {
+ .of_match_table = mpu3050_i2c_of_match,
+ .name = "mpu3050-i2c",
+ .pm = &mpu3050_dev_pm_ops,
+ },
+};
+module_i2c_driver(mpu3050_i2c_driver);
+
+MODULE_AUTHOR("Linus Walleij");
+MODULE_DESCRIPTION("Invensense MPU3050 gyroscope driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/gyro/mpu3050.h b/drivers/iio/gyro/mpu3050.h
new file mode 100644
index 000000000000..bef87a714dc5
--- /dev/null
+++ b/drivers/iio/gyro/mpu3050.h
@@ -0,0 +1,96 @@
+#include <linux/iio/iio.h>
+#include <linux/mutex.h>
+#include <linux/regmap.h>
+#include <linux/regulator/consumer.h>
+#include <linux/i2c.h>
+
+/**
+ * enum mpu3050_fullscale - indicates the full range of the sensor in deg/sec
+ */
+enum mpu3050_fullscale {
+ FS_250_DPS = 0,
+ FS_500_DPS,
+ FS_1000_DPS,
+ FS_2000_DPS,
+};
+
+/**
+ * enum mpu3050_lpf - indicates the low pass filter width
+ */
+enum mpu3050_lpf {
+ /* This implicity sets sample frequency to 8 kHz */
+ LPF_256_HZ_NOLPF = 0,
+ /* All others sets the sample frequency to 1 kHz */
+ LPF_188_HZ,
+ LPF_98_HZ,
+ LPF_42_HZ,
+ LPF_20_HZ,
+ LPF_10_HZ,
+ LPF_5_HZ,
+ LPF_2100_HZ_NOLPF,
+};
+
+enum mpu3050_axis {
+ AXIS_X = 0,
+ AXIS_Y,
+ AXIS_Z,
+ AXIS_MAX,
+};
+
+/**
+ * struct mpu3050 - instance state container for the device
+ * @dev: parent device for this instance
+ * @orientation: mounting matrix, flipped axis etc
+ * @map: regmap to reach the registers
+ * @lock: serialization lock to marshal all requests
+ * @irq: the IRQ used for this device
+ * @regs: the regulators to power this device
+ * @fullscale: the current fullscale setting for the device
+ * @lpf: digital low pass filter setting for the device
+ * @divisor: base frequency divider: divides 8 or 1 kHz
+ * @calibration: the three signed 16-bit calibration settings that
+ * get written into the offset registers for each axis to compensate
+ * for DC offsets
+ * @trig: trigger for the MPU-3050 interrupt, if present
+ * @hw_irq_trigger: hardware interrupt trigger is in use
+ * @irq_actl: interrupt is active low
+ * @irq_latch: latched IRQ, this means that it is a level IRQ
+ * @irq_opendrain: the interrupt line shall be configured open drain
+ * @pending_fifo_footer: tells us if there is a pending footer in the FIFO
+ * that we have to read out first when handling the FIFO
+ * @hw_timestamp: latest hardware timestamp from the trigger IRQ, when in
+ * use
+ * @i2cmux: an I2C mux reflecting the fact that this sensor is a hub with
+ * a pass-through I2C interface coming out of it: this device needs to be
+ * powered up in order to reach devices on the other side of this mux
+ */
+struct mpu3050 {
+ struct device *dev;
+ struct iio_mount_matrix orientation;
+ struct regmap *map;
+ struct mutex lock;
+ int irq;
+ struct regulator_bulk_data regs[2];
+ enum mpu3050_fullscale fullscale;
+ enum mpu3050_lpf lpf;
+ u8 divisor;
+ s16 calibration[3];
+ struct iio_trigger *trig;
+ bool hw_irq_trigger;
+ bool irq_actl;
+ bool irq_latch;
+ bool irq_opendrain;
+ bool pending_fifo_footer;
+ s64 hw_timestamp;
+ struct i2c_mux_core *i2cmux;
+};
+
+/* Probe called from different transports */
+int mpu3050_common_probe(struct device *dev,
+ struct regmap *map,
+ int irq,
+ const char *name);
+int mpu3050_common_remove(struct device *dev);
+
+/* PM ops */
+extern const struct dev_pm_ops mpu3050_dev_pm_ops;
diff --git a/drivers/iio/humidity/hts221_buffer.c b/drivers/iio/humidity/hts221_buffer.c
index 76b2e8130b6f..72ddcdac21a2 100644
--- a/drivers/iio/humidity/hts221_buffer.c
+++ b/drivers/iio/humidity/hts221_buffer.c
@@ -15,7 +15,6 @@
#include <linux/iio/iio.h>
#include <linux/iio/trigger.h>
-#include <linux/interrupt.h>
#include <linux/iio/events.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/iio/triggered_buffer.h>
diff --git a/drivers/iio/humidity/si7020.c b/drivers/iio/humidity/si7020.c
index ffc2ccf6374e..345a7656c5ef 100644
--- a/drivers/iio/humidity/si7020.c
+++ b/drivers/iio/humidity/si7020.c
@@ -154,8 +154,17 @@ static const struct i2c_device_id si7020_id[] = {
};
MODULE_DEVICE_TABLE(i2c, si7020_id);
+static const struct of_device_id si7020_dt_ids[] = {
+ { .compatible = "silabs,si7020" },
+ { }
+};
+MODULE_DEVICE_TABLE(of, si7020_dt_ids);
+
static struct i2c_driver si7020_driver = {
- .driver.name = "si7020",
+ .driver = {
+ .name = "si7020",
+ .of_match_table = of_match_ptr(si7020_dt_ids),
+ },
.probe = si7020_probe,
.id_table = si7020_id,
};
diff --git a/drivers/iio/temperature/maxim_thermocouple.c b/drivers/iio/temperature/maxim_thermocouple.c
index 066161a4bccd..f962f31a5eb2 100644
--- a/drivers/iio/temperature/maxim_thermocouple.c
+++ b/drivers/iio/temperature/maxim_thermocouple.c
@@ -136,6 +136,8 @@ static int maxim_thermocouple_read(struct maxim_thermocouple_data *data,
ret = spi_read(data->spi, (void *)&buf32, storage_bytes);
*val = be32_to_cpu(buf32);
break;
+ default:
+ ret = -EINVAL;
}
if (ret)