summaryrefslogtreecommitdiff
path: root/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
blob: fe03707ec2d3d1070763827102e0e719528ffd31 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
// SPDX-License-Identifier: GPL-2.0-only
/*
* Copyright (C) 2012 Invensense, Inc.
*/

#include <linux/acpi.h>
#include <linux/delay.h>
#include <linux/err.h>
#include <linux/i2c.h>
#include <linux/iio/iio.h>
#include <linux/module.h>
#include <linux/of_device.h>
#include <linux/property.h>
#include "inv_mpu_iio.h"

static const struct regmap_config inv_mpu_regmap_config = {
	.reg_bits = 8,
	.val_bits = 8,
};

static int inv_mpu6050_select_bypass(struct i2c_mux_core *muxc, u32 chan_id)
{
	return 0;
}

static bool inv_mpu_i2c_aux_bus(struct device *dev)
{
	struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));

	switch (st->chip_type) {
	case INV_ICM20608:
	case INV_ICM20609:
	case INV_ICM20689:
	case INV_ICM20602:
	case INV_IAM20680:
		/* no i2c auxiliary bus on the chip */
		return false;
	case INV_MPU9150:
	case INV_MPU9250:
	case INV_MPU9255:
		if (st->magn_disabled)
			return true;
		else
			return false;
	default:
		return true;
	}
}

static int inv_mpu_i2c_aux_setup(struct iio_dev *indio_dev)
{
	struct inv_mpu6050_state *st = iio_priv(indio_dev);
	struct device *dev = indio_dev->dev.parent;
	struct device_node *mux_node;
	int ret;

	/*
	 * MPU9xxx magnetometer support requires to disable i2c auxiliary bus.
	 * To ensure backward compatibility with existing setups, do not disable
	 * i2c auxiliary bus if it used.
	 * Check for i2c-gate node in devicetree and set magnetometer disabled.
	 * Only MPU6500 is supported by ACPI, no need to check.
	 */
	switch (st->chip_type) {
	case INV_MPU9150:
	case INV_MPU9250:
	case INV_MPU9255:
		mux_node = of_get_child_by_name(dev->of_node, "i2c-gate");
		if (mux_node != NULL) {
			st->magn_disabled = true;
			dev_warn(dev, "disable internal use of magnetometer\n");
		}
		of_node_put(mux_node);
		break;
	default:
		break;
	}

	/* enable i2c bypass when using i2c auxiliary bus */
	if (inv_mpu_i2c_aux_bus(dev)) {
		ret = regmap_write(st->map, st->reg->int_pin_cfg,
				   st->irq_mask | INV_MPU6050_BIT_BYPASS_EN);
		if (ret)
			return ret;
	}

	return 0;
}

/**
 *  inv_mpu_probe() - probe function.
 *  @client:          i2c client.
 *  @id:              i2c device id.
 *
 *  Returns 0 on success, a negative error code otherwise.
 */
static int inv_mpu_probe(struct i2c_client *client,
			 const struct i2c_device_id *id)
{
	const void *match;
	struct inv_mpu6050_state *st;
	int result;
	enum inv_devices chip_type;
	struct regmap *regmap;
	const char *name;

	if (!i2c_check_functionality(client->adapter,
				     I2C_FUNC_SMBUS_I2C_BLOCK))
		return -EOPNOTSUPP;

	match = device_get_match_data(&client->dev);
	if (match) {
		chip_type = (uintptr_t)match;
		name = client->name;
	} else if (id) {
		chip_type = (enum inv_devices)
			id->driver_data;
		name = id->name;
	} else {
		return -ENOSYS;
	}

	regmap = devm_regmap_init_i2c(client, &inv_mpu_regmap_config);
	if (IS_ERR(regmap)) {
		dev_err(&client->dev, "Failed to register i2c regmap: %pe\n",
			regmap);
		return PTR_ERR(regmap);
	}

	result = inv_mpu_core_probe(regmap, client->irq, name,
				    inv_mpu_i2c_aux_setup, chip_type);
	if (result < 0)
		return result;

	st = iio_priv(dev_get_drvdata(&client->dev));
	if (inv_mpu_i2c_aux_bus(&client->dev)) {
		/* declare i2c auxiliary bus */
		st->muxc = i2c_mux_alloc(client->adapter, &client->dev,
					 1, 0, I2C_MUX_LOCKED | I2C_MUX_GATE,
					 inv_mpu6050_select_bypass, NULL);
		if (!st->muxc)
			return -ENOMEM;
		st->muxc->priv = dev_get_drvdata(&client->dev);
		result = i2c_mux_add_adapter(st->muxc, 0, 0, 0);
		if (result)
			return result;
		result = inv_mpu_acpi_create_mux_client(client);
		if (result)
			goto out_del_mux;
	}

	return 0;

out_del_mux:
	i2c_mux_del_adapters(st->muxc);
	return result;
}

static int inv_mpu_remove(struct i2c_client *client)
{
	struct iio_dev *indio_dev = i2c_get_clientdata(client);
	struct inv_mpu6050_state *st = iio_priv(indio_dev);

	if (st->muxc) {
		inv_mpu_acpi_delete_mux_client(client);
		i2c_mux_del_adapters(st->muxc);
	}

	return 0;
}

/*
 * device id table is used to identify what device can be
 * supported by this driver
 */
static const struct i2c_device_id inv_mpu_id[] = {
	{"mpu6050", INV_MPU6050},
	{"mpu6500", INV_MPU6500},
	{"mpu6515", INV_MPU6515},
	{"mpu6880", INV_MPU6880},
	{"mpu9150", INV_MPU9150},
	{"mpu9250", INV_MPU9250},
	{"mpu9255", INV_MPU9255},
	{"icm20608", INV_ICM20608},
	{"icm20609", INV_ICM20609},
	{"icm20689", INV_ICM20689},
	{"icm20602", INV_ICM20602},
	{"icm20690", INV_ICM20690},
	{"iam20680", INV_IAM20680},
	{}
};

MODULE_DEVICE_TABLE(i2c, inv_mpu_id);

static const struct of_device_id inv_of_match[] = {
	{
		.compatible = "invensense,mpu6050",
		.data = (void *)INV_MPU6050
	},
	{
		.compatible = "invensense,mpu6500",
		.data = (void *)INV_MPU6500
	},
	{
		.compatible = "invensense,mpu6515",
		.data = (void *)INV_MPU6515
	},
	{
		.compatible = "invensense,mpu6880",
		.data = (void *)INV_MPU6880
	},
	{
		.compatible = "invensense,mpu9150",
		.data = (void *)INV_MPU9150
	},
	{
		.compatible = "invensense,mpu9250",
		.data = (void *)INV_MPU9250
	},
	{
		.compatible = "invensense,mpu9255",
		.data = (void *)INV_MPU9255
	},
	{
		.compatible = "invensense,icm20608",
		.data = (void *)INV_ICM20608
	},
	{
		.compatible = "invensense,icm20609",
		.data = (void *)INV_ICM20609
	},
	{
		.compatible = "invensense,icm20689",
		.data = (void *)INV_ICM20689
	},
	{
		.compatible = "invensense,icm20602",
		.data = (void *)INV_ICM20602
	},
	{
		.compatible = "invensense,icm20690",
		.data = (void *)INV_ICM20690
	},
	{
		.compatible = "invensense,iam20680",
		.data = (void *)INV_IAM20680
	},
	{ }
};
MODULE_DEVICE_TABLE(of, inv_of_match);

static const struct acpi_device_id __maybe_unused inv_acpi_match[] = {
	{"INVN6500", INV_MPU6500},
	{ },
};

MODULE_DEVICE_TABLE(acpi, inv_acpi_match);

static struct i2c_driver inv_mpu_driver = {
	.probe		=	inv_mpu_probe,
	.remove		=	inv_mpu_remove,
	.id_table	=	inv_mpu_id,
	.driver = {
		.of_match_table = inv_of_match,
		.acpi_match_table = ACPI_PTR(inv_acpi_match),
		.name	=	"inv-mpu6050-i2c",
		.pm     =       &inv_mpu_pmops,
	},
};

module_i2c_driver(inv_mpu_driver);

MODULE_AUTHOR("Invensense Corporation");
MODULE_DESCRIPTION("Invensense device MPU6050 driver");
MODULE_LICENSE("GPL");