Invensense MPU6050 Device Driver.

This the basic functional Invensense MPU6050 Device driver.

Signed-off-by: Ge Gao <ggao@invensense.com>
Reviewed-by: Lars-Peter Clausen <lars@metafoo.de>
Signed-off-by: Jonathan Cameron <jic23@kernel.org>
This commit is contained in:
Ge Gao 2013-02-02 00:26:00 +00:00 committed by Jonathan Cameron
parent 8ce4a56a52
commit 09a642b785
10 changed files with 1459 additions and 0 deletions

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@ -0,0 +1,13 @@
What: /sys/bus/iio/devices/iio:deviceX/in_gyro_matrix
What: /sys/bus/iio/devices/iio:deviceX/in_accel_matrix
What: /sys/bus/iio/devices/iio:deviceX/in_magn_matrix
KernelVersion: 3.4.0
Contact: linux-iio@vger.kernel.org
Description:
This is mounting matrix for motion sensors. Mounting matrix
is a 3x3 unitary matrix. A typical mounting matrix would look like
[0, 1, 0; 1, 0, 0; 0, 0, -1]. Using this information, it would be
easy to tell the relative positions among sensors as well as their
positions relative to the board that holds these sensors. Identity matrix
[1, 0, 0; 0, 1, 0; 0, 0, 1] means sensor chip and device are perfectly
aligned with each other. All axes are exactly the same.

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@ -36,3 +36,5 @@ config IIO_ADIS_LIB_BUFFER
help
A set of buffer helper functions for the Analog Devices ADIS* device
family.
source "drivers/iio/imu/inv_mpu6050/Kconfig"

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@ -11,3 +11,5 @@ adis_lib-y += adis.o
adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_trigger.o
adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
obj-y += inv_mpu6050/

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@ -0,0 +1,13 @@
#
# inv-mpu6050 drivers for Invensense MPU devices and combos
#
config INV_MPU6050_IIO
tristate "Invensense MPU6050 devices"
depends on I2C && SYSFS
select IIO_TRIGGERED_BUFFER
help
This driver supports the Invensense MPU6050 devices.
It is a gyroscope/accelerometer combo device.
This driver can be built as a module. The module will be called
inv-mpu6050.

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@ -0,0 +1,6 @@
#
# Makefile for Invensense MPU6050 device.
#
obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
inv-mpu6050-objs := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o

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@ -0,0 +1,795 @@
/*
* Copyright (C) 2012 Invensense, 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/module.h>
#include <linux/init.h>
#include <linux/slab.h>
#include <linux/i2c.h>
#include <linux/err.h>
#include <linux/delay.h>
#include <linux/sysfs.h>
#include <linux/jiffies.h>
#include <linux/irq.h>
#include <linux/interrupt.h>
#include <linux/kfifo.h>
#include <linux/spinlock.h>
#include "inv_mpu_iio.h"
/*
* this is the gyro scale translated from dynamic range plus/minus
* {250, 500, 1000, 2000} to rad/s
*/
static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
/*
* this is the accel scale translated from dynamic range plus/minus
* {2, 4, 8, 16} to m/s^2
*/
static const int accel_scale[] = {598, 1196, 2392, 4785};
static const struct inv_mpu6050_reg_map reg_set_6050 = {
.sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
.lpf = INV_MPU6050_REG_CONFIG,
.user_ctrl = INV_MPU6050_REG_USER_CTRL,
.fifo_en = INV_MPU6050_REG_FIFO_EN,
.gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
.accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
.fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
.fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
.raw_gyro = INV_MPU6050_REG_RAW_GYRO,
.raw_accl = INV_MPU6050_REG_RAW_ACCEL,
.temperature = INV_MPU6050_REG_TEMPERATURE,
.int_enable = INV_MPU6050_REG_INT_ENABLE,
.pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
.pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
};
static const struct inv_mpu6050_chip_config chip_config_6050 = {
.fsr = INV_MPU6050_FSR_2000DPS,
.lpf = INV_MPU6050_FILTER_20HZ,
.fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
.gyro_fifo_enable = false,
.accl_fifo_enable = false,
.accl_fs = INV_MPU6050_FS_02G,
};
static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
{
.num_reg = 117,
.name = "MPU6050",
.reg = &reg_set_6050,
.config = &chip_config_6050,
},
};
int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
{
return i2c_smbus_write_i2c_block_data(st->client, reg, 1, &d);
}
int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
{
u8 d, mgmt_1;
int result;
/* switch clock needs to be careful. Only when gyro is on, can
clock source be switched to gyro. Otherwise, it must be set to
internal clock */
if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
result = i2c_smbus_read_i2c_block_data(st->client,
st->reg->pwr_mgmt_1, 1, &mgmt_1);
if (result != 1)
return result;
mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
}
if ((INV_MPU6050_BIT_PWR_GYRO_STBY == mask) && (!en)) {
/* turning off gyro requires switch to internal clock first.
Then turn off gyro engine */
mgmt_1 |= INV_CLK_INTERNAL;
result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, mgmt_1);
if (result)
return result;
}
result = i2c_smbus_read_i2c_block_data(st->client,
st->reg->pwr_mgmt_2, 1, &d);
if (result != 1)
return result;
if (en)
d &= ~mask;
else
d |= mask;
result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
if (result)
return result;
if (en) {
/* Wait for output stablize */
msleep(INV_MPU6050_TEMP_UP_TIME);
if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
/* switch internal clock to PLL */
mgmt_1 |= INV_CLK_PLL;
result = inv_mpu6050_write_reg(st,
st->reg->pwr_mgmt_1, mgmt_1);
if (result)
return result;
}
}
return 0;
}
int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
{
int result;
if (power_on)
result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, 0);
else
result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
INV_MPU6050_BIT_SLEEP);
if (result)
return result;
if (power_on)
msleep(INV_MPU6050_REG_UP_TIME);
return 0;
}
/**
* inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
*
* Initial configuration:
* FSR: ± 2000DPS
* DLPF: 20Hz
* FIFO rate: 50Hz
* Clock source: Gyro PLL
*/
static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
{
int result;
u8 d;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
result = inv_mpu6050_set_power_itg(st, true);
if (result)
return result;
d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
if (result)
return result;
d = INV_MPU6050_FILTER_20HZ;
result = inv_mpu6050_write_reg(st, st->reg->lpf, d);
if (result)
return result;
d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;
result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
if (result)
return result;
d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
if (result)
return result;
memcpy(&st->chip_config, hw_info[st->chip_type].config,
sizeof(struct inv_mpu6050_chip_config));
result = inv_mpu6050_set_power_itg(st, false);
return result;
}
static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
int axis, int *val)
{
int ind, result;
__be16 d;
ind = (axis - IIO_MOD_X) * 2;
result = i2c_smbus_read_i2c_block_data(st->client, reg + ind, 2,
(u8 *)&d);
if (result != 2)
return -EINVAL;
*val = (short)be16_to_cpup(&d);
return IIO_VAL_INT;
}
static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val,
int *val2,
long mask) {
struct inv_mpu6050_state *st = iio_priv(indio_dev);
switch (mask) {
case IIO_CHAN_INFO_RAW:
{
int ret, result;
ret = IIO_VAL_INT;
result = 0;
mutex_lock(&indio_dev->mlock);
if (!st->chip_config.enable) {
result = inv_mpu6050_set_power_itg(st, true);
if (result)
goto error_read_raw;
}
/* when enable is on, power is already on */
switch (chan->type) {
case IIO_ANGL_VEL:
if (!st->chip_config.gyro_fifo_enable ||
!st->chip_config.enable) {
result = inv_mpu6050_switch_engine(st, true,
INV_MPU6050_BIT_PWR_GYRO_STBY);
if (result)
goto error_read_raw;
}
ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
chan->channel2, val);
if (!st->chip_config.gyro_fifo_enable ||
!st->chip_config.enable) {
result = inv_mpu6050_switch_engine(st, false,
INV_MPU6050_BIT_PWR_GYRO_STBY);
if (result)
goto error_read_raw;
}
break;
case IIO_ACCEL:
if (!st->chip_config.accl_fifo_enable ||
!st->chip_config.enable) {
result = inv_mpu6050_switch_engine(st, true,
INV_MPU6050_BIT_PWR_ACCL_STBY);
if (result)
goto error_read_raw;
}
ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
chan->channel2, val);
if (!st->chip_config.accl_fifo_enable ||
!st->chip_config.enable) {
result = inv_mpu6050_switch_engine(st, false,
INV_MPU6050_BIT_PWR_ACCL_STBY);
if (result)
goto error_read_raw;
}
break;
case IIO_TEMP:
/* wait for stablization */
msleep(INV_MPU6050_SENSOR_UP_TIME);
inv_mpu6050_sensor_show(st, st->reg->temperature,
IIO_MOD_X, val);
break;
default:
ret = -EINVAL;
break;
}
error_read_raw:
if (!st->chip_config.enable)
result |= inv_mpu6050_set_power_itg(st, false);
mutex_unlock(&indio_dev->mlock);
if (result)
return result;
return ret;
}
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_ANGL_VEL:
*val = 0;
*val2 = gyro_scale_6050[st->chip_config.fsr];
return IIO_VAL_INT_PLUS_NANO;
case IIO_ACCEL:
*val = 0;
*val2 = accel_scale[st->chip_config.accl_fs];
return IIO_VAL_INT_PLUS_MICRO;
case IIO_TEMP:
*val = 0;
*val2 = INV_MPU6050_TEMP_SCALE;
return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
case IIO_CHAN_INFO_OFFSET:
switch (chan->type) {
case IIO_TEMP:
*val = INV_MPU6050_TEMP_OFFSET;
return IIO_VAL_INT;
default:
return -EINVAL;
}
default:
return -EINVAL;
}
}
static int inv_mpu6050_write_fsr(struct inv_mpu6050_state *st, int fsr)
{
int result;
u8 d;
if (fsr < 0 || fsr > INV_MPU6050_MAX_GYRO_FS_PARAM)
return -EINVAL;
if (fsr == st->chip_config.fsr)
return 0;
d = (fsr << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
if (result)
return result;
st->chip_config.fsr = fsr;
return 0;
}
static int inv_mpu6050_write_accel_fs(struct inv_mpu6050_state *st, int fs)
{
int result;
u8 d;
if (fs < 0 || fs > INV_MPU6050_MAX_ACCL_FS_PARAM)
return -EINVAL;
if (fs == st->chip_config.accl_fs)
return 0;
d = (fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
if (result)
return result;
st->chip_config.accl_fs = fs;
return 0;
}
static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int val,
int val2,
long mask) {
struct inv_mpu6050_state *st = iio_priv(indio_dev);
int result;
mutex_lock(&indio_dev->mlock);
/* we should only update scale when the chip is disabled, i.e.,
not running */
if (st->chip_config.enable) {
result = -EBUSY;
goto error_write_raw;
}
result = inv_mpu6050_set_power_itg(st, true);
if (result)
goto error_write_raw;
switch (mask) {
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_ANGL_VEL:
result = inv_mpu6050_write_fsr(st, val);
break;
case IIO_ACCEL:
result = inv_mpu6050_write_accel_fs(st, val);
break;
default:
result = -EINVAL;
break;
}
break;
default:
result = -EINVAL;
break;
}
error_write_raw:
result |= inv_mpu6050_set_power_itg(st, false);
mutex_unlock(&indio_dev->mlock);
return result;
}
/**
* inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
*
* Based on the Nyquist principle, the sampling rate must
* exceed twice of the bandwidth of the signal, or there
* would be alising. This function basically search for the
* correct low pass parameters based on the fifo rate, e.g,
* sampling frequency.
*/
static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
{
const int hz[] = {188, 98, 42, 20, 10, 5};
const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
int i, h, result;
u8 data;
h = (rate >> 1);
i = 0;
while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
i++;
data = d[i];
result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
if (result)
return result;
st->chip_config.lpf = data;
return 0;
}
/**
* inv_mpu6050_fifo_rate_store() - Set fifo rate.
*/
static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
struct device_attribute *attr, const char *buf, size_t count)
{
s32 fifo_rate;
u8 d;
int result;
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
struct inv_mpu6050_state *st = iio_priv(indio_dev);
if (kstrtoint(buf, 10, &fifo_rate))
return -EINVAL;
if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
return -EINVAL;
if (fifo_rate == st->chip_config.fifo_rate)
return count;
mutex_lock(&indio_dev->mlock);
if (st->chip_config.enable) {
result = -EBUSY;
goto fifo_rate_fail;
}
result = inv_mpu6050_set_power_itg(st, true);
if (result)
goto fifo_rate_fail;
d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
if (result)
goto fifo_rate_fail;
st->chip_config.fifo_rate = fifo_rate;
result = inv_mpu6050_set_lpf(st, fifo_rate);
if (result)
goto fifo_rate_fail;
fifo_rate_fail:
result |= inv_mpu6050_set_power_itg(st, false);
mutex_unlock(&indio_dev->mlock);
if (result)
return result;
return count;
}
/**
* inv_fifo_rate_show() - Get the current sampling rate.
*/
static ssize_t inv_fifo_rate_show(struct device *dev,
struct device_attribute *attr, char *buf)
{
struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
}
/**
* inv_attr_show() - calling this function will show current
* parameters.
*/
static ssize_t inv_attr_show(struct device *dev,
struct device_attribute *attr, char *buf)
{
struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
s8 *m;
switch (this_attr->address) {
/* In MPU6050, the two matrix are the same because gyro and accel
are integrated in one chip */
case ATTR_GYRO_MATRIX:
case ATTR_ACCL_MATRIX:
m = st->plat_data.orientation;
return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
default:
return -EINVAL;
}
}
/**
* inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
* MPU6050 device.
* @indio_dev: The IIO device
* @trig: The new trigger
*
* Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
* device, -EINVAL otherwise.
*/
static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
struct iio_trigger *trig)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
if (st->trig != trig)
return -EINVAL;
return 0;
}
#define INV_MPU6050_CHAN(_type, _channel2, _index) \
{ \
.type = _type, \
.modified = 1, \
.channel2 = _channel2, \
.info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT \
| IIO_CHAN_INFO_RAW_SEPARATE_BIT, \
.scan_index = _index, \
.scan_type = { \
.sign = 's', \
.realbits = 16, \
.storagebits = 16, \
.shift = 0 , \
.endianness = IIO_BE, \
}, \
}
static const struct iio_chan_spec inv_mpu_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
/*
* Note that temperature should only be via polled reading only,
* not the final scan elements output.
*/
{
.type = IIO_TEMP,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT
| IIO_CHAN_INFO_OFFSET_SEPARATE_BIT
| IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
.scan_index = -1,
},
INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
};
/* constant IIO attribute */
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
inv_mpu6050_fifo_rate_store);
static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
ATTR_GYRO_MATRIX);
static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
ATTR_ACCL_MATRIX);
static struct attribute *inv_attributes[] = {
&iio_dev_attr_in_gyro_matrix.dev_attr.attr,
&iio_dev_attr_in_accel_matrix.dev_attr.attr,
&iio_dev_attr_sampling_frequency.dev_attr.attr,
&iio_const_attr_sampling_frequency_available.dev_attr.attr,
NULL,
};
static const struct attribute_group inv_attribute_group = {
.attrs = inv_attributes
};
static const struct iio_info mpu_info = {
.driver_module = THIS_MODULE,
.read_raw = &inv_mpu6050_read_raw,
.write_raw = &inv_mpu6050_write_raw,
.attrs = &inv_attribute_group,
.validate_trigger = inv_mpu6050_validate_trigger,
};
/**
* inv_check_and_setup_chip() - check and setup chip.
*/
static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
const struct i2c_device_id *id)
{
int result;
st->chip_type = INV_MPU6050;
st->hw = &hw_info[st->chip_type];
st->reg = hw_info[st->chip_type].reg;
/* reset to make sure previous state are not there */
result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
INV_MPU6050_BIT_H_RESET);
if (result)
return result;
msleep(INV_MPU6050_POWER_UP_TIME);
/* toggle power state. After reset, the sleep bit could be on
or off depending on the OTP settings. Toggling power would
make it in a definite state as well as making the hardware
state align with the software state */
result = inv_mpu6050_set_power_itg(st, false);
if (result)
return result;
result = inv_mpu6050_set_power_itg(st, true);
if (result)
return result;
result = inv_mpu6050_switch_engine(st, false,
INV_MPU6050_BIT_PWR_ACCL_STBY);
if (result)
return result;
result = inv_mpu6050_switch_engine(st, false,
INV_MPU6050_BIT_PWR_GYRO_STBY);
if (result)
return result;
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)
{
struct inv_mpu6050_state *st;
struct iio_dev *indio_dev;
int result;
if (!i2c_check_functionality(client->adapter,
I2C_FUNC_SMBUS_READ_I2C_BLOCK |
I2C_FUNC_SMBUS_WRITE_I2C_BLOCK)) {
result = -ENOSYS;
goto out_no_free;
}
indio_dev = iio_device_alloc(sizeof(*st));
if (indio_dev == NULL) {
result = -ENOMEM;
goto out_no_free;
}
st = iio_priv(indio_dev);
st->client = client;
st->plat_data = *(struct inv_mpu6050_platform_data
*)dev_get_platdata(&client->dev);
/* power is turned on inside check chip type*/
result = inv_check_and_setup_chip(st, id);
if (result)
goto out_free;
result = inv_mpu6050_init_config(indio_dev);
if (result) {
dev_err(&client->dev,
"Could not initialize device.\n");
goto out_free;
}
i2c_set_clientdata(client, indio_dev);
indio_dev->dev.parent = &client->dev;
indio_dev->name = id->name;
indio_dev->channels = inv_mpu_channels;
indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
indio_dev->info = &mpu_info;
indio_dev->modes = INDIO_BUFFER_TRIGGERED;
result = iio_triggered_buffer_setup(indio_dev,
inv_mpu6050_irq_handler,
inv_mpu6050_read_fifo,
NULL);
if (result) {
dev_err(&st->client->dev, "configure buffer fail %d\n",
result);
goto out_free;
}
result = inv_mpu6050_probe_trigger(indio_dev);
if (result) {
dev_err(&st->client->dev, "trigger probe fail %d\n", result);
goto out_unreg_ring;
}
INIT_KFIFO(st->timestamps);
spin_lock_init(&st->time_stamp_lock);
result = iio_device_register(indio_dev);
if (result) {
dev_err(&st->client->dev, "IIO register fail %d\n", result);
goto out_remove_trigger;
}
return 0;
out_remove_trigger:
inv_mpu6050_remove_trigger(st);
out_unreg_ring:
iio_triggered_buffer_cleanup(indio_dev);
out_free:
iio_device_free(indio_dev);
out_no_free:
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);
iio_device_unregister(indio_dev);
inv_mpu6050_remove_trigger(st);
iio_triggered_buffer_cleanup(indio_dev);
iio_device_free(indio_dev);
return 0;
}
#ifdef CONFIG_PM_SLEEP
static int inv_mpu_resume(struct device *dev)
{
return inv_mpu6050_set_power_itg(
iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
}
static int inv_mpu_suspend(struct device *dev)
{
return inv_mpu6050_set_power_itg(
iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
}
static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
#define INV_MPU6050_PMOPS (&inv_mpu_pmops)
#else
#define INV_MPU6050_PMOPS NULL
#endif /* CONFIG_PM_SLEEP */
/*
* 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},
{}
};
MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
static struct i2c_driver inv_mpu_driver = {
.probe = inv_mpu_probe,
.remove = inv_mpu_remove,
.id_table = inv_mpu_id,
.driver = {
.owner = THIS_MODULE,
.name = "inv-mpu6050",
.pm = INV_MPU6050_PMOPS,
},
};
module_i2c_driver(inv_mpu_driver);
MODULE_AUTHOR("Invensense Corporation");
MODULE_DESCRIPTION("Invensense device MPU6050 driver");
MODULE_LICENSE("GPL");

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@ -0,0 +1,246 @@
/*
* Copyright (C) 2012 Invensense, 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/i2c.h>
#include <linux/kfifo.h>
#include <linux/spinlock.h>
#include <linux/iio/iio.h>
#include <linux/iio/buffer.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/kfifo_buf.h>
#include <linux/iio/trigger.h>
#include <linux/iio/triggered_buffer.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/platform_data/invensense_mpu6050.h>
/**
* struct inv_mpu6050_reg_map - Notable registers.
* @sample_rate_div: Divider applied to gyro output rate.
* @lpf: Configures internal low pass filter.
* @user_ctrl: Enables/resets the FIFO.
* @fifo_en: Determines which data will appear in FIFO.
* @gyro_config: gyro config register.
* @accl_config: accel config register
* @fifo_count_h: Upper byte of FIFO count.
* @fifo_r_w: FIFO register.
* @raw_gyro: Address of first gyro register.
* @raw_accl: Address of first accel register.
* @temperature: temperature register
* @int_enable: Interrupt enable register.
* @pwr_mgmt_1: Controls chip's power state and clock source.
* @pwr_mgmt_2: Controls power state of individual sensors.
*/
struct inv_mpu6050_reg_map {
u8 sample_rate_div;
u8 lpf;
u8 user_ctrl;
u8 fifo_en;
u8 gyro_config;
u8 accl_config;
u8 fifo_count_h;
u8 fifo_r_w;
u8 raw_gyro;
u8 raw_accl;
u8 temperature;
u8 int_enable;
u8 pwr_mgmt_1;
u8 pwr_mgmt_2;
};
/*device enum */
enum inv_devices {
INV_MPU6050,
INV_NUM_PARTS
};
/**
* struct inv_mpu6050_chip_config - Cached chip configuration data.
* @fsr: Full scale range.
* @lpf: Digital low pass filter frequency.
* @accl_fs: accel full scale range.
* @enable: master enable state.
* @accl_fifo_enable: enable accel data output
* @gyro_fifo_enable: enable gyro data output
* @fifo_rate: FIFO update rate.
*/
struct inv_mpu6050_chip_config {
unsigned int fsr:2;
unsigned int lpf:3;
unsigned int accl_fs:2;
unsigned int enable:1;
unsigned int accl_fifo_enable:1;
unsigned int gyro_fifo_enable:1;
u16 fifo_rate;
};
/**
* struct inv_mpu6050_hw - Other important hardware information.
* @num_reg: Number of registers on device.
* @name: name of the chip.
* @reg: register map of the chip.
* @config: configuration of the chip.
*/
struct inv_mpu6050_hw {
u8 num_reg;
u8 *name;
const struct inv_mpu6050_reg_map *reg;
const struct inv_mpu6050_chip_config *config;
};
/*
* struct inv_mpu6050_state - Driver state variables.
* @TIMESTAMP_FIFO_SIZE: fifo size for timestamp.
* @trig: IIO trigger.
* @chip_config: Cached attribute information.
* @reg: Map of important registers.
* @hw: Other hardware-specific information.
* @chip_type: chip type.
* @time_stamp_lock: spin lock to time stamp.
* @client: i2c client handle.
* @plat_data: platform data.
* @timestamps: kfifo queue to store time stamp.
*/
struct inv_mpu6050_state {
#define TIMESTAMP_FIFO_SIZE 16
struct iio_trigger *trig;
struct inv_mpu6050_chip_config chip_config;
const struct inv_mpu6050_reg_map *reg;
const struct inv_mpu6050_hw *hw;
enum inv_devices chip_type;
spinlock_t time_stamp_lock;
struct i2c_client *client;
struct inv_mpu6050_platform_data plat_data;
DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
};
/*register and associated bit definition*/
#define INV_MPU6050_REG_SAMPLE_RATE_DIV 0x19
#define INV_MPU6050_REG_CONFIG 0x1A
#define INV_MPU6050_REG_GYRO_CONFIG 0x1B
#define INV_MPU6050_REG_ACCEL_CONFIG 0x1C
#define INV_MPU6050_REG_FIFO_EN 0x23
#define INV_MPU6050_BIT_ACCEL_OUT 0x08
#define INV_MPU6050_BITS_GYRO_OUT 0x70
#define INV_MPU6050_REG_INT_ENABLE 0x38
#define INV_MPU6050_BIT_DATA_RDY_EN 0x01
#define INV_MPU6050_BIT_DMP_INT_EN 0x02
#define INV_MPU6050_REG_RAW_ACCEL 0x3B
#define INV_MPU6050_REG_TEMPERATURE 0x41
#define INV_MPU6050_REG_RAW_GYRO 0x43
#define INV_MPU6050_REG_USER_CTRL 0x6A
#define INV_MPU6050_BIT_FIFO_RST 0x04
#define INV_MPU6050_BIT_DMP_RST 0x08
#define INV_MPU6050_BIT_I2C_MST_EN 0x20
#define INV_MPU6050_BIT_FIFO_EN 0x40
#define INV_MPU6050_BIT_DMP_EN 0x80
#define INV_MPU6050_REG_PWR_MGMT_1 0x6B
#define INV_MPU6050_BIT_H_RESET 0x80
#define INV_MPU6050_BIT_SLEEP 0x40
#define INV_MPU6050_BIT_CLK_MASK 0x7
#define INV_MPU6050_REG_PWR_MGMT_2 0x6C
#define INV_MPU6050_BIT_PWR_ACCL_STBY 0x38
#define INV_MPU6050_BIT_PWR_GYRO_STBY 0x07
#define INV_MPU6050_REG_FIFO_COUNT_H 0x72
#define INV_MPU6050_REG_FIFO_R_W 0x74
#define INV_MPU6050_BYTES_PER_3AXIS_SENSOR 6
#define INV_MPU6050_FIFO_COUNT_BYTE 2
#define INV_MPU6050_FIFO_THRESHOLD 500
#define INV_MPU6050_POWER_UP_TIME 100
#define INV_MPU6050_TEMP_UP_TIME 100
#define INV_MPU6050_SENSOR_UP_TIME 30
#define INV_MPU6050_REG_UP_TIME 5
#define INV_MPU6050_TEMP_OFFSET 12421
#define INV_MPU6050_TEMP_SCALE 2941
#define INV_MPU6050_MAX_GYRO_FS_PARAM 3
#define INV_MPU6050_MAX_ACCL_FS_PARAM 3
#define INV_MPU6050_THREE_AXIS 3
#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT 3
#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT 3
/* 6 + 6 round up and plus 8 */
#define INV_MPU6050_OUTPUT_DATA_SIZE 24
/* init parameters */
#define INV_MPU6050_INIT_FIFO_RATE 50
#define INV_MPU6050_TIME_STAMP_TOR 5
#define INV_MPU6050_MAX_FIFO_RATE 1000
#define INV_MPU6050_MIN_FIFO_RATE 4
#define INV_MPU6050_ONE_K_HZ 1000
/* scan element definition */
enum inv_mpu6050_scan {
INV_MPU6050_SCAN_ACCL_X,
INV_MPU6050_SCAN_ACCL_Y,
INV_MPU6050_SCAN_ACCL_Z,
INV_MPU6050_SCAN_GYRO_X,
INV_MPU6050_SCAN_GYRO_Y,
INV_MPU6050_SCAN_GYRO_Z,
INV_MPU6050_SCAN_TIMESTAMP,
};
enum inv_mpu6050_filter_e {
INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
INV_MPU6050_FILTER_188HZ,
INV_MPU6050_FILTER_98HZ,
INV_MPU6050_FILTER_42HZ,
INV_MPU6050_FILTER_20HZ,
INV_MPU6050_FILTER_10HZ,
INV_MPU6050_FILTER_5HZ,
INV_MPU6050_FILTER_2100HZ_NOLPF,
NUM_MPU6050_FILTER
};
/* IIO attribute address */
enum INV_MPU6050_IIO_ATTR_ADDR {
ATTR_GYRO_MATRIX,
ATTR_ACCL_MATRIX,
};
enum inv_mpu6050_accl_fs_e {
INV_MPU6050_FS_02G = 0,
INV_MPU6050_FS_04G,
INV_MPU6050_FS_08G,
INV_MPU6050_FS_16G,
NUM_ACCL_FSR
};
enum inv_mpu6050_fsr_e {
INV_MPU6050_FSR_250DPS = 0,
INV_MPU6050_FSR_500DPS,
INV_MPU6050_FSR_1000DPS,
INV_MPU6050_FSR_2000DPS,
NUM_MPU6050_FSR
};
enum inv_mpu6050_clock_sel_e {
INV_CLK_INTERNAL = 0,
INV_CLK_PLL,
NUM_CLK
};
irqreturn_t inv_mpu6050_irq_handler(int irq, void *p);
irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev);
void inv_mpu6050_remove_trigger(struct inv_mpu6050_state *st);
int inv_reset_fifo(struct iio_dev *indio_dev);
int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);

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@ -0,0 +1,196 @@
/*
* Copyright (C) 2012 Invensense, 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/module.h>
#include <linux/init.h>
#include <linux/slab.h>
#include <linux/i2c.h>
#include <linux/err.h>
#include <linux/delay.h>
#include <linux/sysfs.h>
#include <linux/jiffies.h>
#include <linux/irq.h>
#include <linux/interrupt.h>
#include <linux/kfifo.h>
#include <linux/poll.h>
#include "inv_mpu_iio.h"
int inv_reset_fifo(struct iio_dev *indio_dev)
{
int result;
u8 d;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
/* disable interrupt */
result = inv_mpu6050_write_reg(st, st->reg->int_enable, 0);
if (result) {
dev_err(&st->client->dev, "int_enable failed %d\n", result);
return result;
}
/* disable the sensor output to FIFO */
result = inv_mpu6050_write_reg(st, st->reg->fifo_en, 0);
if (result)
goto reset_fifo_fail;
/* disable fifo reading */
result = inv_mpu6050_write_reg(st, st->reg->user_ctrl, 0);
if (result)
goto reset_fifo_fail;
/* reset FIFO*/
result = inv_mpu6050_write_reg(st, st->reg->user_ctrl,
INV_MPU6050_BIT_FIFO_RST);
if (result)
goto reset_fifo_fail;
/* enable interrupt */
if (st->chip_config.accl_fifo_enable ||
st->chip_config.gyro_fifo_enable) {
result = inv_mpu6050_write_reg(st, st->reg->int_enable,
INV_MPU6050_BIT_DATA_RDY_EN);
if (result)
return result;
}
/* enable FIFO reading and I2C master interface*/
result = inv_mpu6050_write_reg(st, st->reg->user_ctrl,
INV_MPU6050_BIT_FIFO_EN);
if (result)
goto reset_fifo_fail;
/* enable sensor output to FIFO */
d = 0;
if (st->chip_config.gyro_fifo_enable)
d |= INV_MPU6050_BITS_GYRO_OUT;
if (st->chip_config.accl_fifo_enable)
d |= INV_MPU6050_BIT_ACCEL_OUT;
result = inv_mpu6050_write_reg(st, st->reg->fifo_en, d);
if (result)
goto reset_fifo_fail;
return 0;
reset_fifo_fail:
dev_err(&st->client->dev, "reset fifo failed %d\n", result);
result = inv_mpu6050_write_reg(st, st->reg->int_enable,
INV_MPU6050_BIT_DATA_RDY_EN);
return result;
}
static void inv_clear_kfifo(struct inv_mpu6050_state *st)
{
unsigned long flags;
/* take the spin lock sem to avoid interrupt kick in */
spin_lock_irqsave(&st->time_stamp_lock, flags);
kfifo_reset(&st->timestamps);
spin_unlock_irqrestore(&st->time_stamp_lock, flags);
}
/**
* inv_mpu6050_irq_handler() - Cache a timestamp at each data ready interrupt.
*/
irqreturn_t inv_mpu6050_irq_handler(int irq, void *p)
{
struct iio_poll_func *pf = p;
struct iio_dev *indio_dev = pf->indio_dev;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
s64 timestamp;
timestamp = iio_get_time_ns();
spin_lock(&st->time_stamp_lock);
kfifo_in(&st->timestamps, &timestamp, 1);
spin_unlock(&st->time_stamp_lock);
return IRQ_WAKE_THREAD;
}
/**
* inv_mpu6050_read_fifo() - Transfer data from hardware FIFO to KFIFO.
*/
irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
{
struct iio_poll_func *pf = p;
struct iio_dev *indio_dev = pf->indio_dev;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
size_t bytes_per_datum;
int result;
u8 data[INV_MPU6050_OUTPUT_DATA_SIZE];
u16 fifo_count;
s64 timestamp;
u64 *tmp;
mutex_lock(&indio_dev->mlock);
if (!(st->chip_config.accl_fifo_enable |
st->chip_config.gyro_fifo_enable))
goto end_session;
bytes_per_datum = 0;
if (st->chip_config.accl_fifo_enable)
bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
if (st->chip_config.gyro_fifo_enable)
bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
/*
* read fifo_count register to know how many bytes inside FIFO
* right now
*/
result = i2c_smbus_read_i2c_block_data(st->client,
st->reg->fifo_count_h,
INV_MPU6050_FIFO_COUNT_BYTE, data);
if (result != INV_MPU6050_FIFO_COUNT_BYTE)
goto end_session;
fifo_count = be16_to_cpup((__be16 *)(&data[0]));
if (fifo_count < bytes_per_datum)
goto end_session;
/* fifo count can't be odd number, if it is odd, reset fifo*/
if (fifo_count & 1)
goto flush_fifo;
if (fifo_count > INV_MPU6050_FIFO_THRESHOLD)
goto flush_fifo;
/* Timestamp mismatch. */
if (kfifo_len(&st->timestamps) >
fifo_count / bytes_per_datum + INV_MPU6050_TIME_STAMP_TOR)
goto flush_fifo;
while (fifo_count >= bytes_per_datum) {
result = i2c_smbus_read_i2c_block_data(st->client,
st->reg->fifo_r_w,
bytes_per_datum, data);
if (result != bytes_per_datum)
goto flush_fifo;
result = kfifo_out(&st->timestamps, &timestamp, 1);
/* when there is no timestamp, put timestamp as 0 */
if (0 == result)
timestamp = 0;
tmp = (u64 *)data;
tmp[DIV_ROUND_UP(bytes_per_datum, 8)] = timestamp;
result = iio_push_to_buffers(indio_dev, data);
if (result)
goto flush_fifo;
fifo_count -= bytes_per_datum;
}
end_session:
mutex_unlock(&indio_dev->mlock);
iio_trigger_notify_done(indio_dev->trig);
return IRQ_HANDLED;
flush_fifo:
/* Flush HW and SW FIFOs. */
inv_reset_fifo(indio_dev);
inv_clear_kfifo(st);
mutex_unlock(&indio_dev->mlock);
iio_trigger_notify_done(indio_dev->trig);
return IRQ_HANDLED;
}

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@ -0,0 +1,155 @@
/*
* Copyright (C) 2012 Invensense, 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 "inv_mpu_iio.h"
static void inv_scan_query(struct iio_dev *indio_dev)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
st->chip_config.gyro_fifo_enable =
test_bit(INV_MPU6050_SCAN_GYRO_X,
indio_dev->active_scan_mask) ||
test_bit(INV_MPU6050_SCAN_GYRO_Y,
indio_dev->active_scan_mask) ||
test_bit(INV_MPU6050_SCAN_GYRO_Z,
indio_dev->active_scan_mask);
st->chip_config.accl_fifo_enable =
test_bit(INV_MPU6050_SCAN_ACCL_X,
indio_dev->active_scan_mask) ||
test_bit(INV_MPU6050_SCAN_ACCL_Y,
indio_dev->active_scan_mask) ||
test_bit(INV_MPU6050_SCAN_ACCL_Z,
indio_dev->active_scan_mask);
}
/**
* inv_mpu6050_set_enable() - enable chip functions.
* @indio_dev: Device driver instance.
* @enable: enable/disable
*/
static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
{
struct inv_mpu6050_state *st = iio_priv(indio_dev);
int result;
if (enable) {
result = inv_mpu6050_set_power_itg(st, true);
if (result)
return result;
inv_scan_query(indio_dev);
if (st->chip_config.gyro_fifo_enable) {
result = inv_mpu6050_switch_engine(st, true,
INV_MPU6050_BIT_PWR_GYRO_STBY);
if (result)
return result;
}
if (st->chip_config.accl_fifo_enable) {
result = inv_mpu6050_switch_engine(st, true,
INV_MPU6050_BIT_PWR_ACCL_STBY);
if (result)
return result;
}
result = inv_reset_fifo(indio_dev);
if (result)
return result;
} else {
result = inv_mpu6050_write_reg(st, st->reg->fifo_en, 0);
if (result)
return result;
result = inv_mpu6050_write_reg(st, st->reg->int_enable, 0);
if (result)
return result;
result = inv_mpu6050_write_reg(st, st->reg->user_ctrl, 0);
if (result)
return result;
result = inv_mpu6050_switch_engine(st, false,
INV_MPU6050_BIT_PWR_GYRO_STBY);
if (result)
return result;
result = inv_mpu6050_switch_engine(st, false,
INV_MPU6050_BIT_PWR_ACCL_STBY);
if (result)
return result;
result = inv_mpu6050_set_power_itg(st, false);
if (result)
return result;
}
st->chip_config.enable = enable;
return 0;
}
/**
* inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
* @trig: Trigger instance
* @state: Desired trigger state
*/
static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
bool state)
{
return inv_mpu6050_set_enable(trig->private_data, state);
}
static const struct iio_trigger_ops inv_mpu_trigger_ops = {
.owner = THIS_MODULE,
.set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
};
int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
{
int ret;
struct inv_mpu6050_state *st = iio_priv(indio_dev);
st->trig = iio_trigger_alloc("%s-dev%d",
indio_dev->name,
indio_dev->id);
if (st->trig == NULL) {
ret = -ENOMEM;
goto error_ret;
}
ret = request_irq(st->client->irq, &iio_trigger_generic_data_rdy_poll,
IRQF_TRIGGER_RISING,
"inv_mpu",
st->trig);
if (ret)
goto error_free_trig;
st->trig->dev.parent = &st->client->dev;
st->trig->private_data = indio_dev;
st->trig->ops = &inv_mpu_trigger_ops;
ret = iio_trigger_register(st->trig);
if (ret)
goto error_free_irq;
indio_dev->trig = st->trig;
return 0;
error_free_irq:
free_irq(st->client->irq, st->trig);
error_free_trig:
iio_trigger_free(st->trig);
error_ret:
return ret;
}
void inv_mpu6050_remove_trigger(struct inv_mpu6050_state *st)
{
iio_trigger_unregister(st->trig);
free_irq(st->client->irq, st->trig);
iio_trigger_free(st->trig);
}

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@ -0,0 +1,31 @@
/*
* Copyright (C) 2012 Invensense, 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 __INV_MPU6050_PLATFORM_H_
#define __INV_MPU6050_PLATFORM_H_
/**
* struct inv_mpu6050_platform_data - Platform data for the mpu driver
* @orientation: Orientation matrix of the chip
*
* Contains platform specific information on how to configure the MPU6050 to
* work on this platform. The orientation matricies are 3x3 rotation matricies
* that are applied to the data to rotate from the mounting orientation to the
* platform orientation. The values must be one of 0, 1, or -1 and each row and
* column should have exactly 1 non-zero value.
*/
struct inv_mpu6050_platform_data {
__s8 orientation[9];
};
#endif