drivers/input/misc/mpu3050.c

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