2 * MPU3050 Tri-axis gyroscope driver
4 * Copyright (C) 2011 Wistron Co.Ltd
5 * Joseph Lai <joseph_lai@wistron.com>
7 * Trimmed down by Alan Cox <alan@linux.intel.com> to produce this version
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
15 * This program is based on bma023.c.
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.
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.
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.
32 #include <linux/module.h>
33 #include <linux/init.h>
34 #include <linux/interrupt.h>
35 #include <linux/platform_device.h>
36 #include <linux/mutex.h>
37 #include <linux/err.h>
38 #include <linux/i2c.h>
39 #include <linux/input.h>
40 #include <linux/delay.h>
41 #include <linux/slab.h>
42 #include <linux/pm_runtime.h>
44 #define MPU3050_CHIP_ID_REG 0x00
45 #define MPU3050_CHIP_ID 0x69
46 #define MPU3050_XOUT_H 0x1D
47 #define MPU3050_PWR_MGM 0x3E
48 #define MPU3050_PWR_MGM_POS 6
49 #define MPU3050_PWR_MGM_MASK 0x40
51 #define MPU3050_AUTO_DELAY 1000
53 #define MPU3050_MIN_VALUE -32768
54 #define MPU3050_MAX_VALUE 32767
62 struct mpu3050_sensor
{
63 struct i2c_client
*client
;
65 struct input_dev
*idev
;
69 * mpu3050_xyz_read_reg - read the axes values
70 * @buffer: provide register addr and get register
71 * @length: length of register
73 * Reads the register values in one transaction or returns a negative
74 * error code on failure.
76 static int mpu3050_xyz_read_reg(struct i2c_client
*client
,
77 u8
*buffer
, int length
)
80 * Annoying we can't make this const because the i2c layer doesn't
81 * declare input buffers const.
83 char cmd
= MPU3050_XOUT_H
;
84 struct i2c_msg msg
[] = {
99 return i2c_transfer(client
->adapter
, msg
, 2);
103 * mpu3050_read_xyz - get co-ordinates from device
104 * @client: i2c address of sensor
105 * @coords: co-ordinates to update
107 * Return the converted X Y and Z co-ordinates from the sensor device
109 static void mpu3050_read_xyz(struct i2c_client
*client
,
110 struct axis_data
*coords
)
114 mpu3050_xyz_read_reg(client
, (u8
*)buffer
, 6);
115 coords
->x
= be16_to_cpu(buffer
[0]);
116 coords
->y
= be16_to_cpu(buffer
[1]);
117 coords
->z
= be16_to_cpu(buffer
[2]);
118 dev_dbg(&client
->dev
, "%s: x %d, y %d, z %d\n", __func__
,
119 coords
->x
, coords
->y
, coords
->z
);
123 * mpu3050_set_power_mode - set the power mode
124 * @client: i2c client for the sensor
125 * @val: value to switch on/off of power, 1: normal power, 0: low power
127 * Put device to normal-power mode or low-power mode.
129 static void mpu3050_set_power_mode(struct i2c_client
*client
, u8 val
)
133 value
= i2c_smbus_read_byte_data(client
, MPU3050_PWR_MGM
);
134 value
= (value
& ~MPU3050_PWR_MGM_MASK
) |
135 (((val
<< MPU3050_PWR_MGM_POS
) & MPU3050_PWR_MGM_MASK
) ^
136 MPU3050_PWR_MGM_MASK
);
137 i2c_smbus_write_byte_data(client
, MPU3050_PWR_MGM
, value
);
141 * mpu3050_input_open - called on input event open
142 * @input: input dev of opened device
144 * The input layer calls this function when input event is opened. The
145 * function will push the device to resume. Then, the device is ready
148 static int mpu3050_input_open(struct input_dev
*input
)
150 struct mpu3050_sensor
*sensor
= input_get_drvdata(input
);
152 pm_runtime_get(sensor
->dev
);
158 * mpu3050_input_close - called on input event close
159 * @input: input dev of closed device
161 * The input layer calls this function when input event is closed. The
162 * function will push the device to suspend.
164 static void mpu3050_input_close(struct input_dev
*input
)
166 struct mpu3050_sensor
*sensor
= input_get_drvdata(input
);
168 pm_runtime_put(sensor
->dev
);
172 * mpu3050_interrupt_thread - handle an IRQ
173 * @irq: interrupt numner
176 * Called by the kernel single threaded after an interrupt occurs. Read
177 * the sensor data and generate an input event for it.
179 static irqreturn_t
mpu3050_interrupt_thread(int irq
, void *data
)
181 struct mpu3050_sensor
*sensor
= data
;
182 struct axis_data axis
;
184 mpu3050_read_xyz(sensor
->client
, &axis
);
186 input_report_abs(sensor
->idev
, ABS_X
, axis
.x
);
187 input_report_abs(sensor
->idev
, ABS_Y
, axis
.y
);
188 input_report_abs(sensor
->idev
, ABS_Z
, axis
.z
);
189 input_sync(sensor
->idev
);
195 * mpu3050_probe - device detection callback
196 * @client: i2c client of found device
197 * @id: id match information
199 * The I2C layer calls us when it believes a sensor is present at this
200 * address. Probe to see if this is correct and to validate the device.
202 * If present install the relevant sysfs interfaces and input device.
204 static int __devinit
mpu3050_probe(struct i2c_client
*client
,
205 const struct i2c_device_id
*id
)
207 struct mpu3050_sensor
*sensor
;
208 struct input_dev
*idev
;
212 sensor
= kzalloc(sizeof(struct mpu3050_sensor
), GFP_KERNEL
);
213 idev
= input_allocate_device();
214 if (!sensor
|| !idev
) {
215 dev_err(&client
->dev
, "failed to allocate driver data\n");
220 sensor
->client
= client
;
221 sensor
->dev
= &client
->dev
;
224 mpu3050_set_power_mode(client
, 1);
227 ret
= i2c_smbus_read_byte_data(client
, MPU3050_CHIP_ID_REG
);
229 dev_err(&client
->dev
, "failed to detect device\n");
234 if (ret
!= MPU3050_CHIP_ID
) {
235 dev_err(&client
->dev
, "unsupported chip id\n");
240 idev
->name
= "MPU3050";
241 idev
->id
.bustype
= BUS_I2C
;
242 idev
->dev
.parent
= &client
->dev
;
244 idev
->open
= mpu3050_input_open
;
245 idev
->close
= mpu3050_input_close
;
247 __set_bit(EV_ABS
, idev
->evbit
);
248 input_set_abs_params(idev
, ABS_X
,
249 MPU3050_MIN_VALUE
, MPU3050_MAX_VALUE
, 0, 0);
250 input_set_abs_params(idev
, ABS_Y
,
251 MPU3050_MIN_VALUE
, MPU3050_MAX_VALUE
, 0, 0);
252 input_set_abs_params(idev
, ABS_Z
,
253 MPU3050_MIN_VALUE
, MPU3050_MAX_VALUE
, 0, 0);
255 input_set_drvdata(idev
, sensor
);
257 pm_runtime_set_active(&client
->dev
);
259 error
= request_threaded_irq(client
->irq
,
260 NULL
, mpu3050_interrupt_thread
,
264 dev_err(&client
->dev
,
265 "can't get IRQ %d, error %d\n", client
->irq
, error
);
266 goto err_pm_set_suspended
;
269 error
= input_register_device(idev
);
271 dev_err(&client
->dev
, "failed to register input device\n");
275 pm_runtime_enable(&client
->dev
);
276 pm_runtime_set_autosuspend_delay(&client
->dev
, MPU3050_AUTO_DELAY
);
281 free_irq(client
->irq
, sensor
);
282 err_pm_set_suspended
:
283 pm_runtime_set_suspended(&client
->dev
);
285 input_unregister_device(idev
);
291 * mpu3050_remove - remove a sensor
292 * @client: i2c client of sensor being removed
294 * Our sensor is going away, clean up the resources.
296 static int __devexit
mpu3050_remove(struct i2c_client
*client
)
298 struct mpu3050_sensor
*sensor
= i2c_get_clientdata(client
);
300 pm_runtime_disable(&client
->dev
);
301 pm_runtime_set_suspended(&client
->dev
);
303 free_irq(client
->irq
, sensor
);
304 input_unregister_device(sensor
->idev
);
312 * mpu3050_suspend - called on device suspend
313 * @dev: device being suspended
315 * Put the device into sleep mode before we suspend the machine.
317 static int mpu3050_suspend(struct device
*dev
)
319 struct i2c_client
*client
= to_i2c_client(dev
);
321 mpu3050_set_power_mode(client
, 0);
327 * mpu3050_resume - called on device resume
328 * @dev: device being resumed
330 * Put the device into powered mode on resume.
332 static int mpu3050_resume(struct device
*dev
)
334 struct i2c_client
*client
= to_i2c_client(dev
);
336 mpu3050_set_power_mode(client
, 1);
337 msleep(100); /* wait for gyro chip resume */
343 static UNIVERSAL_DEV_PM_OPS(mpu3050_pm
, mpu3050_suspend
, mpu3050_resume
, NULL
);
345 static const struct i2c_device_id mpu3050_ids
[] = {
349 MODULE_DEVICE_TABLE(i2c
, mpu3050_ids
);
351 static struct i2c_driver mpu3050_i2c_driver
= {
354 .owner
= THIS_MODULE
,
357 .probe
= mpu3050_probe
,
358 .remove
= __devexit_p(mpu3050_remove
),
359 .id_table
= mpu3050_ids
,
362 static int __init
mpu3050_init(void)
364 return i2c_add_driver(&mpu3050_i2c_driver
);
366 module_init(mpu3050_init
);
368 static void __exit
mpu3050_exit(void)
370 i2c_del_driver(&mpu3050_i2c_driver
);
372 module_exit(mpu3050_exit
);
374 MODULE_AUTHOR("Wistron Corp.");
375 MODULE_DESCRIPTION("MPU3050 Tri-axis gyroscope driver");
376 MODULE_LICENSE("GPL");