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/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>
  43
  44 #define MPU3050_CHIP_ID         0x69
  45
  46 #define MPU3050_AUTO_DELAY      1000
  47
  48 #define MPU3050_MIN_VALUE       -32768
  49 #define MPU3050_MAX_VALUE       32767
  50
  51 #define MPU3050_DEFAULT_POLL_INTERVAL   200
  52 #define MPU3050_DEFAULT_FS_RANGE        3
  53
  54 /* Register map */
  55 #define MPU3050_CHIP_ID_REG     0x00
  56 #define MPU3050_SMPLRT_DIV      0x15
  57 #define MPU3050_DLPF_FS_SYNC    0x16
  58 #define MPU3050_INT_CFG         0x17
  59 #define MPU3050_XOUT_H          0x1D
  60 #define MPU3050_PWR_MGM         0x3E
  61 #define MPU3050_PWR_MGM_POS     6
  62
  63 /* Register bits */
  64
  65 /* DLPF_FS_SYNC */
  66 #define MPU3050_EXT_SYNC_NONE           0x00
  67 #define MPU3050_EXT_SYNC_TEMP           0x20
  68 #define MPU3050_EXT_SYNC_GYROX          0x40
  69 #define MPU3050_EXT_SYNC_GYROY          0x60
  70 #define MPU3050_EXT_SYNC_GYROZ          0x80
  71 #define MPU3050_EXT_SYNC_ACCELX 0xA0
  72 #define MPU3050_EXT_SYNC_ACCELY 0xC0
  73 #define MPU3050_EXT_SYNC_ACCELZ 0xE0
  74 #define MPU3050_EXT_SYNC_MASK           0xE0
  75 #define MPU3050_FS_250DPS               0x00
  76 #define MPU3050_FS_500DPS               0x08
  77 #define MPU3050_FS_1000DPS              0x10
  78 #define MPU3050_FS_2000DPS              0x18
  79 #define MPU3050_FS_MASK         0x18
  80 #define MPU3050_DLPF_CFG_256HZ_NOLPF2   0x00
  81 #define MPU3050_DLPF_CFG_188HZ          0x01
  82 #define MPU3050_DLPF_CFG_98HZ           0x02
  83 #define MPU3050_DLPF_CFG_42HZ           0x03
  84 #define MPU3050_DLPF_CFG_20HZ           0x04
  85 #define MPU3050_DLPF_CFG_10HZ           0x05
  86 #define MPU3050_DLPF_CFG_5HZ            0x06
  87 #define MPU3050_DLPF_CFG_2100HZ_NOLPF   0x07
  88 #define MPU3050_DLPF_CFG_MASK           0x07
  89 /* INT_CFG */
  90 #define MPU3050_RAW_RDY_EN              0x01
  91 #define MPU3050_MPU_RDY_EN              0x02
  92 #define MPU3050_LATCH_INT_EN            0x04
  93 /* PWR_MGM */
  94 #define MPU3050_PWR_MGM_PLL_X           0x01
  95 #define MPU3050_PWR_MGM_PLL_Y           0x02
  96 #define MPU3050_PWR_MGM_PLL_Z           0x03
  97 #define MPU3050_PWR_MGM_CLKSEL          0x07
  98 #define MPU3050_PWR_MGM_STBY_ZG 0x08
  99 #define MPU3050_PWR_MGM_STBY_YG 0x10
 100 #define MPU3050_PWR_MGM_STBY_XG 0x20
 101 #define MPU3050_PWR_MGM_SLEEP           0x40
 102 #define MPU3050_PWR_MGM_RESET           0x80
 103 #define MPU3050_PWR_MGM_MASK            0x40
 104
 105 struct axis_data {
 106         s16 x;
 107         s16 y;
 108         s16 z;
 109 };
 110
 111 struct mpu3050_sensor {
 112         struct i2c_client *client;
 113         struct device *dev;
 114         struct input_dev *idev;
 115 };
 116
 117 /**
 118  *      mpu3050_xyz_read_reg    -       read the axes values
 119  *      @buffer: provide register addr and get register
 120  *      @length: length of register
 121  *
 122  *      Reads the register values in one transaction or returns a negative
 123  *      error code on failure.
 124  */
 125 static int mpu3050_xyz_read_reg(struct i2c_client *client,
 126                                u8 *buffer, int length)
 127 {
 128         /*
 129          * Annoying we can't make this const because the i2c layer doesn't
 130          * declare input buffers const.
 131          */
 132         char cmd = MPU3050_XOUT_H;
 133         struct i2c_msg msg[] = {
 134                 {
 135                         .addr = client->addr,
 136                         .flags = 0,
 137                         .len = 1,
 138                         .buf = &cmd,
 139                 },
 140                 {
 141                         .addr = client->addr,
 142                         .flags = I2C_M_RD,
 143                         .len = length,
 144                         .buf = buffer,
 145                 },
 146         };
 147
 148         return i2c_transfer(client->adapter, msg, 2);
 149 }
 150
 151 /**
 152  *      mpu3050_read_xyz        -       get co-ordinates from device
 153  *      @client: i2c address of sensor
 154  *      @coords: co-ordinates to update
 155  *
 156  *      Return the converted X Y and Z co-ordinates from the sensor device
 157  */
 158 static void mpu3050_read_xyz(struct i2c_client *client,
 159                              struct axis_data *coords)
 160 {
 161         u16 buffer[3];
 162
 163         mpu3050_xyz_read_reg(client, (u8 *)buffer, 6);
 164         coords->x = be16_to_cpu(buffer[0]);
 165         coords->y = be16_to_cpu(buffer[1]);
 166         coords->z = be16_to_cpu(buffer[2]);
 167         dev_dbg(&client->dev, "%s: x %d, y %d, z %d\n", __func__,
 168                                         coords->x, coords->y, coords->z);
 169 }
 170
 171 /**
 172  *      mpu3050_set_power_mode  -       set the power mode
 173  *      @client: i2c client for the sensor
 174  *      @val: value to switch on/off of power, 1: normal power, 0: low power
 175  *
 176  *      Put device to normal-power mode or low-power mode.
 177  */
 178 static void mpu3050_set_power_mode(struct i2c_client *client, u8 val)
 179 {
 180         u8 value;
 181
 182         value = i2c_smbus_read_byte_data(client, MPU3050_PWR_MGM);
 183         value = (value & ~MPU3050_PWR_MGM_MASK) |
 184                 (((val << MPU3050_PWR_MGM_POS) & MPU3050_PWR_MGM_MASK) ^
 185                  MPU3050_PWR_MGM_MASK);
 186         i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM, value);
 187 }
 188
 189 /**
 190  *      mpu3050_input_open      -       called on input event open
 191  *      @input: input dev of opened device
 192  *
 193  *      The input layer calls this function when input event is opened. The
 194  *      function will push the device to resume. Then, the device is ready
 195  *      to provide data.
 196  */
 197 static int mpu3050_input_open(struct input_dev *input)
 198 {
 199         struct mpu3050_sensor *sensor = input_get_drvdata(input);
 200         int error;
 201
 202         pm_runtime_get(sensor->dev);
 203
 204         /* Enable interrupts */
 205         error = i2c_smbus_write_byte_data(sensor->client, MPU3050_INT_CFG,
 206                                           MPU3050_LATCH_INT_EN |
 207                                           MPU3050_RAW_RDY_EN |
 208                                           MPU3050_MPU_RDY_EN);
 209         if (error < 0) {
 210                 pm_runtime_put(sensor->dev);
 211                 return error;
 212         }
 213
 214         return 0;
 215 }
 216
 217 /**
 218  *      mpu3050_input_close     -       called on input event close
 219  *      @input: input dev of closed device
 220  *
 221  *      The input layer calls this function when input event is closed. The
 222  *      function will push the device to suspend.
 223  */
 224 static void mpu3050_input_close(struct input_dev *input)
 225 {
 226         struct mpu3050_sensor *sensor = input_get_drvdata(input);
 227
 228         pm_runtime_put(sensor->dev);
 229 }
 230
 231 /**
 232  *      mpu3050_interrupt_thread        -       handle an IRQ
 233  *      @irq: interrupt numner
 234  *      @data: the sensor
 235  *
 236  *      Called by the kernel single threaded after an interrupt occurs. Read
 237  *      the sensor data and generate an input event for it.
 238  */
 239 static irqreturn_t mpu3050_interrupt_thread(int irq, void *data)
 240 {
 241         struct mpu3050_sensor *sensor = data;
 242         struct axis_data axis;
 243
 244         mpu3050_read_xyz(sensor->client, &axis);
 245
 246         input_report_abs(sensor->idev, ABS_X, axis.x);
 247         input_report_abs(sensor->idev, ABS_Y, axis.y);
 248         input_report_abs(sensor->idev, ABS_Z, axis.z);
 249         input_sync(sensor->idev);
 250
 251         return IRQ_HANDLED;
 252 }
 253
 254 /**
 255  *      mpu3050_hw_init -       initialize hardware
 256  *      @sensor: the sensor
 257  *
 258  *      Called during device probe; configures the sampling method.
 259  */
 260 static int mpu3050_hw_init(struct mpu3050_sensor *sensor)
 261 {
 262         struct i2c_client *client = sensor->client;
 263         int ret;
 264         u8 reg;
 265
 266         /* Reset */
 267         ret = i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM,
 268                                         MPU3050_PWR_MGM_RESET);
 269         if (ret < 0)
 270                 return ret;
 271
 272         ret = i2c_smbus_read_byte_data(client, MPU3050_PWR_MGM);
 273         if (ret < 0)
 274                 return ret;
 275
 276         ret &= ~MPU3050_PWR_MGM_CLKSEL;
 277         ret |= MPU3050_PWR_MGM_PLL_Z;
 278         ret = i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM, ret);
 279         if (ret < 0)
 280                 return ret;
 281
 282         /* Output frequency divider. The poll interval */
 283         ret = i2c_smbus_write_byte_data(client, MPU3050_SMPLRT_DIV,
 284                                         MPU3050_DEFAULT_POLL_INTERVAL - 1);
 285         if (ret < 0)
 286                 return ret;
 287
 288         /* Set low pass filter and full scale */
 289         reg = MPU3050_DEFAULT_FS_RANGE;
 290         reg |= MPU3050_DLPF_CFG_42HZ << 3;
 291         reg |= MPU3050_EXT_SYNC_NONE << 5;
 292         ret = i2c_smbus_write_byte_data(client, MPU3050_DLPF_FS_SYNC, reg);
 293         if (ret < 0)
 294                 return ret;
 295
 296         return 0;
 297 }
 298
 299 /**
 300  *      mpu3050_probe   -       device detection callback
 301  *      @client: i2c client of found device
 302  *      @id: id match information
 303  *
 304  *      The I2C layer calls us when it believes a sensor is present at this
 305  *      address. Probe to see if this is correct and to validate the device.
 306  *
 307  *      If present install the relevant sysfs interfaces and input device.
 308  */
 309 static int mpu3050_probe(struct i2c_client *client,
 310                                    const struct i2c_device_id *id)
 311 {
 312         struct mpu3050_sensor *sensor;
 313         struct input_dev *idev;
 314         int ret;
 315         int error;
 316
 317         sensor = kzalloc(sizeof(struct mpu3050_sensor), GFP_KERNEL);
 318         idev = input_allocate_device();
 319         if (!sensor || !idev) {
 320                 dev_err(&client->dev, "failed to allocate driver data\n");
 321                 error = -ENOMEM;
 322                 goto err_free_mem;
 323         }
 324
 325         sensor->client = client;
 326         sensor->dev = &client->dev;
 327         sensor->idev = idev;
 328
 329         mpu3050_set_power_mode(client, 1);
 330         msleep(10);
 331
 332         ret = i2c_smbus_read_byte_data(client, MPU3050_CHIP_ID_REG);
 333         if (ret < 0) {
 334                 dev_err(&client->dev, "failed to detect device\n");
 335                 error = -ENXIO;
 336                 goto err_free_mem;
 337         }
 338
 339         if (ret != MPU3050_CHIP_ID) {
 340                 dev_err(&client->dev, "unsupported chip id\n");
 341                 error = -ENXIO;
 342                 goto err_free_mem;
 343         }
 344
 345         idev->name = "MPU3050";
 346         idev->id.bustype = BUS_I2C;
 347         idev->dev.parent = &client->dev;
 348
 349         idev->open = mpu3050_input_open;
 350         idev->close = mpu3050_input_close;
 351
 352         __set_bit(EV_ABS, idev->evbit);
 353         input_set_abs_params(idev, ABS_X,
 354                              MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0);
 355         input_set_abs_params(idev, ABS_Y,
 356                              MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0);
 357         input_set_abs_params(idev, ABS_Z,
 358                              MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0);
 359
 360         input_set_drvdata(idev, sensor);
 361
 362         pm_runtime_set_active(&client->dev);
 363
 364         error = mpu3050_hw_init(sensor);
 365         if (error)
 366                 goto err_pm_set_suspended;
 367
 368         error = request_threaded_irq(client->irq,
 369                                      NULL, mpu3050_interrupt_thread,
 370                                      IRQF_TRIGGER_RISING | IRQF_ONESHOT,
 371                                      "mpu3050", sensor);
 372         if (error) {
 373                 dev_err(&client->dev,
 374                         "can't get IRQ %d, error %d\n", client->irq, error);
 375                 goto err_pm_set_suspended;
 376         }
 377
 378         error = input_register_device(idev);
 379         if (error) {
 380                 dev_err(&client->dev, "failed to register input device\n");
 381                 goto err_free_irq;
 382         }
 383
 384         pm_runtime_enable(&client->dev);
 385         pm_runtime_set_autosuspend_delay(&client->dev, MPU3050_AUTO_DELAY);
 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                 .owner  = THIS_MODULE,
 470                 .pm     = &mpu3050_pm,
 471                 .of_match_table = mpu3050_of_match,
 472         },
 473         .probe          = mpu3050_probe,
 474         .remove         = mpu3050_remove,
 475         .id_table       = mpu3050_ids,
 476 };
 477
 478 module_i2c_driver(mpu3050_i2c_driver);
 479
 480 MODULE_AUTHOR("Wistron Corp.");
 481 MODULE_DESCRIPTION("MPU3050 Tri-axis gyroscope driver");
 482 MODULE_LICENSE("GPL");