285 lines · c
1// SPDX-License-Identifier: GPL-2.0-only2/*3* Copyright (C) 2012 Invensense, Inc.4*/5 6#include <linux/delay.h>7#include <linux/err.h>8#include <linux/i2c.h>9#include <linux/iio/iio.h>10#include <linux/mod_devicetable.h>11#include <linux/module.h>12#include <linux/property.h>13 14#include "inv_mpu_iio.h"15 16static const struct regmap_config inv_mpu_regmap_config = {17 .reg_bits = 8,18 .val_bits = 8,19};20 21static int inv_mpu6050_select_bypass(struct i2c_mux_core *muxc, u32 chan_id)22{23 return 0;24}25 26static bool inv_mpu_i2c_aux_bus(struct device *dev)27{28 struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(dev));29 30 switch (st->chip_type) {31 case INV_ICM20608:32 case INV_ICM20608D:33 case INV_ICM20609:34 case INV_ICM20689:35 case INV_ICM20600:36 case INV_ICM20602:37 case INV_IAM20680:38 /* no i2c auxiliary bus on the chip */39 return false;40 case INV_MPU9150:41 case INV_MPU9250:42 case INV_MPU9255:43 if (st->magn_disabled)44 return true;45 else46 return false;47 default:48 return true;49 }50}51 52static int inv_mpu_i2c_aux_setup(struct iio_dev *indio_dev)53{54 struct inv_mpu6050_state *st = iio_priv(indio_dev);55 struct device *dev = indio_dev->dev.parent;56 struct fwnode_handle *mux_node;57 int ret;58 59 /*60 * MPU9xxx magnetometer support requires to disable i2c auxiliary bus.61 * To ensure backward compatibility with existing setups, do not disable62 * i2c auxiliary bus if it used.63 * Check for i2c-gate node in devicetree and set magnetometer disabled.64 * Only MPU6500 is supported by ACPI, no need to check.65 */66 switch (st->chip_type) {67 case INV_MPU9150:68 case INV_MPU9250:69 case INV_MPU9255:70 mux_node = device_get_named_child_node(dev, "i2c-gate");71 if (mux_node != NULL) {72 st->magn_disabled = true;73 dev_warn(dev, "disable internal use of magnetometer\n");74 }75 fwnode_handle_put(mux_node);76 break;77 default:78 break;79 }80 81 /* enable i2c bypass when using i2c auxiliary bus */82 if (inv_mpu_i2c_aux_bus(dev)) {83 ret = regmap_write(st->map, st->reg->int_pin_cfg,84 st->irq_mask | INV_MPU6050_BIT_BYPASS_EN);85 if (ret)86 return ret;87 }88 89 return 0;90}91 92/**93 * inv_mpu_probe() - probe function.94 * @client: i2c client.95 *96 * Returns 0 on success, a negative error code otherwise.97 */98static int inv_mpu_probe(struct i2c_client *client)99{100 const struct i2c_device_id *id = i2c_client_get_device_id(client);101 const void *match;102 struct inv_mpu6050_state *st;103 int result;104 enum inv_devices chip_type;105 struct regmap *regmap;106 const char *name;107 108 if (!i2c_check_functionality(client->adapter,109 I2C_FUNC_SMBUS_I2C_BLOCK))110 return -EOPNOTSUPP;111 112 match = device_get_match_data(&client->dev);113 if (match) {114 chip_type = (uintptr_t)match;115 name = client->name;116 } else if (id) {117 chip_type = (enum inv_devices)118 id->driver_data;119 name = id->name;120 } else {121 return -ENOSYS;122 }123 124 regmap = devm_regmap_init_i2c(client, &inv_mpu_regmap_config);125 if (IS_ERR(regmap)) {126 dev_err(&client->dev, "Failed to register i2c regmap: %pe\n",127 regmap);128 return PTR_ERR(regmap);129 }130 131 result = inv_mpu_core_probe(regmap, client->irq, name,132 inv_mpu_i2c_aux_setup, chip_type);133 if (result < 0)134 return result;135 136 st = iio_priv(dev_get_drvdata(&client->dev));137 if (inv_mpu_i2c_aux_bus(&client->dev)) {138 /* declare i2c auxiliary bus */139 st->muxc = i2c_mux_alloc(client->adapter, &client->dev,140 1, 0, I2C_MUX_LOCKED | I2C_MUX_GATE,141 inv_mpu6050_select_bypass, NULL);142 if (!st->muxc)143 return -ENOMEM;144 st->muxc->priv = dev_get_drvdata(&client->dev);145 result = i2c_mux_add_adapter(st->muxc, 0, 0);146 if (result)147 return result;148 result = inv_mpu_acpi_create_mux_client(client);149 if (result)150 goto out_del_mux;151 }152 153 return 0;154 155out_del_mux:156 i2c_mux_del_adapters(st->muxc);157 return result;158}159 160static void inv_mpu_remove(struct i2c_client *client)161{162 struct iio_dev *indio_dev = i2c_get_clientdata(client);163 struct inv_mpu6050_state *st = iio_priv(indio_dev);164 165 if (st->muxc) {166 inv_mpu_acpi_delete_mux_client(client);167 i2c_mux_del_adapters(st->muxc);168 }169}170 171/*172 * device id table is used to identify what device can be173 * supported by this driver174 */175static const struct i2c_device_id inv_mpu_id[] = {176 {"mpu6050", INV_MPU6050},177 {"mpu6500", INV_MPU6500},178 {"mpu6515", INV_MPU6515},179 {"mpu6880", INV_MPU6880},180 {"mpu9150", INV_MPU9150},181 {"mpu9250", INV_MPU9250},182 {"mpu9255", INV_MPU9255},183 {"icm20608", INV_ICM20608},184 {"icm20608d", INV_ICM20608D},185 {"icm20609", INV_ICM20609},186 {"icm20689", INV_ICM20689},187 {"icm20600", INV_ICM20600},188 {"icm20602", INV_ICM20602},189 {"icm20690", INV_ICM20690},190 {"iam20680", INV_IAM20680},191 {}192};193 194MODULE_DEVICE_TABLE(i2c, inv_mpu_id);195 196static const struct of_device_id inv_of_match[] = {197 {198 .compatible = "invensense,mpu6050",199 .data = (void *)INV_MPU6050200 },201 {202 .compatible = "invensense,mpu6500",203 .data = (void *)INV_MPU6500204 },205 {206 .compatible = "invensense,mpu6515",207 .data = (void *)INV_MPU6515208 },209 {210 .compatible = "invensense,mpu6880",211 .data = (void *)INV_MPU6880212 },213 {214 .compatible = "invensense,mpu9150",215 .data = (void *)INV_MPU9150216 },217 {218 .compatible = "invensense,mpu9250",219 .data = (void *)INV_MPU9250220 },221 {222 .compatible = "invensense,mpu9255",223 .data = (void *)INV_MPU9255224 },225 {226 .compatible = "invensense,icm20608",227 .data = (void *)INV_ICM20608228 },229 {230 .compatible = "invensense,icm20608d",231 .data = (void *)INV_ICM20608D232 },233 {234 .compatible = "invensense,icm20609",235 .data = (void *)INV_ICM20609236 },237 {238 .compatible = "invensense,icm20689",239 .data = (void *)INV_ICM20689240 },241 {242 .compatible = "invensense,icm20600",243 .data = (void *)INV_ICM20600244 },245 {246 .compatible = "invensense,icm20602",247 .data = (void *)INV_ICM20602248 },249 {250 .compatible = "invensense,icm20690",251 .data = (void *)INV_ICM20690252 },253 {254 .compatible = "invensense,iam20680",255 .data = (void *)INV_IAM20680256 },257 { }258};259MODULE_DEVICE_TABLE(of, inv_of_match);260 261static const struct acpi_device_id inv_acpi_match[] = {262 {"INVN6500", INV_MPU6500},263 { },264};265MODULE_DEVICE_TABLE(acpi, inv_acpi_match);266 267static struct i2c_driver inv_mpu_driver = {268 .probe = inv_mpu_probe,269 .remove = inv_mpu_remove,270 .id_table = inv_mpu_id,271 .driver = {272 .of_match_table = inv_of_match,273 .acpi_match_table = inv_acpi_match,274 .name = "inv-mpu6050-i2c",275 .pm = pm_ptr(&inv_mpu_pmops),276 },277};278 279module_i2c_driver(inv_mpu_driver);280 281MODULE_AUTHOR("Invensense Corporation");282MODULE_DESCRIPTION("Invensense device MPU6050 driver");283MODULE_LICENSE("GPL");284MODULE_IMPORT_NS(IIO_MPU6050);285