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/*
* Implements driver for INVENSENSE MPU6050 Chip
*
* Copyright (C) 2011 Texas Instruments
* Author: Kishore Kadiyala <kishore.kadiyala@ti.com>
*
* This program is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License version 2 as published by
* the Free Software Foundation.
*
* 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.
*
* You should have received a copy of the GNU General Public License along with
* this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <linux/types.h>
#include <linux/interrupt.h>
#include <linux/delay.h>
#include <linux/slab.h>
#include <linux/device.h>
#include <linux/err.h>
#include <linux/i2c.h>
#include "mpu6050x.h"
#include <linux/input/mpu6050.h>
static int mpu6050_enable_sleep(struct mpu6050_data *data, int action)
{
unsigned char val = 0;
MPU6050_READ(data, MPU6050_CHIP_I2C_ADDR, MPU6050_REG_PWR_MGMT_1,
1, &val, "Enable Sleep");
if (action)
val |= MPU6050_DEVICE_SLEEP_MODE;
else
val &= ~MPU6050_DEVICE_SLEEP_MODE;
MPU6050_WRITE(data, MPU6050_CHIP_I2C_ADDR, MPU6050_REG_PWR_MGMT_1,
val, "Enable Sleep");
MPU6050_READ(data, MPU6050_CHIP_I2C_ADDR, MPU6050_REG_PWR_MGMT_1,
1, &val, "Enable Sleep");
if (val & MPU6050_DEVICE_SLEEP_MODE)
dev_err(data->dev, "Enable Sleep failed\n");
return 0;
}
static int mpu6050_reset(struct mpu6050_data *data)
{
unsigned char val = 0;
/*
* Dummy read after bootup on I2c4 which was throwing timeout
* Applicable only for OMAP4460 on OMAP5 SEVM Board.
*/
MPU6050_READ(data, MPU6050_CHIP_I2C_ADDR, MPU6050_REG_PWR_MGMT_1,
1, &val, "Reset");
/* Reset sequence */
val |= MPU6050_DEVICE_RESET;
MPU6050_WRITE(data, MPU6050_CHIP_I2C_ADDR, MPU6050_REG_PWR_MGMT_1,
val, "Reset");
MPU6050_READ(data, MPU6050_CHIP_I2C_ADDR, MPU6050_REG_PWR_MGMT_1,
1, &val, "Reset");
if (val & MPU6050_DEVICE_RESET) {
dev_err(data->dev, "Reset failed\n");
return val;
}
/*
* Reset of PWR_MGMT_1 reg puts the device in sleep mode,
* so disable the sleep mode
*/
mpu6050_enable_sleep(data, 0);
return 0;
}
static int mpu6050_poweron(struct mpu6050_data *data)
{
mpu6050_enable_sleep(data, 0);
return 0;
}
static int mpu6050_poweroff(struct mpu6050_data *data)
{
mpu6050_enable_sleep(data, 1);
return 0;
}
void mpu6050_suspend(struct mpu6050_data *data)
{
mutex_lock(&data->mutex);
if (!data->suspended)
mpu6050_poweroff(data);
data->suspended = true;
mutex_unlock(&data->mutex);
#ifdef CONFIG_INPUT_MPU6050_ACCEL
mpu6050_accel_suspend(data->accel_data);
#endif
#ifdef CONFIG_INPUT_MPU6050_GYRO
mpu6050_gyro_suspend(data->gyro_data);
#endif
}
EXPORT_SYMBOL(mpu6050_suspend);
void mpu6050_resume(struct mpu6050_data *data)
{
mutex_lock(&data->mutex);
if (data->suspended)
mpu6050_poweron(data);
data->suspended = false;
mutex_unlock(&data->mutex);
#ifdef CONFIG_INPUT_MPU6050_ACCEL
mpu6050_accel_resume(data->accel_data);
#endif
#ifdef CONFIG_INPUT_MPU6050_GYRO
mpu6050_gyro_resume(data->gyro_data);
#endif
}
EXPORT_SYMBOL(mpu6050_resume);
int mpu6050_init(struct mpu6050_data *data, const struct mpu6050_bus_ops *bops)
{
int error;
if (!data->client->dev.platform_data) {
dev_err(&data->client->dev, "platform data not found\n");
error = -EINVAL;
goto err_out;
}
/* if no IRQ return error */
if (data->client->irq == 0) {
dev_err(&data->client->dev, "Irq not set\n");
error = -EINVAL;
goto err_out;
}
data->dev = &data->client->dev;
data->bus_ops = bops;
data->pdata = data->client->dev.platform_data;
data->irq = data->client->irq;
mutex_init(&data->mutex);
/* RESET MPU6050 */
mpu6050_reset(data);
/* TODO: Verify Product Revision for the MPU6050 */
/*
* Initializing built in sensors on MPU.
* If init for individual sensor fails, report an error and move on.
*/
data->accel_data = mpu6050_accel_init(data);
if (IS_ERR(data->accel_data))
dev_err(data->dev, "MPU6050: mpu6050_accel_init failed\n");
data->gyro_data = mpu6050_gyro_init(data);
if (IS_ERR(data->gyro_data))
dev_err(data->dev, "MPU6050: mpu6050_gyro_init failed\n");
return 0;
err_out:
return error;
}
EXPORT_SYMBOL(mpu6050_init);
void mpu6050_exit(struct mpu6050_data *data)
{
#ifdef CONFIG_INPUT_MPU6050_ACCEL
mpu6050_accel_exit(data->accel_data);
#endif
#ifdef CONFIG_INPUT_MPU6050_GYRO
mpu6050_gyro_exit(data->gyro_data);
#endif
}
EXPORT_SYMBOL(mpu6050_exit);
MODULE_AUTHOR("Kishore Kadiyala <kishore.kadiyala@ti.com");
MODULE_DESCRIPTION("MPU6050 Driver");
MODULE_LICENSE("GPL");
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