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/*
* INVENSENSE MPU6050 Gyroscope driver
*
* 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/platform_device.h>
#include <linux/slab.h>
#include <linux/input.h>
#include <linux/device.h>
#include "mpu6050x.h"
#include <linux/input/mpu6050.h>
#include <linux/i2c.h>
/* Put's the Gyroscope in Stand-by mode */
static int mpu6050_gyro_set_standby(struct mpu6050_gyro_data *data,
int action)
{
unsigned char val = 0;
MPU6050_READ(data, MPU6050_CHIP_I2C_ADDR, MPU6050_REG_PWR_MGMT_2,
1, &val, "Gyro STBY");
if (action)
val |= (MPU6050_STBY_XG | MPU6050_STBY_YG | MPU6050_STBY_ZG);
else
val &= ~(MPU6050_STBY_XG | MPU6050_STBY_YG | MPU6050_STBY_ZG);
MPU6050_WRITE(data, MPU6050_CHIP_I2C_ADDR,
MPU6050_REG_PWR_MGMT_2, val, "Gyro STBY");
return 0;
}
static int mpu6050_gyro_reset(struct mpu6050_gyro_data *data)
{
MPU6050_WRITE(data, MPU6050_CHIP_I2C_ADDR,
MPU6050_REG_SIGNAL_PATH_RESET, MPU6050_GYRO_SP_RESET,
"Gyro SP-reset");
mpu6050_gyro_set_standby(data, 0);
return 0;
}
static int mpu6050_gyro_read_xyz(struct mpu6050_gyro_data *data)
{
s16 datax, datay, dataz;
u16 buffer[3];
u8 val = 0;
MPU6050_READ(data, MPU6050_CHIP_I2C_ADDR, MPU6050_REG_INT_STATUS,
1, &val, "interrupt status");
MPU6050_READ(data, MPU6050_CHIP_I2C_ADDR, MPU6050_REG_GYRO_XOUT_H,
6, (u8 *)buffer, "gyro-x-y-z");
datax = be16_to_cpu(buffer[0]);
datay = be16_to_cpu(buffer[1]);
dataz = be16_to_cpu(buffer[2]);
input_report_abs(data->input_dev, ABS_X, datax);
input_report_abs(data->input_dev, ABS_Y, datay);
input_report_abs(data->input_dev, ABS_Z, dataz);
input_sync(data->input_dev);
return 0;
}
static int mpu6050_gyro_open(struct input_dev *input_dev)
{
struct mpu6050_gyro_data *data = input_get_drvdata(input_dev);
mutex_lock(&data->mutex);
if (!data->suspended)
mpu6050_gyro_set_standby(data, 0);
data->opened = true;
mutex_unlock(&data->mutex);
return 0;
}
static void mpu6050_gyro_close(struct input_dev *input_dev)
{
struct mpu6050_gyro_data *data = input_get_drvdata(input_dev);
mutex_lock(&data->mutex);
if (!data->suspended)
mpu6050_gyro_set_standby(data, 1);
data->opened = false;
mutex_unlock(&data->mutex);
}
void mpu6050_gyro_suspend(struct mpu6050_gyro_data *data)
{
mutex_lock(&data->mutex);
if (!data->suspended && data->opened)
mpu6050_gyro_set_standby(data, 1);
data->suspended = true;
mutex_unlock(&data->mutex);
}
EXPORT_SYMBOL(mpu6050_gyro_suspend);
void mpu6050_gyro_resume(struct mpu6050_gyro_data *data)
{
mutex_lock(&data->mutex);
if (data->suspended && data->opened)
mpu6050_gyro_set_standby(data, 0);
data->suspended = false;
mutex_unlock(&data->mutex);
}
EXPORT_SYMBOL(mpu6050_gyro_resume);
/**
* mpu6050_gyro_show_attr_xyz - Reports x,y,z axis events to input device
* @dev: device entry
* @attr: device attribute entry
* @buf: pointer to the buffer which holds threshold duartion value.
*
* Returns '0' on success.
*/
static ssize_t mpu6050_gyro_show_attr_xyz(struct device *dev,
struct device_attribute *attr, char *buf)
{
struct platform_device *pdev = to_platform_device(dev);
struct mpu6050_data *mpu_data = platform_get_drvdata(pdev);
struct mpu6050_gyro_data *data = mpu_data->gyro_data;
return mpu6050_gyro_read_xyz(data);
}
static DEVICE_ATTR(xyz, S_IWUSR | S_IRUGO,
mpu6050_gyro_show_attr_xyz, NULL);
static struct attribute *mpu6050_gyro_attrs[] = {
&dev_attr_xyz.attr,
NULL,
};
static struct attribute_group mpu6050_gyro_attr_group = {
.attrs = mpu6050_gyro_attrs,
};
struct mpu6050_gyro_data *mpu6050_gyro_init(const struct mpu6050_data *mpu_data)
{
const struct mpu6050_gyro_platform_data *pdata;
struct mpu6050_gyro_data *gyro_data;
struct input_dev *input_dev;
int error;
pdata = &mpu_data->pdata->mpu6050_gyro;
gyro_data = kzalloc(sizeof(struct mpu6050_gyro_data), GFP_KERNEL);
input_dev = input_allocate_device();
if (!gyro_data || !input_dev) {
error = -ENOMEM;
goto err_free_mem;
}
gyro_data->dev = mpu_data->dev;
gyro_data->input_dev = input_dev;
gyro_data->bus_ops = mpu_data->bus_ops;
mutex_init(&gyro_data->mutex);
/*TODO: Mode & FSR Range Check */
input_dev->name = "mpu6050-gyroscope";
input_dev->id.bustype = mpu_data->bus_ops->bustype;
input_dev->open = mpu6050_gyro_open;
input_dev->close = mpu6050_gyro_close;
__set_bit(EV_ABS, input_dev->evbit);
input_set_abs_params(input_dev, ABS_X, MPU6050_GYRO_MIN_VALUE,
MPU6050_GYRO_MAX_VALUE, pdata->x_axis, 0);
input_set_abs_params(input_dev, ABS_Y, MPU6050_GYRO_MIN_VALUE,
MPU6050_GYRO_MAX_VALUE, pdata->y_axis, 0);
input_set_abs_params(input_dev, ABS_Z, MPU6050_GYRO_MIN_VALUE,
MPU6050_GYRO_MAX_VALUE, pdata->z_axis, 0);
input_set_drvdata(input_dev, gyro_data);
/* Reset Gyroscope signal path */
mpu6050_gyro_reset(gyro_data);
error = input_register_device(gyro_data->input_dev);
if (error) {
dev_err(gyro_data->dev, "Unable to register input device\n");
goto err_free_mem;
}
error = sysfs_create_group(&mpu_data->client->dev.kobj,
&mpu6050_gyro_attr_group);
return gyro_data;
err_free_mem:
input_free_device(input_dev);
kfree(gyro_data);
return ERR_PTR(error);
}
EXPORT_SYMBOL(mpu6050_gyro_init);
void mpu6050_gyro_exit(struct mpu6050_gyro_data *data)
{
input_unregister_device(data->input_dev);
kfree(data);
}
EXPORT_SYMBOL(mpu6050_gyro_exit);
MODULE_AUTHOR("Kishore Kadiyala <kishore.kadiyala@ti.com");
MODULE_DESCRIPTION("MPU6050 I2c Driver");
MODULE_LICENSE("GPL");
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