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14#include <linux/module.h>
15#include <linux/slab.h>
16#include <linux/i2c.h>
17#include <linux/err.h>
18#include <linux/delay.h>
19#include <linux/sysfs.h>
20#include <linux/jiffies.h>
21#include <linux/irq.h>
22#include <linux/interrupt.h>
23#include <linux/kfifo.h>
24#include <linux/spinlock.h>
25#include <linux/iio/iio.h>
26#include "inv_mpu_iio.h"
27
28
29
30
31
32static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
33
34
35
36
37
38static const int accel_scale[] = {598, 1196, 2392, 4785};
39
40static const struct inv_mpu6050_reg_map reg_set_6050 = {
41 .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
42 .lpf = INV_MPU6050_REG_CONFIG,
43 .user_ctrl = INV_MPU6050_REG_USER_CTRL,
44 .fifo_en = INV_MPU6050_REG_FIFO_EN,
45 .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
46 .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
47 .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
48 .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
49 .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
50 .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
51 .temperature = INV_MPU6050_REG_TEMPERATURE,
52 .int_enable = INV_MPU6050_REG_INT_ENABLE,
53 .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
54 .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
55};
56
57static const struct inv_mpu6050_chip_config chip_config_6050 = {
58 .fsr = INV_MPU6050_FSR_2000DPS,
59 .lpf = INV_MPU6050_FILTER_20HZ,
60 .fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
61 .gyro_fifo_enable = false,
62 .accl_fifo_enable = false,
63 .accl_fs = INV_MPU6050_FS_02G,
64};
65
66static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
67 {
68 .num_reg = 117,
69 .name = "MPU6050",
70 .reg = ®_set_6050,
71 .config = &chip_config_6050,
72 },
73};
74
75int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
76{
77 return i2c_smbus_write_i2c_block_data(st->client, reg, 1, &d);
78}
79
80int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
81{
82 u8 d, mgmt_1;
83 int result;
84
85
86
87
88 if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
89 result = i2c_smbus_read_i2c_block_data(st->client,
90 st->reg->pwr_mgmt_1, 1, &mgmt_1);
91 if (result != 1)
92 return result;
93
94 mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
95 }
96
97 if ((INV_MPU6050_BIT_PWR_GYRO_STBY == mask) && (!en)) {
98
99
100 mgmt_1 |= INV_CLK_INTERNAL;
101 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, mgmt_1);
102 if (result)
103 return result;
104 }
105
106 result = i2c_smbus_read_i2c_block_data(st->client,
107 st->reg->pwr_mgmt_2, 1, &d);
108 if (result != 1)
109 return result;
110 if (en)
111 d &= ~mask;
112 else
113 d |= mask;
114 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
115 if (result)
116 return result;
117
118 if (en) {
119
120 msleep(INV_MPU6050_TEMP_UP_TIME);
121 if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
122
123 mgmt_1 |= INV_CLK_PLL;
124 result = inv_mpu6050_write_reg(st,
125 st->reg->pwr_mgmt_1, mgmt_1);
126 if (result)
127 return result;
128 }
129 }
130
131 return 0;
132}
133
134int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
135{
136 int result;
137
138 if (power_on)
139 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, 0);
140 else
141 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
142 INV_MPU6050_BIT_SLEEP);
143 if (result)
144 return result;
145
146 if (power_on)
147 msleep(INV_MPU6050_REG_UP_TIME);
148
149 return 0;
150}
151
152
153
154
155
156
157
158
159
160
161static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
162{
163 int result;
164 u8 d;
165 struct inv_mpu6050_state *st = iio_priv(indio_dev);
166
167 result = inv_mpu6050_set_power_itg(st, true);
168 if (result)
169 return result;
170 d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
171 result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
172 if (result)
173 return result;
174
175 d = INV_MPU6050_FILTER_20HZ;
176 result = inv_mpu6050_write_reg(st, st->reg->lpf, d);
177 if (result)
178 return result;
179
180 d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;
181 result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
182 if (result)
183 return result;
184
185 d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
186 result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
187 if (result)
188 return result;
189
190 memcpy(&st->chip_config, hw_info[st->chip_type].config,
191 sizeof(struct inv_mpu6050_chip_config));
192 result = inv_mpu6050_set_power_itg(st, false);
193
194 return result;
195}
196
197static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
198 int axis, int *val)
199{
200 int ind, result;
201 __be16 d;
202
203 ind = (axis - IIO_MOD_X) * 2;
204 result = i2c_smbus_read_i2c_block_data(st->client, reg + ind, 2,
205 (u8 *)&d);
206 if (result != 2)
207 return -EINVAL;
208 *val = (short)be16_to_cpup(&d);
209
210 return IIO_VAL_INT;
211}
212
213static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
214 struct iio_chan_spec const *chan,
215 int *val,
216 int *val2,
217 long mask) {
218 struct inv_mpu6050_state *st = iio_priv(indio_dev);
219
220 switch (mask) {
221 case IIO_CHAN_INFO_RAW:
222 {
223 int ret, result;
224
225 ret = IIO_VAL_INT;
226 result = 0;
227 mutex_lock(&indio_dev->mlock);
228 if (!st->chip_config.enable) {
229 result = inv_mpu6050_set_power_itg(st, true);
230 if (result)
231 goto error_read_raw;
232 }
233
234 switch (chan->type) {
235 case IIO_ANGL_VEL:
236 if (!st->chip_config.gyro_fifo_enable ||
237 !st->chip_config.enable) {
238 result = inv_mpu6050_switch_engine(st, true,
239 INV_MPU6050_BIT_PWR_GYRO_STBY);
240 if (result)
241 goto error_read_raw;
242 }
243 ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
244 chan->channel2, val);
245 if (!st->chip_config.gyro_fifo_enable ||
246 !st->chip_config.enable) {
247 result = inv_mpu6050_switch_engine(st, false,
248 INV_MPU6050_BIT_PWR_GYRO_STBY);
249 if (result)
250 goto error_read_raw;
251 }
252 break;
253 case IIO_ACCEL:
254 if (!st->chip_config.accl_fifo_enable ||
255 !st->chip_config.enable) {
256 result = inv_mpu6050_switch_engine(st, true,
257 INV_MPU6050_BIT_PWR_ACCL_STBY);
258 if (result)
259 goto error_read_raw;
260 }
261 ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
262 chan->channel2, val);
263 if (!st->chip_config.accl_fifo_enable ||
264 !st->chip_config.enable) {
265 result = inv_mpu6050_switch_engine(st, false,
266 INV_MPU6050_BIT_PWR_ACCL_STBY);
267 if (result)
268 goto error_read_raw;
269 }
270 break;
271 case IIO_TEMP:
272
273 msleep(INV_MPU6050_SENSOR_UP_TIME);
274 inv_mpu6050_sensor_show(st, st->reg->temperature,
275 IIO_MOD_X, val);
276 break;
277 default:
278 ret = -EINVAL;
279 break;
280 }
281error_read_raw:
282 if (!st->chip_config.enable)
283 result |= inv_mpu6050_set_power_itg(st, false);
284 mutex_unlock(&indio_dev->mlock);
285 if (result)
286 return result;
287
288 return ret;
289 }
290 case IIO_CHAN_INFO_SCALE:
291 switch (chan->type) {
292 case IIO_ANGL_VEL:
293 *val = 0;
294 *val2 = gyro_scale_6050[st->chip_config.fsr];
295
296 return IIO_VAL_INT_PLUS_NANO;
297 case IIO_ACCEL:
298 *val = 0;
299 *val2 = accel_scale[st->chip_config.accl_fs];
300
301 return IIO_VAL_INT_PLUS_MICRO;
302 case IIO_TEMP:
303 *val = 0;
304 *val2 = INV_MPU6050_TEMP_SCALE;
305
306 return IIO_VAL_INT_PLUS_MICRO;
307 default:
308 return -EINVAL;
309 }
310 case IIO_CHAN_INFO_OFFSET:
311 switch (chan->type) {
312 case IIO_TEMP:
313 *val = INV_MPU6050_TEMP_OFFSET;
314
315 return IIO_VAL_INT;
316 default:
317 return -EINVAL;
318 }
319 default:
320 return -EINVAL;
321 }
322}
323
324static int inv_mpu6050_write_fsr(struct inv_mpu6050_state *st, int fsr)
325{
326 int result;
327 u8 d;
328
329 if (fsr < 0 || fsr > INV_MPU6050_MAX_GYRO_FS_PARAM)
330 return -EINVAL;
331 if (fsr == st->chip_config.fsr)
332 return 0;
333
334 d = (fsr << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
335 result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
336 if (result)
337 return result;
338 st->chip_config.fsr = fsr;
339
340 return 0;
341}
342
343static int inv_mpu6050_write_accel_fs(struct inv_mpu6050_state *st, int fs)
344{
345 int result;
346 u8 d;
347
348 if (fs < 0 || fs > INV_MPU6050_MAX_ACCL_FS_PARAM)
349 return -EINVAL;
350 if (fs == st->chip_config.accl_fs)
351 return 0;
352
353 d = (fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
354 result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
355 if (result)
356 return result;
357 st->chip_config.accl_fs = fs;
358
359 return 0;
360}
361
362static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
363 struct iio_chan_spec const *chan,
364 int val,
365 int val2,
366 long mask) {
367 struct inv_mpu6050_state *st = iio_priv(indio_dev);
368 int result;
369
370 mutex_lock(&indio_dev->mlock);
371
372
373 if (st->chip_config.enable) {
374 result = -EBUSY;
375 goto error_write_raw;
376 }
377 result = inv_mpu6050_set_power_itg(st, true);
378 if (result)
379 goto error_write_raw;
380
381 switch (mask) {
382 case IIO_CHAN_INFO_SCALE:
383 switch (chan->type) {
384 case IIO_ANGL_VEL:
385 result = inv_mpu6050_write_fsr(st, val);
386 break;
387 case IIO_ACCEL:
388 result = inv_mpu6050_write_accel_fs(st, val);
389 break;
390 default:
391 result = -EINVAL;
392 break;
393 }
394 break;
395 default:
396 result = -EINVAL;
397 break;
398 }
399
400error_write_raw:
401 result |= inv_mpu6050_set_power_itg(st, false);
402 mutex_unlock(&indio_dev->mlock);
403
404 return result;
405}
406
407
408
409
410
411
412
413
414
415
416static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
417{
418 const int hz[] = {188, 98, 42, 20, 10, 5};
419 const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
420 INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
421 INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
422 int i, h, result;
423 u8 data;
424
425 h = (rate >> 1);
426 i = 0;
427 while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
428 i++;
429 data = d[i];
430 result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
431 if (result)
432 return result;
433 st->chip_config.lpf = data;
434
435 return 0;
436}
437
438
439
440
441static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
442 struct device_attribute *attr, const char *buf, size_t count)
443{
444 s32 fifo_rate;
445 u8 d;
446 int result;
447 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
448 struct inv_mpu6050_state *st = iio_priv(indio_dev);
449
450 if (kstrtoint(buf, 10, &fifo_rate))
451 return -EINVAL;
452 if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
453 fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
454 return -EINVAL;
455 if (fifo_rate == st->chip_config.fifo_rate)
456 return count;
457
458 mutex_lock(&indio_dev->mlock);
459 if (st->chip_config.enable) {
460 result = -EBUSY;
461 goto fifo_rate_fail;
462 }
463 result = inv_mpu6050_set_power_itg(st, true);
464 if (result)
465 goto fifo_rate_fail;
466
467 d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
468 result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
469 if (result)
470 goto fifo_rate_fail;
471 st->chip_config.fifo_rate = fifo_rate;
472
473 result = inv_mpu6050_set_lpf(st, fifo_rate);
474 if (result)
475 goto fifo_rate_fail;
476
477fifo_rate_fail:
478 result |= inv_mpu6050_set_power_itg(st, false);
479 mutex_unlock(&indio_dev->mlock);
480 if (result)
481 return result;
482
483 return count;
484}
485
486
487
488
489static ssize_t inv_fifo_rate_show(struct device *dev,
490 struct device_attribute *attr, char *buf)
491{
492 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
493
494 return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
495}
496
497
498
499
500
501static ssize_t inv_attr_show(struct device *dev,
502 struct device_attribute *attr, char *buf)
503{
504 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
505 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
506 s8 *m;
507
508 switch (this_attr->address) {
509
510
511 case ATTR_GYRO_MATRIX:
512 case ATTR_ACCL_MATRIX:
513 m = st->plat_data.orientation;
514
515 return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
516 m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
517 default:
518 return -EINVAL;
519 }
520}
521
522
523
524
525
526
527
528
529
530
531static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
532 struct iio_trigger *trig)
533{
534 struct inv_mpu6050_state *st = iio_priv(indio_dev);
535
536 if (st->trig != trig)
537 return -EINVAL;
538
539 return 0;
540}
541
542#define INV_MPU6050_CHAN(_type, _channel2, _index) \
543 { \
544 .type = _type, \
545 .modified = 1, \
546 .channel2 = _channel2, \
547 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
548 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
549 .scan_index = _index, \
550 .scan_type = { \
551 .sign = 's', \
552 .realbits = 16, \
553 .storagebits = 16, \
554 .shift = 0 , \
555 .endianness = IIO_BE, \
556 }, \
557 }
558
559static const struct iio_chan_spec inv_mpu_channels[] = {
560 IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
561
562
563
564
565 {
566 .type = IIO_TEMP,
567 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
568 | BIT(IIO_CHAN_INFO_OFFSET)
569 | BIT(IIO_CHAN_INFO_SCALE),
570 .scan_index = -1,
571 },
572 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
573 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
574 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
575
576 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
577 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
578 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
579};
580
581
582static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
583static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
584 inv_mpu6050_fifo_rate_store);
585static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
586 ATTR_GYRO_MATRIX);
587static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
588 ATTR_ACCL_MATRIX);
589
590static struct attribute *inv_attributes[] = {
591 &iio_dev_attr_in_gyro_matrix.dev_attr.attr,
592 &iio_dev_attr_in_accel_matrix.dev_attr.attr,
593 &iio_dev_attr_sampling_frequency.dev_attr.attr,
594 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
595 NULL,
596};
597
598static const struct attribute_group inv_attribute_group = {
599 .attrs = inv_attributes
600};
601
602static const struct iio_info mpu_info = {
603 .driver_module = THIS_MODULE,
604 .read_raw = &inv_mpu6050_read_raw,
605 .write_raw = &inv_mpu6050_write_raw,
606 .attrs = &inv_attribute_group,
607 .validate_trigger = inv_mpu6050_validate_trigger,
608};
609
610
611
612
613static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
614 const struct i2c_device_id *id)
615{
616 int result;
617
618 st->chip_type = INV_MPU6050;
619 st->hw = &hw_info[st->chip_type];
620 st->reg = hw_info[st->chip_type].reg;
621
622
623 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
624 INV_MPU6050_BIT_H_RESET);
625 if (result)
626 return result;
627 msleep(INV_MPU6050_POWER_UP_TIME);
628
629
630
631
632 result = inv_mpu6050_set_power_itg(st, false);
633 if (result)
634 return result;
635 result = inv_mpu6050_set_power_itg(st, true);
636 if (result)
637 return result;
638
639 result = inv_mpu6050_switch_engine(st, false,
640 INV_MPU6050_BIT_PWR_ACCL_STBY);
641 if (result)
642 return result;
643 result = inv_mpu6050_switch_engine(st, false,
644 INV_MPU6050_BIT_PWR_GYRO_STBY);
645 if (result)
646 return result;
647
648 return 0;
649}
650
651
652
653
654
655
656
657
658static int inv_mpu_probe(struct i2c_client *client,
659 const struct i2c_device_id *id)
660{
661 struct inv_mpu6050_state *st;
662 struct iio_dev *indio_dev;
663 struct inv_mpu6050_platform_data *pdata;
664 int result;
665
666 if (!i2c_check_functionality(client->adapter,
667 I2C_FUNC_SMBUS_I2C_BLOCK))
668 return -ENOSYS;
669
670 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
671 if (!indio_dev)
672 return -ENOMEM;
673
674 st = iio_priv(indio_dev);
675 st->client = client;
676 pdata = dev_get_platdata(&client->dev);
677 if (pdata)
678 st->plat_data = *pdata;
679
680 result = inv_check_and_setup_chip(st, id);
681 if (result)
682 return result;
683
684 result = inv_mpu6050_init_config(indio_dev);
685 if (result) {
686 dev_err(&client->dev,
687 "Could not initialize device.\n");
688 return result;
689 }
690
691 i2c_set_clientdata(client, indio_dev);
692 indio_dev->dev.parent = &client->dev;
693 indio_dev->name = id->name;
694 indio_dev->channels = inv_mpu_channels;
695 indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
696
697 indio_dev->info = &mpu_info;
698 indio_dev->modes = INDIO_BUFFER_TRIGGERED;
699
700 result = iio_triggered_buffer_setup(indio_dev,
701 inv_mpu6050_irq_handler,
702 inv_mpu6050_read_fifo,
703 NULL);
704 if (result) {
705 dev_err(&st->client->dev, "configure buffer fail %d\n",
706 result);
707 return result;
708 }
709 result = inv_mpu6050_probe_trigger(indio_dev);
710 if (result) {
711 dev_err(&st->client->dev, "trigger probe fail %d\n", result);
712 goto out_unreg_ring;
713 }
714
715 INIT_KFIFO(st->timestamps);
716 spin_lock_init(&st->time_stamp_lock);
717 result = iio_device_register(indio_dev);
718 if (result) {
719 dev_err(&st->client->dev, "IIO register fail %d\n", result);
720 goto out_remove_trigger;
721 }
722
723 return 0;
724
725out_remove_trigger:
726 inv_mpu6050_remove_trigger(st);
727out_unreg_ring:
728 iio_triggered_buffer_cleanup(indio_dev);
729 return result;
730}
731
732static int inv_mpu_remove(struct i2c_client *client)
733{
734 struct iio_dev *indio_dev = i2c_get_clientdata(client);
735 struct inv_mpu6050_state *st = iio_priv(indio_dev);
736
737 iio_device_unregister(indio_dev);
738 inv_mpu6050_remove_trigger(st);
739 iio_triggered_buffer_cleanup(indio_dev);
740
741 return 0;
742}
743#ifdef CONFIG_PM_SLEEP
744
745static int inv_mpu_resume(struct device *dev)
746{
747 return inv_mpu6050_set_power_itg(
748 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
749}
750
751static int inv_mpu_suspend(struct device *dev)
752{
753 return inv_mpu6050_set_power_itg(
754 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
755}
756static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
757
758#define INV_MPU6050_PMOPS (&inv_mpu_pmops)
759#else
760#define INV_MPU6050_PMOPS NULL
761#endif
762
763
764
765
766
767static const struct i2c_device_id inv_mpu_id[] = {
768 {"mpu6050", INV_MPU6050},
769 {"mpu6500", INV_MPU6500},
770 {}
771};
772
773MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
774
775static struct i2c_driver inv_mpu_driver = {
776 .probe = inv_mpu_probe,
777 .remove = inv_mpu_remove,
778 .id_table = inv_mpu_id,
779 .driver = {
780 .owner = THIS_MODULE,
781 .name = "inv-mpu6050",
782 .pm = INV_MPU6050_PMOPS,
783 },
784};
785
786module_i2c_driver(inv_mpu_driver);
787
788MODULE_AUTHOR("Invensense Corporation");
789MODULE_DESCRIPTION("Invensense device MPU6050 driver");
790MODULE_LICENSE("GPL");
791
