Dear Lars-Peter and Jonanthan, I send out another version of MPU6050 basic driver. It fixes all the problems you pointed out in the last version. I also add the trigger back to the code. It is difficult to reproduce the bug in my current platform because I no longer have the customer's product. It seems that when system is busy, the bug could happen. Maybe the system load is so heavy, the bottom half of the trigger is not executed for several times. Then some conditions are not met and it stops working. I noticed that if the iio_trigger_notify_done is not called, we will never enter the bottom half again. What if we can't execute the bottom half when the system is busy then? If I directly connect the bottom half and top half, it is always working. When the bug happens, the interrupt I registered keeps on coming while the count of consumer of the trigger in "/proc/interrupts" does not change at all. Thanks. Best Regards, Ge GAO -----Original Message----- From: Lars-Peter Clausen [mailto:lars@xxxxxxxxxx] Sent: Thursday, December 06, 2012 12:16 PM To: Ge Gao Cc: Jonathan Cameron; linux-iio@xxxxxxxxxxxxxxx Subject: Re: [PATCH] [PATCH V4] Invensense MPU6050 Device Driver. On 12/06/2012 07:17 PM, Ge Gao wrote: > Thanks for the quick and valuable comments. I will modify the code soon. > However, for the trigger issue, we removed it because we found some > problems while using it. It is found in actual product that trigger stops > triggering the post ISR functions while ISR was still keeping on coming. I > didn't debug further at that time. Instead, I removed the trigger and > connected the interrupt directly with post ISR function to resolve the > problem. It is pretty difficult to debug because the problem does not > happen right away. It happens after several hours and trigger suddenly > stops working. Ever since on, our driver does not contain trigger any > more. I think the trigger is one of the tools IIO provided and it might be > OK not using it in some drivers. Ok, that's an interesting bug. And I think it would be really good to try to find out the root cause. While you can get away we not registering a trigger it really is not the way IIO is intended to be used. I mean you need to assign a trigger to the device in order to start buffered mode. How do you handle this currently? - Lars > > -----Original Message----- > From: Lars-Peter Clausen [mailto:lars@xxxxxxxxxx] > Sent: Wednesday, December 05, 2012 4:39 AM > To: Ge GAO > Cc: Jonathan Cameron; linux-iio@xxxxxxxxxxxxxxx > Subject: Re: [PATCH] [PATCH V4] Invensense MPU6050 Device Driver. > > On 12/05/2012 02:24 AM, Ge GAO wrote: >> From: Ge Gao <ggao@xxxxxxxxxxxxxx> >> >> --This the basic function of Invensense MPU6050 Deivce driver. >> --MPU6050 is a gyro/accel combo device. >> --This does not contain any secondary I2C slave devices. >> --This does not contain DMP functions. DMP is a on-chip engine >> that can do powerful process of motion gestures such as tap, >> screen orientation, etc. >> >> Change-Id: Ifcc527eacc9927cecf6bc744840b461566bd9b02 >> Signed-off-by: Ge Gao <ggao@xxxxxxxxxxxxxx> > > The overall drivers looks pretty good to me. A few comments inline. > > One thing I've noticed is that you do not register a trigger for your > device. Since the device generates periodic interrupts you should really > do > this and use that trigger in buffered mode. The iio_triggered_buffer_setup > helper function takes care of setting up a trigger for your device as well > as registering the buffer. > > Also, there is no need to include the Change-Id tag. > >> --- >> drivers/iio/imu/Kconfig | 2 + >> drivers/iio/imu/Makefile | 2 + >> drivers/iio/imu/inv_mpu6050/Kconfig | 13 + >> drivers/iio/imu/inv_mpu6050/Makefile | 10 + >> drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 825 > ++++++++++++++++++++++++++++ >> drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 401 ++++++++++++++ >> drivers/iio/imu/inv_mpu6050/inv_mpu_misc.c | 244 ++++++++ >> drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c | 413 ++++++++++++++ >> drivers/iio/imu/inv_mpu6050/mpu.h | 37 ++ >> 9 files changed, 1947 insertions(+), 0 deletions(-) >> create mode 100644 drivers/iio/imu/inv_mpu6050/Kconfig >> create mode 100644 drivers/iio/imu/inv_mpu6050/Makefile >> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c >> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h >> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_misc.c >> create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c >> create mode 100644 drivers/iio/imu/inv_mpu6050/mpu.h >> >> diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig >> index 3d79a40..723563b 100644 >> --- a/drivers/iio/imu/Kconfig >> +++ b/drivers/iio/imu/Kconfig >> @@ -25,3 +25,5 @@ config IIO_ADIS_LIB_BUFFER >> help >> A set of buffer helper functions for the Analog Devices ADIS* > device >> family. >> + >> +source "drivers/iio/imu/inv_mpu6050/Kconfig" >> diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile >> index cfe5763..1b41584 100644 >> --- a/drivers/iio/imu/Makefile >> +++ b/drivers/iio/imu/Makefile >> @@ -8,3 +8,5 @@ adis_lib-y += adis.o >> adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_trigger.o >> adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o >> obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o >> + >> +obj-y += inv_mpu6050/ >> diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig > b/drivers/iio/imu/inv_mpu6050/Kconfig >> new file mode 100644 >> index 0000000..4f6d730 >> --- /dev/null >> +++ b/drivers/iio/imu/inv_mpu6050/Kconfig >> @@ -0,0 +1,13 @@ >> +# >> +# inv-mpu6050 drivers for Invensense MPU devices and combos >> +# >> + >> +config INV_MPU6050_IIO >> + tristate "Invensense MPU6050 devices" >> + depends on I2C && SYSFS && IIO && IIO_KFIFO_BUF >> + default n > > "n" is the default by default, so you don't necessarily need that line. > >> + help >> + This driver supports the Invensense MPU6050 devices. >> + It is a gyroscope/accelerometer combo device. >> + This driver can be built as a module. The module will be called >> + inv-mpu6050. >> diff --git a/drivers/iio/imu/inv_mpu6050/Makefile > b/drivers/iio/imu/inv_mpu6050/Makefile >> new file mode 100644 >> index 0000000..0173e50 >> --- /dev/null >> +++ b/drivers/iio/imu/inv_mpu6050/Makefile >> @@ -0,0 +1,10 @@ >> +# >> +# Makefile for Invensense MPU6050 device. >> +# >> + >> +obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o >> + >> +inv-mpu6050-objs := inv_mpu_core.o >> +inv-mpu6050-objs += inv_mpu_ring.o >> +inv-mpu6050-objs += inv_mpu_misc.o >> + >> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c > b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c >> new file mode 100644 >> index 0000000..b071ac0 >> --- /dev/null >> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c >> @@ -0,0 +1,825 @@ >> +/* >> +* Copyright (C) 2012 Invensense, Inc. >> +* >> +* This software is licensed under the terms of the GNU General Public >> +* License version 2, as published by the Free Software Foundation, and >> +* may be copied, distributed, and modified under those terms. >> +* >> +* 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. >> +* >> +*/ >> + >> +#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt > > Seeing this in a device driver is usually a sign that something is wrong. > For device drivers please use dev_err() and frinds instead of pr_err(). > Same goes for the other files in this patch. > >> + >> +#include <linux/module.h> >> +#include <linux/init.h> >> +#include <linux/slab.h> >> +#include <linux/i2c.h> >> +#include <linux/err.h> >> +#include <linux/delay.h> >> +#include <linux/sysfs.h> >> +#include <linux/jiffies.h> >> +#include <linux/irq.h> >> +#include <linux/interrupt.h> >> +#include <linux/kfifo.h> >> +#include <linux/poll.h> >> +#include <linux/miscdevice.h> > > I don'[t think you need the miscdevice mor poll include > >> +#include <linux/spinlock.h> >> +#include "inv_mpu_iio.h" >> + >> [...] >> +static inline int check_enable(struct inv_mpu_iio_s *st) > > inv_check_enable would be a better name > >> +{ >> + return st->chip_config.is_asleep | st->chip_config.enable; >> +} >> + >> +static int inv_switch_engine(struct inv_mpu_iio_s *st, bool en, u32 > mask) >> +{ >> + struct inv_reg_map_s *reg; >> + u8 data, mgmt_1; >> + int result; >> + >> + reg = st->reg; >> + /* switch clock needs to be careful. Only when gyro is on, can >> + clock source be switched to gyro. Otherwise, it must be set to >> + internal clock */ >> + if (MPU_BIT_PWR_GYRO_STBY == mask) { >> + result = i2c_smbus_read_i2c_block_data(st->client, >> + reg->pwr_mgmt_1, 1, > &mgmt_1); >> + if (result != 1) >> + return result; >> + >> + mgmt_1 &= ~MPU_BIT_CLK_MASK; >> + } >> + >> + if ((MPU_BIT_PWR_GYRO_STBY == mask) && (!en)) { >> + /* turning off gyro requires switch to internal clock > first. >> + Then turn off gyro engine */ >> + mgmt_1 |= INV_CLK_INTERNAL; >> + result = i2c_smbus_write_i2c_block_data(st->client, >> + reg->pwr_mgmt_1, 1, > &mgmt_1); >> + if (result) >> + return result; >> + } >> + >> + result = i2c_smbus_read_i2c_block_data(st->client, >> + reg->pwr_mgmt_2, 1, &data); >> + if (result != 1) >> + return result; >> + if (en) >> + data &= (~mask); > > Nitpick: No need for the brackets. > >> + else >> + data |= mask; >> + result = i2c_smbus_write_i2c_block_data(st->client, >> + reg->pwr_mgmt_2, 1, > &data); >> + if (result) >> + return result; >> + >> + if ((MPU_BIT_PWR_GYRO_STBY == mask) && en) { >> + /* only gyro on needs sensor up time */ >> + msleep(SENSOR_UP_TIME); >> + /* after gyro is on & stable, switch internal clock to PLL > */ >> + mgmt_1 |= INV_CLK_PLL; >> + result = i2c_smbus_write_i2c_block_data(st->client, >> + reg->pwr_mgmt_1, 1, > &mgmt_1); >> + if (result) >> + return result; >> + } >> + >> + return 0; >> +} >> + >> +static int set_power_itg(struct inv_mpu_iio_s *st, bool power_on) > > inv_set_power_itg > >> +{ > [...] >> +} >> + >> +/** > [...] >> + >> +/** >> + * inv_temperature_show() - Read temperature data directly from > registers. >> + */ >> +static int inv_temperature_show(struct inv_mpu_iio_s *st, int *val) >> +{ >> + struct inv_reg_map_s *reg; >> + int result; >> + s16 temp; >> + u8 data[2]; >> + >> + reg = st->reg; >> + if (st->chip_config.is_asleep) >> + return -EPERM; >> + result = i2c_smbus_read_i2c_block_data(st->client, >> + reg->temperature, 2, data); >> + if (result != 2) { >> + pr_err("Could not read temperature register.\n"); >> + return -EINVAL; >> + } >> + temp = (s16)(be16_to_cpup((s16 *)&data[0])); >> + >> + *val = MPU6050_TEMP_OFFSET + >> + inv_q30_mult((int)temp << MPU_TEMP_SHIFT, >> + MPU6050_TEMP_SCALE); >> + > > Instead of post processing the value it would be better to just report > scale > and offset for it. > >> + return IIO_VAL_INT; >> +} >> + >> +/** >> + * inv_gyro_show() - Read gyro data directly from registers. >> + */ >> +static int inv_gyro_show(struct inv_mpu_iio_s *st, int axis, int *val) >> +{ >> + struct inv_reg_map_s *reg; >> + int ind, result; >> + u8 d[2]; >> + >> + reg = st->reg; >> + ind = (axis - IIO_MOD_X) * 2; >> + result = i2c_smbus_read_i2c_block_data(st->client, >> + reg->raw_gyro + ind, 2, d); >> + if (result != 2) >> + return -EINVAL; >> + *val = (short)be16_to_cpup((__be16 *)(d)); >> + >> + return IIO_VAL_INT; >> +} >> + >> +/** >> + * inv_accl_show() - Read accel data directly from registers. >> + */ >> +static int inv_accl_show(struct inv_mpu_iio_s *st, int axis, int *val) >> +{ >> + struct inv_reg_map_s *reg; >> + int ind, result; >> + u8 d[2]; >> + >> + reg = st->reg; >> + ind = (axis - IIO_MOD_X) * 2; >> + result = i2c_smbus_read_i2c_block_data(st->client, >> + reg->raw_accl + ind, 2, d); >> + if (result != 2) >> + return -EINVAL; >> + *val = (short)be16_to_cpup((__be16 *)(d)); >> + >> + return IIO_VAL_INT; >> +} > > > inv_accl_show is just a copy of inv_gyro_show. I think it makes sense to > combine both into a single function and add the base register as an > additional parameter. > >> + >> +/** >> + * mpu_read_raw() - read raw method. >> + */ >> +static int mpu_read_raw(struct iio_dev *indio_dev, >> + struct iio_chan_spec const *chan, >> + int *val, >> + int *val2, >> + long mask) { >> + struct inv_mpu_iio_s *st = iio_priv(indio_dev); >> + >> + if (st->chip_config.is_asleep) >> + return -EINVAL; >> + switch (mask) { >> + case 0: >> + if (!st->chip_config.enable) >> + return -EPERM; >> + switch (chan->type) { >> + case IIO_ANGL_VEL: >> + return inv_gyro_show(st, chan->channel2, val); >> + case IIO_ACCEL: >> + return inv_accl_show(st, chan->channel2, val); >> + case IIO_TEMP: >> + return inv_temperature_show(st, val); >> + default: >> + return -EINVAL; >> + } >> + case IIO_CHAN_INFO_SCALE: >> + switch (chan->type) { >> + case IIO_ANGL_VEL: >> + { >> + const int gyro_scale_6050[] = {250, 500, 1000, > 2000}; > > I'd make gyro_scale_6050 static, same goes for accel_scale. > >> + *val = gyro_scale_6050[st->chip_config.fsr]; >> + return IIO_VAL_INT; >> + } >> + case IIO_ACCEL: >> + { >> + const int accel_scale[] = {2, 4, 8, 16}; >> + *val = accel_scale[st->chip_config.accl_fs]; >> + return IIO_VAL_INT; >> + } >> + default: >> + return -EINVAL; >> + } >> + default: >> + return -EINVAL; >> + } >> +} >> + > [...] > >> + >> +/** >> + * inv_fifo_rate_store() - Set fifo rate. >> + */ >> +static ssize_t inv_fifo_rate_store(struct device *dev, >> + struct device_attribute *attr, const char *buf, size_t count) >> +{ >> + s32 fifo_rate; >> + u8 data; >> + int result; >> + struct inv_mpu_iio_s *st = iio_priv(dev_get_drvdata(dev)); >> + struct inv_reg_map_s *reg; >> + >> + if (check_enable(st)) >> + return -EPERM; > > I think it should still be possible to change the sample rate even though > if > the device is currently disabled. Otherwise you can only switch between > them > if the device is active. > > >> + if (kstrtoint(buf, 10, &fifo_rate)) >> + return -EINVAL; >> + if ((fifo_rate < MIN_FIFO_RATE) || (fifo_rate > MAX_FIFO_RATE)) >> + return -EINVAL; >> + if (fifo_rate == st->chip_config.fifo_rate) >> + return count; >> + >> + reg = st->reg; >> + data = ONE_K_HZ / fifo_rate - 1; >> + result = i2c_smbus_write_i2c_block_data(st->client, >> + reg->sample_rate_div, 1, >> + &data); >> + if (result) >> + return result; >> + st->chip_config.fifo_rate = fifo_rate; >> + >> + result = inv_set_lpf(st, fifo_rate); >> + if (result) >> + return result; >> + st->irq_dur_ns = (data + 1) * NSEC_PER_MSEC; >> + >> + return count; >> +} > [...] >> + >> +#define INV_MPU_CHAN(_type, _channel2, _index) \ >> + { \ >> + .type = _type, \ >> + .modified = 1, \ >> + .channel2 = _channel2, \ >> + .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT, \ > > You also need set IIO_CHAN_INFO_RAW_SEPARATE_BIT if you want to have _raw > attributes. > >> + .scan_index = _index, \ >> + .scan_type = { \ >> + .sign = 's', \ >> + .realbits = 16, \ >> + .storagebits = 16, \ >> + .shift = 0 , \ >> + .endianness = IIO_CPU, \ >> + }, \ >> + } >> + >> +static const struct iio_chan_spec inv_mpu_channels[] = { >> + IIO_CHAN_SOFT_TIMESTAMP(INV_MPU_SCAN_TIMESTAMP), >> + /* Note that temperature should only appear in the raw format, >> + not the final scan elements output. In the scan elements, >> + the in_temp_en should always be zero */ > > If reading the temperature channel in buffered mode is no supported, just > set set scan_index to -1, this will make sure that no in_temp_en, etc. > attributes are created. > >> + { >> + .type = IIO_TEMP, >> + .scan_index = INV_MPU_SCAN_TEMP, > > IIO_CHAN_INFO_RAW_SEPARATE_BIT is also missing here. > >> + }, >> + INV_MPU_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU_SCAN_GYRO_X), >> + INV_MPU_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU_SCAN_GYRO_Y), >> + INV_MPU_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU_SCAN_GYRO_Z), >> + >> + INV_MPU_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU_SCAN_ACCL_X), >> + INV_MPU_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU_SCAN_ACCL_Y), >> + INV_MPU_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU_SCAN_ACCL_Z), >> +}; >> + >> +/*constant IIO attribute */ >> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500"); >> +static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show, >> + inv_fifo_rate_store); >> +/* clock source is the clock used to power the sensor. If gyro is > enabled, >> + * it is recommended to use gyro for maximum accuracy. >> + */ >> +static IIO_DEVICE_ATTR(power_state, S_IRUGO | S_IWUSR, inv_attr_show, >> + inv_power_state_store, ATTR_POWER_STATE); > > The standard attribute name for controlling power in IIO is "power_down". > But can power-management be done on demand by the driver? E.g. switch the > device on if sampling is active, switch it off if sampling has finished? > >> +static IIO_DEVICE_ATTR(gyro_matrix, S_IRUGO, inv_attr_show, NULL, >> + ATTR_GYRO_MATRIX); >> +static IIO_DEVICE_ATTR(accel_matrix, S_IRUGO, inv_attr_show, NULL, >> + ATTR_ACCL_MATRIX); > > These two need documentation added do > Documentation/API/sysfs/bus-iio-mpu6050 > >> + >> +static struct attribute *inv_attributes[] = { >> + &iio_dev_attr_power_state.dev_attr.attr, >> + &iio_dev_attr_gyro_matrix.dev_attr.attr, >> + &iio_dev_attr_accel_matrix.dev_attr.attr, >> + &iio_dev_attr_sampling_frequency.dev_attr.attr, >> + &iio_const_attr_sampling_frequency_available.dev_attr.attr, >> + NULL, >> +}; >> + >> +static const struct attribute_group inv_attribute_group = { >> + .attrs = inv_attributes >> +}; >> + >> +static const struct iio_info mpu_info = { >> + .driver_module = THIS_MODULE, >> + .read_raw = &mpu_read_raw, >> + .write_raw = &mpu_write_raw, >> + .attrs = &inv_attribute_group, >> +}; >> + >> +static void inv_setup_func_ptr(struct inv_mpu_iio_s *st) >> +{ >> + st->set_power_state = set_power_itg; >> + st->init_config = inv_init_config; >> + st->switch_engine = inv_switch_engine; > > Is there a plan to add different chip variants which use different > callbacks > here? > >> +} >> + >> +/** >> + * inv_check_setup_chip() - check and setup chip type. >> + */ >> +static int inv_check_and_setup_chip(struct inv_mpu_iio_s *st, >> + const struct i2c_device_id *id) >> +{ >> + struct inv_reg_map_s *reg; >> + int result; >> + u8 d; >> + if (!strcmp(id->name, "mpu6050")) > > Don't use strcmp on the id name, you already assigned the chip type to the > driver data in your device id table. So just use > > st->chip_type = id->driver_data; > >> + st->chip_type = INV_MPU6050; >> + else >> + return -EPERM; >> + inv_setup_func_ptr(st); >> + st->hw = &hw_info[st->chip_type]; >> + st->reg = (struct inv_reg_map_s *)®_set_6050; >> + reg = st->reg; >> + st->chip_config.gyro_enable = 1; >> + /* reset to make sure previous state are not there */ >> + d = MPU_BIT_H_RESET; >> + result = i2c_smbus_write_i2c_block_data(st->client, > reg->pwr_mgmt_1, >> + 1, &d); >> + if (result) >> + return result; >> + msleep(POWER_UP_TIME); >> + /* turn off and turn on power to ensure gyro engine is on */ >> + result = st->set_power_state(st, false); >> + if (result) >> + return result; >> + result = st->set_power_state(st, true); >> + if (result) >> + return result; >> + st->num_channels = ARRAY_SIZE(inv_mpu_channels); >> + >> + result = inv_get_silicon_rev_mpu6050(st); >> + if (result) { >> + pr_err("read silicon rev error\n"); >> + st->set_power_state(st, false); >> + return result; >> + } >> + >> + return 0; >> +} >> + >> +/** >> + * inv_mpu_probe() - probe function. >> + */ >> +static int inv_mpu_probe(struct i2c_client *client, >> + const struct i2c_device_id *id) >> +{ >> + struct inv_mpu_iio_s *st; >> + struct iio_dev *indio_dev; >> + int result; >> + >> + if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) { >> + result = -ENOSYS; >> + pr_err("I2c function error\n"); >> + goto out_no_free; >> + } >> + indio_dev = iio_device_alloc(sizeof(*st)); >> + if (indio_dev == NULL) { >> + pr_err("memory allocation failed\n"); >> + result = -ENOMEM; >> + goto out_no_free; >> + } >> + st = iio_priv(indio_dev); >> + st->client = client; >> + st->plat_data = >> + *(struct mpu_platform_data > *)dev_get_platdata(&client->dev); >> + /* power is turned on inside check chip type*/ >> + result = inv_check_and_setup_chip(st, id); >> + if (result) >> + goto out_free; >> + >> + result = st->init_config(indio_dev); >> + if (result) { >> + dev_err(&client->adapter->dev, >> + "Could not initialize device.\n"); >> + goto out_free; >> + } >> + >> + /* Make state variables available to all _show and _store > functions. */ >> + i2c_set_clientdata(client, indio_dev); >> + indio_dev->dev.parent = &client->dev; >> + indio_dev->name = id->name; >> + indio_dev->channels = inv_mpu_channels; >> + indio_dev->num_channels = st->num_channels; > > You've initliazied st->num_channels earlier, but it seems to be const and > always be ARRAY_SIZE(inv_mpu_channels). > >> + >> + indio_dev->info = &mpu_info; >> + indio_dev->modes = INDIO_BUFFER_HARDWARE; >> + indio_dev->currentmode = INDIO_BUFFER_HARDWARE; >> + >> + result = inv_mpu_configure_ring(indio_dev); >> + if (result) { >> + pr_err("configure ring buffer fail\n"); >> + goto out_free; >> + } >> + result = iio_buffer_register(indio_dev, indio_dev->channels, >> + indio_dev->num_channels); >> + if (result) { >> + pr_err("ring buffer register fail\n"); >> + goto out_unreg_ring; >> + } >> + st->irq = client->irq; >> + INIT_KFIFO(st->timestamps); >> + spin_lock_init(&st->time_stamp_lock); >> + result = iio_device_register(indio_dev); >> + if (result) { >> + pr_err("IIO device register fail\n"); >> + goto out_remove_ring; >> + } >> + dev_info(&client->adapter->dev, "%s is ready to go!\n", > st->hw->name); > > This is just noise. Imagine every driver on your system would do this, > your > syslog would be spammed with these kind of messages. > >> + >> + return 0; >> + >> +out_remove_ring: >> + iio_buffer_unregister(indio_dev); >> +out_unreg_ring: >> + inv_mpu_unconfigure_ring(indio_dev); >> +out_free: >> + iio_device_free(indio_dev); >> +out_no_free: >> + dev_err(&client->adapter->dev, "%s failed %d\n", __func__, > result); >> + >> + return -EIO; > > return result; > >> +} >> + >> +/** >> + * inv_mpu_remove() - remove function. >> + */ >> +static int inv_mpu_remove(struct i2c_client *client) >> +{ >> + struct iio_dev *indio_dev = i2c_get_clientdata(client); >> + struct inv_mpu_iio_s *st = iio_priv(indio_dev); >> + kfifo_free(&st->timestamps); >> + iio_device_unregister(indio_dev); >> + iio_buffer_unregister(indio_dev); >> + inv_mpu_unconfigure_ring(indio_dev); >> + iio_device_free(indio_dev); >> + >> + return 0; >> +} >> +#ifdef CONFIG_PM > > #ifdef CONFIG_PM_SLEEP > >> + >> +static int inv_mpu_resume(struct device *dev) >> +{ >> + struct inv_mpu_iio_s *st = >> + iio_priv(i2c_get_clientdata(to_i2c_client(dev))); >> + >> + return st->set_power_state(st, true); >> +} >> + >> +static int inv_mpu_suspend(struct device *dev) >> +{ >> + struct inv_mpu_iio_s *st = >> + iio_priv(i2c_get_clientdata(to_i2c_client(dev))); >> + >> + return st->set_power_state(st, false); >> +} >> +static const struct dev_pm_ops inv_mpu_pmops = { >> + SET_SYSTEM_SLEEP_PM_OPS(inv_mpu_suspend, inv_mpu_resume) >> +}; > > static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume); > >> +#define INV_MPU_PMOPS (&inv_mpu_pmops) >> +#else >> +#define INV_MPU_PMOPS NULL >> +#endif /* CONFIG_PM */ >> + >> +static const unsigned short normal_i2c[] = { I2C_CLIENT_END }; > > Just set address_list to NULL in your i2c driver (by no assigning anything > to it) and remove the line above. > >> +/* device id table is used to identify what device can be >> + * supported by this driver >> + */ >> +static const struct i2c_device_id inv_mpu_id[] = { >> + {"mpu6050", INV_MPU6050}, >> + {} >> +}; >> + >> +MODULE_DEVICE_TABLE(i2c, inv_mpu_id); >> + >> +static struct i2c_driver inv_mpu_driver = { >> + .probe = inv_mpu_probe, >> + .remove = inv_mpu_remove, >> + .id_table = inv_mpu_id, >> + .driver = { >> + .owner = THIS_MODULE, >> + .name = "inv-mpu6050", >> + .pm = INV_MPU_PMOPS, >> + }, >> + .address_list = normal_i2c, >> +}; >> +module_i2c_driver(inv_mpu_driver); >> + >> +MODULE_AUTHOR("Invensense Corporation"); >> +MODULE_DESCRIPTION("Invensense device driver"); >> +MODULE_LICENSE("GPL"); >> +MODULE_ALIAS("inv-mpu6050"); >> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h > b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h >> new file mode 100644 >> index 0000000..79aa277 >> --- /dev/null >> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h >> @@ -0,0 +1,401 @@ >> +/* >> +* Copyright (C) 2012 Invensense, Inc. >> +* >> +* This software is licensed under the terms of the GNU General Public >> +* License version 2, as published by the Free Software Foundation, and >> +* may be copied, distributed, and modified under those terms. >> +* >> +* 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. >> +* >> +*/ >> +#include <linux/i2c.h> >> +#include <linux/kfifo.h> >> +#include <linux/miscdevice.h> >> +#include <linux/input.h> >> +#include <linux/spinlock.h> >> +#include <linux/iio/iio.h> >> +#include <linux/iio/buffer.h> >> +#include <linux/iio/sysfs.h> >> +#include <linux/iio/kfifo_buf.h> >> + >> +#include "./mpu.h" >> + >> +/** >> + * struct inv_reg_map_s - Notable slave registers. >> + * @sample_rate_div: Divider applied to gyro output rate. >> + * @lpf: Configures internal low pass filter. >> + * @bank_sel: Selects between memory banks. >> + * @user_ctrl: Enables/resets the FIFO. >> + * @fifo_en: Determines which data will appear in FIFO. >> + * @gyro_config: gyro config register. >> + * @accl_config: accel config register >> + * @fifo_count_h: Upper byte of FIFO count. >> + * @fifo_r_w: FIFO register. >> + * @raw_gyro Address of first gyro register. >> + * @raw_accl Address of first accel register. >> + * @temperature temperature register >> + * @int_enable: Interrupt enable register. >> + * @int_status: Interrupt flags. >> + * @pwr_mgmt_1: Controls chip's power state and clock source. >> + * @pwr_mgmt_2: Controls power state of individual sensors. >> + * @mem_start_addr: Address of first memory read. >> + * @mem_r_w: Access to memory. >> + * @prgm_strt_addrh firmware program start address register >> + */ >> +struct inv_reg_map_s { >> + u8 sample_rate_div; >> + u8 lpf; >> + u8 bank_sel; >> + u8 user_ctrl; >> + u8 fifo_en; >> + u8 gyro_config; >> + u8 accl_config; >> + u8 fifo_count_h; >> + u8 fifo_r_w; >> + u8 raw_gyro; >> + u8 raw_accl; >> + u8 temperature; >> + u8 int_enable; >> + u8 int_status; >> + u8 pwr_mgmt_1; >> + u8 pwr_mgmt_2; >> + u8 mem_start_addr; >> + u8 mem_r_w; >> + u8 prgm_strt_addrh; >> +}; >> +/*device enum */ >> +enum inv_devices { >> + INV_MPU6050, >> + INV_NUM_PARTS >> +}; >> + >> +/** >> + * struct test_setup_t - set up parameters for self test. >> + * @gyro_sens: sensitity for gyro. >> + * @sample_rate: sample rate, i.e, fifo rate. >> + * @lpf: low pass filter. >> + * @fsr: full scale range. >> + * @accl_fs: accel full scale range. >> + * @accl_sens: accel sensitivity >> + */ >> +struct test_setup_t { >> + int gyro_sens; >> + int sample_rate; >> + int lpf; >> + int fsr; >> + int accl_fs; >> + u32 accl_sens[3]; >> +}; >> + >> +/** >> + * struct inv_hw_s - Other important hardware information. >> + * @num_reg: Number of registers on device. >> + * @name: name of the chip >> + */ >> +struct inv_hw_s { >> + u8 num_reg; >> + u8 *name; >> +}; >> + >> +/** >> + * struct inv_chip_config_s - Cached chip configuration data. >> + * @fsr: Full scale range. >> + * @lpf: Digital low pass filter frequency. >> + * @clk_src: Clock source. >> + * @enable: master enable state. >> + * @accl_fs: accel full scale range. >> + * @accl_enable: enable accel functionality >> + * @accl_fifo_enable: enable accel data output >> + * @gyro_enable: enable gyro functionality >> + * @gyro_fifo_enable: enable gyro data output >> + * @is_asleep: 1 if chip is powered down. >> + * @fifo_rate: FIFO update rate. >> + */ >> +struct inv_chip_config_s { >> + u32 fsr:2; >> + u32 lpf:3; >> + u32 enable:1; >> + u32 accl_fs:2; >> + u32 accl_enable:1; >> + u32 accl_fifo_enable:1; >> + u32 gyro_enable:1; >> + u32 gyro_fifo_enable:1; >> + u32 is_asleep:1; >> + u16 fifo_rate; >> +}; >> + >> +/** >> + * struct inv_chip_info_s - Chip related information. >> + * @product_id: Product id. >> + * @product_revision: Product revision. >> + * @silicon_revision: Silicon revision. >> + * @software_revision: software revision. >> + * @multi: accel specific multiplier. >> + * @compass_sens: compass sensitivity. >> + * @gyro_sens_trim: Gyro sensitivity trim factor. >> + * @accl_sens_trim: accel sensitivity trim factor. >> + */ >> +struct inv_chip_info_s { >> + u8 product_id; >> + u8 product_revision; >> + u8 silicon_revision; >> + u8 software_revision; >> + u8 multi; >> + u32 gyro_sens_trim; >> + u32 accl_sens_trim; >> +}; >> + >> +/** >> + * struct inv_mpu_iio_s - Driver state variables. >> + * @chip_config: Cached attribute information. >> + * @chip_info: Chip information from read-only registers. >> + * @reg: Map of important registers. >> + * @hw: Other hardware-specific information. >> + * @chip_type: chip type. >> + * @time_stamp_lock: spin lock to time stamp. >> + * @client: i2c client handle. >> + * @plat_data: platform data. >> + * int (*set_power_state)(struct inv_mpu_iio_s *, bool on): function > ptr >> + * int (*init_config)(struct iio_dev *indio_dev): function ptr >> + * int (*switch_engine)(struct inv_mpu_iio_s *, bool, int): function > ptr >> + * @timestamps: kfifo queue to store time stamp. >> + * @irq: irq number store. >> + * @num_channels: number of channels for current chip. >> + * @irq_dur_ns: duration between each irq. >> + * @last_isr_time: last isr time. >> + */ >> +struct inv_mpu_iio_s { >> +#define TIMESTAMP_FIFO_SIZE 16 >> + struct inv_chip_config_s chip_config; >> + struct inv_chip_info_s chip_info; >> + struct inv_reg_map_s *reg; >> + const struct inv_hw_s *hw; >> + enum inv_devices chip_type; >> + spinlock_t time_stamp_lock; >> + struct i2c_client *client; >> + struct mpu_platform_data plat_data; >> + int (*set_power_state)(struct inv_mpu_iio_s *, bool); >> + int (*init_config)(struct iio_dev *); >> + int (*switch_engine)(struct inv_mpu_iio_s *, bool, u32 mask); >> + DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE); >> + s16 irq; >> + u16 num_channels; >> + u32 irq_dur_ns; >> + s64 last_isr_time; >> +}; >> + >> +/* produces an unique identifier for each device based on the >> + combination of product version and product revision */ >> +struct prod_rev_map_t { >> + u16 mpl_product_key; >> + u8 silicon_rev; >> + u16 gyro_trim; >> + u16 accel_trim; >> +}; >> + >> +/*register and associated bit definition*/ >> +#define MPU_REG_YGOFFS_TC 0x1 >> +#define MPU_BIT_I2C_MST_VDDIO 0x80 >> + >> +#define MPU_REG_XA_OFFS_L_TC 0x7 >> +#define MPU_REG_PRODUCT_ID 0xC >> +#define MPU_REG_ST_GCT_X 0xD >> +#define MPU_REG_SAMPLE_RATE_DIV 0x19 >> +#define MPU_REG_CONFIG 0x1A >> + >> +#define MPU_REG_GYRO_CONFIG 0x1B >> + >> +#define MPU_REG_ACCEL_CONFIG 0x1C >> + >> +#define MPU_REG_FIFO_EN 0x23 >> +#define MPU_BIT_ACCEL_OUT 0x08 >> +#define MPU_BITS_GYRO_OUT 0x70 >> + >> + >> +#define MPU_REG_I2C_MST_CTRL 0x24 >> +#define MPU_BIT_WAIT_FOR_ES 0x40 >> + >> +#define MPU_REG_I2C_SLV0_ADDR 0x25 >> +#define MPU_BIT_I2C_READ 0x80 >> + >> +#define MPU_REG_I2C_SLV0_REG 0x26 >> + >> +#define MPU_REG_I2C_SLV0_CTRL 0x27 >> +#define MPU_BIT_SLV_EN 0x80 >> + >> +#define MPU_REG_I2C_SLV1_ADDR 0x28 >> +#define MPU_REG_I2C_SLV1_REG 0x29 >> +#define MPU_REG_I2C_SLV1_CTRL 0x2A >> +#define MPU_REG_I2C_SLV4_CTRL 0x34 >> + >> +#define MPU_REG_INT_PIN_CFG 0x37 >> +#define MPU_BIT_BYPASS_EN 0x2 >> + >> +#define MPU_REG_INT_ENABLE 0x38 >> +#define MPU_BIT_DATA_RDY_EN 0x01 >> +#define MPU_BIT_DMP_INT_EN 0x02 >> + >> +#define MPU_REG_DMP_INT_STATUS 0x39 >> +#define MPU_REG_INT_STATUS 0x3A >> +#define MPU_REG_RAW_ACCEL 0x3B >> +#define MPU_REG_TEMPERATURE 0x41 >> +#define MPU_REG_RAW_GYRO 0x43 >> +#define MPU_REG_EXT_SENS_DATA_00 0x49 >> +#define MPU_REG_I2C_SLV1_DO 0x64 >> + >> +#define MPU_REG_I2C_MST_DELAY_CTRL 0x67 >> +#define MPU_BIT_SLV0_DLY_EN 0x01 >> +#define MPU_BIT_SLV1_DLY_EN 0x02 >> + >> +#define MPU_REG_USER_CTRL 0x6A >> +#define MPU_BIT_FIFO_RST 0x04 >> +#define MPU_BIT_DMP_RST 0x08 >> +#define MPU_BIT_I2C_MST_EN 0x20 >> +#define MPU_BIT_FIFO_EN 0x40 >> +#define MPU_BIT_DMP_EN 0x80 >> + >> +#define MPU_REG_PWR_MGMT_1 0x6B >> +#define MPU_BIT_H_RESET 0x80 >> +#define MPU_BIT_SLEEP 0x40 >> +#define MPU_BIT_CLK_MASK 0x7 >> + >> +#define MPU_REG_PWR_MGMT_2 0x6C >> +#define MPU_BIT_PWR_ACCL_STBY 0x38 >> +#define MPU_BIT_PWR_GYRO_STBY 0x07 >> +#define MPU_BIT_LPA_FREQ 0xC0 >> + >> +#define MPU_REG_BANK_SEL 0x6D >> +#define MPU_REG_MEM_START_ADDR 0x6E >> +#define MPU_REG_MEM_RW 0x6F >> +#define MPU_REG_PRGM_STRT_ADDRH 0x70 >> +#define MPU_REG_FIFO_COUNT_H 0x72 >> +#define MPU_REG_FIFO_R_W 0x74 >> + >> +/* data definitions */ >> +#define Q30_MULTI_SHIFT 30 >> + >> +#define BYTES_PER_3AXIS_SENSOR 6 >> +#define FIFO_COUNT_BYTE 2 >> +#define FIFO_THRESHOLD 500 >> +#define POWER_UP_TIME 100 >> +#define SENSOR_UP_TIME 30 >> +#define MPU_MEM_BANK_SIZE 256 >> +#define MPU6050_TEMP_OFFSET 2462307L >> +#define MPU6050_TEMP_SCALE 2977653L >> +#define MPU_TEMP_SHIFT 16 >> +#define LPA_FREQ_SHIFT 6 >> +#define COMPASS_RATE_SCALE 10 >> +#define MAX_GYRO_FS_PARAM 3 >> +#define MAX_ACCL_FS_PARAM 3 >> +#define MAX_LPA_FREQ_PARAM 3 >> +#define THREE_AXIS 3 >> +#define GYRO_CONFIG_FSR_SHIFT 3 >> +#define ACCL_CONFIG_FSR_SHIFT 3 >> +#define GYRO_DPS_SCALE 250 >> +#define MEM_ADDR_PROD_REV 0x6 >> +#define SOFT_PROD_VER_BYTES 5 >> +#define SELF_TEST_SUCCESS 1 >> +#define MS_PER_DMP_TICK 20 >> + >> +/* init parameters */ >> +#define INIT_FIFO_RATE 50 >> +#define INIT_DUR_TIME ((1000 / INIT_FIFO_RATE) * > NSEC_PER_MSEC) >> +#define MPL_PROD_KEY(ver, rev) (ver * 100 + rev) >> +#define NUM_OF_PROD_REVS (ARRAY_SIZE(prod_rev_map)) >> +/*---- MPU6050 Silicon Revisions ----*/ >> +#define MPU_SILICON_REV_A2 1 /* MPU6050A2 > Device */ >> +#define MPU_SILICON_REV_B1 2 /* MPU6050B1 > Device */ >> + >> +#define MPU_BIT_PRFTCH_EN 0x40 >> +#define MPU_BIT_CFG_USER_BANK 0x20 >> +#define BITS_MEM_SEL 0x1f >> + >> +#define TIME_STAMP_TOR 5 >> +#define MAX_CATCH_UP 5 >> +#define DEFAULT_ACCL_TRIM 16384 >> +#define MAX_FIFO_RATE 1000 >> +#define MIN_FIFO_RATE 4 >> +#define ONE_K_HZ 1000 >> + >> +#define INV_ELEMENT_MASK 0x00FF >> +#define INV_GYRO_ACC_MASK 0x007E >> + >> +/* scan element definition */ >> +enum inv_mpu_scan { >> + INV_MPU_SCAN_GYRO_X, >> + INV_MPU_SCAN_GYRO_Y, >> + INV_MPU_SCAN_GYRO_Z, >> + INV_MPU_SCAN_ACCL_X, >> + INV_MPU_SCAN_ACCL_Y, >> + INV_MPU_SCAN_ACCL_Z, >> + INV_MPU_SCAN_TEMP, >> + INV_MPU_SCAN_TIMESTAMP, >> +}; >> + >> +enum inv_filter_e { >> + INV_FILTER_256HZ_NOLPF2 = 0, >> + INV_FILTER_188HZ, >> + INV_FILTER_98HZ, >> + INV_FILTER_42HZ, >> + INV_FILTER_20HZ, >> + INV_FILTER_10HZ, >> + INV_FILTER_5HZ, >> + INV_FILTER_2100HZ_NOLPF, >> + NUM_FILTER >> +}; >> + >> +/*==== MPU6050B1 MEMORY ====*/ >> +enum MPU_MEMORY_BANKS { >> + MEM_RAM_BANK_0 = 0, >> + MEM_RAM_BANK_1, >> + MEM_RAM_BANK_2, >> + MEM_RAM_BANK_3, >> + MEM_RAM_BANK_4, >> + MEM_RAM_BANK_5, >> + MEM_RAM_BANK_6, >> + MEM_RAM_BANK_7, >> + MEM_RAM_BANK_8, >> + MEM_RAM_BANK_9, >> + MEM_RAM_BANK_10, >> + MEM_RAM_BANK_11, >> + MPU_MEM_NUM_RAM_BANKS, >> + MPU_MEM_OTP_BANK_0 = 16 >> +}; >> + >> +/* IIO attribute address */ >> +enum MPU_IIO_ATTR_ADDR { >> + ATTR_GYRO_MATRIX, >> + ATTR_ACCL_MATRIX, >> + ATTR_POWER_STATE, >> +}; >> + >> +enum inv_accl_fs_e { >> + INV_FS_02G = 0, >> + INV_FS_04G, >> + INV_FS_08G, >> + INV_FS_16G, >> + NUM_ACCL_FSR >> +}; >> + >> +enum inv_fsr_e { >> + INV_FSR_250DPS = 0, >> + INV_FSR_500DPS, >> + INV_FSR_1000DPS, >> + INV_FSR_2000DPS, >> + NUM_FSR >> +}; >> + >> +enum inv_clock_sel_e { >> + INV_CLK_INTERNAL = 0, >> + INV_CLK_PLL, >> + NUM_CLK >> +}; >> + >> +int inv_mpu_configure_ring(struct iio_dev *indio_dev); >> +void inv_mpu_unconfigure_ring(struct iio_dev *indio_dev); >> +int inv_get_silicon_rev_mpu6050(struct inv_mpu_iio_s *st); >> +int set_inv_enable(struct iio_dev *indio_dev, bool enable); >> + >> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_misc.c > b/drivers/iio/imu/inv_mpu6050/inv_mpu_misc.c >> new file mode 100644 >> index 0000000..00eb24c >> --- /dev/null >> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_misc.c >> @@ -0,0 +1,244 @@ >> +/* >> +* Copyright (C) 2012 Invensense, Inc. >> +* >> +* This software is licensed under the terms of the GNU General Public >> +* License version 2, as published by the Free Software Foundation, and >> +* may be copied, distributed, and modified under those terms. >> +* >> +* 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. >> +* >> +*/ >> + >> +/* >> +* inv_mpu_misc.c: this file is for miscellaneous functions for inv mpu >> +* driver, such as silicon revision. >> +*/ >> + >> +#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt >> + >> +#include <linux/module.h> >> +#include <linux/init.h> >> +#include <linux/slab.h> >> +#include <linux/i2c.h> >> +#include <linux/err.h> >> +#include <linux/delay.h> >> +#include <linux/sysfs.h> >> +#include <linux/jiffies.h> >> +#include <linux/irq.h> >> +#include <linux/interrupt.h> >> +#include <linux/kfifo.h> >> +#include <linux/poll.h> >> +#include <linux/miscdevice.h> >> + >> +#include "inv_mpu_iio.h" >> +/* NOTE: product entries are in chronological order */ >> +static const struct prod_rev_map_t prod_rev_map[] = { >> + /* prod_ver = 0 */ >> + {MPL_PROD_KEY(0, 1), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 2), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 3), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 4), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 5), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 6), MPU_SILICON_REV_A2, 131, 16384}, >> + /* prod_ver = 1, forced to 0 for MPU6050 A2 */ >> + {MPL_PROD_KEY(0, 7), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 8), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 9), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 10), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 11), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 12), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 13), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 14), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 15), MPU_SILICON_REV_A2, 131, 16384}, >> + {MPL_PROD_KEY(0, 27), MPU_SILICON_REV_A2, 131, 16384}, >> + /* prod_ver = 1 */ >> + {MPL_PROD_KEY(1, 16), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(1, 17), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(1, 18), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(1, 19), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(1, 20), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(1, 28), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(1, 1), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(1, 2), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(1, 3), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(1, 4), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(1, 5), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(1, 6), MPU_SILICON_REV_B1, 131, 16384}, >> + /* prod_ver = 2 */ >> + {MPL_PROD_KEY(2, 7), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(2, 8), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(2, 9), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(2, 10), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(2, 11), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(2, 12), MPU_SILICON_REV_B1, 131, 16384}, >> + {MPL_PROD_KEY(2, 29), MPU_SILICON_REV_B1, 131, 16384}, >> + /* prod_ver = 3 */ >> + {MPL_PROD_KEY(3, 30), MPU_SILICON_REV_B1, 131, 16384}, >> + /* prod_ver = 4 */ >> + {MPL_PROD_KEY(4, 31), MPU_SILICON_REV_B1, 131, 8192}, >> + {MPL_PROD_KEY(4, 1), MPU_SILICON_REV_B1, 131, 8192}, >> + {MPL_PROD_KEY(4, 3), MPU_SILICON_REV_B1, 131, 8192}, >> + /* prod_ver = 5 */ >> + {MPL_PROD_KEY(5, 3), MPU_SILICON_REV_B1, 131, 16384}, >> + /* prod_ver = 6 */ >> + {MPL_PROD_KEY(6, 19), MPU_SILICON_REV_B1, 131, 16384}, >> + /* prod_ver = 7 */ >> + {MPL_PROD_KEY(7, 19), MPU_SILICON_REV_B1, 131, 16384}, >> + /* prod_ver = 8 */ >> + {MPL_PROD_KEY(8, 19), MPU_SILICON_REV_B1, 131, 16384}, >> + /* prod_ver = 9 */ >> + {MPL_PROD_KEY(9, 19), MPU_SILICON_REV_B1, 131, 16384}, >> + /* prod_ver = 10 */ >> + {MPL_PROD_KEY(10, 19), MPU_SILICON_REV_B1, 131, 16384} >> +}; >> + >> +/* >> +* List of product software revisions >> +* >> +* NOTE : >> +* software revision 0 falls back to the old detection method >> +* based off the product version and product revision per the >> +* table above >> +*/ >> +static const struct prod_rev_map_t sw_rev_map[] = { >> + {0, 0, 0, 0}, >> + {1, MPU_SILICON_REV_B1, 131, 8192}, /* rev C */ >> + {2, MPU_SILICON_REV_B1, 131, 16384} /* rev D */ >> +}; >> + >> +static int mpu_memory_read(struct inv_mpu_iio_s *st, >> + u16 mem_addr, u32 len, u8 *data) >> +{ >> + u8 bank[2] = {MPU_REG_BANK_SEL, mem_addr >> 8}; >> + u8 addr[2] = {MPU_REG_MEM_START_ADDR, mem_addr & 0xff}; >> + u8 buf = MPU_REG_MEM_RW; >> + int res; >> + struct i2c_msg msgs[4] = { >> + { >> + .addr = st->client->addr, >> + .flags = 0, >> + .buf = bank, >> + .len = sizeof(bank), >> + }, { >> + .addr = st->client->addr, >> + .flags = 0, >> + .buf = addr, >> + .len = sizeof(addr), >> + }, { >> + .addr = st->client->addr, >> + .flags = 0, >> + .buf = &buf, >> + .len = 1, >> + }, { >> + .addr = st->client->addr, >> + .flags = I2C_M_RD, >> + .buf = data, >> + .len = len, >> + } >> + }; >> + >> + res = i2c_transfer(st->client->adapter, msgs, 4); >> + if (res != 4) { >> + if (res >= 0) >> + res = -EIO; >> + return res; >> + } else { >> + return 0; >> + } >> +} >> + >> +/** >> + * index_of_key() - Inverse lookup of the index of an MPL product key. >> + * @key: the MPL product indentifier also referred to as 'key'. >> + * @return the index position of the key in the array. >> + */ >> +static s16 index_of_key(u16 key) >> +{ >> + int i; >> + for (i = 0; i < NUM_OF_PROD_REVS; i++) >> + if (prod_rev_map[i].mpl_product_key == key) >> + return (s16)i; >> + >> + return -EINVAL; >> +} >> + >> +int inv_get_silicon_rev_mpu6050(struct inv_mpu_iio_s *st) >> +{ >> + int result; >> + struct inv_reg_map_s *reg; >> + u8 prod_ver = 0x00, prod_rev = 0x00; >> + struct prod_rev_map_t *p_rev; >> + u8 d; >> + u8 bank = (MPU_BIT_PRFTCH_EN | MPU_BIT_CFG_USER_BANK | >> + MPU_MEM_OTP_BANK_0); >> + u16 mem_addr = ((bank << 8) | MEM_ADDR_PROD_REV); >> + u16 key; >> + u8 regs[SOFT_PROD_VER_BYTES]; >> + u16 sw_rev; >> + s16 index; >> + struct inv_chip_info_s *chip_info = &st->chip_info; >> + >> + reg = st->reg; >> + result = i2c_smbus_read_i2c_block_data(st->client, >> + MPU_REG_PRODUCT_ID, >> + 1, &prod_ver); >> + if (result != 1) >> + return result; >> + prod_ver &= 0xf; >> + /*memory read need more time after power up */ >> + msleep(POWER_UP_TIME); >> + result = mpu_memory_read(st, mem_addr, 1, &prod_rev); >> + if (result) >> + return result; >> + prod_rev >>= 2; >> + /* clean the prefetch and cfg user bank bits */ >> + d = 0; >> + result = i2c_smbus_write_i2c_block_data(st->client, reg->bank_sel, >> + 1, &d); >> + if (result) >> + return result; >> + /* get the software-product version, read from XA_OFFS_L */ >> + result = i2c_smbus_read_i2c_block_data(st->client, >> + MPU_REG_XA_OFFS_L_TC, >> + SOFT_PROD_VER_BYTES, > regs); >> + if (result != SOFT_PROD_VER_BYTES) >> + return -EINVAL; >> + >> + sw_rev = (regs[4] & 0x01) << 2 | /* 0x0b, bit 0 */ >> + (regs[2] & 0x01) << 1 | /* 0x09, bit 0 */ >> + (regs[0] & 0x01); /* 0x07, bit 0 */ >> + /* if 0, use the product key to determine the type of part */ >> + if (sw_rev == 0) { >> + key = MPL_PROD_KEY(prod_ver, prod_rev); >> + if (key == 0) >> + return -EINVAL; >> + index = index_of_key(key); >> + if (index < 0 || index >= NUM_OF_PROD_REVS) >> + return -EINVAL; >> + /* check MPL is compiled for this device */ >> + if (prod_rev_map[index].silicon_rev != MPU_SILICON_REV_B1) >> + return -EINVAL; >> + p_rev = (struct prod_rev_map_t *)&prod_rev_map[index]; >> + /* if valid, use the software product key */ >> + } else if (sw_rev < ARRAY_SIZE(sw_rev_map)) { >> + p_rev = (struct prod_rev_map_t *)&sw_rev_map[sw_rev]; >> + } else { >> + return -EINVAL; >> + } >> + chip_info->product_id = prod_ver; >> + chip_info->product_revision = prod_rev; >> + chip_info->silicon_revision = p_rev->silicon_rev; >> + chip_info->software_revision = sw_rev; >> + chip_info->gyro_sens_trim = p_rev->gyro_trim; >> + chip_info->accl_sens_trim = p_rev->accel_trim; >> + if (chip_info->accl_sens_trim == 0) >> + chip_info->accl_sens_trim = DEFAULT_ACCL_TRIM; >> + chip_info->multi = DEFAULT_ACCL_TRIM / chip_info->accl_sens_trim; >> + if (chip_info->multi != 1) >> + pr_info("multi is %d\n", chip_info->multi); >> + >> + return 0; >> +} >> \ No newline at end of file >> diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c > b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c >> new file mode 100644 >> index 0000000..2b58125 >> --- /dev/null >> +++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c >> @@ -0,0 +1,413 @@ >> +/* >> +* Copyright (C) 2012 Invensense, Inc. >> +* >> +* This software is licensed under the terms of the GNU General Public >> +* License version 2, as published by the Free Software Foundation, and >> +* may be copied, distributed, and modified under those terms. >> +* >> +* 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. >> +* >> +*/ >> + >> +#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt >> + >> +#include <linux/module.h> >> +#include <linux/init.h> >> +#include <linux/slab.h> >> +#include <linux/i2c.h> >> +#include <linux/err.h> >> +#include <linux/delay.h> >> +#include <linux/sysfs.h> >> +#include <linux/jiffies.h> >> +#include <linux/irq.h> >> +#include <linux/interrupt.h> >> +#include <linux/kfifo.h> >> +#include <linux/poll.h> >> +#include <linux/miscdevice.h> >> +#include "inv_mpu_iio.h" >> + >> +static void inv_scan_query(struct iio_dev *indio_dev) >> +{ >> + struct inv_mpu_iio_s *st = iio_priv(indio_dev); >> + struct iio_buffer *ring = indio_dev->buffer; >> + >> + if (iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_GYRO_X) || >> + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_GYRO_Y) || >> + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_GYRO_Z)) >> + st->chip_config.gyro_fifo_enable = 1; >> + else >> + st->chip_config.gyro_fifo_enable = 0; >> + >> + if (iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_ACCL_X) || >> + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_ACCL_Y) || >> + iio_scan_mask_query(indio_dev, ring, INV_MPU_SCAN_ACCL_Z)) >> + st->chip_config.accl_fifo_enable = 1; >> + else >> + st->chip_config.accl_fifo_enable = 0; >> +} >> + >> +/** >> + * reset_fifo() - Reset FIFO related registers. >> + * @indio_dev: Device driver instance. >> + */ >> +static int inv_reset_fifo(struct iio_dev *indio_dev) >> +{ >> + struct inv_reg_map_s *reg; >> + int result; >> + u8 d; >> + struct inv_mpu_iio_s *st = iio_priv(indio_dev); >> + >> + reg = st->reg; >> + inv_scan_query(indio_dev); >> + d = 0; >> + /* disable interrupt */ >> + result = i2c_smbus_write_i2c_block_data(st->client, > reg->int_enable, >> + 1, &d); >> + if (result) { >> + pr_err("int_enable write failed\n"); >> + return result; >> + } >> + /* disable the sensor output to FIFO */ >> + result = i2c_smbus_write_i2c_block_data(st->client, reg->fifo_en, >> + 1, &d); >> + if (result) >> + goto reset_fifo_fail; >> + /* disable fifo reading */ >> + result = i2c_smbus_write_i2c_block_data(st->client, > reg->user_ctrl, >> + 1, &d); >> + if (result) >> + goto reset_fifo_fail; >> + >> + /* reset FIFO*/ >> + d = MPU_BIT_FIFO_RST; >> + result = i2c_smbus_write_i2c_block_data(st->client, > reg->user_ctrl, >> + 1, &d); >> + if (result) >> + goto reset_fifo_fail; >> + st->last_isr_time = iio_get_time_ns(); >> + /* enable interrupt */ >> + if (st->chip_config.accl_fifo_enable || >> + st->chip_config.gyro_fifo_enable) { >> + d = MPU_BIT_DATA_RDY_EN; >> + result = i2c_smbus_write_i2c_block_data(st->client, >> + reg->int_enable, >> + 1, &d); >> + if (result) >> + return result; >> + } >> + /* enable FIFO reading and I2C master interface*/ >> + d = MPU_BIT_FIFO_EN; >> + result = i2c_smbus_write_i2c_block_data(st->client, > reg->user_ctrl, >> + 1, &d); >> + if (result) >> + goto reset_fifo_fail; >> + /* enable sensor output to FIFO */ >> + d = 0; >> + if (st->chip_config.gyro_fifo_enable) >> + d |= MPU_BITS_GYRO_OUT; >> + if (st->chip_config.accl_fifo_enable) >> + d |= MPU_BIT_ACCEL_OUT; >> + result = i2c_smbus_write_i2c_block_data(st->client, reg->fifo_en, >> + 1, &d); >> + if (result) >> + goto reset_fifo_fail; >> + >> + return 0; >> + >> +reset_fifo_fail: >> + pr_err("reset fifo failed\n"); >> + d = MPU_BIT_DATA_RDY_EN; >> + result = i2c_smbus_write_i2c_block_data(st->client, > reg->int_enable, >> + 1, &d); >> + >> + return result; >> +} >> + >> +/** >> + * set_inv_enable() - enable chip functions. >> + * @indio_dev: Device driver instance. >> + * @enable: enable/disable >> + */ >> +int set_inv_enable(struct iio_dev *indio_dev, bool enable) >> +{ >> + struct inv_mpu_iio_s *st = iio_priv(indio_dev); >> + struct inv_reg_map_s *reg; >> + int result; >> + u8 d; >> + >> + if (st->chip_config.is_asleep) >> + return -EINVAL; >> + >> + reg = st->reg; >> + if (enable) { >> + inv_scan_query(indio_dev); >> + if (st->chip_config.gyro_enable != >> + st->chip_config.gyro_fifo_enable) > { >> + result = st->switch_engine(st, >> + st->chip_config.gyro_fifo_enable, >> + MPU_BIT_PWR_GYRO_STBY); >> + if (result) >> + return result; >> + st->chip_config.gyro_enable = >> + st->chip_config.gyro_fifo_enable; >> + } >> + if (st->chip_config.accl_enable != >> + st->chip_config.accl_fifo_enable) > { >> + result = st->switch_engine(st, >> + st->chip_config.accl_fifo_enable, >> + MPU_BIT_PWR_ACCL_STBY); >> + if (result) >> + return result; >> + st->chip_config.accl_enable = >> + st->chip_config.accl_fifo_enable; >> + } >> + result = inv_reset_fifo(indio_dev); >> + if (result) >> + return result; >> + } else { >> + d = 0; >> + result = i2c_smbus_write_i2c_block_data(st->client, >> + reg->fifo_en, 1, > &d); >> + if (result) >> + return result; >> + >> + result = i2c_smbus_write_i2c_block_data(st->client, >> + reg->int_enable, >> + 1, &d); >> + if (result) >> + return result; >> + >> + result = i2c_smbus_write_i2c_block_data(st->client, >> + reg->user_ctrl, 1, > &d); >> + if (result) >> + return result; >> + >> + result = st->switch_engine(st, false, > MPU_BIT_PWR_GYRO_STBY); >> + if (result) >> + return result; >> + st->chip_config.gyro_enable = 0; >> + >> + result = st->switch_engine(st, false, > MPU_BIT_PWR_ACCL_STBY); >> + if (result) >> + return result; >> + st->chip_config.accl_enable = 0; >> + } >> + st->chip_config.enable = !!enable; >> + >> + return 0; >> +} >> + >> +/** >> + * inv_clear_kfifo() - clear time stamp fifo >> + * @st: Device driver instance. >> + */ >> +static void inv_clear_kfifo(struct inv_mpu_iio_s *st) >> +{ >> + unsigned long flags; >> + spin_lock_irqsave(&st->time_stamp_lock, flags); >> + kfifo_reset(&st->timestamps); >> + spin_unlock_irqrestore(&st->time_stamp_lock, flags); >> +} >> + >> +/** >> + * inv_irq_handler() - Cache a timestamp at each data ready interrupt. >> + */ >> +static irqreturn_t inv_irq_handler(int irq, void *dev_id) >> +{ >> + struct inv_mpu_iio_s *st; >> + s64 timestamp; >> + int catch_up; >> + s64 time_since_last_irq; >> + >> + st = (struct inv_mpu_iio_s *)dev_id; >> + timestamp = iio_get_time_ns(); >> + time_since_last_irq = timestamp - st->last_isr_time; >> + spin_lock(&st->time_stamp_lock); >> + catch_up = 0; >> + /* This handles when we missed a few IRQ's. So the time between > two IRQ >> + are too big. The sensor data is already in the FIFO. So we need > to >> + catch up. If too much gap is detected, ignore and we will reset >> + inside reset_fifo function */ >> + while ((time_since_last_irq > st->irq_dur_ns * 2) && >> + (catch_up < MAX_CATCH_UP)) { >> + st->last_isr_time += st->irq_dur_ns; >> + kfifo_in(&st->timestamps, >> + &st->last_isr_time, 1); >> + time_since_last_irq = timestamp - st->last_isr_time; >> + catch_up++; >> + } >> + kfifo_in(&st->timestamps, ×tamp, 1); >> + st->last_isr_time = timestamp; >> + spin_unlock(&st->time_stamp_lock); >> + >> + return IRQ_WAKE_THREAD; >> +} >> + >> +static int inv_report_gyro_accl(struct iio_dev *indio_dev, u8 *data, > s64 t) >> +{ >> + struct inv_mpu_iio_s *st = iio_priv(indio_dev); >> + short g[THREE_AXIS], a[THREE_AXIS]; >> + int ind; >> + u8 buf[24]; >> + u64 *tmp; >> + int i; >> + struct inv_chip_config_s *conf; >> + >> + conf = &st->chip_config; >> + ind = 0; >> + if (conf->accl_fifo_enable) { >> + for (i = 0; i < ARRAY_SIZE(a); i++) { >> + a[i] = be16_to_cpup((__be16 *)(&data[ind + i * > 2])); >> + /*multi is an OTP value that trim to determine > whether >> + *the accel value should be multiplied by two */ >> + a[i] *= st->chip_info.multi; >> + memcpy(&buf[ind + i * sizeof(a[i])], &a[i], >> + sizeof(a[i])); >> + } >> + ind += BYTES_PER_3AXIS_SENSOR; >> + } >> + >> + if (conf->gyro_fifo_enable) { >> + for (i = 0; i < ARRAY_SIZE(g); i++) { >> + g[i] = be16_to_cpup((__be16 *)(&data[ind + i * > 2])); >> + memcpy(&buf[ind + i * sizeof(g[i])], &g[i], >> + sizeof(g[i])); >> + } >> + ind += BYTES_PER_3AXIS_SENSOR; >> + } > > Don't postprocess your data in the kernel, just hand them to > iio_push_to_buffers as they come from the device. > >> + >> + tmp = (u64 *)buf; >> + tmp[(ind + 7) / 8] = t; > > DIV_ROUND_UP > >> + >> + iio_push_to_buffers(indio_dev, buf); >> + >> + return 0; >> +} >> + >> +/** >> + * inv_read_fifo() - Transfer data from hardware FIFO to KFIFO. >> + */ > [...] >> \ No newline at end of file > > Please add a newline at the end of the file > >> diff --git a/drivers/iio/imu/inv_mpu6050/mpu.h > b/drivers/iio/imu/inv_mpu6050/mpu.h >> new file mode 100644 >> index 0000000..993bdad >> --- /dev/null >> +++ b/drivers/iio/imu/inv_mpu6050/mpu.h > > This file should probably go into include/linux/platform_data > >> @@ -0,0 +1,37 @@ >> +/* >> +* Copyright (C) 2012 Invensense, Inc. >> +* >> +* This software is licensed under the terms of the GNU General Public >> +* License version 2, as published by the Free Software Foundation, and >> +* may be copied, distributed, and modified under those terms. >> +* >> +* 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. >> +* >> +*/ >> + >> +#ifndef __MPU_H_ >> +#define __MPU_H_ >> + >> +#ifdef __KERNEL__ >> +#include <linux/types.h> >> +#endif > > Is this file supposed to be exported to userspace? Or why the ifdef? > >> + >> +#define INV_PROD_KEY(ver, rev) (ver * 100 + rev) >> +/** >> + * struct mpu_platform_data - Platform data for the mpu driver >> + * @orientation: Orientation matrix of the chip >> + * >> + * Contains platform specific information on how to configure the > MPU6050 to >> + * work on this platform. The orientation matricies are 3x3 rotation > matricies >> + * that are applied to the data to rotate from the mounting orientation > to the >> + * platform orientation. The values must be one of 0, 1, or -1 and > each row and >> + * column should have exactly 1 non-zero value. >> + */ >> +struct mpu_platform_data { >> + __s8 orientation[9]; >> +}; >> + >> +#endif /* __MPU_H_ */ > -- > To unsubscribe from this list: send the line "unsubscribe linux-iio" in > the body of a message to majordomo@xxxxxxxxxxxxxxx > More majordomo info at http://vger.kernel.org/majordomo-info.html -- To unsubscribe from this list: send the line "unsubscribe linux-iio" in the body of a message to majordomo@xxxxxxxxxxxxxxx More majordomo info at http://vger.kernel.org/majordomo-info.html
