1// SPDX-License-Identifier: GPL-2.0-only
2/*
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(indio_dev: 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 else
46 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 disable
62 * 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, childname: "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(fwnode: 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(map: st->map, reg: st->reg->int_pin_cfg,
84 val: 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(adap: client->adapter,
109 I2C_FUNC_SMBUS_I2C_BLOCK))
110 return -EOPNOTSUPP;
111
112 match = device_get_match_data(dev: &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(ptr: regmap)) {
126 dev_err(&client->dev, "Failed to register i2c regmap: %pe\n",
127 regmap);
128 return PTR_ERR(ptr: regmap);
129 }
130
131 result = inv_mpu_core_probe(regmap, irq: client->irq, name,
132 inv_mpu_bus_setup: inv_mpu_i2c_aux_setup, chip_type);
133 if (result < 0)
134 return result;
135
136 st = iio_priv(indio_dev: dev_get_drvdata(dev: &client->dev));
137 if (inv_mpu_i2c_aux_bus(dev: &client->dev)) {
138 /* declare i2c auxiliary bus */
139 st->muxc = i2c_mux_alloc(parent: client->adapter, dev: &client->dev,
140 max_adapters: 1, sizeof_priv: 0, I2C_MUX_LOCKED | I2C_MUX_GATE,
141 select: inv_mpu6050_select_bypass, NULL);
142 if (!st->muxc)
143 return -ENOMEM;
144 st->muxc->priv = dev_get_drvdata(dev: &client->dev);
145 result = i2c_mux_add_adapter(muxc: st->muxc, force_nr: 0, chan_id: 0, class: 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(muxc: 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(muxc: st->muxc);
168 }
169}
170
171/*
172 * device id table is used to identify what device can be
173 * supported by this driver
174 */
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_MPU6050
200 },
201 {
202 .compatible = "invensense,mpu6500",
203 .data = (void *)INV_MPU6500
204 },
205 {
206 .compatible = "invensense,mpu6515",
207 .data = (void *)INV_MPU6515
208 },
209 {
210 .compatible = "invensense,mpu6880",
211 .data = (void *)INV_MPU6880
212 },
213 {
214 .compatible = "invensense,mpu9150",
215 .data = (void *)INV_MPU9150
216 },
217 {
218 .compatible = "invensense,mpu9250",
219 .data = (void *)INV_MPU9250
220 },
221 {
222 .compatible = "invensense,mpu9255",
223 .data = (void *)INV_MPU9255
224 },
225 {
226 .compatible = "invensense,icm20608",
227 .data = (void *)INV_ICM20608
228 },
229 {
230 .compatible = "invensense,icm20608d",
231 .data = (void *)INV_ICM20608D
232 },
233 {
234 .compatible = "invensense,icm20609",
235 .data = (void *)INV_ICM20609
236 },
237 {
238 .compatible = "invensense,icm20689",
239 .data = (void *)INV_ICM20689
240 },
241 {
242 .compatible = "invensense,icm20600",
243 .data = (void *)INV_ICM20600
244 },
245 {
246 .compatible = "invensense,icm20602",
247 .data = (void *)INV_ICM20602
248 },
249 {
250 .compatible = "invensense,icm20690",
251 .data = (void *)INV_ICM20690
252 },
253 {
254 .compatible = "invensense,iam20680",
255 .data = (void *)INV_IAM20680
256 },
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

source code of linux/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c