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/*
* 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/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 <linux/spinlock.h>
#include "inv_mpu_iio.h"
#define MPU3050_NACK_MIN_TIME (2 * 1000)
#define MPU3050_NACK_MAX_TIME (3 * 1000)
#define MPU3050_ONE_MPU_TIME 20
#define MPU3050_BOGUS_ADDR 0x7F
int __attribute__((weak)) inv_register_mpu3050_slave(struct inv_mpu_state *st)
{
return 0;
}
int set_3050_bypass(struct inv_mpu_state *st, bool enable)
{
struct inv_reg_map_s *reg;
int result;
u8 b;
reg = &st->reg;
result = inv_i2c_read(st, reg->user_ctrl, 1, &b);
if (result)
return result;
if (((b & BIT_3050_AUX_IF_EN) == 0) && enable)
return 0;
if ((b & BIT_3050_AUX_IF_EN) && (enable == 0))
return 0;
b &= ~BIT_3050_AUX_IF_EN;
if (!enable) {
b |= BIT_3050_AUX_IF_EN;
result = inv_i2c_single_write(st, reg->user_ctrl, b);
return result;
} else {
/* Coming out of I2C is tricky due to several erratta. Do not
* modify this algorithm
*/
/*
* 1) wait for the right time and send the command to change
* the aux i2c slave address to an invalid address that will
* get nack'ed
*
* 0x00 is broadcast. 0x7F is unlikely to be used by any aux.
*/
result = inv_i2c_single_write(st, REG_3050_SLAVE_ADDR,
MPU3050_BOGUS_ADDR);
if (result)
return result;
/*
* 2) wait enough time for a nack to occur, then go into
* bypass mode:
*/
usleep_range(MPU3050_NACK_MIN_TIME, MPU3050_NACK_MAX_TIME);
result = inv_i2c_single_write(st, reg->user_ctrl, b);
if (result)
return result;
/*
* 3) wait for up to one MPU cycle then restore the slave
* address
*/
msleep(MPU3050_ONE_MPU_TIME);
result = inv_i2c_single_write(st, REG_3050_SLAVE_ADDR,
st->plat_data.secondary_i2c_addr);
if (result)
return result;
result = inv_i2c_single_write(st, reg->user_ctrl, b);
if (result)
return result;
usleep_range(MPU3050_NACK_MIN_TIME, MPU3050_NACK_MAX_TIME);
}
return 0;
}
void inv_setup_reg_mpu3050(struct inv_reg_map_s *reg)
{
reg->fifo_en = REG_3050_FIFO_EN;
reg->sample_rate_div = REG_3050_SAMPLE_RATE_DIV;
reg->lpf = REG_3050_LPF;
reg->fifo_count_h = REG_3050_FIFO_COUNT_H;
reg->fifo_r_w = REG_3050_FIFO_R_W;
reg->user_ctrl = REG_3050_USER_CTRL;
reg->pwr_mgmt_1 = REG_3050_PWR_MGMT_1;
reg->raw_accel = REG_3050_AUX_XOUT_H;
reg->temperature = REG_3050_TEMPERATURE;
reg->int_enable = REG_3050_INT_ENABLE;
reg->int_status = REG_3050_INT_STATUS;
}
int inv_switch_3050_gyro_engine(struct inv_mpu_state *st, bool en)
{
struct inv_reg_map_s *reg;
u8 data, p;
int result;
reg = &st->reg;
if (en) {
data = INV_CLK_PLL;
p = (BITS_3050_POWER1 | data);
result = inv_i2c_single_write(st, reg->pwr_mgmt_1, p);
if (result)
return result;
p = (BITS_3050_POWER2 | data);
result = inv_i2c_single_write(st, reg->pwr_mgmt_1, p);
if (result)
return result;
p = data;
result = inv_i2c_single_write(st, reg->pwr_mgmt_1, p);
msleep(SENSOR_UP_TIME);
} else {
p = BITS_3050_GYRO_STANDBY;
result = inv_i2c_single_write(st, reg->pwr_mgmt_1, p);
}
return result;
}
int inv_switch_3050_accel_engine(struct inv_mpu_state *st, bool en)
{
int result;
if (NULL == st->slave_accel)
return -EPERM;
if (en)
result = st->slave_accel->resume(st);
else
result = st->slave_accel->suspend(st);
return result;
}
/**
* inv_init_config_mpu3050() - Initialize hardware, disable FIFO.
* @st: Device driver instance.
* Initial configuration:
* FSR: +/- 2000DPS
* DLPF: 42Hz
* FIFO rate: 50Hz
* Clock source: Gyro PLL
*/
int inv_init_config_mpu3050(struct iio_dev *indio_dev)
{
struct inv_reg_map_s *reg;
int result;
u8 data;
struct inv_mpu_state *st = iio_priv(indio_dev);
if (st->chip_config.is_asleep)
return -EPERM;
/*reading AUX VDDIO register */
result = inv_i2c_read(st, REG_3050_AUX_VDDIO, 1, &data);
if (result)
return result;
data &= ~BIT_3050_VDDIO;
if (st->plat_data.level_shifter)
data |= BIT_3050_VDDIO;
result = inv_i2c_single_write(st, REG_3050_AUX_VDDIO, data);
if (result)
return result;
reg = &st->reg;
/*2000dps full scale range*/
result = inv_i2c_single_write(st, reg->lpf,
(INV_FSR_2000DPS << GYRO_CONFIG_FSR_SHIFT)
| INV_FILTER_42HZ);
if (result)
return result;
st->chip_config.fsr = INV_FSR_2000DPS;
st->chip_config.lpf = INV_FILTER_42HZ;
st->chip_info.multi = 1;
result = inv_i2c_single_write(st, reg->sample_rate_div,
ONE_K_HZ/INIT_FIFO_RATE - 1);
if (result)
return result;
st->chip_config.fifo_rate = INIT_FIFO_RATE;
st->irq_dur_ns = INIT_DUR_TIME;
st->chip_config.prog_start_addr = DMP_START_ADDR;
if ((SECONDARY_SLAVE_TYPE_ACCEL == st->plat_data.sec_slave_type) &&
st->slave_accel) {
result = st->slave_accel->setup(st);
if (result)
return result;
result = st->slave_accel->set_fs(st, INV_FS_02G);
if (result)
return result;
result = st->slave_accel->set_lpf(st, INIT_FIFO_RATE);
if (result)
return result;
}
return 0;
}
/**
* set_power_mpu3050() - set power of mpu3050.
* @st: Device driver instance.
* @power_on: on/off
*/
int set_power_mpu3050(struct inv_mpu_state *st, bool power_on)
{
struct inv_reg_map_s *reg;
u8 data, p;
int result;
reg = &st->reg;
if (power_on) {
data = 0;
} else {
if (st->slave_accel) {
result = st->slave_accel->suspend(st);
if (result)
return result;
}
data = BIT_SLEEP;
}
if (st->chip_config.gyro_enable) {
p = (BITS_3050_POWER1 | INV_CLK_PLL);
result = inv_i2c_single_write(st, reg->pwr_mgmt_1, data | p);
if (result)
return result;
p = (BITS_3050_POWER2 | INV_CLK_PLL);
result = inv_i2c_single_write(st, reg->pwr_mgmt_1, data | p);
if (result)
return result;
p = INV_CLK_PLL;
result = inv_i2c_single_write(st, reg->pwr_mgmt_1, data | p);
if (result)
return result;
} else {
data |= (BITS_3050_GYRO_STANDBY | INV_CLK_INTERNAL);
result = inv_i2c_single_write(st, reg->pwr_mgmt_1, data);
if (result)
return result;
}
if (power_on) {
msleep(POWER_UP_TIME);
if (st->slave_accel) {
result = st->slave_accel->resume(st);
if (result)
return result;
}
}
st->chip_config.is_asleep = !power_on;
return 0;
}
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