2 * Copyright (C) 2012 Invensense, Inc.
4 * This software is licensed under the terms of the GNU General Public
5 * License version 2, as published by the Free Software Foundation, and
6 * may be copied, distributed, and modified under those terms.
8 * This program is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11 * GNU General Public License for more details.
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 <linux/i2c-mux.h>
27 #include <linux/acpi.h>
28 #include "inv_mpu_iio.h"
31 * this is the gyro scale translated from dynamic range plus/minus
32 * {250, 500, 1000, 2000} to rad/s
34 static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
37 * this is the accel scale translated from dynamic range plus/minus
38 * {2, 4, 8, 16} to m/s^2
40 static const int accel_scale[] = {598, 1196, 2392, 4785};
42 static const struct inv_mpu6050_reg_map reg_set_6050 = {
43 .sample_rate_div = INV_MPU6050_REG_SAMPLE_RATE_DIV,
44 .lpf = INV_MPU6050_REG_CONFIG,
45 .user_ctrl = INV_MPU6050_REG_USER_CTRL,
46 .fifo_en = INV_MPU6050_REG_FIFO_EN,
47 .gyro_config = INV_MPU6050_REG_GYRO_CONFIG,
48 .accl_config = INV_MPU6050_REG_ACCEL_CONFIG,
49 .fifo_count_h = INV_MPU6050_REG_FIFO_COUNT_H,
50 .fifo_r_w = INV_MPU6050_REG_FIFO_R_W,
51 .raw_gyro = INV_MPU6050_REG_RAW_GYRO,
52 .raw_accl = INV_MPU6050_REG_RAW_ACCEL,
53 .temperature = INV_MPU6050_REG_TEMPERATURE,
54 .int_enable = INV_MPU6050_REG_INT_ENABLE,
55 .pwr_mgmt_1 = INV_MPU6050_REG_PWR_MGMT_1,
56 .pwr_mgmt_2 = INV_MPU6050_REG_PWR_MGMT_2,
57 .int_pin_cfg = INV_MPU6050_REG_INT_PIN_CFG,
60 static const struct inv_mpu6050_chip_config chip_config_6050 = {
61 .fsr = INV_MPU6050_FSR_2000DPS,
62 .lpf = INV_MPU6050_FILTER_20HZ,
63 .fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
64 .gyro_fifo_enable = false,
65 .accl_fifo_enable = false,
66 .accl_fs = INV_MPU6050_FS_02G,
69 static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
74 .config = &chip_config_6050,
78 int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
80 return i2c_smbus_write_i2c_block_data(st->client, reg, 1, &d);
84 * The i2c read/write needs to happen in unlocked mode. As the parent
85 * adapter is common. If we use locked versions, it will fail as
86 * the mux adapter will lock the parent i2c adapter, while calling
87 * select/deselect functions.
89 static int inv_mpu6050_write_reg_unlocked(struct inv_mpu6050_state *st,
94 struct i2c_msg msg[1] = {
96 .addr = st->client->addr,
105 ret = __i2c_transfer(st->client->adapter, msg, 1);
112 static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
115 struct iio_dev *indio_dev = mux_priv;
116 struct inv_mpu6050_state *st = iio_priv(indio_dev);
119 /* Use the same mutex which was used everywhere to protect power-op */
120 mutex_lock(&indio_dev->mlock);
121 if (!st->powerup_count) {
122 ret = inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
127 msleep(INV_MPU6050_REG_UP_TIME);
131 ret = inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
133 INV_MPU6050_BIT_BYPASS_EN);
136 mutex_unlock(&indio_dev->mlock);
141 static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
142 void *mux_priv, u32 chan_id)
144 struct iio_dev *indio_dev = mux_priv;
145 struct inv_mpu6050_state *st = iio_priv(indio_dev);
147 mutex_lock(&indio_dev->mlock);
148 /* It doesn't really mattter, if any of the calls fails */
149 inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
152 if (!st->powerup_count)
153 inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
154 INV_MPU6050_BIT_SLEEP);
155 mutex_unlock(&indio_dev->mlock);
160 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
165 /* switch clock needs to be careful. Only when gyro is on, can
166 clock source be switched to gyro. Otherwise, it must be set to
168 if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
169 result = i2c_smbus_read_i2c_block_data(st->client,
170 st->reg->pwr_mgmt_1, 1, &mgmt_1);
174 mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
177 if ((INV_MPU6050_BIT_PWR_GYRO_STBY == mask) && (!en)) {
178 /* turning off gyro requires switch to internal clock first.
179 Then turn off gyro engine */
180 mgmt_1 |= INV_CLK_INTERNAL;
181 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, mgmt_1);
186 result = i2c_smbus_read_i2c_block_data(st->client,
187 st->reg->pwr_mgmt_2, 1, &d);
194 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
199 /* Wait for output stabilize */
200 msleep(INV_MPU6050_TEMP_UP_TIME);
201 if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
202 /* switch internal clock to PLL */
203 mgmt_1 |= INV_CLK_PLL;
204 result = inv_mpu6050_write_reg(st,
205 st->reg->pwr_mgmt_1, mgmt_1);
214 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
219 /* Already under indio-dev->mlock mutex */
220 if (!st->powerup_count)
221 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
227 if (!st->powerup_count)
228 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
229 INV_MPU6050_BIT_SLEEP);
236 msleep(INV_MPU6050_REG_UP_TIME);
242 * inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
244 * Initial configuration:
248 * Clock source: Gyro PLL
250 static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
254 struct inv_mpu6050_state *st = iio_priv(indio_dev);
256 result = inv_mpu6050_set_power_itg(st, true);
259 d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
260 result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
264 d = INV_MPU6050_FILTER_20HZ;
265 result = inv_mpu6050_write_reg(st, st->reg->lpf, d);
269 d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;
270 result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
274 d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
275 result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
279 memcpy(&st->chip_config, hw_info[st->chip_type].config,
280 sizeof(struct inv_mpu6050_chip_config));
281 result = inv_mpu6050_set_power_itg(st, false);
286 static int inv_mpu6050_sensor_show(struct inv_mpu6050_state *st, int reg,
292 ind = (axis - IIO_MOD_X) * 2;
293 result = i2c_smbus_read_i2c_block_data(st->client, reg + ind, 2,
297 *val = (short)be16_to_cpup(&d);
302 static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
303 struct iio_chan_spec const *chan,
307 struct inv_mpu6050_state *st = iio_priv(indio_dev);
310 case IIO_CHAN_INFO_RAW:
316 mutex_lock(&indio_dev->mlock);
317 if (!st->chip_config.enable) {
318 result = inv_mpu6050_set_power_itg(st, true);
322 /* when enable is on, power is already on */
323 switch (chan->type) {
325 if (!st->chip_config.gyro_fifo_enable ||
326 !st->chip_config.enable) {
327 result = inv_mpu6050_switch_engine(st, true,
328 INV_MPU6050_BIT_PWR_GYRO_STBY);
332 ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
333 chan->channel2, val);
334 if (!st->chip_config.gyro_fifo_enable ||
335 !st->chip_config.enable) {
336 result = inv_mpu6050_switch_engine(st, false,
337 INV_MPU6050_BIT_PWR_GYRO_STBY);
343 if (!st->chip_config.accl_fifo_enable ||
344 !st->chip_config.enable) {
345 result = inv_mpu6050_switch_engine(st, true,
346 INV_MPU6050_BIT_PWR_ACCL_STBY);
350 ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
351 chan->channel2, val);
352 if (!st->chip_config.accl_fifo_enable ||
353 !st->chip_config.enable) {
354 result = inv_mpu6050_switch_engine(st, false,
355 INV_MPU6050_BIT_PWR_ACCL_STBY);
361 /* wait for stablization */
362 msleep(INV_MPU6050_SENSOR_UP_TIME);
363 inv_mpu6050_sensor_show(st, st->reg->temperature,
371 if (!st->chip_config.enable)
372 result |= inv_mpu6050_set_power_itg(st, false);
373 mutex_unlock(&indio_dev->mlock);
379 case IIO_CHAN_INFO_SCALE:
380 switch (chan->type) {
383 *val2 = gyro_scale_6050[st->chip_config.fsr];
385 return IIO_VAL_INT_PLUS_NANO;
388 *val2 = accel_scale[st->chip_config.accl_fs];
390 return IIO_VAL_INT_PLUS_MICRO;
393 *val2 = INV_MPU6050_TEMP_SCALE;
395 return IIO_VAL_INT_PLUS_MICRO;
399 case IIO_CHAN_INFO_OFFSET:
400 switch (chan->type) {
402 *val = INV_MPU6050_TEMP_OFFSET;
413 static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
418 for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
419 if (gyro_scale_6050[i] == val) {
420 d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
421 result = inv_mpu6050_write_reg(st,
422 st->reg->gyro_config, d);
426 st->chip_config.fsr = i;
434 static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
439 for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
440 if (accel_scale[i] == val) {
441 d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
442 result = inv_mpu6050_write_reg(st,
443 st->reg->accl_config, d);
447 st->chip_config.accl_fs = i;
455 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
456 struct iio_chan_spec const *chan,
460 struct inv_mpu6050_state *st = iio_priv(indio_dev);
463 mutex_lock(&indio_dev->mlock);
464 /* we should only update scale when the chip is disabled, i.e.,
466 if (st->chip_config.enable) {
468 goto error_write_raw;
470 result = inv_mpu6050_set_power_itg(st, true);
472 goto error_write_raw;
475 case IIO_CHAN_INFO_SCALE:
476 switch (chan->type) {
478 result = inv_mpu6050_write_gyro_scale(st, val2);
481 result = inv_mpu6050_write_accel_scale(st, val2);
494 result |= inv_mpu6050_set_power_itg(st, false);
495 mutex_unlock(&indio_dev->mlock);
501 * inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
503 * Based on the Nyquist principle, the sampling rate must
504 * exceed twice of the bandwidth of the signal, or there
505 * would be alising. This function basically search for the
506 * correct low pass parameters based on the fifo rate, e.g,
507 * sampling frequency.
509 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
511 const int hz[] = {188, 98, 42, 20, 10, 5};
512 const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
513 INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
514 INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
520 while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
523 result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
526 st->chip_config.lpf = data;
532 * inv_mpu6050_fifo_rate_store() - Set fifo rate.
534 static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
535 struct device_attribute *attr, const char *buf, size_t count)
540 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
541 struct inv_mpu6050_state *st = iio_priv(indio_dev);
543 if (kstrtoint(buf, 10, &fifo_rate))
545 if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
546 fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
548 if (fifo_rate == st->chip_config.fifo_rate)
551 mutex_lock(&indio_dev->mlock);
552 if (st->chip_config.enable) {
556 result = inv_mpu6050_set_power_itg(st, true);
560 d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
561 result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
564 st->chip_config.fifo_rate = fifo_rate;
566 result = inv_mpu6050_set_lpf(st, fifo_rate);
571 result |= inv_mpu6050_set_power_itg(st, false);
572 mutex_unlock(&indio_dev->mlock);
580 * inv_fifo_rate_show() - Get the current sampling rate.
582 static ssize_t inv_fifo_rate_show(struct device *dev,
583 struct device_attribute *attr, char *buf)
585 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
587 return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
591 * inv_attr_show() - calling this function will show current
594 static ssize_t inv_attr_show(struct device *dev,
595 struct device_attribute *attr, char *buf)
597 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
598 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
601 switch (this_attr->address) {
602 /* In MPU6050, the two matrix are the same because gyro and accel
603 are integrated in one chip */
604 case ATTR_GYRO_MATRIX:
605 case ATTR_ACCL_MATRIX:
606 m = st->plat_data.orientation;
608 return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
609 m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
616 * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
618 * @indio_dev: The IIO device
619 * @trig: The new trigger
621 * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
622 * device, -EINVAL otherwise.
624 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
625 struct iio_trigger *trig)
627 struct inv_mpu6050_state *st = iio_priv(indio_dev);
629 if (st->trig != trig)
635 #define INV_MPU6050_CHAN(_type, _channel2, _index) \
639 .channel2 = _channel2, \
640 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
641 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
642 .scan_index = _index, \
648 .endianness = IIO_BE, \
652 static const struct iio_chan_spec inv_mpu_channels[] = {
653 IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
655 * Note that temperature should only be via polled reading only,
656 * not the final scan elements output.
660 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
661 | BIT(IIO_CHAN_INFO_OFFSET)
662 | BIT(IIO_CHAN_INFO_SCALE),
665 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
666 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
667 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
669 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
670 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
671 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
674 /* constant IIO attribute */
675 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
676 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
677 inv_mpu6050_fifo_rate_store);
678 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
680 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
683 static struct attribute *inv_attributes[] = {
684 &iio_dev_attr_in_gyro_matrix.dev_attr.attr,
685 &iio_dev_attr_in_accel_matrix.dev_attr.attr,
686 &iio_dev_attr_sampling_frequency.dev_attr.attr,
687 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
691 static const struct attribute_group inv_attribute_group = {
692 .attrs = inv_attributes
695 static const struct iio_info mpu_info = {
696 .driver_module = THIS_MODULE,
697 .read_raw = &inv_mpu6050_read_raw,
698 .write_raw = &inv_mpu6050_write_raw,
699 .attrs = &inv_attribute_group,
700 .validate_trigger = inv_mpu6050_validate_trigger,
704 * inv_check_and_setup_chip() - check and setup chip.
706 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
707 const struct i2c_device_id *id)
711 st->chip_type = INV_MPU6050;
712 st->hw = &hw_info[st->chip_type];
713 st->reg = hw_info[st->chip_type].reg;
715 /* reset to make sure previous state are not there */
716 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
717 INV_MPU6050_BIT_H_RESET);
720 msleep(INV_MPU6050_POWER_UP_TIME);
721 /* toggle power state. After reset, the sleep bit could be on
722 or off depending on the OTP settings. Toggling power would
723 make it in a definite state as well as making the hardware
724 state align with the software state */
725 result = inv_mpu6050_set_power_itg(st, false);
728 result = inv_mpu6050_set_power_itg(st, true);
732 result = inv_mpu6050_switch_engine(st, false,
733 INV_MPU6050_BIT_PWR_ACCL_STBY);
736 result = inv_mpu6050_switch_engine(st, false,
737 INV_MPU6050_BIT_PWR_GYRO_STBY);
745 * inv_mpu_probe() - probe function.
746 * @client: i2c client.
747 * @id: i2c device id.
749 * Returns 0 on success, a negative error code otherwise.
751 static int inv_mpu_probe(struct i2c_client *client,
752 const struct i2c_device_id *id)
754 struct inv_mpu6050_state *st;
755 struct iio_dev *indio_dev;
756 struct inv_mpu6050_platform_data *pdata;
759 if (!i2c_check_functionality(client->adapter,
760 I2C_FUNC_SMBUS_I2C_BLOCK))
763 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
767 st = iio_priv(indio_dev);
769 st->powerup_count = 0;
770 pdata = dev_get_platdata(&client->dev);
772 st->plat_data = *pdata;
773 /* power is turned on inside check chip type*/
774 result = inv_check_and_setup_chip(st, id);
778 result = inv_mpu6050_init_config(indio_dev);
780 dev_err(&client->dev,
781 "Could not initialize device.\n");
785 i2c_set_clientdata(client, indio_dev);
786 indio_dev->dev.parent = &client->dev;
787 /* id will be NULL when enumerated via ACPI */
789 indio_dev->name = (char *)id->name;
791 indio_dev->name = (char *)dev_name(&client->dev);
792 indio_dev->channels = inv_mpu_channels;
793 indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
795 indio_dev->info = &mpu_info;
796 indio_dev->modes = INDIO_BUFFER_TRIGGERED;
798 result = iio_triggered_buffer_setup(indio_dev,
799 inv_mpu6050_irq_handler,
800 inv_mpu6050_read_fifo,
803 dev_err(&st->client->dev, "configure buffer fail %d\n",
807 result = inv_mpu6050_probe_trigger(indio_dev);
809 dev_err(&st->client->dev, "trigger probe fail %d\n", result);
813 INIT_KFIFO(st->timestamps);
814 spin_lock_init(&st->time_stamp_lock);
815 result = iio_device_register(indio_dev);
817 dev_err(&st->client->dev, "IIO register fail %d\n", result);
818 goto out_remove_trigger;
821 st->mux_adapter = i2c_add_mux_adapter(client->adapter,
825 inv_mpu6050_select_bypass,
826 inv_mpu6050_deselect_bypass);
827 if (!st->mux_adapter) {
829 goto out_unreg_device;
835 iio_device_unregister(indio_dev);
837 inv_mpu6050_remove_trigger(st);
839 iio_triggered_buffer_cleanup(indio_dev);
843 static int inv_mpu_remove(struct i2c_client *client)
845 struct iio_dev *indio_dev = i2c_get_clientdata(client);
846 struct inv_mpu6050_state *st = iio_priv(indio_dev);
848 i2c_del_mux_adapter(st->mux_adapter);
849 iio_device_unregister(indio_dev);
850 inv_mpu6050_remove_trigger(st);
851 iio_triggered_buffer_cleanup(indio_dev);
855 #ifdef CONFIG_PM_SLEEP
857 static int inv_mpu_resume(struct device *dev)
859 return inv_mpu6050_set_power_itg(
860 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
863 static int inv_mpu_suspend(struct device *dev)
865 return inv_mpu6050_set_power_itg(
866 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
868 static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
870 #define INV_MPU6050_PMOPS (&inv_mpu_pmops)
872 #define INV_MPU6050_PMOPS NULL
873 #endif /* CONFIG_PM_SLEEP */
876 * device id table is used to identify what device can be
877 * supported by this driver
879 static const struct i2c_device_id inv_mpu_id[] = {
880 {"mpu6050", INV_MPU6050},
881 {"mpu6500", INV_MPU6500},
885 MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
887 static const struct acpi_device_id inv_acpi_match[] = {
892 MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
894 static struct i2c_driver inv_mpu_driver = {
895 .probe = inv_mpu_probe,
896 .remove = inv_mpu_remove,
897 .id_table = inv_mpu_id,
899 .owner = THIS_MODULE,
900 .name = "inv-mpu6050",
901 .pm = INV_MPU6050_PMOPS,
902 .acpi_match_table = ACPI_PTR(inv_acpi_match),
906 module_i2c_driver(inv_mpu_driver);
908 MODULE_AUTHOR("Invensense Corporation");
909 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
910 MODULE_LICENSE("GPL");