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_fsr(struct inv_mpu6050_state *st, int fsr)
418 if (fsr < 0 || fsr > INV_MPU6050_MAX_GYRO_FS_PARAM)
420 if (fsr == st->chip_config.fsr)
423 d = (fsr << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
424 result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
427 st->chip_config.fsr = fsr;
432 static int inv_mpu6050_write_accel_fs(struct inv_mpu6050_state *st, int fs)
437 if (fs < 0 || fs > INV_MPU6050_MAX_ACCL_FS_PARAM)
439 if (fs == st->chip_config.accl_fs)
442 d = (fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
443 result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
446 st->chip_config.accl_fs = fs;
451 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
452 struct iio_chan_spec const *chan,
456 struct inv_mpu6050_state *st = iio_priv(indio_dev);
459 mutex_lock(&indio_dev->mlock);
460 /* we should only update scale when the chip is disabled, i.e.,
462 if (st->chip_config.enable) {
464 goto error_write_raw;
466 result = inv_mpu6050_set_power_itg(st, true);
468 goto error_write_raw;
471 case IIO_CHAN_INFO_SCALE:
472 switch (chan->type) {
474 result = inv_mpu6050_write_fsr(st, val);
477 result = inv_mpu6050_write_accel_fs(st, val);
490 result |= inv_mpu6050_set_power_itg(st, false);
491 mutex_unlock(&indio_dev->mlock);
497 * inv_mpu6050_set_lpf() - set low pass filer based on fifo rate.
499 * Based on the Nyquist principle, the sampling rate must
500 * exceed twice of the bandwidth of the signal, or there
501 * would be alising. This function basically search for the
502 * correct low pass parameters based on the fifo rate, e.g,
503 * sampling frequency.
505 static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
507 const int hz[] = {188, 98, 42, 20, 10, 5};
508 const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
509 INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
510 INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
516 while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
519 result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
522 st->chip_config.lpf = data;
528 * inv_mpu6050_fifo_rate_store() - Set fifo rate.
530 static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
531 struct device_attribute *attr, const char *buf, size_t count)
536 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
537 struct inv_mpu6050_state *st = iio_priv(indio_dev);
539 if (kstrtoint(buf, 10, &fifo_rate))
541 if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
542 fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
544 if (fifo_rate == st->chip_config.fifo_rate)
547 mutex_lock(&indio_dev->mlock);
548 if (st->chip_config.enable) {
552 result = inv_mpu6050_set_power_itg(st, true);
556 d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
557 result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
560 st->chip_config.fifo_rate = fifo_rate;
562 result = inv_mpu6050_set_lpf(st, fifo_rate);
567 result |= inv_mpu6050_set_power_itg(st, false);
568 mutex_unlock(&indio_dev->mlock);
576 * inv_fifo_rate_show() - Get the current sampling rate.
578 static ssize_t inv_fifo_rate_show(struct device *dev,
579 struct device_attribute *attr, char *buf)
581 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
583 return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
587 * inv_attr_show() - calling this function will show current
590 static ssize_t inv_attr_show(struct device *dev,
591 struct device_attribute *attr, char *buf)
593 struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
594 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
597 switch (this_attr->address) {
598 /* In MPU6050, the two matrix are the same because gyro and accel
599 are integrated in one chip */
600 case ATTR_GYRO_MATRIX:
601 case ATTR_ACCL_MATRIX:
602 m = st->plat_data.orientation;
604 return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
605 m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
612 * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
614 * @indio_dev: The IIO device
615 * @trig: The new trigger
617 * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
618 * device, -EINVAL otherwise.
620 static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
621 struct iio_trigger *trig)
623 struct inv_mpu6050_state *st = iio_priv(indio_dev);
625 if (st->trig != trig)
631 #define INV_MPU6050_CHAN(_type, _channel2, _index) \
635 .channel2 = _channel2, \
636 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
637 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
638 .scan_index = _index, \
644 .endianness = IIO_BE, \
648 static const struct iio_chan_spec inv_mpu_channels[] = {
649 IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
651 * Note that temperature should only be via polled reading only,
652 * not the final scan elements output.
656 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
657 | BIT(IIO_CHAN_INFO_OFFSET)
658 | BIT(IIO_CHAN_INFO_SCALE),
661 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
662 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
663 INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
665 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
666 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
667 INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
670 /* constant IIO attribute */
671 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
672 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
673 inv_mpu6050_fifo_rate_store);
674 static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
676 static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
679 static struct attribute *inv_attributes[] = {
680 &iio_dev_attr_in_gyro_matrix.dev_attr.attr,
681 &iio_dev_attr_in_accel_matrix.dev_attr.attr,
682 &iio_dev_attr_sampling_frequency.dev_attr.attr,
683 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
687 static const struct attribute_group inv_attribute_group = {
688 .attrs = inv_attributes
691 static const struct iio_info mpu_info = {
692 .driver_module = THIS_MODULE,
693 .read_raw = &inv_mpu6050_read_raw,
694 .write_raw = &inv_mpu6050_write_raw,
695 .attrs = &inv_attribute_group,
696 .validate_trigger = inv_mpu6050_validate_trigger,
700 * inv_check_and_setup_chip() - check and setup chip.
702 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
703 const struct i2c_device_id *id)
707 st->chip_type = INV_MPU6050;
708 st->hw = &hw_info[st->chip_type];
709 st->reg = hw_info[st->chip_type].reg;
711 /* reset to make sure previous state are not there */
712 result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
713 INV_MPU6050_BIT_H_RESET);
716 msleep(INV_MPU6050_POWER_UP_TIME);
717 /* toggle power state. After reset, the sleep bit could be on
718 or off depending on the OTP settings. Toggling power would
719 make it in a definite state as well as making the hardware
720 state align with the software state */
721 result = inv_mpu6050_set_power_itg(st, false);
724 result = inv_mpu6050_set_power_itg(st, true);
728 result = inv_mpu6050_switch_engine(st, false,
729 INV_MPU6050_BIT_PWR_ACCL_STBY);
732 result = inv_mpu6050_switch_engine(st, false,
733 INV_MPU6050_BIT_PWR_GYRO_STBY);
741 * inv_mpu_probe() - probe function.
742 * @client: i2c client.
743 * @id: i2c device id.
745 * Returns 0 on success, a negative error code otherwise.
747 static int inv_mpu_probe(struct i2c_client *client,
748 const struct i2c_device_id *id)
750 struct inv_mpu6050_state *st;
751 struct iio_dev *indio_dev;
752 struct inv_mpu6050_platform_data *pdata;
755 if (!i2c_check_functionality(client->adapter,
756 I2C_FUNC_SMBUS_I2C_BLOCK))
759 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
763 st = iio_priv(indio_dev);
765 st->powerup_count = 0;
766 pdata = dev_get_platdata(&client->dev);
768 st->plat_data = *pdata;
769 /* power is turned on inside check chip type*/
770 result = inv_check_and_setup_chip(st, id);
774 result = inv_mpu6050_init_config(indio_dev);
776 dev_err(&client->dev,
777 "Could not initialize device.\n");
781 i2c_set_clientdata(client, indio_dev);
782 indio_dev->dev.parent = &client->dev;
783 /* id will be NULL when enumerated via ACPI */
785 indio_dev->name = (char *)id->name;
787 indio_dev->name = (char *)dev_name(&client->dev);
788 indio_dev->channels = inv_mpu_channels;
789 indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
791 indio_dev->info = &mpu_info;
792 indio_dev->modes = INDIO_BUFFER_TRIGGERED;
794 result = iio_triggered_buffer_setup(indio_dev,
795 inv_mpu6050_irq_handler,
796 inv_mpu6050_read_fifo,
799 dev_err(&st->client->dev, "configure buffer fail %d\n",
803 result = inv_mpu6050_probe_trigger(indio_dev);
805 dev_err(&st->client->dev, "trigger probe fail %d\n", result);
809 INIT_KFIFO(st->timestamps);
810 spin_lock_init(&st->time_stamp_lock);
811 result = iio_device_register(indio_dev);
813 dev_err(&st->client->dev, "IIO register fail %d\n", result);
814 goto out_remove_trigger;
817 st->mux_adapter = i2c_add_mux_adapter(client->adapter,
821 inv_mpu6050_select_bypass,
822 inv_mpu6050_deselect_bypass);
823 if (!st->mux_adapter) {
825 goto out_unreg_device;
831 iio_device_unregister(indio_dev);
833 inv_mpu6050_remove_trigger(st);
835 iio_triggered_buffer_cleanup(indio_dev);
839 static int inv_mpu_remove(struct i2c_client *client)
841 struct iio_dev *indio_dev = i2c_get_clientdata(client);
842 struct inv_mpu6050_state *st = iio_priv(indio_dev);
844 i2c_del_mux_adapter(st->mux_adapter);
845 iio_device_unregister(indio_dev);
846 inv_mpu6050_remove_trigger(st);
847 iio_triggered_buffer_cleanup(indio_dev);
851 #ifdef CONFIG_PM_SLEEP
853 static int inv_mpu_resume(struct device *dev)
855 return inv_mpu6050_set_power_itg(
856 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
859 static int inv_mpu_suspend(struct device *dev)
861 return inv_mpu6050_set_power_itg(
862 iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
864 static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
866 #define INV_MPU6050_PMOPS (&inv_mpu_pmops)
868 #define INV_MPU6050_PMOPS NULL
869 #endif /* CONFIG_PM_SLEEP */
872 * device id table is used to identify what device can be
873 * supported by this driver
875 static const struct i2c_device_id inv_mpu_id[] = {
876 {"mpu6050", INV_MPU6050},
877 {"mpu6500", INV_MPU6500},
881 MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
883 static const struct acpi_device_id inv_acpi_match[] = {
888 MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
890 static struct i2c_driver inv_mpu_driver = {
891 .probe = inv_mpu_probe,
892 .remove = inv_mpu_remove,
893 .id_table = inv_mpu_id,
895 .owner = THIS_MODULE,
896 .name = "inv-mpu6050",
897 .pm = INV_MPU6050_PMOPS,
898 .acpi_match_table = ACPI_PTR(inv_acpi_match),
902 module_i2c_driver(inv_mpu_driver);
904 MODULE_AUTHOR("Invensense Corporation");
905 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
906 MODULE_LICENSE("GPL");