drivers/iio/imu/inv_icm20602/inv_icm20602_core.c - kernel/msm-4.9 - Gitiles

 /*
  * Copyright (c) 2018, The Linux Foundation. All rights reserved.
  *
  * 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/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/spinlock.h>
 #include <linux/spi/spi.h>
 #include <linux/i2c.h>
 #include <linux/of.h>
 #include <linux/of_gpio.h>
 #include "inv_icm20602_iio.h"

 /* Attribute of icm20602 device init show */
 static ssize_t inv_icm20602_init_show(struct device *dev,
 	struct device_attribute *attr, char *buf)
 {
 	return 0;
 }

 static void inv_icm20602_def_config(struct inv_icm20602_state *st)
 {
 	struct icm20602_user_config *config = st->config;

 	config->user_fps_in_ms = 20;
 	config->gyro_lpf = INV_ICM20602_GYRO_LFP_92HZ;
 	config->gyro_fsr = ICM20602_GYRO_FSR_1000DPS;
 	config->acc_lpf = ICM20602_ACCLFP_99;
 	config->acc_fsr = ICM20602_ACC_FSR_4G;
 	config->gyro_accel_sample_rate = ICM20602_SAMPLE_RATE_200HZ;
 	config->fifo_enabled = true;

 }

 static void inv_icm20602_load_config(struct inv_icm20602_state *st)
 {
 	struct icm20602_user_config *config = st->config;

 	if (config->user_fps_in_ms == 0)
 		inv_icm20602_def_config(st);
 	config->fifo_enabled = true;

 }

 static ssize_t inv_icm20602_init_store(struct device *dev,
 	struct device_attribute *attr, const char *buf, size_t count)
 {
 	int result = MPU_SUCCESS;
 	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 	struct inv_icm20602_state *st = iio_priv(indio_dev);

 	inv_icm20602_load_config(st);
 	result |= icm20602_detect(st);
 	result |= icm20602_init_device(st);
 	icm20602_start_fifo(st);
 	if (result)
 		return result;

 	return count;
 }

 static IIO_DEVICE_ATTR(
 						inv_icm20602_init,
 						0644,
 						inv_icm20602_init_show,
 						inv_icm20602_init_store,
 						0);

 /* Attribute of gyro lpf base on the enum inv_icm20602_gyro_temp_lpf_e */
 static ssize_t inv_gyro_lpf_show(struct device *dev,
 	struct device_attribute *attr, char *buf)
 {
 	return 0;
 }

 static ssize_t inv_gyro_lpf_store(struct device *dev,
 	struct device_attribute *attr, const char *buf, size_t count)
 {
 	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 	struct inv_icm20602_state *st = iio_priv(indio_dev);
 	struct icm20602_user_config *config = st->config;
 	int gyro_lpf;

 	if (kstrtoint(buf, 10, &gyro_lpf))
 		return -EINVAL;
 	if (gyro_lpf > INV_ICM20602_GYRO_LFP_NUM)
 		return -EINVAL;
 	config->gyro_lpf = gyro_lpf;
 	return count;
 }
 static IIO_DEVICE_ATTR(
 						inv_icm20602_gyro_lpf,
 						0644,
 						inv_gyro_lpf_show,
 						inv_gyro_lpf_store,
 						0);

 /* Attribute of gyro fsr base on enum inv_icm20602_gyro_temp_lpf_e */
 static ssize_t inv_gyro_fsr_show(struct device *dev,
 	struct device_attribute *attr, char *buf)
 {
 	return 0;
 }

 static ssize_t inv_gyro_fsr_store(struct device *dev,
 	struct device_attribute *attr, const char *buf, size_t count)
 {
 	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 	struct inv_icm20602_state *st = iio_priv(indio_dev);
 	struct icm20602_user_config *config = st->config;
 	int gyro_fsr;

 	if (kstrtoint(buf, 10, &gyro_fsr))
 		return -EINVAL;
 	if (gyro_fsr > ICM20602_GYRO_FSR_NUM)
 		return -EINVAL;

 	config->gyro_fsr = gyro_fsr;
 	return count;
 }

 static IIO_DEVICE_ATTR(
 						inv_icm20602_gyro_fsr,
 						0644,
 						inv_gyro_fsr_show,
 						inv_gyro_fsr_store,
 						0);

 /* Attribute of gyro_self_test */
 static ssize_t inv_gyro_self_test_show(struct device *dev,
 		struct device_attribute *attr, char *buf)
 {
 	return 0;
 }

 static ssize_t inv_gyro_self_test_store(struct device *dev,
 	struct device_attribute *attr, const char *buf, size_t count)
 {
 	return 0;
 }
 static IIO_DEVICE_ATTR(
 						inv_icm20602_gyro_self_test,
 						0644,
 						inv_gyro_self_test_show,
 						inv_gyro_self_test_store,
 						0);

 /* Attribute of gyro fsr base on enum inv_icm20602_acc_fsr_e */
 static ssize_t inv_gyro_acc_fsr_show(struct device *dev,
 		struct device_attribute *attr, char *buf)
 {
 	return 0;
 }

 static ssize_t inv_gyro_acc_fsr_store(struct device *dev,
 	struct device_attribute *attr, const char *buf, size_t count)
 {
 	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 	struct inv_icm20602_state *st = iio_priv(indio_dev);
 	struct icm20602_user_config *config = st->config;
 	int acc_fsr;

 	if (kstrtoint(buf, 10, &acc_fsr))
 		return -EINVAL;
 	if (acc_fsr > ICM20602_ACC_FSR_NUM)
 		return -EINVAL;

 	config->acc_fsr = acc_fsr;
 	return count;
 }
 static IIO_DEVICE_ATTR(
 						inv_icm20602_acc_fsr,
 						0644,
 						inv_gyro_acc_fsr_show,
 						inv_gyro_acc_fsr_store,
 						0);

 /* Attribute of gyro fsr base on enum inv_icm20602_acc_lpf_e */
 static ssize_t inv_gyro_acc_lpf_show(struct device *dev,
 		struct device_attribute *attr, char *buf)
 {
 	return 0;
 }

 static ssize_t inv_gyro_acc_lpf_store(struct device *dev,
 	struct device_attribute *attr, const char *buf, size_t count)
 {
 	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 	struct inv_icm20602_state *st = iio_priv(indio_dev);
 	struct icm20602_user_config *config = st->config;
 	int acc_lpf;

 	if (kstrtoint(buf, 10, &acc_lpf))
 		return -EINVAL;
 	if (acc_lpf > ICM20602_ACCLPF_NUM)
 		return -EINVAL;

 	config->acc_fsr = acc_lpf;
 	return count;
 }
 static IIO_DEVICE_ATTR(
 						inv_icm20602_acc_lpf,
 						0644,
 						inv_gyro_acc_lpf_show,
 						inv_gyro_acc_lpf_store,
 						0);

 /* Attribute of acc_self_test */
 static ssize_t inv_acc_self_test_show(struct device *dev,
 		struct device_attribute *attr, char *buf)
 {
 	return 0;
 }

 static ssize_t inv_acc_self_test_store(struct device *dev,
 	struct device_attribute *attr, const char *buf, size_t count)
 {
 	return 0;
 }
 static IIO_DEVICE_ATTR(
 						inv_icm20602_acc_self_test,
 						0644,
 						inv_acc_self_test_show,
 						inv_acc_self_test_store,
 						0);

 /* Attribute of user_fps_in_ms */
 static ssize_t inv_user_fps_in_ms_show(struct device *dev,
 		struct device_attribute *attr, char *buf)
 {
 	return 0;
 }

 static ssize_t inv_user_fps_in_ms_store(struct device *dev,
 	struct device_attribute *attr, const char *buf, size_t count)
 {
 	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 	struct inv_icm20602_state *st = iio_priv(indio_dev);
 	struct icm20602_user_config *config = st->config;
 	int user_fps_in_ms;

 	if (kstrtoint(buf, 10, &user_fps_in_ms))
 		return -EINVAL;
 	if (user_fps_in_ms < 10)
 		return -EINVAL;

 	config->user_fps_in_ms = user_fps_in_ms;
 	return count;
 }
 static IIO_DEVICE_ATTR(
 						inv_user_fps_in_ms,
 						0644,
 						inv_user_fps_in_ms_show,
 						inv_user_fps_in_ms_store,
 						0);

 /* Attribute of gyro_accel_sample_rate */
 static ssize_t inv_sampling_frequency_show(struct device *dev,
 		struct device_attribute *attr, char *buf)
 {
 	return 0;
 }

 static ssize_t inv_sampling_frequency_store(struct device *dev,
 	struct device_attribute *attr, const char *buf, size_t count)
 {
 	return 0;
 }
 static IIO_DEV_ATTR_SAMP_FREQ(
 						0644,
 						inv_sampling_frequency_show,
 						inv_sampling_frequency_store);

 static struct attribute *inv_icm20602_attributes[] = {
 	&iio_dev_attr_inv_icm20602_init.dev_attr.attr,

 	&iio_dev_attr_inv_icm20602_gyro_self_test.dev_attr.attr,
 	&iio_dev_attr_inv_icm20602_gyro_fsr.dev_attr.attr,
 	&iio_dev_attr_inv_icm20602_gyro_lpf.dev_attr.attr,

 	&iio_dev_attr_inv_icm20602_acc_self_test.dev_attr.attr,
 	&iio_dev_attr_inv_icm20602_acc_fsr.dev_attr.attr,
 	&iio_dev_attr_inv_icm20602_acc_lpf.dev_attr.attr,

 	&iio_dev_attr_sampling_frequency.dev_attr.attr,

 	&iio_dev_attr_inv_user_fps_in_ms.dev_attr.attr,
 	NULL,
 };

 #define INV_ICM20602_CHAN(_type, _channel2, _index)                    \
 {                                                             \
 	.type = _type,                                        \
 	.modified = 1,                                        \
 	.channel2 = _channel2,                                \
 	.info_mask_shared_by_type =  BIT(IIO_CHAN_INFO_SCALE), \
 	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),         \
 	.scan_index = _index,                                 \
 	.scan_type = {                                        \
 			.sign = 's',                          \
 			.realbits = 16,                       \
 			.storagebits = 16,                    \
 			.shift = 0,                          \
 			.endianness = IIO_BE,                 \
 	},                                       \
 }

 static const struct iio_chan_spec inv_icm20602_channels[] = {
 	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),

 	{
 		.type = IIO_TEMP,
 		.info_mask_separate =  BIT(IIO_CHAN_INFO_RAW)
 				| BIT(IIO_CHAN_INFO_OFFSET)
 				| BIT(IIO_CHAN_INFO_SCALE),
 		.scan_index = INV_ICM20602_SCAN_TEMP,
 		.channel2 = IIO_MOD_X,
 		.scan_type = {
 				.sign = 's',
 				.realbits = 16,
 				.storagebits = 16,
 				.shift = 0,
 				.endianness = IIO_BE,
 			     },
 	},
 	INV_ICM20602_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
 	INV_ICM20602_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
 	INV_ICM20602_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),

 	INV_ICM20602_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
 	INV_ICM20602_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
 	INV_ICM20602_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
 };

 static const struct attribute_group inv_icm20602_attribute_group = {
 	.attrs = inv_icm20602_attributes,
 };

 static const struct iio_info icm20602_info = {
 	.driver_module = THIS_MODULE,
 	.read_raw = NULL,
 	.write_raw = NULL,
 	.attrs = &inv_icm20602_attribute_group,
 	.validate_trigger = inv_icm20602_validate_trigger,
 };

 static int of_populate_icm20602_dt(struct inv_icm20602_state *st)
 {
 	int result = MPU_SUCCESS;

 	/* use client device irq */
 	st->gpio = of_get_named_gpio(st->client->dev.of_node,
 			"invensense,icm20602-gpio", 0);
 	result = gpio_is_valid(st->gpio);
 	if (!result) {
 		pr_err("gpio_is_valid %d failed\n", st->gpio);
 		return -MPU_FAIL;
 	}

 	result = gpio_request(st->gpio, "icm20602-irq");
 	if (result) {
 		pr_err("gpio_request failed\n");
 		return -MPU_FAIL;
 	}

 	result = gpio_direction_input(st->gpio);
 	if (result) {
 		pr_err("gpio_direction_input failed\n");
 		return -MPU_FAIL;
 	}

 	st->client->irq = gpio_to_irq(st->gpio);
 	if (st->client->irq < 0) {
 		pr_err("gpio_to_irq failed\n");
 		return -MPU_FAIL;
 	}

 	return MPU_SUCCESS;
 }

 /*
  *  inv_icm20602_probe() - probe function.
  *  @client:          i2c client.
  *  @id:              i2c device id.
  *
  *  Returns 0 on success, a negative error code otherwise.
  *  The I2C address of the ICM-20602 is 0x68 or 0x69
  *  depending upon the value driven on AD0 pin.
  */
 static int inv_icm20602_probe(struct i2c_client *client,
 	const struct i2c_device_id *id)
 {
 	struct inv_icm20602_state *st;
 	struct iio_dev *indio_dev;
 	int result = MPU_SUCCESS;

 	indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
 	if (indio_dev == NULL) {
 		result =  -ENOMEM;
 		goto out_remove_trigger;
 	}
 	st = iio_priv(indio_dev);
 	st->client = client;
 	st->interface = ICM20602_I2C;

 	pr_debug("i2c address is %x\n", client->addr);
 	result = of_populate_icm20602_dt(st);
 	if (result)
 		return result;

 	st->config = kzalloc(sizeof(struct icm20602_user_config), GFP_ATOMIC);
 	if (st->config == NULL)
 		return -ENOMEM;

 	icm20602_init_reg_map();

 	i2c_set_clientdata(client, indio_dev);

 	dev_set_drvdata(&client->dev, indio_dev);
 	indio_dev->dev.parent = &client->dev;
 	indio_dev->name = ICM20602_DEV_NAME;
 	indio_dev->channels = inv_icm20602_channels;
 	indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);

 	indio_dev->info = &icm20602_info;
 	indio_dev->modes = INDIO_BUFFER_TRIGGERED;
 	result = iio_triggered_buffer_setup(indio_dev,
 		inv_icm20602_irq_handler, inv_icm20602_read_fifo_fn, NULL);
 	if (result) {
 		dev_err(&st->client->dev, " configure buffer fail %d\n",
 				result);
 		goto out_remove_trigger;
 	}

 	result = inv_icm20602_probe_trigger(indio_dev);
 	if (result) {
 		dev_err(&st->client->dev, "trigger probe fail %d\n", result);
 		goto out_unreg_ring;
 	}

 	INIT_KFIFO(st->timestamps);
 	spin_lock_init(&st->time_stamp_lock);
 	result = iio_device_register(indio_dev);
 	if (result) {
 		dev_err(&st->client->dev, "IIO register fail %d\n", result);
 		goto out_remove_trigger;
 	}

 	return 0;

 out_remove_trigger:
 	inv_icm20602_remove_trigger(st);
 out_unreg_ring:
 	iio_triggered_buffer_cleanup(indio_dev);
 out_free:
 	iio_device_free(indio_dev);
 	gpio_free(st->gpio);

 	return 0;
 }

 static int inv_icm20602_remove(struct i2c_client *client)
 {
 	struct iio_dev *indio_dev = i2c_get_clientdata(client);
 	struct inv_icm20602_state *st = iio_priv(indio_dev);

 	gpio_free(st->gpio);
 	iio_device_unregister(indio_dev);
 	inv_icm20602_remove_trigger(st);
 	iio_triggered_buffer_cleanup(indio_dev);
 	iio_device_free(indio_dev);

 	return 0;
 }

 static int inv_icm20602_suspend(struct device *dev)
 {
 	return 0;
 }

 static int inv_icm20602_resume(struct device *dev)
 {
 	return 0;
 }

 static const struct dev_pm_ops icm20602_pm_ops = {
 	.resume		=	inv_icm20602_resume,
 	.suspend	=	inv_icm20602_suspend,
 };

 static const struct of_device_id icm20602_match_table[] = {
 	{.compatible = "invensense,icm20602"},
 	{}
 };
 MODULE_DEVICE_TABLE(of, icm20602_match_table);

 static const struct i2c_device_id inv_icm20602_id[] = {
 	{"icm20602", 0},
 	{}
 };

 static struct i2c_driver icm20602_i2c_driver = {
 	.probe		=	inv_icm20602_probe,
 	.remove		=	inv_icm20602_remove,
 	.id_table	=	inv_icm20602_id,
 	.driver = {
 		.owner	=	THIS_MODULE,
 		.name	=	"inv-icm20602",
 		.of_match_table = icm20602_match_table,
 		.probe_type = PROBE_PREFER_ASYNCHRONOUS,
 		.pm = &icm20602_pm_ops,
 	},
 };

 static int __init inv_icm20602_init(void)
 {
 	return i2c_add_driver(&icm20602_i2c_driver);
 }
 module_init(inv_icm20602_init);

 static void __exit inv_icm20602_exit(void)
 {
 	i2c_del_driver(&icm20602_i2c_driver);
 }
 module_exit(inv_icm20602_exit);

 MODULE_DESCRIPTION("icm20602 IMU driver");
 MODULE_LICENSE("GPL v2");
	/*
	* Copyright (c) 2018, The Linux Foundation. All rights reserved.
	*
	* 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/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/spinlock.h>
	#include <linux/spi/spi.h>
	#include <linux/i2c.h>
	#include <linux/of.h>
	#include <linux/of_gpio.h>
	#include "inv_icm20602_iio.h"

	/* Attribute of icm20602 device init show */
	static ssize_t inv_icm20602_init_show(struct device *dev,
	struct device_attribute attr, char buf)
	{
	return 0;
	}

	static void inv_icm20602_def_config(struct inv_icm20602_state *st)
	{
	struct icm20602_user_config *config = st->config;

	config->user_fps_in_ms = 20;
	config->gyro_lpf = INV_ICM20602_GYRO_LFP_92HZ;
	config->gyro_fsr = ICM20602_GYRO_FSR_1000DPS;
	config->acc_lpf = ICM20602_ACCLFP_99;
	config->acc_fsr = ICM20602_ACC_FSR_4G;
	config->gyro_accel_sample_rate = ICM20602_SAMPLE_RATE_200HZ;
	config->fifo_enabled = true;

	}

	static void inv_icm20602_load_config(struct inv_icm20602_state *st)
	{
	struct icm20602_user_config *config = st->config;

	if (config->user_fps_in_ms == 0)
	inv_icm20602_def_config(st);
	config->fifo_enabled = true;

	}

	static ssize_t inv_icm20602_init_store(struct device *dev,
	struct device_attribute attr, const char buf, size_t count)
	{
	int result = MPU_SUCCESS;
	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	struct inv_icm20602_state *st = iio_priv(indio_dev);

	inv_icm20602_load_config(st);
	result \|= icm20602_detect(st);
	result \|= icm20602_init_device(st);
	icm20602_start_fifo(st);
	if (result)
	return result;

	return count;
	}

	static IIO_DEVICE_ATTR(
	inv_icm20602_init,
	0644,
	inv_icm20602_init_show,
	inv_icm20602_init_store,
	0);

	/* Attribute of gyro lpf base on the enum inv_icm20602_gyro_temp_lpf_e */
	static ssize_t inv_gyro_lpf_show(struct device *dev,
	struct device_attribute attr, char buf)
	{
	return 0;
	}

	static ssize_t inv_gyro_lpf_store(struct device *dev,
	struct device_attribute attr, const char buf, size_t count)
	{
	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	struct inv_icm20602_state *st = iio_priv(indio_dev);
	struct icm20602_user_config *config = st->config;
	int gyro_lpf;

	if (kstrtoint(buf, 10, &gyro_lpf))
	return -EINVAL;
	if (gyro_lpf > INV_ICM20602_GYRO_LFP_NUM)
	return -EINVAL;
	config->gyro_lpf = gyro_lpf;
	return count;
	}
	static IIO_DEVICE_ATTR(
	inv_icm20602_gyro_lpf,
	0644,
	inv_gyro_lpf_show,
	inv_gyro_lpf_store,
	0);

	/* Attribute of gyro fsr base on enum inv_icm20602_gyro_temp_lpf_e */
	static ssize_t inv_gyro_fsr_show(struct device *dev,
	struct device_attribute attr, char buf)
	{
	return 0;
	}

	static ssize_t inv_gyro_fsr_store(struct device *dev,
	struct device_attribute attr, const char buf, size_t count)
	{
	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	struct inv_icm20602_state *st = iio_priv(indio_dev);
	struct icm20602_user_config *config = st->config;
	int gyro_fsr;

	if (kstrtoint(buf, 10, &gyro_fsr))
	return -EINVAL;
	if (gyro_fsr > ICM20602_GYRO_FSR_NUM)
	return -EINVAL;

	config->gyro_fsr = gyro_fsr;
	return count;
	}

	static IIO_DEVICE_ATTR(
	inv_icm20602_gyro_fsr,
	0644,
	inv_gyro_fsr_show,
	inv_gyro_fsr_store,
	0);

	/* Attribute of gyro_self_test */
	static ssize_t inv_gyro_self_test_show(struct device *dev,
	struct device_attribute attr, char buf)
	{
	return 0;
	}

	static ssize_t inv_gyro_self_test_store(struct device *dev,
	struct device_attribute attr, const char buf, size_t count)
	{
	return 0;
	}
	static IIO_DEVICE_ATTR(
	inv_icm20602_gyro_self_test,
	0644,
	inv_gyro_self_test_show,
	inv_gyro_self_test_store,
	0);

	/* Attribute of gyro fsr base on enum inv_icm20602_acc_fsr_e */
	static ssize_t inv_gyro_acc_fsr_show(struct device *dev,
	struct device_attribute attr, char buf)
	{
	return 0;
	}

	static ssize_t inv_gyro_acc_fsr_store(struct device *dev,
	struct device_attribute attr, const char buf, size_t count)
	{
	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	struct inv_icm20602_state *st = iio_priv(indio_dev);
	struct icm20602_user_config *config = st->config;
	int acc_fsr;

	if (kstrtoint(buf, 10, &acc_fsr))
	return -EINVAL;
	if (acc_fsr > ICM20602_ACC_FSR_NUM)
	return -EINVAL;

	config->acc_fsr = acc_fsr;
	return count;
	}
	static IIO_DEVICE_ATTR(
	inv_icm20602_acc_fsr,
	0644,
	inv_gyro_acc_fsr_show,
	inv_gyro_acc_fsr_store,
	0);

	/* Attribute of gyro fsr base on enum inv_icm20602_acc_lpf_e */
	static ssize_t inv_gyro_acc_lpf_show(struct device *dev,
	struct device_attribute attr, char buf)
	{
	return 0;
	}

	static ssize_t inv_gyro_acc_lpf_store(struct device *dev,
	struct device_attribute attr, const char buf, size_t count)
	{
	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	struct inv_icm20602_state *st = iio_priv(indio_dev);
	struct icm20602_user_config *config = st->config;
	int acc_lpf;

	if (kstrtoint(buf, 10, &acc_lpf))
	return -EINVAL;
	if (acc_lpf > ICM20602_ACCLPF_NUM)
	return -EINVAL;

	config->acc_fsr = acc_lpf;
	return count;
	}
	static IIO_DEVICE_ATTR(
	inv_icm20602_acc_lpf,
	0644,
	inv_gyro_acc_lpf_show,
	inv_gyro_acc_lpf_store,
	0);

	/* Attribute of acc_self_test */
	static ssize_t inv_acc_self_test_show(struct device *dev,
	struct device_attribute attr, char buf)
	{
	return 0;
	}

	static ssize_t inv_acc_self_test_store(struct device *dev,
	struct device_attribute attr, const char buf, size_t count)
	{
	return 0;
	}
	static IIO_DEVICE_ATTR(
	inv_icm20602_acc_self_test,
	0644,
	inv_acc_self_test_show,
	inv_acc_self_test_store,
	0);

	/* Attribute of user_fps_in_ms */
	static ssize_t inv_user_fps_in_ms_show(struct device *dev,
	struct device_attribute attr, char buf)
	{
	return 0;
	}

	static ssize_t inv_user_fps_in_ms_store(struct device *dev,
	struct device_attribute attr, const char buf, size_t count)
	{
	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	struct inv_icm20602_state *st = iio_priv(indio_dev);
	struct icm20602_user_config *config = st->config;
	int user_fps_in_ms;

	if (kstrtoint(buf, 10, &user_fps_in_ms))
	return -EINVAL;
	if (user_fps_in_ms < 10)
	return -EINVAL;

	config->user_fps_in_ms = user_fps_in_ms;
	return count;
	}
	static IIO_DEVICE_ATTR(
	inv_user_fps_in_ms,
	0644,
	inv_user_fps_in_ms_show,
	inv_user_fps_in_ms_store,
	0);

	/* Attribute of gyro_accel_sample_rate */
	static ssize_t inv_sampling_frequency_show(struct device *dev,
	struct device_attribute attr, char buf)
	{
	return 0;
	}

	static ssize_t inv_sampling_frequency_store(struct device *dev,
	struct device_attribute attr, const char buf, size_t count)
	{
	return 0;
	}
	static IIO_DEV_ATTR_SAMP_FREQ(
	0644,
	inv_sampling_frequency_show,
	inv_sampling_frequency_store);

	static struct attribute *inv_icm20602_attributes[] = {
	&iio_dev_attr_inv_icm20602_init.dev_attr.attr,

	&iio_dev_attr_inv_icm20602_gyro_self_test.dev_attr.attr,
	&iio_dev_attr_inv_icm20602_gyro_fsr.dev_attr.attr,
	&iio_dev_attr_inv_icm20602_gyro_lpf.dev_attr.attr,

	&iio_dev_attr_inv_icm20602_acc_self_test.dev_attr.attr,
	&iio_dev_attr_inv_icm20602_acc_fsr.dev_attr.attr,
	&iio_dev_attr_inv_icm20602_acc_lpf.dev_attr.attr,

	&iio_dev_attr_sampling_frequency.dev_attr.attr,

	&iio_dev_attr_inv_user_fps_in_ms.dev_attr.attr,
	NULL,
	};

	#define INV_ICM20602_CHAN(_type, _channel2, _index) \
	{ \
	.type = _type, \
	.modified = 1, \
	.channel2 = _channel2, \
	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
	.scan_index = _index, \
	.scan_type = { \
	.sign = 's', \
	.realbits = 16, \
	.storagebits = 16, \
	.shift = 0, \
	.endianness = IIO_BE, \
	}, \
	}

	static const struct iio_chan_spec inv_icm20602_channels[] = {
	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),

	{
	.type = IIO_TEMP,
	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
	\| BIT(IIO_CHAN_INFO_OFFSET)
	\| BIT(IIO_CHAN_INFO_SCALE),
	.scan_index = INV_ICM20602_SCAN_TEMP,
	.channel2 = IIO_MOD_X,
	.scan_type = {
	.sign = 's',
	.realbits = 16,
	.storagebits = 16,
	.shift = 0,
	.endianness = IIO_BE,
	},
	},
	INV_ICM20602_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
	INV_ICM20602_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
	INV_ICM20602_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),

	INV_ICM20602_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
	INV_ICM20602_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
	INV_ICM20602_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
	};

	static const struct attribute_group inv_icm20602_attribute_group = {
	.attrs = inv_icm20602_attributes,
	};

	static const struct iio_info icm20602_info = {
	.driver_module = THIS_MODULE,
	.read_raw = NULL,
	.write_raw = NULL,
	.attrs = &inv_icm20602_attribute_group,
	.validate_trigger = inv_icm20602_validate_trigger,
	};

	static int of_populate_icm20602_dt(struct inv_icm20602_state *st)
	{
	int result = MPU_SUCCESS;

	/* use client device irq */
	st->gpio = of_get_named_gpio(st->client->dev.of_node,
	"invensense,icm20602-gpio", 0);
	result = gpio_is_valid(st->gpio);
	if (!result) {
	pr_err("gpio_is_valid %d failed\n", st->gpio);
	return -MPU_FAIL;
	}

	result = gpio_request(st->gpio, "icm20602-irq");
	if (result) {
	pr_err("gpio_request failed\n");
	return -MPU_FAIL;
	}

	result = gpio_direction_input(st->gpio);
	if (result) {
	pr_err("gpio_direction_input failed\n");
	return -MPU_FAIL;
	}

	st->client->irq = gpio_to_irq(st->gpio);
	if (st->client->irq < 0) {
	pr_err("gpio_to_irq failed\n");
	return -MPU_FAIL;
	}

	return MPU_SUCCESS;
	}

	/*
	* inv_icm20602_probe() - probe function.
	* @client: i2c client.
	* @id: i2c device id.
	*
	* Returns 0 on success, a negative error code otherwise.
	* The I2C address of the ICM-20602 is 0x68 or 0x69
	* depending upon the value driven on AD0 pin.
	*/
	static int inv_icm20602_probe(struct i2c_client *client,
	const struct i2c_device_id *id)
	{
	struct inv_icm20602_state *st;
	struct iio_dev *indio_dev;
	int result = MPU_SUCCESS;

	indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
	if (indio_dev == NULL) {
	result = -ENOMEM;
	goto out_remove_trigger;
	}
	st = iio_priv(indio_dev);
	st->client = client;
	st->interface = ICM20602_I2C;

	pr_debug("i2c address is %x\n", client->addr);
	result = of_populate_icm20602_dt(st);
	if (result)
	return result;

	st->config = kzalloc(sizeof(struct icm20602_user_config), GFP_ATOMIC);
	if (st->config == NULL)
	return -ENOMEM;

	icm20602_init_reg_map();

	i2c_set_clientdata(client, indio_dev);

	dev_set_drvdata(&client->dev, indio_dev);
	indio_dev->dev.parent = &client->dev;
	indio_dev->name = ICM20602_DEV_NAME;
	indio_dev->channels = inv_icm20602_channels;
	indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);

	indio_dev->info = &icm20602_info;
	indio_dev->modes = INDIO_BUFFER_TRIGGERED;
	result = iio_triggered_buffer_setup(indio_dev,
	inv_icm20602_irq_handler, inv_icm20602_read_fifo_fn, NULL);
	if (result) {
	dev_err(&st->client->dev, " configure buffer fail %d\n",
	result);
	goto out_remove_trigger;
	}

	result = inv_icm20602_probe_trigger(indio_dev);
	if (result) {
	dev_err(&st->client->dev, "trigger probe fail %d\n", result);
	goto out_unreg_ring;
	}

	INIT_KFIFO(st->timestamps);
	spin_lock_init(&st->time_stamp_lock);
	result = iio_device_register(indio_dev);
	if (result) {
	dev_err(&st->client->dev, "IIO register fail %d\n", result);
	goto out_remove_trigger;
	}

	return 0;

	out_remove_trigger:
	inv_icm20602_remove_trigger(st);
	out_unreg_ring:
	iio_triggered_buffer_cleanup(indio_dev);
	out_free:
	iio_device_free(indio_dev);
	gpio_free(st->gpio);

	return 0;
	}

	static int inv_icm20602_remove(struct i2c_client *client)
	{
	struct iio_dev *indio_dev = i2c_get_clientdata(client);
	struct inv_icm20602_state *st = iio_priv(indio_dev);

	gpio_free(st->gpio);
	iio_device_unregister(indio_dev);
	inv_icm20602_remove_trigger(st);
	iio_triggered_buffer_cleanup(indio_dev);
	iio_device_free(indio_dev);

	return 0;
	}

	static int inv_icm20602_suspend(struct device *dev)
	{
	return 0;
	}

	static int inv_icm20602_resume(struct device *dev)
	{
	return 0;
	}

	static const struct dev_pm_ops icm20602_pm_ops = {
	.resume = inv_icm20602_resume,
	.suspend = inv_icm20602_suspend,
	};

	static const struct of_device_id icm20602_match_table[] = {
	{.compatible = "invensense,icm20602"},
	{}
	};
	MODULE_DEVICE_TABLE(of, icm20602_match_table);

	static const struct i2c_device_id inv_icm20602_id[] = {
	{"icm20602", 0},
	{}
	};

	static struct i2c_driver icm20602_i2c_driver = {
	.probe = inv_icm20602_probe,
	.remove = inv_icm20602_remove,
	.id_table = inv_icm20602_id,
	.driver = {
	.owner = THIS_MODULE,
	.name = "inv-icm20602",
	.of_match_table = icm20602_match_table,
	.probe_type = PROBE_PREFER_ASYNCHRONOUS,
	.pm = &icm20602_pm_ops,
	},
	};

	static int __init inv_icm20602_init(void)
	{
	return i2c_add_driver(&icm20602_i2c_driver);
	}
	module_init(inv_icm20602_init);

	static void __exit inv_icm20602_exit(void)
	{
	i2c_del_driver(&icm20602_i2c_driver);
	}
	module_exit(inv_icm20602_exit);

	MODULE_DESCRIPTION("icm20602 IMU driver");
	MODULE_LICENSE("GPL v2");