drivers/input/misc/mpu3050.c - kernel/msm-4.9 - Gitiles

 /*
  * MPU3050 Tri-axis gyroscope driver
  *
  * Copyright (C) 2011 Wistron Co.Ltd
  * Joseph Lai <joseph_lai@wistron.com>
  *
  * Trimmed down by Alan Cox <alan@linux.intel.com> to produce this version
  *
  * This is a 'lite' version of the driver, while we consider the right way
  * to present the other features to user space. In particular it requires the
  * device has an IRQ, and it only provides an input interface, so is not much
  * use for device orientation. A fuller version is available from the Meego
  * tree.
  *
  * This program is based on bma023.c.
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
  * the Free Software Foundation; version 2 of the License.
  *
  * 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.
  *
  * You should have received a copy of the GNU General Public License along
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  *
  */

 #include <linux/module.h>
 #include <linux/init.h>
 #include <linux/interrupt.h>
 #include <linux/platform_device.h>
 #include <linux/mutex.h>
 #include <linux/err.h>
 #include <linux/i2c.h>
 #include <linux/input.h>
 #include <linux/delay.h>
 #include <linux/slab.h>
 #include <linux/pm_runtime.h>

 #define MPU3050_CHIP_ID		0x69

 #define MPU3050_AUTO_DELAY	1000

 #define MPU3050_MIN_VALUE	-32768
 #define MPU3050_MAX_VALUE	32767

 #define MPU3050_DEFAULT_POLL_INTERVAL	200
 #define MPU3050_DEFAULT_FS_RANGE	3

 /* Register map */
 #define MPU3050_CHIP_ID_REG	0x00
 #define MPU3050_SMPLRT_DIV	0x15
 #define MPU3050_DLPF_FS_SYNC	0x16
 #define MPU3050_INT_CFG		0x17
 #define MPU3050_XOUT_H		0x1D
 #define MPU3050_PWR_MGM		0x3E
 #define MPU3050_PWR_MGM_POS	6

 /* Register bits */

 /* DLPF_FS_SYNC */
 #define MPU3050_EXT_SYNC_NONE		0x00
 #define MPU3050_EXT_SYNC_TEMP		0x20
 #define MPU3050_EXT_SYNC_GYROX		0x40
 #define MPU3050_EXT_SYNC_GYROY		0x60
 #define MPU3050_EXT_SYNC_GYROZ		0x80
 #define MPU3050_EXT_SYNC_ACCELX	0xA0
 #define MPU3050_EXT_SYNC_ACCELY	0xC0
 #define MPU3050_EXT_SYNC_ACCELZ	0xE0
 #define MPU3050_EXT_SYNC_MASK		0xE0
 #define MPU3050_FS_250DPS		0x00
 #define MPU3050_FS_500DPS		0x08
 #define MPU3050_FS_1000DPS		0x10
 #define MPU3050_FS_2000DPS		0x18
 #define MPU3050_FS_MASK		0x18
 #define MPU3050_DLPF_CFG_256HZ_NOLPF2	0x00
 #define MPU3050_DLPF_CFG_188HZ		0x01
 #define MPU3050_DLPF_CFG_98HZ		0x02
 #define MPU3050_DLPF_CFG_42HZ		0x03
 #define MPU3050_DLPF_CFG_20HZ		0x04
 #define MPU3050_DLPF_CFG_10HZ		0x05
 #define MPU3050_DLPF_CFG_5HZ		0x06
 #define MPU3050_DLPF_CFG_2100HZ_NOLPF	0x07
 #define MPU3050_DLPF_CFG_MASK		0x07
 /* INT_CFG */
 #define MPU3050_RAW_RDY_EN		0x01
 #define MPU3050_MPU_RDY_EN		0x02
 #define MPU3050_LATCH_INT_EN		0x04
 /* PWR_MGM */
 #define MPU3050_PWR_MGM_PLL_X		0x01
 #define MPU3050_PWR_MGM_PLL_Y		0x02
 #define MPU3050_PWR_MGM_PLL_Z		0x03
 #define MPU3050_PWR_MGM_CLKSEL		0x07
 #define MPU3050_PWR_MGM_STBY_ZG	0x08
 #define MPU3050_PWR_MGM_STBY_YG	0x10
 #define MPU3050_PWR_MGM_STBY_XG	0x20
 #define MPU3050_PWR_MGM_SLEEP		0x40
 #define MPU3050_PWR_MGM_RESET		0x80
 #define MPU3050_PWR_MGM_MASK		0x40

 struct axis_data {
 	s16 x;
 	s16 y;
 	s16 z;
 };

 struct mpu3050_sensor {
 	struct i2c_client *client;
 	struct device *dev;
 	struct input_dev *idev;
 };

 /**
  *	mpu3050_xyz_read_reg	-	read the axes values
  *	@buffer: provide register addr and get register
  *	@length: length of register
  *
  *	Reads the register values in one transaction or returns a negative
  *	error code on failure.
  */
 static int mpu3050_xyz_read_reg(struct i2c_client *client,
 			       u8 *buffer, int length)
 {
 	/*
 	 * Annoying we can't make this const because the i2c layer doesn't
 	 * declare input buffers const.
 	 */
 	char cmd = MPU3050_XOUT_H;
 	struct i2c_msg msg[] = {
 		{
 			.addr = client->addr,
 			.flags = 0,
 			.len = 1,
 			.buf = &cmd,
 		},
 		{
 			.addr = client->addr,
 			.flags = I2C_M_RD,
 			.len = length,
 			.buf = buffer,
 		},
 	};

 	return i2c_transfer(client->adapter, msg, 2);
 }

 /**
  *	mpu3050_read_xyz	-	get co-ordinates from device
  *	@client: i2c address of sensor
  *	@coords: co-ordinates to update
  *
  *	Return the converted X Y and Z co-ordinates from the sensor device
  */
 static void mpu3050_read_xyz(struct i2c_client *client,
 			     struct axis_data *coords)
 {
 	u16 buffer[3];

 	mpu3050_xyz_read_reg(client, (u8 *)buffer, 6);
 	coords->x = be16_to_cpu(buffer[0]);
 	coords->y = be16_to_cpu(buffer[1]);
 	coords->z = be16_to_cpu(buffer[2]);
 	dev_dbg(&client->dev, "%s: x %d, y %d, z %d\n", __func__,
 					coords->x, coords->y, coords->z);
 }

 /**
  *	mpu3050_set_power_mode	-	set the power mode
  *	@client: i2c client for the sensor
  *	@val: value to switch on/off of power, 1: normal power, 0: low power
  *
  *	Put device to normal-power mode or low-power mode.
  */
 static void mpu3050_set_power_mode(struct i2c_client *client, u8 val)
 {
 	u8 value;

 	value = i2c_smbus_read_byte_data(client, MPU3050_PWR_MGM);
 	value = (value & ~MPU3050_PWR_MGM_MASK) |
 		(((val << MPU3050_PWR_MGM_POS) & MPU3050_PWR_MGM_MASK) ^
 		 MPU3050_PWR_MGM_MASK);
 	i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM, value);
 }

 /**
  *	mpu3050_input_open	-	called on input event open
  *	@input: input dev of opened device
  *
  *	The input layer calls this function when input event is opened. The
  *	function will push the device to resume. Then, the device is ready
  *	to provide data.
  */
 static int mpu3050_input_open(struct input_dev *input)
 {
 	struct mpu3050_sensor *sensor = input_get_drvdata(input);
 	int error;

 	pm_runtime_get(sensor->dev);

 	/* Enable interrupts */
 	error = i2c_smbus_write_byte_data(sensor->client, MPU3050_INT_CFG,
 					  MPU3050_LATCH_INT_EN |
 					  MPU3050_RAW_RDY_EN |
 					  MPU3050_MPU_RDY_EN);
 	if (error < 0) {
 		pm_runtime_put(sensor->dev);
 		return error;
 	}

 	return 0;
 }

 /**
  *	mpu3050_input_close	-	called on input event close
  *	@input: input dev of closed device
  *
  *	The input layer calls this function when input event is closed. The
  *	function will push the device to suspend.
  */
 static void mpu3050_input_close(struct input_dev *input)
 {
 	struct mpu3050_sensor *sensor = input_get_drvdata(input);

 	pm_runtime_put(sensor->dev);
 }

 /**
  *	mpu3050_interrupt_thread	-	handle an IRQ
  *	@irq: interrupt numner
  *	@data: the sensor
  *
  *	Called by the kernel single threaded after an interrupt occurs. Read
  *	the sensor data and generate an input event for it.
  */
 static irqreturn_t mpu3050_interrupt_thread(int irq, void *data)
 {
 	struct mpu3050_sensor *sensor = data;
 	struct axis_data axis;

 	mpu3050_read_xyz(sensor->client, &axis);

 	input_report_abs(sensor->idev, ABS_X, axis.x);
 	input_report_abs(sensor->idev, ABS_Y, axis.y);
 	input_report_abs(sensor->idev, ABS_Z, axis.z);
 	input_sync(sensor->idev);

 	return IRQ_HANDLED;
 }

 /**
  *	mpu3050_hw_init	-	initialize hardware
  *	@sensor: the sensor
  *
  *	Called during device probe; configures the sampling method.
  */
 static int __devinit mpu3050_hw_init(struct mpu3050_sensor *sensor)
 {
 	struct i2c_client *client = sensor->client;
 	int ret;
 	u8 reg;

 	/* Reset */
 	ret = i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM,
 					MPU3050_PWR_MGM_RESET);
 	if (ret < 0)
 		return ret;

 	ret = i2c_smbus_read_byte_data(client, MPU3050_PWR_MGM);
 	if (ret < 0)
 		return ret;

 	ret &= ~MPU3050_PWR_MGM_CLKSEL;
 	ret |= MPU3050_PWR_MGM_PLL_Z;
 	ret = i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM, ret);
 	if (ret < 0)
 		return ret;

 	/* Output frequency divider. The poll interval */
 	ret = i2c_smbus_write_byte_data(client, MPU3050_SMPLRT_DIV,
 					MPU3050_DEFAULT_POLL_INTERVAL - 1);
 	if (ret < 0)
 		return ret;

 	/* Set low pass filter and full scale */
 	reg = MPU3050_DEFAULT_FS_RANGE;
 	reg |= MPU3050_DLPF_CFG_42HZ << 3;
 	reg |= MPU3050_EXT_SYNC_NONE << 5;
 	ret = i2c_smbus_write_byte_data(client, MPU3050_DLPF_FS_SYNC, reg);
 	if (ret < 0)
 		return ret;

 	return 0;
 }

 /**
  *	mpu3050_probe	-	device detection callback
  *	@client: i2c client of found device
  *	@id: id match information
  *
  *	The I2C layer calls us when it believes a sensor is present at this
  *	address. Probe to see if this is correct and to validate the device.
  *
  *	If present install the relevant sysfs interfaces and input device.
  */
 static int __devinit mpu3050_probe(struct i2c_client *client,
 				   const struct i2c_device_id *id)
 {
 	struct mpu3050_sensor *sensor;
 	struct input_dev *idev;
 	int ret;
 	int error;

 	sensor = kzalloc(sizeof(struct mpu3050_sensor), GFP_KERNEL);
 	idev = input_allocate_device();
 	if (!sensor || !idev) {
 		dev_err(&client->dev, "failed to allocate driver data\n");
 		error = -ENOMEM;
 		goto err_free_mem;
 	}

 	sensor->client = client;
 	sensor->dev = &client->dev;
 	sensor->idev = idev;

 	mpu3050_set_power_mode(client, 1);
 	msleep(10);

 	ret = i2c_smbus_read_byte_data(client, MPU3050_CHIP_ID_REG);
 	if (ret < 0) {
 		dev_err(&client->dev, "failed to detect device\n");
 		error = -ENXIO;
 		goto err_free_mem;
 	}

 	if (ret != MPU3050_CHIP_ID) {
 		dev_err(&client->dev, "unsupported chip id\n");
 		error = -ENXIO;
 		goto err_free_mem;
 	}

 	idev->name = "MPU3050";
 	idev->id.bustype = BUS_I2C;
 	idev->dev.parent = &client->dev;

 	idev->open = mpu3050_input_open;
 	idev->close = mpu3050_input_close;

 	__set_bit(EV_ABS, idev->evbit);
 	input_set_abs_params(idev, ABS_X,
 			     MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0);
 	input_set_abs_params(idev, ABS_Y,
 			     MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0);
 	input_set_abs_params(idev, ABS_Z,
 			     MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0);

 	input_set_drvdata(idev, sensor);

 	pm_runtime_set_active(&client->dev);

 	error = mpu3050_hw_init(sensor);
 	if (error)
 		goto err_pm_set_suspended;

 	error = request_threaded_irq(client->irq,
 				     NULL, mpu3050_interrupt_thread,
 				     IRQF_TRIGGER_RISING,
 				     "mpu3050", sensor);
 	if (error) {
 		dev_err(&client->dev,
 			"can't get IRQ %d, error %d\n", client->irq, error);
 		goto err_pm_set_suspended;
 	}

 	error = input_register_device(idev);
 	if (error) {
 		dev_err(&client->dev, "failed to register input device\n");
 		goto err_free_irq;
 	}

 	pm_runtime_enable(&client->dev);
 	pm_runtime_set_autosuspend_delay(&client->dev, MPU3050_AUTO_DELAY);

 	return 0;

 err_free_irq:
 	free_irq(client->irq, sensor);
 err_pm_set_suspended:
 	pm_runtime_set_suspended(&client->dev);
 err_free_mem:
 	input_free_device(idev);
 	kfree(sensor);
 	return error;
 }

 /**
  *	mpu3050_remove	-	remove a sensor
  *	@client: i2c client of sensor being removed
  *
  *	Our sensor is going away, clean up the resources.
  */
 static int __devexit mpu3050_remove(struct i2c_client *client)
 {
 	struct mpu3050_sensor *sensor = i2c_get_clientdata(client);

 	pm_runtime_disable(&client->dev);
 	pm_runtime_set_suspended(&client->dev);

 	free_irq(client->irq, sensor);
 	input_unregister_device(sensor->idev);
 	kfree(sensor);

 	return 0;
 }

 #ifdef CONFIG_PM
 /**
  *	mpu3050_suspend		-	called on device suspend
  *	@dev: device being suspended
  *
  *	Put the device into sleep mode before we suspend the machine.
  */
 static int mpu3050_suspend(struct device *dev)
 {
 	struct i2c_client *client = to_i2c_client(dev);

 	mpu3050_set_power_mode(client, 0);

 	return 0;
 }

 /**
  *	mpu3050_resume		-	called on device resume
  *	@dev: device being resumed
  *
  *	Put the device into powered mode on resume.
  */
 static int mpu3050_resume(struct device *dev)
 {
 	struct i2c_client *client = to_i2c_client(dev);

 	mpu3050_set_power_mode(client, 1);
 	msleep(100);  /* wait for gyro chip resume */

 	return 0;
 }
 #endif

 static UNIVERSAL_DEV_PM_OPS(mpu3050_pm, mpu3050_suspend, mpu3050_resume, NULL);

 static const struct i2c_device_id mpu3050_ids[] = {
 	{ "mpu3050", 0 },
 	{ }
 };
 MODULE_DEVICE_TABLE(i2c, mpu3050_ids);

 static const struct of_device_id mpu3050_of_match[] = {
 	{ .compatible = "invn,mpu3050", },
 	{ },
 };
 MODULE_DEVICE_TABLE(of, mpu3050_of_match);

 static struct i2c_driver mpu3050_i2c_driver = {
 	.driver	= {
 		.name	= "mpu3050",
 		.owner	= THIS_MODULE,
 		.pm	= &mpu3050_pm,
 		.of_match_table = mpu3050_of_match,
 	},
 	.probe		= mpu3050_probe,
 	.remove		= __devexit_p(mpu3050_remove),
 	.id_table	= mpu3050_ids,
 };

 static int __init mpu3050_init(void)
 {
 	return i2c_add_driver(&mpu3050_i2c_driver);
 }
 module_init(mpu3050_init);

 static void __exit mpu3050_exit(void)
 {
 	i2c_del_driver(&mpu3050_i2c_driver);
 }
 module_exit(mpu3050_exit);

 MODULE_AUTHOR("Wistron Corp.");
 MODULE_DESCRIPTION("MPU3050 Tri-axis gyroscope driver");
 MODULE_LICENSE("GPL");
	/*
	* MPU3050 Tri-axis gyroscope driver
	*
	* Copyright (C) 2011 Wistron Co.Ltd
	* Joseph Lai <joseph_lai@wistron.com>
	*
	* Trimmed down by Alan Cox <alan@linux.intel.com> to produce this version
	*
	* This is a 'lite' version of the driver, while we consider the right way
	* to present the other features to user space. In particular it requires the
	* device has an IRQ, and it only provides an input interface, so is not much
	* use for device orientation. A fuller version is available from the Meego
	* tree.
	*
	* This program is based on bma023.c.
	*
	* This program is free software; you can redistribute it and/or modify
	* it under the terms of the GNU General Public License as published by
	* the Free Software Foundation; version 2 of the License.
	*
	* 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.
	*
	* You should have received a copy of the GNU General Public License along
	* with this program; if not, write to the Free Software Foundation, Inc.,
	* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
	*
	*/

	#include <linux/module.h>
	#include <linux/init.h>
	#include <linux/interrupt.h>
	#include <linux/platform_device.h>
	#include <linux/mutex.h>
	#include <linux/err.h>
	#include <linux/i2c.h>
	#include <linux/input.h>
	#include <linux/delay.h>
	#include <linux/slab.h>
	#include <linux/pm_runtime.h>

	#define MPU3050_CHIP_ID 0x69

	#define MPU3050_AUTO_DELAY 1000

	#define MPU3050_MIN_VALUE -32768
	#define MPU3050_MAX_VALUE 32767

	#define MPU3050_DEFAULT_POLL_INTERVAL 200
	#define MPU3050_DEFAULT_FS_RANGE 3

	/* Register map */
	#define MPU3050_CHIP_ID_REG 0x00
	#define MPU3050_SMPLRT_DIV 0x15
	#define MPU3050_DLPF_FS_SYNC 0x16
	#define MPU3050_INT_CFG 0x17
	#define MPU3050_XOUT_H 0x1D
	#define MPU3050_PWR_MGM 0x3E
	#define MPU3050_PWR_MGM_POS 6

	/* Register bits */

	/* DLPF_FS_SYNC */
	#define MPU3050_EXT_SYNC_NONE 0x00
	#define MPU3050_EXT_SYNC_TEMP 0x20
	#define MPU3050_EXT_SYNC_GYROX 0x40
	#define MPU3050_EXT_SYNC_GYROY 0x60
	#define MPU3050_EXT_SYNC_GYROZ 0x80
	#define MPU3050_EXT_SYNC_ACCELX 0xA0
	#define MPU3050_EXT_SYNC_ACCELY 0xC0
	#define MPU3050_EXT_SYNC_ACCELZ 0xE0
	#define MPU3050_EXT_SYNC_MASK 0xE0
	#define MPU3050_FS_250DPS 0x00
	#define MPU3050_FS_500DPS 0x08
	#define MPU3050_FS_1000DPS 0x10
	#define MPU3050_FS_2000DPS 0x18
	#define MPU3050_FS_MASK 0x18
	#define MPU3050_DLPF_CFG_256HZ_NOLPF2 0x00
	#define MPU3050_DLPF_CFG_188HZ 0x01
	#define MPU3050_DLPF_CFG_98HZ 0x02
	#define MPU3050_DLPF_CFG_42HZ 0x03
	#define MPU3050_DLPF_CFG_20HZ 0x04
	#define MPU3050_DLPF_CFG_10HZ 0x05
	#define MPU3050_DLPF_CFG_5HZ 0x06
	#define MPU3050_DLPF_CFG_2100HZ_NOLPF 0x07
	#define MPU3050_DLPF_CFG_MASK 0x07
	/* INT_CFG */
	#define MPU3050_RAW_RDY_EN 0x01
	#define MPU3050_MPU_RDY_EN 0x02
	#define MPU3050_LATCH_INT_EN 0x04
	/* PWR_MGM */
	#define MPU3050_PWR_MGM_PLL_X 0x01
	#define MPU3050_PWR_MGM_PLL_Y 0x02
	#define MPU3050_PWR_MGM_PLL_Z 0x03
	#define MPU3050_PWR_MGM_CLKSEL 0x07
	#define MPU3050_PWR_MGM_STBY_ZG 0x08
	#define MPU3050_PWR_MGM_STBY_YG 0x10
	#define MPU3050_PWR_MGM_STBY_XG 0x20
	#define MPU3050_PWR_MGM_SLEEP 0x40
	#define MPU3050_PWR_MGM_RESET 0x80
	#define MPU3050_PWR_MGM_MASK 0x40

	struct axis_data {
	s16 x;
	s16 y;
	s16 z;
	};

	struct mpu3050_sensor {
	struct i2c_client *client;
	struct device *dev;
	struct input_dev *idev;
	};

	/**
	* mpu3050_xyz_read_reg - read the axes values
	* @buffer: provide register addr and get register
	* @length: length of register
	*
	* Reads the register values in one transaction or returns a negative
	* error code on failure.
	*/
	static int mpu3050_xyz_read_reg(struct i2c_client *client,
	u8 *buffer, int length)
	{
	/*
	* Annoying we can't make this const because the i2c layer doesn't
	* declare input buffers const.
	*/
	char cmd = MPU3050_XOUT_H;
	struct i2c_msg msg[] = {
	{
	.addr = client->addr,
	.flags = 0,
	.len = 1,
	.buf = &cmd,
	},
	{
	.addr = client->addr,
	.flags = I2C_M_RD,
	.len = length,
	.buf = buffer,
	},
	};

	return i2c_transfer(client->adapter, msg, 2);
	}

	/**
	* mpu3050_read_xyz - get co-ordinates from device
	* @client: i2c address of sensor
	* @coords: co-ordinates to update
	*
	* Return the converted X Y and Z co-ordinates from the sensor device
	*/
	static void mpu3050_read_xyz(struct i2c_client *client,
	struct axis_data *coords)
	{
	u16 buffer[3];

	mpu3050_xyz_read_reg(client, (u8 *)buffer, 6);
	coords->x = be16_to_cpu(buffer[0]);
	coords->y = be16_to_cpu(buffer[1]);
	coords->z = be16_to_cpu(buffer[2]);
	dev_dbg(&client->dev, "%s: x %d, y %d, z %d\n", __func__,
	coords->x, coords->y, coords->z);
	}

	/**
	* mpu3050_set_power_mode - set the power mode
	* @client: i2c client for the sensor
	* @val: value to switch on/off of power, 1: normal power, 0: low power
	*
	* Put device to normal-power mode or low-power mode.
	*/
	static void mpu3050_set_power_mode(struct i2c_client *client, u8 val)
	{
	u8 value;

	value = i2c_smbus_read_byte_data(client, MPU3050_PWR_MGM);
	value = (value & ~MPU3050_PWR_MGM_MASK) \|
	(((val << MPU3050_PWR_MGM_POS) & MPU3050_PWR_MGM_MASK) ^
	MPU3050_PWR_MGM_MASK);
	i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM, value);
	}

	/**
	* mpu3050_input_open - called on input event open
	* @input: input dev of opened device
	*
	* The input layer calls this function when input event is opened. The
	* function will push the device to resume. Then, the device is ready
	* to provide data.
	*/
	static int mpu3050_input_open(struct input_dev *input)
	{
	struct mpu3050_sensor *sensor = input_get_drvdata(input);
	int error;

	pm_runtime_get(sensor->dev);

	/* Enable interrupts */
	error = i2c_smbus_write_byte_data(sensor->client, MPU3050_INT_CFG,
	MPU3050_LATCH_INT_EN \|
	MPU3050_RAW_RDY_EN \|
	MPU3050_MPU_RDY_EN);
	if (error < 0) {
	pm_runtime_put(sensor->dev);
	return error;
	}

	return 0;
	}

	/**
	* mpu3050_input_close - called on input event close
	* @input: input dev of closed device
	*
	* The input layer calls this function when input event is closed. The
	* function will push the device to suspend.
	*/
	static void mpu3050_input_close(struct input_dev *input)
	{
	struct mpu3050_sensor *sensor = input_get_drvdata(input);

	pm_runtime_put(sensor->dev);
	}

	/**
	* mpu3050_interrupt_thread - handle an IRQ
	* @irq: interrupt numner
	* @data: the sensor
	*
	* Called by the kernel single threaded after an interrupt occurs. Read
	* the sensor data and generate an input event for it.
	*/
	static irqreturn_t mpu3050_interrupt_thread(int irq, void *data)
	{
	struct mpu3050_sensor *sensor = data;
	struct axis_data axis;

	mpu3050_read_xyz(sensor->client, &axis);

	input_report_abs(sensor->idev, ABS_X, axis.x);
	input_report_abs(sensor->idev, ABS_Y, axis.y);
	input_report_abs(sensor->idev, ABS_Z, axis.z);
	input_sync(sensor->idev);

	return IRQ_HANDLED;
	}

	/**
	* mpu3050_hw_init - initialize hardware
	* @sensor: the sensor
	*
	* Called during device probe; configures the sampling method.
	*/
	static int __devinit mpu3050_hw_init(struct mpu3050_sensor *sensor)
	{
	struct i2c_client *client = sensor->client;
	int ret;
	u8 reg;

	/* Reset */
	ret = i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM,
	MPU3050_PWR_MGM_RESET);
	if (ret < 0)
	return ret;

	ret = i2c_smbus_read_byte_data(client, MPU3050_PWR_MGM);
	if (ret < 0)
	return ret;

	ret &= ~MPU3050_PWR_MGM_CLKSEL;
	ret \|= MPU3050_PWR_MGM_PLL_Z;
	ret = i2c_smbus_write_byte_data(client, MPU3050_PWR_MGM, ret);
	if (ret < 0)
	return ret;

	/* Output frequency divider. The poll interval */
	ret = i2c_smbus_write_byte_data(client, MPU3050_SMPLRT_DIV,
	MPU3050_DEFAULT_POLL_INTERVAL - 1);
	if (ret < 0)
	return ret;

	/* Set low pass filter and full scale */
	reg = MPU3050_DEFAULT_FS_RANGE;
	reg \|= MPU3050_DLPF_CFG_42HZ << 3;
	reg \|= MPU3050_EXT_SYNC_NONE << 5;
	ret = i2c_smbus_write_byte_data(client, MPU3050_DLPF_FS_SYNC, reg);
	if (ret < 0)
	return ret;

	return 0;
	}

	/**
	* mpu3050_probe - device detection callback
	* @client: i2c client of found device
	* @id: id match information
	*
	* The I2C layer calls us when it believes a sensor is present at this
	* address. Probe to see if this is correct and to validate the device.
	*
	* If present install the relevant sysfs interfaces and input device.
	*/
	static int __devinit mpu3050_probe(struct i2c_client *client,
	const struct i2c_device_id *id)
	{
	struct mpu3050_sensor *sensor;
	struct input_dev *idev;
	int ret;
	int error;

	sensor = kzalloc(sizeof(struct mpu3050_sensor), GFP_KERNEL);
	idev = input_allocate_device();
	if (!sensor \|\| !idev) {
	dev_err(&client->dev, "failed to allocate driver data\n");
	error = -ENOMEM;
	goto err_free_mem;
	}

	sensor->client = client;
	sensor->dev = &client->dev;
	sensor->idev = idev;

	mpu3050_set_power_mode(client, 1);
	msleep(10);

	ret = i2c_smbus_read_byte_data(client, MPU3050_CHIP_ID_REG);
	if (ret < 0) {
	dev_err(&client->dev, "failed to detect device\n");
	error = -ENXIO;
	goto err_free_mem;
	}

	if (ret != MPU3050_CHIP_ID) {
	dev_err(&client->dev, "unsupported chip id\n");
	error = -ENXIO;
	goto err_free_mem;
	}

	idev->name = "MPU3050";
	idev->id.bustype = BUS_I2C;
	idev->dev.parent = &client->dev;

	idev->open = mpu3050_input_open;
	idev->close = mpu3050_input_close;

	__set_bit(EV_ABS, idev->evbit);
	input_set_abs_params(idev, ABS_X,
	MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0);
	input_set_abs_params(idev, ABS_Y,
	MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0);
	input_set_abs_params(idev, ABS_Z,
	MPU3050_MIN_VALUE, MPU3050_MAX_VALUE, 0, 0);

	input_set_drvdata(idev, sensor);

	pm_runtime_set_active(&client->dev);

	error = mpu3050_hw_init(sensor);
	if (error)
	goto err_pm_set_suspended;

	error = request_threaded_irq(client->irq,
	NULL, mpu3050_interrupt_thread,
	IRQF_TRIGGER_RISING,
	"mpu3050", sensor);
	if (error) {
	dev_err(&client->dev,
	"can't get IRQ %d, error %d\n", client->irq, error);
	goto err_pm_set_suspended;
	}

	error = input_register_device(idev);
	if (error) {
	dev_err(&client->dev, "failed to register input device\n");
	goto err_free_irq;
	}

	pm_runtime_enable(&client->dev);
	pm_runtime_set_autosuspend_delay(&client->dev, MPU3050_AUTO_DELAY);

	return 0;

	err_free_irq:
	free_irq(client->irq, sensor);
	err_pm_set_suspended:
	pm_runtime_set_suspended(&client->dev);
	err_free_mem:
	input_free_device(idev);
	kfree(sensor);
	return error;
	}

	/**
	* mpu3050_remove - remove a sensor
	* @client: i2c client of sensor being removed
	*
	* Our sensor is going away, clean up the resources.
	*/
	static int __devexit mpu3050_remove(struct i2c_client *client)
	{
	struct mpu3050_sensor *sensor = i2c_get_clientdata(client);

	pm_runtime_disable(&client->dev);
	pm_runtime_set_suspended(&client->dev);

	free_irq(client->irq, sensor);
	input_unregister_device(sensor->idev);
	kfree(sensor);

	return 0;
	}

	#ifdef CONFIG_PM
	/**
	* mpu3050_suspend - called on device suspend
	* @dev: device being suspended
	*
	* Put the device into sleep mode before we suspend the machine.
	*/
	static int mpu3050_suspend(struct device *dev)
	{
	struct i2c_client *client = to_i2c_client(dev);

	mpu3050_set_power_mode(client, 0);

	return 0;
	}

	/**
	* mpu3050_resume - called on device resume
	* @dev: device being resumed
	*
	* Put the device into powered mode on resume.
	*/
	static int mpu3050_resume(struct device *dev)
	{
	struct i2c_client *client = to_i2c_client(dev);

	mpu3050_set_power_mode(client, 1);
	msleep(100); /* wait for gyro chip resume */

	return 0;
	}
	#endif

	static UNIVERSAL_DEV_PM_OPS(mpu3050_pm, mpu3050_suspend, mpu3050_resume, NULL);

	static const struct i2c_device_id mpu3050_ids[] = {
	{ "mpu3050", 0 },
	{ }
	};
	MODULE_DEVICE_TABLE(i2c, mpu3050_ids);

	static const struct of_device_id mpu3050_of_match[] = {
	{ .compatible = "invn,mpu3050", },
	{ },
	};
	MODULE_DEVICE_TABLE(of, mpu3050_of_match);

	static struct i2c_driver mpu3050_i2c_driver = {
	.driver = {
	.name = "mpu3050",
	.owner = THIS_MODULE,
	.pm = &mpu3050_pm,
	.of_match_table = mpu3050_of_match,
	},
	.probe = mpu3050_probe,
	.remove = __devexit_p(mpu3050_remove),
	.id_table = mpu3050_ids,
	};

	static int __init mpu3050_init(void)
	{
	return i2c_add_driver(&mpu3050_i2c_driver);
	}
	module_init(mpu3050_init);

	static void __exit mpu3050_exit(void)
	{
	i2c_del_driver(&mpu3050_i2c_driver);
	}
	module_exit(mpu3050_exit);

	MODULE_AUTHOR("Wistron Corp.");
	MODULE_DESCRIPTION("MPU3050 Tri-axis gyroscope driver");
	MODULE_LICENSE("GPL");