[PATCH v4 0/4] iio: imu: inv_mpu6050: Split driver into core and I2C/SPI functionality

[PATCH v4 0/4] iio: imu: inv_mpu6050: Split driver into core and I2C/SPI functionality

[Adriana Reus]

This series splits this driver into general and I2C/SPI specific functionality.
The first patch is a fix for a bug in the interrupt pin configuration.
The second patch changes all the I2C specific calls into regmap calls.
The third patch separated the remaining I2C specific part into a different component.
Finally the fourth patch adds SPI support for the MPU6000 chip.

No changes since v3 for the first two patches.
Adressed comments for the last two patches.

Tested-by: Michael Welling <mwelling@ieee.org>

Adriana Reus (4):
  iio: imu: inv-mpu6050: Fix interrupt pin configuration
  iio: imu: inv_mpu6050: Use regmap instead of i2c specific functions
  iio: imu: inv_mpu6050: Separate driver into core and i2c
    functionality.
  iio: imu: inv_mpu6050: Add SPI support for MPU6000

 drivers/iio/imu/inv_mpu6050/Kconfig           |  22 ++-
 drivers/iio/imu/inv_mpu6050/Makefile          |   8 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c    |  18 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c    | 258 ++++++--------------------
 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c     | 206 ++++++++++++++++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h     |  19 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c    |  35 ++--
 drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c     | 105 +++++++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c |  10 +-
 9 files changed, 438 insertions(+), 243 deletions(-)
 create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
 create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c

-- 
1.9.1

[PATCH v4 1/4] iio: imu: inv-mpu6050: Fix interrupt pin configuration

[Adriana Reus]

The select/deselect_bypass duo writes the irq number into the interrupt
configuration register.
If there is a i2c slave device connected to the mpu (eg. a magnetometer)
then this can hinder interrupt delivery for the accelerometer and
gyroscope.
Set this register to the default configuration.

Signed-off-by: Adriana Reus <adriana.reus@intel.com>
---
 * No change since v3
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 4 ++--
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 0852b7f..1121f4e 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -129,7 +129,7 @@ static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
 	if (!ret) {
 		st->powerup_count++;
 		ret = inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
-						     st->client->irq |
+						     INV_MPU6050_INT_PIN_CFG |
 						     INV_MPU6050_BIT_BYPASS_EN);
 	}
 write_error:
@@ -147,7 +147,7 @@ static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
 	mutex_lock(&indio_dev->mlock);
 	/* It doesn't really mattter, if any of the calls fails */
 	inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
-				       st->client->irq);
+				       INV_MPU6050_INT_PIN_CFG);
 	st->powerup_count--;
 	if (!st->powerup_count)
 		inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index db0a4a2..455b99d 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -185,6 +185,7 @@ struct inv_mpu6050_state {
 
 #define INV_MPU6050_REG_INT_PIN_CFG	0x37
 #define INV_MPU6050_BIT_BYPASS_EN	0x2
+#define INV_MPU6050_INT_PIN_CFG		0
 
 /* init parameters */
 #define INV_MPU6050_INIT_FIFO_RATE           50
-- 
1.9.1

[PATCH v4 2/4] iio: imu: inv_mpu6050: Use regmap instead of i2c specific functions

[Adriana Reus]

Use regmap instead of i2c specific functions.
This is in preparation of splitting this driver into core and
i2c specific functionality.

Signed-off-by: Adriana Reus <adriana.reus@intel.com>
Acked-by: Crt Mori <cmo@melexis.com>
---
 * No changes since v3
 drivers/iio/imu/inv_mpu6050/Kconfig           |  1 +
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c    | 71 ++++++++++++++-------------
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h     |  2 +
 drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c    | 30 ++++++-----
 drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c |  6 +--
 5 files changed, 57 insertions(+), 53 deletions(-)

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 48fbc0b..f301f3a 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -8,6 +8,7 @@ config INV_MPU6050_IIO
 	select IIO_BUFFER
 	select IIO_TRIGGERED_BUFFER
 	select I2C_MUX
+	select REGMAP_I2C
 	help
 	  This driver supports the Invensense MPU6050 devices.
 	  This driver can also support MPU6500 in MPU6050 compatibility mode
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 1121f4e..151a378 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -27,6 +27,11 @@
 #include <linux/acpi.h>
 #include "inv_mpu_iio.h"
 
+static const struct regmap_config inv_mpu_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+};
+
 /*
  * this is the gyro scale translated from dynamic range plus/minus
  * {250, 500, 1000, 2000} to rad/s
@@ -75,11 +80,6 @@ static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
 	},
 };
 
-int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
-{
-	return i2c_smbus_write_i2c_block_data(st->client, reg, 1, &d);
-}
-
 /*
  * The i2c read/write needs to happen in unlocked mode. As the parent
  * adapter is common. If we use locked versions, it will fail as
@@ -159,16 +159,15 @@ static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
 
 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
 {
-	u8 d, mgmt_1;
+	unsigned int d, mgmt_1;
 	int result;
 
 	/* switch clock needs to be careful. Only when gyro is on, can
 	   clock source be switched to gyro. Otherwise, it must be set to
 	   internal clock */
 	if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
-		result = i2c_smbus_read_i2c_block_data(st->client,
-				       st->reg->pwr_mgmt_1, 1, &mgmt_1);
-		if (result != 1)
+		result = regmap_read(st->map, st->reg->pwr_mgmt_1, &mgmt_1);
+		if (result)
 			return result;
 
 		mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
@@ -178,20 +177,19 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
 		/* turning off gyro requires switch to internal clock first.
 		   Then turn off gyro engine */
 		mgmt_1 |= INV_CLK_INTERNAL;
-		result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, mgmt_1);
+		result = regmap_write(st->map, st->reg->pwr_mgmt_1, mgmt_1);
 		if (result)
 			return result;
 	}
 
-	result = i2c_smbus_read_i2c_block_data(st->client,
-				       st->reg->pwr_mgmt_2, 1, &d);
-	if (result != 1)
+	result = regmap_read(st->map, st->reg->pwr_mgmt_2, &d);
+	if (result)
 		return result;
 	if (en)
 		d &= ~mask;
 	else
 		d |= mask;
-	result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
+	result = regmap_write(st->map, st->reg->pwr_mgmt_2, d);
 	if (result)
 		return result;
 
@@ -201,7 +199,7 @@ int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
 		if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
 			/* switch internal clock to PLL */
 			mgmt_1 |= INV_CLK_PLL;
-			result = inv_mpu6050_write_reg(st,
+			result = regmap_write(st->map,
 					st->reg->pwr_mgmt_1, mgmt_1);
 			if (result)
 				return result;
@@ -218,15 +216,14 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 	if (power_on) {
 		/* Already under indio-dev->mlock mutex */
 		if (!st->powerup_count)
-			result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
-						       0);
+			result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);
 		if (!result)
 			st->powerup_count++;
 	} else {
 		st->powerup_count--;
 		if (!st->powerup_count)
-			result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
-						       INV_MPU6050_BIT_SLEEP);
+			result = regmap_write(st->map, st->reg->pwr_mgmt_1,
+					      INV_MPU6050_BIT_SLEEP);
 	}
 
 	if (result)
@@ -257,22 +254,22 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 	if (result)
 		return result;
 	d = (INV_MPU6050_FSR_2000DPS << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
-	result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
+	result = regmap_write(st->map, st->reg->gyro_config, d);
 	if (result)
 		return result;
 
 	d = INV_MPU6050_FILTER_20HZ;
-	result = inv_mpu6050_write_reg(st, st->reg->lpf, d);
+	result = regmap_write(st->map, st->reg->lpf, d);
 	if (result)
 		return result;
 
 	d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;
-	result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
+	result = regmap_write(st->map, st->reg->sample_rate_div, d);
 	if (result)
 		return result;
 
 	d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
-	result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
+	result = regmap_write(st->map, st->reg->accl_config, d);
 	if (result)
 		return result;
 
@@ -290,9 +287,8 @@ static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
 	__be16 d;
 
 	ind = (axis - IIO_MOD_X) * 2;
-	result = i2c_smbus_read_i2c_block_data(st->client, reg + ind,  2,
-						(u8 *)&d);
-	if (result != 2)
+	result = regmap_bulk_read(st->map, reg + ind, (u8 *)&d, 2);
+	if (result)
 		return -EINVAL;
 	*val = (short)be16_to_cpup(&d);
 
@@ -418,8 +414,7 @@ static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
 	for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
 		if (gyro_scale_6050[i] == val) {
 			d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
-			result = inv_mpu6050_write_reg(st,
-					st->reg->gyro_config, d);
+			result = regmap_write(st->map, st->reg->gyro_config, d);
 			if (result)
 				return result;
 
@@ -456,8 +451,7 @@ static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
 	for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
 		if (accel_scale[i] == val) {
 			d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
-			result = inv_mpu6050_write_reg(st,
-					st->reg->accl_config, d);
+			result = regmap_write(st->map, st->reg->accl_config, d);
 			if (result)
 				return result;
 
@@ -537,7 +531,7 @@ static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 	while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
 		i++;
 	data = d[i];
-	result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
+	result = regmap_write(st->map, st->reg->lpf, data);
 	if (result)
 		return result;
 	st->chip_config.lpf = data;
@@ -575,7 +569,7 @@ static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
 		goto fifo_rate_fail;
 
 	d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
-	result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
+	result = regmap_write(st->map, st->reg->sample_rate_div, d);
 	if (result)
 		goto fifo_rate_fail;
 	st->chip_config.fifo_rate = fifo_rate;
@@ -736,8 +730,8 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 	st->reg = hw_info[st->chip_type].reg;
 
 	/* reset to make sure previous state are not there */
-	result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
-					INV_MPU6050_BIT_H_RESET);
+	result = regmap_write(st->map, st->reg->pwr_mgmt_1,
+			      INV_MPU6050_BIT_H_RESET);
 	if (result)
 		return result;
 	msleep(INV_MPU6050_POWER_UP_TIME);
@@ -778,11 +772,19 @@ static int inv_mpu_probe(struct i2c_client *client,
 	struct iio_dev *indio_dev;
 	struct inv_mpu6050_platform_data *pdata;
 	int result;
+	struct regmap *regmap;
 
 	if (!i2c_check_functionality(client->adapter,
 		I2C_FUNC_SMBUS_I2C_BLOCK))
 		return -ENOSYS;
 
+	regmap = devm_regmap_init_i2c(client, &inv_mpu_regmap_config);
+	if (IS_ERR(regmap)) {
+		dev_err(&client->dev, "Failed to register i2c regmap %d\n",
+			(int)PTR_ERR(regmap));
+		return PTR_ERR(regmap);
+	}
+
 	indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
 	if (!indio_dev)
 		return -ENOMEM;
@@ -790,6 +792,7 @@ static int inv_mpu_probe(struct i2c_client *client,
 	st = iio_priv(indio_dev);
 	st->client = client;
 	st->powerup_count = 0;
+	st->map = regmap;
 	pdata = dev_get_platdata(&client->dev);
 	if (pdata)
 		st->plat_data = *pdata;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 455b99d..469cd1f 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -15,6 +15,7 @@
 #include <linux/spinlock.h>
 #include <linux/iio/iio.h>
 #include <linux/iio/buffer.h>
+#include <linux/regmap.h>
 #include <linux/iio/sysfs.h>
 #include <linux/iio/kfifo_buf.h>
 #include <linux/iio/trigger.h>
@@ -125,6 +126,7 @@ struct inv_mpu6050_state {
 	unsigned int powerup_count;
 	struct inv_mpu6050_platform_data plat_data;
 	DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
+	struct regmap *map;
 };
 
 /*register and associated bit definition*/
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index ba27e27..eb19dae 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -13,7 +13,6 @@
 
 #include <linux/module.h>
 #include <linux/slab.h>
-#include <linux/i2c.h>
 #include <linux/err.h>
 #include <linux/delay.h>
 #include <linux/sysfs.h>
@@ -41,22 +40,22 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
 	struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 
 	/* disable interrupt */
-	result = inv_mpu6050_write_reg(st, st->reg->int_enable, 0);
+	result = regmap_write(st->map, st->reg->int_enable, 0);
 	if (result) {
 		dev_err(&st->client->dev, "int_enable failed %d\n", result);
 		return result;
 	}
 	/* disable the sensor output to FIFO */
-	result = inv_mpu6050_write_reg(st, st->reg->fifo_en, 0);
+	result = regmap_write(st->map, st->reg->fifo_en, 0);
 	if (result)
 		goto reset_fifo_fail;
 	/* disable fifo reading */
-	result = inv_mpu6050_write_reg(st, st->reg->user_ctrl, 0);
+	result = regmap_write(st->map, st->reg->user_ctrl, 0);
 	if (result)
 		goto reset_fifo_fail;
 
 	/* reset FIFO*/
-	result = inv_mpu6050_write_reg(st, st->reg->user_ctrl,
+	result = regmap_write(st->map, st->reg->user_ctrl,
 					INV_MPU6050_BIT_FIFO_RST);
 	if (result)
 		goto reset_fifo_fail;
@@ -67,13 +66,13 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
 	/* enable interrupt */
 	if (st->chip_config.accl_fifo_enable ||
 	    st->chip_config.gyro_fifo_enable) {
-		result = inv_mpu6050_write_reg(st, st->reg->int_enable,
+		result = regmap_write(st->map, st->reg->int_enable,
 					INV_MPU6050_BIT_DATA_RDY_EN);
 		if (result)
 			return result;
 	}
 	/* enable FIFO reading and I2C master interface*/
-	result = inv_mpu6050_write_reg(st, st->reg->user_ctrl,
+	result = regmap_write(st->map, st->reg->user_ctrl,
 					INV_MPU6050_BIT_FIFO_EN);
 	if (result)
 		goto reset_fifo_fail;
@@ -83,7 +82,7 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
 		d |= INV_MPU6050_BITS_GYRO_OUT;
 	if (st->chip_config.accl_fifo_enable)
 		d |= INV_MPU6050_BIT_ACCEL_OUT;
-	result = inv_mpu6050_write_reg(st, st->reg->fifo_en, d);
+	result = regmap_write(st->map, st->reg->fifo_en, d);
 	if (result)
 		goto reset_fifo_fail;
 
@@ -91,7 +90,7 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
 
 reset_fifo_fail:
 	dev_err(&st->client->dev, "reset fifo failed %d\n", result);
-	result = inv_mpu6050_write_reg(st, st->reg->int_enable,
+	result = regmap_write(st->map, st->reg->int_enable,
 					INV_MPU6050_BIT_DATA_RDY_EN);
 
 	return result;
@@ -143,10 +142,10 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
 	 * read fifo_count register to know how many bytes inside FIFO
 	 * right now
 	 */
-	result = i2c_smbus_read_i2c_block_data(st->client,
+	result = regmap_bulk_read(st->map,
 				       st->reg->fifo_count_h,
-				       INV_MPU6050_FIFO_COUNT_BYTE, data);
-	if (result != INV_MPU6050_FIFO_COUNT_BYTE)
+				       data, INV_MPU6050_FIFO_COUNT_BYTE);
+	if (result)
 		goto end_session;
 	fifo_count = be16_to_cpup((__be16 *)(&data[0]));
 	if (fifo_count < bytes_per_datum)
@@ -161,10 +160,9 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
 		fifo_count / bytes_per_datum + INV_MPU6050_TIME_STAMP_TOR)
 			goto flush_fifo;
 	while (fifo_count >= bytes_per_datum) {
-		result = i2c_smbus_read_i2c_block_data(st->client,
-						       st->reg->fifo_r_w,
-						       bytes_per_datum, data);
-		if (result != bytes_per_datum)
+		result = regmap_bulk_read(st->map, st->reg->fifo_r_w,
+					  data, bytes_per_datum);
+		if (result)
 			goto flush_fifo;
 
 		result = kfifo_out(&st->timestamps, &timestamp, 1);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index 844610c..ee9e66d 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -65,15 +65,15 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
 		if (result)
 			return result;
 	} else {
-		result = inv_mpu6050_write_reg(st, st->reg->fifo_en, 0);
+		result = regmap_write(st->map, st->reg->fifo_en, 0);
 		if (result)
 			return result;
 
-		result = inv_mpu6050_write_reg(st, st->reg->int_enable, 0);
+		result = regmap_write(st->map, st->reg->int_enable, 0);
 		if (result)
 			return result;
 
-		result = inv_mpu6050_write_reg(st, st->reg->user_ctrl, 0);
+		result = regmap_write(st->map, st->reg->user_ctrl, 0);
 		if (result)
 			return result;
 
-- 
1.9.1

[PATCH v4 3/4] iio: imu: inv_mpu6050: Separate driver into core and i2c functionality.

[Adriana Reus]

Separate this driver into core and i2c functionality.
This is in preparation for adding spi support.

Signed-off-by: Adriana Reus <adriana.reus@intel.com>
---
 Changes since v3:
 * Kconfig changes suggested by Lars
 * dropped owner assignment

 drivers/iio/imu/inv_mpu6050/Kconfig           |  11 +-
 drivers/iio/imu/inv_mpu6050/Makefile          |   5 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c    |  18 ++-
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c    | 208 ++++----------------------
 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c     | 206 +++++++++++++++++++++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h     |  12 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c    |   5 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c |   4 +-
 8 files changed, 266 insertions(+), 203 deletions(-)
 create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index f301f3a..b664858 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -3,10 +3,14 @@
 #
 
 config INV_MPU6050_IIO
-	tristate "Invensense MPU6050 devices"
-	depends on I2C && SYSFS
+	tristate
 	select IIO_BUFFER
 	select IIO_TRIGGERED_BUFFER
+
+config INV_MPU6050_I2C
+	tristate "Invensense MPU6050 devices (I2C)"
+	depends on I2C
+	select INV_MPU6050_IIO
 	select I2C_MUX
 	select REGMAP_I2C
 	help
@@ -15,4 +19,5 @@ config INV_MPU6050_IIO
 	  and also in MPU6500 mode with some limitations.
 	  It is a gyroscope/accelerometer combo device.
 	  This driver can be built as a module. The module will be called
-	  inv-mpu6050.
+	  inv-mpu6050-i2c.
+
diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
index f566f6a..ca4941d 100644
--- a/drivers/iio/imu/inv_mpu6050/Makefile
+++ b/drivers/iio/imu/inv_mpu6050/Makefile
@@ -3,4 +3,7 @@
 #
 
 obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
-inv-mpu6050-objs := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o inv_mpu_acpi.o
+inv-mpu6050-objs := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
+
+obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
+inv-mpu6050-i2c-objs := inv_mpu_i2c.o inv_mpu_acpi.o
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c
index 1c982a5..0bcfa8d 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c
@@ -139,22 +139,23 @@ static int inv_mpu_process_acpi_config(struct i2c_client *client,
 	return 0;
 }
 
-int inv_mpu_acpi_create_mux_client(struct inv_mpu6050_state *st)
+int inv_mpu_acpi_create_mux_client(struct i2c_client *client)
 {
+	struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(&client->dev));
 
 	st->mux_client = NULL;
-	if (ACPI_HANDLE(&st->client->dev)) {
+	if (ACPI_HANDLE(&client->dev)) {
 		struct i2c_board_info info;
 		struct acpi_device *adev;
 		int ret = -1;
 
-		adev = ACPI_COMPANION(&st->client->dev);
+		adev = ACPI_COMPANION(&client->dev);
 		memset(&info, 0, sizeof(info));
 
 		dmi_check_system(inv_mpu_dev_list);
 		switch (matched_product_name) {
 		case INV_MPU_ASUS_T100TA:
-			ret = asus_acpi_get_sensor_info(adev, st->client,
+			ret = asus_acpi_get_sensor_info(adev, client,
 							&info);
 			break;
 		/* Add more matched product processing here */
@@ -166,7 +167,7 @@ int inv_mpu_acpi_create_mux_client(struct inv_mpu6050_state *st)
 			/* No matching DMI, so create device on INV6XX type */
 			unsigned short primary, secondary;
 
-			ret = inv_mpu_process_acpi_config(st->client, &primary,
+			ret = inv_mpu_process_acpi_config(client, &primary,
 							  &secondary);
 			if (!ret && secondary) {
 				char *name;
@@ -191,8 +192,9 @@ int inv_mpu_acpi_create_mux_client(struct inv_mpu6050_state *st)
 	return 0;
 }
 
-void inv_mpu_acpi_delete_mux_client(struct inv_mpu6050_state *st)
+void inv_mpu_acpi_delete_mux_client(struct i2c_client *client)
 {
+	struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(&client->dev));
 	if (st->mux_client)
 		i2c_unregister_device(st->mux_client);
 }
@@ -200,12 +202,12 @@ void inv_mpu_acpi_delete_mux_client(struct inv_mpu6050_state *st)
 
 #include "inv_mpu_iio.h"
 
-int inv_mpu_acpi_create_mux_client(struct inv_mpu6050_state *st)
+int inv_mpu_acpi_create_mux_client(struct i2c_client *client)
 {
 	return 0;
 }
 
-void inv_mpu_acpi_delete_mux_client(struct inv_mpu6050_state *st)
+void inv_mpu_acpi_delete_mux_client(struct i2c_client *client)
 {
 }
 #endif
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 151a378..7b46db5 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -27,11 +27,6 @@
 #include <linux/acpi.h>
 #include "inv_mpu_iio.h"
 
-static const struct regmap_config inv_mpu_regmap_config = {
-	.reg_bits = 8,
-	.val_bits = 8,
-};
-
 /*
  * this is the gyro scale translated from dynamic range plus/minus
  * {250, 500, 1000, 2000} to rad/s
@@ -80,83 +75,6 @@ static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
 	},
 };
 
-/*
- * The i2c read/write needs to happen in unlocked mode. As the parent
- * adapter is common. If we use locked versions, it will fail as
- * the mux adapter will lock the parent i2c adapter, while calling
- * select/deselect functions.
- */
-static int inv_mpu6050_write_reg_unlocked(struct inv_mpu6050_state *st,
-					  u8 reg, u8 d)
-{
-	int ret;
-	u8 buf[2];
-	struct i2c_msg msg[1] = {
-		{
-			.addr = st->client->addr,
-			.flags = 0,
-			.len = sizeof(buf),
-			.buf = buf,
-		}
-	};
-
-	buf[0] = reg;
-	buf[1] = d;
-	ret = __i2c_transfer(st->client->adapter, msg, 1);
-	if (ret != 1)
-		return ret;
-
-	return 0;
-}
-
-static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
-				     u32 chan_id)
-{
-	struct iio_dev *indio_dev = mux_priv;
-	struct inv_mpu6050_state *st = iio_priv(indio_dev);
-	int ret = 0;
-
-	/* Use the same mutex which was used everywhere to protect power-op */
-	mutex_lock(&indio_dev->mlock);
-	if (!st->powerup_count) {
-		ret = inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
-						     0);
-		if (ret)
-			goto write_error;
-
-		msleep(INV_MPU6050_REG_UP_TIME);
-	}
-	if (!ret) {
-		st->powerup_count++;
-		ret = inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
-						     INV_MPU6050_INT_PIN_CFG |
-						     INV_MPU6050_BIT_BYPASS_EN);
-	}
-write_error:
-	mutex_unlock(&indio_dev->mlock);
-
-	return ret;
-}
-
-static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
-				       void *mux_priv, u32 chan_id)
-{
-	struct iio_dev *indio_dev = mux_priv;
-	struct inv_mpu6050_state *st = iio_priv(indio_dev);
-
-	mutex_lock(&indio_dev->mlock);
-	/* It doesn't really mattter, if any of the calls fails */
-	inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
-				       INV_MPU6050_INT_PIN_CFG);
-	st->powerup_count--;
-	if (!st->powerup_count)
-		inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
-					       INV_MPU6050_BIT_SLEEP);
-	mutex_unlock(&indio_dev->mlock);
-
-	return 0;
-}
-
 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
 {
 	unsigned int d, mgmt_1;
@@ -758,42 +676,23 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 	return 0;
 }
 
-/**
- *  inv_mpu_probe() - probe function.
- *  @client:          i2c client.
- *  @id:              i2c device id.
- *
- *  Returns 0 on success, a negative error code otherwise.
- */
-static int inv_mpu_probe(struct i2c_client *client,
-	const struct i2c_device_id *id)
+int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name)
 {
 	struct inv_mpu6050_state *st;
 	struct iio_dev *indio_dev;
 	struct inv_mpu6050_platform_data *pdata;
+	struct device *dev = regmap_get_device(regmap);
 	int result;
-	struct regmap *regmap;
 
-	if (!i2c_check_functionality(client->adapter,
-		I2C_FUNC_SMBUS_I2C_BLOCK))
-		return -ENOSYS;
-
-	regmap = devm_regmap_init_i2c(client, &inv_mpu_regmap_config);
-	if (IS_ERR(regmap)) {
-		dev_err(&client->dev, "Failed to register i2c regmap %d\n",
-			(int)PTR_ERR(regmap));
-		return PTR_ERR(regmap);
-	}
-
-	indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
 	if (!indio_dev)
 		return -ENOMEM;
 
 	st = iio_priv(indio_dev);
-	st->client = client;
 	st->powerup_count = 0;
+	st->irq = irq;
 	st->map = regmap;
-	pdata = dev_get_platdata(&client->dev);
+	pdata = dev_get_platdata(dev);
 	if (pdata)
 		st->plat_data = *pdata;
 	/* power is turned on inside check chip type*/
@@ -803,18 +702,17 @@ static int inv_mpu_probe(struct i2c_client *client,
 
 	result = inv_mpu6050_init_config(indio_dev);
 	if (result) {
-		dev_err(&client->dev,
-			"Could not initialize device.\n");
+		dev_err(dev, "Could not initialize device.\n");
 		return result;
 	}
 
-	i2c_set_clientdata(client, indio_dev);
-	indio_dev->dev.parent = &client->dev;
-	/* id will be NULL when enumerated via ACPI */
-	if (id)
-		indio_dev->name = (char *)id->name;
+	dev_set_drvdata(dev, indio_dev);
+	indio_dev->dev.parent = dev;
+	/* name will be NULL when enumerated via ACPI */
+	if (name)
+		indio_dev->name = name;
 	else
-		indio_dev->name = (char *)dev_name(&client->dev);
+		indio_dev->name = dev_name(dev);
 	indio_dev->channels = inv_mpu_channels;
 	indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
 
@@ -826,13 +724,12 @@ static int inv_mpu_probe(struct i2c_client *client,
 					    inv_mpu6050_read_fifo,
 					    NULL);
 	if (result) {
-		dev_err(&st->client->dev, "configure buffer fail %d\n",
-				result);
+		dev_err(dev, "configure buffer fail %d\n", result);
 		return result;
 	}
 	result = inv_mpu6050_probe_trigger(indio_dev);
 	if (result) {
-		dev_err(&st->client->dev, "trigger probe fail %d\n", result);
+		dev_err(dev, "trigger probe fail %d\n", result);
 		goto out_unreg_ring;
 	}
 
@@ -840,102 +737,47 @@ static int inv_mpu_probe(struct i2c_client *client,
 	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);
+		dev_err(dev, "IIO register fail %d\n", result);
 		goto out_remove_trigger;
 	}
 
-	st->mux_adapter = i2c_add_mux_adapter(client->adapter,
-					      &client->dev,
-					      indio_dev,
-					      0, 0, 0,
-					      inv_mpu6050_select_bypass,
-					      inv_mpu6050_deselect_bypass);
-	if (!st->mux_adapter) {
-		result = -ENODEV;
-		goto out_unreg_device;
-	}
-
-	result = inv_mpu_acpi_create_mux_client(st);
-	if (result)
-		goto out_del_mux;
-
 	return 0;
 
-out_del_mux:
-	i2c_del_mux_adapter(st->mux_adapter);
-out_unreg_device:
-	iio_device_unregister(indio_dev);
 out_remove_trigger:
 	inv_mpu6050_remove_trigger(st);
 out_unreg_ring:
 	iio_triggered_buffer_cleanup(indio_dev);
 	return result;
 }
+EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
 
-static int inv_mpu_remove(struct i2c_client *client)
+int inv_mpu_core_remove(struct device  *dev)
 {
-	struct iio_dev *indio_dev = i2c_get_clientdata(client);
-	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
 
-	inv_mpu_acpi_delete_mux_client(st);
-	i2c_del_mux_adapter(st->mux_adapter);
 	iio_device_unregister(indio_dev);
-	inv_mpu6050_remove_trigger(st);
+	inv_mpu6050_remove_trigger(iio_priv(indio_dev));
 	iio_triggered_buffer_cleanup(indio_dev);
 
 	return 0;
 }
+EXPORT_SYMBOL_GPL(inv_mpu_core_remove);
+
 #ifdef CONFIG_PM_SLEEP
 
 static int inv_mpu_resume(struct device *dev)
 {
-	return inv_mpu6050_set_power_itg(
-		iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
+	return inv_mpu6050_set_power_itg(iio_priv(dev_get_drvdata(dev)), true);
 }
 
 static int inv_mpu_suspend(struct device *dev)
 {
-	return inv_mpu6050_set_power_itg(
-		iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
+	return inv_mpu6050_set_power_itg(iio_priv(dev_get_drvdata(dev)), false);
 }
-static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
-
-#define INV_MPU6050_PMOPS (&inv_mpu_pmops)
-#else
-#define INV_MPU6050_PMOPS NULL
 #endif /* CONFIG_PM_SLEEP */
 
-/*
- * device id table is used to identify what device can be
- * supported by this driver
- */
-static const struct i2c_device_id inv_mpu_id[] = {
-	{"mpu6050", INV_MPU6050},
-	{"mpu6500", INV_MPU6500},
-	{}
-};
-
-MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
-
-static const struct acpi_device_id inv_acpi_match[] = {
-	{"INVN6500", 0},
-	{ },
-};
-
-MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
-
-static struct i2c_driver inv_mpu_driver = {
-	.probe		=	inv_mpu_probe,
-	.remove		=	inv_mpu_remove,
-	.id_table	=	inv_mpu_id,
-	.driver = {
-		.name	=	"inv-mpu6050",
-		.pm     =       INV_MPU6050_PMOPS,
-		.acpi_match_table = ACPI_PTR(inv_acpi_match),
-	},
-};
-
-module_i2c_driver(inv_mpu_driver);
+SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
+EXPORT_SYMBOL_GPL(inv_mpu_pmops);
 
 MODULE_AUTHOR("Invensense Corporation");
 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
new file mode 100644
index 0000000..aa7c8b7
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -0,0 +1,206 @@
+/*
+* 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/acpi.h>
+#include <linux/delay.h>
+#include <linux/err.h>
+#include <linux/i2c.h>
+#include <linux/i2c-mux.h>
+#include <linux/iio/iio.h>
+#include <linux/module.h>
+#include "inv_mpu_iio.h"
+
+static const struct regmap_config inv_mpu_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+};
+
+/*
+ * The i2c read/write needs to happen in unlocked mode. As the parent
+ * adapter is common. If we use locked versions, it will fail as
+ * the mux adapter will lock the parent i2c adapter, while calling
+ * select/deselect functions.
+ */
+static int inv_mpu6050_write_reg_unlocked(struct i2c_client *client,
+					  u8 reg, u8 d)
+{
+	int ret;
+	u8 buf[2] = {reg, d};
+	struct i2c_msg msg[1] = {
+		{
+			.addr = client->addr,
+			.flags = 0,
+			.len = sizeof(buf),
+			.buf = buf,
+		}
+	};
+
+	ret = __i2c_transfer(client->adapter, msg, 1);
+	if (ret != 1)
+		return ret;
+
+	return 0;
+}
+
+static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
+				     u32 chan_id)
+{
+	struct i2c_client *client = mux_priv;
+	struct iio_dev *indio_dev = dev_get_drvdata(&client->dev);
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+	int ret = 0;
+
+	/* Use the same mutex which was used everywhere to protect power-op */
+	mutex_lock(&indio_dev->mlock);
+	if (!st->powerup_count) {
+		ret = inv_mpu6050_write_reg_unlocked(client,
+						     st->reg->pwr_mgmt_1, 0);
+		if (ret)
+			goto write_error;
+
+		msleep(INV_MPU6050_REG_UP_TIME);
+	}
+	if (!ret) {
+		st->powerup_count++;
+		ret = inv_mpu6050_write_reg_unlocked(client,
+						     st->reg->int_pin_cfg,
+						     INV_MPU6050_INT_PIN_CFG |
+						     INV_MPU6050_BIT_BYPASS_EN);
+	}
+write_error:
+	mutex_unlock(&indio_dev->mlock);
+
+	return ret;
+}
+
+static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
+				       void *mux_priv, u32 chan_id)
+{
+	struct i2c_client *client = mux_priv;
+	struct iio_dev *indio_dev = dev_get_drvdata(&client->dev);
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+	mutex_lock(&indio_dev->mlock);
+	/* It doesn't really mattter, if any of the calls fails */
+	inv_mpu6050_write_reg_unlocked(client, st->reg->int_pin_cfg,
+				       INV_MPU6050_INT_PIN_CFG);
+	st->powerup_count--;
+	if (!st->powerup_count)
+		inv_mpu6050_write_reg_unlocked(client, st->reg->pwr_mgmt_1,
+					       INV_MPU6050_BIT_SLEEP);
+	mutex_unlock(&indio_dev->mlock);
+
+	return 0;
+}
+
+/**
+ *  inv_mpu_probe() - probe function.
+ *  @client:          i2c client.
+ *  @id:              i2c device id.
+ *
+ *  Returns 0 on success, a negative error code otherwise.
+ */
+static int inv_mpu_probe(struct i2c_client *client,
+	const struct i2c_device_id *id)
+{
+	struct inv_mpu6050_state *st;
+	int result;
+	const char *name = id ? id->name : NULL;
+	struct regmap *regmap;
+
+	if (!i2c_check_functionality(client->adapter,
+				     I2C_FUNC_SMBUS_I2C_BLOCK))
+		return -ENOSYS;
+
+	regmap = devm_regmap_init_i2c(client, &inv_mpu_regmap_config);
+	if (IS_ERR(regmap)) {
+		dev_err(&client->dev, "Failed to register i2c regmap %d\n",
+			(int)PTR_ERR(regmap));
+		return PTR_ERR(regmap);
+	}
+
+	result = inv_mpu_core_probe(regmap, client->irq, name);
+	if (result < 0)
+		return result;
+
+	st = iio_priv(dev_get_drvdata(&client->dev));
+	st->mux_adapter = i2c_add_mux_adapter(client->adapter,
+					      &client->dev,
+					      client,
+					      0, 0, 0,
+					      inv_mpu6050_select_bypass,
+					      inv_mpu6050_deselect_bypass);
+	if (!st->mux_adapter) {
+		result = -ENODEV;
+		goto out_unreg_device;
+	}
+
+	result = inv_mpu_acpi_create_mux_client(client);
+	if (result)
+		goto out_del_mux;
+
+	return 0;
+
+out_del_mux:
+	i2c_del_mux_adapter(st->mux_adapter);
+out_unreg_device:
+	inv_mpu_core_remove(&client->dev);
+	return result;
+}
+
+static int inv_mpu_remove(struct i2c_client *client)
+{
+	struct iio_dev *indio_dev = i2c_get_clientdata(client);
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+	inv_mpu_acpi_delete_mux_client(client);
+	i2c_del_mux_adapter(st->mux_adapter);
+
+	return inv_mpu_core_remove(&client->dev);
+}
+
+/*
+ * device id table is used to identify what device can be
+ * supported by this driver
+ */
+static const struct i2c_device_id inv_mpu_id[] = {
+	{"mpu6050", INV_MPU6050},
+	{"mpu6500", INV_MPU6500},
+	{}
+};
+
+MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
+
+static const struct acpi_device_id inv_acpi_match[] = {
+	{"INVN6500", 0},
+	{ },
+};
+
+MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
+
+static struct i2c_driver inv_mpu_driver = {
+	.probe		=	inv_mpu_probe,
+	.remove		=	inv_mpu_remove,
+	.id_table	=	inv_mpu_id,
+	.driver = {
+		.acpi_match_table = ACPI_PTR(inv_acpi_match),
+		.name	=	"inv-mpu6050 i2c driver",
+		.pm     =       &inv_mpu_pmops,
+	},
+};
+
+module_i2c_driver(inv_mpu_driver);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("Invensense device MPU6050 driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 469cd1f..1bf65a0 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -108,9 +108,10 @@ struct inv_mpu6050_hw {
  *  @hw:		Other hardware-specific information.
  *  @chip_type:		chip type.
  *  @time_stamp_lock:	spin lock to time stamp.
- *  @client:		i2c client handle.
  *  @plat_data:		platform data.
  *  @timestamps:        kfifo queue to store time stamp.
+ *  @map		regmap pointer.
+ *  @irq		interrupt number.
  */
 struct inv_mpu6050_state {
 #define TIMESTAMP_FIFO_SIZE 16
@@ -120,13 +121,13 @@ struct inv_mpu6050_state {
 	const struct inv_mpu6050_hw *hw;
 	enum   inv_devices chip_type;
 	spinlock_t time_stamp_lock;
-	struct i2c_client *client;
 	struct i2c_adapter *mux_adapter;
 	struct i2c_client *mux_client;
 	unsigned int powerup_count;
 	struct inv_mpu6050_platform_data plat_data;
 	DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
 	struct regmap *map;
+	int irq;
 };
 
 /*register and associated bit definition*/
@@ -255,5 +256,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev);
 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
 int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
-int inv_mpu_acpi_create_mux_client(struct inv_mpu6050_state *st);
-void inv_mpu_acpi_delete_mux_client(struct inv_mpu6050_state *st);
+int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
+void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
+int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name);
+int inv_mpu_core_remove(struct device *dev);
+extern const struct dev_pm_ops inv_mpu_pmops;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index eb19dae..1fc5fd9 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -42,7 +42,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
 	/* disable interrupt */
 	result = regmap_write(st->map, st->reg->int_enable, 0);
 	if (result) {
-		dev_err(&st->client->dev, "int_enable failed %d\n", result);
+		dev_err(regmap_get_device(st->map), "int_enable failed %d\n",
+			result);
 		return result;
 	}
 	/* disable the sensor output to FIFO */
@@ -89,7 +90,7 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
 	return 0;
 
 reset_fifo_fail:
-	dev_err(&st->client->dev, "reset fifo failed %d\n", result);
+	dev_err(regmap_get_device(st->map), "reset fifo failed %d\n", result);
 	result = regmap_write(st->map, st->reg->int_enable,
 					INV_MPU6050_BIT_DATA_RDY_EN);
 
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index ee9e66d..72d6aae 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -123,7 +123,7 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
 	if (!st->trig)
 		return -ENOMEM;
 
-	ret = devm_request_irq(&indio_dev->dev, st->client->irq,
+	ret = devm_request_irq(&indio_dev->dev, st->irq,
 			       &iio_trigger_generic_data_rdy_poll,
 			       IRQF_TRIGGER_RISING,
 			       "inv_mpu",
@@ -131,7 +131,7 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
 	if (ret)
 		return ret;
 
-	st->trig->dev.parent = &st->client->dev;
+	st->trig->dev.parent = regmap_get_device(st->map);
 	st->trig->ops = &inv_mpu_trigger_ops;
 	iio_trigger_set_drvdata(st->trig, indio_dev);
 
-- 
1.9.1

[PATCH v4 4/4] iio: imu: inv_mpu6050: Add SPI support for MPU6000

[Adriana Reus]

The only difference between the MPU6000 and the
MPU6050 is that the first also supports SPI.
Add SPI driver for this chip.

Signed-off-by: Adriana Reus <adriana.reus@intel.com>
---
 Changes since v3:
 * added SPI_MASTER dependency in Kconfig
 * dropped owner assignment

 drivers/iio/imu/inv_mpu6050/Kconfig        |  10 +++
 drivers/iio/imu/inv_mpu6050/Makefile       |   3 +
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c |   7 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  |   2 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |   6 +-
 drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c  | 105 +++++++++++++++++++++++++++++
 6 files changed, 130 insertions(+), 3 deletions(-)
 create mode 100644 drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index b664858..a7f557a 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -21,3 +21,13 @@ config INV_MPU6050_I2C
 	  This driver can be built as a module. The module will be called
 	  inv-mpu6050-i2c.
 
+config INV_MPU6050_SPI
+	tristate "Invensense MPU6050 devices (SPI)"
+	depends on SPI_MASTER
+	select INV_MPU6050_IIO
+	select REGMAP_SPI
+	help
+	  This driver supports the Invensense MPU6050 devices.
+	  It is a gyroscope/accelerometer combo device.
+	  This driver can be built as a module. The module will be called
+	  inv-mpu6050-spi.
diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
index ca4941d..734af5e 100644
--- a/drivers/iio/imu/inv_mpu6050/Makefile
+++ b/drivers/iio/imu/inv_mpu6050/Makefile
@@ -7,3 +7,6 @@ inv-mpu6050-objs := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
 
 obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
 inv-mpu6050-i2c-objs := inv_mpu_i2c.o inv_mpu_acpi.o
+
+obj-$(CONFIG_INV_MPU6050_SPI) += inv-mpu6050-spi.o
+inv-mpu6050-spi-objs := inv_mpu_spi.o
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 7b46db5..2258600 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -152,6 +152,7 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 
 	return 0;
 }
+EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);
 
 /**
  *  inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
@@ -676,7 +677,8 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 	return 0;
 }
 
-int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name)
+int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
+		       int (*inv_mpu_bus_setup)(struct iio_dev *))
 {
 	struct inv_mpu6050_state *st;
 	struct iio_dev *indio_dev;
@@ -700,6 +702,9 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name)
 	if (result)
 		return result;
 
+	if (inv_mpu_bus_setup)
+		inv_mpu_bus_setup(indio_dev);
+
 	result = inv_mpu6050_init_config(indio_dev);
 	if (result) {
 		dev_err(dev, "Could not initialize device.\n");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index aa7c8b7..9869af3 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -129,7 +129,7 @@ static int inv_mpu_probe(struct i2c_client *client,
 		return PTR_ERR(regmap);
 	}
 
-	result = inv_mpu_core_probe(regmap, client->irq, name);
+	result = inv_mpu_core_probe(regmap, client->irq, name, NULL);
 	if (result < 0)
 		return result;
 
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 1bf65a0..fcc2f3d 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -62,6 +62,7 @@ struct inv_mpu6050_reg_map {
 enum inv_devices {
 	INV_MPU6050,
 	INV_MPU6500,
+	INV_MPU6000,
 	INV_NUM_PARTS
 };
 
@@ -154,6 +155,7 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_BIT_I2C_MST_EN          0x20
 #define INV_MPU6050_BIT_FIFO_EN             0x40
 #define INV_MPU6050_BIT_DMP_EN              0x80
+#define INV_MPU6050_BIT_I2C_IF_DIS          0x10
 
 #define INV_MPU6050_REG_PWR_MGMT_1          0x6B
 #define INV_MPU6050_BIT_H_RESET             0x80
@@ -258,6 +260,8 @@ int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
 int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
 int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
 void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
-int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name);
+int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
+		      int (*inv_mpu_bus_setup)(struct iio_dev *));
 int inv_mpu_core_remove(struct device *dev);
+int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
 extern const struct dev_pm_ops inv_mpu_pmops;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
new file mode 100644
index 0000000..acb682b
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -0,0 +1,105 @@
+/*
+* Copyright (C) 2015 Intel Corporation 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/acpi.h>
+#include <linux/spi/spi.h>
+#include <linux/regmap.h>
+#include <linux/iio/iio.h>
+#include "inv_mpu_iio.h"
+
+static const struct regmap_config inv_mpu_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+};
+
+static int inv_mpu_i2c_disable(struct iio_dev *indio_dev)
+{
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+	int ret = 0;
+
+	ret = inv_mpu6050_set_power_itg(st, true);
+	if (ret)
+		return ret;
+
+	ret = regmap_write(st->map, INV_MPU6050_REG_USER_CTRL,
+			      INV_MPU6050_BIT_I2C_IF_DIS);
+	if (ret) {
+		inv_mpu6050_set_power_itg(st, false);
+		return ret;
+	}
+
+	return inv_mpu6050_set_power_itg(st, false);
+}
+
+static int inv_mpu_probe(struct spi_device *spi)
+{
+	struct regmap *regmap;
+	const struct spi_device_id *id = spi_get_device_id(spi);
+	const char *name = id ? id->name : NULL;
+	int result;
+
+	regmap = devm_regmap_init_spi(spi, &inv_mpu_regmap_config);
+	if (IS_ERR(regmap)) {
+		dev_err(&spi->dev, "Failed to register spi regmap %d\n",
+			(int)PTR_ERR(regmap));
+		return PTR_ERR(regmap);
+	}
+
+	result = regmap_write(regmap, INV_MPU6050_REG_USER_CTRL,
+			      INV_MPU6050_BIT_I2C_IF_DIS);
+	if (result) {
+		dev_err(&spi->dev, "Failed to disable I2C interface\n");
+		return result;
+	}
+
+	return inv_mpu_core_probe(regmap, spi->irq, name, inv_mpu_i2c_disable);
+}
+
+static int inv_mpu_remove(struct spi_device *spi)
+{
+	return inv_mpu_core_remove(&spi->dev);
+}
+
+/*
+ * device id table is used to identify what device can be
+ * supported by this driver
+ */
+static const struct spi_device_id inv_mpu_id[] = {
+	{"mpu6000", INV_MPU6000},
+	{}
+};
+
+MODULE_DEVICE_TABLE(spi, inv_mpu_id);
+
+static const struct acpi_device_id inv_acpi_match[] = {
+	{"INVN6000", 0},
+	{ },
+};
+MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
+
+static struct spi_driver inv_mpu_driver = {
+	.probe		=	inv_mpu_probe,
+	.remove		=	inv_mpu_remove,
+	.id_table	=	inv_mpu_id,
+	.driver = {
+		.acpi_match_table = ACPI_PTR(inv_acpi_match),
+		.name	=	"inv-mpu6000 spi driver",
+		.pm     =       &inv_mpu_pmops,
+	},
+};
+
+module_spi_driver(inv_mpu_driver);
+
+MODULE_AUTHOR("Adriana Reus <adriana.reus@intel.com>");
+MODULE_DESCRIPTION("Invensense device MPU6000 driver");
+MODULE_LICENSE("GPL");
-- 
1.9.1

Re: [PATCH v4 4/4] iio: imu: inv_mpu6050: Add SPI support for MPU6000

[Lucas De Marchi]

Hi Adriana,

On Wed, Feb 10, 2016 at 12:41 PM, Adriana Reus <adriana.reus@intel.com> wrote:
> -int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name)
> +int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
> +                      int (*inv_mpu_bus_setup)(struct iio_dev *))
>  {
>         struct inv_mpu6050_state *st;
>         struct iio_dev *indio_dev;
> @@ -700,6 +702,9 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name)
>         if (result)
>                 return result;
>
> +       if (inv_mpu_bus_setup)
> +               inv_mpu_bus_setup(indio_dev);

ok

> +static int inv_mpu_i2c_disable(struct iio_dev *indio_dev)
> +{
> +       struct inv_mpu6050_state *st = iio_priv(indio_dev);
> +       int ret = 0;
> +
> +       ret = inv_mpu6050_set_power_itg(st, true);
> +       if (ret)
> +               return ret;
> +
> +       ret = regmap_write(st->map, INV_MPU6050_REG_USER_CTRL,
> +                             INV_MPU6050_BIT_I2C_IF_DIS);
> +       if (ret) {
> +               inv_mpu6050_set_power_itg(st, false);
> +               return ret;
> +       }

ok

> +static int inv_mpu_probe(struct spi_device *spi)
> +{
> +       struct regmap *regmap;
> +       const struct spi_device_id *id = spi_get_device_id(spi);
> +       const char *name = id ? id->name : NULL;
> +       int result;
> +
> +       regmap = devm_regmap_init_spi(spi, &inv_mpu_regmap_config);
> +       if (IS_ERR(regmap)) {
> +               dev_err(&spi->dev, "Failed to register spi regmap %d\n",
> +                       (int)PTR_ERR(regmap));
> +               return PTR_ERR(regmap);
> +       }
> +
> +       result = regmap_write(regmap, INV_MPU6050_REG_USER_CTRL,
> +                             INV_MPU6050_BIT_I2C_IF_DIS);
> +       if (result) {
> +               dev_err(&spi->dev, "Failed to disable I2C interface\n");
> +               return result;
> +       }

leftover from previous patch?


Lucas De Marchi

Re: [PATCH v4 4/4] iio: imu: inv_mpu6050: Add SPI support for MPU6000

[Adriana Reus]

On 11.02.2016 07:39, Lucas De Marchi wrote:
> Hi Adriana,
>
> On Wed, Feb 10, 2016 at 12:41 PM, Adriana Reus <adriana.reus@intel.com> wrote:
>> -int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name)
>> +int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
>> +                      int (*inv_mpu_bus_setup)(struct iio_dev *))
>>   {
>>          struct inv_mpu6050_state *st;
>>          struct iio_dev *indio_dev;
>> @@ -700,6 +702,9 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name)
>>          if (result)
>>                  return result;
>>
>> +       if (inv_mpu_bus_setup)
>> +               inv_mpu_bus_setup(indio_dev);
>
> ok
>
>> +static int inv_mpu_i2c_disable(struct iio_dev *indio_dev)
>> +{
>> +       struct inv_mpu6050_state *st = iio_priv(indio_dev);
>> +       int ret = 0;
>> +
>> +       ret = inv_mpu6050_set_power_itg(st, true);
>> +       if (ret)
>> +               return ret;
>> +
>> +       ret = regmap_write(st->map, INV_MPU6050_REG_USER_CTRL,
>> +                             INV_MPU6050_BIT_I2C_IF_DIS);
>> +       if (ret) {
>> +               inv_mpu6050_set_power_itg(st, false);
>> +               return ret;
>> +       }
>
> ok
>
>> +static int inv_mpu_probe(struct spi_device *spi)
>> +{
>> +       struct regmap *regmap;
>> +       const struct spi_device_id *id = spi_get_device_id(spi);
>> +       const char *name = id ? id->name : NULL;
>> +       int result;
>> +
>> +       regmap = devm_regmap_init_spi(spi, &inv_mpu_regmap_config);
>> +       if (IS_ERR(regmap)) {
>> +               dev_err(&spi->dev, "Failed to register spi regmap %d\n",
>> +                       (int)PTR_ERR(regmap));
>> +               return PTR_ERR(regmap);
>> +       }
>> +
>> +       result = regmap_write(regmap, INV_MPU6050_REG_USER_CTRL,
>> +                             INV_MPU6050_BIT_I2C_IF_DIS);
>> +       if (result) {
>> +               dev_err(&spi->dev, "Failed to disable I2C interface\n");
>> +               return result;
>> +       }
>
> leftover from previous patch?
indeed... thanks
>
>
> Lucas De Marchi
>