--- /dev/null
+/*
+ * Copyright (C) 2012-2015 Freescale Semiconductor, Inc. All Rights Reserved.
+ *
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+ */
+
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/slab.h>
+#include <linux/i2c.h>
+#include <linux/pm.h>
+#include <linux/mutex.h>
+#include <linux/delay.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/hwmon-sysfs.h>
+#include <linux/err.h>
+#include <linux/hwmon.h>
+#include <linux/input-polldev.h>
+#include <linux/miscdevice.h>
+#include <linux/poll.h>
+
+#define SENSOR_IOCTL_BASE 'S'
+#define SENSOR_GET_MODEL_NAME _IOR(SENSOR_IOCTL_BASE, 0, char *)
+#define SENSOR_GET_POWER_STATUS _IOR(SENSOR_IOCTL_BASE, 2, int)
+#define SENSOR_SET_POWER_STATUS _IOR(SENSOR_IOCTL_BASE, 3, int)
+#define SENSOR_GET_DELAY_TIME _IOR(SENSOR_IOCTL_BASE, 4, int)
+#define SENSOR_SET_DELAY_TIME _IOR(SENSOR_IOCTL_BASE, 5, int)
+#define SENSOR_GET_RAW_DATA _IOR(SENSOR_IOCTL_BASE, 6, short[3])
+
+#define FXAS2100X_I2C_ADDR 0x20
+#define FXAS21000_CHIP_ID 0xD1
+#define FXAS21002_CHID_ID_1 0xD6
+#define FXAS21002_CHID_ID_2 0xD7
+
+#define FXAS2100X_POSITION_DEFAULT 2
+#define FXAS2100X_DELAY_DEFAULT 200
+
+#define FXAS2100X_STATUS_ZYXDR 0x08
+#define FXAS2100X_BUF_SIZE 6
+
+#define FXAS2100X_POLL_INTERVAL 400
+#define FXAS2100X_POLL_MAX 800
+#define FXAS2100X_POLL_MIN 200
+#define ABSMIN_GYRO_VAL -32768
+#define ABSMAX_GYRO_VAL 32768
+
+#define FXAS2100X_DRIVER "fxas2100x"
+
+/* register enum for fxas2100x registers */
+enum {
+ FXAS2100X_STATUS = 0x00,
+ FXAS2100X_OUT_X_MSB,
+ FXAS2100X_OUT_X_LSB,
+ FXAS2100X_OUT_Y_MSB,
+ FXAS2100X_OUT_Y_LSB,
+ FXAS2100X_OUT_Z_MSB,
+ FXAS2100X_OUT_Z_LSB,
+ FXAS2100X_DR_STATUS,
+ FXAS2100X_F_STATUS,
+ FXAS2100X_F_SETUP,
+ FXAS2100X_F_EVENT,
+ FXAS2100X_INT_SRC_FLAG,
+ FXAS2100X_WHO_AM_I,
+ FXAS2100X_CTRL_REG0,
+ FXAS2100X_RT_CFG,
+ FXAS2100X_RT_SRC,
+ FXAS2100X_RT_THS,
+ FXAS2100X_RT_COUNT,
+ FXAS2100X_TEMP,
+ FXAS2100X_CTRL_REG1,
+ FXAS2100X_CTRL_REG2,
+ FXAS2100X_CTRL_REG3, /* fxos21002 special */
+ FXAS2100X_REG_END,
+};
+
+enum {
+ STANDBY = 0,
+ ACTIVED,
+};
+
+struct fxas2100x_data_axis {
+ short x;
+ short y;
+ short z;
+};
+
+struct fxas2100x_data {
+ struct i2c_client *client;
+ struct input_polled_dev *input_polled;
+ atomic_t active;
+ atomic_t active_poll;
+ atomic_t delay;
+ atomic_t position;
+ u8 chip_id;
+};
+
+static struct fxas2100x_data *g_fxas2100x_data;
+
+static int fxas2100x_position_setting[8][3][3] = {
+ { {0, -1, 0}, {1, 0, 0}, {0, 0, 1} },
+ { {-1, 0, 0}, {0, -1, 0}, {0, 0, 1} },
+ { {0, 1, 0}, {-1, 0, 0}, {0, 0, 1} },
+ { {1, 0, 0}, {0, 1, 0}, {0, 0, 1} },
+ { {0, -1, 0}, {-1, 0, 0}, {0, 0, -1} },
+ { {-1, 0, 0}, {0, 1, 0}, {0, 0, -1} },
+ { {0, 1, 0}, {1, 0, 0}, {0, 0, -1} },
+ { {1, 0, 0}, {0, -1, 0}, {0, 0, -1} },
+};
+
+static int fxas2100x_data_convert(struct fxas2100x_data *pdata,
+ struct fxas2100x_data_axis *axis_data)
+{
+ short rawdata[3], data[3];
+ int i, j;
+ int position = atomic_read(&pdata->position);
+
+ if (position < 0 || position > 7)
+ position = 0;
+ rawdata[0] = axis_data->x;
+ rawdata[1] = axis_data->y;
+ rawdata[2] = axis_data->z;
+ for (i = 0; i < 3; i++) {
+ data[i] = 0;
+ for (j = 0; j < 3; j++)
+ data[i] += rawdata[j] * fxas2100x_position_setting[position][i][j];
+ }
+ axis_data->x = data[0];
+ axis_data->y = data[1];
+ axis_data->z = data[2];
+ return 0;
+}
+
+static int fxas2100x_device_init(struct i2c_client *client)
+{
+ int result;
+ u8 val;
+ struct fxas2100x_data *pdata = i2c_get_clientdata(client);
+ if (pdata->chip_id == FXAS21000_CHIP_ID)
+ val = (0x01 << 2); /* fxas21000 dr 200HZ */
+ else
+ val = (0x02 << 2); /* fxas21002 dr 200HZ */
+ result = i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
+ if (result < 0)
+ goto out;
+ atomic_set(&pdata->active, STANDBY);
+ return 0;
+out:
+ dev_err(&client->dev, "error when init fxas2100x:(%d)", result);
+ return result;
+}
+
+static int fxas2100x_change_mode(struct i2c_client *client, int mode)
+{
+ u8 val;
+ int ret;
+ if (mode == ACTIVED) {
+ val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
+ val &= ~0x03;
+ val |= 0x02;
+ /* set bit 1 */
+ ret = i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
+ } else {
+ val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
+ val &= (~0x03);
+ /* clear bit 0,1 */
+ ret = i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
+ }
+ return ret;
+}
+
+static int fxas2100x_set_delay(struct i2c_client *client, int delay)
+{
+ return 0;
+}
+
+static int fxas2100x_device_stop(struct i2c_client *client)
+{
+ u8 val;
+ val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
+ val &= ~0x03;
+ i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
+ return 0;
+}
+
+static int fxas2100x_read_data(struct fxas2100x_data *pdata,
+ struct fxas2100x_data_axis *data)
+{
+ struct i2c_client * client = pdata->client;
+ int x, y, z;
+ u8 tmp_data[FXAS2100X_BUF_SIZE];
+ int ret;
+
+ ret = i2c_smbus_read_i2c_block_data(client, FXAS2100X_OUT_X_MSB,
+ FXAS2100X_BUF_SIZE, tmp_data);
+ if (ret < FXAS2100X_BUF_SIZE) {
+ dev_err(&client->dev, "i2c block read failed\n");
+ return -EIO;
+ }
+ data->x = ((tmp_data[0] << 8) & 0xff00) | tmp_data[1];
+ data->y = ((tmp_data[2] << 8) & 0xff00) | tmp_data[3];
+ data->z = ((tmp_data[4] << 8) & 0xff00) | tmp_data[5];
+ if (pdata->chip_id == FXAS21000_CHIP_ID) {
+ x = data->x;
+ y = data->y;
+ z = data->z;
+ x = x * 4 / 5;
+ y = y * 4 / 5;
+ z = z * 4 / 5;
+ data->x = x;
+ data->y = y;
+ data->z = z;
+ }
+
+ return 0;
+}
+
+/* fxas2100x miscdevice */
+static long fxas2100x_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
+{
+ struct fxas2100x_data *pdata = file->private_data;
+ void __user *argp = (void __user *)arg;
+ struct fxas2100x_data_axis data;
+ long ret = 0;
+ short sdata[3];
+ int enable;
+ int delay;
+
+ if (!pdata) {
+ printk(KERN_ERR "FXAS2100X struct datt point is NULL.");
+ return -EFAULT;
+ }
+
+ switch (cmd) {
+ case SENSOR_GET_MODEL_NAME:
+ if (copy_to_user(argp, "FXAS2100X GYRO", strlen("FXAS2100X GYRO") + 1)) {
+ printk(KERN_ERR "SENSOR_GET_MODEL_NAME copy_to_user failed.");
+ ret = -EFAULT;
+ }
+ break;
+ case SENSOR_GET_POWER_STATUS:
+ enable = atomic_read(&pdata->active);
+ if (copy_to_user(argp, &enable, sizeof(int))) {
+ printk(KERN_ERR "SENSOR_SET_POWER_STATUS copy_to_user failed.");
+ ret = -EFAULT;
+ }
+ break;
+ case SENSOR_SET_POWER_STATUS:
+ if (copy_from_user(&enable, argp, sizeof(int))) {
+ printk(KERN_ERR "SENSOR_SET_POWER_STATUS copy_to_user failed.");
+ ret = -EFAULT;
+ }
+ if (pdata->client) {
+ ret = fxas2100x_change_mode(pdata->client, enable ? ACTIVED : STANDBY);
+ if (!ret)
+ atomic_set(&pdata->active, enable);
+ }
+ break;
+ case SENSOR_GET_DELAY_TIME:
+ delay = atomic_read(&pdata->delay);
+ if (copy_to_user(argp, &delay, sizeof(delay))) {
+ printk(KERN_ERR "SENSOR_GET_DELAY_TIME copy_to_user failed.");
+ return -EFAULT;
+ }
+ break;
+ case SENSOR_SET_DELAY_TIME:
+ if (copy_from_user(&delay, argp, sizeof(int))) {
+ printk(KERN_ERR "SENSOR_GET_DELAY_TIME copy_to_user failed.");
+ ret = -EFAULT;
+ }
+ if (pdata->client && delay > 0 && delay <= 500) {
+ ret = fxas2100x_set_delay(pdata->client, delay);
+ if (!ret)
+ atomic_set(&pdata->delay, delay);
+ }
+ break;
+ case SENSOR_GET_RAW_DATA:
+ ret = fxas2100x_read_data(pdata, &data);
+ if (!ret) {
+ fxas2100x_data_convert(pdata, &data);
+ sdata[0] = data.x;
+ sdata[1] = data.y;
+ sdata[2] = data.z;
+ if (copy_to_user(argp, sdata, sizeof(sdata))) {
+ printk(KERN_ERR "SENSOR_GET_RAW_DATA copy_to_user failed.");
+ ret = -EFAULT;
+ }
+ }
+ break;
+ default:
+ ret = -1;
+ }
+
+ return ret;
+}
+
+static int fxas2100x_open(struct inode *inode, struct file *file)
+{
+ file->private_data = g_fxas2100x_data;
+ return nonseekable_open(inode, file);
+}
+
+static int fxas2100x_release(struct inode *inode, struct file *file)
+{
+ /* note: releasing the wdt in NOWAYOUT-mode does not stop it */
+ return 0;
+}
+
+static const struct file_operations fxas2100x_fops = {
+ .owner = THIS_MODULE,
+ .open = fxas2100x_open,
+ .release = fxas2100x_release,
+ .unlocked_ioctl = fxas2100x_ioctl,
+};
+
+static struct miscdevice fxas2100x_device = {
+ .minor = MISC_DYNAMIC_MINOR,
+ .name = "FreescaleGyroscope",
+ .fops = &fxas2100x_fops,
+};
+
+static ssize_t fxas2100x_enable_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ struct fxas2100x_data *pdata = g_fxas2100x_data;
+ int enable = 0;
+ enable = atomic_read(&pdata->active);
+ return sprintf(buf, "%d\n", enable);
+}
+
+static ssize_t fxas2100x_enable_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ struct fxas2100x_data *pdata = g_fxas2100x_data;
+ struct i2c_client *client = pdata->client;
+ int ret;
+ unsigned long enable;
+
+ if (kstrtoul(buf, 10, &enable) < 0)
+ return -EINVAL;
+
+ enable = (enable > 0) ? 1 : 0;
+ ret = fxas2100x_change_mode(client, (enable > 0 ? ACTIVED : STANDBY));
+ if (!ret) {
+ atomic_set(&pdata->active, enable);
+ atomic_set(&pdata->active_poll, enable);
+ dev_err(dev, "mma enable setting active \n");
+ }
+ return count;
+}
+
+static ssize_t fxas2100x_poll_delay_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ struct fxas2100x_data *pdata = g_fxas2100x_data;
+ int delay = 0;
+
+ delay = atomic_read(&pdata->delay);
+ return sprintf(buf, "%d\n", delay);
+}
+
+static ssize_t fxas2100x_poll_delay_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ struct fxas2100x_data *pdata = g_fxas2100x_data;
+ struct i2c_client *client = pdata->client;
+ int ret;
+ int delay;
+
+ delay = simple_strtoul(buf, NULL, 10);
+ ret = fxas2100x_set_delay(client, delay);
+ if (!ret)
+ atomic_set(&pdata->delay, delay);
+ return count;
+}
+
+static ssize_t fxas2100x_position_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ struct fxas2100x_data *pdata = g_fxas2100x_data;
+ int position = 0;
+
+ position = atomic_read(&pdata->position);
+ return sprintf(buf, "%d\n", position);
+}
+
+static ssize_t fxas2100x_position_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t count)
+{
+ struct fxas2100x_data *pdata = g_fxas2100x_data;
+ int position;
+
+ position = simple_strtoul(buf, NULL, 10);
+ atomic_set(&pdata->position, position);
+ return count;
+}
+
+static DEVICE_ATTR(enable, S_IWUSR | S_IRUGO, fxas2100x_enable_show, fxas2100x_enable_store);
+static DEVICE_ATTR(poll_delay, S_IWUSR | S_IRUGO, fxas2100x_poll_delay_show, fxas2100x_poll_delay_store);
+static DEVICE_ATTR(position, S_IWUSR | S_IRUGO, fxas2100x_position_show, fxas2100x_position_store);
+
+static struct attribute *fxas2100x_attributes[] = {
+ &dev_attr_enable.attr,
+ &dev_attr_poll_delay.attr,
+ &dev_attr_position.attr,
+ NULL
+};
+
+static const struct attribute_group fxas2100x_attr_group = {
+ .attrs = fxas2100x_attributes,
+};
+
+static void fxas2100x_poll(struct input_polled_dev *dev)
+{
+ struct fxas2100x_data *pdata = g_fxas2100x_data;
+ struct input_dev *idev = pdata->input_polled->input;
+ struct fxas2100x_data_axis data;
+ int ret;
+
+ if (!(atomic_read(&pdata->active_poll)))
+ return;
+
+ ret = fxas2100x_read_data(pdata, &data);
+ if (!ret) {
+ fxas2100x_data_convert(pdata, &data);
+ input_report_abs(idev, ABS_X, data.x);
+ input_report_abs(idev, ABS_Y, data.y);
+ input_report_abs(idev, ABS_Z, data.z);
+ input_sync(idev);
+ }
+}
+
+static int fxas2100x_register_polled_device(struct fxas2100x_data *pdata)
+{
+ struct input_polled_dev *ipoll_dev;
+ struct input_dev *idev;
+ int error;
+
+ ipoll_dev = input_allocate_polled_device();
+ if (!ipoll_dev)
+ return -ENOMEM;
+
+ ipoll_dev->private = pdata;
+ ipoll_dev->poll = fxas2100x_poll;
+ ipoll_dev->poll_interval = FXAS2100X_POLL_INTERVAL;
+ ipoll_dev->poll_interval_min = FXAS2100X_POLL_MIN;
+ ipoll_dev->poll_interval_max = FXAS2100X_POLL_MAX;
+ idev = ipoll_dev->input;
+ idev->name = FXAS2100X_DRIVER;
+ idev->id.bustype = BUS_I2C;
+ idev->dev.parent = &pdata->client->dev;
+
+ idev->evbit[0] = BIT_MASK(EV_ABS);
+ input_set_abs_params(idev, ABS_X, ABSMIN_GYRO_VAL, ABSMAX_GYRO_VAL, 0, 0);
+ input_set_abs_params(idev, ABS_Y, ABSMIN_GYRO_VAL, ABSMAX_GYRO_VAL, 0, 0);
+ input_set_abs_params(idev, ABS_Z, ABSMIN_GYRO_VAL, ABSMAX_GYRO_VAL, 0, 0);
+
+ error = input_register_polled_device(ipoll_dev);
+ if (error) {
+ input_free_polled_device(ipoll_dev);
+ return error;
+ }
+
+ pdata->input_polled = ipoll_dev;
+ return 0;
+}
+
+static int fxas2100x_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ int result, chip_id;
+ struct fxas2100x_data *pdata;
+ struct i2c_adapter *adapter;
+
+ adapter = to_i2c_adapter(client->dev.parent);
+ result = i2c_check_functionality(adapter,
+ I2C_FUNC_SMBUS_BYTE |
+ I2C_FUNC_SMBUS_BYTE_DATA);
+ if (!result)
+ goto err_out;
+
+ chip_id = i2c_smbus_read_byte_data(client, FXAS2100X_WHO_AM_I);
+ if (chip_id != FXAS21000_CHIP_ID && chip_id != FXAS21002_CHID_ID_1 &&
+ chip_id != FXAS21002_CHID_ID_2) {
+ dev_err(&client->dev,
+ "read chip ID 0x%x is not equal to 0x%x for fxas21000 or 0x%x/0x%x fxas21002!\n",
+ chip_id, FXAS21000_CHIP_ID, FXAS21002_CHID_ID_1, FXAS21002_CHID_ID_2);
+ result = -EINVAL;
+ goto err_out;
+ }
+
+ pdata = kzalloc(sizeof(struct fxas2100x_data), GFP_KERNEL);
+ if (!pdata) {
+ result = -ENOMEM;
+ dev_err(&client->dev, "alloc data memory error!\n");
+ goto err_out;
+ }
+
+ /* Initialize the FXAS2100X chip */
+ g_fxas2100x_data = pdata;
+ pdata->client = client;
+ pdata->chip_id = chip_id;
+ atomic_set(&pdata->delay, FXAS2100X_DELAY_DEFAULT);
+ atomic_set(&pdata->position, FXAS2100X_POSITION_DEFAULT);
+ i2c_set_clientdata(client, pdata);
+ result = misc_register(&fxas2100x_device);
+ if (result != 0) {
+ dev_err(&client->dev, "register acc miscdevice error");
+ goto err_regsiter_misc;
+ }
+
+ /* for debug */
+ if (client->irq <= 0) {
+ result = fxas2100x_register_polled_device(g_fxas2100x_data);
+ if (result)
+ dev_err(&client->dev,
+ "IRQ GPIO conf. error %d, error %d\n",
+ client->irq, result);
+ }
+
+ result = sysfs_create_group(&fxas2100x_device.this_device->kobj,
+ &fxas2100x_attr_group);
+ if (result) {
+ dev_err(&client->dev, "create device file failed!\n");
+ result = -EINVAL;
+ goto err_create_sysfs;
+ }
+ fxas2100x_device_init(client);
+ dev_info(&client->dev, "fxas2100x device driver probe successfully\n");
+ return 0;
+err_create_sysfs:
+ misc_deregister(&fxas2100x_device);
+err_regsiter_misc:
+ kfree(pdata);
+err_out:
+ return result;
+}
+
+static int fxas2100x_remove(struct i2c_client *client)
+{
+ struct fxas2100x_data *pdata = i2c_get_clientdata(client);
+ fxas2100x_device_stop(client);
+ if (client->irq <= 0) {
+ input_unregister_polled_device(pdata->input_polled);
+ input_free_polled_device(pdata->input_polled);
+ }
+ misc_deregister(&fxas2100x_device);
+ if (pdata != NULL)
+ kfree(pdata);
+ return 0;
+}
+
+#ifdef CONFIG_PM_SLEEP
+static int fxas2100x_suspend(struct device *dev)
+{
+ struct i2c_client *client = to_i2c_client(dev);
+ struct fxas2100x_data *pdata = i2c_get_clientdata(client);
+
+ if (atomic_read(&pdata->active))
+ fxas2100x_device_stop(client);
+ return 0;
+}
+
+static int fxas2100x_resume(struct device *dev)
+{
+ int val = 0;
+ struct i2c_client *client = to_i2c_client(dev);
+ struct fxas2100x_data *pdata = i2c_get_clientdata(client);
+
+ if (atomic_read(&pdata->active)) {
+ val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
+ val &= ~0x03;
+ val |= 0x02;
+ i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
+ }
+ return 0;
+
+}
+#endif
+
+static const struct i2c_device_id fxas2100x_id[] = {
+ { "fxas2100x", 0 },
+ { /* sentinel */ }
+};
+MODULE_DEVICE_TABLE(i2c, fxas2100x_id);
+
+static SIMPLE_DEV_PM_OPS(fxas2100x_pm_ops, fxas2100x_suspend, fxas2100x_resume);
+static struct i2c_driver fxas2100x_driver = {
+ .driver = {
+ .name = FXAS2100X_DRIVER,
+ .owner = THIS_MODULE,
+ .pm = &fxas2100x_pm_ops,
+ },
+ .probe = fxas2100x_probe,
+ .remove = fxas2100x_remove,
+ .id_table = fxas2100x_id,
+};
+
+module_i2c_driver(fxas2100x_driver);
+
+MODULE_AUTHOR("Freescale Semiconductor, Inc.");
+MODULE_DESCRIPTION("FXAS2100X 3-Axis Gyrosope Sensor driver");
+MODULE_LICENSE("GPL");
projects / linux.git / commitdiff