&i2c4 {
status = "okay";
-
- mpu6050:mpu@68{
- compatible = "mpu6050";
+ mpu6500_acc:mpu_acc@68{
+ compatible = "mpu6500_acc";
reg = <0x68>;
- mpu-int_config = <0x10>;
- mpu-level_shifter = <0>;
- mpu-orientation = <0 1 0 1 0 0 0 0 1>;
- orientation-x= <0>;
- orientation-y= <1>;
- orientation-z= <1>;
- irq-gpio = <&gpio3 GPIO_B6 IRQ_TYPE_LEVEL_LOW>;
- mpu-debug = <0>;
- };
-
-
- ak8963:compass@0d{
- compatible = "mpu_ak8963";
- reg = <0x0d>;
- compass-bus = <0>;
- compass-adapt_num = <0>;
- compass-orientation = <1 0 0 0 1 0 0 0 1>;
- orientation-x= <0>;
- orientation-y= <0>;
- orientation-z= <1>;
- compass-debug = <1>;
- status = "okay";
+ irq_enable = <0>;
+ poll_delay_ms = <30>;
+ type = <SENSOR_TYPE_ACCEL>;
+ layout = <7>;
};
-
};
&i2c5 {
To have support for your specific gsesnor you will have to
select the proper drivers which depend on this option.
+config MPU6500_ACC
+ bool "Sensor mpu6500_acc"
+ default y
+ help
+ To have support for your specific gsesnor you will have to
+ select the proper drivers which depend on this option.
+
config GS_KXTIK
bool "gsensor kxtik"
help
obj-$(CONFIG_GS_LSM303D) += lsm303d.o
obj-$(CONFIG_GS_MC3230) += mc3230.o
obj-$(CONFIG_MPU6880_ACC) += mpu6880_acc.o
+obj-$(CONFIG_MPU6500_ACC) += mpu6500_acc.o
--- /dev/null
+/* drivers/input/sensors/access/mpu6500_acc.c
+ *
+ * Copyright (C) 2012-2015 ROCKCHIP.
+ * Author: oeh<oeh@rock-chips.com>
+ *
+ * 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/interrupt.h>
+#include <linux/i2c.h>
+#include <linux/slab.h>
+#include <linux/irq.h>
+#include <linux/miscdevice.h>
+#include <linux/gpio.h>
+#include <asm/uaccess.h>
+#include <asm/atomic.h>
+#include <linux/delay.h>
+#include <linux/input.h>
+#include <linux/workqueue.h>
+#include <linux/freezer.h>
+#include <linux/of_gpio.h>
+#ifdef CONFIG_HAS_EARLYSUSPEND
+#include <linux/earlysuspend.h>
+#endif
+#include <linux/sensor-dev.h>
+#include <linux/mpu6500.h>
+
+
+
+static int sensor_active(struct i2c_client *client, int enable, int rate)
+{
+ struct sensor_private_data *sensor =
+ (struct sensor_private_data *) i2c_get_clientdata(client);
+ int result = 0;
+ int status = 0;
+ u8 pwrm1 = 0;
+
+ sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg);
+ pwrm1 = sensor_read_reg(client, MPU6500_PWR_MGMT_1);
+ //¹Ø±Õ
+ if(!enable)
+ {
+ status = BIT_ACCEL_STBY;
+ sensor->ops->ctrl_data |= status;
+ //gyroºÍacc¶¼²»¹¤×÷ʱ£¬Ä£¿é½øÈëÐÝÃß
+ if(sensor->ops->ctrl_data && (BIT_ACCEL_STBY | BIT_GYRO_STBY) != 0)
+ {
+ pwrm1 |= MPU6500_PWRM1_SLEEP;
+ }
+ }
+ else//´ò¿ª
+ {
+ status = ~BIT_ACCEL_STBY;
+ sensor->ops->ctrl_data &= status;
+ pwrm1 &=~MPU6500_PWRM1_SLEEP;
+ }
+ result = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data);
+ if(result)
+ {
+ printk("%s:fail to set pwrm2\n",__func__);
+ return -1;
+ }
+ msleep(20);
+
+ result = sensor_write_reg(client, MPU6500_PWR_MGMT_1,pwrm1);
+ if(result)
+ {
+ printk("%s:fail to set pwrm1\n",__func__);
+ return -1;
+ }
+ msleep(20);
+
+ return result;
+
+}
+
+static int sensor_init(struct i2c_client *client)
+{
+ int res=0;
+ u8 read_data = 0;
+ struct sensor_private_data *sensor =
+ (struct sensor_private_data *) i2c_get_clientdata(client);
+
+ //¼ì²âICÊÇ·ñΪMPU6500
+ read_data = sensor_read_reg(client,sensor->ops->id_reg);
+
+ if(read_data != sensor->ops->id_data)
+ {
+ printk("%s:check id err,read_data:%d,ops->id_data:%d\n",__func__,read_data,sensor->ops->id_data);
+ return -1;
+ }
+
+ //¼Ä´æÆ÷³õʼ»¯
+ res = sensor_write_reg(client, MPU6500_PWR_MGMT_1,0x80);
+ if (res)
+ {
+ printk("set MPU6500_PWR_MGMT_1 error,res: %d!\n", res);
+ return res;
+ }
+ msleep(40);
+
+ res = sensor_write_reg(client, MPU6500_GYRO_CONFIG,0x18); //config gyro for 2000dps
+ if (res)
+ {
+ printk("set MPU6500_GYRO_CONFIG error,res: %d!\n", res);
+ return res;
+ }
+ msleep(10);
+
+ res = sensor_write_reg(client, MPU6500_ACCEL_CONFIG,0x00); //config Accel for +_2G
+ if (res)
+ {
+ printk("set MPU6500_ACCEL_CONFIG error,res: %d!\n", res);
+ return res;
+ }
+ msleep(10);
+
+ res = sensor_write_reg(client, MPU6500_ACCEL_CONFIG2,0x00);
+ if (res)
+ {
+ printk("set MPU6500_ACCEL_CONFIG2 error,res: %d!\n", res);
+ return res;
+ }
+ res = sensor_write_reg(client, MPU6500_PWR_MGMT_2,0x3F); //set accl and gyro all axis into standby mode
+ if (res)
+ {
+ printk("set MPU6500_PWR_MGMT_2 error,res: %d!\n", res);
+ return res;
+ }
+ msleep(10);
+ res = sensor_write_reg(client, MPU6500_PWR_MGMT_1,0x41);
+ if (res)
+ {
+ printk("set MPU6500_PWR_MGMT_1 error,res: %d!\n", res);
+ return res;
+ }
+ msleep(10);
+
+ //ĬÈϹرÕ
+ res = sensor->ops->active(client,0,0);
+ if(res)
+ {
+ printk("%s:line=%d,error\n",__func__,__LINE__);
+ return res;
+ }
+ return res;
+}
+
+static int gsensor_report_value(struct i2c_client *client, struct sensor_axis *axis)
+{
+ struct sensor_private_data *sensor =
+ (struct sensor_private_data *) i2c_get_clientdata(client);
+
+ /* Report acceleration sensor information */
+ input_report_abs(sensor->input_dev, ABS_X, axis->x);
+ input_report_abs(sensor->input_dev, ABS_Y, axis->y);
+ input_report_abs(sensor->input_dev, ABS_Z, axis->z);
+ input_sync(sensor->input_dev);
+ DBG("Gsensor x==%d y==%d z==%d\n",axis->x,axis->y,axis->z);
+
+ return 0;
+}
+
+#define GSENSOR_MIN 10
+static int sensor_report_value(struct i2c_client *client)
+{
+ struct sensor_private_data *sensor =
+ (struct sensor_private_data *) i2c_get_clientdata(client);
+ struct sensor_platform_data *pdata = sensor->pdata;
+ int ret = 0;
+ short x,y,z;
+ struct sensor_axis axis;
+ u8 buffer[6] = {0};
+ char value = 0;
+
+ if(sensor->ops->read_len < 6) //sensor->ops->read_len = 6
+ {
+ printk("%s:lenth is error,len=%d\n",__func__,sensor->ops->read_len);
+ return -1;
+ }
+
+ memset(buffer, 0, 6);
+
+ /* Data bytes from hardware xL, xH, yL, yH, zL, zH */
+ do {
+ *buffer = sensor->ops->read_reg;
+ ret = sensor_rx_data(client, buffer, sensor->ops->read_len);
+ if (ret < 0)
+ return ret;
+ } while (0);
+
+ x = ((buffer[0] << 8) & 0xff00) + (buffer[1] & 0xFF);
+ y = ((buffer[2] << 8) & 0xff00) + (buffer[3] & 0xFF);
+ z = ((buffer[4] << 8) & 0xff00) + (buffer[5] & 0xFF);
+ /*
+ printk("mpu6500_acc: x:%d,y:%d,z:%d,-4:%d\n",x,y,z,-4);
+ printk("mpu6500_acc:orientation:\n%d %d %d\n%d %d %d\n%d %d %d\n",pdata->orientation[0],
+ pdata->orientation[1],pdata->orientation[2],pdata->orientation[3],pdata->orientation[4],
+ pdata->orientation[5],pdata->orientation[6],pdata->orientation[7],pdata->orientation[8]);
+ */
+ axis.x = (pdata->orientation[0])*x + (pdata->orientation[1])*y + (pdata->orientation[2])*z;
+ axis.y = (pdata->orientation[3])*x + (pdata->orientation[4])*y + (pdata->orientation[5])*z;
+ axis.z = (pdata->orientation[6])*x + (pdata->orientation[7])*y + (pdata->orientation[8])*z;
+
+ //ΪÁ˲»ÐÞ¸Ähal²ã´úÂ룬Êý¾Ýת»»ºóÉϱ¨
+ axis.x = 61*axis.x;
+ axis.y = 61*axis.y;
+ axis.z = 61*axis.z;
+
+ //if((abs(sensor->axis.x - axis.x) > GSENSOR_MIN) || (abs(sensor->axis.y - axis.y) > GSENSOR_MIN) || (abs(sensor->axis.z - axis.z) > GSENSOR_MIN))
+ {
+ gsensor_report_value(client, &axis);
+
+ /* »¥³âµØ»º´æÊý¾Ý. */
+ mutex_lock(&(sensor->data_mutex) );
+ sensor->axis = axis;
+ mutex_unlock(&(sensor->data_mutex) );
+ }
+
+ if((sensor->pdata->irq_enable)&& (sensor->ops->int_status_reg >= 0)) //read sensor intterupt status register
+ {
+
+ value = sensor_read_reg(client, sensor->ops->int_status_reg);
+ DBG("%s:sensor int status :0x%x\n",__func__,value);
+ }
+
+ return ret;
+}
+
+
+struct sensor_operate gsensor_mpu6500_ops = {
+ .name = "mpu6500_acc",
+ .type = SENSOR_TYPE_ACCEL, //sensor type and it should be correct
+ .id_i2c = ACCEL_ID_MPU6500, //i2c id number
+ .read_reg = MPU6500_ACCEL_XOUT_H, //read data
+ .read_len = 6, //data length
+ .id_reg = MPU6500_WHOAMI, //read device id from this register
+ .id_data = MPU6500_DEVICE_ID, //device id
+ .precision = MPU6500_PRECISION, //16 bit
+ .ctrl_reg = MPU6500_PWR_MGMT_2, //enable or disable
+ .int_status_reg = MPU6500_INT_STATUS, //intterupt status register
+ .range = {-32768*61,32768*61}, //range
+ .trig = IRQF_TRIGGER_HIGH |IRQF_ONESHOT,
+ .active = sensor_active,
+ .init = sensor_init,
+ .report = sensor_report_value,
+};
+
+/****************operate according to sensor chip:end************/
+
+//function name should not be changed
+static struct sensor_operate *gsensor_get_ops(void)
+{
+ return &gsensor_mpu6500_ops;
+}
+
+
+static int __init gsensor_mpu6500_init(void)
+{
+ struct sensor_operate *ops = gsensor_get_ops();
+ int result = 0;
+ int type = ops->type;
+ result = sensor_register_slave(type, NULL, NULL, gsensor_get_ops);
+ return result;
+}
+
+static void __exit gsensor_mpu6500_exit(void)
+{
+ struct sensor_operate *ops = gsensor_get_ops();
+ int type = ops->type;
+ sensor_unregister_slave(type, NULL, NULL, gsensor_get_ops);
+}
+
+
+module_init(gsensor_mpu6500_init);
+module_exit(gsensor_mpu6500_exit);
+
+
+
{\r
sensor->fops.owner = THIS_MODULE;\r
sensor->fops.unlocked_ioctl = gsensor_dev_ioctl;\r
+ #ifdef CONFIG_COMPAT\r
+ sensor->fops.compat_ioctl = gsensor_dev_ioctl;\r
+ #endif\r
sensor->fops.open = gsensor_dev_open;\r
sensor->fops.release = gsensor_dev_release;\r
\r
{"gs_lsm303d", ACCEL_ID_LSM303D},\r
{"gs_mc3230",ACCEL_ID_MC3230},\r
{"mpu6880_acc",ACCEL_ID_MPU6880},\r
+ {"mpu6500_acc",ACCEL_ID_MPU6500},\r
/*compass*/\r
{"compass", COMPASS_ID_ALL},\r
{"ak8975", COMPASS_ID_AK8975}, \r
--- /dev/null
+/*
+ * Definitions for mma8452 compass chip.
+ */
+#ifndef __MPU6500_H
+#define __MPU6500_H
+
+#include <linux/ioctl.h>
+/**add***/
+#define MPU6500_PRECISION 16
+#define MPU6500_RANGE 2000000
+
+#define MPU6500_SMPLRT_DIV 0x19
+#define MPU6500_CONFIG 0x1A
+#define MPU6500_GYRO_CONFIG 0x1B
+#define MPU6500_ACCEL_CONFIG 0x1C
+#define MPU6500_ACCEL_CONFIG2 0x1D
+#define MPU6500_LP_ACCEL_ODR 0x1E
+#define MPU6500_WOM_THRESH 0x1F
+#define MPU6500_FIFO_EN 0x23
+#define MPU6500_INT_PIN_CFG 0x37
+#define MPU6500_INT_ENABLE 0x38
+#define MPU6500_DMP_INT_STATUS 0x39
+#define MPU6500_INT_STATUS 0x3A
+#define MPU6500_ACCEL_XOUT_H 0x3B
+#define MPU6500_TEMP_OUT_H 0x41
+#define MPU6500_GYRO_XOUT_H 0x43
+#define MPU6500_ACCEL_INTEL_CTRL 0x69
+#define MPU6500_USER_CTRL 0x6A
+#define MPU6500_PWR_MGMT_1 0x6B
+#define MPU6500_PWR_MGMT_2 0x6C
+#define MPU6500_PRGM_STRT_ADDRH 0x70
+#define MPU6500_FIFO_COUNTH 0x72
+#define MPU6500_FIFO_R_W 0x74
+#define MPU6500_WHOAMI 0x75
+
+#define MPU6500_DEVICE_ID 0x70
+/*------------------------------
+ MPU6500_CONFIG
+--------------------------------*/
+#define DLPF_CFG_250HZ 0x00
+#define DLPF_CFG_184HZ 0x01
+#define DLPF_CFG_98HZ 0x02
+#define DLPF_CFG_41HZ 0x03
+#define DLPF_CFG_20HZ 0x04
+#define DLPF_CFG_10HZ 0x05
+#define DLPF_CFG_5HZ 0x06
+#define DLPF_CFG_3600HZ 0x07
+#define EXT_SYNC_SET_TEMP 0x08
+#define EXT_SYNC_SET_GYRO_X 0x10
+#define EXT_SYNC_SET_GYRO_Y 0x18
+#define EXT_SYNC_SET_GYRO_Z 0x20
+#define EXT_SYNC_SET_ACCEL_X 0x28
+#define EXT_SYNC_SET_ACCEL_Y 0x30
+#define EXT_SYNC_SET_ACCEL_Z 0x38
+
+
+/*------------------------------
+ MPU6500_GYRO_CONFIG
+--------------------------------*/
+#define GFSR_250DPS (0 <<3)
+#define GFSR_500DPS (1 <<3)
+#define GFSR_1000DPS (2 <<3)
+#define GFSR_2000DPS (3 <<3)
+
+/*------------------------------
+ MPU6500_ACCEL_CONFIG
+--------------------------------*/
+#define AFSR_2G (0 <<3)
+#define AFSR_4G (1 <<3)
+#define AFSR_8G (2 <<3)
+#define AFSR_16G (3 <<3)
+
+
+/*------------------------------
+ MPU6500_ACCEL_CONFIG2
+--------------------------------*/
+#define A_DLPF_CFG_460HZ 0x00
+#define A_DLPF_CFG_184HZ 0x01
+#define A_DLPF_CFG_92HZ 0x02
+#define A_DLPF_CFG_41HZ 0x03
+#define A_DLPF_CFG_20HZ 0x04
+#define A_DLPF_CFG_10HZ 0x05
+#define A_DLPF_CFG_5HZ 0x06
+//#define A_DLPF_CFG_460HZ 0x07
+#define BIT_FIFO_SIZE_1K 0x40
+#define BIT_ACCEL_FCHOICE_B 0x08
+
+
+/*------------------------------
+ MPU6500_LP_ACCEL_ODR
+--------------------------------*/
+#define LPA_CLK_P24HZ 0x0
+#define LPA_CLK_P49HZ 0x1
+#define LPA_CLK_P98HZ 0x2
+#define LPA_CLK_1P95HZ 0x3
+#define LPA_CLK_3P91HZ 0x4
+#define LPA_CLK_7P81HZ 0x5
+#define LPA_CLK_15P63HZ 0x6
+#define LPA_CLK_31P25HZ 0x7
+#define LPA_CLK_62P50HZ 0x8
+#define LPA_CLK_125HZ 0x9
+#define LPA_CLK_250HZ 0xa
+#define LPA_CLK_500HZ 0xb
+
+
+/*------------------------------
+ MPU6500_PWR_MGMT_1
+--------------------------------*/
+#define BIT_H_RESET (1<<7)
+#define BIT_SLEEP (1<<6)
+#define BIT_CYCLE (1<<5)
+#define BIT_GYRO_STANDBY (1<<4)
+#define BIT_PD_PTAT (1<<3)
+#define BIT_CLKSEL (1<<0)
+
+#define CLKSEL_INTERNAL 0
+#define CLKSEL_PLL 1
+
+/*------------------------------
+ MPU6500_PWR_MGMT_2
+--------------------------------*/
+#define BIT_ACCEL_STBY 0x38
+#define BIT_GYRO_STBY 0x07
+#define BITS_LPA_WAKE_CTRL 0xC0
+#define BITS_LPA_WAKE_1HZ 0x00
+#define BITS_LPA_WAKE_2HZ 0x40
+#define BITS_LPA_WAKE_20HZ 0x80
+
+#define MPU6500_PWRM1_SLEEP 0x40
+#define MPU6500_PWRM1_GYRO_STANDBY 0x10
+#define MPU6500_PWRM2_ACCEL_DISABLE 0x38
+#define MPU6500_PWRM2_GYRO_DISABLE 0x07
+
+/*------------------------------
+ MPU6500_ACCEL_INTEL_CTRL
+--------------------------------*/
+#define BIT_ACCEL_INTEL_EN 0x80
+#define BIT_ACCEL_INTEL_MODE 0x40
+
+
+/*------------------------------
+ MPU6500_USER_CTRL
+--------------------------------*/
+#define BIT_FIFO_RST 0x04
+#define BIT_DMP_RST 0x08
+#define BIT_I2C_MST_EN 0x20
+#define BIT_FIFO_EN 0x40
+#define BIT_DMP_EN 0x80
+
+
+/*------------------------------
+ MPU6500_FIFO_EN
+--------------------------------*/
+#define BIT_ACCEL_OUT 0x08
+#define BITS_GYRO_OUT 0x70
+
+
+/*------------------------------
+ MPU6500_INT_PIN_CFG
+--------------------------------*/
+#define BIT_BYPASS_EN 0x2
+
+/*------------------------------
+ MPU6500_INT_EN/INT_STATUS
+--------------------------------*/
+#define BIT_FIFO_OVERLOW 0x80
+#define BIT_MOT_INT 0x40
+#define BIT_MPU_RDY 0x04
+#define BIT_DMP_INT 0x02
+#define BIT_RAW_RDY 0x01
+
+
+#define DMP_START_ADDR 0x400
+
+
+
+#define AXIS_NUM 3
+#define AXIS_ADC_BYTE 2
+#define SENSOR_PACKET (AXIS_NUM * AXIS_ADC_BYTE)
+
+
+
+
+
+/*
+ self-test parameter
+*/
+
+#define DEF_ST_PRECISION 1000
+#define DEF_ST_MPU6500_ACCEL_LPF 2
+#define DEF_STABLE_TIME_ST 50
+#define DEF_SELFTEST_GYRO_FS (0 << 3)
+#define DEF_SELFTEST_ACCEL_FS (2 << 3)
+#define DEF_SELFTEST_6500_ACCEL_FS (0 << 3)
+#define DEF_SW_SELFTEST_GYRO_FS GFSR_2000DPS
+#define DEF_SW_SELFTEST_SENSITIVITY \
+ (2000*DEF_ST_PRECISION)/32768
+
+#define DEF_SW_SELFTEST_SAMPLE_COUNT 75
+#define DEF_SW_SELFTEST_SAMPLE_TIME 75
+#define DEF_SW_ACCEL_CAL_SAMPLE_TIME 50
+#define DEF_SW_SKIP_COUNT 10
+
+#define DEF_ST_6500_STABLE_TIME 20
+#define BYTES_PER_SENSOR (6)
+#define DEF_SELFTEST_SAMPLE_RATE 0
+#define DEF_GYRO_WAIT_TIME 50
+#define THREE_AXIS (3)
+#define INIT_ST_SAMPLES 200
+#define FIFO_COUNT_BYTE (2)
+#define DEF_ST_TRY_TIMES 2
+#define REG_6500_XG_ST_DATA 0x0
+#define REG_6500_XA_ST_DATA 0xD
+#define BITS_SELF_TEST_EN 0xE0
+
+#define DEF_ST_SCALE (1L << 15)
+
+/*---- MPU6500 Self Test Pass/Fail Criteria ----*/
+/* Gyro Offset Max Value (dps) */
+#define DEF_GYRO_OFFSET_MAX 20
+/* Gyro Self Test Absolute Limits ST_AL (dps) */
+#define DEF_GYRO_ST_AL 60
+/* Accel Self Test Absolute Limits ST_AL (mg) */
+#define DEF_ACCEL_ST_AL_MIN 225
+#define DEF_ACCEL_ST_AL_MAX 675
+#define DEF_6500_ACCEL_ST_SHIFT_DELTA 500
+#define DEF_6500_GYRO_CT_SHIFT_DELTA 500
+#define DEF_ST_MPU6500_ACCEL_LPF 2
+#define DEF_ST_6500_ACCEL_FS_MG 2000UL
+#define DEF_SELFTEST_6500_ACCEL_FS (0 << 3)
+
+#define DEF_SELFTEST_GYRO_SENS (32768 / 250)
+
+
+#define GSENSOR_DEV_PATH "/dev/mma8452_daemon"
+
+#endif
+
ACCEL_ID_LSM303D,\r
ACCEL_ID_MC3230,\r
ACCEL_ID_MPU6880,\r
+ ACCEL_ID_MPU6500,\r
COMPASS_ID_ALL,\r
COMPASS_ID_AK8975,\r
COMPASS_ID_AK8963,\r
projects / firefly-linux-kernel-4.4.55.git / commitdiff