From 08d8a6c0b5fd04eca7e3d0957e434c19e71568b4 Mon Sep 17 00:00:00 2001 From: xuhuicong Date: Thu, 21 Mar 2013 23:17:34 +0800 Subject: [PATCH] add l3g20d Gyroscope support --- drivers/input/sensors/gyro/Kconfig | 5 + drivers/input/sensors/gyro/Makefile | 3 +- drivers/input/sensors/gyro/l3g20d.c | 264 ++++++++++++++++++++++++++++ drivers/input/sensors/sensor-dev.c | 1 + include/linux/sensor-dev.h | 1 + 5 files changed, 273 insertions(+), 1 deletion(-) create mode 100755 drivers/input/sensors/gyro/l3g20d.c diff --git a/drivers/input/sensors/gyro/Kconfig b/drivers/input/sensors/gyro/Kconfig index ab5233fc112a..c1220b347f07 100755 --- a/drivers/input/sensors/gyro/Kconfig +++ b/drivers/input/sensors/gyro/Kconfig @@ -16,4 +16,9 @@ config GYRO_K3G bool "gyroscope k3g" default n +config GYRO_L3G20D + bool "gyroscope l3g20d" + default n + + endif diff --git a/drivers/input/sensors/gyro/Makefile b/drivers/input/sensors/gyro/Makefile index c531f6202c74..c2831bfd31c4 100755 --- a/drivers/input/sensors/gyro/Makefile +++ b/drivers/input/sensors/gyro/Makefile @@ -1,4 +1,5 @@ # gyroscope drivers obj-$(CONFIG_GYRO_SENSOR_K3G) += k3g.o -obj-$(CONFIG_GYRO_L3G4200D) += l3g4200d.o \ No newline at end of file +obj-$(CONFIG_GYRO_L3G4200D) += l3g4200d.o +obj-$(CONFIG_GYRO_L3G20D) += l3g20d.o diff --git a/drivers/input/sensors/gyro/l3g20d.c b/drivers/input/sensors/gyro/l3g20d.c new file mode 100755 index 000000000000..3246cb0336e8 --- /dev/null +++ b/drivers/input/sensors/gyro/l3g20d.c @@ -0,0 +1,264 @@ +/* drivers/input/sensors/access/kxtik.c + * + * Copyright (C) 2012-2015 ROCKCHIP. + * Author: luowei + * + * 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#ifdef CONFIG_HAS_EARLYSUSPEND +#include +#endif +#include +#include + +#if 0 +#define SENSOR_DEBUG_TYPE SENSOR_TYPE_GYROSCOPE +#define DBG(x...) if(sensor->pdata->type == SENSOR_DEBUG_TYPE) printk(x) +#else +#define DBG(x...) +#endif + +#define L3G4200D_ENABLE 0x08 + +/****************operate according to sensor chip:start************/ + +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; + + sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg); + + //register setting according to chip datasheet + if(enable) + { + status = L3G4200D_ENABLE; //l3g20d + sensor->ops->ctrl_data |= status; + } + else + { + status = ~L3G4200D_ENABLE; //l3g20d + sensor->ops->ctrl_data &= status; + } + + DBG("%s:reg=0x%x,reg_ctrl=0x%x,enable=%d\n",__func__,sensor->ops->ctrl_reg, sensor->ops->ctrl_data, enable); + result = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data); + if(result) + printk("%s:fail to active sensor\n",__func__); + + return result; + +} + +static int sensor_init(struct i2c_client *client) +{ + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + int result = 0; + unsigned char buf[5]; + unsigned char data = 0; + int i = 0; + + result = sensor->ops->active(client,0,0); + if(result) + { + printk("%s:line=%d,error\n",__func__,__LINE__); + return result; + } + + sensor->status_cur = SENSOR_OFF; + + buf[0] = 0x07; //27 + buf[1] = 0x00; + buf[2] = 0x00; + buf[3] = 0x20; //0x00 + buf[4] = 0x00; + for(i=0; i<5; i++) + { + result = sensor_write_reg(client, sensor->ops->ctrl_reg+i, buf[i]); + if(result) + { + printk("%s:line=%d,error\n",__func__,__LINE__); + return result; + } + } + + result = sensor_read_reg(client, sensor->ops->ctrl_reg); + if (result >= 0) + data = result & 0x000F; + + sensor->ops->ctrl_data = data + ODR100_BW12_5; + result = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data); + if(result) + { + printk("%s:line=%d,error\n",__func__,__LINE__); + return result; + } + + return result; +} + + +static int gyro_report_value(struct i2c_client *client, struct sensor_axis *axis) +{ + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + + /* Report GYRO information */ + input_report_rel(sensor->input_dev, ABS_RX, axis->x); + input_report_rel(sensor->input_dev, ABS_RY, axis->y); + input_report_rel(sensor->input_dev, ABS_RZ, axis->z); + input_sync(sensor->input_dev); + DBG("gyro x==%d y==%d z==%d\n",axis->x,axis->y,axis->z); + + return 0; +} + +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; + int x = 0, y = 0, z = 0; + struct sensor_axis axis; + char buffer[6] = {0}; + int i = 0; + int 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); +#if 0 + /* Data bytes from hardware xL, xH, yL, yH, zL, zH */ + do { + buffer[0] = sensor->ops->read_reg; + ret = sensor_rx_data(client, buffer, sensor->ops->read_len); + if (ret < 0) + return ret; + } while (0); +#else + + for(i=0; i<6; i++) + { + //buffer[i] = sensor->ops->read_reg + i; + buffer[i] = sensor_read_reg(client, sensor->ops->read_reg + i); + } +#endif + x = (short) (((buffer[1]) << 8) | buffer[0]); + y = (short) (((buffer[3]) << 8) | buffer[2]); + z = (short) (((buffer[5]) << 8) | buffer[4]); + + DBG("%s: x=%d y=%d z=%d \n",__func__, x,y,z); + if(pdata && pdata->orientation) + { + 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; + } + else + { + axis.x = x; + axis.y = y; + axis.z = z; + } + + //filter gyro data + if((abs(axis.x) > pdata->x_min)||(abs(axis.y) > pdata->y_min)||(abs(axis.z) > pdata->z_min)) + { + gyro_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; +} + + +static struct sensor_operate gyro_l3g20d_ops = { + .name = "l3g20d", + .type = SENSOR_TYPE_GYROSCOPE,//sensor type and it should be correct + .id_i2c = GYRO_ID_L3G20D, //i2c id number + .read_reg = GYRO_DATA_REG, //read data + .read_len = 6, //data length + .id_reg = GYRO_WHO_AM_I, //read device id from this register + .id_data = GYRO_DEVID_L3G20D, //device id + .precision = 8, //8 bits + .ctrl_reg = GYRO_CTRL_REG1, //enable or disable + .int_status_reg = GYRO_INT_SRC, //intterupt status register,if no exist then -1 + .range = {-32768,32768}, //range + .trig = IRQF_TRIGGER_LOW|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 *gyro_get_ops(void) +{ + return &gyro_l3g20d_ops; +} + + +static int __init gyro_l3g20d_init(void) +{ + struct sensor_operate *ops = gyro_get_ops(); + int result = 0; + int type = ops->type; + result = sensor_register_slave(type, NULL, NULL, gyro_get_ops); + DBG("%s\n",__func__); + return result; +} + +static void __exit gyro_l3g20d_exit(void) +{ + struct sensor_operate *ops = gyro_get_ops(); + int type = ops->type; + sensor_unregister_slave(type, NULL, NULL, gyro_get_ops); +} + + +module_init(gyro_l3g20d_init); +module_exit(gyro_l3g20d_exit); + + diff --git a/drivers/input/sensors/sensor-dev.c b/drivers/input/sensors/sensor-dev.c index 7fa69e758c1d..091c1ed11cd7 100755 --- a/drivers/input/sensors/sensor-dev.c +++ b/drivers/input/sensors/sensor-dev.c @@ -1712,6 +1712,7 @@ static const struct i2c_device_id sensor_id[] = { /*gyroscope*/ {"gyro", GYRO_ID_ALL}, {"l3g4200d_gryo", GYRO_ID_L3G4200D}, + {"l3g20d_gryo", GYRO_ID_L3G20D}, {"k3g", GYRO_ID_K3G}, /*light sensor*/ {"lightsensor", LIGHT_ID_ALL}, diff --git a/include/linux/sensor-dev.h b/include/linux/sensor-dev.h index 236fe8e97d8b..90a9751676c3 100755 --- a/include/linux/sensor-dev.h +++ b/include/linux/sensor-dev.h @@ -73,6 +73,7 @@ enum sensor_id { GYRO_ID_ALL, GYRO_ID_L3G4200D, + GYRO_ID_L3G20D, GYRO_ID_K3G, LIGHT_ID_ALL, -- 2.34.1