From a93ac942ee0bccf1997b245eaab790d3e306caa3 Mon Sep 17 00:00:00 2001 From: lhh Date: Tue, 30 Nov 2010 09:50:50 +0800 Subject: [PATCH] add ak8973 ak8975 --- arch/arm/mach-rk29/board-rk29sdk.c | 4 +- drivers/staging/iio/Kconfig | 2 +- drivers/staging/iio/Makefile | 4 +- drivers/staging/iio/magnetometer/Kconfig | 25 + drivers/staging/iio/magnetometer/Makefile | 5 + drivers/staging/iio/magnetometer/ak8973.c | 751 ++++++++++++++++++++++ drivers/staging/iio/magnetometer/ak8973.h | 53 ++ drivers/staging/iio/magnetometer/ak8975.c | 501 +++++++++++++++ drivers/staging/iio/magnetometer/magnet.h | 31 + 9 files changed, 1372 insertions(+), 4 deletions(-) create mode 100644 drivers/staging/iio/magnetometer/Kconfig create mode 100644 drivers/staging/iio/magnetometer/Makefile create mode 100644 drivers/staging/iio/magnetometer/ak8973.c create mode 100644 drivers/staging/iio/magnetometer/ak8973.h create mode 100644 drivers/staging/iio/magnetometer/ak8975.c create mode 100644 drivers/staging/iio/magnetometer/magnet.h diff --git a/arch/arm/mach-rk29/board-rk29sdk.c b/arch/arm/mach-rk29/board-rk29sdk.c index e247da0c4327..a4239137a171 100644 --- a/arch/arm/mach-rk29/board-rk29sdk.c +++ b/arch/arm/mach-rk29/board-rk29sdk.c @@ -450,13 +450,15 @@ static struct i2c_board_info __initdata board_i2c1_devices[] = { .type = "ak8973", .addr = 0x1c, .flags = 0, + .irq = RK29_PIN4_PA1, }, #endif -#if defined (CONFIG_SENSORS_AK8973) +#if defined (CONFIG_SENSORS_AK8975) { .type = "ak8975", .addr = 0x1c, .flags = 0, + .irq = RK29_PIN4_PA1, }, #endif }; diff --git a/drivers/staging/iio/Kconfig b/drivers/staging/iio/Kconfig index 4586650d65c3..ee6988360d2c 100644 --- a/drivers/staging/iio/Kconfig +++ b/drivers/staging/iio/Kconfig @@ -42,7 +42,7 @@ config IIO_TRIGGER source "drivers/staging/iio/accel/Kconfig" source "drivers/staging/iio/adc/Kconfig" source "drivers/staging/iio/light/Kconfig" - +source "drivers/staging/iio/magnetometer/Kconfig" source "drivers/staging/iio/trigger/Kconfig" endif # IIO diff --git a/drivers/staging/iio/Makefile b/drivers/staging/iio/Makefile index 7ec021810a77..caa53f3f3eaa 100644 --- a/drivers/staging/iio/Makefile +++ b/drivers/staging/iio/Makefile @@ -12,5 +12,5 @@ obj-$(CONFIG_IIO_SW_RING) += ring_sw.o obj-y += accel/ obj-y += adc/ obj-y += light/ - -obj-y += trigger/ \ No newline at end of file +obj-y += trigger/ +obj-y += magnetometer/ \ No newline at end of file diff --git a/drivers/staging/iio/magnetometer/Kconfig b/drivers/staging/iio/magnetometer/Kconfig new file mode 100644 index 000000000000..7d023296e810 --- /dev/null +++ b/drivers/staging/iio/magnetometer/Kconfig @@ -0,0 +1,25 @@ + +# +# Magnetometer sensors +#s" +comment "Magnetometer sensor +config SENSORS_AK8975 + tristate "Asahi Kasei AK8975 3-Axis Magnetometer" + default n + depends on I2C + help + Say yes here to build support for Asahi Kasei AK8975 3-Axis + Magnetometer. + + To compile this driver as a module, choose M here: the module + will be called ak8975. +config SENSORS_AK8973 + tristate "Asahi Kasei AK8973 3-Axis Magnetometer" + default n + depends on I2C + help + Say yes here to build support for Asahi Kasei AK8973 3-Axis + Magnetometer. + + To compile this driver as a module, choose M here: the module + will be called ak8973. \ No newline at end of file diff --git a/drivers/staging/iio/magnetometer/Makefile b/drivers/staging/iio/magnetometer/Makefile new file mode 100644 index 000000000000..b982369efd1a --- /dev/null +++ b/drivers/staging/iio/magnetometer/Makefile @@ -0,0 +1,5 @@ +# +# Makefile for industrial I/O Magnetometer sensors +# +obj-$(CONFIG_SENSORS_AK8975) := ak8975.o +obj-$(CONFIG_SENSORS_AK8973) := ak8973.o \ No newline at end of file diff --git a/drivers/staging/iio/magnetometer/ak8973.c b/drivers/staging/iio/magnetometer/ak8973.c new file mode 100644 index 000000000000..6d0b2ca5fabf --- /dev/null +++ b/drivers/staging/iio/magnetometer/ak8973.c @@ -0,0 +1,751 @@ +/* + * drivers/i2c/chips/ak8973.c - ak8973 compass driver + * + * Copyright (C) 2008 viral wang + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "ak8973.h" +#include + +#define DEBUG 0 +#define MAX_FAILURE_COUNT 3 + +static struct i2c_client *this_client; + +struct akm8973_data { + struct input_dev *input_dev; + struct work_struct work; +#ifdef CONFIG_HAS_EARLYSUSPEND + struct early_suspend early_suspend_akm; +#endif +}; + +/* Addresses to scan -- protected by sense_data_mutex */ +static char sense_data[RBUFF_SIZE + 1]; +static struct mutex sense_data_mutex; +#define AKM8973_RETRY_COUNT 10 +static DECLARE_WAIT_QUEUE_HEAD(data_ready_wq); +static DECLARE_WAIT_QUEUE_HEAD(open_wq); + +static atomic_t data_ready; +static atomic_t open_count; +static atomic_t open_flag; +static atomic_t reserve_open_flag; + +static atomic_t m_flag; +static atomic_t a_flag; +static atomic_t t_flag; +static atomic_t mv_flag; + +static int failure_count = 0; + +static short akmd_delay = 0; +#ifdef CONFIG_HAS_EARLYSUSPEND +static atomic_t suspend_flag = ATOMIC_INIT(0); +#endif + +static int AKI2C_RxData(char *rxData, int length) +{ + uint8_t loop_i; + struct i2c_msg msgs[] = { + { + .addr = this_client->addr, + .flags = 0, + .len = 1, + .buf = rxData, + }, + { + .addr = this_client->addr, + .flags = I2C_M_RD, + .len = length, + .buf = rxData, + }, + }; + + for (loop_i = 0; loop_i < AKM8973_RETRY_COUNT; loop_i++) { + if (i2c_transfer(this_client->adapter, msgs, 2) > 0) { + break; + } + mdelay(10); + } + + if (loop_i >= AKM8973_RETRY_COUNT) { + printk(KERN_ERR "%s retry over %d\n", __func__, AKM8973_RETRY_COUNT); + return -EIO; + } + return 0; +} + +static int AKI2C_TxData(char *txData, int length) +{ + uint8_t loop_i; + struct i2c_msg msg[] = { + { + .addr = this_client->addr, + .flags = 0, + .len = length, + .buf = txData, + }, + }; + + for (loop_i = 0; loop_i < AKM8973_RETRY_COUNT; loop_i++) { + if (i2c_transfer(this_client->adapter, msg, 1) > 0) { + break; + } + mdelay(10); + } + + if (loop_i >= AKM8973_RETRY_COUNT) { + printk(KERN_ERR "%s retry over %d\n", __func__, AKM8973_RETRY_COUNT); + return -EIO; + } + return 0; +} + +static int AKECS_StartMeasure(void) +{ + char buffer[2]; + + /* Set measure mode */ + buffer[0] = AKECS_REG_MS1; + buffer[1] = AKECS_MODE_MEASURE; + + /* Set data */ + return AKI2C_TxData(buffer, 2); +} + +static int AKECS_PowerDown(void) +{ + char buffer[2]; + int ret; + + /* Set powerdown mode */ + buffer[0] = AKECS_REG_MS1; + buffer[1] = AKECS_MODE_POWERDOWN; + /* Set data */ + ret = AKI2C_TxData(buffer, 2); + if (ret < 0) + return ret; + + /* Dummy read for clearing INT pin */ + buffer[0] = AKECS_REG_TMPS; + /* Read data */ + ret = AKI2C_RxData(buffer, 1); + if (ret < 0) + return ret; + return ret; +} + +static int AKECS_StartE2PRead(void) +{ + char buffer[2]; + + /* Set measure mode */ + buffer[0] = AKECS_REG_MS1; + buffer[1] = AKECS_MODE_E2P_READ; + /* Set data */ + return AKI2C_TxData(buffer, 2); +} + +static int AKECS_GetData(void) +{ + char buffer[RBUFF_SIZE + 1]; + int ret; + + memset(buffer, 0, RBUFF_SIZE + 1); + buffer[0] = AKECS_REG_ST; + ret = AKI2C_RxData(buffer, RBUFF_SIZE+1); + if (ret < 0) + return ret; + + mutex_lock(&sense_data_mutex); + memcpy(sense_data, buffer, sizeof(buffer)); + atomic_set(&data_ready, 1); + wake_up(&data_ready_wq); + mutex_unlock(&sense_data_mutex); + + return 0; +} + +static int AKECS_SetMode(char mode) +{ + int ret; + + switch (mode) { + case AKECS_MODE_MEASURE: + ret = AKECS_StartMeasure(); + break; + case AKECS_MODE_E2P_READ: + ret = AKECS_StartE2PRead(); + break; + case AKECS_MODE_POWERDOWN: + ret = AKECS_PowerDown(); + break; + default: + return -EINVAL; + } + + /* wait at least 300us after changing mode */ + msleep(1); + return ret; +} + +static int AKECS_TransRBuff(char *rbuf, int size) +{ + wait_event_interruptible_timeout(data_ready_wq, + atomic_read(&data_ready), 1000); + if (!atomic_read(&data_ready)) { + #ifdef CONFIG_HAS_EARLYSUSPEND + if (!atomic_read(&suspend_flag)) { + printk(KERN_ERR + "AKM8973 AKECS_TransRBUFF: Data not ready\n"); + failure_count++; + if (failure_count >= MAX_FAILURE_COUNT) { + printk(KERN_ERR + "AKM8973 AKECS_TransRBUFF: successive %d failure.\n", + failure_count); + atomic_set(&open_flag, -1); + wake_up(&open_wq); + failure_count = 0; + } + } + #endif + return -1; + } + + mutex_lock(&sense_data_mutex); + memcpy(&rbuf[1], &sense_data[1], size); + atomic_set(&data_ready, 0); + mutex_unlock(&sense_data_mutex); + + failure_count = 0; + return 0; +} + + +static void AKECS_Report_Value(short *rbuf) +{ + struct akm8973_data *data = i2c_get_clientdata(this_client); +#if DEBUG + printk(KERN_INFO"AKECS_Report_Value: yaw = %d, pitch = %d, roll = %d\n", rbuf[0], + rbuf[1], rbuf[2]); + printk(KERN_INFO" tmp = %d, m_stat= %d, g_stat=%d\n", rbuf[3], + rbuf[4], rbuf[5]); + printk(KERN_INFO" G_Sensor: x = %d LSB, y = %d LSB, z = %d LSB\n", + rbuf[6], rbuf[7], rbuf[8]); +#endif + /* Report magnetic sensor information */ + if (atomic_read(&m_flag)) { + input_report_abs(data->input_dev, ABS_RX, rbuf[0]); + input_report_abs(data->input_dev, ABS_RY, rbuf[1]); + input_report_abs(data->input_dev, ABS_RZ, rbuf[2]); + input_report_abs(data->input_dev, ABS_RUDDER, rbuf[4]); + } + + /* Report acceleration sensor information */ + if (atomic_read(&a_flag)) { + input_report_abs(data->input_dev, ABS_X, rbuf[6]); + input_report_abs(data->input_dev, ABS_Y, rbuf[7]); + input_report_abs(data->input_dev, ABS_Z, rbuf[8]); + input_report_abs(data->input_dev, ABS_WHEEL, rbuf[5]); + } + + /* Report temperature information */ + if (atomic_read(&t_flag)) + input_report_abs(data->input_dev, ABS_THROTTLE, rbuf[3]); + + if (atomic_read(&mv_flag)) { + input_report_abs(data->input_dev, ABS_HAT0X, rbuf[9]); + input_report_abs(data->input_dev, ABS_HAT0Y, rbuf[10]); + input_report_abs(data->input_dev, ABS_BRAKE, rbuf[11]); + } + + input_sync(data->input_dev); +} + +static int AKECS_GetOpenStatus(void) +{ + wait_event_interruptible(open_wq, (atomic_read(&open_flag) != 0)); + return atomic_read(&open_flag); +} + +static int AKECS_GetCloseStatus(void) +{ + wait_event_interruptible(open_wq, (atomic_read(&open_flag) <= 0)); + return atomic_read(&open_flag); +} + +static void AKECS_CloseDone(void) +{ + atomic_set(&m_flag, 1); + atomic_set(&a_flag, 1); + atomic_set(&t_flag, 1); + atomic_set(&mv_flag, 1); +} + +static int akm_aot_open(struct inode *inode, struct file *file) +{ + int ret = -1; + if (atomic_cmpxchg(&open_count, 0, 1) == 0) { + if (atomic_cmpxchg(&open_flag, 0, 1) == 0) { + atomic_set(&reserve_open_flag, 1); + wake_up(&open_wq); + ret = 0; + } + } + return ret; +} + +static int akm_aot_release(struct inode *inode, struct file *file) +{ + atomic_set(&reserve_open_flag, 0); + atomic_set(&open_flag, 0); + atomic_set(&open_count, 0); + wake_up(&open_wq); + return 0; +} + +static int +akm_aot_ioctl(struct inode *inode, struct file *file, + unsigned int cmd, unsigned long arg) +{ + void __user *argp = (void __user *)arg; + short flag; + + switch (cmd) { + case ECS_IOCTL_APP_SET_MFLAG: + case ECS_IOCTL_APP_SET_AFLAG: + case ECS_IOCTL_APP_SET_TFLAG: + case ECS_IOCTL_APP_SET_MVFLAG: + if (copy_from_user(&flag, argp, sizeof(flag))) + return -EFAULT; + if (flag < 0 || flag > 1) + return -EINVAL; + break; + case ECS_IOCTL_APP_SET_DELAY: + if (copy_from_user(&flag, argp, sizeof(flag))) + return -EFAULT; + break; + default: + break; + } + + switch (cmd) { + case ECS_IOCTL_APP_SET_MFLAG: + atomic_set(&m_flag, flag); + break; + case ECS_IOCTL_APP_GET_MFLAG: + flag = atomic_read(&m_flag); + break; + case ECS_IOCTL_APP_SET_AFLAG: + atomic_set(&a_flag, flag); + break; + case ECS_IOCTL_APP_GET_AFLAG: + flag = atomic_read(&a_flag); + break; + case ECS_IOCTL_APP_SET_TFLAG: + atomic_set(&t_flag, flag); + break; + case ECS_IOCTL_APP_GET_TFLAG: + flag = atomic_read(&t_flag); + break; + case ECS_IOCTL_APP_SET_MVFLAG: + atomic_set(&mv_flag, flag); + break; + case ECS_IOCTL_APP_GET_MVFLAG: + flag = atomic_read(&mv_flag); + break; + case ECS_IOCTL_APP_SET_DELAY: + akmd_delay = flag; + break; + case ECS_IOCTL_APP_GET_DELAY: + flag = akmd_delay; + break; + default: + return -ENOTTY; + } + + switch (cmd) { + case ECS_IOCTL_APP_GET_MFLAG: + case ECS_IOCTL_APP_GET_AFLAG: + case ECS_IOCTL_APP_GET_TFLAG: + case ECS_IOCTL_APP_GET_MVFLAG: + case ECS_IOCTL_APP_GET_DELAY: + if (copy_to_user(argp, &flag, sizeof(flag))) + return -EFAULT; + break; + default: + break; + } + + return 0; +} + +static int akmd_open(struct inode *inode, struct file *file) +{ + return nonseekable_open(inode, file); +} + +static int akmd_release(struct inode *inode, struct file *file) +{ + AKECS_CloseDone(); + return 0; +} + +static int +akmd_ioctl(struct inode *inode, struct file *file, unsigned int cmd, + unsigned long arg) +{ + + void __user *argp = (void __user *)arg; + + char msg[RBUFF_SIZE + 1], rwbuf[5]; + int ret = -1, status; + short mode, value[12], delay; + + switch (cmd) { + case ECS_IOCTL_WRITE: + case ECS_IOCTL_READ: + if (copy_from_user(&rwbuf, argp, sizeof(rwbuf))) + return -EFAULT; + break; + case ECS_IOCTL_SET_MODE: + if (copy_from_user(&mode, argp, sizeof(mode))) + return -EFAULT; + break; + case ECS_IOCTL_SET_YPR: + if (copy_from_user(&value, argp, sizeof(value))) + return -EFAULT; + break; + default: + break; + } + + switch (cmd) { + case ECS_IOCTL_WRITE: + if (rwbuf[0] < 2) + return -EINVAL; + ret = AKI2C_TxData(&rwbuf[1], rwbuf[0]); + if (ret < 0) + return ret; + break; + case ECS_IOCTL_READ: + if (rwbuf[0] < 1) + return -EINVAL; + ret = AKI2C_RxData(&rwbuf[1], rwbuf[0]); + if (ret < 0) + return ret; + break; + case ECS_IOCTL_SET_MODE: + ret = AKECS_SetMode((char)mode); + if (ret < 0) + return ret; + break; + case ECS_IOCTL_GETDATA: + ret = AKECS_TransRBuff(msg, RBUFF_SIZE); + if (ret < 0) + return ret; + break; + case ECS_IOCTL_SET_YPR: + AKECS_Report_Value(value); + break; + case ECS_IOCTL_GET_OPEN_STATUS: + status = AKECS_GetOpenStatus(); + break; + case ECS_IOCTL_GET_CLOSE_STATUS: + status = AKECS_GetCloseStatus(); + break; + case ECS_IOCTL_GET_DELAY: + delay = akmd_delay; + break; + default: + return -ENOTTY; + } + + switch (cmd) { + case ECS_IOCTL_READ: + if (copy_to_user(argp, &rwbuf, sizeof(rwbuf))) + return -EFAULT; + break; + case ECS_IOCTL_GETDATA: + if (copy_to_user(argp, &msg, sizeof(msg))) + return -EFAULT; + break; + case ECS_IOCTL_GET_OPEN_STATUS: + case ECS_IOCTL_GET_CLOSE_STATUS: + if (copy_to_user(argp, &status, sizeof(status))) + return -EFAULT; + break; + case ECS_IOCTL_GET_DELAY: + if (copy_to_user(argp, &delay, sizeof(delay))) + return -EFAULT; + break; + default: + break; + } + + return 0; +} + +static void akm_work_func(struct work_struct *work) +{ + if (AKECS_GetData() < 0) + printk(KERN_ERR "AKM8973 akm_work_func: Get data failed\n"); + enable_irq(this_client->irq); +} + +static irqreturn_t akm8973_interrupt(int irq, void *dev_id) +{ + struct akm8973_data *data = dev_id; + disable_irq(this_client->irq); + schedule_work(&data->work); + return IRQ_HANDLED; +} +#ifdef CONFIG_HAS_EARLYSUSPEND +static void akm8973_early_suspend(struct early_suspend *handler) +{ + atomic_set(&suspend_flag, 1); + atomic_set(&reserve_open_flag, atomic_read(&open_flag)); + atomic_set(&open_flag, 0); + wake_up(&open_wq); + disable_irq(this_client->irq); +} + +static void akm8973_early_resume(struct early_suspend *handler) +{ + enable_irq(this_client->irq); + atomic_set(&suspend_flag, 0); + atomic_set(&open_flag, atomic_read(&reserve_open_flag)); + wake_up(&open_wq); +} +#endif +static struct file_operations akmd_fops = { + .owner = THIS_MODULE, + .open = akmd_open, + .release = akmd_release, + .ioctl = akmd_ioctl, +}; + +static struct file_operations akm_aot_fops = { + .owner = THIS_MODULE, + .open = akm_aot_open, + .release = akm_aot_release, + .ioctl = akm_aot_ioctl, +}; + + +static struct miscdevice akm_aot_device = { + .minor = MISC_DYNAMIC_MINOR, + .name = "akm8973_aot", + .fops = &akm_aot_fops, +}; + + +static struct miscdevice akmd_device = { + .minor = MISC_DYNAMIC_MINOR, + .name = "akm8973_daemon", + .fops = &akmd_fops, +}; + +static ssize_t compass_reset_store(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + int val; + + val = -1; + sscanf(buf, "%u", &val); + if (val != 1) + return -EINVAL; + + return count; +} + +static DEVICE_ATTR(reset, 0644, NULL, compass_reset_store); + +int akm8973_probe(struct i2c_client *client, const struct i2c_device_id *id) +{ + struct akm8973_data *akm; + int err = 0; + + if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) { + err = -ENODEV; + goto exit_check_functionality_failed; + } + + akm = kzalloc(sizeof(struct akm8973_data), GFP_KERNEL); + if (!akm) { + err = -ENOMEM; + goto exit_alloc_data_failed; + } + + INIT_WORK(&akm->work, akm_work_func); + i2c_set_clientdata(client, akm); + + this_client = client; + + err = AKECS_PowerDown(); + if (err < 0) { + printk(KERN_ERR"AKM8973 akm8973_probe: set power down mode error\n"); + goto exit_set_mode_failed; + } + + err = request_irq(client->irq, akm8973_interrupt, IRQF_TRIGGER_HIGH, + "akm8973", akm); + + if (err < 0) { + printk(KERN_ERR"AKM8973 akm8973_probe: request irq failed\n"); + goto exit_irq_request_failed; + } + + akm->input_dev = input_allocate_device(); + + if (!akm->input_dev) { + err = -ENOMEM; + printk(KERN_ERR + "AKM8973 akm8973_probe: Failed to allocate input device\n"); + goto exit_input_dev_alloc_failed; + } + + set_bit(EV_ABS, akm->input_dev->evbit); + /* yaw */ + input_set_abs_params(akm->input_dev, ABS_RX, 0, 360, 0, 0); + /* pitch */ + input_set_abs_params(akm->input_dev, ABS_RY, -180, 180, 0, 0); + /* roll */ + input_set_abs_params(akm->input_dev, ABS_RZ, -90, 90, 0, 0); + /* x-axis acceleration */ + input_set_abs_params(akm->input_dev, ABS_X, -1872, 1872, 0, 0); + /* y-axis acceleration */ + input_set_abs_params(akm->input_dev, ABS_Y, -1872, 1872, 0, 0); + /* z-axis acceleration */ + input_set_abs_params(akm->input_dev, ABS_Z, -1872, 1872, 0, 0); + /* temparature */ + input_set_abs_params(akm->input_dev, ABS_THROTTLE, -30, 85, 0, 0); + /* status of magnetic sensor */ + input_set_abs_params(akm->input_dev, ABS_RUDDER, -32768, 3, 0, 0); + /* status of acceleration sensor */ + input_set_abs_params(akm->input_dev, ABS_WHEEL, -32768, 3, 0, 0); + /* step count */ + input_set_abs_params(akm->input_dev, ABS_GAS, 0, 65535, 0, 0); + /* x-axis of raw magnetic vector */ + input_set_abs_params(akm->input_dev, ABS_HAT0X, -2048, 2032, 0, 0); + /* y-axis of raw magnetic vector */ + input_set_abs_params(akm->input_dev, ABS_HAT0Y, -2048, 2032, 0, 0); + /* z-axis of raw magnetic vector */ + input_set_abs_params(akm->input_dev, ABS_BRAKE, -2048, 2032, 0, 0); + + akm->input_dev->name = "compass"; + + err = input_register_device(akm->input_dev); + + if (err) { + printk(KERN_ERR + "AKM8973 akm8973_probe: Unable to register input device: %s\n", + akm->input_dev->name); + goto exit_input_register_device_failed; + } + + err = misc_register(&akmd_device); + if (err) { + printk(KERN_ERR "AKM8973 akm8973_probe: akmd_device register failed\n"); + goto exit_misc_device_register_failed; + } + + err = misc_register(&akm_aot_device); + if (err) { + printk(KERN_ERR + "AKM8973 akm8973_probe: akm_aot_device register failed\n"); + goto exit_misc_device_register_failed; + } + + mutex_init(&sense_data_mutex); + + init_waitqueue_head(&data_ready_wq); + init_waitqueue_head(&open_wq); + + /* As default, report all information */ + atomic_set(&m_flag, 1); + atomic_set(&a_flag, 1); + atomic_set(&t_flag, 1); + atomic_set(&mv_flag, 1); +#ifdef CONFIG_HAS_EARLYSUSPEND + akm->early_suspend_akm.suspend = akm8973_early_suspend; + akm->early_suspend_akm.resume = akm8973_early_resume; + register_early_suspend(&akm->early_suspend_akm); +#endif + err = device_create_file(&client->dev, &dev_attr_reset); + if (err) + printk(KERN_ERR + "AKM8973 akm8973_probe: create dev_attr_reset failed\n"); + + return 0; + +exit_misc_device_register_failed: +exit_input_register_device_failed: + input_free_device(akm->input_dev); +exit_input_dev_alloc_failed: + free_irq(client->irq, akm); +exit_irq_request_failed: +exit_set_mode_failed: + kfree(akm); +exit_alloc_data_failed: +exit_check_functionality_failed: + return err; + +} + +static int akm8973_remove(struct i2c_client *client) +{ + struct akm8973_data *akm = i2c_get_clientdata(client); + free_irq(client->irq, akm); + input_unregister_device(akm->input_dev); + kfree(akm); + return 0; +} +static const struct i2c_device_id akm8973_id[] = { + { AKM8973_I2C_NAME, 0 }, + { } +}; + +static struct i2c_driver akm8973_driver = { + .probe = akm8973_probe, + .remove = akm8973_remove, + .id_table = akm8973_id, + .driver = { + .name = AKM8973_I2C_NAME, + }, +}; + +static int __init akm8973_init(void) +{ + printk(KERN_INFO "AKM8973 compass driver: init\n"); + return i2c_add_driver(&akm8973_driver); +} + +static void __exit akm8973_exit(void) +{ + i2c_del_driver(&akm8973_driver); +} + +module_init(akm8973_init); +module_exit(akm8973_exit); + +MODULE_AUTHOR("viral wang "); +MODULE_DESCRIPTION("AKM8973 compass driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/staging/iio/magnetometer/ak8973.h b/drivers/staging/iio/magnetometer/ak8973.h new file mode 100644 index 000000000000..350eba7dbe6c --- /dev/null +++ b/drivers/staging/iio/magnetometer/ak8973.h @@ -0,0 +1,53 @@ +/* + * Definitions for ak8973 compass chip. + */ +#ifndef AKM8973_H +#define AKM8973_H + +#include + +#define AKM8973_I2C_NAME "ak8973" + +/* Compass device dependent definition */ +#define AKECS_MODE_MEASURE 0x00 /* Starts measurement. Please use AKECS_MODE_MEASURE_SNG */ + /* or AKECS_MODE_MEASURE_SEQ instead of this. */ +#define AKECS_MODE_E2P_READ 0x02 /* E2P access mode (read). */ +#define AKECS_MODE_POWERDOWN 0x03 /* Power down mode */ + +#define RBUFF_SIZE 4 /* Rx buffer size */ + +/* AK8973 register address */ +#define AKECS_REG_ST 0xC0 +#define AKECS_REG_TMPS 0xC1 +#define AKECS_REG_MS1 0xE0 + +#define AKMIO 0xA1 + +/* IOCTLs for AKM library */ +#define ECS_IOCTL_WRITE _IOW(AKMIO, 0x01, char[5]) +#define ECS_IOCTL_READ _IOWR(AKMIO, 0x02, char[5]) +#define ECS_IOCTL_RESET _IO(AKMIO, 0x03) +#define ECS_IOCTL_SET_MODE _IOW(AKMIO, 0x04, short) +#define ECS_IOCTL_GETDATA _IOR(AKMIO, 0x05, char[RBUFF_SIZE+1]) +#define ECS_IOCTL_SET_YPR _IOW(AKMIO, 0x06, short[12]) +#define ECS_IOCTL_GET_OPEN_STATUS _IOR(AKMIO, 0x07, int) +#define ECS_IOCTL_GET_CLOSE_STATUS _IOR(AKMIO, 0x08, int) +#define ECS_IOCTL_GET_DELAY _IOR(AKMIO, 0x30, short) + +/* IOCTLs for APPs */ +#define ECS_IOCTL_APP_SET_MODE _IOW(AKMIO, 0x10, short) +#define ECS_IOCTL_APP_SET_MFLAG _IOW(AKMIO, 0x11, short) +#define ECS_IOCTL_APP_GET_MFLAG _IOW(AKMIO, 0x12, short) +#define ECS_IOCTL_APP_SET_AFLAG _IOW(AKMIO, 0x13, short) +#define ECS_IOCTL_APP_GET_AFLAG _IOR(AKMIO, 0x14, short) +#define ECS_IOCTL_APP_SET_TFLAG _IOR(AKMIO, 0x15, short) +#define ECS_IOCTL_APP_GET_TFLAG _IOR(AKMIO, 0x16, short) +#define ECS_IOCTL_APP_RESET_PEDOMETER _IO(AKMIO, 0x17) +#define ECS_IOCTL_APP_SET_DELAY _IOW(AKMIO, 0x18, short) +#define ECS_IOCTL_APP_GET_DELAY ECS_IOCTL_GET_DELAY +#define ECS_IOCTL_APP_SET_MVFLAG _IOW(AKMIO, 0x19, short) /* Set raw magnetic vector flag */ +#define ECS_IOCTL_APP_GET_MVFLAG _IOR(AKMIO, 0x1A, short) /* Get raw magnetic vector flag */ + + +#endif + diff --git a/drivers/staging/iio/magnetometer/ak8975.c b/drivers/staging/iio/magnetometer/ak8975.c new file mode 100644 index 000000000000..644615243150 --- /dev/null +++ b/drivers/staging/iio/magnetometer/ak8975.c @@ -0,0 +1,501 @@ +/* + * A sensor driver for the magnetometer AK8975. + * + * Magnetic compass sensor driver for monitoring magnetic flux information. + * + * Copyright (c) 2010, NVIDIA Corporation. + * + * 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 +#include +#include +#include +#include +#include +#include + +#include + +#include "../iio.h" +#include "magnet.h" + +/* + * Register definitions, as well as various shifts and masks to get at the + * individual fields of the registers. + */ +#define AK8975_REG_WIA 0x00 +#define AK8975_DEVICE_ID 0x48 + +#define AK8975_REG_INFO 0x01 + +#define AK8975_REG_ST1 0x02 +#define AK8975_REG_ST1_DRDY_SHIFT 0 +#define AK8975_REG_ST1_DRDY_MASK (1 << AK8975_REG_ST1_DRDY_SHIFT) + +#define AK8975_REG_HXL 0x03 +#define AK8975_REG_HXH 0x04 +#define AK8975_REG_HYL 0x05 +#define AK8975_REG_HYH 0x06 +#define AK8975_REG_HZL 0x07 +#define AK8975_REG_HZH 0x08 +#define AK8975_REG_ST2 0x09 +#define AK8975_REG_ST2_DERR_SHIFT 2 +#define AK8975_REG_ST2_DERR_MASK (1 << AK8975_REG_ST2_DERR_SHIFT) + +#define AK8975_REG_ST2_HOFL_SHIFT 3 +#define AK8975_REG_ST2_HOFL_MASK (1 << AK8975_REG_ST2_HOFL_SHIFT) + +#define AK8975_REG_CNTL 0x0A +#define AK8975_REG_CNTL_MODE_SHIFT 0 +#define AK8975_REG_CNTL_MODE_MASK (0xF << AK8975_REG_CNTL_MODE_SHIFT) +#define AK8975_REG_CNTL_MODE_POWER_DOWN 0 +#define AK8975_REG_CNTL_MODE_ONCE 1 +#define AK8975_REG_CNTL_MODE_SELF_TEST 8 +#define AK8975_REG_CNTL_MODE_FUSE_ROM 0xF + +#define AK8975_REG_RSVC 0x0B +#define AK8975_REG_ASTC 0x0C +#define AK8975_REG_TS1 0x0D +#define AK8975_REG_TS2 0x0E +#define AK8975_REG_I2CDIS 0x0F +#define AK8975_REG_ASAX 0x10 +#define AK8975_REG_ASAY 0x11 +#define AK8975_REG_ASAZ 0x12 + +#define AK8975_MAX_REGS AK8975_REG_ASAZ + +/* + * Miscellaneous values. + */ +#define AK8975_MAX_CONVERSION_TRIAL 5 +#define AK8975_MAX_CONVERSION_TIMEOUT 500 +#define AK8975_CONVERSION_DONE_POLL_TIME 10 + +/* + * Per-instance context data for the device. + */ +struct ak8975_data { + struct i2c_client *client; + struct iio_dev *indio_dev; + struct attribute_group attrs; + struct mutex lock; + u8 asa[3]; + unsigned long mode; + u8 reg_cache[AK8975_MAX_REGS]; + int eoc_gpio; + int eoc_irq; +}; + +/* + * Helper function to write to the I2C device's registers. + */ +static bool ak8975_write_data(struct i2c_client *client, + u8 reg, u8 val, u8 mask, u8 shift) +{ + u8 regval; + struct i2c_msg msg; + u8 w_data[2]; + int ret = 0; + + struct ak8975_data *data = i2c_get_clientdata(client); + + regval = data->reg_cache[reg]; + regval &= ~mask; + regval |= val << shift; + + w_data[0] = reg; + w_data[1] = regval; + + msg.addr = client->addr; + msg.flags = 0; + msg.len = 2; + msg.buf = w_data; + + ret = i2c_transfer(client->adapter, &msg, 1); + if (ret < 0) { + dev_err(&client->dev, "Write to device fails status %x\n", ret); + return false; + } + data->reg_cache[reg] = regval; + + return true; +} + +/* + * Helper function to read a contiguous set of the I2C device's registers. + */ +static bool ak8975_read_data(struct i2c_client *client, + u8 reg, u8 length, u8 *buffer) +{ + struct i2c_msg msg[2]; + u8 w_data[2]; + int ret = 0; + + w_data[0] = reg; + + msg[0].addr = client->addr; + msg[0].flags = I2C_M_NOSTART; /* set repeated start and write */ + msg[0].len = 1; + msg[0].buf = w_data; + + msg[1].addr = client->addr; + msg[1].flags = I2C_M_RD; + msg[1].len = length; + msg[1].buf = buffer; + + ret = i2c_transfer(client->adapter, msg, 2); + if (ret < 0) { + dev_err(&client->dev, "Read from device fails\n"); + return false; + } + + return true; +} + +/* + * Perform some start-of-day setup, including reading the asa calibration + * values and caching them. + */ +static int ak8975_setup(struct i2c_client *client) +{ + struct ak8975_data *data = i2c_get_clientdata(client); + u8 device_id; + u8 buffer[3]; + bool status; + + /* Confirm that the device we're talking to is really an AK8975. */ + status = ak8975_read_data(client, AK8975_REG_WIA, 1, &device_id); + if ((!status) || (device_id != AK8975_DEVICE_ID)) { + dev_err(&client->dev, "Device ak8975 not found\n"); + return -ENODEV; + } + + /* Write the fused rom access mode. */ + status = ak8975_write_data(client, AK8975_REG_CNTL, AK8975_REG_CNTL_MODE_FUSE_ROM, AK8975_REG_CNTL_MODE_MASK, AK8975_REG_CNTL_MODE_SHIFT); + if (!status) { + dev_err(&client->dev, "Error in setting fuse access mode\n"); + return false; + } + + /* Get asa data and store in the device data. */ + status = ak8975_read_data(client, AK8975_REG_ASAX, 3, buffer); + if (!status) { + dev_err(&client->dev, "Not able to read asa data\n"); + return -ENODEV; + } + + data->asa[0] = buffer[0] & 0xFF; + data->asa[1] = buffer[1] & 0xFF; + data->asa[2] = buffer[2] & 0xFF; + + return 0; +} + +/* + * Shows the device's mode. 0 = off, 1 = on. + */ +static ssize_t show_mode(struct device *dev, struct device_attribute *devattr, + char *buf) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct ak8975_data *data = indio_dev->dev_data; + + return sprintf(buf, "%lu\n", data->mode); +} + +/* + * Sets the device's mode. 0 = off, 1 = on. The device's mode must be on + * for the magn raw attributes to be available. + */ +static ssize_t store_mode(struct device *dev, struct device_attribute *devattr, + const char *buf, size_t count) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct ak8975_data *data = indio_dev->dev_data; + struct i2c_client *client = data->client; + unsigned long oval; + bool status; + + /* Convert mode string and do some basic sanity checking on it. + only 0 or 1 are valid. */ + if (strict_strtol(buf, 10, &oval)) + return -EINVAL; + + if ((oval < 0) || (oval > 1)) { + dev_err(dev, "mode value is not supported\n"); + return -EINVAL; + } + + mutex_lock(&data->lock); + + /* Write the mode to the device. */ + if (data->mode != oval) { + status = ak8975_write_data(client, AK8975_REG_CNTL, (u8)oval, AK8975_REG_CNTL_MODE_MASK, AK8975_REG_CNTL_MODE_SHIFT); + if (!status) { + dev_err(&client->dev, "Error in setting mode\n"); + mutex_unlock(&data->lock); + return -EINVAL; + } + data->mode = oval; + } + + mutex_unlock(&data->lock); + + return count; +} + +/* + * Emits the ASA sensitivity adjustment value for the x, y, or z axis. + * These ASA values are read from the sensor device at start of day, and + * cached in the device context struct. + */ +static ssize_t show_calibscale(struct device *dev, + struct device_attribute *devattr, char *buf) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct ak8975_data *data = indio_dev->dev_data; + struct iio_dev_attr *this_attr = to_iio_dev_attr(devattr); + + if (!data) { + dev_err(dev, "No device found\n"); + return -ENODEV; + } + + return sprintf(buf, "%d\n", data->asa[this_attr->address]); +} + +/* + * Emits the raw flux value for the x, y, or z axis. + * + * Adjusting the flux value with the sensitivity adjustment value should be + * done via the following formula: + * + * Hadj = H * ( ( ( (ASA-128)*0.5 ) / 128 ) + 1 ) + * + * where H is the raw value, ASA is the sensitivity adjustment, and Hadj + * is the resultant adjusted value. + */ +static ssize_t show_raw(struct device *dev, struct device_attribute *devattr, + char *buf) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct ak8975_data *data = indio_dev->dev_data; + struct i2c_client *client = data->client; + struct iio_dev_attr *this_attr = to_iio_dev_attr(devattr); + u32 timeout_ms = AK8975_MAX_CONVERSION_TIMEOUT; + u16 meas_reg; + s16 raw; + u8 read_status; + bool status; + int state; + + /* Set up the device for taking a sample. */ + status = ak8975_write_data(client, AK8975_REG_CNTL, AK8975_REG_CNTL_MODE_ONCE, AK8975_REG_CNTL_MODE_MASK, AK8975_REG_CNTL_MODE_SHIFT); + if (!status) { + dev_err(&client->dev, "Error in setting operating mode\n"); + return false; + } + + /* Wait for the conversion to complete. */ + while (timeout_ms) { + msleep(AK8975_CONVERSION_DONE_POLL_TIME); + state = (gpio_get_value(data->eoc_gpio) ? 1 : 0); + if (state) + break; + timeout_ms -= AK8975_CONVERSION_DONE_POLL_TIME; + } + if (!timeout_ms) { + dev_err(&client->dev, "Conversion timeout happend\n"); + return false; + } + + status = ak8975_read_data(client, AK8975_REG_ST1, 1, &read_status); + if (!status) { + dev_err(&client->dev, "Error in reading ST1\n"); + return false; + } + + if (read_status & AK8975_REG_ST1_DRDY_MASK) { + status = ak8975_read_data(client, AK8975_REG_ST2, 1, &read_status); + if (!status) { + dev_err(&client->dev, "Error in reading ST2\n"); + return false; + } + if (read_status & (AK8975_REG_ST2_DERR_MASK | AK8975_REG_ST2_HOFL_MASK)) { + dev_err(&client->dev, "ST2 status error 0x%x\n", + read_status); + return false; + } + } + + /* Read the flux value from the appropriate register + (the register is specified in the iio device attributes). */ + status = ak8975_read_data(client, this_attr->address, 2, + (u8 *)&meas_reg); + if (!status) { + dev_err(&client->dev, "Read axis data fails\n"); + return false; + } + + /* Endian conversion of the measured values */ + raw = (s16) (le16_to_cpu(meas_reg)); + + return sprintf(buf, "%d\n", raw); +} + +static IIO_DEVICE_ATTR(mode, S_IRUGO | S_IWUSR, show_mode, store_mode, 0); +static IIO_DEVICE_ATTR(magn_x_calibscale, S_IRUGO, show_calibscale, NULL, 0); +static IIO_DEVICE_ATTR(magn_y_calibscale, S_IRUGO, show_calibscale, NULL, 1); +static IIO_DEVICE_ATTR(magn_z_calibscale, S_IRUGO, show_calibscale, NULL, 2); +static IIO_DEV_ATTR_MAGN_X(show_raw, AK8975_REG_HXL); +static IIO_DEV_ATTR_MAGN_Y(show_raw, AK8975_REG_HYL); +static IIO_DEV_ATTR_MAGN_Z(show_raw, AK8975_REG_HZL); + +static struct attribute *ak8975_attr[] = { + &iio_dev_attr_mode.dev_attr.attr, + &iio_dev_attr_magn_x_calibscale.dev_attr.attr, + &iio_dev_attr_magn_y_calibscale.dev_attr.attr, + &iio_dev_attr_magn_z_calibscale.dev_attr.attr, + &iio_dev_attr_magn_x_raw.dev_attr.attr, + &iio_dev_attr_magn_y_raw.dev_attr.attr, + &iio_dev_attr_magn_z_raw.dev_attr.attr, + NULL +}; + +static struct attribute_group ak8975_attr_group = { + .attrs = ak8975_attr, +}; + +static int ak8975_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct ak8975_data *data; + int err; + + /* Allocate our device context. */ + data = kzalloc(sizeof(struct ak8975_data), GFP_KERNEL); + if (!data) { + dev_err(&client->dev, "Memory allocation fails\n"); + err = -ENOMEM; + goto exit; + } + + i2c_set_clientdata(client, data); + data->client = client; + + mutex_init(&data->lock); + + /* Grab and set up the supplied GPIO. */ + data->eoc_irq = client->irq; + data->eoc_gpio = irq_to_gpio(client->irq); + + err = gpio_request(data->eoc_gpio, "ak_8975"); + if (err < 0) { + dev_err(&client->dev, "failed to request GPIO %d, error %d\n", + data->eoc_gpio, err); + goto exit_free; + } + + err = gpio_direction_input(data->eoc_gpio); + if (err < 0) { + dev_err(&client->dev, "Failed to configure input direction for GPIO %d, error %d\n", data->eoc_gpio, err); + gpio_free(data->eoc_gpio); + goto exit_gpio; + } + + /* Perform some basic start-of-day setup of the device. */ + err = ak8975_setup(client); + if (err < 0) { + dev_err(&client->dev, "AK8975 initialization fails\n"); + goto exit_gpio; + } + + /* Register with IIO */ + data->indio_dev = iio_allocate_device(); + if (data->indio_dev == NULL) { + err = -ENOMEM; + goto exit_gpio; + } + + data->indio_dev->dev.parent = &client->dev; + data->indio_dev->attrs = &ak8975_attr_group; + data->indio_dev->dev_data = (void *)(data); + data->indio_dev->driver_module = THIS_MODULE; + data->indio_dev->modes = INDIO_DIRECT_MODE; + + err = iio_device_register(data->indio_dev); + if (err < 0) + goto exit_free_iio; + + return 0; + +exit_free_iio: + iio_free_device(data->indio_dev); +exit_gpio: + gpio_free(data->eoc_gpio); +exit_free: + kfree(data); +exit: + return err; +} + +static int ak8975_remove(struct i2c_client *client) +{ + struct ak8975_data *data = i2c_get_clientdata(client); + + iio_device_unregister(data->indio_dev); + iio_free_device(data->indio_dev); + + gpio_free(data->eoc_gpio); + + kfree(data); + + return 0; +} + +static const struct i2c_device_id ak8975_id[] = { + {"ak8975", 0}, + {} +}; + +MODULE_DEVICE_TABLE(i2c, ak8975_id); + +static struct i2c_driver ak8975_driver = { + .driver = { + .name = "ak8975", + }, + .probe = ak8975_probe, + .remove = __devexit_p(ak8975_remove), + .id_table = ak8975_id, +}; + +static int __init ak8975_init(void) +{ + return i2c_add_driver(&ak8975_driver); +} + +static void __exit ak8975_exit(void) +{ + i2c_del_driver(&ak8975_driver); +} + +module_init(ak8975_init); +module_exit(ak8975_exit); + +MODULE_AUTHOR("Laxman Dewangan "); +MODULE_DESCRIPTION("AK8975 magnetometer driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/staging/iio/magnetometer/magnet.h b/drivers/staging/iio/magnetometer/magnet.h new file mode 100644 index 000000000000..64338301f8df --- /dev/null +++ b/drivers/staging/iio/magnetometer/magnet.h @@ -0,0 +1,31 @@ + +#include "../sysfs.h" + +/* Magnetometer types of attribute */ + +#define IIO_DEV_ATTR_MAGN_X_OFFSET(_mode, _show, _store, _addr) \ + IIO_DEVICE_ATTR(magn_x_offset, _mode, _show, _store, _addr) + +#define IIO_DEV_ATTR_MAGN_Y_OFFSET(_mode, _show, _store, _addr) \ + IIO_DEVICE_ATTR(magn_y_offset, _mode, _show, _store, _addr) + +#define IIO_DEV_ATTR_MAGN_Z_OFFSET(_mode, _show, _store, _addr) \ + IIO_DEVICE_ATTR(magn_z_offset, _mode, _show, _store, _addr) + +#define IIO_DEV_ATTR_MAGN_X_GAIN(_mode, _show, _store, _addr) \ + IIO_DEVICE_ATTR(magn_x_gain, _mode, _show, _store, _addr) + +#define IIO_DEV_ATTR_MAGN_Y_GAIN(_mode, _show, _store, _addr) \ + IIO_DEVICE_ATTR(magn_y_gain, _mode, _show, _store, _addr) + +#define IIO_DEV_ATTR_MAGN_Z_GAIN(_mode, _show, _store, _addr) \ + IIO_DEVICE_ATTR(magn_z_gain, _mode, _show, _store, _addr) + +#define IIO_DEV_ATTR_MAGN_X(_show, _addr) \ + IIO_DEVICE_ATTR(magn_x_raw, S_IRUGO, _show, NULL, _addr) + +#define IIO_DEV_ATTR_MAGN_Y(_show, _addr) \ + IIO_DEVICE_ATTR(magn_y_raw, S_IRUGO, _show, NULL, _addr) + +#define IIO_DEV_ATTR_MAGN_Z(_show, _addr) \ + IIO_DEVICE_ATTR(magn_z_raw, S_IRUGO, _show, NULL, _addr) -- 2.34.1