diff options
Diffstat (limited to 'drivers/misc/inv_mpu/compass/ak8972.c')
| -rw-r--r-- | drivers/misc/inv_mpu/compass/ak8972.c | 499 |
1 files changed, 0 insertions, 499 deletions
diff --git a/drivers/misc/inv_mpu/compass/ak8972.c b/drivers/misc/inv_mpu/compass/ak8972.c deleted file mode 100644 index 7eb15b4..0000000 --- a/drivers/misc/inv_mpu/compass/ak8972.c +++ /dev/null @@ -1,499 +0,0 @@ -/* - $License: - Copyright (C) 2011 InvenSense Corporation, 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, see <http://www.gnu.org/licenses/>. - $ - */ - -/** - * @addtogroup COMPASSDL - * - * @{ - * @file ak8972.c - * @brief Magnetometer setup and handling methods for the AKM AK8972 compass device. - */ - -/* -------------------------------------------------------------------------- */ - -#include <linux/i2c.h> -#include <linux/module.h> -#include <linux/moduleparam.h> -#include <linux/kernel.h> -#include <linux/errno.h> -#include <linux/slab.h> -#include <linux/delay.h> -#include "mpu-dev.h" - -#include <log.h> -#include <linux/mpu.h> -#include "mlsl.h" -#include "mldl_cfg.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-compass" - -/* -------------------------------------------------------------------------- */ -#define AK8972_REG_ST1 (0x02) -#define AK8972_REG_HXL (0x03) -#define AK8972_REG_ST2 (0x09) - -#define AK8972_REG_CNTL (0x0A) -#define AK8972_REG_ASAX (0x10) -#define AK8972_REG_ASAY (0x11) -#define AK8972_REG_ASAZ (0x12) - -#define AK8972_CNTL_MODE_POWER_DOWN (0x00) -#define AK8972_CNTL_MODE_SINGLE_MEASUREMENT (0x01) -#define AK8972_CNTL_MODE_FUSE_ROM_ACCESS (0x0f) - -/* -------------------------------------------------------------------------- */ -struct ak8972_config { - char asa[COMPASS_NUM_AXES]; /* axis sensitivity adjustment */ -}; - -struct ak8972_private_data { - struct ak8972_config init; -}; - -/* -------------------------------------------------------------------------- */ -static int ak8972_init(void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata) -{ - int result; - unsigned char serial_data[COMPASS_NUM_AXES]; - - struct ak8972_private_data *private_data; - private_data = (struct ak8972_private_data *) - kzalloc(sizeof(struct ak8972_private_data), GFP_KERNEL); - - if (!private_data) - return INV_ERROR_MEMORY_EXAUSTED; - - result = inv_serial_single_write(mlsl_handle, pdata->address, - AK8972_REG_CNTL, - AK8972_CNTL_MODE_POWER_DOWN); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - /* Wait at least 100us */ - udelay(100); - - result = inv_serial_single_write(mlsl_handle, pdata->address, - AK8972_REG_CNTL, - AK8972_CNTL_MODE_FUSE_ROM_ACCESS); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - /* Wait at least 200us */ - udelay(200); - - result = inv_serial_read(mlsl_handle, pdata->address, - AK8972_REG_ASAX, - COMPASS_NUM_AXES, serial_data); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - pdata->private_data = private_data; - - private_data->init.asa[0] = serial_data[0]; - private_data->init.asa[1] = serial_data[1]; - private_data->init.asa[2] = serial_data[2]; - - result = inv_serial_single_write(mlsl_handle, pdata->address, - AK8972_REG_CNTL, - AK8972_CNTL_MODE_POWER_DOWN); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - udelay(100); - return INV_SUCCESS; -} - -static int ak8972_exit(void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata) -{ - kfree(pdata->private_data); - return INV_SUCCESS; -} - -static int ak8972_suspend(void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata) -{ - int result = INV_SUCCESS; - result = - inv_serial_single_write(mlsl_handle, pdata->address, - AK8972_REG_CNTL, - AK8972_CNTL_MODE_POWER_DOWN); - msleep(1); /* wait at least 100us */ - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return result; -} - -static int ak8972_resume(void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata) -{ - int result = INV_SUCCESS; - result = - inv_serial_single_write(mlsl_handle, pdata->address, - AK8972_REG_CNTL, - AK8972_CNTL_MODE_SINGLE_MEASUREMENT); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return result; -} - -static int ak8972_read(void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata, unsigned char *data) -{ - unsigned char regs[8]; - unsigned char *stat = ®s[0]; - unsigned char *stat2 = ®s[7]; - int result = INV_SUCCESS; - int status = INV_SUCCESS; - - result = - inv_serial_read(mlsl_handle, pdata->address, AK8972_REG_ST1, - 8, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - /* Always return the data and the status registers */ - memcpy(data, ®s[1], 6); - data[6] = regs[0]; - data[7] = regs[7]; - - /* - * ST : data ready - - * Measurement has been completed and data is ready to be read. - */ - if (*stat & 0x01) - status = INV_SUCCESS; - - /* - * ST2 : data error - - * occurs when data read is started outside of a readable period; - * data read would not be correct. - * Valid in continuous measurement mode only. - * In single measurement mode this error should not occour but we - * stil account for it and return an error, since the data would be - * corrupted. - * DERR bit is self-clearing when ST2 register is read. - */ - if (*stat2 & 0x04) - status = INV_ERROR_COMPASS_DATA_ERROR; - /* - * ST2 : overflow - - * the sum of the absolute values of all axis |X|+|Y|+|Z| < 2400uT. - * This is likely to happen in presence of an external magnetic - * disturbance; it indicates, the sensor data is incorrect and should - * be ignored. - * An error is returned. - * HOFL bit clears when a new measurement starts. - */ - if (*stat2 & 0x08) - status = INV_ERROR_COMPASS_DATA_OVERFLOW; - /* - * ST : overrun - - * the previous sample was not fetched and lost. - * Valid in continuous measurement mode only. - * In single measurement mode this error should not occour and we - * don't consider this condition an error. - * DOR bit is self-clearing when ST2 or any meas. data register is - * read. - */ - if (*stat & 0x02) { - /* status = INV_ERROR_COMPASS_DATA_UNDERFLOW; */ - status = INV_SUCCESS; - } - - /* - * trigger next measurement if: - * - stat is non zero; - * - if stat is zero and stat2 is non zero. - * Won't trigger if data is not ready and there was no error. - */ - if (*stat != 0x00 || *stat2 != 0x00) { - result = inv_serial_single_write( - mlsl_handle, pdata->address, - AK8972_REG_CNTL, AK8972_CNTL_MODE_SINGLE_MEASUREMENT); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - return status; -} - -static int ak8972_config(void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata, - struct ext_slave_config *data) -{ - int result; - if (!data->data) - return INV_ERROR_INVALID_PARAMETER; - - switch (data->key) { - case MPU_SLAVE_WRITE_REGISTERS: - result = inv_serial_write(mlsl_handle, pdata->address, - data->len, - (unsigned char *)data->data); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - case MPU_SLAVE_CONFIG_ODR_SUSPEND: - case MPU_SLAVE_CONFIG_ODR_RESUME: - case MPU_SLAVE_CONFIG_FSR_SUSPEND: - case MPU_SLAVE_CONFIG_FSR_RESUME: - case MPU_SLAVE_CONFIG_MOT_THS: - case MPU_SLAVE_CONFIG_NMOT_THS: - case MPU_SLAVE_CONFIG_MOT_DUR: - case MPU_SLAVE_CONFIG_NMOT_DUR: - case MPU_SLAVE_CONFIG_IRQ_SUSPEND: - case MPU_SLAVE_CONFIG_IRQ_RESUME: - default: - return INV_ERROR_FEATURE_NOT_IMPLEMENTED; - }; - - return INV_SUCCESS; -} - -static int ak8972_get_config(void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata, - struct ext_slave_config *data) -{ - struct ak8972_private_data *private_data = pdata->private_data; - int result; - if (!data->data) - return INV_ERROR_INVALID_PARAMETER; - - switch (data->key) { - case MPU_SLAVE_READ_REGISTERS: - { - unsigned char *serial_data = - (unsigned char *)data->data; - result = - inv_serial_read(mlsl_handle, pdata->address, - serial_data[0], data->len - 1, - &serial_data[1]); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - } - case MPU_SLAVE_READ_SCALE: - { - unsigned char *serial_data = - (unsigned char *)data->data; - serial_data[0] = private_data->init.asa[0]; - serial_data[1] = private_data->init.asa[1]; - serial_data[2] = private_data->init.asa[2]; - result = INV_SUCCESS; - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - } - case MPU_SLAVE_CONFIG_ODR_SUSPEND: - (*(unsigned long *)data->data) = 0; - break; - case MPU_SLAVE_CONFIG_ODR_RESUME: - (*(unsigned long *)data->data) = 8000; - break; - case MPU_SLAVE_CONFIG_FSR_SUSPEND: - case MPU_SLAVE_CONFIG_FSR_RESUME: - case MPU_SLAVE_CONFIG_MOT_THS: - case MPU_SLAVE_CONFIG_NMOT_THS: - case MPU_SLAVE_CONFIG_MOT_DUR: - case MPU_SLAVE_CONFIG_NMOT_DUR: - case MPU_SLAVE_CONFIG_IRQ_SUSPEND: - case MPU_SLAVE_CONFIG_IRQ_RESUME: - default: - return INV_ERROR_FEATURE_NOT_IMPLEMENTED; - }; - - return INV_SUCCESS; -} - -static struct ext_slave_read_trigger ak8972_read_trigger = { - /*.reg = */ 0x0A, - /*.value = */ 0x01 -}; - -static struct ext_slave_descr ak8972_descr = { - .init = ak8972_init, - .exit = ak8972_exit, - .suspend = ak8972_suspend, - .resume = ak8972_resume, - .read = ak8972_read, - .config = ak8972_config, - .get_config = ak8972_get_config, - .name = "ak8972", - .type = EXT_SLAVE_TYPE_COMPASS, - .id = COMPASS_ID_AK8972, - .read_reg = 0x01, - .read_len = 9, - .endian = EXT_SLAVE_LITTLE_ENDIAN, - .range = {39321, 6000}, - .trigger = &ak8972_read_trigger, -}; - -static -struct ext_slave_descr *ak8972_get_slave_descr(void) -{ - return &ak8972_descr; -} - -/* -------------------------------------------------------------------------- */ -struct ak8972_mod_private_data { - struct i2c_client *client; - struct ext_slave_platform_data *pdata; -}; - -static unsigned short normal_i2c[] = { I2C_CLIENT_END }; - -static int ak8972_mod_probe(struct i2c_client *client, - const struct i2c_device_id *devid) -{ - struct ext_slave_platform_data *pdata; - struct ak8972_mod_private_data *private_data; - int result = 0; - - dev_info(&client->adapter->dev, "%s: %s\n", __func__, devid->name); - - if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) { - result = -ENODEV; - goto out_no_free; - } - - pdata = client->dev.platform_data; - if (!pdata) { - dev_err(&client->adapter->dev, - "Missing platform data for slave %s\n", devid->name); - result = -EFAULT; - goto out_no_free; - } - - private_data = kzalloc(sizeof(*private_data), GFP_KERNEL); - if (!private_data) { - result = -ENOMEM; - goto out_no_free; - } - - i2c_set_clientdata(client, private_data); - private_data->client = client; - private_data->pdata = pdata; - - result = inv_mpu_register_slave(THIS_MODULE, client, pdata, - ak8972_get_slave_descr); - if (result) { - dev_err(&client->adapter->dev, - "Slave registration failed: %s, %d\n", - devid->name, result); - goto out_free_memory; - } - - return result; - -out_free_memory: - kfree(private_data); -out_no_free: - dev_err(&client->adapter->dev, "%s failed %d\n", __func__, result); - return result; - -} - -static int ak8972_mod_remove(struct i2c_client *client) -{ - struct ak8972_mod_private_data *private_data = - i2c_get_clientdata(client); - - dev_dbg(&client->adapter->dev, "%s\n", __func__); - inv_mpu_unregister_slave(client, private_data->pdata, - ak8972_get_slave_descr); - - kfree(private_data); - return 0; -} - -static const struct i2c_device_id ak8972_mod_id[] = { - { "ak8972", COMPASS_ID_AK8972 }, - {} -}; - -MODULE_DEVICE_TABLE(i2c, ak8972_mod_id); - -static struct i2c_driver ak8972_mod_driver = { - .class = I2C_CLASS_HWMON, - .probe = ak8972_mod_probe, - .remove = ak8972_mod_remove, - .id_table = ak8972_mod_id, - .driver = { - .owner = THIS_MODULE, - .name = "ak8972_mod", - }, - .address_list = normal_i2c, -}; - -static int __init ak8972_mod_init(void) -{ - int res = i2c_add_driver(&ak8972_mod_driver); - pr_info("%s: Probe name %s\n", __func__, "ak8972_mod"); - if (res) - pr_err("%s failed\n", __func__); - return res; -} - -static void __exit ak8972_mod_exit(void) -{ - pr_info("%s\n", __func__); - i2c_del_driver(&ak8972_mod_driver); -} - -module_init(ak8972_mod_init); -module_exit(ak8972_mod_exit); - -MODULE_AUTHOR("Invensense Corporation"); -MODULE_DESCRIPTION("Driver to integrate AK8972 sensor with the MPU"); -MODULE_LICENSE("GPL"); -MODULE_ALIAS("ak8972_mod"); - -/** - * @} - */ |