diff options
Diffstat (limited to 'drivers/misc/mpu3050/mpu-accel.c')
| -rwxr-xr-x | drivers/misc/mpu3050/mpu-accel.c | 679 |
1 files changed, 0 insertions, 679 deletions
diff --git a/drivers/misc/mpu3050/mpu-accel.c b/drivers/misc/mpu3050/mpu-accel.c deleted file mode 100755 index 4b5c641..0000000 --- a/drivers/misc/mpu3050/mpu-accel.c +++ /dev/null @@ -1,679 +0,0 @@ -/* - mpu-accel.c - mpu3050 input device interface - - Copyright (C) 2010 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/>. -*/ - -#include <linux/i2c.h> -#include <linux/i2c-dev.h> -#include <linux/interrupt.h> -#include <linux/module.h> -#include <linux/moduleparam.h> -#include <linux/kernel.h> -#include <linux/init.h> -#include <linux/stat.h> -#include <linux/irq.h> -#include <linux/gpio.h> -#include <linux/signal.h> -#include <linux/miscdevice.h> -#include <linux/slab.h> -#include <linux/version.h> -#include <linux/pm.h> -#include <linux/mutex.h> -#include <linux/suspend.h> - -#include <linux/errno.h> -#include <linux/fs.h> -#include <linux/mm.h> -#include <linux/sched.h> -#include <linux/wait.h> -#include <linux/uaccess.h> -#include <linux/io.h> -#include <linux/input.h> - -#include "mpuirq.h" -#include "slaveirq.h" -#include "mlsl.h" -#include "mpu-i2c.h" -#include "mldl_cfg.h" -#include "mpu.h" -#include "mpu-accel.h" - -#define MPUACC_DEBUG 0 -#define MPUACC_DEBUG_CFG 0 - -#define MPUACCEL_INPUT_NAME "mpu-accel" - -struct mpuaccel_data { - struct input_dev *input_data; - struct delayed_work work; - struct mutex data_mutex; - - struct mldl_cfg *mldl_cfg; - void *accel_handle; - - atomic_t enable; - atomic_t poll_delay; - int device_is_on; -#ifdef MPUACC_USES_CACHED_DATA - unsigned char cached_data[6]; -#endif /* MPUACC_USES_CACHED_DATA */ -}; - -static struct mpuaccel_data *pThisData; -extern struct acc_data cal_data; - -static void mpu_accel_print_mldl_cfg(struct mldl_cfg *mldl_cfg) -{ - if (MPUACC_DEBUG_CFG) { - pr_info("requested_sensors:%ld\n", mldl_cfg->requested_sensors); -/* pr_info("ignore_system_suspend:%d\n", mldl_cfg->ignore_system_suspend); */ - pr_info("addr:%d\n", mldl_cfg->addr); - pr_info("int_config:%d\n", mldl_cfg->int_config); - pr_info("ext_sync:%d\n", mldl_cfg->ext_sync); - pr_info("full_scale:%d\n", mldl_cfg->full_scale); - pr_info("dmp_enable:%d\n", mldl_cfg->dmp_enable); - pr_info("fifo_enable:%d\n", mldl_cfg->fifo_enable); - pr_info("dmp_cfg1:%d\n", mldl_cfg->dmp_cfg1); - pr_info("dmp_cfg2:%d\n", mldl_cfg->dmp_cfg2); - pr_info("gyro_power:%d\n", mldl_cfg->gyro_power); - pr_info("gyro_is_bypassed:%d\n", mldl_cfg->gyro_is_bypassed); - pr_info("dmp_is_running:%d\n", mldl_cfg->dmp_is_running); - pr_info("gyro_is_suspended:%d\n", mldl_cfg->gyro_is_suspended); - pr_info("accel_is_suspended:%d\n", - mldl_cfg->accel_is_suspended); - pr_info("compass_is_suspended:%d\n", - mldl_cfg->compass_is_suspended); - pr_info("pressure_is_suspended:%d\n", - mldl_cfg->pressure_is_suspended); - pr_info("gyro_needs_reset:%d\n", mldl_cfg->gyro_needs_reset); - } -} - -static int mpu_accel_mutex_lock(struct mpuaccel_data *data) -{ - mutex_lock(&data->data_mutex); - - return ML_SUCCESS; -} - -static int mpu_accel_mutex_unlock(struct mpuaccel_data *data) -{ - mutex_unlock(&data->data_mutex); - - return ML_SUCCESS; -} - -static int mpu_accel_activate_device(struct mpuaccel_data *data, int enable) -{ - int result = ML_SUCCESS; - struct mldl_cfg *mldl_cfg = data->mldl_cfg; - - if (enable) { - /*turn on accel */ - if (NULL != mldl_cfg->accel - && NULL != mldl_cfg->accel->resume) { - result = mldl_cfg->accel->resume(data->accel_handle, - mldl_cfg->accel, - &mldl_cfg->pdata-> - accel); - } - } else { - /*turn off accel */ - if (NULL != mldl_cfg->accel - && NULL != mldl_cfg->accel->suspend) { - result = mldl_cfg->accel->suspend(data->accel_handle, - mldl_cfg->accel, - &mldl_cfg->pdata-> - accel); - } - } - - if (result == ML_SUCCESS) - data->device_is_on = enable; - - if (MPUACC_DEBUG) - pr_info("activate device:%d, result=%d\n", enable, result); - - return result; -} - -static int mpu_accel_get_data_from_device(struct mpuaccel_data *data, - unsigned char *buffer) -{ - int result = ML_SUCCESS; - struct mldl_cfg *mldl_cfg = data->mldl_cfg; - - if (NULL != mldl_cfg->accel && NULL != mldl_cfg->accel->read) { - result = mldl_cfg->accel->read(data->accel_handle, - mldl_cfg->accel, - &mldl_cfg->pdata->accel, buffer); - } - - return result; -} - -static int mpu_accel_get_data_from_mpu(struct mpuaccel_data *data, unsigned char *buffer) -{ - int result = ML_SUCCESS; - struct mldl_cfg *mldl_cfg = data->mldl_cfg; - result = - MLSLSerialRead(data->accel_handle, mldl_cfg->addr, 0x23, 6, buffer); - return result; -} - -static int mpu_accel_get_data(struct mpuaccel_data *data, unsigned char *buffer, - int *from_mpu) -{ - int res = ML_SUCCESS; - struct mldl_cfg *mldl_cfg = data->mldl_cfg; - - if (mldl_cfg->accel_is_suspended == 1 || - (mldl_cfg->dmp_is_running == 0 - && mldl_cfg->accel_is_suspended == 0)) { - - if (from_mpu != NULL) - *from_mpu = 0; - - /* - Retrieve accel data from accel device driver directly. - */ - res = mpu_accel_get_data_from_device(data, buffer); - } else if (mldl_cfg->dmp_is_running && - mldl_cfg->accel_is_suspended == 0) { - - if (from_mpu != NULL) - *from_mpu = 1; - - /* - Retrieve accel data from MPU registers(0x23 to 0x28). - */ - res = mpu_accel_get_data_from_mpu(data, buffer); - } - - return res; -} - -static int mpu_accel_build_data(struct mpuaccel_data *data, - const unsigned char *buffer, s16 *val) -{ - struct mldl_cfg *mldl_cfg = data->mldl_cfg; - int endian = mldl_cfg->accel->endian; - int dev_id = mldl_cfg->accel->id; - - if (endian == EXT_SLAVE_LITTLE_ENDIAN) { - if (dev_id == ACCEL_ID_BMA150) - *val = (*(s16 *)&buffer[0]) >> 6; - else if (dev_id == ACCEL_ID_KXTF9) { - *val = - (short)(((signed char)buffer[1] << 4) | - (buffer[0] >> 4)); - } else - *val = (buffer[1] << 8) | buffer[0]; - } else if (endian == EXT_SLAVE_BIG_ENDIAN) { - *val = (buffer[0] << 8) | buffer[1]; - } - - return ML_SUCCESS; -} - -static void mpu_accel_input_work_func(struct work_struct *work) -{ - int res = 0; - int poll_time = 0; - int enable = 0; - int i = 0; - - struct mpuaccel_data *data = container_of((struct delayed_work *)work, - struct mpuaccel_data, work); - - struct mldl_cfg *mldl_cfg = data->mldl_cfg; - - poll_time = atomic_read(&data->poll_delay); - - if (MPUACC_DEBUG) - pr_info("________________START____________________\n"); - if (MPUACC_DEBUG_CFG) - mpu_accel_print_mldl_cfg(mldl_cfg); - - mpu_accel_mutex_lock(data); - enable = atomic_read(&data->enable); - mpu_accel_mutex_unlock(data); - - if (enable) { - unsigned char buffer[6] = { 0, }; - s16 raw[3] = { 0, }; - int data_is_avail = 0; - int data_is_from_mpu = 0; - - mpu_accel_mutex_lock(data); - mpu_accel_get_data(data, buffer, &data_is_from_mpu); - mpu_accel_mutex_unlock(data); - - if (res == ML_SUCCESS) - data_is_avail = 1; - - if (data_is_avail) { - int data_is_valid = 0; - - for (i = 0; i < 3; i++) { - mpu_accel_build_data(data, &buffer[i * 2], - &raw[i]); - } - raw[0] += cal_data.x; - raw[1] += cal_data.y; - raw[2] += cal_data.z; - - if (raw[0] && raw[1] && raw[2]) - data_is_valid = 1; - - if (data_is_valid) { - int accel[3] = { 0, }; - - /*apply mounting matrix */ - for (i = 0; i < 3; i++) { -#ifdef MPUACC_USES_MOUNTING_MATRIX - int j = 0; - for (j = 0; j < 3; j++) { - accel[i] += - mldl_cfg->pdata->accel. - orientation[i * 3 + - j] * raw[j]; - } -#else - accel[i] = raw[i]; -#endif - } - - if (MPUACC_DEBUG) { - if (data_is_from_mpu == 1) - pr_info - ("MPU_ACCEL:[%d][%d][%d]\n", - accel[0], accel[1], - accel[2]); - else - pr_info("ACCEL:[%d][%d][%d]\n", - accel[0], accel[1], - accel[2]); - } -#ifdef MPUACC_USES_CACHED_DATA - memcpy(data->cached_data, buffer, - sizeof(unsigned char) * 6); -#endif /* #ifdef MPUACC_USES_CACHED_DATA */ - input_report_rel(data->input_data, REL_X, - accel[0]); - input_report_rel(data->input_data, REL_Y, - accel[1]); - input_report_rel(data->input_data, REL_Z, - accel[2]); - input_sync(data->input_data); - - if (MPUACC_DEBUG) - pr_info("input device is updated\n"); - } - } - } - - if (MPUACC_DEBUG) - pr_info("________________END____________________\n"); - - mpu_accel_mutex_lock(data); - enable = atomic_read(&data->enable); - mpu_accel_mutex_unlock(data); - - if (enable) { - if (poll_time > 0) { - schedule_delayed_work(&data->work, - msecs_to_jiffies(poll_time) - /*+ 1 */); - } else { - schedule_delayed_work(&data->work, 0); - } - - } - -} - -static int mpu_accel_enable(struct mpuaccel_data *data) -{ - int res = ML_SUCCESS; - struct mldl_cfg *mldl_cfg = data->mldl_cfg; - - if (MPUACC_DEBUG) - pr_info("mpu_accel_enable : %d\n", atomic_read(&data->enable)); - - if (atomic_read(&data->enable) != 1) { - - if (MPUACC_DEBUG) - pr_info("mpu_accel_enable : enabled\n"); - - if (mldl_cfg->accel_is_suspended == 1) { - if (MPUACC_DEBUG) - pr_info("mpu_accel_enable : turn on accel\n"); - mpu_accel_activate_device(data, 1); - } - - atomic_set(&data->enable, 1); - schedule_delayed_work(&data->work, 0); - - } - - return res; -} - -static int mpu_accel_disable(struct mpuaccel_data *data) -{ - int res = ML_SUCCESS; - struct mldl_cfg *mldl_cfg = data->mldl_cfg; - - if (MPUACC_DEBUG) - pr_info("mpu_accel_disable : %d\n", atomic_read(&data->enable)); - - if (atomic_read(&data->enable) != 0) { - atomic_set(&data->enable, 0); - cancel_delayed_work(&data->work); - - if (MPUACC_DEBUG) - pr_info("mpu_accel_disable : disabled\n"); - - if (mldl_cfg->accel_is_suspended == 1) { - if (MPUACC_DEBUG) - pr_info("mpu_accel_disable : turn off accel\n"); - - /*turn off accel */ - mpu_accel_activate_device(data, 0); - } - } - - return res; -} - -static ssize_t mpu_accel_delay_show(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct input_dev *input_data = to_input_dev(dev); - struct mpuaccel_data *data = input_get_drvdata(input_data); - - return sprintf(buf, "%d\n", atomic_read(&data->poll_delay)); -} - -static ssize_t mpu_accel_delay_store(struct device *dev, - struct device_attribute *attr, - const char *buf, size_t count) -{ - struct input_dev *input_data = to_input_dev(dev); - struct mpuaccel_data *data = input_get_drvdata(input_data); - int value = simple_strtoul(buf, NULL, 10); - - atomic_set(&data->poll_delay, value); - return count; -} - -static ssize_t mpu_accel_enable_show(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct input_dev *input_data = to_input_dev(dev); - struct mpuaccel_data *data = input_get_drvdata(input_data); - - return sprintf(buf, "%d\n", atomic_read(&data->enable)); -} - -static ssize_t -mpu_accel_enable_store(struct device *dev, - struct device_attribute *attr, - const char *buf, size_t count) -{ - struct input_dev *input_data = to_input_dev(dev); - struct mpuaccel_data *data = input_get_drvdata(input_data); - int value; - - value = simple_strtoul(buf, NULL, 10); - if (value != 0 && value != 1) - return count; - - mpu_accel_mutex_lock(data); - - if (value) - mpu_accel_enable(data); - else - mpu_accel_disable(data); - - mpu_accel_mutex_unlock(data); - - return count; -} - -int mpu_accel_is_active_device(void) -{ - int is_active = 0; - - if (pThisData != NULL) { - mpu_accel_mutex_lock(pThisData); - is_active = pThisData->device_is_on; - mpu_accel_mutex_unlock(pThisData); - } - - return is_active; -} - -#ifdef MPUACC_USES_CACHED_DATA -int mpu_accel_get_cached_data(unsigned char *cache) -{ - int res = ML_ERROR; - - if (pThisData != NULL) { - if (pThisData->device_is_on == 1) { - memcpy(cache, pThisData->cached_data, - sizeof(unsigned char) * 6); - pr_info("cached data:[%d][%d][%d][%d][%d][%d]\n", - cache[0], cache[1], - cache[2], cache[3], - cache[4], cache[5]); - res = ML_SUCCESS; - } - - } - - return res; -} -#endif /* MPUACC_USES_CACHED_DATA */ - -static DEVICE_ATTR(poll_delay, S_IRUGO | S_IWUSR | S_IWGRP, - mpu_accel_delay_show, mpu_accel_delay_store); -static DEVICE_ATTR(enable, S_IRUGO | S_IWUSR | S_IWGRP, - mpu_accel_enable_show, mpu_accel_enable_store); - -static struct attribute *mpuaccel_attributes[] = { - &dev_attr_poll_delay.attr, - &dev_attr_enable.attr, - NULL -}; - -static struct attribute_group mpuaccel_attribute_group = { - .attrs = mpuaccel_attributes -}; - -int mpu_accel_init(struct mldl_cfg *mldl_cfg, void *accel_handle) -{ - struct input_dev *input_data = NULL; - struct mpuaccel_data *data = NULL; - int res = 0; - - data = kzalloc(sizeof(struct mpuaccel_data), GFP_KERNEL); - if (data == NULL) { - res = -ENOMEM; - goto err; - } - - data->mldl_cfg = mldl_cfg; - data->accel_handle = accel_handle; - atomic_set(&data->enable, 0); - atomic_set(&data->poll_delay, 20); /* set 20ms to polling time */ - - mutex_init(&data->data_mutex); - - INIT_DELAYED_WORK(&data->work, mpu_accel_input_work_func); - - input_data = input_allocate_device(); - if (input_data == NULL) { - res = -ENOMEM; - pr_err( - "mpu_accel_probe: Failed to allocate input_data device\n"); - goto err; - } - - input_data->name = MPUACCEL_INPUT_NAME; - input_data->id.bustype = BUS_I2C; - - set_bit(EV_REL, input_data->evbit); - input_set_capability(input_data, EV_REL, REL_X); - input_set_capability(input_data, EV_REL, REL_Y); - input_set_capability(input_data, EV_REL, REL_Z); - - data->input_data = input_data; - - res = input_register_device(input_data); - if (res) { - pr_err( - "mpu_accel_init: Unable to register input_data device: %s\n", - input_data->name); - goto err; - } - - input_set_drvdata(input_data, data); - mldl_cfg->ext.mpuacc_data = (void *)data; - - pThisData = data; - - res = sysfs_create_group(&input_data->dev.kobj, - &mpuaccel_attribute_group); - if (res) { - pr_err( - "mpu_accel_init: sysfs_create_group failed[%s]\n", - input_data->name); - goto err; - } - - return res; - -err: - sysfs_remove_group(&input_data->dev.kobj, &mpuaccel_attribute_group); - input_free_device(input_data); - kfree(data); - return res; - -} - -int mpu_accel_exit(struct mldl_cfg *mldl_cfg) -{ - struct mpuaccel_data *data = NULL; - - if (mldl_cfg == NULL) - return ML_ERROR; - - data = (struct mpuaccel_data *)mldl_cfg->ext.mpuacc_data; - - if (data != NULL) { - sysfs_remove_group(&(data->input_data->dev.kobj), - &mpuaccel_attribute_group); - input_free_device(data->input_data); - - kfree(data); - data = NULL; - - mldl_cfg->ext.mpuacc_data = NULL; - } - - return ML_SUCCESS; -} - -int mpu_accel_suspend(struct mldl_cfg *mldl_cfg) -{ - int result = ML_SUCCESS; - int enable = 0; - struct mpuaccel_data *data = NULL; - - if (mldl_cfg == NULL) - return ML_ERROR; - - data = (struct mpuaccel_data *)mldl_cfg->ext.mpuacc_data; - - mpu_accel_mutex_lock(data); - enable = atomic_read(&data->enable); - - pr_info("%s: device_is_on = %d, enable = %d\n", - __func__, data->device_is_on, enable); - - if (data->device_is_on == 1 && enable == 0) { - pr_info("%s: mpu_accel_activate_device 0\n", __func__); - result = mpu_accel_activate_device(data, 0); - } - - mpu_accel_mutex_unlock(data); - - return result; -} - -int mpu_accel_resume(struct mldl_cfg *mldl_cfg) -{ - int result = ML_SUCCESS; - int enable = 0; - struct mpuaccel_data *data = NULL; - - if (mldl_cfg == NULL) - return ML_ERROR; - - data = (struct mpuaccel_data *)mldl_cfg->ext.mpuacc_data; - - mpu_accel_mutex_lock(data); - enable = atomic_read(&data->enable); - - pr_info("%s: device_is_on = %d, enable = %d\n", - __func__, data->device_is_on, enable); - - if (data->device_is_on == 0 && enable == 0) { - pr_info("%s: mpu_accel_activate_device 1\n", __func__); - result = mpu_accel_activate_device(data, 1); - } - - mpu_accel_mutex_unlock(data); - - return result; -} - -int mpu_accel_read(struct mldl_cfg *mldl_cfg, unsigned char *buffer) -{ - int result = ML_SUCCESS; - int enable = 0; - struct mpuaccel_data *data = NULL; - - if (mldl_cfg == NULL) - return ML_ERROR; - - data = (struct mpuaccel_data *)mldl_cfg->ext.mpuacc_data; - - mpu_accel_mutex_lock(data); - enable = atomic_read(&data->enable); -#ifdef MPUACC_USES_CACHED_DATA - if (enable == 1) - memcpy(buffer, data->cached_data, sizeof(unsigned char) * 6); - else -#endif /* MPUACC_USES_CACHED_DATA */ - result = mpu_accel_get_data_from_device(data, buffer); - mpu_accel_mutex_unlock(data); - - return result; -} |