/*
$License:
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 .
$
*/
/**
* @defgroup ACCELDL (Motion Library - Accelerometer Driver Layer)
* @brief Provides the interface to setup and handle an accelerometers
* connected to the secondary I2C interface of the gyroscope.
*
* @{
* @file kxtf9.c
* @brief Accelerometer setup and handling methods.
*/
/* ------------------ */
/* - Include Files. - */
/* ------------------ */
#undef MPL_LOG_NDEBUG
#define MPL_LOG_NDEBUG 1
#ifdef __KERNEL__
#include
#endif
#include "mpu.h"
#include "mlsl.h"
#include "mlos.h"
#include
#undef MPL_LOG_TAG
#define MPL_LOG_TAG "MPL-acc"
#define KXTF9_XOUT_HPF_L (0x00) /* 0000 0000 */
#define KXTF9_XOUT_HPF_H (0x01) /* 0000 0001 */
#define KXTF9_YOUT_HPF_L (0x02) /* 0000 0010 */
#define KXTF9_YOUT_HPF_H (0x03) /* 0000 0011 */
#define KXTF9_ZOUT_HPF_L (0x04) /* 0001 0100 */
#define KXTF9_ZOUT_HPF_H (0x05) /* 0001 0101 */
#define KXTF9_XOUT_L (0x06) /* 0000 0110 */
#define KXTF9_XOUT_H (0x07) /* 0000 0111 */
#define KXTF9_YOUT_L (0x08) /* 0000 1000 */
#define KXTF9_YOUT_H (0x09) /* 0000 1001 */
#define KXTF9_ZOUT_L (0x0A) /* 0001 1010 */
#define KXTF9_ZOUT_H (0x0B) /* 0001 1011 */
#define KXTF9_ST_RESP (0x0C) /* 0000 1100 */
#define KXTF9_WHO_AM_I (0x0F) /* 0000 1111 */
#define KXTF9_TILT_POS_CUR (0x10) /* 0001 0000 */
#define KXTF9_TILT_POS_PRE (0x11) /* 0001 0001 */
#define KXTF9_INT_SRC_REG1 (0x15) /* 0001 0101 */
#define KXTF9_INT_SRC_REG2 (0x16) /* 0001 0110 */
#define KXTF9_STATUS_REG (0x18) /* 0001 1000 */
#define KXTF9_INT_REL (0x1A) /* 0001 1010 */
#define KXTF9_CTRL_REG1 (0x1B) /* 0001 1011 */
#define KXTF9_CTRL_REG2 (0x1C) /* 0001 1100 */
#define KXTF9_CTRL_REG3 (0x1D) /* 0001 1101 */
#define KXTF9_INT_CTRL_REG1 (0x1E) /* 0001 1110 */
#define KXTF9_INT_CTRL_REG2 (0x1F) /* 0001 1111 */
#define KXTF9_INT_CTRL_REG3 (0x20) /* 0010 0000 */
#define KXTF9_DATA_CTRL_REG (0x21) /* 0010 0001 */
#define KXTF9_TILT_TIMER (0x28) /* 0010 1000 */
#define KXTF9_WUF_TIMER (0x29) /* 0010 1001 */
#define KXTF9_TDT_TIMER (0x2B) /* 0010 1011 */
#define KXTF9_TDT_H_THRESH (0x2C) /* 0010 1100 */
#define KXTF9_TDT_L_THRESH (0x2D) /* 0010 1101 */
#define KXTF9_TDT_TAP_TIMER (0x2E) /* 0010 1110 */
#define KXTF9_TDT_TOTAL_TIMER (0x2F) /* 0010 1111 */
#define KXTF9_TDT_LATENCY_TIMER (0x30) /* 0011 0000 */
#define KXTF9_TDT_WINDOW_TIMER (0x31) /* 0011 0001 */
#define KXTF9_WUF_THRESH (0x5A) /* 0101 1010 */
#define KXTF9_TILT_ANGLE (0x5C) /* 0101 1100 */
#define KXTF9_HYST_SET (0x5F) /* 0101 1111 */
#define KXTF9_MAX_DUR (0xFF)
#define KXTF9_MAX_THS (0xFF)
#define KXTF9_THS_COUNTS_P_G (32)
/* --------------------- */
/* - Variables. - */
/* --------------------- */
struct kxtf9_config {
unsigned int odr; /* Output data rate mHz */
unsigned int fsr; /* full scale range mg */
unsigned int ths; /* Motion no-motion thseshold mg */
unsigned int dur; /* Motion no-motion duration ms */
unsigned int irq_type;
unsigned char reg_ths;
unsigned char reg_dur;
unsigned char reg_odr;
unsigned char reg_int_cfg1;
unsigned char reg_int_cfg2;
unsigned char ctrl_reg1;
};
struct kxtf9_private_data {
struct kxtf9_config suspend;
struct kxtf9_config resume;
};
extern struct acc_data cal_data;
/*****************************************
Accelerometer Initialization Functions
*****************************************/
static int kxtf9_set_ths(void *mlsl_handle,
struct ext_slave_platform_data *pdata,
struct kxtf9_config *config, int apply, long ths)
{
int result = ML_SUCCESS;
if ((ths * KXTF9_THS_COUNTS_P_G / 1000) > KXTF9_MAX_THS)
ths = (KXTF9_MAX_THS * 1000) / KXTF9_THS_COUNTS_P_G;
if (ths < 0)
ths = 0;
config->ths = ths;
config->reg_ths = (unsigned char)
((long)(ths * KXTF9_THS_COUNTS_P_G) / 1000);
MPL_LOGV("THS: %d, 0x%02x\n", config->ths, (int)config->reg_ths);
if (apply)
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_WUF_THRESH,
config->reg_ths);
return result;
}
static int kxtf9_set_dur(void *mlsl_handle,
struct ext_slave_platform_data *pdata,
struct kxtf9_config *config, int apply, long dur)
{
int result = ML_SUCCESS;
long reg_dur = (dur * config->odr) / 1000000;
config->dur = dur;
if (reg_dur > KXTF9_MAX_DUR)
reg_dur = KXTF9_MAX_DUR;
config->reg_dur = (unsigned char)reg_dur;
MPL_LOGV("DUR: %d, 0x%02x\n", config->dur, (int)config->reg_dur);
if (apply)
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_WUF_TIMER,
(unsigned char)reg_dur);
return result;
}
/**
* Sets the IRQ to fire when one of the IRQ events occur. Threshold and
* duration will not be used uless the type is MOT or NMOT.
*
* @param config configuration to apply to, suspend or resume
* @param irq_type The type of IRQ. Valid values are
* - MPU_SLAVE_IRQ_TYPE_NONE
* - MPU_SLAVE_IRQ_TYPE_MOTION
* - MPU_SLAVE_IRQ_TYPE_DATA_READY
*/
static int kxtf9_set_irq(void *mlsl_handle,
struct ext_slave_platform_data *pdata,
struct kxtf9_config *config, int apply, long irq_type)
{
int result = ML_SUCCESS;
struct kxtf9_private_data *private_data = pdata->private_data;
config->irq_type = (unsigned char)irq_type;
config->ctrl_reg1 &= ~0x22;
if (irq_type == MPU_SLAVE_IRQ_TYPE_DATA_READY) {
config->ctrl_reg1 |= 0x20;
config->reg_int_cfg1 = 0x38;
config->reg_int_cfg2 = 0x00;
} else if (irq_type == MPU_SLAVE_IRQ_TYPE_MOTION) {
config->ctrl_reg1 |= 0x02;
if ((unsigned long)config ==
(unsigned long)&private_data->suspend)
config->reg_int_cfg1 = 0x34;
else
config->reg_int_cfg1 = 0x24;
config->reg_int_cfg2 = 0xE0;
} else {
config->reg_int_cfg1 = 0x00;
config->reg_int_cfg2 = 0x00;
}
if (apply) {
/* Must clear bit 7 before writing new configuration */
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_CTRL_REG1, 0x40);
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_INT_CTRL_REG1,
config->reg_int_cfg1);
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_INT_CTRL_REG2,
config->reg_int_cfg2);
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_CTRL_REG1,
config->ctrl_reg1);
}
MPL_LOGV("CTRL_REG1: %lx, INT_CFG1: %lx, INT_CFG2: %lx\n",
(unsigned long)config->ctrl_reg1,
(unsigned long)config->reg_int_cfg1,
(unsigned long)config->reg_int_cfg2);
return result;
}
/**
* Set the Output data rate for the particular configuration
*
* @param config Config to modify with new ODR
* @param odr Output data rate in units of 1/1000Hz
*/
static int kxtf9_set_odr(void *mlsl_handle,
struct ext_slave_platform_data *pdata,
struct kxtf9_config *config, int apply, long odr)
{
unsigned char bits;
int result = ML_SUCCESS;
/* Data sheet says there is 12.5 hz, but that seems to produce a single
* correct data value, thus we remove it from the table */
if (odr > 400000) {
config->odr = 800000;
bits = 0x06;
} else if (odr > 200000) {
config->odr = 400000;
bits = 0x05;
} else if (odr > 100000) {
config->odr = 200000;
bits = 0x04;
} else if (odr > 50000) {
config->odr = 100000;
bits = 0x03;
} else if (odr > 25000) {
config->odr = 50000;
bits = 0x02;
} else if (odr != 0) {
config->odr = 25000;
bits = 0x01;
} else {
config->odr = 0;
bits = 0;
}
if (odr != 0)
config->ctrl_reg1 |= 0x80;
config->reg_odr = bits;
kxtf9_set_dur(mlsl_handle, pdata, config, apply, config->dur);
MPL_LOGV("ODR: %d, 0x%02x\n", config->odr, (int)config->ctrl_reg1);
if (apply) {
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_DATA_CTRL_REG,
config->reg_odr);
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_CTRL_REG1, 0x40);
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_CTRL_REG1,
config->ctrl_reg1);
}
return result;
}
/**
* Set the full scale range of the accels
*
* @param config pointer to configuration
* @param fsr requested full scale range
*/
static int kxtf9_set_fsr(void *mlsl_handle,
struct ext_slave_platform_data *pdata,
struct kxtf9_config *config, int apply, long fsr)
{
int result = ML_SUCCESS;
config->ctrl_reg1 = (config->ctrl_reg1 & 0xE7);
if (fsr <= 2000) {
config->fsr = 2000;
config->ctrl_reg1 |= 0x00;
} else if (fsr <= 4000) {
config->fsr = 4000;
config->ctrl_reg1 |= 0x08;
} else {
config->fsr = 8000;
config->ctrl_reg1 |= 0x10;
}
MPL_LOGV("FSR: %d\n", config->fsr);
if (apply) {
/* Must clear bit 7 before writing new configuration */
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_CTRL_REG1, 0x40);
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_CTRL_REG1,
config->ctrl_reg1);
}
return result;
}
static int kxtf9_suspend(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
int result;
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_CTRL_REG1, 0x0);
ERROR_CHECK(result);
return result;
}
/* full scale setting - register and mask */
#define ACCEL_KIONIX_CTRL_REG (0x1b)
#define ACCEL_KIONIX_CTRL_MASK (0x18)
static int kxtf9_resume(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
int result = ML_SUCCESS;
unsigned char data;
struct kxtf9_private_data *private_data = pdata->private_data;
/* Wake up */
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_CTRL_REG1, 0x40);
ERROR_CHECK(result);
/* INT_CTRL_REG1: */
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_INT_CTRL_REG1,
private_data->resume.reg_int_cfg1);
ERROR_CHECK(result);
/* WUF_THRESH: */
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_WUF_THRESH,
private_data->resume.reg_ths);
ERROR_CHECK(result);
/* DATA_CTRL_REG */
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_DATA_CTRL_REG,
private_data->resume.reg_odr);
ERROR_CHECK(result);
/* WUF_TIMER */
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_WUF_TIMER,
private_data->resume.reg_dur);
ERROR_CHECK(result);
/* Normal operation */
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
KXTF9_CTRL_REG1,
private_data->resume.ctrl_reg1);
ERROR_CHECK(result);
result = MLSLSerialRead(mlsl_handle, pdata->address,
KXTF9_INT_REL, 1, &data);
ERROR_CHECK(result);
return ML_SUCCESS;
}
static int kxtf9_init(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
struct kxtf9_private_data *private_data;
int result = ML_SUCCESS;
private_data = (struct kxtf9_private_data *)
MLOSMalloc(sizeof(struct kxtf9_private_data));
if (!private_data)
return ML_ERROR_MEMORY_EXAUSTED;
/* RAM reset */
result = MLSLSerialWriteSingle(mlsl_handle,
pdata->address, KXTF9_CTRL_REG1, 0x40);
/* Fastest Reset */
ERROR_CHECK(result);
result = MLSLSerialWriteSingle(mlsl_handle,
pdata->address, KXTF9_DATA_CTRL_REG, 0x36);
/* Fastest Reset */
ERROR_CHECK(result);
result = MLSLSerialWriteSingle(mlsl_handle,
pdata->address, KXTF9_CTRL_REG3, 0xcd);
/* Reset */
ERROR_CHECK(result);
MLOSSleep(2);
pdata->private_data = private_data;
private_data->resume.ctrl_reg1 = 0xC0;
private_data->suspend.ctrl_reg1 = 0x40;
result = kxtf9_set_dur(mlsl_handle, pdata, &private_data->suspend,
FALSE, 1000);
ERROR_CHECK(result);
result = kxtf9_set_dur(mlsl_handle, pdata, &private_data->resume,
FALSE, 2540);
ERROR_CHECK(result);
result = kxtf9_set_odr(mlsl_handle, pdata, &private_data->suspend,
FALSE, 50000);
ERROR_CHECK(result);
result = kxtf9_set_odr(mlsl_handle, pdata, &private_data->resume,
FALSE, 200000);
result = kxtf9_set_fsr(mlsl_handle, pdata, &private_data->suspend,
FALSE, 2000);
ERROR_CHECK(result);
result = kxtf9_set_fsr(mlsl_handle, pdata, &private_data->resume,
FALSE, 2000);
ERROR_CHECK(result);
result = kxtf9_set_ths(mlsl_handle, pdata, &private_data->suspend,
FALSE, 80);
ERROR_CHECK(result);
result = kxtf9_set_ths(mlsl_handle, pdata, &private_data->resume,
FALSE, 40);
ERROR_CHECK(result);
result = kxtf9_set_irq(mlsl_handle, pdata, &private_data->suspend,
FALSE, MPU_SLAVE_IRQ_TYPE_NONE);
ERROR_CHECK(result);
result = kxtf9_set_irq(mlsl_handle, pdata, &private_data->resume,
FALSE, MPU_SLAVE_IRQ_TYPE_NONE);
ERROR_CHECK(result);
return result;
}
static int kxtf9_exit(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
if (pdata->private_data)
return MLOSFree(pdata->private_data);
else
return ML_SUCCESS;
}
static int kxtf9_config(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
struct ext_slave_config *data)
{
struct kxtf9_private_data *private_data = pdata->private_data;
if (!data->data)
return ML_ERROR_INVALID_PARAMETER;
switch (data->key) {
case MPU_SLAVE_CONFIG_ODR_SUSPEND:
return kxtf9_set_odr(mlsl_handle, pdata,
&private_data->suspend,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_ODR_RESUME:
return kxtf9_set_odr(mlsl_handle, pdata,
&private_data->resume,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_FSR_SUSPEND:
return kxtf9_set_fsr(mlsl_handle, pdata,
&private_data->suspend,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_FSR_RESUME:
return kxtf9_set_fsr(mlsl_handle, pdata,
&private_data->resume,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_MOT_THS:
return kxtf9_set_ths(mlsl_handle, pdata,
&private_data->suspend,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_NMOT_THS:
return kxtf9_set_ths(mlsl_handle, pdata,
&private_data->resume,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_MOT_DUR:
return kxtf9_set_dur(mlsl_handle, pdata,
&private_data->suspend,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_NMOT_DUR:
return kxtf9_set_dur(mlsl_handle, pdata,
&private_data->resume,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
return kxtf9_set_irq(mlsl_handle, pdata,
&private_data->suspend,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_IRQ_RESUME:
return kxtf9_set_irq(mlsl_handle, pdata,
&private_data->resume,
data->apply, *((long *)data->data));
default:
return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
};
return ML_SUCCESS;
}
static int kxtf9_get_config(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
struct ext_slave_config *data)
{
struct kxtf9_private_data *private_data = pdata->private_data;
if (!data->data)
return ML_ERROR_INVALID_PARAMETER;
switch (data->key) {
case MPU_SLAVE_CONFIG_ODR_SUSPEND:
(*(unsigned long *)data->data) =
(unsigned long)private_data->suspend.odr;
break;
case MPU_SLAVE_CONFIG_ODR_RESUME:
(*(unsigned long *)data->data) =
(unsigned long)private_data->resume.odr;
break;
case MPU_SLAVE_CONFIG_FSR_SUSPEND:
(*(unsigned long *)data->data) =
(unsigned long)private_data->suspend.fsr;
break;
case MPU_SLAVE_CONFIG_FSR_RESUME:
(*(unsigned long *)data->data) =
(unsigned long)private_data->resume.fsr;
break;
case MPU_SLAVE_CONFIG_MOT_THS:
(*(unsigned long *)data->data) =
(unsigned long)private_data->suspend.ths;
break;
case MPU_SLAVE_CONFIG_NMOT_THS:
(*(unsigned long *)data->data) =
(unsigned long)private_data->resume.ths;
break;
case MPU_SLAVE_CONFIG_MOT_DUR:
(*(unsigned long *)data->data) =
(unsigned long)private_data->suspend.dur;
break;
case MPU_SLAVE_CONFIG_NMOT_DUR:
(*(unsigned long *)data->data) =
(unsigned long)private_data->resume.dur;
break;
case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
(*(unsigned long *)data->data) =
(unsigned long)private_data->suspend.irq_type;
break;
case MPU_SLAVE_CONFIG_IRQ_RESUME:
(*(unsigned long *)data->data) =
(unsigned long)private_data->resume.irq_type;
break;
default:
return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
};
return ML_SUCCESS;
}
static int kxtf9_read(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
unsigned char *data)
{
int result;
int x, y, z;
result = MLSLSerialRead(mlsl_handle, pdata->address,
slave->reg, slave->len, data);
if (slave->len == 6) {
x = (s16) ((data[1] << 4) | (data[0] >> 4)) + cal_data.x;
y = (s16) ((data[3] << 4) | (data[2] >> 4)) + cal_data.y;
z = (s16) ((data[5] << 4) | (data[4] >> 4)) + cal_data.z;
data[0] = (x & 0xf) << 4;
data[1] = (x & 0xff0) >> 4;
data[2] = (y & 0xf) << 4;
data[3] = (y & 0xff0) >> 4;
data[4] = (z & 0xf) << 4;
data[5] = (z & 0xff0) >> 4;
}
ERROR_CHECK(result);
return result;
}
static struct ext_slave_descr kxtf9_descr = {
/*.init = */ kxtf9_init,
/*.exit = */ kxtf9_exit,
/*.suspend = */ kxtf9_suspend,
/*.resume = */ kxtf9_resume,
/*.read = */ kxtf9_read,
/*.config = */ kxtf9_config,
/*.get_config = */ kxtf9_get_config,
/*.name = */ "kxtf9",
/*.type = */ EXT_SLAVE_TYPE_ACCELEROMETER,
/*.id = */ ACCEL_ID_KXTF9,
/*.reg = */ 0x06,
/*.len = */ 6,
/*.endian = */ EXT_SLAVE_LITTLE_ENDIAN,
/*.range = */ {2, 0},
};
struct ext_slave_descr *kxtf9_get_slave_descr(void)
{
return &kxtf9_descr;
}
EXPORT_SYMBOL(kxtf9_get_slave_descr);