/* MPU6050 motion sensor driver * * 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 "mpu6050.h" #include #include static DEFINE_MUTEX(mpu6050_i2c_mutex); /* Maintain cust info here */ struct acc_hw accel_cust; static struct acc_hw *hw = &accel_cust; /* For driver get cust info */ struct acc_hw *get_cust_acc(void) { return &accel_cust; } /*----------------------------------------------------------------------------*/ /*#define DEBUG 1*/ /*----------------------------------------------------------------------------*/ #define CONFIG_MPU6050_LOWPASS /*apply low pass filter on output */ #define SW_CALIBRATION /*----------------------------------------------------------------------------*/ #define MPU6050_AXIS_X 0 #define MPU6050_AXIS_Y 1 #define MPU6050_AXIS_Z 2 #define MPU6050_AXES_NUM 3 #define MPU6050_DATA_LEN 6 #define MPU6050_DEV_NAME "MPU6050G" /* name must different with gyro mpu6050 */ /*----------------------------------------------------------------------------*/ static const struct i2c_device_id mpu6050_i2c_id[] = { {MPU6050_DEV_NAME, 0}, {} }; /*----------------------------------------------------------------------------*/ static int mpu6050_i2c_probe(struct i2c_client *client, const struct i2c_device_id *id); static int mpu6050_i2c_remove(struct i2c_client *client); static int mpu6050_i2c_detect(struct i2c_client *client, struct i2c_board_info *info); #ifndef USE_EARLY_SUSPEND static int mpu6050_suspend(struct i2c_client *client, pm_message_t msg); static int mpu6050_resume(struct i2c_client *client); #endif static int mpu6050_local_init(void); static int mpu6050_remove(void); static int mpu6050_init_flag = -1; /*0<==>OK -1 <==> fail*/ static struct acc_init_info mpu6050_init_info = { .name = "mpu6050g", .init = mpu6050_local_init, .uninit = mpu6050_remove, }; /*----------------------------------------------------------------------------*/ enum { MPU6050_TRC_FILTER = 0x01, MPU6050_TRC_RAWDATA = 0x02, MPU6050_TRC_IOCTL = 0x04, MPU6050_TRC_CALI = 0X08, MPU6050_TRC_INFO = 0X10, }; /*----------------------------------------------------------------------------*/ struct scale_factor { u8 whole; u8 fraction; }; /*----------------------------------------------------------------------------*/ struct data_resolution { struct scale_factor scalefactor; int sensitivity; }; /*----------------------------------------------------------------------------*/ #define C_MAX_FIR_LENGTH (32) /*----------------------------------------------------------------------------*/ struct data_filter { s16 raw[C_MAX_FIR_LENGTH][MPU6050_AXES_NUM]; int sum[MPU6050_AXES_NUM]; int num; int idx; }; /*----------------------------------------------------------------------------*/ struct mpu6050_i2c_data { struct i2c_client *client; struct acc_hw *hw; struct hwmsen_convert cvt; /*misc */ struct data_resolution *reso; atomic_t trace; atomic_t suspend; atomic_t selftest; atomic_t filter; s16 cali_sw[MPU6050_AXES_NUM + 1]; /*data */ s8 offset[MPU6050_AXES_NUM + 1]; /*+1: for 4-byte alignment */ s16 data[MPU6050_AXES_NUM + 1]; #if defined(CONFIG_MPU6050_LOWPASS) atomic_t firlen; atomic_t fir_en; struct data_filter fir; #endif /*early suspend */ #if defined(USE_EARLY_SUSPEND) struct early_suspend early_drv; #endif u8 bandwidth; }; /*----------------------------------------------------------------------------*/ #ifdef CONFIG_OF static const struct of_device_id accel_of_match[] = { {.compatible = "mediatek,gsensor"}, {}, }; #endif static struct i2c_driver mpu6050g_i2c_driver = { .driver = { .name = MPU6050_DEV_NAME, #ifdef CONFIG_OF .of_match_table = accel_of_match, #endif }, .probe = mpu6050_i2c_probe, .remove = mpu6050_i2c_remove, .detect = mpu6050_i2c_detect, #if !defined(USE_EARLY_SUSPEND) .suspend = mpu6050_suspend, .resume = mpu6050_resume, #endif .id_table = mpu6050_i2c_id, }; /*----------------------------------------------------------------------------*/ static struct i2c_client *mpu6050_i2c_client; static struct mpu6050_i2c_data *obj_i2c_data; static bool sensor_power; static struct GSENSOR_VECTOR3D gsensor_gain; static char selftestRes[8] = { 0 }; /*----------------------------------------------------------------------------*/ #define MPU6050G_DEBUG 0 #define GSE_TAG "[Gsensor] " #define GSE_FUN(f) pr_debug(GSE_TAG"%s\n", __func__) #define GSE_ERR(fmt, args...) pr_err(GSE_TAG"%s %d : "fmt, __func__, __LINE__, ##args) #if MPU6050G_DEBUG #define GSE_LOG(fmt, args...) pr_debug(GSE_TAG fmt, ##args) #else #define GSE_LOG(fmt, args...) #endif /*----------------------------------------------------------------------------*/ static struct data_resolution mpu6050_data_resolution[] = { /*8 combination by {FULL_RES,RANGE} */ {{0, 6}, 16384}, /*+/-2g in 16-bit resolution: 0.06 mg/LSB */ {{0, 12}, 8192}, /*+/-4g in 16-bit resolution: 0.12 mg/LSB */ {{0, 24}, 4096}, /*+/-8g in 16-bit resolution: 0.24 mg/LSB */ {{0, 5}, 2048}, /*+/-16g in 16-bit resolution: 0.49 mg/LSB */ }; /*----------------------------------------------------------------------------*/ static struct data_resolution mpu6050_offset_resolution = { {0, 5}, 2048 }; static unsigned int power_on; int MPU6050_gse_power(void) { return power_on; } EXPORT_SYMBOL(MPU6050_gse_power); int MPU6050_gse_mode(void) { return sensor_power; } EXPORT_SYMBOL(MPU6050_gse_mode); /*----------------------------------------------------------------------------*/ static int mpu_i2c_read_block(struct i2c_client *client, u8 addr, u8 *data, u8 len) { int err; u8 beg = addr; struct i2c_msg msgs[2] = { {0}, {0} }; mutex_lock(&mpu6050_i2c_mutex); msgs[0].addr = client->addr; msgs[0].flags = 0; msgs[0].len = 1; msgs[0].buf = &beg; msgs[1].addr = client->addr; msgs[1].flags = I2C_M_RD; msgs[1].len = len; msgs[1].buf = data; if (!client) { mutex_unlock(&mpu6050_i2c_mutex); return -EINVAL; } else if (len > C_I2C_FIFO_SIZE) { mutex_unlock(&mpu6050_i2c_mutex); GSE_ERR(" length %d exceeds %d\n", len, C_I2C_FIFO_SIZE); return -EINVAL; } err = i2c_transfer(client->adapter, msgs, sizeof(msgs)/sizeof(msgs[0])); if (err != 2) { GSE_ERR("i2c_transfer error: (%d %p %d) %d\n", addr, data, len, err); err = -EIO; } else { err = 0; } mutex_unlock(&mpu6050_i2c_mutex); return err; } static int mpu_i2c_write_block(struct i2c_client *client, u8 addr, u8 *data, u8 len) { /*because address also occupies one byte, the maximum length for write is 7 bytes*/ int err, idx, num; char buf[C_I2C_FIFO_SIZE]; err = 0; mutex_lock(&mpu6050_i2c_mutex); if (!client) { mutex_unlock(&mpu6050_i2c_mutex); return -EINVAL; } else if (len >= C_I2C_FIFO_SIZE) { mutex_unlock(&mpu6050_i2c_mutex); GSE_ERR(" length %d exceeds %d\n", len, C_I2C_FIFO_SIZE); return -EINVAL; } num = 0; buf[num++] = addr; for (idx = 0; idx < len; idx++) buf[num++] = data[idx]; err = i2c_master_send(client, buf, num); if (err < 0) { mutex_unlock(&mpu6050_i2c_mutex); GSE_ERR("send command error!!\n"); return -EFAULT; } mutex_unlock(&mpu6050_i2c_mutex); return err; } int MPU6050_hwmsen_read_block(u8 addr, u8 *buf, u8 len) { if (NULL == mpu6050_i2c_client) { GSE_ERR("MPU6050_hwmsen_read_block null ptr!!\n"); return MPU6050_ERR_I2C; } return mpu_i2c_read_block(mpu6050_i2c_client, addr, buf, len); } EXPORT_SYMBOL(MPU6050_hwmsen_read_block); int MPU6050_hwmsen_write_block(u8 addr, u8 *buf, u8 len) { if (NULL == mpu6050_i2c_client) { GSE_ERR("MPU6050_hwmsen_write_block null ptr!!\n"); return MPU6050_ERR_I2C; } return mpu_i2c_write_block(mpu6050_i2c_client, addr, buf, len); } EXPORT_SYMBOL(MPU6050_hwmsen_write_block); /*--------------------mpu6050 power control function----------------------------------*/ static void MPU6050_power(struct acc_hw *hw, unsigned int on) { } /*----------------------------------------------------------------------------*/ static int MPU6050_SetPowerMode(struct i2c_client *client, bool enable) { u8 databuf[2]; int res = 0; /* u8 addr = MPU6050_REG_POWER_CTL; */ struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); if (enable == sensor_power) { GSE_LOG("Sensor power status is newest!\n"); return MPU6050_SUCCESS; } res = mpu_i2c_read_block(client, MPU6050_REG_POWER_CTL, databuf, 0x1); if (res < 0) return MPU6050_ERR_I2C; databuf[0] &= ~MPU6050_SLEEP; if (enable == false) { if (MPU6050_gyro_mode() == false) databuf[0] |= MPU6050_SLEEP; } else { /* do nothing */ } res = mpu_i2c_write_block(client, MPU6050_REG_POWER_CTL, databuf, 0x1); if (res < 0) { GSE_ERR("set power mode failed!\n"); return MPU6050_ERR_I2C; } else if (atomic_read(&obj->trace) & MPU6050_TRC_INFO) GSE_LOG("set power mode ok %d!\n", databuf[0]); sensor_power = enable; return MPU6050_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6050_SetDataResolution(struct mpu6050_i2c_data *obj) { int err; u8 dat, reso; err = mpu_i2c_read_block(obj->client, MPU6050_REG_DATA_FORMAT, &dat, 1); if (err) { GSE_ERR("write data format fail!!\n"); return err; } /*the data_reso is combined by 3 bits: {FULL_RES, DATA_RANGE} */ reso = 0x00; reso = (dat & MPU6050_RANGE_16G) >> 3; if (reso < sizeof(mpu6050_data_resolution) / sizeof(mpu6050_data_resolution[0])) { obj->reso = &mpu6050_data_resolution[reso]; return 0; } else { return -EINVAL; } } /*----------------------------------------------------------------------------*/ static int MPU6050_ReadData(struct i2c_client *client, s16 data[MPU6050_AXES_NUM]) { struct mpu6050_i2c_data *priv = i2c_get_clientdata(client); u8 buf[MPU6050_DATA_LEN] = { 0 }; int err = 0; if (NULL == client) return -EINVAL; { /* write then burst read */ mpu_i2c_read_block(client, MPU6050_REG_DATAX0, buf, MPU6050_DATA_LEN); data[MPU6050_AXIS_X] = (s16) ((buf[MPU6050_AXIS_X * 2] << 8) | (buf[MPU6050_AXIS_X * 2 + 1])); data[MPU6050_AXIS_Y] = (s16) ((buf[MPU6050_AXIS_Y * 2] << 8) | (buf[MPU6050_AXIS_Y * 2 + 1])); data[MPU6050_AXIS_Z] = (s16) ((buf[MPU6050_AXIS_Z * 2] << 8) | (buf[MPU6050_AXIS_Z * 2 + 1])); if (atomic_read(&priv->trace) & MPU6050_TRC_RAWDATA) { GSE_LOG("[%08X %08X %08X] => [%5d %5d %5d]\n", data[MPU6050_AXIS_X], data[MPU6050_AXIS_Y], data[MPU6050_AXIS_Z], data[MPU6050_AXIS_X], data[MPU6050_AXIS_Y], data[MPU6050_AXIS_Z]); } #ifdef CONFIG_MPU6050_LOWPASS if (atomic_read(&priv->filter)) { if (atomic_read(&priv->fir_en) && !atomic_read(&priv->suspend)) { int idx, firlen = atomic_read(&priv->firlen); if (priv->fir.num < firlen) { priv->fir.raw[priv->fir.num][MPU6050_AXIS_X] = data[MPU6050_AXIS_X]; priv->fir.raw[priv->fir.num][MPU6050_AXIS_Y] = data[MPU6050_AXIS_Y]; priv->fir.raw[priv->fir.num][MPU6050_AXIS_Z] = data[MPU6050_AXIS_Z]; priv->fir.sum[MPU6050_AXIS_X] += data[MPU6050_AXIS_X]; priv->fir.sum[MPU6050_AXIS_Y] += data[MPU6050_AXIS_Y]; priv->fir.sum[MPU6050_AXIS_Z] += data[MPU6050_AXIS_Z]; if (atomic_read(&priv->trace) & MPU6050_TRC_FILTER) { GSE_LOG("add [%2d] [%5d %5d %5d] => [%5d %5d %5d]\n", priv->fir.num, priv->fir.raw[priv->fir.num][MPU6050_AXIS_X], priv->fir.raw[priv->fir.num][MPU6050_AXIS_Y], priv->fir.raw[priv->fir.num][MPU6050_AXIS_Z], priv->fir.sum[MPU6050_AXIS_X], priv->fir.sum[MPU6050_AXIS_Y], priv->fir.sum[MPU6050_AXIS_Z]); } priv->fir.num++; priv->fir.idx++; } else { idx = priv->fir.idx % firlen; priv->fir.sum[MPU6050_AXIS_X] -= priv->fir.raw[idx][MPU6050_AXIS_X]; priv->fir.sum[MPU6050_AXIS_Y] -= priv->fir.raw[idx][MPU6050_AXIS_Y]; priv->fir.sum[MPU6050_AXIS_Z] -= priv->fir.raw[idx][MPU6050_AXIS_Z]; priv->fir.raw[idx][MPU6050_AXIS_X] = data[MPU6050_AXIS_X]; priv->fir.raw[idx][MPU6050_AXIS_Y] = data[MPU6050_AXIS_Y]; priv->fir.raw[idx][MPU6050_AXIS_Z] = data[MPU6050_AXIS_Z]; priv->fir.sum[MPU6050_AXIS_X] += data[MPU6050_AXIS_X]; priv->fir.sum[MPU6050_AXIS_Y] += data[MPU6050_AXIS_Y]; priv->fir.sum[MPU6050_AXIS_Z] += data[MPU6050_AXIS_Z]; priv->fir.idx++; data[MPU6050_AXIS_X] = priv->fir.sum[MPU6050_AXIS_X]/firlen; data[MPU6050_AXIS_Y] = priv->fir.sum[MPU6050_AXIS_Y]/firlen; data[MPU6050_AXIS_Z] = priv->fir.sum[MPU6050_AXIS_Z]/firlen; if (atomic_read(&priv->trace) & MPU6050_TRC_FILTER) GSE_LOG("add [%2d] [%5d %5d %5d] => [%5d %5d %5d] : [%5d %5d %5d]\n", idx, priv->fir.raw[idx][MPU6050_AXIS_X], priv->fir.raw[idx][MPU6050_AXIS_Y], priv->fir.raw[idx][MPU6050_AXIS_Z], priv->fir.sum[MPU6050_AXIS_X], priv->fir.sum[MPU6050_AXIS_Y], priv->fir.sum[MPU6050_AXIS_Z], data[MPU6050_AXIS_X], data[MPU6050_AXIS_Y], data[MPU6050_AXIS_Z]); } } } #endif } return err; } /*----------------------------------------------------------------------------*/ static int MPU6050_ReadOffset(struct i2c_client *client, s8 ofs[MPU6050_AXES_NUM]) { int err = 0; #ifdef SW_CALIBRATION ofs[0] = ofs[1] = ofs[2] = 0x0; #else err = mpu_i2c_read_block(client, MPU6050_REG_OFSX, ofs, MPU6050_AXES_NUM); if (err) GSE_ERR("error: %d\n", err); #endif /* GSE_LOG("offesx=%x, y=%x, z=%x",ofs[0],ofs[1],ofs[2]); */ return err; } /*----------------------------------------------------------------------------*/ static int MPU6050_ResetCalibration(struct i2c_client *client) { struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); #ifndef SW_CALIBRATION s8 ofs[MPU6050_AXES_NUM] = { 0x00, 0x00, 0x00 }; #endif int err = 0; #ifdef SW_CALIBRATION /* do not thing */ #else err = hwmsen_write_block(client, MPU6050_REG_OFSX, ofs, MPU6050_AXES_NUM); if (err) GSE_ERR("error: %d\n", err); #endif memset(obj->cali_sw, 0x00, sizeof(obj->cali_sw)); memset(obj->offset, 0x00, sizeof(obj->offset)); return err; } /*----------------------------------------------------------------------------*/ static int MPU6050_ReadCalibration(struct i2c_client *client, int dat[MPU6050_AXES_NUM]) { struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); #ifdef SW_CALIBRATION int mul; #else int err; #endif #ifdef SW_CALIBRATION mul = 0; /* only SW Calibration, disable HW Calibration */ #else err = MPU6050_ReadOffset(client, obj->offset); if (err) { GSE_ERR("read offset fail, %d\n", err); return err; } mul = obj->reso->sensitivity / mpu6050_offset_resolution.sensitivity; #endif dat[obj->cvt.map[MPU6050_AXIS_X]] = obj->cvt.sign[MPU6050_AXIS_X]*(obj->offset[MPU6050_AXIS_X]*mul + obj->cali_sw[MPU6050_AXIS_X]); dat[obj->cvt.map[MPU6050_AXIS_Y]] = obj->cvt.sign[MPU6050_AXIS_Y]*(obj->offset[MPU6050_AXIS_Y]*mul + obj->cali_sw[MPU6050_AXIS_Y]); dat[obj->cvt.map[MPU6050_AXIS_Z]] = obj->cvt.sign[MPU6050_AXIS_Z]*(obj->offset[MPU6050_AXIS_Z]*mul + obj->cali_sw[MPU6050_AXIS_Z]); return 0; } /*----------------------------------------------------------------------------*/ static int MPU6050_ReadCalibrationEx(struct i2c_client *client, int act[MPU6050_AXES_NUM], int raw[MPU6050_AXES_NUM]) { /*raw: the raw calibration data; act: the actual calibration data */ struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); #ifdef SW_CALIBRATION int mul; #else int err; #endif #ifdef SW_CALIBRATION mul = 0; /* only SW Calibration, disable HW Calibration */ #else err = MPU6050_ReadOffset(client, obj->offset); if (err) { GSE_ERR("read offset fail, %d\n", err); return err; } mul = obj->reso->sensitivity / mpu6050_offset_resolution.sensitivity; #endif raw[MPU6050_AXIS_X] = obj->offset[MPU6050_AXIS_X]*mul + obj->cali_sw[MPU6050_AXIS_X]; raw[MPU6050_AXIS_Y] = obj->offset[MPU6050_AXIS_Y]*mul + obj->cali_sw[MPU6050_AXIS_Y]; raw[MPU6050_AXIS_Z] = obj->offset[MPU6050_AXIS_Z]*mul + obj->cali_sw[MPU6050_AXIS_Z]; act[obj->cvt.map[MPU6050_AXIS_X]] = obj->cvt.sign[MPU6050_AXIS_X] * raw[MPU6050_AXIS_X]; act[obj->cvt.map[MPU6050_AXIS_Y]] = obj->cvt.sign[MPU6050_AXIS_Y] * raw[MPU6050_AXIS_Y]; act[obj->cvt.map[MPU6050_AXIS_Z]] = obj->cvt.sign[MPU6050_AXIS_Z] * raw[MPU6050_AXIS_Z]; return 0; } /*----------------------------------------------------------------------------*/ static int MPU6050_WriteCalibration(struct i2c_client *client, int dat[MPU6050_AXES_NUM]) { struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); int err; int cali[MPU6050_AXES_NUM], raw[MPU6050_AXES_NUM]; #ifndef SW_CALIBRATION int lsb = mpu6050_offset_resolution.sensitivity; int divisor = obj->reso->sensitivity / lsb; #endif err = MPU6050_ReadCalibrationEx(client, cali, raw); if (err) { /*offset will be updated in obj->offset */ GSE_ERR("read offset fail, %d\n", err); return err; } GSE_LOG("OLDOFF: (%+3d %+3d %+3d): (%+3d %+3d %+3d) / (%+3d %+3d %+3d)\n", raw[MPU6050_AXIS_X], raw[MPU6050_AXIS_Y], raw[MPU6050_AXIS_Z], obj->offset[MPU6050_AXIS_X], obj->offset[MPU6050_AXIS_Y], obj->offset[MPU6050_AXIS_Z], obj->cali_sw[MPU6050_AXIS_X], obj->cali_sw[MPU6050_AXIS_Y], obj->cali_sw[MPU6050_AXIS_Z]); /*calculate the real offset expected by caller */ cali[MPU6050_AXIS_X] += dat[MPU6050_AXIS_X]; cali[MPU6050_AXIS_Y] += dat[MPU6050_AXIS_Y]; cali[MPU6050_AXIS_Z] += dat[MPU6050_AXIS_Z]; GSE_LOG("UPDATE: (%+3d %+3d %+3d)\n", dat[MPU6050_AXIS_X], dat[MPU6050_AXIS_Y], dat[MPU6050_AXIS_Z]); #ifdef SW_CALIBRATION obj->cali_sw[MPU6050_AXIS_X] = obj->cvt.sign[MPU6050_AXIS_X]*(cali[obj->cvt.map[MPU6050_AXIS_X]]); obj->cali_sw[MPU6050_AXIS_Y] = obj->cvt.sign[MPU6050_AXIS_Y]*(cali[obj->cvt.map[MPU6050_AXIS_Y]]); obj->cali_sw[MPU6050_AXIS_Z] = obj->cvt.sign[MPU6050_AXIS_Z]*(cali[obj->cvt.map[MPU6050_AXIS_Z]]); #else obj->offset[MPU6050_AXIS_X] = (s8)(obj->cvt.sign[MPU6050_AXIS_X]*(cali[obj->cvt.map[MPU6050_AXIS_X]])/(divisor)); obj->offset[MPU6050_AXIS_Y] = (s8)(obj->cvt.sign[MPU6050_AXIS_Y]*(cali[obj->cvt.map[MPU6050_AXIS_Y]])/(divisor)); obj->offset[MPU6050_AXIS_Z] = (s8)(obj->cvt.sign[MPU6050_AXIS_Z]*(cali[obj->cvt.map[MPU6050_AXIS_Z]])/(divisor)); /*convert software calibration using standard calibration*/ obj->cali_sw[MPU6050_AXIS_X] = obj->cvt.sign[MPU6050_AXIS_X]*(cali[obj->cvt.map[MPU6050_AXIS_X]])%(divisor); obj->cali_sw[MPU6050_AXIS_Y] = obj->cvt.sign[MPU6050_AXIS_Y]*(cali[obj->cvt.map[MPU6050_AXIS_Y]])%(divisor); obj->cali_sw[MPU6050_AXIS_Z] = obj->cvt.sign[MPU6050_AXIS_Z]*(cali[obj->cvt.map[MPU6050_AXIS_Z]])%(divisor); GSE_LOG("NEWOFF: (%+3d %+3d %+3d): (%+3d %+3d %+3d) / (%+3d %+3d %+3d)\n", obj->offset[MPU6050_AXIS_X]*divisor + obj->cali_sw[MPU6050_AXIS_X], obj->offset[MPU6050_AXIS_Y]*divisor + obj->cali_sw[MPU6050_AXIS_Y], obj->offset[MPU6050_AXIS_Z]*divisor + obj->cali_sw[MPU6050_AXIS_Z], obj->offset[MPU6050_AXIS_X], obj->offset[MPU6050_AXIS_Y], obj->offset[MPU6050_AXIS_Z], obj->cali_sw[MPU6050_AXIS_X], obj->cali_sw[MPU6050_AXIS_Y], obj->cali_sw[MPU6050_AXIS_Z]); err = hwmsen_write_block(obj->client, MPU6050_REG_OFSX, obj->offset, MPU6050_AXES_NUM); if (err) { GSE_ERR("write offset fail: %d\n", err); return err; } #endif return err; } /*----------------------------------------------------------------------------*/ static int MPU6050_CheckDeviceID(struct i2c_client *client) { u8 databuf[10]; int res = 0; memset(databuf, 0, sizeof(u8)*10); res = mpu_i2c_read_block(client, MPU6050_REG_DEVID, databuf, 0x1); if (res < 0) goto exit_MPU6050_CheckDeviceID; GSE_LOG("MPU6050_CheckDeviceID 0x%x\n", databuf[0]); exit_MPU6050_CheckDeviceID: if (res < 0) return MPU6050_ERR_I2C; return MPU6050_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6050_SetDataFormat(struct i2c_client *client, u8 dataformat) { struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); u8 databuf[2]; int res = 0; memset(databuf, 0, sizeof(u8)*2); res = mpu_i2c_read_block(client, MPU6050_REG_DATA_FORMAT, databuf, 0x1); if (res < 0) return MPU6050_ERR_I2C; /* write */ databuf[0] = databuf[0] | dataformat; res = mpu_i2c_write_block(client, MPU6050_REG_DATA_FORMAT, databuf, 0x1); if (res < 0) return MPU6050_ERR_I2C; return MPU6050_SetDataResolution(obj); } /*----------------------------------------------------------------------------*/ static int MPU6050_SetBWRate(struct i2c_client *client, u8 bwrate) { struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); u8 databuf[10]; int res = 0; if ((obj->bandwidth != bwrate) || (atomic_read(&obj->suspend))) { memset(databuf, 0, sizeof(u8)*10); /* read */ res = mpu_i2c_read_block(client, MPU6050_REG_BW_RATE, databuf, 0x1); if (res < 0) return MPU6050_ERR_I2C; /* write */ databuf[0] = databuf[0] | bwrate; res = mpu_i2c_write_block(client, MPU6050_REG_BW_RATE, databuf, 0x1); if (res < 0) return MPU6050_ERR_I2C; obj->bandwidth = bwrate; } return MPU6050_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6050_Dev_Reset(struct i2c_client *client) { u8 databuf[10]; int res = 0; memset(databuf, 0, sizeof(u8) * 10); /* read */ res = mpu_i2c_read_block(client, MPU6050_REG_POWER_CTL, databuf, 0x1); if (res < 0) return MPU6050_ERR_I2C; /* write */ databuf[0] = databuf[0] | MPU6050_DEV_RESET; res = mpu_i2c_write_block(client, MPU6050_REG_POWER_CTL, databuf, 0x1); if (res < 0) return MPU6050_ERR_I2C; do { res = mpu_i2c_read_block(client, MPU6050_REG_POWER_CTL, databuf, 0x1); if (res < 0) return MPU6050_ERR_I2C; GSE_LOG("[Gsensor] check reset bit"); } while ((databuf[0]&MPU6050_DEV_RESET) != 0); msleep(50); return MPU6050_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6050_Reset(struct i2c_client *client) { u8 databuf[10]; int res = 0; /* write */ databuf[0] = 0x7; /* reset gyro, g-sensor, temperature */ res = mpu_i2c_write_block(client, MPU6050_REG_RESET, databuf, 0x1); if (res < 0) return MPU6050_ERR_I2C; msleep(20); return MPU6050_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6050_SetIntEnable(struct i2c_client *client, u8 intenable) { u8 databuf[2]; int res = 0; memset(databuf, 0, sizeof(u8)*2); databuf[0] = intenable; res = mpu_i2c_write_block(client, MPU6050_REG_INT_ENABLE, databuf, 0x1); if (res < 0) return MPU6050_ERR_I2C; return MPU6050_SUCCESS; } /*----------------------------------------------------------------------------*/ static int mpu6050_gpio_config(void) { return 0; } static int mpu6050_init_client(struct i2c_client *client, int reset_cali) { struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); int res = 0; mpu6050_gpio_config(); res = MPU6050_SetPowerMode(client, true); if (res != MPU6050_SUCCESS) { GSE_ERR("set power error\n"); return res; } res = MPU6050_CheckDeviceID(client); if (res != MPU6050_SUCCESS) { GSE_ERR("Check ID error\n"); return res; } res = MPU6050_SetBWRate(client, MPU6050_BW_184HZ); if (res != MPU6050_SUCCESS) { /* 0x2C->BW=100Hz */ GSE_ERR("set power error\n"); return res; } res = MPU6050_SetDataFormat(client, MPU6050_RANGE_16G); if (res != MPU6050_SUCCESS) { /* 0x2C->BW=100Hz */ GSE_ERR("set data format error\n"); return res; } gsensor_gain.x = gsensor_gain.y = gsensor_gain.z = obj->reso->sensitivity; res = MPU6050_SetIntEnable(client, 0x00); /* disable INT */ if (res != MPU6050_SUCCESS) { GSE_ERR("mpu6050_SetIntEnable error\n"); return res; } if (0 != reset_cali) { /*reset calibration only in power on */ res = MPU6050_ResetCalibration(client); if (res != MPU6050_SUCCESS) return res; } #ifdef CONFIG_MPU6050_LOWPASS memset(&obj->fir, 0x00, sizeof(obj->fir)); #endif return MPU6050_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6050_ReadAllReg(struct i2c_client *client, char *buf, int bufsize) { u8 total_len = 0x5C; /* (0x75-0x19); */ u8 addr = 0x19; u8 buff[total_len + 1]; int err = 0; int i; if (sensor_power == false) { err = MPU6050_SetPowerMode(client, true); if (err) GSE_ERR("Power on mpu6050 error %d!\n", err); msleep(50); } mpu_i2c_read_block(client, addr, buff, total_len); for (i = 0; i <= total_len; i++) GSE_LOG("MPU6050 reg=0x%x, data=0x%x\n", (addr + i), buff[i]); return 0; } /*----------------------------------------------------------------------------*/ static int MPU6050_ReadChipInfo(struct i2c_client *client, char *buf, int bufsize) { u8 databuf[10]; memset(databuf, 0, sizeof(u8) * 10); if ((NULL == buf) || (bufsize <= 30)) return -1; if (NULL == client) { *buf = 0; return -2; } sprintf(buf, "MPU6050 Chip"); return 0; } /*----------------------------------------------------------------------------*/ static int MPU6050_ReadSensorData(struct i2c_client *client, char *buf, int bufsize) { struct mpu6050_i2c_data *obj = obj_i2c_data; /* (struct mpu6050_i2c_data*)i2c_get_clientdata(client); */ int acc[MPU6050_AXES_NUM]; int res = 0; client = obj->client; if (atomic_read(&obj->suspend)) return -3; if (NULL == buf) return -1; if (NULL == client) { *buf = 0; return -2; } if (sensor_power == false) { res = MPU6050_SetPowerMode(client, true); if (res) GSE_ERR("Power on mpu6050 error %d!\n", res); msleep(50); } res = MPU6050_ReadData(client, obj->data); if (res) { GSE_ERR("I2C error: ret value=%d", res); return -3; } obj->data[MPU6050_AXIS_X] += obj->cali_sw[MPU6050_AXIS_X]; obj->data[MPU6050_AXIS_Y] += obj->cali_sw[MPU6050_AXIS_Y]; obj->data[MPU6050_AXIS_Z] += obj->cali_sw[MPU6050_AXIS_Z]; /*remap coordinate*/ acc[obj->cvt.map[MPU6050_AXIS_X]] = obj->cvt.sign[MPU6050_AXIS_X]*obj->data[MPU6050_AXIS_X]; acc[obj->cvt.map[MPU6050_AXIS_Y]] = obj->cvt.sign[MPU6050_AXIS_Y]*obj->data[MPU6050_AXIS_Y]; acc[obj->cvt.map[MPU6050_AXIS_Z]] = obj->cvt.sign[MPU6050_AXIS_Z]*obj->data[MPU6050_AXIS_Z]; /* Out put the mg */ acc[MPU6050_AXIS_X] = acc[MPU6050_AXIS_X] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; acc[MPU6050_AXIS_Y] = acc[MPU6050_AXIS_Y] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; acc[MPU6050_AXIS_Z] = acc[MPU6050_AXIS_Z] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; sprintf(buf, "%04x %04x %04x", acc[MPU6050_AXIS_X], acc[MPU6050_AXIS_Y], acc[MPU6050_AXIS_Z]); if (atomic_read(&obj->trace) & MPU6050_TRC_IOCTL) GSE_LOG("gsensor data: %s!\n", buf); return 0; } /*----------------------------------------------------------------------------*/ static int MPU6050_ReadRawData(struct i2c_client *client, char *buf) { struct mpu6050_i2c_data *obj = (struct mpu6050_i2c_data *)i2c_get_clientdata(client); int res = 0; if (!buf || !client) return -EINVAL; if (atomic_read(&obj->suspend)) return -EIO; res = MPU6050_ReadData(client, obj->data); if (res) { GSE_ERR("I2C error: ret value=%d", res); return -EIO; } sprintf(buf, "%04x %04x %04x", obj->data[MPU6050_AXIS_X], obj->data[MPU6050_AXIS_Y], obj->data[MPU6050_AXIS_Z]); return 0; } /*----------------------------------------------------------------------------*/ static int MPU6050_InitSelfTest(struct i2c_client *client) { int res = 0; u8 data; res = MPU6050_SetBWRate(client, MPU6050_BW_184HZ); if (res != MPU6050_SUCCESS) { /* 0x2C->BW=100Hz */ return res; } res = mpu_i2c_read_block(client, MPU6050_REG_DATA_FORMAT, &data, 1); if (res != MPU6050_SUCCESS) return res; return MPU6050_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6050_JudgeTestResult(struct i2c_client *client, s32 prv[MPU6050_AXES_NUM], s32 nxt[MPU6050_AXES_NUM]) { struct criteria { int min; int max; }; struct criteria self[4][3] = { {{0, 540}, {0, 540}, {0, 875} }, {{0, 270}, {0, 270}, {0, 438} }, {{0, 135}, {0, 135}, {0, 219} }, {{0, 67}, {0, 67}, {0, 110} }, }; struct criteria (*ptr)[3] = NULL; u8 format; int res; res = mpu_i2c_read_block(client, MPU6050_REG_DATA_FORMAT, &format, 1); if (res) return res; format = format & MPU6050_RANGE_16G; switch (format) { case MPU6050_RANGE_2G: /*GSE_LOG("format use self[0]\n");*/ ptr = &self[0]; break; case MPU6050_RANGE_4G: /*GSE_LOG("format use self[1]\n");*/ ptr = &self[1]; break; case MPU6050_RANGE_8G: /*GSE_LOG("format use self[2]\n");*/ ptr = &self[2]; break; case MPU6050_RANGE_16G: /*GSE_LOG("format use self[3]\n");*/ ptr = &self[3]; break; default: GSE_LOG("format unknown use\n"); break; } if (!ptr) { GSE_ERR("null pointer\n"); return -EINVAL; } GSE_LOG("format=0x%x\n", format); GSE_LOG("X diff is %ld\n", abs(nxt[MPU6050_AXIS_X] - prv[MPU6050_AXIS_X])); GSE_LOG("Y diff is %ld\n", abs(nxt[MPU6050_AXIS_Y] - prv[MPU6050_AXIS_Y])); GSE_LOG("Z diff is %ld\n", abs(nxt[MPU6050_AXIS_Z] - prv[MPU6050_AXIS_Z])); if ((abs(nxt[MPU6050_AXIS_X] - prv[MPU6050_AXIS_X]) > (*ptr)[MPU6050_AXIS_X].max) || (abs(nxt[MPU6050_AXIS_X] - prv[MPU6050_AXIS_X]) < (*ptr)[MPU6050_AXIS_X].min)) { GSE_ERR("X is over range\n"); res = -EINVAL; } if ((abs(nxt[MPU6050_AXIS_Y] - prv[MPU6050_AXIS_Y]) > (*ptr)[MPU6050_AXIS_Y].max) || (abs(nxt[MPU6050_AXIS_Y] - prv[MPU6050_AXIS_Y]) < (*ptr)[MPU6050_AXIS_Y].min)) { GSE_ERR("Y is over range\n"); res = -EINVAL; } if ((abs(nxt[MPU6050_AXIS_Z] - prv[MPU6050_AXIS_Z]) > (*ptr)[MPU6050_AXIS_Z].max) || (abs(nxt[MPU6050_AXIS_Z] - prv[MPU6050_AXIS_Z]) < (*ptr)[MPU6050_AXIS_Z].min)) { GSE_ERR("Z is over range\n"); res = -EINVAL; } return res; } /*----------------------------------------------------------------------------*/ static ssize_t show_chipinfo_value(struct device_driver *ddri, char *buf) { struct i2c_client *client = mpu6050_i2c_client; char strbuf[MPU6050_BUFSIZE]; if (NULL == client) { GSE_ERR("i2c client is null!!\n"); return 0; } if (sensor_power == false) MPU6050_SetPowerMode(client, true); msleep(50); MPU6050_ReadAllReg(client, strbuf, MPU6050_BUFSIZE); MPU6050_ReadChipInfo(client, strbuf, MPU6050_BUFSIZE); return snprintf(buf, PAGE_SIZE, "%s\n", strbuf); } /*----------------------------------------------------------------------------*/ static ssize_t show_sensordata_value(struct device_driver *ddri, char *buf) { struct i2c_client *client = mpu6050_i2c_client; char strbuf[MPU6050_BUFSIZE]; if (NULL == client) { GSE_ERR("i2c client is null!!\n"); return 0; } MPU6050_ReadSensorData(client, strbuf, MPU6050_BUFSIZE); return snprintf(buf, PAGE_SIZE, "%s\n", strbuf); } /*----------------------------------------------------------------------------*/ static ssize_t show_cali_value(struct device_driver *ddri, char *buf) { struct i2c_client *client = mpu6050_i2c_client; struct mpu6050_i2c_data *obj; int err, len = 0, mul; int tmp[MPU6050_AXES_NUM]; if (NULL == client) { GSE_ERR("i2c client is null!!\n"); return 0; } obj = i2c_get_clientdata(client); err = MPU6050_ReadOffset(client, obj->offset); if (err) return -EINVAL; err = MPU6050_ReadCalibration(client, tmp); if (err) return -EINVAL; mul = obj->reso->sensitivity/mpu6050_offset_resolution.sensitivity; len += snprintf(buf+len, PAGE_SIZE-len, "[HW ][%d] (%+3d, %+3d, %+3d) : (0x%02X, 0x%02X, 0x%02X)\n", mul, obj->offset[MPU6050_AXIS_X], obj->offset[MPU6050_AXIS_Y], obj->offset[MPU6050_AXIS_Z], obj->offset[MPU6050_AXIS_X], obj->offset[MPU6050_AXIS_Y], obj->offset[MPU6050_AXIS_Z]); len += snprintf(buf+len, PAGE_SIZE-len, "[SW ][%d] (%+3d, %+3d, %+3d)\n", 1, obj->cali_sw[MPU6050_AXIS_X], obj->cali_sw[MPU6050_AXIS_Y], obj->cali_sw[MPU6050_AXIS_Z]); len += snprintf(buf+len, PAGE_SIZE-len, "[ALL] (%+3d, %+3d, %+3d) : (%+3d, %+3d, %+3d)\n", obj->offset[MPU6050_AXIS_X] * mul + obj->cali_sw[MPU6050_AXIS_X], obj->offset[MPU6050_AXIS_Y] * mul + obj->cali_sw[MPU6050_AXIS_Y], obj->offset[MPU6050_AXIS_Z] * mul + obj->cali_sw[MPU6050_AXIS_Z], tmp[MPU6050_AXIS_X], tmp[MPU6050_AXIS_Y], tmp[MPU6050_AXIS_Z]); return len; } /*----------------------------------------------------------------------------*/ static ssize_t store_cali_value(struct device_driver *ddri, const char *buf, size_t count) { struct i2c_client *client = mpu6050_i2c_client; int err, x, y, z; int dat[MPU6050_AXES_NUM]; if (!strncmp(buf, "rst", 3)) { err = MPU6050_ResetCalibration(client); if (err) GSE_ERR("reset offset err = %d\n", err); } else if (3 == sscanf(buf, "0x%02X 0x%02X 0x%02X", &x, &y, &z)) { dat[MPU6050_AXIS_X] = x; dat[MPU6050_AXIS_Y] = y; dat[MPU6050_AXIS_Z] = z; err = MPU6050_WriteCalibration(client, dat); if (err) GSE_ERR("write calibration err = %d\n", err); } else { GSE_ERR("invalid format\n"); } return count; } /*----------------------------------------------------------------------------*/ static ssize_t show_self_value(struct device_driver *ddri, char *buf) { struct i2c_client *client = mpu6050_i2c_client; if (NULL == client) { GSE_ERR("i2c client is null!!\n"); return 0; } return snprintf(buf, 8, "%s\n", selftestRes); } /*----------------------------------------------------------------------------*/ static ssize_t store_self_value(struct device_driver *ddri, const char *buf, size_t count) { /*write anything to this register will trigger the process */ struct item { s16 raw[MPU6050_AXES_NUM]; }; struct i2c_client *client = mpu6050_i2c_client; int idx, res, num; long prv_len, nxt_len; struct item *prv = NULL, *nxt = NULL; s32 avg_prv[MPU6050_AXES_NUM] = { 0, 0, 0 }; s32 avg_nxt[MPU6050_AXES_NUM] = { 0, 0, 0 }; res = kstrtoint(buf, 10, &num); if (res != 0) { GSE_ERR("parse number fail\n"); return count; } else if (num == 0) { GSE_ERR("invalid data count\n"); return count; } prv_len = sizeof(*prv) * num; nxt_len = sizeof(*nxt) * num; prv = kzalloc(prv_len, GFP_KERNEL); nxt = kzalloc(prv_len, GFP_KERNEL); if (!prv || !nxt) goto exit; /*GSE_LOG("NORMAL:\n");*/ MPU6050_SetPowerMode(client, true); msleep(50); for (idx = 0; idx < num; idx++) { res = MPU6050_ReadData(client, prv[idx].raw); if (res) { GSE_ERR("read data fail: %d\n", res); goto exit; } avg_prv[MPU6050_AXIS_X] += prv[idx].raw[MPU6050_AXIS_X]; avg_prv[MPU6050_AXIS_Y] += prv[idx].raw[MPU6050_AXIS_Y]; avg_prv[MPU6050_AXIS_Z] += prv[idx].raw[MPU6050_AXIS_Z]; GSE_LOG("Normal:[%5d %5d %5d]\n", prv[idx].raw[MPU6050_AXIS_X], prv[idx].raw[MPU6050_AXIS_Y], prv[idx].raw[MPU6050_AXIS_Z]); } avg_prv[MPU6050_AXIS_X] /= num; avg_prv[MPU6050_AXIS_Y] /= num; avg_prv[MPU6050_AXIS_Z] /= num; /*initial setting for self test */ /*GSE_LOG("SELFTEST:\n");*/ for (idx = 0; idx < num; idx++) { res = MPU6050_ReadData(client, nxt[idx].raw); if (res) { GSE_ERR("read data fail: %d\n", res); goto exit; } avg_nxt[MPU6050_AXIS_X] += nxt[idx].raw[MPU6050_AXIS_X]; avg_nxt[MPU6050_AXIS_Y] += nxt[idx].raw[MPU6050_AXIS_Y]; avg_nxt[MPU6050_AXIS_Z] += nxt[idx].raw[MPU6050_AXIS_Z]; GSE_LOG("SELFTESt: [%5d %5d %5d]\n", nxt[idx].raw[MPU6050_AXIS_X], nxt[idx].raw[MPU6050_AXIS_Y], nxt[idx].raw[MPU6050_AXIS_Z]); } avg_nxt[MPU6050_AXIS_X] /= num; avg_nxt[MPU6050_AXIS_Y] /= num; avg_nxt[MPU6050_AXIS_Z] /= num; GSE_LOG("X: %5d - %5d = %5d\n", avg_nxt[MPU6050_AXIS_X], avg_prv[MPU6050_AXIS_X], avg_nxt[MPU6050_AXIS_X] - avg_prv[MPU6050_AXIS_X]); GSE_LOG("Y: %5d - %5d = %5d\n", avg_nxt[MPU6050_AXIS_Y], avg_prv[MPU6050_AXIS_Y], avg_nxt[MPU6050_AXIS_Y] - avg_prv[MPU6050_AXIS_Y]); GSE_LOG("Z: %5d - %5d = %5d\n", avg_nxt[MPU6050_AXIS_Z], avg_prv[MPU6050_AXIS_Z], avg_nxt[MPU6050_AXIS_Z] - avg_prv[MPU6050_AXIS_Z]); if (!MPU6050_JudgeTestResult(client, avg_prv, avg_nxt)) { GSE_LOG("SELFTEST : PASS\n"); strcpy(selftestRes, "y"); } else { GSE_ERR("SELFTEST : FAIL\n"); strcpy(selftestRes, "n"); } exit: /*restore the setting */ mpu6050_init_client(client, 0); kfree(prv); kfree(nxt); return count; } /*----------------------------------------------------------------------------*/ static ssize_t show_selftest_value(struct device_driver *ddri, char *buf) { struct i2c_client *client = mpu6050_i2c_client; struct mpu6050_i2c_data *obj; if (NULL == client) { GSE_ERR("i2c client is null!!\n"); return 0; } obj = i2c_get_clientdata(client); return snprintf(buf, PAGE_SIZE, "%d\n", atomic_read(&obj->selftest)); } /*----------------------------------------------------------------------------*/ static ssize_t store_selftest_value(struct device_driver *ddri, const char *buf, size_t count) { struct mpu6050_i2c_data *obj = obj_i2c_data; int tmp; if (NULL == obj) { GSE_ERR("i2c data obj is null!!\n"); return 0; } if (0 == kstrtoint(buf, 10, &tmp)) { if (atomic_read(&obj->selftest) && !tmp) { /*enable -> disable */ mpu6050_init_client(obj->client, 0); } else if (!atomic_read(&obj->selftest) && tmp) { /*disable -> enable */ MPU6050_InitSelfTest(obj->client); } GSE_LOG("selftest: %d => %d\n", atomic_read(&obj->selftest), tmp); atomic_set(&obj->selftest, tmp); } else { GSE_ERR("invalid content: '%s', length = %zu\n", buf, count); } return count; } /*----------------------------------------------------------------------------*/ static ssize_t show_firlen_value(struct device_driver *ddri, char *buf) { #ifdef CONFIG_MPU6050_LOWPASS struct i2c_client *client = mpu6050_i2c_client; struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); if (atomic_read(&obj->firlen)) { int idx, len = atomic_read(&obj->firlen); GSE_LOG("len = %2d, idx = %2d\n", obj->fir.num, obj->fir.idx); for (idx = 0; idx < len; idx++) GSE_LOG("[%5d %5d %5d]\n", obj->fir.raw[idx][MPU6050_AXIS_X], obj->fir.raw[idx][MPU6050_AXIS_Y], obj->fir.raw[idx][MPU6050_AXIS_Z]); GSE_LOG("sum = [%5d %5d %5d]\n", obj->fir.sum[MPU6050_AXIS_X], obj->fir.sum[MPU6050_AXIS_Y], obj->fir.sum[MPU6050_AXIS_Z]); GSE_LOG("avg = [%5d %5d %5d]\n", obj->fir.sum[MPU6050_AXIS_X]/len, obj->fir.sum[MPU6050_AXIS_Y]/len, obj->fir.sum[MPU6050_AXIS_Z]/len); } return snprintf(buf, PAGE_SIZE, "%d\n", atomic_read(&obj->firlen)); #else return snprintf(buf, PAGE_SIZE, "not support\n"); #endif } /*----------------------------------------------------------------------------*/ static ssize_t store_firlen_value(struct device_driver *ddri, const char *buf, size_t count) { #ifdef CONFIG_MPU6050_LOWPASS struct i2c_client *client = mpu6050_i2c_client; struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); int firlen; if (0 != kstrtoint(buf, 10, &firlen)) { GSE_ERR("invallid format\n"); } else if (firlen > C_MAX_FIR_LENGTH) { GSE_ERR("exceeds maximum filter length\n"); } else { atomic_set(&obj->firlen, firlen); if (0 == firlen) { atomic_set(&obj->fir_en, 0); } else { memset(&obj->fir, 0x00, sizeof(obj->fir)); atomic_set(&obj->fir_en, 1); } } #endif return count; } /*----------------------------------------------------------------------------*/ static ssize_t show_trace_value(struct device_driver *ddri, char *buf) { ssize_t res; struct mpu6050_i2c_data *obj = obj_i2c_data; if (obj == NULL) { GSE_ERR("i2c_data obj is null!!\n"); return 0; } res = snprintf(buf, PAGE_SIZE, "0x%04X\n", atomic_read(&obj->trace)); return res; } /*----------------------------------------------------------------------------*/ static ssize_t store_trace_value(struct device_driver *ddri, const char *buf, size_t count) { struct mpu6050_i2c_data *obj = obj_i2c_data; int trace; if (obj == NULL) { GSE_ERR("i2c_data obj is null!!\n"); return 0; } if (0 == kstrtoint(buf, 16, &trace)) atomic_set(&obj->trace, trace); else GSE_ERR("invalid content: '%s', length = %zu\n", buf, count); return count; } /*----------------------------------------------------------------------------*/ static ssize_t show_status_value(struct device_driver *ddri, char *buf) { ssize_t len = 0; struct mpu6050_i2c_data *obj = obj_i2c_data; if (obj == NULL) { GSE_ERR("i2c_data obj is null!!\n"); return 0; } if (obj->hw) len += snprintf(buf+len, PAGE_SIZE-len, "CUST: %d %d (%d %d)\n", obj->hw->i2c_num, obj->hw->direction, obj->hw->power_id, obj->hw->power_vol); else len += snprintf(buf + len, PAGE_SIZE - len, "CUST: NULL\n"); return len; } /*----------------------------------------------------------------------------*/ static DRIVER_ATTR(chipinfo, S_IRUGO, show_chipinfo_value, NULL); static DRIVER_ATTR(sensordata, S_IRUGO, show_sensordata_value, NULL); static DRIVER_ATTR(cali, S_IWUSR | S_IRUGO, show_cali_value, store_cali_value); static DRIVER_ATTR(self, S_IWUSR | S_IRUGO, show_selftest_value, store_selftest_value); static DRIVER_ATTR(selftest, S_IWUSR | S_IRUGO, show_self_value, store_self_value); static DRIVER_ATTR(firlen, S_IWUSR | S_IRUGO, show_firlen_value, store_firlen_value); static DRIVER_ATTR(trace, S_IWUSR | S_IRUGO, show_trace_value, store_trace_value); static DRIVER_ATTR(status, S_IRUGO, show_status_value, NULL); /*----------------------------------------------------------------------------*/ static struct driver_attribute *mpu6050_attr_list[] = { &driver_attr_chipinfo, /*chip information */ &driver_attr_sensordata, /*dump sensor data */ &driver_attr_cali, /*show calibration data */ &driver_attr_self, /*self test demo */ &driver_attr_selftest, /*self control: 0: disable, 1: enable */ &driver_attr_firlen, /*filter length: 0: disable, others: enable */ &driver_attr_trace, /*trace log */ &driver_attr_status, }; /*----------------------------------------------------------------------------*/ static int mpu6050_create_attr(struct device_driver *driver) { int idx, err = 0; int num = (int)(sizeof(mpu6050_attr_list) / sizeof(mpu6050_attr_list[0])); if (driver == NULL) return -EINVAL; for (idx = 0; idx < num; idx++) { err = driver_create_file(driver, mpu6050_attr_list[idx]); if (0 != err) { GSE_ERR("driver_create_file (%s) = %d\n", mpu6050_attr_list[idx]->attr.name, err); break; } } return err; } /*----------------------------------------------------------------------------*/ static int mpu6050_delete_attr(struct device_driver *driver) { int idx, err = 0; int num = (int)(sizeof(mpu6050_attr_list) / sizeof(mpu6050_attr_list[0])); if (driver == NULL) return -EINVAL; for (idx = 0; idx < num; idx++) driver_remove_file(driver, mpu6050_attr_list[idx]); return err; } /*----------------------------------------------------------------------------*/ int gsensor_operate(void *self, uint32_t command, void *buff_in, int size_in, void *buff_out, int size_out, int *actualout) { int err = 0; int value, sample_delay; struct mpu6050_i2c_data *priv = (struct mpu6050_i2c_data *)self; struct hwm_sensor_data *gsensor_data; char buff[MPU6050_BUFSIZE]; switch (command) { case SENSOR_DELAY: if ((buff_in == NULL) || (size_in < sizeof(int))) { GSE_ERR("Set delay parameter error!\n"); err = -EINVAL; } else { value = *(int *)buff_in; if (value <= 5) sample_delay = MPU6050_BW_184HZ; else if (value <= 10) sample_delay = MPU6050_BW_94HZ; else sample_delay = MPU6050_BW_44HZ; GSE_LOG("Set delay parameter value:%d\n", value); err = MPU6050_SetBWRate(priv->client, sample_delay); if (err != MPU6050_SUCCESS) { /* 0x2C->BW=100Hz */ GSE_ERR("Set delay parameter error!\n"); } if (value >= 50) { atomic_set(&priv->filter, 0); } else { #if defined(CONFIG_MPU6050_LOWPASS) priv->fir.num = 0; priv->fir.idx = 0; priv->fir.sum[MPU6050_AXIS_X] = 0; priv->fir.sum[MPU6050_AXIS_Y] = 0; priv->fir.sum[MPU6050_AXIS_Z] = 0; #endif atomic_set(&priv->filter, 1); } } break; case SENSOR_ENABLE: if ((buff_in == NULL) || (size_in < sizeof(int))) { GSE_ERR("Enable sensor parameter error!\n"); err = -EINVAL; } else { value = *(int *)buff_in; if (((value == 0) && (sensor_power == false)) || ((value == 1) && (sensor_power == true))) GSE_LOG("Gsensor device have updated!\n"); else err = MPU6050_SetPowerMode(priv->client, !sensor_power); } break; case SENSOR_GET_DATA: if ((buff_out == NULL) || (size_out < sizeof(struct hwm_sensor_data))) { GSE_ERR("get sensor data parameter error!\n"); err = -EINVAL; } else { gsensor_data = (struct hwm_sensor_data *) buff_out; err = MPU6050_ReadSensorData(priv->client, buff, MPU6050_BUFSIZE); if (!err) { err = sscanf(buff, "%x %x %x", &gsensor_data->values[0], &gsensor_data->values[1], &gsensor_data->values[2]); if (3 == err) { gsensor_data->status = SENSOR_STATUS_ACCURACY_MEDIUM; gsensor_data->value_divide = 1000; } else GSE_ERR("gsensor operate function sscanf invaild parameter !\n"); } } break; default: GSE_ERR("gsensor operate function no this parameter %d!\n", command); err = -1; break; } return err; } /****************************************************************************** * Function Configuration ******************************************************************************/ static int mpu6050_open(struct inode *inode, struct file *file) { file->private_data = mpu6050_i2c_client; if (file->private_data == NULL) { GSE_ERR("null pointer!!\n"); return -EINVAL; } return nonseekable_open(inode, file); } /*----------------------------------------------------------------------------*/ static int mpu6050_release(struct inode *inode, struct file *file) { file->private_data = NULL; return 0; } /*----------------------------------------------------------------------------*/ #ifdef CONFIG_COMPAT static long mpu6050_compat_ioctl(struct file *file, unsigned int cmd, unsigned long arg) { long err = 0; void __user *arg32 = compat_ptr(arg); if (!file->f_op || !file->f_op->unlocked_ioctl) return -ENOTTY; switch (cmd) { case COMPAT_GSENSOR_IOCTL_READ_SENSORDATA: if (arg32 == NULL) { err = -EINVAL; break; } err = file->f_op->unlocked_ioctl(file, GSENSOR_IOCTL_READ_SENSORDATA, (unsigned long)arg32); if (err) { GSE_ERR("GSENSOR_IOCTL_READ_SENSORDATA unlocked_ioctl failed."); return err; } break; case COMPAT_GSENSOR_IOCTL_SET_CALI: if (arg32 == NULL) { err = -EINVAL; break; } err = file->f_op->unlocked_ioctl(file, GSENSOR_IOCTL_SET_CALI, (unsigned long)arg32); if (err) { GSE_ERR("GSENSOR_IOCTL_SET_CALI unlocked_ioctl failed."); return err; } break; case COMPAT_GSENSOR_IOCTL_GET_CALI: if (arg32 == NULL) { err = -EINVAL; break; } err = file->f_op->unlocked_ioctl(file, GSENSOR_IOCTL_GET_CALI, (unsigned long)arg32); if (err) { GSE_ERR("GSENSOR_IOCTL_GET_CALI unlocked_ioctl failed."); return err; } break; case COMPAT_GSENSOR_IOCTL_CLR_CALI: if (arg32 == NULL) { err = -EINVAL; break; } err = file->f_op->unlocked_ioctl(file, GSENSOR_IOCTL_CLR_CALI, (unsigned long)arg32); if (err) { GSE_ERR("GSENSOR_IOCTL_CLR_CALI unlocked_ioctl failed."); return err; } break; default: GSE_ERR("unknown IOCTL: 0x%08x\n", cmd); err = -ENOIOCTLCMD; break; } return err; } #endif static long mpu6050_unlocked_ioctl(struct file *file, unsigned int cmd, unsigned long arg) { struct i2c_client *client = (struct i2c_client *)file->private_data; struct mpu6050_i2c_data *obj = (struct mpu6050_i2c_data *)i2c_get_clientdata(client); char strbuf[MPU6050_BUFSIZE]; void __user *data; struct SENSOR_DATA sensor_data; long err = 0; int cali[3]; if (_IOC_DIR(cmd) & _IOC_READ) err = !access_ok(VERIFY_WRITE, (void __user *)arg, _IOC_SIZE(cmd)); else if (_IOC_DIR(cmd) & _IOC_WRITE) err = !access_ok(VERIFY_READ, (void __user *)arg, _IOC_SIZE(cmd)); if (err) { GSE_ERR("access error: %08X, (%2d, %2d)\n", cmd, _IOC_DIR(cmd), _IOC_SIZE(cmd)); return -EFAULT; } switch (cmd) { case GSENSOR_IOCTL_INIT: mpu6050_init_client(client, 0); break; case GSENSOR_IOCTL_READ_CHIPINFO: data = (void __user *)arg; if (data == NULL) { err = -EINVAL; break; } MPU6050_ReadChipInfo(client, strbuf, MPU6050_BUFSIZE); if (copy_to_user(data, strbuf, strlen(strbuf) + 1)) { err = -EFAULT; break; } break; case GSENSOR_IOCTL_READ_SENSORDATA: data = (void __user *)arg; if (data == NULL) { err = -EINVAL; break; } MPU6050_ReadSensorData(client, strbuf, MPU6050_BUFSIZE); if (copy_to_user(data, strbuf, strlen(strbuf) + 1)) { err = -EFAULT; break; } break; case GSENSOR_IOCTL_READ_GAIN: data = (void __user *)arg; if (data == NULL) { err = -EINVAL; break; } if (copy_to_user(data, &gsensor_gain, sizeof(struct GSENSOR_VECTOR3D))) { err = -EFAULT; break; } break; case GSENSOR_IOCTL_READ_RAW_DATA: data = (void __user *)arg; if (data == NULL) { err = -EINVAL; break; } if (atomic_read(&obj->suspend)) { err = -EINVAL; } else { MPU6050_ReadRawData(client, strbuf); if (copy_to_user(data, strbuf, strlen(strbuf) + 1)) { err = -EFAULT; break; } } break; case GSENSOR_IOCTL_SET_CALI: data = (void __user *)arg; if (data == NULL) { err = -EINVAL; break; } if (copy_from_user(&sensor_data, data, sizeof(sensor_data))) { err = -EFAULT; break; } if (atomic_read(&obj->suspend)) { GSE_ERR("Perform calibration in suspend state!!\n"); err = -EINVAL; } else { cali[MPU6050_AXIS_X] = sensor_data.x * obj->reso->sensitivity / GRAVITY_EARTH_1000; cali[MPU6050_AXIS_Y] = sensor_data.y * obj->reso->sensitivity / GRAVITY_EARTH_1000; cali[MPU6050_AXIS_Z] = sensor_data.z * obj->reso->sensitivity / GRAVITY_EARTH_1000; err = MPU6050_WriteCalibration(client, cali); } break; case GSENSOR_IOCTL_CLR_CALI: err = MPU6050_ResetCalibration(client); break; case GSENSOR_IOCTL_GET_CALI: data = (void __user *)arg; if (data == NULL) { err = -EINVAL; break; } err = MPU6050_ReadCalibration(client, cali); if (err) break; sensor_data.x = cali[MPU6050_AXIS_X] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; sensor_data.y = cali[MPU6050_AXIS_Y] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; sensor_data.z = cali[MPU6050_AXIS_Z] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; if (copy_to_user(data, &sensor_data, sizeof(sensor_data))) { err = -EFAULT; break; } break; default: GSE_ERR("unknown IOCTL: 0x%08x\n", cmd); err = -ENOIOCTLCMD; break; } return err; } /*----------------------------------------------------------------------------*/ static const struct file_operations mpu6050_fops = { .open = mpu6050_open, .release = mpu6050_release, .unlocked_ioctl = mpu6050_unlocked_ioctl, #ifdef CONFIG_COMPAT .compat_ioctl = mpu6050_compat_ioctl, #endif }; /*----------------------------------------------------------------------------*/ static struct miscdevice mpu6050_device = { .minor = MISC_DYNAMIC_MINOR, .name = "gsensor", .fops = &mpu6050_fops, }; /*----------------------------------------------------------------------------*/ #ifndef USE_EARLY_SUSPEND /*----------------------------------------------------------------------------*/ static int mpu6050_suspend(struct i2c_client *client, pm_message_t msg) { struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); int err = 0; GSE_FUN(); if (msg.event == PM_EVENT_SUSPEND) { if (obj == NULL) { GSE_ERR("null pointer!!\n"); return -EINVAL; } atomic_set(&obj->suspend, 1); err = MPU6050_SetPowerMode(obj->client, false); if (err) { GSE_ERR("write power control fail!!\n"); return err; } MPU6050_power(obj->hw, 0); GSE_LOG("mpu6050_suspend ok\n"); } return err; } /*----------------------------------------------------------------------------*/ static int mpu6050_resume(struct i2c_client *client) { struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); int err; GSE_FUN(); if (obj == NULL) { GSE_ERR("null pointer!!\n"); return -EINVAL; } MPU6050_power(obj->hw, 1); err = mpu6050_init_client(client, 0); if (err) { GSE_ERR("initialize client fail!!\n"); return err; } atomic_set(&obj->suspend, 0); GSE_LOG("mpu6050_resume ok\n"); return 0; } /*----------------------------------------------------------------------------*/ #else /*CONFIG_HAS_EARLY_SUSPEND is defined */ /*----------------------------------------------------------------------------*/ static void mpu6050_early_suspend(struct early_suspend *h) { struct mpu6050_i2c_data *obj = container_of(h, struct mpu6050_i2c_data, early_drv); int err; GSE_FUN(); if (obj == NULL) { GSE_ERR("null pointer!!\n"); return; } atomic_set(&obj->suspend, 1); err = MPU6050_SetPowerMode(obj->client, false); if (err) { GSE_ERR("write power control fail!!\n"); return; } if (MPU6050_gyro_mode() == false) { MPU6050_Dev_Reset(obj->client); MPU6050_Reset(obj->client); } obj->bandwidth = 0; sensor_power = false; MPU6050_power(obj->hw, 0); } /*----------------------------------------------------------------------------*/ static void mpu6050_late_resume(struct early_suspend *h) { struct mpu6050_i2c_data *obj = container_of(h, struct mpu6050_i2c_data, early_drv); int err; GSE_FUN(); if (obj == NULL) { GSE_ERR("null pointer!!\n"); return; } MPU6050_power(obj->hw, 1); err = mpu6050_init_client(obj->client, 0); if (err) { GSE_ERR("initialize client fail!!\n"); return; } atomic_set(&obj->suspend, 0); } /*----------------------------------------------------------------------------*/ #endif /*CONFIG_HAS_EARLYSUSPEND */ /*----------------------------------------------------------------------------*/ static int mpu6050_i2c_detect(struct i2c_client *client, struct i2c_board_info *info) { strcpy(info->type, MPU6050_DEV_NAME); return 0; } /* if use this typ of enable , Gsensor should report inputEvent(x, y, z ,stats, div) to HAL*/ static int mpu6050_open_report_data(int open) { /*should queuq work to report event if is_report_input_direct=true*/ return 0; } /* if use this typ of enable , Gsensor only enabled but not report inputEvent to HAL*/ static int mpu6050_enable_nodata(int en) { int res = 0; int retry = 0; bool power = false; if (1 == en) power = true; if (0 == en) power = false; for (retry = 0; retry < 3; retry++) { res = MPU6050_SetPowerMode(obj_i2c_data->client, power); if (res == 0) break; } if (res != MPU6050_SUCCESS) { GSE_ERR("MPU6050_SetPowerMode fail!\n"); return -1; } GSE_LOG("mpu6050_enable_nodata OK!\n"); return 0; } static int mpu6050_set_delay(u64 ns) { int value = 0; int sample_delay = 0; int err; value = (int)ns/1000/1000; if (value <= 5) sample_delay = MPU6050_BW_184HZ; else if (value <= 10) sample_delay = MPU6050_BW_94HZ; else sample_delay = MPU6050_BW_44HZ; err = MPU6050_SetBWRate(obj_i2c_data->client, sample_delay); if (err != MPU6050_SUCCESS) { GSE_ERR("mpu6050_set_delay Set delay parameter error!\n"); return -1; } GSE_LOG("mpu6050_set_delay (%d)\n", value); return 0; } static int mpu6050_get_data(int *x, int *y, int *z, int *status) { char buff[MPU6050_BUFSIZE]; int err; MPU6050_ReadSensorData(obj_i2c_data->client, buff, MPU6050_BUFSIZE); err = sscanf(buff, "%x %x %x", x, y, z); if (err == 3) *status = SENSOR_STATUS_ACCURACY_MEDIUM; else GSE_ERR("gsensor operate function sscanf invaild parameter !\n"); return 0; } /*----------------------------------------------------------------------------*/ static int mpu6050_i2c_probe(struct i2c_client *client, const struct i2c_device_id *id) { struct i2c_client *new_client; struct mpu6050_i2c_data *obj; int err = 0; struct acc_control_path ctl = {0}; struct acc_data_path data = {0}; GSE_FUN(); obj = kzalloc(sizeof(*obj), GFP_KERNEL); if (!(obj)) { err = -ENOMEM; goto exit; } memset(obj, 0, sizeof(struct mpu6050_i2c_data)); obj->hw = hw; err = hwmsen_get_convert(obj->hw->direction, &obj->cvt); if (err) { GSE_ERR("invalid direction: %d\n", obj->hw->direction); goto exit; } obj_i2c_data = obj; obj->client = client; /* obj->client->timing = 400; */ new_client = obj->client; i2c_set_clientdata(new_client, obj); atomic_set(&obj->trace, 0); atomic_set(&obj->suspend, 0); #ifdef CONFIG_MPU6050_LOWPASS if (obj->hw->firlen > C_MAX_FIR_LENGTH) atomic_set(&obj->firlen, C_MAX_FIR_LENGTH); else atomic_set(&obj->firlen, obj->hw->firlen); if (atomic_read(&obj->firlen) > 0) atomic_set(&obj->fir_en, 1); #endif mpu6050_i2c_client = new_client; MPU6050_Dev_Reset(new_client); MPU6050_Reset(new_client); err = mpu6050_init_client(new_client, 1); if (err) goto exit_init_failed; err = misc_register(&mpu6050_device); if (err) { GSE_ERR("mpu6050_device register failed\n"); goto exit_misc_device_register_failed; } ctl.is_use_common_factory = false; err = mpu6050_create_attr(&(mpu6050_init_info.platform_diver_addr->driver)); if (err) { GSE_ERR("create attribute err = %d\n", err); goto exit_create_attr_failed; } ctl.open_report_data = mpu6050_open_report_data; ctl.enable_nodata = mpu6050_enable_nodata; ctl.set_delay = mpu6050_set_delay; ctl.is_report_input_direct = false; ctl.is_support_batch = obj->hw->is_batch_supported; err = acc_register_control_path(&ctl); if (err) { GSE_ERR("register acc control path err\n"); goto exit_kfree; } data.get_data = mpu6050_get_data; data.vender_div = 1000; err = acc_register_data_path(&data); if (err) { GSE_ERR("register acc data path err= %d\n", err); goto exit_kfree; } #ifdef USE_EARLY_SUSPEND obj->early_drv.level = EARLY_SUSPEND_LEVEL_STOP_DRAWING - 2, obj->early_drv.suspend = mpu6050_early_suspend, obj->early_drv.resume = mpu6050_late_resume, register_early_suspend(&obj->early_drv); #endif mpu6050_init_flag = 0; GSE_LOG("%s: OK\n", __func__); return 0; exit_create_attr_failed: misc_deregister(&mpu6050_device); exit_misc_device_register_failed: exit_init_failed: /* i2c_detach_client(new_client); */ exit_kfree: kfree(obj); exit: GSE_ERR("%s: err = %d\n", __func__, err); mpu6050_init_flag = -1; return err; } /*----------------------------------------------------------------------------*/ static int mpu6050_i2c_remove(struct i2c_client *client) { int err = 0; err = mpu6050_delete_attr(&(mpu6050_init_info.platform_diver_addr->driver)); if (err) GSE_ERR("mpu6050_delete_attr fail: %d\n", err); err = misc_deregister(&mpu6050_device); if (err) GSE_ERR("misc_deregister fail: %d\n", err); err = hwmsen_detach(ID_ACCELEROMETER); if (err) GSE_ERR("hwmsen_detach fail: %d\n", err); mpu6050_i2c_client = NULL; i2c_unregister_device(client); kfree(i2c_get_clientdata(client)); return 0; } /*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/ static int mpu6050_remove(void) { /*GSE_FUN();*/ MPU6050_power(hw, 0); i2c_del_driver(&mpu6050g_i2c_driver); return 0; } /*----------------------------------------------------------------------------*/ static int mpu6050_local_init(void) { MPU6050_power(hw, 1); if (i2c_add_driver(&mpu6050g_i2c_driver)) { GSE_ERR("add driver error\n"); return -1; } if (-1 == mpu6050_init_flag) return -1; return 0; } /*----------------------------------------------------------------------------*/ static int __init mpu6050gse_init(void) { const char *name = "mediatek,mpu6050g"; hw = get_accel_dts_func(name, hw); if (!hw) GSE_ERR("get dts info fail\n"); acc_driver_add(&mpu6050_init_info); return 0; } /*----------------------------------------------------------------------------*/ static void __exit mpu6050gse_exit(void) { GSE_FUN(); } /*----------------------------------------------------------------------------*/ module_init(mpu6050gse_init); module_exit(mpu6050gse_exit); /*----------------------------------------------------------------------------*/ MODULE_LICENSE("GPL"); MODULE_DESCRIPTION("MPU6050 gse driver"); MODULE_AUTHOR("Yucong.Xiong@mediatek.com");