/* MPU6515 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 #include #include #include #include #include #include #include #include #include #include #include #include "mpu6515.h" #include "mpu6515g.h" #include "mpu6515a.h" #include #ifdef CUSTOM_KERNEL_SENSORHUB #include #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ /* #define POWER_NONE_MACRO MT65XX_POWER_NONE */ /*----------------------------------------------------------------------------*/ #define DEBUG 1 /* #define GSENSOR_UT */ /*----------------------------------------------------------------------------*/ #define CONFIG_MPU6515_LOWPASS /*apply low pass filter on output */ #define SW_CALIBRATION /* #define USE_EARLY_SUSPEND */ /*----------------------------------------------------------------------------*/ #define MPU6515_AXIS_X 0 #define MPU6515_AXIS_Y 1 #define MPU6515_AXIS_Z 2 #define MPU6515_AXES_NUM 3 #define MPU6515_DATA_LEN 6 #define MPU6515_DEV_NAME "MPU6515G" /* name must different with gyro mpu6515 */ /*----------------------------------------------------------------------------*/ static const struct i2c_device_id mpu6515_i2c_id[] = { {MPU6515_DEV_NAME, 0}, {} }; #ifdef CONFIG_MTK_LEGACY static struct i2c_board_info i2c_mpu6515 __initdata = { I2C_BOARD_INFO(MPU6515_DEV_NAME, (MPU6515_I2C_SLAVE_ADDR >> 1)) }; #endif /*----------------------------------------------------------------------------*/ static int mpu6515_i2c_probe(struct i2c_client *client, const struct i2c_device_id *id); static int mpu6515_i2c_remove(struct i2c_client *client); static int mpu6515_i2c_detect(struct i2c_client *client, struct i2c_board_info *info); #if !defined(CONFIG_HAS_EARLYSUSPEND) || !defined(USE_EARLY_SUSPEND) static int mpu6515_suspend(struct i2c_client *client, pm_message_t msg); static int mpu6515_resume(struct i2c_client *client); #endif static int gsensor_local_init(void); static int gsensor_remove(void); #ifdef CUSTOM_KERNEL_SENSORHUB static int gsensor_setup_irq(void); #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ static int gsensor_set_delay(u64 ns); /* 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; } /*----------------------------------------------------------------------------*/ typedef enum { MPU6515_TRC_FILTER = 0x01, MPU6515_TRC_RAWDATA = 0x02, MPU6515_TRC_IOCTL = 0x04, MPU6515_TRC_CALI = 0X08, MPU6515_TRC_INFO = 0X10, } MPU6515_TRC; /*----------------------------------------------------------------------------*/ 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][MPU6515_AXES_NUM]; int sum[MPU6515_AXES_NUM]; int num; int idx; }; /*----------------------------------------------------------------------------*/ struct mpu6515_i2c_data { struct i2c_client *client; struct acc_hw *hw; struct hwmsen_convert cvt; #ifdef CUSTOM_KERNEL_SENSORHUB struct work_struct irq_work; #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ /*misc */ struct data_resolution *reso; atomic_t trace; atomic_t suspend; atomic_t selftest; atomic_t filter; s16 cali_sw[MPU6515_AXES_NUM + 1]; /*data */ s8 offset[MPU6515_AXES_NUM + 1]; /*+1: for 4-byte alignment */ s16 data[MPU6515_AXES_NUM + 1]; #ifdef CUSTOM_KERNEL_SENSORHUB int SCP_init_done; #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ #if defined(CONFIG_MPU6515_LOWPASS) atomic_t firlen; atomic_t fir_en; struct data_filter fir; #endif /*early suspend */ #if defined(CONFIG_HAS_EARLYSUSPEND) && defined(USE_EARLY_SUSPEND) struct early_suspend early_drv; #endif u8 bandwidth; }; /*----------------------------------------------------------------------------*/ #ifdef CONFIG_OF static const struct of_device_id acc_of_match[] = { {.compatible = "mediatek,GSENSOR"}, {}, }; #endif static struct i2c_driver mpu6515_i2c_driver = { .driver = { .name = MPU6515_DEV_NAME, #ifdef CONFIG_OF .of_match_table = acc_of_match, #endif }, .probe = mpu6515_i2c_probe, .remove = mpu6515_i2c_remove, .detect = mpu6515_i2c_detect, #if !defined(CONFIG_HAS_EARLYSUSPEND) || !defined(USE_EARLY_SUSPEND) .suspend = mpu6515_suspend, .resume = mpu6515_resume, #endif .id_table = mpu6515_i2c_id, }; /*----------------------------------------------------------------------------*/ static struct i2c_client *mpu6515_i2c_client; static struct mpu6515_i2c_data *obj_i2c_data; static bool sensor_power; /* static bool scp_sensor_power = false; */ static struct GSENSOR_VECTOR3D gsensor_gain; static char selftestRes[8] = { 0 }; static DEFINE_MUTEX(gsensor_mutex); static DEFINE_MUTEX(gsensor_scp_en_mutex); static bool enable_status; static int gsensor_init_flag = -1; /* 0<==>OK -1 <==> fail */ static struct acc_init_info mpu6515_init_info = { .name = "mpu6515", .init = gsensor_local_init, .uninit = gsensor_remove, }; /*----------------------------------------------------------------------------*/ #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) #define GSE_LOG(fmt, args...) pr_debug(GSE_TAG fmt, ##args) /*----------------------------------------------------------------------------*/ static struct data_resolution mpu6515_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, 49}, 2048}, /*+/-16g in 16-bit resolution: 0.49 mg/LSB */ }; /*----------------------------------------------------------------------------*/ static struct data_resolution mpu6515_offset_resolution = { {0, 5}, 2048 }; static unsigned int power_on; /* extern int MPU6515_gyro_power(void); */ /* extern int MPU6515_gyro_mode(void); */ int MPU6515_gse_power(void) { return power_on; } EXPORT_SYMBOL(MPU6515_gse_power); int MPU6515_gse_mode(void) { return sensor_power; } EXPORT_SYMBOL(MPU6515_gse_mode); int MPU6515_i2c_master_send(u8 *buf, u8 len) { #ifndef GSENSOR_UT int res = 0; if (NULL == mpu6515_i2c_client) GSE_ERR("MPU6515_i2c_master_send null ptr!!\n"); else res = i2c_master_send(mpu6515_i2c_client, buf, len); return res; #else return 1; #endif } EXPORT_SYMBOL(MPU6515_i2c_master_send); int MPU6515_i2c_master_recv(u8 *buf, u8 len) { #ifndef GSENSOR_UT int res = 0; if (NULL == mpu6515_i2c_client) GSE_ERR("MPU6515_i2c_master_recv null ptr!!\n"); else res = i2c_master_recv(mpu6515_i2c_client, buf, len); return res; #else return 1; #endif } EXPORT_SYMBOL(MPU6515_i2c_master_recv); #ifdef CUSTOM_KERNEL_SENSORHUB int MPU6515_SCP_SetPowerMode(bool enable, int sensorType) { static bool gsensor_scp_en_status; static unsigned int gsensor_scp_en_map; SCP_SENSOR_HUB_DATA req; int len; int err = 0; mutex_lock(&gsensor_scp_en_mutex); if (sensorType >= 32) { GSE_ERR("Out of index!\n"); return -1; } if (true == enable) gsensor_scp_en_map |= (1 << sensorType); else gsensor_scp_en_map &= ~(1 << sensorType); if (0 == gsensor_scp_en_map) enable = false; else enable = true; if (gsensor_scp_en_status != enable) { gsensor_scp_en_status = enable; req.activate_req.sensorType = ID_ACCELEROMETER; req.activate_req.action = SENSOR_HUB_ACTIVATE; req.activate_req.enable = enable; len = sizeof(req.activate_req); err = SCP_sensorHub_req_send(&req, &len, 1); if (err) GSE_ERR("SCP_sensorHub_req_send fail!\n"); } mutex_unlock(&gsensor_scp_en_mutex); return err; } EXPORT_SYMBOL(MPU6515_SCP_SetPowerMode); #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ /*----------------------------------------------------------------------------*/ static int mpu_i2c_read_block(struct i2c_client *client, u8 addr, u8 *data, u8 len) { int err; data[0] = addr; client->addr &= I2C_MASK_FLAG; client->addr |= I2C_WR_FLAG; client->addr |= I2C_RS_FLAG; err = i2c_master_send(client, data, (len << 8) | 0x1); client->addr &= I2C_MASK_FLAG; if (err < 0) GSE_ERR("i2c_transfer error: (%d %p %d) %d\n", addr, data, len, err); else err = 0; return err; } int MPU6515_hwmsen_read_block(u8 addr, u8 *buf, u8 len) { #ifndef GSENSOR_UT if (NULL == mpu6515_i2c_client) { GSE_ERR("MPU6515_hwmsen_read_block null ptr!!\n"); return MPU6515_ERR_I2C; } return mpu_i2c_read_block(mpu6515_i2c_client, addr, buf, len); #else return 0; #endif } EXPORT_SYMBOL(MPU6515_hwmsen_read_block); int MPU6515_hwmsen_read_byte(u8 addr, u8 *buf) { #ifndef GSENSOR_UT if (NULL == mpu6515_i2c_client) { GSE_ERR("MPU6515_hwmsen_read_byte null ptr!!\n"); return MPU6515_ERR_I2C; } return mpu_i2c_read_block(mpu6515_i2c_client, addr, buf, 1); #else return 0; #endif } EXPORT_SYMBOL(MPU6515_hwmsen_read_byte); /*--------------------mpu6515 power control function----------------------------------*/ static void MPU6515_power(struct acc_hw *hw, unsigned int on) { #ifndef CONFIG_FPGA_EARLY_PORTING static unsigned int power_on; #if 0 if (hw->power_id != POWER_NONE_MACRO) { /* have externel LDO */ GSE_LOG("power %s\n", on ? "on" : "off"); if (power_on == on) { /* power status not change */ GSE_LOG("ignore power control: %d\n", on); } else if (on) { /* power on */ if (!hwPowerOn(hw->power_id, hw->power_vol, "MPU6515G")) GSE_ERR("power on fails!!\n"); } else { /* power off */ if (!hwPowerDown(hw->power_id, "MPU6515G")) GSE_ERR("power off fail!!\n"); } } #endif power_on = on; #endif } /*----------------------------------------------------------------------------*/ static int MPU6515_SetPowerMode(struct i2c_client *client, bool enable) { int res = 0; struct mpu6515_i2c_data *obj = i2c_get_clientdata(client); u8 databuf[2]; if (enable == sensor_power) { GSE_LOG("Sensor power status is newest!\n"); return MPU6515_SUCCESS; } #if 0 databuf[0] = MPU6515_REG_POWER_CTL; res = i2c_master_send(client, databuf, 0x1); if (res <= 0) return MPU6515_ERR_I2C; udelay(500); databuf[0] = 0x0; res = i2c_master_recv(client, databuf, 1); if (res <= 0) return MPU6515_ERR_I2C; #else if (hwmsen_read_byte(client, MPU6515_REG_POWER_CTL, databuf)) { GSE_ERR("read power ctl register err!\n"); return MPU6515_ERR_I2C; } #endif if ((databuf[0] & 0x1f) != 0x1) GSE_ERR("MPU6515 PWR_MGMT_1 = %x\n", databuf[0]); databuf[0] &= ~MPU6515_SLEEP; if (enable == false) { if (MPU6515_gyro_mode() == false) databuf[0] |= MPU6515_SLEEP; } else { /* do nothing */ } databuf[1] = databuf[0]; databuf[0] = MPU6515_REG_POWER_CTL; res = i2c_master_send(client, databuf, 0x2); if (res <= 0) { GSE_LOG("set power mode failed!\n"); return MPU6515_ERR_I2C; } if (atomic_read(&obj->trace) & MPU6515_TRC_INFO) GSE_LOG("set power mode ok %d!\n", databuf[1]); sensor_power = enable; return MPU6515_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6515_SetDataResolution(struct mpu6515_i2c_data *obj) { int err; u8 dat = 0, reso = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif err = mpu_i2c_read_block(obj->client, MPU6515_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 & MPU6515_RANGE_16G) >> 3; if (reso < sizeof(mpu6515_data_resolution) / sizeof(mpu6515_data_resolution[0])) { obj->reso = &mpu6515_data_resolution[reso]; return 0; } else { return -EINVAL; } } /*----------------------------------------------------------------------------*/ static int MPU6515_ReadData(struct i2c_client *client, s16 data[MPU6515_AXES_NUM]) { struct mpu6515_i2c_data *priv = i2c_get_clientdata(client); int err = 0; u8 buf[MPU6515_DATA_LEN] = { 0 }; #ifdef GSENSOR_UT GSE_FUN(); #endif if (NULL == client) return -EINVAL; { /* write then burst read */ mpu_i2c_read_block(client, MPU6515_REG_DATAX0, buf, MPU6515_DATA_LEN); data[MPU6515_AXIS_X] = (s16) ((buf[MPU6515_AXIS_X * 2] << 8) | (buf[MPU6515_AXIS_X * 2 + 1])); data[MPU6515_AXIS_Y] = (s16) ((buf[MPU6515_AXIS_Y * 2] << 8) | (buf[MPU6515_AXIS_Y * 2 + 1])); data[MPU6515_AXIS_Z] = (s16) ((buf[MPU6515_AXIS_Z * 2] << 8) | (buf[MPU6515_AXIS_Z * 2 + 1])); if (atomic_read(&priv->trace) & MPU6515_TRC_RAWDATA) { GSE_LOG("[%08X %08X %08X] => [%5d %5d %5d]\n", data[MPU6515_AXIS_X], data[MPU6515_AXIS_Y], data[MPU6515_AXIS_Z], data[MPU6515_AXIS_X], data[MPU6515_AXIS_Y], data[MPU6515_AXIS_Z]); } #ifdef CONFIG_MPU6515_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][MPU6515_AXIS_X] = data[MPU6515_AXIS_X]; priv->fir.raw[priv->fir.num][MPU6515_AXIS_Y] = data[MPU6515_AXIS_Y]; priv->fir.raw[priv->fir.num][MPU6515_AXIS_Z] = data[MPU6515_AXIS_Z]; priv->fir.sum[MPU6515_AXIS_X] += data[MPU6515_AXIS_X]; priv->fir.sum[MPU6515_AXIS_Y] += data[MPU6515_AXIS_Y]; priv->fir.sum[MPU6515_AXIS_Z] += data[MPU6515_AXIS_Z]; if (atomic_read(&priv->trace) & MPU6515_TRC_FILTER) { GSE_LOG ("add [%2d] [%5d %5d %5d] => [%5d %5d %5d]\n", priv->fir.num, priv->fir.raw[priv->fir.num][MPU6515_AXIS_X], priv->fir.raw[priv->fir.num][MPU6515_AXIS_Y], priv->fir.raw[priv->fir.num][MPU6515_AXIS_Z], priv->fir.sum[MPU6515_AXIS_X], priv->fir.sum[MPU6515_AXIS_Y], priv->fir.sum[MPU6515_AXIS_Z]); } priv->fir.num++; priv->fir.idx++; } else { idx = priv->fir.idx % firlen; priv->fir.sum[MPU6515_AXIS_X] -= priv->fir.raw[idx][MPU6515_AXIS_X]; priv->fir.sum[MPU6515_AXIS_Y] -= priv->fir.raw[idx][MPU6515_AXIS_Y]; priv->fir.sum[MPU6515_AXIS_Z] -= priv->fir.raw[idx][MPU6515_AXIS_Z]; priv->fir.raw[idx][MPU6515_AXIS_X] = data[MPU6515_AXIS_X]; priv->fir.raw[idx][MPU6515_AXIS_Y] = data[MPU6515_AXIS_Y]; priv->fir.raw[idx][MPU6515_AXIS_Z] = data[MPU6515_AXIS_Z]; priv->fir.sum[MPU6515_AXIS_X] += data[MPU6515_AXIS_X]; priv->fir.sum[MPU6515_AXIS_Y] += data[MPU6515_AXIS_Y]; priv->fir.sum[MPU6515_AXIS_Z] += data[MPU6515_AXIS_Z]; priv->fir.idx++; data[MPU6515_AXIS_X] = priv->fir.sum[MPU6515_AXIS_X] / firlen; data[MPU6515_AXIS_Y] = priv->fir.sum[MPU6515_AXIS_Y] / firlen; data[MPU6515_AXIS_Z] = priv->fir.sum[MPU6515_AXIS_Z] / firlen; if (atomic_read(&priv->trace) & MPU6515_TRC_FILTER) { GSE_LOG ("add [%2d] [%5d %5d %5d] => [%5d %5d %5d] : [%5d %5d %5d]\n", idx, priv->fir.raw[idx][MPU6515_AXIS_X], priv->fir.raw[idx][MPU6515_AXIS_Y], priv->fir.raw[idx][MPU6515_AXIS_Z], priv->fir.sum[MPU6515_AXIS_X], priv->fir.sum[MPU6515_AXIS_Y], priv->fir.sum[MPU6515_AXIS_Z], data[MPU6515_AXIS_X], data[MPU6515_AXIS_Y], data[MPU6515_AXIS_Z]); } } } } #endif } return err; } /*----------------------------------------------------------------------------*/ static int MPU6515_ReadOffset(struct i2c_client *client, s8 ofs[MPU6515_AXES_NUM]) { int err = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif #ifdef SW_CALIBRATION ofs[0] = ofs[1] = ofs[2] = 0x0; #else err = mpu_i2c_read_block(client, MPU6515_REG_OFSX, ofs, MPU6515_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 MPU6515_ResetCalibration(struct i2c_client *client) { struct mpu6515_i2c_data *obj = i2c_get_clientdata(client); int err = 0; #ifdef CUSTOM_KERNEL_SENSORHUB SCP_SENSOR_HUB_DATA data; MPU6515_CUST_DATA *pCustData; unsigned int len; #endif #ifdef GSENSOR_UT GSE_FUN(); #endif #ifdef CUSTOM_KERNEL_SENSORHUB if (0 != obj->SCP_init_done) { pCustData = (MPU6515_CUST_DATA *) &data.set_cust_req.custData; data.set_cust_req.sensorType = ID_ACCELEROMETER; data.set_cust_req.action = SENSOR_HUB_SET_CUST; pCustData->resetCali.action = MPU6515_CUST_ACTION_RESET_CALI; len = offsetof(SCP_SENSOR_HUB_SET_CUST_REQ, custData) + sizeof(pCustData->resetCali); SCP_sensorHub_req_send(&data, &len, 1); } #endif memset(obj->cali_sw, 0x00, sizeof(obj->cali_sw)); memset(obj->offset, 0x00, sizeof(obj->offset)); return err; } /*----------------------------------------------------------------------------*/ static int MPU6515_ReadCalibration(struct i2c_client *client, int dat[MPU6515_AXES_NUM]) { struct mpu6515_i2c_data *obj = i2c_get_clientdata(client); #ifdef SW_CALIBRATION int mul; #else int err; #endif #ifdef GSENSOR_UT GSE_FUN(); #endif #ifdef SW_CALIBRATION mul = 0; /* only SW Calibration, disable HW Calibration */ #else err = MPU6515_ReadOffset(client, obj->offset); if (err) { GSE_ERR("read offset fail, %d\n", err); return err; } mul = obj->reso->sensitivity / mpu6515_offset_resolution.sensitivity; #endif dat[obj->cvt.map[MPU6515_AXIS_X]] = obj->cvt.sign[MPU6515_AXIS_X] * (obj->offset[MPU6515_AXIS_X] * mul + obj->cali_sw[MPU6515_AXIS_X]); dat[obj->cvt.map[MPU6515_AXIS_Y]] = obj->cvt.sign[MPU6515_AXIS_Y] * (obj->offset[MPU6515_AXIS_Y] * mul + obj->cali_sw[MPU6515_AXIS_Y]); dat[obj->cvt.map[MPU6515_AXIS_Z]] = obj->cvt.sign[MPU6515_AXIS_Z] * (obj->offset[MPU6515_AXIS_Z] * mul + obj->cali_sw[MPU6515_AXIS_Z]); return 0; } /*----------------------------------------------------------------------------*/ static int MPU6515_ReadCalibrationEx(struct i2c_client *client, int act[MPU6515_AXES_NUM], int raw[MPU6515_AXES_NUM]) { /*raw: the raw calibration data; act: the actual calibration data */ struct mpu6515_i2c_data *obj = i2c_get_clientdata(client); #ifdef SW_CALIBRATION int mul; #else int err; #endif #ifdef GSENSOR_UT GSE_FUN(); #endif #ifdef SW_CALIBRATION mul = 0; /* only SW Calibration, disable HW Calibration */ #else err = MPU6515_ReadOffset(client, obj->offset); if (err) { GSE_ERR("read offset fail, %d\n", err); return err; } mul = obj->reso->sensitivity / mpu6515_offset_resolution.sensitivity; #endif raw[MPU6515_AXIS_X] = obj->offset[MPU6515_AXIS_X] * mul + obj->cali_sw[MPU6515_AXIS_X]; raw[MPU6515_AXIS_Y] = obj->offset[MPU6515_AXIS_Y] * mul + obj->cali_sw[MPU6515_AXIS_Y]; raw[MPU6515_AXIS_Z] = obj->offset[MPU6515_AXIS_Z] * mul + obj->cali_sw[MPU6515_AXIS_Z]; act[obj->cvt.map[MPU6515_AXIS_X]] = obj->cvt.sign[MPU6515_AXIS_X] * raw[MPU6515_AXIS_X]; act[obj->cvt.map[MPU6515_AXIS_Y]] = obj->cvt.sign[MPU6515_AXIS_Y] * raw[MPU6515_AXIS_Y]; act[obj->cvt.map[MPU6515_AXIS_Z]] = obj->cvt.sign[MPU6515_AXIS_Z] * raw[MPU6515_AXIS_Z]; return 0; } /*----------------------------------------------------------------------------*/ static int MPU6515_WriteCalibration(struct i2c_client *client, int dat[MPU6515_AXES_NUM]) { struct mpu6515_i2c_data *obj = i2c_get_clientdata(client); int err; int cali[MPU6515_AXES_NUM], raw[MPU6515_AXES_NUM]; #ifdef CUSTOM_KERNEL_SENSORHUB SCP_SENSOR_HUB_DATA data; MPU6515_CUST_DATA *pCustData; unsigned int len; #endif #ifdef GSENSOR_UT GSE_FUN(); #endif err = MPU6515_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[MPU6515_AXIS_X], raw[MPU6515_AXIS_Y], raw[MPU6515_AXIS_Z], obj->offset[MPU6515_AXIS_X], obj->offset[MPU6515_AXIS_Y], obj->offset[MPU6515_AXIS_Z], obj->cali_sw[MPU6515_AXIS_X], obj->cali_sw[MPU6515_AXIS_Y], obj->cali_sw[MPU6515_AXIS_Z]); #ifdef CUSTOM_KERNEL_SENSORHUB pCustData = (MPU6515_CUST_DATA *) data.set_cust_req.custData; data.set_cust_req.sensorType = ID_ACCELEROMETER; data.set_cust_req.action = SENSOR_HUB_SET_CUST; pCustData->setCali.action = MPU6515_CUST_ACTION_SET_CALI; pCustData->setCali.data[MPU6515_AXIS_X] = dat[MPU6515_AXIS_X]; pCustData->setCali.data[MPU6515_AXIS_Y] = dat[MPU6515_AXIS_Y]; pCustData->setCali.data[MPU6515_AXIS_Z] = dat[MPU6515_AXIS_Z]; len = offsetof(SCP_SENSOR_HUB_SET_CUST_REQ, custData) + sizeof(pCustData->setCali); SCP_sensorHub_req_send(&data, &len, 1); #endif /*calculate the real offset expected by caller */ cali[MPU6515_AXIS_X] += dat[MPU6515_AXIS_X]; cali[MPU6515_AXIS_Y] += dat[MPU6515_AXIS_Y]; cali[MPU6515_AXIS_Z] += dat[MPU6515_AXIS_Z]; GSE_LOG("UPDATE: (%+3d %+3d %+3d)\n", dat[MPU6515_AXIS_X], dat[MPU6515_AXIS_Y], dat[MPU6515_AXIS_Z]); obj->cali_sw[MPU6515_AXIS_X] = obj->cvt.sign[MPU6515_AXIS_X] * (cali[obj->cvt.map[MPU6515_AXIS_X]]); obj->cali_sw[MPU6515_AXIS_Y] = obj->cvt.sign[MPU6515_AXIS_Y] * (cali[obj->cvt.map[MPU6515_AXIS_Y]]); obj->cali_sw[MPU6515_AXIS_Z] = obj->cvt.sign[MPU6515_AXIS_Z] * (cali[obj->cvt.map[MPU6515_AXIS_Z]]); return err; } /*----------------------------------------------------------------------------*/ static int MPU6515_CheckDeviceID(struct i2c_client *client) { u8 databuf[10]; int res = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif memset(databuf, 0, sizeof(u8) * 10); databuf[0] = MPU6515_REG_DEVID; res = i2c_master_send(client, databuf, 0x1); if (res <= 0) { GSE_ERR("i2c_master_send failed : %d\n", res); goto exit_MPU6515_CheckDeviceID; } udelay(500); databuf[0] = 0x0; res = i2c_master_recv(client, databuf, 0x01); if (res <= 0) { GSE_ERR("i2c_master_recv failed : %d\n", res); goto exit_MPU6515_CheckDeviceID; } GSE_LOG("MPU6515_CheckDeviceID 0x%x\n", databuf[0]); exit_MPU6515_CheckDeviceID: if (res <= 0) return MPU6515_ERR_I2C; return MPU6515_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6515_SetDataFormat(struct i2c_client *client, u8 dataformat) { struct mpu6515_i2c_data *obj = i2c_get_clientdata(client); u8 databuf[2]; int res = 0; #ifndef GSENSOR_UT memset(databuf, 0, sizeof(u8) * 2); databuf[0] = MPU6515_REG_DATA_FORMAT; res = i2c_master_send(client, databuf, 0x1); if (res <= 0) return MPU6515_ERR_I2C; udelay(500); databuf[0] = 0x0; res = i2c_master_recv(client, databuf, 0x01); if (res <= 0) return MPU6515_ERR_I2C; /* write */ databuf[1] = databuf[0] | dataformat; databuf[0] = MPU6515_REG_DATA_FORMAT; res = i2c_master_send(client, databuf, 0x2); if (res <= 0) return MPU6515_ERR_I2C; return MPU6515_SetDataResolution(obj); #else GSE_LOG("dataformat = %d\n", dataformat); obj->reso = &mpu6515_data_resolution[3]; #endif } /*----------------------------------------------------------------------------*/ static int MPU6515_SetBWRate(struct i2c_client *client, u8 bwrate) { struct mpu6515_i2c_data *obj = i2c_get_clientdata(client); u8 databuf[10]; int res = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif if ((obj->bandwidth != bwrate) || (atomic_read(&obj->suspend))) { memset(databuf, 0, sizeof(u8) * 10); /* read */ databuf[0] = MPU6515_REG_BW_RATE; res = i2c_master_send(client, databuf, 0x1); if (res <= 0) return MPU6515_ERR_I2C; udelay(500); databuf[0] = 0x0; res = i2c_master_recv(client, databuf, 0x01); if (res <= 0) return MPU6515_ERR_I2C; /* write */ databuf[1] = databuf[0] | bwrate; databuf[0] = MPU6515_REG_BW_RATE; res = i2c_master_send(client, databuf, 0x2); if (res <= 0) return MPU6515_ERR_I2C; obj->bandwidth = bwrate; } return MPU6515_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6515_Dev_Reset(struct i2c_client *client) { #ifndef CUSTOM_KERNEL_SENSORHUB u8 databuf[10]; int res = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif memset(databuf, 0, sizeof(u8) * 10); /* read */ databuf[0] = MPU6515_REG_POWER_CTL; res = i2c_master_send(client, databuf, 0x1); if (res <= 0) return MPU6515_ERR_I2C; udelay(500); databuf[0] = 0x0; res = i2c_master_recv(client, databuf, 0x01); if (res <= 0) return MPU6515_ERR_I2C; if ((databuf[0] & 0x1f) != 0x1) GSE_ERR("MPU6515 PWR_MGMT_1 = %x\n", databuf[0]); /* write */ databuf[1] = databuf[0] | MPU6515_DEV_RESET; databuf[0] = MPU6515_REG_POWER_CTL; res = i2c_master_send(client, databuf, 0x2); if (res <= 0) return MPU6515_ERR_I2C; do { databuf[0] = MPU6515_REG_POWER_CTL; res = i2c_master_send(client, databuf, 0x1); udelay(500); databuf[0] = 0x0; res = i2c_master_recv(client, databuf, 0x01); GSE_LOG("[Gsensor] check reset bit"); } while ((databuf[0] & MPU6515_DEV_RESET) != 0); msleep(50); #endif /* #ifndef CUSTOM_KERNEL_SENSORHUB */ return MPU6515_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6515_Reset(struct i2c_client *client) { #ifndef CUSTOM_KERNEL_SENSORHUB u8 databuf[10]; int res = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif /* write */ databuf[1] = 0x7; /* reset gyro, g-sensor, temperature */ databuf[0] = MPU6515_REG_RESET; res = i2c_master_send(client, databuf, 0x2); if (res <= 0) return MPU6515_ERR_I2C; msleep(20); #endif /* #ifndef CUSTOM_KERNEL_SENSORHUB */ return MPU6515_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6515_SetIntEnable(struct i2c_client *client, u8 intenable) { u8 databuf[2]; int res = 0; #ifndef GSENSOR_UT memset(databuf, 0, sizeof(u8) * 2); databuf[0] = MPU6515_REG_INT_ENABLE; databuf[1] = intenable; res = i2c_master_send(client, databuf, 0x2); if (res <= 0) return MPU6515_ERR_I2C; #else GSE_FUN(); #endif return MPU6515_SUCCESS; } /*----------------------------------------------------------------------------*/ static int mpu6515_gpio_config(void) { /* because we donot use EINT to support low power */ /* config to GPIO input mode + PD */ /* set to GPIO_GSE_1_EINT_PIN */ /* mt_set_gpio_mode(GPIO_GSE_1_EINT_PIN, GPIO_GSE_1_EINT_PIN_M_GPIO); mt_set_gpio_dir(GPIO_GSE_1_EINT_PIN, GPIO_DIR_IN); mt_set_gpio_pull_enable(GPIO_GSE_1_EINT_PIN, GPIO_PULL_ENABLE); mt_set_gpio_pull_select(GPIO_GSE_1_EINT_PIN, GPIO_PULL_DOWN); */ /* set to GPIO_GSE_2_EINT_PIN */ /* mt_set_gpio_mode(GPIO_GSE_2_EINT_PIN, GPIO_GSE_2_EINT_PIN_M_GPIO); mt_set_gpio_dir(GPIO_GSE_2_EINT_PIN, GPIO_DIR_IN); mt_set_gpio_pull_enable(GPIO_GSE_2_EINT_PIN, GPIO_PULL_ENABLE); mt_set_gpio_pull_select(GPIO_GSE_2_EINT_PIN, GPIO_PULL_DOWN); */ return 0; } static int mpu6515_init_client(struct i2c_client *client, int reset_cali) { struct mpu6515_i2c_data *obj = i2c_get_clientdata(client); int res = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif mpu6515_gpio_config(); res = MPU6515_SetPowerMode(client, true); if (res != MPU6515_SUCCESS) { GSE_ERR("set power error\n"); return res; } res = MPU6515_CheckDeviceID(client); if (res != MPU6515_SUCCESS) { GSE_ERR("Check ID error\n"); return res; } /* res = gsensor_set_delay(5000000); */ res = MPU6515_SetBWRate(client, MPU6515_BW_184HZ); if (res != MPU6515_SUCCESS) { /* 0x2C->BW=100Hz */ GSE_ERR("set BWRate error\n"); return res; } res = MPU6515_SetDataFormat(client, MPU6515_RANGE_16G); if (res != MPU6515_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; #ifdef CUSTOM_KERNEL_SENSORHUB res = gsensor_setup_irq(); if (res != MPU6515_SUCCESS) return res; #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ res = MPU6515_SetIntEnable(client, 0x00); /* disable INT */ if (res != MPU6515_SUCCESS) { GSE_ERR("mpu6515_SetIntEnable error\n"); return res; } if (0 != reset_cali) { /*reset calibration only in power on */ res = MPU6515_ResetCalibration(client); if (res != MPU6515_SUCCESS) return res; } res = MPU6515_SetPowerMode(client, enable_status); if (res != MPU6515_SUCCESS) { GSE_ERR("set power error\n"); return res; } #ifdef CONFIG_MPU6515_LOWPASS memset(&obj->fir, 0x00, sizeof(obj->fir)); #endif return MPU6515_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6515_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 = MPU6515_SetPowerMode(client, true); if (err) GSE_ERR("Power on mpu6515 error %d!\n", err); msleep(50); } mpu_i2c_read_block(client, addr, buff, total_len); for (i = 0; i <= total_len; i++) GSE_LOG("MPU6515 reg=0x%x, data=0x%x\n", (addr + i), buff[i]); return 0; } /*----------------------------------------------------------------------------*/ static int MPU6515_ReadChipInfo(struct i2c_client *client, char *buf, int bufsize) { u8 databuf[10]; #ifdef GSENSOR_UT GSE_FUN(); #endif memset(databuf, 0, sizeof(u8) * 10); if ((NULL == buf) || (bufsize <= 30)) return -1; if (NULL == client) { *buf = 0; return -2; } sprintf(buf, "MPU6515 Chip"); return 0; } /*----------------------------------------------------------------------------*/ static int MPU6515_ReadSensorData(struct i2c_client *client, char *buf, int bufsize) { struct mpu6515_i2c_data *obj = obj_i2c_data; /* (struct mpu6515_i2c_data*)i2c_get_clientdata(client); */ int acc[MPU6515_AXES_NUM]; int res = 0; client = obj->client; #ifdef GSENSOR_UT GSE_FUN(); #endif if (atomic_read(&obj->suspend)) return -3; if (NULL == buf) return -1; if (NULL == client) { *buf = 0; return -2; } res = MPU6515_ReadData(client, obj->data); if (res) { GSE_ERR("I2C error: ret value=%d", res); return -3; } obj->data[MPU6515_AXIS_X] += obj->cali_sw[MPU6515_AXIS_X]; obj->data[MPU6515_AXIS_Y] += obj->cali_sw[MPU6515_AXIS_Y]; obj->data[MPU6515_AXIS_Z] += obj->cali_sw[MPU6515_AXIS_Z]; /*remap coordinate */ acc[obj->cvt.map[MPU6515_AXIS_X]] = obj->cvt.sign[MPU6515_AXIS_X] * obj->data[MPU6515_AXIS_X]; acc[obj->cvt.map[MPU6515_AXIS_Y]] = obj->cvt.sign[MPU6515_AXIS_Y] * obj->data[MPU6515_AXIS_Y]; acc[obj->cvt.map[MPU6515_AXIS_Z]] = obj->cvt.sign[MPU6515_AXIS_Z] * obj->data[MPU6515_AXIS_Z]; /* Out put the mg */ acc[MPU6515_AXIS_X] = acc[MPU6515_AXIS_X] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; acc[MPU6515_AXIS_Y] = acc[MPU6515_AXIS_Y] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; acc[MPU6515_AXIS_Z] = acc[MPU6515_AXIS_Z] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; sprintf(buf, "%04x %04x %04x", acc[MPU6515_AXIS_X], acc[MPU6515_AXIS_Y], acc[MPU6515_AXIS_Z]); if (atomic_read(&obj->trace) & MPU6515_TRC_IOCTL) GSE_LOG("gsensor data: %s!\n", buf); return 0; } /*----------------------------------------------------------------------------*/ static int MPU6515_ReadRawData(struct i2c_client *client, char *buf) { struct mpu6515_i2c_data *obj = (struct mpu6515_i2c_data *)i2c_get_clientdata(client); int res = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif if (!buf || !client) return -EINVAL; if (atomic_read(&obj->suspend)) return -EIO; res = MPU6515_ReadData(client, obj->data); if (res) { GSE_ERR("I2C error: ret value=%d", res); return -EIO; } else { sprintf(buf, "%04x %04x %04x", obj->data[MPU6515_AXIS_X], obj->data[MPU6515_AXIS_Y], obj->data[MPU6515_AXIS_Z]); } return 0; } /*----------------------------------------------------------------------------*/ static int MPU6515_InitSelfTest(struct i2c_client *client) { int res = 0; u8 data; res = MPU6515_SetBWRate(client, MPU6515_BW_184HZ); if (res != MPU6515_SUCCESS) /* 0x2C->BW=100Hz */ return res; res = mpu_i2c_read_block(client, MPU6515_REG_DATA_FORMAT, &data, 1); if (res != MPU6515_SUCCESS) return res; return MPU6515_SUCCESS; } /*----------------------------------------------------------------------------*/ static int MPU6515_JudgeTestResult(struct i2c_client *client, s32 prv[MPU6515_AXES_NUM], s32 nxt[MPU6515_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, MPU6515_REG_DATA_FORMAT, &format, 1); if (res) return res; format = format & MPU6515_RANGE_16G; switch (format) { case MPU6515_RANGE_2G: GSE_LOG("format use self[0]\n"); ptr = &self[0]; break; case MPU6515_RANGE_4G: GSE_LOG("format use self[1]\n"); ptr = &self[1]; break; case MPU6515_RANGE_8G: GSE_LOG("format use self[2]\n"); ptr = &self[2]; break; case MPU6515_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[MPU6515_AXIS_X] - prv[MPU6515_AXIS_X])); GSE_LOG("Y diff is %ld\n", abs(nxt[MPU6515_AXIS_Y] - prv[MPU6515_AXIS_Y])); GSE_LOG("Z diff is %ld\n", abs(nxt[MPU6515_AXIS_Z] - prv[MPU6515_AXIS_Z])); if ((abs(nxt[MPU6515_AXIS_X] - prv[MPU6515_AXIS_X]) > (*ptr)[MPU6515_AXIS_X].max) || (abs(nxt[MPU6515_AXIS_X] - prv[MPU6515_AXIS_X]) < (*ptr)[MPU6515_AXIS_X].min)) { GSE_ERR("X is over range\n"); res = -EINVAL; } if ((abs(nxt[MPU6515_AXIS_Y] - prv[MPU6515_AXIS_Y]) > (*ptr)[MPU6515_AXIS_Y].max) || (abs(nxt[MPU6515_AXIS_Y] - prv[MPU6515_AXIS_Y]) < (*ptr)[MPU6515_AXIS_Y].min)) { GSE_ERR("Y is over range\n"); res = -EINVAL; } if ((abs(nxt[MPU6515_AXIS_Z] - prv[MPU6515_AXIS_Z]) > (*ptr)[MPU6515_AXIS_Z].max) || (abs(nxt[MPU6515_AXIS_Z] - prv[MPU6515_AXIS_Z]) < (*ptr)[MPU6515_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 = mpu6515_i2c_client; char strbuf[MPU6515_BUFSIZE]; if (NULL == client) { GSE_ERR("i2c client is null!!\n"); return 0; } if (sensor_power == false) { MPU6515_SetPowerMode(client, true); msleep(50); } MPU6515_ReadAllReg(client, strbuf, MPU6515_BUFSIZE); MPU6515_ReadChipInfo(client, strbuf, MPU6515_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 = mpu6515_i2c_client; char strbuf[MPU6515_BUFSIZE]; if (NULL == client) { GSE_ERR("i2c client is null!!\n"); return 0; } MPU6515_ReadSensorData(client, strbuf, MPU6515_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 = mpu6515_i2c_client; struct mpu6515_i2c_data *obj; int err, len = 0, mul; int tmp[MPU6515_AXES_NUM]; if (NULL == client) { GSE_ERR("i2c client is null!!\n"); return 0; } obj = i2c_get_clientdata(client); err = MPU6515_ReadOffset(client, obj->offset); if (err) return -EINVAL; err = MPU6515_ReadCalibration(client, tmp); if (err) return -EINVAL; mul = obj->reso->sensitivity / mpu6515_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[MPU6515_AXIS_X], obj->offset[MPU6515_AXIS_Y], obj->offset[MPU6515_AXIS_Z], obj->offset[MPU6515_AXIS_X], obj->offset[MPU6515_AXIS_Y], obj->offset[MPU6515_AXIS_Z]); len += snprintf(buf + len, PAGE_SIZE - len, "[SW ][%d] (%+3d, %+3d, %+3d)\n", 1, obj->cali_sw[MPU6515_AXIS_X], obj->cali_sw[MPU6515_AXIS_Y], obj->cali_sw[MPU6515_AXIS_Z]); len += snprintf(buf + len, PAGE_SIZE - len, "[ALL] (%+3d, %+3d, %+3d) : (%+3d, %+3d, %+3d)\n", obj->offset[MPU6515_AXIS_X] * mul + obj->cali_sw[MPU6515_AXIS_X], obj->offset[MPU6515_AXIS_Y] * mul + obj->cali_sw[MPU6515_AXIS_Y], obj->offset[MPU6515_AXIS_Z] * mul + obj->cali_sw[MPU6515_AXIS_Z], tmp[MPU6515_AXIS_X], tmp[MPU6515_AXIS_Y], tmp[MPU6515_AXIS_Z]); return len; } /*----------------------------------------------------------------------------*/ static ssize_t store_cali_value(struct device_driver *ddri, const char *buf, size_t count) { struct i2c_client *client = mpu6515_i2c_client; int err, x, y, z; int dat[MPU6515_AXES_NUM]; if (!strncmp(buf, "rst", 3)) { err = MPU6515_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[MPU6515_AXIS_X] = x; dat[MPU6515_AXIS_Y] = y; dat[MPU6515_AXIS_Z] = z; err = MPU6515_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 = mpu6515_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[MPU6515_AXES_NUM]; }; struct i2c_client *client = mpu6515_i2c_client; int idx, res, num; struct item *prv = NULL, *nxt = NULL; s32 avg_prv[MPU6515_AXES_NUM] = { 0, 0, 0 }; s32 avg_nxt[MPU6515_AXES_NUM] = { 0, 0, 0 }; if (1 != sscanf(buf, "%d", &num)) { GSE_ERR("parse number fail\n"); return count; } else if (num == 0) { GSE_ERR("invalid data count\n"); return count; } prv = kcalloc(num, sizeof(*prv), GFP_KERNEL); nxt = kcalloc(num, sizeof(*nxt), GFP_KERNEL); if (!prv || !nxt) goto exit; GSE_LOG("NORMAL:\n"); MPU6515_SetPowerMode(client, true); msleep(50); for (idx = 0; idx < num; idx++) { res = MPU6515_ReadData(client, prv[idx].raw); if (res) { GSE_ERR("read data fail: %d\n", res); goto exit; } avg_prv[MPU6515_AXIS_X] += prv[idx].raw[MPU6515_AXIS_X]; avg_prv[MPU6515_AXIS_Y] += prv[idx].raw[MPU6515_AXIS_Y]; avg_prv[MPU6515_AXIS_Z] += prv[idx].raw[MPU6515_AXIS_Z]; GSE_LOG("[%5d %5d %5d]\n", prv[idx].raw[MPU6515_AXIS_X], prv[idx].raw[MPU6515_AXIS_Y], prv[idx].raw[MPU6515_AXIS_Z]); } avg_prv[MPU6515_AXIS_X] /= num; avg_prv[MPU6515_AXIS_Y] /= num; avg_prv[MPU6515_AXIS_Z] /= num; /*initial setting for self test */ GSE_LOG("SELFTEST:\n"); for (idx = 0; idx < num; idx++) { res = MPU6515_ReadData(client, nxt[idx].raw); if (res) { GSE_ERR("read data fail: %d\n", res); goto exit; } avg_nxt[MPU6515_AXIS_X] += nxt[idx].raw[MPU6515_AXIS_X]; avg_nxt[MPU6515_AXIS_Y] += nxt[idx].raw[MPU6515_AXIS_Y]; avg_nxt[MPU6515_AXIS_Z] += nxt[idx].raw[MPU6515_AXIS_Z]; GSE_LOG("[%5d %5d %5d]\n", nxt[idx].raw[MPU6515_AXIS_X], nxt[idx].raw[MPU6515_AXIS_Y], nxt[idx].raw[MPU6515_AXIS_Z]); } avg_nxt[MPU6515_AXIS_X] /= num; avg_nxt[MPU6515_AXIS_Y] /= num; avg_nxt[MPU6515_AXIS_Z] /= num; GSE_LOG("X: %5d - %5d = %5d\n", avg_nxt[MPU6515_AXIS_X], avg_prv[MPU6515_AXIS_X], avg_nxt[MPU6515_AXIS_X] - avg_prv[MPU6515_AXIS_X]); GSE_LOG("Y: %5d - %5d = %5d\n", avg_nxt[MPU6515_AXIS_Y], avg_prv[MPU6515_AXIS_Y], avg_nxt[MPU6515_AXIS_Y] - avg_prv[MPU6515_AXIS_Y]); GSE_LOG("Z: %5d - %5d = %5d\n", avg_nxt[MPU6515_AXIS_Z], avg_prv[MPU6515_AXIS_Z], avg_nxt[MPU6515_AXIS_Z] - avg_prv[MPU6515_AXIS_Z]); if (!MPU6515_JudgeTestResult(client, avg_prv, avg_nxt)) { GSE_LOG("SELFTEST : PASS\n"); strcpy(selftestRes, "y"); } else { GSE_LOG("SELFTEST : FAIL\n"); strcpy(selftestRes, "n"); } exit: /*restore the setting */ mpu6515_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 = mpu6515_i2c_client; struct mpu6515_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 mpu6515_i2c_data *obj = obj_i2c_data; int tmp; if (NULL == obj) { GSE_ERR("i2c data obj is null!!\n"); return 0; } if (1 == sscanf(buf, "%d", &tmp)) { if (atomic_read(&obj->selftest) && !tmp) { /*enable -> disable */ mpu6515_init_client(obj->client, 0); } else if (!atomic_read(&obj->selftest) && tmp) { /*disable -> enable */ MPU6515_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 = %d\n", buf, (int)count); } return count; } /*----------------------------------------------------------------------------*/ static ssize_t show_firlen_value(struct device_driver *ddri, char *buf) { #ifdef CONFIG_MPU6515_LOWPASS struct i2c_client *client = mpu6515_i2c_client; struct mpu6515_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][MPU6515_AXIS_X], obj->fir.raw[idx][MPU6515_AXIS_Y], obj->fir.raw[idx][MPU6515_AXIS_Z]); } GSE_LOG("sum = [%5d %5d %5d]\n", obj->fir.sum[MPU6515_AXIS_X], obj->fir.sum[MPU6515_AXIS_Y], obj->fir.sum[MPU6515_AXIS_Z]); GSE_LOG("avg = [%5d %5d %5d]\n", obj->fir.sum[MPU6515_AXIS_X] / len, obj->fir.sum[MPU6515_AXIS_Y] / len, obj->fir.sum[MPU6515_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_MPU6515_LOWPASS struct i2c_client *client = mpu6515_i2c_client; struct mpu6515_i2c_data *obj = i2c_get_clientdata(client); int firlen; if (1 != sscanf(buf, "%d", &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 mpu6515_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 mpu6515_i2c_data *obj = obj_i2c_data; int trace; if (obj == NULL) { GSE_ERR("i2c_data obj is null!!\n"); return 0; } if (1 == sscanf(buf, "0x%x", &trace)) atomic_set(&obj->trace, trace); else GSE_ERR("invalid content: '%s', length = %d\n", buf, (int)count); return count; } /*----------------------------------------------------------------------------*/ static ssize_t show_status_value(struct device_driver *ddri, char *buf) { ssize_t len = 0; int err; struct mpu6515_i2c_data *obj = obj_i2c_data; u8 dat = 0; if (obj == NULL) { GSE_ERR("i2c_data obj is null!!\n"); return 0; } err = mpu_i2c_read_block(obj->client, MPU6515_REG_POWER_CTL, &dat, 1); if (err) { GSE_ERR("write data format fail!!\n"); return err; } if (obj->hw) { len += snprintf(buf + len, PAGE_SIZE - len, "CUST: %d %d (%d %d), %x\n", obj->hw->i2c_num, obj->hw->direction, obj->hw->power_id, obj->hw->power_vol, dat); } 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 *mpu6515_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 mpu6515_create_attr(struct device_driver *driver) { int idx, err = 0; int num = (int)(sizeof(mpu6515_attr_list) / sizeof(mpu6515_attr_list[0])); #ifdef GSENSOR_UT GSE_FUN(); #endif if (driver == NULL) return -EINVAL; for (idx = 0; idx < num; idx++) { err = driver_create_file(driver, mpu6515_attr_list[idx]); if (0 != err) { GSE_ERR("driver_create_file (%s) = %d\n", mpu6515_attr_list[idx]->attr.name, err); break; } } return err; } /*----------------------------------------------------------------------------*/ static int mpu6515_delete_attr(struct device_driver *driver) { int idx, err = 0; int num = (int)(sizeof(mpu6515_attr_list) / sizeof(mpu6515_attr_list[0])); if (driver == NULL) return -EINVAL; for (idx = 0; idx < num; idx++) driver_remove_file(driver, mpu6515_attr_list[idx]); return err; } /*----------------------------------------------------------------------------*/ #ifdef CUSTOM_KERNEL_SENSORHUB static void gsensor_irq_work(struct work_struct *work) { struct mpu6515_i2c_data *obj = obj_i2c_data; struct scp_acc_hw scp_hw; MPU6515_CUST_DATA *p_cust_data; SCP_SENSOR_HUB_DATA data; int max_cust_data_size_per_packet; int i; uint sizeOfCustData; uint len; char *p = (char *)&scp_hw; GSE_FUN(); scp_hw.i2c_num = obj->hw->i2c_num; scp_hw.direction = obj->hw->direction; scp_hw.power_id = obj->hw->power_id; scp_hw.power_vol = obj->hw->power_vol; scp_hw.firlen = obj->hw->firlen; memcpy(scp_hw.i2c_addr, obj->hw->i2c_addr, sizeof(obj->hw->i2c_addr)); scp_hw.power_vio_id = obj->hw->power_vio_id; scp_hw.power_vio_vol = obj->hw->power_vio_vol; scp_hw.is_batch_supported = obj->hw->is_batch_supported; p_cust_data = (MPU6515_CUST_DATA *) data.set_cust_req.custData; sizeOfCustData = sizeof(scp_hw); max_cust_data_size_per_packet = sizeof(data.set_cust_req.custData) - offsetof(MPU6515_SET_CUST, data); for (i = 0; sizeOfCustData > 0; i++) { data.set_cust_req.sensorType = ID_ACCELEROMETER; data.set_cust_req.action = SENSOR_HUB_SET_CUST; p_cust_data->setCust.action = MPU6515_CUST_ACTION_SET_CUST; p_cust_data->setCust.part = i; if (sizeOfCustData > max_cust_data_size_per_packet) len = max_cust_data_size_per_packet; else len = sizeOfCustData; memcpy(p_cust_data->setCust.data, p, len); sizeOfCustData -= len; p += len; len += offsetof(SCP_SENSOR_HUB_SET_CUST_REQ, custData) + offsetof(MPU6515_SET_CUST, data); SCP_sensorHub_req_send(&data, &len, 1); } p_cust_data = (MPU6515_CUST_DATA *) &data.set_cust_req.custData; data.set_cust_req.sensorType = ID_ACCELEROMETER; data.set_cust_req.action = SENSOR_HUB_SET_CUST; p_cust_data->resetCali.action = MPU6515_CUST_ACTION_RESET_CALI; len = offsetof(SCP_SENSOR_HUB_SET_CUST_REQ, custData) + sizeof(p_cust_data->resetCali); SCP_sensorHub_req_send(&data, &len, 1); obj->SCP_init_done = 1; } /*----------------------------------------------------------------------------*/ static int gsensor_irq_handler(void *data, uint len) { struct mpu6515_i2c_data *obj = obj_i2c_data; SCP_SENSOR_HUB_DATA_P rsp = (SCP_SENSOR_HUB_DATA_P) data; GSE_FUN(); GSE_LOG("len = %d, type = %d, action = %d, errCode = %d\n", len, rsp->rsp.sensorType, rsp->rsp.action, rsp->rsp.errCode); if (!obj) return -1; switch (rsp->rsp.action) { case SENSOR_HUB_NOTIFY: switch (rsp->notify_rsp.event) { case SCP_INIT_DONE: schedule_work(&obj->irq_work); /* schedule_delayed_work(&obj->irq_work, HZ); */ break; default: GSE_ERR("Error sensor hub notify"); break; } break; default: GSE_ERR("Error sensor hub action"); break; } return 0; } static int gsensor_setup_irq(void) { int err = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif err = SCP_sensorHub_rsp_registration(ID_ACCELEROMETER, gsensor_irq_handler); return err; } #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ /****************************************************************************** * Function Configuration ******************************************************************************/ static int mpu6515_open(struct inode *inode, struct file *file) { file->private_data = mpu6515_i2c_client; if (file->private_data == NULL) { GSE_ERR("null pointer!!\n"); return -EINVAL; } return nonseekable_open(inode, file); } /*----------------------------------------------------------------------------*/ static int mpu6515_release(struct inode *inode, struct file *file) { file->private_data = NULL; return 0; } /*----------------------------------------------------------------------------*/ static long mpu6515_unlocked_ioctl(struct file *file, unsigned int cmd, unsigned long arg) { struct i2c_client *client = (struct i2c_client *)file->private_data; struct mpu6515_i2c_data *obj = (struct mpu6515_i2c_data *)i2c_get_clientdata(client); char strbuf[MPU6515_BUFSIZE]; void __user *data; struct SENSOR_DATA sensor_data; long err = 0; int cali[3]; #ifdef GSENSOR_UT GSE_FUN(); #endif 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: mpu6515_init_client(client, 0); break; case GSENSOR_IOCTL_READ_CHIPINFO: data = (void __user *)arg; if (data == NULL) { err = -EINVAL; break; } MPU6515_ReadChipInfo(client, strbuf, MPU6515_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; } mutex_lock(&gsensor_mutex); if (sensor_power == false) { err = MPU6515_SetPowerMode(client, true); if (err) GSE_ERR("Power on mpu6515 error %ld!\n", err); msleep(50); } MPU6515_ReadSensorData(client, strbuf, MPU6515_BUFSIZE); mutex_unlock(&gsensor_mutex); 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 { MPU6515_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[MPU6515_AXIS_X] = sensor_data.x * obj->reso->sensitivity / GRAVITY_EARTH_1000; cali[MPU6515_AXIS_Y] = sensor_data.y * obj->reso->sensitivity / GRAVITY_EARTH_1000; cali[MPU6515_AXIS_Z] = sensor_data.z * obj->reso->sensitivity / GRAVITY_EARTH_1000; err = MPU6515_WriteCalibration(client, cali); } break; case GSENSOR_IOCTL_CLR_CALI: err = MPU6515_ResetCalibration(client); break; case GSENSOR_IOCTL_GET_CALI: data = (void __user *)arg; if (data == NULL) { err = -EINVAL; break; } err = MPU6515_ReadCalibration(client, cali); if (err) break; sensor_data.x = cali[MPU6515_AXIS_X] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; sensor_data.y = cali[MPU6515_AXIS_Y] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; sensor_data.z = cali[MPU6515_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; } #if IS_ENABLED(CONFIG_COMPAT) static long compat_mpu6515_unlocked_ioctl(struct file *filp, unsigned int cmd, unsigned long arg) { GSE_FUN(); if (!filp->f_op || !filp->f_op->unlocked_ioctl) { GSE_ERR("compat_ion_ioctl file has no f_op or no f_op->unlocked_ioctl.\n"); return -ENOTTY; } switch (cmd) { case COMPAT_GSENSOR_IOCTL_INIT: case COMPAT_GSENSOR_IOCTL_READ_CHIPINFO: case COMPAT_GSENSOR_IOCTL_READ_GAIN: case COMPAT_GSENSOR_IOCTL_READ_RAW_DATA: case COMPAT_GSENSOR_IOCTL_READ_SENSORDATA: /* NVRAM will use below ioctl */ case COMPAT_GSENSOR_IOCTL_SET_CALI: case COMPAT_GSENSOR_IOCTL_CLR_CALI: case COMPAT_GSENSOR_IOCTL_GET_CALI:{ GSE_LOG("compat_ion_ioctl : GSENSOR_IOCTL_XXX command is 0x%x\n", cmd); return filp->f_op->unlocked_ioctl(filp, cmd, (unsigned long)compat_ptr(arg)); } default:{ GSE_ERR("compat_ion_ioctl : No such command!! 0x%x\n", cmd); return -ENOIOCTLCMD; } } } #endif /*----------------------------------------------------------------------------*/ static const struct file_operations mpu6515_fops = { .open = mpu6515_open, .release = mpu6515_release, .unlocked_ioctl = mpu6515_unlocked_ioctl, #if IS_ENABLED(CONFIG_COMPAT) .compat_ioctl = compat_mpu6515_unlocked_ioctl, #endif }; /*----------------------------------------------------------------------------*/ static struct miscdevice mpu6515_device = { .minor = MISC_DYNAMIC_MINOR, .name = "gsensor", .fops = &mpu6515_fops, }; /*----------------------------------------------------------------------------*/ #if !defined(CONFIG_HAS_EARLYSUSPEND) || !defined(USE_EARLY_SUSPEND) /*----------------------------------------------------------------------------*/ static int mpu6515_suspend(struct i2c_client *client, pm_message_t msg) { struct mpu6515_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; } /* mutex_lock(&gsensor_mutex); */ atomic_set(&obj->suspend, 1); #ifndef CUSTOM_KERNEL_SENSORHUB err = MPU6515_SetPowerMode(obj->client, false); if (err) #else /* #ifndef CUSTOM_KERNEL_SENSORHUB */ if (0) /* (err = MPU6515_SCP_SetPowerMode(false, ID_ACCELEROMETER))) //need not disable g sensor in suspend mode if use sensor hub. */ #endif /* #ifndef CUSTOM_KERNEL_SENSORHUB */ { GSE_ERR("write power control fail!!\n"); return err; } /* mutex_unlock(&gsensor_mutex); */ #ifndef CUSTOM_KERNEL_SENSORHUB MPU6515_power(obj->hw, 0); #endif /* #ifndef CUSTOM_KERNEL_SENSORHUB */ GSE_LOG("mpu6515_suspend ok\n"); } return err; } /*----------------------------------------------------------------------------*/ static int mpu6515_resume(struct i2c_client *client) { struct mpu6515_i2c_data *obj = i2c_get_clientdata(client); int err; GSE_FUN(); if (obj == NULL) { GSE_ERR("null pointer!!\n"); return -EINVAL; } #ifndef CUSTOM_KERNEL_SENSORHUB MPU6515_power(obj->hw, 1); #endif /* #ifndef CUSTOM_KERNEL_SENSORHUB */ /* mutex_lock(&gsensor_mutex); */ #ifndef CUSTOM_KERNEL_SENSORHUB err = mpu6515_init_client(client, 0); if (err) #else /* #ifndef CUSTOM_KERNEL_SENSORHUB */ if (0) /* (err = MPU6515_SCP_SetPowerMode(enable_status, ID_ACCELEROMETER))) //need not disable g sensor in suspend mode if use sensor hub. */ #endif /* #ifndef CUSTOM_KERNEL_SENSORHUB */ { GSE_ERR("initialize client fail!!\n"); return err; } atomic_set(&obj->suspend, 0); /* mutex_unlock(&gsensor_mutex); */ GSE_LOG("mpu6515_resume ok\n"); return 0; } /*----------------------------------------------------------------------------*/ #else /* #if !defined(CONFIG_HAS_EARLYSUSPEND) || !defined(USE_EARLY_SUSPEND) */ /*----------------------------------------------------------------------------*/ static void mpu6515_early_suspend(struct early_suspend *h) { struct mpu6515_i2c_data *obj = container_of(h, struct mpu6515_i2c_data, early_drv); int err; GSE_FUN(); if (obj == NULL) { GSE_ERR("null pointer!!\n"); return; } /* mutex_lock(&gsensor_mutex); */ atomic_set(&obj->suspend, 1); #ifndef CUSTOM_KERNEL_SENSORHUB err = MPU6515_SetPowerMode(obj->client, false); if (err) #else /* #ifndef CUSTOM_KERNEL_SENSORHUB */ err = MPU6515_SCP_SetPowerMode(false, ID_ACCELEROMETER); if (err) #endif /* #ifndef CUSTOM_KERNEL_SENSORHUB */ { GSE_ERR("write power control fail!!\n"); return; } #ifndef CUSTOM_KERNEL_SENSORHUB if (MPU6515_gyro_mode() == false) { MPU6515_Dev_Reset(obj->client); MPU6515_Reset(obj->client); sensor_power = true; MPU6515_SetPowerMode(obj->client, false); } obj->bandwidth = 0; /* mutex_unlock(&gsensor_mutex); */ MPU6515_power(obj->hw, 0); #endif /* #ifndef CUSTOM_KERNEL_SENSORHUB */ } /*----------------------------------------------------------------------------*/ static void mpu6515_late_resume(struct early_suspend *h) { struct mpu6515_i2c_data *obj = container_of(h, struct mpu6515_i2c_data, early_drv); int err; GSE_FUN(); if (obj == NULL) { GSE_ERR("null pointer!!\n"); return; } #ifndef CUSTOM_KERNEL_SENSORHUB MPU6515_power(obj->hw, 1); #endif /* #ifndef CUSTOM_KERNEL_SENSORHUB */ /* mutex_lock(&gsensor_mutex); */ #ifndef CUSTOM_KERNEL_SENSORHUB err = mpu6515_init_client(obj->client, 0); if (err) #else /* #ifndef CUSTOM_KERNEL_SENSORHUB */ err = MPU6515_SCP_SetPowerMode(enable_status, ID_ACCELEROMETER); if (err) #endif /* #ifndef CUSTOM_KERNEL_SENSORHUB */ { GSE_ERR("initialize client fail!!\n"); return; } atomic_set(&obj->suspend, 0); /* mutex_unlock(&gsensor_mutex); */ } /*----------------------------------------------------------------------------*/ #endif /* #if !defined(CONFIG_HAS_EARLYSUSPEND) || !defined(USE_EARLY_SUSPEND) */ /*----------------------------------------------------------------------------*/ /* if use this typ of enable , Gsensor should report inputEvent(x, y, z ,stats, div) to HAL */ static int gsensor_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 */ #ifndef CUSTOM_KERNEL_SENSORHUB static int gsensor_enable_nodata(int en) { int err = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif mutex_lock(&gsensor_mutex); if (((en == 0) && (sensor_power == false)) || ((en == 1) && (sensor_power == true))) { enable_status = sensor_power; GSE_LOG("Gsensor device have updated!\n"); } else { enable_status = !sensor_power; if (atomic_read(&obj_i2c_data->suspend) == 0) { err = MPU6515_SetPowerMode(obj_i2c_data->client, enable_status); GSE_LOG ("Gsensor not in suspend gsensor_SetPowerMode!, enable_status = %d\n", enable_status); } else { GSE_LOG ("Gsensor in suspend and can not enable or disable!enable_status = %d\n", enable_status); } } mutex_unlock(&gsensor_mutex); if (err != MPU6515_SUCCESS) { GSE_ERR("gsensor_enable_nodata fail!\n"); return -1; } GSE_LOG("gsensor_enable_nodata OK!!!\n"); return 0; } #endif /*----------------------------------------------------------------------------*/ /* if use this typ of enable , Gsensor only enabled but not report inputEvent to HAL */ #ifdef CUSTOM_KERNEL_SENSORHUB static int scp_gsensor_enable_nodata(int en) { int err = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif mutex_lock(&gsensor_mutex); if (((en == 0) && (scp_sensor_power == false)) || ((en == 1) && (scp_sensor_power == true))) { enable_status = scp_sensor_power; GSE_LOG("Gsensor device have updated!\n"); } else { enable_status = !scp_sensor_power; if (atomic_read(&obj_i2c_data->suspend) == 0) { err = MPU6515_SCP_SetPowerMode(en, ID_ACCELEROMETER); if (0 == err) scp_sensor_power = enable_status; GSE_LOG ("Gsensor not in suspend gsensor_SetPowerMode!, enable_status = %d\n", scp_sensor_power); } else { GSE_LOG ("Gsensor in suspend and can not enable or disable!enable_status = %d\n", scp_sensor_power); } } mutex_unlock(&gsensor_mutex); if (err != MPU6515_SUCCESS) { GSE_ERR("scp_gsensor_enable_nodata fail!\n"); return -1; } GSE_LOG("scp_gsensor_enable_nodata OK!!!\n"); return 0; } #endif /*----------------------------------------------------------------------------*/ static int gsensor_set_delay(u64 ns) { int err = 0; int value; #ifdef CUSTOM_KERNEL_SENSORHUB SCP_SENSOR_HUB_DATA req; int len; #else /* #ifdef CUSTOM_KERNEL_SENSORHUB */ int sample_delay; #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ #ifdef GSENSOR_UT GSE_FUN(); #endif value = (int)ns / 1000 / 1000; #ifdef CUSTOM_KERNEL_SENSORHUB req.set_delay_req.sensorType = ID_ACCELEROMETER; req.set_delay_req.action = SENSOR_HUB_SET_DELAY; req.set_delay_req.delay = value; len = sizeof(req.activate_req); err = SCP_sensorHub_req_send(&req, &len, 1); if (err) { GSE_ERR("SCP_sensorHub_req_send!\n"); return err; } #else /* #ifdef CUSTOM_KERNEL_SENSORHUB */ if (value <= 5) sample_delay = MPU6515_BW_184HZ; else if (value <= 10) sample_delay = MPU6515_BW_92HZ; else sample_delay = MPU6515_BW_41HZ; mutex_lock(&gsensor_mutex); err = MPU6515_SetBWRate(obj_i2c_data->client, sample_delay); mutex_unlock(&gsensor_mutex); if (err != MPU6515_SUCCESS) { /* 0x2C->BW=100Hz */ GSE_ERR("Set delay parameter error!\n"); return -1; } if (value >= 50) { atomic_set(&obj_i2c_data->filter, 0); } else { #if defined(CONFIG_MPU6515_LOWPASS) obj_i2c_data->fir.num = 0; obj_i2c_data->fir.idx = 0; obj_i2c_data->fir.sum[MPU6515_AXIS_X] = 0; obj_i2c_data->fir.sum[MPU6515_AXIS_Y] = 0; obj_i2c_data->fir.sum[MPU6515_AXIS_Z] = 0; atomic_set(&obj_i2c_data->filter, 1); #endif } #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ GSE_LOG("gsensor_set_delay (%d)\n", value); return 0; } /*----------------------------------------------------------------------------*/ static int gsensor_get_data(int *x, int *y, int *z, int *status) { #ifdef CUSTOM_KERNEL_SENSORHUB SCP_SENSOR_HUB_DATA req; int len; int err = 0; #else char buff[MPU6515_BUFSIZE]; #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ /* GSE_FUN(); */ #ifdef CUSTOM_KERNEL_SENSORHUB req.get_data_req.sensorType = ID_ACCELEROMETER; req.get_data_req.action = SENSOR_HUB_GET_DATA; len = sizeof(req.get_data_req); err = SCP_sensorHub_req_send(&req, &len, 1); if (err) { GSE_ERR("SCP_sensorHub_req_send!\n"); return err; } if (ID_ACCELEROMETER != req.get_data_rsp.sensorType || SENSOR_HUB_GET_DATA != req.get_data_rsp.action || 0 != req.get_data_rsp.errCode) { GSE_ERR("error : %d\n", req.get_data_rsp.errCode); return req.get_data_rsp.errCode; } /* sscanf(buff, "%x %x %x", req.get_data_rsp.int16_Data[0], req.get_data_rsp.int16_Data[1], req.get_data_rsp.int16_Data[2]); */ *x = (int)req.get_data_rsp.int16_Data[0] * GRAVITY_EARTH_1000 / 1000; *y = (int)req.get_data_rsp.int16_Data[1] * GRAVITY_EARTH_1000 / 1000; *z = (int)req.get_data_rsp.int16_Data[2] * GRAVITY_EARTH_1000 / 1000; *status = SENSOR_STATUS_ACCURACY_MEDIUM; if (atomic_read(&obj_i2c_data->trace) & MPU6515_TRC_RAWDATA) GSE_LOG("x = %d, y = %d, z = %d\n", *x, *y, *z); #else /* #ifdef CUSTOM_KERNEL_SENSORHUB */ mutex_lock(&gsensor_mutex); MPU6515_ReadSensorData(obj_i2c_data->client, buff, MPU6515_BUFSIZE); mutex_unlock(&gsensor_mutex); if (sscanf(buff, "%x %x %x", x, y, z) != 3) GSE_ERR("error sscanf\n"); *status = SENSOR_STATUS_ACCURACY_MEDIUM; #endif return 0; } /*----------------------------------------------------------------------------*/ static int mpu6515_i2c_detect(struct i2c_client *client, struct i2c_board_info *info) { strcpy(info->type, MPU6515_DEV_NAME); return 0; } /*----------------------------------------------------------------------------*/ static int mpu6515_i2c_probe(struct i2c_client *client, const struct i2c_device_id *id) { struct i2c_client *new_client; struct mpu6515_i2c_data *obj; struct acc_control_path ctl = { 0 }; struct acc_data_path data = { 0 }; int err = 0; GSE_FUN(); pr_err("mpu6515G i2c probe\n"); obj = kzalloc(sizeof(*obj), GFP_KERNEL); if (!(obj)) { err = -ENOMEM; goto exit; } memset(obj, 0, sizeof(struct mpu6515_i2c_data)); obj->hw = get_cust_acc(); err = hwmsen_get_convert(obj->hw->direction, &obj->cvt); if (err) { GSE_ERR("invalid direction: %d\n", obj->hw->direction); goto exit; } #ifdef CUSTOM_KERNEL_SENSORHUB INIT_WORK(&obj->irq_work, gsensor_irq_work); #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ obj_i2c_data = obj; obj->client = client; #ifdef CONFIG_FPGA_EARLY_PORTING obj->client->timing = 100; #else obj->client->timing = 400; #endif new_client = obj->client; i2c_set_clientdata(new_client, obj); atomic_set(&obj->trace, 0); atomic_set(&obj->suspend, 0); #ifdef CUSTOM_KERNEL_SENSORHUB obj->SCP_init_done = 0; #endif /* #ifdef CUSTOM_KERNEL_SENSORHUB */ #ifdef CONFIG_MPU6515_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 mpu6515_i2c_client = new_client; MPU6515_Dev_Reset(new_client); MPU6515_Reset(new_client); err = mpu6515_init_client(new_client, 1); if (err) goto exit_init_failed; err = misc_register(&mpu6515_device); if (err) { GSE_ERR("mpu6515_device register failed\n"); goto exit_misc_device_register_failed; } err = mpu6515_create_attr(&mpu6515_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 = gsensor_open_report_data; #ifdef CUSTOM_KERNEL_SENSORHUB ctl.enable_nodata = scp_gsensor_enable_nodata; #else ctl.enable_nodata = gsensor_enable_nodata; #endif ctl.set_delay = gsensor_set_delay; ctl.is_report_input_direct = false; #ifdef CUSTOM_KERNEL_SENSORHUB ctl.is_support_batch = obj->hw->is_batch_supported; #else ctl.is_support_batch = false; #endif err = acc_register_control_path(&ctl); if (err) { GSE_ERR("register acc control path err\n"); goto exit_create_attr_failed; } data.get_data = gsensor_get_data; data.vender_div = 1000; err = acc_register_data_path(&data); if (err) { GSE_ERR("register acc data path err\n"); goto exit_create_attr_failed; } err = batch_register_support_info(ID_ACCELEROMETER, ctl.is_support_batch, 102, 0);/* divisor is 1000/9.8 */ if (err) { GSE_ERR("register gsensor batch support err = %d\n", err); goto exit_create_attr_failed; } #if defined(CONFIG_HAS_EARLYSUSPEND) && defined(USE_EARLY_SUSPEND) obj->early_drv.level = EARLY_SUSPEND_LEVEL_STOP_DRAWING - 2, obj->early_drv.suspend = mpu6515_early_suspend, obj->early_drv.resume = mpu6515_late_resume, register_early_suspend(&obj->early_drv); #endif gsensor_init_flag = 0; GSE_LOG("%s: OK\n", __func__); return 0; exit_create_attr_failed: misc_deregister(&mpu6515_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); gsensor_init_flag = -1; return err; } /*----------------------------------------------------------------------------*/ static int mpu6515_i2c_remove(struct i2c_client *client) { int err = 0; err = mpu6515_delete_attr(&mpu6515_init_info.platform_diver_addr->driver); if (err) GSE_ERR("mpu6515_delete_attr fail: %d\n", err); err = misc_deregister(&mpu6515_device); if (err) GSE_ERR("misc_deregister fail: %d\n", err); mpu6515_i2c_client = NULL; i2c_unregister_device(client); kfree(i2c_get_clientdata(client)); return 0; } /*----------------------------------------------------------------------------*/ static int gsensor_local_init(void) { struct acc_hw *hw = get_cust_acc(); GSE_FUN(); MPU6515_power(hw, 1); if (i2c_add_driver(&mpu6515_i2c_driver)) { GSE_ERR("add driver error\n"); return -1; } if (-1 == gsensor_init_flag) return -1; return 0; } /*----------------------------------------------------------------------------*/ static int gsensor_remove(void) { struct acc_hw *hw = get_cust_acc(); GSE_FUN(); MPU6515_power(hw, 0); i2c_del_driver(&mpu6515_i2c_driver); return 0; } /*----------------------------------------------------------------------------*/ static int __init mpu6515gse_init(void) { const char *name = "mediatek,mpu6515a"; hw = get_accel_dts_func(name, hw); if (!hw) GSE_ERR("get cust_accel dts info fail\n"); GSE_LOG("%s: i2c_number=%d\n", __func__, hw->i2c_num); #ifdef CONFIG_MTK_LEGACY i2c_register_board_info(hw->i2c_num, &i2c_mpu6515, 1); #endif acc_driver_add(&mpu6515_init_info); return 0; } /*----------------------------------------------------------------------------*/ static void __exit mpu6515gse_exit(void) { GSE_FUN(); } /*----------------------------------------------------------------------------*/ module_init(mpu6515gse_init); module_exit(mpu6515gse_exit); /*----------------------------------------------------------------------------*/ MODULE_LICENSE("GPL"); MODULE_DESCRIPTION("MPU6515 gse driver"); MODULE_AUTHOR("Yucong.Xiong@mediatek.com");