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/*
* Copyright (C) 2012-2015 Freescale Semiconductor, Inc. All Rights Reserved.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
#include <linux/module.h>
#include <linux/init.h>
#include <linux/slab.h>
#include <linux/i2c.h>
#include <linux/pm.h>
#include <linux/mutex.h>
#include <linux/delay.h>
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/hwmon-sysfs.h>
#include <linux/err.h>
#include <linux/hwmon.h>
#include <linux/input-polldev.h>
#include <linux/miscdevice.h>
#include <linux/poll.h>
#define SENSOR_IOCTL_BASE 'S'
#define SENSOR_GET_MODEL_NAME _IOR(SENSOR_IOCTL_BASE, 0, char *)
#define SENSOR_GET_POWER_STATUS _IOR(SENSOR_IOCTL_BASE, 2, int)
#define SENSOR_SET_POWER_STATUS _IOR(SENSOR_IOCTL_BASE, 3, int)
#define SENSOR_GET_DELAY_TIME _IOR(SENSOR_IOCTL_BASE, 4, int)
#define SENSOR_SET_DELAY_TIME _IOR(SENSOR_IOCTL_BASE, 5, int)
#define SENSOR_GET_RAW_DATA _IOR(SENSOR_IOCTL_BASE, 6, short[3])
#define FXAS2100X_I2C_ADDR 0x20
#define FXAS21000_CHIP_ID 0xD1
#define FXAS21002_CHID_ID_1 0xD6
#define FXAS21002_CHID_ID_2 0xD7
#define FXAS2100X_POSITION_DEFAULT 2
#define FXAS2100X_DELAY_DEFAULT 200
#define FXAS2100X_STATUS_ZYXDR 0x08
#define FXAS2100X_BUF_SIZE 6
#define FXAS2100X_POLL_INTERVAL 400
#define FXAS2100X_POLL_MAX 800
#define FXAS2100X_POLL_MIN 200
#define ABSMIN_GYRO_VAL -32768
#define ABSMAX_GYRO_VAL 32768
#define FXAS2100X_DRIVER "fxas2100x"
/* register enum for fxas2100x registers */
enum {
FXAS2100X_STATUS = 0x00,
FXAS2100X_OUT_X_MSB,
FXAS2100X_OUT_X_LSB,
FXAS2100X_OUT_Y_MSB,
FXAS2100X_OUT_Y_LSB,
FXAS2100X_OUT_Z_MSB,
FXAS2100X_OUT_Z_LSB,
FXAS2100X_DR_STATUS,
FXAS2100X_F_STATUS,
FXAS2100X_F_SETUP,
FXAS2100X_F_EVENT,
FXAS2100X_INT_SRC_FLAG,
FXAS2100X_WHO_AM_I,
FXAS2100X_CTRL_REG0,
FXAS2100X_RT_CFG,
FXAS2100X_RT_SRC,
FXAS2100X_RT_THS,
FXAS2100X_RT_COUNT,
FXAS2100X_TEMP,
FXAS2100X_CTRL_REG1,
FXAS2100X_CTRL_REG2,
FXAS2100X_CTRL_REG3, /* fxos21002 special */
FXAS2100X_REG_END,
};
enum {
STANDBY = 0,
ACTIVED,
};
struct fxas2100x_data_axis {
short x;
short y;
short z;
};
struct fxas2100x_data {
struct i2c_client *client;
struct input_polled_dev *input_polled;
atomic_t active;
atomic_t active_poll;
atomic_t delay;
atomic_t position;
u8 chip_id;
};
static struct fxas2100x_data *g_fxas2100x_data;
static int fxas2100x_position_setting[8][3][3] = {
{ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} },
{ {-1, 0, 0}, {0, -1, 0}, {0, 0, 1} },
{ {0, 1, 0}, {-1, 0, 0}, {0, 0, 1} },
{ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} },
{ {0, -1, 0}, {-1, 0, 0}, {0, 0, -1} },
{ {-1, 0, 0}, {0, 1, 0}, {0, 0, -1} },
{ {0, 1, 0}, {1, 0, 0}, {0, 0, -1} },
{ {1, 0, 0}, {0, -1, 0}, {0, 0, -1} },
};
static int fxas2100x_data_convert(struct fxas2100x_data *pdata,
struct fxas2100x_data_axis *axis_data)
{
short rawdata[3], data[3];
int i, j;
int position = atomic_read(&pdata->position);
if (position < 0 || position > 7)
position = 0;
rawdata[0] = axis_data->x;
rawdata[1] = axis_data->y;
rawdata[2] = axis_data->z;
for (i = 0; i < 3; i++) {
data[i] = 0;
for (j = 0; j < 3; j++)
data[i] += rawdata[j] * fxas2100x_position_setting[position][i][j];
}
axis_data->x = data[0];
axis_data->y = data[1];
axis_data->z = data[2];
return 0;
}
static int fxas2100x_device_init(struct i2c_client *client)
{
int result;
u8 val;
struct fxas2100x_data *pdata = i2c_get_clientdata(client);
if (pdata->chip_id == FXAS21000_CHIP_ID)
val = (0x01 << 2); /* fxas21000 dr 200HZ */
else
val = (0x02 << 2); /* fxas21002 dr 200HZ */
result = i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
if (result < 0)
goto out;
atomic_set(&pdata->active, STANDBY);
return 0;
out:
dev_err(&client->dev, "error when init fxas2100x:(%d)", result);
return result;
}
static int fxas2100x_change_mode(struct i2c_client *client, int mode)
{
u8 val;
int ret;
if (mode == ACTIVED) {
val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
val &= ~0x03;
val |= 0x02;
/* set bit 1 */
ret = i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
} else {
val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
val &= (~0x03);
/* clear bit 0,1 */
ret = i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
}
return ret;
}
static int fxas2100x_set_delay(struct i2c_client *client, int delay)
{
return 0;
}
static int fxas2100x_device_stop(struct i2c_client *client)
{
u8 val;
val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
val &= ~0x03;
i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
return 0;
}
static int fxas2100x_read_data(struct fxas2100x_data *pdata,
struct fxas2100x_data_axis *data)
{
struct i2c_client * client = pdata->client;
int x, y, z;
u8 tmp_data[FXAS2100X_BUF_SIZE];
int ret;
ret = i2c_smbus_read_i2c_block_data(client, FXAS2100X_OUT_X_MSB,
FXAS2100X_BUF_SIZE, tmp_data);
if (ret < FXAS2100X_BUF_SIZE) {
dev_err(&client->dev, "i2c block read failed\n");
return -EIO;
}
data->x = ((tmp_data[0] << 8) & 0xff00) | tmp_data[1];
data->y = ((tmp_data[2] << 8) & 0xff00) | tmp_data[3];
data->z = ((tmp_data[4] << 8) & 0xff00) | tmp_data[5];
if (pdata->chip_id == FXAS21000_CHIP_ID) {
x = data->x;
y = data->y;
z = data->z;
x = x * 4 / 5;
y = y * 4 / 5;
z = z * 4 / 5;
data->x = x;
data->y = y;
data->z = z;
}
return 0;
}
/* fxas2100x miscdevice */
static long fxas2100x_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
{
struct fxas2100x_data *pdata = file->private_data;
void __user *argp = (void __user *)arg;
struct fxas2100x_data_axis data;
long ret = 0;
short sdata[3];
int enable;
int delay;
if (!pdata) {
printk(KERN_ERR "FXAS2100X struct datt point is NULL.");
return -EFAULT;
}
switch (cmd) {
case SENSOR_GET_MODEL_NAME:
if (copy_to_user(argp, "FXAS2100X GYRO", strlen("FXAS2100X GYRO") + 1)) {
printk(KERN_ERR "SENSOR_GET_MODEL_NAME copy_to_user failed.");
ret = -EFAULT;
}
break;
case SENSOR_GET_POWER_STATUS:
enable = atomic_read(&pdata->active);
if (copy_to_user(argp, &enable, sizeof(int))) {
printk(KERN_ERR "SENSOR_SET_POWER_STATUS copy_to_user failed.");
ret = -EFAULT;
}
break;
case SENSOR_SET_POWER_STATUS:
if (copy_from_user(&enable, argp, sizeof(int))) {
printk(KERN_ERR "SENSOR_SET_POWER_STATUS copy_to_user failed.");
ret = -EFAULT;
}
if (pdata->client) {
ret = fxas2100x_change_mode(pdata->client, enable ? ACTIVED : STANDBY);
if (!ret)
atomic_set(&pdata->active, enable);
}
break;
case SENSOR_GET_DELAY_TIME:
delay = atomic_read(&pdata->delay);
if (copy_to_user(argp, &delay, sizeof(delay))) {
printk(KERN_ERR "SENSOR_GET_DELAY_TIME copy_to_user failed.");
return -EFAULT;
}
break;
case SENSOR_SET_DELAY_TIME:
if (copy_from_user(&delay, argp, sizeof(int))) {
printk(KERN_ERR "SENSOR_GET_DELAY_TIME copy_to_user failed.");
ret = -EFAULT;
}
if (pdata->client && delay > 0 && delay <= 500) {
ret = fxas2100x_set_delay(pdata->client, delay);
if (!ret)
atomic_set(&pdata->delay, delay);
}
break;
case SENSOR_GET_RAW_DATA:
ret = fxas2100x_read_data(pdata, &data);
if (!ret) {
fxas2100x_data_convert(pdata, &data);
sdata[0] = data.x;
sdata[1] = data.y;
sdata[2] = data.z;
if (copy_to_user(argp, sdata, sizeof(sdata))) {
printk(KERN_ERR "SENSOR_GET_RAW_DATA copy_to_user failed.");
ret = -EFAULT;
}
}
break;
default:
ret = -1;
}
return ret;
}
static int fxas2100x_open(struct inode *inode, struct file *file)
{
file->private_data = g_fxas2100x_data;
return nonseekable_open(inode, file);
}
static int fxas2100x_release(struct inode *inode, struct file *file)
{
/* note: releasing the wdt in NOWAYOUT-mode does not stop it */
return 0;
}
static const struct file_operations fxas2100x_fops = {
.owner = THIS_MODULE,
.open = fxas2100x_open,
.release = fxas2100x_release,
.unlocked_ioctl = fxas2100x_ioctl,
};
static struct miscdevice fxas2100x_device = {
.minor = MISC_DYNAMIC_MINOR,
.name = "FreescaleGyroscope",
.fops = &fxas2100x_fops,
};
static ssize_t fxas2100x_enable_show(struct device *dev,
struct device_attribute *attr, char *buf)
{
struct fxas2100x_data *pdata = g_fxas2100x_data;
int enable = 0;
enable = atomic_read(&pdata->active);
return sprintf(buf, "%d\n", enable);
}
static ssize_t fxas2100x_enable_store(struct device *dev,
struct device_attribute *attr,
const char *buf, size_t count)
{
struct fxas2100x_data *pdata = g_fxas2100x_data;
struct i2c_client *client = pdata->client;
int ret;
unsigned long enable;
if (kstrtoul(buf, 10, &enable) < 0)
return -EINVAL;
enable = (enable > 0) ? 1 : 0;
ret = fxas2100x_change_mode(client, (enable > 0 ? ACTIVED : STANDBY));
if (!ret) {
atomic_set(&pdata->active, enable);
atomic_set(&pdata->active_poll, enable);
dev_err(dev, "mma enable setting active \n");
}
return count;
}
static ssize_t fxas2100x_poll_delay_show(struct device *dev,
struct device_attribute *attr, char *buf)
{
struct fxas2100x_data *pdata = g_fxas2100x_data;
int delay = 0;
delay = atomic_read(&pdata->delay);
return sprintf(buf, "%d\n", delay);
}
static ssize_t fxas2100x_poll_delay_store(struct device *dev,
struct device_attribute *attr,
const char *buf, size_t count)
{
struct fxas2100x_data *pdata = g_fxas2100x_data;
struct i2c_client *client = pdata->client;
int ret;
int delay;
delay = simple_strtoul(buf, NULL, 10);
ret = fxas2100x_set_delay(client, delay);
if (!ret)
atomic_set(&pdata->delay, delay);
return count;
}
static ssize_t fxas2100x_position_show(struct device *dev,
struct device_attribute *attr, char *buf)
{
struct fxas2100x_data *pdata = g_fxas2100x_data;
int position = 0;
position = atomic_read(&pdata->position);
return sprintf(buf, "%d\n", position);
}
static ssize_t fxas2100x_position_store(struct device *dev,
struct device_attribute *attr,
const char *buf, size_t count)
{
struct fxas2100x_data *pdata = g_fxas2100x_data;
int position;
position = simple_strtoul(buf, NULL, 10);
atomic_set(&pdata->position, position);
return count;
}
static DEVICE_ATTR(enable, S_IWUSR | S_IRUGO, fxas2100x_enable_show, fxas2100x_enable_store);
static DEVICE_ATTR(poll_delay, S_IWUSR | S_IRUGO, fxas2100x_poll_delay_show, fxas2100x_poll_delay_store);
static DEVICE_ATTR(position, S_IWUSR | S_IRUGO, fxas2100x_position_show, fxas2100x_position_store);
static struct attribute *fxas2100x_attributes[] = {
&dev_attr_enable.attr,
&dev_attr_poll_delay.attr,
&dev_attr_position.attr,
NULL
};
static const struct attribute_group fxas2100x_attr_group = {
.attrs = fxas2100x_attributes,
};
static void fxas2100x_poll(struct input_polled_dev *dev)
{
struct fxas2100x_data *pdata = g_fxas2100x_data;
struct input_dev *idev = pdata->input_polled->input;
struct fxas2100x_data_axis data;
int ret;
if (!(atomic_read(&pdata->active_poll)))
return;
ret = fxas2100x_read_data(pdata, &data);
if (!ret) {
fxas2100x_data_convert(pdata, &data);
input_report_abs(idev, ABS_X, data.x);
input_report_abs(idev, ABS_Y, data.y);
input_report_abs(idev, ABS_Z, data.z);
input_sync(idev);
}
}
static int fxas2100x_register_polled_device(struct fxas2100x_data *pdata)
{
struct input_polled_dev *ipoll_dev;
struct input_dev *idev;
int error;
ipoll_dev = input_allocate_polled_device();
if (!ipoll_dev)
return -ENOMEM;
ipoll_dev->private = pdata;
ipoll_dev->poll = fxas2100x_poll;
ipoll_dev->poll_interval = FXAS2100X_POLL_INTERVAL;
ipoll_dev->poll_interval_min = FXAS2100X_POLL_MIN;
ipoll_dev->poll_interval_max = FXAS2100X_POLL_MAX;
idev = ipoll_dev->input;
idev->name = FXAS2100X_DRIVER;
idev->id.bustype = BUS_I2C;
idev->dev.parent = &pdata->client->dev;
idev->evbit[0] = BIT_MASK(EV_ABS);
input_set_abs_params(idev, ABS_X, ABSMIN_GYRO_VAL, ABSMAX_GYRO_VAL, 0, 0);
input_set_abs_params(idev, ABS_Y, ABSMIN_GYRO_VAL, ABSMAX_GYRO_VAL, 0, 0);
input_set_abs_params(idev, ABS_Z, ABSMIN_GYRO_VAL, ABSMAX_GYRO_VAL, 0, 0);
error = input_register_polled_device(ipoll_dev);
if (error) {
input_free_polled_device(ipoll_dev);
return error;
}
pdata->input_polled = ipoll_dev;
return 0;
}
static int fxas2100x_probe(struct i2c_client *client,
const struct i2c_device_id *id)
{
int result, chip_id;
struct fxas2100x_data *pdata;
struct i2c_adapter *adapter;
adapter = to_i2c_adapter(client->dev.parent);
result = i2c_check_functionality(adapter,
I2C_FUNC_SMBUS_BYTE |
I2C_FUNC_SMBUS_BYTE_DATA);
if (!result)
goto err_out;
chip_id = i2c_smbus_read_byte_data(client, FXAS2100X_WHO_AM_I);
if (chip_id != FXAS21000_CHIP_ID && chip_id != FXAS21002_CHID_ID_1 &&
chip_id != FXAS21002_CHID_ID_2) {
dev_err(&client->dev,
"read chip ID 0x%x is not equal to 0x%x for fxas21000 or 0x%x/0x%x fxas21002!\n",
chip_id, FXAS21000_CHIP_ID, FXAS21002_CHID_ID_1, FXAS21002_CHID_ID_2);
result = -EINVAL;
goto err_out;
}
pdata = kzalloc(sizeof(struct fxas2100x_data), GFP_KERNEL);
if (!pdata) {
result = -ENOMEM;
dev_err(&client->dev, "alloc data memory error!\n");
goto err_out;
}
/* Initialize the FXAS2100X chip */
g_fxas2100x_data = pdata;
pdata->client = client;
pdata->chip_id = chip_id;
atomic_set(&pdata->delay, FXAS2100X_DELAY_DEFAULT);
atomic_set(&pdata->position, FXAS2100X_POSITION_DEFAULT);
i2c_set_clientdata(client, pdata);
result = misc_register(&fxas2100x_device);
if (result != 0) {
dev_err(&client->dev, "register acc miscdevice error");
goto err_regsiter_misc;
}
/* for debug */
if (client->irq <= 0) {
result = fxas2100x_register_polled_device(g_fxas2100x_data);
if (result)
dev_err(&client->dev,
"IRQ GPIO conf. error %d, error %d\n",
client->irq, result);
}
result = sysfs_create_group(&fxas2100x_device.this_device->kobj,
&fxas2100x_attr_group);
if (result) {
dev_err(&client->dev, "create device file failed!\n");
result = -EINVAL;
goto err_create_sysfs;
}
fxas2100x_device_init(client);
dev_info(&client->dev, "fxas2100x device driver probe successfully\n");
return 0;
err_create_sysfs:
misc_deregister(&fxas2100x_device);
err_regsiter_misc:
kfree(pdata);
err_out:
return result;
}
static int fxas2100x_remove(struct i2c_client *client)
{
struct fxas2100x_data *pdata = i2c_get_clientdata(client);
fxas2100x_device_stop(client);
if (client->irq <= 0) {
input_unregister_polled_device(pdata->input_polled);
input_free_polled_device(pdata->input_polled);
}
misc_deregister(&fxas2100x_device);
if (pdata != NULL)
kfree(pdata);
return 0;
}
#ifdef CONFIG_PM_SLEEP
static int fxas2100x_suspend(struct device *dev)
{
struct i2c_client *client = to_i2c_client(dev);
struct fxas2100x_data *pdata = i2c_get_clientdata(client);
if (atomic_read(&pdata->active))
fxas2100x_device_stop(client);
return 0;
}
static int fxas2100x_resume(struct device *dev)
{
int val = 0;
struct i2c_client *client = to_i2c_client(dev);
struct fxas2100x_data *pdata = i2c_get_clientdata(client);
if (atomic_read(&pdata->active)) {
val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
val &= ~0x03;
val |= 0x02;
i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
}
return 0;
}
#endif
static const struct i2c_device_id fxas2100x_id[] = {
{ "fxas2100x", 0 },
{ /* sentinel */ }
};
MODULE_DEVICE_TABLE(i2c, fxas2100x_id);
static SIMPLE_DEV_PM_OPS(fxas2100x_pm_ops, fxas2100x_suspend, fxas2100x_resume);
static struct i2c_driver fxas2100x_driver = {
.driver = {
.name = FXAS2100X_DRIVER,
.owner = THIS_MODULE,
.pm = &fxas2100x_pm_ops,
},
.probe = fxas2100x_probe,
.remove = fxas2100x_remove,
.id_table = fxas2100x_id,
};
module_i2c_driver(fxas2100x_driver);
MODULE_AUTHOR("Freescale Semiconductor, Inc.");
MODULE_DESCRIPTION("FXAS2100X 3-Axis Gyrosope Sensor driver");
MODULE_LICENSE("GPL");