| /*! |
| * @section LICENSE |
| * (C) Copyright 2011~2016 Bosch Sensortec GmbH All Rights Reserved |
| * |
| * (C) Modification Copyright 2018 Robert Bosch Kft All Rights Reserved |
| * |
| * This software program is licensed subject to the GNU General |
| * Public License (GPL).Version 2,June 1991, |
| * available at http://www.fsf.org/copyleft/gpl.html |
| * |
| * Special: Description of the Software: |
| * |
| * This software module (hereinafter called "Software") and any |
| * information on application-sheets (hereinafter called "Information") is |
| * provided free of charge for the sole purpose to support your application |
| * work. |
| * |
| * As such, the Software is merely an experimental software, not tested for |
| * safety in the field and only intended for inspiration for further development |
| * and testing. Any usage in a safety-relevant field of use (like automotive, |
| * seafaring, spacefaring, industrial plants etc.) was not intended, so there are |
| * no precautions for such usage incorporated in the Software. |
| * |
| * The Software is specifically designed for the exclusive use for Bosch |
| * Sensortec products by personnel who have special experience and training. Do |
| * not use this Software if you do not have the proper experience or training. |
| * |
| * This Software package is provided as is and without any expressed or |
| * implied warranties, including without limitation, the implied warranties of |
| * merchantability and fitness for a particular purpose. |
| * |
| * Bosch Sensortec and their representatives and agents deny any liability for |
| * the functional impairment of this Software in terms of fitness, performance |
| * and safety. Bosch Sensortec and their representatives and agents shall not be |
| * liable for any direct or indirect damages or injury, except as otherwise |
| * stipulated in mandatory applicable law. |
| * The Information provided is believed to be accurate and reliable. Bosch |
| * Sensortec assumes no responsibility for the consequences of use of such |
| * Information nor for any infringement of patents or other rights of third |
| * parties which may result from its use. |
| * |
| *------------------------------------------------------------------------------ |
| * The following Product Disclaimer does not apply to the BSX4-HAL-4.1NoFusion Software |
| * which is licensed under the Apache License, Version 2.0 as stated above. |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Product Disclaimer |
| * |
| * Common: |
| * |
| * Assessment of Products Returned from Field |
| * |
| * Returned products are considered good if they fulfill the specifications / |
| * test data for 0-mileage and field listed in this document. |
| * |
| * Engineering Samples |
| * |
| * Engineering samples are marked with (e) or (E). Samples may vary from the |
| * valid technical specifications of the series product contained in this |
| * data sheet. Therefore, they are not intended or fit for resale to |
| * third parties or for use in end products. Their sole purpose is internal |
| * client testing. The testing of an engineering sample may in no way replace |
| * the testing of a series product. Bosch assumes no liability for the use |
| * of engineering samples. The purchaser shall indemnify Bosch from all claims |
| * arising from the use of engineering samples. |
| * |
| * Intended use |
| * |
| * Provided that SMI130 is used within the conditions (environment, application, |
| * installation, loads) as described in this TCD and the corresponding |
| * agreed upon documents, Bosch ensures that the product complies with |
| * the agreed properties. Agreements beyond this require |
| * the written approval by Bosch. The product is considered fit for the intended |
| * use when the product successfully has passed the tests |
| * in accordance with the TCD and agreed upon documents. |
| * |
| * It is the responsibility of the customer to ensure the proper application |
| * of the product in the overall system/vehicle. |
| * |
| * Bosch does not assume any responsibility for changes to the environment |
| * of the product that deviate from the TCD and the agreed upon documents |
| * as well as all applications not released by Bosch |
| * |
| * The resale and/or use of products are at the purchaser’s own risk and |
| * responsibility. The examination and testing of the SMI130 |
| * is the sole responsibility of the purchaser. |
| * |
| * The purchaser shall indemnify Bosch from all third party claims |
| * arising from any product use not covered by the parameters of |
| * this product data sheet or not approved by Bosch and reimburse Bosch |
| * for all costs and damages in connection with such claims. |
| * |
| * The purchaser must monitor the market for the purchased products, |
| * particularly with regard to product safety, and inform Bosch without delay |
| * of all security relevant incidents. |
| * |
| * Application Examples and Hints |
| * |
| * With respect to any application examples, advice, normal values |
| * and/or any information regarding the application of the device, |
| * Bosch hereby disclaims any and all warranties and liabilities of any kind, |
| * including without limitation warranties of |
| * non-infringement of intellectual property rights or copyrights |
| * of any third party. |
| * The information given in this document shall in no event be regarded |
| * as a guarantee of conditions or characteristics. They are provided |
| * for illustrative purposes only and no evaluation regarding infringement |
| * of intellectual property rights or copyrights or regarding functionality, |
| * performance or error has been made. |
| * @filename smi130_gyro_driver.c |
| * @date 2015/11/17 13:44 |
| * @Modification Date 2018/08/28 18:20 |
| * @id "836294d" |
| * @version 1.5.9 |
| * |
| * @brief SMI130_GYRO Linux Driver |
| */ |
| #ifdef __KERNEL__ |
| #include <linux/kernel.h> |
| #include <linux/unistd.h> |
| #include <linux/types.h> |
| #include <linux/string.h> |
| #else |
| #include <unistd.h> |
| #include <sys/types.h> |
| #include <string.h> |
| #endif |
| #include <linux/math64.h> |
| #include <linux/version.h> |
| #include <linux/module.h> |
| #include <linux/init.h> |
| #include <linux/i2c.h> |
| #include <linux/interrupt.h> |
| #include <linux/input.h> |
| #include <linux/workqueue.h> |
| #include <linux/mutex.h> |
| #include <linux/slab.h> |
| #include <linux/delay.h> |
| #include <linux/gpio.h> |
| #include <linux/of_gpio.h> |
| #include <linux/of_irq.h> |
| |
| #ifdef CONFIG_HAS_EARLYSUSPEND |
| #include <linux/earlysuspend.h> |
| #endif |
| |
| #include "smi130_gyro.h" |
| #include "bs_log.h" |
| |
| /* sensor specific */ |
| #define SENSOR_NAME "smi130_gyro" |
| #define SMI130_GYRO_ENABLE_INT1 1 |
| #define SENSOR_CHIP_ID_SMI_GYRO (0x0f) |
| #define CHECK_CHIP_ID_TIME_MAX 1 |
| #define DRIVER_VERSION "0.0.53.0" |
| #define SMI_GYRO_USE_FIFO 1 |
| #define SMI_GYRO_USE_BASIC_I2C_FUNC 1 |
| #define SMI_GYRO_REG_NAME(name) SMI130_GYRO_##name |
| #define SMI_GYRO_VAL_NAME(name) SMI130_GYRO_##name |
| #define SMI_GYRO_CALL_API(name) smi130_gyro_##name |
| #define MSC_TIME 6 |
| |
| #define SMI_GYRO_I2C_WRITE_DELAY_TIME 1 |
| |
| /* generic */ |
| #define SMI_GYRO_MAX_RETRY_I2C_XFER (2) |
| #define SMI_GYRO_MAX_RETRY_WAKEUP (5) |
| #define SMI_GYRO_MAX_RETRY_WAIT_DRDY (100) |
| |
| #define SMI_GYRO_DELAY_MIN (1) |
| #define SMI_GYRO_DELAY_DEFAULT (200) |
| |
| #define SMI_GYRO_VALUE_MAX (32767) |
| #define SMI_GYRO_VALUE_MIN (-32768) |
| |
| #define BYTES_PER_LINE (16) |
| |
| #define SMI_GYRO_SELF_TEST 0 |
| |
| #define SMI_GYRO_SOFT_RESET_VALUE 0xB6 |
| |
| #ifdef SMI_GYRO_USE_FIFO |
| #define MAX_FIFO_F_LEVEL 100 |
| #define MAX_FIFO_F_BYTES 8 |
| #define SMI130_GYRO_FIFO_DAT_SEL_X 1 |
| #define SMI130_GYRO_FIFO_DAT_SEL_Y 2 |
| #define SMI130_GYRO_FIFO_DAT_SEL_Z 3 |
| #endif |
| |
| /*! |
| * @brief:BMI058 feature |
| * macro definition |
| */ |
| #ifdef CONFIG_SENSORS_BMI058 |
| /*! BMI058 X AXIS definition*/ |
| #define BMI058_X_AXIS SMI130_GYRO_Y_AXIS |
| /*! BMI058 Y AXIS definition*/ |
| #define BMI058_Y_AXIS SMI130_GYRO_X_AXIS |
| |
| #define C_BMI058_One_U8X 1 |
| #define C_BMI058_Two_U8X 2 |
| #endif |
| |
| /*! Bosch sensor unknown place*/ |
| #define BOSCH_SENSOR_PLACE_UNKNOWN (-1) |
| /*! Bosch sensor remapping table size P0~P7*/ |
| #define MAX_AXIS_REMAP_TAB_SZ 8 |
| |
| |
| struct bosch_sensor_specific { |
| char *name; |
| /* 0 to 7 */ |
| int place; |
| int irq; |
| int (*irq_gpio_cfg)(void); |
| }; |
| |
| |
| /*! |
| * we use a typedef to hide the detail, |
| * because this type might be changed |
| */ |
| struct bosch_sensor_axis_remap { |
| /* src means which source will be mapped to target x, y, z axis */ |
| /* if an target OS axis is remapped from (-)x, |
| * src is 0, sign_* is (-)1 */ |
| /* if an target OS axis is remapped from (-)y, |
| * src is 1, sign_* is (-)1 */ |
| /* if an target OS axis is remapped from (-)z, |
| * src is 2, sign_* is (-)1 */ |
| int src_x:3; |
| int src_y:3; |
| int src_z:3; |
| |
| int sign_x:2; |
| int sign_y:2; |
| int sign_z:2; |
| }; |
| |
| |
| struct bosch_sensor_data { |
| union { |
| int16_t v[3]; |
| struct { |
| int16_t x; |
| int16_t y; |
| int16_t z; |
| }; |
| }; |
| }; |
| |
| #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING |
| #define SMI_GYRO_MAXSAMPLE 4000 |
| #define G_MAX 23920640 |
| struct smi_gyro_sample { |
| int xyz[3]; |
| unsigned int tsec; |
| unsigned long long tnsec; |
| }; |
| #endif |
| |
| struct smi_gyro_client_data { |
| struct smi130_gyro_t device; |
| struct i2c_client *client; |
| struct input_dev *input; |
| struct delayed_work work; |
| |
| #ifdef CONFIG_HAS_EARLYSUSPEND |
| struct early_suspend early_suspend_handler; |
| #endif |
| |
| atomic_t delay; |
| uint8_t debug_level; |
| struct smi130_gyro_data_t value; |
| u8 enable:1; |
| unsigned int fifo_count; |
| unsigned char fifo_datasel; |
| uint64_t timestamp; |
| uint64_t base_time; |
| uint64_t fifo_time; |
| uint64_t gyro_count; |
| uint64_t time_odr; |
| /* controls not only reg, but also workqueue */ |
| struct mutex mutex_op_mode; |
| struct mutex mutex_enable; |
| struct bosch_sensor_specific *bosch_pd; |
| struct work_struct report_data_work; |
| int is_timer_running; |
| struct hrtimer timer; |
| ktime_t work_delay_kt; |
| uint8_t gpio_pin; |
| int16_t IRQ; |
| struct work_struct irq_work; |
| #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING |
| bool read_gyro_boot_sample; |
| int gyro_bufsample_cnt; |
| bool gyro_buffer_smi130_samples; |
| struct kmem_cache *smi_gyro_cachepool; |
| struct smi_gyro_sample *smi130_gyro_samplist[SMI_GYRO_MAXSAMPLE]; |
| int max_buffer_time; |
| struct input_dev *gyrobuf_dev; |
| int report_evt_cnt; |
| #endif |
| }; |
| |
| static struct i2c_client *smi_gyro_client; |
| /* i2c operation for API */ |
| static int smi_gyro_i2c_read(struct i2c_client *client, u8 reg_addr, |
| u8 *data, u8 len); |
| static int smi_gyro_i2c_write(struct i2c_client *client, u8 reg_addr, |
| u8 *data, u8 len); |
| |
| static void smi_gyro_dump_reg(struct i2c_client *client); |
| static int smi_gyro_check_chip_id(struct i2c_client *client); |
| |
| #ifdef CONFIG_HAS_EARLYSUSPEND |
| static int smi_gyro_post_resume(struct i2c_client *client); |
| static int smi_gyro_pre_suspend(struct i2c_client *client); |
| static void smi_gyro_early_suspend(struct early_suspend *handler); |
| static void smi_gyro_late_resume(struct early_suspend *handler); |
| #endif |
| |
| static void smi130_gyro_delay(SMI130_GYRO_U16 msec) |
| { |
| if (msec <= 20) |
| usleep_range(msec * 1000, msec * 1000); |
| else |
| msleep(msec); |
| } |
| |
| /*! |
| * SMI130_GYRO sensor remapping function |
| * need to give some parameter in BSP files first. |
| */ |
| static const struct bosch_sensor_axis_remap |
| bosch_axis_remap_tab_dft[MAX_AXIS_REMAP_TAB_SZ] = { |
| /* src_x src_y src_z sign_x sign_y sign_z */ |
| { 0, 1, 2, 1, 1, 1 }, /* P0 */ |
| { 1, 0, 2, 1, -1, 1 }, /* P1 */ |
| { 0, 1, 2, -1, -1, 1 }, /* P2 */ |
| { 1, 0, 2, -1, 1, 1 }, /* P3 */ |
| |
| { 0, 1, 2, -1, 1, -1 }, /* P4 */ |
| { 1, 0, 2, -1, -1, -1 }, /* P5 */ |
| { 0, 1, 2, 1, -1, -1 }, /* P6 */ |
| { 1, 0, 2, 1, 1, -1 }, /* P7 */ |
| }; |
| |
| static void bosch_remap_sensor_data(struct bosch_sensor_data *data, |
| const struct bosch_sensor_axis_remap *remap) |
| { |
| struct bosch_sensor_data tmp; |
| |
| tmp.x = data->v[remap->src_x] * remap->sign_x; |
| tmp.y = data->v[remap->src_y] * remap->sign_y; |
| tmp.z = data->v[remap->src_z] * remap->sign_z; |
| |
| memcpy(data, &tmp, sizeof(*data)); |
| } |
| |
| static void bosch_remap_sensor_data_dft_tab(struct bosch_sensor_data *data, |
| int place) |
| { |
| /* sensor with place 0 needs not to be remapped */ |
| if ((place <= 0) || (place >= MAX_AXIS_REMAP_TAB_SZ)) |
| return; |
| bosch_remap_sensor_data(data, &bosch_axis_remap_tab_dft[place]); |
| } |
| |
| static void smi130_gyro_remap_sensor_data(struct smi130_gyro_data_t *val, |
| struct smi_gyro_client_data *client_data) |
| { |
| struct bosch_sensor_data bsd; |
| int place; |
| |
| if ((NULL == client_data->bosch_pd) || (BOSCH_SENSOR_PLACE_UNKNOWN |
| == client_data->bosch_pd->place)) |
| place = BOSCH_SENSOR_PLACE_UNKNOWN; |
| else |
| place = client_data->bosch_pd->place; |
| |
| #ifdef CONFIG_SENSORS_BMI058 |
| /*x,y need to be invesed becase of HW Register for BMI058*/ |
| bsd.y = val->datax; |
| bsd.x = val->datay; |
| bsd.z = val->dataz; |
| #else |
| bsd.x = val->datax; |
| bsd.y = val->datay; |
| bsd.z = val->dataz; |
| #endif |
| |
| bosch_remap_sensor_data_dft_tab(&bsd, place); |
| |
| val->datax = bsd.x; |
| val->datay = bsd.y; |
| val->dataz = bsd.z; |
| |
| } |
| |
| static int smi_gyro_check_chip_id(struct i2c_client *client) |
| { |
| int err = -1; |
| u8 chip_id = 0; |
| u8 read_count = 0; |
| |
| while (read_count++ < CHECK_CHIP_ID_TIME_MAX) { |
| smi_gyro_i2c_read(client, SMI_GYRO_REG_NAME(CHIP_ID_ADDR), &chip_id, 1); |
| PINFO("read chip id result: %#x", chip_id); |
| |
| if ((chip_id & 0xff) != SENSOR_CHIP_ID_SMI_GYRO) { |
| smi130_gyro_delay(1); |
| } else { |
| err = 0; |
| break; |
| } |
| } |
| return err; |
| } |
| |
| static void smi_gyro_dump_reg(struct i2c_client *client) |
| { |
| int i; |
| u8 dbg_buf[64]; |
| u8 dbg_buf_str[64 * 3 + 1] = ""; |
| |
| for (i = 0; i < BYTES_PER_LINE; i++) { |
| dbg_buf[i] = i; |
| snprintf(dbg_buf_str + i * 3, 16, "%02x%c", |
| dbg_buf[i], |
| (((i + 1) % BYTES_PER_LINE == 0) ? '\n' : ' ')); |
| } |
| dev_dbg(&client->dev, "%s\n", dbg_buf_str); |
| |
| smi_gyro_i2c_read(client, SMI_GYRO_REG_NAME(CHIP_ID_ADDR), dbg_buf, 64); |
| for (i = 0; i < 64; i++) { |
| snprintf(dbg_buf_str + i * 3, 16, "%02x%c", |
| dbg_buf[i], |
| (((i + 1) % BYTES_PER_LINE == 0) ? '\n' : ' ')); |
| } |
| dev_dbg(&client->dev, "%s\n", dbg_buf_str); |
| } |
| |
| /*i2c read routine for API*/ |
| static int smi_gyro_i2c_read(struct i2c_client *client, u8 reg_addr, |
| u8 *data, u8 len) |
| { |
| #if !defined SMI_GYRO_USE_BASIC_I2C_FUNC |
| s32 dummy; |
| if (NULL == client) |
| return -ENODEV; |
| |
| while (0 != len--) { |
| #ifdef SMI_GYRO_SMBUS |
| dummy = i2c_smbus_read_byte_data(client, reg_addr); |
| if (dummy < 0) { |
| dev_err(&client->dev, "i2c bus read error"); |
| return -EIO; |
| } |
| *data = (u8)(dummy & 0xff); |
| #else |
| dummy = i2c_master_send(client, (char *)®_addr, 1); |
| if (dummy < 0) |
| return -EIO; |
| |
| dummy = i2c_master_recv(client, (char *)data, 1); |
| if (dummy < 0) |
| return -EIO; |
| #endif |
| reg_addr++; |
| data++; |
| } |
| return 0; |
| #else |
| int retry; |
| |
| struct i2c_msg msg[] = { |
| { |
| .addr = client->addr, |
| .flags = 0, |
| .len = 1, |
| .buf = ®_addr, |
| }, |
| |
| { |
| .addr = client->addr, |
| .flags = I2C_M_RD, |
| .len = len, |
| .buf = data, |
| }, |
| }; |
| |
| for (retry = 0; retry < SMI_GYRO_MAX_RETRY_I2C_XFER; retry++) { |
| if (i2c_transfer(client->adapter, msg, ARRAY_SIZE(msg)) > 0) |
| break; |
| else |
| smi130_gyro_delay(SMI_GYRO_I2C_WRITE_DELAY_TIME); |
| } |
| |
| if (SMI_GYRO_MAX_RETRY_I2C_XFER <= retry) { |
| dev_err(&client->dev, "I2C xfer error"); |
| return -EIO; |
| } |
| |
| return 0; |
| #endif |
| } |
| |
| #ifdef SMI_GYRO_USE_FIFO |
| static int smi_gyro_i2c_burst_read(struct i2c_client *client, u8 reg_addr, |
| u8 *data, u16 len) |
| { |
| int retry; |
| |
| struct i2c_msg msg[] = { |
| { |
| .addr = client->addr, |
| .flags = 0, |
| .len = 1, |
| .buf = ®_addr, |
| }, |
| |
| { |
| .addr = client->addr, |
| .flags = I2C_M_RD, |
| .len = len, |
| .buf = data, |
| }, |
| }; |
| |
| for (retry = 0; retry < SMI_GYRO_MAX_RETRY_I2C_XFER; retry++) { |
| if (i2c_transfer(client->adapter, msg, ARRAY_SIZE(msg)) > 0) |
| break; |
| else |
| smi130_gyro_delay(SMI_GYRO_I2C_WRITE_DELAY_TIME); |
| } |
| |
| if (SMI_GYRO_MAX_RETRY_I2C_XFER <= retry) { |
| dev_err(&client->dev, "I2C xfer error"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| #endif |
| |
| /*i2c write routine for */ |
| static int smi_gyro_i2c_write(struct i2c_client *client, u8 reg_addr, |
| u8 *data, u8 len) |
| { |
| #if !defined SMI_GYRO_USE_BASIC_I2C_FUNC |
| s32 dummy; |
| |
| #ifndef SMI_GYRO_SMBUS |
| u8 buffer[2]; |
| #endif |
| |
| if (NULL == client) |
| return -ENODEV; |
| |
| while (0 != len--) { |
| #ifdef SMI_GYRO_SMBUS |
| dummy = i2c_smbus_write_byte_data(client, reg_addr, *data); |
| #else |
| buffer[0] = reg_addr; |
| buffer[1] = *data; |
| dummy = i2c_master_send(client, (char *)buffer, 2); |
| #endif |
| reg_addr++; |
| data++; |
| if (dummy < 0) { |
| dev_err(&client->dev, "error writing i2c bus"); |
| return -EIO; |
| } |
| |
| } |
| return 0; |
| #else |
| u8 buffer[2]; |
| int retry; |
| struct i2c_msg msg[] = { |
| { |
| .addr = client->addr, |
| .flags = 0, |
| .len = 2, |
| .buf = buffer, |
| }, |
| }; |
| |
| while (0 != len--) { |
| buffer[0] = reg_addr; |
| buffer[1] = *data; |
| for (retry = 0; retry < SMI_GYRO_MAX_RETRY_I2C_XFER; retry++) { |
| if (i2c_transfer(client->adapter, msg, |
| ARRAY_SIZE(msg)) > 0) { |
| break; |
| } else { |
| smi130_gyro_delay(SMI_GYRO_I2C_WRITE_DELAY_TIME); |
| } |
| } |
| if (SMI_GYRO_MAX_RETRY_I2C_XFER <= retry) { |
| dev_err(&client->dev, "I2C xfer error"); |
| return -EIO; |
| } |
| reg_addr++; |
| data++; |
| } |
| |
| return 0; |
| #endif |
| } |
| |
| static int smi_gyro_i2c_read_wrapper(u8 dev_addr, u8 reg_addr, u8 *data, u8 len) |
| { |
| int err; |
| err = smi_gyro_i2c_read(smi_gyro_client, reg_addr, data, len); |
| return err; |
| } |
| |
| static int smi_gyro_i2c_write_wrapper(u8 dev_addr, u8 reg_addr, u8 *data, u8 len) |
| { |
| int err; |
| err = smi_gyro_i2c_write(smi_gyro_client, reg_addr, data, len); |
| return err; |
| } |
| |
| |
| static void smi_gyro_work_func(struct work_struct *work) |
| { |
| struct smi_gyro_client_data *client_data = |
| container_of((struct delayed_work *)work, |
| struct smi_gyro_client_data, work); |
| |
| unsigned long delay = |
| msecs_to_jiffies(atomic_read(&client_data->delay)); |
| struct smi130_gyro_data_t gyro_data; |
| |
| SMI_GYRO_CALL_API(get_dataXYZ)(&gyro_data); |
| /*remapping for SMI130_GYRO sensor*/ |
| smi130_gyro_remap_sensor_data(&gyro_data, client_data); |
| |
| input_report_abs(client_data->input, ABS_X, gyro_data.datax); |
| input_report_abs(client_data->input, ABS_Y, gyro_data.datay); |
| input_report_abs(client_data->input, ABS_Z, gyro_data.dataz); |
| input_sync(client_data->input); |
| |
| schedule_delayed_work(&client_data->work, delay); |
| } |
| |
| static struct workqueue_struct *reportdata_wq; |
| |
| uint64_t smi130_gyro_get_alarm_timestamp(void) |
| { |
| uint64_t ts_ap; |
| struct timespec tmp_time; |
| get_monotonic_boottime(&tmp_time); |
| ts_ap = (uint64_t)tmp_time.tv_sec * 1000000000 + tmp_time.tv_nsec; |
| return ts_ap; |
| } |
| #define ABS(x) ((x) > 0 ? (x) : -(x)) |
| |
| static void smi130_gyro_work_func(struct work_struct *work) |
| { |
| struct smi_gyro_client_data *smi130_gyro = |
| container_of(work, |
| struct smi_gyro_client_data, report_data_work); |
| int i; |
| struct smi130_gyro_data_t gyro_lsb; |
| unsigned char fifo_framecount; |
| signed char fifo_data_out[MAX_FIFO_F_LEVEL * MAX_FIFO_F_BYTES] = {0}; |
| unsigned char f_len = 0; |
| uint64_t del; |
| uint64_t time_internal; |
| struct timespec ts; |
| int64_t drift_time = 0; |
| static uint64_t time_odr; |
| static uint32_t data_cnt; |
| static uint32_t pre_data_cnt; |
| static int64_t sample_drift_offset; |
| if (smi130_gyro->fifo_datasel) |
| /*Select one axis data output for every fifo frame*/ |
| f_len = 2; |
| else |
| /*Select X Y Z axis data output for every fifo frame*/ |
| f_len = 6; |
| if (SMI_GYRO_CALL_API(get_fifo_framecount)(&fifo_framecount) < 0) { |
| PERR("bm160_get_fifo_framecount err\n"); |
| return; |
| } |
| if (fifo_framecount == 0) |
| return; |
| if (fifo_framecount > MAX_FIFO_F_LEVEL) |
| fifo_framecount = MAX_FIFO_F_LEVEL; |
| if (smi_gyro_i2c_burst_read(smi130_gyro->client, SMI130_GYRO_FIFO_DATA_ADDR, |
| fifo_data_out, fifo_framecount * f_len) < 0) { |
| PERR("smi130_gyro read fifo err\n"); |
| return; |
| } |
| smi130_gyro->fifo_time = smi130_gyro_get_alarm_timestamp(); |
| if (smi130_gyro->gyro_count == 0) |
| smi130_gyro->base_time = smi130_gyro->timestamp = |
| smi130_gyro->fifo_time - (fifo_framecount-1) * smi130_gyro->time_odr; |
| |
| smi130_gyro->gyro_count += fifo_framecount; |
| del = smi130_gyro->fifo_time - smi130_gyro->base_time; |
| time_internal = div64_u64(del, smi130_gyro->gyro_count); |
| data_cnt++; |
| if (data_cnt == 1) |
| time_odr = smi130_gyro->time_odr; |
| if (time_internal > time_odr) { |
| if (time_internal - time_odr > div64_u64 (time_odr, 200)) |
| time_internal = time_odr + div64_u64(time_odr, 200); |
| } else { |
| if (time_odr - time_internal > div64_u64(time_odr, 200)) |
| time_internal = time_odr - div64_u64(time_odr, 200); |
| } |
| |
| /* Select X Y Z axis data output for every frame */ |
| for (i = 0; i < fifo_framecount; i++) { |
| if (smi130_gyro->debug_level & 0x01) |
| printk(KERN_INFO "smi_gyro time =%llu fifo_time = %llu time_internal = %llu smi_gyro->count= %llu count = %d", |
| smi130_gyro->timestamp, smi130_gyro->fifo_time, |
| time_internal, smi130_gyro->gyro_count, fifo_framecount); |
| ts = ns_to_timespec(smi130_gyro->timestamp); |
| gyro_lsb.datax = |
| ((unsigned char)fifo_data_out[i * f_len + 1] << 8 |
| | (unsigned char)fifo_data_out[i * f_len + 0]); |
| gyro_lsb.datay = |
| ((unsigned char)fifo_data_out[i * f_len + 3] << 8 |
| | (unsigned char)fifo_data_out[i * f_len + 2]); |
| gyro_lsb.dataz = |
| ((unsigned char)fifo_data_out[i * f_len + 5] << 8 |
| | (unsigned char)fifo_data_out[i * f_len + 4]); |
| smi130_gyro_remap_sensor_data(&gyro_lsb, smi130_gyro); |
| input_event(smi130_gyro->input, EV_MSC, MSC_TIME, |
| ts.tv_sec); |
| input_event(smi130_gyro->input, EV_MSC, MSC_TIME, |
| ts.tv_nsec); |
| input_event(smi130_gyro->input, EV_MSC, |
| MSC_GESTURE, gyro_lsb.datax); |
| input_event(smi130_gyro->input, EV_MSC, |
| MSC_RAW, gyro_lsb.datay); |
| input_event(smi130_gyro->input, EV_MSC, |
| MSC_SCAN, gyro_lsb.dataz); |
| input_sync(smi130_gyro->input); |
| smi130_gyro->timestamp += time_internal - sample_drift_offset; |
| } |
| drift_time = smi130_gyro->timestamp - smi130_gyro->fifo_time; |
| if (data_cnt % 20 == 0) { |
| if (ABS(drift_time) > div64_u64(time_odr, 5)) { |
| sample_drift_offset = |
| div64_s64(drift_time, smi130_gyro->gyro_count - pre_data_cnt); |
| pre_data_cnt = smi130_gyro->gyro_count; |
| time_odr = time_internal; |
| } |
| } |
| } |
| |
| |
| static enum hrtimer_restart reportdata_timer_fun( |
| struct hrtimer *hrtimer) |
| { |
| struct smi_gyro_client_data *client_data = |
| container_of(hrtimer, struct smi_gyro_client_data, timer); |
| int32_t delay = 0; |
| delay = 10; |
| queue_work(reportdata_wq, &(client_data->report_data_work)); |
| client_data->work_delay_kt = ns_to_ktime(delay*1000000); |
| hrtimer_forward(hrtimer, ktime_get(), client_data->work_delay_kt); |
| |
| return HRTIMER_RESTART; |
| } |
| |
| static ssize_t smi_gyro_show_enable_timer(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| |
| return snprintf(buf, 16, "%d\n", client_data->is_timer_running); |
| } |
| |
| static ssize_t smi_gyro_store_enable_timer(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| unsigned long data; |
| int error; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| error = kstrtoul(buf, 10, &data); |
| if (error) |
| return error; |
| if (data) { |
| if (0 == client_data->is_timer_running) { |
| hrtimer_start(&client_data->timer, |
| ns_to_ktime(10000000), |
| HRTIMER_MODE_REL); |
| client_data->is_timer_running = 1; |
| client_data->base_time = 0; |
| client_data->timestamp = 0; |
| client_data->gyro_count = 0; |
| } |
| } else { |
| if (1 == client_data->is_timer_running) { |
| hrtimer_cancel(&client_data->timer); |
| client_data->is_timer_running = 0; |
| client_data->base_time = 0; |
| client_data->timestamp = 0; |
| client_data->gyro_count = 0; |
| } |
| } |
| return count; |
| } |
| |
| static ssize_t smi130_gyro_show_debug_level(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int err; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| err = snprintf(buf, 8, "%d\n", client_data->debug_level); |
| return err; |
| } |
| static ssize_t smi130_gyro_store_debug_level(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| int32_t ret = 0; |
| unsigned long data; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| ret = kstrtoul(buf, 16, &data); |
| if (ret) |
| return ret; |
| client_data->debug_level = (uint8_t)data; |
| return count; |
| } |
| |
| static int smi_gyro_set_soft_reset(struct i2c_client *client) |
| { |
| int err = 0; |
| unsigned char data = SMI_GYRO_SOFT_RESET_VALUE; |
| err = smi_gyro_i2c_write(client, SMI130_GYRO_BGW_SOFTRESET_ADDR, &data, 1); |
| return err; |
| } |
| |
| static ssize_t smi_gyro_show_chip_id(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| return snprintf(buf, 16, "%d\n", SENSOR_CHIP_ID_SMI_GYRO); |
| } |
| |
| #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING |
| static inline int smi130_check_gyro_early_buff_enable_flag( |
| struct smi_gyro_client_data *client_data) |
| { |
| if (client_data->gyro_buffer_smi130_samples == true) |
| return 1; |
| else |
| return 0; |
| } |
| #else |
| static inline int smi130_check_gyro_early_buff_enable_flag( |
| struct smi_gyro_client_data *client_data) |
| { |
| return 0; |
| } |
| #endif |
| |
| static ssize_t smi_gyro_show_op_mode(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int ret; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| u8 op_mode = 0xff; |
| |
| mutex_lock(&client_data->mutex_op_mode); |
| SMI_GYRO_CALL_API(get_mode)(&op_mode); |
| mutex_unlock(&client_data->mutex_op_mode); |
| |
| ret = snprintf(buf, 16, "%d\n", op_mode); |
| |
| return ret; |
| } |
| |
| static ssize_t smi_gyro_store_op_mode(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| int err; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| |
| long op_mode; |
| |
| err = smi130_check_gyro_early_buff_enable_flag(client_data); |
| if (err) |
| return count; |
| |
| err = kstrtoul(buf, 10, &op_mode); |
| if (err) |
| return err; |
| mutex_lock(&client_data->mutex_op_mode); |
| |
| err = SMI_GYRO_CALL_API(set_mode)(op_mode); |
| |
| mutex_unlock(&client_data->mutex_op_mode); |
| |
| if (err) |
| return err; |
| else |
| return count; |
| } |
| |
| |
| |
| static ssize_t smi_gyro_show_value(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| int count; |
| |
| struct smi130_gyro_data_t value_data; |
| SMI_GYRO_CALL_API(get_dataXYZ)(&value_data); |
| /*SMI130_GYRO sensor raw data remapping*/ |
| smi130_gyro_remap_sensor_data(&value_data, client_data); |
| |
| count = snprintf(buf, 96, "%hd %hd %hd\n", |
| value_data.datax, |
| value_data.datay, |
| value_data.dataz); |
| |
| return count; |
| } |
| |
| static ssize_t smi_gyro_show_range(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int err; |
| unsigned char range = 0; |
| SMI_GYRO_CALL_API(get_range_reg)(&range); |
| err = snprintf(buf, 16, "%d\n", range); |
| return err; |
| } |
| |
| static ssize_t smi_gyro_store_range(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| int err; |
| unsigned long range; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| |
| err = smi130_check_gyro_early_buff_enable_flag(client_data); |
| if (err) |
| return count; |
| |
| err = kstrtoul(buf, 10, &range); |
| if (err) |
| return err; |
| SMI_GYRO_CALL_API(set_range_reg)(range); |
| return count; |
| } |
| |
| /* |
| decimation odr filter bandwidth bits |
| 20 100HZ 32HZ 7 |
| 10 200Hz 64HZ 6 |
| 20 100HZ 12HZ 5 |
| 10 200hz 23HZ 4 |
| 5 400HZ 47HZ 3 |
| 2 1000HZ 116HZ 2 |
| 0 2000HZ 230HZ 1 |
| 0 2000HZ Unfiltered(523HZ) 0 |
| */ |
| |
| static const uint64_t odr_map[8] = { |
| 500000, 500000, 1000000, 2500000, 5000000, 10000000, 5000000, 10000000}; |
| |
| static ssize_t smi_gyro_show_bandwidth(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int err; |
| unsigned char bandwidth = 0; |
| SMI_GYRO_CALL_API(get_bw)(&bandwidth); |
| err = snprintf(buf, 16, "%d\n", bandwidth); |
| return err; |
| } |
| |
| static ssize_t smi_gyro_store_bandwidth(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| int err; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| unsigned long bandwidth; |
| u8 op_mode = 0xff; |
| |
| err = smi130_check_gyro_early_buff_enable_flag(client_data); |
| if (err) |
| return count; |
| |
| err = kstrtoul(buf, 10, &bandwidth); |
| if (err) |
| return err; |
| /* |
| set bandwidth only in the op_mode=0 |
| */ |
| err = SMI_GYRO_CALL_API(get_mode)(&op_mode); |
| if (op_mode == 0) { |
| err += SMI_GYRO_CALL_API(set_bw)(bandwidth); |
| } else { |
| err += SMI_GYRO_CALL_API(set_mode)(0); |
| err += SMI_GYRO_CALL_API(set_bw)(bandwidth); |
| smi130_gyro_delay(1); |
| err += SMI_GYRO_CALL_API(set_mode)(2); |
| smi130_gyro_delay(3); |
| } |
| |
| if (err) |
| PERR("set failed"); |
| client_data->time_odr = odr_map[bandwidth]; |
| client_data->base_time = 0; |
| client_data->gyro_count = 0; |
| return count; |
| } |
| |
| |
| static ssize_t smi_gyro_show_enable(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| int err; |
| |
| mutex_lock(&client_data->mutex_enable); |
| err = snprintf(buf, 16, "%d\n", client_data->enable); |
| mutex_unlock(&client_data->mutex_enable); |
| return err; |
| } |
| |
| static ssize_t smi_gyro_store_enable(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| unsigned long data; |
| int err; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| |
| err = kstrtoul(buf, 10, &data); |
| if (err) |
| return err; |
| |
| data = data ? 1 : 0; |
| mutex_lock(&client_data->mutex_enable); |
| if (data != client_data->enable) { |
| if (data) { |
| schedule_delayed_work( |
| &client_data->work, |
| msecs_to_jiffies(atomic_read( |
| &client_data->delay))); |
| } else { |
| cancel_delayed_work_sync(&client_data->work); |
| } |
| |
| client_data->enable = data; |
| } |
| mutex_unlock(&client_data->mutex_enable); |
| |
| return count; |
| } |
| |
| static ssize_t smi_gyro_show_delay(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| |
| return snprintf(buf, 16, "%d\n", atomic_read(&client_data->delay)); |
| |
| } |
| |
| static ssize_t smi_gyro_store_delay(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| unsigned long data; |
| int err; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| |
| err = kstrtoul(buf, 10, &data); |
| if (err) |
| return err; |
| |
| if (data == 0) { |
| err = -EINVAL; |
| return err; |
| } |
| |
| if (data < SMI_GYRO_DELAY_MIN) |
| data = SMI_GYRO_DELAY_MIN; |
| |
| atomic_set(&client_data->delay, data); |
| |
| return count; |
| } |
| |
| |
| static ssize_t smi_gyro_store_fastoffset_en(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| int err; |
| unsigned long fastoffset_en; |
| err = kstrtoul(buf, 10, &fastoffset_en); |
| if (err) |
| return err; |
| if (fastoffset_en) { |
| |
| #ifdef CONFIG_SENSORS_BMI058 |
| SMI_GYRO_CALL_API(set_fast_offset_en_ch)(BMI058_X_AXIS, 1); |
| SMI_GYRO_CALL_API(set_fast_offset_en_ch)(BMI058_Y_AXIS, 1); |
| #else |
| SMI_GYRO_CALL_API(set_fast_offset_en_ch)(SMI130_GYRO_X_AXIS, 1); |
| SMI_GYRO_CALL_API(set_fast_offset_en_ch)(SMI130_GYRO_Y_AXIS, 1); |
| #endif |
| |
| SMI_GYRO_CALL_API(set_fast_offset_en_ch)(SMI130_GYRO_Z_AXIS, 1); |
| SMI_GYRO_CALL_API(enable_fast_offset)(); |
| } |
| return count; |
| } |
| |
| static ssize_t smi_gyro_store_slowoffset_en(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| int err; |
| unsigned long slowoffset_en; |
| err = kstrtoul(buf, 10, &slowoffset_en); |
| if (err) |
| return err; |
| if (slowoffset_en) { |
| SMI_GYRO_CALL_API(set_slow_offset_th)(3); |
| SMI_GYRO_CALL_API(set_slow_offset_dur)(0); |
| #ifdef CONFIG_SENSORS_BMI058 |
| SMI_GYRO_CALL_API(set_slow_offset_en_ch)(BMI058_X_AXIS, 1); |
| SMI_GYRO_CALL_API(set_slow_offset_en_ch)(BMI058_Y_AXIS, 1); |
| #else |
| SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_X_AXIS, 1); |
| SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_Y_AXIS, 1); |
| #endif |
| SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_Z_AXIS, 1); |
| } else { |
| #ifdef CONFIG_SENSORS_BMI058 |
| SMI_GYRO_CALL_API(set_slow_offset_en_ch)(BMI058_X_AXIS, 0); |
| SMI_GYRO_CALL_API(set_slow_offset_en_ch)(BMI058_Y_AXIS, 0); |
| #else |
| SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_X_AXIS, 0); |
| SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_Y_AXIS, 0); |
| #endif |
| SMI_GYRO_CALL_API(set_slow_offset_en_ch)(SMI130_GYRO_Z_AXIS, 0); |
| } |
| |
| return count; |
| } |
| |
| static ssize_t smi_gyro_show_selftest(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int err; |
| unsigned char selftest; |
| SMI_GYRO_CALL_API(selftest)(&selftest); |
| err = snprintf(buf, 16, "%d\n", selftest); |
| return err; |
| } |
| |
| static ssize_t smi_gyro_show_sleepdur(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int err; |
| unsigned char sleepdur; |
| SMI_GYRO_CALL_API(get_sleepdur)(&sleepdur); |
| err = snprintf(buf, 16, "%d\n", sleepdur); |
| return err; |
| } |
| |
| static ssize_t smi_gyro_store_sleepdur(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| int err; |
| unsigned long sleepdur; |
| err = kstrtoul(buf, 10, &sleepdur); |
| if (err) |
| return err; |
| SMI_GYRO_CALL_API(set_sleepdur)(sleepdur); |
| return count; |
| } |
| |
| static ssize_t smi_gyro_show_autosleepdur(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int err; |
| unsigned char autosleepdur; |
| SMI_GYRO_CALL_API(get_autosleepdur)(&autosleepdur); |
| err = snprintf(buf, 16, "%d\n", autosleepdur); |
| return err; |
| } |
| |
| static ssize_t smi_gyro_store_autosleepdur(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| int err; |
| unsigned long autosleepdur; |
| unsigned char bandwidth; |
| err = kstrtoul(buf, 10, &autosleepdur); |
| if (err) |
| return err; |
| SMI_GYRO_CALL_API(get_bw)(&bandwidth); |
| SMI_GYRO_CALL_API(set_autosleepdur)(autosleepdur, bandwidth); |
| return count; |
| } |
| |
| static ssize_t smi_gyro_show_place(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| int place = BOSCH_SENSOR_PLACE_UNKNOWN; |
| |
| if (NULL != client_data->bosch_pd) |
| place = client_data->bosch_pd->place; |
| |
| return snprintf(buf, 16, "%d\n", place); |
| } |
| |
| |
| #ifdef SMI_GYRO_DEBUG |
| static ssize_t smi_gyro_store_softreset(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| int err; |
| unsigned long softreset; |
| err = kstrtoul(buf, 10, &softreset); |
| if (err) |
| return err; |
| SMI_GYRO_CALL_API(set_soft_reset)(); |
| return count; |
| } |
| |
| static ssize_t smi_gyro_show_dumpreg(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| size_t count = 0; |
| u8 reg[0x40]; |
| int i; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| |
| for (i = 0; i < 0x40; i++) { |
| smi_gyro_i2c_read(client_data->client, i, reg+i, 1); |
| |
| count += snprintf(&buf[count], 48, "0x%x: 0x%x\n", i, reg[i]); |
| } |
| return count; |
| } |
| #endif |
| |
| #ifdef SMI_GYRO_USE_FIFO |
| static ssize_t smi_gyro_show_fifo_mode(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int err; |
| unsigned char fifo_mode; |
| SMI_GYRO_CALL_API(get_fifo_mode)(&fifo_mode); |
| err = snprintf(buf, 16, "%d\n", fifo_mode); |
| return err; |
| } |
| |
| static ssize_t smi_gyro_store_fifo_mode(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| int err; |
| unsigned long fifo_mode; |
| err = kstrtoul(buf, 10, &fifo_mode); |
| if (err) |
| return err; |
| SMI_GYRO_CALL_API(set_fifo_mode)(fifo_mode); |
| return count; |
| } |
| |
| static ssize_t smi_gyro_show_fifo_framecount(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int err; |
| unsigned char fifo_framecount; |
| SMI_GYRO_CALL_API(get_fifo_framecount)(&fifo_framecount); |
| err = snprintf(buf, 32, "%d\n", fifo_framecount); |
| return err; |
| } |
| |
| static ssize_t smi_gyro_store_fifo_framecount(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| unsigned long data; |
| int error; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| error = kstrtoul(buf, 10, &data); |
| if (error) |
| return error; |
| client_data->fifo_count = (unsigned int) data; |
| |
| return count; |
| } |
| |
| static ssize_t smi_gyro_show_fifo_overrun(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int err; |
| unsigned char fifo_overrun; |
| SMI_GYRO_CALL_API(get_fifo_overrun)(&fifo_overrun); |
| err = snprintf(buf, 16, "%d\n", fifo_overrun); |
| return err; |
| } |
| |
| static ssize_t smi_gyro_show_fifo_data_frame(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| unsigned char f_len = 0; |
| unsigned char fifo_framecount; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| |
| if (client_data->fifo_datasel) |
| /*Select one axis data output for every fifo frame*/ |
| f_len = 2; |
| else |
| /*Select X Y Z axis data output for every fifo frame*/ |
| f_len = 6; |
| |
| if (SMI_GYRO_CALL_API(get_fifo_framecount)(&fifo_framecount) < 0) { |
| PERR("bm160_get_fifo_framecount err\n"); |
| return -EINVAL; |
| } |
| if (fifo_framecount == 0) |
| return 0; |
| |
| smi_gyro_i2c_burst_read(client_data->client, SMI130_GYRO_FIFO_DATA_ADDR, |
| buf, fifo_framecount * f_len); |
| return fifo_framecount * f_len; |
| } |
| |
| /*! |
| * @brief show fifo_data_sel axis definition(Android definition, not sensor HW reg). |
| * 0--> x, y, z axis fifo data for every frame |
| * 1--> only x axis fifo data for every frame |
| * 2--> only y axis fifo data for every frame |
| * 3--> only z axis fifo data for every frame |
| */ |
| static ssize_t smi_gyro_show_fifo_data_sel(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int err; |
| unsigned char fifo_data_sel; |
| struct i2c_client *client = to_i2c_client(dev); |
| struct smi_gyro_client_data *client_data = i2c_get_clientdata(client); |
| signed char place = BOSCH_SENSOR_PLACE_UNKNOWN; |
| |
| SMI_GYRO_CALL_API(get_fifo_data_sel)(&fifo_data_sel); |
| |
| /*remapping fifo_dat_sel if define virtual place in BSP files*/ |
| if ((NULL != client_data->bosch_pd) && |
| (BOSCH_SENSOR_PLACE_UNKNOWN != client_data->bosch_pd->place)) { |
| place = client_data->bosch_pd->place; |
| /* sensor with place 0 needs not to be remapped */ |
| if ((place > 0) && (place < MAX_AXIS_REMAP_TAB_SZ)) { |
| if (SMI130_GYRO_FIFO_DAT_SEL_X == fifo_data_sel) |
| /* SMI130_GYRO_FIFO_DAT_SEL_X: 1, Y:2, Z:3; |
| *bosch_axis_remap_tab_dft[i].src_x:0, y:1, z:2 |
| *so we need to +1*/ |
| fifo_data_sel = |
| bosch_axis_remap_tab_dft[place].src_x + 1; |
| |
| else if (SMI130_GYRO_FIFO_DAT_SEL_Y == fifo_data_sel) |
| fifo_data_sel = |
| bosch_axis_remap_tab_dft[place].src_y + 1; |
| } |
| |
| } |
| |
| err = snprintf(buf, 16, "%d\n", fifo_data_sel); |
| return err; |
| } |
| |
| /*! |
| * @brief store fifo_data_sel axis definition(Android definition, not sensor HW reg). |
| * 0--> x, y, z axis fifo data for every frame |
| * 1--> only x axis fifo data for every frame |
| * 2--> only y axis fifo data for every frame |
| * 3--> only z axis fifo data for every frame |
| */ |
| static ssize_t smi_gyro_store_fifo_data_sel(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| |
| { |
| int err; |
| unsigned long fifo_data_sel; |
| |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| signed char place; |
| |
| err = kstrtoul(buf, 10, &fifo_data_sel); |
| if (err) |
| return err; |
| |
| /*save fifo_data_sel(android axis definition)*/ |
| client_data->fifo_datasel = (unsigned char) fifo_data_sel; |
| |
| /*remaping fifo_dat_sel if define virtual place*/ |
| if ((NULL != client_data->bosch_pd) && |
| (BOSCH_SENSOR_PLACE_UNKNOWN != client_data->bosch_pd->place)) { |
| place = client_data->bosch_pd->place; |
| /* sensor with place 0 needs not to be remapped */ |
| if ((place > 0) && (place < MAX_AXIS_REMAP_TAB_SZ)) { |
| /*Need X Y axis revesal sensor place: P1, P3, P5, P7 */ |
| /* SMI130_GYRO_FIFO_DAT_SEL_X: 1, Y:2, Z:3; |
| * but bosch_axis_remap_tab_dft[i].src_x:0, y:1, z:2 |
| * so we need to +1*/ |
| if (SMI130_GYRO_FIFO_DAT_SEL_X == fifo_data_sel) |
| fifo_data_sel = |
| bosch_axis_remap_tab_dft[place].src_x + 1; |
| |
| else if (SMI130_GYRO_FIFO_DAT_SEL_Y == fifo_data_sel) |
| fifo_data_sel = |
| bosch_axis_remap_tab_dft[place].src_y + 1; |
| } |
| } |
| |
| if (SMI_GYRO_CALL_API(set_fifo_data_sel)(fifo_data_sel) < 0) |
| return -EINVAL; |
| |
| return count; |
| } |
| |
| static ssize_t smi_gyro_show_fifo_tag(struct device *dev, |
| struct device_attribute *attr, char *buf) |
| { |
| int err; |
| unsigned char fifo_tag; |
| SMI_GYRO_CALL_API(get_fifo_tag)(&fifo_tag); |
| err = snprintf(buf, 16, "%d\n", fifo_tag); |
| return err; |
| } |
| |
| static ssize_t smi_gyro_store_fifo_tag(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| |
| { |
| int err; |
| unsigned long fifo_tag; |
| err = kstrtoul(buf, 10, &fifo_tag); |
| if (err) |
| return err; |
| SMI_GYRO_CALL_API(set_fifo_tag)(fifo_tag); |
| return count; |
| } |
| #endif |
| |
| static ssize_t smi130_gyro_driver_version_show(struct device *dev |
| , struct device_attribute *attr, char *buf) |
| { |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| int ret; |
| |
| if (client_data == NULL) { |
| printk(KERN_ERR "Invalid client_data pointer"); |
| return -ENODEV; |
| } |
| |
| ret = snprintf(buf, 128, "Driver version: %s\n", |
| DRIVER_VERSION); |
| return ret; |
| } |
| |
| #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING |
| static int smi_gyro_read_bootsampl(struct smi_gyro_client_data *client_data, |
| unsigned long enable_read) |
| { |
| int i = 0; |
| |
| if (enable_read) { |
| client_data->gyro_buffer_smi130_samples = false; |
| for (i = 0; i < client_data->gyro_bufsample_cnt; i++) { |
| if (client_data->debug_level & 0x08) |
| PINFO("gyro=%d,x=%d,y=%d,z=%d,sec=%d,ns=%lld\n", |
| i, client_data->smi130_gyro_samplist[i]->xyz[0], |
| client_data->smi130_gyro_samplist[i]->xyz[1], |
| client_data->smi130_gyro_samplist[i]->xyz[2], |
| client_data->smi130_gyro_samplist[i]->tsec, |
| client_data->smi130_gyro_samplist[i]->tnsec); |
| input_report_abs(client_data->gyrobuf_dev, ABS_X, |
| client_data->smi130_gyro_samplist[i]->xyz[0]); |
| input_report_abs(client_data->gyrobuf_dev, ABS_Y, |
| client_data->smi130_gyro_samplist[i]->xyz[1]); |
| input_report_abs(client_data->gyrobuf_dev, ABS_Z, |
| client_data->smi130_gyro_samplist[i]->xyz[2]); |
| input_report_abs(client_data->gyrobuf_dev, ABS_RX, |
| client_data->smi130_gyro_samplist[i]->tsec); |
| input_report_abs(client_data->gyrobuf_dev, ABS_RY, |
| client_data->smi130_gyro_samplist[i]->tnsec); |
| input_sync(client_data->gyrobuf_dev); |
| } |
| } else { |
| /* clean up */ |
| if (client_data->gyro_bufsample_cnt != 0) { |
| for (i = 0; i < SMI_GYRO_MAXSAMPLE; i++) |
| kmem_cache_free(client_data->smi_gyro_cachepool, |
| client_data->smi130_gyro_samplist[i]); |
| kmem_cache_destroy(client_data->smi_gyro_cachepool); |
| client_data->gyro_bufsample_cnt = 0; |
| } |
| |
| } |
| /*SYN_CONFIG indicates end of data*/ |
| input_event(client_data->gyrobuf_dev, EV_SYN, SYN_CONFIG, 0xFFFFFFFF); |
| input_sync(client_data->gyrobuf_dev); |
| if (client_data->debug_level & 0x08) |
| PINFO("End of gyro samples bufsample_cnt=%d\n", |
| client_data->gyro_bufsample_cnt); |
| return 0; |
| } |
| static ssize_t read_gyro_boot_sample_show(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| |
| return snprintf(buf, 16, "%u\n", |
| client_data->read_gyro_boot_sample); |
| } |
| static ssize_t read_gyro_boot_sample_store(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t count) |
| { |
| int err; |
| struct input_dev *input = to_input_dev(dev); |
| struct smi_gyro_client_data *client_data = input_get_drvdata(input); |
| unsigned long enable = 0; |
| |
| err = kstrtoul(buf, 10, &enable); |
| if (err) |
| return err; |
| if (enable > 1) { |
| PERR("Invalid value of input, input=%ld\n", enable); |
| return -EINVAL; |
| } |
| err = smi_gyro_read_bootsampl(client_data, enable); |
| if (err) |
| return err; |
| client_data->read_gyro_boot_sample = enable; |
| |
| return count; |
| } |
| #endif |
| |
| |
| static DEVICE_ATTR(chip_id, S_IRUSR, |
| smi_gyro_show_chip_id, NULL); |
| #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING |
| static DEVICE_ATTR(read_gyro_boot_sample, 0644, |
| read_gyro_boot_sample_show, read_gyro_boot_sample_store); |
| #endif |
| static DEVICE_ATTR(op_mode, S_IRUGO | S_IWUSR, |
| smi_gyro_show_op_mode, smi_gyro_store_op_mode); |
| static DEVICE_ATTR(value, S_IRUSR, |
| smi_gyro_show_value, NULL); |
| static DEVICE_ATTR(range, S_IRUGO | S_IWUSR, |
| smi_gyro_show_range, smi_gyro_store_range); |
| static DEVICE_ATTR(bandwidth, S_IRUGO | S_IWUSR, |
| smi_gyro_show_bandwidth, smi_gyro_store_bandwidth); |
| static DEVICE_ATTR(enable, S_IRUGO | S_IWUSR, |
| smi_gyro_show_enable, smi_gyro_store_enable); |
| static DEVICE_ATTR(delay, S_IRUGO | S_IWUSR, |
| smi_gyro_show_delay, smi_gyro_store_delay); |
| static DEVICE_ATTR(fastoffset_en, S_IWUSR, |
| NULL, smi_gyro_store_fastoffset_en); |
| static DEVICE_ATTR(slowoffset_en, S_IWUSR, |
| NULL, smi_gyro_store_slowoffset_en); |
| static DEVICE_ATTR(selftest, S_IRUGO, |
| smi_gyro_show_selftest, NULL); |
| static DEVICE_ATTR(sleepdur, S_IRUGO | S_IWUSR, |
| smi_gyro_show_sleepdur, smi_gyro_store_sleepdur); |
| static DEVICE_ATTR(autosleepdur, S_IRUGO | S_IWUSR, |
| smi_gyro_show_autosleepdur, smi_gyro_store_autosleepdur); |
| static DEVICE_ATTR(place, S_IRUSR, |
| smi_gyro_show_place, NULL); |
| static DEVICE_ATTR(enable_timer, S_IRUGO | S_IWUSR, |
| smi_gyro_show_enable_timer, smi_gyro_store_enable_timer); |
| static DEVICE_ATTR(debug_level, S_IRUGO | S_IWUSR, |
| smi130_gyro_show_debug_level, smi130_gyro_store_debug_level); |
| static DEVICE_ATTR(driver_version, S_IRUSR, |
| smi130_gyro_driver_version_show, NULL); |
| #ifdef SMI_GYRO_DEBUG |
| static DEVICE_ATTR(softreset, S_IWUSR, |
| NULL, smi_gyro_store_softreset); |
| static DEVICE_ATTR(regdump, S_IRUSR, |
| smi_gyro_show_dumpreg, NULL); |
| #endif |
| #ifdef SMI_GYRO_USE_FIFO |
| static DEVICE_ATTR(fifo_mode, S_IRUGO | S_IWUSR, |
| smi_gyro_show_fifo_mode, smi_gyro_store_fifo_mode); |
| static DEVICE_ATTR(fifo_framecount, S_IRUGO | S_IWUSR, |
| smi_gyro_show_fifo_framecount, smi_gyro_store_fifo_framecount); |
| static DEVICE_ATTR(fifo_overrun, S_IRUGO, |
| smi_gyro_show_fifo_overrun, NULL); |
| static DEVICE_ATTR(fifo_data_frame, S_IRUSR, |
| smi_gyro_show_fifo_data_frame, NULL); |
| static DEVICE_ATTR(fifo_data_sel, S_IRUGO | S_IWUSR, |
| smi_gyro_show_fifo_data_sel, smi_gyro_store_fifo_data_sel); |
| static DEVICE_ATTR(fifo_tag, S_IRUGO | S_IWUSR, |
| smi_gyro_show_fifo_tag, smi_gyro_store_fifo_tag); |
| #endif |
| |
| static struct attribute *smi_gyro_attributes[] = { |
| &dev_attr_chip_id.attr, |
| #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING |
| &dev_attr_read_gyro_boot_sample.attr, |
| #endif |
| &dev_attr_op_mode.attr, |
| &dev_attr_value.attr, |
| &dev_attr_range.attr, |
| &dev_attr_bandwidth.attr, |
| &dev_attr_enable.attr, |
| &dev_attr_delay.attr, |
| &dev_attr_fastoffset_en.attr, |
| &dev_attr_slowoffset_en.attr, |
| &dev_attr_selftest.attr, |
| &dev_attr_sleepdur.attr, |
| &dev_attr_autosleepdur.attr, |
| &dev_attr_place.attr, |
| &dev_attr_enable_timer.attr, |
| &dev_attr_debug_level.attr, |
| &dev_attr_driver_version.attr, |
| #ifdef SMI_GYRO_DEBUG |
| &dev_attr_softreset.attr, |
| &dev_attr_regdump.attr, |
| #endif |
| #ifdef SMI_GYRO_USE_FIFO |
| &dev_attr_fifo_mode.attr, |
| &dev_attr_fifo_framecount.attr, |
| &dev_attr_fifo_overrun.attr, |
| &dev_attr_fifo_data_frame.attr, |
| &dev_attr_fifo_data_sel.attr, |
| &dev_attr_fifo_tag.attr, |
| #endif |
| NULL |
| }; |
| |
| static struct attribute_group smi_gyro_attribute_group = { |
| .attrs = smi_gyro_attributes |
| }; |
| |
| |
| static int smi_gyro_input_init(struct smi_gyro_client_data *client_data) |
| { |
| struct input_dev *dev; |
| int err = 0; |
| |
| dev = input_allocate_device(); |
| if (NULL == dev) |
| return -ENOMEM; |
| |
| dev->name = SENSOR_NAME; |
| dev->id.bustype = BUS_I2C; |
| |
| input_set_capability(dev, EV_ABS, ABS_MISC); |
| input_set_abs_params(dev, ABS_X, SMI_GYRO_VALUE_MIN, SMI_GYRO_VALUE_MAX, 0, 0); |
| input_set_abs_params(dev, ABS_Y, SMI_GYRO_VALUE_MIN, SMI_GYRO_VALUE_MAX, 0, 0); |
| input_set_abs_params(dev, ABS_Z, SMI_GYRO_VALUE_MIN, SMI_GYRO_VALUE_MAX, 0, 0); |
| input_set_capability(dev, EV_MSC, MSC_GESTURE); |
| input_set_capability(dev, EV_MSC, MSC_RAW); |
| input_set_capability(dev, EV_MSC, MSC_SCAN); |
| input_set_capability(dev, EV_MSC, MSC_TIME); |
| input_set_drvdata(dev, client_data); |
| |
| err = input_register_device(dev); |
| if (err < 0) { |
| input_free_device(dev); |
| return err; |
| } |
| client_data->input = dev; |
| |
| return 0; |
| } |
| |
| static void smi_gyro_input_destroy(struct smi_gyro_client_data *client_data) |
| { |
| struct input_dev *dev = client_data->input; |
| |
| input_unregister_device(dev); |
| input_free_device(dev); |
| } |
| #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING |
| static void store_gyro_boot_sample(struct smi_gyro_client_data *client_data, |
| int x, int y, int z, struct timespec ts) |
| { |
| if (false == client_data->gyro_buffer_smi130_samples) |
| return; |
| if (ts.tv_sec < client_data->max_buffer_time) { |
| if (client_data->gyro_bufsample_cnt < SMI_GYRO_MAXSAMPLE) { |
| client_data->smi130_gyro_samplist[client_data-> |
| gyro_bufsample_cnt]->xyz[0] = x; |
| client_data->smi130_gyro_samplist[client_data-> |
| gyro_bufsample_cnt]->xyz[1] = y; |
| client_data->smi130_gyro_samplist[client_data-> |
| gyro_bufsample_cnt]->xyz[2] = z; |
| client_data->smi130_gyro_samplist[client_data-> |
| gyro_bufsample_cnt]->tsec = ts.tv_sec; |
| client_data->smi130_gyro_samplist[client_data-> |
| gyro_bufsample_cnt]->tnsec = ts.tv_nsec; |
| client_data->gyro_bufsample_cnt++; |
| } |
| } else { |
| PINFO("End of GYRO buffering %d", |
| client_data->gyro_bufsample_cnt); |
| client_data->gyro_buffer_smi130_samples = false; |
| } |
| } |
| #else |
| static void store_gyro_boot_sample(struct smi_gyro_client_data *client_data, |
| int x, int y, int z, struct timespec ts) |
| { |
| } |
| #endif |
| |
| |
| #ifdef CONFIG_ENABLE_SMI_ACC_GYRO_BUFFERING |
| static int smi130_gyro_early_buff_init(struct smi_gyro_client_data *client_data) |
| { |
| int i = 0, err = 0; |
| |
| client_data->gyro_bufsample_cnt = 0; |
| client_data->report_evt_cnt = 5; |
| client_data->max_buffer_time = 40; |
| |
| client_data->smi_gyro_cachepool = kmem_cache_create("gyro_sensor_sample" |
| , sizeof(struct smi_gyro_sample), 0, |
| SLAB_HWCACHE_ALIGN, NULL); |
| if (!client_data->smi_gyro_cachepool) { |
| PERR("smi_gyro_cachepool cache create failed\n"); |
| err = -ENOMEM; |
| goto clean_exit1; |
| } |
| |
| for (i = 0; i < SMI_GYRO_MAXSAMPLE; i++) { |
| client_data->smi130_gyro_samplist[i] = |
| kmem_cache_alloc(client_data->smi_gyro_cachepool, |
| GFP_KERNEL); |
| if (!client_data->smi130_gyro_samplist[i]) { |
| err = -ENOMEM; |
| goto clean_exit2; |
| } |
| } |
| |
| |
| client_data->gyrobuf_dev = input_allocate_device(); |
| if (!client_data->gyrobuf_dev) { |
| err = -ENOMEM; |
| PERR("input device allocation failed\n"); |
| goto clean_exit3; |
| } |
| client_data->gyrobuf_dev->name = "smi130_gyrobuf"; |
| client_data->gyrobuf_dev->id.bustype = BUS_I2C; |
| input_set_events_per_packet(client_data->gyrobuf_dev, |
| client_data->report_evt_cnt * SMI_GYRO_MAXSAMPLE); |
| set_bit(EV_ABS, client_data->gyrobuf_dev->evbit); |
| input_set_abs_params(client_data->gyrobuf_dev, ABS_X, |
| -G_MAX, G_MAX, 0, 0); |
| input_set_abs_params(client_data->gyrobuf_dev, ABS_Y, |
| -G_MAX, G_MAX, 0, 0); |
| input_set_abs_params(client_data->gyrobuf_dev, ABS_Z, |
| -G_MAX, G_MAX, 0, 0); |
| input_set_abs_params(client_data->gyrobuf_dev, ABS_RX, |
| -G_MAX, G_MAX, 0, 0); |
| input_set_abs_params(client_data->gyrobuf_dev, ABS_RY, |
| -G_MAX, G_MAX, 0, 0); |
| err = input_register_device(client_data->gyrobuf_dev); |
| if (err) { |
| PERR("unable to register input device %s\n", |
| client_data->gyrobuf_dev->name); |
| goto clean_exit3; |
| } |
| |
| client_data->gyro_buffer_smi130_samples = true; |
| |
| smi130_gyro_set_mode(SMI130_GYRO_MODE_NORMAL); |
| smi130_gyro_delay(5); |
| |
| smi130_gyro_set_bw(5); |
| smi130_gyro_delay(5); |
| |
| smi130_gyro_set_range_reg(4); |
| smi130_gyro_delay(5); |
| |
| smi130_gyro_set_mode(SMI130_GYRO_MODE_NORMAL); |
| smi130_gyro_delay(5); |
| |
| smi130_gyro_set_range_reg(4); |
| smi130_gyro_delay(5); |
| |
| smi130_gyro_set_data_en(SMI130_GYRO_ENABLE); |
| |
| return 1; |
| |
| clean_exit3: |
| input_free_device(client_data->gyrobuf_dev); |
| clean_exit2: |
| for (i = 0; i < SMI_GYRO_MAXSAMPLE; i++) |
| kmem_cache_free(client_data->smi_gyro_cachepool, |
| client_data->smi130_gyro_samplist[i]); |
| clean_exit1: |
| kmem_cache_destroy(client_data->smi_gyro_cachepool); |
| return 0; |
| } |
| |
| static void smi130_gyro_input_cleanup(struct smi_gyro_client_data *client_data) |
| { |
| int i = 0; |
| |
| input_unregister_device(client_data->gyrobuf_dev); |
| input_free_device(client_data->gyrobuf_dev); |
| for (i = 0; i < SMI_GYRO_MAXSAMPLE; i++) |
| kmem_cache_free(client_data->smi_gyro_cachepool, |
| client_data->smi130_gyro_samplist[i]); |
| kmem_cache_destroy(client_data->smi_gyro_cachepool); |
| } |
| |
| static int smi130_enable_int1(void) |
| { |
| return smi130_gyro_set_data_en(SMI130_GYRO_DISABLE); |
| } |
| #else |
| static int smi130_gyro_early_buff_init(struct smi_gyro_client_data *client_data) |
| { |
| return 1; |
| } |
| static void smi130_gyro_input_cleanup(struct smi_gyro_client_data *client_data) |
| { |
| } |
| static int smi130_enable_int1(void) |
| { |
| return smi130_gyro_set_data_en(SMI130_GYRO_ENABLE); |
| } |
| #endif |
| |
| |
| #if defined(SMI130_GYRO_ENABLE_INT1) || defined(SMI130_GYRO_ENABLE_INT2) |
| static void smi130_gyro_irq_work_func(struct work_struct *work) |
| { |
| struct smi_gyro_client_data *client_data = container_of(work, |
| struct smi_gyro_client_data, irq_work); |
| struct smi130_gyro_data_t gyro_data; |
| struct timespec ts; |
| ts = ns_to_timespec(client_data->timestamp); |
| |
| SMI_GYRO_CALL_API(get_dataXYZ)(&gyro_data); |
| /*remapping for SMI130_GYRO sensor*/ |
| smi130_gyro_remap_sensor_data(&gyro_data, client_data); |
| input_event(client_data->input, EV_MSC, MSC_TIME, |
| ts.tv_sec); |
| input_event(client_data->input, EV_MSC, MSC_TIME, |
| ts.tv_nsec); |
| input_event(client_data->input, EV_MSC, |
| MSC_GESTURE, gyro_data.datax); |
| input_event(client_data->input, EV_MSC, |
| MSC_RAW, gyro_data.datay); |
| input_event(client_data->input, EV_MSC, |
| MSC_SCAN, gyro_data.dataz); |
| input_sync(client_data->input); |
| store_gyro_boot_sample(client_data, gyro_data.datax, |
| gyro_data.datay, gyro_data.dataz, ts); |
| } |
| |
| static irqreturn_t smi_gyro_irq_handler(int irq, void *handle) |
| { |
| struct smi_gyro_client_data *client_data = handle; |
| client_data->timestamp= smi130_gyro_get_alarm_timestamp(); |
| schedule_work(&client_data->irq_work); |
| return IRQ_HANDLED; |
| } |
| #endif |
| static int smi_gyro_probe(struct i2c_client *client, const struct i2c_device_id *id) |
| { |
| int err = 0; |
| struct smi_gyro_client_data *client_data = NULL; |
| PINFO("function entrance"); |
| |
| if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) { |
| PERR("i2c_check_functionality error!"); |
| err = -EIO; |
| goto exit_err_clean; |
| } |
| |
| if (NULL == smi_gyro_client) { |
| smi_gyro_client = client; |
| } else { |
| PERR("this driver does not support multiple clients"); |
| err = -EINVAL; |
| goto exit_err_clean; |
| } |
| |
| /* check chip id */ |
| err = smi_gyro_check_chip_id(client); |
| if (!err) { |
| PINFO("Bosch Sensortec Device %s detected", SENSOR_NAME); |
| } else { |
| PERR("Bosch Sensortec Device not found, chip id mismatch"); |
| err = -1; |
| goto exit_err_clean; |
| } |
| |
| /* do soft reset */ |
| smi130_gyro_delay(5); |
| err = smi_gyro_set_soft_reset(client); |
| if (err < 0) { |
| PERR("erro soft reset!\n"); |
| err = -EINVAL; |
| goto exit_err_clean; |
| } |
| smi130_gyro_delay(30); |
| |
| |
| client_data = kzalloc(sizeof(struct smi_gyro_client_data), GFP_KERNEL); |
| if (NULL == client_data) { |
| PERR("no memory available"); |
| err = -ENOMEM; |
| goto exit_err_clean; |
| } |
| |
| i2c_set_clientdata(client, client_data); |
| client_data->client = client; |
| |
| mutex_init(&client_data->mutex_op_mode); |
| mutex_init(&client_data->mutex_enable); |
| |
| /* input device init */ |
| err = smi_gyro_input_init(client_data); |
| if (err < 0) |
| goto exit_err_clean; |
| |
| /* sysfs node creation */ |
| err = sysfs_create_group(&client_data->input->dev.kobj, |
| &smi_gyro_attribute_group); |
| |
| if (err < 0) |
| goto exit_err_sysfs; |
| |
| if (NULL != client->dev.platform_data) { |
| client_data->bosch_pd = kzalloc(sizeof(*client_data->bosch_pd), |
| GFP_KERNEL); |
| |
| if (NULL != client_data->bosch_pd) { |
| memcpy(client_data->bosch_pd, client->dev.platform_data, |
| sizeof(*client_data->bosch_pd)); |
| PINFO("%s sensor driver set place: p%d", |
| SENSOR_NAME, |
| client_data->bosch_pd->place); |
| } |
| } |
| |
| /* workqueue init */ |
| INIT_DELAYED_WORK(&client_data->work, smi_gyro_work_func); |
| atomic_set(&client_data->delay, SMI_GYRO_DELAY_DEFAULT); |
| |
| /* h/w init */ |
| client_data->device.bus_read = smi_gyro_i2c_read_wrapper; |
| client_data->device.bus_write = smi_gyro_i2c_write_wrapper; |
| client_data->device.delay_msec = smi130_gyro_delay; |
| SMI_GYRO_CALL_API(init)(&client_data->device); |
| |
| smi_gyro_dump_reg(client); |
| |
| client_data->enable = 0; |
| client_data->fifo_datasel = 0; |
| client_data->fifo_count = 0; |
| |
| /*workqueue init*/ |
| INIT_WORK(&client_data->report_data_work, |
| smi130_gyro_work_func); |
| reportdata_wq = create_singlethread_workqueue("smi130_gyro_wq"); |
| if (NULL == reportdata_wq) |
| PERR("fail to create the reportdta_wq %d", -ENOMEM); |
| hrtimer_init(&client_data->timer, CLOCK_MONOTONIC, |
| HRTIMER_MODE_REL); |
| client_data->timer.function = reportdata_timer_fun; |
| client_data->work_delay_kt = ns_to_ktime(10000000); |
| client_data->is_timer_running = 0; |
| client_data->time_odr = 500000; |
| #ifdef SMI130_GYRO_ENABLE_INT1 |
| err = SMI_GYRO_CALL_API(set_mode)(SMI130_GYRO_MODE_NORMAL); |
| smi130_gyro_delay(5); |
| /*config the interrupt and map the interrupt*/ |
| /*high level trigger*/ |
| err += smi130_gyro_set_int_lvl(SMI130_GYRO_INT1_DATA, 1); |
| smi130_gyro_delay(5); |
| err += smi130_gyro_set_int_od(SMI130_GYRO_INT1, 0); |
| smi130_gyro_delay(5); |
| err += smi130_gyro_set_int_data(SMI130_GYRO_INT1_DATA, SMI130_GYRO_ENABLE); |
| smi130_gyro_delay(5); |
| err += smi130_enable_int1(); |
| smi130_gyro_delay(5); |
| /*default odr is 100HZ*/ |
| err += SMI_GYRO_CALL_API(set_bw)(7); |
| smi130_gyro_delay(5); |
| if (err) |
| PERR("config sensor data ready interrupt failed"); |
| #endif |
| #ifdef SMI130_GYRO_ENABLE_INT2 |
| err = SMI_GYRO_CALL_API(set_mode)(SMI130_GYRO_MODE_NORMAL); |
| /*config the interrupt and map the interrupt*/ |
| /*high level trigger*/ |
| err += smi130_gyro_set_int_lvl(SMI130_GYRO_INT2_DATA, 1); |
| smi130_gyro_delay(3); |
| err += smi130_gyro_set_int_od(SMI130_GYRO_INT2, 0); |
| smi130_gyro_delay(5); |
| err += smi130_gyro_set_int_data(SMI130_GYRO_INT2_DATA, SMI130_GYRO_ENABLE); |
| smi130_gyro_delay(3); |
| err += smi130_gyro_set_data_en(SMI130_GYRO_ENABLE); |
| /*default odr is 100HZ*/ |
| err += SMI_GYRO_CALL_API(set_bw)(7); |
| smi130_gyro_delay(5); |
| if (err) |
| PERR("config sensor data ready interrupt failed"); |
| #endif |
| err += SMI_GYRO_CALL_API(set_mode)( |
| SMI_GYRO_VAL_NAME(MODE_SUSPEND)); |
| if (err < 0) |
| goto exit_err_sysfs; |
| #ifdef CONFIG_HAS_EARLYSUSPEND |
| client_data->early_suspend_handler.suspend = smi_gyro_early_suspend; |
| client_data->early_suspend_handler.resume = smi_gyro_late_resume; |
| register_early_suspend(&client_data->early_suspend_handler); |
| #endif |
| #if defined(SMI130_GYRO_ENABLE_INT1) || defined(SMI130_GYRO_ENABLE_INT2) |
| client_data->gpio_pin = of_get_named_gpio_flags( |
| client->dev.of_node, |
| "smi130_gyro,gpio_irq", 0, NULL); |
| PDEBUG("smi130_gyro qpio number:%d\n", client_data->gpio_pin); |
| err = gpio_request_one(client_data->gpio_pin, |
| GPIOF_IN, "bm160_interrupt"); |
| if (err < 0) { |
| PDEBUG("requestgpio failed\n"); |
| client_data->gpio_pin = 0; |
| } |
| if (client_data->gpio_pin != 0) { |
| err = gpio_direction_input(client_data->gpio_pin); |
| if (err < 0) { |
| PDEBUG("request failed\n"); |
| } |
| client_data->IRQ = gpio_to_irq(client_data->gpio_pin); |
| err = request_irq(client_data->IRQ, smi_gyro_irq_handler, |
| IRQF_TRIGGER_RISING, |
| SENSOR_NAME, client_data); |
| if (err < 0) |
| PDEBUG("request handle failed\n"); |
| } |
| INIT_WORK(&client_data->irq_work, smi130_gyro_irq_work_func); |
| #endif |
| |
| err = smi130_gyro_early_buff_init(client_data); |
| if (!err) |
| return err; |
| |
| PINFO("sensor %s probed successfully", SENSOR_NAME); |
| |
| dev_dbg(&client->dev, |
| "i2c_client: %p client_data: %p i2c_device: %p input: %p", |
| client, client_data, &client->dev, client_data->input); |
| |
| return 0; |
| |
| exit_err_sysfs: |
| if (err) |
| smi_gyro_input_destroy(client_data); |
| |
| exit_err_clean: |
| if (err) { |
| if (client_data != NULL) { |
| kfree(client_data); |
| client_data = NULL; |
| } |
| |
| smi_gyro_client = NULL; |
| } |
| |
| return err; |
| } |
| |
| #ifdef CONFIG_HAS_EARLYSUSPEND |
| static int smi_gyro_pre_suspend(struct i2c_client *client) |
| { |
| int err = 0; |
| struct smi_gyro_client_data *client_data = |
| (struct smi_gyro_client_data *)i2c_get_clientdata(client); |
| PINFO("function entrance"); |
| |
| mutex_lock(&client_data->mutex_enable); |
| if (client_data->enable) { |
| cancel_delayed_work_sync(&client_data->work); |
| PINFO("cancel work"); |
| } |
| mutex_unlock(&client_data->mutex_enable); |
| if (client_data->is_timer_running) { |
| hrtimer_cancel(&client_data->timer); |
| client_data->base_time = 0; |
| client_data->timestamp = 0; |
| client_data->fifo_time = 0; |
| client_data->gyro_count = 0; |
| } |
| return err; |
| } |
| |
| static int smi_gyro_post_resume(struct i2c_client *client) |
| { |
| int err = 0; |
| struct smi_gyro_client_data *client_data = |
| (struct smi_gyro_client_data *)i2c_get_clientdata(client); |
| |
| PINFO("function entrance"); |
| mutex_lock(&client_data->mutex_enable); |
| if (client_data->enable) { |
| schedule_delayed_work(&client_data->work, |
| msecs_to_jiffies( |
| atomic_read(&client_data->delay))); |
| } |
| mutex_unlock(&client_data->mutex_enable); |
| if (client_data->is_timer_running) { |
| hrtimer_start(&client_data->timer, |
| ns_to_ktime(client_data->time_odr), |
| HRTIMER_MODE_REL); |
| client_data->base_time = 0; |
| client_data->timestamp = 0; |
| client_data->is_timer_running = 1; |
| client_data->gyro_count = 0; |
| } |
| return err; |
| } |
| |
| static void smi_gyro_early_suspend(struct early_suspend *handler) |
| { |
| int err = 0; |
| struct smi_gyro_client_data *client_data = |
| (struct smi_gyro_client_data *)container_of(handler, |
| struct smi_gyro_client_data, early_suspend_handler); |
| struct i2c_client *client = client_data->client; |
| |
| PINFO("function entrance"); |
| |
| mutex_lock(&client_data->mutex_op_mode); |
| if (client_data->enable) { |
| err = smi_gyro_pre_suspend(client); |
| err = SMI_GYRO_CALL_API(set_mode)( |
| SMI_GYRO_VAL_NAME(MODE_SUSPEND)); |
| } |
| mutex_unlock(&client_data->mutex_op_mode); |
| } |
| |
| static void smi_gyro_late_resume(struct early_suspend *handler) |
| { |
| |
| int err = 0; |
| struct smi_gyro_client_data *client_data = |
| (struct smi_gyro_client_data *)container_of(handler, |
| struct smi_gyro_client_data, early_suspend_handler); |
| struct i2c_client *client = client_data->client; |
| |
| PINFO("function entrance"); |
| |
| mutex_lock(&client_data->mutex_op_mode); |
| |
| if (client_data->enable) |
| err = SMI_GYRO_CALL_API(set_mode)(SMI_GYRO_VAL_NAME(MODE_NORMAL)); |
| |
| /* post resume operation */ |
| smi_gyro_post_resume(client); |
| |
| mutex_unlock(&client_data->mutex_op_mode); |
| } |
| #endif |
| |
| void smi_gyro_shutdown(struct i2c_client *client) |
| { |
| struct smi_gyro_client_data *client_data = |
| (struct smi_gyro_client_data *)i2c_get_clientdata(client); |
| |
| mutex_lock(&client_data->mutex_op_mode); |
| SMI_GYRO_CALL_API(set_mode)( |
| SMI_GYRO_VAL_NAME(MODE_DEEPSUSPEND)); |
| mutex_unlock(&client_data->mutex_op_mode); |
| } |
| |
| static int smi_gyro_remove(struct i2c_client *client) |
| { |
| int err = 0; |
| u8 op_mode; |
| |
| struct smi_gyro_client_data *client_data = |
| (struct smi_gyro_client_data *)i2c_get_clientdata(client); |
| |
| if (NULL != client_data) { |
| #ifdef CONFIG_HAS_EARLYSUSPEND |
| unregister_early_suspend(&client_data->early_suspend_handler); |
| #endif |
| smi130_gyro_input_cleanup(client_data); |
| mutex_lock(&client_data->mutex_op_mode); |
| SMI_GYRO_CALL_API(get_mode)(&op_mode); |
| if (SMI_GYRO_VAL_NAME(MODE_NORMAL) == op_mode) { |
| cancel_delayed_work_sync(&client_data->work); |
| PINFO("cancel work"); |
| } |
| mutex_unlock(&client_data->mutex_op_mode); |
| |
| err = SMI_GYRO_CALL_API(set_mode)( |
| SMI_GYRO_VAL_NAME(MODE_SUSPEND)); |
| smi130_gyro_delay(SMI_GYRO_I2C_WRITE_DELAY_TIME); |
| |
| sysfs_remove_group(&client_data->input->dev.kobj, |
| &smi_gyro_attribute_group); |
| smi_gyro_input_destroy(client_data); |
| kfree(client_data); |
| smi_gyro_client = NULL; |
| } |
| |
| return err; |
| } |
| |
| static const struct i2c_device_id smi_gyro_id[] = { |
| { SENSOR_NAME, 0 }, |
| { } |
| }; |
| |
| MODULE_DEVICE_TABLE(i2c, smi_gyro_id); |
| static const struct of_device_id smi130_gyro_of_match[] = { |
| { .compatible = "smi130_gyro", }, |
| { } |
| }; |
| MODULE_DEVICE_TABLE(i2c, smi130_gyro_of_match); |
| |
| static struct i2c_driver smi_gyro_driver = { |
| .driver = { |
| .owner = THIS_MODULE, |
| .name = SENSOR_NAME, |
| .of_match_table = smi130_gyro_of_match, |
| }, |
| .class = I2C_CLASS_HWMON, |
| .id_table = smi_gyro_id, |
| .probe = smi_gyro_probe, |
| .remove = smi_gyro_remove, |
| .shutdown = smi_gyro_shutdown, |
| }; |
| |
| static int __init SMI_GYRO_init(void) |
| { |
| return i2c_add_driver(&smi_gyro_driver); |
| } |
| |
| static void __exit SMI_GYRO_exit(void) |
| { |
| i2c_del_driver(&smi_gyro_driver); |
| } |
| |
| MODULE_AUTHOR("contact@bosch-sensortec.com>"); |
| MODULE_DESCRIPTION("SMI_GYRO GYROSCOPE SENSOR DRIVER"); |
| MODULE_LICENSE("GPL v2"); |
| |
| module_init(SMI_GYRO_init); |
| module_exit(SMI_GYRO_exit); |