/*
* stk8baxx.c - Linux kernel modules for sensortek stk8ba50 / stk8ba50-R /
* stk8ba53 accelerometer
*
* Copyright (C) 2012~2016 Lex Hsieh / Sensortek
*
* 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.
*/
#include <linux/i2c.h>
#include <linux/kernel.h>
#include <linux/slab.h>
#include <linux/input.h>
#include <linux/delay.h>
#include <linux/interrupt.h>
#include <linux/workqueue.h>
#include <linux/mutex.h>
#include <linux/uaccess.h>
#include <linux/fs.h>
#include <linux/module.h>
#include <linux/math64.h>
#include <linux/init.h>
#include <linux/sensor-dev.h>
#define STK_ACC_DRIVER_VERSION "3.7.1_rk_0425_0428"
/*------------------User-defined settings-------------------------*/
/* #define CONFIG_SENSORS_STK8BA53 */
#define CONFIG_SENSORS_STK8BA50
/* #define STK_DEBUG_PRINT */
/* #define STK_LOWPASS */
#define STK_FIR_LEN 4 /* 1~32 */
/* #define STK_TUNE */
/* #define STK_ZG_FILTER */
#define STK_HOLD_ODR
#define STK_DEBUG_CALI
#define STK8BAXX_DEF_PLACEMENT 7
/*------------------Miscellaneous settings-------------------------*/
#define STK8BAXX_I2C_NAME "stk8baxx"
#define ACC_IDEVICE_NAME "accelerometer"
#define STK8BAXX_INIT_ODR 0xD /* 0xB:125Hz, 0xA:62Hz */
#define STK8BAXX_RNG_2G 0x3
#define STK8BAXX_RNG_4G 0x5
#define STK8BAXX_RNG_8G 0x8
#define STK8BAXX_RNG_16G 0xC
#ifdef CONFIG_SENSORS_STK8BA53
/* Parameters under +-4g dynamic range */
#define STK_DEF_DYNAMIC_RANGE STK8BAXX_RNG_4G
#if (STK_DEF_DYNAMIC_RANGE == STK8BAXX_RNG_4G)
#define STK_LSB_1G 512
#define STK_DEF_RANGE 4
#elif (STK_DEF_DYNAMIC_RANGE == STK8BAXX_RNG_2G)
#define STK_LSB_1G 1024
#define STK_DEF_RANGE 2
#elif (STK_DEF_DYNAMIC_RANGE == STK8BAXX_RNG_8G)
#define STK_LSB_1G 256
#define STK_DEF_RANGE 8
#elif (STK_DEF_DYNAMIC_RANGE == STK8BAXX_RNG_16G)
#define STK_LSB_1G 128
#define STK_DEF_RANGE 16
#endif
#define STK_ZG_COUNT (STK_LSB_1G / 128)
#define STK_TUNE_XYOFFSET (STK_LSB_1G * 3 / 10)
#define STK_TUNE_ZOFFSET (STK_LSB_1G * 3 / 10) /* (STK_LSB_1G * 3 / 20) */
#define STK_TUNE_NOISE (STK_LSB_1G / 10)
#else
/* Parameters under +-2g dynamic range */
#define STK_DEF_DYNAMIC_RANGE STK8BAXX_RNG_2G
#if (STK_DEF_DYNAMIC_RANGE == STK8BAXX_RNG_2G)
#define STK_LSB_1G 256
#define STK_DEF_RANGE 2
#elif (STK_DEF_DYNAMIC_RANGE == STK8BAXX_RNG_4G)
#define STK_LSB_1G 128
#define STK_DEF_RANGE 4
#elif (STK_DEF_DYNAMIC_RANGE == STK8BAXX_RNG_8G)
#define STK_LSB_1G 64
#define STK_DEF_RANGE 8
#elif (STK_DEF_DYNAMIC_RANGE == STK8BAXX_RNG_16G)
#define STK_LSB_1G 32
#define STK_DEF_RANGE 16
#endif
#define STK_ZG_COUNT (STK_LSB_1G / 128 + 1)
#define STK_TUNE_XYOFFSET (STK_LSB_1G * 4 / 10)
#define STK_TUNE_ZOFFSET (STK_LSB_1G * 4 / 10) /* (STK_LSB_1G * 3 / 20) */
#define STK_TUNE_NOISE (STK_LSB_1G / 10)
#endif
#define STK8BAXX_RANGE_UG (STK_DEF_RANGE * 16384)
/* STK_OFFSET_REG_LSB_1G is fixed for all dynamic range */
#define STK_OFFSET_REG_LSB_1G 128
#define STK_TUNE_NUM 60
#define STK_TUNE_DELAY 30
#define STK_EVENT_SINCE_EN_LIMIT_DEF (1)
#define STK8BA50_ID 0x09
#define STK8BA50R_ID 0x86
#define STK8BA53_ID 0x87
/*------------------Calibration prameters-------------------------*/
#define STK_SAMPLE_NO 10
#define STK_ACC_CALI_VER0 0x18
#define STK_ACC_CALI_VER1 0x03
#define STK_ACC_CALI_END '\0'
#define STK_ACC_CALI_FILE "/data/misc/stkacccali.conf"
#define STK_ACC_CALI_FILE_SDCARD "/sdcard/.stkacccali.conf"
#define STK_ACC_CALI_FILE_SIZE 25
#define STK_K_SUCCESS_TUNE 0x04
#define STK_K_SUCCESS_FT2 0x03
#define STK_K_SUCCESS_FT1 0x02
#define STK_K_SUCCESS_FILE 0x01
#define STK_K_NO_CALI 0xFF
#define STK_K_RUNNING 0xFE
#define STK_K_FAIL_LRG_DIFF 0xFD
#define STK_K_FAIL_OPEN_FILE 0xFC
#define STK_K_FAIL_W_FILE 0xFB
#define STK_K_FAIL_R_BACK 0xFA
#define STK_K_FAIL_R_BACK_COMP 0xF9
#define STK_K_FAIL_I2C 0xF8
#define STK_K_FAIL_K_PARA 0xF7
#define STK_K_FAIL_OUT_RG 0xF6
#define STK_K_FAIL_ENG_I2C 0xF5
#define STK_K_FAIL_FT1_USD 0xF4
#define STK_K_FAIL_FT2_USD 0xF3
#define STK_K_FAIL_WRITE_NOFST 0xF2
#define STK_K_FAIL_OTP_5T 0xF1
#define STK_K_FAIL_PLACEMENT 0xF0
/*------------------stk8baxx registers-------------------------*/
#define STK8BAXX_XOUT1 0x02
#define STK8BAXX_XOUT2 0x03
#define STK8BAXX_YOUT1 0x04
#define STK8BAXX_YOUT2 0x05
#define STK8BAXX_ZOUT1 0x06
#define STK8BAXX_ZOUT2 0x07
#define STK8BAXX_INTSTS1 0x09
#define STK8BAXX_INTSTS2 0x0A
#define STK8BAXX_EVENTINFO1 0x0B
#define STK8BAXX_EVENTINFO2 0x0C
#define STK8BAXX_RANGESEL 0x0F
#define STK8BAXX_BWSEL 0x10
#define STK8BAXX_POWMODE 0x11
#define STK8BAXX_DATASETUP 0x13
#define STK8BAXX_SWRST 0x14
#define STK8BAXX_INTEN1 0x16
#define STK8BAXX_INTEN2 0x17
#define STK8BAXX_INTMAP1 0x19
#define STK8BAXX_INTMAP2 0x1A
#define STK8BAXX_INTMAP3 0x1B
#define STK8BAXX_DATASRC 0x1E
#define STK8BAXX_INTCFG1 0x20
#define STK8BAXX_INTCFG2 0x21
#define STK8BAXX_LGDLY 0x22
#define STK8BAXX_LGTHD 0x23
#define STK8BAXX_HLGCFG 0x24
#define STK8BAXX_HGDLY 0x25
#define STK8BAXX_HGTHD 0x26
#define STK8BAXX_SLOPEDLY 0x27
#define STK8BAXX_SLOPETHD 0x28
#define STK8BAXX_TAPTIME 0x2A
#define STK8BAXX_TAPCFG 0x2B
#define STK8BAXX_ORIENTCFG 0x2C
#define STK8BAXX_ORIENTTHETA 0x2D
#define STK8BAXX_FLATTHETA 0x2E
#define STK8BAXX_FLATHOLD 0x2F
#define STK8BAXX_SLFTST 0x32
#define STK8BAXX_INTFCFG 0x34
#define STK8BAXX_OFSTCOMP1 0x36
#define STK8BAXX_OFSTCOMP2 0x37
#define STK8BAXX_OFSTFILTX 0x38
#define STK8BAXX_OFSTFILTY 0x39
#define STK8BAXX_OFSTFILTZ 0x3A
#define STK8BAXX_OFSTUNFILTX 0x3B
#define STK8BAXX_OFSTUNFILTY 0x3C
#define STK8BAXX_OFSTUNFILTZ 0x3D
/* ZOUT1 register */
#define STK8BAXX_O_NEW 0x01
/* SWRST register */
#define STK8BAXX_SWRST_VAL 0xB6
/* STK8BAXX_POWMODE register */
#define STK8BAXX_MD_SUSPEND 0x80
#define STK8BAXX_MD_NORMAL 0x00
#define STK8BAXX_MD_SLP_MASK 0x1E
/* RANGESEL register */
#define STK8BAXX_RANGE_MASK 0x0F
/* OFSTCOMP1 register */
#define STK8BAXX_OF_CAL_DRY_MASK 0x10
#define CAL_AXIS_X_EN 0x20
#define CAL_AXIS_Y_EN 0x40
#define CAL_AXIS_Z_EN 0x60
#define CAL_OFST_RST 0x80
/* OFSTCOMP2 register */
#define CAL_TG_X0_Y0_ZPOS1 0x20
#define CAL_TG_X0_Y0_ZNEG1 0x40
/*no_create_attr:the initial is 1-->no create attr. if created, change no_create_att to 0.*/
static int no_create_att = 1;
static int enable_status = -1;
/*------------------Data structure-------------------------*/
struct stk8baxx_acc {
union {
struct {
s16 x;
s16 y;
s16 z;
};
s16 acc[3];
};
};
#if defined(STK_LOWPASS)
#define MAX_FIR_LEN 32
struct data_filter {
s16 raw[MAX_FIR_LEN][3];
int sum[3];
int num;
int idx;
};
#endif
struct stk8baxx_data {
struct i2c_client *client;
struct input_dev *input_dev;
int irq;
struct stk8baxx_acc acc_xyz;
atomic_t enabled;
bool first_enable;
struct work_struct stk_work;
struct hrtimer acc_timer;
struct workqueue_struct *stk_mems_work_queue;
unsigned char stk8baxx_placement;
atomic_t cali_status;
atomic_t recv_reg;
bool re_enable;
#if defined(STK_LOWPASS)
atomic_t firlength;
atomic_t fir_en;
struct data_filter fir;
#endif
int event_since_en;
int event_since_en_limit;
u8 stk_tune_offset_record[3];
#ifdef STK_TUNE
int stk_tune_offset[3];
int stk_tune_sum[3];
int stk_tune_max[3];
int stk_tune_min[3];
int stk_tune_index;
int stk_tune_done;
s64 stk_tune_square_sum[3];
u32 variance[3];
#endif
};
/*------------------Function prototype-------------------------*/
static int stk8baxx_set_enable(struct stk8baxx_data *stk, char en);
static int stk8baxx_read_sensor_data(struct stk8baxx_data *stk);
/*------------------Global variables-------------------------*/
static struct stk8baxx_data *stk8baxx_data_ptr;
static struct sensor_private_data *sensor_ptr;
/*------------------Main functions-------------------------*/
static s32 stk8baxx_smbus_write_byte_data(u8 command, u8 value)
{
return sensor_write_reg(stk8baxx_data_ptr->client, command, value);
}
static int stk8baxx_smbus_read_byte_data(u8 command)
{
return sensor_read_reg(stk8baxx_data_ptr->client, command);
}
static int stk8baxx_chk_for_addr(struct stk8baxx_data *stk, s32 org_address, unsigned short reset_address)
{
int result;
s32 expected_reg0 = 0x86;
if ((org_address & 0xFE) == 0x18)
expected_reg0 = 0x86;
else
expected_reg0 = 0x87;
stk->client->addr = reset_address;
result = stk8baxx_smbus_write_byte_data(STK8BAXX_SWRST, STK8BAXX_SWRST_VAL);
printk(KERN_INFO "%s:issue sw reset to 0x%x, result=%d\n", __func__, reset_address, result);
usleep_range(2000, 3000);
stk->client->addr = org_address;
printk(KERN_INFO "%s Revise I2C Address = 0x%x\n", __func__, org_address);
result = stk8baxx_smbus_write_byte_data(STK8BAXX_POWMODE, STK8BAXX_MD_NORMAL);
result = stk8baxx_smbus_read_byte_data(0x0);
if (result < 0) {
printk(KERN_INFO "%s: read 0x0, result=%d\n", __func__, result);
return result;
}
if (result == expected_reg0) {
printk(KERN_INFO "%s:passed, expected_reg0=0x%x\n", __func__, expected_reg0);
result = stk8baxx_smbus_write_byte_data(STK8BAXX_SWRST, STK8BAXX_SWRST_VAL);
if (result < 0) {
printk(KERN_ERR "%s:failed to issue software reset, error=%d\n", __func__, result);
return result;
}
usleep_range(2000, 3000);
return 1;
}
return 0;
}
static int stk8baxx_sw_reset(struct stk8baxx_data *stk)
{
unsigned short org_addr = 0;
int result;
org_addr = stk->client->addr;
printk(KERN_INFO "%s:org_addr=0x%x\n", __func__, org_addr);
if ((org_addr & 0xFE) == 0x18) {
result = stk8baxx_chk_for_addr(stk, org_addr, 0x18);
if (result == 1)
return 0;
result = stk8baxx_chk_for_addr(stk, org_addr, 0x19);
if (result == 1)
return 0;
result = stk8baxx_chk_for_addr(stk, org_addr, 0x08);
if (result == 1)
return 0;
result = stk8baxx_chk_for_addr(stk, org_addr, 0x28);
if (result == 1)
return 0;
} else if (org_addr == 0x28) {
result = stk8baxx_chk_for_addr(stk, org_addr, 0x28);
if (result == 1)
return 0;
result = stk8baxx_chk_for_addr(stk, org_addr, 0x18);
if (result == 1)
return 0;
result = stk8baxx_chk_for_addr(stk, org_addr, 0x08);
if (result == 1)
return 0;
}
result = stk8baxx_chk_for_addr(stk, org_addr, 0x0B);
return 0;
}
static int stk8baxx_reg_init(struct stk8baxx_data *stk, struct i2c_client *client, struct sensor_private_data *sensor)
{
int result;
int aa;
#ifdef CONFIG_SENSORS_STK8BA53
printk(KERN_INFO "%s: Initialize stk8ba53\n", __func__);
#else
printk(KERN_INFO "%s: Initialize stk8ba50/stk8ba50-r\n", __func__);
#endif
/* sw reset */
result = stk8baxx_sw_reset(stk);
if (result < 0) {
printk(KERN_ERR "%s:failed to stk8baxx_sw_reset, error=%d\n", __func__, result);
return result;
}
result = stk8baxx_smbus_write_byte_data(STK8BAXX_POWMODE, STK8BAXX_MD_NORMAL);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_POWMODE, result);
return result;
}
result = stk8baxx_smbus_read_byte_data(STK8BAXX_LGDLY);
if (result < 0) {
printk(KERN_ERR "%s: failed to read acc data, error=%d\n", __func__, result);
return result;
}
if (result == STK8BA50_ID) {
printk(KERN_INFO "%s: chip is stk8ba50\n", __func__);
sensor->devid = STK8BA50_ID;
} else {
result = stk8baxx_smbus_read_byte_data(0x0);
if (result < 0) {
printk(KERN_ERR "%s: failed to read acc data, error=%d\n", __func__, result);
return result;
}
printk(KERN_INFO "%s: 0x0=0x%x\n", __func__, result);
if (result == STK8BA50R_ID) {
printk(KERN_INFO "%s: chip is stk8ba50-R\n", __func__);
sensor->devid = STK8BA50R_ID;
} else {
printk(KERN_INFO "%s: chip is stk8ba53\n", __func__);
sensor->devid = STK8BA53_ID;
}
}
#ifdef CONFIG_SENSORS_STK8BA53
if (sensor->devid != STK8BA53_ID) {
printk(KERN_ERR "%s: stk8ba53 is not attached, devid=0x%x\n", __func__, sensor->devid);
return -ENODEV;
}
#else
if (sensor->devid == STK8BA53_ID) {
printk(KERN_ERR "%s: stk8ba50/stk8ba50-R is not attached, devid=0x%x\n", __func__, sensor->devid);
return -ENODEV;
}
#endif
if (sensor->pdata->irq_enable) {
/* map new data int to int1 */
result = stk8baxx_smbus_write_byte_data(STK8BAXX_INTMAP2, 0x01);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_INTMAP2, result);
return result;
}
/* enable new data in */
result = stk8baxx_smbus_write_byte_data(STK8BAXX_INTEN2, 0x10);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_INTEN2, result);
return result;
}
/* non-latch int */
result = stk8baxx_smbus_write_byte_data(STK8BAXX_INTCFG2, 0x00);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_INTCFG2, result);
return result;
}
/* filtered data source for new data int */
result = stk8baxx_smbus_write_byte_data(STK8BAXX_DATASRC, 0x00);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_DATASRC, result);
return result;
}
/* int1, push-pull, active high */
result = stk8baxx_smbus_write_byte_data(STK8BAXX_INTCFG1, 0x01);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_INTCFG1, result);
return result;
}
}
#ifdef CONFIG_SENSORS_STK8BA53
/* +- 4g */
result = stk8baxx_smbus_write_byte_data(STK8BAXX_RANGESEL, STK_DEF_DYNAMIC_RANGE);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_RANGESEL, result);
return result;
}
#else
/* +- 2g */
result = stk8baxx_smbus_write_byte_data(STK8BAXX_RANGESEL, STK_DEF_DYNAMIC_RANGE);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_RANGESEL, result);
return result;
}
#endif
/* ODR = 62 Hz */
result = stk8baxx_smbus_write_byte_data(STK8BAXX_BWSEL, STK8BAXX_INIT_ODR);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_BWSEL, result);
return result;
}
/* i2c watchdog enable, 1 ms timer perios */
result = stk8baxx_smbus_write_byte_data(STK8BAXX_INTFCFG, 0x04);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_INTFCFG, result);
return result;
}
result = stk8baxx_smbus_write_byte_data(STK8BAXX_POWMODE, STK8BAXX_MD_SUSPEND);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_POWMODE, result);
return result;
}
atomic_set(&stk->enabled, 0);
stk->first_enable = true;
atomic_set(&stk->cali_status, STK_K_NO_CALI);
atomic_set(&stk->recv_reg, 0);
#ifdef STK_LOWPASS
memset(&stk->fir, 0x00, sizeof(stk->fir));
atomic_set(&stk->firlength, STK_FIR_LEN);
atomic_set(&stk->fir_en, 1);
#endif
for (aa = 0; aa < 3; aa++)
stk->stk_tune_offset_record[aa] = 0;
#ifdef STK_TUNE
for (aa = 0; aa < 3; aa++) {
stk->stk_tune_offset[aa] = 0;
stk->stk_tune_sum[aa] = 0;
stk->stk_tune_max[aa] = 0;
stk->stk_tune_min[aa] = 0;
stk->stk_tune_square_sum[aa] = 0LL;
stk->variance[aa] = 0;
}
stk->stk_tune_done = 0;
stk->stk_tune_index = 0;
#endif
stk->event_since_en_limit = STK_EVENT_SINCE_EN_LIMIT_DEF;
return 0;
}
#ifdef STK_LOWPASS
static void stk8baxx_low_pass(struct stk8baxx_data *stk, struct stk8baxx_acc *acc_lp)
{
int idx, firlength = atomic_read(&stk->firlength);
#ifdef STK_ZG_FILTER
s16 zero_fir = 0;
#endif
if (atomic_read(&stk->fir_en)) {
if (stk->fir.num < firlength) {
stk->fir.raw[stk->fir.num][0] = acc_lp->x;
stk->fir.raw[stk->fir.num][1] = acc_lp->y;
stk->fir.raw[stk->fir.num][2] = acc_lp->z;
stk->fir.sum[0] += acc_lp->x;
stk->fir.sum[1] += acc_lp->y;
stk->fir.sum[2] += acc_lp->z;
stk->fir.num++;
stk->fir.idx++;
} else {
idx = stk->fir.idx % firlength;
stk->fir.sum[0] -= stk->fir.raw[idx][0];
stk->fir.sum[1] -= stk->fir.raw[idx][1];
stk->fir.sum[2] -= stk->fir.raw[idx][2];
stk->fir.raw[idx][0] = acc_lp->x;
stk->fir.raw[idx][1] = acc_lp->y;
stk->fir.raw[idx][2] = acc_lp->z;
stk->fir.sum[0] += acc_lp->x;
stk->fir.sum[1] += acc_lp->y;
stk->fir.sum[2] += acc_lp->z;
stk->fir.idx++;
#ifdef STK_ZG_FILTER
if (abs(stk->fir.sum[0] / firlength) <= STK_ZG_COUNT)
acc_lp->x = (stk->fir.sum[0] * zero_fir) / firlength;
else
acc_lp->x = stk->fir.sum[0] / firlength;
if (abs(stk->fir.sum[1] / firlength) <= STK_ZG_COUNT)
acc_lp->y = (stk->fir.sum[1] * zero_fir) / firlength;
else
acc_lp->y = stk->fir.sum[1] / firlength;
if (abs(stk->fir.sum[2] / firlength) <= STK_ZG_COUNT)
acc_lp->z = (stk->fir.sum[2] * zero_fir) / firlength;
else
acc_lp->z = stk->fir.sum[2] / firlength;
#else
acc_lp->x = stk->fir.sum[0] / firlength;
acc_lp->y = stk->fir.sum[1] / firlength;
acc_lp->z = stk->fir.sum[2] / firlength;
#endif
}
}
}
#endif
#ifdef STK_TUNE
static void stk8baxx_reset_para(struct stk8baxx_data *stk)
{
int ii;
for (ii = 0; ii < 3; ii++) {
stk->stk_tune_sum[ii] = 0;
stk->stk_tune_square_sum[ii] = 0LL;
stk->stk_tune_min[ii] = 4096;
stk->stk_tune_max[ii] = -4096;
stk->variance[ii] = 0;
}
}
static void stk8baxx_tune(struct stk8baxx_data *stk, struct stk8baxx_acc *acc_xyz)
{
int ii;
u8 offset[3];
s16 acc[3];
s64 s64_temp;
const s64 var_enlarge_scale = 64;
if (stk->stk_tune_done != 0)
return;
acc[0] = acc_xyz->x;
acc[1] = acc_xyz->y;
acc[2] = acc_xyz->z;
if (stk->event_since_en >= STK_TUNE_DELAY) {
if ((abs(acc[0]) <= STK_TUNE_XYOFFSET) && (abs(acc[1]) <= STK_TUNE_XYOFFSET) &&
(abs(abs(acc[2]) - STK_LSB_1G) <= STK_TUNE_ZOFFSET)) {
stk->stk_tune_index++;
/* printk("\n-qhy20161108--%s----acc[0]=0x%x,,acc[1]=0x%x,,acc[2]=0x%x\n",__func__,acc[0],acc[1],acc[2]); */
} else {
stk->stk_tune_index = 0;
}
if (stk->stk_tune_index == 0) {
stk8baxx_reset_para(stk);
/* printk("\n--qhy20161108--%s-- %d--\n",__func__,__LINE__); */
} else {
for (ii = 0; ii < 3; ii++) {
stk->stk_tune_sum[ii] += acc[ii];
stk->stk_tune_square_sum[ii] += acc[ii] * acc[ii];
if (acc[ii] > stk->stk_tune_max[ii])
stk->stk_tune_max[ii] = acc[ii];
if (acc[ii] < stk->stk_tune_min[ii])
stk->stk_tune_min[ii] = acc[ii];
}
}
if (stk->stk_tune_index == STK_TUNE_NUM) {
for (ii = 0; ii < 3; ii++) {
if ((stk->stk_tune_max[ii] - stk->stk_tune_min[ii]) > STK_TUNE_NOISE) {
stk->stk_tune_index = 0;
stk8baxx_reset_para(stk);
return;
}
}
stk->stk_tune_offset[0] = stk->stk_tune_sum[0] / STK_TUNE_NUM;
stk->stk_tune_offset[1] = stk->stk_tune_sum[1] / STK_TUNE_NUM;
if (acc[2] > 0)
stk->stk_tune_offset[2] = stk->stk_tune_sum[2] / STK_TUNE_NUM - STK_LSB_1G;
else
stk->stk_tune_offset[2] = stk->stk_tune_sum[2] / STK_TUNE_NUM - (-STK_LSB_1G);
offset[0] = (u8)(-stk->stk_tune_offset[0]);
offset[1] = (u8)(-stk->stk_tune_offset[1]);
offset[2] = (u8)(-stk->stk_tune_offset[2]);
stk->stk_tune_offset_record[0] = offset[0];
stk->stk_tune_offset_record[1] = offset[1];
stk->stk_tune_offset_record[2] = offset[2];
stk->stk_tune_done = 1;
atomic_set(&stk->cali_status, STK_K_SUCCESS_TUNE);
stk->event_since_en = 0;
printk(KERN_INFO "%s:TUNE done, %d,%d,%d\n", __func__, offset[0], offset[1], offset[2]);
printk(KERN_INFO "%s:TUNE done, var=%u,%u,%u\n", __func__, stk->variance[0], stk->variance[1], stk->variance[2]);
}
}
}
#endif
static void stk8baxx_sign_conv(struct stk8baxx_data *stk, s16 raw_acc_data[], u8 acc_reg_data[])
{
#ifdef CONFIG_SENSORS_STK8BA53
raw_acc_data[0] = acc_reg_data[1] << 8 | acc_reg_data[0];
raw_acc_data[0] >>= 4;
raw_acc_data[1] = acc_reg_data[3] << 8 | acc_reg_data[2];
raw_acc_data[1] >>= 4;
raw_acc_data[2] = acc_reg_data[5] << 8 | acc_reg_data[4];
raw_acc_data[2] >>= 4;
#else
raw_acc_data[0] = acc_reg_data[1] << 8 | acc_reg_data[0];
raw_acc_data[0] >>= 6;
raw_acc_data[1] = acc_reg_data[3] << 8 | acc_reg_data[2];
raw_acc_data[1] >>= 6;
raw_acc_data[2] = acc_reg_data[5] << 8 | acc_reg_data[4];
raw_acc_data[2] >>= 6;
#endif
}
static int stk8baxx_set_enable(struct stk8baxx_data *stk, char en)
{
s8 result;
s8 write_buffer = 0;
int new_enabled = (en) ? 1 : 0;
/*int k_status = atomic_read(&stk->cali_status);*/
#ifdef STK_DEBUG_PRINT
printk("%s:+++1+++--k_status=%d,first_enable=%d\n", __func__, k_status, stk->first_enable);
if (stk->first_enable && k_status != STK_K_RUNNING) {
stk->first_enable = false;
printk("%s:+++2+++first_enable=%d\n", __func__, stk->first_enable);
stk8baxx_load_cali(stk);
}
#endif
enable_status = new_enabled;
if (new_enabled == atomic_read(&stk->enabled))
return 0;
/* printk(KERN_INFO "%s:%x\n", __func__, en); */
if (en)
write_buffer = STK8BAXX_MD_NORMAL;
else
write_buffer = STK8BAXX_MD_SUSPEND;
result = stk8baxx_smbus_write_byte_data(STK8BAXX_POWMODE, write_buffer);
if (result < 0) {
printk(KERN_ERR "%s:failed to write reg 0x%x, error=%d\n", __func__, STK8BAXX_POWMODE, result);
goto error_enable;
}
if (en) {
stk->event_since_en = 0;
#ifdef STK_TUNE
if ((k_status & 0xF0) != 0 && stk->stk_tune_done == 0) {
stk->stk_tune_index = 0;
stk8baxx_reset_para(stk);
}
#endif
}
atomic_set(&stk->enabled, new_enabled);
return 0;
error_enable:
return result;
}
static int gsensor_report_value(struct i2c_client *client, struct sensor_axis *axis)
{
struct sensor_private_data *sensor =
(struct sensor_private_data *)i2c_get_clientdata(client);
/* Report acceleration sensor information */
input_report_abs(sensor->input_dev, ABS_X, axis->x);
input_report_abs(sensor->input_dev, ABS_Y, axis->y);
input_report_abs(sensor->input_dev, ABS_Z, axis->z);
input_sync(sensor->input_dev);
#ifdef STK_DEBUG_PRINT
printk(KERN_INFO "Gsensor x==%d y==%d z==%d\n", axis->x, axis->y, axis->z);
#endif
return 0;
}
static int stk8baxx_read_sensor_data(struct stk8baxx_data *stk)
{
int result;
u8 acc_reg[6];
int x, y, z;
struct stk8baxx_acc acc;
struct sensor_private_data *sensor =
(struct sensor_private_data *)i2c_get_clientdata(stk->client);
struct sensor_platform_data *pdata = sensor->pdata;
s16 raw_acc[3];
acc.x = 0;
acc.y = 0;
acc.z = 0;
*acc_reg = sensor->ops->read_reg;
result = sensor_rx_data(stk->client, (char *)acc_reg, sensor->ops->read_len);
if (result < 0) {
printk(KERN_ERR "%s: failed to read acc data, error=%d\n", __func__, result);
return result;
}
stk8baxx_sign_conv(stk, raw_acc, acc_reg);
#ifdef STK_DEBUG_PRINT
printk(KERN_INFO "%s: raw_acc=%4d,%4d,%4d\n", __func__, (int)raw_acc[0], (int)raw_acc[1], (int)raw_acc[2]);
#endif
acc.x = raw_acc[0];
acc.y = raw_acc[1];
acc.z = raw_acc[2];
#ifdef STK_TUNE
if ((k_status & 0xF0) != 0)
stk8baxx_tune(stk, &acc);
#endif
x = acc.x;
y = acc.y;
z = acc.z;
acc.x = (pdata->orientation[0]) * x + (pdata->orientation[1]) * y + (pdata->orientation[2]) * z;
acc.y = (pdata->orientation[3]) * x + (pdata->orientation[4]) * y + (pdata->orientation[5]) * z;
acc.z = (pdata->orientation[6]) * x + (pdata->orientation[7]) * y + (pdata->orientation[8]) * z;
#ifdef STK_LOWPASS
stk8baxx_low_pass(stk, &acc);
#endif
stk->acc_xyz.x = acc.x;
stk->acc_xyz.y = acc.y;
stk->acc_xyz.z = acc.z;
#ifdef STK_DEBUG_PRINT
printk(KERN_INFO "stk8baxx acc= %4d, %4d, %4d\n", (int)stk->acc_xyz.x, (int)stk->acc_xyz.y, (int)stk->acc_xyz.z);
#endif
return 0;
}
static int sensor_report_value(struct i2c_client *client)
{
unsigned int xyz_adc_rang = 0;
struct sensor_axis axis;
struct sensor_private_data *sensor =
(struct sensor_private_data *)i2c_get_clientdata(client);
static int flag;
stk8baxx_read_sensor_data(stk8baxx_data_ptr);
xyz_adc_rang = STK_LSB_1G * STK_DEF_RANGE;
axis.x = stk8baxx_data_ptr->acc_xyz.x * (STK8BAXX_RANGE_UG / xyz_adc_rang);
axis.y = stk8baxx_data_ptr->acc_xyz.y * (STK8BAXX_RANGE_UG / xyz_adc_rang);
axis.z = stk8baxx_data_ptr->acc_xyz.z * (STK8BAXX_RANGE_UG / xyz_adc_rang);
/*
*input dev will ignore report data if data value is the same with last_value,
*sample rate will not enough by this way, so just avoid this case
*/
if ((sensor->axis.x == axis.x) && (sensor->axis.y == axis.y) && (sensor->axis.z == axis.z)) {
if (flag) {
flag = 0;
axis.x += 1;
axis.y += 1;
axis.z += 1;
} else {
flag = 1;
axis.x -= 1;
axis.y -= 1;
axis.z -= 1;
}
}
gsensor_report_value(client, &axis);
mutex_lock(&sensor->data_mutex);
sensor->axis = axis;
mutex_unlock(&sensor->data_mutex);
return 0;
}
static int sensor_active(struct i2c_client *client, int enable, int rate)
{
if (enable)
stk8baxx_set_enable(stk8baxx_data_ptr, 1);
else
stk8baxx_set_enable(stk8baxx_data_ptr, 0);
return 0;
}
static int sensor_init(struct i2c_client *client)
{
int ret = 0;
struct stk8baxx_data *stk;
struct sensor_private_data *sensor =
(struct sensor_private_data *)i2c_get_clientdata(client);
printk(KERN_INFO "driver version:%s\n", STK_ACC_DRIVER_VERSION);
if (!enable_status)
return 0;
stk = kzalloc(sizeof(*stk), GFP_KERNEL);
if (!stk) {
printk(KERN_ERR "%s:memory allocation error\n", __func__);
return -ENOMEM;
}
stk8baxx_data_ptr = stk;
sensor_ptr = sensor;
stk->stk8baxx_placement = STK8BAXX_DEF_PLACEMENT;
stk->client = client;
ret = stk8baxx_reg_init(stk, client, sensor);
if (ret) {
printk(KERN_ERR "%s:stk8baxx initialization failed\n", __func__);
return ret;
}
stk->re_enable = false;
sensor->status_cur = SENSOR_OFF;
/* Sys Attribute Register */
if (no_create_att) {
struct input_dev *p_input_dev = NULL;
p_input_dev = input_allocate_device();
if (!p_input_dev) {
dev_err(&client->dev,
"Failed to allocate input device\n");
return -ENOMEM;
}
p_input_dev->name = "stk8baxx_attr";
set_bit(EV_ABS, p_input_dev->evbit);
dev_set_drvdata(&p_input_dev->dev, stk);
ret = input_register_device(p_input_dev);
if (ret) {
dev_err(&client->dev,
"Unable to register input device %s\n", p_input_dev->name);
return ret;
}
DBG("Sys Attribute Register here %s is called for stk8baxx.\n", __func__);
no_create_att = 0;
}
return 0;
}
static struct sensor_operate gsensor_stk8baxx_ops = {
.name = "gs_stk8baxx",
.type = SENSOR_TYPE_ACCEL, /*sensor type and it should be correct*/
.id_i2c = ACCEL_ID_STK8BAXX, /*i2c id number*/
.read_reg = STK8BAXX_XOUT1, /*read data*/
.read_len = 6, /*data length*/
.id_reg = SENSOR_UNKNOW_DATA, /*read device id from this register*/
.id_data = SENSOR_UNKNOW_DATA, /*device id*/
.precision = SENSOR_UNKNOW_DATA, /*12 bit*/
.ctrl_reg = STK8BAXX_POWMODE, /*enable or disable*/
/*intterupt status register*/
.int_status_reg = STK8BAXX_INTSTS2,
.range = {-STK8BAXX_RANGE_UG, STK8BAXX_RANGE_UG}, /*range*/
.trig = IRQF_TRIGGER_FALLING | IRQF_ONESHOT,
.active = sensor_active,
.init = sensor_init,
.report = sensor_report_value,
};
static int gsensor_stk8baxx_probe(struct i2c_client *client,
const struct i2c_device_id *devid)
{
return sensor_register_device(client, NULL, devid, &gsensor_stk8baxx_ops);
}
static int gsensor_stk8baxx_remove(struct i2c_client *client)
{
return sensor_unregister_device(client, NULL, &gsensor_stk8baxx_ops);
}
static const struct i2c_device_id gsensor_stk8baxx_id[] = {
{"gs_stk8baxx", ACCEL_ID_STK8BAXX},
{}
};
static struct i2c_driver gsensor_stk8baxx_driver = {
.probe = gsensor_stk8baxx_probe,
.remove = gsensor_stk8baxx_remove,
.shutdown = sensor_shutdown,
.id_table = gsensor_stk8baxx_id,
.driver = {
.name = "gsensor_stk8baxx",
#ifdef CONFIG_PM
.pm = &sensor_pm_ops,
#endif
},
};
module_i2c_driver(gsensor_stk8baxx_driver);
MODULE_AUTHOR("Lex Hsieh, Sensortek");
MODULE_DESCRIPTION("stk8baxx 3-Axis accelerometer driver");
MODULE_LICENSE("GPL");
MODULE_VERSION(STK_ACC_DRIVER_VERSION);
Orange Pi5 kernel
Deprecated Linux kernel 5.10.110 for OrangePi 5/5B/5+ boards
3 Commits
0 Branches
0 Tags