/* drivers/input/sensors/access/akm8975.c
*
* Copyright (C) 2012-2015 ROCKCHIP.
* Author: luowei <lw@rock-chips.com>
*
* This software is licensed under the terms of the GNU General Public
* License version 2, as published by the Free Software Foundation, and
* may be copied, distributed, and modified under those terms.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*/
#include <linux/interrupt.h>
#include <linux/i2c.h>
#include <linux/slab.h>
#include <linux/irq.h>
#include <linux/miscdevice.h>
#include <linux/gpio.h>
#include <linux/uaccess.h>
#include <asm/atomic.h>
#include <linux/delay.h>
#include <linux/input.h>
#include <linux/workqueue.h>
#include <linux/freezer.h>
#include <linux/of_gpio.h>
#ifdef CONFIG_HAS_EARLYSUSPEND
#include <linux/earlysuspend.h>
#endif
#include <linux/sensor-dev.h>
#define SENSOR_DATA_SIZE 8
/*! \name AK8975 operation mode
\anchor AK8975_Mode
Defines an operation mode of the AK8975.*/
/*! @{*/
#define AK8975_MODE_SNG_MEASURE 0x01
#define AK8975_MODE_SELF_TEST 0x08
#define AK8975_MODE_FUSE_ACCESS 0x0F
#define AK8975_MODE_POWERDOWN 0x00
/*! @}*/
#define SENSOR_DATA_SIZE 8 /* Rx buffer size, i.e from ST1 to ST2 */
#define RWBUF_SIZE 16 /* Read/Write buffer size.*/
/*! \name AK8975 register address
\anchor AK8975_REG
Defines a register address of the AK8975.*/
/*! @{*/
#define AK8975_REG_WIA 0x00
#define AK8975_REG_INFO 0x01
#define AK8975_REG_ST1 0x02
#define AK8975_REG_HXL 0x03
#define AK8975_REG_HXH 0x04
#define AK8975_REG_HYL 0x05
#define AK8975_REG_HYH 0x06
#define AK8975_REG_HZL 0x07
#define AK8975_REG_HZH 0x08
#define AK8975_REG_ST2 0x09
#define AK8975_REG_CNTL 0x0A
#define AK8975_REG_RSV 0x0B
#define AK8975_REG_ASTC 0x0C
#define AK8975_REG_TS1 0x0D
#define AK8975_REG_TS2 0x0E
#define AK8975_REG_I2CDIS 0x0F
/*! @}*/
/*! \name AK8975 fuse-rom address
\anchor AK8975_FUSE
Defines a read-only address of the fuse ROM of the AK8975.*/
/*! @{*/
#define AK8975_FUSE_ASAX 0x10
#define AK8975_FUSE_ASAY 0x11
#define AK8975_FUSE_ASAZ 0x12
/*! @}*/
#define AK8975_INFO_DATA (0x01<<3)
#define COMPASS_IOCTL_MAGIC 'c'
/* IOCTLs for AKM library */
#define ECS_IOCTL_WRITE _IOW(COMPASS_IOCTL_MAGIC, 0x01, char*)
#define ECS_IOCTL_READ _IOWR(COMPASS_IOCTL_MAGIC, 0x02, char*)
#define ECS_IOCTL_RESET _IO(COMPASS_IOCTL_MAGIC, 0x03) /* NOT used in AK8975 */
#define ECS_IOCTL_SET_MODE _IOW(COMPASS_IOCTL_MAGIC, 0x04, short)
#define ECS_IOCTL_GETDATA _IOR(COMPASS_IOCTL_MAGIC, 0x05, char[SENSOR_DATA_SIZE])
#define ECS_IOCTL_SET_YPR _IOW(COMPASS_IOCTL_MAGIC, 0x06, short[12])
#define ECS_IOCTL_GET_OPEN_STATUS _IOR(COMPASS_IOCTL_MAGIC, 0x07, int)
#define ECS_IOCTL_GET_CLOSE_STATUS _IOR(COMPASS_IOCTL_MAGIC, 0x08, int)
#define ECS_IOCTL_GET_LAYOUT _IOR(COMPASS_IOCTL_MAGIC, 0x09, char)
#define ECS_IOCTL_GET_ACCEL _IOR(COMPASS_IOCTL_MAGIC, 0x0A, short[3])
#define ECS_IOCTL_GET_OUTBIT _IOR(COMPASS_IOCTL_MAGIC, 0x0B, char)
#define ECS_IOCTL_GET_DELAY _IOR(COMPASS_IOCTL_MAGIC, 0x30, short)
#define ECS_IOCTL_GET_PROJECT_NAME _IOR(COMPASS_IOCTL_MAGIC, 0x0D, char[64])
#define ECS_IOCTL_GET_MATRIX _IOR(COMPASS_IOCTL_MAGIC, 0x0E, short [4][3][3])
#define ECS_IOCTL_GET_PLATFORM_DATA _IOR(COMPASS_IOCTL_MAGIC, 0x0E, struct akm_platform_data)
#define AK8975_DEVICE_ID 0x48
static struct i2c_client *this_client;
static struct miscdevice compass_dev_device;
/****************operate according to sensor chip:start************/
static int sensor_active(struct i2c_client *client, int enable, int rate)
{
struct sensor_private_data *sensor =
(struct sensor_private_data *) i2c_get_clientdata(client);
int result = 0;
//sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg);
//register setting according to chip datasheet
if(enable)
{
sensor->ops->ctrl_data = AK8975_MODE_SNG_MEASURE;
}
else
{
sensor->ops->ctrl_data = AK8975_MODE_POWERDOWN;
}
DBG("%s:reg=0x%x,reg_ctrl=0x%x,enable=%d\n",__func__,sensor->ops->ctrl_reg, sensor->ops->ctrl_data, enable);
result = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data);
if(result)
printk("%s:fail to active sensor\n",__func__);
return result;
}
static int sensor_init(struct i2c_client *client)
{
struct sensor_private_data *sensor =
(struct sensor_private_data *) i2c_get_clientdata(client);
int result = 0;
int info = 0;
this_client = client;
result = sensor->ops->active(client,0,0);
if(result)
{
printk("%s:line=%d,error\n",__func__,__LINE__);
return result;
}
sensor->status_cur = SENSOR_OFF;
info = sensor_read_reg(client, AK8975_REG_INFO);
if((info & (0x0f<<3)) != AK8975_INFO_DATA)
{
printk("%s:info=0x%x,it is not %s\n",__func__, info, sensor->ops->name);
return -1;
}
result = misc_register(&compass_dev_device);
if (result < 0) {
printk("%s:fail to register misc device %s\n", __func__, compass_dev_device.name);
result = -1;
}
DBG("%s:status_cur=%d\n",__func__, sensor->status_cur);
return result;
}
static int sensor_report_value(struct i2c_client *client)
{
struct sensor_private_data *sensor =
(struct sensor_private_data *) i2c_get_clientdata(client);
char buffer[8] = {0};
unsigned char *stat;
unsigned char *stat2;
int ret = 0;
int i;
if(sensor->ops->read_len < 8) //sensor->ops->read_len = 8
{
printk("%s:lenth is error,len=%d\n",__func__,sensor->ops->read_len);
return -1;
}
memset(buffer, 0, 8);
/* Data bytes from hardware xL, xH, yL, yH, zL, zH */
do {
*buffer = sensor->ops->read_reg;
ret = sensor_rx_data(client, buffer, sensor->ops->read_len);
if (ret < 0)
return ret;
} while (0);
stat = &buffer[0];
stat2 = &buffer[7];
/*
* ST : data ready -
* Measurement has been completed and data is ready to be read.
*/
if ((*stat & 0x01) != 0x01) {
DBG(KERN_ERR "%s:ST is not set\n",__func__);
return -1;
}
/*
* ST2 : data error -
* occurs when data read is started outside of a readable period;
* data read would not be correct.
* Valid in continuous measurement mode only.
* In single measurement mode this error should not occour but we
* stil account for it and return an error, since the data would be
* corrupted.
* DERR bit is self-clearing when ST2 register is read.
*/
if (*stat2 & 0x04)
{
DBG(KERN_ERR "%s:compass data error\n",__func__);
return -2;
}
/*
* ST2 : overflow -
* the sum of the absolute values of all axis |X|+|Y|+|Z| < 2400uT.
* This is likely to happen in presence of an external magnetic
* disturbance; it indicates, the sensor data is incorrect and should
* be ignored.
* An error is returned.
* HOFL bit clears when a new measurement starts.
*/
if (*stat2 & 0x08)
{
DBG(KERN_ERR "%s:compass data overflow\n",__func__);
return -3;
}
/* »¥³âµØ»º´æÊý¾Ý. */
mutex_lock(&sensor->data_mutex);
memcpy(sensor->sensor_data, buffer, sensor->ops->read_len);
mutex_unlock(&sensor->data_mutex);
DBG("%s:",__func__);
for(i=0; i<sensor->ops->read_len; i++)
DBG("0x%x,",buffer[i]);
DBG("\n");
if((sensor->pdata->irq_enable)&& (sensor->ops->int_status_reg >= 0)) //read sensor intterupt status register
{
DBG("%s:sensor int status :0x%x\n", __func__,
sensor_read_reg(client, sensor->ops->int_status_reg));
}
//trigger next measurement
ret = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data);
if(ret)
{
printk(KERN_ERR "%s:fail to set ctrl_data:0x%x\n",__func__,sensor->ops->ctrl_data);
return ret;
}
return ret;
}
static void compass_set_YPR(short *rbuf)
{
struct sensor_private_data *sensor =
(struct sensor_private_data *) i2c_get_clientdata(this_client);
/* Report magnetic sensor information */
if (atomic_read(&sensor->flags.m_flag)) {
input_report_abs(sensor->input_dev, ABS_RX, rbuf[0]);
input_report_abs(sensor->input_dev, ABS_RY, rbuf[1]);
input_report_abs(sensor->input_dev, ABS_RZ, rbuf[2]);
input_report_abs(sensor->input_dev, ABS_RUDDER, rbuf[4]);
DBG("%s:m_flag:x=%d,y=%d,z=%d,RUDDER=%d\n",__func__,rbuf[0], rbuf[1], rbuf[2], rbuf[4]);
}
/* Report acceleration sensor information */
if (atomic_read(&sensor->flags.a_flag)) {
input_report_abs(sensor->input_dev, ABS_X, rbuf[6]);
input_report_abs(sensor->input_dev, ABS_Y, rbuf[7]);
input_report_abs(sensor->input_dev, ABS_Z, rbuf[8]);
input_report_abs(sensor->input_dev, ABS_WHEEL, rbuf[5]);
DBG("%s:a_flag:x=%d,y=%d,z=%d,WHEEL=%d\n",__func__,rbuf[6], rbuf[7], rbuf[8], rbuf[5]);
}
/* Report magnetic vector information */
if (atomic_read(&sensor->flags.mv_flag)) {
input_report_abs(sensor->input_dev, ABS_HAT0X, rbuf[9]);
input_report_abs(sensor->input_dev, ABS_HAT0Y, rbuf[10]);
input_report_abs(sensor->input_dev, ABS_BRAKE, rbuf[11]);
DBG("%s:mv_flag:x=%d,y=%d,BRAKE=%d\n",__func__,rbuf[9], rbuf[10], rbuf[11]);
}
input_sync(sensor->input_dev);
}
static int compass_dev_open(struct inode *inode, struct file *file)
{
int result = 0;
DBG("%s\n",__func__);
return result;
}
static int compass_dev_release(struct inode *inode, struct file *file)
{
int result = 0;
DBG("%s\n",__func__);
return result;
}
static int compass_akm_set_mode(struct i2c_client *client, char mode)
{
struct sensor_private_data* sensor = (struct sensor_private_data *)i2c_get_clientdata(this_client);
int result = 0;
switch(mode)
{
case AK8975_MODE_SNG_MEASURE:
case AK8975_MODE_SELF_TEST:
case AK8975_MODE_FUSE_ACCESS:
if(sensor->status_cur == SENSOR_OFF)
{
sensor->stop_work = 0;
sensor->status_cur = SENSOR_ON;
if(sensor->pdata->irq_enable)
{
//DBG("%s:enable irq=%d\n",__func__,client->irq);
//enable_irq(client->irq);
}
else
{
schedule_delayed_work(&sensor->delaywork, msecs_to_jiffies(sensor->pdata->poll_delay_ms));
}
}
break;
case AK8975_MODE_POWERDOWN:
if(sensor->status_cur == SENSOR_ON)
{
sensor->stop_work = 1;
if(sensor->pdata->irq_enable)
{
//DBG("%s:disable irq=%d\n",__func__,client->irq);
//disable_irq_nosync(client->irq);//disable irq
}
else
cancel_delayed_work_sync(&sensor->delaywork);
sensor->status_cur = SENSOR_OFF;
}
break;
}
switch(mode)
{
case AK8975_MODE_SNG_MEASURE:
result = sensor_write_reg(client, sensor->ops->ctrl_reg, AK8975_MODE_SNG_MEASURE);
if(result)
printk("%s:i2c error,mode=%d\n",__func__,mode);
break;
case AK8975_MODE_SELF_TEST:
result = sensor_write_reg(client, sensor->ops->ctrl_reg, AK8975_MODE_SELF_TEST);
if(result)
printk("%s:i2c error,mode=%d\n",__func__,mode);
break;
case AK8975_MODE_FUSE_ACCESS:
result = sensor_write_reg(client, sensor->ops->ctrl_reg, AK8975_MODE_FUSE_ACCESS);
if(result)
printk("%s:i2c error,mode=%d\n",__func__,mode);
break;
case AK8975_MODE_POWERDOWN:
/* Set powerdown mode */
result = sensor_write_reg(client, sensor->ops->ctrl_reg, AK8975_MODE_POWERDOWN);
if(result)
printk("%s:i2c error,mode=%d\n",__func__,mode);
udelay(100);
break;
default:
printk("%s: Unknown mode(%d)", __func__, mode);
result = -EINVAL;
break;
}
DBG("%s:mode=%d\n",__func__,mode);
return result;
}
static int compass_akm_get_openstatus(void)
{
struct sensor_private_data* sensor = (struct sensor_private_data *)i2c_get_clientdata(this_client);
wait_event_interruptible(sensor->flags.open_wq, (atomic_read(&sensor->flags.open_flag) != 0));
return atomic_read(&sensor->flags.open_flag);
}
static int compass_akm_get_closestatus(void)
{
struct sensor_private_data* sensor = (struct sensor_private_data *)i2c_get_clientdata(this_client);
wait_event_interruptible(sensor->flags.open_wq, (atomic_read(&sensor->flags.open_flag) <= 0));
return atomic_read(&sensor->flags.open_flag);
}
/* ioctl - I/O control */
static long compass_dev_ioctl(struct file *file,
unsigned int cmd, unsigned long arg)
{
struct sensor_private_data* sensor = (struct sensor_private_data *)i2c_get_clientdata(this_client);
struct i2c_client *client = this_client;
void __user *argp = (void __user *)arg;
int result = 0;
/* NOTE: In this function the size of "char" should be 1-byte. */
char compass_data[SENSOR_DATA_SIZE];/* for GETDATA */
char rwbuf[RWBUF_SIZE]; /* for READ/WRITE */
char mode; /* for SET_MODE*/
short value[12]; /* for SET_YPR */
short delay; /* for GET_DELAY */
int status; /* for OPEN/CLOSE_STATUS */
int ret = -1; /* Return value. */
switch (cmd) {
case ECS_IOCTL_WRITE:
case ECS_IOCTL_READ:
if (argp == NULL) {
return -EINVAL;
}
if (copy_from_user(&rwbuf, argp, sizeof(rwbuf))) {
return -EFAULT;
}
break;
case ECS_IOCTL_SET_MODE:
if (argp == NULL) {
return -EINVAL;
}
if (copy_from_user(&mode, argp, sizeof(mode))) {
return -EFAULT;
}
break;
case ECS_IOCTL_SET_YPR:
if (argp == NULL) {
return -EINVAL;
}
if (copy_from_user(&value, argp, sizeof(value))) {
return -EFAULT;
}
break;
default:
break;
}
switch (cmd) {
case ECS_IOCTL_WRITE:
DBG("%s:ECS_IOCTL_WRITE start\n",__func__);
mutex_lock(&sensor->operation_mutex);
if ((rwbuf[0] < 2) || (rwbuf[0] > (RWBUF_SIZE-1))) {
mutex_unlock(&sensor->operation_mutex);
return -EINVAL;
}
ret = sensor_tx_data(client, &rwbuf[1], rwbuf[0]);
if (ret < 0) {
mutex_unlock(&sensor->operation_mutex);
printk("%s:fait to tx data\n",__func__);
return ret;
}
mutex_unlock(&sensor->operation_mutex);
break;
case ECS_IOCTL_READ:
DBG("%s:ECS_IOCTL_READ start\n",__func__);
mutex_lock(&sensor->operation_mutex);
if ((rwbuf[0] < 1) || (rwbuf[0] > (RWBUF_SIZE-1))) {
mutex_unlock(&sensor->operation_mutex);
printk("%s:data is error\n",__func__);
return -EINVAL;
}
ret = sensor_rx_data(client, &rwbuf[1], rwbuf[0]);
if (ret < 0) {
mutex_unlock(&sensor->operation_mutex);
printk("%s:fait to rx data\n",__func__);
return ret;
}
mutex_unlock(&sensor->operation_mutex);
break;
case ECS_IOCTL_SET_MODE:
DBG("%s:ECS_IOCTL_SET_MODE start\n",__func__);
mutex_lock(&sensor->operation_mutex);
if(sensor->ops->ctrl_data != mode)
{
ret = compass_akm_set_mode(client, mode);
if (ret < 0) {
printk("%s:fait to set mode\n",__func__);
mutex_unlock(&sensor->operation_mutex);
return ret;
}
sensor->ops->ctrl_data = mode;
}
mutex_unlock(&sensor->operation_mutex);
break;
case ECS_IOCTL_GETDATA:
DBG("%s:ECS_IOCTL_GETDATA start\n",__func__);
mutex_lock(&sensor->data_mutex);
memcpy(compass_data, sensor->sensor_data, SENSOR_DATA_SIZE); //get data from buffer
mutex_unlock(&sensor->data_mutex);
break;
case ECS_IOCTL_SET_YPR:
DBG("%s:ECS_IOCTL_SET_YPR start\n",__func__);
mutex_lock(&sensor->data_mutex);
compass_set_YPR(value);
mutex_unlock(&sensor->data_mutex);
break;
case ECS_IOCTL_GET_OPEN_STATUS:
status = compass_akm_get_openstatus();
DBG("%s:openstatus=%d\n",__func__,status);
break;
case ECS_IOCTL_GET_CLOSE_STATUS:
status = compass_akm_get_closestatus();
DBG("%s:closestatus=%d\n",__func__,status);
break;
case ECS_IOCTL_GET_DELAY:
delay = sensor->flags.delay;
break;
case ECS_IOCTL_GET_PLATFORM_DATA:
break;
default:
return -ENOTTY;
}
switch (cmd) {
case ECS_IOCTL_READ:
if (copy_to_user(argp, &rwbuf, rwbuf[0]+1)) {
return -EFAULT;
}
break;
case ECS_IOCTL_GETDATA:
if (copy_to_user(argp, &compass_data, sizeof(compass_data))) {
return -EFAULT;
}
break;
case ECS_IOCTL_GET_OPEN_STATUS:
case ECS_IOCTL_GET_CLOSE_STATUS:
if (copy_to_user(argp, &status, sizeof(status))) {
return -EFAULT;
}
break;
case ECS_IOCTL_GET_DELAY:
if (copy_to_user(argp, &delay, sizeof(delay))) {
return -EFAULT;
}
break;
default:
break;
}
return result;
}
static struct file_operations compass_dev_fops =
{
.owner = THIS_MODULE,
.open = compass_dev_open,
.release = compass_dev_release,
.unlocked_ioctl = compass_dev_ioctl,
};
static struct miscdevice compass_dev_device =
{
.minor = MISC_DYNAMIC_MINOR,
.name = "akm8975_dev",
.fops = &compass_dev_fops,
};
static struct sensor_operate compass_akm8975_ops = {
.name = "akm8975",
.type = SENSOR_TYPE_COMPASS, //it is important
.id_i2c = COMPASS_ID_AK8975,
.read_reg = AK8975_REG_ST1, //read data
.read_len = SENSOR_DATA_SIZE, //data length
.id_reg = AK8975_REG_WIA, //read id
.id_data = AK8975_DEVICE_ID,
.precision = 8, //12 bits
.ctrl_reg = AK8975_REG_CNTL, //enable or disable
.int_status_reg = SENSOR_UNKNOW_DATA, //not exist
.range = {-0xffff,0xffff},
.trig = IRQF_TRIGGER_RISING, //if LEVEL interrupt then IRQF_ONESHOT
.active = sensor_active,
.init = sensor_init,
.report = sensor_report_value,
.misc_dev = NULL, //private misc support
};
/****************operate according to sensor chip:end************/
static int compass_akm8975_probe(struct i2c_client *client,
const struct i2c_device_id *devid)
{
return sensor_register_device(client, NULL, devid, &compass_akm8975_ops);
}
static int compass_akm8975_remove(struct i2c_client *client)
{
return sensor_unregister_device(client, NULL, &compass_akm8975_ops);
}
static const struct i2c_device_id compass_akm8975_id[] = {
{"ak8975", COMPASS_ID_AK8975},
{}
};
static struct i2c_driver compass_akm8975_driver = {
.probe = compass_akm8975_probe,
.remove = compass_akm8975_remove,
.shutdown = sensor_shutdown,
.id_table = compass_akm8975_id,
.driver = {
.name = "compass_akm8975",
#ifdef CONFIG_PM
.pm = &sensor_pm_ops,
#endif
},
};
module_i2c_driver(compass_akm8975_driver);
MODULE_AUTHOR("luowei <lw@rock-chips.com>");
MODULE_DESCRIPTION("akm8975 3-Axis compasss driver");
MODULE_LICENSE("GPL");
Orange Pi5 kernel
Deprecated Linux kernel 5.10.110 for OrangePi 5/5B/5+ boards
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