/* BMA150 motion sensor driver * * * * This software is licensed under the terms of the GNU General Public * License version 2, as published by the Free Software Foundation, and * may be copied, distributed, and modified under those terms. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #define POWER_NONE_MACRO MT65XX_POWER_NONE #include #include #include #include #include "bma250.h" #include #include #include #ifdef CUSTOM_KERNEL_SENSORHUB #include #endif//#ifdef CUSTOM_KERNEL_SENSORHUB /*----------------------------------------------------------------------------*/ #define I2C_DRIVERID_BMA250 250 /*----------------------------------------------------------------------------*/ //#define DEBUG 1 /*----------------------------------------------------------------------------*/ //#define CONFIG_BMA150_LOWPASS /*apply low pass filter on output*/ #define SW_CALIBRATION /*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/ static const struct i2c_device_id bma250_i2c_id[] = {{BMA250_DEV_NAME,0},{}}; static struct i2c_board_info __initdata i2c_bma250={ I2C_BOARD_INFO("BMA250", (0x30>>1))}; /*the adapter id will be available in customization*/ //static unsigned short bma250_force[] = {0x00, BMA250_I2C_SLAVE_WRITE_ADDR, I2C_CLIENT_END, I2C_CLIENT_END}; //static const unsigned short *const bma250_forces[] = { bma250_force, NULL }; //static struct i2c_client_address_data bma250_addr_data = { .forces = bma250_forces,}; /*----------------------------------------------------------------------------*/ static int bma250_i2c_probe(struct i2c_client *client, const struct i2c_device_id *id); static int bma250_i2c_remove(struct i2c_client *client); #ifdef CUSTOM_KERNEL_SENSORHUB static int gsensor_setup_irq(void); #endif//#ifdef CUSTOM_KERNEL_SENSORHUB static int gsensor_local_init(void); static int gsensor_remove(void); static int gsensor_set_delay(u64 ns); static DEFINE_MUTEX(gsensor_mutex); static DEFINE_MUTEX(gsensor_scp_en_mutex); static bool enable_status = false; static int gsensor_init_flag =-1; // 0<==>OK -1 <==> fail //static int bma250_i2c_detect(struct i2c_client *client, int kind, struct i2c_board_info *info); static struct acc_init_info bma250_init_info = { .name = "bma250", .init = gsensor_local_init, .uninit = gsensor_remove, }; /*----------------------------------------------------------------------------*/ typedef enum { ADX_TRC_FILTER = 0x01, ADX_TRC_RAWDATA = 0x02, ADX_TRC_IOCTL = 0x04, ADX_TRC_CALI = 0X08, ADX_TRC_INFO = 0X10, } ADX_TRC; /*----------------------------------------------------------------------------*/ struct scale_factor{ u8 whole; u8 fraction; }; /*----------------------------------------------------------------------------*/ struct data_resolution { struct scale_factor scalefactor; int sensitivity; }; /*----------------------------------------------------------------------------*/ #define C_MAX_FIR_LENGTH (32) /*----------------------------------------------------------------------------*/ struct data_filter { s16 raw[C_MAX_FIR_LENGTH][BMA250_AXES_NUM]; int sum[BMA250_AXES_NUM]; int num; int idx; }; /*----------------------------------------------------------------------------*/ struct bma250_i2c_data { struct i2c_client *client; struct acc_hw *hw; struct hwmsen_convert cvt; #ifdef CUSTOM_KERNEL_SENSORHUB struct work_struct irq_work; #endif//#ifdef CUSTOM_KERNEL_SENSORHUB /*misc*/ struct data_resolution *reso; atomic_t trace; atomic_t suspend; atomic_t selftest; atomic_t filter; s16 cali_sw[BMA250_AXES_NUM+1]; /*data*/ s8 offset[BMA250_AXES_NUM+1]; /*+1: for 4-byte alignment*/ s16 data[BMA250_AXES_NUM+1]; #ifdef CUSTOM_KERNEL_SENSORHUB int SCP_init_done; #endif//#ifdef CUSTOM_KERNEL_SENSORHUB #if defined(CONFIG_BMA250_LOWPASS) atomic_t firlen; atomic_t fir_en; struct data_filter fir; #endif /*early suspend*/ #if defined(CONFIG_HAS_EARLYSUSPEND) struct early_suspend early_drv; #endif }; enum bma250_rev { BMA250, BMA250E, }; static int bma250_revesion = BMA250; /*----------------------------------------------------------------------------*/ static struct i2c_driver bma250_i2c_driver = { .driver = { // .owner = THIS_MODULE, .name = BMA250_DEV_NAME, }, .probe = bma250_i2c_probe, .remove = bma250_i2c_remove, // .detect = bma250_i2c_detect, #if !defined(CONFIG_HAS_EARLYSUSPEND) .suspend = bma250_suspend, .resume = bma250_resume, #endif .id_table = bma250_i2c_id, // .address_data = &bma250_addr_data, }; /*----------------------------------------------------------------------------*/ static struct i2c_client *bma250_i2c_client = NULL; static struct bma250_i2c_data *obj_i2c_data = NULL; static bool sensor_power = true; static GSENSOR_VECTOR3D gsensor_gain; /* static char selftestRes[8]= {0}; */ /*----------------------------------------------------------------------------*/ #define GSE_TAG "[Gsensor] " #define GSE_FUN(f) printk(KERN_INFO GSE_TAG"%s\n", __func__) #define GSE_ERR(fmt, args...) printk(KERN_ERR GSE_TAG"%s %d : "fmt, __func__, __LINE__, ##args) #define GSE_LOG(fmt, args...) printk(KERN_INFO GSE_TAG fmt, ##args) /*----------------------------------------------------------------------------*/ static struct data_resolution bma250_data_resolution[1] = { /* combination by {FULL_RES,RANGE}*/ {{ 3, 9}, 256}, // dataformat +/-2g in 8-bit resolution; { 15, 6} = 15.6= (2*2*1000)/(2^8); 64 = (2^8)/(2*2) }; /*----------------------------------------------------------------------------*/ static struct data_resolution bma250_offset_resolution = {{3, 9}, 256}; /*--------------------BMA250 power control function----------------------------------*/ static void BMA250_power(struct acc_hw *hw, unsigned int on) { static unsigned int power_on = 0; if(hw->power_id != POWER_NONE_MACRO) // have externel LDO { GSE_LOG("power %s\n", on ? "on" : "off"); if(power_on == on) // power status not change { GSE_LOG("ignore power control: %d\n", on); } else if(on) // power on { if(!hwPowerOn(hw->power_id, hw->power_vol, "BMA250")) { GSE_ERR("power on fails!!\n"); } } else // power off { if (!hwPowerDown(hw->power_id, "BMA250")) { GSE_ERR("power off fail!!\n"); } } } power_on = on; } /*----------------------------------------------------------------------------*/ #ifdef CUSTOM_KERNEL_SENSORHUB int BMA250_SCP_SetPowerMode(bool enable, int sensorType) { static bool gsensor_scp_en_status = false; static unsigned int gsensor_scp_en_map = 0; SCP_SENSOR_HUB_DATA req; int len; int err = 0; mutex_lock(&gsensor_scp_en_mutex); if (sensorType >= 32) { GSE_ERR("Out of index!\n"); return -1; } if (true == enable) { gsensor_scp_en_map |= (1<reso here*/ obj->reso = &bma250_data_resolution[0]; return 0; /*if you changed the measure range, for example call: BMA250_SetDataFormat(client, BMA150_RANGE_4G), you must set the right value to bma250_data_resolution*/ } /*----------------------------------------------------------------------------*/ static int BMA250_ReadData(struct i2c_client *client, s16 data[BMA250_AXES_NUM]) { struct bma250_i2c_data *priv = i2c_get_clientdata(client); u8 addr = BMA250_REG_DATAXLOW; u8 buf[BMA250_DATA_LEN] = {0}; int err = 0; int i; if(NULL == client) { err = -EINVAL; return err; } err = hwmsen_read_block(client, addr, buf, 0x06); if(err) { GSE_ERR("error: %d\n", err); } else { data[BMA250_AXIS_X] = (s16)((buf[BMA250_AXIS_X*2] >> 6) | (buf[BMA250_AXIS_X*2+1] << 2)); data[BMA250_AXIS_Y] = (s16)((buf[BMA250_AXIS_Y*2] >> 6) | (buf[BMA250_AXIS_Y*2+1] << 2)); data[BMA250_AXIS_Z] = (s16)((buf[BMA250_AXIS_Z*2] >> 6) | (buf[BMA250_AXIS_Z*2+1] << 2)); for(i=0;i<3;i++) { //because the data is store in binary complement number formation in computer system if ( data[i] == 0x0200 ) //so we want to calculate actual number here data[i]= -512; //10bit resolution, 512= 2^(10-1) else if ( data[i] & 0x0200 )//transfor format { //printk("data 0 step %x \n",data[i]); data[i] -= 0x1; //printk("data 1 step %x \n",data[i]); data[i] = ~data[i]; //printk("data 2 step %x \n",data[i]); data[i] &= 0x01ff; //printk("data 3 step %x \n\n",data[i]); data[i] = -data[i]; } } if(atomic_read(&priv->trace) & ADX_TRC_RAWDATA) { GSE_LOG("[%08X %08X %08X] => [%5d %5d %5d] after\n", data[BMA250_AXIS_X], data[BMA250_AXIS_Y], data[BMA250_AXIS_Z], data[BMA250_AXIS_X], data[BMA250_AXIS_Y], data[BMA250_AXIS_Z]); } #ifdef CONFIG_BMA250_LOWPASS if(atomic_read(&priv->filter)) { if(atomic_read(&priv->fir_en) && !atomic_read(&priv->suspend)) { int idx, firlen = atomic_read(&priv->firlen); if(priv->fir.num < firlen) { priv->fir.raw[priv->fir.num][BMA250_AXIS_X] = data[BMA250_AXIS_X]; priv->fir.raw[priv->fir.num][BMA250_AXIS_Y] = data[BMA250_AXIS_Y]; priv->fir.raw[priv->fir.num][BMA250_AXIS_Z] = data[BMA250_AXIS_Z]; priv->fir.sum[BMA250_AXIS_X] += data[BMA250_AXIS_X]; priv->fir.sum[BMA250_AXIS_Y] += data[BMA250_AXIS_Y]; priv->fir.sum[BMA250_AXIS_Z] += data[BMA250_AXIS_Z]; if(atomic_read(&priv->trace) & ADX_TRC_FILTER) { GSE_LOG("add [%2d] [%5d %5d %5d] => [%5d %5d %5d]\n", priv->fir.num, priv->fir.raw[priv->fir.num][BMA250_AXIS_X], priv->fir.raw[priv->fir.num][BMA250_AXIS_Y], priv->fir.raw[priv->fir.num][BMA250_AXIS_Z], priv->fir.sum[BMA250_AXIS_X], priv->fir.sum[BMA250_AXIS_Y], priv->fir.sum[BMA250_AXIS_Z]); } priv->fir.num++; priv->fir.idx++; } else { idx = priv->fir.idx % firlen; priv->fir.sum[BMA250_AXIS_X] -= priv->fir.raw[idx][BMA250_AXIS_X]; priv->fir.sum[BMA250_AXIS_Y] -= priv->fir.raw[idx][BMA250_AXIS_Y]; priv->fir.sum[BMA250_AXIS_Z] -= priv->fir.raw[idx][BMA250_AXIS_Z]; priv->fir.raw[idx][BMA250_AXIS_X] = data[BMA250_AXIS_X]; priv->fir.raw[idx][BMA250_AXIS_Y] = data[BMA250_AXIS_Y]; priv->fir.raw[idx][BMA250_AXIS_Z] = data[BMA250_AXIS_Z]; priv->fir.sum[BMA250_AXIS_X] += data[BMA250_AXIS_X]; priv->fir.sum[BMA250_AXIS_Y] += data[BMA250_AXIS_Y]; priv->fir.sum[BMA250_AXIS_Z] += data[BMA250_AXIS_Z]; priv->fir.idx++; data[BMA250_AXIS_X] = priv->fir.sum[BMA250_AXIS_X]/firlen; data[BMA250_AXIS_Y] = priv->fir.sum[BMA250_AXIS_Y]/firlen; data[BMA250_AXIS_Z] = priv->fir.sum[BMA250_AXIS_Z]/firlen; if(atomic_read(&priv->trace) & ADX_TRC_FILTER) { GSE_LOG("add [%2d] [%5d %5d %5d] => [%5d %5d %5d] : [%5d %5d %5d]\n", idx, priv->fir.raw[idx][BMA250_AXIS_X], priv->fir.raw[idx][BMA250_AXIS_Y], priv->fir.raw[idx][BMA250_AXIS_Z], priv->fir.sum[BMA250_AXIS_X], priv->fir.sum[BMA250_AXIS_Y], priv->fir.sum[BMA250_AXIS_Z], data[BMA250_AXIS_X], data[BMA250_AXIS_Y], data[BMA250_AXIS_Z]); } } } } #endif } return err; } /*----------------------------------------------------------------------------*/ static int BMA250_ReadOffset(struct i2c_client *client, s8 ofs[BMA250_AXES_NUM]) { int err = 0; #ifdef SW_CALIBRATION ofs[0]=ofs[1]=ofs[2]=0x0; #else if(err = hwmsen_read_block(client, BMA250_REG_OFSX, ofs, BMA250_AXES_NUM)) { GSE_ERR("error: %d\n", err); } #endif //printk("offesx=%x, y=%x, z=%x",ofs[0],ofs[1],ofs[2]); return err; } /*----------------------------------------------------------------------------*/ static int BMA250_ResetCalibration(struct i2c_client *client) { struct bma250_i2c_data *obj = i2c_get_clientdata(client); #ifndef SW_CALIBRATION u8 ofs[4]={0,0,0,0}; #endif int err = 0; #ifdef CUSTOM_KERNEL_SENSORHUB SCP_SENSOR_HUB_DATA data; BMA250_CUST_DATA *pCustData; unsigned int len; if (0 != obj->SCP_init_done) { pCustData = (BMA250_CUST_DATA *)&data.set_cust_req.custData; data.set_cust_req.sensorType = ID_ACCELEROMETER; data.set_cust_req.action = SENSOR_HUB_SET_CUST; pCustData->resetCali.action = BMA250_CUST_ACTION_RESET_CALI; len = offsetof(SCP_SENSOR_HUB_SET_CUST_REQ, custData) + sizeof(pCustData->resetCali); SCP_sensorHub_req_send(&data, &len, 1); } #endif #ifdef SW_CALIBRATION #else if(err = hwmsen_write_block(client, BMA250_REG_OFSX, ofs, 4)) { GSE_ERR("error: %d\n", err); } #endif memset(obj->cali_sw, 0x00, sizeof(obj->cali_sw)); memset(obj->offset, 0x00, sizeof(obj->offset)); return err; } /*----------------------------------------------------------------------------*/ static int BMA250_ReadCalibration(struct i2c_client *client, int dat[BMA250_AXES_NUM]) { struct bma250_i2c_data *obj = i2c_get_clientdata(client); #ifndef SW_CALIBRATION int err; #endif int mul; #ifdef SW_CALIBRATION mul = 0;//only SW Calibration, disable HW Calibration #else if ((err = BMA250_ReadOffset(client, obj->offset))) { GSE_ERR("read offset fail, %d\n", err); return err; } mul = obj->reso->sensitivity/bma250_offset_resolution.sensitivity; #endif dat[obj->cvt.map[BMA250_AXIS_X]] = obj->cvt.sign[BMA250_AXIS_X]*(obj->offset[BMA250_AXIS_X]*mul * GRAVITY_EARTH_1000 / obj->reso->sensitivity + obj->cali_sw[BMA250_AXIS_X]); dat[obj->cvt.map[BMA250_AXIS_Y]] = obj->cvt.sign[BMA250_AXIS_Y]*(obj->offset[BMA250_AXIS_Y]*mul * GRAVITY_EARTH_1000 / obj->reso->sensitivity + obj->cali_sw[BMA250_AXIS_Y]); dat[obj->cvt.map[BMA250_AXIS_Z]] = obj->cvt.sign[BMA250_AXIS_Z]*(obj->offset[BMA250_AXIS_Z]*mul * GRAVITY_EARTH_1000 / obj->reso->sensitivity + obj->cali_sw[BMA250_AXIS_Z]); return 0; } /*----------------------------------------------------------------------------*/ static int BMA250_ReadCalibrationEx(struct i2c_client *client, int act[BMA250_AXES_NUM], int raw[BMA250_AXES_NUM]) { /*raw: the raw calibration data; act: the actual calibration data*/ struct bma250_i2c_data *obj = i2c_get_clientdata(client); #ifndef SW_CALIBRATION int err; #endif int mul; #ifdef SW_CALIBRATION mul = 0;//only SW Calibration, disable HW Calibration #else if(err = BMA250_ReadOffset(client, obj->offset)) { GSE_ERR("read offset fail, %d\n", err); return err; } mul = obj->reso->sensitivity/bma250_offset_resolution.sensitivity; #endif raw[BMA250_AXIS_X] = obj->offset[BMA250_AXIS_X]*mul * GRAVITY_EARTH_1000 / obj->reso->sensitivity + obj->cali_sw[BMA250_AXIS_X]; raw[BMA250_AXIS_Y] = obj->offset[BMA250_AXIS_Y]*mul * GRAVITY_EARTH_1000 / obj->reso->sensitivity + obj->cali_sw[BMA250_AXIS_Y]; raw[BMA250_AXIS_Z] = obj->offset[BMA250_AXIS_Z]*mul * GRAVITY_EARTH_1000 / obj->reso->sensitivity + obj->cali_sw[BMA250_AXIS_Z]; act[obj->cvt.map[BMA250_AXIS_X]] = obj->cvt.sign[BMA250_AXIS_X]*raw[BMA250_AXIS_X]; act[obj->cvt.map[BMA250_AXIS_Y]] = obj->cvt.sign[BMA250_AXIS_Y]*raw[BMA250_AXIS_Y]; act[obj->cvt.map[BMA250_AXIS_Z]] = obj->cvt.sign[BMA250_AXIS_Z]*raw[BMA250_AXIS_Z]; return 0; } /*----------------------------------------------------------------------------*/ static int BMA250_WriteCalibration(struct i2c_client *client, int dat[BMA250_AXES_NUM]) { struct bma250_i2c_data *obj = i2c_get_clientdata(client); int err; int cali[BMA250_AXES_NUM], raw[BMA250_AXES_NUM]; #ifndef SW_CALIBRATION int lsb = bma250_offset_resolution.sensitivity; int divisor = obj->reso->sensitivity/lsb; #endif #ifdef CUSTOM_KERNEL_SENSORHUB SCP_SENSOR_HUB_DATA data; BMA250_CUST_DATA *pCustData; unsigned int len; #endif err = BMA250_ReadCalibrationEx(client, cali, raw); if(err) /*offset will be updated in obj->offset*/ { GSE_ERR("read offset fail, %d\n", err); return err; } GSE_LOG("OLDOFF: (%+3d %+3d %+3d): (%+3d %+3d %+3d) / (%+3d %+3d %+3d)\n", raw[BMA250_AXIS_X], raw[BMA250_AXIS_Y], raw[BMA250_AXIS_Z], obj->offset[BMA250_AXIS_X], obj->offset[BMA250_AXIS_Y], obj->offset[BMA250_AXIS_Z], obj->cali_sw[BMA250_AXIS_X], obj->cali_sw[BMA250_AXIS_Y], obj->cali_sw[BMA250_AXIS_Z]); #ifdef CUSTOM_KERNEL_SENSORHUB pCustData = (BMA250_CUST_DATA *)data.set_cust_req.custData; data.set_cust_req.sensorType = ID_ACCELEROMETER; data.set_cust_req.action = SENSOR_HUB_SET_CUST; pCustData->setCali.action = BMA250_CUST_ACTION_SET_CALI; pCustData->setCali.data[BMA250_AXIS_X] = dat[BMA250_AXIS_X]; pCustData->setCali.data[BMA250_AXIS_Y] = dat[BMA250_AXIS_Y]; pCustData->setCali.data[BMA250_AXIS_Z] = dat[BMA250_AXIS_Z]; len = offsetof(SCP_SENSOR_HUB_SET_CUST_REQ, custData) + sizeof(pCustData->setCali); SCP_sensorHub_req_send(&data, &len, 1); #endif /*calculate the real offset expected by caller*/ cali[BMA250_AXIS_X] += dat[BMA250_AXIS_X]; cali[BMA250_AXIS_Y] += dat[BMA250_AXIS_Y]; cali[BMA250_AXIS_Z] += dat[BMA250_AXIS_Z]; GSE_LOG("UPDATE: (%+3d %+3d %+3d)\n", dat[BMA250_AXIS_X], dat[BMA250_AXIS_Y], dat[BMA250_AXIS_Z]); #ifdef SW_CALIBRATION obj->cali_sw[BMA250_AXIS_X] = obj->cvt.sign[BMA250_AXIS_X]*(cali[obj->cvt.map[BMA250_AXIS_X]]); obj->cali_sw[BMA250_AXIS_Y] = obj->cvt.sign[BMA250_AXIS_Y]*(cali[obj->cvt.map[BMA250_AXIS_Y]]); obj->cali_sw[BMA250_AXIS_Z] = obj->cvt.sign[BMA250_AXIS_Z]*(cali[obj->cvt.map[BMA250_AXIS_Z]]); #else obj->offset[BMA250_AXIS_X] = (s8)(obj->cvt.sign[BMA250_AXIS_X]*(cali[obj->cvt.map[BMA250_AXIS_X]]) * obj->reso->sensitivity / GRAVITY_EARTH_1000/(divisor)); obj->offset[BMA250_AXIS_Y] = (s8)(obj->cvt.sign[BMA250_AXIS_Y]*(cali[obj->cvt.map[BMA250_AXIS_Y]]) * obj->reso->sensitivity / GRAVITY_EARTH_1000/(divisor)); obj->offset[BMA250_AXIS_Z] = (s8)(obj->cvt.sign[BMA250_AXIS_Z]*(cali[obj->cvt.map[BMA250_AXIS_Z]]) * obj->reso->sensitivity / GRAVITY_EARTH_1000/(divisor)); /*convert software calibration using standard calibration*/ obj->cali_sw[BMA250_AXIS_X] = obj->cvt.sign[BMA250_AXIS_X]*(cali[obj->cvt.map[BMA250_AXIS_X]])%(divisor); obj->cali_sw[BMA250_AXIS_Y] = obj->cvt.sign[BMA250_AXIS_Y]*(cali[obj->cvt.map[BMA250_AXIS_Y]])%(divisor); obj->cali_sw[BMA250_AXIS_Z] = obj->cvt.sign[BMA250_AXIS_Z]*(cali[obj->cvt.map[BMA250_AXIS_Z]])%(divisor); GSE_LOG("NEWOFF: (%+3d %+3d %+3d): (%+3d %+3d %+3d) / (%+3d %+3d %+3d)\n", obj->offset[BMA250_AXIS_X]*divisor + obj->cali_sw[BMA250_AXIS_X], obj->offset[BMA250_AXIS_Y]*divisor + obj->cali_sw[BMA250_AXIS_Y], obj->offset[BMA250_AXIS_Z]*divisor + obj->cali_sw[BMA250_AXIS_Z], obj->offset[BMA250_AXIS_X], obj->offset[BMA250_AXIS_Y], obj->offset[BMA250_AXIS_Z], obj->cali_sw[BMA250_AXIS_X], obj->cali_sw[BMA250_AXIS_Y], obj->cali_sw[BMA250_AXIS_Z]); if(err = hwmsen_write_block(obj->client, BMA250_REG_OFSX, obj->offset, BMA250_AXES_NUM)) { GSE_ERR("write offset fail: %d\n", err); return err; } #endif return err; } /*----------------------------------------------------------------------------*/ static int BMA250_CheckDeviceID(struct i2c_client *client) { u8 databuf[2]; int res = 0; memset(databuf, 0, sizeof(u8)*2); databuf[0] = BMA250_REG_DEVID; i2c_master_send(client, databuf, 0x1); mdelay(40); databuf[0] = 0x0; res = i2c_master_recv(client, databuf, 0x01); if(res <= 0) { i2c_master_send(client, databuf, 0x1); mdelay(40); databuf[0] = 0x0; res = i2c_master_recv(client, databuf, 0x01); if(res <= 0) { goto exit_BMA250_CheckDeviceID; } } if(databuf[0]==BMA250_FIXED_DEVID) { printk("BMA250_CheckDeviceID %4xh pass!\n ", databuf[0]); bma250_revesion = BMA250; } else if (databuf[0]==BMA250E_FIXED_DEVID) { printk("BMA250E_CheckDeviceID %4xh pass!\n ", databuf[0]); bma250_revesion = BMA250E; } else { printk("BMA250_CheckDeviceID %d fail!\n ", databuf[0]); } exit_BMA250_CheckDeviceID: if (res <= 0) { return BMA250_ERR_I2C; } return BMA250_SUCCESS; } /*----------------------------------------------------------------------------*/ static int BMA250_SetPowerMode(struct i2c_client *client, bool enable) { u8 databuf[2]; int res = 0; u8 addr = BMA250_REG_POWER_CTL; struct bma250_i2c_data *obj = i2c_get_clientdata(client); if(enable == sensor_power ) { GSE_LOG("Sensor power status is newest!\n"); return BMA250_SUCCESS; } if(hwmsen_read_block(client, addr, databuf, 0x01)) { GSE_ERR("read power ctl register err!\n"); return BMA250_ERR_I2C; } if(enable == TRUE) { databuf[0] &= ~BMA250_MEASURE_MODE; } else { databuf[0] |= BMA250_MEASURE_MODE; } databuf[1] = databuf[0]; databuf[0] = BMA250_REG_POWER_CTL; res = i2c_master_send(client, databuf, 0x2); if(res <= 0) { GSE_LOG("set power mode failed!\n"); return BMA250_ERR_I2C; } else if(atomic_read(&obj->trace) & ADX_TRC_INFO) { GSE_LOG("set power mode ok %d!\n", databuf[1]); } //GSE_LOG("BMA250_SetPowerMode ok!\n"); sensor_power = enable; mdelay(20); return BMA250_SUCCESS; } /*----------------------------------------------------------------------------*/ static int BMA250_SetDataFormat(struct i2c_client *client, u8 dataformat) { struct bma250_i2c_data *obj = i2c_get_clientdata(client); u8 databuf[10]; int res = 0; memset(databuf, 0, sizeof(u8)*10); if(hwmsen_read_block(client, BMA250_REG_DATA_FORMAT, databuf, 0x01)) { printk("bma250 read Dataformat failt \n"); return BMA250_ERR_I2C; } databuf[0] &= ~BMA250_RANGE_MASK; databuf[0] |= dataformat; databuf[1] = databuf[0]; databuf[0] = BMA250_REG_DATA_FORMAT; res = i2c_master_send(client, databuf, 0x2); if(res <= 0) { return BMA250_ERR_I2C; } //printk("BMA250_SetDataFormat OK! \n"); return BMA250_SetDataResolution(obj); } /*----------------------------------------------------------------------------*/ static int BMA250_SetBWRate(struct i2c_client *client, u8 bwrate) { u8 databuf[10]; int res = 0; memset(databuf, 0, sizeof(u8)*10); if(hwmsen_read_block(client, BMA250_REG_BW_RATE, databuf, 0x01)) { printk("bma250 read rate failt \n"); return BMA250_ERR_I2C; } databuf[0] &= ~BMA250_BW_MASK; databuf[0] |= bwrate; databuf[1] = databuf[0]; databuf[0] = BMA250_REG_BW_RATE; res = i2c_master_send(client, databuf, 0x2); if(res <= 0) { return BMA250_ERR_I2C; } //printk("BMA250_SetBWRate OK! \n"); return BMA250_SUCCESS; } /*----------------------------------------------------------------------------*/ static int BMA250_SetIntEnable(struct i2c_client *client, u8 intenable) { int res = 0; res = hwmsen_write_byte(client, BMA250_INT_REG_1, 0x00); if(res != BMA250_SUCCESS) { return res; } res = hwmsen_write_byte(client, BMA250_INT_REG_2, 0x00); if(res != BMA250_SUCCESS) { return res; } printk("BMA250 disable interrupt ...\n"); /*for disable interrupt function*/ return BMA250_SUCCESS; } /*----------------------------------------------------------------------------*/ static int bma250_init_client(struct i2c_client *client, int reset_cali) { struct bma250_i2c_data *obj = i2c_get_clientdata(client); int res = 0; printk("bma250_init_client \n"); res = BMA250_CheckDeviceID(client); if(res != BMA250_SUCCESS) { return res; } printk("BMA250_CheckDeviceID ok \n"); res = BMA250_SetBWRate(client, BMA250_BW_100HZ); if(res != BMA250_SUCCESS ) { return res; } printk("BMA250_SetBWRate OK!\n"); res = BMA250_SetDataFormat(client, BMA250_RANGE_2G); if(res != BMA250_SUCCESS) { return res; } printk("BMA250_SetDataFormat OK!\n"); gsensor_gain.x = gsensor_gain.y = gsensor_gain.z = obj->reso->sensitivity; #ifdef CUSTOM_KERNEL_SENSORHUB res = gsensor_setup_irq(); if(res != BMA250_SUCCESS) { return res; } #endif//#ifdef CUSTOM_KERNEL_SENSORHUB res = BMA250_SetIntEnable(client, 0x00); if(res != BMA250_SUCCESS) { return res; } printk("BMA250 disable interrupt function!\n"); res = BMA250_SetPowerMode(client, false); if(res != BMA250_SUCCESS) { return res; } printk("BMA250_SetPowerMode OK!\n"); if(0 != reset_cali) { /*reset calibration only in power on*/ res = BMA250_ResetCalibration(client); if(res != BMA250_SUCCESS) { return res; } } printk("bma250_init_client OK!\n"); #ifdef CONFIG_BMA250_LOWPASS memset(&obj->fir, 0x00, sizeof(obj->fir)); #endif mdelay(20); return BMA250_SUCCESS; } /*----------------------------------------------------------------------------*/ static int BMA250_ReadChipInfo(struct i2c_client *client, char *buf, int bufsize) { u8 databuf[10]; memset(databuf, 0, sizeof(u8)*10); if((NULL == buf)||(bufsize<=30)) { return -1; } if(NULL == client) { *buf = 0; return -2; } sprintf(buf, "BMA250 Chip"); return 0; } /*----------------------------------------------------------------------------*/ static int BMA250_ReadSensorData(struct i2c_client *client, char *buf, int bufsize) { struct bma250_i2c_data *obj = (struct bma250_i2c_data*)i2c_get_clientdata(client); u8 databuf[20]; int acc[BMA250_AXES_NUM]; int res = 0; memset(databuf, 0, sizeof(u8)*10); if(NULL == buf) { return -1; } if(NULL == client) { *buf = 0; return -2; } if(sensor_power == FALSE) { res = BMA250_SetPowerMode(client, true); if(res) { GSE_ERR("Power on bma250 error %d!\n", res); } } res = BMA250_ReadData(client, obj->data); if(res) { GSE_ERR("I2C error: ret value=%d", res); return -3; } else { #if 1 obj->data[BMA250_AXIS_X] = obj->data[BMA250_AXIS_X] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; obj->data[BMA250_AXIS_Y] = obj->data[BMA250_AXIS_Y] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; obj->data[BMA250_AXIS_Z] = obj->data[BMA250_AXIS_Z] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; #endif //printk("raw data x=%d, y=%d, z=%d \n",obj->data[BMA150_AXIS_X],obj->data[BMA150_AXIS_Y],obj->data[BMA150_AXIS_Z]); obj->data[BMA250_AXIS_X] += obj->cali_sw[BMA250_AXIS_X]; obj->data[BMA250_AXIS_Y] += obj->cali_sw[BMA250_AXIS_Y]; obj->data[BMA250_AXIS_Z] += obj->cali_sw[BMA250_AXIS_Z]; //printk("cali_sw x=%d, y=%d, z=%d \n",obj->cali_sw[BMA150_AXIS_X],obj->cali_sw[BMA150_AXIS_Y],obj->cali_sw[BMA150_AXIS_Z]); /*remap coordinate*/ acc[obj->cvt.map[BMA250_AXIS_X]] = obj->cvt.sign[BMA250_AXIS_X]*obj->data[BMA250_AXIS_X]; acc[obj->cvt.map[BMA250_AXIS_Y]] = obj->cvt.sign[BMA250_AXIS_Y]*obj->data[BMA250_AXIS_Y]; acc[obj->cvt.map[BMA250_AXIS_Z]] = obj->cvt.sign[BMA250_AXIS_Z]*obj->data[BMA250_AXIS_Z]; //printk("cvt x=%d, y=%d, z=%d \n",obj->cvt.sign[BMA150_AXIS_X],obj->cvt.sign[BMA150_AXIS_Y],obj->cvt.sign[BMA150_AXIS_Z]); //GSE_LOG("Mapped gsensor data: %d, %d, %d!\n", acc[BMA150_AXIS_X], acc[BMA150_AXIS_Y], acc[BMA150_AXIS_Z]); //Out put the mg //printk("mg acc=%d, GRAVITY=%d, sensityvity=%d \n",acc[BMA150_AXIS_X],GRAVITY_EARTH_1000,obj->reso->sensitivity); #if 0 acc[BMA250_AXIS_X] = acc[BMA250_AXIS_X] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; acc[BMA250_AXIS_Y] = acc[BMA250_AXIS_Y] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; acc[BMA250_AXIS_Z] = acc[BMA250_AXIS_Z] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; #endif sprintf(buf, "%04x %04x %04x", acc[BMA250_AXIS_X], acc[BMA250_AXIS_Y], acc[BMA250_AXIS_Z]); if(atomic_read(&obj->trace) & ADX_TRC_IOCTL) { GSE_LOG("gsensor data: %s!\n", buf); } } return 0; } /*----------------------------------------------------------------------------*/ static int BMA250_ReadRawData(struct i2c_client *client, char *buf) { struct bma250_i2c_data *obj = (struct bma250_i2c_data*)i2c_get_clientdata(client); int res = 0; if (!buf || !client) { return EINVAL; } res = BMA250_ReadData(client, obj->data); if(res) { GSE_ERR("I2C error: ret value=%d", res); return EIO; } else { sprintf(buf, "BMA250_ReadRawData %04x %04x %04x", obj->data[BMA250_AXIS_X], obj->data[BMA250_AXIS_Y], obj->data[BMA250_AXIS_Z]); } return 0; } /*----------------------------------------------------------------------------*/ static ssize_t show_chipinfo_value(struct device_driver *ddri, char *buf) { struct i2c_client *client = bma250_i2c_client; char strbuf[BMA250_BUFSIZE]; if(NULL == client) { GSE_ERR("i2c client is null!!\n"); return 0; } BMA250_ReadChipInfo(client, strbuf, BMA250_BUFSIZE); return snprintf(buf, PAGE_SIZE, "%s\n", strbuf); } /*----------------------------------------------------------------------------*/ static ssize_t show_sensordata_value(struct device_driver *ddri, char *buf) { struct i2c_client *client = bma250_i2c_client; char strbuf[BMA250_BUFSIZE]; if(NULL == client) { GSE_ERR("i2c client is null!!\n"); return 0; } BMA250_ReadSensorData(client, strbuf, BMA250_BUFSIZE); //BMA150_ReadRawData(client, strbuf); return snprintf(buf, PAGE_SIZE, "%s\n", strbuf); } /*----------------------------------------------------------------------------*/ static ssize_t show_cali_value(struct device_driver *ddri, char *buf) { struct i2c_client *client = bma250_i2c_client; struct bma250_i2c_data *obj; int err, len = 0, mul; int tmp[BMA250_AXES_NUM]; if(NULL == client) { GSE_ERR("i2c client is null!!\n"); return 0; } obj = i2c_get_clientdata(client); err = BMA250_ReadOffset(client, obj->offset); if(err) { return -EINVAL; } err = BMA250_ReadCalibration(client, tmp); if(err) { return -EINVAL; } else { mul = obj->reso->sensitivity/bma250_offset_resolution.sensitivity; len += snprintf(buf+len, PAGE_SIZE-len, "[HW ][%d] (%+3d, %+3d, %+3d) : (0x%02X, 0x%02X, 0x%02X)\n", mul, obj->offset[BMA250_AXIS_X], obj->offset[BMA250_AXIS_Y], obj->offset[BMA250_AXIS_Z], obj->offset[BMA250_AXIS_X], obj->offset[BMA250_AXIS_Y], obj->offset[BMA250_AXIS_Z]); len += snprintf(buf+len, PAGE_SIZE-len, "[SW ][%d] (%+3d, %+3d, %+3d)\n", 1, obj->cali_sw[BMA250_AXIS_X], obj->cali_sw[BMA250_AXIS_Y], obj->cali_sw[BMA250_AXIS_Z]); len += snprintf(buf+len, PAGE_SIZE-len, "[ALL] (%+3d, %+3d, %+3d) : (%+3d, %+3d, %+3d)\n", obj->offset[BMA250_AXIS_X]*mul + obj->cali_sw[BMA250_AXIS_X], obj->offset[BMA250_AXIS_Y]*mul + obj->cali_sw[BMA250_AXIS_Y], obj->offset[BMA250_AXIS_Z]*mul + obj->cali_sw[BMA250_AXIS_Z], tmp[BMA250_AXIS_X], tmp[BMA250_AXIS_Y], tmp[BMA250_AXIS_Z]); return len; } } /*----------------------------------------------------------------------------*/ static ssize_t store_cali_value(struct device_driver *ddri, const char *buf, size_t count) { struct i2c_client *client = bma250_i2c_client; int err, x, y, z; int dat[BMA250_AXES_NUM]; if(!strncmp(buf, "rst", 3)) { err = BMA250_ResetCalibration(client); if(err) { GSE_ERR("reset offset err = %d\n", err); } } else if(3 == sscanf(buf, "0x%02X 0x%02X 0x%02X", &x, &y, &z)) { dat[BMA250_AXIS_X] = x; dat[BMA250_AXIS_Y] = y; dat[BMA250_AXIS_Z] = z; err = BMA250_WriteCalibration(client, dat); if(err) { GSE_ERR("write calibration err = %d\n", err); } } else { GSE_ERR("invalid format\n"); } return count; } /*----------------------------------------------------------------------------*/ static ssize_t show_firlen_value(struct device_driver *ddri, char *buf) { #ifdef CONFIG_BMA250_LOWPASS struct i2c_client *client = bma250_i2c_client; struct bma250_i2c_data *obj = i2c_get_clientdata(client); if(atomic_read(&obj->firlen)) { int idx, len = atomic_read(&obj->firlen); GSE_LOG("len = %2d, idx = %2d\n", obj->fir.num, obj->fir.idx); for(idx = 0; idx < len; idx++) { GSE_LOG("[%5d %5d %5d]\n", obj->fir.raw[idx][BMA250_AXIS_X], obj->fir.raw[idx][BMA250_AXIS_Y], obj->fir.raw[idx][BMA250_AXIS_Z]); } GSE_LOG("sum = [%5d %5d %5d]\n", obj->fir.sum[BMA250_AXIS_X], obj->fir.sum[BMA250_AXIS_Y], obj->fir.sum[BMA250_AXIS_Z]); GSE_LOG("avg = [%5d %5d %5d]\n", obj->fir.sum[BMA250_AXIS_X]/len, obj->fir.sum[BMA250_AXIS_Y]/len, obj->fir.sum[BMA250_AXIS_Z]/len); } return snprintf(buf, PAGE_SIZE, "%d\n", atomic_read(&obj->firlen)); #else return snprintf(buf, PAGE_SIZE, "not support\n"); #endif } /*----------------------------------------------------------------------------*/ static ssize_t store_firlen_value(struct device_driver *ddri, const char *buf, size_t count) { #ifdef CONFIG_BMA250_LOWPASS struct i2c_client *client = bma250_i2c_client; struct bma250_i2c_data *obj = i2c_get_clientdata(client); int firlen; if(1 != sscanf(buf, "%d", &firlen)) { GSE_ERR("invallid format\n"); } else if(firlen > C_MAX_FIR_LENGTH) { GSE_ERR("exceeds maximum filter length\n"); } else { atomic_set(&obj->firlen, firlen); if(NULL == firlen) { atomic_set(&obj->fir_en, 0); } else { memset(&obj->fir, 0x00, sizeof(obj->fir)); atomic_set(&obj->fir_en, 1); } } #endif return count; } /*----------------------------------------------------------------------------*/ static ssize_t show_trace_value(struct device_driver *ddri, char *buf) { ssize_t res; struct bma250_i2c_data *obj = obj_i2c_data; if (obj == NULL) { GSE_ERR("i2c_data obj is null!!\n"); return 0; } res = snprintf(buf, PAGE_SIZE, "0x%04X\n", atomic_read(&obj->trace)); return res; } /*----------------------------------------------------------------------------*/ static ssize_t store_trace_value(struct device_driver *ddri, const char *buf, size_t count) { struct bma250_i2c_data *obj = obj_i2c_data; int trace; if (obj == NULL) { GSE_ERR("i2c_data obj is null!!\n"); return 0; } if(1 == sscanf(buf, "0x%x", &trace)) { atomic_set(&obj->trace, trace); } else { GSE_ERR("invalid content: '%s', length = %d\n", buf, (int)count); } return count; } /*----------------------------------------------------------------------------*/ static ssize_t show_status_value(struct device_driver *ddri, char *buf) { ssize_t len = 0; struct bma250_i2c_data *obj = obj_i2c_data; if (obj == NULL) { GSE_ERR("i2c_data obj is null!!\n"); return 0; } if(obj->hw) { len += snprintf(buf+len, PAGE_SIZE-len, "CUST: %d %d (%d %d)\n", obj->hw->i2c_num, obj->hw->direction, obj->hw->power_id, obj->hw->power_vol); } else { len += snprintf(buf+len, PAGE_SIZE-len, "CUST: NULL\n"); } return len; } /*----------------------------------------------------------------------------*/ static ssize_t show_power_status_value(struct device_driver *ddri, char *buf) { if(sensor_power) printk("G sensor is in work mode, sensor_power = %d\n", sensor_power); else printk("G sensor is in standby mode, sensor_power = %d\n", sensor_power); return 0; } /*----------------------------------------------------------------------------*/ static DRIVER_ATTR(chipinfo, S_IWUSR | S_IRUGO, show_chipinfo_value, NULL); static DRIVER_ATTR(sensordata, S_IWUSR | S_IRUGO, show_sensordata_value, NULL); static DRIVER_ATTR(cali, S_IWUSR | S_IRUGO, show_cali_value, store_cali_value); static DRIVER_ATTR(firlen, S_IWUSR | S_IRUGO, show_firlen_value, store_firlen_value); static DRIVER_ATTR(trace, S_IWUSR | S_IRUGO, show_trace_value, store_trace_value); static DRIVER_ATTR(status, S_IRUGO, show_status_value, NULL); static DRIVER_ATTR(powerstatus, S_IRUGO, show_power_status_value, NULL); /*----------------------------------------------------------------------------*/ static struct driver_attribute *bma250_attr_list[] = { &driver_attr_chipinfo, /*chip information*/ &driver_attr_sensordata, /*dump sensor data*/ &driver_attr_cali, /*show calibration data*/ &driver_attr_firlen, /*filter length: 0: disable, others: enable*/ &driver_attr_trace, /*trace log*/ &driver_attr_status, &driver_attr_powerstatus, }; /*----------------------------------------------------------------------------*/ static int bma250_create_attr(struct device_driver *driver) { int idx, err = 0; int num = (int)(sizeof(bma250_attr_list)/sizeof(bma250_attr_list[0])); if (driver == NULL) { return -EINVAL; } for(idx = 0; idx < num; idx++) { err = driver_create_file(driver, bma250_attr_list[idx]); if(err) { GSE_ERR("driver_create_file (%s) = %d\n", bma250_attr_list[idx]->attr.name, err); break; } } return err; } /*----------------------------------------------------------------------------*/ static int bma250_delete_attr(struct device_driver *driver) { int idx ,err = 0; int num = (int)(sizeof(bma250_attr_list)/sizeof(bma250_attr_list[0])); if(driver == NULL) { return -EINVAL; } for(idx = 0; idx < num; idx++) { driver_remove_file(driver, bma250_attr_list[idx]); } return err; } /*----------------------------------------------------------------------------*/ #ifdef CUSTOM_KERNEL_SENSORHUB static void gsensor_irq_work(struct work_struct *work) { struct bma250_i2c_data *obj = obj_i2c_data; struct scp_acc_hw scp_hw; BMA250_CUST_DATA *p_cust_data; SCP_SENSOR_HUB_DATA data; int max_cust_data_size_per_packet; int i; uint sizeOfCustData; uint len; char *p = (char *)&scp_hw; GSE_FUN(); scp_hw.i2c_num = obj->hw->i2c_num; scp_hw.direction = obj->hw->direction; scp_hw.power_id = obj->hw->power_id; scp_hw.power_vol = obj->hw->power_vol; scp_hw.firlen = obj->hw->firlen; memcpy(scp_hw.i2c_addr, obj->hw->i2c_addr, sizeof(obj->hw->i2c_addr)); scp_hw.power_vio_id = obj->hw->power_vio_id; scp_hw.power_vio_vol = obj->hw->power_vio_vol; scp_hw.is_batch_supported = obj->hw->is_batch_supported; p_cust_data = (BMA250_CUST_DATA *)data.set_cust_req.custData; sizeOfCustData = sizeof(scp_hw); max_cust_data_size_per_packet = sizeof(data.set_cust_req.custData) - offsetof(BMA250_SET_CUST, data); for (i=0;sizeOfCustData>0;i++) { data.set_cust_req.sensorType = ID_ACCELEROMETER; data.set_cust_req.action = SENSOR_HUB_SET_CUST; p_cust_data->setCust.action = BMA250_CUST_ACTION_SET_CUST; p_cust_data->setCust.part = i; if (sizeOfCustData > max_cust_data_size_per_packet) { len = max_cust_data_size_per_packet; } else { len = sizeOfCustData; } memcpy(p_cust_data->setCust.data, p, len); sizeOfCustData -= len; p += len; len += offsetof(SCP_SENSOR_HUB_SET_CUST_REQ, custData) + offsetof(BMA250_SET_CUST, data); SCP_sensorHub_req_send(&data, &len, 1); } p_cust_data = (BMA250_CUST_DATA *)&data.set_cust_req.custData; data.set_cust_req.sensorType = ID_ACCELEROMETER; data.set_cust_req.action = SENSOR_HUB_SET_CUST; p_cust_data->resetCali.action = BMA250_CUST_ACTION_RESET_CALI; len = offsetof(SCP_SENSOR_HUB_SET_CUST_REQ, custData) + sizeof(p_cust_data->resetCali); SCP_sensorHub_req_send(&data, &len, 1); obj->SCP_init_done = 1; } /*----------------------------------------------------------------------------*/ static int gsensor_irq_handler(void* data, uint len) { struct bma250_i2c_data *obj = obj_i2c_data; SCP_SENSOR_HUB_DATA_P rsp = (SCP_SENSOR_HUB_DATA_P)data; GSE_FUN(); GSE_ERR("len = %d, type = %d, action = %d, errCode = %d\n", len, rsp->rsp.sensorType, rsp->rsp.action, rsp->rsp.errCode); if(!obj) { return -1; } switch(rsp->rsp.action) { case SENSOR_HUB_NOTIFY: switch(rsp->notify_rsp.event) { case SCP_INIT_DONE: schedule_work(&obj->irq_work); //schedule_delayed_work(&obj->irq_work, HZ); break; default: GSE_ERR("Error sensor hub notify"); break; } break; default: GSE_ERR("Error sensor hub action"); break; } return 0; } static int gsensor_setup_irq() { int err = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif err = SCP_sensorHub_rsp_registration(ID_ACCELEROMETER, gsensor_irq_handler); return err; } #endif//#ifdef CUSTOM_KERNEL_SENSORHUB /****************************************************************************** * Function Configuration ******************************************************************************/ static int bma250_open(struct inode *inode, struct file *file) { file->private_data = bma250_i2c_client; if(file->private_data == NULL) { GSE_ERR("null pointer!!\n"); return -EINVAL; } return nonseekable_open(inode, file); } /*----------------------------------------------------------------------------*/ static int bma250_release(struct inode *inode, struct file *file) { file->private_data = NULL; return 0; } /*----------------------------------------------------------------------------*/ //static int bma250_ioctl(struct inode *inode, struct file *file, unsigned int cmd, // unsigned long arg) static long bma250_unlocked_ioctl(struct file *file, unsigned int cmd,unsigned long arg) { struct i2c_client *client = (struct i2c_client*)file->private_data; struct bma250_i2c_data *obj = (struct bma250_i2c_data*)i2c_get_clientdata(client); char strbuf[BMA250_BUFSIZE]; void __user *data; SENSOR_DATA sensor_data; long err = 0; int cali[3]; //GSE_FUN(f); if(_IOC_DIR(cmd) & _IOC_READ) { err = !access_ok(VERIFY_WRITE, (void __user *)arg, _IOC_SIZE(cmd)); } else if(_IOC_DIR(cmd) & _IOC_WRITE) { err = !access_ok(VERIFY_READ, (void __user *)arg, _IOC_SIZE(cmd)); } if(err) { GSE_ERR("access error: %08X, (%2d, %2d)\n", cmd, _IOC_DIR(cmd), _IOC_SIZE(cmd)); return -EFAULT; } switch(cmd) { case GSENSOR_IOCTL_INIT: bma250_init_client(client, 0); break; case GSENSOR_IOCTL_READ_CHIPINFO: data = (void __user *) arg; if(data == NULL) { err = -EINVAL; break; } BMA250_ReadChipInfo(client, strbuf, BMA250_BUFSIZE); if(copy_to_user(data, strbuf, strlen(strbuf)+1)) { err = -EFAULT; break; } break; case GSENSOR_IOCTL_READ_SENSORDATA: data = (void __user *) arg; if(data == NULL) { err = -EINVAL; break; } BMA250_ReadSensorData(client, strbuf, BMA250_BUFSIZE); if(copy_to_user(data, strbuf, strlen(strbuf)+1)) { err = -EFAULT; break; } break; case GSENSOR_IOCTL_READ_GAIN: data = (void __user *) arg; if(data == NULL) { err = -EINVAL; break; } if(copy_to_user(data, &gsensor_gain, sizeof(GSENSOR_VECTOR3D))) { err = -EFAULT; break; } break; case GSENSOR_IOCTL_READ_RAW_DATA: data = (void __user *) arg; if(data == NULL) { err = -EINVAL; break; } BMA250_ReadRawData(client, strbuf); if(copy_to_user(data, &strbuf, strlen(strbuf)+1)) { err = -EFAULT; break; } break; case GSENSOR_IOCTL_SET_CALI: data = (void __user*)arg; if(data == NULL) { err = -EINVAL; break; } if(copy_from_user(&sensor_data, data, sizeof(sensor_data))) { err = -EFAULT; break; } if(atomic_read(&obj->suspend)) { GSE_ERR("Perform calibration in suspend state!!\n"); err = -EINVAL; } else { #if 0 cali[BMA250_AXIS_X] = sensor_data.x * obj->reso->sensitivity / GRAVITY_EARTH_1000; cali[BMA250_AXIS_Y] = sensor_data.y * obj->reso->sensitivity / GRAVITY_EARTH_1000; cali[BMA250_AXIS_Z] = sensor_data.z * obj->reso->sensitivity / GRAVITY_EARTH_1000; #else cali[BMA250_AXIS_X] = sensor_data.x; cali[BMA250_AXIS_Y] = sensor_data.y; cali[BMA250_AXIS_Z] = sensor_data.z; #endif err = BMA250_WriteCalibration(client, cali); } break; case GSENSOR_IOCTL_CLR_CALI: err = BMA250_ResetCalibration(client); break; case GSENSOR_IOCTL_GET_CALI: data = (void __user*)arg; if(data == NULL) { err = -EINVAL; break; } err = BMA250_ReadCalibration(client, cali); if(err) { break; } #if 0 sensor_data.x = cali[BMA250_AXIS_X] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; sensor_data.y = cali[BMA250_AXIS_Y] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; sensor_data.z = cali[BMA250_AXIS_Z] * GRAVITY_EARTH_1000 / obj->reso->sensitivity; #else sensor_data.x = cali[BMA250_AXIS_X]; sensor_data.y = cali[BMA250_AXIS_Y]; sensor_data.z = cali[BMA250_AXIS_Z]; #endif if(copy_to_user(data, &sensor_data, sizeof(sensor_data))) { err = -EFAULT; break; } break; default: GSE_ERR("unknown IOCTL: 0x%08x\n", cmd); err = -ENOIOCTLCMD; break; } return err; } /*----------------------------------------------------------------------------*/ static struct file_operations bma250_fops = { //.owner = THIS_MODULE, .open = bma250_open, .release = bma250_release, .unlocked_ioctl = bma250_unlocked_ioctl, }; /*----------------------------------------------------------------------------*/ static struct miscdevice bma250_device = { .minor = MISC_DYNAMIC_MINOR, .name = "gsensor", .fops = &bma250_fops, }; /*----------------------------------------------------------------------------*/ #ifndef CONFIG_HAS_EARLYSUSPEND /*----------------------------------------------------------------------------*/ static int bma250_suspend(struct i2c_client *client, pm_message_t msg) { struct bma250_i2c_data *obj = i2c_get_clientdata(client); int err = 0; GSE_FUN(); if(msg.event == PM_EVENT_SUSPEND) { if(obj == NULL) { GSE_ERR("null pointer!!\n"); return -EINVAL; } atomic_set(&obj->suspend, 1); #ifndef CUSTOM_KERNEL_SENSORHUB if(err = BMA250_SetPowerMode(obj->client, false)) #else //#ifndef CUSTOM_KERNEL_SENSORHUB if ((err = BMA250_SCP_SetPowerMode(false, ID_ACCELEROMETER))) #endif //#ifndef CUSTOM_KERNEL_SENSORHUB { GSE_ERR("write power control fail!!\n"); return; } #ifndef CUSTOM_KERNEL_SENSORHUB BMA250_power(obj->hw, 0); #endif } return err; } /*----------------------------------------------------------------------------*/ static int bma250_resume(struct i2c_client *client) { struct bma250_i2c_data *obj = i2c_get_clientdata(client); int err; GSE_FUN(); if(obj == NULL) { GSE_ERR("null pointer!!\n"); return -EINVAL; } #ifndef CUSTOM_KERNEL_SENSORHUB BMA250_power(obj->hw, 1); #endif #ifndef CUSTOM_KERNEL_SENSORHUB if(err = bma250_init_client(client, 0)) #else if ((err = BMA250_SCP_SetPowerMode(enable_status, ID_ACCELEROMETER))) #endif { GSE_ERR("initialize client fail!!\n"); return err; } atomic_set(&obj->suspend, 0); return 0; } /*----------------------------------------------------------------------------*/ #else /*CONFIG_HAS_EARLY_SUSPEND is defined*/ /*----------------------------------------------------------------------------*/ static void bma250_early_suspend(struct early_suspend *h) { struct bma250_i2c_data *obj = container_of(h, struct bma250_i2c_data, early_drv); int err; GSE_FUN(); if(obj == NULL) { GSE_ERR("null pointer!!\n"); return; } atomic_set(&obj->suspend, 1); #ifndef CUSTOM_KERNEL_SENSORHUB err = BMA250_SetPowerMode(obj->client, false); #else if ((err = BMA250_SCP_SetPowerMode(false, ID_ACCELEROMETER))) #endif if(err) { GSE_ERR("write power control fail!!\n"); return; } sensor_power = false; #ifndef CUSTOM_KERNEL_SENSORHUB BMA250_power(obj->hw, 0); #endif } /*----------------------------------------------------------------------------*/ static void bma250_late_resume(struct early_suspend *h) { struct bma250_i2c_data *obj = container_of(h, struct bma250_i2c_data, early_drv); int err; GSE_FUN(); if(obj == NULL) { GSE_ERR("null pointer!!\n"); return; } #ifndef CUSTOM_KERNEL_SENSORHUB BMA250_power(obj->hw, 1); #endif #ifndef CUSTOM_KERNEL_SENSORHUB if (bma250_revesion == BMA250E) { u8 buf = 0xE6; u8 addr = 0x14; err = hwmsen_write_block(obj->client, addr, &buf, 1); if(err) { GSE_ERR("error: %d\n", err); } mdelay(1); } err = BMA250_SetPowerMode(obj->client, true); #else if ((err = BMA250_SCP_SetPowerMode(enable_status, ID_ACCELEROMETER))) #endif if(err) { GSE_ERR("write power control fail!!\n"); return; } atomic_set(&obj->suspend, 0); } /*----------------------------------------------------------------------------*/ #endif /*CONFIG_HAS_EARLYSUSPEND*/ /*----------------------------------------------------------------------------*/ // if use this typ of enable , Gsensor should report inputEvent(x, y, z ,stats, div) to HAL static int gsensor_open_report_data(int open) { //should queuq work to report event if is_report_input_direct=true return 0; } /*----------------------------------------------------------------------------*/ // if use this typ of enable , Gsensor only enabled but not report inputEvent to HAL static int gsensor_enable_nodata(int en) { int err = 0; #ifdef GSENSOR_UT GSE_FUN(); #endif mutex_lock(&gsensor_mutex); if(((en == 0) && (sensor_power == false)) ||((en == 1) && (sensor_power == true))) { enable_status = sensor_power; GSE_LOG("Gsensor device have updated!\n"); } else { enable_status = !sensor_power; if (atomic_read(&obj_i2c_data->suspend) == 0) { #ifdef CUSTOM_KERNEL_SENSORHUB err = BMA250_SCP_SetPowerMode(enable_status, ID_ACCELEROMETER); if (0 == err) { sensor_power = enable_status; } #else//#ifdef CUSTOM_KERNEL_SENSORHUB err = BMA250_SetPowerMode(obj_i2c_data->client, enable_status); #endif GSE_LOG("Gsensor not in suspend gsensor_SetPowerMode!, enable_status = %d\n",enable_status); } else { GSE_LOG("Gsensor in suspend and can not enable or disable!enable_status = %d\n",enable_status); } } mutex_unlock(&gsensor_mutex); if(err != BMA250_SUCCESS) { printk("gsensor_enable_nodata fail!\n"); return -1; } printk("gsensor_enable_nodata OK!!!\n"); return 0; } /*----------------------------------------------------------------------------*/ static int gsensor_set_delay(u64 ns) { int err = 0; int value; #ifdef CUSTOM_KERNEL_SENSORHUB SCP_SENSOR_HUB_DATA req; int len; #else//#ifdef CUSTOM_KERNEL_SENSORHUB int sample_delay; #endif//#ifdef CUSTOM_KERNEL_SENSORHUB #ifdef GSENSOR_UT GSE_FUN(); #endif value = (int)ns/1000/1000; #ifdef CUSTOM_KERNEL_SENSORHUB req.set_delay_req.sensorType = ID_ACCELEROMETER; req.set_delay_req.action = SENSOR_HUB_SET_DELAY; req.set_delay_req.delay = value; len = sizeof(req.activate_req); err = SCP_sensorHub_req_send(&req, &len, 1); if (err) { GSE_ERR("SCP_sensorHub_req_send!\n"); return err; } #else//#ifdef CUSTOM_KERNEL_SENSORHUB if(value <= 5) { sample_delay = BMA250_BW_200HZ; } else if(value <= 10) { sample_delay = BMA250_BW_100HZ; } else { sample_delay = BMA250_BW_50HZ; } mutex_lock(&gsensor_mutex); err = BMA250_SetBWRate(obj_i2c_data->client, sample_delay); mutex_unlock(&gsensor_mutex); if(err != BMA250_SUCCESS ) //0x2C->BW=100Hz { GSE_ERR("Set delay parameter error!\n"); return -1; } if(value >= 50) { atomic_set(&obj_i2c_data->filter, 0); } else { #if defined(CONFIG_BMA250_LOWPASS) obj_i2c_data->fir.num = 0; obj_i2c_data->fir.idx = 0; obj_i2c_data->fir.sum[BMA250_AXIS_X] = 0; obj_i2c_data->fir.sum[BMA250_AXIS_Y] = 0; obj_i2c_data->fir.sum[BMA250_AXIS_Z] = 0; atomic_set(&obj_i2c_data->filter, 1); #endif } #endif//#ifdef CUSTOM_KERNEL_SENSORHUB GSE_LOG("gsensor_set_delay (%d)\n",value); return 0; } /*----------------------------------------------------------------------------*/ static int gsensor_get_data(int* x ,int* y,int* z, int* status) { #ifdef CUSTOM_KERNEL_SENSORHUB SCP_SENSOR_HUB_DATA req; int len; int err = 0; #else char buff[BMA250_BUFSIZE]; #endif //#ifdef CUSTOM_KERNEL_SENSORHUB //GSE_FUN(); #ifdef CUSTOM_KERNEL_SENSORHUB req.get_data_req.sensorType = ID_ACCELEROMETER; req.get_data_req.action = SENSOR_HUB_GET_DATA; len = sizeof(req.get_data_req); err = SCP_sensorHub_req_send(&req, &len, 1); if (err) { GSE_ERR("SCP_sensorHub_req_send!\n"); return err; } if (ID_ACCELEROMETER != req.get_data_rsp.sensorType || SENSOR_HUB_GET_DATA != req.get_data_rsp.action || 0 != req.get_data_rsp.errCode) { GSE_ERR("error : %d\n", req.get_data_rsp.errCode); return req.get_data_rsp.errCode; } //sscanf(buff, "%x %x %x", req.get_data_rsp.int16_Data[0], req.get_data_rsp.int16_Data[1], req.get_data_rsp.int16_Data[2]); *x = req.get_data_rsp.int16_Data[0]; *y = req.get_data_rsp.int16_Data[1]; *z = req.get_data_rsp.int16_Data[2]; //GSE_ERR("x = %d, y = %d, z = %d\n", *x, *y, *z); *status = SENSOR_STATUS_ACCURACY_MEDIUM; #else//#ifdef CUSTOM_KERNEL_SENSORHUB mutex_lock(&gsensor_mutex); BMA250_ReadSensorData(obj_i2c_data->client, buff, BMA250_BUFSIZE); mutex_unlock(&gsensor_mutex); sscanf(buff, "%x %x %x", x, y, z); *status = SENSOR_STATUS_ACCURACY_MEDIUM; #endif return 0; } /*----------------------------------------------------------------------------*/ //static int bma250_i2c_detect(struct i2c_client *client, int kind, struct i2c_board_info *info) //{ // strcpy(info->type, BMA250_DEV_NAME); // return 0; //} /*----------------------------------------------------------------------------*/ static int bma250_i2c_probe(struct i2c_client *client, const struct i2c_device_id *id) { struct i2c_client *new_client; struct bma250_i2c_data *obj; struct hwmsen_object sobj; struct acc_control_path ctl={0}; struct acc_data_path data={0}; int err = 0; GSE_FUN(); if(!(obj = kzalloc(sizeof(*obj), GFP_KERNEL))) { err = -ENOMEM; goto exit; } memset(obj, 0, sizeof(struct bma250_i2c_data)); obj->hw = get_cust_acc_hw(); err = hwmsen_get_convert(obj->hw->direction, &obj->cvt); if(err) { GSE_ERR("invalid direction: %d\n", obj->hw->direction); goto exit; } #ifdef CUSTOM_KERNEL_SENSORHUB INIT_WORK(&obj->irq_work, gsensor_irq_work); #endif//#ifdef CUSTOM_KERNEL_SENSORHUB obj_i2c_data = obj; obj->client = client; new_client = obj->client; i2c_set_clientdata(new_client,obj); atomic_set(&obj->trace, 0); atomic_set(&obj->suspend, 0); #ifdef CUSTOM_KERNEL_SENSORHUB obj->SCP_init_done = 0; #endif//#ifdef CUSTOM_KERNEL_SENSORHUB #ifdef CONFIG_BMA250_LOWPASS if(obj->hw->firlen > C_MAX_FIR_LENGTH) { atomic_set(&obj->firlen, C_MAX_FIR_LENGTH); } else { atomic_set(&obj->firlen, obj->hw->firlen); } if(atomic_read(&obj->firlen) > 0) { atomic_set(&obj->fir_en, 1); } #endif bma250_i2c_client = new_client; err = bma250_init_client(new_client, 1); if(err) { goto exit_init_failed; } err = misc_register(&bma250_device); if(err) { GSE_ERR("bma250_device register failed\n"); goto exit_misc_device_register_failed; } err = bma250_create_attr(&bma250_init_info.platform_diver_addr->driver); if(err) { GSE_ERR("create attribute err = %d\n", err); goto exit_create_attr_failed; } ctl.open_report_data= gsensor_open_report_data; ctl.enable_nodata = gsensor_enable_nodata; ctl.set_delay = gsensor_set_delay; ctl.is_report_input_direct = false; #ifdef CUSTOM_KERNEL_SENSORHUB ctl.is_support_batch = obj->hw->is_batch_supported; #else ctl.is_support_batch = false; #endif err = acc_register_control_path(&ctl); if(err) { GSE_ERR("register acc control path err\n"); printk("register acc control path err\n"); goto exit_create_attr_failed; } printk("acc_register_control_path sucess\n"); data.get_data = gsensor_get_data; data.vender_div = 1000; err = acc_register_data_path(&data); if(err) { GSE_ERR("register acc data path err\n"); printk("register acc data path err\n"); goto exit_create_attr_failed; } printk("acc_register_data_path sucess\n"); err = batch_register_support_info(ID_ACCELEROMETER,ctl.is_support_batch, 1000, 0); if(err) { GSE_ERR("register gsensor batch support err = %d\n", err); printk("register gsensor batch support err\n"); goto exit_create_attr_failed; } printk("batch_register_support_info sucess\n"); #ifdef CONFIG_HAS_EARLYSUSPEND obj->early_drv.level = EARLY_SUSPEND_LEVEL_DISABLE_FB - 1, obj->early_drv.suspend = bma250_early_suspend, obj->early_drv.resume = bma250_late_resume, register_early_suspend(&obj->early_drv); #endif gsensor_init_flag = 0; GSE_LOG("%s: OK\n", __func__); printk("bma250_i2c_probe sucess\n"); return 0; exit_create_attr_failed: misc_deregister(&bma250_device); exit_misc_device_register_failed: exit_init_failed: //i2c_detach_client(new_client); exit_kfree: kfree(obj); exit: GSE_ERR("%s: err = %d\n", __func__, err); gsensor_init_flag =-1; return err; } /*----------------------------------------------------------------------------*/ static int bma250_i2c_remove(struct i2c_client *client) { int err = 0; err = bma250_delete_attr(&bma250_init_info.platform_diver_addr->driver); if(err) { GSE_ERR("bma150_delete_attr fail: %d\n", err); } err = misc_deregister(&bma250_device); if(err) { GSE_ERR("misc_deregister fail: %d\n", err); } bma250_i2c_client = NULL; i2c_unregister_device(client); kfree(i2c_get_clientdata(client)); return 0; } /*----------------------------------------------------------------------------*/ static int bma250_probe(struct platform_device *pdev) { struct acc_hw *hw = get_cust_acc_hw(); GSE_FUN(); BMA250_power(hw, 1); //bma250_force[0] = hw->i2c_num; if(i2c_add_driver(&bma250_i2c_driver)) { GSE_ERR("add driver error\n"); return -1; } return 0; } /*----------------------------------------------------------------------------*/ static int bma250_remove(struct platform_device *pdev) { struct acc_hw *hw = get_cust_acc_hw(); GSE_FUN(); BMA250_power(hw, 0); i2c_del_driver(&bma250_i2c_driver); return 0; } /*----------------------------------------------------------------------------*/ static int gsensor_local_init(void) { struct acc_hw *hw = get_cust_acc_hw(); GSE_FUN(); BMA250_power(hw, 1); if(i2c_add_driver(&bma250_i2c_driver)) { GSE_ERR("add driver error\n"); return -1; } if(-1 == gsensor_init_flag) { return -1; } return 0; } /*----------------------------------------------------------------------------*/ static int gsensor_remove() { struct acc_hw *hw = get_cust_acc_hw(); GSE_FUN(); BMA250_power(hw, 0); i2c_del_driver(&bma250_i2c_driver); return 0; } /*----------------------------------------------------------------------------*/ static int __init bma250_init(void) { struct acc_hw *hw = get_cust_acc_hw(); GSE_FUN(); GSE_LOG("%s: i2c_number=%d\n", __func__,hw->i2c_num); i2c_register_board_info(hw->i2c_num, &i2c_bma250, 1); acc_driver_add(&bma250_init_info); return 0; } /*----------------------------------------------------------------------------*/ static void __exit bma250_exit(void) { GSE_FUN(); } /*----------------------------------------------------------------------------*/ module_init(bma250_init); module_exit(bma250_exit); /*----------------------------------------------------------------------------*/ MODULE_LICENSE("GPL"); MODULE_DESCRIPTION("BMA250 I2C driver"); MODULE_AUTHOR("Xiaoli.li@mediatek.com");