1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
|
#include "accel_factory.h"
static int acc_factory_open(struct inode *inode, struct file *file)
{
file->private_data = acc_context_obj;
if (file->private_data == NULL)
{
ACC_ERR("null pointer!!\n");
return -EINVAL;
}
return nonseekable_open(inode, file);
}
static int acc_factory_release(struct inode *inode, struct file *file)
{
file->private_data = NULL;
return 0;
}
static int acc_set_cali(int data[ACC_AXES_NUM])
{
struct acc_context *cxt = acc_context_obj;
ACC_LOG(" factory cali %d,%d,%d \n",data[ACC_AXIS_X],data[ACC_AXIS_Y],data[ACC_AXIS_Z] );
ACC_LOG(" original cali %d,%d,%d \n",cxt->cali_sw[ACC_AXIS_X],cxt->cali_sw[ACC_AXIS_Y],cxt->cali_sw[ACC_AXIS_Z]);
cxt->cali_sw[ACC_AXIS_X] += data[ACC_AXIS_X];
cxt->cali_sw[ACC_AXIS_Y] += data[ACC_AXIS_Y];
cxt->cali_sw[ACC_AXIS_Z] += data[ACC_AXIS_Z];
ACC_LOG(" new cali %d,%d,%d \n",cxt->cali_sw[ACC_AXIS_X],cxt->cali_sw[ACC_AXIS_Y],cxt->cali_sw[ACC_AXIS_Z]);
return 0;
}
static int acc_clear_cali(void)
{
struct acc_context *cxt = acc_context_obj;
cxt->cali_sw[ACC_AXIS_X] = 0;
cxt->cali_sw[ACC_AXIS_Y] = 0;
cxt->cali_sw[ACC_AXIS_Z] = 0;
ACC_LOG(" after clear cali %d,%d,%d \n",cxt->cali_sw[ACC_AXIS_X],cxt->cali_sw[ACC_AXIS_Y],cxt->cali_sw[ACC_AXIS_Z] );
return 0;
}
static long acc_factory_unlocked_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
{
void __user *data;
int err = 0;
struct acc_context *cxt = acc_context_obj;
int x,y,z;
char strbuf[256];
int cali[3] = {0};
SENSOR_DATA sensor_data = {0};
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)
{
ACC_ERR("access error: %08X, (%2d, %2d)\n", cmd, _IOC_DIR(cmd), _IOC_SIZE(cmd));
return -EFAULT;
}
switch (cmd)
{
case GSENSOR_IOCTL_INIT:
break;
case GSENSOR_IOCTL_READ_CHIPINFO:
break;
case GSENSOR_IOCTL_READ_SENSORDATA:
data = (void __user *) arg;
if (data == NULL)
{
err = -EINVAL;
break;
}
if(cxt->acc_ctl.enable_nodata != NULL){
err = cxt->acc_ctl.enable_nodata(1);
if(err)
{
err = cxt->acc_ctl.enable_nodata(1);
if(err)
{
err = cxt->acc_ctl.enable_nodata(1);
if(err)
ACC_ERR("acc ioctl enable err 3 timers = %d\n", err);
}
}
ACC_LOG("acc ioctl real enable \n" );
}
if(cxt->acc_data.get_data != NULL){
//err = cxt->acc_data.get_data(&x, &y, &z, &status);
err = cxt->acc_data.get_raw_data(&x, &y, &z);
if(err < 0)
{
ACC_ERR("GSENSOR_IOCTL_READ_SENSORDATA read data fail!\n");
break;
}
x+=cxt->cali_sw[0];
y+=cxt->cali_sw[1];
z+=cxt->cali_sw[2];
sprintf(strbuf, "%x %x %x", x, y, z);
ACC_LOG("GSENSOR_IOCTL_READ_SENSORDATA read data : (%d, %d, %d)!\n", x, y, z);
ACC_LOG("GSENSOR_IOCTL_READ_SENSORDATA read strbuf : (%s)!\n", strbuf);
if (copy_to_user(data, strbuf, strlen(strbuf)+1))
{
err = -EFAULT;
break;
}
}else{
ACC_ERR("GSENSOR_IOCTL_READ_SENSORDATA ");
}
break;
case GSENSOR_IOCTL_READ_RAW_DATA:
data = (void __user *) arg;
if (data == NULL)
{
err = -EINVAL;
break;
}
if(cxt->acc_data.get_raw_data != NULL){
err = cxt->acc_data.get_raw_data(&x, &y, &z);
if(err < 0)
{
ACC_ERR("GSENSOR_IOCTL_READ_RAW_DATA read data fail!\n");
break;
}
x+=cxt->cali_sw[0];
y+=cxt->cali_sw[1];
z+=cxt->cali_sw[2];
sprintf(strbuf, "%x %x %x", x, y, z);
ACC_LOG("GSENSOR_IOCTL_READ_RAW_DATA read data : (%d, %d, %d)!\n", x, y, z);
if (copy_to_user(data, strbuf, strlen(strbuf)+1))
{
err = -EFAULT;
break;
}
}else{
ACC_ERR("GSENSOR_IOCTL_READ_SENSORDATA ");
}
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;
}
cali[0] = sensor_data.x ;
cali[1] = sensor_data.y ;
cali[2] = sensor_data.z ;
ACC_LOG("GSENSOR_IOCTL_SET_CALI data : (%d, %d, %d)!\n", cali[0], cali[1], cali[2]);
acc_set_cali(cali);
/*if(cxt->acc_ctl.acc_calibration != NULL)
{
err = cxt->acc_ctl.acc_calibration(SETCALI, cali);
if(err < 0)
{
ACC_ERR("GSENSOR_IOCTL_SET_CALI fail!\n");
break;
}
}
*/
break;
case GSENSOR_IOCTL_CLR_CALI:
/*
if(cxt->acc_ctl.acc_calibration != NULL)
{
err = cxt->acc_ctl.acc_calibration(CLRCALI, cali);
if(err < 0)
{
ACC_ERR("GSENSOR_IOCTL_CLR_CALI fail!\n");
break;
}
}
*/
acc_clear_cali();
break;
case GSENSOR_IOCTL_GET_CALI:
data = (void __user*)arg;
if (data == NULL)
{
err = -EINVAL;
break;
}
/*
if(cxt->acc_ctl.acc_calibration != NULL)
{
err = cxt->acc_ctl.acc_calibration(GETCALI, cali);
if(err < 0)
{
ACC_ERR("GSENSOR_IOCTL_GET_CALI fail!\n");
break;
}
}
*/
ACC_LOG("GSENSOR_IOCTL_GET_CALI data : (%d, %d, %d)!\n", cxt->cali_sw[0], cxt->cali_sw[1], cxt->cali_sw[2]);
sensor_data.x = cxt->cali_sw[0];
sensor_data.y = cxt->cali_sw[1];
sensor_data.z = cxt->cali_sw[2];
if (copy_to_user(data, &sensor_data, sizeof(sensor_data)))
{
err = -EFAULT;
break;
}
break;
default:
ACC_ERR("unknown IOCTL: 0x%08x\n", cmd);
err = -ENOIOCTLCMD;
break;
}
return err;
}
static struct file_operations acc_factory_fops = {
.open = acc_factory_open,
.release = acc_factory_release,
.unlocked_ioctl = acc_factory_unlocked_ioctl,
};
static struct miscdevice acc_factory_device = {
.minor = MISC_DYNAMIC_MINOR,
.name = "gsensor",
.fops = &acc_factory_fops,
};
int acc_factory_device_init()
{
int error = 0;
struct acc_context *cxt = acc_context_obj;
if (!cxt->acc_ctl.is_use_common_factory) {
ACC_LOG("Node of '/dev/gsensor' has already existed!\n");
return -1;
}
if ((error = misc_register(&acc_factory_device)))
{
ACC_LOG("acc_factory_device register failed\n");
error = -1;
}
return error;
}
|
