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6fa3eb70 S |
1 | /* MPU6050 motion sensor driver |
2 | * | |
3 | * This software is licensed under the terms of the GNU General Public | |
4 | * License version 2, as published by the Free Software Foundation, and | |
5 | * may be copied, distributed, and modified under those terms. | |
6 | * | |
7 | * This program is distributed in the hope that it will be useful, | |
8 | * but WITHOUT ANY WARRANTY; without even the implied warranty of | |
9 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
10 | * GNU General Public License for more details. | |
11 | * | |
12 | */ | |
13 | ||
14 | #include <linux/interrupt.h> | |
15 | #include <linux/i2c.h> | |
16 | #include <linux/slab.h> | |
17 | #include <linux/irq.h> | |
18 | #include <linux/miscdevice.h> | |
19 | #include <asm/uaccess.h> | |
20 | #include <linux/delay.h> | |
21 | #include <linux/input.h> | |
22 | #include <linux/workqueue.h> | |
23 | #include <linux/kobject.h> | |
24 | #include <linux/earlysuspend.h> | |
25 | #include <linux/platform_device.h> | |
26 | ||
27 | #include <cust_gyro.h> | |
28 | #include <linux/hwmsensor.h> | |
29 | #include <linux/hwmsen_dev.h> | |
30 | #include <linux/sensors_io.h> | |
31 | #include "mpu6050.h" | |
32 | #include <linux/hwmsen_helper.h> | |
33 | #include <linux/kernel.h> | |
34 | ||
35 | #include <mach/mt_typedefs.h> | |
36 | #include <mach/mt_gpio.h> | |
37 | #include <mach/mt_pm_ldo.h> | |
38 | #include <mach/mt_boot.h> | |
39 | ||
40 | #define INV_GYRO_AUTO_CALI 1 | |
41 | ||
42 | #define POWER_NONE_MACRO MT65XX_POWER_NONE | |
43 | /*----------------------------------------------------------------------------*/ | |
44 | #define MPU6050_DEFAULT_FS MPU6050_FS_1000 | |
45 | #define MPU6050_DEFAULT_LSB MPU6050_FS_1000_LSB | |
46 | /*---------------------------------------------------------------------------*/ | |
47 | #define DEBUG 1 | |
48 | /*----------------------------------------------------------------------------*/ | |
49 | #define CONFIG_MPU6050_LOWPASS /*apply low pass filter on output*/ | |
50 | /*----------------------------------------------------------------------------*/ | |
51 | #define MPU6050_AXIS_X 0 | |
52 | #define MPU6050_AXIS_Y 1 | |
53 | #define MPU6050_AXIS_Z 2 | |
54 | #define MPU6050_AXES_NUM 3 | |
55 | #define MPU6050_DATA_LEN 6 | |
56 | #define MPU6050_DEV_NAME "MPU6050GY" /* name must different with gsensor mpu6050 */ | |
57 | /*----------------------------------------------------------------------------*/ | |
58 | static const struct i2c_device_id mpu6050_i2c_id[] = {{MPU6050_DEV_NAME,0},{}}; | |
59 | static struct i2c_board_info __initdata i2c_mpu6050={ I2C_BOARD_INFO(MPU6050_DEV_NAME, (MPU6050_I2C_SLAVE_ADDR>>1))}; | |
60 | ||
61 | int packet_thresh = 75; // 600 ms / 8ms/sample | |
62 | ||
63 | /*----------------------------------------------------------------------------*/ | |
64 | static int mpu6050_i2c_probe(struct i2c_client *client, const struct i2c_device_id *id); | |
65 | static int mpu6050_i2c_remove(struct i2c_client *client); | |
66 | static int mpu6050_i2c_detect(struct i2c_client *client, struct i2c_board_info *info); | |
67 | ||
68 | /*----------------------------------------------------------------------------*/ | |
69 | typedef enum | |
70 | { | |
71 | GYRO_TRC_FILTER = 0x01, | |
72 | GYRO_TRC_RAWDATA = 0x02, | |
73 | GYRO_TRC_IOCTL = 0x04, | |
74 | GYRO_TRC_CALI = 0X08, | |
75 | GYRO_TRC_INFO = 0X10, | |
76 | GYRO_TRC_DATA = 0X20, | |
77 | } GYRO_TRC; | |
78 | /*----------------------------------------------------------------------------*/ | |
79 | struct scale_factor | |
80 | { | |
81 | u8 whole; | |
82 | u8 fraction; | |
83 | }; | |
84 | /*----------------------------------------------------------------------------*/ | |
85 | struct data_resolution | |
86 | { | |
87 | struct scale_factor scalefactor; | |
88 | int sensitivity; | |
89 | }; | |
90 | /*----------------------------------------------------------------------------*/ | |
91 | #define C_MAX_FIR_LENGTH (32) | |
92 | /*----------------------------------------------------------------------------*/ | |
93 | struct data_filter | |
94 | { | |
95 | s16 raw[C_MAX_FIR_LENGTH][MPU6050_AXES_NUM]; | |
96 | int sum[MPU6050_AXES_NUM]; | |
97 | int num; | |
98 | int idx; | |
99 | }; | |
100 | /*----------------------------------------------------------------------------*/ | |
101 | struct mpu6050_i2c_data | |
102 | { | |
103 | struct i2c_client *client; | |
104 | struct gyro_hw *hw; | |
105 | struct hwmsen_convert cvt; | |
106 | ||
107 | /*misc*/ | |
108 | struct data_resolution *reso; | |
109 | atomic_t trace; | |
110 | atomic_t suspend; | |
111 | atomic_t selftest; | |
112 | atomic_t filter; | |
113 | s16 cali_sw[MPU6050_AXES_NUM+1]; | |
114 | ||
115 | /*data*/ | |
116 | s8 offset[MPU6050_AXES_NUM+1]; /*+1: for 4-byte alignment*/ | |
117 | s16 data[MPU6050_AXES_NUM+1]; | |
118 | ||
119 | #if defined(CONFIG_MPU6050_LOWPASS) | |
120 | atomic_t firlen; | |
121 | atomic_t fir_en; | |
122 | struct data_filter fir; | |
123 | #endif | |
124 | /*early suspend*/ | |
125 | #if defined(CONFIG_HAS_EARLYSUSPEND) | |
126 | struct early_suspend early_drv; | |
127 | #endif | |
128 | #if INV_GYRO_AUTO_CALI==1 | |
129 | s16 inv_cali_raw[MPU6050_AXES_NUM+1]; | |
130 | s16 temperature; | |
131 | struct mutex temperature_mutex;//for temperature protection | |
132 | struct mutex raw_data_mutex;//for inv_cali_raw[] protection | |
133 | #endif | |
134 | }; | |
135 | /*----------------------------------------------------------------------------*/ | |
136 | static struct i2c_driver mpu6050_i2c_driver = { | |
137 | .driver = { | |
138 | .name = MPU6050_DEV_NAME, | |
139 | }, | |
140 | .probe = mpu6050_i2c_probe, | |
141 | .remove = mpu6050_i2c_remove, | |
142 | .detect = mpu6050_i2c_detect, | |
143 | #if !defined(CONFIG_HAS_EARLYSUSPEND) | |
144 | .suspend = mpu6050_suspend, | |
145 | .resume = mpu6050_resume, | |
146 | #endif | |
147 | .id_table = mpu6050_i2c_id, | |
148 | }; | |
149 | ||
150 | /*----------------------------------------------------------------------------*/ | |
151 | static struct i2c_client *mpu6050_i2c_client = NULL; | |
152 | static struct platform_driver mpu6050_gyro_driver; | |
153 | static struct mpu6050_i2c_data *obj_i2c_data = NULL; | |
154 | static bool sensor_power = false; | |
155 | ||
156 | ||
157 | ||
158 | /*----------------------------------------------------------------------------*/ | |
159 | #define GYRO_TAG "[Gyroscope] " | |
160 | #define GYRO_FUN(f) printk(KERN_INFO GYRO_TAG"%s\n", __FUNCTION__) | |
161 | #define GYRO_ERR(fmt, args...) printk(KERN_ERR GYRO_TAG"%s %d : "fmt, __FUNCTION__, __LINE__, ##args) | |
162 | #define GYRO_LOG(fmt, args...) printk(KERN_INFO GYRO_TAG fmt, ##args) | |
163 | /*----------------------------------------------------------------------------*/ | |
164 | ||
165 | extern int MPU6050_gse_power(void); | |
166 | extern int MPU6050_gse_mode(void); | |
167 | ||
168 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
169 | extern int MPU6050_i2c_master_send(u8 *buf, u8 len); | |
170 | extern int MPU6050_i2c_master_recv(u8 *buf, u8 len); | |
171 | extern int MPU6050_hwmsen_read_block(u8 addr, u8 *buf, u8 len); | |
172 | extern int MPU6050_hwmsen_read_byte(u8 addr, u8 *buf); | |
173 | #endif | |
174 | ||
175 | static unsigned int power_on = 0; | |
176 | ||
177 | int MPU6050_gyro_power(void) | |
178 | { | |
179 | return(power_on); | |
180 | } | |
181 | EXPORT_SYMBOL(MPU6050_gyro_power); | |
182 | ||
183 | int MPU6050_gyro_mode(void) | |
184 | { | |
185 | return sensor_power; | |
186 | } | |
187 | EXPORT_SYMBOL(MPU6050_gyro_mode); | |
188 | ||
189 | /*--------------------gyroscopy power control function----------------------------------*/ | |
190 | static void MPU6050_power(struct gyro_hw *hw, unsigned int on) | |
191 | { | |
192 | ||
193 | if (hw->power_id != POWER_NONE_MACRO) // have externel LDO | |
194 | { | |
195 | GYRO_LOG("power %s\n", on ? "on" : "off"); | |
196 | if (power_on == on) // power status not change | |
197 | { | |
198 | GYRO_LOG("ignore power control: %d\n", on); | |
199 | } | |
200 | else if (on) // power on | |
201 | { | |
202 | if (!hwPowerOn(hw->power_id, hw->power_vol, "MPU6050GY")) | |
203 | { | |
204 | GYRO_ERR("power on fails!!\n"); | |
205 | } | |
206 | } | |
207 | else // power off | |
208 | { | |
209 | if (MPU6050_gse_power() == false) | |
210 | { | |
211 | if (!hwPowerDown(hw->power_id, "MPU6050GY")) | |
212 | { | |
213 | GYRO_ERR("power off fail!!\n"); | |
214 | } | |
215 | } | |
216 | } | |
217 | } | |
218 | power_on = on; | |
219 | } | |
220 | /*----------------------------------------------------------------------------*/ | |
221 | ||
222 | ||
223 | /*----------------------------------------------------------------------------*/ | |
224 | static int MPU6050_write_rel_calibration(struct mpu6050_i2c_data *obj, int dat[MPU6050_AXES_NUM]) | |
225 | { | |
226 | obj->cali_sw[MPU6050_AXIS_X] = obj->cvt.sign[MPU6050_AXIS_X]*dat[obj->cvt.map[MPU6050_AXIS_X]]; | |
227 | obj->cali_sw[MPU6050_AXIS_Y] = obj->cvt.sign[MPU6050_AXIS_Y]*dat[obj->cvt.map[MPU6050_AXIS_Y]]; | |
228 | obj->cali_sw[MPU6050_AXIS_Z] = obj->cvt.sign[MPU6050_AXIS_Z]*dat[obj->cvt.map[MPU6050_AXIS_Z]]; | |
229 | #if DEBUG | |
230 | if (atomic_read(&obj->trace) & GYRO_TRC_CALI) | |
231 | { | |
232 | GYRO_LOG("test (%5d, %5d, %5d) ->(%5d, %5d, %5d)->(%5d, %5d, %5d))\n", | |
233 | obj->cvt.sign[MPU6050_AXIS_X],obj->cvt.sign[MPU6050_AXIS_Y],obj->cvt.sign[MPU6050_AXIS_Z], | |
234 | dat[MPU6050_AXIS_X], dat[MPU6050_AXIS_Y], dat[MPU6050_AXIS_Z], | |
235 | obj->cvt.map[MPU6050_AXIS_X],obj->cvt.map[MPU6050_AXIS_Y],obj->cvt.map[MPU6050_AXIS_Z]); | |
236 | GYRO_LOG("write gyro calibration data (%5d, %5d, %5d)\n", | |
237 | obj->cali_sw[MPU6050_AXIS_X],obj->cali_sw[MPU6050_AXIS_Y],obj->cali_sw[MPU6050_AXIS_Z]); | |
238 | } | |
239 | #endif | |
240 | return 0; | |
241 | } | |
242 | ||
243 | ||
244 | /*----------------------------------------------------------------------------*/ | |
245 | static int MPU6050_ResetCalibration(struct i2c_client *client) | |
246 | { | |
247 | struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); | |
248 | ||
249 | memset(obj->cali_sw, 0x00, sizeof(obj->cali_sw)); | |
250 | return 0; | |
251 | } | |
252 | /*----------------------------------------------------------------------------*/ | |
253 | static int MPU6050_ReadCalibration(struct i2c_client *client, int dat[MPU6050_AXES_NUM]) | |
254 | { | |
255 | struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); | |
256 | ||
257 | dat[obj->cvt.map[MPU6050_AXIS_X]] = obj->cvt.sign[MPU6050_AXIS_X]*obj->cali_sw[MPU6050_AXIS_X]; | |
258 | dat[obj->cvt.map[MPU6050_AXIS_Y]] = obj->cvt.sign[MPU6050_AXIS_Y]*obj->cali_sw[MPU6050_AXIS_Y]; | |
259 | dat[obj->cvt.map[MPU6050_AXIS_Z]] = obj->cvt.sign[MPU6050_AXIS_Z]*obj->cali_sw[MPU6050_AXIS_Z]; | |
260 | ||
261 | #if DEBUG | |
262 | if (atomic_read(&obj->trace) & GYRO_TRC_CALI) | |
263 | { | |
264 | GYRO_LOG("Read gyro calibration data (%5d, %5d, %5d)\n", | |
265 | dat[MPU6050_AXIS_X],dat[MPU6050_AXIS_Y],dat[MPU6050_AXIS_Z]); | |
266 | } | |
267 | #endif | |
268 | ||
269 | return 0; | |
270 | } | |
271 | /*----------------------------------------------------------------------------*/ | |
272 | /*----------------------------------------------------------------------------*/ | |
273 | static int MPU6050_WriteCalibration(struct i2c_client *client, int dat[MPU6050_AXES_NUM]) | |
274 | { | |
275 | struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); | |
276 | int err = 0; | |
277 | int cali[MPU6050_AXES_NUM]; | |
278 | ||
279 | ||
280 | GYRO_FUN(); | |
281 | if (!obj || ! dat) | |
282 | { | |
283 | GYRO_ERR("null ptr!!\n"); | |
284 | return -EINVAL; | |
285 | } | |
286 | else | |
287 | { | |
288 | cali[obj->cvt.map[MPU6050_AXIS_X]] = obj->cvt.sign[MPU6050_AXIS_X]*obj->cali_sw[MPU6050_AXIS_X]; | |
289 | cali[obj->cvt.map[MPU6050_AXIS_Y]] = obj->cvt.sign[MPU6050_AXIS_Y]*obj->cali_sw[MPU6050_AXIS_Y]; | |
290 | cali[obj->cvt.map[MPU6050_AXIS_Z]] = obj->cvt.sign[MPU6050_AXIS_Z]*obj->cali_sw[MPU6050_AXIS_Z]; | |
291 | cali[MPU6050_AXIS_X] += dat[MPU6050_AXIS_X]; | |
292 | cali[MPU6050_AXIS_Y] += dat[MPU6050_AXIS_Y]; | |
293 | cali[MPU6050_AXIS_Z] += dat[MPU6050_AXIS_Z]; | |
294 | #if DEBUG | |
295 | if (atomic_read(&obj->trace) & GYRO_TRC_CALI) | |
296 | { | |
297 | GYRO_LOG("write gyro calibration data (%5d, %5d, %5d)-->(%5d, %5d, %5d)\n", | |
298 | dat[MPU6050_AXIS_X], dat[MPU6050_AXIS_Y], dat[MPU6050_AXIS_Z], | |
299 | cali[MPU6050_AXIS_X],cali[MPU6050_AXIS_Y],cali[MPU6050_AXIS_Z]); | |
300 | } | |
301 | #endif | |
302 | return MPU6050_write_rel_calibration(obj, cali); | |
303 | } | |
304 | ||
305 | return err; | |
306 | } | |
307 | /*----------------------------------------------------------------------------*/ | |
308 | ||
309 | ||
310 | /*----------------------------------------------------------------------------*/ | |
311 | static int MPU6050_ReadStart(struct i2c_client *client, bool enable) | |
312 | { | |
313 | u8 databuf[2] = {0}; | |
314 | int res = 0; | |
315 | GYRO_FUN(); | |
316 | ||
317 | databuf[0] = MPU6050_REG_FIFO_EN; | |
318 | ||
319 | if (enable) | |
320 | { | |
321 | //enable xyz gyro in FIFO | |
322 | databuf[1] = (MPU6050_FIFO_GYROX_EN|MPU6050_FIFO_GYROY_EN|MPU6050_FIFO_GYROZ_EN); | |
323 | } | |
324 | else | |
325 | { | |
326 | //disable xyz gyro in FIFO | |
327 | databuf[1] = 0; | |
328 | } | |
329 | ||
330 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
331 | res = MPU6050_i2c_master_send(databuf, 0x2); | |
332 | #else | |
333 | res = i2c_master_send(client, databuf, 0x2); | |
334 | #endif | |
335 | if (res <= 0) | |
336 | { | |
337 | GYRO_ERR(" enable xyz gyro in FIFO error,enable: 0x%x!\n", databuf[1]); | |
338 | return MPU6050_ERR_I2C; | |
339 | } | |
340 | GYRO_LOG("MPU6050_ReadStart: enable xyz gyro in FIFO: 0x%x\n", databuf[1]); | |
341 | return MPU6050_SUCCESS; | |
342 | } | |
343 | ||
344 | ||
345 | ||
346 | //----------------------------------------------------------------------------// | |
347 | static int MPU6050_SetPowerMode(struct i2c_client *client, bool enable) | |
348 | { | |
349 | u8 databuf[2] = {0}; | |
350 | int res = 0; | |
351 | ||
352 | if (enable == sensor_power) | |
353 | { | |
354 | GYRO_LOG("Sensor power status is newest!\n"); | |
355 | return MPU6050_SUCCESS; | |
356 | } | |
357 | ||
358 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
359 | if (MPU6050_hwmsen_read_byte(MPU6050_REG_PWR_CTL, databuf)) | |
360 | #else | |
361 | if (hwmsen_read_byte(client, MPU6050_REG_PWR_CTL, databuf)) | |
362 | #endif | |
363 | { | |
364 | GYRO_ERR("read power ctl register err!\n"); | |
365 | return MPU6050_ERR_I2C; | |
366 | } | |
367 | ||
368 | databuf[0] &= ~MPU6050_SLEEP; | |
369 | if (enable == FALSE) | |
370 | { | |
371 | if (MPU6050_gse_mode() == false) | |
372 | { | |
373 | databuf[0] |= MPU6050_SLEEP; | |
374 | } | |
375 | } | |
376 | else | |
377 | { | |
378 | // do nothing | |
379 | } | |
380 | ||
381 | ||
382 | databuf[1] = databuf[0]; | |
383 | databuf[0] = MPU6050_REG_PWR_CTL; | |
384 | ||
385 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
386 | res = MPU6050_i2c_master_send(databuf, 0x2); | |
387 | #else | |
388 | res = i2c_master_send(client, databuf, 0x2); | |
389 | #endif | |
390 | ||
391 | if (res <= 0) | |
392 | { | |
393 | GYRO_LOG("set power mode failed!\n"); | |
394 | return MPU6050_ERR_I2C; | |
395 | } | |
396 | else | |
397 | { | |
398 | GYRO_LOG("set power mode ok %d!\n", enable); | |
399 | } | |
400 | msleep(200); | |
401 | ||
402 | sensor_power = enable; | |
403 | ||
404 | return MPU6050_SUCCESS; | |
405 | } | |
406 | ||
407 | /*----------------------------------------------------------------------------*/ | |
408 | static int MPU6050_SetDataFormat(struct i2c_client *client, u8 dataformat) | |
409 | { | |
410 | u8 databuf[2] = {0}; | |
411 | int res = 0; | |
412 | GYRO_FUN(); | |
413 | ||
414 | databuf[0] = MPU6050_REG_CFG; | |
415 | databuf[1] = dataformat; | |
416 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
417 | res = MPU6050_i2c_master_send(databuf, 0x2); | |
418 | #else | |
419 | res = i2c_master_send(client, databuf, 0x2); | |
420 | #endif | |
421 | if (res <= 0) | |
422 | { | |
423 | return MPU6050_ERR_I2C; | |
424 | } | |
425 | ||
426 | //read sample rate after written for test | |
427 | udelay(500); | |
428 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
429 | if (MPU6050_hwmsen_read_byte(MPU6050_REG_CFG, databuf)) | |
430 | #else | |
431 | if (hwmsen_read_byte(client, MPU6050_REG_CFG, databuf)) | |
432 | #endif | |
433 | { | |
434 | GYRO_ERR("read data format register err!\n"); | |
435 | return MPU6050_ERR_I2C; | |
436 | } | |
437 | else | |
438 | { | |
439 | GYRO_LOG("read data format: 0x%x\n", databuf[0]); | |
440 | } | |
441 | ||
442 | return MPU6050_SUCCESS; | |
443 | } | |
444 | ||
445 | static int MPU6050_SetFullScale(struct i2c_client *client, u8 dataformat) | |
446 | { | |
447 | u8 databuf[2] = {0}; | |
448 | int res = 0; | |
449 | GYRO_FUN(); | |
450 | ||
451 | databuf[0] = MPU6050_REG_GYRO_CFG; | |
452 | databuf[1] = dataformat; | |
453 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
454 | res = MPU6050_i2c_master_send(databuf, 0x2); | |
455 | #else | |
456 | res = i2c_master_send(client, databuf, 0x2); | |
457 | #endif | |
458 | if (res <= 0) | |
459 | { | |
460 | return MPU6050_ERR_I2C; | |
461 | } | |
462 | ||
463 | //read sample rate after written for test | |
464 | udelay(500); | |
465 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
466 | if (MPU6050_hwmsen_read_byte(MPU6050_REG_GYRO_CFG, databuf)) | |
467 | #else | |
468 | if (hwmsen_read_byte(client, MPU6050_REG_GYRO_CFG, databuf)) | |
469 | #endif | |
470 | { | |
471 | GYRO_ERR("read data format register err!\n"); | |
472 | return MPU6050_ERR_I2C; | |
473 | } | |
474 | else | |
475 | { | |
476 | GYRO_LOG("read data format: 0x%x\n", databuf[0]); | |
477 | } | |
478 | ||
479 | return MPU6050_SUCCESS; | |
480 | } | |
481 | ||
482 | ||
483 | // set the sample rate | |
484 | static int MPU6050_SetSampleRate(struct i2c_client *client, int sample_rate) | |
485 | { | |
486 | u8 databuf[2] = {0}; | |
487 | int rate_div = 0; | |
488 | int res = 0; | |
489 | GYRO_FUN(); | |
490 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
491 | if (MPU6050_hwmsen_read_byte(MPU6050_REG_CFG, databuf)) | |
492 | #else | |
493 | if (hwmsen_read_byte(client, MPU6050_REG_CFG, databuf)) | |
494 | #endif | |
495 | { | |
496 | GYRO_ERR("read gyro data format register err!\n"); | |
497 | return MPU6050_ERR_I2C; | |
498 | } | |
499 | else | |
500 | { | |
501 | GYRO_LOG("read gyro data format register: 0x%x\n", databuf[0]); | |
502 | } | |
503 | ||
504 | if ((databuf[0] & 0x07) == 0) //Analog sample rate is 8KHz | |
505 | { | |
506 | rate_div = 8 * 1024 / sample_rate - 1; | |
507 | } | |
508 | else // 1kHz | |
509 | { | |
510 | rate_div = 1024 / sample_rate - 1; | |
511 | } | |
512 | ||
513 | if (rate_div > 255) // rate_div: 0 to 255; | |
514 | { | |
515 | rate_div = 255; | |
516 | } | |
517 | else if (rate_div < 0) | |
518 | { | |
519 | rate_div = 0; | |
520 | } | |
521 | ||
522 | databuf[0] = MPU6050_REG_SAMRT_DIV; | |
523 | databuf[1] = rate_div; | |
524 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
525 | res = MPU6050_i2c_master_send(databuf, 0x2); | |
526 | #else | |
527 | res = i2c_master_send(client, databuf, 0x2); | |
528 | #endif | |
529 | if (res <= 0) | |
530 | { | |
531 | GYRO_ERR("write sample rate register err!\n"); | |
532 | return MPU6050_ERR_I2C; | |
533 | } | |
534 | ||
535 | //read sample div after written for test | |
536 | udelay(500); | |
537 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
538 | if (MPU6050_hwmsen_read_byte(MPU6050_REG_SAMRT_DIV, databuf)) | |
539 | #else | |
540 | if (hwmsen_read_byte(client, MPU6050_REG_SAMRT_DIV, databuf)) | |
541 | #endif | |
542 | { | |
543 | GYRO_ERR("read gyro sample rate register err!\n"); | |
544 | return MPU6050_ERR_I2C; | |
545 | } | |
546 | else | |
547 | { | |
548 | GYRO_LOG("read gyro sample rate: 0x%x\n", databuf[0]); | |
549 | } | |
550 | ||
551 | return MPU6050_SUCCESS; | |
552 | } | |
553 | /*----------------------------------------------------------------------------*/ | |
554 | /*----------------------------------------------------------------------------*/ | |
555 | static int MPU6050_FIFOConfig(struct i2c_client *client, u8 clk) | |
556 | { | |
557 | u8 databuf[2] = {0}; | |
558 | int res = 0; | |
559 | GYRO_FUN(); | |
560 | ||
561 | //use gyro X, Y or Z for clocking | |
562 | databuf[0] = MPU6050_REG_PWR_CTL; | |
563 | databuf[1] = clk; | |
564 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
565 | res = MPU6050_i2c_master_send(databuf, 0x2); | |
566 | #else | |
567 | res = i2c_master_send(client, databuf, 0x2); | |
568 | #endif | |
569 | if (res <= 0) | |
570 | { | |
571 | GYRO_ERR("write Power CTRL register err!\n"); | |
572 | return MPU6050_ERR_I2C; | |
573 | } | |
574 | GYRO_LOG("MPU6050 use gyro X for clocking OK!\n"); | |
575 | ||
576 | mdelay(50); | |
577 | ||
578 | //enable xyz gyro in FIFO | |
579 | databuf[0] = MPU6050_REG_FIFO_EN; | |
580 | databuf[1] = (MPU6050_FIFO_GYROX_EN|MPU6050_FIFO_GYROY_EN|MPU6050_FIFO_GYROZ_EN); | |
581 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
582 | res = MPU6050_i2c_master_send(databuf, 0x2); | |
583 | #else | |
584 | res = i2c_master_send(client, databuf, 0x2); | |
585 | #endif | |
586 | if (res <= 0) | |
587 | { | |
588 | GYRO_ERR("write Power CTRL register err!\n"); | |
589 | return MPU6050_ERR_I2C; | |
590 | } | |
591 | GYRO_LOG("MPU6050 enable xyz gyro in FIFO OK!\n"); | |
592 | ||
593 | //disable AUX_VDDIO | |
594 | databuf[0] = MPU6050_REG_AUX_VDD; | |
595 | databuf[1] = MPU6050_AUX_VDDIO_DIS; | |
596 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
597 | res = MPU6050_i2c_master_send(databuf, 0x2); | |
598 | #else | |
599 | res = i2c_master_send(client, databuf, 0x2); | |
600 | #endif | |
601 | if (res <= 0) | |
602 | { | |
603 | GYRO_ERR("write AUX_VDD register err!\n"); | |
604 | return MPU6050_ERR_I2C; | |
605 | } | |
606 | GYRO_LOG("MPU6050 disable AUX_VDDIO OK!\n"); | |
607 | ||
608 | //enable FIFO and reset FIFO | |
609 | databuf[0] = MPU6050_REG_FIFO_CTL; | |
610 | databuf[1] = (MPU6050_FIFO_EN | MPU6050_FIFO_RST); | |
611 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
612 | res = MPU6050_i2c_master_send(databuf, 0x2); | |
613 | #else | |
614 | res = i2c_master_send(client, databuf, 0x2); | |
615 | #endif | |
616 | if (res <= 0) | |
617 | { | |
618 | GYRO_ERR("write FIFO CTRL register err!\n"); | |
619 | return MPU6050_ERR_I2C; | |
620 | } | |
621 | ||
622 | GYRO_LOG("MPU6050_FIFOConfig OK!\n"); | |
623 | return MPU6050_SUCCESS; | |
624 | } | |
625 | ||
626 | /*----------------------------------------------------------------------------*/ | |
627 | static int MPU6050_ReadFifoData(struct i2c_client *client, s16 *data, int* datalen) | |
628 | { | |
629 | struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); | |
630 | u8 buf[MPU6050_DATA_LEN] = {0}; | |
631 | s16 tmp1[MPU6050_AXES_NUM] = {0}; | |
632 | s16 tmp2[MPU6050_AXES_NUM] = {0}; | |
633 | int err = 0; | |
634 | u8 tmp = 0; | |
635 | int packet_cnt = 0; | |
636 | int i; | |
637 | GYRO_FUN(); | |
638 | ||
639 | if (NULL == client) | |
640 | { | |
641 | return -EINVAL; | |
642 | } | |
643 | ||
644 | //stop putting data in FIFO | |
645 | MPU6050_ReadStart(client, FALSE); | |
646 | ||
647 | //read data number of bytes in FIFO | |
648 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
649 | err = MPU6050_hwmsen_read_byte(MPU6050_REG_FIFO_CNTH, &tmp); | |
650 | #else | |
651 | err = hwmsen_read_byte(client, MPU6050_REG_FIFO_CNTH, &tmp); | |
652 | #endif | |
653 | if (err) | |
654 | { | |
655 | GYRO_ERR("read data high number of bytes error: %d\n", err); | |
656 | return -1; | |
657 | } | |
658 | packet_cnt = tmp<< 8; | |
659 | ||
660 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
661 | err = MPU6050_hwmsen_read_byte(MPU6050_REG_FIFO_CNTL, &tmp); | |
662 | #else | |
663 | err = hwmsen_read_byte(client, MPU6050_REG_FIFO_CNTL, &tmp); | |
664 | #endif | |
665 | if (err) | |
666 | { | |
667 | GYRO_ERR("read data low number of bytes error: %d\n", err); | |
668 | return -1; | |
669 | } | |
670 | packet_cnt = (packet_cnt + tmp) /MPU6050_DATA_LEN; | |
671 | ||
672 | GYRO_LOG("MPU6050 Read Data packet number OK: %d\n", packet_cnt); | |
673 | ||
674 | *datalen = packet_cnt; | |
675 | ||
676 | //Within +-5% range: timing_tolerance * packet_thresh=0.05*75 | |
677 | if (packet_cnt && (abs(packet_thresh -packet_cnt) < 4)) | |
678 | { | |
679 | //read data in FIFO | |
680 | for (i = 0; i < packet_cnt; i++) | |
681 | { | |
682 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
683 | if (MPU6050_hwmsen_read_block(MPU6050_REG_FIFO_DATA, buf, MPU6050_DATA_LEN)) | |
684 | #else | |
685 | if (hwmsen_read_block(client, MPU6050_REG_FIFO_DATA, buf, MPU6050_DATA_LEN)) | |
686 | #endif | |
687 | { | |
688 | GYRO_ERR("MPU6050 read data from FIFO error: %d\n", err); | |
689 | return -2; | |
690 | } | |
691 | else | |
692 | { | |
693 | GYRO_LOG("MPU6050 read Data of diff address from FIFO OK !\n"); | |
694 | } | |
695 | ||
696 | tmp1[MPU6050_AXIS_X] = (s16)((buf[MPU6050_AXIS_X*2+1]) | (buf[MPU6050_AXIS_X*2] << 8)); | |
697 | tmp1[MPU6050_AXIS_Y] = (s16)((buf[MPU6050_AXIS_Y*2+1]) | (buf[MPU6050_AXIS_Y*2] << 8)); | |
698 | tmp1[MPU6050_AXIS_Z] = (s16)((buf[MPU6050_AXIS_Z*2+1]) | (buf[MPU6050_AXIS_Z*2] << 8)); | |
699 | ||
700 | //remap coordinate// | |
701 | tmp2[obj->cvt.map[MPU6050_AXIS_X]] = obj->cvt.sign[MPU6050_AXIS_X]*tmp1[MPU6050_AXIS_X]; | |
702 | tmp2[obj->cvt.map[MPU6050_AXIS_Y]] = obj->cvt.sign[MPU6050_AXIS_Y]*tmp1[MPU6050_AXIS_Y]; | |
703 | tmp2[obj->cvt.map[MPU6050_AXIS_Z]] = obj->cvt.sign[MPU6050_AXIS_Z]*tmp1[MPU6050_AXIS_Z]; | |
704 | ||
705 | data[3* i +MPU6050_AXIS_X] = tmp2[MPU6050_AXIS_X]; | |
706 | data[3* i +MPU6050_AXIS_Y] = tmp2[MPU6050_AXIS_Y]; | |
707 | data[3* i +MPU6050_AXIS_Z] = tmp2[MPU6050_AXIS_Z]; | |
708 | ||
709 | GYRO_LOG("gyro FIFO packet[%d]:[%04X %04X %04X] => [%5d %5d %5d]\n", i, | |
710 | data[3*i +MPU6050_AXIS_X], data[3*i +MPU6050_AXIS_Y], data[3*i +MPU6050_AXIS_Z], | |
711 | data[3*i +MPU6050_AXIS_X], data[3*i +MPU6050_AXIS_Y], data[3*i +MPU6050_AXIS_Z]); | |
712 | } | |
713 | ||
714 | } | |
715 | else | |
716 | { | |
717 | GYRO_ERR("MPU6050 Incorrect packet count: %d\n", packet_cnt); | |
718 | return -3; | |
719 | } | |
720 | ||
721 | return 0; | |
722 | } | |
723 | ||
724 | /*----------------------------------------------------------------------------*/ | |
725 | static int MPU6050_ReadGyroData(struct i2c_client *client, char *buf, int bufsize) | |
726 | { | |
727 | char databuf[6]; | |
728 | int data[3]; | |
729 | struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); | |
730 | ||
731 | if (atomic_read(&obj->suspend)) | |
732 | { | |
733 | return -3; | |
734 | } | |
735 | ||
736 | if (sensor_power == false) | |
737 | { | |
738 | MPU6050_SetPowerMode(client, true); | |
739 | } | |
740 | ||
741 | #if INV_GYRO_AUTO_CALI==1 | |
742 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
743 | if (MPU6050_hwmsen_read_block(MPU6050_REG_TEMPH, databuf, 2)) | |
744 | #else | |
745 | if (hwmsen_read_block(client, MPU6050_REG_TEMPH, databuf, 2)) | |
746 | #endif | |
747 | { | |
748 | GYRO_ERR("MPU6050 read temperature data error\n"); | |
749 | return -2; | |
750 | } | |
751 | else | |
752 | { | |
753 | mutex_lock(&obj->temperature_mutex); | |
754 | obj->temperature = ((s16)((databuf[1]) | (databuf[0] << 8))); | |
755 | mutex_unlock(&obj->temperature_mutex); | |
756 | } | |
757 | #endif | |
758 | ||
759 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
760 | if (MPU6050_hwmsen_read_block(MPU6050_REG_GYRO_XH, databuf, 6)) | |
761 | #else | |
762 | if (hwmsen_read_block(client, MPU6050_REG_GYRO_XH, databuf, 6)) | |
763 | #endif | |
764 | { | |
765 | GYRO_ERR("MPU6050 read gyroscope data error\n"); | |
766 | return -2; | |
767 | } | |
768 | else | |
769 | { | |
770 | obj->data[MPU6050_AXIS_X] = ((s16)((databuf[MPU6050_AXIS_X*2+1]) | (databuf[MPU6050_AXIS_X*2] << 8))); | |
771 | obj->data[MPU6050_AXIS_Y] = ((s16)((databuf[MPU6050_AXIS_Y*2+1]) | (databuf[MPU6050_AXIS_Y*2] << 8))); | |
772 | obj->data[MPU6050_AXIS_Z] = ((s16)((databuf[MPU6050_AXIS_Z*2+1]) | (databuf[MPU6050_AXIS_Z*2] << 8))); | |
773 | #if DEBUG | |
774 | if (atomic_read(&obj->trace) & GYRO_TRC_RAWDATA) | |
775 | { | |
776 | GYRO_LOG("read gyro register: %d, %d, %d, %d, %d, %d", | |
777 | databuf[0], databuf[1], databuf[2], databuf[3], databuf[4], databuf[5]); | |
778 | GYRO_LOG("get gyro raw data (0x%08X, 0x%08X, 0x%08X) -> (%5d, %5d, %5d)\n", | |
779 | obj->data[MPU6050_AXIS_X],obj->data[MPU6050_AXIS_Y],obj->data[MPU6050_AXIS_Z], | |
780 | obj->data[MPU6050_AXIS_X],obj->data[MPU6050_AXIS_Y],obj->data[MPU6050_AXIS_Z]); | |
781 | } | |
782 | #endif | |
783 | #if INV_GYRO_AUTO_CALI==1 | |
784 | mutex_lock(&obj->raw_data_mutex); | |
785 | /*remap coordinate*/ | |
786 | obj->inv_cali_raw[obj->cvt.map[MPU6050_AXIS_X]] = obj->cvt.sign[MPU6050_AXIS_X]*obj->data[MPU6050_AXIS_X]; | |
787 | obj->inv_cali_raw[obj->cvt.map[MPU6050_AXIS_Y]] = obj->cvt.sign[MPU6050_AXIS_Y]*obj->data[MPU6050_AXIS_Y]; | |
788 | obj->inv_cali_raw[obj->cvt.map[MPU6050_AXIS_Z]] = obj->cvt.sign[MPU6050_AXIS_Z]*obj->data[MPU6050_AXIS_Z]; | |
789 | mutex_unlock(&obj->raw_data_mutex); | |
790 | #endif | |
791 | obj->data[MPU6050_AXIS_X] = obj->data[MPU6050_AXIS_X] + obj->cali_sw[MPU6050_AXIS_X]; | |
792 | obj->data[MPU6050_AXIS_Y] = obj->data[MPU6050_AXIS_Y] + obj->cali_sw[MPU6050_AXIS_Y]; | |
793 | obj->data[MPU6050_AXIS_Z] = obj->data[MPU6050_AXIS_Z] + obj->cali_sw[MPU6050_AXIS_Z]; | |
794 | ||
795 | /*remap coordinate*/ | |
796 | data[obj->cvt.map[MPU6050_AXIS_X]] = obj->cvt.sign[MPU6050_AXIS_X]*obj->data[MPU6050_AXIS_X]; | |
797 | data[obj->cvt.map[MPU6050_AXIS_Y]] = obj->cvt.sign[MPU6050_AXIS_Y]*obj->data[MPU6050_AXIS_Y]; | |
798 | data[obj->cvt.map[MPU6050_AXIS_Z]] = obj->cvt.sign[MPU6050_AXIS_Z]*obj->data[MPU6050_AXIS_Z]; | |
799 | ||
800 | //Out put the degree/second(o/s) | |
801 | data[MPU6050_AXIS_X] = data[MPU6050_AXIS_X] * MPU6050_FS_MAX_LSB / MPU6050_DEFAULT_LSB; | |
802 | data[MPU6050_AXIS_Y] = data[MPU6050_AXIS_Y] * MPU6050_FS_MAX_LSB / MPU6050_DEFAULT_LSB; | |
803 | data[MPU6050_AXIS_Z] = data[MPU6050_AXIS_Z] * MPU6050_FS_MAX_LSB / MPU6050_DEFAULT_LSB; | |
804 | ||
805 | ||
806 | } | |
807 | ||
808 | sprintf(buf, "%04x %04x %04x", data[MPU6050_AXIS_X],data[MPU6050_AXIS_Y],data[MPU6050_AXIS_Z]); | |
809 | ||
810 | #if DEBUG | |
811 | if (atomic_read(&obj->trace) & GYRO_TRC_DATA) | |
812 | { | |
813 | GYRO_LOG("get gyro data packet:[%d %d %d]\n", data[0], data[1], data[2]); | |
814 | } | |
815 | #endif | |
816 | ||
817 | return 0; | |
818 | ||
819 | } | |
820 | ||
821 | //for factory mode | |
822 | static int MPU6050_PROCESS_SMT_DATA(struct i2c_client *client, short *data) | |
823 | { | |
824 | int total_num = 0; | |
825 | int retval =0; | |
826 | long xSum = 0; | |
827 | long ySum = 0; | |
828 | long zSum = 0; | |
829 | long xAvg, yAvg, zAvg; | |
830 | long xRMS, yRMS, zRMS; | |
831 | int i=0; | |
832 | ||
833 | int bias_thresh = 5242; // 40 dps * 131.072 LSB/dps | |
834 | //float RMS_thresh = 687.19f; // (.2 dps * 131.072) ^ 2 | |
835 | long RMS_thresh = 68719; // (.2 dps * 131.072) ^ 2 | |
836 | ||
837 | total_num = data[0]; | |
838 | retval = data[1]; | |
839 | GYRO_LOG("MPU6050 read gyro data OK, total number: %d \n", total_num); | |
840 | for (i = 0; i < total_num; i++) | |
841 | { | |
842 | xSum =xSum + data[MPU6050_AXES_NUM*i + MPU6050_AXIS_X +2]; | |
843 | ySum =ySum + data[MPU6050_AXES_NUM*i + MPU6050_AXIS_Y +2]; | |
844 | zSum =zSum + data[MPU6050_AXES_NUM*i + MPU6050_AXIS_Z +2]; | |
845 | ||
846 | /* | |
847 | FLPLOGD("read gyro data OK: packet_num:%d, [X:%5d, Y:%5d, Z:%5d]\n", i, data[MPU6050_AXES_NUM*i + MPU6050_AXIS_X +2], data[MPU6050_AXES_NUM*i + MPU6050_AXIS_Y +2], data[MPU6050_AXES_NUM*i + MPU6050_AXIS_Z +2]); | |
848 | FLPLOGD("MPU6050 xSum: %5d, ySum: %5d, zSum: %5d \n", xSum, ySum, zSum); | |
849 | */ | |
850 | ||
851 | } | |
852 | GYRO_LOG("MPU6050 xSum: %5ld, ySum: %5ld, zSum: %5ld \n", xSum, ySum, zSum); | |
853 | ||
854 | if (total_num != 0) | |
855 | { | |
856 | xAvg = (xSum / total_num); | |
857 | yAvg = (ySum / total_num); | |
858 | zAvg = (zSum / total_num); | |
859 | } | |
860 | else | |
861 | { | |
862 | xAvg = xSum; | |
863 | yAvg = ySum; | |
864 | zAvg = zSum; | |
865 | } | |
866 | ||
867 | GYRO_LOG("MPU6050 xAvg: %ld, yAvg: %ld, zAvg: %ld \n", xAvg, yAvg, zAvg); | |
868 | ||
869 | if ( abs(xAvg) >bias_thresh) | |
870 | { | |
871 | GYRO_LOG("X-Gyro bias exceeded threshold \n"); | |
872 | retval |= 1 << 3; | |
873 | } | |
874 | if ( abs(yAvg) > bias_thresh) | |
875 | { | |
876 | GYRO_LOG("Y-Gyro bias exceeded threshold \n"); | |
877 | retval |= 1 << 4; | |
878 | } | |
879 | if ( abs(zAvg ) > bias_thresh) | |
880 | { | |
881 | GYRO_LOG("Z-Gyro bias exceeded threshold \n"); | |
882 | retval |= 1 << 5; | |
883 | } | |
884 | ||
885 | xRMS = 0; | |
886 | yRMS = 0; | |
887 | zRMS = 0; | |
888 | ||
889 | //Finally, check RMS | |
890 | for ( i = 0; i < total_num ; i++) | |
891 | { | |
892 | xRMS += (data[MPU6050_AXES_NUM*i + MPU6050_AXIS_X+2]-xAvg)*(data[MPU6050_AXES_NUM*i + MPU6050_AXIS_X+2]-xAvg); | |
893 | yRMS += (data[MPU6050_AXES_NUM*i + MPU6050_AXIS_Y+2]-yAvg)*(data[MPU6050_AXES_NUM*i + MPU6050_AXIS_Y+2]-yAvg); | |
894 | zRMS += (data[MPU6050_AXES_NUM*i + MPU6050_AXIS_Z+2]-zAvg)*(data[MPU6050_AXES_NUM*i + MPU6050_AXIS_Z+2]-zAvg); | |
895 | } | |
896 | ||
897 | GYRO_LOG("MPU6050 xRMS: %ld, yRMS: %ld, zRMS: %ld \n", xRMS, yRMS, zRMS); | |
898 | xRMS = 100*xRMS; | |
899 | yRMS = 100*yRMS; | |
900 | zRMS = 100*zRMS; | |
901 | ||
902 | if (FACTORY_BOOT == get_boot_mode()) | |
903 | return retval; | |
904 | if ( xRMS > RMS_thresh * total_num) | |
905 | { | |
906 | GYRO_LOG("X-Gyro RMS exceeded threshold, RMS_thresh: %ld \n", RMS_thresh * total_num); | |
907 | retval |= 1 << 6; | |
908 | } | |
909 | if ( yRMS > RMS_thresh * total_num ) | |
910 | { | |
911 | GYRO_LOG("Y-Gyro RMS exceeded threshold, RMS_thresh: %ld \n", RMS_thresh * total_num); | |
912 | retval |= 1 << 7; | |
913 | } | |
914 | if ( zRMS > RMS_thresh * total_num ) | |
915 | { | |
916 | GYRO_LOG("Z-Gyro RMS exceeded threshold, RMS_thresh: %ld \n", RMS_thresh * total_num); | |
917 | retval |= 1 << 8; | |
918 | } | |
919 | if ( xRMS == 0 || yRMS == 0 || zRMS == 0) | |
920 | //If any of the RMS noise value returns zero, then we might have dead gyro or FIFO/register failure | |
921 | retval |= 1 << 9; | |
922 | GYRO_LOG("retval %d \n", retval); | |
923 | return retval; | |
924 | ||
925 | } | |
926 | ||
927 | ||
928 | ||
929 | /*----------------------------------------------------------------------------*/ | |
930 | static int MPU6050_SMTReadSensorData(struct i2c_client *client, s16 *buf, int bufsize) | |
931 | { | |
932 | //S16 gyro[MPU6050_AXES_NUM*MPU6050_FIFOSIZE]; | |
933 | int res = 0; | |
934 | int i; | |
935 | int datalen, total_num= 0; | |
936 | ||
937 | GYRO_FUN(); | |
938 | ||
939 | if (sensor_power == false) | |
940 | { | |
941 | MPU6050_SetPowerMode(client, true); | |
942 | } | |
943 | ||
944 | if (NULL == buf) | |
945 | { | |
946 | return -1; | |
947 | } | |
948 | if (NULL == client) | |
949 | { | |
950 | *buf = 0; | |
951 | return -2; | |
952 | } | |
953 | ||
954 | for (i = 0; i < MPU6050_AXES_NUM; i++) | |
955 | { | |
956 | res = MPU6050_FIFOConfig(client, (i+1)); | |
957 | if (res) | |
958 | { | |
959 | GYRO_ERR("MPU6050_FIFOConfig error:%d!\n", res); | |
960 | return -3; | |
961 | } | |
962 | ||
963 | //putting data in FIFO during the delayed 600ms | |
964 | mdelay(600); | |
965 | ||
966 | res = MPU6050_ReadFifoData(client, &(buf[total_num+2]), &datalen); | |
967 | if (res) | |
968 | { | |
969 | if (res == (-3)) | |
970 | { | |
971 | buf[1] = (1<< i); | |
972 | } | |
973 | else | |
974 | { | |
975 | GYRO_ERR("MPU6050_ReadData error:%d!\n", res); | |
976 | return -3; | |
977 | } | |
978 | } | |
979 | else | |
980 | { | |
981 | buf[0] = datalen; | |
982 | total_num+=datalen*MPU6050_AXES_NUM; | |
983 | } | |
984 | } | |
985 | ||
986 | GYRO_LOG("gyroscope read data OK, total packet: %d", buf[0] ); | |
987 | ||
988 | return 0; | |
989 | } | |
990 | ||
991 | /*----------------------------------------------------------------------------*/ | |
992 | static int MPU6050_ReadChipInfo(struct i2c_client *client, char *buf, int bufsize) | |
993 | { | |
994 | u8 databuf[10]; | |
995 | ||
996 | memset(databuf, 0, sizeof(u8)*10); | |
997 | ||
998 | if ((NULL == buf)||(bufsize<=30)) | |
999 | { | |
1000 | return -1; | |
1001 | } | |
1002 | ||
1003 | if (NULL == client) | |
1004 | { | |
1005 | *buf = 0; | |
1006 | return -2; | |
1007 | } | |
1008 | ||
1009 | sprintf(buf, "MPU6050 Chip"); | |
1010 | return 0; | |
1011 | } | |
1012 | ||
1013 | #if INV_GYRO_AUTO_CALI==1 | |
1014 | /*----------------------------------------------------------------------------*/ | |
1015 | static int MPU6050_ReadGyroDataRaw(struct i2c_client *client, char *buf, int bufsize) | |
1016 | { | |
1017 | struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); | |
1018 | ||
1019 | mutex_lock(&obj->raw_data_mutex); | |
1020 | //return gyro raw LSB in device orientation | |
1021 | sprintf(buf, "%x %x %x", obj->inv_cali_raw[MPU6050_AXIS_X],obj->inv_cali_raw[MPU6050_AXIS_Y],obj->inv_cali_raw[MPU6050_AXIS_Z]); | |
1022 | ||
1023 | #if DEBUG | |
1024 | if (atomic_read(&obj->trace) & GYRO_TRC_DATA) | |
1025 | { | |
1026 | GYRO_LOG("get gyro raw data packet:[%d %d %d]\n", obj->inv_cali_raw[0], obj->inv_cali_raw[1], obj->inv_cali_raw[2]); | |
1027 | } | |
1028 | #endif | |
1029 | mutex_unlock(&obj->raw_data_mutex); | |
1030 | ||
1031 | return 0; | |
1032 | ||
1033 | } | |
1034 | ||
1035 | /*----------------------------------------------------------------------------*/ | |
1036 | static int MPU6050_ReadTemperature(struct i2c_client *client, char *buf, int bufsize) | |
1037 | { | |
1038 | struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); | |
1039 | ||
1040 | mutex_lock(&obj->temperature_mutex); | |
1041 | sprintf(buf, "%x", obj->temperature); | |
1042 | ||
1043 | #if DEBUG | |
1044 | if (atomic_read(&obj->trace) & GYRO_TRC_DATA) | |
1045 | { | |
1046 | GYRO_LOG("get gyro temperature:[%d]\n", obj->temperature); | |
1047 | } | |
1048 | #endif | |
1049 | mutex_unlock(&obj->temperature_mutex); | |
1050 | ||
1051 | return 0; | |
1052 | ||
1053 | } | |
1054 | ||
1055 | /*----------------------------------------------------------------------------*/ | |
1056 | static int MPU6050_ReadPowerStatus(struct i2c_client *client, char *buf, int bufsize) | |
1057 | { | |
1058 | #if DEBUG | |
1059 | GYRO_LOG("get gyro PowerStatus:[%d]\n", sensor_power); | |
1060 | #endif | |
1061 | ||
1062 | sprintf(buf, "%x", sensor_power); | |
1063 | ||
1064 | return 0; | |
1065 | ||
1066 | } | |
1067 | #endif | |
1068 | ||
1069 | /*----------------------------------------------------------------------------*/ | |
1070 | static ssize_t show_chipinfo_value(struct device_driver *ddri, char *buf) | |
1071 | { | |
1072 | struct i2c_client *client = mpu6050_i2c_client; | |
1073 | char strbuf[MPU6050_BUFSIZE]; | |
1074 | if (NULL == client) | |
1075 | { | |
1076 | GYRO_ERR("i2c client is null!!\n"); | |
1077 | return 0; | |
1078 | } | |
1079 | ||
1080 | MPU6050_ReadChipInfo(client, strbuf, MPU6050_BUFSIZE); | |
1081 | return snprintf(buf, PAGE_SIZE, "%s\n", strbuf); | |
1082 | } | |
1083 | /*----------------------------------------------------------------------------*/ | |
1084 | static ssize_t show_sensordata_value(struct device_driver *ddri, char *buf) | |
1085 | { | |
1086 | struct i2c_client *client = mpu6050_i2c_client; | |
1087 | char strbuf[MPU6050_BUFSIZE]; | |
1088 | ||
1089 | if (NULL == client) | |
1090 | { | |
1091 | GYRO_ERR("i2c client is null!!\n"); | |
1092 | return 0; | |
1093 | } | |
1094 | ||
1095 | MPU6050_ReadGyroData(client, strbuf, MPU6050_BUFSIZE); | |
1096 | return snprintf(buf, PAGE_SIZE, "%s\n", strbuf);; | |
1097 | } | |
1098 | ||
1099 | /*----------------------------------------------------------------------------*/ | |
1100 | static ssize_t show_trace_value(struct device_driver *ddri, char *buf) | |
1101 | { | |
1102 | ssize_t res; | |
1103 | struct mpu6050_i2c_data *obj = obj_i2c_data; | |
1104 | if (obj == NULL) | |
1105 | { | |
1106 | GYRO_ERR("i2c_data obj is null!!\n"); | |
1107 | return 0; | |
1108 | } | |
1109 | ||
1110 | res = snprintf(buf, PAGE_SIZE, "0x%04X\n", atomic_read(&obj->trace)); | |
1111 | return res; | |
1112 | } | |
1113 | /*----------------------------------------------------------------------------*/ | |
1114 | static ssize_t store_trace_value(struct device_driver *ddri, const char *buf, size_t count) | |
1115 | { | |
1116 | struct mpu6050_i2c_data *obj = obj_i2c_data; | |
1117 | int trace; | |
1118 | if (obj == NULL) | |
1119 | { | |
1120 | GYRO_ERR("i2c_data obj is null!!\n"); | |
1121 | return 0; | |
1122 | } | |
1123 | ||
1124 | if (1 == sscanf(buf, "0x%x", &trace)) | |
1125 | { | |
1126 | atomic_set(&obj->trace, trace); | |
1127 | } | |
1128 | else | |
1129 | { | |
1130 | GYRO_ERR("invalid content: '%s', length = %d\n", buf, count); | |
1131 | } | |
1132 | ||
1133 | return count; | |
1134 | } | |
1135 | /*----------------------------------------------------------------------------*/ | |
1136 | static ssize_t show_status_value(struct device_driver *ddri, char *buf) | |
1137 | { | |
1138 | ssize_t len = 0; | |
1139 | struct mpu6050_i2c_data *obj = obj_i2c_data; | |
1140 | if (obj == NULL) | |
1141 | { | |
1142 | GYRO_ERR("i2c_data obj is null!!\n"); | |
1143 | return 0; | |
1144 | } | |
1145 | ||
1146 | if (obj->hw) | |
1147 | { | |
1148 | len += snprintf(buf+len, PAGE_SIZE-len, "CUST: %d %d (%d %d)\n", | |
1149 | obj->hw->i2c_num, obj->hw->direction, obj->hw->power_id, obj->hw->power_vol); | |
1150 | } | |
1151 | else | |
1152 | { | |
1153 | len += snprintf(buf+len, PAGE_SIZE-len, "CUST: NULL\n"); | |
1154 | } | |
1155 | return len; | |
1156 | } | |
1157 | /*----------------------------------------------------------------------------*/ | |
1158 | static DRIVER_ATTR(chipinfo, S_IRUGO, show_chipinfo_value, NULL); | |
1159 | static DRIVER_ATTR(sensordata, S_IRUGO, show_sensordata_value, NULL); | |
1160 | static DRIVER_ATTR(trace, S_IWUSR | S_IRUGO, show_trace_value, store_trace_value); | |
1161 | static DRIVER_ATTR(status, S_IRUGO, show_status_value, NULL); | |
1162 | /*----------------------------------------------------------------------------*/ | |
1163 | static struct driver_attribute *MPU6050_attr_list[] = { | |
1164 | &driver_attr_chipinfo, /*chip information*/ | |
1165 | &driver_attr_sensordata, /*dump sensor data*/ | |
1166 | &driver_attr_trace, /*trace log*/ | |
1167 | &driver_attr_status, | |
1168 | }; | |
1169 | /*----------------------------------------------------------------------------*/ | |
1170 | static int mpu6050_create_attr(struct device_driver *driver) | |
1171 | { | |
1172 | int idx, err = 0; | |
1173 | int num = (int)(sizeof(MPU6050_attr_list)/sizeof(MPU6050_attr_list[0])); | |
1174 | if (driver == NULL) | |
1175 | { | |
1176 | return -EINVAL; | |
1177 | } | |
1178 | ||
1179 | for (idx = 0; idx < num; idx++) | |
1180 | { | |
1181 | if (0 != (err = driver_create_file(driver, MPU6050_attr_list[idx]))) | |
1182 | { | |
1183 | GYRO_ERR("driver_create_file (%s) = %d\n", MPU6050_attr_list[idx]->attr.name, err); | |
1184 | break; | |
1185 | } | |
1186 | } | |
1187 | return err; | |
1188 | } | |
1189 | /*----------------------------------------------------------------------------*/ | |
1190 | static int mpu6050_delete_attr(struct device_driver *driver) | |
1191 | { | |
1192 | int idx ,err = 0; | |
1193 | int num = (int)(sizeof(MPU6050_attr_list)/sizeof(MPU6050_attr_list[0])); | |
1194 | ||
1195 | if (driver == NULL) | |
1196 | { | |
1197 | return -EINVAL; | |
1198 | } | |
1199 | ||
1200 | ||
1201 | for (idx = 0; idx < num; idx++) | |
1202 | { | |
1203 | driver_remove_file(driver, MPU6050_attr_list[idx]); | |
1204 | } | |
1205 | ||
1206 | ||
1207 | return err; | |
1208 | } | |
1209 | ||
1210 | /*----------------------------------------------------------------------------*/ | |
1211 | static int mpu6050_gpio_config(void) | |
1212 | { | |
1213 | //because we donot use EINT ,to support low power | |
1214 | // config to GPIO input mode + PD | |
1215 | //set GPIO_MSE_EINT_PIN | |
1216 | mt_set_gpio_mode(GPIO_GYRO_EINT_PIN, GPIO_GYRO_EINT_PIN_M_GPIO); | |
1217 | mt_set_gpio_dir(GPIO_GYRO_EINT_PIN, GPIO_DIR_IN); | |
1218 | mt_set_gpio_pull_enable(GPIO_GYRO_EINT_PIN, GPIO_PULL_ENABLE); | |
1219 | mt_set_gpio_pull_select(GPIO_GYRO_EINT_PIN, GPIO_PULL_DOWN); | |
1220 | return 0; | |
1221 | } | |
1222 | static int mpu6050_init_client(struct i2c_client *client, bool enable) | |
1223 | { | |
1224 | struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); | |
1225 | int res = 0; | |
1226 | bool sensor_power_org; | |
1227 | ||
1228 | GYRO_FUN(); | |
1229 | mpu6050_gpio_config(); | |
1230 | ||
1231 | sensor_power_org = sensor_power; | |
1232 | res = MPU6050_SetPowerMode(client, true); | |
1233 | if (res != MPU6050_SUCCESS) | |
1234 | { | |
1235 | return res; | |
1236 | } | |
1237 | ||
1238 | ||
1239 | ||
1240 | // The range should at least be 17.45 rad/s (ie: ~1000 deg/s). | |
1241 | res = MPU6050_SetDataFormat(client, (MPU6050_SYNC_GYROX << MPU6050_EXT_SYNC)| | |
1242 | MPU6050_RATE_1K_LPFB_188HZ); | |
1243 | ||
1244 | res = MPU6050_SetFullScale(client, (MPU6050_DEFAULT_FS << MPU6050_FS_RANGE)); | |
1245 | if (res != MPU6050_SUCCESS) | |
1246 | { | |
1247 | return res; | |
1248 | } | |
1249 | ||
1250 | // Set 125HZ sample rate | |
1251 | res = MPU6050_SetSampleRate(client, 125); | |
1252 | if (res != MPU6050_SUCCESS ) | |
1253 | { | |
1254 | return res; | |
1255 | } | |
1256 | ||
1257 | res = MPU6050_SetPowerMode(client, sensor_power_org); | |
1258 | if (res != MPU6050_SUCCESS) | |
1259 | { | |
1260 | return res; | |
1261 | } | |
1262 | ||
1263 | GYRO_LOG("mpu6050_init_client OK!\n"); | |
1264 | ||
1265 | #ifdef CONFIG_MPU6050_LOWPASS | |
1266 | memset(&obj->fir, 0x00, sizeof(obj->fir)); | |
1267 | #endif | |
1268 | ||
1269 | return MPU6050_SUCCESS; | |
1270 | } | |
1271 | ||
1272 | /*----------------------------------------------------------------------------*/ | |
1273 | int mpu6050_operate(void* self, uint32_t command, void* buff_in, int size_in, | |
1274 | void* buff_out, int size_out, int* actualout) | |
1275 | { | |
1276 | int err = 0; | |
1277 | int value; | |
1278 | struct mpu6050_i2c_data *priv = (struct mpu6050_i2c_data*)self; | |
1279 | hwm_sensor_data* gyro_data; | |
1280 | char buff[MPU6050_BUFSIZE]; | |
1281 | ||
1282 | switch (command) | |
1283 | { | |
1284 | case SENSOR_DELAY: | |
1285 | if ((buff_in == NULL) || (size_in < sizeof(int))) | |
1286 | { | |
1287 | GYRO_ERR("Set delay parameter error!\n"); | |
1288 | err = -EINVAL; | |
1289 | } | |
1290 | else | |
1291 | { | |
1292 | ||
1293 | } | |
1294 | break; | |
1295 | ||
1296 | case SENSOR_ENABLE: | |
1297 | if ((buff_in == NULL) || (size_in < sizeof(int))) | |
1298 | { | |
1299 | GYRO_ERR("Enable gyroscope parameter error!\n"); | |
1300 | err = -EINVAL; | |
1301 | } | |
1302 | else | |
1303 | { | |
1304 | value = *(int *)buff_in; | |
1305 | if (((value == 0) && (sensor_power == false)) ||((value == 1) && (sensor_power == true))) | |
1306 | { | |
1307 | GYRO_LOG("gyroscope device have updated!\n"); | |
1308 | } | |
1309 | else | |
1310 | { | |
1311 | err = MPU6050_SetPowerMode(priv->client, !sensor_power); | |
1312 | } | |
1313 | } | |
1314 | break; | |
1315 | ||
1316 | case SENSOR_GET_DATA: | |
1317 | if ((buff_out == NULL) || (size_out< sizeof(hwm_sensor_data))) | |
1318 | { | |
1319 | GYRO_ERR("get gyroscope data parameter error!\n"); | |
1320 | err = -EINVAL; | |
1321 | } | |
1322 | else | |
1323 | { | |
1324 | gyro_data = (hwm_sensor_data *)buff_out; | |
1325 | err = MPU6050_ReadGyroData(priv->client, buff, MPU6050_BUFSIZE); | |
1326 | if(!err) | |
1327 | { | |
1328 | sscanf(buff, "%x %x %x", &gyro_data->values[0], | |
1329 | &gyro_data->values[1], &gyro_data->values[2]); | |
1330 | gyro_data->status = SENSOR_STATUS_ACCURACY_MEDIUM; | |
1331 | gyro_data->value_divide = DEGREE_TO_RAD; | |
1332 | } | |
1333 | } | |
1334 | break; | |
1335 | default: | |
1336 | GYRO_ERR("gyroscope operate function no this parameter %d!\n", command); | |
1337 | err = -1; | |
1338 | break; | |
1339 | } | |
1340 | ||
1341 | return err; | |
1342 | } | |
1343 | ||
1344 | /****************************************************************************** | |
1345 | * Function Configuration | |
1346 | ******************************************************************************/ | |
1347 | static int mpu6050_open(struct inode *inode, struct file *file) | |
1348 | { | |
1349 | file->private_data = mpu6050_i2c_client; | |
1350 | ||
1351 | if (file->private_data == NULL) | |
1352 | { | |
1353 | GYRO_ERR("null pointer!!\n"); | |
1354 | return -EINVAL; | |
1355 | } | |
1356 | return nonseekable_open(inode, file); | |
1357 | } | |
1358 | /*----------------------------------------------------------------------------*/ | |
1359 | static int mpu6050_release(struct inode *inode, struct file *file) | |
1360 | { | |
1361 | file->private_data = NULL; | |
1362 | return 0; | |
1363 | } | |
1364 | /*----------------------------------------------------------------------------*/ | |
1365 | static long mpu6050_unlocked_ioctl(struct file *file, unsigned int cmd, | |
1366 | unsigned long arg) | |
1367 | { | |
1368 | struct i2c_client *client = (struct i2c_client*)file->private_data; | |
1369 | char strbuf[MPU6050_BUFSIZE] = {0}; | |
1370 | s16 *SMTdata; | |
1371 | void __user *data; | |
1372 | long err = 0; | |
1373 | int copy_cnt = 0; | |
1374 | SENSOR_DATA sensor_data; | |
1375 | int cali[3]; | |
1376 | int smtRes=0; | |
1377 | ||
1378 | if (_IOC_DIR(cmd) & _IOC_READ) | |
1379 | { | |
1380 | err = !access_ok(VERIFY_WRITE, (void __user *)arg, _IOC_SIZE(cmd)); | |
1381 | } | |
1382 | else if (_IOC_DIR(cmd) & _IOC_WRITE) | |
1383 | { | |
1384 | err = !access_ok(VERIFY_READ, (void __user *)arg, _IOC_SIZE(cmd)); | |
1385 | } | |
1386 | ||
1387 | if (err) | |
1388 | { | |
1389 | GYRO_ERR("access error: %08X, (%2d, %2d)\n", cmd, _IOC_DIR(cmd), _IOC_SIZE(cmd)); | |
1390 | return -EFAULT; | |
1391 | } | |
1392 | ||
1393 | switch (cmd) | |
1394 | { | |
1395 | case GYROSCOPE_IOCTL_INIT: | |
1396 | mpu6050_init_client(client, false); | |
1397 | break; | |
1398 | ||
1399 | case GYROSCOPE_IOCTL_SMT_DATA: | |
1400 | data = (void __user *) arg; | |
1401 | if (data == NULL) | |
1402 | { | |
1403 | err = -EINVAL; | |
1404 | break; | |
1405 | } | |
1406 | ||
1407 | SMTdata = kzalloc(sizeof(*SMTdata) * 800, GFP_KERNEL); | |
1408 | if (SMTdata == NULL) | |
1409 | { | |
1410 | err = -ENOMEM; | |
1411 | break; | |
1412 | } | |
1413 | memset(SMTdata, 0, sizeof(*SMTdata) * 800); | |
1414 | MPU6050_SMTReadSensorData(client, SMTdata, 800); | |
1415 | ||
1416 | GYRO_LOG("gyroscope read data from kernel OK: SMTdata[0]:%d, copied packet:%d!\n", SMTdata[0], | |
1417 | ((SMTdata[0]*MPU6050_AXES_NUM+2)*sizeof(s16)+1)); | |
1418 | ||
1419 | smtRes = MPU6050_PROCESS_SMT_DATA(client,SMTdata); | |
1420 | GYRO_LOG("ioctl smtRes: %d!\n", smtRes); | |
1421 | copy_cnt = copy_to_user(data, &smtRes, sizeof(smtRes)); | |
1422 | kfree(SMTdata); | |
1423 | if (copy_cnt) | |
1424 | { | |
1425 | err = -EFAULT; | |
1426 | GYRO_ERR("copy gyro data to user failed!\n"); | |
1427 | } | |
1428 | GYRO_LOG("copy gyro data to user OK: %d!\n", copy_cnt); | |
1429 | break; | |
1430 | ||
1431 | case GYROSCOPE_IOCTL_READ_SENSORDATA: | |
1432 | data = (void __user *) arg; | |
1433 | if (data == NULL) | |
1434 | { | |
1435 | err = -EINVAL; | |
1436 | break; | |
1437 | } | |
1438 | ||
1439 | MPU6050_ReadGyroData(client, strbuf, MPU6050_BUFSIZE); | |
1440 | if (copy_to_user(data, strbuf, sizeof(strbuf))) | |
1441 | { | |
1442 | err = -EFAULT; | |
1443 | break; | |
1444 | } | |
1445 | break; | |
1446 | ||
1447 | case GYROSCOPE_IOCTL_SET_CALI: | |
1448 | data = (void __user*)arg; | |
1449 | if (data == NULL) | |
1450 | { | |
1451 | err = -EINVAL; | |
1452 | break; | |
1453 | } | |
1454 | if (copy_from_user(&sensor_data, data, sizeof(sensor_data))) | |
1455 | { | |
1456 | err = -EFAULT; | |
1457 | break; | |
1458 | } | |
1459 | ||
1460 | else | |
1461 | { | |
1462 | cali[MPU6050_AXIS_X] = sensor_data.x * MPU6050_DEFAULT_LSB / MPU6050_FS_MAX_LSB; | |
1463 | cali[MPU6050_AXIS_Y] = sensor_data.y * MPU6050_DEFAULT_LSB / MPU6050_FS_MAX_LSB; | |
1464 | cali[MPU6050_AXIS_Z] = sensor_data.z * MPU6050_DEFAULT_LSB / MPU6050_FS_MAX_LSB; | |
1465 | GYRO_LOG("gyro set cali:[%5d %5d %5d]\n", | |
1466 | cali[MPU6050_AXIS_X], cali[MPU6050_AXIS_Y], cali[MPU6050_AXIS_Z]); | |
1467 | err = MPU6050_WriteCalibration(client, cali); | |
1468 | } | |
1469 | break; | |
1470 | ||
1471 | case GYROSCOPE_IOCTL_CLR_CALI: | |
1472 | err = MPU6050_ResetCalibration(client); | |
1473 | break; | |
1474 | ||
1475 | case GYROSCOPE_IOCTL_GET_CALI: | |
1476 | data = (void __user*)arg; | |
1477 | if (data == NULL) | |
1478 | { | |
1479 | err = -EINVAL; | |
1480 | break; | |
1481 | } | |
1482 | err = MPU6050_ReadCalibration(client, cali); | |
1483 | if (err) | |
1484 | { | |
1485 | break; | |
1486 | } | |
1487 | ||
1488 | sensor_data.x = cali[MPU6050_AXIS_X] * MPU6050_FS_MAX_LSB / MPU6050_DEFAULT_LSB; | |
1489 | sensor_data.y = cali[MPU6050_AXIS_Y] * MPU6050_FS_MAX_LSB / MPU6050_DEFAULT_LSB; | |
1490 | sensor_data.z = cali[MPU6050_AXIS_Z] * MPU6050_FS_MAX_LSB / MPU6050_DEFAULT_LSB; | |
1491 | if (copy_to_user(data, &sensor_data, sizeof(sensor_data))) | |
1492 | { | |
1493 | err = -EFAULT; | |
1494 | break; | |
1495 | } | |
1496 | break; | |
1497 | ||
1498 | #if INV_GYRO_AUTO_CALI==1 | |
1499 | case GYROSCOPE_IOCTL_READ_SENSORDATA_RAW: | |
1500 | data = (void __user *) arg; | |
1501 | if (data == NULL) | |
1502 | { | |
1503 | err = -EINVAL; | |
1504 | break; | |
1505 | } | |
1506 | ||
1507 | MPU6050_ReadGyroDataRaw(client, strbuf, MPU6050_BUFSIZE); | |
1508 | if (copy_to_user(data, strbuf, sizeof(strbuf))) | |
1509 | { | |
1510 | err = -EFAULT; | |
1511 | break; | |
1512 | } | |
1513 | break; | |
1514 | ||
1515 | case GYROSCOPE_IOCTL_READ_TEMPERATURE: | |
1516 | data = (void __user *) arg; | |
1517 | if (data == NULL) | |
1518 | { | |
1519 | err = -EINVAL; | |
1520 | break; | |
1521 | } | |
1522 | ||
1523 | MPU6050_ReadTemperature(client, strbuf, MPU6050_BUFSIZE); | |
1524 | if (copy_to_user(data, strbuf, sizeof(strbuf))) | |
1525 | { | |
1526 | err = -EFAULT; | |
1527 | break; | |
1528 | } | |
1529 | break; | |
1530 | ||
1531 | case GYROSCOPE_IOCTL_GET_POWER_STATUS: | |
1532 | data = (void __user *) arg; | |
1533 | if (data == NULL) | |
1534 | { | |
1535 | err = -EINVAL; | |
1536 | break; | |
1537 | } | |
1538 | ||
1539 | MPU6050_ReadPowerStatus(client, strbuf, MPU6050_BUFSIZE); | |
1540 | if (copy_to_user(data, strbuf, sizeof(strbuf))) | |
1541 | { | |
1542 | err = -EFAULT; | |
1543 | break; | |
1544 | } | |
1545 | break; | |
1546 | #endif | |
1547 | ||
1548 | default: | |
1549 | GYRO_ERR("unknown IOCTL: 0x%08x\n", cmd); | |
1550 | err = -ENOIOCTLCMD; | |
1551 | break; | |
1552 | } | |
1553 | return err; | |
1554 | } | |
1555 | ||
1556 | ||
1557 | /*----------------------------------------------------------------------------*/ | |
1558 | static struct file_operations mpu6050_fops = { | |
1559 | .open = mpu6050_open, | |
1560 | .release = mpu6050_release, | |
1561 | .unlocked_ioctl = mpu6050_unlocked_ioctl, | |
1562 | }; | |
1563 | /*----------------------------------------------------------------------------*/ | |
1564 | static struct miscdevice mpu6050_device = { | |
1565 | .minor = MISC_DYNAMIC_MINOR, | |
1566 | .name = "gyroscope", | |
1567 | .fops = &mpu6050_fops, | |
1568 | }; | |
1569 | /*----------------------------------------------------------------------------*/ | |
1570 | #ifndef CONFIG_HAS_EARLYSUSPEND | |
1571 | /*----------------------------------------------------------------------------*/ | |
1572 | static int mpu6050_suspend(struct i2c_client *client, pm_message_t msg) | |
1573 | { | |
1574 | struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); | |
1575 | GYRO_FUN(); | |
1576 | ||
1577 | if (msg.event == PM_EVENT_SUSPEND) | |
1578 | { | |
1579 | if (obj == NULL) | |
1580 | { | |
1581 | GYRO_ERR("null pointer!!\n"); | |
1582 | return -EINVAL; | |
1583 | } | |
1584 | atomic_set(&obj->suspend, 1); | |
1585 | ||
1586 | err = MPU6050_SetPowerMode(client, false); | |
1587 | if (err <= 0) | |
1588 | { | |
1589 | return err; | |
1590 | } | |
1591 | } | |
1592 | return err; | |
1593 | } | |
1594 | /*----------------------------------------------------------------------------*/ | |
1595 | static int mpu6050_resume(struct i2c_client *client) | |
1596 | { | |
1597 | struct mpu6050_i2c_data *obj = i2c_get_clientdata(client); | |
1598 | int err; | |
1599 | GYRO_FUN(); | |
1600 | ||
1601 | if (obj == NULL) | |
1602 | { | |
1603 | GYRO_ERR("null pointer!!\n"); | |
1604 | return -EINVAL; | |
1605 | } | |
1606 | ||
1607 | MPU6050_power(obj->hw, 1); | |
1608 | err = mpu6050_init_client(client, false); | |
1609 | if (err) | |
1610 | { | |
1611 | GYRO_ERR("initialize client fail!!\n"); | |
1612 | return err; | |
1613 | } | |
1614 | atomic_set(&obj->suspend, 0); | |
1615 | ||
1616 | return 0; | |
1617 | } | |
1618 | /*----------------------------------------------------------------------------*/ | |
1619 | #else /*CONFIG_HAS_EARLY_SUSPEND is defined*/ | |
1620 | /*----------------------------------------------------------------------------*/ | |
1621 | static void mpu6050_early_suspend(struct early_suspend *h) | |
1622 | { | |
1623 | struct mpu6050_i2c_data *obj = container_of(h, struct mpu6050_i2c_data, early_drv); | |
1624 | int err; | |
1625 | //u8 databuf[2]; | |
1626 | GYRO_FUN(); | |
1627 | ||
1628 | if (obj == NULL) | |
1629 | { | |
1630 | GYRO_ERR("null pointer!!\n"); | |
1631 | return; | |
1632 | } | |
1633 | atomic_set(&obj->suspend, 1); | |
1634 | err = MPU6050_SetPowerMode(obj->client, false); | |
1635 | if (err) | |
1636 | { | |
1637 | GYRO_ERR("write power control fail!!\n"); | |
1638 | return; | |
1639 | } | |
1640 | ||
1641 | sensor_power = false; | |
1642 | ||
1643 | MPU6050_power(obj->hw, 0); | |
1644 | } | |
1645 | /*----------------------------------------------------------------------------*/ | |
1646 | static void mpu6050_late_resume(struct early_suspend *h) | |
1647 | { | |
1648 | struct mpu6050_i2c_data *obj = container_of(h, struct mpu6050_i2c_data, early_drv); | |
1649 | int err; | |
1650 | GYRO_FUN(); | |
1651 | ||
1652 | if (obj == NULL) | |
1653 | { | |
1654 | GYRO_ERR("null pointer!!\n"); | |
1655 | return; | |
1656 | } | |
1657 | ||
1658 | MPU6050_power(obj->hw, 1); | |
1659 | err = mpu6050_init_client(obj->client, false); | |
1660 | if (err) | |
1661 | { | |
1662 | GYRO_ERR("initialize client fail! err code %d!\n", err); | |
1663 | return; | |
1664 | } | |
1665 | atomic_set(&obj->suspend, 0); | |
1666 | } | |
1667 | /*----------------------------------------------------------------------------*/ | |
1668 | #endif /*CONFIG_HAS_EARLYSUSPEND*/ | |
1669 | /*----------------------------------------------------------------------------*/ | |
1670 | static int mpu6050_i2c_detect(struct i2c_client *client, struct i2c_board_info *info) | |
1671 | { | |
1672 | strcpy(info->type, MPU6050_DEV_NAME); | |
1673 | return 0; | |
1674 | } | |
1675 | ||
1676 | /*----------------------------------------------------------------------------*/ | |
1677 | static int mpu6050_i2c_probe(struct i2c_client *client, const struct i2c_device_id *id) | |
1678 | { | |
1679 | struct i2c_client *new_client; | |
1680 | struct mpu6050_i2c_data *obj; | |
1681 | struct hwmsen_object sobj; | |
1682 | int err = 0; | |
1683 | GYRO_FUN(); | |
1684 | ||
1685 | if (!(obj = kzalloc(sizeof(*obj), GFP_KERNEL))) | |
1686 | { | |
1687 | err = -ENOMEM; | |
1688 | goto exit; | |
1689 | } | |
1690 | ||
1691 | memset(obj, 0, sizeof(struct mpu6050_i2c_data)); | |
1692 | ||
1693 | obj->hw = get_cust_gyro_hw(); | |
1694 | err = hwmsen_get_convert(obj->hw->direction, &obj->cvt); | |
1695 | if (err) | |
1696 | { | |
1697 | GYRO_ERR("invalid direction: %d\n", obj->hw->direction); | |
1698 | goto exit; | |
1699 | } | |
1700 | ||
1701 | ||
1702 | GYRO_LOG("gyro_default_i2c_addr: %x\n", client->addr); | |
1703 | #ifdef MPU6050_ACCESS_BY_GSE_I2C | |
1704 | obj->hw->addr = MPU6050_I2C_SLAVE_ADDR; /* mtk i2c not allow to probe two same address */ | |
1705 | #endif | |
1706 | ||
1707 | GYRO_LOG("gyro_custom_i2c_addr: %x\n", obj->hw->addr); | |
1708 | if (0!=obj->hw->addr) | |
1709 | { | |
1710 | client->addr = obj->hw->addr >> 1; | |
1711 | GYRO_LOG("gyro_use_i2c_addr: %x\n", client->addr); | |
1712 | } | |
1713 | ||
1714 | obj_i2c_data = obj; | |
1715 | obj->client = client; | |
1716 | new_client = obj->client; | |
1717 | i2c_set_clientdata(new_client,obj); | |
1718 | ||
1719 | atomic_set(&obj->trace, 0); | |
1720 | atomic_set(&obj->suspend, 0); | |
1721 | ||
1722 | ||
1723 | ||
1724 | mpu6050_i2c_client = new_client; | |
1725 | err = mpu6050_init_client(new_client, false); | |
1726 | if (err) | |
1727 | { | |
1728 | goto exit_init_failed; | |
1729 | } | |
1730 | ||
1731 | ||
1732 | err = misc_register(&mpu6050_device); | |
1733 | if (err) | |
1734 | { | |
1735 | GYRO_ERR("mpu6050_device misc register failed!\n"); | |
1736 | goto exit_misc_device_register_failed; | |
1737 | } | |
1738 | ||
1739 | err = mpu6050_create_attr(&mpu6050_gyro_driver.driver); | |
1740 | if (err) | |
1741 | { | |
1742 | GYRO_ERR("mpu6050 create attribute err = %d\n", err); | |
1743 | goto exit_create_attr_failed; | |
1744 | } | |
1745 | ||
1746 | ||
1747 | sobj.self = obj; | |
1748 | sobj.polling = 1; | |
1749 | sobj.sensor_operate = mpu6050_operate; | |
1750 | err = hwmsen_attach(ID_GYROSCOPE, &sobj); | |
1751 | if (err) | |
1752 | { | |
1753 | GYRO_ERR("hwmsen_attach fail = %d\n", err); | |
1754 | goto exit_kfree; | |
1755 | } | |
1756 | ||
1757 | ||
1758 | #ifdef CONFIG_HAS_EARLYSUSPEND | |
1759 | obj->early_drv.level = EARLY_SUSPEND_LEVEL_STOP_DRAWING - 2, | |
1760 | obj->early_drv.suspend = mpu6050_early_suspend, | |
1761 | obj->early_drv.resume = mpu6050_late_resume, | |
1762 | register_early_suspend(&obj->early_drv); | |
1763 | #endif | |
1764 | ||
1765 | #if INV_GYRO_AUTO_CALI==1 | |
1766 | mutex_init(&obj->temperature_mutex); | |
1767 | mutex_init(&obj->raw_data_mutex); | |
1768 | #endif | |
1769 | ||
1770 | GYRO_LOG("%s: OK\n", __func__); | |
1771 | return 0; | |
1772 | ||
1773 | exit_create_attr_failed: | |
1774 | misc_deregister(&mpu6050_device); | |
1775 | exit_misc_device_register_failed: | |
1776 | exit_init_failed: | |
1777 | //i2c_detach_client(new_client); | |
1778 | exit_kfree: | |
1779 | kfree(obj); | |
1780 | exit: | |
1781 | GYRO_ERR("%s: err = %d\n", __func__, err); | |
1782 | return err; | |
1783 | } | |
1784 | ||
1785 | /*----------------------------------------------------------------------------*/ | |
1786 | static int mpu6050_i2c_remove(struct i2c_client *client) | |
1787 | { | |
1788 | int err = 0; | |
1789 | ||
1790 | err = mpu6050_delete_attr(&mpu6050_gyro_driver.driver); | |
1791 | if (err) | |
1792 | { | |
1793 | GYRO_ERR("mpu6050_delete_attr fail: %d\n", err); | |
1794 | } | |
1795 | ||
1796 | err = misc_deregister(&mpu6050_device); | |
1797 | if (err) | |
1798 | { | |
1799 | GYRO_ERR("misc_deregister fail: %d\n", err); | |
1800 | } | |
1801 | ||
1802 | err = hwmsen_detach(ID_ACCELEROMETER); | |
1803 | if (err) | |
1804 | { | |
1805 | GYRO_ERR("hwmsen_detach fail: %d\n", err); | |
1806 | } | |
1807 | ||
1808 | mpu6050_i2c_client = NULL; | |
1809 | i2c_unregister_device(client); | |
1810 | kfree(i2c_get_clientdata(client)); | |
1811 | return 0; | |
1812 | } | |
1813 | /*----------------------------------------------------------------------------*/ | |
1814 | static int mpu6050_probe(struct platform_device *pdev) | |
1815 | { | |
1816 | struct gyro_hw *hw = get_cust_gyro_hw(); | |
1817 | GYRO_FUN(); | |
1818 | MPU6050_power(hw, 1); | |
1819 | if (i2c_add_driver(&mpu6050_i2c_driver)) | |
1820 | { | |
1821 | GYRO_ERR("add driver error\n"); | |
1822 | return -1; | |
1823 | } | |
1824 | return 0; | |
1825 | } | |
1826 | /*----------------------------------------------------------------------------*/ | |
1827 | static int mpu6050_remove(struct platform_device *pdev) | |
1828 | { | |
1829 | struct gyro_hw *hw = get_cust_gyro_hw(); | |
1830 | GYRO_FUN(); | |
1831 | MPU6050_power(hw, 0); | |
1832 | i2c_del_driver(&mpu6050_i2c_driver); | |
1833 | return 0; | |
1834 | } | |
1835 | /*----------------------------------------------------------------------------*/ | |
1836 | static struct platform_driver mpu6050_gyro_driver = { | |
1837 | .probe = mpu6050_probe, | |
1838 | .remove = mpu6050_remove, | |
1839 | .driver = { | |
1840 | .name = "gyroscope", | |
1841 | } | |
1842 | }; | |
1843 | ||
1844 | /*----------------------------------------------------------------------------*/ | |
1845 | static int __init mpu6050_init(void) | |
1846 | { | |
1847 | struct gyro_hw *hw = get_cust_gyro_hw(); | |
1848 | GYRO_LOG("%s: i2c_number=%d\n", __func__,hw->i2c_num); | |
1849 | i2c_register_board_info(hw->i2c_num, &i2c_mpu6050, 1); | |
1850 | if (platform_driver_register(&mpu6050_gyro_driver)) | |
1851 | { | |
1852 | GYRO_ERR("failed to register driver"); | |
1853 | return -ENODEV; | |
1854 | } | |
1855 | return 0; | |
1856 | } | |
1857 | /*----------------------------------------------------------------------------*/ | |
1858 | static void __exit mpu6050_exit(void) | |
1859 | { | |
1860 | GYRO_FUN(); | |
1861 | platform_driver_unregister(&mpu6050_gyro_driver); | |
1862 | } | |
1863 | /*----------------------------------------------------------------------------*/ | |
1864 | module_init(mpu6050_init); | |
1865 | module_exit(mpu6050_exit); | |
1866 | /*----------------------------------------------------------------------------*/ | |
1867 | MODULE_LICENSE("GPL"); | |
1868 | MODULE_DESCRIPTION("MPU6050 gyroscope driver"); | |
1869 | MODULE_AUTHOR("Yucong.Xiong@mediatek.com"); |