diff options
Diffstat (limited to 'drivers/iio/imu')
| -rw-r--r-- | drivers/iio/imu/kmx61.c | 433 |
1 files changed, 426 insertions, 7 deletions
diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c index b8080fc54a76..bda9c40c020b 100644 --- a/drivers/iio/imu/kmx61.c +++ b/drivers/iio/imu/kmx61.c @@ -20,6 +20,7 @@ #include <linux/pm_runtime.h> #include <linux/iio/iio.h> #include <linux/iio/sysfs.h> +#include <linux/iio/events.h> #include <linux/iio/trigger.h> #include <linux/iio/buffer.h> #include <linux/iio/triggered_buffer.h> @@ -30,6 +31,8 @@ #define KMX61_IRQ_NAME "kmx61_event" #define KMX61_REG_WHO_AM_I 0x00 +#define KMX61_REG_INS1 0x01 +#define KMX61_REG_INS2 0x02 /* * three 16-bit accelerometer output registers for X/Y/Z axis @@ -63,20 +66,36 @@ #define KMX61_REG_INL 0x28 #define KMX61_REG_STBY 0x29 #define KMX61_REG_CTRL1 0x2A +#define KMX61_REG_CTRL2 0x2B #define KMX61_REG_ODCNTL 0x2C #define KMX61_REG_INC1 0x2D +#define KMX61_REG_WUF_THRESH 0x3D +#define KMX61_REG_WUF_TIMER 0x3E + #define KMX61_ACC_STBY_BIT BIT(0) #define KMX61_MAG_STBY_BIT BIT(1) #define KMX61_ACT_STBY_BIT BIT(7) #define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT | KMX61_MAG_STBY_BIT) +#define KMX61_REG_INS1_BIT_WUFS BIT(1) + +#define KMX61_REG_INS2_BIT_ZP BIT(0) +#define KMX61_REG_INS2_BIT_ZN BIT(1) +#define KMX61_REG_INS2_BIT_YP BIT(2) +#define KMX61_REG_INS2_BIT_YN BIT(3) +#define KMX61_REG_INS2_BIT_XP BIT(4) +#define KMX61_REG_INS2_BIT_XN BIT(5) + #define KMX61_REG_CTRL1_GSEL_MASK 0x03 #define KMX61_REG_CTRL1_BIT_RES BIT(4) #define KMX61_REG_CTRL1_BIT_DRDYE BIT(5) +#define KMX61_REG_CTRL1_BIT_WUFE BIT(6) +#define KMX61_REG_CTRL1_BIT_BTSE BIT(7) +#define KMX61_REG_INC1_BIT_WUFS BIT(0) #define KMX61_REG_INC1_BIT_DRDYM BIT(1) #define KMX61_REG_INC1_BIT_DRDYA BIT(2) #define KMX61_REG_INC1_BIT_IEN BIT(5) @@ -86,6 +105,11 @@ #define KMX61_ACC_ODR_MASK 0x0F #define KMX61_MAG_ODR_MASK 0xF0 +#define KMX61_OWUF_MASK 0x7 + +#define KMX61_DEFAULT_WAKE_THRESH 1 +#define KMX61_DEFAULT_WAKE_DURATION 1 + #define KMX61_SLEEP_DELAY_MS 2000 #define KMX61_CHIP_ID 0x12 @@ -111,11 +135,16 @@ struct kmx61_data { /* config bits */ u8 range; u8 odr_bits; + u8 wake_thresh; + u8 wake_duration; /* accelerometer specific data */ struct iio_dev *acc_indio_dev; struct iio_trigger *acc_dready_trig; + struct iio_trigger *motion_trig; bool acc_dready_trig_on; + bool motion_trig_on; + bool ev_enable_state; /* magnetometer specific data */ struct iio_dev *mag_indio_dev; @@ -154,6 +183,23 @@ static const struct { {3, 125000, 0x0A}, {6, 250000, 0x0B} }; +static const struct { + int val; + int val2; + int odr_bits; +} kmx61_wake_up_odr_table[] = { {0, 781000, 0x00}, + {1, 563000, 0x01}, + {3, 125000, 0x02}, + {6, 250000, 0x03}, + {12, 500000, 0x04}, + {25, 0, 0x05}, + {50, 0, 0x06}, + {100, 0, 0x06}, + {200, 0, 0x06}, + {400, 0, 0x06}, + {800, 0, 0x06}, + {1600, 0, 0x06} }; + static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326"); static IIO_CONST_ATTR(magn_scale_available, "0.001465"); static IIO_CONST_ATTR_SAMP_FREQ_AVAIL( @@ -179,6 +225,14 @@ static const struct attribute_group kmx61_mag_attribute_group = { .attrs = kmx61_mag_attributes, }; +static const struct iio_event_spec kmx61_event = { + .type = IIO_EV_TYPE_THRESH, + .dir = IIO_EV_DIR_EITHER, + .mask_separate = BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_ENABLE) | + BIT(IIO_EV_INFO_PERIOD), +}; + #define KMX61_ACC_CHAN(_axis) { \ .type = IIO_ACCEL, \ .modified = 1, \ @@ -195,6 +249,8 @@ static const struct attribute_group kmx61_mag_attribute_group = { .shift = 4, \ .endianness = IIO_LE, \ }, \ + .event_spec = &kmx61_event, \ + .num_event_specs = 1 \ } #define KMX61_MAG_CHAN(_axis) { \ @@ -250,6 +306,31 @@ static int kmx61_convert_freq_to_bit(int val, int val2) return -EINVAL; } +static int kmx61_convert_bit_to_freq(u8 odr_bits, int *val, int *val2) +{ + int i; + + for (i = 0; i < ARRAY_SIZE(kmx61_samp_freq_table); i++) + if (odr_bits == kmx61_samp_freq_table[i].odr_bits) { + *val = kmx61_samp_freq_table[i].val; + *val2 = kmx61_samp_freq_table[i].val2; + return 0; + } + return -EINVAL; +} + + +static int kmx61_convert_wake_up_odr_to_bit(int val, int val2) +{ + int i; + + for (i = 0; i < ARRAY_SIZE(kmx61_wake_up_odr_table); ++i) + if (kmx61_wake_up_odr_table[i].val == val && + kmx61_wake_up_odr_table[i].val2 == val2) + return kmx61_wake_up_odr_table[i].odr_bits; + return -EINVAL; +} + /** * kmx61_set_mode() - set KMX61 device operating mode * @data - kmx61 device private data pointer @@ -338,6 +419,21 @@ static int kmx61_get_mode(struct kmx61_data *data, u8 *mode, u8 device) return 0; } +int kmx61_set_wake_up_odr(struct kmx61_data *data, int val, int val2) +{ + int ret, odr_bits; + + odr_bits = kmx61_convert_wake_up_odr_to_bit(val, val2); + if (odr_bits < 0) + return odr_bits; + + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL2, + odr_bits); + if (ret < 0) + dev_err(&data->client->dev, "Error writing reg_ctrl2\n"); + return ret; +} + static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device) { int ret; @@ -369,6 +465,12 @@ static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device) if (ret < 0) return ret; + if (device & KMX61_ACC) { + ret = kmx61_set_wake_up_odr(data, val, val2); + if (ret) + return ret; + } + return kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG, true); } @@ -449,7 +551,7 @@ static int kmx61_set_scale(struct kmx61_data *data, u16 uscale) static int kmx61_chip_init(struct kmx61_data *data) { - int ret; + int ret, val, val2; ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I); if (ret < 0) { @@ -476,11 +578,23 @@ static int kmx61_chip_init(struct kmx61_data *data) } data->odr_bits = ret; + /* set output data rate for wake up (motion detection) function */ + ret = kmx61_convert_bit_to_freq(data->odr_bits, &val, &val2); + if (ret < 0) + return ret; + + ret = kmx61_set_wake_up_odr(data, val, val2); + if (ret < 0) + return ret; + /* set acc/magn to OPERATION mode */ ret = kmx61_set_mode(data, 0, KMX61_ACC | KMX61_MAG, true); if (ret < 0) return ret; + data->wake_thresh = KMX61_DEFAULT_WAKE_THRESH; + data->wake_duration = KMX61_DEFAULT_WAKE_DURATION; + return 0; } @@ -547,6 +661,87 @@ static int kmx61_setup_new_data_interrupt(struct kmx61_data *data, return 0; } +static int kmx61_chip_update_thresholds(struct kmx61_data *data) +{ + int ret; + + ret = i2c_smbus_write_byte_data(data->client, + KMX61_REG_WUF_TIMER, + data->wake_duration); + if (ret < 0) { + dev_err(&data->client->dev, "Errow writing reg_wuf_timer\n"); + return ret; + } + + ret = i2c_smbus_write_byte_data(data->client, + KMX61_REG_WUF_THRESH, + data->wake_thresh); + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_wuf_thresh\n"); + return ret; + } + + return 0; +} + +static int kmx61_setup_any_motion_interrupt(struct kmx61_data *data, + bool status, u8 device) +{ + u8 mode; + int ret; + + ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG); + if (ret < 0) + return ret; + + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG, true); + if (ret < 0) + return ret; + + ret = kmx61_chip_update_thresholds(data); + if (ret < 0) + return ret; + + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INC1); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_inc1\n"); + return ret; + } + if (status) + ret |= (KMX61_REG_INC1_BIT_IEN | KMX61_REG_INC1_BIT_WUFS); + else + ret &= ~(KMX61_REG_INC1_BIT_IEN | KMX61_REG_INC1_BIT_WUFS); + + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_INC1, ret); + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_inc1\n"); + return ret; + } + + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_ctrl1\n"); + return ret; + } + + if (status) + ret |= KMX61_REG_CTRL1_BIT_WUFE | KMX61_REG_CTRL1_BIT_BTSE; + else + ret &= ~(KMX61_REG_CTRL1_BIT_WUFE | KMX61_REG_CTRL1_BIT_BTSE); + + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret); + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_ctrl1\n"); + return ret; + } + mode |= KMX61_ACT_STBY_BIT; + ret = kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG, true); + if (ret) + return ret; + + return 0; +} + /** * kmx61_set_power_state() - set power state for kmx61 @device * @data - kmx61 device private pointer @@ -707,12 +902,111 @@ static int kmx61_write_raw(struct iio_dev *indio_dev, } } +static int kmx61_read_event(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + enum iio_event_info info, + int *val, int *val2) +{ + struct kmx61_data *data = kmx61_get_data(indio_dev); + + *val2 = 0; + switch (info) { + case IIO_EV_INFO_VALUE: + *val = data->wake_thresh; + break; + case IIO_EV_INFO_PERIOD: + *val = data->wake_duration; + break; + default: + return -EINVAL; + } + + return IIO_VAL_INT; +} + +static int kmx61_write_event(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + enum iio_event_info info, + int val, int val2) +{ + struct kmx61_data *data = kmx61_get_data(indio_dev); + + if (data->ev_enable_state) + return -EBUSY; + + switch (info) { + case IIO_EV_INFO_VALUE: + data->wake_thresh = val; + break; + case IIO_EV_INFO_PERIOD: + data->wake_duration = val; + break; + default: + return -EINVAL; + } + + return IIO_VAL_INT; +} + +static int kmx61_read_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir) +{ + struct kmx61_data *data = kmx61_get_data(indio_dev); + + return data->ev_enable_state; +} + +static int kmx61_write_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + int state) +{ + struct kmx61_data *data = kmx61_get_data(indio_dev); + int ret; + + if (state && data->ev_enable_state) + return 0; + + mutex_lock(&data->lock); + + if (!state && data->motion_trig_on) { + data->ev_enable_state = 0; + mutex_unlock(&data->lock); + return 0; + } + + ret = kmx61_set_power_state(data, state, KMX61_ACC); + if (ret < 0) { + mutex_unlock(&data->lock); + return ret; + } + + ret = kmx61_setup_any_motion_interrupt(data, state, KMX61_ACC); + if (ret < 0) { + kmx61_set_power_state(data, false, KMX61_ACC); + mutex_unlock(&data->lock); + return ret; + } + + data->ev_enable_state = state; + mutex_unlock(&data->lock); + + return 0; +} + static int kmx61_acc_validate_trigger(struct iio_dev *indio_dev, struct iio_trigger *trig) { struct kmx61_data *data = kmx61_get_data(indio_dev); - if (data->acc_dready_trig != trig) + if (data->acc_dready_trig != trig && data->motion_trig != trig) return -EINVAL; return 0; @@ -734,6 +1028,10 @@ static const struct iio_info kmx61_acc_info = { .read_raw = kmx61_read_raw, .write_raw = kmx61_write_raw, .attrs = &kmx61_acc_attribute_group, + .read_event_value = kmx61_read_event, + .write_event_value = kmx61_write_event, + .read_event_config = kmx61_read_event_config, + .write_event_config = kmx61_write_event_config, .validate_trigger = kmx61_acc_validate_trigger, }; @@ -753,11 +1051,18 @@ static int kmx61_data_rdy_trigger_set_state(struct iio_trigger *trig, u8 device; struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); - struct kmx61_data *data = iio_priv(indio_dev); + struct kmx61_data *data = kmx61_get_data(indio_dev); mutex_lock(&data->lock); - if (data->acc_dready_trig == trig) + if (!state && data->ev_enable_state && data->motion_trig_on) { + data->motion_trig_on = false; + mutex_unlock(&data->lock); + return 0; + } + + + if (data->acc_dready_trig == trig || data->motion_trig) device = KMX61_ACC; else device = KMX61_MAG; @@ -768,7 +1073,10 @@ static int kmx61_data_rdy_trigger_set_state(struct iio_trigger *trig, return ret; } - ret = kmx61_setup_new_data_interrupt(data, state, device); + if (data->acc_dready_trig == trig || data->mag_dready_trig == trig) + ret = kmx61_setup_new_data_interrupt(data, state, device); + else + ret = kmx61_setup_any_motion_interrupt(data, state, KMX61_ACC); if (ret < 0) { kmx61_set_power_state(data, false, device); mutex_unlock(&data->lock); @@ -777,8 +1085,10 @@ static int kmx61_data_rdy_trigger_set_state(struct iio_trigger *trig, if (data->acc_dready_trig == trig) data->acc_dready_trig_on = state; - else + else if (data->mag_dready_trig == trig) data->mag_dready_trig_on = state; + else + data->motion_trig_on = state; mutex_unlock(&data->lock); @@ -806,6 +1116,99 @@ static const struct iio_trigger_ops kmx61_trigger_ops = { .owner = THIS_MODULE, }; +static irqreturn_t kmx61_event_handler(int irq, void *private) +{ + struct kmx61_data *data = private; + struct iio_dev *indio_dev = data->acc_indio_dev; + int ret; + + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INS1); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_ins1\n"); + goto ack_intr; + } + + if (ret & KMX61_REG_INS1_BIT_WUFS) { + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INS2); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_ins2\n"); + goto ack_intr; + } + + if (ret & KMX61_REG_INS2_BIT_XN) + iio_push_event(indio_dev, + IIO_MOD_EVENT_CODE(IIO_ACCEL, + 0, + IIO_MOD_X, + IIO_EV_TYPE_THRESH, + IIO_EV_DIR_FALLING), + 0); + + if (ret & KMX61_REG_INS2_BIT_XP) + iio_push_event(indio_dev, + IIO_MOD_EVENT_CODE(IIO_ACCEL, + 0, + IIO_MOD_X, + IIO_EV_TYPE_THRESH, + IIO_EV_DIR_RISING), + 0); + + if (ret & KMX61_REG_INS2_BIT_YN) + iio_push_event(indio_dev, + IIO_MOD_EVENT_CODE(IIO_ACCEL, + 0, + IIO_MOD_Y, + IIO_EV_TYPE_THRESH, + IIO_EV_DIR_FALLING), + 0); + + if (ret & KMX61_REG_INS2_BIT_YP) + iio_push_event(indio_dev, + IIO_MOD_EVENT_CODE(IIO_ACCEL, + 0, + IIO_MOD_Y, + IIO_EV_TYPE_THRESH, + IIO_EV_DIR_RISING), + 0); + + if (ret & KMX61_REG_INS2_BIT_ZN) + iio_push_event(indio_dev, + IIO_MOD_EVENT_CODE(IIO_ACCEL, + 0, + IIO_MOD_Z, + IIO_EV_TYPE_THRESH, + IIO_EV_DIR_FALLING), + 0); + + if (ret & KMX61_REG_INS2_BIT_ZP) + iio_push_event(indio_dev, + IIO_MOD_EVENT_CODE(IIO_ACCEL, + 0, + IIO_MOD_Z, + IIO_EV_TYPE_THRESH, + IIO_EV_DIR_RISING), + 0); + } + +ack_intr: + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1); + if (ret < 0) + dev_err(&data->client->dev, "Error reading reg_ctrl1\n"); + + ret |= KMX61_REG_CTRL1_BIT_RES; + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret); + if (ret < 0) + dev_err(&data->client->dev, "Error reading reg_ctrl1\n"); + + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INL); + if (ret < 0) + dev_err(&data->client->dev, "Error reading reg_inl\n"); + + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_INS1); + + return IRQ_HANDLED; +} + static irqreturn_t kmx61_data_rdy_trig_poll(int irq, void *private) { struct kmx61_data *data = private; @@ -815,6 +1218,11 @@ static irqreturn_t kmx61_data_rdy_trig_poll(int irq, void *private) if (data->mag_dready_trig_on) iio_trigger_poll(data->mag_dready_trig); + if (data->motion_trig_on) + iio_trigger_poll(data->motion_trig); + + if (data->ev_enable_state) + return IRQ_WAKE_THREAD; return IRQ_HANDLED; } @@ -982,7 +1390,7 @@ static int kmx61_probe(struct i2c_client *client, if (client->irq >= 0) { ret = devm_request_threaded_irq(&client->dev, client->irq, kmx61_data_rdy_trig_poll, - NULL, + kmx61_event_handler, IRQF_TRIGGER_RISING, KMX61_IRQ_NAME, data); @@ -1003,6 +1411,14 @@ static int kmx61_probe(struct i2c_client *client, goto err_trigger_unregister; } + data->motion_trig = + kmx61_trigger_setup(data, data->acc_indio_dev, + "any-motion"); + if (IS_ERR(data->motion_trig)) { + ret = PTR_ERR(data->motion_trig); + goto err_trigger_unregister; + } + ret = iio_triggered_buffer_setup(data->acc_indio_dev, &iio_pollfunc_store_time, kmx61_trigger_handler, @@ -1060,6 +1476,8 @@ err_trigger_unregister: iio_trigger_unregister(data->acc_dready_trig); if (data->mag_dready_trig) iio_trigger_unregister(data->mag_dready_trig); + if (data->motion_trig) + iio_trigger_unregister(data->motion_trig); err_chip_uninit: kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG, true); return ret; @@ -1081,6 +1499,7 @@ static int kmx61_remove(struct i2c_client *client) iio_triggered_buffer_cleanup(data->mag_indio_dev); iio_trigger_unregister(data->acc_dready_trig); iio_trigger_unregister(data->mag_dready_trig); + iio_trigger_unregister(data->motion_trig); } mutex_lock(&data->lock); |