/*
$License:
Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
$
*/
/**
* @addtogroup ACCELDL
* @brief Provides the interface to setup and handle an accelerometer.
*
* @{
* @file adxl34x.c
* @brief Accelerometer setup and handling methods for AD adxl345 and
* adxl346.
*/
/* -------------------------------------------------------------------------- */
#include <linux/i2c.h>
#include <linux/module.h>
#include <linux/moduleparam.h>
#include <linux/kernel.h>
#include <linux/errno.h>
#include <linux/slab.h>
#include <linux/delay.h>
#include "mpu-dev.h"
#include <log.h>
#include <linux/mpu.h>
#include "mlsl.h"
#include "mldl_cfg.h"
#undef MPL_LOG_TAG
#define MPL_LOG_TAG "MPL-acc"
/* -------------------------------------------------------------------------- */
/* registers */
#define ADXL34X_ODR_REG (0x2C)
#define ADXL34X_PWR_REG (0x2D)
#define ADXL34X_DATAFORMAT_REG (0x31)
/* masks */
#define ADXL34X_ODR_MASK (0x0F)
#define ADXL34X_PWR_SLEEP_MASK (0x04)
#define ADXL34X_PWR_MEAS_MASK (0x08)
#define ADXL34X_DATAFORMAT_JUSTIFY_MASK (0x04)
#define ADXL34X_DATAFORMAT_FSR_MASK (0x03)
/* -------------------------------------------------------------------------- */
struct adxl34x_config {
unsigned int odr; /** < output data rate in mHz */
unsigned int fsr; /** < full scale range mg */
unsigned int fsr_reg_mask; /** < register setting for fsr */
};
struct adxl34x_private_data {
struct adxl34x_config suspend; /** < suspend configuration */
struct adxl34x_config resume; /** < resume configuration */
};
/**
* @brief Set the output data rate for the particular configuration.
*
* @param mlsl_handle
* the handle to the serial channel the device is connected to.
* @param pdata
* a pointer to the slave platform data.
* @param config
* Config to modify with new ODR.
* @param apply
* whether to apply immediately or save the settings to be applied
* at the next resume.
* @param odr
* Output data rate in units of 1/1000Hz (mHz).
*
* @return INV_SUCCESS if successful or a non-zero error code.
*/
static int adxl34x_set_odr(void *mlsl_handle,
struct ext_slave_platform_data *pdata,
struct adxl34x_config *config,
int apply,
long odr)
{
int result = INV_SUCCESS;
unsigned char new_odr_mask;
/* ADXL346 (Rev. A) pages 13, 24 */
if (odr >= 3200000) {
new_odr_mask = 0x0F;
config->odr = 3200000;
} else if (odr >= 1600000) {
new_odr_mask = 0x0E;
config->odr = 1600000;
} else if (odr >= 800000) {
new_odr_mask = 0x0D;
config->odr = 800000;
} else if (odr >= 400000) {
new_odr_mask = 0x0C;
config->odr = 400000;
} else if (odr >= 200000) {
new_odr_mask = 0x0B;
config->odr = 200000;
} else if (odr >= 100000) {
new_odr_mask = 0x0A;
config->odr = 100000;
} else if (odr >= 50000) {
new_odr_mask = 0x09;
config->odr = 50000;
} else if (odr >= 25000) {
new_odr_mask = 0x08;
config->odr = 25000;
} else if (odr >= 12500) {
new_odr_mask = 0x07;
config->odr = 12500;
} else if (odr >= 6250) {
new_odr_mask = 0x06;
config->odr = 6250;
} else if (odr >= 3130) {
new_odr_mask = 0x05;
config->odr = 3130;
} else if (odr >= 1560) {
new_odr_mask = 0x04;
config->odr = 1560;
} else if (odr >= 780) {
new_odr_mask = 0x03;
config->odr = 780;
} else if (odr >= 390) {
new_odr_mask = 0x02;
config->odr = 390;
} else if (odr >= 200) {
new_odr_mask = 0x01;
config->odr = 200;
} else {
new_odr_mask = 0x00;
config->odr = 100;
}
if (apply) {
unsigned char reg_odr;
result = inv_serial_read(mlsl_handle, pdata->address,
ADXL34X_ODR_REG, 1, ®_odr);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
reg_odr &= ~ADXL34X_ODR_MASK;
reg_odr |= new_odr_mask;
result = inv_serial_single_write(mlsl_handle, pdata->address,
ADXL34X_ODR_REG, reg_odr);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
MPL_LOGV("ODR: %d mHz\n", config->odr);
}
return result;
}
/**
* @brief Set the full scale range of the accels
*
* @param mlsl_handle
* the handle to the serial channel the device is connected to.
* @param pdata
* a pointer to the slave platform data.
* @param config
* pointer to configuration.
* @param apply
* whether to apply immediately or save the settings to be applied
* at the next resume.
* @param fsr
* requested full scale range in milli gees (mg).
*
* @return INV_SUCCESS if successful or a non-zero error code.
*/
static int adxl34x_set_fsr(void *mlsl_handle,
struct ext_slave_platform_data *pdata,
struct adxl34x_config *config,
int apply,
long fsr)
{
int result = INV_SUCCESS;
if (fsr <= 2000) {
config->fsr_reg_mask = 0x00;
config->fsr = 2000;
} else if (fsr <= 4000) {
config->fsr_reg_mask = 0x01;
config->fsr = 4000;
} else if (fsr <= 8000) {
config->fsr_reg_mask = 0x02;
config->fsr = 8000;
} else { /* 8001 -> oo */
config->fsr_reg_mask = 0x03;
config->fsr = 16000;
}
if (apply) {
unsigned char reg_df;
result = inv_serial_read(mlsl_handle, pdata->address,
ADXL34X_DATAFORMAT_REG, 1, ®_df);
reg_df &= ~ADXL34X_DATAFORMAT_FSR_MASK;
result = inv_serial_single_write(mlsl_handle, pdata->address,
ADXL34X_DATAFORMAT_REG,
reg_df | config->fsr_reg_mask);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
MPL_LOGV("FSR: %d mg\n", config->fsr);
}
return result;
}
/**
* @brief facility to retrieve the device configuration.
*
* @param mlsl_handle
* the handle to the serial channel the device is connected to.
* @param slave
* a pointer to the slave descriptor data structure.
* @param pdata
* a pointer to the slave platform data.
* @param data
* a pointer to store the returned configuration data structure.
*
* @return INV_SUCCESS if successful or a non-zero error code.
*/
static int adxl34x_get_config(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
struct ext_slave_config *data)
{
struct adxl34x_private_data *private_data =
(struct adxl34x_private_data *)(pdata->private_data);
if (!data->data)
return INV_ERROR_INVALID_PARAMETER;
switch (data->key) {
case MPU_SLAVE_CONFIG_ODR_SUSPEND:
(*(unsigned long *)data->data) =
(unsigned long) private_data->suspend.odr;
break;
case MPU_SLAVE_CONFIG_ODR_RESUME:
(*(unsigned long *)data->data) =
(unsigned long) private_data->resume.odr;
break;
case MPU_SLAVE_CONFIG_FSR_SUSPEND:
(*(unsigned long *)data->data) =
(unsigned long) private_data->suspend.fsr;
break;
case MPU_SLAVE_CONFIG_FSR_RESUME:
(*(unsigned long *)data->data) =
(unsigned long) private_data->resume.fsr;
break;
case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
case MPU_SLAVE_CONFIG_IRQ_RESUME:
default:
return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
};
return INV_SUCCESS;
}
/**
* @brief device configuration facility.
*
* @param mlsl_handle
* the handle to the serial channel the device is connected to.
* @param slave
* a pointer to the slave descriptor data structure.
* @param pdata
* a pointer to the slave platform data.
* @param data
* a pointer to the configuration data structure.
*
* @return INV_SUCCESS if successful or a non-zero error code.
*/
static int adxl34x_config(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
struct ext_slave_config *data)
{
struct adxl34x_private_data *private_data =
(struct adxl34x_private_data *)(pdata->private_data);
if (!data->data)
return INV_ERROR_INVALID_PARAMETER;
switch (data->key) {
case MPU_SLAVE_CONFIG_ODR_SUSPEND:
return adxl34x_set_odr(mlsl_handle, pdata,
&private_data->suspend,
data->apply,
*((long *)data->data));
case MPU_SLAVE_CONFIG_ODR_RESUME:
return adxl34x_set_odr(mlsl_handle, pdata,
&private_data->resume,
data->apply,
*((long *)data->data));
case MPU_SLAVE_CONFIG_FSR_SUSPEND:
return adxl34x_set_fsr(mlsl_handle, pdata,
&private_data->suspend,
data->apply,
*((long *)data->data));
case MPU_SLAVE_CONFIG_FSR_RESUME:
return adxl34x_set_fsr(mlsl_handle, pdata,
&private_data->resume,
data->apply,
*((long *)data->data));
case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
case MPU_SLAVE_CONFIG_IRQ_RESUME:
default:
return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
};
return INV_SUCCESS;
}
/**
* @brief suspends the device to put it in its lowest power mode.
*
* @param mlsl_handle
* the handle to the serial channel the device is connected to.
* @param slave
* a pointer to the slave descriptor data structure.
* @param pdata
* a pointer to the slave platform data.
*
* @return INV_SUCCESS if successful or a non-zero error code.
*/
static int adxl34x_suspend(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
int result;
/*
struct adxl34x_config *suspend_config =
&((struct adxl34x_private_data *)pdata->private_data)->suspend;
result = adxl34x_set_odr(mlsl_handle, pdata, suspend_config,
true, suspend_config->odr);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = adxl34x_set_fsr(mlsl_handle, pdata, suspend_config,
true, suspend_config->fsr);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
*/
/*
Page 25
When clearing the sleep bit, it is recommended that the part
be placed into standby mode and then set back to measurement mode
with a subsequent write.
This is done to ensure that the device is properly biased if sleep
mode is manually disabled; otherwise, the first few samples of data
after the sleep bit is cleared may have additional noise,
especially if the device was asleep when the bit was cleared. */
/* go in standy-by mode (suspends measurements) */
result = inv_serial_single_write(mlsl_handle, pdata->address,
ADXL34X_PWR_REG, ADXL34X_PWR_MEAS_MASK);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
/* and then in sleep */
result = inv_serial_single_write(mlsl_handle, pdata->address,
ADXL34X_PWR_REG,
ADXL34X_PWR_MEAS_MASK | ADXL34X_PWR_SLEEP_MASK);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
return result;
}
/**
* @brief resume the device in the proper power state given the configuration
* chosen.
*
* @param mlsl_handle
* the handle to the serial channel the device is connected to.
* @param slave
* a pointer to the slave descriptor data structure.
* @param pdata
* a pointer to the slave platform data.
*
* @return INV_SUCCESS if successful or a non-zero error code.
*/
static int adxl34x_resume(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
int result = INV_SUCCESS;
struct adxl34x_config *resume_config =
&((struct adxl34x_private_data *)pdata->private_data)->resume;
unsigned char reg;
/*
Page 25
When clearing the sleep bit, it is recommended that the part
be placed into standby mode and then set back to measurement mode
with a subsequent write.
This is done to ensure that the device is properly biased if sleep
mode is manually disabled; otherwise, the first few samples of data
after the sleep bit is cleared may have additional noise,
especially if the device was asleep when the bit was cleared. */
/* remove sleep, but leave in stand-by */
result = inv_serial_single_write(mlsl_handle, pdata->address,
ADXL34X_PWR_REG, ADXL34X_PWR_MEAS_MASK);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = adxl34x_set_odr(mlsl_handle, pdata, resume_config,
true, resume_config->odr);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
/*
-> FSR
-> Justiy bit for Big endianess
-> resulution to 10 bits
*/
reg = ADXL34X_DATAFORMAT_JUSTIFY_MASK;
reg |= resume_config->fsr_reg_mask;
result = inv_serial_single_write(mlsl_handle, pdata->address,
ADXL34X_DATAFORMAT_REG, reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
/* go in measurement mode */
result = inv_serial_single_write(mlsl_handle, pdata->address,
ADXL34X_PWR_REG, 0x00);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
/* DATA_FORMAT: full resolution of +/-2g; data is left justified */
result = inv_serial_single_write(mlsl_handle, pdata->address,
0x31, reg);
return result;
}
/**
* @brief one-time device driver initialization function.
* If the driver is built as a kernel module, this function will be
* called when the module is loaded in the kernel.
* If the driver is built-in in the kernel, this function will be
* called at boot time.
*
* @param mlsl_handle
* the handle to the serial channel the device is connected to.
* @param slave
* a pointer to the slave descriptor data structure.
* @param pdata
* a pointer to the slave platform data.
*
* @return INV_SUCCESS if successful or a non-zero error code.
*/
static int adxl34x_init(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
int result;
long range;
struct adxl34x_private_data *private_data;
private_data = (struct adxl34x_private_data *)
kzalloc(sizeof(struct adxl34x_private_data), GFP_KERNEL);
if (!private_data)
return INV_ERROR_MEMORY_EXAUSTED;
pdata->private_data = private_data;
result = adxl34x_set_odr(mlsl_handle, pdata, &private_data->suspend,
false, 0);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = adxl34x_set_odr(mlsl_handle, pdata, &private_data->resume,
false, 200000);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
range = range_fixedpoint_to_long_mg(slave->range);
result = adxl34x_set_fsr(mlsl_handle, pdata, &private_data->suspend,
false, range);
result = adxl34x_set_fsr(mlsl_handle, pdata, &private_data->resume,
false, range);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = adxl34x_suspend(mlsl_handle, slave, pdata);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
return result;
}
/**
* @brief one-time device driver exit function.
* If the driver is built as a kernel module, this function will be
* called when the module is removed from the kernel.
*
* @param mlsl_handle
* the handle to the serial channel the device is connected to.
* @param slave
* a pointer to the slave descriptor data structure.
* @param pdata
* a pointer to the slave platform data.
*
* @return INV_SUCCESS if successful or a non-zero error code.
*/
static int adxl34x_exit(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
kfree(pdata->private_data);
return INV_SUCCESS;
}
/**
* @brief read the sensor data from the device.
*
* @param mlsl_handle
* the handle to the serial channel the device is connected to.
* @param slave
* a pointer to the slave descriptor data structure.
* @param pdata
* a pointer to the slave platform data.
* @param data
* a buffer to store the data read.
*
* @return INV_SUCCESS if successful or a non-zero error code.
*/
static int adxl34x_read(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
unsigned char *data)
{
int result;
result = inv_serial_read(mlsl_handle, pdata->address,
slave->read_reg, slave->read_len, data);
return result;
}
static struct ext_slave_descr adxl34x_descr = {
.init = adxl34x_init,
.exit = adxl34x_exit,
.suspend = adxl34x_suspend,
.resume = adxl34x_resume,
.read = adxl34x_read,
.config = adxl34x_config,
.get_config = adxl34x_get_config,
.name = "adxl34x", /* 5 or 6 */
.type = EXT_SLAVE_TYPE_ACCEL,
.id = ACCEL_ID_ADXL34X,
.read_reg = 0x32,
.read_len = 6,
.endian = EXT_SLAVE_LITTLE_ENDIAN,
.range = {2, 0},
.trigger = NULL,
};
static
struct ext_slave_descr *adxl34x_get_slave_descr(void)
{
return &adxl34x_descr;
}
/* -------------------------------------------------------------------------- */
struct adxl34x_mod_private_data {
struct i2c_client *client;
struct ext_slave_platform_data *pdata;
};
static unsigned short normal_i2c[] = { I2C_CLIENT_END };
static int adxl34x_mod_probe(struct i2c_client *client,
const struct i2c_device_id *devid)
{
struct ext_slave_platform_data *pdata;
struct adxl34x_mod_private_data *private_data;
int result = 0;
dev_info(&client->adapter->dev, "%s: %s\n", __func__, devid->name);
if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
result = -ENODEV;
goto out_no_free;
}
pdata = client->dev.platform_data;
if (!pdata) {
dev_err(&client->adapter->dev,
"Missing platform data for slave %s\n", devid->name);
result = -EFAULT;
goto out_no_free;
}
private_data = kzalloc(sizeof(*private_data), GFP_KERNEL);
if (!private_data) {
result = -ENOMEM;
goto out_no_free;
}
i2c_set_clientdata(client, private_data);
private_data->client = client;
private_data->pdata = pdata;
result = inv_mpu_register_slave(THIS_MODULE, client, pdata,
adxl34x_get_slave_descr);
if (result) {
dev_err(&client->adapter->dev,
"Slave registration failed: %s, %d\n",
devid->name, result);
goto out_free_memory;
}
return result;
out_free_memory:
kfree(private_data);
out_no_free:
dev_err(&client->adapter->dev, "%s failed %d\n", __func__, result);
return result;
}
static int adxl34x_mod_remove(struct i2c_client *client)
{
struct adxl34x_mod_private_data *private_data =
i2c_get_clientdata(client);
dev_dbg(&client->adapter->dev, "%s\n", __func__);
inv_mpu_unregister_slave(client, private_data->pdata,
adxl34x_get_slave_descr);
kfree(private_data);
return 0;
}
static const struct i2c_device_id adxl34x_mod_id[] = {
{ "adxl34x", ACCEL_ID_ADXL34X },
{}
};
MODULE_DEVICE_TABLE(i2c, adxl34x_mod_id);
static struct i2c_driver adxl34x_mod_driver = {
.class = I2C_CLASS_HWMON,
.probe = adxl34x_mod_probe,
.remove = adxl34x_mod_remove,
.id_table = adxl34x_mod_id,
.driver = {
.owner = THIS_MODULE,
.name = "adxl34x_mod",
},
.address_list = normal_i2c,
};
static int __init adxl34x_mod_init(void)
{
int res = i2c_add_driver(&adxl34x_mod_driver);
pr_info("%s: Probe name %s\n", __func__, "adxl34x_mod");
if (res)
pr_err("%s failed\n", __func__);
return res;
}
static void __exit adxl34x_mod_exit(void)
{
pr_info("%s\n", __func__);
i2c_del_driver(&adxl34x_mod_driver);
}
module_init(adxl34x_mod_init);
module_exit(adxl34x_mod_exit);
MODULE_AUTHOR("Invensense Corporation");
MODULE_DESCRIPTION("Driver to integrate ADXL34X sensor with the MPU");
MODULE_LICENSE("GPL");
MODULE_ALIAS("adxl34x_mod");
/**
* @}
*/
