Added missing tegra files.HEADmaster

1 files changed, 499 insertions, 0 deletions

diff --git a/drivers/misc/inv_mpu/compass/ak8972.c b/drivers/misc/inv_mpu/compass/ak8972.c
new file mode 100644
index 00000000000..7eb15b44039
--- /dev/null
+++ b/drivers/misc/inv_mpu/compass/ak8972.c
@@ -0,0 +1,499 @@
+/*
+        $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 COMPASSDL
+ *
+ *  @{
+ *      @file   ak8972.c
+ *      @brief  Magnetometer setup and handling methods for the AKM AK8972 compass device.
+ */
+
+/* -------------------------------------------------------------------------- */
+
+#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-compass"
+
+/* -------------------------------------------------------------------------- */
+#define AK8972_REG_ST1  (0x02)
+#define AK8972_REG_HXL  (0x03)
+#define AK8972_REG_ST2  (0x09)
+
+#define AK8972_REG_CNTL (0x0A)
+#define AK8972_REG_ASAX (0x10)
+#define AK8972_REG_ASAY (0x11)
+#define AK8972_REG_ASAZ (0x12)
+
+#define AK8972_CNTL_MODE_POWER_DOWN         (0x00)
+#define AK8972_CNTL_MODE_SINGLE_MEASUREMENT (0x01)
+#define AK8972_CNTL_MODE_FUSE_ROM_ACCESS    (0x0f)
+
+/* -------------------------------------------------------------------------- */
+struct ak8972_config {
+        char asa[COMPASS_NUM_AXES];     /* axis sensitivity adjustment */
+};
+
+struct ak8972_private_data {
+        struct ak8972_config init;
+};
+
+/* -------------------------------------------------------------------------- */
+static int ak8972_init(void *mlsl_handle,
+                       struct ext_slave_descr *slave,
+                       struct ext_slave_platform_data *pdata)
+{
+        int result;
+        unsigned char serial_data[COMPASS_NUM_AXES];
+
+        struct ak8972_private_data *private_data;
+        private_data = (struct ak8972_private_data *)
+            kzalloc(sizeof(struct ak8972_private_data), GFP_KERNEL);
+
+        if (!private_data)
+                return INV_ERROR_MEMORY_EXAUSTED;
+
+        result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                         AK8972_REG_CNTL,
+                                         AK8972_CNTL_MODE_POWER_DOWN);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        /* Wait at least 100us */
+        udelay(100);
+
+        result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                         AK8972_REG_CNTL,
+                                         AK8972_CNTL_MODE_FUSE_ROM_ACCESS);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        /* Wait at least 200us */
+        udelay(200);
+
+        result = inv_serial_read(mlsl_handle, pdata->address,
+                                 AK8972_REG_ASAX,
+                                 COMPASS_NUM_AXES, serial_data);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        pdata->private_data = private_data;
+
+        private_data->init.asa[0] = serial_data[0];
+        private_data->init.asa[1] = serial_data[1];
+        private_data->init.asa[2] = serial_data[2];
+
+        result = inv_serial_single_write(mlsl_handle, pdata->address,
+                                         AK8972_REG_CNTL,
+                                         AK8972_CNTL_MODE_POWER_DOWN);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        udelay(100);
+        return INV_SUCCESS;
+}
+
+static int ak8972_exit(void *mlsl_handle,
+                       struct ext_slave_descr *slave,
+                       struct ext_slave_platform_data *pdata)
+{
+        kfree(pdata->private_data);
+        return INV_SUCCESS;
+}
+
+static int ak8972_suspend(void *mlsl_handle,
+                   struct ext_slave_descr *slave,
+                   struct ext_slave_platform_data *pdata)
+{
+        int result = INV_SUCCESS;
+        result =
+            inv_serial_single_write(mlsl_handle, pdata->address,
+                                    AK8972_REG_CNTL,
+                                    AK8972_CNTL_MODE_POWER_DOWN);
+        msleep(1);              /* wait at least 100us */
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        return result;
+}
+
+static int ak8972_resume(void *mlsl_handle,
+                  struct ext_slave_descr *slave,
+                  struct ext_slave_platform_data *pdata)
+{
+        int result = INV_SUCCESS;
+        result =
+            inv_serial_single_write(mlsl_handle, pdata->address,
+                                    AK8972_REG_CNTL,
+                                    AK8972_CNTL_MODE_SINGLE_MEASUREMENT);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+        return result;
+}
+
+static int ak8972_read(void *mlsl_handle,
+                struct ext_slave_descr *slave,
+                struct ext_slave_platform_data *pdata, unsigned char *data)
+{
+        unsigned char regs[8];
+        unsigned char *stat = &regs[0];
+        unsigned char *stat2 = &regs[7];
+        int result = INV_SUCCESS;
+        int status = INV_SUCCESS;
+
+        result =
+            inv_serial_read(mlsl_handle, pdata->address, AK8972_REG_ST1,
+                            8, regs);
+        if (result) {
+                LOG_RESULT_LOCATION(result);
+                return result;
+        }
+
+        /* Always return the data and the status registers */
+        memcpy(data, &regs[1], 6);
+        data[6] = regs[0];
+        data[7] = regs[7];
+
+        /*
+         * ST : data ready -
+         * Measurement has been completed and data is ready to be read.
+         */
+        if (*stat & 0x01)
+                status = INV_SUCCESS;
+
+        /*
+         * ST2 : data error -
+         * occurs when data read is started outside of a readable period;
+         * data read would not be correct.
+         * Valid in continuous measurement mode only.
+         * In single measurement mode this error should not occour but we
+         * stil account for it and return an error, since the data would be
+         * corrupted.
+         * DERR bit is self-clearing when ST2 register is read.
+         */
+        if (*stat2 & 0x04)
+                status = INV_ERROR_COMPASS_DATA_ERROR;
+        /*
+         * ST2 : overflow -
+         * the sum of the absolute values of all axis |X|+|Y|+|Z| < 2400uT.
+         * This is likely to happen in presence of an external magnetic
+         * disturbance; it indicates, the sensor data is incorrect and should
+         * be ignored.
+         * An error is returned.
+         * HOFL bit clears when a new measurement starts.
+         */
+        if (*stat2 & 0x08)
+                status = INV_ERROR_COMPASS_DATA_OVERFLOW;
+        /*
+         * ST : overrun -
+         * the previous sample was not fetched and lost.
+         * Valid in continuous measurement mode only.
+         * In single measurement mode this error should not occour and we
+         * don't consider this condition an error.
+         * DOR bit is self-clearing when ST2 or any meas. data register is
+         * read.
+         */
+        if (*stat & 0x02) {
+                /* status = INV_ERROR_COMPASS_DATA_UNDERFLOW; */
+                status = INV_SUCCESS;
+        }
+
+        /*
+         * trigger next measurement if:
+         *    - stat is non zero;
+         *    - if stat is zero and stat2 is non zero.
+         * Won't trigger if data is not ready and there was no error.
+         */
+        if (*stat != 0x00 || *stat2 != 0x00) {
+                result = inv_serial_single_write(
+                    mlsl_handle, pdata->address,
+                    AK8972_REG_CNTL, AK8972_CNTL_MODE_SINGLE_MEASUREMENT);
+                if (result) {
+                        LOG_RESULT_LOCATION(result);
+                        return result;
+                }
+        }
+
+        return status;
+}
+
+static int ak8972_config(void *mlsl_handle,
+                         struct ext_slave_descr *slave,
+                         struct ext_slave_platform_data *pdata,
+                         struct ext_slave_config *data)
+{
+        int result;
+        if (!data->data)
+                return INV_ERROR_INVALID_PARAMETER;
+
+        switch (data->key) {
+        case MPU_SLAVE_WRITE_REGISTERS:
+                result = inv_serial_write(mlsl_handle, pdata->address,
+                                          data->len,
+                                          (unsigned char *)data->data);
+                if (result) {
+                        LOG_RESULT_LOCATION(result);
+                        return result;
+                }
+                break;
+        case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+        case MPU_SLAVE_CONFIG_ODR_RESUME:
+        case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+        case MPU_SLAVE_CONFIG_FSR_RESUME:
+        case MPU_SLAVE_CONFIG_MOT_THS:
+        case MPU_SLAVE_CONFIG_NMOT_THS:
+        case MPU_SLAVE_CONFIG_MOT_DUR:
+        case MPU_SLAVE_CONFIG_NMOT_DUR:
+        case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+        case MPU_SLAVE_CONFIG_IRQ_RESUME:
+        default:
+                return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+        };
+
+        return INV_SUCCESS;
+}
+
+static int ak8972_get_config(void *mlsl_handle,
+                             struct ext_slave_descr *slave,
+                             struct ext_slave_platform_data *pdata,
+                             struct ext_slave_config *data)
+{
+        struct ak8972_private_data *private_data = pdata->private_data;
+        int result;
+        if (!data->data)
+                return INV_ERROR_INVALID_PARAMETER;
+
+        switch (data->key) {
+        case MPU_SLAVE_READ_REGISTERS:
+                {
+                        unsigned char *serial_data =
+                            (unsigned char *)data->data;
+                        result =
+                            inv_serial_read(mlsl_handle, pdata->address,
+                                            serial_data[0], data->len - 1,
+                                            &serial_data[1]);
+                        if (result) {
+                                LOG_RESULT_LOCATION(result);
+                                return result;
+                        }
+                        break;
+                }
+        case MPU_SLAVE_READ_SCALE:
+                {
+                        unsigned char *serial_data =
+                            (unsigned char *)data->data;
+                        serial_data[0] = private_data->init.asa[0];
+                        serial_data[1] = private_data->init.asa[1];
+                        serial_data[2] = private_data->init.asa[2];
+                        result = INV_SUCCESS;
+                        if (result) {
+                                LOG_RESULT_LOCATION(result);
+                                return result;
+                        }
+                        break;
+                }
+        case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+                (*(unsigned long *)data->data) = 0;
+                break;
+        case MPU_SLAVE_CONFIG_ODR_RESUME:
+                (*(unsigned long *)data->data) = 8000;
+                break;
+        case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+        case MPU_SLAVE_CONFIG_FSR_RESUME:
+        case MPU_SLAVE_CONFIG_MOT_THS:
+        case MPU_SLAVE_CONFIG_NMOT_THS:
+        case MPU_SLAVE_CONFIG_MOT_DUR:
+        case MPU_SLAVE_CONFIG_NMOT_DUR:
+        case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+        case MPU_SLAVE_CONFIG_IRQ_RESUME:
+        default:
+                return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+        };
+
+        return INV_SUCCESS;
+}
+
+static struct ext_slave_read_trigger ak8972_read_trigger = {
+        /*.reg              = */ 0x0A,
+        /*.value            = */ 0x01
+};
+
+static struct ext_slave_descr ak8972_descr = {
+        .init             = ak8972_init,
+        .exit             = ak8972_exit,
+        .suspend          = ak8972_suspend,
+        .resume           = ak8972_resume,
+        .read             = ak8972_read,
+        .config           = ak8972_config,
+        .get_config       = ak8972_get_config,
+        .name             = "ak8972",
+        .type             = EXT_SLAVE_TYPE_COMPASS,
+        .id               = COMPASS_ID_AK8972,
+        .read_reg         = 0x01,
+        .read_len         = 9,
+        .endian           = EXT_SLAVE_LITTLE_ENDIAN,
+        .range            = {39321, 6000},
+        .trigger          = &ak8972_read_trigger,
+};
+
+static
+struct ext_slave_descr *ak8972_get_slave_descr(void)
+{
+        return &ak8972_descr;
+}
+
+/* -------------------------------------------------------------------------- */
+struct ak8972_mod_private_data {
+        struct i2c_client *client;
+        struct ext_slave_platform_data *pdata;
+};
+
+static unsigned short normal_i2c[] = { I2C_CLIENT_END };
+
+static int ak8972_mod_probe(struct i2c_client *client,
+                           const struct i2c_device_id *devid)
+{
+        struct ext_slave_platform_data *pdata;
+        struct ak8972_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,
+                                        ak8972_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 ak8972_mod_remove(struct i2c_client *client)
+{
+        struct ak8972_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,
+                                ak8972_get_slave_descr);
+
+        kfree(private_data);
+        return 0;
+}
+
+static const struct i2c_device_id ak8972_mod_id[] = {
+        { "ak8972", COMPASS_ID_AK8972 },
+        {}
+};
+
+MODULE_DEVICE_TABLE(i2c, ak8972_mod_id);
+
+static struct i2c_driver ak8972_mod_driver = {
+        .class = I2C_CLASS_HWMON,
+        .probe = ak8972_mod_probe,
+        .remove = ak8972_mod_remove,
+        .id_table = ak8972_mod_id,
+        .driver = {
+                   .owner = THIS_MODULE,
+                   .name = "ak8972_mod",
+                   },
+        .address_list = normal_i2c,
+};
+
+static int __init ak8972_mod_init(void)
+{
+        int res = i2c_add_driver(&ak8972_mod_driver);
+        pr_info("%s: Probe name %s\n", __func__, "ak8972_mod");
+        if (res)
+                pr_err("%s failed\n", __func__);
+        return res;
+}
+
+static void __exit ak8972_mod_exit(void)
+{
+        pr_info("%s\n", __func__);
+        i2c_del_driver(&ak8972_mod_driver);
+}
+
+module_init(ak8972_mod_init);
+module_exit(ak8972_mod_exit);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("Driver to integrate AK8972 sensor with the MPU");
+MODULE_LICENSE("GPL");
+MODULE_ALIAS("ak8972_mod");
+
+/**
+ *  @}
+ */