/*
$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 .
$
*/
/**
* @addtogroup ACCELDL
* @brief Provides the interface to setup and handle an accelerometer.
*
* @{
* @file bma250.c
* @brief Accelerometer setup and handling methods for Bosch BMA250.
*/
/* -------------------------------------------------------------------------- */
#include
#include
#include
#include
#include
#include
#include
#include "mpu-dev.h"
#include
#include "mlsl.h"
#include "mldl_cfg.h"
/* -------------------------------------------------------------------------- */
/* registers */
#define BMA250_STATUS_REG (0x0A)
#define BMA250_FSR_REG (0x0F)
#define BMA250_ODR_REG (0x10)
#define BMA250_PWR_REG (0x11)
#define BMA250_SOFTRESET_REG (0x14)
#define BMA250_INT_TYPE_REG (0x17)
#define BMA250_INT_DST_REG (0x1A)
#define BMA250_INT_SRC_REG (0x1E)
/* masks */
#define BMA250_STATUS_RDY_MASK (0x80)
#define BMA250_FSR_MASK (0x0F)
#define BMA250_ODR_MASK (0x1F)
#define BMA250_PWR_SLEEP_MASK (0x80)
#define BMA250_PWR_AWAKE_MASK (0x00)
#define BMA250_SOFTRESET_MASK (0xB6)
#define BMA250_INT_TYPE_MASK (0x10)
#define BMA250_INT_DST_1_MASK (0x01)
#define BMA250_INT_DST_2_MASK (0x80)
#define BMA250_INT_SRC_MASK (0x00)
/* -------------------------------------------------------------------------- */
struct bma250_config {
unsigned int odr; /** < output data rate in mHz */
unsigned int fsr; /** < full scale range mg */
unsigned char irq_type;
};
struct bma250_private_data {
struct bma250_config suspend; /** < suspend configuration */
struct bma250_config resume; /** < resume configuration */
};
/* -------------------------------------------------------------------------- */
/**
* @brief Sets the IRQ to fire when one of the IRQ events occur.
* Threshold and duration will not be used unless the type is MOT or
* NMOT.
*
* @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
* configuration to apply to, suspend or resume
* @param apply
* whether to apply immediately or save the settings to be applied
* at the next resume.
* @param irq_type
* the type of IRQ. Valid values are
* - MPU_SLAVE_IRQ_TYPE_NONE
* - MPU_SLAVE_IRQ_TYPE_MOTION
* - MPU_SLAVE_IRQ_TYPE_DATA_READY
*
* @return INV_SUCCESS if successful or a non-zero error code.
*/
static int bma250_set_irq(void *mlsl_handle,
struct ext_slave_platform_data *pdata,
struct bma250_config *config,
int apply, long irq_type)
{
int result = INV_SUCCESS;
unsigned char irqtype_reg;
unsigned char irqdst_reg;
unsigned char irqsrc_reg;
switch (irq_type) {
case MPU_SLAVE_IRQ_TYPE_DATA_READY:
/* data ready int. */
irqtype_reg = BMA250_INT_TYPE_MASK;
/* routed to interrupt pin 1 */
irqdst_reg = BMA250_INT_DST_1_MASK;
/* from filtered data */
irqsrc_reg = BMA250_INT_SRC_MASK;
break;
/* unfinished
case MPU_SLAVE_IRQ_TYPE_MOTION:
reg1 = 0x00;
reg2 = config->mot_int1_cfg;
reg3 = ;
break;
*/
case MPU_SLAVE_IRQ_TYPE_NONE:
irqtype_reg = 0x00;
irqdst_reg = 0x00;
irqsrc_reg = 0x00;
break;
default:
return INV_ERROR_INVALID_PARAMETER;
break;
}
config->irq_type = (unsigned char)irq_type;
if (apply) {
/* select the type of interrupt to use */
result = inv_serial_single_write(mlsl_handle, pdata->address,
BMA250_INT_TYPE_REG, irqtype_reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
/* select to which interrupt pin to route it to */
result = inv_serial_single_write(mlsl_handle, pdata->address,
BMA250_INT_DST_REG, irqdst_reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
/* select whether the interrupt works off filtered or
unfiltered data */
result = inv_serial_single_write(mlsl_handle, pdata->address,
BMA250_INT_SRC_REG, irqsrc_reg);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
return result;
}
/**
* @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 bma250_set_odr(void *mlsl_handle,
struct ext_slave_platform_data *pdata,
struct bma250_config *config,
int apply,
long odr)
{
int result = INV_SUCCESS;
unsigned char reg_odr;
/* Table uses bandwidth which is half the sample rate */
odr = odr >> 1;
if (odr >= 1000000) {
reg_odr = 0x0F;
config->odr = 2000000;
} else if (odr >= 500000) {
reg_odr = 0x0E;
config->odr = 1000000;
} else if (odr >= 250000) {
reg_odr = 0x0D;
config->odr = 500000;
} else if (odr >= 125000) {
reg_odr = 0x0C;
config->odr = 250000;
} else if (odr >= 62500) {
reg_odr = 0x0B;
config->odr = 125000;
} else if (odr >= 31250) {
reg_odr = 0x0A;
config->odr = 62500;
} else if (odr >= 15630) {
reg_odr = 0x09;
config->odr = 31250;
} else {
reg_odr = 0x08;
config->odr = 15630;
}
if (apply) {
MPL_LOGV("ODR: %d\n", config->odr);
result = inv_serial_single_write(mlsl_handle, pdata->address,
BMA250_ODR_REG, reg_odr);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
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.
*
* @return INV_SUCCESS if successful or a non-zero error code.
*/
static int bma250_set_fsr(void *mlsl_handle,
struct ext_slave_platform_data *pdata,
struct bma250_config *config,
int apply,
long fsr)
{
int result = INV_SUCCESS;
unsigned char reg_fsr_mask;
if (fsr <= 2000) {
reg_fsr_mask = 0x03;
config->fsr = 2000;
} else if (fsr <= 4000) {
reg_fsr_mask = 0x05;
config->fsr = 4000;
} else if (fsr <= 8000) {
reg_fsr_mask = 0x08;
config->fsr = 8000;
} else { /* 8001 -> oo */
reg_fsr_mask = 0x0C;
config->fsr = 16000;
}
if (apply) {
MPL_LOGV("FSR: %d\n", config->fsr);
result = inv_serial_single_write(mlsl_handle, pdata->address,
BMA250_FSR_REG, reg_fsr_mask);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
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 bma250_init(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
int result;
long range;
struct bma250_private_data *private_data;
private_data = kzalloc(sizeof(struct bma250_private_data), GFP_KERNEL);
if (!private_data)
return INV_ERROR_MEMORY_EXAUSTED;
pdata->private_data = private_data;
result = inv_serial_single_write(mlsl_handle, pdata->address,
BMA250_SOFTRESET_REG, BMA250_SOFTRESET_MASK);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
msleep(1);
result = bma250_set_odr(mlsl_handle, pdata, &private_data->suspend,
false, 0);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = bma250_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 = bma250_set_fsr(mlsl_handle, pdata, &private_data->suspend,
false, range);
result = bma250_set_fsr(mlsl_handle, pdata, &private_data->resume,
false, range);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = bma250_set_irq(mlsl_handle, pdata, &private_data->suspend,
false, MPU_SLAVE_IRQ_TYPE_NONE);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = bma250_set_irq(mlsl_handle, pdata, &private_data->resume,
false, MPU_SLAVE_IRQ_TYPE_NONE);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_single_write(mlsl_handle, pdata->address,
BMA250_PWR_REG, BMA250_PWR_SLEEP_MASK);
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 bma250_exit(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
kfree(pdata->private_data);
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 bma250_config(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
struct ext_slave_config *data)
{
struct bma250_private_data *private_data =
(struct bma250_private_data *)(pdata->private_data);
if (!data->data)
return INV_ERROR_INVALID_PARAMETER;
switch (data->key) {
case MPU_SLAVE_CONFIG_ODR_SUSPEND:
return bma250_set_odr(mlsl_handle, pdata,
&private_data->suspend,
data->apply,
*((long *)data->data));
case MPU_SLAVE_CONFIG_ODR_RESUME:
return bma250_set_odr(mlsl_handle, pdata,
&private_data->resume,
data->apply,
*((long *)data->data));
case MPU_SLAVE_CONFIG_FSR_SUSPEND:
return bma250_set_fsr(mlsl_handle, pdata,
&private_data->suspend,
data->apply,
*((long *)data->data));
case MPU_SLAVE_CONFIG_FSR_RESUME:
return bma250_set_fsr(mlsl_handle, pdata,
&private_data->resume,
data->apply,
*((long *)data->data));
case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
return bma250_set_irq(mlsl_handle, pdata,
&private_data->suspend,
data->apply,
*((long *)data->data));
case MPU_SLAVE_CONFIG_IRQ_RESUME:
return bma250_set_irq(mlsl_handle, pdata,
&private_data->resume,
data->apply,
*((long *)data->data));
default:
return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
};
return INV_SUCCESS;
}
/**
* @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 bma250_get_config(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
struct ext_slave_config *data)
{
struct bma250_private_data *private_data =
(struct bma250_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:
(*(unsigned long *)data->data) =
(unsigned long) private_data->suspend.irq_type;
break;
case MPU_SLAVE_CONFIG_IRQ_RESUME:
(*(unsigned long *)data->data) =
(unsigned long) private_data->resume.irq_type;
break;
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 bma250_suspend(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
int result;
struct bma250_config *suspend_config =
&((struct bma250_private_data *)pdata->private_data)->suspend;
result = bma250_set_odr(mlsl_handle, pdata, suspend_config,
true, suspend_config->odr);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = bma250_set_fsr(mlsl_handle, pdata, suspend_config,
true, suspend_config->fsr);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = bma250_set_irq(mlsl_handle, pdata, suspend_config,
true, suspend_config->irq_type);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_single_write(mlsl_handle, pdata->address,
BMA250_PWR_REG, BMA250_PWR_SLEEP_MASK);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
msleep(3); /* 3 ms powerup time maximum */
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 bma250_resume(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
int result;
struct bma250_config *resume_config =
&((struct bma250_private_data *)pdata->private_data)->resume;
result = bma250_set_odr(mlsl_handle, pdata, resume_config,
true, resume_config->odr);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = bma250_set_fsr(mlsl_handle, pdata, resume_config,
true, resume_config->fsr);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = bma250_set_irq(mlsl_handle, pdata, resume_config,
true, resume_config->irq_type);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_serial_single_write(mlsl_handle, pdata->address,
BMA250_PWR_REG, BMA250_PWR_AWAKE_MASK);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
return result;
}
/**
* @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 bma250_read(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
unsigned char *data)
{
int result = INV_SUCCESS;
result = inv_serial_read(mlsl_handle, pdata->address,
BMA250_STATUS_REG, 1, data);
if (1) { /* KLP - workaroud for small data ready window */
result = inv_serial_read(mlsl_handle, pdata->address,
slave->read_reg, slave->read_len, data);
return result;
} else
return INV_ERROR_ACCEL_DATA_NOT_READY;
}
static struct ext_slave_descr bma250_descr = {
.init = bma250_init,
.exit = bma250_exit,
.suspend = bma250_suspend,
.resume = bma250_resume,
.read = bma250_read,
.config = bma250_config,
.get_config = bma250_get_config,
.name = "bma250",
.type = EXT_SLAVE_TYPE_ACCEL,
.id = ACCEL_ID_BMA250,
.read_reg = 0x02,
.read_len = 6,
.endian = EXT_SLAVE_LITTLE_ENDIAN,
.range = {2, 0},
.trigger = NULL,
};
static
struct ext_slave_descr *bma250_get_slave_descr(void)
{
return &bma250_descr;
}
/* -------------------------------------------------------------------------- */
/* Platform data for the MPU */
struct bma250_mod_private_data {
struct i2c_client *client;
struct ext_slave_platform_data *pdata;
};
static unsigned short normal_i2c[] = { I2C_CLIENT_END };
static int bma250_mod_probe(struct i2c_client *client,
const struct i2c_device_id *devid)
{
struct ext_slave_platform_data *pdata;
struct bma250_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,
bma250_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 bma250_mod_remove(struct i2c_client *client)
{
struct bma250_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,
bma250_get_slave_descr);
kfree(private_data);
return 0;
}
static const struct i2c_device_id bma250_mod_id[] = {
{ "bma250", ACCEL_ID_BMA250 },
{}
};
MODULE_DEVICE_TABLE(i2c, bma250_mod_id);
static struct i2c_driver bma250_mod_driver = {
.class = I2C_CLASS_HWMON,
.probe = bma250_mod_probe,
.remove = bma250_mod_remove,
.id_table = bma250_mod_id,
.driver = {
.owner = THIS_MODULE,
.name = "bma250_mod",
},
.address_list = normal_i2c,
};
static int __init bma250_mod_init(void)
{
int res = i2c_add_driver(&bma250_mod_driver);
pr_info("%s: Probe name %s\n", __func__, "bma250_mod");
if (res)
pr_err("%s failed\n", __func__);
return res;
}
static void __exit bma250_mod_exit(void)
{
pr_info("%s\n", __func__);
i2c_del_driver(&bma250_mod_driver);
}
module_init(bma250_mod_init);
module_exit(bma250_mod_exit);
MODULE_AUTHOR("Invensense Corporation");
MODULE_DESCRIPTION("Driver to integrate BMA250 sensor with the MPU");
MODULE_LICENSE("GPL");
MODULE_ALIAS("bma250_mod");
/**
* @}
*/