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-rw-r--r--drivers/misc/Makefile2
-rw-r--r--drivers/misc/mpu3050/Kconfig192
-rw-r--r--drivers/misc/mpu3050/Makefile245
-rw-r--r--drivers/misc/mpu3050/accel/kxtf9.c588
-rw-r--r--drivers/misc/mpu3050/compass/ak8975.c95
-rw-r--r--drivers/misc/mpu3050/mldl_cfg.c1051
-rw-r--r--drivers/misc/mpu3050/mldl_cfg.h79
-rw-r--r--drivers/misc/mpu3050/mltypes.h22
-rw-r--r--drivers/misc/mpu3050/mpu-dev.c705
-rw-r--r--drivers/misc/mpu3050/mpuirq.c27
-rw-r--r--drivers/misc/mpu3050/slaveirq.c26
-rw-r--r--drivers/misc/mpu3050/timerirq.c295
-rw-r--r--drivers/misc/mpu3050/timerirq.h28
-rw-r--r--include/linux/mpu.h117
-rw-r--r--include/linux/mpu6000.h179
15 files changed, 2470 insertions, 1181 deletions
diff --git a/drivers/misc/Makefile b/drivers/misc/Makefile
index 4329de81abf4..2ea924ceb9d3 100644
--- a/drivers/misc/Makefile
+++ b/drivers/misc/Makefile
@@ -42,7 +42,7 @@ obj-$(CONFIG_WL127X_RFKILL) += wl127x-rfkill.o
obj-$(CONFIG_APANIC) += apanic.o
obj-$(CONFIG_SENSORS_AK8975) += akm8975.o
obj-$(CONFIG_BCM4329_RFKILL) += bcm4329_rfkill.o
-obj-$(CONFIG_SENSORS_MPU3050) += mpu3050/
+obj-$(CONFIG_MPU_SENSORS_MPU3050) += mpu3050/
obj-$(CONFIG_SENSORS_NCT1008) += nct1008.o
obj-$(CONFIG_TEGRA_CRYPTO_DEV) += tegra-cryptodev.o
obj-$(CONFIG_MAX1749_VIBRATOR) += max1749.o
diff --git a/drivers/misc/mpu3050/Kconfig b/drivers/misc/mpu3050/Kconfig
index 579ffd2665fb..e43857268ea7 100644
--- a/drivers/misc/mpu3050/Kconfig
+++ b/drivers/misc/mpu3050/Kconfig
@@ -1,92 +1,100 @@
-
-menu "Motion Sensors Support"
-
-choice
- tristate "Motion Processing Unit"
- depends on I2C
- default MPU_NONE
-
-config MPU_NONE
- bool "None"
- help
- This disables support for motion processing using the MPU family of
- motion processing units.
-
-config SENSORS_MPU3050
- tristate "MPU3050"
- depends on I2C
- help
- If you say yes here you get support for the MPU3050 Gyroscope driver
- This driver can also be built as a module. If so, the module
- will be called mpu3050.
-
-config SENSORS_MPU6000
- tristate "MPU6000"
- depends on I2C
- help
- If you say yes here you get support for the MPU6000 Gyroscope driver
- This driver can also be built as a module. If so, the module
- will be called mpu6000.
-
-endchoice
-
-choice
- prompt "Accelerometer Type"
- depends on SENSORS_MPU3050
- default SENSORS_KXTF9_MPU
-
-config SENSORS_ACCELEROMETER_NONE
- bool "NONE"
- depends on SENSORS_MPU3050 || SENSORS_MPU6000
- help
- This disables accelerometer support for the MPU3050
-
-config SENSORS_KXTF9_MPU
- bool "Kionix KXTF9"
- depends on SENSORS_MPU3050
- help
- This enables support for the Kionix KXFT9 accelerometer
-
-endchoice
-
-choice
- prompt "Compass Type"
- depends on SENSORS_MPU6000 || SENSORS_MPU3050
- default SENSORS_AK8975_MPU
-
-config SENSORS_COMPASS_NONE
- bool "NONE"
- depends on SENSORS_MPU6000 || SENSORS_MPU3050
- help
- This disables compass support for the MPU6000
-
-config SENSORS_AK8975_MPU
- bool "AKM ak8975"
- depends on SENSORS_MPU6000 || SENSORS_MPU3050
- help
- This enables support for the AKM ak8975 compass
-
-endchoice
-
-choice
- prompt "Pressure Type"
- depends on SENSORS_MPU6000 || SENSORS_MPU3050
- default SENSORS_NONE
-
-config SENSORS_PRESSURE_NONE
- bool "NONE"
- depends on SENSORS_MPU6000 || SENSORS_MPU3050
- help
- This disables pressure sensor support for the MPU6000
-
-endchoice
-
-config SENSORS_MPU_DEBUG
- bool "MPU debug"
- depends on SENSORS_MPU3050 || SENSORS_MPU6000
- help
- If you say yes here you get extra debug messages from the MPU3050
- and other slave sensors.
-
-endmenu
-
+
+menu "Motion Sensors Support"
+
+choice
+ tristate "Motion Processing Unit"
+ depends on I2C
+ default MPU_NONE
+
+config MPU_NONE
+ bool "None"
+ help
+ This disables support for motion processing using the MPU family of
+ motion processing units.
+
+config MPU_SENSORS_MPU3050
+ tristate "MPU3050"
+ depends on I2C
+ help
+ If you say yes here you get support for the MPU3050 Gyroscope driver
+ This driver can also be built as a module. If so, the module
+ will be called mpu3050.
+
+config MPU_SENSORS_MPU6000
+ tristate "MPU6000"
+ depends on I2C
+ help
+ If you say yes here you get support for the MPU6000 Gyroscope driver
+ This driver can also be built as a module. If so, the module
+ will be called mpu6000.
+
+endchoice
+
+choice
+ prompt "Accelerometer Type"
+ depends on MPU_SENSORS_MPU3050
+ default MPU_SENSORS_KXTF9
+
+config MPU_SENSORS_ACCELEROMETER_NONE
+ bool "NONE"
+ depends on MPU_SENSORS_MPU3050 || MPU_SENSORS_MPU6000
+ help
+ This disables accelerometer support for the MPU3050
+
+config MPU_SENSORS_KXTF9
+ bool "Kionix KXTF9"
+ depends on MPU_SENSORS_MPU3050
+ help
+ This enables support for the Kionix KXFT9 accelerometer
+
+endchoice
+
+choice
+ prompt "Compass Type"
+ depends on MPU_SENSORS_MPU6000 || MPU_SENSORS_MPU3050
+ default MPU_SENSORS_AK8975
+
+config MPU_SENSORS_COMPASS_NONE
+ bool "NONE"
+ depends on MPU_SENSORS_MPU6000 || MPU_SENSORS_MPU3050
+ help
+ This disables compass support for the MPU6000
+
+config MPU_SENSORS_AK8975
+ bool "AKM ak8975"
+ depends on MPU_SENSORS_MPU6000 || MPU_SENSORS_MPU3050
+ help
+ This enables support for the AKM ak8975 compass
+
+endchoice
+
+choice
+ prompt "Pressure Type"
+ depends on MPU_SENSORS_MPU6000 || MPU_SENSORS_MPU3050
+ default MPU_SENSORS_BMA085
+
+config MPU_SENSORS_PRESSURE_NONE
+ bool "NONE"
+ depends on MPU_SENSORS_MPU6000 || MPU_SENSORS_MPU3050
+ help
+ This disables pressure sensor support for the MPU6000
+
+endchoice
+
+config MPU_SENSORS_TIMERIRQ
+ tristate "Timer IRQ"
+ help
+ If you say yes here you get access to the timerirq device handle which
+ can be used to select on. This can be used instead of IRQ's, sleeping,
+ or timer threads. Reading from this device returns the same type of
+ information as reading from the MPU and slave IRQ's.
+
+config MPU_SENSORS_DEBUG
+ bool "MPU debug"
+ depends on MPU_SENSORS_MPU3050 || MPU_SENSORS_MPU6000 || MPU_SENSORS_TIMERIRQ
+ help
+ If you say yes here you get extra debug messages from the MPU3050
+ and other slave sensors.
+
+endmenu
+
diff --git a/drivers/misc/mpu3050/Makefile b/drivers/misc/mpu3050/Makefile
index c03e473e375b..c7e1b863e588 100644
--- a/drivers/misc/mpu3050/Makefile
+++ b/drivers/misc/mpu3050/Makefile
@@ -1,117 +1,128 @@
-
-# Kernel makefile for motions sensors
-#
-#
-
-# MPU
-obj-$(CONFIG_SENSORS_MPU3050) += mpu3050.o
-mpu3050-objs += mpuirq.o \
- slaveirq.o \
- mpu-dev.o \
- mpu-i2c.o \
- mlsl-kernel.o \
- mlos-kernel.o \
- $(MLLITE_DIR)mldl_cfg.o
-
-#
-# Accel options
-#
-ifdef CONFIG_SENSORS_ADXL346
-mpu3050-objs += $(MLLITE_DIR)accel/adxl346.o
-endif
-
-ifdef CONFIG_SENSORS_BMA150
-mpu3050-objs += $(MLLITE_DIR)accel/bma150.o
-endif
-
-ifdef CONFIG_SENSORS_BMA222
-mpu3050-objs += $(MLLITE_DIR)accel/bma222.o
-endif
-
-ifdef CONFIG_SENSORS_KXSD9
-mpu3050-objs += $(MLLITE_DIR)accel/kxsd9.o
-endif
-
-ifdef CONFIG_SENSORS_KXTF9_MPU
-mpu3050-objs += $(MLLITE_DIR)accel/kxtf9.o
-endif
-
-ifdef CONFIG_SENSORS_LIS331DLH
-mpu3050-objs += $(MLLITE_DIR)accel/lis331.o
-endif
-
-ifdef CONFIG_SENSORS_LSM303DLHA
-mpu3050-objs += $(MLLITE_DIR)accel/lsm303a.o
-endif
-
-ifdef CONFIG_SENSORS_MMA8450
-mpu3050-objs += $(MLLITE_DIR)accel/mma8450.o
-endif
-
-ifdef CONFIG_SENSORS_MMA8451
-mpu3050-objs += $(MLLITE_DIR)accel/mma8451.o
-endif
-
-#
-# Compass options
-#
-ifdef CONFIG_SENSORS_AK8975_MPU
-mpu3050-objs += $(MLLITE_DIR)compass/ak8975.o
-endif
-
-ifdef CONFIG_SENSORS_AMI30X
-mpu3050-objs += $(MLLITE_DIR)compass/ami30x.o
-endif
-
-ifdef CONFIG_SENSORS_HMC5883
-mpu3050-objs += $(MLLITE_DIR)compass/hmc5883.o
-endif
-
-ifdef CONFIG_SENSORS_LSM303DLHM
-mpu3050-objs += $(MLLITE_DIR)compass/lsm303m.o
-endif
-
-ifdef CONFIG_SENSORS_MMC314X
-mpu3050-objs += $(MLLITE_DIR)compass/mmc314x.o
-endif
-
-ifdef CONFIG_SENSORS_YAS529
-mpu3050-objs += $(MLLITE_DIR)compass/yas529-kernel.o
-endif
-
-ifdef CONFIG_SENSORS_HSCDTD002B
-mpu3050-objs += $(MLLITE_DIR)compass/hscdtd002b.o
-endif
-
-#
-# Pressure options
-#
-ifdef CONFIG_SENSORS_BMA085
-mpu3050-objs += $(MLLITE_DIR)pressure/bma085.o
-endif
-
-EXTRA_CFLAGS += -I$(M)/$(MLLITE_DIR) \
- -I$(M)/../../include \
- -Idrivers/misc/mpu3050 \
- -Iinclude/linux
-
-ifdef CONFIG_SENSORS_MPU_DEBUG
-EXTRA_CFLAGS += -DDEBUG
-endif
-
-obj-$(CONFIG_SENSORS_MPU6000)= mpu6000.o
-mpu6000-objs += mpuirq.o \
- mpu-dev.o \
- mpu-i2c.o \
- mlsl-kernel.o \
- mlos-kernel.o \
- $(MLLITE_DIR)mldl_cfg.o \
- $(MLLITE_DIR)accel/mantis.o
-
-ifdef CONFIG_SENSORS_AK8975_MPU
-mpu6000-objs += $(MLLITE_DIR)compass/ak8975.o
-endif
-
-ifdef CONFIG_SENSORS_MPU6000
-EXTRA_CFLAGS += -DM_HW
-endif
+
+# Kernel makefile for motions sensors
+#
+#
+
+# MPU
+obj-$(CONFIG_MPU_SENSORS_MPU3050) += mpu3050.o
+mpu3050-objs += mpuirq.o \
+ slaveirq.o \
+ mpu-dev.o \
+ mpu-i2c.o \
+ mlsl-kernel.o \
+ mlos-kernel.o \
+ $(MLLITE_DIR)mldl_cfg.o
+
+#
+# Accel options
+#
+ifdef CONFIG_MPU_SENSORS_ADXL346
+mpu3050-objs += $(MLLITE_DIR)accel/adxl346.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_BMA150
+mpu3050-objs += $(MLLITE_DIR)accel/bma150.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_BMA222
+mpu3050-objs += $(MLLITE_DIR)accel/bma222.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_KXSD9
+mpu3050-objs += $(MLLITE_DIR)accel/kxsd9.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_KXTF9
+mpu3050-objs += $(MLLITE_DIR)accel/kxtf9.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_LIS331DLH
+mpu3050-objs += $(MLLITE_DIR)accel/lis331.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_LIS3DH
+mpu3050-objs += $(MLLITE_DIR)accel/lis3dh.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_LSM303DLHA
+mpu3050-objs += $(MLLITE_DIR)accel/lsm303a.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_MMA8450
+mpu3050-objs += $(MLLITE_DIR)accel/mma8450.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_MMA845X
+mpu3050-objs += $(MLLITE_DIR)accel/mma845x.o
+endif
+
+#
+# Compass options
+#
+ifdef CONFIG_MPU_SENSORS_AK8975
+mpu3050-objs += $(MLLITE_DIR)compass/ak8975.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_AMI30X
+mpu3050-objs += $(MLLITE_DIR)compass/ami30x.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_HMC5883
+mpu3050-objs += $(MLLITE_DIR)compass/hmc5883.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_LSM303DLHM
+mpu3050-objs += $(MLLITE_DIR)compass/lsm303m.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_MMC314X
+mpu3050-objs += $(MLLITE_DIR)compass/mmc314x.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_YAS529
+mpu3050-objs += $(MLLITE_DIR)compass/yas529-kernel.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_HSCDTD002B
+mpu3050-objs += $(MLLITE_DIR)compass/hscdtd002b.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_HSCDTD004A
+mpu3050-objs += $(MLLITE_DIR)compass/hscdtd004a.o
+endif
+#
+# Pressure options
+#
+ifdef CONFIG_MPU_SENSORS_BMA085
+mpu3050-objs += $(MLLITE_DIR)pressure/bma085.o
+endif
+
+EXTRA_CFLAGS += -I$(M)/$(MLLITE_DIR) \
+ -I$(M)/../../include \
+ -Idrivers/misc/mpu3050 \
+ -Iinclude/linux
+
+obj-$(CONFIG_MPU_SENSORS_MPU6000)+= mpu6000.o
+mpu6000-objs += mpuirq.o \
+ slaveirq.o \
+ mpu-dev.o \
+ mpu-i2c.o \
+ mlsl-kernel.o \
+ mlos-kernel.o \
+ $(MLLITE_DIR)mldl_cfg.o \
+ $(MLLITE_DIR)accel/mantis.o
+
+ifdef CONFIG_MPU_SENSORS_AK8975
+mpu6000-objs += $(MLLITE_DIR)compass/ak8975.o
+endif
+
+ifdef CONFIG_MPU_SENSORS_MPU6000
+EXTRA_CFLAGS += -DM_HW
+endif
+
+obj-$(CONFIG_MPU_SENSORS_TIMERIRQ)+= timerirq.o
+
+ifdef CONFIG_MPU_SENSORS_DEBUG
+EXTRA_CFLAGS += -DDEBUG
+endif
+
diff --git a/drivers/misc/mpu3050/accel/kxtf9.c b/drivers/misc/mpu3050/accel/kxtf9.c
index 11a9491dd7f1..e2490af1ca77 100644
--- a/drivers/misc/mpu3050/accel/kxtf9.c
+++ b/drivers/misc/mpu3050/accel/kxtf9.c
@@ -31,6 +31,9 @@
/* - Include Files. - */
/* ------------------ */
+#undef MPL_LOG_NDEBUG
+#define MPL_LOG_NDEBUG 1
+
#ifdef __KERNEL__
#include <linux/module.h>
#endif
@@ -43,22 +46,322 @@
#undef MPL_LOG_TAG
#define MPL_LOG_TAG "MPL-acc"
+#define KXTF9_XOUT_HPF_L (0x00) /* 0000 0000 */
+#define KXTF9_XOUT_HPF_H (0x01) /* 0000 0001 */
+#define KXTF9_YOUT_HPF_L (0x02) /* 0000 0010 */
+#define KXTF9_YOUT_HPF_H (0x03) /* 0000 0011 */
+#define KXTF9_ZOUT_HPF_L (0x04) /* 0001 0100 */
+#define KXTF9_ZOUT_HPF_H (0x05) /* 0001 0101 */
+#define KXTF9_XOUT_L (0x06) /* 0000 0110 */
+#define KXTF9_XOUT_H (0x07) /* 0000 0111 */
+#define KXTF9_YOUT_L (0x08) /* 0000 1000 */
+#define KXTF9_YOUT_H (0x09) /* 0000 1001 */
+#define KXTF9_ZOUT_L (0x0A) /* 0001 1010 */
+#define KXTF9_ZOUT_H (0x0B) /* 0001 1011 */
+#define KXTF9_ST_RESP (0x0C) /* 0000 1100 */
+#define KXTF9_WHO_AM_I (0x0F) /* 0000 1111 */
+#define KXTF9_TILT_POS_CUR (0x10) /* 0001 0000 */
+#define KXTF9_TILT_POS_PRE (0x11) /* 0001 0001 */
+#define KXTF9_INT_SRC_REG1 (0x15) /* 0001 0101 */
+#define KXTF9_INT_SRC_REG2 (0x16) /* 0001 0110 */
+#define KXTF9_STATUS_REG (0x18) /* 0001 1000 */
+#define KXTF9_INT_REL (0x1A) /* 0001 1010 */
+#define KXTF9_CTRL_REG1 (0x1B) /* 0001 1011 */
+#define KXTF9_CTRL_REG2 (0x1C) /* 0001 1100 */
+#define KXTF9_CTRL_REG3 (0x1D) /* 0001 1101 */
+#define KXTF9_INT_CTRL_REG1 (0x1E) /* 0001 1110 */
+#define KXTF9_INT_CTRL_REG2 (0x1F) /* 0001 1111 */
+#define KXTF9_INT_CTRL_REG3 (0x20) /* 0010 0000 */
+#define KXTF9_DATA_CTRL_REG (0x21) /* 0010 0001 */
+#define KXTF9_TILT_TIMER (0x28) /* 0010 1000 */
+#define KXTF9_WUF_TIMER (0x29) /* 0010 1001 */
+#define KXTF9_TDT_TIMER (0x2B) /* 0010 1011 */
+#define KXTF9_TDT_H_THRESH (0x2C) /* 0010 1100 */
+#define KXTF9_TDT_L_THRESH (0x2D) /* 0010 1101 */
+#define KXTF9_TDT_TAP_TIMER (0x2E) /* 0010 1110 */
+#define KXTF9_TDT_TOTAL_TIMER (0x2F) /* 0010 1111 */
+#define KXTF9_TDT_LATENCY_TIMER (0x30) /* 0011 0000 */
+#define KXTF9_TDT_WINDOW_TIMER (0x31) /* 0011 0001 */
+#define KXTF9_WUF_THRESH (0x5A) /* 0101 1010 */
+#define KXTF9_TILT_ANGLE (0x5C) /* 0101 1100 */
+#define KXTF9_HYST_SET (0x5F) /* 0101 1111 */
+
+#define KXTF9_MAX_DUR (0xFF)
+#define KXTF9_MAX_THS (0xFF)
+#define KXTF9_THS_COUNTS_P_G (32)
+
/* --------------------- */
/* - Variables. - */
/* --------------------- */
+struct kxtf9_config {
+ unsigned int odr; /* Output data rate mHz */
+ unsigned int fsr; /* full scale range mg */
+ unsigned int ths; /* Motion no-motion thseshold mg */
+ unsigned int dur; /* Motion no-motion duration ms */
+ unsigned int irq_type;
+ unsigned char reg_ths;
+ unsigned char reg_dur;
+ unsigned char reg_odr;
+ unsigned char reg_int_cfg1;
+ unsigned char reg_int_cfg2;
+ unsigned char ctrl_reg1;
+};
+
+struct kxtf9_private_data {
+ struct kxtf9_config suspend;
+ struct kxtf9_config resume;
+};
+
/*****************************************
Accelerometer Initialization Functions
*****************************************/
+static int kxtf9_set_ths(void *mlsl_handle,
+ struct ext_slave_platform_data *pdata,
+ struct kxtf9_config *config,
+ int apply,
+ long ths)
+{
+ int result = ML_SUCCESS;
+ if ((ths * KXTF9_THS_COUNTS_P_G / 1000) > KXTF9_MAX_THS)
+ ths = (KXTF9_MAX_THS * 1000) / KXTF9_THS_COUNTS_P_G;
+
+ if (ths < 0)
+ ths = 0;
+
+ config->ths = ths;
+ config->reg_ths = (unsigned char)
+ ((long)(ths * KXTF9_THS_COUNTS_P_G) / 1000);
+ MPL_LOGV("THS: %d, 0x%02x\n", config->ths, (int)config->reg_ths);
+ if (apply)
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_WUF_THRESH,
+ config->reg_ths);
+ return result;
+}
+
+static int kxtf9_set_dur(void *mlsl_handle,
+ struct ext_slave_platform_data *pdata,
+ struct kxtf9_config *config,
+ int apply,
+ long dur)
+{
+ int result = ML_SUCCESS;
+ long reg_dur = (dur * config->odr) / 1000000;
+ config->dur = dur;
+
+ if (reg_dur > KXTF9_MAX_DUR)
+ reg_dur = KXTF9_MAX_DUR;
+
+ config->reg_dur = (unsigned char) reg_dur;
+ MPL_LOGV("DUR: %d, 0x%02x\n", config->dur, (int)config->reg_dur);
+ if (apply)
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_WUF_TIMER,
+ (unsigned char)reg_dur);
+ return result;
+}
+
+/**
+ * Sets the IRQ to fire when one of the IRQ events occur. Threshold and
+ * duration will not be used uless the type is MOT or NMOT.
+ *
+ * @param config configuration to apply to, suspend or 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
+ */
+static int kxtf9_set_irq(void *mlsl_handle,
+ struct ext_slave_platform_data *pdata,
+ struct kxtf9_config *config,
+ int apply,
+ long irq_type)
+{
+ int result = ML_SUCCESS;
+ struct kxtf9_private_data *private_data = pdata->private_data;
+
+ config->irq_type = (unsigned char)irq_type;
+ config->ctrl_reg1 &= ~0x22;
+ if (irq_type == MPU_SLAVE_IRQ_TYPE_DATA_READY) {
+ config->ctrl_reg1 |= 0x20;
+ config->reg_int_cfg1 = 0x38;
+ config->reg_int_cfg2 = 0x00;
+ } else if (irq_type == MPU_SLAVE_IRQ_TYPE_MOTION) {
+ config->ctrl_reg1 |= 0x02;
+ if ((unsigned long) config ==
+ (unsigned long) &private_data->suspend)
+ config->reg_int_cfg1 = 0x34;
+ else
+ config->reg_int_cfg1 = 0x24;
+ config->reg_int_cfg2 = 0xE0;
+ } else {
+ config->reg_int_cfg1 = 0x00;
+ config->reg_int_cfg2 = 0x00;
+ }
+
+ if (apply) {
+ /* Must clear bit 7 before writing new configuration */
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG1, 0x40);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_INT_CTRL_REG1,
+ config->reg_int_cfg1);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_INT_CTRL_REG2,
+ config->reg_int_cfg2);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG1,
+ config->ctrl_reg1);
+ }
+ MPL_LOGV("CTRL_REG1: %lx, INT_CFG1: %lx, INT_CFG2: %lx\n",
+ (unsigned long)config->ctrl_reg1,
+ (unsigned long)config->reg_int_cfg1,
+ (unsigned long)config->reg_int_cfg2);
+
+ return result;
+}
+
+/**
+ * Set the Output data rate for the particular configuration
+ *
+ * @param config Config to modify with new ODR
+ * @param odr Output data rate in units of 1/1000Hz
+ */
+static int kxtf9_set_odr(void *mlsl_handle,
+ struct ext_slave_platform_data *pdata,
+ struct kxtf9_config *config,
+ int apply,
+ long odr)
+{
+ unsigned char bits;
+ int result = ML_SUCCESS;
+
+ /* Data sheet says there is 12.5 hz, but that seems to produce a single
+ * correct data value, thus we remove it from the table */
+ if (odr > 400000) {
+ config->odr = 800000;
+ bits = 0x06;
+ } else if (odr > 200000) {
+ config->odr = 400000;
+ bits = 0x05;
+ } else if (odr > 100000) {
+ config->odr = 200000;
+ bits = 0x04;
+ } else if (odr > 50000) {
+ config->odr = 100000;
+ bits = 0x03;
+ } else if (odr > 25000) {
+ config->odr = 50000;
+ bits = 0x02;
+ } else if (odr != 0) {
+ config->odr = 25000;
+ bits = 0x01;
+ } else {
+ config->odr = 0;
+ bits = 0;
+ }
+
+ if (odr != 0)
+ config->ctrl_reg1 |= 0x80;
+
+ config->reg_odr = bits;
+ kxtf9_set_dur(mlsl_handle, pdata,
+ config, apply, config->dur);
+ MPL_LOGV("ODR: %d, 0x%02x\n", config->odr, (int)config->ctrl_reg1);
+ if (apply) {
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_DATA_CTRL_REG,
+ config->reg_odr);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG1,
+ 0x40);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG1,
+ config->ctrl_reg1);
+ }
+ return result;
+}
+
+/**
+ * Set the full scale range of the accels
+ *
+ * @param config pointer to configuration
+ * @param fsr requested full scale range
+ */
+static int kxtf9_set_fsr(void *mlsl_handle,
+ struct ext_slave_platform_data *pdata,
+ struct kxtf9_config *config,
+ int apply,
+ long fsr)
+{
+ int result = ML_SUCCESS;
+
+ config->ctrl_reg1 = (config->ctrl_reg1 & 0xE7);
+ if (fsr <= 2000) {
+ config->fsr = 2000;
+ config->ctrl_reg1 |= 0x00;
+ } else if (fsr <= 4000) {
+ config->fsr = 4000;
+ config->ctrl_reg1 |= 0x08;
+ } else {
+ config->fsr = 8000;
+ config->ctrl_reg1 |= 0x10;
+ }
+
+ MPL_LOGV("FSR: %d\n", config->fsr);
+ if (apply) {
+ /* Must clear bit 7 before writing new configuration */
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG1, 0x40);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG1, config->ctrl_reg1);
+ }
+ return result;
+}
+
static int kxtf9_suspend(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
int result;
- result =
- MLSLSerialWriteSingle(mlsl_handle, pdata->address, 0x1b, 0);
+ unsigned char data;
+ struct kxtf9_private_data *private_data = pdata->private_data;
+
+ /* Wake up */
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG1, 0x40);
+ ERROR_CHECK(result);
+ /* INT_CTRL_REG1: */
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_INT_CTRL_REG1,
+ private_data->suspend.reg_int_cfg1);
+ ERROR_CHECK(result);
+ /* WUF_THRESH: */
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_WUF_THRESH,
+ private_data->suspend.reg_ths);
+ ERROR_CHECK(result);
+ /* DATA_CTRL_REG */
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_DATA_CTRL_REG,
+ private_data->suspend.reg_odr);
+ ERROR_CHECK(result);
+ /* WUF_TIMER */
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_WUF_TIMER, private_data->suspend.reg_dur);
ERROR_CHECK(result);
+
+ /* Normal operation */
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG1,
+ private_data->suspend.ctrl_reg1);
+ ERROR_CHECK(result);
+ result = MLSLSerialRead(mlsl_handle, pdata->address,
+ KXTF9_INT_REL, 1, &data);
+ ERROR_CHECK(result);
+
return result;
}
@@ -71,53 +374,245 @@ static int kxtf9_resume(void *mlsl_handle,
struct ext_slave_platform_data *pdata)
{
int result = ML_SUCCESS;
- unsigned char reg;
+ unsigned char data;
+ struct kxtf9_private_data *private_data = pdata->private_data;
- /* RAM reset */
- result =
- MLSLSerialWriteSingle(mlsl_handle, pdata->address, 0x1d, 0xcd);
- ERROR_CHECK(result);
- MLOSSleep(10);
/* Wake up */
- result =
- MLSLSerialWriteSingle(mlsl_handle, pdata->address, 0x1b, 0x42);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG1, 0x40);
ERROR_CHECK(result);
/* INT_CTRL_REG1: */
- result =
- MLSLSerialWriteSingle(mlsl_handle, pdata->address, 0x1e, 0x14);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_INT_CTRL_REG1,
+ private_data->resume.reg_int_cfg1);
ERROR_CHECK(result);
/* WUF_THRESH: */
- result =
- MLSLSerialWriteSingle(mlsl_handle, pdata->address, 0x5a, 0x00);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_WUF_THRESH, private_data->resume.reg_ths);
ERROR_CHECK(result);
/* DATA_CTRL_REG */
- result =
- MLSLSerialWriteSingle(mlsl_handle, pdata->address, 0x21, 0x04);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_DATA_CTRL_REG,
+ private_data->resume.reg_odr);
ERROR_CHECK(result);
/* WUF_TIMER */
- result =
- MLSLSerialWriteSingle(mlsl_handle, pdata->address, 0x29, 0x02);
- ERROR_CHECK(result);
-
- /* Full Scale */
- reg = 0xc2;
- reg &= ~ACCEL_KIONIX_CTRL_MASK;
- reg |= 0x00;
- if (slave->range.mantissa == 4)
- reg |= 0x08;
- else if (slave->range.mantissa == 8)
- reg |= 0x10;
- else {
- slave->range.mantissa = 2;
- reg |= 0x00;
- }
- slave->range.fraction = 0;
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_WUF_TIMER, private_data->resume.reg_dur);
+ ERROR_CHECK(result);
/* Normal operation */
- result =
- MLSLSerialWriteSingle(mlsl_handle, pdata->address, 0x1b, reg);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG1,
+ private_data->resume.ctrl_reg1);
+ ERROR_CHECK(result);
+ result = MLSLSerialRead(mlsl_handle, pdata->address,
+ KXTF9_INT_REL, 1, &data);
+ ERROR_CHECK(result);
+
+ return ML_SUCCESS;
+}
+
+static int kxtf9_init(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata)
+{
+
+ struct kxtf9_private_data *private_data;
+ int result = ML_SUCCESS;
+
+ private_data = (struct kxtf9_private_data *)
+ MLOSMalloc(sizeof(struct kxtf9_private_data));
+
+ if (!private_data)
+ return ML_ERROR_MEMORY_EXAUSTED;
+
+ /* RAM reset */
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG1,
+ 0x40); /* Fastest Reset */
+ ERROR_CHECK(result);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_DATA_CTRL_REG,
+ 0x36); /* Fastest Reset */
+ ERROR_CHECK(result);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
+ KXTF9_CTRL_REG3, 0xcd); /* Reset */
+ ERROR_CHECK(result);
+ MLOSSleep(2);
+
+ pdata->private_data = private_data;
+
+ private_data->resume.ctrl_reg1 = 0xC0;
+ private_data->suspend.ctrl_reg1 = 0x40;
+
+ result = kxtf9_set_dur(mlsl_handle, pdata, &private_data->suspend,
+ FALSE, 1000);
+ ERROR_CHECK(result);
+ result = kxtf9_set_dur(mlsl_handle, pdata, &private_data->resume,
+ FALSE, 2540);
ERROR_CHECK(result);
- MLOSSleep(50);
+
+ result = kxtf9_set_odr(mlsl_handle, pdata, &private_data->suspend,
+ FALSE, 50000);
+ ERROR_CHECK(result);
+ result = kxtf9_set_odr(mlsl_handle, pdata, &private_data->resume,
+ FALSE, 200000);
+
+ result = kxtf9_set_fsr(mlsl_handle, pdata, &private_data->suspend,
+ FALSE, 2000);
+ ERROR_CHECK(result);
+ result = kxtf9_set_fsr(mlsl_handle, pdata, &private_data->resume,
+ FALSE, 2000);
+ ERROR_CHECK(result);
+
+ result = kxtf9_set_ths(mlsl_handle, pdata, &private_data->suspend,
+ FALSE, 80);
+ ERROR_CHECK(result);
+ result = kxtf9_set_ths(mlsl_handle, pdata, &private_data->resume,
+ FALSE, 40);
+ ERROR_CHECK(result);
+
+ result = kxtf9_set_irq(mlsl_handle, pdata, &private_data->suspend,
+ FALSE,
+ MPU_SLAVE_IRQ_TYPE_NONE);
+ ERROR_CHECK(result);
+ result = kxtf9_set_irq(mlsl_handle, pdata, &private_data->resume,
+ FALSE,
+ MPU_SLAVE_IRQ_TYPE_NONE);
+ ERROR_CHECK(result);
+ return result;
+}
+
+static int kxtf9_exit(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata)
+{
+ if (pdata->private_data)
+ return MLOSFree(pdata->private_data);
+ else
+ return ML_SUCCESS;
+}
+
+static int kxtf9_config(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata,
+ struct ext_slave_config *data)
+{
+ struct kxtf9_private_data *private_data = pdata->private_data;
+ if (!data->data)
+ return ML_ERROR_INVALID_PARAMETER;
+
+ switch (data->key) {
+ case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+ return kxtf9_set_odr(mlsl_handle, pdata,
+ &private_data->suspend,
+ data->apply,
+ *((long *)data->data));
+ case MPU_SLAVE_CONFIG_ODR_RESUME:
+ return kxtf9_set_odr(mlsl_handle, pdata,
+ &private_data->resume,
+ data->apply,
+ *((long *)data->data));
+ case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+ return kxtf9_set_fsr(mlsl_handle, pdata,
+ &private_data->suspend,
+ data->apply,
+ *((long *)data->data));
+ case MPU_SLAVE_CONFIG_FSR_RESUME:
+ return kxtf9_set_fsr(mlsl_handle, pdata,
+ &private_data->resume,
+ data->apply,
+ *((long *)data->data));
+ case MPU_SLAVE_CONFIG_MOT_THS:
+ return kxtf9_set_ths(mlsl_handle, pdata,
+ &private_data->suspend,
+ data->apply,
+ *((long *)data->data));
+ case MPU_SLAVE_CONFIG_NMOT_THS:
+ return kxtf9_set_ths(mlsl_handle, pdata,
+ &private_data->resume,
+ data->apply,
+ *((long *)data->data));
+ case MPU_SLAVE_CONFIG_MOT_DUR:
+ return kxtf9_set_dur(mlsl_handle, pdata,
+ &private_data->suspend,
+ data->apply,
+ *((long *)data->data));
+ case MPU_SLAVE_CONFIG_NMOT_DUR:
+ return kxtf9_set_dur(mlsl_handle, pdata,
+ &private_data->resume,
+ data->apply,
+ *((long *)data->data));
+ case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+ return kxtf9_set_irq(mlsl_handle, pdata,
+ &private_data->suspend,
+ data->apply,
+ *((long *)data->data));
+ case MPU_SLAVE_CONFIG_IRQ_RESUME:
+ return kxtf9_set_irq(mlsl_handle, pdata,
+ &private_data->resume,
+ data->apply,
+ *((long *)data->data));
+ default:
+ return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
+ };
+
+ return ML_SUCCESS;
+}
+
+static int kxtf9_get_config(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata,
+ struct ext_slave_config *data)
+{
+ struct kxtf9_private_data *private_data = pdata->private_data;
+ if (!data->data)
+ return ML_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_MOT_THS:
+ (*(unsigned long *)data->data) =
+ (unsigned long) private_data->suspend.ths;
+ break;
+ case MPU_SLAVE_CONFIG_NMOT_THS:
+ (*(unsigned long *)data->data) =
+ (unsigned long) private_data->resume.ths;
+ break;
+ case MPU_SLAVE_CONFIG_MOT_DUR:
+ (*(unsigned long *)data->data) =
+ (unsigned long) private_data->suspend.dur;
+ break;
+ case MPU_SLAVE_CONFIG_NMOT_DUR:
+ (*(unsigned long *)data->data) =
+ (unsigned long) private_data->resume.dur;
+ 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 ML_ERROR_FEATURE_NOT_IMPLEMENTED;
+ };
return ML_SUCCESS;
}
@@ -127,16 +622,29 @@ static int kxtf9_read(void *mlsl_handle,
struct ext_slave_platform_data *pdata,
unsigned char *data)
{
- return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
+ int result;
+ unsigned char reg;
+ result = MLSLSerialRead(mlsl_handle, pdata->address,
+ KXTF9_INT_SRC_REG2, 1, &reg);
+ ERROR_CHECK(result);
+
+ if (!(reg & 0x10))
+ return ML_ERROR_ACCEL_DATA_NOT_READY;
+
+ result = MLSLSerialRead(mlsl_handle, pdata->address,
+ slave->reg, slave->len, data);
+ ERROR_CHECK(result);
+ return result;
}
static struct ext_slave_descr kxtf9_descr = {
- /*.init = */ NULL,
- /*.exit = */ NULL,
+ /*.init = */ kxtf9_init,
+ /*.exit = */ kxtf9_exit,
/*.suspend = */ kxtf9_suspend,
/*.resume = */ kxtf9_resume,
/*.read = */ kxtf9_read,
- /*.config = */ NULL,
+ /*.config = */ kxtf9_config,
+ /*.get_config = */ kxtf9_get_config,
/*.name = */ "kxtf9",
/*.type = */ EXT_SLAVE_TYPE_ACCELEROMETER,
/*.id = */ ACCEL_ID_KXTF9,
diff --git a/drivers/misc/mpu3050/compass/ak8975.c b/drivers/misc/mpu3050/compass/ak8975.c
index 18606e240f1c..991de77dbd01 100644
--- a/drivers/misc/mpu3050/compass/ak8975.c
+++ b/drivers/misc/mpu3050/compass/ak8975.c
@@ -25,12 +25,14 @@
* @{
* @file AK8975.c
* @brief Magnetometer setup and handling methods for AKM 8975 compass.
-**/
+ */
/* ------------------ */
/* - Include Files. - */
/* ------------------ */
+#include <string.h>
+
#ifdef __KERNEL__
#include <linux/module.h>
#endif
@@ -84,44 +86,78 @@ int ak8975_read(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata, unsigned char *data)
{
- unsigned char stat;
- unsigned char stat2;
+ unsigned char regs[8];
+ unsigned char *stat = &regs[0];
+ unsigned char *stat2 = &regs[7];
int result = ML_SUCCESS;
+ int status = ML_SUCCESS;
result =
- MLSLSerialRead(mlsl_handle, pdata->address, AK8975_REG_ST1, 1,
- &stat);
+ MLSLSerialRead(mlsl_handle, pdata->address, AK8975_REG_ST1,
+ 8, regs);
ERROR_CHECK(result);
- if (stat & 0x01) {
- result =
- MLSLSerialRead(mlsl_handle, pdata->address,
- AK8975_REG_HXL, 6,
- (unsigned char *) data);
- ERROR_CHECK(result);
- result =
- MLSLSerialRead(mlsl_handle, pdata->address,
- AK8975_REG_ST2, 1, &stat2);
- ERROR_CHECK(result);
- if (stat2 & 0x04) /* data error */
- return ML_ERROR_COMPASS_DATA_NOT_READY;
- if (stat2 & 0x08)
- return ML_ERROR_COMPASS_DATA_OVERFLOW;
+ /*
+ * ST : data ready -
+ * Measurement has been completed and data is ready to be read.
+ */
+ if (*stat & 0x01) {
+ memcpy(data, &regs[1], 6);
+ status = ML_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 = ML_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 = ML_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 = ML_ERROR_COMPASS_DATA_UNDERFLOW; */
+ status = ML_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 =
MLSLSerialWriteSingle(mlsl_handle, pdata->address,
AK8975_REG_CNTL,
AK8975_CNTL_MODE_SINGLE_MEASUREMENT);
ERROR_CHECK(result);
- return ML_SUCCESS;
- } else if (stat & 0x02) {
- result =
- MLSLSerialRead(mlsl_handle, pdata->address,
- AK8975_REG_ST2, 1, &stat2);
- ERROR_CHECK(result);
- return ML_ERROR_COMPASS_DATA_OVERFLOW;
- } else {
- return ML_ERROR_COMPASS_DATA_NOT_READY;
}
+
+ return status;
}
struct ext_slave_descr ak8975_descr = {
@@ -131,6 +167,7 @@ struct ext_slave_descr ak8975_descr = {
/*.resume = */ ak8975_resume,
/*.read = */ ak8975_read,
/*.config = */ NULL,
+ /*.get_config = */ NULL,
/*.name = */ "ak8975",
/*.type = */ EXT_SLAVE_TYPE_COMPASS,
/*.id = */ COMPASS_ID_AKM,
@@ -148,4 +185,4 @@ EXPORT_SYMBOL(ak8975_get_slave_descr);
/**
* @}
-**/
+ */
diff --git a/drivers/misc/mpu3050/mldl_cfg.c b/drivers/misc/mpu3050/mldl_cfg.c
index 668a4cf03ccc..66f447e7ba85 100644
--- a/drivers/misc/mpu3050/mldl_cfg.c
+++ b/drivers/misc/mpu3050/mldl_cfg.c
@@ -57,99 +57,85 @@
#define STANDBY 1
#endif
-/* --------------------- */
-/* - Prototypes. - */
-/* --------------------- */
-#ifdef M_HW
-static tMLError MLDLPowerMgmtMantis(struct mldl_cfg *pdata,
- void *mlsl_handle,
- unsigned char reset,
- unsigned char powerselection);
-static tMLError MLDLStandByGyros(struct mldl_cfg *pdata,
- void *mlsl_handle,
- unsigned char disable_gx,
- unsigned char disable_gy,
- unsigned char disable_gz);
-#else
-static int MLDLPowerMgmtMPU(struct mldl_cfg *pdata,
- void *mlsl_handle,
- unsigned char reset,
- unsigned char sleep,
- unsigned char disable_gx,
- unsigned char disable_gy,
- unsigned char disable_gz);
-#endif
+/*---------------------*/
+/*- Prototypes. -*/
+/*---------------------*/
-/* ---------------------- */
-/* - Static Functions. - */
-/* ---------------------- */
+/*----------------------*/
+/*- Static Functions. -*/
+/*----------------------*/
-/**
- * @internal
- * @brief MLDLCfgDMP configures the Digital Motion Processor internal to
- * the MPU. The DMP can be enabled or disabled and the start address
- * can be set.
- *
- * @param enableRun Enables the DMP processing if set to TRUE.
- * @param enableFIFO Enables DMP output to the FIFO if set to TRUE.
- *
- * @return Zero if the command is successful, an error code otherwise.
- */
-static int MLDLCtrlDmp(struct mldl_cfg *pdata, void *mlsl_handle,
- bool enableRun, bool enableFIFO)
+static int dmp_stop(struct mldl_cfg *mldl_cfg, void *gyro_handle)
{
- unsigned char b;
+ unsigned char userCtrlReg;
+ int result;
- MLSLSerialRead(mlsl_handle, pdata->addr, MPUREG_USER_CTRL, 1, &b);
- if (enableRun)
- b |= BIT_DMP_EN;
- else
- b &= ~BIT_DMP_EN;
+ if (!mldl_cfg->dmp_is_running)
+ return ML_SUCCESS;
- if (enableFIFO)
- b |= BIT_FIFO_EN;
+ result = MLSLSerialRead(gyro_handle, mldl_cfg->addr,
+ MPUREG_USER_CTRL, 1, &userCtrlReg);
+ ERROR_CHECK(result);
+ userCtrlReg = (userCtrlReg & (~BIT_FIFO_EN)) | BIT_FIFO_RST;
+ userCtrlReg = (userCtrlReg & (~BIT_DMP_EN)) | BIT_DMP_RST;
- b |= BIT_DMP_RST;
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_USER_CTRL, userCtrlReg);
+ ERROR_CHECK(result);
+ mldl_cfg->dmp_is_running = 0;
- MLSLSerialWriteSingle(mlsl_handle, pdata->addr, MPUREG_USER_CTRL,
- b);
+ return result;
- return ML_SUCCESS;
}
-
/**
* @brief Starts the DMP running
*
* @return ML_SUCCESS or non-zero error code
*/
-static int MLDLDmpStart(struct mldl_cfg *pdata, void *mlsl_handle)
+static int dmp_start(struct mldl_cfg *pdata, void *mlsl_handle)
{
- unsigned char fifoBuf[2];
- unsigned char tries = 0;
unsigned char userCtrlReg;
int result;
- unsigned short len = !0;
+
+ if (pdata->dmp_is_running == pdata->dmp_enable)
+ return ML_SUCCESS;
result = MLSLSerialRead(mlsl_handle, pdata->addr,
MPUREG_USER_CTRL, 1, &userCtrlReg);
+ ERROR_CHECK(result);
- while (len != 0 && tries < 6) {
- result = MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
- MPUREG_USER_CTRL,
- ((userCtrlReg & (~BIT_FIFO_EN))
- | BIT_FIFO_RST));
- MLSLSerialRead(mlsl_handle, pdata->addr,
- MPUREG_FIFO_COUNTH, 2, fifoBuf);
- len = (((unsigned short) fifoBuf[0] << 8)
- | (unsigned short) fifoBuf[1]);
- tries++;
- }
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
+ MPUREG_USER_CTRL,
+ ((userCtrlReg & (~BIT_FIFO_EN))
+ | BIT_FIFO_RST));
+ ERROR_CHECK(result);
+
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
+ MPUREG_USER_CTRL, userCtrlReg);
+ ERROR_CHECK(result);
+
+ result = MLSLSerialRead(mlsl_handle, pdata->addr,
+ MPUREG_USER_CTRL, 1, &userCtrlReg);
+ ERROR_CHECK(result);
+
+ if (pdata->dmp_enable)
+ userCtrlReg |= BIT_DMP_EN;
+ else
+ userCtrlReg &= ~BIT_DMP_EN;
+
+ if (pdata->fifo_enable)
+ userCtrlReg |= BIT_FIFO_EN;
+ else
+ userCtrlReg &= ~BIT_FIFO_EN;
- MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
- MPUREG_USER_CTRL, userCtrlReg);
+ userCtrlReg |= BIT_DMP_RST;
- return MLDLCtrlDmp(pdata, mlsl_handle,
- pdata->dmp_enable, pdata->fifo_enable);
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
+ MPUREG_USER_CTRL, userCtrlReg);
+ ERROR_CHECK(result);
+ pdata->dmp_is_running = pdata->dmp_enable;
+
+ return result;
}
/**
@@ -166,22 +152,15 @@ static int MLDLSetI2CBypass(struct mldl_cfg *mldl_cfg,
unsigned char b;
int result;
-#ifdef ML_USE_DMP_SIM
- /* done this way so that pc demo */
- /* w/arm board works with universal api */
- if (!MLGetGyroPresent())
+ if ((mldl_cfg->gyro_is_bypassed && enable) ||
+ (!mldl_cfg->gyro_is_bypassed && !enable))
return ML_SUCCESS;
-#endif
/*---- get current 'USER_CTRL' into b ----*/
result = MLSLSerialRead(mlsl_handle, mldl_cfg->addr,
MPUREG_USER_CTRL, 1, &b);
ERROR_CHECK(result);
- /* No change */
- if ((b & BIT_AUX_IF_EN) != (enable * BIT_AUX_IF_EN))
- return ML_SUCCESS;
-
b &= ~BIT_AUX_IF_EN;
if (!enable) {
@@ -215,7 +194,7 @@ static int MLDLSetI2CBypass(struct mldl_cfg *mldl_cfg,
* 3) wait for up to one MPU cycle then restore the slave
* address
*/
- MLOSSleep(5);
+ MLOSSleep(SAMPLING_PERIOD_US(mldl_cfg) / 1000);
result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
MPUREG_AUX_SLV_ADDR,
mldl_cfg->pdata->
@@ -238,6 +217,7 @@ static int MLDLSetI2CBypass(struct mldl_cfg *mldl_cfg,
ERROR_CHECK(result);
MLOSSleep(2);
}
+ mldl_cfg->gyro_is_bypassed = enable;
return result;
}
@@ -254,11 +234,14 @@ struct tsProdRevMap {
#define OLDEST_PROD_REV_SUPPORTED 1
static struct tsProdRevMap prodRevsMap[] = {
{0, 0},
- {MPU_SILICON_REV_A1, 131}, /* 1 A1 */
- {MPU_SILICON_REV_A1, 131}, /* 2 A1 */
- {MPU_SILICON_REV_A1, 131}, /* 3 A1 */
- {MPU_SILICON_REV_A1, 131}, /* 4 A1 */
- {MPU_SILICON_REV_A1, 131}, /* 5 A1 */
+ {MPU_SILICON_REV_A1, 131}, /* 1 A1 (npp) */
+ {MPU_SILICON_REV_A1, 131}, /* 2 A1 (npp) */
+ {MPU_SILICON_REV_A1, 131}, /* 3 A1 (npp) */
+ {MPU_SILICON_REV_A1, 131}, /* 4 A1 (npp) */
+ {MPU_SILICON_REV_A1, 131}, /* 5 A1 (npp) */
+ {MPU_SILICON_REV_A1, 131}, /* 6 A1 (npp) */
+ {MPU_SILICON_REV_A1, 131}, /* 7 A1 (npp) */
+ {MPU_SILICON_REV_A1, 131}, /* 8 A1 (npp) */
};
#else /* !M_HW */
@@ -411,11 +394,11 @@ static int MLDLSetLevelShifterBit(struct mldl_cfg *pdata,
/**
* @internal
* @param reset 1 to reset hardware
-**/
-static tMLError MLDLPowerMgmtMantis(struct mldl_cfg *pdata,
- void *mlsl_handle,
- unsigned char reset,
- unsigned char powerselection)
+ */
+static tMLError mpu60xx_pwr_mgmt(struct mldl_cfg *pdata,
+ void *mlsl_handle,
+ unsigned char reset,
+ unsigned char powerselection)
{
unsigned char b;
tMLError result;
@@ -434,7 +417,7 @@ static tMLError MLDLPowerMgmtMantis(struct mldl_cfg *pdata,
/* Current sillicon has an errata where the reset will get
* nacked. Ignore the error code for now. */
result = MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
- MPUREG_PWR_MGM, b | 0x80);
+ MPUREG_PWR_MGM, b | BIT_H_RESET);
#define M_HW_RESET_ERRATTA
#ifndef M_HW_RESET_ERRATTA
ERROR_CHECK(result);
@@ -446,9 +429,9 @@ static tMLError MLDLPowerMgmtMantis(struct mldl_cfg *pdata,
b |= (powerselection << 4);
if (b & BITS_PWRSEL)
- pdata->is_suspended = FALSE;
+ pdata->gyro_is_suspended = FALSE;
else
- pdata->is_suspended = TRUE;
+ pdata->gyro_is_suspended = TRUE;
result = MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
MPUREG_PWR_MGM, b);
@@ -570,29 +553,34 @@ static int MLDLPowerMgmtMPU(struct mldl_cfg *pdata,
if ((!(b & BIT_SLEEP)) && reset)
result = MLDLSetI2CBypass(pdata, mlsl_handle, 1);
+ /* If we are awake, we need stop the dmp sleeping */
+ if ((!(b & BIT_SLEEP)) && sleep)
+ dmp_stop(pdata, mlsl_handle);
+
/* Reset if requested */
if (reset) {
- result =
- MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
- MPUREG_PWR_MGM, b | BIT_H_RESET);
+ MPL_LOGV("Reset MPU3050\n");
+ result = MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
+ MPUREG_PWR_MGM, b | BIT_H_RESET);
+ ERROR_CHECK(result);
MLOSSleep(5);
+ pdata->gyro_needs_reset = FALSE;
+ /* Some chips are awake after reset and some are asleep,
+ * check the status */
+ result = MLSLSerialRead(mlsl_handle, pdata->addr,
+ MPUREG_PWR_MGM, 1, &b);
+ ERROR_CHECK(result);
}
- /* Some chips are awake after reset and some are asleep, check the
- * status */
- result =
- MLSLSerialRead(mlsl_handle, pdata->addr, MPUREG_PWR_MGM, 1,
- &b);
- ERROR_CHECK(result);
-
/* Update the suspended state just in case we return early */
if (b & BIT_SLEEP)
- pdata->is_suspended = TRUE;
+ pdata->gyro_is_suspended = TRUE;
else
- pdata->is_suspended = FALSE;
+ pdata->gyro_is_suspended = FALSE;
- if ((b & (BIT_SLEEP | BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG))
- == (((sleep != 0) * BIT_SLEEP) |
+ /* if power status match requested, nothing else's left to do */
+ if ((b & (BIT_SLEEP | BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)) ==
+ (((sleep != 0) * BIT_SLEEP) |
((disable_gx != 0) * BIT_STBY_XG) |
((disable_gy != 0) * BIT_STBY_YG) |
((disable_gz != 0) * BIT_STBY_ZG))) {
@@ -608,7 +596,7 @@ static int MLDLPowerMgmtMPU(struct mldl_cfg *pdata,
*/
if ((b & (BIT_SLEEP | BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)) ==
(BIT_SLEEP | BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
- && ((!sleep) && disable_gx && disable_gy && disable_gz)) {
+ && ((!sleep) && disable_gx && disable_gy && disable_gz)) {
result = MLDLPowerMgmtMPU(pdata, mlsl_handle, 0, 1, 0, 0, 0);
if (result)
return result;
@@ -616,7 +604,6 @@ static int MLDLPowerMgmtMPU(struct mldl_cfg *pdata,
b &= ~(BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG);
}
-
if ((b & BIT_SLEEP) != ((sleep != 0) * BIT_SLEEP)) {
if (sleep) {
result = MLDLSetI2CBypass(pdata, mlsl_handle, 1);
@@ -626,26 +613,25 @@ static int MLDLPowerMgmtMPU(struct mldl_cfg *pdata,
MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
MPUREG_PWR_MGM, b);
ERROR_CHECK(result);
- pdata->is_suspended = TRUE;
+ pdata->gyro_is_suspended = TRUE;
} else {
b &= ~BIT_SLEEP;
-
result =
MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
MPUREG_PWR_MGM, b);
ERROR_CHECK(result);
- pdata->is_suspended = FALSE;
+ pdata->gyro_is_suspended = FALSE;
MLOSSleep(5);
}
}
- /*---
- WORKAROUND FOR PUTTING GYRO AXIS in STAND-BY MODE
- 1) put one axis at a time in stand-by
- ---*/
+ /*---
+ WORKAROUND FOR PUTTING GYRO AXIS in STAND-BY MODE
+ 1) put one axis at a time in stand-by
+ ---*/
if ((b & BIT_STBY_XG) != ((disable_gx != 0) * BIT_STBY_XG)) {
b ^= BIT_STBY_XG;
result = MLSLSerialWriteSingle(mlsl_handle, pdata->addr,
- MPUREG_PWR_MGM, b);
+ MPUREG_PWR_MGM, b);
ERROR_CHECK(result);
}
if ((b & BIT_STBY_YG) != ((disable_gy != 0) * BIT_STBY_YG)) {
@@ -701,6 +687,8 @@ void mpu_print_cfg(struct mldl_cfg *mldl_cfg)
MPL_LOGD("mldl_cfg.product_id = %02x\n",
mldl_cfg->product_id);
MPL_LOGD("mldl_cfg.trim = %02x\n", mldl_cfg->trim);
+ MPL_LOGD("mldl_cfg.requested_sensors= %04lx\n",
+ mldl_cfg->requested_sensors);
if (mldl_cfg->accel) {
MPL_LOGD("slave_accel->suspend = %02x\n",
@@ -839,6 +827,275 @@ void mpu_print_cfg(struct mldl_cfg *mldl_cfg)
offsetof(struct mldl_cfg, ram));
}
+int mpu_set_slave(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *slave_pdata)
+{
+ int result;
+ unsigned char reg;
+ unsigned char slave_reg;
+ unsigned char slave_len;
+ unsigned char slave_endian;
+ unsigned char slave_address;
+
+ result = MLDLSetI2CBypass(mldl_cfg, gyro_handle, TRUE);
+
+ if (NULL == slave || NULL == slave_pdata) {
+ slave_reg = 0;
+ slave_len = 0;
+ slave_endian = 0;
+ slave_address = 0;
+ } else {
+ slave_reg = slave->reg;
+ slave_len = slave->len;
+ slave_endian = slave->endian;
+ slave_address = slave_pdata->address;
+ }
+
+ /* Address */
+ result = MLSLSerialWriteSingle(gyro_handle,
+ mldl_cfg->addr,
+ MPUREG_AUX_SLV_ADDR,
+ slave_address);
+ ERROR_CHECK(result);
+ /* Register */
+ result = MLSLSerialRead(gyro_handle, mldl_cfg->addr,
+ MPUREG_ACCEL_BURST_ADDR, 1,
+ &reg);
+ ERROR_CHECK(result);
+ reg = ((reg & 0x80) | slave_reg);
+ result = MLSLSerialWriteSingle(gyro_handle,
+ mldl_cfg->addr,
+ MPUREG_ACCEL_BURST_ADDR,
+ reg);
+ ERROR_CHECK(result);
+
+#ifdef M_HW
+ /* Length, byte swapping, grouping & enable */
+ if (slave_len > BITS_SLV_LENG) {
+ MPL_LOGW("Limiting slave burst read length to "
+ "the allowed maximum (15B, req. %d)\n",
+ slave_len);
+ slave_len = BITS_SLV_LENG;
+ }
+ reg = slave_len;
+ if (slave_endian == EXT_SLAVE_LITTLE_ENDIAN)
+ reg |= BIT_SLV_BYTE_SW;
+ reg |= BIT_SLV_GRP;
+ reg |= BIT_SLV_ENABLE;
+
+ result = MLSLSerialWriteSingle(gyro_handle,
+ mldl_cfg->addr,
+ MPUREG_I2C_SLV0_CTRL,
+ reg);
+#else
+ /* Length */
+ result = MLSLSerialRead(gyro_handle, mldl_cfg->addr,
+ MPUREG_USER_CTRL, 1, &reg);
+ ERROR_CHECK(result);
+ reg = (reg & ~BIT_AUX_RD_LENG);
+ result = MLSLSerialWriteSingle(gyro_handle,
+ mldl_cfg->addr,
+ MPUREG_USER_CTRL, reg);
+ ERROR_CHECK(result);
+#endif
+
+ if (slave_address) {
+ result = MLDLSetI2CBypass(mldl_cfg, gyro_handle, FALSE);
+ ERROR_CHECK(result);
+ }
+ return result;
+}
+
+/**
+ * Check to see if the gyro was reset by testing a couple of registers known
+ * to change on reset.
+ *
+ * @param mldl_cfg mldl configuration structure
+ * @param gyro_handle handle used to communicate with the gyro
+ *
+ * @return ML_SUCCESS or non-zero error code
+ */
+static int mpu_was_reset(struct mldl_cfg *mldl_cfg, void *gyro_handle)
+{
+ int result = ML_SUCCESS;
+ unsigned char reg;
+
+ result = MLSLSerialRead(gyro_handle, mldl_cfg->addr,
+ MPUREG_DMP_CFG_2, 1, &reg);
+ ERROR_CHECK(result);
+
+ if (mldl_cfg->dmp_cfg2 != reg)
+ return TRUE;
+
+ if (0 != mldl_cfg->dmp_cfg1)
+ return FALSE;
+
+ result = MLSLSerialRead(gyro_handle, mldl_cfg->addr,
+ MPUREG_SMPLRT_DIV, 1, &reg);
+ ERROR_CHECK(result);
+ if (reg != mldl_cfg->divider)
+ return TRUE;
+
+ if (0 != mldl_cfg->divider)
+ return FALSE;
+
+ /* Inconclusive assume it was reset */
+ return TRUE;
+}
+
+static int gyro_resume(struct mldl_cfg *mldl_cfg, void *gyro_handle)
+{
+ int result;
+ int ii;
+ int jj;
+ unsigned char reg;
+ unsigned char regs[7];
+
+ /* Wake up the part */
+#ifdef M_HW
+ result = mpu60xx_pwr_mgmt(mldl_cfg, gyro_handle, RESET,
+ WAKE_UP);
+ ERROR_CHECK(result);
+
+ /* Configure the MPU */
+ result = MLDLSetI2CBypass(mldl_cfg, gyro_handle, 1);
+ ERROR_CHECK(result);
+ /* setting int_config with the propert flag BIT_BYPASS_EN
+ should be done by the setup functions */
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_INT_PIN_CFG,
+ (mldl_cfg->pdata->int_config |
+ BIT_BYPASS_EN));
+ ERROR_CHECK(result);
+ /* temporary: masking out higher bits to avoid switching
+ intelligence */
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_INT_ENABLE,
+ (mldl_cfg->int_config));
+ ERROR_CHECK(result);
+#else
+ result = MLDLPowerMgmtMPU(mldl_cfg, gyro_handle, 0, 0,
+ mldl_cfg->gyro_power & BIT_STBY_XG,
+ mldl_cfg->gyro_power & BIT_STBY_YG,
+ mldl_cfg->gyro_power & BIT_STBY_ZG);
+
+ if (!mldl_cfg->gyro_needs_reset &&
+ !mpu_was_reset(mldl_cfg, gyro_handle)) {
+ return ML_SUCCESS;
+ }
+
+ result = MLDLPowerMgmtMPU(mldl_cfg, gyro_handle, 1, 0,
+ mldl_cfg->gyro_power & BIT_STBY_XG,
+ mldl_cfg->gyro_power & BIT_STBY_YG,
+ mldl_cfg->gyro_power & BIT_STBY_ZG);
+ ERROR_CHECK(result);
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_INT_CFG,
+ (mldl_cfg->int_config |
+ mldl_cfg->pdata->int_config));
+ ERROR_CHECK(result);
+#endif
+
+ result = MLSLSerialRead(gyro_handle, mldl_cfg->addr,
+ MPUREG_PWR_MGM, 1, &reg);
+ ERROR_CHECK(result);
+ reg &= ~BITS_CLKSEL;
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_PWR_MGM,
+ mldl_cfg->clk_src | reg);
+ ERROR_CHECK(result);
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_SMPLRT_DIV,
+ mldl_cfg->divider);
+ ERROR_CHECK(result);
+
+#ifdef M_HW
+ reg = DLPF_FS_SYNC_VALUE(0, mldl_cfg->full_scale, 0);
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_GYRO_CONFIG, reg);
+ reg = DLPF_FS_SYNC_VALUE(mldl_cfg->ext_sync, 0, mldl_cfg->lpf);
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_CONFIG, reg);
+#else
+ reg = DLPF_FS_SYNC_VALUE(mldl_cfg->ext_sync,
+ mldl_cfg->full_scale, mldl_cfg->lpf);
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_DLPF_FS_SYNC, reg);
+#endif
+ ERROR_CHECK(result);
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_DMP_CFG_1,
+ mldl_cfg->dmp_cfg1);
+ ERROR_CHECK(result);
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_DMP_CFG_2,
+ mldl_cfg->dmp_cfg2);
+ ERROR_CHECK(result);
+
+ /* Write and verify memory */
+ for (ii = 0; ii < MPU_MEM_NUM_RAM_BANKS; ii++) {
+ unsigned char read[MPU_MEM_BANK_SIZE];
+
+ result = MLSLSerialWriteMem(gyro_handle,
+ mldl_cfg->addr,
+ ((ii << 8) | 0x00),
+ MPU_MEM_BANK_SIZE,
+ mldl_cfg->ram[ii]);
+ ERROR_CHECK(result);
+ result = MLSLSerialReadMem(gyro_handle, mldl_cfg->addr,
+ ((ii << 8) | 0x00),
+ MPU_MEM_BANK_SIZE, read);
+ ERROR_CHECK(result);
+
+#ifdef M_HW
+#define ML_SKIP_CHECK 38
+#else
+#define ML_SKIP_CHECK 20
+#endif
+ for (jj = 0; jj < MPU_MEM_BANK_SIZE; jj++) {
+ /* skip the register memory locations */
+ if (ii == 0 && jj < ML_SKIP_CHECK)
+ continue;
+ if (mldl_cfg->ram[ii][jj] != read[jj]) {
+ result = ML_ERROR_SERIAL_WRITE;
+ break;
+ }
+ }
+ ERROR_CHECK(result);
+ }
+
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_XG_OFFS_TC,
+ mldl_cfg->offset_tc[0]);
+ ERROR_CHECK(result);
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_YG_OFFS_TC,
+ mldl_cfg->offset_tc[1]);
+ ERROR_CHECK(result);
+ result = MLSLSerialWriteSingle(gyro_handle, mldl_cfg->addr,
+ MPUREG_ZG_OFFS_TC,
+ mldl_cfg->offset_tc[2]);
+ ERROR_CHECK(result);
+
+ regs[0] = MPUREG_X_OFFS_USRH;
+ for (ii = 0; ii < DIM(mldl_cfg->offset); ii++) {
+ regs[1 + ii * 2] =
+ (unsigned char)(mldl_cfg->offset[ii] >> 8)
+ & 0xff;
+ regs[1 + ii * 2 + 1] =
+ (unsigned char)(mldl_cfg->offset[ii] & 0xff);
+ }
+ result = MLSLSerialWrite(gyro_handle, mldl_cfg->addr, 7, regs);
+ ERROR_CHECK(result);
+
+ /* Configure slaves */
+ result = MLDLSetLevelShifterBit(mldl_cfg, gyro_handle,
+ mldl_cfg->pdata->level_shifter);
+ ERROR_CHECK(result);
+ return result;
+}
/*******************************************************************************
*******************************************************************************
* Exported functions
@@ -877,6 +1134,13 @@ int mpu3050_open(struct mldl_cfg *mldl_cfg,
mldl_cfg->dmp_cfg1 = 0;
mldl_cfg->dmp_cfg2 = 0;
mldl_cfg->gyro_power = 0;
+ mldl_cfg->gyro_is_bypassed = TRUE;
+ mldl_cfg->dmp_is_running = FALSE;
+ mldl_cfg->gyro_is_suspended = TRUE;
+ mldl_cfg->accel_is_suspended = TRUE;
+ mldl_cfg->compass_is_suspended = TRUE;
+ mldl_cfg->pressure_is_suspended = TRUE;
+ mldl_cfg->gyro_needs_reset = FALSE;
if (mldl_cfg->addr == 0) {
#ifdef __KERNEL__
return ML_ERROR_INVALID_PARAMETER;
@@ -891,20 +1155,21 @@ int mpu3050_open(struct mldl_cfg *mldl_cfg,
* read the product_id, sillicon rev and whoami
*/
#ifdef M_HW
- result =
- MLDLPowerMgmtMantis(mldl_cfg, mlsl_handle, RESET, WAKE_UP);
+ result = mpu60xx_pwr_mgmt(mldl_cfg, mlsl_handle,
+ RESET, WAKE_UP);
#else
- result =
- MLDLPowerMgmtMPU(mldl_cfg, mlsl_handle, RESET, 0, 0, 0, 0);
+ result = MLDLPowerMgmtMPU(mldl_cfg, mlsl_handle, RESET, 0, 0, 0, 0);
#endif
ERROR_CHECK(result);
result = MLDLGetSiliconRev(mldl_cfg, mlsl_handle);
ERROR_CHECK(result);
+#ifndef M_HW
result = MLSLSerialRead(mlsl_handle, mldl_cfg->addr,
MPUREG_PRODUCT_ID, 1,
&mldl_cfg->product_id);
ERROR_CHECK(result);
+#endif
/* Get the factory temperature compensation offsets */
result = MLSLSerialRead(mlsl_handle, mldl_cfg->addr,
@@ -922,7 +1187,8 @@ int mpu3050_open(struct mldl_cfg *mldl_cfg,
/* Configure the MPU */
#ifdef M_HW
- result = MLDLPowerMgmtMantis(mldl_cfg, mlsl_handle, 0, SLEEP);
+ result = mpu60xx_pwr_mgmt(mldl_cfg, mlsl_handle,
+ FALSE, SLEEP);
#else
result =
MLDLPowerMgmtMPU(mldl_cfg, mlsl_handle, 0, SLEEP, 0, 0, 0);
@@ -931,26 +1197,25 @@ int mpu3050_open(struct mldl_cfg *mldl_cfg,
if (mldl_cfg->accel && mldl_cfg->accel->init) {
result = mldl_cfg->accel->init(accel_handle,
- mldl_cfg->accel,
- &mldl_cfg->pdata->accel);
+ mldl_cfg->accel,
+ &mldl_cfg->pdata->accel);
ERROR_CHECK(result);
}
if (mldl_cfg->compass && mldl_cfg->compass->init) {
result = mldl_cfg->compass->init(compass_handle,
- mldl_cfg->compass,
- &mldl_cfg->pdata->compass);
+ mldl_cfg->compass,
+ &mldl_cfg->pdata->compass);
if (ML_SUCCESS != result) {
MPL_LOGE("mldl_cfg->compass->init returned %d\n",
result);
goto out_accel;
}
}
-
if (mldl_cfg->pressure && mldl_cfg->pressure->init) {
result = mldl_cfg->pressure->init(pressure_handle,
- mldl_cfg->pressure,
- &mldl_cfg->pdata->pressure);
+ mldl_cfg->pressure,
+ &mldl_cfg->pdata->pressure);
if (ML_SUCCESS != result) {
MPL_LOGE("mldl_cfg->pressure->init returned %d\n",
result);
@@ -958,6 +1223,16 @@ int mpu3050_open(struct mldl_cfg *mldl_cfg,
}
}
+ mldl_cfg->requested_sensors = ML_THREE_AXIS_GYRO;
+ if (mldl_cfg->accel && mldl_cfg->accel->resume)
+ mldl_cfg->requested_sensors |= ML_THREE_AXIS_ACCEL;
+
+ if (mldl_cfg->compass && mldl_cfg->compass->resume)
+ mldl_cfg->requested_sensors |= ML_THREE_AXIS_COMPASS;
+
+ if (mldl_cfg->pressure && mldl_cfg->pressure->resume)
+ mldl_cfg->requested_sensors |= ML_THREE_AXIS_PRESSURE;
+
return result;
out_compass:
@@ -1028,7 +1303,10 @@ int mpu3050_close(struct mldl_cfg *mldl_cfg,
/**
* @brief resume the MPU3050 device and all the other sensor
* devices from their low power state.
- * @param mlsl_handle
+ *
+ * @param mldl_cfg
+ * pointer to the configuration structure
+ * @param gyro_handle
* the main file handle to the MPU3050 device.
* @param accel_handle
* an handle to the accelerometer device, if sitting
@@ -1045,6 +1323,10 @@ int mpu3050_close(struct mldl_cfg *mldl_cfg,
* onto a separate bus. Can match mlsl_handle if
* the pressure sensor device operates on the same
* primary bus of MPU.
+ * @param resume_gyro
+ * whether resuming the gyroscope device is
+ * actually needed (if the device supports low power
+ * mode of some sort).
* @param resume_accel
* whether resuming the accelerometer device is
* actually needed (if the device supports low power
@@ -1060,318 +1342,131 @@ int mpu3050_close(struct mldl_cfg *mldl_cfg,
* @return ML_SUCCESS or a non-zero error code.
*/
int mpu3050_resume(struct mldl_cfg *mldl_cfg,
- void *mlsl_handle,
+ void *gyro_handle,
void *accel_handle,
void *compass_handle,
void *pressure_handle,
- bool resume_accel, bool resume_compass, bool resume_pressure)
+ bool resume_gyro,
+ bool resume_accel,
+ bool resume_compass,
+ bool resume_pressure)
{
- int result;
- int ii;
- int jj;
- unsigned char reg;
- unsigned char regs[7];
-
+ int result = ML_SUCCESS;
-#ifdef CONFIG_SENSORS_MPU_DEBUG
+#ifdef CONFIG_MPU_SENSORS_DEBUG
mpu_print_cfg(mldl_cfg);
#endif
- /* Wake up the part */
-#ifdef M_HW
- result = MLDLPowerMgmtMantis(mldl_cfg, mlsl_handle, 0, WAKE_UP);
-#else
- result = MLDLPowerMgmtMPU(mldl_cfg, mlsl_handle, 1, 0,
- mldl_cfg->gyro_power & BIT_STBY_XG,
- mldl_cfg->gyro_power & BIT_STBY_YG,
- mldl_cfg->gyro_power & BIT_STBY_ZG);
-#endif
- ERROR_CHECK(result);
-
- /* Configure the MPU */
-#ifdef M_HW
- result = MLDLSetI2CBypass(mldl_cfg, mlsl_handle, 1);
- ERROR_CHECK(result);
- result = MLDLPowerMgmtMantis(mldl_cfg, mlsl_handle, RESET, SLEEP);
- ERROR_CHECK(result);
- result = MLDLPowerMgmtMantis(mldl_cfg, mlsl_handle, 0, WAKE_UP);
- ERROR_CHECK(result);
- /* setting int_config with the propert flag BIT_BYPASS_EN should be
- done by the setup functions */
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_INT_PIN_CFG,
- (mldl_cfg->pdata->int_config |
- BIT_BYPASS_EN));
- ERROR_CHECK(result);
- /* temporary: masking out higher bits to avoid switching intelligence */
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_INT_ENABLE,
- (mldl_cfg->int_config & 0x0f));
- ERROR_CHECK(result);
-#else
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_INT_CFG,
- (mldl_cfg->
- int_config | mldl_cfg->pdata->
- int_config));
- ERROR_CHECK(result);
-#endif
-
- result = MLSLSerialRead(mlsl_handle, mldl_cfg->addr,
- MPUREG_PWR_MGM, 1, &reg);
- ERROR_CHECK(result);
- reg &= ~BITS_CLKSEL;
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_PWR_MGM,
- mldl_cfg->clk_src | reg);
- ERROR_CHECK(result);
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_SMPLRT_DIV,
- mldl_cfg->divider);
- ERROR_CHECK(result);
-
-#ifdef M_HW
- reg = DLPF_FS_SYNC_VALUE(0, mldl_cfg->full_scale, 0);
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_GYRO_CONFIG, reg);
- reg = DLPF_FS_SYNC_VALUE(0, 0, mldl_cfg->lpf);
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_CONFIG, reg);
-#else
- reg = DLPF_FS_SYNC_VALUE(mldl_cfg->ext_sync,
- mldl_cfg->full_scale, mldl_cfg->lpf);
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_DLPF_FS_SYNC, reg);
-#endif
- ERROR_CHECK(result);
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_DMP_CFG_1,
- mldl_cfg->dmp_cfg1);
- ERROR_CHECK(result);
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_DMP_CFG_2,
- mldl_cfg->dmp_cfg2);
- ERROR_CHECK(result);
-
- /* Write and verify memory */
- for (ii = 0; ii < MPU_MEM_NUM_RAM_BANKS; ii++) {
- unsigned char read[MPU_MEM_BANK_SIZE];
+ if (resume_accel &&
+ ((!mldl_cfg->accel) || (!mldl_cfg->accel->resume)))
+ return ML_ERROR_INVALID_PARAMETER;
+ if (resume_compass &&
+ ((!mldl_cfg->compass) || (!mldl_cfg->compass->resume)))
+ return ML_ERROR_INVALID_PARAMETER;
+ if (resume_pressure &&
+ ((!mldl_cfg->pressure) || (!mldl_cfg->pressure->resume)))
+ return ML_ERROR_INVALID_PARAMETER;
- result = MLSLSerialWriteMem(mlsl_handle, mldl_cfg->addr,
- ((ii << 8) | 0x00),
- MPU_MEM_BANK_SIZE,
- mldl_cfg->ram[ii]);
- ERROR_CHECK(result);
- result = MLSLSerialReadMem(mlsl_handle, mldl_cfg->addr,
- ((ii << 8) | 0x00),
- MPU_MEM_BANK_SIZE, read);
+ if (resume_gyro && mldl_cfg->gyro_is_suspended) {
+ result = gyro_resume(mldl_cfg, gyro_handle);
ERROR_CHECK(result);
-
-#ifdef M_HW
-#define ML_SKIP_CHECK 38
-#else
-#define ML_SKIP_CHECK 20
-#endif
- for (jj = 0; jj < MPU_MEM_BANK_SIZE; jj++) {
- /* skip the register memory locations */
- if (ii == 0 && jj < ML_SKIP_CHECK)
- continue;
- if (mldl_cfg->ram[ii][jj] != read[jj]) {
- result = ML_ERROR_SERIAL_WRITE;
- break;
- }
- }
- ERROR_CHECK(result);
- }
-
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_XG_OFFS_TC,
- mldl_cfg->offset_tc[0]);
- ERROR_CHECK(result);
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_YG_OFFS_TC,
- mldl_cfg->offset_tc[1]);
- ERROR_CHECK(result);
- result = MLSLSerialWriteSingle(mlsl_handle, mldl_cfg->addr,
- MPUREG_ZG_OFFS_TC,
- mldl_cfg->offset_tc[2]);
- ERROR_CHECK(result);
-
- regs[0] = MPUREG_X_OFFS_USRH;
- for (ii = 0; ii < DIM(mldl_cfg->offset); ii++) {
- regs[1 + ii * 2] =
- (unsigned char)(mldl_cfg->offset[ii] >> 8) & 0xff;
- regs[1 + ii * 2 + 1] =
- (unsigned char)(mldl_cfg->offset[ii] & 0xff);
}
- result = MLSLSerialWrite(mlsl_handle, mldl_cfg->addr, 7, regs);
- ERROR_CHECK(result);
-
- /* Configure slaves */
- result = MLDLSetLevelShifterBit(mldl_cfg, mlsl_handle,
- mldl_cfg->pdata->level_shifter);
- ERROR_CHECK(result);
-
- if (resume_accel) {
- if ((!mldl_cfg->accel) || (!mldl_cfg->accel->resume))
- return ML_ERROR_INVALID_PARAMETER;
+ if (resume_accel && mldl_cfg->accel_is_suspended) {
+ if (!mldl_cfg->gyro_is_suspended &&
+ EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->accel.bus) {
+ result = MLDLSetI2CBypass(mldl_cfg, gyro_handle, TRUE);
+ ERROR_CHECK(result);
+ }
result = mldl_cfg->accel->resume(accel_handle,
mldl_cfg->accel,
&mldl_cfg->pdata->accel);
ERROR_CHECK(result);
- if (EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->accel.bus) {
- /* Address */
- result =
- MLSLSerialWriteSingle(accel_handle,
- mldl_cfg->addr,
- MPUREG_AUX_SLV_ADDR,
- mldl_cfg->pdata->
- accel.address);
- ERROR_CHECK(result);
- /* Register */
- result =
- MLSLSerialRead(accel_handle, mldl_cfg->addr,
- MPUREG_ACCEL_BURST_ADDR, 1,
- &reg);
- ERROR_CHECK(result);
- reg = ((reg & 0x80) | mldl_cfg->accel->reg);
- /* Set VDDIO bit for ST accel */
- if ((ACCEL_ID_LIS331 == mldl_cfg->accel->id)
- || (ACCEL_ID_LSM303 == mldl_cfg->accel->id)) {
- reg |= 0x80;
- }
- result =
- MLSLSerialWriteSingle(accel_handle,
- mldl_cfg->addr,
- MPUREG_ACCEL_BURST_ADDR,
- reg);
- ERROR_CHECK(result);
- /* Length */
- result =
- MLSLSerialRead(accel_handle, mldl_cfg->addr,
- MPUREG_USER_CTRL, 1, &reg);
- ERROR_CHECK(result);
- reg = (reg & ~BIT_AUX_RD_LENG);
- result =
- MLSLSerialWriteSingle(accel_handle,
- mldl_cfg->addr,
- MPUREG_USER_CTRL, reg);
- ERROR_CHECK(result);
- result =
- MLDLSetI2CBypass(mldl_cfg, accel_handle, 0);
- ERROR_CHECK(result);
- }
+ mldl_cfg->accel_is_suspended = FALSE;
}
- if (resume_compass) {
- if ((mldl_cfg->compass) && (mldl_cfg->compass->resume)) {
- result = mldl_cfg->compass->resume(compass_handle,
- mldl_cfg->compass,
- &mldl_cfg->pdata->
- compass);
+ if (!mldl_cfg->gyro_is_suspended && !mldl_cfg->accel_is_suspended &&
+ EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->accel.bus) {
+ result = mpu_set_slave(mldl_cfg,
+ gyro_handle,
+ mldl_cfg->accel,
+ &mldl_cfg->pdata->accel);
+ ERROR_CHECK(result);
+ }
+
+ if (resume_compass && mldl_cfg->compass_is_suspended) {
+ if (!mldl_cfg->gyro_is_suspended &&
+ EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->compass.bus) {
+ result = MLDLSetI2CBypass(mldl_cfg, gyro_handle, TRUE);
ERROR_CHECK(result);
}
+ result = mldl_cfg->compass->resume(compass_handle,
+ mldl_cfg->compass,
+ &mldl_cfg->pdata->
+ compass);
ERROR_CHECK(result);
- if (EXT_SLAVE_BUS_SECONDARY ==
- mldl_cfg->pdata->compass.bus) {
- /* Address */
- result =
- MLSLSerialWriteSingle(mlsl_handle,
- mldl_cfg->addr,
- MPUREG_AUX_SLV_ADDR,
- mldl_cfg->pdata->
- compass.address);
- ERROR_CHECK(result);
- /* Register */
- result =
- MLSLSerialRead(mlsl_handle, mldl_cfg->addr,
- MPUREG_ACCEL_BURST_ADDR, 1,
- &reg);
- ERROR_CHECK(result);
- reg = ((reg & 0x80) | mldl_cfg->compass->reg);
- result =
- MLSLSerialWriteSingle(mlsl_handle,
- mldl_cfg->addr,
- MPUREG_ACCEL_BURST_ADDR,
- reg);
- ERROR_CHECK(result);
+ mldl_cfg->compass_is_suspended = FALSE;
+ }
-#ifdef M_HW
- /* Length, byte swapping, grouping & enable */
- if (mldl_cfg->compass->len > BITS_SLV_LENG) {
- MPL_LOGW("Limiting slave burst read length to "
- "the allowed maximum (15B, req. %d)\n",
- mldl_cfg->compass->len);
- mldl_cfg->compass->len = BITS_SLV_LENG;
- }
- reg = mldl_cfg->compass->len;
- if (mldl_cfg->compass->endian ==
- EXT_SLAVE_LITTLE_ENDIAN)
- reg |= BIT_SLV_BYTE_SW;
- reg |= BIT_SLV_GRP;
- reg |= BIT_SLV_ENABLE;
+ if (!mldl_cfg->gyro_is_suspended && !mldl_cfg->compass_is_suspended &&
+ EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->compass.bus) {
+ result = mpu_set_slave(mldl_cfg,
+ gyro_handle,
+ mldl_cfg->compass,
+ &mldl_cfg->pdata->compass);
+ ERROR_CHECK(result);
+ }
- result =
- MLSLSerialWriteSingle(mlsl_handle,
- mldl_cfg->addr,
- MPUREG_I2C_SLV0_CTRL,
- reg);
-#else
- /* Length */
- result =
- MLSLSerialRead(mlsl_handle, mldl_cfg->addr,
- MPUREG_USER_CTRL, 1, &reg);
- ERROR_CHECK(result);
- reg = (reg & ~BIT_AUX_RD_LENG);
- result =
- MLSLSerialWriteSingle(mlsl_handle,
- mldl_cfg->addr,
- MPUREG_USER_CTRL, reg);
- ERROR_CHECK(result);
-#endif
- result =
- MLDLSetI2CBypass(mldl_cfg, mlsl_handle, 0);
+ if (resume_pressure && mldl_cfg->pressure_is_suspended) {
+ if (!mldl_cfg->gyro_is_suspended &&
+ EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->pressure.bus) {
+ result = MLDLSetI2CBypass(mldl_cfg, gyro_handle, TRUE);
ERROR_CHECK(result);
}
+ result = mldl_cfg->pressure->resume(pressure_handle,
+ mldl_cfg->pressure,
+ &mldl_cfg->pdata->
+ pressure);
+ ERROR_CHECK(result);
+ mldl_cfg->pressure_is_suspended = FALSE;
}
- if (resume_pressure) {
- if ((mldl_cfg->pressure) && (mldl_cfg->pressure->resume)) {
- result = mldl_cfg->pressure->resume(pressure_handle,
- mldl_cfg->pressure,
- &mldl_cfg->pdata->
- pressure);
- ERROR_CHECK(result);
- }
+ if (!mldl_cfg->gyro_is_suspended && !mldl_cfg->pressure_is_suspended &&
+ EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->pressure.bus) {
+ result = mpu_set_slave(mldl_cfg,
+ gyro_handle,
+ mldl_cfg->pressure,
+ &mldl_cfg->pdata->pressure);
ERROR_CHECK(result);
}
/* Now start */
- result = MLDLDmpStart(mldl_cfg, mlsl_handle);
- ERROR_CHECK(result);
+ if (resume_gyro) {
+ result = dmp_start(mldl_cfg, gyro_handle);
+ ERROR_CHECK(result);
+ }
+
return result;
}
-
/**
* @brief suspend the MPU3050 device and all the other sensor
* devices into their low power state.
- * @param mlsl_handle
+ * @param gyro_handle
* the main file handle to the MPU3050 device.
* @param accel_handle
* an handle to the accelerometer device, if sitting
- * onto a separate bus. Can match mlsl_handle if
+ * onto a separate bus. Can match gyro_handle if
* the accelerometer device operates on the same
* primary bus of MPU.
* @param compass_handle
* an handle to the compass device, if sitting
- * onto a separate bus. Can match mlsl_handle if
+ * onto a separate bus. Can match gyro_handle if
* the compass device operates on the same
* primary bus of MPU.
* @param pressure_handle
* an handle to the pressure sensor device, if sitting
- * onto a separate bus. Can match mlsl_handle if
+ * onto a separate bus. Can match gyro_handle if
* the pressure sensor device operates on the same
* primary bus of MPU.
* @param accel
@@ -1388,44 +1483,77 @@ int mpu3050_resume(struct mldl_cfg *mldl_cfg,
* mode of some sort).
* @return ML_SUCCESS or a non-zero error code.
*/
-int mpu3050_suspend(struct mldl_cfg *mldl_cfg, void *mlsl_handle,
+int mpu3050_suspend(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
void *accel_handle,
void *compass_handle,
void *pressure_handle,
- bool accel, bool compass, bool pressure)
+ bool suspend_gyro,
+ bool suspend_accel,
+ bool suspend_compass,
+ bool suspend_pressure)
{
- int result;
- /* This puts the bus into bypass mode */
+ int result = ML_SUCCESS;
+ if (suspend_gyro && !mldl_cfg->gyro_is_suspended) {
#ifdef M_HW
- result = MLDLSetI2CBypass(mldl_cfg, mlsl_handle, 1);
- ERROR_CHECK(result);
- result = MLDLPowerMgmtMantis(mldl_cfg, mlsl_handle, 0, SLEEP);
+ return ML_SUCCESS;
+ /* This puts the bus into bypass mode */
+ result = MLDLSetI2CBypass(mldl_cfg, gyro_handle, 1);
+ ERROR_CHECK(result);
+ result = mpu60xx_pwr_mgmt(mldl_cfg, gyro_handle, 0, SLEEP);
#else
- result =
- MLDLPowerMgmtMPU(mldl_cfg, mlsl_handle, 0, SLEEP, 0, 0, 0);
+ result = MLDLPowerMgmtMPU(mldl_cfg, gyro_handle,
+ 0, SLEEP, 0, 0, 0);
#endif
- if (ML_SUCCESS == result &&
- accel && mldl_cfg->accel && mldl_cfg->accel->suspend) {
+ ERROR_CHECK(result);
+ }
+
+ if (!mldl_cfg->accel_is_suspended && suspend_accel &&
+ mldl_cfg->accel && mldl_cfg->accel->suspend) {
+ if (!mldl_cfg->gyro_is_suspended &&
+ EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->accel.bus) {
+ result = mpu_set_slave(mldl_cfg, gyro_handle,
+ NULL, NULL);
+ ERROR_CHECK(result);
+ }
result = mldl_cfg->accel->suspend(accel_handle,
mldl_cfg->accel,
&mldl_cfg->pdata->accel);
+ ERROR_CHECK(result);
+ mldl_cfg->accel_is_suspended = TRUE;
}
- if (ML_SUCCESS == result && compass &&
+ if (!mldl_cfg->compass_is_suspended && suspend_compass &&
mldl_cfg->compass && mldl_cfg->compass->suspend) {
+ if (!mldl_cfg->gyro_is_suspended &&
+ EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->compass.bus) {
+ result = mpu_set_slave(mldl_cfg, gyro_handle,
+ NULL, NULL);
+ ERROR_CHECK(result);
+ }
result = mldl_cfg->compass->suspend(compass_handle,
mldl_cfg->compass,
&mldl_cfg->
pdata->compass);
+ ERROR_CHECK(result);
+ mldl_cfg->compass_is_suspended = TRUE;
}
- if (ML_SUCCESS == result && pressure &&
+ if (!mldl_cfg->pressure_is_suspended && suspend_pressure &&
mldl_cfg->pressure && mldl_cfg->pressure->suspend) {
+ if (!mldl_cfg->gyro_is_suspended &&
+ EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->pressure.bus) {
+ result = mpu_set_slave(mldl_cfg, gyro_handle,
+ NULL, NULL);
+ ERROR_CHECK(result);
+ }
result = mldl_cfg->pressure->suspend(pressure_handle,
mldl_cfg->pressure,
&mldl_cfg->
pdata->pressure);
+ ERROR_CHECK(result);
+ mldl_cfg->pressure_is_suspended = TRUE;
}
return result;
}
@@ -1434,18 +1562,26 @@ int mpu3050_suspend(struct mldl_cfg *mldl_cfg, void *mlsl_handle,
/**
* @brief read raw sensor data from the accelerometer device
* in use.
+ * @param mldl_cfg
+ * A pointer to the struct mldl_cfg data structure.
+ * @param accel_handle
+ * The handle to the device the accelerometer is connected to.
* @param data
* a buffer to store the raw sensor data.
* @return ML_SUCCESS if successful, a non-zero error code otherwise.
*/
int mpu3050_read_accel(struct mldl_cfg *mldl_cfg,
- void *mlsl_handle, unsigned char *data)
+ void *accel_handle, unsigned char *data)
{
if (NULL != mldl_cfg->accel && NULL != mldl_cfg->accel->read)
- return mldl_cfg->accel->read(mlsl_handle,
- mldl_cfg->accel,
- &mldl_cfg->pdata->accel,
- data);
+ if ((EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->accel.bus)
+ && (!mldl_cfg->gyro_is_bypassed))
+ return ML_ERROR_FEATURE_NOT_ENABLED;
+ else
+ return mldl_cfg->accel->read(accel_handle,
+ mldl_cfg->accel,
+ &mldl_cfg->pdata->accel,
+ data);
else
return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
}
@@ -1453,18 +1589,26 @@ int mpu3050_read_accel(struct mldl_cfg *mldl_cfg,
/**
* @brief read raw sensor data from the compass device
* in use.
+ * @param mldl_cfg
+ * A pointer to the struct mldl_cfg data structure.
+ * @param compass_handle
+ * The handle to the device the compass is connected to.
* @param data
* a buffer to store the raw sensor data.
* @return ML_SUCCESS if successful, a non-zero error code otherwise.
*/
int mpu3050_read_compass(struct mldl_cfg *mldl_cfg,
- void *mlsl_handle, unsigned char *data)
+ void *compass_handle, unsigned char *data)
{
if (NULL != mldl_cfg->compass && NULL != mldl_cfg->compass->read)
- return mldl_cfg->compass->read(mlsl_handle,
- mldl_cfg->compass,
- &mldl_cfg->pdata->compass,
- data);
+ if ((EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->compass.bus)
+ && (!mldl_cfg->gyro_is_bypassed))
+ return ML_ERROR_FEATURE_NOT_ENABLED;
+ else
+ return mldl_cfg->compass->read(compass_handle,
+ mldl_cfg->compass,
+ &mldl_cfg->pdata->compass,
+ data);
else
return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
}
@@ -1472,18 +1616,27 @@ int mpu3050_read_compass(struct mldl_cfg *mldl_cfg,
/**
* @brief read raw sensor data from the pressure device
* in use.
+ * @param mldl_cfg
+ * A pointer to the struct mldl_cfg data structure.
+ * @param pressure_handle
+ * The handle to the device the pressure sensor is connected to.
* @param data
* a buffer to store the raw sensor data.
* @return ML_SUCCESS if successful, a non-zero error code otherwise.
*/
int mpu3050_read_pressure(struct mldl_cfg *mldl_cfg,
- void *mlsl_handle, unsigned char *data)
+ void *pressure_handle, unsigned char *data)
{
if (NULL != mldl_cfg->pressure && NULL != mldl_cfg->pressure->read)
- return mldl_cfg->pressure->read(mlsl_handle,
- mldl_cfg->pressure,
- &mldl_cfg->pdata->pressure,
- data);
+ if ((EXT_SLAVE_BUS_SECONDARY == mldl_cfg->pdata->pressure.bus)
+ && (!mldl_cfg->gyro_is_bypassed))
+ return ML_ERROR_FEATURE_NOT_ENABLED;
+ else
+ return mldl_cfg->pressure->read(
+ pressure_handle,
+ mldl_cfg->pressure,
+ &mldl_cfg->pdata->pressure,
+ data);
else
return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
}
@@ -1494,9 +1647,9 @@ int mpu3050_config_accel(struct mldl_cfg *mldl_cfg,
{
if (NULL != mldl_cfg->accel && NULL != mldl_cfg->accel->config)
return mldl_cfg->accel->config(accel_handle,
- mldl_cfg->accel,
- &mldl_cfg->pdata->accel,
- data);
+ mldl_cfg->accel,
+ &mldl_cfg->pdata->accel,
+ data);
else
return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
@@ -1508,9 +1661,9 @@ int mpu3050_config_compass(struct mldl_cfg *mldl_cfg,
{
if (NULL != mldl_cfg->compass && NULL != mldl_cfg->compass->config)
return mldl_cfg->compass->config(compass_handle,
- mldl_cfg->compass,
- &mldl_cfg->pdata->compass,
- data);
+ mldl_cfg->compass,
+ &mldl_cfg->pdata->compass,
+ data);
else
return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
@@ -1522,6 +1675,48 @@ int mpu3050_config_pressure(struct mldl_cfg *mldl_cfg,
{
if (NULL != mldl_cfg->pressure && NULL != mldl_cfg->pressure->config)
return mldl_cfg->pressure->config(pressure_handle,
+ mldl_cfg->pressure,
+ &mldl_cfg->pdata->pressure,
+ data);
+ else
+ return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
+}
+
+int mpu3050_get_config_accel(struct mldl_cfg *mldl_cfg,
+ void *accel_handle,
+ struct ext_slave_config *data)
+{
+ if (NULL != mldl_cfg->accel && NULL != mldl_cfg->accel->get_config)
+ return mldl_cfg->accel->get_config(accel_handle,
+ mldl_cfg->accel,
+ &mldl_cfg->pdata->accel,
+ data);
+ else
+ return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
+
+}
+
+int mpu3050_get_config_compass(struct mldl_cfg *mldl_cfg,
+ void *compass_handle,
+ struct ext_slave_config *data)
+{
+ if (NULL != mldl_cfg->compass && NULL != mldl_cfg->compass->get_config)
+ return mldl_cfg->compass->get_config(compass_handle,
+ mldl_cfg->compass,
+ &mldl_cfg->pdata->compass,
+ data);
+ else
+ return ML_ERROR_FEATURE_NOT_IMPLEMENTED;
+
+}
+
+int mpu3050_get_config_pressure(struct mldl_cfg *mldl_cfg,
+ void *pressure_handle,
+ struct ext_slave_config *data)
+{
+ if (NULL != mldl_cfg->pressure &&
+ NULL != mldl_cfg->pressure->get_config)
+ return mldl_cfg->pressure->get_config(pressure_handle,
mldl_cfg->pressure,
&mldl_cfg->pdata->pressure,
data);
diff --git a/drivers/misc/mpu3050/mldl_cfg.h b/drivers/misc/mpu3050/mldl_cfg.h
index d714a0ee3ed8..ee3a1e3dd05f 100644
--- a/drivers/misc/mpu3050/mldl_cfg.h
+++ b/drivers/misc/mpu3050/mldl_cfg.h
@@ -39,12 +39,52 @@
/* - Defines. - */
/* --------------------- */
-#define SAMPLING_PERIOD(mldl_cfg) \
- (((((mldl_cfg->lpf) == 0) || ((mldl_cfg->lpf) == 7)) \
+ /*************************************************************************/
+ /* Sensors */
+ /*************************************************************************/
+
+#define ML_X_GYRO (0x0001)
+#define ML_Y_GYRO (0x0002)
+#define ML_Z_GYRO (0x0004)
+#define ML_DMP_PROCESSOR (0x0008)
+
+#define ML_X_ACCEL (0x0010)
+#define ML_Y_ACCEL (0x0020)
+#define ML_Z_ACCEL (0x0040)
+
+#define ML_X_COMPASS (0x0080)
+#define ML_Y_COMPASS (0x0100)
+#define ML_Z_COMPASS (0x0200)
+
+#define ML_X_PRESSURE (0x0300)
+#define ML_Y_PRESSURE (0x0800)
+#define ML_Z_PRESSURE (0x1000)
+
+#define ML_TEMPERATURE (0x2000)
+#define ML_TIME (0x4000)
+
+#define ML_THREE_AXIS_GYRO (0x000F)
+#define ML_THREE_AXIS_ACCEL (0x0070)
+#define ML_THREE_AXIS_COMPASS (0x0380)
+#define ML_THREE_AXIS_PRESSURE (0x1C00)
+
+#define ML_FIVE_AXIS (0x007B)
+#define ML_SIX_AXIS_GYRO_ACCEL (0x007F)
+#define ML_SIX_AXIS_ACCEL_COMPASS (0x03F0)
+#define ML_NINE_AXIS (0x03FF)
+#define ML_ALL_SENSORS (0x7FFF)
+
+#define SAMPLING_RATE_HZ(mldl_cfg) \
+ ((((((mldl_cfg)->lpf) == 0) || (((mldl_cfg)->lpf) == 7)) \
? (8000) \
: (1000)) \
- / (mldl_cfg->divider + 1))
+ / ((mldl_cfg)->divider + 1))
+#define SAMPLING_PERIOD_US(mldl_cfg) \
+ ((1000000L * ((mldl_cfg)->divider + 1)) / \
+ (((((mldl_cfg)->lpf) == 0) || (((mldl_cfg)->lpf) == 7)) \
+ ? (8000) \
+ : (1000)))
/* --------------------- */
/* - Variables. - */
/* --------------------- */
@@ -52,6 +92,7 @@
/* Platform data for the MPU */
struct mldl_cfg {
/* MPU related configuration */
+ unsigned long requested_sensors;
unsigned char addr;
unsigned char int_config;
unsigned char ext_sync;
@@ -74,13 +115,20 @@ struct mldl_cfg {
unsigned short trim;
/* Driver/Kernel related state information */
- int is_suspended;
+ int gyro_is_bypassed;
+ int dmp_is_running;
+ int gyro_is_suspended;
+ int accel_is_suspended;
+ int compass_is_suspended;
+ int pressure_is_suspended;
+ int gyro_needs_reset;
/* Slave related information */
struct ext_slave_descr *accel;
struct ext_slave_descr *compass;
struct ext_slave_descr *pressure;
+ /* Platform Data */
struct mpu3050_platform_data *pdata;
};
@@ -96,20 +144,23 @@ int mpu3050_close(struct mldl_cfg *mldl_cfg,
void *compass_handle,
void *pressure_handle);
int mpu3050_resume(struct mldl_cfg *mldl_cfg,
- void *mlsl_handle,
+ void *gyro_handle,
void *accel_handle,
void *compass_handle,
void *pressure_handle,
+ bool resume_gyro,
bool resume_accel,
bool resume_compass,
bool resume_pressure);
-int mpu3050_suspend(struct mldl_cfg *mldl_cfg, void *mlsl_handle,
+int mpu3050_suspend(struct mldl_cfg *mldl_cfg,
+ void *gyro_handle,
void *accel_handle,
void *compass_handle,
void *pressure_handle,
- bool resume_accel,
- bool resume_compass,
- bool resume_pressure);
+ bool suspend_gyro,
+ bool suspend_accel,
+ bool suspend_compass,
+ bool suspend_pressure);
int mpu3050_read_accel(struct mldl_cfg *mldl_cfg,
void *accel_handle,
unsigned char *data);
@@ -129,6 +180,16 @@ int mpu3050_config_pressure(struct mldl_cfg *mldl_cfg,
void *pressure_handle,
struct ext_slave_config *data);
+int mpu3050_get_config_accel(struct mldl_cfg *mldl_cfg,
+ void *accel_handle,
+ struct ext_slave_config *data);
+int mpu3050_get_config_compass(struct mldl_cfg *mldl_cfg,
+ void *compass_handle,
+ struct ext_slave_config *data);
+int mpu3050_get_config_pressure(struct mldl_cfg *mldl_cfg,
+ void *pressure_handle,
+ struct ext_slave_config *data);
+
#endif /* __MLDL_CFG_H__ */
diff --git a/drivers/misc/mpu3050/mltypes.h b/drivers/misc/mpu3050/mltypes.h
index 447e208ee0a5..5c1b684e5b50 100644
--- a/drivers/misc/mpu3050/mltypes.h
+++ b/drivers/misc/mpu3050/mltypes.h
@@ -16,11 +16,6 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
$
*/
-/******************************************************************************
- *
- * $Id: mltypes.h 4436 2011-01-13 05:07:53Z mcaramello $
- *
- *****************************************************************************/
/**
* @defgroup MLERROR
@@ -68,6 +63,7 @@
* - (70) ML_ERROR_COMPASS_DATA_OVERFLOW
* - (71) ML_ERROR_COMPASS_DATA_UNDERFLOW
* - (72) ML_ERROR_COMPASS_DATA_NOT_READY
+ * - (73) ML_ERROR_COMPASS_DATA_ERROR
* - (75) ML_ERROR_CALIBRATION_LOAD
* - (76) ML_ERROR_CALIBRATION_STORE
* - (77) ML_ERROR_CALIBRATION_LEN
@@ -93,11 +89,12 @@
---------------------------*/
/**
- * @struct tMLError The MPL Error Code return type.
+ * @struct tMLError mltypes.h "mltypes"
+ * @brief The MPL Error Code return type.
*
- * @code
+ * @code
* typedef unsigned char tMLError;
- * @endcode
+ * @endcode
*/
typedef unsigned char tMLError;
@@ -204,6 +201,7 @@ typedef int_fast8_t bool;
#define ML_ERROR_COMPASS_DATA_OVERFLOW (70)
#define ML_ERROR_COMPASS_DATA_UNDERFLOW (71)
#define ML_ERROR_COMPASS_DATA_NOT_READY (72)
+#define ML_ERROR_COMPASS_DATA_ERROR (73)
/* Load/Store calibration */
#define ML_ERROR_CALIBRATION_LOAD (75)
@@ -211,9 +209,15 @@ typedef int_fast8_t bool;
#define ML_ERROR_CALIBRATION_LEN (77)
#define ML_ERROR_CALIBRATION_CHECKSUM (78)
+/* Accel errors */
+#define ML_ERROR_ACCEL_DATA_OVERFLOW (79)
+#define ML_ERROR_ACCEL_DATA_UNDERFLOW (80)
+#define ML_ERROR_ACCEL_DATA_NOT_READY (81)
+#define ML_ERROR_ACCEL_DATA_ERROR (82)
+
/* For Linux coding compliance */
#ifndef __KERNEL__
-#define EXPORT_SYMBOL(x)
+#define EXPORT_SYMBOL(x)
#endif
/*---------------------------
diff --git a/drivers/misc/mpu3050/mpu-dev.c b/drivers/misc/mpu3050/mpu-dev.c
index 6cde9eeccced..115639f84704 100644
--- a/drivers/misc/mpu3050/mpu-dev.c
+++ b/drivers/misc/mpu3050/mpu-dev.c
@@ -73,6 +73,10 @@ static struct i2c_client *this_client;
static int mpu_open(struct inode *inode, struct file *file)
{
+ struct mpu_private_data *mpu =
+ (struct mpu_private_data *) i2c_get_clientdata(this_client);
+ struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+
dev_dbg(&this_client->adapter->dev, "mpu_open\n");
dev_dbg(&this_client->adapter->dev, "current->pid %d\n",
current->pid);
@@ -81,6 +85,18 @@ static int mpu_open(struct inode *inode, struct file *file)
/* we could do some checking on the flags supplied by "open" */
/* i.e. O_NONBLOCK */
/* -> set some flag to disable interruptible_sleep_on in mpu_read */
+
+ /* Reset the sensors to the default */
+ mldl_cfg->requested_sensors = ML_THREE_AXIS_GYRO;
+ if (mldl_cfg->accel && mldl_cfg->accel->resume)
+ mldl_cfg->requested_sensors |= ML_THREE_AXIS_ACCEL;
+
+ if (mldl_cfg->compass && mldl_cfg->compass->resume)
+ mldl_cfg->requested_sensors |= ML_THREE_AXIS_COMPASS;
+
+ if (mldl_cfg->pressure && mldl_cfg->pressure->resume)
+ mldl_cfg->requested_sensors |= ML_THREE_AXIS_PRESSURE;
+
return 0;
}
@@ -92,26 +108,20 @@ static int mpu_release(struct inode *inode, struct file *file)
struct mpu_private_data *mpu =
(struct mpu_private_data *) i2c_get_clientdata(client);
struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+ struct i2c_adapter *accel_adapter;
+ struct i2c_adapter *compass_adapter;
+ struct i2c_adapter *pressure_adapter;
int result = 0;
pid = 0;
- if (!mldl_cfg->is_suspended) {
- struct i2c_adapter *accel_adapter;
- struct i2c_adapter *compass_adapter;
- struct i2c_adapter *pressure_adapter;
- accel_adapter =
- i2c_get_adapter(mldl_cfg->pdata->accel.adapt_num);
- compass_adapter =
- i2c_get_adapter(mldl_cfg->pdata->compass.adapt_num);
- pressure_adapter =
- i2c_get_adapter(mldl_cfg->pdata->pressure.adapt_num);
- result =
- mpu3050_suspend(mldl_cfg, client->adapter,
- accel_adapter, compass_adapter,
- pressure_adapter,
- TRUE, TRUE, TRUE);
- }
+ accel_adapter = i2c_get_adapter(mldl_cfg->pdata->accel.adapt_num);
+ compass_adapter = i2c_get_adapter(mldl_cfg->pdata->compass.adapt_num);
+ pressure_adapter = i2c_get_adapter(mldl_cfg->pdata->pressure.adapt_num);
+ result = mpu3050_suspend(mldl_cfg, client->adapter,
+ accel_adapter, compass_adapter,
+ pressure_adapter,
+ TRUE, TRUE, TRUE, TRUE);
dev_dbg(&this_client->adapter->dev, "mpu_release\n");
return result;
@@ -220,8 +230,11 @@ static ssize_t mpu_read(struct file *file,
/* @todo fix this to do a i2c trasnfer from the FIFO */
ret = i2c_master_recv(client, tmp, count);
- if (ret >= 0)
+ if (ret >= 0) {
ret = copy_to_user(buf, tmp, count) ? -EFAULT : ret;
+ if (ret)
+ ret = -EFAULT;
+ }
kfree(tmp);
return ret;
}
@@ -230,15 +243,14 @@ static int
mpu_ioctl_set_mpu_pdata(struct i2c_client *client, unsigned long arg)
{
int ii;
- int result;
struct mpu_private_data *mpu =
(struct mpu_private_data *) i2c_get_clientdata(client);
struct mpu3050_platform_data *pdata = mpu->mldl_cfg.pdata;
struct mpu3050_platform_data local_pdata;
- result = copy_from_user(&local_pdata,
- (unsigned char *) arg,
- sizeof(local_pdata));
+ if (copy_from_user(&local_pdata, (unsigned char __user *) arg,
+ sizeof(local_pdata)))
+ return -EFAULT;
pdata->int_config = local_pdata.int_config;
for (ii = 0; ii < DIM(pdata->orientation); ii++)
@@ -262,27 +274,93 @@ mpu_ioctl_set_mpu_pdata(struct i2c_client *client, unsigned long arg)
dev_dbg(&client->adapter->dev, "%s\n", __func__);
- return result;
+ return ML_SUCCESS;
}
static int
mpu_ioctl_set_mpu_config(struct i2c_client *client, unsigned long arg)
{
+ int ii;
+ int result = ML_SUCCESS;
struct mpu_private_data *mpu =
- (struct mpu_private_data *) i2c_get_clientdata(client);
+ (struct mpu_private_data *) i2c_get_clientdata(client);
struct mldl_cfg *mldl_cfg = &mpu->mldl_cfg;
+ struct mldl_cfg *temp_mldl_cfg;
dev_dbg(&this_client->adapter->dev, "%s\n", __func__);
+ temp_mldl_cfg = kzalloc(sizeof(struct mldl_cfg), GFP_KERNEL);
+ if (NULL == temp_mldl_cfg)
+ return -ENOMEM;
+
/*
* User space is not allowed to modify accel compass pressure or
* pdata structs, as well as silicon_revision product_id or trim
*/
- if (copy_from_user(mldl_cfg, (struct mldl_cfg *) arg,
- offsetof(struct mldl_cfg, silicon_revision)))
- return -EFAULT;
+ if (copy_from_user(temp_mldl_cfg, (struct mldl_cfg __user *) arg,
+ offsetof(struct mldl_cfg, silicon_revision))) {
+ result = -EFAULT;
+ goto out;
+ }
- return 0;
+ if (mldl_cfg->gyro_is_suspended) {
+ if (mldl_cfg->addr != temp_mldl_cfg->addr)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (mldl_cfg->int_config != temp_mldl_cfg->int_config)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (mldl_cfg->ext_sync != temp_mldl_cfg->ext_sync)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (mldl_cfg->full_scale != temp_mldl_cfg->full_scale)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (mldl_cfg->lpf != temp_mldl_cfg->lpf)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (mldl_cfg->clk_src != temp_mldl_cfg->clk_src)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (mldl_cfg->divider != temp_mldl_cfg->divider)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (mldl_cfg->dmp_enable != temp_mldl_cfg->dmp_enable)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (mldl_cfg->fifo_enable != temp_mldl_cfg->fifo_enable)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (mldl_cfg->dmp_cfg1 != temp_mldl_cfg->dmp_cfg1)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (mldl_cfg->dmp_cfg2 != temp_mldl_cfg->dmp_cfg2)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (mldl_cfg->gyro_power != temp_mldl_cfg->gyro_power)
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ for (ii = 0; ii < MPU_NUM_AXES; ii++)
+ if (mldl_cfg->offset_tc[ii] !=
+ temp_mldl_cfg->offset_tc[ii])
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ for (ii = 0; ii < MPU_NUM_AXES; ii++)
+ if (mldl_cfg->offset[ii] != temp_mldl_cfg->offset[ii])
+ mldl_cfg->gyro_needs_reset = TRUE;
+
+ if (memcmp(mldl_cfg->ram, temp_mldl_cfg->ram,
+ MPU_MEM_NUM_RAM_BANKS * MPU_MEM_BANK_SIZE *
+ sizeof(unsigned char)))
+ mldl_cfg->gyro_needs_reset = TRUE;
+ }
+
+ memcpy(mldl_cfg, temp_mldl_cfg,
+ offsetof(struct mldl_cfg, silicon_revision));
+
+out:
+ kfree(temp_mldl_cfg);
+ return result;
}
static int
@@ -301,53 +379,189 @@ mpu_ioctl_get_mpu_config(struct i2c_client *client, unsigned long arg)
return -ENOMEM;
retval =
- copy_from_user(local_mldl_cfg, (void *) arg,
+ copy_from_user(local_mldl_cfg, (struct mldl_cfg __user *) arg,
sizeof(struct mldl_cfg));
- if (retval)
+ if (retval) {
+ dev_err(&this_client->adapter->dev,
+ "%s|%s:%d: EFAULT on arg\n",
+ __FILE__, __func__, __LINE__);
+ retval = -EFAULT;
goto out;
+ }
/* Fill in the accel, compass, pressure and pdata pointers */
if (mldl_cfg->accel) {
- retval = copy_to_user(local_mldl_cfg->accel,
+ retval = copy_to_user((void __user *)local_mldl_cfg->accel,
mldl_cfg->accel,
sizeof(*mldl_cfg->accel));
- if (retval)
+ if (retval) {
+ dev_err(&this_client->adapter->dev,
+ "%s|%s:%d: EFAULT on accel\n",
+ __FILE__, __func__, __LINE__);
+ retval = -EFAULT;
goto out;
+ }
}
if (mldl_cfg->compass) {
- retval = copy_to_user(local_mldl_cfg->compass,
+ retval = copy_to_user((void __user *)local_mldl_cfg->compass,
mldl_cfg->compass,
sizeof(*mldl_cfg->compass));
- if (retval)
+ if (retval) {
+ dev_err(&this_client->adapter->dev,
+ "%s|%s:%d: EFAULT on compass\n",
+ __FILE__, __func__, __LINE__);
+ retval = -EFAULT;
goto out;
+ }
}
if (mldl_cfg->pressure) {
- retval = copy_to_user(local_mldl_cfg->pressure,
+ retval = copy_to_user((void __user *)local_mldl_cfg->pressure,
mldl_cfg->pressure,
sizeof(*mldl_cfg->pressure));
- if (retval)
+ if (retval) {
+ dev_err(&this_client->adapter->dev,
+ "%s|%s:%d: EFAULT on pressure\n",
+ __FILE__, __func__, __LINE__);
+ retval = -EFAULT;
goto out;
+ }
}
if (mldl_cfg->pdata) {
- retval = copy_to_user(local_mldl_cfg->pdata,
+ retval = copy_to_user((void __user *)local_mldl_cfg->pdata,
mldl_cfg->pdata,
sizeof(*mldl_cfg->pdata));
- if (retval)
+ if (retval) {
+ dev_err(&this_client->adapter->dev,
+ "%s|%s:%d: EFAULT on pdata\n",
+ __FILE__, __func__, __LINE__);
+ retval = -EFAULT;
goto out;
+ }
}
/* Do not modify the accel, compass, pressure and pdata pointers */
- retval = copy_to_user((struct mldl_cfg *) arg,
+ retval = copy_to_user((struct mldl_cfg __user *) arg,
mldl_cfg, offsetof(struct mldl_cfg, accel));
+ if (retval)
+ retval = -EFAULT;
out:
kfree(local_mldl_cfg);
return retval;
}
+/**
+ * Pass a requested slave configuration to the slave sensor
+ *
+ * @param adapter the adaptor to use to communicate with the slave
+ * @param mldl_cfg the mldl configuration structuer
+ * @param slave pointer to the slave descriptor
+ * @param usr_config The configuration to pass to the slave sensor
+ *
+ * @return 0 or non-zero error code
+ */
+static int slave_config(void *adapter,
+ struct mldl_cfg *mldl_cfg,
+ struct ext_slave_descr *slave,
+ struct ext_slave_config __user *usr_config)
+{
+ int retval = ML_SUCCESS;
+ if ((slave) && (slave->config)) {
+ struct ext_slave_config config;
+ retval = copy_from_user(
+ &config,
+ usr_config,
+ sizeof(config));
+ if (retval)
+ return -EFAULT;
+
+ if (config.len && config.data) {
+ int *data;
+ data = kzalloc(config.len, GFP_KERNEL);
+ if (!data)
+ return ML_ERROR_MEMORY_EXAUSTED;
+
+ retval = copy_from_user(data,
+ (void __user *)config.data,
+ config.len);
+ if (retval) {
+ retval = -EFAULT;
+ kfree(data);
+ return retval;
+ }
+ config.data = data;
+ }
+ retval = slave->config(adapter,
+ slave,
+ &mldl_cfg->pdata->accel,
+ &config);
+ kfree(config.data);
+ }
+ return retval;
+}
+
+/**
+ * Get a requested slave configuration from the slave sensor
+ *
+ * @param adapter the adaptor to use to communicate with the slave
+ * @param mldl_cfg the mldl configuration structuer
+ * @param slave pointer to the slave descriptor
+ * @param usr_config The configuration for the slave to fill out
+ *
+ * @return 0 or non-zero error code
+ */
+static int slave_get_config(void *adapter,
+ struct mldl_cfg *mldl_cfg,
+ struct ext_slave_descr *slave,
+ struct ext_slave_config __user *usr_config)
+{
+ int retval = ML_SUCCESS;
+ if ((slave) && (slave->get_config)) {
+ struct ext_slave_config config;
+ void *user_data;
+ retval = copy_from_user(
+ &config,
+ usr_config,
+ sizeof(config));
+ if (retval)
+ return -EFAULT;
+
+ user_data = config.data;
+ if (config.len && config.data) {
+ int *data;
+ data = kzalloc(config.len, GFP_KERNEL);
+ if (!data)
+ return ML_ERROR_MEMORY_EXAUSTED;
+
+ retval = copy_from_user(data,
+ (void __user *)config.data,
+ config.len);
+ if (retval) {
+ retval = -EFAULT;
+ kfree(data);
+ return retval;
+ }
+ config.data = data;
+ }
+ retval = slave->get_config(adapter,
+ slave,
+ &mldl_cfg->pdata->accel,
+ &config);
+ if (retval) {
+ kfree(config.data);
+ return retval;
+ }
+ retval = copy_to_user((unsigned char __user *) user_data,
+ config.data,
+ config.len);
+ kfree(config.data);
+ }
+ return retval;
+}
+
/* ioctl - I/O control */
static long mpu_ioctl(struct file *file,
unsigned int cmd, unsigned long arg)
@@ -417,13 +631,18 @@ static long mpu_ioctl(struct file *file,
break;
case MPU_SET_OFFSET_TC:
retval = copy_from_user(mldl_cfg->offset_tc,
- (unsigned char *) arg,
+ (unsigned char __user *) arg,
sizeof(mldl_cfg->offset_tc));
+ if (retval)
+ retval = -EFAULT;
+
break;
case MPU_SET_RAM:
retval = copy_from_user(mldl_cfg->ram,
- (unsigned char *) arg,
+ (unsigned char __user *) arg,
sizeof(mldl_cfg->ram));
+ if (retval)
+ retval = -EFAULT;
break;
case MPU_SET_PLATFORM_DATA:
retval = mpu_ioctl_set_mpu_pdata(client, arg);
@@ -432,282 +651,169 @@ static long mpu_ioctl(struct file *file,
retval = mpu_ioctl_get_mpu_config(client, arg);
break;
case MPU_GET_INT_CONFIG:
- mldl_cfg->int_config = (unsigned char) arg;
+ retval = put_user(mldl_cfg->int_config,
+ (unsigned char __user *) arg);
break;
case MPU_GET_EXT_SYNC:
- mldl_cfg->ext_sync = (enum mpu_ext_sync) arg;
+ retval = put_user(mldl_cfg->ext_sync,
+ (unsigned char __user *) arg);
break;
case MPU_GET_FULL_SCALE:
- mldl_cfg->full_scale = (enum mpu_fullscale) arg;
+ retval = put_user(mldl_cfg->full_scale,
+ (unsigned char __user *) arg);
break;
case MPU_GET_LPF:
- mldl_cfg->lpf = (enum mpu_filter) arg;
+ retval = put_user(mldl_cfg->lpf,
+ (unsigned char __user *) arg);
break;
case MPU_GET_CLK_SRC:
- mldl_cfg->clk_src = (enum mpu_clock_sel) arg;
+ retval = put_user(mldl_cfg->clk_src,
+ (unsigned char __user *) arg);
break;
case MPU_GET_DIVIDER:
- mldl_cfg->divider = (unsigned char) arg;
+ retval = put_user(mldl_cfg->divider,
+ (unsigned char __user *) arg);
break;
case MPU_GET_LEVEL_SHIFTER:
- mldl_cfg->pdata->level_shifter = (unsigned char) arg;
+ retval = put_user(mldl_cfg->pdata->level_shifter,
+ (unsigned char __user *) arg);
break;
case MPU_GET_DMP_ENABLE:
- mldl_cfg->dmp_enable = (unsigned char) arg;
+ retval = put_user(mldl_cfg->dmp_enable,
+ (unsigned char __user *) arg);
break;
case MPU_GET_FIFO_ENABLE:
- mldl_cfg->fifo_enable = (unsigned char) arg;
+ retval = put_user(mldl_cfg->fifo_enable,
+ (unsigned char __user *) arg);
break;
case MPU_GET_DMP_CFG1:
- mldl_cfg->dmp_cfg1 = (unsigned char) arg;
+ retval = put_user(mldl_cfg->dmp_cfg1,
+ (unsigned char __user *) arg);
break;
case MPU_GET_DMP_CFG2:
- mldl_cfg->dmp_cfg2 = (unsigned char) arg;
+ retval = put_user(mldl_cfg->dmp_cfg2,
+ (unsigned char __user *) arg);
break;
case MPU_GET_OFFSET_TC:
- retval = copy_to_user((unsigned char *) arg,
+ retval = copy_to_user((unsigned char __user *) arg,
mldl_cfg->offset_tc,
sizeof(mldl_cfg->offset_tc));
+ if (retval)
+ retval = -EFAULT;
break;
case MPU_GET_RAM:
- retval = copy_to_user((unsigned char *) arg,
+ retval = copy_to_user((unsigned char __user *) arg,
mldl_cfg->ram,
sizeof(mldl_cfg->ram));
+ if (retval)
+ retval = -EFAULT;
break;
case MPU_CONFIG_ACCEL:
- {
- if ((mldl_cfg->accel) && (mldl_cfg->accel->config)) {
- struct ext_slave_config config;
- retval = copy_from_user(
- &config,
- (struct ext_slave_config *)arg,
- sizeof(config));
- if (retval)
- break;
-
- if (config.len && config.data) {
- int *data;
- data = kzalloc(config.len, GFP_KERNEL);
- if (!data) {
- retval = ML_ERROR_MEMORY_EXAUSTED;
- break;
- }
- retval = copy_from_user(data,
- (void *)config.data,
- config.len);
- if (retval) {
- kfree(data);
- break;
- }
- config.data = data;
- }
- retval = mldl_cfg->accel->config(
- accel_adapter,
+ retval = slave_config(accel_adapter, mldl_cfg,
mldl_cfg->accel,
- &mldl_cfg->pdata->accel,
- &config);
- kfree(config.data);
- }
+ (struct ext_slave_config __user *) arg);
break;
- }
case MPU_CONFIG_COMPASS:
- {
- if ((mldl_cfg->compass) && (mldl_cfg->compass->config)) {
- struct ext_slave_config config;
- retval = copy_from_user(
- &config,
- (struct ext_slave_config *)arg,
- sizeof(config));
- if (retval)
- break;
-
- if (config.len && config.data) {
- int *data;
- data = kzalloc(config.len, GFP_KERNEL);
- if (!data) {
- retval = ML_ERROR_MEMORY_EXAUSTED;
- break;
- }
- retval = copy_from_user(data,
- (void *)config.data,
- config.len);
- if (retval) {
- kfree(data);
- break;
- }
- config.data = data;
- }
- retval = mldl_cfg->compass->config(
- compass_adapter,
+ retval = slave_config(compass_adapter, mldl_cfg,
mldl_cfg->compass,
- &mldl_cfg->pdata->compass,
- &config);
- kfree(config.data);
- }
+ (struct ext_slave_config __user *) arg);
break;
- }
case MPU_CONFIG_PRESSURE:
- {
- if ((mldl_cfg->pressure) && (mldl_cfg->pressure->config)) {
- struct ext_slave_config config;
- retval = copy_from_user(
- &config,
- (struct ext_slave_config *)arg,
- sizeof(config));
- if (retval)
- break;
-
- if (config.len && config.data) {
- int *data;
- data = kzalloc(config.len, GFP_KERNEL);
- if (!data) {
- retval = ML_ERROR_MEMORY_EXAUSTED;
- break;
- }
- retval = copy_from_user(data,
- (void *)config.data,
- config.len);
- if (retval) {
- kfree(data);
- break;
- }
- config.data = data;
- }
- retval = mldl_cfg->pressure->config(
- pressure_adapter,
+ retval = slave_config(pressure_adapter, mldl_cfg,
mldl_cfg->pressure,
- &mldl_cfg->pdata->pressure,
- &config);
- kfree(config.data);
- }
+ (struct ext_slave_config __user *) arg);
break;
- }
- case MPU_READ_MEMORY:
- case MPU_WRITE_MEMORY:
- case MPU_SUSPEND:
- {
- struct mpu_suspend_resume suspend;
- retval =
- copy_from_user(&suspend,
- (struct mpu_suspend_resume *)
- arg, sizeof(suspend));
- if (retval)
- break;
- if (suspend.gyro) {
- retval =
- mpu3050_suspend(mldl_cfg,
- client->adapter,
- accel_adapter,
- compass_adapter,
- pressure_adapter,
- suspend.accel,
- suspend.compass,
- suspend.pressure);
- } else {
- /* Cannot suspend the pressure compass or
- * accel while the MPU is running */
- retval = ML_ERROR_FEATURE_NOT_IMPLEMENTED;
- }
- }
+ case MPU_GET_CONFIG_ACCEL:
+ retval = slave_get_config(accel_adapter, mldl_cfg,
+ mldl_cfg->accel,
+ (struct ext_slave_config __user *) arg);
break;
- case MPU_RESUME:
- {
- struct mpu_suspend_resume resume;
- retval =
- copy_from_user(&resume,
- (struct mpu_suspend_resume *)
- arg, sizeof(resume));
- if (retval)
- break;
- if (resume.gyro) {
- retval =
- mpu3050_resume(mldl_cfg,
- client->adapter,
- accel_adapter,
- compass_adapter,
- pressure_adapter,
- resume.accel,
- resume.compass,
- resume.pressure);
- } else if (mldl_cfg->is_suspended) {
- if (resume.accel) {
- retval =
- mldl_cfg->
- accel->resume(accel_adapter,
- mldl_cfg->accel,
- &mldl_cfg->
- pdata->accel);
- if (retval)
- break;
- }
-
- if (resume.compass) {
- retval =
- mldl_cfg->
- compass->resume
- (compass_adapter,
- mldl_cfg->compass,
- &mldl_cfg->pdata->compass);
- if (retval)
- break;
- }
-
- if (resume.pressure)
- retval =
- mldl_cfg->
- pressure->resume
- (pressure_adapter,
- mldl_cfg->pressure,
- &mldl_cfg->pdata->pressure);
- } else {
- /* Cannot resume the pressure compass or
- * accel while the MPU is running */
- retval = ML_ERROR_FEATURE_NOT_IMPLEMENTED;
- }
- }
+ case MPU_GET_CONFIG_COMPASS:
+ retval = slave_get_config(compass_adapter, mldl_cfg,
+ mldl_cfg->compass,
+ (struct ext_slave_config __user *) arg);
break;
- case MPU_READ_ACCEL:
- {
- unsigned char data[6];
- retval =
- mpu3050_read_accel(mldl_cfg, client->adapter,
- data);
- if (ML_SUCCESS == retval)
- retval =
- copy_to_user((unsigned char *) arg,
- data, sizeof(data));
- }
+ case MPU_GET_CONFIG_PRESSURE:
+ retval = slave_get_config(pressure_adapter, mldl_cfg,
+ mldl_cfg->pressure,
+ (struct ext_slave_config __user *) arg);
break;
+ case MPU_SUSPEND:
+ {
+ unsigned long sensors;
+ sensors = ~(mldl_cfg->requested_sensors);
+ retval = mpu3050_suspend(mldl_cfg,
+ client->adapter,
+ accel_adapter,
+ compass_adapter,
+ pressure_adapter,
+ ((sensors & ML_THREE_AXIS_GYRO)
+ == ML_THREE_AXIS_GYRO),
+ ((sensors & ML_THREE_AXIS_ACCEL)
+ == ML_THREE_AXIS_ACCEL),
+ ((sensors & ML_THREE_AXIS_COMPASS)
+ == ML_THREE_AXIS_COMPASS),
+ ((sensors & ML_THREE_AXIS_PRESSURE)
+ == ML_THREE_AXIS_PRESSURE));
+ }
+ break;
+ case MPU_RESUME:
+ {
+ unsigned long sensors;
+ sensors = mldl_cfg->requested_sensors;
+ retval = mpu3050_resume(mldl_cfg,
+ client->adapter,
+ accel_adapter,
+ compass_adapter,
+ pressure_adapter,
+ sensors & ML_THREE_AXIS_GYRO,
+ sensors & ML_THREE_AXIS_ACCEL,
+ sensors & ML_THREE_AXIS_COMPASS,
+ sensors & ML_THREE_AXIS_PRESSURE);
+ }
+ break;
+ case MPU_READ_ACCEL:
+ {
+ unsigned char data[6];
+ retval = mpu3050_read_accel(mldl_cfg, client->adapter,
+ data);
+ if ((ML_SUCCESS == retval) &&
+ (copy_to_user((unsigned char __user *) arg,
+ data, sizeof(data))))
+ retval = -EFAULT;
+ }
+ break;
case MPU_READ_COMPASS:
- {
- unsigned char data[6];
- struct i2c_adapter *compass_adapt =
- i2c_get_adapter(mldl_cfg->pdata->compass.
- adapt_num);
- retval =
- mpu3050_read_compass(mldl_cfg, compass_adapt,
+ {
+ unsigned char data[6];
+ struct i2c_adapter *compass_adapt =
+ i2c_get_adapter(mldl_cfg->pdata->compass.
+ adapt_num);
+ retval = mpu3050_read_compass(mldl_cfg, compass_adapt,
data);
- if (ML_SUCCESS == retval)
- retval =
- copy_to_user((unsigned char *) arg,
- data, sizeof(data));
- }
- break;
+ if ((ML_SUCCESS == retval) &&
+ (copy_to_user((unsigned char *) arg,
+ data, sizeof(data))))
+ retval = -EFAULT;
+ }
+ break;
case MPU_READ_PRESSURE:
- {
- unsigned char data[3];
- struct i2c_adapter *pressure_adapt =
- i2c_get_adapter(mldl_cfg->pdata->pressure.
- adapt_num);
- retval =
- mpu3050_read_pressure(mldl_cfg, pressure_adapt,
- data);
- if (ML_SUCCESS == retval)
- retval =
- copy_to_user((unsigned char *) arg,
- data, sizeof(data));
- }
- break;
+ {
+ unsigned char data[3];
+ struct i2c_adapter *pressure_adapt =
+ i2c_get_adapter(mldl_cfg->pdata->pressure.
+ adapt_num);
+ retval =
+ mpu3050_read_pressure(mldl_cfg, pressure_adapt,
+ data);
+ if ((ML_SUCCESS == retval) &&
+ (copy_to_user((unsigned char __user *) arg,
+ data, sizeof(data))))
+ retval = -EFAULT;
+ }
+ break;
+ case MPU_READ_MEMORY:
+ case MPU_WRITE_MEMORY:
default:
dev_err(&this_client->adapter->dev,
"%s: Unknown cmd %d, arg %lu\n", __func__, cmd,
@@ -737,11 +843,11 @@ void mpu3050_early_suspend(struct early_suspend *h)
i2c_get_adapter(mldl_cfg->pdata->pressure.adapt_num);
dev_dbg(&this_client->adapter->dev, "%s: %d, %d\n", __func__,
- h->level, mpu->mldl_cfg.is_suspended);
+ h->level, mpu->mldl_cfg.gyro_is_suspended);
if (MPU3050_EARLY_SUSPEND_IN_DRIVER)
(void) mpu3050_suspend(mldl_cfg, this_client->adapter,
- accel_adapter, compass_adapter,
- pressure_adapter, TRUE, TRUE, TRUE);
+ accel_adapter, compass_adapter,
+ pressure_adapter, TRUE, TRUE, TRUE, TRUE);
}
void mpu3050_early_resume(struct early_suspend *h)
@@ -763,12 +869,16 @@ void mpu3050_early_resume(struct early_suspend *h)
if (MPU3050_EARLY_SUSPEND_IN_DRIVER) {
if (pid) {
+ unsigned long sensors = mldl_cfg->requested_sensors;
(void) mpu3050_resume(mldl_cfg,
- this_client->adapter,
- accel_adapter,
- compass_adapter,
- pressure_adapter,
- TRUE, TRUE, TRUE);
+ this_client->adapter,
+ accel_adapter,
+ compass_adapter,
+ pressure_adapter,
+ sensors & ML_THREE_AXIS_GYRO,
+ sensors & ML_THREE_AXIS_ACCEL,
+ sensors & ML_THREE_AXIS_COMPASS,
+ sensors & ML_THREE_AXIS_PRESSURE);
dev_dbg(&this_client->adapter->dev,
"%s for pid %d\n", __func__, pid);
}
@@ -794,7 +904,7 @@ void mpu_shutdown(struct i2c_client *client)
(void) mpu3050_suspend(mldl_cfg, this_client->adapter,
accel_adapter, compass_adapter, pressure_adapter,
- TRUE, TRUE, TRUE);
+ TRUE, TRUE, TRUE, TRUE);
dev_dbg(&this_client->adapter->dev, "%s\n", __func__);
}
@@ -813,14 +923,14 @@ int mpu_suspend(struct i2c_client *client, pm_message_t mesg)
pressure_adapter =
i2c_get_adapter(mldl_cfg->pdata->pressure.adapt_num);
- if (!mpu->mldl_cfg.is_suspended) {
+ if (!mpu->mldl_cfg.gyro_is_suspended) {
dev_dbg(&this_client->adapter->dev,
"%s: suspending on event %d\n", __func__,
mesg.event);
(void) mpu3050_suspend(mldl_cfg, this_client->adapter,
accel_adapter, compass_adapter,
pressure_adapter,
- TRUE, TRUE, TRUE);
+ TRUE, TRUE, TRUE, TRUE);
} else {
dev_dbg(&this_client->adapter->dev,
"%s: Already suspended %d\n", __func__,
@@ -845,11 +955,15 @@ int mpu_resume(struct i2c_client *client)
i2c_get_adapter(mldl_cfg->pdata->pressure.adapt_num);
if (pid) {
+ unsigned long sensors = mldl_cfg->requested_sensors;
(void) mpu3050_resume(mldl_cfg, this_client->adapter,
accel_adapter,
compass_adapter,
pressure_adapter,
- TRUE, TRUE, TRUE);
+ sensors & ML_THREE_AXIS_GYRO,
+ sensors & ML_THREE_AXIS_ACCEL,
+ sensors & ML_THREE_AXIS_COMPASS,
+ sensors & ML_THREE_AXIS_PRESSURE);
dev_dbg(&this_client->adapter->dev,
"%s for pid %d\n", __func__, pid);
}
@@ -888,6 +1002,7 @@ int mpu3050_probe(struct i2c_client *client,
{
struct mpu3050_platform_data *pdata;
struct mpu_private_data *mpu;
+ struct mldl_cfg *mldl_cfg;
int res = 0;
struct i2c_adapter *accel_adapter = NULL;
struct i2c_adapter *compass_adapter = NULL;
@@ -908,27 +1023,27 @@ int mpu3050_probe(struct i2c_client *client,
i2c_set_clientdata(client, mpu);
this_client = client;
-
+ mldl_cfg = &mpu->mldl_cfg;
pdata = (struct mpu3050_platform_data *) client->dev.platform_data;
if (!pdata) {
dev_warn(&this_client->adapter->dev,
"Warning no platform data for mpu3050\n");
} else {
- mpu->mldl_cfg.pdata = pdata;
+ mldl_cfg->pdata = pdata;
-#if defined(CONFIG_SENSORS_MPU3050_MODULE) || \
- defined(CONFIG_SENSORS_MPU6000_MODULE)
+#if defined(CONFIG_MPU_SENSORS_MPU3050_MODULE) || \
+ defined(CONFIG_MPU_SENSORS_MPU6000_MODULE)
pdata->accel.get_slave_descr = get_accel_slave_descr;
pdata->compass.get_slave_descr = get_compass_slave_descr;
pdata->pressure.get_slave_descr = get_pressure_slave_descr;
#endif
if (pdata->accel.get_slave_descr) {
- mpu->mldl_cfg.accel =
+ mldl_cfg->accel =
pdata->accel.get_slave_descr();
dev_info(&this_client->adapter->dev,
"%s: +%s\n", MPU_NAME,
- mpu->mldl_cfg.accel->name);
+ mldl_cfg->accel->name);
accel_adapter =
i2c_get_adapter(pdata->accel.adapt_num);
if (pdata->accel.irq > 0) {
@@ -950,11 +1065,11 @@ int mpu3050_probe(struct i2c_client *client,
}
if (pdata->compass.get_slave_descr) {
- mpu->mldl_cfg.compass =
+ mldl_cfg->compass =
pdata->compass.get_slave_descr();
dev_info(&this_client->adapter->dev,
"%s: +%s\n", MPU_NAME,
- mpu->mldl_cfg.compass->name);
+ mldl_cfg->compass->name);
compass_adapter =
i2c_get_adapter(pdata->compass.adapt_num);
if (pdata->compass.irq > 0) {
@@ -976,11 +1091,11 @@ int mpu3050_probe(struct i2c_client *client,
}
if (pdata->pressure.get_slave_descr) {
- mpu->mldl_cfg.pressure =
+ mldl_cfg->pressure =
pdata->pressure.get_slave_descr();
dev_info(&this_client->adapter->dev,
"%s: +%s\n", MPU_NAME,
- mpu->mldl_cfg.pressure->name);
+ mldl_cfg->pressure->name);
pressure_adapter =
i2c_get_adapter(pdata->pressure.adapt_num);
@@ -1003,7 +1118,7 @@ int mpu3050_probe(struct i2c_client *client,
}
}
- mpu->mldl_cfg.addr = client->addr;
+ mldl_cfg->addr = client->addr;
res = mpu3050_open(&mpu->mldl_cfg, client->adapter,
accel_adapter, compass_adapter, pressure_adapter);
diff --git a/drivers/misc/mpu3050/mpuirq.c b/drivers/misc/mpu3050/mpuirq.c
index b6f21856cf32..691e5bc5b052 100644
--- a/drivers/misc/mpu3050/mpuirq.c
+++ b/drivers/misc/mpu3050/mpuirq.c
@@ -61,7 +61,7 @@ struct mpuirq_dev_data {
};
static struct mpuirq_dev_data mpuirq_dev_data;
-static struct irq_data mpuirq_data;
+static struct mpuirq_data mpuirq_data;
static char *interface = MPUIRQ_NAME;
static void mpu_accel_data_work_fcn(struct work_struct *work);
@@ -206,23 +206,20 @@ static irqreturn_t mpuirq_handler(int irq, void *dev_id)
/* wake up (unblock) for reading data from userspace */
/* and ignore first interrupt generated in module init */
- if (mpuirq_data.interruptcount > 1) {
- mpuirq_dev_data.data_ready = 1;
-
- do_gettimeofday(&irqtime);
- mpuirq_data.irqtime = (((long long) irqtime.tv_sec) << 32);
- mpuirq_data.irqtime += irqtime.tv_usec;
-
- if ((mpuirq_dev_data.accel_divider >= 0) &&
- (0 ==
- (mycount % (mpuirq_dev_data.accel_divider + 1)))) {
- schedule_work((struct work_struct
- *) (&mpuirq_dev_data));
- }
+ mpuirq_dev_data.data_ready = 1;
+
+ do_gettimeofday(&irqtime);
+ mpuirq_data.irqtime = (((long long) irqtime.tv_sec) << 32);
+ mpuirq_data.irqtime += irqtime.tv_usec;
- wake_up_interruptible(&mpuirq_wait);
+ if ((mpuirq_dev_data.accel_divider >= 0) &&
+ (0 == (mycount % (mpuirq_dev_data.accel_divider + 1)))) {
+ schedule_work((struct work_struct
+ *) (&mpuirq_dev_data));
}
+ wake_up_interruptible(&mpuirq_wait);
+
return IRQ_HANDLED;
}
diff --git a/drivers/misc/mpu3050/slaveirq.c b/drivers/misc/mpu3050/slaveirq.c
index 3791868505ee..2ee53851e125 100644
--- a/drivers/misc/mpu3050/slaveirq.c
+++ b/drivers/misc/mpu3050/slaveirq.c
@@ -34,22 +34,22 @@
#include <linux/mm.h>
#include <linux/sched.h>
#include <linux/wait.h>
-#include <asm/uaccess.h>
-#include <asm/io.h>
+#include <linux/uaccess.h>
+#include <linux/io.h>
+#include <linux/wait.h>
+#include <linux/slab.h>
#include "mpu.h"
#include "slaveirq.h"
#include "mldl_cfg.h"
#include "mpu-i2c.h"
-#include <linux/wait.h>
-#include <linux/slab.h>
/* function which gets slave data and sends it to SLAVE */
struct slaveirq_dev_data {
struct miscdevice dev;
struct i2c_client *slave_client;
- struct irq_data data;
+ struct mpuirq_data data;
wait_queue_head_t slaveirq_wait;
int irq;
int pid;
@@ -83,7 +83,7 @@ static int slaveirq_release(struct inode *inode, struct file *file)
/* read function called when from /dev/slaveirq is read */
static ssize_t slaveirq_read(struct file *file,
- char *buf, size_t count, loff_t * ppos)
+ char *buf, size_t count, loff_t *ppos)
{
int len, err;
struct slaveirq_dev_data *data =
@@ -169,16 +169,14 @@ static irqreturn_t slaveirq_handler(int irq, void *dev_id)
/* wake up (unblock) for reading data from userspace */
/* and ignore first interrupt generated in module init */
- if (data->data.interruptcount > 1) {
- data->data_ready = 1;
+ data->data_ready = 1;
- do_gettimeofday(&irqtime);
- data->data.irqtime = (((long long) irqtime.tv_sec) << 32);
- data->data.irqtime += irqtime.tv_usec;
- data->data.data_type |= 1;
+ do_gettimeofday(&irqtime);
+ data->data.irqtime = (((long long) irqtime.tv_sec) << 32);
+ data->data.irqtime += irqtime.tv_usec;
+ data->data.data_type |= 1;
- wake_up_interruptible(&data->slaveirq_wait);
- }
+ wake_up_interruptible(&data->slaveirq_wait);
return IRQ_HANDLED;
diff --git a/drivers/misc/mpu3050/timerirq.c b/drivers/misc/mpu3050/timerirq.c
new file mode 100644
index 000000000000..94dd095306a5
--- /dev/null
+++ b/drivers/misc/mpu3050/timerirq.c
@@ -0,0 +1,295 @@
+/*
+ $License:
+ Copyright (C) 2010 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/>.
+ $
+ */
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/kernel.h>
+#include <linux/init.h>
+#include <linux/stat.h>
+#include <linux/signal.h>
+#include <linux/miscdevice.h>
+#include <linux/i2c.h>
+#include <linux/i2c-dev.h>
+#include <linux/poll.h>
+
+#include <linux/errno.h>
+#include <linux/fs.h>
+#include <linux/mm.h>
+#include <linux/sched.h>
+#include <linux/wait.h>
+#include <linux/uaccess.h>
+#include <linux/io.h>
+#include <linux/timer.h>
+#include <linux/slab.h>
+
+#include "mpu.h"
+#include "mltypes.h"
+#include "timerirq.h"
+
+/* function which gets timer data and sends it to TIMER */
+struct timerirq_data {
+ int pid;
+ int data_ready;
+ int run;
+ int timeout;
+ unsigned long period;
+ struct mpuirq_data data;
+ struct completion timer_done;
+ wait_queue_head_t timerirq_wait;
+ struct timer_list timer;
+ struct miscdevice *dev;
+};
+
+static struct miscdevice *timerirq_dev_data;
+
+static void timerirq_handler(unsigned long arg)
+{
+ struct timerirq_data *data = (struct timerirq_data *)arg;
+ struct timeval irqtime;
+
+ /* dev_info(data->dev->this_device,
+ "%s, %ld\n", __func__, (unsigned long)data); */
+
+ data->data.interruptcount++;
+
+ data->data_ready = 1;
+
+ do_gettimeofday(&irqtime);
+ data->data.irqtime = (((long long) irqtime.tv_sec) << 32);
+ data->data.irqtime += irqtime.tv_usec;
+ data->data.data_type |= 1;
+
+ wake_up_interruptible(&data->timerirq_wait);
+
+ if (data->run)
+ mod_timer(&data->timer,
+ jiffies + msecs_to_jiffies(data->period));
+ else
+ complete(&data->timer_done);
+}
+
+static int start_timerirq(struct timerirq_data *data)
+{
+ dev_dbg(data->dev->this_device,
+ "%s current->pid %d\n", __func__, current->pid);
+
+ /* Timer already running... success */
+ if (data->run)
+ return 0;
+
+ /* Don't allow a period of 0 since this would fire constantly */
+ if (!data->period)
+ return -EINVAL;
+
+ data->run = TRUE;
+ data->data_ready = FALSE;
+
+ init_completion(&data->timer_done);
+ setup_timer(&data->timer, timerirq_handler, (unsigned long)data);
+
+ return mod_timer(&data->timer,
+ jiffies + msecs_to_jiffies(data->period));
+}
+
+static int stop_timerirq(struct timerirq_data *data)
+{
+ dev_dbg(data->dev->this_device,
+ "%s current->pid %lx\n", __func__, (unsigned long)data);
+
+ if (data->run) {
+ data->run = FALSE;
+ mod_timer(&data->timer, jiffies + 1);
+ wait_for_completion(&data->timer_done);
+ }
+ return 0;
+}
+
+/* The following depends on patch fa1f68db6ca7ebb6fc4487ac215bffba06c01c28
+ * drivers: misc: pass miscdevice pointer via file private data
+ */
+static int timerirq_open(struct inode *inode, struct file *file)
+{
+ /* Device node is availabe in the file->private_data, this is
+ * exactly what we want so we leave it there */
+ struct miscdevice *dev_data = file->private_data;
+ struct timerirq_data *data = kzalloc(sizeof(*data), GFP_KERNEL);
+ if (!data)
+ return -ENOMEM;
+
+ data->dev = dev_data;
+ file->private_data = data;
+ data->pid = current->pid;
+ init_waitqueue_head(&data->timerirq_wait);
+
+ dev_dbg(data->dev->this_device,
+ "%s current->pid %d\n", __func__, current->pid);
+ return 0;
+}
+
+static int timerirq_release(struct inode *inode, struct file *file)
+{
+ struct timerirq_data *data = file->private_data;
+ dev_dbg(data->dev->this_device, "timerirq_release\n");
+ if (data->run)
+ stop_timerirq(data);
+ kfree(data);
+ return 0;
+}
+
+/* read function called when from /dev/timerirq is read */
+static ssize_t timerirq_read(struct file *file,
+ char *buf, size_t count, loff_t *ppos)
+{
+ int len, err;
+ struct timerirq_data *data = file->private_data;
+
+ if (!data->data_ready) {
+ wait_event_interruptible_timeout(data->timerirq_wait,
+ data->data_ready,
+ data->timeout);
+ }
+
+ if (data->data_ready && NULL != buf
+ && count >= sizeof(data->data)) {
+ err = copy_to_user(buf, &data->data, sizeof(data->data));
+ data->data.data_type = 0;
+ } else {
+ return 0;
+ }
+ if (err != 0) {
+ dev_err(data->dev->this_device,
+ "Copy to user returned %d\n", err);
+ return -EFAULT;
+ }
+ data->data_ready = 0;
+ len = sizeof(data->data);
+ return len;
+}
+
+unsigned int timerirq_poll(struct file *file, struct poll_table_struct *poll)
+{
+ int mask = 0;
+ struct timerirq_data *data = file->private_data;
+
+ poll_wait(file, &data->timerirq_wait, poll);
+ if (data->data_ready)
+ mask |= POLLIN | POLLRDNORM;
+ return mask;
+}
+
+/* ioctl - I/O control */
+static long timerirq_ioctl(struct file *file,
+ unsigned int cmd, unsigned long arg)
+{
+ int retval = 0;
+ int tmp;
+ struct timerirq_data *data = file->private_data;
+
+ dev_dbg(data->dev->this_device,
+ "%s current->pid %d, %d, %ld\n",
+ __func__, current->pid, cmd, arg);
+
+ if (!data)
+ return -EFAULT;
+
+ switch (cmd) {
+ case TIMERIRQ_SET_TIMEOUT:
+ data->timeout = arg;
+ break;
+ case TIMERIRQ_GET_INTERRUPT_CNT:
+ tmp = data->data.interruptcount - 1;
+ if (data->data.interruptcount > 1)
+ data->data.interruptcount = 1;
+
+ if (copy_to_user((int *) arg, &tmp, sizeof(int)))
+ return -EFAULT;
+ break;
+ case TIMERIRQ_START:
+ data->period = arg;
+ retval = start_timerirq(data);
+ break;
+ case TIMERIRQ_STOP:
+ retval = stop_timerirq(data);
+ break;
+ default:
+ retval = -EINVAL;
+ }
+ return retval;
+}
+
+/* define which file operations are supported */
+static const struct file_operations timerirq_fops = {
+ .owner = THIS_MODULE,
+ .read = timerirq_read,
+ .poll = timerirq_poll,
+
+#if HAVE_COMPAT_IOCTL
+ .compat_ioctl = timerirq_ioctl,
+#endif
+#if HAVE_UNLOCKED_IOCTL
+ .unlocked_ioctl = timerirq_ioctl,
+#endif
+ .open = timerirq_open,
+ .release = timerirq_release,
+};
+
+static int __init timerirq_init(void)
+{
+
+ int res;
+ static struct miscdevice *data;
+
+ data = kzalloc(sizeof(*data), GFP_KERNEL);
+ if (!data)
+ return -ENOMEM;
+ timerirq_dev_data = data;
+ data->minor = MISC_DYNAMIC_MINOR;
+ data->name = "timerirq";
+ data->fops = &timerirq_fops;
+
+ res = misc_register(data);
+ if (res < 0) {
+ dev_err(data->this_device,
+ "misc_register returned %d\n",
+ res);
+ return res;
+ }
+
+ return res;
+}
+module_init(timerirq_init);
+
+static void __exit timerirq_exit(void)
+{
+ struct miscdevice *data = timerirq_dev_data;
+
+ dev_info(data->this_device, "Unregistering %s\n",
+ data->name);
+
+ misc_deregister(data);
+ kfree(data);
+
+ timerirq_dev_data = NULL;
+}
+module_exit(timerirq_exit);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("Timer IRQ device driver.");
+MODULE_LICENSE("GPL");
+MODULE_ALIAS("timerirq");
diff --git a/drivers/misc/mpu3050/timerirq.h b/drivers/misc/mpu3050/timerirq.h
new file mode 100644
index 000000000000..a38b4907a4d4
--- /dev/null
+++ b/drivers/misc/mpu3050/timerirq.h
@@ -0,0 +1,28 @@
+/*
+ $License:
+ Copyright (C) 2010 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/>.
+ $
+ */
+
+#ifndef __TIMERIRQ__
+#define __TIMERIRQ__
+
+#define TIMERIRQ_SET_TIMEOUT (5)
+#define TIMERIRQ_GET_INTERRUPT_CNT (7)
+#define TIMERIRQ_START (8)
+#define TIMERIRQ_STOP (9)
+
+#endif
diff --git a/include/linux/mpu.h b/include/linux/mpu.h
index 5756f5709a75..15b5fef07c9a 100644
--- a/include/linux/mpu.h
+++ b/include/linux/mpu.h
@@ -31,9 +31,9 @@
#endif
/* Number of axes on each sensor */
-#define GYRO_NUM_AXES (3)
-#define ACCEL_NUM_AXES (3)
-#define COMPASS_NUM_AXES (3)
+#define GYRO_NUM_AXES (3)
+#define ACCEL_NUM_AXES (3)
+#define COMPASS_NUM_AXES (3)
/* IOCTL commands for /dev/mpu */
#define MPU_SET_MPU_CONFIG (0x00)
@@ -83,6 +83,10 @@
#define MPU_CONFIG_COMPASS (0x21)
#define MPU_CONFIG_PRESSURE (0x22)
+#define MPU_GET_CONFIG_ACCEL (0x28)
+#define MPU_GET_CONFIG_COMPASS (0x29)
+#define MPU_GET_CONFIG_PRESSURE (0x2a)
+
/* Structure for the following IOCTL's:
MPU_SET_RAM
MPU_GET_RAM
@@ -97,18 +101,7 @@ struct mpu_read_write {
unsigned char *data;
};
-/* Structure for the following IOCTL's
- MPU_SUSPEND
- MPU_RESUME
-*/
-struct mpu_suspend_resume {
- int gyro;
- int accel;
- int compass;
- int pressure;
-};
-
-struct irq_data {
+struct mpuirq_data {
int interruptcount;
unsigned long long irqtime;
int data_type;
@@ -116,24 +109,38 @@ struct irq_data {
void *data;
};
enum ext_slave_config_key {
- MPU_SLAVE_CONFIG_ODR_SUSPEND,
- MPU_SLAVE_CONFIG_ODR_RESUME,
- MPU_SLAVE_CONFIG_FSR_SUSPEND,
- MPU_SLAVE_CONFIG_FSR_RESUME,
- MPU_SLAVE_CONFIG_MOT_THS,
- MPU_SLAVE_CONFIG_NMOT_THS,
- MPU_SLAVE_CONFIG_MOT_DUR,
- MPU_SLAVE_CONFIG_NMOT_DUR,
- MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS,
+ MPU_SLAVE_CONFIG_ODR_SUSPEND,
+ MPU_SLAVE_CONFIG_ODR_RESUME,
+ MPU_SLAVE_CONFIG_FSR_SUSPEND,
+ MPU_SLAVE_CONFIG_FSR_RESUME,
+ MPU_SLAVE_CONFIG_MOT_THS,
+ MPU_SLAVE_CONFIG_NMOT_THS,
+ MPU_SLAVE_CONFIG_MOT_DUR,
+ MPU_SLAVE_CONFIG_NMOT_DUR,
+ MPU_SLAVE_CONFIG_IRQ_SUSPEND,
+ MPU_SLAVE_CONFIG_IRQ_RESUME,
+ MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS,
};
+
+/* For the MPU_SLAVE_CONFIG_IRQ_SUSPEND and MPU_SLAVE_CONFIG_IRQ_RESUME */
+enum ext_slave_config_irq_type {
+ MPU_SLAVE_IRQ_TYPE_NONE,
+ MPU_SLAVE_IRQ_TYPE_MOTION,
+ MPU_SLAVE_IRQ_TYPE_DATA_READY,
+};
+
/* Structure for the following IOCTS's
* MPU_CONFIG_ACCEL
* MPU_CONFIG_COMPASS
* MPU_CONFIG_PRESSURE
+ * MPU_GET_CONFIG_ACCEL
+ * MPU_GET_CONFIG_COMPASS
+ * MPU_GET_CONFIG_PRESSURE
*/
struct ext_slave_config {
int key;
int len;
+ int apply;
void *data;
};
@@ -156,8 +163,9 @@ enum ext_slave_id {
ACCEL_ID_BMA222,
ACCEL_ID_ADI346,
ACCEL_ID_MMA8450,
- ACCEL_ID_MMA8451,
+ ACCEL_ID_MMA845X,
ACCEL_ID_MPU6000,
+ ACCEL_ID_LIS3DH,
COMPASS_ID_AKM,
COMPASS_ID_AMI30X,
@@ -166,6 +174,7 @@ enum ext_slave_id {
COMPASS_ID_LSM303,
COMPASS_ID_MMC314X,
COMPASS_ID_HSCDTD002B,
+ COMPASS_ID_HSCDTD004A,
PRESSURE_ID_BMA085,
};
@@ -229,6 +238,7 @@ struct tFixPntRange {
* @init: function used to preallocate memory used by the driver
* @exit: function used to free memory allocated for the driver
* @config: function used to configure the device
+ * @get_config:function used to get the device's configuration
*
* @name: text name of the device
* @type: device type. enum ext_slave_type
@@ -262,6 +272,10 @@ struct ext_slave_descr {
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
struct ext_slave_config *config);
+ int (*get_config) (void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata,
+ struct ext_slave_config *config);
char *name;
unsigned char type;
@@ -302,65 +316,73 @@ struct mpu3050_platform_data {
*/
#define get_accel_slave_descr NULL
-#ifdef CONFIG_SENSORS_ADXL346 /* ADI accelerometer */
+#ifdef CONFIG_MPU_SENSORS_ADXL346 /* ADI accelerometer */
struct ext_slave_descr *adxl346_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr adxl346_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_BMA150 /* Bosch accelerometer */
+#ifdef CONFIG_MPU_SENSORS_BMA150 /* Bosch accelerometer */
struct ext_slave_descr *bma150_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr bma150_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_BMA222 /* Bosch 222 accelerometer */
+#ifdef CONFIG_MPU_SENSORS_BMA222 /* Bosch 222 accelerometer */
struct ext_slave_descr *bma222_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr bma222_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_KXSD9 /* Kionix accelerometer */
+#ifdef CONFIG_MPU_SENSORS_KXSD9 /* Kionix accelerometer */
struct ext_slave_descr *kxsd9_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr kxsd9_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_KXTF9_MPU /* Kionix accelerometer */
+#ifdef CONFIG_MPU_SENSORS_KXTF9 /* Kionix accelerometer */
struct ext_slave_descr *kxtf9_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr kxtf9_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_LIS331DLH /* ST accelerometer */
+#ifdef CONFIG_MPU_SENSORS_LIS331DLH /* ST accelerometer */
struct ext_slave_descr *lis331dlh_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr lis331dlh_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_LSM303DLHA /* ST accelerometer */
+
+#ifdef CONFIG_MPU_SENSORS_LIS3DH /* ST accelerometer */
+struct ext_slave_descr *lis3dh_get_slave_descr(void);
+#undef get_accel_slave_descr
+#define get_accel_slave_descr lis3dh_get_slave_descr
+#endif
+
+#ifdef CONFIG_MPU_SENSORS_LSM303DLHA /* ST accelerometer */
struct ext_slave_descr *lsm303dlha_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr lsm303dlha_get_slave_descr
#endif
/* MPU6000 Accel */
-#if defined(CONFIG_SENSORS_MPU6000) || defined(CONFIG_SENSORS_MPU6000_MODULE)
+#if defined(CONFIG_MPU_SENSORS_MPU6000) || \
+ defined(CONFIG_MPU_SENSORS_MPU6000_MODULE)
struct ext_slave_descr *mantis_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr mantis_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_MMA8450 /* Freescale accelerometer */
+#ifdef CONFIG_MPU_SENSORS_MMA8450 /* Freescale accelerometer */
struct ext_slave_descr *mma8450_get_slave_descr(void);
#undef get_accel_slave_descr
#define get_accel_slave_descr mma8450_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_MMA8451 /* Freescale accelerometer */
-struct ext_slave_descr *mma8451_get_slave_descr(void);
+#ifdef CONFIG_MPU_SENSORS_MMA845X /* Freescale accelerometer */
+struct ext_slave_descr *mma845x_get_slave_descr(void);
#undef get_accel_slave_descr
-#define get_accel_slave_descr mma8451_get_slave_descr
+#define get_accel_slave_descr mma845x_get_slave_descr
#endif
@@ -369,54 +391,59 @@ struct ext_slave_descr *mma8451_get_slave_descr(void);
*/
#define get_compass_slave_descr NULL
-#ifdef CONFIG_SENSORS_AK8975_MPU /* AKM compass */
+#ifdef CONFIG_MPU_SENSORS_AK8975 /* AKM compass */
struct ext_slave_descr *ak8975_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr ak8975_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_AMI30X /* AICHI Steel compass */
+#ifdef CONFIG_MPU_SENSORS_AMI30X /* AICHI Steel compass */
struct ext_slave_descr *ami30x_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr ami30x_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_HMC5883 /* Honeywell compass */
+#ifdef CONFIG_MPU_SENSORS_HMC5883 /* Honeywell compass */
struct ext_slave_descr *hmc5883_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr hmc5883_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_MMC314X /* MEMSIC compass */
+#ifdef CONFIG_MPU_SENSORS_MMC314X /* MEMSIC compass */
struct ext_slave_descr *mmc314x_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr mmc314x_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_LSM303DLHM /* ST compass */
+#ifdef CONFIG_MPU_SENSORS_LSM303DLHM /* ST compass */
struct ext_slave_descr *lsm303dlhm_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr lsm303dlhm_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_YAS529 /* Yamaha compass */
+#ifdef CONFIG_MPU_SENSORS_YAS529 /* Yamaha compass */
struct ext_slave_descr *yas529_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr yas529_get_slave_descr
#endif
-#ifdef CONFIG_SENSORS_HSCDTD002B /* Alps compass */
+#ifdef CONFIG_MPU_SENSORS_HSCDTD002B /* Alps HSCDTD002B compass */
struct ext_slave_descr *hscdtd002b_get_slave_descr(void);
#undef get_compass_slave_descr
#define get_compass_slave_descr hscdtd002b_get_slave_descr
#endif
+#ifdef CONFIG_MPU_SENSORS_HSCDTD004A /* Alps HSCDTD004A compass */
+struct ext_slave_descr *hscdtd004a_get_slave_descr(void);
+#undef get_compass_slave_descr
+#define get_compass_slave_descr hscdtd004a_get_slave_descr
+#endif
/*
Pressure
*/
#define get_pressure_slave_descr NULL
-#ifdef CONFIG_SENSORS_BMA085 /* BMA pressure */
+#ifdef CONFIG_MPU_SENSORS_BMA085 /* BMA pressure */
struct ext_slave_descr *bma085_get_slave_descr(void);
#undef get_pressure_slave_descr
#define get_pressure_slave_descr bma085_get_slave_descr
diff --git a/include/linux/mpu6000.h b/include/linux/mpu6000.h
index 89c4cbb90b69..5a63c8f07b70 100644
--- a/include/linux/mpu6000.h
+++ b/include/linux/mpu6000.h
@@ -34,122 +34,122 @@
/*==== M_HW REGISTER SET ====*/
enum {
- MPUREG_XG_OFFS_TC = 0,
- MPUREG_YG_OFFS_TC,
- MPUREG_ZG_OFFS_TC,
- MPUREG_X_FINE_GAIN,
- MPUREG_Y_FINE_GAIN,
- MPUREG_Z_FINE_GAIN,
- MPUREG_XA_OFFS_H,
- MPUREG_XA_OFFS_L_TC,
- MPUREG_YA_OFFS_H,
- MPUREG_YA_OFFS_L_TC,
- MPUREG_ZA_OFFS_H,
+ MPUREG_XG_OFFS_TC = 0, /* 0x00 */
+ MPUREG_YG_OFFS_TC, /* 0x00 */
+ MPUREG_ZG_OFFS_TC, /* 0x00 */
+ MPUREG_X_FINE_GAIN, /* 0x00 */
+ MPUREG_Y_FINE_GAIN, /* 0x00 */
+ MPUREG_Z_FINE_GAIN, /* 0x00 */
+ MPUREG_XA_OFFS_H, /* 0x00 */
+ MPUREG_XA_OFFS_L_TC, /* 0x00 */
+ MPUREG_YA_OFFS_H, /* 0x00 */
+ MPUREG_YA_OFFS_L_TC, /* 0x00 */
+ MPUREG_ZA_OFFS_H, /* 0x00 */
MPUREG_ZA_OFFS_L_TC, /* 0xB */
- MPUREG_0C_RSVD,
- MPUREG_0D_RSVD,
- MPUREG_0E_RSVD,
- MPUREG_0F_RSVD,
- MPUREG_10_RSVD,
- MPUREG_11_RSVD,
- MPUREG_12_RSVD,
- MPUREG_XG_OFFS_USRH,
- MPUREG_XG_OFFS_USRL,
- MPUREG_YG_OFFS_USRH,
- MPUREG_YG_OFFS_USRL,
- MPUREG_ZG_OFFS_USRH,
- MPUREG_ZG_OFFS_USRL,
+ MPUREG_0C_RSVD, /* 0x00 */
+ MPUREG_0D_RSVD, /* 0x00 */
+ MPUREG_0E_RSVD, /* 0x00 */
+ MPUREG_0F_RSVD, /* 0x00 */
+ MPUREG_10_RSVD, /* 0x00 */
+ MPUREG_11_RSVD, /* 0x00 */
+ MPUREG_12_RSVD, /* 0x00 */
+ MPUREG_XG_OFFS_USRH, /* 0x00 */
+ MPUREG_XG_OFFS_USRL, /* 0x00 */
+ MPUREG_YG_OFFS_USRH, /* 0x00 */
+ MPUREG_YG_OFFS_USRL, /* 0x00 */
+ MPUREG_ZG_OFFS_USRH, /* 0x00 */
+ MPUREG_ZG_OFFS_USRL, /* 0x00 */
MPUREG_SMPLRT_DIV, /* 0x19 */
MPUREG_CONFIG, /* 0x1A ==> DLPF_FS_SYNC */
- MPUREG_GYRO_CONFIG,
- MPUREG_ACCEL_CONFIG,
- MPUREG_ACCEL_FF_THR,
- MPUREG_ACCEL_FF_DUR,
- MPUREG_ACCEL_MOT_THR,
- MPUREG_ACCEL_MOT_DUR,
- MPUREG_ACCEL_ZRMOT_THR,
- MPUREG_ACCEL_ZRMOT_DUR,
+ MPUREG_GYRO_CONFIG, /* 0x00 */
+ MPUREG_ACCEL_CONFIG, /* 0x00 */
+ MPUREG_ACCEL_FF_THR, /* 0x00 */
+ MPUREG_ACCEL_FF_DUR, /* 0x00 */
+ MPUREG_ACCEL_MOT_THR, /* 0x00 */
+ MPUREG_ACCEL_MOT_DUR, /* 0x00 */
+ MPUREG_ACCEL_ZRMOT_THR, /* 0x00 */
+ MPUREG_ACCEL_ZRMOT_DUR, /* 0x00 */
MPUREG_FIFO_EN, /* 0x23 */
- MPUREG_I2C_MST_CTRL,
+ MPUREG_I2C_MST_CTRL, /* 0x00 */
MPUREG_I2C_SLV0_ADDR, /* 0x25 */
- MPUREG_I2C_SLV0_REG,
- MPUREG_I2C_SLV0_CTRL,
+ MPUREG_I2C_SLV0_REG, /* 0x00 */
+ MPUREG_I2C_SLV0_CTRL, /* 0x00 */
MPUREG_I2C_SLV1_ADDR, /* 0x28 */
- MPUREG_I2C_SLV1_REG_PASSWORD,
- MPUREG_I2C_SLV1_CTRL,
+ MPUREG_I2C_SLV1_REG_PASSWORD, /* 0x00 */
+ MPUREG_I2C_SLV1_CTRL, /* 0x00 */
MPUREG_I2C_SLV2_ADDR, /* 0x2B */
- MPUREG_I2C_SLV2_REG,
- MPUREG_I2C_SLV2_CTRL,
+ MPUREG_I2C_SLV2_REG, /* 0x00 */
+ MPUREG_I2C_SLV2_CTRL, /* 0x00 */
MPUREG_I2C_SLV3_ADDR, /* 0x2E */
- MPUREG_I2C_SLV3_REG,
- MPUREG_I2C_SLV3_CTRL,
+ MPUREG_I2C_SLV3_REG, /* 0x00 */
+ MPUREG_I2C_SLV3_CTRL, /* 0x00 */
MPUREG_I2C_SLV4_ADDR, /* 0x31 */
- MPUREG_I2C_SLV4_REG,
- MPUREG_I2C_SLV4_DO,
- MPUREG_I2C_SLV4_CTRL,
- MPUREG_I2C_SLV4_DI,
+ MPUREG_I2C_SLV4_REG, /* 0x00 */
+ MPUREG_I2C_SLV4_DO, /* 0x00 */
+ MPUREG_I2C_SLV4_CTRL, /* 0x00 */
+ MPUREG_I2C_SLV4_DI, /* 0x00 */
MPUREG_I2C_MST_STATUS, /* 0x36 */
MPUREG_INT_PIN_CFG, /* 0x37 ==> -* INT_CFG */
MPUREG_INT_ENABLE, /* 0x38 ==> / */
MPUREG_DMP_INT_STATUS, /* 0x39 */
MPUREG_INT_STATUS, /* 0x3A */
MPUREG_ACCEL_XOUT_H, /* 0x3B */
- MPUREG_ACCEL_XOUT_L,
- MPUREG_ACCEL_YOUT_H,
- MPUREG_ACCEL_YOUT_L,
- MPUREG_ACCEL_ZOUT_H,
- MPUREG_ACCEL_ZOUT_L,
+ MPUREG_ACCEL_XOUT_L, /* 0x00 */
+ MPUREG_ACCEL_YOUT_H, /* 0x00 */
+ MPUREG_ACCEL_YOUT_L, /* 0x00 */
+ MPUREG_ACCEL_ZOUT_H, /* 0x00 */
+ MPUREG_ACCEL_ZOUT_L, /* 0x00 */
MPUREG_TEMP_OUT_H, /* 0x41 */
- MPUREG_TEMP_OUT_L,
+ MPUREG_TEMP_OUT_L, /* 0x00 */
MPUREG_GYRO_XOUT_H, /* 0x43 */
- MPUREG_GYRO_XOUT_L,
- MPUREG_GYRO_YOUT_H,
- MPUREG_GYRO_YOUT_L,
- MPUREG_GYRO_ZOUT_H,
- MPUREG_GYRO_ZOUT_L,
+ MPUREG_GYRO_XOUT_L, /* 0x00 */
+ MPUREG_GYRO_YOUT_H, /* 0x00 */
+ MPUREG_GYRO_YOUT_L, /* 0x00 */
+ MPUREG_GYRO_ZOUT_H, /* 0x00 */
+ MPUREG_GYRO_ZOUT_L, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_00, /* 0x49 */
- MPUREG_EXT_SLV_SENS_DATA_01,
- MPUREG_EXT_SLV_SENS_DATA_02,
- MPUREG_EXT_SLV_SENS_DATA_03,
- MPUREG_EXT_SLV_SENS_DATA_04,
- MPUREG_EXT_SLV_SENS_DATA_05,
+ MPUREG_EXT_SLV_SENS_DATA_01, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_02, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_03, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_04, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_05, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_06, /* 0x4F */
- MPUREG_EXT_SLV_SENS_DATA_07,
- MPUREG_EXT_SLV_SENS_DATA_08,
- MPUREG_EXT_SLV_SENS_DATA_09,
- MPUREG_EXT_SLV_SENS_DATA_10,
- MPUREG_EXT_SLV_SENS_DATA_11,
+ MPUREG_EXT_SLV_SENS_DATA_07, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_08, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_09, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_10, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_11, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_12, /* 0x55 */
- MPUREG_EXT_SLV_SENS_DATA_13,
- MPUREG_EXT_SLV_SENS_DATA_14,
- MPUREG_EXT_SLV_SENS_DATA_15,
- MPUREG_EXT_SLV_SENS_DATA_16,
- MPUREG_EXT_SLV_SENS_DATA_17,
+ MPUREG_EXT_SLV_SENS_DATA_13, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_14, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_15, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_16, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_17, /* 0x00 */
MPUREG_EXT_SLV_SENS_DATA_18, /* 0x5B */
- MPUREG_EXT_SLV_SENS_DATA_19,
- MPUREG_EXT_SLV_SENS_DATA_20,
- MPUREG_EXT_SLV_SENS_DATA_21,
- MPUREG_EXT_SLV_SENS_DATA_22,
- MPUREG_EXT_SLV_SENS_DATA_23,
+ MPUREG_EXT_SLV_SENS_DATA_19, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_20, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_21, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_22, /* 0x00 */
+ MPUREG_EXT_SLV_SENS_DATA_23, /* 0x00 */
ACCEL_INTEL_STATUS, /* 0x61 */
- MPUREG_62_RSVD,
- MPUREG_63_RSVD,
- MPUREG_64_RSVD,
- MPUREG_65_RSVD,
- MPUREG_66_RSVD,
- MPUREG_67_RSVD,
+ MPUREG_62_RSVD, /* 0x00 */
+ MPUREG_63_RSVD, /* 0x00 */
+ MPUREG_64_RSVD, /* 0x00 */
+ MPUREG_65_RSVD, /* 0x00 */
+ MPUREG_66_RSVD, /* 0x00 */
+ MPUREG_67_RSVD, /* 0x00 */
SIGNAL_PATH_RESET, /* 0x68 */
ACCEL_INTEL_CTRL, /* 0x69 */
MPUREG_USER_CTRL, /* 0x6A */
MPUREG_PWR_MGMT_1, /* 0x6B */
- MPUREG_PWR_MGMT_2,
+ MPUREG_PWR_MGMT_2, /* 0x00 */
MPUREG_BANK_SEL, /* 0x6D */
MPUREG_MEM_START_ADDR, /* 0x6E */
MPUREG_MEM_R_W, /* 0x6F */
- MPUREG_PRGM_STRT_ADDRH,
- MPUREG_PRGM_STRT_ADDRL,
+ MPUREG_PRGM_STRT_ADDRH, /* 0x00 */
+ MPUREG_PRGM_STRT_ADDRL, /* 0x00 */
MPUREG_FIFO_COUNTH, /* 0x72 */
- MPUREG_FIFO_COUNTL,
+ MPUREG_FIFO_COUNTL, /* 0x00 */
MPUREG_FIFO_R_W, /* 0x74 */
MPUREG_WHOAMI, /* 0x75,117 */
@@ -309,7 +309,12 @@ enum MPU_MEMORY_BANKS {
#define BIT_STBY_ZG 0x01
/* although it has 6, this refers to the gyros */
-#define MPU_NUM_AXES (3)
+#define MPU_NUM_AXES (3)
+
+#define ACCEL_MOT_THR_LSB (32) /* mg */
+#define ACCEL_MOT_DUR_LSB (1)
+#define ACCEL_ZRMOT_THR_LSB_CONVERSION(mg) ((mg *1000)/255)
+#define ACCEL_ZRMOT_DUR_LSB (64)
/*----------------------------------------------------------------------------*/
/*---- Alternative names to take care of conflicts with current mpu3050.h ----*/
generated by cgit v1.2.3 (git 2.0.4) at 2024-06-08 11:11:21 +0000