From patchwork Sat Aug 25 21:19:07 2018 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Afonso Bordado X-Patchwork-Id: 10576213 Return-Path: Received: from mail.wl.linuxfoundation.org (pdx-wl-mail.web.codeaurora.org [172.30.200.125]) by pdx-korg-patchwork-2.web.codeaurora.org (Postfix) with ESMTP id 0E5F31926 for ; Sat, 25 Aug 2018 20:20:31 +0000 (UTC) Received: from mail.wl.linuxfoundation.org (localhost [127.0.0.1]) by mail.wl.linuxfoundation.org (Postfix) with ESMTP id E6B3929FA4 for ; Sat, 25 Aug 2018 20:20:30 +0000 (UTC) Received: by mail.wl.linuxfoundation.org (Postfix, from userid 486) id C30E529FF1; Sat, 25 Aug 2018 20:20:30 +0000 (UTC) X-Spam-Checker-Version: SpamAssassin 3.3.1 (2010-03-16) on pdx-wl-mail.web.codeaurora.org X-Spam-Level: X-Spam-Status: No, score=-8.0 required=2.0 tests=BAYES_00,DKIM_SIGNED, DKIM_VALID,DKIM_VALID_AU,MAILING_LIST_MULTI,RCVD_IN_DNSWL_HI autolearn=ham version=3.3.1 Received: from vger.kernel.org (vger.kernel.org [209.132.180.67]) by mail.wl.linuxfoundation.org (Postfix) with ESMTP id E436D29F4B for ; Sat, 25 Aug 2018 20:20:27 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1727085AbeHYX76 (ORCPT ); Sat, 25 Aug 2018 19:59:58 -0400 Received: from sender-of-o52.zoho.com ([135.84.80.217]:21384 "EHLO sender-of-o52.zoho.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1726891AbeHYX76 (ORCPT ); Sat, 25 Aug 2018 19:59:58 -0400 ARC-Seal: i=1; a=rsa-sha256; t=1535228367; cv=none; d=zoho.com; s=zohoarc; b=joLDAMtgNojYkT+1P29r0vVCoyFqxjdEyea+eQbT6CXgb4Xwe+2GSHq5g6+z3qbA+0YYVYS4raziSyNAF5/vPMqUC7LkN6bWMkcRoEQ32ZNauTkbaKsJmT72ltwbcfUAZddi6htcxKjj6k6GrSTG4RUdCaGXBpNDepjw9c4abaI= ARC-Message-Signature: i=1; a=rsa-sha256; c=relaxed/relaxed; d=zoho.com; s=zohoarc; t=1535228367; h=Cc:Date:From:Message-ID:Subject:To:ARC-Authentication-Results; bh=OOihP8jw4c4MSrkUVXUZe1DFBMize2Ps7LeHczX1U1o=; b=SmMsAwc87Vd8Uamzsl5hpJOhIGKbYOmK1CPbJJjVVGYuIZwfBQncDRybVTzWe5zQivS34lNpfaatJUBG3a3BlFijK84L49Ss+Z+pJ8/fNaONCy+4NXVvv+IzMhecZ9BF3Sh1yNYnu614jCsLfARk3UTLo9cZ1V3qX36SQFNyUQc= ARC-Authentication-Results: i=1; mx.zoho.com; dkim=pass header.i=az8.co; spf=pass smtp.mailfrom=afonsobordado@az8.co; dmarc=pass header.from= header.from= DKIM-Signature: v=1; a=rsa-sha256; q=dns/txt; c=relaxed/relaxed; t=1535228367; s=dkimmail; d=az8.co; i=afonsobordado@az8.co; h=From:To:Cc:Subject:Date:Message-Id; l=11194; bh=OOihP8jw4c4MSrkUVXUZe1DFBMize2Ps7LeHczX1U1o=; b=Kaw2rnh9//+CBQ04IZmSpWsEGIq1zeHAisUSo6xETC4gCDAD+JjwZMwomJBc4PsC nEXGgxRzkN0LrzWQMyOP28PJJDYukxGi26cMuF0ULCTZ5nTClz1dRZDxqj3CjCJp2/6 Ui0/sUBxyMFRzf4DBSFL0LhHZqIcsuJnJuzqcWdI= Received: from localhost (bl9-77-228.dsl.telepac.pt [85.242.77.228]) by mx.zohomail.com with SMTPS id 1535228366855182.51082483659934; Sat, 25 Aug 2018 13:19:26 -0700 (PDT) From: Afonso Bordado To: jic23@kernel.org, knaack.h@gmx.de, lars@metafoo.de, pmeerw@pmeerw.net Cc: linux-iio@vger.kernel.org, linux-kernel@vger.kernel.org, devicetree@vger.kernel.org Subject: [PATCH 1/4] iio: gyro: add support for fxas21002c Date: Sat, 25 Aug 2018 22:19:07 +0100 Message-Id: <20180825211910.22929-1-afonsobordado@az8.co> X-Mailer: git-send-email 2.18.0 X-ZohoMailClient: External Sender: linux-iio-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-iio@vger.kernel.org X-Virus-Scanned: ClamAV using ClamSMTP FXAS21002C is a 3 axis gyroscope with integrated temperature sensor Signed-off-by: Afonso Bordado --- drivers/iio/gyro/Kconfig | 11 ++ drivers/iio/gyro/Makefile | 1 + drivers/iio/gyro/fxas21002c.c | 363 ++++++++++++++++++++++++++++++++++ 3 files changed, 375 insertions(+) create mode 100644 drivers/iio/gyro/fxas21002c.c diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig index 3126cf05e6b9..d71e33ea9fa4 100644 --- a/drivers/iio/gyro/Kconfig +++ b/drivers/iio/gyro/Kconfig @@ -73,6 +73,17 @@ config BMG160_SPI tristate select REGMAP_SPI +config FXAS21002C + tristate "Freescale FXAS21002C Gyroscope" + depends on I2C + select REGMAP_I2C + help + Say yes here to build support for the Freescale FXAS21002C Gyroscope + driver connected via I2C. + + This driver can also be built as a module. If so, the module + will be called fxas21002c. + config HID_SENSOR_GYRO_3D depends on HID_SENSOR_HUB select IIO_BUFFER diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile index 295ec780c4eb..ec3e2aeae92a 100644 --- a/drivers/iio/gyro/Makefile +++ b/drivers/iio/gyro/Makefile @@ -12,6 +12,7 @@ obj-$(CONFIG_ADXRS450) += adxrs450.o obj-$(CONFIG_BMG160) += bmg160_core.o obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o +obj-$(CONFIG_FXAS21002C) += fxas21002c.o obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o diff --git a/drivers/iio/gyro/fxas21002c.c b/drivers/iio/gyro/fxas21002c.c new file mode 100644 index 000000000000..7626b2f88d72 --- /dev/null +++ b/drivers/iio/gyro/fxas21002c.c @@ -0,0 +1,363 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * FXAS21002C - Digital Angular Rate Gyroscope driver + * + * Copyright (c) 2018, Afonso Bordado + * + * IIO driver for FXAS21002C (7-bit I2C slave address 0x20 or 0x21). + * Datasheet: https://www.nxp.com/docs/en/data-sheet/FXAS21002.pdf + * TODO: + * ODR / Scale Support + * Devicetree + * Power management + * LowPass/HighPass Filters + * Buffers + * Interrupts + * Alarms + */ + +#include +#include +#include +#include +#include + +#define FXAS21002C_DRV_NAME "fxas21002c" + +#define FXAS21002C_MAX_TRANSITION_TIME_MS 61 + +#define FXAS21002C_CHIP_ID 0xD7 + +#define FXAS21002C_REG_STATUS 0x00 +#define FXAS21002C_REG_OUT_X_MSB 0x01 +#define FXAS21002C_REG_OUT_X_LSB 0x02 +#define FXAS21002C_REG_OUT_Y_MSB 0x03 +#define FXAS21002C_REG_OUT_Y_LSB 0x04 +#define FXAS21002C_REG_OUT_Z_MSB 0x05 +#define FXAS21002C_REG_OUT_Z_LSB 0x06 +#define FXAS21002C_REG_DR_STATUS 0x07 +#define FXAS21002C_REG_F_STATUS 0x08 +#define FXAS21002C_REG_F_SETUP 0x09 +#define FXAS21002C_REG_F_EVENT 0x0A +#define FXAS21002C_REG_INT_SRC_FLAG 0x0B +#define FXAS21002C_REG_WHO_AM_I 0x0C +#define FXAS21002C_REG_CTRL_REG0 0x0D +#define FXAS21002C_REG_RT_CFG 0x0E +#define FXAS21002C_REG_RT_SRC 0x0F +#define FXAS21002C_REG_RT_THS 0x10 +#define FXAS21002C_REG_RT_COUNT 0x11 +#define FXAS21002C_REG_TEMP 0x12 + +#define FXAS21002C_REG_CTRL_REG1 0x13 +#define FXAS21002C_RST_BIT BIT(6) +#define FXAS21002C_ACTIVE_BIT BIT(1) +#define FXAS21002C_READY_BIT BIT(0) + +#define FXAS21002C_REG_CTRL_REG2 0x14 +#define FXAS21002C_REG_CTRL_REG3 0x15 + +#define FXAS21002C_DEFAULT_ODR_HZ 800 + +// 0.0625 deg/s +#define FXAS21002C_DEFAULT_SENSITIVITY IIO_DEGREE_TO_RAD(62500) + +enum fxas21002c_id { + ID_FXAS21002C, +}; + +enum fxas21002c_operating_mode { + FXAS21002C_OM_BOOT, + FXAS21002C_OM_STANDBY, + FXAS21002C_OM_READY, + FXAS21002C_OM_ACTIVE, +}; + +struct fxas21002c_data { + struct i2c_client *client; + struct regmap *regmap; +}; + +static const struct regmap_range fxas21002c_writable_ranges[] = { + regmap_reg_range(FXAS21002C_REG_F_SETUP, FXAS21002C_REG_F_SETUP), + regmap_reg_range(FXAS21002C_REG_CTRL_REG0, FXAS21002C_REG_RT_CFG), + regmap_reg_range(FXAS21002C_REG_RT_THS, FXAS21002C_REG_RT_COUNT), + regmap_reg_range(FXAS21002C_REG_CTRL_REG1, FXAS21002C_REG_CTRL_REG3), +}; + +static const struct regmap_access_table fxas21002c_writable_table = { + .yes_ranges = fxas21002c_writable_ranges, + .n_yes_ranges = ARRAY_SIZE(fxas21002c_writable_ranges), +}; + +static const struct regmap_range fxas21002c_volatile_ranges[] = { + regmap_reg_range(FXAS21002C_REG_STATUS, FXAS21002C_REG_F_STATUS), + regmap_reg_range(FXAS21002C_REG_F_EVENT, FXAS21002C_REG_INT_SRC_FLAG), + regmap_reg_range(FXAS21002C_REG_RT_COUNT, FXAS21002C_REG_CTRL_REG1), +}; + +static const struct regmap_access_table fxas21002c_volatile_table = { + .yes_ranges = fxas21002c_volatile_ranges, + .n_yes_ranges = ARRAY_SIZE(fxas21002c_volatile_ranges), +}; + +const struct regmap_config fxas21002c_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + + .max_register = FXAS21002C_REG_CTRL_REG3, + // We don't specify a .rd_table because everything is readable + .wr_table = &fxas21002c_writable_table, + .volatile_table = &fxas21002c_volatile_table, +}; +EXPORT_SYMBOL(fxas21002c_regmap_config); + +#define FXAS21002C_GYRO_CHAN(_axis) { \ + .type = IIO_ANGL_VEL, \ + .modified = 1, \ + .channel2 = IIO_MOD_ ## _axis, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .address = FXAS21002C_REG_OUT_ ## _axis ## _MSB, \ +} + +static const struct iio_chan_spec fxas21002c_channels[] = { + { + .type = IIO_TEMP, + .address = FXAS21002C_REG_TEMP, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + }, + FXAS21002C_GYRO_CHAN(X), + FXAS21002C_GYRO_CHAN(Y), + FXAS21002C_GYRO_CHAN(Z), + IIO_CHAN_SOFT_TIMESTAMP(3), +}; + +static int fxas21002c_set_operating_mode(struct fxas21002c_data *data, + enum fxas21002c_operating_mode om) +{ + int ret; + int mask = 0; + + switch (om) { + case FXAS21002C_OM_STANDBY: + break; + case FXAS21002C_OM_READY: + mask |= FXAS21002C_READY_BIT; + break; + case FXAS21002C_OM_ACTIVE: + mask |= FXAS21002C_ACTIVE_BIT; + break; + + default: + return -EINVAL; + } + + ret = regmap_write(data->regmap, FXAS21002C_REG_CTRL_REG1, mask); + if (ret) { + dev_err(&data->client->dev, + "could not switch operating mode\n"); + return ret; + } + + msleep(FXAS21002C_MAX_TRANSITION_TIME_MS); + + return 0; +} + +static int fxas21002c_reset(struct fxas21002c_data *data) +{ + int ret; + + /* + * On issuing a Software Reset command over an I2C interface, + * the device immediately resets and does not send any + * acknowledgment (ACK) of the written byte to the Master. + * + * This is documented in table 46 on the datasheet. Due to this + * the write will fail with EREMOTEIO. + */ + ret = regmap_write(data->regmap, + FXAS21002C_REG_CTRL_REG1, FXAS21002C_RST_BIT); + + if (ret != -EREMOTEIO) { + dev_err(&data->client->dev, "could not reset device\n"); + return ret; + } + + regcache_mark_dirty(data->regmap); + + // Wait for device to boot up + msleep(FXAS21002C_MAX_TRANSITION_TIME_MS); + + return 0; +} + +static int fxas21002c_verify_chip(struct fxas21002c_data *data) +{ + int ret; + int chip_id; + + ret = regmap_read(data->regmap, FXAS21002C_REG_WHO_AM_I, &chip_id); + if (ret) { + dev_err(&data->client->dev, "could not read device id\n"); + return ret; + } + + if (chip_id != FXAS21002C_CHIP_ID) { + dev_err(&data->client->dev, + "unsupported chip id %02x\n", chip_id); + return -ENODEV; + } + + return 0; +} + +static int fxas21002c_read_oneshot(struct fxas21002c_data *data, + struct iio_chan_spec const *chan, int *val) +{ + int ret; + int raw; + __be16 bulk_raw; + + switch (chan->type) { + case IIO_ANGL_VEL: + ret = regmap_bulk_read(data->regmap, chan->address, + &bulk_raw, sizeof(bulk_raw)); + if (ret) + return ret; + + *val = sign_extend32(be16_to_cpu(bulk_raw), 15); + break; + case IIO_TEMP: + ret = regmap_read(data->regmap, chan->address, &raw); + if (ret) + return ret; + + *val = raw * 1000; // Convert to millicelsius + break; + default: + return -EINVAL; + } + + return IIO_VAL_INT; +} + +static int fxas21002c_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int *val, + int *val2, long mask) +{ + struct fxas21002c_data *data = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_RAW: + return fxas21002c_read_oneshot(data, chan, val); + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ANGL_VEL) + return -EINVAL; + + *val = 0; + *val2 = FXAS21002C_DEFAULT_SENSITIVITY; + + return IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_SAMP_FREQ: + if (chan->type != IIO_ANGL_VEL) + return -EINVAL; + + *val = FXAS21002C_DEFAULT_ODR_HZ; + + return IIO_VAL_INT; + } + + return -EINVAL; +} + +static const struct iio_info fxas21002c_info = { + .read_raw = fxas21002c_read_raw, +}; + +static int fxas21002c_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + int ret; + struct iio_dev *indio_dev; + struct fxas21002c_data *data; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + i2c_set_clientdata(client, indio_dev); + data = iio_priv(indio_dev); + data->client = client; + + data->regmap = devm_regmap_init_i2c(client, &fxas21002c_regmap_config); + if (IS_ERR(data->regmap)) { + ret = PTR_ERR(data->regmap); + dev_err(&client->dev, + "Failed to allocate regmap, err: %d\n", ret); + return ret; + } + + indio_dev->dev.parent = &client->dev; + indio_dev->channels = fxas21002c_channels; + indio_dev->num_channels = ARRAY_SIZE(fxas21002c_channels); + indio_dev->name = id->name; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &fxas21002c_info; + + ret = fxas21002c_verify_chip(data); + if (ret < 0) + return ret; + + ret = fxas21002c_reset(data); + if (ret < 0) + return ret; + + ret = fxas21002c_set_operating_mode(data, FXAS21002C_OM_ACTIVE); + if (ret < 0) + return ret; + + ret = iio_device_register(indio_dev); + if (ret < 0) { + dev_err(&client->dev, "Failed to register iio device\n"); + fxas21002c_set_operating_mode(data, FXAS21002C_OM_STANDBY); + return ret; + } + + return 0; +} + +static int fxas21002c_remove(struct i2c_client *client) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(client); + struct fxas21002c_data *data = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + + fxas21002c_set_operating_mode(data, FXAS21002C_OM_STANDBY); + + return 0; +} + +static const struct i2c_device_id fxas21002c_id[] = { + {"fxas21002c", ID_FXAS21002C}, + {} +}; + +MODULE_DEVICE_TABLE(i2c, fxas21002c_id); + +static struct i2c_driver fxas21002c_driver = { + .driver = { + .name = FXAS21002C_DRV_NAME, + }, + .probe = fxas21002c_probe, + .remove = fxas21002c_remove, + .id_table = fxas21002c_id, +}; + +module_i2c_driver(fxas21002c_driver); + +MODULE_AUTHOR("Afonso Bordado "); +MODULE_DESCRIPTION("FXAS21002C Digital Angular Rate Gyroscope driver"); +MODULE_LICENSE("GPL v2");