@@ -216,8 +216,8 @@ config YAMAHA_YAS530
select IIO_TRIGGERED_BUFFER
help
Say Y here to add support for the Yamaha YAS530 series of
- 3-Axis Magnetometers. Right now YAS530, YAS532 and YAS533 are
- fully supported.
+ 3-Axis Magnetometers. YAS530, YAS532, YAS533 and YAS537 are
+ supported.
This driver can also be compiled as a module.
To compile this driver as a module, choose M here: the module
@@ -17,6 +17,9 @@
* named "inv_compass" in the Tegra Android kernel tree.
* Copyright (C) 2012 InvenSense Corporation
*
+ * Code functions for YAS537 based on Yamaha Android kernel driver.
+ * Copyright (c) 2014 Yamaha Corporation
+ *
* Author: Linus Walleij <linus.walleij@linaro.org>
*/
#include <linux/bitfield.h>
@@ -32,6 +35,7 @@
#include <linux/regmap.h>
#include <linux/regulator/consumer.h>
#include <linux/random.h>
+#include <linux/units.h>
#include <linux/iio/buffer.h>
#include <linux/iio/iio.h>
@@ -56,6 +60,23 @@
#define YAS530_TEST2 0x89
#define YAS530_CAL 0x90
+/* Registers used by YAS537 */
+#define YAS537_MEASURE 0x81 /* Originally YAS537_REG_CMDR */
+#define YAS537_CONFIG 0x82 /* Originally YAS537_REG_CONFR */
+#define YAS537_MEASURE_INTERVAL 0x83 /* Originally YAS537_REG_INTRVLR */
+#define YAS537_OFFSET_X 0x84 /* Originally YAS537_REG_OXR */
+#define YAS537_OFFSET_Y1 0x85 /* Originally YAS537_REG_OY1R */
+#define YAS537_OFFSET_Y2 0x86 /* Originally YAS537_REG_OY2R */
+#define YAS537_AVR 0x87
+#define YAS537_HCK 0x88
+#define YAS537_LCK 0x89
+#define YAS537_SRST 0x90
+#define YAS537_ADCCAL 0x91
+#define YAS537_MTC 0x93
+#define YAS537_OC 0x9E
+#define YAS537_TRM 0x9F
+#define YAS537_CAL 0xC0
+
/* Bits in the YAS5xx config register */
#define YAS5XX_CONFIG_INTON BIT(0) /* Interrupt on? */
#define YAS5XX_CONFIG_INTHACT BIT(1) /* Interrupt active high? */
@@ -67,6 +88,7 @@
#define YAS5XX_MEASURE_LDTC BIT(1)
#define YAS5XX_MEASURE_FORS BIT(2)
#define YAS5XX_MEASURE_DLYMES BIT(4)
+#define YAS5XX_MEASURE_CONT BIT(5)
/* Bits in the measure data register */
#define YAS5XX_MEASURE_DATA_BUSY BIT(7)
@@ -91,6 +113,22 @@
#define YAS532_DATA_CENTER BIT(YAS532_DATA_BITS - 1)
#define YAS532_DATA_OVERFLOW (BIT(YAS532_DATA_BITS) - 1)
+#define YAS537_DEVICE_ID 0x07 /* YAS537 (MS-3T) */
+#define YAS537_VERSION_0 0 /* Version naming unknown */
+#define YAS537_VERSION_1 1 /* Version naming unknown */
+#define YAS537_MAG_AVERAGE_32_MASK GENMASK(6, 4)
+#define YAS537_MEASURE_TIME_WORST_US 1500
+#define YAS537_DEFAULT_SENSOR_DELAY_MS 50
+#define YAS537_MAG_RCOIL_TIME_US 65
+#define YAS537_MTC3_MASK_PREP GENMASK(7, 0)
+#define YAS537_MTC3_MASK_GET GENMASK(7, 5)
+#define YAS537_MTC3_ADD_BIT BIT(4)
+#define YAS537_HCK_MASK_PREP GENMASK(4, 0)
+#define YAS537_HCK_MASK_GET GENMASK(7, 4)
+#define YAS537_LCK_MASK_PREP GENMASK(4, 0)
+#define YAS537_LCK_MASK_GET GENMASK(3, 0)
+#define YAS537_OC_MASK_GET GENMASK(5, 0)
+
/* Turn off device regulators etc after 5 seconds of inactivity */
#define YAS5XX_AUTOSUSPEND_DELAY_MS 5000
@@ -98,6 +136,7 @@ enum chip_ids {
yas530,
yas532,
yas533,
+ yas537,
};
static const int yas530_volatile_reg[] = {
@@ -105,6 +144,10 @@ static const int yas530_volatile_reg[] = {
YAS530_MEASURE,
};
+static const int yas537_volatile_reg[] = {
+ YAS537_MEASURE,
+};
+
struct yas5xx_calibration {
/* Linearization calibration x, y1, y2 */
s32 r[3];
@@ -138,7 +181,7 @@ struct yas5xx;
* @power_on: function pointer to power-on procedure
*
* The "t_ref" value for YAS532/533 is known from the Android driver.
- * For YAS530 it was approximately measured.
+ * For YAS530 and YAS537 it was approximately measured.
*
* The temperatures "min_temp_x10" are derived from the temperature resolutions
* given in the data sheets.
@@ -312,6 +355,77 @@ static int yas530_measure(struct yas5xx *yas5xx, u16 *t, u16 *x, u16 *y1, u16 *y
return ret;
}
+/**
+ * yas537_measure() - Make a measure from the hardware
+ * @yas5xx: The device state
+ * @t: the raw temperature measurement
+ * @x: the raw x axis measurement
+ * @y1: the y1 axis measurement
+ * @y2: the y2 axis measurement
+ * @return: 0 on success or error code
+ */
+static int yas537_measure(struct yas5xx *yas5xx, u16 *t, u16 *x, u16 *y1, u16 *y2)
+{
+ struct yas5xx_calibration *c = &yas5xx->calibration;
+ unsigned int busy;
+ u8 data[8];
+ u16 xy1y2[3];
+ s32 h[3], s[3];
+ int i, ret;
+
+ mutex_lock(&yas5xx->lock);
+
+ /* Contrary to YAS530/532, also a "cont" bit is set, meaning unknown */
+ ret = regmap_write(yas5xx->map, YAS537_MEASURE, YAS5XX_MEASURE_START |
+ YAS5XX_MEASURE_CONT);
+ if (ret < 0)
+ goto out_unlock;
+
+ /* Use same timeout like YAS530/532 but the bit is in data row 2 */
+ ret = regmap_read_poll_timeout(yas5xx->map, YAS5XX_MEASURE_DATA + 2, busy,
+ !(busy & YAS5XX_MEASURE_DATA_BUSY),
+ 500, 20000);
+ if (ret) {
+ dev_err(yas5xx->dev, "timeout waiting for measurement\n");
+ goto out_unlock;
+ }
+
+ ret = regmap_bulk_read(yas5xx->map, YAS5XX_MEASURE_DATA,
+ data, sizeof(data));
+ if (ret)
+ goto out_unlock;
+
+ mutex_unlock(&yas5xx->lock);
+
+ *t = get_unaligned_be16(&data[0]);
+ xy1y2[0] = FIELD_GET(GENMASK(13, 0), get_unaligned_be16(&data[2]));
+ xy1y2[1] = get_unaligned_be16(&data[4]);
+ xy1y2[2] = get_unaligned_be16(&data[6]);
+
+ /* The second version of YAS537 needs to include calibration coefficients */
+ if (yas5xx->version == YAS537_VERSION_1) {
+ for (i = 0; i < 3; i++)
+ s[i] = xy1y2[i] - BIT(13);
+ h[0] = (c->k * (128 * s[0] + c->a2 * s[1] + c->a3 * s[2])) / BIT(13);
+ h[1] = (c->k * (c->a4 * s[0] + c->a5 * s[1] + c->a6 * s[2])) / BIT(13);
+ h[2] = (c->k * (c->a7 * s[0] + c->a8 * s[1] + c->a9 * s[2])) / BIT(13);
+ for (i = 0; i < 3; i++) {
+ clamp_val(h[i], -BIT(13), BIT(13) - 1);
+ xy1y2[i] = h[i] + BIT(13);
+ }
+ }
+
+ *x = xy1y2[0];
+ *y1 = xy1y2[1];
+ *y2 = xy1y2[2];
+
+ return 0;
+
+out_unlock:
+ mutex_unlock(&yas5xx->lock);
+ return ret;
+}
+
/* Used by YAS530, YAS532 and YAS533 */
static s32 yas530_linearize(struct yas5xx *yas5xx, u16 val, int axis)
{
@@ -457,6 +571,41 @@ static int yas530_get_measure(struct yas5xx *yas5xx, s32 *to, s32 *xo, s32 *yo,
return 0;
}
+/**
+ * yas537_get_measure() - Measure a sample of all axis and process
+ * @yas5xx: The device state
+ * @to: Temperature out
+ * @xo: X axis out
+ * @yo: Y axis out
+ * @zo: Z axis out
+ * @return: 0 on success or error code
+ */
+static int yas537_get_measure(struct yas5xx *yas5xx, s32 *to, s32 *xo, s32 *yo, s32 *zo)
+{
+ u16 t, x, y1, y2;
+ int ret;
+
+ /* We first get raw data that needs to be translated to [x,y,z] */
+ ret = yas537_measure(yas5xx, &t, &x, &y1, &y2);
+ if (ret)
+ return ret;
+
+ /* Calculate temperature readout */
+ *to = yas5xx_calc_temperature(yas5xx, t);
+
+ /*
+ * Unfortunately, no linearization or temperature compensation formulas
+ * are known for YAS537.
+ */
+
+ /* Calculate x, y, z from x, y1, y2 */
+ *xo = (x - BIT(13)) * 300;
+ *yo = (y1 - y2) * 1732 / 10;
+ *zo = (-y1 - y2 + BIT(14)) * 300;
+
+ return 0;
+}
+
static int yas5xx_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val, int *val2,
@@ -772,6 +921,202 @@ static int yas532_get_calibration_data(struct yas5xx *yas5xx)
return 0;
}
+static int yas537_get_calibration_data(struct yas5xx *yas5xx)
+{
+ struct yas5xx_calibration *c = &yas5xx->calibration;
+ u8 data[17];
+ u32 val1, val2, val3, val4;
+ int i, ret;
+
+ /* Writing SRST register */
+ ret = regmap_write(yas5xx->map, YAS537_SRST, BIT(1));
+ if (ret)
+ return ret;
+
+ /* Calibration readout, YAS537 needs one readout only */
+ ret = regmap_bulk_read(yas5xx->map, YAS537_CAL, data, sizeof(data));
+ if (ret)
+ return ret;
+ dev_dbg(yas5xx->dev, "calibration data: %17ph\n", data);
+
+ /* Sanity check, is this all zeroes? */
+ if (!memchr_inv(data, 0x00, 16) && !FIELD_GET(GENMASK(5, 0), data[16]))
+ dev_warn(yas5xx->dev, "calibration is blank!\n");
+
+ /* Contribute calibration data to the input pool for kernel entropy */
+ add_device_randomness(data, sizeof(data));
+
+ /* Extract version information */
+ yas5xx->version = FIELD_GET(GENMASK(7, 6), data[16]);
+
+ /* There are two versions of YAS537 behaving differently */
+ switch (yas5xx->version) {
+ case YAS537_VERSION_0:
+ /*
+ * The first version simply writes data back into registers:
+ *
+ * data[0] YAS537_MTC 0x93
+ * data[1] 0x94
+ * data[2] 0x95
+ * data[3] 0x96
+ * data[4] 0x97
+ * data[5] 0x98
+ * data[6] 0x99
+ * data[7] 0x9a
+ * data[8] 0x9b
+ * data[9] 0x9c
+ * data[10] 0x9d
+ * data[11] YAS537_OC 0x9e
+ *
+ * data[12] YAS537_OFFSET_X 0x84
+ * data[13] YAS537_OFFSET_Y1 0x85
+ * data[14] YAS537_OFFSET_Y2 0x86
+ *
+ * data[15] YAS537_HCK 0x88
+ * data[16] YAS537_LCK 0x89
+ */
+ for (i = 0; i < 12; i++) {
+ ret = regmap_write(yas5xx->map, YAS537_MTC + i,
+ data[i]);
+ if (ret)
+ return ret;
+ }
+ for (i = 0; i < 3; i++) {
+ ret = regmap_write(yas5xx->map, YAS537_OFFSET_X + i,
+ data[i + 12]);
+ if (ret)
+ return ret;
+ yas5xx->hard_offsets[i] = data[i + 12];
+ }
+ for (i = 0; i < 2; i++) {
+ ret = regmap_write(yas5xx->map, YAS537_HCK + i,
+ data[i + 15]);
+ if (ret)
+ return ret;
+ }
+ break;
+ case YAS537_VERSION_1:
+ /*
+ * The second version writes some data into registers but also
+ * extracts calibration coefficients.
+ *
+ * Registers being written:
+ *
+ * data[0] YAS537_MTC 0x93
+ * data[1] YAS537_MTC+1 0x94
+ * data[2] YAS537_MTC+2 0x95
+ * data[3] YAS537_MTC+3 (partially) 0x96
+ *
+ * data[12] YAS537_OFFSET_X 0x84
+ * data[13] YAS537_OFFSET_Y1 0x85
+ * data[14] YAS537_OFFSET_Y2 0x86
+ *
+ * data[15] YAS537_HCK (partially) 0x88
+ * YAS537_LCK (partially) 0x89
+ * data[16] YAS537_OC (partially) 0x9e
+ */
+ for (i = 0; i < 3; i++) {
+ ret = regmap_write(yas5xx->map, YAS537_MTC + i,
+ data[i]);
+ if (ret)
+ return ret;
+ }
+ for (i = 0; i < 3; i++) {
+ ret = regmap_write(yas5xx->map, YAS537_OFFSET_X + i,
+ data[i + 12]);
+ if (ret)
+ return ret;
+ yas5xx->hard_offsets[i] = data[i + 12];
+ }
+ /*
+ * Visualization of partially taken data:
+ *
+ * data[3] n 7 6 5 4 3 2 1 0
+ * YAS537_MTC+3 x x x 1 0 0 0 0
+ *
+ * data[15] n 7 6 5 4 3 2 1 0
+ * YAS537_HCK x x x x 0
+ *
+ * data[15] n 7 6 5 4 3 2 1 0
+ * YAS537_LCK x x x x 0
+ *
+ * data[16] n 7 6 5 4 3 2 1 0
+ * YAS537_OC x x x x x x
+ */
+ ret = regmap_write(yas5xx->map, YAS537_MTC + 3,
+ FIELD_PREP(YAS537_MTC3_MASK_PREP,
+ FIELD_GET(YAS537_MTC3_MASK_GET, data[3])) |
+ YAS537_MTC3_ADD_BIT);
+ if (ret)
+ return ret;
+ ret = regmap_write(yas5xx->map, YAS537_HCK,
+ FIELD_PREP(YAS537_HCK_MASK_PREP,
+ FIELD_GET(YAS537_HCK_MASK_GET, data[15])));
+ if (ret)
+ return ret;
+ ret = regmap_write(yas5xx->map, YAS537_LCK,
+ FIELD_PREP(YAS537_LCK_MASK_PREP,
+ FIELD_GET(YAS537_LCK_MASK_GET, data[15])));
+ if (ret)
+ return ret;
+ ret = regmap_write(yas5xx->map, YAS537_OC,
+ FIELD_GET(YAS537_OC_MASK_GET, data[16]));
+ if (ret)
+ return ret;
+ /*
+ * For data extraction, build some blocks. Four 32-bit blocks
+ * look appropriate.
+ *
+ * n 7 6 5 4 3 2 1 0
+ * data[0] 0 [ Cx Cx Cx Cx Cx Cx Cx Cx ] bits 31 .. 24
+ * data[1] 1 [ Cx C1 C1 C1 C1 C1 C1 C1 ] bits 23 .. 16
+ * data[2] 2 [ C1 C1 C2 C2 C2 C2 C2 C2 ] bits 15 .. 8
+ * data[3] 3 [ C2 C2 C2 ] bits 7 .. 0
+ *
+ * n 7 6 5 4 3 2 1 0
+ * data[3] 0 [ a2 a2 a2 a2 a2 ] bits 31 .. 24
+ * data[4] 1 [ a2 a2 a3 a3 a3 a3 a3 a3 ] bits 23 .. 16
+ * data[5] 2 [ a3 a4 a4 a4 a4 a4 a4 a4 ] bits 15 .. 8
+ * data[6] 3 [ a4 ] bits 7 .. 0
+ *
+ * n 7 6 5 4 3 2 1 0
+ * data[6] 0 [ a5 a5 a5 a5 a5 a5 a5 ] bits 31 .. 24
+ * data[7] 1 [ a5 a5 a6 a6 a6 a6 a6 a6 ] bits 23 .. 16
+ * data[8] 2 [ a6 a7 a7 a7 a7 a7 a7 a7 ] bits 15 .. 8
+ * data[9] 3 [ a7 ] bits 7 .. 0
+ *
+ * n 7 6 5 4 3 2 1 0
+ * data[9] 0 [ a8 a8 a8 a8 a8 a8 a8 ] bits 31 .. 24
+ * data[10] 1 [ a9 a9 a9 a9 a9 a9 a9 a9 ] bits 23 .. 16
+ * data[11] 2 [ a9 k k k k k k k ] bits 15 .. 8
+ * data[12] 3 [ ] bits 7 .. 0
+ */
+ val1 = get_unaligned_be32(&data[0]);
+ val2 = get_unaligned_be32(&data[3]);
+ val3 = get_unaligned_be32(&data[6]);
+ val4 = get_unaligned_be32(&data[9]);
+ /* Extract calibration coefficients and modify */
+ c->Cx = FIELD_GET(GENMASK(31, 23), val1) - 256;
+ c->Cy1 = FIELD_GET(GENMASK(22, 14), val1) - 256;
+ c->Cy2 = FIELD_GET(GENMASK(13, 5), val1) - 256;
+ c->a2 = FIELD_GET(GENMASK(28, 22), val2) - 64;
+ c->a3 = FIELD_GET(GENMASK(21, 15), val2) - 64;
+ c->a4 = FIELD_GET(GENMASK(14, 7), val2) - 128;
+ c->a5 = FIELD_GET(GENMASK(30, 22), val3) - 112;
+ c->a6 = FIELD_GET(GENMASK(21, 15), val3) - 64;
+ c->a7 = FIELD_GET(GENMASK(14, 7), val3) - 128;
+ c->a8 = FIELD_GET(GENMASK(30, 24), val4) - 64;
+ c->a9 = FIELD_GET(GENMASK(23, 15), val4) - 112;
+ c->k = FIELD_GET(GENMASK(14, 8), val4);
+ break;
+ default:
+ dev_err(yas5xx->dev, "unknown version of YAS537\n");
+ return -EINVAL;
+ }
+
+ return 0;
+}
+
/* Used by YAS530, YAS532 and YAS533 */
static void yas530_dump_calibration(struct yas5xx *yas5xx)
{
@@ -796,6 +1141,26 @@ static void yas530_dump_calibration(struct yas5xx *yas5xx)
dev_dbg(yas5xx->dev, "dck = %d\n", c->dck);
}
+static void yas537_dump_calibration(struct yas5xx *yas5xx)
+{
+ struct yas5xx_calibration *c = &yas5xx->calibration;
+
+ if (yas5xx->version == YAS537_VERSION_1) {
+ dev_dbg(yas5xx->dev, "Cx = %d\n", c->Cx);
+ dev_dbg(yas5xx->dev, "Cy1 = %d\n", c->Cy1);
+ dev_dbg(yas5xx->dev, "Cy2 = %d\n", c->Cy2);
+ dev_dbg(yas5xx->dev, "a2 = %d\n", c->a2);
+ dev_dbg(yas5xx->dev, "a3 = %d\n", c->a3);
+ dev_dbg(yas5xx->dev, "a4 = %d\n", c->a4);
+ dev_dbg(yas5xx->dev, "a5 = %d\n", c->a5);
+ dev_dbg(yas5xx->dev, "a6 = %d\n", c->a6);
+ dev_dbg(yas5xx->dev, "a7 = %d\n", c->a7);
+ dev_dbg(yas5xx->dev, "a8 = %d\n", c->a8);
+ dev_dbg(yas5xx->dev, "a9 = %d\n", c->a9);
+ dev_dbg(yas5xx->dev, "k = %d\n", c->k);
+ }
+}
+
/* Used by YAS530, YAS532 and YAS533 */
static int yas530_set_offsets(struct yas5xx *yas5xx, s8 ox, s8 oy1, s8 oy2)
{
@@ -917,6 +1282,44 @@ static int yas530_power_on(struct yas5xx *yas5xx)
return regmap_write(yas5xx->map, YAS530_MEASURE_INTERVAL, 0);
}
+static int yas537_power_on(struct yas5xx *yas5xx)
+{
+ __be16 buf;
+ int ret;
+ u8 intrvl;
+
+ /* Writing ADCCAL and TRM registers */
+ buf = cpu_to_be16(GENMASK(9, 3));
+ ret = regmap_bulk_write(yas5xx->map, YAS537_ADCCAL, &buf, sizeof(buf));
+ if (ret)
+ return ret;
+ ret = regmap_write(yas5xx->map, YAS537_TRM, GENMASK(7, 0));
+ if (ret)
+ return ret;
+
+ /* The interval value is static in regular operation */
+ intrvl = (YAS537_DEFAULT_SENSOR_DELAY_MS * MILLI
+ - YAS537_MEASURE_TIME_WORST_US) / 4100;
+ ret = regmap_write(yas5xx->map, YAS537_MEASURE_INTERVAL, intrvl);
+ if (ret)
+ return ret;
+
+ /* The average value is also static in regular operation */
+ ret = regmap_write(yas5xx->map, YAS537_AVR, YAS537_MAG_AVERAGE_32_MASK);
+ if (ret)
+ return ret;
+
+ /* Perform the "rcoil" part but skip the "last_after_rcoil" read */
+ ret = regmap_write(yas5xx->map, YAS537_CONFIG, BIT(3));
+ if (ret)
+ return ret;
+
+ /* Wait until the coil has ramped up */
+ usleep_range(YAS537_MAG_RCOIL_TIME_US, YAS537_MAG_RCOIL_TIME_US + 100);
+
+ return 0;
+}
+
static const struct yas5xx_chip_info yas5xx_chip_info_tbl[] = {
[yas530] = {
.devid = YAS530_DEVICE_ID,
@@ -963,6 +1366,21 @@ static const struct yas5xx_chip_info yas5xx_chip_info_tbl[] = {
.measure_offsets = yas530_measure_offsets,
.power_on = yas530_power_on,
},
+ [yas537] = {
+ .devid = YAS537_DEVICE_ID,
+ .product_name = "YAS537 MS-3T",
+ .version_names = { "v0", "v1" }, /* version naming unknown */
+ .volatile_reg = yas537_volatile_reg,
+ .volatile_reg_qty = ARRAY_SIZE(yas537_volatile_reg),
+ .scaling_val2 = 100000, /* nanotesla to Gauss */
+ .t_ref = 8120, /* counts */
+ .min_temp_x10 = -3860, /* 1/10:s degrees Celsius */
+ .get_measure = yas537_get_measure,
+ .get_calibration_data = yas537_get_calibration_data,
+ .dump_calibration = yas537_dump_calibration,
+ /* .measure_offets is not needed for yas537 */
+ .power_on = yas537_power_on,
+ },
};
static int yas5xx_probe(struct i2c_client *i2c,
@@ -1170,6 +1588,7 @@ static const struct i2c_device_id yas5xx_id[] = {
{"yas530", yas530 },
{"yas532", yas532 },
{"yas533", yas533 },
+ {"yas537", yas537 },
{}
};
MODULE_DEVICE_TABLE(i2c, yas5xx_id);
@@ -1178,6 +1597,7 @@ static const struct of_device_id yas5xx_of_match[] = {
{ .compatible = "yamaha,yas530", },
{ .compatible = "yamaha,yas532", },
{ .compatible = "yamaha,yas533", },
+ { .compatible = "yamaha,yas537", },
{}
};
MODULE_DEVICE_TABLE(of, yas5xx_of_match);