@@ -56,5 +56,6 @@ config MPU_SENSORS_MPU6050_GYRO
endchoice
source "drivers/misc/inv_mpu/accel/Kconfig"
+source "drivers/misc/inv_mpu/compass/Kconfig"
endif #INV_SENSORS
@@ -17,3 +17,4 @@ mpu3050-objs += mldl_print_cfg.o
EXTRA_CFLAGS += -Idrivers/misc/inv_mpu
obj-y += accel/
+obj-y += compass/
new file mode 100644
@@ -0,0 +1,21 @@
+menuconfig INV_SENSORS_COMPASS
+ bool "Compass Slave Sensors"
+ default y
+ ---help---
+ Say Y here to get to see options for device drivers for various
+ compasses. This option alone does not add any kernel code.
+
+ If you say N, all options in this submenu will be skipped and disabled.
+
+if INV_SENSORS_COMPASS
+
+config MPU_SENSORS_AK8975
+ tristate "AKM ak8975"
+ help
+ This enables support for the AKM ak8975 compass
+ This support is for integration with the MPU3050 or MPU6050 gyroscope
+ device driver. Only one compass can be registered at a time.
+ Specifying more that one compass in the board file will result
+ in runtime errors.
+
+endif
new file mode 100644
@@ -0,0 +1,7 @@
+#
+# Compass Slaves MPUxxxx
+#
+obj-$(CONFIG_MPU_SENSORS_AK8975) += inv_mpu_ak8975.o
+inv_mpu_ak8975-objs += ak8975.o
+
+EXTRA_CFLAGS += -Idrivers/misc/inv_mpu
new file mode 100644
@@ -0,0 +1,500 @@
+/*
+ $License:
+ Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+ $
+ */
+
+/**
+ * @addtogroup COMPASSDL
+ *
+ * @{
+ * @file ak8975.c
+ * @brief Magnetometer setup and handling methods for the AKM AK8975,
+ * AKM AK8975B, and AKM AK8975C compass devices.
+ */
+
+/* -------------------------------------------------------------------------- */
+
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/kernel.h>
+#include <linux/errno.h>
+#include <linux/slab.h>
+#include <linux/delay.h>
+#include "mpu-dev.h"
+
+#include <log.h>
+#include <linux/mpu.h>
+#include "mlsl.h"
+#include "mldl_cfg.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-compass"
+
+/* -------------------------------------------------------------------------- */
+#define AK8975_REG_ST1 (0x02)
+#define AK8975_REG_HXL (0x03)
+#define AK8975_REG_ST2 (0x09)
+
+#define AK8975_REG_CNTL (0x0A)
+#define AK8975_REG_ASAX (0x10)
+#define AK8975_REG_ASAY (0x11)
+#define AK8975_REG_ASAZ (0x12)
+
+#define AK8975_CNTL_MODE_POWER_DOWN (0x00)
+#define AK8975_CNTL_MODE_SINGLE_MEASUREMENT (0x01)
+#define AK8975_CNTL_MODE_FUSE_ROM_ACCESS (0x0f)
+
+/* -------------------------------------------------------------------------- */
+struct ak8975_config {
+ char asa[COMPASS_NUM_AXES]; /* axis sensitivity adjustment */
+};
+
+struct ak8975_private_data {
+ struct ak8975_config init;
+};
+
+/* -------------------------------------------------------------------------- */
+static int ak8975_init(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata)
+{
+ int result;
+ unsigned char serial_data[COMPASS_NUM_AXES];
+
+ struct ak8975_private_data *private_data;
+ private_data = (struct ak8975_private_data *)
+ kzalloc(sizeof(struct ak8975_private_data), GFP_KERNEL);
+
+ if (!private_data)
+ return INV_ERROR_MEMORY_EXAUSTED;
+
+ result = inv_serial_single_write(mlsl_handle, pdata->address,
+ AK8975_REG_CNTL,
+ AK8975_CNTL_MODE_POWER_DOWN);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ /* Wait at least 100us */
+ udelay(100);
+
+ result = inv_serial_single_write(mlsl_handle, pdata->address,
+ AK8975_REG_CNTL,
+ AK8975_CNTL_MODE_FUSE_ROM_ACCESS);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ /* Wait at least 200us */
+ udelay(200);
+
+ result = inv_serial_read(mlsl_handle, pdata->address,
+ AK8975_REG_ASAX,
+ COMPASS_NUM_AXES, serial_data);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ pdata->private_data = private_data;
+
+ private_data->init.asa[0] = serial_data[0];
+ private_data->init.asa[1] = serial_data[1];
+ private_data->init.asa[2] = serial_data[2];
+
+ result = inv_serial_single_write(mlsl_handle, pdata->address,
+ AK8975_REG_CNTL,
+ AK8975_CNTL_MODE_POWER_DOWN);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ udelay(100);
+ return INV_SUCCESS;
+}
+
+static int ak8975_exit(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata)
+{
+ kfree(pdata->private_data);
+ return INV_SUCCESS;
+}
+
+static int ak8975_suspend(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata)
+{
+ int result = INV_SUCCESS;
+ result =
+ inv_serial_single_write(mlsl_handle, pdata->address,
+ AK8975_REG_CNTL,
+ AK8975_CNTL_MODE_POWER_DOWN);
+ msleep(1); /* wait at least 100us */
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ return result;
+}
+
+static int ak8975_resume(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata)
+{
+ int result = INV_SUCCESS;
+ result =
+ inv_serial_single_write(mlsl_handle, pdata->address,
+ AK8975_REG_CNTL,
+ AK8975_CNTL_MODE_SINGLE_MEASUREMENT);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ return result;
+}
+
+static int ak8975_read(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata, unsigned char *data)
+{
+ unsigned char regs[8];
+ unsigned char *stat = ®s[0];
+ unsigned char *stat2 = ®s[7];
+ int result = INV_SUCCESS;
+ int status = INV_SUCCESS;
+
+ result =
+ inv_serial_read(mlsl_handle, pdata->address, AK8975_REG_ST1,
+ 8, regs);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ /* Always return the data and the status registers */
+ memcpy(data, ®s[1], 6);
+ data[6] = regs[0];
+ data[7] = regs[7];
+
+ /*
+ * ST : data ready -
+ * Measurement has been completed and data is ready to be read.
+ */
+ if (*stat & 0x01)
+ status = INV_SUCCESS;
+
+ /*
+ * ST2 : data error -
+ * occurs when data read is started outside of a readable period;
+ * data read would not be correct.
+ * Valid in continuous measurement mode only.
+ * In single measurement mode this error should not occour but we
+ * stil account for it and return an error, since the data would be
+ * corrupted.
+ * DERR bit is self-clearing when ST2 register is read.
+ */
+ if (*stat2 & 0x04)
+ status = INV_ERROR_COMPASS_DATA_ERROR;
+ /*
+ * ST2 : overflow -
+ * the sum of the absolute values of all axis |X|+|Y|+|Z| < 2400uT.
+ * This is likely to happen in presence of an external magnetic
+ * disturbance; it indicates, the sensor data is incorrect and should
+ * be ignored.
+ * An error is returned.
+ * HOFL bit clears when a new measurement starts.
+ */
+ if (*stat2 & 0x08)
+ status = INV_ERROR_COMPASS_DATA_OVERFLOW;
+ /*
+ * ST : overrun -
+ * the previous sample was not fetched and lost.
+ * Valid in continuous measurement mode only.
+ * In single measurement mode this error should not occour and we
+ * don't consider this condition an error.
+ * DOR bit is self-clearing when ST2 or any meas. data register is
+ * read.
+ */
+ if (*stat & 0x02) {
+ /* status = INV_ERROR_COMPASS_DATA_UNDERFLOW; */
+ status = INV_SUCCESS;
+ }
+
+ /*
+ * trigger next measurement if:
+ * - stat is non zero;
+ * - if stat is zero and stat2 is non zero.
+ * Won't trigger if data is not ready and there was no error.
+ */
+ if (*stat != 0x00 || *stat2 != 0x00) {
+ result = inv_serial_single_write(
+ mlsl_handle, pdata->address,
+ AK8975_REG_CNTL, AK8975_CNTL_MODE_SINGLE_MEASUREMENT);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ }
+
+ return status;
+}
+
+static int ak8975_config(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata,
+ struct ext_slave_config *data)
+{
+ int result;
+ if (!data->data)
+ return INV_ERROR_INVALID_PARAMETER;
+
+ switch (data->key) {
+ case MPU_SLAVE_WRITE_REGISTERS:
+ result = inv_serial_write(mlsl_handle, pdata->address,
+ data->len,
+ (unsigned char *)data->data);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ break;
+ case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+ case MPU_SLAVE_CONFIG_ODR_RESUME:
+ case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+ case MPU_SLAVE_CONFIG_FSR_RESUME:
+ case MPU_SLAVE_CONFIG_MOT_THS:
+ case MPU_SLAVE_CONFIG_NMOT_THS:
+ case MPU_SLAVE_CONFIG_MOT_DUR:
+ case MPU_SLAVE_CONFIG_NMOT_DUR:
+ case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+ case MPU_SLAVE_CONFIG_IRQ_RESUME:
+ default:
+ return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+ };
+
+ return INV_SUCCESS;
+}
+
+static int ak8975_get_config(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata,
+ struct ext_slave_config *data)
+{
+ struct ak8975_private_data *private_data = pdata->private_data;
+ int result;
+ if (!data->data)
+ return INV_ERROR_INVALID_PARAMETER;
+
+ switch (data->key) {
+ case MPU_SLAVE_READ_REGISTERS:
+ {
+ unsigned char *serial_data =
+ (unsigned char *)data->data;
+ result =
+ inv_serial_read(mlsl_handle, pdata->address,
+ serial_data[0], data->len - 1,
+ &serial_data[1]);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ break;
+ }
+ case MPU_SLAVE_READ_SCALE:
+ {
+ unsigned char *serial_data =
+ (unsigned char *)data->data;
+ serial_data[0] = private_data->init.asa[0];
+ serial_data[1] = private_data->init.asa[1];
+ serial_data[2] = private_data->init.asa[2];
+ result = INV_SUCCESS;
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ break;
+ }
+ case MPU_SLAVE_CONFIG_ODR_SUSPEND:
+ (*(unsigned long *)data->data) = 0;
+ break;
+ case MPU_SLAVE_CONFIG_ODR_RESUME:
+ (*(unsigned long *)data->data) = 8000;
+ break;
+ case MPU_SLAVE_CONFIG_FSR_SUSPEND:
+ case MPU_SLAVE_CONFIG_FSR_RESUME:
+ case MPU_SLAVE_CONFIG_MOT_THS:
+ case MPU_SLAVE_CONFIG_NMOT_THS:
+ case MPU_SLAVE_CONFIG_MOT_DUR:
+ case MPU_SLAVE_CONFIG_NMOT_DUR:
+ case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
+ case MPU_SLAVE_CONFIG_IRQ_RESUME:
+ default:
+ return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
+ };
+
+ return INV_SUCCESS;
+}
+
+static struct ext_slave_read_trigger ak8975_read_trigger = {
+ /*.reg = */ 0x0A,
+ /*.value = */ 0x01
+};
+
+static struct ext_slave_descr ak8975_descr = {
+ .init = ak8975_init,
+ .exit = ak8975_exit,
+ .suspend = ak8975_suspend,
+ .resume = ak8975_resume,
+ .read = ak8975_read,
+ .config = ak8975_config,
+ .get_config = ak8975_get_config,
+ .name = "ak8975",
+ .type = EXT_SLAVE_TYPE_COMPASS,
+ .id = COMPASS_ID_AK8975,
+ .read_reg = 0x01,
+ .read_len = 9,
+ .endian = EXT_SLAVE_LITTLE_ENDIAN,
+ .range = {9830, 4000},
+ .trigger = &ak8975_read_trigger,
+};
+
+static
+struct ext_slave_descr *ak8975_get_slave_descr(void)
+{
+ return &ak8975_descr;
+}
+
+/* -------------------------------------------------------------------------- */
+struct ak8975_mod_private_data {
+ struct i2c_client *client;
+ struct ext_slave_platform_data *pdata;
+};
+
+static unsigned short normal_i2c[] = { I2C_CLIENT_END };
+
+static int ak8975_mod_probe(struct i2c_client *client,
+ const struct i2c_device_id *devid)
+{
+ struct ext_slave_platform_data *pdata;
+ struct ak8975_mod_private_data *private_data;
+ int result = 0;
+
+ dev_info(&client->adapter->dev, "%s: %s\n", __func__, devid->name);
+
+ if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
+ result = -ENODEV;
+ goto out_no_free;
+ }
+
+ pdata = client->dev.platform_data;
+ if (!pdata) {
+ dev_err(&client->adapter->dev,
+ "Missing platform data for slave %s\n", devid->name);
+ result = -EFAULT;
+ goto out_no_free;
+ }
+
+ private_data = kzalloc(sizeof(*private_data), GFP_KERNEL);
+ if (!private_data) {
+ result = -ENOMEM;
+ goto out_no_free;
+ }
+
+ i2c_set_clientdata(client, private_data);
+ private_data->client = client;
+ private_data->pdata = pdata;
+
+ result = inv_mpu_register_slave(THIS_MODULE, client, pdata,
+ ak8975_get_slave_descr);
+ if (result) {
+ dev_err(&client->adapter->dev,
+ "Slave registration failed: %s, %d\n",
+ devid->name, result);
+ goto out_free_memory;
+ }
+
+ return result;
+
+out_free_memory:
+ kfree(private_data);
+out_no_free:
+ dev_err(&client->adapter->dev, "%s failed %d\n", __func__, result);
+ return result;
+
+}
+
+static int ak8975_mod_remove(struct i2c_client *client)
+{
+ struct ak8975_mod_private_data *private_data =
+ i2c_get_clientdata(client);
+
+ dev_dbg(&client->adapter->dev, "%s\n", __func__);
+ inv_mpu_unregister_slave(client, private_data->pdata,
+ ak8975_get_slave_descr);
+
+ kfree(private_data);
+ return 0;
+}
+
+static const struct i2c_device_id ak8975_mod_id[] = {
+ { "ak8975", COMPASS_ID_AK8975 },
+ {}
+};
+
+MODULE_DEVICE_TABLE(i2c, ak8975_mod_id);
+
+static struct i2c_driver ak8975_mod_driver = {
+ .class = I2C_CLASS_HWMON,
+ .probe = ak8975_mod_probe,
+ .remove = ak8975_mod_remove,
+ .id_table = ak8975_mod_id,
+ .driver = {
+ .owner = THIS_MODULE,
+ .name = "ak8975_mod",
+ },
+ .address_list = normal_i2c,
+};
+
+static int __init ak8975_mod_init(void)
+{
+ int res = i2c_add_driver(&ak8975_mod_driver);
+ pr_info("%s: Probe name %s\n", __func__, "ak8975_mod");
+ if (res)
+ pr_err("%s failed\n", __func__);
+ return res;
+}
+
+static void __exit ak8975_mod_exit(void)
+{
+ pr_info("%s\n", __func__);
+ i2c_del_driver(&ak8975_mod_driver);
+}
+
+module_init(ak8975_mod_init);
+module_exit(ak8975_mod_exit);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("Driver to integrate AK8975 sensor with the MPU");
+MODULE_LICENSE("GPL");
+MODULE_ALIAS("ak8975_mod");
+
+/**
+ * @}
+ */
Signed-off-by: Nathan Royer <nroyer@invensense.com> --- drivers/misc/inv_mpu/Kconfig | 1 + drivers/misc/inv_mpu/Makefile | 1 + drivers/misc/inv_mpu/compass/Kconfig | 21 ++ drivers/misc/inv_mpu/compass/Makefile | 7 + drivers/misc/inv_mpu/compass/ak8975.c | 500 +++++++++++++++++++++++++++++++++ 5 files changed, 530 insertions(+), 0 deletions(-) create mode 100644 drivers/misc/inv_mpu/compass/Kconfig create mode 100644 drivers/misc/inv_mpu/compass/Makefile create mode 100644 drivers/misc/inv_mpu/compass/ak8975.c