// SPDX-License-Identifier: GPL-2.0
|
/*
|
* Copyright (C) 2023 Rockchip Co.,Ltd.
|
* Author: Wangqiang Guo <kay.guo@rock-chips.com>
|
*/
|
#include <linux/interrupt.h>
|
#include <linux/i2c.h>
|
#include <linux/slab.h>
|
#include <linux/irq.h>
|
#include <linux/miscdevice.h>
|
#include <linux/gpio.h>
|
#include <linux/uaccess.h>
|
#include <linux/atomic.h>
|
#include <linux/delay.h>
|
#include <linux/input.h>
|
#include <linux/workqueue.h>
|
#include <linux/freezer.h>
|
#include <linux/of_gpio.h>
|
#ifdef CONFIG_HAS_EARLYSUSPEND
|
#include <linux/earlysuspend.h>
|
#endif
|
#include <linux/sensor-dev.h>
|
#include <linux/icm4260x.h>
|
|
static int sensor_active(struct i2c_client *client, int enable, int rate)
|
{
|
struct sensor_private_data *sensor =
|
(struct sensor_private_data *) i2c_get_clientdata(client);
|
int result = 0;
|
int status = 0;
|
|
sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg);
|
|
if (!enable) {
|
status = (0xff & ~BIT_GYRO_MODE_MASK);
|
sensor->ops->ctrl_data &= status;
|
} else {
|
status = BIT_GYRO_MODE_LNM;
|
sensor->ops->ctrl_data |= status;
|
sensor->ops->ctrl_data &= ~BIT_IDLE;
|
}
|
|
result = sensor_write_reg(client, sensor->ops->ctrl_reg,
|
sensor->ops->ctrl_data);
|
if (result) {
|
dev_err(&client->dev,
|
"%s: fail to set pwr_mgmt0(%d)\n", __func__, result);
|
return result;
|
}
|
/* Gyroscope needs to be kept ON for a minimum of 45ms */
|
usleep_range(45*1000, 45*1010);
|
|
return result;
|
}
|
|
static int sensor_init(struct i2c_client *client)
|
{
|
int ret = 0;
|
u8 value;
|
struct sensor_private_data *sensor =
|
(struct sensor_private_data *) i2c_get_clientdata(client);
|
|
/*
|
* init on icm42607_acc.c
|
*/
|
|
/* set Full scale select for accelerometer UI interface output*/
|
value = sensor_read_reg(client, ICM4260X_GYRO_CONFIG0);
|
value &= ~BIT_GYRO_FSR;
|
value |= GYRO_FS_SEL << SHIFT_GYRO_FS_SEL;
|
ret = sensor_write_reg(client, ICM4260X_GYRO_CONFIG0, value);
|
if (ret)
|
return ret;
|
|
/* turn on accelerometer*/
|
ret = sensor->ops->active(client, 0, sensor->pdata->poll_delay_ms);
|
if (ret) {
|
dev_err(&client->dev,
|
"%s: fail to active sensor(%d)\n", __func__, ret);
|
return ret;
|
}
|
|
return ret;
|
}
|
|
static int gyro_report_value(struct i2c_client *client,
|
struct sensor_axis *axis)
|
{
|
struct sensor_private_data *sensor =
|
(struct sensor_private_data *) i2c_get_clientdata(client);
|
|
if (sensor->status_cur == SENSOR_ON) {
|
/* Report acceleration sensor information */
|
input_report_abs(sensor->input_dev, ABS_RX, axis->x);
|
input_report_abs(sensor->input_dev, ABS_RY, axis->y);
|
input_report_abs(sensor->input_dev, ABS_RZ, axis->z);
|
input_sync(sensor->input_dev);
|
}
|
|
return 0;
|
}
|
|
static int sensor_report_value(struct i2c_client *client)
|
{
|
struct sensor_private_data *sensor =
|
(struct sensor_private_data *) i2c_get_clientdata(client);
|
struct sensor_platform_data *pdata = sensor->pdata;
|
int ret = 0;
|
short x, y, z;
|
struct sensor_axis axis;
|
u8 buffer[6] = {0};
|
|
if (sensor->ops->read_len < 6) {
|
dev_err(&client->dev, "%s: length is error, len = %d\n",
|
__func__, sensor->ops->read_len);
|
return -EINVAL;
|
}
|
|
*buffer = sensor->ops->read_reg;
|
ret = sensor_rx_data(client, buffer, sensor->ops->read_len);
|
if (ret < 0) {
|
dev_err(&client->dev,
|
"%s: read data failed, ret = %d\n", __func__, ret);
|
return ret;
|
}
|
|
x = ((buffer[0] << 8) & 0xff00) + (buffer[1] & 0xFF);
|
y = ((buffer[2] << 8) & 0xff00) + (buffer[3] & 0xFF);
|
z = ((buffer[4] << 8) & 0xff00) + (buffer[5] & 0xFF);
|
|
axis.x = (pdata->orientation[0]) * x + (pdata->orientation[1]) * y +
|
(pdata->orientation[2]) * z;
|
axis.y = (pdata->orientation[3]) * x + (pdata->orientation[4]) * y +
|
(pdata->orientation[5]) * z;
|
axis.z = (pdata->orientation[6]) * x + (pdata->orientation[7]) * y +
|
(pdata->orientation[8]) * z;
|
|
gyro_report_value(client, &axis);
|
|
mutex_lock(&(sensor->data_mutex));
|
sensor->axis = axis;
|
mutex_unlock(&(sensor->data_mutex));
|
|
return ret;
|
}
|
|
static struct sensor_operate gyro_icm4260x_ops = {
|
.name = "icm4260x_gyro",
|
.type = SENSOR_TYPE_GYROSCOPE,
|
.id_i2c = GYRO_ID_ICM4260X,
|
.read_reg = ICM4260X_GYRO_DATA_X0,
|
.read_len = 6,
|
.id_reg = SENSOR_UNKNOW_DATA,
|
.id_data = SENSOR_UNKNOW_DATA,
|
.precision = ICM4260X_PRECISION,
|
.ctrl_reg = ICM4260X_PWR_MGMT_0,
|
.int_status_reg = ICM4260X_INT_STATUS,
|
.range = {-32768, 32768},
|
.trig = IRQF_TRIGGER_HIGH | IRQF_ONESHOT,
|
.active = sensor_active,
|
.init = sensor_init,
|
.report = sensor_report_value,
|
};
|
|
/****************operate according to sensor chip:end************/
|
static int gyro_icm4260x_probe(struct i2c_client *client,
|
const struct i2c_device_id *devid)
|
{
|
client->addr = ICM42607_ADDR;
|
return sensor_register_device(client, NULL, devid, &gyro_icm4260x_ops);
|
}
|
|
static int gyro_icm4260x_remove(struct i2c_client *client)
|
{
|
return sensor_unregister_device(client, NULL, &gyro_icm4260x_ops);
|
}
|
|
static const struct i2c_device_id gyro_icm4260x_id[] = {
|
{"icm42607_gyro", GYRO_ID_ICM4260X},
|
{}
|
};
|
|
static struct i2c_driver gyro_icm4260x_driver = {
|
.probe = gyro_icm4260x_probe,
|
.remove = gyro_icm4260x_remove,
|
.shutdown = sensor_shutdown,
|
.id_table = gyro_icm4260x_id,
|
.driver = {
|
.name = "gyro_icm4260x",
|
#ifdef CONFIG_PM
|
.pm = &sensor_pm_ops,
|
#endif
|
},
|
};
|
|
static int __init gyro_icm4260x_init(void)
|
{
|
return i2c_add_driver(&gyro_icm4260x_driver);
|
}
|
|
static void __exit gyro_icm4260x_exit(void)
|
{
|
i2c_del_driver(&gyro_icm4260x_driver);
|
}
|
/* must register after icm4260x_acc */
|
device_initcall_sync(gyro_icm4260x_init);
|
module_exit(gyro_icm4260x_exit);
|
|
MODULE_AUTHOR("Wangqiang Guo <dave.wang@rock-chips.com>");
|
MODULE_DESCRIPTION("icm4260x_gyro 3-Axis accelerometer driver");
|
MODULE_LICENSE("GPL");
|
