From mboxrd@z Thu Jan 1 00:00:00 1970 Return-Path: Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1754626Ab1GACTe (ORCPT ); Thu, 30 Jun 2011 22:19:34 -0400 Received: from na3sys009aog104.obsmtp.com ([74.125.149.73]:40497 "HELO na3sys009aog104.obsmtp.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with SMTP id S1754727Ab1GACTb (ORCPT ); Thu, 30 Jun 2011 22:19:31 -0400 From: Nathan Royer To: Nathan Royer Cc: Andrew Morton , Greg Kroah-Hartman , Jonathan Cameron , Jiri Kosina , Alan Cox , Jean Delvare , linux-kernel@vger.kernel.org, linux-input@vger.kernel.org Subject: [PATCH 09/11] misc: Add slave driver for kxtf9 accelerometer Date: Thu, 30 Jun 2011 19:18:25 -0700 Message-Id: <1309486707-1658-9-git-send-email-nroyer@invensense.com> X-Mailer: git-send-email 1.7.4.1 In-Reply-To: <1309486707-1658-1-git-send-email-nroyer@invensense.com> References: <1309486707-1658-1-git-send-email-nroyer@invensense.com> Sender: linux-kernel-owner@vger.kernel.org List-ID: X-Mailing-List: linux-kernel@vger.kernel.org Signed-off-by: Nathan Royer --- drivers/misc/inv_mpu/Kconfig | 2 + drivers/misc/inv_mpu/Makefile | 2 + drivers/misc/inv_mpu/accel/Kconfig | 23 + drivers/misc/inv_mpu/accel/Makefile | 7 + drivers/misc/inv_mpu/accel/kxtf9.c | 841 +++++++++++++++++++++++++++++++++++ 5 files changed, 875 insertions(+), 0 deletions(-) create mode 100644 drivers/misc/inv_mpu/accel/Kconfig create mode 100644 drivers/misc/inv_mpu/accel/Makefile create mode 100644 drivers/misc/inv_mpu/accel/kxtf9.c diff --git a/drivers/misc/inv_mpu/Kconfig b/drivers/misc/inv_mpu/Kconfig index fdfa7a6..6116010 100644 --- a/drivers/misc/inv_mpu/Kconfig +++ b/drivers/misc/inv_mpu/Kconfig @@ -55,4 +55,6 @@ config MPU_SENSORS_MPU6050_GYRO endchoice +source "drivers/misc/inv_mpu/accel/Kconfig" + endif #INV_SENSORS diff --git a/drivers/misc/inv_mpu/Makefile b/drivers/misc/inv_mpu/Makefile index 48fc55a..d2c2c9a 100644 --- a/drivers/misc/inv_mpu/Makefile +++ b/drivers/misc/inv_mpu/Makefile @@ -15,3 +15,5 @@ mpu3050-objs += mldl_cfg.o mpu3050-objs += mldl_print_cfg.o EXTRA_CFLAGS += -Idrivers/misc/inv_mpu + +obj-y += accel/ diff --git a/drivers/misc/inv_mpu/accel/Kconfig b/drivers/misc/inv_mpu/accel/Kconfig new file mode 100644 index 0000000..5e7aeaf --- /dev/null +++ b/drivers/misc/inv_mpu/accel/Kconfig @@ -0,0 +1,23 @@ +menuconfig INV_SENSORS_ACCELEROMETERS + bool "Accelerometer Slave Sensors" + default y + ---help--- + Say Y here to get to see options for device drivers for various + accelerometrs for integration with the MPU3050 or MPU6050 driver. + 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_ACCELEROMETERS + +config MPU_SENSORS_KXTF9 + tristate "Kionix KXTF9" + depends on MPU_SENSORS_MPU3050 || MPU_SENSORS_MPU6050B1 || MPU_SENSORS_MPU6050A2 + help + This enables support for the Kionix KXFT9 accelerometer + This support is for integration with the MPU3050 gyroscope device + driver. Only one accelerometer can be registered at a time. + Specifying more that one accelerometer in the board file will result + in runtime errors. + +endif diff --git a/drivers/misc/inv_mpu/accel/Makefile b/drivers/misc/inv_mpu/accel/Makefile new file mode 100644 index 0000000..9592973 --- /dev/null +++ b/drivers/misc/inv_mpu/accel/Makefile @@ -0,0 +1,7 @@ +# +# Accel Slaves to MPUxxxx +# +obj-$(CONFIG_MPU_SENSORS_KXTF9) += inv_mpu_kxtf9.o +inv_mpu_kxtf9-objs += kxtf9.o + +EXTRA_CFLAGS += -Idrivers/misc/inv_mpu diff --git a/drivers/misc/inv_mpu/accel/kxtf9.c b/drivers/misc/inv_mpu/accel/kxtf9.c new file mode 100644 index 0000000..33fafc8 --- /dev/null +++ b/drivers/misc/inv_mpu/accel/kxtf9.c @@ -0,0 +1,841 @@ +/* + $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 . + $ + */ + +/** + * @addtogroup ACCELDL + * @brief Accelerometer setup and handling methods for Kionix KXTF9. + * + * @{ + * @file kxtf9.c + * @brief Accelerometer setup and handling methods for Kionix KXTF9. +*/ + +/* -------------------------------------------------------------------------- */ + +#undef MPL_LOG_NDEBUG +#define MPL_LOG_NDEBUG 1 + +#include +#include +#include +#include +#include +#include +#include +#include "mpu-dev.h" + +#include +#include +#include "mlsl.h" +#include "mldl_cfg.h" +#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) + +/* -------------------------------------------------------------------------- */ + +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; +}; + +static int kxtf9_set_ths(void *mlsl_handle, + struct ext_slave_platform_data *pdata, + struct kxtf9_config *config, int apply, long ths) +{ + int result = INV_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 = inv_serial_single_write(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 = INV_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 = inv_serial_single_write(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 = INV_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 = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_CTRL_REG1, 0x40); + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_INT_CTRL_REG1, + config->reg_int_cfg1); + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_INT_CTRL_REG2, + config->reg_int_cfg2); + result = inv_serial_single_write(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 = INV_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; + else + 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 = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_DATA_CTRL_REG, + config->reg_odr); + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_CTRL_REG1, 0x40); + result = inv_serial_single_write(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 = INV_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 = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_CTRL_REG1, 0x40); + result = inv_serial_single_write(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; + unsigned char data; + struct kxtf9_private_data *private_data = pdata->private_data; + + /* Wake up */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_CTRL_REG1, 0x40); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + /* INT_CTRL_REG1: */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_INT_CTRL_REG1, + private_data->suspend.reg_int_cfg1); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + /* WUF_THRESH: */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_WUF_THRESH, + private_data->suspend.reg_ths); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + /* DATA_CTRL_REG */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_DATA_CTRL_REG, + private_data->suspend.reg_odr); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + /* WUF_TIMER */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_WUF_TIMER, + private_data->suspend.reg_dur); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + + /* Normal operation */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_CTRL_REG1, + private_data->suspend.ctrl_reg1); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + result = inv_serial_read(mlsl_handle, pdata->address, + KXTF9_INT_REL, 1, &data); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + + return result; +} + +/* full scale setting - register and mask */ +#define ACCEL_KIONIX_CTRL_REG (0x1b) +#define ACCEL_KIONIX_CTRL_MASK (0x18) + +static int kxtf9_resume(void *mlsl_handle, + struct ext_slave_descr *slave, + struct ext_slave_platform_data *pdata) +{ + int result = INV_SUCCESS; + unsigned char data; + struct kxtf9_private_data *private_data = pdata->private_data; + + /* Wake up */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_CTRL_REG1, 0x40); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + /* INT_CTRL_REG1: */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_INT_CTRL_REG1, + private_data->resume.reg_int_cfg1); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + /* WUF_THRESH: */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_WUF_THRESH, + private_data->resume.reg_ths); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + /* DATA_CTRL_REG */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_DATA_CTRL_REG, + private_data->resume.reg_odr); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + /* WUF_TIMER */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_WUF_TIMER, + private_data->resume.reg_dur); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + + /* Normal operation */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_CTRL_REG1, + private_data->resume.ctrl_reg1); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + result = inv_serial_read(mlsl_handle, pdata->address, + KXTF9_INT_REL, 1, &data); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + + return INV_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 = INV_SUCCESS; + + private_data = (struct kxtf9_private_data *) + kzalloc(sizeof(struct kxtf9_private_data), GFP_KERNEL); + + if (!private_data) + return INV_ERROR_MEMORY_EXAUSTED; + + /* RAM reset */ + /* Fastest Reset */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_CTRL_REG1, 0x40); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + /* Fastest Reset */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_DATA_CTRL_REG, 0x36); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + /* Reset */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + KXTF9_CTRL_REG3, 0xcd); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + msleep(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); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + result = kxtf9_set_dur(mlsl_handle, pdata, &private_data->resume, + false, 2540); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + + result = kxtf9_set_odr(mlsl_handle, pdata, &private_data->suspend, + false, 50000); + if (result) { + LOG_RESULT_LOCATION(result); + return 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); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + result = kxtf9_set_fsr(mlsl_handle, pdata, &private_data->resume, + false, 2000); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + + result = kxtf9_set_ths(mlsl_handle, pdata, &private_data->suspend, + false, 80); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + result = kxtf9_set_ths(mlsl_handle, pdata, &private_data->resume, + false, 40); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + + result = kxtf9_set_irq(mlsl_handle, pdata, &private_data->suspend, + false, MPU_SLAVE_IRQ_TYPE_NONE); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + result = kxtf9_set_irq(mlsl_handle, pdata, &private_data->resume, + false, MPU_SLAVE_IRQ_TYPE_NONE); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + return result; +} + +static int kxtf9_exit(void *mlsl_handle, + struct ext_slave_descr *slave, + struct ext_slave_platform_data *pdata) +{ + kfree(pdata->private_data); + return INV_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 INV_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 INV_ERROR_FEATURE_NOT_IMPLEMENTED; + }; + + return INV_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 INV_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 INV_ERROR_FEATURE_NOT_IMPLEMENTED; + }; + + return INV_SUCCESS; +} + +static int kxtf9_read(void *mlsl_handle, + struct ext_slave_descr *slave, + struct ext_slave_platform_data *pdata, + unsigned char *data) +{ + int result; + unsigned char reg; + result = inv_serial_read(mlsl_handle, pdata->address, + KXTF9_INT_SRC_REG2, 1, ®); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + + if (!(reg & 0x10)) + return INV_ERROR_ACCEL_DATA_NOT_READY; + + result = inv_serial_read(mlsl_handle, pdata->address, + slave->read_reg, slave->read_len, data); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + return result; +} + +static struct ext_slave_descr kxtf9_descr = { + .init = kxtf9_init, + .exit = kxtf9_exit, + .suspend = kxtf9_suspend, + .resume = kxtf9_resume, + .read = kxtf9_read, + .config = kxtf9_config, + .get_config = kxtf9_get_config, + .name = "kxtf9", + .type = EXT_SLAVE_TYPE_ACCEL, + .id = ACCEL_ID_KXTF9, + .read_reg = 0x06, + .read_len = 6, + .endian = EXT_SLAVE_LITTLE_ENDIAN, + .range = {2, 0}, + .trigger = NULL, +}; + +static +struct ext_slave_descr *kxtf9_get_slave_descr(void) +{ + return &kxtf9_descr; +} + +/* -------------------------------------------------------------------------- */ +struct kxtf9_mod_private_data { + struct i2c_client *client; + struct ext_slave_platform_data *pdata; +}; + +static unsigned short normal_i2c[] = { I2C_CLIENT_END }; + +static int kxtf9_mod_probe(struct i2c_client *client, + const struct i2c_device_id *devid) +{ + struct ext_slave_platform_data *pdata; + struct kxtf9_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, + kxtf9_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 kxtf9_mod_remove(struct i2c_client *client) +{ + struct kxtf9_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, + kxtf9_get_slave_descr); + + kfree(private_data); + return 0; +} + +static const struct i2c_device_id kxtf9_mod_id[] = { + { "kxtf9", ACCEL_ID_KXTF9 }, + {} +}; + +MODULE_DEVICE_TABLE(i2c, kxtf9_mod_id); + +static struct i2c_driver kxtf9_mod_driver = { + .class = I2C_CLASS_HWMON, + .probe = kxtf9_mod_probe, + .remove = kxtf9_mod_remove, + .id_table = kxtf9_mod_id, + .driver = { + .owner = THIS_MODULE, + .name = "kxtf9_mod", + }, + .address_list = normal_i2c, +}; + +static int __init kxtf9_mod_init(void) +{ + int res = i2c_add_driver(&kxtf9_mod_driver); + pr_info("%s: Probe name %s\n", __func__, "kxtf9_mod"); + if (res) + pr_err("%s failed\n", __func__); + return res; +} + +static void __exit kxtf9_mod_exit(void) +{ + pr_info("%s\n", __func__); + i2c_del_driver(&kxtf9_mod_driver); +} + +module_init(kxtf9_mod_init); +module_exit(kxtf9_mod_exit); + +MODULE_AUTHOR("Invensense Corporation"); +MODULE_DESCRIPTION("Driver to integrate KXTF9 sensor with the MPU"); +MODULE_LICENSE("GPL"); +MODULE_ALIAS("kxtf9_mod"); + +/** + * @} + */ -- 1.7.4.1