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tegrakernel/kernel/nvidia/drivers/iio/magnetometer/nvi_ak89xx.c

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/* Copyright (c) 2014-2018, NVIDIA CORPORATION. All rights reserved.
*
* This software is licensed under the terms of the GNU General Public
* License version 2, as published by the Free Software Foundation, and
* may be copied, distributed, and modified under those terms.
*
* 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.
*/
/* Device mapping is done via three parameters:
* 1. If AKM_NVI_MPU_SUPPORT (defined below) is set, the code is included to
* support the device behind an Invensense MPU running an NVI (NVidia/
* Invensense) driver.
* If AKM_NVI_MPU_SUPPORT is 0 then this driver is only for the device in a
* stand-alone configuration without any dependencies on an Invensense MPU.
* 2. Device tree platform configuration nvi_config:
* - auto = automatically detect if connected to host or MPU
* - mpu = connected to MPU
* - host = connected to host
* This is only available if AKM_NVI_MPU_SUPPORT is set.
* 3. device in board file:
* - ak89xx = automatically detect the device
* - force the device for:
* - ak8963
* - ak8975
* - ak09911
* If you have no clue what the device is and don't know how it is
* connected then use auto and akm89xx. The auto-detect mechanisms are for
* platforms that have multiple possible configurations but takes longer to
* initialize. No device identification and connect testing is done for
* specific configurations.
*
* An interrupt can be used to configure the device. When an interrupt is
* defined in struct i2c_client.irq, the driver is configured to only use the
* device's continuous mode if the device supports it. If the device does not
* support continuous mode, then the interrupt is not used.
* If the device is connected to the host, the delay timing used in continuous
* mode is the one closest to the device's supported modes. Example: A 70ms
* request will use the 125ms from the possible 10ms and 125ms on the AK8963.
* If the device is connected to the MPU, the delay timing used in continuous
* mode is equal to or the next fastest supported speed.
*/
/* NVS = NVidia Sensor framework */
/* NVI = NVidia/Invensense */
/* See Nvs.cpp in the HAL for the NVS implementation of batch/flush. */
/* See NvsIio.cpp in the HAL for the IIO enable/disable extension mechanism. */
#include <linux/i2c.h>
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/err.h>
#include <linux/delay.h>
#include <linux/regulator/consumer.h>
#include <linux/workqueue.h>
#include <linux/interrupt.h>
#include <linux/of.h>
#include <linux/nvs.h>
#ifndef AKM_NVI_MPU_SUPPORT
#define AKM_NVI_MPU_SUPPORT 0
#endif
#if AKM_NVI_MPU_SUPPORT
#include <linux/mpu_iio.h>
#endif /* AKM_NVI_MPU_SUPPORT */
#ifdef ENABLE_TRACE
#include <trace/events/nvs_sensors.h>
#endif // ENABLE_TRACE
#define AKM_DRIVER_VERSION (336)
#define AKM_VENDOR "AsahiKASEI"
#define AKM_NAME "ak89xx"
#define AKM_NAME_AK8963 "ak8963"
#define AKM_NAME_AK8975 "ak8975"
#define AKM_NAME_AK09911 "ak09911"
#define AKM_KBUF_SIZE (32)
#define AKM_DELAY_US_MAX (255000)
#define AKM_HW_DELAY_POR_MS (50)
#define AKM_HW_DELAY_TSM_MS (10) /* Time Single Measurement */
#define AKM_HW_DELAY_US (100)
#define AKM_HW_DELAY_ROM_ACCESS_US (200)
#define AKM_POLL_DELAY_MS_DFLT (200)
#define AKM_MPU_RETRY_COUNT (50)
#define AKM_MPU_RETRY_DELAY_MS (20)
#define AKM_ERR_CNT_MAX (20)
/* HW registers */
#define AKM_WIA_ID (0x48)
#define AKM_DEVID_AK8963 (0x01)
#define AKM_DEVID_AK8975 (0x03)
#define AKM_DEVID_AK09911 (0x05)
#define AKM_REG_WIA (0x00)
#define AKM_REG_WIA2 (0x01)
#define AKM_BIT_DRDY (0x01)
#define AKM_BIT_DOR (0x02)
#define AKM_BIT_DERR (0x04)
#define AKM_BIT_HOFL (0x08)
#define AKM_BIT_BITM (0x10)
#define AKM_BIT_SRST (0x01)
#define AKM_BIT_SELF (0x40)
#define AKM_MODE_POWERDOWN (0x00)
#define AKM_MODE_SINGLE (0x01)
#define WR (0)
#define RD (1)
#define PORT_N (2)
#define AXIS_X (0)
#define AXIS_Y (1)
#define AXIS_Z (2)
#define AXIS_N (3)
/* regulator names in order of powering on */
static char *akm_vregs[] = {
"vdd",
"vid",
};
static char *akm_configs[] = {
"auto",
"mpu",
"host",
};
static unsigned short akm_i2c_addrs[] = {
0x0C,
0x0D,
0x0E,
0x0F,
};
struct akm_rr {
struct nvs_float max_range;
struct nvs_float resolution;
s16 range_lo[AXIS_N];
s16 range_hi[AXIS_N];
};
struct akm_cmode {
unsigned int t_us;
u8 mode;
};
struct akm_state {
struct i2c_client *i2c;
struct nvs_fn_if *nvs;
void *nvs_st;
struct sensor_cfg cfg;
struct regulator_bulk_data vreg[ARRAY_SIZE(akm_vregs)];
struct workqueue_struct *wq;
struct work_struct ws;
struct akm_hal *hal; /* Hardware Abstraction Layer */
u8 asa[AXIS_N]; /* axis sensitivity adjustment */
u64 asa_q30[AXIS_N]; /* Q30 axis sensitivity adjustment */
unsigned int sts; /* status flags */
unsigned int errs; /* error count */
unsigned int enabled; /* enable status */
unsigned int period_us; /* requested sampling period (us) */
unsigned int rr_i; /* resolution/range index */
u16 i2c_addr; /* I2C address */
u8 dev_id; /* device ID */
unsigned int dmp_rd_len_sts; /* status length from DMP */
unsigned int dmp_rd_len_data; /* data length from DMP */
bool dmp_rd_be_sts; /* status endian from DMP */
bool dmp_rd_be_data; /* data endian from DMP */
bool irq_dis; /* interrupt host disable flag */
bool initd; /* set if initialized */
bool matrix_en; /* handle matrix internally */
bool cmode; /* continuous mode */
bool mpu_en; /* if device behind MPU */
bool port_en[PORT_N]; /* enable status of MPU write port */
int port_id[PORT_N]; /* MPU port ID */
u8 data_out; /* write value to trigger a sample */
s16 magn_uc[AXIS_N]; /* uncalibrated sample data */
s16 magn[AXIS_N + 1]; /* data after calibration + status */
u8 sts_dummy[6]; /* status reported to NVS is 64-bit */
u8 nvi_config; /* NVI configuration */
};
struct akm_hal {
const char *part;
int version;
struct akm_rr *rr;
u8 rr_i_max;
struct nvs_float milliamp;
unsigned int delay_us_min;
unsigned int asa_shift;
u8 reg_start_rd;
u8 reg_st1;
u8 reg_st2;
u8 reg_cntl1;
u8 reg_mode;
u8 reg_reset;
u8 reg_astc;
u8 reg_asa;
u8 mode_mask;
u8 mode_self_test;
u8 mode_rom_read;
struct akm_cmode *cmode_tbl;
bool irq;
#if AKM_NVI_MPU_SUPPORT
unsigned int mpu_id;
#endif /* AKM_NVI_MPU_SUPPORT */
};
static void akm_err(struct akm_state *st)
{
st->errs++;
if (!st->errs)
st->errs--;
}
static int akm_i2c_rd(struct akm_state *st, u8 reg, u16 len, u8 *val)
{
struct i2c_msg msg[2];
msg[0].addr = st->i2c_addr;
msg[0].flags = 0;
msg[0].len = 1;
msg[0].buf = &reg;
msg[1].addr = st->i2c_addr;
msg[1].flags = I2C_M_RD;
msg[1].len = len;
msg[1].buf = val;
if (i2c_transfer(st->i2c->adapter, msg, 2) != 2) {
akm_err(st);
return -EIO;
}
return 0;
}
static int akm_i2c_wr(struct akm_state *st, u8 reg, u8 val)
{
struct i2c_msg msg;
u8 buf[2];
if (st->i2c_addr) {
buf[0] = reg;
buf[1] = val;
msg.addr = st->i2c_addr;
msg.flags = 0;
msg.len = 2;
msg.buf = buf;
if (i2c_transfer(st->i2c->adapter, &msg, 1) != 1) {
akm_err(st);
return -EIO;
}
}
return 0;
}
static int akm_nvi_mpu_bypass_request(struct akm_state *st)
{
int ret = 0;
#if AKM_NVI_MPU_SUPPORT
int i;
if (st->mpu_en) {
for (i = 0; i < AKM_MPU_RETRY_COUNT; i++) {
ret = nvi_mpu_bypass_request(true);
if ((!ret) || (ret == -EPERM))
break;
msleep(AKM_MPU_RETRY_DELAY_MS);
}
if (ret == -EPERM)
ret = 0;
}
#endif /* AKM_NVI_MPU_SUPPORT */
return ret;
}
static int akm_nvi_mpu_bypass_release(struct akm_state *st)
{
int ret = 0;
#if AKM_NVI_MPU_SUPPORT
if (st->mpu_en)
ret = nvi_mpu_bypass_release();
#endif /* AKM_NVI_MPU_SUPPORT */
return ret;
}
static int akm_mode_wr(struct akm_state *st, u8 mode)
{
int ret = 0;
#if AKM_NVI_MPU_SUPPORT
if (st->mpu_en && !st->cmode) {
ret = nvi_mpu_data_out(st->port_id[WR], mode);
} else {
ret = akm_nvi_mpu_bypass_request(st);
if (!ret) {
if (st->cmode) {
ret = akm_i2c_wr(st, st->hal->reg_mode,
AKM_MODE_POWERDOWN);
if (mode & st->hal->mode_mask) {
udelay(AKM_HW_DELAY_US);
ret |= akm_i2c_wr(st,
st->hal->reg_mode,
mode);
}
} else {
ret = akm_i2c_wr(st, st->hal->reg_mode, mode);
}
akm_nvi_mpu_bypass_release(st);
}
}
#else /* AKM_NVI_MPU_SUPPORT */
if (st->cmode) {
ret = akm_i2c_wr(st, st->hal->reg_mode,
AKM_MODE_POWERDOWN);
if (mode & st->hal->mode_mask) {
udelay(AKM_HW_DELAY_US);
ret |= akm_i2c_wr(st,
st->hal->reg_mode,
mode);
}
} else {
ret = akm_i2c_wr(st, st->hal->reg_mode, mode);
}
#endif /* AKM_NVI_MPU_SUPPORT */
if (!ret)
st->data_out = mode;
return ret;
}
static int akm_pm(struct akm_state *st, bool enable)
{
int ret = 0;
if (enable) {
ret = nvs_vregs_enable(&st->i2c->dev, st->vreg,
ARRAY_SIZE(akm_vregs));
if (ret > 0)
mdelay(AKM_HW_DELAY_POR_MS);
} else {
if (st->cmode) {
ret = nvs_vregs_sts(st->vreg, ARRAY_SIZE(akm_vregs));
if ((ret < 0) || (ret == ARRAY_SIZE(akm_vregs))) {
ret = akm_mode_wr(st, AKM_MODE_POWERDOWN);
} else if (ret > 0) {
ret = nvs_vregs_enable(&st->i2c->dev, st->vreg,
ARRAY_SIZE(akm_vregs));
mdelay(AKM_HW_DELAY_POR_MS);
ret = akm_mode_wr(st, AKM_MODE_POWERDOWN);
}
}
ret |= nvs_vregs_disable(&st->i2c->dev, st->vreg,
ARRAY_SIZE(akm_vregs));
}
if (ret > 0)
ret = 0;
if (ret) {
dev_err(&st->i2c->dev, "%s pwr=%x ERR=%d\n",
__func__, enable, ret);
} else {
if (st->sts & NVS_STS_SPEW_MSG)
dev_info(&st->i2c->dev, "%s pwr=%x\n",
__func__, enable);
}
return ret;
}
static int akm_port_free(struct akm_state *st, int port)
{
int ret = 0;
#if AKM_NVI_MPU_SUPPORT
if (st->port_id[port] >= 0) {
ret = nvi_mpu_port_free(st->port_id[port]);
if (!ret)
st->port_id[port] = -1;
}
#endif /* AKM_NVI_MPU_SUPPORT */
return ret;
}
static int akm_ports_free(struct akm_state *st)
{
int ret;
ret = akm_port_free(st, WR);
ret |= akm_port_free(st, RD);
return ret;
}
static void akm_pm_exit(struct akm_state *st)
{
akm_ports_free(st);
akm_pm(st, false);
nvs_vregs_exit(&st->i2c->dev, st->vreg, ARRAY_SIZE(akm_vregs));
}
static int akm_pm_init(struct akm_state *st)
{
int ret;
st->enabled = 0;
st->period_us = (AKM_POLL_DELAY_MS_DFLT * 1000);
st->initd = false;
st->mpu_en = false;
st->port_en[WR] = false;
st->port_en[RD] = false;
st->port_id[WR] = -1;
st->port_id[RD] = -1;
nvs_vregs_init(&st->i2c->dev,
st->vreg, ARRAY_SIZE(akm_vregs), akm_vregs);
ret = akm_pm(st, true);
return ret;
}
static int akm_ports_enable(struct akm_state *st, bool enable)
{
int ret = 0;
#if AKM_NVI_MPU_SUPPORT
unsigned int port_mask = 0;
unsigned int i;
for (i = 0; i < PORT_N; i++) {
if (enable != st->port_en[i] && st->port_id[i] >= 0)
port_mask |= (1 << st->port_id[i]);
}
if (port_mask) {
ret = nvi_mpu_enable(port_mask, enable);
if (!ret) {
for (i = 0; i < PORT_N; i++) {
if (st->port_id[i] >= 0 &&
port_mask & (1 << st->port_id[i]))
st->port_en[i] = enable;
}
}
}
#endif /* AKM_NVI_MPU_SUPPORT */
return ret;
}
static int akm_reset_dev(struct akm_state *st)
{
u8 val;
unsigned int i;
int ret = 0;
if (st->hal->reg_reset) {
ret = akm_nvi_mpu_bypass_request(st);
if (!ret) {
ret = akm_i2c_wr(st, st->hal->reg_reset,
AKM_BIT_SRST);
for (i = 0; i < AKM_HW_DELAY_POR_MS; i++) {
mdelay(1);
ret = akm_i2c_rd(st, st->hal->reg_reset,
1, &val);
if (ret)
continue;
if (!(val & AKM_BIT_SRST))
break;
}
akm_nvi_mpu_bypass_release(st);
}
}
return 0;
}
static int akm_mode(struct akm_state *st)
{
u8 mode;
unsigned int t_us;
unsigned int i;
int ret;
mode = AKM_MODE_SINGLE;
if (st->cmode) {
i = 0;
while (st->hal->cmode_tbl[i].t_us) {
mode = st->hal->cmode_tbl[i].mode;
t_us = st->hal->cmode_tbl[i].t_us;
if (st->period_us >= st->hal->cmode_tbl[i].t_us)
break;
i++;
if (!st->mpu_en) {
t_us -= st->hal->cmode_tbl[i].t_us;
t_us >>= 1;
t_us += st->hal->cmode_tbl[i].t_us;
if (st->period_us > t_us)
break;
}
}
}
if (st->rr_i)
mode |= AKM_BIT_BITM;
ret = akm_mode_wr(st, mode);
return ret;
}
static s16 akm_matrix(struct akm_state *st,
s16 x, s16 y, s16 z, unsigned int axis)
{
return ((st->cfg.matrix[0 + axis] == 1 ? x :
(st->cfg.matrix[0 + axis] == -1 ? -x : 0)) +
(st->cfg.matrix[3 + axis] == 1 ? y :
(st->cfg.matrix[3 + axis] == -1 ? -y : 0)) +
(st->cfg.matrix[6 + axis] == 1 ? z :
(st->cfg.matrix[6 + axis] == -1 ? -z : 0)));
}
static void akm_calc(struct akm_state *st, s16 *data, bool be, bool matrix)
{
s16 x;
s16 y;
s16 z;
unsigned int axis;
for (axis = 0; axis < AXIS_N; axis++) {
if (be)
st->magn_uc[axis] = be16_to_cpup(&data[axis]);
else
st->magn_uc[axis] = data[axis];
}
x = (((s64)st->magn_uc[AXIS_X] * st->asa_q30[AXIS_X]) >> 30);
y = (((s64)st->magn_uc[AXIS_Y] * st->asa_q30[AXIS_Y]) >> 30);
z = (((s64)st->magn_uc[AXIS_Z] * st->asa_q30[AXIS_Z]) >> 30);
if (matrix) {
for (axis = 0; axis < AXIS_N; axis++)
st->magn[axis] = akm_matrix(st, x, y, z, axis);
} else {
st->magn[AXIS_X] = x;
st->magn[AXIS_Y] = y;
st->magn[AXIS_Z] = z;
}
}
static int akm_read_sts(struct akm_state *st, u8 *data)
{
u8 st1;
u8 st2;
int ret = 0; /* assume still processing */
st1 = st->hal->reg_st1 - st->hal->reg_start_rd;
st2 = st->hal->reg_st2 - st->hal->reg_start_rd;
if (data[st2] & (AKM_BIT_HOFL | AKM_BIT_DERR)) {
if (st->sts & NVS_STS_SPEW_MSG)
dev_info(&st->i2c->dev, "%s ERR: STS2=0x%02x\n",
__func__, data[st2]);
akm_err(st);
ret = -1; /* error */
} else if (data[st1]) {
if (data[st1] & AKM_BIT_DOR && st->sts & NVS_STS_SPEW_MSG)
dev_info(&st->i2c->dev, "%s ERR: STS1=0x%02x\n",
__func__, data[st1]);
if (data[st1] & AKM_BIT_DRDY)
ret = 1; /* data ready to be reported */
}
return ret;
}
static int akm_read(struct akm_state *st, s64 ts)
{
u8 data[10];
unsigned int i;
int ret;
#ifdef ENABLE_TRACE
int cookie;
#endif // ENABLE_TRACE
ret = akm_i2c_rd(st, st->hal->reg_start_rd, 10, data);
if (ret)
return ret;
ret = akm_read_sts(st, data);
if (ret > 0) {
i = st->hal->reg_st1 - st->hal->reg_start_rd + 1;
akm_calc(st, (s16 *)&data[i], false, st->matrix_en);
#ifdef ENABLE_TRACE
cookie = COOKIE(SENSOR_TYPE_MAGNETIC_FIELD, ts);
trace_async_atrace_begin(__func__, TRACE_SENSOR_ID, cookie);
#endif // ENABLE_TRACE
st->nvs->handler(st->nvs_st, &st->magn, ts);
#ifdef ENABLE_TRACE
trace_async_atrace_end(__func__, TRACE_SENSOR_ID, cookie);
#endif // ENABLE_TRACE
}
return ret;
}
#if AKM_NVI_MPU_SUPPORT
static void akm_mpu_handler(u8 *data, unsigned int len, s64 ts, void *p_val)
{
struct akm_state *st = (struct akm_state *)p_val;
bool be = false;
unsigned int i;
int ret;
#ifdef ENABLE_TRACE
int cookie;
#endif // ENABLE_TRACE
if (ts < 0 || !len)
/* error - just drop */
return;
if (!ts) {
/* no timestamp means flush done */
st->nvs->handler(st->nvs_st, NULL, 0);
return;
}
if (st->enabled) {
if (!data) {
/* Invensense error - push previous data*/
st->nvs->handler(st->nvs_st, &st->magn, ts);
return;
}
if (len == st->dmp_rd_len_sts) {
/* this is the status data from the DMP */
if (st->dmp_rd_be_sts)
st->magn[AXIS_N] = be16_to_cpup((u16 *)data);
else
st->magn[AXIS_N] = le16_to_cpup((u16 *)data);
#ifdef ENABLE_TRACE
cookie = COOKIE(SENSOR_TYPE_MAGNETIC_FIELD, ts);
trace_async_atrace_begin(__func__, TRACE_SENSOR_ID, cookie);
#endif // ENABLE_TRACE
return;
}
if (len == st->dmp_rd_len_data) {
/* this data is from the DMP */
be = st->dmp_rd_be_data;
i = 0;
ret = 1;
} else {
/* data in little endian */
i = st->hal->reg_st1 - st->hal->reg_start_rd + 1;
ret = akm_read_sts(st, data);
}
if (ret > 0) {
akm_calc(st, (s16 *)&data[i], be, st->matrix_en);
#ifdef ENABLE_TRACE
cookie = COOKIE(SENSOR_TYPE_MAGNETIC_FIELD, ts);
trace_async_atrace_begin(__func__, TRACE_SENSOR_ID, cookie);
#endif // ENABLE_TRACE
st->nvs->handler(st->nvs_st, &st->magn, ts);
#ifdef ENABLE_TRACE
trace_async_atrace_end(__func__, TRACE_SENSOR_ID, cookie);
#endif // ENABLE_TRACE
}
}
}
#endif /* AKM_NVI_MPU_SUPPORT */
static void akm_work(struct work_struct *ws)
{
struct akm_state *st = container_of((struct work_struct *)ws,
struct akm_state, ws);
s64 ts1;
s64 ts2;
unsigned int ts_diff;
unsigned long delay_us;
int ret;
while (1) {
st->nvs->nvs_mutex_lock(st->nvs_st);
if (st->enabled) {
ts1 = nvs_timestamp();
ret = akm_read(st, ts1);
if (ret > 0) {
akm_i2c_wr(st, st->hal->reg_mode,
st->data_out);
} else if (ret < 0) {
akm_reset_dev(st);
akm_mode(st);
}
ts2 = nvs_timestamp();
ts_diff = (ts2 - ts1) / 1000; /* ns => us */
if (st->period_us > ts_diff)
delay_us = st->period_us - ts_diff;
else
delay_us = 0;
st->nvs->nvs_mutex_unlock(st->nvs_st);
} else {
st->nvs->nvs_mutex_unlock(st->nvs_st);
break;
}
if (delay_us) {
if (st->period_us <= st->cfg.thresh_lo)
usleep_range(delay_us, delay_us);
else
usleep_range(delay_us, st->period_us);
}
}
}
static irqreturn_t akm_irq_thread(int irq, void *dev_id)
{
struct akm_state *st = (struct akm_state *)dev_id;
int ret;
ret = akm_read(st, nvs_timestamp());
if (ret < 0) {
akm_reset_dev(st);
akm_mode(st);
}
return IRQ_HANDLED;
}
static int akm_self_test(struct akm_state *st)
{
u8 data[10];
u8 mode;
unsigned int i;
int ret;
int ret_t;
ret_t = akm_i2c_wr(st, st->hal->reg_mode, AKM_MODE_POWERDOWN);
udelay(AKM_HW_DELAY_US);
if (st->hal->reg_astc) {
ret_t |= akm_i2c_wr(st, st->hal->reg_astc, AKM_BIT_SELF);
udelay(AKM_HW_DELAY_US);
}
mode = st->hal->mode_self_test;
if (st->rr_i)
mode |= AKM_BIT_BITM;
ret_t |= akm_i2c_wr(st, st->hal->reg_mode, mode);
mdelay(AKM_HW_DELAY_TSM_MS);
ret = akm_i2c_rd(st, st->hal->reg_start_rd, 10, data);
if (!ret) {
ret = akm_read_sts(st, data);
if (ret > 0) {
i = st->hal->reg_st1 - st->hal->reg_start_rd + 1;
akm_calc(st, (s16 *)&data[i], false, false);
ret = 0;
} else {
ret = -EBUSY;
}
}
ret_t |= ret;
if (st->hal->reg_astc)
akm_i2c_wr(st, st->hal->reg_astc, 0);
if (ret_t) {
dev_err(&st->i2c->dev, "%s ERR: %d\n",
__func__, ret_t);
} else {
if ((st->magn[AXIS_X] <
st->hal->rr[st->rr_i].range_lo[AXIS_X]) ||
(st->magn[AXIS_X] >
st->hal->rr[st->rr_i].range_hi[AXIS_X]))
ret_t |= 1 << AXIS_X;
if ((st->magn[AXIS_Y] <
st->hal->rr[st->rr_i].range_lo[AXIS_Y]) ||
(st->magn[AXIS_Y] >
st->hal->rr[st->rr_i].range_hi[AXIS_Y]))
ret_t |= 1 << AXIS_Y;
if ((st->magn[AXIS_Z] <
st->hal->rr[st->rr_i].range_lo[AXIS_Z]) ||
(st->magn[AXIS_Z] >
st->hal->rr[st->rr_i].range_hi[AXIS_Z]))
ret_t |= 1 << AXIS_Z;
if (ret_t) {
dev_err(&st->i2c->dev, "%s ERR: out_of_range %x\n",
__func__, ret_t);
}
}
return ret_t;
}
static int akm_init_hw(struct akm_state *st)
{
unsigned int i;
int ret;
ret = akm_nvi_mpu_bypass_request(st);
if (!ret) {
ret = akm_i2c_wr(st, st->hal->reg_mode,
st->hal->mode_rom_read);
udelay(AKM_HW_DELAY_ROM_ACCESS_US);
ret |= akm_i2c_rd(st, st->hal->reg_asa, 3, st->asa);
akm_i2c_wr(st, st->hal->reg_mode, AKM_MODE_POWERDOWN);
akm_self_test(st);
akm_nvi_mpu_bypass_release(st);
}
if (ret) {
dev_err(&st->i2c->dev, "%s ERR %d\n", __func__, ret);
} else {
st->initd = true;
for (i = 0; i < AXIS_N; i++) {
if (!st->asa_q30[i])
/* use HW setting if no DT override */
st->asa_q30[i] = st->asa[i] + 128;
st->asa_q30[i] <<= 30 - st->hal->asa_shift;
}
}
return ret;
}
static void akm_disable_irq(struct akm_state *st)
{
if (!st->irq_dis) {
disable_irq_nosync(st->i2c->irq);
st->irq_dis = true;
}
}
static void akm_enable_irq(struct akm_state *st)
{
if (st->irq_dis) {
enable_irq(st->i2c->irq);
st->irq_dis = false;
}
}
static int akm_dis(struct akm_state *st)
{
int ret = 0;
if (st->mpu_en) {
ret = akm_ports_enable(st, false);
} else {
if (st->cmode)
akm_disable_irq(st);
}
if (!ret)
st->enabled = 0;
return ret;
}
static int akm_disable(struct akm_state *st)
{
int ret;
ret = akm_dis(st);
if (!ret)
akm_pm(st, false);
return ret;
}
static int akm_en(struct akm_state *st)
{
int ret = 0;
akm_pm(st, true);
if (!st->initd)
ret = akm_init_hw(st);
return ret;
}
static int akm_enable(void *client, int snsr_id, int enable)
{
struct akm_state *st = (struct akm_state *)client;
int ret;
if (enable < 0)
return st->enabled;
if (enable) {
ret = akm_en(st);
if (!ret) {
ret = akm_mode(st);
if (st->mpu_en)
ret |= akm_ports_enable(st, true);
if (ret) {
akm_disable(st);
} else {
st->enabled = 1;
if (!st->mpu_en) {
if (st->cmode) {
akm_enable_irq(st);
} else {
cancel_work_sync(&st->ws);
queue_work(st->wq, &st->ws);
}
}
}
}
} else {
ret = akm_disable(st);
}
return ret;
}
static int akm_batch(void *client, int snsr_id, int flags,
unsigned int period, unsigned int timeout)
{
struct akm_state *st = (struct akm_state *)client;
int ret = 0;
if (period < st->hal->delay_us_min)
period = st->hal->delay_us_min;
#if AKM_NVI_MPU_SUPPORT
if (st->port_id[RD] >= 0)
ret = nvi_mpu_batch(st->port_id[RD], period, timeout);
if (!ret)
#endif /* AKM_NVI_MPU_SUPPORT */
st->period_us = period;
if (st->enabled && st->cmode && !ret)
ret = akm_mode(st);
return ret;
}
static int akm_batch_read(void *client, int snsr_id,
unsigned int *period_us, unsigned int *timeout_us)
{
struct akm_state *st = (struct akm_state *)client;
int ret = 0;
if (period_us)
*period_us = st->period_us;
if (timeout_us)
*timeout_us = 0;
#if AKM_NVI_MPU_SUPPORT
if (st->port_id[RD] >= 0)
ret = nvi_mpu_batch_read(st->port_id[RD],
period_us, timeout_us);
#endif /* AKM_NVI_MPU_SUPPORT */
return ret;
}
static int akm_flush(void *client, int snsr_id)
{
int ret = -EINVAL;
#if AKM_NVI_MPU_SUPPORT
struct akm_state *st = (struct akm_state *)client;
if (st->mpu_en)
ret = nvi_mpu_flush(st->port_id[RD]);
#endif /* AKM_NVI_MPU_SUPPORT */
return ret;
}
static int akm_resolution(void *client, int snsr_id, int resolution)
{
struct akm_state *st = (struct akm_state *)client;
unsigned int rr_i = st->rr_i;
int ret = 0;
if (st->mpu_en)
/* can't change resolutions at runtime when behind the MPU
* since DMP has already been configured with the resolution.
*/
return -EINVAL;
if (resolution < 0 || resolution > st->hal->rr_i_max)
return -EINVAL;
st->rr_i = resolution;
if (st->enabled && (resolution != rr_i)) {
ret = akm_mode(st);
if (ret < 0)
st->rr_i = rr_i;
}
st->cfg.max_range.ival = st->hal->rr[st->rr_i].max_range.ival;
st->cfg.max_range.fval = st->hal->rr[st->rr_i].max_range.fval;
st->cfg.resolution.ival = st->hal->rr[st->rr_i].resolution.ival;
st->cfg.resolution.fval = st->hal->rr[st->rr_i].resolution.fval;
st->cfg.scale.ival = st->hal->rr[st->rr_i].resolution.ival;
st->cfg.scale.fval = st->hal->rr[st->rr_i].resolution.fval;
return ret;
}
static int akm_reset(void *client, int snsr_id)
{
struct akm_state *st = (struct akm_state *)client;
unsigned int enabled = st->enabled;
int ret;
akm_dis(st);
akm_pm(st, true);
ret = akm_reset_dev(st);
akm_enable(st, snsr_id, enabled);
return ret;
}
static int akm_selftest(void *client, int snsr_id, char *buf)
{
struct akm_state *st = (struct akm_state *)client;
unsigned int enabled = st->enabled;
ssize_t t;
int ret;
akm_dis(st);
akm_en(st);
ret = akm_nvi_mpu_bypass_request(st);
if (!ret) {
ret = akm_self_test(st);
akm_nvi_mpu_bypass_release(st);
}
if (buf) {
if (ret < 0) {
t = snprintf(buf, PAGE_SIZE, "ERR: %d\n", ret);
} else {
if (ret > 0)
t = snprintf(buf, PAGE_SIZE, "%d FAIL", ret);
else
t = snprintf(buf, PAGE_SIZE, "%d PASS", ret);
t += snprintf(buf + t, PAGE_SIZE - t,
" xyz: %hd %hd %hd ",
st->magn[AXIS_X],
st->magn[AXIS_Y],
st->magn[AXIS_Z]);
t += snprintf(buf + t, PAGE_SIZE - t,
"uncalibrated: %hd %hd %hd ",
st->magn_uc[AXIS_X],
st->magn_uc[AXIS_Y],
st->magn_uc[AXIS_Z]);
if (ret > 0) {
if (ret & (1 << AXIS_X))
t += snprintf(buf + t, PAGE_SIZE - t,
"X ");
if (ret & (1 << AXIS_Y))
t += snprintf(buf + t, PAGE_SIZE - t,
"Y ");
if (ret & (1 << AXIS_Z))
t += snprintf(buf + t, PAGE_SIZE - t,
"Z ");
}
t += snprintf(buf + t, PAGE_SIZE - t, "\n");
}
}
akm_enable(st, 0, enabled);
if (buf)
return t;
return ret;
}
static int akm_regs(void *client, int snsr_id, char *buf)
{
struct akm_state *st = (struct akm_state *)client;
ssize_t t;
u8 data1[25];
u8 data2[3];
unsigned int i;
int ret;
if (!st->initd)
t = snprintf(buf, PAGE_SIZE,
"calibration: NEED ENABLE\n");
else
t = snprintf(buf, PAGE_SIZE,
"calibration: x=%#2x y=%#2x z=%#2x\n",
st->asa[AXIS_X],
st->asa[AXIS_Y],
st->asa[AXIS_Z]);
ret = akm_nvi_mpu_bypass_request(st);
if (!ret) {
ret = akm_i2c_rd(st, AKM_REG_WIA,
st->hal->reg_st2 + 1, data1);
ret |= akm_i2c_rd(st, st->hal->reg_cntl1, 3, data2);
akm_nvi_mpu_bypass_release(st);
}
if (ret) {
t += snprintf(buf + t, PAGE_SIZE - t,
"registers: ERR %d\n", ret);
} else {
t += snprintf(buf + t, PAGE_SIZE - t,
"registers:\n");
for (i = 0; i <= st->hal->reg_st2; i++)
t += snprintf(buf + t, PAGE_SIZE - t,
"%#2x=%#2x\n",
AKM_REG_WIA + i, data1[i]);
for (i = 0; i < 3; i++)
t += snprintf(buf + t, PAGE_SIZE - t,
"%#2x=%#2x\n",
st->hal->reg_cntl1 + i,
data2[i]);
}
return t;
}
static int akm_nvs_read(void *client, int snsr_id, char *buf)
{
struct akm_state *st = (struct akm_state *)client;
ssize_t t;
t = snprintf(buf, PAGE_SIZE, "driver v.%u\n", AKM_DRIVER_VERSION);
t += snprintf(buf + t, PAGE_SIZE - t, "irq=%d\n", st->i2c->irq);
t += snprintf(buf + t, PAGE_SIZE - t, "mpu_en=%x\n", st->mpu_en);
t += snprintf(buf + t, PAGE_SIZE - t, "nvi_config=%hhu\n",
st->nvi_config);
t += snprintf(buf + t, PAGE_SIZE - t, "asa_q30_x=%llu\n",
st->asa_q30[AXIS_X]);
t += snprintf(buf + t, PAGE_SIZE - t, "asa_q30_y=%llu\n",
st->asa_q30[AXIS_Y]);
t += snprintf(buf + t, PAGE_SIZE - t, "asa_q30_z=%llu\n",
st->asa_q30[AXIS_Z]);
t += snprintf(buf + t, PAGE_SIZE - t, "cmode_enable=%x\n", st->cmode);
return t;
}
static struct nvs_fn_dev akm_fn_dev = {
.enable = akm_enable,
.batch = akm_batch,
.batch_read = akm_batch_read,
.flush = akm_flush,
.resolution = akm_resolution,
.reset = akm_reset,
.self_test = akm_selftest,
.regs = akm_regs,
.nvs_read = akm_nvs_read,
};
#ifdef CONFIG_PM_SLEEP
static int akm_suspend(struct device *dev)
{
struct i2c_client *client = to_i2c_client(dev);
struct akm_state *st = i2c_get_clientdata(client);
int ret = 0;
st->sts |= NVS_STS_SUSPEND;
if (st->nvs && st->nvs_st)
ret = st->nvs->suspend(st->nvs_st);
if (st->sts & NVS_STS_SPEW_MSG)
dev_info(&client->dev, "%s\n", __func__);
return ret;
}
static int akm_resume(struct device *dev)
{
struct i2c_client *client = to_i2c_client(dev);
struct akm_state *st = i2c_get_clientdata(client);
int ret = 0;
if (st->nvs && st->nvs_st)
ret = st->nvs->resume(st->nvs_st);
st->sts &= ~NVS_STS_SUSPEND;
if (st->sts & NVS_STS_SPEW_MSG)
dev_info(&client->dev, "%s\n", __func__);
return ret;
}
#endif /* CONFIG_PM_SLEEP */
static SIMPLE_DEV_PM_OPS(akm_pm_ops, akm_suspend, akm_resume);
static void akm_shutdown(struct i2c_client *client)
{
struct akm_state *st = i2c_get_clientdata(client);
st->sts |= NVS_STS_SHUTDOWN;
if (st->nvs && st->nvs_st)
st->nvs->shutdown(st->nvs_st);
if (st->sts & NVS_STS_SPEW_MSG)
dev_info(&client->dev, "%s\n", __func__);
}
static int akm_remove(struct i2c_client *client)
{
struct akm_state *st = i2c_get_clientdata(client);
if (st != NULL) {
akm_shutdown(client);
if (st->nvs) {
if (st->nvs_st)
st->nvs->remove(st->nvs_st);
}
akm_pm_exit(st);
if (st->wq) {
destroy_workqueue(st->wq);
st->wq = NULL;
}
}
dev_info(&client->dev, "%s\n", __func__);
return 0;
}
static struct akm_rr akm_rr_09911[] = {
{
.max_range = {
.ival = 9825,
.fval = 0,
},
.resolution = {
.ival = 0,
.fval = 600000,
},
.range_lo[AXIS_X] = -30,
.range_hi[AXIS_X] = 30,
.range_lo[AXIS_Y] = -30,
.range_hi[AXIS_Y] = 30,
.range_lo[AXIS_Z] = -400,
.range_hi[AXIS_Z] = -50,
},
};
static struct akm_cmode akm_cmode_09911[] = {
{
.t_us = 100000,
.mode = 0x02,
},
{
.t_us = 50000,
.mode = 0x04,
},
{
.t_us = 20000,
.mode = 0x06,
},
{
.t_us = 10000,
.mode = 0x08,
},
{},
};
static struct akm_hal akm_hal_09911 = {
.part = AKM_NAME_AK09911,
.version = 2,
.rr = akm_rr_09911,
.rr_i_max = ARRAY_SIZE(akm_rr_09911) - 1,
.milliamp = {
.ival = 2,
.fval = 400000,
},
.delay_us_min = 10000,
.asa_shift = 7,
.reg_start_rd = 0x10,
.reg_st1 = 0x10,
.reg_st2 = 0x18,
.reg_cntl1 = 0x30,
.reg_mode = 0x31,
.reg_reset = 0x32,
.reg_astc = 0, /* N/A */
.reg_asa = 0x60,
.mode_mask = 0x1F,
.mode_self_test = 0x10,
.mode_rom_read = 0x1F,
.cmode_tbl = akm_cmode_09911,
.irq = false,
#if AKM_NVI_MPU_SUPPORT
.mpu_id = COMPASS_ID_AK09911,
#endif /* AKM_NVI_MPU_SUPPORT */
};
static struct akm_rr akm_rr_8975[] = {
{
.max_range = {
.ival = 2459,
.fval = 0,
},
.resolution = {
.ival = 0,
.fval = 300000,
},
.range_lo[AXIS_X] = -100,
.range_hi[AXIS_X] = 100,
.range_lo[AXIS_Y] = -100,
.range_hi[AXIS_Y] = 100,
.range_lo[AXIS_Z] = -1000,
.range_hi[AXIS_Z] = -300,
},
};
static struct akm_hal akm_hal_8975 = {
.part = AKM_NAME_AK8975,
.version = 2,
.rr = akm_rr_8975,
.rr_i_max = ARRAY_SIZE(akm_rr_8975) - 1,
.milliamp = {
.ival = 3,
.fval = 0,
},
.delay_us_min = 10000,
.asa_shift = 8,
.reg_start_rd = 0x01,
.reg_st1 = 0x02,
.reg_st2 = 0x09,
.reg_cntl1 = 0x0A,
.reg_mode = 0x0A,
.reg_reset = 0, /* N/A */
.reg_astc = 0x0C,
.reg_asa = 0x10,
.mode_mask = 0x0F,
.mode_self_test = 0x08,
.mode_rom_read = 0x0F,
.cmode_tbl = NULL,
.irq = true,
#if AKM_NVI_MPU_SUPPORT
.mpu_id = COMPASS_ID_AK8975,
#endif /* AKM_NVI_MPU_SUPPORT */
};
static struct akm_rr akm_rr_8963[] = {
{
.max_range = {
.ival = 9825,
.fval = 0,
},
.resolution = {
.ival = 0,
.fval = 600000,
},
.range_lo[AXIS_X] = -50,
.range_hi[AXIS_X] = 50,
.range_lo[AXIS_Y] = -50,
.range_hi[AXIS_Y] = 50,
.range_lo[AXIS_Z] = -800,
.range_hi[AXIS_Z] = -200,
},
{
.max_range = {
.ival = 9825,
.fval = 0,
},
.resolution = {
.ival = 0,
.fval = 150000,
},
.range_lo[AXIS_X] = -200,
.range_hi[AXIS_X] = 200,
.range_lo[AXIS_Y] = -200,
.range_hi[AXIS_Y] = 200,
.range_lo[AXIS_Z] = -3200,
.range_hi[AXIS_Z] = -800,
},
};
static struct akm_cmode akm_cmode_8963[] = {
{
.t_us = 125000,
.mode = 0x02,
},
{
.t_us = 10000,
.mode = 0x04,
},
{},
};
static struct akm_hal akm_hal_8963 = {
.part = AKM_NAME_AK8963,
.version = 2,
.rr = akm_rr_8963,
.rr_i_max = ARRAY_SIZE(akm_rr_8963) - 1,
.milliamp = {
.ival = 2,
.fval = 800000,
},
.delay_us_min = 10000,
.asa_shift = 8,
.reg_start_rd = 0x01,
.reg_st1 = 0x02,
.reg_st2 = 0x09,
.reg_cntl1 = 0x0A,
.reg_mode = 0x0A,
.reg_reset = 0x0B,
.reg_astc = 0x0C,
.reg_asa = 0x10,
.mode_mask = 0x0F,
.mode_self_test = 0x08,
.mode_rom_read = 0x0F,
.cmode_tbl = akm_cmode_8963,
.irq = true,
#if AKM_NVI_MPU_SUPPORT
.mpu_id = COMPASS_ID_AK8963,
#endif /* AKM_NVI_MPU_SUPPORT */
};
static int akm_id_hal(struct akm_state *st, u8 dev_id)
{
int ret = 0;
switch (dev_id) {
case AKM_DEVID_AK09911:
st->hal = &akm_hal_09911;
break;
case AKM_DEVID_AK8975:
st->hal = &akm_hal_8975;
break;
case AKM_DEVID_AK8963:
st->hal = &akm_hal_8963;
break;
default:
st->hal = &akm_hal_8975;
ret = -ENODEV;
}
st->rr_i = st->hal->rr_i_max;
st->cfg.name = "magnetic_field";
st->cfg.kbuf_sz = AKM_KBUF_SIZE;
st->cfg.snsr_data_n = 14; /* status is 64-bit for integer */
st->cfg.ch_n = AXIS_N;
st->cfg.ch_sz = -2;
st->cfg.part = st->hal->part;
st->cfg.vendor = AKM_VENDOR;
st->cfg.version = st->hal->version;
st->cfg.max_range.ival = st->hal->rr[st->rr_i].max_range.ival;
st->cfg.max_range.fval = st->hal->rr[st->rr_i].max_range.fval;
st->cfg.resolution.ival = st->hal->rr[st->rr_i].resolution.ival;
st->cfg.resolution.fval = st->hal->rr[st->rr_i].resolution.fval;
st->cfg.milliamp.ival = st->hal->milliamp.ival;
st->cfg.milliamp.fval = st->hal->milliamp.fval;
st->cfg.delay_us_min = st->hal->delay_us_min;
st->cfg.delay_us_max = AKM_DELAY_US_MAX;
st->cfg.thresh_lo = AKM_DELAY_US_MAX;
st->cfg.scale.ival = st->hal->rr[st->rr_i].resolution.ival;
st->cfg.scale.fval = st->hal->rr[st->rr_i].resolution.fval;
nvs_of_dt(st->i2c->dev.of_node, &st->cfg, NULL);
return ret;
}
static int akm_id_compare(struct akm_state *st, const char *name)
{
u8 wia;
u8 val;
int ret;
int ret_t;
ret_t = akm_nvi_mpu_bypass_request(st);
if (!ret_t) {
ret_t = akm_i2c_rd(st, AKM_REG_WIA2, 1, &wia);
if (ret_t)
wia = 0;
akm_id_hal(st, wia);
if (wia != AKM_DEVID_AK09911) {
/* we can autodetect AK8963 with BITM */
ret = akm_i2c_wr(st, st->hal->reg_mode,
AKM_BIT_BITM);
if (ret) {
ret_t |= ret;
} else {
ret = akm_i2c_rd(st, st->hal->reg_st2,
1, &val);
if (ret) {
ret_t |= ret;
wia = 0;
} else {
if (val & AKM_BIT_BITM)
wia = AKM_DEVID_AK8963;
else
wia = AKM_DEVID_AK8975;
akm_id_hal(st, wia);
}
}
}
akm_nvi_mpu_bypass_release(st);
if ((!st->dev_id) && (!wia)) {
dev_err(&st->i2c->dev, "%s ERR: %s HW ID FAIL\n",
__func__, name);
ret = -ENODEV;
} else if ((!st->dev_id) && wia) {
st->dev_id = wia;
dev_dbg(&st->i2c->dev, "%s %s using ID %x\n",
__func__, name, st->dev_id);
} else if (st->dev_id && (!wia)) {
dev_err(&st->i2c->dev, "%s WARN: %s HW ID FAIL\n",
__func__, name);
} else if (st->dev_id != wia) {
dev_err(&st->i2c->dev, "%s WARN: %s != HW ID %x\n",
__func__, name, wia);
st->dev_id = wia;
} else {
dev_dbg(&st->i2c->dev, "%s %s == HW ID %x\n",
__func__, name, wia);
}
}
return ret_t;
}
static int akm_id_dev(struct akm_state *st, const char *name)
{
#if AKM_NVI_MPU_SUPPORT
struct nvi_mpu_port nmp;
struct nvi_mpu_inf inf;
unsigned int i;
u64 q30;
u8 config_boot;
#endif /* AKM_NVI_MPU_SUPPORT */
u8 val = 0;
int ret;
if (!strcmp(name, AKM_NAME_AK8963))
st->dev_id = AKM_DEVID_AK8963;
else if (!strcmp(name, AKM_NAME_AK8975))
st->dev_id = AKM_DEVID_AK8975;
else if (!strcmp(name, AKM_NAME_AK09911))
st->dev_id = AKM_DEVID_AK09911;
#if AKM_NVI_MPU_SUPPORT
config_boot = st->nvi_config & NVI_CONFIG_BOOT_MASK;
if (config_boot == NVI_CONFIG_BOOT_AUTO) {
nmp.addr = st->i2c_addr | 0x80;
nmp.reg = AKM_REG_WIA;
nmp.ctrl = 1;
ret = nvi_mpu_dev_valid(&nmp, &val);
dev_info(&st->i2c->dev, "%s AUTO ID=%x ret=%d\n",
__func__, val, ret);
/* see mpu_iio.h for possible return values */
if ((ret == -EAGAIN) || (ret == -EBUSY))
return -EAGAIN;
if ((val == AKM_WIA_ID) || ((ret == -EIO) && st->dev_id))
config_boot = NVI_CONFIG_BOOT_MPU;
}
if (config_boot == NVI_CONFIG_BOOT_MPU) {
st->mpu_en = true;
if (st->dev_id)
ret = akm_id_hal(st, st->dev_id);
else
ret = akm_id_compare(st, name);
if (ret)
return ret;
akm_init_hw(st);
nmp.type = SECONDARY_SLAVE_TYPE_COMPASS;
nmp.id = st->hal->mpu_id;
nmp.addr = st->i2c_addr; /* write port */
nmp.reg = st->hal->reg_mode;
nmp.ctrl = 1;
nmp.data_out = AKM_MODE_SINGLE;
nmp.delay_ms = AKM_HW_DELAY_TSM_MS;
nmp.period_us = 0;
nmp.shutdown_bypass = false;
nmp.handler = NULL;
nmp.ext_driver = NULL;
ret = nvi_mpu_port_alloc(&nmp);
dev_dbg(&st->i2c->dev, "%s MPU port/ret=%d\n",
__func__, ret);
/* By requesting the write port first it allows us to
* automatically determine if the DMP requires a single
* port, in which case this port request will fail.
* If this part does not support continuous mode
* required for single port operation, then this device
* population fails.
*/
if (ret < 0) {
if (st->hal->cmode_tbl)
st->cmode = true;
else
return ret;
} else {
st->port_id[WR] = ret;
}
nmp.addr = st->i2c_addr | 0x80; /* read port */
nmp.reg = st->hal->reg_start_rd;
nmp.ctrl = 10; /* MPU FIFO can't handle odd size */
nmp.data_out = 0;
nmp.delay_ms = 0;
nmp.period_us = st->period_us;
if (st->cmode)
nmp.shutdown_bypass = true;
nmp.handler = &akm_mpu_handler;
nmp.ext_driver = (void *)st;
memcpy(nmp.matrix, st->cfg.matrix, sizeof(nmp.matrix));
for (i = 0; i < AXIS_N; i++) {
q30 = st->asa_q30[i];
q30 *= st->hal->rr[st->rr_i].resolution.fval;
if (st->cfg.float_significance)
do_div(q30,
NVS_FLOAT_SIGNIFICANCE_NANO);
else
do_div(q30,
NVS_FLOAT_SIGNIFICANCE_MICRO);
nmp.q30[i] = q30;
}
ret = nvi_mpu_port_alloc(&nmp);
dev_dbg(&st->i2c->dev, "%s MPU port/ret=%d\n",
__func__, ret);
if (ret < 0) {
akm_ports_free(st);
return ret;
}
st->port_id[RD] = ret;
ret = nvi_mpu_info(st->port_id[RD], &inf);
if (ret)
return ret;
st->cfg.fifo_rsrv_evnt_cnt = inf.fifo_reserve;
st->cfg.fifo_max_evnt_cnt = inf.fifo_max;
st->cfg.delay_us_min = inf.period_us_min;
st->cfg.delay_us_max = inf.period_us_max;
st->dmp_rd_len_sts = inf.dmp_rd_len_sts;
st->dmp_rd_len_data = inf.dmp_rd_len_data;
st->dmp_rd_be_sts = inf.dmp_rd_be_sts;
st->dmp_rd_be_data = inf.dmp_rd_be_data;
return 0;
}
#endif /* AKM_NVI_MPU_SUPPORT */
/* NVI_CONFIG_BOOT_HOST */
st->mpu_en = false;
if (st->dev_id) {
ret = akm_id_hal(st, st->dev_id);
} else {
ret = akm_i2c_rd(st, AKM_REG_WIA, 1, &val);
dev_info(&st->i2c->dev, "%s Host read ID=%x ret=%d\n",
__func__, val, ret);
if ((!ret) && (val == AKM_WIA_ID))
ret = akm_id_compare(st, name);
else
/* setup default ptrs even though err */
akm_id_hal(st, 0);
}
if (!ret) {
akm_init_hw(st);
if (st->i2c->irq && st->hal->cmode_tbl && st->hal->irq)
st->cmode = true;
}
return ret;
}
static int akm_id_i2c(struct akm_state *st,
const struct i2c_device_id *id)
{
int i;
int ret;
for (i = 0; i < ARRAY_SIZE(akm_i2c_addrs); i++) {
if (st->i2c->addr == akm_i2c_addrs[i])
break;
}
if (i < ARRAY_SIZE(akm_i2c_addrs)) {
st->i2c_addr = st->i2c->addr;
ret = akm_id_dev(st, id->name);
} else {
for (i = 0; i < ARRAY_SIZE(akm_i2c_addrs); i++) {
st->i2c_addr = akm_i2c_addrs[i];
ret = akm_id_dev(st, AKM_NAME);
if ((ret == -EAGAIN) || (!ret))
break;
}
}
if (ret)
st->i2c_addr = 0;
return ret;
}
static int akm_of_dt(struct akm_state *st, struct device_node *dn)
{
char const *pchar;
u8 cfg;
int ret;
u32 axis;
/* just test if global disable */
ret = nvs_of_dt(dn, NULL, NULL);
if (ret == -ENODEV)
return -ENODEV;
/* this device supports these programmable parameters */
if (!(of_property_read_string(dn, "nvi_config", &pchar))) {
for (cfg = 0; cfg < ARRAY_SIZE(akm_configs); cfg++) {
if (!strcasecmp(pchar, akm_configs[cfg])) {
st->nvi_config = cfg;
break;
}
}
}
/* option to handle matrix internally */
cfg = 0; /* default to disable */
of_property_read_u8(dn, "magnetic_field_matrix_enable", &cfg);
if (cfg)
st->matrix_en = true;
else
st->matrix_en = false;
/* axis sensitivity adjustment overrides */
if (!of_property_read_u32(dn, "ara_q30_x", &axis))
st->asa_q30[AXIS_X] = (u64)axis;
if (!of_property_read_u32(dn, "ara_q30_y", &axis))
st->asa_q30[AXIS_Y] = (u64)axis;
if (!of_property_read_u32(dn, "ara_q30_z", &axis))
st->asa_q30[AXIS_Z] = (u64)axis;
return 0;
}
static int akm_probe(struct i2c_client *client,
const struct i2c_device_id *id)
{
struct akm_state *st;
#if AKM_NVI_MPU_SUPPORT
struct mpu_platform_data *pd;
#endif /* AKM_NVI_MPU_SUPPORT */
signed char matrix[9];
int ret;
dev_info(&client->dev, "%s %s\n", id->name, __func__);
st = devm_kzalloc(&client->dev, sizeof(*st), GFP_KERNEL);
if (st == NULL) {
dev_err(&client->dev, "%s devm_kzalloc ERR\n", __func__);
return -ENOMEM;
}
i2c_set_clientdata(client, st);
st->i2c = client;
if (client->dev.of_node) {
ret = akm_of_dt(st, client->dev.of_node);
if (ret < 0) {
if (ret == -ENODEV) {
dev_info(&client->dev, "%s DT disabled\n",
__func__);
} else {
dev_err(&client->dev, "%s _of_dt ERR\n",
__func__);
ret = -ENODEV;
}
goto akm_probe_err;
}
#if AKM_NVI_MPU_SUPPORT
} else {
pd = (struct mpu_platform_data *)
dev_get_platdata(&client->dev);
memcpy(st->cfg.matrix, &pd->orientation,
sizeof(st->cfg.matrix));
#endif /* AKM_NVI_MPU_SUPPORT */
}
akm_pm_init(st);
ret = akm_id_i2c(st, id);
if (ret == -EAGAIN ) {
ret = -EPROBE_DEFER;
goto akm_probe_again;
} else if (ret) {
goto akm_probe_err;
}
akm_pm(st, false);
akm_fn_dev.errs = &st->errs;
akm_fn_dev.sts = &st->sts;
st->nvs = nvs_iio();
if (st->nvs == NULL) {
ret = -ENODEV;
goto akm_probe_err;
}
if (st->matrix_en) {
memcpy(matrix, st->cfg.matrix, sizeof(matrix));
memset(st->cfg.matrix, 0, sizeof(st->cfg.matrix));
}
ret = st->nvs->probe(&st->nvs_st, st, &client->dev,
&akm_fn_dev, &st->cfg);
if (ret) {
dev_err(&client->dev, "%s nvs_probe ERR\n", __func__);
ret = -ENODEV;
goto akm_probe_err;
}
if (st->matrix_en)
memcpy(st->cfg.matrix, matrix, sizeof(st->cfg.matrix));
if (!st->mpu_en) {
st->wq = create_workqueue(AKM_NAME);
if (!st->wq) {
ret = -ENOMEM;
goto akm_probe_err;
}
INIT_WORK(&st->ws, akm_work);
}
if (st->i2c->irq) {
if (st->cmode && !st->mpu_en) {
ret = request_threaded_irq(st->i2c->irq, NULL,
akm_irq_thread,
IRQF_TRIGGER_RISING |
IRQF_ONESHOT,
AKM_NAME, st);
if (ret) {
dev_err(&client->dev, "%s req_threaded_irq ERR %d\n",
__func__, ret);
ret = -ENOMEM;
goto akm_probe_err;
}
} else {
akm_disable_irq(st);
}
}
dev_info(&client->dev, "%s done\n", __func__);
return 0;
akm_probe_err:
dev_err(&client->dev, "%s ERR %d\n", __func__, ret);
akm_probe_again:
akm_remove(client);
return ret;
}
static const struct i2c_device_id akm_i2c_device_id[] = {
{ AKM_NAME, 0 },
{ AKM_NAME_AK8963, 0 },
{ AKM_NAME_AK8975, 0 },
{ AKM_NAME_AK09911, 0 },
{}
};
MODULE_DEVICE_TABLE(i2c, akm_i2c_device_id);
static const struct of_device_id akm_of_match[] = {
{ .compatible = "ak,ak89xx", },
{ .compatible = "ak,ak8963", },
{ .compatible = "ak,ak8975", },
{ .compatible = "ak,ak09911", },
{}
};
MODULE_DEVICE_TABLE(of, akm_of_match);
static struct i2c_driver akm_driver = {
.class = I2C_CLASS_HWMON,
.probe = akm_probe,
.remove = akm_remove,
.shutdown = akm_shutdown,
.driver = {
.name = AKM_NAME,
.owner = THIS_MODULE,
.of_match_table = of_match_ptr(akm_of_match),
.pm = &akm_pm_ops,
},
.id_table = akm_i2c_device_id,
};
static int __init akm_init(void)
{
return i2c_add_driver(&akm_driver);
}
static void __exit akm_exit(void)
{
i2c_del_driver(&akm_driver);
}
late_initcall(akm_init);
module_exit(akm_exit);
MODULE_LICENSE("GPL v2");
MODULE_DESCRIPTION("AKM driver");
MODULE_AUTHOR("NVIDIA Corporation");
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