Signed-off-by: srinivas pandruvada <srinivas.pandruvada@xxxxxxxxx>
---
drivers/iio/Kconfig | 1 +
drivers/iio/Makefile | 1 +
drivers/iio/gyro/Kconfig | 16 ++
drivers/iio/gyro/Makefile | 6 +
drivers/iio/gyro/hid-sensor-gyro-3d.c | 419
+++++++++++++++++++++++++++++++++
5 files changed, 443 insertions(+), 0 deletions(-)
create mode 100644 drivers/iio/gyro/Kconfig
create mode 100644 drivers/iio/gyro/Makefile
create mode 100644 drivers/iio/gyro/hid-sensor-gyro-3d.c
diff --git a/drivers/iio/Kconfig b/drivers/iio/Kconfig
index eb78b0f..20212af 100644
--- a/drivers/iio/Kconfig
+++ b/drivers/iio/Kconfig
@@ -58,5 +58,6 @@ source "drivers/iio/accel/Kconfig"
source "drivers/iio/adc/Kconfig"
source "drivers/iio/amplifiers/Kconfig"
source "drivers/iio/common/Kconfig"
+source "drivers/iio/gyro/Kconfig"
endif # IIO
diff --git a/drivers/iio/Makefile b/drivers/iio/Makefile
index aed602a..7660bc4 100644
--- a/drivers/iio/Makefile
+++ b/drivers/iio/Makefile
@@ -14,3 +14,4 @@ obj-y += accel/
obj-y += adc/
obj-y += amplifiers/
obj-y += common/
+obj-y += gyro/
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
new file mode 100644
index 0000000..21e27e2
--- /dev/null
+++ b/drivers/iio/gyro/Kconfig
@@ -0,0 +1,16 @@
+#
+# IIO Digital Gyroscope Sensor drivers configuration
+#
+menu "Digital gyroscope sensors"
+
+config HID_SENSOR_GYRO_3D
+ depends on HID_SENSOR_HUB
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+ select HID_SENSOR_IIO_COMMON
+ tristate "HID Gyroscope 3D"
+ help
+ Say yes here to build support for the HID SENSOR
+ Gyroscope 3D.
+
+endmenu
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
new file mode 100644
index 0000000..ab7f8c4
--- /dev/null
+++ b/drivers/iio/gyro/Makefile
@@ -0,0 +1,6 @@
+#
+# Makefile for industrial I/O gyroscope sensor drivers
+#
+
+hid-sensor-gyro-3d-drv-y := hid-sensor-gyro-3d.o
+obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d-drv.o
diff --git a/drivers/iio/gyro/hid-sensor-gyro-3d.c
b/drivers/iio/gyro/hid-sensor-gyro-3d.c
new file mode 100644
index 0000000..6dd114e
--- /dev/null
+++ b/drivers/iio/gyro/hid-sensor-gyro-3d.c
@@ -0,0 +1,419 @@
+/*
+ * HID Sensors Driver
+ * Copyright (c) 2012, Intel Corporation.
+ *
+ * This program is free software; you can redistribute it and/or
modify it
+ * under the terms and conditions of the GNU General Public License,
+ * version 2, as published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope 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, write to the Free Software Foundation, Inc.,
+ * 51 Franklin St - Fifth Floor, Boston, MA 02110-1301 USA.
+ *
+ */
+#include <linux/device.h>
+#include <linux/platform_device.h>
+#include <linux/module.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/slab.h>
+#include <linux/hid-sensor-hub.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include "../common/hid-sensors/hid-sensor-attributes.h"
+#include "../common/hid-sensors/hid-sensor-trigger.h"
+
+/*Format: HID-SENSOR-usage_id_in_hex*/
+/*Usage ID from spec for Gyro-3D: 0x200076*/
+#define DRIVER_NAME "HID-SENSOR-200076"
+
+enum gyro_3d_channel {
+ CHANNEL_SCAN_INDEX_X,
+ CHANNEL_SCAN_INDEX_Y,
+ CHANNEL_SCAN_INDEX_Z,
+ GYRO_3D_CHANNEL_MAX,
+};
+
+struct gyro_3d_state {
+ struct hid_sensor_hub_callbacks callbacks;
+ struct hid_sensor_iio_common common_attributes;
+ struct hid_sensor_hub_attribute_info gyro[GYRO_3D_CHANNEL_MAX];
+ u32 gyro_val[GYRO_3D_CHANNEL_MAX];
+};
+
+const u32 gyro_3d_addresses[GYRO_3D_CHANNEL_MAX] = {
+ HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS,
+ HID_USAGE_SENSOR_ANGL_VELOCITY_Y_AXIS,
+ HID_USAGE_SENSOR_ANGL_VELOCITY_Z_AXIS
+};
+
+/* Channel definitions */
+static const struct iio_chan_spec gyro_3d_channels[] = {
+ {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = IIO_CHAN_INFO_OFFSET_SHARED_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_SAMP_FREQ_SHARED_BIT |
+ IIO_CHAN_INFO_HYSTERESIS_SHARED_BIT,
+ .scan_index = CHANNEL_SCAN_INDEX_X,
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = IIO_CHAN_INFO_OFFSET_SHARED_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_SAMP_FREQ_SHARED_BIT |
+ IIO_CHAN_INFO_HYSTERESIS_SHARED_BIT,
+ .scan_index = CHANNEL_SCAN_INDEX_Y,
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = IIO_CHAN_INFO_OFFSET_SHARED_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT |
+ IIO_CHAN_INFO_SAMP_FREQ_SHARED_BIT |
+ IIO_CHAN_INFO_HYSTERESIS_SHARED_BIT,
+ .scan_index = CHANNEL_SCAN_INDEX_Z,
+ }
+};
+
+/* Adjust channel real bits based on report descriptor */
+static void gyro_3d_adjust_channel_bit_mask(struct iio_chan_spec
*channels,
+ int channel, int size)
+{
+ channels[channel].scan_type.sign = 's';
+ /* Real storage bits will change based on the report desc. */
+ channels[channel].scan_type.realbits = size * 8;
+ /* Maximum size of a sample to capture is u32 */
+ channels[channel].scan_type.storagebits = sizeof(u32) * 8;
+}
+
+/* Channel read_raw handler */
+static int gyro_3d_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2,
+ long mask)
+{
+ struct gyro_3d_state *gyro_state = iio_priv(indio_dev);
+ int report_id = -1;
+ u32 address;
+ int ret;
+ int ret_type;
+
+ *val = 0;
+ *val2 = 0;
+ switch (mask) {
+ case 0:
+ report_id = gyro_state->gyro[chan->scan_index].report_id;
+ address = gyro_3d_addresses[chan->scan_index];
+ if (report_id >= 0)
+ *val = sensor_hub_input_attr_get_raw_value(
+ gyro_state->common_attributes.hsdev,
+ HID_USAGE_SENSOR_GYRO_3D, address,
+ report_id);
+ else {
+ *val = 0;
+ return -EINVAL;
+ }
+ ret_type = IIO_VAL_INT;
+ break;
+ case IIO_CHAN_INFO_SCALE:
+ *val = gyro_state->gyro[CHANNEL_SCAN_INDEX_X].units;
+ ret_type = IIO_VAL_INT;
+ break;
+ case IIO_CHAN_INFO_OFFSET:
+ *val = hid_sensor_convert_exponent(
+ gyro_state->gyro[CHANNEL_SCAN_INDEX_X].unit_expo);
+ ret_type = IIO_VAL_INT;
+ break;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ ret = hid_sensor_read_samp_freq_value(
+ &gyro_state->common_attributes, val, val2);
+ ret_type = IIO_VAL_INT_PLUS_MICRO;
+ break;
+ case IIO_CHAN_INFO_HYSTERESIS:
+ ret = hid_sensor_read_raw_hyst_value(
+ &gyro_state->common_attributes, val, val2);
+ ret_type = IIO_VAL_INT_PLUS_MICRO;
+ break;
+ default:
+ ret_type = -EINVAL;
+ break;
+ }
+
+ return ret_type;
+}
+
+/* Channel write_raw handler */
+static int gyro_3d_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val,
+ int val2,
+ long mask)
+{
+ struct gyro_3d_state *gyro_state = iio_priv(indio_dev);
+ int ret = 0;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ ret = hid_sensor_write_samp_freq_value(
+ &gyro_state->common_attributes, val, val2);
+ break;
+ case IIO_CHAN_INFO_HYSTERESIS:
+ ret = hid_sensor_write_raw_hyst_value(
+ &gyro_state->common_attributes, val, val2);
+ break;
+ default:
+ ret = -EINVAL;
+ }
+
+ return ret;
+}
+
+static int gyro_3d_write_raw_get_fmt(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ long mask)
+{
+ return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static const struct iio_info gyro_3d_info = {
+ .driver_module = THIS_MODULE,
+ .read_raw = &gyro_3d_read_raw,
+ .write_raw = &gyro_3d_write_raw,
+ .write_raw_get_fmt = &gyro_3d_write_raw_get_fmt,
+};
+
+/* Function to push data to buffer */
+static void hid_sensor_push_data(struct iio_dev *indio_dev, u8 *data,
int len)
+{
+ struct iio_buffer *buffer = indio_dev->buffer;
+ s64 timestamp = iio_get_time_ns();
+ int datum_sz;
+
+ dev_dbg(&indio_dev->dev, "hid_sensor_push_data\n");
+ if (!buffer) {
+ dev_err(&indio_dev->dev, "Buffer == NULL\n");
+ return;
+ }
+ datum_sz = buffer->access->get_bytes_per_datum(buffer);
+ if (len > datum_sz) {
+ dev_err(&indio_dev->dev, "Datum size mismatch %d:%d\n", len,
+ datum_sz);
+ return;
+ }
+ buffer->access->store_to(buffer, (u8 *)data, timestamp);
+}
+
+/* Callback handler to send event after all samples are received and
captured */
+static int gyro_3d_proc_event(struct hid_sensor_hub_device *hsdev,
+ unsigned usage_id,
+ void *priv)
+{
+ struct iio_dev *indio_dev = platform_get_drvdata(priv);
+ struct gyro_3d_state *gyro_state = iio_priv(indio_dev);
+
+ dev_dbg(&indio_dev->dev, "gyro_3d_proc_event [%d]\n",
+ gyro_state->common_attributes.data_ready);
+ if (gyro_state->common_attributes.data_ready)
+ hid_sensor_push_data(indio_dev,
+ (u8 *)gyro_state->gyro_val,
+ sizeof(gyro_state->gyro_val));
+
+ return 0;
+}
+
+/* Capture samples in local storage */
+static int gyro_3d_capture_sample(struct hid_sensor_hub_device *hsdev,
+ unsigned usage_id,
+ size_t raw_len, char *raw_data,
+ void *priv)
+{
+ struct iio_dev *indio_dev = platform_get_drvdata(priv);
+ struct gyro_3d_state *gyro_state = iio_priv(indio_dev);
+ int offset;
+ int ret = -EINVAL;
+
+ switch (usage_id) {
+ case HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS:
+ case HID_USAGE_SENSOR_ANGL_VELOCITY_Y_AXIS:
+ case HID_USAGE_SENSOR_ANGL_VELOCITY_Z_AXIS:
+ offset = usage_id - HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS;
+ gyro_state->gyro_val[CHANNEL_SCAN_INDEX_X + offset] =
+ *(u32 *)raw_data;
+ ret = 0;
+ break;
+ default:
+ break;
+ }
+
+ return ret;
+}
+
+/* Parse report which is specific to an usage id*/
+static int gyro_3d_parse_report(struct platform_device *pdev,
+ struct hid_sensor_hub_device *hsdev,
+ struct iio_chan_spec *channels,
+ unsigned usage_id,
+ struct gyro_3d_state *st)
+{
+ int ret;
+ int i;
+
+ for (i = 0; i <= CHANNEL_SCAN_INDEX_Z; ++i) {
+ ret = sensor_hub_input_get_attribute_info(hsdev,
+ HID_INPUT_REPORT,
+ usage_id,
+ HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS + i,
+ &st->gyro[CHANNEL_SCAN_INDEX_X + i]);
+ if (ret < 0)
+ break;
+ gyro_3d_adjust_channel_bit_mask(channels,
+ CHANNEL_SCAN_INDEX_X + i,
+ st->gyro[CHANNEL_SCAN_INDEX_X + i].size);
+ }
+ dev_dbg(&pdev->dev, "gyro_3d %x:%x, %x:%x, %x:%x\n",
+ st->gyro[0].index,
+ st->gyro[0].report_id,
+ st->gyro[1].index, st->gyro[1].report_id,
+ st->gyro[2].index, st->gyro[2].report_id);
+
+ return ret;
+}
+
+/* Function to initialize the processing for usage id */
+static int __devinit hid_gyro_3d_probe(struct platform_device *pdev)
+{
+ int ret = 0;
+ static const char *name = "gyro_3d";
+ struct iio_dev *indio_dev;
+ struct gyro_3d_state *gyro_state;
+ struct hid_sensor_hub_device *hsdev = pdev->dev.platform_data;
+ struct iio_chan_spec *channels;
+
+ indio_dev = iio_device_alloc(sizeof(struct gyro_3d_state));
+ if (indio_dev == NULL) {
+ ret = -ENOMEM;
+ goto error_ret;
+ }
+ platform_set_drvdata(pdev, indio_dev);
+
+ gyro_state = iio_priv(indio_dev);
+ gyro_state->common_attributes.hsdev = hsdev;
+ gyro_state->common_attributes.pdev = pdev;
+
+ ret = hid_sensor_parse_common_attributes(hsdev,
+ HID_USAGE_SENSOR_GYRO_3D,
+ &gyro_state->common_attributes);
+ if (ret) {
+ dev_err(&pdev->dev, "failed to setup common attributes\n");
+ goto error_free_dev;
+ }
+
+ channels = kmemdup(gyro_3d_channels,
+ sizeof(gyro_3d_channels),
+ GFP_KERNEL);
+ if (!channels) {
+ dev_err(&pdev->dev, "failed to duplicate channels\n");
+ goto error_free_dev;
+ }
+
+ ret = gyro_3d_parse_report(pdev, hsdev, channels,
+ HID_USAGE_SENSOR_GYRO_3D, gyro_state);
+ if (ret) {
+ dev_err(&pdev->dev, "failed to setup attributes\n");
+ goto error_free_dev_mem;
+ }
+
+ indio_dev->channels = channels;
+ indio_dev->num_channels = ARRAY_SIZE(gyro_3d_channels);
+ indio_dev->dev.parent = &pdev->dev;
+ indio_dev->info = &gyro_3d_info;
+ indio_dev->name = name;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = iio_triggered_buffer_setup(indio_dev,
&iio_pollfunc_store_time,
+ NULL, NULL);
+ if (ret) {
+ dev_err(&pdev->dev, "failed to initialize trigger buffer\n");
+ goto error_free_dev_mem;
+ }
+ gyro_state->common_attributes.data_ready = false;
+ ret = hid_sensor_setup_trigger(indio_dev, name,
+ &gyro_state->common_attributes);
+ if (ret < 0) {
+ dev_err(&pdev->dev, "trigger setup failed\n");
+ goto error_unreg_buffer_funcs;
+ }
+
+ ret = iio_device_register(indio_dev);
+ if (ret) {
+ dev_err(&pdev->dev, "device register failed\n");
+ goto error_remove_trigger;
+ }
+
+ gyro_state->callbacks.send_event = gyro_3d_proc_event;
+ gyro_state->callbacks.capture_sample = gyro_3d_capture_sample;
+ gyro_state->callbacks.pdev = pdev;
+ ret = sensor_hub_register_callback(hsdev, HID_USAGE_SENSOR_GYRO_3D,
+ &gyro_state->callbacks);
+ if (ret < 0) {
+ dev_err(&pdev->dev, "callback reg failed\n");
+ goto error_iio_unreg;
+ }
+
+ return ret;
+
+error_iio_unreg:
+ iio_device_unregister(indio_dev);
+error_remove_trigger:
+ hid_sensor_remove_trigger(indio_dev);
+error_unreg_buffer_funcs:
+ iio_triggered_buffer_cleanup(indio_dev);
+error_free_dev_mem:
+ kfree(indio_dev->channels);
+error_free_dev:
+ iio_device_free(indio_dev);
+error_ret:
+ return ret;
+}
+
+/* Function to deinitialize the processing for usage id */
+static int __devinit hid_gyro_3d_remove(struct platform_device *pdev)
+{
+ struct hid_sensor_hub_device *hsdev = pdev->dev.platform_data;
+ struct iio_dev *indio_dev = platform_get_drvdata(pdev);
+
+ sensor_hub_remove_callback(hsdev, HID_USAGE_SENSOR_GYRO_3D);
+ iio_device_unregister(indio_dev);
+ hid_sensor_remove_trigger(indio_dev);
+ iio_triggered_buffer_cleanup(indio_dev);
+ kfree(indio_dev->channels);
+ iio_device_free(indio_dev);
+
+ return 0;
+}
+
+static struct platform_driver hid_gyro_3d_platform_driver = {
+ .driver = {
+ .name = DRIVER_NAME,
+ .owner = THIS_MODULE,
+ },
+ .probe = hid_gyro_3d_probe,
+ .remove = hid_gyro_3d_remove,
+};
+module_platform_driver(hid_gyro_3d_platform_driver);
+
+MODULE_DESCRIPTION("HID Sensor Gyroscope 3D");
+MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@xxxxxxxxx>");
+MODULE_LICENSE("GPL");
