Minimal implementation for KMX61 6-axis accelerometer/magnetometer. It exports raw accel/magn readings together with scale and sampling frequency. Datasheet will be available at: http://www.kionix.com/6-axis-accelerometer-magnetometer/kmx61 Signed-off-by: Daniel Baluta <daniel.baluta@xxxxxxxxx> --- Accelerometer is somehow similar with KXCJK-1013 but the registers are different. Some code and ideas are borrowed from KXCJK-1013 driver. Trying to implement KMX61 on top of kxcjk-1013.c would make code harder to read. drivers/iio/imu/Kconfig | 9 + drivers/iio/imu/Makefile | 2 + drivers/iio/imu/kmx61.c | 575 +++++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 586 insertions(+) create mode 100644 drivers/iio/imu/kmx61.c diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 2b0e451..d675f43 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -25,6 +25,15 @@ config ADIS16480 Say yes here to build support for Analog Devices ADIS16375, ADIS16480, ADIS16485, ADIS16488 inertial sensors. +config KMX61 + tristate "Kionix KMX61 6-axis accelerometer and magnetometer" + depends on I2C + help + Say Y here if you want to build a driver for Kionix KMX61 6-axis accelerometer + and magnetometer. + To compile this driver as module, choose M here: the module will be called + kmx61. + source "drivers/iio/imu/inv_mpu6050/Kconfig" endmenu diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index 114d2c1..e1e6e3d 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -14,3 +14,5 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o obj-y += inv_mpu6050/ + +obj-$(CONFIG_KMX61) += kmx61.o diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c new file mode 100644 index 0000000..124d75d --- /dev/null +++ b/drivers/iio/imu/kmx61.c @@ -0,0 +1,575 @@ +/* + * KMX61 - Kionix 6-axis Accelerometer/Magnetometer + * + * Copyright (c) 2014, Intel Corporation. + * + * This file is subject to the terms and conditions of version 2 of + * the GNU General Public License. See the file COPYING in the main + * directory of this archive for more details. + * + * IIO driver for KMX61 (7-bit I2C slave address 0x0E or 0x0F). + * + * TODO: buffer, interrupt, thresholds, acpi, temperature sensor + * + */ + +#include <linux/module.h> +#include <linux/i2c.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> + +#define KMX61_DRV_NAME "kmx61" + +#define KMX61_REG_WHO_AM_I 0x00 + +#define KMX61_ACC_XOUT_L 0x0A + +#define KMX61_ACC_XOUT_H 0x0B +#define KMX61_ACC_YOUT_L 0x0C +#define KMX61_ACC_YOUT_H 0x0D +#define KMX61_ACC_ZOUT_L 0x0E +#define KMX61_ACC_ZOUT_H 0x0F + +#define KMX61_MAG_XOUT_L 0x12 + +#define KMX61_MAG_XOUT_H 0x13 +#define KMX61_MAG_YOUT_L 0x14 +#define KMX61_MAG_YOUT_H 0x15 +#define KMX61_MAG_ZOUT_L 0x16 +#define KMX61_MAG_ZOUT_H 0x17 + +#define KMX61_REG_ODCNTL 0x2C + +#define KMX61_REG_STBY 0x29 +#define KMX61_REG_CTRL1 0x2A + +#define KMX61_REG_COTR 0x3C + +#define KMX61_ACC_STBY_BIT BIT(0) +#define KMX61_MAG_STBY_BIT BIT(1) +#define KMX61_ACT_STBY_BIT BIT(7) + +#define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT | KMX61_MAG_STBY_BIT) + +#define KMX61_REG_CTRL1_GSEL0_SHIFT 0 +#define KMX61_REG_CTRL1_GSEL1_SHIFT 1 +#define KMX61_REG_CTRL1_GSEL0_MASK 0x01 +#define KMX61_REG_CTRL1_GSEL1_MASK 0x02 + +#define KMX61_REG_CTRL1_BIT_RES BIT(4) + +#define KMX61_ACC_ODR_SHIFT 0 +#define KMX61_MAG_ODR_SHIFT 4 +#define KMX61_ACC_ODR_MASK 0x0F +#define KMX61_MAG_ODR_MASK 0xF0 + +#define KMX61_CHIP_ID 0x12 + +struct kmx61_data { + struct i2c_client *client; + u8 range; + u8 odr_bits; +}; + +enum kmx61_range { + KMX61_RANGE_2G, + KMX61_RANGE_4G, + KMX61_RANGE_8G, +}; + +enum kmx61_scan { + KMX61_SCAN_ACC_X, + KMX61_SCAN_ACC_Y, + KMX61_SCAN_ACC_Z, + KMX61_SCAN_TEMP, + KMX61_SCAN_MAG_X, + KMX61_SCAN_MAG_Y, + KMX61_SCAN_MAG_Z, +}; + +static const struct { + u16 scale; + u8 gsel0; + u8 gsel1; +} kmx61_scale_table[] = { + {9582, 0, 0}, + {19163, 1, 0}, + {38326, 0, 1}, +}; + +/* KMX61 devices */ +#define KMX61_ACC 0x01 +#define KMX61_MAG 0x02 + +static const struct { + int val; + int val2; + int odr_bits; +} samp_freq_table[] = { {12, 500000, 0x00}, + {25, 0, 0x01}, + {50, 0, 0x02}, + {100, 0, 0x03}, + {200, 0, 0x04}, + {400, 0, 0x05}, + {800, 0, 0x06}, + {1600, 0, 0x07}, + {0, 781000, 0x08}, + {1, 563000, 0x09}, + {3, 125000, 0x0A}, + {6, 250000, 0x0B} }; + +static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326"); +static IIO_CONST_ATTR(magn_scale_available, "0.001465"); +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL( + "0.781000 1.563000 3.125000 6.250000 12.500000 25 50 100 200 400 800"); + +static struct attribute *kmx61_attributes[] = { + &iio_const_attr_accel_scale_available.dev_attr.attr, + &iio_const_attr_magn_scale_available.dev_attr.attr, + &iio_const_attr_sampling_frequency_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group kmx61_attribute_group = { + .attrs = kmx61_attributes, +}; + +#define KMX61_ACC_CHAN(_axis, _index) { \ + .type = IIO_ACCEL, \ + .modified = 1, \ + .channel2 = IIO_MOD_ ## _axis, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index = _index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 12, \ + .storagebits = 16, \ + .shift = 4, \ + .endianness = IIO_BE, \ + }, \ +} + +#define KMX61_MAG_CHAN(_axis, _index) { \ + .type = IIO_MAGN, \ + .modified = 1, \ + .channel2 = IIO_MOD_ ## _axis, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index = _index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 14, \ + .storagebits = 16, \ + .shift = 2, \ + .endianness = IIO_BE, \ + }, \ +} + +static const struct iio_chan_spec kmx61_channels[] = { + KMX61_ACC_CHAN(X, KMX61_SCAN_ACC_X), + KMX61_ACC_CHAN(Y, KMX61_SCAN_ACC_Y), + KMX61_ACC_CHAN(Z, KMX61_SCAN_ACC_Z), + KMX61_MAG_CHAN(X, KMX61_SCAN_MAG_X), + KMX61_MAG_CHAN(Y, KMX61_SCAN_MAG_Y), + KMX61_MAG_CHAN(Z, KMX61_SCAN_MAG_Z), +}; + +static int kmx61_convert_freq_to_bit(int val, int val2) +{ + int i; + + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++) + if (val == samp_freq_table[i].val && + val2 == samp_freq_table[i].val2) + return samp_freq_table[i].odr_bits; + return -EINVAL; +} + +static int kmx61_set_mode(struct kmx61_data *data, u8 mode, u8 device) +{ + int ret; + + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_stby\n"); + return ret; + } + if (device & KMX61_ACC) { + if (mode & KMX61_ACC_STBY_BIT) + ret |= KMX61_ACC_STBY_BIT; + else + ret &= ~KMX61_ACC_STBY_BIT; + } + + if (device & KMX61_MAG) { + if (mode & KMX61_MAG_STBY_BIT) + ret |= KMX61_MAG_STBY_BIT; + else + ret &= ~KMX61_MAG_STBY_BIT; + } + + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_STBY, ret); + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_stby\n"); + return ret; + } + + return ret; +} + +static int kmx61_get_mode(struct kmx61_data *data, u8 *mode, u8 device) +{ + int ret; + + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_stby\n"); + return ret; + } + *mode = 0; + + if (device & KMX61_ACC) { + if (ret & KMX61_ACC_STBY_BIT) + *mode |= KMX61_ACC_STBY_BIT; + else + *mode &= ~KMX61_ACC_STBY_BIT; + } + + if (device & KMX61_MAG) { + if (ret & KMX61_MAG_STBY_BIT) + *mode |= KMX61_MAG_STBY_BIT; + else + *mode &= ~KMX61_MAG_STBY_BIT; + } + + return 0; +} + +static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device) +{ + int ret; + u8 mode; + int lodr_bits, odr_bits; + + ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG); + if (ret < 0) + return ret; + + lodr_bits = kmx61_convert_freq_to_bit(val, val2); + if (lodr_bits < 0) + return lodr_bits; + + /* To change ODR, accel and magn must be in STDBY */ + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG); + if (ret < 0) + return ret; + + odr_bits = 0; + if (device & KMX61_ACC) + odr_bits |= lodr_bits; + if (device & KMX61_MAG) + odr_bits |= (lodr_bits << KMX61_MAG_ODR_SHIFT); + + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_ODCNTL, + odr_bits); + if (ret < 0) + return ret; + + ret = kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG); + if (ret < 0) + return ret; + + data->odr_bits = lodr_bits; + + return 0; +} + +static +int kmx61_get_odr(struct kmx61_data *data, int *val, int *val2, u8 device) +{ int i; + u8 lodr_bits; + + if (device & KMX61_ACC) + lodr_bits = (data->odr_bits >> KMX61_ACC_ODR_SHIFT) & + KMX61_ACC_ODR_MASK; + else if (device & KMX61_MAG) + lodr_bits = (data->odr_bits >> KMX61_MAG_ODR_SHIFT) & + KMX61_MAG_ODR_MASK; + else + return -EINVAL; + + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++) + if (lodr_bits == samp_freq_table[i].odr_bits) { + *val = samp_freq_table[i].val; + *val2 = samp_freq_table[i].val2; + return 0; + } + return -EINVAL; +} + +static int kmx61_set_range(struct kmx61_data *data, int range) +{ + int ret; + + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading reg_ctrl1\n"); + return ret; + } + + ret &= ~(KMX61_REG_CTRL1_GSEL0_MASK | KMX61_REG_CTRL1_GSEL1_MASK); + ret |= kmx61_scale_table[range].gsel0 << KMX61_REG_CTRL1_GSEL0_SHIFT; + ret |= kmx61_scale_table[range].gsel1 << KMX61_REG_CTRL1_GSEL1_SHIFT; + + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret); + if (ret < 0) { + dev_err(&data->client->dev, "Error writing reg_ctrl1\n"); + return ret; + } + + data->range = range; + + return 0; +} + +static int kmx61_set_scale(struct kmx61_data *data, int val) +{ + int ret, i; + u8 mode; + + for (i = 0; i < ARRAY_SIZE(kmx61_scale_table); i++) { + if (kmx61_scale_table[i].scale == val) { + ret = kmx61_get_mode(data, &mode, + KMX61_ACC | KMX61_MAG); + if (ret < 0) + return ret; + + ret = kmx61_set_mode(data, KMX61_ALL_STBY, + KMX61_ACC | KMX61_MAG); + if (ret < 0) + return ret; + + ret = kmx61_set_range(data, i); + if (ret < 0) + return ret; + + ret = kmx61_set_mode(data, mode, + KMX61_ACC | KMX61_MAG); + if (ret < 0) + return ret; + + return 0; + } + } + return -EINVAL; +} + +static int kmx61_chip_init(struct kmx61_data *data) +{ + int ret; + + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I); + if (ret < 0) { + dev_err(&data->client->dev, "Error reading who_am_i\n"); + return ret; + } + + if (ret != KMX61_CHIP_ID) { + dev_err(&data->client->dev, + "Wrong chip id, got %x expected %x\n", + ret, KMX61_CHIP_ID); + return -EINVAL; + } + + /* set accel 12bit, 4g range */ + ret = kmx61_set_range(data, KMX61_RANGE_4G); + if (ret < 0) + return ret; + + /* put accel and magnetometer in operating mode */ + ret = kmx61_set_mode(data, 0, KMX61_ACC | KMX61_MAG); + if (ret < 0) + return ret; + + return 0; +} + +static int kmx61_read_measurement(struct kmx61_data *data, int base, int offset) +{ + int ret; + u8 reg = base + offset * 2; + + ret = i2c_smbus_read_word_data(data->client, reg); + if (ret < 0) { + dev_err(&data->client->dev, "failed to read reg at %x\n", reg); + return ret; + } + + return ret; +} + +static int kmx61_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int *val, + int *val2, long mask) +{ + struct kmx61_data *data = iio_priv(indio_dev); + int ret; + u8 base_reg; + u8 device; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + switch (chan->type) { + case IIO_ACCEL: case IIO_MAGN: + base_reg = KMX61_ACC_XOUT_L; + break; + default: + return -EINVAL; + } + ret = kmx61_read_measurement(data, base_reg, chan->scan_index); + if (ret < 0) + return ret; + *val = sign_extend32(ret >> chan->scan_type.shift, + chan->scan_type.realbits - 1); + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_ACCEL: + *val = 0; + *val2 = kmx61_scale_table[data->range].scale; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_MAGN: + /* 14 bits res, 1465 microGauss per magn count */ + *val = 0; + *val2 = 1465; + return IIO_VAL_INT_PLUS_MICRO; + default: + break; + } + case IIO_CHAN_INFO_SAMP_FREQ: + switch (chan->type) { + case IIO_ACCEL: + device = KMX61_ACC; + break; + case IIO_MAGN: + device = KMX61_MAG; + break; + default: + return -EINVAL; + } + + ret = kmx61_get_odr(data, val, val2, device); + if (ret) + return -EINVAL; + return IIO_VAL_INT_PLUS_MICRO; + } + return -EINVAL; +} + +static int kmx61_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int val, + int val2, long mask) +{ + struct kmx61_data *data = iio_priv(indio_dev); + int ret; + u8 device; + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + switch (chan->type) { + case IIO_ACCEL: + device = KMX61_ACC; + break; + case IIO_MAGN: + device = KMX61_MAG; + break; + default: + return -EINVAL; + } + ret = kmx61_set_odr(data, val, val2, device); + break; + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_ACCEL: + ret = kmx61_set_scale(data, val2); + break; + default: + ret = -EINVAL; + } + break; + default: + ret = -EINVAL; + } + + return ret; +} + +static const struct iio_info kmx61_info = { + .driver_module = THIS_MODULE, + .read_raw = kmx61_read_raw, + .write_raw = kmx61_write_raw, + .attrs = &kmx61_attribute_group, +}; + +static int kmx61_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct kmx61_data *data; + struct iio_dev *indio_dev; + int ret; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + i2c_set_clientdata(client, indio_dev); + data->client = client; + + indio_dev->dev.parent = &client->dev; + indio_dev->info = &kmx61_info; + indio_dev->channels = kmx61_channels; + indio_dev->num_channels = ARRAY_SIZE(kmx61_channels); + indio_dev->modes = INDIO_DIRECT_MODE; + + ret = kmx61_chip_init(data); + if (ret < 0) + return ret; + + return iio_device_register(indio_dev); +} + +static int kmx61_remove(struct i2c_client *client) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(client); + struct kmx61_data *data = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + + return kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG); +} + +static const struct i2c_device_id kmx61_id[] = { + {"kmx61", 0}, + {} +}; + +MODULE_DEVICE_TABLE(i2c, kmx61_id); + +static struct i2c_driver kmx61_driver = { + .driver = { + .name = "kmx61", + }, + .probe = kmx61_probe, + .remove = kmx61_remove, + .id_table = kmx61_id, +}; + +module_i2c_driver(kmx61_driver); + +MODULE_AUTHOR("Daniel Baluta <daniel.baluta@xxxxxxxxx>"); +MODULE_DESCRIPTION("KMX61 accelerometer/magnetometer driver"); +MODULE_LICENSE("GPL v2"); -- 1.9.1 -- To unsubscribe from this list: send the line "unsubscribe linux-iio" in the body of a message to majordomo@xxxxxxxxxxxxxxx More majordomo info at http://vger.kernel.org/majordomo-info.html
