On Thu, 24 Dec 2020 13:08:20 +0100 Linus Walleij <linus.walleij@xxxxxxxxxx> wrote: > This adds an IIO magnetometer driver for the Yamaha > YAS530 family of magnetometer/compass chips YAS530, > YAS532 and YAS533. > > A quick survey of the source code released by different > vendors reveal that we have these variants in the family > with some deployments listed: > > * YAS529 MS-3C (2005 Samsung Aries) > * YAS530 MS-3E (2011 Samsung Galaxy S Advance) > * YAS532 MS-3R (2011 Samsung Galaxy S4) > * YAS533 MS-3F (Vivo 1633, 1707, V3, Y21L) > * (YAS534 is a magnetic switch) > * YAS535 MS-6C > * YAS536 MS-3W > * YAS537 MS-3T (2015 Samsung Galaxy S6, Note 5) > * YAS539 MS-3S (2018 Samsung Galaxy A7 SM-A750FN) > > The YAS529 is so significantly different from the > YAS53x variants that it will require its own driver. > The YAS537 and YAS539 have slightly different register > sets but have strong similarities so a common driver > patching this one will probably be reasonable. > > The source code for Samsung Galaxy A7's YAS539 is not > that is significantly different from the YAS530 in the > Galaxy S Advance, so I believe we will only need this > one driver with quirks to handle all of them. > > The YAS539 is actively announced on Yamaha's devices > site: > https://device.yamaha.com/en/lsi/products/e_compass/ > > This is a driver written from scratch using buffered > IIO and runtime PM handling regulators and reset. > > Thanks to Andy Shevchenko for great help in finding all > the special kernel infrastructure functions and quirks > during review of this driver. > > Cc: phone-devel@xxxxxxxxxxxxxxx > Cc: Jonathan Bakker <xc-racer2@xxxxxxx> > Reviewed-by: Andy Shevchenko <andy.shevchenko@xxxxxxxxx> > Signed-off-by: Linus Walleij <linus.walleij@xxxxxxxxxx> Series applied to the togreg branch of iio.git and pushed out as testing to let the autobuilders work their magic. Thanks, Jonathan > --- > ChangeLog v5->v6: > - Fix some build robot warnings (one on errorpath one > instance of unreachable code). > - Fix a double unlock bug in the measurement code. > - Check all kerneldoc using the scripts/kernel-doc script. > - Assert reset also on the errorpath of probe(). > - Add some comments on the PM runtime cleanup in remove(). > - Some cosmetics pushing some code segements into a > single line. > - Collect Andy's Review tag. > ChangeLog v4->v5: > - Drop the NULL check for the reset GPIO line, as the > gpiolib will silently bail out on NULL descriptors > anyway. > - Rename YAS5XX_AUTOSUSPEND_DELAY to > YAS5XX_AUTOSUSPEND_DELAY_MS to indicate it is in > milliseconds. > - Use memchr_inv() to check if the calibration is > all zeroes. > - Drop some commas, add some commas for style. > - Replace the busy wait function with a simple call > to regmap_read_poll_timeout(). > - Clarify with a comment in the kerneldoc that the extra > mutex in the state is used to serialize multiple > regmap operations so these get atomic. > - Instead of defining *DATA_CENTER as e.g. 2048 > and *DATA_OVERFLOW as 4095 define *DATA_BITS as > e.g. 12 and use the BIT() macro to defins the center > and overflow in relation to the number of bits used. > - Notate the offset ranges like this: [-31 .. 31] > - Order the includes alphabetically. > ChangeLog v3->v4: > - Renamed the driver and everything related to > "yas530" taking the name of the first supported > part number. > - Use FIELD_GET() to extract bits from longer words > where appropriate. This makes it necessary to tag > yas5xx_extract_bit() with __always_inline since > FIELD_GET() relies on being resolved at compiletime. > - Use FIELD_PREP() to conjure the CCK setting. > - Extract the calibration parameters using a u64 and > the linearization parameters using a u32 where we > chop out the bits we need. > - Drop the now unused yas5xx_extract_bits() function, > as FIELD_GET() does a better job at what we want to > do. > - Don't mention the YAS529 in the introductory description. > It will be handled by a separate driver. > - Drop unused includes. > - Drop the struct i2c_client * from the state container: we > only ever need the struct device *. > - Use the define for YAS5XX_MEASURE_DATA_BUSY. > - Fix the horrible mutex lock bug in yas5xx_measure() > - Fix up various cosmetic style issues so they are hopefully > the way Jonathan likes them. > - Drop development leftover dummy read of the device ID > register. > - Drop the ,0 parameter to the i2c_device_id > - Rename the IIO device just "yas530" or "yas532" in > lowercase. Keep the verbose prints in dmesg so we know > what device we found. > - Drop surplus newline in the KConfig > ChangeLog v1->v3: > - This is posted along with the DT bindings which are > in v2 so just number everything as v2. > --- > drivers/iio/magnetometer/Kconfig | 15 + > drivers/iio/magnetometer/Makefile | 2 + > drivers/iio/magnetometer/yamaha-yas530.c | 1049 ++++++++++++++++++++++ > 3 files changed, 1066 insertions(+) > create mode 100644 drivers/iio/magnetometer/yamaha-yas530.c > > diff --git a/drivers/iio/magnetometer/Kconfig b/drivers/iio/magnetometer/Kconfig > index 1697a8c03506..5d4ffd66032e 100644 > --- a/drivers/iio/magnetometer/Kconfig > +++ b/drivers/iio/magnetometer/Kconfig > @@ -205,4 +205,19 @@ config SENSORS_RM3100_SPI > To compile this driver as a module, choose M here: the module > will be called rm3100-spi. > > +config YAMAHA_YAS530 > + tristate "Yamaha YAS530 family of 3-Axis Magnetometers (I2C)" > + depends on I2C > + select REGMAP_I2C > + select IIO_BUFFER > + select IIO_TRIGGERED_BUFFER > + help > + Say Y here to add support for the Yamaha YAS530 series of > + 3-Axis Magnetometers. Right now YAS530, YAS532 and YAS533 are > + fully supported. > + > + This driver can also be compiled as a module. > + To compile this driver as a module, choose M here: the module > + will be called yamaha-yas. > + > endmenu > diff --git a/drivers/iio/magnetometer/Makefile b/drivers/iio/magnetometer/Makefile > index ba1bc34b82fa..b9f45b7fafc3 100644 > --- a/drivers/iio/magnetometer/Makefile > +++ b/drivers/iio/magnetometer/Makefile > @@ -28,3 +28,5 @@ obj-$(CONFIG_SENSORS_HMC5843_SPI) += hmc5843_spi.o > obj-$(CONFIG_SENSORS_RM3100) += rm3100-core.o > obj-$(CONFIG_SENSORS_RM3100_I2C) += rm3100-i2c.o > obj-$(CONFIG_SENSORS_RM3100_SPI) += rm3100-spi.o > + > +obj-$(CONFIG_YAMAHA_YAS530) += yamaha-yas530.o > diff --git a/drivers/iio/magnetometer/yamaha-yas530.c b/drivers/iio/magnetometer/yamaha-yas530.c > new file mode 100644 > index 000000000000..d46f23d82b3d > --- /dev/null > +++ b/drivers/iio/magnetometer/yamaha-yas530.c > @@ -0,0 +1,1049 @@ > +// SPDX-License-Identifier: GPL-2.0-only > +/* > + * Driver for the Yamaha YAS magnetic sensors, often used in Samsung > + * mobile phones. While all are not yet handled because of lacking > + * hardware, expand this driver to handle the different variants: > + * > + * YAS530 MS-3E (2011 Samsung Galaxy S Advance) > + * YAS532 MS-3R (2011 Samsung Galaxy S4) > + * YAS533 MS-3F (Vivo 1633, 1707, V3, Y21L) > + * (YAS534 is a magnetic switch, not handled) > + * YAS535 MS-6C > + * YAS536 MS-3W > + * YAS537 MS-3T (2015 Samsung Galaxy S6, Note 5, Xiaomi) > + * YAS539 MS-3S (2018 Samsung Galaxy A7 SM-A750FN) > + * > + * Code functions found in the MPU3050 YAS530 and YAS532 drivers > + * named "inv_compass" in the Tegra Android kernel tree. > + * Copyright (C) 2012 InvenSense Corporation > + * > + * Author: Linus Walleij <linus.walleij@xxxxxxxxxx> > + */ > +#include <linux/bitfield.h> > +#include <linux/bitops.h> > +#include <linux/delay.h> > +#include <linux/err.h> > +#include <linux/gpio/consumer.h> > +#include <linux/i2c.h> > +#include <linux/module.h> > +#include <linux/mod_devicetable.h> > +#include <linux/mutex.h> > +#include <linux/pm_runtime.h> > +#include <linux/regmap.h> > +#include <linux/regulator/consumer.h> > +#include <linux/random.h> > +#include <linux/unaligned/be_byteshift.h> > + > +#include <linux/iio/buffer.h> > +#include <linux/iio/iio.h> > +#include <linux/iio/trigger_consumer.h> > +#include <linux/iio/triggered_buffer.h> > + > +/* This register map covers YAS530 and YAS532 but differs in YAS 537 and YAS539 */ > +#define YAS5XX_DEVICE_ID 0x80 > +#define YAS5XX_ACTUATE_INIT_COIL 0x81 > +#define YAS5XX_MEASURE 0x82 > +#define YAS5XX_CONFIG 0x83 > +#define YAS5XX_MEASURE_INTERVAL 0x84 > +#define YAS5XX_OFFSET_X 0x85 /* [-31 .. 31] */ > +#define YAS5XX_OFFSET_Y1 0x86 /* [-31 .. 31] */ > +#define YAS5XX_OFFSET_Y2 0x87 /* [-31 .. 31] */ > +#define YAS5XX_TEST1 0x88 > +#define YAS5XX_TEST2 0x89 > +#define YAS5XX_CAL 0x90 > +#define YAS5XX_MEASURE_DATA 0xB0 > + > +/* Bits in the YAS5xx config register */ > +#define YAS5XX_CONFIG_INTON BIT(0) /* Interrupt on? */ > +#define YAS5XX_CONFIG_INTHACT BIT(1) /* Interrupt active high? */ > +#define YAS5XX_CONFIG_CCK_MASK GENMASK(4, 2) > +#define YAS5XX_CONFIG_CCK_SHIFT 2 > + > +/* Bits in the measure command register */ > +#define YAS5XX_MEASURE_START BIT(0) > +#define YAS5XX_MEASURE_LDTC BIT(1) > +#define YAS5XX_MEASURE_FORS BIT(2) > +#define YAS5XX_MEASURE_DLYMES BIT(4) > + > +/* Bits in the measure data register */ > +#define YAS5XX_MEASURE_DATA_BUSY BIT(7) > + > +#define YAS530_DEVICE_ID 0x01 /* YAS530 (MS-3E) */ > +#define YAS530_VERSION_A 0 /* YAS530 (MS-3E A) */ > +#define YAS530_VERSION_B 1 /* YAS530B (MS-3E B) */ > +#define YAS530_VERSION_A_COEF 380 > +#define YAS530_VERSION_B_COEF 550 > +#define YAS530_DATA_BITS 12 > +#define YAS530_DATA_CENTER BIT(YAS530_DATA_BITS - 1) > +#define YAS530_DATA_OVERFLOW (BIT(YAS530_DATA_BITS) - 1) > + > +#define YAS532_DEVICE_ID 0x02 /* YAS532/YAS533 (MS-3R/F) */ > +#define YAS532_VERSION_AB 0 /* YAS532/533 AB (MS-3R/F AB) */ > +#define YAS532_VERSION_AC 1 /* YAS532/533 AC (MS-3R/F AC) */ > +#define YAS532_VERSION_AB_COEF 1800 > +#define YAS532_VERSION_AC_COEF_X 850 > +#define YAS532_VERSION_AC_COEF_Y1 750 > +#define YAS532_VERSION_AC_COEF_Y2 750 > +#define YAS532_DATA_BITS 13 > +#define YAS532_DATA_CENTER BIT(YAS532_DATA_BITS - 1) > +#define YAS532_DATA_OVERFLOW (BIT(YAS532_DATA_BITS) - 1) > +#define YAS532_20DEGREES 390 /* Looks like Kelvin */ > + > +/* These variant IDs are known from code dumps */ > +#define YAS537_DEVICE_ID 0x07 /* YAS537 (MS-3T) */ > +#define YAS539_DEVICE_ID 0x08 /* YAS539 (MS-3S) */ > + > +/* Turn off device regulators etc after 5 seconds of inactivity */ > +#define YAS5XX_AUTOSUSPEND_DELAY_MS 5000 > + > +struct yas5xx_calibration { > + /* Linearization calibration x, y1, y2 */ > + s32 r[3]; > + u32 f[3]; > + /* Temperature compensation calibration */ > + s32 Cx, Cy1, Cy2; > + /* Misc calibration coefficients */ > + s32 a2, a3, a4, a5, a6, a7, a8, a9, k; > + /* clock divider */ > + u8 dck; > +}; > + > +/** > + * struct yas5xx - state container for the YAS5xx driver > + * @dev: parent device pointer > + * @devid: device ID number > + * @version: device version > + * @name: device name > + * @calibration: calibration settings from the OTP storage > + * @hard_offsets: offsets for each axis measured with initcoil actuated > + * @orientation: mounting matrix, flipped axis etc > + * @map: regmap to access the YAX5xx registers over I2C > + * @regs: the vdd and vddio power regulators > + * @reset: optional GPIO line used for handling RESET > + * @lock: locks the magnetometer for exclusive use during a measurement (which > + * involves several register transactions so the regmap lock is not enough) > + * so that measurements get serialized in a first-come-first serve manner > + * @scan: naturally aligned measurements > + */ > +struct yas5xx { > + struct device *dev; > + unsigned int devid; > + unsigned int version; > + char name[16]; > + struct yas5xx_calibration calibration; > + u8 hard_offsets[3]; > + struct iio_mount_matrix orientation; > + struct regmap *map; > + struct regulator_bulk_data regs[2]; > + struct gpio_desc *reset; > + struct mutex lock; > + /* > + * The scanout is 4 x 32 bits in CPU endianness. > + * Ensure timestamp is naturally aligned > + */ > + struct { > + s32 channels[4]; > + s64 ts __aligned(8); > + } scan; > +}; > + > +/* On YAS530 the x, y1 and y2 values are 12 bits */ > +static u16 yas530_extract_axis(u8 *data) > +{ > + u16 val; > + > + /* > + * These are the bits used in a 16bit word: > + * 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 > + * x x x x x x x x x x x x > + */ > + val = get_unaligned_be16(&data[0]); > + val = FIELD_GET(GENMASK(14, 3), val); > + return val; > +} > + > +/* On YAS532 the x, y1 and y2 values are 13 bits */ > +static u16 yas532_extract_axis(u8 *data) > +{ > + u16 val; > + > + /* > + * These are the bits used in a 16bit word: > + * 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 > + * x x x x x x x x x x x x x > + */ > + val = get_unaligned_be16(&data[0]); > + val = FIELD_GET(GENMASK(14, 2), val); > + return val; > +} > + > +/** > + * yas5xx_measure() - Make a measure from the hardware > + * @yas5xx: The device state > + * @t: the raw temperature measurement > + * @x: the raw x axis measurement > + * @y1: the y1 axis measurement > + * @y2: the y2 axis measurement > + * @return: 0 on success or error code > + */ > +static int yas5xx_measure(struct yas5xx *yas5xx, u16 *t, u16 *x, u16 *y1, u16 *y2) > +{ > + unsigned int busy; > + u8 data[8]; > + int ret; > + u16 val; > + > + mutex_lock(&yas5xx->lock); > + ret = regmap_write(yas5xx->map, YAS5XX_MEASURE, YAS5XX_MEASURE_START); > + if (ret < 0) > + goto out_unlock; > + > + /* > + * Typical time to measure 1500 us, max 2000 us so wait min 500 us > + * and at most 20000 us (one magnitude more than the datsheet max) > + * before timeout. > + */ > + ret = regmap_read_poll_timeout(yas5xx->map, YAS5XX_MEASURE_DATA, busy, > + !(busy & YAS5XX_MEASURE_DATA_BUSY), > + 500, 20000); > + if (ret) { > + dev_err(yas5xx->dev, "timeout waiting for measurement\n"); > + goto out_unlock; > + } > + > + ret = regmap_bulk_read(yas5xx->map, YAS5XX_MEASURE_DATA, > + data, sizeof(data)); > + if (ret) > + goto out_unlock; > + > + mutex_unlock(&yas5xx->lock); > + > + switch (yas5xx->devid) { > + case YAS530_DEVICE_ID: > + /* > + * The t value is 9 bits in big endian format > + * These are the bits used in a 16bit word: > + * 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 > + * x x x x x x x x x > + */ > + val = get_unaligned_be16(&data[0]); > + val = FIELD_GET(GENMASK(14, 6), val); > + *t = val; > + *x = yas530_extract_axis(&data[2]); > + *y1 = yas530_extract_axis(&data[4]); > + *y2 = yas530_extract_axis(&data[6]); > + break; > + case YAS532_DEVICE_ID: > + /* > + * The t value is 10 bits in big endian format > + * These are the bits used in a 16bit word: > + * 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 > + * x x x x x x x x x x > + */ > + val = get_unaligned_be16(&data[0]); > + val = FIELD_GET(GENMASK(14, 5), val); > + *t = val; > + *x = yas532_extract_axis(&data[2]); > + *y1 = yas532_extract_axis(&data[4]); > + *y2 = yas532_extract_axis(&data[6]); > + break; > + default: > + dev_err(yas5xx->dev, "unknown data format\n"); > + ret = -EINVAL; > + break; > + } > + > + return ret; > + > +out_unlock: > + mutex_unlock(&yas5xx->lock); > + return ret; > +} > + > +static s32 yas5xx_linearize(struct yas5xx *yas5xx, u16 val, int axis) > +{ > + struct yas5xx_calibration *c = &yas5xx->calibration; > + static const s32 yas532ac_coef[] = { > + YAS532_VERSION_AC_COEF_X, > + YAS532_VERSION_AC_COEF_Y1, > + YAS532_VERSION_AC_COEF_Y2, > + }; > + s32 coef; > + > + /* Select coefficients */ > + switch (yas5xx->devid) { > + case YAS530_DEVICE_ID: > + if (yas5xx->version == YAS530_VERSION_A) > + coef = YAS530_VERSION_A_COEF; > + else > + coef = YAS530_VERSION_B_COEF; > + break; > + case YAS532_DEVICE_ID: > + if (yas5xx->version == YAS532_VERSION_AB) > + coef = YAS532_VERSION_AB_COEF; > + else > + /* Elaborate coefficients */ > + coef = yas532ac_coef[axis]; > + break; > + default: > + dev_err(yas5xx->dev, "unknown device type\n"); > + return val; > + } > + /* > + * Linearization formula: > + * > + * x' = x - (3721 + 50 * f) + (xoffset - r) * c > + * > + * Where f and r are calibration values, c is a per-device > + * and sometimes per-axis coefficient. > + */ > + return val - (3721 + 50 * c->f[axis]) + > + (yas5xx->hard_offsets[axis] - c->r[axis]) * coef; > +} > + > +/** > + * yas5xx_get_measure() - Measure a sample of all axis and process > + * @yas5xx: The device state > + * @to: Temperature out > + * @xo: X axis out > + * @yo: Y axis out > + * @zo: Z axis out > + * @return: 0 on success or error code > + * > + * Returned values are in nanotesla according to some code. > + */ > +static int yas5xx_get_measure(struct yas5xx *yas5xx, s32 *to, s32 *xo, s32 *yo, s32 *zo) > +{ > + struct yas5xx_calibration *c = &yas5xx->calibration; > + u16 t, x, y1, y2; > + /* These are "signed x, signed y1 etc */ > + s32 sx, sy1, sy2, sy, sz; > + int ret; > + > + /* We first get raw data that needs to be translated to [x,y,z] */ > + ret = yas5xx_measure(yas5xx, &t, &x, &y1, &y2); > + if (ret) > + return ret; > + > + /* Do some linearization if available */ > + sx = yas5xx_linearize(yas5xx, x, 0); > + sy1 = yas5xx_linearize(yas5xx, y1, 1); > + sy2 = yas5xx_linearize(yas5xx, y2, 2); > + > + /* > + * Temperature compensation for x, y1, y2 respectively: > + * > + * Cx * t > + * x' = x - ------ > + * 100 > + */ > + sx = sx - (c->Cx * t) / 100; > + sy1 = sy1 - (c->Cy1 * t) / 100; > + sy2 = sy2 - (c->Cy2 * t) / 100; > + > + /* > + * Break y1 and y2 into y and z, y1 and y2 are apparently encoding > + * y and z. > + */ > + sy = sy1 - sy2; > + sz = -sy1 - sy2; > + > + /* > + * FIXME: convert to Celsius? Just guessing this is given > + * as 1/10:s of degrees so multiply by 100 to get millicentigrades. > + */ > + *to = t * 100; > + /* > + * Calibrate [x,y,z] with some formulas like this: > + * > + * 100 * x + a_2 * y + a_3 * z > + * x' = k * --------------------------- > + * 10 > + * > + * a_4 * x + a_5 * y + a_6 * z > + * y' = k * --------------------------- > + * 10 > + * > + * a_7 * x + a_8 * y + a_9 * z > + * z' = k * --------------------------- > + * 10 > + */ > + *xo = c->k * ((100 * sx + c->a2 * sy + c->a3 * sz) / 10); > + *yo = c->k * ((c->a4 * sx + c->a5 * sy + c->a6 * sz) / 10); > + *zo = c->k * ((c->a7 * sx + c->a8 * sy + c->a9 * sz) / 10); > + > + return 0; > +} > + > +static int yas5xx_read_raw(struct iio_dev *indio_dev, > + struct iio_chan_spec const *chan, > + int *val, int *val2, > + long mask) > +{ > + struct yas5xx *yas5xx = iio_priv(indio_dev); > + s32 t, x, y, z; > + int ret; > + > + switch (mask) { > + case IIO_CHAN_INFO_RAW: > + pm_runtime_get_sync(yas5xx->dev); > + ret = yas5xx_get_measure(yas5xx, &t, &x, &y, &z); > + pm_runtime_mark_last_busy(yas5xx->dev); > + pm_runtime_put_autosuspend(yas5xx->dev); > + if (ret) > + return ret; > + switch (chan->address) { > + case 0: > + *val = t; > + break; > + case 1: > + *val = x; > + break; > + case 2: > + *val = y; > + break; > + case 3: > + *val = z; > + break; > + default: > + dev_err(yas5xx->dev, "unknown channel\n"); > + return -EINVAL; > + } > + return IIO_VAL_INT; > + case IIO_CHAN_INFO_SCALE: > + if (chan->address == 0) { > + /* Temperature is unscaled */ > + *val = 1; > + return IIO_VAL_INT; > + } > + /* > + * The axis values are in nanotesla according to the vendor > + * drivers, but is clearly in microtesla according to > + * experiments. Since 1 uT = 0.01 Gauss, we need to divide > + * by 100000000 (10^8) to get to Gauss from the raw value. > + */ > + *val = 1; > + *val2 = 100000000; > + return IIO_VAL_FRACTIONAL; > + default: > + /* Unknown request */ > + return -EINVAL; > + } > +} > + > +static void yas5xx_fill_buffer(struct iio_dev *indio_dev) > +{ > + struct yas5xx *yas5xx = iio_priv(indio_dev); > + s32 t, x, y, z; > + int ret; > + > + pm_runtime_get_sync(yas5xx->dev); > + ret = yas5xx_get_measure(yas5xx, &t, &x, &y, &z); > + pm_runtime_mark_last_busy(yas5xx->dev); > + pm_runtime_put_autosuspend(yas5xx->dev); > + if (ret) { > + dev_err(yas5xx->dev, "error refilling buffer\n"); > + return; > + } > + yas5xx->scan.channels[0] = t; > + yas5xx->scan.channels[1] = x; > + yas5xx->scan.channels[2] = y; > + yas5xx->scan.channels[3] = z; > + iio_push_to_buffers_with_timestamp(indio_dev, &yas5xx->scan, > + iio_get_time_ns(indio_dev)); > +} > + > +static irqreturn_t yas5xx_handle_trigger(int irq, void *p) > +{ > + const struct iio_poll_func *pf = p; > + struct iio_dev *indio_dev = pf->indio_dev; > + > + yas5xx_fill_buffer(indio_dev); > + iio_trigger_notify_done(indio_dev->trig); > + > + return IRQ_HANDLED; > +} > + > + > +static const struct iio_mount_matrix * > +yas5xx_get_mount_matrix(const struct iio_dev *indio_dev, > + const struct iio_chan_spec *chan) > +{ > + struct yas5xx *yas5xx = iio_priv(indio_dev); > + > + return &yas5xx->orientation; > +} > + > +static const struct iio_chan_spec_ext_info yas5xx_ext_info[] = { > + IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, yas5xx_get_mount_matrix), > + { } > +}; > + > +#define YAS5XX_AXIS_CHANNEL(axis, index) \ > + { \ > + .type = IIO_MAGN, \ > + .modified = 1, \ > + .channel2 = IIO_MOD_##axis, \ > + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ > + BIT(IIO_CHAN_INFO_SCALE), \ > + .ext_info = yas5xx_ext_info, \ > + .address = index, \ > + .scan_index = index, \ > + .scan_type = { \ > + .sign = 's', \ > + .realbits = 32, \ > + .storagebits = 32, \ > + .endianness = IIO_CPU, \ > + }, \ > + } > + > +static const struct iio_chan_spec yas5xx_channels[] = { > + { > + .type = IIO_TEMP, > + .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED), > + .address = 0, > + .scan_index = 0, > + .scan_type = { > + .sign = 'u', > + .realbits = 32, > + .storagebits = 32, > + .endianness = IIO_CPU, > + }, > + }, > + YAS5XX_AXIS_CHANNEL(X, 1), > + YAS5XX_AXIS_CHANNEL(Y, 2), > + YAS5XX_AXIS_CHANNEL(Z, 3), > + IIO_CHAN_SOFT_TIMESTAMP(4), > +}; > + > +static const unsigned long yas5xx_scan_masks[] = { GENMASK(3, 0), 0 }; > + > +static const struct iio_info yas5xx_info = { > + .read_raw = &yas5xx_read_raw, > +}; > + > +static bool yas5xx_volatile_reg(struct device *dev, unsigned int reg) > +{ > + return reg == YAS5XX_ACTUATE_INIT_COIL || > + reg == YAS5XX_MEASURE || > + (reg >= YAS5XX_MEASURE_DATA && reg <= YAS5XX_MEASURE_DATA + 8); > +} > + > +/* TODO: enable regmap cache, using mark dirty and sync at runtime resume */ > +static const struct regmap_config yas5xx_regmap_config = { > + .reg_bits = 8, > + .val_bits = 8, > + .max_register = 0xff, > + .volatile_reg = yas5xx_volatile_reg, > +}; > + > +/** > + * yas53x_extract_calibration() - extracts the a2-a9 and k calibration > + * @data: the bitfield to use > + * @c: the calibration to populate > + */ > +static void yas53x_extract_calibration(u8 *data, struct yas5xx_calibration *c) > +{ > + u64 val = get_unaligned_be64(data); > + > + /* > + * Bitfield layout for the axis calibration data, for factor > + * a2 = 2 etc, k = k, c = clock divider > + * > + * n 7 6 5 4 3 2 1 0 > + * 0 [ 2 2 2 2 2 2 3 3 ] bits 63 .. 56 > + * 1 [ 3 3 4 4 4 4 4 4 ] bits 55 .. 48 > + * 2 [ 5 5 5 5 5 5 6 6 ] bits 47 .. 40 > + * 3 [ 6 6 6 6 7 7 7 7 ] bits 39 .. 32 > + * 4 [ 7 7 7 8 8 8 8 8 ] bits 31 .. 24 > + * 5 [ 8 9 9 9 9 9 9 9 ] bits 23 .. 16 > + * 6 [ 9 k k k k k c c ] bits 15 .. 8 > + * 7 [ c x x x x x x x ] bits 7 .. 0 > + */ > + c->a2 = FIELD_GET(GENMASK_ULL(63, 58), val) - 32; > + c->a3 = FIELD_GET(GENMASK_ULL(57, 54), val) - 8; > + c->a4 = FIELD_GET(GENMASK_ULL(53, 48), val) - 32; > + c->a5 = FIELD_GET(GENMASK_ULL(47, 42), val) + 38; > + c->a6 = FIELD_GET(GENMASK_ULL(41, 36), val) - 32; > + c->a7 = FIELD_GET(GENMASK_ULL(35, 29), val) - 64; > + c->a8 = FIELD_GET(GENMASK_ULL(28, 23), val) - 32; > + c->a9 = FIELD_GET(GENMASK_ULL(22, 15), val); > + c->k = FIELD_GET(GENMASK_ULL(14, 10), val) + 10; > + c->dck = FIELD_GET(GENMASK_ULL(9, 7), val); > +} > + > +static int yas530_get_calibration_data(struct yas5xx *yas5xx) > +{ > + struct yas5xx_calibration *c = &yas5xx->calibration; > + u8 data[16]; > + u32 val; > + int ret; > + > + /* Dummy read, first read is ALWAYS wrong */ > + ret = regmap_bulk_read(yas5xx->map, YAS5XX_CAL, data, sizeof(data)); > + if (ret) > + return ret; > + > + /* Actual calibration readout */ > + ret = regmap_bulk_read(yas5xx->map, YAS5XX_CAL, data, sizeof(data)); > + if (ret) > + return ret; > + dev_dbg(yas5xx->dev, "calibration data: %*ph\n", 14, data); > + > + add_device_randomness(data, sizeof(data)); > + yas5xx->version = data[15] & GENMASK(1, 0); > + > + /* Extract the calibration from the bitfield */ > + c->Cx = data[0] * 6 - 768; > + c->Cy1 = data[1] * 6 - 768; > + c->Cy2 = data[2] * 6 - 768; > + yas53x_extract_calibration(&data[3], c); > + > + /* > + * Extract linearization: > + * Linearization layout in the 32 bits at byte 11: > + * The r factors are 6 bit values where bit 5 is the sign > + * > + * n 7 6 5 4 3 2 1 0 > + * 0 [ xx xx xx r0 r0 r0 r0 r0 ] bits 31 .. 24 > + * 1 [ r0 f0 f0 r1 r1 r1 r1 r1 ] bits 23 .. 16 > + * 2 [ r1 f1 f1 r2 r2 r2 r2 r2 ] bits 15 .. 8 > + * 3 [ r2 f2 f2 xx xx xx xx xx ] bits 7 .. 0 > + */ > + val = get_unaligned_be32(&data[11]); > + c->f[0] = FIELD_GET(GENMASK(22, 21), val); > + c->f[1] = FIELD_GET(GENMASK(14, 13), val); > + c->f[2] = FIELD_GET(GENMASK(6, 5), val); > + c->r[0] = sign_extend32(FIELD_GET(GENMASK(28, 23), val), 5); > + c->r[1] = sign_extend32(FIELD_GET(GENMASK(20, 15), val), 5); > + c->r[2] = sign_extend32(FIELD_GET(GENMASK(12, 7), val), 5); > + return 0; > +} > + > +static int yas532_get_calibration_data(struct yas5xx *yas5xx) > +{ > + struct yas5xx_calibration *c = &yas5xx->calibration; > + u8 data[14]; > + u32 val; > + int ret; > + > + /* Dummy read, first read is ALWAYS wrong */ > + ret = regmap_bulk_read(yas5xx->map, YAS5XX_CAL, data, sizeof(data)); > + if (ret) > + return ret; > + /* Actual calibration readout */ > + ret = regmap_bulk_read(yas5xx->map, YAS5XX_CAL, data, sizeof(data)); > + if (ret) > + return ret; > + dev_dbg(yas5xx->dev, "calibration data: %*ph\n", 14, data); > + > + /* Sanity check, is this all zeroes? */ > + if (memchr_inv(data, 0x00, 13)) { > + if (!(data[13] & BIT(7))) > + dev_warn(yas5xx->dev, "calibration is blank!\n"); > + } > + > + add_device_randomness(data, sizeof(data)); > + /* Only one bit of version info reserved here as far as we know */ > + yas5xx->version = data[13] & BIT(0); > + > + /* Extract calibration from the bitfield */ > + c->Cx = data[0] * 10 - 1280; > + c->Cy1 = data[1] * 10 - 1280; > + c->Cy2 = data[2] * 10 - 1280; > + yas53x_extract_calibration(&data[3], c); > + /* > + * Extract linearization: > + * Linearization layout in the 32 bits at byte 10: > + * The r factors are 6 bit values where bit 5 is the sign > + * > + * n 7 6 5 4 3 2 1 0 > + * 0 [ xx r0 r0 r0 r0 r0 r0 f0 ] bits 31 .. 24 > + * 1 [ f0 r1 r1 r1 r1 r1 r1 f1 ] bits 23 .. 16 > + * 2 [ f1 r2 r2 r2 r2 r2 r2 f2 ] bits 15 .. 8 > + * 3 [ f2 xx xx xx xx xx xx xx ] bits 7 .. 0 > + */ > + val = get_unaligned_be32(&data[10]); > + c->f[0] = FIELD_GET(GENMASK(24, 23), val); > + c->f[1] = FIELD_GET(GENMASK(16, 15), val); > + c->f[2] = FIELD_GET(GENMASK(8, 7), val); > + c->r[0] = sign_extend32(FIELD_GET(GENMASK(30, 25), val), 5); > + c->r[1] = sign_extend32(FIELD_GET(GENMASK(22, 17), val), 5); > + c->r[2] = sign_extend32(FIELD_GET(GENMASK(14, 7), val), 5); > + > + return 0; > +} > + > +static void yas5xx_dump_calibration(struct yas5xx *yas5xx) > +{ > + struct yas5xx_calibration *c = &yas5xx->calibration; > + > + dev_dbg(yas5xx->dev, "f[] = [%d, %d, %d]\n", > + c->f[0], c->f[1], c->f[2]); > + dev_dbg(yas5xx->dev, "r[] = [%d, %d, %d]\n", > + c->r[0], c->r[1], c->r[2]); > + dev_dbg(yas5xx->dev, "Cx = %d\n", c->Cx); > + dev_dbg(yas5xx->dev, "Cy1 = %d\n", c->Cy1); > + dev_dbg(yas5xx->dev, "Cy2 = %d\n", c->Cy2); > + dev_dbg(yas5xx->dev, "a2 = %d\n", c->a2); > + dev_dbg(yas5xx->dev, "a3 = %d\n", c->a3); > + dev_dbg(yas5xx->dev, "a4 = %d\n", c->a4); > + dev_dbg(yas5xx->dev, "a5 = %d\n", c->a5); > + dev_dbg(yas5xx->dev, "a6 = %d\n", c->a6); > + dev_dbg(yas5xx->dev, "a7 = %d\n", c->a7); > + dev_dbg(yas5xx->dev, "a8 = %d\n", c->a8); > + dev_dbg(yas5xx->dev, "a9 = %d\n", c->a9); > + dev_dbg(yas5xx->dev, "k = %d\n", c->k); > + dev_dbg(yas5xx->dev, "dck = %d\n", c->dck); > +} > + > +static int yas5xx_set_offsets(struct yas5xx *yas5xx, s8 ox, s8 oy1, s8 oy2) > +{ > + int ret; > + > + ret = regmap_write(yas5xx->map, YAS5XX_OFFSET_X, ox); > + if (ret) > + return ret; > + ret = regmap_write(yas5xx->map, YAS5XX_OFFSET_Y1, oy1); > + if (ret) > + return ret; > + return regmap_write(yas5xx->map, YAS5XX_OFFSET_Y2, oy2); > +} > + > +static s8 yas5xx_adjust_offset(s8 old, int bit, u16 center, u16 measure) > +{ > + if (measure > center) > + return old + BIT(bit); > + if (measure < center) > + return old - BIT(bit); > + return old; > +} > + > +static int yas5xx_meaure_offsets(struct yas5xx *yas5xx) > +{ > + int ret; > + u16 center; > + u16 t, x, y1, y2; > + s8 ox, oy1, oy2; > + int i; > + > + /* Actuate the init coil and measure offsets */ > + ret = regmap_write(yas5xx->map, YAS5XX_ACTUATE_INIT_COIL, 0); > + if (ret) > + return ret; > + > + /* When the initcoil is active this should be around the center */ > + switch (yas5xx->devid) { > + case YAS530_DEVICE_ID: > + center = YAS530_DATA_CENTER; > + break; > + case YAS532_DEVICE_ID: > + center = YAS532_DATA_CENTER; > + break; > + default: > + dev_err(yas5xx->dev, "unknown device type\n"); > + return -EINVAL; > + } > + > + /* > + * We set offsets in the interval +-31 by iterating > + * +-16, +-8, +-4, +-2, +-1 adjusting the offsets each > + * time, then writing the final offsets into the > + * registers. > + * > + * NOTE: these offsets are NOT in the same unit or magnitude > + * as the values for [x, y1, y2]. The value is +/-31 > + * but the effect on the raw values is much larger. > + * The effect of the offset is to bring the measure > + * rougly to the center. > + */ > + ox = 0; > + oy1 = 0; > + oy2 = 0; > + > + for (i = 4; i >= 0; i--) { > + ret = yas5xx_set_offsets(yas5xx, ox, oy1, oy2); > + if (ret) > + return ret; > + > + ret = yas5xx_measure(yas5xx, &t, &x, &y1, &y2); > + if (ret) > + return ret; > + dev_dbg(yas5xx->dev, "measurement %d: x=%d, y1=%d, y2=%d\n", > + 5-i, x, y1, y2); > + > + ox = yas5xx_adjust_offset(ox, i, center, x); > + oy1 = yas5xx_adjust_offset(oy1, i, center, y1); > + oy2 = yas5xx_adjust_offset(oy2, i, center, y2); > + } > + > + /* Needed for calibration algorithm */ > + yas5xx->hard_offsets[0] = ox; > + yas5xx->hard_offsets[1] = oy1; > + yas5xx->hard_offsets[2] = oy2; > + ret = yas5xx_set_offsets(yas5xx, ox, oy1, oy2); > + if (ret) > + return ret; > + > + dev_info(yas5xx->dev, "discovered hard offsets: x=%d, y1=%d, y2=%d\n", > + ox, oy1, oy2); > + return 0; > +} > + > +static int yas5xx_power_on(struct yas5xx *yas5xx) > +{ > + unsigned int val; > + int ret; > + > + /* Zero the test registers */ > + ret = regmap_write(yas5xx->map, YAS5XX_TEST1, 0); > + if (ret) > + return ret; > + ret = regmap_write(yas5xx->map, YAS5XX_TEST2, 0); > + if (ret) > + return ret; > + > + /* Set up for no interrupts, calibrated clock divider */ > + val = FIELD_PREP(YAS5XX_CONFIG_CCK_MASK, yas5xx->calibration.dck); > + ret = regmap_write(yas5xx->map, YAS5XX_CONFIG, val); > + if (ret) > + return ret; > + > + /* Measure interval 0 (back-to-back?) */ > + return regmap_write(yas5xx->map, YAS5XX_MEASURE_INTERVAL, 0); > +} > + > +static int yas5xx_probe(struct i2c_client *i2c, > + const struct i2c_device_id *id) > +{ > + struct iio_dev *indio_dev; > + struct device *dev = &i2c->dev; > + struct yas5xx *yas5xx; > + int ret; > + > + indio_dev = devm_iio_device_alloc(dev, sizeof(*yas5xx)); > + if (!indio_dev) > + return -ENOMEM; > + > + yas5xx = iio_priv(indio_dev); > + i2c_set_clientdata(i2c, indio_dev); > + yas5xx->dev = dev; > + mutex_init(&yas5xx->lock); > + > + ret = iio_read_mount_matrix(dev, "mount-matrix", &yas5xx->orientation); > + if (ret) > + return ret; > + > + yas5xx->regs[0].supply = "vdd"; > + yas5xx->regs[1].supply = "iovdd"; > + ret = devm_regulator_bulk_get(dev, ARRAY_SIZE(yas5xx->regs), > + yas5xx->regs); > + if (ret) > + return dev_err_probe(dev, ret, "cannot get regulators\n"); > + > + ret = regulator_bulk_enable(ARRAY_SIZE(yas5xx->regs), yas5xx->regs); > + if (ret) { > + dev_err(dev, "cannot enable regulators\n"); > + return ret; > + } > + > + /* See comment in runtime resume callback */ > + usleep_range(31000, 40000); > + > + /* This will take the device out of reset if need be */ > + yas5xx->reset = devm_gpiod_get_optional(dev, "reset", GPIOD_OUT_LOW); > + if (IS_ERR(yas5xx->reset)) { > + ret = dev_err_probe(dev, PTR_ERR(yas5xx->reset), > + "failed to get reset line\n"); > + goto reg_off; > + } > + > + yas5xx->map = devm_regmap_init_i2c(i2c, &yas5xx_regmap_config); > + if (IS_ERR(yas5xx->map)) { > + dev_err(dev, "failed to allocate register map\n"); > + ret = PTR_ERR(yas5xx->map); > + goto assert_reset; > + } > + > + ret = regmap_read(yas5xx->map, YAS5XX_DEVICE_ID, &yas5xx->devid); > + if (ret) > + goto assert_reset; > + > + switch (yas5xx->devid) { > + case YAS530_DEVICE_ID: > + ret = yas530_get_calibration_data(yas5xx); > + if (ret) > + goto assert_reset; > + dev_info(dev, "detected YAS530 MS-3E %s", > + yas5xx->version ? "B" : "A"); > + strncpy(yas5xx->name, "yas530", sizeof(yas5xx->name)); > + break; > + case YAS532_DEVICE_ID: > + ret = yas532_get_calibration_data(yas5xx); > + if (ret) > + goto assert_reset; > + dev_info(dev, "detected YAS532/YAS533 MS-3R/F %s", > + yas5xx->version ? "AC" : "AB"); > + strncpy(yas5xx->name, "yas532", sizeof(yas5xx->name)); > + break; > + default: > + dev_err(dev, "unhandled device ID %02x\n", yas5xx->devid); > + goto assert_reset; > + } > + > + yas5xx_dump_calibration(yas5xx); > + ret = yas5xx_power_on(yas5xx); > + if (ret) > + goto assert_reset; > + ret = yas5xx_meaure_offsets(yas5xx); > + if (ret) > + goto assert_reset; > + > + indio_dev->info = &yas5xx_info; > + indio_dev->available_scan_masks = yas5xx_scan_masks; > + indio_dev->modes = INDIO_DIRECT_MODE; > + indio_dev->name = yas5xx->name; > + indio_dev->channels = yas5xx_channels; > + indio_dev->num_channels = ARRAY_SIZE(yas5xx_channels); > + > + ret = iio_triggered_buffer_setup(indio_dev, NULL, > + yas5xx_handle_trigger, > + NULL); > + if (ret) { > + dev_err(dev, "triggered buffer setup failed\n"); > + goto assert_reset; > + } > + > + ret = iio_device_register(indio_dev); > + if (ret) { > + dev_err(dev, "device register failed\n"); > + goto cleanup_buffer; > + } > + > + /* Take runtime PM online */ > + pm_runtime_get_noresume(dev); > + pm_runtime_set_active(dev); > + pm_runtime_enable(dev); > + > + pm_runtime_set_autosuspend_delay(dev, YAS5XX_AUTOSUSPEND_DELAY_MS); > + pm_runtime_use_autosuspend(dev); > + pm_runtime_put(dev); > + > + return 0; > + > +cleanup_buffer: > + iio_triggered_buffer_cleanup(indio_dev); > +assert_reset: > + gpiod_set_value_cansleep(yas5xx->reset, 1); > +reg_off: > + regulator_bulk_disable(ARRAY_SIZE(yas5xx->regs), yas5xx->regs); > + > + return ret; > +} > + > +static int yas5xx_remove(struct i2c_client *i2c) > +{ > + struct iio_dev *indio_dev = i2c_get_clientdata(i2c); > + struct yas5xx *yas5xx = iio_priv(indio_dev); > + struct device *dev = &i2c->dev; > + > + iio_device_unregister(indio_dev); > + iio_triggered_buffer_cleanup(indio_dev); > + /* > + * Now we can't get any more reads from the device, which would > + * also call pm_runtime* functions and race with our disable > + * code. Disable PM runtime in orderly fashion and power down. > + */ > + pm_runtime_get_sync(dev); > + pm_runtime_put_noidle(dev); > + pm_runtime_disable(dev); > + gpiod_set_value_cansleep(yas5xx->reset, 1); > + regulator_bulk_disable(ARRAY_SIZE(yas5xx->regs), yas5xx->regs); > + > + return 0; > +} > + > +static int __maybe_unused yas5xx_runtime_suspend(struct device *dev) > +{ > + struct iio_dev *indio_dev = dev_get_drvdata(dev); > + struct yas5xx *yas5xx = iio_priv(indio_dev); > + > + gpiod_set_value_cansleep(yas5xx->reset, 1); > + regulator_bulk_disable(ARRAY_SIZE(yas5xx->regs), yas5xx->regs); > + > + return 0; > +} > + > +static int __maybe_unused yas5xx_runtime_resume(struct device *dev) > +{ > + struct iio_dev *indio_dev = dev_get_drvdata(dev); > + struct yas5xx *yas5xx = iio_priv(indio_dev); > + int ret; > + > + ret = regulator_bulk_enable(ARRAY_SIZE(yas5xx->regs), yas5xx->regs); > + if (ret) { > + dev_err(dev, "cannot enable regulators\n"); > + return ret; > + } > + > + /* > + * The YAS530 datasheet says TVSKW is up to 30 ms, after that 1 ms > + * for all voltages to settle. The YAS532 is 10ms then 4ms for the > + * I2C to come online. Let's keep it safe and put this at 31ms. > + */ > + usleep_range(31000, 40000); > + gpiod_set_value_cansleep(yas5xx->reset, 0); > + > + ret = yas5xx_power_on(yas5xx); > + if (ret) { > + dev_err(dev, "cannot power on\n"); > + goto out_reset; > + } > + > + return 0; > + > +out_reset: > + gpiod_set_value_cansleep(yas5xx->reset, 1); > + regulator_bulk_disable(ARRAY_SIZE(yas5xx->regs), yas5xx->regs); > + > + return ret; > +} > + > +static const struct dev_pm_ops yas5xx_dev_pm_ops = { > + SET_SYSTEM_SLEEP_PM_OPS(pm_runtime_force_suspend, > + pm_runtime_force_resume) > + SET_RUNTIME_PM_OPS(yas5xx_runtime_suspend, > + yas5xx_runtime_resume, NULL) > +}; > + > +static const struct i2c_device_id yas5xx_id[] = { > + {"yas530", }, > + {"yas532", }, > + {"yas533", }, > + {} > +}; > +MODULE_DEVICE_TABLE(i2c, yas5xx_id); > + > +static const struct of_device_id yas5xx_of_match[] = { > + { .compatible = "yamaha,yas530", }, > + { .compatible = "yamaha,yas532", }, > + { .compatible = "yamaha,yas533", }, > + {} > +}; > +MODULE_DEVICE_TABLE(of, yas5xx_of_match); > + > +static struct i2c_driver yas5xx_driver = { > + .driver = { > + .name = "yas5xx", > + .of_match_table = yas5xx_of_match, > + .pm = &yas5xx_dev_pm_ops, > + }, > + .probe = yas5xx_probe, > + .remove = yas5xx_remove, > + .id_table = yas5xx_id, > +}; > +module_i2c_driver(yas5xx_driver); > + > +MODULE_DESCRIPTION("Yamaha YAS53x 3-axis magnetometer driver"); > +MODULE_AUTHOR("Linus Walleij"); > +MODULE_LICENSE("GPL v2");
