Add support for the magnetometer Yamaha YAS537. The additions are based on comparison of Yamaha Android kernel drivers for YAS532 [1] and YAS537 [2]. In the Yamaha YAS537 Android driver, there is an overflow/underflow control implemented. For regular usage, this seems not necessary. A similar overflow/ underflow control of Yamaha YAS530/532 Android driver isn't integrated in the mainline driver. It is therefore skipped for YAS537 in the mainline too. Also in the Yamaha YAS537 Android driver, at the end of the reset_yas537() function, a measurement is saved in "last_after_rcoil". Later on, this is compared to current measurements. If the difference gets too big, a new reset is initialized. The difference in measurements needs to be quite big, it's hard to say if this is necessary for regular operation. Therefore this isn't integrated in the mainline driver either. [1] https://github.com/msm8916-mainline/android_kernel_qcom_msm8916/blob/GT-I9195I/drivers/iio/magnetometer/yas_mag_drv-yas532.c [2] https://github.com/msm8916-mainline/android_kernel_qcom_msm8916/blob/GT-I9195I/drivers/iio/magnetometer/yas_mag_drv-yas537.c Signed-off-by: Jakob Hauser <jahau@xxxxxxxxxxxxxx> Reviewed-by: Linus Walleij <linus.walleij@xxxxxxxxxx> --- Result can be seen at: https://github.com/Jakko3/linux/blob/yas537_v6/drivers/iio/magnetometer/yamaha-yas530.c drivers/iio/magnetometer/Kconfig | 4 +- drivers/iio/magnetometer/yamaha-yas530.c | 422 ++++++++++++++++++++++- 2 files changed, 423 insertions(+), 3 deletions(-) diff --git a/drivers/iio/magnetometer/Kconfig b/drivers/iio/magnetometer/Kconfig index 07eb619bcfe8..b91fc5e6a26e 100644 --- a/drivers/iio/magnetometer/Kconfig +++ b/drivers/iio/magnetometer/Kconfig @@ -216,8 +216,8 @@ config YAMAHA_YAS530 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. + 3-Axis Magnetometers. YAS530, YAS532, YAS533 and YAS537 are + supported. This driver can also be compiled as a module. To compile this driver as a module, choose M here: the module diff --git a/drivers/iio/magnetometer/yamaha-yas530.c b/drivers/iio/magnetometer/yamaha-yas530.c index 18933d8937ae..65bb34c24810 100644 --- a/drivers/iio/magnetometer/yamaha-yas530.c +++ b/drivers/iio/magnetometer/yamaha-yas530.c @@ -17,6 +17,9 @@ * named "inv_compass" in the Tegra Android kernel tree. * Copyright (C) 2012 InvenSense Corporation * + * Code functions for YAS537 based on Yamaha Android kernel driver. + * Copyright (c) 2014 Yamaha Corporation + * * Author: Linus Walleij <linus.walleij@xxxxxxxxxx> */ #include <linux/bitfield.h> @@ -32,6 +35,7 @@ #include <linux/regmap.h> #include <linux/regulator/consumer.h> #include <linux/random.h> +#include <linux/units.h> #include <linux/iio/buffer.h> #include <linux/iio/iio.h> @@ -56,6 +60,23 @@ #define YAS530_TEST2 0x89 #define YAS530_CAL 0x90 +/* Registers used by YAS537 */ +#define YAS537_MEASURE 0x81 /* Originally YAS537_REG_CMDR */ +#define YAS537_CONFIG 0x82 /* Originally YAS537_REG_CONFR */ +#define YAS537_MEASURE_INTERVAL 0x83 /* Originally YAS537_REG_INTRVLR */ +#define YAS537_OFFSET_X 0x84 /* Originally YAS537_REG_OXR */ +#define YAS537_OFFSET_Y1 0x85 /* Originally YAS537_REG_OY1R */ +#define YAS537_OFFSET_Y2 0x86 /* Originally YAS537_REG_OY2R */ +#define YAS537_AVR 0x87 +#define YAS537_HCK 0x88 +#define YAS537_LCK 0x89 +#define YAS537_SRST 0x90 +#define YAS537_ADCCAL 0x91 +#define YAS537_MTC 0x93 +#define YAS537_OC 0x9E +#define YAS537_TRM 0x9F +#define YAS537_CAL 0xC0 + /* Bits in the YAS5xx config register */ #define YAS5XX_CONFIG_INTON BIT(0) /* Interrupt on? */ #define YAS5XX_CONFIG_INTHACT BIT(1) /* Interrupt active high? */ @@ -67,6 +88,7 @@ #define YAS5XX_MEASURE_LDTC BIT(1) #define YAS5XX_MEASURE_FORS BIT(2) #define YAS5XX_MEASURE_DLYMES BIT(4) +#define YAS5XX_MEASURE_CONT BIT(5) /* Bits in the measure data register */ #define YAS5XX_MEASURE_DATA_BUSY BIT(7) @@ -91,6 +113,22 @@ #define YAS532_DATA_CENTER BIT(YAS532_DATA_BITS - 1) #define YAS532_DATA_OVERFLOW (BIT(YAS532_DATA_BITS) - 1) +#define YAS537_DEVICE_ID 0x07 /* YAS537 (MS-3T) */ +#define YAS537_VERSION_0 0 /* Version naming unknown */ +#define YAS537_VERSION_1 1 /* Version naming unknown */ +#define YAS537_MAG_AVERAGE_32_MASK GENMASK(6, 4) +#define YAS537_MEASURE_TIME_WORST_US 1500 +#define YAS537_DEFAULT_SENSOR_DELAY_MS 50 +#define YAS537_MAG_RCOIL_TIME_US 65 +#define YAS537_MTC3_MASK_PREP GENMASK(7, 0) +#define YAS537_MTC3_MASK_GET GENMASK(7, 5) +#define YAS537_MTC3_ADD_BIT BIT(4) +#define YAS537_HCK_MASK_PREP GENMASK(4, 0) +#define YAS537_HCK_MASK_GET GENMASK(7, 4) +#define YAS537_LCK_MASK_PREP GENMASK(4, 0) +#define YAS537_LCK_MASK_GET GENMASK(3, 0) +#define YAS537_OC_MASK_GET GENMASK(5, 0) + /* Turn off device regulators etc after 5 seconds of inactivity */ #define YAS5XX_AUTOSUSPEND_DELAY_MS 5000 @@ -98,6 +136,7 @@ enum chip_ids { yas530, yas532, yas533, + yas537, }; static const int yas530_volatile_reg[] = { @@ -105,6 +144,10 @@ static const int yas530_volatile_reg[] = { YAS530_MEASURE, }; +static const int yas537_volatile_reg[] = { + YAS537_MEASURE, +}; + struct yas5xx_calibration { /* Linearization calibration x, y1, y2 */ s32 r[3]; @@ -138,7 +181,7 @@ struct yas5xx; * @power_on: function pointer to power-on procedure * * The "t_ref" value for YAS532/533 is known from the Android driver. - * For YAS530 it was approximately measured. + * For YAS530 and YAS537 it was approximately measured. * * The temperatures "min_temp_x10" are derived from the temperature resolutions * given in the data sheets. @@ -312,6 +355,77 @@ static int yas530_measure(struct yas5xx *yas5xx, u16 *t, u16 *x, u16 *y1, u16 *y return ret; } +/** + * yas537_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 yas537_measure(struct yas5xx *yas5xx, u16 *t, u16 *x, u16 *y1, u16 *y2) +{ + struct yas5xx_calibration *c = &yas5xx->calibration; + unsigned int busy; + u8 data[8]; + u16 xy1y2[3]; + s32 h[3], s[3]; + int i, ret; + + mutex_lock(&yas5xx->lock); + + /* Contrary to YAS530/532, also a "cont" bit is set, meaning unknown */ + ret = regmap_write(yas5xx->map, YAS537_MEASURE, YAS5XX_MEASURE_START | + YAS5XX_MEASURE_CONT); + if (ret < 0) + goto out_unlock; + + /* Use same timeout like YAS530/532 but the bit is in data row 2 */ + ret = regmap_read_poll_timeout(yas5xx->map, YAS5XX_MEASURE_DATA + 2, 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); + + *t = get_unaligned_be16(&data[0]); + xy1y2[0] = FIELD_GET(GENMASK(13, 0), get_unaligned_be16(&data[2])); + xy1y2[1] = get_unaligned_be16(&data[4]); + xy1y2[2] = get_unaligned_be16(&data[6]); + + /* The second version of YAS537 needs to include calibration coefficients */ + if (yas5xx->version == YAS537_VERSION_1) { + for (i = 0; i < 3; i++) + s[i] = xy1y2[i] - BIT(13); + h[0] = (c->k * (128 * s[0] + c->a2 * s[1] + c->a3 * s[2])) / BIT(13); + h[1] = (c->k * (c->a4 * s[0] + c->a5 * s[1] + c->a6 * s[2])) / BIT(13); + h[2] = (c->k * (c->a7 * s[0] + c->a8 * s[1] + c->a9 * s[2])) / BIT(13); + for (i = 0; i < 3; i++) { + clamp_val(h[i], -BIT(13), BIT(13) - 1); + xy1y2[i] = h[i] + BIT(13); + } + } + + *x = xy1y2[0]; + *y1 = xy1y2[1]; + *y2 = xy1y2[2]; + + return 0; + +out_unlock: + mutex_unlock(&yas5xx->lock); + return ret; +} + /* Used by YAS530, YAS532 and YAS533 */ static s32 yas530_linearize(struct yas5xx *yas5xx, u16 val, int axis) { @@ -457,6 +571,41 @@ static int yas530_get_measure(struct yas5xx *yas5xx, s32 *to, s32 *xo, s32 *yo, return 0; } +/** + * yas537_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 + */ +static int yas537_get_measure(struct yas5xx *yas5xx, s32 *to, s32 *xo, s32 *yo, s32 *zo) +{ + u16 t, x, y1, y2; + int ret; + + /* We first get raw data that needs to be translated to [x,y,z] */ + ret = yas537_measure(yas5xx, &t, &x, &y1, &y2); + if (ret) + return ret; + + /* Calculate temperature readout */ + *to = yas5xx_calc_temperature(yas5xx, t); + + /* + * Unfortunately, no linearization or temperature compensation formulas + * are known for YAS537. + */ + + /* Calculate x, y, z from x, y1, y2 */ + *xo = (x - BIT(13)) * 300; + *yo = (y1 - y2) * 1732 / 10; + *zo = (-y1 - y2 + BIT(14)) * 300; + + return 0; +} + static int yas5xx_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val, int *val2, @@ -772,6 +921,202 @@ static int yas532_get_calibration_data(struct yas5xx *yas5xx) return 0; } +static int yas537_get_calibration_data(struct yas5xx *yas5xx) +{ + struct yas5xx_calibration *c = &yas5xx->calibration; + u8 data[17]; + u32 val1, val2, val3, val4; + int i, ret; + + /* Writing SRST register */ + ret = regmap_write(yas5xx->map, YAS537_SRST, BIT(1)); + if (ret) + return ret; + + /* Calibration readout, YAS537 needs one readout only */ + ret = regmap_bulk_read(yas5xx->map, YAS537_CAL, data, sizeof(data)); + if (ret) + return ret; + dev_dbg(yas5xx->dev, "calibration data: %17ph\n", data); + + /* Sanity check, is this all zeroes? */ + if (!memchr_inv(data, 0x00, 16) && !FIELD_GET(GENMASK(5, 0), data[16])) + dev_warn(yas5xx->dev, "calibration is blank!\n"); + + /* Contribute calibration data to the input pool for kernel entropy */ + add_device_randomness(data, sizeof(data)); + + /* Extract version information */ + yas5xx->version = FIELD_GET(GENMASK(7, 6), data[16]); + + /* There are two versions of YAS537 behaving differently */ + switch (yas5xx->version) { + case YAS537_VERSION_0: + /* + * The first version simply writes data back into registers: + * + * data[0] YAS537_MTC 0x93 + * data[1] 0x94 + * data[2] 0x95 + * data[3] 0x96 + * data[4] 0x97 + * data[5] 0x98 + * data[6] 0x99 + * data[7] 0x9a + * data[8] 0x9b + * data[9] 0x9c + * data[10] 0x9d + * data[11] YAS537_OC 0x9e + * + * data[12] YAS537_OFFSET_X 0x84 + * data[13] YAS537_OFFSET_Y1 0x85 + * data[14] YAS537_OFFSET_Y2 0x86 + * + * data[15] YAS537_HCK 0x88 + * data[16] YAS537_LCK 0x89 + */ + for (i = 0; i < 12; i++) { + ret = regmap_write(yas5xx->map, YAS537_MTC + i, + data[i]); + if (ret) + return ret; + } + for (i = 0; i < 3; i++) { + ret = regmap_write(yas5xx->map, YAS537_OFFSET_X + i, + data[i + 12]); + if (ret) + return ret; + yas5xx->hard_offsets[i] = data[i + 12]; + } + for (i = 0; i < 2; i++) { + ret = regmap_write(yas5xx->map, YAS537_HCK + i, + data[i + 15]); + if (ret) + return ret; + } + break; + case YAS537_VERSION_1: + /* + * The second version writes some data into registers but also + * extracts calibration coefficients. + * + * Registers being written: + * + * data[0] YAS537_MTC 0x93 + * data[1] YAS537_MTC+1 0x94 + * data[2] YAS537_MTC+2 0x95 + * data[3] YAS537_MTC+3 (partially) 0x96 + * + * data[12] YAS537_OFFSET_X 0x84 + * data[13] YAS537_OFFSET_Y1 0x85 + * data[14] YAS537_OFFSET_Y2 0x86 + * + * data[15] YAS537_HCK (partially) 0x88 + * YAS537_LCK (partially) 0x89 + * data[16] YAS537_OC (partially) 0x9e + */ + for (i = 0; i < 3; i++) { + ret = regmap_write(yas5xx->map, YAS537_MTC + i, + data[i]); + if (ret) + return ret; + } + for (i = 0; i < 3; i++) { + ret = regmap_write(yas5xx->map, YAS537_OFFSET_X + i, + data[i + 12]); + if (ret) + return ret; + yas5xx->hard_offsets[i] = data[i + 12]; + } + /* + * Visualization of partially taken data: + * + * data[3] n 7 6 5 4 3 2 1 0 + * YAS537_MTC+3 x x x 1 0 0 0 0 + * + * data[15] n 7 6 5 4 3 2 1 0 + * YAS537_HCK x x x x 0 + * + * data[15] n 7 6 5 4 3 2 1 0 + * YAS537_LCK x x x x 0 + * + * data[16] n 7 6 5 4 3 2 1 0 + * YAS537_OC x x x x x x + */ + ret = regmap_write(yas5xx->map, YAS537_MTC + 3, + FIELD_PREP(YAS537_MTC3_MASK_PREP, + FIELD_GET(YAS537_MTC3_MASK_GET, data[3])) | + YAS537_MTC3_ADD_BIT); + if (ret) + return ret; + ret = regmap_write(yas5xx->map, YAS537_HCK, + FIELD_PREP(YAS537_HCK_MASK_PREP, + FIELD_GET(YAS537_HCK_MASK_GET, data[15]))); + if (ret) + return ret; + ret = regmap_write(yas5xx->map, YAS537_LCK, + FIELD_PREP(YAS537_LCK_MASK_PREP, + FIELD_GET(YAS537_LCK_MASK_GET, data[15]))); + if (ret) + return ret; + ret = regmap_write(yas5xx->map, YAS537_OC, + FIELD_GET(YAS537_OC_MASK_GET, data[16])); + if (ret) + return ret; + /* + * For data extraction, build some blocks. Four 32-bit blocks + * look appropriate. + * + * n 7 6 5 4 3 2 1 0 + * data[0] 0 [ Cx Cx Cx Cx Cx Cx Cx Cx ] bits 31 .. 24 + * data[1] 1 [ Cx C1 C1 C1 C1 C1 C1 C1 ] bits 23 .. 16 + * data[2] 2 [ C1 C1 C2 C2 C2 C2 C2 C2 ] bits 15 .. 8 + * data[3] 3 [ C2 C2 C2 ] bits 7 .. 0 + * + * n 7 6 5 4 3 2 1 0 + * data[3] 0 [ a2 a2 a2 a2 a2 ] bits 31 .. 24 + * data[4] 1 [ a2 a2 a3 a3 a3 a3 a3 a3 ] bits 23 .. 16 + * data[5] 2 [ a3 a4 a4 a4 a4 a4 a4 a4 ] bits 15 .. 8 + * data[6] 3 [ a4 ] bits 7 .. 0 + * + * n 7 6 5 4 3 2 1 0 + * data[6] 0 [ a5 a5 a5 a5 a5 a5 a5 ] bits 31 .. 24 + * data[7] 1 [ a5 a5 a6 a6 a6 a6 a6 a6 ] bits 23 .. 16 + * data[8] 2 [ a6 a7 a7 a7 a7 a7 a7 a7 ] bits 15 .. 8 + * data[9] 3 [ a7 ] bits 7 .. 0 + * + * n 7 6 5 4 3 2 1 0 + * data[9] 0 [ a8 a8 a8 a8 a8 a8 a8 ] bits 31 .. 24 + * data[10] 1 [ a9 a9 a9 a9 a9 a9 a9 a9 ] bits 23 .. 16 + * data[11] 2 [ a9 k k k k k k k ] bits 15 .. 8 + * data[12] 3 [ ] bits 7 .. 0 + */ + val1 = get_unaligned_be32(&data[0]); + val2 = get_unaligned_be32(&data[3]); + val3 = get_unaligned_be32(&data[6]); + val4 = get_unaligned_be32(&data[9]); + /* Extract calibration coefficients and modify */ + c->Cx = FIELD_GET(GENMASK(31, 23), val1) - 256; + c->Cy1 = FIELD_GET(GENMASK(22, 14), val1) - 256; + c->Cy2 = FIELD_GET(GENMASK(13, 5), val1) - 256; + c->a2 = FIELD_GET(GENMASK(28, 22), val2) - 64; + c->a3 = FIELD_GET(GENMASK(21, 15), val2) - 64; + c->a4 = FIELD_GET(GENMASK(14, 7), val2) - 128; + c->a5 = FIELD_GET(GENMASK(30, 22), val3) - 112; + c->a6 = FIELD_GET(GENMASK(21, 15), val3) - 64; + c->a7 = FIELD_GET(GENMASK(14, 7), val3) - 128; + c->a8 = FIELD_GET(GENMASK(30, 24), val4) - 64; + c->a9 = FIELD_GET(GENMASK(23, 15), val4) - 112; + c->k = FIELD_GET(GENMASK(14, 8), val4); + break; + default: + dev_err(yas5xx->dev, "unknown version of YAS537\n"); + return -EINVAL; + } + + return 0; +} + /* Used by YAS530, YAS532 and YAS533 */ static void yas530_dump_calibration(struct yas5xx *yas5xx) { @@ -796,6 +1141,26 @@ static void yas530_dump_calibration(struct yas5xx *yas5xx) dev_dbg(yas5xx->dev, "dck = %d\n", c->dck); } +static void yas537_dump_calibration(struct yas5xx *yas5xx) +{ + struct yas5xx_calibration *c = &yas5xx->calibration; + + if (yas5xx->version == YAS537_VERSION_1) { + 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); + } +} + /* Used by YAS530, YAS532 and YAS533 */ static int yas530_set_offsets(struct yas5xx *yas5xx, s8 ox, s8 oy1, s8 oy2) { @@ -917,6 +1282,44 @@ static int yas530_power_on(struct yas5xx *yas5xx) return regmap_write(yas5xx->map, YAS530_MEASURE_INTERVAL, 0); } +static int yas537_power_on(struct yas5xx *yas5xx) +{ + __be16 buf; + int ret; + u8 intrvl; + + /* Writing ADCCAL and TRM registers */ + buf = cpu_to_be16(GENMASK(9, 3)); + ret = regmap_bulk_write(yas5xx->map, YAS537_ADCCAL, &buf, sizeof(buf)); + if (ret) + return ret; + ret = regmap_write(yas5xx->map, YAS537_TRM, GENMASK(7, 0)); + if (ret) + return ret; + + /* The interval value is static in regular operation */ + intrvl = (YAS537_DEFAULT_SENSOR_DELAY_MS * MILLI + - YAS537_MEASURE_TIME_WORST_US) / 4100; + ret = regmap_write(yas5xx->map, YAS537_MEASURE_INTERVAL, intrvl); + if (ret) + return ret; + + /* The average value is also static in regular operation */ + ret = regmap_write(yas5xx->map, YAS537_AVR, YAS537_MAG_AVERAGE_32_MASK); + if (ret) + return ret; + + /* Perform the "rcoil" part but skip the "last_after_rcoil" read */ + ret = regmap_write(yas5xx->map, YAS537_CONFIG, BIT(3)); + if (ret) + return ret; + + /* Wait until the coil has ramped up */ + usleep_range(YAS537_MAG_RCOIL_TIME_US, YAS537_MAG_RCOIL_TIME_US + 100); + + return 0; +} + static const struct yas5xx_chip_info yas5xx_chip_info_tbl[] = { [yas530] = { .devid = YAS530_DEVICE_ID, @@ -963,6 +1366,21 @@ static const struct yas5xx_chip_info yas5xx_chip_info_tbl[] = { .measure_offsets = yas530_measure_offsets, .power_on = yas530_power_on, }, + [yas537] = { + .devid = YAS537_DEVICE_ID, + .product_name = "YAS537 MS-3T", + .version_names = { "v0", "v1" }, /* version naming unknown */ + .volatile_reg = yas537_volatile_reg, + .volatile_reg_qty = ARRAY_SIZE(yas537_volatile_reg), + .scaling_val2 = 100000, /* nanotesla to Gauss */ + .t_ref = 8120, /* counts */ + .min_temp_x10 = -3860, /* 1/10:s degrees Celsius */ + .get_measure = yas537_get_measure, + .get_calibration_data = yas537_get_calibration_data, + .dump_calibration = yas537_dump_calibration, + /* .measure_offets is not needed for yas537 */ + .power_on = yas537_power_on, + }, }; static int yas5xx_probe(struct i2c_client *i2c, @@ -1170,6 +1588,7 @@ static const struct i2c_device_id yas5xx_id[] = { {"yas530", yas530 }, {"yas532", yas532 }, {"yas533", yas533 }, + {"yas537", yas537 }, {} }; MODULE_DEVICE_TABLE(i2c, yas5xx_id); @@ -1178,6 +1597,7 @@ static const struct of_device_id yas5xx_of_match[] = { { .compatible = "yamaha,yas530", }, { .compatible = "yamaha,yas532", }, { .compatible = "yamaha,yas533", }, + { .compatible = "yamaha,yas537", }, {} }; MODULE_DEVICE_TABLE(of, yas5xx_of_match); -- 2.35.1
