Signed-off-by: Nathan Royer <nroyer@xxxxxxxxxxxxxx> --- drivers/misc/inv_mpu/Kconfig | 1 + drivers/misc/inv_mpu/Makefile | 1 + drivers/misc/inv_mpu/pressure/Kconfig | 20 ++ drivers/misc/inv_mpu/pressure/Makefile | 8 + drivers/misc/inv_mpu/pressure/bma085.c | 367 ++++++++++++++++++++++++++++++++ 5 files changed, 397 insertions(+), 0 deletions(-) create mode 100644 drivers/misc/inv_mpu/pressure/Kconfig create mode 100644 drivers/misc/inv_mpu/pressure/Makefile create mode 100644 drivers/misc/inv_mpu/pressure/bma085.c diff --git a/drivers/misc/inv_mpu/Kconfig b/drivers/misc/inv_mpu/Kconfig index 7d9f2c3..ea7d754 100644 --- a/drivers/misc/inv_mpu/Kconfig +++ b/drivers/misc/inv_mpu/Kconfig @@ -57,5 +57,6 @@ endchoice source "drivers/misc/inv_mpu/accel/Kconfig" source "drivers/misc/inv_mpu/compass/Kconfig" +source "drivers/misc/inv_mpu/pressure/Kconfig" endif #INV_SENSORS diff --git a/drivers/misc/inv_mpu/Makefile b/drivers/misc/inv_mpu/Makefile index dc77a1b..506b8f5 100644 --- a/drivers/misc/inv_mpu/Makefile +++ b/drivers/misc/inv_mpu/Makefile @@ -18,3 +18,4 @@ EXTRA_CFLAGS += -Idrivers/misc/inv_mpu obj-y += accel/ obj-y += compass/ +obj-y += pressure/ diff --git a/drivers/misc/inv_mpu/pressure/Kconfig b/drivers/misc/inv_mpu/pressure/Kconfig new file mode 100644 index 0000000..f1c021e --- /dev/null +++ b/drivers/misc/inv_mpu/pressure/Kconfig @@ -0,0 +1,20 @@ +menuconfig: INV_SENSORS_PRESSURE + bool "Pressure Sensor Slaves" + depends on INV_SENSORS + default y + help + Select y to see a list of supported pressure sensors that can be + integrated with the MPUxxxx set of motion processors. + +if INV_SENSORS_PRESSURE + +config MPU_SENSORS_BMA085 + tristate "Bosch BMA085" + help + This enables support for the Bosch bma085 pressure sensor + This support is for integration with the MPU3050 or MPU6050 gyroscope + device driver. Only one accelerometer can be registered at a time. + Specifying more that one accelerometer in the board file will result + in runtime errors. + +endif diff --git a/drivers/misc/inv_mpu/pressure/Makefile b/drivers/misc/inv_mpu/pressure/Makefile new file mode 100644 index 0000000..595923d --- /dev/null +++ b/drivers/misc/inv_mpu/pressure/Makefile @@ -0,0 +1,8 @@ +# +# Pressure Slaves to MPUxxxx +# +obj-$(CONFIG_MPU_SENSORS_BMA085) += inv_mpu_bma085.o +inv_mpu_bma085-objs += bma085.o + +EXTRA_CFLAGS += -Idrivers/misc/inv_mpu +EXTRA_CFLAGS += -D__C99_DESIGNATED_INITIALIZER diff --git a/drivers/misc/inv_mpu/pressure/bma085.c b/drivers/misc/inv_mpu/pressure/bma085.c new file mode 100644 index 0000000..696d2b6 --- /dev/null +++ b/drivers/misc/inv_mpu/pressure/bma085.c @@ -0,0 +1,367 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + 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. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. + $ + */ + +/** + * @defgroup ACCELDL (Motion Library - Pressure Driver Layer) + * @brief Provides the interface to setup and handle a pressure + * connected to the secondary I2C interface of the gyroscope. + * + * @{ + * @file bma085.c + * @brief Pressure setup and handling methods. + */ + +/* ------------------ */ +/* - Include Files. - */ +/* ------------------ */ + +#include <linux/i2c.h> +#include <linux/module.h> +#include <linux/moduleparam.h> +#include <linux/kernel.h> +#include <linux/errno.h> +#include <linux/slab.h> +#include <linux/delay.h> +#include "mpu-dev.h" + +#include <linux/mpu.h> +#include "mlsl.h" +#include "log.h" + +/* + * this structure holds all device specific calibration parameters + */ +struct bmp085_calibration_param_t { + short ac1; + short ac2; + short ac3; + unsigned short ac4; + unsigned short ac5; + unsigned short ac6; + short b1; + short b2; + short mb; + short mc; + short md; + long param_b5; +}; + +struct bmp085_calibration_param_t cal_param; + +#define PRESSURE_BMA085_PARAM_MG 3038 /* calibration parameter */ +#define PRESSURE_BMA085_PARAM_MH -7357 /* calibration parameter */ +#define PRESSURE_BMA085_PARAM_MI 3791 /* calibration parameter */ + +/********************************************* + * Pressure Initialization Functions + *********************************************/ + +static int bma085_suspend(void *mlsl_handle, + struct ext_slave_descr *slave, + struct ext_slave_platform_data *pdata) +{ + int result = INV_SUCCESS; + return result; +} + +#define PRESSURE_BMA085_PROM_START_ADDR (0xAA) +#define PRESSURE_BMA085_PROM_DATA_LEN (22) +#define PRESSURE_BMP085_CTRL_MEAS_REG (0xF4) +/* temperature measurent */ +#define PRESSURE_BMP085_T_MEAS (0x2E) +/* pressure measurement; oversampling_setting */ +#define PRESSURE_BMP085_P_MEAS_OSS_0 (0x34) +#define PRESSURE_BMP085_P_MEAS_OSS_1 (0x74) +#define PRESSURE_BMP085_P_MEAS_OSS_2 (0xB4) +#define PRESSURE_BMP085_P_MEAS_OSS_3 (0xF4) +#define PRESSURE_BMP085_ADC_OUT_MSB_REG (0xF6) +#define PRESSURE_BMP085_ADC_OUT_LSB_REG (0xF7) + +static int bma085_resume(void *mlsl_handle, + struct ext_slave_descr *slave, + struct ext_slave_platform_data *pdata) +{ + int result; + unsigned char data[PRESSURE_BMA085_PROM_DATA_LEN]; + + result = + inv_serial_read(mlsl_handle, pdata->address, + PRESSURE_BMA085_PROM_START_ADDR, + PRESSURE_BMA085_PROM_DATA_LEN, data); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + + /* parameters AC1-AC6 */ + cal_param.ac1 = (data[0] << 8) | data[1]; + cal_param.ac2 = (data[2] << 8) | data[3]; + cal_param.ac3 = (data[4] << 8) | data[5]; + cal_param.ac4 = (data[6] << 8) | data[7]; + cal_param.ac5 = (data[8] << 8) | data[9]; + cal_param.ac6 = (data[10] << 8) | data[11]; + + /* parameters B1,B2 */ + cal_param.b1 = (data[12] << 8) | data[13]; + cal_param.b2 = (data[14] << 8) | data[15]; + + /* parameters MB,MC,MD */ + cal_param.mb = (data[16] << 8) | data[17]; + cal_param.mc = (data[18] << 8) | data[19]; + cal_param.md = (data[20] << 8) | data[21]; + + return result; +} + +static int bma085_read(void *mlsl_handle, + struct ext_slave_descr *slave, + struct ext_slave_platform_data *pdata, + unsigned char *data) +{ + int result; + long pressure, x1, x2, x3, b3, b6; + unsigned long b4, b7; + unsigned long up; + unsigned short ut; + short oversampling_setting = 0; + short temperature; + long divisor; + + /* get temprature */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + PRESSURE_BMP085_CTRL_MEAS_REG, + PRESSURE_BMP085_T_MEAS); + msleep(5); + result = + inv_serial_read(mlsl_handle, pdata->address, + PRESSURE_BMP085_ADC_OUT_MSB_REG, 2, + (unsigned char *)data); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + ut = (data[0] << 8) | data[1]; + + x1 = (((long) ut - (long)cal_param.ac6) * (long)cal_param.ac5) >> 15; + divisor = x1 + cal_param.md; + if (!divisor) + return INV_ERROR_DIVIDE_BY_ZERO; + + x2 = ((long)cal_param.mc << 11) / (x1 + cal_param.md); + cal_param.param_b5 = x1 + x2; + /* temperature in 0.1 degree C */ + temperature = (short)((cal_param.param_b5 + 8) >> 4); + + /* get pressure */ + result = inv_serial_single_write(mlsl_handle, pdata->address, + PRESSURE_BMP085_CTRL_MEAS_REG, + PRESSURE_BMP085_P_MEAS_OSS_0); + msleep(5); + result = + inv_serial_read(mlsl_handle, pdata->address, + PRESSURE_BMP085_ADC_OUT_MSB_REG, 2, + (unsigned char *)data); + if (result) { + LOG_RESULT_LOCATION(result); + return result; + } + up = (((unsigned long) data[0] << 8) | ((unsigned long) data[1])); + + b6 = cal_param.param_b5 - 4000; + /* calculate B3 */ + x1 = (b6*b6) >> 12; + x1 *= cal_param.b2; + x1 >>= 11; + + x2 = (cal_param.ac2*b6); + x2 >>= 11; + + x3 = x1 + x2; + + b3 = (((((long)cal_param.ac1) * 4 + x3) + << oversampling_setting) + 2) >> 2; + + /* calculate B4 */ + x1 = (cal_param.ac3 * b6) >> 13; + x2 = (cal_param.b1 * ((b6*b6) >> 12)) >> 16; + x3 = ((x1 + x2) + 2) >> 2; + b4 = (cal_param.ac4 * (unsigned long) (x3 + 32768)) >> 15; + if (!b4) + return INV_ERROR; + + b7 = ((unsigned long)(up - b3) * (50000>>oversampling_setting)); + if (b7 < 0x80000000) + pressure = (b7 << 1) / b4; + else + pressure = (b7 / b4) << 1; + + x1 = pressure >> 8; + x1 *= x1; + x1 = (x1 * PRESSURE_BMA085_PARAM_MG) >> 16; + x2 = (pressure * PRESSURE_BMA085_PARAM_MH) >> 16; + /* pressure in Pa */ + pressure += (x1 + x2 + PRESSURE_BMA085_PARAM_MI) >> 4; + + data[0] = (unsigned char)(pressure >> 16); + data[1] = (unsigned char)(pressure >> 8); + data[2] = (unsigned char)(pressure & 0xFF); + + return result; +} + +static struct ext_slave_descr bma085_descr = { + .init = NULL, + .exit = NULL, + .suspend = bma085_suspend, + .resume = bma085_resume, + .read = bma085_read, + .config = NULL, + .get_config = NULL, + .name = "bma085", + .type = EXT_SLAVE_TYPE_PRESSURE, + .id = PRESSURE_ID_BMA085, + .read_reg = 0xF6, + .read_len = 3, + .endian = EXT_SLAVE_BIG_ENDIAN, + .range = {0, 0}, +}; + +static +struct ext_slave_descr *bma085_get_slave_descr(void) +{ + return &bma085_descr; +} + +/* Platform data for the MPU */ +struct bma085_mod_private_data { + struct i2c_client *client; + struct ext_slave_platform_data *pdata; +}; + +static unsigned short normal_i2c[] = { I2C_CLIENT_END }; + +static int bma085_mod_probe(struct i2c_client *client, + const struct i2c_device_id *devid) +{ + struct ext_slave_platform_data *pdata; + struct bma085_mod_private_data *private_data; + int result = 0; + + dev_info(&client->adapter->dev, "%s: %s\n", __func__, devid->name); + + if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) { + result = -ENODEV; + goto out_no_free; + } + + pdata = client->dev.platform_data; + if (!pdata) { + dev_err(&client->adapter->dev, + "Missing platform data for slave %s\n", devid->name); + result = -EFAULT; + goto out_no_free; + } + + private_data = kzalloc(sizeof(*private_data), GFP_KERNEL); + if (!private_data) { + result = -ENOMEM; + goto out_no_free; + } + + i2c_set_clientdata(client, private_data); + private_data->client = client; + private_data->pdata = pdata; + + result = inv_mpu_register_slave(THIS_MODULE, client, pdata, + bma085_get_slave_descr); + if (result) { + dev_err(&client->adapter->dev, + "Slave registration failed: %s, %d\n", + devid->name, result); + goto out_free_memory; + } + + return result; + +out_free_memory: + kfree(private_data); +out_no_free: + dev_err(&client->adapter->dev, "%s failed %d\n", __func__, result); + return result; + +} + +static int bma085_mod_remove(struct i2c_client *client) +{ + struct bma085_mod_private_data *private_data = + i2c_get_clientdata(client); + + dev_dbg(&client->adapter->dev, "%s\n", __func__); + + inv_mpu_unregister_slave(client, private_data->pdata, + bma085_get_slave_descr); + + kfree(private_data); + return 0; +} + +static const struct i2c_device_id bma085_mod_id[] = { + { "bma085", PRESSURE_ID_BMA085 }, + {} +}; + +MODULE_DEVICE_TABLE(i2c, bma085_mod_id); + +static struct i2c_driver bma085_mod_driver = { + .class = I2C_CLASS_HWMON, + .probe = bma085_mod_probe, + .remove = bma085_mod_remove, + .id_table = bma085_mod_id, + .driver = { + .owner = THIS_MODULE, + .name = "bma085_mod", + }, + .address_list = normal_i2c, +}; + +static int __init bma085_mod_init(void) +{ + int res = i2c_add_driver(&bma085_mod_driver); + pr_info("%s: Probe name %s\n", __func__, "bma085_mod"); + if (res) + pr_err("%s failed\n", __func__); + return res; +} + +static void __exit bma085_mod_exit(void) +{ + pr_info("%s\n", __func__); + i2c_del_driver(&bma085_mod_driver); +} + +module_init(bma085_mod_init); +module_exit(bma085_mod_exit); + +MODULE_AUTHOR("Invensense Corporation"); +MODULE_DESCRIPTION("Driver to integrate BMA085 sensor with the MPU"); +MODULE_LICENSE("GPL"); +MODULE_ALIAS("bma085_mod"); +/** + * @} +**/ -- 1.7.4.1 -- To unsubscribe from this list: send the line "unsubscribe linux-input" in the body of a message to majordomo@xxxxxxxxxxxxxxx More majordomo info at http://vger.kernel.org/majordomo-info.html
