diff options
Diffstat (limited to 'drivers')
| -rw-r--r-- | drivers/iio/Kconfig | 1 | ||||
| -rw-r--r-- | drivers/iio/Makefile | 1 | ||||
| -rw-r--r-- | drivers/iio/gyro/Kconfig | 16 | ||||
| -rw-r--r-- | drivers/iio/gyro/Makefile | 5 | ||||
| -rw-r--r-- | drivers/iio/gyro/hid-sensor-gyro-3d.c | 419 |
5 files changed, 442 insertions, 0 deletions
diff --git a/drivers/iio/Kconfig b/drivers/iio/Kconfig index 0e05b90091b9..417ade39d5d0 100644 --- a/drivers/iio/Kconfig +++ b/drivers/iio/Kconfig @@ -61,5 +61,6 @@ source "drivers/iio/light/Kconfig" source "drivers/iio/frequency/Kconfig" source "drivers/iio/dac/Kconfig" source "drivers/iio/common/Kconfig" +source "drivers/iio/gyro/Kconfig" endif # IIO diff --git a/drivers/iio/Makefile b/drivers/iio/Makefile index b21215c0f62d..a6406f7a153c 100644 --- a/drivers/iio/Makefile +++ b/drivers/iio/Makefile @@ -17,3 +17,4 @@ obj-y += light/ obj-y += frequency/ obj-y += dac/ obj-y += common/ +obj-y += gyro/ diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig new file mode 100644 index 000000000000..21e27e2fc68c --- /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 000000000000..8a895d9fcbce --- /dev/null +++ b/drivers/iio/gyro/Makefile @@ -0,0 +1,5 @@ +# +# Makefile for industrial I/O gyroscope sensor drivers +# + +obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.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 000000000000..50ec09b0b368 --- /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]; +}; + +static 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@intel.com>"); +MODULE_LICENSE("GPL"); |