From 63e9e260e9933c363055bedf2ab91196e6b9d843 Mon Sep 17 00:00:00 2001 From: Wang Jie Date: Mon, 23 Nov 2020 14:16:55 +0800 Subject: [PATCH] input: sensor: add icm2060x driver Signed-off-by: Wang Jie Change-Id: Icd7e7d09fa0d25e48b999ee99c3bebb6570e18bf --- drivers/input/sensors/accel/Kconfig | 6 + drivers/input/sensors/accel/Makefile | 1 + drivers/input/sensors/accel/icm2060x_acc.c | 260 +++++++++++++++++++++ drivers/input/sensors/gyro/Kconfig | 3 + drivers/input/sensors/gyro/Makefile | 1 + drivers/input/sensors/gyro/icm2060x_gyro.c | 216 +++++++++++++++++ include/linux/icm2060x.h | 200 ++++++++++++++++ include/linux/sensor-dev.h | 2 + 8 files changed, 689 insertions(+) create mode 100644 drivers/input/sensors/accel/icm2060x_acc.c create mode 100644 drivers/input/sensors/gyro/icm2060x_gyro.c create mode 100644 include/linux/icm2060x.h diff --git a/drivers/input/sensors/accel/Kconfig b/drivers/input/sensors/accel/Kconfig index 7c7820c7ba3a..724cb2ca1e7a 100644 --- a/drivers/input/sensors/accel/Kconfig +++ b/drivers/input/sensors/accel/Kconfig @@ -140,4 +140,10 @@ config GS_DA223 To have support for your specific gsesnor you will have to select the proper drivers which depend on this option. +config ICM2060X_ACC + tristate "gsensor icm2060x" + help + To have support for your specific gsesnor you will have to + select the proper drivers which depend on this option. + endif diff --git a/drivers/input/sensors/accel/Makefile b/drivers/input/sensors/accel/Makefile index 08a45fdbc573..de250ef4a282 100644 --- a/drivers/input/sensors/accel/Makefile +++ b/drivers/input/sensors/accel/Makefile @@ -18,4 +18,5 @@ obj-$(CONFIG_LSM330_ACC) += lsm330_acc.o obj-$(CONFIG_BMA2XX_ACC) += bma2xx.o obj-$(CONFIG_STK8BAXX_ACC) += stk8baxx.o obj-$(CONFIG_GS_DA223) += da223.o +obj-$(CONFIG_ICM2060X_ACC) += icm2060x_acc.o da223-y := da223_cust.o da223_core.o diff --git a/drivers/input/sensors/accel/icm2060x_acc.c b/drivers/input/sensors/accel/icm2060x_acc.c new file mode 100644 index 000000000000..80a5c96e6207 --- /dev/null +++ b/drivers/input/sensors/accel/icm2060x_acc.c @@ -0,0 +1,260 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * kernel/drivers/input/sensors/accel/icm2060x_acc.c + * + * Copyright (C) 2020 Rockchip Co.,Ltd. + * Author: Wang Jie + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#ifdef CONFIG_HAS_EARLYSUSPEND +#include +#endif +#include +#include + +static int sensor_active(struct i2c_client *client, int enable, int rate) +{ + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + int result = 0; + int status = 0; + u8 pwrm1 = 0; + + sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg); + pwrm1 = sensor_read_reg(client, ICM2060X_PWR_MGMT_1); + + if (!enable) { + status = BIT_ACCEL_STBY; + sensor->ops->ctrl_data |= status; + if ((sensor->ops->ctrl_data & BIT_GYRO_STBY) == BIT_GYRO_STBY) + pwrm1 |= ICM2060X_PWRM1_SLEEP; + } else { + status = ~BIT_ACCEL_STBY; + sensor->ops->ctrl_data &= status; + pwrm1 &= ~ICM2060X_PWRM1_SLEEP; + } + + result = sensor_write_reg(client, sensor->ops->ctrl_reg, + sensor->ops->ctrl_data); + if (result) { + dev_err(&client->dev, + "%s: fail to set pwrm2(%d)\n", __func__, result); + return result; + } + + msleep(20); + + result = sensor_write_reg(client, ICM2060X_PWR_MGMT_1, pwrm1); + if (result) { + dev_err(&client->dev, + "%s:fail to set pwrm1(%d)\n", __func__, result); + return result; + } + msleep(50); + + return result; +} + +static int sensor_init(struct i2c_client *client) +{ + int res = 0; + u8 device_id = 0; + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + + device_id = sensor_read_reg(client, ICM2060X_WHOAMI); + if (device_id != ICM20600_DEVICE_ID && + device_id != ICM20607_DEVICE_ID) { + dev_err(&client->dev, "%s: check id err, read_id: %d\n", + __func__, device_id); + return -1; + } + + res = sensor_write_reg(client, ICM2060X_PWR_MGMT_1, 0x80); + if (res) { + dev_err(&client->dev, + "set ICM2060X_PWR_MGMT_1 error,res: %d!\n", res); + return res; + } + usleep_range(1000, 2000); + + res = sensor_write_reg(client, ICM2060X_GYRO_CONFIG, 0x18); + if (res) { + dev_err(&client->dev, + "set ICM2060X_GYRO_CONFIG error,res: %d!\n", res); + return res; + } + usleep_range(1000, 2000); + + res = sensor_write_reg(client, ICM2060X_ACCEL_CONFIG, 0x00); + if (res) { + dev_err(&client->dev, + "set ICM2060X_ACCEL_CONFIG error,res: %d!\n", res); + return res; + } + usleep_range(1000, 2000); + + res = sensor_write_reg(client, ICM2060X_ACCEL_CONFIG2, 0x00); + if (res) { + dev_err(&client->dev, + "set ICM2060X_ACCEL_CONFIG2 error,res: %d!\n", res); + return res; + } + + res = sensor_write_reg(client, ICM2060X_PWR_MGMT_2, 0x3F); + if (res) { + dev_err(&client->dev, + "set ICM2060X_PWR_MGMT_2 error,res: %d!\n", res); + return res; + } + usleep_range(1000, 2000); + + res = sensor_write_reg(client, ICM2060X_PWR_MGMT_1, 0x41); + if (res) { + dev_err(&client->dev, + "set ICM2060X_PWR_MGMT_1 error,res: %d!\n", res); + return res; + } + usleep_range(1000, 2000); + + res = sensor->ops->active(client, 0, sensor->pdata->poll_delay_ms); + if (res) { + dev_err(&client->dev, + "%s: fail to active sensor(%d)\n", __func__, res); + return res; + } + + return res; +} + +static int gsensor_report_value(struct i2c_client *client, + struct sensor_axis *axis) +{ + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + + if (sensor->status_cur == SENSOR_ON) { + /* Report acceleration sensor information */ + input_report_abs(sensor->input_dev, ABS_X, axis->x); + input_report_abs(sensor->input_dev, ABS_Y, axis->y); + input_report_abs(sensor->input_dev, ABS_Z, axis->z); + input_sync(sensor->input_dev); + } + + return 0; +} + +static int sensor_report_value(struct i2c_client *client) +{ + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + struct sensor_platform_data *pdata = sensor->pdata; + int ret = 0; + short x, y, z; + struct sensor_axis axis; + u8 buffer[6] = {0}; + char value = 0; + + if (sensor->ops->read_len < 6) { + dev_err(&client->dev, "%s: length is error, len = %d\n", + __func__, sensor->ops->read_len); + return -EINVAL; + } + + /* Data bytes from hardware xL, xH, yL, yH, zL, zH */ + *buffer = sensor->ops->read_reg; + ret = sensor_rx_data(client, buffer, sensor->ops->read_len); + if (ret < 0) { + dev_err(&client->dev, + "%s: read data failed, ret = %d\n", __func__, ret); + return ret; + } + + x = ((buffer[0] << 8) & 0xff00) + (buffer[1] & 0xFF); + y = ((buffer[2] << 8) & 0xff00) + (buffer[3] & 0xFF); + z = ((buffer[4] << 8) & 0xff00) + (buffer[5] & 0xFF); + + axis.x = (pdata->orientation[0]) * x + (pdata->orientation[1]) * y + + (pdata->orientation[2]) * z; + axis.y = (pdata->orientation[3]) * x + (pdata->orientation[4]) * y + + (pdata->orientation[5]) * z; + axis.z = (pdata->orientation[6]) * x + (pdata->orientation[7]) * y + + (pdata->orientation[8]) * z; + + gsensor_report_value(client, &axis); + + mutex_lock(&(sensor->data_mutex)); + sensor->axis = axis; + mutex_unlock(&(sensor->data_mutex)); + + if ((sensor->pdata->irq_enable) && (sensor->ops->int_status_reg >= 0)) + value = sensor_read_reg(client, sensor->ops->int_status_reg); + + return ret; +} + +struct sensor_operate gsensor_icm2060x_ops = { + .name = "icm2060x_acc", + .type = SENSOR_TYPE_ACCEL, + .id_i2c = ACCEL_ID_ICM2060X, + .read_reg = ICM2060X_ACCEL_XOUT_H, + .read_len = 6, + .id_reg = SENSOR_UNKNOW_DATA, + .id_data = SENSOR_UNKNOW_DATA, + .precision = ICM2060X_PRECISION, + .ctrl_reg = ICM2060X_PWR_MGMT_2, + .int_status_reg = ICM2060X_INT_STATUS, + .range = {-32768, 32768}, + .trig = IRQF_TRIGGER_HIGH | IRQF_ONESHOT, + .active = sensor_active, + .init = sensor_init, + .report = sensor_report_value, +}; + +/****************operate according to sensor chip:end************/ +static int gsensor_icm2060x_probe(struct i2c_client *client, + const struct i2c_device_id *devid) +{ + return sensor_register_device(client, NULL, devid, &gsensor_icm2060x_ops); +} + +static int gsensor_icm2060x_remove(struct i2c_client *client) +{ + return sensor_unregister_device(client, NULL, &gsensor_icm2060x_ops); +} + +static const struct i2c_device_id gsensor_icm2060x_id[] = { + {"icm2060x_acc", ACCEL_ID_ICM2060X}, + {} +}; + +static struct i2c_driver gsensor_icm2060x_driver = { + .probe = gsensor_icm2060x_probe, + .remove = gsensor_icm2060x_remove, + .shutdown = sensor_shutdown, + .id_table = gsensor_icm2060x_id, + .driver = { + .name = "gsensor_icm2060x", +#ifdef CONFIG_PM + .pm = &sensor_pm_ops, +#endif + }, +}; + +module_i2c_driver(gsensor_icm2060x_driver); + +MODULE_AUTHOR("Wang Jie "); +MODULE_DESCRIPTION("icm2060x_acc 3-Axis accelerometer driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/input/sensors/gyro/Kconfig b/drivers/input/sensors/gyro/Kconfig index e810e8fa3871..fb721d4cb30d 100644 --- a/drivers/input/sensors/gyro/Kconfig +++ b/drivers/input/sensors/gyro/Kconfig @@ -36,4 +36,7 @@ config GYRO_MPU6880 config GYRO_LSM330 tristate "gyroscope lsm330_gyro" default n + +config GYRO_ICM2060X + tristate "gyroscope icm2060x_gyro" endif diff --git a/drivers/input/sensors/gyro/Makefile b/drivers/input/sensors/gyro/Makefile index b4310fff7f14..0943257a11de 100644 --- a/drivers/input/sensors/gyro/Makefile +++ b/drivers/input/sensors/gyro/Makefile @@ -8,3 +8,4 @@ obj-$(CONFIG_GYRO_EWTSA) += ewtsa.o obj-$(CONFIG_GYRO_MPU6500) += mpu6500_gyro.o obj-$(CONFIG_GYRO_MPU6880) += mpu6880_gyro.o obj-$(CONFIG_GYRO_LSM330) += lsm330_gyro.o +obj-$(CONFIG_GYRO_ICM2060X) += icm2060x_gyro.o diff --git a/drivers/input/sensors/gyro/icm2060x_gyro.c b/drivers/input/sensors/gyro/icm2060x_gyro.c new file mode 100644 index 000000000000..3d4624b5dbd6 --- /dev/null +++ b/drivers/input/sensors/gyro/icm2060x_gyro.c @@ -0,0 +1,216 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * kernel/drivers/input/sensors/gyro/icm2060x_gyro.c + * + * Copyright (C) 2020 Rockchip Co.,Ltd. + * Author: Wang Jie + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#ifdef CONFIG_HAS_EARLYSUSPEND +#include +#endif +#include +#include + +static int sensor_active(struct i2c_client *client, int enable, int rate) +{ + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + int result = 0; + int status = 0; + u8 pwrm1 = 0; + + sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg); + pwrm1 = sensor_read_reg(client, ICM2060X_PWR_MGMT_1); + + if (!enable) { + status = BIT_GYRO_STBY; + sensor->ops->ctrl_data |= status; + if ((sensor->ops->ctrl_data & BIT_ACCEL_STBY) == BIT_ACCEL_STBY) + pwrm1 |= ICM2060X_PWRM1_SLEEP; + } else { + status = ~BIT_GYRO_STBY; + sensor->ops->ctrl_data &= status; + pwrm1 &= ~ICM2060X_PWRM1_SLEEP; + } + + result = sensor_write_reg(client, sensor->ops->ctrl_reg, + sensor->ops->ctrl_data); + if (result) { + dev_err(&client->dev, + "%s:fail to set ctrl_reg(%d)\n", __func__, result); + return result; + } + msleep(20); + + result = sensor_write_reg(client, ICM2060X_PWR_MGMT_1, pwrm1); + if (result) { + dev_err(&client->dev, + "%s: fail to set pwrm1(%d)\n", __func__, result); + return result; + } + msleep(50); + + return result; +} + +static int sensor_init(struct i2c_client *client) +{ + int result; + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + + /* init on icm2060x_acc.c */ + result = sensor->ops->active(client, 0, sensor->pdata->poll_delay_ms); + if (result) { + dev_err(&client->dev, + "%s: sensor init err(%d)\n", __func__, result); + return result; + } + + return result; +} + +static int gyro_report_value(struct i2c_client *client, + struct sensor_axis *axis) +{ + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + + if (sensor->status_cur == SENSOR_ON) { + /* Report gyro sensor information */ + input_report_rel(sensor->input_dev, ABS_RX, axis->x); + input_report_rel(sensor->input_dev, ABS_RY, axis->y); + input_report_rel(sensor->input_dev, ABS_RZ, axis->z); + input_sync(sensor->input_dev); + } + + return 0; +} + +static int sensor_report_value(struct i2c_client *client) +{ + struct sensor_private_data *sensor = + (struct sensor_private_data *) i2c_get_clientdata(client); + struct sensor_platform_data *pdata = sensor->pdata; + int ret = 0; + short x, y, z; + struct sensor_axis axis; + u8 buffer[6] = {0}; + char value = 0; + + if (sensor->ops->read_len < 6) { + dev_err(&client->dev, "%s: length is error,len = %d\n", + __func__, sensor->ops->read_len); + return -1; + } + + *buffer = sensor->ops->read_reg; + ret = sensor_rx_data(client, buffer, sensor->ops->read_len); + if (ret < 0) { + dev_err(&client->dev, + "%s: read data failed, ret = %d\n", __func__, ret); + return ret; + } + + x = ((buffer[0] << 8) & 0xFF00) + (buffer[1] & 0xFF); + y = ((buffer[2] << 8) & 0xFF00) + (buffer[3] & 0xFF); + z = ((buffer[4] << 8) & 0xFF00) + (buffer[5] & 0xFF); + + axis.x = (pdata->orientation[0]) * x + (pdata->orientation[1]) * y + + (pdata->orientation[2]) * z; + axis.y = (pdata->orientation[3]) * x + (pdata->orientation[4]) * y + + (pdata->orientation[5]) * z; + axis.z = (pdata->orientation[6]) * x + (pdata->orientation[7]) * y + + (pdata->orientation[8]) * z; + + gyro_report_value(client, &axis); + + mutex_lock(&(sensor->data_mutex)); + sensor->axis = axis; + mutex_unlock(&(sensor->data_mutex)); + + if ((sensor->pdata->irq_enable) && (sensor->ops->int_status_reg >= 0)) + value = sensor_read_reg(client, sensor->ops->int_status_reg); + + return ret; +} + +struct sensor_operate gyro_icm2060x_ops = { + .name = "icm2060x_gyro", + .type = SENSOR_TYPE_GYROSCOPE, + .id_i2c = GYRO_ID_ICM2060X, + .read_reg = ICM2060X_GYRO_XOUT_H, + .read_len = 6, + .id_reg = SENSOR_UNKNOW_DATA, + .id_data = SENSOR_UNKNOW_DATA, + .precision = ICM2060X_PRECISION, + .ctrl_reg = ICM2060X_PWR_MGMT_2, + .int_status_reg = ICM2060X_INT_STATUS, + .range = {-32768, 32768}, + .trig = IRQF_TRIGGER_HIGH | IRQF_ONESHOT, + .active = sensor_active, + .init = sensor_init, + .report = sensor_report_value, +}; + +/****************operate according to sensor chip:end************/ +static int gyro_icm2060x_probe(struct i2c_client *client, + const struct i2c_device_id *devid) +{ + return sensor_register_device(client, NULL, devid, &gyro_icm2060x_ops); +} + +static int gyro_icm2060x_remove(struct i2c_client *client) +{ + return sensor_unregister_device(client, NULL, &gyro_icm2060x_ops); +} + +static const struct i2c_device_id gyro_icm2060x_id[] = { + {"icm2060x_gyro", GYRO_ID_ICM2060X}, + {} +}; + +static struct i2c_driver gyro_icm2060x_driver = { + .probe = gyro_icm2060x_probe, + .remove = gyro_icm2060x_remove, + .shutdown = sensor_shutdown, + .id_table = gyro_icm2060x_id, + .driver = { + .name = "gyro_icm2060x", +#ifdef CONFIG_PM + .pm = &sensor_pm_ops, +#endif + }, +}; + +static int __init gyro_icm2060x_init(void) +{ + return i2c_add_driver(&gyro_icm2060x_driver); +} + +static void __exit gyro_icm2060x_exit(void) +{ + i2c_del_driver(&gyro_icm2060x_driver); +} + +/* must register after icm2060x_acc */ +device_initcall_sync(gyro_icm2060x_init); +module_exit(gyro_icm2060x_exit); + +MODULE_AUTHOR("Wang Jie "); +MODULE_DESCRIPTION("icm2060x_gyro 3-Axis Gyroscope driver"); +MODULE_LICENSE("GPL"); diff --git a/include/linux/icm2060x.h b/include/linux/icm2060x.h new file mode 100644 index 000000000000..1c4a4ae99099 --- /dev/null +++ b/include/linux/icm2060x.h @@ -0,0 +1,200 @@ +/* SPDX-License-Identifier: GPL-2.0 */ +/* + * Definitions for icm2060x chip. + */ +#ifndef __ICM2060X_H +#define __ICM2060X_H + +#include +#define ICM2060X_PRECISION 16 +#define ICM2060X_RANGE 2000000 + +#define ICM2060X_SMPLRT_DIV 0x19 +#define ICM2060X_CONFIG 0x1A +#define ICM2060X_GYRO_CONFIG 0x1B +#define ICM2060X_ACCEL_CONFIG 0x1C +#define ICM2060X_ACCEL_CONFIG2 0x1D +#define ICM2060X_LP_ACCEL_ODR 0x1E +#define ICM2060X_WOM_THRESH 0x1F +#define ICM2060X_FIFO_EN 0x23 +#define ICM2060X_INT_PIN_CFG 0x37 +#define ICM2060X_INT_ENABLE 0x38 +#define ICM2060X_DMP_INT_STATUS 0x39 +#define ICM2060X_INT_STATUS 0x3A +#define ICM2060X_ACCEL_XOUT_H 0x3B +#define ICM2060X_TEMP_OUT_H 0x41 +#define ICM2060X_GYRO_XOUT_H 0x43 +#define ICM2060X_ACCEL_INTEL_CTRL 0x69 +#define ICM2060X_USER_CTRL 0x6A +#define ICM2060X_PWR_MGMT_1 0x6B +#define ICM2060X_PWR_MGMT_2 0x6C +#define ICM2060X_PRGM_STRT_ADDRH 0x70 +#define ICM2060X_FIFO_COUNTH 0x72 +#define ICM2060X_FIFO_R_W 0x74 +#define ICM2060X_WHOAMI 0x75 + +/* DEVICE ID */ +#define ICM20600_DEVICE_ID 0x11 +#define ICM20607_DEVICE_ID 0x05 + +/* ICM2060X_CONFIG */ +#define DLPF_CFG_250HZ 0x00 +#define DLPF_CFG_184HZ 0x01 +#define DLPF_CFG_98HZ 0x02 +#define DLPF_CFG_41HZ 0x03 +#define DLPF_CFG_20HZ 0x04 +#define DLPF_CFG_10HZ 0x05 +#define DLPF_CFG_5HZ 0x06 +#define DLPF_CFG_3600HZ 0x07 +#define EXT_SYNC_SET_TEMP 0x08 +#define EXT_SYNC_SET_GYRO_X 0x10 +#define EXT_SYNC_SET_GYRO_Y 0x18 +#define EXT_SYNC_SET_GYRO_Z 0x20 +#define EXT_SYNC_SET_ACCEL_X 0x28 +#define EXT_SYNC_SET_ACCEL_Y 0x30 +#define EXT_SYNC_SET_ACCEL_Z 0x38 + + +/* ICM2060X_GYRO_CONFIG */ +#define GFSR_250DPS (0 << 3) +#define GFSR_500DPS (1 << 3) +#define GFSR_1000DPS (2 << 3) +#define GFSR_2000DPS (3 << 3) + +/* ICM2060X_ACCEL_CONFIG */ +#define AFSR_2G (0 << 3) +#define AFSR_4G (1 << 3) +#define AFSR_8G (2 << 3) +#define AFSR_16G (3 << 3) + + +/* ICM2060X_ACCEL_CONFIG2 */ +#define A_DLPF_CFG_460HZ 0x00 +#define A_DLPF_CFG_184HZ 0x01 +#define A_DLPF_CFG_92HZ 0x02 +#define A_DLPF_CFG_41HZ 0x03 +#define A_DLPF_CFG_20HZ 0x04 +#define A_DLPF_CFG_10HZ 0x05 +#define A_DLPF_CFG_5HZ 0x06 +/* #define A_DLPF_CFG_460HZ 0x07 */ +#define BIT_FIFO_SIZE_1K 0x40 +#define BIT_ACCEL_FCHOICE_B 0x08 + + +/* ICM2060X_LP_ACCEL_ODR */ +#define LPA_CLK_P24HZ 0x0 +#define LPA_CLK_P49HZ 0x1 +#define LPA_CLK_P98HZ 0x2 +#define LPA_CLK_1P95HZ 0x3 +#define LPA_CLK_3P91HZ 0x4 +#define LPA_CLK_7P81HZ 0x5 +#define LPA_CLK_15P63HZ 0x6 +#define LPA_CLK_31P25HZ 0x7 +#define LPA_CLK_62P50HZ 0x8 +#define LPA_CLK_125HZ 0x9 +#define LPA_CLK_250HZ 0xa +#define LPA_CLK_500HZ 0xb + + +/* ICM2060X_PWR_MGMT_1 */ +#define BIT_H_RESET (1<<7) +#define BIT_SLEEP (1<<6) +#define BIT_CYCLE (1<<5) +#define BIT_GYRO_STANDBY (1<<4) +#define BIT_PD_PTAT (1<<3) +#define BIT_CLKSEL (1<<0) + +#define CLKSEL_INTERNAL 0 +#define CLKSEL_PLL 1 + +/* ICM2060X_PWR_MGMT_2 */ +#define BIT_ACCEL_STBY 0x38 +#define BIT_GYRO_STBY 0x07 +#define BITS_LPA_WAKE_CTRL 0xC0 +#define BITS_LPA_WAKE_1HZ 0x00 +#define BITS_LPA_WAKE_2HZ 0x40 +#define BITS_LPA_WAKE_20HZ 0x80 + +#define ICM2060X_PWRM1_SLEEP 0x40 +#define ICM2060X_PWRM1_GYRO_STANDBY 0x10 +#define ICM2060X_PWRM2_ACCEL_DISABLE 0x38 +#define ICM2060X_PWRM2_GYRO_DISABLE 0x07 + +/* ICM2060X_ACCEL_INTEL_CTRL */ +#define BIT_ACCEL_INTEL_EN 0x80 +#define BIT_ACCEL_INTEL_MODE 0x40 + + +/* ICM2060X_USER_CTRL */ +#define BIT_FIFO_RST 0x04 +#define BIT_DMP_RST 0x08 +#define BIT_I2C_MST_EN 0x20 +#define BIT_FIFO_EN 0x40 +#define BIT_DMP_EN 0x80 + + +/* ICM2060X_FIFO_EN */ +#define BIT_ACCEL_OUT 0x08 +#define BITS_GYRO_OUT 0x70 + + +/* ICM2060X_INT_PIN_CFG */ +#define BIT_BYPASS_EN 0x2 + +/* ICM2060X_INT_EN/INT_STATUS */ +#define BIT_FIFO_OVERLOW 0x80 +#define BIT_MOT_INT 0x40 +#define BIT_MPU_RDY 0x04 +#define BIT_DMP_INT 0x02 +#define BIT_RAW_RDY 0x01 +#define DMP_START_ADDR 0x400 +#define AXIS_NUM 3 +#define AXIS_ADC_BYTE 2 +#define SENSOR_PACKET (AXIS_NUM * AXIS_ADC_BYTE) + +/* self-test parameter */ + +#define DEF_ST_PRECISION 1000 +#define DEF_ST_ICM2060X_ACCEL_LPF 2 +#define DEF_STABLE_TIME_ST 50 +#define DEF_SELFTEST_GYRO_FS (0 << 3) +#define DEF_SELFTEST_ACCEL_FS (2 << 3) +#define DEF_SELFTEST_6500_ACCEL_FS (0 << 3) +#define DEF_SW_SELFTEST_SENSITIVITY ((2000 * DEF_ST_PRECISION) / 32768) + +#define DEF_SW_SELFTEST_SAMPLE_COUNT 75 +#define DEF_SW_SELFTEST_SAMPLE_TIME 75 +#define DEF_SW_ACCEL_CAL_SAMPLE_TIME 50 +#define DEF_SW_SKIP_COUNT 10 + +#define DEF_ST_6500_STABLE_TIME 20 +#define BYTES_PER_SENSOR 6 +#define DEF_SELFTEST_SAMPLE_RATE 0 +#define DEF_GYRO_WAIT_TIME 50 +#define THREE_AXIS 3 +#define INIT_ST_SAMPLES 200 +#define FIFO_COUNT_BYTE 2 +#define DEF_ST_TRY_TIMES 2 +#define REG_6500_XG_ST_DATA 0x0 +#define REG_6500_XA_ST_DATA 0xD +#define BITS_SELF_TEST_EN 0xE0 + +#define DEF_ST_SCAL (1L << 15) + +/*---- ICM2060X Self Test Pass/Fail Criteria ----*/ +/* Gyro Offset Max Value (dps) */ +#define DEF_GYRO_OFFSET_MAX 20 +/* Gyro Self Test Absolute Limits ST_AL (dps) */ +#define DEF_GYRO_ST_AL 60 +/* Accel Self Test Absolute Limits ST_AL (mg) */ +#define DEF_ACCEL_ST_AL_MIN 225 +#define DEF_ACCEL_ST_AL_MAX 675 +#define DEF_6500_ACCEL_ST_SHIFT_DELTA 500 +#define DEF_6500_GYRO_CT_SHIFT_DELTA 500 +#define DEF_ST_ICM2060X_ACCEL_LPF 2 +#define DEF_ST_6500_ACCEL_FS_MG 2000UL +#define DEF_SELFTEST_6500_ACCEL_FS (0 << 3) + +#define DEF_SELFTEST_GYRO_SENS (32768 / 250) +#endif + diff --git a/include/linux/sensor-dev.h b/include/linux/sensor-dev.h index 54b472466302..36c86d6050b7 100644 --- a/include/linux/sensor-dev.h +++ b/include/linux/sensor-dev.h @@ -66,6 +66,7 @@ enum sensor_id { ACCEL_ID_BMA2XX, ACCEL_ID_STK8BAXX, ACCEL_ID_MIR3DA, + ACCEL_ID_ICM2060X, COMPASS_ID_ALL, COMPASS_ID_AK8975, COMPASS_ID_AK8963, @@ -90,6 +91,7 @@ enum sensor_id { GYRO_ID_MPU6500, GYRO_ID_MPU6880, GYRO_ID_LSM330, + GYRO_ID_ICM2060X, LIGHT_ID_ALL, LIGHT_ID_CM3217, LIGHT_ID_CM3218,