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driver: input: sensor: gyro: add new and to pass vts

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1.add mpu6500 gyro driver
2.mpu6500 and mpu6880 to pass vts

Change-Id: I7a18578847e92c2cacd8d9b545455840b3a7b318
Signed-off-by: Zorro Liu <lyx@rock-chips.com>
This commit is contained in:
Zorro Liu 2017-11-14 11:57:07 +08:00 • committed by Tao Huang
commit 7f1ae55f96
7 changed files with 294 additions and 71 deletions
Download patch file Download diff file Expand all files Collapse all files

6
drivers/input/sensors/gyro/Kconfig
View file

@ -23,7 +23,11 @@ config GYRO_L3G20D
config GYRO_EWTSA
bool "gyroscope ewtsa"
default y
config GYRO_MPU6500
bool "gyroscope mpu6500_gyro"
default n
config GYRO_MPU6880
bool "gyroscope mpu6880_gyro"
default y

3
drivers/input/sensors/gyro/Makefile
View file

@ -4,5 +4,6 @@ obj-$(CONFIG_GYRO_SENSOR_K3G) += k3g.o
obj-$(CONFIG_GYRO_L3G4200D) += l3g4200d.o
obj-$(CONFIG_GYRO_L3G20D) += l3g20d.o
obj-$(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_LSM330) += lsm330_gyro.o

195
drivers/input/sensors/gyro/mpu6500_gyro.c Normal file
View file

@ -0,0 +1,195 @@
/* drivers/input/sensors/access/mpu6880_gyro.c
*
* Copyright (C) 2012-2015 ROCKCHIP.
* Author: ouenhui <oeh@rock-chips.com>
*
* This software is licensed under the terms of the GNU General Public
* License version 2, as published by the Free Software Foundation, and
* may be copied, distributed, and modified under those terms.
*
* 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.
*
*/
#include <linux/interrupt.h>
#include <linux/i2c.h>
#include <linux/slab.h>
#include <linux/irq.h>
#include <linux/miscdevice.h>
#include <linux/gpio.h>
#include <asm/uaccess.h>
#include <asm/atomic.h>
#include <linux/delay.h>
#include <linux/input.h>
#include <linux/workqueue.h>
#include <linux/freezer.h>
#include <linux/of_gpio.h>
#ifdef CONFIG_HAS_EARLYSUSPEND
#include <linux/earlysuspend.h>
#endif
#include <linux/sensor-dev.h>
#include <linux/mpu6500.h>
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, MPU6500_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 |= MPU6500_PWRM1_SLEEP;
}
} else {
status = ~BIT_GYRO_STBY;
sensor->ops->ctrl_data &= status;
pwrm1 &= ~MPU6500_PWRM1_SLEEP;
}
result = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data);
if (result) {
dev_err(&client->dev, "%s:fail to active sensor\n", __func__);
return -1;
}
msleep(20);
result = sensor_write_reg(client, MPU6500_PWR_MGMT_1, pwrm1);
if (result) {
dev_err(&client->dev, "%s:fail to set pwrm1\n", __func__);
return -1;
}
msleep(50);
return result;
}
static int sensor_init(struct i2c_client *client)
{
int ret;
struct sensor_private_data *sensor =
(struct sensor_private_data *) i2c_get_clientdata(client);
/* init on mpu6500_acc.c */
ret = sensor->ops->active(client, 0, sensor->pdata->poll_delay_ms);
if (ret) {
dev_err(&client->dev, "%s:line=%d,error\n", __func__, __LINE__);
return ret;
}
return ret;
}
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:lenth is error,len=%d\n", __func__, sensor->ops->read_len);
return -1;
}
memset(buffer, 0, 6);
do {
*buffer = sensor->ops->read_reg;
ret = sensor_rx_data(client, buffer, sensor->ops->read_len);
if (ret < 0)
return ret;
} while (0);
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_mpu6500_ops = {
.name = "mpu6500_gyro",
.type = SENSOR_TYPE_GYROSCOPE,
.id_i2c = GYRO_ID_MPU6500,
.read_reg = MPU6500_GYRO_XOUT_H,
.read_len = 6,
.id_reg = SENSOR_UNKNOW_DATA,
.id_data = SENSOR_UNKNOW_DATA,
.precision = MPU6500_PRECISION,
.ctrl_reg = MPU6500_PWR_MGMT_2,
.int_status_reg = MPU6500_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 struct sensor_operate *gyro_get_ops(void)
{
return &gyro_mpu6500_ops;
}
static int __init gyro_mpu6500_init(void)
{
struct sensor_operate *ops = gyro_get_ops();
int type = ops->type;
return sensor_register_slave(type, NULL, NULL, gyro_get_ops);
}
static void __exit gyro_mpu6500_exit(void)
{
struct sensor_operate *ops = gyro_get_ops();
int type = ops->type;
sensor_unregister_slave(type, NULL, NULL, gyro_get_ops);
}
/* must register after mpu6500_acc */
device_initcall_sync(gyro_mpu6500_init);
module_exit(gyro_mpu6500_exit);

146
drivers/input/sensors/gyro/mpu6880_gyro.c
View file

@ -35,56 +35,71 @@
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);
(struct sensor_private_data *) i2c_get_clientdata(client);
int result = 0;
int status = 0;
sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg);
u8 pwrm1 = 0;
if(!enable)
{
status = BIT_GYRO_STBY;
sensor->ops->ctrl_data |= status;
}
else
{
status = ~BIT_GYRO_STBY;
sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg);
pwrm1 = sensor_read_reg(client, MPU6880_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 |= MPU6880_PWRM1_SLEEP;
}
} else {
status = ~BIT_GYRO_STBY;
sensor->ops->ctrl_data &= status;
pwrm1 &= ~MPU6880_PWRM1_SLEEP;
}
result = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data);
if(result)
printk("%s:fail to active sensor\n",__func__);
return result;
if (result) {
dev_err(&client->dev, "%s:fail to active sensor\n", __func__);
return -1;
}
msleep(20);
result = sensor_write_reg(client, MPU6880_PWR_MGMT_1, pwrm1);
if (result) {
dev_err(&client->dev, "%s:fail to set pwrm1\n", __func__);
return -1;
}
msleep(50);
return result;
}
static int sensor_init(struct i2c_client *client)
{
int ret;
struct sensor_private_data *sensor =
(struct sensor_private_data *) i2c_get_clientdata(client);
//已经在mpu6880_acc中初始化寄存器
ret = sensor->ops->active(client,0,0);
if(ret)
{
printk("%s:line=%d,error\n",__func__,__LINE__);
(struct sensor_private_data *) i2c_get_clientdata(client);
/* init on mpu6500_acc.c */
ret = sensor->ops->active(client, 0, sensor->pdata->poll_delay_ms);
if (ret) {
dev_err(&client->dev, "%s:line=%d,error\n", __func__, __LINE__);
return ret;
}
}
return ret;
}
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);
(struct sensor_private_data *) i2c_get_clientdata(client);
/* Report acceleration 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);
DBG("Gsensor x==%d y==%d z==%d\n",axis->x,axis->y,axis->z);
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;
}
@ -92,71 +107,68 @@ static int gyro_report_value(struct i2c_client *client, struct sensor_axis *axis
static int sensor_report_value(struct i2c_client *client)
{
struct sensor_private_data *sensor =
(struct sensor_private_data *) i2c_get_clientdata(client);
(struct sensor_private_data *) i2c_get_clientdata(client);
struct sensor_platform_data *pdata = sensor->pdata;
int ret = 0;
short x,y,z;
short x, y, z;
struct sensor_axis axis;
u8 buffer[6] = {0};
u8 buffer[6] = {0};
char value = 0;
if(sensor->ops->read_len < 6) //sensor->ops->read_len = 6
{
printk("%s:lenth is error,len=%d\n",__func__,sensor->ops->read_len);
if (sensor->ops->read_len < 6) {
dev_err(&client->dev, "%s:lenth is error,len=%d\n", __func__, sensor->ops->read_len);
return -1;
}
memset(buffer, 0, 6);
do {
*buffer = sensor->ops->read_reg;
ret = sensor_rx_data(client, buffer, sensor->ops->read_len);
if (ret < 0)
return ret;
return ret;
} while (0);
x = ((buffer[0] << 8) & 0xFF00) + (buffer[1] & 0xFF);
y = ((buffer[2] << 8) & 0xFF00) + (buffer[3] & 0xFF);
z = ((buffer[4] << 8) & 0xFF00) + (buffer[5] & 0xFF);
//printk("mpu6880_gyro: x:%d,y:%d,z:%d\n",x,y,z);
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;
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);
if((sensor->pdata->irq_enable)&& (sensor->ops->int_status_reg >= 0)) //read sensor intterupt status register
{
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);
DBG("%s:sensor int status :0x%x\n",__func__,value);
}
return ret;
}
struct sensor_operate gyro_mpu6880_ops = {
.name = "mpu6880_gyro",
.type = SENSOR_TYPE_GYROSCOPE, //sensor type and it should be correct
.id_i2c = GYRO_ID_MPU6880, //i2c id number
.read_reg = MPU6880_GYRO_XOUT_H, //read data
.read_len = 6, //data length
.id_reg = SENSOR_UNKNOW_DATA, //read device id from this register
.id_data = SENSOR_UNKNOW_DATA, //device id
.precision = MPU6880_PRECISION, //16 bit
.ctrl_reg = MPU6880_PWR_MGMT_2, //enable or disable
.int_status_reg = MPU6880_INT_STATUS, //intterupt status register
.range = {-MPU6880_RANGE,MPU6880_RANGE}, //range
.trig = IRQF_TRIGGER_HIGH |IRQF_ONESHOT,
.active = sensor_active,
.name = "mpu6880_gyro",
.type = SENSOR_TYPE_GYROSCOPE,
.id_i2c = GYRO_ID_MPU6880,
.read_reg = MPU6880_GYRO_XOUT_H,
.read_len = 6,
.id_reg = SENSOR_UNKNOW_DATA,
.id_data = SENSOR_UNKNOW_DATA,
.precision = MPU6880_PRECISION,
.ctrl_reg = MPU6880_PWR_MGMT_2,
.int_status_reg = MPU6880_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************/
//function name should not be changed
static struct sensor_operate *gyro_get_ops(void)
{
return &gyro_mpu6880_ops;
@ -166,20 +178,20 @@ static struct sensor_operate *gyro_get_ops(void)
static int __init gyro_mpu6880_init(void)
{
struct sensor_operate *ops = gyro_get_ops();
int result = 0;
int type = ops->type;
result = sensor_register_slave(type, NULL, NULL, gyro_get_ops);
return result;
return sensor_register_slave(type, NULL, NULL, gyro_get_ops);
}
static void __exit gyro_mpu6880_exit(void)
{
struct sensor_operate *ops = gyro_get_ops();
int type = ops->type;
sensor_unregister_slave(type, NULL, NULL, gyro_get_ops);
}
//后于mpu6880_acc注册
/* must register after mpu6880_acc */
device_initcall_sync(gyro_mpu6880_init);
module_exit(gyro_mpu6880_exit);

11
drivers/input/sensors/sensor-dev.c
View file

@ -916,6 +916,8 @@ static long gyro_dev_ioctl(struct file *file,
int result = 0;
int rate;
wait_event_interruptible(sensor->is_factory_ok, (atomic_read(&sensor->is_factory) == 0));
switch (cmd) {
case L3G4200D_IOCTL_GET_ENABLE:
result = !sensor->status_cur;
@ -959,7 +961,13 @@ static long gyro_dev_ioctl(struct file *file,
}
mutex_unlock(&sensor->operation_mutex);
break;
case L3G4200D_IOCTL_GET_CALIBRATION:
if (copy_to_user(argp, sensor->pdata->gyro_offset, sizeof(sensor->pdata->gyro_offset))) {
dev_err(&client->dev, "failed to copy gyro offset data to user\n");
result = -EFAULT;
goto error;
}
break;
default:
return -ENOTTY;
}
@ -1871,6 +1879,7 @@ static const struct i2c_device_id sensor_id[] = {
{"l3g20d_gyro", GYRO_ID_L3G20D},
{"ewtsa_gyro", GYRO_ID_EWTSA},
{"k3g", GYRO_ID_K3G},
{"mpu6500_gyro", GYRO_ID_MPU6500},
{"mpu6880_gyro", GYRO_ID_MPU6880},
{"lsm330_gyro", GYRO_ID_LSM330},
/*light sensor*/

1
include/linux/l3g4200d.h Executable file → Normal file
View file

@ -49,6 +49,7 @@
#define L3G4200D_IOCTL_GET_DELAY _IOR(L3G4200D_IOCTL_BASE, 1, int)
#define L3G4200D_IOCTL_SET_ENABLE _IOW(L3G4200D_IOCTL_BASE, 2, int)
#define L3G4200D_IOCTL_GET_ENABLE _IOR(L3G4200D_IOCTL_BASE, 3, int)
#define L3G4200D_IOCTL_GET_CALIBRATION _IOR(L3G4200D_IOCTL_BASE, 4, int[3])
#define L3G4200D_FS_250DPS 0x00
#define L3G4200D_FS_500DPS 0x10

1
include/linux/sensor-dev.h
View file

@ -80,6 +80,7 @@ enum sensor_id {
GYRO_ID_L3G20D,
GYRO_ID_EWTSA,
GYRO_ID_K3G,
GYRO_ID_MPU6500,
GYRO_ID_MPU6880,
GYRO_ID_LSM330,
LIGHT_ID_ALL,