Re: [PATCHv4 5/6] Input: add CMR3000 gyrsocope driver
From: Grant Likely <hidden>
Date: 2011-10-25 08:28:23
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On Tue, Oct 25, 2011 at 09:26:10AM +0200, Ricardo Ribalda Delgado wrote:
Hello Grant It is similar to the crm, because they came from the same manufacturer and they share some commands, but that is all. the crm is a gyroscope and the cma is an accelerometer. I tried to put both drivers together and the result was a bit too messy, I think it is easier to understand as two separate drivers, but if you believe they have to live together and help me making it more understandable, I have to problem in coding it.
Alternately, are there any parts of the cma driver that can be generalized and used by both? A lot of the driver looks like boilerplate to me, which I'd rather not see duplicated. And I've filled in a few more comments below. g.
Regards! On Mon, Oct 24, 2011 at 23:40, Grant Likely [off-list ref] wrote:quoted
On Mon, Oct 24, 2011 at 10:21:15PM +0200, Ricardo Ribalda Delgado wrote:quoted
Add support for CMR3000 Tri-axis accelerometer. CMR3000 supports both I2C/SPI bus communication, currently the driver supports SPI communication, since I have no hardware to test the I2C communication.How different is this driver from the cma3000? Is it a cut and paste job? g.quoted
--- v4: Fixes suggested by Dmitry Torokhov -Do not release the input device until the irq has been released v3: Fixes suggested by Jonathan Cameron -Support DT -Cleaner spi read/write v2: Fixes suggested by Jonathan Cameron -Code Stype -Check pdata!=NULL -SPI align Cacheline -More clear based on -%s/set/write/ -%s/accl/gyro/ -remove READ/SET macros Signed-off-by: Ricardo Ribalda Delgado <redacted> --- drivers/input/misc/Kconfig | 24 ++ drivers/input/misc/Makefile | 2 + drivers/input/misc/cmr3000_d0x.c | 426 ++++++++++++++++++++++++++++++++++ drivers/input/misc/cmr3000_d0x.h | 45 ++++ drivers/input/misc/cmr3000_d0x_spi.c | 144 ++++++++++++ include/linux/input/cmr3000.h | 54 +++++ 6 files changed, 695 insertions(+), 0 deletions(-) create mode 100644 drivers/input/misc/cmr3000_d0x.c create mode 100644 drivers/input/misc/cmr3000_d0x.h create mode 100644 drivers/input/misc/cmr3000_d0x_spi.c create mode 100644 include/linux/input/cmr3000.hdiff --git a/drivers/input/misc/Kconfig b/drivers/input/misc/Kconfig index b9f2e93..7c56f94 100644 --- a/drivers/input/misc/Kconfig +++ b/drivers/input/misc/Kconfig@@ -524,6 +524,30 @@ config INPUT_CMA3000_SPITo compile this driver as a module, choose M here: the module will be called cma3000_d0x_spi. +config INPUT_CMR3000 + tristate "VTI CMR3000 Tri-axis gyroscope" + help + Say Y here if you want to use VTI CMR3000_D0x Gyroscope + driver + + This driver currently only supports SPI interface to the + controller. Also select the SPI method. + + If unsure, say N + + To compile this driver as a module, choose M here: the + module will be called cmr3000_d0x. + +config INPUT_CMR3000_SPI + tristate "Support SPI bus connection" + depends on INPUT_CMR3000 && SPI + help + Say Y here if you want to use VTI CMR3000_D0x Gyroscope + through SPI interface. + + To compile this driver as a module, choose M here: the + module will be called cmr3000_d0x_spi. + config INPUT_XEN_KBDDEV_FRONTEND tristate "Xen virtual keyboard and mouse support" depends on XEN_FBDEV_FRONTENDdiff --git a/drivers/input/misc/Makefile b/drivers/input/misc/Makefile index 7305f6f..c7fe09a 100644 --- a/drivers/input/misc/Makefile +++ b/drivers/input/misc/Makefile@@ -21,6 +21,8 @@ obj-$(CONFIG_INPUT_CM109) += cm109.oobj-$(CONFIG_INPUT_CMA3000) += cma3000_d0x.o obj-$(CONFIG_INPUT_CMA3000_I2C) += cma3000_d0x_i2c.o obj-$(CONFIG_INPUT_CMA3000_SPI) += cma3000_d0x_spi.o +obj-$(CONFIG_INPUT_CMR3000) += cmr3000_d0x.o +obj-$(CONFIG_INPUT_CMR3000_SPI) += cmr3000_d0x_spi.o obj-$(CONFIG_INPUT_COBALT_BTNS) += cobalt_btns.o obj-$(CONFIG_INPUT_DM355EVM) += dm355evm_keys.o obj-$(CONFIG_HP_SDC_RTC) += hp_sdc_rtc.odiff --git a/drivers/input/misc/cmr3000_d0x.c b/drivers/input/misc/cmr3000_d0x.c new file mode 100644 index 0000000..d046149 --- /dev/null +++ b/drivers/input/misc/cmr3000_d0x.c@@ -0,0 +1,426 @@ +/* + * VTI CMR3000_D0x Gyroscope driver + * + * Copyright (C) 2011 Qtechnology + * Author: Ricardo Ribalda <ricardo.ribalda@gmail.com> + * + * Based on: + * drivers/input/misc/cma3000_d0x.c by: Hemanth V + * + * This program is free software; you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 2 as published by + * the Free Software Foundation. + * + * 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/>. + */ + +#include <linux/types.h> +#include <linux/interrupt.h> +#include <linux/delay.h> +#include <linux/slab.h> +#include <linux/input.h> +#include <linux/input/cmr3000.h> +#include <linux/of.h> + +#include "cmr3000_d0x.h" + +#define CMR3000_REV 0x21 + +#define CMR3000_WHOAMI 0x00 +#define CMR3000_REVID 0x01 +#define CMR3000_CTRL 0x02 +#define CMR3000_STATUS 0x03 +#define CMR3000_X_LSB 0x0C +#define CMR3000_X_MSB 0x0D +#define CMR3000_Y_LSB 0x0E +#define CMR3000_Y_MSB 0x0F +#define CMR3000_Z_LSB 0x10 +#define CMR3000_Z_MSB 0x11 +#define CMR3000_I2C_ADDR 0x22 +#define CMR3000_PDR 0x26 + +#define CMR3000_IRQDIS (1 << 0) +#define CMR3000_MODEMASK (3 << 1) +#define CMR3000_BUSI2C (0 << 4) +#define CMR3000_BUSSPI (1 << 4) +#define CMR3000_INTLOW (1 << 6) +#define CMR3000_INTHIGH (0 << 6) +#define CMR3000_RST (1 << 7) + +#define CMRMODE_SHIFT 1 +#define CMRIRQLEVEL_SHIFT 6 + +#define CMR3000_STATUS_PERR (1 << 0) +#define CMR3000_STATUS_PORST (1 << 3) + +/* Settling time delay in ms */ +#define CMR3000_SETDELAY 30 + +/* + * Bit weights mult/div in dps for bit 0, other bits need + * multipy factor 2^n. 11th bit is the sign bit. + */ +#define BIT_TO_DPS_MUL 3 +#define BIT_TO_DPS_DIV 32 + +static struct cmr3000_platform_data cmr3000_default_pdata = { + .irq_level = CMR3000_INTHIGH, + .mode = CMRMODE_MEAS80, + .fuzz_x = 1, + .fuzz_y = 1, + .fuzz_z = 1, + .irqflags = 0, +}; + +struct cmr3000_gyro_data { + const struct cmr3000_bus_ops *bus_ops; + struct cmr3000_platform_data pdata; + + struct device *dev; + struct input_dev *input_dev; + + int irq_level; + u8 mode; + + int bit_to_mg; + int irq; + + struct mutex mutex; + bool opened; + bool suspended; +}; + +static void decode_dps(struct cmr3000_gyro_data *data, int *datax, + int *datay, int *dataz) +{ + /* Data in 2's complement, convert to dps */ + *datax = (((s16) ((*datax) << 2)) * BIT_TO_DPS_MUL) / BIT_TO_DPS_DIV; + *datay = (((s16) ((*datay) << 2)) * BIT_TO_DPS_MUL) / BIT_TO_DPS_DIV; + *dataz = (((s16) ((*dataz) << 2)) * BIT_TO_DPS_MUL) / BIT_TO_DPS_DIV; +} + +static irqreturn_t cmr3000_thread_irq(int irq, void *dev_id) +{ + struct cmr3000_gyro_data *data = dev_id; + int datax, datay, dataz; + u8 mode, intr_status; + + intr_status = data->bus_ops->read(data->dev, CMR3000_STATUS, + "irq status"); + intr_status = data->bus_ops->read(data->dev, CMR3000_CTRL, + "control mode"); + if (intr_status < 0) + return IRQ_NONE; + + /* Interrupt not for this device */ + if (intr_status & CMR3000_IRQDIS) + return IRQ_NONE; + + mode = (intr_status & CMR3000_MODEMASK) >> CMRMODE_SHIFT; + if ((mode != CMRMODE_MEAS80) + && (mode != CMRMODE_MEAS20)) + return IRQ_NONE; + + datax = (data->bus_ops->read(data->dev, CMR3000_X_MSB, "X_MSB")) << 8; + datax |= data->bus_ops->read(data->dev, CMR3000_X_LSB, "X_LSB"); + datay = (data->bus_ops->read(data->dev, CMR3000_Y_MSB, "Y_MSB")) << 8; + datay |= data->bus_ops->read(data->dev, CMR3000_Y_LSB, "Y_LSB"); + dataz = (data->bus_ops->read(data->dev, CMR3000_Z_MSB, "Z_MSB")) << 8; + dataz |= data->bus_ops->read(data->dev, CMR3000_Z_LSB, "Z_LSB"); + + /* Device closed */ + if ((data->mode != CMRMODE_MEAS80) + && (data->mode != CMRMODE_MEAS20)) + return IRQ_NONE; + + /* Decode register values to dps */ + decode_dps(data, &datax, &datay, &dataz); + + input_report_abs(data->input_dev, ABS_X, datax); + input_report_abs(data->input_dev, ABS_Y, datay); + input_report_abs(data->input_dev, ABS_Z, dataz); + input_sync(data->input_dev); + + return IRQ_HANDLED; +} + +static int cmr3000_poweron(struct cmr3000_gyro_data *data) +{ + const struct cmr3000_platform_data *pdata = &data->pdata; + u8 ctrl; + int ret; + + ctrl = pdata->irq_level << CMRIRQLEVEL_SHIFT; + ctrl |= data->mode << CMRMODE_SHIFT; + ctrl |= data->bus_ops->ctrl_mod; + ret = data->bus_ops->write(data->dev, CMR3000_CTRL, ctrl, + "Mode setting"); + if (ret < 0) + return -EIO; + + msleep(CMR3000_SETDELAY); + + return 0; +} + +static int cmr3000_poweroff(struct cmr3000_gyro_data *data) +{ + int ret; + u8 ctrl = CMRMODE_POFF; + + ctrl |= data->bus_ops->ctrl_mod; + ctrl |= CMR3000_IRQDIS; + + ret = data->bus_ops->write(data->dev, CMR3000_CTRL, ctrl, + "Mode setting"); + msleep(CMR3000_SETDELAY); + + return ret; +} + +static int cmr3000_reset(struct cmr3000_gyro_data *data) +{ + int val; + + /* Reset chip */ + data->bus_ops->write(data->dev, CMR3000_CTRL, CMR3000_RST, "Reset"); + mdelay(2); + + /* Settling time delay */ + val = data->bus_ops->read(data->dev, CMR3000_STATUS, "Status"); + if (val < 0) { + dev_err(data->dev, "Reset failed\n"); + return val; + } + + if (val & CMR3000_STATUS_PERR) { + dev_err(data->dev, "Parity Error\n"); + return -EIO; + } + + return cmr3000_poweroff(data); +} + +static int cmr3000_open(struct input_dev *input_dev) +{ + struct cmr3000_gyro_data *data = input_get_drvdata(input_dev); + + mutex_lock(&data->mutex); + + if (!data->suspended) + cmr3000_poweron(data); + + data->opened = true; + + mutex_unlock(&data->mutex); + + return 0; +} + +static void cmr3000_close(struct input_dev *input_dev) +{ + struct cmr3000_gyro_data *data = input_get_drvdata(input_dev); + + mutex_lock(&data->mutex); + + if (!data->suspended) + cmr3000_poweroff(data); + + data->opened = false; + + mutex_unlock(&data->mutex); +} + +void cmr3000_suspend(struct cmr3000_gyro_data *data) +{ + mutex_lock(&data->mutex); + + if (!data->suspended && data->opened) + cmr3000_poweroff(data); + + data->suspended = true; + + mutex_unlock(&data->mutex); +} +EXPORT_SYMBOL(cmr3000_suspend); + +void cmr3000_resume(struct cmr3000_gyro_data *data) +{ + mutex_lock(&data->mutex); + + if (data->suspended && data->opened) + cmr3000_poweron(data); + + data->suspended = false; + + mutex_unlock(&data->mutex); +} +EXPORT_SYMBOL(cmr3000_resume);
These four functions bother me. All they are doing is wrapping poweron/poweroff operation. It makes me wonder what is missing from core code that makes this song-and-dance necessary (or is there something available in core code that this driver should be using).
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+ +#ifdef CONFIG_OF +void cmr3000_get_pdata_of(struct device *dev, struct cmr3000_gyro_data *data) +{ + const __be32 *property; + int len; + + property = of_get_property(dev->of_node, "vti,irq_level", &len); + if (property && len == sizeof(int)) + data->pdata.irq_level = be32_to_cpup(property); + + property = of_get_property(dev->of_node, "vti,mode", &len); + if (property && len == sizeof(int)) + data->pdata.mode = be32_to_cpup(property); + + property = of_get_property(dev->of_node, "vti,fuzz_x", &len); + if (property && len == sizeof(int)) + data->pdata.fuzz_x = be32_to_cpup(property); + + property = of_get_property(dev->of_node, "vti,fuzz_y", &len); + if (property && len == sizeof(int)) + data->pdata.fuzz_y = be32_to_cpup(property); + + property = of_get_property(dev->of_node, "vti,fuzz_z", &len); + if (property && len == sizeof(int)) + data->pdata.fuzz_z = be32_to_cpup(property); + + property = of_get_property(dev->of_node, "vti,irqflags", &len); + if (property && len == sizeof(int)) + data->pdata.irqflags = be32_to_cpup(property); + + return; +} +#endif + +struct cmr3000_gyro_data *cmr3000_init(struct device *dev, int irq, + const struct cmr3000_bus_ops *bops) +{ + struct cmr3000_platform_data *pdata; + struct cmr3000_gyro_data *data; + struct input_dev *input_dev; + int rev; + int error; + + /* if no IRQ return error */ + if (irq == 0) { + error = -EINVAL; + goto err_out; + } + + data = kzalloc(sizeof(struct cmr3000_gyro_data), GFP_KERNEL);
Consider devm_kzalloc() so the driver doesn't need to worry about rewinding it. Also, use 'sizeof(*data)' it's safer. g. -- To unsubscribe from this list: send the line "unsubscribe linux-input" in the body of a message to majordomo@vger.kernel.org More majordomo info at http://vger.kernel.org/majordomo-info.html