Re: [PATCH V9 3/3] Input: new da7280 haptic driver

From: Uwe Kleine-König <hidden>
Date: 2020-02-26 16:13:24
Also in: linux-pwm, lkml

Hello,

On Fri, Feb 21, 2020 at 04:27:05PM +0900, Roy Im wrote:

quoted hunk ↗ jump to hunk

Adds support for the Dialog DA7280 LRA/ERM Haptic Driver with
multiple mode and integrated waveform memory and wideband support.
It communicates via an I2C bus to the device.

Signed-off-by: Roy Im <redacted>

---
v9: 
	- Removed the header file and put the definitions into the c file.
	- Updated the pwm code and error logs with %pE
v8: 
	- Added changes to support FF_PERIODIC/FF_CUSTOM and FF_CONSTANT.
	- Updated the dt-related code.
	- Removed memless related functions.
v7: 
	- Added more attributes to handle one value per file.
	- Replaced and updated the dt-related code and functions called.
	- Fixed error/functions.
	- Rebased to v4.19-rc6.
v6: No changes.
v5: Fixed errors in Kconfig file.
v4: Updated code as dt-bindings are changed.
v3: No changes.
v2: Fixed kbuild error/warning


 drivers/input/misc/Kconfig  |   13 +
 drivers/input/misc/Makefile |    1 +
 drivers/input/misc/da7280.c | 1880 +++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 1894 insertions(+)
 create mode 100644 drivers/input/misc/da7280.c

diff --git a/drivers/input/misc/Kconfig b/drivers/input/misc/Kconfig
index 7e2e658..e2bf442 100644
--- a/drivers/input/misc/Kconfig
+++ b/drivers/input/misc/Kconfig

@@ -879,4 +879,17 @@ config INPUT_STPMIC1_ONKEY
 	  To compile this driver as a module, choose M here: the
 	  module will be called stpmic1_onkey.
 
+config INPUT_DA7280_HAPTICS
+	tristate "Dialog Semiconductor DA7280 haptics support"
+	depends on INPUT && I2C
+	select INPUT_FF_MEMLESS
+	select REGMAP_I2C
+	help
+	  Say Y to enable support for the Dialog DA7280 haptics driver.
+	  The haptics can be controlled by i2c communication,
+	  or by PWM input, or by GPI.
+
+	  To compile this driver as a module, choose M here: the
+	  module will be called da7280.
+
 endif

diff --git a/drivers/input/misc/Makefile b/drivers/input/misc/Makefile
index 8fd187f..71dc381 100644
--- a/drivers/input/misc/Makefile
+++ b/drivers/input/misc/Makefile

@@ -25,6 +25,7 @@ obj-$(CONFIG_INPUT_CMA3000)		+= cma3000_d0x.o
 obj-$(CONFIG_INPUT_CMA3000_I2C)		+= cma3000_d0x_i2c.o
 obj-$(CONFIG_INPUT_COBALT_BTNS)		+= cobalt_btns.o
 obj-$(CONFIG_INPUT_CPCAP_PWRBUTTON)	+= cpcap-pwrbutton.o
+obj-$(CONFIG_INPUT_DA7280_HAPTICS)	+= da7280.o
 obj-$(CONFIG_INPUT_DA9052_ONKEY)	+= da9052_onkey.o
 obj-$(CONFIG_INPUT_DA9055_ONKEY)	+= da9055_onkey.o
 obj-$(CONFIG_INPUT_DA9063_ONKEY)	+= da9063_onkey.o

diff --git a/drivers/input/misc/da7280.c b/drivers/input/misc/da7280.c
new file mode 100644
index 0000000..bf2a6c9
--- /dev/null
+++ b/drivers/input/misc/da7280.c

@@ -0,0 +1,1880 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * DA7280 Haptic device driver
+ *
+ * Copyright (c) 2020 Dialog Semiconductor.
+ * Author: Roy Im <Roy.Im.Opensource@diasemi.com>
+ */
+
+#include <linux/err.h>
+#include <linux/i2c.h>
+#include <linux/input.h>
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/pwm.h>
+#include <linux/regmap.h>
+#include <linux/workqueue.h>
+#include <linux/uaccess.h>
+#include <linux/bitops.h>
+
+/* Registers */
+#define DA7280_IRQ_EVENT1                     0x03
+#define DA7280_IRQ_EVENT_WARNING_DIAG         0x04
+#define DA7280_IRQ_EVENT_SEQ_DIAG             0x05
+#define DA7280_IRQ_STATUS1                    0x06
+#define DA7280_IRQ_MASK1                      0x07
+#define DA7280_FRQ_LRA_PER_H                  0x0A
+#define DA7280_FRQ_LRA_PER_L                  0x0B
+#define DA7280_ACTUATOR1                      0x0C
+#define DA7280_ACTUATOR2                      0x0D
+#define DA7280_ACTUATOR3                      0x0E
+#define DA7280_CALIB_V2I_H                    0x0F
+#define DA7280_CALIB_V2I_L                    0x10
+#define DA7280_TOP_CFG1                       0x13
+#define DA7280_TOP_CFG2                       0x14
+#define DA7280_TOP_CFG4                       0x16
+#define DA7280_TOP_INT_CFG1                   0x17
+#define DA7280_TOP_CTL1                       0x22
+#define DA7280_TOP_CTL2                       0x23
+#define DA7280_SEQ_CTL2                       0x28
+#define DA7280_GPI_0_CTL                      0x29
+#define DA7280_GPI_1_CTL                      0x2A
+#define DA7280_GPI_2_CTL                      0x2B
+#define DA7280_MEM_CTL1                       0x2C
+#define DA7280_MEM_CTL2                       0x2D
+#define DA7280_TOP_CFG5                       0x6E
+#define DA7280_IRQ_MASK2                      0x83
+#define DA7280_SNP_MEM_99                     0xE7
+
+/* Register field */
+
+/* DA7280_IRQ_EVENT1 (Address 0x03) */
+#define DA7280_E_SEQ_CONTINUE_SHIFT		0
+#define DA7280_E_SEQ_CONTINUE_MASK		BIT(0)
+#define DA7280_E_UVLO_SHIFT			1
+#define DA7280_E_UVLO_MASK			BIT(1)
+#define DA7280_E_SEQ_DONE_SHIFT			2
+#define DA7280_E_SEQ_DONE_MASK			BIT(2)
+#define DA7280_E_OVERTEMP_CRIT_SHIFT		3
+#define DA7280_E_OVERTEMP_CRIT_MASK		BIT(3)
+#define DA7280_E_SEQ_FAULT_SHIFT		4
+#define DA7280_E_SEQ_FAULT_MASK			BIT(4)
+#define DA7280_E_WARNING_SHIFT			5
+#define DA7280_E_WARNING_MASK			BIT(5)
+#define DA7280_E_ACTUATOR_FAULT_SHIFT		6
+#define DA7280_E_ACTUATOR_FAULT_MASK		BIT(6)
+#define DA7280_E_OC_FAULT_SHIFT			7
+#define DA7280_E_OC_FAULT_MASK			BIT(7)
+
+/* DA7280_IRQ_EVENT_WARNING_DIAG (Address 0x04) */
+#define DA7280_E_OVERTEMP_WARN_SHIFT            3
+#define DA7280_E_OVERTEMP_WARN_MASK             BIT(3)
+#define DA7280_E_MEM_TYPE_SHIFT                 4
+#define DA7280_E_MEM_TYPE_MASK                  BIT(4)
+#define DA7280_E_LIM_DRIVE_ACC_SHIFT            6
+#define DA7280_E_LIM_DRIVE_ACC_MASK             BIT(6)
+#define DA7280_E_LIM_DRIVE_SHIFT                7
+#define DA7280_E_LIM_DRIVE_MASK                 BIT(7)
+
+/* DA7280_IRQ_EVENT_PAT_DIAG (Address 0x05) */
+#define DA7280_E_PWM_FAULT_SHIFT		5
+#define DA7280_E_PWM_FAULT_MASK			BIT(5)
+#define DA7280_E_MEM_FAULT_SHIFT		6
+#define DA7280_E_MEM_FAULT_MASK			BIT(6)
+#define DA7280_E_SEQ_ID_FAULT_SHIFT		7
+#define DA7280_E_SEQ_ID_FAULT_MASK		BIT(7)
+
+/* DA7280_IRQ_STATUS1 (Address 0x06) */
+#define DA7280_STA_SEQ_CONTINUE_SHIFT		0
+#define DA7280_STA_SEQ_CONTINUE_MASK		BIT(0)
+#define DA7280_STA_UVLO_VBAT_OK_SHIFT		1
+#define DA7280_STA_UVLO_VBAT_OK_MASK		BIT(1)
+#define DA7280_STA_SEQ_DONE_SHIFT		2
+#define DA7280_STA_SEQ_DONE_MASK		BIT(2)
+#define DA7280_STA_OVERTEMP_CRIT_SHIFT		3
+#define DA7280_STA_OVERTEMP_CRIT_MASK		BIT(3)
+#define DA7280_STA_SEQ_FAULT_SHIFT		4
+#define DA7280_STA_SEQ_FAULT_MASK		BIT(4)
+#define DA7280_STA_WARNING_SHIFT		5
+#define DA7280_STA_WARNING_MASK			BIT(5)
+#define DA7280_STA_ACTUATOR_SHIFT		6
+#define DA7280_STA_ACTUATOR_MASK		BIT(6)
+#define DA7280_STA_OC_SHIFT			7
+#define DA7280_STA_OC_MASK			BIT(7)
+
+/* DA7280_IRQ_MASK1 (Address 0x07) */
+#define DA7280_SEQ_CONTINUE_M_SHIFT		0
+#define DA7280_SEQ_CONTINUE_M_MASK		BIT(0)
+#define DA7280_E_UVLO_M_SHIFT			1
+#define DA7280_E_UVLO_M_MASK			BIT(1)
+#define DA7280_SEQ_DONE_M_SHIFT			2
+#define DA7280_SEQ_DONE_M_MASK			BIT(2)
+#define DA7280_OVERTEMP_CRIT_M_SHIFT		3
+#define DA7280_OVERTEMP_CRIT_M_MASK		BIT(3)
+#define DA7280_SEQ_FAULT_M_SHIFT		4
+#define DA7280_SEQ_FAULT_M_MASK			BIT(4)
+#define DA7280_WARNING_M_SHIFT			5
+#define DA7280_WARNING_M_MASK			BIT(5)
+#define DA7280_ACTUATOR_M_SHIFT			6
+#define DA7280_ACTUATOR_M_MASK			BIT(6)
+#define DA7280_OC_M_SHIFT			7
+#define DA7280_OC_M_MASK			BIT(7)
+
+/* DA7280_ACTUATOR3 (Address 0x0e) */
+#define DA7280_IMAX_MASK			(31 << 0)
+
+/* DA7280_TOP_CFG1 (Address 0x13) */
+#define DA7280_AMP_PID_EN_SHIFT			0
+#define DA7280_AMP_PID_EN_MASK			BIT(0)
+#define DA7280_RAPID_STOP_EN_SHIFT		1
+#define DA7280_RAPID_STOP_EN_MASK		BIT(1)
+#define DA7280_ACCELERATION_EN_SHIFT		2
+#define DA7280_ACCELERATION_EN_MASK		BIT(2)
+#define DA7280_FREQ_TRACK_EN_SHIFT		3
+#define DA7280_FREQ_TRACK_EN_MASK		BIT(3)
+#define DA7280_BEMF_SENSE_EN_SHIFT		 4
+#define DA7280_BEMF_SENSE_EN_MASK		BIT(4)
+#define DA7280_ACTUATOR_TYPE_SHIFT		5
+#define DA7280_ACTUATOR_TYPE_MASK		BIT(5)
+
+/* DA7280_TOP_CFG2 (Address 0x14) */
+#define DA7280_FULL_BRAKE_THR_SHIFT		0
+#define DA7280_FULL_BRAKE_THR_MASK		(15 << 0)
+#define DA7280_MEM_DATA_SIGNED_SHIFT		4
+#define DA7280_MEM_DATA_SIGNED_MASK		BIT(4)
+
+/* DA7280_TOP_CFG4 (Address 0x16) */
+#define DA7280_TST_CALIB_IMPEDANCE_DIS_SHIFT	6
+#define DA7280_TST_CALIB_IMPEDANCE_DIS_MASK	BIT(6)
+#define DA7280_V2I_FACTOR_FREEZE_SHIFT		7
+#define DA7280_V2I_FACTOR_FREEZE_MASK		BIT(7)
+
+/* DA7280_TOP_INT_CFG1 (Address 0x17) */
+#define DA7280_BEMF_FAULT_LIM_SHIFT		0
+#define DA7280_BEMF_FAULT_LIM_MASK		(3 << 0)
+
+/* DA7280_TOP_CTL1 (Address 0x22) */
+#define DA7280_OPERATION_MODE_SHIFT		0
+#define DA7280_OPERATION_MODE_MASK		(7 << 0)
+#define DA7280_STANDBY_EN_SHIFT			3
+#define DA7280_STANDBY_EN_MASK			BIT(3)
+#define DA7280_SEQ_START_SHIFT			4
+#define DA7280_SEQ_START_MASK			BIT(4)
+
+/* DA7280_SEQ_CTL2 (Address 0x28) */
+#define DA7280_PS_SEQ_ID_SHIFT			0
+#define DA7280_PS_SEQ_ID_MASK			(15 << 0)
+#define DA7280_PS_SEQ_LOOP_SHIFT		4
+#define DA7280_PS_SEQ_LOOP_MASK			(15 << 4)
+
+/* DA7280_GPIO_0_CTL (Address 0x29) */
+#define DA7280_GPI0_POLARITY_SHIFT		0
+#define DA7280_GPI0_MODE_SHIFT			2
+#define DA7280_GPI0_SEQUENCE_ID_SHIFT		3
+#define DA7280_GPI0_SEQUENCE_ID_MASK		(15 << 3)
+
+/* DA7280_GPIO_1_CTL (Address 0x2a) */
+#define DA7280_GPI1_SEQUENCE_ID_SHIFT		3
+#define DA7280_GPI1_SEQUENCE_ID_MASK		(15 << 3)
+
+/* DA7280_GPIO_2_CTL (Address 0x2b) */
+#define DA7280_GPI2_SEQUENCE_ID_SHIFT		3
+#define DA7280_GPI2_SEQUENCE_ID_MASK		(15 << 3)
+
+/* DA7280_MEM_CTL2 (Address 0x2d) */
+#define DA7280_WAV_MEM_LOCK_MASK		BIT(7)
+
+/* DA7280_TOP_CFG5 (Address 0x6e) */
+#define DA7280_V2I_FACTOR_OFFSET_EN_MASK	BIT(0)
+
+/* DA7280_IRQ_MASK2 (Address 0x83) */
+#define DA7280_ADC_SAT_M_MASK			BIT(7)
+
+/* Controls */
+
+#define DA7280_VOLTAGE_RATE_MAX		6000000
+#define DA7280_VOLTAGE_RATE_STEP	23400
+#define DA7280_NOMMAX_DFT		0x6B
+#define DA7280_ABSMAX_DFT		0x78
+
+#define DA7280_IMPD_MAX			1500000000
+#define DA7280_IMPD_DEFAULT		22000000
+
+#define DA7280_IMAX_DEFAULT		0x0E
+#define DA7280_IMAX_STEP		7200
+#define DA7280_IMAX_LIMIT		252000
+
+#define DA7280_RESONT_FREQH_DFT		0x39
+#define DA7280_RESONT_FREQL_DFT		0x32
+#define DA7280_MIN_RESONAT_FREQ_HZ	50
+#define DA7280_MAX_RESONAT_FREQ_HZ	300
+#define DA7280_MIN_PWM_FREQ_KHZ		10
+#define DA7280_MAX_PWM_FREQ_KHZ		250
+
+#define DA7280_SEQ_ID_MAX		15
+#define DA7280_SEQ_LOOP_MAX		15
+#define DA7280_GPI_SEQ_ID_DFT		0x0
+
+#define DA7280_SNP_MEM_SIZE		100
+#define DA7280_SNP_MEM_MAX		DA7280_SNP_MEM_99
+
+#define IRQ_NUM				3
+
+#define DA7280_SKIP_INIT		0x100
+
+#define DA7280_FF_EFFECT_COUNT_MAX	15
+
+enum da7280_haptic_dev_t {
+	DA7280_LRA	= 0,
+	DA7280_ERM_BAR	= 1,
+	DA7280_ERM_COIN	= 2,
+	DA7280_DEV_MAX,
+};
+
+enum da7280_op_mode {
+	DA7280_INACTIVE		= 0,
+	DA7280_DRO_MODE		= 1,
+	DA7280_PWM_MODE		= 2,
+	DA7280_RTWM_MODE	= 3,
+	DA7280_ETWM_MODE	= 4,
+	DA7280_OPMODE_MAX,
+};
+
+#define DA7280_FF_CONSTANT_DRO	1
+#define DA7280_FF_PERIODIC_PWM	2
+#define DA7280_FF_PERIODIC_RTWM	1
+#define DA7280_FF_PERIODIC_ETWM	2
+
+#define DA7280_FF_PERIODIC_MODE	DA7280_RTWM_MODE
+#define DA7280_FF_CONSTANT_MODE	DA7280_DRO_MODE
+
+enum da7280_custom_effect_param {
+	DA7280_CUSTOM_DATA_SEQ_ID_IDX   = 0,
+	DA7280_CUSTOM_DATA_SEQ_LOOP_IDX = 1,
+	DA7280_CUSTOM_DATA_LEN          = 2,
+};
+
+struct da7280_gpi_ctl {
+	u8 seq_id;
+	u8 mode;
+	u8 polarity;
+};
+
+struct da7280_haptic {
+	struct regmap *regmap;
+	struct input_dev *input_dev;
+	struct device *dev;
+	struct i2c_client *client;
+	struct pwm_device *pwm_dev;
+
+	bool legacy;
+	int pwm_id;

pwm_id is unused?

+	struct delayed_work work_duration;
+	struct work_struct work_playback;
+	struct work_struct work_setgain;
+	int val;
+	u16 gain;
+	u16 new_gain;
+
+	s16 level;
+
+	u8 dev_type;
+	u8 op_mode;
+	u8 const_op_mode;
+	u8 periodic_op_mode;
+	u16 nommax;
+	u16 absmax;
+	u32 imax;
+	u32 impd;
+	u32 resonant_freq_h;
+	u32 resonant_freq_l;
+	bool bemf_sense_en;
+	bool freq_track_en;
+	bool acc_en;
+	bool rapid_stop_en;
+	bool amp_pid_en;
+	u8 ps_seq_id;
+	u8 ps_seq_loop;
+	struct da7280_gpi_ctl gpi_ctl[3];
+	bool mem_update;
+	u8 snp_mem[DA7280_SNP_MEM_SIZE];
+	u8 enabled;
+	int length_ms;
+};
+
+static bool da7280_volatile_register(struct device *dev, unsigned int reg)
+{
+	switch (reg) {
+	case DA7280_IRQ_EVENT1:
+	case DA7280_IRQ_EVENT_WARNING_DIAG:
+	case DA7280_IRQ_EVENT_SEQ_DIAG:
+	case DA7280_IRQ_STATUS1:
+	case DA7280_TOP_CTL1:
+		return true;
+	default:
+		return false;
+	}
+}
+
+static const struct regmap_config da7280_haptic_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+	.max_register = DA7280_SNP_MEM_MAX,
+	.volatile_reg = da7280_volatile_register,
+};
+
+static int da7280_haptic_mem_update(struct da7280_haptic *haptics)
+{
+	int error;
+	unsigned int val;
+
+	/* It is recommended to update the patterns
+	 * during haptic is not working in order to avoid conflict
+	 */
+	error = regmap_read(haptics->regmap, DA7280_IRQ_STATUS1, &val);
+	if (error)
+		return error;
+	if (val & DA7280_STA_WARNING_MASK) {
+		dev_warn(haptics->dev,
+			 "Warning! Please check HAPTIC status.\n");
+		return -EBUSY;
+	}
+
+	/* Patterns are not updated if the lock bit is enabled */
+	val = 0;
+	error = regmap_read(haptics->regmap, DA7280_MEM_CTL2, &val);
+	if (error)
+		return error;
+	if (~val & DA7280_WAV_MEM_LOCK_MASK) {
+		dev_warn(haptics->dev,
+			 "Please unlock the bit first\n");
+		return -EACCES;
+	}
+
+	/* Set to Inactive mode to make sure safety */
+	error = regmap_update_bits(haptics->regmap,
+				   DA7280_TOP_CTL1,
+				   DA7280_OPERATION_MODE_MASK,
+				   0);
+	if (error)
+		return error;
+
+	error = regmap_read(haptics->regmap, DA7280_MEM_CTL1, &val);
+	if (error)
+		return error;
+
+	return regmap_bulk_write(haptics->regmap, val,
+			haptics->snp_mem, DA7280_SNP_MEM_MAX - val + 1);
+}
+
+static int da7280_haptic_set_pwm(struct da7280_haptic *haptics, bool enabled)
+{
+	struct pwm_state state;
+	u64 period_mag_multi;
+	int error;
+
+	if (!haptics->gain) {
+		dev_err(haptics->dev,
+			"Please set the gain first for the pwm mode\n");
+		return -EINVAL;
+	}
+
+	pwm_get_state(haptics->pwm_dev, &state);
+	state.enabled = enabled;
+	period_mag_multi = enabled ? state.period * haptics->gain : 0;

if .enabled is false .duty_cycle has no effect on the output. So there
is no good reason for setting the duty_cyle to something different for a
disabled PWM.

+	state.duty_cycle  = (haptics->acc_en) ?
+		(unsigned int)(period_mag_multi >> 15) :
+		(unsigned int)((period_mag_multi >> 15)
+			+ state.period) / 2;

This can be written in a more readable way:

	/* would be great to have a symbolic name for 15 */
	period_mag_multi >>= 15;

	/* comment with a rational here */
	if (!haptics->acc_en) {
		period_mag_multi += state.period;
		period_mag_multi /= 2;
	}

	state.duty_cycle = period_mag_multi;

+	error = pwm_apply_state(haptics->pwm_dev, &state);
+	if (error)
+		dev_err(haptics->dev,
+			"failed to apply pwm state: %pE\n",
+			ERR_PTR(error));
+
+	return error;
+}
[...]
+static int da7280_probe(struct i2c_client *client,
+			const struct i2c_device_id *id)
+{
+	struct device *dev = &client->dev;
+	struct da7280_haptic *haptics;
+	struct input_dev *input_dev;
+	struct ff_device *ff;
+	struct pwm_state state;
+	unsigned int period2freq;
+	int error;
+
+	haptics = devm_kzalloc(dev, sizeof(*haptics), GFP_KERNEL);
+	if (!haptics)
+		return -ENOMEM;
+	haptics->dev = dev;
+
+	if (!client->irq) {
+		dev_err(dev, "No IRQ configured\n");
+		return -EINVAL;
+	}
+
+	da7280_parse_properties(dev, haptics);
+
+	if (haptics->const_op_mode == DA7280_PWM_MODE) {
+		haptics->pwm_dev = devm_pwm_get(dev, NULL);
+		if (IS_ERR(haptics->pwm_dev)) {
+			dev_err(dev, "failed to get PWM device\n");
+			return PTR_ERR(haptics->pwm_dev);
+		}
+
+		pwm_init_state(haptics->pwm_dev, &state);
+		state.enabled = false;
+		error = pwm_apply_state(haptics->pwm_dev, &state);
+		if (error) {
+			dev_err(dev,
+				"failed to apply initial PWM state: %pE\n",
+				ERR_PTR(error));
+			return error;
+		}
+
+		/* Check PWM Period, it must be in 10k ~ 250kHz */
+		period2freq = 1000000 / pwm_get_period(haptics->pwm_dev);

You already know the return value of pwm_get_period(), it's
state.period.

+		if (period2freq < DA7280_MIN_PWM_FREQ_KHZ ||
+		    period2freq > DA7280_MAX_PWM_FREQ_KHZ) {
[...]

Best regards
Uwe

-- 
Pengutronix e.K.                           | Uwe Kleine-König            |
Industrial Linux Solutions                 | https://www.pengutronix.de/ |

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