mirros/rockchip-kernel
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

sensor: add mpu6500 accel support

Browse Source
This commit is contained in:
guoyi
2015-03-24 14:30:23 +08:00
parent 65fc4e7a4a
commit 04d0060017
7 changed files with 543 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
arch/arm64/boot/dts/rk3368-p9_818.dts
View File

@@ -368,34 +368,14 @@
&i2c4 {
status = "okay";
mpu6050:mpu@68{
compatible = "mpu6050";
mpu6500_acc:mpu_acc@68{
compatible = "mpu6500_acc";
reg = <0x68>;
mpu-int_config = <0x10>;
mpu-level_shifter = <0>;
mpu-orientation = <0 1 0 1 0 0 0 0 1>;
orientation-x= <0>;
orientation-y= <1>;
orientation-z= <1>;
irq-gpio = <&gpio3 GPIO_B6 IRQ_TYPE_LEVEL_LOW>;
mpu-debug = <0>;
irq_enable = <0>;
poll_delay_ms = <30>;
type = <SENSOR_TYPE_ACCEL>;
layout = <7>;
};
ak8963:compass@0d{
compatible = "mpu_ak8963";
reg = <0x0d>;
compass-bus = <0>;
compass-adapt_num = <0>;
compass-orientation = <1 0 0 0 1 0 0 0 1>;
orientation-x= <0>;
orientation-y= <0>;
orientation-z= <1>;
compass-debug = <1>;
status = "okay";
};
};
&i2c5 {

7
drivers/input/sensors/accel/Kconfig
View File

@@ -24,6 +24,13 @@ config MPU6880_ACC
To have support for your specific gsesnor you will have to
select the proper drivers which depend on this option.
config MPU6500_ACC
bool "Sensor mpu6500_acc"
default y
help
To have support for your specific gsesnor you will have to
select the proper drivers which depend on this option.
config GS_KXTIK
bool "gsensor kxtik"
help

1
drivers/input/sensors/accel/Makefile
View File

@@ -8,3 +8,4 @@ obj-$(CONFIG_GS_DMT10) += dmard10.o
obj-$(CONFIG_GS_LSM303D) += lsm303d.o
obj-$(CONFIG_GS_MC3230) += mc3230.o
obj-$(CONFIG_MPU6880_ACC) += mpu6880_acc.o
obj-$(CONFIG_MPU6500_ACC) += mpu6500_acc.o

286
drivers/input/sensors/accel/mpu6500_acc.c Normal file
View File

@@ -0,0 +1,286 @@
/* drivers/input/sensors/access/mpu6500_acc.c
*
* Copyright (C) 2012-2015 ROCKCHIP.
* Author: oeh<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);
//<2F>ر<EFBFBD>
if(!enable)
{
status = BIT_ACCEL_STBY;
sensor->ops->ctrl_data |= status;
//gyro<72><6F>acc<63><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(sensor->ops->ctrl_data && (BIT_ACCEL_STBY | BIT_GYRO_STBY) != 0)
{
pwrm1 |= MPU6500_PWRM1_SLEEP;
}
}
else//<2F><><EFBFBD><EFBFBD>
{
status = ~BIT_ACCEL_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)
{
printk("%s:fail to set pwrm2\n",__func__);
return -1;
}
msleep(20);
result = sensor_write_reg(client, MPU6500_PWR_MGMT_1,pwrm1);
if(result)
{
printk("%s:fail to set pwrm1\n",__func__);
return -1;
}
msleep(20);
return result;
}
static int sensor_init(struct i2c_client *client)
{
int res=0;
u8 read_data = 0;
struct sensor_private_data *sensor =
(struct sensor_private_data *) i2c_get_clientdata(client);
//<2F><><EFBFBD><EFBFBD>IC<49>Ƿ<EFBFBD>ΪMPU6500
read_data = sensor_read_reg(client,sensor->ops->id_reg);
if(read_data != sensor->ops->id_data)
{
printk("%s:check id err,read_data:%d,ops->id_data:%d\n",__func__,read_data,sensor->ops->id_data);
return -1;
}
//<2F>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
res = sensor_write_reg(client, MPU6500_PWR_MGMT_1,0x80);
if (res)
{
printk("set MPU6500_PWR_MGMT_1 error,res: %d!\n", res);
return res;
}
msleep(40);
res = sensor_write_reg(client, MPU6500_GYRO_CONFIG,0x18); //config gyro for 2000dps
if (res)
{
printk("set MPU6500_GYRO_CONFIG error,res: %d!\n", res);
return res;
}
msleep(10);
res = sensor_write_reg(client, MPU6500_ACCEL_CONFIG,0x00); //config Accel for +_2G
if (res)
{
printk("set MPU6500_ACCEL_CONFIG error,res: %d!\n", res);
return res;
}
msleep(10);
res = sensor_write_reg(client, MPU6500_ACCEL_CONFIG2,0x00);
if (res)
{
printk("set MPU6500_ACCEL_CONFIG2 error,res: %d!\n", res);
return res;
}
res = sensor_write_reg(client, MPU6500_PWR_MGMT_2,0x3F); //set accl and gyro all axis into standby mode
if (res)
{
printk("set MPU6500_PWR_MGMT_2 error,res: %d!\n", res);
return res;
}
msleep(10);
res = sensor_write_reg(client, MPU6500_PWR_MGMT_1,0x41);
if (res)
{
printk("set MPU6500_PWR_MGMT_1 error,res: %d!\n", res);
return res;
}
msleep(10);
//Ĭ<>Ϲر<CFB9>
res = sensor->ops->active(client,0,0);
if(res)
{
printk("%s:line=%d,error\n",__func__,__LINE__);
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);
/* 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);
DBG("Gsensor x==%d y==%d z==%d\n",axis->x,axis->y,axis->z);
return 0;
}
#define GSENSOR_MIN 10
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) //sensor->ops->read_len = 6
{
printk("%s:lenth is error,len=%d\n",__func__,sensor->ops->read_len);
return -1;
}
memset(buffer, 0, 6);
/* Data bytes from hardware xL, xH, yL, yH, zL, zH */
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);
/*
printk("mpu6500_acc: x:%d,y:%d,z:%d,-4:%d\n",x,y,z,-4);
printk("mpu6500_acc:orientation:\n%d %d %d\n%d %d %d\n%d %d %d\n",pdata->orientation[0],
pdata->orientation[1],pdata->orientation[2],pdata->orientation[3],pdata->orientation[4],
pdata->orientation[5],pdata->orientation[6],pdata->orientation[7],pdata->orientation[8]);
*/
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;
//Ϊ<>˲<EFBFBD><CBB2>޸<EFBFBD>hal<61><6C><EFBFBD><EFBFBD><EFBFBD>룬<EFBFBD><EBA3AC><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>
axis.x = 61*axis.x;
axis.y = 61*axis.y;
axis.z = 61*axis.z;
//if((abs(sensor->axis.x - axis.x) > GSENSOR_MIN) || (abs(sensor->axis.y - axis.y) > GSENSOR_MIN) || (abs(sensor->axis.z - axis.z) > GSENSOR_MIN))
{
gsensor_report_value(client, &axis);
/* <20><><EFBFBD><EFBFBD><EFBFBD>ػ<EFBFBD><D8BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. */
mutex_lock(&(sensor->data_mutex) );
sensor->axis = axis;
mutex_unlock(&(sensor->data_mutex) );
}
if((sensor->pdata->irq_enable)&& (sensor->ops->int_status_reg >= 0)) //read sensor intterupt status register
{
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 gsensor_mpu6500_ops = {
.name = "mpu6500_acc",
.type = SENSOR_TYPE_ACCEL, //sensor type and it should be correct
.id_i2c = ACCEL_ID_MPU6500, //i2c id number
.read_reg = MPU6500_ACCEL_XOUT_H, //read data
.read_len = 6, //data length
.id_reg = MPU6500_WHOAMI, //read device id from this register
.id_data = MPU6500_DEVICE_ID, //device id
.precision = MPU6500_PRECISION, //16 bit
.ctrl_reg = MPU6500_PWR_MGMT_2, //enable or disable
.int_status_reg = MPU6500_INT_STATUS, //intterupt status register
.range = {-32768*61,32768*61}, //range
.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 *gsensor_get_ops(void)
{
return &gsensor_mpu6500_ops;
}
static int __init gsensor_mpu6500_init(void)
{
struct sensor_operate *ops = gsensor_get_ops();
int result = 0;
int type = ops->type;
result = sensor_register_slave(type, NULL, NULL, gsensor_get_ops);
return result;
}
static void __exit gsensor_mpu6500_exit(void)
{
struct sensor_operate *ops = gsensor_get_ops();
int type = ops->type;
sensor_unregister_slave(type, NULL, NULL, gsensor_get_ops);
}
module_init(gsensor_mpu6500_init);
module_exit(gsensor_mpu6500_exit);

4
drivers/input/sensors/sensor-dev.c
View File

@@ -1456,6 +1456,9 @@ static int sensor_misc_device_register(struct sensor_private_data *sensor, int t
{
sensor->fops.owner = THIS_MODULE;
sensor->fops.unlocked_ioctl = gsensor_dev_ioctl;
#ifdef CONFIG_COMPAT
sensor->fops.compat_ioctl = gsensor_dev_ioctl;
#endif
sensor->fops.open = gsensor_dev_open;
sensor->fops.release = gsensor_dev_release;
@@ -2099,6 +2102,7 @@ static const struct i2c_device_id sensor_id[] = {
{"gs_lsm303d", ACCEL_ID_LSM303D},
{"gs_mc3230",ACCEL_ID_MC3230},
{"mpu6880_acc",ACCEL_ID_MPU6880},
{"mpu6500_acc",ACCEL_ID_MPU6500},
/*compass*/
{"compass", COMPASS_ID_ALL},
{"ak8975", COMPASS_ID_AK8975},

238
include/linux/mpu6500.h Normal file
View File

@@ -0,0 +1,238 @@
/*
* Definitions for mma8452 compass chip.
*/
#ifndef __MPU6500_H
#define __MPU6500_H
#include <linux/ioctl.h>
/**add***/
#define MPU6500_PRECISION 16
#define MPU6500_RANGE 2000000
#define MPU6500_SMPLRT_DIV 0x19
#define MPU6500_CONFIG 0x1A
#define MPU6500_GYRO_CONFIG 0x1B
#define MPU6500_ACCEL_CONFIG 0x1C
#define MPU6500_ACCEL_CONFIG2 0x1D
#define MPU6500_LP_ACCEL_ODR 0x1E
#define MPU6500_WOM_THRESH 0x1F
#define MPU6500_FIFO_EN 0x23
#define MPU6500_INT_PIN_CFG 0x37
#define MPU6500_INT_ENABLE 0x38
#define MPU6500_DMP_INT_STATUS 0x39
#define MPU6500_INT_STATUS 0x3A
#define MPU6500_ACCEL_XOUT_H 0x3B
#define MPU6500_TEMP_OUT_H 0x41
#define MPU6500_GYRO_XOUT_H 0x43
#define MPU6500_ACCEL_INTEL_CTRL 0x69
#define MPU6500_USER_CTRL 0x6A
#define MPU6500_PWR_MGMT_1 0x6B
#define MPU6500_PWR_MGMT_2 0x6C
#define MPU6500_PRGM_STRT_ADDRH 0x70
#define MPU6500_FIFO_COUNTH 0x72
#define MPU6500_FIFO_R_W 0x74
#define MPU6500_WHOAMI 0x75
#define MPU6500_DEVICE_ID 0x70
/*------------------------------
MPU6500_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
/*------------------------------
MPU6500_GYRO_CONFIG
--------------------------------*/
#define GFSR_250DPS (0 <<3)
#define GFSR_500DPS (1 <<3)
#define GFSR_1000DPS (2 <<3)
#define GFSR_2000DPS (3 <<3)
/*------------------------------
MPU6500_ACCEL_CONFIG
--------------------------------*/
#define AFSR_2G (0 <<3)
#define AFSR_4G (1 <<3)
#define AFSR_8G (2 <<3)
#define AFSR_16G (3 <<3)
/*------------------------------
MPU6500_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
/*------------------------------
MPU6500_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
/*------------------------------
MPU6500_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
/*------------------------------
MPU6500_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 MPU6500_PWRM1_SLEEP 0x40
#define MPU6500_PWRM1_GYRO_STANDBY 0x10
#define MPU6500_PWRM2_ACCEL_DISABLE 0x38
#define MPU6500_PWRM2_GYRO_DISABLE 0x07
/*------------------------------
MPU6500_ACCEL_INTEL_CTRL
--------------------------------*/
#define BIT_ACCEL_INTEL_EN 0x80
#define BIT_ACCEL_INTEL_MODE 0x40
/*------------------------------
MPU6500_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
/*------------------------------
MPU6500_FIFO_EN
--------------------------------*/
#define BIT_ACCEL_OUT 0x08
#define BITS_GYRO_OUT 0x70
/*------------------------------
MPU6500_INT_PIN_CFG
--------------------------------*/
#define BIT_BYPASS_EN 0x2
/*------------------------------
MPU6500_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_MPU6500_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_GYRO_FS GFSR_2000DPS
#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_SCALE (1L << 15)
/*---- MPU6500 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_MPU6500_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)
#define GSENSOR_DEV_PATH "/dev/mma8452_daemon"
#endif

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

@@ -56,6 +56,7 @@ enum sensor_id {
ACCEL_ID_LSM303D,
ACCEL_ID_MC3230,
ACCEL_ID_MPU6880,
ACCEL_ID_MPU6500,
COMPASS_ID_ALL,
COMPASS_ID_AK8975,
COMPASS_ID_AK8963,