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input: sensor: add icm2060x driver

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Signed-off-by: Wang Jie <dave.wang@rock-chips.com>
Change-Id: Icd7e7d09fa0d25e48b999ee99c3bebb6570e18bf
This commit is contained in:
Wang Jie
2020-11-23 14:16:55 +08:00
committed by Tao Huang
parent d6d6ab6a93
commit 63e9e260e9
8 changed files with 689 additions and 0 deletions
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6
drivers/input/sensors/accel/Kconfig
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@@ -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

1
drivers/input/sensors/accel/Makefile
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@@ -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

260
drivers/input/sensors/accel/icm2060x_acc.c Normal file
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@@ -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 <dave.wang@rock-chips.com>
*/
#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 <linux/uaccess.h>
#include <linux/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/icm2060x.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, 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 <dave.wang@rock-chips.com>");
MODULE_DESCRIPTION("icm2060x_acc 3-Axis accelerometer driver");
MODULE_LICENSE("GPL");

3
drivers/input/sensors/gyro/Kconfig
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@@ -36,4 +36,7 @@ config GYRO_MPU6880
config GYRO_LSM330
tristate "gyroscope lsm330_gyro"
default n
config GYRO_ICM2060X
tristate "gyroscope icm2060x_gyro"
endif

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

@@ -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

216
drivers/input/sensors/gyro/icm2060x_gyro.c Normal file
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@@ -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 <dave.wang@rock-chips.com>
*/
#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 <linux/uaccess.h>
#include <linux/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/icm2060x.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, 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 <dave.wang@rock-chips.com>");
MODULE_DESCRIPTION("icm2060x_gyro 3-Axis Gyroscope driver");
MODULE_LICENSE("GPL");

200
include/linux/icm2060x.h Normal file
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@@ -0,0 +1,200 @@
/* SPDX-License-Identifier: GPL-2.0 */
/*
* Definitions for icm2060x chip.
*/
#ifndef __ICM2060X_H
#define __ICM2060X_H
#include <linux/ioctl.h>
#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

2
include/linux/sensor-dev.h
View File

@@ -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,