2019-08-22 14:49:05 +02:00
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/****************************************************************************
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2020-01-07 15:21:58 +01:00
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* boards/arm/cxd56xx/drivers/sensors/bm1422gmv_scu.c
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2019-08-22 14:49:05 +02:00
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*
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2021-01-25 08:52:15 +01:00
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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2019-08-22 14:49:05 +02:00
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*
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2021-01-25 08:52:15 +01:00
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* http://www.apache.org/licenses/LICENSE-2.0
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2019-08-22 14:49:05 +02:00
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*
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2021-01-25 08:52:15 +01:00
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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2019-08-22 14:49:05 +02:00
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <fixedmath.h>
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2021-06-08 20:00:55 +02:00
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#include <assert.h>
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2019-08-22 14:49:05 +02:00
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#include <errno.h>
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#include <debug.h>
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#include <arch/types.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/sensors/bm1422gmv.h>
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#include <nuttx/irq.h>
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#include <arch/chip/scu.h>
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#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_BM1422GMV_SCU)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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2020-07-27 07:09:21 +02:00
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#ifdef CONFIG_SENSORS_BM1422GMV_SCU_DECI
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2019-08-22 14:49:05 +02:00
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# define BM1422GMV_SEQ_TYPE SEQ_TYPE_DECI
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#else
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# define BM1422GMV_SEQ_TYPE SEQ_TYPE_NORMAL
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#endif
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/* I2C Slave Address */
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#ifdef CONFIG_BM1422GMV_SLAVE_ADDRESS_0F
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#define BM1422GMV_ADDR 0x0F
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#else
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#define BM1422GMV_ADDR 0x0E
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#endif
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#define BM1422GMV_DEVID 0x41 /* Device ID */
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#define BM1422GMV_BYTESPERSAMPLE 6
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#define BM1422GMV_ELEMENTSIZE 2
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/* BM1422GMV Registers */
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#define BM1422GMV_WIA 0x0F
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#define BM1422GMV_DATAX 0x10
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#define BM1422GMV_CNTL1 0x1B
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#define BM1422GMV_CNTL2 0x1C
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#define BM1422GMV_CNTL3 0x1D
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#define BM1422GMV_CNTL4 0x5C
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/* Register CNTL1 */
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#define BM1422GMV_CNTL1_PC1 (1 << 7)
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#define BM1422GMV_CNTL1_OUT_BIT (1 << 6)
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#define BM1422GMV_CNTL1_RST_LV (1 << 5)
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#define BM1422GMV_CNTL1_ODR_10Hz (0 << 3)
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#define BM1422GMV_CNTL1_ODR_20Hz (2 << 3)
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#define BM1422GMV_CNTL1_ODR_100Hz (1 << 3)
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#define BM1422GMV_CNTL1_ODR_1000Hz (3 << 3)
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#define BM1422GMV_CNTL1_FS1 (1 << 1)
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/* Register CNTL2 */
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#define BM1422GMV_CNTL2_DREN (1 << 3)
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#define BM1422GMV_CNTL2_DRP (1 << 2)
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/* Register CNTL3 */
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#define BM1422GMV_CNTL3_FORCE (1 << 6)
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/* Register CNTL4 */
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#define BM1422GMV_CNTL4_VAL 0x0000
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#ifndef itemsof
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# define itemsof(array) (sizeof(array)/sizeof(array[0]))
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#endif
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/****************************************************************************
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* Private Type Definitions
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****************************************************************************/
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/* Structure for bm1422gmv device */
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struct bm1422gmv_dev_s
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{
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FAR struct i2c_master_s *i2c; /* I2C interface */
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uint8_t addr; /* I2C address */
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int port; /* I2C port */
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struct seq_s *seq; /* Sequencer instance */
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int minor; /* Minor device number */
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/* Character driver methods */
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static int bm1422gmv_open(FAR struct file *filep);
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static int bm1422gmv_close(FAR struct file *filep);
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static ssize_t bm1422gmv_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen);
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2020-07-27 07:09:21 +02:00
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static ssize_t bm1422gmv_write(FAR struct file *filep,
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FAR const char *buffer, size_t buflen);
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static int bm1422gmv_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg);
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2019-08-22 14:49:05 +02:00
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct file_operations g_bm1422gmvfops =
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{
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bm1422gmv_open, /* open */
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bm1422gmv_close, /* close */
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bm1422gmv_read, /* read */
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bm1422gmv_write, /* write */
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0, /* seek */
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bm1422gmv_ioctl, /* ioctl */
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#ifndef CONFIG_DISABLE_POLL
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0, /* poll */
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#endif
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0 /* unlink */
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};
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/* Take XYZ data. */
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static const uint16_t g_bm1422gmvinst[] =
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{
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SCU_INST_SEND(BM1422GMV_DATAX),
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SCU_INST_RECV(BM1422GMV_BYTESPERSAMPLE) | SCU_INST_LAST,
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};
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/* Reference count */
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static int g_refcnt = 0;
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/* Sequencer instance */
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static struct seq_s *g_seq = NULL;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: bm1422gmv_getreg8
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*
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* Description:
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* Read from an 8-bit BM1422GMV register
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*
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****************************************************************************/
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static uint8_t bm1422gmv_getreg8(FAR struct bm1422gmv_dev_s *priv,
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uint8_t regaddr)
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{
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uint8_t regval = 0;
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uint16_t inst[2];
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/* Send register to read and get the next byte */
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inst[0] = SCU_INST_SEND(regaddr);
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inst[1] = SCU_INST_RECV(1) | SCU_INST_LAST;
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scu_i2ctransfer(priv->port, priv->addr, inst, 2, ®val, 1);
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return regval;
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}
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/****************************************************************************
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* Name: bm1422gmv_putreg8
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*
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* Description:
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* Write to an 8-bit BM1422GMV register
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*
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****************************************************************************/
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static void bm1422gmv_putreg8(FAR struct bm1422gmv_dev_s *priv,
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uint8_t regaddr, uint8_t regval)
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{
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uint16_t inst[2];
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/* Send register address and set the value */
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inst[0] = SCU_INST_SEND(regaddr);
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inst[1] = SCU_INST_SEND(regval) | SCU_INST_LAST;
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scu_i2ctransfer(priv->port, priv->addr, inst, 2, NULL, 0);
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}
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/****************************************************************************
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* Name: bm1422gmv_putreg16
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*
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* Description:
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* Write to an 16-bit BM1422GMV register
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*
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****************************************************************************/
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static void bm1422gmv_putreg16(FAR struct bm1422gmv_dev_s *priv,
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uint8_t regaddr, uint16_t regval)
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{
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uint16_t inst[3];
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/* Send register address and set the value */
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inst[0] = SCU_INST_SEND(regaddr);
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inst[1] = SCU_INST_SEND((uint8_t)(regval & 0xff));
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inst[2] = SCU_INST_SEND((uint8_t)(regval >> 8)) | SCU_INST_LAST;
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scu_i2ctransfer(priv->port, priv->addr, inst, 3, NULL, 0);
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}
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/****************************************************************************
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* Name: bm1422gmv_checkid
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*
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* Description:
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* Read and verify the BM1422GMV chip ID
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*
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****************************************************************************/
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static int bm1422gmv_checkid(FAR struct bm1422gmv_dev_s *priv)
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{
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uint8_t devid;
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/* Read device ID */
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devid = bm1422gmv_getreg8(priv, BM1422GMV_WIA);
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if (devid != BM1422GMV_DEVID)
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{
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/* ID is not Correct */
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snerr("Wrong Device ID! %02x\n", devid);
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return -ENODEV;
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}
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return OK;
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}
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/****************************************************************************
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* Name: bm1422gmv_seqinit
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*
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* Description:
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* Initialize SCU sequencer.
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*
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****************************************************************************/
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static int bm1422gmv_seqinit(FAR struct bm1422gmv_dev_s *priv)
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{
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DEBUGASSERT(g_seq == NULL);
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/* Open sequencer */
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g_seq = seq_open(BM1422GMV_SEQ_TYPE, SCU_BUS_I2C0);
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if (!g_seq)
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{
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return -ENOENT;
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}
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2020-01-07 22:29:52 +01:00
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2019-08-22 14:49:05 +02:00
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priv->seq = g_seq;
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seq_setaddress(priv->seq, priv->addr);
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/* Set instruction and sample data information to sequencer */
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seq_setinstruction(priv->seq, g_bm1422gmvinst, itemsof(g_bm1422gmvinst));
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2020-07-27 07:09:21 +02:00
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seq_setsample(priv->seq, BM1422GMV_BYTESPERSAMPLE, 0,
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BM1422GMV_ELEMENTSIZE, false);
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2019-08-22 14:49:05 +02:00
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return OK;
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}
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/****************************************************************************
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* Name: bm1422gmv_open
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*
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* Description:
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* This function is called whenever the BM1422GMV device is opened.
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*
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****************************************************************************/
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static int bm1422gmv_open(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bm1422gmv_dev_s *priv = inode->i_private;
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uint8_t val;
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if (g_refcnt == 0)
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{
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int ret;
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ret = bm1422gmv_seqinit(priv);
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if (ret < 0)
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{
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return ret;
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}
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/* goto active mode */
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val = BM1422GMV_CNTL1_PC1 | BM1422GMV_CNTL1_OUT_BIT |
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BM1422GMV_CNTL1_ODR_100Hz;
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bm1422gmv_putreg8(priv, BM1422GMV_CNTL1, val);
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up_mdelay(1);
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/* release reset */
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bm1422gmv_putreg16(priv, BM1422GMV_CNTL4, BM1422GMV_CNTL4_VAL);
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/* start sampling */
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bm1422gmv_putreg8(priv, BM1422GMV_CNTL3, BM1422GMV_CNTL3_FORCE);
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}
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else
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{
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/* Set existing sequencer */
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priv->seq = g_seq;
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}
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g_refcnt++;
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return OK;
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}
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/****************************************************************************
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* Name: bm1422gmv_close
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*
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* Description:
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* This routine is called when the BM1422GMV device is closed.
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*
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****************************************************************************/
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static int bm1422gmv_close(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bm1422gmv_dev_s *priv = inode->i_private;
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g_refcnt--;
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|
2020-01-02 17:49:34 +01:00
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seq_ioctl(priv->seq, priv->minor, SCUIOC_STOP, 0);
|
2019-08-22 14:49:05 +02:00
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if (g_refcnt == 0)
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{
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/* goto power-down mode */
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bm1422gmv_putreg8(priv, BM1422GMV_CNTL1, BM1422GMV_CNTL1_RST_LV);
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up_mdelay(1);
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seq_close(g_seq);
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g_seq = NULL;
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}
|
|
|
|
else
|
|
|
|
{
|
2020-01-02 17:49:34 +01:00
|
|
|
seq_ioctl(priv->seq, priv->minor, SCUIOC_FREEFIFO, 0);
|
2019-08-22 14:49:05 +02:00
|
|
|
}
|
|
|
|
|
|
|
|
return OK;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: bm1422gmv_read
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
static ssize_t bm1422gmv_read(FAR struct file *filep, FAR char *buffer,
|
|
|
|
size_t len)
|
|
|
|
{
|
|
|
|
FAR struct inode *inode = filep->f_inode;
|
|
|
|
FAR struct bm1422gmv_dev_s *priv = inode->i_private;
|
|
|
|
|
|
|
|
len = len / BM1422GMV_BYTESPERSAMPLE * BM1422GMV_BYTESPERSAMPLE;
|
|
|
|
len = seq_read(priv->seq, priv->minor, buffer, len);
|
|
|
|
|
|
|
|
return len;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: bm1422gmv_write
|
|
|
|
****************************************************************************/
|
|
|
|
|
2020-07-27 07:09:21 +02:00
|
|
|
static ssize_t bm1422gmv_write(FAR struct file *filep,
|
|
|
|
FAR const char *buffer, size_t buflen)
|
2019-08-22 14:49:05 +02:00
|
|
|
{
|
|
|
|
return -ENOSYS;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: bm1422gmv_ioctl
|
|
|
|
****************************************************************************/
|
|
|
|
|
2020-07-27 07:09:21 +02:00
|
|
|
static int bm1422gmv_ioctl(FAR struct file *filep, int cmd,
|
|
|
|
unsigned long arg)
|
2019-08-22 14:49:05 +02:00
|
|
|
{
|
|
|
|
FAR struct inode *inode = filep->f_inode;
|
|
|
|
FAR struct bm1422gmv_dev_s *priv = inode->i_private;
|
|
|
|
int ret = OK;
|
|
|
|
|
|
|
|
switch (cmd)
|
|
|
|
{
|
|
|
|
default:
|
|
|
|
{
|
|
|
|
if (_SCUIOCVALID(cmd))
|
|
|
|
{
|
|
|
|
/* Redirect SCU commands */
|
|
|
|
|
|
|
|
ret = seq_ioctl(priv->seq, priv->minor, cmd, arg);
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
snerr("Unrecognized cmd: %d\n", cmd);
|
|
|
|
ret = - ENOTTY;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Public Functions
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: bm1422gmv_init
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* Initialize the BM1422GMV device
|
|
|
|
*
|
|
|
|
* Input Parameters:
|
|
|
|
* i2c - An instance of the I2C interface to use to communicate with
|
|
|
|
* BM1422GMV
|
|
|
|
* port - I2C port (0 or 1)
|
|
|
|
*
|
|
|
|
* Returned Value:
|
|
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
|
|
*
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
int bm1422gmv_init(FAR struct i2c_master_s *i2c, int port)
|
|
|
|
{
|
|
|
|
FAR struct bm1422gmv_dev_s tmp;
|
|
|
|
FAR struct bm1422gmv_dev_s *priv = &tmp;
|
|
|
|
int ret;
|
|
|
|
|
|
|
|
/* Setup temporary device structure for initialization */
|
|
|
|
|
|
|
|
priv->i2c = i2c;
|
|
|
|
priv->addr = BM1422GMV_ADDR;
|
|
|
|
priv->port = port;
|
|
|
|
|
|
|
|
/* Check Device ID */
|
|
|
|
|
|
|
|
ret = bm1422gmv_checkid(priv);
|
|
|
|
if (ret < 0)
|
|
|
|
{
|
|
|
|
snerr("Failed to register driver: %d\n", ret);
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
return OK;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: bm1422gmv_register
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* Register the BM1422GMV character device as 'devpath'
|
|
|
|
*
|
|
|
|
* Input Parameters:
|
|
|
|
* devpath - The full path to the driver to register. E.g., "/dev/mag0"
|
|
|
|
* minor - minor device number
|
|
|
|
* i2c - An instance of the I2C interface to use to communicate with
|
|
|
|
* BM1422GMV
|
|
|
|
* port - I2C port (0 or 1)
|
|
|
|
*
|
|
|
|
* Returned Value:
|
|
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
|
|
*
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
int bm1422gmv_register(FAR const char *devpath, int minor,
|
|
|
|
FAR struct i2c_master_s *i2c, int port)
|
|
|
|
{
|
|
|
|
FAR struct bm1422gmv_dev_s *priv;
|
|
|
|
char path[16];
|
|
|
|
int ret;
|
|
|
|
|
|
|
|
/* Initialize the BM1422GMV device structure */
|
|
|
|
|
|
|
|
priv = (FAR struct bm1422gmv_dev_s *)
|
|
|
|
kmm_malloc(sizeof(struct bm1422gmv_dev_s));
|
|
|
|
if (!priv)
|
|
|
|
{
|
|
|
|
snerr("Failed to allocate instance\n");
|
|
|
|
return -ENOMEM;
|
|
|
|
}
|
|
|
|
|
|
|
|
priv->i2c = i2c;
|
|
|
|
priv->addr = BM1422GMV_ADDR;
|
|
|
|
priv->port = port;
|
|
|
|
priv->seq = NULL;
|
|
|
|
priv->minor = minor;
|
|
|
|
|
|
|
|
/* Register the character driver */
|
|
|
|
|
2020-01-02 17:49:34 +01:00
|
|
|
snprintf(path, sizeof(path), "%s%d", devpath, minor);
|
2019-08-22 14:49:05 +02:00
|
|
|
ret = register_driver(path, &g_bm1422gmvfops, 0666, priv);
|
|
|
|
if (ret < 0)
|
|
|
|
{
|
|
|
|
snerr("Failed to register driver: %d\n", ret);
|
|
|
|
kmm_free(priv);
|
|
|
|
}
|
|
|
|
|
|
|
|
sninfo("BM1422GMV driver loaded successfully!\n");
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif /* CONFIG_I2C && CONFIG_SENSORS_BM1422GMV_SCU */
|