2019-08-21 15:39:29 +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/ak09912_scu.c
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2019-08-21 15:39:29 +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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2019-08-21 15:39:29 +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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2019-08-21 15:39:29 +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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2019-08-21 15:39:29 +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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2019-08-21 15:39:29 +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/ak09912.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_AK09912_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_AK09912_SCU_DECI
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2019-08-21 15:39:29 +02:00
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# define MAG_SEQ_TYPE SEQ_TYPE_DECI
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#else
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# define MAG_SEQ_TYPE SEQ_TYPE_NORMAL
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#endif
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#define AK09912_ADDR 0x0C
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#define AK09912_FREQ 400000
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#define AK09912_DEVID 0x0448
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#define AK09911_DEVID 0x0548
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/* REGISTER: WIA
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* Who I am.
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*/
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#define AK09912_WIA1 0x00
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#define AK09912_WIA2 0x01
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/* REGISTER: CNTL2
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* Power mode
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*/
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#define POWER_MODE_ADDR 0x31
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/* REGISTER: ASAX
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* Sensitivity values
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*/
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#define AK09912_ASAX 0x60
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/* REGISTER: CNTL1
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2020-02-23 09:50:23 +01:00
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* Enable or disable temperature measure or enable or disable Noise
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2019-08-21 15:39:29 +02:00
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* suppression filter.
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*/
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#define AK09912_CTRL1 0x30
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/* REGISTER: HXL
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* The start address of data registers.
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*/
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#define AK09912_HXL 0x11
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/* The parameter for compensating. */
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#define AK09912_SENSITIVITY (128)
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#define AK09912_SENSITIVITY_DIV (256)
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/* Noise Suppression Filter */
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#define AK09912_NSF_MASK (0x3 << 5)
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#define AK09912_NSF_NONE (0x0 << 5)
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#define AK09912_NSF_LOW (0x1 << 5)
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#define AK09912_NSF_MIDDLE (0x2 << 5)
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#define AK09912_NSF_HIGH (0x3 << 5)
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/* Power mode */
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#define AKM_POWER_DOWN_MODE 0b0000
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#define AKM_SINGL_MEAS_MODE 0b00001
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#define AKM_CONT_MEAS_1 0b00010
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#define AKM_CONT_MEAS_2 0b00100
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#define AKM_CONT_MEAS_3 0b00110
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#define AKM_CONT_MEAS_4 0b01000
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#define AKM_EXT_TRIG_MODE 0b01010
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#define AKM_SELF_TEST_MODE 0b10000
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#define AKM_FUSE_ROM_MODE 0b11111
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/* REGISTER: ST1
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* DRDY: Data ready bit. 0: not ready, 1: ready
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* DOR: Data overrun. 0: Not overrun, 1: overrun
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*/
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#define AK09912_ST1 0x10
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/* AK09912 is magnetometer */
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#define AK09912_BYTESPERSAMPLE 6
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#define AK09912_ELEMENTSIZE 2
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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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2020-01-07 22:29:52 +01:00
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2019-08-21 15:39:29 +02:00
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/**
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* @brief Structure for ak09912 device
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*/
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struct ak09912_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 freq; /* Frequency <= 3.4MHz */
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int port; /* I2C port */
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struct seq_s *seq;
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int id;
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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 ak09912_open(FAR struct file *filep);
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static int ak09912_close(FAR struct file *filep);
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static ssize_t ak09912_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen);
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static ssize_t ak09912_write(FAR struct file *filep, FAR const char *buffer,
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size_t buflen);
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static int ak09912_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct file_operations g_ak09912fops =
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{
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ak09912_open, /* open */
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ak09912_close, /* close */
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ak09912_read, /* read */
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ak09912_write, /* write */
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2022-01-10 15:51:17 +01:00
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NULL, /* seek */
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2020-04-17 09:59:16 +02:00
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ak09912_ioctl, /* ioctl */
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2022-01-10 15:51:17 +01:00
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NULL /* poll */
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#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
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, NULL /* unlink */
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2019-08-21 15:39:29 +02:00
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#endif
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};
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/* Take XYZ data, temperature and Status 2 register.
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* Status 2 register has a role as data reading end.
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*/
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static const uint16_t g_ak09912inst[] =
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{
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SCU_INST_SEND(AK09912_HXL),
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SCU_INST_RECV(AK09912_BYTESPERSAMPLE + 2) | SCU_INST_LAST,
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};
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static struct ak09912_sensadj_s g_asa;
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/* Sequencer instance */
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static FAR struct seq_s *g_seq = NULL;
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/* Reference count */
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static int g_refcnt = 0;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: ak09912_getreg8
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*
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* Description:
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* Read from an 8-bit AK09912 register
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*
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****************************************************************************/
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static uint8_t ak09912_getreg8(FAR struct ak09912_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: ak09912_putreg8
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*
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* Description:
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* Write to an 8-bit AK09912 register
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*
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****************************************************************************/
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static void ak09912_putreg8(FAR struct ak09912_dev_s *priv, uint8_t regaddr,
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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: ak09912_getreg
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*
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* Description:
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* Read cnt bytes from a ak09912 register
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*
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****************************************************************************/
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static int ak09912_getreg(FAR struct ak09912_dev_s *priv, uint8_t regaddr,
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2020-01-07 22:29:52 +01:00
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uint8_t *buffer, uint32_t cnt)
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2019-08-21 15:39:29 +02:00
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{
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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(cnt) | SCU_INST_LAST;
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scu_i2ctransfer(priv->port, priv->addr, inst, 2, buffer, cnt);
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return OK;
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}
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/****************************************************************************
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* Name: ak09912_checkid
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*
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* Description:
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* Read and verify the AK09911/AK09912 chip ID
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*
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****************************************************************************/
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static int ak09912_checkid(FAR struct ak09912_dev_s *priv)
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{
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uint16_t devid = 0;
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/* Read device ID */
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devid = ak09912_getreg8(priv, AK09912_WIA1);
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devid += ak09912_getreg8(priv, AK09912_WIA2) << 8;
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sninfo("devid: 0x%04x\n", devid);
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if (devid != AK09911_DEVID && devid != AK09912_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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static int ak09912_seqinit(FAR struct ak09912_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(MAG_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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2019-08-21 15:39:29 +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_ak09912inst, itemsof(g_ak09912inst));
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seq_setsample(priv->seq, AK09912_BYTESPERSAMPLE, 0,
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AK09912_ELEMENTSIZE, false);
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return OK;
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}
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/****************************************************************************
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* Name: ak09912_open
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*
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* Description:
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* This function is called whenever the AK09912 device is opened.
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*
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****************************************************************************/
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static int ak09912_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 ak09912_dev_s *priv = inode->i_private;
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if (g_refcnt == 0)
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{
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int ret;
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ret = ak09912_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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ak09912_putreg8(priv, POWER_MODE_ADDR, AKM_CONT_MEAS_4);
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up_mdelay(1);
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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: ak09912_close
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*
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* Description:
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* This routine is called when the AK09912 device is closed.
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*
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****************************************************************************/
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static int ak09912_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 ak09912_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->id, SCUIOC_STOP, 0);
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2019-08-21 15:39:29 +02:00
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|
|
if (g_refcnt == 0)
|
|
|
|
{
|
|
|
|
DEBUGASSERT(g_seq);
|
|
|
|
|
|
|
|
ak09912_putreg8(priv, POWER_MODE_ADDR, AKM_POWER_DOWN_MODE);
|
|
|
|
up_mdelay(1);
|
|
|
|
|
|
|
|
seq_close(g_seq);
|
|
|
|
g_seq = NULL;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
2020-01-02 17:49:34 +01:00
|
|
|
seq_ioctl(priv->seq, priv->id, SCUIOC_FREEFIFO, 0);
|
2019-08-21 15:39:29 +02:00
|
|
|
}
|
|
|
|
|
|
|
|
return OK;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: ak09912_read
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
static ssize_t ak09912_read(FAR struct file *filep, FAR char *buffer,
|
|
|
|
size_t len)
|
|
|
|
{
|
|
|
|
FAR struct inode *inode = filep->f_inode;
|
|
|
|
FAR struct ak09912_dev_s *priv = inode->i_private;
|
|
|
|
|
|
|
|
len = len / AK09912_BYTESPERSAMPLE * AK09912_BYTESPERSAMPLE;
|
|
|
|
len = seq_read(priv->seq, priv->id, buffer, len);
|
|
|
|
|
|
|
|
return len;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: ak09912_write
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
static ssize_t ak09912_write(FAR struct file *filep, FAR const char *buffer,
|
|
|
|
size_t buflen)
|
|
|
|
{
|
|
|
|
return -ENOSYS;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: ak09912_write
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
static int ak09912_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
|
|
|
{
|
|
|
|
FAR struct inode *inode = filep->f_inode;
|
|
|
|
FAR struct ak09912_dev_s *priv = inode->i_private;
|
|
|
|
int ret = OK;
|
|
|
|
|
|
|
|
switch (cmd)
|
|
|
|
{
|
|
|
|
/* Get sensitivity adjustment value
|
|
|
|
* Arg: Pointer to struct ak09912_sensadj_s
|
|
|
|
*/
|
|
|
|
|
|
|
|
case SNIOC_GETADJ:
|
|
|
|
{
|
2020-04-17 09:59:16 +02:00
|
|
|
struct ak09912_sensadj_s *user = (struct ak09912_sensadj_s *)
|
|
|
|
(uintptr_t)arg;
|
2019-08-21 15:39:29 +02:00
|
|
|
|
|
|
|
user->x = g_asa.x;
|
|
|
|
user->y = g_asa.y;
|
|
|
|
user->z = g_asa.z;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
{
|
|
|
|
if (_SCUIOCVALID(cmd))
|
|
|
|
{
|
|
|
|
/* Redirect SCU commands */
|
|
|
|
|
|
|
|
ret = seq_ioctl(priv->seq, priv->id, cmd, arg);
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
snerr("Unrecognized cmd: %d\n", cmd);
|
|
|
|
ret = - ENOTTY;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Public Functions
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
int ak09912_init(FAR struct i2c_master_s *i2c, int port)
|
|
|
|
{
|
2020-01-07 22:29:52 +01:00
|
|
|
struct ak09912_dev_s tmp;
|
|
|
|
struct ak09912_dev_s *priv = &tmp;
|
2019-08-21 15:39:29 +02:00
|
|
|
uint8_t val;
|
|
|
|
int ret;
|
|
|
|
|
|
|
|
/* Setup temporary device structure for initialization */
|
|
|
|
|
|
|
|
priv->i2c = i2c;
|
|
|
|
priv->addr = AK09912_ADDR;
|
|
|
|
priv->freq = AK09912_FREQ;
|
|
|
|
priv->port = port;
|
|
|
|
|
|
|
|
/* Check Device ID */
|
|
|
|
|
|
|
|
ret = ak09912_checkid(priv);
|
|
|
|
if (ret < 0)
|
|
|
|
{
|
|
|
|
snerr("Failed to register driver: %d\n", ret);
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
ak09912_putreg8(priv, POWER_MODE_ADDR, AKM_FUSE_ROM_MODE);
|
|
|
|
up_mdelay(1);
|
|
|
|
|
|
|
|
ak09912_getreg(priv, AK09912_ASAX, (uint8_t *)&g_asa,
|
|
|
|
sizeof(struct ak09912_sensadj_s));
|
|
|
|
|
|
|
|
ak09912_putreg8(priv, POWER_MODE_ADDR, AKM_POWER_DOWN_MODE);
|
|
|
|
up_mdelay(1);
|
|
|
|
|
|
|
|
/* Set noise suppression filter to LOW */
|
|
|
|
|
|
|
|
val = ak09912_getreg8(priv, AK09912_CTRL1);
|
|
|
|
val = (val & ~AK09912_NSF_MASK) | AK09912_NSF_LOW;
|
|
|
|
ak09912_putreg8(priv, AK09912_CTRL1, val);
|
|
|
|
|
|
|
|
return OK;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: ak09912_register
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* Register the AK09912 character device as 'devpath'
|
|
|
|
*
|
|
|
|
* Input Parameters:
|
|
|
|
* devpath - The full path to the driver to register. E.g., "/dev/mag"
|
|
|
|
* i2c - An instance of the I2C interface to use to communicate with
|
|
|
|
* AK09912
|
|
|
|
*
|
|
|
|
* Returned Value:
|
|
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
|
|
*
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
int ak09912_register(FAR const char *devpath, int minor,
|
|
|
|
FAR struct i2c_master_s *i2c, int port)
|
|
|
|
{
|
|
|
|
FAR struct ak09912_dev_s *priv;
|
|
|
|
char path[16];
|
|
|
|
int ret;
|
|
|
|
|
|
|
|
/* Initialize the AK09912 device structure */
|
|
|
|
|
2020-04-17 09:59:16 +02:00
|
|
|
priv = (FAR struct ak09912_dev_s *)
|
|
|
|
kmm_malloc(sizeof(struct ak09912_dev_s));
|
2019-08-21 15:39:29 +02:00
|
|
|
if (!priv)
|
|
|
|
{
|
|
|
|
snerr("Failed to allocate instance\n");
|
|
|
|
return -ENOMEM;
|
|
|
|
}
|
|
|
|
|
|
|
|
priv->i2c = i2c;
|
|
|
|
priv->id = minor;
|
|
|
|
priv->addr = AK09912_ADDR;
|
|
|
|
priv->freq = AK09912_FREQ;
|
|
|
|
priv->port = port;
|
|
|
|
|
|
|
|
/* Register the character driver */
|
|
|
|
|
2020-01-02 17:49:34 +01:00
|
|
|
snprintf(path, sizeof(path), "%s%d", devpath, minor);
|
2019-08-21 15:39:29 +02:00
|
|
|
ret = register_driver(path, &g_ak09912fops, 0666, priv);
|
|
|
|
if (ret < 0)
|
|
|
|
{
|
|
|
|
snerr("Failed to register driver: %d\n", ret);
|
|
|
|
kmm_free(priv);
|
|
|
|
}
|
|
|
|
|
|
|
|
sninfo("AK09912 driver loaded successfully!\n");
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif /* CONFIG_I2C && CONFIG_SENSORS_AK09912_SCU */
|