/**************************************************************************** * drivers/sensors/kxtj9.c * * Copyright (C) 2016-2017 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * This driver derives from the Motorola Moto Z MDK: * * Copyright (c) 2016 Motorola Mobility, LLC. * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include #include #include #include #if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_KXTJ9) /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /* Configuration ************************************************************/ #ifndef CONFIG_KXTJ9_I2C_BUS_SPEED # define CONFIG_KXTJ9_I2C_BUS_SPEED 400000 #endif /* Register Definitions *****************************************************/ /* Output registers */ #define XOUT_L 0x06 #define WHO_AM_I 0x0f #define DCST_RESP 0x0c /* Control registers */ #define INT_REL 0x1a #define CTRL_REG1 0x1b #define INT_CTRL1 0x1e #define DATA_CTRL 0x21 #define CTRL_REG2 0x1d /* Control register 1 bits */ #define PC1_OFF 0x7f #define PC1_ON (1 << 7) /* CTRL_REG1: set resolution, g-range, data ready enable */ /* Output resolution: 8-bit valid or 12-bit valid */ #define RES_8BIT 0 #define RES_12BIT (1 << 6) /* Data ready function enable bit: set during probe if using irq mode */ #define DRDYE (1 << 5) /* Output g-range: +/-2g, 4g, or 8g */ #define KXTJ9_G_2G 0 #define KXTJ9_G_4G (1 << 3) #define KXTJ9_G_8G (1 << 4) /* Interrupt control register 1 bits */ /* Set these during probe if using irq mode */ #define KXTJ9_IEL (1 << 3) #define KXTJ9_IEA (1 << 4) #define KXTJ9_IEN (1 << 5) #define KXTJ9_SRST 0x80 #define WHO_AM_I_KXCJ9 0x0a #define KXTJ9_CTRL1_CONFIG (RES_12BIT | KXTJ9_G_2G | DRDYE) /* Misc. driver definitions *************************************************/ #define ACCEL_NUM_RETRIES 5 /**************************************************************************** * Private Types ****************************************************************************/ /* This structure describes the state of one KXTJ9 device */ struct kxtj9_dev_s { FAR struct i2c_master_s *i2c; sem_t exclsem; bool enable; bool power_enabled; uint8_t address; uint8_t shift; uint8_t ctrl_reg1; uint8_t data_ctrl; uint8_t int_ctrl; }; /**************************************************************************** * Private Function Prototypes ****************************************************************************/ /* I2C helpers */ static int kxtj9_reg_read(FAR struct kxtj9_dev_s *priv, uint8_t regaddr, FAR uint8_t *regval, unsigned int len); static int kxtj9_reg_write(FAR struct kxtj9_dev_s *priv, uint8_t regaddr, uint8_t regval); /* KXTJ9 helpers */ static int kxtj9_configure(FAR struct kxtj9_dev_s *priv, uint8_t odr); static int kxtj9_enable(FAR struct kxtj9_dev_s *priv, bool on); static int kxtj9_read_sensor_data(FAR struct kxtj9_dev_s *priv, FAR struct kxtj9_sensor_data *sensor_data); static void kxtj9_soft_reset(FAR struct kxtj9_dev_s *priv); static void kxtj9_set_mode_standby(FAR struct kxtj9_dev_s *priv); /* Character driver methods */ static int kxtj9_open(FAR struct file *filep); static int kxtj9_close(FAR struct file *filep); static ssize_t kxtj9_read(FAR struct file *filep, FAR char *buffer, size_t buflen); static ssize_t kxtj9_write(FAR struct file *filep, FAR const char *buffer, size_t buflen); static int kxtj9_ioctl(FAR struct file *filep, int cmd, unsigned long arg); /**************************************************************************** * Private Data ****************************************************************************/ static const struct file_operations g_fops = { kxtj9_open, kxtj9_close, kxtj9_read, kxtj9_write, NULL, kxtj9_ioctl, NULL, #ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS NULL, #endif }; /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: kxtj9_reg_read * * Description: * Read from multiple KXTJ9 registers. * ****************************************************************************/ static int kxtj9_reg_read(FAR struct kxtj9_dev_s *priv, uint8_t regaddr, FAR uint8_t *regval, unsigned int len) { struct i2c_msg_s msg[2]; uint8_t buf[1]; int retries = ACCEL_NUM_RETRIES; int ret; do { /* Format two messages: The first is a write containing the register * address */ buf[0] = regaddr; msg[0].frequency = CONFIG_KXTJ9_I2C_BUS_SPEED, msg[0].addr = priv->address; msg[0].flags = 0; msg[0].buffer = buf; msg[0].length = 1; /* The second is a read with a restart containing the register data */ msg[1].frequency = CONFIG_KXTJ9_I2C_BUS_SPEED, msg[1].addr = priv->address; msg[1].flags = I2C_M_READ; msg[1].buffer = regval; msg[1].length = len; /* Then perform the transfer. */ ret = I2C_TRANSFER(priv->i2c, msg, 2); } while (ret < 0 && retries-- > 0); return ret; } /**************************************************************************** * Name: kxtj9_reg_write * * Description: * Write a value to a single KXTJ9 register * ****************************************************************************/ static int kxtj9_reg_write(FAR struct kxtj9_dev_s *priv, uint8_t regaddr, uint8_t regval) { struct i2c_msg_s msg; uint8_t buf[2]; int ret; int retries = ACCEL_NUM_RETRIES; do { /* Setup for the transfer */ buf[0] = regaddr; buf[1] = regval; msg.frequency = CONFIG_KXTJ9_I2C_BUS_SPEED, msg.addr = priv->address; msg.flags = 0; msg.buffer = buf; msg.length = 2; /* Then perform the transfer. */ ret = I2C_TRANSFER(priv->i2c, &msg, 1); } while (ret < 0 && retries-- > 0); return ret; } /**************************************************************************** * Name: kxtj9_soft_reset * * Description: * Configure the KXTJ9 device. Handler the SNIOC_CONFIGURE IOCTL command. * ****************************************************************************/ static void kxtj9_soft_reset(FAR struct kxtj9_dev_s *priv) { uint8_t wbuf[1]; /* Set accel into standby and known state by disabling PC1 */ wbuf[0] = KXTJ9_CTRL1_CONFIG; kxtj9_reg_write(priv, CTRL_REG1, wbuf[0]); /* Send the reset command */ kxtj9_reg_read(priv, CTRL_REG2, &wbuf[0], 1); wbuf[0] |= KXTJ9_SRST; kxtj9_reg_write(priv, CTRL_REG2, wbuf[0]); /* Delay 10ms for the accel parts to re-initialize */ nxsig_usleep(10000); } /**************************************************************************** * Name: kxtj9_set_mode_standby * * Description: * Configure the KXTJ9 device. Handler the SNIOC_CONFIGURE IOCTL command. * ****************************************************************************/ static void kxtj9_set_mode_standby(FAR struct kxtj9_dev_s *priv) { uint8_t wbuf[1]; /* Set Accel into standby and known state by disabling PC1 */ wbuf[0] = KXTJ9_CTRL1_CONFIG; kxtj9_reg_write(priv, CTRL_REG1, wbuf[0]); /* Clear interrupts */ wbuf[0] = 0; kxtj9_reg_write(priv, INT_CTRL1, wbuf[0]); } /**************************************************************************** * Name: kxtj9_configure * * Description: * Configure the KXTJ9 device. Handler the SNIOC_CONFIGURE IOCTL command. * ****************************************************************************/ static int kxtj9_configure(FAR struct kxtj9_dev_s *priv, uint8_t odr) { uint8_t wbuf[0]; int ret; ret = nxsem_wait_uninterruptible(&priv->exclsem); if (ret < 0) { return ret; } kxtj9_soft_reset(priv); kxtj9_set_mode_standby(priv); /* Read WHO_AM_I register, should return 0x0a */ kxtj9_reg_read(priv, WHO_AM_I, &wbuf[0], 1); if (wbuf[0] != WHO_AM_I_KXCJ9) { snerr("ERROR: Not KXCJ9 chipset, WHO_AM_I register is 0x%2x.\n", wbuf[0]); } /* Ensure that PC1 is cleared before updating control registers */ kxtj9_reg_write(priv, CTRL_REG1, 0); /* 12Bit Res and -2G~+2G range */ priv->ctrl_reg1 = KXTJ9_CTRL1_CONFIG; kxtj9_reg_write(priv, CTRL_REG1, priv->ctrl_reg1); priv->data_ctrl = odr; kxtj9_reg_write(priv, DATA_CTRL, priv->data_ctrl); /* In irq mode, populate INT_CTRL */ priv->int_ctrl = KXTJ9_IEN | KXTJ9_IEA | KXTJ9_IEL; kxtj9_reg_write(priv, INT_CTRL1, priv->int_ctrl); nxsem_post(&priv->exclsem); return 0; } /**************************************************************************** * Name: kxtj9_enable * * Description: * Enable or disable the KXTJ9 device. Handler the SNIOC_ENABLE and * SNIOC_DISABLE IOCTL commands. * ****************************************************************************/ static int kxtj9_enable(FAR struct kxtj9_dev_s *priv, bool on) { uint8_t wbuf[1]; int ret; ret = nxsem_wait_uninterruptible(&priv->exclsem); if (ret < 0) { return ret; } if (!on && priv->power_enabled) { priv->ctrl_reg1 &= PC1_OFF; kxtj9_reg_write(priv, CTRL_REG1, priv->ctrl_reg1); priv->power_enabled = false; sninfo("KXTJ9 in disabled mode\n"); } else if (on && !priv->power_enabled) { /* Turn on outputs */ priv->ctrl_reg1 |= PC1_ON; kxtj9_reg_write(priv, CTRL_REG1, priv->ctrl_reg1); /* Clear initial interrupt if in irq mode */ kxtj9_reg_read(priv, INT_REL, wbuf, 1); priv->power_enabled = true; sninfo("KXTJ9 in operating mode\n"); } nxsem_post(&priv->exclsem); return OK; } /**************************************************************************** * Name: kxtj9_read_sensor_data * * Description: * Read sensor data. This supports the standard driver read() method. * ****************************************************************************/ static int kxtj9_read_sensor_data(FAR struct kxtj9_dev_s *priv, FAR struct kxtj9_sensor_data *sensor_data) { int16_t acc_data[3]; uint8_t data; int ret; ret = nxsem_wait_uninterruptible(&priv->exclsem); if (ret < 0) { return ret; } kxtj9_reg_read(priv, XOUT_L, (uint8_t *)acc_data, 6); /* 12 bit resolution, get rid of the lowest 4 bits */ sensor_data->x = acc_data[0] >> 4; sensor_data->y = acc_data[1] >> 4; sensor_data->z = acc_data[2] >> 4; /* Read INT_REL to clear interrupt status */ kxtj9_reg_read(priv, INT_REL, &data, 1); nxsem_post(&priv->exclsem); /* Feed sensor data to entropy pool */ add_sensor_randomness((acc_data[0] << 16) ^ (acc_data[1] << 8) ^ acc_data[2]); return OK; } /**************************************************************************** * Name: kxtj9_open * * Description: * This method is called when the device is opened. * ****************************************************************************/ static int kxtj9_open(FAR struct file *filep) { return OK; } /**************************************************************************** * Name: kxtj9_close * * Description: * This method is called when the device is closed. * ****************************************************************************/ static int kxtj9_close(FAR struct file *filep) { return OK; } /**************************************************************************** * Name: kxtj9_read * * Description: * The standard read method. * ****************************************************************************/ static ssize_t kxtj9_read(FAR struct file *filep, FAR char *buffer, size_t buflen) { FAR struct inode *inode; FAR struct kxtj9_dev_s *priv; size_t nsamples; size_t i; int ret; /* How many samples will fit in the buffer? */ nsamples = buflen / sizeof(struct kxtj9_sensor_data); /* If the provided buffer is not large enough to return a single sample, * then return an error. */ if (nsamples < 1) { snerr("ERROR: Buffer too small %lu < %u\n", buflen, sizeof(struct kxtj9_sensor_data)); return (ssize_t)-EINVAL; } DEBUGASSERT(filep != NULL && filep->f_inode != NULL && buffer != NULL); inode = filep->f_inode; priv = (FAR struct kxtj9_dev_s *)inode->i_private; DEBUGASSERT(priv != NULL && priv->i2c != NULL); /* Return all of the samples that will fit in the user-provided buffer */ for (i = 0; i < nsamples; i++) { /* Get the next sample data */ ret = kxtj9_read_sensor_data(priv, (FAR struct kxtj9_sensor_data *)buffer); if (ret < 0) { snerr("ERROR: kxtj9_read_sensor_data failed: %d\n", ret); return (ssize_t)ret; } /* Set up for the next sample */ buffer += sizeof(struct kxtj9_sensor_data); } return (ssize_t)(nsamples * sizeof(struct kxtj9_sensor_data)); } /**************************************************************************** * Name: kxtj9_write * * Description: * A dummy write method. * ****************************************************************************/ static ssize_t kxtj9_write(FAR struct file *filep, FAR const char *buffer, size_t buflen) { return -ENOSYS; } /**************************************************************************** * Name: kxtj9_ioctl * * Description: * The standard ioctl method. * ****************************************************************************/ static int kxtj9_ioctl(FAR struct file *filep, int cmd, unsigned long arg) { FAR struct inode *inode; FAR struct kxtj9_dev_s *priv; int ret; /* Sanity check */ DEBUGASSERT(filep != NULL && filep->f_inode != NULL); inode = filep->f_inode; priv = (FAR struct kxtj9_dev_s *)inode->i_private; DEBUGASSERT(priv != NULL && priv->i2c != NULL); /* Handle ioctl commands */ switch (cmd) { /* Start converting. Arg: None. */ case SNIOC_ENABLE: ret = kxtj9_enable(priv, true); break; /* Stop converting. Arg: None. */ case SNIOC_DISABLE: ret = kxtj9_enable(priv, false); break; /* Configure the KXTJ9. Arg: enum kxtj9_odr_e value. */ case SNIOC_CONFIGURE: { DEBUGASSERT(arg <= UINT8_MAX); ret = kxtj9_configure(priv, (uint8_t)arg); sninfo("SNIOC_CONFIGURE: ODR=%u ret=%d\n", (unsigned int)arg, ret); } break; /* Unrecognized commands */ default: snerr("ERROR: Unrecognized cmd: %d arg: %lu\n", cmd, arg); ret = -ENOTTY; break; } return ret; } /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: kxtj9_register * * Description: * Register the KXTJ9 accelerometer device as 'devpath'. * * Input Parameters: * devpath - The full path to the driver to register, e.g., "/dev/accel0". * i2c - An I2C driver instance. * addr - The I2C address of the KXTJ9 accelerometer, gyroscope or * magnetometer. * * Returned Value: * Zero (OK) on success; a negated errno value on failure. * ****************************************************************************/ int kxtj9_register(FAR const char *devpath, FAR struct i2c_master_s *i2c, uint8_t address) { FAR struct kxtj9_dev_s *priv; int ret; /* Sanity check */ DEBUGASSERT(devpath != NULL && i2c != NULL); /* Initialize the device's structure */ priv = (FAR struct kxtj9_dev_s *)kmm_zalloc(sizeof(struct kxtj9_dev_s)); if (priv == NULL) { snerr("ERROR: Failed to allocate driver instance\n"); return -ENOMEM; } priv->i2c = i2c; priv->address = address; nxsem_init(&priv->exclsem, 0, 1); /* Register the character driver */ ret = register_driver(devpath, &g_fops, 0666, priv); if (ret < 0) { snerr("ERROR: Failed to register driver: %d\n", ret); kmm_free(priv); return ret; } return OK; } #endif /* CONFIG_I2C && CONFIG_SENSORS_KXTJ9 */