/****************************************************************************
* drivers/sensors/ak09912.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <fixedmath.h>
#include <errno.h>
#include <debug.h>
#include <arch/types.h>
#include <nuttx/kmalloc.h>
#include <nuttx/fs/fs.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/semaphore.h>
#include <nuttx/sensors/ak09912.h>
#include <nuttx/wdog.h>
#include <nuttx/irq.h>
#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_AK09912)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define AK09911_DEVID 0x05
#define AK09912_DEVID 0x04
#define AK09912_ADDR 0x0C
#define AK09912_FREQ 400000
/* REGISTER: WIA
* Who I am.
*/
#define AK09912_WIA1 0x00
#define AK09912_WIA2 0x01
/* REGISTER: CNTL2
* Power mode
*/
#define POWER_MODE_ADDR 0x31
/* REGISTER: ASAX
* Sensitivity values
*/
#define AK09912_ASAX 0x60
/* REGISTER: CNTL1
* Enable or disable temparator measure or enable or disable Noise
* suppression filter.
*/
#define AK09912_CTRL1 0x30
/* REGISTER: HXL
* The start address of data registers.
*/
#define AK09912_HXL 0x11
/* Polling timeout
* The unit is 10 millisecond.
*/
#define AK09912_POLLING_TIMEOUT (1) // 10 ms
/* The parameter for compensating. */
#define AK09912_SENSITIVITY (128)
#define AK09912_SENSITIVITY_DIV (256)
/* Noise Suppression Filter */
#define AK09912_NSF_NONE 0b00
#define AK09912_NSF_LOW 0b01
#define AK09912_NSF_MIDDLE 0b10
#define AK09912_NSF_HIGH 0b11
/* Power mode */
#define AKM_POWER_DOWN_MODE 0b0000
#define AKM_SINGL_MEAS_MODE 0b00001
#define AKM_CONT_MEAS_1 0b00010
#define AKM_CONT_MEAS_2 0b00100
#define AKM_CONT_MEAS_3 0b00110
#define AKM_CONT_MEAS_4 0b01000
#define AKM_EXT_TRIG_MODE 0b01010
#define AKM_SELF_TEST_MODE 0b10000
#define AKM_FUSE_ROM_MODE 0b11111
/* REGISTER: ST1
* DRDY: Data ready bit. 0: not ready, 1: ready
* DOR: Data overrun. 0: Not overrun, 1: overrun
*/
#define AK09912_ST1 0x10
#define SET_BITSLICE(s, v, offset, mask) \
do { \
s &= mask; \
s |= (v << offset) & mask;} while(0)
#define MERGE_BYTE(low, high) \
((low & 0xff) | ((high << 8) & ~0xff))
/****************************************************************************
* Private Type Definitions
****************************************************************************/
/* Structure for compensating data. */
struct sensi_data_s
{
uint8_t x;
uint8_t y;
uint8_t z;
};
/* Structure for ak09912 device */
struct ak09912_dev_s
{
FAR struct i2c_master_s *i2c; /* I2C interface */
uint8_t addr; /* I2C address */
int freq; /* Frequency <= 3.4MHz */
int compensated; /* 0: uncompensated, 1:compensated */
struct sensi_data_s asa_data; /* sensitivity data */
uint8_t mode; /* power mode */
uint8_t nsf; /* noise suppression filter setting */
struct wdog_s wd;
sem_t wait;
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/* Character driver methods */
static int ak09912_open(FAR struct file *filep);
static int ak09912_close(FAR struct file *filep);
static ssize_t ak09912_read(FAR struct file *filep, FAR char *buffer,
size_t buflen);
static ssize_t ak09912_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen);
static int ak09912_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_ak09912fops =
{
ak09912_open, /* open */
ak09912_close, /* close */
ak09912_read, /* read */
ak09912_write, /* write */
NULL, /* seek */
ak09912_ioctl, /* ioctl */
NULL /* poll */
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
, NULL /* unlink */
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: ak09912_getreg8
*
* Description:
* Read from an 8-bit BMP280 register
*
****************************************************************************/
static uint8_t ak09912_getreg8(FAR struct ak09912_dev_s *priv,
uint8_t regaddr)
{
struct i2c_msg_s msg[2];
uint8_t regval = 0;
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
msg[0].buffer = ®addr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = ®val;
msg[1].length = 1;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
return 0;
}
return regval;
}
/****************************************************************************
* Name: ak09912_putreg8
*
* Description:
* Write to an 8-bit BMP280 register
*
****************************************************************************/
static int ak09912_putreg8(FAR struct ak09912_dev_s *priv,
uint8_t regaddr, uint8_t regval)
{
struct i2c_msg_s msg[2];
int ret;
uint8_t txbuffer[2];
txbuffer[0] = regaddr;
txbuffer[1] = regval;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
msg[0].buffer = txbuffer;
msg[0].length = 2;
ret = I2C_TRANSFER(priv->i2c, msg, 1);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
return ret;
}
/****************************************************************************
* Name: ak09912_getreg
*
* Description:
* Read cnt bytes from a ak09912 register
*
****************************************************************************/
static int32_t ak09912_getreg(FAR struct ak09912_dev_s *priv,
uint8_t regaddr, FAR uint8_t *buffer,
uint32_t cnt)
{
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
msg[0].buffer = ®addr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = buffer;
msg[1].length = cnt;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
return ret;
}
return ret;
}
/****************************************************************************
* Name: ak09912_delay_msec
*
* Description:
* System level delay
*
****************************************************************************/
void ak09912_delay_msek(uint16_t msek)
{
/* This is used to short delay without schedule. */
up_udelay(msek * 1000);
}
/****************************************************************************
* Name: ak09912_set_power_mode
*
* Description:
* set POWER MODE for ak09912
*
****************************************************************************/
static int ak09912_set_power_mode(FAR struct ak09912_dev_s *priv,
uint32_t mode)
{
int ret = 0;
ret = ak09912_putreg8(priv, POWER_MODE_ADDR, (uint8_t)mode);
ak09912_delay_msek(1);
return ret;
}
/****************************************************************************
* Name: ak09912_read_sensitivity_data
*
* Description:
* read sensitivity date in fuse mode.
*
****************************************************************************/
static int ak09912_read_sensitivity_data(FAR struct ak09912_dev_s *priv,
FAR struct sensi_data_s *asa_data)
{
int ret = 0;
uint8_t buffer[3];
ret = ak09912_getreg(priv, AK09912_ASAX, buffer, sizeof(buffer));
if (ret == 0)
{
asa_data->x = buffer[0];
asa_data->y = buffer[1];
asa_data->z = buffer[2];
}
return ret;
}
/****************************************************************************
* Name: ak09912_set_noise_suppr_flt
*
* Description:
* set noise suppression filter for ak09912
*
****************************************************************************/
static int ak09912_set_noise_suppr_flt(FAR struct ak09912_dev_s *priv,
uint32_t nsf)
{
int ret = 0;
uint8_t ctrl1 = 0;
ctrl1 = ak09912_getreg8(priv, AK09912_CTRL1);
SET_BITSLICE(ctrl1, nsf, 5, 0x60);
ret = ak09912_putreg8(priv, AK09912_CTRL1, ctrl1);
return ret;
}
/****************************************************************************
* Name: ak09912_wd_timeout
*
* Description:
* a timer to check if data is ready.
*
****************************************************************************/
static void ak09912_wd_timeout(wdparm_t arg)
{
struct ak09912_dev_s *priv = (struct ak09912_dev_s *)arg;
irqstate_t flags = enter_critical_section();
nxsem_post(&priv->wait);
leave_critical_section(flags);
}
/****************************************************************************
* Name: ak09912_read_mag_uncomp_data
*
* Description:
* read mag uncompensating data.
*
****************************************************************************/
static int ak09912_read_mag_uncomp_data(FAR struct ak09912_dev_s *priv,
FAR struct mag_data_s *mag_data)
{
int ret = 0;
uint8_t state = 0;
uint8_t buffer[8]; /* TMPS and ST2 is read, but the value is omitted. */
wd_start(&priv->wd, AK09912_POLLING_TIMEOUT,
ak09912_wd_timeout, (wdparm_t)priv);
state = ak09912_getreg8(priv, AK09912_ST1);
while (! (state & 0x1))
{
nxsem_wait(&priv->wait);
}
wd_cancel(&priv->wd);
ret = ak09912_getreg(priv, AK09912_HXL, buffer, sizeof(buffer));
mag_data->x = MERGE_BYTE(buffer[0], buffer[1]);
mag_data->y = MERGE_BYTE(buffer[2], buffer[3]);
mag_data->z = MERGE_BYTE(buffer[4], buffer[5]);
return ret;
}
/****************************************************************************
* Name: ak09912_read_mag_data
*
* Description:
* read mag data with compensation
*
****************************************************************************/
static int ak09912_read_mag_data(FAR struct ak09912_dev_s *priv,
FAR struct mag_data_s *mag_data)
{
int ret = 0;
ret = ak09912_read_mag_uncomp_data(priv, mag_data);
if (ret < 0)
{
snerr("Failed to read mag data from device.\n");
return ret;
}
mag_data->x = (int16_t)(mag_data->x *
((int32_t)priv->asa_data.x + AK09912_SENSITIVITY) /
AK09912_SENSITIVITY_DIV);
mag_data->y = (int16_t)(mag_data->y *
((int32_t)priv->asa_data.y + AK09912_SENSITIVITY) /
AK09912_SENSITIVITY_DIV);
mag_data->z = (int16_t)(mag_data->z *
((int32_t)priv->asa_data.z + AK09912_SENSITIVITY) /
AK09912_SENSITIVITY_DIV);
return ret;
}
/****************************************************************************
* Name: ak09912_checkid
*
* Description:
* Read and verify the AK09912 chip ID
*
****************************************************************************/
static int ak09912_checkid(FAR struct ak09912_dev_s *priv)
{
uint16_t devid = 0;
/* Read device ID */
devid = ak09912_getreg8(priv, AK09912_WIA1);
devid += ak09912_getreg8(priv, AK09912_WIA2) << 8;
sninfo("devid: 0x%02x\n", devid);
if (devid != AK09911_DEVID && devid != AK09912_DEVID)
{
/* ID is not Correct */
snerr("Wrong Device ID! %02x\n", devid);
return -ENODEV;
}
return OK;
}
/****************************************************************************
* Name: ak09912_updatecaldata
*
* Description:
* Update Calibration Coefficient Data
*
****************************************************************************/
static int ak09912_initialize(FAR struct ak09912_dev_s *priv)
{
int ret = 0;
ret += ak09912_set_power_mode(priv, AKM_FUSE_ROM_MODE);
ret += ak09912_read_sensitivity_data(priv, &priv->asa_data);
ret += ak09912_set_power_mode(priv, AKM_POWER_DOWN_MODE);
ret += ak09912_set_noise_suppr_flt(priv, priv->nsf);
return ret;
}
/****************************************************************************
* Name: ak09912_open
*
* Description:
* This function is called whenever the AK09912 device is opened.
*
****************************************************************************/
static int ak09912_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct ak09912_dev_s *priv = inode->i_private;
int ret = 0;
ret = ak09912_set_power_mode(priv, priv->mode);
if (ret < 0)
{
snerr("Failed to set power mode to %d.\n", priv->mode);
return ret;
}
return OK;
}
/****************************************************************************
* Name: ak09912_close
*
* Description:
* This routine is called when the AK09912 device is closed.
*
****************************************************************************/
static int ak09912_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct ak09912_dev_s *priv = inode->i_private;
int ret = 0;
ret = ak09912_set_power_mode(priv, AKM_POWER_DOWN_MODE);
if (ret < 0)
{
snerr("Failed to set power mode to %d.\n", AKM_POWER_DOWN_MODE);
return ret;
}
return OK;
}
/****************************************************************************
* Name: ak09912_read
****************************************************************************/
static ssize_t ak09912_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
FAR struct inode *inode = filep->f_inode;
FAR struct ak09912_dev_s *priv = inode->i_private;
int32_t ret = 0;
FAR struct mag_data_s *mag_data = (FAR struct mag_data_s *)buffer;
if (! buffer)
{
snerr("Buffer is null\n");
return -1;
}
if (buflen != sizeof(struct mag_data_s))
{
snerr("You can't read something other than 32 bits (4 bytes)\n");
return -1;
}
if (priv->compensated)
{
irqstate_t flags = enter_critical_section();
ret = ak09912_read_mag_data(priv, mag_data);
leave_critical_section(flags);
}
else
{
irqstate_t flags = enter_critical_section();
ret = ak09912_read_mag_uncomp_data(priv, mag_data);
leave_critical_section(flags);
}
if (ret < 0)
{
snerr("Failed to read data from ak09912.\n");
return ret;
}
return sizeof(struct mag_data_s);
}
/****************************************************************************
* 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)
{
case SNIOC_ENABLE_COMPENSATED:
priv->compensated = (int)arg;
break;
default:
snerr("Unrecognized cmd: %d\n", cmd);
ret = - ENOTTY;
break;
}
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* 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/compass0"
* 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, FAR struct i2c_master_s *i2c)
{
FAR struct ak09912_dev_s *priv;
char path[16];
int ret;
/* Initialize the AK09912 device structure */
priv = kmm_zalloc(sizeof(struct ak09912_dev_s));
if (!priv)
{
snerr("Failed to allocate instance\n");
return -ENOMEM;
}
priv->i2c = i2c;
priv->addr = AK09912_ADDR;
priv->freq = AK09912_FREQ;
priv->compensated = ENABLE_COMPENSATED;
nxsem_init(&priv->wait, 0, 0);
/* set default noise suppression filter. */
priv->nsf = AK09912_NSF_LOW;
/* set default power mode */
priv->mode = AKM_CONT_MEAS_4;
/* Check Device ID */
ret = ak09912_checkid(priv);
if (ret < 0)
{
snerr("Failed to register driver: %d\n", ret);
kmm_free(priv);
return ret;
}
ret = ak09912_initialize(priv);
if (ret < 0)
{
snerr("Failed to initialize physical device ak09912:%d\n", ret);
kmm_free(priv);
return ret;
}
/* Register the character driver */
snprintf(path, sizeof(path), "%s%d", devpath, 0);
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 */