/**************************************************************************** * boards/arm/cxd56xx/drivers/sensors/ak09912_scu.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 #include #include #include #include #include #include #include #include #include #include #include #include #include #if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_AK09912_SCU) /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ #ifdef CONFIG_SENSORS_AK09912_SCU_DECI # define MAG_SEQ_TYPE SEQ_TYPE_DECI #else # define MAG_SEQ_TYPE SEQ_TYPE_NORMAL #endif #define AK09912_ADDR 0x0C #define AK09912_FREQ 400000 #define AK09912_DEVID 0x0448 #define AK09911_DEVID 0x0548 /* 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 temperature measure or enable or disable Noise * suppression filter. */ #define AK09912_CTRL1 0x30 /* REGISTER: HXL * The start address of data registers. */ #define AK09912_HXL 0x11 /* The parameter for compensating. */ #define AK09912_SENSITIVITY (128) #define AK09912_SENSITIVITY_DIV (256) /* Noise Suppression Filter */ #define AK09912_NSF_MASK (0x3 << 5) #define AK09912_NSF_NONE (0x0 << 5) #define AK09912_NSF_LOW (0x1 << 5) #define AK09912_NSF_MIDDLE (0x2 << 5) #define AK09912_NSF_HIGH (0x3 << 5) /* 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 /* AK09912 is magnetometer */ #define AK09912_BYTESPERSAMPLE 6 #define AK09912_ELEMENTSIZE 2 #ifndef itemsof # define itemsof(array) (sizeof(array)/sizeof(array[0])) #endif /**************************************************************************** * Private Type Definitions ****************************************************************************/ /** * @brief 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 port; /* I2C port */ struct seq_s *seq; int id; }; /**************************************************************************** * 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 */ 0, /* seek */ ak09912_ioctl, /* ioctl */ #ifndef CONFIG_DISABLE_POLL 0, /* poll */ #endif 0 /* unlink */ }; /* Take XYZ data, temperature and Status 2 register. * Status 2 register has a role as data reading end. */ static const uint16_t g_ak09912inst[] = { SCU_INST_SEND(AK09912_HXL), SCU_INST_RECV(AK09912_BYTESPERSAMPLE + 2) | SCU_INST_LAST, }; static struct ak09912_sensadj_s g_asa; /* Sequencer instance */ static FAR struct seq_s *g_seq = NULL; /* Reference count */ static int g_refcnt = 0; /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: ak09912_getreg8 * * Description: * Read from an 8-bit AK09912 register * ****************************************************************************/ static uint8_t ak09912_getreg8(FAR struct ak09912_dev_s *priv, uint8_t regaddr) { uint8_t regval = 0; uint16_t inst[2]; /* Send register to read and get the next byte */ inst[0] = SCU_INST_SEND(regaddr); inst[1] = SCU_INST_RECV(1) | SCU_INST_LAST; scu_i2ctransfer(priv->port, priv->addr, inst, 2, ®val, 1); return regval; } /**************************************************************************** * Name: ak09912_putreg8 * * Description: * Write to an 8-bit AK09912 register * ****************************************************************************/ static void ak09912_putreg8(FAR struct ak09912_dev_s *priv, uint8_t regaddr, uint8_t regval) { uint16_t inst[2]; /* Send register address and set the value */ inst[0] = SCU_INST_SEND(regaddr); inst[1] = SCU_INST_SEND(regval) | SCU_INST_LAST; scu_i2ctransfer(priv->port, priv->addr, inst, 2, NULL, 0); } /**************************************************************************** * Name: ak09912_getreg * * Description: * Read cnt bytes from a ak09912 register * ****************************************************************************/ static int ak09912_getreg(FAR struct ak09912_dev_s *priv, uint8_t regaddr, uint8_t *buffer, uint32_t cnt) { uint16_t inst[2]; /* Send register to read and get the next byte */ inst[0] = SCU_INST_SEND(regaddr); inst[1] = SCU_INST_RECV(cnt) | SCU_INST_LAST; scu_i2ctransfer(priv->port, priv->addr, inst, 2, buffer, cnt); return OK; } /**************************************************************************** * Name: ak09912_checkid * * Description: * Read and verify the AK09911/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%04x\n", devid); if (devid != AK09911_DEVID && devid != AK09912_DEVID) { /* ID is not Correct */ snerr("Wrong Device ID! %02x\n", devid); return -ENODEV; } return OK; } static int ak09912_seqinit(FAR struct ak09912_dev_s *priv) { DEBUGASSERT(g_seq == NULL); /* Open sequencer */ g_seq = seq_open(MAG_SEQ_TYPE, SCU_BUS_I2C0); if (!g_seq) { return -ENOENT; } priv->seq = g_seq; seq_setaddress(priv->seq, priv->addr); /* Set instruction and sample data information to sequencer */ seq_setinstruction(priv->seq, g_ak09912inst, itemsof(g_ak09912inst)); seq_setsample(priv->seq, AK09912_BYTESPERSAMPLE, 0, AK09912_ELEMENTSIZE, false); return OK; } /**************************************************************************** * 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; if (g_refcnt == 0) { int ret; ret = ak09912_seqinit(priv); if (ret < 0) { return ret; } ak09912_putreg8(priv, POWER_MODE_ADDR, AKM_CONT_MEAS_4); up_mdelay(1); } else { /* Set existing sequencer */ priv->seq = g_seq; } g_refcnt++; 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; g_refcnt--; seq_ioctl(priv->seq, priv->id, SCUIOC_STOP, 0); 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 { seq_ioctl(priv->seq, priv->id, SCUIOC_FREEFIFO, 0); } 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: { struct ak09912_sensadj_s *user = (struct ak09912_sensadj_s *) (uintptr_t)arg; 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) { struct ak09912_dev_s tmp; struct ak09912_dev_s *priv = &tmp; 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 */ priv = (FAR struct ak09912_dev_s *) kmm_malloc(sizeof(struct ak09912_dev_s)); 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 */ snprintf(path, sizeof(path), "%s%d", devpath, minor); 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 */