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nuttx/boards/arm/cxd56xx/drivers/sensors/ak09912_scu.c
Xiang Xiao cd001725b7 arch/arm: Remove FAR and CODE from board folder(1) 
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2022-05-03 16:50:52 +03:00

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/****************************************************************************
* 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 <nuttx/config.h>
#include <stdlib.h>
#include <stdio.h>
#include <fixedmath.h>
#include <assert.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/sensors/ak09912.h>
#include <nuttx/irq.h>
#include <arch/chip/scu.h>
#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
{
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(struct file *filep);
static int ak09912_close(struct file *filep);
static ssize_t ak09912_read(struct file *filep, char *buffer,
size_t buflen);
static ssize_t ak09912_write(struct file *filep, const char *buffer,
size_t buflen);
static int ak09912_ioctl(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
};
/* 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 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(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, &regval, 1);
return regval;
}
/****************************************************************************
* Name: ak09912_putreg8
*
* Description:
* Write to an 8-bit AK09912 register
*
****************************************************************************/
static void ak09912_putreg8(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(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(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(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(struct file *filep)
{
struct inode *inode = filep->f_inode;
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(struct file *filep)
{
struct inode *inode = filep->f_inode;
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(struct file *filep, char *buffer,
size_t len)
{
struct inode *inode = filep->f_inode;
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(struct file *filep, const char *buffer,
size_t buflen)
{
return -ENOSYS;
}
/****************************************************************************
* Name: ak09912_write
****************************************************************************/
static int ak09912_ioctl(struct file *filep, int cmd, unsigned long arg)
{
struct inode *inode = filep->f_inode;
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(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(const char *devpath, int minor,
struct i2c_master_s *i2c, int port)
{
struct ak09912_dev_s *priv;
char path[16];
int ret;
/* Initialize the AK09912 device structure */
priv = (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 */
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