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Date: Thu, 30 Jun 2011 19:18:27 -0700
From: Nathan Royer <nroyer@...ensense.com>
To: Nathan Royer <nroyer@...ensense.com>
Cc: Andrew Morton <akpm@...ux-foundation.org>,
Greg Kroah-Hartman <gregkh@...e.de>,
Jonathan Cameron <jic23@....ac.uk>,
Jiri Kosina <jkosina@...e.cz>, Alan Cox <alan@...ux.intel.com>,
Jean Delvare <khali@...ux-fr.org>,
linux-kernel@...r.kernel.org, linux-input@...r.kernel.org
Subject: [PATCH 11/11] misc: Add slave driver for bma085 pressure sensor
Signed-off-by: Nathan Royer <nroyer@...ensense.com>
---
drivers/misc/inv_mpu/Kconfig | 1 +
drivers/misc/inv_mpu/Makefile | 1 +
drivers/misc/inv_mpu/pressure/Kconfig | 20 ++
drivers/misc/inv_mpu/pressure/Makefile | 8 +
drivers/misc/inv_mpu/pressure/bma085.c | 367 ++++++++++++++++++++++++++++++++
5 files changed, 397 insertions(+), 0 deletions(-)
create mode 100644 drivers/misc/inv_mpu/pressure/Kconfig
create mode 100644 drivers/misc/inv_mpu/pressure/Makefile
create mode 100644 drivers/misc/inv_mpu/pressure/bma085.c
diff --git a/drivers/misc/inv_mpu/Kconfig b/drivers/misc/inv_mpu/Kconfig
index 7d9f2c3..ea7d754 100644
--- a/drivers/misc/inv_mpu/Kconfig
+++ b/drivers/misc/inv_mpu/Kconfig
@@ -57,5 +57,6 @@ endchoice
source "drivers/misc/inv_mpu/accel/Kconfig"
source "drivers/misc/inv_mpu/compass/Kconfig"
+source "drivers/misc/inv_mpu/pressure/Kconfig"
endif #INV_SENSORS
diff --git a/drivers/misc/inv_mpu/Makefile b/drivers/misc/inv_mpu/Makefile
index dc77a1b..506b8f5 100644
--- a/drivers/misc/inv_mpu/Makefile
+++ b/drivers/misc/inv_mpu/Makefile
@@ -18,3 +18,4 @@ EXTRA_CFLAGS += -Idrivers/misc/inv_mpu
obj-y += accel/
obj-y += compass/
+obj-y += pressure/
diff --git a/drivers/misc/inv_mpu/pressure/Kconfig b/drivers/misc/inv_mpu/pressure/Kconfig
new file mode 100644
index 0000000..f1c021e
--- /dev/null
+++ b/drivers/misc/inv_mpu/pressure/Kconfig
@@ -0,0 +1,20 @@
+menuconfig: INV_SENSORS_PRESSURE
+ bool "Pressure Sensor Slaves"
+ depends on INV_SENSORS
+ default y
+ help
+ Select y to see a list of supported pressure sensors that can be
+ integrated with the MPUxxxx set of motion processors.
+
+if INV_SENSORS_PRESSURE
+
+config MPU_SENSORS_BMA085
+ tristate "Bosch BMA085"
+ help
+ This enables support for the Bosch bma085 pressure sensor
+ This support is for integration with the MPU3050 or MPU6050 gyroscope
+ device driver. Only one accelerometer can be registered at a time.
+ Specifying more that one accelerometer in the board file will result
+ in runtime errors.
+
+endif
diff --git a/drivers/misc/inv_mpu/pressure/Makefile b/drivers/misc/inv_mpu/pressure/Makefile
new file mode 100644
index 0000000..595923d
--- /dev/null
+++ b/drivers/misc/inv_mpu/pressure/Makefile
@@ -0,0 +1,8 @@
+#
+# Pressure Slaves to MPUxxxx
+#
+obj-$(CONFIG_MPU_SENSORS_BMA085) += inv_mpu_bma085.o
+inv_mpu_bma085-objs += bma085.o
+
+EXTRA_CFLAGS += -Idrivers/misc/inv_mpu
+EXTRA_CFLAGS += -D__C99_DESIGNATED_INITIALIZER
diff --git a/drivers/misc/inv_mpu/pressure/bma085.c b/drivers/misc/inv_mpu/pressure/bma085.c
new file mode 100644
index 0000000..696d2b6
--- /dev/null
+++ b/drivers/misc/inv_mpu/pressure/bma085.c
@@ -0,0 +1,367 @@
+/*
+ $License:
+ Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+ $
+ */
+
+/**
+ * @defgroup ACCELDL (Motion Library - Pressure Driver Layer)
+ * @brief Provides the interface to setup and handle a pressure
+ * connected to the secondary I2C interface of the gyroscope.
+ *
+ * @{
+ * @file bma085.c
+ * @brief Pressure setup and handling methods.
+ */
+
+/* ------------------ */
+/* - Include Files. - */
+/* ------------------ */
+
+#include <linux/i2c.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/kernel.h>
+#include <linux/errno.h>
+#include <linux/slab.h>
+#include <linux/delay.h>
+#include "mpu-dev.h"
+
+#include <linux/mpu.h>
+#include "mlsl.h"
+#include "log.h"
+
+/*
+ * this structure holds all device specific calibration parameters
+ */
+struct bmp085_calibration_param_t {
+ short ac1;
+ short ac2;
+ short ac3;
+ unsigned short ac4;
+ unsigned short ac5;
+ unsigned short ac6;
+ short b1;
+ short b2;
+ short mb;
+ short mc;
+ short md;
+ long param_b5;
+};
+
+struct bmp085_calibration_param_t cal_param;
+
+#define PRESSURE_BMA085_PARAM_MG 3038 /* calibration parameter */
+#define PRESSURE_BMA085_PARAM_MH -7357 /* calibration parameter */
+#define PRESSURE_BMA085_PARAM_MI 3791 /* calibration parameter */
+
+/*********************************************
+ * Pressure Initialization Functions
+ *********************************************/
+
+static int bma085_suspend(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata)
+{
+ int result = INV_SUCCESS;
+ return result;
+}
+
+#define PRESSURE_BMA085_PROM_START_ADDR (0xAA)
+#define PRESSURE_BMA085_PROM_DATA_LEN (22)
+#define PRESSURE_BMP085_CTRL_MEAS_REG (0xF4)
+/* temperature measurent */
+#define PRESSURE_BMP085_T_MEAS (0x2E)
+/* pressure measurement; oversampling_setting */
+#define PRESSURE_BMP085_P_MEAS_OSS_0 (0x34)
+#define PRESSURE_BMP085_P_MEAS_OSS_1 (0x74)
+#define PRESSURE_BMP085_P_MEAS_OSS_2 (0xB4)
+#define PRESSURE_BMP085_P_MEAS_OSS_3 (0xF4)
+#define PRESSURE_BMP085_ADC_OUT_MSB_REG (0xF6)
+#define PRESSURE_BMP085_ADC_OUT_LSB_REG (0xF7)
+
+static int bma085_resume(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata)
+{
+ int result;
+ unsigned char data[PRESSURE_BMA085_PROM_DATA_LEN];
+
+ result =
+ inv_serial_read(mlsl_handle, pdata->address,
+ PRESSURE_BMA085_PROM_START_ADDR,
+ PRESSURE_BMA085_PROM_DATA_LEN, data);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+
+ /* parameters AC1-AC6 */
+ cal_param.ac1 = (data[0] << 8) | data[1];
+ cal_param.ac2 = (data[2] << 8) | data[3];
+ cal_param.ac3 = (data[4] << 8) | data[5];
+ cal_param.ac4 = (data[6] << 8) | data[7];
+ cal_param.ac5 = (data[8] << 8) | data[9];
+ cal_param.ac6 = (data[10] << 8) | data[11];
+
+ /* parameters B1,B2 */
+ cal_param.b1 = (data[12] << 8) | data[13];
+ cal_param.b2 = (data[14] << 8) | data[15];
+
+ /* parameters MB,MC,MD */
+ cal_param.mb = (data[16] << 8) | data[17];
+ cal_param.mc = (data[18] << 8) | data[19];
+ cal_param.md = (data[20] << 8) | data[21];
+
+ return result;
+}
+
+static int bma085_read(void *mlsl_handle,
+ struct ext_slave_descr *slave,
+ struct ext_slave_platform_data *pdata,
+ unsigned char *data)
+{
+ int result;
+ long pressure, x1, x2, x3, b3, b6;
+ unsigned long b4, b7;
+ unsigned long up;
+ unsigned short ut;
+ short oversampling_setting = 0;
+ short temperature;
+ long divisor;
+
+ /* get temprature */
+ result = inv_serial_single_write(mlsl_handle, pdata->address,
+ PRESSURE_BMP085_CTRL_MEAS_REG,
+ PRESSURE_BMP085_T_MEAS);
+ msleep(5);
+ result =
+ inv_serial_read(mlsl_handle, pdata->address,
+ PRESSURE_BMP085_ADC_OUT_MSB_REG, 2,
+ (unsigned char *)data);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ ut = (data[0] << 8) | data[1];
+
+ x1 = (((long) ut - (long)cal_param.ac6) * (long)cal_param.ac5) >> 15;
+ divisor = x1 + cal_param.md;
+ if (!divisor)
+ return INV_ERROR_DIVIDE_BY_ZERO;
+
+ x2 = ((long)cal_param.mc << 11) / (x1 + cal_param.md);
+ cal_param.param_b5 = x1 + x2;
+ /* temperature in 0.1 degree C */
+ temperature = (short)((cal_param.param_b5 + 8) >> 4);
+
+ /* get pressure */
+ result = inv_serial_single_write(mlsl_handle, pdata->address,
+ PRESSURE_BMP085_CTRL_MEAS_REG,
+ PRESSURE_BMP085_P_MEAS_OSS_0);
+ msleep(5);
+ result =
+ inv_serial_read(mlsl_handle, pdata->address,
+ PRESSURE_BMP085_ADC_OUT_MSB_REG, 2,
+ (unsigned char *)data);
+ if (result) {
+ LOG_RESULT_LOCATION(result);
+ return result;
+ }
+ up = (((unsigned long) data[0] << 8) | ((unsigned long) data[1]));
+
+ b6 = cal_param.param_b5 - 4000;
+ /* calculate B3 */
+ x1 = (b6*b6) >> 12;
+ x1 *= cal_param.b2;
+ x1 >>= 11;
+
+ x2 = (cal_param.ac2*b6);
+ x2 >>= 11;
+
+ x3 = x1 + x2;
+
+ b3 = (((((long)cal_param.ac1) * 4 + x3)
+ << oversampling_setting) + 2) >> 2;
+
+ /* calculate B4 */
+ x1 = (cal_param.ac3 * b6) >> 13;
+ x2 = (cal_param.b1 * ((b6*b6) >> 12)) >> 16;
+ x3 = ((x1 + x2) + 2) >> 2;
+ b4 = (cal_param.ac4 * (unsigned long) (x3 + 32768)) >> 15;
+ if (!b4)
+ return INV_ERROR;
+
+ b7 = ((unsigned long)(up - b3) * (50000>>oversampling_setting));
+ if (b7 < 0x80000000)
+ pressure = (b7 << 1) / b4;
+ else
+ pressure = (b7 / b4) << 1;
+
+ x1 = pressure >> 8;
+ x1 *= x1;
+ x1 = (x1 * PRESSURE_BMA085_PARAM_MG) >> 16;
+ x2 = (pressure * PRESSURE_BMA085_PARAM_MH) >> 16;
+ /* pressure in Pa */
+ pressure += (x1 + x2 + PRESSURE_BMA085_PARAM_MI) >> 4;
+
+ data[0] = (unsigned char)(pressure >> 16);
+ data[1] = (unsigned char)(pressure >> 8);
+ data[2] = (unsigned char)(pressure & 0xFF);
+
+ return result;
+}
+
+static struct ext_slave_descr bma085_descr = {
+ .init = NULL,
+ .exit = NULL,
+ .suspend = bma085_suspend,
+ .resume = bma085_resume,
+ .read = bma085_read,
+ .config = NULL,
+ .get_config = NULL,
+ .name = "bma085",
+ .type = EXT_SLAVE_TYPE_PRESSURE,
+ .id = PRESSURE_ID_BMA085,
+ .read_reg = 0xF6,
+ .read_len = 3,
+ .endian = EXT_SLAVE_BIG_ENDIAN,
+ .range = {0, 0},
+};
+
+static
+struct ext_slave_descr *bma085_get_slave_descr(void)
+{
+ return &bma085_descr;
+}
+
+/* Platform data for the MPU */
+struct bma085_mod_private_data {
+ struct i2c_client *client;
+ struct ext_slave_platform_data *pdata;
+};
+
+static unsigned short normal_i2c[] = { I2C_CLIENT_END };
+
+static int bma085_mod_probe(struct i2c_client *client,
+ const struct i2c_device_id *devid)
+{
+ struct ext_slave_platform_data *pdata;
+ struct bma085_mod_private_data *private_data;
+ int result = 0;
+
+ dev_info(&client->adapter->dev, "%s: %s\n", __func__, devid->name);
+
+ if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
+ result = -ENODEV;
+ goto out_no_free;
+ }
+
+ pdata = client->dev.platform_data;
+ if (!pdata) {
+ dev_err(&client->adapter->dev,
+ "Missing platform data for slave %s\n", devid->name);
+ result = -EFAULT;
+ goto out_no_free;
+ }
+
+ private_data = kzalloc(sizeof(*private_data), GFP_KERNEL);
+ if (!private_data) {
+ result = -ENOMEM;
+ goto out_no_free;
+ }
+
+ i2c_set_clientdata(client, private_data);
+ private_data->client = client;
+ private_data->pdata = pdata;
+
+ result = inv_mpu_register_slave(THIS_MODULE, client, pdata,
+ bma085_get_slave_descr);
+ if (result) {
+ dev_err(&client->adapter->dev,
+ "Slave registration failed: %s, %d\n",
+ devid->name, result);
+ goto out_free_memory;
+ }
+
+ return result;
+
+out_free_memory:
+ kfree(private_data);
+out_no_free:
+ dev_err(&client->adapter->dev, "%s failed %d\n", __func__, result);
+ return result;
+
+}
+
+static int bma085_mod_remove(struct i2c_client *client)
+{
+ struct bma085_mod_private_data *private_data =
+ i2c_get_clientdata(client);
+
+ dev_dbg(&client->adapter->dev, "%s\n", __func__);
+
+ inv_mpu_unregister_slave(client, private_data->pdata,
+ bma085_get_slave_descr);
+
+ kfree(private_data);
+ return 0;
+}
+
+static const struct i2c_device_id bma085_mod_id[] = {
+ { "bma085", PRESSURE_ID_BMA085 },
+ {}
+};
+
+MODULE_DEVICE_TABLE(i2c, bma085_mod_id);
+
+static struct i2c_driver bma085_mod_driver = {
+ .class = I2C_CLASS_HWMON,
+ .probe = bma085_mod_probe,
+ .remove = bma085_mod_remove,
+ .id_table = bma085_mod_id,
+ .driver = {
+ .owner = THIS_MODULE,
+ .name = "bma085_mod",
+ },
+ .address_list = normal_i2c,
+};
+
+static int __init bma085_mod_init(void)
+{
+ int res = i2c_add_driver(&bma085_mod_driver);
+ pr_info("%s: Probe name %s\n", __func__, "bma085_mod");
+ if (res)
+ pr_err("%s failed\n", __func__);
+ return res;
+}
+
+static void __exit bma085_mod_exit(void)
+{
+ pr_info("%s\n", __func__);
+ i2c_del_driver(&bma085_mod_driver);
+}
+
+module_init(bma085_mod_init);
+module_exit(bma085_mod_exit);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("Driver to integrate BMA085 sensor with the MPU");
+MODULE_LICENSE("GPL");
+MODULE_ALIAS("bma085_mod");
+/**
+ * @}
+**/
--
1.7.4.1
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