1 /* 2 * Copyright (c) 2011 Bosch Sensortec GmbH 3 * Copyright (c) 2011 Unixphere 4 * 5 * This driver adds support for Bosch Sensortec's digital acceleration 6 * sensors BMA150 and SMB380. 7 * The SMB380 is fully compatible with BMA150 and only differs in packaging. 8 * 9 * The datasheet for the BMA150 chip can be found here: 10 * http://www.bosch-sensortec.com/content/language1/downloads/BST-BMA150-DS000-07.pdf 11 * 12 * This program is free software; you can redistribute it and/or modify 13 * it under the terms of the GNU General Public License as published by 14 * the Free Software Foundation; either version 2 of the License, or 15 * (at your option) any later version. 16 * 17 * This program is distributed in the hope that it will be useful, 18 * but WITHOUT ANY WARRANTY; without even the implied warranty of 19 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 20 * GNU General Public License for more details. 21 * 22 * You should have received a copy of the GNU General Public License 23 * along with this program; if not, write to the Free Software 24 * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 25 */ 26 #include <linux/kernel.h> 27 #include <linux/module.h> 28 #include <linux/i2c.h> 29 #include <linux/input.h> 30 #include <linux/input-polldev.h> 31 #include <linux/interrupt.h> 32 #include <linux/delay.h> 33 #include <linux/slab.h> 34 #include <linux/pm.h> 35 #include <linux/pm_runtime.h> 36 #include <linux/bma150.h> 37 38 #define ABSMAX_ACC_VAL 0x01FF 39 #define ABSMIN_ACC_VAL -(ABSMAX_ACC_VAL) 40 41 /* Each axis is represented by a 2-byte data word */ 42 #define BMA150_XYZ_DATA_SIZE 6 43 44 /* Input poll interval in milliseconds */ 45 #define BMA150_POLL_INTERVAL 10 46 #define BMA150_POLL_MAX 200 47 #define BMA150_POLL_MIN 0 48 49 #define BMA150_MODE_NORMAL 0 50 #define BMA150_MODE_SLEEP 2 51 #define BMA150_MODE_WAKE_UP 3 52 53 /* Data register addresses */ 54 #define BMA150_DATA_0_REG 0x00 55 #define BMA150_DATA_1_REG 0x01 56 #define BMA150_DATA_2_REG 0x02 57 58 /* Control register addresses */ 59 #define BMA150_CTRL_0_REG 0x0A 60 #define BMA150_CTRL_1_REG 0x0B 61 #define BMA150_CTRL_2_REG 0x14 62 #define BMA150_CTRL_3_REG 0x15 63 64 /* Configuration/Setting register addresses */ 65 #define BMA150_CFG_0_REG 0x0C 66 #define BMA150_CFG_1_REG 0x0D 67 #define BMA150_CFG_2_REG 0x0E 68 #define BMA150_CFG_3_REG 0x0F 69 #define BMA150_CFG_4_REG 0x10 70 #define BMA150_CFG_5_REG 0x11 71 72 #define BMA150_CHIP_ID 2 73 #define BMA150_CHIP_ID_REG BMA150_DATA_0_REG 74 75 #define BMA150_ACC_X_LSB_REG BMA150_DATA_2_REG 76 77 #define BMA150_SLEEP_POS 0 78 #define BMA150_SLEEP_MSK 0x01 79 #define BMA150_SLEEP_REG BMA150_CTRL_0_REG 80 81 #define BMA150_BANDWIDTH_POS 0 82 #define BMA150_BANDWIDTH_MSK 0x07 83 #define BMA150_BANDWIDTH_REG BMA150_CTRL_2_REG 84 85 #define BMA150_RANGE_POS 3 86 #define BMA150_RANGE_MSK 0x18 87 #define BMA150_RANGE_REG BMA150_CTRL_2_REG 88 89 #define BMA150_WAKE_UP_POS 0 90 #define BMA150_WAKE_UP_MSK 0x01 91 #define BMA150_WAKE_UP_REG BMA150_CTRL_3_REG 92 93 #define BMA150_SW_RES_POS 1 94 #define BMA150_SW_RES_MSK 0x02 95 #define BMA150_SW_RES_REG BMA150_CTRL_0_REG 96 97 /* Any-motion interrupt register fields */ 98 #define BMA150_ANY_MOTION_EN_POS 6 99 #define BMA150_ANY_MOTION_EN_MSK 0x40 100 #define BMA150_ANY_MOTION_EN_REG BMA150_CTRL_1_REG 101 102 #define BMA150_ANY_MOTION_DUR_POS 6 103 #define BMA150_ANY_MOTION_DUR_MSK 0xC0 104 #define BMA150_ANY_MOTION_DUR_REG BMA150_CFG_5_REG 105 106 #define BMA150_ANY_MOTION_THRES_REG BMA150_CFG_4_REG 107 108 /* Advanced interrupt register fields */ 109 #define BMA150_ADV_INT_EN_POS 6 110 #define BMA150_ADV_INT_EN_MSK 0x40 111 #define BMA150_ADV_INT_EN_REG BMA150_CTRL_3_REG 112 113 /* High-G interrupt register fields */ 114 #define BMA150_HIGH_G_EN_POS 1 115 #define BMA150_HIGH_G_EN_MSK 0x02 116 #define BMA150_HIGH_G_EN_REG BMA150_CTRL_1_REG 117 118 #define BMA150_HIGH_G_HYST_POS 3 119 #define BMA150_HIGH_G_HYST_MSK 0x38 120 #define BMA150_HIGH_G_HYST_REG BMA150_CFG_5_REG 121 122 #define BMA150_HIGH_G_DUR_REG BMA150_CFG_3_REG 123 #define BMA150_HIGH_G_THRES_REG BMA150_CFG_2_REG 124 125 /* Low-G interrupt register fields */ 126 #define BMA150_LOW_G_EN_POS 0 127 #define BMA150_LOW_G_EN_MSK 0x01 128 #define BMA150_LOW_G_EN_REG BMA150_CTRL_1_REG 129 130 #define BMA150_LOW_G_HYST_POS 0 131 #define BMA150_LOW_G_HYST_MSK 0x07 132 #define BMA150_LOW_G_HYST_REG BMA150_CFG_5_REG 133 134 #define BMA150_LOW_G_DUR_REG BMA150_CFG_1_REG 135 #define BMA150_LOW_G_THRES_REG BMA150_CFG_0_REG 136 137 struct bma150_data { 138 struct i2c_client *client; 139 struct input_polled_dev *input_polled; 140 struct input_dev *input; 141 u8 mode; 142 }; 143 144 /* 145 * The settings for the given range, bandwidth and interrupt features 146 * are stated and verified by Bosch Sensortec where they are configured 147 * to provide a generic sensitivity performance. 148 */ 149 static struct bma150_cfg default_cfg = { 150 .any_motion_int = 1, 151 .hg_int = 1, 152 .lg_int = 1, 153 .any_motion_dur = 0, 154 .any_motion_thres = 0, 155 .hg_hyst = 0, 156 .hg_dur = 150, 157 .hg_thres = 160, 158 .lg_hyst = 0, 159 .lg_dur = 150, 160 .lg_thres = 20, 161 .range = BMA150_RANGE_2G, 162 .bandwidth = BMA150_BW_50HZ 163 }; 164 165 static int bma150_write_byte(struct i2c_client *client, u8 reg, u8 val) 166 { 167 s32 ret; 168 169 /* As per specification, disable irq in between register writes */ 170 if (client->irq) 171 disable_irq_nosync(client->irq); 172 173 ret = i2c_smbus_write_byte_data(client, reg, val); 174 175 if (client->irq) 176 enable_irq(client->irq); 177 178 return ret; 179 } 180 181 static int bma150_set_reg_bits(struct i2c_client *client, 182 int val, int shift, u8 mask, u8 reg) 183 { 184 int data; 185 186 data = i2c_smbus_read_byte_data(client, reg); 187 if (data < 0) 188 return data; 189 190 data = (data & ~mask) | ((val << shift) & mask); 191 return bma150_write_byte(client, reg, data); 192 } 193 194 static int bma150_set_mode(struct bma150_data *bma150, u8 mode) 195 { 196 int error; 197 198 error = bma150_set_reg_bits(bma150->client, mode, BMA150_WAKE_UP_POS, 199 BMA150_WAKE_UP_MSK, BMA150_WAKE_UP_REG); 200 if (error) 201 return error; 202 203 error = bma150_set_reg_bits(bma150->client, mode, BMA150_SLEEP_POS, 204 BMA150_SLEEP_MSK, BMA150_SLEEP_REG); 205 if (error) 206 return error; 207 208 if (mode == BMA150_MODE_NORMAL) 209 msleep(2); 210 211 bma150->mode = mode; 212 return 0; 213 } 214 215 static int bma150_soft_reset(struct bma150_data *bma150) 216 { 217 int error; 218 219 error = bma150_set_reg_bits(bma150->client, 1, BMA150_SW_RES_POS, 220 BMA150_SW_RES_MSK, BMA150_SW_RES_REG); 221 if (error) 222 return error; 223 224 msleep(2); 225 return 0; 226 } 227 228 static int bma150_set_range(struct bma150_data *bma150, u8 range) 229 { 230 return bma150_set_reg_bits(bma150->client, range, BMA150_RANGE_POS, 231 BMA150_RANGE_MSK, BMA150_RANGE_REG); 232 } 233 234 static int bma150_set_bandwidth(struct bma150_data *bma150, u8 bw) 235 { 236 return bma150_set_reg_bits(bma150->client, bw, BMA150_BANDWIDTH_POS, 237 BMA150_BANDWIDTH_MSK, BMA150_BANDWIDTH_REG); 238 } 239 240 static int bma150_set_low_g_interrupt(struct bma150_data *bma150, 241 u8 enable, u8 hyst, u8 dur, u8 thres) 242 { 243 int error; 244 245 error = bma150_set_reg_bits(bma150->client, hyst, 246 BMA150_LOW_G_HYST_POS, BMA150_LOW_G_HYST_MSK, 247 BMA150_LOW_G_HYST_REG); 248 if (error) 249 return error; 250 251 error = bma150_write_byte(bma150->client, BMA150_LOW_G_DUR_REG, dur); 252 if (error) 253 return error; 254 255 error = bma150_write_byte(bma150->client, BMA150_LOW_G_THRES_REG, thres); 256 if (error) 257 return error; 258 259 return bma150_set_reg_bits(bma150->client, !!enable, 260 BMA150_LOW_G_EN_POS, BMA150_LOW_G_EN_MSK, 261 BMA150_LOW_G_EN_REG); 262 } 263 264 static int bma150_set_high_g_interrupt(struct bma150_data *bma150, 265 u8 enable, u8 hyst, u8 dur, u8 thres) 266 { 267 int error; 268 269 error = bma150_set_reg_bits(bma150->client, hyst, 270 BMA150_HIGH_G_HYST_POS, BMA150_HIGH_G_HYST_MSK, 271 BMA150_HIGH_G_HYST_REG); 272 if (error) 273 return error; 274 275 error = bma150_write_byte(bma150->client, 276 BMA150_HIGH_G_DUR_REG, dur); 277 if (error) 278 return error; 279 280 error = bma150_write_byte(bma150->client, 281 BMA150_HIGH_G_THRES_REG, thres); 282 if (error) 283 return error; 284 285 return bma150_set_reg_bits(bma150->client, !!enable, 286 BMA150_HIGH_G_EN_POS, BMA150_HIGH_G_EN_MSK, 287 BMA150_HIGH_G_EN_REG); 288 } 289 290 291 static int bma150_set_any_motion_interrupt(struct bma150_data *bma150, 292 u8 enable, u8 dur, u8 thres) 293 { 294 int error; 295 296 error = bma150_set_reg_bits(bma150->client, dur, 297 BMA150_ANY_MOTION_DUR_POS, 298 BMA150_ANY_MOTION_DUR_MSK, 299 BMA150_ANY_MOTION_DUR_REG); 300 if (error) 301 return error; 302 303 error = bma150_write_byte(bma150->client, 304 BMA150_ANY_MOTION_THRES_REG, thres); 305 if (error) 306 return error; 307 308 error = bma150_set_reg_bits(bma150->client, !!enable, 309 BMA150_ADV_INT_EN_POS, BMA150_ADV_INT_EN_MSK, 310 BMA150_ADV_INT_EN_REG); 311 if (error) 312 return error; 313 314 return bma150_set_reg_bits(bma150->client, !!enable, 315 BMA150_ANY_MOTION_EN_POS, 316 BMA150_ANY_MOTION_EN_MSK, 317 BMA150_ANY_MOTION_EN_REG); 318 } 319 320 static void bma150_report_xyz(struct bma150_data *bma150) 321 { 322 u8 data[BMA150_XYZ_DATA_SIZE]; 323 s16 x, y, z; 324 s32 ret; 325 326 ret = i2c_smbus_read_i2c_block_data(bma150->client, 327 BMA150_ACC_X_LSB_REG, BMA150_XYZ_DATA_SIZE, data); 328 if (ret != BMA150_XYZ_DATA_SIZE) 329 return; 330 331 x = ((0xc0 & data[0]) >> 6) | (data[1] << 2); 332 y = ((0xc0 & data[2]) >> 6) | (data[3] << 2); 333 z = ((0xc0 & data[4]) >> 6) | (data[5] << 2); 334 335 /* sign extension */ 336 x = (s16) (x << 6) >> 6; 337 y = (s16) (y << 6) >> 6; 338 z = (s16) (z << 6) >> 6; 339 340 input_report_abs(bma150->input, ABS_X, x); 341 input_report_abs(bma150->input, ABS_Y, y); 342 input_report_abs(bma150->input, ABS_Z, z); 343 input_sync(bma150->input); 344 } 345 346 static irqreturn_t bma150_irq_thread(int irq, void *dev) 347 { 348 bma150_report_xyz(dev); 349 350 return IRQ_HANDLED; 351 } 352 353 static void bma150_poll(struct input_polled_dev *dev) 354 { 355 bma150_report_xyz(dev->private); 356 } 357 358 static int bma150_open(struct bma150_data *bma150) 359 { 360 int error; 361 362 error = pm_runtime_get_sync(&bma150->client->dev); 363 if (error < 0 && error != -ENOSYS) 364 return error; 365 366 /* 367 * See if runtime PM woke up the device. If runtime PM 368 * is disabled we need to do it ourselves. 369 */ 370 if (bma150->mode != BMA150_MODE_NORMAL) { 371 error = bma150_set_mode(bma150, BMA150_MODE_NORMAL); 372 if (error) 373 return error; 374 } 375 376 return 0; 377 } 378 379 static void bma150_close(struct bma150_data *bma150) 380 { 381 pm_runtime_put_sync(&bma150->client->dev); 382 383 if (bma150->mode != BMA150_MODE_SLEEP) 384 bma150_set_mode(bma150, BMA150_MODE_SLEEP); 385 } 386 387 static int bma150_irq_open(struct input_dev *input) 388 { 389 struct bma150_data *bma150 = input_get_drvdata(input); 390 391 return bma150_open(bma150); 392 } 393 394 static void bma150_irq_close(struct input_dev *input) 395 { 396 struct bma150_data *bma150 = input_get_drvdata(input); 397 398 bma150_close(bma150); 399 } 400 401 static void bma150_poll_open(struct input_polled_dev *ipoll_dev) 402 { 403 struct bma150_data *bma150 = ipoll_dev->private; 404 405 bma150_open(bma150); 406 } 407 408 static void bma150_poll_close(struct input_polled_dev *ipoll_dev) 409 { 410 struct bma150_data *bma150 = ipoll_dev->private; 411 412 bma150_close(bma150); 413 } 414 415 static int bma150_initialize(struct bma150_data *bma150, 416 const struct bma150_cfg *cfg) 417 { 418 int error; 419 420 error = bma150_soft_reset(bma150); 421 if (error) 422 return error; 423 424 error = bma150_set_bandwidth(bma150, cfg->bandwidth); 425 if (error) 426 return error; 427 428 error = bma150_set_range(bma150, cfg->range); 429 if (error) 430 return error; 431 432 if (bma150->client->irq) { 433 error = bma150_set_any_motion_interrupt(bma150, 434 cfg->any_motion_int, 435 cfg->any_motion_dur, 436 cfg->any_motion_thres); 437 if (error) 438 return error; 439 440 error = bma150_set_high_g_interrupt(bma150, 441 cfg->hg_int, cfg->hg_hyst, 442 cfg->hg_dur, cfg->hg_thres); 443 if (error) 444 return error; 445 446 error = bma150_set_low_g_interrupt(bma150, 447 cfg->lg_int, cfg->lg_hyst, 448 cfg->lg_dur, cfg->lg_thres); 449 if (error) 450 return error; 451 } 452 453 return bma150_set_mode(bma150, BMA150_MODE_SLEEP); 454 } 455 456 static void bma150_init_input_device(struct bma150_data *bma150, 457 struct input_dev *idev) 458 { 459 idev->name = BMA150_DRIVER; 460 idev->phys = BMA150_DRIVER "/input0"; 461 idev->id.bustype = BUS_I2C; 462 idev->dev.parent = &bma150->client->dev; 463 464 idev->evbit[0] = BIT_MASK(EV_ABS); 465 input_set_abs_params(idev, ABS_X, ABSMIN_ACC_VAL, ABSMAX_ACC_VAL, 0, 0); 466 input_set_abs_params(idev, ABS_Y, ABSMIN_ACC_VAL, ABSMAX_ACC_VAL, 0, 0); 467 input_set_abs_params(idev, ABS_Z, ABSMIN_ACC_VAL, ABSMAX_ACC_VAL, 0, 0); 468 } 469 470 static int bma150_register_input_device(struct bma150_data *bma150) 471 { 472 struct input_dev *idev; 473 int error; 474 475 idev = input_allocate_device(); 476 if (!idev) 477 return -ENOMEM; 478 479 bma150_init_input_device(bma150, idev); 480 481 idev->open = bma150_irq_open; 482 idev->close = bma150_irq_close; 483 input_set_drvdata(idev, bma150); 484 485 error = input_register_device(idev); 486 if (error) { 487 input_free_device(idev); 488 return error; 489 } 490 491 bma150->input = idev; 492 return 0; 493 } 494 495 static int bma150_register_polled_device(struct bma150_data *bma150) 496 { 497 struct input_polled_dev *ipoll_dev; 498 int error; 499 500 ipoll_dev = input_allocate_polled_device(); 501 if (!ipoll_dev) 502 return -ENOMEM; 503 504 ipoll_dev->private = bma150; 505 ipoll_dev->open = bma150_poll_open; 506 ipoll_dev->close = bma150_poll_close; 507 ipoll_dev->poll = bma150_poll; 508 ipoll_dev->poll_interval = BMA150_POLL_INTERVAL; 509 ipoll_dev->poll_interval_min = BMA150_POLL_MIN; 510 ipoll_dev->poll_interval_max = BMA150_POLL_MAX; 511 512 bma150_init_input_device(bma150, ipoll_dev->input); 513 514 error = input_register_polled_device(ipoll_dev); 515 if (error) { 516 input_free_polled_device(ipoll_dev); 517 return error; 518 } 519 520 bma150->input_polled = ipoll_dev; 521 bma150->input = ipoll_dev->input; 522 523 return 0; 524 } 525 526 static int bma150_probe(struct i2c_client *client, 527 const struct i2c_device_id *id) 528 { 529 const struct bma150_platform_data *pdata = client->dev.platform_data; 530 const struct bma150_cfg *cfg; 531 struct bma150_data *bma150; 532 int chip_id; 533 int error; 534 535 if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) { 536 dev_err(&client->dev, "i2c_check_functionality error\n"); 537 return -EIO; 538 } 539 540 chip_id = i2c_smbus_read_byte_data(client, BMA150_CHIP_ID_REG); 541 if (chip_id != BMA150_CHIP_ID) { 542 dev_err(&client->dev, "BMA150 chip id error: %d\n", chip_id); 543 return -EINVAL; 544 } 545 546 bma150 = kzalloc(sizeof(struct bma150_data), GFP_KERNEL); 547 if (!bma150) 548 return -ENOMEM; 549 550 bma150->client = client; 551 552 if (pdata) { 553 if (pdata->irq_gpio_cfg) { 554 error = pdata->irq_gpio_cfg(); 555 if (error) { 556 dev_err(&client->dev, 557 "IRQ GPIO conf. error %d, error %d\n", 558 client->irq, error); 559 goto err_free_mem; 560 } 561 } 562 cfg = &pdata->cfg; 563 } else { 564 cfg = &default_cfg; 565 } 566 567 error = bma150_initialize(bma150, cfg); 568 if (error) 569 goto err_free_mem; 570 571 if (client->irq > 0) { 572 error = bma150_register_input_device(bma150); 573 if (error) 574 goto err_free_mem; 575 576 error = request_threaded_irq(client->irq, 577 NULL, bma150_irq_thread, 578 IRQF_TRIGGER_RISING | IRQF_ONESHOT, 579 BMA150_DRIVER, bma150); 580 if (error) { 581 dev_err(&client->dev, 582 "irq request failed %d, error %d\n", 583 client->irq, error); 584 input_unregister_device(bma150->input); 585 goto err_free_mem; 586 } 587 } else { 588 error = bma150_register_polled_device(bma150); 589 if (error) 590 goto err_free_mem; 591 } 592 593 i2c_set_clientdata(client, bma150); 594 595 pm_runtime_enable(&client->dev); 596 597 return 0; 598 599 err_free_mem: 600 kfree(bma150); 601 return error; 602 } 603 604 static int bma150_remove(struct i2c_client *client) 605 { 606 struct bma150_data *bma150 = i2c_get_clientdata(client); 607 608 pm_runtime_disable(&client->dev); 609 610 if (client->irq > 0) { 611 free_irq(client->irq, bma150); 612 input_unregister_device(bma150->input); 613 } else { 614 input_unregister_polled_device(bma150->input_polled); 615 input_free_polled_device(bma150->input_polled); 616 } 617 618 kfree(bma150); 619 620 return 0; 621 } 622 623 #ifdef CONFIG_PM 624 static int bma150_suspend(struct device *dev) 625 { 626 struct i2c_client *client = to_i2c_client(dev); 627 struct bma150_data *bma150 = i2c_get_clientdata(client); 628 629 return bma150_set_mode(bma150, BMA150_MODE_SLEEP); 630 } 631 632 static int bma150_resume(struct device *dev) 633 { 634 struct i2c_client *client = to_i2c_client(dev); 635 struct bma150_data *bma150 = i2c_get_clientdata(client); 636 637 return bma150_set_mode(bma150, BMA150_MODE_NORMAL); 638 } 639 #endif 640 641 static UNIVERSAL_DEV_PM_OPS(bma150_pm, bma150_suspend, bma150_resume, NULL); 642 643 static const struct i2c_device_id bma150_id[] = { 644 { "bma150", 0 }, 645 { "smb380", 0 }, 646 { "bma023", 0 }, 647 { } 648 }; 649 650 MODULE_DEVICE_TABLE(i2c, bma150_id); 651 652 static struct i2c_driver bma150_driver = { 653 .driver = { 654 .owner = THIS_MODULE, 655 .name = BMA150_DRIVER, 656 .pm = &bma150_pm, 657 }, 658 .class = I2C_CLASS_HWMON, 659 .id_table = bma150_id, 660 .probe = bma150_probe, 661 .remove = bma150_remove, 662 }; 663 664 module_i2c_driver(bma150_driver); 665 666 MODULE_AUTHOR("Albert Zhang <xu.zhang@bosch-sensortec.com>"); 667 MODULE_DESCRIPTION("BMA150 driver"); 668 MODULE_LICENSE("GPL"); 669