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inv_slave_bma250.c
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inv_slave_bma250.c
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/*
* Copyright (C) 2012 Invensense, Inc.
*
* This software is licensed under the terms of the GNU General Public
* License version 2, as published by the Free Software Foundation, and
* may be copied, distributed, and modified under those terms.
*
* 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.
*/
#include <linux/module.h>
#include <linux/init.h>
#include <linux/slab.h>
#include <linux/i2c.h>
#include <linux/err.h>
#include <linux/delay.h>
#include <linux/sysfs.h>
#include <linux/jiffies.h>
#include <linux/irq.h>
#include <linux/interrupt.h>
#include <linux/kfifo.h>
#include <linux/poll.h>
#include <linux/miscdevice.h>
#include <linux/spinlock.h>
#include "inv_mpu_iio.h"
#define BMA250_CHIP_ID 3
#define BMA250_RANGE_SET 0
#define BMA250_BW_SET 4
/* range and bandwidth */
#define BMA250_RANGE_2G 3
#define BMA250_RANGE_4G 5
#define BMA250_RANGE_8G 8
#define BMA250_RANGE_16G 12
#define BMA250_RANGE_MAX 4
#define BMA250_RANGE_MASK 0xF0
#define BMA250_BW_7_81HZ 0x08
#define BMA250_BW_15_63HZ 0x09
#define BMA250_BW_31_25HZ 0x0A
#define BMA250_BW_62_50HZ 0x0B
#define BMA250_BW_125HZ 0x0C
#define BMA250_BW_250HZ 0x0D
#define BMA250_BW_500HZ 0x0E
#define BMA250_BW_1000HZ 0x0F
#define BMA250_MAX_BW_SIZE 8
#define BMA250_BW_REG_MASK 0xE0
/* register definitions */
#define BMA250_X_AXIS_LSB_REG 0x02
#define BMA250_RANGE_SEL_REG 0x0F
#define BMA250_BW_SEL_REG 0x10
#define BMA250_MODE_CTRL_REG 0x11
/* mode settings */
#define BMA250_MODE_NORMAL 0
#define BMA250_MODE_LOWPOWER 1
#define BMA250_MODE_SUSPEND 2
#define BMA250_MODE_MAX 3
#define BMA250_MODE_MASK 0x3F
#define BMA250_BIT_SUSPEND 0x80
#define BMA250_BIT_LP 0x40
struct bma_property {
int range;
int bandwidth;
int mode;
};
static struct bma_property bma_static_property = {
.range = BMA250_RANGE_SET,
.bandwidth = BMA250_BW_SET,
.mode = BMA250_MODE_SUSPEND
};
static int bma250_set_bandwidth(struct inv_mpu_state *st, u8 bw)
{
int res;
u8 data;
int bandwidth;
switch (bw) {
case 0:
bandwidth = BMA250_BW_7_81HZ;
break;
case 1:
bandwidth = BMA250_BW_15_63HZ;
break;
case 2:
bandwidth = BMA250_BW_31_25HZ;
break;
case 3:
bandwidth = BMA250_BW_62_50HZ;
break;
case 4:
bandwidth = BMA250_BW_125HZ;
break;
case 5:
bandwidth = BMA250_BW_250HZ;
break;
case 6:
bandwidth = BMA250_BW_500HZ;
break;
case 7:
bandwidth = BMA250_BW_1000HZ;
break;
default:
return -EINVAL;
}
res = inv_secondary_read(BMA250_BW_SEL_REG, 1, &data);
if (res)
return res;
data &= BMA250_BW_REG_MASK;
data |= bandwidth;
res = inv_secondary_write(BMA250_BW_SEL_REG, data);
return res;
}
static int bma250_set_range(struct inv_mpu_state *st, u8 range)
{
int res;
u8 orig, data;
switch (range) {
case 0:
data = BMA250_RANGE_2G;
break;
case 1:
data = BMA250_RANGE_4G;
break;
case 2:
data = BMA250_RANGE_8G;
break;
case 3:
data = BMA250_RANGE_16G;
break;
default:
return -EINVAL;
}
res = inv_secondary_read(BMA250_RANGE_SEL_REG, 1, &orig);
if (res)
return res;
orig &= BMA250_RANGE_MASK;
data |= orig;
res = inv_secondary_write(BMA250_RANGE_SEL_REG, data);
if (res)
return res;
bma_static_property.range = range;
return 0;
}
static int setup_slave_bma250(struct inv_mpu_state *st)
{
int result;
u8 data[2];
result = set_3050_bypass(st, true);
if (result)
return result;
/*read secondary i2c ID register */
result = inv_secondary_read(0, 1, data);
if (result)
return result;
if (BMA250_CHIP_ID != data[0])
return -EINVAL;
result = set_3050_bypass(st, false);
if (result)
return result;
/*AUX(accel), slave address is set inside set_3050_bypass*/
/* bma250 x axis LSB register address is 2 */
result = inv_i2c_single_write(st, REG_3050_AUX_BST_ADDR,
BMA250_X_AXIS_LSB_REG);
return result;
}
static int bma250_set_mode(struct inv_mpu_state *st, u8 mode)
{
int res;
u8 data;
res = inv_secondary_read(BMA250_MODE_CTRL_REG, 1, &data);
if (res)
return res;
data &= BMA250_MODE_MASK;
switch (mode) {
case BMA250_MODE_NORMAL:
break;
case BMA250_MODE_LOWPOWER:
data |= BMA250_BIT_LP;
break;
case BMA250_MODE_SUSPEND:
data |= BMA250_BIT_SUSPEND;
break;
default:
return -EINVAL;
}
res = inv_secondary_write(BMA250_MODE_CTRL_REG, data);
if (res)
return res;
bma_static_property.mode = mode;
return 0;
}
static int suspend_slave_bma250(struct inv_mpu_state *st)
{
int result;
if (bma_static_property.mode == BMA250_MODE_SUSPEND)
return 0;
/*set to bypass mode */
result = set_3050_bypass(st, true);
if (result)
return result;
bma250_set_mode(st, BMA250_MODE_SUSPEND);
/* no need to recover to non-bypass mode because we need it now */
return 0;
}
static int resume_slave_bma250(struct inv_mpu_state *st)
{
int result;
if (bma_static_property.mode == BMA250_MODE_NORMAL)
return 0;
/*set to bypass mode */
result = set_3050_bypass(st, true);
if (result)
return result;
result = bma250_set_mode(st, BMA250_MODE_NORMAL);
/* recover bypass mode */
result |= set_3050_bypass(st, false);
return result ? (-EINVAL) : 0;
}
static int combine_data_slave_bma250(u8 *in, short *out)
{
out[0] = le16_to_cpup((__le16 *)(&in[0]));
out[1] = le16_to_cpup((__le16 *)(&in[2]));
out[2] = le16_to_cpup((__le16 *)(&in[4]));
return 0;
}
static int get_mode_slave_bma250(void)
{
switch (bma_static_property.mode) {
case BMA250_MODE_SUSPEND:
return INV_MODE_SUSPEND;
case BMA250_MODE_NORMAL:
return INV_MODE_NORMAL;
default:
return -EINVAL;
}
}
/**
* set_lpf_bma250() - set lpf value
*/
static int set_lpf_bma250(struct inv_mpu_state *st, int rate)
{
const short hz[] = {1000, 500, 250, 125, 62, 31, 15, 7};
const int d[] = {7, 6, 5, 4, 3, 2, 1, 0};
int i, h, data, result;
h = (rate >> 1);
i = 0;
while ((h < hz[i]) && (i < ARRAY_SIZE(hz) - 1))
i++;
data = d[i];
result = set_3050_bypass(st, true);
if (result)
return result;
result = bma250_set_bandwidth(st, (u8) data);
result |= set_3050_bypass(st, false);
return result ? (-EINVAL) : 0;
}
/**
* set_fs_bma250() - set range value
*/
static int set_fs_bma250(struct inv_mpu_state *st, int fs)
{
int result;
result = set_3050_bypass(st, true);
if (result)
return result;
result = bma250_set_range(st, (u8) fs);
result |= set_3050_bypass(st, false);
return result ? (-EINVAL) : 0;
}
static struct inv_mpu_slave slave_bma250 = {
.suspend = suspend_slave_bma250,
.resume = resume_slave_bma250,
.setup = setup_slave_bma250,
.combine_data = combine_data_slave_bma250,
.get_mode = get_mode_slave_bma250,
.set_lpf = set_lpf_bma250,
.set_fs = set_fs_bma250
};
int inv_register_mpu3050_slave(struct inv_mpu_state *st)
{
st->slave_accel = &slave_bma250;
return 0;
}