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 BMA180_CHIP_ID 3 74 #define BMA150_CHIP_ID_REG BMA150_DATA_0_REG 75 76 #define BMA150_ACC_X_LSB_REG BMA150_DATA_2_REG 77 78 #define BMA150_SLEEP_POS 0 79 #define BMA150_SLEEP_MSK 0x01 80 #define BMA150_SLEEP_REG BMA150_CTRL_0_REG 81 82 #define BMA150_BANDWIDTH_POS 0 83 #define BMA150_BANDWIDTH_MSK 0x07 84 #define BMA150_BANDWIDTH_REG BMA150_CTRL_2_REG 85 86 #define BMA150_RANGE_POS 3 87 #define BMA150_RANGE_MSK 0x18 88 #define BMA150_RANGE_REG BMA150_CTRL_2_REG 89 90 #define BMA150_WAKE_UP_POS 0 91 #define BMA150_WAKE_UP_MSK 0x01 92 #define BMA150_WAKE_UP_REG BMA150_CTRL_3_REG 93 94 #define BMA150_SW_RES_POS 1 95 #define BMA150_SW_RES_MSK 0x02 96 #define BMA150_SW_RES_REG BMA150_CTRL_0_REG 97 98 /* Any-motion interrupt register fields */ 99 #define BMA150_ANY_MOTION_EN_POS 6 100 #define BMA150_ANY_MOTION_EN_MSK 0x40 101 #define BMA150_ANY_MOTION_EN_REG BMA150_CTRL_1_REG 102 103 #define BMA150_ANY_MOTION_DUR_POS 6 104 #define BMA150_ANY_MOTION_DUR_MSK 0xC0 105 #define BMA150_ANY_MOTION_DUR_REG BMA150_CFG_5_REG 106 107 #define BMA150_ANY_MOTION_THRES_REG BMA150_CFG_4_REG 108 109 /* Advanced interrupt register fields */ 110 #define BMA150_ADV_INT_EN_POS 6 111 #define BMA150_ADV_INT_EN_MSK 0x40 112 #define BMA150_ADV_INT_EN_REG BMA150_CTRL_3_REG 113 114 /* High-G interrupt register fields */ 115 #define BMA150_HIGH_G_EN_POS 1 116 #define BMA150_HIGH_G_EN_MSK 0x02 117 #define BMA150_HIGH_G_EN_REG BMA150_CTRL_1_REG 118 119 #define BMA150_HIGH_G_HYST_POS 3 120 #define BMA150_HIGH_G_HYST_MSK 0x38 121 #define BMA150_HIGH_G_HYST_REG BMA150_CFG_5_REG 122 123 #define BMA150_HIGH_G_DUR_REG BMA150_CFG_3_REG 124 #define BMA150_HIGH_G_THRES_REG BMA150_CFG_2_REG 125 126 /* Low-G interrupt register fields */ 127 #define BMA150_LOW_G_EN_POS 0 128 #define BMA150_LOW_G_EN_MSK 0x01 129 #define BMA150_LOW_G_EN_REG BMA150_CTRL_1_REG 130 131 #define BMA150_LOW_G_HYST_POS 0 132 #define BMA150_LOW_G_HYST_MSK 0x07 133 #define BMA150_LOW_G_HYST_REG BMA150_CFG_5_REG 134 135 #define BMA150_LOW_G_DUR_REG BMA150_CFG_1_REG 136 #define BMA150_LOW_G_THRES_REG BMA150_CFG_0_REG 137 138 struct bma150_data { 139 struct i2c_client *client; 140 struct input_polled_dev *input_polled; 141 struct input_dev *input; 142 u8 mode; 143 }; 144 145 /* 146 * The settings for the given range, bandwidth and interrupt features 147 * are stated and verified by Bosch Sensortec where they are configured 148 * to provide a generic sensitivity performance. 149 */ 150 static const struct bma150_cfg default_cfg = { 151 .any_motion_int = 1, 152 .hg_int = 1, 153 .lg_int = 1, 154 .any_motion_dur = 0, 155 .any_motion_thres = 0, 156 .hg_hyst = 0, 157 .hg_dur = 150, 158 .hg_thres = 160, 159 .lg_hyst = 0, 160 .lg_dur = 150, 161 .lg_thres = 20, 162 .range = BMA150_RANGE_2G, 163 .bandwidth = BMA150_BW_50HZ 164 }; 165 166 static int bma150_write_byte(struct i2c_client *client, u8 reg, u8 val) 167 { 168 s32 ret; 169 170 /* As per specification, disable irq in between register writes */ 171 if (client->irq) 172 disable_irq_nosync(client->irq); 173 174 ret = i2c_smbus_write_byte_data(client, reg, val); 175 176 if (client->irq) 177 enable_irq(client->irq); 178 179 return ret; 180 } 181 182 static int bma150_set_reg_bits(struct i2c_client *client, 183 int val, int shift, u8 mask, u8 reg) 184 { 185 int data; 186 187 data = i2c_smbus_read_byte_data(client, reg); 188 if (data < 0) 189 return data; 190 191 data = (data & ~mask) | ((val << shift) & mask); 192 return bma150_write_byte(client, reg, data); 193 } 194 195 static int bma150_set_mode(struct bma150_data *bma150, u8 mode) 196 { 197 int error; 198 199 error = bma150_set_reg_bits(bma150->client, mode, BMA150_WAKE_UP_POS, 200 BMA150_WAKE_UP_MSK, BMA150_WAKE_UP_REG); 201 if (error) 202 return error; 203 204 error = bma150_set_reg_bits(bma150->client, mode, BMA150_SLEEP_POS, 205 BMA150_SLEEP_MSK, BMA150_SLEEP_REG); 206 if (error) 207 return error; 208 209 if (mode == BMA150_MODE_NORMAL) 210 msleep(2); 211 212 bma150->mode = mode; 213 return 0; 214 } 215 216 static int bma150_soft_reset(struct bma150_data *bma150) 217 { 218 int error; 219 220 error = bma150_set_reg_bits(bma150->client, 1, BMA150_SW_RES_POS, 221 BMA150_SW_RES_MSK, BMA150_SW_RES_REG); 222 if (error) 223 return error; 224 225 msleep(2); 226 return 0; 227 } 228 229 static int bma150_set_range(struct bma150_data *bma150, u8 range) 230 { 231 return bma150_set_reg_bits(bma150->client, range, BMA150_RANGE_POS, 232 BMA150_RANGE_MSK, BMA150_RANGE_REG); 233 } 234 235 static int bma150_set_bandwidth(struct bma150_data *bma150, u8 bw) 236 { 237 return bma150_set_reg_bits(bma150->client, bw, BMA150_BANDWIDTH_POS, 238 BMA150_BANDWIDTH_MSK, BMA150_BANDWIDTH_REG); 239 } 240 241 static int bma150_set_low_g_interrupt(struct bma150_data *bma150, 242 u8 enable, u8 hyst, u8 dur, u8 thres) 243 { 244 int error; 245 246 error = bma150_set_reg_bits(bma150->client, hyst, 247 BMA150_LOW_G_HYST_POS, BMA150_LOW_G_HYST_MSK, 248 BMA150_LOW_G_HYST_REG); 249 if (error) 250 return error; 251 252 error = bma150_write_byte(bma150->client, BMA150_LOW_G_DUR_REG, dur); 253 if (error) 254 return error; 255 256 error = bma150_write_byte(bma150->client, BMA150_LOW_G_THRES_REG, thres); 257 if (error) 258 return error; 259 260 return bma150_set_reg_bits(bma150->client, !!enable, 261 BMA150_LOW_G_EN_POS, BMA150_LOW_G_EN_MSK, 262 BMA150_LOW_G_EN_REG); 263 } 264 265 static int bma150_set_high_g_interrupt(struct bma150_data *bma150, 266 u8 enable, u8 hyst, u8 dur, u8 thres) 267 { 268 int error; 269 270 error = bma150_set_reg_bits(bma150->client, hyst, 271 BMA150_HIGH_G_HYST_POS, BMA150_HIGH_G_HYST_MSK, 272 BMA150_HIGH_G_HYST_REG); 273 if (error) 274 return error; 275 276 error = bma150_write_byte(bma150->client, 277 BMA150_HIGH_G_DUR_REG, dur); 278 if (error) 279 return error; 280 281 error = bma150_write_byte(bma150->client, 282 BMA150_HIGH_G_THRES_REG, thres); 283 if (error) 284 return error; 285 286 return bma150_set_reg_bits(bma150->client, !!enable, 287 BMA150_HIGH_G_EN_POS, BMA150_HIGH_G_EN_MSK, 288 BMA150_HIGH_G_EN_REG); 289 } 290 291 292 static int bma150_set_any_motion_interrupt(struct bma150_data *bma150, 293 u8 enable, u8 dur, u8 thres) 294 { 295 int error; 296 297 error = bma150_set_reg_bits(bma150->client, dur, 298 BMA150_ANY_MOTION_DUR_POS, 299 BMA150_ANY_MOTION_DUR_MSK, 300 BMA150_ANY_MOTION_DUR_REG); 301 if (error) 302 return error; 303 304 error = bma150_write_byte(bma150->client, 305 BMA150_ANY_MOTION_THRES_REG, thres); 306 if (error) 307 return error; 308 309 error = bma150_set_reg_bits(bma150->client, !!enable, 310 BMA150_ADV_INT_EN_POS, BMA150_ADV_INT_EN_MSK, 311 BMA150_ADV_INT_EN_REG); 312 if (error) 313 return error; 314 315 return bma150_set_reg_bits(bma150->client, !!enable, 316 BMA150_ANY_MOTION_EN_POS, 317 BMA150_ANY_MOTION_EN_MSK, 318 BMA150_ANY_MOTION_EN_REG); 319 } 320 321 static void bma150_report_xyz(struct bma150_data *bma150) 322 { 323 u8 data[BMA150_XYZ_DATA_SIZE]; 324 s16 x, y, z; 325 s32 ret; 326 327 ret = i2c_smbus_read_i2c_block_data(bma150->client, 328 BMA150_ACC_X_LSB_REG, BMA150_XYZ_DATA_SIZE, data); 329 if (ret != BMA150_XYZ_DATA_SIZE) 330 return; 331 332 x = ((0xc0 & data[0]) >> 6) | (data[1] << 2); 333 y = ((0xc0 & data[2]) >> 6) | (data[3] << 2); 334 z = ((0xc0 & data[4]) >> 6) | (data[5] << 2); 335 336 x = sign_extend32(x, 9); 337 y = sign_extend32(y, 9); 338 z = sign_extend32(z, 9); 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 = 530 dev_get_platdata(&client->dev); 531 const struct bma150_cfg *cfg; 532 struct bma150_data *bma150; 533 int chip_id; 534 int error; 535 536 if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) { 537 dev_err(&client->dev, "i2c_check_functionality error\n"); 538 return -EIO; 539 } 540 541 chip_id = i2c_smbus_read_byte_data(client, BMA150_CHIP_ID_REG); 542 if (chip_id != BMA150_CHIP_ID && chip_id != BMA180_CHIP_ID) { 543 dev_err(&client->dev, "BMA150 chip id error: %d\n", chip_id); 544 return -EINVAL; 545 } 546 547 bma150 = kzalloc(sizeof(struct bma150_data), GFP_KERNEL); 548 if (!bma150) 549 return -ENOMEM; 550 551 bma150->client = client; 552 553 if (pdata) { 554 if (pdata->irq_gpio_cfg) { 555 error = pdata->irq_gpio_cfg(); 556 if (error) { 557 dev_err(&client->dev, 558 "IRQ GPIO conf. error %d, error %d\n", 559 client->irq, error); 560 goto err_free_mem; 561 } 562 } 563 cfg = &pdata->cfg; 564 } else { 565 cfg = &default_cfg; 566 } 567 568 error = bma150_initialize(bma150, cfg); 569 if (error) 570 goto err_free_mem; 571 572 if (client->irq > 0) { 573 error = bma150_register_input_device(bma150); 574 if (error) 575 goto err_free_mem; 576 577 error = request_threaded_irq(client->irq, 578 NULL, bma150_irq_thread, 579 IRQF_TRIGGER_RISING | IRQF_ONESHOT, 580 BMA150_DRIVER, bma150); 581 if (error) { 582 dev_err(&client->dev, 583 "irq request failed %d, error %d\n", 584 client->irq, error); 585 input_unregister_device(bma150->input); 586 goto err_free_mem; 587 } 588 } else { 589 error = bma150_register_polled_device(bma150); 590 if (error) 591 goto err_free_mem; 592 } 593 594 i2c_set_clientdata(client, bma150); 595 596 pm_runtime_enable(&client->dev); 597 598 return 0; 599 600 err_free_mem: 601 kfree(bma150); 602 return error; 603 } 604 605 static int bma150_remove(struct i2c_client *client) 606 { 607 struct bma150_data *bma150 = i2c_get_clientdata(client); 608 609 pm_runtime_disable(&client->dev); 610 611 if (client->irq > 0) { 612 free_irq(client->irq, bma150); 613 input_unregister_device(bma150->input); 614 } else { 615 input_unregister_polled_device(bma150->input_polled); 616 input_free_polled_device(bma150->input_polled); 617 } 618 619 kfree(bma150); 620 621 return 0; 622 } 623 624 #ifdef CONFIG_PM 625 static int bma150_suspend(struct device *dev) 626 { 627 struct i2c_client *client = to_i2c_client(dev); 628 struct bma150_data *bma150 = i2c_get_clientdata(client); 629 630 return bma150_set_mode(bma150, BMA150_MODE_SLEEP); 631 } 632 633 static int bma150_resume(struct device *dev) 634 { 635 struct i2c_client *client = to_i2c_client(dev); 636 struct bma150_data *bma150 = i2c_get_clientdata(client); 637 638 return bma150_set_mode(bma150, BMA150_MODE_NORMAL); 639 } 640 #endif 641 642 static UNIVERSAL_DEV_PM_OPS(bma150_pm, bma150_suspend, bma150_resume, NULL); 643 644 static const struct i2c_device_id bma150_id[] = { 645 { "bma150", 0 }, 646 { "bma180", 0 }, 647 { "smb380", 0 }, 648 { "bma023", 0 }, 649 { } 650 }; 651 652 MODULE_DEVICE_TABLE(i2c, bma150_id); 653 654 static struct i2c_driver bma150_driver = { 655 .driver = { 656 .name = BMA150_DRIVER, 657 .pm = &bma150_pm, 658 }, 659 .class = I2C_CLASS_HWMON, 660 .id_table = bma150_id, 661 .probe = bma150_probe, 662 .remove = bma150_remove, 663 }; 664 665 module_i2c_driver(bma150_driver); 666 667 MODULE_AUTHOR("Albert Zhang <xu.zhang@bosch-sensortec.com>"); 668 MODULE_DESCRIPTION("BMA150 driver"); 669 MODULE_LICENSE("GPL"); 670