forked from torvalds/linux
-
Notifications
You must be signed in to change notification settings - Fork 0
/
yamaha-yas530.c
1647 lines (1464 loc) · 46.2 KB
/
yamaha-yas530.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
// SPDX-License-Identifier: GPL-2.0-only
/*
* Driver for the Yamaha YAS magnetic sensors, often used in Samsung
* mobile phones. While all are not yet handled because of lacking
* hardware, expand this driver to handle the different variants:
*
* YAS530 MS-3E (2011 Samsung Galaxy S Advance)
* YAS532 MS-3R (2011 Samsung Galaxy S4)
* YAS533 MS-3F (Vivo 1633, 1707, V3, Y21L)
* (YAS534 is a magnetic switch, not handled)
* YAS535 MS-6C
* YAS536 MS-3W
* YAS537 MS-3T (2015 Samsung Galaxy S6, Note 5, Galaxy S7)
* YAS539 MS-3S (2018 Samsung Galaxy A7 SM-A750FN)
*
* Code functions found in the MPU3050 YAS530 and YAS532 drivers
* named "inv_compass" in the Tegra Android kernel tree.
* Copyright (C) 2012 InvenSense Corporation
*
* Code functions for YAS537 based on Yamaha Android kernel driver.
* Copyright (c) 2014 Yamaha Corporation
*
* Author: Linus Walleij <linus.walleij@linaro.org>
*/
#include <linux/bitfield.h>
#include <linux/bitops.h>
#include <linux/delay.h>
#include <linux/err.h>
#include <linux/gpio/consumer.h>
#include <linux/i2c.h>
#include <linux/module.h>
#include <linux/mod_devicetable.h>
#include <linux/mutex.h>
#include <linux/pm_runtime.h>
#include <linux/regmap.h>
#include <linux/regulator/consumer.h>
#include <linux/random.h>
#include <linux/units.h>
#include <linux/iio/buffer.h>
#include <linux/iio/iio.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/iio/triggered_buffer.h>
#include <asm/unaligned.h>
/* Commonly used registers */
#define YAS5XX_DEVICE_ID 0x80
#define YAS5XX_MEASURE_DATA 0xB0
/* These registers are used by YAS530, YAS532 and YAS533 */
#define YAS530_ACTUATE_INIT_COIL 0x81
#define YAS530_MEASURE 0x82
#define YAS530_CONFIG 0x83
#define YAS530_MEASURE_INTERVAL 0x84
#define YAS530_OFFSET_X 0x85 /* [-31 .. 31] */
#define YAS530_OFFSET_Y1 0x86 /* [-31 .. 31] */
#define YAS530_OFFSET_Y2 0x87 /* [-31 .. 31] */
#define YAS530_TEST1 0x88
#define YAS530_TEST2 0x89
#define YAS530_CAL 0x90
/* Registers used by YAS537 */
#define YAS537_MEASURE 0x81 /* Originally YAS537_REG_CMDR */
#define YAS537_CONFIG 0x82 /* Originally YAS537_REG_CONFR */
#define YAS537_MEASURE_INTERVAL 0x83 /* Originally YAS537_REG_INTRVLR */
#define YAS537_OFFSET_X 0x84 /* Originally YAS537_REG_OXR */
#define YAS537_OFFSET_Y1 0x85 /* Originally YAS537_REG_OY1R */
#define YAS537_OFFSET_Y2 0x86 /* Originally YAS537_REG_OY2R */
#define YAS537_AVR 0x87
#define YAS537_HCK 0x88
#define YAS537_LCK 0x89
#define YAS537_SRST 0x90
#define YAS537_ADCCAL 0x91
#define YAS537_MTC 0x93
#define YAS537_OC 0x9E
#define YAS537_TRM 0x9F
#define YAS537_CAL 0xC0
/* Bits in the YAS5xx config register */
#define YAS5XX_CONFIG_INTON BIT(0) /* Interrupt on? */
#define YAS5XX_CONFIG_INTHACT BIT(1) /* Interrupt active high? */
#define YAS5XX_CONFIG_CCK_MASK GENMASK(4, 2)
#define YAS5XX_CONFIG_CCK_SHIFT 2
/* Bits in the measure command register */
#define YAS5XX_MEASURE_START BIT(0)
#define YAS5XX_MEASURE_LDTC BIT(1)
#define YAS5XX_MEASURE_FORS BIT(2)
#define YAS5XX_MEASURE_DLYMES BIT(4)
#define YAS5XX_MEASURE_CONT BIT(5)
/* Bits in the measure data register */
#define YAS5XX_MEASURE_DATA_BUSY BIT(7)
#define YAS530_DEVICE_ID 0x01 /* YAS530 (MS-3E) */
#define YAS530_VERSION_A 0 /* YAS530 (MS-3E A) */
#define YAS530_VERSION_B 1 /* YAS530B (MS-3E B) */
#define YAS530_VERSION_A_COEF 380
#define YAS530_VERSION_B_COEF 550
#define YAS530_DATA_BITS 12
#define YAS530_DATA_CENTER BIT(YAS530_DATA_BITS - 1)
#define YAS530_DATA_OVERFLOW (BIT(YAS530_DATA_BITS) - 1)
#define YAS532_DEVICE_ID 0x02 /* YAS532/YAS533 (MS-3R/F) */
#define YAS532_VERSION_AB 0 /* YAS532/533 AB (MS-3R/F AB) */
#define YAS532_VERSION_AC 1 /* YAS532/533 AC (MS-3R/F AC) */
#define YAS532_VERSION_AB_COEF 1800
#define YAS532_VERSION_AC_COEF_X 850
#define YAS532_VERSION_AC_COEF_Y1 750
#define YAS532_VERSION_AC_COEF_Y2 750
#define YAS532_DATA_BITS 13
#define YAS532_DATA_CENTER BIT(YAS532_DATA_BITS - 1)
#define YAS532_DATA_OVERFLOW (BIT(YAS532_DATA_BITS) - 1)
#define YAS537_DEVICE_ID 0x07 /* YAS537 (MS-3T) */
#define YAS537_VERSION_0 0 /* Version naming unknown */
#define YAS537_VERSION_1 1 /* Version naming unknown */
#define YAS537_MAG_AVERAGE_32_MASK GENMASK(6, 4)
#define YAS537_MEASURE_TIME_WORST_US 1500
#define YAS537_DEFAULT_SENSOR_DELAY_MS 50
#define YAS537_MAG_RCOIL_TIME_US 65
#define YAS537_MTC3_MASK_PREP GENMASK(7, 0)
#define YAS537_MTC3_MASK_GET GENMASK(7, 5)
#define YAS537_MTC3_ADD_BIT BIT(4)
#define YAS537_HCK_MASK_PREP GENMASK(4, 0)
#define YAS537_HCK_MASK_GET GENMASK(7, 4)
#define YAS537_LCK_MASK_PREP GENMASK(4, 0)
#define YAS537_LCK_MASK_GET GENMASK(3, 0)
#define YAS537_OC_MASK_GET GENMASK(5, 0)
/* Turn off device regulators etc after 5 seconds of inactivity */
#define YAS5XX_AUTOSUSPEND_DELAY_MS 5000
enum chip_ids {
yas530,
yas532,
yas533,
yas537,
};
static const char * const yas5xx_product_name[] = {
"YAS530 MS-3E",
"YAS532 MS-3R",
"YAS533 MS-3F",
"YAS537 MS-3T",
};
static const char * const yas5xx_version_names[][2] = {
[yas530] = { "A", "B" },
[yas532] = { "AB", "AC" },
[yas533] = { "AB", "AC" },
[yas537] = { "v0", "v1" },
};
static const int yas530_volatile_reg[] = {
YAS530_ACTUATE_INIT_COIL,
YAS530_MEASURE,
};
static const int yas537_volatile_reg[] = {
YAS537_MEASURE,
};
/*
* t_ref_counts is the number of counts at reference temperature.
*
* The temperature value at YAS magnetometers is a number of counts. The
* values in t_ref_counts[] are the counts at the reference temperature
* of 20 °C.
*
* For YAS532/533, this value is known from the Android driver. For YAS530
* and YAS537, it was approximately measured.
*/
static const u16 t_ref_counts[] = { 182, 390, 390, 8120 };
/*
* min_temp_celsius_x10 is the starting point of temperature counting
* in 1/10:s degrees Celsius.
*
* The array min_temp_celsius_x10[] contains the theoretical temperatures
* where the temperature value count is 0. The values are in 1/10:s degrees
* Celsius to ease the further temperature calculation.
*
* These temperatures are derived from the temperature resolutions given
* in the data sheets.
*/
static const s16 min_temp_celsius_x10[] = { -620, -500, -500, -3860 };
struct yas5xx_calibration {
/* Linearization calibration x, y1, y2 */
s32 r[3];
u32 f[3];
/* Temperature compensation calibration */
s16 Cx, Cy1, Cy2;
/* Misc calibration coefficients */
s8 a2, a3, a4, a6, a7, a8;
s16 a5, a9;
u8 k;
/* clock divider */
u8 dck;
};
struct yas5xx;
/**
* struct yas5xx_chip_info - device-specific data and function pointers
* @devid: device ID number
* @product_name: product name of the YAS variant
* @version_name: version letter or naming
* @volatile_reg: device-specific volatile registers
* @volatile_reg_qty: quantity of device-specific volatile registers
* @scaling_val2: scaling value for IIO_CHAN_INFO_SCALE
* @t_ref: number of counts at reference temperature
* @min_temp_x10: starting point of temperature counting in 1/10:s degrees Celsius
* @get_measure: function pointer to get a measurement
* @get_calibration_data: function pointer to get calibration data
* @dump_calibration: function pointer to dump calibration for debugging
* @measure_offsets: function pointer to measure the offsets
* @power_on: function pointer to power-on procedure
*/
struct yas5xx_chip_info {
unsigned int devid;
const char *product_name;
const char * const *version_name;
const int *volatile_reg;
int volatile_reg_qty;
u32 scaling_val2;
u16 t_ref;
s16 min_temp_x10;
int (*get_measure)(struct yas5xx *yas5xx, s32 *to, s32 *xo, s32 *yo, s32 *zo);
int (*get_calibration_data)(struct yas5xx *yas5xx);
void (*dump_calibration)(struct yas5xx *yas5xx);
int (*measure_offsets)(struct yas5xx *yas5xx);
int (*power_on)(struct yas5xx *yas5xx);
};
/**
* struct yas5xx - state container for the YAS5xx driver
* @dev: parent device pointer
* @chip: enumeration of the device variant
* @chip_info: device-specific data and function pointers
* @version: device version
* @calibration: calibration settings from the OTP storage
* @hard_offsets: offsets for each axis measured with initcoil actuated
* @orientation: mounting matrix, flipped axis etc
* @map: regmap to access the YAX5xx registers over I2C
* @regs: the vdd and vddio power regulators
* @reset: optional GPIO line used for handling RESET
* @lock: locks the magnetometer for exclusive use during a measurement (which
* involves several register transactions so the regmap lock is not enough)
* so that measurements get serialized in a first-come-first serve manner
* @scan: naturally aligned measurements
*/
struct yas5xx {
struct device *dev;
enum chip_ids chip;
const struct yas5xx_chip_info *chip_info;
unsigned int version;
struct yas5xx_calibration calibration;
s8 hard_offsets[3];
struct iio_mount_matrix orientation;
struct regmap *map;
struct regulator_bulk_data regs[2];
struct gpio_desc *reset;
struct mutex lock;
/*
* The scanout is 4 x 32 bits in CPU endianness.
* Ensure timestamp is naturally aligned
*/
struct {
s32 channels[4];
s64 ts __aligned(8);
} scan;
};
/* On YAS530 the x, y1 and y2 values are 12 bits */
static u16 yas530_extract_axis(u8 *data)
{
u16 val;
/*
* These are the bits used in a 16bit word:
* 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
* x x x x x x x x x x x x
*/
val = get_unaligned_be16(&data[0]);
val = FIELD_GET(GENMASK(14, 3), val);
return val;
}
/* On YAS532 the x, y1 and y2 values are 13 bits */
static u16 yas532_extract_axis(u8 *data)
{
u16 val;
/*
* These are the bits used in a 16bit word:
* 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
* x x x x x x x x x x x x x
*/
val = get_unaligned_be16(&data[0]);
val = FIELD_GET(GENMASK(14, 2), val);
return val;
}
/**
* yas530_measure() - Make a measure from the hardware
* @yas5xx: The device state
* @t: the raw temperature measurement
* @x: the raw x axis measurement
* @y1: the y1 axis measurement
* @y2: the y2 axis measurement
* @return: 0 on success or error code
*
* Used by YAS530, YAS532 and YAS533
*/
static int yas530_measure(struct yas5xx *yas5xx, u16 *t, u16 *x, u16 *y1, u16 *y2)
{
unsigned int busy;
u8 data[8];
int ret;
u16 val;
mutex_lock(&yas5xx->lock);
ret = regmap_write(yas5xx->map, YAS530_MEASURE, YAS5XX_MEASURE_START);
if (ret < 0)
goto out_unlock;
/*
* Typical time to measure 1500 us, max 2000 us so wait min 500 us
* and at most 20000 us (one magnitude more than the datsheet max)
* before timeout.
*/
ret = regmap_read_poll_timeout(yas5xx->map, YAS5XX_MEASURE_DATA, busy,
!(busy & YAS5XX_MEASURE_DATA_BUSY),
500, 20000);
if (ret) {
dev_err(yas5xx->dev, "timeout waiting for measurement\n");
goto out_unlock;
}
ret = regmap_bulk_read(yas5xx->map, YAS5XX_MEASURE_DATA,
data, sizeof(data));
if (ret)
goto out_unlock;
mutex_unlock(&yas5xx->lock);
switch (yas5xx->chip_info->devid) {
case YAS530_DEVICE_ID:
/*
* The t value is 9 bits in big endian format
* These are the bits used in a 16bit word:
* 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
* x x x x x x x x x
*/
val = get_unaligned_be16(&data[0]);
val = FIELD_GET(GENMASK(14, 6), val);
*t = val;
*x = yas530_extract_axis(&data[2]);
*y1 = yas530_extract_axis(&data[4]);
*y2 = yas530_extract_axis(&data[6]);
break;
case YAS532_DEVICE_ID:
/*
* The t value is 10 bits in big endian format
* These are the bits used in a 16bit word:
* 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
* x x x x x x x x x x
*/
val = get_unaligned_be16(&data[0]);
val = FIELD_GET(GENMASK(14, 5), val);
*t = val;
*x = yas532_extract_axis(&data[2]);
*y1 = yas532_extract_axis(&data[4]);
*y2 = yas532_extract_axis(&data[6]);
break;
default:
dev_err(yas5xx->dev, "unknown data format\n");
ret = -EINVAL;
break;
}
return ret;
out_unlock:
mutex_unlock(&yas5xx->lock);
return ret;
}
/**
* yas537_measure() - Make a measure from the hardware
* @yas5xx: The device state
* @t: the raw temperature measurement
* @x: the raw x axis measurement
* @y1: the y1 axis measurement
* @y2: the y2 axis measurement
* @return: 0 on success or error code
*/
static int yas537_measure(struct yas5xx *yas5xx, u16 *t, u16 *x, u16 *y1, u16 *y2)
{
struct yas5xx_calibration *c = &yas5xx->calibration;
unsigned int busy;
u8 data[8];
u16 xy1y2[3];
s32 h[3], s[3];
int i, ret;
mutex_lock(&yas5xx->lock);
/* Contrary to YAS530/532, also a "cont" bit is set, meaning unknown */
ret = regmap_write(yas5xx->map, YAS537_MEASURE, YAS5XX_MEASURE_START |
YAS5XX_MEASURE_CONT);
if (ret < 0)
goto out_unlock;
/* Use same timeout like YAS530/532 but the bit is in data row 2 */
ret = regmap_read_poll_timeout(yas5xx->map, YAS5XX_MEASURE_DATA + 2, busy,
!(busy & YAS5XX_MEASURE_DATA_BUSY),
500, 20000);
if (ret) {
dev_err(yas5xx->dev, "timeout waiting for measurement\n");
goto out_unlock;
}
ret = regmap_bulk_read(yas5xx->map, YAS5XX_MEASURE_DATA,
data, sizeof(data));
if (ret)
goto out_unlock;
mutex_unlock(&yas5xx->lock);
*t = get_unaligned_be16(&data[0]);
xy1y2[0] = FIELD_GET(GENMASK(13, 0), get_unaligned_be16(&data[2]));
xy1y2[1] = get_unaligned_be16(&data[4]);
xy1y2[2] = get_unaligned_be16(&data[6]);
/* The second version of YAS537 needs to include calibration coefficients */
if (yas5xx->version == YAS537_VERSION_1) {
for (i = 0; i < 3; i++)
s[i] = xy1y2[i] - BIT(13);
h[0] = (c->k * (128 * s[0] + c->a2 * s[1] + c->a3 * s[2])) / BIT(13);
h[1] = (c->k * (c->a4 * s[0] + c->a5 * s[1] + c->a6 * s[2])) / BIT(13);
h[2] = (c->k * (c->a7 * s[0] + c->a8 * s[1] + c->a9 * s[2])) / BIT(13);
for (i = 0; i < 3; i++) {
clamp_val(h[i], -BIT(13), BIT(13) - 1);
xy1y2[i] = h[i] + BIT(13);
}
}
*x = xy1y2[0];
*y1 = xy1y2[1];
*y2 = xy1y2[2];
return 0;
out_unlock:
mutex_unlock(&yas5xx->lock);
return ret;
}
/* Used by YAS530, YAS532 and YAS533 */
static s32 yas530_linearize(struct yas5xx *yas5xx, u16 val, int axis)
{
struct yas5xx_calibration *c = &yas5xx->calibration;
static const s32 yas532ac_coef[] = {
YAS532_VERSION_AC_COEF_X,
YAS532_VERSION_AC_COEF_Y1,
YAS532_VERSION_AC_COEF_Y2,
};
s32 coef;
/* Select coefficients */
switch (yas5xx->chip_info->devid) {
case YAS530_DEVICE_ID:
if (yas5xx->version == YAS530_VERSION_A)
coef = YAS530_VERSION_A_COEF;
else
coef = YAS530_VERSION_B_COEF;
break;
case YAS532_DEVICE_ID:
if (yas5xx->version == YAS532_VERSION_AB)
coef = YAS532_VERSION_AB_COEF;
else
/* Elaborate coefficients */
coef = yas532ac_coef[axis];
break;
default:
dev_err(yas5xx->dev, "unknown device type\n");
return val;
}
/*
* Linearization formula:
*
* x' = x - (3721 + 50 * f) + (xoffset - r) * c
*
* Where f and r are calibration values, c is a per-device
* and sometimes per-axis coefficient.
*/
return val - (3721 + 50 * c->f[axis]) +
(yas5xx->hard_offsets[axis] - c->r[axis]) * coef;
}
static s32 yas5xx_calc_temperature(struct yas5xx *yas5xx, u16 t)
{
s32 to;
u16 t_ref;
int min_temp_x10, ref_temp_x10;
t_ref = yas5xx->chip_info->t_ref;
min_temp_x10 = yas5xx->chip_info->min_temp_x10;
ref_temp_x10 = 200;
to = (min_temp_x10 + ((ref_temp_x10 - min_temp_x10) * t / t_ref)) * 100;
return to;
}
/**
* yas530_get_measure() - Measure a sample of all axis and process
* @yas5xx: The device state
* @to: Temperature out
* @xo: X axis out
* @yo: Y axis out
* @zo: Z axis out
* @return: 0 on success or error code
*
* Used by YAS530, YAS532 and YAS533
*/
static int yas530_get_measure(struct yas5xx *yas5xx, s32 *to, s32 *xo, s32 *yo, s32 *zo)
{
struct yas5xx_calibration *c = &yas5xx->calibration;
u16 t_ref, t_comp, t, x, y1, y2;
/* These are signed x, signed y1 etc */
s32 sx, sy1, sy2, sy, sz;
int ret;
/* We first get raw data that needs to be translated to [x,y,z] */
ret = yas530_measure(yas5xx, &t, &x, &y1, &y2);
if (ret)
return ret;
/* Do some linearization if available */
sx = yas530_linearize(yas5xx, x, 0);
sy1 = yas530_linearize(yas5xx, y1, 1);
sy2 = yas530_linearize(yas5xx, y2, 2);
/*
* Set the temperature for compensation (unit: counts):
* YAS532/YAS533 version AC uses the temperature deviation as a
* multiplier. YAS530 and YAS532 version AB use solely the t value.
*/
t_ref = yas5xx->chip_info->t_ref;
if (yas5xx->chip_info->devid == YAS532_DEVICE_ID &&
yas5xx->version == YAS532_VERSION_AC) {
t_comp = t - t_ref;
} else {
t_comp = t;
}
/*
* Temperature compensation for x, y1, y2 respectively:
*
* Cx * t_comp
* x' = x - -----------
* 100
*/
sx = sx - (c->Cx * t_comp) / 100;
sy1 = sy1 - (c->Cy1 * t_comp) / 100;
sy2 = sy2 - (c->Cy2 * t_comp) / 100;
/*
* Break y1 and y2 into y and z, y1 and y2 are apparently encoding
* y and z.
*/
sy = sy1 - sy2;
sz = -sy1 - sy2;
/* Calculate temperature readout */
*to = yas5xx_calc_temperature(yas5xx, t);
/*
* Calibrate [x,y,z] with some formulas like this:
*
* 100 * x + a_2 * y + a_3 * z
* x' = k * ---------------------------
* 10
*
* a_4 * x + a_5 * y + a_6 * z
* y' = k * ---------------------------
* 10
*
* a_7 * x + a_8 * y + a_9 * z
* z' = k * ---------------------------
* 10
*/
*xo = c->k * ((100 * sx + c->a2 * sy + c->a3 * sz) / 10);
*yo = c->k * ((c->a4 * sx + c->a5 * sy + c->a6 * sz) / 10);
*zo = c->k * ((c->a7 * sx + c->a8 * sy + c->a9 * sz) / 10);
return 0;
}
/**
* yas537_get_measure() - Measure a sample of all axis and process
* @yas5xx: The device state
* @to: Temperature out
* @xo: X axis out
* @yo: Y axis out
* @zo: Z axis out
* @return: 0 on success or error code
*/
static int yas537_get_measure(struct yas5xx *yas5xx, s32 *to, s32 *xo, s32 *yo, s32 *zo)
{
u16 t, x, y1, y2;
int ret;
/* We first get raw data that needs to be translated to [x,y,z] */
ret = yas537_measure(yas5xx, &t, &x, &y1, &y2);
if (ret)
return ret;
/* Calculate temperature readout */
*to = yas5xx_calc_temperature(yas5xx, t);
/*
* Unfortunately, no linearization or temperature compensation formulas
* are known for YAS537.
*/
/* Calculate x, y, z from x, y1, y2 */
*xo = (x - BIT(13)) * 300;
*yo = (y1 - y2) * 1732 / 10;
*zo = (-y1 - y2 + BIT(14)) * 300;
return 0;
}
static int yas5xx_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val, int *val2,
long mask)
{
struct yas5xx *yas5xx = iio_priv(indio_dev);
s32 t, x, y, z;
int ret;
switch (mask) {
case IIO_CHAN_INFO_PROCESSED:
case IIO_CHAN_INFO_RAW:
pm_runtime_get_sync(yas5xx->dev);
ret = yas5xx->chip_info->get_measure(yas5xx, &t, &x, &y, &z);
pm_runtime_mark_last_busy(yas5xx->dev);
pm_runtime_put_autosuspend(yas5xx->dev);
if (ret)
return ret;
switch (chan->address) {
case 0:
*val = t;
break;
case 1:
*val = x;
break;
case 2:
*val = y;
break;
case 3:
*val = z;
break;
default:
dev_err(yas5xx->dev, "unknown channel\n");
return -EINVAL;
}
return IIO_VAL_INT;
case IIO_CHAN_INFO_SCALE:
*val = 1;
*val2 = yas5xx->chip_info->scaling_val2;
return IIO_VAL_FRACTIONAL;
default:
/* Unknown request */
return -EINVAL;
}
}
static void yas5xx_fill_buffer(struct iio_dev *indio_dev)
{
struct yas5xx *yas5xx = iio_priv(indio_dev);
s32 t, x, y, z;
int ret;
pm_runtime_get_sync(yas5xx->dev);
ret = yas5xx->chip_info->get_measure(yas5xx, &t, &x, &y, &z);
pm_runtime_mark_last_busy(yas5xx->dev);
pm_runtime_put_autosuspend(yas5xx->dev);
if (ret) {
dev_err(yas5xx->dev, "error refilling buffer\n");
return;
}
yas5xx->scan.channels[0] = t;
yas5xx->scan.channels[1] = x;
yas5xx->scan.channels[2] = y;
yas5xx->scan.channels[3] = z;
iio_push_to_buffers_with_timestamp(indio_dev, &yas5xx->scan,
iio_get_time_ns(indio_dev));
}
static irqreturn_t yas5xx_handle_trigger(int irq, void *p)
{
const struct iio_poll_func *pf = p;
struct iio_dev *indio_dev = pf->indio_dev;
yas5xx_fill_buffer(indio_dev);
iio_trigger_notify_done(indio_dev->trig);
return IRQ_HANDLED;
}
static const struct iio_mount_matrix *
yas5xx_get_mount_matrix(const struct iio_dev *indio_dev,
const struct iio_chan_spec *chan)
{
struct yas5xx *yas5xx = iio_priv(indio_dev);
return &yas5xx->orientation;
}
static const struct iio_chan_spec_ext_info yas5xx_ext_info[] = {
IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, yas5xx_get_mount_matrix),
{ }
};
#define YAS5XX_AXIS_CHANNEL(axis, index) \
{ \
.type = IIO_MAGN, \
.modified = 1, \
.channel2 = IIO_MOD_##axis, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_SCALE), \
.ext_info = yas5xx_ext_info, \
.address = index, \
.scan_index = index, \
.scan_type = { \
.sign = 's', \
.realbits = 32, \
.storagebits = 32, \
.endianness = IIO_CPU, \
}, \
}
static const struct iio_chan_spec yas5xx_channels[] = {
{
.type = IIO_TEMP,
.info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED),
.address = 0,
.scan_index = 0,
.scan_type = {
.sign = 's',
.realbits = 32,
.storagebits = 32,
.endianness = IIO_CPU,
},
},
YAS5XX_AXIS_CHANNEL(X, 1),
YAS5XX_AXIS_CHANNEL(Y, 2),
YAS5XX_AXIS_CHANNEL(Z, 3),
IIO_CHAN_SOFT_TIMESTAMP(4),
};
static const unsigned long yas5xx_scan_masks[] = { GENMASK(3, 0), 0 };
static const struct iio_info yas5xx_info = {
.read_raw = &yas5xx_read_raw,
};
static bool yas5xx_volatile_reg(struct device *dev, unsigned int reg)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct yas5xx *yas5xx = iio_priv(indio_dev);
int reg_qty;
int i;
if (reg >= YAS5XX_MEASURE_DATA && reg < YAS5XX_MEASURE_DATA + 8)
return true;
/*
* YAS versions share different registers on the same address,
* need to differentiate.
*/
reg_qty = yas5xx->chip_info->volatile_reg_qty;
for (i = 0; i < reg_qty; i++) {
if (reg == yas5xx->chip_info->volatile_reg[i])
return true;
}
return false;
}
/* TODO: enable regmap cache, using mark dirty and sync at runtime resume */
static const struct regmap_config yas5xx_regmap_config = {
.reg_bits = 8,
.val_bits = 8,
.max_register = 0xff,
.volatile_reg = yas5xx_volatile_reg,
};
/**
* yas530_extract_calibration() - extracts the a2-a9 and k calibration
* @data: the bitfield to use
* @c: the calibration to populate
*
* Used by YAS530, YAS532 and YAS533
*/
static void yas530_extract_calibration(u8 *data, struct yas5xx_calibration *c)
{
u64 val = get_unaligned_be64(data);
/*
* Bitfield layout for the axis calibration data, for factor
* a2 = 2 etc, k = k, c = clock divider
*
* n 7 6 5 4 3 2 1 0
* 0 [ 2 2 2 2 2 2 3 3 ] bits 63 .. 56
* 1 [ 3 3 4 4 4 4 4 4 ] bits 55 .. 48
* 2 [ 5 5 5 5 5 5 6 6 ] bits 47 .. 40
* 3 [ 6 6 6 6 7 7 7 7 ] bits 39 .. 32
* 4 [ 7 7 7 8 8 8 8 8 ] bits 31 .. 24
* 5 [ 8 9 9 9 9 9 9 9 ] bits 23 .. 16
* 6 [ 9 k k k k k c c ] bits 15 .. 8
* 7 [ c x x x x x x x ] bits 7 .. 0
*/
c->a2 = FIELD_GET(GENMASK_ULL(63, 58), val) - 32;
c->a3 = FIELD_GET(GENMASK_ULL(57, 54), val) - 8;
c->a4 = FIELD_GET(GENMASK_ULL(53, 48), val) - 32;
c->a5 = FIELD_GET(GENMASK_ULL(47, 42), val) + 38;
c->a6 = FIELD_GET(GENMASK_ULL(41, 36), val) - 32;
c->a7 = FIELD_GET(GENMASK_ULL(35, 29), val) - 64;
c->a8 = FIELD_GET(GENMASK_ULL(28, 23), val) - 32;
c->a9 = FIELD_GET(GENMASK_ULL(22, 15), val);
c->k = FIELD_GET(GENMASK_ULL(14, 10), val) + 10;
c->dck = FIELD_GET(GENMASK_ULL(9, 7), val);
}
static int yas530_get_calibration_data(struct yas5xx *yas5xx)
{
struct yas5xx_calibration *c = &yas5xx->calibration;
u8 data[16];
u32 val;
int ret;
/* Dummy read, first read is ALWAYS wrong */
ret = regmap_bulk_read(yas5xx->map, YAS530_CAL, data, sizeof(data));
if (ret)
return ret;
/* Actual calibration readout */
ret = regmap_bulk_read(yas5xx->map, YAS530_CAL, data, sizeof(data));
if (ret)
return ret;
dev_dbg(yas5xx->dev, "calibration data: %16ph\n", data);
/* Contribute calibration data to the input pool for kernel entropy */
add_device_randomness(data, sizeof(data));
/* Extract version */
yas5xx->version = data[15] & GENMASK(1, 0);
/* Extract the calibration from the bitfield */
c->Cx = data[0] * 6 - 768;
c->Cy1 = data[1] * 6 - 768;
c->Cy2 = data[2] * 6 - 768;
yas530_extract_calibration(&data[3], c);
/*
* Extract linearization:
* Linearization layout in the 32 bits at byte 11:
* The r factors are 6 bit values where bit 5 is the sign
*
* n 7 6 5 4 3 2 1 0
* 0 [ xx xx xx r0 r0 r0 r0 r0 ] bits 31 .. 24
* 1 [ r0 f0 f0 r1 r1 r1 r1 r1 ] bits 23 .. 16
* 2 [ r1 f1 f1 r2 r2 r2 r2 r2 ] bits 15 .. 8
* 3 [ r2 f2 f2 xx xx xx xx xx ] bits 7 .. 0
*/
val = get_unaligned_be32(&data[11]);
c->f[0] = FIELD_GET(GENMASK(22, 21), val);
c->f[1] = FIELD_GET(GENMASK(14, 13), val);
c->f[2] = FIELD_GET(GENMASK(6, 5), val);
c->r[0] = sign_extend32(FIELD_GET(GENMASK(28, 23), val), 5);
c->r[1] = sign_extend32(FIELD_GET(GENMASK(20, 15), val), 5);
c->r[2] = sign_extend32(FIELD_GET(GENMASK(12, 7), val), 5);
return 0;
}
static int yas532_get_calibration_data(struct yas5xx *yas5xx)
{
struct yas5xx_calibration *c = &yas5xx->calibration;
u8 data[14];
u32 val;
int ret;
/* Dummy read, first read is ALWAYS wrong */
ret = regmap_bulk_read(yas5xx->map, YAS530_CAL, data, sizeof(data));
if (ret)
return ret;
/* Actual calibration readout */
ret = regmap_bulk_read(yas5xx->map, YAS530_CAL, data, sizeof(data));
if (ret)
return ret;
dev_dbg(yas5xx->dev, "calibration data: %14ph\n", data);
/* Sanity check, is this all zeroes? */
if (!memchr_inv(data, 0x00, 13) && !(data[13] & BIT(7)))
dev_warn(yas5xx->dev, "calibration is blank!\n");
/* Contribute calibration data to the input pool for kernel entropy */
add_device_randomness(data, sizeof(data));
/* Only one bit of version info reserved here as far as we know */
yas5xx->version = data[13] & BIT(0);
/* Extract calibration from the bitfield */
c->Cx = data[0] * 10 - 1280;
c->Cy1 = data[1] * 10 - 1280;
c->Cy2 = data[2] * 10 - 1280;
yas530_extract_calibration(&data[3], c);
/*
* Extract linearization:
* Linearization layout in the 32 bits at byte 10:
* The r factors are 6 bit values where bit 5 is the sign
*
* n 7 6 5 4 3 2 1 0
* 0 [ xx r0 r0 r0 r0 r0 r0 f0 ] bits 31 .. 24
* 1 [ f0 r1 r1 r1 r1 r1 r1 f1 ] bits 23 .. 16
* 2 [ f1 r2 r2 r2 r2 r2 r2 f2 ] bits 15 .. 8
* 3 [ f2 xx xx xx xx xx xx xx ] bits 7 .. 0
*/
val = get_unaligned_be32(&data[10]);
c->f[0] = FIELD_GET(GENMASK(24, 23), val);
c->f[1] = FIELD_GET(GENMASK(16, 15), val);
c->f[2] = FIELD_GET(GENMASK(8, 7), val);
c->r[0] = sign_extend32(FIELD_GET(GENMASK(30, 25), val), 5);
c->r[1] = sign_extend32(FIELD_GET(GENMASK(22, 17), val), 5);
c->r[2] = sign_extend32(FIELD_GET(GENMASK(14, 7), val), 5);
return 0;
}
static int yas537_get_calibration_data(struct yas5xx *yas5xx)
{
struct yas5xx_calibration *c = &yas5xx->calibration;
u8 data[17];
u32 val1, val2, val3, val4;
int i, ret;
/* Writing SRST register */
ret = regmap_write(yas5xx->map, YAS537_SRST, BIT(1));
if (ret)
return ret;
/* Calibration readout, YAS537 needs one readout only */
ret = regmap_bulk_read(yas5xx->map, YAS537_CAL, data, sizeof(data));
if (ret)
return ret;
dev_dbg(yas5xx->dev, "calibration data: %17ph\n", data);
/* Sanity check, is this all zeroes? */
if (!memchr_inv(data, 0x00, 16) && !FIELD_GET(GENMASK(5, 0), data[16]))
dev_warn(yas5xx->dev, "calibration is blank!\n");
/* Contribute calibration data to the input pool for kernel entropy */
add_device_randomness(data, sizeof(data));
/* Extract version information */
yas5xx->version = FIELD_GET(GENMASK(7, 6), data[16]);
/* There are two versions of YAS537 behaving differently */
switch (yas5xx->version) {
case YAS537_VERSION_0:
/*
* The first version simply writes data back into registers:
*
* data[0] YAS537_MTC 0x93
* data[1] 0x94
* data[2] 0x95
* data[3] 0x96
* data[4] 0x97
* data[5] 0x98
* data[6] 0x99
* data[7] 0x9a
* data[8] 0x9b
* data[9] 0x9c
* data[10] 0x9d
* data[11] YAS537_OC 0x9e
*
* data[12] YAS537_OFFSET_X 0x84
* data[13] YAS537_OFFSET_Y1 0x85
* data[14] YAS537_OFFSET_Y2 0x86