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/****************************************************************************
* drivers/sensors/bm1422gmv_scu.c
*
* Copyright 2018 Sony Semiconductor Solutions Corporation
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name of Sony Semiconductor Solutions Corporation nor
* the names of its contributors may be used to endorse or promote
* products derived from this software without specific prior written
* permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <sdk/config.h>
#include <stdlib.h>
#include <stdio.h>
#include <fixedmath.h>
#include <errno.h>
#include <debug.h>
#include <semaphore.h>
#include <arch/types.h>
#include <nuttx/kmalloc.h>
#include <nuttx/fs/fs.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sensors/bm1422gmv.h>
#include <nuttx/irq.h>
#include <arch/chip/cxd56_scu.h>
#if defined(CONFIG_I2C) && defined(CONFIG_BM1422GMV) && defined(CONFIG_CXD56_SCU)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_CXD56_DECI_BM1422GMV
# define BM1422GMV_SEQ_TYPE SEQ_TYPE_DECI
#else
# define BM1422GMV_SEQ_TYPE SEQ_TYPE_NORMAL
#endif
/* I2C Slave Address */
#ifdef CONFIG_BM1422GMV_SLAVE_ADDRESS_0F
#define BM1422GMV_ADDR 0x0F
#else
#define BM1422GMV_ADDR 0x0E
#endif
#define BM1422GMV_DEVID 0x41 /* Device ID */
#define BM1422GMV_BYTESPERSAMPLE 6
#define BM1422GMV_ELEMENTSIZE 2
/* BM1422GMV Registers */
#define BM1422GMV_WIA 0x0F
#define BM1422GMV_DATAX 0x10
#define BM1422GMV_CNTL1 0x1B
#define BM1422GMV_CNTL2 0x1C
#define BM1422GMV_CNTL3 0x1D
#define BM1422GMV_CNTL4 0x5C
/* Register CNTL1 */
#define BM1422GMV_CNTL1_PC1 (1 << 7)
#define BM1422GMV_CNTL1_OUT_BIT (1 << 6)
#define BM1422GMV_CNTL1_RST_LV (1 << 5)
#define BM1422GMV_CNTL1_ODR_10Hz (0 << 3)
#define BM1422GMV_CNTL1_ODR_20Hz (2 << 3)
#define BM1422GMV_CNTL1_ODR_100Hz (1 << 3)
#define BM1422GMV_CNTL1_ODR_1000Hz (3 << 3)
#define BM1422GMV_CNTL1_FS1 (1 << 1)
/* Register CNTL2 */
#define BM1422GMV_CNTL2_DREN (1 << 3)
#define BM1422GMV_CNTL2_DRP (1 << 2)
/* Register CNTL3 */
#define BM1422GMV_CNTL3_FORCE (1 << 6)
/* Register CNTL4 */
#define BM1422GMV_CNTL4_VAL 0x0000
#ifndef itemsof
# define itemsof(array) (sizeof(array)/sizeof(array[0]))
#endif
/****************************************************************************
* Private Type Definitions
****************************************************************************/
/**
* @brief Structure for bm1422gmv device
*/
struct bm1422gmv_dev_s
{
FAR struct i2c_master_s *i2c; /* I2C interface */
uint8_t addr; /* I2C address */
int port; /* I2C port */
struct seq_s *seq; /* Sequencer instance */
int minor; /* Minor device number */
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/* Character driver methods */
static int bm1422gmv_open(FAR struct file *filep);
static int bm1422gmv_close(FAR struct file *filep);
static ssize_t bm1422gmv_read(FAR struct file *filep, FAR char *buffer,
size_t buflen);
static ssize_t bm1422gmv_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen);
static int bm1422gmv_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_bm1422gmvfops =
{
bm1422gmv_open, /* open */
bm1422gmv_close, /* close */
bm1422gmv_read, /* read */
bm1422gmv_write, /* write */
0, /* seek */
bm1422gmv_ioctl, /* ioctl */
#ifndef CONFIG_DISABLE_POLL
0, /* poll */
#endif
0 /* unlink */
};
/* Take XYZ data. */
static const uint16_t g_bm1422gmvinst[] =
{
SCU_INST_SEND(BM1422GMV_DATAX),
SCU_INST_RECV(BM1422GMV_BYTESPERSAMPLE) | SCU_INST_LAST,
};
/* Reference count */
static int g_refcnt = 0;
/* Sequencer instance */
static struct seq_s *g_seq = NULL;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: bm1422gmv_getreg8
*
* Description:
* Read from an 8-bit BM1422GMV register
*
****************************************************************************/
static uint8_t bm1422gmv_getreg8(FAR struct bm1422gmv_dev_s *priv,
uint8_t regaddr)
{
uint8_t regval = 0;
uint16_t inst[2];
/* Send register to read and get the next byte */
inst[0] = SCU_INST_SEND(regaddr);
inst[1] = SCU_INST_RECV(1) | SCU_INST_LAST;
scu_i2ctransfer(priv->port, priv->addr, inst, 2, &regval, 1);
return regval;
}
/****************************************************************************
* Name: bm1422gmv_putreg8
*
* Description:
* Write to an 8-bit BM1422GMV register
*
****************************************************************************/
static void bm1422gmv_putreg8(FAR struct bm1422gmv_dev_s *priv,
uint8_t regaddr, uint8_t regval)
{
uint16_t inst[2];
/* Send register address and set the value */
inst[0] = SCU_INST_SEND(regaddr);
inst[1] = SCU_INST_SEND(regval) | SCU_INST_LAST;
scu_i2ctransfer(priv->port, priv->addr, inst, 2, NULL, 0);
}
/****************************************************************************
* Name: bm1422gmv_putreg16
*
* Description:
* Write to an 16-bit BM1422GMV register
*
****************************************************************************/
static void bm1422gmv_putreg16(FAR struct bm1422gmv_dev_s *priv,
uint8_t regaddr, uint16_t regval)
{
uint16_t inst[3];
/* Send register address and set the value */
inst[0] = SCU_INST_SEND(regaddr);
inst[1] = SCU_INST_SEND((uint8_t)(regval & 0xff));
inst[2] = SCU_INST_SEND((uint8_t)(regval >> 8)) | SCU_INST_LAST;
scu_i2ctransfer(priv->port, priv->addr, inst, 3, NULL, 0);
}
/****************************************************************************
* Name: bm1422gmv_checkid
*
* Description:
* Read and verify the BM1422GMV chip ID
*
****************************************************************************/
static int bm1422gmv_checkid(FAR struct bm1422gmv_dev_s *priv)
{
uint8_t devid;
/* Read device ID */
devid = bm1422gmv_getreg8(priv, BM1422GMV_WIA);
if (devid != BM1422GMV_DEVID)
{
/* ID is not Correct */
snerr("Wrong Device ID! %02x\n", devid);
return -ENODEV;
}
return OK;
}
/****************************************************************************
* Name: bm1422gmv_seqinit
*
* Description:
* Initialize SCU sequencer.
*
****************************************************************************/
static int bm1422gmv_seqinit(FAR struct bm1422gmv_dev_s *priv)
{
DEBUGASSERT(g_seq == NULL);
/* Open sequencer */
g_seq = seq_open(BM1422GMV_SEQ_TYPE, SCU_BUS_I2C0);
if (!g_seq)
{
return -ENOENT;
}
priv->seq = g_seq;
seq_setaddress(priv->seq, priv->addr);
/* Set instruction and sample data information to sequencer */
seq_setinstruction(priv->seq, g_bm1422gmvinst, itemsof(g_bm1422gmvinst));
seq_setsample(priv->seq, BM1422GMV_BYTESPERSAMPLE, 0, BM1422GMV_ELEMENTSIZE,
false);
return OK;
}
/****************************************************************************
* Name: bm1422gmv_open
*
* Description:
* This function is called whenever the BM1422GMV device is opened.
*
****************************************************************************/
static int bm1422gmv_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct bm1422gmv_dev_s *priv = inode->i_private;
uint8_t val;
if (g_refcnt == 0)
{
int ret;
ret = bm1422gmv_seqinit(priv);
if (ret < 0)
{
return ret;
}
/* goto active mode */
val = BM1422GMV_CNTL1_PC1 | BM1422GMV_CNTL1_OUT_BIT |
BM1422GMV_CNTL1_ODR_100Hz;
bm1422gmv_putreg8(priv, BM1422GMV_CNTL1, val);
up_mdelay(1);
/* release reset */
bm1422gmv_putreg16(priv, BM1422GMV_CNTL4, BM1422GMV_CNTL4_VAL);
/* start sampling */
bm1422gmv_putreg8(priv, BM1422GMV_CNTL3, BM1422GMV_CNTL3_FORCE);
}
else
{
/* Set existing sequencer */
priv->seq = g_seq;
}
g_refcnt++;
return OK;
}
/****************************************************************************
* Name: bm1422gmv_close
*
* Description:
* This routine is called when the BM1422GMV device is closed.
*
****************************************************************************/
static int bm1422gmv_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct bm1422gmv_dev_s *priv = inode->i_private;
g_refcnt--;
(void) seq_ioctl(priv->seq, priv->minor, SCUIOC_STOP, 0);
if (g_refcnt == 0)
{
/* goto power-down mode */
bm1422gmv_putreg8(priv, BM1422GMV_CNTL1, BM1422GMV_CNTL1_RST_LV);
up_mdelay(1);
seq_close(g_seq);
g_seq = NULL;
}
else
{
(void) seq_ioctl(priv->seq, priv->minor, SCUIOC_FREEFIFO, 0);
}
return OK;
}
/****************************************************************************
* Name: bm1422gmv_read
****************************************************************************/
static ssize_t bm1422gmv_read(FAR struct file *filep, FAR char *buffer,
size_t len)
{
FAR struct inode *inode = filep->f_inode;
FAR struct bm1422gmv_dev_s *priv = inode->i_private;
len = len / BM1422GMV_BYTESPERSAMPLE * BM1422GMV_BYTESPERSAMPLE;
len = seq_read(priv->seq, priv->minor, buffer, len);
return len;
}
/****************************************************************************
* Name: bm1422gmv_write
****************************************************************************/
static ssize_t bm1422gmv_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
{
return -ENOSYS;
}
/****************************************************************************
* Name: bm1422gmv_ioctl
****************************************************************************/
static int bm1422gmv_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode *inode = filep->f_inode;
FAR struct bm1422gmv_dev_s *priv = inode->i_private;
int ret = OK;
switch (cmd)
{
default:
{
if (_SCUIOCVALID(cmd))
{
/* Redirect SCU commands */
ret = seq_ioctl(priv->seq, priv->minor, cmd, arg);
}
else
{
snerr("Unrecognized cmd: %d\n", cmd);
ret = - ENOTTY;
}
}
break;
}
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: bm1422gmv_init
*
* Description:
* Initialize the BM1422GMV device
*
* Input Parameters:
* i2c - An instance of the I2C interface to use to communicate with
* BM1422GMV
* port - I2C port (0 or 1)
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int bm1422gmv_init(FAR struct i2c_master_s *i2c, int port)
{
FAR struct bm1422gmv_dev_s tmp;
FAR struct bm1422gmv_dev_s *priv = &tmp;
int ret;
/* Setup temporary device structure for initialization */
priv->i2c = i2c;
priv->addr = BM1422GMV_ADDR;
priv->port = port;
/* Check Device ID */
ret = bm1422gmv_checkid(priv);
if (ret < 0)
{
snerr("Failed to register driver: %d\n", ret);
return ret;
}
return OK;
}
/****************************************************************************
* Name: bm1422gmv_register
*
* Description:
* Register the BM1422GMV character device as 'devpath'
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/mag0"
* minor - minor device number
* i2c - An instance of the I2C interface to use to communicate with
* BM1422GMV
* port - I2C port (0 or 1)
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int bm1422gmv_register(FAR const char *devpath, int minor,
FAR struct i2c_master_s *i2c, int port)
{
FAR struct bm1422gmv_dev_s *priv;
char path[16];
int ret;
/* Initialize the BM1422GMV device structure */
priv = (FAR struct bm1422gmv_dev_s *)
kmm_malloc(sizeof(struct bm1422gmv_dev_s));
if (!priv)
{
snerr("Failed to allocate instance\n");
return -ENOMEM;
}
priv->i2c = i2c;
priv->addr = BM1422GMV_ADDR;
priv->port = port;
priv->seq = NULL;
priv->minor = minor;
/* Register the character driver */
(void) snprintf(path, sizeof(path), "%s%d", devpath, minor);
ret = register_driver(path, &g_bm1422gmvfops, 0666, priv);
if (ret < 0)
{
snerr("Failed to register driver: %d\n", ret);
kmm_free(priv);
}
sninfo("BM1422GMV driver loaded successfully!\n");
return ret;
}
#endif /* CONFIG_I2C && CONFIG_BM1422GMV && CONFIG_CXD56_SCU */
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