l3gd20_gyr.rar_gyr 陀螺仪_l3gd20_陀螺仪L3GD20

/******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** * * File Name : l3gd20_gyr_sysfs.c * Authors : MH - C&I BU - Application Team * : Carmine Iascone (carmine.iascone@st.com) * : Matteo Dameno (matteo.dameno@st.com) * : Both authors are willing to be considered the contact * : and update points for the driver. * Version : V 1.1.5.2 sysfs * Date : 2011/Nov/11 * Description : L3GD20 digital output gyroscope sensor API * ******************************************************************************** * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License version 2 as * published by the Free Software Foundation. * * THE PRESENT SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES * OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR IMPLIED, FOR THE SOLE * PURPOSE TO SUPPORT YOUR APPLICATION DEVELOPMENT. * AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, * INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE * CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. * ******************************************************************************** * REVISON HISTORY * * VERSION | DATE | AUTHORS | DESCRIPTION * 1.0 | 2010/May/02 | Carmine Iascone | First Release * 1.1.3 | 2011/Jun/24 | Matteo Dameno | Corrects ODR Bug * 1.1.4 | 2011/Sep/02 | Matteo Dameno | SMB Bus Mng, * | | | forces BDU setting * 1.1.5 | 2011/Sep/24 | Matteo Dameno | Introduces FIFO Feat. * 1.1.5.2 | 2011/Nov/11 | Matteo Dameno | enable gpio_int to be * | | | passed as parameter at * | | | module loading time; * | | | corrects polling * | | | bug at end of probing; * 1.1.5.3 | 2011/Dec/20 | Matteo Dameno | corrects error in * | | | I2C SADROOT; Modifies * | | | resume suspend func. *******************************************************************************/ #include <linux/module.h> #include <linux/i2c.h> #include <linux/mutex.h> #include <linux/input-polldev.h> #include <linux/interrupt.h> #include <linux/slab.h> #include <linux/moduleparam.h> #include "l3gd20.h" #include <mach/system.h> #include <mach/hardware.h> #include <mach/sys_config.h> #include <linux/init-input.h> #ifdef CONFIG_HAS_EARLYSUSPEND #include <linux/earlysuspend.h> #endif #if defined(CONFIG_HAS_EARLYSUSPEND) || defined(CONFIG_PM) #include <linux/pm.h> #endif /** Maximum polled-device-reported rot speed value value in dps*/ #define FS_MAX 32768 /* l3gd20 gyroscope registers */ #define WHO_AM_I 0x0F #define CTRL_REG1 0x20 /* CTRL REG1 */ #define CTRL_REG2 0x21 /* CTRL REG2 */ #define CTRL_REG3 0x22 /* CTRL_REG3 */ #define CTRL_REG4 0x23 /* CTRL_REG4 */ #define CTRL_REG5 0x24 /* CTRL_REG5 */ #define REFERENCE 0x25 /* REFERENCE REG */ #define FIFO_CTRL_REG 0x2E /* FIFO CONTROL REGISTER */ #define FIFO_SRC_REG 0x2F /* FIFO SOURCE REGISTER */ #define OUT_X_L 0x28 /* 1st AXIS OUT REG of 6 */ #define AXISDATA_REG OUT_X_L /* CTRL_REG1 */ #define ALL_ZEROES 0x00 #define PM_OFF 0x00 #define PM_NORMAL 0x08 #define ENABLE_ALL_AXES 0x07 #define ENABLE_NO_AXES 0x00 #define BW00 0x00 #define BW01 0x10 #define BW10 0x20 #define BW11 0x30 #define ODR095 0x00 /* ODR = 95Hz */ #define ODR190 0x40 /* ODR = 190Hz */ #define ODR380 0x80 /* ODR = 380Hz */ #define ODR760 0xC0 /* ODR = 760Hz */ /* CTRL_REG3 bits */ #define I2_DRDY 0x08 #define I2_WTM 0x04 #define I2_OVRUN 0x02 #define I2_EMPTY 0x01 #define I2_NONE 0x00 #define I2_MASK 0x0F /* CTRL_REG4 bits */ #define FS_MASK 0x30 #define BDU_ENABLE 0x80 /* CTRL_REG5 bits */ #define FIFO_ENABLE 0x40 #define HPF_ENALBE 0x11 /* FIFO_CTRL_REG bits */ #define FIFO_MODE_MASK 0xE0 #define FIFO_MODE_BYPASS 0x00 #define FIFO_MODE_FIFO 0x20 #define FIFO_MODE_STREAM 0x40 #define FIFO_MODE_STR2FIFO 0x60 #define FIFO_MODE_BYPASS2STR 0x80 #define FIFO_WATERMARK_MASK 0x1F #define FIFO_STORED_DATA_MASK 0x1F #define FUZZ 0 #define FLAT 0 #define I2C_AUTO_INCREMENT 0x80 /* RESUME STATE INDICES */ #define RES_CTRL_REG1 0 #define RES_CTRL_REG2 1 #define RES_CTRL_REG3 2 #define RES_CTRL_REG4 3 #define RES_CTRL_REG5 4 #define RES_FIFO_CTRL_REG 5 #define RESUME_ENTRIES 6 #define DEBUG 0 /** Registers Contents */ #define WHOAMI_L3GD20 0x00D4 /* Expected content for WAI register*/ static int int1_gpio = DEFAULT_INT1_GPIO; static int int2_gpio = DEFAULT_INT2_GPIO; /* module_param(int1_gpio, int, S_IRUGO); */ module_param(int2_gpio, int, S_IRUGO); struct reg_r { u8 address; u8 value; }; static struct status_registers { struct reg_r who_am_i; } status_registers = { .who_am_i.address=WHO_AM_I, .who_am_i.value=WHOAMI_L3GD20, }; /* Addresses to scan */ static const unsigned short normal_i2c[2] = {0x6a,I2C_CLIENT_END}; static int i2c_num = 0; static const unsigned short i2c_address[] = {0x6a, 0x6b}; static struct sensor_config_info config_info = { .input_type = GYR_TYPE, }; static u32 debug_mask = 0; #define dprintk(level_mask, fmt, arg...) if (unlikely(debug_mask & level_mask)) \ printk(KERN_DEBUG fmt , ## arg) module_param_named(debug_mask, debug_mask, int, S_IRUGO | S_IWUSR | S_IWGRP); /* * L3GD20 gyroscope data * brief structure containing gyroscope values for yaw, pitch and roll in * signed short */ struct l3gd20_triple { short x, /* x-axis angular rate data. */ y, /* y-axis angluar rate data. */ z; /* z-axis angular rate data. */ }; struct output_rate { int poll_rate_ms; u8 mask; }; static const struct output_rate odr_table[] = { { 2, ODR760|BW10}, { 3, ODR380|BW01}, { 6, ODR190|BW00}, { 11, ODR095|BW00}, }; static int use_smbus; static struct l3gd20_gyr_platform_data default_l3gd20_gyr_pdata = { .fs_range = L3GD20_GYR_FS_2000DPS, .axis_map_x = 0, .axis_map_y = 1, .axis_map_z = 2, .negate_x = 0, .negate_y = 0, .negate_z = 0, .poll_interval = 100, .min_interval = L3GD20_MIN_POLL_PERIOD_MS, /* 2ms */ .gpio_int1 = DEFAULT_INT1_GPIO, .gpio_int2 = DEFAULT_INT2_GPIO, /* int for fifo */ .watermark = 0, .fifomode = 0, .init = NULL, .exit = NULL, .power_on = NULL, .power_off = NULL, }; struct l3gd20_data { struct i2c_client *client; struct l3gd20_gyr_platform_data *pdata; struct mutex lock; struct input_polled_dev *input_poll_dev; int hw_initialized; atomic_t enabled; u8 reg_addr; u8 resume_state[RESUME_ENTRIES]; int irq2; struct work_struct irq2_work; struct workqueue_struct *irq2_work_queue; bool polling_enabled; #ifdef CONFIG_HAS_EARLYSUSPEND struct early_suspend early_suspend; #endif }; #ifdef CONFIG_HAS_EARLYSUSPEND static void l3gd20_early_suspend(struct early_suspend *h); static void l3gd20_late_resume(struct early_suspend *h); #endif /** * gyr_detect - Device detection callback for automatic device creation * return value: * = 0; success; * < 0; err */ static int gyr_detect(struct i2c_client *client, struct i2c_board_info *info) { struct i2c_adapter *adapter = client->adapter; int ret; int err = -1; u8 buf[1]; u8 cmd; dprintk(DEBUG_INIT, "enter func %s. \n", __FUNCTION__); if (!i2c_check_functionality(adapter, I2C_FUNC_SMBUS_BYTE_DATA)) return -ENODEV; if(config_info.twi_id == adapter->nr){ for(i2c_num = 0; i2c_num < (sizeof(i2c_address)/sizeof(i2c_address[0]));i2c_num++){