Minimal implementation for KMX61 6-axis accelerometer/magnetometer. It exports
raw accel/magn readings together with scale and sampling frequency.
Datasheet will be available at:
http://www.kionix.com/6-axis-accelerometer-magnetometer/kmx61
Signed-off-by: Daniel Baluta <[email protected]>
---
Changes since v1:
* serialize non-atomic operations with a mutex (set_odr/get_odr, set_scale).
* no need to protect reading info scale because it reduces to reading an u8
which should be atomic on all arches
* *note* - read_measurment is an atomic operation
drivers/iio/imu/Kconfig | 9 +
drivers/iio/imu/Makefile | 2 +
drivers/iio/imu/kmx61.c | 590 +++++++++++++++++++++++++++++++++++++++++++++++
3 files changed, 601 insertions(+)
create mode 100644 drivers/iio/imu/kmx61.c
diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
index 2b0e451..d675f43 100644
--- a/drivers/iio/imu/Kconfig
+++ b/drivers/iio/imu/Kconfig
@@ -25,6 +25,15 @@ config ADIS16480
Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
ADIS16485, ADIS16488 inertial sensors.
+config KMX61
+ tristate "Kionix KMX61 6-axis accelerometer and magnetometer"
+ depends on I2C
+ help
+ Say Y here if you want to build a driver for Kionix KMX61 6-axis accelerometer
+ and magnetometer.
+ To compile this driver as module, choose M here: the module will be called
+ kmx61.
+
source "drivers/iio/imu/inv_mpu6050/Kconfig"
endmenu
diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
index 114d2c1..e1e6e3d 100644
--- a/drivers/iio/imu/Makefile
+++ b/drivers/iio/imu/Makefile
@@ -14,3 +14,5 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
obj-y += inv_mpu6050/
+
+obj-$(CONFIG_KMX61) += kmx61.o
diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c
new file mode 100644
index 0000000..6135a16
--- /dev/null
+++ b/drivers/iio/imu/kmx61.c
@@ -0,0 +1,590 @@
+/*
+ * KMX61 - Kionix 6-axis Accelerometer/Magnetometer
+ *
+ * Copyright (c) 2014, Intel Corporation.
+ *
+ * This file is subject to the terms and conditions of version 2 of
+ * the GNU General Public License. See the file COPYING in the main
+ * directory of this archive for more details.
+ *
+ * IIO driver for KMX61 (7-bit I2C slave address 0x0E or 0x0F).
+ *
+ * TODO: buffer, interrupt, thresholds, acpi, temperature sensor
+ *
+ */
+
+#include <linux/module.h>
+#include <linux/i2c.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+
+#define KMX61_DRV_NAME "kmx61"
+
+#define KMX61_REG_WHO_AM_I 0x00
+
+#define KMX61_ACC_XOUT_L 0x0A
+
+#define KMX61_ACC_XOUT_H 0x0B
+#define KMX61_ACC_YOUT_L 0x0C
+#define KMX61_ACC_YOUT_H 0x0D
+#define KMX61_ACC_ZOUT_L 0x0E
+#define KMX61_ACC_ZOUT_H 0x0F
+
+#define KMX61_MAG_XOUT_L 0x12
+
+#define KMX61_MAG_XOUT_H 0x13
+#define KMX61_MAG_YOUT_L 0x14
+#define KMX61_MAG_YOUT_H 0x15
+#define KMX61_MAG_ZOUT_L 0x16
+#define KMX61_MAG_ZOUT_H 0x17
+
+#define KMX61_REG_ODCNTL 0x2C
+
+#define KMX61_REG_STBY 0x29
+#define KMX61_REG_CTRL1 0x2A
+
+#define KMX61_REG_COTR 0x3C
+
+#define KMX61_ACC_STBY_BIT BIT(0)
+#define KMX61_MAG_STBY_BIT BIT(1)
+#define KMX61_ACT_STBY_BIT BIT(7)
+
+#define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT | KMX61_MAG_STBY_BIT)
+
+#define KMX61_REG_CTRL1_GSEL0_SHIFT 0
+#define KMX61_REG_CTRL1_GSEL1_SHIFT 1
+#define KMX61_REG_CTRL1_GSEL0_MASK 0x01
+#define KMX61_REG_CTRL1_GSEL1_MASK 0x02
+
+#define KMX61_REG_CTRL1_BIT_RES BIT(4)
+
+#define KMX61_ACC_ODR_SHIFT 0
+#define KMX61_MAG_ODR_SHIFT 4
+#define KMX61_ACC_ODR_MASK 0x0F
+#define KMX61_MAG_ODR_MASK 0xF0
+
+#define KMX61_CHIP_ID 0x12
+
+struct kmx61_data {
+ struct i2c_client *client;
+ /* serialize access to non-atomic ops, e.g set_mode */
+ struct mutex lock;
+ u8 range;
+ u8 odr_bits;
+};
+
+enum kmx61_range {
+ KMX61_RANGE_2G,
+ KMX61_RANGE_4G,
+ KMX61_RANGE_8G,
+};
+
+enum kmx61_scan {
+ KMX61_SCAN_ACC_X,
+ KMX61_SCAN_ACC_Y,
+ KMX61_SCAN_ACC_Z,
+ KMX61_SCAN_TEMP,
+ KMX61_SCAN_MAG_X,
+ KMX61_SCAN_MAG_Y,
+ KMX61_SCAN_MAG_Z,
+};
+
+static const struct {
+ u16 scale;
+ u8 gsel0;
+ u8 gsel1;
+} kmx61_scale_table[] = {
+ {9582, 0, 0},
+ {19163, 1, 0},
+ {38326, 0, 1},
+};
+
+/* KMX61 devices */
+#define KMX61_ACC 0x01
+#define KMX61_MAG 0x02
+
+static const struct {
+ int val;
+ int val2;
+ int odr_bits;
+} samp_freq_table[] = { {12, 500000, 0x00},
+ {25, 0, 0x01},
+ {50, 0, 0x02},
+ {100, 0, 0x03},
+ {200, 0, 0x04},
+ {400, 0, 0x05},
+ {800, 0, 0x06},
+ {1600, 0, 0x07},
+ {0, 781000, 0x08},
+ {1, 563000, 0x09},
+ {3, 125000, 0x0A},
+ {6, 250000, 0x0B} };
+
+static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326");
+static IIO_CONST_ATTR(magn_scale_available, "0.001465");
+static IIO_CONST_ATTR_SAMP_FREQ_AVAIL(
+ "0.781000 1.563000 3.125000 6.250000 12.500000 25 50 100 200 400 800");
+
+static struct attribute *kmx61_attributes[] = {
+ &iio_const_attr_accel_scale_available.dev_attr.attr,
+ &iio_const_attr_magn_scale_available.dev_attr.attr,
+ &iio_const_attr_sampling_frequency_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group kmx61_attribute_group = {
+ .attrs = kmx61_attributes,
+};
+
+#define KMX61_ACC_CHAN(_axis, _index) { \
+ .type = IIO_ACCEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## _axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 12, \
+ .storagebits = 16, \
+ .shift = 4, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define KMX61_MAG_CHAN(_axis, _index) { \
+ .type = IIO_MAGN, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## _axis, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = _index, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 14, \
+ .storagebits = 16, \
+ .shift = 2, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+static const struct iio_chan_spec kmx61_channels[] = {
+ KMX61_ACC_CHAN(X, KMX61_SCAN_ACC_X),
+ KMX61_ACC_CHAN(Y, KMX61_SCAN_ACC_Y),
+ KMX61_ACC_CHAN(Z, KMX61_SCAN_ACC_Z),
+ KMX61_MAG_CHAN(X, KMX61_SCAN_MAG_X),
+ KMX61_MAG_CHAN(Y, KMX61_SCAN_MAG_Y),
+ KMX61_MAG_CHAN(Z, KMX61_SCAN_MAG_Z),
+};
+
+static int kmx61_convert_freq_to_bit(int val, int val2)
+{
+ int i;
+
+ for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
+ if (val == samp_freq_table[i].val &&
+ val2 == samp_freq_table[i].val2)
+ return samp_freq_table[i].odr_bits;
+ return -EINVAL;
+}
+
+static int kmx61_set_mode(struct kmx61_data *data, u8 mode, u8 device)
+{
+ int ret;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_stby\n");
+ return ret;
+ }
+ if (device & KMX61_ACC) {
+ if (mode & KMX61_ACC_STBY_BIT)
+ ret |= KMX61_ACC_STBY_BIT;
+ else
+ ret &= ~KMX61_ACC_STBY_BIT;
+ }
+
+ if (device & KMX61_MAG) {
+ if (mode & KMX61_MAG_STBY_BIT)
+ ret |= KMX61_MAG_STBY_BIT;
+ else
+ ret &= ~KMX61_MAG_STBY_BIT;
+ }
+
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_STBY, ret);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error writing reg_stby\n");
+ return ret;
+ }
+
+ return ret;
+}
+
+static int kmx61_get_mode(struct kmx61_data *data, u8 *mode, u8 device)
+{
+ int ret;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_stby\n");
+ return ret;
+ }
+ *mode = 0;
+
+ if (device & KMX61_ACC) {
+ if (ret & KMX61_ACC_STBY_BIT)
+ *mode |= KMX61_ACC_STBY_BIT;
+ else
+ *mode &= ~KMX61_ACC_STBY_BIT;
+ }
+
+ if (device & KMX61_MAG) {
+ if (ret & KMX61_MAG_STBY_BIT)
+ *mode |= KMX61_MAG_STBY_BIT;
+ else
+ *mode &= ~KMX61_MAG_STBY_BIT;
+ }
+
+ return 0;
+}
+
+static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device)
+{
+ int ret;
+ u8 mode;
+ int lodr_bits, odr_bits;
+
+ ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG);
+ if (ret < 0)
+ return ret;
+
+ lodr_bits = kmx61_convert_freq_to_bit(val, val2);
+ if (lodr_bits < 0)
+ return lodr_bits;
+
+ /* To change ODR, accel and magn must be in STDBY */
+ ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
+ if (ret < 0)
+ return ret;
+
+ odr_bits = 0;
+ if (device & KMX61_ACC)
+ odr_bits |= lodr_bits;
+ if (device & KMX61_MAG)
+ odr_bits |= (lodr_bits << KMX61_MAG_ODR_SHIFT);
+
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_ODCNTL,
+ odr_bits);
+ if (ret < 0)
+ return ret;
+
+ ret = kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG);
+ if (ret < 0)
+ return ret;
+
+ data->odr_bits = lodr_bits;
+
+ return 0;
+}
+
+static
+int kmx61_get_odr(struct kmx61_data *data, int *val, int *val2, u8 device)
+{ int i;
+ u8 lodr_bits;
+
+ if (device & KMX61_ACC)
+ lodr_bits = (data->odr_bits >> KMX61_ACC_ODR_SHIFT) &
+ KMX61_ACC_ODR_MASK;
+ else if (device & KMX61_MAG)
+ lodr_bits = (data->odr_bits >> KMX61_MAG_ODR_SHIFT) &
+ KMX61_MAG_ODR_MASK;
+ else
+ return -EINVAL;
+
+ for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
+ if (lodr_bits == samp_freq_table[i].odr_bits) {
+ *val = samp_freq_table[i].val;
+ *val2 = samp_freq_table[i].val2;
+ return 0;
+ }
+ return -EINVAL;
+}
+
+static int kmx61_set_range(struct kmx61_data *data, int range)
+{
+ int ret;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
+ return ret;
+ }
+
+ ret &= ~(KMX61_REG_CTRL1_GSEL0_MASK | KMX61_REG_CTRL1_GSEL1_MASK);
+ ret |= kmx61_scale_table[range].gsel0 << KMX61_REG_CTRL1_GSEL0_SHIFT;
+ ret |= kmx61_scale_table[range].gsel1 << KMX61_REG_CTRL1_GSEL1_SHIFT;
+
+ ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
+ return ret;
+ }
+
+ data->range = range;
+
+ return 0;
+}
+
+static int kmx61_set_scale(struct kmx61_data *data, int val)
+{
+ int ret, i;
+ u8 mode;
+
+ for (i = 0; i < ARRAY_SIZE(kmx61_scale_table); i++) {
+ if (kmx61_scale_table[i].scale == val) {
+ ret = kmx61_get_mode(data, &mode,
+ KMX61_ACC | KMX61_MAG);
+ if (ret < 0)
+ return ret;
+
+ ret = kmx61_set_mode(data, KMX61_ALL_STBY,
+ KMX61_ACC | KMX61_MAG);
+ if (ret < 0)
+ return ret;
+
+ ret = kmx61_set_range(data, i);
+ if (ret < 0)
+ return ret;
+
+ ret = kmx61_set_mode(data, mode,
+ KMX61_ACC | KMX61_MAG);
+ if (ret < 0)
+ return ret;
+
+ return 0;
+ }
+ }
+ return -EINVAL;
+}
+
+static int kmx61_chip_init(struct kmx61_data *data)
+{
+ int ret;
+
+ ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "Error reading who_am_i\n");
+ return ret;
+ }
+
+ if (ret != KMX61_CHIP_ID) {
+ dev_err(&data->client->dev,
+ "Wrong chip id, got %x expected %x\n",
+ ret, KMX61_CHIP_ID);
+ return -EINVAL;
+ }
+
+ /* set accel 12bit, 4g range */
+ ret = kmx61_set_range(data, KMX61_RANGE_4G);
+ if (ret < 0)
+ return ret;
+
+ /* put accel and magnetometer in operating mode */
+ ret = kmx61_set_mode(data, 0, KMX61_ACC | KMX61_MAG);
+ if (ret < 0)
+ return ret;
+
+ return 0;
+}
+
+static int kmx61_read_measurement(struct kmx61_data *data, int base, int offset)
+{
+ int ret;
+ u8 reg = base + offset * 2;
+
+ ret = i2c_smbus_read_word_data(data->client, reg);
+ if (ret < 0) {
+ dev_err(&data->client->dev, "failed to read reg at %x\n", reg);
+ return ret;
+ }
+
+ return ret;
+}
+
+static int kmx61_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int *val,
+ int *val2, long mask)
+{
+ struct kmx61_data *data = iio_priv(indio_dev);
+ int ret;
+ u8 base_reg;
+ u8 device;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ switch (chan->type) {
+ case IIO_ACCEL: case IIO_MAGN:
+ base_reg = KMX61_ACC_XOUT_L;
+ break;
+ default:
+ return -EINVAL;
+ }
+ ret = kmx61_read_measurement(data, base_reg, chan->scan_index);
+ if (ret < 0)
+ return ret;
+ *val = sign_extend32(ret >> chan->scan_type.shift,
+ chan->scan_type.realbits - 1);
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ *val = 0;
+ *val2 = kmx61_scale_table[data->range].scale;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_MAGN:
+ /* 14 bits res, 1465 microGauss per magn count */
+ *val = 0;
+ *val2 = 1465;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ break;
+ }
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ device = KMX61_ACC;
+ break;
+ case IIO_MAGN:
+ device = KMX61_MAG;
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ mutex_lock(&data->lock);
+ ret = kmx61_get_odr(data, val, val2, device);
+ mutex_unlock(&data->lock);
+ if (ret)
+ return -EINVAL;
+ return IIO_VAL_INT_PLUS_MICRO;
+ }
+ return -EINVAL;
+}
+
+static int kmx61_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int val,
+ int val2, long mask)
+{
+ struct kmx61_data *data = iio_priv(indio_dev);
+ int ret;
+ u8 device;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ device = KMX61_ACC;
+ break;
+ case IIO_MAGN:
+ device = KMX61_MAG;
+ break;
+ default:
+ return -EINVAL;
+ }
+ mutex_lock(&data->lock);
+ ret = kmx61_set_odr(data, val, val2, device);
+ mutex_unlock(&data->lock);
+ break;
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ mutex_lock(&data->lock);
+ ret = kmx61_set_scale(data, val2);
+ mutex_unlock(&data->lock);
+ break;
+ default:
+ ret = -EINVAL;
+ }
+ break;
+ default:
+ ret = -EINVAL;
+ }
+
+ return ret;
+}
+
+static const struct iio_info kmx61_info = {
+ .driver_module = THIS_MODULE,
+ .read_raw = kmx61_read_raw,
+ .write_raw = kmx61_write_raw,
+ .attrs = &kmx61_attribute_group,
+};
+
+static int kmx61_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ struct kmx61_data *data;
+ struct iio_dev *indio_dev;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ data = iio_priv(indio_dev);
+ i2c_set_clientdata(client, indio_dev);
+ data->client = client;
+
+ indio_dev->dev.parent = &client->dev;
+ indio_dev->info = &kmx61_info;
+ indio_dev->channels = kmx61_channels;
+ indio_dev->num_channels = ARRAY_SIZE(kmx61_channels);
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ mutex_init(&data->lock);
+
+ ret = kmx61_chip_init(data);
+ if (ret < 0)
+ return ret;
+
+ return iio_device_register(indio_dev);
+}
+
+static int kmx61_remove(struct i2c_client *client)
+{
+ struct iio_dev *indio_dev = i2c_get_clientdata(client);
+ struct kmx61_data *data = iio_priv(indio_dev);
+ int ret;
+
+ iio_device_unregister(indio_dev);
+
+ mutex_lock(&data->lock);
+ ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static const struct i2c_device_id kmx61_id[] = {
+ {"kmx61", 0},
+ {}
+};
+
+MODULE_DEVICE_TABLE(i2c, kmx61_id);
+
+static struct i2c_driver kmx61_driver = {
+ .driver = {
+ .name = "kmx61",
+ },
+ .probe = kmx61_probe,
+ .remove = kmx61_remove,
+ .id_table = kmx61_id,
+};
+
+module_i2c_driver(kmx61_driver);
+
+MODULE_AUTHOR("Daniel Baluta <[email protected]>");
+MODULE_DESCRIPTION("KMX61 accelerometer/magnetometer driver");
+MODULE_LICENSE("GPL v2");
--
1.9.1
On 10/11/14 17:24, Daniel Baluta wrote:
> Minimal implementation for KMX61 6-axis accelerometer/magnetometer. It exports
> raw accel/magn readings together with scale and sampling frequency.
>
> Datasheet will be available at:
> http://www.kionix.com/6-axis-accelerometer-magnetometer/kmx61
>
> Signed-off-by: Daniel Baluta <[email protected]>
Looking very nice. I made a few more comments inline but only
one was more than a comment - I added a check on val==0 in the obvious
place. Please take a look at the testing branch of iio.git to make
sure I didn't mess anything up!
Applied to the togreg branch of iio.git - initially pushed out as testing
for the autobuilders to play with it.
Jonathan
> ---
> Changes since v1:
> * serialize non-atomic operations with a mutex (set_odr/get_odr, set_scale).
> * no need to protect reading info scale because it reduces to reading an u8
> which should be atomic on all arches
> * *note* - read_measurment is an atomic operation
>
> drivers/iio/imu/Kconfig | 9 +
> drivers/iio/imu/Makefile | 2 +
> drivers/iio/imu/kmx61.c | 590 +++++++++++++++++++++++++++++++++++++++++++++++
> 3 files changed, 601 insertions(+)
> create mode 100644 drivers/iio/imu/kmx61.c
>
> diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
> index 2b0e451..d675f43 100644
> --- a/drivers/iio/imu/Kconfig
> +++ b/drivers/iio/imu/Kconfig
> @@ -25,6 +25,15 @@ config ADIS16480
> Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
> ADIS16485, ADIS16488 inertial sensors.
>
> +config KMX61
> + tristate "Kionix KMX61 6-axis accelerometer and magnetometer"
> + depends on I2C
> + help
> + Say Y here if you want to build a driver for Kionix KMX61 6-axis accelerometer
> + and magnetometer.
> + To compile this driver as module, choose M here: the module will be called
> + kmx61.
> +
> source "drivers/iio/imu/inv_mpu6050/Kconfig"
>
> endmenu
> diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
> index 114d2c1..e1e6e3d 100644
> --- a/drivers/iio/imu/Makefile
> +++ b/drivers/iio/imu/Makefile
> @@ -14,3 +14,5 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
> obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
>
> obj-y += inv_mpu6050/
> +
> +obj-$(CONFIG_KMX61) += kmx61.o
> diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c
> new file mode 100644
> index 0000000..6135a16
> --- /dev/null
> +++ b/drivers/iio/imu/kmx61.c
> @@ -0,0 +1,590 @@
> +/*
> + * KMX61 - Kionix 6-axis Accelerometer/Magnetometer
> + *
> + * Copyright (c) 2014, Intel Corporation.
> + *
> + * This file is subject to the terms and conditions of version 2 of
> + * the GNU General Public License. See the file COPYING in the main
> + * directory of this archive for more details.
> + *
> + * IIO driver for KMX61 (7-bit I2C slave address 0x0E or 0x0F).
> + *
> + * TODO: buffer, interrupt, thresholds, acpi, temperature sensor
> + *
> + */
> +
> +#include <linux/module.h>
> +#include <linux/i2c.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/sysfs.h>
> +
> +#define KMX61_DRV_NAME "kmx61"
> +
> +#define KMX61_REG_WHO_AM_I 0x00
> +
> +#define KMX61_ACC_XOUT_L 0x0A
> +
> +#define KMX61_ACC_XOUT_H 0x0B
> +#define KMX61_ACC_YOUT_L 0x0C
> +#define KMX61_ACC_YOUT_H 0x0D
> +#define KMX61_ACC_ZOUT_L 0x0E
> +#define KMX61_ACC_ZOUT_H 0x0F
> +
> +#define KMX61_MAG_XOUT_L 0x12
> +
> +#define KMX61_MAG_XOUT_H 0x13
> +#define KMX61_MAG_YOUT_L 0x14
> +#define KMX61_MAG_YOUT_H 0x15
> +#define KMX61_MAG_ZOUT_L 0x16
> +#define KMX61_MAG_ZOUT_H 0x17
> +
> +#define KMX61_REG_ODCNTL 0x2C
> +
> +#define KMX61_REG_STBY 0x29
> +#define KMX61_REG_CTRL1 0x2A
> +
> +#define KMX61_REG_COTR 0x3C
> +
> +#define KMX61_ACC_STBY_BIT BIT(0)
> +#define KMX61_MAG_STBY_BIT BIT(1)
> +#define KMX61_ACT_STBY_BIT BIT(7)
> +
> +#define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT | KMX61_MAG_STBY_BIT)
> +
> +#define KMX61_REG_CTRL1_GSEL0_SHIFT 0
> +#define KMX61_REG_CTRL1_GSEL1_SHIFT 1
> +#define KMX61_REG_CTRL1_GSEL0_MASK 0x01
> +#define KMX61_REG_CTRL1_GSEL1_MASK 0x02
> +
> +#define KMX61_REG_CTRL1_BIT_RES BIT(4)
> +
> +#define KMX61_ACC_ODR_SHIFT 0
> +#define KMX61_MAG_ODR_SHIFT 4
> +#define KMX61_ACC_ODR_MASK 0x0F
> +#define KMX61_MAG_ODR_MASK 0xF0
> +
> +#define KMX61_CHIP_ID 0x12
> +
> +struct kmx61_data {
> + struct i2c_client *client;
> + /* serialize access to non-atomic ops, e.g set_mode */
> + struct mutex lock;
> + u8 range;
> + u8 odr_bits;
> +};
> +
> +enum kmx61_range {
> + KMX61_RANGE_2G,
> + KMX61_RANGE_4G,
> + KMX61_RANGE_8G,
> +};
> +
> +enum kmx61_scan {
> + KMX61_SCAN_ACC_X,
> + KMX61_SCAN_ACC_Y,
> + KMX61_SCAN_ACC_Z,
> + KMX61_SCAN_TEMP,
> + KMX61_SCAN_MAG_X,
> + KMX61_SCAN_MAG_Y,
> + KMX61_SCAN_MAG_Z,
> +};
> +
> +static const struct {
> + u16 scale;
> + u8 gsel0;
> + u8 gsel1;
> +} kmx61_scale_table[] = {
> + {9582, 0, 0},
> + {19163, 1, 0},
> + {38326, 0, 1},
> +};
> +
> +/* KMX61 devices */
> +#define KMX61_ACC 0x01
> +#define KMX61_MAG 0x02
> +
> +static const struct {
> + int val;
> + int val2;
> + int odr_bits;
> +} samp_freq_table[] = { {12, 500000, 0x00},
> + {25, 0, 0x01},
> + {50, 0, 0x02},
> + {100, 0, 0x03},
> + {200, 0, 0x04},
> + {400, 0, 0x05},
> + {800, 0, 0x06},
> + {1600, 0, 0x07},
> + {0, 781000, 0x08},
> + {1, 563000, 0x09},
> + {3, 125000, 0x0A},
> + {6, 250000, 0x0B} };
> +
> +static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326");
> +static IIO_CONST_ATTR(magn_scale_available, "0.001465");
> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL(
> + "0.781000 1.563000 3.125000 6.250000 12.500000 25 50 100 200 400 800");
> +
> +static struct attribute *kmx61_attributes[] = {
> + &iio_const_attr_accel_scale_available.dev_attr.attr,
> + &iio_const_attr_magn_scale_available.dev_attr.attr,
> + &iio_const_attr_sampling_frequency_available.dev_attr.attr,
Interesting. So sampling frequency is controllable seperately for the
two sensing types, but uses a single set of values. This is a rare
coherent looking bit of dual sensor type hardware ;)
> + NULL,
> +};
> +
> +static const struct attribute_group kmx61_attribute_group = {
> + .attrs = kmx61_attributes,
> +};
> +
> +#define KMX61_ACC_CHAN(_axis, _index) { \
> + .type = IIO_ACCEL, \
> + .modified = 1, \
> + .channel2 = IIO_MOD_ ## _axis, \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
> + .scan_index = _index, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = 12, \
> + .storagebits = 16, \
> + .shift = 4, \
> + .endianness = IIO_BE, \
> + }, \
> +}
> +
> +#define KMX61_MAG_CHAN(_axis, _index) { \
> + .type = IIO_MAGN, \
> + .modified = 1, \
> + .channel2 = IIO_MOD_ ## _axis, \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
> + .scan_index = _index, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = 14, \
> + .storagebits = 16, \
> + .shift = 2, \
> + .endianness = IIO_BE, \
> + }, \
Wouldn't normally expect scan_index and scan_type in a driver
without buffered support, but you do make use of some of the
elements elsewhere and state that buffered support
is on the todo list so lets leave it here.
> +}
> +
> +static const struct iio_chan_spec kmx61_channels[] = {
> + KMX61_ACC_CHAN(X, KMX61_SCAN_ACC_X),
> + KMX61_ACC_CHAN(Y, KMX61_SCAN_ACC_Y),
> + KMX61_ACC_CHAN(Z, KMX61_SCAN_ACC_Z),
> + KMX61_MAG_CHAN(X, KMX61_SCAN_MAG_X),
> + KMX61_MAG_CHAN(Y, KMX61_SCAN_MAG_Y),
> + KMX61_MAG_CHAN(Z, KMX61_SCAN_MAG_Z),
> +};
> +
> +static int kmx61_convert_freq_to_bit(int val, int val2)
> +{
> + int i;
> +
> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
> + if (val == samp_freq_table[i].val &&
> + val2 == samp_freq_table[i].val2)
> + return samp_freq_table[i].odr_bits;
> + return -EINVAL;
> +}
> +
> +static int kmx61_set_mode(struct kmx61_data *data, u8 mode, u8 device)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_stby\n");
> + return ret;
> + }
> + if (device & KMX61_ACC) {
> + if (mode & KMX61_ACC_STBY_BIT)
> + ret |= KMX61_ACC_STBY_BIT;
> + else
> + ret &= ~KMX61_ACC_STBY_BIT;
> + }
> +
> + if (device & KMX61_MAG) {
> + if (mode & KMX61_MAG_STBY_BIT)
> + ret |= KMX61_MAG_STBY_BIT;
> + else
> + ret &= ~KMX61_MAG_STBY_BIT;
> + }
> +
> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_STBY, ret);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_stby\n");
> + return ret;
> + }
> +
> + return ret;
> +}
> +
> +static int kmx61_get_mode(struct kmx61_data *data, u8 *mode, u8 device)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_stby\n");
> + return ret;
> + }
> + *mode = 0;
> +
> + if (device & KMX61_ACC) {
> + if (ret & KMX61_ACC_STBY_BIT)
> + *mode |= KMX61_ACC_STBY_BIT;
> + else
> + *mode &= ~KMX61_ACC_STBY_BIT;
> + }
> +
> + if (device & KMX61_MAG) {
> + if (ret & KMX61_MAG_STBY_BIT)
> + *mode |= KMX61_MAG_STBY_BIT;
> + else
> + *mode &= ~KMX61_MAG_STBY_BIT;
> + }
> +
> + return 0;
> +}
> +
> +static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device)
> +{
> + int ret;
> + u8 mode;
> + int lodr_bits, odr_bits;
> +
> + ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + lodr_bits = kmx61_convert_freq_to_bit(val, val2);
> + if (lodr_bits < 0)
> + return lodr_bits;
> +
> + /* To change ODR, accel and magn must be in STDBY */
> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + odr_bits = 0;
> + if (device & KMX61_ACC)
> + odr_bits |= lodr_bits;
> + if (device & KMX61_MAG)
> + odr_bits |= (lodr_bits << KMX61_MAG_ODR_SHIFT);
> +
> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_ODCNTL,
> + odr_bits);
> + if (ret < 0)
> + return ret;
> +
> + ret = kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + data->odr_bits = lodr_bits;
> +
> + return 0;
> +}
> +
> +static
> +int kmx61_get_odr(struct kmx61_data *data, int *val, int *val2, u8 device)
> +{ int i;
> + u8 lodr_bits;
> +
> + if (device & KMX61_ACC)
> + lodr_bits = (data->odr_bits >> KMX61_ACC_ODR_SHIFT) &
> + KMX61_ACC_ODR_MASK;
> + else if (device & KMX61_MAG)
> + lodr_bits = (data->odr_bits >> KMX61_MAG_ODR_SHIFT) &
> + KMX61_MAG_ODR_MASK;
> + else
> + return -EINVAL;
> +
> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
> + if (lodr_bits == samp_freq_table[i].odr_bits) {
> + *val = samp_freq_table[i].val;
> + *val2 = samp_freq_table[i].val2;
> + return 0;
> + }
> + return -EINVAL;
> +}
> +
> +static int kmx61_set_range(struct kmx61_data *data, int range)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
> + return ret;
> + }
> +
> + ret &= ~(KMX61_REG_CTRL1_GSEL0_MASK | KMX61_REG_CTRL1_GSEL1_MASK);
> + ret |= kmx61_scale_table[range].gsel0 << KMX61_REG_CTRL1_GSEL0_SHIFT;
> + ret |= kmx61_scale_table[range].gsel1 << KMX61_REG_CTRL1_GSEL1_SHIFT;
> +
> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
> + return ret;
> + }
> +
> + data->range = range;
> +
> + return 0;
> +}
> +
I'd be tempted to use a parameter name other than val as that
tends to have a fairly specific meaning in iio drivers
(afterall you pass val2 in here!) scale would work or
maybe microscale or similar?
> +static int kmx61_set_scale(struct kmx61_data *data, int val)
> +{
> + int ret, i;
> + u8 mode;
> +
> + for (i = 0; i < ARRAY_SIZE(kmx61_scale_table); i++) {
> + if (kmx61_scale_table[i].scale == val) {
> + ret = kmx61_get_mode(data, &mode,
> + KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + ret = kmx61_set_mode(data, KMX61_ALL_STBY,
> + KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + ret = kmx61_set_range(data, i);
> + if (ret < 0)
> + return ret;
> +
> + ret = kmx61_set_mode(data, mode,
> + KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + return 0;
> + }
> + }
> + return -EINVAL;
> +}
> +
> +static int kmx61_chip_init(struct kmx61_data *data)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading who_am_i\n");
> + return ret;
> + }
> +
> + if (ret != KMX61_CHIP_ID) {
> + dev_err(&data->client->dev,
> + "Wrong chip id, got %x expected %x\n",
> + ret, KMX61_CHIP_ID);
> + return -EINVAL;
> + }
> +
> + /* set accel 12bit, 4g range */
> + ret = kmx61_set_range(data, KMX61_RANGE_4G);
> + if (ret < 0)
> + return ret;
> +
> + /* put accel and magnetometer in operating mode */
> + ret = kmx61_set_mode(data, 0, KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + return 0;
> +}
> +
> +static int kmx61_read_measurement(struct kmx61_data *data, int base, int offset)
> +{
> + int ret;
> + u8 reg = base + offset * 2;
> +
> + ret = i2c_smbus_read_word_data(data->client, reg);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "failed to read reg at %x\n", reg);
> + return ret;
> + }
> +
> + return ret;
> +}
> +
> +static int kmx61_read_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan, int *val,
> + int *val2, long mask)
> +{
> + struct kmx61_data *data = iio_priv(indio_dev);
> + int ret;
> + u8 base_reg;
> + u8 device;
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_RAW:
> + switch (chan->type) {
> + case IIO_ACCEL: case IIO_MAGN:
> + base_reg = KMX61_ACC_XOUT_L;
> + break;
> + default:
> + return -EINVAL;
> + }
> + ret = kmx61_read_measurement(data, base_reg, chan->scan_index);
> + if (ret < 0)
> + return ret;
> + *val = sign_extend32(ret >> chan->scan_type.shift,
> + chan->scan_type.realbits - 1);
> + return IIO_VAL_INT;
> + case IIO_CHAN_INFO_SCALE:
> + switch (chan->type) {
> + case IIO_ACCEL:
> + *val = 0;
> + *val2 = kmx61_scale_table[data->range].scale;
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_MAGN:
> + /* 14 bits res, 1465 microGauss per magn count */
> + *val = 0;
> + *val2 = 1465;
> + return IIO_VAL_INT_PLUS_MICRO;
> + default:
> + break;
> + }
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + switch (chan->type) {
> + case IIO_ACCEL:
> + device = KMX61_ACC;
> + break;
> + case IIO_MAGN:
> + device = KMX61_MAG;
> + break;
> + default:
> + return -EINVAL;
> + }
> +
> + mutex_lock(&data->lock);
> + ret = kmx61_get_odr(data, val, val2, device);
> + mutex_unlock(&data->lock);
> + if (ret)
> + return -EINVAL;
> + return IIO_VAL_INT_PLUS_MICRO;
> + }
> + return -EINVAL;
> +}
> +
> +static int kmx61_write_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan, int val,
> + int val2, long mask)
> +{
> + struct kmx61_data *data = iio_priv(indio_dev);
> + int ret;
> + u8 device;
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + switch (chan->type) {
> + case IIO_ACCEL:
> + device = KMX61_ACC;
> + break;
> + case IIO_MAGN:
> + device = KMX61_MAG;
> + break;
> + default:
> + return -EINVAL;
> + }
> + mutex_lock(&data->lock);
> + ret = kmx61_set_odr(data, val, val2, device);
> + mutex_unlock(&data->lock);
> + break;
> + case IIO_CHAN_INFO_SCALE:
> + switch (chan->type) {
> + case IIO_ACCEL:
Should verify that val == 0 incase of crazy userspace input.
> + mutex_lock(&data->lock);
> + ret = kmx61_set_scale(data, val2);
> + mutex_unlock(&data->lock);
> + break;
> + default:
> + ret = -EINVAL;
> + }
> + break;
> + default:
> + ret = -EINVAL;
> + }
> +
> + return ret;
> +}
> +
> +static const struct iio_info kmx61_info = {
> + .driver_module = THIS_MODULE,
> + .read_raw = kmx61_read_raw,
> + .write_raw = kmx61_write_raw,
> + .attrs = &kmx61_attribute_group,
> +};
> +
> +static int kmx61_probe(struct i2c_client *client,
> + const struct i2c_device_id *id)
> +{
> + struct kmx61_data *data;
> + struct iio_dev *indio_dev;
> + int ret;
> +
> + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
> + if (!indio_dev)
> + return -ENOMEM;
> +
> + data = iio_priv(indio_dev);
> + i2c_set_clientdata(client, indio_dev);
> + data->client = client;
> +
> + indio_dev->dev.parent = &client->dev;
> + indio_dev->info = &kmx61_info;
> + indio_dev->channels = kmx61_channels;
> + indio_dev->num_channels = ARRAY_SIZE(kmx61_channels);
> + indio_dev->modes = INDIO_DIRECT_MODE;
> +
> + mutex_init(&data->lock);
> +
> + ret = kmx61_chip_init(data);
> + if (ret < 0)
> + return ret;
> +
> + return iio_device_register(indio_dev);
> +}
> +
> +static int kmx61_remove(struct i2c_client *client)
> +{
> + struct iio_dev *indio_dev = i2c_get_clientdata(client);
> + struct kmx61_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + iio_device_unregister(indio_dev);
> +
> + mutex_lock(&data->lock);
> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
> + mutex_unlock(&data->lock);
> +
> + return ret;
> +}
> +
> +static const struct i2c_device_id kmx61_id[] = {
> + {"kmx61", 0},
> + {}
> +};
> +
> +MODULE_DEVICE_TABLE(i2c, kmx61_id);
> +
> +static struct i2c_driver kmx61_driver = {
> + .driver = {
> + .name = "kmx61",
> + },
> + .probe = kmx61_probe,
> + .remove = kmx61_remove,
> + .id_table = kmx61_id,
> +};
> +
> +module_i2c_driver(kmx61_driver);
> +
> +MODULE_AUTHOR("Daniel Baluta <[email protected]>");
> +MODULE_DESCRIPTION("KMX61 accelerometer/magnetometer driver");
> +MODULE_LICENSE("GPL v2");
>
On Sun, Nov 16, 2014 at 11:10 PM, Jonathan Cameron <[email protected]> wrote:
> On 10/11/14 17:24, Daniel Baluta wrote:
>> Minimal implementation for KMX61 6-axis accelerometer/magnetometer. It exports
>> raw accel/magn readings together with scale and sampling frequency.
>>
>> Datasheet will be available at:
>> http://www.kionix.com/6-axis-accelerometer-magnetometer/kmx61
>>
>> Signed-off-by: Daniel Baluta <[email protected]>
> Looking very nice. I made a few more comments inline but only
> one was more than a comment - I added a check on val==0 in the obvious
> place. Please take a look at the testing branch of iio.git to make
> sure I didn't mess anything up!
Thanks! It looks good.
>
> Applied to the togreg branch of iio.git - initially pushed out as testing
> for the autobuilders to play with it.
>
> Jonathan
>> ---
>> Changes since v1:
>> * serialize non-atomic operations with a mutex (set_odr/get_odr, set_scale).
>> * no need to protect reading info scale because it reduces to reading an u8
>> which should be atomic on all arches
>> * *note* - read_measurment is an atomic operation
>>
>> drivers/iio/imu/Kconfig | 9 +
>> drivers/iio/imu/Makefile | 2 +
>> drivers/iio/imu/kmx61.c | 590 +++++++++++++++++++++++++++++++++++++++++++++++
>> 3 files changed, 601 insertions(+)
>> create mode 100644 drivers/iio/imu/kmx61.c
>>
>> diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
>> index 2b0e451..d675f43 100644
>> --- a/drivers/iio/imu/Kconfig
>> +++ b/drivers/iio/imu/Kconfig
>> @@ -25,6 +25,15 @@ config ADIS16480
>> Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
>> ADIS16485, ADIS16488 inertial sensors.
>>
>> +config KMX61
>> + tristate "Kionix KMX61 6-axis accelerometer and magnetometer"
>> + depends on I2C
>> + help
>> + Say Y here if you want to build a driver for Kionix KMX61 6-axis accelerometer
>> + and magnetometer.
>> + To compile this driver as module, choose M here: the module will be called
>> + kmx61.
>> +
>> source "drivers/iio/imu/inv_mpu6050/Kconfig"
>>
>> endmenu
>> diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
>> index 114d2c1..e1e6e3d 100644
>> --- a/drivers/iio/imu/Makefile
>> +++ b/drivers/iio/imu/Makefile
>> @@ -14,3 +14,5 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
>> obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
>>
>> obj-y += inv_mpu6050/
>> +
>> +obj-$(CONFIG_KMX61) += kmx61.o
>> diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c
>> new file mode 100644
>> index 0000000..6135a16
>> --- /dev/null
>> +++ b/drivers/iio/imu/kmx61.c
>> @@ -0,0 +1,590 @@
>> +/*
>> + * KMX61 - Kionix 6-axis Accelerometer/Magnetometer
>> + *
>> + * Copyright (c) 2014, Intel Corporation.
>> + *
>> + * This file is subject to the terms and conditions of version 2 of
>> + * the GNU General Public License. See the file COPYING in the main
>> + * directory of this archive for more details.
>> + *
>> + * IIO driver for KMX61 (7-bit I2C slave address 0x0E or 0x0F).
>> + *
>> + * TODO: buffer, interrupt, thresholds, acpi, temperature sensor
>> + *
>> + */
>> +
>> +#include <linux/module.h>
>> +#include <linux/i2c.h>
>> +#include <linux/iio/iio.h>
>> +#include <linux/iio/sysfs.h>
>> +
>> +#define KMX61_DRV_NAME "kmx61"
>> +
>> +#define KMX61_REG_WHO_AM_I 0x00
>> +
>> +#define KMX61_ACC_XOUT_L 0x0A
>> +
>> +#define KMX61_ACC_XOUT_H 0x0B
>> +#define KMX61_ACC_YOUT_L 0x0C
>> +#define KMX61_ACC_YOUT_H 0x0D
>> +#define KMX61_ACC_ZOUT_L 0x0E
>> +#define KMX61_ACC_ZOUT_H 0x0F
>> +
>> +#define KMX61_MAG_XOUT_L 0x12
>> +
>> +#define KMX61_MAG_XOUT_H 0x13
>> +#define KMX61_MAG_YOUT_L 0x14
>> +#define KMX61_MAG_YOUT_H 0x15
>> +#define KMX61_MAG_ZOUT_L 0x16
>> +#define KMX61_MAG_ZOUT_H 0x17
>> +
>> +#define KMX61_REG_ODCNTL 0x2C
>> +
>> +#define KMX61_REG_STBY 0x29
>> +#define KMX61_REG_CTRL1 0x2A
>> +
>> +#define KMX61_REG_COTR 0x3C
>> +
>> +#define KMX61_ACC_STBY_BIT BIT(0)
>> +#define KMX61_MAG_STBY_BIT BIT(1)
>> +#define KMX61_ACT_STBY_BIT BIT(7)
>> +
>> +#define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT | KMX61_MAG_STBY_BIT)
>> +
>> +#define KMX61_REG_CTRL1_GSEL0_SHIFT 0
>> +#define KMX61_REG_CTRL1_GSEL1_SHIFT 1
>> +#define KMX61_REG_CTRL1_GSEL0_MASK 0x01
>> +#define KMX61_REG_CTRL1_GSEL1_MASK 0x02
>> +
>> +#define KMX61_REG_CTRL1_BIT_RES BIT(4)
>> +
>> +#define KMX61_ACC_ODR_SHIFT 0
>> +#define KMX61_MAG_ODR_SHIFT 4
>> +#define KMX61_ACC_ODR_MASK 0x0F
>> +#define KMX61_MAG_ODR_MASK 0xF0
>> +
>> +#define KMX61_CHIP_ID 0x12
>> +
>> +struct kmx61_data {
>> + struct i2c_client *client;
>> + /* serialize access to non-atomic ops, e.g set_mode */
>> + struct mutex lock;
>> + u8 range;
>> + u8 odr_bits;
>> +};
>> +
>> +enum kmx61_range {
>> + KMX61_RANGE_2G,
>> + KMX61_RANGE_4G,
>> + KMX61_RANGE_8G,
>> +};
>> +
>> +enum kmx61_scan {
>> + KMX61_SCAN_ACC_X,
>> + KMX61_SCAN_ACC_Y,
>> + KMX61_SCAN_ACC_Z,
>> + KMX61_SCAN_TEMP,
>> + KMX61_SCAN_MAG_X,
>> + KMX61_SCAN_MAG_Y,
>> + KMX61_SCAN_MAG_Z,
>> +};
>> +
>> +static const struct {
>> + u16 scale;
>> + u8 gsel0;
>> + u8 gsel1;
>> +} kmx61_scale_table[] = {
>> + {9582, 0, 0},
>> + {19163, 1, 0},
>> + {38326, 0, 1},
>> +};
>> +
>> +/* KMX61 devices */
>> +#define KMX61_ACC 0x01
>> +#define KMX61_MAG 0x02
>> +
>> +static const struct {
>> + int val;
>> + int val2;
>> + int odr_bits;
>> +} samp_freq_table[] = { {12, 500000, 0x00},
>> + {25, 0, 0x01},
>> + {50, 0, 0x02},
>> + {100, 0, 0x03},
>> + {200, 0, 0x04},
>> + {400, 0, 0x05},
>> + {800, 0, 0x06},
>> + {1600, 0, 0x07},
>> + {0, 781000, 0x08},
>> + {1, 563000, 0x09},
>> + {3, 125000, 0x0A},
>> + {6, 250000, 0x0B} };
>> +
>> +static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326");
>> +static IIO_CONST_ATTR(magn_scale_available, "0.001465");
>> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL(
>> + "0.781000 1.563000 3.125000 6.250000 12.500000 25 50 100 200 400 800");
>> +
>> +static struct attribute *kmx61_attributes[] = {
>> + &iio_const_attr_accel_scale_available.dev_attr.attr,
>> + &iio_const_attr_magn_scale_available.dev_attr.attr,
>> + &iio_const_attr_sampling_frequency_available.dev_attr.attr,
> Interesting. So sampling frequency is controllable seperately for the
> two sensing types, but uses a single set of values. This is a rare
> coherent looking bit of dual sensor type hardware ;)
Yes.
Anyway, when the FIFO hardware buffer is used, it will be updated
at the faster of the two output data rates
>> + NULL,
>> +};
>> +
>> +static const struct attribute_group kmx61_attribute_group = {
>> + .attrs = kmx61_attributes,
>> +};
>> +
>> +#define KMX61_ACC_CHAN(_axis, _index) { \
>> + .type = IIO_ACCEL, \
>> + .modified = 1, \
>> + .channel2 = IIO_MOD_ ## _axis, \
>> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
>> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
>> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
>> + .scan_index = _index, \
>> + .scan_type = { \
>> + .sign = 's', \
>> + .realbits = 12, \
>> + .storagebits = 16, \
>> + .shift = 4, \
>> + .endianness = IIO_BE, \
>> + }, \
>> +}
>> +
>> +#define KMX61_MAG_CHAN(_axis, _index) { \
>> + .type = IIO_MAGN, \
>> + .modified = 1, \
>> + .channel2 = IIO_MOD_ ## _axis, \
>> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
>> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
>> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
>> + .scan_index = _index, \
>> + .scan_type = { \
>> + .sign = 's', \
>> + .realbits = 14, \
>> + .storagebits = 16, \
>> + .shift = 2, \
>> + .endianness = IIO_BE, \
>> + }, \
> Wouldn't normally expect scan_index and scan_type in a driver
> without buffered support, but you do make use of some of the
> elements elsewhere and state that buffered support
> is on the todo list so lets leave it here.
>> +}
>> +
>> +static const struct iio_chan_spec kmx61_channels[] = {
>> + KMX61_ACC_CHAN(X, KMX61_SCAN_ACC_X),
>> + KMX61_ACC_CHAN(Y, KMX61_SCAN_ACC_Y),
>> + KMX61_ACC_CHAN(Z, KMX61_SCAN_ACC_Z),
>> + KMX61_MAG_CHAN(X, KMX61_SCAN_MAG_X),
>> + KMX61_MAG_CHAN(Y, KMX61_SCAN_MAG_Y),
>> + KMX61_MAG_CHAN(Z, KMX61_SCAN_MAG_Z),
>> +};
>> +
>> +static int kmx61_convert_freq_to_bit(int val, int val2)
>> +{
>> + int i;
>> +
>> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
>> + if (val == samp_freq_table[i].val &&
>> + val2 == samp_freq_table[i].val2)
>> + return samp_freq_table[i].odr_bits;
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_set_mode(struct kmx61_data *data, u8 mode, u8 device)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading reg_stby\n");
>> + return ret;
>> + }
>> + if (device & KMX61_ACC) {
>> + if (mode & KMX61_ACC_STBY_BIT)
>> + ret |= KMX61_ACC_STBY_BIT;
>> + else
>> + ret &= ~KMX61_ACC_STBY_BIT;
>> + }
>> +
>> + if (device & KMX61_MAG) {
>> + if (mode & KMX61_MAG_STBY_BIT)
>> + ret |= KMX61_MAG_STBY_BIT;
>> + else
>> + ret &= ~KMX61_MAG_STBY_BIT;
>> + }
>> +
>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_STBY, ret);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error writing reg_stby\n");
>> + return ret;
>> + }
>> +
>> + return ret;
>> +}
>> +
>> +static int kmx61_get_mode(struct kmx61_data *data, u8 *mode, u8 device)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading reg_stby\n");
>> + return ret;
>> + }
>> + *mode = 0;
>> +
>> + if (device & KMX61_ACC) {
>> + if (ret & KMX61_ACC_STBY_BIT)
>> + *mode |= KMX61_ACC_STBY_BIT;
>> + else
>> + *mode &= ~KMX61_ACC_STBY_BIT;
>> + }
>> +
>> + if (device & KMX61_MAG) {
>> + if (ret & KMX61_MAG_STBY_BIT)
>> + *mode |= KMX61_MAG_STBY_BIT;
>> + else
>> + *mode &= ~KMX61_MAG_STBY_BIT;
>> + }
>> +
>> + return 0;
>> +}
>> +
>> +static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device)
>> +{
>> + int ret;
>> + u8 mode;
>> + int lodr_bits, odr_bits;
>> +
>> + ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + lodr_bits = kmx61_convert_freq_to_bit(val, val2);
>> + if (lodr_bits < 0)
>> + return lodr_bits;
>> +
>> + /* To change ODR, accel and magn must be in STDBY */
>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + odr_bits = 0;
>> + if (device & KMX61_ACC)
>> + odr_bits |= lodr_bits;
>> + if (device & KMX61_MAG)
>> + odr_bits |= (lodr_bits << KMX61_MAG_ODR_SHIFT);
>> +
>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_ODCNTL,
>> + odr_bits);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + data->odr_bits = lodr_bits;
>> +
>> + return 0;
>> +}
>> +
>> +static
>> +int kmx61_get_odr(struct kmx61_data *data, int *val, int *val2, u8 device)
>> +{ int i;
>> + u8 lodr_bits;
>> +
>> + if (device & KMX61_ACC)
>> + lodr_bits = (data->odr_bits >> KMX61_ACC_ODR_SHIFT) &
>> + KMX61_ACC_ODR_MASK;
>> + else if (device & KMX61_MAG)
>> + lodr_bits = (data->odr_bits >> KMX61_MAG_ODR_SHIFT) &
>> + KMX61_MAG_ODR_MASK;
>> + else
>> + return -EINVAL;
>> +
>> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
>> + if (lodr_bits == samp_freq_table[i].odr_bits) {
>> + *val = samp_freq_table[i].val;
>> + *val2 = samp_freq_table[i].val2;
>> + return 0;
>> + }
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_set_range(struct kmx61_data *data, int range)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
>> + return ret;
>> + }
>> +
>> + ret &= ~(KMX61_REG_CTRL1_GSEL0_MASK | KMX61_REG_CTRL1_GSEL1_MASK);
>> + ret |= kmx61_scale_table[range].gsel0 << KMX61_REG_CTRL1_GSEL0_SHIFT;
>> + ret |= kmx61_scale_table[range].gsel1 << KMX61_REG_CTRL1_GSEL1_SHIFT;
>> +
>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
>> + return ret;
>> + }
>> +
>> + data->range = range;
>> +
>> + return 0;
>> +}
>> +
> I'd be tempted to use a parameter name other than val as that
> tends to have a fairly specific meaning in iio drivers
> (afterall you pass val2 in here!) scale would work or
> maybe microscale or similar?
'scale' works for me. I will send a cleanup patch.
>> +static int kmx61_set_scale(struct kmx61_data *data, int val)
>> +{
>> + int ret, i;
>> + u8 mode;
>> +
>> + for (i = 0; i < ARRAY_SIZE(kmx61_scale_table); i++) {
>> + if (kmx61_scale_table[i].scale == val) {
>> + ret = kmx61_get_mode(data, &mode,
>> + KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY,
>> + KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_range(data, i);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_mode(data, mode,
>> + KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + return 0;
>> + }
>> + }
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_chip_init(struct kmx61_data *data)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading who_am_i\n");
>> + return ret;
>> + }
>> +
>> + if (ret != KMX61_CHIP_ID) {
>> + dev_err(&data->client->dev,
>> + "Wrong chip id, got %x expected %x\n",
>> + ret, KMX61_CHIP_ID);
>> + return -EINVAL;
>> + }
>> +
>> + /* set accel 12bit, 4g range */
>> + ret = kmx61_set_range(data, KMX61_RANGE_4G);
>> + if (ret < 0)
>> + return ret;
>> +
>> + /* put accel and magnetometer in operating mode */
>> + ret = kmx61_set_mode(data, 0, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + return 0;
>> +}
>> +
>> +static int kmx61_read_measurement(struct kmx61_data *data, int base, int offset)
>> +{
>> + int ret;
>> + u8 reg = base + offset * 2;
>> +
>> + ret = i2c_smbus_read_word_data(data->client, reg);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "failed to read reg at %x\n", reg);
>> + return ret;
>> + }
>> +
>> + return ret;
>> +}
>> +
>> +static int kmx61_read_raw(struct iio_dev *indio_dev,
>> + struct iio_chan_spec const *chan, int *val,
>> + int *val2, long mask)
>> +{
>> + struct kmx61_data *data = iio_priv(indio_dev);
>> + int ret;
>> + u8 base_reg;
>> + u8 device;
>> +
>> + switch (mask) {
>> + case IIO_CHAN_INFO_RAW:
>> + switch (chan->type) {
>> + case IIO_ACCEL: case IIO_MAGN:
>> + base_reg = KMX61_ACC_XOUT_L;
>> + break;
>> + default:
>> + return -EINVAL;
>> + }
>> + ret = kmx61_read_measurement(data, base_reg, chan->scan_index);
>> + if (ret < 0)
>> + return ret;
>> + *val = sign_extend32(ret >> chan->scan_type.shift,
>> + chan->scan_type.realbits - 1);
>> + return IIO_VAL_INT;
>> + case IIO_CHAN_INFO_SCALE:
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>> + *val = 0;
>> + *val2 = kmx61_scale_table[data->range].scale;
>> + return IIO_VAL_INT_PLUS_MICRO;
>> + case IIO_MAGN:
>> + /* 14 bits res, 1465 microGauss per magn count */
>> + *val = 0;
>> + *val2 = 1465;
>> + return IIO_VAL_INT_PLUS_MICRO;
>> + default:
>> + break;
>> + }
>> + case IIO_CHAN_INFO_SAMP_FREQ:
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>> + device = KMX61_ACC;
>> + break;
>> + case IIO_MAGN:
>> + device = KMX61_MAG;
>> + break;
>> + default:
>> + return -EINVAL;
>> + }
>> +
>> + mutex_lock(&data->lock);
>> + ret = kmx61_get_odr(data, val, val2, device);
>> + mutex_unlock(&data->lock);
>> + if (ret)
>> + return -EINVAL;
>> + return IIO_VAL_INT_PLUS_MICRO;
>> + }
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_write_raw(struct iio_dev *indio_dev,
>> + struct iio_chan_spec const *chan, int val,
>> + int val2, long mask)
>> +{
>> + struct kmx61_data *data = iio_priv(indio_dev);
>> + int ret;
>> + u8 device;
>> +
>> + switch (mask) {
>> + case IIO_CHAN_INFO_SAMP_FREQ:
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>> + device = KMX61_ACC;
>> + break;
>> + case IIO_MAGN:
>> + device = KMX61_MAG;
>> + break;
>> + default:
>> + return -EINVAL;
>> + }
>> + mutex_lock(&data->lock);
>> + ret = kmx61_set_odr(data, val, val2, device);
>> + mutex_unlock(&data->lock);
>> + break;
>> + case IIO_CHAN_INFO_SCALE:
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>
> Should verify that val == 0 incase of crazy userspace input.
Looks good. Thanks for updating the patch.
>> + mutex_lock(&data->lock);
>> + ret = kmx61_set_scale(data, val2);
>> + mutex_unlock(&data->lock);
>> + break;
>> + default:
>> + ret = -EINVAL;
>> + }
>> + break;
>> + default:
>> + ret = -EINVAL;
>> + }
>> +
>> + return ret;
>> +}
>> +
>> +static const struct iio_info kmx61_info = {
>> + .driver_module = THIS_MODULE,
>> + .read_raw = kmx61_read_raw,
>> + .write_raw = kmx61_write_raw,
>> + .attrs = &kmx61_attribute_group,
>> +};
>> +
>> +static int kmx61_probe(struct i2c_client *client,
>> + const struct i2c_device_id *id)
>> +{
>> + struct kmx61_data *data;
>> + struct iio_dev *indio_dev;
>> + int ret;
>> +
>> + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
>> + if (!indio_dev)
>> + return -ENOMEM;
>> +
>> + data = iio_priv(indio_dev);
>> + i2c_set_clientdata(client, indio_dev);
>> + data->client = client;
>> +
>> + indio_dev->dev.parent = &client->dev;
>> + indio_dev->info = &kmx61_info;
>> + indio_dev->channels = kmx61_channels;
>> + indio_dev->num_channels = ARRAY_SIZE(kmx61_channels);
>> + indio_dev->modes = INDIO_DIRECT_MODE;
>> +
>> + mutex_init(&data->lock);
>> +
>> + ret = kmx61_chip_init(data);
>> + if (ret < 0)
>> + return ret;
>> +
>> + return iio_device_register(indio_dev);
>> +}
>> +
>> +static int kmx61_remove(struct i2c_client *client)
>> +{
>> + struct iio_dev *indio_dev = i2c_get_clientdata(client);
>> + struct kmx61_data *data = iio_priv(indio_dev);
>> + int ret;
>> +
>> + iio_device_unregister(indio_dev);
>> +
>> + mutex_lock(&data->lock);
>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
>> + mutex_unlock(&data->lock);
>> +
>> + return ret;
>> +}
>> +
>> +static const struct i2c_device_id kmx61_id[] = {
>> + {"kmx61", 0},
>> + {}
>> +};
>> +
>> +MODULE_DEVICE_TABLE(i2c, kmx61_id);
>> +
>> +static struct i2c_driver kmx61_driver = {
>> + .driver = {
>> + .name = "kmx61",
>> + },
>> + .probe = kmx61_probe,
>> + .remove = kmx61_remove,
>> + .id_table = kmx61_id,
>> +};
>> +
>> +module_i2c_driver(kmx61_driver);
>> +
>> +MODULE_AUTHOR("Daniel Baluta <[email protected]>");
>> +MODULE_DESCRIPTION("KMX61 accelerometer/magnetometer driver");
>> +MODULE_LICENSE("GPL v2");
>>
>
> --
> To unsubscribe from this list: send the line "unsubscribe linux-iio" in
> the body of a message to [email protected]
> More majordomo info at http://vger.kernel.org/majordomo-info.html
> Minimal implementation for KMX61 6-axis accelerometer/magnetometer. It exports
> raw accel/magn readings together with scale and sampling frequency.
>
> Datasheet will be available at:
> http://www.kionix.com/6-axis-accelerometer-magnetometer/kmx61
some trivial comments below
> Signed-off-by: Daniel Baluta <[email protected]>
> ---
> Changes since v1:
> * serialize non-atomic operations with a mutex (set_odr/get_odr, set_scale).
> * no need to protect reading info scale because it reduces to reading an u8
> which should be atomic on all arches
> * *note* - read_measurment is an atomic operation
>
> drivers/iio/imu/Kconfig | 9 +
> drivers/iio/imu/Makefile | 2 +
> drivers/iio/imu/kmx61.c | 590 +++++++++++++++++++++++++++++++++++++++++++++++
> 3 files changed, 601 insertions(+)
> create mode 100644 drivers/iio/imu/kmx61.c
>
> diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
> index 2b0e451..d675f43 100644
> --- a/drivers/iio/imu/Kconfig
> +++ b/drivers/iio/imu/Kconfig
> @@ -25,6 +25,15 @@ config ADIS16480
> Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
> ADIS16485, ADIS16488 inertial sensors.
>
> +config KMX61
> + tristate "Kionix KMX61 6-axis accelerometer and magnetometer"
> + depends on I2C
> + help
> + Say Y here if you want to build a driver for Kionix KMX61 6-axis accelerometer
> + and magnetometer.
> + To compile this driver as module, choose M here: the module will be called
> + kmx61.
> +
> source "drivers/iio/imu/inv_mpu6050/Kconfig"
>
> endmenu
> diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
> index 114d2c1..e1e6e3d 100644
> --- a/drivers/iio/imu/Makefile
> +++ b/drivers/iio/imu/Makefile
> @@ -14,3 +14,5 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
> obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
>
> obj-y += inv_mpu6050/
> +
> +obj-$(CONFIG_KMX61) += kmx61.o
> diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c
> new file mode 100644
> index 0000000..6135a16
> --- /dev/null
> +++ b/drivers/iio/imu/kmx61.c
> @@ -0,0 +1,590 @@
> +/*
> + * KMX61 - Kionix 6-axis Accelerometer/Magnetometer
> + *
> + * Copyright (c) 2014, Intel Corporation.
> + *
> + * This file is subject to the terms and conditions of version 2 of
> + * the GNU General Public License. See the file COPYING in the main
> + * directory of this archive for more details.
> + *
> + * IIO driver for KMX61 (7-bit I2C slave address 0x0E or 0x0F).
> + *
> + * TODO: buffer, interrupt, thresholds, acpi, temperature sensor
> + *
> + */
> +
> +#include <linux/module.h>
> +#include <linux/i2c.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/sysfs.h>
> +
> +#define KMX61_DRV_NAME "kmx61"
> +
> +#define KMX61_REG_WHO_AM_I 0x00
> +
> +#define KMX61_ACC_XOUT_L 0x0A
> +
> +#define KMX61_ACC_XOUT_H 0x0B
> +#define KMX61_ACC_YOUT_L 0x0C
> +#define KMX61_ACC_YOUT_H 0x0D
> +#define KMX61_ACC_ZOUT_L 0x0E
> +#define KMX61_ACC_ZOUT_H 0x0F
> +
> +#define KMX61_MAG_XOUT_L 0x12
> +
> +#define KMX61_MAG_XOUT_H 0x13
> +#define KMX61_MAG_YOUT_L 0x14
> +#define KMX61_MAG_YOUT_H 0x15
> +#define KMX61_MAG_ZOUT_L 0x16
> +#define KMX61_MAG_ZOUT_H 0x17
only the XOUT_L #defines are actually used, there is extra whitespace
I'd suggest to drop the other defines and maybe add a comment
saying that we have 3 16-bit LSB values for X/Y/Z
> +
> +#define KMX61_REG_ODCNTL 0x2C
> +
> +#define KMX61_REG_STBY 0x29
> +#define KMX61_REG_CTRL1 0x2A
> +
> +#define KMX61_REG_COTR 0x3C
> +
> +#define KMX61_ACC_STBY_BIT BIT(0)
> +#define KMX61_MAG_STBY_BIT BIT(1)
> +#define KMX61_ACT_STBY_BIT BIT(7)
> +
> +#define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT | KMX61_MAG_STBY_BIT)
> +
> +#define KMX61_REG_CTRL1_GSEL0_SHIFT 0
> +#define KMX61_REG_CTRL1_GSEL1_SHIFT 1
> +#define KMX61_REG_CTRL1_GSEL0_MASK 0x01
> +#define KMX61_REG_CTRL1_GSEL1_MASK 0x02
> +
> +#define KMX61_REG_CTRL1_BIT_RES BIT(4)
> +
> +#define KMX61_ACC_ODR_SHIFT 0
> +#define KMX61_MAG_ODR_SHIFT 4
> +#define KMX61_ACC_ODR_MASK 0x0F
> +#define KMX61_MAG_ODR_MASK 0xF0
> +
> +#define KMX61_CHIP_ID 0x12
> +
> +struct kmx61_data {
> + struct i2c_client *client;
> + /* serialize access to non-atomic ops, e.g set_mode */
> + struct mutex lock;
> + u8 range;
> + u8 odr_bits;
> +};
> +
> +enum kmx61_range {
> + KMX61_RANGE_2G,
> + KMX61_RANGE_4G,
> + KMX61_RANGE_8G,
> +};
> +
> +enum kmx61_scan {
> + KMX61_SCAN_ACC_X,
> + KMX61_SCAN_ACC_Y,
> + KMX61_SCAN_ACC_Z,
> + KMX61_SCAN_TEMP,
> + KMX61_SCAN_MAG_X,
> + KMX61_SCAN_MAG_Y,
> + KMX61_SCAN_MAG_Z,
> +};
> +
> +static const struct {
> + u16 scale;
> + u8 gsel0;
> + u8 gsel1;
> +} kmx61_scale_table[] = {
> + {9582, 0, 0},
> + {19163, 1, 0},
> + {38326, 0, 1},
> +};
> +
> +/* KMX61 devices */
> +#define KMX61_ACC 0x01
> +#define KMX61_MAG 0x02
> +
> +static const struct {
> + int val;
> + int val2;
> + int odr_bits;
odr_bits should probably be u8
> +} samp_freq_table[] = { {12, 500000, 0x00},
no kmx16_ prefix
> + {25, 0, 0x01},
> + {50, 0, 0x02},
> + {100, 0, 0x03},
> + {200, 0, 0x04},
> + {400, 0, 0x05},
> + {800, 0, 0x06},
> + {1600, 0, 0x07},
> + {0, 781000, 0x08},
> + {1, 563000, 0x09},
> + {3, 125000, 0x0A},
> + {6, 250000, 0x0B} };
> +
> +static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326");
> +static IIO_CONST_ATTR(magn_scale_available, "0.001465");
> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL(
> + "0.781000 1.563000 3.125000 6.250000 12.500000 25 50 100 200 400 800");
> +
> +static struct attribute *kmx61_attributes[] = {
> + &iio_const_attr_accel_scale_available.dev_attr.attr,
> + &iio_const_attr_magn_scale_available.dev_attr.attr,
> + &iio_const_attr_sampling_frequency_available.dev_attr.attr,
> + NULL,
> +};
> +
> +static const struct attribute_group kmx61_attribute_group = {
> + .attrs = kmx61_attributes,
> +};
> +
> +#define KMX61_ACC_CHAN(_axis, _index) { \
> + .type = IIO_ACCEL, \
> + .modified = 1, \
> + .channel2 = IIO_MOD_ ## _axis, \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
> + .scan_index = _index, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = 12, \
> + .storagebits = 16, \
> + .shift = 4, \
> + .endianness = IIO_BE, \
the data registers are LSB, so it should be IIO_LE
buffering is not implemented, so it doesn't matter; but IIO_BE is
definitely wrong
> + }, \
> +}
> +
> +#define KMX61_MAG_CHAN(_axis, _index) { \
> + .type = IIO_MAGN, \
> + .modified = 1, \
> + .channel2 = IIO_MOD_ ## _axis, \
> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
> + .scan_index = _index, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = 14, \
> + .storagebits = 16, \
> + .shift = 2, \
> + .endianness = IIO_BE, \
> + }, \
> +}
> +
> +static const struct iio_chan_spec kmx61_channels[] = {
> + KMX61_ACC_CHAN(X, KMX61_SCAN_ACC_X),
> + KMX61_ACC_CHAN(Y, KMX61_SCAN_ACC_Y),
> + KMX61_ACC_CHAN(Z, KMX61_SCAN_ACC_Z),
> + KMX61_MAG_CHAN(X, KMX61_SCAN_MAG_X),
> + KMX61_MAG_CHAN(Y, KMX61_SCAN_MAG_Y),
> + KMX61_MAG_CHAN(Z, KMX61_SCAN_MAG_Z),
> +};
> +
> +static int kmx61_convert_freq_to_bit(int val, int val2)
> +{
> + int i;
> +
> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
> + if (val == samp_freq_table[i].val &&
> + val2 == samp_freq_table[i].val2)
> + return samp_freq_table[i].odr_bits;
> + return -EINVAL;
> +}
> +
> +static int kmx61_set_mode(struct kmx61_data *data, u8 mode, u8 device)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_stby\n");
> + return ret;
> + }
> + if (device & KMX61_ACC) {
> + if (mode & KMX61_ACC_STBY_BIT)
> + ret |= KMX61_ACC_STBY_BIT;
> + else
> + ret &= ~KMX61_ACC_STBY_BIT;
> + }
> +
> + if (device & KMX61_MAG) {
> + if (mode & KMX61_MAG_STBY_BIT)
> + ret |= KMX61_MAG_STBY_BIT;
> + else
> + ret &= ~KMX61_MAG_STBY_BIT;
> + }
> +
> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_STBY, ret);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_stby\n");
> + return ret;
> + }
> +
> + return ret;
> +}
> +
> +static int kmx61_get_mode(struct kmx61_data *data, u8 *mode, u8 device)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_stby\n");
> + return ret;
> + }
> + *mode = 0;
> +
> + if (device & KMX61_ACC) {
> + if (ret & KMX61_ACC_STBY_BIT)
> + *mode |= KMX61_ACC_STBY_BIT;
> + else
> + *mode &= ~KMX61_ACC_STBY_BIT;
> + }
> +
> + if (device & KMX61_MAG) {
> + if (ret & KMX61_MAG_STBY_BIT)
> + *mode |= KMX61_MAG_STBY_BIT;
> + else
> + *mode &= ~KMX61_MAG_STBY_BIT;
> + }
> +
> + return 0;
> +}
> +
> +static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device)
> +{
> + int ret;
> + u8 mode;
> + int lodr_bits, odr_bits;
> +
> + ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + lodr_bits = kmx61_convert_freq_to_bit(val, val2);
> + if (lodr_bits < 0)
> + return lodr_bits;
> +
> + /* To change ODR, accel and magn must be in STDBY */
> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + odr_bits = 0;
> + if (device & KMX61_ACC)
> + odr_bits |= lodr_bits;
> + if (device & KMX61_MAG)
> + odr_bits |= (lodr_bits << KMX61_MAG_ODR_SHIFT);
> +
> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_ODCNTL,
> + odr_bits);
> + if (ret < 0)
> + return ret;
> +
> + ret = kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + data->odr_bits = lodr_bits;
> +
> + return 0;
> +}
> +
> +static
> +int kmx61_get_odr(struct kmx61_data *data, int *val, int *val2, u8 device)
> +{ int i;
> + u8 lodr_bits;
> +
> + if (device & KMX61_ACC)
> + lodr_bits = (data->odr_bits >> KMX61_ACC_ODR_SHIFT) &
> + KMX61_ACC_ODR_MASK;
> + else if (device & KMX61_MAG)
> + lodr_bits = (data->odr_bits >> KMX61_MAG_ODR_SHIFT) &
> + KMX61_MAG_ODR_MASK;
> + else
> + return -EINVAL;
> +
> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
> + if (lodr_bits == samp_freq_table[i].odr_bits) {
> + *val = samp_freq_table[i].val;
> + *val2 = samp_freq_table[i].val2;
> + return 0;
> + }
> + return -EINVAL;
> +}
> +
> +static int kmx61_set_range(struct kmx61_data *data, int range)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
> + return ret;
> + }
> +
> + ret &= ~(KMX61_REG_CTRL1_GSEL0_MASK | KMX61_REG_CTRL1_GSEL1_MASK);
> + ret |= kmx61_scale_table[range].gsel0 << KMX61_REG_CTRL1_GSEL0_SHIFT;
> + ret |= kmx61_scale_table[range].gsel1 << KMX61_REG_CTRL1_GSEL1_SHIFT;
> +
> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
> + return ret;
> + }
> +
> + data->range = range;
> +
> + return 0;
> +}
> +
> +static int kmx61_set_scale(struct kmx61_data *data, int val)
> +{
> + int ret, i;
> + u8 mode;
> +
> + for (i = 0; i < ARRAY_SIZE(kmx61_scale_table); i++) {
> + if (kmx61_scale_table[i].scale == val) {
> + ret = kmx61_get_mode(data, &mode,
> + KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + ret = kmx61_set_mode(data, KMX61_ALL_STBY,
> + KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + ret = kmx61_set_range(data, i);
> + if (ret < 0)
> + return ret;
> +
> + ret = kmx61_set_mode(data, mode,
> + KMX61_ACC | KMX61_MAG);
simply return here
> + if (ret < 0)
> + return ret;
> +
> + return 0;
> + }
> + }
> + return -EINVAL;
> +}
> +
> +static int kmx61_chip_init(struct kmx61_data *data)
> +{
> + int ret;
> +
> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "Error reading who_am_i\n");
> + return ret;
> + }
> +
> + if (ret != KMX61_CHIP_ID) {
> + dev_err(&data->client->dev,
> + "Wrong chip id, got %x expected %x\n",
> + ret, KMX61_CHIP_ID);
> + return -EINVAL;
> + }
> +
> + /* set accel 12bit, 4g range */
> + ret = kmx61_set_range(data, KMX61_RANGE_4G);
> + if (ret < 0)
> + return ret;
> +
> + /* put accel and magnetometer in operating mode */
> + ret = kmx61_set_mode(data, 0, KMX61_ACC | KMX61_MAG);
> + if (ret < 0)
> + return ret;
> +
> + return 0;
> +}
> +
> +static int kmx61_read_measurement(struct kmx61_data *data, int base, int offset)
> +{
> + int ret;
> + u8 reg = base + offset * 2;
> +
> + ret = i2c_smbus_read_word_data(data->client, reg);
> + if (ret < 0) {
> + dev_err(&data->client->dev, "failed to read reg at %x\n", reg);
> + return ret;
> + }
> +
> + return ret;
> +}
> +
> +static int kmx61_read_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan, int *val,
> + int *val2, long mask)
> +{
> + struct kmx61_data *data = iio_priv(indio_dev);
> + int ret;
> + u8 base_reg;
> + u8 device;
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_RAW:
> + switch (chan->type) {
> + case IIO_ACCEL: case IIO_MAGN:
cases on separate lines would be more readable
> + base_reg = KMX61_ACC_XOUT_L;
> + break;
> + default:
> + return -EINVAL;
> + }
> + ret = kmx61_read_measurement(data, base_reg, chan->scan_index);
> + if (ret < 0)
> + return ret;
> + *val = sign_extend32(ret >> chan->scan_type.shift,
> + chan->scan_type.realbits - 1);
> + return IIO_VAL_INT;
> + case IIO_CHAN_INFO_SCALE:
> + switch (chan->type) {
> + case IIO_ACCEL:
> + *val = 0;
> + *val2 = kmx61_scale_table[data->range].scale;
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_MAGN:
> + /* 14 bits res, 1465 microGauss per magn count */
> + *val = 0;
> + *val2 = 1465;
> + return IIO_VAL_INT_PLUS_MICRO;
> + default:
could just return -EINVAL here
> + break;
> + }
> + case IIO_CHAN_INFO_SAMP_FREQ:
> + switch (chan->type) {
> + case IIO_ACCEL:
> + device = KMX61_ACC;
> + break;
> + case IIO_MAGN:
> + device = KMX61_MAG;
> + break;
> + default:
> + return -EINVAL;
> + }
> +
> + mutex_lock(&data->lock);
> + ret = kmx61_get_odr(data, val, val2, device);
> + mutex_unlock(&data->lock);
> + if (ret)
> + return -EINVAL;
> + return IIO_VAL_INT_PLUS_MICRO;
> + }
> + return -EINVAL;
> +}
> +
> +static int kmx61_write_raw(struct iio_dev *indio_dev,
> + struct iio_chan_spec const *chan, int val,
> + int val2, long mask)
> +{
> + struct kmx61_data *data = iio_priv(indio_dev);
> + int ret;
> + u8 device;
> +
> + switch (mask) {
> + case IIO_CHAN_INFO_SAMP_FREQ:
you could use chan->address to store the device type (ACC or MAG) and save
the switch block (here and in other places)
> + switch (chan->type) {
> + case IIO_ACCEL:
> + device = KMX61_ACC;
> + break;
> + case IIO_MAGN:
> + device = KMX61_MAG;
> + break;
> + default:
> + return -EINVAL;
> + }
> + mutex_lock(&data->lock);
> + ret = kmx61_set_odr(data, val, val2, device);
> + mutex_unlock(&data->lock);
follow edits are a matter of taste :)
return ret;
> + break;
> + case IIO_CHAN_INFO_SCALE:
> + switch (chan->type) {
> + case IIO_ACCEL:
> + mutex_lock(&data->lock);
> + ret = kmx61_set_scale(data, val2);
> + mutex_unlock(&data->lock);
> + break;
> + default:
> + ret = -EINVAL;
return -EINVAL
> + }
return ret;
> + break;
> + default:
return -EINVAL;
> + ret = -EINVAL;
> + }
> +
> + return ret;
> +}
> +
> +static const struct iio_info kmx61_info = {
> + .driver_module = THIS_MODULE,
> + .read_raw = kmx61_read_raw,
> + .write_raw = kmx61_write_raw,
> + .attrs = &kmx61_attribute_group,
> +};
> +
> +static int kmx61_probe(struct i2c_client *client,
> + const struct i2c_device_id *id)
> +{
> + struct kmx61_data *data;
> + struct iio_dev *indio_dev;
> + int ret;
> +
> + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
> + if (!indio_dev)
> + return -ENOMEM;
> +
> + data = iio_priv(indio_dev);
> + i2c_set_clientdata(client, indio_dev);
> + data->client = client;
> +
> + indio_dev->dev.parent = &client->dev;
> + indio_dev->info = &kmx61_info;
set indio_dev->name?
> + indio_dev->channels = kmx61_channels;
> + indio_dev->num_channels = ARRAY_SIZE(kmx61_channels);
> + indio_dev->modes = INDIO_DIRECT_MODE;
> +
> + mutex_init(&data->lock);
> +
> + ret = kmx61_chip_init(data);
> + if (ret < 0)
> + return ret;
> +
> + return iio_device_register(indio_dev);
> +}
> +
> +static int kmx61_remove(struct i2c_client *client)
> +{
> + struct iio_dev *indio_dev = i2c_get_clientdata(client);
> + struct kmx61_data *data = iio_priv(indio_dev);
> + int ret;
> +
> + iio_device_unregister(indio_dev);
> +
> + mutex_lock(&data->lock);
> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
> + mutex_unlock(&data->lock);
> +
> + return ret;
> +}
> +
> +static const struct i2c_device_id kmx61_id[] = {
> + {"kmx61", 0},
> + {}
> +};
> +
> +MODULE_DEVICE_TABLE(i2c, kmx61_id);
> +
> +static struct i2c_driver kmx61_driver = {
> + .driver = {
> + .name = "kmx61",
> + },
> + .probe = kmx61_probe,
> + .remove = kmx61_remove,
> + .id_table = kmx61_id,
> +};
> +
> +module_i2c_driver(kmx61_driver);
> +
> +MODULE_AUTHOR("Daniel Baluta <[email protected]>");
> +MODULE_DESCRIPTION("KMX61 accelerometer/magnetometer driver");
> +MODULE_LICENSE("GPL v2");
>
--
Peter Meerwald
+43-664-2444418 (mobile)
On Mon, Nov 17, 2014 at 3:46 PM, Peter Meerwald <[email protected]> wrote:
>
>> Minimal implementation for KMX61 6-axis accelerometer/magnetometer. It exports
>> raw accel/magn readings together with scale and sampling frequency.
>>
>> Datasheet will be available at:
>> http://www.kionix.com/6-axis-accelerometer-magnetometer/kmx61
>
> some trivial comments below
>
>> Signed-off-by: Daniel Baluta <[email protected]>
>> ---
>> Changes since v1:
>> * serialize non-atomic operations with a mutex (set_odr/get_odr, set_scale).
>> * no need to protect reading info scale because it reduces to reading an u8
>> which should be atomic on all arches
>> * *note* - read_measurment is an atomic operation
>>
>> drivers/iio/imu/Kconfig | 9 +
>> drivers/iio/imu/Makefile | 2 +
>> drivers/iio/imu/kmx61.c | 590 +++++++++++++++++++++++++++++++++++++++++++++++
>> 3 files changed, 601 insertions(+)
>> create mode 100644 drivers/iio/imu/kmx61.c
>>
>> diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
>> index 2b0e451..d675f43 100644
>> --- a/drivers/iio/imu/Kconfig
>> +++ b/drivers/iio/imu/Kconfig
>> @@ -25,6 +25,15 @@ config ADIS16480
>> Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
>> ADIS16485, ADIS16488 inertial sensors.
>>
>> +config KMX61
>> + tristate "Kionix KMX61 6-axis accelerometer and magnetometer"
>> + depends on I2C
>> + help
>> + Say Y here if you want to build a driver for Kionix KMX61 6-axis accelerometer
>> + and magnetometer.
>> + To compile this driver as module, choose M here: the module will be called
>> + kmx61.
>> +
>> source "drivers/iio/imu/inv_mpu6050/Kconfig"
>>
>> endmenu
>> diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
>> index 114d2c1..e1e6e3d 100644
>> --- a/drivers/iio/imu/Makefile
>> +++ b/drivers/iio/imu/Makefile
>> @@ -14,3 +14,5 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
>> obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
>>
>> obj-y += inv_mpu6050/
>> +
>> +obj-$(CONFIG_KMX61) += kmx61.o
>> diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c
>> new file mode 100644
>> index 0000000..6135a16
>> --- /dev/null
>> +++ b/drivers/iio/imu/kmx61.c
>> @@ -0,0 +1,590 @@
>> +/*
>> + * KMX61 - Kionix 6-axis Accelerometer/Magnetometer
>> + *
>> + * Copyright (c) 2014, Intel Corporation.
>> + *
>> + * This file is subject to the terms and conditions of version 2 of
>> + * the GNU General Public License. See the file COPYING in the main
>> + * directory of this archive for more details.
>> + *
>> + * IIO driver for KMX61 (7-bit I2C slave address 0x0E or 0x0F).
>> + *
>> + * TODO: buffer, interrupt, thresholds, acpi, temperature sensor
>> + *
>> + */
>> +
>> +#include <linux/module.h>
>> +#include <linux/i2c.h>
>> +#include <linux/iio/iio.h>
>> +#include <linux/iio/sysfs.h>
>> +
>> +#define KMX61_DRV_NAME "kmx61"
>> +
>> +#define KMX61_REG_WHO_AM_I 0x00
>> +
>> +#define KMX61_ACC_XOUT_L 0x0A
>> +
>> +#define KMX61_ACC_XOUT_H 0x0B
>> +#define KMX61_ACC_YOUT_L 0x0C
>> +#define KMX61_ACC_YOUT_H 0x0D
>> +#define KMX61_ACC_ZOUT_L 0x0E
>> +#define KMX61_ACC_ZOUT_H 0x0F
>> +
>> +#define KMX61_MAG_XOUT_L 0x12
>> +
>> +#define KMX61_MAG_XOUT_H 0x13
>> +#define KMX61_MAG_YOUT_L 0x14
>> +#define KMX61_MAG_YOUT_H 0x15
>> +#define KMX61_MAG_ZOUT_L 0x16
>> +#define KMX61_MAG_ZOUT_H 0x17
>
> only the XOUT_L #defines are actually used, there is extra whitespace
>
> I'd suggest to drop the other defines and maybe add a comment
> saying that we have 3 16-bit LSB values for X/Y/Z
I added all these defines for documentation, in the same way
accel/kxcjk-1013.c did.
I think its better to add a comment making this clear.
>
>> +
>> +#define KMX61_REG_ODCNTL 0x2C
>> +
>> +#define KMX61_REG_STBY 0x29
>> +#define KMX61_REG_CTRL1 0x2A
>> +
>> +#define KMX61_REG_COTR 0x3C
>> +
>> +#define KMX61_ACC_STBY_BIT BIT(0)
>> +#define KMX61_MAG_STBY_BIT BIT(1)
>> +#define KMX61_ACT_STBY_BIT BIT(7)
>> +
>> +#define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT | KMX61_MAG_STBY_BIT)
>> +
>> +#define KMX61_REG_CTRL1_GSEL0_SHIFT 0
>> +#define KMX61_REG_CTRL1_GSEL1_SHIFT 1
>> +#define KMX61_REG_CTRL1_GSEL0_MASK 0x01
>> +#define KMX61_REG_CTRL1_GSEL1_MASK 0x02
>> +
>> +#define KMX61_REG_CTRL1_BIT_RES BIT(4)
>> +
>> +#define KMX61_ACC_ODR_SHIFT 0
>> +#define KMX61_MAG_ODR_SHIFT 4
>> +#define KMX61_ACC_ODR_MASK 0x0F
>> +#define KMX61_MAG_ODR_MASK 0xF0
>> +
>> +#define KMX61_CHIP_ID 0x12
>> +
>> +struct kmx61_data {
>> + struct i2c_client *client;
>> + /* serialize access to non-atomic ops, e.g set_mode */
>> + struct mutex lock;
>> + u8 range;
>> + u8 odr_bits;
>> +};
>> +
>> +enum kmx61_range {
>> + KMX61_RANGE_2G,
>> + KMX61_RANGE_4G,
>> + KMX61_RANGE_8G,
>> +};
>> +
>> +enum kmx61_scan {
>> + KMX61_SCAN_ACC_X,
>> + KMX61_SCAN_ACC_Y,
>> + KMX61_SCAN_ACC_Z,
>> + KMX61_SCAN_TEMP,
>> + KMX61_SCAN_MAG_X,
>> + KMX61_SCAN_MAG_Y,
>> + KMX61_SCAN_MAG_Z,
>> +};
>> +
>> +static const struct {
>> + u16 scale;
>> + u8 gsel0;
>> + u8 gsel1;
>> +} kmx61_scale_table[] = {
>> + {9582, 0, 0},
>> + {19163, 1, 0},
>> + {38326, 0, 1},
>> +};
>> +
>> +/* KMX61 devices */
>> +#define KMX61_ACC 0x01
>> +#define KMX61_MAG 0x02
>> +
>> +static const struct {
>> + int val;
>> + int val2;
>> + int odr_bits;
>
> odr_bits should probably be u8
>
>> +} samp_freq_table[] = { {12, 500000, 0x00},
>
> no kmx16_ prefix
Correct. Will fix.
>
>> + {25, 0, 0x01},
>> + {50, 0, 0x02},
>> + {100, 0, 0x03},
>> + {200, 0, 0x04},
>> + {400, 0, 0x05},
>> + {800, 0, 0x06},
>> + {1600, 0, 0x07},
>> + {0, 781000, 0x08},
>> + {1, 563000, 0x09},
>> + {3, 125000, 0x0A},
>> + {6, 250000, 0x0B} };
>> +
>> +static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326");
>> +static IIO_CONST_ATTR(magn_scale_available, "0.001465");
>> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL(
>> + "0.781000 1.563000 3.125000 6.250000 12.500000 25 50 100 200 400 800");
>> +
>> +static struct attribute *kmx61_attributes[] = {
>> + &iio_const_attr_accel_scale_available.dev_attr.attr,
>> + &iio_const_attr_magn_scale_available.dev_attr.attr,
>> + &iio_const_attr_sampling_frequency_available.dev_attr.attr,
>> + NULL,
>> +};
>> +
>> +static const struct attribute_group kmx61_attribute_group = {
>> + .attrs = kmx61_attributes,
>> +};
>> +
>> +#define KMX61_ACC_CHAN(_axis, _index) { \
>> + .type = IIO_ACCEL, \
>> + .modified = 1, \
>> + .channel2 = IIO_MOD_ ## _axis, \
>> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
>> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
>> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
>> + .scan_index = _index, \
>> + .scan_type = { \
>> + .sign = 's', \
>> + .realbits = 12, \
>> + .storagebits = 16, \
>> + .shift = 4, \
>> + .endianness = IIO_BE, \
>
> the data registers are LSB, so it should be IIO_LE
> buffering is not implemented, so it doesn't matter; but IIO_BE is
> definitely wrong
>
Ok. Will fix.
>> + }, \
>> +}
>> +
>> +#define KMX61_MAG_CHAN(_axis, _index) { \
>> + .type = IIO_MAGN, \
>> + .modified = 1, \
>> + .channel2 = IIO_MOD_ ## _axis, \
>> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
>> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
>> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
>> + .scan_index = _index, \
>> + .scan_type = { \
>> + .sign = 's', \
>> + .realbits = 14, \
>> + .storagebits = 16, \
>> + .shift = 2, \
>> + .endianness = IIO_BE, \
>> + }, \
>> +}
>> +
>> +static const struct iio_chan_spec kmx61_channels[] = {
>> + KMX61_ACC_CHAN(X, KMX61_SCAN_ACC_X),
>> + KMX61_ACC_CHAN(Y, KMX61_SCAN_ACC_Y),
>> + KMX61_ACC_CHAN(Z, KMX61_SCAN_ACC_Z),
>> + KMX61_MAG_CHAN(X, KMX61_SCAN_MAG_X),
>> + KMX61_MAG_CHAN(Y, KMX61_SCAN_MAG_Y),
>> + KMX61_MAG_CHAN(Z, KMX61_SCAN_MAG_Z),
>> +};
>> +
>> +static int kmx61_convert_freq_to_bit(int val, int val2)
>> +{
>> + int i;
>> +
>> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
>> + if (val == samp_freq_table[i].val &&
>> + val2 == samp_freq_table[i].val2)
>> + return samp_freq_table[i].odr_bits;
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_set_mode(struct kmx61_data *data, u8 mode, u8 device)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading reg_stby\n");
>> + return ret;
>> + }
>> + if (device & KMX61_ACC) {
>> + if (mode & KMX61_ACC_STBY_BIT)
>> + ret |= KMX61_ACC_STBY_BIT;
>> + else
>> + ret &= ~KMX61_ACC_STBY_BIT;
>> + }
>> +
>> + if (device & KMX61_MAG) {
>> + if (mode & KMX61_MAG_STBY_BIT)
>> + ret |= KMX61_MAG_STBY_BIT;
>> + else
>> + ret &= ~KMX61_MAG_STBY_BIT;
>> + }
>> +
>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_STBY, ret);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error writing reg_stby\n");
>> + return ret;
>> + }
>> +
>> + return ret;
>> +}
>> +
>> +static int kmx61_get_mode(struct kmx61_data *data, u8 *mode, u8 device)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading reg_stby\n");
>> + return ret;
>> + }
>> + *mode = 0;
>> +
>> + if (device & KMX61_ACC) {
>> + if (ret & KMX61_ACC_STBY_BIT)
>> + *mode |= KMX61_ACC_STBY_BIT;
>> + else
>> + *mode &= ~KMX61_ACC_STBY_BIT;
>> + }
>> +
>> + if (device & KMX61_MAG) {
>> + if (ret & KMX61_MAG_STBY_BIT)
>> + *mode |= KMX61_MAG_STBY_BIT;
>> + else
>> + *mode &= ~KMX61_MAG_STBY_BIT;
>> + }
>> +
>> + return 0;
>> +}
>> +
>> +static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device)
>> +{
>> + int ret;
>> + u8 mode;
>> + int lodr_bits, odr_bits;
>> +
>> + ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + lodr_bits = kmx61_convert_freq_to_bit(val, val2);
>> + if (lodr_bits < 0)
>> + return lodr_bits;
>> +
>> + /* To change ODR, accel and magn must be in STDBY */
>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + odr_bits = 0;
>> + if (device & KMX61_ACC)
>> + odr_bits |= lodr_bits;
>> + if (device & KMX61_MAG)
>> + odr_bits |= (lodr_bits << KMX61_MAG_ODR_SHIFT);
>> +
>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_ODCNTL,
>> + odr_bits);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + data->odr_bits = lodr_bits;
>> +
>> + return 0;
>> +}
>> +
>> +static
>> +int kmx61_get_odr(struct kmx61_data *data, int *val, int *val2, u8 device)
>> +{ int i;
>> + u8 lodr_bits;
>> +
>> + if (device & KMX61_ACC)
>> + lodr_bits = (data->odr_bits >> KMX61_ACC_ODR_SHIFT) &
>> + KMX61_ACC_ODR_MASK;
>> + else if (device & KMX61_MAG)
>> + lodr_bits = (data->odr_bits >> KMX61_MAG_ODR_SHIFT) &
>> + KMX61_MAG_ODR_MASK;
>> + else
>> + return -EINVAL;
>> +
>> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
>> + if (lodr_bits == samp_freq_table[i].odr_bits) {
>> + *val = samp_freq_table[i].val;
>> + *val2 = samp_freq_table[i].val2;
>> + return 0;
>> + }
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_set_range(struct kmx61_data *data, int range)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
>> + return ret;
>> + }
>> +
>> + ret &= ~(KMX61_REG_CTRL1_GSEL0_MASK | KMX61_REG_CTRL1_GSEL1_MASK);
>> + ret |= kmx61_scale_table[range].gsel0 << KMX61_REG_CTRL1_GSEL0_SHIFT;
>> + ret |= kmx61_scale_table[range].gsel1 << KMX61_REG_CTRL1_GSEL1_SHIFT;
>> +
>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
>> + return ret;
>> + }
>> +
>> + data->range = range;
>> +
>> + return 0;
>> +}
>> +
>> +static int kmx61_set_scale(struct kmx61_data *data, int val)
>> +{
>> + int ret, i;
>> + u8 mode;
>> +
>> + for (i = 0; i < ARRAY_SIZE(kmx61_scale_table); i++) {
>> + if (kmx61_scale_table[i].scale == val) {
>> + ret = kmx61_get_mode(data, &mode,
>> + KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY,
>> + KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_range(data, i);
>> + if (ret < 0)
>> + return ret;
>> +
>> + ret = kmx61_set_mode(data, mode,
>> + KMX61_ACC | KMX61_MAG);
>
> simply return here
Agree. Will fix.
>
>> + if (ret < 0)
>> + return ret;
>> +
>> + return 0;
>> + }
>> + }
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_chip_init(struct kmx61_data *data)
>> +{
>> + int ret;
>> +
>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "Error reading who_am_i\n");
>> + return ret;
>> + }
>> +
>> + if (ret != KMX61_CHIP_ID) {
>> + dev_err(&data->client->dev,
>> + "Wrong chip id, got %x expected %x\n",
>> + ret, KMX61_CHIP_ID);
>> + return -EINVAL;
>> + }
>> +
>> + /* set accel 12bit, 4g range */
>> + ret = kmx61_set_range(data, KMX61_RANGE_4G);
>> + if (ret < 0)
>> + return ret;
>> +
>> + /* put accel and magnetometer in operating mode */
>> + ret = kmx61_set_mode(data, 0, KMX61_ACC | KMX61_MAG);
>> + if (ret < 0)
>> + return ret;
>> +
>> + return 0;
>> +}
>> +
>> +static int kmx61_read_measurement(struct kmx61_data *data, int base, int offset)
>> +{
>> + int ret;
>> + u8 reg = base + offset * 2;
>> +
>> + ret = i2c_smbus_read_word_data(data->client, reg);
>> + if (ret < 0) {
>> + dev_err(&data->client->dev, "failed to read reg at %x\n", reg);
>> + return ret;
>> + }
>> +
>> + return ret;
>> +}
>> +
>> +static int kmx61_read_raw(struct iio_dev *indio_dev,
>> + struct iio_chan_spec const *chan, int *val,
>> + int *val2, long mask)
>> +{
>> + struct kmx61_data *data = iio_priv(indio_dev);
>> + int ret;
>> + u8 base_reg;
>> + u8 device;
>> +
>> + switch (mask) {
>> + case IIO_CHAN_INFO_RAW:
>> + switch (chan->type) {
>> + case IIO_ACCEL: case IIO_MAGN:
>
> cases on separate lines would be more readable
Ok.
>
>> + base_reg = KMX61_ACC_XOUT_L;
>> + break;
>> + default:
>> + return -EINVAL;
>> + }
>> + ret = kmx61_read_measurement(data, base_reg, chan->scan_index);
>> + if (ret < 0)
>> + return ret;
>> + *val = sign_extend32(ret >> chan->scan_type.shift,
>> + chan->scan_type.realbits - 1);
>> + return IIO_VAL_INT;
>> + case IIO_CHAN_INFO_SCALE:
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>> + *val = 0;
>> + *val2 = kmx61_scale_table[data->range].scale;
>> + return IIO_VAL_INT_PLUS_MICRO;
>> + case IIO_MAGN:
>> + /* 14 bits res, 1465 microGauss per magn count */
>> + *val = 0;
>> + *val2 = 1465;
>> + return IIO_VAL_INT_PLUS_MICRO;
>> + default:
>
> could just return -EINVAL here
>
>> + break;
>> + }
>> + case IIO_CHAN_INFO_SAMP_FREQ:
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>> + device = KMX61_ACC;
>> + break;
>> + case IIO_MAGN:
>> + device = KMX61_MAG;
>> + break;
>> + default:
>> + return -EINVAL;
>> + }
>> +
>> + mutex_lock(&data->lock);
>> + ret = kmx61_get_odr(data, val, val2, device);
>> + mutex_unlock(&data->lock);
>> + if (ret)
>> + return -EINVAL;
>> + return IIO_VAL_INT_PLUS_MICRO;
>> + }
>> + return -EINVAL;
>> +}
>> +
>> +static int kmx61_write_raw(struct iio_dev *indio_dev,
>> + struct iio_chan_spec const *chan, int val,
>> + int val2, long mask)
>> +{
>> + struct kmx61_data *data = iio_priv(indio_dev);
>> + int ret;
>> + u8 device;
>> +
>> + switch (mask) {
>> + case IIO_CHAN_INFO_SAMP_FREQ:
>
> you could use chan->address to store the device type (ACC or MAG) and save
> the switch block (here and in other places)
>
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>> + device = KMX61_ACC;
>> + break;
>> + case IIO_MAGN:
>> + device = KMX61_MAG;
>> + break;
>> + default:
>> + return -EINVAL;
>> + }
>> + mutex_lock(&data->lock);
>> + ret = kmx61_set_odr(data, val, val2, device);
>> + mutex_unlock(&data->lock);
>
> follow edits are a matter of taste :)
>
> return ret;
>
>> + break;
>> + case IIO_CHAN_INFO_SCALE:
>> + switch (chan->type) {
>> + case IIO_ACCEL:
>> + mutex_lock(&data->lock);
>> + ret = kmx61_set_scale(data, val2);
>> + mutex_unlock(&data->lock);
>> + break;
>> + default:
>> + ret = -EINVAL;
>
> return -EINVAL
>
>> + }
>
> return ret;
>
>> + break;
>> + default:
>
> return -EINVAL;
>
>
>> + ret = -EINVAL;
>> + }
>> +
>> + return ret;
>> +}
>> +
>> +static const struct iio_info kmx61_info = {
>> + .driver_module = THIS_MODULE,
>> + .read_raw = kmx61_read_raw,
>> + .write_raw = kmx61_write_raw,
>> + .attrs = &kmx61_attribute_group,
>> +};
>> +
>> +static int kmx61_probe(struct i2c_client *client,
>> + const struct i2c_device_id *id)
>> +{
>> + struct kmx61_data *data;
>> + struct iio_dev *indio_dev;
>> + int ret;
>> +
>> + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
>> + if (!indio_dev)
>> + return -ENOMEM;
>> +
>> + data = iio_priv(indio_dev);
>> + i2c_set_clientdata(client, indio_dev);
>> + data->client = client;
>> +
>> + indio_dev->dev.parent = &client->dev;
>> + indio_dev->info = &kmx61_info;
>
> set indio_dev->name?
Will fix. What is this used for anyway? :)
>
>> + indio_dev->channels = kmx61_channels;
>> + indio_dev->num_channels = ARRAY_SIZE(kmx61_channels);
>> + indio_dev->modes = INDIO_DIRECT_MODE;
>> +
>> + mutex_init(&data->lock);
>> +
>> + ret = kmx61_chip_init(data);
>> + if (ret < 0)
>> + return ret;
>> +
>> + return iio_device_register(indio_dev);
>> +}
>> +
>> +static int kmx61_remove(struct i2c_client *client)
>> +{
>> + struct iio_dev *indio_dev = i2c_get_clientdata(client);
>> + struct kmx61_data *data = iio_priv(indio_dev);
>> + int ret;
>> +
>> + iio_device_unregister(indio_dev);
>> +
>> + mutex_lock(&data->lock);
>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
>> + mutex_unlock(&data->lock);
>> +
>> + return ret;
>> +}
>> +
>> +static const struct i2c_device_id kmx61_id[] = {
>> + {"kmx61", 0},
>> + {}
>> +};
>> +
>> +MODULE_DEVICE_TABLE(i2c, kmx61_id);
>> +
>> +static struct i2c_driver kmx61_driver = {
>> + .driver = {
>> + .name = "kmx61",
>> + },
>> + .probe = kmx61_probe,
>> + .remove = kmx61_remove,
>> + .id_table = kmx61_id,
>> +};
>> +
>> +module_i2c_driver(kmx61_driver);
>> +
>> +MODULE_AUTHOR("Daniel Baluta <[email protected]>");
>> +MODULE_DESCRIPTION("KMX61 accelerometer/magnetometer driver");
>> +MODULE_LICENSE("GPL v2");
>>
Thanks a lot Peter!
Daniel.
On 17/11/14 12:12, Daniel Baluta wrote:
> On Sun, Nov 16, 2014 at 11:10 PM, Jonathan Cameron <[email protected]> wrote:
>> On 10/11/14 17:24, Daniel Baluta wrote:
>>> Minimal implementation for KMX61 6-axis accelerometer/magnetometer. It exports
>>> raw accel/magn readings together with scale and sampling frequency.
>>>
>>> Datasheet will be available at:
>>> http://www.kionix.com/6-axis-accelerometer-magnetometer/kmx61
>>>
>>> Signed-off-by: Daniel Baluta <[email protected]>
>> Looking very nice. I made a few more comments inline but only
>> one was more than a comment - I added a check on val==0 in the obvious
>> place. Please take a look at the testing branch of iio.git to make
>> sure I didn't mess anything up!
>
> Thanks! It looks good.
Dropped this version as discussed. Will take a look at V3 in a few mins.
>
>>
>> Applied to the togreg branch of iio.git - initially pushed out as testing
>> for the autobuilders to play with it.
>>
>> Jonathan
>>> ---
>>> Changes since v1:
>>> * serialize non-atomic operations with a mutex (set_odr/get_odr, set_scale).
>>> * no need to protect reading info scale because it reduces to reading an u8
>>> which should be atomic on all arches
>>> * *note* - read_measurment is an atomic operation
>>>
>>> drivers/iio/imu/Kconfig | 9 +
>>> drivers/iio/imu/Makefile | 2 +
>>> drivers/iio/imu/kmx61.c | 590 +++++++++++++++++++++++++++++++++++++++++++++++
>>> 3 files changed, 601 insertions(+)
>>> create mode 100644 drivers/iio/imu/kmx61.c
>>>
>>> diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
>>> index 2b0e451..d675f43 100644
>>> --- a/drivers/iio/imu/Kconfig
>>> +++ b/drivers/iio/imu/Kconfig
>>> @@ -25,6 +25,15 @@ config ADIS16480
>>> Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
>>> ADIS16485, ADIS16488 inertial sensors.
>>>
>>> +config KMX61
>>> + tristate "Kionix KMX61 6-axis accelerometer and magnetometer"
>>> + depends on I2C
>>> + help
>>> + Say Y here if you want to build a driver for Kionix KMX61 6-axis accelerometer
>>> + and magnetometer.
>>> + To compile this driver as module, choose M here: the module will be called
>>> + kmx61.
>>> +
>>> source "drivers/iio/imu/inv_mpu6050/Kconfig"
>>>
>>> endmenu
>>> diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
>>> index 114d2c1..e1e6e3d 100644
>>> --- a/drivers/iio/imu/Makefile
>>> +++ b/drivers/iio/imu/Makefile
>>> @@ -14,3 +14,5 @@ adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
>>> obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
>>>
>>> obj-y += inv_mpu6050/
>>> +
>>> +obj-$(CONFIG_KMX61) += kmx61.o
>>> diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c
>>> new file mode 100644
>>> index 0000000..6135a16
>>> --- /dev/null
>>> +++ b/drivers/iio/imu/kmx61.c
>>> @@ -0,0 +1,590 @@
>>> +/*
>>> + * KMX61 - Kionix 6-axis Accelerometer/Magnetometer
>>> + *
>>> + * Copyright (c) 2014, Intel Corporation.
>>> + *
>>> + * This file is subject to the terms and conditions of version 2 of
>>> + * the GNU General Public License. See the file COPYING in the main
>>> + * directory of this archive for more details.
>>> + *
>>> + * IIO driver for KMX61 (7-bit I2C slave address 0x0E or 0x0F).
>>> + *
>>> + * TODO: buffer, interrupt, thresholds, acpi, temperature sensor
>>> + *
>>> + */
>>> +
>>> +#include <linux/module.h>
>>> +#include <linux/i2c.h>
>>> +#include <linux/iio/iio.h>
>>> +#include <linux/iio/sysfs.h>
>>> +
>>> +#define KMX61_DRV_NAME "kmx61"
>>> +
>>> +#define KMX61_REG_WHO_AM_I 0x00
>>> +
>>> +#define KMX61_ACC_XOUT_L 0x0A
>>> +
>>> +#define KMX61_ACC_XOUT_H 0x0B
>>> +#define KMX61_ACC_YOUT_L 0x0C
>>> +#define KMX61_ACC_YOUT_H 0x0D
>>> +#define KMX61_ACC_ZOUT_L 0x0E
>>> +#define KMX61_ACC_ZOUT_H 0x0F
>>> +
>>> +#define KMX61_MAG_XOUT_L 0x12
>>> +
>>> +#define KMX61_MAG_XOUT_H 0x13
>>> +#define KMX61_MAG_YOUT_L 0x14
>>> +#define KMX61_MAG_YOUT_H 0x15
>>> +#define KMX61_MAG_ZOUT_L 0x16
>>> +#define KMX61_MAG_ZOUT_H 0x17
>>> +
>>> +#define KMX61_REG_ODCNTL 0x2C
>>> +
>>> +#define KMX61_REG_STBY 0x29
>>> +#define KMX61_REG_CTRL1 0x2A
>>> +
>>> +#define KMX61_REG_COTR 0x3C
>>> +
>>> +#define KMX61_ACC_STBY_BIT BIT(0)
>>> +#define KMX61_MAG_STBY_BIT BIT(1)
>>> +#define KMX61_ACT_STBY_BIT BIT(7)
>>> +
>>> +#define KMX61_ALL_STBY (KMX61_ACC_STBY_BIT | KMX61_MAG_STBY_BIT)
>>> +
>>> +#define KMX61_REG_CTRL1_GSEL0_SHIFT 0
>>> +#define KMX61_REG_CTRL1_GSEL1_SHIFT 1
>>> +#define KMX61_REG_CTRL1_GSEL0_MASK 0x01
>>> +#define KMX61_REG_CTRL1_GSEL1_MASK 0x02
>>> +
>>> +#define KMX61_REG_CTRL1_BIT_RES BIT(4)
>>> +
>>> +#define KMX61_ACC_ODR_SHIFT 0
>>> +#define KMX61_MAG_ODR_SHIFT 4
>>> +#define KMX61_ACC_ODR_MASK 0x0F
>>> +#define KMX61_MAG_ODR_MASK 0xF0
>>> +
>>> +#define KMX61_CHIP_ID 0x12
>>> +
>>> +struct kmx61_data {
>>> + struct i2c_client *client;
>>> + /* serialize access to non-atomic ops, e.g set_mode */
>>> + struct mutex lock;
>>> + u8 range;
>>> + u8 odr_bits;
>>> +};
>>> +
>>> +enum kmx61_range {
>>> + KMX61_RANGE_2G,
>>> + KMX61_RANGE_4G,
>>> + KMX61_RANGE_8G,
>>> +};
>>> +
>>> +enum kmx61_scan {
>>> + KMX61_SCAN_ACC_X,
>>> + KMX61_SCAN_ACC_Y,
>>> + KMX61_SCAN_ACC_Z,
>>> + KMX61_SCAN_TEMP,
>>> + KMX61_SCAN_MAG_X,
>>> + KMX61_SCAN_MAG_Y,
>>> + KMX61_SCAN_MAG_Z,
>>> +};
>>> +
>>> +static const struct {
>>> + u16 scale;
>>> + u8 gsel0;
>>> + u8 gsel1;
>>> +} kmx61_scale_table[] = {
>>> + {9582, 0, 0},
>>> + {19163, 1, 0},
>>> + {38326, 0, 1},
>>> +};
>>> +
>>> +/* KMX61 devices */
>>> +#define KMX61_ACC 0x01
>>> +#define KMX61_MAG 0x02
>>> +
>>> +static const struct {
>>> + int val;
>>> + int val2;
>>> + int odr_bits;
>>> +} samp_freq_table[] = { {12, 500000, 0x00},
>>> + {25, 0, 0x01},
>>> + {50, 0, 0x02},
>>> + {100, 0, 0x03},
>>> + {200, 0, 0x04},
>>> + {400, 0, 0x05},
>>> + {800, 0, 0x06},
>>> + {1600, 0, 0x07},
>>> + {0, 781000, 0x08},
>>> + {1, 563000, 0x09},
>>> + {3, 125000, 0x0A},
>>> + {6, 250000, 0x0B} };
>>> +
>>> +static IIO_CONST_ATTR(accel_scale_available, "0.009582 0.019163 0.038326");
>>> +static IIO_CONST_ATTR(magn_scale_available, "0.001465");
>>> +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL(
>>> + "0.781000 1.563000 3.125000 6.250000 12.500000 25 50 100 200 400 800");
>>> +
>>> +static struct attribute *kmx61_attributes[] = {
>>> + &iio_const_attr_accel_scale_available.dev_attr.attr,
>>> + &iio_const_attr_magn_scale_available.dev_attr.attr,
>>> + &iio_const_attr_sampling_frequency_available.dev_attr.attr,
>> Interesting. So sampling frequency is controllable seperately for the
>> two sensing types, but uses a single set of values. This is a rare
>> coherent looking bit of dual sensor type hardware ;)
>
> Yes.
>
> Anyway, when the FIFO hardware buffer is used, it will be updated
> at the faster of the two output data rates
>
>>> + NULL,
>>> +};
>>> +
>>> +static const struct attribute_group kmx61_attribute_group = {
>>> + .attrs = kmx61_attributes,
>>> +};
>>> +
>>> +#define KMX61_ACC_CHAN(_axis, _index) { \
>>> + .type = IIO_ACCEL, \
>>> + .modified = 1, \
>>> + .channel2 = IIO_MOD_ ## _axis, \
>>> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
>>> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
>>> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
>>> + .scan_index = _index, \
>>> + .scan_type = { \
>>> + .sign = 's', \
>>> + .realbits = 12, \
>>> + .storagebits = 16, \
>>> + .shift = 4, \
>>> + .endianness = IIO_BE, \
>>> + }, \
>>> +}
>>> +
>>> +#define KMX61_MAG_CHAN(_axis, _index) { \
>>> + .type = IIO_MAGN, \
>>> + .modified = 1, \
>>> + .channel2 = IIO_MOD_ ## _axis, \
>>> + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
>>> + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
>>> + BIT(IIO_CHAN_INFO_SAMP_FREQ), \
>>> + .scan_index = _index, \
>>> + .scan_type = { \
>>> + .sign = 's', \
>>> + .realbits = 14, \
>>> + .storagebits = 16, \
>>> + .shift = 2, \
>>> + .endianness = IIO_BE, \
>>> + }, \
>> Wouldn't normally expect scan_index and scan_type in a driver
>> without buffered support, but you do make use of some of the
>> elements elsewhere and state that buffered support
>> is on the todo list so lets leave it here.
>>> +}
>>> +
>>> +static const struct iio_chan_spec kmx61_channels[] = {
>>> + KMX61_ACC_CHAN(X, KMX61_SCAN_ACC_X),
>>> + KMX61_ACC_CHAN(Y, KMX61_SCAN_ACC_Y),
>>> + KMX61_ACC_CHAN(Z, KMX61_SCAN_ACC_Z),
>>> + KMX61_MAG_CHAN(X, KMX61_SCAN_MAG_X),
>>> + KMX61_MAG_CHAN(Y, KMX61_SCAN_MAG_Y),
>>> + KMX61_MAG_CHAN(Z, KMX61_SCAN_MAG_Z),
>>> +};
>>> +
>>> +static int kmx61_convert_freq_to_bit(int val, int val2)
>>> +{
>>> + int i;
>>> +
>>> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
>>> + if (val == samp_freq_table[i].val &&
>>> + val2 == samp_freq_table[i].val2)
>>> + return samp_freq_table[i].odr_bits;
>>> + return -EINVAL;
>>> +}
>>> +
>>> +static int kmx61_set_mode(struct kmx61_data *data, u8 mode, u8 device)
>>> +{
>>> + int ret;
>>> +
>>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
>>> + if (ret < 0) {
>>> + dev_err(&data->client->dev, "Error reading reg_stby\n");
>>> + return ret;
>>> + }
>>> + if (device & KMX61_ACC) {
>>> + if (mode & KMX61_ACC_STBY_BIT)
>>> + ret |= KMX61_ACC_STBY_BIT;
>>> + else
>>> + ret &= ~KMX61_ACC_STBY_BIT;
>>> + }
>>> +
>>> + if (device & KMX61_MAG) {
>>> + if (mode & KMX61_MAG_STBY_BIT)
>>> + ret |= KMX61_MAG_STBY_BIT;
>>> + else
>>> + ret &= ~KMX61_MAG_STBY_BIT;
>>> + }
>>> +
>>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_STBY, ret);
>>> + if (ret < 0) {
>>> + dev_err(&data->client->dev, "Error writing reg_stby\n");
>>> + return ret;
>>> + }
>>> +
>>> + return ret;
>>> +}
>>> +
>>> +static int kmx61_get_mode(struct kmx61_data *data, u8 *mode, u8 device)
>>> +{
>>> + int ret;
>>> +
>>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_STBY);
>>> + if (ret < 0) {
>>> + dev_err(&data->client->dev, "Error reading reg_stby\n");
>>> + return ret;
>>> + }
>>> + *mode = 0;
>>> +
>>> + if (device & KMX61_ACC) {
>>> + if (ret & KMX61_ACC_STBY_BIT)
>>> + *mode |= KMX61_ACC_STBY_BIT;
>>> + else
>>> + *mode &= ~KMX61_ACC_STBY_BIT;
>>> + }
>>> +
>>> + if (device & KMX61_MAG) {
>>> + if (ret & KMX61_MAG_STBY_BIT)
>>> + *mode |= KMX61_MAG_STBY_BIT;
>>> + else
>>> + *mode &= ~KMX61_MAG_STBY_BIT;
>>> + }
>>> +
>>> + return 0;
>>> +}
>>> +
>>> +static int kmx61_set_odr(struct kmx61_data *data, int val, int val2, u8 device)
>>> +{
>>> + int ret;
>>> + u8 mode;
>>> + int lodr_bits, odr_bits;
>>> +
>>> + ret = kmx61_get_mode(data, &mode, KMX61_ACC | KMX61_MAG);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + lodr_bits = kmx61_convert_freq_to_bit(val, val2);
>>> + if (lodr_bits < 0)
>>> + return lodr_bits;
>>> +
>>> + /* To change ODR, accel and magn must be in STDBY */
>>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + odr_bits = 0;
>>> + if (device & KMX61_ACC)
>>> + odr_bits |= lodr_bits;
>>> + if (device & KMX61_MAG)
>>> + odr_bits |= (lodr_bits << KMX61_MAG_ODR_SHIFT);
>>> +
>>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_ODCNTL,
>>> + odr_bits);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + ret = kmx61_set_mode(data, mode, KMX61_ACC | KMX61_MAG);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + data->odr_bits = lodr_bits;
>>> +
>>> + return 0;
>>> +}
>>> +
>>> +static
>>> +int kmx61_get_odr(struct kmx61_data *data, int *val, int *val2, u8 device)
>>> +{ int i;
>>> + u8 lodr_bits;
>>> +
>>> + if (device & KMX61_ACC)
>>> + lodr_bits = (data->odr_bits >> KMX61_ACC_ODR_SHIFT) &
>>> + KMX61_ACC_ODR_MASK;
>>> + else if (device & KMX61_MAG)
>>> + lodr_bits = (data->odr_bits >> KMX61_MAG_ODR_SHIFT) &
>>> + KMX61_MAG_ODR_MASK;
>>> + else
>>> + return -EINVAL;
>>> +
>>> + for (i = 0; i < ARRAY_SIZE(samp_freq_table); i++)
>>> + if (lodr_bits == samp_freq_table[i].odr_bits) {
>>> + *val = samp_freq_table[i].val;
>>> + *val2 = samp_freq_table[i].val2;
>>> + return 0;
>>> + }
>>> + return -EINVAL;
>>> +}
>>> +
>>> +static int kmx61_set_range(struct kmx61_data *data, int range)
>>> +{
>>> + int ret;
>>> +
>>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_CTRL1);
>>> + if (ret < 0) {
>>> + dev_err(&data->client->dev, "Error reading reg_ctrl1\n");
>>> + return ret;
>>> + }
>>> +
>>> + ret &= ~(KMX61_REG_CTRL1_GSEL0_MASK | KMX61_REG_CTRL1_GSEL1_MASK);
>>> + ret |= kmx61_scale_table[range].gsel0 << KMX61_REG_CTRL1_GSEL0_SHIFT;
>>> + ret |= kmx61_scale_table[range].gsel1 << KMX61_REG_CTRL1_GSEL1_SHIFT;
>>> +
>>> + ret = i2c_smbus_write_byte_data(data->client, KMX61_REG_CTRL1, ret);
>>> + if (ret < 0) {
>>> + dev_err(&data->client->dev, "Error writing reg_ctrl1\n");
>>> + return ret;
>>> + }
>>> +
>>> + data->range = range;
>>> +
>>> + return 0;
>>> +}
>>> +
>> I'd be tempted to use a parameter name other than val as that
>> tends to have a fairly specific meaning in iio drivers
>> (afterall you pass val2 in here!) scale would work or
>> maybe microscale or similar?
>
> 'scale' works for me. I will send a cleanup patch.
>
>>> +static int kmx61_set_scale(struct kmx61_data *data, int val)
>>> +{
>>> + int ret, i;
>>> + u8 mode;
>>> +
>>> + for (i = 0; i < ARRAY_SIZE(kmx61_scale_table); i++) {
>>> + if (kmx61_scale_table[i].scale == val) {
>>> + ret = kmx61_get_mode(data, &mode,
>>> + KMX61_ACC | KMX61_MAG);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY,
>>> + KMX61_ACC | KMX61_MAG);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + ret = kmx61_set_range(data, i);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + ret = kmx61_set_mode(data, mode,
>>> + KMX61_ACC | KMX61_MAG);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + return 0;
>>> + }
>>> + }
>>> + return -EINVAL;
>>> +}
>>> +
>>> +static int kmx61_chip_init(struct kmx61_data *data)
>>> +{
>>> + int ret;
>>> +
>>> + ret = i2c_smbus_read_byte_data(data->client, KMX61_REG_WHO_AM_I);
>>> + if (ret < 0) {
>>> + dev_err(&data->client->dev, "Error reading who_am_i\n");
>>> + return ret;
>>> + }
>>> +
>>> + if (ret != KMX61_CHIP_ID) {
>>> + dev_err(&data->client->dev,
>>> + "Wrong chip id, got %x expected %x\n",
>>> + ret, KMX61_CHIP_ID);
>>> + return -EINVAL;
>>> + }
>>> +
>>> + /* set accel 12bit, 4g range */
>>> + ret = kmx61_set_range(data, KMX61_RANGE_4G);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + /* put accel and magnetometer in operating mode */
>>> + ret = kmx61_set_mode(data, 0, KMX61_ACC | KMX61_MAG);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + return 0;
>>> +}
>>> +
>>> +static int kmx61_read_measurement(struct kmx61_data *data, int base, int offset)
>>> +{
>>> + int ret;
>>> + u8 reg = base + offset * 2;
>>> +
>>> + ret = i2c_smbus_read_word_data(data->client, reg);
>>> + if (ret < 0) {
>>> + dev_err(&data->client->dev, "failed to read reg at %x\n", reg);
>>> + return ret;
>>> + }
>>> +
>>> + return ret;
>>> +}
>>> +
>>> +static int kmx61_read_raw(struct iio_dev *indio_dev,
>>> + struct iio_chan_spec const *chan, int *val,
>>> + int *val2, long mask)
>>> +{
>>> + struct kmx61_data *data = iio_priv(indio_dev);
>>> + int ret;
>>> + u8 base_reg;
>>> + u8 device;
>>> +
>>> + switch (mask) {
>>> + case IIO_CHAN_INFO_RAW:
>>> + switch (chan->type) {
>>> + case IIO_ACCEL: case IIO_MAGN:
>>> + base_reg = KMX61_ACC_XOUT_L;
>>> + break;
>>> + default:
>>> + return -EINVAL;
>>> + }
>>> + ret = kmx61_read_measurement(data, base_reg, chan->scan_index);
>>> + if (ret < 0)
>>> + return ret;
>>> + *val = sign_extend32(ret >> chan->scan_type.shift,
>>> + chan->scan_type.realbits - 1);
>>> + return IIO_VAL_INT;
>>> + case IIO_CHAN_INFO_SCALE:
>>> + switch (chan->type) {
>>> + case IIO_ACCEL:
>>> + *val = 0;
>>> + *val2 = kmx61_scale_table[data->range].scale;
>>> + return IIO_VAL_INT_PLUS_MICRO;
>>> + case IIO_MAGN:
>>> + /* 14 bits res, 1465 microGauss per magn count */
>>> + *val = 0;
>>> + *val2 = 1465;
>>> + return IIO_VAL_INT_PLUS_MICRO;
>>> + default:
>>> + break;
>>> + }
>>> + case IIO_CHAN_INFO_SAMP_FREQ:
>>> + switch (chan->type) {
>>> + case IIO_ACCEL:
>>> + device = KMX61_ACC;
>>> + break;
>>> + case IIO_MAGN:
>>> + device = KMX61_MAG;
>>> + break;
>>> + default:
>>> + return -EINVAL;
>>> + }
>>> +
>>> + mutex_lock(&data->lock);
>>> + ret = kmx61_get_odr(data, val, val2, device);
>>> + mutex_unlock(&data->lock);
>>> + if (ret)
>>> + return -EINVAL;
>>> + return IIO_VAL_INT_PLUS_MICRO;
>>> + }
>>> + return -EINVAL;
>>> +}
>>> +
>>> +static int kmx61_write_raw(struct iio_dev *indio_dev,
>>> + struct iio_chan_spec const *chan, int val,
>>> + int val2, long mask)
>>> +{
>>> + struct kmx61_data *data = iio_priv(indio_dev);
>>> + int ret;
>>> + u8 device;
>>> +
>>> + switch (mask) {
>>> + case IIO_CHAN_INFO_SAMP_FREQ:
>>> + switch (chan->type) {
>>> + case IIO_ACCEL:
>>> + device = KMX61_ACC;
>>> + break;
>>> + case IIO_MAGN:
>>> + device = KMX61_MAG;
>>> + break;
>>> + default:
>>> + return -EINVAL;
>>> + }
>>> + mutex_lock(&data->lock);
>>> + ret = kmx61_set_odr(data, val, val2, device);
>>> + mutex_unlock(&data->lock);
>>> + break;
>>> + case IIO_CHAN_INFO_SCALE:
>>> + switch (chan->type) {
>>> + case IIO_ACCEL:
>>
>> Should verify that val == 0 incase of crazy userspace input.
>
> Looks good. Thanks for updating the patch.
>
>>> + mutex_lock(&data->lock);
>>> + ret = kmx61_set_scale(data, val2);
>>> + mutex_unlock(&data->lock);
>>> + break;
>>> + default:
>>> + ret = -EINVAL;
>>> + }
>>> + break;
>>> + default:
>>> + ret = -EINVAL;
>>> + }
>>> +
>>> + return ret;
>>> +}
>>> +
>>> +static const struct iio_info kmx61_info = {
>>> + .driver_module = THIS_MODULE,
>>> + .read_raw = kmx61_read_raw,
>>> + .write_raw = kmx61_write_raw,
>>> + .attrs = &kmx61_attribute_group,
>>> +};
>>> +
>>> +static int kmx61_probe(struct i2c_client *client,
>>> + const struct i2c_device_id *id)
>>> +{
>>> + struct kmx61_data *data;
>>> + struct iio_dev *indio_dev;
>>> + int ret;
>>> +
>>> + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
>>> + if (!indio_dev)
>>> + return -ENOMEM;
>>> +
>>> + data = iio_priv(indio_dev);
>>> + i2c_set_clientdata(client, indio_dev);
>>> + data->client = client;
>>> +
>>> + indio_dev->dev.parent = &client->dev;
>>> + indio_dev->info = &kmx61_info;
>>> + indio_dev->channels = kmx61_channels;
>>> + indio_dev->num_channels = ARRAY_SIZE(kmx61_channels);
>>> + indio_dev->modes = INDIO_DIRECT_MODE;
>>> +
>>> + mutex_init(&data->lock);
>>> +
>>> + ret = kmx61_chip_init(data);
>>> + if (ret < 0)
>>> + return ret;
>>> +
>>> + return iio_device_register(indio_dev);
>>> +}
>>> +
>>> +static int kmx61_remove(struct i2c_client *client)
>>> +{
>>> + struct iio_dev *indio_dev = i2c_get_clientdata(client);
>>> + struct kmx61_data *data = iio_priv(indio_dev);
>>> + int ret;
>>> +
>>> + iio_device_unregister(indio_dev);
>>> +
>>> + mutex_lock(&data->lock);
>>> + ret = kmx61_set_mode(data, KMX61_ALL_STBY, KMX61_ACC | KMX61_MAG);
>>> + mutex_unlock(&data->lock);
>>> +
>>> + return ret;
>>> +}
>>> +
>>> +static const struct i2c_device_id kmx61_id[] = {
>>> + {"kmx61", 0},
>>> + {}
>>> +};
>>> +
>>> +MODULE_DEVICE_TABLE(i2c, kmx61_id);
>>> +
>>> +static struct i2c_driver kmx61_driver = {
>>> + .driver = {
>>> + .name = "kmx61",
>>> + },
>>> + .probe = kmx61_probe,
>>> + .remove = kmx61_remove,
>>> + .id_table = kmx61_id,
>>> +};
>>> +
>>> +module_i2c_driver(kmx61_driver);
>>> +
>>> +MODULE_AUTHOR("Daniel Baluta <[email protected]>");
>>> +MODULE_DESCRIPTION("KMX61 accelerometer/magnetometer driver");
>>> +MODULE_LICENSE("GPL v2");
>>>
>>
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