diff options
Diffstat (limited to 'drivers/misc/m4sensorhub_mpu9150.c')
| -rw-r--r-- | drivers/misc/m4sensorhub_mpu9150.c | 355 |
1 files changed, 3 insertions, 352 deletions
diff --git a/drivers/misc/m4sensorhub_mpu9150.c b/drivers/misc/m4sensorhub_mpu9150.c index 72334661dcb..c1785faaea9 100644 --- a/drivers/misc/m4sensorhub_mpu9150.c +++ b/drivers/misc/m4sensorhub_mpu9150.c @@ -31,7 +31,6 @@ #include <linux/m4sensorhub/MemMapGyroSensor.h> #include <linux/m4sensorhub/MemMapAccelSensor.h> #include <linux/m4sensorhub/MemMapCompassSensor.h> -#include <linux/m4sensorhub/MemMapFusionSensor.h> #include <linux/uaccess.h> #include <linux/slab.h> @@ -61,30 +60,10 @@ struct mpu9150_compass_data { int cz; int ca; }; -struct mpu9150_accel_local_data { - int lx; - int ly; - int lz; -}; -struct mpu9150_accel_world_data { - int wx; - int wy; - int wz; -}; -struct mpu9150_euler_data { - int roll; - int pitch; - int yaw; -}; -struct mpu9150_heading_data { - int heading; - int accuracy; -}; enum mpu9150_sensor { TYPE_GYRO, TYPE_COMPASS, TYPE_ACCEL, - TYPE_FUSION, NUM_TYPES, /* Leave as last element */ } sensor; @@ -96,10 +75,6 @@ struct mpu9150_client { struct mpu9150_accel_data accel_data; struct mpu9150_gyro_data gyro_data; struct mpu9150_compass_data compass_data; - struct mpu9150_accel_local_data accel_local_data; - struct mpu9150_accel_world_data accel_world_data; - struct mpu9150_euler_data euler_data; - struct mpu9150_heading_data heading_data; }; struct mpu9150_client *misc_mpu9150_data; @@ -159,44 +134,6 @@ static void m4_report_mpu9150_inputevent( /* TODO : accuracy needs to be sent out through sysfs*/ input_sync(mpu9150_client_data->input_dev); break; - case TYPE_FUSION: - input_report_rel(mpu9150_client_data->input_dev, REL_X, - mpu9150_client_data->accel_data.x); - input_report_rel(mpu9150_client_data->input_dev, REL_Y, - mpu9150_client_data->accel_data.y); - input_report_rel(mpu9150_client_data->input_dev, REL_Z, - mpu9150_client_data->accel_data.z); - input_report_rel(mpu9150_client_data->input_dev, REL_GX, - mpu9150_client_data->gyro_data.rx); - input_report_rel(mpu9150_client_data->input_dev, REL_GY, - mpu9150_client_data->gyro_data.ry); - input_report_rel(mpu9150_client_data->input_dev, REL_GZ, - mpu9150_client_data->gyro_data.rz); - input_report_rel(mpu9150_client_data->input_dev, REL_LX, - mpu9150_client_data->accel_local_data.lx); - input_report_rel(mpu9150_client_data->input_dev, REL_LY, - mpu9150_client_data->accel_local_data.ly); - input_report_rel(mpu9150_client_data->input_dev, REL_LZ, - mpu9150_client_data->accel_local_data.lz); - input_report_rel(mpu9150_client_data->input_dev, REL_WX, - mpu9150_client_data->accel_world_data.wx); - input_report_rel(mpu9150_client_data->input_dev, REL_WY, - mpu9150_client_data->accel_world_data.wy); - input_report_rel(mpu9150_client_data->input_dev, REL_WZ, - mpu9150_client_data->accel_world_data.wz); - input_report_rel(mpu9150_client_data->input_dev, REL_ROLL, - mpu9150_client_data->euler_data.roll); - input_report_rel(mpu9150_client_data->input_dev, REL_PITCH, - mpu9150_client_data->euler_data.pitch); - input_report_rel(mpu9150_client_data->input_dev, REL_YAW, - mpu9150_client_data->euler_data.yaw); - input_report_rel(mpu9150_client_data->input_dev, REL_HEADING, - mpu9150_client_data->heading_data.heading); - input_report_rel(mpu9150_client_data->input_dev, - REL_HEADING_ACCURACY, - mpu9150_client_data->heading_data.accuracy); - input_sync(mpu9150_client_data->input_dev); - break; default: break; } @@ -222,10 +159,6 @@ static void m4_set_mpu9150_delay(struct mpu9150_client *mpu9150_client_data, m4sensorhub_reg_write(mpu9150_client_data->m4sensorhub, M4SH_REG_COMPASS_SAMPLERATE, (char *)&delay, m4sh_no_mask); break; - case TYPE_FUSION: - m4sensorhub_reg_write(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_SAMPLERATE, (char *)&delay, m4sh_no_mask); - break; default: return; break; @@ -242,7 +175,6 @@ static void m4_set_mpu9150_delay(struct mpu9150_client *mpu9150_client_data, static void m4_read_mpu9150_data(struct mpu9150_client *mpu9150_client_data, enum mpu9150_sensor type) { - sFusionData fusiondata; sCompassData compassdata; sAccelData acceldata; sGyroData gyrodata; @@ -287,72 +219,7 @@ static void m4_read_mpu9150_data(struct mpu9150_client *mpu9150_client_data, mpu9150_client_data->compass_data.ca = compassdata.accuracy; break; - case TYPE_FUSION: - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_ACCEL_X, (char *)&acceldata.x); - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_ACCEL_Y, (char *)&acceldata.y); - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_ACCEL_Z, (char *)&acceldata.z); - mpu9150_client_data->accel_data.x = acceldata.x; - mpu9150_client_data->accel_data.y = acceldata.y; - mpu9150_client_data->accel_data.z = acceldata.z; - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_GYRO_X, (char *)&gyrodata.x); - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_GYRO_Y, (char *)&gyrodata.y); - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_GYRO_Z, (char *)&gyrodata.z); - mpu9150_client_data->gyro_data.rx = gyrodata.x; - mpu9150_client_data->gyro_data.ry = gyrodata.y; - mpu9150_client_data->gyro_data.rz = gyrodata.z; - - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_LOCALX, (char *)&fusiondata.localX); - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_LOCALY, (char *)&fusiondata.localY); - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_LOCALZ, (char *)&fusiondata.localZ); - mpu9150_client_data->accel_local_data.lx = fusiondata.localX; - mpu9150_client_data->accel_local_data.ly = fusiondata.localY; - mpu9150_client_data->accel_local_data.lz = fusiondata.localZ; - - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_WORLDX, (char *)&fusiondata.worldX); - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_WORLDY, (char *)&fusiondata.worldY); - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_WORLDZ, (char *)&fusiondata.worldZ); - mpu9150_client_data->accel_world_data.wx = fusiondata.worldX; - mpu9150_client_data->accel_world_data.wy = fusiondata.worldY; - mpu9150_client_data->accel_world_data.wz = fusiondata.worldZ; - - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_EULERPITCH, - (char *)&fusiondata.eulerPitch); - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_EULERROLL, - (char *)&fusiondata.eulerRoll); - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_EULERYAW, - (char *)&fusiondata.eulerYaw); - mpu9150_client_data->euler_data.pitch = fusiondata.eulerPitch; - mpu9150_client_data->euler_data.roll = fusiondata.eulerRoll; - mpu9150_client_data->euler_data.yaw = fusiondata.eulerYaw; - - - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_HEADING, - (char *)&fusiondata.heading); - m4sensorhub_reg_read(mpu9150_client_data->m4sensorhub, - M4SH_REG_FUSION_HEADING_ACCURACY, - (char *)&fusiondata.heading_accuracy); - mpu9150_client_data->heading_data.heading = fusiondata.heading; - mpu9150_client_data->heading_data.accuracy = - fusiondata.heading_accuracy; - - break; default: break; } @@ -384,15 +251,6 @@ static void m4_handle_mpu9150_compass_irq(enum m4sensorhub_irqs int_event, m4_report_mpu9150_inputevent(mpu9150_client_data, TYPE_COMPASS); } -static void m4_handle_mpu9150_fusion_irq(enum m4sensorhub_irqs int_event, - void *mpu9150_data) -{ - struct mpu9150_client *mpu9150_client_data = mpu9150_data; - - m4_read_mpu9150_data(mpu9150_client_data, TYPE_FUSION); - m4_report_mpu9150_inputevent(mpu9150_client_data, TYPE_FUSION); -} - static ssize_t m4_mpu9150_write_accel_setdelay(struct device *dev, struct device_attribute *attr, const char *buf, size_t count) @@ -514,125 +372,6 @@ static const struct attribute_group mpu9150_control_group = { .attrs = mpu9150_control_attributes, }; #ifdef MPU9150_DEBUG -static ssize_t m4_mpu9150_local_x(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct platform_device *pdev = to_platform_device(dev); - struct mpu9150_client *mpu9150_client_data = platform_get_drvdata(pdev); - - KDEBUG(M4SH_DEBUG, "%s : x_local = %d\n", - __func__, mpu9150_client_data->accel_local_data.lx); - return sprintf(buf, "%d\n", mpu9150_client_data->accel_local_data.lx); -} - -static ssize_t m4_mpu9150_local_y(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct platform_device *pdev = to_platform_device(dev); - struct mpu9150_client *mpu9150_client_data = platform_get_drvdata(pdev); - - KDEBUG(M4SH_DEBUG, "%s : y_local = %d\n", - __func__, mpu9150_client_data->accel_local_data.ly); - return sprintf(buf, "%d\n", mpu9150_client_data->accel_local_data.ly); -} - -static ssize_t m4_mpu9150_local_z(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct platform_device *pdev = to_platform_device(dev); - struct mpu9150_client *mpu9150_client_data = platform_get_drvdata(pdev); - - KDEBUG(M4SH_DEBUG, "%s : z_local = %d\n", - __func__, mpu9150_client_data->accel_local_data.lz); - return sprintf(buf, "%d\n", mpu9150_client_data->accel_local_data.lz); -} -static ssize_t m4_mpu9150_world_x(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct platform_device *pdev = to_platform_device(dev); - struct mpu9150_client *mpu9150_client_data = platform_get_drvdata(pdev); - - KDEBUG(M4SH_DEBUG, "%s : x_world = %d\n", - __func__, mpu9150_client_data->accel_world_data.wx); - return sprintf(buf, "%d\n", mpu9150_client_data->accel_world_data.wx); -} - -static ssize_t m4_mpu9150_world_y(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct platform_device *pdev = to_platform_device(dev); - struct mpu9150_client *mpu9150_client_data = platform_get_drvdata(pdev); - - KDEBUG(M4SH_DEBUG, "%s : y_world = %d\n", - __func__, mpu9150_client_data->accel_world_data.wy); - return sprintf(buf, "%d\n", mpu9150_client_data->accel_world_data.wy); -} - -static ssize_t m4_mpu9150_world_z(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct platform_device *pdev = to_platform_device(dev); - struct mpu9150_client *mpu9150_client_data = platform_get_drvdata(pdev); - - KDEBUG(M4SH_DEBUG, "%s : z_world = %d\n", - __func__, mpu9150_client_data->accel_world_data.wz); - return sprintf(buf, "%d\n", mpu9150_client_data->accel_world_data.wz); -} -static ssize_t m4_mpu9150_pitch(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct platform_device *pdev = to_platform_device(dev); - struct mpu9150_client *mpu9150_client_data = platform_get_drvdata(pdev); - - KDEBUG(M4SH_DEBUG, "%s : pitch = %d\n", - __func__, mpu9150_client_data->euler_data.pitch); - return sprintf(buf, "%d\n", mpu9150_client_data->euler_data.pitch); -} - -static ssize_t m4_mpu9150_roll(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct platform_device *pdev = to_platform_device(dev); - struct mpu9150_client *mpu9150_client_data = platform_get_drvdata(pdev); - - KDEBUG(M4SH_DEBUG, "%s : roll = %d\n", - __func__, mpu9150_client_data->euler_data.roll); - return sprintf(buf, "%d\n", mpu9150_client_data->euler_data.roll); -} - -static ssize_t m4_mpu9150_yaw(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct platform_device *pdev = to_platform_device(dev); - struct mpu9150_client *mpu9150_client_data = platform_get_drvdata(pdev); - - KDEBUG(M4SH_DEBUG, "%s : yaw = %d\n", - __func__, mpu9150_client_data->euler_data.yaw); - return sprintf(buf, "%d\n", mpu9150_client_data->euler_data.yaw); -} - -static ssize_t m4_mpu9150_heading(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct platform_device *pdev = to_platform_device(dev); - struct mpu9150_client *mpu9150_client_data = platform_get_drvdata(pdev); - - KDEBUG(M4SH_DEBUG, "%s : heading = %d\n", - __func__, mpu9150_client_data->heading_data.heading); - return sprintf(buf, "%d\n", mpu9150_client_data->heading_data.heading); -} - -static ssize_t m4_mpu9150_heading_acc(struct device *dev, - struct device_attribute *attr, char *buf) -{ - struct platform_device *pdev = to_platform_device(dev); - struct mpu9150_client *mpu9150_client_data = platform_get_drvdata(pdev); - - KDEBUG(M4SH_DEBUG, "%s : heading_acc = %d\n", - __func__, mpu9150_client_data->heading_data.accuracy); - return sprintf(buf, "%d\n", mpu9150_client_data->heading_data.accuracy); -} - static ssize_t m4_mpu9150_x(struct device *dev, struct device_attribute *attr, char *buf) { @@ -743,17 +482,6 @@ static ssize_t m4_mpu9150_rz(struct device *dev, } -static DEVICE_ATTR(x_local, 0444, m4_mpu9150_local_x, NULL); -static DEVICE_ATTR(y_local, 0444, m4_mpu9150_local_y, NULL); -static DEVICE_ATTR(z_local, 0444, m4_mpu9150_local_z, NULL); -static DEVICE_ATTR(x_world, 0444, m4_mpu9150_world_x, NULL); -static DEVICE_ATTR(y_world, 0444, m4_mpu9150_world_y, NULL); -static DEVICE_ATTR(z_world, 0444, m4_mpu9150_world_z, NULL); -static DEVICE_ATTR(pitch, 0444, m4_mpu9150_pitch, NULL); -static DEVICE_ATTR(roll, 0444, m4_mpu9150_roll, NULL); -static DEVICE_ATTR(yaw, 0444, m4_mpu9150_yaw, NULL); -static DEVICE_ATTR(heading, 0444, m4_mpu9150_heading, NULL); -static DEVICE_ATTR(heading_acc, 0444, m4_mpu9150_heading_acc, NULL); static DEVICE_ATTR(raw_x, 0444, m4_mpu9150_x, NULL); static DEVICE_ATTR(raw_y, 0444, m4_mpu9150_y, NULL); static DEVICE_ATTR(raw_z, 0444, m4_mpu9150_z, NULL); @@ -766,17 +494,6 @@ static DEVICE_ATTR(ry, 0444, m4_mpu9150_ry, NULL); static DEVICE_ATTR(rz, 0444, m4_mpu9150_rz, NULL); static struct attribute *mpu9150_attributes[] = { - &dev_attr_x_local.attr, - &dev_attr_y_local.attr, - &dev_attr_z_local.attr, - &dev_attr_x_world.attr, - &dev_attr_y_world.attr, - &dev_attr_z_world.attr, - &dev_attr_pitch.attr, - &dev_attr_roll.attr, - &dev_attr_yaw.attr, - &dev_attr_heading.attr, - &dev_attr_heading_acc.attr, &dev_attr_raw_x.attr, &dev_attr_raw_y.attr, &dev_attr_raw_z.attr, @@ -838,20 +555,8 @@ static int mpu9150_irq_init(struct mpu9150_client *mpu9150_client_data) M4SH_IRQ_COMPASS_DATA_READY, ret); goto unregister_accel_irq; } - ret = m4sensorhub_irq_register(mpu9150_client_data->m4sensorhub, - M4SH_IRQ_FUSION_DATA_READY, - m4_handle_mpu9150_fusion_irq, - mpu9150_client_data); - if (ret < 0) { - KDEBUG(M4SH_ERROR, "Error registering int %d (%d)\n", - M4SH_IRQ_FUSION_DATA_READY, ret); - goto unregister_compass_irq; - } return ret; -unregister_compass_irq: - m4sensorhub_irq_unregister(mpu9150_client_data->m4sensorhub, - M4SH_IRQ_COMPASS_DATA_READY); unregister_accel_irq: m4sensorhub_irq_unregister(mpu9150_client_data->m4sensorhub, M4SH_IRQ_ACCEL_DATA_READY); @@ -864,8 +569,6 @@ unregister_gyro_irq: static void mpu9150_irq_deinit(struct mpu9150_client *mpu9150_client_data) { m4sensorhub_irq_unregister(mpu9150_client_data->m4sensorhub, - M4SH_IRQ_FUSION_DATA_READY); - m4sensorhub_irq_unregister(mpu9150_client_data->m4sensorhub, M4SH_IRQ_COMPASS_DATA_READY); m4sensorhub_irq_unregister(mpu9150_client_data->m4sensorhub, M4SH_IRQ_ACCEL_DATA_READY); @@ -934,24 +637,6 @@ static int mpu9150_irq_enable_disable(struct mpu9150_client *mpu9150_client_data mpu9150_client_data->m4sensorhub, M4SH_IRQ_COMPASS_DATA_READY); break; - case TYPE_FUSION: - irq_status = m4sensorhub_irq_enable_get( - mpu9150_client_data->m4sensorhub, - M4SH_IRQ_FUSION_DATA_READY); - if (flag && (!irq_status)) { - ret = m4sensorhub_irq_enable( - mpu9150_client_data->m4sensorhub, - M4SH_IRQ_FUSION_DATA_READY); - if (ret < 0) { - KDEBUG(M4SH_ERROR, "Error enabling int %d (%d)\n", - M4SH_IRQ_FUSION_DATA_READY, ret); - return ret; - } - } else if ((!flag) && irq_status) - m4sensorhub_irq_disable( - mpu9150_client_data->m4sensorhub, - M4SH_IRQ_FUSION_DATA_READY); - break; default: ret = -EINVAL; break; @@ -1007,23 +692,9 @@ static int mpu9150_client_probe(struct platform_device *pdev) set_bit(REL_X, mpu9150_client_data->input_dev->relbit); set_bit(REL_Y, mpu9150_client_data->input_dev->relbit); set_bit(REL_Z, mpu9150_client_data->input_dev->relbit); - set_bit(REL_GX, mpu9150_client_data->input_dev->relbit); - set_bit(REL_GY, mpu9150_client_data->input_dev->relbit); - set_bit(REL_GZ, mpu9150_client_data->input_dev->relbit); - set_bit(REL_LX, mpu9150_client_data->input_dev->relbit); - set_bit(REL_LY, mpu9150_client_data->input_dev->relbit); - set_bit(REL_LZ, mpu9150_client_data->input_dev->relbit); - set_bit(REL_WX, mpu9150_client_data->input_dev->relbit); - set_bit(REL_WY, mpu9150_client_data->input_dev->relbit); - set_bit(REL_WZ, mpu9150_client_data->input_dev->relbit); - set_bit(REL_ROLL, mpu9150_client_data->input_dev->relbit); - set_bit(REL_PITCH, mpu9150_client_data->input_dev->relbit); - set_bit(REL_YAW, mpu9150_client_data->input_dev->relbit); set_bit(REL_RX, mpu9150_client_data->input_dev->relbit); set_bit(REL_RY, mpu9150_client_data->input_dev->relbit); set_bit(REL_RZ, mpu9150_client_data->input_dev->relbit); - set_bit(REL_HEADING, mpu9150_client_data->input_dev->relbit); - set_bit(REL_HEADING_ACCURACY, mpu9150_client_data->input_dev->relbit); if (input_register_device(mpu9150_client_data->input_dev)) { KDEBUG(M4SH_ERROR, "%s: input device register failed\n", @@ -1096,26 +767,6 @@ static int __exit mpu9150_client_remove(struct platform_device *pdev) return 0; } -static void mpu9150_client_shutdown(struct platform_device *pdev) -{ - return; -} -#ifdef CONFIG_PM -static int mpu9150_client_suspend(struct platform_device *pdev, - pm_message_t message) -{ - return 0; -} - -static int mpu9150_client_resume(struct platform_device *pdev) -{ - return 0; -} -#else -#define mpu9150_client_suspend NULL -#define mpu9150_client_resume NULL -#endif - static struct of_device_id m4mpu9150_match_tbl[] = { { .compatible = "mot,m4mpu9150" }, {}, @@ -1124,9 +775,9 @@ static struct of_device_id m4mpu9150_match_tbl[] = { static struct platform_driver mpu9150_client_driver = { .probe = mpu9150_client_probe, .remove = __exit_p(mpu9150_client_remove), - .shutdown = mpu9150_client_shutdown, - .suspend = mpu9150_client_suspend, - .resume = mpu9150_client_resume, + .shutdown = NULL, + .suspend = NULL, + .resume = NULL, .driver = { .name = MPU9150_CLIENT_DRIVER_NAME, .owner = THIS_MODULE, |