2 * lis3lv02d.c - ST LIS3LV02DL accelerometer driver
4 * Copyright (C) 2007-2008 Yan Burman
5 * Copyright (C) 2008 Eric Piel
6 * Copyright (C) 2008-2009 Pavel Machek
8 * This program is free software; you can redistribute it and/or modify
9 * it under the terms of the GNU General Public License as published by
10 * the Free Software Foundation; either version 2 of the License, or
11 * (at your option) any later version.
13 * This program is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 * GNU General Public License for more details.
18 * You should have received a copy of the GNU General Public License
19 * along with this program; if not, write to the Free Software
20 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
23 #include <linux/kernel.h>
24 #include <linux/init.h>
25 #include <linux/dmi.h>
26 #include <linux/module.h>
27 #include <linux/types.h>
28 #include <linux/platform_device.h>
29 #include <linux/interrupt.h>
30 #include <linux/input-polldev.h>
31 #include <linux/delay.h>
32 #include <linux/wait.h>
33 #include <linux/poll.h>
34 #include <linux/freezer.h>
35 #include <linux/uaccess.h>
36 #include <linux/miscdevice.h>
37 #include <asm/atomic.h>
38 #include "lis3lv02d.h"
40 #define DRIVER_NAME "lis3lv02d"
42 /* joystick device poll interval in milliseconds */
43 #define MDPS_POLL_INTERVAL 50
45 * The sensor can also generate interrupts (DRDY) but it's pretty pointless
46 * because they are generated even if the data do not change. So it's better
47 * to keep the interrupt for the free-fall event. The values are updated at
48 * 40Hz (at the lowest frequency), but as it can be pretty time consuming on
49 * some low processor, we poll the sensor only at 20Hz... enough for the
53 #define LIS3_PWRON_DELAY_WAI_12B (5000)
54 #define LIS3_PWRON_DELAY_WAI_8B (3000)
57 * LIS3LV02D spec says 1024 LSBs corresponds 1 G -> 1LSB is 1000/1024 mG
58 * LIS302D spec says: 18 mG / digit
59 * LIS3_ACCURACY is used to increase accuracy of the intermediate
60 * calculation results.
62 #define LIS3_ACCURACY 1024
63 /* Sensitivity values for -2G +2G scale */
64 #define LIS3_SENSITIVITY_12B ((LIS3_ACCURACY * 1000) / 1024)
65 #define LIS3_SENSITIVITY_8B (18 * LIS3_ACCURACY)
67 #define LIS3_DEFAULT_FUZZ 3
68 #define LIS3_DEFAULT_FLAT 3
70 struct lis3lv02d lis3_dev = {
71 .misc_wait = __WAIT_QUEUE_HEAD_INITIALIZER(lis3_dev.misc_wait),
74 EXPORT_SYMBOL_GPL(lis3_dev);
76 static s16 lis3lv02d_read_8(struct lis3lv02d *lis3, int reg)
79 if (lis3->read(lis3, reg, &lo) < 0)
85 static s16 lis3lv02d_read_12(struct lis3lv02d *lis3, int reg)
89 lis3->read(lis3, reg - 1, &lo);
90 lis3->read(lis3, reg, &hi);
91 /* In "12 bit right justified" mode, bit 6, bit 7, bit 8 = bit 5 */
92 return (s16)((hi << 8) | lo);
96 * lis3lv02d_get_axis - For the given axis, give the value converted
97 * @axis: 1,2,3 - can also be negative
98 * @hw_values: raw values returned by the hardware
100 * Returns the converted value.
102 static inline int lis3lv02d_get_axis(s8 axis, int hw_values[3])
105 return hw_values[axis - 1];
107 return -hw_values[-axis - 1];
111 * lis3lv02d_get_xyz - Get X, Y and Z axis values from the accelerometer
112 * @lis3: pointer to the device struct
113 * @x: where to store the X axis value
114 * @y: where to store the Y axis value
115 * @z: where to store the Z axis value
117 * Note that 40Hz input device can eat up about 10% CPU at 800MHZ
119 static void lis3lv02d_get_xyz(struct lis3lv02d *lis3, int *x, int *y, int *z)
124 mutex_lock(&lis3->mutex);
125 position[0] = lis3->read_data(lis3, OUTX);
126 position[1] = lis3->read_data(lis3, OUTY);
127 position[2] = lis3->read_data(lis3, OUTZ);
128 mutex_unlock(&lis3->mutex);
130 for (i = 0; i < 3; i++)
131 position[i] = (position[i] * lis3->scale) / LIS3_ACCURACY;
133 *x = lis3lv02d_get_axis(lis3->ac.x, position);
134 *y = lis3lv02d_get_axis(lis3->ac.y, position);
135 *z = lis3lv02d_get_axis(lis3->ac.z, position);
138 /* conversion btw sampling rate and the register values */
139 static int lis3_12_rates[4] = {40, 160, 640, 2560};
140 static int lis3_8_rates[2] = {100, 400};
142 /* ODR is Output Data Rate */
143 static int lis3lv02d_get_odr(void)
148 lis3_dev.read(&lis3_dev, CTRL_REG1, &ctrl);
149 ctrl &= lis3_dev.odr_mask;
150 shift = ffs(lis3_dev.odr_mask) - 1;
151 return lis3_dev.odrs[(ctrl >> shift)];
154 static int lis3lv02d_set_odr(int rate)
159 lis3_dev.read(&lis3_dev, CTRL_REG1, &ctrl);
160 ctrl &= ~lis3_dev.odr_mask;
161 len = 1 << hweight_long(lis3_dev.odr_mask); /* # of possible values */
162 shift = ffs(lis3_dev.odr_mask) - 1;
164 for (i = 0; i < len; i++)
165 if (lis3_dev.odrs[i] == rate) {
166 lis3_dev.write(&lis3_dev, CTRL_REG1,
167 ctrl | (i << shift));
173 static int lis3lv02d_selftest(struct lis3lv02d *lis3, s16 results[3])
180 mutex_lock(&lis3->mutex);
181 if (lis3_dev.whoami == WAI_12B)
184 selftest = CTRL1_STP;
186 lis3->read(lis3, CTRL_REG1, ®);
187 lis3->write(lis3, CTRL_REG1, (reg | selftest));
188 msleep(lis3->pwron_delay / lis3lv02d_get_odr());
190 /* Read directly to avoid axis remap */
191 x = lis3->read_data(lis3, OUTX);
192 y = lis3->read_data(lis3, OUTY);
193 z = lis3->read_data(lis3, OUTZ);
195 /* back to normal settings */
196 lis3->write(lis3, CTRL_REG1, reg);
197 msleep(lis3->pwron_delay / lis3lv02d_get_odr());
199 results[0] = x - lis3->read_data(lis3, OUTX);
200 results[1] = y - lis3->read_data(lis3, OUTY);
201 results[2] = z - lis3->read_data(lis3, OUTZ);
206 for (i = 0; i < 3; i++) {
207 /* Check against selftest acceptance limits */
208 if ((results[i] < lis3->pdata->st_min_limits[i]) ||
209 (results[i] > lis3->pdata->st_max_limits[i])) {
218 mutex_unlock(&lis3->mutex);
222 void lis3lv02d_poweroff(struct lis3lv02d *lis3)
224 /* disable X,Y,Z axis and power down */
225 lis3->write(lis3, CTRL_REG1, 0x00);
227 EXPORT_SYMBOL_GPL(lis3lv02d_poweroff);
229 void lis3lv02d_poweron(struct lis3lv02d *lis3)
235 /* LIS3 power on delay is quite long */
236 msleep(lis3->pwron_delay / lis3lv02d_get_odr());
239 * Common configuration
240 * BDU: (12 bits sensors only) LSB and MSB values are not updated until
241 * both have been read. So the value read will always be correct.
243 if (lis3->whoami == WAI_12B) {
244 lis3->read(lis3, CTRL_REG2, ®);
246 lis3->write(lis3, CTRL_REG2, reg);
249 EXPORT_SYMBOL_GPL(lis3lv02d_poweron);
252 static irqreturn_t lis302dl_interrupt(int irq, void *dummy)
255 * Be careful: on some HP laptops the bios force DD when on battery and
256 * the lid is closed. This leads to interrupts as soon as a little move
259 atomic_inc(&lis3_dev.count);
261 wake_up_interruptible(&lis3_dev.misc_wait);
262 kill_fasync(&lis3_dev.async_queue, SIGIO, POLL_IN);
266 static int lis3lv02d_misc_open(struct inode *inode, struct file *file)
270 if (test_and_set_bit(0, &lis3_dev.misc_opened))
271 return -EBUSY; /* already open */
273 atomic_set(&lis3_dev.count, 0);
276 * The sensor can generate interrupts for free-fall and direction
277 * detection (distinguishable with FF_WU_SRC and DD_SRC) but to keep
278 * the things simple and _fast_ we activate it only for free-fall, so
279 * no need to read register (very slow with ACPI). For the same reason,
280 * we forbid shared interrupts.
282 * IRQF_TRIGGER_RISING seems pointless on HP laptops because the
283 * io-apic is not configurable (and generates a warning) but I keep it
284 * in case of support for other hardware.
286 ret = request_irq(lis3_dev.irq, lis302dl_interrupt, IRQF_TRIGGER_RISING,
287 DRIVER_NAME, &lis3_dev);
290 clear_bit(0, &lis3_dev.misc_opened);
291 printk(KERN_ERR DRIVER_NAME ": IRQ%d allocation failed\n", lis3_dev.irq);
297 static int lis3lv02d_misc_release(struct inode *inode, struct file *file)
299 fasync_helper(-1, file, 0, &lis3_dev.async_queue);
300 free_irq(lis3_dev.irq, &lis3_dev);
301 clear_bit(0, &lis3_dev.misc_opened); /* release the device */
305 static ssize_t lis3lv02d_misc_read(struct file *file, char __user *buf,
306 size_t count, loff_t *pos)
308 DECLARE_WAITQUEUE(wait, current);
310 unsigned char byte_data;
316 add_wait_queue(&lis3_dev.misc_wait, &wait);
318 set_current_state(TASK_INTERRUPTIBLE);
319 data = atomic_xchg(&lis3_dev.count, 0);
323 if (file->f_flags & O_NONBLOCK) {
328 if (signal_pending(current)) {
329 retval = -ERESTARTSYS;
341 /* make sure we are not going into copy_to_user() with
342 * TASK_INTERRUPTIBLE state */
343 set_current_state(TASK_RUNNING);
344 if (copy_to_user(buf, &byte_data, sizeof(byte_data)))
348 __set_current_state(TASK_RUNNING);
349 remove_wait_queue(&lis3_dev.misc_wait, &wait);
354 static unsigned int lis3lv02d_misc_poll(struct file *file, poll_table *wait)
356 poll_wait(file, &lis3_dev.misc_wait, wait);
357 if (atomic_read(&lis3_dev.count))
358 return POLLIN | POLLRDNORM;
362 static int lis3lv02d_misc_fasync(int fd, struct file *file, int on)
364 return fasync_helper(fd, file, on, &lis3_dev.async_queue);
367 static const struct file_operations lis3lv02d_misc_fops = {
368 .owner = THIS_MODULE,
370 .read = lis3lv02d_misc_read,
371 .open = lis3lv02d_misc_open,
372 .release = lis3lv02d_misc_release,
373 .poll = lis3lv02d_misc_poll,
374 .fasync = lis3lv02d_misc_fasync,
377 static struct miscdevice lis3lv02d_misc_device = {
378 .minor = MISC_DYNAMIC_MINOR,
380 .fops = &lis3lv02d_misc_fops,
383 static void lis3lv02d_joystick_poll(struct input_polled_dev *pidev)
387 lis3lv02d_get_xyz(&lis3_dev, &x, &y, &z);
388 input_report_abs(pidev->input, ABS_X, x);
389 input_report_abs(pidev->input, ABS_Y, y);
390 input_report_abs(pidev->input, ABS_Z, z);
391 input_sync(pidev->input);
394 int lis3lv02d_joystick_enable(void)
396 struct input_dev *input_dev;
398 int max_val, fuzz, flat;
403 lis3_dev.idev = input_allocate_polled_device();
407 lis3_dev.idev->poll = lis3lv02d_joystick_poll;
408 lis3_dev.idev->poll_interval = MDPS_POLL_INTERVAL;
409 input_dev = lis3_dev.idev->input;
411 input_dev->name = "ST LIS3LV02DL Accelerometer";
412 input_dev->phys = DRIVER_NAME "/input0";
413 input_dev->id.bustype = BUS_HOST;
414 input_dev->id.vendor = 0;
415 input_dev->dev.parent = &lis3_dev.pdev->dev;
417 set_bit(EV_ABS, input_dev->evbit);
418 max_val = (lis3_dev.mdps_max_val * lis3_dev.scale) / LIS3_ACCURACY;
419 fuzz = (LIS3_DEFAULT_FUZZ * lis3_dev.scale) / LIS3_ACCURACY;
420 flat = (LIS3_DEFAULT_FLAT * lis3_dev.scale) / LIS3_ACCURACY;
421 input_set_abs_params(input_dev, ABS_X, -max_val, max_val, fuzz, flat);
422 input_set_abs_params(input_dev, ABS_Y, -max_val, max_val, fuzz, flat);
423 input_set_abs_params(input_dev, ABS_Z, -max_val, max_val, fuzz, flat);
425 err = input_register_polled_device(lis3_dev.idev);
427 input_free_polled_device(lis3_dev.idev);
428 lis3_dev.idev = NULL;
433 EXPORT_SYMBOL_GPL(lis3lv02d_joystick_enable);
435 void lis3lv02d_joystick_disable(void)
441 misc_deregister(&lis3lv02d_misc_device);
442 input_unregister_polled_device(lis3_dev.idev);
443 input_free_polled_device(lis3_dev.idev);
444 lis3_dev.idev = NULL;
446 EXPORT_SYMBOL_GPL(lis3lv02d_joystick_disable);
449 static ssize_t lis3lv02d_selftest_show(struct device *dev,
450 struct device_attribute *attr, char *buf)
455 result = lis3lv02d_selftest(&lis3_dev, values);
456 return sprintf(buf, "%s %d %d %d\n", result == 0 ? "OK" : "FAIL",
457 values[0], values[1], values[2]);
460 static ssize_t lis3lv02d_position_show(struct device *dev,
461 struct device_attribute *attr, char *buf)
465 lis3lv02d_get_xyz(&lis3_dev, &x, &y, &z);
466 return sprintf(buf, "(%d,%d,%d)\n", x, y, z);
469 static ssize_t lis3lv02d_rate_show(struct device *dev,
470 struct device_attribute *attr, char *buf)
472 return sprintf(buf, "%d\n", lis3lv02d_get_odr());
475 static ssize_t lis3lv02d_rate_set(struct device *dev,
476 struct device_attribute *attr, const char *buf,
481 if (strict_strtoul(buf, 0, &rate))
484 if (lis3lv02d_set_odr(rate))
490 static DEVICE_ATTR(selftest, S_IRUSR, lis3lv02d_selftest_show, NULL);
491 static DEVICE_ATTR(position, S_IRUGO, lis3lv02d_position_show, NULL);
492 static DEVICE_ATTR(rate, S_IRUGO | S_IWUSR, lis3lv02d_rate_show,
495 static struct attribute *lis3lv02d_attributes[] = {
496 &dev_attr_selftest.attr,
497 &dev_attr_position.attr,
502 static struct attribute_group lis3lv02d_attribute_group = {
503 .attrs = lis3lv02d_attributes
507 static int lis3lv02d_add_fs(struct lis3lv02d *lis3)
509 lis3->pdev = platform_device_register_simple(DRIVER_NAME, -1, NULL, 0);
510 if (IS_ERR(lis3->pdev))
511 return PTR_ERR(lis3->pdev);
513 return sysfs_create_group(&lis3->pdev->dev.kobj, &lis3lv02d_attribute_group);
516 int lis3lv02d_remove_fs(struct lis3lv02d *lis3)
518 sysfs_remove_group(&lis3->pdev->dev.kobj, &lis3lv02d_attribute_group);
519 platform_device_unregister(lis3->pdev);
522 EXPORT_SYMBOL_GPL(lis3lv02d_remove_fs);
525 * Initialise the accelerometer and the various subsystems.
526 * Should be rather independent of the bus system.
528 int lis3lv02d_init_device(struct lis3lv02d *dev)
530 dev->whoami = lis3lv02d_read_8(dev, WHO_AM_I);
532 switch (dev->whoami) {
534 printk(KERN_INFO DRIVER_NAME ": 12 bits sensor found\n");
535 dev->read_data = lis3lv02d_read_12;
536 dev->mdps_max_val = 2048;
537 dev->pwron_delay = LIS3_PWRON_DELAY_WAI_12B;
538 dev->odrs = lis3_12_rates;
539 dev->odr_mask = CTRL1_DF0 | CTRL1_DF1;
540 dev->scale = LIS3_SENSITIVITY_12B;
543 printk(KERN_INFO DRIVER_NAME ": 8 bits sensor found\n");
544 dev->read_data = lis3lv02d_read_8;
545 dev->mdps_max_val = 128;
546 dev->pwron_delay = LIS3_PWRON_DELAY_WAI_8B;
547 dev->odrs = lis3_8_rates;
548 dev->odr_mask = CTRL1_DR;
549 dev->scale = LIS3_SENSITIVITY_8B;
552 printk(KERN_ERR DRIVER_NAME
553 ": unknown sensor type 0x%X\n", dev->whoami);
557 mutex_init(&dev->mutex);
559 lis3lv02d_add_fs(dev);
560 lis3lv02d_poweron(dev);
562 if (lis3lv02d_joystick_enable())
563 printk(KERN_ERR DRIVER_NAME ": joystick initialization failed\n");
565 /* passing in platform specific data is purely optional and only
566 * used by the SPI transport layer at the moment */
568 struct lis3lv02d_platform_data *p = dev->pdata;
570 if (p->click_flags && (dev->whoami == WAI_8B)) {
571 dev->write(dev, CLICK_CFG, p->click_flags);
572 dev->write(dev, CLICK_TIMELIMIT, p->click_time_limit);
573 dev->write(dev, CLICK_LATENCY, p->click_latency);
574 dev->write(dev, CLICK_WINDOW, p->click_window);
575 dev->write(dev, CLICK_THSZ, p->click_thresh_z & 0xf);
576 dev->write(dev, CLICK_THSY_X,
577 (p->click_thresh_x & 0xf) |
578 (p->click_thresh_y << 4));
581 if (p->wakeup_flags && (dev->whoami == WAI_8B)) {
582 dev->write(dev, FF_WU_CFG_1, p->wakeup_flags);
583 dev->write(dev, FF_WU_THS_1, p->wakeup_thresh & 0x7f);
584 /* default to 2.5ms for now */
585 dev->write(dev, FF_WU_DURATION_1, 1);
586 /* enable high pass filter for both free-fall units */
587 dev->write(dev, CTRL_REG2, HP_FF_WU1 | HP_FF_WU2);
591 dev->write(dev, CTRL_REG3, p->irq_cfg);
594 /* bail if we did not get an IRQ from the bus layer */
596 printk(KERN_ERR DRIVER_NAME
597 ": No IRQ. Disabling /dev/freefall\n");
601 if (misc_register(&lis3lv02d_misc_device))
602 printk(KERN_ERR DRIVER_NAME ": misc_register failed\n");
606 EXPORT_SYMBOL_GPL(lis3lv02d_init_device);
608 MODULE_DESCRIPTION("ST LIS3LV02Dx three-axis digital accelerometer driver");
609 MODULE_AUTHOR("Yan Burman, Eric Piel, Pavel Machek");
610 MODULE_LICENSE("GPL");