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    Subject[PATCH 11/11] misc: Add slave driver for bma085 pressure sensor
    Date
    Signed-off-by: Nathan Royer <nroyer@invensense.com>
    ---
    drivers/misc/inv_mpu/Kconfig | 1 +
    drivers/misc/inv_mpu/Makefile | 1 +
    drivers/misc/inv_mpu/pressure/Kconfig | 20 ++
    drivers/misc/inv_mpu/pressure/Makefile | 8 +
    drivers/misc/inv_mpu/pressure/bma085.c | 367 ++++++++++++++++++++++++++++++++
    5 files changed, 397 insertions(+), 0 deletions(-)
    create mode 100644 drivers/misc/inv_mpu/pressure/Kconfig
    create mode 100644 drivers/misc/inv_mpu/pressure/Makefile
    create mode 100644 drivers/misc/inv_mpu/pressure/bma085.c

    diff --git a/drivers/misc/inv_mpu/Kconfig b/drivers/misc/inv_mpu/Kconfig
    index 7d9f2c3..ea7d754 100644
    --- a/drivers/misc/inv_mpu/Kconfig
    +++ b/drivers/misc/inv_mpu/Kconfig
    @@ -57,5 +57,6 @@ endchoice

    source "drivers/misc/inv_mpu/accel/Kconfig"
    source "drivers/misc/inv_mpu/compass/Kconfig"
    +source "drivers/misc/inv_mpu/pressure/Kconfig"

    endif #INV_SENSORS
    diff --git a/drivers/misc/inv_mpu/Makefile b/drivers/misc/inv_mpu/Makefile
    index dc77a1b..506b8f5 100644
    --- a/drivers/misc/inv_mpu/Makefile
    +++ b/drivers/misc/inv_mpu/Makefile
    @@ -18,3 +18,4 @@ EXTRA_CFLAGS += -Idrivers/misc/inv_mpu

    obj-y += accel/
    obj-y += compass/
    +obj-y += pressure/
    diff --git a/drivers/misc/inv_mpu/pressure/Kconfig b/drivers/misc/inv_mpu/pressure/Kconfig
    new file mode 100644
    index 0000000..f1c021e
    --- /dev/null
    +++ b/drivers/misc/inv_mpu/pressure/Kconfig
    @@ -0,0 +1,20 @@
    +menuconfig: INV_SENSORS_PRESSURE
    + bool "Pressure Sensor Slaves"
    + depends on INV_SENSORS
    + default y
    + help
    + Select y to see a list of supported pressure sensors that can be
    + integrated with the MPUxxxx set of motion processors.
    +
    +if INV_SENSORS_PRESSURE
    +
    +config MPU_SENSORS_BMA085
    + tristate "Bosch BMA085"
    + help
    + This enables support for the Bosch bma085 pressure sensor
    + This support is for integration with the MPU3050 or MPU6050 gyroscope
    + device driver. Only one accelerometer can be registered at a time.
    + Specifying more that one accelerometer in the board file will result
    + in runtime errors.
    +
    +endif
    diff --git a/drivers/misc/inv_mpu/pressure/Makefile b/drivers/misc/inv_mpu/pressure/Makefile
    new file mode 100644
    index 0000000..595923d
    --- /dev/null
    +++ b/drivers/misc/inv_mpu/pressure/Makefile
    @@ -0,0 +1,8 @@
    +#
    +# Pressure Slaves to MPUxxxx
    +#
    +obj-$(CONFIG_MPU_SENSORS_BMA085) += inv_mpu_bma085.o
    +inv_mpu_bma085-objs += bma085.o
    +
    +EXTRA_CFLAGS += -Idrivers/misc/inv_mpu
    +EXTRA_CFLAGS += -D__C99_DESIGNATED_INITIALIZER
    diff --git a/drivers/misc/inv_mpu/pressure/bma085.c b/drivers/misc/inv_mpu/pressure/bma085.c
    new file mode 100644
    index 0000000..696d2b6
    --- /dev/null
    +++ b/drivers/misc/inv_mpu/pressure/bma085.c
    @@ -0,0 +1,367 @@
    +/*
    + $License:
    + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
    +
    + This program is free software; you can redistribute it and/or modify
    + it under the terms of the GNU General Public License as published by
    + the Free Software Foundation; either version 2 of the License, or
    + (at your option) any later version.
    +
    + This program is distributed in the hope that it will be useful,
    + but WITHOUT ANY WARRANTY; without even the implied warranty of
    + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
    + GNU General Public License for more details.
    +
    + You should have received a copy of the GNU General Public License
    + along with this program. If not, see <http://www.gnu.org/licenses/>.
    + $
    + */
    +
    +/**
    + * @defgroup ACCELDL (Motion Library - Pressure Driver Layer)
    + * @brief Provides the interface to setup and handle a pressure
    + * connected to the secondary I2C interface of the gyroscope.
    + *
    + * @{
    + * @file bma085.c
    + * @brief Pressure setup and handling methods.
    + */
    +
    +/* ------------------ */
    +/* - Include Files. - */
    +/* ------------------ */
    +
    +#include <linux/i2c.h>
    +#include <linux/module.h>
    +#include <linux/moduleparam.h>
    +#include <linux/kernel.h>
    +#include <linux/errno.h>
    +#include <linux/slab.h>
    +#include <linux/delay.h>
    +#include "mpu-dev.h"
    +
    +#include <linux/mpu.h>
    +#include "mlsl.h"
    +#include "log.h"
    +
    +/*
    + * this structure holds all device specific calibration parameters
    + */
    +struct bmp085_calibration_param_t {
    + short ac1;
    + short ac2;
    + short ac3;
    + unsigned short ac4;
    + unsigned short ac5;
    + unsigned short ac6;
    + short b1;
    + short b2;
    + short mb;
    + short mc;
    + short md;
    + long param_b5;
    +};
    +
    +struct bmp085_calibration_param_t cal_param;
    +
    +#define PRESSURE_BMA085_PARAM_MG 3038 /* calibration parameter */
    +#define PRESSURE_BMA085_PARAM_MH -7357 /* calibration parameter */
    +#define PRESSURE_BMA085_PARAM_MI 3791 /* calibration parameter */
    +
    +/*********************************************
    + * Pressure Initialization Functions
    + *********************************************/
    +
    +static int bma085_suspend(void *mlsl_handle,
    + struct ext_slave_descr *slave,
    + struct ext_slave_platform_data *pdata)
    +{
    + int result = INV_SUCCESS;
    + return result;
    +}
    +
    +#define PRESSURE_BMA085_PROM_START_ADDR (0xAA)
    +#define PRESSURE_BMA085_PROM_DATA_LEN (22)
    +#define PRESSURE_BMP085_CTRL_MEAS_REG (0xF4)
    +/* temperature measurent */
    +#define PRESSURE_BMP085_T_MEAS (0x2E)
    +/* pressure measurement; oversampling_setting */
    +#define PRESSURE_BMP085_P_MEAS_OSS_0 (0x34)
    +#define PRESSURE_BMP085_P_MEAS_OSS_1 (0x74)
    +#define PRESSURE_BMP085_P_MEAS_OSS_2 (0xB4)
    +#define PRESSURE_BMP085_P_MEAS_OSS_3 (0xF4)
    +#define PRESSURE_BMP085_ADC_OUT_MSB_REG (0xF6)
    +#define PRESSURE_BMP085_ADC_OUT_LSB_REG (0xF7)
    +
    +static int bma085_resume(void *mlsl_handle,
    + struct ext_slave_descr *slave,
    + struct ext_slave_platform_data *pdata)
    +{
    + int result;
    + unsigned char data[PRESSURE_BMA085_PROM_DATA_LEN];
    +
    + result =
    + inv_serial_read(mlsl_handle, pdata->address,
    + PRESSURE_BMA085_PROM_START_ADDR,
    + PRESSURE_BMA085_PROM_DATA_LEN, data);
    + if (result) {
    + LOG_RESULT_LOCATION(result);
    + return result;
    + }
    +
    + /* parameters AC1-AC6 */
    + cal_param.ac1 = (data[0] << 8) | data[1];
    + cal_param.ac2 = (data[2] << 8) | data[3];
    + cal_param.ac3 = (data[4] << 8) | data[5];
    + cal_param.ac4 = (data[6] << 8) | data[7];
    + cal_param.ac5 = (data[8] << 8) | data[9];
    + cal_param.ac6 = (data[10] << 8) | data[11];
    +
    + /* parameters B1,B2 */
    + cal_param.b1 = (data[12] << 8) | data[13];
    + cal_param.b2 = (data[14] << 8) | data[15];
    +
    + /* parameters MB,MC,MD */
    + cal_param.mb = (data[16] << 8) | data[17];
    + cal_param.mc = (data[18] << 8) | data[19];
    + cal_param.md = (data[20] << 8) | data[21];
    +
    + return result;
    +}
    +
    +static int bma085_read(void *mlsl_handle,
    + struct ext_slave_descr *slave,
    + struct ext_slave_platform_data *pdata,
    + unsigned char *data)
    +{
    + int result;
    + long pressure, x1, x2, x3, b3, b6;
    + unsigned long b4, b7;
    + unsigned long up;
    + unsigned short ut;
    + short oversampling_setting = 0;
    + short temperature;
    + long divisor;
    +
    + /* get temprature */
    + result = inv_serial_single_write(mlsl_handle, pdata->address,
    + PRESSURE_BMP085_CTRL_MEAS_REG,
    + PRESSURE_BMP085_T_MEAS);
    + msleep(5);
    + result =
    + inv_serial_read(mlsl_handle, pdata->address,
    + PRESSURE_BMP085_ADC_OUT_MSB_REG, 2,
    + (unsigned char *)data);
    + if (result) {
    + LOG_RESULT_LOCATION(result);
    + return result;
    + }
    + ut = (data[0] << 8) | data[1];
    +
    + x1 = (((long) ut - (long)cal_param.ac6) * (long)cal_param.ac5) >> 15;
    + divisor = x1 + cal_param.md;
    + if (!divisor)
    + return INV_ERROR_DIVIDE_BY_ZERO;
    +
    + x2 = ((long)cal_param.mc << 11) / (x1 + cal_param.md);
    + cal_param.param_b5 = x1 + x2;
    + /* temperature in 0.1 degree C */
    + temperature = (short)((cal_param.param_b5 + 8) >> 4);
    +
    + /* get pressure */
    + result = inv_serial_single_write(mlsl_handle, pdata->address,
    + PRESSURE_BMP085_CTRL_MEAS_REG,
    + PRESSURE_BMP085_P_MEAS_OSS_0);
    + msleep(5);
    + result =
    + inv_serial_read(mlsl_handle, pdata->address,
    + PRESSURE_BMP085_ADC_OUT_MSB_REG, 2,
    + (unsigned char *)data);
    + if (result) {
    + LOG_RESULT_LOCATION(result);
    + return result;
    + }
    + up = (((unsigned long) data[0] << 8) | ((unsigned long) data[1]));
    +
    + b6 = cal_param.param_b5 - 4000;
    + /* calculate B3 */
    + x1 = (b6*b6) >> 12;
    + x1 *= cal_param.b2;
    + x1 >>= 11;
    +
    + x2 = (cal_param.ac2*b6);
    + x2 >>= 11;
    +
    + x3 = x1 + x2;
    +
    + b3 = (((((long)cal_param.ac1) * 4 + x3)
    + << oversampling_setting) + 2) >> 2;
    +
    + /* calculate B4 */
    + x1 = (cal_param.ac3 * b6) >> 13;
    + x2 = (cal_param.b1 * ((b6*b6) >> 12)) >> 16;
    + x3 = ((x1 + x2) + 2) >> 2;
    + b4 = (cal_param.ac4 * (unsigned long) (x3 + 32768)) >> 15;
    + if (!b4)
    + return INV_ERROR;
    +
    + b7 = ((unsigned long)(up - b3) * (50000>>oversampling_setting));
    + if (b7 < 0x80000000)
    + pressure = (b7 << 1) / b4;
    + else
    + pressure = (b7 / b4) << 1;
    +
    + x1 = pressure >> 8;
    + x1 *= x1;
    + x1 = (x1 * PRESSURE_BMA085_PARAM_MG) >> 16;
    + x2 = (pressure * PRESSURE_BMA085_PARAM_MH) >> 16;
    + /* pressure in Pa */
    + pressure += (x1 + x2 + PRESSURE_BMA085_PARAM_MI) >> 4;
    +
    + data[0] = (unsigned char)(pressure >> 16);
    + data[1] = (unsigned char)(pressure >> 8);
    + data[2] = (unsigned char)(pressure & 0xFF);
    +
    + return result;
    +}
    +
    +static struct ext_slave_descr bma085_descr = {
    + .init = NULL,
    + .exit = NULL,
    + .suspend = bma085_suspend,
    + .resume = bma085_resume,
    + .read = bma085_read,
    + .config = NULL,
    + .get_config = NULL,
    + .name = "bma085",
    + .type = EXT_SLAVE_TYPE_PRESSURE,
    + .id = PRESSURE_ID_BMA085,
    + .read_reg = 0xF6,
    + .read_len = 3,
    + .endian = EXT_SLAVE_BIG_ENDIAN,
    + .range = {0, 0},
    +};
    +
    +static
    +struct ext_slave_descr *bma085_get_slave_descr(void)
    +{
    + return &bma085_descr;
    +}
    +
    +/* Platform data for the MPU */
    +struct bma085_mod_private_data {
    + struct i2c_client *client;
    + struct ext_slave_platform_data *pdata;
    +};
    +
    +static unsigned short normal_i2c[] = { I2C_CLIENT_END };
    +
    +static int bma085_mod_probe(struct i2c_client *client,
    + const struct i2c_device_id *devid)
    +{
    + struct ext_slave_platform_data *pdata;
    + struct bma085_mod_private_data *private_data;
    + int result = 0;
    +
    + dev_info(&client->adapter->dev, "%s: %s\n", __func__, devid->name);
    +
    + if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
    + result = -ENODEV;
    + goto out_no_free;
    + }
    +
    + pdata = client->dev.platform_data;
    + if (!pdata) {
    + dev_err(&client->adapter->dev,
    + "Missing platform data for slave %s\n", devid->name);
    + result = -EFAULT;
    + goto out_no_free;
    + }
    +
    + private_data = kzalloc(sizeof(*private_data), GFP_KERNEL);
    + if (!private_data) {
    + result = -ENOMEM;
    + goto out_no_free;
    + }
    +
    + i2c_set_clientdata(client, private_data);
    + private_data->client = client;
    + private_data->pdata = pdata;
    +
    + result = inv_mpu_register_slave(THIS_MODULE, client, pdata,
    + bma085_get_slave_descr);
    + if (result) {
    + dev_err(&client->adapter->dev,
    + "Slave registration failed: %s, %d\n",
    + devid->name, result);
    + goto out_free_memory;
    + }
    +
    + return result;
    +
    +out_free_memory:
    + kfree(private_data);
    +out_no_free:
    + dev_err(&client->adapter->dev, "%s failed %d\n", __func__, result);
    + return result;
    +
    +}
    +
    +static int bma085_mod_remove(struct i2c_client *client)
    +{
    + struct bma085_mod_private_data *private_data =
    + i2c_get_clientdata(client);
    +
    + dev_dbg(&client->adapter->dev, "%s\n", __func__);
    +
    + inv_mpu_unregister_slave(client, private_data->pdata,
    + bma085_get_slave_descr);
    +
    + kfree(private_data);
    + return 0;
    +}
    +
    +static const struct i2c_device_id bma085_mod_id[] = {
    + { "bma085", PRESSURE_ID_BMA085 },
    + {}
    +};
    +
    +MODULE_DEVICE_TABLE(i2c, bma085_mod_id);
    +
    +static struct i2c_driver bma085_mod_driver = {
    + .class = I2C_CLASS_HWMON,
    + .probe = bma085_mod_probe,
    + .remove = bma085_mod_remove,
    + .id_table = bma085_mod_id,
    + .driver = {
    + .owner = THIS_MODULE,
    + .name = "bma085_mod",
    + },
    + .address_list = normal_i2c,
    +};
    +
    +static int __init bma085_mod_init(void)
    +{
    + int res = i2c_add_driver(&bma085_mod_driver);
    + pr_info("%s: Probe name %s\n", __func__, "bma085_mod");
    + if (res)
    + pr_err("%s failed\n", __func__);
    + return res;
    +}
    +
    +static void __exit bma085_mod_exit(void)
    +{
    + pr_info("%s\n", __func__);
    + i2c_del_driver(&bma085_mod_driver);
    +}
    +
    +module_init(bma085_mod_init);
    +module_exit(bma085_mod_exit);
    +
    +MODULE_AUTHOR("Invensense Corporation");
    +MODULE_DESCRIPTION("Driver to integrate BMA085 sensor with the MPU");
    +MODULE_LICENSE("GPL");
    +MODULE_ALIAS("bma085_mod");
    +/**
    + * @}
    +**/
    --
    1.7.4.1


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