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    SubjectRe: [PATCH 11/11] misc: Add slave driver for bma085 pressure sensor

    Hang on, so your motion processing unit takes in a pressure sensor?
    Interesting....

    Manuel, am I imagining things or did you have a driver for one of these?

    Happy to take barometers in IIO.
    > 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.
    That's a seriously weird message for a pressure sensor...
    > +
    > +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");
    > +/**
    > + * @}
    > +**/


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