kernel_samsung_msm8974/drivers/adsp_factory/mpu6515_gyro.c

/*
*  Copyright (C) 2012, Samsung Electronics Co. Ltd. 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.
*
*/
#include <linux/init.h>
#include <linux/module.h>
#include "adsp.h"
#define VENDOR		"INVENSENSE"
#define CHIP_ID		"MPU6515"
#define GYRO_SELFTEST_TRY_CNT	7

#define RAWDATA_TIMER_MS	200
#define RAWDATA_TIMER_MARGIN_MS	20

extern unsigned int raw_data_stream;
extern struct mutex raw_stream_lock;

static struct work_struct timer_stop_data_work;

s64 get_time_nanossec(void)
{
	struct timespec ts;
	ktime_get_ts(&ts);
	return timespec_to_ns(&ts);
}

static ssize_t gyro_vendor_show(struct device *dev,
	struct device_attribute *attr, char *buf)
{
	return sprintf(buf, "%s\n", VENDOR);
}

static ssize_t gyro_name_show(struct device *dev,
	struct device_attribute *attr, char *buf)
{
	return sprintf(buf, "%s\n", CHIP_ID);
}

static ssize_t gyro_raw_data_read(struct device *dev,
	struct device_attribute *attr, char *buf)
{
	struct msg_data message;
	unsigned long timeout = jiffies + (2 * HZ);
	struct adsp_data *data = dev_get_drvdata(dev);

	if (!(raw_data_stream & ADSP_RAW_GYRO)) {
		pr_info("[FACTORY] %s: Start\n", __func__);
		mutex_lock(&raw_stream_lock);
		raw_data_stream |= ADSP_RAW_GYRO;
		message.sensor_type = ADSP_FACTORY_MODE_GYRO;
		adsp_unicast(message, NETLINK_MESSAGE_GET_RAW_DATA, 0, 0);
		mutex_unlock(&raw_stream_lock);
	}

	while(!(data->data_ready_flag & 1 << ADSP_FACTORY_MODE_GYRO)) {
		msleep(20);
		if (time_after(jiffies, timeout))
			return snprintf(buf, PAGE_SIZE, "%d,%d,%d\n", 0, 0, 0);
	}

	adsp_factory_start_timer(RAWDATA_TIMER_MS);

	return snprintf(buf, PAGE_SIZE, "%d,%d,%d\n",
		data->sensor_data[ADSP_FACTORY_MODE_GYRO].x,
		data->sensor_data[ADSP_FACTORY_MODE_GYRO].y,
		data->sensor_data[ADSP_FACTORY_MODE_GYRO].z);
}

static ssize_t gyro_power_show(struct device *dev,
	struct device_attribute *attr, char *buf)
{
	return snprintf(buf, PAGE_SIZE, "%d\n", 1);
}

static ssize_t gyro_temp_show(struct device *dev,
	struct device_attribute *attr, char *buf)
{
	struct msg_data message;
	unsigned long timeout = jiffies + (2 * HZ);
	struct adsp_data *data = dev_get_drvdata(dev);
	/* power up */
	if( !(raw_data_stream &  ADSP_RAW_GYRO) ){
		mutex_lock(&raw_stream_lock);
		raw_data_stream |= ADSP_RAW_GYRO;
		message.sensor_type = ADSP_FACTORY_MODE_GYRO;
		mutex_unlock(&raw_stream_lock);
		adsp_unicast(message,NETLINK_MESSAGE_GET_RAW_DATA,0,0);
	}
	while( !(data->data_ready_flag & 1 << ADSP_FACTORY_MODE_GYRO) ){
		usleep_range(1000, 2000);
		if (time_after(jiffies, timeout)) {
			pr_err("[Factory] gyro power up  fail\n");
			break;
		}
	}
	/* get temperature */
	if (!(data->data_ready & ADSP_DATA_GYRO_TEMP)) {
		message.sensor_type = ADSP_FACTORY_MODE_GYRO;
		adsp_unicast(message, NETLINK_MESSAGE_GYRO_TEMP, 0, 0);
	}
	while( !(data->data_ready & ADSP_DATA_GYRO_TEMP) ){
		usleep_range(1000, 2000);
		if (time_after(jiffies, timeout)) {
			return sprintf(buf, "%d \n", 0);
		}
	}
	data->data_ready &= ~ADSP_DATA_GYRO_TEMP;
	/* power down */
	mutex_lock(&raw_stream_lock);
	message.sensor_type = ADSP_FACTORY_MODE_GYRO;
	adsp_unicast(message,NETLINK_MESSAGE_STOP_RAW_DATA,0,0);
	/* because we don't call adsp_factory_start_timer, ADSP_RAW_GYRO should be unmasked manually */
	if((raw_data_stream &  ADSP_RAW_GYRO) )
			raw_data_stream &= ~ADSP_RAW_GYRO;
	data->data_ready_flag &= 0 << ADSP_FACTORY_MODE_GYRO; // GYRO_RAW data is used only here
	mutex_unlock(&raw_stream_lock);

	return sprintf(buf, "%d\n", data->gyro_temp);
}

static void gyro_stop_raw_data_worker(struct work_struct *work)
{
	struct msg_data message;

	if (raw_data_stream & ADSP_RAW_GYRO) {
		mutex_lock(&raw_stream_lock);
		raw_data_stream &= ~ADSP_RAW_GYRO;
		message.sensor_type = ADSP_FACTORY_MODE_GYRO;
		adsp_unicast(message, NETLINK_MESSAGE_STOP_RAW_DATA, 0, 0);
		mutex_unlock(&raw_stream_lock);
		pr_info("[FACTORY] %s: raw_data_stream flag = %d\n",
			__func__, raw_data_stream);
	}
	return;
}

static ssize_t gyro_selftest_show(struct device *dev,
	struct device_attribute *attr, char *buf)
{
	struct adsp_data *data = dev_get_drvdata(dev);
	int result1 = 0;
	int result2 = 0;
	unsigned long timeout;
	struct msg_data message;
	int retry = 0;

retry_gyro_selftest:
	message.sensor_type = ADSP_FACTORY_MODE_GYRO;

	msleep(RAWDATA_TIMER_MS + RAWDATA_TIMER_MARGIN_MS);
	adsp_unicast(message, NETLINK_MESSAGE_SELFTEST_SHOW_DATA, 0, 0);
	timeout = jiffies + (10 * HZ);

	while (!(data->selftest_ready_flag & 1 << ADSP_FACTORY_MODE_GYRO)) {
		msleep(20);
		if (time_after(jiffies, timeout)) {
			pr_info("[FACTORY] %s: Timeout!!!\n", __func__);
			return snprintf(buf, PAGE_SIZE, "%d,"
			"%d.%03d,%d.%03d,%d.%03d,"
			"%d.%03d,%d.%03d,%d.%03d,"
			"%d.%01d,%d.%01d,%d.%01d,"
			"%d.%03d,%d.%03d,%d.%03d\n",
			1,0,0,0,0,
			0,0,0,0,0,
			0,0,0,0,0,
			0,0,0,0,0,0,0,0,0,0);
		}
	}

	data->selftest_ready_flag &= 0 << ADSP_FACTORY_MODE_GYRO;
	result1 = data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].nSelftestresult1;
	result2 = data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].nSelftestresult2;
	pr_info("[FACTORY] %s: result = %d \n", __func__, result1);
	pr_info("[FACTORY] %d.%03d,%d.%03d,%d.%03d,"
			"%d.%03d,%d.%03d,%d.%03d,"
			"%d.%01d,%d.%01d,%d.%01d,"
			"%d.%03d,%d.%03d,%d.%03d\n",
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_x / 1000),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_x) % 1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_y / 1000),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_y) % 1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_z / 1000),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_z) % 1000,
			data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_x / 1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_x) % 1000,
			data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_y /1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_y) % 1000,
			data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_z / 1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_z) % 1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_x),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_x_dec),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_y),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_y_dec),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_z),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_z_dec),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_x / 100),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_x) % 100,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_y / 100),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_y) % 100,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_z / 100),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_z) % 100);

	if (result1) {
		if (retry < GYRO_SELFTEST_TRY_CNT && data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_x == 0) {
			retry++;
			msleep(RAWDATA_TIMER_MS * 2);
			goto retry_gyro_selftest;
		}
	}

	return snprintf(buf, PAGE_SIZE, "%d,"
			"%d.%03d,%d.%03d,%d.%03d,"
			"%d.%03d,%d.%03d,%d.%03d,"
			"%d.%01d,%d.%01d,%d.%01d,"
			"%d.%03d,%d.%03d,%d.%03d\n",
			result1 | result2,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_x / 1000),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_x) % 1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_y / 1000),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_y) % 1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_z / 1000),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].bias_z) % 1000,
			data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_x / 1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_x) % 1000,
			data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_y /1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_y) % 1000,
			data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_z / 1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].rms_z) % 1000,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_x),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_x_dec),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_y),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_y_dec),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_z),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].ratio_z_dec),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_x / 100),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_x) % 100,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_y / 100),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_y) % 100,
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_z / 100),
			(int)abs(data->sensor_selftest_result[ADSP_FACTORY_MODE_GYRO].st_z) % 100);
}

static DEVICE_ATTR(name, S_IRUGO, gyro_name_show, NULL);
static DEVICE_ATTR(vendor, S_IRUGO, gyro_vendor_show, NULL);
static DEVICE_ATTR(raw_data, S_IRUGO, gyro_raw_data_read, NULL);
static DEVICE_ATTR(selftest, S_IRUSR | S_IRGRP,
	gyro_selftest_show, NULL);
static DEVICE_ATTR(temperature, S_IRUSR | S_IRGRP,
	gyro_temp_show, NULL);
static DEVICE_ATTR(power_on, S_IRUSR | S_IRGRP,
	gyro_power_show, NULL);

static struct device_attribute *gyro_attrs[] = {
	&dev_attr_name,
	&dev_attr_vendor,
	&dev_attr_raw_data,
	&dev_attr_selftest,
	&dev_attr_temperature,
	&dev_attr_power_on,
	NULL,
};

int gyro_factory_init(struct adsp_data *data)
{
	return 0;
}

int gyro_factory_exit(struct adsp_data *data)
{
	return 0;
}

int gyro_factory_receive_data(struct adsp_data *data, int cmd)
{
	switch (cmd) {
		case CALLBACK_REGISTER_SUCCESS:
			pr_info("[FACTORY] %s: mpu6515 registration success\n",
				__func__);
			break;
		case CALLBACK_TIMER_EXPIRED:
			pr_info("[FACTORY] %s: raw_data_stream flag = %d\n",
				__func__, raw_data_stream);
			schedule_work(&timer_stop_data_work);
			break;
		default:
			break;
	}
	return 0;
}

static struct adsp_fac_ctl adsp_fact_cb = {
	.init_fnc = gyro_factory_init,
	.exit_fnc = gyro_factory_exit,
	.receive_data_fnc = gyro_factory_receive_data
};

static int __devinit mpu6515gyro_factory_init(void)
{
	adsp_factory_register("gyro_sensor",
		ADSP_FACTORY_MODE_GYRO, gyro_attrs, &adsp_fact_cb);
	INIT_WORK(&timer_stop_data_work, gyro_stop_raw_data_worker );
	pr_info("[FACTORY] %s\n", __func__);
	return 0;
}

static void __devexit mpu6515gyro_factory_exit(void)
{
	pr_info("[FACTORY] %s\n", __func__);
}

module_init(mpu6515gyro_factory_init);
module_exit(mpu6515gyro_factory_exit);