629 lines
16 KiB
C
629 lines
16 KiB
C
/*
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* Copyright (C) 2012-2015 Freescale Semiconductor, Inc. All Rights Reserved.
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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#include <linux/module.h>
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#include <linux/init.h>
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#include <linux/slab.h>
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#include <linux/i2c.h>
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#include <linux/pm.h>
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#include <linux/mutex.h>
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#include <linux/delay.h>
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#include <linux/interrupt.h>
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#include <linux/irq.h>
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#include <linux/hwmon-sysfs.h>
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#include <linux/err.h>
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#include <linux/hwmon.h>
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#include <linux/input-polldev.h>
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#include <linux/miscdevice.h>
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#include <linux/poll.h>
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#define SENSOR_IOCTL_BASE 'S'
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#define SENSOR_GET_MODEL_NAME _IOR(SENSOR_IOCTL_BASE, 0, char *)
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#define SENSOR_GET_POWER_STATUS _IOR(SENSOR_IOCTL_BASE, 2, int)
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#define SENSOR_SET_POWER_STATUS _IOR(SENSOR_IOCTL_BASE, 3, int)
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#define SENSOR_GET_DELAY_TIME _IOR(SENSOR_IOCTL_BASE, 4, int)
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#define SENSOR_SET_DELAY_TIME _IOR(SENSOR_IOCTL_BASE, 5, int)
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#define SENSOR_GET_RAW_DATA _IOR(SENSOR_IOCTL_BASE, 6, short[3])
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#define FXAS2100X_I2C_ADDR 0x20
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#define FXAS21000_CHIP_ID 0xD1
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#define FXAS21002_CHID_ID_1 0xD6
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#define FXAS21002_CHID_ID_2 0xD7
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#define FXAS2100X_POSITION_DEFAULT 2
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#define FXAS2100X_DELAY_DEFAULT 200
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#define FXAS2100X_STATUS_ZYXDR 0x08
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#define FXAS2100X_BUF_SIZE 6
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#define FXAS2100X_POLL_INTERVAL 400
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#define FXAS2100X_POLL_MAX 800
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#define FXAS2100X_POLL_MIN 200
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#define ABSMIN_GYRO_VAL -32768
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#define ABSMAX_GYRO_VAL 32768
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#define FXAS2100X_DRIVER "fxas2100x"
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/* register enum for fxas2100x registers */
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enum {
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FXAS2100X_STATUS = 0x00,
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FXAS2100X_OUT_X_MSB,
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FXAS2100X_OUT_X_LSB,
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FXAS2100X_OUT_Y_MSB,
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FXAS2100X_OUT_Y_LSB,
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FXAS2100X_OUT_Z_MSB,
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FXAS2100X_OUT_Z_LSB,
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FXAS2100X_DR_STATUS,
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FXAS2100X_F_STATUS,
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FXAS2100X_F_SETUP,
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FXAS2100X_F_EVENT,
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FXAS2100X_INT_SRC_FLAG,
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FXAS2100X_WHO_AM_I,
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FXAS2100X_CTRL_REG0,
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FXAS2100X_RT_CFG,
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FXAS2100X_RT_SRC,
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FXAS2100X_RT_THS,
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FXAS2100X_RT_COUNT,
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FXAS2100X_TEMP,
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FXAS2100X_CTRL_REG1,
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FXAS2100X_CTRL_REG2,
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FXAS2100X_CTRL_REG3, /* fxos21002 special */
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FXAS2100X_REG_END,
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};
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enum {
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STANDBY = 0,
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ACTIVED,
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};
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struct fxas2100x_data_axis {
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short x;
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short y;
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short z;
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};
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struct fxas2100x_data {
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struct i2c_client *client;
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struct input_polled_dev *input_polled;
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atomic_t active;
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atomic_t active_poll;
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atomic_t delay;
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atomic_t position;
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u8 chip_id;
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};
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static struct fxas2100x_data *g_fxas2100x_data;
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static int fxas2100x_position_setting[8][3][3] = {
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{ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} },
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{ {-1, 0, 0}, {0, -1, 0}, {0, 0, 1} },
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{ {0, 1, 0}, {-1, 0, 0}, {0, 0, 1} },
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{ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} },
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{ {0, -1, 0}, {-1, 0, 0}, {0, 0, -1} },
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{ {-1, 0, 0}, {0, 1, 0}, {0, 0, -1} },
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{ {0, 1, 0}, {1, 0, 0}, {0, 0, -1} },
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{ {1, 0, 0}, {0, -1, 0}, {0, 0, -1} },
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};
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static int fxas2100x_data_convert(struct fxas2100x_data *pdata,
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struct fxas2100x_data_axis *axis_data)
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{
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short rawdata[3], data[3];
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int i, j;
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int position = atomic_read(&pdata->position);
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if (position < 0 || position > 7)
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position = 0;
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rawdata[0] = axis_data->x;
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rawdata[1] = axis_data->y;
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rawdata[2] = axis_data->z;
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for (i = 0; i < 3; i++) {
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data[i] = 0;
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for (j = 0; j < 3; j++)
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data[i] += rawdata[j] * fxas2100x_position_setting[position][i][j];
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}
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axis_data->x = data[0];
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axis_data->y = data[1];
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axis_data->z = data[2];
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return 0;
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}
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static int fxas2100x_device_init(struct i2c_client *client)
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{
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int result;
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u8 val;
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struct device_node *np = client->dev.of_node;
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struct fxas2100x_data *pdata = i2c_get_clientdata(client);
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if (pdata->chip_id == FXAS21000_CHIP_ID)
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val = (0x01 << 2); /* fxas21000 dr 200HZ */
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else
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val = (0x02 << 2); /* fxas21002 dr 200HZ */
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result = i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
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if (result < 0)
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goto out;
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/* set interrupt pin as open-drain */
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if (of_get_property(np, "interrupt-open-drain", NULL)) {
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result = i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG2, 0x01);
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if (result < 0)
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goto out;
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}
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atomic_set(&pdata->active, STANDBY);
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return 0;
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out:
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dev_err(&client->dev, "error when init fxas2100x:(%d)", result);
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return result;
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}
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static int fxas2100x_change_mode(struct i2c_client *client, int mode)
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{
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u8 val;
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int ret;
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if (mode == ACTIVED) {
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val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
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val &= ~0x03;
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val |= 0x02;
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/* set bit 1 */
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ret = i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
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} else {
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val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
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val &= (~0x03);
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/* clear bit 0,1 */
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ret = i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
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}
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return ret;
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}
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static int fxas2100x_set_delay(struct i2c_client *client, int delay)
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{
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return 0;
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}
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static int fxas2100x_device_stop(struct i2c_client *client)
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{
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u8 val;
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val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
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val &= ~0x03;
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i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
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return 0;
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}
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static int fxas2100x_read_data(struct fxas2100x_data *pdata,
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struct fxas2100x_data_axis *data)
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{
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struct i2c_client * client = pdata->client;
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int x, y, z;
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u8 tmp_data[FXAS2100X_BUF_SIZE];
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int ret;
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ret = i2c_smbus_read_i2c_block_data(client, FXAS2100X_OUT_X_MSB,
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FXAS2100X_BUF_SIZE, tmp_data);
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if (ret < FXAS2100X_BUF_SIZE) {
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dev_err(&client->dev, "i2c block read failed\n");
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return -EIO;
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}
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data->x = ((tmp_data[0] << 8) & 0xff00) | tmp_data[1];
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data->y = ((tmp_data[2] << 8) & 0xff00) | tmp_data[3];
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data->z = ((tmp_data[4] << 8) & 0xff00) | tmp_data[5];
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if (pdata->chip_id == FXAS21000_CHIP_ID) {
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x = data->x;
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y = data->y;
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z = data->z;
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x = x * 4 / 5;
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y = y * 4 / 5;
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z = z * 4 / 5;
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data->x = x;
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data->y = y;
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data->z = z;
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}
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return 0;
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}
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/* fxas2100x miscdevice */
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static long fxas2100x_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
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{
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struct fxas2100x_data *pdata = file->private_data;
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void __user *argp = (void __user *)arg;
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struct fxas2100x_data_axis data;
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long ret = 0;
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short sdata[3];
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int enable;
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int delay;
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if (!pdata) {
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printk(KERN_ERR "FXAS2100X struct datt point is NULL.");
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return -EFAULT;
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}
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switch (cmd) {
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case SENSOR_GET_MODEL_NAME:
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if (copy_to_user(argp, "FXAS2100X GYRO", strlen("FXAS2100X GYRO") + 1)) {
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printk(KERN_ERR "SENSOR_GET_MODEL_NAME copy_to_user failed.");
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ret = -EFAULT;
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}
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break;
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case SENSOR_GET_POWER_STATUS:
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enable = atomic_read(&pdata->active);
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if (copy_to_user(argp, &enable, sizeof(int))) {
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printk(KERN_ERR "SENSOR_SET_POWER_STATUS copy_to_user failed.");
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ret = -EFAULT;
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}
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break;
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case SENSOR_SET_POWER_STATUS:
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if (copy_from_user(&enable, argp, sizeof(int))) {
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printk(KERN_ERR "SENSOR_SET_POWER_STATUS copy_to_user failed.");
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ret = -EFAULT;
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}
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if (pdata->client) {
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ret = fxas2100x_change_mode(pdata->client, enable ? ACTIVED : STANDBY);
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if (!ret)
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atomic_set(&pdata->active, enable);
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}
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break;
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case SENSOR_GET_DELAY_TIME:
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delay = atomic_read(&pdata->delay);
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if (copy_to_user(argp, &delay, sizeof(delay))) {
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printk(KERN_ERR "SENSOR_GET_DELAY_TIME copy_to_user failed.");
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return -EFAULT;
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}
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break;
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case SENSOR_SET_DELAY_TIME:
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if (copy_from_user(&delay, argp, sizeof(int))) {
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printk(KERN_ERR "SENSOR_GET_DELAY_TIME copy_to_user failed.");
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ret = -EFAULT;
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}
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if (pdata->client && delay > 0 && delay <= 500) {
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ret = fxas2100x_set_delay(pdata->client, delay);
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if (!ret)
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atomic_set(&pdata->delay, delay);
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}
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break;
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case SENSOR_GET_RAW_DATA:
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ret = fxas2100x_read_data(pdata, &data);
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if (!ret) {
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fxas2100x_data_convert(pdata, &data);
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sdata[0] = data.x;
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sdata[1] = data.y;
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sdata[2] = data.z;
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if (copy_to_user(argp, sdata, sizeof(sdata))) {
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printk(KERN_ERR "SENSOR_GET_RAW_DATA copy_to_user failed.");
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ret = -EFAULT;
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}
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}
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break;
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default:
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ret = -1;
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}
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return ret;
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}
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static int fxas2100x_open(struct inode *inode, struct file *file)
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{
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file->private_data = g_fxas2100x_data;
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return nonseekable_open(inode, file);
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}
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static int fxas2100x_release(struct inode *inode, struct file *file)
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{
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/* note: releasing the wdt in NOWAYOUT-mode does not stop it */
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return 0;
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}
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static const struct file_operations fxas2100x_fops = {
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.owner = THIS_MODULE,
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.open = fxas2100x_open,
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.release = fxas2100x_release,
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.unlocked_ioctl = fxas2100x_ioctl,
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};
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static struct miscdevice fxas2100x_device = {
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.minor = MISC_DYNAMIC_MINOR,
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.name = "FreescaleGyroscope",
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.fops = &fxas2100x_fops,
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};
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static ssize_t fxas2100x_enable_show(struct device *dev,
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struct device_attribute *attr, char *buf)
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{
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struct fxas2100x_data *pdata = g_fxas2100x_data;
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int enable = 0;
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enable = atomic_read(&pdata->active);
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return sprintf(buf, "%d\n", enable);
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}
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static ssize_t fxas2100x_enable_store(struct device *dev,
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struct device_attribute *attr,
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const char *buf, size_t count)
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{
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struct fxas2100x_data *pdata = g_fxas2100x_data;
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struct i2c_client *client = pdata->client;
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int ret;
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unsigned long enable;
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if (kstrtoul(buf, 10, &enable) < 0)
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return -EINVAL;
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enable = (enable > 0) ? 1 : 0;
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ret = fxas2100x_change_mode(client, (enable > 0 ? ACTIVED : STANDBY));
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if (!ret) {
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atomic_set(&pdata->active, enable);
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atomic_set(&pdata->active_poll, enable);
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dev_err(dev, "mma enable setting active \n");
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}
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return count;
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}
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static ssize_t fxas2100x_poll_delay_show(struct device *dev,
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struct device_attribute *attr, char *buf)
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{
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struct fxas2100x_data *pdata = g_fxas2100x_data;
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int delay = 0;
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delay = atomic_read(&pdata->delay);
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return sprintf(buf, "%d\n", delay);
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}
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static ssize_t fxas2100x_poll_delay_store(struct device *dev,
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struct device_attribute *attr,
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const char *buf, size_t count)
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{
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struct fxas2100x_data *pdata = g_fxas2100x_data;
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struct i2c_client *client = pdata->client;
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int ret;
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int delay;
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delay = simple_strtoul(buf, NULL, 10);
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ret = fxas2100x_set_delay(client, delay);
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if (!ret)
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atomic_set(&pdata->delay, delay);
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return count;
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}
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static ssize_t fxas2100x_position_show(struct device *dev,
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struct device_attribute *attr, char *buf)
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{
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struct fxas2100x_data *pdata = g_fxas2100x_data;
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int position = 0;
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position = atomic_read(&pdata->position);
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return sprintf(buf, "%d\n", position);
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}
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static ssize_t fxas2100x_position_store(struct device *dev,
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struct device_attribute *attr,
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const char *buf, size_t count)
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{
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struct fxas2100x_data *pdata = g_fxas2100x_data;
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int position;
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position = simple_strtoul(buf, NULL, 10);
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atomic_set(&pdata->position, position);
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return count;
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}
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static DEVICE_ATTR(enable, S_IWUSR | S_IRUGO, fxas2100x_enable_show, fxas2100x_enable_store);
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static DEVICE_ATTR(poll_delay, S_IWUSR | S_IRUGO, fxas2100x_poll_delay_show, fxas2100x_poll_delay_store);
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static DEVICE_ATTR(position, S_IWUSR | S_IRUGO, fxas2100x_position_show, fxas2100x_position_store);
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static struct attribute *fxas2100x_attributes[] = {
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&dev_attr_enable.attr,
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&dev_attr_poll_delay.attr,
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&dev_attr_position.attr,
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NULL
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};
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static const struct attribute_group fxas2100x_attr_group = {
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.attrs = fxas2100x_attributes,
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};
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static void fxas2100x_poll(struct input_polled_dev *dev)
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{
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struct fxas2100x_data *pdata = g_fxas2100x_data;
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struct input_dev *idev = pdata->input_polled->input;
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struct fxas2100x_data_axis data;
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int ret;
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if (!(atomic_read(&pdata->active_poll)))
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return;
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ret = fxas2100x_read_data(pdata, &data);
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if (!ret) {
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fxas2100x_data_convert(pdata, &data);
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input_report_abs(idev, ABS_X, data.x);
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input_report_abs(idev, ABS_Y, data.y);
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input_report_abs(idev, ABS_Z, data.z);
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input_sync(idev);
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}
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}
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static int fxas2100x_register_polled_device(struct fxas2100x_data *pdata)
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{
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struct input_polled_dev *ipoll_dev;
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struct input_dev *idev;
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int error;
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ipoll_dev = input_allocate_polled_device();
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if (!ipoll_dev)
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return -ENOMEM;
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ipoll_dev->private = pdata;
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ipoll_dev->poll = fxas2100x_poll;
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ipoll_dev->poll_interval = FXAS2100X_POLL_INTERVAL;
|
|
ipoll_dev->poll_interval_min = FXAS2100X_POLL_MIN;
|
|
ipoll_dev->poll_interval_max = FXAS2100X_POLL_MAX;
|
|
idev = ipoll_dev->input;
|
|
idev->name = FXAS2100X_DRIVER;
|
|
idev->id.bustype = BUS_I2C;
|
|
idev->dev.parent = &pdata->client->dev;
|
|
|
|
idev->evbit[0] = BIT_MASK(EV_ABS);
|
|
input_set_abs_params(idev, ABS_X, ABSMIN_GYRO_VAL, ABSMAX_GYRO_VAL, 0, 0);
|
|
input_set_abs_params(idev, ABS_Y, ABSMIN_GYRO_VAL, ABSMAX_GYRO_VAL, 0, 0);
|
|
input_set_abs_params(idev, ABS_Z, ABSMIN_GYRO_VAL, ABSMAX_GYRO_VAL, 0, 0);
|
|
|
|
error = input_register_polled_device(ipoll_dev);
|
|
if (error) {
|
|
input_free_polled_device(ipoll_dev);
|
|
return error;
|
|
}
|
|
|
|
pdata->input_polled = ipoll_dev;
|
|
return 0;
|
|
}
|
|
|
|
static int fxas2100x_probe(struct i2c_client *client,
|
|
const struct i2c_device_id *id)
|
|
{
|
|
int result, chip_id;
|
|
struct fxas2100x_data *pdata;
|
|
struct i2c_adapter *adapter;
|
|
|
|
adapter = to_i2c_adapter(client->dev.parent);
|
|
result = i2c_check_functionality(adapter,
|
|
I2C_FUNC_SMBUS_BYTE |
|
|
I2C_FUNC_SMBUS_BYTE_DATA);
|
|
if (!result)
|
|
goto err_out;
|
|
|
|
chip_id = i2c_smbus_read_byte_data(client, FXAS2100X_WHO_AM_I);
|
|
if (chip_id != FXAS21000_CHIP_ID && chip_id != FXAS21002_CHID_ID_1 &&
|
|
chip_id != FXAS21002_CHID_ID_2) {
|
|
dev_err(&client->dev,
|
|
"read chip ID 0x%x is not equal to 0x%x for fxas21000 or 0x%x/0x%x fxas21002!\n",
|
|
chip_id, FXAS21000_CHIP_ID, FXAS21002_CHID_ID_1, FXAS21002_CHID_ID_2);
|
|
result = -EINVAL;
|
|
goto err_out;
|
|
}
|
|
|
|
pdata = kzalloc(sizeof(struct fxas2100x_data), GFP_KERNEL);
|
|
if (!pdata) {
|
|
result = -ENOMEM;
|
|
dev_err(&client->dev, "alloc data memory error!\n");
|
|
goto err_out;
|
|
}
|
|
|
|
/* Initialize the FXAS2100X chip */
|
|
g_fxas2100x_data = pdata;
|
|
pdata->client = client;
|
|
pdata->chip_id = chip_id;
|
|
atomic_set(&pdata->delay, FXAS2100X_DELAY_DEFAULT);
|
|
atomic_set(&pdata->position, FXAS2100X_POSITION_DEFAULT);
|
|
i2c_set_clientdata(client, pdata);
|
|
result = misc_register(&fxas2100x_device);
|
|
if (result != 0) {
|
|
dev_err(&client->dev, "register acc miscdevice error");
|
|
goto err_regsiter_misc;
|
|
}
|
|
|
|
/* for debug */
|
|
if (client->irq <= 0) {
|
|
result = fxas2100x_register_polled_device(g_fxas2100x_data);
|
|
if (result)
|
|
dev_err(&client->dev,
|
|
"IRQ GPIO conf. error %d, error %d\n",
|
|
client->irq, result);
|
|
}
|
|
|
|
result = sysfs_create_group(&fxas2100x_device.this_device->kobj,
|
|
&fxas2100x_attr_group);
|
|
if (result) {
|
|
dev_err(&client->dev, "create device file failed!\n");
|
|
result = -EINVAL;
|
|
goto err_create_sysfs;
|
|
}
|
|
fxas2100x_device_init(client);
|
|
dev_info(&client->dev, "fxas2100x device driver probe successfully\n");
|
|
return 0;
|
|
err_create_sysfs:
|
|
misc_deregister(&fxas2100x_device);
|
|
err_regsiter_misc:
|
|
kfree(pdata);
|
|
err_out:
|
|
return result;
|
|
}
|
|
|
|
static int fxas2100x_remove(struct i2c_client *client)
|
|
{
|
|
struct fxas2100x_data *pdata = i2c_get_clientdata(client);
|
|
fxas2100x_device_stop(client);
|
|
if (client->irq <= 0) {
|
|
input_unregister_polled_device(pdata->input_polled);
|
|
input_free_polled_device(pdata->input_polled);
|
|
}
|
|
misc_deregister(&fxas2100x_device);
|
|
if (pdata != NULL)
|
|
kfree(pdata);
|
|
return 0;
|
|
}
|
|
|
|
#ifdef CONFIG_PM_SLEEP
|
|
static int fxas2100x_suspend(struct device *dev)
|
|
{
|
|
struct i2c_client *client = to_i2c_client(dev);
|
|
struct fxas2100x_data *pdata = i2c_get_clientdata(client);
|
|
|
|
if (atomic_read(&pdata->active))
|
|
fxas2100x_device_stop(client);
|
|
return 0;
|
|
}
|
|
|
|
static int fxas2100x_resume(struct device *dev)
|
|
{
|
|
int val = 0;
|
|
struct i2c_client *client = to_i2c_client(dev);
|
|
struct fxas2100x_data *pdata = i2c_get_clientdata(client);
|
|
|
|
if (atomic_read(&pdata->active)) {
|
|
val = i2c_smbus_read_byte_data(client, FXAS2100X_CTRL_REG1);
|
|
val &= ~0x03;
|
|
val |= 0x02;
|
|
i2c_smbus_write_byte_data(client, FXAS2100X_CTRL_REG1, val);
|
|
}
|
|
return 0;
|
|
|
|
}
|
|
#endif
|
|
|
|
static const struct i2c_device_id fxas2100x_id[] = {
|
|
{ "fxas2100x", 0 },
|
|
{ /* sentinel */ }
|
|
};
|
|
MODULE_DEVICE_TABLE(i2c, fxas2100x_id);
|
|
|
|
static SIMPLE_DEV_PM_OPS(fxas2100x_pm_ops, fxas2100x_suspend, fxas2100x_resume);
|
|
static struct i2c_driver fxas2100x_driver = {
|
|
.driver = {
|
|
.name = FXAS2100X_DRIVER,
|
|
.owner = THIS_MODULE,
|
|
.pm = &fxas2100x_pm_ops,
|
|
},
|
|
.probe = fxas2100x_probe,
|
|
.remove = fxas2100x_remove,
|
|
.id_table = fxas2100x_id,
|
|
};
|
|
|
|
module_i2c_driver(fxas2100x_driver);
|
|
|
|
MODULE_AUTHOR("Freescale Semiconductor, Inc.");
|
|
MODULE_DESCRIPTION("FXAS2100X 3-Axis Gyrosope Sensor driver");
|
|
MODULE_LICENSE("GPL");
|