new file mode 100644
@@ -0,0 +1,389 @@
+/*
+ $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/>.
+ $
+ */
+
+#include "mlsl.h"
+#include <linux/i2c.h>
+# include "mpu3050.h"
+
+static int inv_i2c_write(struct i2c_adapter *i2c_adap,
+ unsigned char address,
+ unsigned int len, unsigned char const *data)
+{
+ struct i2c_msg msgs[1];
+ int res;
+
+ if (!data || !i2c_adap)
+ return -EINVAL;
+
+ msgs[0].addr = address;
+ msgs[0].flags = 0; /* write */
+ msgs[0].buf = (unsigned char *)data;
+ msgs[0].len = len;
+
+ res = i2c_transfer(i2c_adap, msgs, 1);
+ if (res < 1) {
+ if (res == 0)
+ res = -EIO;
+ return res;
+ } else
+ return 0;
+}
+
+static int inv_i2c_write_register(struct i2c_adapter *i2c_adap,
+ unsigned char address,
+ unsigned char reg, unsigned char value)
+{
+ unsigned char data[2];
+
+ data[0] = reg;
+ data[1] = value;
+ return inv_i2c_write(i2c_adap, address, 2, data);
+}
+
+static int inv_i2c_read(struct i2c_adapter *i2c_adap,
+ unsigned char address, unsigned char reg,
+ unsigned int len, unsigned char *data)
+{
+ struct i2c_msg msgs[2];
+ int res;
+
+ if (!data || !i2c_adap)
+ return -EINVAL;
+
+ msgs[0].addr = address;
+ msgs[0].flags = 0; /* write */
+ msgs[0].buf = ®
+ msgs[0].len = 1;
+
+ msgs[1].addr = address;
+ msgs[1].flags = I2C_M_RD;
+ msgs[1].buf = data;
+ msgs[1].len = len;
+
+ res = i2c_transfer(i2c_adap, msgs, 2);
+ if (res < 2) {
+ if (res >= 0)
+ res = -EIO;
+ return res;
+ } else
+ return 0;
+}
+
+static int mpu_memory_read(struct i2c_adapter *i2c_adap,
+ unsigned char mpu_addr,
+ unsigned short mem_addr,
+ unsigned int len, unsigned char *data)
+{
+ unsigned char bank[2];
+ unsigned char addr[2];
+ unsigned char buf;
+
+ struct i2c_msg msgs[4];
+ int res;
+
+ if (!data || !i2c_adap)
+ return -EINVAL;
+
+ bank[0] = MPUREG_BANK_SEL;
+ bank[1] = mem_addr >> 8;
+
+ addr[0] = MPUREG_MEM_START_ADDR;
+ addr[1] = mem_addr & 0xFF;
+
+ buf = MPUREG_MEM_R_W;
+
+ /* write message */
+ msgs[0].addr = mpu_addr;
+ msgs[0].flags = 0;
+ msgs[0].buf = bank;
+ msgs[0].len = sizeof(bank);
+
+ msgs[1].addr = mpu_addr;
+ msgs[1].flags = 0;
+ msgs[1].buf = addr;
+ msgs[1].len = sizeof(addr);
+
+ msgs[2].addr = mpu_addr;
+ msgs[2].flags = 0;
+ msgs[2].buf = &buf;
+ msgs[2].len = 1;
+
+ msgs[3].addr = mpu_addr;
+ msgs[3].flags = I2C_M_RD;
+ msgs[3].buf = data;
+ msgs[3].len = len;
+
+ res = i2c_transfer(i2c_adap, msgs, 4);
+ if (res != 4) {
+ if (res >= 0)
+ res = -EIO;
+ return res;
+ } else
+ return 0;
+}
+
+static int mpu_memory_write(struct i2c_adapter *i2c_adap,
+ unsigned char mpu_addr,
+ unsigned short mem_addr,
+ unsigned int len, unsigned char const *data)
+{
+ unsigned char bank[2];
+ unsigned char addr[2];
+ unsigned char buf[513];
+
+ struct i2c_msg msgs[3];
+ int res;
+
+ if (!data || !i2c_adap)
+ return -EINVAL;
+ if (len >= (sizeof(buf) - 1))
+ return -ENOMEM;
+
+ bank[0] = MPUREG_BANK_SEL;
+ bank[1] = mem_addr >> 8;
+
+ addr[0] = MPUREG_MEM_START_ADDR;
+ addr[1] = mem_addr & 0xFF;
+
+ buf[0] = MPUREG_MEM_R_W;
+ memcpy(buf + 1, data, len);
+
+ /* write message */
+ msgs[0].addr = mpu_addr;
+ msgs[0].flags = 0;
+ msgs[0].buf = bank;
+ msgs[0].len = sizeof(bank);
+
+ msgs[1].addr = mpu_addr;
+ msgs[1].flags = 0;
+ msgs[1].buf = addr;
+ msgs[1].len = sizeof(addr);
+
+ msgs[2].addr = mpu_addr;
+ msgs[2].flags = 0;
+ msgs[2].buf = (unsigned char *)buf;
+ msgs[2].len = len + 1;
+
+ res = i2c_transfer(i2c_adap, msgs, 3);
+ if (res != 3) {
+ if (res >= 0)
+ res = -EIO;
+ return res;
+ } else
+ return 0;
+}
+
+int inv_serial_single_write(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned char register_addr,
+ unsigned char data)
+{
+ return inv_i2c_write_register((struct i2c_adapter *)sl_handle,
+ slave_addr, register_addr, data);
+}
+EXPORT_SYMBOL(inv_serial_single_write);
+
+int inv_serial_write(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned short length,
+ unsigned char const *data)
+{
+ int result;
+ const unsigned short data_length = length - 1;
+ const unsigned char start_reg_addr = data[0];
+ unsigned char i2c_write[SERIAL_MAX_TRANSFER_SIZE + 1];
+ unsigned short bytes_written = 0;
+
+ while (bytes_written < data_length) {
+ unsigned short this_len = min(SERIAL_MAX_TRANSFER_SIZE,
+ data_length - bytes_written);
+ if (bytes_written == 0) {
+ result = inv_i2c_write((struct i2c_adapter *)
+ sl_handle, slave_addr,
+ 1 + this_len, data);
+ } else {
+ /* manually increment register addr between chunks */
+ i2c_write[0] = start_reg_addr + bytes_written;
+ memcpy(&i2c_write[1], &data[1 + bytes_written],
+ this_len);
+ result = inv_i2c_write((struct i2c_adapter *)
+ sl_handle, slave_addr,
+ 1 + this_len, i2c_write);
+ }
+ if (result)
+ return result;
+ bytes_written += this_len;
+ }
+ return 0;
+}
+EXPORT_SYMBOL(inv_serial_write);
+
+int inv_serial_read(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned char register_addr,
+ unsigned short length,
+ unsigned char *data)
+{
+ int result;
+ unsigned short bytes_read = 0;
+
+ if (register_addr == MPUREG_FIFO_R_W || register_addr == MPUREG_MEM_R_W)
+ return INV_ERROR_INVALID_PARAMETER;
+
+ while (bytes_read < length) {
+ unsigned short this_len =
+ min(SERIAL_MAX_TRANSFER_SIZE, length - bytes_read);
+ result = inv_i2c_read((struct i2c_adapter *)sl_handle,
+ slave_addr, register_addr + bytes_read,
+ this_len, &data[bytes_read]);
+ if (result)
+ return result;
+ bytes_read += this_len;
+ }
+ return 0;
+}
+EXPORT_SYMBOL(inv_serial_read);
+
+int inv_serial_write_mem(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned short mem_addr,
+ unsigned short length,
+ unsigned char const *data)
+{
+ int result;
+ unsigned short bytes_written = 0;
+
+ if ((mem_addr & 0xFF) + length > MPU_MEM_BANK_SIZE) {
+ pr_err("memory read length (%d B) extends beyond its"
+ " limits (%d) if started at location %d\n", length,
+ MPU_MEM_BANK_SIZE, mem_addr & 0xFF);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+ while (bytes_written < length) {
+ unsigned short this_len =
+ min(SERIAL_MAX_TRANSFER_SIZE, length - bytes_written);
+ result = mpu_memory_write((struct i2c_adapter *)sl_handle,
+ slave_addr, mem_addr + bytes_written,
+ this_len, &data[bytes_written]);
+ if (result)
+ return result;
+ bytes_written += this_len;
+ }
+ return 0;
+}
+EXPORT_SYMBOL(inv_serial_write_mem);
+
+int inv_serial_read_mem(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned short mem_addr,
+ unsigned short length,
+ unsigned char *data)
+{
+ int result;
+ unsigned short bytes_read = 0;
+
+ if ((mem_addr & 0xFF) + length > MPU_MEM_BANK_SIZE) {
+ printk
+ ("memory read length (%d B) extends beyond its limits (%d) "
+ "if started at location %d\n", length,
+ MPU_MEM_BANK_SIZE, mem_addr & 0xFF);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+ while (bytes_read < length) {
+ unsigned short this_len =
+ min(SERIAL_MAX_TRANSFER_SIZE, length - bytes_read);
+ result =
+ mpu_memory_read((struct i2c_adapter *)sl_handle,
+ slave_addr, mem_addr + bytes_read,
+ this_len, &data[bytes_read]);
+ if (result)
+ return result;
+ bytes_read += this_len;
+ }
+ return 0;
+}
+EXPORT_SYMBOL(inv_serial_read_mem);
+
+int inv_serial_write_fifo(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned short length,
+ unsigned char const *data)
+{
+ int result;
+ unsigned char i2c_write[SERIAL_MAX_TRANSFER_SIZE + 1];
+ unsigned short bytes_written = 0;
+
+ if (length > FIFO_HW_SIZE) {
+ printk(KERN_ERR
+ "maximum fifo write length is %d\n", FIFO_HW_SIZE);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+ while (bytes_written < length) {
+ unsigned short this_len =
+ min(SERIAL_MAX_TRANSFER_SIZE, length - bytes_written);
+ i2c_write[0] = MPUREG_FIFO_R_W;
+ memcpy(&i2c_write[1], &data[bytes_written], this_len);
+ result = inv_i2c_write((struct i2c_adapter *)sl_handle,
+ slave_addr, this_len + 1, i2c_write);
+ if (result)
+ return result;
+ bytes_written += this_len;
+ }
+ return 0;
+}
+EXPORT_SYMBOL(inv_serial_write_fifo);
+
+int inv_serial_read_fifo(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned short length,
+ unsigned char *data)
+{
+ int result;
+ unsigned short bytes_read = 0;
+
+ if (length > FIFO_HW_SIZE) {
+ printk(KERN_ERR
+ "maximum fifo read length is %d\n", FIFO_HW_SIZE);
+ return INV_ERROR_INVALID_PARAMETER;
+ }
+ while (bytes_read < length) {
+ unsigned short this_len =
+ min(SERIAL_MAX_TRANSFER_SIZE, length - bytes_read);
+ result = inv_i2c_read((struct i2c_adapter *)sl_handle,
+ slave_addr, MPUREG_FIFO_R_W, this_len,
+ &data[bytes_read]);
+ if (result)
+ return result;
+ bytes_read += this_len;
+ }
+
+ return 0;
+}
+EXPORT_SYMBOL(inv_serial_read_fifo);
+
+/**
+ * @}
+ */
new file mode 100644
@@ -0,0 +1,186 @@
+/*
+ $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/>.
+ $
+ */
+
+#ifndef __MLSL_H__
+#define __MLSL_H__
+
+/**
+ * @defgroup MLSL
+ * @brief Motion Library - Serial Layer.
+ * The Motion Library System Layer provides the Motion Library
+ * with the communication interface to the hardware.
+ *
+ * The communication interface is assumed to support serial
+ * transfers in burst of variable length up to
+ * SERIAL_MAX_TRANSFER_SIZE.
+ * The default value for SERIAL_MAX_TRANSFER_SIZE is 128 bytes.
+ * Transfers of length greater than SERIAL_MAX_TRANSFER_SIZE, will
+ * be subdivided in smaller transfers of length <=
+ * SERIAL_MAX_TRANSFER_SIZE.
+ * The SERIAL_MAX_TRANSFER_SIZE definition can be modified to
+ * overcome any host processor transfer size limitation down to
+ * 1 B, the minimum.
+ * An higher value for SERIAL_MAX_TRANSFER_SIZE will favor
+ * performance and efficiency while requiring higher resource usage
+ * (mostly buffering). A smaller value will increase overhead and
+ * decrease efficiency but allows to operate with more resource
+ * constrained processor and master serial controllers.
+ * The SERIAL_MAX_TRANSFER_SIZE definition can be found in the
+ * mlsl.h header file and master serial controllers.
+ * The SERIAL_MAX_TRANSFER_SIZE definition can be found in the
+ * mlsl.h header file.
+ *
+ * @{
+ * @file mlsl.h
+ * @brief The Motion Library System Layer.
+ *
+ */
+
+#include "mltypes.h"
+#include <linux/mpu.h>
+
+
+/*
+ * NOTE : to properly support Yamaha compass reads,
+ * the max transfer size should be at least 9 B.
+ * Length in bytes, typically a power of 2 >= 2
+ */
+#define SERIAL_MAX_TRANSFER_SIZE 128
+
+
+/**
+ * inv_serial_single_write() - used to write a single byte of data.
+ * @sl_handle pointer to the serial device used for the communication.
+ * @slave_addr I2C slave address of device.
+ * @register_addr Register address to write.
+ * @data Single byte of data to write.
+ *
+ * It is called by the MPL to write a single byte of data to the MPU.
+ *
+ * returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+int inv_serial_single_write(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned char register_addr,
+ unsigned char data);
+
+/**
+ * inv_serial_write() - used to write multiple bytes of data to registers.
+ * @sl_handle a file handle to the serial device used for the communication.
+ * @slave_addr I2C slave address of device.
+ * @register_addr Register address to write.
+ * @length Length of burst of data.
+ * @data Pointer to block of data.
+ *
+ * returns INV_SUCCESS if successful, a non-zero error code otherwise.
+ */
+int inv_serial_write(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned short length,
+ unsigned char const *data);
+
+/**
+ * inv_serial_read() - used to read multiple bytes of data from registers.
+ * @sl_handle a file handle to the serial device used for the communication.
+ * @slave_addr I2C slave address of device.
+ * @register_addr Register address to read.
+ * @length Length of burst of data.
+ * @data Pointer to block of data.
+ *
+ * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+int inv_serial_read(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned char register_addr,
+ unsigned short length,
+ unsigned char *data);
+
+/**
+ * inv_serial_read_mem() - used to read multiple bytes of data from the memory.
+ * This should be sent by I2C or SPI.
+ *
+ * @sl_handle a file handle to the serial device used for the communication.
+ * @slave_addr I2C slave address of device.
+ * @mem_addr The location in the memory to read from.
+ * @length Length of burst data.
+ * @data Pointer to block of data.
+ *
+ * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+int inv_serial_read_mem(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned short mem_addr,
+ unsigned short length,
+ unsigned char *data);
+
+/**
+ * inv_serial_write_mem() - used to write multiple bytes of data to the memory.
+ * @sl_handle a file handle to the serial device used for the communication.
+ * @slave_addr I2C slave address of device.
+ * @mem_addr The location in the memory to write to.
+ * @length Length of burst data.
+ * @data Pointer to block of data.
+ *
+ * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+int inv_serial_write_mem(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned short mem_addr,
+ unsigned short length,
+ unsigned char const *data);
+
+/**
+ * inv_serial_read_fifo() - used to read multiple bytes of data from the fifo.
+ * @sl_handle a file handle to the serial device used for the communication.
+ * @slave_addr I2C slave address of device.
+ * @length Length of burst of data.
+ * @data Pointer to block of data.
+ *
+ * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+int inv_serial_read_fifo(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned short length,
+ unsigned char *data);
+
+/**
+ * inv_serial_write_fifo() - used to write multiple bytes of data to the fifo.
+ * @sl_handle a file handle to the serial device used for the communication.
+ * @slave_addr I2C slave address of device.
+ * @length Length of burst of data.
+ * @data Pointer to block of data.
+ *
+ * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise.
+ */
+int inv_serial_write_fifo(
+ void *sl_handle,
+ unsigned char slave_addr,
+ unsigned short length,
+ unsigned char const *data);
+
+/**
+ * @}
+ */
+#endif /* __MLSL_H__ */
Signed-off-by: Nathan Royer <nroyer@invensense.com> --- drivers/misc/inv_mpu/mlsl.c | 389 +++++++++++++++++++++++++++++++++++++++++++ drivers/misc/inv_mpu/mlsl.h | 186 +++++++++++++++++++++ 2 files changed, 575 insertions(+), 0 deletions(-) create mode 100644 drivers/misc/inv_mpu/mlsl.c create mode 100644 drivers/misc/inv_mpu/mlsl.h