1 files changed, 448 insertions, 0 deletions

diff --git a/drivers/misc/mpu3050/mpuirq.c b/drivers/misc/mpu3050/mpuirq.c
new file mode 100755
index 00000000000..8623855e8b5
--- /dev/null
+++ b/drivers/misc/mpu3050/mpuirq.c
@@ -0,0 +1,448 @@
+/*
+ $License:
+    Copyright (C) 2010 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 <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/kernel.h>
+#include <linux/init.h>
+#include <linux/stat.h>
+#include <linux/irq.h>
+#include <linux/signal.h>
+#include <linux/miscdevice.h>
+#include <linux/i2c.h>
+#include <linux/i2c-dev.h>
+#include <linux/workqueue.h>
+#include <linux/poll.h>
+
+#include <linux/errno.h>
+#include <linux/fs.h>
+#include <linux/mm.h>
+#include <linux/sched.h>
+#include <linux/wait.h>
+#include <linux/uaccess.h>
+#include <linux/io.h>
+
+#include "mpu.h"
+#include "mpuirq.h"
+#include "mldl_cfg.h"
+#include "mpu-i2c.h"
+#include "mpu-accel.h"
+
+#ifdef FEATURE_GYRO_SELFTEST_INTERRUPT
+#include <linux/init.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/ioport.h>
+#include <linux/delay.h>
+#include <linux/serial_core.h>
+#include <linux/io.h>
+#include <linux/platform_device.h>
+
+#include <mach/regs-gpio.h>
+
+#include <mach/map.h>
+#include <mach/regs-mem.h>
+#include <mach/regs-clock.h>
+#include <mach/media.h>
+#include <mach/gpio.h>
+#endif
+#define MPUIRQ_NAME "mpuirq"
+
+/* function which gets accel data and sends it to MPU */
+
+DECLARE_WAIT_QUEUE_HEAD(mpuirq_wait);
+
+struct mpuirq_dev_data {
+	struct work_struct work;
+	struct i2c_client *mpu_client;
+	struct miscdevice *dev;
+	int irq;
+	int pid;
+	int accel_divider;
+	int data_ready;
+	int timeout;
+};
+
+static struct mpuirq_dev_data mpuirq_dev_data;
+static struct mpuirq_data mpuirq_data;
+static char *interface = MPUIRQ_NAME;
+
+static void mpu_accel_data_work_fcn(struct work_struct *work);
+
+#ifdef FEATURE_GYRO_SELFTEST_INTERRUPT
+static irqreturn_t mpuirq_selftest_handler(int irq, void *dev_id);
+unsigned long long selftest_get_times[10];
+#endif
+
+static int mpuirq_open(struct inode *inode, struct file *file);
+static int mpuirq_release(struct inode *inode, struct file *file);
+static ssize_t mpuirq_read(struct file *file, char *buf, size_t count,
+			 loff_t *ppos);
+unsigned int mpuirq_poll(struct file *file, struct poll_table_struct *poll);
+static long mpuirq_ioctl(struct file *file, unsigned int cmd,
+			 unsigned long arg);
+static irqreturn_t mpuirq_handler(int irq, void *dev_id);
+
+static int mpuirq_open(struct inode *inode, struct file *file)
+{
+	dev_dbg(mpuirq_dev_data.dev->this_device,
+		"%s current->pid %d\n", __func__, current->pid);
+	mpuirq_dev_data.pid = current->pid;
+	file->private_data = &mpuirq_dev_data;
+	/* we could do some checking on the flags supplied by "open" */
+	/* i.e. O_NONBLOCK */
+	/* -> set some flag to disable interruptible_sleep_on in mpuirq_read */
+	return 0;
+}
+
+/* close function - called when the "file" /dev/mpuirq is closed in userspace */
+static int mpuirq_release(struct inode *inode, struct file *file)
+{
+	dev_dbg(mpuirq_dev_data.dev->this_device, "mpuirq_release\n");
+	return 0;
+}
+
+/* read function called when from /dev/mpuirq is read */
+static ssize_t mpuirq_read(struct file *file,
+			   char *buf, size_t count, loff_t * ppos)
+{
+	int len, err;
+	struct mpuirq_dev_data *p_mpuirq_dev_data = file->private_data;
+
+	if (!mpuirq_dev_data.data_ready && mpuirq_dev_data.timeout > 0) {
+		wait_event_interruptible_timeout(mpuirq_wait,
+						 mpuirq_dev_data.data_ready,
+						 mpuirq_dev_data.timeout);
+	}
+
+	if (mpuirq_dev_data.data_ready && NULL != buf
+	    && count >= sizeof(mpuirq_data)) {
+		err = copy_to_user(buf, &mpuirq_data, sizeof(mpuirq_data));
+		mpuirq_data.data_type = 0;
+	} else {
+		return 0;
+	}
+	if (err != 0) {
+		dev_err(p_mpuirq_dev_data->dev->this_device,
+			"Copy to user returned %d\n", err);
+		return -EFAULT;
+	}
+	mpuirq_dev_data.data_ready = 0;
+	len = sizeof(mpuirq_data);
+	return len;
+}
+
+unsigned int mpuirq_poll(struct file *file, struct poll_table_struct *poll)
+{
+	int mask = 0;
+
+	poll_wait(file, &mpuirq_wait, poll);
+	if (mpuirq_dev_data.data_ready)
+		mask |= POLLIN | POLLRDNORM;
+	return mask;
+}
+
+/* ioctl - I/O control */
+static long mpuirq_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
+{
+	int retval = 0;
+	int data;
+
+	switch (cmd) {
+	case MPUIRQ_SET_TIMEOUT:
+		mpuirq_dev_data.timeout = arg;
+		break;
+
+	case MPUIRQ_GET_INTERRUPT_CNT:
+		data = mpuirq_data.interruptcount - 1;
+		if (mpuirq_data.interruptcount > 1)
+			mpuirq_data.interruptcount = 1;
+
+		if (copy_to_user((int *)arg, &data, sizeof(int)))
+			return -EFAULT;
+		break;
+	case MPUIRQ_GET_IRQ_TIME:
+		if (copy_to_user((int *)arg, &mpuirq_data.irqtime,
+				 sizeof(mpuirq_data.irqtime)))
+			return -EFAULT;
+		mpuirq_data.irqtime = 0;
+		break;
+	case MPUIRQ_SET_FREQUENCY_DIVIDER:
+		mpuirq_dev_data.accel_divider = arg;
+		break;
+
+#ifdef FEATURE_GYRO_SELFTEST_INTERRUPT
+	case MPUIRQ_SET_SELFTEST_IRQ_HANDLER:
+		{
+			int res;
+			/* unregister mpuirq handler */
+			if (mpuirq_dev_data.irq > 0) {
+				free_irq(mpuirq_dev_data.irq,
+					 &mpuirq_dev_data.irq);
+			}
+			/* register selftest irq handler */
+			if (mpuirq_dev_data.irq > 0) {
+				struct mldl_cfg *mldl_cfg =
+				    (struct mldl_cfg *)
+				    i2c_get_clientdata(mpuirq_dev_data.
+					mpu_client);
+				unsigned long flags;
+
+				if (BIT_ACTL_LOW ==
+				    ((mldl_cfg->pdata->int_config) & BIT_ACTL))
+					flags = IRQF_TRIGGER_FALLING;
+				else
+					flags = IRQF_TRIGGER_RISING;
+
+				res = request_irq(mpuirq_dev_data.irq,
+						mpuirq_selftest_handler, flags,
+						interface,
+						&mpuirq_dev_data.irq);
+
+				if (res) {
+					pr_info("MPUIRQ_SET_SELFTEST_IRQ_" \
+					"HANDLER: cannot register IRQ %d\n",
+					mpuirq_dev_data.irq);
+				}
+			}
+		}
+		break;
+	case MPUIRQ_SET_MPUIRQ_HANDLER:
+		{
+			int res;
+			/* unregister selftest irq handler */
+			if (mpuirq_dev_data.irq > 0)
+				free_irq(mpuirq_dev_data.irq,
+					 &mpuirq_dev_data.irq);
+
+			/*  register mpuirq handler */
+			if (mpuirq_dev_data.irq > 0) {
+				struct mldl_cfg *mldl_cfg =
+				    (struct mldl_cfg *)
+				    i2c_get_clientdata(mpuirq_dev_data.
+						       mpu_client);
+				unsigned long flags;
+
+				if (BIT_ACTL_LOW ==
+				    ((mldl_cfg->pdata->int_config) & BIT_ACTL))
+					flags = IRQF_TRIGGER_FALLING;
+				else
+					flags = IRQF_TRIGGER_RISING;
+
+				res =
+				    request_irq(mpuirq_dev_data.irq,
+						mpuirq_handler, flags,
+						interface,
+						&mpuirq_dev_data.irq);
+			}
+		}
+		break;
+	case MPUIRQ_GET_MPUIRQ_JIFFIES:
+		{
+
+			mpuirq_data.mpuirq_jiffies = 0;
+
+			if (copy_to_user
+			    ((void *)arg, selftest_get_times,
+			     sizeof(selftest_get_times))) {
+				memset(selftest_get_times, 0,
+				       sizeof(selftest_get_times));
+				return -EFAULT;
+			}
+
+			memset(selftest_get_times, 0,
+			       sizeof(selftest_get_times));
+		}
+		break;
+#endif
+	default:
+		retval = -EINVAL;
+	}
+	return retval;
+}
+
+static void mpu_accel_data_work_fcn(struct work_struct *work)
+{
+	struct mpuirq_dev_data *mpuirq_dev_data =
+	    (struct mpuirq_dev_data *)work;
+	struct mldl_cfg *mldl_cfg = (struct mldl_cfg *)
+	    i2c_get_clientdata(mpuirq_dev_data->mpu_client);
+	struct i2c_adapter *accel_adapter;
+	unsigned char wbuff[16];
+	unsigned char rbuff[16];
+	int ii;
+
+	accel_adapter = i2c_get_adapter(mldl_cfg->pdata->accel.adapt_num);
+	mldl_cfg->accel->read(accel_adapter,
+			      mldl_cfg->accel, &mldl_cfg->pdata->accel, rbuff);
+
+	/* @todo add other data formats here as well */
+	if (EXT_SLAVE_BIG_ENDIAN == mldl_cfg->accel->endian) {
+		for (ii = 0; ii < 3; ii++) {
+			wbuff[2 * ii + 1] = rbuff[2 * ii + 1];
+			wbuff[2 * ii + 2] = rbuff[2 * ii + 0];
+		}
+	} else {
+		memcpy(wbuff + 1, rbuff, mldl_cfg->accel->len);
+	}
+
+	wbuff[7] = 0;
+	wbuff[8] = 1;		/*set semaphore */
+
+	mpu_memory_write(mpuirq_dev_data->mpu_client->adapter,
+			 mldl_cfg->addr, 0x0108, 8, wbuff);
+}
+
+#ifdef FEATURE_GYRO_SELFTEST_INTERRUPT
+static irqreturn_t mpuirq_selftest_handler(int irq, void *dev_id)
+{
+/* static int mycount=0; */
+	struct timeval irqtime;
+	unsigned long long temp_time;
+
+	do_gettimeofday(&irqtime);
+
+	temp_time = (((long long)irqtime.tv_sec) << 32);
+	temp_time += irqtime.tv_usec;
+
+	if (mpuirq_data.mpuirq_jiffies < 10)
+		selftest_get_times[mpuirq_data.mpuirq_jiffies++] = temp_time;
+
+	return IRQ_HANDLED;
+}
+#endif
+
+static irqreturn_t mpuirq_handler(int irq, void *dev_id)
+{
+	static int mycount;
+	struct timeval irqtime;
+	mycount++;
+
+	mpuirq_data.interruptcount++;
+
+	/* wake up (unblock) for reading data from userspace */
+	/* and ignore first interrupt generated in module init */
+	mpuirq_dev_data.data_ready = 1;
+
+	do_gettimeofday(&irqtime);
+	mpuirq_data.irqtime = (((long long)irqtime.tv_sec) << 32);
+	mpuirq_data.irqtime += irqtime.tv_usec;
+
+	if ((mpuirq_dev_data.accel_divider >= 0) &&
+	    (0 == (mycount % (mpuirq_dev_data.accel_divider + 1)))) {
+		schedule_work((struct work_struct *)(&mpuirq_dev_data));
+	}
+
+	wake_up_interruptible(&mpuirq_wait);
+
+	return IRQ_HANDLED;
+
+}
+
+/* define which file operations are supported */
+const struct file_operations mpuirq_fops = {
+	.owner = THIS_MODULE,
+	.read = mpuirq_read,
+	.poll = mpuirq_poll,
+
+#if HAVE_COMPAT_IOCTL
+	.compat_ioctl = mpuirq_ioctl,
+#endif
+#if HAVE_UNLOCKED_IOCTL
+	.unlocked_ioctl = mpuirq_ioctl,
+#endif
+	.open = mpuirq_open,
+	.release = mpuirq_release,
+};
+
+static struct miscdevice mpuirq_device = {
+	.minor = MISC_DYNAMIC_MINOR,
+	.name = MPUIRQ_NAME,
+	.fops = &mpuirq_fops,
+};
+
+int mpuirq_init(struct i2c_client *mpu_client)
+{
+
+	int res;
+	struct mldl_cfg *mldl_cfg =
+	    (struct mldl_cfg *)i2c_get_clientdata(mpu_client);
+
+	/* work_struct initialization */
+	INIT_WORK((struct work_struct *)&mpuirq_dev_data,
+		  mpu_accel_data_work_fcn);
+	mpuirq_dev_data.mpu_client = mpu_client;
+
+	dev_info(&mpu_client->adapter->dev,
+		 "Module Param interface = %s\n", interface);
+
+	mpuirq_dev_data.irq = mpu_client->irq;
+	mpuirq_dev_data.pid = 0;
+	mpuirq_dev_data.accel_divider = -1;
+	mpuirq_dev_data.data_ready = 0;
+	mpuirq_dev_data.timeout = 0;
+	mpuirq_dev_data.dev = &mpuirq_device;
+
+	if (mpuirq_dev_data.irq) {
+		unsigned long flags;
+		if (BIT_ACTL_LOW == ((mldl_cfg->pdata->int_config) & BIT_ACTL))
+			flags = IRQF_TRIGGER_FALLING;
+		else
+			flags = IRQF_TRIGGER_RISING;
+
+		res =
+		    request_irq(mpuirq_dev_data.irq, mpuirq_handler, flags,
+				interface, &mpuirq_dev_data.irq);
+		if (res) {
+			dev_err(&mpu_client->adapter->dev,
+				"myirqtest: cannot register IRQ %d\n",
+				mpuirq_dev_data.irq);
+		} else {
+			res = misc_register(&mpuirq_device);
+			if (res < 0) {
+				dev_err(&mpu_client->adapter->dev,
+					"misc_register returned %d\n", res);
+				free_irq(mpuirq_dev_data.irq,
+					 &mpuirq_dev_data.irq);
+			}
+		}
+
+	} else {
+		res = 0;
+	}
+
+	return res;
+}
+
+void mpuirq_exit(void)
+{
+	/* Free the IRQ first before flushing the work */
+	if (mpuirq_dev_data.irq > 0)
+		free_irq(mpuirq_dev_data.irq, &mpuirq_dev_data.irq);
+
+	flush_scheduled_work();
+
+	dev_info(mpuirq_device.this_device, "Unregistering %s\n", MPUIRQ_NAME);
+	misc_deregister(&mpuirq_device);
+
+	return;
+}
+
+module_param(interface, charp, S_IRUGO | S_IWUSR);
+MODULE_PARM_DESC(interface, "The Interface name");