path: root/drivers/misc/mpu3050/mpuirq.c

/*
 $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");