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/* $OpenBSD: asms.c,v 1.7 2008/04/25 16:37:44 xsa Exp $ */
/*
* Copyright (c) 2005 Xavier Santolaria <xsa@openbsd.org>
*
* Permission to use, copy, modify, and distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*
* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
* ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
* ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
* OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
*/
/*
* A driver for the Apple Sudden Motion Sensor based on notes from
* http://johannes.sipsolutions.net/PowerBook/Apple_Motion_Sensor_Specification
*/
#include <sys/param.h>
#include <sys/systm.h>
#include <sys/device.h>
#include <sys/sensors.h>
#include <dev/i2c/i2cvar.h>
/* ASMS Registers */
#define ASMS_REG_COMMAND 0x00
#define ASMS_REG_STATUS 0x01
#define ASMS_REG_RCONTROL1 0x02
#define ASMS_REG_RCONTROL2 0x03
#define ASMS_REG_RCONTROL3 0x04
#define ASMS_REG_RDATA1 0x05
#define ASMS_REG_RDATA2 0x06
#define ASMS_REG_DATA_X 0x20
#define ASMS_REG_DATA_Y 0x21
#define ASMS_REG_DATA_Z 0x22
#define ASMS_REG_SENS_LOW 0x26 /* init with 0x15 */
#define ASMS_REG_SENS_HIGH 0x27 /* init with 0x60 */
#define ASMS_REG_CONTROL_X 0x28 /* init with 0x08 */
#define ASMS_REG_CONTROL_Y 0x29 /* init with 0x0f */
#define ASMS_REG_CONTROL_Z 0x2a /* init with 0x4f */
#define ASMS_REG_UNKNOWN1 0x2b /* init with 0x14 */
#define ASMS_REG_VENDOR 0x2e
#define ASMS_CMD_READ_VER 0x01
#define ASMS_CMD_READ_MEM 0x02
#define ASMS_CMD_RESET 0x07
#define ASMS_CMD_START 0x08
/* Sensors */
#define ASMS_DATA_X 0
#define ASMS_DATA_Y 1
#define ASMS_DATA_Z 2
#define ASMS_NUM_SENSORS 3
struct asms_softc {
struct device sc_dev;
i2c_tag_t sc_tag;
i2c_addr_t sc_addr;
struct ksensor sc_sensor[ASMS_NUM_SENSORS];
struct ksensordev sc_sensordev;
};
int asms_match(struct device *, void *, void *);
void asms_attach(struct device *, struct device *, void *);
void asms_refresh(void *);
struct cfattach asms_ca = {
sizeof(struct asms_softc), asms_match, asms_attach
};
struct cfdriver asms_cd = {
NULL, "asms", DV_DULL
};
int
asms_match(struct device *parent, void *match, void *aux)
{
struct i2c_attach_args *ia = aux;
if (strcmp(ia->ia_name, "AAPL,accelerometer_1") == 0)
return (1);
return (0);
}
void
asms_attach(struct device *parent, struct device *self, void *aux)
{
struct asms_softc *sc = (struct asms_softc *)self;
struct i2c_attach_args *ia = aux;
u_int8_t cmd, data, rev1, rev2, ver1, ver2;
int i, vflag = 0;
sc->sc_tag = ia->ia_tag;
sc->sc_addr = ia ->ia_addr;
iic_acquire_bus(sc->sc_tag, 0);
cmd = ASMS_REG_COMMAND; data = ASMS_CMD_START;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write command register\n");
return;
}
delay(10000);
cmd = ASMS_REG_RCONTROL1; data = 0x02;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write read control register\n");
return;
}
cmd = ASMS_REG_RCONTROL2; data = 0x85;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write read control register\n");
return;
}
cmd = ASMS_REG_RCONTROL3; data = 0x01;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write read control register\n");
return;
}
cmd = ASMS_REG_COMMAND; data = ASMS_CMD_READ_MEM;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write command register\n");
return;
}
delay(10000);
cmd = ASMS_REG_RDATA1;
if (iic_exec(sc->sc_tag, I2C_OP_READ_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &rev1, sizeof rev1, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot read data register\n");
return;
}
cmd = ASMS_REG_RDATA2;
if (iic_exec(sc->sc_tag, I2C_OP_READ_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &rev2, sizeof rev2, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot read data register\n");
return;
}
cmd = ASMS_REG_COMMAND; data = ASMS_CMD_READ_VER;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write command register\n");
return;
}
delay(10000);
cmd = ASMS_REG_RDATA1;
if (iic_exec(sc->sc_tag, I2C_OP_READ_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &ver1, sizeof ver1, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot read data register\n");
return;
}
cmd = ASMS_REG_RDATA2;
if (iic_exec(sc->sc_tag, I2C_OP_READ_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &ver2, sizeof ver2, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot read data register\n");
return;
}
cmd = ASMS_REG_VENDOR;
if (iic_exec(sc->sc_tag, I2C_OP_READ_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot read vendor register\n");
return;
}
if (data & 0x10)
vflag = 1;
cmd = ASMS_REG_SENS_LOW; data = 0x15;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write sensibility low register\n");
return;
}
cmd = ASMS_REG_SENS_HIGH; data = 0x60;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write sensibility high register\n");
return;
}
cmd = ASMS_REG_CONTROL_X; data = 0x08;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write control X register\n");
return;
}
cmd = ASMS_REG_CONTROL_Y; data= 0x0f;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write control Y register\n");
return;
}
cmd = ASMS_REG_CONTROL_Z; data = 0x4f;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write control Z register\n");
return;
}
cmd = ASMS_REG_UNKNOWN1; data = 0x14;
if (iic_exec(sc->sc_tag, I2C_OP_WRITE_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &data, sizeof data, 0)) {
iic_release_bus(sc->sc_tag, 0);
printf(": cannot write unknown 1 register\n");
return;
}
iic_release_bus(sc->sc_tag, 0);
printf(": rev %x.%x, version %x.%x", rev1, rev2, ver1, ver2);
/* Initialize sensor data. */
strlcpy(sc->sc_sensordev.xname, sc->sc_dev.dv_xname,
sizeof(sc->sc_sensordev.xname));
sc->sc_sensor[ASMS_DATA_X].type = SENSOR_INTEGER;
strlcpy(sc->sc_sensor[ASMS_DATA_X].desc, "X_ACCEL",
sizeof(sc->sc_sensor[ASMS_DATA_X].desc));
sc->sc_sensor[ASMS_DATA_Y].type = SENSOR_INTEGER;
strlcpy(sc->sc_sensor[ASMS_DATA_Y].desc, "Y_ACCEL",
sizeof(sc->sc_sensor[ASMS_DATA_Y].desc));
sc->sc_sensor[ASMS_DATA_Z].type = SENSOR_INTEGER;
strlcpy(sc->sc_sensor[ASMS_DATA_Z].desc, "Z_ACCEL",
sizeof(sc->sc_sensor[ASMS_DATA_Z].desc));
if (sensor_task_register(sc, asms_refresh, 5) == NULL) {
printf(": unable to register update task\n");
return;
}
for (i = 0; i < ASMS_NUM_SENSORS; i++)
sensor_attach(&sc->sc_sensordev, &sc->sc_sensor[i]);
sensordev_install(&sc->sc_sensordev);
printf("\n");
}
void
asms_refresh(void *arg)
{
struct asms_softc *sc = arg;
u_int8_t cmd;
int8_t sdata;
iic_acquire_bus(sc->sc_tag, 0);
cmd = ASMS_REG_DATA_X;
if (iic_exec(sc->sc_tag, I2C_OP_READ_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &sdata, sizeof sdata, 0) == 0)
sc->sc_sensor[ASMS_DATA_X].value = sdata;
cmd = ASMS_REG_DATA_Y;
if (iic_exec(sc->sc_tag, I2C_OP_READ_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &sdata, sizeof sdata, 0) == 0)
sc->sc_sensor[ASMS_DATA_Y].value = sdata;
cmd = ASMS_REG_DATA_Z;
if (iic_exec(sc->sc_tag, I2C_OP_READ_WITH_STOP,
sc->sc_addr, &cmd, sizeof cmd, &sdata, sizeof sdata, 0) == 0)
sc->sc_sensor[ASMS_DATA_Z].value = sdata;
iic_release_bus(sc->sc_tag, 0);
}
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