drivers/iio/orientation/hid-sensor-rotation.c

   1 // SPDX-License-Identifier: GPL-2.0-only
   2 /*
   3  * HID Sensors Driver
   4  * Copyright (c) 2014, Intel Corporation.
   5  */
   6
   7 #include <linux/device.h>
   8 #include <linux/platform_device.h>
   9 #include <linux/module.h>
  10 #include <linux/interrupt.h>
  11 #include <linux/irq.h>
  12 #include <linux/slab.h>
  13 #include <linux/hid-sensor-hub.h>
  14 #include <linux/iio/iio.h>
  15 #include <linux/iio/sysfs.h>
  16 #include <linux/iio/buffer.h>
  17 #include "../common/hid-sensors/hid-sensor-trigger.h"
  18
  19 struct dev_rot_state {
  20         struct hid_sensor_hub_callbacks callbacks;
  21         struct hid_sensor_common common_attributes;
  22         struct hid_sensor_hub_attribute_info quaternion;
  23         struct {
  24                 s32 sampled_vals[4] __aligned(16);
  25                 u64 timestamp __aligned(8);
  26         } scan;
  27         int scale_pre_decml;
  28         int scale_post_decml;
  29         int scale_precision;
  30         int value_offset;
  31         s64 timestamp;
  32 };
  33
  34 static const u32 rotation_sensitivity_addresses[] = {
  35         HID_USAGE_SENSOR_DATA_ORIENTATION,
  36         HID_USAGE_SENSOR_ORIENT_QUATERNION,
  37 };
  38
  39 /* Channel definitions */
  40 static const struct iio_chan_spec dev_rot_channels[] = {
  41         {
  42                 .type = IIO_ROT,
  43                 .modified = 1,
  44                 .channel2 = IIO_MOD_QUATERNION,
  45                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
  46                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ) |
  47                                         BIT(IIO_CHAN_INFO_OFFSET) |
  48                                         BIT(IIO_CHAN_INFO_SCALE) |
  49                                         BIT(IIO_CHAN_INFO_HYSTERESIS),
  50                 .scan_index = 0
  51         },
  52         IIO_CHAN_SOFT_TIMESTAMP(1)
  53 };
  54
  55 /* Adjust channel real bits based on report descriptor */
  56 static void dev_rot_adjust_channel_bit_mask(struct iio_chan_spec *chan,
  57                                                 int size)
  58 {
  59         chan->scan_type.sign = 's';
  60         /* Real storage bits will change based on the report desc. */
  61         chan->scan_type.realbits = size * 8;
  62         /* Maximum size of a sample to capture is u32 */
  63         chan->scan_type.storagebits = sizeof(u32) * 8;
  64         chan->scan_type.repeat = 4;
  65 }
  66
  67 /* Channel read_raw handler */
  68 static int dev_rot_read_raw(struct iio_dev *indio_dev,
  69                                 struct iio_chan_spec const *chan,
  70                                 int size, int *vals, int *val_len,
  71                                 long mask)
  72 {
  73         struct dev_rot_state *rot_state = iio_priv(indio_dev);
  74         int ret_type;
  75         int i;
  76
  77         vals[0] = 0;
  78         vals[1] = 0;
  79
  80         switch (mask) {
  81         case IIO_CHAN_INFO_RAW:
  82                 if (size >= 4) {
  83                         for (i = 0; i < 4; ++i)
  84                                 vals[i] = rot_state->scan.sampled_vals[i];
  85                         ret_type = IIO_VAL_INT_MULTIPLE;
  86                         *val_len =  4;
  87                 } else
  88                         ret_type = -EINVAL;
  89                 break;
  90         case IIO_CHAN_INFO_SCALE:
  91                 vals[0] = rot_state->scale_pre_decml;
  92                 vals[1] = rot_state->scale_post_decml;
  93                 return rot_state->scale_precision;
  94
  95         case IIO_CHAN_INFO_OFFSET:
  96                 *vals = rot_state->value_offset;
  97                 return IIO_VAL_INT;
  98
  99         case IIO_CHAN_INFO_SAMP_FREQ:
 100                 ret_type = hid_sensor_read_samp_freq_value(
 101                         &rot_state->common_attributes, &vals[0], &vals[1]);
 102                 break;
 103         case IIO_CHAN_INFO_HYSTERESIS:
 104                 ret_type = hid_sensor_read_raw_hyst_value(
 105                         &rot_state->common_attributes, &vals[0], &vals[1]);
 106                 break;
 107         default:
 108                 ret_type = -EINVAL;
 109                 break;
 110         }
 111
 112         return ret_type;
 113 }
 114
 115 /* Channel write_raw handler */
 116 static int dev_rot_write_raw(struct iio_dev *indio_dev,
 117                                struct iio_chan_spec const *chan,
 118                                int val,
 119                                int val2,
 120                                long mask)
 121 {
 122         struct dev_rot_state *rot_state = iio_priv(indio_dev);
 123         int ret;
 124
 125         switch (mask) {
 126         case IIO_CHAN_INFO_SAMP_FREQ:
 127                 ret = hid_sensor_write_samp_freq_value(
 128                                 &rot_state->common_attributes, val, val2);
 129                 break;
 130         case IIO_CHAN_INFO_HYSTERESIS:
 131                 ret = hid_sensor_write_raw_hyst_value(
 132                                 &rot_state->common_attributes, val, val2);
 133                 break;
 134         default:
 135                 ret = -EINVAL;
 136         }
 137
 138         return ret;
 139 }
 140
 141 static const struct iio_info dev_rot_info = {
 142         .read_raw_multi = &dev_rot_read_raw,
 143         .write_raw = &dev_rot_write_raw,
 144 };
 145
 146 /* Callback handler to send event after all samples are received and captured */
 147 static int dev_rot_proc_event(struct hid_sensor_hub_device *hsdev,
 148                                 unsigned usage_id,
 149                                 void *priv)
 150 {
 151         struct iio_dev *indio_dev = platform_get_drvdata(priv);
 152         struct dev_rot_state *rot_state = iio_priv(indio_dev);
 153
 154         dev_dbg(&indio_dev->dev, "dev_rot_proc_event\n");
 155         if (atomic_read(&rot_state->common_attributes.data_ready)) {
 156                 if (!rot_state->timestamp)
 157                         rot_state->timestamp = iio_get_time_ns(indio_dev);
 158
 159                 iio_push_to_buffers_with_timestamp(indio_dev, &rot_state->scan,
 160                                                    rot_state->timestamp);
 161
 162                 rot_state->timestamp = 0;
 163         }
 164
 165         return 0;
 166 }
 167
 168 /* Capture samples in local storage */
 169 static int dev_rot_capture_sample(struct hid_sensor_hub_device *hsdev,
 170                                 unsigned usage_id,
 171                                 size_t raw_len, char *raw_data,
 172                                 void *priv)
 173 {
 174         struct iio_dev *indio_dev = platform_get_drvdata(priv);
 175         struct dev_rot_state *rot_state = iio_priv(indio_dev);
 176
 177         if (usage_id == HID_USAGE_SENSOR_ORIENT_QUATERNION) {
 178                 if (raw_len / 4 == sizeof(s16)) {
 179                         rot_state->scan.sampled_vals[0] = ((s16 *)raw_data)[0];
 180                         rot_state->scan.sampled_vals[1] = ((s16 *)raw_data)[1];
 181                         rot_state->scan.sampled_vals[2] = ((s16 *)raw_data)[2];
 182                         rot_state->scan.sampled_vals[3] = ((s16 *)raw_data)[3];
 183                 } else {
 184                         memcpy(&rot_state->scan.sampled_vals, raw_data,
 185                                sizeof(rot_state->scan.sampled_vals));
 186                 }
 187
 188                 dev_dbg(&indio_dev->dev, "Recd Quat len:%zu::%zu\n", raw_len,
 189                         sizeof(rot_state->scan.sampled_vals));
 190         } else if (usage_id == HID_USAGE_SENSOR_TIME_TIMESTAMP) {
 191                 rot_state->timestamp = hid_sensor_convert_timestamp(&rot_state->common_attributes,
 192                                                                     *(s64 *)raw_data);
 193         }
 194
 195         return 0;
 196 }
 197
 198 /* Parse report which is specific to an usage id*/
 199 static int dev_rot_parse_report(struct platform_device *pdev,
 200                                 struct hid_sensor_hub_device *hsdev,
 201                                 struct iio_chan_spec *channels,
 202                                 unsigned usage_id,
 203                                 struct dev_rot_state *st)
 204 {
 205         int ret;
 206
 207         ret = sensor_hub_input_get_attribute_info(hsdev,
 208                                 HID_INPUT_REPORT,
 209                                 usage_id,
 210                                 HID_USAGE_SENSOR_ORIENT_QUATERNION,
 211                                 &st->quaternion);
 212         if (ret)
 213                 return ret;
 214
 215         dev_rot_adjust_channel_bit_mask(&channels[0],
 216                 st->quaternion.size / 4);
 217
 218         dev_dbg(&pdev->dev, "dev_rot %x:%x\n", st->quaternion.index,
 219                 st->quaternion.report_id);
 220
 221         dev_dbg(&pdev->dev, "dev_rot: attrib size %d\n",
 222                                 st->quaternion.size);
 223
 224         st->scale_precision = hid_sensor_format_scale(
 225                                 hsdev->usage,
 226                                 &st->quaternion,
 227                                 &st->scale_pre_decml, &st->scale_post_decml);
 228
 229         return 0;
 230 }
 231
 232 /* Function to initialize the processing for usage id */
 233 static int hid_dev_rot_probe(struct platform_device *pdev)
 234 {
 235         int ret;
 236         char *name;
 237         struct iio_dev *indio_dev;
 238         struct dev_rot_state *rot_state;
 239         struct hid_sensor_hub_device *hsdev = pdev->dev.platform_data;
 240
 241         indio_dev = devm_iio_device_alloc(&pdev->dev,
 242                                           sizeof(struct dev_rot_state));
 243         if (indio_dev == NULL)
 244                 return -ENOMEM;
 245
 246         platform_set_drvdata(pdev, indio_dev);
 247
 248         rot_state = iio_priv(indio_dev);
 249         rot_state->common_attributes.hsdev = hsdev;
 250         rot_state->common_attributes.pdev = pdev;
 251
 252         switch (hsdev->usage) {
 253         case HID_USAGE_SENSOR_DEVICE_ORIENTATION:
 254                 name = "dev_rotation";
 255                 break;
 256         case HID_USAGE_SENSOR_RELATIVE_ORIENTATION:
 257                 name = "relative_orientation";
 258                 break;
 259         case HID_USAGE_SENSOR_GEOMAGNETIC_ORIENTATION:
 260                 name = "geomagnetic_orientation";
 261                 break;
 262         default:
 263                 return -EINVAL;
 264         }
 265
 266         ret = hid_sensor_parse_common_attributes(hsdev,
 267                                                  hsdev->usage,
 268                                                  &rot_state->common_attributes,
 269                                                  rotation_sensitivity_addresses,
 270                                                  ARRAY_SIZE(rotation_sensitivity_addresses));
 271         if (ret) {
 272                 dev_err(&pdev->dev, "failed to setup common attributes\n");
 273                 return ret;
 274         }
 275
 276         indio_dev->channels = devm_kmemdup(&pdev->dev, dev_rot_channels,
 277                                            sizeof(dev_rot_channels),
 278                                            GFP_KERNEL);
 279         if (!indio_dev->channels) {
 280                 dev_err(&pdev->dev, "failed to duplicate channels\n");
 281                 return -ENOMEM;
 282         }
 283
 284         ret = dev_rot_parse_report(pdev, hsdev,
 285                                    (struct iio_chan_spec *)indio_dev->channels,
 286                                         hsdev->usage, rot_state);
 287         if (ret) {
 288                 dev_err(&pdev->dev, "failed to setup attributes\n");
 289                 return ret;
 290         }
 291
 292         indio_dev->num_channels = ARRAY_SIZE(dev_rot_channels);
 293         indio_dev->info = &dev_rot_info;
 294         indio_dev->name = name;
 295         indio_dev->modes = INDIO_DIRECT_MODE;
 296
 297         atomic_set(&rot_state->common_attributes.data_ready, 0);
 298
 299         ret = hid_sensor_setup_trigger(indio_dev, name,
 300                                         &rot_state->common_attributes);
 301         if (ret) {
 302                 dev_err(&pdev->dev, "trigger setup failed\n");
 303                 return ret;
 304         }
 305
 306         ret = iio_device_register(indio_dev);
 307         if (ret) {
 308                 dev_err(&pdev->dev, "device register failed\n");
 309                 goto error_remove_trigger;
 310         }
 311
 312         rot_state->callbacks.send_event = dev_rot_proc_event;
 313         rot_state->callbacks.capture_sample = dev_rot_capture_sample;
 314         rot_state->callbacks.pdev = pdev;
 315         ret = sensor_hub_register_callback(hsdev, hsdev->usage,
 316                                         &rot_state->callbacks);
 317         if (ret) {
 318                 dev_err(&pdev->dev, "callback reg failed\n");
 319                 goto error_iio_unreg;
 320         }
 321
 322         return 0;
 323
 324 error_iio_unreg:
 325         iio_device_unregister(indio_dev);
 326 error_remove_trigger:
 327         hid_sensor_remove_trigger(indio_dev, &rot_state->common_attributes);
 328         return ret;
 329 }
 330
 331 /* Function to deinitialize the processing for usage id */
 332 static int hid_dev_rot_remove(struct platform_device *pdev)
 333 {
 334         struct hid_sensor_hub_device *hsdev = pdev->dev.platform_data;
 335         struct iio_dev *indio_dev = platform_get_drvdata(pdev);
 336         struct dev_rot_state *rot_state = iio_priv(indio_dev);
 337
 338         sensor_hub_remove_callback(hsdev, hsdev->usage);
 339         iio_device_unregister(indio_dev);
 340         hid_sensor_remove_trigger(indio_dev, &rot_state->common_attributes);
 341
 342         return 0;
 343 }
 344
 345 static const struct platform_device_id hid_dev_rot_ids[] = {
 346         {
 347                 /* Format: HID-SENSOR-usage_id_in_hex_lowercase */
 348                 .name = "HID-SENSOR-20008a",
 349         },
 350         {
 351                 /* Relative orientation(AG) sensor */
 352                 .name = "HID-SENSOR-20008e",
 353         },
 354         {
 355                 /* Geomagnetic orientation(AM) sensor */
 356                 .name = "HID-SENSOR-2000c1",
 357         },
 358         { /* sentinel */ }
 359 };
 360 MODULE_DEVICE_TABLE(platform, hid_dev_rot_ids);
 361
 362 static struct platform_driver hid_dev_rot_platform_driver = {
 363         .id_table = hid_dev_rot_ids,
 364         .driver = {
 365                 .name   = KBUILD_MODNAME,
 366                 .pm     = &hid_sensor_pm_ops,
 367         },
 368         .probe          = hid_dev_rot_probe,
 369         .remove         = hid_dev_rot_remove,
 370 };
 371 module_platform_driver(hid_dev_rot_platform_driver);
 372
 373 MODULE_DESCRIPTION("HID Sensor Device Rotation");
 374 MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com>");
 375 MODULE_LICENSE("GPL");