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/mod_devicetable.h>
  11 #include <linux/hid-sensor-hub.h>
  12 #include <linux/iio/iio.h>
  13 #include <linux/iio/sysfs.h>
  14 #include <linux/iio/buffer.h>
  15 #include "../common/hid-sensors/hid-sensor-trigger.h"
  16
  17 struct dev_rot_state {
  18         struct hid_sensor_hub_callbacks callbacks;
  19         struct hid_sensor_common common_attributes;
  20         struct hid_sensor_hub_attribute_info quaternion;
  21         struct {
  22                 s32 sampled_vals[4] __aligned(16);
  23                 aligned_s64 timestamp;
  24         } scan;
  25         int scale_pre_decml;
  26         int scale_post_decml;
  27         int scale_precision;
  28         int value_offset;
  29         s64 timestamp;
  30 };
  31
  32 static const u32 rotation_sensitivity_addresses[] = {
  33         HID_USAGE_SENSOR_DATA_ORIENTATION,
  34         HID_USAGE_SENSOR_ORIENT_QUATERNION,
  35 };
  36
  37 /* Channel definitions */
  38 static const struct iio_chan_spec dev_rot_channels[] = {
  39         {
  40                 .type = IIO_ROT,
  41                 .modified = 1,
  42                 .channel2 = IIO_MOD_QUATERNION,
  43                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
  44                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ) |
  45                                         BIT(IIO_CHAN_INFO_OFFSET) |
  46                                         BIT(IIO_CHAN_INFO_SCALE) |
  47                                         BIT(IIO_CHAN_INFO_HYSTERESIS),
  48                 .scan_index = 0
  49         },
  50         IIO_CHAN_SOFT_TIMESTAMP(1)
  51 };
  52
  53 /* Adjust channel real bits based on report descriptor */
  54 static void dev_rot_adjust_channel_bit_mask(struct iio_chan_spec *chan,
  55                                                 int size)
  56 {
  57         chan->scan_type.sign = 's';
  58         /* Real storage bits will change based on the report desc. */
  59         chan->scan_type.realbits = size * 8;
  60         /* Maximum size of a sample to capture is u32 */
  61         chan->scan_type.storagebits = sizeof(u32) * 8;
  62         chan->scan_type.repeat = 4;
  63 }
  64
  65 /* Channel read_raw handler */
  66 static int dev_rot_read_raw(struct iio_dev *indio_dev,
  67                                 struct iio_chan_spec const *chan,
  68                                 int size, int *vals, int *val_len,
  69                                 long mask)
  70 {
  71         struct dev_rot_state *rot_state = iio_priv(indio_dev);
  72         int ret_type;
  73         int i;
  74
  75         vals[0] = 0;
  76         vals[1] = 0;
  77
  78         switch (mask) {
  79         case IIO_CHAN_INFO_RAW:
  80                 if (size >= 4) {
  81                         for (i = 0; i < 4; ++i)
  82                                 vals[i] = rot_state->scan.sampled_vals[i];
  83                         ret_type = IIO_VAL_INT_MULTIPLE;
  84                         *val_len =  4;
  85                 } else
  86                         ret_type = -EINVAL;
  87                 break;
  88         case IIO_CHAN_INFO_SCALE:
  89                 vals[0] = rot_state->scale_pre_decml;
  90                 vals[1] = rot_state->scale_post_decml;
  91                 return rot_state->scale_precision;
  92
  93         case IIO_CHAN_INFO_OFFSET:
  94                 *vals = rot_state->value_offset;
  95                 return IIO_VAL_INT;
  96
  97         case IIO_CHAN_INFO_SAMP_FREQ:
  98                 ret_type = hid_sensor_read_samp_freq_value(
  99                         &rot_state->common_attributes, &vals[0], &vals[1]);
 100                 break;
 101         case IIO_CHAN_INFO_HYSTERESIS:
 102                 ret_type = hid_sensor_read_raw_hyst_value(
 103                         &rot_state->common_attributes, &vals[0], &vals[1]);
 104                 break;
 105         default:
 106                 ret_type = -EINVAL;
 107                 break;
 108         }
 109
 110         return ret_type;
 111 }
 112
 113 /* Channel write_raw handler */
 114 static int dev_rot_write_raw(struct iio_dev *indio_dev,
 115                                struct iio_chan_spec const *chan,
 116                                int val,
 117                                int val2,
 118                                long mask)
 119 {
 120         struct dev_rot_state *rot_state = iio_priv(indio_dev);
 121         int ret;
 122
 123         switch (mask) {
 124         case IIO_CHAN_INFO_SAMP_FREQ:
 125                 ret = hid_sensor_write_samp_freq_value(
 126                                 &rot_state->common_attributes, val, val2);
 127                 break;
 128         case IIO_CHAN_INFO_HYSTERESIS:
 129                 ret = hid_sensor_write_raw_hyst_value(
 130                                 &rot_state->common_attributes, val, val2);
 131                 break;
 132         default:
 133                 ret = -EINVAL;
 134         }
 135
 136         return ret;
 137 }
 138
 139 static const struct iio_info dev_rot_info = {
 140         .read_raw_multi = &dev_rot_read_raw,
 141         .write_raw = &dev_rot_write_raw,
 142 };
 143
 144 /* Callback handler to send event after all samples are received and captured */
 145 static int dev_rot_proc_event(struct hid_sensor_hub_device *hsdev,
 146                                 unsigned usage_id,
 147                                 void *priv)
 148 {
 149         struct iio_dev *indio_dev = platform_get_drvdata(priv);
 150         struct dev_rot_state *rot_state = iio_priv(indio_dev);
 151
 152         dev_dbg(&indio_dev->dev, "dev_rot_proc_event\n");
 153         if (atomic_read(&rot_state->common_attributes.data_ready)) {
 154                 if (!rot_state->timestamp)
 155                         rot_state->timestamp = iio_get_time_ns(indio_dev);
 156
 157                 iio_push_to_buffers_with_timestamp(indio_dev, &rot_state->scan,
 158                                                    rot_state->timestamp);
 159
 160                 rot_state->timestamp = 0;
 161         }
 162
 163         return 0;
 164 }
 165
 166 /* Capture samples in local storage */
 167 static int dev_rot_capture_sample(struct hid_sensor_hub_device *hsdev,
 168                                 unsigned usage_id,
 169                                 size_t raw_len, char *raw_data,
 170                                 void *priv)
 171 {
 172         struct iio_dev *indio_dev = platform_get_drvdata(priv);
 173         struct dev_rot_state *rot_state = iio_priv(indio_dev);
 174
 175         if (usage_id == HID_USAGE_SENSOR_ORIENT_QUATERNION) {
 176                 if (raw_len / 4 == sizeof(s16)) {
 177                         rot_state->scan.sampled_vals[0] = ((s16 *)raw_data)[0];
 178                         rot_state->scan.sampled_vals[1] = ((s16 *)raw_data)[1];
 179                         rot_state->scan.sampled_vals[2] = ((s16 *)raw_data)[2];
 180                         rot_state->scan.sampled_vals[3] = ((s16 *)raw_data)[3];
 181                 } else {
 182                         memcpy(&rot_state->scan.sampled_vals, raw_data,
 183                                sizeof(rot_state->scan.sampled_vals));
 184                 }
 185
 186                 dev_dbg(&indio_dev->dev, "Recd Quat len:%zu::%zu\n", raw_len,
 187                         sizeof(rot_state->scan.sampled_vals));
 188         } else if (usage_id == HID_USAGE_SENSOR_TIME_TIMESTAMP) {
 189                 rot_state->timestamp = hid_sensor_convert_timestamp(&rot_state->common_attributes,
 190                                                                     *(s64 *)raw_data);
 191         }
 192
 193         return 0;
 194 }
 195
 196 /* Parse report which is specific to an usage id*/
 197 static int dev_rot_parse_report(struct platform_device *pdev,
 198                                 struct hid_sensor_hub_device *hsdev,
 199                                 struct iio_chan_spec *channels,
 200                                 unsigned usage_id,
 201                                 struct dev_rot_state *st)
 202 {
 203         int ret;
 204
 205         ret = sensor_hub_input_get_attribute_info(hsdev,
 206                                 HID_INPUT_REPORT,
 207                                 usage_id,
 208                                 HID_USAGE_SENSOR_ORIENT_QUATERNION,
 209                                 &st->quaternion);
 210         if (ret)
 211                 return ret;
 212
 213         dev_rot_adjust_channel_bit_mask(&channels[0],
 214                 st->quaternion.size / 4);
 215
 216         dev_dbg(&pdev->dev, "dev_rot %x:%x\n", st->quaternion.index,
 217                 st->quaternion.report_id);
 218
 219         dev_dbg(&pdev->dev, "dev_rot: attrib size %d\n",
 220                                 st->quaternion.size);
 221
 222         st->scale_precision = hid_sensor_format_scale(
 223                                 hsdev->usage,
 224                                 &st->quaternion,
 225                                 &st->scale_pre_decml, &st->scale_post_decml);
 226
 227         return 0;
 228 }
 229
 230 /* Function to initialize the processing for usage id */
 231 static int hid_dev_rot_probe(struct platform_device *pdev)
 232 {
 233         struct hid_sensor_hub_device *hsdev = dev_get_platdata(&pdev->dev);
 234         int ret;
 235         char *name;
 236         struct iio_dev *indio_dev;
 237         struct dev_rot_state *rot_state;
 238
 239         indio_dev = devm_iio_device_alloc(&pdev->dev,
 240                                           sizeof(struct dev_rot_state));
 241         if (indio_dev == NULL)
 242                 return -ENOMEM;
 243
 244         platform_set_drvdata(pdev, indio_dev);
 245
 246         rot_state = iio_priv(indio_dev);
 247         rot_state->common_attributes.hsdev = hsdev;
 248         rot_state->common_attributes.pdev = pdev;
 249
 250         switch (hsdev->usage) {
 251         case HID_USAGE_SENSOR_DEVICE_ORIENTATION:
 252                 name = "dev_rotation";
 253                 break;
 254         case HID_USAGE_SENSOR_RELATIVE_ORIENTATION:
 255                 name = "relative_orientation";
 256                 break;
 257         case HID_USAGE_SENSOR_GEOMAGNETIC_ORIENTATION:
 258                 name = "geomagnetic_orientation";
 259                 break;
 260         default:
 261                 return -EINVAL;
 262         }
 263
 264         ret = hid_sensor_parse_common_attributes(hsdev,
 265                                                  hsdev->usage,
 266                                                  &rot_state->common_attributes,
 267                                                  rotation_sensitivity_addresses,
 268                                                  ARRAY_SIZE(rotation_sensitivity_addresses));
 269         if (ret) {
 270                 dev_err(&pdev->dev, "failed to setup common attributes\n");
 271                 return ret;
 272         }
 273
 274         indio_dev->channels = devm_kmemdup(&pdev->dev, dev_rot_channels,
 275                                            sizeof(dev_rot_channels),
 276                                            GFP_KERNEL);
 277         if (!indio_dev->channels) {
 278                 dev_err(&pdev->dev, "failed to duplicate channels\n");
 279                 return -ENOMEM;
 280         }
 281
 282         ret = dev_rot_parse_report(pdev, hsdev,
 283                                    (struct iio_chan_spec *)indio_dev->channels,
 284                                         hsdev->usage, rot_state);
 285         if (ret) {
 286                 dev_err(&pdev->dev, "failed to setup attributes\n");
 287                 return ret;
 288         }
 289
 290         indio_dev->num_channels = ARRAY_SIZE(dev_rot_channels);
 291         indio_dev->info = &dev_rot_info;
 292         indio_dev->name = name;
 293         indio_dev->modes = INDIO_DIRECT_MODE;
 294
 295         atomic_set(&rot_state->common_attributes.data_ready, 0);
 296
 297         ret = hid_sensor_setup_trigger(indio_dev, name,
 298                                         &rot_state->common_attributes);
 299         if (ret) {
 300                 dev_err(&pdev->dev, "trigger setup failed\n");
 301                 return ret;
 302         }
 303
 304         ret = iio_device_register(indio_dev);
 305         if (ret) {
 306                 dev_err(&pdev->dev, "device register failed\n");
 307                 goto error_remove_trigger;
 308         }
 309
 310         rot_state->callbacks.send_event = dev_rot_proc_event;
 311         rot_state->callbacks.capture_sample = dev_rot_capture_sample;
 312         rot_state->callbacks.pdev = pdev;
 313         ret = sensor_hub_register_callback(hsdev, hsdev->usage,
 314                                         &rot_state->callbacks);
 315         if (ret) {
 316                 dev_err(&pdev->dev, "callback reg failed\n");
 317                 goto error_iio_unreg;
 318         }
 319
 320         return 0;
 321
 322 error_iio_unreg:
 323         iio_device_unregister(indio_dev);
 324 error_remove_trigger:
 325         hid_sensor_remove_trigger(indio_dev, &rot_state->common_attributes);
 326         return ret;
 327 }
 328
 329 /* Function to deinitialize the processing for usage id */
 330 static void hid_dev_rot_remove(struct platform_device *pdev)
 331 {
 332         struct hid_sensor_hub_device *hsdev = dev_get_platdata(&pdev->dev);
 333         struct iio_dev *indio_dev = platform_get_drvdata(pdev);
 334         struct dev_rot_state *rot_state = iio_priv(indio_dev);
 335
 336         sensor_hub_remove_callback(hsdev, hsdev->usage);
 337         iio_device_unregister(indio_dev);
 338         hid_sensor_remove_trigger(indio_dev, &rot_state->common_attributes);
 339 }
 340
 341 static const struct platform_device_id hid_dev_rot_ids[] = {
 342         {
 343                 /* Format: HID-SENSOR-usage_id_in_hex_lowercase */
 344                 .name = "HID-SENSOR-20008a",
 345         },
 346         {
 347                 /* Relative orientation(AG) sensor */
 348                 .name = "HID-SENSOR-20008e",
 349         },
 350         {
 351                 /* Geomagnetic orientation(AM) sensor */
 352                 .name = "HID-SENSOR-2000c1",
 353         },
 354         { /* sentinel */ }
 355 };
 356 MODULE_DEVICE_TABLE(platform, hid_dev_rot_ids);
 357
 358 static struct platform_driver hid_dev_rot_platform_driver = {
 359         .id_table = hid_dev_rot_ids,
 360         .driver = {
 361                 .name   = KBUILD_MODNAME,
 362                 .pm     = &hid_sensor_pm_ops,
 363         },
 364         .probe          = hid_dev_rot_probe,
 365         .remove         = hid_dev_rot_remove,
 366 };
 367 module_platform_driver(hid_dev_rot_platform_driver);
 368
 369 MODULE_DESCRIPTION("HID Sensor Device Rotation");
 370 MODULE_AUTHOR("Srinivas Pandruvada <[email protected]>");
 371 MODULE_LICENSE("GPL");
 372 MODULE_IMPORT_NS("IIO_HID");