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
 17struct 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		IIO_DECLARE_QUATERNION(s32, sampled_vals);
 23		/*
 24		 * ABI regression avoidance: There are two copies of the same
 25		 * timestamp in case of userspace depending on broken alignment
 26		 * from older kernels.
 27		 */
 28		aligned_s64 timestamp[2];
 29	} scan;
 30	int scale_pre_decml;
 31	int scale_post_decml;
 32	int scale_precision;
 33	int value_offset;
 34	s64 timestamp;
 35};
 36
 37static const u32 rotation_sensitivity_addresses[] = {
 38	HID_USAGE_SENSOR_DATA_ORIENTATION,
 39	HID_USAGE_SENSOR_ORIENT_QUATERNION,
 40};
 41
 42/* Channel definitions */
 43static const struct iio_chan_spec dev_rot_channels[] = {
 44	{
 45		.type = IIO_ROT,
 46		.modified = 1,
 47		.channel2 = IIO_MOD_QUATERNION,
 48		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
 49		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ) |
 50					BIT(IIO_CHAN_INFO_OFFSET) |
 51					BIT(IIO_CHAN_INFO_SCALE) |
 52					BIT(IIO_CHAN_INFO_HYSTERESIS),
 53		.scan_index = 0
 54	},
 55	IIO_CHAN_SOFT_TIMESTAMP(1)
 56};
 57
 58/* Adjust channel real bits based on report descriptor */
 59static void dev_rot_adjust_channel_bit_mask(struct iio_chan_spec *chan,
 60						int size)
 61{
 62	chan->scan_type.sign = 's';
 63	/* Real storage bits will change based on the report desc. */
 64	chan->scan_type.realbits = size * 8;
 65	/* Maximum size of a sample to capture is u32 */
 66	chan->scan_type.storagebits = sizeof(u32) * 8;
 67	chan->scan_type.repeat = 4;
 68}
 69
 70/* Channel read_raw handler */
 71static int dev_rot_read_raw(struct iio_dev *indio_dev,
 72				struct iio_chan_spec const *chan,
 73				int size, int *vals, int *val_len,
 74				long mask)
 75{
 76	struct dev_rot_state *rot_state = iio_priv(indio_dev);
 77	int ret_type;
 78	int i;
 79
 80	vals[0] = 0;
 81	vals[1] = 0;
 82
 83	switch (mask) {
 84	case IIO_CHAN_INFO_RAW:
 85		if (size >= 4) {
 86			for (i = 0; i < 4; ++i)
 87				vals[i] = rot_state->scan.sampled_vals[i];
 88			ret_type = IIO_VAL_INT_MULTIPLE;
 89			*val_len =  4;
 90		} else
 91			ret_type = -EINVAL;
 92		break;
 93	case IIO_CHAN_INFO_SCALE:
 94		vals[0] = rot_state->scale_pre_decml;
 95		vals[1] = rot_state->scale_post_decml;
 96		return rot_state->scale_precision;
 97
 98	case IIO_CHAN_INFO_OFFSET:
 99		*vals = rot_state->value_offset;
100		return IIO_VAL_INT;
101
102	case IIO_CHAN_INFO_SAMP_FREQ:
103		ret_type = hid_sensor_read_samp_freq_value(
104			&rot_state->common_attributes, &vals[0], &vals[1]);
105		break;
106	case IIO_CHAN_INFO_HYSTERESIS:
107		ret_type = hid_sensor_read_raw_hyst_value(
108			&rot_state->common_attributes, &vals[0], &vals[1]);
109		break;
110	default:
111		ret_type = -EINVAL;
112		break;
113	}
114
115	return ret_type;
116}
117
118/* Channel write_raw handler */
119static int dev_rot_write_raw(struct iio_dev *indio_dev,
120			       struct iio_chan_spec const *chan,
121			       int val,
122			       int val2,
123			       long mask)
124{
125	struct dev_rot_state *rot_state = iio_priv(indio_dev);
126	int ret;
127
128	switch (mask) {
129	case IIO_CHAN_INFO_SAMP_FREQ:
130		ret = hid_sensor_write_samp_freq_value(
131				&rot_state->common_attributes, val, val2);
132		break;
133	case IIO_CHAN_INFO_HYSTERESIS:
134		ret = hid_sensor_write_raw_hyst_value(
135				&rot_state->common_attributes, val, val2);
136		break;
137	default:
138		ret = -EINVAL;
139	}
140
141	return ret;
142}
143
144static const struct iio_info dev_rot_info = {
145	.read_raw_multi = &dev_rot_read_raw,
146	.write_raw = &dev_rot_write_raw,
147};
148
149/* Callback handler to send event after all samples are received and captured */
150static int dev_rot_proc_event(struct hid_sensor_hub_device *hsdev,
151				unsigned usage_id,
152				void *priv)
153{
154	struct iio_dev *indio_dev = platform_get_drvdata(priv);
155	struct dev_rot_state *rot_state = iio_priv(indio_dev);
156
157	dev_dbg(&indio_dev->dev, "dev_rot_proc_event\n");
158	if (atomic_read(&rot_state->common_attributes.data_ready)) {
159		if (!rot_state->timestamp)
160			rot_state->timestamp = iio_get_time_ns(indio_dev);
161
162		/*
163		 * ABI regression avoidance: IIO previously had an incorrect
164		 * implementation of iio_push_to_buffers_with_timestamp() that
165		 * put the timestamp in the last 8 bytes of the buffer, which
166		 * was incorrect according to the IIO ABI. To avoid breaking
167		 * userspace that may be depending on this broken behavior, we
168		 * put the timestamp in both the correct place [0] and the old
169		 * incorrect place [1].
170		 */
171		rot_state->scan.timestamp[0] = rot_state->timestamp;
172		rot_state->scan.timestamp[1] = rot_state->timestamp;
173
174		iio_push_to_buffers(indio_dev, &rot_state->scan);
175
176		rot_state->timestamp = 0;
177	}
178
179	return 0;
180}
181
182/* Capture samples in local storage */
183static int dev_rot_capture_sample(struct hid_sensor_hub_device *hsdev,
184				unsigned usage_id,
185				size_t raw_len, char *raw_data,
186				void *priv)
187{
188	struct iio_dev *indio_dev = platform_get_drvdata(priv);
189	struct dev_rot_state *rot_state = iio_priv(indio_dev);
190
191	if (usage_id == HID_USAGE_SENSOR_ORIENT_QUATERNION) {
192		if (raw_len / 4 == sizeof(s16)) {
193			rot_state->scan.sampled_vals[0] = ((s16 *)raw_data)[0];
194			rot_state->scan.sampled_vals[1] = ((s16 *)raw_data)[1];
195			rot_state->scan.sampled_vals[2] = ((s16 *)raw_data)[2];
196			rot_state->scan.sampled_vals[3] = ((s16 *)raw_data)[3];
197		} else {
198			memcpy(&rot_state->scan.sampled_vals, raw_data,
199			       sizeof(rot_state->scan.sampled_vals));
200		}
201
202		dev_dbg(&indio_dev->dev, "Recd Quat len:%zu::%zu\n", raw_len,
203			sizeof(rot_state->scan.sampled_vals));
204	} else if (usage_id == HID_USAGE_SENSOR_TIME_TIMESTAMP) {
205		rot_state->timestamp = hid_sensor_convert_timestamp(&rot_state->common_attributes,
206								    *(s64 *)raw_data);
207	}
208
209	return 0;
210}
211
212/* Parse report which is specific to an usage id*/
213static int dev_rot_parse_report(struct platform_device *pdev,
214				struct hid_sensor_hub_device *hsdev,
215				struct iio_chan_spec *channels,
216				unsigned usage_id,
217				struct dev_rot_state *st)
218{
219	int ret;
220
221	ret = sensor_hub_input_get_attribute_info(hsdev,
222				HID_INPUT_REPORT,
223				usage_id,
224				HID_USAGE_SENSOR_ORIENT_QUATERNION,
225				&st->quaternion);
226	if (ret)
227		return ret;
228
229	dev_rot_adjust_channel_bit_mask(&channels[0],
230		st->quaternion.size / 4);
231
232	dev_dbg(&pdev->dev, "dev_rot %x:%x\n", st->quaternion.index,
233		st->quaternion.report_id);
234
235	dev_dbg(&pdev->dev, "dev_rot: attrib size %d\n",
236				st->quaternion.size);
237
238	st->scale_precision = hid_sensor_format_scale(
239				hsdev->usage,
240				&st->quaternion,
241				&st->scale_pre_decml, &st->scale_post_decml);
242
243	return 0;
244}
245
246/* Function to initialize the processing for usage id */
247static int hid_dev_rot_probe(struct platform_device *pdev)
248{
249	struct hid_sensor_hub_device *hsdev = dev_get_platdata(&pdev->dev);
250	int ret;
251	char *name;
252	struct iio_dev *indio_dev;
253	struct dev_rot_state *rot_state;
254
255	indio_dev = devm_iio_device_alloc(&pdev->dev,
256					  sizeof(struct dev_rot_state));
257	if (indio_dev == NULL)
258		return -ENOMEM;
259
260	platform_set_drvdata(pdev, indio_dev);
261
262	rot_state = iio_priv(indio_dev);
263	rot_state->common_attributes.hsdev = hsdev;
264	rot_state->common_attributes.pdev = pdev;
265
266	switch (hsdev->usage) {
267	case HID_USAGE_SENSOR_DEVICE_ORIENTATION:
268		name = "dev_rotation";
269		break;
270	case HID_USAGE_SENSOR_RELATIVE_ORIENTATION:
271		name = "relative_orientation";
272		break;
273	case HID_USAGE_SENSOR_GEOMAGNETIC_ORIENTATION:
274		name = "geomagnetic_orientation";
275		break;
276	default:
277		return -EINVAL;
278	}
279
280	ret = hid_sensor_parse_common_attributes(hsdev,
281						 hsdev->usage,
282						 &rot_state->common_attributes,
283						 rotation_sensitivity_addresses,
284						 ARRAY_SIZE(rotation_sensitivity_addresses));
285	if (ret) {
286		dev_err(&pdev->dev, "failed to setup common attributes\n");
287		return ret;
288	}
289
290	indio_dev->channels = devm_kmemdup(&pdev->dev, dev_rot_channels,
291					   sizeof(dev_rot_channels),
292					   GFP_KERNEL);
293	if (!indio_dev->channels) {
294		dev_err(&pdev->dev, "failed to duplicate channels\n");
295		return -ENOMEM;
296	}
297
298	ret = dev_rot_parse_report(pdev, hsdev,
299				   (struct iio_chan_spec *)indio_dev->channels,
300					hsdev->usage, rot_state);
301	if (ret) {
302		dev_err(&pdev->dev, "failed to setup attributes\n");
303		return ret;
304	}
305
306	indio_dev->num_channels = ARRAY_SIZE(dev_rot_channels);
307	indio_dev->info = &dev_rot_info;
308	indio_dev->name = name;
309	indio_dev->modes = INDIO_DIRECT_MODE;
310
311	atomic_set(&rot_state->common_attributes.data_ready, 0);
312
313	ret = hid_sensor_setup_trigger(indio_dev, name,
314					&rot_state->common_attributes);
315	if (ret) {
316		dev_err(&pdev->dev, "trigger setup failed\n");
317		return ret;
318	}
319
320	ret = iio_device_register(indio_dev);
321	if (ret) {
322		dev_err(&pdev->dev, "device register failed\n");
323		goto error_remove_trigger;
324	}
325
326	rot_state->callbacks.send_event = dev_rot_proc_event;
327	rot_state->callbacks.capture_sample = dev_rot_capture_sample;
328	rot_state->callbacks.pdev = pdev;
329	ret = sensor_hub_register_callback(hsdev, hsdev->usage,
330					&rot_state->callbacks);
331	if (ret) {
332		dev_err(&pdev->dev, "callback reg failed\n");
333		goto error_iio_unreg;
334	}
335
336	return 0;
337
338error_iio_unreg:
339	iio_device_unregister(indio_dev);
340error_remove_trigger:
341	hid_sensor_remove_trigger(indio_dev, &rot_state->common_attributes);
342	return ret;
343}
344
345/* Function to deinitialize the processing for usage id */
346static void hid_dev_rot_remove(struct platform_device *pdev)
347{
348	struct hid_sensor_hub_device *hsdev = dev_get_platdata(&pdev->dev);
349	struct iio_dev *indio_dev = platform_get_drvdata(pdev);
350	struct dev_rot_state *rot_state = iio_priv(indio_dev);
351
352	sensor_hub_remove_callback(hsdev, hsdev->usage);
353	iio_device_unregister(indio_dev);
354	hid_sensor_remove_trigger(indio_dev, &rot_state->common_attributes);
355}
356
357static const struct platform_device_id hid_dev_rot_ids[] = {
358	{
359		/* Format: HID-SENSOR-usage_id_in_hex_lowercase */
360		.name = "HID-SENSOR-20008a",
361	},
362	{
363		/* Relative orientation(AG) sensor */
364		.name = "HID-SENSOR-20008e",
365	},
366	{
367		/* Geomagnetic orientation(AM) sensor */
368		.name = "HID-SENSOR-2000c1",
369	},
370	{ }
371};
372MODULE_DEVICE_TABLE(platform, hid_dev_rot_ids);
373
374static struct platform_driver hid_dev_rot_platform_driver = {
375	.id_table = hid_dev_rot_ids,
376	.driver = {
377		.name	= KBUILD_MODNAME,
378		.pm     = &hid_sensor_pm_ops,
379	},
380	.probe		= hid_dev_rot_probe,
381	.remove		= hid_dev_rot_remove,
382};
383module_platform_driver(hid_dev_rot_platform_driver);
384
385MODULE_DESCRIPTION("HID Sensor Device Rotation");
386MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com>");
387MODULE_LICENSE("GPL");
388MODULE_IMPORT_NS("IIO_HID");