2021-02-16 15:48:46 +01:00
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#include <linux/init.h>
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#include <linux/fs.h>
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#include <linux/module.h>
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#include <linux/kernel.h>
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#include <linux/of.h>
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#include <linux/i2c.h>
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#include <linux/miscdevice.h>
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#include <linux/interrupt.h>
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#include <linux/uaccess.h>
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#define FIFO_SIZE 64
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// TODO: Déclarer toutes les variables en début de code pour faire plaisir à GCC90.
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// TODO: Changer la déclaration des variables utiles à l'i2c
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// Prototypes +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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ssize_t adxl345_read(struct file *, char __user *, size_t, loff_t *);
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// Structures +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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struct Sample {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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struct Fifo {
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struct Sample content[FIFO_SIZE];
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int read_idx;
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int write_idx;
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};
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struct adxl345_device{
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struct Fifo fifo;
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struct miscdevice miscdev;
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};
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struct file_operations adxl345_fops = {
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.owner = THIS_MODULE,
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.read = adxl345_read,
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};
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// FIFO management functions ++++++++++++++++++++++++++++++++++++++++++
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static void fifo_init(struct Fifo *f) {
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f->read_idx = 0;
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f->write_idx = 0;
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}
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static int fifo_len(struct Fifo *f) {
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if (f->write_idx >= f->read_idx) {
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return f->write_idx - f->read_idx;
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} else {
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return FIFO_SIZE - f->read_idx + f->write_idx + 1;
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}
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}
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static void fifo_push(struct Fifo *f, struct Sample *s) {
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f->content[f->write_idx] = *s;
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f->write_idx = (f->write_idx + 1) % FIFO_SIZE;
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2021-02-17 11:37:06 +01:00
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// Push read index because we keep only the {FIFO_SIZE} last samples
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if(f->write_idx == f->read_idx){
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f->read_idx = (f->read_idx + 1) % FIFO_SIZE;
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}
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2021-02-16 15:48:46 +01:00
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}
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static struct Sample fifo_pop(struct Fifo *f) {
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struct Sample res = f->content[f->read_idx];
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f->read_idx = (f->read_idx + 1) % FIFO_SIZE;
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return res;
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}
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// Fonctions ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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ssize_t adxl345_read(struct file *file, char __user *buf, size_t count, loff_t *f_pos){
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2021-02-18 01:16:05 +01:00
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char nsample;
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char rest;
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2021-02-18 10:29:11 +01:00
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unsigned char res[FIFO_SIZE*6]; // Not res[count] to avoid C99 warning
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2021-02-18 01:16:05 +01:00
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int i=0;
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int16_t direction_sample;
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struct Sample sample;
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2021-02-18 10:29:11 +01:00
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int ret;
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2021-02-18 01:16:05 +01:00
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2021-02-16 15:48:46 +01:00
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// TODO: permetre de choisir l'axe de lecture
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2021-02-18 01:16:05 +01:00
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//pr_info("In adxl345_read function\n");
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2021-02-16 15:48:46 +01:00
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// Recuperation de la structure adxl345
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struct adxl345_device *d = container_of(file->private_data,struct adxl345_device,miscdev);
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2021-02-18 01:16:05 +01:00
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//pr_info("Got pointer to adxl345_device structure\n");
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// Compute the number of complete samples (6 bytes) to get
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nsample = count/6;
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rest = count%6;
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// Adjust what to get depending on the number of sample in the fifo
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if(fifo_len(&(d->fifo))<=nsample){
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nsample = fifo_len(&(d->fifo));
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rest = 0;
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}
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2021-02-16 15:48:46 +01:00
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2021-02-18 10:29:11 +01:00
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//pr_info("%i sample in fifo\nGetting %i full sample and %i more bytes\n",fifo_len(&(d->fifo)),nsample,rest);
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2021-02-16 15:48:46 +01:00
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2021-02-18 01:16:05 +01:00
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// Get the full samples
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for(i=0;i<nsample;i++){
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//pr_info("Getting sample %i\n",i);
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2021-02-16 15:48:46 +01:00
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sample = fifo_pop(&(d->fifo));
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2021-02-18 01:16:05 +01:00
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res[i*6+1] = (unsigned char) (sample.x>>8);
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res[i*6+0] = (unsigned char) (sample.x & 0x00ff);
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res[i*6+3] = (unsigned char) (sample.y>>8);
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res[i*6+2] = (unsigned char) (sample.y & 0x00ff);
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res[i*6+5] = (unsigned char) (sample.z>>8);
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res[i*6+4] = (unsigned char) (sample.z & 0x00ff);
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//pr_info("%i %i %i\n",sample.x,sample.y,sample.z);
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2021-02-16 15:48:46 +01:00
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}
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2021-02-18 01:16:05 +01:00
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// Get the rest
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2021-02-18 10:29:11 +01:00
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if(rest>0){
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sample = fifo_pop(&(d->fifo));
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}
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2021-02-18 01:16:05 +01:00
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for(i=nsample*6;i<nsample*6+rest;i++){
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//pr_info("Getting Byte %i/%i\n",i,nsample*6+rest);
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// Get the correct direction
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if(i-nsample*6<2){direction_sample = sample.x;} // X
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else if(i-nsample*6<4){direction_sample = sample.y;} // Y
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else{direction_sample = sample.z;} // Z
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// Extract the correct byte from the direction sample
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res[i] = direction_sample & (0xff<<(i%2)*2);
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}
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2021-02-16 15:48:46 +01:00
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// Ecriture du resultat dans le buffer de retour
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2021-02-18 01:16:05 +01:00
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//pr_info("%x %x %x %x\n",res[3], res[2], res[1],res[0]);
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2021-02-18 10:29:11 +01:00
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if((ret = copy_to_user(buf, res, nsample*6+rest)) > 0){
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pr_info("%i bytes not copied to user\n",ret);
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return(-1);
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}
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2021-02-16 15:48:46 +01:00
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2021-02-18 01:16:05 +01:00
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return (ssize_t)nsample*6+rest;
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2021-02-16 15:48:46 +01:00
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}
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irq_handler_t adxl345_int(int irq, struct adxl345_device * d){
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2021-02-17 11:37:06 +01:00
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struct Sample sample;
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2021-02-16 15:48:46 +01:00
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2021-02-18 10:29:11 +01:00
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char question = 0x39;
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2021-02-17 11:37:06 +01:00
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unsigned char response[6];
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2021-02-16 15:48:46 +01:00
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char ret_code[2];
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2021-02-17 11:37:06 +01:00
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char nentries;
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char nsample;
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char i;
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2021-02-16 15:48:46 +01:00
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2021-02-17 11:37:06 +01:00
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struct miscdevice miscdev = d->miscdev;
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struct device *dev = miscdev.parent;
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struct i2c_client *client = container_of(dev,struct i2c_client,dev);
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2021-02-16 15:48:46 +01:00
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2021-02-17 11:37:06 +01:00
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// Get number of entries in Hard FIFO
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2021-02-18 10:29:11 +01:00
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ret_code[0] = i2c_master_send(client,&question,1);
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2021-02-16 15:48:46 +01:00
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ret_code[1] = i2c_master_recv(client,response,1);
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if(ret_code[0] < 0 || ret_code[1] < 0){
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pr_info("Error in reading FIFO STATUS: %i %i\n",ret_code[0], ret_code[1]);
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}
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2021-02-17 11:37:06 +01:00
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nentries = response[0] & 0x3f;
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//pr_info("Getting %i sample from the Hard FIFO:\n",nentries);
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for(i=nentries; i>0; i--){
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// Get entries from Hard FIFO
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2021-02-18 10:29:11 +01:00
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question = 0x32;
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ret_code[0] = i2c_master_send(client,&question,1);
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2021-02-17 11:37:06 +01:00
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ret_code[1] = i2c_master_recv(client,response,6);
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sample.x = (int16_t)(response[1]<<8 | response[0]);
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sample.y = (int16_t)(response[3]<<8 | response[2]);
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sample.z = (int16_t)(response[5]<<8 | response[4]);
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//pr_info(" Nouveau Sample: X=%i Y=%i Z=%i\n",sample.x,sample.y,sample.z);
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fifo_push(&(d->fifo), &sample);
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}
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2021-02-16 15:48:46 +01:00
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nsample = fifo_len(&(d->fifo));
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2021-02-17 11:37:06 +01:00
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//pr_info("%i samples in Soft FIFO\n",nsample);
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2021-02-16 15:48:46 +01:00
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2021-02-18 10:29:11 +01:00
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return (void *)IRQ_HANDLED;
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2021-02-16 15:48:46 +01:00
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}
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static int adxl345_probe(struct i2c_client *client,const struct i2c_device_id *id){
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2021-02-18 10:29:11 +01:00
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// i2c variables
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char question[2];
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char response[1];
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char ret_code;
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// Interuption variables
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void *int_ptr = &adxl345_int;
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const char *device_name = "adxl345";
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int code;
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// Init adxl345_device
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2021-02-16 15:48:46 +01:00
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struct adxl345_device *d;
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d = (struct adxl345_device *) kzalloc(sizeof(struct adxl345_device), GFP_KERNEL);
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pr_info("adxl_345_device and file_operation struct allocated\n");
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2021-02-18 10:29:11 +01:00
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// Init FIFO
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2021-02-16 15:48:46 +01:00
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fifo_init(&(d->fifo));
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pr_info("Fifo Initialized\n");
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2021-02-18 10:29:11 +01:00
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// Init i2c_client
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2021-02-16 15:48:46 +01:00
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i2c_set_clientdata(client,d);
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pr_info("i2c_clientdata set\n");
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2021-02-18 10:29:11 +01:00
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// Populate miscdev fields
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2021-02-16 15:48:46 +01:00
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d->miscdev.parent = &(client->dev);
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d->miscdev.minor = MISC_DYNAMIC_MINOR;
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d->miscdev.name = "adxl345";
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d->miscdev.fops = &adxl345_fops;
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2021-02-18 10:29:11 +01:00
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//pr_info("miscdev fields set\n");
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2021-02-16 15:48:46 +01:00
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2021-02-18 10:29:11 +01:00
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// Registering to misc
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2021-02-16 15:48:46 +01:00
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misc_register(&(d->miscdev));
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2021-02-18 10:29:11 +01:00
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//pr_info("misc_register set\n");
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//pr_info("Misc minor is: %i\n",d->miscdev.minor);
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2021-02-16 15:48:46 +01:00
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// Verify device ID
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question[0] = 0x00;
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question[1] = 0x00;
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i2c_master_send(client,question,1);
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ret_code = i2c_master_recv(client,response,1);
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if(ret_code < 0){
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pr_info("i2c return code: %i\n",ret_code);
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}
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2021-02-18 10:29:11 +01:00
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//pr_info("DEVID: %x\n",*response);
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2021-02-16 15:48:46 +01:00
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2021-02-18 10:29:11 +01:00
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// Set device parameters
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2021-02-16 15:48:46 +01:00
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// Power control measure mode
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question[0] = 0x2D;
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question[1] = 0x08;
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ret_code = i2c_master_send(client,question,2);
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if(ret_code < 0){
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pr_info("Error when setting Power Control parameter.\nReturn code: %i\n", ret_code);
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}
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// BW_RATE = 100 Hz
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question[0] = 0x2C;
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question[1] = 0x0A;
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ret_code = i2c_master_send(client,question,2);
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if(ret_code < 0){
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pr_info("Error when setting Data Rate parameter.\nReturn code: %i\n", ret_code);
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}
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// Data Format
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question[0] = 0x31;
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question[1] = 0x00;
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ret_code = i2c_master_send(client,question,2);
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if(ret_code < 0){
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pr_info("Error when setting Data Format parameter.\nReturn code: %i\n", ret_code);
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}
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// Set FIFO to Stream mode with 20 sample
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question[0] = 0x38;
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question[1] = 0x94;
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ret_code = i2c_master_send(client,question,2);
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if(ret_code < 0){
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pr_info("Error when setting FIFO mode parameter.\nReturn code: %i\n", ret_code);
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}
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// Watermark Interruption Enabled
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question[0] = 0x2e;
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question[1] = 0x02;
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ret_code = i2c_master_send(client,question,2);
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if(ret_code < 0){
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pr_info("Error when setting Interuptions parameter.\nReturn code: %i\n", ret_code);
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}
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pr_info("Device Setting done.\n");
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// Interruption Handler:
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code = devm_request_threaded_irq(&(client->dev),client->irq, NULL, int_ptr, IRQF_ONESHOT, device_name, d);
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2021-02-18 10:29:11 +01:00
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//pr_info("irq declaration done. Irq number: %i\n",client->irq);
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//pr_info("irq request return code: %i\n",code);
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2021-02-16 15:48:46 +01:00
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2021-02-18 10:29:11 +01:00
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pr_info("ADXL345 device setup done.\n");
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2021-02-16 15:48:46 +01:00
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return(0);
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}
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static int adxl345_remove(struct i2c_client *client)
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{
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// Allocate question(address), response, and return code. All Char
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2021-02-18 10:29:11 +01:00
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struct adxl345_device *d;
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char question[2];
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char ret_code;
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2021-02-16 15:48:46 +01:00
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// Power control measure mode
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question[0] = 0x2D;
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question[1] = 0x00;
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ret_code = i2c_master_send(client,question,2);
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if(ret_code < 0){
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pr_info("Error when setting device in standby mode.\nReturn code: %i\n", ret_code);
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2021-02-18 10:29:11 +01:00
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return(1);
|
2021-02-16 15:48:46 +01:00
|
|
|
}
|
|
|
|
else{
|
2021-02-18 10:29:11 +01:00
|
|
|
pr_info("ADXL345 Device put to standby mode.");
|
2021-02-16 15:48:46 +01:00
|
|
|
}
|
2021-02-18 10:29:11 +01:00
|
|
|
|
2021-02-16 15:48:46 +01:00
|
|
|
// récupération de l'instance de adxl345_device
|
|
|
|
d = i2c_get_clientdata(client);
|
|
|
|
// Désenregistrement de misc
|
|
|
|
misc_deregister(&(d->miscdev));
|
|
|
|
|
2021-02-18 10:29:11 +01:00
|
|
|
pr_info("ADXL345 Device unregistered.\n");
|
2021-02-16 15:48:46 +01:00
|
|
|
|
|
|
|
return(0);
|
|
|
|
}
|
|
|
|
|
|
|
|
/* La liste suivante permet l'association entre un périphérique et son
|
|
|
|
pilote dans le cas d'une initialisation statique sans utilisation de
|
|
|
|
device tree.
|
|
|
|
|
|
|
|
Chaque entrée contient une chaîne de caractère utilisée pour
|
|
|
|
faire l'association et un entier qui peut être utilisé par le
|
|
|
|
pilote pour effectuer des traitements différents en fonction
|
|
|
|
du périphérique physique détecté (cas d'un pilote pouvant gérer
|
|
|
|
différents modèles de périphérique).
|
|
|
|
*/
|
|
|
|
static struct i2c_device_id adxl345_idtable[] = {
|
|
|
|
{ "adxl345", 0 },
|
|
|
|
{ }
|
|
|
|
};
|
|
|
|
MODULE_DEVICE_TABLE(i2c, adxl345_idtable);
|
|
|
|
|
|
|
|
#ifdef CONFIG_OF
|
|
|
|
/* Si le support des device trees est disponible, la liste suivante
|
|
|
|
permet de faire l'association à l'aide du device tree.
|
|
|
|
|
|
|
|
Chaque entrée contient une structure de type of_device_id. Le champ
|
|
|
|
compatible est une chaîne qui est utilisée pour faire l'association
|
|
|
|
avec les champs compatible dans le device tree. Le champ data est
|
|
|
|
un pointeur void* qui peut être utilisé par le pilote pour
|
|
|
|
effectuer des traitements différents en fonction du périphérique
|
|
|
|
physique détecté.
|
|
|
|
*/
|
|
|
|
static const struct of_device_id adxl345_of_match[] = {
|
|
|
|
{ .compatible = "tp,testi2cdev",
|
|
|
|
.data = NULL },
|
|
|
|
{}
|
|
|
|
};
|
|
|
|
|
|
|
|
MODULE_DEVICE_TABLE(of, adxl345_of_match);
|
|
|
|
#endif
|
|
|
|
|
|
|
|
static struct i2c_driver adxl345_driver = {
|
|
|
|
.driver = {
|
|
|
|
/* Le champ name doit correspondre au nom du module
|
|
|
|
et ne doit pas contenir d'espace */
|
|
|
|
.name = "adxl345",
|
|
|
|
.of_match_table = of_match_ptr(adxl345_of_match),
|
|
|
|
},
|
|
|
|
|
|
|
|
.id_table = adxl345_idtable,
|
|
|
|
.probe = adxl345_probe,
|
|
|
|
.remove = adxl345_remove,
|
|
|
|
};
|
|
|
|
|
|
|
|
module_i2c_driver(adxl345_driver);
|
|
|
|
|
|
|
|
MODULE_LICENSE("GPL");
|
|
|
|
MODULE_DESCRIPTION("ADXL345 driver");
|
|
|
|
MODULE_AUTHOR("Arthur Grisel-Davy");
|