add l3g20d Gyroscope support

drivers/input/sensors/gyro/Kconfig

@@ -16,4 +16,9 @@ config GYRO_K3G
   bool "gyroscope k3g"
 	default n
 
+config GYRO_L3G20D
+  bool "gyroscope l3g20d"
+	default n
+
+
 endif

drivers/input/sensors/gyro/Makefile

@@ -1,4 +1,5 @@
 # gyroscope drivers
 
 obj-$(CONFIG_GYRO_SENSOR_K3G) 	+= k3g.o
-obj-$(CONFIG_GYRO_L3G4200D) 	+= l3g4200d.o
+obj-$(CONFIG_GYRO_L3G4200D) 	+= l3g4200d.o
+obj-$(CONFIG_GYRO_L3G20D) 	+= l3g20d.o

drivers/input/sensors/gyro/l3g20d.c

@@ -0,0 +1,264 @@
+/* drivers/input/sensors/access/kxtik.c
+ *
+ * Copyright (C) 2012-2015 ROCKCHIP.
+ * Author: luowei <lw@rock-chips.com>
+ *
+ * This software is licensed under the terms of the GNU General Public
+ * License version 2, as published by the Free Software Foundation, and
+ * may be copied, distributed, and modified under those terms.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ */
+#include <linux/interrupt.h>
+#include <linux/i2c.h>
+#include <linux/slab.h>
+#include <linux/irq.h>
+#include <linux/miscdevice.h>
+#include <linux/gpio.h>
+#include <asm/uaccess.h>
+#include <asm/atomic.h>
+#include <linux/delay.h>
+#include <linux/input.h>
+#include <linux/workqueue.h>
+#include <linux/freezer.h>
+#include <mach/gpio.h>
+#include <mach/board.h> 
+#ifdef CONFIG_HAS_EARLYSUSPEND
+#include <linux/earlysuspend.h>
+#endif
+#include <linux/l3g4200d.h>
+#include <linux/sensor-dev.h>
+
+#if 0
+#define SENSOR_DEBUG_TYPE SENSOR_TYPE_GYROSCOPE
+#define DBG(x...) if(sensor->pdata->type == SENSOR_DEBUG_TYPE) printk(x)
+#else
+#define DBG(x...)
+#endif
+
+#define L3G4200D_ENABLE			0x08
+
+/****************operate according to sensor chip:start************/
+
+static int sensor_active(struct i2c_client *client, int enable, int rate)
+{
+	struct sensor_private_data *sensor =
+	    (struct sensor_private_data *) i2c_get_clientdata(client);	
+	int result = 0;
+	int status = 0;
+		
+	sensor->ops->ctrl_data = sensor_read_reg(client, sensor->ops->ctrl_reg);
+
+	//register setting according to chip datasheet		
+	if(enable)
+	{	
+		status = L3G4200D_ENABLE;	//l3g20d	
+		sensor->ops->ctrl_data |= status;	
+	}
+	else
+	{
+		status = ~L3G4200D_ENABLE;	//l3g20d
+		sensor->ops->ctrl_data &= status;
+	}
+
+	DBG("%s:reg=0x%x,reg_ctrl=0x%x,enable=%d\n",__func__,sensor->ops->ctrl_reg, sensor->ops->ctrl_data, enable);
+	result = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data);
+	if(result)
+		printk("%s:fail to active sensor\n",__func__);
+
+	return result;
+
+}
+
+static int sensor_init(struct i2c_client *client)
+{	
+	struct sensor_private_data *sensor =
+	    (struct sensor_private_data *) i2c_get_clientdata(client);	
+	int result = 0;	
+	unsigned char buf[5];		
+	unsigned char data = 0;
+	int i = 0;
+	
+	result = sensor->ops->active(client,0,0);
+	if(result)
+	{
+		printk("%s:line=%d,error\n",__func__,__LINE__);
+		return result;
+	}
+	
+	sensor->status_cur = SENSOR_OFF;
+	
+	buf[0] = 0x07;	//27
+	buf[1] = 0x00;	
+	buf[2] = 0x00;	
+	buf[3] = 0x20;	//0x00
+	buf[4] = 0x00;	
+	for(i=0; i<5; i++)
+	{
+		result = sensor_write_reg(client, sensor->ops->ctrl_reg+i, buf[i]);
+		if(result)
+		{
+			printk("%s:line=%d,error\n",__func__,__LINE__);
+			return result;
+		}
+	}
+	
+	result = sensor_read_reg(client, sensor->ops->ctrl_reg);
+	if (result >= 0)
+		data = result & 0x000F;
+
+	sensor->ops->ctrl_data = data + ODR100_BW12_5;	
+	result = sensor_write_reg(client, sensor->ops->ctrl_reg, sensor->ops->ctrl_data);
+	if(result)
+	{
+		printk("%s:line=%d,error\n",__func__,__LINE__);
+		return result;
+	}
+	
+	return result;
+}
+
+
+static int gyro_report_value(struct i2c_client *client, struct sensor_axis *axis)
+{
+	struct sensor_private_data *sensor =
+	    	(struct sensor_private_data *) i2c_get_clientdata(client);	
+
+	/* Report GYRO  information */
+	input_report_rel(sensor->input_dev, ABS_RX, axis->x);
+	input_report_rel(sensor->input_dev, ABS_RY, axis->y);
+	input_report_rel(sensor->input_dev, ABS_RZ, axis->z);
+	input_sync(sensor->input_dev);
+	DBG("gyro x==%d  y==%d z==%d\n",axis->x,axis->y,axis->z);
+
+	return 0;
+}
+
+static int sensor_report_value(struct i2c_client *client)
+{
+	struct sensor_private_data *sensor =
+	    	(struct sensor_private_data *) i2c_get_clientdata(client);	
+	struct sensor_platform_data *pdata = sensor->pdata;
+	int ret = 0;
+	int x = 0, y = 0, z = 0;
+	struct sensor_axis axis;
+	char buffer[6] = {0};	
+	int i = 0;
+	int value = 0;
+	
+	if(sensor->ops->read_len < 6)	//sensor->ops->read_len = 6
+	{
+		printk("%s:lenth is error,len=%d\n",__func__,sensor->ops->read_len);
+		return -1;
+	}
+	
+	memset(buffer, 0, 6);
+#if 0	
+	/* Data bytes from hardware xL, xH, yL, yH, zL, zH */	
+	do {
+		buffer[0] = sensor->ops->read_reg;
+		ret = sensor_rx_data(client, buffer, sensor->ops->read_len);
+		if (ret < 0)
+		return ret;
+	} while (0);
+#else
+
+	for(i=0; i<6; i++)
+	{
+		//buffer[i] = sensor->ops->read_reg + i;	
+		buffer[i] = sensor_read_reg(client, sensor->ops->read_reg + i);
+	}
+#endif
+	x = (short) (((buffer[1]) << 8) | buffer[0]);
+	y = (short) (((buffer[3]) << 8) | buffer[2]);
+	z = (short) (((buffer[5]) << 8) | buffer[4]);
+
+	DBG("%s: x=%d  y=%d z=%d \n",__func__, x,y,z);
+	if(pdata && pdata->orientation)
+	{
+		axis.x = (pdata->orientation[0])*x + (pdata->orientation[1])*y + (pdata->orientation[2])*z;
+		axis.y = (pdata->orientation[3])*x + (pdata->orientation[4])*y + (pdata->orientation[5])*z;	
+		axis.z = (pdata->orientation[6])*x + (pdata->orientation[7])*y + (pdata->orientation[8])*z;
+	}
+	else
+	{
+		axis.x = x;	
+		axis.y = y;
+		axis.z = z;	
+	}
+
+	//filter gyro data
+	if((abs(axis.x) > pdata->x_min)||(abs(axis.y) > pdata->y_min)||(abs(axis.z) > pdata->z_min))
+	{	
+		gyro_report_value(client, &axis);	
+
+		 /* »¥³âµØ»º´æÊý¾Ý. */
+		mutex_lock(&(sensor->data_mutex) );
+		sensor->axis = axis;
+		mutex_unlock(&(sensor->data_mutex) );
+	}	
+
+	if((sensor->pdata->irq_enable)&& (sensor->ops->int_status_reg >= 0))	//read sensor intterupt status register
+	{
+		
+		value = sensor_read_reg(client, sensor->ops->int_status_reg);
+		DBG("%s:sensor int status :0x%x\n",__func__,value);
+	}
+	
+	return ret;
+}
+
+
+static struct sensor_operate gyro_l3g20d_ops = {
+	.name				= "l3g20d",
+	.type				= SENSOR_TYPE_GYROSCOPE,//sensor type and it should be correct
+	.id_i2c				= GYRO_ID_L3G20D,		//i2c id number
+	.read_reg			= GYRO_DATA_REG,		//read data
+	.read_len			= 6,				//data length
+	.id_reg				= GYRO_WHO_AM_I,		//read device id from this register
+	.id_data 			= GYRO_DEVID_L3G20D,		//device id
+	.precision			= 8,				//8 bits
+	.ctrl_reg 			= GYRO_CTRL_REG1,		//enable or disable 
+	.int_status_reg 		= GYRO_INT_SRC,			//intterupt status register,if no exist then -1
+	.range				= {-32768,32768},		//range
+	.trig				= IRQF_TRIGGER_LOW|IRQF_ONESHOT,		
+	.active				= sensor_active,	
+	.init				= sensor_init,
+	.report				= sensor_report_value,
+};
+
+/****************operate according to sensor chip:end************/
+
+//function name should not be changed
+static struct sensor_operate *gyro_get_ops(void)
+{
+	return &gyro_l3g20d_ops;
+}
+
+
+static int __init gyro_l3g20d_init(void)
+{
+	struct sensor_operate *ops = gyro_get_ops();
+	int result = 0;
+	int type = ops->type;
+	result = sensor_register_slave(type, NULL, NULL, gyro_get_ops);
+	DBG("%s\n",__func__);
+	return result;
+}
+
+static void __exit gyro_l3g20d_exit(void)
+{
+	struct sensor_operate *ops = gyro_get_ops();
+	int type = ops->type;
+	sensor_unregister_slave(type, NULL, NULL, gyro_get_ops);
+}
+
+
+module_init(gyro_l3g20d_init);
+module_exit(gyro_l3g20d_exit);
+
+

drivers/input/sensors/sensor-dev.c

@@ -1712,6 +1712,7 @@ static const struct i2c_device_id sensor_id[] = {
 	/*gyroscope*/
 	{"gyro", GYRO_ID_ALL},	
 	{"l3g4200d_gryo", GYRO_ID_L3G4200D},
+        {"l3g20d_gryo", GYRO_ID_L3G20D},
 	{"k3g", GYRO_ID_K3G},
 	/*light sensor*/
 	{"lightsensor", LIGHT_ID_ALL},	

include/linux/sensor-dev.h

@@ -73,6 +73,7 @@ enum sensor_id {
 
 	GYRO_ID_ALL,
 	GYRO_ID_L3G4200D,
+        GYRO_ID_L3G20D,
 	GYRO_ID_K3G,
 
 	LIGHT_ID_ALL,