1 /* 2 * STMicroelectronics gyroscopes driver 3 * 4 * Copyright 2012-2013 STMicroelectronics Inc. 5 * 6 * Denis Ciocca <denis.ciocca@st.com> 7 * 8 * Licensed under the GPL-2. 9 */ 10 11 #include <linux/kernel.h> 12 #include <linux/module.h> 13 #include <linux/slab.h> 14 #include <linux/errno.h> 15 #include <linux/types.h> 16 #include <linux/mutex.h> 17 #include <linux/interrupt.h> 18 #include <linux/i2c.h> 19 #include <linux/gpio.h> 20 #include <linux/irq.h> 21 #include <linux/delay.h> 22 #include <linux/iio/iio.h> 23 #include <linux/iio/sysfs.h> 24 #include <linux/iio/trigger.h> 25 #include <linux/iio/buffer.h> 26 27 #include <linux/iio/common/st_sensors.h> 28 #include "st_gyro.h" 29 30 #define ST_GYRO_NUMBER_DATA_CHANNELS 3 31 32 /* DEFAULT VALUE FOR SENSORS */ 33 #define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28 34 #define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a 35 #define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c 36 37 /* FULLSCALE */ 38 #define ST_GYRO_FS_AVL_250DPS 250 39 #define ST_GYRO_FS_AVL_500DPS 500 40 #define ST_GYRO_FS_AVL_2000DPS 2000 41 42 /* CUSTOM VALUES FOR SENSOR 1 */ 43 #define ST_GYRO_1_WAI_EXP 0xd3 44 #define ST_GYRO_1_ODR_ADDR 0x20 45 #define ST_GYRO_1_ODR_MASK 0xc0 46 #define ST_GYRO_1_ODR_AVL_100HZ_VAL 0x00 47 #define ST_GYRO_1_ODR_AVL_200HZ_VAL 0x01 48 #define ST_GYRO_1_ODR_AVL_400HZ_VAL 0x02 49 #define ST_GYRO_1_ODR_AVL_800HZ_VAL 0x03 50 #define ST_GYRO_1_PW_ADDR 0x20 51 #define ST_GYRO_1_PW_MASK 0x08 52 #define ST_GYRO_1_FS_ADDR 0x23 53 #define ST_GYRO_1_FS_MASK 0x30 54 #define ST_GYRO_1_FS_AVL_250_VAL 0x00 55 #define ST_GYRO_1_FS_AVL_500_VAL 0x01 56 #define ST_GYRO_1_FS_AVL_2000_VAL 0x02 57 #define ST_GYRO_1_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750) 58 #define ST_GYRO_1_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500) 59 #define ST_GYRO_1_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000) 60 #define ST_GYRO_1_BDU_ADDR 0x23 61 #define ST_GYRO_1_BDU_MASK 0x80 62 #define ST_GYRO_1_DRDY_IRQ_ADDR 0x22 63 #define ST_GYRO_1_DRDY_IRQ_INT2_MASK 0x08 64 #define ST_GYRO_1_MULTIREAD_BIT true 65 66 /* CUSTOM VALUES FOR SENSOR 2 */ 67 #define ST_GYRO_2_WAI_EXP 0xd4 68 #define ST_GYRO_2_ODR_ADDR 0x20 69 #define ST_GYRO_2_ODR_MASK 0xc0 70 #define ST_GYRO_2_ODR_AVL_95HZ_VAL 0x00 71 #define ST_GYRO_2_ODR_AVL_190HZ_VAL 0x01 72 #define ST_GYRO_2_ODR_AVL_380HZ_VAL 0x02 73 #define ST_GYRO_2_ODR_AVL_760HZ_VAL 0x03 74 #define ST_GYRO_2_PW_ADDR 0x20 75 #define ST_GYRO_2_PW_MASK 0x08 76 #define ST_GYRO_2_FS_ADDR 0x23 77 #define ST_GYRO_2_FS_MASK 0x30 78 #define ST_GYRO_2_FS_AVL_250_VAL 0x00 79 #define ST_GYRO_2_FS_AVL_500_VAL 0x01 80 #define ST_GYRO_2_FS_AVL_2000_VAL 0x02 81 #define ST_GYRO_2_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750) 82 #define ST_GYRO_2_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500) 83 #define ST_GYRO_2_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000) 84 #define ST_GYRO_2_BDU_ADDR 0x23 85 #define ST_GYRO_2_BDU_MASK 0x80 86 #define ST_GYRO_2_DRDY_IRQ_ADDR 0x22 87 #define ST_GYRO_2_DRDY_IRQ_INT2_MASK 0x08 88 #define ST_GYRO_2_MULTIREAD_BIT true 89 90 /* CUSTOM VALUES FOR SENSOR 3 */ 91 #define ST_GYRO_3_WAI_EXP 0xd7 92 #define ST_GYRO_3_ODR_ADDR 0x20 93 #define ST_GYRO_3_ODR_MASK 0xc0 94 #define ST_GYRO_3_ODR_AVL_95HZ_VAL 0x00 95 #define ST_GYRO_3_ODR_AVL_190HZ_VAL 0x01 96 #define ST_GYRO_3_ODR_AVL_380HZ_VAL 0x02 97 #define ST_GYRO_3_ODR_AVL_760HZ_VAL 0x03 98 #define ST_GYRO_3_PW_ADDR 0x20 99 #define ST_GYRO_3_PW_MASK 0x08 100 #define ST_GYRO_3_FS_ADDR 0x23 101 #define ST_GYRO_3_FS_MASK 0x30 102 #define ST_GYRO_3_FS_AVL_250_VAL 0x00 103 #define ST_GYRO_3_FS_AVL_500_VAL 0x01 104 #define ST_GYRO_3_FS_AVL_2000_VAL 0x02 105 #define ST_GYRO_3_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750) 106 #define ST_GYRO_3_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500) 107 #define ST_GYRO_3_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000) 108 #define ST_GYRO_3_BDU_ADDR 0x23 109 #define ST_GYRO_3_BDU_MASK 0x80 110 #define ST_GYRO_3_DRDY_IRQ_ADDR 0x22 111 #define ST_GYRO_3_DRDY_IRQ_INT2_MASK 0x08 112 #define ST_GYRO_3_MULTIREAD_BIT true 113 114 115 static const struct iio_chan_spec st_gyro_16bit_channels[] = { 116 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 117 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 118 ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16, 119 ST_GYRO_DEFAULT_OUT_X_L_ADDR), 120 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 121 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 122 ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16, 123 ST_GYRO_DEFAULT_OUT_Y_L_ADDR), 124 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 125 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 126 ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16, 127 ST_GYRO_DEFAULT_OUT_Z_L_ADDR), 128 IIO_CHAN_SOFT_TIMESTAMP(3) 129 }; 130 131 static const struct st_sensor_settings st_gyro_sensors_settings[] = { 132 { 133 .wai = ST_GYRO_1_WAI_EXP, 134 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 135 .sensors_supported = { 136 [0] = L3G4200D_GYRO_DEV_NAME, 137 [1] = LSM330DL_GYRO_DEV_NAME, 138 }, 139 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 140 .odr = { 141 .addr = ST_GYRO_1_ODR_ADDR, 142 .mask = ST_GYRO_1_ODR_MASK, 143 .odr_avl = { 144 { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, }, 145 { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, }, 146 { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, }, 147 { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, }, 148 }, 149 }, 150 .pw = { 151 .addr = ST_GYRO_1_PW_ADDR, 152 .mask = ST_GYRO_1_PW_MASK, 153 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 154 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 155 }, 156 .enable_axis = { 157 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 158 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 159 }, 160 .fs = { 161 .addr = ST_GYRO_1_FS_ADDR, 162 .mask = ST_GYRO_1_FS_MASK, 163 .fs_avl = { 164 [0] = { 165 .num = ST_GYRO_FS_AVL_250DPS, 166 .value = ST_GYRO_1_FS_AVL_250_VAL, 167 .gain = ST_GYRO_1_FS_AVL_250_GAIN, 168 }, 169 [1] = { 170 .num = ST_GYRO_FS_AVL_500DPS, 171 .value = ST_GYRO_1_FS_AVL_500_VAL, 172 .gain = ST_GYRO_1_FS_AVL_500_GAIN, 173 }, 174 [2] = { 175 .num = ST_GYRO_FS_AVL_2000DPS, 176 .value = ST_GYRO_1_FS_AVL_2000_VAL, 177 .gain = ST_GYRO_1_FS_AVL_2000_GAIN, 178 }, 179 }, 180 }, 181 .bdu = { 182 .addr = ST_GYRO_1_BDU_ADDR, 183 .mask = ST_GYRO_1_BDU_MASK, 184 }, 185 .drdy_irq = { 186 .addr = ST_GYRO_1_DRDY_IRQ_ADDR, 187 .mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK, 188 /* 189 * The sensor has IHL (active low) and open 190 * drain settings, but only for INT1 and not 191 * for the DRDY line on INT2. 192 */ 193 }, 194 .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT, 195 .bootime = 2, 196 }, 197 { 198 .wai = ST_GYRO_2_WAI_EXP, 199 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 200 .sensors_supported = { 201 [0] = L3GD20_GYRO_DEV_NAME, 202 [1] = LSM330D_GYRO_DEV_NAME, 203 [2] = LSM330DLC_GYRO_DEV_NAME, 204 [3] = L3G4IS_GYRO_DEV_NAME, 205 [4] = LSM330_GYRO_DEV_NAME, 206 }, 207 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 208 .odr = { 209 .addr = ST_GYRO_2_ODR_ADDR, 210 .mask = ST_GYRO_2_ODR_MASK, 211 .odr_avl = { 212 { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, }, 213 { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, }, 214 { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, }, 215 { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, }, 216 }, 217 }, 218 .pw = { 219 .addr = ST_GYRO_2_PW_ADDR, 220 .mask = ST_GYRO_2_PW_MASK, 221 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 222 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 223 }, 224 .enable_axis = { 225 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 226 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 227 }, 228 .fs = { 229 .addr = ST_GYRO_2_FS_ADDR, 230 .mask = ST_GYRO_2_FS_MASK, 231 .fs_avl = { 232 [0] = { 233 .num = ST_GYRO_FS_AVL_250DPS, 234 .value = ST_GYRO_2_FS_AVL_250_VAL, 235 .gain = ST_GYRO_2_FS_AVL_250_GAIN, 236 }, 237 [1] = { 238 .num = ST_GYRO_FS_AVL_500DPS, 239 .value = ST_GYRO_2_FS_AVL_500_VAL, 240 .gain = ST_GYRO_2_FS_AVL_500_GAIN, 241 }, 242 [2] = { 243 .num = ST_GYRO_FS_AVL_2000DPS, 244 .value = ST_GYRO_2_FS_AVL_2000_VAL, 245 .gain = ST_GYRO_2_FS_AVL_2000_GAIN, 246 }, 247 }, 248 }, 249 .bdu = { 250 .addr = ST_GYRO_2_BDU_ADDR, 251 .mask = ST_GYRO_2_BDU_MASK, 252 }, 253 .drdy_irq = { 254 .addr = ST_GYRO_2_DRDY_IRQ_ADDR, 255 .mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK, 256 /* 257 * The sensor has IHL (active low) and open 258 * drain settings, but only for INT1 and not 259 * for the DRDY line on INT2. 260 */ 261 }, 262 .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT, 263 .bootime = 2, 264 }, 265 { 266 .wai = ST_GYRO_3_WAI_EXP, 267 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 268 .sensors_supported = { 269 [0] = L3GD20_GYRO_DEV_NAME, 270 }, 271 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 272 .odr = { 273 .addr = ST_GYRO_3_ODR_ADDR, 274 .mask = ST_GYRO_3_ODR_MASK, 275 .odr_avl = { 276 { 95, ST_GYRO_3_ODR_AVL_95HZ_VAL, }, 277 { 190, ST_GYRO_3_ODR_AVL_190HZ_VAL, }, 278 { 380, ST_GYRO_3_ODR_AVL_380HZ_VAL, }, 279 { 760, ST_GYRO_3_ODR_AVL_760HZ_VAL, }, 280 }, 281 }, 282 .pw = { 283 .addr = ST_GYRO_3_PW_ADDR, 284 .mask = ST_GYRO_3_PW_MASK, 285 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 286 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 287 }, 288 .enable_axis = { 289 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 290 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 291 }, 292 .fs = { 293 .addr = ST_GYRO_3_FS_ADDR, 294 .mask = ST_GYRO_3_FS_MASK, 295 .fs_avl = { 296 [0] = { 297 .num = ST_GYRO_FS_AVL_250DPS, 298 .value = ST_GYRO_3_FS_AVL_250_VAL, 299 .gain = ST_GYRO_3_FS_AVL_250_GAIN, 300 }, 301 [1] = { 302 .num = ST_GYRO_FS_AVL_500DPS, 303 .value = ST_GYRO_3_FS_AVL_500_VAL, 304 .gain = ST_GYRO_3_FS_AVL_500_GAIN, 305 }, 306 [2] = { 307 .num = ST_GYRO_FS_AVL_2000DPS, 308 .value = ST_GYRO_3_FS_AVL_2000_VAL, 309 .gain = ST_GYRO_3_FS_AVL_2000_GAIN, 310 }, 311 }, 312 }, 313 .bdu = { 314 .addr = ST_GYRO_3_BDU_ADDR, 315 .mask = ST_GYRO_3_BDU_MASK, 316 }, 317 .drdy_irq = { 318 .addr = ST_GYRO_3_DRDY_IRQ_ADDR, 319 .mask_int2 = ST_GYRO_3_DRDY_IRQ_INT2_MASK, 320 /* 321 * The sensor has IHL (active low) and open 322 * drain settings, but only for INT1 and not 323 * for the DRDY line on INT2. 324 */ 325 }, 326 .multi_read_bit = ST_GYRO_3_MULTIREAD_BIT, 327 .bootime = 2, 328 }, 329 }; 330 331 static int st_gyro_read_raw(struct iio_dev *indio_dev, 332 struct iio_chan_spec const *ch, int *val, 333 int *val2, long mask) 334 { 335 int err; 336 struct st_sensor_data *gdata = iio_priv(indio_dev); 337 338 switch (mask) { 339 case IIO_CHAN_INFO_RAW: 340 err = st_sensors_read_info_raw(indio_dev, ch, val); 341 if (err < 0) 342 goto read_error; 343 344 return IIO_VAL_INT; 345 case IIO_CHAN_INFO_SCALE: 346 *val = 0; 347 *val2 = gdata->current_fullscale->gain; 348 return IIO_VAL_INT_PLUS_MICRO; 349 case IIO_CHAN_INFO_SAMP_FREQ: 350 *val = gdata->odr; 351 return IIO_VAL_INT; 352 default: 353 return -EINVAL; 354 } 355 356 read_error: 357 return err; 358 } 359 360 static int st_gyro_write_raw(struct iio_dev *indio_dev, 361 struct iio_chan_spec const *chan, int val, int val2, long mask) 362 { 363 int err; 364 365 switch (mask) { 366 case IIO_CHAN_INFO_SCALE: 367 err = st_sensors_set_fullscale_by_gain(indio_dev, val2); 368 break; 369 case IIO_CHAN_INFO_SAMP_FREQ: 370 if (val2) 371 return -EINVAL; 372 mutex_lock(&indio_dev->mlock); 373 err = st_sensors_set_odr(indio_dev, val); 374 mutex_unlock(&indio_dev->mlock); 375 return err; 376 default: 377 err = -EINVAL; 378 } 379 380 return err; 381 } 382 383 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); 384 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); 385 386 static struct attribute *st_gyro_attributes[] = { 387 &iio_dev_attr_sampling_frequency_available.dev_attr.attr, 388 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, 389 NULL, 390 }; 391 392 static const struct attribute_group st_gyro_attribute_group = { 393 .attrs = st_gyro_attributes, 394 }; 395 396 static const struct iio_info gyro_info = { 397 .driver_module = THIS_MODULE, 398 .attrs = &st_gyro_attribute_group, 399 .read_raw = &st_gyro_read_raw, 400 .write_raw = &st_gyro_write_raw, 401 .debugfs_reg_access = &st_sensors_debugfs_reg_access, 402 }; 403 404 #ifdef CONFIG_IIO_TRIGGER 405 static const struct iio_trigger_ops st_gyro_trigger_ops = { 406 .owner = THIS_MODULE, 407 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, 408 }; 409 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) 410 #else 411 #define ST_GYRO_TRIGGER_OPS NULL 412 #endif 413 414 int st_gyro_common_probe(struct iio_dev *indio_dev) 415 { 416 struct st_sensor_data *gdata = iio_priv(indio_dev); 417 int irq = gdata->get_irq_data_ready(indio_dev); 418 int err; 419 420 indio_dev->modes = INDIO_DIRECT_MODE; 421 indio_dev->info = &gyro_info; 422 mutex_init(&gdata->tb.buf_lock); 423 424 st_sensors_power_enable(indio_dev); 425 426 err = st_sensors_check_device_support(indio_dev, 427 ARRAY_SIZE(st_gyro_sensors_settings), 428 st_gyro_sensors_settings); 429 if (err < 0) 430 return err; 431 432 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; 433 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit; 434 indio_dev->channels = gdata->sensor_settings->ch; 435 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; 436 437 gdata->current_fullscale = (struct st_sensor_fullscale_avl *) 438 &gdata->sensor_settings->fs.fs_avl[0]; 439 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz; 440 441 err = st_sensors_init_sensor(indio_dev, 442 (struct st_sensors_platform_data *)&gyro_pdata); 443 if (err < 0) 444 return err; 445 446 err = st_gyro_allocate_ring(indio_dev); 447 if (err < 0) 448 return err; 449 450 if (irq > 0) { 451 err = st_sensors_allocate_trigger(indio_dev, 452 ST_GYRO_TRIGGER_OPS); 453 if (err < 0) 454 goto st_gyro_probe_trigger_error; 455 } 456 457 err = iio_device_register(indio_dev); 458 if (err) 459 goto st_gyro_device_register_error; 460 461 dev_info(&indio_dev->dev, "registered gyroscope %s\n", 462 indio_dev->name); 463 464 return 0; 465 466 st_gyro_device_register_error: 467 if (irq > 0) 468 st_sensors_deallocate_trigger(indio_dev); 469 st_gyro_probe_trigger_error: 470 st_gyro_deallocate_ring(indio_dev); 471 472 return err; 473 } 474 EXPORT_SYMBOL(st_gyro_common_probe); 475 476 void st_gyro_common_remove(struct iio_dev *indio_dev) 477 { 478 struct st_sensor_data *gdata = iio_priv(indio_dev); 479 480 st_sensors_power_disable(indio_dev); 481 482 iio_device_unregister(indio_dev); 483 if (gdata->get_irq_data_ready(indio_dev) > 0) 484 st_sensors_deallocate_trigger(indio_dev); 485 486 st_gyro_deallocate_ring(indio_dev); 487 } 488 EXPORT_SYMBOL(st_gyro_common_remove); 489 490 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); 491 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); 492 MODULE_LICENSE("GPL v2"); 493