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_245DPS 245 39 #define ST_GYRO_FS_AVL_250DPS 250 40 #define ST_GYRO_FS_AVL_500DPS 500 41 #define ST_GYRO_FS_AVL_2000DPS 2000 42 43 static const struct iio_chan_spec st_gyro_16bit_channels[] = { 44 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 45 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 46 ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16, 47 ST_GYRO_DEFAULT_OUT_X_L_ADDR), 48 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 49 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 50 ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16, 51 ST_GYRO_DEFAULT_OUT_Y_L_ADDR), 52 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 53 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 54 ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16, 55 ST_GYRO_DEFAULT_OUT_Z_L_ADDR), 56 IIO_CHAN_SOFT_TIMESTAMP(3) 57 }; 58 59 static const struct st_sensor_settings st_gyro_sensors_settings[] = { 60 { 61 .wai = 0xd3, 62 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 63 .sensors_supported = { 64 [0] = L3G4200D_GYRO_DEV_NAME, 65 [1] = LSM330DL_GYRO_DEV_NAME, 66 }, 67 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 68 .odr = { 69 .addr = 0x20, 70 .mask = 0xc0, 71 .odr_avl = { 72 { .hz = 100, .value = 0x00, }, 73 { .hz = 200, .value = 0x01, }, 74 { .hz = 400, .value = 0x02, }, 75 { .hz = 800, .value = 0x03, }, 76 }, 77 }, 78 .pw = { 79 .addr = 0x20, 80 .mask = 0x08, 81 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 82 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 83 }, 84 .enable_axis = { 85 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 86 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 87 }, 88 .fs = { 89 .addr = 0x23, 90 .mask = 0x30, 91 .fs_avl = { 92 [0] = { 93 .num = ST_GYRO_FS_AVL_250DPS, 94 .value = 0x00, 95 .gain = IIO_DEGREE_TO_RAD(8750), 96 }, 97 [1] = { 98 .num = ST_GYRO_FS_AVL_500DPS, 99 .value = 0x01, 100 .gain = IIO_DEGREE_TO_RAD(17500), 101 }, 102 [2] = { 103 .num = ST_GYRO_FS_AVL_2000DPS, 104 .value = 0x02, 105 .gain = IIO_DEGREE_TO_RAD(70000), 106 }, 107 }, 108 }, 109 .bdu = { 110 .addr = 0x23, 111 .mask = 0x80, 112 }, 113 .drdy_irq = { 114 .int2 = { 115 .addr = 0x22, 116 .mask = 0x08, 117 }, 118 /* 119 * The sensor has IHL (active low) and open 120 * drain settings, but only for INT1 and not 121 * for the DRDY line on INT2. 122 */ 123 .stat_drdy = { 124 .addr = ST_SENSORS_DEFAULT_STAT_ADDR, 125 .mask = 0x07, 126 }, 127 }, 128 .sim = { 129 .addr = 0x23, 130 .value = BIT(0), 131 }, 132 .multi_read_bit = true, 133 .bootime = 2, 134 }, 135 { 136 .wai = 0xd4, 137 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 138 .sensors_supported = { 139 [0] = L3GD20_GYRO_DEV_NAME, 140 [1] = LSM330D_GYRO_DEV_NAME, 141 [2] = LSM330DLC_GYRO_DEV_NAME, 142 [3] = L3G4IS_GYRO_DEV_NAME, 143 [4] = LSM330_GYRO_DEV_NAME, 144 [5] = LSM9DS0_GYRO_DEV_NAME, 145 }, 146 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 147 .odr = { 148 .addr = 0x20, 149 .mask = 0xc0, 150 .odr_avl = { 151 { .hz = 95, .value = 0x00, }, 152 { .hz = 190, .value = 0x01, }, 153 { .hz = 380, .value = 0x02, }, 154 { .hz = 760, .value = 0x03, }, 155 }, 156 }, 157 .pw = { 158 .addr = 0x20, 159 .mask = 0x08, 160 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 161 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 162 }, 163 .enable_axis = { 164 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 165 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 166 }, 167 .fs = { 168 .addr = 0x23, 169 .mask = 0x30, 170 .fs_avl = { 171 [0] = { 172 .num = ST_GYRO_FS_AVL_250DPS, 173 .value = 0x00, 174 .gain = IIO_DEGREE_TO_RAD(8750), 175 }, 176 [1] = { 177 .num = ST_GYRO_FS_AVL_500DPS, 178 .value = 0x01, 179 .gain = IIO_DEGREE_TO_RAD(17500), 180 }, 181 [2] = { 182 .num = ST_GYRO_FS_AVL_2000DPS, 183 .value = 0x02, 184 .gain = IIO_DEGREE_TO_RAD(70000), 185 }, 186 }, 187 }, 188 .bdu = { 189 .addr = 0x23, 190 .mask = 0x80, 191 }, 192 .drdy_irq = { 193 .int2 = { 194 .addr = 0x22, 195 .mask = 0x08, 196 }, 197 /* 198 * The sensor has IHL (active low) and open 199 * drain settings, but only for INT1 and not 200 * for the DRDY line on INT2. 201 */ 202 .stat_drdy = { 203 .addr = ST_SENSORS_DEFAULT_STAT_ADDR, 204 .mask = 0x07, 205 }, 206 }, 207 .sim = { 208 .addr = 0x23, 209 .value = BIT(0), 210 }, 211 .multi_read_bit = true, 212 .bootime = 2, 213 }, 214 { 215 .wai = 0xd7, 216 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 217 .sensors_supported = { 218 [0] = L3GD20H_GYRO_DEV_NAME, 219 }, 220 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 221 .odr = { 222 .addr = 0x20, 223 .mask = 0xc0, 224 .odr_avl = { 225 { .hz = 100, .value = 0x00, }, 226 { .hz = 200, .value = 0x01, }, 227 { .hz = 400, .value = 0x02, }, 228 { .hz = 800, .value = 0x03, }, 229 }, 230 }, 231 .pw = { 232 .addr = 0x20, 233 .mask = 0x08, 234 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 235 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 236 }, 237 .enable_axis = { 238 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 239 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 240 }, 241 .fs = { 242 .addr = 0x23, 243 .mask = 0x30, 244 .fs_avl = { 245 [0] = { 246 .num = ST_GYRO_FS_AVL_245DPS, 247 .value = 0x00, 248 .gain = IIO_DEGREE_TO_RAD(8750), 249 }, 250 [1] = { 251 .num = ST_GYRO_FS_AVL_500DPS, 252 .value = 0x01, 253 .gain = IIO_DEGREE_TO_RAD(17500), 254 }, 255 [2] = { 256 .num = ST_GYRO_FS_AVL_2000DPS, 257 .value = 0x02, 258 .gain = IIO_DEGREE_TO_RAD(70000), 259 }, 260 }, 261 }, 262 .bdu = { 263 .addr = 0x23, 264 .mask = 0x80, 265 }, 266 .drdy_irq = { 267 .int2 = { 268 .addr = 0x22, 269 .mask = 0x08, 270 }, 271 /* 272 * The sensor has IHL (active low) and open 273 * drain settings, but only for INT1 and not 274 * for the DRDY line on INT2. 275 */ 276 .stat_drdy = { 277 .addr = ST_SENSORS_DEFAULT_STAT_ADDR, 278 .mask = 0x07, 279 }, 280 }, 281 .sim = { 282 .addr = 0x23, 283 .value = BIT(0), 284 }, 285 .multi_read_bit = true, 286 .bootime = 2, 287 }, 288 }; 289 290 static int st_gyro_read_raw(struct iio_dev *indio_dev, 291 struct iio_chan_spec const *ch, int *val, 292 int *val2, long mask) 293 { 294 int err; 295 struct st_sensor_data *gdata = iio_priv(indio_dev); 296 297 switch (mask) { 298 case IIO_CHAN_INFO_RAW: 299 err = st_sensors_read_info_raw(indio_dev, ch, val); 300 if (err < 0) 301 goto read_error; 302 303 return IIO_VAL_INT; 304 case IIO_CHAN_INFO_SCALE: 305 *val = 0; 306 *val2 = gdata->current_fullscale->gain; 307 return IIO_VAL_INT_PLUS_MICRO; 308 case IIO_CHAN_INFO_SAMP_FREQ: 309 *val = gdata->odr; 310 return IIO_VAL_INT; 311 default: 312 return -EINVAL; 313 } 314 315 read_error: 316 return err; 317 } 318 319 static int st_gyro_write_raw(struct iio_dev *indio_dev, 320 struct iio_chan_spec const *chan, int val, int val2, long mask) 321 { 322 int err; 323 324 switch (mask) { 325 case IIO_CHAN_INFO_SCALE: 326 err = st_sensors_set_fullscale_by_gain(indio_dev, val2); 327 break; 328 case IIO_CHAN_INFO_SAMP_FREQ: 329 if (val2) 330 return -EINVAL; 331 mutex_lock(&indio_dev->mlock); 332 err = st_sensors_set_odr(indio_dev, val); 333 mutex_unlock(&indio_dev->mlock); 334 return err; 335 default: 336 err = -EINVAL; 337 } 338 339 return err; 340 } 341 342 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); 343 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); 344 345 static struct attribute *st_gyro_attributes[] = { 346 &iio_dev_attr_sampling_frequency_available.dev_attr.attr, 347 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, 348 NULL, 349 }; 350 351 static const struct attribute_group st_gyro_attribute_group = { 352 .attrs = st_gyro_attributes, 353 }; 354 355 static const struct iio_info gyro_info = { 356 .attrs = &st_gyro_attribute_group, 357 .read_raw = &st_gyro_read_raw, 358 .write_raw = &st_gyro_write_raw, 359 .debugfs_reg_access = &st_sensors_debugfs_reg_access, 360 }; 361 362 #ifdef CONFIG_IIO_TRIGGER 363 static const struct iio_trigger_ops st_gyro_trigger_ops = { 364 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, 365 .validate_device = st_sensors_validate_device, 366 }; 367 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) 368 #else 369 #define ST_GYRO_TRIGGER_OPS NULL 370 #endif 371 372 int st_gyro_common_probe(struct iio_dev *indio_dev) 373 { 374 struct st_sensor_data *gdata = iio_priv(indio_dev); 375 int irq = gdata->get_irq_data_ready(indio_dev); 376 int err; 377 378 indio_dev->modes = INDIO_DIRECT_MODE; 379 indio_dev->info = &gyro_info; 380 mutex_init(&gdata->tb.buf_lock); 381 382 err = st_sensors_power_enable(indio_dev); 383 if (err) 384 return err; 385 386 err = st_sensors_check_device_support(indio_dev, 387 ARRAY_SIZE(st_gyro_sensors_settings), 388 st_gyro_sensors_settings); 389 if (err < 0) 390 goto st_gyro_power_off; 391 392 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; 393 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit; 394 indio_dev->channels = gdata->sensor_settings->ch; 395 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; 396 397 gdata->current_fullscale = (struct st_sensor_fullscale_avl *) 398 &gdata->sensor_settings->fs.fs_avl[0]; 399 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz; 400 401 err = st_sensors_init_sensor(indio_dev, 402 (struct st_sensors_platform_data *)&gyro_pdata); 403 if (err < 0) 404 goto st_gyro_power_off; 405 406 err = st_gyro_allocate_ring(indio_dev); 407 if (err < 0) 408 goto st_gyro_power_off; 409 410 if (irq > 0) { 411 err = st_sensors_allocate_trigger(indio_dev, 412 ST_GYRO_TRIGGER_OPS); 413 if (err < 0) 414 goto st_gyro_probe_trigger_error; 415 } 416 417 err = iio_device_register(indio_dev); 418 if (err) 419 goto st_gyro_device_register_error; 420 421 dev_info(&indio_dev->dev, "registered gyroscope %s\n", 422 indio_dev->name); 423 424 return 0; 425 426 st_gyro_device_register_error: 427 if (irq > 0) 428 st_sensors_deallocate_trigger(indio_dev); 429 st_gyro_probe_trigger_error: 430 st_gyro_deallocate_ring(indio_dev); 431 st_gyro_power_off: 432 st_sensors_power_disable(indio_dev); 433 434 return err; 435 } 436 EXPORT_SYMBOL(st_gyro_common_probe); 437 438 void st_gyro_common_remove(struct iio_dev *indio_dev) 439 { 440 struct st_sensor_data *gdata = iio_priv(indio_dev); 441 442 st_sensors_power_disable(indio_dev); 443 444 iio_device_unregister(indio_dev); 445 if (gdata->get_irq_data_ready(indio_dev) > 0) 446 st_sensors_deallocate_trigger(indio_dev); 447 448 st_gyro_deallocate_ring(indio_dev); 449 } 450 EXPORT_SYMBOL(st_gyro_common_remove); 451 452 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); 453 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); 454 MODULE_LICENSE("GPL v2"); 455