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 .addr = 0x22, 115 .mask_int2 = 0x08, 116 /* 117 * The sensor has IHL (active low) and open 118 * drain settings, but only for INT1 and not 119 * for the DRDY line on INT2. 120 */ 121 .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, 122 }, 123 .multi_read_bit = true, 124 .bootime = 2, 125 }, 126 { 127 .wai = 0xd4, 128 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 129 .sensors_supported = { 130 [0] = L3GD20_GYRO_DEV_NAME, 131 [1] = LSM330D_GYRO_DEV_NAME, 132 [2] = LSM330DLC_GYRO_DEV_NAME, 133 [3] = L3G4IS_GYRO_DEV_NAME, 134 [4] = LSM330_GYRO_DEV_NAME, 135 [5] = LSM9DS0_GYRO_DEV_NAME, 136 }, 137 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 138 .odr = { 139 .addr = 0x20, 140 .mask = 0xc0, 141 .odr_avl = { 142 { .hz = 95, .value = 0x00, }, 143 { .hz = 190, .value = 0x01, }, 144 { .hz = 380, .value = 0x02, }, 145 { .hz = 760, .value = 0x03, }, 146 }, 147 }, 148 .pw = { 149 .addr = 0x20, 150 .mask = 0x08, 151 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 152 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 153 }, 154 .enable_axis = { 155 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 156 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 157 }, 158 .fs = { 159 .addr = 0x23, 160 .mask = 0x30, 161 .fs_avl = { 162 [0] = { 163 .num = ST_GYRO_FS_AVL_250DPS, 164 .value = 0x00, 165 .gain = IIO_DEGREE_TO_RAD(8750), 166 }, 167 [1] = { 168 .num = ST_GYRO_FS_AVL_500DPS, 169 .value = 0x01, 170 .gain = IIO_DEGREE_TO_RAD(17500), 171 }, 172 [2] = { 173 .num = ST_GYRO_FS_AVL_2000DPS, 174 .value = 0x02, 175 .gain = IIO_DEGREE_TO_RAD(70000), 176 }, 177 }, 178 }, 179 .bdu = { 180 .addr = 0x23, 181 .mask = 0x80, 182 }, 183 .drdy_irq = { 184 .addr = 0x22, 185 .mask_int2 = 0x08, 186 /* 187 * The sensor has IHL (active low) and open 188 * drain settings, but only for INT1 and not 189 * for the DRDY line on INT2. 190 */ 191 .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, 192 }, 193 .multi_read_bit = true, 194 .bootime = 2, 195 }, 196 { 197 .wai = 0xd7, 198 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 199 .sensors_supported = { 200 [0] = L3GD20H_GYRO_DEV_NAME, 201 }, 202 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 203 .odr = { 204 .addr = 0x20, 205 .mask = 0xc0, 206 .odr_avl = { 207 { .hz = 100, .value = 0x00, }, 208 { .hz = 200, .value = 0x01, }, 209 { .hz = 400, .value = 0x02, }, 210 { .hz = 800, .value = 0x03, }, 211 }, 212 }, 213 .pw = { 214 .addr = 0x20, 215 .mask = 0x08, 216 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 217 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 218 }, 219 .enable_axis = { 220 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 221 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 222 }, 223 .fs = { 224 .addr = 0x23, 225 .mask = 0x30, 226 .fs_avl = { 227 [0] = { 228 .num = ST_GYRO_FS_AVL_245DPS, 229 .value = 0x00, 230 .gain = IIO_DEGREE_TO_RAD(8750), 231 }, 232 [1] = { 233 .num = ST_GYRO_FS_AVL_500DPS, 234 .value = 0x01, 235 .gain = IIO_DEGREE_TO_RAD(17500), 236 }, 237 [2] = { 238 .num = ST_GYRO_FS_AVL_2000DPS, 239 .value = 0x02, 240 .gain = IIO_DEGREE_TO_RAD(70000), 241 }, 242 }, 243 }, 244 .bdu = { 245 .addr = 0x23, 246 .mask = 0x80, 247 }, 248 .drdy_irq = { 249 .addr = 0x22, 250 .mask_int2 = 0x08, 251 /* 252 * The sensor has IHL (active low) and open 253 * drain settings, but only for INT1 and not 254 * for the DRDY line on INT2. 255 */ 256 .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, 257 }, 258 .multi_read_bit = true, 259 .bootime = 2, 260 }, 261 }; 262 263 static int st_gyro_read_raw(struct iio_dev *indio_dev, 264 struct iio_chan_spec const *ch, int *val, 265 int *val2, long mask) 266 { 267 int err; 268 struct st_sensor_data *gdata = iio_priv(indio_dev); 269 270 switch (mask) { 271 case IIO_CHAN_INFO_RAW: 272 err = st_sensors_read_info_raw(indio_dev, ch, val); 273 if (err < 0) 274 goto read_error; 275 276 return IIO_VAL_INT; 277 case IIO_CHAN_INFO_SCALE: 278 *val = 0; 279 *val2 = gdata->current_fullscale->gain; 280 return IIO_VAL_INT_PLUS_MICRO; 281 case IIO_CHAN_INFO_SAMP_FREQ: 282 *val = gdata->odr; 283 return IIO_VAL_INT; 284 default: 285 return -EINVAL; 286 } 287 288 read_error: 289 return err; 290 } 291 292 static int st_gyro_write_raw(struct iio_dev *indio_dev, 293 struct iio_chan_spec const *chan, int val, int val2, long mask) 294 { 295 int err; 296 297 switch (mask) { 298 case IIO_CHAN_INFO_SCALE: 299 err = st_sensors_set_fullscale_by_gain(indio_dev, val2); 300 break; 301 case IIO_CHAN_INFO_SAMP_FREQ: 302 if (val2) 303 return -EINVAL; 304 mutex_lock(&indio_dev->mlock); 305 err = st_sensors_set_odr(indio_dev, val); 306 mutex_unlock(&indio_dev->mlock); 307 return err; 308 default: 309 err = -EINVAL; 310 } 311 312 return err; 313 } 314 315 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); 316 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); 317 318 static struct attribute *st_gyro_attributes[] = { 319 &iio_dev_attr_sampling_frequency_available.dev_attr.attr, 320 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, 321 NULL, 322 }; 323 324 static const struct attribute_group st_gyro_attribute_group = { 325 .attrs = st_gyro_attributes, 326 }; 327 328 static const struct iio_info gyro_info = { 329 .driver_module = THIS_MODULE, 330 .attrs = &st_gyro_attribute_group, 331 .read_raw = &st_gyro_read_raw, 332 .write_raw = &st_gyro_write_raw, 333 .debugfs_reg_access = &st_sensors_debugfs_reg_access, 334 }; 335 336 #ifdef CONFIG_IIO_TRIGGER 337 static const struct iio_trigger_ops st_gyro_trigger_ops = { 338 .owner = THIS_MODULE, 339 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, 340 .validate_device = st_sensors_validate_device, 341 }; 342 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) 343 #else 344 #define ST_GYRO_TRIGGER_OPS NULL 345 #endif 346 347 int st_gyro_common_probe(struct iio_dev *indio_dev) 348 { 349 struct st_sensor_data *gdata = iio_priv(indio_dev); 350 int irq = gdata->get_irq_data_ready(indio_dev); 351 int err; 352 353 indio_dev->modes = INDIO_DIRECT_MODE; 354 indio_dev->info = &gyro_info; 355 mutex_init(&gdata->tb.buf_lock); 356 357 err = st_sensors_power_enable(indio_dev); 358 if (err) 359 return err; 360 361 err = st_sensors_check_device_support(indio_dev, 362 ARRAY_SIZE(st_gyro_sensors_settings), 363 st_gyro_sensors_settings); 364 if (err < 0) 365 goto st_gyro_power_off; 366 367 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; 368 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit; 369 indio_dev->channels = gdata->sensor_settings->ch; 370 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; 371 372 gdata->current_fullscale = (struct st_sensor_fullscale_avl *) 373 &gdata->sensor_settings->fs.fs_avl[0]; 374 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz; 375 376 err = st_sensors_init_sensor(indio_dev, 377 (struct st_sensors_platform_data *)&gyro_pdata); 378 if (err < 0) 379 goto st_gyro_power_off; 380 381 err = st_gyro_allocate_ring(indio_dev); 382 if (err < 0) 383 goto st_gyro_power_off; 384 385 if (irq > 0) { 386 err = st_sensors_allocate_trigger(indio_dev, 387 ST_GYRO_TRIGGER_OPS); 388 if (err < 0) 389 goto st_gyro_probe_trigger_error; 390 } 391 392 err = iio_device_register(indio_dev); 393 if (err) 394 goto st_gyro_device_register_error; 395 396 dev_info(&indio_dev->dev, "registered gyroscope %s\n", 397 indio_dev->name); 398 399 return 0; 400 401 st_gyro_device_register_error: 402 if (irq > 0) 403 st_sensors_deallocate_trigger(indio_dev); 404 st_gyro_probe_trigger_error: 405 st_gyro_deallocate_ring(indio_dev); 406 st_gyro_power_off: 407 st_sensors_power_disable(indio_dev); 408 409 return err; 410 } 411 EXPORT_SYMBOL(st_gyro_common_probe); 412 413 void st_gyro_common_remove(struct iio_dev *indio_dev) 414 { 415 struct st_sensor_data *gdata = iio_priv(indio_dev); 416 417 st_sensors_power_disable(indio_dev); 418 419 iio_device_unregister(indio_dev); 420 if (gdata->get_irq_data_ready(indio_dev) > 0) 421 st_sensors_deallocate_trigger(indio_dev); 422 423 st_gyro_deallocate_ring(indio_dev); 424 } 425 EXPORT_SYMBOL(st_gyro_common_remove); 426 427 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); 428 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); 429 MODULE_LICENSE("GPL v2"); 430