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 static const struct iio_chan_spec st_gyro_16bit_channels[] = { 43 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 44 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 45 ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16, 46 ST_GYRO_DEFAULT_OUT_X_L_ADDR), 47 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 48 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 49 ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16, 50 ST_GYRO_DEFAULT_OUT_Y_L_ADDR), 51 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 52 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 53 ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16, 54 ST_GYRO_DEFAULT_OUT_Z_L_ADDR), 55 IIO_CHAN_SOFT_TIMESTAMP(3) 56 }; 57 58 static const struct st_sensor_settings st_gyro_sensors_settings[] = { 59 { 60 .wai = 0xd3, 61 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 62 .sensors_supported = { 63 [0] = L3G4200D_GYRO_DEV_NAME, 64 [1] = LSM330DL_GYRO_DEV_NAME, 65 }, 66 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 67 .odr = { 68 .addr = 0x20, 69 .mask = 0xc0, 70 .odr_avl = { 71 { .hz = 100, .value = 0x00, }, 72 { .hz = 200, .value = 0x01, }, 73 { .hz = 400, .value = 0x02, }, 74 { .hz = 800, .value = 0x03, }, 75 }, 76 }, 77 .pw = { 78 .addr = 0x20, 79 .mask = 0x08, 80 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 81 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 82 }, 83 .enable_axis = { 84 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 85 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 86 }, 87 .fs = { 88 .addr = 0x23, 89 .mask = 0x30, 90 .fs_avl = { 91 [0] = { 92 .num = ST_GYRO_FS_AVL_250DPS, 93 .value = 0x00, 94 .gain = IIO_DEGREE_TO_RAD(8750), 95 }, 96 [1] = { 97 .num = ST_GYRO_FS_AVL_500DPS, 98 .value = 0x01, 99 .gain = IIO_DEGREE_TO_RAD(17500), 100 }, 101 [2] = { 102 .num = ST_GYRO_FS_AVL_2000DPS, 103 .value = 0x02, 104 .gain = IIO_DEGREE_TO_RAD(70000), 105 }, 106 }, 107 }, 108 .bdu = { 109 .addr = 0x23, 110 .mask = 0x80, 111 }, 112 .drdy_irq = { 113 .addr = 0x22, 114 .mask_int2 = 0x08, 115 /* 116 * The sensor has IHL (active low) and open 117 * drain settings, but only for INT1 and not 118 * for the DRDY line on INT2. 119 */ 120 .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, 121 }, 122 .multi_read_bit = true, 123 .bootime = 2, 124 }, 125 { 126 .wai = 0xd4, 127 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 128 .sensors_supported = { 129 [0] = L3GD20_GYRO_DEV_NAME, 130 [1] = LSM330D_GYRO_DEV_NAME, 131 [2] = LSM330DLC_GYRO_DEV_NAME, 132 [3] = L3G4IS_GYRO_DEV_NAME, 133 [4] = LSM330_GYRO_DEV_NAME, 134 [5] = LSM9DS0_GYRO_DEV_NAME, 135 }, 136 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 137 .odr = { 138 .addr = 0x20, 139 .mask = 0xc0, 140 .odr_avl = { 141 { .hz = 95, .value = 0x00, }, 142 { .hz = 190, .value = 0x01, }, 143 { .hz = 380, .value = 0x02, }, 144 { .hz = 760, .value = 0x03, }, 145 }, 146 }, 147 .pw = { 148 .addr = 0x20, 149 .mask = 0x08, 150 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 151 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 152 }, 153 .enable_axis = { 154 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 155 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 156 }, 157 .fs = { 158 .addr = 0x23, 159 .mask = 0x30, 160 .fs_avl = { 161 [0] = { 162 .num = ST_GYRO_FS_AVL_250DPS, 163 .value = 0x00, 164 .gain = IIO_DEGREE_TO_RAD(8750), 165 }, 166 [1] = { 167 .num = ST_GYRO_FS_AVL_500DPS, 168 .value = 0x01, 169 .gain = IIO_DEGREE_TO_RAD(17500), 170 }, 171 [2] = { 172 .num = ST_GYRO_FS_AVL_2000DPS, 173 .value = 0x02, 174 .gain = IIO_DEGREE_TO_RAD(70000), 175 }, 176 }, 177 }, 178 .bdu = { 179 .addr = 0x23, 180 .mask = 0x80, 181 }, 182 .drdy_irq = { 183 .addr = 0x22, 184 .mask_int2 = 0x08, 185 /* 186 * The sensor has IHL (active low) and open 187 * drain settings, but only for INT1 and not 188 * for the DRDY line on INT2. 189 */ 190 .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, 191 }, 192 .multi_read_bit = true, 193 .bootime = 2, 194 }, 195 { 196 .wai = 0xd7, 197 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 198 .sensors_supported = { 199 [0] = L3GD20_GYRO_DEV_NAME, 200 }, 201 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 202 .odr = { 203 .addr = 0x20, 204 .mask = 0xc0, 205 .odr_avl = { 206 { .hz = 95, .value = 0x00, }, 207 { .hz = 190, .value = 0x01, }, 208 { .hz = 380, .value = 0x02, }, 209 { .hz = 760, .value = 0x03, }, 210 }, 211 }, 212 .pw = { 213 .addr = 0x20, 214 .mask = 0x08, 215 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 216 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 217 }, 218 .enable_axis = { 219 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 220 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 221 }, 222 .fs = { 223 .addr = 0x23, 224 .mask = 0x30, 225 .fs_avl = { 226 [0] = { 227 .num = ST_GYRO_FS_AVL_250DPS, 228 .value = 0x00, 229 .gain = IIO_DEGREE_TO_RAD(8750), 230 }, 231 [1] = { 232 .num = ST_GYRO_FS_AVL_500DPS, 233 .value = 0x01, 234 .gain = IIO_DEGREE_TO_RAD(17500), 235 }, 236 [2] = { 237 .num = ST_GYRO_FS_AVL_2000DPS, 238 .value = 0x02, 239 .gain = IIO_DEGREE_TO_RAD(70000), 240 }, 241 }, 242 }, 243 .bdu = { 244 .addr = 0x23, 245 .mask = 0x80, 246 }, 247 .drdy_irq = { 248 .addr = 0x22, 249 .mask_int2 = 0x08, 250 /* 251 * The sensor has IHL (active low) and open 252 * drain settings, but only for INT1 and not 253 * for the DRDY line on INT2. 254 */ 255 .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR, 256 }, 257 .multi_read_bit = true, 258 .bootime = 2, 259 }, 260 }; 261 262 static int st_gyro_read_raw(struct iio_dev *indio_dev, 263 struct iio_chan_spec const *ch, int *val, 264 int *val2, long mask) 265 { 266 int err; 267 struct st_sensor_data *gdata = iio_priv(indio_dev); 268 269 switch (mask) { 270 case IIO_CHAN_INFO_RAW: 271 err = st_sensors_read_info_raw(indio_dev, ch, val); 272 if (err < 0) 273 goto read_error; 274 275 return IIO_VAL_INT; 276 case IIO_CHAN_INFO_SCALE: 277 *val = 0; 278 *val2 = gdata->current_fullscale->gain; 279 return IIO_VAL_INT_PLUS_MICRO; 280 case IIO_CHAN_INFO_SAMP_FREQ: 281 *val = gdata->odr; 282 return IIO_VAL_INT; 283 default: 284 return -EINVAL; 285 } 286 287 read_error: 288 return err; 289 } 290 291 static int st_gyro_write_raw(struct iio_dev *indio_dev, 292 struct iio_chan_spec const *chan, int val, int val2, long mask) 293 { 294 int err; 295 296 switch (mask) { 297 case IIO_CHAN_INFO_SCALE: 298 err = st_sensors_set_fullscale_by_gain(indio_dev, val2); 299 break; 300 case IIO_CHAN_INFO_SAMP_FREQ: 301 if (val2) 302 return -EINVAL; 303 mutex_lock(&indio_dev->mlock); 304 err = st_sensors_set_odr(indio_dev, val); 305 mutex_unlock(&indio_dev->mlock); 306 return err; 307 default: 308 err = -EINVAL; 309 } 310 311 return err; 312 } 313 314 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); 315 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); 316 317 static struct attribute *st_gyro_attributes[] = { 318 &iio_dev_attr_sampling_frequency_available.dev_attr.attr, 319 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, 320 NULL, 321 }; 322 323 static const struct attribute_group st_gyro_attribute_group = { 324 .attrs = st_gyro_attributes, 325 }; 326 327 static const struct iio_info gyro_info = { 328 .driver_module = THIS_MODULE, 329 .attrs = &st_gyro_attribute_group, 330 .read_raw = &st_gyro_read_raw, 331 .write_raw = &st_gyro_write_raw, 332 .debugfs_reg_access = &st_sensors_debugfs_reg_access, 333 }; 334 335 #ifdef CONFIG_IIO_TRIGGER 336 static const struct iio_trigger_ops st_gyro_trigger_ops = { 337 .owner = THIS_MODULE, 338 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, 339 .validate_device = st_sensors_validate_device, 340 }; 341 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) 342 #else 343 #define ST_GYRO_TRIGGER_OPS NULL 344 #endif 345 346 int st_gyro_common_probe(struct iio_dev *indio_dev) 347 { 348 struct st_sensor_data *gdata = iio_priv(indio_dev); 349 int irq = gdata->get_irq_data_ready(indio_dev); 350 int err; 351 352 indio_dev->modes = INDIO_DIRECT_MODE; 353 indio_dev->info = &gyro_info; 354 mutex_init(&gdata->tb.buf_lock); 355 356 err = st_sensors_power_enable(indio_dev); 357 if (err) 358 return err; 359 360 err = st_sensors_check_device_support(indio_dev, 361 ARRAY_SIZE(st_gyro_sensors_settings), 362 st_gyro_sensors_settings); 363 if (err < 0) 364 goto st_gyro_power_off; 365 366 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; 367 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit; 368 indio_dev->channels = gdata->sensor_settings->ch; 369 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; 370 371 gdata->current_fullscale = (struct st_sensor_fullscale_avl *) 372 &gdata->sensor_settings->fs.fs_avl[0]; 373 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz; 374 375 err = st_sensors_init_sensor(indio_dev, 376 (struct st_sensors_platform_data *)&gyro_pdata); 377 if (err < 0) 378 goto st_gyro_power_off; 379 380 err = st_gyro_allocate_ring(indio_dev); 381 if (err < 0) 382 goto st_gyro_power_off; 383 384 if (irq > 0) { 385 err = st_sensors_allocate_trigger(indio_dev, 386 ST_GYRO_TRIGGER_OPS); 387 if (err < 0) 388 goto st_gyro_probe_trigger_error; 389 } 390 391 err = iio_device_register(indio_dev); 392 if (err) 393 goto st_gyro_device_register_error; 394 395 dev_info(&indio_dev->dev, "registered gyroscope %s\n", 396 indio_dev->name); 397 398 return 0; 399 400 st_gyro_device_register_error: 401 if (irq > 0) 402 st_sensors_deallocate_trigger(indio_dev); 403 st_gyro_probe_trigger_error: 404 st_gyro_deallocate_ring(indio_dev); 405 st_gyro_power_off: 406 st_sensors_power_disable(indio_dev); 407 408 return err; 409 } 410 EXPORT_SYMBOL(st_gyro_common_probe); 411 412 void st_gyro_common_remove(struct iio_dev *indio_dev) 413 { 414 struct st_sensor_data *gdata = iio_priv(indio_dev); 415 416 st_sensors_power_disable(indio_dev); 417 418 iio_device_unregister(indio_dev); 419 if (gdata->get_irq_data_ready(indio_dev) > 0) 420 st_sensors_deallocate_trigger(indio_dev); 421 422 st_gyro_deallocate_ring(indio_dev); 423 } 424 EXPORT_SYMBOL(st_gyro_common_remove); 425 426 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); 427 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); 428 MODULE_LICENSE("GPL v2"); 429