1 // SPDX-License-Identifier: GPL-2.0-only 2 /* 3 * STMicroelectronics gyroscopes driver 4 * 5 * Copyright 2012-2013 STMicroelectronics Inc. 6 * 7 * Denis Ciocca <denis.ciocca@st.com> 8 */ 9 10 #include <linux/kernel.h> 11 #include <linux/module.h> 12 #include <linux/slab.h> 13 #include <linux/errno.h> 14 #include <linux/types.h> 15 #include <linux/mutex.h> 16 #include <linux/interrupt.h> 17 #include <linux/i2c.h> 18 #include <linux/gpio.h> 19 #include <linux/irq.h> 20 #include <linux/delay.h> 21 #include <linux/iio/iio.h> 22 #include <linux/iio/sysfs.h> 23 #include <linux/iio/trigger.h> 24 #include <linux/iio/buffer.h> 25 26 #include <linux/iio/common/st_sensors.h> 27 #include "st_gyro.h" 28 29 #define ST_GYRO_NUMBER_DATA_CHANNELS 3 30 31 /* DEFAULT VALUE FOR SENSORS */ 32 #define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28 33 #define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a 34 #define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c 35 36 /* FULLSCALE */ 37 #define ST_GYRO_FS_AVL_245DPS 245 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 .int2 = { 114 .addr = 0x22, 115 .mask = 0x08, 116 }, 117 /* 118 * The sensor has IHL (active low) and open 119 * drain settings, but only for INT1 and not 120 * for the DRDY line on INT2. 121 */ 122 .stat_drdy = { 123 .addr = ST_SENSORS_DEFAULT_STAT_ADDR, 124 .mask = 0x07, 125 }, 126 }, 127 .sim = { 128 .addr = 0x23, 129 .value = BIT(0), 130 }, 131 .multi_read_bit = true, 132 .bootime = 2, 133 }, 134 { 135 .wai = 0xd4, 136 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 137 .sensors_supported = { 138 [0] = L3GD20_GYRO_DEV_NAME, 139 [1] = LSM330D_GYRO_DEV_NAME, 140 [2] = LSM330DLC_GYRO_DEV_NAME, 141 [3] = L3G4IS_GYRO_DEV_NAME, 142 [4] = LSM330_GYRO_DEV_NAME, 143 [5] = LSM9DS0_GYRO_DEV_NAME, 144 }, 145 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 146 .odr = { 147 .addr = 0x20, 148 .mask = 0xc0, 149 .odr_avl = { 150 { .hz = 95, .value = 0x00, }, 151 { .hz = 190, .value = 0x01, }, 152 { .hz = 380, .value = 0x02, }, 153 { .hz = 760, .value = 0x03, }, 154 }, 155 }, 156 .pw = { 157 .addr = 0x20, 158 .mask = 0x08, 159 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 160 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 161 }, 162 .enable_axis = { 163 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 164 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 165 }, 166 .fs = { 167 .addr = 0x23, 168 .mask = 0x30, 169 .fs_avl = { 170 [0] = { 171 .num = ST_GYRO_FS_AVL_250DPS, 172 .value = 0x00, 173 .gain = IIO_DEGREE_TO_RAD(8750), 174 }, 175 [1] = { 176 .num = ST_GYRO_FS_AVL_500DPS, 177 .value = 0x01, 178 .gain = IIO_DEGREE_TO_RAD(17500), 179 }, 180 [2] = { 181 .num = ST_GYRO_FS_AVL_2000DPS, 182 .value = 0x02, 183 .gain = IIO_DEGREE_TO_RAD(70000), 184 }, 185 }, 186 }, 187 .bdu = { 188 .addr = 0x23, 189 .mask = 0x80, 190 }, 191 .drdy_irq = { 192 .int2 = { 193 .addr = 0x22, 194 .mask = 0x08, 195 }, 196 /* 197 * The sensor has IHL (active low) and open 198 * drain settings, but only for INT1 and not 199 * for the DRDY line on INT2. 200 */ 201 .stat_drdy = { 202 .addr = ST_SENSORS_DEFAULT_STAT_ADDR, 203 .mask = 0x07, 204 }, 205 }, 206 .sim = { 207 .addr = 0x23, 208 .value = BIT(0), 209 }, 210 .multi_read_bit = true, 211 .bootime = 2, 212 }, 213 { 214 .wai = 0xd7, 215 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 216 .sensors_supported = { 217 [0] = L3GD20H_GYRO_DEV_NAME, 218 }, 219 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 220 .odr = { 221 .addr = 0x20, 222 .mask = 0xc0, 223 .odr_avl = { 224 { .hz = 100, .value = 0x00, }, 225 { .hz = 200, .value = 0x01, }, 226 { .hz = 400, .value = 0x02, }, 227 { .hz = 800, .value = 0x03, }, 228 }, 229 }, 230 .pw = { 231 .addr = 0x20, 232 .mask = 0x08, 233 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 234 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 235 }, 236 .enable_axis = { 237 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 238 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 239 }, 240 .fs = { 241 .addr = 0x23, 242 .mask = 0x30, 243 .fs_avl = { 244 [0] = { 245 .num = ST_GYRO_FS_AVL_245DPS, 246 .value = 0x00, 247 .gain = IIO_DEGREE_TO_RAD(8750), 248 }, 249 [1] = { 250 .num = ST_GYRO_FS_AVL_500DPS, 251 .value = 0x01, 252 .gain = IIO_DEGREE_TO_RAD(17500), 253 }, 254 [2] = { 255 .num = ST_GYRO_FS_AVL_2000DPS, 256 .value = 0x02, 257 .gain = IIO_DEGREE_TO_RAD(70000), 258 }, 259 }, 260 }, 261 .bdu = { 262 .addr = 0x23, 263 .mask = 0x80, 264 }, 265 .drdy_irq = { 266 .int2 = { 267 .addr = 0x22, 268 .mask = 0x08, 269 }, 270 /* 271 * The sensor has IHL (active low) and open 272 * drain settings, but only for INT1 and not 273 * for the DRDY line on INT2. 274 */ 275 .stat_drdy = { 276 .addr = ST_SENSORS_DEFAULT_STAT_ADDR, 277 .mask = 0x07, 278 }, 279 }, 280 .sim = { 281 .addr = 0x23, 282 .value = BIT(0), 283 }, 284 .multi_read_bit = true, 285 .bootime = 2, 286 }, 287 }; 288 289 static int st_gyro_read_raw(struct iio_dev *indio_dev, 290 struct iio_chan_spec const *ch, int *val, 291 int *val2, long mask) 292 { 293 int err; 294 struct st_sensor_data *gdata = iio_priv(indio_dev); 295 296 switch (mask) { 297 case IIO_CHAN_INFO_RAW: 298 err = st_sensors_read_info_raw(indio_dev, ch, val); 299 if (err < 0) 300 goto read_error; 301 302 return IIO_VAL_INT; 303 case IIO_CHAN_INFO_SCALE: 304 *val = 0; 305 *val2 = gdata->current_fullscale->gain; 306 return IIO_VAL_INT_PLUS_MICRO; 307 case IIO_CHAN_INFO_SAMP_FREQ: 308 *val = gdata->odr; 309 return IIO_VAL_INT; 310 default: 311 return -EINVAL; 312 } 313 314 read_error: 315 return err; 316 } 317 318 static int st_gyro_write_raw(struct iio_dev *indio_dev, 319 struct iio_chan_spec const *chan, int val, int val2, long mask) 320 { 321 int err; 322 323 switch (mask) { 324 case IIO_CHAN_INFO_SCALE: 325 err = st_sensors_set_fullscale_by_gain(indio_dev, val2); 326 break; 327 case IIO_CHAN_INFO_SAMP_FREQ: 328 if (val2) 329 return -EINVAL; 330 mutex_lock(&indio_dev->mlock); 331 err = st_sensors_set_odr(indio_dev, val); 332 mutex_unlock(&indio_dev->mlock); 333 return err; 334 default: 335 err = -EINVAL; 336 } 337 338 return err; 339 } 340 341 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); 342 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); 343 344 static struct attribute *st_gyro_attributes[] = { 345 &iio_dev_attr_sampling_frequency_available.dev_attr.attr, 346 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, 347 NULL, 348 }; 349 350 static const struct attribute_group st_gyro_attribute_group = { 351 .attrs = st_gyro_attributes, 352 }; 353 354 static const struct iio_info gyro_info = { 355 .attrs = &st_gyro_attribute_group, 356 .read_raw = &st_gyro_read_raw, 357 .write_raw = &st_gyro_write_raw, 358 .debugfs_reg_access = &st_sensors_debugfs_reg_access, 359 }; 360 361 #ifdef CONFIG_IIO_TRIGGER 362 static const struct iio_trigger_ops st_gyro_trigger_ops = { 363 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, 364 .validate_device = st_sensors_validate_device, 365 }; 366 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) 367 #else 368 #define ST_GYRO_TRIGGER_OPS NULL 369 #endif 370 371 int st_gyro_common_probe(struct iio_dev *indio_dev) 372 { 373 struct st_sensor_data *gdata = iio_priv(indio_dev); 374 int irq = gdata->get_irq_data_ready(indio_dev); 375 int err; 376 377 indio_dev->modes = INDIO_DIRECT_MODE; 378 indio_dev->info = &gyro_info; 379 mutex_init(&gdata->tb.buf_lock); 380 381 err = st_sensors_power_enable(indio_dev); 382 if (err) 383 return err; 384 385 err = st_sensors_check_device_support(indio_dev, 386 ARRAY_SIZE(st_gyro_sensors_settings), 387 st_gyro_sensors_settings); 388 if (err < 0) 389 goto st_gyro_power_off; 390 391 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; 392 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit; 393 indio_dev->channels = gdata->sensor_settings->ch; 394 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; 395 396 gdata->current_fullscale = (struct st_sensor_fullscale_avl *) 397 &gdata->sensor_settings->fs.fs_avl[0]; 398 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz; 399 400 err = st_sensors_init_sensor(indio_dev, 401 (struct st_sensors_platform_data *)&gyro_pdata); 402 if (err < 0) 403 goto st_gyro_power_off; 404 405 err = st_gyro_allocate_ring(indio_dev); 406 if (err < 0) 407 goto st_gyro_power_off; 408 409 if (irq > 0) { 410 err = st_sensors_allocate_trigger(indio_dev, 411 ST_GYRO_TRIGGER_OPS); 412 if (err < 0) 413 goto st_gyro_probe_trigger_error; 414 } 415 416 err = iio_device_register(indio_dev); 417 if (err) 418 goto st_gyro_device_register_error; 419 420 dev_info(&indio_dev->dev, "registered gyroscope %s\n", 421 indio_dev->name); 422 423 return 0; 424 425 st_gyro_device_register_error: 426 if (irq > 0) 427 st_sensors_deallocate_trigger(indio_dev); 428 st_gyro_probe_trigger_error: 429 st_gyro_deallocate_ring(indio_dev); 430 st_gyro_power_off: 431 st_sensors_power_disable(indio_dev); 432 433 return err; 434 } 435 EXPORT_SYMBOL(st_gyro_common_probe); 436 437 void st_gyro_common_remove(struct iio_dev *indio_dev) 438 { 439 struct st_sensor_data *gdata = iio_priv(indio_dev); 440 441 st_sensors_power_disable(indio_dev); 442 443 iio_device_unregister(indio_dev); 444 if (gdata->get_irq_data_ready(indio_dev) > 0) 445 st_sensors_deallocate_trigger(indio_dev); 446 447 st_gyro_deallocate_ring(indio_dev); 448 } 449 EXPORT_SYMBOL(st_gyro_common_remove); 450 451 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); 452 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); 453 MODULE_LICENSE("GPL v2"); 454