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 static const struct iio_chan_spec st_gyro_16bit_channels[] = { 91 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 92 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 93 ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16, 94 ST_GYRO_DEFAULT_OUT_X_L_ADDR), 95 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 96 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 97 ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16, 98 ST_GYRO_DEFAULT_OUT_Y_L_ADDR), 99 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 100 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 101 ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16, 102 ST_GYRO_DEFAULT_OUT_Z_L_ADDR), 103 IIO_CHAN_SOFT_TIMESTAMP(3) 104 }; 105 106 static const struct st_sensors st_gyro_sensors[] = { 107 { 108 .wai = ST_GYRO_1_WAI_EXP, 109 .sensors_supported = { 110 [0] = L3G4200D_GYRO_DEV_NAME, 111 [1] = LSM330DL_GYRO_DEV_NAME, 112 }, 113 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 114 .odr = { 115 .addr = ST_GYRO_1_ODR_ADDR, 116 .mask = ST_GYRO_1_ODR_MASK, 117 .odr_avl = { 118 { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, }, 119 { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, }, 120 { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, }, 121 { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, }, 122 }, 123 }, 124 .pw = { 125 .addr = ST_GYRO_1_PW_ADDR, 126 .mask = ST_GYRO_1_PW_MASK, 127 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 128 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 129 }, 130 .enable_axis = { 131 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 132 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 133 }, 134 .fs = { 135 .addr = ST_GYRO_1_FS_ADDR, 136 .mask = ST_GYRO_1_FS_MASK, 137 .fs_avl = { 138 [0] = { 139 .num = ST_GYRO_FS_AVL_250DPS, 140 .value = ST_GYRO_1_FS_AVL_250_VAL, 141 .gain = ST_GYRO_1_FS_AVL_250_GAIN, 142 }, 143 [1] = { 144 .num = ST_GYRO_FS_AVL_500DPS, 145 .value = ST_GYRO_1_FS_AVL_500_VAL, 146 .gain = ST_GYRO_1_FS_AVL_500_GAIN, 147 }, 148 [2] = { 149 .num = ST_GYRO_FS_AVL_2000DPS, 150 .value = ST_GYRO_1_FS_AVL_2000_VAL, 151 .gain = ST_GYRO_1_FS_AVL_2000_GAIN, 152 }, 153 }, 154 }, 155 .bdu = { 156 .addr = ST_GYRO_1_BDU_ADDR, 157 .mask = ST_GYRO_1_BDU_MASK, 158 }, 159 .drdy_irq = { 160 .addr = ST_GYRO_1_DRDY_IRQ_ADDR, 161 .mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK, 162 }, 163 .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT, 164 .bootime = 2, 165 }, 166 { 167 .wai = ST_GYRO_2_WAI_EXP, 168 .sensors_supported = { 169 [0] = L3GD20_GYRO_DEV_NAME, 170 [1] = L3GD20H_GYRO_DEV_NAME, 171 [2] = LSM330D_GYRO_DEV_NAME, 172 [3] = LSM330DLC_GYRO_DEV_NAME, 173 [4] = L3G4IS_GYRO_DEV_NAME, 174 [5] = LSM330_GYRO_DEV_NAME, 175 }, 176 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 177 .odr = { 178 .addr = ST_GYRO_2_ODR_ADDR, 179 .mask = ST_GYRO_2_ODR_MASK, 180 .odr_avl = { 181 { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, }, 182 { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, }, 183 { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, }, 184 { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, }, 185 }, 186 }, 187 .pw = { 188 .addr = ST_GYRO_2_PW_ADDR, 189 .mask = ST_GYRO_2_PW_MASK, 190 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 191 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 192 }, 193 .enable_axis = { 194 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 195 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 196 }, 197 .fs = { 198 .addr = ST_GYRO_2_FS_ADDR, 199 .mask = ST_GYRO_2_FS_MASK, 200 .fs_avl = { 201 [0] = { 202 .num = ST_GYRO_FS_AVL_250DPS, 203 .value = ST_GYRO_2_FS_AVL_250_VAL, 204 .gain = ST_GYRO_2_FS_AVL_250_GAIN, 205 }, 206 [1] = { 207 .num = ST_GYRO_FS_AVL_500DPS, 208 .value = ST_GYRO_2_FS_AVL_500_VAL, 209 .gain = ST_GYRO_2_FS_AVL_500_GAIN, 210 }, 211 [2] = { 212 .num = ST_GYRO_FS_AVL_2000DPS, 213 .value = ST_GYRO_2_FS_AVL_2000_VAL, 214 .gain = ST_GYRO_2_FS_AVL_2000_GAIN, 215 }, 216 }, 217 }, 218 .bdu = { 219 .addr = ST_GYRO_2_BDU_ADDR, 220 .mask = ST_GYRO_2_BDU_MASK, 221 }, 222 .drdy_irq = { 223 .addr = ST_GYRO_2_DRDY_IRQ_ADDR, 224 .mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK, 225 }, 226 .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT, 227 .bootime = 2, 228 }, 229 }; 230 231 static int st_gyro_read_raw(struct iio_dev *indio_dev, 232 struct iio_chan_spec const *ch, int *val, 233 int *val2, long mask) 234 { 235 int err; 236 struct st_sensor_data *gdata = iio_priv(indio_dev); 237 238 switch (mask) { 239 case IIO_CHAN_INFO_RAW: 240 err = st_sensors_read_info_raw(indio_dev, ch, val); 241 if (err < 0) 242 goto read_error; 243 244 return IIO_VAL_INT; 245 case IIO_CHAN_INFO_SCALE: 246 *val = 0; 247 *val2 = gdata->current_fullscale->gain; 248 return IIO_VAL_INT_PLUS_MICRO; 249 default: 250 return -EINVAL; 251 } 252 253 read_error: 254 return err; 255 } 256 257 static int st_gyro_write_raw(struct iio_dev *indio_dev, 258 struct iio_chan_spec const *chan, int val, int val2, long mask) 259 { 260 int err; 261 262 switch (mask) { 263 case IIO_CHAN_INFO_SCALE: 264 err = st_sensors_set_fullscale_by_gain(indio_dev, val2); 265 break; 266 default: 267 err = -EINVAL; 268 } 269 270 return err; 271 } 272 273 static ST_SENSOR_DEV_ATTR_SAMP_FREQ(); 274 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); 275 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); 276 277 static struct attribute *st_gyro_attributes[] = { 278 &iio_dev_attr_sampling_frequency_available.dev_attr.attr, 279 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, 280 &iio_dev_attr_sampling_frequency.dev_attr.attr, 281 NULL, 282 }; 283 284 static const struct attribute_group st_gyro_attribute_group = { 285 .attrs = st_gyro_attributes, 286 }; 287 288 static const struct iio_info gyro_info = { 289 .driver_module = THIS_MODULE, 290 .attrs = &st_gyro_attribute_group, 291 .read_raw = &st_gyro_read_raw, 292 .write_raw = &st_gyro_write_raw, 293 }; 294 295 #ifdef CONFIG_IIO_TRIGGER 296 static const struct iio_trigger_ops st_gyro_trigger_ops = { 297 .owner = THIS_MODULE, 298 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, 299 }; 300 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) 301 #else 302 #define ST_GYRO_TRIGGER_OPS NULL 303 #endif 304 305 int st_gyro_common_probe(struct iio_dev *indio_dev, 306 struct st_sensors_platform_data *pdata) 307 { 308 struct st_sensor_data *gdata = iio_priv(indio_dev); 309 int irq = gdata->get_irq_data_ready(indio_dev); 310 int err; 311 312 indio_dev->modes = INDIO_DIRECT_MODE; 313 indio_dev->info = &gyro_info; 314 315 err = st_sensors_check_device_support(indio_dev, 316 ARRAY_SIZE(st_gyro_sensors), st_gyro_sensors); 317 if (err < 0) 318 return err; 319 320 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; 321 gdata->multiread_bit = gdata->sensor->multi_read_bit; 322 indio_dev->channels = gdata->sensor->ch; 323 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; 324 325 gdata->current_fullscale = (struct st_sensor_fullscale_avl *) 326 &gdata->sensor->fs.fs_avl[0]; 327 gdata->odr = gdata->sensor->odr.odr_avl[0].hz; 328 329 err = st_sensors_init_sensor(indio_dev, pdata); 330 if (err < 0) 331 return err; 332 333 err = st_gyro_allocate_ring(indio_dev); 334 if (err < 0) 335 return err; 336 337 if (irq > 0) { 338 err = st_sensors_allocate_trigger(indio_dev, 339 ST_GYRO_TRIGGER_OPS); 340 if (err < 0) 341 goto st_gyro_probe_trigger_error; 342 } 343 344 err = iio_device_register(indio_dev); 345 if (err) 346 goto st_gyro_device_register_error; 347 348 return 0; 349 350 st_gyro_device_register_error: 351 if (irq > 0) 352 st_sensors_deallocate_trigger(indio_dev); 353 st_gyro_probe_trigger_error: 354 st_gyro_deallocate_ring(indio_dev); 355 356 return err; 357 } 358 EXPORT_SYMBOL(st_gyro_common_probe); 359 360 void st_gyro_common_remove(struct iio_dev *indio_dev) 361 { 362 struct st_sensor_data *gdata = iio_priv(indio_dev); 363 364 iio_device_unregister(indio_dev); 365 if (gdata->get_irq_data_ready(indio_dev) > 0) 366 st_sensors_deallocate_trigger(indio_dev); 367 368 st_gyro_deallocate_ring(indio_dev); 369 } 370 EXPORT_SYMBOL(st_gyro_common_remove); 371 372 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); 373 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); 374 MODULE_LICENSE("GPL v2"); 375