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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
31#define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28
32#define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a
33#define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c
34
35
36#define ST_GYRO_FS_AVL_250DPS 250
37#define ST_GYRO_FS_AVL_500DPS 500
38#define ST_GYRO_FS_AVL_2000DPS 2000
39
40
41#define ST_GYRO_1_WAI_EXP 0xd3
42#define ST_GYRO_1_ODR_ADDR 0x20
43#define ST_GYRO_1_ODR_MASK 0xc0
44#define ST_GYRO_1_ODR_AVL_100HZ_VAL 0x00
45#define ST_GYRO_1_ODR_AVL_200HZ_VAL 0x01
46#define ST_GYRO_1_ODR_AVL_400HZ_VAL 0x02
47#define ST_GYRO_1_ODR_AVL_800HZ_VAL 0x03
48#define ST_GYRO_1_PW_ADDR 0x20
49#define ST_GYRO_1_PW_MASK 0x08
50#define ST_GYRO_1_FS_ADDR 0x23
51#define ST_GYRO_1_FS_MASK 0x30
52#define ST_GYRO_1_FS_AVL_250_VAL 0x00
53#define ST_GYRO_1_FS_AVL_500_VAL 0x01
54#define ST_GYRO_1_FS_AVL_2000_VAL 0x02
55#define ST_GYRO_1_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750)
56#define ST_GYRO_1_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500)
57#define ST_GYRO_1_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000)
58#define ST_GYRO_1_BDU_ADDR 0x23
59#define ST_GYRO_1_BDU_MASK 0x80
60#define ST_GYRO_1_DRDY_IRQ_ADDR 0x22
61#define ST_GYRO_1_DRDY_IRQ_MASK 0x08
62#define ST_GYRO_1_MULTIREAD_BIT true
63
64
65#define ST_GYRO_2_WAI_EXP 0xd4
66#define ST_GYRO_2_ODR_ADDR 0x20
67#define ST_GYRO_2_ODR_MASK 0xc0
68#define ST_GYRO_2_ODR_AVL_95HZ_VAL 0x00
69#define ST_GYRO_2_ODR_AVL_190HZ_VAL 0x01
70#define ST_GYRO_2_ODR_AVL_380HZ_VAL 0x02
71#define ST_GYRO_2_ODR_AVL_760HZ_VAL 0x03
72#define ST_GYRO_2_PW_ADDR 0x20
73#define ST_GYRO_2_PW_MASK 0x08
74#define ST_GYRO_2_FS_ADDR 0x23
75#define ST_GYRO_2_FS_MASK 0x30
76#define ST_GYRO_2_FS_AVL_250_VAL 0x00
77#define ST_GYRO_2_FS_AVL_500_VAL 0x01
78#define ST_GYRO_2_FS_AVL_2000_VAL 0x02
79#define ST_GYRO_2_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750)
80#define ST_GYRO_2_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500)
81#define ST_GYRO_2_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000)
82#define ST_GYRO_2_BDU_ADDR 0x23
83#define ST_GYRO_2_BDU_MASK 0x80
84#define ST_GYRO_2_DRDY_IRQ_ADDR 0x22
85#define ST_GYRO_2_DRDY_IRQ_MASK 0x08
86#define ST_GYRO_2_MULTIREAD_BIT true
87
88static const struct iio_chan_spec st_gyro_16bit_channels[] = {
89 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, ST_SENSORS_SCAN_X,
90 IIO_MOD_X, IIO_LE, ST_SENSORS_DEFAULT_16_REALBITS,
91 ST_GYRO_DEFAULT_OUT_X_L_ADDR),
92 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, ST_SENSORS_SCAN_Y,
93 IIO_MOD_Y, IIO_LE, ST_SENSORS_DEFAULT_16_REALBITS,
94 ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
95 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, ST_SENSORS_SCAN_Z,
96 IIO_MOD_Z, IIO_LE, ST_SENSORS_DEFAULT_16_REALBITS,
97 ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
98 IIO_CHAN_SOFT_TIMESTAMP(3)
99};
100
101static const struct st_sensors st_gyro_sensors[] = {
102 {
103 .wai = ST_GYRO_1_WAI_EXP,
104 .sensors_supported = {
105 [0] = L3G4200D_GYRO_DEV_NAME,
106 [1] = LSM330DL_GYRO_DEV_NAME,
107 },
108 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
109 .odr = {
110 .addr = ST_GYRO_1_ODR_ADDR,
111 .mask = ST_GYRO_1_ODR_MASK,
112 .odr_avl = {
113 { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, },
114 { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, },
115 { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, },
116 { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, },
117 },
118 },
119 .pw = {
120 .addr = ST_GYRO_1_PW_ADDR,
121 .mask = ST_GYRO_1_PW_MASK,
122 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
123 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
124 },
125 .enable_axis = {
126 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
127 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
128 },
129 .fs = {
130 .addr = ST_GYRO_1_FS_ADDR,
131 .mask = ST_GYRO_1_FS_MASK,
132 .fs_avl = {
133 [0] = {
134 .num = ST_GYRO_FS_AVL_250DPS,
135 .value = ST_GYRO_1_FS_AVL_250_VAL,
136 .gain = ST_GYRO_1_FS_AVL_250_GAIN,
137 },
138 [1] = {
139 .num = ST_GYRO_FS_AVL_500DPS,
140 .value = ST_GYRO_1_FS_AVL_500_VAL,
141 .gain = ST_GYRO_1_FS_AVL_500_GAIN,
142 },
143 [2] = {
144 .num = ST_GYRO_FS_AVL_2000DPS,
145 .value = ST_GYRO_1_FS_AVL_2000_VAL,
146 .gain = ST_GYRO_1_FS_AVL_2000_GAIN,
147 },
148 },
149 },
150 .bdu = {
151 .addr = ST_GYRO_1_BDU_ADDR,
152 .mask = ST_GYRO_1_BDU_MASK,
153 },
154 .drdy_irq = {
155 .addr = ST_GYRO_1_DRDY_IRQ_ADDR,
156 .mask = ST_GYRO_1_DRDY_IRQ_MASK,
157 },
158 .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT,
159 .bootime = 2,
160 },
161 {
162 .wai = ST_GYRO_2_WAI_EXP,
163 .sensors_supported = {
164 [0] = L3GD20_GYRO_DEV_NAME,
165 [1] = L3GD20H_GYRO_DEV_NAME,
166 [2] = LSM330D_GYRO_DEV_NAME,
167 [3] = LSM330DLC_GYRO_DEV_NAME,
168 [4] = L3G4IS_GYRO_DEV_NAME,
169 [5] = LSM330_GYRO_DEV_NAME,
170 },
171 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
172 .odr = {
173 .addr = ST_GYRO_2_ODR_ADDR,
174 .mask = ST_GYRO_2_ODR_MASK,
175 .odr_avl = {
176 { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, },
177 { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, },
178 { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, },
179 { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, },
180 },
181 },
182 .pw = {
183 .addr = ST_GYRO_2_PW_ADDR,
184 .mask = ST_GYRO_2_PW_MASK,
185 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
186 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
187 },
188 .enable_axis = {
189 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
190 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
191 },
192 .fs = {
193 .addr = ST_GYRO_2_FS_ADDR,
194 .mask = ST_GYRO_2_FS_MASK,
195 .fs_avl = {
196 [0] = {
197 .num = ST_GYRO_FS_AVL_250DPS,
198 .value = ST_GYRO_2_FS_AVL_250_VAL,
199 .gain = ST_GYRO_2_FS_AVL_250_GAIN,
200 },
201 [1] = {
202 .num = ST_GYRO_FS_AVL_500DPS,
203 .value = ST_GYRO_2_FS_AVL_500_VAL,
204 .gain = ST_GYRO_2_FS_AVL_500_GAIN,
205 },
206 [2] = {
207 .num = ST_GYRO_FS_AVL_2000DPS,
208 .value = ST_GYRO_2_FS_AVL_2000_VAL,
209 .gain = ST_GYRO_2_FS_AVL_2000_GAIN,
210 },
211 },
212 },
213 .bdu = {
214 .addr = ST_GYRO_2_BDU_ADDR,
215 .mask = ST_GYRO_2_BDU_MASK,
216 },
217 .drdy_irq = {
218 .addr = ST_GYRO_2_DRDY_IRQ_ADDR,
219 .mask = ST_GYRO_2_DRDY_IRQ_MASK,
220 },
221 .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT,
222 .bootime = 2,
223 },
224};
225
226static int st_gyro_read_raw(struct iio_dev *indio_dev,
227 struct iio_chan_spec const *ch, int *val,
228 int *val2, long mask)
229{
230 int err;
231 struct st_sensor_data *gdata = iio_priv(indio_dev);
232
233 switch (mask) {
234 case IIO_CHAN_INFO_RAW:
235 err = st_sensors_read_info_raw(indio_dev, ch, val);
236 if (err < 0)
237 goto read_error;
238
239 return IIO_VAL_INT;
240 case IIO_CHAN_INFO_SCALE:
241 *val = 0;
242 *val2 = gdata->current_fullscale->gain;
243 return IIO_VAL_INT_PLUS_MICRO;
244 default:
245 return -EINVAL;
246 }
247
248read_error:
249 return err;
250}
251
252static int st_gyro_write_raw(struct iio_dev *indio_dev,
253 struct iio_chan_spec const *chan, int val, int val2, long mask)
254{
255 int err;
256
257 switch (mask) {
258 case IIO_CHAN_INFO_SCALE:
259 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
260 break;
261 default:
262 err = -EINVAL;
263 }
264
265 return err;
266}
267
268static ST_SENSOR_DEV_ATTR_SAMP_FREQ();
269static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
270static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
271
272static struct attribute *st_gyro_attributes[] = {
273 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
274 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
275 &iio_dev_attr_sampling_frequency.dev_attr.attr,
276 NULL,
277};
278
279static const struct attribute_group st_gyro_attribute_group = {
280 .attrs = st_gyro_attributes,
281};
282
283static const struct iio_info gyro_info = {
284 .driver_module = THIS_MODULE,
285 .attrs = &st_gyro_attribute_group,
286 .read_raw = &st_gyro_read_raw,
287 .write_raw = &st_gyro_write_raw,
288};
289
290#ifdef CONFIG_IIO_TRIGGER
291static const struct iio_trigger_ops st_gyro_trigger_ops = {
292 .owner = THIS_MODULE,
293 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
294};
295#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
296#else
297#define ST_GYRO_TRIGGER_OPS NULL
298#endif
299
300int st_gyro_common_probe(struct iio_dev *indio_dev)
301{
302 int err;
303 struct st_sensor_data *gdata = iio_priv(indio_dev);
304
305 indio_dev->modes = INDIO_DIRECT_MODE;
306 indio_dev->info = &gyro_info;
307
308 err = st_sensors_check_device_support(indio_dev,
309 ARRAY_SIZE(st_gyro_sensors), st_gyro_sensors);
310 if (err < 0)
311 goto st_gyro_common_probe_error;
312
313 gdata->multiread_bit = gdata->sensor->multi_read_bit;
314 indio_dev->channels = gdata->sensor->ch;
315 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
316
317 gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
318 &gdata->sensor->fs.fs_avl[0];
319 gdata->odr = gdata->sensor->odr.odr_avl[0].hz;
320
321 err = st_sensors_init_sensor(indio_dev);
322 if (err < 0)
323 goto st_gyro_common_probe_error;
324
325 if (gdata->get_irq_data_ready(indio_dev) > 0) {
326 err = st_gyro_allocate_ring(indio_dev);
327 if (err < 0)
328 goto st_gyro_common_probe_error;
329
330 err = st_sensors_allocate_trigger(indio_dev,
331 ST_GYRO_TRIGGER_OPS);
332 if (err < 0)
333 goto st_gyro_probe_trigger_error;
334 }
335
336 err = iio_device_register(indio_dev);
337 if (err)
338 goto st_gyro_device_register_error;
339
340 return err;
341
342st_gyro_device_register_error:
343 if (gdata->get_irq_data_ready(indio_dev) > 0)
344 st_sensors_deallocate_trigger(indio_dev);
345st_gyro_probe_trigger_error:
346 if (gdata->get_irq_data_ready(indio_dev) > 0)
347 st_gyro_deallocate_ring(indio_dev);
348st_gyro_common_probe_error:
349 return err;
350}
351EXPORT_SYMBOL(st_gyro_common_probe);
352
353void st_gyro_common_remove(struct iio_dev *indio_dev)
354{
355 struct st_sensor_data *gdata = iio_priv(indio_dev);
356
357 iio_device_unregister(indio_dev);
358 if (gdata->get_irq_data_ready(indio_dev) > 0) {
359 st_sensors_deallocate_trigger(indio_dev);
360 st_gyro_deallocate_ring(indio_dev);
361 }
362 iio_device_free(indio_dev);
363}
364EXPORT_SYMBOL(st_gyro_common_remove);
365
366MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
367MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
368MODULE_LICENSE("GPL v2");
369
