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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#define ST_GYRO_NUMBER_DATA_CHANNELS 3
31
32
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
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
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
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
90static 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
106static 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] = LSM330D_GYRO_DEV_NAME,
171 [2] = LSM330DLC_GYRO_DEV_NAME,
172 [3] = L3G4IS_GYRO_DEV_NAME,
173 [4] = LSM330_GYRO_DEV_NAME,
174 },
175 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
176 .odr = {
177 .addr = ST_GYRO_2_ODR_ADDR,
178 .mask = ST_GYRO_2_ODR_MASK,
179 .odr_avl = {
180 { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, },
181 { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, },
182 { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, },
183 { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, },
184 },
185 },
186 .pw = {
187 .addr = ST_GYRO_2_PW_ADDR,
188 .mask = ST_GYRO_2_PW_MASK,
189 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
190 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
191 },
192 .enable_axis = {
193 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
194 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
195 },
196 .fs = {
197 .addr = ST_GYRO_2_FS_ADDR,
198 .mask = ST_GYRO_2_FS_MASK,
199 .fs_avl = {
200 [0] = {
201 .num = ST_GYRO_FS_AVL_250DPS,
202 .value = ST_GYRO_2_FS_AVL_250_VAL,
203 .gain = ST_GYRO_2_FS_AVL_250_GAIN,
204 },
205 [1] = {
206 .num = ST_GYRO_FS_AVL_500DPS,
207 .value = ST_GYRO_2_FS_AVL_500_VAL,
208 .gain = ST_GYRO_2_FS_AVL_500_GAIN,
209 },
210 [2] = {
211 .num = ST_GYRO_FS_AVL_2000DPS,
212 .value = ST_GYRO_2_FS_AVL_2000_VAL,
213 .gain = ST_GYRO_2_FS_AVL_2000_GAIN,
214 },
215 },
216 },
217 .bdu = {
218 .addr = ST_GYRO_2_BDU_ADDR,
219 .mask = ST_GYRO_2_BDU_MASK,
220 },
221 .drdy_irq = {
222 .addr = ST_GYRO_2_DRDY_IRQ_ADDR,
223 .mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK,
224 },
225 .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT,
226 .bootime = 2,
227 },
228};
229
230static int st_gyro_read_raw(struct iio_dev *indio_dev,
231 struct iio_chan_spec const *ch, int *val,
232 int *val2, long mask)
233{
234 int err;
235 struct st_sensor_data *gdata = iio_priv(indio_dev);
236
237 switch (mask) {
238 case IIO_CHAN_INFO_RAW:
239 err = st_sensors_read_info_raw(indio_dev, ch, val);
240 if (err < 0)
241 goto read_error;
242
243 return IIO_VAL_INT;
244 case IIO_CHAN_INFO_SCALE:
245 *val = 0;
246 *val2 = gdata->current_fullscale->gain;
247 return IIO_VAL_INT_PLUS_MICRO;
248 default:
249 return -EINVAL;
250 }
251
252read_error:
253 return err;
254}
255
256static int st_gyro_write_raw(struct iio_dev *indio_dev,
257 struct iio_chan_spec const *chan, int val, int val2, long mask)
258{
259 int err;
260
261 switch (mask) {
262 case IIO_CHAN_INFO_SCALE:
263 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
264 break;
265 default:
266 err = -EINVAL;
267 }
268
269 return err;
270}
271
272static ST_SENSOR_DEV_ATTR_SAMP_FREQ();
273static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
274static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
275
276static struct attribute *st_gyro_attributes[] = {
277 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
278 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
279 &iio_dev_attr_sampling_frequency.dev_attr.attr,
280 NULL,
281};
282
283static const struct attribute_group st_gyro_attribute_group = {
284 .attrs = st_gyro_attributes,
285};
286
287static const struct iio_info gyro_info = {
288 .driver_module = THIS_MODULE,
289 .attrs = &st_gyro_attribute_group,
290 .read_raw = &st_gyro_read_raw,
291 .write_raw = &st_gyro_write_raw,
292};
293
294#ifdef CONFIG_IIO_TRIGGER
295static const struct iio_trigger_ops st_gyro_trigger_ops = {
296 .owner = THIS_MODULE,
297 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
298};
299#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
300#else
301#define ST_GYRO_TRIGGER_OPS NULL
302#endif
303
304int st_gyro_common_probe(struct iio_dev *indio_dev,
305 struct st_sensors_platform_data *pdata)
306{
307 struct st_sensor_data *gdata = iio_priv(indio_dev);
308 int irq = gdata->get_irq_data_ready(indio_dev);
309 int err;
310
311 indio_dev->modes = INDIO_DIRECT_MODE;
312 indio_dev->info = &gyro_info;
313
314 err = st_sensors_check_device_support(indio_dev,
315 ARRAY_SIZE(st_gyro_sensors), st_gyro_sensors);
316 if (err < 0)
317 return err;
318
319 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
320 gdata->multiread_bit = gdata->sensor->multi_read_bit;
321 indio_dev->channels = gdata->sensor->ch;
322 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
323
324 gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
325 &gdata->sensor->fs.fs_avl[0];
326 gdata->odr = gdata->sensor->odr.odr_avl[0].hz;
327
328 err = st_sensors_init_sensor(indio_dev, pdata);
329 if (err < 0)
330 return err;
331
332 err = st_gyro_allocate_ring(indio_dev);
333 if (err < 0)
334 return err;
335
336 if (irq > 0) {
337 err = st_sensors_allocate_trigger(indio_dev,
338 ST_GYRO_TRIGGER_OPS);
339 if (err < 0)
340 goto st_gyro_probe_trigger_error;
341 }
342
343 err = iio_device_register(indio_dev);
344 if (err)
345 goto st_gyro_device_register_error;
346
347 return 0;
348
349st_gyro_device_register_error:
350 if (irq > 0)
351 st_sensors_deallocate_trigger(indio_dev);
352st_gyro_probe_trigger_error:
353 st_gyro_deallocate_ring(indio_dev);
354
355 return err;
356}
357EXPORT_SYMBOL(st_gyro_common_probe);
358
359void st_gyro_common_remove(struct iio_dev *indio_dev)
360{
361 struct st_sensor_data *gdata = iio_priv(indio_dev);
362
363 iio_device_unregister(indio_dev);
364 if (gdata->get_irq_data_ready(indio_dev) > 0)
365 st_sensors_deallocate_trigger(indio_dev);
366
367 st_gyro_deallocate_ring(indio_dev);
368}
369EXPORT_SYMBOL(st_gyro_common_remove);
370
371MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
372MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
373MODULE_LICENSE("GPL v2");
374
