1
2
3
4
5
6
7
8
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
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
90
91#define ST_GYRO_3_WAI_EXP 0xd7
92#define ST_GYRO_3_ODR_ADDR 0x20
93#define ST_GYRO_3_ODR_MASK 0xc0
94#define ST_GYRO_3_ODR_AVL_95HZ_VAL 0x00
95#define ST_GYRO_3_ODR_AVL_190HZ_VAL 0x01
96#define ST_GYRO_3_ODR_AVL_380HZ_VAL 0x02
97#define ST_GYRO_3_ODR_AVL_760HZ_VAL 0x03
98#define ST_GYRO_3_PW_ADDR 0x20
99#define ST_GYRO_3_PW_MASK 0x08
100#define ST_GYRO_3_FS_ADDR 0x23
101#define ST_GYRO_3_FS_MASK 0x30
102#define ST_GYRO_3_FS_AVL_250_VAL 0x00
103#define ST_GYRO_3_FS_AVL_500_VAL 0x01
104#define ST_GYRO_3_FS_AVL_2000_VAL 0x02
105#define ST_GYRO_3_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750)
106#define ST_GYRO_3_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500)
107#define ST_GYRO_3_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000)
108#define ST_GYRO_3_BDU_ADDR 0x23
109#define ST_GYRO_3_BDU_MASK 0x80
110#define ST_GYRO_3_DRDY_IRQ_ADDR 0x22
111#define ST_GYRO_3_DRDY_IRQ_INT2_MASK 0x08
112#define ST_GYRO_3_MULTIREAD_BIT true
113
114
115static const struct iio_chan_spec st_gyro_16bit_channels[] = {
116 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
117 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
118 ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
119 ST_GYRO_DEFAULT_OUT_X_L_ADDR),
120 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
121 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
122 ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
123 ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
124 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
125 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
126 ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
127 ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
128 IIO_CHAN_SOFT_TIMESTAMP(3)
129};
130
131static const struct st_sensor_settings st_gyro_sensors_settings[] = {
132 {
133 .wai = ST_GYRO_1_WAI_EXP,
134 .sensors_supported = {
135 [0] = L3G4200D_GYRO_DEV_NAME,
136 [1] = LSM330DL_GYRO_DEV_NAME,
137 },
138 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
139 .odr = {
140 .addr = ST_GYRO_1_ODR_ADDR,
141 .mask = ST_GYRO_1_ODR_MASK,
142 .odr_avl = {
143 { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, },
144 { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, },
145 { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, },
146 { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, },
147 },
148 },
149 .pw = {
150 .addr = ST_GYRO_1_PW_ADDR,
151 .mask = ST_GYRO_1_PW_MASK,
152 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
153 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
154 },
155 .enable_axis = {
156 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
157 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
158 },
159 .fs = {
160 .addr = ST_GYRO_1_FS_ADDR,
161 .mask = ST_GYRO_1_FS_MASK,
162 .fs_avl = {
163 [0] = {
164 .num = ST_GYRO_FS_AVL_250DPS,
165 .value = ST_GYRO_1_FS_AVL_250_VAL,
166 .gain = ST_GYRO_1_FS_AVL_250_GAIN,
167 },
168 [1] = {
169 .num = ST_GYRO_FS_AVL_500DPS,
170 .value = ST_GYRO_1_FS_AVL_500_VAL,
171 .gain = ST_GYRO_1_FS_AVL_500_GAIN,
172 },
173 [2] = {
174 .num = ST_GYRO_FS_AVL_2000DPS,
175 .value = ST_GYRO_1_FS_AVL_2000_VAL,
176 .gain = ST_GYRO_1_FS_AVL_2000_GAIN,
177 },
178 },
179 },
180 .bdu = {
181 .addr = ST_GYRO_1_BDU_ADDR,
182 .mask = ST_GYRO_1_BDU_MASK,
183 },
184 .drdy_irq = {
185 .addr = ST_GYRO_1_DRDY_IRQ_ADDR,
186 .mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK,
187 },
188 .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT,
189 .bootime = 2,
190 },
191 {
192 .wai = ST_GYRO_2_WAI_EXP,
193 .sensors_supported = {
194 [0] = L3GD20_GYRO_DEV_NAME,
195 [1] = LSM330D_GYRO_DEV_NAME,
196 [2] = LSM330DLC_GYRO_DEV_NAME,
197 [3] = L3G4IS_GYRO_DEV_NAME,
198 [4] = LSM330_GYRO_DEV_NAME,
199 },
200 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
201 .odr = {
202 .addr = ST_GYRO_2_ODR_ADDR,
203 .mask = ST_GYRO_2_ODR_MASK,
204 .odr_avl = {
205 { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, },
206 { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, },
207 { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, },
208 { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, },
209 },
210 },
211 .pw = {
212 .addr = ST_GYRO_2_PW_ADDR,
213 .mask = ST_GYRO_2_PW_MASK,
214 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
215 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
216 },
217 .enable_axis = {
218 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
219 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
220 },
221 .fs = {
222 .addr = ST_GYRO_2_FS_ADDR,
223 .mask = ST_GYRO_2_FS_MASK,
224 .fs_avl = {
225 [0] = {
226 .num = ST_GYRO_FS_AVL_250DPS,
227 .value = ST_GYRO_2_FS_AVL_250_VAL,
228 .gain = ST_GYRO_2_FS_AVL_250_GAIN,
229 },
230 [1] = {
231 .num = ST_GYRO_FS_AVL_500DPS,
232 .value = ST_GYRO_2_FS_AVL_500_VAL,
233 .gain = ST_GYRO_2_FS_AVL_500_GAIN,
234 },
235 [2] = {
236 .num = ST_GYRO_FS_AVL_2000DPS,
237 .value = ST_GYRO_2_FS_AVL_2000_VAL,
238 .gain = ST_GYRO_2_FS_AVL_2000_GAIN,
239 },
240 },
241 },
242 .bdu = {
243 .addr = ST_GYRO_2_BDU_ADDR,
244 .mask = ST_GYRO_2_BDU_MASK,
245 },
246 .drdy_irq = {
247 .addr = ST_GYRO_2_DRDY_IRQ_ADDR,
248 .mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK,
249 },
250 .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT,
251 .bootime = 2,
252 },
253 {
254 .wai = ST_GYRO_3_WAI_EXP,
255 .sensors_supported = {
256 [0] = L3GD20_GYRO_DEV_NAME,
257 },
258 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
259 .odr = {
260 .addr = ST_GYRO_3_ODR_ADDR,
261 .mask = ST_GYRO_3_ODR_MASK,
262 .odr_avl = {
263 { 95, ST_GYRO_3_ODR_AVL_95HZ_VAL, },
264 { 190, ST_GYRO_3_ODR_AVL_190HZ_VAL, },
265 { 380, ST_GYRO_3_ODR_AVL_380HZ_VAL, },
266 { 760, ST_GYRO_3_ODR_AVL_760HZ_VAL, },
267 },
268 },
269 .pw = {
270 .addr = ST_GYRO_3_PW_ADDR,
271 .mask = ST_GYRO_3_PW_MASK,
272 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
273 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
274 },
275 .enable_axis = {
276 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
277 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
278 },
279 .fs = {
280 .addr = ST_GYRO_3_FS_ADDR,
281 .mask = ST_GYRO_3_FS_MASK,
282 .fs_avl = {
283 [0] = {
284 .num = ST_GYRO_FS_AVL_250DPS,
285 .value = ST_GYRO_3_FS_AVL_250_VAL,
286 .gain = ST_GYRO_3_FS_AVL_250_GAIN,
287 },
288 [1] = {
289 .num = ST_GYRO_FS_AVL_500DPS,
290 .value = ST_GYRO_3_FS_AVL_500_VAL,
291 .gain = ST_GYRO_3_FS_AVL_500_GAIN,
292 },
293 [2] = {
294 .num = ST_GYRO_FS_AVL_2000DPS,
295 .value = ST_GYRO_3_FS_AVL_2000_VAL,
296 .gain = ST_GYRO_3_FS_AVL_2000_GAIN,
297 },
298 },
299 },
300 .bdu = {
301 .addr = ST_GYRO_3_BDU_ADDR,
302 .mask = ST_GYRO_3_BDU_MASK,
303 },
304 .drdy_irq = {
305 .addr = ST_GYRO_3_DRDY_IRQ_ADDR,
306 .mask_int2 = ST_GYRO_3_DRDY_IRQ_INT2_MASK,
307 },
308 .multi_read_bit = ST_GYRO_3_MULTIREAD_BIT,
309 .bootime = 2,
310 },
311};
312
313static int st_gyro_read_raw(struct iio_dev *indio_dev,
314 struct iio_chan_spec const *ch, int *val,
315 int *val2, long mask)
316{
317 int err;
318 struct st_sensor_data *gdata = iio_priv(indio_dev);
319
320 switch (mask) {
321 case IIO_CHAN_INFO_RAW:
322 err = st_sensors_read_info_raw(indio_dev, ch, val);
323 if (err < 0)
324 goto read_error;
325
326 return IIO_VAL_INT;
327 case IIO_CHAN_INFO_SCALE:
328 *val = 0;
329 *val2 = gdata->current_fullscale->gain;
330 return IIO_VAL_INT_PLUS_MICRO;
331 case IIO_CHAN_INFO_SAMP_FREQ:
332 *val = gdata->odr;
333 return IIO_VAL_INT;
334 default:
335 return -EINVAL;
336 }
337
338read_error:
339 return err;
340}
341
342static int st_gyro_write_raw(struct iio_dev *indio_dev,
343 struct iio_chan_spec const *chan, int val, int val2, long mask)
344{
345 int err;
346
347 switch (mask) {
348 case IIO_CHAN_INFO_SCALE:
349 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
350 break;
351 case IIO_CHAN_INFO_SAMP_FREQ:
352 if (val2)
353 return -EINVAL;
354 mutex_lock(&indio_dev->mlock);
355 err = st_sensors_set_odr(indio_dev, val);
356 mutex_unlock(&indio_dev->mlock);
357 return err;
358 default:
359 err = -EINVAL;
360 }
361
362 return err;
363}
364
365static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
366static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
367
368static struct attribute *st_gyro_attributes[] = {
369 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
370 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
371 NULL,
372};
373
374static const struct attribute_group st_gyro_attribute_group = {
375 .attrs = st_gyro_attributes,
376};
377
378static const struct iio_info gyro_info = {
379 .driver_module = THIS_MODULE,
380 .attrs = &st_gyro_attribute_group,
381 .read_raw = &st_gyro_read_raw,
382 .write_raw = &st_gyro_write_raw,
383};
384
385#ifdef CONFIG_IIO_TRIGGER
386static const struct iio_trigger_ops st_gyro_trigger_ops = {
387 .owner = THIS_MODULE,
388 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
389};
390#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
391#else
392#define ST_GYRO_TRIGGER_OPS NULL
393#endif
394
395int st_gyro_common_probe(struct iio_dev *indio_dev)
396{
397 struct st_sensor_data *gdata = iio_priv(indio_dev);
398 int irq = gdata->get_irq_data_ready(indio_dev);
399 int err;
400
401 indio_dev->modes = INDIO_DIRECT_MODE;
402 indio_dev->info = &gyro_info;
403 mutex_init(&gdata->tb.buf_lock);
404
405 st_sensors_power_enable(indio_dev);
406
407 err = st_sensors_check_device_support(indio_dev,
408 ARRAY_SIZE(st_gyro_sensors_settings),
409 st_gyro_sensors_settings);
410 if (err < 0)
411 return err;
412
413 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
414 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
415 indio_dev->channels = gdata->sensor_settings->ch;
416 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
417
418 gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
419 &gdata->sensor_settings->fs.fs_avl[0];
420 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
421
422 err = st_sensors_init_sensor(indio_dev,
423 (struct st_sensors_platform_data *)&gyro_pdata);
424 if (err < 0)
425 return err;
426
427 err = st_gyro_allocate_ring(indio_dev);
428 if (err < 0)
429 return err;
430
431 if (irq > 0) {
432 err = st_sensors_allocate_trigger(indio_dev,
433 ST_GYRO_TRIGGER_OPS);
434 if (err < 0)
435 goto st_gyro_probe_trigger_error;
436 }
437
438 err = iio_device_register(indio_dev);
439 if (err)
440 goto st_gyro_device_register_error;
441
442 dev_info(&indio_dev->dev, "registered gyroscope %s\n",
443 indio_dev->name);
444
445 return 0;
446
447st_gyro_device_register_error:
448 if (irq > 0)
449 st_sensors_deallocate_trigger(indio_dev);
450st_gyro_probe_trigger_error:
451 st_gyro_deallocate_ring(indio_dev);
452
453 return err;
454}
455EXPORT_SYMBOL(st_gyro_common_probe);
456
457void st_gyro_common_remove(struct iio_dev *indio_dev)
458{
459 struct st_sensor_data *gdata = iio_priv(indio_dev);
460
461 st_sensors_power_disable(indio_dev);
462
463 iio_device_unregister(indio_dev);
464 if (gdata->get_irq_data_ready(indio_dev) > 0)
465 st_sensors_deallocate_trigger(indio_dev);
466
467 st_gyro_deallocate_ring(indio_dev);
468}
469EXPORT_SYMBOL(st_gyro_common_remove);
470
471MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
472MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
473MODULE_LICENSE("GPL v2");
474
