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15#include <linux/interrupt.h>
16#include <linux/irq.h>
17#include <linux/i2c.h>
18#include <linux/gpio.h>
19#include <linux/slab.h>
20#include <linux/stat.h>
21#include <linux/module.h>
22#include <linux/delay.h>
23
24#include <linux/iio/iio.h>
25#include <linux/iio/sysfs.h>
26#include <linux/iio/events.h>
27#include <linux/iio/buffer.h>
28
29#include <linux/iio/gyro/itg3200.h>
30
31
32int itg3200_write_reg_8(struct iio_dev *indio_dev,
33 u8 reg_address, u8 val)
34{
35 struct itg3200 *st = iio_priv(indio_dev);
36
37 return i2c_smbus_write_byte_data(st->i2c, 0x80 | reg_address, val);
38}
39
40int itg3200_read_reg_8(struct iio_dev *indio_dev,
41 u8 reg_address, u8 *val)
42{
43 struct itg3200 *st = iio_priv(indio_dev);
44 int ret;
45
46 ret = i2c_smbus_read_byte_data(st->i2c, reg_address);
47 if (ret < 0)
48 return ret;
49 *val = ret;
50 return 0;
51}
52
53static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address,
54 int *val)
55{
56 struct itg3200 *st = iio_priv(indio_dev);
57 struct i2c_client *client = st->i2c;
58 int ret;
59 s16 out;
60
61 struct i2c_msg msg[2] = {
62 {
63 .addr = client->addr,
64 .flags = client->flags,
65 .len = 1,
66 .buf = (char *)&lower_reg_address,
67 },
68 {
69 .addr = client->addr,
70 .flags = client->flags | I2C_M_RD,
71 .len = 2,
72 .buf = (char *)&out,
73 },
74 };
75
76 lower_reg_address |= 0x80;
77 ret = i2c_transfer(client->adapter, msg, 2);
78 be16_to_cpus(&out);
79 *val = out;
80
81 return (ret == 2) ? 0 : ret;
82}
83
84static int itg3200_read_raw(struct iio_dev *indio_dev,
85 const struct iio_chan_spec *chan,
86 int *val, int *val2, long info)
87{
88 int ret = 0;
89 u8 reg;
90 u8 regval;
91
92 switch (info) {
93 case IIO_CHAN_INFO_RAW:
94 reg = (u8)chan->address;
95 ret = itg3200_read_reg_s16(indio_dev, reg, val);
96 return IIO_VAL_INT;
97 case IIO_CHAN_INFO_SCALE:
98 *val = 0;
99 if (chan->type == IIO_TEMP)
100 *val2 = 1000000000/280;
101 else
102 *val2 = 1214142;
103 return IIO_VAL_INT_PLUS_NANO;
104 case IIO_CHAN_INFO_OFFSET:
105
106 *val = 23000;
107 return IIO_VAL_INT;
108 case IIO_CHAN_INFO_SAMP_FREQ:
109 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, ®val);
110 if (ret)
111 return ret;
112
113 *val = (regval & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000;
114
115 ret = itg3200_read_reg_8(indio_dev,
116 ITG3200_REG_SAMPLE_RATE_DIV,
117 ®val);
118 if (ret)
119 return ret;
120
121 *val /= regval + 1;
122 return IIO_VAL_INT;
123
124 default:
125 return -EINVAL;
126 }
127}
128
129static int itg3200_write_raw(struct iio_dev *indio_dev,
130 struct iio_chan_spec const *chan,
131 int val,
132 int val2,
133 long mask)
134{
135 int ret;
136 u8 t;
137
138 switch (mask) {
139 case IIO_CHAN_INFO_SAMP_FREQ:
140 if (val == 0 || val2 != 0)
141 return -EINVAL;
142
143 mutex_lock(&indio_dev->mlock);
144
145 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &t);
146 if (ret) {
147 mutex_unlock(&indio_dev->mlock);
148 return ret;
149 }
150 t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / val - 1;
151
152 ret = itg3200_write_reg_8(indio_dev,
153 ITG3200_REG_SAMPLE_RATE_DIV,
154 t);
155
156 mutex_unlock(&indio_dev->mlock);
157 return ret;
158
159 default:
160 return -EINVAL;
161 }
162}
163
164
165
166
167
168static int itg3200_reset(struct iio_dev *indio_dev)
169{
170 struct itg3200 *st = iio_priv(indio_dev);
171 int ret;
172
173 dev_dbg(&st->i2c->dev, "reset device");
174
175 ret = itg3200_write_reg_8(indio_dev,
176 ITG3200_REG_POWER_MANAGEMENT,
177 ITG3200_RESET);
178 if (ret) {
179 dev_err(&st->i2c->dev, "error resetting device");
180 goto error_ret;
181 }
182
183
184 udelay(1500);
185
186 ret = itg3200_write_reg_8(indio_dev,
187 ITG3200_REG_IRQ_CONFIG,
188 ITG3200_IRQ_ACTIVE_HIGH |
189 ITG3200_IRQ_PUSH_PULL |
190 ITG3200_IRQ_LATCH_50US_PULSE |
191 ITG3200_IRQ_LATCH_CLEAR_ANY);
192
193 if (ret)
194 dev_err(&st->i2c->dev, "error init device");
195
196error_ret:
197 return ret;
198}
199
200
201static int itg3200_enable_full_scale(struct iio_dev *indio_dev)
202{
203 u8 val;
204 int ret;
205
206 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &val);
207 if (ret)
208 goto err_ret;
209
210 val |= ITG3200_DLPF_FS_SEL_2000;
211 return itg3200_write_reg_8(indio_dev, ITG3200_REG_DLPF, val);
212
213err_ret:
214 return ret;
215}
216
217static int itg3200_initial_setup(struct iio_dev *indio_dev)
218{
219 struct itg3200 *st = iio_priv(indio_dev);
220 int ret;
221 u8 val;
222
223 ret = itg3200_reset(indio_dev);
224 if (ret)
225 goto err_ret;
226
227 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_ADDRESS, &val);
228 if (ret)
229 goto err_ret;
230
231 if (((val >> 1) & 0x3f) != 0x34) {
232 dev_err(&st->i2c->dev, "invalid reg value 0x%02x", val);
233 ret = -ENXIO;
234 goto err_ret;
235 }
236
237 ret = itg3200_enable_full_scale(indio_dev);
238err_ret:
239 return ret;
240}
241
242static const struct iio_mount_matrix *
243itg3200_get_mount_matrix(const struct iio_dev *indio_dev,
244 const struct iio_chan_spec *chan)
245{
246 struct itg3200 *data = iio_priv(indio_dev);
247
248 return &data->orientation;
249}
250
251static const struct iio_chan_spec_ext_info itg3200_ext_info[] = {
252 IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, itg3200_get_mount_matrix),
253 { }
254};
255
256#define ITG3200_ST \
257 { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE }
258
259#define ITG3200_GYRO_CHAN(_mod) { \
260 .type = IIO_ANGL_VEL, \
261 .modified = 1, \
262 .channel2 = IIO_MOD_ ## _mod, \
263 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
264 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
265 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
266 .address = ITG3200_REG_GYRO_ ## _mod ## OUT_H, \
267 .scan_index = ITG3200_SCAN_GYRO_ ## _mod, \
268 .scan_type = ITG3200_ST, \
269 .ext_info = itg3200_ext_info, \
270}
271
272static const struct iio_chan_spec itg3200_channels[] = {
273 {
274 .type = IIO_TEMP,
275 .channel2 = IIO_NO_MOD,
276 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
277 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) |
278 BIT(IIO_CHAN_INFO_SCALE),
279 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
280 .address = ITG3200_REG_TEMP_OUT_H,
281 .scan_index = ITG3200_SCAN_TEMP,
282 .scan_type = ITG3200_ST,
283 },
284 ITG3200_GYRO_CHAN(X),
285 ITG3200_GYRO_CHAN(Y),
286 ITG3200_GYRO_CHAN(Z),
287 IIO_CHAN_SOFT_TIMESTAMP(ITG3200_SCAN_ELEMENTS),
288};
289
290static const struct iio_info itg3200_info = {
291 .read_raw = &itg3200_read_raw,
292 .write_raw = &itg3200_write_raw,
293};
294
295static const unsigned long itg3200_available_scan_masks[] = { 0xffffffff, 0x0 };
296
297static int itg3200_probe(struct i2c_client *client,
298 const struct i2c_device_id *id)
299{
300 int ret;
301 struct itg3200 *st;
302 struct iio_dev *indio_dev;
303
304 dev_dbg(&client->dev, "probe I2C dev with IRQ %i", client->irq);
305
306 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
307 if (!indio_dev)
308 return -ENOMEM;
309
310 st = iio_priv(indio_dev);
311
312 ret = iio_read_mount_matrix(&client->dev, "mount-matrix",
313 &st->orientation);
314 if (ret)
315 return ret;
316
317 i2c_set_clientdata(client, indio_dev);
318 st->i2c = client;
319
320 indio_dev->dev.parent = &client->dev;
321 indio_dev->name = client->dev.driver->name;
322 indio_dev->channels = itg3200_channels;
323 indio_dev->num_channels = ARRAY_SIZE(itg3200_channels);
324 indio_dev->available_scan_masks = itg3200_available_scan_masks;
325 indio_dev->info = &itg3200_info;
326 indio_dev->modes = INDIO_DIRECT_MODE;
327
328 ret = itg3200_buffer_configure(indio_dev);
329 if (ret)
330 return ret;
331
332 if (client->irq) {
333 ret = itg3200_probe_trigger(indio_dev);
334 if (ret)
335 goto error_unconfigure_buffer;
336 }
337
338 ret = itg3200_initial_setup(indio_dev);
339 if (ret)
340 goto error_remove_trigger;
341
342 ret = iio_device_register(indio_dev);
343 if (ret)
344 goto error_remove_trigger;
345
346 return 0;
347
348error_remove_trigger:
349 if (client->irq)
350 itg3200_remove_trigger(indio_dev);
351error_unconfigure_buffer:
352 itg3200_buffer_unconfigure(indio_dev);
353 return ret;
354}
355
356static int itg3200_remove(struct i2c_client *client)
357{
358 struct iio_dev *indio_dev = i2c_get_clientdata(client);
359
360 iio_device_unregister(indio_dev);
361
362 if (client->irq)
363 itg3200_remove_trigger(indio_dev);
364
365 itg3200_buffer_unconfigure(indio_dev);
366
367 return 0;
368}
369
370static int __maybe_unused itg3200_suspend(struct device *dev)
371{
372 struct iio_dev *indio_dev = dev_get_drvdata(dev);
373 struct itg3200 *st = iio_priv(indio_dev);
374
375 dev_dbg(&st->i2c->dev, "suspend device");
376
377 return itg3200_write_reg_8(indio_dev, ITG3200_REG_POWER_MANAGEMENT,
378 ITG3200_SLEEP);
379}
380
381static int __maybe_unused itg3200_resume(struct device *dev)
382{
383 struct iio_dev *indio_dev = dev_get_drvdata(dev);
384
385 return itg3200_initial_setup(indio_dev);
386}
387
388static SIMPLE_DEV_PM_OPS(itg3200_pm_ops, itg3200_suspend, itg3200_resume);
389
390static const struct i2c_device_id itg3200_id[] = {
391 { "itg3200", 0 },
392 { }
393};
394MODULE_DEVICE_TABLE(i2c, itg3200_id);
395
396static const struct of_device_id itg3200_of_match[] = {
397 { .compatible = "invensense,itg3200" },
398 { }
399};
400MODULE_DEVICE_TABLE(of, itg3200_of_match);
401
402static struct i2c_driver itg3200_driver = {
403 .driver = {
404 .name = "itg3200",
405 .of_match_table = itg3200_of_match,
406 .pm = &itg3200_pm_ops,
407 },
408 .id_table = itg3200_id,
409 .probe = itg3200_probe,
410 .remove = itg3200_remove,
411};
412
413module_i2c_driver(itg3200_driver);
414
415MODULE_AUTHOR("Christian Strobel <christian.strobel@iis.fraunhofer.de>");
416MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver");
417MODULE_LICENSE("GPL v2");
418
