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10#include <linux/kernel.h>
11#include <linux/module.h>
12#include <linux/slab.h>
13#include <linux/errno.h>
14#include <linux/types.h>
15#include <linux/mutex.h>
16#include <linux/interrupt.h>
17#include <linux/i2c.h>
18#include <linux/gpio.h>
19#include <linux/irq.h>
20#include <linux/delay.h>
21#include <linux/iio/iio.h>
22#include <linux/iio/sysfs.h>
23#include <linux/iio/trigger.h>
24#include <linux/iio/buffer.h>
25
26#include <linux/iio/common/st_sensors.h>
27#include "st_gyro.h"
28
29#define ST_GYRO_NUMBER_DATA_CHANNELS 3
30
31
32#define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28
33#define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a
34#define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c
35
36
37#define ST_GYRO_FS_AVL_245DPS 245
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
42static const struct iio_chan_spec st_gyro_16bit_channels[] = {
43 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
44 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
45 ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
46 ST_GYRO_DEFAULT_OUT_X_L_ADDR),
47 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
48 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
49 ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
50 ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
51 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
52 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
53 ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
54 ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
55 IIO_CHAN_SOFT_TIMESTAMP(3)
56};
57
58static const struct st_sensor_settings st_gyro_sensors_settings[] = {
59 {
60 .wai = 0xd3,
61 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
62 .sensors_supported = {
63 [0] = L3G4200D_GYRO_DEV_NAME,
64 [1] = LSM330DL_GYRO_DEV_NAME,
65 },
66 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
67 .odr = {
68 .addr = 0x20,
69 .mask = 0xc0,
70 .odr_avl = {
71 { .hz = 100, .value = 0x00, },
72 { .hz = 200, .value = 0x01, },
73 { .hz = 400, .value = 0x02, },
74 { .hz = 800, .value = 0x03, },
75 },
76 },
77 .pw = {
78 .addr = 0x20,
79 .mask = 0x08,
80 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
81 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
82 },
83 .enable_axis = {
84 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
85 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
86 },
87 .fs = {
88 .addr = 0x23,
89 .mask = 0x30,
90 .fs_avl = {
91 [0] = {
92 .num = ST_GYRO_FS_AVL_250DPS,
93 .value = 0x00,
94 .gain = IIO_DEGREE_TO_RAD(8750),
95 },
96 [1] = {
97 .num = ST_GYRO_FS_AVL_500DPS,
98 .value = 0x01,
99 .gain = IIO_DEGREE_TO_RAD(17500),
100 },
101 [2] = {
102 .num = ST_GYRO_FS_AVL_2000DPS,
103 .value = 0x02,
104 .gain = IIO_DEGREE_TO_RAD(70000),
105 },
106 },
107 },
108 .bdu = {
109 .addr = 0x23,
110 .mask = 0x80,
111 },
112 .drdy_irq = {
113 .int2 = {
114 .addr = 0x22,
115 .mask = 0x08,
116 },
117
118
119
120
121
122 .stat_drdy = {
123 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
124 .mask = 0x07,
125 },
126 },
127 .sim = {
128 .addr = 0x23,
129 .value = BIT(0),
130 },
131 .multi_read_bit = true,
132 .bootime = 2,
133 },
134 {
135 .wai = 0xd4,
136 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
137 .sensors_supported = {
138 [0] = L3GD20_GYRO_DEV_NAME,
139 [1] = LSM330D_GYRO_DEV_NAME,
140 [2] = LSM330DLC_GYRO_DEV_NAME,
141 [3] = L3G4IS_GYRO_DEV_NAME,
142 [4] = LSM330_GYRO_DEV_NAME,
143 [5] = LSM9DS0_GYRO_DEV_NAME,
144 },
145 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
146 .odr = {
147 .addr = 0x20,
148 .mask = 0xc0,
149 .odr_avl = {
150 { .hz = 95, .value = 0x00, },
151 { .hz = 190, .value = 0x01, },
152 { .hz = 380, .value = 0x02, },
153 { .hz = 760, .value = 0x03, },
154 },
155 },
156 .pw = {
157 .addr = 0x20,
158 .mask = 0x08,
159 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
160 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
161 },
162 .enable_axis = {
163 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
164 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
165 },
166 .fs = {
167 .addr = 0x23,
168 .mask = 0x30,
169 .fs_avl = {
170 [0] = {
171 .num = ST_GYRO_FS_AVL_250DPS,
172 .value = 0x00,
173 .gain = IIO_DEGREE_TO_RAD(8750),
174 },
175 [1] = {
176 .num = ST_GYRO_FS_AVL_500DPS,
177 .value = 0x01,
178 .gain = IIO_DEGREE_TO_RAD(17500),
179 },
180 [2] = {
181 .num = ST_GYRO_FS_AVL_2000DPS,
182 .value = 0x02,
183 .gain = IIO_DEGREE_TO_RAD(70000),
184 },
185 },
186 },
187 .bdu = {
188 .addr = 0x23,
189 .mask = 0x80,
190 },
191 .drdy_irq = {
192 .int2 = {
193 .addr = 0x22,
194 .mask = 0x08,
195 },
196
197
198
199
200
201 .stat_drdy = {
202 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
203 .mask = 0x07,
204 },
205 },
206 .sim = {
207 .addr = 0x23,
208 .value = BIT(0),
209 },
210 .multi_read_bit = true,
211 .bootime = 2,
212 },
213 {
214 .wai = 0xd7,
215 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
216 .sensors_supported = {
217 [0] = L3GD20H_GYRO_DEV_NAME,
218 },
219 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
220 .odr = {
221 .addr = 0x20,
222 .mask = 0xc0,
223 .odr_avl = {
224 { .hz = 100, .value = 0x00, },
225 { .hz = 200, .value = 0x01, },
226 { .hz = 400, .value = 0x02, },
227 { .hz = 800, .value = 0x03, },
228 },
229 },
230 .pw = {
231 .addr = 0x20,
232 .mask = 0x08,
233 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
234 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
235 },
236 .enable_axis = {
237 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
238 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
239 },
240 .fs = {
241 .addr = 0x23,
242 .mask = 0x30,
243 .fs_avl = {
244 [0] = {
245 .num = ST_GYRO_FS_AVL_245DPS,
246 .value = 0x00,
247 .gain = IIO_DEGREE_TO_RAD(8750),
248 },
249 [1] = {
250 .num = ST_GYRO_FS_AVL_500DPS,
251 .value = 0x01,
252 .gain = IIO_DEGREE_TO_RAD(17500),
253 },
254 [2] = {
255 .num = ST_GYRO_FS_AVL_2000DPS,
256 .value = 0x02,
257 .gain = IIO_DEGREE_TO_RAD(70000),
258 },
259 },
260 },
261 .bdu = {
262 .addr = 0x23,
263 .mask = 0x80,
264 },
265 .drdy_irq = {
266 .int2 = {
267 .addr = 0x22,
268 .mask = 0x08,
269 },
270
271
272
273
274
275 .stat_drdy = {
276 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
277 .mask = 0x07,
278 },
279 },
280 .sim = {
281 .addr = 0x23,
282 .value = BIT(0),
283 },
284 .multi_read_bit = true,
285 .bootime = 2,
286 },
287};
288
289static int st_gyro_read_raw(struct iio_dev *indio_dev,
290 struct iio_chan_spec const *ch, int *val,
291 int *val2, long mask)
292{
293 int err;
294 struct st_sensor_data *gdata = iio_priv(indio_dev);
295
296 switch (mask) {
297 case IIO_CHAN_INFO_RAW:
298 err = st_sensors_read_info_raw(indio_dev, ch, val);
299 if (err < 0)
300 goto read_error;
301
302 return IIO_VAL_INT;
303 case IIO_CHAN_INFO_SCALE:
304 *val = 0;
305 *val2 = gdata->current_fullscale->gain;
306 return IIO_VAL_INT_PLUS_MICRO;
307 case IIO_CHAN_INFO_SAMP_FREQ:
308 *val = gdata->odr;
309 return IIO_VAL_INT;
310 default:
311 return -EINVAL;
312 }
313
314read_error:
315 return err;
316}
317
318static int st_gyro_write_raw(struct iio_dev *indio_dev,
319 struct iio_chan_spec const *chan, int val, int val2, long mask)
320{
321 int err;
322
323 switch (mask) {
324 case IIO_CHAN_INFO_SCALE:
325 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
326 break;
327 case IIO_CHAN_INFO_SAMP_FREQ:
328 if (val2)
329 return -EINVAL;
330 mutex_lock(&indio_dev->mlock);
331 err = st_sensors_set_odr(indio_dev, val);
332 mutex_unlock(&indio_dev->mlock);
333 return err;
334 default:
335 err = -EINVAL;
336 }
337
338 return err;
339}
340
341static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
342static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
343
344static struct attribute *st_gyro_attributes[] = {
345 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
346 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
347 NULL,
348};
349
350static const struct attribute_group st_gyro_attribute_group = {
351 .attrs = st_gyro_attributes,
352};
353
354static const struct iio_info gyro_info = {
355 .attrs = &st_gyro_attribute_group,
356 .read_raw = &st_gyro_read_raw,
357 .write_raw = &st_gyro_write_raw,
358 .debugfs_reg_access = &st_sensors_debugfs_reg_access,
359};
360
361#ifdef CONFIG_IIO_TRIGGER
362static const struct iio_trigger_ops st_gyro_trigger_ops = {
363 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
364 .validate_device = st_sensors_validate_device,
365};
366#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
367#else
368#define ST_GYRO_TRIGGER_OPS NULL
369#endif
370
371int st_gyro_common_probe(struct iio_dev *indio_dev)
372{
373 struct st_sensor_data *gdata = iio_priv(indio_dev);
374 int irq = gdata->get_irq_data_ready(indio_dev);
375 int err;
376
377 indio_dev->modes = INDIO_DIRECT_MODE;
378 indio_dev->info = &gyro_info;
379 mutex_init(&gdata->tb.buf_lock);
380
381 err = st_sensors_power_enable(indio_dev);
382 if (err)
383 return err;
384
385 err = st_sensors_check_device_support(indio_dev,
386 ARRAY_SIZE(st_gyro_sensors_settings),
387 st_gyro_sensors_settings);
388 if (err < 0)
389 goto st_gyro_power_off;
390
391 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
392 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
393 indio_dev->channels = gdata->sensor_settings->ch;
394 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
395
396 gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
397 &gdata->sensor_settings->fs.fs_avl[0];
398 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
399
400 err = st_sensors_init_sensor(indio_dev,
401 (struct st_sensors_platform_data *)&gyro_pdata);
402 if (err < 0)
403 goto st_gyro_power_off;
404
405 err = st_gyro_allocate_ring(indio_dev);
406 if (err < 0)
407 goto st_gyro_power_off;
408
409 if (irq > 0) {
410 err = st_sensors_allocate_trigger(indio_dev,
411 ST_GYRO_TRIGGER_OPS);
412 if (err < 0)
413 goto st_gyro_probe_trigger_error;
414 }
415
416 err = iio_device_register(indio_dev);
417 if (err)
418 goto st_gyro_device_register_error;
419
420 dev_info(&indio_dev->dev, "registered gyroscope %s\n",
421 indio_dev->name);
422
423 return 0;
424
425st_gyro_device_register_error:
426 if (irq > 0)
427 st_sensors_deallocate_trigger(indio_dev);
428st_gyro_probe_trigger_error:
429 st_gyro_deallocate_ring(indio_dev);
430st_gyro_power_off:
431 st_sensors_power_disable(indio_dev);
432
433 return err;
434}
435EXPORT_SYMBOL(st_gyro_common_probe);
436
437void st_gyro_common_remove(struct iio_dev *indio_dev)
438{
439 struct st_sensor_data *gdata = iio_priv(indio_dev);
440
441 st_sensors_power_disable(indio_dev);
442
443 iio_device_unregister(indio_dev);
444 if (gdata->get_irq_data_ready(indio_dev) > 0)
445 st_sensors_deallocate_trigger(indio_dev);
446
447 st_gyro_deallocate_ring(indio_dev);
448}
449EXPORT_SYMBOL(st_gyro_common_remove);
450
451MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
452MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
453MODULE_LICENSE("GPL v2");
454
