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