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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/interrupt.h>
16#include <linux/i2c.h>
17#include <linux/irq.h>
18#include <linux/delay.h>
19#include <linux/iio/iio.h>
20#include <linux/iio/sysfs.h>
21#include <linux/iio/trigger.h>
22#include <linux/iio/buffer.h>
23
24#include <linux/iio/common/st_sensors.h>
25#include "st_gyro.h"
26
27#define ST_GYRO_NUMBER_DATA_CHANNELS 3
28
29
30#define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28
31#define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a
32#define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c
33
34
35#define ST_GYRO_FS_AVL_245DPS 245
36#define ST_GYRO_FS_AVL_250DPS 250
37#define ST_GYRO_FS_AVL_500DPS 500
38#define ST_GYRO_FS_AVL_2000DPS 2000
39
40static const struct iio_chan_spec st_gyro_16bit_channels[] = {
41 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
42 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
43 ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
44 ST_GYRO_DEFAULT_OUT_X_L_ADDR),
45 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
46 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
47 ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
48 ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
49 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
50 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
51 ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
52 ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
53 IIO_CHAN_SOFT_TIMESTAMP(3)
54};
55
56static const struct st_sensor_settings st_gyro_sensors_settings[] = {
57 {
58 .wai = 0xd3,
59 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
60 .sensors_supported = {
61 [0] = L3G4200D_GYRO_DEV_NAME,
62 [1] = LSM330DL_GYRO_DEV_NAME,
63 },
64 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
65 .odr = {
66 .addr = 0x20,
67 .mask = 0xc0,
68 .odr_avl = {
69 { .hz = 100, .value = 0x00, },
70 { .hz = 200, .value = 0x01, },
71 { .hz = 400, .value = 0x02, },
72 { .hz = 800, .value = 0x03, },
73 },
74 },
75 .pw = {
76 .addr = 0x20,
77 .mask = 0x08,
78 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
79 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
80 },
81 .enable_axis = {
82 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
83 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
84 },
85 .fs = {
86 .addr = 0x23,
87 .mask = 0x30,
88 .fs_avl = {
89 [0] = {
90 .num = ST_GYRO_FS_AVL_250DPS,
91 .value = 0x00,
92 .gain = IIO_DEGREE_TO_RAD(8750),
93 },
94 [1] = {
95 .num = ST_GYRO_FS_AVL_500DPS,
96 .value = 0x01,
97 .gain = IIO_DEGREE_TO_RAD(17500),
98 },
99 [2] = {
100 .num = ST_GYRO_FS_AVL_2000DPS,
101 .value = 0x02,
102 .gain = IIO_DEGREE_TO_RAD(70000),
103 },
104 },
105 },
106 .bdu = {
107 .addr = 0x23,
108 .mask = 0x80,
109 },
110 .drdy_irq = {
111 .int2 = {
112 .addr = 0x22,
113 .mask = 0x08,
114 },
115
116
117
118
119
120 .stat_drdy = {
121 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
122 .mask = 0x07,
123 },
124 },
125 .sim = {
126 .addr = 0x23,
127 .value = BIT(0),
128 },
129 .multi_read_bit = true,
130 .bootime = 2,
131 },
132 {
133 .wai = 0xd4,
134 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
135 .sensors_supported = {
136 [0] = L3GD20_GYRO_DEV_NAME,
137 [1] = LSM330D_GYRO_DEV_NAME,
138 [2] = LSM330DLC_GYRO_DEV_NAME,
139 [3] = L3G4IS_GYRO_DEV_NAME,
140 [4] = LSM330_GYRO_DEV_NAME,
141 },
142 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
143 .odr = {
144 .addr = 0x20,
145 .mask = 0xc0,
146 .odr_avl = {
147 { .hz = 95, .value = 0x00, },
148 { .hz = 190, .value = 0x01, },
149 { .hz = 380, .value = 0x02, },
150 { .hz = 760, .value = 0x03, },
151 },
152 },
153 .pw = {
154 .addr = 0x20,
155 .mask = 0x08,
156 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
157 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
158 },
159 .enable_axis = {
160 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
161 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
162 },
163 .fs = {
164 .addr = 0x23,
165 .mask = 0x30,
166 .fs_avl = {
167 [0] = {
168 .num = ST_GYRO_FS_AVL_250DPS,
169 .value = 0x00,
170 .gain = IIO_DEGREE_TO_RAD(8750),
171 },
172 [1] = {
173 .num = ST_GYRO_FS_AVL_500DPS,
174 .value = 0x01,
175 .gain = IIO_DEGREE_TO_RAD(17500),
176 },
177 [2] = {
178 .num = ST_GYRO_FS_AVL_2000DPS,
179 .value = 0x02,
180 .gain = IIO_DEGREE_TO_RAD(70000),
181 },
182 },
183 },
184 .bdu = {
185 .addr = 0x23,
186 .mask = 0x80,
187 },
188 .drdy_irq = {
189 .int2 = {
190 .addr = 0x22,
191 .mask = 0x08,
192 },
193
194
195
196
197
198 .stat_drdy = {
199 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
200 .mask = 0x07,
201 },
202 },
203 .sim = {
204 .addr = 0x23,
205 .value = BIT(0),
206 },
207 .multi_read_bit = true,
208 .bootime = 2,
209 },
210 {
211 .wai = 0xd4,
212 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
213 .sensors_supported = {
214 [0] = LSM9DS0_GYRO_DEV_NAME,
215 },
216 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
217 .odr = {
218 .addr = 0x20,
219 .mask = GENMASK(7, 6),
220 .odr_avl = {
221 { .hz = 95, .value = 0x00, },
222 { .hz = 190, .value = 0x01, },
223 { .hz = 380, .value = 0x02, },
224 { .hz = 760, .value = 0x03, },
225 },
226 },
227 .pw = {
228 .addr = 0x20,
229 .mask = BIT(3),
230 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
231 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
232 },
233 .enable_axis = {
234 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
235 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
236 },
237 .fs = {
238 .addr = 0x23,
239 .mask = GENMASK(5, 4),
240 .fs_avl = {
241 [0] = {
242 .num = ST_GYRO_FS_AVL_245DPS,
243 .value = 0x00,
244 .gain = IIO_DEGREE_TO_RAD(8750),
245 },
246 [1] = {
247 .num = ST_GYRO_FS_AVL_500DPS,
248 .value = 0x01,
249 .gain = IIO_DEGREE_TO_RAD(17500),
250 },
251 [2] = {
252 .num = ST_GYRO_FS_AVL_2000DPS,
253 .value = 0x02,
254 .gain = IIO_DEGREE_TO_RAD(70000),
255 },
256 },
257 },
258 .bdu = {
259 .addr = 0x23,
260 .mask = BIT(7),
261 },
262 .drdy_irq = {
263 .int2 = {
264 .addr = 0x22,
265 .mask = BIT(3),
266 },
267
268
269
270
271
272 .stat_drdy = {
273 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
274 .mask = GENMASK(2, 0),
275 },
276 },
277 .sim = {
278 .addr = 0x23,
279 .value = BIT(0),
280 },
281 .multi_read_bit = true,
282 .bootime = 2,
283 },
284 {
285 .wai = 0xd7,
286 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
287 .sensors_supported = {
288 [0] = L3GD20H_GYRO_DEV_NAME,
289 },
290 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
291 .odr = {
292 .addr = 0x20,
293 .mask = 0xc0,
294 .odr_avl = {
295 { .hz = 100, .value = 0x00, },
296 { .hz = 200, .value = 0x01, },
297 { .hz = 400, .value = 0x02, },
298 { .hz = 800, .value = 0x03, },
299 },
300 },
301 .pw = {
302 .addr = 0x20,
303 .mask = 0x08,
304 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
305 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
306 },
307 .enable_axis = {
308 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
309 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
310 },
311 .fs = {
312 .addr = 0x23,
313 .mask = 0x30,
314 .fs_avl = {
315 [0] = {
316 .num = ST_GYRO_FS_AVL_245DPS,
317 .value = 0x00,
318 .gain = IIO_DEGREE_TO_RAD(8750),
319 },
320 [1] = {
321 .num = ST_GYRO_FS_AVL_500DPS,
322 .value = 0x01,
323 .gain = IIO_DEGREE_TO_RAD(17500),
324 },
325 [2] = {
326 .num = ST_GYRO_FS_AVL_2000DPS,
327 .value = 0x02,
328 .gain = IIO_DEGREE_TO_RAD(70000),
329 },
330 },
331 },
332 .bdu = {
333 .addr = 0x23,
334 .mask = 0x80,
335 },
336 .drdy_irq = {
337 .int2 = {
338 .addr = 0x22,
339 .mask = 0x08,
340 },
341
342
343
344
345
346 .stat_drdy = {
347 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
348 .mask = 0x07,
349 },
350 },
351 .sim = {
352 .addr = 0x23,
353 .value = BIT(0),
354 },
355 .multi_read_bit = true,
356 .bootime = 2,
357 },
358};
359
360static int st_gyro_read_raw(struct iio_dev *indio_dev,
361 struct iio_chan_spec const *ch, int *val,
362 int *val2, long mask)
363{
364 int err;
365 struct st_sensor_data *gdata = iio_priv(indio_dev);
366
367 switch (mask) {
368 case IIO_CHAN_INFO_RAW:
369 err = st_sensors_read_info_raw(indio_dev, ch, val);
370 if (err < 0)
371 goto read_error;
372
373 return IIO_VAL_INT;
374 case IIO_CHAN_INFO_SCALE:
375 *val = 0;
376 *val2 = gdata->current_fullscale->gain;
377 return IIO_VAL_INT_PLUS_MICRO;
378 case IIO_CHAN_INFO_SAMP_FREQ:
379 *val = gdata->odr;
380 return IIO_VAL_INT;
381 default:
382 return -EINVAL;
383 }
384
385read_error:
386 return err;
387}
388
389static int st_gyro_write_raw(struct iio_dev *indio_dev,
390 struct iio_chan_spec const *chan, int val, int val2, long mask)
391{
392 int err;
393
394 switch (mask) {
395 case IIO_CHAN_INFO_SCALE:
396 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
397 break;
398 case IIO_CHAN_INFO_SAMP_FREQ:
399 if (val2)
400 return -EINVAL;
401 mutex_lock(&indio_dev->mlock);
402 err = st_sensors_set_odr(indio_dev, val);
403 mutex_unlock(&indio_dev->mlock);
404 return err;
405 default:
406 err = -EINVAL;
407 }
408
409 return err;
410}
411
412static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
413static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
414
415static struct attribute *st_gyro_attributes[] = {
416 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
417 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
418 NULL,
419};
420
421static const struct attribute_group st_gyro_attribute_group = {
422 .attrs = st_gyro_attributes,
423};
424
425static const struct iio_info gyro_info = {
426 .attrs = &st_gyro_attribute_group,
427 .read_raw = &st_gyro_read_raw,
428 .write_raw = &st_gyro_write_raw,
429 .debugfs_reg_access = &st_sensors_debugfs_reg_access,
430};
431
432#ifdef CONFIG_IIO_TRIGGER
433static const struct iio_trigger_ops st_gyro_trigger_ops = {
434 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
435 .validate_device = st_sensors_validate_device,
436};
437#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
438#else
439#define ST_GYRO_TRIGGER_OPS NULL
440#endif
441
442
443
444
445
446
447
448const struct st_sensor_settings *st_gyro_get_settings(const char *name)
449{
450 int index = st_sensors_get_settings_index(name,
451 st_gyro_sensors_settings,
452 ARRAY_SIZE(st_gyro_sensors_settings));
453 if (index < 0)
454 return NULL;
455
456 return &st_gyro_sensors_settings[index];
457}
458EXPORT_SYMBOL(st_gyro_get_settings);
459
460int st_gyro_common_probe(struct iio_dev *indio_dev)
461{
462 struct st_sensor_data *gdata = iio_priv(indio_dev);
463 struct st_sensors_platform_data *pdata;
464 int err;
465
466 indio_dev->modes = INDIO_DIRECT_MODE;
467 indio_dev->info = &gyro_info;
468
469 err = st_sensors_power_enable(indio_dev);
470 if (err)
471 return err;
472
473 err = st_sensors_verify_id(indio_dev);
474 if (err < 0)
475 goto st_gyro_power_off;
476
477 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
478 indio_dev->channels = gdata->sensor_settings->ch;
479 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
480
481 gdata->current_fullscale = &gdata->sensor_settings->fs.fs_avl[0];
482 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
483
484 pdata = (struct st_sensors_platform_data *)&gyro_pdata;
485
486 err = st_sensors_init_sensor(indio_dev, pdata);
487 if (err < 0)
488 goto st_gyro_power_off;
489
490 err = st_gyro_allocate_ring(indio_dev);
491 if (err < 0)
492 goto st_gyro_power_off;
493
494 if (gdata->irq > 0) {
495 err = st_sensors_allocate_trigger(indio_dev,
496 ST_GYRO_TRIGGER_OPS);
497 if (err < 0)
498 goto st_gyro_probe_trigger_error;
499 }
500
501 err = iio_device_register(indio_dev);
502 if (err)
503 goto st_gyro_device_register_error;
504
505 dev_info(&indio_dev->dev, "registered gyroscope %s\n",
506 indio_dev->name);
507
508 return 0;
509
510st_gyro_device_register_error:
511 if (gdata->irq > 0)
512 st_sensors_deallocate_trigger(indio_dev);
513st_gyro_probe_trigger_error:
514 st_gyro_deallocate_ring(indio_dev);
515st_gyro_power_off:
516 st_sensors_power_disable(indio_dev);
517
518 return err;
519}
520EXPORT_SYMBOL(st_gyro_common_probe);
521
522void st_gyro_common_remove(struct iio_dev *indio_dev)
523{
524 struct st_sensor_data *gdata = iio_priv(indio_dev);
525
526 st_sensors_power_disable(indio_dev);
527
528 iio_device_unregister(indio_dev);
529 if (gdata->irq > 0)
530 st_sensors_deallocate_trigger(indio_dev);
531
532 st_gyro_deallocate_ring(indio_dev);
533}
534EXPORT_SYMBOL(st_gyro_common_remove);
535
536MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
537MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
538MODULE_LICENSE("GPL v2");
539
