[linux-block.git] / drivers / iio / gyro / st_gyro_core.c

// SPDX-License-Identifier: GPL-2.0-only
/*
 * STMicroelectronics gyroscopes driver
 *
 * Copyright 2012-2013 STMicroelectronics Inc.
 *
 * Denis Ciocca <denis.ciocca@st.com>
 */

#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/errno.h>
#include <linux/types.h>
#include <linux/interrupt.h>
#include <linux/i2c.h>
#include <linux/gpio.h>
#include <linux/irq.h>
#include <linux/delay.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/trigger.h>
#include <linux/iio/buffer.h>

#include <linux/iio/common/st_sensors.h>
#include "st_gyro.h"

#define ST_GYRO_NUMBER_DATA_CHANNELS		3

/* DEFAULT VALUE FOR SENSORS */
#define ST_GYRO_DEFAULT_OUT_X_L_ADDR		0x28
#define ST_GYRO_DEFAULT_OUT_Y_L_ADDR		0x2a
#define ST_GYRO_DEFAULT_OUT_Z_L_ADDR		0x2c

/* FULLSCALE */
#define ST_GYRO_FS_AVL_245DPS			245
#define ST_GYRO_FS_AVL_250DPS			250
#define ST_GYRO_FS_AVL_500DPS			500
#define ST_GYRO_FS_AVL_2000DPS			2000

static const struct iio_chan_spec st_gyro_16bit_channels[] = {
	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
			BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
			ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
			ST_GYRO_DEFAULT_OUT_X_L_ADDR),
	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
			BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
			ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
			ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
			BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
			ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
			ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
	IIO_CHAN_SOFT_TIMESTAMP(3)
};

static const struct st_sensor_settings st_gyro_sensors_settings[] = {
	{
		.wai = 0xd3,
		.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
		.sensors_supported = {
			[0] = L3G4200D_GYRO_DEV_NAME,
			[1] = LSM330DL_GYRO_DEV_NAME,
		},
		.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
		.odr = {
			.addr = 0x20,
			.mask = 0xc0,
			.odr_avl = {
				{ .hz = 100, .value = 0x00, },
				{ .hz = 200, .value = 0x01, },
				{ .hz = 400, .value = 0x02, },
				{ .hz = 800, .value = 0x03, },
			},
		},
		.pw = {
			.addr = 0x20,
			.mask = 0x08,
			.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
			.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
		},
		.enable_axis = {
			.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
			.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
		},
		.fs = {
			.addr = 0x23,
			.mask = 0x30,
			.fs_avl = {
				[0] = {
					.num = ST_GYRO_FS_AVL_250DPS,
					.value = 0x00,
					.gain = IIO_DEGREE_TO_RAD(8750),
				},
				[1] = {
					.num = ST_GYRO_FS_AVL_500DPS,
					.value = 0x01,
					.gain = IIO_DEGREE_TO_RAD(17500),
				},
				[2] = {
					.num = ST_GYRO_FS_AVL_2000DPS,
					.value = 0x02,
					.gain = IIO_DEGREE_TO_RAD(70000),
				},
			},
		},
		.bdu = {
			.addr = 0x23,
			.mask = 0x80,
		},
		.drdy_irq = {
			.int2 = {
				.addr = 0x22,
				.mask = 0x08,
			},
			/*
			 * The sensor has IHL (active low) and open
			 * drain settings, but only for INT1 and not
			 * for the DRDY line on INT2.
			 */
			.stat_drdy = {
				.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
				.mask = 0x07,
			},
		},
		.sim = {
			.addr = 0x23,
			.value = BIT(0),
		},
		.multi_read_bit = true,
		.bootime = 2,
	},
	{
		.wai = 0xd4,
		.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
		.sensors_supported = {
			[0] = L3GD20_GYRO_DEV_NAME,
			[1] = LSM330D_GYRO_DEV_NAME,
			[2] = LSM330DLC_GYRO_DEV_NAME,
			[3] = L3G4IS_GYRO_DEV_NAME,
			[4] = LSM330_GYRO_DEV_NAME,
			[5] = LSM9DS0_GYRO_DEV_NAME,
		},
		.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
		.odr = {
			.addr = 0x20,
			.mask = 0xc0,
			.odr_avl = {
				{ .hz = 95, .value = 0x00, },
				{ .hz = 190, .value = 0x01, },
				{ .hz = 380, .value = 0x02, },
				{ .hz = 760, .value = 0x03, },
			},
		},
		.pw = {
			.addr = 0x20,
			.mask = 0x08,
			.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
			.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
		},
		.enable_axis = {
			.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
			.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
		},
		.fs = {
			.addr = 0x23,
			.mask = 0x30,
			.fs_avl = {
				[0] = {
					.num = ST_GYRO_FS_AVL_250DPS,
					.value = 0x00,
					.gain = IIO_DEGREE_TO_RAD(8750),
				},
				[1] = {
					.num = ST_GYRO_FS_AVL_500DPS,
					.value = 0x01,
					.gain = IIO_DEGREE_TO_RAD(17500),
				},
				[2] = {
					.num = ST_GYRO_FS_AVL_2000DPS,
					.value = 0x02,
					.gain = IIO_DEGREE_TO_RAD(70000),
				},
			},
		},
		.bdu = {
			.addr = 0x23,
			.mask = 0x80,
		},
		.drdy_irq = {
			.int2 = {
				.addr = 0x22,
				.mask = 0x08,
			},
			/*
			 * The sensor has IHL (active low) and open
			 * drain settings, but only for INT1 and not
			 * for the DRDY line on INT2.
			 */
			.stat_drdy = {
				.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
				.mask = 0x07,
			},
		},
		.sim = {
			.addr = 0x23,
			.value = BIT(0),
		},
		.multi_read_bit = true,
		.bootime = 2,
	},
	{
		.wai = 0xd7,
		.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
		.sensors_supported = {
			[0] = L3GD20H_GYRO_DEV_NAME,
		},
		.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
		.odr = {
			.addr = 0x20,
			.mask = 0xc0,
			.odr_avl = {
				{ .hz = 100, .value = 0x00, },
				{ .hz = 200, .value = 0x01, },
				{ .hz = 400, .value = 0x02, },
				{ .hz = 800, .value = 0x03, },
			},
		},
		.pw = {
			.addr = 0x20,
			.mask = 0x08,
			.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
			.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
		},
		.enable_axis = {
			.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
			.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
		},
		.fs = {
			.addr = 0x23,
			.mask = 0x30,
			.fs_avl = {
				[0] = {
					.num = ST_GYRO_FS_AVL_245DPS,
					.value = 0x00,
					.gain = IIO_DEGREE_TO_RAD(8750),
				},
				[1] = {
					.num = ST_GYRO_FS_AVL_500DPS,
					.value = 0x01,
					.gain = IIO_DEGREE_TO_RAD(17500),
				},
				[2] = {
					.num = ST_GYRO_FS_AVL_2000DPS,
					.value = 0x02,
					.gain = IIO_DEGREE_TO_RAD(70000),
				},
			},
		},
		.bdu = {
			.addr = 0x23,
			.mask = 0x80,
		},
		.drdy_irq = {
			.int2 = {
				.addr = 0x22,
				.mask = 0x08,
			},
			/*
			 * The sensor has IHL (active low) and open
			 * drain settings, but only for INT1 and not
			 * for the DRDY line on INT2.
			 */
			.stat_drdy = {
				.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
				.mask = 0x07,
			},
		},
		.sim = {
			.addr = 0x23,
			.value = BIT(0),
		},
		.multi_read_bit = true,
		.bootime = 2,
	},
};

static int st_gyro_read_raw(struct iio_dev *indio_dev,
			struct iio_chan_spec const *ch, int *val,
							int *val2, long mask)
{
	int err;
	struct st_sensor_data *gdata = iio_priv(indio_dev);

	switch (mask) {
	case IIO_CHAN_INFO_RAW:
		err = st_sensors_read_info_raw(indio_dev, ch, val);
		if (err < 0)
			goto read_error;

		return IIO_VAL_INT;
	case IIO_CHAN_INFO_SCALE:
		*val = 0;
		*val2 = gdata->current_fullscale->gain;
		return IIO_VAL_INT_PLUS_MICRO;
	case IIO_CHAN_INFO_SAMP_FREQ:
		*val = gdata->odr;
		return IIO_VAL_INT;
	default:
		return -EINVAL;
	}

read_error:
	return err;
}

static int st_gyro_write_raw(struct iio_dev *indio_dev,
		struct iio_chan_spec const *chan, int val, int val2, long mask)
{
	int err;

	switch (mask) {
	case IIO_CHAN_INFO_SCALE:
		err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
		break;
	case IIO_CHAN_INFO_SAMP_FREQ:
		if (val2)
			return -EINVAL;
		mutex_lock(&indio_dev->mlock);
		err = st_sensors_set_odr(indio_dev, val);
		mutex_unlock(&indio_dev->mlock);
		return err;
	default:
		err = -EINVAL;
	}

	return err;
}

static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);

static struct attribute *st_gyro_attributes[] = {
	&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
	&iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
	NULL,
};

static const struct attribute_group st_gyro_attribute_group = {
	.attrs = st_gyro_attributes,
};

static const struct iio_info gyro_info = {
	.attrs = &st_gyro_attribute_group,
	.read_raw = &st_gyro_read_raw,
	.write_raw = &st_gyro_write_raw,
	.debugfs_reg_access = &st_sensors_debugfs_reg_access,
};

#ifdef CONFIG_IIO_TRIGGER
static const struct iio_trigger_ops st_gyro_trigger_ops = {
	.set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
	.validate_device = st_sensors_validate_device,
};
#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
#else
#define ST_GYRO_TRIGGER_OPS NULL
#endif

/*
 * st_gyro_get_settings() - get sensor settings from device name
 * @name: device name buffer reference.
 *
 * Return: valid reference on success, NULL otherwise.
 */
const struct st_sensor_settings *st_gyro_get_settings(const char *name)
{
	int index = st_sensors_get_settings_index(name,
					st_gyro_sensors_settings,
					ARRAY_SIZE(st_gyro_sensors_settings));
	if (index < 0)
		return NULL;

	return &st_gyro_sensors_settings[index];
}
EXPORT_SYMBOL(st_gyro_get_settings);

int st_gyro_common_probe(struct iio_dev *indio_dev)
{
	struct st_sensor_data *gdata = iio_priv(indio_dev);
	int err;

	indio_dev->modes = INDIO_DIRECT_MODE;
	indio_dev->info = &gyro_info;

	err = st_sensors_power_enable(indio_dev);
	if (err)
		return err;

	err = st_sensors_verify_id(indio_dev);
	if (err < 0)
		goto st_gyro_power_off;

	gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
	indio_dev->channels = gdata->sensor_settings->ch;
	indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;

	gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
					&gdata->sensor_settings->fs.fs_avl[0];
	gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;

	err = st_sensors_init_sensor(indio_dev,
				(struct st_sensors_platform_data *)&gyro_pdata);
	if (err < 0)
		goto st_gyro_power_off;

	err = st_gyro_allocate_ring(indio_dev);
	if (err < 0)
		goto st_gyro_power_off;

	if (gdata->irq > 0) {
		err = st_sensors_allocate_trigger(indio_dev,
						  ST_GYRO_TRIGGER_OPS);
		if (err < 0)
			goto st_gyro_probe_trigger_error;
	}

	err = iio_device_register(indio_dev);
	if (err)
		goto st_gyro_device_register_error;

	dev_info(&indio_dev->dev, "registered gyroscope %s\n",
		 indio_dev->name);

	return 0;

st_gyro_device_register_error:
	if (gdata->irq > 0)
		st_sensors_deallocate_trigger(indio_dev);
st_gyro_probe_trigger_error:
	st_gyro_deallocate_ring(indio_dev);
st_gyro_power_off:
	st_sensors_power_disable(indio_dev);

	return err;
}
EXPORT_SYMBOL(st_gyro_common_probe);

void st_gyro_common_remove(struct iio_dev *indio_dev)
{
	struct st_sensor_data *gdata = iio_priv(indio_dev);

	st_sensors_power_disable(indio_dev);

	iio_device_unregister(indio_dev);
	if (gdata->irq > 0)
		st_sensors_deallocate_trigger(indio_dev);

	st_gyro_deallocate_ring(indio_dev);
}
EXPORT_SYMBOL(st_gyro_common_remove);

MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
MODULE_LICENSE("GPL v2");
Commit	Line	Data
fda8d26e	1	// SPDX-License-Identifier: GPL-2.0-only
7be56a8f DC	2	/*
	3	* STMicroelectronics gyroscopes driver
	4	*
	5	* Copyright 2012-2013 STMicroelectronics Inc.
	6	*
	7	* Denis Ciocca <denis.ciocca@st.com>
7be56a8f DC	8	*/
	9
	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>
7be56a8f DC	15	#include <linux/interrupt.h>
	16	#include <linux/i2c.h>
	17	#include <linux/gpio.h>
	18	#include <linux/irq.h>
	19	#include <linux/delay.h>
	20	#include <linux/iio/iio.h>
	21	#include <linux/iio/sysfs.h>
8ce4a56a	22	#include <linux/iio/trigger.h>
7be56a8f DC	23	#include <linux/iio/buffer.h>
	24
	25	#include <linux/iio/common/st_sensors.h>
	26	#include "st_gyro.h"
	27
607a568a DC	28	#define ST_GYRO_NUMBER_DATA_CHANNELS 3
607a568a DC	29
7be56a8f DC	30	/* DEFAULT VALUE FOR SENSORS */
	31	#define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28
	32	#define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a
	33	#define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c
	34
	35	/* FULLSCALE */
45a4e422	36	#define ST_GYRO_FS_AVL_245DPS 245
7be56a8f DC	37	#define ST_GYRO_FS_AVL_250DPS 250
	38	#define ST_GYRO_FS_AVL_500DPS 500
	39	#define ST_GYRO_FS_AVL_2000DPS 2000
	40
7be56a8f	41	static const struct iio_chan_spec st_gyro_16bit_channels[] = {
762011d6 DC	42	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
	43	BIT(IIO_CHAN_INFO_RAW) \| BIT(IIO_CHAN_INFO_SCALE),
	44	ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
	45	ST_GYRO_DEFAULT_OUT_X_L_ADDR),
	46	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
	47	BIT(IIO_CHAN_INFO_RAW) \| BIT(IIO_CHAN_INFO_SCALE),
	48	ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
	49	ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
	50	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
	51	BIT(IIO_CHAN_INFO_RAW) \| BIT(IIO_CHAN_INFO_SCALE),
	52	ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
	53	ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
7be56a8f DC	54	IIO_CHAN_SOFT_TIMESTAMP(3)
	55	};
	56
a7ee8839	57	static const struct st_sensor_settings st_gyro_sensors_settings[] = {
7be56a8f	58	{
d8594fa2	59	.wai = 0xd3,
bc27381e	60	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
7be56a8f DC	61	.sensors_supported = {
	62	[0] = L3G4200D_GYRO_DEV_NAME,
	63	[1] = LSM330DL_GYRO_DEV_NAME,
	64	},
	65	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	66	.odr = {
d8594fa2 LW	67	.addr = 0x20,
d8594fa2 LW	68	.mask = 0xc0,
7be56a8f	69	.odr_avl = {
d8594fa2 LW	70	{ .hz = 100, .value = 0x00, },
	71	{ .hz = 200, .value = 0x01, },
	72	{ .hz = 400, .value = 0x02, },
	73	{ .hz = 800, .value = 0x03, },
7be56a8f DC	74	},
	75	},
	76	.pw = {
d8594fa2 LW	77	.addr = 0x20,
d8594fa2 LW	78	.mask = 0x08,
7be56a8f DC	79	.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
	80	.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
	81	},
	82	.enable_axis = {
	83	.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
	84	.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
	85	},
	86	.fs = {
d8594fa2 LW	87	.addr = 0x23,
d8594fa2 LW	88	.mask = 0x30,
7be56a8f DC	89	.fs_avl = {
	90	[0] = {
	91	.num = ST_GYRO_FS_AVL_250DPS,
d8594fa2 LW	92	.value = 0x00,
d8594fa2 LW	93	.gain = IIO_DEGREE_TO_RAD(8750),
7be56a8f DC	94	},
	95	[1] = {
	96	.num = ST_GYRO_FS_AVL_500DPS,
d8594fa2 LW	97	.value = 0x01,
d8594fa2 LW	98	.gain = IIO_DEGREE_TO_RAD(17500),
7be56a8f DC	99	},
	100	[2] = {
	101	.num = ST_GYRO_FS_AVL_2000DPS,
d8594fa2 LW	102	.value = 0x02,
d8594fa2 LW	103	.gain = IIO_DEGREE_TO_RAD(70000),
7be56a8f DC	104	},
	105	},
	106	},
	107	.bdu = {
d8594fa2 LW	108	.addr = 0x23,
d8594fa2 LW	109	.mask = 0x80,
7be56a8f DC	110	},
7be56a8f DC	111	.drdy_irq = {
75d4c6d2 LB	112	.int2 = {
	113	.addr = 0x22,
	114	.mask = 0x08,
	115	},
a9fd053b LW	116	/*
	117	* The sensor has IHL (active low) and open
	118	* drain settings, but only for INT1 and not
	119	* for the DRDY line on INT2.
	120	*/
e72a0601 LB	121	.stat_drdy = {
	122	.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
	123	.mask = 0x07,
	124	},
7be56a8f	125	},
281dbadb LB	126	.sim = {
	127	.addr = 0x23,
	128	.value = BIT(0),
	129	},
d8594fa2	130	.multi_read_bit = true,
7be56a8f DC	131	.bootime = 2,
	132	},
	133	{
d8594fa2	134	.wai = 0xd4,
bc27381e	135	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
7be56a8f DC	136	.sensors_supported = {
7be56a8f DC	137	[0] = L3GD20_GYRO_DEV_NAME,
a0657716 DC	138	[1] = LSM330D_GYRO_DEV_NAME,
	139	[2] = LSM330DLC_GYRO_DEV_NAME,
	140	[3] = L3G4IS_GYRO_DEV_NAME,
	141	[4] = LSM330_GYRO_DEV_NAME,
41c128cb	142	[5] = LSM9DS0_GYRO_DEV_NAME,
7be56a8f DC	143	},
	144	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	145	.odr = {
d8594fa2 LW	146	.addr = 0x20,
d8594fa2 LW	147	.mask = 0xc0,
7be56a8f	148	.odr_avl = {
d8594fa2 LW	149	{ .hz = 95, .value = 0x00, },
	150	{ .hz = 190, .value = 0x01, },
	151	{ .hz = 380, .value = 0x02, },
	152	{ .hz = 760, .value = 0x03, },
7be56a8f DC	153	},
	154	},
	155	.pw = {
d8594fa2 LW	156	.addr = 0x20,
d8594fa2 LW	157	.mask = 0x08,
7be56a8f DC	158	.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
	159	.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
	160	},
	161	.enable_axis = {
	162	.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
	163	.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
	164	},
	165	.fs = {
d8594fa2 LW	166	.addr = 0x23,
d8594fa2 LW	167	.mask = 0x30,
7be56a8f DC	168	.fs_avl = {
	169	[0] = {
	170	.num = ST_GYRO_FS_AVL_250DPS,
d8594fa2 LW	171	.value = 0x00,
d8594fa2 LW	172	.gain = IIO_DEGREE_TO_RAD(8750),
7be56a8f DC	173	},
	174	[1] = {
	175	.num = ST_GYRO_FS_AVL_500DPS,
d8594fa2 LW	176	.value = 0x01,
d8594fa2 LW	177	.gain = IIO_DEGREE_TO_RAD(17500),
7be56a8f DC	178	},
	179	[2] = {
	180	.num = ST_GYRO_FS_AVL_2000DPS,
d8594fa2 LW	181	.value = 0x02,
d8594fa2 LW	182	.gain = IIO_DEGREE_TO_RAD(70000),
7be56a8f DC	183	},
	184	},
	185	},
	186	.bdu = {
d8594fa2 LW	187	.addr = 0x23,
d8594fa2 LW	188	.mask = 0x80,
7be56a8f DC	189	},
7be56a8f DC	190	.drdy_irq = {
75d4c6d2 LB	191	.int2 = {
	192	.addr = 0x22,
	193	.mask = 0x08,
	194	},
a9fd053b LW	195	/*
	196	* The sensor has IHL (active low) and open
	197	* drain settings, but only for INT1 and not
	198	* for the DRDY line on INT2.
	199	*/
e72a0601 LB	200	.stat_drdy = {
	201	.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
	202	.mask = 0x07,
	203	},
7be56a8f	204	},
281dbadb LB	205	.sim = {
	206	.addr = 0x23,
	207	.value = BIT(0),
	208	},
d8594fa2	209	.multi_read_bit = true,
7be56a8f DC	210	.bootime = 2,
7be56a8f DC	211	},
9444a300	212	{
d8594fa2	213	.wai = 0xd7,
bc27381e	214	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
9444a300	215	.sensors_supported = {
45a4e422	216	[0] = L3GD20H_GYRO_DEV_NAME,
9444a300 RD	217	},
	218	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	219	.odr = {
d8594fa2 LW	220	.addr = 0x20,
d8594fa2 LW	221	.mask = 0xc0,
9444a300	222	.odr_avl = {
45a4e422 LB	223	{ .hz = 100, .value = 0x00, },
	224	{ .hz = 200, .value = 0x01, },
	225	{ .hz = 400, .value = 0x02, },
	226	{ .hz = 800, .value = 0x03, },
9444a300 RD	227	},
	228	},
	229	.pw = {
d8594fa2 LW	230	.addr = 0x20,
d8594fa2 LW	231	.mask = 0x08,
9444a300 RD	232	.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
	233	.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
	234	},
	235	.enable_axis = {
	236	.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
	237	.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
	238	},
	239	.fs = {
d8594fa2 LW	240	.addr = 0x23,
d8594fa2 LW	241	.mask = 0x30,
9444a300 RD	242	.fs_avl = {
9444a300 RD	243	[0] = {
45a4e422	244	.num = ST_GYRO_FS_AVL_245DPS,
d8594fa2 LW	245	.value = 0x00,
d8594fa2 LW	246	.gain = IIO_DEGREE_TO_RAD(8750),
9444a300 RD	247	},
	248	[1] = {
	249	.num = ST_GYRO_FS_AVL_500DPS,
d8594fa2 LW	250	.value = 0x01,
d8594fa2 LW	251	.gain = IIO_DEGREE_TO_RAD(17500),
9444a300 RD	252	},
	253	[2] = {
	254	.num = ST_GYRO_FS_AVL_2000DPS,
d8594fa2 LW	255	.value = 0x02,
d8594fa2 LW	256	.gain = IIO_DEGREE_TO_RAD(70000),
9444a300 RD	257	},
	258	},
	259	},
	260	.bdu = {
d8594fa2 LW	261	.addr = 0x23,
d8594fa2 LW	262	.mask = 0x80,
9444a300 RD	263	},
9444a300 RD	264	.drdy_irq = {
75d4c6d2 LB	265	.int2 = {
	266	.addr = 0x22,
	267	.mask = 0x08,
	268	},
a9fd053b LW	269	/*
	270	* The sensor has IHL (active low) and open
	271	* drain settings, but only for INT1 and not
	272	* for the DRDY line on INT2.
	273	*/
e72a0601 LB	274	.stat_drdy = {
	275	.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
	276	.mask = 0x07,
	277	},
9444a300	278	},
281dbadb LB	279	.sim = {
	280	.addr = 0x23,
	281	.value = BIT(0),
	282	},
d8594fa2	283	.multi_read_bit = true,
9444a300 RD	284	.bootime = 2,
9444a300 RD	285	},
7be56a8f DC	286	};
	287
	288	static int st_gyro_read_raw(struct iio_dev *indio_dev,
	289	struct iio_chan_spec const ch, int val,
	290	int *val2, long mask)
	291	{
	292	int err;
	293	struct st_sensor_data *gdata = iio_priv(indio_dev);
	294
	295	switch (mask) {
	296	case IIO_CHAN_INFO_RAW:
	297	err = st_sensors_read_info_raw(indio_dev, ch, val);
	298	if (err < 0)
	299	goto read_error;
	300
	301	return IIO_VAL_INT;
	302	case IIO_CHAN_INFO_SCALE:
	303	*val = 0;
	304	*val2 = gdata->current_fullscale->gain;
	305	return IIO_VAL_INT_PLUS_MICRO;
2d239c9e JC	306	case IIO_CHAN_INFO_SAMP_FREQ:
	307	*val = gdata->odr;
	308	return IIO_VAL_INT;
7be56a8f DC	309	default:
	310	return -EINVAL;
	311	}
	312
	313	read_error:
	314	return err;
	315	}
	316
	317	static int st_gyro_write_raw(struct iio_dev *indio_dev,
	318	struct iio_chan_spec const *chan, int val, int val2, long mask)
	319	{
	320	int err;
	321
	322	switch (mask) {
	323	case IIO_CHAN_INFO_SCALE:
	324	err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
	325	break;
2d239c9e JC	326	case IIO_CHAN_INFO_SAMP_FREQ:
	327	if (val2)
	328	return -EINVAL;
	329	mutex_lock(&indio_dev->mlock);
	330	err = st_sensors_set_odr(indio_dev, val);
	331	mutex_unlock(&indio_dev->mlock);
	332	return err;
7be56a8f DC	333	default:
	334	err = -EINVAL;
	335	}
	336
	337	return err;
	338	}
	339
7be56a8f DC	340	static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
	341	static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
	342
	343	static struct attribute *st_gyro_attributes[] = {
	344	&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
	345	&iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
7be56a8f DC	346	NULL,
	347	};
	348
	349	static const struct attribute_group st_gyro_attribute_group = {
	350	.attrs = st_gyro_attributes,
	351	};
	352
	353	static const struct iio_info gyro_info = {
7be56a8f DC	354	.attrs = &st_gyro_attribute_group,
	355	.read_raw = &st_gyro_read_raw,
	356	.write_raw = &st_gyro_write_raw,
a0175b9c	357	.debugfs_reg_access = &st_sensors_debugfs_reg_access,
7be56a8f DC	358	};
7be56a8f DC	359
8ce4a56a	360	#ifdef CONFIG_IIO_TRIGGER
7be56a8f	361	static const struct iio_trigger_ops st_gyro_trigger_ops = {
7be56a8f	362	.set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
65925b65	363	.validate_device = st_sensors_validate_device,
7be56a8f	364	};
8ce4a56a JC	365	#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
	366	#else
	367	#define ST_GYRO_TRIGGER_OPS NULL
	368	#endif
7be56a8f	369
2acca26b DC	370	/*
	371	* st_gyro_get_settings() - get sensor settings from device name
	372	* @name: device name buffer reference.
	373	*
	374	* Return: valid reference on success, NULL otherwise.
	375	*/
	376	const struct st_sensor_settings st_gyro_get_settings(const char name)
	377	{
	378	int index = st_sensors_get_settings_index(name,
	379	st_gyro_sensors_settings,
	380	ARRAY_SIZE(st_gyro_sensors_settings));
	381	if (index < 0)
	382	return NULL;
	383
	384	return &st_gyro_sensors_settings[index];
	385	}
	386	EXPORT_SYMBOL(st_gyro_get_settings);
	387
ef67b341	388	int st_gyro_common_probe(struct iio_dev *indio_dev)
7be56a8f	389	{
7be56a8f	390	struct st_sensor_data *gdata = iio_priv(indio_dev);
f01a140a	391	int err;
7be56a8f DC	392
	393	indio_dev->modes = INDIO_DIRECT_MODE;
	394	indio_dev->info = &gyro_info;
	395
14f295c8 GB	396	err = st_sensors_power_enable(indio_dev);
	397	if (err)
	398	return err;
ea7e586b	399
1ecd245e	400	err = st_sensors_verify_id(indio_dev);
7be56a8f	401	if (err < 0)
14f295c8	402	goto st_gyro_power_off;
7be56a8f	403
607a568a	404	gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
a7ee8839	405	indio_dev->channels = gdata->sensor_settings->ch;
7be56a8f DC	406	indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
	407
	408	gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
a7ee8839 DC	409	&gdata->sensor_settings->fs.fs_avl[0];
a7ee8839 DC	410	gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
7be56a8f	411
ef67b341 DC	412	err = st_sensors_init_sensor(indio_dev,
ef67b341 DC	413	(struct st_sensors_platform_data *)&gyro_pdata);
7be56a8f	414	if (err < 0)
14f295c8	415	goto st_gyro_power_off;
7be56a8f	416
fb4ea1f8 DC	417	err = st_gyro_allocate_ring(indio_dev);
fb4ea1f8 DC	418	if (err < 0)
14f295c8	419	goto st_gyro_power_off;
7be56a8f	420
9cd15d52	421	if (gdata->irq > 0) {
7be56a8f	422	err = st_sensors_allocate_trigger(indio_dev,
8ce4a56a	423	ST_GYRO_TRIGGER_OPS);
7be56a8f DC	424	if (err < 0)
	425	goto st_gyro_probe_trigger_error;
	426	}
	427
	428	err = iio_device_register(indio_dev);
	429	if (err)
	430	goto st_gyro_device_register_error;
	431
4f544ced LW	432	dev_info(&indio_dev->dev, "registered gyroscope %s\n",
	433	indio_dev->name);
	434
f01a140a	435	return 0;
7be56a8f DC	436
7be56a8f DC	437	st_gyro_device_register_error:
9cd15d52	438	if (gdata->irq > 0)
7be56a8f DC	439	st_sensors_deallocate_trigger(indio_dev);
7be56a8f DC	440	st_gyro_probe_trigger_error:
fb4ea1f8	441	st_gyro_deallocate_ring(indio_dev);
14f295c8 GB	442	st_gyro_power_off:
14f295c8 GB	443	st_sensors_power_disable(indio_dev);
f01a140a	444
7be56a8f DC	445	return err;
	446	}
	447	EXPORT_SYMBOL(st_gyro_common_probe);
	448
	449	void st_gyro_common_remove(struct iio_dev *indio_dev)
	450	{
	451	struct st_sensor_data *gdata = iio_priv(indio_dev);
	452
ea7e586b LW	453	st_sensors_power_disable(indio_dev);
ea7e586b LW	454
7be56a8f	455	iio_device_unregister(indio_dev);
9cd15d52	456	if (gdata->irq > 0)
7be56a8f	457	st_sensors_deallocate_trigger(indio_dev);
fb4ea1f8 DC	458
fb4ea1f8 DC	459	st_gyro_deallocate_ring(indio_dev);
7be56a8f DC	460	}
	461	EXPORT_SYMBOL(st_gyro_common_remove);
	462
	463	MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
	464	MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
	465	MODULE_LICENSE("GPL v2");