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7be56a8f DC |
1 | /* |
2 | * STMicroelectronics gyroscopes driver | |
3 | * | |
4 | * Copyright 2012-2013 STMicroelectronics Inc. | |
5 | * | |
6 | * Denis Ciocca <denis.ciocca@st.com> | |
7 | * | |
8 | * Licensed under the GPL-2. | |
9 | */ | |
10 | ||
11 | #include <linux/kernel.h> | |
12 | #include <linux/module.h> | |
13 | #include <linux/slab.h> | |
14 | #include <linux/errno.h> | |
15 | #include <linux/types.h> | |
16 | #include <linux/mutex.h> | |
17 | #include <linux/interrupt.h> | |
18 | #include <linux/i2c.h> | |
19 | #include <linux/gpio.h> | |
20 | #include <linux/irq.h> | |
21 | #include <linux/delay.h> | |
22 | #include <linux/iio/iio.h> | |
23 | #include <linux/iio/sysfs.h> | |
8ce4a56a | 24 | #include <linux/iio/trigger.h> |
7be56a8f DC |
25 | #include <linux/iio/buffer.h> |
26 | ||
27 | #include <linux/iio/common/st_sensors.h> | |
28 | #include "st_gyro.h" | |
29 | ||
607a568a DC |
30 | #define ST_GYRO_NUMBER_DATA_CHANNELS 3 |
31 | ||
7be56a8f DC |
32 | /* DEFAULT VALUE FOR SENSORS */ |
33 | #define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28 | |
34 | #define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a | |
35 | #define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c | |
36 | ||
37 | /* FULLSCALE */ | |
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 | ||
42 | /* CUSTOM VALUES FOR SENSOR 1 */ | |
43 | #define ST_GYRO_1_WAI_EXP 0xd3 | |
44 | #define ST_GYRO_1_ODR_ADDR 0x20 | |
45 | #define ST_GYRO_1_ODR_MASK 0xc0 | |
46 | #define ST_GYRO_1_ODR_AVL_100HZ_VAL 0x00 | |
47 | #define ST_GYRO_1_ODR_AVL_200HZ_VAL 0x01 | |
48 | #define ST_GYRO_1_ODR_AVL_400HZ_VAL 0x02 | |
49 | #define ST_GYRO_1_ODR_AVL_800HZ_VAL 0x03 | |
50 | #define ST_GYRO_1_PW_ADDR 0x20 | |
51 | #define ST_GYRO_1_PW_MASK 0x08 | |
52 | #define ST_GYRO_1_FS_ADDR 0x23 | |
53 | #define ST_GYRO_1_FS_MASK 0x30 | |
54 | #define ST_GYRO_1_FS_AVL_250_VAL 0x00 | |
55 | #define ST_GYRO_1_FS_AVL_500_VAL 0x01 | |
56 | #define ST_GYRO_1_FS_AVL_2000_VAL 0x02 | |
57 | #define ST_GYRO_1_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750) | |
58 | #define ST_GYRO_1_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500) | |
59 | #define ST_GYRO_1_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000) | |
60 | #define ST_GYRO_1_BDU_ADDR 0x23 | |
61 | #define ST_GYRO_1_BDU_MASK 0x80 | |
62 | #define ST_GYRO_1_DRDY_IRQ_ADDR 0x22 | |
23cde4d6 | 63 | #define ST_GYRO_1_DRDY_IRQ_INT2_MASK 0x08 |
7be56a8f DC |
64 | #define ST_GYRO_1_MULTIREAD_BIT true |
65 | ||
66 | /* CUSTOM VALUES FOR SENSOR 2 */ | |
67 | #define ST_GYRO_2_WAI_EXP 0xd4 | |
68 | #define ST_GYRO_2_ODR_ADDR 0x20 | |
69 | #define ST_GYRO_2_ODR_MASK 0xc0 | |
70 | #define ST_GYRO_2_ODR_AVL_95HZ_VAL 0x00 | |
71 | #define ST_GYRO_2_ODR_AVL_190HZ_VAL 0x01 | |
72 | #define ST_GYRO_2_ODR_AVL_380HZ_VAL 0x02 | |
73 | #define ST_GYRO_2_ODR_AVL_760HZ_VAL 0x03 | |
74 | #define ST_GYRO_2_PW_ADDR 0x20 | |
75 | #define ST_GYRO_2_PW_MASK 0x08 | |
76 | #define ST_GYRO_2_FS_ADDR 0x23 | |
77 | #define ST_GYRO_2_FS_MASK 0x30 | |
78 | #define ST_GYRO_2_FS_AVL_250_VAL 0x00 | |
79 | #define ST_GYRO_2_FS_AVL_500_VAL 0x01 | |
80 | #define ST_GYRO_2_FS_AVL_2000_VAL 0x02 | |
81 | #define ST_GYRO_2_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750) | |
82 | #define ST_GYRO_2_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500) | |
83 | #define ST_GYRO_2_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000) | |
84 | #define ST_GYRO_2_BDU_ADDR 0x23 | |
85 | #define ST_GYRO_2_BDU_MASK 0x80 | |
86 | #define ST_GYRO_2_DRDY_IRQ_ADDR 0x22 | |
23cde4d6 | 87 | #define ST_GYRO_2_DRDY_IRQ_INT2_MASK 0x08 |
7be56a8f DC |
88 | #define ST_GYRO_2_MULTIREAD_BIT true |
89 | ||
90 | static const struct iio_chan_spec st_gyro_16bit_channels[] = { | |
762011d6 DC |
91 | ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, |
92 | BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), | |
93 | ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16, | |
94 | ST_GYRO_DEFAULT_OUT_X_L_ADDR), | |
95 | ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, | |
96 | BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), | |
97 | ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16, | |
98 | ST_GYRO_DEFAULT_OUT_Y_L_ADDR), | |
99 | ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, | |
100 | BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), | |
101 | ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16, | |
102 | ST_GYRO_DEFAULT_OUT_Z_L_ADDR), | |
7be56a8f DC |
103 | IIO_CHAN_SOFT_TIMESTAMP(3) |
104 | }; | |
105 | ||
106 | static const struct st_sensors st_gyro_sensors[] = { | |
107 | { | |
108 | .wai = ST_GYRO_1_WAI_EXP, | |
109 | .sensors_supported = { | |
110 | [0] = L3G4200D_GYRO_DEV_NAME, | |
111 | [1] = LSM330DL_GYRO_DEV_NAME, | |
112 | }, | |
113 | .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, | |
114 | .odr = { | |
115 | .addr = ST_GYRO_1_ODR_ADDR, | |
116 | .mask = ST_GYRO_1_ODR_MASK, | |
117 | .odr_avl = { | |
118 | { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, }, | |
119 | { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, }, | |
120 | { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, }, | |
121 | { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, }, | |
122 | }, | |
123 | }, | |
124 | .pw = { | |
125 | .addr = ST_GYRO_1_PW_ADDR, | |
126 | .mask = ST_GYRO_1_PW_MASK, | |
127 | .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, | |
128 | .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, | |
129 | }, | |
130 | .enable_axis = { | |
131 | .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, | |
132 | .mask = ST_SENSORS_DEFAULT_AXIS_MASK, | |
133 | }, | |
134 | .fs = { | |
135 | .addr = ST_GYRO_1_FS_ADDR, | |
136 | .mask = ST_GYRO_1_FS_MASK, | |
137 | .fs_avl = { | |
138 | [0] = { | |
139 | .num = ST_GYRO_FS_AVL_250DPS, | |
140 | .value = ST_GYRO_1_FS_AVL_250_VAL, | |
141 | .gain = ST_GYRO_1_FS_AVL_250_GAIN, | |
142 | }, | |
143 | [1] = { | |
144 | .num = ST_GYRO_FS_AVL_500DPS, | |
145 | .value = ST_GYRO_1_FS_AVL_500_VAL, | |
146 | .gain = ST_GYRO_1_FS_AVL_500_GAIN, | |
147 | }, | |
148 | [2] = { | |
149 | .num = ST_GYRO_FS_AVL_2000DPS, | |
150 | .value = ST_GYRO_1_FS_AVL_2000_VAL, | |
151 | .gain = ST_GYRO_1_FS_AVL_2000_GAIN, | |
152 | }, | |
153 | }, | |
154 | }, | |
155 | .bdu = { | |
156 | .addr = ST_GYRO_1_BDU_ADDR, | |
157 | .mask = ST_GYRO_1_BDU_MASK, | |
158 | }, | |
159 | .drdy_irq = { | |
160 | .addr = ST_GYRO_1_DRDY_IRQ_ADDR, | |
23cde4d6 | 161 | .mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK, |
7be56a8f DC |
162 | }, |
163 | .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT, | |
164 | .bootime = 2, | |
165 | }, | |
166 | { | |
167 | .wai = ST_GYRO_2_WAI_EXP, | |
168 | .sensors_supported = { | |
169 | [0] = L3GD20_GYRO_DEV_NAME, | |
170 | [1] = L3GD20H_GYRO_DEV_NAME, | |
171 | [2] = LSM330D_GYRO_DEV_NAME, | |
172 | [3] = LSM330DLC_GYRO_DEV_NAME, | |
173 | [4] = L3G4IS_GYRO_DEV_NAME, | |
174 | [5] = LSM330_GYRO_DEV_NAME, | |
175 | }, | |
176 | .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, | |
177 | .odr = { | |
178 | .addr = ST_GYRO_2_ODR_ADDR, | |
179 | .mask = ST_GYRO_2_ODR_MASK, | |
180 | .odr_avl = { | |
181 | { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, }, | |
182 | { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, }, | |
183 | { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, }, | |
184 | { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, }, | |
185 | }, | |
186 | }, | |
187 | .pw = { | |
188 | .addr = ST_GYRO_2_PW_ADDR, | |
189 | .mask = ST_GYRO_2_PW_MASK, | |
190 | .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, | |
191 | .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, | |
192 | }, | |
193 | .enable_axis = { | |
194 | .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, | |
195 | .mask = ST_SENSORS_DEFAULT_AXIS_MASK, | |
196 | }, | |
197 | .fs = { | |
198 | .addr = ST_GYRO_2_FS_ADDR, | |
199 | .mask = ST_GYRO_2_FS_MASK, | |
200 | .fs_avl = { | |
201 | [0] = { | |
202 | .num = ST_GYRO_FS_AVL_250DPS, | |
203 | .value = ST_GYRO_2_FS_AVL_250_VAL, | |
204 | .gain = ST_GYRO_2_FS_AVL_250_GAIN, | |
205 | }, | |
206 | [1] = { | |
207 | .num = ST_GYRO_FS_AVL_500DPS, | |
208 | .value = ST_GYRO_2_FS_AVL_500_VAL, | |
209 | .gain = ST_GYRO_2_FS_AVL_500_GAIN, | |
210 | }, | |
211 | [2] = { | |
212 | .num = ST_GYRO_FS_AVL_2000DPS, | |
213 | .value = ST_GYRO_2_FS_AVL_2000_VAL, | |
214 | .gain = ST_GYRO_2_FS_AVL_2000_GAIN, | |
215 | }, | |
216 | }, | |
217 | }, | |
218 | .bdu = { | |
219 | .addr = ST_GYRO_2_BDU_ADDR, | |
220 | .mask = ST_GYRO_2_BDU_MASK, | |
221 | }, | |
222 | .drdy_irq = { | |
223 | .addr = ST_GYRO_2_DRDY_IRQ_ADDR, | |
23cde4d6 | 224 | .mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK, |
7be56a8f DC |
225 | }, |
226 | .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT, | |
227 | .bootime = 2, | |
228 | }, | |
229 | }; | |
230 | ||
231 | static int st_gyro_read_raw(struct iio_dev *indio_dev, | |
232 | struct iio_chan_spec const *ch, int *val, | |
233 | int *val2, long mask) | |
234 | { | |
235 | int err; | |
236 | struct st_sensor_data *gdata = iio_priv(indio_dev); | |
237 | ||
238 | switch (mask) { | |
239 | case IIO_CHAN_INFO_RAW: | |
240 | err = st_sensors_read_info_raw(indio_dev, ch, val); | |
241 | if (err < 0) | |
242 | goto read_error; | |
243 | ||
244 | return IIO_VAL_INT; | |
245 | case IIO_CHAN_INFO_SCALE: | |
246 | *val = 0; | |
247 | *val2 = gdata->current_fullscale->gain; | |
248 | return IIO_VAL_INT_PLUS_MICRO; | |
249 | default: | |
250 | return -EINVAL; | |
251 | } | |
252 | ||
253 | read_error: | |
254 | return err; | |
255 | } | |
256 | ||
257 | static int st_gyro_write_raw(struct iio_dev *indio_dev, | |
258 | struct iio_chan_spec const *chan, int val, int val2, long mask) | |
259 | { | |
260 | int err; | |
261 | ||
262 | switch (mask) { | |
263 | case IIO_CHAN_INFO_SCALE: | |
264 | err = st_sensors_set_fullscale_by_gain(indio_dev, val2); | |
265 | break; | |
266 | default: | |
267 | err = -EINVAL; | |
268 | } | |
269 | ||
270 | return err; | |
271 | } | |
272 | ||
273 | static ST_SENSOR_DEV_ATTR_SAMP_FREQ(); | |
274 | static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); | |
275 | static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); | |
276 | ||
277 | static struct attribute *st_gyro_attributes[] = { | |
278 | &iio_dev_attr_sampling_frequency_available.dev_attr.attr, | |
279 | &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, | |
280 | &iio_dev_attr_sampling_frequency.dev_attr.attr, | |
281 | NULL, | |
282 | }; | |
283 | ||
284 | static const struct attribute_group st_gyro_attribute_group = { | |
285 | .attrs = st_gyro_attributes, | |
286 | }; | |
287 | ||
288 | static const struct iio_info gyro_info = { | |
289 | .driver_module = THIS_MODULE, | |
290 | .attrs = &st_gyro_attribute_group, | |
291 | .read_raw = &st_gyro_read_raw, | |
292 | .write_raw = &st_gyro_write_raw, | |
293 | }; | |
294 | ||
8ce4a56a | 295 | #ifdef CONFIG_IIO_TRIGGER |
7be56a8f DC |
296 | static const struct iio_trigger_ops st_gyro_trigger_ops = { |
297 | .owner = THIS_MODULE, | |
298 | .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, | |
299 | }; | |
8ce4a56a JC |
300 | #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) |
301 | #else | |
302 | #define ST_GYRO_TRIGGER_OPS NULL | |
303 | #endif | |
7be56a8f | 304 | |
23cde4d6 DC |
305 | int st_gyro_common_probe(struct iio_dev *indio_dev, |
306 | struct st_sensors_platform_data *pdata) | |
7be56a8f | 307 | { |
7be56a8f | 308 | struct st_sensor_data *gdata = iio_priv(indio_dev); |
f01a140a LJ |
309 | int irq = gdata->get_irq_data_ready(indio_dev); |
310 | int err; | |
7be56a8f DC |
311 | |
312 | indio_dev->modes = INDIO_DIRECT_MODE; | |
313 | indio_dev->info = &gyro_info; | |
314 | ||
315 | err = st_sensors_check_device_support(indio_dev, | |
316 | ARRAY_SIZE(st_gyro_sensors), st_gyro_sensors); | |
317 | if (err < 0) | |
f01a140a | 318 | return err; |
7be56a8f | 319 | |
607a568a | 320 | gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; |
7be56a8f DC |
321 | gdata->multiread_bit = gdata->sensor->multi_read_bit; |
322 | indio_dev->channels = gdata->sensor->ch; | |
323 | indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; | |
324 | ||
325 | gdata->current_fullscale = (struct st_sensor_fullscale_avl *) | |
326 | &gdata->sensor->fs.fs_avl[0]; | |
327 | gdata->odr = gdata->sensor->odr.odr_avl[0].hz; | |
328 | ||
23cde4d6 | 329 | err = st_sensors_init_sensor(indio_dev, pdata); |
7be56a8f | 330 | if (err < 0) |
f01a140a | 331 | return err; |
7be56a8f | 332 | |
fb4ea1f8 DC |
333 | err = st_gyro_allocate_ring(indio_dev); |
334 | if (err < 0) | |
335 | return err; | |
7be56a8f | 336 | |
fb4ea1f8 | 337 | if (irq > 0) { |
7be56a8f | 338 | err = st_sensors_allocate_trigger(indio_dev, |
8ce4a56a | 339 | ST_GYRO_TRIGGER_OPS); |
7be56a8f DC |
340 | if (err < 0) |
341 | goto st_gyro_probe_trigger_error; | |
342 | } | |
343 | ||
344 | err = iio_device_register(indio_dev); | |
345 | if (err) | |
346 | goto st_gyro_device_register_error; | |
347 | ||
f01a140a | 348 | return 0; |
7be56a8f DC |
349 | |
350 | st_gyro_device_register_error: | |
f01a140a | 351 | if (irq > 0) |
7be56a8f DC |
352 | st_sensors_deallocate_trigger(indio_dev); |
353 | st_gyro_probe_trigger_error: | |
fb4ea1f8 | 354 | st_gyro_deallocate_ring(indio_dev); |
f01a140a | 355 | |
7be56a8f DC |
356 | return err; |
357 | } | |
358 | EXPORT_SYMBOL(st_gyro_common_probe); | |
359 | ||
360 | void st_gyro_common_remove(struct iio_dev *indio_dev) | |
361 | { | |
362 | struct st_sensor_data *gdata = iio_priv(indio_dev); | |
363 | ||
364 | iio_device_unregister(indio_dev); | |
fb4ea1f8 | 365 | if (gdata->get_irq_data_ready(indio_dev) > 0) |
7be56a8f | 366 | st_sensors_deallocate_trigger(indio_dev); |
fb4ea1f8 DC |
367 | |
368 | st_gyro_deallocate_ring(indio_dev); | |
7be56a8f DC |
369 | } |
370 | EXPORT_SYMBOL(st_gyro_common_remove); | |
371 | ||
372 | MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); | |
373 | MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); | |
374 | MODULE_LICENSE("GPL v2"); |