[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/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,
		},
		.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 = 0xd4,
		.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
		.sensors_supported = {
			[0] = LSM9DS0_GYRO_DEV_NAME,
		},
		.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
		.odr = {
			.addr = 0x20,
			.mask = GENMASK(7, 6),
			.odr_avl = {
				{ .hz = 95, .value = 0x00, },
				{ .hz = 190, .value = 0x01, },
				{ .hz = 380, .value = 0x02, },
				{ .hz = 760, .value = 0x03, },
			},
		},
		.pw = {
			.addr = 0x20,
			.mask = BIT(3),
			.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 = GENMASK(5, 4),
			.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 = BIT(7),
		},
		.drdy_irq = {
			.int2 = {
				.addr = 0x22,
				.mask = BIT(3),
			},
			/*
			 * 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 = GENMASK(2, 0),
			},
		},
		.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);
	struct st_sensors_platform_data *pdata;
	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 = &gdata->sensor_settings->fs.fs_avl[0];
	gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;

	pdata = (struct st_sensors_platform_data *)&gyro_pdata;

	err = st_sensors_init_sensor(indio_dev, 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>
7be56a8f DC	16	#include <linux/i2c.h>
7be56a8f DC	17	#include <linux/irq.h>
	18	#include <linux/delay.h>
	19	#include <linux/iio/iio.h>
	20	#include <linux/iio/sysfs.h>
8ce4a56a	21	#include <linux/iio/trigger.h>
7be56a8f DC	22	#include <linux/iio/buffer.h>
	23
	24	#include <linux/iio/common/st_sensors.h>
	25	#include "st_gyro.h"
	26
607a568a DC	27	#define ST_GYRO_NUMBER_DATA_CHANNELS 3
607a568a DC	28
7be56a8f DC	29	/* DEFAULT VALUE FOR SENSORS */
	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	/* FULLSCALE */
45a4e422	35	#define ST_GYRO_FS_AVL_245DPS 245
7be56a8f DC	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
7be56a8f	40	static const struct iio_chan_spec st_gyro_16bit_channels[] = {
762011d6 DC	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),
7be56a8f DC	53	IIO_CHAN_SOFT_TIMESTAMP(3)
	54	};
	55
a7ee8839	56	static const struct st_sensor_settings st_gyro_sensors_settings[] = {
7be56a8f	57	{
d8594fa2	58	.wai = 0xd3,
bc27381e	59	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
7be56a8f DC	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 = {
d8594fa2 LW	66	.addr = 0x20,
d8594fa2 LW	67	.mask = 0xc0,
7be56a8f	68	.odr_avl = {
d8594fa2 LW	69	{ .hz = 100, .value = 0x00, },
	70	{ .hz = 200, .value = 0x01, },
	71	{ .hz = 400, .value = 0x02, },
	72	{ .hz = 800, .value = 0x03, },
7be56a8f DC	73	},
	74	},
	75	.pw = {
d8594fa2 LW	76	.addr = 0x20,
d8594fa2 LW	77	.mask = 0x08,
7be56a8f DC	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 = {
d8594fa2 LW	86	.addr = 0x23,
d8594fa2 LW	87	.mask = 0x30,
7be56a8f DC	88	.fs_avl = {
	89	[0] = {
	90	.num = ST_GYRO_FS_AVL_250DPS,
d8594fa2 LW	91	.value = 0x00,
d8594fa2 LW	92	.gain = IIO_DEGREE_TO_RAD(8750),
7be56a8f DC	93	},
	94	[1] = {
	95	.num = ST_GYRO_FS_AVL_500DPS,
d8594fa2 LW	96	.value = 0x01,
d8594fa2 LW	97	.gain = IIO_DEGREE_TO_RAD(17500),
7be56a8f DC	98	},
	99	[2] = {
	100	.num = ST_GYRO_FS_AVL_2000DPS,
d8594fa2 LW	101	.value = 0x02,
d8594fa2 LW	102	.gain = IIO_DEGREE_TO_RAD(70000),
7be56a8f DC	103	},
	104	},
	105	},
	106	.bdu = {
d8594fa2 LW	107	.addr = 0x23,
d8594fa2 LW	108	.mask = 0x80,
7be56a8f DC	109	},
7be56a8f DC	110	.drdy_irq = {
75d4c6d2 LB	111	.int2 = {
	112	.addr = 0x22,
	113	.mask = 0x08,
	114	},
a9fd053b LW	115	/*
	116	* The sensor has IHL (active low) and open
	117	* drain settings, but only for INT1 and not
	118	* for the DRDY line on INT2.
	119	*/
e72a0601 LB	120	.stat_drdy = {
	121	.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
	122	.mask = 0x07,
	123	},
7be56a8f	124	},
281dbadb LB	125	.sim = {
	126	.addr = 0x23,
	127	.value = BIT(0),
	128	},
d8594fa2	129	.multi_read_bit = true,
7be56a8f DC	130	.bootime = 2,
	131	},
	132	{
d8594fa2	133	.wai = 0xd4,
bc27381e	134	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
7be56a8f DC	135	.sensors_supported = {
7be56a8f DC	136	[0] = L3GD20_GYRO_DEV_NAME,
a0657716 DC	137	[1] = LSM330D_GYRO_DEV_NAME,
	138	[2] = LSM330DLC_GYRO_DEV_NAME,
	139	[3] = L3G4IS_GYRO_DEV_NAME,
	140	[4] = LSM330_GYRO_DEV_NAME,
7be56a8f DC	141	},
	142	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	143	.odr = {
d8594fa2 LW	144	.addr = 0x20,
d8594fa2 LW	145	.mask = 0xc0,
7be56a8f	146	.odr_avl = {
d8594fa2 LW	147	{ .hz = 95, .value = 0x00, },
	148	{ .hz = 190, .value = 0x01, },
	149	{ .hz = 380, .value = 0x02, },
	150	{ .hz = 760, .value = 0x03, },
7be56a8f DC	151	},
	152	},
	153	.pw = {
d8594fa2 LW	154	.addr = 0x20,
d8594fa2 LW	155	.mask = 0x08,
7be56a8f DC	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 = {
d8594fa2 LW	164	.addr = 0x23,
d8594fa2 LW	165	.mask = 0x30,
7be56a8f DC	166	.fs_avl = {
	167	[0] = {
	168	.num = ST_GYRO_FS_AVL_250DPS,
d8594fa2 LW	169	.value = 0x00,
d8594fa2 LW	170	.gain = IIO_DEGREE_TO_RAD(8750),
7be56a8f DC	171	},
	172	[1] = {
	173	.num = ST_GYRO_FS_AVL_500DPS,
d8594fa2 LW	174	.value = 0x01,
d8594fa2 LW	175	.gain = IIO_DEGREE_TO_RAD(17500),
7be56a8f DC	176	},
	177	[2] = {
	178	.num = ST_GYRO_FS_AVL_2000DPS,
d8594fa2 LW	179	.value = 0x02,
d8594fa2 LW	180	.gain = IIO_DEGREE_TO_RAD(70000),
7be56a8f DC	181	},
	182	},
	183	},
	184	.bdu = {
d8594fa2 LW	185	.addr = 0x23,
d8594fa2 LW	186	.mask = 0x80,
7be56a8f DC	187	},
7be56a8f DC	188	.drdy_irq = {
75d4c6d2 LB	189	.int2 = {
	190	.addr = 0x22,
	191	.mask = 0x08,
	192	},
a9fd053b LW	193	/*
	194	* The sensor has IHL (active low) and open
	195	* drain settings, but only for INT1 and not
	196	* for the DRDY line on INT2.
	197	*/
e72a0601 LB	198	.stat_drdy = {
	199	.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
	200	.mask = 0x07,
	201	},
7be56a8f	202	},
281dbadb LB	203	.sim = {
	204	.addr = 0x23,
	205	.value = BIT(0),
	206	},
d8594fa2	207	.multi_read_bit = true,
7be56a8f DC	208	.bootime = 2,
7be56a8f DC	209	},
e825070f AS	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	* The sensor has IHL (active low) and open
	269	* drain settings, but only for INT1 and not
	270	* for the DRDY line on INT2.
	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	},
9444a300	284	{
d8594fa2	285	.wai = 0xd7,
bc27381e	286	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
9444a300	287	.sensors_supported = {
45a4e422	288	[0] = L3GD20H_GYRO_DEV_NAME,
9444a300 RD	289	},
	290	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	291	.odr = {
d8594fa2 LW	292	.addr = 0x20,
d8594fa2 LW	293	.mask = 0xc0,
9444a300	294	.odr_avl = {
45a4e422 LB	295	{ .hz = 100, .value = 0x00, },
	296	{ .hz = 200, .value = 0x01, },
	297	{ .hz = 400, .value = 0x02, },
	298	{ .hz = 800, .value = 0x03, },
9444a300 RD	299	},
	300	},
	301	.pw = {
d8594fa2 LW	302	.addr = 0x20,
d8594fa2 LW	303	.mask = 0x08,
9444a300 RD	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 = {
d8594fa2 LW	312	.addr = 0x23,
d8594fa2 LW	313	.mask = 0x30,
9444a300 RD	314	.fs_avl = {
9444a300 RD	315	[0] = {
45a4e422	316	.num = ST_GYRO_FS_AVL_245DPS,
d8594fa2 LW	317	.value = 0x00,
d8594fa2 LW	318	.gain = IIO_DEGREE_TO_RAD(8750),
9444a300 RD	319	},
	320	[1] = {
	321	.num = ST_GYRO_FS_AVL_500DPS,
d8594fa2 LW	322	.value = 0x01,
d8594fa2 LW	323	.gain = IIO_DEGREE_TO_RAD(17500),
9444a300 RD	324	},
	325	[2] = {
	326	.num = ST_GYRO_FS_AVL_2000DPS,
d8594fa2 LW	327	.value = 0x02,
d8594fa2 LW	328	.gain = IIO_DEGREE_TO_RAD(70000),
9444a300 RD	329	},
	330	},
	331	},
	332	.bdu = {
d8594fa2 LW	333	.addr = 0x23,
d8594fa2 LW	334	.mask = 0x80,
9444a300 RD	335	},
9444a300 RD	336	.drdy_irq = {
75d4c6d2 LB	337	.int2 = {
	338	.addr = 0x22,
	339	.mask = 0x08,
	340	},
a9fd053b LW	341	/*
	342	* The sensor has IHL (active low) and open
	343	* drain settings, but only for INT1 and not
	344	* for the DRDY line on INT2.
	345	*/
e72a0601 LB	346	.stat_drdy = {
	347	.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
	348	.mask = 0x07,
	349	},
9444a300	350	},
281dbadb LB	351	.sim = {
	352	.addr = 0x23,
	353	.value = BIT(0),
	354	},
d8594fa2	355	.multi_read_bit = true,
9444a300 RD	356	.bootime = 2,
9444a300 RD	357	},
7be56a8f DC	358	};
	359
	360	static 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;
2d239c9e JC	378	case IIO_CHAN_INFO_SAMP_FREQ:
	379	*val = gdata->odr;
	380	return IIO_VAL_INT;
7be56a8f DC	381	default:
	382	return -EINVAL;
	383	}
	384
	385	read_error:
	386	return err;
	387	}
	388
	389	static 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;
2d239c9e JC	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;
7be56a8f DC	405	default:
	406	err = -EINVAL;
	407	}
	408
	409	return err;
	410	}
	411
7be56a8f DC	412	static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
	413	static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
	414
	415	static 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,
7be56a8f DC	418	NULL,
	419	};
	420
	421	static const struct attribute_group st_gyro_attribute_group = {
	422	.attrs = st_gyro_attributes,
	423	};
	424
	425	static const struct iio_info gyro_info = {
7be56a8f DC	426	.attrs = &st_gyro_attribute_group,
	427	.read_raw = &st_gyro_read_raw,
	428	.write_raw = &st_gyro_write_raw,
a0175b9c	429	.debugfs_reg_access = &st_sensors_debugfs_reg_access,
7be56a8f DC	430	};
7be56a8f DC	431
8ce4a56a	432	#ifdef CONFIG_IIO_TRIGGER
7be56a8f	433	static const struct iio_trigger_ops st_gyro_trigger_ops = {
7be56a8f	434	.set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
65925b65	435	.validate_device = st_sensors_validate_device,
7be56a8f	436	};
8ce4a56a JC	437	#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
	438	#else
	439	#define ST_GYRO_TRIGGER_OPS NULL
	440	#endif
7be56a8f	441
2acca26b DC	442	/*
	443	* st_gyro_get_settings() - get sensor settings from device name
	444	* @name: device name buffer reference.
	445	*
	446	* Return: valid reference on success, NULL otherwise.
	447	*/
	448	const 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	}
	458	EXPORT_SYMBOL(st_gyro_get_settings);
	459
ef67b341	460	int st_gyro_common_probe(struct iio_dev *indio_dev)
7be56a8f	461	{
7be56a8f	462	struct st_sensor_data *gdata = iio_priv(indio_dev);
1f38527d	463	struct st_sensors_platform_data *pdata;
f01a140a	464	int err;
7be56a8f DC	465
	466	indio_dev->modes = INDIO_DIRECT_MODE;
	467	indio_dev->info = &gyro_info;
	468
14f295c8 GB	469	err = st_sensors_power_enable(indio_dev);
	470	if (err)
	471	return err;
ea7e586b	472
1ecd245e	473	err = st_sensors_verify_id(indio_dev);
7be56a8f	474	if (err < 0)
14f295c8	475	goto st_gyro_power_off;
7be56a8f	476
607a568a	477	gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
a7ee8839	478	indio_dev->channels = gdata->sensor_settings->ch;
7be56a8f DC	479	indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
7be56a8f DC	480
1f38527d	481	gdata->current_fullscale = &gdata->sensor_settings->fs.fs_avl[0];
a7ee8839	482	gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
7be56a8f	483
1f38527d AS	484	pdata = (struct st_sensors_platform_data *)&gyro_pdata;
	485
	486	err = st_sensors_init_sensor(indio_dev, pdata);
7be56a8f	487	if (err < 0)
14f295c8	488	goto st_gyro_power_off;
7be56a8f	489
fb4ea1f8 DC	490	err = st_gyro_allocate_ring(indio_dev);
fb4ea1f8 DC	491	if (err < 0)
14f295c8	492	goto st_gyro_power_off;
7be56a8f	493
9cd15d52	494	if (gdata->irq > 0) {
7be56a8f	495	err = st_sensors_allocate_trigger(indio_dev,
8ce4a56a	496	ST_GYRO_TRIGGER_OPS);
7be56a8f DC	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
4f544ced LW	505	dev_info(&indio_dev->dev, "registered gyroscope %s\n",
	506	indio_dev->name);
	507
f01a140a	508	return 0;
7be56a8f DC	509
7be56a8f DC	510	st_gyro_device_register_error:
9cd15d52	511	if (gdata->irq > 0)
7be56a8f DC	512	st_sensors_deallocate_trigger(indio_dev);
7be56a8f DC	513	st_gyro_probe_trigger_error:
fb4ea1f8	514	st_gyro_deallocate_ring(indio_dev);
14f295c8 GB	515	st_gyro_power_off:
14f295c8 GB	516	st_sensors_power_disable(indio_dev);
f01a140a	517
7be56a8f DC	518	return err;
	519	}
	520	EXPORT_SYMBOL(st_gyro_common_probe);
	521
	522	void st_gyro_common_remove(struct iio_dev *indio_dev)
	523	{
	524	struct st_sensor_data *gdata = iio_priv(indio_dev);
	525
ea7e586b LW	526	st_sensors_power_disable(indio_dev);
ea7e586b LW	527
7be56a8f	528	iio_device_unregister(indio_dev);
9cd15d52	529	if (gdata->irq > 0)
7be56a8f	530	st_sensors_deallocate_trigger(indio_dev);
fb4ea1f8 DC	531
fb4ea1f8 DC	532	st_gyro_deallocate_ring(indio_dev);
7be56a8f DC	533	}
	534	EXPORT_SYMBOL(st_gyro_common_remove);
	535
	536	MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
	537	MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
	538	MODULE_LICENSE("GPL v2");