| // SPDX-License-Identifier: GPL-2.0-only |
| /* |
| * itg3200_core.c -- support InvenSense ITG3200 |
| * Digital 3-Axis Gyroscope driver |
| * |
| * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de> |
| * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> |
| * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de> |
| * |
| * TODO: |
| * - Support digital low pass filter |
| * - Support power management |
| */ |
| |
| #include <linux/interrupt.h> |
| #include <linux/irq.h> |
| #include <linux/i2c.h> |
| #include <linux/gpio.h> |
| #include <linux/slab.h> |
| #include <linux/stat.h> |
| #include <linux/module.h> |
| #include <linux/delay.h> |
| |
| #include <linux/iio/iio.h> |
| #include <linux/iio/sysfs.h> |
| #include <linux/iio/events.h> |
| #include <linux/iio/buffer.h> |
| |
| #include <linux/iio/gyro/itg3200.h> |
| |
| |
| int itg3200_write_reg_8(struct iio_dev *indio_dev, |
| u8 reg_address, u8 val) |
| { |
| struct itg3200 *st = iio_priv(indio_dev); |
| |
| return i2c_smbus_write_byte_data(st->i2c, 0x80 | reg_address, val); |
| } |
| |
| int itg3200_read_reg_8(struct iio_dev *indio_dev, |
| u8 reg_address, u8 *val) |
| { |
| struct itg3200 *st = iio_priv(indio_dev); |
| int ret; |
| |
| ret = i2c_smbus_read_byte_data(st->i2c, reg_address); |
| if (ret < 0) |
| return ret; |
| *val = ret; |
| return 0; |
| } |
| |
| static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address, |
| int *val) |
| { |
| struct itg3200 *st = iio_priv(indio_dev); |
| struct i2c_client *client = st->i2c; |
| int ret; |
| s16 out; |
| |
| struct i2c_msg msg[2] = { |
| { |
| .addr = client->addr, |
| .flags = client->flags, |
| .len = 1, |
| .buf = (char *)&lower_reg_address, |
| }, |
| { |
| .addr = client->addr, |
| .flags = client->flags | I2C_M_RD, |
| .len = 2, |
| .buf = (char *)&out, |
| }, |
| }; |
| |
| lower_reg_address |= 0x80; |
| ret = i2c_transfer(client->adapter, msg, 2); |
| be16_to_cpus(&out); |
| *val = out; |
| |
| return (ret == 2) ? 0 : ret; |
| } |
| |
| static int itg3200_read_raw(struct iio_dev *indio_dev, |
| const struct iio_chan_spec *chan, |
| int *val, int *val2, long info) |
| { |
| int ret = 0; |
| u8 reg; |
| u8 regval; |
| |
| switch (info) { |
| case IIO_CHAN_INFO_RAW: |
| reg = (u8)chan->address; |
| ret = itg3200_read_reg_s16(indio_dev, reg, val); |
| return IIO_VAL_INT; |
| case IIO_CHAN_INFO_SCALE: |
| *val = 0; |
| if (chan->type == IIO_TEMP) |
| *val2 = 1000000000/280; |
| else |
| *val2 = 1214142; /* (1 / 14,375) * (PI / 180) */ |
| return IIO_VAL_INT_PLUS_NANO; |
| case IIO_CHAN_INFO_OFFSET: |
| /* Only the temperature channel has an offset */ |
| *val = 23000; |
| return IIO_VAL_INT; |
| case IIO_CHAN_INFO_SAMP_FREQ: |
| ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, ®val); |
| if (ret) |
| return ret; |
| |
| *val = (regval & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000; |
| |
| ret = itg3200_read_reg_8(indio_dev, |
| ITG3200_REG_SAMPLE_RATE_DIV, |
| ®val); |
| if (ret) |
| return ret; |
| |
| *val /= regval + 1; |
| return IIO_VAL_INT; |
| |
| default: |
| return -EINVAL; |
| } |
| } |
| |
| static int itg3200_write_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, |
| int val, |
| int val2, |
| long mask) |
| { |
| int ret; |
| u8 t; |
| |
| switch (mask) { |
| case IIO_CHAN_INFO_SAMP_FREQ: |
| if (val == 0 || val2 != 0) |
| return -EINVAL; |
| |
| mutex_lock(&indio_dev->mlock); |
| |
| ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &t); |
| if (ret) { |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / val - 1; |
| |
| ret = itg3200_write_reg_8(indio_dev, |
| ITG3200_REG_SAMPLE_RATE_DIV, |
| t); |
| |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| |
| default: |
| return -EINVAL; |
| } |
| } |
| |
| /* |
| * Reset device and internal registers to the power-up-default settings |
| * Use the gyro clock as reference, as suggested by the datasheet |
| */ |
| static int itg3200_reset(struct iio_dev *indio_dev) |
| { |
| struct itg3200 *st = iio_priv(indio_dev); |
| int ret; |
| |
| dev_dbg(&st->i2c->dev, "reset device"); |
| |
| ret = itg3200_write_reg_8(indio_dev, |
| ITG3200_REG_POWER_MANAGEMENT, |
| ITG3200_RESET); |
| if (ret) { |
| dev_err(&st->i2c->dev, "error resetting device"); |
| goto error_ret; |
| } |
| |
| /* Wait for PLL (1ms according to datasheet) */ |
| udelay(1500); |
| |
| ret = itg3200_write_reg_8(indio_dev, |
| ITG3200_REG_IRQ_CONFIG, |
| ITG3200_IRQ_ACTIVE_HIGH | |
| ITG3200_IRQ_PUSH_PULL | |
| ITG3200_IRQ_LATCH_50US_PULSE | |
| ITG3200_IRQ_LATCH_CLEAR_ANY); |
| |
| if (ret) |
| dev_err(&st->i2c->dev, "error init device"); |
| |
| error_ret: |
| return ret; |
| } |
| |
| /* itg3200_enable_full_scale() - Disables the digital low pass filter */ |
| static int itg3200_enable_full_scale(struct iio_dev *indio_dev) |
| { |
| u8 val; |
| int ret; |
| |
| ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &val); |
| if (ret) |
| goto err_ret; |
| |
| val |= ITG3200_DLPF_FS_SEL_2000; |
| return itg3200_write_reg_8(indio_dev, ITG3200_REG_DLPF, val); |
| |
| err_ret: |
| return ret; |
| } |
| |
| static int itg3200_initial_setup(struct iio_dev *indio_dev) |
| { |
| struct itg3200 *st = iio_priv(indio_dev); |
| int ret; |
| u8 val; |
| |
| ret = itg3200_reset(indio_dev); |
| if (ret) |
| goto err_ret; |
| |
| ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_ADDRESS, &val); |
| if (ret) |
| goto err_ret; |
| |
| if (((val >> 1) & 0x3f) != 0x34) { |
| dev_err(&st->i2c->dev, "invalid reg value 0x%02x", val); |
| ret = -ENXIO; |
| goto err_ret; |
| } |
| |
| ret = itg3200_enable_full_scale(indio_dev); |
| err_ret: |
| return ret; |
| } |
| |
| static const struct iio_mount_matrix * |
| itg3200_get_mount_matrix(const struct iio_dev *indio_dev, |
| const struct iio_chan_spec *chan) |
| { |
| struct itg3200 *data = iio_priv(indio_dev); |
| |
| return &data->orientation; |
| } |
| |
| static const struct iio_chan_spec_ext_info itg3200_ext_info[] = { |
| IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, itg3200_get_mount_matrix), |
| { } |
| }; |
| |
| #define ITG3200_ST \ |
| { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE } |
| |
| #define ITG3200_GYRO_CHAN(_mod) { \ |
| .type = IIO_ANGL_VEL, \ |
| .modified = 1, \ |
| .channel2 = IIO_MOD_ ## _mod, \ |
| .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
| .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ |
| .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
| .address = ITG3200_REG_GYRO_ ## _mod ## OUT_H, \ |
| .scan_index = ITG3200_SCAN_GYRO_ ## _mod, \ |
| .scan_type = ITG3200_ST, \ |
| .ext_info = itg3200_ext_info, \ |
| } |
| |
| static const struct iio_chan_spec itg3200_channels[] = { |
| { |
| .type = IIO_TEMP, |
| .channel2 = IIO_NO_MOD, |
| .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), |
| .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) | |
| BIT(IIO_CHAN_INFO_SCALE), |
| .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), |
| .address = ITG3200_REG_TEMP_OUT_H, |
| .scan_index = ITG3200_SCAN_TEMP, |
| .scan_type = ITG3200_ST, |
| }, |
| ITG3200_GYRO_CHAN(X), |
| ITG3200_GYRO_CHAN(Y), |
| ITG3200_GYRO_CHAN(Z), |
| IIO_CHAN_SOFT_TIMESTAMP(ITG3200_SCAN_ELEMENTS), |
| }; |
| |
| static const struct iio_info itg3200_info = { |
| .read_raw = &itg3200_read_raw, |
| .write_raw = &itg3200_write_raw, |
| }; |
| |
| static const unsigned long itg3200_available_scan_masks[] = { 0xffffffff, 0x0 }; |
| |
| static int itg3200_probe(struct i2c_client *client, |
| const struct i2c_device_id *id) |
| { |
| int ret; |
| struct itg3200 *st; |
| struct iio_dev *indio_dev; |
| |
| dev_dbg(&client->dev, "probe I2C dev with IRQ %i", client->irq); |
| |
| indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st)); |
| if (!indio_dev) |
| return -ENOMEM; |
| |
| st = iio_priv(indio_dev); |
| |
| ret = iio_read_mount_matrix(&client->dev, "mount-matrix", |
| &st->orientation); |
| if (ret) |
| return ret; |
| |
| i2c_set_clientdata(client, indio_dev); |
| st->i2c = client; |
| |
| indio_dev->dev.parent = &client->dev; |
| indio_dev->name = client->dev.driver->name; |
| indio_dev->channels = itg3200_channels; |
| indio_dev->num_channels = ARRAY_SIZE(itg3200_channels); |
| indio_dev->available_scan_masks = itg3200_available_scan_masks; |
| indio_dev->info = &itg3200_info; |
| indio_dev->modes = INDIO_DIRECT_MODE; |
| |
| ret = itg3200_buffer_configure(indio_dev); |
| if (ret) |
| return ret; |
| |
| if (client->irq) { |
| ret = itg3200_probe_trigger(indio_dev); |
| if (ret) |
| goto error_unconfigure_buffer; |
| } |
| |
| ret = itg3200_initial_setup(indio_dev); |
| if (ret) |
| goto error_remove_trigger; |
| |
| ret = iio_device_register(indio_dev); |
| if (ret) |
| goto error_remove_trigger; |
| |
| return 0; |
| |
| error_remove_trigger: |
| if (client->irq) |
| itg3200_remove_trigger(indio_dev); |
| error_unconfigure_buffer: |
| itg3200_buffer_unconfigure(indio_dev); |
| return ret; |
| } |
| |
| static int itg3200_remove(struct i2c_client *client) |
| { |
| struct iio_dev *indio_dev = i2c_get_clientdata(client); |
| |
| iio_device_unregister(indio_dev); |
| |
| if (client->irq) |
| itg3200_remove_trigger(indio_dev); |
| |
| itg3200_buffer_unconfigure(indio_dev); |
| |
| return 0; |
| } |
| |
| static int __maybe_unused itg3200_suspend(struct device *dev) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| struct itg3200 *st = iio_priv(indio_dev); |
| |
| dev_dbg(&st->i2c->dev, "suspend device"); |
| |
| return itg3200_write_reg_8(indio_dev, ITG3200_REG_POWER_MANAGEMENT, |
| ITG3200_SLEEP); |
| } |
| |
| static int __maybe_unused itg3200_resume(struct device *dev) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| |
| return itg3200_initial_setup(indio_dev); |
| } |
| |
| static SIMPLE_DEV_PM_OPS(itg3200_pm_ops, itg3200_suspend, itg3200_resume); |
| |
| static const struct i2c_device_id itg3200_id[] = { |
| { "itg3200", 0 }, |
| { } |
| }; |
| MODULE_DEVICE_TABLE(i2c, itg3200_id); |
| |
| static const struct of_device_id itg3200_of_match[] = { |
| { .compatible = "invensense,itg3200" }, |
| { } |
| }; |
| MODULE_DEVICE_TABLE(of, itg3200_of_match); |
| |
| static struct i2c_driver itg3200_driver = { |
| .driver = { |
| .name = "itg3200", |
| .of_match_table = itg3200_of_match, |
| .pm = &itg3200_pm_ops, |
| }, |
| .id_table = itg3200_id, |
| .probe = itg3200_probe, |
| .remove = itg3200_remove, |
| }; |
| |
| module_i2c_driver(itg3200_driver); |
| |
| MODULE_AUTHOR("Christian Strobel <christian.strobel@iis.fraunhofer.de>"); |
| MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver"); |
| MODULE_LICENSE("GPL v2"); |