| // 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, |
| }, |
| .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); |
| 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"); |