drivers/iio/gyro/st_gyro_core.c

   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>
  24 #include <linux/iio/trigger.h>
  25 #include <linux/iio/buffer.h>
  26
  27 #include <linux/iio/common/st_sensors.h>
  28 #include "st_gyro.h"
  29
  30 #define ST_GYRO_NUMBER_DATA_CHANNELS            3
  31
  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_245DPS                   245
  39 #define ST_GYRO_FS_AVL_250DPS                   250
  40 #define ST_GYRO_FS_AVL_500DPS                   500
  41 #define ST_GYRO_FS_AVL_2000DPS                  2000
  42
  43 static const struct iio_chan_spec st_gyro_16bit_channels[] = {
  44         ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
  45                         BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
  46                         ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
  47                         ST_GYRO_DEFAULT_OUT_X_L_ADDR),
  48         ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
  49                         BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
  50                         ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
  51                         ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
  52         ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
  53                         BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
  54                         ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
  55                         ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
  56         IIO_CHAN_SOFT_TIMESTAMP(3)
  57 };
  58
  59 static const struct st_sensor_settings st_gyro_sensors_settings[] = {
  60         {
  61                 .wai = 0xd3,
  62                 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
  63                 .sensors_supported = {
  64                         [0] = L3G4200D_GYRO_DEV_NAME,
  65                         [1] = LSM330DL_GYRO_DEV_NAME,
  66                 },
  67                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
  68                 .odr = {
  69                         .addr = 0x20,
  70                         .mask = 0xc0,
  71                         .odr_avl = {
  72                                 { .hz = 100, .value = 0x00, },
  73                                 { .hz = 200, .value = 0x01, },
  74                                 { .hz = 400, .value = 0x02, },
  75                                 { .hz = 800, .value = 0x03, },
  76                         },
  77                 },
  78                 .pw = {
  79                         .addr = 0x20,
  80                         .mask = 0x08,
  81                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
  82                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
  83                 },
  84                 .enable_axis = {
  85                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
  86                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
  87                 },
  88                 .fs = {
  89                         .addr = 0x23,
  90                         .mask = 0x30,
  91                         .fs_avl = {
  92                                 [0] = {
  93                                         .num = ST_GYRO_FS_AVL_250DPS,
  94                                         .value = 0x00,
  95                                         .gain = IIO_DEGREE_TO_RAD(8750),
  96                                 },
  97                                 [1] = {
  98                                         .num = ST_GYRO_FS_AVL_500DPS,
  99                                         .value = 0x01,
 100                                         .gain = IIO_DEGREE_TO_RAD(17500),
 101                                 },
 102                                 [2] = {
 103                                         .num = ST_GYRO_FS_AVL_2000DPS,
 104                                         .value = 0x02,
 105                                         .gain = IIO_DEGREE_TO_RAD(70000),
 106                                 },
 107                         },
 108                 },
 109                 .bdu = {
 110                         .addr = 0x23,
 111                         .mask = 0x80,
 112                 },
 113                 .drdy_irq = {
 114                         .int2 = {
 115                                 .addr = 0x22,
 116                                 .mask = 0x08,
 117                         },
 118                         /*
 119                          * The sensor has IHL (active low) and open
 120                          * drain settings, but only for INT1 and not
 121                          * for the DRDY line on INT2.
 122                          */
 123                         .stat_drdy = {
 124                                 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
 125                                 .mask = 0x07,
 126                         },
 127                 },
 128                 .sim = {
 129                         .addr = 0x23,
 130                         .value = BIT(0),
 131                 },
 132                 .multi_read_bit = true,
 133                 .bootime = 2,
 134         },
 135         {
 136                 .wai = 0xd4,
 137                 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
 138                 .sensors_supported = {
 139                         [0] = L3GD20_GYRO_DEV_NAME,
 140                         [1] = LSM330D_GYRO_DEV_NAME,
 141                         [2] = LSM330DLC_GYRO_DEV_NAME,
 142                         [3] = L3G4IS_GYRO_DEV_NAME,
 143                         [4] = LSM330_GYRO_DEV_NAME,
 144                         [5] = LSM9DS0_GYRO_DEV_NAME,
 145                 },
 146                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 147                 .odr = {
 148                         .addr = 0x20,
 149                         .mask = 0xc0,
 150                         .odr_avl = {
 151                                 { .hz = 95, .value = 0x00, },
 152                                 { .hz = 190, .value = 0x01, },
 153                                 { .hz = 380, .value = 0x02, },
 154                                 { .hz = 760, .value = 0x03, },
 155                         },
 156                 },
 157                 .pw = {
 158                         .addr = 0x20,
 159                         .mask = 0x08,
 160                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 161                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 162                 },
 163                 .enable_axis = {
 164                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 165                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 166                 },
 167                 .fs = {
 168                         .addr = 0x23,
 169                         .mask = 0x30,
 170                         .fs_avl = {
 171                                 [0] = {
 172                                         .num = ST_GYRO_FS_AVL_250DPS,
 173                                         .value = 0x00,
 174                                         .gain = IIO_DEGREE_TO_RAD(8750),
 175                                 },
 176                                 [1] = {
 177                                         .num = ST_GYRO_FS_AVL_500DPS,
 178                                         .value = 0x01,
 179                                         .gain = IIO_DEGREE_TO_RAD(17500),
 180                                 },
 181                                 [2] = {
 182                                         .num = ST_GYRO_FS_AVL_2000DPS,
 183                                         .value = 0x02,
 184                                         .gain = IIO_DEGREE_TO_RAD(70000),
 185                                 },
 186                         },
 187                 },
 188                 .bdu = {
 189                         .addr = 0x23,
 190                         .mask = 0x80,
 191                 },
 192                 .drdy_irq = {
 193                         .int2 = {
 194                                 .addr = 0x22,
 195                                 .mask = 0x08,
 196                         },
 197                         /*
 198                          * The sensor has IHL (active low) and open
 199                          * drain settings, but only for INT1 and not
 200                          * for the DRDY line on INT2.
 201                          */
 202                         .stat_drdy = {
 203                                 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
 204                                 .mask = 0x07,
 205                         },
 206                 },
 207                 .sim = {
 208                         .addr = 0x23,
 209                         .value = BIT(0),
 210                 },
 211                 .multi_read_bit = true,
 212                 .bootime = 2,
 213         },
 214         {
 215                 .wai = 0xd7,
 216                 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
 217                 .sensors_supported = {
 218                         [0] = L3GD20H_GYRO_DEV_NAME,
 219                 },
 220                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 221                 .odr = {
 222                         .addr = 0x20,
 223                         .mask = 0xc0,
 224                         .odr_avl = {
 225                                 { .hz = 100, .value = 0x00, },
 226                                 { .hz = 200, .value = 0x01, },
 227                                 { .hz = 400, .value = 0x02, },
 228                                 { .hz = 800, .value = 0x03, },
 229                         },
 230                 },
 231                 .pw = {
 232                         .addr = 0x20,
 233                         .mask = 0x08,
 234                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 235                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 236                 },
 237                 .enable_axis = {
 238                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 239                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 240                 },
 241                 .fs = {
 242                         .addr = 0x23,
 243                         .mask = 0x30,
 244                         .fs_avl = {
 245                                 [0] = {
 246                                         .num = ST_GYRO_FS_AVL_245DPS,
 247                                         .value = 0x00,
 248                                         .gain = IIO_DEGREE_TO_RAD(8750),
 249                                 },
 250                                 [1] = {
 251                                         .num = ST_GYRO_FS_AVL_500DPS,
 252                                         .value = 0x01,
 253                                         .gain = IIO_DEGREE_TO_RAD(17500),
 254                                 },
 255                                 [2] = {
 256                                         .num = ST_GYRO_FS_AVL_2000DPS,
 257                                         .value = 0x02,
 258                                         .gain = IIO_DEGREE_TO_RAD(70000),
 259                                 },
 260                         },
 261                 },
 262                 .bdu = {
 263                         .addr = 0x23,
 264                         .mask = 0x80,
 265                 },
 266                 .drdy_irq = {
 267                         .int2 = {
 268                                 .addr = 0x22,
 269                                 .mask = 0x08,
 270                         },
 271                         /*
 272                          * The sensor has IHL (active low) and open
 273                          * drain settings, but only for INT1 and not
 274                          * for the DRDY line on INT2.
 275                          */
 276                         .stat_drdy = {
 277                                 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
 278                                 .mask = 0x07,
 279                         },
 280                 },
 281                 .sim = {
 282                         .addr = 0x23,
 283                         .value = BIT(0),
 284                 },
 285                 .multi_read_bit = true,
 286                 .bootime = 2,
 287         },
 288 };
 289
 290 static int st_gyro_read_raw(struct iio_dev *indio_dev,
 291                         struct iio_chan_spec const *ch, int *val,
 292                                                         int *val2, long mask)
 293 {
 294         int err;
 295         struct st_sensor_data *gdata = iio_priv(indio_dev);
 296
 297         switch (mask) {
 298         case IIO_CHAN_INFO_RAW:
 299                 err = st_sensors_read_info_raw(indio_dev, ch, val);
 300                 if (err < 0)
 301                         goto read_error;
 302
 303                 return IIO_VAL_INT;
 304         case IIO_CHAN_INFO_SCALE:
 305                 *val = 0;
 306                 *val2 = gdata->current_fullscale->gain;
 307                 return IIO_VAL_INT_PLUS_MICRO;
 308         case IIO_CHAN_INFO_SAMP_FREQ:
 309                 *val = gdata->odr;
 310                 return IIO_VAL_INT;
 311         default:
 312                 return -EINVAL;
 313         }
 314
 315 read_error:
 316         return err;
 317 }
 318
 319 static int st_gyro_write_raw(struct iio_dev *indio_dev,
 320                 struct iio_chan_spec const *chan, int val, int val2, long mask)
 321 {
 322         int err;
 323
 324         switch (mask) {
 325         case IIO_CHAN_INFO_SCALE:
 326                 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
 327                 break;
 328         case IIO_CHAN_INFO_SAMP_FREQ:
 329                 if (val2)
 330                         return -EINVAL;
 331                 mutex_lock(&indio_dev->mlock);
 332                 err = st_sensors_set_odr(indio_dev, val);
 333                 mutex_unlock(&indio_dev->mlock);
 334                 return err;
 335         default:
 336                 err = -EINVAL;
 337         }
 338
 339         return err;
 340 }
 341
 342 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
 343 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
 344
 345 static struct attribute *st_gyro_attributes[] = {
 346         &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
 347         &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
 348         NULL,
 349 };
 350
 351 static const struct attribute_group st_gyro_attribute_group = {
 352         .attrs = st_gyro_attributes,
 353 };
 354
 355 static const struct iio_info gyro_info = {
 356         .attrs = &st_gyro_attribute_group,
 357         .read_raw = &st_gyro_read_raw,
 358         .write_raw = &st_gyro_write_raw,
 359         .debugfs_reg_access = &st_sensors_debugfs_reg_access,
 360 };
 361
 362 #ifdef CONFIG_IIO_TRIGGER
 363 static const struct iio_trigger_ops st_gyro_trigger_ops = {
 364         .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
 365         .validate_device = st_sensors_validate_device,
 366 };
 367 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
 368 #else
 369 #define ST_GYRO_TRIGGER_OPS NULL
 370 #endif
 371
 372 int st_gyro_common_probe(struct iio_dev *indio_dev)
 373 {
 374         struct st_sensor_data *gdata = iio_priv(indio_dev);
 375         int irq = gdata->get_irq_data_ready(indio_dev);
 376         int err;
 377
 378         indio_dev->modes = INDIO_DIRECT_MODE;
 379         indio_dev->info = &gyro_info;
 380         mutex_init(&gdata->tb.buf_lock);
 381
 382         err = st_sensors_power_enable(indio_dev);
 383         if (err)
 384                 return err;
 385
 386         err = st_sensors_check_device_support(indio_dev,
 387                                         ARRAY_SIZE(st_gyro_sensors_settings),
 388                                         st_gyro_sensors_settings);
 389         if (err < 0)
 390                 goto st_gyro_power_off;
 391
 392         gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
 393         gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
 394         indio_dev->channels = gdata->sensor_settings->ch;
 395         indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
 396
 397         gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
 398                                         &gdata->sensor_settings->fs.fs_avl[0];
 399         gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
 400
 401         err = st_sensors_init_sensor(indio_dev,
 402                                 (struct st_sensors_platform_data *)&gyro_pdata);
 403         if (err < 0)
 404                 goto st_gyro_power_off;
 405
 406         err = st_gyro_allocate_ring(indio_dev);
 407         if (err < 0)
 408                 goto st_gyro_power_off;
 409
 410         if (irq > 0) {
 411                 err = st_sensors_allocate_trigger(indio_dev,
 412                                                   ST_GYRO_TRIGGER_OPS);
 413                 if (err < 0)
 414                         goto st_gyro_probe_trigger_error;
 415         }
 416
 417         err = iio_device_register(indio_dev);
 418         if (err)
 419                 goto st_gyro_device_register_error;
 420
 421         dev_info(&indio_dev->dev, "registered gyroscope %s\n",
 422                  indio_dev->name);
 423
 424         return 0;
 425
 426 st_gyro_device_register_error:
 427         if (irq > 0)
 428                 st_sensors_deallocate_trigger(indio_dev);
 429 st_gyro_probe_trigger_error:
 430         st_gyro_deallocate_ring(indio_dev);
 431 st_gyro_power_off:
 432         st_sensors_power_disable(indio_dev);
 433
 434         return err;
 435 }
 436 EXPORT_SYMBOL(st_gyro_common_probe);
 437
 438 void st_gyro_common_remove(struct iio_dev *indio_dev)
 439 {
 440         struct st_sensor_data *gdata = iio_priv(indio_dev);
 441
 442         st_sensors_power_disable(indio_dev);
 443
 444         iio_device_unregister(indio_dev);
 445         if (gdata->get_irq_data_ready(indio_dev) > 0)
 446                 st_sensors_deallocate_trigger(indio_dev);
 447
 448         st_gyro_deallocate_ring(indio_dev);
 449 }
 450 EXPORT_SYMBOL(st_gyro_common_remove);
 451
 452 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
 453 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
 454 MODULE_LICENSE("GPL v2");