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_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 63 #define ST_GYRO_1_DRDY_IRQ_INT2_MASK 0x08 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 87 #define ST_GYRO_2_DRDY_IRQ_INT2_MASK 0x08 88 #define ST_GYRO_2_MULTIREAD_BIT true 89 90 /* CUSTOM VALUES FOR SENSOR 3 */ 91 #define ST_GYRO_3_WAI_EXP 0xd7 92 #define ST_GYRO_3_ODR_ADDR 0x20 93 #define ST_GYRO_3_ODR_MASK 0xc0 94 #define ST_GYRO_3_ODR_AVL_95HZ_VAL 0x00 95 #define ST_GYRO_3_ODR_AVL_190HZ_VAL 0x01 96 #define ST_GYRO_3_ODR_AVL_380HZ_VAL 0x02 97 #define ST_GYRO_3_ODR_AVL_760HZ_VAL 0x03 98 #define ST_GYRO_3_PW_ADDR 0x20 99 #define ST_GYRO_3_PW_MASK 0x08 100 #define ST_GYRO_3_FS_ADDR 0x23 101 #define ST_GYRO_3_FS_MASK 0x30 102 #define ST_GYRO_3_FS_AVL_250_VAL 0x00 103 #define ST_GYRO_3_FS_AVL_500_VAL 0x01 104 #define ST_GYRO_3_FS_AVL_2000_VAL 0x02 105 #define ST_GYRO_3_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750) 106 #define ST_GYRO_3_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500) 107 #define ST_GYRO_3_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000) 108 #define ST_GYRO_3_BDU_ADDR 0x23 109 #define ST_GYRO_3_BDU_MASK 0x80 110 #define ST_GYRO_3_DRDY_IRQ_ADDR 0x22 111 #define ST_GYRO_3_DRDY_IRQ_INT2_MASK 0x08 112 #define ST_GYRO_3_MULTIREAD_BIT true 113 114 115 static const struct iio_chan_spec st_gyro_16bit_channels[] = { 116 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 117 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 118 ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16, 119 ST_GYRO_DEFAULT_OUT_X_L_ADDR), 120 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 121 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 122 ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16, 123 ST_GYRO_DEFAULT_OUT_Y_L_ADDR), 124 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, 125 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), 126 ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16, 127 ST_GYRO_DEFAULT_OUT_Z_L_ADDR), 128 IIO_CHAN_SOFT_TIMESTAMP(3) 129 }; 130 131 static const struct st_sensor_settings st_gyro_sensors_settings[] = { 132 { 133 .wai = ST_GYRO_1_WAI_EXP, 134 .sensors_supported = { 135 [0] = L3G4200D_GYRO_DEV_NAME, 136 [1] = LSM330DL_GYRO_DEV_NAME, 137 }, 138 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 139 .odr = { 140 .addr = ST_GYRO_1_ODR_ADDR, 141 .mask = ST_GYRO_1_ODR_MASK, 142 .odr_avl = { 143 { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, }, 144 { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, }, 145 { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, }, 146 { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, }, 147 }, 148 }, 149 .pw = { 150 .addr = ST_GYRO_1_PW_ADDR, 151 .mask = ST_GYRO_1_PW_MASK, 152 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 153 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 154 }, 155 .enable_axis = { 156 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 157 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 158 }, 159 .fs = { 160 .addr = ST_GYRO_1_FS_ADDR, 161 .mask = ST_GYRO_1_FS_MASK, 162 .fs_avl = { 163 [0] = { 164 .num = ST_GYRO_FS_AVL_250DPS, 165 .value = ST_GYRO_1_FS_AVL_250_VAL, 166 .gain = ST_GYRO_1_FS_AVL_250_GAIN, 167 }, 168 [1] = { 169 .num = ST_GYRO_FS_AVL_500DPS, 170 .value = ST_GYRO_1_FS_AVL_500_VAL, 171 .gain = ST_GYRO_1_FS_AVL_500_GAIN, 172 }, 173 [2] = { 174 .num = ST_GYRO_FS_AVL_2000DPS, 175 .value = ST_GYRO_1_FS_AVL_2000_VAL, 176 .gain = ST_GYRO_1_FS_AVL_2000_GAIN, 177 }, 178 }, 179 }, 180 .bdu = { 181 .addr = ST_GYRO_1_BDU_ADDR, 182 .mask = ST_GYRO_1_BDU_MASK, 183 }, 184 .drdy_irq = { 185 .addr = ST_GYRO_1_DRDY_IRQ_ADDR, 186 .mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK, 187 }, 188 .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT, 189 .bootime = 2, 190 }, 191 { 192 .wai = ST_GYRO_2_WAI_EXP, 193 .sensors_supported = { 194 [0] = L3GD20_GYRO_DEV_NAME, 195 [1] = LSM330D_GYRO_DEV_NAME, 196 [2] = LSM330DLC_GYRO_DEV_NAME, 197 [3] = L3G4IS_GYRO_DEV_NAME, 198 [4] = LSM330_GYRO_DEV_NAME, 199 }, 200 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 201 .odr = { 202 .addr = ST_GYRO_2_ODR_ADDR, 203 .mask = ST_GYRO_2_ODR_MASK, 204 .odr_avl = { 205 { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, }, 206 { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, }, 207 { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, }, 208 { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, }, 209 }, 210 }, 211 .pw = { 212 .addr = ST_GYRO_2_PW_ADDR, 213 .mask = ST_GYRO_2_PW_MASK, 214 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 215 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 216 }, 217 .enable_axis = { 218 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 219 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 220 }, 221 .fs = { 222 .addr = ST_GYRO_2_FS_ADDR, 223 .mask = ST_GYRO_2_FS_MASK, 224 .fs_avl = { 225 [0] = { 226 .num = ST_GYRO_FS_AVL_250DPS, 227 .value = ST_GYRO_2_FS_AVL_250_VAL, 228 .gain = ST_GYRO_2_FS_AVL_250_GAIN, 229 }, 230 [1] = { 231 .num = ST_GYRO_FS_AVL_500DPS, 232 .value = ST_GYRO_2_FS_AVL_500_VAL, 233 .gain = ST_GYRO_2_FS_AVL_500_GAIN, 234 }, 235 [2] = { 236 .num = ST_GYRO_FS_AVL_2000DPS, 237 .value = ST_GYRO_2_FS_AVL_2000_VAL, 238 .gain = ST_GYRO_2_FS_AVL_2000_GAIN, 239 }, 240 }, 241 }, 242 .bdu = { 243 .addr = ST_GYRO_2_BDU_ADDR, 244 .mask = ST_GYRO_2_BDU_MASK, 245 }, 246 .drdy_irq = { 247 .addr = ST_GYRO_2_DRDY_IRQ_ADDR, 248 .mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK, 249 }, 250 .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT, 251 .bootime = 2, 252 }, 253 { 254 .wai = ST_GYRO_3_WAI_EXP, 255 .sensors_supported = { 256 [0] = L3GD20_GYRO_DEV_NAME, 257 }, 258 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 259 .odr = { 260 .addr = ST_GYRO_3_ODR_ADDR, 261 .mask = ST_GYRO_3_ODR_MASK, 262 .odr_avl = { 263 { 95, ST_GYRO_3_ODR_AVL_95HZ_VAL, }, 264 { 190, ST_GYRO_3_ODR_AVL_190HZ_VAL, }, 265 { 380, ST_GYRO_3_ODR_AVL_380HZ_VAL, }, 266 { 760, ST_GYRO_3_ODR_AVL_760HZ_VAL, }, 267 }, 268 }, 269 .pw = { 270 .addr = ST_GYRO_3_PW_ADDR, 271 .mask = ST_GYRO_3_PW_MASK, 272 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 273 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 274 }, 275 .enable_axis = { 276 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 277 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 278 }, 279 .fs = { 280 .addr = ST_GYRO_3_FS_ADDR, 281 .mask = ST_GYRO_3_FS_MASK, 282 .fs_avl = { 283 [0] = { 284 .num = ST_GYRO_FS_AVL_250DPS, 285 .value = ST_GYRO_3_FS_AVL_250_VAL, 286 .gain = ST_GYRO_3_FS_AVL_250_GAIN, 287 }, 288 [1] = { 289 .num = ST_GYRO_FS_AVL_500DPS, 290 .value = ST_GYRO_3_FS_AVL_500_VAL, 291 .gain = ST_GYRO_3_FS_AVL_500_GAIN, 292 }, 293 [2] = { 294 .num = ST_GYRO_FS_AVL_2000DPS, 295 .value = ST_GYRO_3_FS_AVL_2000_VAL, 296 .gain = ST_GYRO_3_FS_AVL_2000_GAIN, 297 }, 298 }, 299 }, 300 .bdu = { 301 .addr = ST_GYRO_3_BDU_ADDR, 302 .mask = ST_GYRO_3_BDU_MASK, 303 }, 304 .drdy_irq = { 305 .addr = ST_GYRO_3_DRDY_IRQ_ADDR, 306 .mask_int2 = ST_GYRO_3_DRDY_IRQ_INT2_MASK, 307 }, 308 .multi_read_bit = ST_GYRO_3_MULTIREAD_BIT, 309 .bootime = 2, 310 }, 311 }; 312 313 static int st_gyro_read_raw(struct iio_dev *indio_dev, 314 struct iio_chan_spec const *ch, int *val, 315 int *val2, long mask) 316 { 317 int err; 318 struct st_sensor_data *gdata = iio_priv(indio_dev); 319 320 switch (mask) { 321 case IIO_CHAN_INFO_RAW: 322 err = st_sensors_read_info_raw(indio_dev, ch, val); 323 if (err < 0) 324 goto read_error; 325 326 return IIO_VAL_INT; 327 case IIO_CHAN_INFO_SCALE: 328 *val = 0; 329 *val2 = gdata->current_fullscale->gain; 330 return IIO_VAL_INT_PLUS_MICRO; 331 case IIO_CHAN_INFO_SAMP_FREQ: 332 *val = gdata->odr; 333 return IIO_VAL_INT; 334 default: 335 return -EINVAL; 336 } 337 338 read_error: 339 return err; 340 } 341 342 static int st_gyro_write_raw(struct iio_dev *indio_dev, 343 struct iio_chan_spec const *chan, int val, int val2, long mask) 344 { 345 int err; 346 347 switch (mask) { 348 case IIO_CHAN_INFO_SCALE: 349 err = st_sensors_set_fullscale_by_gain(indio_dev, val2); 350 break; 351 case IIO_CHAN_INFO_SAMP_FREQ: 352 if (val2) 353 return -EINVAL; 354 mutex_lock(&indio_dev->mlock); 355 err = st_sensors_set_odr(indio_dev, val); 356 mutex_unlock(&indio_dev->mlock); 357 return err; 358 default: 359 err = -EINVAL; 360 } 361 362 return err; 363 } 364 365 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); 366 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); 367 368 static struct attribute *st_gyro_attributes[] = { 369 &iio_dev_attr_sampling_frequency_available.dev_attr.attr, 370 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, 371 NULL, 372 }; 373 374 static const struct attribute_group st_gyro_attribute_group = { 375 .attrs = st_gyro_attributes, 376 }; 377 378 static const struct iio_info gyro_info = { 379 .driver_module = THIS_MODULE, 380 .attrs = &st_gyro_attribute_group, 381 .read_raw = &st_gyro_read_raw, 382 .write_raw = &st_gyro_write_raw, 383 }; 384 385 #ifdef CONFIG_IIO_TRIGGER 386 static const struct iio_trigger_ops st_gyro_trigger_ops = { 387 .owner = THIS_MODULE, 388 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, 389 }; 390 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) 391 #else 392 #define ST_GYRO_TRIGGER_OPS NULL 393 #endif 394 395 int st_gyro_common_probe(struct iio_dev *indio_dev) 396 { 397 struct st_sensor_data *gdata = iio_priv(indio_dev); 398 int irq = gdata->get_irq_data_ready(indio_dev); 399 int err; 400 401 indio_dev->modes = INDIO_DIRECT_MODE; 402 indio_dev->info = &gyro_info; 403 mutex_init(&gdata->tb.buf_lock); 404 405 st_sensors_power_enable(indio_dev); 406 407 err = st_sensors_check_device_support(indio_dev, 408 ARRAY_SIZE(st_gyro_sensors_settings), 409 st_gyro_sensors_settings); 410 if (err < 0) 411 return err; 412 413 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; 414 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit; 415 indio_dev->channels = gdata->sensor_settings->ch; 416 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; 417 418 gdata->current_fullscale = (struct st_sensor_fullscale_avl *) 419 &gdata->sensor_settings->fs.fs_avl[0]; 420 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz; 421 422 err = st_sensors_init_sensor(indio_dev, 423 (struct st_sensors_platform_data *)&gyro_pdata); 424 if (err < 0) 425 return err; 426 427 err = st_gyro_allocate_ring(indio_dev); 428 if (err < 0) 429 return err; 430 431 if (irq > 0) { 432 err = st_sensors_allocate_trigger(indio_dev, 433 ST_GYRO_TRIGGER_OPS); 434 if (err < 0) 435 goto st_gyro_probe_trigger_error; 436 } 437 438 err = iio_device_register(indio_dev); 439 if (err) 440 goto st_gyro_device_register_error; 441 442 dev_info(&indio_dev->dev, "registered gyroscope %s\n", 443 indio_dev->name); 444 445 return 0; 446 447 st_gyro_device_register_error: 448 if (irq > 0) 449 st_sensors_deallocate_trigger(indio_dev); 450 st_gyro_probe_trigger_error: 451 st_gyro_deallocate_ring(indio_dev); 452 453 return err; 454 } 455 EXPORT_SYMBOL(st_gyro_common_probe); 456 457 void st_gyro_common_remove(struct iio_dev *indio_dev) 458 { 459 struct st_sensor_data *gdata = iio_priv(indio_dev); 460 461 st_sensors_power_disable(indio_dev); 462 463 iio_device_unregister(indio_dev); 464 if (gdata->get_irq_data_ready(indio_dev) > 0) 465 st_sensors_deallocate_trigger(indio_dev); 466 467 st_gyro_deallocate_ring(indio_dev); 468 } 469 EXPORT_SYMBOL(st_gyro_common_remove); 470 471 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); 472 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); 473 MODULE_LICENSE("GPL v2"); 474