1 // SPDX-License-Identifier: GPL-2.0-only 2 /* 3 * STMicroelectronics gyroscopes driver 4 * 5 * Copyright 2012-2013 STMicroelectronics Inc. 6 * 7 * Denis Ciocca <denis.ciocca@st.com> 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> 15 #include <linux/interrupt.h> 16 #include <linux/i2c.h> 17 #include <linux/irq.h> 18 #include <linux/delay.h> 19 #include <linux/iio/iio.h> 20 #include <linux/iio/sysfs.h> 21 #include <linux/iio/trigger.h> 22 #include <linux/iio/buffer.h> 23 24 #include <linux/iio/common/st_sensors.h> 25 #include "st_gyro.h" 26 27 #define ST_GYRO_NUMBER_DATA_CHANNELS 3 28 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 */ 35 #define ST_GYRO_FS_AVL_245DPS 245 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 40 static const struct iio_chan_spec st_gyro_16bit_channels[] = { 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), 53 IIO_CHAN_SOFT_TIMESTAMP(3) 54 }; 55 56 static const struct st_sensor_settings st_gyro_sensors_settings[] = { 57 { 58 .wai = 0xd3, 59 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 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 = { 66 .addr = 0x20, 67 .mask = 0xc0, 68 .odr_avl = { 69 { .hz = 100, .value = 0x00, }, 70 { .hz = 200, .value = 0x01, }, 71 { .hz = 400, .value = 0x02, }, 72 { .hz = 800, .value = 0x03, }, 73 }, 74 }, 75 .pw = { 76 .addr = 0x20, 77 .mask = 0x08, 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 = { 86 .addr = 0x23, 87 .mask = 0x30, 88 .fs_avl = { 89 [0] = { 90 .num = ST_GYRO_FS_AVL_250DPS, 91 .value = 0x00, 92 .gain = IIO_DEGREE_TO_RAD(8750), 93 }, 94 [1] = { 95 .num = ST_GYRO_FS_AVL_500DPS, 96 .value = 0x01, 97 .gain = IIO_DEGREE_TO_RAD(17500), 98 }, 99 [2] = { 100 .num = ST_GYRO_FS_AVL_2000DPS, 101 .value = 0x02, 102 .gain = IIO_DEGREE_TO_RAD(70000), 103 }, 104 }, 105 }, 106 .bdu = { 107 .addr = 0x23, 108 .mask = 0x80, 109 }, 110 .drdy_irq = { 111 .int2 = { 112 .addr = 0x22, 113 .mask = 0x08, 114 }, 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 */ 120 .stat_drdy = { 121 .addr = ST_SENSORS_DEFAULT_STAT_ADDR, 122 .mask = 0x07, 123 }, 124 }, 125 .sim = { 126 .addr = 0x23, 127 .value = BIT(0), 128 }, 129 .multi_read_bit = true, 130 .bootime = 2, 131 }, 132 { 133 .wai = 0xd4, 134 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 135 .sensors_supported = { 136 [0] = L3GD20_GYRO_DEV_NAME, 137 [1] = LSM330D_GYRO_DEV_NAME, 138 [2] = LSM330DLC_GYRO_DEV_NAME, 139 [3] = L3G4IS_GYRO_DEV_NAME, 140 [4] = LSM330_GYRO_DEV_NAME, 141 }, 142 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 143 .odr = { 144 .addr = 0x20, 145 .mask = 0xc0, 146 .odr_avl = { 147 { .hz = 95, .value = 0x00, }, 148 { .hz = 190, .value = 0x01, }, 149 { .hz = 380, .value = 0x02, }, 150 { .hz = 760, .value = 0x03, }, 151 }, 152 }, 153 .pw = { 154 .addr = 0x20, 155 .mask = 0x08, 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 = { 164 .addr = 0x23, 165 .mask = 0x30, 166 .fs_avl = { 167 [0] = { 168 .num = ST_GYRO_FS_AVL_250DPS, 169 .value = 0x00, 170 .gain = IIO_DEGREE_TO_RAD(8750), 171 }, 172 [1] = { 173 .num = ST_GYRO_FS_AVL_500DPS, 174 .value = 0x01, 175 .gain = IIO_DEGREE_TO_RAD(17500), 176 }, 177 [2] = { 178 .num = ST_GYRO_FS_AVL_2000DPS, 179 .value = 0x02, 180 .gain = IIO_DEGREE_TO_RAD(70000), 181 }, 182 }, 183 }, 184 .bdu = { 185 .addr = 0x23, 186 .mask = 0x80, 187 }, 188 .drdy_irq = { 189 .int2 = { 190 .addr = 0x22, 191 .mask = 0x08, 192 }, 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 */ 198 .stat_drdy = { 199 .addr = ST_SENSORS_DEFAULT_STAT_ADDR, 200 .mask = 0x07, 201 }, 202 }, 203 .sim = { 204 .addr = 0x23, 205 .value = BIT(0), 206 }, 207 .multi_read_bit = true, 208 .bootime = 2, 209 }, 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 }, 284 { 285 .wai = 0xd7, 286 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 287 .sensors_supported = { 288 [0] = L3GD20H_GYRO_DEV_NAME, 289 }, 290 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 291 .odr = { 292 .addr = 0x20, 293 .mask = 0xc0, 294 .odr_avl = { 295 { .hz = 100, .value = 0x00, }, 296 { .hz = 200, .value = 0x01, }, 297 { .hz = 400, .value = 0x02, }, 298 { .hz = 800, .value = 0x03, }, 299 }, 300 }, 301 .pw = { 302 .addr = 0x20, 303 .mask = 0x08, 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 = { 312 .addr = 0x23, 313 .mask = 0x30, 314 .fs_avl = { 315 [0] = { 316 .num = ST_GYRO_FS_AVL_245DPS, 317 .value = 0x00, 318 .gain = IIO_DEGREE_TO_RAD(8750), 319 }, 320 [1] = { 321 .num = ST_GYRO_FS_AVL_500DPS, 322 .value = 0x01, 323 .gain = IIO_DEGREE_TO_RAD(17500), 324 }, 325 [2] = { 326 .num = ST_GYRO_FS_AVL_2000DPS, 327 .value = 0x02, 328 .gain = IIO_DEGREE_TO_RAD(70000), 329 }, 330 }, 331 }, 332 .bdu = { 333 .addr = 0x23, 334 .mask = 0x80, 335 }, 336 .drdy_irq = { 337 .int2 = { 338 .addr = 0x22, 339 .mask = 0x08, 340 }, 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 */ 346 .stat_drdy = { 347 .addr = ST_SENSORS_DEFAULT_STAT_ADDR, 348 .mask = 0x07, 349 }, 350 }, 351 .sim = { 352 .addr = 0x23, 353 .value = BIT(0), 354 }, 355 .multi_read_bit = true, 356 .bootime = 2, 357 }, 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; 378 case IIO_CHAN_INFO_SAMP_FREQ: 379 *val = gdata->odr; 380 return IIO_VAL_INT; 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; 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; 405 default: 406 err = -EINVAL; 407 } 408 409 return err; 410 } 411 412 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, 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 = { 426 .attrs = &st_gyro_attribute_group, 427 .read_raw = &st_gyro_read_raw, 428 .write_raw = &st_gyro_write_raw, 429 .debugfs_reg_access = &st_sensors_debugfs_reg_access, 430 }; 431 432 #ifdef CONFIG_IIO_TRIGGER 433 static const struct iio_trigger_ops st_gyro_trigger_ops = { 434 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, 435 .validate_device = st_sensors_validate_device, 436 }; 437 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) 438 #else 439 #define ST_GYRO_TRIGGER_OPS NULL 440 #endif 441 442 /* 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); 459 460 int st_gyro_common_probe(struct iio_dev *indio_dev) 461 { 462 struct st_sensor_data *gdata = iio_priv(indio_dev); 463 int err; 464 465 indio_dev->modes = INDIO_DIRECT_MODE; 466 indio_dev->info = &gyro_info; 467 468 err = st_sensors_power_enable(indio_dev); 469 if (err) 470 return err; 471 472 err = st_sensors_verify_id(indio_dev); 473 if (err < 0) 474 goto st_gyro_power_off; 475 476 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; 477 indio_dev->channels = gdata->sensor_settings->ch; 478 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; 479 480 gdata->current_fullscale = (struct st_sensor_fullscale_avl *) 481 &gdata->sensor_settings->fs.fs_avl[0]; 482 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz; 483 484 err = st_sensors_init_sensor(indio_dev, 485 (struct st_sensors_platform_data *)&gyro_pdata); 486 if (err < 0) 487 goto st_gyro_power_off; 488 489 err = st_gyro_allocate_ring(indio_dev); 490 if (err < 0) 491 goto st_gyro_power_off; 492 493 if (gdata->irq > 0) { 494 err = st_sensors_allocate_trigger(indio_dev, 495 ST_GYRO_TRIGGER_OPS); 496 if (err < 0) 497 goto st_gyro_probe_trigger_error; 498 } 499 500 err = iio_device_register(indio_dev); 501 if (err) 502 goto st_gyro_device_register_error; 503 504 dev_info(&indio_dev->dev, "registered gyroscope %s\n", 505 indio_dev->name); 506 507 return 0; 508 509 st_gyro_device_register_error: 510 if (gdata->irq > 0) 511 st_sensors_deallocate_trigger(indio_dev); 512 st_gyro_probe_trigger_error: 513 st_gyro_deallocate_ring(indio_dev); 514 st_gyro_power_off: 515 st_sensors_power_disable(indio_dev); 516 517 return err; 518 } 519 EXPORT_SYMBOL(st_gyro_common_probe); 520 521 void st_gyro_common_remove(struct iio_dev *indio_dev) 522 { 523 struct st_sensor_data *gdata = iio_priv(indio_dev); 524 525 st_sensors_power_disable(indio_dev); 526 527 iio_device_unregister(indio_dev); 528 if (gdata->irq > 0) 529 st_sensors_deallocate_trigger(indio_dev); 530 531 st_gyro_deallocate_ring(indio_dev); 532 } 533 EXPORT_SYMBOL(st_gyro_common_remove); 534 535 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); 536 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); 537 MODULE_LICENSE("GPL v2"); 538