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 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 135 .sensors_supported = { 136 [0] = L3G4200D_GYRO_DEV_NAME, 137 [1] = LSM330DL_GYRO_DEV_NAME, 138 }, 139 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 140 .odr = { 141 .addr = ST_GYRO_1_ODR_ADDR, 142 .mask = ST_GYRO_1_ODR_MASK, 143 .odr_avl = { 144 { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, }, 145 { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, }, 146 { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, }, 147 { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, }, 148 }, 149 }, 150 .pw = { 151 .addr = ST_GYRO_1_PW_ADDR, 152 .mask = ST_GYRO_1_PW_MASK, 153 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 154 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 155 }, 156 .enable_axis = { 157 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 158 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 159 }, 160 .fs = { 161 .addr = ST_GYRO_1_FS_ADDR, 162 .mask = ST_GYRO_1_FS_MASK, 163 .fs_avl = { 164 [0] = { 165 .num = ST_GYRO_FS_AVL_250DPS, 166 .value = ST_GYRO_1_FS_AVL_250_VAL, 167 .gain = ST_GYRO_1_FS_AVL_250_GAIN, 168 }, 169 [1] = { 170 .num = ST_GYRO_FS_AVL_500DPS, 171 .value = ST_GYRO_1_FS_AVL_500_VAL, 172 .gain = ST_GYRO_1_FS_AVL_500_GAIN, 173 }, 174 [2] = { 175 .num = ST_GYRO_FS_AVL_2000DPS, 176 .value = ST_GYRO_1_FS_AVL_2000_VAL, 177 .gain = ST_GYRO_1_FS_AVL_2000_GAIN, 178 }, 179 }, 180 }, 181 .bdu = { 182 .addr = ST_GYRO_1_BDU_ADDR, 183 .mask = ST_GYRO_1_BDU_MASK, 184 }, 185 .drdy_irq = { 186 .addr = ST_GYRO_1_DRDY_IRQ_ADDR, 187 .mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK, 188 }, 189 .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT, 190 .bootime = 2, 191 }, 192 { 193 .wai = ST_GYRO_2_WAI_EXP, 194 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 195 .sensors_supported = { 196 [0] = L3GD20_GYRO_DEV_NAME, 197 [1] = LSM330D_GYRO_DEV_NAME, 198 [2] = LSM330DLC_GYRO_DEV_NAME, 199 [3] = L3G4IS_GYRO_DEV_NAME, 200 [4] = LSM330_GYRO_DEV_NAME, 201 }, 202 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 203 .odr = { 204 .addr = ST_GYRO_2_ODR_ADDR, 205 .mask = ST_GYRO_2_ODR_MASK, 206 .odr_avl = { 207 { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, }, 208 { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, }, 209 { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, }, 210 { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, }, 211 }, 212 }, 213 .pw = { 214 .addr = ST_GYRO_2_PW_ADDR, 215 .mask = ST_GYRO_2_PW_MASK, 216 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 217 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 218 }, 219 .enable_axis = { 220 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 221 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 222 }, 223 .fs = { 224 .addr = ST_GYRO_2_FS_ADDR, 225 .mask = ST_GYRO_2_FS_MASK, 226 .fs_avl = { 227 [0] = { 228 .num = ST_GYRO_FS_AVL_250DPS, 229 .value = ST_GYRO_2_FS_AVL_250_VAL, 230 .gain = ST_GYRO_2_FS_AVL_250_GAIN, 231 }, 232 [1] = { 233 .num = ST_GYRO_FS_AVL_500DPS, 234 .value = ST_GYRO_2_FS_AVL_500_VAL, 235 .gain = ST_GYRO_2_FS_AVL_500_GAIN, 236 }, 237 [2] = { 238 .num = ST_GYRO_FS_AVL_2000DPS, 239 .value = ST_GYRO_2_FS_AVL_2000_VAL, 240 .gain = ST_GYRO_2_FS_AVL_2000_GAIN, 241 }, 242 }, 243 }, 244 .bdu = { 245 .addr = ST_GYRO_2_BDU_ADDR, 246 .mask = ST_GYRO_2_BDU_MASK, 247 }, 248 .drdy_irq = { 249 .addr = ST_GYRO_2_DRDY_IRQ_ADDR, 250 .mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK, 251 }, 252 .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT, 253 .bootime = 2, 254 }, 255 { 256 .wai = ST_GYRO_3_WAI_EXP, 257 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, 258 .sensors_supported = { 259 [0] = L3GD20_GYRO_DEV_NAME, 260 }, 261 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, 262 .odr = { 263 .addr = ST_GYRO_3_ODR_ADDR, 264 .mask = ST_GYRO_3_ODR_MASK, 265 .odr_avl = { 266 { 95, ST_GYRO_3_ODR_AVL_95HZ_VAL, }, 267 { 190, ST_GYRO_3_ODR_AVL_190HZ_VAL, }, 268 { 380, ST_GYRO_3_ODR_AVL_380HZ_VAL, }, 269 { 760, ST_GYRO_3_ODR_AVL_760HZ_VAL, }, 270 }, 271 }, 272 .pw = { 273 .addr = ST_GYRO_3_PW_ADDR, 274 .mask = ST_GYRO_3_PW_MASK, 275 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, 276 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, 277 }, 278 .enable_axis = { 279 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, 280 .mask = ST_SENSORS_DEFAULT_AXIS_MASK, 281 }, 282 .fs = { 283 .addr = ST_GYRO_3_FS_ADDR, 284 .mask = ST_GYRO_3_FS_MASK, 285 .fs_avl = { 286 [0] = { 287 .num = ST_GYRO_FS_AVL_250DPS, 288 .value = ST_GYRO_3_FS_AVL_250_VAL, 289 .gain = ST_GYRO_3_FS_AVL_250_GAIN, 290 }, 291 [1] = { 292 .num = ST_GYRO_FS_AVL_500DPS, 293 .value = ST_GYRO_3_FS_AVL_500_VAL, 294 .gain = ST_GYRO_3_FS_AVL_500_GAIN, 295 }, 296 [2] = { 297 .num = ST_GYRO_FS_AVL_2000DPS, 298 .value = ST_GYRO_3_FS_AVL_2000_VAL, 299 .gain = ST_GYRO_3_FS_AVL_2000_GAIN, 300 }, 301 }, 302 }, 303 .bdu = { 304 .addr = ST_GYRO_3_BDU_ADDR, 305 .mask = ST_GYRO_3_BDU_MASK, 306 }, 307 .drdy_irq = { 308 .addr = ST_GYRO_3_DRDY_IRQ_ADDR, 309 .mask_int2 = ST_GYRO_3_DRDY_IRQ_INT2_MASK, 310 }, 311 .multi_read_bit = ST_GYRO_3_MULTIREAD_BIT, 312 .bootime = 2, 313 }, 314 }; 315 316 static int st_gyro_read_raw(struct iio_dev *indio_dev, 317 struct iio_chan_spec const *ch, int *val, 318 int *val2, long mask) 319 { 320 int err; 321 struct st_sensor_data *gdata = iio_priv(indio_dev); 322 323 switch (mask) { 324 case IIO_CHAN_INFO_RAW: 325 err = st_sensors_read_info_raw(indio_dev, ch, val); 326 if (err < 0) 327 goto read_error; 328 329 return IIO_VAL_INT; 330 case IIO_CHAN_INFO_SCALE: 331 *val = 0; 332 *val2 = gdata->current_fullscale->gain; 333 return IIO_VAL_INT_PLUS_MICRO; 334 case IIO_CHAN_INFO_SAMP_FREQ: 335 *val = gdata->odr; 336 return IIO_VAL_INT; 337 default: 338 return -EINVAL; 339 } 340 341 read_error: 342 return err; 343 } 344 345 static int st_gyro_write_raw(struct iio_dev *indio_dev, 346 struct iio_chan_spec const *chan, int val, int val2, long mask) 347 { 348 int err; 349 350 switch (mask) { 351 case IIO_CHAN_INFO_SCALE: 352 err = st_sensors_set_fullscale_by_gain(indio_dev, val2); 353 break; 354 case IIO_CHAN_INFO_SAMP_FREQ: 355 if (val2) 356 return -EINVAL; 357 mutex_lock(&indio_dev->mlock); 358 err = st_sensors_set_odr(indio_dev, val); 359 mutex_unlock(&indio_dev->mlock); 360 return err; 361 default: 362 err = -EINVAL; 363 } 364 365 return err; 366 } 367 368 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); 369 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); 370 371 static struct attribute *st_gyro_attributes[] = { 372 &iio_dev_attr_sampling_frequency_available.dev_attr.attr, 373 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, 374 NULL, 375 }; 376 377 static const struct attribute_group st_gyro_attribute_group = { 378 .attrs = st_gyro_attributes, 379 }; 380 381 static const struct iio_info gyro_info = { 382 .driver_module = THIS_MODULE, 383 .attrs = &st_gyro_attribute_group, 384 .read_raw = &st_gyro_read_raw, 385 .write_raw = &st_gyro_write_raw, 386 }; 387 388 #ifdef CONFIG_IIO_TRIGGER 389 static const struct iio_trigger_ops st_gyro_trigger_ops = { 390 .owner = THIS_MODULE, 391 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, 392 }; 393 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) 394 #else 395 #define ST_GYRO_TRIGGER_OPS NULL 396 #endif 397 398 int st_gyro_common_probe(struct iio_dev *indio_dev) 399 { 400 struct st_sensor_data *gdata = iio_priv(indio_dev); 401 int irq = gdata->get_irq_data_ready(indio_dev); 402 int err; 403 404 indio_dev->modes = INDIO_DIRECT_MODE; 405 indio_dev->info = &gyro_info; 406 mutex_init(&gdata->tb.buf_lock); 407 408 st_sensors_power_enable(indio_dev); 409 410 err = st_sensors_check_device_support(indio_dev, 411 ARRAY_SIZE(st_gyro_sensors_settings), 412 st_gyro_sensors_settings); 413 if (err < 0) 414 return err; 415 416 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; 417 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit; 418 indio_dev->channels = gdata->sensor_settings->ch; 419 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; 420 421 gdata->current_fullscale = (struct st_sensor_fullscale_avl *) 422 &gdata->sensor_settings->fs.fs_avl[0]; 423 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz; 424 425 err = st_sensors_init_sensor(indio_dev, 426 (struct st_sensors_platform_data *)&gyro_pdata); 427 if (err < 0) 428 return err; 429 430 err = st_gyro_allocate_ring(indio_dev); 431 if (err < 0) 432 return err; 433 434 if (irq > 0) { 435 err = st_sensors_allocate_trigger(indio_dev, 436 ST_GYRO_TRIGGER_OPS); 437 if (err < 0) 438 goto st_gyro_probe_trigger_error; 439 } 440 441 err = iio_device_register(indio_dev); 442 if (err) 443 goto st_gyro_device_register_error; 444 445 dev_info(&indio_dev->dev, "registered gyroscope %s\n", 446 indio_dev->name); 447 448 return 0; 449 450 st_gyro_device_register_error: 451 if (irq > 0) 452 st_sensors_deallocate_trigger(indio_dev); 453 st_gyro_probe_trigger_error: 454 st_gyro_deallocate_ring(indio_dev); 455 456 return err; 457 } 458 EXPORT_SYMBOL(st_gyro_common_probe); 459 460 void st_gyro_common_remove(struct iio_dev *indio_dev) 461 { 462 struct st_sensor_data *gdata = iio_priv(indio_dev); 463 464 st_sensors_power_disable(indio_dev); 465 466 iio_device_unregister(indio_dev); 467 if (gdata->get_irq_data_ready(indio_dev) > 0) 468 st_sensors_deallocate_trigger(indio_dev); 469 470 st_gyro_deallocate_ring(indio_dev); 471 } 472 EXPORT_SYMBOL(st_gyro_common_remove); 473 474 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); 475 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); 476 MODULE_LICENSE("GPL v2"); 477