1 // SPDX-License-Identifier: GPL-2.0-only
3 * itg3200_core.c -- support InvenSense ITG3200
4 * Digital 3-Axis Gyroscope driver
6 * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de>
7 * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
8 * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de>
11 * - Support digital low pass filter
12 * - Support power management
15 #include <linux/interrupt.h>
16 #include <linux/irq.h>
17 #include <linux/i2c.h>
18 #include <linux/slab.h>
19 #include <linux/stat.h>
20 #include <linux/module.h>
21 #include <linux/mutex.h>
22 #include <linux/delay.h>
24 #include <linux/iio/iio.h>
25 #include <linux/iio/sysfs.h>
26 #include <linux/iio/events.h>
27 #include <linux/iio/buffer.h>
29 #include <linux/iio/gyro/itg3200.h>
32 int itg3200_write_reg_8(struct iio_dev *indio_dev,
33 u8 reg_address, u8 val)
35 struct itg3200 *st = iio_priv(indio_dev);
37 return i2c_smbus_write_byte_data(st->i2c, 0x80 | reg_address, val);
40 int itg3200_read_reg_8(struct iio_dev *indio_dev,
41 u8 reg_address, u8 *val)
43 struct itg3200 *st = iio_priv(indio_dev);
46 ret = i2c_smbus_read_byte_data(st->i2c, reg_address);
53 static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address,
56 struct itg3200 *st = iio_priv(indio_dev);
57 struct i2c_client *client = st->i2c;
61 struct i2c_msg msg[2] = {
64 .flags = client->flags,
66 .buf = (char *)&lower_reg_address,
70 .flags = client->flags | I2C_M_RD,
76 lower_reg_address |= 0x80;
77 ret = i2c_transfer(client->adapter, msg, 2);
81 return (ret == 2) ? 0 : ret;
84 static int itg3200_read_raw(struct iio_dev *indio_dev,
85 const struct iio_chan_spec *chan,
86 int *val, int *val2, long info)
93 case IIO_CHAN_INFO_RAW:
94 reg = (u8)chan->address;
95 ret = itg3200_read_reg_s16(indio_dev, reg, val);
97 case IIO_CHAN_INFO_SCALE:
99 if (chan->type == IIO_TEMP)
100 *val2 = 1000000000/280;
102 *val2 = 1214142; /* (1 / 14,375) * (PI / 180) */
103 return IIO_VAL_INT_PLUS_NANO;
104 case IIO_CHAN_INFO_OFFSET:
105 /* Only the temperature channel has an offset */
108 case IIO_CHAN_INFO_SAMP_FREQ:
109 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, ®val);
113 *val = (regval & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000;
115 ret = itg3200_read_reg_8(indio_dev,
116 ITG3200_REG_SAMPLE_RATE_DIV,
129 static int itg3200_write_raw(struct iio_dev *indio_dev,
130 struct iio_chan_spec const *chan,
135 struct itg3200 *st = iio_priv(indio_dev);
140 case IIO_CHAN_INFO_SAMP_FREQ:
141 if (val == 0 || val2 != 0)
144 mutex_lock(&st->lock);
146 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &t);
148 mutex_unlock(&st->lock);
151 t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / val - 1;
153 ret = itg3200_write_reg_8(indio_dev,
154 ITG3200_REG_SAMPLE_RATE_DIV,
157 mutex_unlock(&st->lock);
166 * Reset device and internal registers to the power-up-default settings
167 * Use the gyro clock as reference, as suggested by the datasheet
169 static int itg3200_reset(struct iio_dev *indio_dev)
171 struct itg3200 *st = iio_priv(indio_dev);
174 dev_dbg(&st->i2c->dev, "reset device");
176 ret = itg3200_write_reg_8(indio_dev,
177 ITG3200_REG_POWER_MANAGEMENT,
180 dev_err(&st->i2c->dev, "error resetting device");
184 /* Wait for PLL (1ms according to datasheet) */
187 ret = itg3200_write_reg_8(indio_dev,
188 ITG3200_REG_IRQ_CONFIG,
189 ITG3200_IRQ_ACTIVE_HIGH |
190 ITG3200_IRQ_PUSH_PULL |
191 ITG3200_IRQ_LATCH_50US_PULSE |
192 ITG3200_IRQ_LATCH_CLEAR_ANY);
195 dev_err(&st->i2c->dev, "error init device");
201 /* itg3200_enable_full_scale() - Disables the digital low pass filter */
202 static int itg3200_enable_full_scale(struct iio_dev *indio_dev)
207 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &val);
211 val |= ITG3200_DLPF_FS_SEL_2000;
212 return itg3200_write_reg_8(indio_dev, ITG3200_REG_DLPF, val);
218 static int itg3200_initial_setup(struct iio_dev *indio_dev)
220 struct itg3200 *st = iio_priv(indio_dev);
224 ret = itg3200_reset(indio_dev);
228 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_ADDRESS, &val);
232 if (((val >> 1) & 0x3f) != 0x34) {
233 dev_err(&st->i2c->dev, "invalid reg value 0x%02x", val);
238 ret = itg3200_enable_full_scale(indio_dev);
243 static const struct iio_mount_matrix *
244 itg3200_get_mount_matrix(const struct iio_dev *indio_dev,
245 const struct iio_chan_spec *chan)
247 struct itg3200 *data = iio_priv(indio_dev);
249 return &data->orientation;
252 static const struct iio_chan_spec_ext_info itg3200_ext_info[] = {
253 IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, itg3200_get_mount_matrix),
258 { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE }
260 #define ITG3200_GYRO_CHAN(_mod) { \
261 .type = IIO_ANGL_VEL, \
263 .channel2 = IIO_MOD_ ## _mod, \
264 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
265 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
266 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
267 .address = ITG3200_REG_GYRO_ ## _mod ## OUT_H, \
268 .scan_index = ITG3200_SCAN_GYRO_ ## _mod, \
269 .scan_type = ITG3200_ST, \
270 .ext_info = itg3200_ext_info, \
273 static const struct iio_chan_spec itg3200_channels[] = {
276 .channel2 = IIO_NO_MOD,
277 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
278 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) |
279 BIT(IIO_CHAN_INFO_SCALE),
280 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
281 .address = ITG3200_REG_TEMP_OUT_H,
282 .scan_index = ITG3200_SCAN_TEMP,
283 .scan_type = ITG3200_ST,
285 ITG3200_GYRO_CHAN(X),
286 ITG3200_GYRO_CHAN(Y),
287 ITG3200_GYRO_CHAN(Z),
288 IIO_CHAN_SOFT_TIMESTAMP(ITG3200_SCAN_ELEMENTS),
291 static const struct iio_info itg3200_info = {
292 .read_raw = &itg3200_read_raw,
293 .write_raw = &itg3200_write_raw,
296 static const unsigned long itg3200_available_scan_masks[] = { 0xffffffff, 0x0 };
298 static int itg3200_probe(struct i2c_client *client)
302 struct iio_dev *indio_dev;
304 dev_dbg(&client->dev, "probe I2C dev with IRQ %i", client->irq);
306 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
310 st = iio_priv(indio_dev);
312 ret = iio_read_mount_matrix(&client->dev, &st->orientation);
316 i2c_set_clientdata(client, indio_dev);
319 indio_dev->name = client->dev.driver->name;
320 indio_dev->channels = itg3200_channels;
321 indio_dev->num_channels = ARRAY_SIZE(itg3200_channels);
322 indio_dev->available_scan_masks = itg3200_available_scan_masks;
323 indio_dev->info = &itg3200_info;
324 indio_dev->modes = INDIO_DIRECT_MODE;
326 ret = itg3200_buffer_configure(indio_dev);
331 ret = itg3200_probe_trigger(indio_dev);
333 goto error_unconfigure_buffer;
336 ret = itg3200_initial_setup(indio_dev);
338 goto error_remove_trigger;
340 mutex_init(&st->lock);
342 ret = iio_device_register(indio_dev);
344 goto error_remove_trigger;
348 error_remove_trigger:
350 itg3200_remove_trigger(indio_dev);
351 error_unconfigure_buffer:
352 itg3200_buffer_unconfigure(indio_dev);
356 static void itg3200_remove(struct i2c_client *client)
358 struct iio_dev *indio_dev = i2c_get_clientdata(client);
360 iio_device_unregister(indio_dev);
363 itg3200_remove_trigger(indio_dev);
365 itg3200_buffer_unconfigure(indio_dev);
368 static int itg3200_suspend(struct device *dev)
370 struct iio_dev *indio_dev = dev_get_drvdata(dev);
371 struct itg3200 *st = iio_priv(indio_dev);
373 dev_dbg(&st->i2c->dev, "suspend device");
375 return itg3200_write_reg_8(indio_dev, ITG3200_REG_POWER_MANAGEMENT,
379 static int itg3200_resume(struct device *dev)
381 struct iio_dev *indio_dev = dev_get_drvdata(dev);
383 return itg3200_initial_setup(indio_dev);
386 static DEFINE_SIMPLE_DEV_PM_OPS(itg3200_pm_ops, itg3200_suspend,
389 static const struct i2c_device_id itg3200_id[] = {
393 MODULE_DEVICE_TABLE(i2c, itg3200_id);
395 static const struct of_device_id itg3200_of_match[] = {
396 { .compatible = "invensense,itg3200" },
399 MODULE_DEVICE_TABLE(of, itg3200_of_match);
401 static struct i2c_driver itg3200_driver = {
404 .of_match_table = itg3200_of_match,
405 .pm = pm_sleep_ptr(&itg3200_pm_ops),
407 .id_table = itg3200_id,
408 .probe = itg3200_probe,
409 .remove = itg3200_remove,
412 module_i2c_driver(itg3200_driver);
414 MODULE_AUTHOR("Christian Strobel <christian.strobel@iis.fraunhofer.de>");
415 MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver");
416 MODULE_LICENSE("GPL v2");