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                         .addr = 0x22,
 115                         .mask_int2 = 0x08,
 116                         /*
 117                          * The sensor has IHL (active low) and open
 118                          * drain settings, but only for INT1 and not
 119                          * for the DRDY line on INT2.
 120                          */
 121                         .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
 122                 },
 123                 .multi_read_bit = true,
 124                 .bootime = 2,
 125         },
 126         {
 127                 .wai = 0xd4,
 128                 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
 129                 .sensors_supported = {
 130                         [0] = L3GD20_GYRO_DEV_NAME,
 131                         [1] = LSM330D_GYRO_DEV_NAME,
 132                         [2] = LSM330DLC_GYRO_DEV_NAME,
 133                         [3] = L3G4IS_GYRO_DEV_NAME,
 134                         [4] = LSM330_GYRO_DEV_NAME,
 135                         [5] = LSM9DS0_GYRO_DEV_NAME,
 136                 },
 137                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 138                 .odr = {
 139                         .addr = 0x20,
 140                         .mask = 0xc0,
 141                         .odr_avl = {
 142                                 { .hz = 95, .value = 0x00, },
 143                                 { .hz = 190, .value = 0x01, },
 144                                 { .hz = 380, .value = 0x02, },
 145                                 { .hz = 760, .value = 0x03, },
 146                         },
 147                 },
 148                 .pw = {
 149                         .addr = 0x20,
 150                         .mask = 0x08,
 151                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 152                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 153                 },
 154                 .enable_axis = {
 155                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 156                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 157                 },
 158                 .fs = {
 159                         .addr = 0x23,
 160                         .mask = 0x30,
 161                         .fs_avl = {
 162                                 [0] = {
 163                                         .num = ST_GYRO_FS_AVL_250DPS,
 164                                         .value = 0x00,
 165                                         .gain = IIO_DEGREE_TO_RAD(8750),
 166                                 },
 167                                 [1] = {
 168                                         .num = ST_GYRO_FS_AVL_500DPS,
 169                                         .value = 0x01,
 170                                         .gain = IIO_DEGREE_TO_RAD(17500),
 171                                 },
 172                                 [2] = {
 173                                         .num = ST_GYRO_FS_AVL_2000DPS,
 174                                         .value = 0x02,
 175                                         .gain = IIO_DEGREE_TO_RAD(70000),
 176                                 },
 177                         },
 178                 },
 179                 .bdu = {
 180                         .addr = 0x23,
 181                         .mask = 0x80,
 182                 },
 183                 .drdy_irq = {
 184                         .addr = 0x22,
 185                         .mask_int2 = 0x08,
 186                         /*
 187                          * The sensor has IHL (active low) and open
 188                          * drain settings, but only for INT1 and not
 189                          * for the DRDY line on INT2.
 190                          */
 191                         .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
 192                 },
 193                 .multi_read_bit = true,
 194                 .bootime = 2,
 195         },
 196         {
 197                 .wai = 0xd7,
 198                 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
 199                 .sensors_supported = {
 200                         [0] = L3GD20H_GYRO_DEV_NAME,
 201                 },
 202                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 203                 .odr = {
 204                         .addr = 0x20,
 205                         .mask = 0xc0,
 206                         .odr_avl = {
 207                                 { .hz = 100, .value = 0x00, },
 208                                 { .hz = 200, .value = 0x01, },
 209                                 { .hz = 400, .value = 0x02, },
 210                                 { .hz = 800, .value = 0x03, },
 211                         },
 212                 },
 213                 .pw = {
 214                         .addr = 0x20,
 215                         .mask = 0x08,
 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 = 0x23,
 225                         .mask = 0x30,
 226                         .fs_avl = {
 227                                 [0] = {
 228                                         .num = ST_GYRO_FS_AVL_245DPS,
 229                                         .value = 0x00,
 230                                         .gain = IIO_DEGREE_TO_RAD(8750),
 231                                 },
 232                                 [1] = {
 233                                         .num = ST_GYRO_FS_AVL_500DPS,
 234                                         .value = 0x01,
 235                                         .gain = IIO_DEGREE_TO_RAD(17500),
 236                                 },
 237                                 [2] = {
 238                                         .num = ST_GYRO_FS_AVL_2000DPS,
 239                                         .value = 0x02,
 240                                         .gain = IIO_DEGREE_TO_RAD(70000),
 241                                 },
 242                         },
 243                 },
 244                 .bdu = {
 245                         .addr = 0x23,
 246                         .mask = 0x80,
 247                 },
 248                 .drdy_irq = {
 249                         .addr = 0x22,
 250                         .mask_int2 = 0x08,
 251                         /*
 252                          * The sensor has IHL (active low) and open
 253                          * drain settings, but only for INT1 and not
 254                          * for the DRDY line on INT2.
 255                          */
 256                         .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
 257                 },
 258                 .multi_read_bit = true,
 259                 .bootime = 2,
 260         },
 261 };
 262
 263 static int st_gyro_read_raw(struct iio_dev *indio_dev,
 264                         struct iio_chan_spec const *ch, int *val,
 265                                                         int *val2, long mask)
 266 {
 267         int err;
 268         struct st_sensor_data *gdata = iio_priv(indio_dev);
 269
 270         switch (mask) {
 271         case IIO_CHAN_INFO_RAW:
 272                 err = st_sensors_read_info_raw(indio_dev, ch, val);
 273                 if (err < 0)
 274                         goto read_error;
 275
 276                 return IIO_VAL_INT;
 277         case IIO_CHAN_INFO_SCALE:
 278                 *val = 0;
 279                 *val2 = gdata->current_fullscale->gain;
 280                 return IIO_VAL_INT_PLUS_MICRO;
 281         case IIO_CHAN_INFO_SAMP_FREQ:
 282                 *val = gdata->odr;
 283                 return IIO_VAL_INT;
 284         default:
 285                 return -EINVAL;
 286         }
 287
 288 read_error:
 289         return err;
 290 }
 291
 292 static int st_gyro_write_raw(struct iio_dev *indio_dev,
 293                 struct iio_chan_spec const *chan, int val, int val2, long mask)
 294 {
 295         int err;
 296
 297         switch (mask) {
 298         case IIO_CHAN_INFO_SCALE:
 299                 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
 300                 break;
 301         case IIO_CHAN_INFO_SAMP_FREQ:
 302                 if (val2)
 303                         return -EINVAL;
 304                 mutex_lock(&indio_dev->mlock);
 305                 err = st_sensors_set_odr(indio_dev, val);
 306                 mutex_unlock(&indio_dev->mlock);
 307                 return err;
 308         default:
 309                 err = -EINVAL;
 310         }
 311
 312         return err;
 313 }
 314
 315 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
 316 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
 317
 318 static struct attribute *st_gyro_attributes[] = {
 319         &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
 320         &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
 321         NULL,
 322 };
 323
 324 static const struct attribute_group st_gyro_attribute_group = {
 325         .attrs = st_gyro_attributes,
 326 };
 327
 328 static const struct iio_info gyro_info = {
 329         .driver_module = THIS_MODULE,
 330         .attrs = &st_gyro_attribute_group,
 331         .read_raw = &st_gyro_read_raw,
 332         .write_raw = &st_gyro_write_raw,
 333         .debugfs_reg_access = &st_sensors_debugfs_reg_access,
 334 };
 335
 336 #ifdef CONFIG_IIO_TRIGGER
 337 static const struct iio_trigger_ops st_gyro_trigger_ops = {
 338         .owner = THIS_MODULE,
 339         .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
 340         .validate_device = st_sensors_validate_device,
 341 };
 342 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
 343 #else
 344 #define ST_GYRO_TRIGGER_OPS NULL
 345 #endif
 346
 347 int st_gyro_common_probe(struct iio_dev *indio_dev)
 348 {
 349         struct st_sensor_data *gdata = iio_priv(indio_dev);
 350         int irq = gdata->get_irq_data_ready(indio_dev);
 351         int err;
 352
 353         indio_dev->modes = INDIO_DIRECT_MODE;
 354         indio_dev->info = &gyro_info;
 355         mutex_init(&gdata->tb.buf_lock);
 356
 357         err = st_sensors_power_enable(indio_dev);
 358         if (err)
 359                 return err;
 360
 361         err = st_sensors_check_device_support(indio_dev,
 362                                         ARRAY_SIZE(st_gyro_sensors_settings),
 363                                         st_gyro_sensors_settings);
 364         if (err < 0)
 365                 goto st_gyro_power_off;
 366
 367         gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
 368         gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
 369         indio_dev->channels = gdata->sensor_settings->ch;
 370         indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
 371
 372         gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
 373                                         &gdata->sensor_settings->fs.fs_avl[0];
 374         gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
 375
 376         err = st_sensors_init_sensor(indio_dev,
 377                                 (struct st_sensors_platform_data *)&gyro_pdata);
 378         if (err < 0)
 379                 goto st_gyro_power_off;
 380
 381         err = st_gyro_allocate_ring(indio_dev);
 382         if (err < 0)
 383                 goto st_gyro_power_off;
 384
 385         if (irq > 0) {
 386                 err = st_sensors_allocate_trigger(indio_dev,
 387                                                   ST_GYRO_TRIGGER_OPS);
 388                 if (err < 0)
 389                         goto st_gyro_probe_trigger_error;
 390         }
 391
 392         err = iio_device_register(indio_dev);
 393         if (err)
 394                 goto st_gyro_device_register_error;
 395
 396         dev_info(&indio_dev->dev, "registered gyroscope %s\n",
 397                  indio_dev->name);
 398
 399         return 0;
 400
 401 st_gyro_device_register_error:
 402         if (irq > 0)
 403                 st_sensors_deallocate_trigger(indio_dev);
 404 st_gyro_probe_trigger_error:
 405         st_gyro_deallocate_ring(indio_dev);
 406 st_gyro_power_off:
 407         st_sensors_power_disable(indio_dev);
 408
 409         return err;
 410 }
 411 EXPORT_SYMBOL(st_gyro_common_probe);
 412
 413 void st_gyro_common_remove(struct iio_dev *indio_dev)
 414 {
 415         struct st_sensor_data *gdata = iio_priv(indio_dev);
 416
 417         st_sensors_power_disable(indio_dev);
 418
 419         iio_device_unregister(indio_dev);
 420         if (gdata->get_irq_data_ready(indio_dev) > 0)
 421                 st_sensors_deallocate_trigger(indio_dev);
 422
 423         st_gyro_deallocate_ring(indio_dev);
 424 }
 425 EXPORT_SYMBOL(st_gyro_common_remove);
 426
 427 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
 428 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
 429 MODULE_LICENSE("GPL v2");