2 * STMicroelectronics gyroscopes driver
4 * Copyright 2012-2013 STMicroelectronics Inc.
6 * Denis Ciocca <denis.ciocca@st.com>
8 * Licensed under the GPL-2.
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>
27 #include <linux/iio/common/st_sensors.h>
30 #define ST_GYRO_NUMBER_DATA_CHANNELS 3
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
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
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)
59 static const struct st_sensor_settings st_gyro_sensors_settings[] = {
62 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
63 .sensors_supported = {
64 [0] = L3G4200D_GYRO_DEV_NAME,
65 [1] = LSM330DL_GYRO_DEV_NAME,
67 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
72 { .hz = 100, .value = 0x00, },
73 { .hz = 200, .value = 0x01, },
74 { .hz = 400, .value = 0x02, },
75 { .hz = 800, .value = 0x03, },
81 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
82 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
85 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
86 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
93 .num = ST_GYRO_FS_AVL_250DPS,
95 .gain = IIO_DEGREE_TO_RAD(8750),
98 .num = ST_GYRO_FS_AVL_500DPS,
100 .gain = IIO_DEGREE_TO_RAD(17500),
103 .num = ST_GYRO_FS_AVL_2000DPS,
105 .gain = IIO_DEGREE_TO_RAD(70000),
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.
122 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
126 .multi_read_bit = true,
131 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
132 .sensors_supported = {
133 [0] = L3GD20_GYRO_DEV_NAME,
134 [1] = LSM330D_GYRO_DEV_NAME,
135 [2] = LSM330DLC_GYRO_DEV_NAME,
136 [3] = L3G4IS_GYRO_DEV_NAME,
137 [4] = LSM330_GYRO_DEV_NAME,
138 [5] = LSM9DS0_GYRO_DEV_NAME,
140 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
145 { .hz = 95, .value = 0x00, },
146 { .hz = 190, .value = 0x01, },
147 { .hz = 380, .value = 0x02, },
148 { .hz = 760, .value = 0x03, },
154 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
155 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
158 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
159 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
166 .num = ST_GYRO_FS_AVL_250DPS,
168 .gain = IIO_DEGREE_TO_RAD(8750),
171 .num = ST_GYRO_FS_AVL_500DPS,
173 .gain = IIO_DEGREE_TO_RAD(17500),
176 .num = ST_GYRO_FS_AVL_2000DPS,
178 .gain = IIO_DEGREE_TO_RAD(70000),
190 * The sensor has IHL (active low) and open
191 * drain settings, but only for INT1 and not
192 * for the DRDY line on INT2.
195 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
199 .multi_read_bit = true,
204 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
205 .sensors_supported = {
206 [0] = L3GD20H_GYRO_DEV_NAME,
208 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
213 { .hz = 100, .value = 0x00, },
214 { .hz = 200, .value = 0x01, },
215 { .hz = 400, .value = 0x02, },
216 { .hz = 800, .value = 0x03, },
222 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
223 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
226 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
227 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
234 .num = ST_GYRO_FS_AVL_245DPS,
236 .gain = IIO_DEGREE_TO_RAD(8750),
239 .num = ST_GYRO_FS_AVL_500DPS,
241 .gain = IIO_DEGREE_TO_RAD(17500),
244 .num = ST_GYRO_FS_AVL_2000DPS,
246 .gain = IIO_DEGREE_TO_RAD(70000),
258 * The sensor has IHL (active low) and open
259 * drain settings, but only for INT1 and not
260 * for the DRDY line on INT2.
263 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
267 .multi_read_bit = true,
272 static int st_gyro_read_raw(struct iio_dev *indio_dev,
273 struct iio_chan_spec const *ch, int *val,
274 int *val2, long mask)
277 struct st_sensor_data *gdata = iio_priv(indio_dev);
280 case IIO_CHAN_INFO_RAW:
281 err = st_sensors_read_info_raw(indio_dev, ch, val);
286 case IIO_CHAN_INFO_SCALE:
288 *val2 = gdata->current_fullscale->gain;
289 return IIO_VAL_INT_PLUS_MICRO;
290 case IIO_CHAN_INFO_SAMP_FREQ:
301 static int st_gyro_write_raw(struct iio_dev *indio_dev,
302 struct iio_chan_spec const *chan, int val, int val2, long mask)
307 case IIO_CHAN_INFO_SCALE:
308 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
310 case IIO_CHAN_INFO_SAMP_FREQ:
313 mutex_lock(&indio_dev->mlock);
314 err = st_sensors_set_odr(indio_dev, val);
315 mutex_unlock(&indio_dev->mlock);
324 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
325 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
327 static struct attribute *st_gyro_attributes[] = {
328 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
329 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
333 static const struct attribute_group st_gyro_attribute_group = {
334 .attrs = st_gyro_attributes,
337 static const struct iio_info gyro_info = {
338 .driver_module = THIS_MODULE,
339 .attrs = &st_gyro_attribute_group,
340 .read_raw = &st_gyro_read_raw,
341 .write_raw = &st_gyro_write_raw,
342 .debugfs_reg_access = &st_sensors_debugfs_reg_access,
345 #ifdef CONFIG_IIO_TRIGGER
346 static const struct iio_trigger_ops st_gyro_trigger_ops = {
347 .owner = THIS_MODULE,
348 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
349 .validate_device = st_sensors_validate_device,
351 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
353 #define ST_GYRO_TRIGGER_OPS NULL
356 int st_gyro_common_probe(struct iio_dev *indio_dev)
358 struct st_sensor_data *gdata = iio_priv(indio_dev);
359 int irq = gdata->get_irq_data_ready(indio_dev);
362 indio_dev->modes = INDIO_DIRECT_MODE;
363 indio_dev->info = &gyro_info;
364 mutex_init(&gdata->tb.buf_lock);
366 err = st_sensors_power_enable(indio_dev);
370 err = st_sensors_check_device_support(indio_dev,
371 ARRAY_SIZE(st_gyro_sensors_settings),
372 st_gyro_sensors_settings);
374 goto st_gyro_power_off;
376 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
377 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
378 indio_dev->channels = gdata->sensor_settings->ch;
379 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
381 gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
382 &gdata->sensor_settings->fs.fs_avl[0];
383 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
385 err = st_sensors_init_sensor(indio_dev,
386 (struct st_sensors_platform_data *)&gyro_pdata);
388 goto st_gyro_power_off;
390 err = st_gyro_allocate_ring(indio_dev);
392 goto st_gyro_power_off;
395 err = st_sensors_allocate_trigger(indio_dev,
396 ST_GYRO_TRIGGER_OPS);
398 goto st_gyro_probe_trigger_error;
401 err = iio_device_register(indio_dev);
403 goto st_gyro_device_register_error;
405 dev_info(&indio_dev->dev, "registered gyroscope %s\n",
410 st_gyro_device_register_error:
412 st_sensors_deallocate_trigger(indio_dev);
413 st_gyro_probe_trigger_error:
414 st_gyro_deallocate_ring(indio_dev);
416 st_sensors_power_disable(indio_dev);
420 EXPORT_SYMBOL(st_gyro_common_probe);
422 void st_gyro_common_remove(struct iio_dev *indio_dev)
424 struct st_sensor_data *gdata = iio_priv(indio_dev);
426 st_sensors_power_disable(indio_dev);
428 iio_device_unregister(indio_dev);
429 if (gdata->get_irq_data_ready(indio_dev) > 0)
430 st_sensors_deallocate_trigger(indio_dev);
432 st_gyro_deallocate_ring(indio_dev);
434 EXPORT_SYMBOL(st_gyro_common_remove);
436 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
437 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
438 MODULE_LICENSE("GPL v2");