1 // SPDX-License-Identifier: GPL-2.0-only
3 * STMicroelectronics gyroscopes driver
5 * Copyright 2012-2013 STMicroelectronics Inc.
7 * Denis Ciocca <denis.ciocca@st.com>
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>
24 #include <linux/iio/common/st_sensors.h>
27 #define ST_GYRO_NUMBER_DATA_CHANNELS 3
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
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
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)
56 static const struct st_sensor_settings st_gyro_sensors_settings[] = {
59 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
60 .sensors_supported = {
61 [0] = L3G4200D_GYRO_DEV_NAME,
62 [1] = LSM330DL_GYRO_DEV_NAME,
64 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
69 { .hz = 100, .value = 0x00, },
70 { .hz = 200, .value = 0x01, },
71 { .hz = 400, .value = 0x02, },
72 { .hz = 800, .value = 0x03, },
78 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
79 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
82 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
83 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
90 .num = ST_GYRO_FS_AVL_250DPS,
92 .gain = IIO_DEGREE_TO_RAD(8750),
95 .num = ST_GYRO_FS_AVL_500DPS,
97 .gain = IIO_DEGREE_TO_RAD(17500),
100 .num = ST_GYRO_FS_AVL_2000DPS,
102 .gain = IIO_DEGREE_TO_RAD(70000),
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.
121 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
129 .multi_read_bit = true,
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,
142 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
147 { .hz = 95, .value = 0x00, },
148 { .hz = 190, .value = 0x01, },
149 { .hz = 380, .value = 0x02, },
150 { .hz = 760, .value = 0x03, },
156 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
157 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
160 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
161 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
168 .num = ST_GYRO_FS_AVL_250DPS,
170 .gain = IIO_DEGREE_TO_RAD(8750),
173 .num = ST_GYRO_FS_AVL_500DPS,
175 .gain = IIO_DEGREE_TO_RAD(17500),
178 .num = ST_GYRO_FS_AVL_2000DPS,
180 .gain = IIO_DEGREE_TO_RAD(70000),
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.
199 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
207 .multi_read_bit = true,
212 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
213 .sensors_supported = {
214 [0] = LSM9DS0_GYRO_DEV_NAME,
216 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
219 .mask = GENMASK(7, 6),
221 { .hz = 95, .value = 0x00, },
222 { .hz = 190, .value = 0x01, },
223 { .hz = 380, .value = 0x02, },
224 { .hz = 760, .value = 0x03, },
230 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
231 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
234 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
235 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
239 .mask = GENMASK(5, 4),
242 .num = ST_GYRO_FS_AVL_245DPS,
244 .gain = IIO_DEGREE_TO_RAD(8750),
247 .num = ST_GYRO_FS_AVL_500DPS,
249 .gain = IIO_DEGREE_TO_RAD(17500),
252 .num = ST_GYRO_FS_AVL_2000DPS,
254 .gain = IIO_DEGREE_TO_RAD(70000),
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.
273 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
274 .mask = GENMASK(2, 0),
281 .multi_read_bit = true,
286 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
287 .sensors_supported = {
288 [0] = L3GD20H_GYRO_DEV_NAME,
290 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
295 { .hz = 100, .value = 0x00, },
296 { .hz = 200, .value = 0x01, },
297 { .hz = 400, .value = 0x02, },
298 { .hz = 800, .value = 0x03, },
304 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
305 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
308 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
309 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
316 .num = ST_GYRO_FS_AVL_245DPS,
318 .gain = IIO_DEGREE_TO_RAD(8750),
321 .num = ST_GYRO_FS_AVL_500DPS,
323 .gain = IIO_DEGREE_TO_RAD(17500),
326 .num = ST_GYRO_FS_AVL_2000DPS,
328 .gain = IIO_DEGREE_TO_RAD(70000),
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.
347 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
355 .multi_read_bit = true,
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)
365 struct st_sensor_data *gdata = iio_priv(indio_dev);
368 case IIO_CHAN_INFO_RAW:
369 err = st_sensors_read_info_raw(indio_dev, ch, val);
374 case IIO_CHAN_INFO_SCALE:
376 *val2 = gdata->current_fullscale->gain;
377 return IIO_VAL_INT_PLUS_MICRO;
378 case IIO_CHAN_INFO_SAMP_FREQ:
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)
395 case IIO_CHAN_INFO_SCALE:
396 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
398 case IIO_CHAN_INFO_SAMP_FREQ:
401 mutex_lock(&indio_dev->mlock);
402 err = st_sensors_set_odr(indio_dev, val);
403 mutex_unlock(&indio_dev->mlock);
412 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
413 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
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,
421 static const struct attribute_group st_gyro_attribute_group = {
422 .attrs = st_gyro_attributes,
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,
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,
437 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
439 #define ST_GYRO_TRIGGER_OPS NULL
443 * st_gyro_get_settings() - get sensor settings from device name
444 * @name: device name buffer reference.
446 * Return: valid reference on success, NULL otherwise.
448 const struct st_sensor_settings *st_gyro_get_settings(const char *name)
450 int index = st_sensors_get_settings_index(name,
451 st_gyro_sensors_settings,
452 ARRAY_SIZE(st_gyro_sensors_settings));
456 return &st_gyro_sensors_settings[index];
458 EXPORT_SYMBOL(st_gyro_get_settings);
460 int st_gyro_common_probe(struct iio_dev *indio_dev)
462 struct st_sensor_data *gdata = iio_priv(indio_dev);
463 struct st_sensors_platform_data *pdata;
466 indio_dev->modes = INDIO_DIRECT_MODE;
467 indio_dev->info = &gyro_info;
469 err = st_sensors_verify_id(indio_dev);
473 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
474 indio_dev->channels = gdata->sensor_settings->ch;
475 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
477 gdata->current_fullscale = &gdata->sensor_settings->fs.fs_avl[0];
478 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
480 pdata = (struct st_sensors_platform_data *)&gyro_pdata;
482 err = st_sensors_init_sensor(indio_dev, pdata);
486 err = st_gyro_allocate_ring(indio_dev);
490 if (gdata->irq > 0) {
491 err = st_sensors_allocate_trigger(indio_dev,
492 ST_GYRO_TRIGGER_OPS);
494 goto st_gyro_probe_trigger_error;
497 err = iio_device_register(indio_dev);
499 goto st_gyro_device_register_error;
501 dev_info(&indio_dev->dev, "registered gyroscope %s\n",
506 st_gyro_device_register_error:
508 st_sensors_deallocate_trigger(indio_dev);
509 st_gyro_probe_trigger_error:
510 st_gyro_deallocate_ring(indio_dev);
513 EXPORT_SYMBOL(st_gyro_common_probe);
515 void st_gyro_common_remove(struct iio_dev *indio_dev)
517 struct st_sensor_data *gdata = iio_priv(indio_dev);
519 iio_device_unregister(indio_dev);
521 st_sensors_deallocate_trigger(indio_dev);
523 st_gyro_deallocate_ring(indio_dev);
525 EXPORT_SYMBOL(st_gyro_common_remove);
527 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
528 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
529 MODULE_LICENSE("GPL v2");