429 lines
10 KiB
C
429 lines
10 KiB
C
/*
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* STMicroelectronics gyroscopes driver
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*
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* Copyright 2012-2013 STMicroelectronics Inc.
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*
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* Denis Ciocca <denis.ciocca@st.com>
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*
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* Licensed under the GPL-2.
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*/
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#include <linux/kernel.h>
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#include <linux/module.h>
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#include <linux/slab.h>
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#include <linux/errno.h>
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#include <linux/types.h>
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#include <linux/mutex.h>
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#include <linux/interrupt.h>
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#include <linux/i2c.h>
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#include <linux/gpio.h>
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#include <linux/irq.h>
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#include <linux/delay.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include <linux/iio/trigger.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/common/st_sensors.h>
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#include "st_gyro.h"
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#define ST_GYRO_NUMBER_DATA_CHANNELS 3
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/* DEFAULT VALUE FOR SENSORS */
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#define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28
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#define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a
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#define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c
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/* FULLSCALE */
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#define ST_GYRO_FS_AVL_250DPS 250
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#define ST_GYRO_FS_AVL_500DPS 500
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#define ST_GYRO_FS_AVL_2000DPS 2000
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static const struct iio_chan_spec st_gyro_16bit_channels[] = {
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ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
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BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
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ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
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ST_GYRO_DEFAULT_OUT_X_L_ADDR),
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ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
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BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
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ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
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ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
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ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
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BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
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ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
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ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
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IIO_CHAN_SOFT_TIMESTAMP(3)
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};
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static const struct st_sensor_settings st_gyro_sensors_settings[] = {
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{
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.wai = 0xd3,
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.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
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.sensors_supported = {
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[0] = L3G4200D_GYRO_DEV_NAME,
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[1] = LSM330DL_GYRO_DEV_NAME,
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},
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.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
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.odr = {
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.addr = 0x20,
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.mask = 0xc0,
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.odr_avl = {
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{ .hz = 100, .value = 0x00, },
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{ .hz = 200, .value = 0x01, },
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{ .hz = 400, .value = 0x02, },
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{ .hz = 800, .value = 0x03, },
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},
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},
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.pw = {
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.addr = 0x20,
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.mask = 0x08,
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.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
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.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
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},
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.enable_axis = {
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.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
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.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
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},
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.fs = {
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.addr = 0x23,
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.mask = 0x30,
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.fs_avl = {
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[0] = {
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.num = ST_GYRO_FS_AVL_250DPS,
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.value = 0x00,
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.gain = IIO_DEGREE_TO_RAD(8750),
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},
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[1] = {
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.num = ST_GYRO_FS_AVL_500DPS,
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.value = 0x01,
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.gain = IIO_DEGREE_TO_RAD(17500),
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},
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[2] = {
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.num = ST_GYRO_FS_AVL_2000DPS,
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.value = 0x02,
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.gain = IIO_DEGREE_TO_RAD(70000),
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},
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},
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},
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.bdu = {
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.addr = 0x23,
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.mask = 0x80,
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},
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.drdy_irq = {
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.addr = 0x22,
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.mask_int2 = 0x08,
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/*
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* The sensor has IHL (active low) and open
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* drain settings, but only for INT1 and not
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* for the DRDY line on INT2.
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*/
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.addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
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},
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.multi_read_bit = true,
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.bootime = 2,
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},
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{
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.wai = 0xd4,
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.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
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.sensors_supported = {
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[0] = L3GD20_GYRO_DEV_NAME,
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[1] = LSM330D_GYRO_DEV_NAME,
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[2] = LSM330DLC_GYRO_DEV_NAME,
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[3] = L3G4IS_GYRO_DEV_NAME,
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[4] = LSM330_GYRO_DEV_NAME,
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[5] = LSM9DS0_GYRO_DEV_NAME,
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},
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.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
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.odr = {
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.addr = 0x20,
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.mask = 0xc0,
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.odr_avl = {
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{ .hz = 95, .value = 0x00, },
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{ .hz = 190, .value = 0x01, },
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{ .hz = 380, .value = 0x02, },
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{ .hz = 760, .value = 0x03, },
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},
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},
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.pw = {
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.addr = 0x20,
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.mask = 0x08,
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.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
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.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
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},
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.enable_axis = {
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.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
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.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
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},
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.fs = {
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.addr = 0x23,
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.mask = 0x30,
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.fs_avl = {
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[0] = {
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.num = ST_GYRO_FS_AVL_250DPS,
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.value = 0x00,
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.gain = IIO_DEGREE_TO_RAD(8750),
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},
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[1] = {
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.num = ST_GYRO_FS_AVL_500DPS,
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.value = 0x01,
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.gain = IIO_DEGREE_TO_RAD(17500),
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},
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[2] = {
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.num = ST_GYRO_FS_AVL_2000DPS,
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.value = 0x02,
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.gain = IIO_DEGREE_TO_RAD(70000),
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},
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},
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},
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.bdu = {
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.addr = 0x23,
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.mask = 0x80,
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},
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.drdy_irq = {
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.addr = 0x22,
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.mask_int2 = 0x08,
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/*
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* The sensor has IHL (active low) and open
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* drain settings, but only for INT1 and not
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* for the DRDY line on INT2.
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*/
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.addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
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},
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.multi_read_bit = true,
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.bootime = 2,
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},
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{
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.wai = 0xd7,
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.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
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.sensors_supported = {
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[0] = L3GD20_GYRO_DEV_NAME,
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},
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.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
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.odr = {
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.addr = 0x20,
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.mask = 0xc0,
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.odr_avl = {
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{ .hz = 95, .value = 0x00, },
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{ .hz = 190, .value = 0x01, },
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{ .hz = 380, .value = 0x02, },
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{ .hz = 760, .value = 0x03, },
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},
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},
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.pw = {
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.addr = 0x20,
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.mask = 0x08,
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.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
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.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
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},
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.enable_axis = {
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.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
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.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
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},
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.fs = {
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.addr = 0x23,
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.mask = 0x30,
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.fs_avl = {
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[0] = {
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.num = ST_GYRO_FS_AVL_250DPS,
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.value = 0x00,
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.gain = IIO_DEGREE_TO_RAD(8750),
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},
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[1] = {
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.num = ST_GYRO_FS_AVL_500DPS,
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.value = 0x01,
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.gain = IIO_DEGREE_TO_RAD(17500),
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},
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[2] = {
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.num = ST_GYRO_FS_AVL_2000DPS,
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.value = 0x02,
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.gain = IIO_DEGREE_TO_RAD(70000),
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},
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},
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},
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.bdu = {
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.addr = 0x23,
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.mask = 0x80,
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},
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.drdy_irq = {
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.addr = 0x22,
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.mask_int2 = 0x08,
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/*
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* The sensor has IHL (active low) and open
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* drain settings, but only for INT1 and not
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* for the DRDY line on INT2.
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*/
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.addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
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},
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.multi_read_bit = true,
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.bootime = 2,
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},
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};
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static int st_gyro_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *ch, int *val,
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int *val2, long mask)
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{
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int err;
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struct st_sensor_data *gdata = iio_priv(indio_dev);
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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err = st_sensors_read_info_raw(indio_dev, ch, val);
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if (err < 0)
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goto read_error;
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_SCALE:
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*val = 0;
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*val2 = gdata->current_fullscale->gain;
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_CHAN_INFO_SAMP_FREQ:
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*val = gdata->odr;
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return IIO_VAL_INT;
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default:
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return -EINVAL;
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}
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read_error:
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return err;
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}
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static int st_gyro_write_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan, int val, int val2, long mask)
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{
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int err;
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switch (mask) {
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case IIO_CHAN_INFO_SCALE:
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err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
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break;
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case IIO_CHAN_INFO_SAMP_FREQ:
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if (val2)
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return -EINVAL;
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mutex_lock(&indio_dev->mlock);
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err = st_sensors_set_odr(indio_dev, val);
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mutex_unlock(&indio_dev->mlock);
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return err;
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default:
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err = -EINVAL;
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}
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return err;
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}
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static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
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static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
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static struct attribute *st_gyro_attributes[] = {
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&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
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&iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
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NULL,
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};
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static const struct attribute_group st_gyro_attribute_group = {
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.attrs = st_gyro_attributes,
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};
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static const struct iio_info gyro_info = {
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.driver_module = THIS_MODULE,
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.attrs = &st_gyro_attribute_group,
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.read_raw = &st_gyro_read_raw,
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.write_raw = &st_gyro_write_raw,
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.debugfs_reg_access = &st_sensors_debugfs_reg_access,
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};
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#ifdef CONFIG_IIO_TRIGGER
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static const struct iio_trigger_ops st_gyro_trigger_ops = {
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.owner = THIS_MODULE,
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.set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
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.validate_device = st_sensors_validate_device,
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};
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#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
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#else
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#define ST_GYRO_TRIGGER_OPS NULL
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#endif
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int st_gyro_common_probe(struct iio_dev *indio_dev)
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{
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struct st_sensor_data *gdata = iio_priv(indio_dev);
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int irq = gdata->get_irq_data_ready(indio_dev);
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int err;
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indio_dev->modes = INDIO_DIRECT_MODE;
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indio_dev->info = &gyro_info;
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mutex_init(&gdata->tb.buf_lock);
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err = st_sensors_power_enable(indio_dev);
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if (err)
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return err;
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err = st_sensors_check_device_support(indio_dev,
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ARRAY_SIZE(st_gyro_sensors_settings),
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st_gyro_sensors_settings);
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if (err < 0)
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goto st_gyro_power_off;
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gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
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gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
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indio_dev->channels = gdata->sensor_settings->ch;
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indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
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gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
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&gdata->sensor_settings->fs.fs_avl[0];
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gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
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err = st_sensors_init_sensor(indio_dev,
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(struct st_sensors_platform_data *)&gyro_pdata);
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if (err < 0)
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goto st_gyro_power_off;
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err = st_gyro_allocate_ring(indio_dev);
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if (err < 0)
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goto st_gyro_power_off;
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if (irq > 0) {
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err = st_sensors_allocate_trigger(indio_dev,
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ST_GYRO_TRIGGER_OPS);
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if (err < 0)
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goto st_gyro_probe_trigger_error;
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}
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err = iio_device_register(indio_dev);
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if (err)
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goto st_gyro_device_register_error;
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dev_info(&indio_dev->dev, "registered gyroscope %s\n",
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indio_dev->name);
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return 0;
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st_gyro_device_register_error:
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if (irq > 0)
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st_sensors_deallocate_trigger(indio_dev);
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st_gyro_probe_trigger_error:
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st_gyro_deallocate_ring(indio_dev);
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st_gyro_power_off:
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st_sensors_power_disable(indio_dev);
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return err;
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}
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EXPORT_SYMBOL(st_gyro_common_probe);
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void st_gyro_common_remove(struct iio_dev *indio_dev)
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{
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struct st_sensor_data *gdata = iio_priv(indio_dev);
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st_sensors_power_disable(indio_dev);
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iio_device_unregister(indio_dev);
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if (gdata->get_irq_data_ready(indio_dev) > 0)
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st_sensors_deallocate_trigger(indio_dev);
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st_gyro_deallocate_ring(indio_dev);
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}
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EXPORT_SYMBOL(st_gyro_common_remove);
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MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
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MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
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MODULE_LICENSE("GPL v2");
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