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/*
* STMicroelectronics gyroscopes driver
*
* Copyright 2012-2013 STMicroelectronics Inc.
*
* Denis Ciocca <denis.ciocca@st.com>
*
* Licensed under the GPL-2.
*/
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/errno.h>
#include <linux/types.h>
#include <linux/mutex.h>
#include <linux/interrupt.h>
#include <linux/i2c.h>
#include <linux/gpio.h>
#include <linux/irq.h>
#include <linux/delay.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/trigger.h>
#include <linux/iio/buffer.h>
#include <linux/iio/common/st_sensors.h>
#include "st_gyro.h"
#define ST_GYRO_NUMBER_DATA_CHANNELS 3
/* DEFAULT VALUE FOR SENSORS */
#define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28
#define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a
#define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c
/* FULLSCALE */
#define ST_GYRO_FS_AVL_250DPS 250
#define ST_GYRO_FS_AVL_500DPS 500
#define ST_GYRO_FS_AVL_2000DPS 2000
/* CUSTOM VALUES FOR SENSOR 1 */
#define ST_GYRO_1_WAI_EXP 0xd3
#define ST_GYRO_1_ODR_ADDR 0x20
#define ST_GYRO_1_ODR_MASK 0xc0
#define ST_GYRO_1_ODR_AVL_100HZ_VAL 0x00
#define ST_GYRO_1_ODR_AVL_200HZ_VAL 0x01
#define ST_GYRO_1_ODR_AVL_400HZ_VAL 0x02
#define ST_GYRO_1_ODR_AVL_800HZ_VAL 0x03
#define ST_GYRO_1_PW_ADDR 0x20
#define ST_GYRO_1_PW_MASK 0x08
#define ST_GYRO_1_FS_ADDR 0x23
#define ST_GYRO_1_FS_MASK 0x30
#define ST_GYRO_1_FS_AVL_250_VAL 0x00
#define ST_GYRO_1_FS_AVL_500_VAL 0x01
#define ST_GYRO_1_FS_AVL_2000_VAL 0x02
#define ST_GYRO_1_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750)
#define ST_GYRO_1_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500)
#define ST_GYRO_1_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000)
#define ST_GYRO_1_BDU_ADDR 0x23
#define ST_GYRO_1_BDU_MASK 0x80
#define ST_GYRO_1_DRDY_IRQ_ADDR 0x22
#define ST_GYRO_1_DRDY_IRQ_INT2_MASK 0x08
#define ST_GYRO_1_MULTIREAD_BIT true
/* CUSTOM VALUES FOR SENSOR 2 */
#define ST_GYRO_2_WAI_EXP 0xd4
#define ST_GYRO_2_ODR_ADDR 0x20
#define ST_GYRO_2_ODR_MASK 0xc0
#define ST_GYRO_2_ODR_AVL_95HZ_VAL 0x00
#define ST_GYRO_2_ODR_AVL_190HZ_VAL 0x01
#define ST_GYRO_2_ODR_AVL_380HZ_VAL 0x02
#define ST_GYRO_2_ODR_AVL_760HZ_VAL 0x03
#define ST_GYRO_2_PW_ADDR 0x20
#define ST_GYRO_2_PW_MASK 0x08
#define ST_GYRO_2_FS_ADDR 0x23
#define ST_GYRO_2_FS_MASK 0x30
#define ST_GYRO_2_FS_AVL_250_VAL 0x00
#define ST_GYRO_2_FS_AVL_500_VAL 0x01
#define ST_GYRO_2_FS_AVL_2000_VAL 0x02
#define ST_GYRO_2_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750)
#define ST_GYRO_2_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500)
#define ST_GYRO_2_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000)
#define ST_GYRO_2_BDU_ADDR 0x23
#define ST_GYRO_2_BDU_MASK 0x80
#define ST_GYRO_2_DRDY_IRQ_ADDR 0x22
#define ST_GYRO_2_DRDY_IRQ_INT2_MASK 0x08
#define ST_GYRO_2_MULTIREAD_BIT true
static const struct iio_chan_spec st_gyro_16bit_channels[] = {
ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
ST_GYRO_DEFAULT_OUT_X_L_ADDR),
ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
IIO_CHAN_SOFT_TIMESTAMP(3)
};
static const struct st_sensors st_gyro_sensors[] = {
{
.wai = ST_GYRO_1_WAI_EXP,
.sensors_supported = {
[0] = L3G4200D_GYRO_DEV_NAME,
[1] = LSM330DL_GYRO_DEV_NAME,
},
.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
.odr = {
.addr = ST_GYRO_1_ODR_ADDR,
.mask = ST_GYRO_1_ODR_MASK,
.odr_avl = {
{ 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, },
{ 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, },
{ 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, },
{ 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, },
},
},
.pw = {
.addr = ST_GYRO_1_PW_ADDR,
.mask = ST_GYRO_1_PW_MASK,
.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
},
.enable_axis = {
.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
},
.fs = {
.addr = ST_GYRO_1_FS_ADDR,
.mask = ST_GYRO_1_FS_MASK,
.fs_avl = {
[0] = {
.num = ST_GYRO_FS_AVL_250DPS,
.value = ST_GYRO_1_FS_AVL_250_VAL,
.gain = ST_GYRO_1_FS_AVL_250_GAIN,
},
[1] = {
.num = ST_GYRO_FS_AVL_500DPS,
.value = ST_GYRO_1_FS_AVL_500_VAL,
.gain = ST_GYRO_1_FS_AVL_500_GAIN,
},
[2] = {
.num = ST_GYRO_FS_AVL_2000DPS,
.value = ST_GYRO_1_FS_AVL_2000_VAL,
.gain = ST_GYRO_1_FS_AVL_2000_GAIN,
},
},
},
.bdu = {
.addr = ST_GYRO_1_BDU_ADDR,
.mask = ST_GYRO_1_BDU_MASK,
},
.drdy_irq = {
.addr = ST_GYRO_1_DRDY_IRQ_ADDR,
.mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK,
},
.multi_read_bit = ST_GYRO_1_MULTIREAD_BIT,
.bootime = 2,
},
{
.wai = ST_GYRO_2_WAI_EXP,
.sensors_supported = {
[0] = L3GD20_GYRO_DEV_NAME,
[1] = LSM330D_GYRO_DEV_NAME,
[2] = LSM330DLC_GYRO_DEV_NAME,
[3] = L3G4IS_GYRO_DEV_NAME,
[4] = LSM330_GYRO_DEV_NAME,
},
.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
.odr = {
.addr = ST_GYRO_2_ODR_ADDR,
.mask = ST_GYRO_2_ODR_MASK,
.odr_avl = {
{ 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, },
{ 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, },
{ 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, },
{ 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, },
},
},
.pw = {
.addr = ST_GYRO_2_PW_ADDR,
.mask = ST_GYRO_2_PW_MASK,
.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
},
.enable_axis = {
.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
},
.fs = {
.addr = ST_GYRO_2_FS_ADDR,
.mask = ST_GYRO_2_FS_MASK,
.fs_avl = {
[0] = {
.num = ST_GYRO_FS_AVL_250DPS,
.value = ST_GYRO_2_FS_AVL_250_VAL,
.gain = ST_GYRO_2_FS_AVL_250_GAIN,
},
[1] = {
.num = ST_GYRO_FS_AVL_500DPS,
.value = ST_GYRO_2_FS_AVL_500_VAL,
.gain = ST_GYRO_2_FS_AVL_500_GAIN,
},
[2] = {
.num = ST_GYRO_FS_AVL_2000DPS,
.value = ST_GYRO_2_FS_AVL_2000_VAL,
.gain = ST_GYRO_2_FS_AVL_2000_GAIN,
},
},
},
.bdu = {
.addr = ST_GYRO_2_BDU_ADDR,
.mask = ST_GYRO_2_BDU_MASK,
},
.drdy_irq = {
.addr = ST_GYRO_2_DRDY_IRQ_ADDR,
.mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK,
},
.multi_read_bit = ST_GYRO_2_MULTIREAD_BIT,
.bootime = 2,
},
};
static int st_gyro_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *ch, int *val,
int *val2, long mask)
{
int err;
struct st_sensor_data *gdata = iio_priv(indio_dev);
switch (mask) {
case IIO_CHAN_INFO_RAW:
err = st_sensors_read_info_raw(indio_dev, ch, val);
if (err < 0)
goto read_error;
return IIO_VAL_INT;
case IIO_CHAN_INFO_SCALE:
*val = 0;
*val2 = gdata->current_fullscale->gain;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_CHAN_INFO_SAMP_FREQ:
*val = gdata->odr;
return IIO_VAL_INT;
default:
return -EINVAL;
}
read_error:
return err;
}
static int st_gyro_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan, int val, int val2, long mask)
{
int err;
switch (mask) {
case IIO_CHAN_INFO_SCALE:
err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
break;
case IIO_CHAN_INFO_SAMP_FREQ:
if (val2)
return -EINVAL;
mutex_lock(&indio_dev->mlock);
err = st_sensors_set_odr(indio_dev, val);
mutex_unlock(&indio_dev->mlock);
return err;
default:
err = -EINVAL;
}
return err;
}
static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
static struct attribute *st_gyro_attributes[] = {
&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
&iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
NULL,
};
static const struct attribute_group st_gyro_attribute_group = {
.attrs = st_gyro_attributes,
};
static const struct iio_info gyro_info = {
.driver_module = THIS_MODULE,
.attrs = &st_gyro_attribute_group,
.read_raw = &st_gyro_read_raw,
.write_raw = &st_gyro_write_raw,
};
#ifdef CONFIG_IIO_TRIGGER
static const struct iio_trigger_ops st_gyro_trigger_ops = {
.owner = THIS_MODULE,
.set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
};
#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
#else
#define ST_GYRO_TRIGGER_OPS NULL
#endif
int st_gyro_common_probe(struct iio_dev *indio_dev,
struct st_sensors_platform_data *pdata)
{
struct st_sensor_data *gdata = iio_priv(indio_dev);
int irq = gdata->get_irq_data_ready(indio_dev);
int err;
indio_dev->modes = INDIO_DIRECT_MODE;
indio_dev->info = &gyro_info;
st_sensors_power_enable(indio_dev);
err = st_sensors_check_device_support(indio_dev,
ARRAY_SIZE(st_gyro_sensors), st_gyro_sensors);
if (err < 0)
return err;
gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
gdata->multiread_bit = gdata->sensor->multi_read_bit;
indio_dev->channels = gdata->sensor->ch;
indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
&gdata->sensor->fs.fs_avl[0];
gdata->odr = gdata->sensor->odr.odr_avl[0].hz;
err = st_sensors_init_sensor(indio_dev, pdata);
if (err < 0)
return err;
err = st_gyro_allocate_ring(indio_dev);
if (err < 0)
return err;
if (irq > 0) {
err = st_sensors_allocate_trigger(indio_dev,
ST_GYRO_TRIGGER_OPS);
if (err < 0)
goto st_gyro_probe_trigger_error;
}
err = iio_device_register(indio_dev);
if (err)
goto st_gyro_device_register_error;
dev_info(&indio_dev->dev, "registered gyroscope %s\n",
indio_dev->name);
return 0;
st_gyro_device_register_error:
if (irq > 0)
st_sensors_deallocate_trigger(indio_dev);
st_gyro_probe_trigger_error:
st_gyro_deallocate_ring(indio_dev);
return err;
}
EXPORT_SYMBOL(st_gyro_common_probe);
void st_gyro_common_remove(struct iio_dev *indio_dev)
{
struct st_sensor_data *gdata = iio_priv(indio_dev);
st_sensors_power_disable(indio_dev);
iio_device_unregister(indio_dev);
if (gdata->get_irq_data_ready(indio_dev) > 0)
st_sensors_deallocate_trigger(indio_dev);
st_gyro_deallocate_ring(indio_dev);
}
EXPORT_SYMBOL(st_gyro_common_remove);
MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
MODULE_LICENSE("GPL v2");
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