1 // SPDX-License-Identifier: GPL-2.0-only
2 /*
3 * STMicroelectronics gyroscopes driver
4 *
5 * Copyright 2012-2013 STMicroelectronics Inc.
6 *
7 * Denis Ciocca <denis.ciocca@st.com>
8 */
9
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/gpio.h>
18 #include <linux/irq.h>
19 #include <linux/delay.h>
20 #include <linux/iio/iio.h>
21 #include <linux/iio/sysfs.h>
22 #include <linux/iio/trigger.h>
23 #include <linux/iio/buffer.h>
24
25 #include <linux/iio/common/st_sensors.h>
26 #include "st_gyro.h"
27
28 #define ST_GYRO_NUMBER_DATA_CHANNELS 3
29
30 /* DEFAULT VALUE FOR SENSORS */
31 #define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28
32 #define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a
33 #define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c
34
35 /* FULLSCALE */
36 #define ST_GYRO_FS_AVL_245DPS 245
37 #define ST_GYRO_FS_AVL_250DPS 250
38 #define ST_GYRO_FS_AVL_500DPS 500
39 #define ST_GYRO_FS_AVL_2000DPS 2000
40
41 static const struct iio_chan_spec st_gyro_16bit_channels[] = {
42 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
43 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
44 ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
45 ST_GYRO_DEFAULT_OUT_X_L_ADDR),
46 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
47 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
48 ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
49 ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
50 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
51 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
52 ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
53 ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
54 IIO_CHAN_SOFT_TIMESTAMP(3)
55 };
56
57 static const struct st_sensor_settings st_gyro_sensors_settings[] = {
58 {
59 .wai = 0xd3,
60 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
61 .sensors_supported = {
62 [0] = L3G4200D_GYRO_DEV_NAME,
63 [1] = LSM330DL_GYRO_DEV_NAME,
64 },
65 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
66 .odr = {
67 .addr = 0x20,
68 .mask = 0xc0,
69 .odr_avl = {
70 { .hz = 100, .value = 0x00, },
71 { .hz = 200, .value = 0x01, },
72 { .hz = 400, .value = 0x02, },
73 { .hz = 800, .value = 0x03, },
74 },
75 },
76 .pw = {
77 .addr = 0x20,
78 .mask = 0x08,
79 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
80 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
81 },
82 .enable_axis = {
83 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
84 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
85 },
86 .fs = {
87 .addr = 0x23,
88 .mask = 0x30,
89 .fs_avl = {
90 [0] = {
91 .num = ST_GYRO_FS_AVL_250DPS,
92 .value = 0x00,
93 .gain = IIO_DEGREE_TO_RAD(8750),
94 },
95 [1] = {
96 .num = ST_GYRO_FS_AVL_500DPS,
97 .value = 0x01,
98 .gain = IIO_DEGREE_TO_RAD(17500),
99 },
100 [2] = {
101 .num = ST_GYRO_FS_AVL_2000DPS,
102 .value = 0x02,
103 .gain = IIO_DEGREE_TO_RAD(70000),
104 },
105 },
106 },
107 .bdu = {
108 .addr = 0x23,
109 .mask = 0x80,
110 },
111 .drdy_irq = {
112 .int2 = {
113 .addr = 0x22,
114 .mask = 0x08,
115 },
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 .stat_drdy = {
122 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
123 .mask = 0x07,
124 },
125 },
126 .sim = {
127 .addr = 0x23,
128 .value = BIT(0),
129 },
130 .multi_read_bit = true,
131 .bootime = 2,
132 },
133 {
134 .wai = 0xd4,
135 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
136 .sensors_supported = {
137 [0] = L3GD20_GYRO_DEV_NAME,
138 [1] = LSM330D_GYRO_DEV_NAME,
139 [2] = LSM330DLC_GYRO_DEV_NAME,
140 [3] = L3G4IS_GYRO_DEV_NAME,
141 [4] = LSM330_GYRO_DEV_NAME,
142 },
143 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
144 .odr = {
145 .addr = 0x20,
146 .mask = 0xc0,
147 .odr_avl = {
148 { .hz = 95, .value = 0x00, },
149 { .hz = 190, .value = 0x01, },
150 { .hz = 380, .value = 0x02, },
151 { .hz = 760, .value = 0x03, },
152 },
153 },
154 .pw = {
155 .addr = 0x20,
156 .mask = 0x08,
157 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
158 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
159 },
160 .enable_axis = {
161 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
162 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
163 },
164 .fs = {
165 .addr = 0x23,
166 .mask = 0x30,
167 .fs_avl = {
168 [0] = {
169 .num = ST_GYRO_FS_AVL_250DPS,
170 .value = 0x00,
171 .gain = IIO_DEGREE_TO_RAD(8750),
172 },
173 [1] = {
174 .num = ST_GYRO_FS_AVL_500DPS,
175 .value = 0x01,
176 .gain = IIO_DEGREE_TO_RAD(17500),
177 },
178 [2] = {
179 .num = ST_GYRO_FS_AVL_2000DPS,
180 .value = 0x02,
181 .gain = IIO_DEGREE_TO_RAD(70000),
182 },
183 },
184 },
185 .bdu = {
186 .addr = 0x23,
187 .mask = 0x80,
188 },
189 .drdy_irq = {
190 .int2 = {
191 .addr = 0x22,
192 .mask = 0x08,
193 },
194 /*
195 * The sensor has IHL (active low) and open
196 * drain settings, but only for INT1 and not
197 * for the DRDY line on INT2.
198 */
199 .stat_drdy = {
200 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
201 .mask = 0x07,
202 },
203 },
204 .sim = {
205 .addr = 0x23,
206 .value = BIT(0),
207 },
208 .multi_read_bit = true,
209 .bootime = 2,
210 },
211 {
212 .wai = 0xd4,
213 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
214 .sensors_supported = {
215 [0] = LSM9DS0_GYRO_DEV_NAME,
216 },
217 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
218 .odr = {
219 .addr = 0x20,
220 .mask = GENMASK(7, 6),
221 .odr_avl = {
222 { .hz = 95, .value = 0x00, },
223 { .hz = 190, .value = 0x01, },
224 { .hz = 380, .value = 0x02, },
225 { .hz = 760, .value = 0x03, },
226 },
227 },
228 .pw = {
229 .addr = 0x20,
230 .mask = BIT(3),
231 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
232 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
233 },
234 .enable_axis = {
235 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
236 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
237 },
238 .fs = {
239 .addr = 0x23,
240 .mask = GENMASK(5, 4),
241 .fs_avl = {
242 [0] = {
243 .num = ST_GYRO_FS_AVL_245DPS,
244 .value = 0x00,
245 .gain = IIO_DEGREE_TO_RAD(8750),
246 },
247 [1] = {
248 .num = ST_GYRO_FS_AVL_500DPS,
249 .value = 0x01,
250 .gain = IIO_DEGREE_TO_RAD(17500),
251 },
252 [2] = {
253 .num = ST_GYRO_FS_AVL_2000DPS,
254 .value = 0x02,
255 .gain = IIO_DEGREE_TO_RAD(70000),
256 },
257 },
258 },
259 .bdu = {
260 .addr = 0x23,
261 .mask = BIT(7),
262 },
263 .drdy_irq = {
264 .int2 = {
265 .addr = 0x22,
266 .mask = BIT(3),
267 },
268 /*
269 * The sensor has IHL (active low) and open
270 * drain settings, but only for INT1 and not
271 * for the DRDY line on INT2.
272 */
273 .stat_drdy = {
274 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
275 .mask = GENMASK(2, 0),
276 },
277 },
278 .sim = {
279 .addr = 0x23,
280 .value = BIT(0),
281 },
282 .multi_read_bit = true,
283 .bootime = 2,
284 },
285 {
286 .wai = 0xd7,
287 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
288 .sensors_supported = {
289 [0] = L3GD20H_GYRO_DEV_NAME,
290 },
291 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
292 .odr = {
293 .addr = 0x20,
294 .mask = 0xc0,
295 .odr_avl = {
296 { .hz = 100, .value = 0x00, },
297 { .hz = 200, .value = 0x01, },
298 { .hz = 400, .value = 0x02, },
299 { .hz = 800, .value = 0x03, },
300 },
301 },
302 .pw = {
303 .addr = 0x20,
304 .mask = 0x08,
305 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
306 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
307 },
308 .enable_axis = {
309 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
310 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
311 },
312 .fs = {
313 .addr = 0x23,
314 .mask = 0x30,
315 .fs_avl = {
316 [0] = {
317 .num = ST_GYRO_FS_AVL_245DPS,
318 .value = 0x00,
319 .gain = IIO_DEGREE_TO_RAD(8750),
320 },
321 [1] = {
322 .num = ST_GYRO_FS_AVL_500DPS,
323 .value = 0x01,
324 .gain = IIO_DEGREE_TO_RAD(17500),
325 },
326 [2] = {
327 .num = ST_GYRO_FS_AVL_2000DPS,
328 .value = 0x02,
329 .gain = IIO_DEGREE_TO_RAD(70000),
330 },
331 },
332 },
333 .bdu = {
334 .addr = 0x23,
335 .mask = 0x80,
336 },
337 .drdy_irq = {
338 .int2 = {
339 .addr = 0x22,
340 .mask = 0x08,
341 },
342 /*
343 * The sensor has IHL (active low) and open
344 * drain settings, but only for INT1 and not
345 * for the DRDY line on INT2.
346 */
347 .stat_drdy = {
348 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
349 .mask = 0x07,
350 },
351 },
352 .sim = {
353 .addr = 0x23,
354 .value = BIT(0),
355 },
356 .multi_read_bit = true,
357 .bootime = 2,
358 },
359 };
360
st_gyro_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * ch,int * val,int * val2,long mask)361 static int st_gyro_read_raw(struct iio_dev *indio_dev,
362 struct iio_chan_spec const *ch, int *val,
363 int *val2, long mask)
364 {
365 int err;
366 struct st_sensor_data *gdata = iio_priv(indio_dev);
367
368 switch (mask) {
369 case IIO_CHAN_INFO_RAW:
370 err = st_sensors_read_info_raw(indio_dev, ch, val);
371 if (err < 0)
372 goto read_error;
373
374 return IIO_VAL_INT;
375 case IIO_CHAN_INFO_SCALE:
376 *val = 0;
377 *val2 = gdata->current_fullscale->gain;
378 return IIO_VAL_INT_PLUS_MICRO;
379 case IIO_CHAN_INFO_SAMP_FREQ:
380 *val = gdata->odr;
381 return IIO_VAL_INT;
382 default:
383 return -EINVAL;
384 }
385
386 read_error:
387 return err;
388 }
389
st_gyro_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)390 static int st_gyro_write_raw(struct iio_dev *indio_dev,
391 struct iio_chan_spec const *chan, int val, int val2, long mask)
392 {
393 int err;
394
395 switch (mask) {
396 case IIO_CHAN_INFO_SCALE:
397 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
398 break;
399 case IIO_CHAN_INFO_SAMP_FREQ:
400 if (val2)
401 return -EINVAL;
402 mutex_lock(&indio_dev->mlock);
403 err = st_sensors_set_odr(indio_dev, val);
404 mutex_unlock(&indio_dev->mlock);
405 return err;
406 default:
407 err = -EINVAL;
408 }
409
410 return err;
411 }
412
413 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
414 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
415
416 static struct attribute *st_gyro_attributes[] = {
417 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
418 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
419 NULL,
420 };
421
422 static const struct attribute_group st_gyro_attribute_group = {
423 .attrs = st_gyro_attributes,
424 };
425
426 static const struct iio_info gyro_info = {
427 .attrs = &st_gyro_attribute_group,
428 .read_raw = &st_gyro_read_raw,
429 .write_raw = &st_gyro_write_raw,
430 .debugfs_reg_access = &st_sensors_debugfs_reg_access,
431 };
432
433 #ifdef CONFIG_IIO_TRIGGER
434 static const struct iio_trigger_ops st_gyro_trigger_ops = {
435 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
436 .validate_device = st_sensors_validate_device,
437 };
438 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
439 #else
440 #define ST_GYRO_TRIGGER_OPS NULL
441 #endif
442
443 /*
444 * st_gyro_get_settings() - get sensor settings from device name
445 * @name: device name buffer reference.
446 *
447 * Return: valid reference on success, NULL otherwise.
448 */
st_gyro_get_settings(const char * name)449 const struct st_sensor_settings *st_gyro_get_settings(const char *name)
450 {
451 int index = st_sensors_get_settings_index(name,
452 st_gyro_sensors_settings,
453 ARRAY_SIZE(st_gyro_sensors_settings));
454 if (index < 0)
455 return NULL;
456
457 return &st_gyro_sensors_settings[index];
458 }
459 EXPORT_SYMBOL(st_gyro_get_settings);
460
st_gyro_common_probe(struct iio_dev * indio_dev)461 int st_gyro_common_probe(struct iio_dev *indio_dev)
462 {
463 struct st_sensor_data *gdata = iio_priv(indio_dev);
464 int err;
465
466 indio_dev->modes = INDIO_DIRECT_MODE;
467 indio_dev->info = &gyro_info;
468
469 err = st_sensors_power_enable(indio_dev);
470 if (err)
471 return err;
472
473 err = st_sensors_verify_id(indio_dev);
474 if (err < 0)
475 goto st_gyro_power_off;
476
477 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
478 indio_dev->channels = gdata->sensor_settings->ch;
479 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
480
481 gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
482 &gdata->sensor_settings->fs.fs_avl[0];
483 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
484
485 err = st_sensors_init_sensor(indio_dev,
486 (struct st_sensors_platform_data *)&gyro_pdata);
487 if (err < 0)
488 goto st_gyro_power_off;
489
490 err = st_gyro_allocate_ring(indio_dev);
491 if (err < 0)
492 goto st_gyro_power_off;
493
494 if (gdata->irq > 0) {
495 err = st_sensors_allocate_trigger(indio_dev,
496 ST_GYRO_TRIGGER_OPS);
497 if (err < 0)
498 goto st_gyro_probe_trigger_error;
499 }
500
501 err = iio_device_register(indio_dev);
502 if (err)
503 goto st_gyro_device_register_error;
504
505 dev_info(&indio_dev->dev, "registered gyroscope %s\n",
506 indio_dev->name);
507
508 return 0;
509
510 st_gyro_device_register_error:
511 if (gdata->irq > 0)
512 st_sensors_deallocate_trigger(indio_dev);
513 st_gyro_probe_trigger_error:
514 st_gyro_deallocate_ring(indio_dev);
515 st_gyro_power_off:
516 st_sensors_power_disable(indio_dev);
517
518 return err;
519 }
520 EXPORT_SYMBOL(st_gyro_common_probe);
521
st_gyro_common_remove(struct iio_dev * indio_dev)522 void st_gyro_common_remove(struct iio_dev *indio_dev)
523 {
524 struct st_sensor_data *gdata = iio_priv(indio_dev);
525
526 st_sensors_power_disable(indio_dev);
527
528 iio_device_unregister(indio_dev);
529 if (gdata->irq > 0)
530 st_sensors_deallocate_trigger(indio_dev);
531
532 st_gyro_deallocate_ring(indio_dev);
533 }
534 EXPORT_SYMBOL(st_gyro_common_remove);
535
536 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
537 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
538 MODULE_LICENSE("GPL v2");
539