2 * itg3200_core.c -- support InvenSense ITG3200
3 * Digital 3-Axis Gyroscope driver
5 * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de>
6 * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
7 * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de>
9 * This program is free software; you can redistribute it and/or modify
10 * it under the terms of the GNU General Public License version 2 as
11 * published by the Free Software Foundation.
14 * - Support digital low pass filter
15 * - Support power management
18 #include <linux/interrupt.h>
19 #include <linux/irq.h>
20 #include <linux/i2c.h>
21 #include <linux/gpio.h>
22 #include <linux/slab.h>
23 #include <linux/stat.h>
24 #include <linux/module.h>
25 #include <linux/delay.h>
27 #include <linux/iio/iio.h>
28 #include <linux/iio/sysfs.h>
29 #include <linux/iio/events.h>
30 #include <linux/iio/buffer.h>
32 #include <linux/iio/gyro/itg3200.h>
35 int itg3200_write_reg_8(struct iio_dev *indio_dev,
36 u8 reg_address, u8 val)
38 struct itg3200 *st = iio_priv(indio_dev);
40 return i2c_smbus_write_byte_data(st->i2c, 0x80 | reg_address, val);
43 int itg3200_read_reg_8(struct iio_dev *indio_dev,
44 u8 reg_address, u8 *val)
46 struct itg3200 *st = iio_priv(indio_dev);
49 ret = i2c_smbus_read_byte_data(st->i2c, reg_address);
56 static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address,
59 struct itg3200 *st = iio_priv(indio_dev);
60 struct i2c_client *client = st->i2c;
64 struct i2c_msg msg[2] = {
67 .flags = client->flags,
69 .buf = (char *)&lower_reg_address,
73 .flags = client->flags | I2C_M_RD,
79 lower_reg_address |= 0x80;
80 ret = i2c_transfer(client->adapter, msg, 2);
84 return (ret == 2) ? 0 : ret;
87 static int itg3200_read_raw(struct iio_dev *indio_dev,
88 const struct iio_chan_spec *chan,
89 int *val, int *val2, long info)
96 case IIO_CHAN_INFO_RAW:
97 reg = (u8)chan->address;
98 ret = itg3200_read_reg_s16(indio_dev, reg, val);
100 case IIO_CHAN_INFO_SCALE:
102 if (chan->type == IIO_TEMP)
103 *val2 = 1000000000/280;
105 *val2 = 1214142; /* (1 / 14,375) * (PI / 180) */
106 return IIO_VAL_INT_PLUS_NANO;
107 case IIO_CHAN_INFO_OFFSET:
108 /* Only the temperature channel has an offset */
111 case IIO_CHAN_INFO_SAMP_FREQ:
112 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, ®val);
116 *val = (regval & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000;
118 ret = itg3200_read_reg_8(indio_dev,
119 ITG3200_REG_SAMPLE_RATE_DIV,
132 static int itg3200_write_raw(struct iio_dev *indio_dev,
133 struct iio_chan_spec const *chan,
142 case IIO_CHAN_INFO_SAMP_FREQ:
143 if (val == 0 || val2 != 0)
146 mutex_lock(&indio_dev->mlock);
148 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &t);
150 mutex_unlock(&indio_dev->mlock);
153 t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / val - 1;
155 ret = itg3200_write_reg_8(indio_dev,
156 ITG3200_REG_SAMPLE_RATE_DIV,
159 mutex_unlock(&indio_dev->mlock);
168 * Reset device and internal registers to the power-up-default settings
169 * Use the gyro clock as reference, as suggested by the datasheet
171 static int itg3200_reset(struct iio_dev *indio_dev)
173 struct itg3200 *st = iio_priv(indio_dev);
176 dev_dbg(&st->i2c->dev, "reset device");
178 ret = itg3200_write_reg_8(indio_dev,
179 ITG3200_REG_POWER_MANAGEMENT,
182 dev_err(&st->i2c->dev, "error resetting device");
186 /* Wait for PLL (1ms according to datasheet) */
189 ret = itg3200_write_reg_8(indio_dev,
190 ITG3200_REG_IRQ_CONFIG,
191 ITG3200_IRQ_ACTIVE_HIGH |
192 ITG3200_IRQ_PUSH_PULL |
193 ITG3200_IRQ_LATCH_50US_PULSE |
194 ITG3200_IRQ_LATCH_CLEAR_ANY);
197 dev_err(&st->i2c->dev, "error init device");
203 /* itg3200_enable_full_scale() - Disables the digital low pass filter */
204 static int itg3200_enable_full_scale(struct iio_dev *indio_dev)
209 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &val);
213 val |= ITG3200_DLPF_FS_SEL_2000;
214 return itg3200_write_reg_8(indio_dev, ITG3200_REG_DLPF, val);
220 static int itg3200_initial_setup(struct iio_dev *indio_dev)
222 struct itg3200 *st = iio_priv(indio_dev);
226 ret = itg3200_reset(indio_dev);
230 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_ADDRESS, &val);
234 if (((val >> 1) & 0x3f) != 0x34) {
235 dev_err(&st->i2c->dev, "invalid reg value 0x%02x", val);
240 ret = itg3200_enable_full_scale(indio_dev);
245 static const struct iio_mount_matrix *
246 itg3200_get_mount_matrix(const struct iio_dev *indio_dev,
247 const struct iio_chan_spec *chan)
249 struct itg3200 *data = iio_priv(indio_dev);
251 return &data->orientation;
254 static const struct iio_chan_spec_ext_info itg3200_ext_info[] = {
255 IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, itg3200_get_mount_matrix),
260 { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE }
262 #define ITG3200_GYRO_CHAN(_mod) { \
263 .type = IIO_ANGL_VEL, \
265 .channel2 = IIO_MOD_ ## _mod, \
266 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
267 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
268 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
269 .address = ITG3200_REG_GYRO_ ## _mod ## OUT_H, \
270 .scan_index = ITG3200_SCAN_GYRO_ ## _mod, \
271 .scan_type = ITG3200_ST, \
272 .ext_info = itg3200_ext_info, \
275 static const struct iio_chan_spec itg3200_channels[] = {
278 .channel2 = IIO_NO_MOD,
279 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
280 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) |
281 BIT(IIO_CHAN_INFO_SCALE),
282 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
283 .address = ITG3200_REG_TEMP_OUT_H,
284 .scan_index = ITG3200_SCAN_TEMP,
285 .scan_type = ITG3200_ST,
287 ITG3200_GYRO_CHAN(X),
288 ITG3200_GYRO_CHAN(Y),
289 ITG3200_GYRO_CHAN(Z),
290 IIO_CHAN_SOFT_TIMESTAMP(ITG3200_SCAN_ELEMENTS),
293 static const struct iio_info itg3200_info = {
294 .read_raw = &itg3200_read_raw,
295 .write_raw = &itg3200_write_raw,
298 static const unsigned long itg3200_available_scan_masks[] = { 0xffffffff, 0x0 };
300 static int itg3200_probe(struct i2c_client *client,
301 const struct i2c_device_id *id)
305 struct iio_dev *indio_dev;
307 dev_dbg(&client->dev, "probe I2C dev with IRQ %i", client->irq);
309 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
313 st = iio_priv(indio_dev);
315 ret = iio_read_mount_matrix(&client->dev, "mount-matrix",
320 i2c_set_clientdata(client, indio_dev);
323 indio_dev->dev.parent = &client->dev;
324 indio_dev->name = client->dev.driver->name;
325 indio_dev->channels = itg3200_channels;
326 indio_dev->num_channels = ARRAY_SIZE(itg3200_channels);
327 indio_dev->available_scan_masks = itg3200_available_scan_masks;
328 indio_dev->info = &itg3200_info;
329 indio_dev->modes = INDIO_DIRECT_MODE;
331 ret = itg3200_buffer_configure(indio_dev);
336 ret = itg3200_probe_trigger(indio_dev);
338 goto error_unconfigure_buffer;
341 ret = itg3200_initial_setup(indio_dev);
343 goto error_remove_trigger;
345 ret = iio_device_register(indio_dev);
347 goto error_remove_trigger;
351 error_remove_trigger:
353 itg3200_remove_trigger(indio_dev);
354 error_unconfigure_buffer:
355 itg3200_buffer_unconfigure(indio_dev);
359 static int itg3200_remove(struct i2c_client *client)
361 struct iio_dev *indio_dev = i2c_get_clientdata(client);
363 iio_device_unregister(indio_dev);
366 itg3200_remove_trigger(indio_dev);
368 itg3200_buffer_unconfigure(indio_dev);
373 static int __maybe_unused itg3200_suspend(struct device *dev)
375 struct iio_dev *indio_dev = dev_get_drvdata(dev);
376 struct itg3200 *st = iio_priv(indio_dev);
378 dev_dbg(&st->i2c->dev, "suspend device");
380 return itg3200_write_reg_8(indio_dev, ITG3200_REG_POWER_MANAGEMENT,
384 static int __maybe_unused itg3200_resume(struct device *dev)
386 struct iio_dev *indio_dev = dev_get_drvdata(dev);
388 return itg3200_initial_setup(indio_dev);
391 static SIMPLE_DEV_PM_OPS(itg3200_pm_ops, itg3200_suspend, itg3200_resume);
393 static const struct i2c_device_id itg3200_id[] = {
397 MODULE_DEVICE_TABLE(i2c, itg3200_id);
399 static const struct of_device_id itg3200_of_match[] = {
400 { .compatible = "invensense,itg3200" },
403 MODULE_DEVICE_TABLE(of, itg3200_of_match);
405 static struct i2c_driver itg3200_driver = {
408 .of_match_table = itg3200_of_match,
409 .pm = &itg3200_pm_ops,
411 .id_table = itg3200_id,
412 .probe = itg3200_probe,
413 .remove = itg3200_remove,
416 module_i2c_driver(itg3200_driver);
418 MODULE_AUTHOR("Christian Strobel <christian.strobel@iis.fraunhofer.de>");
419 MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver");
420 MODULE_LICENSE("GPL v2");