drivers/iio/gyro/st_gyro_core.c

   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/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>
  23
  24 #include <linux/iio/common/st_sensors.h>
  25 #include "st_gyro.h"
  26
  27 #define ST_GYRO_NUMBER_DATA_CHANNELS            3
  28
  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
  33
  34 /* FULLSCALE */
  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
  39
  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)
  54 };
  55
  56 static const struct st_sensor_settings st_gyro_sensors_settings[] = {
  57         {
  58                 .wai = 0xd3,
  59                 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
  60                 .sensors_supported = {
  61                         [0] = L3G4200D_GYRO_DEV_NAME,
  62                         [1] = LSM330DL_GYRO_DEV_NAME,
  63                 },
  64                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
  65                 .odr = {
  66                         .addr = 0x20,
  67                         .mask = 0xc0,
  68                         .odr_avl = {
  69                                 { .hz = 100, .value = 0x00, },
  70                                 { .hz = 200, .value = 0x01, },
  71                                 { .hz = 400, .value = 0x02, },
  72                                 { .hz = 800, .value = 0x03, },
  73                         },
  74                 },
  75                 .pw = {
  76                         .addr = 0x20,
  77                         .mask = 0x08,
  78                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
  79                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
  80                 },
  81                 .enable_axis = {
  82                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
  83                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
  84                 },
  85                 .fs = {
  86                         .addr = 0x23,
  87                         .mask = 0x30,
  88                         .fs_avl = {
  89                                 [0] = {
  90                                         .num = ST_GYRO_FS_AVL_250DPS,
  91                                         .value = 0x00,
  92                                         .gain = IIO_DEGREE_TO_RAD(8750),
  93                                 },
  94                                 [1] = {
  95                                         .num = ST_GYRO_FS_AVL_500DPS,
  96                                         .value = 0x01,
  97                                         .gain = IIO_DEGREE_TO_RAD(17500),
  98                                 },
  99                                 [2] = {
 100                                         .num = ST_GYRO_FS_AVL_2000DPS,
 101                                         .value = 0x02,
 102                                         .gain = IIO_DEGREE_TO_RAD(70000),
 103                                 },
 104                         },
 105                 },
 106                 .bdu = {
 107                         .addr = 0x23,
 108                         .mask = 0x80,
 109                 },
 110                 .drdy_irq = {
 111                         .int2 = {
 112                                 .addr = 0x22,
 113                                 .mask = 0x08,
 114                         },
 115                         /*
 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.
 119                          */
 120                         .stat_drdy = {
 121                                 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
 122                                 .mask = 0x07,
 123                         },
 124                 },
 125                 .sim = {
 126                         .addr = 0x23,
 127                         .value = BIT(0),
 128                 },
 129                 .multi_read_bit = true,
 130                 .bootime = 2,
 131         },
 132         {
 133                 .wai = 0xd4,
 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,
 141                 },
 142                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 143                 .odr = {
 144                         .addr = 0x20,
 145                         .mask = 0xc0,
 146                         .odr_avl = {
 147                                 { .hz = 95, .value = 0x00, },
 148                                 { .hz = 190, .value = 0x01, },
 149                                 { .hz = 380, .value = 0x02, },
 150                                 { .hz = 760, .value = 0x03, },
 151                         },
 152                 },
 153                 .pw = {
 154                         .addr = 0x20,
 155                         .mask = 0x08,
 156                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 157                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 158                 },
 159                 .enable_axis = {
 160                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 161                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 162                 },
 163                 .fs = {
 164                         .addr = 0x23,
 165                         .mask = 0x30,
 166                         .fs_avl = {
 167                                 [0] = {
 168                                         .num = ST_GYRO_FS_AVL_250DPS,
 169                                         .value = 0x00,
 170                                         .gain = IIO_DEGREE_TO_RAD(8750),
 171                                 },
 172                                 [1] = {
 173                                         .num = ST_GYRO_FS_AVL_500DPS,
 174                                         .value = 0x01,
 175                                         .gain = IIO_DEGREE_TO_RAD(17500),
 176                                 },
 177                                 [2] = {
 178                                         .num = ST_GYRO_FS_AVL_2000DPS,
 179                                         .value = 0x02,
 180                                         .gain = IIO_DEGREE_TO_RAD(70000),
 181                                 },
 182                         },
 183                 },
 184                 .bdu = {
 185                         .addr = 0x23,
 186                         .mask = 0x80,
 187                 },
 188                 .drdy_irq = {
 189                         .int2 = {
 190                                 .addr = 0x22,
 191                                 .mask = 0x08,
 192                         },
 193                         /*
 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.
 197                          */
 198                         .stat_drdy = {
 199                                 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
 200                                 .mask = 0x07,
 201                         },
 202                 },
 203                 .sim = {
 204                         .addr = 0x23,
 205                         .value = BIT(0),
 206                 },
 207                 .multi_read_bit = true,
 208                 .bootime = 2,
 209         },
 210         {
 211                 .wai = 0xd4,
 212                 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
 213                 .sensors_supported = {
 214                         [0] = LSM9DS0_GYRO_DEV_NAME,
 215                 },
 216                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 217                 .odr = {
 218                         .addr = 0x20,
 219                         .mask = GENMASK(7, 6),
 220                         .odr_avl = {
 221                                 { .hz = 95, .value = 0x00, },
 222                                 { .hz = 190, .value = 0x01, },
 223                                 { .hz = 380, .value = 0x02, },
 224                                 { .hz = 760, .value = 0x03, },
 225                         },
 226                 },
 227                 .pw = {
 228                         .addr = 0x20,
 229                         .mask = BIT(3),
 230                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 231                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 232                 },
 233                 .enable_axis = {
 234                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 235                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 236                 },
 237                 .fs = {
 238                         .addr = 0x23,
 239                         .mask = GENMASK(5, 4),
 240                         .fs_avl = {
 241                                 [0] = {
 242                                         .num = ST_GYRO_FS_AVL_245DPS,
 243                                         .value = 0x00,
 244                                         .gain = IIO_DEGREE_TO_RAD(8750),
 245                                 },
 246                                 [1] = {
 247                                         .num = ST_GYRO_FS_AVL_500DPS,
 248                                         .value = 0x01,
 249                                         .gain = IIO_DEGREE_TO_RAD(17500),
 250                                 },
 251                                 [2] = {
 252                                         .num = ST_GYRO_FS_AVL_2000DPS,
 253                                         .value = 0x02,
 254                                         .gain = IIO_DEGREE_TO_RAD(70000),
 255                                 },
 256                         },
 257                 },
 258                 .bdu = {
 259                         .addr = 0x23,
 260                         .mask = BIT(7),
 261                 },
 262                 .drdy_irq = {
 263                         .int2 = {
 264                                 .addr = 0x22,
 265                                 .mask = BIT(3),
 266                         },
 267                         /*
 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.
 271                          */
 272                         .stat_drdy = {
 273                                 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
 274                                 .mask = GENMASK(2, 0),
 275                         },
 276                 },
 277                 .sim = {
 278                         .addr = 0x23,
 279                         .value = BIT(0),
 280                 },
 281                 .multi_read_bit = true,
 282                 .bootime = 2,
 283         },
 284         {
 285                 .wai = 0xd7,
 286                 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
 287                 .sensors_supported = {
 288                         [0] = L3GD20H_GYRO_DEV_NAME,
 289                 },
 290                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 291                 .odr = {
 292                         .addr = 0x20,
 293                         .mask = 0xc0,
 294                         .odr_avl = {
 295                                 { .hz = 100, .value = 0x00, },
 296                                 { .hz = 200, .value = 0x01, },
 297                                 { .hz = 400, .value = 0x02, },
 298                                 { .hz = 800, .value = 0x03, },
 299                         },
 300                 },
 301                 .pw = {
 302                         .addr = 0x20,
 303                         .mask = 0x08,
 304                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 305                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 306                 },
 307                 .enable_axis = {
 308                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 309                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 310                 },
 311                 .fs = {
 312                         .addr = 0x23,
 313                         .mask = 0x30,
 314                         .fs_avl = {
 315                                 [0] = {
 316                                         .num = ST_GYRO_FS_AVL_245DPS,
 317                                         .value = 0x00,
 318                                         .gain = IIO_DEGREE_TO_RAD(8750),
 319                                 },
 320                                 [1] = {
 321                                         .num = ST_GYRO_FS_AVL_500DPS,
 322                                         .value = 0x01,
 323                                         .gain = IIO_DEGREE_TO_RAD(17500),
 324                                 },
 325                                 [2] = {
 326                                         .num = ST_GYRO_FS_AVL_2000DPS,
 327                                         .value = 0x02,
 328                                         .gain = IIO_DEGREE_TO_RAD(70000),
 329                                 },
 330                         },
 331                 },
 332                 .bdu = {
 333                         .addr = 0x23,
 334                         .mask = 0x80,
 335                 },
 336                 .drdy_irq = {
 337                         .int2 = {
 338                                 .addr = 0x22,
 339                                 .mask = 0x08,
 340                         },
 341                         /*
 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.
 345                          */
 346                         .stat_drdy = {
 347                                 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
 348                                 .mask = 0x07,
 349                         },
 350                 },
 351                 .sim = {
 352                         .addr = 0x23,
 353                         .value = BIT(0),
 354                 },
 355                 .multi_read_bit = true,
 356                 .bootime = 2,
 357         },
 358 };
 359
 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)
 363 {
 364         int err;
 365         struct st_sensor_data *gdata = iio_priv(indio_dev);
 366
 367         switch (mask) {
 368         case IIO_CHAN_INFO_RAW:
 369                 err = st_sensors_read_info_raw(indio_dev, ch, val);
 370                 if (err < 0)
 371                         goto read_error;
 372
 373                 return IIO_VAL_INT;
 374         case IIO_CHAN_INFO_SCALE:
 375                 *val = 0;
 376                 *val2 = gdata->current_fullscale->gain;
 377                 return IIO_VAL_INT_PLUS_MICRO;
 378         case IIO_CHAN_INFO_SAMP_FREQ:
 379                 *val = gdata->odr;
 380                 return IIO_VAL_INT;
 381         default:
 382                 return -EINVAL;
 383         }
 384
 385 read_error:
 386         return err;
 387 }
 388
 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)
 391 {
 392         int err;
 393
 394         switch (mask) {
 395         case IIO_CHAN_INFO_SCALE:
 396                 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
 397                 break;
 398         case IIO_CHAN_INFO_SAMP_FREQ:
 399                 if (val2)
 400                         return -EINVAL;
 401                 mutex_lock(&indio_dev->mlock);
 402                 err = st_sensors_set_odr(indio_dev, val);
 403                 mutex_unlock(&indio_dev->mlock);
 404                 return err;
 405         default:
 406                 err = -EINVAL;
 407         }
 408
 409         return err;
 410 }
 411
 412 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
 413 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
 414
 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,
 418         NULL,
 419 };
 420
 421 static const struct attribute_group st_gyro_attribute_group = {
 422         .attrs = st_gyro_attributes,
 423 };
 424
 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,
 430 };
 431
 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,
 436 };
 437 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
 438 #else
 439 #define ST_GYRO_TRIGGER_OPS NULL
 440 #endif
 441
 442 /*
 443  * st_gyro_get_settings() - get sensor settings from device name
 444  * @name: device name buffer reference.
 445  *
 446  * Return: valid reference on success, NULL otherwise.
 447  */
 448 const struct st_sensor_settings *st_gyro_get_settings(const char *name)
 449 {
 450         int index = st_sensors_get_settings_index(name,
 451                                         st_gyro_sensors_settings,
 452                                         ARRAY_SIZE(st_gyro_sensors_settings));
 453         if (index < 0)
 454                 return NULL;
 455
 456         return &st_gyro_sensors_settings[index];
 457 }
 458 EXPORT_SYMBOL(st_gyro_get_settings);
 459
 460 int st_gyro_common_probe(struct iio_dev *indio_dev)
 461 {
 462         struct st_sensor_data *gdata = iio_priv(indio_dev);
 463         struct st_sensors_platform_data *pdata;
 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 = &gdata->sensor_settings->fs.fs_avl[0];
 482         gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
 483
 484         pdata = (struct st_sensors_platform_data *)&gyro_pdata;
 485
 486         err = st_sensors_init_sensor(indio_dev, 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
 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");