drivers/iio/gyro/st_gyro_core.c

   1 /*
   2  * STMicroelectronics gyroscopes driver
   3  *
   4  * Copyright 2012-2013 STMicroelectronics Inc.
   5  *
   6  * Denis Ciocca <denis.ciocca@st.com>
   7  *
   8  * Licensed under the GPL-2.
   9  */
  10
  11 #include <linux/kernel.h>
  12 #include <linux/module.h>
  13 #include <linux/slab.h>
  14 #include <linux/errno.h>
  15 #include <linux/types.h>
  16 #include <linux/mutex.h>
  17 #include <linux/interrupt.h>
  18 #include <linux/i2c.h>
  19 #include <linux/gpio.h>
  20 #include <linux/irq.h>
  21 #include <linux/delay.h>
  22 #include <linux/iio/iio.h>
  23 #include <linux/iio/sysfs.h>
  24 #include <linux/iio/trigger.h>
  25 #include <linux/iio/buffer.h>
  26
  27 #include <linux/iio/common/st_sensors.h>
  28 #include "st_gyro.h"
  29
  30 #define ST_GYRO_NUMBER_DATA_CHANNELS            3
  31
  32 /* DEFAULT VALUE FOR SENSORS */
  33 #define ST_GYRO_DEFAULT_OUT_X_L_ADDR            0x28
  34 #define ST_GYRO_DEFAULT_OUT_Y_L_ADDR            0x2a
  35 #define ST_GYRO_DEFAULT_OUT_Z_L_ADDR            0x2c
  36
  37 /* FULLSCALE */
  38 #define ST_GYRO_FS_AVL_250DPS                   250
  39 #define ST_GYRO_FS_AVL_500DPS                   500
  40 #define ST_GYRO_FS_AVL_2000DPS                  2000
  41
  42 /* CUSTOM VALUES FOR SENSOR 1 */
  43 #define ST_GYRO_1_WAI_EXP                       0xd3
  44 #define ST_GYRO_1_ODR_ADDR                      0x20
  45 #define ST_GYRO_1_ODR_MASK                      0xc0
  46 #define ST_GYRO_1_ODR_AVL_100HZ_VAL             0x00
  47 #define ST_GYRO_1_ODR_AVL_200HZ_VAL             0x01
  48 #define ST_GYRO_1_ODR_AVL_400HZ_VAL             0x02
  49 #define ST_GYRO_1_ODR_AVL_800HZ_VAL             0x03
  50 #define ST_GYRO_1_PW_ADDR                       0x20
  51 #define ST_GYRO_1_PW_MASK                       0x08
  52 #define ST_GYRO_1_FS_ADDR                       0x23
  53 #define ST_GYRO_1_FS_MASK                       0x30
  54 #define ST_GYRO_1_FS_AVL_250_VAL                0x00
  55 #define ST_GYRO_1_FS_AVL_500_VAL                0x01
  56 #define ST_GYRO_1_FS_AVL_2000_VAL               0x02
  57 #define ST_GYRO_1_FS_AVL_250_GAIN               IIO_DEGREE_TO_RAD(8750)
  58 #define ST_GYRO_1_FS_AVL_500_GAIN               IIO_DEGREE_TO_RAD(17500)
  59 #define ST_GYRO_1_FS_AVL_2000_GAIN              IIO_DEGREE_TO_RAD(70000)
  60 #define ST_GYRO_1_BDU_ADDR                      0x23
  61 #define ST_GYRO_1_BDU_MASK                      0x80
  62 #define ST_GYRO_1_DRDY_IRQ_ADDR                 0x22
  63 #define ST_GYRO_1_DRDY_IRQ_INT2_MASK            0x08
  64 #define ST_GYRO_1_MULTIREAD_BIT                 true
  65
  66 /* CUSTOM VALUES FOR SENSOR 2 */
  67 #define ST_GYRO_2_WAI_EXP                       0xd4
  68 #define ST_GYRO_2_ODR_ADDR                      0x20
  69 #define ST_GYRO_2_ODR_MASK                      0xc0
  70 #define ST_GYRO_2_ODR_AVL_95HZ_VAL              0x00
  71 #define ST_GYRO_2_ODR_AVL_190HZ_VAL             0x01
  72 #define ST_GYRO_2_ODR_AVL_380HZ_VAL             0x02
  73 #define ST_GYRO_2_ODR_AVL_760HZ_VAL             0x03
  74 #define ST_GYRO_2_PW_ADDR                       0x20
  75 #define ST_GYRO_2_PW_MASK                       0x08
  76 #define ST_GYRO_2_FS_ADDR                       0x23
  77 #define ST_GYRO_2_FS_MASK                       0x30
  78 #define ST_GYRO_2_FS_AVL_250_VAL                0x00
  79 #define ST_GYRO_2_FS_AVL_500_VAL                0x01
  80 #define ST_GYRO_2_FS_AVL_2000_VAL               0x02
  81 #define ST_GYRO_2_FS_AVL_250_GAIN               IIO_DEGREE_TO_RAD(8750)
  82 #define ST_GYRO_2_FS_AVL_500_GAIN               IIO_DEGREE_TO_RAD(17500)
  83 #define ST_GYRO_2_FS_AVL_2000_GAIN              IIO_DEGREE_TO_RAD(70000)
  84 #define ST_GYRO_2_BDU_ADDR                      0x23
  85 #define ST_GYRO_2_BDU_MASK                      0x80
  86 #define ST_GYRO_2_DRDY_IRQ_ADDR                 0x22
  87 #define ST_GYRO_2_DRDY_IRQ_INT2_MASK            0x08
  88 #define ST_GYRO_2_MULTIREAD_BIT                 true
  89
  90 /* CUSTOM VALUES FOR SENSOR 3 */
  91 #define ST_GYRO_3_WAI_EXP                       0xd7
  92 #define ST_GYRO_3_ODR_ADDR                      0x20
  93 #define ST_GYRO_3_ODR_MASK                      0xc0
  94 #define ST_GYRO_3_ODR_AVL_95HZ_VAL              0x00
  95 #define ST_GYRO_3_ODR_AVL_190HZ_VAL             0x01
  96 #define ST_GYRO_3_ODR_AVL_380HZ_VAL             0x02
  97 #define ST_GYRO_3_ODR_AVL_760HZ_VAL             0x03
  98 #define ST_GYRO_3_PW_ADDR                       0x20
  99 #define ST_GYRO_3_PW_MASK                       0x08
 100 #define ST_GYRO_3_FS_ADDR                       0x23
 101 #define ST_GYRO_3_FS_MASK                       0x30
 102 #define ST_GYRO_3_FS_AVL_250_VAL                0x00
 103 #define ST_GYRO_3_FS_AVL_500_VAL                0x01
 104 #define ST_GYRO_3_FS_AVL_2000_VAL               0x02
 105 #define ST_GYRO_3_FS_AVL_250_GAIN               IIO_DEGREE_TO_RAD(8750)
 106 #define ST_GYRO_3_FS_AVL_500_GAIN               IIO_DEGREE_TO_RAD(17500)
 107 #define ST_GYRO_3_FS_AVL_2000_GAIN              IIO_DEGREE_TO_RAD(70000)
 108 #define ST_GYRO_3_BDU_ADDR                      0x23
 109 #define ST_GYRO_3_BDU_MASK                      0x80
 110 #define ST_GYRO_3_DRDY_IRQ_ADDR                 0x22
 111 #define ST_GYRO_3_DRDY_IRQ_INT2_MASK            0x08
 112 #define ST_GYRO_3_MULTIREAD_BIT                 true
 113
 114
 115 static const struct iio_chan_spec st_gyro_16bit_channels[] = {
 116         ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
 117                         BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
 118                         ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
 119                         ST_GYRO_DEFAULT_OUT_X_L_ADDR),
 120         ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
 121                         BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
 122                         ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
 123                         ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
 124         ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
 125                         BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
 126                         ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
 127                         ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
 128         IIO_CHAN_SOFT_TIMESTAMP(3)
 129 };
 130
 131 static const struct st_sensor_settings st_gyro_sensors_settings[] = {
 132         {
 133                 .wai = ST_GYRO_1_WAI_EXP,
 134                 .sensors_supported = {
 135                         [0] = L3G4200D_GYRO_DEV_NAME,
 136                         [1] = LSM330DL_GYRO_DEV_NAME,
 137                 },
 138                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 139                 .odr = {
 140                         .addr = ST_GYRO_1_ODR_ADDR,
 141                         .mask = ST_GYRO_1_ODR_MASK,
 142                         .odr_avl = {
 143                                 { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, },
 144                                 { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, },
 145                                 { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, },
 146                                 { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, },
 147                         },
 148                 },
 149                 .pw = {
 150                         .addr = ST_GYRO_1_PW_ADDR,
 151                         .mask = ST_GYRO_1_PW_MASK,
 152                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 153                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 154                 },
 155                 .enable_axis = {
 156                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 157                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 158                 },
 159                 .fs = {
 160                         .addr = ST_GYRO_1_FS_ADDR,
 161                         .mask = ST_GYRO_1_FS_MASK,
 162                         .fs_avl = {
 163                                 [0] = {
 164                                         .num = ST_GYRO_FS_AVL_250DPS,
 165                                         .value = ST_GYRO_1_FS_AVL_250_VAL,
 166                                         .gain = ST_GYRO_1_FS_AVL_250_GAIN,
 167                                 },
 168                                 [1] = {
 169                                         .num = ST_GYRO_FS_AVL_500DPS,
 170                                         .value = ST_GYRO_1_FS_AVL_500_VAL,
 171                                         .gain = ST_GYRO_1_FS_AVL_500_GAIN,
 172                                 },
 173                                 [2] = {
 174                                         .num = ST_GYRO_FS_AVL_2000DPS,
 175                                         .value = ST_GYRO_1_FS_AVL_2000_VAL,
 176                                         .gain = ST_GYRO_1_FS_AVL_2000_GAIN,
 177                                 },
 178                         },
 179                 },
 180                 .bdu = {
 181                         .addr = ST_GYRO_1_BDU_ADDR,
 182                         .mask = ST_GYRO_1_BDU_MASK,
 183                 },
 184                 .drdy_irq = {
 185                         .addr = ST_GYRO_1_DRDY_IRQ_ADDR,
 186                         .mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK,
 187                 },
 188                 .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT,
 189                 .bootime = 2,
 190         },
 191         {
 192                 .wai = ST_GYRO_2_WAI_EXP,
 193                 .sensors_supported = {
 194                         [0] = L3GD20_GYRO_DEV_NAME,
 195                         [1] = LSM330D_GYRO_DEV_NAME,
 196                         [2] = LSM330DLC_GYRO_DEV_NAME,
 197                         [3] = L3G4IS_GYRO_DEV_NAME,
 198                         [4] = LSM330_GYRO_DEV_NAME,
 199                 },
 200                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 201                 .odr = {
 202                         .addr = ST_GYRO_2_ODR_ADDR,
 203                         .mask = ST_GYRO_2_ODR_MASK,
 204                         .odr_avl = {
 205                                 { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, },
 206                                 { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, },
 207                                 { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, },
 208                                 { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, },
 209                         },
 210                 },
 211                 .pw = {
 212                         .addr = ST_GYRO_2_PW_ADDR,
 213                         .mask = ST_GYRO_2_PW_MASK,
 214                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 215                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 216                 },
 217                 .enable_axis = {
 218                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 219                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 220                 },
 221                 .fs = {
 222                         .addr = ST_GYRO_2_FS_ADDR,
 223                         .mask = ST_GYRO_2_FS_MASK,
 224                         .fs_avl = {
 225                                 [0] = {
 226                                         .num = ST_GYRO_FS_AVL_250DPS,
 227                                         .value = ST_GYRO_2_FS_AVL_250_VAL,
 228                                         .gain = ST_GYRO_2_FS_AVL_250_GAIN,
 229                                 },
 230                                 [1] = {
 231                                         .num = ST_GYRO_FS_AVL_500DPS,
 232                                         .value = ST_GYRO_2_FS_AVL_500_VAL,
 233                                         .gain = ST_GYRO_2_FS_AVL_500_GAIN,
 234                                 },
 235                                 [2] = {
 236                                         .num = ST_GYRO_FS_AVL_2000DPS,
 237                                         .value = ST_GYRO_2_FS_AVL_2000_VAL,
 238                                         .gain = ST_GYRO_2_FS_AVL_2000_GAIN,
 239                                 },
 240                         },
 241                 },
 242                 .bdu = {
 243                         .addr = ST_GYRO_2_BDU_ADDR,
 244                         .mask = ST_GYRO_2_BDU_MASK,
 245                 },
 246                 .drdy_irq = {
 247                         .addr = ST_GYRO_2_DRDY_IRQ_ADDR,
 248                         .mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK,
 249                 },
 250                 .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT,
 251                 .bootime = 2,
 252         },
 253         {
 254                 .wai = ST_GYRO_3_WAI_EXP,
 255                 .sensors_supported = {
 256                         [0] = L3GD20_GYRO_DEV_NAME,
 257                 },
 258                 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
 259                 .odr = {
 260                         .addr = ST_GYRO_3_ODR_ADDR,
 261                         .mask = ST_GYRO_3_ODR_MASK,
 262                         .odr_avl = {
 263                                 { 95, ST_GYRO_3_ODR_AVL_95HZ_VAL, },
 264                                 { 190, ST_GYRO_3_ODR_AVL_190HZ_VAL, },
 265                                 { 380, ST_GYRO_3_ODR_AVL_380HZ_VAL, },
 266                                 { 760, ST_GYRO_3_ODR_AVL_760HZ_VAL, },
 267                         },
 268                 },
 269                 .pw = {
 270                         .addr = ST_GYRO_3_PW_ADDR,
 271                         .mask = ST_GYRO_3_PW_MASK,
 272                         .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
 273                         .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
 274                 },
 275                 .enable_axis = {
 276                         .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
 277                         .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
 278                 },
 279                 .fs = {
 280                         .addr = ST_GYRO_3_FS_ADDR,
 281                         .mask = ST_GYRO_3_FS_MASK,
 282                         .fs_avl = {
 283                                 [0] = {
 284                                         .num = ST_GYRO_FS_AVL_250DPS,
 285                                         .value = ST_GYRO_3_FS_AVL_250_VAL,
 286                                         .gain = ST_GYRO_3_FS_AVL_250_GAIN,
 287                                 },
 288                                 [1] = {
 289                                         .num = ST_GYRO_FS_AVL_500DPS,
 290                                         .value = ST_GYRO_3_FS_AVL_500_VAL,
 291                                         .gain = ST_GYRO_3_FS_AVL_500_GAIN,
 292                                 },
 293                                 [2] = {
 294                                         .num = ST_GYRO_FS_AVL_2000DPS,
 295                                         .value = ST_GYRO_3_FS_AVL_2000_VAL,
 296                                         .gain = ST_GYRO_3_FS_AVL_2000_GAIN,
 297                                 },
 298                         },
 299                 },
 300                 .bdu = {
 301                         .addr = ST_GYRO_3_BDU_ADDR,
 302                         .mask = ST_GYRO_3_BDU_MASK,
 303                 },
 304                 .drdy_irq = {
 305                         .addr = ST_GYRO_3_DRDY_IRQ_ADDR,
 306                         .mask_int2 = ST_GYRO_3_DRDY_IRQ_INT2_MASK,
 307                 },
 308                 .multi_read_bit = ST_GYRO_3_MULTIREAD_BIT,
 309                 .bootime = 2,
 310         },
 311 };
 312
 313 static int st_gyro_read_raw(struct iio_dev *indio_dev,
 314                         struct iio_chan_spec const *ch, int *val,
 315                                                         int *val2, long mask)
 316 {
 317         int err;
 318         struct st_sensor_data *gdata = iio_priv(indio_dev);
 319
 320         switch (mask) {
 321         case IIO_CHAN_INFO_RAW:
 322                 err = st_sensors_read_info_raw(indio_dev, ch, val);
 323                 if (err < 0)
 324                         goto read_error;
 325
 326                 return IIO_VAL_INT;
 327         case IIO_CHAN_INFO_SCALE:
 328                 *val = 0;
 329                 *val2 = gdata->current_fullscale->gain;
 330                 return IIO_VAL_INT_PLUS_MICRO;
 331         case IIO_CHAN_INFO_SAMP_FREQ:
 332                 *val = gdata->odr;
 333                 return IIO_VAL_INT;
 334         default:
 335                 return -EINVAL;
 336         }
 337
 338 read_error:
 339         return err;
 340 }
 341
 342 static int st_gyro_write_raw(struct iio_dev *indio_dev,
 343                 struct iio_chan_spec const *chan, int val, int val2, long mask)
 344 {
 345         int err;
 346
 347         switch (mask) {
 348         case IIO_CHAN_INFO_SCALE:
 349                 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
 350                 break;
 351         case IIO_CHAN_INFO_SAMP_FREQ:
 352                 if (val2)
 353                         return -EINVAL;
 354                 mutex_lock(&indio_dev->mlock);
 355                 err = st_sensors_set_odr(indio_dev, val);
 356                 mutex_unlock(&indio_dev->mlock);
 357                 return err;
 358         default:
 359                 err = -EINVAL;
 360         }
 361
 362         return err;
 363 }
 364
 365 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
 366 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
 367
 368 static struct attribute *st_gyro_attributes[] = {
 369         &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
 370         &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
 371         NULL,
 372 };
 373
 374 static const struct attribute_group st_gyro_attribute_group = {
 375         .attrs = st_gyro_attributes,
 376 };
 377
 378 static const struct iio_info gyro_info = {
 379         .driver_module = THIS_MODULE,
 380         .attrs = &st_gyro_attribute_group,
 381         .read_raw = &st_gyro_read_raw,
 382         .write_raw = &st_gyro_write_raw,
 383 };
 384
 385 #ifdef CONFIG_IIO_TRIGGER
 386 static const struct iio_trigger_ops st_gyro_trigger_ops = {
 387         .owner = THIS_MODULE,
 388         .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
 389 };
 390 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
 391 #else
 392 #define ST_GYRO_TRIGGER_OPS NULL
 393 #endif
 394
 395 int st_gyro_common_probe(struct iio_dev *indio_dev)
 396 {
 397         struct st_sensor_data *gdata = iio_priv(indio_dev);
 398         int irq = gdata->get_irq_data_ready(indio_dev);
 399         int err;
 400
 401         indio_dev->modes = INDIO_DIRECT_MODE;
 402         indio_dev->info = &gyro_info;
 403         mutex_init(&gdata->tb.buf_lock);
 404
 405         st_sensors_power_enable(indio_dev);
 406
 407         err = st_sensors_check_device_support(indio_dev,
 408                                         ARRAY_SIZE(st_gyro_sensors_settings),
 409                                         st_gyro_sensors_settings);
 410         if (err < 0)
 411                 return err;
 412
 413         gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
 414         gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
 415         indio_dev->channels = gdata->sensor_settings->ch;
 416         indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
 417
 418         gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
 419                                         &gdata->sensor_settings->fs.fs_avl[0];
 420         gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
 421
 422         err = st_sensors_init_sensor(indio_dev,
 423                                 (struct st_sensors_platform_data *)&gyro_pdata);
 424         if (err < 0)
 425                 return err;
 426
 427         err = st_gyro_allocate_ring(indio_dev);
 428         if (err < 0)
 429                 return err;
 430
 431         if (irq > 0) {
 432                 err = st_sensors_allocate_trigger(indio_dev,
 433                                                   ST_GYRO_TRIGGER_OPS);
 434                 if (err < 0)
 435                         goto st_gyro_probe_trigger_error;
 436         }
 437
 438         err = iio_device_register(indio_dev);
 439         if (err)
 440                 goto st_gyro_device_register_error;
 441
 442         dev_info(&indio_dev->dev, "registered gyroscope %s\n",
 443                  indio_dev->name);
 444
 445         return 0;
 446
 447 st_gyro_device_register_error:
 448         if (irq > 0)
 449                 st_sensors_deallocate_trigger(indio_dev);
 450 st_gyro_probe_trigger_error:
 451         st_gyro_deallocate_ring(indio_dev);
 452
 453         return err;
 454 }
 455 EXPORT_SYMBOL(st_gyro_common_probe);
 456
 457 void st_gyro_common_remove(struct iio_dev *indio_dev)
 458 {
 459         struct st_sensor_data *gdata = iio_priv(indio_dev);
 460
 461         st_sensors_power_disable(indio_dev);
 462
 463         iio_device_unregister(indio_dev);
 464         if (gdata->get_irq_data_ready(indio_dev) > 0)
 465                 st_sensors_deallocate_trigger(indio_dev);
 466
 467         st_gyro_deallocate_ring(indio_dev);
 468 }
 469 EXPORT_SYMBOL(st_gyro_common_remove);
 470
 471 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
 472 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
 473 MODULE_LICENSE("GPL v2");