2 * STMicroelectronics gyroscopes driver
4 * Copyright 2012-2013 STMicroelectronics Inc.
6 * Denis Ciocca <denis.ciocca@st.com>
8 * Licensed under the GPL-2.
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>
27 #include <linux/iio/common/st_sensors.h>
30 #define ST_GYRO_NUMBER_DATA_CHANNELS 3
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
38 #define ST_GYRO_FS_AVL_245DPS 245
39 #define ST_GYRO_FS_AVL_250DPS 250
40 #define ST_GYRO_FS_AVL_500DPS 500
41 #define ST_GYRO_FS_AVL_2000DPS 2000
43 static const struct iio_chan_spec st_gyro_16bit_channels[] = {
44 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
45 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
46 ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
47 ST_GYRO_DEFAULT_OUT_X_L_ADDR),
48 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
49 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
50 ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
51 ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
52 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
53 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
54 ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
55 ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
56 IIO_CHAN_SOFT_TIMESTAMP(3)
59 static const struct st_sensor_settings st_gyro_sensors_settings[] = {
62 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
63 .sensors_supported = {
64 [0] = L3G4200D_GYRO_DEV_NAME,
65 [1] = LSM330DL_GYRO_DEV_NAME,
67 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
72 { .hz = 100, .value = 0x00, },
73 { .hz = 200, .value = 0x01, },
74 { .hz = 400, .value = 0x02, },
75 { .hz = 800, .value = 0x03, },
81 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
82 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
85 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
86 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
93 .num = ST_GYRO_FS_AVL_250DPS,
95 .gain = IIO_DEGREE_TO_RAD(8750),
98 .num = ST_GYRO_FS_AVL_500DPS,
100 .gain = IIO_DEGREE_TO_RAD(17500),
103 .num = ST_GYRO_FS_AVL_2000DPS,
105 .gain = IIO_DEGREE_TO_RAD(70000),
119 * The sensor has IHL (active low) and open
120 * drain settings, but only for INT1 and not
121 * for the DRDY line on INT2.
124 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
132 .multi_read_bit = true,
137 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
138 .sensors_supported = {
139 [0] = L3GD20_GYRO_DEV_NAME,
140 [1] = LSM330D_GYRO_DEV_NAME,
141 [2] = LSM330DLC_GYRO_DEV_NAME,
142 [3] = L3G4IS_GYRO_DEV_NAME,
143 [4] = LSM330_GYRO_DEV_NAME,
145 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
150 { .hz = 95, .value = 0x00, },
151 { .hz = 190, .value = 0x01, },
152 { .hz = 380, .value = 0x02, },
153 { .hz = 760, .value = 0x03, },
159 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
160 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
163 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
164 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
171 .num = ST_GYRO_FS_AVL_250DPS,
173 .gain = IIO_DEGREE_TO_RAD(8750),
176 .num = ST_GYRO_FS_AVL_500DPS,
178 .gain = IIO_DEGREE_TO_RAD(17500),
181 .num = ST_GYRO_FS_AVL_2000DPS,
183 .gain = IIO_DEGREE_TO_RAD(70000),
197 * The sensor has IHL (active low) and open
198 * drain settings, but only for INT1 and not
199 * for the DRDY line on INT2.
202 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
210 .multi_read_bit = true,
215 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
216 .sensors_supported = {
217 [0] = LSM9DS0_GYRO_DEV_NAME,
219 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
222 .mask = GENMASK(7, 6),
224 { .hz = 95, .value = 0x00, },
225 { .hz = 190, .value = 0x01, },
226 { .hz = 380, .value = 0x02, },
227 { .hz = 760, .value = 0x03, },
233 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
234 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
237 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
238 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
242 .mask = GENMASK(5, 4),
245 .num = ST_GYRO_FS_AVL_245DPS,
247 .gain = IIO_DEGREE_TO_RAD(8750),
250 .num = ST_GYRO_FS_AVL_500DPS,
252 .gain = IIO_DEGREE_TO_RAD(17500),
255 .num = ST_GYRO_FS_AVL_2000DPS,
257 .gain = IIO_DEGREE_TO_RAD(70000),
271 * The sensor has IHL (active low) and open
272 * drain settings, but only for INT1 and not
273 * for the DRDY line on INT2.
276 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
277 .mask = GENMASK(2, 0),
284 .multi_read_bit = true,
289 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
290 .sensors_supported = {
291 [0] = L3GD20H_GYRO_DEV_NAME,
293 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
298 { .hz = 100, .value = 0x00, },
299 { .hz = 200, .value = 0x01, },
300 { .hz = 400, .value = 0x02, },
301 { .hz = 800, .value = 0x03, },
307 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
308 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
311 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
312 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
319 .num = ST_GYRO_FS_AVL_245DPS,
321 .gain = IIO_DEGREE_TO_RAD(8750),
324 .num = ST_GYRO_FS_AVL_500DPS,
326 .gain = IIO_DEGREE_TO_RAD(17500),
329 .num = ST_GYRO_FS_AVL_2000DPS,
331 .gain = IIO_DEGREE_TO_RAD(70000),
345 * The sensor has IHL (active low) and open
346 * drain settings, but only for INT1 and not
347 * for the DRDY line on INT2.
350 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
358 .multi_read_bit = true,
363 static int st_gyro_read_raw(struct iio_dev *indio_dev,
364 struct iio_chan_spec const *ch, int *val,
365 int *val2, long mask)
368 struct st_sensor_data *gdata = iio_priv(indio_dev);
371 case IIO_CHAN_INFO_RAW:
372 err = st_sensors_read_info_raw(indio_dev, ch, val);
377 case IIO_CHAN_INFO_SCALE:
379 *val2 = gdata->current_fullscale->gain;
380 return IIO_VAL_INT_PLUS_MICRO;
381 case IIO_CHAN_INFO_SAMP_FREQ:
392 static int st_gyro_write_raw(struct iio_dev *indio_dev,
393 struct iio_chan_spec const *chan, int val, int val2, long mask)
398 case IIO_CHAN_INFO_SCALE:
399 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
401 case IIO_CHAN_INFO_SAMP_FREQ:
404 mutex_lock(&indio_dev->mlock);
405 err = st_sensors_set_odr(indio_dev, val);
406 mutex_unlock(&indio_dev->mlock);
415 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
416 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
418 static struct attribute *st_gyro_attributes[] = {
419 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
420 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
424 static const struct attribute_group st_gyro_attribute_group = {
425 .attrs = st_gyro_attributes,
428 static const struct iio_info gyro_info = {
429 .attrs = &st_gyro_attribute_group,
430 .read_raw = &st_gyro_read_raw,
431 .write_raw = &st_gyro_write_raw,
432 .debugfs_reg_access = &st_sensors_debugfs_reg_access,
435 #ifdef CONFIG_IIO_TRIGGER
436 static const struct iio_trigger_ops st_gyro_trigger_ops = {
437 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
438 .validate_device = st_sensors_validate_device,
440 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
442 #define ST_GYRO_TRIGGER_OPS NULL
445 int st_gyro_common_probe(struct iio_dev *indio_dev)
447 struct st_sensor_data *gdata = iio_priv(indio_dev);
448 int irq = gdata->get_irq_data_ready(indio_dev);
451 indio_dev->modes = INDIO_DIRECT_MODE;
452 indio_dev->info = &gyro_info;
453 mutex_init(&gdata->tb.buf_lock);
455 err = st_sensors_power_enable(indio_dev);
459 err = st_sensors_check_device_support(indio_dev,
460 ARRAY_SIZE(st_gyro_sensors_settings),
461 st_gyro_sensors_settings);
463 goto st_gyro_power_off;
465 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
466 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
467 indio_dev->channels = gdata->sensor_settings->ch;
468 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
470 gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
471 &gdata->sensor_settings->fs.fs_avl[0];
472 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
474 err = st_sensors_init_sensor(indio_dev,
475 (struct st_sensors_platform_data *)&gyro_pdata);
477 goto st_gyro_power_off;
479 err = st_gyro_allocate_ring(indio_dev);
481 goto st_gyro_power_off;
484 err = st_sensors_allocate_trigger(indio_dev,
485 ST_GYRO_TRIGGER_OPS);
487 goto st_gyro_probe_trigger_error;
490 err = iio_device_register(indio_dev);
492 goto st_gyro_device_register_error;
494 dev_info(&indio_dev->dev, "registered gyroscope %s\n",
499 st_gyro_device_register_error:
501 st_sensors_deallocate_trigger(indio_dev);
502 st_gyro_probe_trigger_error:
503 st_gyro_deallocate_ring(indio_dev);
505 st_sensors_power_disable(indio_dev);
509 EXPORT_SYMBOL(st_gyro_common_probe);
511 void st_gyro_common_remove(struct iio_dev *indio_dev)
513 struct st_sensor_data *gdata = iio_priv(indio_dev);
515 st_sensors_power_disable(indio_dev);
517 iio_device_unregister(indio_dev);
518 if (gdata->get_irq_data_ready(indio_dev) > 0)
519 st_sensors_deallocate_trigger(indio_dev);
521 st_gyro_deallocate_ring(indio_dev);
523 EXPORT_SYMBOL(st_gyro_common_remove);
525 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
526 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
527 MODULE_LICENSE("GPL v2");