1 | // SPDX-License-Identifier: GPL-2.0-only |
2 | /* |
3 | * itg3200_core.c -- support InvenSense ITG3200 |
4 | * Digital 3-Axis Gyroscope driver |
5 | * |
6 | * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de> |
7 | * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> |
8 | * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de> |
9 | * |
10 | * TODO: |
11 | * - Support digital low pass filter |
12 | * - Support power management |
13 | */ |
14 | |
15 | #include <linux/interrupt.h> |
16 | #include <linux/irq.h> |
17 | #include <linux/i2c.h> |
18 | #include <linux/slab.h> |
19 | #include <linux/stat.h> |
20 | #include <linux/module.h> |
21 | #include <linux/mutex.h> |
22 | #include <linux/delay.h> |
23 | |
24 | #include <linux/iio/iio.h> |
25 | #include <linux/iio/sysfs.h> |
26 | #include <linux/iio/events.h> |
27 | #include <linux/iio/buffer.h> |
28 | |
29 | #include <linux/iio/gyro/itg3200.h> |
30 | |
31 | |
32 | int itg3200_write_reg_8(struct iio_dev *indio_dev, |
33 | u8 reg_address, u8 val) |
34 | { |
35 | struct itg3200 *st = iio_priv(indio_dev); |
36 | |
37 | return i2c_smbus_write_byte_data(client: st->i2c, command: 0x80 | reg_address, value: val); |
38 | } |
39 | |
40 | int itg3200_read_reg_8(struct iio_dev *indio_dev, |
41 | u8 reg_address, u8 *val) |
42 | { |
43 | struct itg3200 *st = iio_priv(indio_dev); |
44 | int ret; |
45 | |
46 | ret = i2c_smbus_read_byte_data(client: st->i2c, command: reg_address); |
47 | if (ret < 0) |
48 | return ret; |
49 | *val = ret; |
50 | return 0; |
51 | } |
52 | |
53 | static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address, |
54 | int *val) |
55 | { |
56 | struct itg3200 *st = iio_priv(indio_dev); |
57 | struct i2c_client *client = st->i2c; |
58 | int ret; |
59 | s16 out; |
60 | |
61 | struct i2c_msg msg[2] = { |
62 | { |
63 | .addr = client->addr, |
64 | .flags = client->flags, |
65 | .len = 1, |
66 | .buf = (char *)&lower_reg_address, |
67 | }, |
68 | { |
69 | .addr = client->addr, |
70 | .flags = client->flags | I2C_M_RD, |
71 | .len = 2, |
72 | .buf = (char *)&out, |
73 | }, |
74 | }; |
75 | |
76 | lower_reg_address |= 0x80; |
77 | ret = i2c_transfer(adap: client->adapter, msgs: msg, num: 2); |
78 | be16_to_cpus(&out); |
79 | *val = out; |
80 | |
81 | return (ret == 2) ? 0 : ret; |
82 | } |
83 | |
84 | static int itg3200_read_raw(struct iio_dev *indio_dev, |
85 | const struct iio_chan_spec *chan, |
86 | int *val, int *val2, long info) |
87 | { |
88 | int ret = 0; |
89 | u8 reg; |
90 | u8 regval; |
91 | |
92 | switch (info) { |
93 | case IIO_CHAN_INFO_RAW: |
94 | reg = (u8)chan->address; |
95 | ret = itg3200_read_reg_s16(indio_dev, lower_reg_address: reg, val); |
96 | return IIO_VAL_INT; |
97 | case IIO_CHAN_INFO_SCALE: |
98 | *val = 0; |
99 | if (chan->type == IIO_TEMP) |
100 | *val2 = 1000000000/280; |
101 | else |
102 | *val2 = 1214142; /* (1 / 14,375) * (PI / 180) */ |
103 | return IIO_VAL_INT_PLUS_NANO; |
104 | case IIO_CHAN_INFO_OFFSET: |
105 | /* Only the temperature channel has an offset */ |
106 | *val = 23000; |
107 | return IIO_VAL_INT; |
108 | case IIO_CHAN_INFO_SAMP_FREQ: |
109 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, val: ®val); |
110 | if (ret) |
111 | return ret; |
112 | |
113 | *val = (regval & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000; |
114 | |
115 | ret = itg3200_read_reg_8(indio_dev, |
116 | ITG3200_REG_SAMPLE_RATE_DIV, |
117 | val: ®val); |
118 | if (ret) |
119 | return ret; |
120 | |
121 | *val /= regval + 1; |
122 | return IIO_VAL_INT; |
123 | |
124 | default: |
125 | return -EINVAL; |
126 | } |
127 | } |
128 | |
129 | static int itg3200_write_raw(struct iio_dev *indio_dev, |
130 | struct iio_chan_spec const *chan, |
131 | int val, |
132 | int val2, |
133 | long mask) |
134 | { |
135 | struct itg3200 *st = iio_priv(indio_dev); |
136 | int ret; |
137 | u8 t; |
138 | |
139 | switch (mask) { |
140 | case IIO_CHAN_INFO_SAMP_FREQ: |
141 | if (val == 0 || val2 != 0) |
142 | return -EINVAL; |
143 | |
144 | mutex_lock(&st->lock); |
145 | |
146 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, val: &t); |
147 | if (ret) { |
148 | mutex_unlock(lock: &st->lock); |
149 | return ret; |
150 | } |
151 | t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / val - 1; |
152 | |
153 | ret = itg3200_write_reg_8(indio_dev, |
154 | ITG3200_REG_SAMPLE_RATE_DIV, |
155 | val: t); |
156 | |
157 | mutex_unlock(lock: &st->lock); |
158 | return ret; |
159 | |
160 | default: |
161 | return -EINVAL; |
162 | } |
163 | } |
164 | |
165 | /* |
166 | * Reset device and internal registers to the power-up-default settings |
167 | * Use the gyro clock as reference, as suggested by the datasheet |
168 | */ |
169 | static int itg3200_reset(struct iio_dev *indio_dev) |
170 | { |
171 | struct itg3200 *st = iio_priv(indio_dev); |
172 | int ret; |
173 | |
174 | dev_dbg(&st->i2c->dev, "reset device" ); |
175 | |
176 | ret = itg3200_write_reg_8(indio_dev, |
177 | ITG3200_REG_POWER_MANAGEMENT, |
178 | ITG3200_RESET); |
179 | if (ret) { |
180 | dev_err(&st->i2c->dev, "error resetting device" ); |
181 | goto error_ret; |
182 | } |
183 | |
184 | /* Wait for PLL (1ms according to datasheet) */ |
185 | udelay(1500); |
186 | |
187 | ret = itg3200_write_reg_8(indio_dev, |
188 | ITG3200_REG_IRQ_CONFIG, |
189 | ITG3200_IRQ_ACTIVE_HIGH | |
190 | ITG3200_IRQ_PUSH_PULL | |
191 | ITG3200_IRQ_LATCH_50US_PULSE | |
192 | ITG3200_IRQ_LATCH_CLEAR_ANY); |
193 | |
194 | if (ret) |
195 | dev_err(&st->i2c->dev, "error init device" ); |
196 | |
197 | error_ret: |
198 | return ret; |
199 | } |
200 | |
201 | /* itg3200_enable_full_scale() - Disables the digital low pass filter */ |
202 | static int itg3200_enable_full_scale(struct iio_dev *indio_dev) |
203 | { |
204 | u8 val; |
205 | int ret; |
206 | |
207 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, val: &val); |
208 | if (ret) |
209 | goto err_ret; |
210 | |
211 | val |= ITG3200_DLPF_FS_SEL_2000; |
212 | return itg3200_write_reg_8(indio_dev, ITG3200_REG_DLPF, val); |
213 | |
214 | err_ret: |
215 | return ret; |
216 | } |
217 | |
218 | static int itg3200_initial_setup(struct iio_dev *indio_dev) |
219 | { |
220 | struct itg3200 *st = iio_priv(indio_dev); |
221 | int ret; |
222 | u8 val; |
223 | |
224 | ret = itg3200_reset(indio_dev); |
225 | if (ret) |
226 | goto err_ret; |
227 | |
228 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_ADDRESS, val: &val); |
229 | if (ret) |
230 | goto err_ret; |
231 | |
232 | if (((val >> 1) & 0x3f) != 0x34) { |
233 | dev_err(&st->i2c->dev, "invalid reg value 0x%02x" , val); |
234 | ret = -ENXIO; |
235 | goto err_ret; |
236 | } |
237 | |
238 | ret = itg3200_enable_full_scale(indio_dev); |
239 | err_ret: |
240 | return ret; |
241 | } |
242 | |
243 | static const struct iio_mount_matrix * |
244 | itg3200_get_mount_matrix(const struct iio_dev *indio_dev, |
245 | const struct iio_chan_spec *chan) |
246 | { |
247 | struct itg3200 *data = iio_priv(indio_dev); |
248 | |
249 | return &data->orientation; |
250 | } |
251 | |
252 | static const struct iio_chan_spec_ext_info itg3200_ext_info[] = { |
253 | IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, itg3200_get_mount_matrix), |
254 | { } |
255 | }; |
256 | |
257 | #define ITG3200_ST \ |
258 | { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE } |
259 | |
260 | #define ITG3200_GYRO_CHAN(_mod) { \ |
261 | .type = IIO_ANGL_VEL, \ |
262 | .modified = 1, \ |
263 | .channel2 = IIO_MOD_ ## _mod, \ |
264 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
265 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ |
266 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
267 | .address = ITG3200_REG_GYRO_ ## _mod ## OUT_H, \ |
268 | .scan_index = ITG3200_SCAN_GYRO_ ## _mod, \ |
269 | .scan_type = ITG3200_ST, \ |
270 | .ext_info = itg3200_ext_info, \ |
271 | } |
272 | |
273 | static const struct iio_chan_spec itg3200_channels[] = { |
274 | { |
275 | .type = IIO_TEMP, |
276 | .channel2 = IIO_NO_MOD, |
277 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), |
278 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) | |
279 | BIT(IIO_CHAN_INFO_SCALE), |
280 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), |
281 | .address = ITG3200_REG_TEMP_OUT_H, |
282 | .scan_index = ITG3200_SCAN_TEMP, |
283 | .scan_type = ITG3200_ST, |
284 | }, |
285 | ITG3200_GYRO_CHAN(X), |
286 | ITG3200_GYRO_CHAN(Y), |
287 | ITG3200_GYRO_CHAN(Z), |
288 | IIO_CHAN_SOFT_TIMESTAMP(ITG3200_SCAN_ELEMENTS), |
289 | }; |
290 | |
291 | static const struct iio_info itg3200_info = { |
292 | .read_raw = &itg3200_read_raw, |
293 | .write_raw = &itg3200_write_raw, |
294 | }; |
295 | |
296 | static const unsigned long itg3200_available_scan_masks[] = { 0xffffffff, 0x0 }; |
297 | |
298 | static int itg3200_probe(struct i2c_client *client) |
299 | { |
300 | int ret; |
301 | struct itg3200 *st; |
302 | struct iio_dev *indio_dev; |
303 | |
304 | dev_dbg(&client->dev, "probe I2C dev with IRQ %i" , client->irq); |
305 | |
306 | indio_dev = devm_iio_device_alloc(parent: &client->dev, sizeof_priv: sizeof(*st)); |
307 | if (!indio_dev) |
308 | return -ENOMEM; |
309 | |
310 | st = iio_priv(indio_dev); |
311 | |
312 | ret = iio_read_mount_matrix(dev: &client->dev, matrix: &st->orientation); |
313 | if (ret) |
314 | return ret; |
315 | |
316 | i2c_set_clientdata(client, data: indio_dev); |
317 | st->i2c = client; |
318 | |
319 | indio_dev->name = client->dev.driver->name; |
320 | indio_dev->channels = itg3200_channels; |
321 | indio_dev->num_channels = ARRAY_SIZE(itg3200_channels); |
322 | indio_dev->available_scan_masks = itg3200_available_scan_masks; |
323 | indio_dev->info = &itg3200_info; |
324 | indio_dev->modes = INDIO_DIRECT_MODE; |
325 | |
326 | ret = itg3200_buffer_configure(indio_dev); |
327 | if (ret) |
328 | return ret; |
329 | |
330 | if (client->irq) { |
331 | ret = itg3200_probe_trigger(indio_dev); |
332 | if (ret) |
333 | goto error_unconfigure_buffer; |
334 | } |
335 | |
336 | ret = itg3200_initial_setup(indio_dev); |
337 | if (ret) |
338 | goto error_remove_trigger; |
339 | |
340 | mutex_init(&st->lock); |
341 | |
342 | ret = iio_device_register(indio_dev); |
343 | if (ret) |
344 | goto error_remove_trigger; |
345 | |
346 | return 0; |
347 | |
348 | error_remove_trigger: |
349 | if (client->irq) |
350 | itg3200_remove_trigger(indio_dev); |
351 | error_unconfigure_buffer: |
352 | itg3200_buffer_unconfigure(indio_dev); |
353 | return ret; |
354 | } |
355 | |
356 | static void itg3200_remove(struct i2c_client *client) |
357 | { |
358 | struct iio_dev *indio_dev = i2c_get_clientdata(client); |
359 | |
360 | iio_device_unregister(indio_dev); |
361 | |
362 | if (client->irq) |
363 | itg3200_remove_trigger(indio_dev); |
364 | |
365 | itg3200_buffer_unconfigure(indio_dev); |
366 | } |
367 | |
368 | static int itg3200_suspend(struct device *dev) |
369 | { |
370 | struct iio_dev *indio_dev = dev_get_drvdata(dev); |
371 | struct itg3200 *st = iio_priv(indio_dev); |
372 | |
373 | dev_dbg(&st->i2c->dev, "suspend device" ); |
374 | |
375 | return itg3200_write_reg_8(indio_dev, ITG3200_REG_POWER_MANAGEMENT, |
376 | ITG3200_SLEEP); |
377 | } |
378 | |
379 | static int itg3200_resume(struct device *dev) |
380 | { |
381 | struct iio_dev *indio_dev = dev_get_drvdata(dev); |
382 | |
383 | return itg3200_initial_setup(indio_dev); |
384 | } |
385 | |
386 | static DEFINE_SIMPLE_DEV_PM_OPS(itg3200_pm_ops, itg3200_suspend, |
387 | itg3200_resume); |
388 | |
389 | static const struct i2c_device_id itg3200_id[] = { |
390 | { "itg3200" , 0 }, |
391 | { } |
392 | }; |
393 | MODULE_DEVICE_TABLE(i2c, itg3200_id); |
394 | |
395 | static const struct of_device_id itg3200_of_match[] = { |
396 | { .compatible = "invensense,itg3200" }, |
397 | { } |
398 | }; |
399 | MODULE_DEVICE_TABLE(of, itg3200_of_match); |
400 | |
401 | static struct i2c_driver itg3200_driver = { |
402 | .driver = { |
403 | .name = "itg3200" , |
404 | .of_match_table = itg3200_of_match, |
405 | .pm = pm_sleep_ptr(&itg3200_pm_ops), |
406 | }, |
407 | .id_table = itg3200_id, |
408 | .probe = itg3200_probe, |
409 | .remove = itg3200_remove, |
410 | }; |
411 | |
412 | module_i2c_driver(itg3200_driver); |
413 | |
414 | MODULE_AUTHOR("Christian Strobel <christian.strobel@iis.fraunhofer.de>" ); |
415 | MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver" ); |
416 | MODULE_LICENSE("GPL v2" ); |
417 | |