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/mutex.h> |
13 | #include <linux/interrupt.h> |
14 | #include <linux/sysfs.h> |
15 | #include <linux/iio/iio.h> |
16 | #include <linux/iio/sysfs.h> |
17 | #include <linux/iio/trigger.h> |
18 | |
19 | #include <linux/iio/common/st_sensors.h> |
20 | #include "st_gyro.h" |
21 | |
22 | #define ST_GYRO_NUMBER_DATA_CHANNELS 3 |
23 | |
24 | /* DEFAULT VALUE FOR SENSORS */ |
25 | #define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28 |
26 | #define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a |
27 | #define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c |
28 | |
29 | /* FULLSCALE */ |
30 | #define ST_GYRO_FS_AVL_245DPS 245 |
31 | #define ST_GYRO_FS_AVL_250DPS 250 |
32 | #define ST_GYRO_FS_AVL_500DPS 500 |
33 | #define ST_GYRO_FS_AVL_2000DPS 2000 |
34 | |
35 | static const struct iio_mount_matrix * |
36 | st_gyro_get_mount_matrix(const struct iio_dev *indio_dev, |
37 | const struct iio_chan_spec *chan) |
38 | { |
39 | struct st_sensor_data *gdata = iio_priv(indio_dev); |
40 | |
41 | return &gdata->mount_matrix; |
42 | } |
43 | |
44 | static const struct iio_chan_spec_ext_info st_gyro_mount_matrix_ext_info[] = { |
45 | IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_gyro_get_mount_matrix), |
46 | { } |
47 | }; |
48 | |
49 | static const struct iio_chan_spec st_gyro_16bit_channels[] = { |
50 | ST_SENSORS_LSM_CHANNELS_EXT(IIO_ANGL_VEL, |
51 | BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), |
52 | ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16, |
53 | ST_GYRO_DEFAULT_OUT_X_L_ADDR, |
54 | st_gyro_mount_matrix_ext_info), |
55 | ST_SENSORS_LSM_CHANNELS_EXT(IIO_ANGL_VEL, |
56 | BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), |
57 | ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16, |
58 | ST_GYRO_DEFAULT_OUT_Y_L_ADDR, |
59 | st_gyro_mount_matrix_ext_info), |
60 | ST_SENSORS_LSM_CHANNELS_EXT(IIO_ANGL_VEL, |
61 | BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), |
62 | ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16, |
63 | ST_GYRO_DEFAULT_OUT_Z_L_ADDR, |
64 | st_gyro_mount_matrix_ext_info), |
65 | IIO_CHAN_SOFT_TIMESTAMP(3) |
66 | }; |
67 | |
68 | static const struct st_sensor_settings st_gyro_sensors_settings[] = { |
69 | { |
70 | .wai = 0xd3, |
71 | .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, |
72 | .sensors_supported = { |
73 | [0] = L3G4200D_GYRO_DEV_NAME, |
74 | [1] = LSM330DL_GYRO_DEV_NAME, |
75 | }, |
76 | .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, |
77 | .odr = { |
78 | .addr = 0x20, |
79 | .mask = 0xc0, |
80 | .odr_avl = { |
81 | { .hz = 100, .value = 0x00, }, |
82 | { .hz = 200, .value = 0x01, }, |
83 | { .hz = 400, .value = 0x02, }, |
84 | { .hz = 800, .value = 0x03, }, |
85 | }, |
86 | }, |
87 | .pw = { |
88 | .addr = 0x20, |
89 | .mask = 0x08, |
90 | .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, |
91 | .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, |
92 | }, |
93 | .enable_axis = { |
94 | .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, |
95 | .mask = ST_SENSORS_DEFAULT_AXIS_MASK, |
96 | }, |
97 | .fs = { |
98 | .addr = 0x23, |
99 | .mask = 0x30, |
100 | .fs_avl = { |
101 | [0] = { |
102 | .num = ST_GYRO_FS_AVL_250DPS, |
103 | .value = 0x00, |
104 | .gain = IIO_DEGREE_TO_RAD(8750), |
105 | }, |
106 | [1] = { |
107 | .num = ST_GYRO_FS_AVL_500DPS, |
108 | .value = 0x01, |
109 | .gain = IIO_DEGREE_TO_RAD(17500), |
110 | }, |
111 | [2] = { |
112 | .num = ST_GYRO_FS_AVL_2000DPS, |
113 | .value = 0x02, |
114 | .gain = IIO_DEGREE_TO_RAD(70000), |
115 | }, |
116 | }, |
117 | }, |
118 | .bdu = { |
119 | .addr = 0x23, |
120 | .mask = 0x80, |
121 | }, |
122 | .drdy_irq = { |
123 | .int2 = { |
124 | .addr = 0x22, |
125 | .mask = 0x08, |
126 | }, |
127 | /* |
128 | * The sensor has IHL (active low) and open |
129 | * drain settings, but only for INT1 and not |
130 | * for the DRDY line on INT2. |
131 | */ |
132 | .stat_drdy = { |
133 | .addr = ST_SENSORS_DEFAULT_STAT_ADDR, |
134 | .mask = 0x07, |
135 | }, |
136 | }, |
137 | .sim = { |
138 | .addr = 0x23, |
139 | .value = BIT(0), |
140 | }, |
141 | .multi_read_bit = true, |
142 | .bootime = 2, |
143 | }, |
144 | { |
145 | .wai = 0xd4, |
146 | .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, |
147 | .sensors_supported = { |
148 | [0] = L3GD20_GYRO_DEV_NAME, |
149 | [1] = LSM330D_GYRO_DEV_NAME, |
150 | [2] = LSM330DLC_GYRO_DEV_NAME, |
151 | [3] = L3G4IS_GYRO_DEV_NAME, |
152 | [4] = LSM330_GYRO_DEV_NAME, |
153 | }, |
154 | .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, |
155 | .odr = { |
156 | .addr = 0x20, |
157 | .mask = 0xc0, |
158 | .odr_avl = { |
159 | { .hz = 95, .value = 0x00, }, |
160 | { .hz = 190, .value = 0x01, }, |
161 | { .hz = 380, .value = 0x02, }, |
162 | { .hz = 760, .value = 0x03, }, |
163 | }, |
164 | }, |
165 | .pw = { |
166 | .addr = 0x20, |
167 | .mask = 0x08, |
168 | .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, |
169 | .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, |
170 | }, |
171 | .enable_axis = { |
172 | .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, |
173 | .mask = ST_SENSORS_DEFAULT_AXIS_MASK, |
174 | }, |
175 | .fs = { |
176 | .addr = 0x23, |
177 | .mask = 0x30, |
178 | .fs_avl = { |
179 | [0] = { |
180 | .num = ST_GYRO_FS_AVL_250DPS, |
181 | .value = 0x00, |
182 | .gain = IIO_DEGREE_TO_RAD(8750), |
183 | }, |
184 | [1] = { |
185 | .num = ST_GYRO_FS_AVL_500DPS, |
186 | .value = 0x01, |
187 | .gain = IIO_DEGREE_TO_RAD(17500), |
188 | }, |
189 | [2] = { |
190 | .num = ST_GYRO_FS_AVL_2000DPS, |
191 | .value = 0x02, |
192 | .gain = IIO_DEGREE_TO_RAD(70000), |
193 | }, |
194 | }, |
195 | }, |
196 | .bdu = { |
197 | .addr = 0x23, |
198 | .mask = 0x80, |
199 | }, |
200 | .drdy_irq = { |
201 | .int2 = { |
202 | .addr = 0x22, |
203 | .mask = 0x08, |
204 | }, |
205 | /* |
206 | * The sensor has IHL (active low) and open |
207 | * drain settings, but only for INT1 and not |
208 | * for the DRDY line on INT2. |
209 | */ |
210 | .stat_drdy = { |
211 | .addr = ST_SENSORS_DEFAULT_STAT_ADDR, |
212 | .mask = 0x07, |
213 | }, |
214 | }, |
215 | .sim = { |
216 | .addr = 0x23, |
217 | .value = BIT(0), |
218 | }, |
219 | .multi_read_bit = true, |
220 | .bootime = 2, |
221 | }, |
222 | { |
223 | .wai = 0xd4, |
224 | .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, |
225 | .sensors_supported = { |
226 | [0] = LSM9DS0_GYRO_DEV_NAME, |
227 | }, |
228 | .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, |
229 | .odr = { |
230 | .addr = 0x20, |
231 | .mask = GENMASK(7, 6), |
232 | .odr_avl = { |
233 | { .hz = 95, .value = 0x00, }, |
234 | { .hz = 190, .value = 0x01, }, |
235 | { .hz = 380, .value = 0x02, }, |
236 | { .hz = 760, .value = 0x03, }, |
237 | }, |
238 | }, |
239 | .pw = { |
240 | .addr = 0x20, |
241 | .mask = BIT(3), |
242 | .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, |
243 | .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, |
244 | }, |
245 | .enable_axis = { |
246 | .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, |
247 | .mask = ST_SENSORS_DEFAULT_AXIS_MASK, |
248 | }, |
249 | .fs = { |
250 | .addr = 0x23, |
251 | .mask = GENMASK(5, 4), |
252 | .fs_avl = { |
253 | [0] = { |
254 | .num = ST_GYRO_FS_AVL_245DPS, |
255 | .value = 0x00, |
256 | .gain = IIO_DEGREE_TO_RAD(8750), |
257 | }, |
258 | [1] = { |
259 | .num = ST_GYRO_FS_AVL_500DPS, |
260 | .value = 0x01, |
261 | .gain = IIO_DEGREE_TO_RAD(17500), |
262 | }, |
263 | [2] = { |
264 | .num = ST_GYRO_FS_AVL_2000DPS, |
265 | .value = 0x02, |
266 | .gain = IIO_DEGREE_TO_RAD(70000), |
267 | }, |
268 | }, |
269 | }, |
270 | .bdu = { |
271 | .addr = 0x23, |
272 | .mask = BIT(7), |
273 | }, |
274 | .drdy_irq = { |
275 | .int2 = { |
276 | .addr = 0x22, |
277 | .mask = BIT(3), |
278 | }, |
279 | /* |
280 | * The sensor has IHL (active low) and open |
281 | * drain settings, but only for INT1 and not |
282 | * for the DRDY line on INT2. |
283 | */ |
284 | .stat_drdy = { |
285 | .addr = ST_SENSORS_DEFAULT_STAT_ADDR, |
286 | .mask = GENMASK(2, 0), |
287 | }, |
288 | }, |
289 | .sim = { |
290 | .addr = 0x23, |
291 | .value = BIT(0), |
292 | }, |
293 | .multi_read_bit = true, |
294 | .bootime = 2, |
295 | }, |
296 | { |
297 | .wai = 0xd7, |
298 | .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, |
299 | .sensors_supported = { |
300 | [0] = L3GD20H_GYRO_DEV_NAME, |
301 | }, |
302 | .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, |
303 | .odr = { |
304 | .addr = 0x20, |
305 | .mask = 0xc0, |
306 | .odr_avl = { |
307 | { .hz = 100, .value = 0x00, }, |
308 | { .hz = 200, .value = 0x01, }, |
309 | { .hz = 400, .value = 0x02, }, |
310 | { .hz = 800, .value = 0x03, }, |
311 | }, |
312 | }, |
313 | .pw = { |
314 | .addr = 0x20, |
315 | .mask = 0x08, |
316 | .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, |
317 | .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, |
318 | }, |
319 | .enable_axis = { |
320 | .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, |
321 | .mask = ST_SENSORS_DEFAULT_AXIS_MASK, |
322 | }, |
323 | .fs = { |
324 | .addr = 0x23, |
325 | .mask = 0x30, |
326 | .fs_avl = { |
327 | [0] = { |
328 | .num = ST_GYRO_FS_AVL_245DPS, |
329 | .value = 0x00, |
330 | .gain = IIO_DEGREE_TO_RAD(8750), |
331 | }, |
332 | [1] = { |
333 | .num = ST_GYRO_FS_AVL_500DPS, |
334 | .value = 0x01, |
335 | .gain = IIO_DEGREE_TO_RAD(17500), |
336 | }, |
337 | [2] = { |
338 | .num = ST_GYRO_FS_AVL_2000DPS, |
339 | .value = 0x02, |
340 | .gain = IIO_DEGREE_TO_RAD(70000), |
341 | }, |
342 | }, |
343 | }, |
344 | .bdu = { |
345 | .addr = 0x23, |
346 | .mask = 0x80, |
347 | }, |
348 | .drdy_irq = { |
349 | .int2 = { |
350 | .addr = 0x22, |
351 | .mask = 0x08, |
352 | }, |
353 | /* |
354 | * The sensor has IHL (active low) and open |
355 | * drain settings, but only for INT1 and not |
356 | * for the DRDY line on INT2. |
357 | */ |
358 | .stat_drdy = { |
359 | .addr = ST_SENSORS_DEFAULT_STAT_ADDR, |
360 | .mask = 0x07, |
361 | }, |
362 | }, |
363 | .sim = { |
364 | .addr = 0x23, |
365 | .value = BIT(0), |
366 | }, |
367 | .multi_read_bit = true, |
368 | .bootime = 2, |
369 | }, |
370 | }; |
371 | |
372 | /* DRDY on gyros is available only on INT2 pin */ |
373 | static const struct st_sensors_platform_data gyro_pdata = { |
374 | .drdy_int_pin = 2, |
375 | }; |
376 | |
377 | static int st_gyro_read_raw(struct iio_dev *indio_dev, |
378 | struct iio_chan_spec const *ch, int *val, |
379 | int *val2, long mask) |
380 | { |
381 | int err; |
382 | struct st_sensor_data *gdata = iio_priv(indio_dev); |
383 | |
384 | switch (mask) { |
385 | case IIO_CHAN_INFO_RAW: |
386 | err = st_sensors_read_info_raw(indio_dev, ch, val); |
387 | if (err < 0) |
388 | goto read_error; |
389 | |
390 | return IIO_VAL_INT; |
391 | case IIO_CHAN_INFO_SCALE: |
392 | *val = 0; |
393 | *val2 = gdata->current_fullscale->gain; |
394 | return IIO_VAL_INT_PLUS_MICRO; |
395 | case IIO_CHAN_INFO_SAMP_FREQ: |
396 | *val = gdata->odr; |
397 | return IIO_VAL_INT; |
398 | default: |
399 | return -EINVAL; |
400 | } |
401 | |
402 | read_error: |
403 | return err; |
404 | } |
405 | |
406 | static int st_gyro_write_raw(struct iio_dev *indio_dev, |
407 | struct iio_chan_spec const *chan, int val, int val2, long mask) |
408 | { |
409 | switch (mask) { |
410 | case IIO_CHAN_INFO_SCALE: |
411 | return st_sensors_set_fullscale_by_gain(indio_dev, scale: val2); |
412 | case IIO_CHAN_INFO_SAMP_FREQ: |
413 | if (val2) |
414 | return -EINVAL; |
415 | |
416 | return st_sensors_set_odr(indio_dev, odr: val); |
417 | default: |
418 | return -EINVAL; |
419 | } |
420 | } |
421 | |
422 | static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); |
423 | static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); |
424 | |
425 | static struct attribute *st_gyro_attributes[] = { |
426 | &iio_dev_attr_sampling_frequency_available.dev_attr.attr, |
427 | &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, |
428 | NULL, |
429 | }; |
430 | |
431 | static const struct attribute_group st_gyro_attribute_group = { |
432 | .attrs = st_gyro_attributes, |
433 | }; |
434 | |
435 | static const struct iio_info gyro_info = { |
436 | .attrs = &st_gyro_attribute_group, |
437 | .read_raw = &st_gyro_read_raw, |
438 | .write_raw = &st_gyro_write_raw, |
439 | .debugfs_reg_access = &st_sensors_debugfs_reg_access, |
440 | }; |
441 | |
442 | #ifdef CONFIG_IIO_TRIGGER |
443 | static const struct iio_trigger_ops st_gyro_trigger_ops = { |
444 | .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, |
445 | .validate_device = st_sensors_validate_device, |
446 | }; |
447 | #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) |
448 | #else |
449 | #define ST_GYRO_TRIGGER_OPS NULL |
450 | #endif |
451 | |
452 | /* |
453 | * st_gyro_get_settings() - get sensor settings from device name |
454 | * @name: device name buffer reference. |
455 | * |
456 | * Return: valid reference on success, NULL otherwise. |
457 | */ |
458 | const struct st_sensor_settings *st_gyro_get_settings(const char *name) |
459 | { |
460 | int index = st_sensors_get_settings_index(name, |
461 | list: st_gyro_sensors_settings, |
462 | ARRAY_SIZE(st_gyro_sensors_settings)); |
463 | if (index < 0) |
464 | return NULL; |
465 | |
466 | return &st_gyro_sensors_settings[index]; |
467 | } |
468 | EXPORT_SYMBOL_NS(st_gyro_get_settings, IIO_ST_SENSORS); |
469 | |
470 | int st_gyro_common_probe(struct iio_dev *indio_dev) |
471 | { |
472 | struct st_sensor_data *gdata = iio_priv(indio_dev); |
473 | struct st_sensors_platform_data *pdata; |
474 | struct device *parent = indio_dev->dev.parent; |
475 | int err; |
476 | |
477 | indio_dev->modes = INDIO_DIRECT_MODE; |
478 | indio_dev->info = &gyro_info; |
479 | |
480 | err = st_sensors_verify_id(indio_dev); |
481 | if (err < 0) |
482 | return err; |
483 | |
484 | gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; |
485 | indio_dev->channels = gdata->sensor_settings->ch; |
486 | indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; |
487 | |
488 | err = iio_read_mount_matrix(dev: parent, matrix: &gdata->mount_matrix); |
489 | if (err) |
490 | return err; |
491 | |
492 | gdata->current_fullscale = &gdata->sensor_settings->fs.fs_avl[0]; |
493 | gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz; |
494 | |
495 | pdata = (struct st_sensors_platform_data *)&gyro_pdata; |
496 | |
497 | err = st_sensors_init_sensor(indio_dev, pdata); |
498 | if (err < 0) |
499 | return err; |
500 | |
501 | err = st_gyro_allocate_ring(indio_dev); |
502 | if (err < 0) |
503 | return err; |
504 | |
505 | if (gdata->irq > 0) { |
506 | err = st_sensors_allocate_trigger(indio_dev, |
507 | ST_GYRO_TRIGGER_OPS); |
508 | if (err < 0) |
509 | return err; |
510 | } |
511 | |
512 | return devm_iio_device_register(parent, indio_dev); |
513 | } |
514 | EXPORT_SYMBOL_NS(st_gyro_common_probe, IIO_ST_SENSORS); |
515 | |
516 | MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>" ); |
517 | MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver" ); |
518 | MODULE_LICENSE("GPL v2" ); |
519 | MODULE_IMPORT_NS(IIO_ST_SENSORS); |
520 | |