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/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, val2);
 412         case IIO_CHAN_INFO_SAMP_FREQ:
 413                 if (val2)
 414                         return -EINVAL;
 415
 416                 return st_sensors_set_odr(indio_dev, 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                                         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(parent, &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");