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perf bench futex: Cache align the worker struct
[linux/fpc-iii.git] / drivers / iio / gyro / st_gyro_core.c
blobaea034d8fe0fb42495de198c1465246d0343c8c8
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 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
135 .sensors_supported = {
136 [0] = L3G4200D_GYRO_DEV_NAME,
137 [1] = LSM330DL_GYRO_DEV_NAME,
138 },
139 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
140 .odr = {
141 .addr = ST_GYRO_1_ODR_ADDR,
142 .mask = ST_GYRO_1_ODR_MASK,
143 .odr_avl = {
144 { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, },
145 { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, },
146 { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, },
147 { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, },
148 },
149 },
150 .pw = {
151 .addr = ST_GYRO_1_PW_ADDR,
152 .mask = ST_GYRO_1_PW_MASK,
153 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
154 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
155 },
156 .enable_axis = {
157 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
158 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
159 },
160 .fs = {
161 .addr = ST_GYRO_1_FS_ADDR,
162 .mask = ST_GYRO_1_FS_MASK,
163 .fs_avl = {
164 [0] = {
165 .num = ST_GYRO_FS_AVL_250DPS,
166 .value = ST_GYRO_1_FS_AVL_250_VAL,
167 .gain = ST_GYRO_1_FS_AVL_250_GAIN,
168 },
169 [1] = {
170 .num = ST_GYRO_FS_AVL_500DPS,
171 .value = ST_GYRO_1_FS_AVL_500_VAL,
172 .gain = ST_GYRO_1_FS_AVL_500_GAIN,
173 },
174 [2] = {
175 .num = ST_GYRO_FS_AVL_2000DPS,
176 .value = ST_GYRO_1_FS_AVL_2000_VAL,
177 .gain = ST_GYRO_1_FS_AVL_2000_GAIN,
178 },
179 },
180 },
181 .bdu = {
182 .addr = ST_GYRO_1_BDU_ADDR,
183 .mask = ST_GYRO_1_BDU_MASK,
184 },
185 .drdy_irq = {
186 .addr = ST_GYRO_1_DRDY_IRQ_ADDR,
187 .mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK,
188 /*
189 * The sensor has IHL (active low) and open
190 * drain settings, but only for INT1 and not
191 * for the DRDY line on INT2.
192 */
193 .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
194 },
195 .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT,
196 .bootime = 2,
197 },
198 {
199 .wai = ST_GYRO_2_WAI_EXP,
200 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
201 .sensors_supported = {
202 [0] = L3GD20_GYRO_DEV_NAME,
203 [1] = LSM330D_GYRO_DEV_NAME,
204 [2] = LSM330DLC_GYRO_DEV_NAME,
205 [3] = L3G4IS_GYRO_DEV_NAME,
206 [4] = LSM330_GYRO_DEV_NAME,
207 [5] = LSM9DS0_GYRO_DEV_NAME,
208 },
209 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
210 .odr = {
211 .addr = ST_GYRO_2_ODR_ADDR,
212 .mask = ST_GYRO_2_ODR_MASK,
213 .odr_avl = {
214 { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, },
215 { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, },
216 { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, },
217 { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, },
218 },
219 },
220 .pw = {
221 .addr = ST_GYRO_2_PW_ADDR,
222 .mask = ST_GYRO_2_PW_MASK,
223 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
224 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
225 },
226 .enable_axis = {
227 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
228 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
229 },
230 .fs = {
231 .addr = ST_GYRO_2_FS_ADDR,
232 .mask = ST_GYRO_2_FS_MASK,
233 .fs_avl = {
234 [0] = {
235 .num = ST_GYRO_FS_AVL_250DPS,
236 .value = ST_GYRO_2_FS_AVL_250_VAL,
237 .gain = ST_GYRO_2_FS_AVL_250_GAIN,
238 },
239 [1] = {
240 .num = ST_GYRO_FS_AVL_500DPS,
241 .value = ST_GYRO_2_FS_AVL_500_VAL,
242 .gain = ST_GYRO_2_FS_AVL_500_GAIN,
243 },
244 [2] = {
245 .num = ST_GYRO_FS_AVL_2000DPS,
246 .value = ST_GYRO_2_FS_AVL_2000_VAL,
247 .gain = ST_GYRO_2_FS_AVL_2000_GAIN,
248 },
249 },
250 },
251 .bdu = {
252 .addr = ST_GYRO_2_BDU_ADDR,
253 .mask = ST_GYRO_2_BDU_MASK,
254 },
255 .drdy_irq = {
256 .addr = ST_GYRO_2_DRDY_IRQ_ADDR,
257 .mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK,
258 /*
259 * The sensor has IHL (active low) and open
260 * drain settings, but only for INT1 and not
261 * for the DRDY line on INT2.
262 */
263 .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
264 },
265 .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT,
266 .bootime = 2,
267 },
268 {
269 .wai = ST_GYRO_3_WAI_EXP,
270 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
271 .sensors_supported = {
272 [0] = L3GD20_GYRO_DEV_NAME,
273 },
274 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
275 .odr = {
276 .addr = ST_GYRO_3_ODR_ADDR,
277 .mask = ST_GYRO_3_ODR_MASK,
278 .odr_avl = {
279 { 95, ST_GYRO_3_ODR_AVL_95HZ_VAL, },
280 { 190, ST_GYRO_3_ODR_AVL_190HZ_VAL, },
281 { 380, ST_GYRO_3_ODR_AVL_380HZ_VAL, },
282 { 760, ST_GYRO_3_ODR_AVL_760HZ_VAL, },
283 },
284 },
285 .pw = {
286 .addr = ST_GYRO_3_PW_ADDR,
287 .mask = ST_GYRO_3_PW_MASK,
288 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
289 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
290 },
291 .enable_axis = {
292 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
293 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
294 },
295 .fs = {
296 .addr = ST_GYRO_3_FS_ADDR,
297 .mask = ST_GYRO_3_FS_MASK,
298 .fs_avl = {
299 [0] = {
300 .num = ST_GYRO_FS_AVL_250DPS,
301 .value = ST_GYRO_3_FS_AVL_250_VAL,
302 .gain = ST_GYRO_3_FS_AVL_250_GAIN,
303 },
304 [1] = {
305 .num = ST_GYRO_FS_AVL_500DPS,
306 .value = ST_GYRO_3_FS_AVL_500_VAL,
307 .gain = ST_GYRO_3_FS_AVL_500_GAIN,
308 },
309 [2] = {
310 .num = ST_GYRO_FS_AVL_2000DPS,
311 .value = ST_GYRO_3_FS_AVL_2000_VAL,
312 .gain = ST_GYRO_3_FS_AVL_2000_GAIN,
313 },
314 },
315 },
316 .bdu = {
317 .addr = ST_GYRO_3_BDU_ADDR,
318 .mask = ST_GYRO_3_BDU_MASK,
319 },
320 .drdy_irq = {
321 .addr = ST_GYRO_3_DRDY_IRQ_ADDR,
322 .mask_int2 = ST_GYRO_3_DRDY_IRQ_INT2_MASK,
323 /*
324 * The sensor has IHL (active low) and open
325 * drain settings, but only for INT1 and not
326 * for the DRDY line on INT2.
327 */
328 .addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
329 },
330 .multi_read_bit = ST_GYRO_3_MULTIREAD_BIT,
331 .bootime = 2,
332 },
333 };
334
335 static int st_gyro_read_raw(struct iio_dev *indio_dev,
336 struct iio_chan_spec const *ch, int *val,
337 int *val2, long mask)
338 {
339 int err;
340 struct st_sensor_data *gdata = iio_priv(indio_dev);
341
342 switch (mask) {
343 case IIO_CHAN_INFO_RAW:
344 err = st_sensors_read_info_raw(indio_dev, ch, val);
345 if (err < 0)
346 goto read_error;
347
348 return IIO_VAL_INT;
349 case IIO_CHAN_INFO_SCALE:
350 *val = 0;
351 *val2 = gdata->current_fullscale->gain;
352 return IIO_VAL_INT_PLUS_MICRO;
353 case IIO_CHAN_INFO_SAMP_FREQ:
354 *val = gdata->odr;
355 return IIO_VAL_INT;
356 default:
357 return -EINVAL;
358 }
359
360 read_error:
361 return err;
362 }
363
364 static int st_gyro_write_raw(struct iio_dev *indio_dev,
365 struct iio_chan_spec const *chan, int val, int val2, long mask)
366 {
367 int err;
368
369 switch (mask) {
370 case IIO_CHAN_INFO_SCALE:
371 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
372 break;
373 case IIO_CHAN_INFO_SAMP_FREQ:
374 if (val2)
375 return -EINVAL;
376 mutex_lock(&indio_dev->mlock);
377 err = st_sensors_set_odr(indio_dev, val);
378 mutex_unlock(&indio_dev->mlock);
379 return err;
380 default:
381 err = -EINVAL;
382 }
383
384 return err;
385 }
386
387 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
388 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
389
390 static struct attribute *st_gyro_attributes[] = {
391 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
392 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
393 NULL,
394 };
395
396 static const struct attribute_group st_gyro_attribute_group = {
397 .attrs = st_gyro_attributes,
398 };
399
400 static const struct iio_info gyro_info = {
401 .driver_module = THIS_MODULE,
402 .attrs = &st_gyro_attribute_group,
403 .read_raw = &st_gyro_read_raw,
404 .write_raw = &st_gyro_write_raw,
405 .debugfs_reg_access = &st_sensors_debugfs_reg_access,
406 };
407
408 #ifdef CONFIG_IIO_TRIGGER
409 static const struct iio_trigger_ops st_gyro_trigger_ops = {
410 .owner = THIS_MODULE,
411 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
412 .validate_device = st_sensors_validate_device,
413 };
414 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
415 #else
416 #define ST_GYRO_TRIGGER_OPS NULL
417 #endif
418
419 int st_gyro_common_probe(struct iio_dev *indio_dev)
420 {
421 struct st_sensor_data *gdata = iio_priv(indio_dev);
422 int irq = gdata->get_irq_data_ready(indio_dev);
423 int err;
424
425 indio_dev->modes = INDIO_DIRECT_MODE;
426 indio_dev->info = &gyro_info;
427 mutex_init(&gdata->tb.buf_lock);
428
429 err = st_sensors_power_enable(indio_dev);
430 if (err)
431 return err;
432
433 err = st_sensors_check_device_support(indio_dev,
434 ARRAY_SIZE(st_gyro_sensors_settings),
435 st_gyro_sensors_settings);
436 if (err < 0)
437 goto st_gyro_power_off;
438
439 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
440 gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
441 indio_dev->channels = gdata->sensor_settings->ch;
442 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
443
444 gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
445 &gdata->sensor_settings->fs.fs_avl[0];
446 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
447
448 err = st_sensors_init_sensor(indio_dev,
449 (struct st_sensors_platform_data *)&gyro_pdata);
450 if (err < 0)
451 goto st_gyro_power_off;
452
453 err = st_gyro_allocate_ring(indio_dev);
454 if (err < 0)
455 goto st_gyro_power_off;
456
457 if (irq > 0) {
458 err = st_sensors_allocate_trigger(indio_dev,
459 ST_GYRO_TRIGGER_OPS);
460 if (err < 0)
461 goto st_gyro_probe_trigger_error;
462 }
463
464 err = iio_device_register(indio_dev);
465 if (err)
466 goto st_gyro_device_register_error;
467
468 dev_info(&indio_dev->dev, "registered gyroscope %s\n",
469 indio_dev->name);
470
471 return 0;
472
473 st_gyro_device_register_error:
474 if (irq > 0)
475 st_sensors_deallocate_trigger(indio_dev);
476 st_gyro_probe_trigger_error:
477 st_gyro_deallocate_ring(indio_dev);
478 st_gyro_power_off:
479 st_sensors_power_disable(indio_dev);
480
481 return err;
482 }
483 EXPORT_SYMBOL(st_gyro_common_probe);
484
485 void st_gyro_common_remove(struct iio_dev *indio_dev)
486 {
487 struct st_sensor_data *gdata = iio_priv(indio_dev);
488
489 st_sensors_power_disable(indio_dev);
490
491 iio_device_unregister(indio_dev);
492 if (gdata->get_irq_data_ready(indio_dev) > 0)
493 st_sensors_deallocate_trigger(indio_dev);
494
495 st_gyro_deallocate_ring(indio_dev);
496 }
497 EXPORT_SYMBOL(st_gyro_common_remove);
498
499 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
500 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
501 MODULE_LICENSE("GPL v2");
Linux with added FPC-III support