1 // SPDX-License-Identifier: GPL-2.0-only
3 * STMicroelectronics gyroscopes driver
5 * Copyright 2012-2013 STMicroelectronics Inc.
7 * Denis Ciocca <denis.ciocca@st.com>
10 #include <linux/kernel.h>
11 #include <linux/module.h>
12 #include <linux/slab.h>
13 #include <linux/errno.h>
14 #include <linux/types.h>
15 #include <linux/interrupt.h>
16 #include <linux/i2c.h>
17 #include <linux/gpio.h>
18 #include <linux/irq.h>
19 #include <linux/delay.h>
20 #include <linux/iio/iio.h>
21 #include <linux/iio/sysfs.h>
22 #include <linux/iio/trigger.h>
23 #include <linux/iio/buffer.h>
25 #include <linux/iio/common/st_sensors.h>
28 #define ST_GYRO_NUMBER_DATA_CHANNELS 3
30 /* DEFAULT VALUE FOR SENSORS */
31 #define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28
32 #define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a
33 #define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c
36 #define ST_GYRO_FS_AVL_245DPS 245
37 #define ST_GYRO_FS_AVL_250DPS 250
38 #define ST_GYRO_FS_AVL_500DPS 500
39 #define ST_GYRO_FS_AVL_2000DPS 2000
41 static const struct iio_chan_spec st_gyro_16bit_channels[] = {
42 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
43 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
44 ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
45 ST_GYRO_DEFAULT_OUT_X_L_ADDR),
46 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
47 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
48 ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
49 ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
50 ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
51 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
52 ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
53 ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
54 IIO_CHAN_SOFT_TIMESTAMP(3)
57 static const struct st_sensor_settings st_gyro_sensors_settings[] = {
60 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
61 .sensors_supported = {
62 [0] = L3G4200D_GYRO_DEV_NAME,
63 [1] = LSM330DL_GYRO_DEV_NAME,
65 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
70 { .hz = 100, .value = 0x00, },
71 { .hz = 200, .value = 0x01, },
72 { .hz = 400, .value = 0x02, },
73 { .hz = 800, .value = 0x03, },
79 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
80 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
83 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
84 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
91 .num = ST_GYRO_FS_AVL_250DPS,
93 .gain = IIO_DEGREE_TO_RAD(8750),
96 .num = ST_GYRO_FS_AVL_500DPS,
98 .gain = IIO_DEGREE_TO_RAD(17500),
101 .num = ST_GYRO_FS_AVL_2000DPS,
103 .gain = IIO_DEGREE_TO_RAD(70000),
117 * The sensor has IHL (active low) and open
118 * drain settings, but only for INT1 and not
119 * for the DRDY line on INT2.
122 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
130 .multi_read_bit = true,
135 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
136 .sensors_supported = {
137 [0] = L3GD20_GYRO_DEV_NAME,
138 [1] = LSM330D_GYRO_DEV_NAME,
139 [2] = LSM330DLC_GYRO_DEV_NAME,
140 [3] = L3G4IS_GYRO_DEV_NAME,
141 [4] = LSM330_GYRO_DEV_NAME,
142 [5] = LSM9DS0_GYRO_DEV_NAME,
144 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
149 { .hz = 95, .value = 0x00, },
150 { .hz = 190, .value = 0x01, },
151 { .hz = 380, .value = 0x02, },
152 { .hz = 760, .value = 0x03, },
158 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
159 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
162 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
163 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
170 .num = ST_GYRO_FS_AVL_250DPS,
172 .gain = IIO_DEGREE_TO_RAD(8750),
175 .num = ST_GYRO_FS_AVL_500DPS,
177 .gain = IIO_DEGREE_TO_RAD(17500),
180 .num = ST_GYRO_FS_AVL_2000DPS,
182 .gain = IIO_DEGREE_TO_RAD(70000),
196 * The sensor has IHL (active low) and open
197 * drain settings, but only for INT1 and not
198 * for the DRDY line on INT2.
201 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
209 .multi_read_bit = true,
214 .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
215 .sensors_supported = {
216 [0] = L3GD20H_GYRO_DEV_NAME,
218 .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
223 { .hz = 100, .value = 0x00, },
224 { .hz = 200, .value = 0x01, },
225 { .hz = 400, .value = 0x02, },
226 { .hz = 800, .value = 0x03, },
232 .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
233 .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
236 .addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
237 .mask = ST_SENSORS_DEFAULT_AXIS_MASK,
244 .num = ST_GYRO_FS_AVL_245DPS,
246 .gain = IIO_DEGREE_TO_RAD(8750),
249 .num = ST_GYRO_FS_AVL_500DPS,
251 .gain = IIO_DEGREE_TO_RAD(17500),
254 .num = ST_GYRO_FS_AVL_2000DPS,
256 .gain = IIO_DEGREE_TO_RAD(70000),
270 * The sensor has IHL (active low) and open
271 * drain settings, but only for INT1 and not
272 * for the DRDY line on INT2.
275 .addr = ST_SENSORS_DEFAULT_STAT_ADDR,
283 .multi_read_bit = true,
288 static int st_gyro_read_raw(struct iio_dev *indio_dev,
289 struct iio_chan_spec const *ch, int *val,
290 int *val2, long mask)
293 struct st_sensor_data *gdata = iio_priv(indio_dev);
296 case IIO_CHAN_INFO_RAW:
297 err = st_sensors_read_info_raw(indio_dev, ch, val);
302 case IIO_CHAN_INFO_SCALE:
304 *val2 = gdata->current_fullscale->gain;
305 return IIO_VAL_INT_PLUS_MICRO;
306 case IIO_CHAN_INFO_SAMP_FREQ:
317 static int st_gyro_write_raw(struct iio_dev *indio_dev,
318 struct iio_chan_spec const *chan, int val, int val2, long mask)
323 case IIO_CHAN_INFO_SCALE:
324 err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
326 case IIO_CHAN_INFO_SAMP_FREQ:
329 mutex_lock(&indio_dev->mlock);
330 err = st_sensors_set_odr(indio_dev, val);
331 mutex_unlock(&indio_dev->mlock);
340 static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
341 static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
343 static struct attribute *st_gyro_attributes[] = {
344 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
345 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
349 static const struct attribute_group st_gyro_attribute_group = {
350 .attrs = st_gyro_attributes,
353 static const struct iio_info gyro_info = {
354 .attrs = &st_gyro_attribute_group,
355 .read_raw = &st_gyro_read_raw,
356 .write_raw = &st_gyro_write_raw,
357 .debugfs_reg_access = &st_sensors_debugfs_reg_access,
360 #ifdef CONFIG_IIO_TRIGGER
361 static const struct iio_trigger_ops st_gyro_trigger_ops = {
362 .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
363 .validate_device = st_sensors_validate_device,
365 #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
367 #define ST_GYRO_TRIGGER_OPS NULL
371 * st_gyro_get_settings() - get sensor settings from device name
372 * @name: device name buffer reference.
374 * Return: valid reference on success, NULL otherwise.
376 const struct st_sensor_settings *st_gyro_get_settings(const char *name)
378 int index = st_sensors_get_settings_index(name,
379 st_gyro_sensors_settings,
380 ARRAY_SIZE(st_gyro_sensors_settings));
384 return &st_gyro_sensors_settings[index];
386 EXPORT_SYMBOL(st_gyro_get_settings);
388 int st_gyro_common_probe(struct iio_dev *indio_dev)
390 struct st_sensor_data *gdata = iio_priv(indio_dev);
393 indio_dev->modes = INDIO_DIRECT_MODE;
394 indio_dev->info = &gyro_info;
396 err = st_sensors_power_enable(indio_dev);
400 err = st_sensors_verify_id(indio_dev);
402 goto st_gyro_power_off;
404 gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
405 indio_dev->channels = gdata->sensor_settings->ch;
406 indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
408 gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
409 &gdata->sensor_settings->fs.fs_avl[0];
410 gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
412 err = st_sensors_init_sensor(indio_dev,
413 (struct st_sensors_platform_data *)&gyro_pdata);
415 goto st_gyro_power_off;
417 err = st_gyro_allocate_ring(indio_dev);
419 goto st_gyro_power_off;
421 if (gdata->irq > 0) {
422 err = st_sensors_allocate_trigger(indio_dev,
423 ST_GYRO_TRIGGER_OPS);
425 goto st_gyro_probe_trigger_error;
428 err = iio_device_register(indio_dev);
430 goto st_gyro_device_register_error;
432 dev_info(&indio_dev->dev, "registered gyroscope %s\n",
437 st_gyro_device_register_error:
439 st_sensors_deallocate_trigger(indio_dev);
440 st_gyro_probe_trigger_error:
441 st_gyro_deallocate_ring(indio_dev);
443 st_sensors_power_disable(indio_dev);
447 EXPORT_SYMBOL(st_gyro_common_probe);
449 void st_gyro_common_remove(struct iio_dev *indio_dev)
451 struct st_sensor_data *gdata = iio_priv(indio_dev);
453 st_sensors_power_disable(indio_dev);
455 iio_device_unregister(indio_dev);
457 st_sensors_deallocate_trigger(indio_dev);
459 st_gyro_deallocate_ring(indio_dev);
461 EXPORT_SYMBOL(st_gyro_common_remove);
463 MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
464 MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
465 MODULE_LICENSE("GPL v2");