diff options
Diffstat (limited to 'drivers/iio/gyro')
| -rw-r--r-- | drivers/iio/gyro/Kconfig | 101 | ||||
| -rw-r--r-- | drivers/iio/gyro/Makefile | 23 | ||||
| -rw-r--r-- | drivers/iio/gyro/adis16080.c | 241 | ||||
| -rw-r--r-- | drivers/iio/gyro/adis16130.c | 179 | ||||
| -rw-r--r-- | drivers/iio/gyro/adis16136.c | 577 | ||||
| -rw-r--r-- | drivers/iio/gyro/adis16260.c | 421 | ||||
| -rw-r--r-- | drivers/iio/gyro/adxrs450.c | 468 | ||||
| -rw-r--r-- | drivers/iio/gyro/hid-sensor-gyro-3d.c | 428 | ||||
| -rw-r--r-- | drivers/iio/gyro/itg3200_buffer.c | 153 | ||||
| -rw-r--r-- | drivers/iio/gyro/itg3200_core.c | 389 | ||||
| -rw-r--r-- | drivers/iio/gyro/st_gyro.h | 53 | ||||
| -rw-r--r-- | drivers/iio/gyro/st_gyro_buffer.c | 105 | ||||
| -rw-r--r-- | drivers/iio/gyro/st_gyro_core.c | 380 | ||||
| -rw-r--r-- | drivers/iio/gyro/st_gyro_i2c.c | 77 | ||||
| -rw-r--r-- | drivers/iio/gyro/st_gyro_spi.c | 76 |
15 files changed, 3671 insertions, 0 deletions
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig new file mode 100644 index 00000000000..ac2d69e34c8 --- /dev/null +++ b/drivers/iio/gyro/Kconfig @@ -0,0 +1,101 @@ +# +# IIO Digital Gyroscope Sensor drivers configuration +# +# When adding new entries keep the list in alphabetical order + +menu "Digital gyroscope sensors" + +config ADIS16080 + tristate "Analog Devices ADIS16080/100 Yaw Rate Gyroscope with SPI driver" + depends on SPI + help + Say yes here to build support for Analog Devices ADIS16080, ADIS16100 Yaw + Rate Gyroscope with SPI. + +config ADIS16130 + tristate "Analog Devices ADIS16130 High Precision Angular Rate Sensor driver" + depends on SPI + help + Say yes here to build support for Analog Devices ADIS16130 High Precision + Angular Rate Sensor driver. + +config ADIS16136 + tristate "Analog devices ADIS16136 and similar gyroscopes driver" + depends on SPI_MASTER + select IIO_ADIS_LIB + select IIO_ADIS_LIB_BUFFER if IIO_BUFFER + help + Say yes here to build support for the Analog Devices ADIS16133, ADIS16135, + ADIS16136 gyroscope devices. + +config ADIS16260 + tristate "Analog Devices ADIS16260 Digital Gyroscope Sensor SPI driver" + depends on SPI + select IIO_ADIS_LIB + select IIO_ADIS_LIB_BUFFER if IIO_BUFFER + help + Say yes here to build support for Analog Devices ADIS16260 ADIS16265 + ADIS16250 ADIS16255 and ADIS16251 programmable digital gyroscope sensors. + + This driver can also be built as a module. If so, the module + will be called adis16260. + +config ADXRS450 + tristate "Analog Devices ADXRS450/3 Digital Output Gyroscope SPI driver" + depends on SPI + help + Say yes here to build support for Analog Devices ADXRS450 and ADXRS453 + programmable digital output gyroscope. + + This driver can also be built as a module. If so, the module + will be called adxrs450. + +config HID_SENSOR_GYRO_3D + depends on HID_SENSOR_HUB + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + select HID_SENSOR_IIO_COMMON + select HID_SENSOR_IIO_TRIGGER + tristate "HID Gyroscope 3D" + help + Say yes here to build support for the HID SENSOR + Gyroscope 3D. + +config IIO_ST_GYRO_3AXIS + tristate "STMicroelectronics gyroscopes 3-Axis Driver" + depends on (I2C || SPI_MASTER) && SYSFS + select IIO_ST_SENSORS_CORE + select IIO_ST_GYRO_I2C_3AXIS if (I2C) + select IIO_ST_GYRO_SPI_3AXIS if (SPI_MASTER) + select IIO_TRIGGERED_BUFFER if (IIO_BUFFER) + help + Say yes here to build support for STMicroelectronics gyroscopes: + L3G4200D, LSM330DL, L3GD20, LSM330DLC, L3G4IS, LSM330. + + This driver can also be built as a module. If so, these modules + will be created: + - st_gyro (core functions for the driver [it is mandatory]); + - st_gyro_i2c (necessary for the I2C devices [optional*]); + - st_gyro_spi (necessary for the SPI devices [optional*]); + + (*) one of these is necessary to do something. + +config IIO_ST_GYRO_I2C_3AXIS + tristate + depends on IIO_ST_GYRO_3AXIS + depends on IIO_ST_SENSORS_I2C + +config IIO_ST_GYRO_SPI_3AXIS + tristate + depends on IIO_ST_GYRO_3AXIS + depends on IIO_ST_SENSORS_SPI + +config ITG3200 + tristate "InvenSense ITG3200 Digital 3-Axis Gyroscope I2C driver" + depends on I2C + select IIO_TRIGGERED_BUFFER if IIO_BUFFER + help + Say yes here to add support for the InvenSense ITG3200 digital + 3-axis gyroscope sensor. + +endmenu diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile new file mode 100644 index 00000000000..2f2752a4ea8 --- /dev/null +++ b/drivers/iio/gyro/Makefile @@ -0,0 +1,23 @@ +# +# Makefile for industrial I/O gyroscope sensor drivers +# + +# When adding new entries keep the list in alphabetical order +obj-$(CONFIG_ADIS16080) += adis16080.o +obj-$(CONFIG_ADIS16130) += adis16130.o +obj-$(CONFIG_ADIS16136) += adis16136.o +obj-$(CONFIG_ADIS16260) += adis16260.o +obj-$(CONFIG_ADXRS450) += adxrs450.o + +obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o + +itg3200-y := itg3200_core.o +itg3200-$(CONFIG_IIO_BUFFER) += itg3200_buffer.o +obj-$(CONFIG_ITG3200) += itg3200.o + +obj-$(CONFIG_IIO_ST_GYRO_3AXIS) += st_gyro.o +st_gyro-y := st_gyro_core.o +st_gyro-$(CONFIG_IIO_BUFFER) += st_gyro_buffer.o + +obj-$(CONFIG_IIO_ST_GYRO_I2C_3AXIS) += st_gyro_i2c.o +obj-$(CONFIG_IIO_ST_GYRO_SPI_3AXIS) += st_gyro_spi.o diff --git a/drivers/iio/gyro/adis16080.c b/drivers/iio/gyro/adis16080.c new file mode 100644 index 00000000000..add50983726 --- /dev/null +++ b/drivers/iio/gyro/adis16080.c @@ -0,0 +1,241 @@ +/* + * ADIS16080/100 Yaw Rate Gyroscope with SPI driver + * + * Copyright 2010 Analog Devices Inc. + * + * Licensed under the GPL-2 or later. + */ +#include <linux/delay.h> +#include <linux/mutex.h> +#include <linux/device.h> +#include <linux/kernel.h> +#include <linux/spi/spi.h> +#include <linux/slab.h> +#include <linux/sysfs.h> +#include <linux/module.h> + +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> + +#define ADIS16080_DIN_GYRO (0 << 10) /* Gyroscope output */ +#define ADIS16080_DIN_TEMP (1 << 10) /* Temperature output */ +#define ADIS16080_DIN_AIN1 (2 << 10) +#define ADIS16080_DIN_AIN2 (3 << 10) + +/* + * 1: Write contents on DIN to control register. + * 0: No changes to control register. + */ + +#define ADIS16080_DIN_WRITE (1 << 15) + +struct adis16080_chip_info { + int scale_val; + int scale_val2; +}; + +/** + * struct adis16080_state - device instance specific data + * @us: actual spi_device to write data + * @info: chip specific parameters + * @buf: transmit or receive buffer + **/ +struct adis16080_state { + struct spi_device *us; + const struct adis16080_chip_info *info; + + __be16 buf ____cacheline_aligned; +}; + +static int adis16080_read_sample(struct iio_dev *indio_dev, + u16 addr, int *val) +{ + struct adis16080_state *st = iio_priv(indio_dev); + int ret; + struct spi_transfer t[] = { + { + .tx_buf = &st->buf, + .len = 2, + .cs_change = 1, + }, { + .rx_buf = &st->buf, + .len = 2, + }, + }; + + st->buf = cpu_to_be16(addr | ADIS16080_DIN_WRITE); + + ret = spi_sync_transfer(st->us, t, ARRAY_SIZE(t)); + if (ret == 0) + *val = sign_extend32(be16_to_cpu(st->buf), 11); + + return ret; +} + +static int adis16080_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, + int *val2, + long mask) +{ + struct adis16080_state *st = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + mutex_lock(&indio_dev->mlock); + ret = adis16080_read_sample(indio_dev, chan->address, val); + mutex_unlock(&indio_dev->mlock); + return ret ? ret : IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_ANGL_VEL: + *val = st->info->scale_val; + *val2 = st->info->scale_val2; + return IIO_VAL_FRACTIONAL; + case IIO_VOLTAGE: + /* VREF = 5V, 12 bits */ + *val = 5000; + *val2 = 12; + return IIO_VAL_FRACTIONAL_LOG2; + case IIO_TEMP: + /* 85 C = 585, 25 C = 0 */ + *val = 85000 - 25000; + *val2 = 585; + return IIO_VAL_FRACTIONAL; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_OFFSET: + switch (chan->type) { + case IIO_VOLTAGE: + /* 2.5 V = 0 */ + *val = 2048; + return IIO_VAL_INT; + case IIO_TEMP: + /* 85 C = 585, 25 C = 0 */ + *val = DIV_ROUND_CLOSEST(25 * 585, 85 - 25); + return IIO_VAL_INT; + default: + return -EINVAL; + } + default: + break; + } + + return -EINVAL; +} + +static const struct iio_chan_spec adis16080_channels[] = { + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_Z, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + .address = ADIS16080_DIN_GYRO, + }, { + .type = IIO_VOLTAGE, + .indexed = 1, + .channel = 0, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_OFFSET), + .address = ADIS16080_DIN_AIN1, + }, { + .type = IIO_VOLTAGE, + .indexed = 1, + .channel = 1, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_OFFSET), + .address = ADIS16080_DIN_AIN2, + }, { + .type = IIO_TEMP, + .indexed = 1, + .channel = 0, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_OFFSET), + .address = ADIS16080_DIN_TEMP, + } +}; + +static const struct iio_info adis16080_info = { + .read_raw = &adis16080_read_raw, + .driver_module = THIS_MODULE, +}; + +enum { + ID_ADIS16080, + ID_ADIS16100, +}; + +static const struct adis16080_chip_info adis16080_chip_info[] = { + [ID_ADIS16080] = { + /* 80 degree = 819, 819 rad = 46925 degree */ + .scale_val = 80, + .scale_val2 = 46925, + }, + [ID_ADIS16100] = { + /* 300 degree = 1230, 1230 rad = 70474 degree */ + .scale_val = 300, + .scale_val2 = 70474, + }, +}; + +static int adis16080_probe(struct spi_device *spi) +{ + const struct spi_device_id *id = spi_get_device_id(spi); + struct adis16080_state *st; + struct iio_dev *indio_dev; + + /* setup the industrialio driver allocated elements */ + indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); + if (!indio_dev) + return -ENOMEM; + st = iio_priv(indio_dev); + /* this is only used for removal purposes */ + spi_set_drvdata(spi, indio_dev); + + /* Allocate the comms buffers */ + st->us = spi; + st->info = &adis16080_chip_info[id->driver_data]; + + indio_dev->name = spi->dev.driver->name; + indio_dev->channels = adis16080_channels; + indio_dev->num_channels = ARRAY_SIZE(adis16080_channels); + indio_dev->dev.parent = &spi->dev; + indio_dev->info = &adis16080_info; + indio_dev->modes = INDIO_DIRECT_MODE; + + return iio_device_register(indio_dev); +} + +static int adis16080_remove(struct spi_device *spi) +{ + iio_device_unregister(spi_get_drvdata(spi)); + return 0; +} + +static const struct spi_device_id adis16080_ids[] = { + { "adis16080", ID_ADIS16080 }, + { "adis16100", ID_ADIS16100 }, + {}, +}; +MODULE_DEVICE_TABLE(spi, adis16080_ids); + +static struct spi_driver adis16080_driver = { + .driver = { + .name = "adis16080", + .owner = THIS_MODULE, + }, + .probe = adis16080_probe, + .remove = adis16080_remove, + .id_table = adis16080_ids, +}; +module_spi_driver(adis16080_driver); + +MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); +MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/gyro/adis16130.c b/drivers/iio/gyro/adis16130.c new file mode 100644 index 00000000000..8d08c7ed1ea --- /dev/null +++ b/drivers/iio/gyro/adis16130.c @@ -0,0 +1,179 @@ +/* + * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver + * + * Copyright 2010 Analog Devices Inc. + * + * Licensed under the GPL-2 or later. + */ + +#include <linux/mutex.h> +#include <linux/kernel.h> +#include <linux/spi/spi.h> +#include <linux/module.h> + +#include <linux/iio/iio.h> + +#define ADIS16130_CON 0x0 +#define ADIS16130_CON_RD (1 << 6) +#define ADIS16130_IOP 0x1 + +/* 1 = data-ready signal low when unread data on all channels; */ +#define ADIS16130_IOP_ALL_RDY (1 << 3) +#define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */ +#define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */ +#define ADIS16130_TEMPDATA 0xA /* Temperature output */ +#define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */ +#define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */ +#define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */ +#define ADIS16130_TEMPCS_EN (1 << 3) +#define ADIS16130_RATECONV 0x30 +#define ADIS16130_TEMPCONV 0x32 +#define ADIS16130_MODE 0x38 +#define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */ + +/** + * struct adis16130_state - device instance specific data + * @us: actual spi_device to write data + * @buf_lock: mutex to protect tx and rx + * @buf: unified tx/rx buffer + **/ +struct adis16130_state { + struct spi_device *us; + struct mutex buf_lock; + u8 buf[4] ____cacheline_aligned; +}; + +static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val) +{ + int ret; + struct adis16130_state *st = iio_priv(indio_dev); + struct spi_transfer xfer = { + .tx_buf = st->buf, + .rx_buf = st->buf, + .len = 4, + }; + + mutex_lock(&st->buf_lock); + + st->buf[0] = ADIS16130_CON_RD | reg_addr; + st->buf[1] = st->buf[2] = st->buf[3] = 0; + + ret = spi_sync_transfer(st->us, &xfer, 1); + if (ret == 0) + *val = (st->buf[1] << 16) | (st->buf[2] << 8) | st->buf[3]; + mutex_unlock(&st->buf_lock); + + return ret; +} + +static int adis16130_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, + long mask) +{ + int ret; + u32 temp; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + /* Take the iio_dev status lock */ + mutex_lock(&indio_dev->mlock); + ret = adis16130_spi_read(indio_dev, chan->address, &temp); + mutex_unlock(&indio_dev->mlock); + if (ret) + return ret; + *val = temp; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_ANGL_VEL: + /* 0 degree = 838860, 250 degree = 14260608 */ + *val = 250; + *val2 = 336440817; /* RAD_TO_DEGREE(14260608 - 8388608) */ + return IIO_VAL_FRACTIONAL; + case IIO_TEMP: + /* 0C = 8036283, 105C = 9516048 */ + *val = 105000; + *val2 = 9516048 - 8036283; + return IIO_VAL_FRACTIONAL; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_OFFSET: + switch (chan->type) { + case IIO_ANGL_VEL: + *val = -8388608; + return IIO_VAL_INT; + case IIO_TEMP: + *val = -8036283; + return IIO_VAL_INT; + default: + return -EINVAL; + } + } + + return -EINVAL; +} + +static const struct iio_chan_spec adis16130_channels[] = { + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_Z, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_OFFSET), + .address = ADIS16130_RATEDATA, + }, { + .type = IIO_TEMP, + .indexed = 1, + .channel = 0, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_OFFSET), + .address = ADIS16130_TEMPDATA, + } +}; + +static const struct iio_info adis16130_info = { + .read_raw = &adis16130_read_raw, + .driver_module = THIS_MODULE, +}; + +static int adis16130_probe(struct spi_device *spi) +{ + struct adis16130_state *st; + struct iio_dev *indio_dev; + + /* setup the industrialio driver allocated elements */ + indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); + if (!indio_dev) + return -ENOMEM; + st = iio_priv(indio_dev); + /* this is only used for removal purposes */ + spi_set_drvdata(spi, indio_dev); + st->us = spi; + mutex_init(&st->buf_lock); + indio_dev->name = spi->dev.driver->name; + indio_dev->channels = adis16130_channels; + indio_dev->num_channels = ARRAY_SIZE(adis16130_channels); + indio_dev->dev.parent = &spi->dev; + indio_dev->info = &adis16130_info; + indio_dev->modes = INDIO_DIRECT_MODE; + + return devm_iio_device_register(&spi->dev, indio_dev); +} + +static struct spi_driver adis16130_driver = { + .driver = { + .name = "adis16130", + .owner = THIS_MODULE, + }, + .probe = adis16130_probe, +}; +module_spi_driver(adis16130_driver); + +MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); +MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate"); +MODULE_LICENSE("GPL v2"); +MODULE_ALIAS("spi:adis16130"); diff --git a/drivers/iio/gyro/adis16136.c b/drivers/iio/gyro/adis16136.c new file mode 100644 index 00000000000..591bd555e1f --- /dev/null +++ b/drivers/iio/gyro/adis16136.c @@ -0,0 +1,577 @@ +/* + * ADIS16133/ADIS16135/ADIS16136 gyroscope driver + * + * Copyright 2012 Analog Devices Inc. + * Author: Lars-Peter Clausen <lars@metafoo.de> + * + * Licensed under the GPL-2. + */ + +#include <linux/interrupt.h> +#include <linux/delay.h> +#include <linux/mutex.h> +#include <linux/device.h> +#include <linux/kernel.h> +#include <linux/spi/spi.h> +#include <linux/slab.h> +#include <linux/sysfs.h> +#include <linux/module.h> + +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/buffer.h> +#include <linux/iio/imu/adis.h> + +#include <linux/debugfs.h> + +#define ADIS16136_REG_FLASH_CNT 0x00 +#define ADIS16136_REG_TEMP_OUT 0x02 +#define ADIS16136_REG_GYRO_OUT2 0x04 +#define ADIS16136_REG_GYRO_OUT 0x06 +#define ADIS16136_REG_GYRO_OFF2 0x08 +#define ADIS16136_REG_GYRO_OFF 0x0A +#define ADIS16136_REG_ALM_MAG1 0x10 +#define ADIS16136_REG_ALM_MAG2 0x12 +#define ADIS16136_REG_ALM_SAMPL1 0x14 +#define ADIS16136_REG_ALM_SAMPL2 0x16 +#define ADIS16136_REG_ALM_CTRL 0x18 +#define ADIS16136_REG_GPIO_CTRL 0x1A +#define ADIS16136_REG_MSC_CTRL 0x1C +#define ADIS16136_REG_SMPL_PRD 0x1E +#define ADIS16136_REG_AVG_CNT 0x20 +#define ADIS16136_REG_DEC_RATE 0x22 +#define ADIS16136_REG_SLP_CTRL 0x24 +#define ADIS16136_REG_DIAG_STAT 0x26 +#define ADIS16136_REG_GLOB_CMD 0x28 +#define ADIS16136_REG_LOT1 0x32 +#define ADIS16136_REG_LOT2 0x34 +#define ADIS16136_REG_LOT3 0x36 +#define ADIS16136_REG_PROD_ID 0x38 +#define ADIS16136_REG_SERIAL_NUM 0x3A + +#define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL 2 +#define ADIS16136_DIAG_STAT_SPI_FAIL 3 +#define ADIS16136_DIAG_STAT_SELF_TEST_FAIL 5 +#define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL 6 + +#define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11) +#define ADIS16136_MSC_CTRL_SELF_TEST BIT(10) + +struct adis16136_chip_info { + unsigned int precision; + unsigned int fullscale; +}; + +struct adis16136 { + const struct adis16136_chip_info *chip_info; + + struct adis adis; +}; + +#ifdef CONFIG_DEBUG_FS + +static ssize_t adis16136_show_serial(struct file *file, + char __user *userbuf, size_t count, loff_t *ppos) +{ + struct adis16136 *adis16136 = file->private_data; + uint16_t lot1, lot2, lot3, serial; + char buf[20]; + size_t len; + int ret; + + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM, + &serial); + if (ret < 0) + return ret; + + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1); + if (ret < 0) + return ret; + + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2); + if (ret < 0) + return ret; + + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3); + if (ret < 0) + return ret; + + len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2, + lot3, serial); + + return simple_read_from_buffer(userbuf, count, ppos, buf, len); +} + +static const struct file_operations adis16136_serial_fops = { + .open = simple_open, + .read = adis16136_show_serial, + .llseek = default_llseek, + .owner = THIS_MODULE, +}; + +static int adis16136_show_product_id(void *arg, u64 *val) +{ + struct adis16136 *adis16136 = arg; + u16 prod_id; + int ret; + + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID, + &prod_id); + if (ret < 0) + return ret; + + *val = prod_id; + + return 0; +} +DEFINE_SIMPLE_ATTRIBUTE(adis16136_product_id_fops, + adis16136_show_product_id, NULL, "%llu\n"); + +static int adis16136_show_flash_count(void *arg, u64 *val) +{ + struct adis16136 *adis16136 = arg; + uint16_t flash_count; + int ret; + + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT, + &flash_count); + if (ret < 0) + return ret; + + *val = flash_count; + + return 0; +} +DEFINE_SIMPLE_ATTRIBUTE(adis16136_flash_count_fops, + adis16136_show_flash_count, NULL, "%lld\n"); + +static int adis16136_debugfs_init(struct iio_dev *indio_dev) +{ + struct adis16136 *adis16136 = iio_priv(indio_dev); + + debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry, + adis16136, &adis16136_serial_fops); + debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry, + adis16136, &adis16136_product_id_fops); + debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, + adis16136, &adis16136_flash_count_fops); + + return 0; +} + +#else + +static int adis16136_debugfs_init(struct iio_dev *indio_dev) +{ + return 0; +} + +#endif + +static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq) +{ + unsigned int t; + + t = 32768 / freq; + if (t < 0xf) + t = 0xf; + else if (t > 0xffff) + t = 0xffff; + else + t--; + + return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t); +} + +static int adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq) +{ + uint16_t t; + int ret; + + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t); + if (ret < 0) + return ret; + + *freq = 32768 / (t + 1); + + return 0; +} + +static ssize_t adis16136_write_frequency(struct device *dev, + struct device_attribute *attr, const char *buf, size_t len) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct adis16136 *adis16136 = iio_priv(indio_dev); + unsigned int val; + int ret; + + ret = kstrtouint(buf, 10, &val); + if (ret) + return ret; + + if (val == 0) + return -EINVAL; + + ret = adis16136_set_freq(adis16136, val); + + return ret ? ret : len; +} + +static ssize_t adis16136_read_frequency(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct adis16136 *adis16136 = iio_priv(indio_dev); + unsigned int freq; + int ret; + + ret = adis16136_get_freq(adis16136, &freq); + if (ret < 0) + return ret; + + return sprintf(buf, "%d\n", freq); +} + +static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, + adis16136_read_frequency, + adis16136_write_frequency); + +static const unsigned adis16136_3db_divisors[] = { + [0] = 2, /* Special case */ + [1] = 6, + [2] = 12, + [3] = 25, + [4] = 50, + [5] = 100, + [6] = 200, + [7] = 200, /* Not a valid setting */ +}; + +static int adis16136_set_filter(struct iio_dev *indio_dev, int val) +{ + struct adis16136 *adis16136 = iio_priv(indio_dev); + unsigned int freq; + int i, ret; + + ret = adis16136_get_freq(adis16136, &freq); + if (ret < 0) + return ret; + + for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) { + if (freq / adis16136_3db_divisors[i] >= val) + break; + } + + return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i); +} + +static int adis16136_get_filter(struct iio_dev *indio_dev, int *val) +{ + struct adis16136 *adis16136 = iio_priv(indio_dev); + unsigned int freq; + uint16_t val16; + int ret; + + mutex_lock(&indio_dev->mlock); + + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, &val16); + if (ret < 0) + goto err_unlock; + + ret = adis16136_get_freq(adis16136, &freq); + if (ret < 0) + goto err_unlock; + + *val = freq / adis16136_3db_divisors[val16 & 0x07]; + +err_unlock: + mutex_unlock(&indio_dev->mlock); + + return ret ? ret : IIO_VAL_INT; +} + +static int adis16136_read_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, int *val, int *val2, long info) +{ + struct adis16136 *adis16136 = iio_priv(indio_dev); + uint32_t val32; + int ret; + + switch (info) { + case IIO_CHAN_INFO_RAW: + return adis_single_conversion(indio_dev, chan, 0, val); + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_ANGL_VEL: + *val = adis16136->chip_info->precision; + *val2 = (adis16136->chip_info->fullscale << 16); + return IIO_VAL_FRACTIONAL; + case IIO_TEMP: + *val = 10; + *val2 = 697000; /* 0.010697 degree Celsius */ + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_CALIBBIAS: + ret = adis_read_reg_32(&adis16136->adis, + ADIS16136_REG_GYRO_OFF2, &val32); + if (ret < 0) + return ret; + + *val = sign_extend32(val32, 31); + + return IIO_VAL_INT; + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + return adis16136_get_filter(indio_dev, val); + default: + return -EINVAL; + } +} + +static int adis16136_write_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, int val, int val2, long info) +{ + struct adis16136 *adis16136 = iio_priv(indio_dev); + + switch (info) { + case IIO_CHAN_INFO_CALIBBIAS: + return adis_write_reg_32(&adis16136->adis, + ADIS16136_REG_GYRO_OFF2, val); + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + return adis16136_set_filter(indio_dev, val); + default: + break; + } + + return -EINVAL; +} + +enum { + ADIS16136_SCAN_GYRO, + ADIS16136_SCAN_TEMP, +}; + +static const struct iio_chan_spec adis16136_channels[] = { + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_X, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_CALIBBIAS) | + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), + + .address = ADIS16136_REG_GYRO_OUT2, + .scan_index = ADIS16136_SCAN_GYRO, + .scan_type = { + .sign = 's', + .realbits = 32, + .storagebits = 32, + .endianness = IIO_BE, + }, + }, { + .type = IIO_TEMP, + .indexed = 1, + .channel = 0, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + .address = ADIS16136_REG_TEMP_OUT, + .scan_index = ADIS16136_SCAN_TEMP, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_BE, + }, + }, + IIO_CHAN_SOFT_TIMESTAMP(2), +}; + +static struct attribute *adis16136_attributes[] = { + &iio_dev_attr_sampling_frequency.dev_attr.attr, + NULL +}; + +static const struct attribute_group adis16136_attribute_group = { + .attrs = adis16136_attributes, +}; + +static const struct iio_info adis16136_info = { + .driver_module = THIS_MODULE, + .attrs = &adis16136_attribute_group, + .read_raw = &adis16136_read_raw, + .write_raw = &adis16136_write_raw, + .update_scan_mode = adis_update_scan_mode, + .debugfs_reg_access = adis_debugfs_reg_access, +}; + +static int adis16136_stop_device(struct iio_dev *indio_dev) +{ + struct adis16136 *adis16136 = iio_priv(indio_dev); + int ret; + + ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff); + if (ret) + dev_err(&indio_dev->dev, + "Could not power down device: %d\n", ret); + + return ret; +} + +static int adis16136_initial_setup(struct iio_dev *indio_dev) +{ + struct adis16136 *adis16136 = iio_priv(indio_dev); + unsigned int device_id; + uint16_t prod_id; + int ret; + + ret = adis_initial_startup(&adis16136->adis); + if (ret) + return ret; + + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID, + &prod_id); + if (ret) + return ret; + + sscanf(indio_dev->name, "adis%u\n", &device_id); + + if (prod_id != device_id) + dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", + device_id, prod_id); + + return 0; +} + +static const char * const adis16136_status_error_msgs[] = { + [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed", + [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure", + [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error", + [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error", +}; + +static const struct adis_data adis16136_data = { + .diag_stat_reg = ADIS16136_REG_DIAG_STAT, + .glob_cmd_reg = ADIS16136_REG_GLOB_CMD, + .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL, + + .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST, + .startup_delay = 80, + + .read_delay = 10, + .write_delay = 10, + + .status_error_msgs = adis16136_status_error_msgs, + .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) | + BIT(ADIS16136_DIAG_STAT_SPI_FAIL) | + BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) | + BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL), +}; + +enum adis16136_id { + ID_ADIS16133, + ID_ADIS16135, + ID_ADIS16136, +}; + +static const struct adis16136_chip_info adis16136_chip_info[] = { + [ID_ADIS16133] = { + .precision = IIO_DEGREE_TO_RAD(1200), + .fullscale = 24000, + }, + [ID_ADIS16135] = { + .precision = IIO_DEGREE_TO_RAD(300), + .fullscale = 24000, + }, + [ID_ADIS16136] = { + .precision = IIO_DEGREE_TO_RAD(450), + .fullscale = 24623, + }, +}; + +static int adis16136_probe(struct spi_device *spi) +{ + const struct spi_device_id *id = spi_get_device_id(spi); + struct adis16136 *adis16136; + struct iio_dev *indio_dev; + int ret; + + indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136)); + if (indio_dev == NULL) + return -ENOMEM; + + spi_set_drvdata(spi, indio_dev); + + adis16136 = iio_priv(indio_dev); + + adis16136->chip_info = &adis16136_chip_info[id->driver_data]; + indio_dev->dev.parent = &spi->dev; + indio_dev->name = spi_get_device_id(spi)->name; + indio_dev->channels = adis16136_channels; + indio_dev->num_channels = ARRAY_SIZE(adis16136_channels); + indio_dev->info = &adis16136_info; + indio_dev->modes = INDIO_DIRECT_MODE; + + ret = adis_init(&adis16136->adis, indio_dev, spi, &adis16136_data); + if (ret) + return ret; + + ret = adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL); + if (ret) + return ret; + + ret = adis16136_initial_setup(indio_dev); + if (ret) + goto error_cleanup_buffer; + + ret = iio_device_register(indio_dev); + if (ret) + goto error_stop_device; + + adis16136_debugfs_init(indio_dev); + + return 0; + +error_stop_device: + adis16136_stop_device(indio_dev); +error_cleanup_buffer: + adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev); + return ret; +} + +static int adis16136_remove(struct spi_device *spi) +{ + struct iio_dev *indio_dev = spi_get_drvdata(spi); + struct adis16136 *adis16136 = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + adis16136_stop_device(indio_dev); + + adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev); + + return 0; +} + +static const struct spi_device_id adis16136_ids[] = { + { "adis16133", ID_ADIS16133 }, + { "adis16135", ID_ADIS16135 }, + { "adis16136", ID_ADIS16136 }, + { } +}; +MODULE_DEVICE_TABLE(spi, adis16136_ids); + +static struct spi_driver adis16136_driver = { + .driver = { + .name = "adis16136", + .owner = THIS_MODULE, + }, + .id_table = adis16136_ids, + .probe = adis16136_probe, + .remove = adis16136_remove, +}; +module_spi_driver(adis16136_driver); + +MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>"); +MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/gyro/adis16260.c b/drivers/iio/gyro/adis16260.c new file mode 100644 index 00000000000..22b6fb80fa1 --- /dev/null +++ b/drivers/iio/gyro/adis16260.c @@ -0,0 +1,421 @@ +/* + * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver + * + * Copyright 2010 Analog Devices Inc. + * + * Licensed under the GPL-2 or later. + */ + +#include <linux/interrupt.h> +#include <linux/mutex.h> +#include <linux/device.h> +#include <linux/kernel.h> +#include <linux/spi/spi.h> +#include <linux/sysfs.h> +#include <linux/module.h> + +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/buffer.h> +#include <linux/iio/imu/adis.h> + +#define ADIS16260_STARTUP_DELAY 220 /* ms */ + +#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */ +#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */ +#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */ +#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */ +#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */ +#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */ +#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */ +#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */ +#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */ +#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */ +#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */ +#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */ +#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */ +#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */ +#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */ +#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */ +#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */ +#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */ +#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */ +#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */ +#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */ +#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */ +#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */ +#define ADIS16260_PROD_ID 0x56 /* Product identifier; + * convert to decimal = 16,265/16,260 */ +#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */ + +#define ADIS16260_ERROR_ACTIVE (1<<14) +#define ADIS16260_NEW_DATA (1<<15) + +/* MSC_CTRL */ +#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11) +/* Internal self-test enable */ +#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10) +#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9) +#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8) +#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2) +#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) +#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0) + +/* SMPL_PRD */ +/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */ +#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7) +#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F + +/* SLP_CNT */ +#define ADIS16260_SLP_CNT_POWER_OFF 0x80 + +/* DIAG_STAT */ +#define ADIS16260_DIAG_STAT_ALARM2 (1<<9) +#define ADIS16260_DIAG_STAT_ALARM1 (1<<8) +#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6 +#define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5 +#define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4 +#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3 +#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2 +#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1 +#define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0 + +/* GLOB_CMD */ +#define ADIS16260_GLOB_CMD_SW_RESET (1<<7) +#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3) +#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2) +#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1) +#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0) + +#define ADIS16260_SPI_SLOW (u32)(300 * 1000) +#define ADIS16260_SPI_BURST (u32)(1000 * 1000) +#define ADIS16260_SPI_FAST (u32)(2000 * 1000) + +/* At the moment triggers are only used for ring buffer + * filling. This may change! + */ + +#define ADIS16260_SCAN_GYRO 0 +#define ADIS16260_SCAN_SUPPLY 1 +#define ADIS16260_SCAN_AUX_ADC 2 +#define ADIS16260_SCAN_TEMP 3 +#define ADIS16260_SCAN_ANGL 4 + +static ssize_t adis16260_read_frequency(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct adis *adis = iio_priv(indio_dev); + int ret, len = 0; + u16 t; + int sps; + ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &t); + if (ret) + return ret; + + if (spi_get_device_id(adis->spi)->driver_data) /* If an adis16251 */ + sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256; + else + sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048; + sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1; + len = sprintf(buf, "%d\n", sps); + return len; +} + +static ssize_t adis16260_write_frequency(struct device *dev, + struct device_attribute *attr, + const char *buf, + size_t len) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct adis *adis = iio_priv(indio_dev); + unsigned int val; + int ret; + u8 t; + + ret = kstrtouint(buf, 10, &val); + if (ret) + return ret; + + mutex_lock(&indio_dev->mlock); + if (spi_get_device_id(adis->spi)->driver_data) + t = 256 / val; + else + t = 2048 / val; + + if (t > ADIS16260_SMPL_PRD_DIV_MASK) + t = ADIS16260_SMPL_PRD_DIV_MASK; + else if (t > 0) + t--; + + if (t >= 0x0A) + adis->spi->max_speed_hz = ADIS16260_SPI_SLOW; + else + adis->spi->max_speed_hz = ADIS16260_SPI_FAST; + ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t); + + mutex_unlock(&indio_dev->mlock); + + return ret ? ret : len; +} + +/* Power down the device */ +static int adis16260_stop_device(struct iio_dev *indio_dev) +{ + struct adis *adis = iio_priv(indio_dev); + int ret; + u16 val = ADIS16260_SLP_CNT_POWER_OFF; + + ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val); + if (ret) + dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); + + return ret; +} + +static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, + adis16260_read_frequency, + adis16260_write_frequency); + +static const struct iio_chan_spec adis16260_channels[] = { + ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, + BIT(IIO_CHAN_INFO_CALIBBIAS) | + BIT(IIO_CHAN_INFO_CALIBSCALE), 14), + ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 14), + ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 12), + ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 12), + ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 12), + IIO_CHAN_SOFT_TIMESTAMP(5), +}; + +static const u8 adis16260_addresses[][2] = { + [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE }, +}; + +static int adis16260_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, + long mask) +{ + struct adis *adis = iio_priv(indio_dev); + int ret; + u8 addr; + s16 val16; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + return adis_single_conversion(indio_dev, chan, + ADIS16260_ERROR_ACTIVE, val); + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_ANGL_VEL: + *val = 0; + if (spi_get_device_id(adis->spi)->driver_data) { + /* 0.01832 degree / sec */ + *val2 = IIO_DEGREE_TO_RAD(18320); + } else { + /* 0.07326 degree / sec */ + *val2 = IIO_DEGREE_TO_RAD(73260); + } + return IIO_VAL_INT_PLUS_MICRO; + case IIO_INCLI: + *val = 0; + *val2 = IIO_DEGREE_TO_RAD(36630); + return IIO_VAL_INT_PLUS_MICRO; + case IIO_VOLTAGE: + if (chan->channel == 0) { + *val = 1; + *val2 = 831500; /* 1.8315 mV */ + } else { + *val = 0; + *val2 = 610500; /* 610.5 uV */ + } + return IIO_VAL_INT_PLUS_MICRO; + case IIO_TEMP: + *val = 145; + *val2 = 300000; /* 0.1453 C */ + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_OFFSET: + *val = 250000 / 1453; /* 25 C = 0x00 */ + return IIO_VAL_INT; + case IIO_CHAN_INFO_CALIBBIAS: + addr = adis16260_addresses[chan->scan_index][0]; + ret = adis_read_reg_16(adis, addr, &val16); + if (ret) + return ret; + + *val = sign_extend32(val16, 11); + return IIO_VAL_INT; + case IIO_CHAN_INFO_CALIBSCALE: + addr = adis16260_addresses[chan->scan_index][1]; + ret = adis_read_reg_16(adis, addr, &val16); + if (ret) + return ret; + + *val = val16; + return IIO_VAL_INT; + } + return -EINVAL; +} + +static int adis16260_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, + int val2, + long mask) +{ + struct adis *adis = iio_priv(indio_dev); + u8 addr; + + switch (mask) { + case IIO_CHAN_INFO_CALIBBIAS: + if (val < -2048 || val >= 2048) + return -EINVAL; + + addr = adis16260_addresses[chan->scan_index][0]; + return adis_write_reg_16(adis, addr, val); + case IIO_CHAN_INFO_CALIBSCALE: + if (val < 0 || val >= 4096) + return -EINVAL; + + addr = adis16260_addresses[chan->scan_index][1]; + return adis_write_reg_16(adis, addr, val); + } + return -EINVAL; +} + +static struct attribute *adis16260_attributes[] = { + &iio_dev_attr_sampling_frequency.dev_attr.attr, + NULL +}; + +static const struct attribute_group adis16260_attribute_group = { + .attrs = adis16260_attributes, +}; + +static const struct iio_info adis16260_info = { + .attrs = &adis16260_attribute_group, + .read_raw = &adis16260_read_raw, + .write_raw = &adis16260_write_raw, + .update_scan_mode = adis_update_scan_mode, + .driver_module = THIS_MODULE, +}; + +static const char * const adis1620_status_error_msgs[] = { + [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error", + [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error", + [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange", + [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", + [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", + [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25", + [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75", +}; + +static const struct adis_data adis16260_data = { + .write_delay = 30, + .read_delay = 30, + .msc_ctrl_reg = ADIS16260_MSC_CTRL, + .glob_cmd_reg = ADIS16260_GLOB_CMD, + .diag_stat_reg = ADIS16260_DIAG_STAT, + + .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST, + .startup_delay = ADIS16260_STARTUP_DELAY, + + .status_error_msgs = adis1620_status_error_msgs, + .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) | + BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) | + BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) | + BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) | + BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) | + BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) | + BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT), +}; + +static int adis16260_probe(struct spi_device *spi) +{ + struct iio_dev *indio_dev; + struct adis *adis; + int ret; + + /* setup the industrialio driver allocated elements */ + indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis)); + if (!indio_dev) + return -ENOMEM; + adis = iio_priv(indio_dev); + /* this is only used for removal purposes */ + spi_set_drvdata(spi, indio_dev); + + indio_dev->name = spi_get_device_id(spi)->name; + indio_dev->dev.parent = &spi->dev; + indio_dev->info = &adis16260_info; + indio_dev->channels = adis16260_channels; + indio_dev->num_channels = ARRAY_SIZE(adis16260_channels); + indio_dev->modes = INDIO_DIRECT_MODE; + + ret = adis_init(adis, indio_dev, spi, &adis16260_data); + if (ret) + return ret; + + ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL); + if (ret) + return ret; + + /* Get the device into a sane initial state */ + ret = adis_initial_startup(adis); + if (ret) + goto error_cleanup_buffer_trigger; + ret = iio_device_register(indio_dev); + if (ret) + goto error_cleanup_buffer_trigger; + + return 0; + +error_cleanup_buffer_trigger: + adis_cleanup_buffer_and_trigger(adis, indio_dev); + return ret; +} + +static int adis16260_remove(struct spi_device *spi) +{ + struct iio_dev *indio_dev = spi_get_drvdata(spi); + struct adis *adis = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + adis16260_stop_device(indio_dev); + adis_cleanup_buffer_and_trigger(adis, indio_dev); + + return 0; +} + +/* + * These parts do not need to be differentiated until someone adds + * support for the on chip filtering. + */ +static const struct spi_device_id adis16260_id[] = { + {"adis16260", 0}, + {"adis16265", 0}, + {"adis16250", 0}, + {"adis16255", 0}, + {"adis16251", 1}, + {} +}; +MODULE_DEVICE_TABLE(spi, adis16260_id); + +static struct spi_driver adis16260_driver = { + .driver = { + .name = "adis16260", + .owner = THIS_MODULE, + }, + .probe = adis16260_probe, + .remove = adis16260_remove, + .id_table = adis16260_id, +}; +module_spi_driver(adis16260_driver); + +MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); +MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/gyro/adxrs450.c b/drivers/iio/gyro/adxrs450.c new file mode 100644 index 00000000000..eb0e08ec9e2 --- /dev/null +++ b/drivers/iio/gyro/adxrs450.c @@ -0,0 +1,468 @@ +/* + * ADXRS450/ADXRS453 Digital Output Gyroscope Driver + * + * Copyright 2011 Analog Devices Inc. + * + * Licensed under the GPL-2. + */ + +#include <linux/interrupt.h> +#include <linux/irq.h> +#include <linux/delay.h> +#include <linux/mutex.h> +#include <linux/device.h> +#include <linux/kernel.h> +#include <linux/spi/spi.h> +#include <linux/slab.h> +#include <linux/sysfs.h> +#include <linux/list.h> +#include <linux/module.h> + +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> + +#define ADXRS450_STARTUP_DELAY 50 /* ms */ + +/* The MSB for the spi commands */ +#define ADXRS450_SENSOR_DATA (0x20 << 24) +#define ADXRS450_WRITE_DATA (0x40 << 24) +#define ADXRS450_READ_DATA (0x80 << 24) + +#define ADXRS450_RATE1 0x00 /* Rate Registers */ +#define ADXRS450_TEMP1 0x02 /* Temperature Registers */ +#define ADXRS450_LOCST1 0x04 /* Low CST Memory Registers */ +#define ADXRS450_HICST1 0x06 /* High CST Memory Registers */ +#define ADXRS450_QUAD1 0x08 /* Quad Memory Registers */ +#define ADXRS450_FAULT1 0x0A /* Fault Registers */ +#define ADXRS450_PID1 0x0C /* Part ID Register 1 */ +#define ADXRS450_SNH 0x0E /* Serial Number Registers, 4 bytes */ +#define ADXRS450_SNL 0x10 +#define ADXRS450_DNC1 0x12 /* Dynamic Null Correction Registers */ +/* Check bits */ +#define ADXRS450_P 0x01 +#define ADXRS450_CHK 0x02 +#define ADXRS450_CST 0x04 +#define ADXRS450_PWR 0x08 +#define ADXRS450_POR 0x10 +#define ADXRS450_NVM 0x20 +#define ADXRS450_Q 0x40 +#define ADXRS450_PLL 0x80 +#define ADXRS450_UV 0x100 +#define ADXRS450_OV 0x200 +#define ADXRS450_AMP 0x400 +#define ADXRS450_FAIL 0x800 + +#define ADXRS450_WRERR_MASK (0x7 << 29) + +#define ADXRS450_MAX_RX 4 +#define ADXRS450_MAX_TX 4 + +#define ADXRS450_GET_ST(a) ((a >> 26) & 0x3) + +enum { + ID_ADXRS450, + ID_ADXRS453, +}; + +/** + * struct adxrs450_state - device instance specific data + * @us: actual spi_device + * @buf_lock: mutex to protect tx and rx + * @tx: transmit buffer + * @rx: receive buffer + **/ +struct adxrs450_state { + struct spi_device *us; + struct mutex buf_lock; + __be32 tx ____cacheline_aligned; + __be32 rx; + +}; + +/** + * adxrs450_spi_read_reg_16() - read 2 bytes from a register pair + * @indio_dev: device associated with child of actual iio_dev + * @reg_address: the address of the lower of the two registers, which should be + * an even address, the second register's address is reg_address + 1. + * @val: somewhere to pass back the value read + **/ +static int adxrs450_spi_read_reg_16(struct iio_dev *indio_dev, + u8 reg_address, + u16 *val) +{ + struct adxrs450_state *st = iio_priv(indio_dev); + u32 tx; + int ret; + struct spi_transfer xfers[] = { + { + .tx_buf = &st->tx, + .bits_per_word = 8, + .len = sizeof(st->tx), + .cs_change = 1, + }, { + .rx_buf = &st->rx, + .bits_per_word = 8, + .len = sizeof(st->rx), + }, + }; + + mutex_lock(&st->buf_lock); + tx = ADXRS450_READ_DATA | (reg_address << 17); + + if (!(hweight32(tx) & 1)) + tx |= ADXRS450_P; + + st->tx = cpu_to_be32(tx); + ret = spi_sync_transfer(st->us, xfers, ARRAY_SIZE(xfers)); + if (ret) { + dev_err(&st->us->dev, "problem while reading 16 bit register 0x%02x\n", + reg_address); + goto error_ret; + } + + *val = (be32_to_cpu(st->rx) >> 5) & 0xFFFF; + +error_ret: + mutex_unlock(&st->buf_lock); + return ret; +} + +/** + * adxrs450_spi_write_reg_16() - write 2 bytes data to a register pair + * @indio_dev: device associated with child of actual actual iio_dev + * @reg_address: the address of the lower of the two registers,which should be + * an even address, the second register's address is reg_address + 1. + * @val: value to be written. + **/ +static int adxrs450_spi_write_reg_16(struct iio_dev *indio_dev, + u8 reg_address, + u16 val) +{ + struct adxrs450_state *st = iio_priv(indio_dev); + u32 tx; + int ret; + + mutex_lock(&st->buf_lock); + tx = ADXRS450_WRITE_DATA | (reg_address << 17) | (val << 1); + + if (!(hweight32(tx) & 1)) + tx |= ADXRS450_P; + + st->tx = cpu_to_be32(tx); + ret = spi_write(st->us, &st->tx, sizeof(st->tx)); + if (ret) + dev_err(&st->us->dev, "problem while writing 16 bit register 0x%02x\n", + reg_address); + usleep_range(100, 1000); /* enforce sequential transfer delay 0.1ms */ + mutex_unlock(&st->buf_lock); + return ret; +} + +/** + * adxrs450_spi_sensor_data() - read 2 bytes sensor data + * @indio_dev: device associated with child of actual iio_dev + * @val: somewhere to pass back the value read + **/ +static int adxrs450_spi_sensor_data(struct iio_dev *indio_dev, s16 *val) +{ + struct adxrs450_state *st = iio_priv(indio_dev); + int ret; + struct spi_transfer xfers[] = { + { + .tx_buf = &st->tx, + .bits_per_word = 8, + .len = sizeof(st->tx), + .cs_change = 1, + }, { + .rx_buf = &st->rx, + .bits_per_word = 8, + .len = sizeof(st->rx), + }, + }; + + mutex_lock(&st->buf_lock); + st->tx = cpu_to_be32(ADXRS450_SENSOR_DATA); + + ret = spi_sync_transfer(st->us, xfers, ARRAY_SIZE(xfers)); + if (ret) { + dev_err(&st->us->dev, "Problem while reading sensor data\n"); + goto error_ret; + } + + *val = (be32_to_cpu(st->rx) >> 10) & 0xFFFF; + +error_ret: + mutex_unlock(&st->buf_lock); + return ret; +} + +/** + * adxrs450_spi_initial() - use for initializing procedure. + * @st: device instance specific data + * @val: somewhere to pass back the value read + * @chk: Whether to perform fault check + **/ +static int adxrs450_spi_initial(struct adxrs450_state *st, + u32 *val, char chk) +{ + int ret; + u32 tx; + struct spi_transfer xfers = { + .tx_buf = &st->tx, + .rx_buf = &st->rx, + .bits_per_word = 8, + .len = sizeof(st->tx), + }; + + mutex_lock(&st->buf_lock); + tx = ADXRS450_SENSOR_DATA; + if (chk) + tx |= (ADXRS450_CHK | ADXRS450_P); + st->tx = cpu_to_be32(tx); + ret = spi_sync_transfer(st->us, &xfers, 1); + if (ret) { + dev_err(&st->us->dev, "Problem while reading initializing data\n"); + goto error_ret; + } + + *val = be32_to_cpu(st->rx); + +error_ret: + mutex_unlock(&st->buf_lock); + return ret; +} + +/* Recommended Startup Sequence by spec */ +static int adxrs450_initial_setup(struct iio_dev *indio_dev) +{ + u32 t; + u16 data; + int ret; + struct adxrs450_state *st = iio_priv(indio_dev); + + msleep(ADXRS450_STARTUP_DELAY*2); + ret = adxrs450_spi_initial(st, &t, 1); + if (ret) + return ret; + if (t != 0x01) + dev_warn(&st->us->dev, "The initial power on response is not correct! Restart without reset?\n"); + + msleep(ADXRS450_STARTUP_DELAY); + ret = adxrs450_spi_initial(st, &t, 0); + if (ret) + return ret; + + msleep(ADXRS450_STARTUP_DELAY); + ret = adxrs450_spi_initial(st, &t, 0); + if (ret) + return ret; + if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) { + dev_err(&st->us->dev, "The second response is not correct!\n"); + return -EIO; + + } + ret = adxrs450_spi_initial(st, &t, 0); + if (ret) + return ret; + if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) { + dev_err(&st->us->dev, "The third response is not correct!\n"); + return -EIO; + + } + ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_FAULT1, &data); + if (ret) + return ret; + if (data & 0x0fff) { + dev_err(&st->us->dev, "The device is not in normal status!\n"); + return -EINVAL; + } + + return 0; +} + +static int adxrs450_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, + int val2, + long mask) +{ + int ret; + switch (mask) { + case IIO_CHAN_INFO_CALIBBIAS: + if (val < -0x400 || val >= 0x400) + return -EINVAL; + ret = adxrs450_spi_write_reg_16(indio_dev, + ADXRS450_DNC1, val); + break; + default: + ret = -EINVAL; + break; + } + return ret; +} + +static int adxrs450_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, + int *val2, + long mask) +{ + int ret; + s16 t; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + switch (chan->type) { + case IIO_ANGL_VEL: + ret = adxrs450_spi_sensor_data(indio_dev, &t); + if (ret) + break; + *val = t; + ret = IIO_VAL_INT; + break; + case IIO_TEMP: + ret = adxrs450_spi_read_reg_16(indio_dev, + ADXRS450_TEMP1, &t); + if (ret) + break; + *val = (t >> 6) + 225; + ret = IIO_VAL_INT; + break; + default: + ret = -EINVAL; + break; + } + break; + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_ANGL_VEL: + *val = 0; + *val2 = 218166; + return IIO_VAL_INT_PLUS_NANO; + case IIO_TEMP: + *val = 200; + *val2 = 0; + return IIO_VAL_INT; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW: + ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_QUAD1, &t); + if (ret) + break; + *val = t; + ret = IIO_VAL_INT; + break; + case IIO_CHAN_INFO_CALIBBIAS: + ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_DNC1, &t); + if (ret) + break; + *val = sign_extend32(t, 9); + ret = IIO_VAL_INT; + break; + default: + ret = -EINVAL; + break; + } + + return ret; +} + +static const struct iio_chan_spec adxrs450_channels[2][2] = { + [ID_ADXRS450] = { + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_Z, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_CALIBBIAS) | + BIT(IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + }, { + .type = IIO_TEMP, + .indexed = 1, + .channel = 0, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + } + }, + [ID_ADXRS453] = { + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_Z, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW), + }, { + .type = IIO_TEMP, + .indexed = 1, + .channel = 0, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + } + }, +}; + +static const struct iio_info adxrs450_info = { + .driver_module = THIS_MODULE, + .read_raw = &adxrs450_read_raw, + .write_raw = &adxrs450_write_raw, +}; + +static int adxrs450_probe(struct spi_device *spi) +{ + int ret; + struct adxrs450_state *st; + struct iio_dev *indio_dev; + + /* setup the industrialio driver allocated elements */ + indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); + if (!indio_dev) + return -ENOMEM; + st = iio_priv(indio_dev); + st->us = spi; + mutex_init(&st->buf_lock); + /* This is only used for removal purposes */ + spi_set_drvdata(spi, indio_dev); + + indio_dev->dev.parent = &spi->dev; + indio_dev->info = &adxrs450_info; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->channels = + adxrs450_channels[spi_get_device_id(spi)->driver_data]; + indio_dev->num_channels = ARRAY_SIZE(adxrs450_channels); + indio_dev->name = spi->dev.driver->name; + + ret = devm_iio_device_register(&spi->dev, indio_dev); + if (ret) + return ret; + + /* Get the device into a sane initial state */ + ret = adxrs450_initial_setup(indio_dev); + if (ret) + return ret; + + return 0; +} + +static const struct spi_device_id adxrs450_id[] = { + {"adxrs450", ID_ADXRS450}, + {"adxrs453", ID_ADXRS453}, + {} +}; +MODULE_DEVICE_TABLE(spi, adxrs450_id); + +static struct spi_driver adxrs450_driver = { + .driver = { + .name = "adxrs450", + .owner = THIS_MODULE, + }, + .probe = adxrs450_probe, + .id_table = adxrs450_id, +}; +module_spi_driver(adxrs450_driver); + +MODULE_AUTHOR("Cliff Cai <cliff.cai@xxxxxxxxxx>"); +MODULE_DESCRIPTION("Analog Devices ADXRS450/ADXRS453 Gyroscope SPI driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/gyro/hid-sensor-gyro-3d.c b/drivers/iio/gyro/hid-sensor-gyro-3d.c new file mode 100644 index 00000000000..fa034a3dad7 --- /dev/null +++ b/drivers/iio/gyro/hid-sensor-gyro-3d.c @@ -0,0 +1,428 @@ +/* + * HID Sensors Driver + * Copyright (c) 2012, Intel Corporation. + * + * This program is free software; you can redistribute it and/or modify it + * under the terms and conditions of the GNU General Public License, + * version 2, as published by the Free Software Foundation. + * + * This program is distributed in the hope it will be useful, but WITHOUT + * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for + * more details. + * + * You should have received a copy of the GNU General Public License along with + * this program; if not, write to the Free Software Foundation, Inc., + * 51 Franklin St - Fifth Floor, Boston, MA 02110-1301 USA. + * + */ +#include <linux/device.h> +#include <linux/platform_device.h> +#include <linux/module.h> +#include <linux/interrupt.h> +#include <linux/irq.h> +#include <linux/slab.h> +#include <linux/delay.h> +#include <linux/hid-sensor-hub.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/buffer.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/triggered_buffer.h> +#include "../common/hid-sensors/hid-sensor-trigger.h" + +enum gyro_3d_channel { + CHANNEL_SCAN_INDEX_X, + CHANNEL_SCAN_INDEX_Y, + CHANNEL_SCAN_INDEX_Z, + GYRO_3D_CHANNEL_MAX, +}; + +struct gyro_3d_state { + struct hid_sensor_hub_callbacks callbacks; + struct hid_sensor_common common_attributes; + struct hid_sensor_hub_attribute_info gyro[GYRO_3D_CHANNEL_MAX]; + u32 gyro_val[GYRO_3D_CHANNEL_MAX]; + int scale_pre_decml; + int scale_post_decml; + int scale_precision; + int value_offset; +}; + +static const u32 gyro_3d_addresses[GYRO_3D_CHANNEL_MAX] = { + HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS, + HID_USAGE_SENSOR_ANGL_VELOCITY_Y_AXIS, + HID_USAGE_SENSOR_ANGL_VELOCITY_Z_AXIS +}; + +/* Channel definitions */ +static const struct iio_chan_spec gyro_3d_channels[] = { + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_X, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_SAMP_FREQ) | + BIT(IIO_CHAN_INFO_HYSTERESIS), + .scan_index = CHANNEL_SCAN_INDEX_X, + }, { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_Y, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_SAMP_FREQ) | + BIT(IIO_CHAN_INFO_HYSTERESIS), + .scan_index = CHANNEL_SCAN_INDEX_Y, + }, { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_Z, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_SAMP_FREQ) | + BIT(IIO_CHAN_INFO_HYSTERESIS), + .scan_index = CHANNEL_SCAN_INDEX_Z, + } +}; + +/* Adjust channel real bits based on report descriptor */ +static void gyro_3d_adjust_channel_bit_mask(struct iio_chan_spec *channels, + int channel, int size) +{ + channels[channel].scan_type.sign = 's'; + /* Real storage bits will change based on the report desc. */ + channels[channel].scan_type.realbits = size * 8; + /* Maximum size of a sample to capture is u32 */ + channels[channel].scan_type.storagebits = sizeof(u32) * 8; +} + +/* Channel read_raw handler */ +static int gyro_3d_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, + long mask) +{ + struct gyro_3d_state *gyro_state = iio_priv(indio_dev); + int report_id = -1; + u32 address; + int ret_type; + s32 poll_value; + + *val = 0; + *val2 = 0; + switch (mask) { + case 0: + poll_value = hid_sensor_read_poll_value( + &gyro_state->common_attributes); + if (poll_value < 0) + return -EINVAL; + + hid_sensor_power_state(&gyro_state->common_attributes, true); + msleep_interruptible(poll_value * 2); + report_id = gyro_state->gyro[chan->scan_index].report_id; + address = gyro_3d_addresses[chan->scan_index]; + if (report_id >= 0) + *val = sensor_hub_input_attr_get_raw_value( + gyro_state->common_attributes.hsdev, + HID_USAGE_SENSOR_GYRO_3D, address, + report_id); + else { + *val = 0; + hid_sensor_power_state(&gyro_state->common_attributes, + false); + return -EINVAL; + } + hid_sensor_power_state(&gyro_state->common_attributes, false); + ret_type = IIO_VAL_INT; + break; + case IIO_CHAN_INFO_SCALE: + *val = gyro_state->scale_pre_decml; + *val2 = gyro_state->scale_post_decml; + ret_type = gyro_state->scale_precision; + break; + case IIO_CHAN_INFO_OFFSET: + *val = gyro_state->value_offset; + ret_type = IIO_VAL_INT; + break; + case IIO_CHAN_INFO_SAMP_FREQ: + ret_type = hid_sensor_read_samp_freq_value( + &gyro_state->common_attributes, val, val2); + break; + case IIO_CHAN_INFO_HYSTERESIS: + ret_type = hid_sensor_read_raw_hyst_value( + &gyro_state->common_attributes, val, val2); + break; + default: + ret_type = -EINVAL; + break; + } + + return ret_type; +} + +/* Channel write_raw handler */ +static int gyro_3d_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, + int val2, + long mask) +{ + struct gyro_3d_state *gyro_state = iio_priv(indio_dev); + int ret = 0; + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + ret = hid_sensor_write_samp_freq_value( + &gyro_state->common_attributes, val, val2); + break; + case IIO_CHAN_INFO_HYSTERESIS: + ret = hid_sensor_write_raw_hyst_value( + &gyro_state->common_attributes, val, val2); + break; + default: + ret = -EINVAL; + } + + return ret; +} + +static const struct iio_info gyro_3d_info = { + .driver_module = THIS_MODULE, + .read_raw = &gyro_3d_read_raw, + .write_raw = &gyro_3d_write_raw, +}; + +/* Function to push data to buffer */ +static void hid_sensor_push_data(struct iio_dev *indio_dev, const void *data, + int len) +{ + dev_dbg(&indio_dev->dev, "hid_sensor_push_data\n"); + iio_push_to_buffers(indio_dev, data); +} + +/* Callback handler to send event after all samples are received and captured */ +static int gyro_3d_proc_event(struct hid_sensor_hub_device *hsdev, + unsigned usage_id, + void *priv) +{ + struct iio_dev *indio_dev = platform_get_drvdata(priv); + struct gyro_3d_state *gyro_state = iio_priv(indio_dev); + + dev_dbg(&indio_dev->dev, "gyro_3d_proc_event\n"); + if (atomic_read(&gyro_state->common_attributes.data_ready)) + hid_sensor_push_data(indio_dev, + gyro_state->gyro_val, + sizeof(gyro_state->gyro_val)); + + return 0; +} + +/* Capture samples in local storage */ +static int gyro_3d_capture_sample(struct hid_sensor_hub_device *hsdev, + unsigned usage_id, + size_t raw_len, char *raw_data, + void *priv) +{ + struct iio_dev *indio_dev = platform_get_drvdata(priv); + struct gyro_3d_state *gyro_state = iio_priv(indio_dev); + int offset; + int ret = -EINVAL; + + switch (usage_id) { + case HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS: + case HID_USAGE_SENSOR_ANGL_VELOCITY_Y_AXIS: + case HID_USAGE_SENSOR_ANGL_VELOCITY_Z_AXIS: + offset = usage_id - HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS; + gyro_state->gyro_val[CHANNEL_SCAN_INDEX_X + offset] = + *(u32 *)raw_data; + ret = 0; + break; + default: + break; + } + + return ret; +} + +/* Parse report which is specific to an usage id*/ +static int gyro_3d_parse_report(struct platform_device *pdev, + struct hid_sensor_hub_device *hsdev, + struct iio_chan_spec *channels, + unsigned usage_id, + struct gyro_3d_state *st) +{ + int ret; + int i; + + for (i = 0; i <= CHANNEL_SCAN_INDEX_Z; ++i) { + ret = sensor_hub_input_get_attribute_info(hsdev, + HID_INPUT_REPORT, + usage_id, + HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS + i, + &st->gyro[CHANNEL_SCAN_INDEX_X + i]); + if (ret < 0) + break; + gyro_3d_adjust_channel_bit_mask(channels, + CHANNEL_SCAN_INDEX_X + i, + st->gyro[CHANNEL_SCAN_INDEX_X + i].size); + } + dev_dbg(&pdev->dev, "gyro_3d %x:%x, %x:%x, %x:%x\n", + st->gyro[0].index, + st->gyro[0].report_id, + st->gyro[1].index, st->gyro[1].report_id, + st->gyro[2].index, st->gyro[2].report_id); + + st->scale_precision = hid_sensor_format_scale( + HID_USAGE_SENSOR_GYRO_3D, + &st->gyro[CHANNEL_SCAN_INDEX_X], + &st->scale_pre_decml, &st->scale_post_decml); + + /* Set Sensitivity field ids, when there is no individual modifier */ + if (st->common_attributes.sensitivity.index < 0) { + sensor_hub_input_get_attribute_info(hsdev, + HID_FEATURE_REPORT, usage_id, + HID_USAGE_SENSOR_DATA_MOD_CHANGE_SENSITIVITY_ABS | + HID_USAGE_SENSOR_DATA_ANGL_VELOCITY, + &st->common_attributes.sensitivity); + dev_dbg(&pdev->dev, "Sensitivity index:report %d:%d\n", + st->common_attributes.sensitivity.index, + st->common_attributes.sensitivity.report_id); + } + return ret; +} + +/* Function to initialize the processing for usage id */ +static int hid_gyro_3d_probe(struct platform_device *pdev) +{ + int ret = 0; + static const char *name = "gyro_3d"; + struct iio_dev *indio_dev; + struct gyro_3d_state *gyro_state; + struct hid_sensor_hub_device *hsdev = pdev->dev.platform_data; + struct iio_chan_spec *channels; + + indio_dev = devm_iio_device_alloc(&pdev->dev, sizeof(*gyro_state)); + if (!indio_dev) + return -ENOMEM; + platform_set_drvdata(pdev, indio_dev); + + gyro_state = iio_priv(indio_dev); + gyro_state->common_attributes.hsdev = hsdev; + gyro_state->common_attributes.pdev = pdev; + + ret = hid_sensor_parse_common_attributes(hsdev, + HID_USAGE_SENSOR_GYRO_3D, + &gyro_state->common_attributes); + if (ret) { + dev_err(&pdev->dev, "failed to setup common attributes\n"); + return ret; + } + + channels = kmemdup(gyro_3d_channels, sizeof(gyro_3d_channels), + GFP_KERNEL); + if (!channels) { + dev_err(&pdev->dev, "failed to duplicate channels\n"); + return -ENOMEM; + } + + ret = gyro_3d_parse_report(pdev, hsdev, channels, + HID_USAGE_SENSOR_GYRO_3D, gyro_state); + if (ret) { + dev_err(&pdev->dev, "failed to setup attributes\n"); + goto error_free_dev_mem; + } + + indio_dev->channels = channels; + indio_dev->num_channels = ARRAY_SIZE(gyro_3d_channels); + indio_dev->dev.parent = &pdev->dev; + indio_dev->info = &gyro_3d_info; + indio_dev->name = name; + indio_dev->modes = INDIO_DIRECT_MODE; + + ret = iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time, + NULL, NULL); + if (ret) { + dev_err(&pdev->dev, "failed to initialize trigger buffer\n"); + goto error_free_dev_mem; + } + atomic_set(&gyro_state->common_attributes.data_ready, 0); + ret = hid_sensor_setup_trigger(indio_dev, name, + &gyro_state->common_attributes); + if (ret < 0) { + dev_err(&pdev->dev, "trigger setup failed\n"); + goto error_unreg_buffer_funcs; + } + + ret = iio_device_register(indio_dev); + if (ret) { + dev_err(&pdev->dev, "device register failed\n"); + goto error_remove_trigger; + } + + gyro_state->callbacks.send_event = gyro_3d_proc_event; + gyro_state->callbacks.capture_sample = gyro_3d_capture_sample; + gyro_state->callbacks.pdev = pdev; + ret = sensor_hub_register_callback(hsdev, HID_USAGE_SENSOR_GYRO_3D, + &gyro_state->callbacks); + if (ret < 0) { + dev_err(&pdev->dev, "callback reg failed\n"); + goto error_iio_unreg; + } + + return ret; + +error_iio_unreg: + iio_device_unregister(indio_dev); +error_remove_trigger: + hid_sensor_remove_trigger(&gyro_state->common_attributes); +error_unreg_buffer_funcs: + iio_triggered_buffer_cleanup(indio_dev); +error_free_dev_mem: + kfree(indio_dev->channels); + return ret; +} + +/* Function to deinitialize the processing for usage id */ +static int hid_gyro_3d_remove(struct platform_device *pdev) +{ + struct hid_sensor_hub_device *hsdev = pdev->dev.platform_data; + struct iio_dev *indio_dev = platform_get_drvdata(pdev); + struct gyro_3d_state *gyro_state = iio_priv(indio_dev); + + sensor_hub_remove_callback(hsdev, HID_USAGE_SENSOR_GYRO_3D); + iio_device_unregister(indio_dev); + hid_sensor_remove_trigger(&gyro_state->common_attributes); + iio_triggered_buffer_cleanup(indio_dev); + kfree(indio_dev->channels); + + return 0; +} + +static struct platform_device_id hid_gyro_3d_ids[] = { + { + /* Format: HID-SENSOR-usage_id_in_hex_lowercase */ + .name = "HID-SENSOR-200076", + }, + { /* sentinel */ } +}; +MODULE_DEVICE_TABLE(platform, hid_gyro_3d_ids); + +static struct platform_driver hid_gyro_3d_platform_driver = { + .id_table = hid_gyro_3d_ids, + .driver = { + .name = KBUILD_MODNAME, + .owner = THIS_MODULE, + }, + .probe = hid_gyro_3d_probe, + .remove = hid_gyro_3d_remove, +}; +module_platform_driver(hid_gyro_3d_platform_driver); + +MODULE_DESCRIPTION("HID Sensor Gyroscope 3D"); +MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@intel.com>"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/gyro/itg3200_buffer.c b/drivers/iio/gyro/itg3200_buffer.c new file mode 100644 index 00000000000..e3b3c508407 --- /dev/null +++ b/drivers/iio/gyro/itg3200_buffer.c @@ -0,0 +1,153 @@ +/* + * itg3200_buffer.c -- support InvenSense ITG3200 + * Digital 3-Axis Gyroscope driver + * + * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de> + * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> + * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License version 2 as + * published by the Free Software Foundation. + */ + +#include <linux/slab.h> +#include <linux/i2c.h> +#include <linux/interrupt.h> + +#include <linux/iio/iio.h> +#include <linux/iio/buffer.h> +#include <linux/iio/trigger.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/triggered_buffer.h> +#include <linux/iio/gyro/itg3200.h> + + +static int itg3200_read_all_channels(struct i2c_client *i2c, __be16 *buf) +{ + u8 tx = 0x80 | ITG3200_REG_TEMP_OUT_H; + struct i2c_msg msg[2] = { + { + .addr = i2c->addr, + .flags = i2c->flags, + .len = 1, + .buf = &tx, + }, + { + .addr = i2c->addr, + .flags = i2c->flags | I2C_M_RD, + .len = ITG3200_SCAN_ELEMENTS * sizeof(s16), + .buf = (char *)&buf, + }, + }; + + return i2c_transfer(i2c->adapter, msg, 2); +} + +static irqreturn_t itg3200_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct itg3200 *st = iio_priv(indio_dev); + __be16 buf[ITG3200_SCAN_ELEMENTS + sizeof(s64)/sizeof(u16)]; + + int ret = itg3200_read_all_channels(st->i2c, buf); + if (ret < 0) + goto error_ret; + + iio_push_to_buffers_with_timestamp(indio_dev, buf, pf->timestamp); + + iio_trigger_notify_done(indio_dev->trig); + +error_ret: + return IRQ_HANDLED; +} + +int itg3200_buffer_configure(struct iio_dev *indio_dev) +{ + return iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time, + itg3200_trigger_handler, NULL); +} + +void itg3200_buffer_unconfigure(struct iio_dev *indio_dev) +{ + iio_triggered_buffer_cleanup(indio_dev); +} + + +static int itg3200_data_rdy_trigger_set_state(struct iio_trigger *trig, + bool state) +{ + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + int ret; + u8 msc; + + ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_IRQ_CONFIG, &msc); + if (ret) + goto error_ret; + + if (state) + msc |= ITG3200_IRQ_DATA_RDY_ENABLE; + else + msc &= ~ITG3200_IRQ_DATA_RDY_ENABLE; + + ret = itg3200_write_reg_8(indio_dev, ITG3200_REG_IRQ_CONFIG, msc); + if (ret) + goto error_ret; + +error_ret: + return ret; + +} + +static const struct iio_trigger_ops itg3200_trigger_ops = { + .owner = THIS_MODULE, + .set_trigger_state = &itg3200_data_rdy_trigger_set_state, +}; + +int itg3200_probe_trigger(struct iio_dev *indio_dev) +{ + int ret; + struct itg3200 *st = iio_priv(indio_dev); + + st->trig = iio_trigger_alloc("%s-dev%d", indio_dev->name, + indio_dev->id); + if (!st->trig) + return -ENOMEM; + + ret = request_irq(st->i2c->irq, + &iio_trigger_generic_data_rdy_poll, + IRQF_TRIGGER_RISING, + "itg3200_data_rdy", + st->trig); + if (ret) + goto error_free_trig; + + + st->trig->dev.parent = &st->i2c->dev; + st->trig->ops = &itg3200_trigger_ops; + iio_trigger_set_drvdata(st->trig, indio_dev); + ret = iio_trigger_register(st->trig); + if (ret) + goto error_free_irq; + + /* select default trigger */ + indio_dev->trig = st->trig; + + return 0; + +error_free_irq: + free_irq(st->i2c->irq, st->trig); +error_free_trig: + iio_trigger_free(st->trig); + return ret; +} + +void itg3200_remove_trigger(struct iio_dev *indio_dev) +{ + struct itg3200 *st = iio_priv(indio_dev); + + iio_trigger_unregister(st->trig); + free_irq(st->i2c->irq, st->trig); + iio_trigger_free(st->trig); +} diff --git a/drivers/iio/gyro/itg3200_core.c b/drivers/iio/gyro/itg3200_core.c new file mode 100644 index 00000000000..8295e318399 --- /dev/null +++ b/drivers/iio/gyro/itg3200_core.c @@ -0,0 +1,389 @@ +/* + * itg3200_core.c -- support InvenSense ITG3200 + * Digital 3-Axis Gyroscope driver + * + * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de> + * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> + * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License version 2 as + * published by the Free Software Foundation. + * + * TODO: + * - Support digital low pass filter + * - Support power management + */ + +#include <linux/interrupt.h> +#include <linux/irq.h> +#include <linux/i2c.h> +#include <linux/gpio.h> +#include <linux/slab.h> +#include <linux/stat.h> +#include <linux/module.h> +#include <linux/delay.h> + +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/events.h> +#include <linux/iio/buffer.h> + +#include <linux/iio/gyro/itg3200.h> + + +int itg3200_write_reg_8(struct iio_dev *indio_dev, + u8 reg_address, u8 val) +{ + struct itg3200 *st = iio_priv(indio_dev); + + return i2c_smbus_write_byte_data(st->i2c, 0x80 | reg_address, val); +} + +int itg3200_read_reg_8(struct iio_dev *indio_dev, + u8 reg_address, u8 *val) +{ + struct itg3200 *st = iio_priv(indio_dev); + int ret; + + ret = i2c_smbus_read_byte_data(st->i2c, reg_address); + if (ret < 0) + return ret; + *val = ret; + return 0; +} + +static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address, + int *val) +{ + struct itg3200 *st = iio_priv(indio_dev); + struct i2c_client *client = st->i2c; + int ret; + s16 out; + + struct i2c_msg msg[2] = { + { + .addr = client->addr, + .flags = client->flags, + .len = 1, + .buf = (char *)&lower_reg_address, + }, + { + .addr = client->addr, + .flags = client->flags | I2C_M_RD, + .len = 2, + .buf = (char *)&out, + }, + }; + + lower_reg_address |= 0x80; + ret = i2c_transfer(client->adapter, msg, 2); + be16_to_cpus(&out); + *val = out; + + return (ret == 2) ? 0 : ret; +} + +static int itg3200_read_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + int *val, int *val2, long info) +{ + int ret = 0; + u8 reg; + + switch (info) { + case IIO_CHAN_INFO_RAW: + reg = (u8)chan->address; + ret = itg3200_read_reg_s16(indio_dev, reg, val); + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + *val = 0; + if (chan->type == IIO_TEMP) + *val2 = 1000000000/280; + else + *val2 = 1214142; /* (1 / 14,375) * (PI / 180) */ + return IIO_VAL_INT_PLUS_NANO; + case IIO_CHAN_INFO_OFFSET: + /* Only the temperature channel has an offset */ + *val = 23000; + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + +static ssize_t itg3200_read_frequency(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + int ret, sps; + u8 val; + + ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &val); + if (ret) + return ret; + + sps = (val & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000; + + ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_SAMPLE_RATE_DIV, &val); + if (ret) + return ret; + + sps /= val + 1; + + return sprintf(buf, "%d\n", sps); +} + +static ssize_t itg3200_write_frequency(struct device *dev, + struct device_attribute *attr, + const char *buf, + size_t len) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + unsigned val; + int ret; + u8 t; + + ret = kstrtouint(buf, 10, &val); + if (ret) + return ret; + + mutex_lock(&indio_dev->mlock); + + ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &t); + if (ret) + goto err_ret; + + if (val == 0) { + ret = -EINVAL; + goto err_ret; + } + t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / val - 1; + + ret = itg3200_write_reg_8(indio_dev, ITG3200_REG_SAMPLE_RATE_DIV, t); + +err_ret: + mutex_unlock(&indio_dev->mlock); + + return ret ? ret : len; +} + +/* + * Reset device and internal registers to the power-up-default settings + * Use the gyro clock as reference, as suggested by the datasheet + */ +static int itg3200_reset(struct iio_dev *indio_dev) +{ + struct itg3200 *st = iio_priv(indio_dev); + int ret; + + dev_dbg(&st->i2c->dev, "reset device"); + + ret = itg3200_write_reg_8(indio_dev, + ITG3200_REG_POWER_MANAGEMENT, + ITG3200_RESET); + if (ret) { + dev_err(&st->i2c->dev, "error resetting device"); + goto error_ret; + } + + /* Wait for PLL (1ms according to datasheet) */ + udelay(1500); + + ret = itg3200_write_reg_8(indio_dev, + ITG3200_REG_IRQ_CONFIG, + ITG3200_IRQ_ACTIVE_HIGH | + ITG3200_IRQ_PUSH_PULL | + ITG3200_IRQ_LATCH_50US_PULSE | + ITG3200_IRQ_LATCH_CLEAR_ANY); + + if (ret) + dev_err(&st->i2c->dev, "error init device"); + +error_ret: + return ret; +} + +/* itg3200_enable_full_scale() - Disables the digital low pass filter */ +static int itg3200_enable_full_scale(struct iio_dev *indio_dev) +{ + u8 val; + int ret; + + ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &val); + if (ret) + goto err_ret; + + val |= ITG3200_DLPF_FS_SEL_2000; + return itg3200_write_reg_8(indio_dev, ITG3200_REG_DLPF, val); + +err_ret: + return ret; +} + +static int itg3200_initial_setup(struct iio_dev *indio_dev) +{ + struct itg3200 *st = iio_priv(indio_dev); + int ret; + u8 val; + + ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_ADDRESS, &val); + if (ret) + goto err_ret; + + if (((val >> 1) & 0x3f) != 0x34) { + dev_err(&st->i2c->dev, "invalid reg value 0x%02x", val); + ret = -ENXIO; + goto err_ret; + } + + ret = itg3200_reset(indio_dev); + if (ret) + goto err_ret; + + ret = itg3200_enable_full_scale(indio_dev); +err_ret: + return ret; +} + +#define ITG3200_ST \ + { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE } + +#define ITG3200_GYRO_CHAN(_mod) { \ + .type = IIO_ANGL_VEL, \ + .modified = 1, \ + .channel2 = IIO_MOD_ ## _mod, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ + .address = ITG3200_REG_GYRO_ ## _mod ## OUT_H, \ + .scan_index = ITG3200_SCAN_GYRO_ ## _mod, \ + .scan_type = ITG3200_ST, \ +} + +static const struct iio_chan_spec itg3200_channels[] = { + { + .type = IIO_TEMP, + .channel2 = IIO_NO_MOD, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) | + BIT(IIO_CHAN_INFO_SCALE), + .address = ITG3200_REG_TEMP_OUT_H, + .scan_index = ITG3200_SCAN_TEMP, + .scan_type = ITG3200_ST, + }, + ITG3200_GYRO_CHAN(X), + ITG3200_GYRO_CHAN(Y), + ITG3200_GYRO_CHAN(Z), + IIO_CHAN_SOFT_TIMESTAMP(ITG3200_SCAN_ELEMENTS), +}; + +/* IIO device attributes */ +static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, itg3200_read_frequency, + itg3200_write_frequency); + +static struct attribute *itg3200_attributes[] = { + &iio_dev_attr_sampling_frequency.dev_attr.attr, + NULL +}; + +static const struct attribute_group itg3200_attribute_group = { + .attrs = itg3200_attributes, +}; + +static const struct iio_info itg3200_info = { + .attrs = &itg3200_attribute_group, + .read_raw = &itg3200_read_raw, + .driver_module = THIS_MODULE, +}; + +static const unsigned long itg3200_available_scan_masks[] = { 0xffffffff, 0x0 }; + +static int itg3200_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + int ret; + struct itg3200 *st; + struct iio_dev *indio_dev; + + dev_dbg(&client->dev, "probe I2C dev with IRQ %i", client->irq); + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st)); + if (!indio_dev) + return -ENOMEM; + + st = iio_priv(indio_dev); + + i2c_set_clientdata(client, indio_dev); + st->i2c = client; + + indio_dev->dev.parent = &client->dev; + indio_dev->name = client->dev.driver->name; + indio_dev->channels = itg3200_channels; + indio_dev->num_channels = ARRAY_SIZE(itg3200_channels); + indio_dev->available_scan_masks = itg3200_available_scan_masks; + indio_dev->info = &itg3200_info; + indio_dev->modes = INDIO_DIRECT_MODE; + + ret = itg3200_buffer_configure(indio_dev); + if (ret) + return ret; + + if (client->irq) { + ret = itg3200_probe_trigger(indio_dev); + if (ret) + goto error_unconfigure_buffer; + } + + ret = itg3200_initial_setup(indio_dev); + if (ret) + goto error_remove_trigger; + + ret = iio_device_register(indio_dev); + if (ret) + goto error_remove_trigger; + + return 0; + +error_remove_trigger: + if (client->irq) + itg3200_remove_trigger(indio_dev); +error_unconfigure_buffer: + itg3200_buffer_unconfigure(indio_dev); + return ret; +} + +static int itg3200_remove(struct i2c_client *client) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(client); + + iio_device_unregister(indio_dev); + + if (client->irq) + itg3200_remove_trigger(indio_dev); + + itg3200_buffer_unconfigure(indio_dev); + + return 0; +} + +static const struct i2c_device_id itg3200_id[] = { + { "itg3200", 0 }, + { } +}; +MODULE_DEVICE_TABLE(i2c, itg3200_id); + +static struct i2c_driver itg3200_driver = { + .driver = { + .owner = THIS_MODULE, + .name = "itg3200", + }, + .id_table = itg3200_id, + .probe = itg3200_probe, + .remove = itg3200_remove, +}; + +module_i2c_driver(itg3200_driver); + +MODULE_AUTHOR("Christian Strobel <christian.strobel@iis.fraunhofer.de>"); +MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/gyro/st_gyro.h b/drivers/iio/gyro/st_gyro.h new file mode 100644 index 00000000000..c197360c450 --- /dev/null +++ b/drivers/iio/gyro/st_gyro.h @@ -0,0 +1,53 @@ +/* + * STMicroelectronics gyroscopes driver + * + * Copyright 2012-2013 STMicroelectronics Inc. + * + * Denis Ciocca <denis.ciocca@st.com> + * v. 1.0.0 + * Licensed under the GPL-2. + */ + +#ifndef ST_GYRO_H +#define ST_GYRO_H + +#include <linux/types.h> +#include <linux/iio/common/st_sensors.h> + +#define L3G4200D_GYRO_DEV_NAME "l3g4200d" +#define LSM330D_GYRO_DEV_NAME "lsm330d_gyro" +#define LSM330DL_GYRO_DEV_NAME "lsm330dl_gyro" +#define LSM330DLC_GYRO_DEV_NAME "lsm330dlc_gyro" +#define L3GD20_GYRO_DEV_NAME "l3gd20" +#define L3G4IS_GYRO_DEV_NAME "l3g4is_ui" +#define LSM330_GYRO_DEV_NAME "lsm330_gyro" + +/** + * struct st_sensors_platform_data - gyro platform data + * @drdy_int_pin: DRDY on gyros is available only on INT2 pin. + */ +static const struct st_sensors_platform_data gyro_pdata = { + .drdy_int_pin = 2, +}; + +int st_gyro_common_probe(struct iio_dev *indio_dev, + struct st_sensors_platform_data *pdata); +void st_gyro_common_remove(struct iio_dev *indio_dev); + +#ifdef CONFIG_IIO_BUFFER +int st_gyro_allocate_ring(struct iio_dev *indio_dev); +void st_gyro_deallocate_ring(struct iio_dev *indio_dev); +int st_gyro_trig_set_state(struct iio_trigger *trig, bool state); +#define ST_GYRO_TRIGGER_SET_STATE (&st_gyro_trig_set_state) +#else /* CONFIG_IIO_BUFFER */ +static inline int st_gyro_allocate_ring(struct iio_dev *indio_dev) +{ + return 0; +} +static inline void st_gyro_deallocate_ring(struct iio_dev *indio_dev) +{ +} +#define ST_GYRO_TRIGGER_SET_STATE NULL +#endif /* CONFIG_IIO_BUFFER */ + +#endif /* ST_GYRO_H */ diff --git a/drivers/iio/gyro/st_gyro_buffer.c b/drivers/iio/gyro/st_gyro_buffer.c new file mode 100644 index 00000000000..d67b17b6a7a --- /dev/null +++ b/drivers/iio/gyro/st_gyro_buffer.c @@ -0,0 +1,105 @@ +/* + * STMicroelectronics gyroscopes driver + * + * Copyright 2012-2013 STMicroelectronics Inc. + * + * Denis Ciocca <denis.ciocca@st.com> + * + * Licensed under the GPL-2. + */ + +#include <linux/module.h> +#include <linux/kernel.h> +#include <linux/slab.h> +#include <linux/stat.h> +#include <linux/interrupt.h> +#include <linux/i2c.h> +#include <linux/delay.h> +#include <linux/iio/iio.h> +#include <linux/iio/buffer.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/triggered_buffer.h> + +#include <linux/iio/common/st_sensors.h> +#include "st_gyro.h" + +int st_gyro_trig_set_state(struct iio_trigger *trig, bool state) +{ + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + + return st_sensors_set_dataready_irq(indio_dev, state); +} + +static int st_gyro_buffer_preenable(struct iio_dev *indio_dev) +{ + return st_sensors_set_enable(indio_dev, true); +} + +static int st_gyro_buffer_postenable(struct iio_dev *indio_dev) +{ + int err; + struct st_sensor_data *gdata = iio_priv(indio_dev); + + gdata->buffer_data = kmalloc(indio_dev->scan_bytes, GFP_KERNEL); + if (gdata->buffer_data == NULL) { + err = -ENOMEM; + goto allocate_memory_error; + } + + err = st_sensors_set_axis_enable(indio_dev, + (u8)indio_dev->active_scan_mask[0]); + if (err < 0) + goto st_gyro_buffer_postenable_error; + + err = iio_triggered_buffer_postenable(indio_dev); + if (err < 0) + goto st_gyro_buffer_postenable_error; + + return err; + +st_gyro_buffer_postenable_error: + kfree(gdata->buffer_data); +allocate_memory_error: + return err; +} + +static int st_gyro_buffer_predisable(struct iio_dev *indio_dev) +{ + int err; + struct st_sensor_data *gdata = iio_priv(indio_dev); + + err = iio_triggered_buffer_predisable(indio_dev); + if (err < 0) + goto st_gyro_buffer_predisable_error; + + err = st_sensors_set_axis_enable(indio_dev, ST_SENSORS_ENABLE_ALL_AXIS); + if (err < 0) + goto st_gyro_buffer_predisable_error; + + err = st_sensors_set_enable(indio_dev, false); + +st_gyro_buffer_predisable_error: + kfree(gdata->buffer_data); + return err; +} + +static const struct iio_buffer_setup_ops st_gyro_buffer_setup_ops = { + .preenable = &st_gyro_buffer_preenable, + .postenable = &st_gyro_buffer_postenable, + .predisable = &st_gyro_buffer_predisable, +}; + +int st_gyro_allocate_ring(struct iio_dev *indio_dev) +{ + return iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time, + &st_sensors_trigger_handler, &st_gyro_buffer_setup_ops); +} + +void st_gyro_deallocate_ring(struct iio_dev *indio_dev) +{ + iio_triggered_buffer_cleanup(indio_dev); +} + +MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); +MODULE_DESCRIPTION("STMicroelectronics gyroscopes buffer"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/gyro/st_gyro_core.c b/drivers/iio/gyro/st_gyro_core.c new file mode 100644 index 00000000000..ed74a906998 --- /dev/null +++ b/drivers/iio/gyro/st_gyro_core.c @@ -0,0 +1,380 @@ +/* + * STMicroelectronics gyroscopes driver + * + * Copyright 2012-2013 STMicroelectronics Inc. + * + * Denis Ciocca <denis.ciocca@st.com> + * + * Licensed under the GPL-2. + */ + +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/slab.h> +#include <linux/errno.h> +#include <linux/types.h> +#include <linux/mutex.h> +#include <linux/interrupt.h> +#include <linux/i2c.h> +#include <linux/gpio.h> +#include <linux/irq.h> +#include <linux/delay.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/trigger.h> +#include <linux/iio/buffer.h> + +#include <linux/iio/common/st_sensors.h> +#include "st_gyro.h" + +#define ST_GYRO_NUMBER_DATA_CHANNELS 3 + +/* DEFAULT VALUE FOR SENSORS */ +#define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28 +#define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a +#define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c + +/* FULLSCALE */ +#define ST_GYRO_FS_AVL_250DPS 250 +#define ST_GYRO_FS_AVL_500DPS 500 +#define ST_GYRO_FS_AVL_2000DPS 2000 + +/* CUSTOM VALUES FOR SENSOR 1 */ +#define ST_GYRO_1_WAI_EXP 0xd3 +#define ST_GYRO_1_ODR_ADDR 0x20 +#define ST_GYRO_1_ODR_MASK 0xc0 +#define ST_GYRO_1_ODR_AVL_100HZ_VAL 0x00 +#define ST_GYRO_1_ODR_AVL_200HZ_VAL 0x01 +#define ST_GYRO_1_ODR_AVL_400HZ_VAL 0x02 +#define ST_GYRO_1_ODR_AVL_800HZ_VAL 0x03 +#define ST_GYRO_1_PW_ADDR 0x20 +#define ST_GYRO_1_PW_MASK 0x08 +#define ST_GYRO_1_FS_ADDR 0x23 +#define ST_GYRO_1_FS_MASK 0x30 +#define ST_GYRO_1_FS_AVL_250_VAL 0x00 +#define ST_GYRO_1_FS_AVL_500_VAL 0x01 +#define ST_GYRO_1_FS_AVL_2000_VAL 0x02 +#define ST_GYRO_1_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750) +#define ST_GYRO_1_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500) +#define ST_GYRO_1_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000) +#define ST_GYRO_1_BDU_ADDR 0x23 +#define ST_GYRO_1_BDU_MASK 0x80 +#define ST_GYRO_1_DRDY_IRQ_ADDR 0x22 +#define ST_GYRO_1_DRDY_IRQ_INT2_MASK 0x08 +#define ST_GYRO_1_MULTIREAD_BIT true + +/* CUSTOM VALUES FOR SENSOR 2 */ +#define ST_GYRO_2_WAI_EXP 0xd4 +#define ST_GYRO_2_ODR_ADDR 0x20 +#define ST_GYRO_2_ODR_MASK 0xc0 +#define ST_GYRO_2_ODR_AVL_95HZ_VAL 0x00 +#define ST_GYRO_2_ODR_AVL_190HZ_VAL 0x01 +#define ST_GYRO_2_ODR_AVL_380HZ_VAL 0x02 +#define ST_GYRO_2_ODR_AVL_760HZ_VAL 0x03 +#define ST_GYRO_2_PW_ADDR 0x20 +#define ST_GYRO_2_PW_MASK 0x08 +#define ST_GYRO_2_FS_ADDR 0x23 +#define ST_GYRO_2_FS_MASK 0x30 +#define ST_GYRO_2_FS_AVL_250_VAL 0x00 +#define ST_GYRO_2_FS_AVL_500_VAL 0x01 +#define ST_GYRO_2_FS_AVL_2000_VAL 0x02 +#define ST_GYRO_2_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750) +#define ST_GYRO_2_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500) +#define ST_GYRO_2_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000) +#define ST_GYRO_2_BDU_ADDR 0x23 +#define ST_GYRO_2_BDU_MASK 0x80 +#define ST_GYRO_2_DRDY_IRQ_ADDR 0x22 +#define ST_GYRO_2_DRDY_IRQ_INT2_MASK 0x08 +#define ST_GYRO_2_MULTIREAD_BIT true + +static const struct iio_chan_spec st_gyro_16bit_channels[] = { + ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, + BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), + ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16, + ST_GYRO_DEFAULT_OUT_X_L_ADDR), + ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, + BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), + ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16, + ST_GYRO_DEFAULT_OUT_Y_L_ADDR), + ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, + BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), + ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16, + ST_GYRO_DEFAULT_OUT_Z_L_ADDR), + IIO_CHAN_SOFT_TIMESTAMP(3) +}; + +static const struct st_sensors st_gyro_sensors[] = { + { + .wai = ST_GYRO_1_WAI_EXP, + .sensors_supported = { + [0] = L3G4200D_GYRO_DEV_NAME, + [1] = LSM330DL_GYRO_DEV_NAME, + }, + .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, + .odr = { + .addr = ST_GYRO_1_ODR_ADDR, + .mask = ST_GYRO_1_ODR_MASK, + .odr_avl = { + { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, }, + { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, }, + { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, }, + { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, }, + }, + }, + .pw = { + .addr = ST_GYRO_1_PW_ADDR, + .mask = ST_GYRO_1_PW_MASK, + .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, + .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, + }, + .enable_axis = { + .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, + .mask = ST_SENSORS_DEFAULT_AXIS_MASK, + }, + .fs = { + .addr = ST_GYRO_1_FS_ADDR, + .mask = ST_GYRO_1_FS_MASK, + .fs_avl = { + [0] = { + .num = ST_GYRO_FS_AVL_250DPS, + .value = ST_GYRO_1_FS_AVL_250_VAL, + .gain = ST_GYRO_1_FS_AVL_250_GAIN, + }, + [1] = { + .num = ST_GYRO_FS_AVL_500DPS, + .value = ST_GYRO_1_FS_AVL_500_VAL, + .gain = ST_GYRO_1_FS_AVL_500_GAIN, + }, + [2] = { + .num = ST_GYRO_FS_AVL_2000DPS, + .value = ST_GYRO_1_FS_AVL_2000_VAL, + .gain = ST_GYRO_1_FS_AVL_2000_GAIN, + }, + }, + }, + .bdu = { + .addr = ST_GYRO_1_BDU_ADDR, + .mask = ST_GYRO_1_BDU_MASK, + }, + .drdy_irq = { + .addr = ST_GYRO_1_DRDY_IRQ_ADDR, + .mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK, + }, + .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT, + .bootime = 2, + }, + { + .wai = ST_GYRO_2_WAI_EXP, + .sensors_supported = { + [0] = L3GD20_GYRO_DEV_NAME, + [1] = LSM330D_GYRO_DEV_NAME, + [2] = LSM330DLC_GYRO_DEV_NAME, + [3] = L3G4IS_GYRO_DEV_NAME, + [4] = LSM330_GYRO_DEV_NAME, + }, + .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, + .odr = { + .addr = ST_GYRO_2_ODR_ADDR, + .mask = ST_GYRO_2_ODR_MASK, + .odr_avl = { + { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, }, + { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, }, + { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, }, + { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, }, + }, + }, + .pw = { + .addr = ST_GYRO_2_PW_ADDR, + .mask = ST_GYRO_2_PW_MASK, + .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, + .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, + }, + .enable_axis = { + .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, + .mask = ST_SENSORS_DEFAULT_AXIS_MASK, + }, + .fs = { + .addr = ST_GYRO_2_FS_ADDR, + .mask = ST_GYRO_2_FS_MASK, + .fs_avl = { + [0] = { + .num = ST_GYRO_FS_AVL_250DPS, + .value = ST_GYRO_2_FS_AVL_250_VAL, + .gain = ST_GYRO_2_FS_AVL_250_GAIN, + }, + [1] = { + .num = ST_GYRO_FS_AVL_500DPS, + .value = ST_GYRO_2_FS_AVL_500_VAL, + .gain = ST_GYRO_2_FS_AVL_500_GAIN, + }, + [2] = { + .num = ST_GYRO_FS_AVL_2000DPS, + .value = ST_GYRO_2_FS_AVL_2000_VAL, + .gain = ST_GYRO_2_FS_AVL_2000_GAIN, + }, + }, + }, + .bdu = { + .addr = ST_GYRO_2_BDU_ADDR, + .mask = ST_GYRO_2_BDU_MASK, + }, + .drdy_irq = { + .addr = ST_GYRO_2_DRDY_IRQ_ADDR, + .mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK, + }, + .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT, + .bootime = 2, + }, +}; + +static int st_gyro_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *ch, int *val, + int *val2, long mask) +{ + int err; + struct st_sensor_data *gdata = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_RAW: + err = st_sensors_read_info_raw(indio_dev, ch, val); + if (err < 0) + goto read_error; + + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + *val = 0; + *val2 = gdata->current_fullscale->gain; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + +read_error: + return err; +} + +static int st_gyro_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int val, int val2, long mask) +{ + int err; + + switch (mask) { + case IIO_CHAN_INFO_SCALE: + err = st_sensors_set_fullscale_by_gain(indio_dev, val2); + break; + default: + err = -EINVAL; + } + + return err; +} + +static ST_SENSOR_DEV_ATTR_SAMP_FREQ(); +static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); +static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); + +static struct attribute *st_gyro_attributes[] = { + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, + &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, + &iio_dev_attr_sampling_frequency.dev_attr.attr, + NULL, +}; + +static const struct attribute_group st_gyro_attribute_group = { + .attrs = st_gyro_attributes, +}; + +static const struct iio_info gyro_info = { + .driver_module = THIS_MODULE, + .attrs = &st_gyro_attribute_group, + .read_raw = &st_gyro_read_raw, + .write_raw = &st_gyro_write_raw, +}; + +#ifdef CONFIG_IIO_TRIGGER +static const struct iio_trigger_ops st_gyro_trigger_ops = { + .owner = THIS_MODULE, + .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, +}; +#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) +#else +#define ST_GYRO_TRIGGER_OPS NULL +#endif + +int st_gyro_common_probe(struct iio_dev *indio_dev, + struct st_sensors_platform_data *pdata) +{ + struct st_sensor_data *gdata = iio_priv(indio_dev); + int irq = gdata->get_irq_data_ready(indio_dev); + int err; + + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &gyro_info; + + st_sensors_power_enable(indio_dev); + + err = st_sensors_check_device_support(indio_dev, + ARRAY_SIZE(st_gyro_sensors), st_gyro_sensors); + if (err < 0) + return err; + + gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; + gdata->multiread_bit = gdata->sensor->multi_read_bit; + indio_dev->channels = gdata->sensor->ch; + indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; + + gdata->current_fullscale = (struct st_sensor_fullscale_avl *) + &gdata->sensor->fs.fs_avl[0]; + gdata->odr = gdata->sensor->odr.odr_avl[0].hz; + + err = st_sensors_init_sensor(indio_dev, pdata); + if (err < 0) + return err; + + err = st_gyro_allocate_ring(indio_dev); + if (err < 0) + return err; + + if (irq > 0) { + err = st_sensors_allocate_trigger(indio_dev, + ST_GYRO_TRIGGER_OPS); + if (err < 0) + goto st_gyro_probe_trigger_error; + } + + err = iio_device_register(indio_dev); + if (err) + goto st_gyro_device_register_error; + + dev_info(&indio_dev->dev, "registered gyroscope %s\n", + indio_dev->name); + + return 0; + +st_gyro_device_register_error: + if (irq > 0) + st_sensors_deallocate_trigger(indio_dev); +st_gyro_probe_trigger_error: + st_gyro_deallocate_ring(indio_dev); + + return err; +} +EXPORT_SYMBOL(st_gyro_common_probe); + +void st_gyro_common_remove(struct iio_dev *indio_dev) +{ + struct st_sensor_data *gdata = iio_priv(indio_dev); + + st_sensors_power_disable(indio_dev); + + iio_device_unregister(indio_dev); + if (gdata->get_irq_data_ready(indio_dev) > 0) + st_sensors_deallocate_trigger(indio_dev); + + st_gyro_deallocate_ring(indio_dev); +} +EXPORT_SYMBOL(st_gyro_common_remove); + +MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); +MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/gyro/st_gyro_i2c.c b/drivers/iio/gyro/st_gyro_i2c.c new file mode 100644 index 00000000000..23c12f361b0 --- /dev/null +++ b/drivers/iio/gyro/st_gyro_i2c.c @@ -0,0 +1,77 @@ +/* + * STMicroelectronics gyroscopes driver + * + * Copyright 2012-2013 STMicroelectronics Inc. + * + * Denis Ciocca <denis.ciocca@st.com> + * + * Licensed under the GPL-2. + */ + +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/slab.h> +#include <linux/i2c.h> +#include <linux/iio/iio.h> + +#include <linux/iio/common/st_sensors.h> +#include <linux/iio/common/st_sensors_i2c.h> +#include "st_gyro.h" + +static int st_gyro_i2c_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct iio_dev *indio_dev; + struct st_sensor_data *gdata; + int err; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*gdata)); + if (!indio_dev) + return -ENOMEM; + + gdata = iio_priv(indio_dev); + gdata->dev = &client->dev; + + st_sensors_i2c_configure(indio_dev, client, gdata); + + err = st_gyro_common_probe(indio_dev, + (struct st_sensors_platform_data *)&gyro_pdata); + if (err < 0) + return err; + + return 0; +} + +static int st_gyro_i2c_remove(struct i2c_client *client) +{ + st_gyro_common_remove(i2c_get_clientdata(client)); + + return 0; +} + +static const struct i2c_device_id st_gyro_id_table[] = { + { L3G4200D_GYRO_DEV_NAME }, + { LSM330D_GYRO_DEV_NAME }, + { LSM330DL_GYRO_DEV_NAME }, + { LSM330DLC_GYRO_DEV_NAME }, + { L3GD20_GYRO_DEV_NAME }, + { L3G4IS_GYRO_DEV_NAME }, + { LSM330_GYRO_DEV_NAME }, + {}, +}; +MODULE_DEVICE_TABLE(i2c, st_gyro_id_table); + +static struct i2c_driver st_gyro_driver = { + .driver = { + .owner = THIS_MODULE, + .name = "st-gyro-i2c", + }, + .probe = st_gyro_i2c_probe, + .remove = st_gyro_i2c_remove, + .id_table = st_gyro_id_table, +}; +module_i2c_driver(st_gyro_driver); + +MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); +MODULE_DESCRIPTION("STMicroelectronics gyroscopes i2c driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/gyro/st_gyro_spi.c b/drivers/iio/gyro/st_gyro_spi.c new file mode 100644 index 00000000000..b4ad3be2668 --- /dev/null +++ b/drivers/iio/gyro/st_gyro_spi.c @@ -0,0 +1,76 @@ +/* + * STMicroelectronics gyroscopes driver + * + * Copyright 2012-2013 STMicroelectronics Inc. + * + * Denis Ciocca <denis.ciocca@st.com> + * + * Licensed under the GPL-2. + */ + +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/slab.h> +#include <linux/spi/spi.h> +#include <linux/iio/iio.h> + +#include <linux/iio/common/st_sensors.h> +#include <linux/iio/common/st_sensors_spi.h> +#include "st_gyro.h" + +static int st_gyro_spi_probe(struct spi_device *spi) +{ + struct iio_dev *indio_dev; + struct st_sensor_data *gdata; + int err; + + indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*gdata)); + if (!indio_dev) + return -ENOMEM; + + gdata = iio_priv(indio_dev); + gdata->dev = &spi->dev; + + st_sensors_spi_configure(indio_dev, spi, gdata); + + err = st_gyro_common_probe(indio_dev, + (struct st_sensors_platform_data *)&gyro_pdata); + if (err < 0) + return err; + + return 0; +} + +static int st_gyro_spi_remove(struct spi_device *spi) +{ + st_gyro_common_remove(spi_get_drvdata(spi)); + + return 0; +} + +static const struct spi_device_id st_gyro_id_table[] = { + { L3G4200D_GYRO_DEV_NAME }, + { LSM330D_GYRO_DEV_NAME }, + { LSM330DL_GYRO_DEV_NAME }, + { LSM330DLC_GYRO_DEV_NAME }, + { L3GD20_GYRO_DEV_NAME }, + { L3G4IS_GYRO_DEV_NAME }, + { LSM330_GYRO_DEV_NAME }, + {}, +}; +MODULE_DEVICE_TABLE(spi, st_gyro_id_table); + +static struct spi_driver st_gyro_driver = { + .driver = { + .owner = THIS_MODULE, + .name = "st-gyro-spi", + }, + .probe = st_gyro_spi_probe, + .remove = st_gyro_spi_remove, + .id_table = st_gyro_id_table, +}; +module_spi_driver(st_gyro_driver); + +MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); +MODULE_DESCRIPTION("STMicroelectronics gyroscopes spi driver"); +MODULE_LICENSE("GPL v2"); |