From 7be56a8f57b57cca1651fb97886e20246c168e25 Mon Sep 17 00:00:00 2001 From: Denis Ciocca Date: Fri, 25 Jan 2013 23:44:00 +0000 Subject: iio:gyro: Add STMicroelectronics gyroscopes driver This patch adds a generic gyroscope driver for STMicroelectronics gyroscopes, currently it supports: L3G4200D, LSM330DL, L3GD20, L3GD20H, LSM330DLC, L3G4IS, LSM330. Signed-off-by: Denis Ciocca Reviewed-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron --- drivers/iio/gyro/st_gyro_core.c | 363 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 363 insertions(+) create mode 100644 drivers/iio/gyro/st_gyro_core.c (limited to 'drivers/iio/gyro/st_gyro_core.c') diff --git a/drivers/iio/gyro/st_gyro_core.c b/drivers/iio/gyro/st_gyro_core.c new file mode 100644 index 0000000..0a09998 --- /dev/null +++ b/drivers/iio/gyro/st_gyro_core.c @@ -0,0 +1,363 @@ +/* + * STMicroelectronics gyroscopes driver + * + * Copyright 2012-2013 STMicroelectronics Inc. + * + * Denis Ciocca + * + * Licensed under the GPL-2. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include "st_gyro.h" + +/* 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_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_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, ST_SENSORS_SCAN_X, + IIO_MOD_X, IIO_LE, ST_SENSORS_DEFAULT_16_REALBITS, + ST_GYRO_DEFAULT_OUT_X_L_ADDR), + ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, ST_SENSORS_SCAN_Y, + IIO_MOD_Y, IIO_LE, ST_SENSORS_DEFAULT_16_REALBITS, + ST_GYRO_DEFAULT_OUT_Y_L_ADDR), + ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, ST_SENSORS_SCAN_Z, + IIO_MOD_Z, IIO_LE, ST_SENSORS_DEFAULT_16_REALBITS, + 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 = ST_GYRO_1_DRDY_IRQ_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] = L3GD20H_GYRO_DEV_NAME, + [2] = LSM330D_GYRO_DEV_NAME, + [3] = LSM330DLC_GYRO_DEV_NAME, + [4] = L3G4IS_GYRO_DEV_NAME, + [5] = 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 = ST_GYRO_2_DRDY_IRQ_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, +}; + +static const struct iio_trigger_ops st_gyro_trigger_ops = { + .owner = THIS_MODULE, + .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, +}; + +int st_gyro_common_probe(struct iio_dev *indio_dev) +{ + int err; + struct st_sensor_data *gdata = iio_priv(indio_dev); + + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &gyro_info; + + err = st_sensors_check_device_support(indio_dev, + ARRAY_SIZE(st_gyro_sensors), st_gyro_sensors); + if (err < 0) + goto st_gyro_common_probe_error; + + 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); + if (err < 0) + goto st_gyro_common_probe_error; + + if (gdata->get_irq_data_ready(indio_dev) > 0) { + err = st_gyro_allocate_ring(indio_dev); + if (err < 0) + goto st_gyro_common_probe_error; + + 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; + + return err; + +st_gyro_device_register_error: + if (gdata->get_irq_data_ready(indio_dev) > 0) + st_sensors_deallocate_trigger(indio_dev); +st_gyro_probe_trigger_error: + if (gdata->get_irq_data_ready(indio_dev) > 0) + st_gyro_deallocate_ring(indio_dev); +st_gyro_common_probe_error: + 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); + + 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); + } + iio_device_free(indio_dev); +} +EXPORT_SYMBOL(st_gyro_common_remove); + +MODULE_AUTHOR("Denis Ciocca "); +MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); +MODULE_LICENSE("GPL v2"); -- cgit v1.1