diff options
Diffstat (limited to 'drivers/iio/gyro')
| -rw-r--r-- | drivers/iio/gyro/Kconfig | 142 | ||||
| -rw-r--r-- | drivers/iio/gyro/Makefile | 34 | ||||
| -rw-r--r-- | drivers/iio/gyro/adis16080.c | 239 | ||||
| -rw-r--r-- | drivers/iio/gyro/adis16130.c | 177 | ||||
| -rw-r--r-- | drivers/iio/gyro/adis16136.c | 586 | ||||
| -rw-r--r-- | drivers/iio/gyro/adis16260.c | 446 | ||||
| -rw-r--r-- | drivers/iio/gyro/adxrs450.c | 466 | ||||
| -rw-r--r-- | drivers/iio/gyro/bmg160.h | 11 | ||||
| -rw-r--r-- | drivers/iio/gyro/bmg160_core.c | 1273 | ||||
| -rw-r--r-- | drivers/iio/gyro/bmg160_i2c.c | 71 | ||||
| -rw-r--r-- | drivers/iio/gyro/bmg160_spi.c | 57 | ||||
| -rw-r--r-- | drivers/iio/gyro/hid-sensor-gyro-3d.c | 423 | ||||
| -rw-r--r-- | drivers/iio/gyro/itg3200_buffer.c | 159 | ||||
| -rw-r--r-- | drivers/iio/gyro/itg3200_core.c | 400 | ||||
| -rw-r--r-- | drivers/iio/gyro/mpu3050-core.c | 1307 | ||||
| -rw-r--r-- | drivers/iio/gyro/mpu3050-i2c.c | 123 | ||||
| -rw-r--r-- | drivers/iio/gyro/mpu3050.h | 97 | ||||
| -rw-r--r-- | drivers/iio/gyro/ssp_gyro_sensor.c | 159 | ||||
| -rw-r--r-- | drivers/iio/gyro/st_gyro.h | 54 | ||||
| -rw-r--r-- | drivers/iio/gyro/st_gyro_buffer.c | 105 | ||||
| -rw-r--r-- | drivers/iio/gyro/st_gyro_core.c | 527 | ||||
| -rw-r--r-- | drivers/iio/gyro/st_gyro_i2c.c | 124 | ||||
| -rw-r--r-- | drivers/iio/gyro/st_gyro_spi.c | 128 |
23 files changed, 7108 insertions, 0 deletions
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig new file mode 100644 index 000000000..3126cf05e --- /dev/null +++ b/drivers/iio/gyro/Kconfig @@ -0,0 +1,142 @@ +# +# 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 BMG160 + tristate "BOSCH BMG160 Gyro Sensor" + depends on (I2C || SPI_MASTER) + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + select BMG160_I2C if (I2C) + select BMG160_SPI if (SPI) + help + Say yes here to build support for BOSCH BMG160 Tri-axis Gyro Sensor + driver connected via I2C or SPI. This driver also supports BMI055 + gyroscope. + + This driver can also be built as a module. If so, the module + will be called bmg160_i2c or bmg160_spi. + +config BMG160_I2C + tristate + select REGMAP_I2C + +config BMG160_SPI + tristate + select REGMAP_SPI + +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 MPU3050 + tristate + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + select REGMAP + +config MPU3050_I2C + tristate "Invensense MPU3050 devices on I2C" + depends on !(INPUT_MPU3050=y || INPUT_MPU3050=m) + depends on I2C + select MPU3050 + select REGMAP_I2C + select I2C_MUX + help + This driver supports the Invensense MPU3050 gyroscope over I2C. + This driver can be built as a module. The module will be called + inv-mpu3050-i2c. + +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, LSM9DS0. + + 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 000000000..295ec780c --- /dev/null +++ b/drivers/iio/gyro/Makefile @@ -0,0 +1,34 @@ +# SPDX-License-Identifier: GPL-2.0 +# +# 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_BMG160) += bmg160_core.o +obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o +obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o + +obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o + +# Currently this is rolled into one module, split it if +# we ever create a separate SPI interface for MPU-3050 +obj-$(CONFIG_MPU3050) += mpu3050.o +mpu3050-objs := mpu3050-core.o mpu3050-i2c.o + +itg3200-y := itg3200_core.o +itg3200-$(CONFIG_IIO_BUFFER) += itg3200_buffer.o +obj-$(CONFIG_ITG3200) += itg3200.o + +obj-$(CONFIG_IIO_SSP_SENSORS_COMMONS) += ssp_gyro_sensor.o + +obj-$(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 000000000..a551ebde4 --- /dev/null +++ b/drivers/iio/gyro/adis16080.c @@ -0,0 +1,239 @@ +/* + * 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, +}; + +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", + }, + .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 000000000..aea80ab04 --- /dev/null +++ b/drivers/iio/gyro/adis16130.c @@ -0,0 +1,177 @@ +/* + * 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, +}; + +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", + }, + .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 000000000..605eee237 --- /dev/null +++ b/drivers/iio/gyro/adis16136.c @@ -0,0 +1,586 @@ +/* + * 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_DEBUGFS_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_DEBUGFS_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_unsafe("serial_number", 0400, + indio_dev->debugfs_dentry, adis16136, + &adis16136_serial_fops); + debugfs_create_file_unsafe("product_id", 0400, + indio_dev->debugfs_dentry, + adis16136, &adis16136_product_id_fops); + debugfs_create_file_unsafe("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 = { + .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; + + ret = sscanf(indio_dev->name, "adis%u\n", &device_id); + if (ret != 1) + return -EINVAL; + + 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, + ID_ADIS16137, +}; + +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, + }, + [ID_ADIS16137] = { + .precision = IIO_DEGREE_TO_RAD(1000), + .fullscale = 24609, + }, +}; + +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 }, + { "adis16137", ID_ADIS16137 }, + { } +}; +MODULE_DEVICE_TABLE(spi, adis16136_ids); + +static struct spi_driver adis16136_driver = { + .driver = { + .name = "adis16136", + }, + .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 000000000..a8cb1ca34 --- /dev/null +++ b/drivers/iio/gyro/adis16260.c @@ -0,0 +1,446 @@ +/* + * 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 + +struct adis16260_chip_info { + unsigned int gyro_max_val; + unsigned int gyro_max_scale; + const struct iio_chan_spec *channels; + unsigned int num_channels; +}; + +struct adis16260 { + const struct adis16260_chip_info *info; + + struct adis adis; +}; + +enum adis16260_type { + ADIS16251, + ADIS16260, + ADIS16266, +}; + +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), + BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), + ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, + BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), + ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, + BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), + ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, + BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), + ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, + BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), + IIO_CHAN_SOFT_TIMESTAMP(5), +}; + +static const struct iio_chan_spec adis16266_channels[] = { + ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, + BIT(IIO_CHAN_INFO_CALIBBIAS) | + BIT(IIO_CHAN_INFO_CALIBSCALE), + BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), + ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, + BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), + ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, + BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), + ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, + BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), + IIO_CHAN_SOFT_TIMESTAMP(4), +}; + +static const struct adis16260_chip_info adis16260_chip_info_table[] = { + [ADIS16251] = { + .gyro_max_scale = 80, + .gyro_max_val = IIO_RAD_TO_DEGREE(4368), + .channels = adis16260_channels, + .num_channels = ARRAY_SIZE(adis16260_channels), + }, + [ADIS16260] = { + .gyro_max_scale = 320, + .gyro_max_val = IIO_RAD_TO_DEGREE(4368), + .channels = adis16260_channels, + .num_channels = ARRAY_SIZE(adis16260_channels), + }, + [ADIS16266] = { + .gyro_max_scale = 14000, + .gyro_max_val = IIO_RAD_TO_DEGREE(3357), + .channels = adis16266_channels, + .num_channels = ARRAY_SIZE(adis16266_channels), + }, +}; + +/* Power down the device */ +static int adis16260_stop_device(struct iio_dev *indio_dev) +{ + struct adis16260 *adis16260 = iio_priv(indio_dev); + int ret; + u16 val = ADIS16260_SLP_CNT_POWER_OFF; + + ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val); + if (ret) + dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); + + return ret; +} + +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 adis16260 *adis16260 = iio_priv(indio_dev); + const struct adis16260_chip_info *info = adis16260->info; + struct adis *adis = &adis16260->adis; + 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 = info->gyro_max_scale; + *val2 = info->gyro_max_val; + return IIO_VAL_FRACTIONAL; + 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; + case IIO_CHAN_INFO_SAMP_FREQ: + ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16); + if (ret) + return ret; + + if (spi_get_device_id(adis->spi)->driver_data) + /* If an adis16251 */ + *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? + 8 : 256; + else + *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? + 66 : 2048; + *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1; + 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 adis16260 *adis16260 = iio_priv(indio_dev); + struct adis *adis = &adis16260->adis; + int ret; + u8 addr; + u8 t; + + 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); + case IIO_CHAN_INFO_SAMP_FREQ: + 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; + } + return -EINVAL; +} + +static const struct iio_info adis16260_info = { + .read_raw = &adis16260_read_raw, + .write_raw = &adis16260_write_raw, + .update_scan_mode = adis_update_scan_mode, +}; + +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) +{ + const struct spi_device_id *id; + struct adis16260 *adis16260; + struct iio_dev *indio_dev; + int ret; + + id = spi_get_device_id(spi); + if (!id) + return -ENODEV; + + /* setup the industrialio driver allocated elements */ + indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260)); + if (!indio_dev) + return -ENOMEM; + adis16260 = iio_priv(indio_dev); + /* this is only used for removal purposes */ + spi_set_drvdata(spi, indio_dev); + + adis16260->info = &adis16260_chip_info_table[id->driver_data]; + + indio_dev->name = id->name; + indio_dev->dev.parent = &spi->dev; + indio_dev->info = &adis16260_info; + indio_dev->channels = adis16260->info->channels; + indio_dev->num_channels = adis16260->info->num_channels; + indio_dev->modes = INDIO_DIRECT_MODE; + + ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data); + if (ret) + return ret; + + ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL); + if (ret) + return ret; + + /* Get the device into a sane initial state */ + ret = adis_initial_startup(&adis16260->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(&adis16260->adis, indio_dev); + return ret; +} + +static int adis16260_remove(struct spi_device *spi) +{ + struct iio_dev *indio_dev = spi_get_drvdata(spi); + struct adis16260 *adis16260 = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + adis16260_stop_device(indio_dev); + adis_cleanup_buffer_and_trigger(&adis16260->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", ADIS16260}, + {"adis16265", ADIS16260}, + {"adis16266", ADIS16266}, + {"adis16250", ADIS16260}, + {"adis16255", ADIS16260}, + {"adis16251", ADIS16251}, + {} +}; +MODULE_DEVICE_TABLE(spi, adis16260_id); + +static struct spi_driver adis16260_driver = { + .driver = { + .name = "adis16260", + }, + .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 000000000..5d39fd008 --- /dev/null +++ b/drivers/iio/gyro/adxrs450.c @@ -0,0 +1,466 @@ +/* + * 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 = { + .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", + }, + .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/bmg160.h b/drivers/iio/gyro/bmg160.h new file mode 100644 index 000000000..6bcff6562 --- /dev/null +++ b/drivers/iio/gyro/bmg160.h @@ -0,0 +1,11 @@ +/* SPDX-License-Identifier: GPL-2.0 */ +#ifndef BMG160_H_ +#define BMG160_H_ + +extern const struct dev_pm_ops bmg160_pm_ops; + +int bmg160_core_probe(struct device *dev, struct regmap *regmap, int irq, + const char *name); +void bmg160_core_remove(struct device *dev); + +#endif /* BMG160_H_ */ diff --git a/drivers/iio/gyro/bmg160_core.c b/drivers/iio/gyro/bmg160_core.c new file mode 100644 index 000000000..ef8ef9620 --- /dev/null +++ b/drivers/iio/gyro/bmg160_core.c @@ -0,0 +1,1273 @@ +/* + * BMG160 Gyro Sensor driver + * Copyright (c) 2014, 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. + */ + +#include <linux/module.h> +#include <linux/interrupt.h> +#include <linux/delay.h> +#include <linux/slab.h> +#include <linux/acpi.h> +#include <linux/pm.h> +#include <linux/pm_runtime.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/buffer.h> +#include <linux/iio/trigger.h> +#include <linux/iio/events.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/triggered_buffer.h> +#include <linux/regmap.h> +#include "bmg160.h" + +#define BMG160_IRQ_NAME "bmg160_event" + +#define BMG160_REG_CHIP_ID 0x00 +#define BMG160_CHIP_ID_VAL 0x0F + +#define BMG160_REG_PMU_LPW 0x11 +#define BMG160_MODE_NORMAL 0x00 +#define BMG160_MODE_DEEP_SUSPEND 0x20 +#define BMG160_MODE_SUSPEND 0x80 + +#define BMG160_REG_RANGE 0x0F + +#define BMG160_RANGE_2000DPS 0 +#define BMG160_RANGE_1000DPS 1 +#define BMG160_RANGE_500DPS 2 +#define BMG160_RANGE_250DPS 3 +#define BMG160_RANGE_125DPS 4 + +#define BMG160_REG_PMU_BW 0x10 +#define BMG160_NO_FILTER 0 +#define BMG160_DEF_BW 100 +#define BMG160_REG_PMU_BW_RES BIT(7) + +#define BMG160_GYRO_REG_RESET 0x14 +#define BMG160_GYRO_RESET_VAL 0xb6 + +#define BMG160_REG_INT_MAP_0 0x17 +#define BMG160_INT_MAP_0_BIT_ANY BIT(1) + +#define BMG160_REG_INT_MAP_1 0x18 +#define BMG160_INT_MAP_1_BIT_NEW_DATA BIT(0) + +#define BMG160_REG_INT_RST_LATCH 0x21 +#define BMG160_INT_MODE_LATCH_RESET 0x80 +#define BMG160_INT_MODE_LATCH_INT 0x0F +#define BMG160_INT_MODE_NON_LATCH_INT 0x00 + +#define BMG160_REG_INT_EN_0 0x15 +#define BMG160_DATA_ENABLE_INT BIT(7) + +#define BMG160_REG_INT_EN_1 0x16 +#define BMG160_INT1_BIT_OD BIT(1) + +#define BMG160_REG_XOUT_L 0x02 +#define BMG160_AXIS_TO_REG(axis) (BMG160_REG_XOUT_L + (axis * 2)) + +#define BMG160_REG_SLOPE_THRES 0x1B +#define BMG160_SLOPE_THRES_MASK 0x0F + +#define BMG160_REG_MOTION_INTR 0x1C +#define BMG160_INT_MOTION_X BIT(0) +#define BMG160_INT_MOTION_Y BIT(1) +#define BMG160_INT_MOTION_Z BIT(2) +#define BMG160_ANY_DUR_MASK 0x30 +#define BMG160_ANY_DUR_SHIFT 4 + +#define BMG160_REG_INT_STATUS_2 0x0B +#define BMG160_ANY_MOTION_MASK 0x07 +#define BMG160_ANY_MOTION_BIT_X BIT(0) +#define BMG160_ANY_MOTION_BIT_Y BIT(1) +#define BMG160_ANY_MOTION_BIT_Z BIT(2) + +#define BMG160_REG_TEMP 0x08 +#define BMG160_TEMP_CENTER_VAL 23 + +#define BMG160_MAX_STARTUP_TIME_MS 80 + +#define BMG160_AUTO_SUSPEND_DELAY_MS 2000 + +struct bmg160_data { + struct regmap *regmap; + struct iio_trigger *dready_trig; + struct iio_trigger *motion_trig; + struct mutex mutex; + /* Ensure naturally aligned timestamp */ + struct { + s16 chans[3]; + s64 timestamp __aligned(8); + } scan; + u32 dps_range; + int ev_enable_state; + int slope_thres; + bool dready_trigger_on; + bool motion_trigger_on; + int irq; +}; + +enum bmg160_axis { + AXIS_X, + AXIS_Y, + AXIS_Z, + AXIS_MAX, +}; + +static const struct { + int odr; + int filter; + int bw_bits; +} bmg160_samp_freq_table[] = { {100, 32, 0x07}, + {200, 64, 0x06}, + {100, 12, 0x05}, + {200, 23, 0x04}, + {400, 47, 0x03}, + {1000, 116, 0x02}, + {2000, 230, 0x01} }; + +static const struct { + int scale; + int dps_range; +} bmg160_scale_table[] = { { 1065, BMG160_RANGE_2000DPS}, + { 532, BMG160_RANGE_1000DPS}, + { 266, BMG160_RANGE_500DPS}, + { 133, BMG160_RANGE_250DPS}, + { 66, BMG160_RANGE_125DPS} }; + +static int bmg160_set_mode(struct bmg160_data *data, u8 mode) +{ + struct device *dev = regmap_get_device(data->regmap); + int ret; + + ret = regmap_write(data->regmap, BMG160_REG_PMU_LPW, mode); + if (ret < 0) { + dev_err(dev, "Error writing reg_pmu_lpw\n"); + return ret; + } + + return 0; +} + +static int bmg160_convert_freq_to_bit(int val) +{ + int i; + + for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) { + if (bmg160_samp_freq_table[i].odr == val) + return bmg160_samp_freq_table[i].bw_bits; + } + + return -EINVAL; +} + +static int bmg160_set_bw(struct bmg160_data *data, int val) +{ + struct device *dev = regmap_get_device(data->regmap); + int ret; + int bw_bits; + + bw_bits = bmg160_convert_freq_to_bit(val); + if (bw_bits < 0) + return bw_bits; + + ret = regmap_write(data->regmap, BMG160_REG_PMU_BW, bw_bits); + if (ret < 0) { + dev_err(dev, "Error writing reg_pmu_bw\n"); + return ret; + } + + return 0; +} + +static int bmg160_get_filter(struct bmg160_data *data, int *val) +{ + struct device *dev = regmap_get_device(data->regmap); + int ret; + int i; + unsigned int bw_bits; + + ret = regmap_read(data->regmap, BMG160_REG_PMU_BW, &bw_bits); + if (ret < 0) { + dev_err(dev, "Error reading reg_pmu_bw\n"); + return ret; + } + + /* Ignore the readonly reserved bit. */ + bw_bits &= ~BMG160_REG_PMU_BW_RES; + + for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) { + if (bmg160_samp_freq_table[i].bw_bits == bw_bits) + break; + } + + *val = bmg160_samp_freq_table[i].filter; + + return ret ? ret : IIO_VAL_INT; +} + + +static int bmg160_set_filter(struct bmg160_data *data, int val) +{ + struct device *dev = regmap_get_device(data->regmap); + int ret; + int i; + + for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) { + if (bmg160_samp_freq_table[i].filter == val) + break; + } + + ret = regmap_write(data->regmap, BMG160_REG_PMU_BW, + bmg160_samp_freq_table[i].bw_bits); + if (ret < 0) { + dev_err(dev, "Error writing reg_pmu_bw\n"); + return ret; + } + + return 0; +} + +static int bmg160_chip_init(struct bmg160_data *data) +{ + struct device *dev = regmap_get_device(data->regmap); + int ret; + unsigned int val; + + /* + * Reset chip to get it in a known good state. A delay of 30ms after + * reset is required according to the datasheet. + */ + regmap_write(data->regmap, BMG160_GYRO_REG_RESET, + BMG160_GYRO_RESET_VAL); + usleep_range(30000, 30700); + + ret = regmap_read(data->regmap, BMG160_REG_CHIP_ID, &val); + if (ret < 0) { + dev_err(dev, "Error reading reg_chip_id\n"); + return ret; + } + + dev_dbg(dev, "Chip Id %x\n", val); + if (val != BMG160_CHIP_ID_VAL) { + dev_err(dev, "invalid chip %x\n", val); + return -ENODEV; + } + + ret = bmg160_set_mode(data, BMG160_MODE_NORMAL); + if (ret < 0) + return ret; + + /* Wait upto 500 ms to be ready after changing mode */ + usleep_range(500, 1000); + + /* Set Bandwidth */ + ret = bmg160_set_bw(data, BMG160_DEF_BW); + if (ret < 0) + return ret; + + /* Set Default Range */ + ret = regmap_write(data->regmap, BMG160_REG_RANGE, BMG160_RANGE_500DPS); + if (ret < 0) { + dev_err(dev, "Error writing reg_range\n"); + return ret; + } + data->dps_range = BMG160_RANGE_500DPS; + + ret = regmap_read(data->regmap, BMG160_REG_SLOPE_THRES, &val); + if (ret < 0) { + dev_err(dev, "Error reading reg_slope_thres\n"); + return ret; + } + data->slope_thres = val; + + /* Set default interrupt mode */ + ret = regmap_update_bits(data->regmap, BMG160_REG_INT_EN_1, + BMG160_INT1_BIT_OD, 0); + if (ret < 0) { + dev_err(dev, "Error updating bits in reg_int_en_1\n"); + return ret; + } + + ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) { + dev_err(dev, + "Error writing reg_motion_intr\n"); + return ret; + } + + return 0; +} + +static int bmg160_set_power_state(struct bmg160_data *data, bool on) +{ +#ifdef CONFIG_PM + struct device *dev = regmap_get_device(data->regmap); + int ret; + + if (on) + ret = pm_runtime_get_sync(dev); + else { + pm_runtime_mark_last_busy(dev); + ret = pm_runtime_put_autosuspend(dev); + } + + if (ret < 0) { + dev_err(dev, "Failed: bmg160_set_power_state for %d\n", on); + + if (on) + pm_runtime_put_noidle(dev); + + return ret; + } +#endif + + return 0; +} + +static int bmg160_setup_any_motion_interrupt(struct bmg160_data *data, + bool status) +{ + struct device *dev = regmap_get_device(data->regmap); + int ret; + + /* Enable/Disable INT_MAP0 mapping */ + ret = regmap_update_bits(data->regmap, BMG160_REG_INT_MAP_0, + BMG160_INT_MAP_0_BIT_ANY, + (status ? BMG160_INT_MAP_0_BIT_ANY : 0)); + if (ret < 0) { + dev_err(dev, "Error updating bits reg_int_map0\n"); + return ret; + } + + /* Enable/Disable slope interrupts */ + if (status) { + /* Update slope thres */ + ret = regmap_write(data->regmap, BMG160_REG_SLOPE_THRES, + data->slope_thres); + if (ret < 0) { + dev_err(dev, "Error writing reg_slope_thres\n"); + return ret; + } + + ret = regmap_write(data->regmap, BMG160_REG_MOTION_INTR, + BMG160_INT_MOTION_X | BMG160_INT_MOTION_Y | + BMG160_INT_MOTION_Z); + if (ret < 0) { + dev_err(dev, "Error writing reg_motion_intr\n"); + return ret; + } + + /* + * New data interrupt is always non-latched, + * which will have higher priority, so no need + * to set latched mode, we will be flooded anyway with INTR + */ + if (!data->dready_trigger_on) { + ret = regmap_write(data->regmap, + BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) { + dev_err(dev, "Error writing reg_rst_latch\n"); + return ret; + } + } + + ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0, + BMG160_DATA_ENABLE_INT); + + } else { + ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0, 0); + } + + if (ret < 0) { + dev_err(dev, "Error writing reg_int_en0\n"); + return ret; + } + + return 0; +} + +static int bmg160_setup_new_data_interrupt(struct bmg160_data *data, + bool status) +{ + struct device *dev = regmap_get_device(data->regmap); + int ret; + + /* Enable/Disable INT_MAP1 mapping */ + ret = regmap_update_bits(data->regmap, BMG160_REG_INT_MAP_1, + BMG160_INT_MAP_1_BIT_NEW_DATA, + (status ? BMG160_INT_MAP_1_BIT_NEW_DATA : 0)); + if (ret < 0) { + dev_err(dev, "Error updating bits in reg_int_map1\n"); + return ret; + } + + if (status) { + ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_NON_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) { + dev_err(dev, "Error writing reg_rst_latch\n"); + return ret; + } + + ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0, + BMG160_DATA_ENABLE_INT); + + } else { + /* Restore interrupt mode */ + ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) { + dev_err(dev, "Error writing reg_rst_latch\n"); + return ret; + } + + ret = regmap_write(data->regmap, BMG160_REG_INT_EN_0, 0); + } + + if (ret < 0) { + dev_err(dev, "Error writing reg_int_en0\n"); + return ret; + } + + return 0; +} + +static int bmg160_get_bw(struct bmg160_data *data, int *val) +{ + struct device *dev = regmap_get_device(data->regmap); + int i; + unsigned int bw_bits; + int ret; + + ret = regmap_read(data->regmap, BMG160_REG_PMU_BW, &bw_bits); + if (ret < 0) { + dev_err(dev, "Error reading reg_pmu_bw\n"); + return ret; + } + + /* Ignore the readonly reserved bit. */ + bw_bits &= ~BMG160_REG_PMU_BW_RES; + + for (i = 0; i < ARRAY_SIZE(bmg160_samp_freq_table); ++i) { + if (bmg160_samp_freq_table[i].bw_bits == bw_bits) { + *val = bmg160_samp_freq_table[i].odr; + return IIO_VAL_INT; + } + } + + return -EINVAL; +} + +static int bmg160_set_scale(struct bmg160_data *data, int val) +{ + struct device *dev = regmap_get_device(data->regmap); + int ret, i; + + for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) { + if (bmg160_scale_table[i].scale == val) { + ret = regmap_write(data->regmap, BMG160_REG_RANGE, + bmg160_scale_table[i].dps_range); + if (ret < 0) { + dev_err(dev, "Error writing reg_range\n"); + return ret; + } + data->dps_range = bmg160_scale_table[i].dps_range; + return 0; + } + } + + return -EINVAL; +} + +static int bmg160_get_temp(struct bmg160_data *data, int *val) +{ + struct device *dev = regmap_get_device(data->regmap); + int ret; + unsigned int raw_val; + + mutex_lock(&data->mutex); + ret = bmg160_set_power_state(data, true); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + + ret = regmap_read(data->regmap, BMG160_REG_TEMP, &raw_val); + if (ret < 0) { + dev_err(dev, "Error reading reg_temp\n"); + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + + *val = sign_extend32(raw_val, 7); + ret = bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + if (ret < 0) + return ret; + + return IIO_VAL_INT; +} + +static int bmg160_get_axis(struct bmg160_data *data, int axis, int *val) +{ + struct device *dev = regmap_get_device(data->regmap); + int ret; + __le16 raw_val; + + mutex_lock(&data->mutex); + ret = bmg160_set_power_state(data, true); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + + ret = regmap_bulk_read(data->regmap, BMG160_AXIS_TO_REG(axis), &raw_val, + sizeof(raw_val)); + if (ret < 0) { + dev_err(dev, "Error reading axis %d\n", axis); + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + + *val = sign_extend32(le16_to_cpu(raw_val), 15); + ret = bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + if (ret < 0) + return ret; + + return IIO_VAL_INT; +} + +static int bmg160_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + switch (chan->type) { + case IIO_TEMP: + return bmg160_get_temp(data, val); + case IIO_ANGL_VEL: + if (iio_buffer_enabled(indio_dev)) + return -EBUSY; + else + return bmg160_get_axis(data, chan->scan_index, + val); + default: + return -EINVAL; + } + case IIO_CHAN_INFO_OFFSET: + if (chan->type == IIO_TEMP) { + *val = BMG160_TEMP_CENTER_VAL; + return IIO_VAL_INT; + } else + return -EINVAL; + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + return bmg160_get_filter(data, val); + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_TEMP: + *val = 500; + return IIO_VAL_INT; + case IIO_ANGL_VEL: + { + int i; + + for (i = 0; i < ARRAY_SIZE(bmg160_scale_table); ++i) { + if (bmg160_scale_table[i].dps_range == + data->dps_range) { + *val = 0; + *val2 = bmg160_scale_table[i].scale; + return IIO_VAL_INT_PLUS_MICRO; + } + } + return -EINVAL; + } + default: + return -EINVAL; + } + case IIO_CHAN_INFO_SAMP_FREQ: + *val2 = 0; + mutex_lock(&data->mutex); + ret = bmg160_get_bw(data, val); + mutex_unlock(&data->mutex); + return ret; + default: + return -EINVAL; + } +} + +static int bmg160_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + mutex_lock(&data->mutex); + /* + * Section 4.2 of spec + * In suspend mode, the only supported operations are reading + * registers as well as writing to the (0x14) softreset + * register. Since we will be in suspend mode by default, change + * mode to power on for other writes. + */ + ret = bmg160_set_power_state(data, true); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + ret = bmg160_set_bw(data, val); + if (ret < 0) { + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + ret = bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + if (val2) + return -EINVAL; + + mutex_lock(&data->mutex); + ret = bmg160_set_power_state(data, true); + if (ret < 0) { + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + ret = bmg160_set_filter(data, val); + if (ret < 0) { + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + ret = bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + case IIO_CHAN_INFO_SCALE: + if (val) + return -EINVAL; + + mutex_lock(&data->mutex); + /* Refer to comments above for the suspend mode ops */ + ret = bmg160_set_power_state(data, true); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + ret = bmg160_set_scale(data, val2); + if (ret < 0) { + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + ret = bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + default: + return -EINVAL; + } + + return -EINVAL; +} + +static int bmg160_read_event(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + enum iio_event_info info, + int *val, int *val2) +{ + struct bmg160_data *data = iio_priv(indio_dev); + + *val2 = 0; + switch (info) { + case IIO_EV_INFO_VALUE: + *val = data->slope_thres & BMG160_SLOPE_THRES_MASK; + break; + default: + return -EINVAL; + } + + return IIO_VAL_INT; +} + +static int bmg160_write_event(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + enum iio_event_info info, + int val, int val2) +{ + struct bmg160_data *data = iio_priv(indio_dev); + + switch (info) { + case IIO_EV_INFO_VALUE: + if (data->ev_enable_state) + return -EBUSY; + data->slope_thres &= ~BMG160_SLOPE_THRES_MASK; + data->slope_thres |= (val & BMG160_SLOPE_THRES_MASK); + break; + default: + return -EINVAL; + } + + return 0; +} + +static int bmg160_read_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir) +{ + + struct bmg160_data *data = iio_priv(indio_dev); + + return data->ev_enable_state; +} + +static int bmg160_write_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + int state) +{ + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + if (state && data->ev_enable_state) + return 0; + + mutex_lock(&data->mutex); + + if (!state && data->motion_trigger_on) { + data->ev_enable_state = 0; + mutex_unlock(&data->mutex); + return 0; + } + /* + * We will expect the enable and disable to do operation in + * in reverse order. This will happen here anyway as our + * resume operation uses sync mode runtime pm calls, the + * suspend operation will be delayed by autosuspend delay + * So the disable operation will still happen in reverse of + * enable operation. When runtime pm is disabled the mode + * is always on so sequence doesn't matter + */ + ret = bmg160_set_power_state(data, state); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + + ret = bmg160_setup_any_motion_interrupt(data, state); + if (ret < 0) { + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + + data->ev_enable_state = state; + mutex_unlock(&data->mutex); + + return 0; +} + +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("100 200 400 1000 2000"); + +static IIO_CONST_ATTR(in_anglvel_scale_available, + "0.001065 0.000532 0.000266 0.000133 0.000066"); + +static struct attribute *bmg160_attributes[] = { + &iio_const_attr_sampling_frequency_available.dev_attr.attr, + &iio_const_attr_in_anglvel_scale_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group bmg160_attrs_group = { + .attrs = bmg160_attributes, +}; + +static const struct iio_event_spec bmg160_event = { + .type = IIO_EV_TYPE_ROC, + .dir = IIO_EV_DIR_EITHER, + .mask_shared_by_type = BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_ENABLE) +}; + +#define BMG160_CHANNEL(_axis) { \ + .type = IIO_ANGL_VEL, \ + .modified = 1, \ + .channel2 = IIO_MOD_##_axis, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ + .scan_index = AXIS_##_axis, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_LE, \ + }, \ + .event_spec = &bmg160_event, \ + .num_event_specs = 1 \ +} + +static const struct iio_chan_spec bmg160_channels[] = { + { + .type = IIO_TEMP, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_OFFSET), + .scan_index = -1, + }, + BMG160_CHANNEL(X), + BMG160_CHANNEL(Y), + BMG160_CHANNEL(Z), + IIO_CHAN_SOFT_TIMESTAMP(3), +}; + +static const struct iio_info bmg160_info = { + .attrs = &bmg160_attrs_group, + .read_raw = bmg160_read_raw, + .write_raw = bmg160_write_raw, + .read_event_value = bmg160_read_event, + .write_event_value = bmg160_write_event, + .write_event_config = bmg160_write_event_config, + .read_event_config = bmg160_read_event_config, +}; + +static const unsigned long bmg160_accel_scan_masks[] = { + BIT(AXIS_X) | BIT(AXIS_Y) | BIT(AXIS_Z), + 0}; + +static irqreturn_t bmg160_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + mutex_lock(&data->mutex); + ret = regmap_bulk_read(data->regmap, BMG160_REG_XOUT_L, + data->scan.chans, AXIS_MAX * 2); + mutex_unlock(&data->mutex); + if (ret < 0) + goto err; + + iio_push_to_buffers_with_timestamp(indio_dev, &data->scan, + pf->timestamp); +err: + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static int bmg160_trig_try_reen(struct iio_trigger *trig) +{ + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + struct bmg160_data *data = iio_priv(indio_dev); + struct device *dev = regmap_get_device(data->regmap); + int ret; + + /* new data interrupts don't need ack */ + if (data->dready_trigger_on) + return 0; + + /* Set latched mode interrupt and clear any latched interrupt */ + ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) { + dev_err(dev, "Error writing reg_rst_latch\n"); + return ret; + } + + return 0; +} + +static int bmg160_data_rdy_trigger_set_state(struct iio_trigger *trig, + bool state) +{ + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + mutex_lock(&data->mutex); + + if (!state && data->ev_enable_state && data->motion_trigger_on) { + data->motion_trigger_on = false; + mutex_unlock(&data->mutex); + return 0; + } + + /* + * Refer to comment in bmg160_write_event_config for + * enable/disable operation order + */ + ret = bmg160_set_power_state(data, state); + if (ret < 0) { + mutex_unlock(&data->mutex); + return ret; + } + if (data->motion_trig == trig) + ret = bmg160_setup_any_motion_interrupt(data, state); + else + ret = bmg160_setup_new_data_interrupt(data, state); + if (ret < 0) { + bmg160_set_power_state(data, false); + mutex_unlock(&data->mutex); + return ret; + } + if (data->motion_trig == trig) + data->motion_trigger_on = state; + else + data->dready_trigger_on = state; + + mutex_unlock(&data->mutex); + + return 0; +} + +static const struct iio_trigger_ops bmg160_trigger_ops = { + .set_trigger_state = bmg160_data_rdy_trigger_set_state, + .try_reenable = bmg160_trig_try_reen, +}; + +static irqreturn_t bmg160_event_handler(int irq, void *private) +{ + struct iio_dev *indio_dev = private; + struct bmg160_data *data = iio_priv(indio_dev); + struct device *dev = regmap_get_device(data->regmap); + int ret; + int dir; + unsigned int val; + + ret = regmap_read(data->regmap, BMG160_REG_INT_STATUS_2, &val); + if (ret < 0) { + dev_err(dev, "Error reading reg_int_status2\n"); + goto ack_intr_status; + } + + if (val & 0x08) + dir = IIO_EV_DIR_RISING; + else + dir = IIO_EV_DIR_FALLING; + + if (val & BMG160_ANY_MOTION_BIT_X) + iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL, + 0, + IIO_MOD_X, + IIO_EV_TYPE_ROC, + dir), + iio_get_time_ns(indio_dev)); + if (val & BMG160_ANY_MOTION_BIT_Y) + iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL, + 0, + IIO_MOD_Y, + IIO_EV_TYPE_ROC, + dir), + iio_get_time_ns(indio_dev)); + if (val & BMG160_ANY_MOTION_BIT_Z) + iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ANGL_VEL, + 0, + IIO_MOD_Z, + IIO_EV_TYPE_ROC, + dir), + iio_get_time_ns(indio_dev)); + +ack_intr_status: + if (!data->dready_trigger_on) { + ret = regmap_write(data->regmap, BMG160_REG_INT_RST_LATCH, + BMG160_INT_MODE_LATCH_INT | + BMG160_INT_MODE_LATCH_RESET); + if (ret < 0) + dev_err(dev, "Error writing reg_rst_latch\n"); + } + + return IRQ_HANDLED; +} + +static irqreturn_t bmg160_data_rdy_trig_poll(int irq, void *private) +{ + struct iio_dev *indio_dev = private; + struct bmg160_data *data = iio_priv(indio_dev); + + if (data->dready_trigger_on) + iio_trigger_poll(data->dready_trig); + else if (data->motion_trigger_on) + iio_trigger_poll(data->motion_trig); + + if (data->ev_enable_state) + return IRQ_WAKE_THREAD; + else + return IRQ_HANDLED; + +} + +static int bmg160_buffer_preenable(struct iio_dev *indio_dev) +{ + struct bmg160_data *data = iio_priv(indio_dev); + + return bmg160_set_power_state(data, true); +} + +static int bmg160_buffer_postdisable(struct iio_dev *indio_dev) +{ + struct bmg160_data *data = iio_priv(indio_dev); + + return bmg160_set_power_state(data, false); +} + +static const struct iio_buffer_setup_ops bmg160_buffer_setup_ops = { + .preenable = bmg160_buffer_preenable, + .postenable = iio_triggered_buffer_postenable, + .predisable = iio_triggered_buffer_predisable, + .postdisable = bmg160_buffer_postdisable, +}; + +static const char *bmg160_match_acpi_device(struct device *dev) +{ + const struct acpi_device_id *id; + + id = acpi_match_device(dev->driver->acpi_match_table, dev); + if (!id) + return NULL; + + return dev_name(dev); +} + +int bmg160_core_probe(struct device *dev, struct regmap *regmap, int irq, + const char *name) +{ + struct bmg160_data *data; + struct iio_dev *indio_dev; + int ret; + + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + dev_set_drvdata(dev, indio_dev); + data->irq = irq; + data->regmap = regmap; + + ret = bmg160_chip_init(data); + if (ret < 0) + return ret; + + mutex_init(&data->mutex); + + if (ACPI_HANDLE(dev)) + name = bmg160_match_acpi_device(dev); + + indio_dev->dev.parent = dev; + indio_dev->channels = bmg160_channels; + indio_dev->num_channels = ARRAY_SIZE(bmg160_channels); + indio_dev->name = name; + indio_dev->available_scan_masks = bmg160_accel_scan_masks; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &bmg160_info; + + if (data->irq > 0) { + ret = devm_request_threaded_irq(dev, + data->irq, + bmg160_data_rdy_trig_poll, + bmg160_event_handler, + IRQF_TRIGGER_RISING, + BMG160_IRQ_NAME, + indio_dev); + if (ret) + return ret; + + data->dready_trig = devm_iio_trigger_alloc(dev, + "%s-dev%d", + indio_dev->name, + indio_dev->id); + if (!data->dready_trig) + return -ENOMEM; + + data->motion_trig = devm_iio_trigger_alloc(dev, + "%s-any-motion-dev%d", + indio_dev->name, + indio_dev->id); + if (!data->motion_trig) + return -ENOMEM; + + data->dready_trig->dev.parent = dev; + data->dready_trig->ops = &bmg160_trigger_ops; + iio_trigger_set_drvdata(data->dready_trig, indio_dev); + ret = iio_trigger_register(data->dready_trig); + if (ret) + return ret; + + data->motion_trig->dev.parent = dev; + data->motion_trig->ops = &bmg160_trigger_ops; + iio_trigger_set_drvdata(data->motion_trig, indio_dev); + ret = iio_trigger_register(data->motion_trig); + if (ret) { + data->motion_trig = NULL; + goto err_trigger_unregister; + } + } + + ret = iio_triggered_buffer_setup(indio_dev, + iio_pollfunc_store_time, + bmg160_trigger_handler, + &bmg160_buffer_setup_ops); + if (ret < 0) { + dev_err(dev, + "iio triggered buffer setup failed\n"); + goto err_trigger_unregister; + } + + ret = pm_runtime_set_active(dev); + if (ret) + goto err_buffer_cleanup; + + pm_runtime_enable(dev); + pm_runtime_set_autosuspend_delay(dev, + BMG160_AUTO_SUSPEND_DELAY_MS); + pm_runtime_use_autosuspend(dev); + + ret = iio_device_register(indio_dev); + if (ret < 0) { + dev_err(dev, "unable to register iio device\n"); + goto err_buffer_cleanup; + } + + return 0; + +err_buffer_cleanup: + iio_triggered_buffer_cleanup(indio_dev); +err_trigger_unregister: + if (data->dready_trig) + iio_trigger_unregister(data->dready_trig); + if (data->motion_trig) + iio_trigger_unregister(data->motion_trig); + + return ret; +} +EXPORT_SYMBOL_GPL(bmg160_core_probe); + +void bmg160_core_remove(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct bmg160_data *data = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + + pm_runtime_disable(dev); + pm_runtime_set_suspended(dev); + pm_runtime_put_noidle(dev); + + iio_triggered_buffer_cleanup(indio_dev); + + if (data->dready_trig) { + iio_trigger_unregister(data->dready_trig); + iio_trigger_unregister(data->motion_trig); + } + + mutex_lock(&data->mutex); + bmg160_set_mode(data, BMG160_MODE_DEEP_SUSPEND); + mutex_unlock(&data->mutex); +} +EXPORT_SYMBOL_GPL(bmg160_core_remove); + +#ifdef CONFIG_PM_SLEEP +static int bmg160_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct bmg160_data *data = iio_priv(indio_dev); + + mutex_lock(&data->mutex); + bmg160_set_mode(data, BMG160_MODE_SUSPEND); + mutex_unlock(&data->mutex); + + return 0; +} + +static int bmg160_resume(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct bmg160_data *data = iio_priv(indio_dev); + + mutex_lock(&data->mutex); + if (data->dready_trigger_on || data->motion_trigger_on || + data->ev_enable_state) + bmg160_set_mode(data, BMG160_MODE_NORMAL); + mutex_unlock(&data->mutex); + + return 0; +} +#endif + +#ifdef CONFIG_PM +static int bmg160_runtime_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + ret = bmg160_set_mode(data, BMG160_MODE_SUSPEND); + if (ret < 0) { + dev_err(dev, "set mode failed\n"); + return -EAGAIN; + } + + return 0; +} + +static int bmg160_runtime_resume(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct bmg160_data *data = iio_priv(indio_dev); + int ret; + + ret = bmg160_set_mode(data, BMG160_MODE_NORMAL); + if (ret < 0) + return ret; + + msleep_interruptible(BMG160_MAX_STARTUP_TIME_MS); + + return 0; +} +#endif + +const struct dev_pm_ops bmg160_pm_ops = { + SET_SYSTEM_SLEEP_PM_OPS(bmg160_suspend, bmg160_resume) + SET_RUNTIME_PM_OPS(bmg160_runtime_suspend, + bmg160_runtime_resume, NULL) +}; +EXPORT_SYMBOL_GPL(bmg160_pm_ops); + +MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com>"); +MODULE_LICENSE("GPL v2"); +MODULE_DESCRIPTION("BMG160 Gyro driver"); diff --git a/drivers/iio/gyro/bmg160_i2c.c b/drivers/iio/gyro/bmg160_i2c.c new file mode 100644 index 000000000..90126a5a7 --- /dev/null +++ b/drivers/iio/gyro/bmg160_i2c.c @@ -0,0 +1,71 @@ +#include <linux/i2c.h> +#include <linux/regmap.h> +#include <linux/iio/iio.h> +#include <linux/module.h> +#include <linux/acpi.h> + +#include "bmg160.h" + +static const struct regmap_config bmg160_regmap_i2c_conf = { + .reg_bits = 8, + .val_bits = 8, + .max_register = 0x3f +}; + +static int bmg160_i2c_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct regmap *regmap; + const char *name = NULL; + + regmap = devm_regmap_init_i2c(client, &bmg160_regmap_i2c_conf); + if (IS_ERR(regmap)) { + dev_err(&client->dev, "Failed to register i2c regmap %d\n", + (int)PTR_ERR(regmap)); + return PTR_ERR(regmap); + } + + if (id) + name = id->name; + + return bmg160_core_probe(&client->dev, regmap, client->irq, name); +} + +static int bmg160_i2c_remove(struct i2c_client *client) +{ + bmg160_core_remove(&client->dev); + + return 0; +} + +static const struct acpi_device_id bmg160_acpi_match[] = { + {"BMG0160", 0}, + {"BMI055B", 0}, + {}, +}; + +MODULE_DEVICE_TABLE(acpi, bmg160_acpi_match); + +static const struct i2c_device_id bmg160_i2c_id[] = { + {"bmg160", 0}, + {"bmi055_gyro", 0}, + {} +}; + +MODULE_DEVICE_TABLE(i2c, bmg160_i2c_id); + +static struct i2c_driver bmg160_i2c_driver = { + .driver = { + .name = "bmg160_i2c", + .acpi_match_table = ACPI_PTR(bmg160_acpi_match), + .pm = &bmg160_pm_ops, + }, + .probe = bmg160_i2c_probe, + .remove = bmg160_i2c_remove, + .id_table = bmg160_i2c_id, +}; +module_i2c_driver(bmg160_i2c_driver); + +MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@linux.intel.com>"); +MODULE_LICENSE("GPL v2"); +MODULE_DESCRIPTION("BMG160 I2C Gyro driver"); diff --git a/drivers/iio/gyro/bmg160_spi.c b/drivers/iio/gyro/bmg160_spi.c new file mode 100644 index 000000000..021ea5fe6 --- /dev/null +++ b/drivers/iio/gyro/bmg160_spi.c @@ -0,0 +1,57 @@ +#include <linux/spi/spi.h> +#include <linux/regmap.h> +#include <linux/iio/iio.h> +#include <linux/module.h> + +#include "bmg160.h" + +static const struct regmap_config bmg160_regmap_spi_conf = { + .reg_bits = 8, + .val_bits = 8, + .max_register = 0x3f, +}; + +static int bmg160_spi_probe(struct spi_device *spi) +{ + struct regmap *regmap; + const struct spi_device_id *id = spi_get_device_id(spi); + + regmap = devm_regmap_init_spi(spi, &bmg160_regmap_spi_conf); + if (IS_ERR(regmap)) { + dev_err(&spi->dev, "Failed to register spi regmap %d\n", + (int)PTR_ERR(regmap)); + return PTR_ERR(regmap); + } + + return bmg160_core_probe(&spi->dev, regmap, spi->irq, id->name); +} + +static int bmg160_spi_remove(struct spi_device *spi) +{ + bmg160_core_remove(&spi->dev); + + return 0; +} + +static const struct spi_device_id bmg160_spi_id[] = { + {"bmg160", 0}, + {"bmi055_gyro", 0}, + {} +}; + +MODULE_DEVICE_TABLE(spi, bmg160_spi_id); + +static struct spi_driver bmg160_spi_driver = { + .driver = { + .name = "bmg160_spi", + .pm = &bmg160_pm_ops, + }, + .probe = bmg160_spi_probe, + .remove = bmg160_spi_remove, + .id_table = bmg160_spi_id, +}; +module_spi_driver(bmg160_spi_driver); + +MODULE_AUTHOR("Markus Pargmann <mpa@pengutronix.de>"); +MODULE_LICENSE("GPL v2"); +MODULE_DESCRIPTION("BMG160 SPI Gyro driver"); 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 000000000..88e857c4b --- /dev/null +++ b/drivers/iio/gyro/hid-sensor-gyro-3d.c @@ -0,0 +1,423 @@ +/* + * 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 min; + + *val = 0; + *val2 = 0; + switch (mask) { + case IIO_CHAN_INFO_RAW: + hid_sensor_power_state(&gyro_state->common_attributes, true); + report_id = gyro_state->gyro[chan->scan_index].report_id; + min = gyro_state->gyro[chan->scan_index].logical_minimum; + 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, + SENSOR_HUB_SYNC, + min < 0); + 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 = { + .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; + + 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; + } + + indio_dev->channels = kmemdup(gyro_3d_channels, + sizeof(gyro_3d_channels), GFP_KERNEL); + if (!indio_dev->channels) { + dev_err(&pdev->dev, "failed to duplicate channels\n"); + return -ENOMEM; + } + + ret = gyro_3d_parse_report(pdev, hsdev, + (struct iio_chan_spec *)indio_dev->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->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 const 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, + .pm = &hid_sensor_pm_ops, + }, + .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 000000000..56aac0a9b --- /dev/null +++ b/drivers/iio/gyro/itg3200_buffer.c @@ -0,0 +1,159 @@ +/* + * 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); + /* + * Ensure correct alignment and padding including for the + * timestamp that may be inserted. + */ + struct { + __be16 buf[ITG3200_SCAN_ELEMENTS]; + s64 ts __aligned(8); + } scan; + + int ret = itg3200_read_all_channels(st->i2c, scan.buf); + if (ret < 0) + goto error_ret; + + iio_push_to_buffers_with_timestamp(indio_dev, &scan, pf->timestamp); + +error_ret: + iio_trigger_notify_done(indio_dev->trig); + + 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 = { + .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 = iio_trigger_get(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 000000000..7adecb562 --- /dev/null +++ b/drivers/iio/gyro/itg3200_core.c @@ -0,0 +1,400 @@ +/* + * 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; + u8 regval; + + 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; + case IIO_CHAN_INFO_SAMP_FREQ: + ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, ®val); + if (ret) + return ret; + + *val = (regval & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000; + + ret = itg3200_read_reg_8(indio_dev, + ITG3200_REG_SAMPLE_RATE_DIV, + ®val); + if (ret) + return ret; + + *val /= regval + 1; + return IIO_VAL_INT; + + default: + return -EINVAL; + } +} + +static int itg3200_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, + int val2, + long mask) +{ + int ret; + u8 t; + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + if (val == 0 || val2 != 0) + return -EINVAL; + + mutex_lock(&indio_dev->mlock); + + ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &t); + if (ret) { + mutex_unlock(&indio_dev->mlock); + return ret; + } + t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / val - 1; + + ret = itg3200_write_reg_8(indio_dev, + ITG3200_REG_SAMPLE_RATE_DIV, + t); + + mutex_unlock(&indio_dev->mlock); + return ret; + + default: + return -EINVAL; + } +} + +/* + * 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_reset(indio_dev); + if (ret) + goto err_ret; + + 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_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), \ + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .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), + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), + .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), +}; + +static const struct iio_info itg3200_info = { + .read_raw = &itg3200_read_raw, + .write_raw = &itg3200_write_raw, +}; + +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 int __maybe_unused itg3200_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct itg3200 *st = iio_priv(indio_dev); + + dev_dbg(&st->i2c->dev, "suspend device"); + + return itg3200_write_reg_8(indio_dev, ITG3200_REG_POWER_MANAGEMENT, + ITG3200_SLEEP); +} + +static int __maybe_unused itg3200_resume(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + + return itg3200_initial_setup(indio_dev); +} + +static SIMPLE_DEV_PM_OPS(itg3200_pm_ops, itg3200_suspend, itg3200_resume); + +static const struct i2c_device_id itg3200_id[] = { + { "itg3200", 0 }, + { } +}; +MODULE_DEVICE_TABLE(i2c, itg3200_id); + +static const struct of_device_id itg3200_of_match[] = { + { .compatible = "invensense,itg3200" }, + { } +}; +MODULE_DEVICE_TABLE(of, itg3200_of_match); + +static struct i2c_driver itg3200_driver = { + .driver = { + .name = "itg3200", + .of_match_table = itg3200_of_match, + .pm = &itg3200_pm_ops, + }, + .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/mpu3050-core.c b/drivers/iio/gyro/mpu3050-core.c new file mode 100644 index 000000000..e6fdd0f4b --- /dev/null +++ b/drivers/iio/gyro/mpu3050-core.c @@ -0,0 +1,1307 @@ +/* + * MPU3050 gyroscope driver + * + * Copyright (C) 2016 Linaro Ltd. + * Author: Linus Walleij <linus.walleij@linaro.org> + * + * Based on the input subsystem driver, Copyright (C) 2011 Wistron Co.Ltd + * Joseph Lai <joseph_lai@wistron.com> and trimmed down by + * Alan Cox <alan@linux.intel.com> in turn based on bma023.c. + * Device behaviour based on a misc driver posted by Nathan Royer in 2011. + * + * TODO: add support for setting up the low pass 3dB frequency. + */ + +#include <linux/bitops.h> +#include <linux/delay.h> +#include <linux/err.h> +#include <linux/iio/buffer.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/trigger.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/triggered_buffer.h> +#include <linux/interrupt.h> +#include <linux/module.h> +#include <linux/pm_runtime.h> +#include <linux/random.h> +#include <linux/slab.h> + +#include "mpu3050.h" + +#define MPU3050_CHIP_ID 0x68 +#define MPU3050_CHIP_ID_MASK 0x7E + +/* + * Register map: anything suffixed *_H is a big-endian high byte and always + * followed by the corresponding low byte (*_L) even though these are not + * explicitly included in the register definitions. + */ +#define MPU3050_CHIP_ID_REG 0x00 +#define MPU3050_PRODUCT_ID_REG 0x01 +#define MPU3050_XG_OFFS_TC 0x05 +#define MPU3050_YG_OFFS_TC 0x08 +#define MPU3050_ZG_OFFS_TC 0x0B +#define MPU3050_X_OFFS_USR_H 0x0C +#define MPU3050_Y_OFFS_USR_H 0x0E +#define MPU3050_Z_OFFS_USR_H 0x10 +#define MPU3050_FIFO_EN 0x12 +#define MPU3050_AUX_VDDIO 0x13 +#define MPU3050_SLV_ADDR 0x14 +#define MPU3050_SMPLRT_DIV 0x15 +#define MPU3050_DLPF_FS_SYNC 0x16 +#define MPU3050_INT_CFG 0x17 +#define MPU3050_AUX_ADDR 0x18 +#define MPU3050_INT_STATUS 0x1A +#define MPU3050_TEMP_H 0x1B +#define MPU3050_XOUT_H 0x1D +#define MPU3050_YOUT_H 0x1F +#define MPU3050_ZOUT_H 0x21 +#define MPU3050_DMP_CFG1 0x35 +#define MPU3050_DMP_CFG2 0x36 +#define MPU3050_BANK_SEL 0x37 +#define MPU3050_MEM_START_ADDR 0x38 +#define MPU3050_MEM_R_W 0x39 +#define MPU3050_FIFO_COUNT_H 0x3A +#define MPU3050_FIFO_R 0x3C +#define MPU3050_USR_CTRL 0x3D +#define MPU3050_PWR_MGM 0x3E + +/* MPU memory bank read options */ +#define MPU3050_MEM_PRFTCH BIT(5) +#define MPU3050_MEM_USER_BANK BIT(4) +/* Bits 8-11 select memory bank */ +#define MPU3050_MEM_RAM_BANK_0 0 +#define MPU3050_MEM_RAM_BANK_1 1 +#define MPU3050_MEM_RAM_BANK_2 2 +#define MPU3050_MEM_RAM_BANK_3 3 +#define MPU3050_MEM_OTP_BANK_0 4 + +#define MPU3050_AXIS_REGS(axis) (MPU3050_XOUT_H + (axis * 2)) + +/* Register bits */ + +/* FIFO Enable */ +#define MPU3050_FIFO_EN_FOOTER BIT(0) +#define MPU3050_FIFO_EN_AUX_ZOUT BIT(1) +#define MPU3050_FIFO_EN_AUX_YOUT BIT(2) +#define MPU3050_FIFO_EN_AUX_XOUT BIT(3) +#define MPU3050_FIFO_EN_GYRO_ZOUT BIT(4) +#define MPU3050_FIFO_EN_GYRO_YOUT BIT(5) +#define MPU3050_FIFO_EN_GYRO_XOUT BIT(6) +#define MPU3050_FIFO_EN_TEMP_OUT BIT(7) + +/* + * Digital Low Pass filter (DLPF) + * Full Scale (FS) + * and Synchronization + */ +#define MPU3050_EXT_SYNC_NONE 0x00 +#define MPU3050_EXT_SYNC_TEMP 0x20 +#define MPU3050_EXT_SYNC_GYROX 0x40 +#define MPU3050_EXT_SYNC_GYROY 0x60 +#define MPU3050_EXT_SYNC_GYROZ 0x80 +#define MPU3050_EXT_SYNC_ACCELX 0xA0 +#define MPU3050_EXT_SYNC_ACCELY 0xC0 +#define MPU3050_EXT_SYNC_ACCELZ 0xE0 +#define MPU3050_EXT_SYNC_MASK 0xE0 +#define MPU3050_EXT_SYNC_SHIFT 5 + +#define MPU3050_FS_250DPS 0x00 +#define MPU3050_FS_500DPS 0x08 +#define MPU3050_FS_1000DPS 0x10 +#define MPU3050_FS_2000DPS 0x18 +#define MPU3050_FS_MASK 0x18 +#define MPU3050_FS_SHIFT 3 + +#define MPU3050_DLPF_CFG_256HZ_NOLPF2 0x00 +#define MPU3050_DLPF_CFG_188HZ 0x01 +#define MPU3050_DLPF_CFG_98HZ 0x02 +#define MPU3050_DLPF_CFG_42HZ 0x03 +#define MPU3050_DLPF_CFG_20HZ 0x04 +#define MPU3050_DLPF_CFG_10HZ 0x05 +#define MPU3050_DLPF_CFG_5HZ 0x06 +#define MPU3050_DLPF_CFG_2100HZ_NOLPF 0x07 +#define MPU3050_DLPF_CFG_MASK 0x07 +#define MPU3050_DLPF_CFG_SHIFT 0 + +/* Interrupt config */ +#define MPU3050_INT_RAW_RDY_EN BIT(0) +#define MPU3050_INT_DMP_DONE_EN BIT(1) +#define MPU3050_INT_MPU_RDY_EN BIT(2) +#define MPU3050_INT_ANYRD_2CLEAR BIT(4) +#define MPU3050_INT_LATCH_EN BIT(5) +#define MPU3050_INT_OPEN BIT(6) +#define MPU3050_INT_ACTL BIT(7) +/* Interrupt status */ +#define MPU3050_INT_STATUS_RAW_RDY BIT(0) +#define MPU3050_INT_STATUS_DMP_DONE BIT(1) +#define MPU3050_INT_STATUS_MPU_RDY BIT(2) +#define MPU3050_INT_STATUS_FIFO_OVFLW BIT(7) +/* USR_CTRL */ +#define MPU3050_USR_CTRL_FIFO_EN BIT(6) +#define MPU3050_USR_CTRL_AUX_IF_EN BIT(5) +#define MPU3050_USR_CTRL_AUX_IF_RST BIT(3) +#define MPU3050_USR_CTRL_FIFO_RST BIT(1) +#define MPU3050_USR_CTRL_GYRO_RST BIT(0) +/* PWR_MGM */ +#define MPU3050_PWR_MGM_PLL_X 0x01 +#define MPU3050_PWR_MGM_PLL_Y 0x02 +#define MPU3050_PWR_MGM_PLL_Z 0x03 +#define MPU3050_PWR_MGM_CLKSEL_MASK 0x07 +#define MPU3050_PWR_MGM_STBY_ZG BIT(3) +#define MPU3050_PWR_MGM_STBY_YG BIT(4) +#define MPU3050_PWR_MGM_STBY_XG BIT(5) +#define MPU3050_PWR_MGM_SLEEP BIT(6) +#define MPU3050_PWR_MGM_RESET BIT(7) +#define MPU3050_PWR_MGM_MASK 0xff + +/* + * Fullscale precision is (for finest precision) +/- 250 deg/s, so the full + * scale is actually 500 deg/s. All 16 bits are then used to cover this scale, + * in two's complement. + */ +static unsigned int mpu3050_fs_precision[] = { + IIO_DEGREE_TO_RAD(250), + IIO_DEGREE_TO_RAD(500), + IIO_DEGREE_TO_RAD(1000), + IIO_DEGREE_TO_RAD(2000) +}; + +/* + * Regulator names + */ +static const char mpu3050_reg_vdd[] = "vdd"; +static const char mpu3050_reg_vlogic[] = "vlogic"; + +static unsigned int mpu3050_get_freq(struct mpu3050 *mpu3050) +{ + unsigned int freq; + + if (mpu3050->lpf == MPU3050_DLPF_CFG_256HZ_NOLPF2) + freq = 8000; + else + freq = 1000; + freq /= (mpu3050->divisor + 1); + + return freq; +} + +static int mpu3050_start_sampling(struct mpu3050 *mpu3050) +{ + __be16 raw_val[3]; + int ret; + int i; + + /* Reset */ + ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM, + MPU3050_PWR_MGM_RESET, MPU3050_PWR_MGM_RESET); + if (ret) + return ret; + + /* Turn on the Z-axis PLL */ + ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM, + MPU3050_PWR_MGM_CLKSEL_MASK, + MPU3050_PWR_MGM_PLL_Z); + if (ret) + return ret; + + /* Write calibration offset registers */ + for (i = 0; i < 3; i++) + raw_val[i] = cpu_to_be16(mpu3050->calibration[i]); + + ret = regmap_bulk_write(mpu3050->map, MPU3050_X_OFFS_USR_H, raw_val, + sizeof(raw_val)); + if (ret) + return ret; + + /* Set low pass filter (sample rate), sync and full scale */ + ret = regmap_write(mpu3050->map, MPU3050_DLPF_FS_SYNC, + MPU3050_EXT_SYNC_NONE << MPU3050_EXT_SYNC_SHIFT | + mpu3050->fullscale << MPU3050_FS_SHIFT | + mpu3050->lpf << MPU3050_DLPF_CFG_SHIFT); + if (ret) + return ret; + + /* Set up sampling frequency */ + ret = regmap_write(mpu3050->map, MPU3050_SMPLRT_DIV, mpu3050->divisor); + if (ret) + return ret; + + /* + * Max 50 ms start-up time after setting DLPF_FS_SYNC + * according to the data sheet, then wait for the next sample + * at this frequency T = 1000/f ms. + */ + msleep(50 + 1000 / mpu3050_get_freq(mpu3050)); + + return 0; +} + +static int mpu3050_set_8khz_samplerate(struct mpu3050 *mpu3050) +{ + int ret; + u8 divisor; + enum mpu3050_lpf lpf; + + lpf = mpu3050->lpf; + divisor = mpu3050->divisor; + + mpu3050->lpf = LPF_256_HZ_NOLPF; /* 8 kHz base frequency */ + mpu3050->divisor = 0; /* Divide by 1 */ + ret = mpu3050_start_sampling(mpu3050); + + mpu3050->lpf = lpf; + mpu3050->divisor = divisor; + + return ret; +} + +static int mpu3050_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, + long mask) +{ + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + int ret; + __be16 raw_val; + + switch (mask) { + case IIO_CHAN_INFO_OFFSET: + switch (chan->type) { + case IIO_TEMP: + /* + * The temperature scaling is (x+23000)/280 Celsius + * for the "best fit straight line" temperature range + * of -30C..85C. The 23000 includes room temperature + * offset of +35C, 280 is the precision scale and x is + * the 16-bit signed integer reported by hardware. + * + * Temperature value itself represents temperature of + * the sensor die. + */ + *val = 23000; + return IIO_VAL_INT; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_CALIBBIAS: + switch (chan->type) { + case IIO_ANGL_VEL: + *val = mpu3050->calibration[chan->scan_index-1]; + return IIO_VAL_INT; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_SAMP_FREQ: + *val = mpu3050_get_freq(mpu3050); + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_TEMP: + /* Millidegrees, see about temperature scaling above */ + *val = 1000; + *val2 = 280; + return IIO_VAL_FRACTIONAL; + case IIO_ANGL_VEL: + /* + * Convert to the corresponding full scale in + * radians. All 16 bits are used with sign to + * span the available scale: to account for the one + * missing value if we multiply by 1/S16_MAX, instead + * multiply with 2/U16_MAX. + */ + *val = mpu3050_fs_precision[mpu3050->fullscale] * 2; + *val2 = U16_MAX; + return IIO_VAL_FRACTIONAL; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_RAW: + /* Resume device */ + pm_runtime_get_sync(mpu3050->dev); + mutex_lock(&mpu3050->lock); + + ret = mpu3050_set_8khz_samplerate(mpu3050); + if (ret) + goto out_read_raw_unlock; + + switch (chan->type) { + case IIO_TEMP: + ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H, + &raw_val, sizeof(raw_val)); + if (ret) { + dev_err(mpu3050->dev, + "error reading temperature\n"); + goto out_read_raw_unlock; + } + + *val = (s16)be16_to_cpu(raw_val); + ret = IIO_VAL_INT; + + goto out_read_raw_unlock; + case IIO_ANGL_VEL: + ret = regmap_bulk_read(mpu3050->map, + MPU3050_AXIS_REGS(chan->scan_index-1), + &raw_val, + sizeof(raw_val)); + if (ret) { + dev_err(mpu3050->dev, + "error reading axis data\n"); + goto out_read_raw_unlock; + } + + *val = be16_to_cpu(raw_val); + ret = IIO_VAL_INT; + + goto out_read_raw_unlock; + default: + ret = -EINVAL; + goto out_read_raw_unlock; + } + default: + break; + } + + return -EINVAL; + +out_read_raw_unlock: + mutex_unlock(&mpu3050->lock); + pm_runtime_mark_last_busy(mpu3050->dev); + pm_runtime_put_autosuspend(mpu3050->dev); + + return ret; +} + +static int mpu3050_write_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + int val, int val2, long mask) +{ + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + /* + * Couldn't figure out a way to precalculate these at compile time. + */ + unsigned int fs250 = + DIV_ROUND_CLOSEST(mpu3050_fs_precision[0] * 1000000 * 2, + U16_MAX); + unsigned int fs500 = + DIV_ROUND_CLOSEST(mpu3050_fs_precision[1] * 1000000 * 2, + U16_MAX); + unsigned int fs1000 = + DIV_ROUND_CLOSEST(mpu3050_fs_precision[2] * 1000000 * 2, + U16_MAX); + unsigned int fs2000 = + DIV_ROUND_CLOSEST(mpu3050_fs_precision[3] * 1000000 * 2, + U16_MAX); + + switch (mask) { + case IIO_CHAN_INFO_CALIBBIAS: + if (chan->type != IIO_ANGL_VEL) + return -EINVAL; + mpu3050->calibration[chan->scan_index-1] = val; + return 0; + case IIO_CHAN_INFO_SAMP_FREQ: + /* + * The max samplerate is 8000 Hz, the minimum + * 1000 / 256 ~= 4 Hz + */ + if (val < 4 || val > 8000) + return -EINVAL; + + /* + * Above 1000 Hz we must turn off the digital low pass filter + * so we get a base frequency of 8kHz to the divider + */ + if (val > 1000) { + mpu3050->lpf = LPF_256_HZ_NOLPF; + mpu3050->divisor = DIV_ROUND_CLOSEST(8000, val) - 1; + return 0; + } + + mpu3050->lpf = LPF_188_HZ; + mpu3050->divisor = DIV_ROUND_CLOSEST(1000, val) - 1; + return 0; + case IIO_CHAN_INFO_SCALE: + if (chan->type != IIO_ANGL_VEL) + return -EINVAL; + /* + * We support +/-250, +/-500, +/-1000 and +/2000 deg/s + * which means we need to round to the closest radians + * which will be roughly +/-4.3, +/-8.7, +/-17.5, +/-35 + * rad/s. The scale is then for the 16 bits used to cover + * it 2/(2^16) of that. + */ + + /* Just too large, set the max range */ + if (val != 0) { + mpu3050->fullscale = FS_2000_DPS; + return 0; + } + + /* + * Now we're dealing with fractions below zero in millirad/s + * do some integer interpolation and match with the closest + * fullscale in the table. + */ + if (val2 <= fs250 || + val2 < ((fs500 + fs250) / 2)) + mpu3050->fullscale = FS_250_DPS; + else if (val2 <= fs500 || + val2 < ((fs1000 + fs500) / 2)) + mpu3050->fullscale = FS_500_DPS; + else if (val2 <= fs1000 || + val2 < ((fs2000 + fs1000) / 2)) + mpu3050->fullscale = FS_1000_DPS; + else + /* Catch-all */ + mpu3050->fullscale = FS_2000_DPS; + return 0; + default: + break; + } + + return -EINVAL; +} + +static irqreturn_t mpu3050_trigger_handler(int irq, void *p) +{ + const struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + int ret; + /* + * Temperature 1*16 bits + * Three axes 3*16 bits + * Timestamp 64 bits (4*16 bits) + * Sum total 8*16 bits + */ + __be16 hw_values[8]; + s64 timestamp; + unsigned int datums_from_fifo = 0; + + /* + * If we're using the hardware trigger, get the precise timestamp from + * the top half of the threaded IRQ handler. Otherwise get the + * timestamp here so it will be close in time to the actual values + * read from the registers. + */ + if (iio_trigger_using_own(indio_dev)) + timestamp = mpu3050->hw_timestamp; + else + timestamp = iio_get_time_ns(indio_dev); + + mutex_lock(&mpu3050->lock); + + /* Using the hardware IRQ trigger? Check the buffer then. */ + if (mpu3050->hw_irq_trigger) { + __be16 raw_fifocnt; + u16 fifocnt; + /* X, Y, Z + temperature */ + unsigned int bytes_per_datum = 8; + bool fifo_overflow = false; + + ret = regmap_bulk_read(mpu3050->map, + MPU3050_FIFO_COUNT_H, + &raw_fifocnt, + sizeof(raw_fifocnt)); + if (ret) + goto out_trigger_unlock; + fifocnt = be16_to_cpu(raw_fifocnt); + + if (fifocnt == 512) { + dev_info(mpu3050->dev, + "FIFO overflow! Emptying and resetting FIFO\n"); + fifo_overflow = true; + /* Reset and enable the FIFO */ + ret = regmap_update_bits(mpu3050->map, + MPU3050_USR_CTRL, + MPU3050_USR_CTRL_FIFO_EN | + MPU3050_USR_CTRL_FIFO_RST, + MPU3050_USR_CTRL_FIFO_EN | + MPU3050_USR_CTRL_FIFO_RST); + if (ret) { + dev_info(mpu3050->dev, "error resetting FIFO\n"); + goto out_trigger_unlock; + } + mpu3050->pending_fifo_footer = false; + } + + if (fifocnt) + dev_dbg(mpu3050->dev, + "%d bytes in the FIFO\n", + fifocnt); + + while (!fifo_overflow && fifocnt > bytes_per_datum) { + unsigned int toread; + unsigned int offset; + __be16 fifo_values[5]; + + /* + * If there is a FIFO footer in the pipe, first clear + * that out. This follows the complex algorithm in the + * datasheet that states that you may never leave the + * FIFO empty after the first reading: you have to + * always leave two footer bytes in it. The footer is + * in practice just two zero bytes. + */ + if (mpu3050->pending_fifo_footer) { + toread = bytes_per_datum + 2; + offset = 0; + } else { + toread = bytes_per_datum; + offset = 1; + /* Put in some dummy value */ + fifo_values[0] = 0xAAAA; + } + + ret = regmap_bulk_read(mpu3050->map, + MPU3050_FIFO_R, + &fifo_values[offset], + toread); + if (ret) + goto out_trigger_unlock; + + dev_dbg(mpu3050->dev, + "%04x %04x %04x %04x %04x\n", + fifo_values[0], + fifo_values[1], + fifo_values[2], + fifo_values[3], + fifo_values[4]); + + /* Index past the footer (fifo_values[0]) and push */ + iio_push_to_buffers_with_timestamp(indio_dev, + &fifo_values[1], + timestamp); + + fifocnt -= toread; + datums_from_fifo++; + mpu3050->pending_fifo_footer = true; + + /* + * If we're emptying the FIFO, just make sure to + * check if something new appeared. + */ + if (fifocnt < bytes_per_datum) { + ret = regmap_bulk_read(mpu3050->map, + MPU3050_FIFO_COUNT_H, + &raw_fifocnt, + sizeof(raw_fifocnt)); + if (ret) + goto out_trigger_unlock; + fifocnt = be16_to_cpu(raw_fifocnt); + } + + if (fifocnt < bytes_per_datum) + dev_dbg(mpu3050->dev, + "%d bytes left in the FIFO\n", + fifocnt); + + /* + * At this point, the timestamp that triggered the + * hardware interrupt is no longer valid for what + * we are reading (the interrupt likely fired for + * the value on the top of the FIFO), so set the + * timestamp to zero and let userspace deal with it. + */ + timestamp = 0; + } + } + + /* + * If we picked some datums from the FIFO that's enough, else + * fall through and just read from the current value registers. + * This happens in two cases: + * + * - We are using some other trigger (external, like an HRTimer) + * than the sensor's own sample generator. In this case the + * sensor is just set to the max sampling frequency and we give + * the trigger a copy of the latest value every time we get here. + * + * - The hardware trigger is active but unused and we actually use + * another trigger which calls here with a frequency higher + * than what the device provides data. We will then just read + * duplicate values directly from the hardware registers. + */ + if (datums_from_fifo) { + dev_dbg(mpu3050->dev, + "read %d datums from the FIFO\n", + datums_from_fifo); + goto out_trigger_unlock; + } + + ret = regmap_bulk_read(mpu3050->map, MPU3050_TEMP_H, &hw_values, + sizeof(hw_values)); + if (ret) { + dev_err(mpu3050->dev, + "error reading axis data\n"); + goto out_trigger_unlock; + } + + iio_push_to_buffers_with_timestamp(indio_dev, hw_values, timestamp); + +out_trigger_unlock: + mutex_unlock(&mpu3050->lock); + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static int mpu3050_buffer_preenable(struct iio_dev *indio_dev) +{ + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + + pm_runtime_get_sync(mpu3050->dev); + + /* Unless we have OUR trigger active, run at full speed */ + if (!mpu3050->hw_irq_trigger) + return mpu3050_set_8khz_samplerate(mpu3050); + + return 0; +} + +static int mpu3050_buffer_postdisable(struct iio_dev *indio_dev) +{ + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + + pm_runtime_mark_last_busy(mpu3050->dev); + pm_runtime_put_autosuspend(mpu3050->dev); + + return 0; +} + +static const struct iio_buffer_setup_ops mpu3050_buffer_setup_ops = { + .preenable = mpu3050_buffer_preenable, + .postenable = iio_triggered_buffer_postenable, + .predisable = iio_triggered_buffer_predisable, + .postdisable = mpu3050_buffer_postdisable, +}; + +static const struct iio_mount_matrix * +mpu3050_get_mount_matrix(const struct iio_dev *indio_dev, + const struct iio_chan_spec *chan) +{ + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + + return &mpu3050->orientation; +} + +static const struct iio_chan_spec_ext_info mpu3050_ext_info[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, mpu3050_get_mount_matrix), + { }, +}; + +#define MPU3050_AXIS_CHANNEL(axis, index) \ + { \ + .type = IIO_ANGL_VEL, \ + .modified = 1, \ + .channel2 = IIO_MOD_##axis, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ + BIT(IIO_CHAN_INFO_CALIBBIAS), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),\ + .ext_info = mpu3050_ext_info, \ + .scan_index = index, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_BE, \ + }, \ + } + +static const struct iio_chan_spec mpu3050_channels[] = { + { + .type = IIO_TEMP, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_OFFSET), + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), + .scan_index = 0, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_BE, + }, + }, + MPU3050_AXIS_CHANNEL(X, 1), + MPU3050_AXIS_CHANNEL(Y, 2), + MPU3050_AXIS_CHANNEL(Z, 3), + IIO_CHAN_SOFT_TIMESTAMP(4), +}; + +/* Four channels apart from timestamp, scan mask = 0x0f */ +static const unsigned long mpu3050_scan_masks[] = { 0xf, 0 }; + +/* + * These are just the hardcoded factors resulting from the more elaborate + * calculations done with fractions in the scale raw get/set functions. + */ +static IIO_CONST_ATTR(anglevel_scale_available, + "0.000122070 " + "0.000274658 " + "0.000518798 " + "0.001068115"); + +static struct attribute *mpu3050_attributes[] = { + &iio_const_attr_anglevel_scale_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group mpu3050_attribute_group = { + .attrs = mpu3050_attributes, +}; + +static const struct iio_info mpu3050_info = { + .read_raw = mpu3050_read_raw, + .write_raw = mpu3050_write_raw, + .attrs = &mpu3050_attribute_group, +}; + +/** + * mpu3050_read_mem() - read MPU-3050 internal memory + * @mpu3050: device to read from + * @bank: target bank + * @addr: target address + * @len: number of bytes + * @buf: the buffer to store the read bytes in + */ +static int mpu3050_read_mem(struct mpu3050 *mpu3050, + u8 bank, + u8 addr, + u8 len, + u8 *buf) +{ + int ret; + + ret = regmap_write(mpu3050->map, + MPU3050_BANK_SEL, + bank); + if (ret) + return ret; + + ret = regmap_write(mpu3050->map, + MPU3050_MEM_START_ADDR, + addr); + if (ret) + return ret; + + return regmap_bulk_read(mpu3050->map, + MPU3050_MEM_R_W, + buf, + len); +} + +static int mpu3050_hw_init(struct mpu3050 *mpu3050) +{ + int ret; + u8 otp[8]; + + /* Reset */ + ret = regmap_update_bits(mpu3050->map, + MPU3050_PWR_MGM, + MPU3050_PWR_MGM_RESET, + MPU3050_PWR_MGM_RESET); + if (ret) + return ret; + + /* Turn on the PLL */ + ret = regmap_update_bits(mpu3050->map, + MPU3050_PWR_MGM, + MPU3050_PWR_MGM_CLKSEL_MASK, + MPU3050_PWR_MGM_PLL_Z); + if (ret) + return ret; + + /* Disable IRQs */ + ret = regmap_write(mpu3050->map, + MPU3050_INT_CFG, + 0); + if (ret) + return ret; + + /* Read out the 8 bytes of OTP (one-time-programmable) memory */ + ret = mpu3050_read_mem(mpu3050, + (MPU3050_MEM_PRFTCH | + MPU3050_MEM_USER_BANK | + MPU3050_MEM_OTP_BANK_0), + 0, + sizeof(otp), + otp); + if (ret) + return ret; + + /* This is device-unique data so it goes into the entropy pool */ + add_device_randomness(otp, sizeof(otp)); + + dev_info(mpu3050->dev, + "die ID: %04X, wafer ID: %02X, A lot ID: %04X, " + "W lot ID: %03X, WP ID: %01X, rev ID: %02X\n", + /* Die ID, bits 0-12 */ + (otp[1] << 8 | otp[0]) & 0x1fff, + /* Wafer ID, bits 13-17 */ + ((otp[2] << 8 | otp[1]) & 0x03e0) >> 5, + /* A lot ID, bits 18-33 */ + ((otp[4] << 16 | otp[3] << 8 | otp[2]) & 0x3fffc) >> 2, + /* W lot ID, bits 34-45 */ + ((otp[5] << 8 | otp[4]) & 0x3ffc) >> 2, + /* WP ID, bits 47-49 */ + ((otp[6] << 8 | otp[5]) & 0x0380) >> 7, + /* rev ID, bits 50-55 */ + otp[6] >> 2); + + return 0; +} + +static int mpu3050_power_up(struct mpu3050 *mpu3050) +{ + int ret; + + ret = regulator_bulk_enable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs); + if (ret) { + dev_err(mpu3050->dev, "cannot enable regulators\n"); + return ret; + } + /* + * 20-100 ms start-up time for register read/write according to + * the datasheet, be on the safe side and wait 200 ms. + */ + msleep(200); + + /* Take device out of sleep mode */ + ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM, + MPU3050_PWR_MGM_SLEEP, 0); + if (ret) { + dev_err(mpu3050->dev, "error setting power mode\n"); + return ret; + } + msleep(10); + + return 0; +} + +static int mpu3050_power_down(struct mpu3050 *mpu3050) +{ + int ret; + + /* + * Put MPU-3050 into sleep mode before cutting regulators. + * This is important, because we may not be the sole user + * of the regulator so the power may stay on after this, and + * then we would be wasting power unless we go to sleep mode + * first. + */ + ret = regmap_update_bits(mpu3050->map, MPU3050_PWR_MGM, + MPU3050_PWR_MGM_SLEEP, MPU3050_PWR_MGM_SLEEP); + if (ret) + dev_err(mpu3050->dev, "error putting to sleep\n"); + + ret = regulator_bulk_disable(ARRAY_SIZE(mpu3050->regs), mpu3050->regs); + if (ret) + dev_err(mpu3050->dev, "error disabling regulators\n"); + + return 0; +} + +static irqreturn_t mpu3050_irq_handler(int irq, void *p) +{ + struct iio_trigger *trig = p; + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + + if (!mpu3050->hw_irq_trigger) + return IRQ_NONE; + + /* Get the time stamp as close in time as possible */ + mpu3050->hw_timestamp = iio_get_time_ns(indio_dev); + + return IRQ_WAKE_THREAD; +} + +static irqreturn_t mpu3050_irq_thread(int irq, void *p) +{ + struct iio_trigger *trig = p; + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + unsigned int val; + int ret; + + /* ACK IRQ and check if it was from us */ + ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val); + if (ret) { + dev_err(mpu3050->dev, "error reading IRQ status\n"); + return IRQ_HANDLED; + } + if (!(val & MPU3050_INT_STATUS_RAW_RDY)) + return IRQ_NONE; + + iio_trigger_poll_chained(p); + + return IRQ_HANDLED; +} + +/** + * mpu3050_drdy_trigger_set_state() - set data ready interrupt state + * @trig: trigger instance + * @enable: true if trigger should be enabled, false to disable + */ +static int mpu3050_drdy_trigger_set_state(struct iio_trigger *trig, + bool enable) +{ + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + unsigned int val; + int ret; + + /* Disabling trigger: disable interrupt and return */ + if (!enable) { + /* Disable all interrupts */ + ret = regmap_write(mpu3050->map, + MPU3050_INT_CFG, + 0); + if (ret) + dev_err(mpu3050->dev, "error disabling IRQ\n"); + + /* Clear IRQ flag */ + ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val); + if (ret) + dev_err(mpu3050->dev, "error clearing IRQ status\n"); + + /* Disable all things in the FIFO and reset it */ + ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0); + if (ret) + dev_err(mpu3050->dev, "error disabling FIFO\n"); + + ret = regmap_write(mpu3050->map, MPU3050_USR_CTRL, + MPU3050_USR_CTRL_FIFO_RST); + if (ret) + dev_err(mpu3050->dev, "error resetting FIFO\n"); + + pm_runtime_mark_last_busy(mpu3050->dev); + pm_runtime_put_autosuspend(mpu3050->dev); + mpu3050->hw_irq_trigger = false; + + return 0; + } else { + /* Else we're enabling the trigger from this point */ + pm_runtime_get_sync(mpu3050->dev); + mpu3050->hw_irq_trigger = true; + + /* Disable all things in the FIFO */ + ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, 0); + if (ret) + return ret; + + /* Reset and enable the FIFO */ + ret = regmap_update_bits(mpu3050->map, MPU3050_USR_CTRL, + MPU3050_USR_CTRL_FIFO_EN | + MPU3050_USR_CTRL_FIFO_RST, + MPU3050_USR_CTRL_FIFO_EN | + MPU3050_USR_CTRL_FIFO_RST); + if (ret) + return ret; + + mpu3050->pending_fifo_footer = false; + + /* Turn on the FIFO for temp+X+Y+Z */ + ret = regmap_write(mpu3050->map, MPU3050_FIFO_EN, + MPU3050_FIFO_EN_TEMP_OUT | + MPU3050_FIFO_EN_GYRO_XOUT | + MPU3050_FIFO_EN_GYRO_YOUT | + MPU3050_FIFO_EN_GYRO_ZOUT | + MPU3050_FIFO_EN_FOOTER); + if (ret) + return ret; + + /* Configure the sample engine */ + ret = mpu3050_start_sampling(mpu3050); + if (ret) + return ret; + + /* Clear IRQ flag */ + ret = regmap_read(mpu3050->map, MPU3050_INT_STATUS, &val); + if (ret) + dev_err(mpu3050->dev, "error clearing IRQ status\n"); + + /* Give us interrupts whenever there is new data ready */ + val = MPU3050_INT_RAW_RDY_EN; + + if (mpu3050->irq_actl) + val |= MPU3050_INT_ACTL; + if (mpu3050->irq_latch) + val |= MPU3050_INT_LATCH_EN; + if (mpu3050->irq_opendrain) + val |= MPU3050_INT_OPEN; + + ret = regmap_write(mpu3050->map, MPU3050_INT_CFG, val); + if (ret) + return ret; + } + + return 0; +} + +static const struct iio_trigger_ops mpu3050_trigger_ops = { + .set_trigger_state = mpu3050_drdy_trigger_set_state, +}; + +static int mpu3050_trigger_probe(struct iio_dev *indio_dev, int irq) +{ + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + unsigned long irq_trig; + int ret; + + mpu3050->trig = devm_iio_trigger_alloc(&indio_dev->dev, + "%s-dev%d", + indio_dev->name, + indio_dev->id); + if (!mpu3050->trig) + return -ENOMEM; + + /* Check if IRQ is open drain */ + if (of_property_read_bool(mpu3050->dev->of_node, "drive-open-drain")) + mpu3050->irq_opendrain = true; + + irq_trig = irqd_get_trigger_type(irq_get_irq_data(irq)); + /* + * Configure the interrupt generator hardware to supply whatever + * the interrupt is configured for, edges low/high level low/high, + * we can provide it all. + */ + switch (irq_trig) { + case IRQF_TRIGGER_RISING: + dev_info(&indio_dev->dev, + "pulse interrupts on the rising edge\n"); + break; + case IRQF_TRIGGER_FALLING: + mpu3050->irq_actl = true; + dev_info(&indio_dev->dev, + "pulse interrupts on the falling edge\n"); + break; + case IRQF_TRIGGER_HIGH: + mpu3050->irq_latch = true; + dev_info(&indio_dev->dev, + "interrupts active high level\n"); + /* + * With level IRQs, we mask the IRQ until it is processed, + * but with edge IRQs (pulses) we can queue several interrupts + * in the top half. + */ + irq_trig |= IRQF_ONESHOT; + break; + case IRQF_TRIGGER_LOW: + mpu3050->irq_latch = true; + mpu3050->irq_actl = true; + irq_trig |= IRQF_ONESHOT; + dev_info(&indio_dev->dev, + "interrupts active low level\n"); + break; + default: + /* This is the most preferred mode, if possible */ + dev_err(&indio_dev->dev, + "unsupported IRQ trigger specified (%lx), enforce " + "rising edge\n", irq_trig); + irq_trig = IRQF_TRIGGER_RISING; + break; + } + + /* An open drain line can be shared with several devices */ + if (mpu3050->irq_opendrain) + irq_trig |= IRQF_SHARED; + + ret = request_threaded_irq(irq, + mpu3050_irq_handler, + mpu3050_irq_thread, + irq_trig, + mpu3050->trig->name, + mpu3050->trig); + if (ret) { + dev_err(mpu3050->dev, + "can't get IRQ %d, error %d\n", irq, ret); + return ret; + } + + mpu3050->irq = irq; + mpu3050->trig->dev.parent = mpu3050->dev; + mpu3050->trig->ops = &mpu3050_trigger_ops; + iio_trigger_set_drvdata(mpu3050->trig, indio_dev); + + ret = iio_trigger_register(mpu3050->trig); + if (ret) + return ret; + + indio_dev->trig = iio_trigger_get(mpu3050->trig); + + return 0; +} + +int mpu3050_common_probe(struct device *dev, + struct regmap *map, + int irq, + const char *name) +{ + struct iio_dev *indio_dev; + struct mpu3050 *mpu3050; + unsigned int val; + int ret; + + indio_dev = devm_iio_device_alloc(dev, sizeof(*mpu3050)); + if (!indio_dev) + return -ENOMEM; + mpu3050 = iio_priv(indio_dev); + + mpu3050->dev = dev; + mpu3050->map = map; + mutex_init(&mpu3050->lock); + /* Default fullscale: 2000 degrees per second */ + mpu3050->fullscale = FS_2000_DPS; + /* 1 kHz, divide by 100, default frequency = 10 Hz */ + mpu3050->lpf = MPU3050_DLPF_CFG_188HZ; + mpu3050->divisor = 99; + + /* Read the mounting matrix, if present */ + ret = of_iio_read_mount_matrix(dev, "mount-matrix", + &mpu3050->orientation); + if (ret) + return ret; + + /* Fetch and turn on regulators */ + mpu3050->regs[0].supply = mpu3050_reg_vdd; + mpu3050->regs[1].supply = mpu3050_reg_vlogic; + ret = devm_regulator_bulk_get(dev, ARRAY_SIZE(mpu3050->regs), + mpu3050->regs); + if (ret) { + dev_err(dev, "Cannot get regulators\n"); + return ret; + } + + ret = mpu3050_power_up(mpu3050); + if (ret) + return ret; + + ret = regmap_read(map, MPU3050_CHIP_ID_REG, &val); + if (ret) { + dev_err(dev, "could not read device ID\n"); + ret = -ENODEV; + + goto err_power_down; + } + + if ((val & MPU3050_CHIP_ID_MASK) != MPU3050_CHIP_ID) { + dev_err(dev, "unsupported chip id %02x\n", + (u8)(val & MPU3050_CHIP_ID_MASK)); + ret = -ENODEV; + goto err_power_down; + } + + ret = regmap_read(map, MPU3050_PRODUCT_ID_REG, &val); + if (ret) { + dev_err(dev, "could not read device ID\n"); + ret = -ENODEV; + + goto err_power_down; + } + dev_info(dev, "found MPU-3050 part no: %d, version: %d\n", + ((val >> 4) & 0xf), (val & 0xf)); + + ret = mpu3050_hw_init(mpu3050); + if (ret) + goto err_power_down; + + indio_dev->dev.parent = dev; + indio_dev->channels = mpu3050_channels; + indio_dev->num_channels = ARRAY_SIZE(mpu3050_channels); + indio_dev->info = &mpu3050_info; + indio_dev->available_scan_masks = mpu3050_scan_masks; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->name = name; + + ret = iio_triggered_buffer_setup(indio_dev, iio_pollfunc_store_time, + mpu3050_trigger_handler, + &mpu3050_buffer_setup_ops); + if (ret) { + dev_err(dev, "triggered buffer setup failed\n"); + goto err_power_down; + } + + ret = iio_device_register(indio_dev); + if (ret) { + dev_err(dev, "device register failed\n"); + goto err_cleanup_buffer; + } + + dev_set_drvdata(dev, indio_dev); + + /* Check if we have an assigned IRQ to use as trigger */ + if (irq) { + ret = mpu3050_trigger_probe(indio_dev, irq); + if (ret) + dev_err(dev, "failed to register trigger\n"); + } + + /* Enable runtime PM */ + pm_runtime_get_noresume(dev); + pm_runtime_set_active(dev); + pm_runtime_enable(dev); + /* + * Set autosuspend to two orders of magnitude larger than the + * start-up time. 100ms start-up time means 10000ms autosuspend, + * i.e. 10 seconds. + */ + pm_runtime_set_autosuspend_delay(dev, 10000); + pm_runtime_use_autosuspend(dev); + pm_runtime_put(dev); + + return 0; + +err_cleanup_buffer: + iio_triggered_buffer_cleanup(indio_dev); +err_power_down: + mpu3050_power_down(mpu3050); + + return ret; +} +EXPORT_SYMBOL(mpu3050_common_probe); + +int mpu3050_common_remove(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + + pm_runtime_get_sync(dev); + pm_runtime_put_noidle(dev); + pm_runtime_disable(dev); + iio_triggered_buffer_cleanup(indio_dev); + if (mpu3050->irq) + free_irq(mpu3050->irq, mpu3050); + iio_device_unregister(indio_dev); + mpu3050_power_down(mpu3050); + + return 0; +} +EXPORT_SYMBOL(mpu3050_common_remove); + +#ifdef CONFIG_PM +static int mpu3050_runtime_suspend(struct device *dev) +{ + return mpu3050_power_down(iio_priv(dev_get_drvdata(dev))); +} + +static int mpu3050_runtime_resume(struct device *dev) +{ + return mpu3050_power_up(iio_priv(dev_get_drvdata(dev))); +} +#endif /* CONFIG_PM */ + +const struct dev_pm_ops mpu3050_dev_pm_ops = { + SET_SYSTEM_SLEEP_PM_OPS(pm_runtime_force_suspend, + pm_runtime_force_resume) + SET_RUNTIME_PM_OPS(mpu3050_runtime_suspend, + mpu3050_runtime_resume, NULL) +}; +EXPORT_SYMBOL(mpu3050_dev_pm_ops); + +MODULE_AUTHOR("Linus Walleij"); +MODULE_DESCRIPTION("MPU3050 gyroscope driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/gyro/mpu3050-i2c.c b/drivers/iio/gyro/mpu3050-i2c.c new file mode 100644 index 000000000..93f08b304 --- /dev/null +++ b/drivers/iio/gyro/mpu3050-i2c.c @@ -0,0 +1,123 @@ +#include <linux/err.h> +#include <linux/i2c.h> +#include <linux/i2c-mux.h> +#include <linux/iio/iio.h> +#include <linux/module.h> +#include <linux/regmap.h> +#include <linux/pm_runtime.h> + +#include "mpu3050.h" + +static const struct regmap_config mpu3050_i2c_regmap_config = { + .reg_bits = 8, + .val_bits = 8, +}; + +static int mpu3050_i2c_bypass_select(struct i2c_mux_core *mux, u32 chan_id) +{ + struct mpu3050 *mpu3050 = i2c_mux_priv(mux); + + /* Just power up the device, that is all that is needed */ + pm_runtime_get_sync(mpu3050->dev); + return 0; +} + +static int mpu3050_i2c_bypass_deselect(struct i2c_mux_core *mux, u32 chan_id) +{ + struct mpu3050 *mpu3050 = i2c_mux_priv(mux); + + pm_runtime_mark_last_busy(mpu3050->dev); + pm_runtime_put_autosuspend(mpu3050->dev); + return 0; +} + +static int mpu3050_i2c_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct regmap *regmap; + const char *name; + struct mpu3050 *mpu3050; + int ret; + + if (!i2c_check_functionality(client->adapter, + I2C_FUNC_SMBUS_I2C_BLOCK)) + return -EOPNOTSUPP; + + if (id) + name = id->name; + else + return -ENODEV; + + regmap = devm_regmap_init_i2c(client, &mpu3050_i2c_regmap_config); + if (IS_ERR(regmap)) { + dev_err(&client->dev, "Failed to register i2c regmap %d\n", + (int)PTR_ERR(regmap)); + return PTR_ERR(regmap); + } + + ret = mpu3050_common_probe(&client->dev, regmap, client->irq, name); + if (ret) + return ret; + + /* The main driver is up, now register the I2C mux */ + mpu3050 = iio_priv(dev_get_drvdata(&client->dev)); + mpu3050->i2cmux = i2c_mux_alloc(client->adapter, &client->dev, + 1, 0, I2C_MUX_LOCKED | I2C_MUX_GATE, + mpu3050_i2c_bypass_select, + mpu3050_i2c_bypass_deselect); + /* Just fail the mux, there is no point in killing the driver */ + if (!mpu3050->i2cmux) + dev_err(&client->dev, "failed to allocate I2C mux\n"); + else { + mpu3050->i2cmux->priv = mpu3050; + /* Ignore failure, not critical */ + i2c_mux_add_adapter(mpu3050->i2cmux, 0, 0, 0); + } + + return 0; +} + +static int mpu3050_i2c_remove(struct i2c_client *client) +{ + struct iio_dev *indio_dev = dev_get_drvdata(&client->dev); + struct mpu3050 *mpu3050 = iio_priv(indio_dev); + + if (mpu3050->i2cmux) + i2c_mux_del_adapters(mpu3050->i2cmux); + + return mpu3050_common_remove(&client->dev); +} + +/* + * device id table is used to identify what device can be + * supported by this driver + */ +static const struct i2c_device_id mpu3050_i2c_id[] = { + { "mpu3050" }, + {} +}; +MODULE_DEVICE_TABLE(i2c, mpu3050_i2c_id); + +static const struct of_device_id mpu3050_i2c_of_match[] = { + { .compatible = "invensense,mpu3050", .data = "mpu3050" }, + /* Deprecated vendor ID from the Input driver */ + { .compatible = "invn,mpu3050", .data = "mpu3050" }, + { }, +}; +MODULE_DEVICE_TABLE(of, mpu3050_i2c_of_match); + +static struct i2c_driver mpu3050_i2c_driver = { + .probe = mpu3050_i2c_probe, + .remove = mpu3050_i2c_remove, + .id_table = mpu3050_i2c_id, + .driver = { + .of_match_table = mpu3050_i2c_of_match, + .name = "mpu3050-i2c", + .pm = &mpu3050_dev_pm_ops, + }, +}; +module_i2c_driver(mpu3050_i2c_driver); + +MODULE_AUTHOR("Linus Walleij"); +MODULE_DESCRIPTION("Invensense MPU3050 gyroscope driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/gyro/mpu3050.h b/drivers/iio/gyro/mpu3050.h new file mode 100644 index 000000000..835b0249c --- /dev/null +++ b/drivers/iio/gyro/mpu3050.h @@ -0,0 +1,97 @@ +/* SPDX-License-Identifier: GPL-2.0 */ +#include <linux/iio/iio.h> +#include <linux/mutex.h> +#include <linux/regmap.h> +#include <linux/regulator/consumer.h> +#include <linux/i2c.h> + +/** + * enum mpu3050_fullscale - indicates the full range of the sensor in deg/sec + */ +enum mpu3050_fullscale { + FS_250_DPS = 0, + FS_500_DPS, + FS_1000_DPS, + FS_2000_DPS, +}; + +/** + * enum mpu3050_lpf - indicates the low pass filter width + */ +enum mpu3050_lpf { + /* This implicity sets sample frequency to 8 kHz */ + LPF_256_HZ_NOLPF = 0, + /* All others sets the sample frequency to 1 kHz */ + LPF_188_HZ, + LPF_98_HZ, + LPF_42_HZ, + LPF_20_HZ, + LPF_10_HZ, + LPF_5_HZ, + LPF_2100_HZ_NOLPF, +}; + +enum mpu3050_axis { + AXIS_X = 0, + AXIS_Y, + AXIS_Z, + AXIS_MAX, +}; + +/** + * struct mpu3050 - instance state container for the device + * @dev: parent device for this instance + * @orientation: mounting matrix, flipped axis etc + * @map: regmap to reach the registers + * @lock: serialization lock to marshal all requests + * @irq: the IRQ used for this device + * @regs: the regulators to power this device + * @fullscale: the current fullscale setting for the device + * @lpf: digital low pass filter setting for the device + * @divisor: base frequency divider: divides 8 or 1 kHz + * @calibration: the three signed 16-bit calibration settings that + * get written into the offset registers for each axis to compensate + * for DC offsets + * @trig: trigger for the MPU-3050 interrupt, if present + * @hw_irq_trigger: hardware interrupt trigger is in use + * @irq_actl: interrupt is active low + * @irq_latch: latched IRQ, this means that it is a level IRQ + * @irq_opendrain: the interrupt line shall be configured open drain + * @pending_fifo_footer: tells us if there is a pending footer in the FIFO + * that we have to read out first when handling the FIFO + * @hw_timestamp: latest hardware timestamp from the trigger IRQ, when in + * use + * @i2cmux: an I2C mux reflecting the fact that this sensor is a hub with + * a pass-through I2C interface coming out of it: this device needs to be + * powered up in order to reach devices on the other side of this mux + */ +struct mpu3050 { + struct device *dev; + struct iio_mount_matrix orientation; + struct regmap *map; + struct mutex lock; + int irq; + struct regulator_bulk_data regs[2]; + enum mpu3050_fullscale fullscale; + enum mpu3050_lpf lpf; + u8 divisor; + s16 calibration[3]; + struct iio_trigger *trig; + bool hw_irq_trigger; + bool irq_actl; + bool irq_latch; + bool irq_opendrain; + bool pending_fifo_footer; + s64 hw_timestamp; + struct i2c_mux_core *i2cmux; +}; + +/* Probe called from different transports */ +int mpu3050_common_probe(struct device *dev, + struct regmap *map, + int irq, + const char *name); +int mpu3050_common_remove(struct device *dev); + +/* PM ops */ +extern const struct dev_pm_ops mpu3050_dev_pm_ops; diff --git a/drivers/iio/gyro/ssp_gyro_sensor.c b/drivers/iio/gyro/ssp_gyro_sensor.c new file mode 100644 index 000000000..2dacd8e01 --- /dev/null +++ b/drivers/iio/gyro/ssp_gyro_sensor.c @@ -0,0 +1,159 @@ +/* + * Copyright (C) 2014, Samsung Electronics Co. Ltd. All Rights Reserved. + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that 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. + * + */ + +#include <linux/iio/common/ssp_sensors.h> +#include <linux/iio/iio.h> +#include <linux/iio/buffer.h> +#include <linux/iio/kfifo_buf.h> +#include <linux/module.h> +#include <linux/platform_device.h> +#include <linux/slab.h> +#include "../common/ssp_sensors/ssp_iio_sensor.h" + +#define SSP_CHANNEL_COUNT 3 + +#define SSP_GYROSCOPE_NAME "ssp-gyroscope" +static const char ssp_gyro_name[] = SSP_GYROSCOPE_NAME; + +enum ssp_gyro_3d_channel { + SSP_CHANNEL_SCAN_INDEX_X, + SSP_CHANNEL_SCAN_INDEX_Y, + SSP_CHANNEL_SCAN_INDEX_Z, + SSP_CHANNEL_SCAN_INDEX_TIME, +}; + +static int ssp_gyro_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int *val, + int *val2, long mask) +{ + u32 t; + struct ssp_data *data = dev_get_drvdata(indio_dev->dev.parent->parent); + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + t = ssp_get_sensor_delay(data, SSP_GYROSCOPE_SENSOR); + ssp_convert_to_freq(t, val, val2); + return IIO_VAL_INT_PLUS_MICRO; + default: + break; + } + + return -EINVAL; +} + +static int ssp_gyro_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int val, + int val2, long mask) +{ + int ret; + struct ssp_data *data = dev_get_drvdata(indio_dev->dev.parent->parent); + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + ret = ssp_convert_to_time(val, val2); + ret = ssp_change_delay(data, SSP_GYROSCOPE_SENSOR, ret); + if (ret < 0) + dev_err(&indio_dev->dev, "gyro sensor enable fail\n"); + + return ret; + default: + break; + } + + return -EINVAL; +} + +static const struct iio_info ssp_gyro_iio_info = { + .read_raw = &ssp_gyro_read_raw, + .write_raw = &ssp_gyro_write_raw, +}; + +static const unsigned long ssp_gyro_scan_mask[] = { 0x07, 0, }; + +static const struct iio_chan_spec ssp_gyro_channels[] = { + SSP_CHANNEL_AG(IIO_ANGL_VEL, IIO_MOD_X, SSP_CHANNEL_SCAN_INDEX_X), + SSP_CHANNEL_AG(IIO_ANGL_VEL, IIO_MOD_Y, SSP_CHANNEL_SCAN_INDEX_Y), + SSP_CHANNEL_AG(IIO_ANGL_VEL, IIO_MOD_Z, SSP_CHANNEL_SCAN_INDEX_Z), + SSP_CHAN_TIMESTAMP(SSP_CHANNEL_SCAN_INDEX_TIME), +}; + +static int ssp_process_gyro_data(struct iio_dev *indio_dev, void *buf, + int64_t timestamp) +{ + return ssp_common_process_data(indio_dev, buf, SSP_GYROSCOPE_SIZE, + timestamp); +} + +static const struct iio_buffer_setup_ops ssp_gyro_buffer_ops = { + .postenable = &ssp_common_buffer_postenable, + .postdisable = &ssp_common_buffer_postdisable, +}; + +static int ssp_gyro_probe(struct platform_device *pdev) +{ + int ret; + struct iio_dev *indio_dev; + struct ssp_sensor_data *spd; + struct iio_buffer *buffer; + + indio_dev = devm_iio_device_alloc(&pdev->dev, sizeof(*spd)); + if (!indio_dev) + return -ENOMEM; + + spd = iio_priv(indio_dev); + + spd->process_data = ssp_process_gyro_data; + spd->type = SSP_GYROSCOPE_SENSOR; + + indio_dev->name = ssp_gyro_name; + indio_dev->dev.parent = &pdev->dev; + indio_dev->info = &ssp_gyro_iio_info; + indio_dev->modes = INDIO_BUFFER_SOFTWARE; + indio_dev->channels = ssp_gyro_channels; + indio_dev->num_channels = ARRAY_SIZE(ssp_gyro_channels); + indio_dev->available_scan_masks = ssp_gyro_scan_mask; + + buffer = devm_iio_kfifo_allocate(&pdev->dev); + if (!buffer) + return -ENOMEM; + + iio_device_attach_buffer(indio_dev, buffer); + + indio_dev->setup_ops = &ssp_gyro_buffer_ops; + + platform_set_drvdata(pdev, indio_dev); + + ret = devm_iio_device_register(&pdev->dev, indio_dev); + if (ret < 0) + return ret; + + /* ssp registering should be done after all iio setup */ + ssp_register_consumer(indio_dev, SSP_GYROSCOPE_SENSOR); + + return 0; +} + +static struct platform_driver ssp_gyro_driver = { + .driver = { + .name = SSP_GYROSCOPE_NAME, + }, + .probe = ssp_gyro_probe, +}; + +module_platform_driver(ssp_gyro_driver); + +MODULE_AUTHOR("Karol Wrona <k.wrona@samsung.com>"); +MODULE_DESCRIPTION("Samsung sensorhub gyroscopes driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/gyro/st_gyro.h b/drivers/iio/gyro/st_gyro.h new file mode 100644 index 000000000..48923ae6a --- /dev/null +++ b/drivers/iio/gyro/st_gyro.h @@ -0,0 +1,54 @@ +/* + * 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 L3GD20H_GYRO_DEV_NAME "l3gd20h" +#define L3G4IS_GYRO_DEV_NAME "l3g4is_ui" +#define LSM330_GYRO_DEV_NAME "lsm330_gyro" +#define LSM9DS0_GYRO_DEV_NAME "lsm9ds0_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); +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 000000000..a5377044e --- /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, NULL, + &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 000000000..02f6f263e --- /dev/null +++ b/drivers/iio/gyro/st_gyro_core.c @@ -0,0 +1,527 @@ +/* + * 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_245DPS 245 +#define ST_GYRO_FS_AVL_250DPS 250 +#define ST_GYRO_FS_AVL_500DPS 500 +#define ST_GYRO_FS_AVL_2000DPS 2000 + +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_sensor_settings st_gyro_sensors_settings[] = { + { + .wai = 0xd3, + .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, + .sensors_supported = { + [0] = L3G4200D_GYRO_DEV_NAME, + [1] = LSM330DL_GYRO_DEV_NAME, + }, + .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, + .odr = { + .addr = 0x20, + .mask = 0xc0, + .odr_avl = { + { .hz = 100, .value = 0x00, }, + { .hz = 200, .value = 0x01, }, + { .hz = 400, .value = 0x02, }, + { .hz = 800, .value = 0x03, }, + }, + }, + .pw = { + .addr = 0x20, + .mask = 0x08, + .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 = 0x23, + .mask = 0x30, + .fs_avl = { + [0] = { + .num = ST_GYRO_FS_AVL_250DPS, + .value = 0x00, + .gain = IIO_DEGREE_TO_RAD(8750), + }, + [1] = { + .num = ST_GYRO_FS_AVL_500DPS, + .value = 0x01, + .gain = IIO_DEGREE_TO_RAD(17500), + }, + [2] = { + .num = ST_GYRO_FS_AVL_2000DPS, + .value = 0x02, + .gain = IIO_DEGREE_TO_RAD(70000), + }, + }, + }, + .bdu = { + .addr = 0x23, + .mask = 0x80, + }, + .drdy_irq = { + .int2 = { + .addr = 0x22, + .mask = 0x08, + }, + /* + * The sensor has IHL (active low) and open + * drain settings, but only for INT1 and not + * for the DRDY line on INT2. + */ + .stat_drdy = { + .addr = ST_SENSORS_DEFAULT_STAT_ADDR, + .mask = 0x07, + }, + }, + .sim = { + .addr = 0x23, + .value = BIT(0), + }, + .multi_read_bit = true, + .bootime = 2, + }, + { + .wai = 0xd4, + .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, + .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 = 0x20, + .mask = 0xc0, + .odr_avl = { + { .hz = 95, .value = 0x00, }, + { .hz = 190, .value = 0x01, }, + { .hz = 380, .value = 0x02, }, + { .hz = 760, .value = 0x03, }, + }, + }, + .pw = { + .addr = 0x20, + .mask = 0x08, + .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 = 0x23, + .mask = 0x30, + .fs_avl = { + [0] = { + .num = ST_GYRO_FS_AVL_250DPS, + .value = 0x00, + .gain = IIO_DEGREE_TO_RAD(8750), + }, + [1] = { + .num = ST_GYRO_FS_AVL_500DPS, + .value = 0x01, + .gain = IIO_DEGREE_TO_RAD(17500), + }, + [2] = { + .num = ST_GYRO_FS_AVL_2000DPS, + .value = 0x02, + .gain = IIO_DEGREE_TO_RAD(70000), + }, + }, + }, + .bdu = { + .addr = 0x23, + .mask = 0x80, + }, + .drdy_irq = { + .int2 = { + .addr = 0x22, + .mask = 0x08, + }, + /* + * The sensor has IHL (active low) and open + * drain settings, but only for INT1 and not + * for the DRDY line on INT2. + */ + .stat_drdy = { + .addr = ST_SENSORS_DEFAULT_STAT_ADDR, + .mask = 0x07, + }, + }, + .sim = { + .addr = 0x23, + .value = BIT(0), + }, + .multi_read_bit = true, + .bootime = 2, + }, + { + .wai = 0xd4, + .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, + .sensors_supported = { + [0] = LSM9DS0_GYRO_DEV_NAME, + }, + .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, + .odr = { + .addr = 0x20, + .mask = GENMASK(7, 6), + .odr_avl = { + { .hz = 95, .value = 0x00, }, + { .hz = 190, .value = 0x01, }, + { .hz = 380, .value = 0x02, }, + { .hz = 760, .value = 0x03, }, + }, + }, + .pw = { + .addr = 0x20, + .mask = BIT(3), + .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 = 0x23, + .mask = GENMASK(5, 4), + .fs_avl = { + [0] = { + .num = ST_GYRO_FS_AVL_245DPS, + .value = 0x00, + .gain = IIO_DEGREE_TO_RAD(8750), + }, + [1] = { + .num = ST_GYRO_FS_AVL_500DPS, + .value = 0x01, + .gain = IIO_DEGREE_TO_RAD(17500), + }, + [2] = { + .num = ST_GYRO_FS_AVL_2000DPS, + .value = 0x02, + .gain = IIO_DEGREE_TO_RAD(70000), + }, + }, + }, + .bdu = { + .addr = 0x23, + .mask = BIT(7), + }, + .drdy_irq = { + .int2 = { + .addr = 0x22, + .mask = BIT(3), + }, + /* + * The sensor has IHL (active low) and open + * drain settings, but only for INT1 and not + * for the DRDY line on INT2. + */ + .stat_drdy = { + .addr = ST_SENSORS_DEFAULT_STAT_ADDR, + .mask = GENMASK(2, 0), + }, + }, + .sim = { + .addr = 0x23, + .value = BIT(0), + }, + .multi_read_bit = true, + .bootime = 2, + }, + { + .wai = 0xd7, + .wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS, + .sensors_supported = { + [0] = L3GD20H_GYRO_DEV_NAME, + }, + .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, + .odr = { + .addr = 0x20, + .mask = 0xc0, + .odr_avl = { + { .hz = 100, .value = 0x00, }, + { .hz = 200, .value = 0x01, }, + { .hz = 400, .value = 0x02, }, + { .hz = 800, .value = 0x03, }, + }, + }, + .pw = { + .addr = 0x20, + .mask = 0x08, + .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 = 0x23, + .mask = 0x30, + .fs_avl = { + [0] = { + .num = ST_GYRO_FS_AVL_245DPS, + .value = 0x00, + .gain = IIO_DEGREE_TO_RAD(8750), + }, + [1] = { + .num = ST_GYRO_FS_AVL_500DPS, + .value = 0x01, + .gain = IIO_DEGREE_TO_RAD(17500), + }, + [2] = { + .num = ST_GYRO_FS_AVL_2000DPS, + .value = 0x02, + .gain = IIO_DEGREE_TO_RAD(70000), + }, + }, + }, + .bdu = { + .addr = 0x23, + .mask = 0x80, + }, + .drdy_irq = { + .int2 = { + .addr = 0x22, + .mask = 0x08, + }, + /* + * The sensor has IHL (active low) and open + * drain settings, but only for INT1 and not + * for the DRDY line on INT2. + */ + .stat_drdy = { + .addr = ST_SENSORS_DEFAULT_STAT_ADDR, + .mask = 0x07, + }, + }, + .sim = { + .addr = 0x23, + .value = BIT(0), + }, + .multi_read_bit = true, + .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; + case IIO_CHAN_INFO_SAMP_FREQ: + *val = gdata->odr; + return IIO_VAL_INT; + 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; + case IIO_CHAN_INFO_SAMP_FREQ: + if (val2) + return -EINVAL; + mutex_lock(&indio_dev->mlock); + err = st_sensors_set_odr(indio_dev, val); + mutex_unlock(&indio_dev->mlock); + return err; + default: + err = -EINVAL; + } + + return err; +} + +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, + NULL, +}; + +static const struct attribute_group st_gyro_attribute_group = { + .attrs = st_gyro_attributes, +}; + +static const struct iio_info gyro_info = { + .attrs = &st_gyro_attribute_group, + .read_raw = &st_gyro_read_raw, + .write_raw = &st_gyro_write_raw, + .debugfs_reg_access = &st_sensors_debugfs_reg_access, +}; + +#ifdef CONFIG_IIO_TRIGGER +static const struct iio_trigger_ops st_gyro_trigger_ops = { + .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, + .validate_device = st_sensors_validate_device, +}; +#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_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; + mutex_init(&gdata->tb.buf_lock); + + err = st_sensors_power_enable(indio_dev); + if (err) + return err; + + err = st_sensors_check_device_support(indio_dev, + ARRAY_SIZE(st_gyro_sensors_settings), + st_gyro_sensors_settings); + if (err < 0) + goto st_gyro_power_off; + + gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS; + gdata->multiread_bit = gdata->sensor_settings->multi_read_bit; + indio_dev->channels = gdata->sensor_settings->ch; + indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; + + gdata->current_fullscale = (struct st_sensor_fullscale_avl *) + &gdata->sensor_settings->fs.fs_avl[0]; + gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz; + + err = st_sensors_init_sensor(indio_dev, + (struct st_sensors_platform_data *)&gyro_pdata); + if (err < 0) + goto st_gyro_power_off; + + err = st_gyro_allocate_ring(indio_dev); + if (err < 0) + goto st_gyro_power_off; + + 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); +st_gyro_power_off: + st_sensors_power_disable(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 000000000..b405b82b9 --- /dev/null +++ b/drivers/iio/gyro/st_gyro_i2c.c @@ -0,0 +1,124 @@ +/* + * 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" + +#ifdef CONFIG_OF +static const struct of_device_id st_gyro_of_match[] = { + { + .compatible = "st,l3g4200d-gyro", + .data = L3G4200D_GYRO_DEV_NAME, + }, + { + .compatible = "st,lsm330d-gyro", + .data = LSM330D_GYRO_DEV_NAME, + }, + { + .compatible = "st,lsm330dl-gyro", + .data = LSM330DL_GYRO_DEV_NAME, + }, + { + .compatible = "st,lsm330dlc-gyro", + .data = LSM330DLC_GYRO_DEV_NAME, + }, + { + .compatible = "st,l3gd20-gyro", + .data = L3GD20_GYRO_DEV_NAME, + }, + { + .compatible = "st,l3gd20h-gyro", + .data = L3GD20H_GYRO_DEV_NAME, + }, + { + .compatible = "st,l3g4is-gyro", + .data = L3G4IS_GYRO_DEV_NAME, + }, + { + .compatible = "st,lsm330-gyro", + .data = LSM330_GYRO_DEV_NAME, + }, + { + .compatible = "st,lsm9ds0-gyro", + .data = LSM9DS0_GYRO_DEV_NAME, + }, + {}, +}; +MODULE_DEVICE_TABLE(of, st_gyro_of_match); +#else +#define st_gyro_of_match NULL +#endif + +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); + st_sensors_of_name_probe(&client->dev, st_gyro_of_match, + client->name, sizeof(client->name)); + + st_sensors_i2c_configure(indio_dev, client, gdata); + + err = st_gyro_common_probe(indio_dev); + 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 }, + { L3GD20H_GYRO_DEV_NAME }, + { L3G4IS_GYRO_DEV_NAME }, + { LSM330_GYRO_DEV_NAME }, + { LSM9DS0_GYRO_DEV_NAME }, + {}, +}; +MODULE_DEVICE_TABLE(i2c, st_gyro_id_table); + +static struct i2c_driver st_gyro_driver = { + .driver = { + .name = "st-gyro-i2c", + .of_match_table = of_match_ptr(st_gyro_of_match), + }, + .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 000000000..0b52ed577 --- /dev/null +++ b/drivers/iio/gyro/st_gyro_spi.c @@ -0,0 +1,128 @@ +/* + * 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" + +#ifdef CONFIG_OF +/* + * For new single-chip sensors use <device_name> as compatible string. + * For old single-chip devices keep <device_name>-gyro to maintain + * compatibility + */ +static const struct of_device_id st_gyro_of_match[] = { + { + .compatible = "st,l3g4200d-gyro", + .data = L3G4200D_GYRO_DEV_NAME, + }, + { + .compatible = "st,lsm330d-gyro", + .data = LSM330D_GYRO_DEV_NAME, + }, + { + .compatible = "st,lsm330dl-gyro", + .data = LSM330DL_GYRO_DEV_NAME, + }, + { + .compatible = "st,lsm330dlc-gyro", + .data = LSM330DLC_GYRO_DEV_NAME, + }, + { + .compatible = "st,l3gd20-gyro", + .data = L3GD20_GYRO_DEV_NAME, + }, + { + .compatible = "st,l3gd20h-gyro", + .data = L3GD20H_GYRO_DEV_NAME, + }, + { + .compatible = "st,l3g4is-gyro", + .data = L3G4IS_GYRO_DEV_NAME, + }, + { + .compatible = "st,lsm330-gyro", + .data = LSM330_GYRO_DEV_NAME, + }, + { + .compatible = "st,lsm9ds0-gyro", + .data = LSM9DS0_GYRO_DEV_NAME, + }, + {}, +}; +MODULE_DEVICE_TABLE(of, st_gyro_of_match); +#else +#define st_gyro_of_match NULL +#endif + +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); + + st_sensors_of_name_probe(&spi->dev, st_gyro_of_match, + spi->modalias, sizeof(spi->modalias)); + st_sensors_spi_configure(indio_dev, spi, gdata); + + err = st_gyro_common_probe(indio_dev); + 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 }, + { L3GD20H_GYRO_DEV_NAME }, + { L3G4IS_GYRO_DEV_NAME }, + { LSM330_GYRO_DEV_NAME }, + { LSM9DS0_GYRO_DEV_NAME }, + {}, +}; +MODULE_DEVICE_TABLE(spi, st_gyro_id_table); + +static struct spi_driver st_gyro_driver = { + .driver = { + .name = "st-gyro-spi", + .of_match_table = of_match_ptr(st_gyro_of_match), + }, + .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"); |