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-rw-r--r--drivers/iio/gyro/Kconfig142
-rw-r--r--drivers/iio/gyro/Makefile34
-rw-r--r--drivers/iio/gyro/adis16080.c239
-rw-r--r--drivers/iio/gyro/adis16130.c177
-rw-r--r--drivers/iio/gyro/adis16136.c586
-rw-r--r--drivers/iio/gyro/adis16260.c446
-rw-r--r--drivers/iio/gyro/adxrs450.c466
-rw-r--r--drivers/iio/gyro/bmg160.h11
-rw-r--r--drivers/iio/gyro/bmg160_core.c1273
-rw-r--r--drivers/iio/gyro/bmg160_i2c.c71
-rw-r--r--drivers/iio/gyro/bmg160_spi.c57
-rw-r--r--drivers/iio/gyro/hid-sensor-gyro-3d.c423
-rw-r--r--drivers/iio/gyro/itg3200_buffer.c159
-rw-r--r--drivers/iio/gyro/itg3200_core.c400
-rw-r--r--drivers/iio/gyro/mpu3050-core.c1307
-rw-r--r--drivers/iio/gyro/mpu3050-i2c.c123
-rw-r--r--drivers/iio/gyro/mpu3050.h97
-rw-r--r--drivers/iio/gyro/ssp_gyro_sensor.c159
-rw-r--r--drivers/iio/gyro/st_gyro.h54
-rw-r--r--drivers/iio/gyro/st_gyro_buffer.c105
-rw-r--r--drivers/iio/gyro/st_gyro_core.c527
-rw-r--r--drivers/iio/gyro/st_gyro_i2c.c124
-rw-r--r--drivers/iio/gyro/st_gyro_spi.c128
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, &regval);
+ if (ret)
+ return ret;
+
+ *val = (regval & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000;
+
+ ret = itg3200_read_reg_8(indio_dev,
+ ITG3200_REG_SAMPLE_RATE_DIV,
+ &regval);
+ 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");
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-26 10:44:08 +0000