520 строки
12 KiB
C
520 строки
12 KiB
C
// SPDX-License-Identifier: GPL-2.0-only
|
|
/*
|
|
* STMicroelectronics gyroscopes driver
|
|
*
|
|
* Copyright 2012-2013 STMicroelectronics Inc.
|
|
*
|
|
* Denis Ciocca <denis.ciocca@st.com>
|
|
*/
|
|
|
|
#include <linux/kernel.h>
|
|
#include <linux/module.h>
|
|
#include <linux/mutex.h>
|
|
#include <linux/interrupt.h>
|
|
#include <linux/sysfs.h>
|
|
#include <linux/iio/iio.h>
|
|
#include <linux/iio/sysfs.h>
|
|
#include <linux/iio/trigger.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_mount_matrix *
|
|
st_gyro_get_mount_matrix(const struct iio_dev *indio_dev,
|
|
const struct iio_chan_spec *chan)
|
|
{
|
|
struct st_sensor_data *gdata = iio_priv(indio_dev);
|
|
|
|
return &gdata->mount_matrix;
|
|
}
|
|
|
|
static const struct iio_chan_spec_ext_info st_gyro_mount_matrix_ext_info[] = {
|
|
IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_gyro_get_mount_matrix),
|
|
{ }
|
|
};
|
|
|
|
static const struct iio_chan_spec st_gyro_16bit_channels[] = {
|
|
ST_SENSORS_LSM_CHANNELS_EXT(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_gyro_mount_matrix_ext_info),
|
|
ST_SENSORS_LSM_CHANNELS_EXT(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_gyro_mount_matrix_ext_info),
|
|
ST_SENSORS_LSM_CHANNELS_EXT(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,
|
|
st_gyro_mount_matrix_ext_info),
|
|
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,
|
|
},
|
|
};
|
|
|
|
/* DRDY on gyros is available only on INT2 pin */
|
|
static const struct st_sensors_platform_data gyro_pdata = {
|
|
.drdy_int_pin = 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)
|
|
{
|
|
switch (mask) {
|
|
case IIO_CHAN_INFO_SCALE:
|
|
return st_sensors_set_fullscale_by_gain(indio_dev, val2);
|
|
case IIO_CHAN_INFO_SAMP_FREQ:
|
|
if (val2)
|
|
return -EINVAL;
|
|
|
|
return st_sensors_set_odr(indio_dev, val);
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
}
|
|
|
|
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
|
|
|
|
/*
|
|
* st_gyro_get_settings() - get sensor settings from device name
|
|
* @name: device name buffer reference.
|
|
*
|
|
* Return: valid reference on success, NULL otherwise.
|
|
*/
|
|
const struct st_sensor_settings *st_gyro_get_settings(const char *name)
|
|
{
|
|
int index = st_sensors_get_settings_index(name,
|
|
st_gyro_sensors_settings,
|
|
ARRAY_SIZE(st_gyro_sensors_settings));
|
|
if (index < 0)
|
|
return NULL;
|
|
|
|
return &st_gyro_sensors_settings[index];
|
|
}
|
|
EXPORT_SYMBOL_NS(st_gyro_get_settings, IIO_ST_SENSORS);
|
|
|
|
int st_gyro_common_probe(struct iio_dev *indio_dev)
|
|
{
|
|
struct st_sensor_data *gdata = iio_priv(indio_dev);
|
|
struct st_sensors_platform_data *pdata;
|
|
struct device *parent = indio_dev->dev.parent;
|
|
int err;
|
|
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
|
indio_dev->info = &gyro_info;
|
|
|
|
err = st_sensors_verify_id(indio_dev);
|
|
if (err < 0)
|
|
return err;
|
|
|
|
gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
|
|
indio_dev->channels = gdata->sensor_settings->ch;
|
|
indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
|
|
|
|
err = iio_read_mount_matrix(parent, &gdata->mount_matrix);
|
|
if (err)
|
|
return err;
|
|
|
|
gdata->current_fullscale = &gdata->sensor_settings->fs.fs_avl[0];
|
|
gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
|
|
|
|
pdata = (struct st_sensors_platform_data *)&gyro_pdata;
|
|
|
|
err = st_sensors_init_sensor(indio_dev, pdata);
|
|
if (err < 0)
|
|
return err;
|
|
|
|
err = st_gyro_allocate_ring(indio_dev);
|
|
if (err < 0)
|
|
return err;
|
|
|
|
if (gdata->irq > 0) {
|
|
err = st_sensors_allocate_trigger(indio_dev,
|
|
ST_GYRO_TRIGGER_OPS);
|
|
if (err < 0)
|
|
return err;
|
|
}
|
|
|
|
return devm_iio_device_register(parent, indio_dev);
|
|
}
|
|
EXPORT_SYMBOL_NS(st_gyro_common_probe, IIO_ST_SENSORS);
|
|
|
|
MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
|
|
MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
|
|
MODULE_LICENSE("GPL v2");
|
|
MODULE_IMPORT_NS(IIO_ST_SENSORS);
|