mirror of
https://github.com/edk2-porting/linux-next.git
synced 2024-12-23 12:43:55 +08:00
45a4e4220b
Add proper support for L3GD20H gyroscope sensor. In particular: - use L3GD20H as device name instead of L3GD20 - fix available full scales - fix available sample frequencies Note that the original patch listed first below introduced broken support for this part. The second patch drops the support as it didn't work. This new patch brings in working support. Fixes:9444a300c2(IIO: Add support for L3GD20H gyroscope) Fixes:a065771641("iio:gyro: bug on L3GD20H gyroscope support") Signed-off-by: Lorenzo Bianconi <lorenzo.bianconi@st.com> Signed-off-by: Jonathan Cameron <jic23@kernel.org>
430 lines
10 KiB
C
430 lines
10 KiB
C
/*
|
|
* 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 = {
|
|
.addr = 0x22,
|
|
.mask_int2 = 0x08,
|
|
/*
|
|
* The sensor has IHL (active low) and open
|
|
* drain settings, but only for INT1 and not
|
|
* for the DRDY line on INT2.
|
|
*/
|
|
.addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
|
|
},
|
|
.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,
|
|
[5] = LSM9DS0_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 = {
|
|
.addr = 0x22,
|
|
.mask_int2 = 0x08,
|
|
/*
|
|
* The sensor has IHL (active low) and open
|
|
* drain settings, but only for INT1 and not
|
|
* for the DRDY line on INT2.
|
|
*/
|
|
.addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
|
|
},
|
|
.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 = {
|
|
.addr = 0x22,
|
|
.mask_int2 = 0x08,
|
|
/*
|
|
* The sensor has IHL (active low) and open
|
|
* drain settings, but only for INT1 and not
|
|
* for the DRDY line on INT2.
|
|
*/
|
|
.addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
|
|
},
|
|
.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 = {
|
|
.driver_module = THIS_MODULE,
|
|
.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 = {
|
|
.owner = THIS_MODULE,
|
|
.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");
|