[mirror_ubuntu-eoan-kernel.git] / drivers / iio / gyro / st_gyro_core.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_250DPS			250
#define ST_GYRO_FS_AVL_500DPS			500
#define ST_GYRO_FS_AVL_2000DPS			2000

/* CUSTOM VALUES FOR SENSOR 1 */
#define ST_GYRO_1_WAI_EXP			0xd3
#define ST_GYRO_1_ODR_ADDR			0x20
#define ST_GYRO_1_ODR_MASK			0xc0
#define ST_GYRO_1_ODR_AVL_100HZ_VAL		0x00
#define ST_GYRO_1_ODR_AVL_200HZ_VAL		0x01
#define ST_GYRO_1_ODR_AVL_400HZ_VAL		0x02
#define ST_GYRO_1_ODR_AVL_800HZ_VAL		0x03
#define ST_GYRO_1_PW_ADDR			0x20
#define ST_GYRO_1_PW_MASK			0x08
#define ST_GYRO_1_FS_ADDR			0x23
#define ST_GYRO_1_FS_MASK			0x30
#define ST_GYRO_1_FS_AVL_250_VAL		0x00
#define ST_GYRO_1_FS_AVL_500_VAL		0x01
#define ST_GYRO_1_FS_AVL_2000_VAL		0x02
#define ST_GYRO_1_FS_AVL_250_GAIN		IIO_DEGREE_TO_RAD(8750)
#define ST_GYRO_1_FS_AVL_500_GAIN		IIO_DEGREE_TO_RAD(17500)
#define ST_GYRO_1_FS_AVL_2000_GAIN		IIO_DEGREE_TO_RAD(70000)
#define ST_GYRO_1_BDU_ADDR			0x23
#define ST_GYRO_1_BDU_MASK			0x80
#define ST_GYRO_1_DRDY_IRQ_ADDR			0x22
#define ST_GYRO_1_DRDY_IRQ_INT2_MASK		0x08
#define ST_GYRO_1_MULTIREAD_BIT			true

/* CUSTOM VALUES FOR SENSOR 2 */
#define ST_GYRO_2_WAI_EXP			0xd4
#define ST_GYRO_2_ODR_ADDR			0x20
#define ST_GYRO_2_ODR_MASK			0xc0
#define ST_GYRO_2_ODR_AVL_95HZ_VAL		0x00
#define ST_GYRO_2_ODR_AVL_190HZ_VAL		0x01
#define ST_GYRO_2_ODR_AVL_380HZ_VAL		0x02
#define ST_GYRO_2_ODR_AVL_760HZ_VAL		0x03
#define ST_GYRO_2_PW_ADDR			0x20
#define ST_GYRO_2_PW_MASK			0x08
#define ST_GYRO_2_FS_ADDR			0x23
#define ST_GYRO_2_FS_MASK			0x30
#define ST_GYRO_2_FS_AVL_250_VAL		0x00
#define ST_GYRO_2_FS_AVL_500_VAL		0x01
#define ST_GYRO_2_FS_AVL_2000_VAL		0x02
#define ST_GYRO_2_FS_AVL_250_GAIN		IIO_DEGREE_TO_RAD(8750)
#define ST_GYRO_2_FS_AVL_500_GAIN		IIO_DEGREE_TO_RAD(17500)
#define ST_GYRO_2_FS_AVL_2000_GAIN		IIO_DEGREE_TO_RAD(70000)
#define ST_GYRO_2_BDU_ADDR			0x23
#define ST_GYRO_2_BDU_MASK			0x80
#define ST_GYRO_2_DRDY_IRQ_ADDR			0x22
#define ST_GYRO_2_DRDY_IRQ_INT2_MASK		0x08
#define ST_GYRO_2_MULTIREAD_BIT			true

/* CUSTOM VALUES FOR SENSOR 3 */
#define ST_GYRO_3_WAI_EXP			0xd7
#define ST_GYRO_3_ODR_ADDR			0x20
#define ST_GYRO_3_ODR_MASK			0xc0
#define ST_GYRO_3_ODR_AVL_95HZ_VAL		0x00
#define ST_GYRO_3_ODR_AVL_190HZ_VAL		0x01
#define ST_GYRO_3_ODR_AVL_380HZ_VAL		0x02
#define ST_GYRO_3_ODR_AVL_760HZ_VAL		0x03
#define ST_GYRO_3_PW_ADDR			0x20
#define ST_GYRO_3_PW_MASK			0x08
#define ST_GYRO_3_FS_ADDR			0x23
#define ST_GYRO_3_FS_MASK			0x30
#define ST_GYRO_3_FS_AVL_250_VAL		0x00
#define ST_GYRO_3_FS_AVL_500_VAL		0x01
#define ST_GYRO_3_FS_AVL_2000_VAL		0x02
#define ST_GYRO_3_FS_AVL_250_GAIN		IIO_DEGREE_TO_RAD(8750)
#define ST_GYRO_3_FS_AVL_500_GAIN		IIO_DEGREE_TO_RAD(17500)
#define ST_GYRO_3_FS_AVL_2000_GAIN		IIO_DEGREE_TO_RAD(70000)
#define ST_GYRO_3_BDU_ADDR			0x23
#define ST_GYRO_3_BDU_MASK			0x80
#define ST_GYRO_3_DRDY_IRQ_ADDR			0x22
#define ST_GYRO_3_DRDY_IRQ_INT2_MASK		0x08
#define ST_GYRO_3_MULTIREAD_BIT			true


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 = ST_GYRO_1_WAI_EXP,
		.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 = ST_GYRO_1_ODR_ADDR,
			.mask = ST_GYRO_1_ODR_MASK,
			.odr_avl = {
				{ 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, },
				{ 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, },
				{ 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, },
				{ 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, },
			},
		},
		.pw = {
			.addr = ST_GYRO_1_PW_ADDR,
			.mask = ST_GYRO_1_PW_MASK,
			.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
			.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
		},
		.enable_axis = {
			.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
			.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
		},
		.fs = {
			.addr = ST_GYRO_1_FS_ADDR,
			.mask = ST_GYRO_1_FS_MASK,
			.fs_avl = {
				[0] = {
					.num = ST_GYRO_FS_AVL_250DPS,
					.value = ST_GYRO_1_FS_AVL_250_VAL,
					.gain = ST_GYRO_1_FS_AVL_250_GAIN,
				},
				[1] = {
					.num = ST_GYRO_FS_AVL_500DPS,
					.value = ST_GYRO_1_FS_AVL_500_VAL,
					.gain = ST_GYRO_1_FS_AVL_500_GAIN,
				},
				[2] = {
					.num = ST_GYRO_FS_AVL_2000DPS,
					.value = ST_GYRO_1_FS_AVL_2000_VAL,
					.gain = ST_GYRO_1_FS_AVL_2000_GAIN,
				},
			},
		},
		.bdu = {
			.addr = ST_GYRO_1_BDU_ADDR,
			.mask = ST_GYRO_1_BDU_MASK,
		},
		.drdy_irq = {
			.addr = ST_GYRO_1_DRDY_IRQ_ADDR,
			.mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK,
		},
		.multi_read_bit = ST_GYRO_1_MULTIREAD_BIT,
		.bootime = 2,
	},
	{
		.wai = ST_GYRO_2_WAI_EXP,
		.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 = ST_GYRO_2_ODR_ADDR,
			.mask = ST_GYRO_2_ODR_MASK,
			.odr_avl = {
				{ 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, },
				{ 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, },
				{ 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, },
				{ 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, },
			},
		},
		.pw = {
			.addr = ST_GYRO_2_PW_ADDR,
			.mask = ST_GYRO_2_PW_MASK,
			.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
			.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
		},
		.enable_axis = {
			.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
			.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
		},
		.fs = {
			.addr = ST_GYRO_2_FS_ADDR,
			.mask = ST_GYRO_2_FS_MASK,
			.fs_avl = {
				[0] = {
					.num = ST_GYRO_FS_AVL_250DPS,
					.value = ST_GYRO_2_FS_AVL_250_VAL,
					.gain = ST_GYRO_2_FS_AVL_250_GAIN,
				},
				[1] = {
					.num = ST_GYRO_FS_AVL_500DPS,
					.value = ST_GYRO_2_FS_AVL_500_VAL,
					.gain = ST_GYRO_2_FS_AVL_500_GAIN,
				},
				[2] = {
					.num = ST_GYRO_FS_AVL_2000DPS,
					.value = ST_GYRO_2_FS_AVL_2000_VAL,
					.gain = ST_GYRO_2_FS_AVL_2000_GAIN,
				},
			},
		},
		.bdu = {
			.addr = ST_GYRO_2_BDU_ADDR,
			.mask = ST_GYRO_2_BDU_MASK,
		},
		.drdy_irq = {
			.addr = ST_GYRO_2_DRDY_IRQ_ADDR,
			.mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK,
		},
		.multi_read_bit = ST_GYRO_2_MULTIREAD_BIT,
		.bootime = 2,
	},
	{
		.wai = ST_GYRO_3_WAI_EXP,
		.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
		.sensors_supported = {
			[0] = L3GD20_GYRO_DEV_NAME,
		},
		.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
		.odr = {
			.addr = ST_GYRO_3_ODR_ADDR,
			.mask = ST_GYRO_3_ODR_MASK,
			.odr_avl = {
				{ 95, ST_GYRO_3_ODR_AVL_95HZ_VAL, },
				{ 190, ST_GYRO_3_ODR_AVL_190HZ_VAL, },
				{ 380, ST_GYRO_3_ODR_AVL_380HZ_VAL, },
				{ 760, ST_GYRO_3_ODR_AVL_760HZ_VAL, },
			},
		},
		.pw = {
			.addr = ST_GYRO_3_PW_ADDR,
			.mask = ST_GYRO_3_PW_MASK,
			.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
			.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
		},
		.enable_axis = {
			.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
			.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
		},
		.fs = {
			.addr = ST_GYRO_3_FS_ADDR,
			.mask = ST_GYRO_3_FS_MASK,
			.fs_avl = {
				[0] = {
					.num = ST_GYRO_FS_AVL_250DPS,
					.value = ST_GYRO_3_FS_AVL_250_VAL,
					.gain = ST_GYRO_3_FS_AVL_250_GAIN,
				},
				[1] = {
					.num = ST_GYRO_FS_AVL_500DPS,
					.value = ST_GYRO_3_FS_AVL_500_VAL,
					.gain = ST_GYRO_3_FS_AVL_500_GAIN,
				},
				[2] = {
					.num = ST_GYRO_FS_AVL_2000DPS,
					.value = ST_GYRO_3_FS_AVL_2000_VAL,
					.gain = ST_GYRO_3_FS_AVL_2000_GAIN,
				},
			},
		},
		.bdu = {
			.addr = ST_GYRO_3_BDU_ADDR,
			.mask = ST_GYRO_3_BDU_MASK,
		},
		.drdy_irq = {
			.addr = ST_GYRO_3_DRDY_IRQ_ADDR,
			.mask_int2 = ST_GYRO_3_DRDY_IRQ_INT2_MASK,
		},
		.multi_read_bit = ST_GYRO_3_MULTIREAD_BIT,
		.bootime = 2,
	},
};

static int st_gyro_read_raw(struct iio_dev *indio_dev,
			struct iio_chan_spec const *ch, int *val,
							int *val2, long mask)
{
	int err;
	struct st_sensor_data *gdata = iio_priv(indio_dev);

	switch (mask) {
	case IIO_CHAN_INFO_RAW:
		err = st_sensors_read_info_raw(indio_dev, ch, val);
		if (err < 0)
			goto read_error;

		return IIO_VAL_INT;
	case IIO_CHAN_INFO_SCALE:
		*val = 0;
		*val2 = gdata->current_fullscale->gain;
		return IIO_VAL_INT_PLUS_MICRO;
	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,
};
#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);

	st_sensors_power_enable(indio_dev);

	err = st_sensors_check_device_support(indio_dev,
					ARRAY_SIZE(st_gyro_sensors_settings),
					st_gyro_sensors_settings);
	if (err < 0)
		return err;

	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)
		return err;

	err = st_gyro_allocate_ring(indio_dev);
	if (err < 0)
		return err;

	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);

	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");
Commit	Line	Data
7be56a8f DC	1	/*
	2	* STMicroelectronics gyroscopes driver
	3	*
	4	* Copyright 2012-2013 STMicroelectronics Inc.
	5	*
	6	* Denis Ciocca <denis.ciocca@st.com>
	7	*
	8	* Licensed under the GPL-2.
	9	*/
	10
	11	#include <linux/kernel.h>
	12	#include <linux/module.h>
	13	#include <linux/slab.h>
	14	#include <linux/errno.h>
	15	#include <linux/types.h>
	16	#include <linux/mutex.h>
	17	#include <linux/interrupt.h>
	18	#include <linux/i2c.h>
	19	#include <linux/gpio.h>
	20	#include <linux/irq.h>
	21	#include <linux/delay.h>
	22	#include <linux/iio/iio.h>
	23	#include <linux/iio/sysfs.h>
8ce4a56a	24	#include <linux/iio/trigger.h>
7be56a8f DC	25	#include <linux/iio/buffer.h>
	26
	27	#include <linux/iio/common/st_sensors.h>
	28	#include "st_gyro.h"
	29
607a568a DC	30	#define ST_GYRO_NUMBER_DATA_CHANNELS 3
607a568a DC	31
7be56a8f DC	32	/* DEFAULT VALUE FOR SENSORS */
	33	#define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28
	34	#define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a
	35	#define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c
	36
	37	/* FULLSCALE */
	38	#define ST_GYRO_FS_AVL_250DPS 250
	39	#define ST_GYRO_FS_AVL_500DPS 500
	40	#define ST_GYRO_FS_AVL_2000DPS 2000
	41
	42	/* CUSTOM VALUES FOR SENSOR 1 */
	43	#define ST_GYRO_1_WAI_EXP 0xd3
	44	#define ST_GYRO_1_ODR_ADDR 0x20
	45	#define ST_GYRO_1_ODR_MASK 0xc0
	46	#define ST_GYRO_1_ODR_AVL_100HZ_VAL 0x00
	47	#define ST_GYRO_1_ODR_AVL_200HZ_VAL 0x01
	48	#define ST_GYRO_1_ODR_AVL_400HZ_VAL 0x02
	49	#define ST_GYRO_1_ODR_AVL_800HZ_VAL 0x03
	50	#define ST_GYRO_1_PW_ADDR 0x20
	51	#define ST_GYRO_1_PW_MASK 0x08
	52	#define ST_GYRO_1_FS_ADDR 0x23
	53	#define ST_GYRO_1_FS_MASK 0x30
	54	#define ST_GYRO_1_FS_AVL_250_VAL 0x00
	55	#define ST_GYRO_1_FS_AVL_500_VAL 0x01
	56	#define ST_GYRO_1_FS_AVL_2000_VAL 0x02
	57	#define ST_GYRO_1_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750)
	58	#define ST_GYRO_1_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500)
	59	#define ST_GYRO_1_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000)
	60	#define ST_GYRO_1_BDU_ADDR 0x23
	61	#define ST_GYRO_1_BDU_MASK 0x80
	62	#define ST_GYRO_1_DRDY_IRQ_ADDR 0x22
23cde4d6	63	#define ST_GYRO_1_DRDY_IRQ_INT2_MASK 0x08
7be56a8f DC	64	#define ST_GYRO_1_MULTIREAD_BIT true
	65
	66	/* CUSTOM VALUES FOR SENSOR 2 */
	67	#define ST_GYRO_2_WAI_EXP 0xd4
	68	#define ST_GYRO_2_ODR_ADDR 0x20
	69	#define ST_GYRO_2_ODR_MASK 0xc0
	70	#define ST_GYRO_2_ODR_AVL_95HZ_VAL 0x00
	71	#define ST_GYRO_2_ODR_AVL_190HZ_VAL 0x01
	72	#define ST_GYRO_2_ODR_AVL_380HZ_VAL 0x02
	73	#define ST_GYRO_2_ODR_AVL_760HZ_VAL 0x03
	74	#define ST_GYRO_2_PW_ADDR 0x20
	75	#define ST_GYRO_2_PW_MASK 0x08
	76	#define ST_GYRO_2_FS_ADDR 0x23
	77	#define ST_GYRO_2_FS_MASK 0x30
	78	#define ST_GYRO_2_FS_AVL_250_VAL 0x00
	79	#define ST_GYRO_2_FS_AVL_500_VAL 0x01
	80	#define ST_GYRO_2_FS_AVL_2000_VAL 0x02
	81	#define ST_GYRO_2_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750)
	82	#define ST_GYRO_2_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500)
	83	#define ST_GYRO_2_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000)
	84	#define ST_GYRO_2_BDU_ADDR 0x23
	85	#define ST_GYRO_2_BDU_MASK 0x80
	86	#define ST_GYRO_2_DRDY_IRQ_ADDR 0x22
23cde4d6	87	#define ST_GYRO_2_DRDY_IRQ_INT2_MASK 0x08
7be56a8f DC	88	#define ST_GYRO_2_MULTIREAD_BIT true
7be56a8f DC	89
9444a300 RD	90	/* CUSTOM VALUES FOR SENSOR 3 */
	91	#define ST_GYRO_3_WAI_EXP 0xd7
	92	#define ST_GYRO_3_ODR_ADDR 0x20
	93	#define ST_GYRO_3_ODR_MASK 0xc0
	94	#define ST_GYRO_3_ODR_AVL_95HZ_VAL 0x00
	95	#define ST_GYRO_3_ODR_AVL_190HZ_VAL 0x01
	96	#define ST_GYRO_3_ODR_AVL_380HZ_VAL 0x02
	97	#define ST_GYRO_3_ODR_AVL_760HZ_VAL 0x03
	98	#define ST_GYRO_3_PW_ADDR 0x20
	99	#define ST_GYRO_3_PW_MASK 0x08
	100	#define ST_GYRO_3_FS_ADDR 0x23
	101	#define ST_GYRO_3_FS_MASK 0x30
	102	#define ST_GYRO_3_FS_AVL_250_VAL 0x00
	103	#define ST_GYRO_3_FS_AVL_500_VAL 0x01
	104	#define ST_GYRO_3_FS_AVL_2000_VAL 0x02
	105	#define ST_GYRO_3_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750)
	106	#define ST_GYRO_3_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500)
	107	#define ST_GYRO_3_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000)
	108	#define ST_GYRO_3_BDU_ADDR 0x23
	109	#define ST_GYRO_3_BDU_MASK 0x80
	110	#define ST_GYRO_3_DRDY_IRQ_ADDR 0x22
	111	#define ST_GYRO_3_DRDY_IRQ_INT2_MASK 0x08
	112	#define ST_GYRO_3_MULTIREAD_BIT true
	113
	114
7be56a8f	115	static const struct iio_chan_spec st_gyro_16bit_channels[] = {
762011d6 DC	116	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
	117	BIT(IIO_CHAN_INFO_RAW) \| BIT(IIO_CHAN_INFO_SCALE),
	118	ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
	119	ST_GYRO_DEFAULT_OUT_X_L_ADDR),
	120	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
	121	BIT(IIO_CHAN_INFO_RAW) \| BIT(IIO_CHAN_INFO_SCALE),
	122	ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
	123	ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
	124	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
	125	BIT(IIO_CHAN_INFO_RAW) \| BIT(IIO_CHAN_INFO_SCALE),
	126	ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
	127	ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
7be56a8f DC	128	IIO_CHAN_SOFT_TIMESTAMP(3)
	129	};
	130
a7ee8839	131	static const struct st_sensor_settings st_gyro_sensors_settings[] = {
7be56a8f DC	132	{
7be56a8f DC	133	.wai = ST_GYRO_1_WAI_EXP,
bc27381e	134	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
7be56a8f DC	135	.sensors_supported = {
	136	[0] = L3G4200D_GYRO_DEV_NAME,
	137	[1] = LSM330DL_GYRO_DEV_NAME,
	138	},
	139	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	140	.odr = {
	141	.addr = ST_GYRO_1_ODR_ADDR,
	142	.mask = ST_GYRO_1_ODR_MASK,
	143	.odr_avl = {
	144	{ 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, },
	145	{ 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, },
	146	{ 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, },
	147	{ 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, },
	148	},
	149	},
	150	.pw = {
	151	.addr = ST_GYRO_1_PW_ADDR,
	152	.mask = ST_GYRO_1_PW_MASK,
	153	.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
	154	.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
	155	},
	156	.enable_axis = {
	157	.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
	158	.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
	159	},
	160	.fs = {
	161	.addr = ST_GYRO_1_FS_ADDR,
	162	.mask = ST_GYRO_1_FS_MASK,
	163	.fs_avl = {
	164	[0] = {
	165	.num = ST_GYRO_FS_AVL_250DPS,
	166	.value = ST_GYRO_1_FS_AVL_250_VAL,
	167	.gain = ST_GYRO_1_FS_AVL_250_GAIN,
	168	},
	169	[1] = {
	170	.num = ST_GYRO_FS_AVL_500DPS,
	171	.value = ST_GYRO_1_FS_AVL_500_VAL,
	172	.gain = ST_GYRO_1_FS_AVL_500_GAIN,
	173	},
	174	[2] = {
	175	.num = ST_GYRO_FS_AVL_2000DPS,
	176	.value = ST_GYRO_1_FS_AVL_2000_VAL,
	177	.gain = ST_GYRO_1_FS_AVL_2000_GAIN,
	178	},
	179	},
	180	},
	181	.bdu = {
	182	.addr = ST_GYRO_1_BDU_ADDR,
	183	.mask = ST_GYRO_1_BDU_MASK,
	184	},
	185	.drdy_irq = {
	186	.addr = ST_GYRO_1_DRDY_IRQ_ADDR,
23cde4d6	187	.mask_int2 = ST_GYRO_1_DRDY_IRQ_INT2_MASK,
7be56a8f DC	188	},
	189	.multi_read_bit = ST_GYRO_1_MULTIREAD_BIT,
	190	.bootime = 2,
	191	},
	192	{
	193	.wai = ST_GYRO_2_WAI_EXP,
bc27381e	194	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
7be56a8f DC	195	.sensors_supported = {
7be56a8f DC	196	[0] = L3GD20_GYRO_DEV_NAME,
a0657716 DC	197	[1] = LSM330D_GYRO_DEV_NAME,
	198	[2] = LSM330DLC_GYRO_DEV_NAME,
	199	[3] = L3G4IS_GYRO_DEV_NAME,
	200	[4] = LSM330_GYRO_DEV_NAME,
7be56a8f DC	201	},
	202	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	203	.odr = {
	204	.addr = ST_GYRO_2_ODR_ADDR,
	205	.mask = ST_GYRO_2_ODR_MASK,
	206	.odr_avl = {
	207	{ 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, },
	208	{ 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, },
	209	{ 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, },
	210	{ 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, },
	211	},
	212	},
	213	.pw = {
	214	.addr = ST_GYRO_2_PW_ADDR,
	215	.mask = ST_GYRO_2_PW_MASK,
	216	.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
	217	.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
	218	},
	219	.enable_axis = {
	220	.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
	221	.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
	222	},
	223	.fs = {
	224	.addr = ST_GYRO_2_FS_ADDR,
	225	.mask = ST_GYRO_2_FS_MASK,
	226	.fs_avl = {
	227	[0] = {
	228	.num = ST_GYRO_FS_AVL_250DPS,
	229	.value = ST_GYRO_2_FS_AVL_250_VAL,
	230	.gain = ST_GYRO_2_FS_AVL_250_GAIN,
	231	},
	232	[1] = {
	233	.num = ST_GYRO_FS_AVL_500DPS,
	234	.value = ST_GYRO_2_FS_AVL_500_VAL,
	235	.gain = ST_GYRO_2_FS_AVL_500_GAIN,
	236	},
	237	[2] = {
	238	.num = ST_GYRO_FS_AVL_2000DPS,
	239	.value = ST_GYRO_2_FS_AVL_2000_VAL,
	240	.gain = ST_GYRO_2_FS_AVL_2000_GAIN,
	241	},
	242	},
	243	},
	244	.bdu = {
	245	.addr = ST_GYRO_2_BDU_ADDR,
	246	.mask = ST_GYRO_2_BDU_MASK,
	247	},
	248	.drdy_irq = {
	249	.addr = ST_GYRO_2_DRDY_IRQ_ADDR,
23cde4d6	250	.mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK,
7be56a8f DC	251	},
	252	.multi_read_bit = ST_GYRO_2_MULTIREAD_BIT,
	253	.bootime = 2,
	254	},
9444a300 RD	255	{
9444a300 RD	256	.wai = ST_GYRO_3_WAI_EXP,
bc27381e	257	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
9444a300 RD	258	.sensors_supported = {
	259	[0] = L3GD20_GYRO_DEV_NAME,
	260	},
	261	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	262	.odr = {
	263	.addr = ST_GYRO_3_ODR_ADDR,
	264	.mask = ST_GYRO_3_ODR_MASK,
	265	.odr_avl = {
	266	{ 95, ST_GYRO_3_ODR_AVL_95HZ_VAL, },
	267	{ 190, ST_GYRO_3_ODR_AVL_190HZ_VAL, },
	268	{ 380, ST_GYRO_3_ODR_AVL_380HZ_VAL, },
	269	{ 760, ST_GYRO_3_ODR_AVL_760HZ_VAL, },
	270	},
	271	},
	272	.pw = {
	273	.addr = ST_GYRO_3_PW_ADDR,
	274	.mask = ST_GYRO_3_PW_MASK,
	275	.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
	276	.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
	277	},
	278	.enable_axis = {
	279	.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
	280	.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
	281	},
	282	.fs = {
	283	.addr = ST_GYRO_3_FS_ADDR,
	284	.mask = ST_GYRO_3_FS_MASK,
	285	.fs_avl = {
	286	[0] = {
	287	.num = ST_GYRO_FS_AVL_250DPS,
	288	.value = ST_GYRO_3_FS_AVL_250_VAL,
	289	.gain = ST_GYRO_3_FS_AVL_250_GAIN,
	290	},
	291	[1] = {
	292	.num = ST_GYRO_FS_AVL_500DPS,
	293	.value = ST_GYRO_3_FS_AVL_500_VAL,
	294	.gain = ST_GYRO_3_FS_AVL_500_GAIN,
	295	},
	296	[2] = {
	297	.num = ST_GYRO_FS_AVL_2000DPS,
	298	.value = ST_GYRO_3_FS_AVL_2000_VAL,
	299	.gain = ST_GYRO_3_FS_AVL_2000_GAIN,
	300	},
	301	},
	302	},
	303	.bdu = {
	304	.addr = ST_GYRO_3_BDU_ADDR,
	305	.mask = ST_GYRO_3_BDU_MASK,
	306	},
	307	.drdy_irq = {
	308	.addr = ST_GYRO_3_DRDY_IRQ_ADDR,
	309	.mask_int2 = ST_GYRO_3_DRDY_IRQ_INT2_MASK,
	310	},
	311	.multi_read_bit = ST_GYRO_3_MULTIREAD_BIT,
	312	.bootime = 2,
	313	},
7be56a8f DC	314	};
	315
	316	static int st_gyro_read_raw(struct iio_dev *indio_dev,
	317	struct iio_chan_spec const ch, int val,
	318	int *val2, long mask)
	319	{
	320	int err;
	321	struct st_sensor_data *gdata = iio_priv(indio_dev);
	322
	323	switch (mask) {
	324	case IIO_CHAN_INFO_RAW:
	325	err = st_sensors_read_info_raw(indio_dev, ch, val);
	326	if (err < 0)
	327	goto read_error;
	328
	329	return IIO_VAL_INT;
	330	case IIO_CHAN_INFO_SCALE:
	331	*val = 0;
	332	*val2 = gdata->current_fullscale->gain;
	333	return IIO_VAL_INT_PLUS_MICRO;
2d239c9e JC	334	case IIO_CHAN_INFO_SAMP_FREQ:
	335	*val = gdata->odr;
	336	return IIO_VAL_INT;
7be56a8f DC	337	default:
	338	return -EINVAL;
	339	}
	340
	341	read_error:
	342	return err;
	343	}
	344
	345	static int st_gyro_write_raw(struct iio_dev *indio_dev,
	346	struct iio_chan_spec const *chan, int val, int val2, long mask)
	347	{
	348	int err;
	349
	350	switch (mask) {
	351	case IIO_CHAN_INFO_SCALE:
	352	err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
	353	break;
2d239c9e JC	354	case IIO_CHAN_INFO_SAMP_FREQ:
	355	if (val2)
	356	return -EINVAL;
	357	mutex_lock(&indio_dev->mlock);
	358	err = st_sensors_set_odr(indio_dev, val);
	359	mutex_unlock(&indio_dev->mlock);
	360	return err;
7be56a8f DC	361	default:
	362	err = -EINVAL;
	363	}
	364
	365	return err;
	366	}
	367
7be56a8f DC	368	static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
	369	static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
	370
	371	static struct attribute *st_gyro_attributes[] = {
	372	&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
	373	&iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
7be56a8f DC	374	NULL,
	375	};
	376
	377	static const struct attribute_group st_gyro_attribute_group = {
	378	.attrs = st_gyro_attributes,
	379	};
	380
	381	static const struct iio_info gyro_info = {
	382	.driver_module = THIS_MODULE,
	383	.attrs = &st_gyro_attribute_group,
	384	.read_raw = &st_gyro_read_raw,
	385	.write_raw = &st_gyro_write_raw,
a0175b9c	386	.debugfs_reg_access = &st_sensors_debugfs_reg_access,
7be56a8f DC	387	};
7be56a8f DC	388
8ce4a56a	389	#ifdef CONFIG_IIO_TRIGGER
7be56a8f DC	390	static const struct iio_trigger_ops st_gyro_trigger_ops = {
	391	.owner = THIS_MODULE,
	392	.set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
	393	};
8ce4a56a JC	394	#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
	395	#else
	396	#define ST_GYRO_TRIGGER_OPS NULL
	397	#endif
7be56a8f	398
ef67b341	399	int st_gyro_common_probe(struct iio_dev *indio_dev)
7be56a8f	400	{
7be56a8f	401	struct st_sensor_data *gdata = iio_priv(indio_dev);
f01a140a LJ	402	int irq = gdata->get_irq_data_ready(indio_dev);
f01a140a LJ	403	int err;
7be56a8f DC	404
	405	indio_dev->modes = INDIO_DIRECT_MODE;
	406	indio_dev->info = &gyro_info;
8e71c04f	407	mutex_init(&gdata->tb.buf_lock);
7be56a8f	408
ea7e586b LW	409	st_sensors_power_enable(indio_dev);
ea7e586b LW	410
7be56a8f	411	err = st_sensors_check_device_support(indio_dev,
a7ee8839 DC	412	ARRAY_SIZE(st_gyro_sensors_settings),
a7ee8839 DC	413	st_gyro_sensors_settings);
7be56a8f	414	if (err < 0)
f01a140a	415	return err;
7be56a8f	416
607a568a	417	gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
a7ee8839 DC	418	gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
a7ee8839 DC	419	indio_dev->channels = gdata->sensor_settings->ch;
7be56a8f DC	420	indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
	421
	422	gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
a7ee8839 DC	423	&gdata->sensor_settings->fs.fs_avl[0];
a7ee8839 DC	424	gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
7be56a8f	425
ef67b341 DC	426	err = st_sensors_init_sensor(indio_dev,
ef67b341 DC	427	(struct st_sensors_platform_data *)&gyro_pdata);
7be56a8f	428	if (err < 0)
f01a140a	429	return err;
7be56a8f	430
fb4ea1f8 DC	431	err = st_gyro_allocate_ring(indio_dev);
	432	if (err < 0)
	433	return err;
7be56a8f	434
fb4ea1f8	435	if (irq > 0) {
7be56a8f	436	err = st_sensors_allocate_trigger(indio_dev,
8ce4a56a	437	ST_GYRO_TRIGGER_OPS);
7be56a8f DC	438	if (err < 0)
	439	goto st_gyro_probe_trigger_error;
	440	}
	441
	442	err = iio_device_register(indio_dev);
	443	if (err)
	444	goto st_gyro_device_register_error;
	445
4f544ced LW	446	dev_info(&indio_dev->dev, "registered gyroscope %s\n",
	447	indio_dev->name);
	448
f01a140a	449	return 0;
7be56a8f DC	450
7be56a8f DC	451	st_gyro_device_register_error:
f01a140a	452	if (irq > 0)
7be56a8f DC	453	st_sensors_deallocate_trigger(indio_dev);
7be56a8f DC	454	st_gyro_probe_trigger_error:
fb4ea1f8	455	st_gyro_deallocate_ring(indio_dev);
f01a140a	456
7be56a8f DC	457	return err;
	458	}
	459	EXPORT_SYMBOL(st_gyro_common_probe);
	460
	461	void st_gyro_common_remove(struct iio_dev *indio_dev)
	462	{
	463	struct st_sensor_data *gdata = iio_priv(indio_dev);
	464
ea7e586b LW	465	st_sensors_power_disable(indio_dev);
ea7e586b LW	466
7be56a8f	467	iio_device_unregister(indio_dev);
fb4ea1f8	468	if (gdata->get_irq_data_ready(indio_dev) > 0)
7be56a8f	469	st_sensors_deallocate_trigger(indio_dev);
fb4ea1f8 DC	470
fb4ea1f8 DC	471	st_gyro_deallocate_ring(indio_dev);
7be56a8f DC	472	}
	473	EXPORT_SYMBOL(st_gyro_common_remove);
	474
	475	MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
	476	MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
	477	MODULE_LICENSE("GPL v2");