[linux.git] / drivers / iio / gyro / st_gyro_core.c

/*
 * STMicroelectronics gyroscopes driver
 *
 * Copyright 2012-2013 STMicroelectronics Inc.
 *
 * Denis Ciocca <[email protected]>
 *
 * 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,
			[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 = {
			.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 = 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 <[email protected]>");
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 <[email protected]>
	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 */
45a4e422	38	#define ST_GYRO_FS_AVL_245DPS 245
7be56a8f DC	39	#define ST_GYRO_FS_AVL_250DPS 250
	40	#define ST_GYRO_FS_AVL_500DPS 500
	41	#define ST_GYRO_FS_AVL_2000DPS 2000
	42
7be56a8f	43	static const struct iio_chan_spec st_gyro_16bit_channels[] = {
762011d6 DC	44	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
	45	BIT(IIO_CHAN_INFO_RAW) \| BIT(IIO_CHAN_INFO_SCALE),
	46	ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
	47	ST_GYRO_DEFAULT_OUT_X_L_ADDR),
	48	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
	49	BIT(IIO_CHAN_INFO_RAW) \| BIT(IIO_CHAN_INFO_SCALE),
	50	ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
	51	ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
	52	ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
	53	BIT(IIO_CHAN_INFO_RAW) \| BIT(IIO_CHAN_INFO_SCALE),
	54	ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
	55	ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
7be56a8f DC	56	IIO_CHAN_SOFT_TIMESTAMP(3)
	57	};
	58
a7ee8839	59	static const struct st_sensor_settings st_gyro_sensors_settings[] = {
7be56a8f	60	{
d8594fa2	61	.wai = 0xd3,
bc27381e	62	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
7be56a8f DC	63	.sensors_supported = {
	64	[0] = L3G4200D_GYRO_DEV_NAME,
	65	[1] = LSM330DL_GYRO_DEV_NAME,
	66	},
	67	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	68	.odr = {
d8594fa2 LW	69	.addr = 0x20,
d8594fa2 LW	70	.mask = 0xc0,
7be56a8f	71	.odr_avl = {
d8594fa2 LW	72	{ .hz = 100, .value = 0x00, },
	73	{ .hz = 200, .value = 0x01, },
	74	{ .hz = 400, .value = 0x02, },
	75	{ .hz = 800, .value = 0x03, },
7be56a8f DC	76	},
	77	},
	78	.pw = {
d8594fa2 LW	79	.addr = 0x20,
d8594fa2 LW	80	.mask = 0x08,
7be56a8f DC	81	.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
	82	.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
	83	},
	84	.enable_axis = {
	85	.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
	86	.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
	87	},
	88	.fs = {
d8594fa2 LW	89	.addr = 0x23,
d8594fa2 LW	90	.mask = 0x30,
7be56a8f DC	91	.fs_avl = {
	92	[0] = {
	93	.num = ST_GYRO_FS_AVL_250DPS,
d8594fa2 LW	94	.value = 0x00,
d8594fa2 LW	95	.gain = IIO_DEGREE_TO_RAD(8750),
7be56a8f DC	96	},
	97	[1] = {
	98	.num = ST_GYRO_FS_AVL_500DPS,
d8594fa2 LW	99	.value = 0x01,
d8594fa2 LW	100	.gain = IIO_DEGREE_TO_RAD(17500),
7be56a8f DC	101	},
	102	[2] = {
	103	.num = ST_GYRO_FS_AVL_2000DPS,
d8594fa2 LW	104	.value = 0x02,
d8594fa2 LW	105	.gain = IIO_DEGREE_TO_RAD(70000),
7be56a8f DC	106	},
	107	},
	108	},
	109	.bdu = {
d8594fa2 LW	110	.addr = 0x23,
d8594fa2 LW	111	.mask = 0x80,
7be56a8f DC	112	},
7be56a8f DC	113	.drdy_irq = {
75d4c6d2 LB	114	.int2 = {
	115	.addr = 0x22,
	116	.mask = 0x08,
	117	},
a9fd053b LW	118	/*
	119	* The sensor has IHL (active low) and open
	120	* drain settings, but only for INT1 and not
	121	* for the DRDY line on INT2.
	122	*/
e72a0601 LB	123	.stat_drdy = {
	124	.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
	125	.mask = 0x07,
	126	},
7be56a8f	127	},
281dbadb LB	128	.sim = {
	129	.addr = 0x23,
	130	.value = BIT(0),
	131	},
d8594fa2	132	.multi_read_bit = true,
7be56a8f DC	133	.bootime = 2,
	134	},
	135	{
d8594fa2	136	.wai = 0xd4,
bc27381e	137	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
7be56a8f DC	138	.sensors_supported = {
7be56a8f DC	139	[0] = L3GD20_GYRO_DEV_NAME,
a0657716 DC	140	[1] = LSM330D_GYRO_DEV_NAME,
	141	[2] = LSM330DLC_GYRO_DEV_NAME,
	142	[3] = L3G4IS_GYRO_DEV_NAME,
	143	[4] = LSM330_GYRO_DEV_NAME,
41c128cb	144	[5] = LSM9DS0_GYRO_DEV_NAME,
7be56a8f DC	145	},
	146	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	147	.odr = {
d8594fa2 LW	148	.addr = 0x20,
d8594fa2 LW	149	.mask = 0xc0,
7be56a8f	150	.odr_avl = {
d8594fa2 LW	151	{ .hz = 95, .value = 0x00, },
	152	{ .hz = 190, .value = 0x01, },
	153	{ .hz = 380, .value = 0x02, },
	154	{ .hz = 760, .value = 0x03, },
7be56a8f DC	155	},
	156	},
	157	.pw = {
d8594fa2 LW	158	.addr = 0x20,
d8594fa2 LW	159	.mask = 0x08,
7be56a8f DC	160	.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
	161	.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
	162	},
	163	.enable_axis = {
	164	.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
	165	.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
	166	},
	167	.fs = {
d8594fa2 LW	168	.addr = 0x23,
d8594fa2 LW	169	.mask = 0x30,
7be56a8f DC	170	.fs_avl = {
	171	[0] = {
	172	.num = ST_GYRO_FS_AVL_250DPS,
d8594fa2 LW	173	.value = 0x00,
d8594fa2 LW	174	.gain = IIO_DEGREE_TO_RAD(8750),
7be56a8f DC	175	},
	176	[1] = {
	177	.num = ST_GYRO_FS_AVL_500DPS,
d8594fa2 LW	178	.value = 0x01,
d8594fa2 LW	179	.gain = IIO_DEGREE_TO_RAD(17500),
7be56a8f DC	180	},
	181	[2] = {
	182	.num = ST_GYRO_FS_AVL_2000DPS,
d8594fa2 LW	183	.value = 0x02,
d8594fa2 LW	184	.gain = IIO_DEGREE_TO_RAD(70000),
7be56a8f DC	185	},
	186	},
	187	},
	188	.bdu = {
d8594fa2 LW	189	.addr = 0x23,
d8594fa2 LW	190	.mask = 0x80,
7be56a8f DC	191	},
7be56a8f DC	192	.drdy_irq = {
75d4c6d2 LB	193	.int2 = {
	194	.addr = 0x22,
	195	.mask = 0x08,
	196	},
a9fd053b LW	197	/*
	198	* The sensor has IHL (active low) and open
	199	* drain settings, but only for INT1 and not
	200	* for the DRDY line on INT2.
	201	*/
e72a0601 LB	202	.stat_drdy = {
	203	.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
	204	.mask = 0x07,
	205	},
7be56a8f	206	},
281dbadb LB	207	.sim = {
	208	.addr = 0x23,
	209	.value = BIT(0),
	210	},
d8594fa2	211	.multi_read_bit = true,
7be56a8f DC	212	.bootime = 2,
7be56a8f DC	213	},
9444a300	214	{
d8594fa2	215	.wai = 0xd7,
bc27381e	216	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
9444a300	217	.sensors_supported = {
45a4e422	218	[0] = L3GD20H_GYRO_DEV_NAME,
9444a300 RD	219	},
	220	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	221	.odr = {
d8594fa2 LW	222	.addr = 0x20,
d8594fa2 LW	223	.mask = 0xc0,
9444a300	224	.odr_avl = {
45a4e422 LB	225	{ .hz = 100, .value = 0x00, },
	226	{ .hz = 200, .value = 0x01, },
	227	{ .hz = 400, .value = 0x02, },
	228	{ .hz = 800, .value = 0x03, },
9444a300 RD	229	},
	230	},
	231	.pw = {
d8594fa2 LW	232	.addr = 0x20,
d8594fa2 LW	233	.mask = 0x08,
9444a300 RD	234	.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
	235	.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
	236	},
	237	.enable_axis = {
	238	.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
	239	.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
	240	},
	241	.fs = {
d8594fa2 LW	242	.addr = 0x23,
d8594fa2 LW	243	.mask = 0x30,
9444a300 RD	244	.fs_avl = {
9444a300 RD	245	[0] = {
45a4e422	246	.num = ST_GYRO_FS_AVL_245DPS,
d8594fa2 LW	247	.value = 0x00,
d8594fa2 LW	248	.gain = IIO_DEGREE_TO_RAD(8750),
9444a300 RD	249	},
	250	[1] = {
	251	.num = ST_GYRO_FS_AVL_500DPS,
d8594fa2 LW	252	.value = 0x01,
d8594fa2 LW	253	.gain = IIO_DEGREE_TO_RAD(17500),
9444a300 RD	254	},
	255	[2] = {
	256	.num = ST_GYRO_FS_AVL_2000DPS,
d8594fa2 LW	257	.value = 0x02,
d8594fa2 LW	258	.gain = IIO_DEGREE_TO_RAD(70000),
9444a300 RD	259	},
	260	},
	261	},
	262	.bdu = {
d8594fa2 LW	263	.addr = 0x23,
d8594fa2 LW	264	.mask = 0x80,
9444a300 RD	265	},
9444a300 RD	266	.drdy_irq = {
75d4c6d2 LB	267	.int2 = {
	268	.addr = 0x22,
	269	.mask = 0x08,
	270	},
a9fd053b LW	271	/*
	272	* The sensor has IHL (active low) and open
	273	* drain settings, but only for INT1 and not
	274	* for the DRDY line on INT2.
	275	*/
e72a0601 LB	276	.stat_drdy = {
	277	.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
	278	.mask = 0x07,
	279	},
9444a300	280	},
281dbadb LB	281	.sim = {
	282	.addr = 0x23,
	283	.value = BIT(0),
	284	},
d8594fa2	285	.multi_read_bit = true,
9444a300 RD	286	.bootime = 2,
9444a300 RD	287	},
7be56a8f DC	288	};
	289
	290	static int st_gyro_read_raw(struct iio_dev *indio_dev,
	291	struct iio_chan_spec const ch, int val,
	292	int *val2, long mask)
	293	{
	294	int err;
	295	struct st_sensor_data *gdata = iio_priv(indio_dev);
	296
	297	switch (mask) {
	298	case IIO_CHAN_INFO_RAW:
	299	err = st_sensors_read_info_raw(indio_dev, ch, val);
	300	if (err < 0)
	301	goto read_error;
	302
	303	return IIO_VAL_INT;
	304	case IIO_CHAN_INFO_SCALE:
	305	*val = 0;
	306	*val2 = gdata->current_fullscale->gain;
	307	return IIO_VAL_INT_PLUS_MICRO;
2d239c9e JC	308	case IIO_CHAN_INFO_SAMP_FREQ:
	309	*val = gdata->odr;
	310	return IIO_VAL_INT;
7be56a8f DC	311	default:
	312	return -EINVAL;
	313	}
	314
	315	read_error:
	316	return err;
	317	}
	318
	319	static int st_gyro_write_raw(struct iio_dev *indio_dev,
	320	struct iio_chan_spec const *chan, int val, int val2, long mask)
	321	{
	322	int err;
	323
	324	switch (mask) {
	325	case IIO_CHAN_INFO_SCALE:
	326	err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
	327	break;
2d239c9e JC	328	case IIO_CHAN_INFO_SAMP_FREQ:
	329	if (val2)
	330	return -EINVAL;
	331	mutex_lock(&indio_dev->mlock);
	332	err = st_sensors_set_odr(indio_dev, val);
	333	mutex_unlock(&indio_dev->mlock);
	334	return err;
7be56a8f DC	335	default:
	336	err = -EINVAL;
	337	}
	338
	339	return err;
	340	}
	341
7be56a8f DC	342	static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
	343	static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
	344
	345	static struct attribute *st_gyro_attributes[] = {
	346	&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
	347	&iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
7be56a8f DC	348	NULL,
	349	};
	350
	351	static const struct attribute_group st_gyro_attribute_group = {
	352	.attrs = st_gyro_attributes,
	353	};
	354
	355	static const struct iio_info gyro_info = {
7be56a8f DC	356	.attrs = &st_gyro_attribute_group,
	357	.read_raw = &st_gyro_read_raw,
	358	.write_raw = &st_gyro_write_raw,
a0175b9c	359	.debugfs_reg_access = &st_sensors_debugfs_reg_access,
7be56a8f DC	360	};
7be56a8f DC	361
8ce4a56a	362	#ifdef CONFIG_IIO_TRIGGER
7be56a8f	363	static const struct iio_trigger_ops st_gyro_trigger_ops = {
7be56a8f	364	.set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
65925b65	365	.validate_device = st_sensors_validate_device,
7be56a8f	366	};
8ce4a56a JC	367	#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
	368	#else
	369	#define ST_GYRO_TRIGGER_OPS NULL
	370	#endif
7be56a8f	371
ef67b341	372	int st_gyro_common_probe(struct iio_dev *indio_dev)
7be56a8f	373	{
7be56a8f	374	struct st_sensor_data *gdata = iio_priv(indio_dev);
f01a140a LJ	375	int irq = gdata->get_irq_data_ready(indio_dev);
f01a140a LJ	376	int err;
7be56a8f DC	377
	378	indio_dev->modes = INDIO_DIRECT_MODE;
	379	indio_dev->info = &gyro_info;
8e71c04f	380	mutex_init(&gdata->tb.buf_lock);
7be56a8f	381
14f295c8 GB	382	err = st_sensors_power_enable(indio_dev);
	383	if (err)
	384	return err;
ea7e586b	385
7be56a8f	386	err = st_sensors_check_device_support(indio_dev,
a7ee8839 DC	387	ARRAY_SIZE(st_gyro_sensors_settings),
a7ee8839 DC	388	st_gyro_sensors_settings);
7be56a8f	389	if (err < 0)
14f295c8	390	goto st_gyro_power_off;
7be56a8f	391
607a568a	392	gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
a7ee8839 DC	393	gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
a7ee8839 DC	394	indio_dev->channels = gdata->sensor_settings->ch;
7be56a8f DC	395	indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
	396
	397	gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
a7ee8839 DC	398	&gdata->sensor_settings->fs.fs_avl[0];
a7ee8839 DC	399	gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
7be56a8f	400
ef67b341 DC	401	err = st_sensors_init_sensor(indio_dev,
ef67b341 DC	402	(struct st_sensors_platform_data *)&gyro_pdata);
7be56a8f	403	if (err < 0)
14f295c8	404	goto st_gyro_power_off;
7be56a8f	405
fb4ea1f8 DC	406	err = st_gyro_allocate_ring(indio_dev);
fb4ea1f8 DC	407	if (err < 0)
14f295c8	408	goto st_gyro_power_off;
7be56a8f	409
fb4ea1f8	410	if (irq > 0) {
7be56a8f	411	err = st_sensors_allocate_trigger(indio_dev,
8ce4a56a	412	ST_GYRO_TRIGGER_OPS);
7be56a8f DC	413	if (err < 0)
	414	goto st_gyro_probe_trigger_error;
	415	}
	416
	417	err = iio_device_register(indio_dev);
	418	if (err)
	419	goto st_gyro_device_register_error;
	420
4f544ced LW	421	dev_info(&indio_dev->dev, "registered gyroscope %s\n",
	422	indio_dev->name);
	423
f01a140a	424	return 0;
7be56a8f DC	425
7be56a8f DC	426	st_gyro_device_register_error:
f01a140a	427	if (irq > 0)
7be56a8f DC	428	st_sensors_deallocate_trigger(indio_dev);
7be56a8f DC	429	st_gyro_probe_trigger_error:
fb4ea1f8	430	st_gyro_deallocate_ring(indio_dev);
14f295c8 GB	431	st_gyro_power_off:
14f295c8 GB	432	st_sensors_power_disable(indio_dev);
f01a140a	433
7be56a8f DC	434	return err;
	435	}
	436	EXPORT_SYMBOL(st_gyro_common_probe);
	437
	438	void st_gyro_common_remove(struct iio_dev *indio_dev)
	439	{
	440	struct st_sensor_data *gdata = iio_priv(indio_dev);
	441
ea7e586b LW	442	st_sensors_power_disable(indio_dev);
ea7e586b LW	443
7be56a8f	444	iio_device_unregister(indio_dev);
fb4ea1f8	445	if (gdata->get_irq_data_ready(indio_dev) > 0)
7be56a8f	446	st_sensors_deallocate_trigger(indio_dev);
fb4ea1f8 DC	447
fb4ea1f8 DC	448	st_gyro_deallocate_ring(indio_dev);
7be56a8f DC	449	}
	450	EXPORT_SYMBOL(st_gyro_common_remove);
	451
	452	MODULE_AUTHOR("Denis Ciocca <[email protected]>");
	453	MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
	454	MODULE_LICENSE("GPL v2");