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9dbf091d MS |
1 | /* |
2 | * itg3200_core.c -- support InvenSense ITG3200 | |
3 | * Digital 3-Axis Gyroscope driver | |
4 | * | |
5 | * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de> | |
6 | * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> | |
7 | * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de> | |
8 | * | |
9 | * This program is free software; you can redistribute it and/or modify | |
10 | * it under the terms of the GNU General Public License version 2 as | |
11 | * published by the Free Software Foundation. | |
12 | * | |
13 | * TODO: | |
14 | * - Support digital low pass filter | |
15 | * - Support power management | |
16 | */ | |
17 | ||
18 | #include <linux/interrupt.h> | |
19 | #include <linux/irq.h> | |
20 | #include <linux/i2c.h> | |
21 | #include <linux/gpio.h> | |
22 | #include <linux/slab.h> | |
23 | #include <linux/stat.h> | |
24 | #include <linux/module.h> | |
25 | #include <linux/delay.h> | |
26 | ||
27 | #include <linux/iio/iio.h> | |
28 | #include <linux/iio/sysfs.h> | |
29 | #include <linux/iio/events.h> | |
30 | #include <linux/iio/buffer.h> | |
31 | ||
32 | #include <linux/iio/gyro/itg3200.h> | |
33 | ||
34 | ||
35 | int itg3200_write_reg_8(struct iio_dev *indio_dev, | |
36 | u8 reg_address, u8 val) | |
37 | { | |
38 | struct itg3200 *st = iio_priv(indio_dev); | |
39 | ||
40 | return i2c_smbus_write_byte_data(st->i2c, 0x80 | reg_address, val); | |
41 | } | |
42 | ||
43 | int itg3200_read_reg_8(struct iio_dev *indio_dev, | |
44 | u8 reg_address, u8 *val) | |
45 | { | |
46 | struct itg3200 *st = iio_priv(indio_dev); | |
47 | int ret; | |
48 | ||
49 | ret = i2c_smbus_read_byte_data(st->i2c, reg_address); | |
50 | if (ret < 0) | |
51 | return ret; | |
52 | *val = ret; | |
53 | return 0; | |
54 | } | |
55 | ||
56 | static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address, | |
57 | int *val) | |
58 | { | |
59 | struct itg3200 *st = iio_priv(indio_dev); | |
60 | struct i2c_client *client = st->i2c; | |
61 | int ret; | |
62 | s16 out; | |
63 | ||
64 | struct i2c_msg msg[2] = { | |
65 | { | |
66 | .addr = client->addr, | |
67 | .flags = client->flags, | |
68 | .len = 1, | |
69 | .buf = (char *)&lower_reg_address, | |
70 | }, | |
71 | { | |
72 | .addr = client->addr, | |
73 | .flags = client->flags | I2C_M_RD, | |
74 | .len = 2, | |
75 | .buf = (char *)&out, | |
76 | }, | |
77 | }; | |
78 | ||
79 | lower_reg_address |= 0x80; | |
80 | ret = i2c_transfer(client->adapter, msg, 2); | |
81 | be16_to_cpus(&out); | |
82 | *val = out; | |
83 | ||
84 | return (ret == 2) ? 0 : ret; | |
85 | } | |
86 | ||
87 | static int itg3200_read_raw(struct iio_dev *indio_dev, | |
88 | const struct iio_chan_spec *chan, | |
89 | int *val, int *val2, long info) | |
90 | { | |
91 | int ret = 0; | |
92 | u8 reg; | |
95bb8918 | 93 | u8 regval; |
9dbf091d MS |
94 | |
95 | switch (info) { | |
96 | case IIO_CHAN_INFO_RAW: | |
97 | reg = (u8)chan->address; | |
98 | ret = itg3200_read_reg_s16(indio_dev, reg, val); | |
99 | return IIO_VAL_INT; | |
100 | case IIO_CHAN_INFO_SCALE: | |
101 | *val = 0; | |
102 | if (chan->type == IIO_TEMP) | |
103 | *val2 = 1000000000/280; | |
104 | else | |
105 | *val2 = 1214142; /* (1 / 14,375) * (PI / 180) */ | |
106 | return IIO_VAL_INT_PLUS_NANO; | |
107 | case IIO_CHAN_INFO_OFFSET: | |
108 | /* Only the temperature channel has an offset */ | |
109 | *val = 23000; | |
110 | return IIO_VAL_INT; | |
95bb8918 JC |
111 | case IIO_CHAN_INFO_SAMP_FREQ: |
112 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, ®val); | |
113 | if (ret) | |
114 | return ret; | |
9dbf091d | 115 | |
95bb8918 | 116 | *val = (regval & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000; |
9dbf091d | 117 | |
95bb8918 JC |
118 | ret = itg3200_read_reg_8(indio_dev, |
119 | ITG3200_REG_SAMPLE_RATE_DIV, | |
120 | ®val); | |
121 | if (ret) | |
122 | return ret; | |
9dbf091d | 123 | |
95bb8918 JC |
124 | *val /= regval + 1; |
125 | return IIO_VAL_INT; | |
9dbf091d | 126 | |
95bb8918 JC |
127 | default: |
128 | return -EINVAL; | |
129 | } | |
9dbf091d MS |
130 | } |
131 | ||
95bb8918 JC |
132 | static int itg3200_write_raw(struct iio_dev *indio_dev, |
133 | struct iio_chan_spec const *chan, | |
134 | int val, | |
135 | int val2, | |
136 | long mask) | |
9dbf091d | 137 | { |
9dbf091d MS |
138 | int ret; |
139 | u8 t; | |
140 | ||
95bb8918 JC |
141 | switch (mask) { |
142 | case IIO_CHAN_INFO_SAMP_FREQ: | |
143 | if (val == 0 || val2 != 0) | |
144 | return -EINVAL; | |
9dbf091d | 145 | |
95bb8918 | 146 | mutex_lock(&indio_dev->mlock); |
9dbf091d | 147 | |
95bb8918 JC |
148 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &t); |
149 | if (ret) { | |
150 | mutex_unlock(&indio_dev->mlock); | |
151 | return ret; | |
152 | } | |
153 | t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / val - 1; | |
9dbf091d | 154 | |
95bb8918 JC |
155 | ret = itg3200_write_reg_8(indio_dev, |
156 | ITG3200_REG_SAMPLE_RATE_DIV, | |
157 | t); | |
9dbf091d | 158 | |
95bb8918 JC |
159 | mutex_unlock(&indio_dev->mlock); |
160 | return ret; | |
9dbf091d | 161 | |
95bb8918 JC |
162 | default: |
163 | return -EINVAL; | |
164 | } | |
9dbf091d MS |
165 | } |
166 | ||
167 | /* | |
168 | * Reset device and internal registers to the power-up-default settings | |
169 | * Use the gyro clock as reference, as suggested by the datasheet | |
170 | */ | |
171 | static int itg3200_reset(struct iio_dev *indio_dev) | |
172 | { | |
173 | struct itg3200 *st = iio_priv(indio_dev); | |
174 | int ret; | |
175 | ||
176 | dev_dbg(&st->i2c->dev, "reset device"); | |
177 | ||
178 | ret = itg3200_write_reg_8(indio_dev, | |
179 | ITG3200_REG_POWER_MANAGEMENT, | |
180 | ITG3200_RESET); | |
181 | if (ret) { | |
182 | dev_err(&st->i2c->dev, "error resetting device"); | |
183 | goto error_ret; | |
184 | } | |
185 | ||
186 | /* Wait for PLL (1ms according to datasheet) */ | |
187 | udelay(1500); | |
188 | ||
189 | ret = itg3200_write_reg_8(indio_dev, | |
190 | ITG3200_REG_IRQ_CONFIG, | |
191 | ITG3200_IRQ_ACTIVE_HIGH | | |
192 | ITG3200_IRQ_PUSH_PULL | | |
193 | ITG3200_IRQ_LATCH_50US_PULSE | | |
194 | ITG3200_IRQ_LATCH_CLEAR_ANY); | |
195 | ||
196 | if (ret) | |
197 | dev_err(&st->i2c->dev, "error init device"); | |
198 | ||
199 | error_ret: | |
200 | return ret; | |
201 | } | |
202 | ||
203 | /* itg3200_enable_full_scale() - Disables the digital low pass filter */ | |
204 | static int itg3200_enable_full_scale(struct iio_dev *indio_dev) | |
205 | { | |
206 | u8 val; | |
207 | int ret; | |
208 | ||
209 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &val); | |
210 | if (ret) | |
211 | goto err_ret; | |
212 | ||
213 | val |= ITG3200_DLPF_FS_SEL_2000; | |
214 | return itg3200_write_reg_8(indio_dev, ITG3200_REG_DLPF, val); | |
215 | ||
216 | err_ret: | |
217 | return ret; | |
218 | } | |
219 | ||
220 | static int itg3200_initial_setup(struct iio_dev *indio_dev) | |
221 | { | |
222 | struct itg3200 *st = iio_priv(indio_dev); | |
223 | int ret; | |
224 | u8 val; | |
225 | ||
226 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_ADDRESS, &val); | |
227 | if (ret) | |
228 | goto err_ret; | |
229 | ||
230 | if (((val >> 1) & 0x3f) != 0x34) { | |
231 | dev_err(&st->i2c->dev, "invalid reg value 0x%02x", val); | |
232 | ret = -ENXIO; | |
233 | goto err_ret; | |
234 | } | |
235 | ||
236 | ret = itg3200_reset(indio_dev); | |
237 | if (ret) | |
238 | goto err_ret; | |
239 | ||
240 | ret = itg3200_enable_full_scale(indio_dev); | |
241 | err_ret: | |
242 | return ret; | |
243 | } | |
244 | ||
9dbf091d MS |
245 | #define ITG3200_ST \ |
246 | { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE } | |
247 | ||
248 | #define ITG3200_GYRO_CHAN(_mod) { \ | |
249 | .type = IIO_ANGL_VEL, \ | |
250 | .modified = 1, \ | |
251 | .channel2 = IIO_MOD_ ## _mod, \ | |
e1865aa1 JC |
252 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
253 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ | |
95bb8918 | 254 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
9dbf091d MS |
255 | .address = ITG3200_REG_GYRO_ ## _mod ## OUT_H, \ |
256 | .scan_index = ITG3200_SCAN_GYRO_ ## _mod, \ | |
257 | .scan_type = ITG3200_ST, \ | |
258 | } | |
259 | ||
260 | static const struct iio_chan_spec itg3200_channels[] = { | |
261 | { | |
262 | .type = IIO_TEMP, | |
263 | .channel2 = IIO_NO_MOD, | |
e1865aa1 JC |
264 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), |
265 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) | | |
266 | BIT(IIO_CHAN_INFO_SCALE), | |
95bb8918 | 267 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), |
9dbf091d MS |
268 | .address = ITG3200_REG_TEMP_OUT_H, |
269 | .scan_index = ITG3200_SCAN_TEMP, | |
270 | .scan_type = ITG3200_ST, | |
271 | }, | |
272 | ITG3200_GYRO_CHAN(X), | |
273 | ITG3200_GYRO_CHAN(Y), | |
274 | ITG3200_GYRO_CHAN(Z), | |
275 | IIO_CHAN_SOFT_TIMESTAMP(ITG3200_SCAN_ELEMENTS), | |
276 | }; | |
277 | ||
9dbf091d | 278 | static const struct iio_info itg3200_info = { |
9dbf091d | 279 | .read_raw = &itg3200_read_raw, |
95bb8918 | 280 | .write_raw = &itg3200_write_raw, |
9dbf091d MS |
281 | .driver_module = THIS_MODULE, |
282 | }; | |
283 | ||
284 | static const unsigned long itg3200_available_scan_masks[] = { 0xffffffff, 0x0 }; | |
285 | ||
286 | static int itg3200_probe(struct i2c_client *client, | |
287 | const struct i2c_device_id *id) | |
288 | { | |
289 | int ret; | |
290 | struct itg3200 *st; | |
291 | struct iio_dev *indio_dev; | |
292 | ||
293 | dev_dbg(&client->dev, "probe I2C dev with IRQ %i", client->irq); | |
294 | ||
d243b3c0 SK |
295 | indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st)); |
296 | if (!indio_dev) | |
297 | return -ENOMEM; | |
9dbf091d MS |
298 | |
299 | st = iio_priv(indio_dev); | |
300 | ||
301 | i2c_set_clientdata(client, indio_dev); | |
302 | st->i2c = client; | |
303 | ||
304 | indio_dev->dev.parent = &client->dev; | |
305 | indio_dev->name = client->dev.driver->name; | |
306 | indio_dev->channels = itg3200_channels; | |
307 | indio_dev->num_channels = ARRAY_SIZE(itg3200_channels); | |
308 | indio_dev->available_scan_masks = itg3200_available_scan_masks; | |
309 | indio_dev->info = &itg3200_info; | |
310 | indio_dev->modes = INDIO_DIRECT_MODE; | |
311 | ||
312 | ret = itg3200_buffer_configure(indio_dev); | |
313 | if (ret) | |
d243b3c0 | 314 | return ret; |
9dbf091d MS |
315 | |
316 | if (client->irq) { | |
317 | ret = itg3200_probe_trigger(indio_dev); | |
318 | if (ret) | |
319 | goto error_unconfigure_buffer; | |
320 | } | |
321 | ||
322 | ret = itg3200_initial_setup(indio_dev); | |
323 | if (ret) | |
324 | goto error_remove_trigger; | |
325 | ||
326 | ret = iio_device_register(indio_dev); | |
327 | if (ret) | |
328 | goto error_remove_trigger; | |
329 | ||
330 | return 0; | |
331 | ||
332 | error_remove_trigger: | |
333 | if (client->irq) | |
334 | itg3200_remove_trigger(indio_dev); | |
335 | error_unconfigure_buffer: | |
336 | itg3200_buffer_unconfigure(indio_dev); | |
9dbf091d MS |
337 | return ret; |
338 | } | |
339 | ||
340 | static int itg3200_remove(struct i2c_client *client) | |
341 | { | |
342 | struct iio_dev *indio_dev = i2c_get_clientdata(client); | |
343 | ||
344 | iio_device_unregister(indio_dev); | |
345 | ||
346 | if (client->irq) | |
347 | itg3200_remove_trigger(indio_dev); | |
348 | ||
349 | itg3200_buffer_unconfigure(indio_dev); | |
350 | ||
9dbf091d MS |
351 | return 0; |
352 | } | |
353 | ||
354 | static const struct i2c_device_id itg3200_id[] = { | |
355 | { "itg3200", 0 }, | |
356 | { } | |
357 | }; | |
358 | MODULE_DEVICE_TABLE(i2c, itg3200_id); | |
359 | ||
360 | static struct i2c_driver itg3200_driver = { | |
361 | .driver = { | |
362 | .owner = THIS_MODULE, | |
363 | .name = "itg3200", | |
364 | }, | |
365 | .id_table = itg3200_id, | |
366 | .probe = itg3200_probe, | |
367 | .remove = itg3200_remove, | |
368 | }; | |
369 | ||
370 | module_i2c_driver(itg3200_driver); | |
371 | ||
372 | MODULE_AUTHOR("Christian Strobel <christian.strobel@iis.fraunhofer.de>"); | |
373 | MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver"); | |
374 | MODULE_LICENSE("GPL v2"); |