[deliverable/linux.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,
			/*
			 * 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 = 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,
			[5] = LSM9DS0_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,
			/*
			 * 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 = 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,
			/*
			 * 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 = 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,
	.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);

	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,
a9fd053b LW	188	/*
	189	* The sensor has IHL (active low) and open
	190	* drain settings, but only for INT1 and not
	191	* for the DRDY line on INT2.
	192	*/
97865fe4	193	.addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
7be56a8f DC	194	},
	195	.multi_read_bit = ST_GYRO_1_MULTIREAD_BIT,
	196	.bootime = 2,
	197	},
	198	{
	199	.wai = ST_GYRO_2_WAI_EXP,
bc27381e	200	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
7be56a8f DC	201	.sensors_supported = {
7be56a8f DC	202	[0] = L3GD20_GYRO_DEV_NAME,
a0657716 DC	203	[1] = LSM330D_GYRO_DEV_NAME,
	204	[2] = LSM330DLC_GYRO_DEV_NAME,
	205	[3] = L3G4IS_GYRO_DEV_NAME,
	206	[4] = LSM330_GYRO_DEV_NAME,
41c128cb	207	[5] = LSM9DS0_GYRO_DEV_NAME,
7be56a8f DC	208	},
	209	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	210	.odr = {
	211	.addr = ST_GYRO_2_ODR_ADDR,
	212	.mask = ST_GYRO_2_ODR_MASK,
	213	.odr_avl = {
	214	{ 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, },
	215	{ 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, },
	216	{ 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, },
	217	{ 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, },
	218	},
	219	},
	220	.pw = {
	221	.addr = ST_GYRO_2_PW_ADDR,
	222	.mask = ST_GYRO_2_PW_MASK,
	223	.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
	224	.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
	225	},
	226	.enable_axis = {
	227	.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
	228	.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
	229	},
	230	.fs = {
	231	.addr = ST_GYRO_2_FS_ADDR,
	232	.mask = ST_GYRO_2_FS_MASK,
	233	.fs_avl = {
	234	[0] = {
	235	.num = ST_GYRO_FS_AVL_250DPS,
	236	.value = ST_GYRO_2_FS_AVL_250_VAL,
	237	.gain = ST_GYRO_2_FS_AVL_250_GAIN,
	238	},
	239	[1] = {
	240	.num = ST_GYRO_FS_AVL_500DPS,
	241	.value = ST_GYRO_2_FS_AVL_500_VAL,
	242	.gain = ST_GYRO_2_FS_AVL_500_GAIN,
	243	},
	244	[2] = {
	245	.num = ST_GYRO_FS_AVL_2000DPS,
	246	.value = ST_GYRO_2_FS_AVL_2000_VAL,
	247	.gain = ST_GYRO_2_FS_AVL_2000_GAIN,
	248	},
	249	},
	250	},
	251	.bdu = {
	252	.addr = ST_GYRO_2_BDU_ADDR,
	253	.mask = ST_GYRO_2_BDU_MASK,
	254	},
	255	.drdy_irq = {
	256	.addr = ST_GYRO_2_DRDY_IRQ_ADDR,
23cde4d6	257	.mask_int2 = ST_GYRO_2_DRDY_IRQ_INT2_MASK,
a9fd053b LW	258	/*
	259	* The sensor has IHL (active low) and open
	260	* drain settings, but only for INT1 and not
	261	* for the DRDY line on INT2.
	262	*/
97865fe4	263	.addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
7be56a8f DC	264	},
	265	.multi_read_bit = ST_GYRO_2_MULTIREAD_BIT,
	266	.bootime = 2,
	267	},
9444a300 RD	268	{
9444a300 RD	269	.wai = ST_GYRO_3_WAI_EXP,
bc27381e	270	.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
9444a300 RD	271	.sensors_supported = {
	272	[0] = L3GD20_GYRO_DEV_NAME,
	273	},
	274	.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
	275	.odr = {
	276	.addr = ST_GYRO_3_ODR_ADDR,
	277	.mask = ST_GYRO_3_ODR_MASK,
	278	.odr_avl = {
	279	{ 95, ST_GYRO_3_ODR_AVL_95HZ_VAL, },
	280	{ 190, ST_GYRO_3_ODR_AVL_190HZ_VAL, },
	281	{ 380, ST_GYRO_3_ODR_AVL_380HZ_VAL, },
	282	{ 760, ST_GYRO_3_ODR_AVL_760HZ_VAL, },
	283	},
	284	},
	285	.pw = {
	286	.addr = ST_GYRO_3_PW_ADDR,
	287	.mask = ST_GYRO_3_PW_MASK,
	288	.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
	289	.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
	290	},
	291	.enable_axis = {
	292	.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
	293	.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
	294	},
	295	.fs = {
	296	.addr = ST_GYRO_3_FS_ADDR,
	297	.mask = ST_GYRO_3_FS_MASK,
	298	.fs_avl = {
	299	[0] = {
	300	.num = ST_GYRO_FS_AVL_250DPS,
	301	.value = ST_GYRO_3_FS_AVL_250_VAL,
	302	.gain = ST_GYRO_3_FS_AVL_250_GAIN,
	303	},
	304	[1] = {
	305	.num = ST_GYRO_FS_AVL_500DPS,
	306	.value = ST_GYRO_3_FS_AVL_500_VAL,
	307	.gain = ST_GYRO_3_FS_AVL_500_GAIN,
	308	},
	309	[2] = {
	310	.num = ST_GYRO_FS_AVL_2000DPS,
	311	.value = ST_GYRO_3_FS_AVL_2000_VAL,
	312	.gain = ST_GYRO_3_FS_AVL_2000_GAIN,
	313	},
	314	},
	315	},
	316	.bdu = {
	317	.addr = ST_GYRO_3_BDU_ADDR,
	318	.mask = ST_GYRO_3_BDU_MASK,
	319	},
	320	.drdy_irq = {
	321	.addr = ST_GYRO_3_DRDY_IRQ_ADDR,
	322	.mask_int2 = ST_GYRO_3_DRDY_IRQ_INT2_MASK,
a9fd053b LW	323	/*
	324	* The sensor has IHL (active low) and open
	325	* drain settings, but only for INT1 and not
	326	* for the DRDY line on INT2.
	327	*/
97865fe4	328	.addr_stat_drdy = ST_SENSORS_DEFAULT_STAT_ADDR,
9444a300 RD	329	},
	330	.multi_read_bit = ST_GYRO_3_MULTIREAD_BIT,
	331	.bootime = 2,
	332	},
7be56a8f DC	333	};
	334
	335	static int st_gyro_read_raw(struct iio_dev *indio_dev,
	336	struct iio_chan_spec const ch, int val,
	337	int *val2, long mask)
	338	{
	339	int err;
	340	struct st_sensor_data *gdata = iio_priv(indio_dev);
	341
	342	switch (mask) {
	343	case IIO_CHAN_INFO_RAW:
	344	err = st_sensors_read_info_raw(indio_dev, ch, val);
	345	if (err < 0)
	346	goto read_error;
	347
	348	return IIO_VAL_INT;
	349	case IIO_CHAN_INFO_SCALE:
	350	*val = 0;
	351	*val2 = gdata->current_fullscale->gain;
	352	return IIO_VAL_INT_PLUS_MICRO;
2d239c9e JC	353	case IIO_CHAN_INFO_SAMP_FREQ:
	354	*val = gdata->odr;
	355	return IIO_VAL_INT;
7be56a8f DC	356	default:
	357	return -EINVAL;
	358	}
	359
	360	read_error:
	361	return err;
	362	}
	363
	364	static int st_gyro_write_raw(struct iio_dev *indio_dev,
	365	struct iio_chan_spec const *chan, int val, int val2, long mask)
	366	{
	367	int err;
	368
	369	switch (mask) {
	370	case IIO_CHAN_INFO_SCALE:
	371	err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
	372	break;
2d239c9e JC	373	case IIO_CHAN_INFO_SAMP_FREQ:
	374	if (val2)
	375	return -EINVAL;
	376	mutex_lock(&indio_dev->mlock);
	377	err = st_sensors_set_odr(indio_dev, val);
	378	mutex_unlock(&indio_dev->mlock);
	379	return err;
7be56a8f DC	380	default:
	381	err = -EINVAL;
	382	}
	383
	384	return err;
	385	}
	386
7be56a8f DC	387	static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
	388	static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
	389
	390	static struct attribute *st_gyro_attributes[] = {
	391	&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
	392	&iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
7be56a8f DC	393	NULL,
	394	};
	395
	396	static const struct attribute_group st_gyro_attribute_group = {
	397	.attrs = st_gyro_attributes,
	398	};
	399
	400	static const struct iio_info gyro_info = {
	401	.driver_module = THIS_MODULE,
	402	.attrs = &st_gyro_attribute_group,
	403	.read_raw = &st_gyro_read_raw,
	404	.write_raw = &st_gyro_write_raw,
a0175b9c	405	.debugfs_reg_access = &st_sensors_debugfs_reg_access,
7be56a8f DC	406	};
7be56a8f DC	407
8ce4a56a	408	#ifdef CONFIG_IIO_TRIGGER
7be56a8f DC	409	static const struct iio_trigger_ops st_gyro_trigger_ops = {
	410	.owner = THIS_MODULE,
	411	.set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
65925b65	412	.validate_device = st_sensors_validate_device,
7be56a8f	413	};
8ce4a56a JC	414	#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
	415	#else
	416	#define ST_GYRO_TRIGGER_OPS NULL
	417	#endif
7be56a8f	418
ef67b341	419	int st_gyro_common_probe(struct iio_dev *indio_dev)
7be56a8f	420	{
7be56a8f	421	struct st_sensor_data *gdata = iio_priv(indio_dev);
f01a140a LJ	422	int irq = gdata->get_irq_data_ready(indio_dev);
f01a140a LJ	423	int err;
7be56a8f DC	424
	425	indio_dev->modes = INDIO_DIRECT_MODE;
	426	indio_dev->info = &gyro_info;
8e71c04f	427	mutex_init(&gdata->tb.buf_lock);
7be56a8f	428
ea7e586b LW	429	st_sensors_power_enable(indio_dev);
ea7e586b LW	430
7be56a8f	431	err = st_sensors_check_device_support(indio_dev,
a7ee8839 DC	432	ARRAY_SIZE(st_gyro_sensors_settings),
a7ee8839 DC	433	st_gyro_sensors_settings);
7be56a8f	434	if (err < 0)
f01a140a	435	return err;
7be56a8f	436
607a568a	437	gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
a7ee8839 DC	438	gdata->multiread_bit = gdata->sensor_settings->multi_read_bit;
a7ee8839 DC	439	indio_dev->channels = gdata->sensor_settings->ch;
7be56a8f DC	440	indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
	441
	442	gdata->current_fullscale = (struct st_sensor_fullscale_avl *)
a7ee8839 DC	443	&gdata->sensor_settings->fs.fs_avl[0];
a7ee8839 DC	444	gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
7be56a8f	445
ef67b341 DC	446	err = st_sensors_init_sensor(indio_dev,
ef67b341 DC	447	(struct st_sensors_platform_data *)&gyro_pdata);
7be56a8f	448	if (err < 0)
f01a140a	449	return err;
7be56a8f	450
fb4ea1f8 DC	451	err = st_gyro_allocate_ring(indio_dev);
	452	if (err < 0)
	453	return err;
7be56a8f	454
fb4ea1f8	455	if (irq > 0) {
7be56a8f	456	err = st_sensors_allocate_trigger(indio_dev,
8ce4a56a	457	ST_GYRO_TRIGGER_OPS);
7be56a8f DC	458	if (err < 0)
	459	goto st_gyro_probe_trigger_error;
	460	}
	461
	462	err = iio_device_register(indio_dev);
	463	if (err)
	464	goto st_gyro_device_register_error;
	465
4f544ced LW	466	dev_info(&indio_dev->dev, "registered gyroscope %s\n",
	467	indio_dev->name);
	468
f01a140a	469	return 0;
7be56a8f DC	470
7be56a8f DC	471	st_gyro_device_register_error:
f01a140a	472	if (irq > 0)
7be56a8f DC	473	st_sensors_deallocate_trigger(indio_dev);
7be56a8f DC	474	st_gyro_probe_trigger_error:
fb4ea1f8	475	st_gyro_deallocate_ring(indio_dev);
f01a140a	476
7be56a8f DC	477	return err;
	478	}
	479	EXPORT_SYMBOL(st_gyro_common_probe);
	480
	481	void st_gyro_common_remove(struct iio_dev *indio_dev)
	482	{
	483	struct st_sensor_data *gdata = iio_priv(indio_dev);
	484
ea7e586b LW	485	st_sensors_power_disable(indio_dev);
ea7e586b LW	486
7be56a8f	487	iio_device_unregister(indio_dev);
fb4ea1f8	488	if (gdata->get_irq_data_ready(indio_dev) > 0)
7be56a8f	489	st_sensors_deallocate_trigger(indio_dev);
fb4ea1f8 DC	490
fb4ea1f8 DC	491	st_gyro_deallocate_ring(indio_dev);
7be56a8f DC	492	}
	493	EXPORT_SYMBOL(st_gyro_common_remove);
	494
	495	MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
	496	MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
	497	MODULE_LICENSE("GPL v2");