On Tue, 04 Sep 2018 20:23:57 +0100 Afonso Bordado <afonsobordado@xxxxxx> wrote: > On Fri, 2018-08-31 at 17:35 +0200, Tomasz Duszynski wrote: > > On Thu, Aug 30, 2018 at 10:18:22PM +0100, Afonso Bordado wrote: > > > FXAS21002C is a 3 axis gyroscope with integrated temperature sensor Just a quick hint to make my life easier (as I tend to try and keep up with all these threads). Also helps the person you are responding to. If you are just going to agree with a suggestion in a review, either don't reply at all (the next version with it fixed does that job :) or cut out all the rest of the patch just leaving the relevant section. I'm having a moan about this today though it's not really a big thing. Jonathan > > > > > > Signed-off-by: Afonso Bordado <afonsobordado@xxxxxx> > > > --- > > > Changes in v2 > > > - Use ANSI C Comments > > > - Minor cleanups > > > - More dscriptive devicetree bindings > > > > > > drivers/iio/gyro/Kconfig | 11 + > > > drivers/iio/gyro/Makefile | 1 + > > > drivers/iio/gyro/fxas21002c.c | 367 > > > ++++++++++++++++++++++++++++++++++ > > > 3 files changed, 379 insertions(+) > > > create mode 100644 drivers/iio/gyro/fxas21002c.c > > > > > > diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig > > > index 3126cf05e6b9..d71e33ea9fa4 100644 > > > --- a/drivers/iio/gyro/Kconfig > > > +++ b/drivers/iio/gyro/Kconfig > > > @@ -73,6 +73,17 @@ config BMG160_SPI > > > tristate > > > select REGMAP_SPI > > > > > > +config FXAS21002C > > > + tristate "Freescale FXAS21002C Gyroscope" > > > + depends on I2C > > > + select REGMAP_I2C > > > + help > > > + Say yes here to build support for the Freescale FXAS21002C > > > Gyroscope > > > + driver connected via I2C. > > > + > > > + This driver can also be built as a module. If so, the module > > > + will be called fxas21002c. > > > + > > > config HID_SENSOR_GYRO_3D > > > depends on HID_SENSOR_HUB > > > select IIO_BUFFER > > > diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile > > > index 295ec780c4eb..ec3e2aeae92a 100644 > > > --- a/drivers/iio/gyro/Makefile > > > +++ b/drivers/iio/gyro/Makefile > > > @@ -12,6 +12,7 @@ obj-$(CONFIG_ADXRS450) += adxrs450.o > > > obj-$(CONFIG_BMG160) += bmg160_core.o > > > obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o > > > obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o > > > +obj-$(CONFIG_FXAS21002C) += fxas21002c.o > > > > > > obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o > > > > > > diff --git a/drivers/iio/gyro/fxas21002c.c > > > b/drivers/iio/gyro/fxas21002c.c > > > new file mode 100644 > > > index 000000000000..261b73629544 > > > --- /dev/null > > > +++ b/drivers/iio/gyro/fxas21002c.c > > > @@ -0,0 +1,367 @@ > > > +// SPDX-License-Identifier: GPL-2.0 > > > +/* > > > + * FXAS21002C - Digital Angular Rate Gyroscope driver > > > + * > > > + * Copyright (c) 2018, Afonso Bordado <afonsobordado@xxxxxx> > > > + * > > > + * IIO driver for FXAS21002C (7-bit I2C slave address 0x20 or > > > 0x21). > > > + * Datasheet: https://www.nxp.com/docs/en/data-sheet/FXAS21002.pdf > > > + * TODO: > > > + * ODR / Scale Support > > > + * Devicetree > > > + * Power management > > > + * LowPass/HighPass Filters > > > + * Buffers > > > + * Interrupts > > > + * Alarms > > > + */ > > > + > > > +#include <linux/module.h> > > > +#include <linux/i2c.h> > > > +#include <linux/iio/iio.h> > > > +#include <linux/iio/sysfs.h> > > > +#include <linux/regmap.h> > > > + > > > +#define FXAS21002C_DRV_NAME "fxas21002c" > > > + > > > +#define FXAS21002C_MAX_TRANSITION_TIME_MS 61 > > > + > > > +#define FXAS21002C_CHIP_ID 0xD7 > > > + > > > +#define FXAS21002C_REG_STATUS 0x00 > > > +#define FXAS21002C_REG_OUT_X_MSB 0x01 > > > +#define FXAS21002C_REG_OUT_X_LSB 0x02 > > > +#define FXAS21002C_REG_OUT_Y_MSB 0x03 > > > +#define FXAS21002C_REG_OUT_Y_LSB 0x04 > > > +#define FXAS21002C_REG_OUT_Z_MSB 0x05 > > > +#define FXAS21002C_REG_OUT_Z_LSB 0x06 > > > +#define FXAS21002C_REG_DR_STATUS 0x07 > > > +#define FXAS21002C_REG_F_STATUS 0x08 > > > +#define FXAS21002C_REG_F_SETUP 0x09 > > > +#define FXAS21002C_REG_F_EVENT 0x0A > > > +#define FXAS21002C_REG_INT_SRC_FLAG 0x0B > > > +#define FXAS21002C_REG_WHO_AM_I 0x0C > > > +#define FXAS21002C_REG_CTRL_REG0 0x0D > > > +#define FXAS21002C_REG_RT_CFG 0x0E > > > +#define FXAS21002C_REG_RT_SRC 0x0F > > > +#define FXAS21002C_REG_RT_THS 0x10 > > > +#define FXAS21002C_REG_RT_COUNT 0x11 > > > +#define FXAS21002C_REG_TEMP 0x12 > > > + > > > +#define FXAS21002C_REG_CTRL_REG1 0x13 > > > +#define FXAS21002C_RST_BIT BIT(6) > > > +#define FXAS21002C_ACTIVE_BIT BIT(1) > > > +#define FXAS21002C_READY_BIT BIT(0) > > > + > > > +#define FXAS21002C_REG_CTRL_REG2 0x14 > > > +#define FXAS21002C_REG_CTRL_REG3 0x15 > > > + > > > +#define FXAS21002C_DEFAULT_ODR_HZ 800 > > > + > > > +/* 0.0625 deg/s */ > > > +#define FXAS21002C_DEFAULT_SENSITIVITY IIO_DEGREE_TO_RAD(62500) > > > + > > > +#define FXAS21002C_TEMP_SCALE 1000 > > > + > > > +enum fxas21002c_id { > > > > It looks like your are not using this named enum anywhere > > in the code so perhaps drop the name. Besides the name > > collides with i2c_device_id table's name. Just a suggestion though. > > I agree, changed in v3. > > > > + ID_FXAS21002C, > > > +}; > > > + > > > +enum fxas21002c_operating_mode { > > > + FXAS21002C_OM_BOOT, > > > + FXAS21002C_OM_STANDBY, > > > + FXAS21002C_OM_READY, > > > + FXAS21002C_OM_ACTIVE, > > > +}; > > > + > > > +struct fxas21002c_data { > > > + struct i2c_client *client; > > > + struct regmap *regmap; > > > +}; > > > + > > > +static const struct regmap_range fxas21002c_writable_ranges[] = { > > > + regmap_reg_range(FXAS21002C_REG_F_SETUP, > > > FXAS21002C_REG_F_SETUP), > > > + regmap_reg_range(FXAS21002C_REG_CTRL_REG0, > > > FXAS21002C_REG_RT_CFG), > > > + regmap_reg_range(FXAS21002C_REG_RT_THS, > > > FXAS21002C_REG_RT_COUNT), > > > + regmap_reg_range(FXAS21002C_REG_CTRL_REG1, > > > FXAS21002C_REG_CTRL_REG3), > > > +}; > > > + > > > +static const struct regmap_access_table fxas21002c_writable_table > > > = { > > > + .yes_ranges = fxas21002c_writable_ranges, > > > + .n_yes_ranges = ARRAY_SIZE(fxas21002c_writable_ranges), > > > +}; > > > + > > > +static const struct regmap_range fxas21002c_volatile_ranges[] = { > > > + regmap_reg_range(FXAS21002C_REG_STATUS, > > > FXAS21002C_REG_F_STATUS), > > > + regmap_reg_range(FXAS21002C_REG_F_EVENT, > > > FXAS21002C_REG_INT_SRC_FLAG), > > > + regmap_reg_range(FXAS21002C_REG_RT_COUNT, > > > FXAS21002C_REG_CTRL_REG1), > > > +}; > > > + > > > +static const struct regmap_access_table fxas21002c_volatile_table > > > = { > > > + .yes_ranges = fxas21002c_volatile_ranges, > > > + .n_yes_ranges = ARRAY_SIZE(fxas21002c_volatile_ranges), > > > +}; > > > + > > > +const struct regmap_config fxas21002c_regmap_config = { > > > + .reg_bits = 8, > > > + .val_bits = 8, > > > + > > > + .max_register = FXAS21002C_REG_CTRL_REG3, > > > + /* We don't specify a .rd_table because everything is readable > > > */ > > > + .wr_table = &fxas21002c_writable_table, > > > + .volatile_table = &fxas21002c_volatile_table, > > > +}; > > > +EXPORT_SYMBOL(fxas21002c_regmap_config); > > > + > > > +#define FXAS21002C_GYRO_CHAN(_axis) { > > > \ > > > + .type = IIO_ANGL_VEL, > > > \ > > > + .modified = 1, > > > \ > > > + .channel2 = IIO_MOD_ ## _axis, > > > \ > > > + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), > > > \ > > > + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | > > > \ > > > + BIT(IIO_CHAN_INFO_SAMP_FREQ), \ > > > + .address = FXAS21002C_REG_OUT_ ## _axis ## _MSB, \ > > > +} > > > + > > > +static const struct iio_chan_spec fxas21002c_channels[] = { > > > + { > > > + .type = IIO_TEMP, > > > + .address = FXAS21002C_REG_TEMP, > > > + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | > > > + BIT(IIO_CHAN_INFO_SCALE), > > > + }, > > > + FXAS21002C_GYRO_CHAN(X), > > > + FXAS21002C_GYRO_CHAN(Y), > > > + FXAS21002C_GYRO_CHAN(Z), > > > + IIO_CHAN_SOFT_TIMESTAMP(3), > > > +}; > > > + > > > +static int fxas21002c_set_operating_mode(struct fxas21002c_data > > > *data, > > > + enum fxas21002c_operating_mode > > > om) > > > +{ > > > + int ret; > > > + int mask; > > > + > > > + switch (om) { > > > + case FXAS21002C_OM_STANDBY: > > > + mask = 0; > > > + break; > > > + case FXAS21002C_OM_READY: > > > + mask = FXAS21002C_READY_BIT; > > > + break; > > > + case FXAS21002C_OM_ACTIVE: > > > + mask = FXAS21002C_ACTIVE_BIT; > > > + break; > > > + > > > + default: > > > + return -EINVAL; > > > + } > > > + > > > + ret = regmap_write(data->regmap, FXAS21002C_REG_CTRL_REG1, > > > mask); > > > + if (ret) { > > > + dev_err(&data->client->dev, > > > + "could not switch operating mode\n"); > > > + return ret; > > > + } > > > + > > > + msleep(FXAS21002C_MAX_TRANSITION_TIME_MS); > > > + > > > + return 0; > > > +} > > > + > > > +static void fxas21002c_standby(void *_data) > > > +{ > > > + struct fxas21002c_data *data = _data; > > > + > > > + fxas21002c_set_operating_mode(data, FXAS21002C_OM_STANDBY); > > > +} > > > + > > > +static int fxas21002c_reset(struct fxas21002c_data *data) > > > +{ > > > + int ret; > > > + > > > + /* > > > + * On issuing a Software Reset command over an I2C interface, > > > + * the device immediately resets and does not send any > > > + * acknowledgment (ACK) of the written byte to the Master. > > > + * > > > + * This is documented in table 46 on the datasheet. Due to this > > > + * the write will fail with EREMOTEIO. > > > + */ > > > + ret = regmap_write(data->regmap, > > > + FXAS21002C_REG_CTRL_REG1, > > > FXAS21002C_RST_BIT); > > > + > > > + if (ret != -EREMOTEIO) { > > > + dev_err(&data->client->dev, "could not reset > > > device\n"); > > > + return ret; > > > + } > > > + > > > + regcache_mark_dirty(data->regmap); > > > + > > > + /* Wait for device to boot up */ > > > + msleep(FXAS21002C_MAX_TRANSITION_TIME_MS); > > > + > > > + return 0; > > > +} > > > + > > > +static int fxas21002c_verify_chip(struct fxas21002c_data *data) > > > +{ > > > + int ret; > > > + int chip_id; > > > + > > > + ret = regmap_read(data->regmap, FXAS21002C_REG_WHO_AM_I, > > > &chip_id); > > > + if (ret) { > > > + dev_err(&data->client->dev, "could not read device > > > id\n"); > > > + return ret; > > > + } > > > + > > > + if (chip_id != FXAS21002C_CHIP_ID) { > > > + dev_err(&data->client->dev, > > > + "unsupported chip id %02x\n", chip_id); > > > + return -ENODEV; > > > + } > > > + > > > + return 0; > > > +} > > > + > > > +static int fxas21002c_read_oneshot(struct fxas21002c_data *data, > > > + struct iio_chan_spec const *chan, > > > int *val) > > > +{ > > > + int ret; > > > + __be16 bulk_raw; > > > + > > > + switch (chan->type) { > > > + case IIO_ANGL_VEL: > > > + ret = regmap_bulk_read(data->regmap, chan->address, > > > + &bulk_raw, sizeof(bulk_raw)); > > > + if (ret) > > > + return ret; > > > + > > > + *val = sign_extend32(be16_to_cpu(bulk_raw), 15); > > > + return IIO_VAL_INT; > > > + case IIO_TEMP: > > > + ret = regmap_read(data->regmap, chan->address, val); > > > + if (ret) > > > + return ret; > > > + > > > + return IIO_VAL_INT; > > > + default: > > > + return -EINVAL; > > > + } > > > +} > > > + > > > +static int fxas21002c_read_raw(struct iio_dev *indio_dev, > > > + struct iio_chan_spec const *chan, int > > > *val, > > > + int *val2, long mask) > > > +{ > > > + struct fxas21002c_data *data = iio_priv(indio_dev); > > > + > > > + switch (mask) { > > > + case IIO_CHAN_INFO_RAW: > > > + return fxas21002c_read_oneshot(data, chan, val); > > > + case IIO_CHAN_INFO_SCALE: > > > + switch (chan->type) { > > > + case IIO_ANGL_VEL: > > > + *val = 0; > > > + *val2 = FXAS21002C_DEFAULT_SENSITIVITY; > > > + > > > + return IIO_VAL_INT_PLUS_MICRO; > > > + case IIO_TEMP: > > > + *val = FXAS21002C_TEMP_SCALE; > > > + > > > + return IIO_VAL_INT; > > > + default: > > > + return -EINVAL; > > > + } > > > + case IIO_CHAN_INFO_SAMP_FREQ: > > > + if (chan->type != IIO_ANGL_VEL) > > > + return -EINVAL; > > > + > > > + *val = FXAS21002C_DEFAULT_ODR_HZ; > > > + > > > + return IIO_VAL_INT; > > > + } > > > + > > > + return -EINVAL; > > > +} > > > + > > > +static const struct iio_info fxas21002c_info = { > > > + .read_raw = fxas21002c_read_raw, > > > +}; > > > + > > > +static int fxas21002c_probe(struct i2c_client *client, > > > + const struct i2c_device_id *id) > > > +{ > > > + int ret; > > > + struct iio_dev *indio_dev; > > > + struct fxas21002c_data *data; > > > + > > > + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); > > > + if (!indio_dev) > > > + return -ENOMEM; > > > + > > > + i2c_set_clientdata(client, indio_dev); > > > + data = iio_priv(indio_dev); > > > + data->client = client; > > > + > > > + data->regmap = devm_regmap_init_i2c(client, > > > &fxas21002c_regmap_config); > > > + if (IS_ERR(data->regmap)) { > > > + ret = PTR_ERR(data->regmap); > > > + dev_err(&client->dev, > > > + "Failed to allocate regmap, err: %d\n", ret); > > > + return ret; > > > + } > > > + > > > + indio_dev->dev.parent = &client->dev; > > > + indio_dev->channels = fxas21002c_channels; > > > + indio_dev->num_channels = ARRAY_SIZE(fxas21002c_channels); > > > + indio_dev->name = id->name; > > > + indio_dev->modes = INDIO_DIRECT_MODE; > > > + indio_dev->info = &fxas21002c_info; > > > + > > > + ret = fxas21002c_verify_chip(data); > > > + if (ret < 0) > > > + return ret; > > > + > > > + ret = fxas21002c_reset(data); > > > + if (ret < 0) > > > + return ret; > > > + > > > + ret = fxas21002c_set_operating_mode(data, > > > FXAS21002C_OM_ACTIVE); > > > + if (ret < 0) > > > + return ret; > > > + > > > + ret = devm_add_action(&client->dev, fxas21002c_standby, data); > > > + if (ret < 0) { > > > + fxas21002c_standby(data); > > > + dev_err(&client->dev, "failed to add standby > > > action\n"); > > > + return ret; > > > + } > > > + > > > + ret = iio_device_register(indio_dev); > > > + if (ret < 0) > > > + dev_err(&client->dev, "failed to register iio > > > device\n"); > > > + > > > + return ret; > > > +} > > > + > > > +static const struct i2c_device_id fxas21002c_id[] = { > > > + {"fxas21002c", ID_FXAS21002C}, > > > + {} > > > +}; > > > + > > > +MODULE_DEVICE_TABLE(i2c, fxas21002c_id); > > > + > > > +static struct i2c_driver fxas21002c_driver = { > > > + .driver = { > > > + .name = FXAS21002C_DRV_NAME, > > > + }, > > > + .probe = fxas21002c_probe, > > > + .id_table = fxas21002c_id, > > > +}; > > > + > > > +module_i2c_driver(fxas21002c_driver); > > > + > > > +MODULE_AUTHOR("Afonso Bordado <afonsobordado@xxxxxx>"); > > > +MODULE_DESCRIPTION("FXAS21002C Digital Angular Rate Gyroscope > > > driver"); > > > +MODULE_LICENSE("GPL v2"); > > > -- > > > 2.18.0 > > > > > > > >
