This add the core support for the NXP fxas2100x Tri-axis gyroscope, using
the iio subsystem. It supports PM operations, axis reading, temperature, scale
factor of the axis, high pass and low pass filtering, and sampling frequency
selection.
It will have extras modules to support the communication over i2c
and spi.
Signed-off-by: Rui Miguel Silva <rui.silva@xxxxxxxxxx>
---
drivers/iio/gyro/Kconfig | 11 +
drivers/iio/gyro/Makefile | 1 +
drivers/iio/gyro/fxas2100x.h | 149 +++++
drivers/iio/gyro/fxas2100x_core.c | 930 ++++++++++++++++++++++++++++++
4 files changed, 1091 insertions(+)
create mode 100644 drivers/iio/gyro/fxas2100x.h
create mode 100644 drivers/iio/gyro/fxas2100x_core.c
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index 3126cf05e6b9..c168aa63de3b 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -73,6 +73,17 @@ config BMG160_SPI
tristate
select REGMAP_SPI
+config FXAS2100X
+ tristate "NXP FXAS2100X Gyro Sensor"
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+ help
+ Say yes here to build support for NXP FXAS2100X family Tri-axis Gyro
+ Sensor driver connected via I2C or SPI.
+
+ This driver can also be built as a module. If so, the module
+ will be called fxas2100x_i2c or fxas2100x_spi.
+
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..9e2395185a6e 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-$(CONFIG_FXAS2100X) += fxas2100x_core.o
obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
diff --git a/drivers/iio/gyro/fxas2100x.h b/drivers/iio/gyro/fxas2100x.h
new file mode 100644
index 000000000000..417445d2bcda
--- /dev/null
+++ b/drivers/iio/gyro/fxas2100x.h
@@ -0,0 +1,149 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Driver for NXP FXAS2100x Gyroscope - Header
+ *
+ * Copyright (C) 2018 Linaro Ltd.
+ *
+ */
+
+#ifndef FXAS2100X_H_
+#define FXAS2100X_H_
+
+#define FXAS2100X_REG_STATUS 0x00
+#define FXAS2100X_REG_OUT_X_MSB 0x01
+#define FXAS2100X_REG_OUT_X_LSB 0x02
+#define FXAS2100X_REG_OUT_Y_MSB 0x03
+#define FXAS2100X_REG_OUT_Y_LSB 0x04
+#define FXAS2100X_REG_OUT_Z_MSB 0x05
+#define FXAS2100X_REG_OUT_Z_LSB 0x06
+#define FXAS2100X_REG_DR_STATUS 0x07
+#define FXAS2100X_REG_F_STATUS 0x08
+#define FXAS2100X_REG_F_SETUP 0x09
+#define FXAS2100X_REG_F_EVENT 0x0A
+#define FXAS2100X_REG_INT_SRC_FLAG 0x0B
+#define FXAS2100X_REG_WHO_AM_I 0x0C
+#define FXAS2100X_REG_CTRL0 0x0D
+#define FXAS2100X_REG_RT_CFG 0x0E
+#define FXAS2100X_REG_RT_SRC 0x0F
+#define FXAS2100X_REG_RT_THS 0x10
+#define FXAS2100X_REG_RT_COUNT 0x11
+#define FXAS2100X_REG_TEMP 0x12
+#define FXAS2100X_REG_CTRL1 0x13
+#define FXAS2100X_REG_CTRL2 0x14
+#define FXAS2100X_REG_CTRL3 0x15
+
+enum fxas2100x_fields {
+ F_DR_STATUS,
+ F_OUT_X_MSB,
+ F_OUT_X_LSB,
+ F_OUT_Y_MSB,
+ F_OUT_Y_LSB,
+ F_OUT_Z_MSB,
+ F_OUT_Z_LSB,
+ /* DR_STATUS */
+ F_ZYX_OW, F_Z_OW, F_Y_OW, F_X_OW, F_ZYX_DR, F_Z_DR, F_Y_DR, F_X_DR,
+ /* F_STATUS */
+ F_OVF, F_WMKF, F_CNT,
+ /* F_SETUP */
+ F_MODE, F_WMRK,
+ /* F_EVENT */
+ F_EVENT, FE_TIME,
+ /* INT_SOURCE_FLAG */
+ F_BOOTEND, F_SRC_FIFO, F_SRC_RT, F_SRC_DRDY,
+ /* WHO_AM_I */
+ F_WHO_AM_I,
+ /* CTRL_REG0 */
+ F_BW, F_SPIW, F_SEL, F_HPF_EN, F_FS,
+ /* RT_CFG */
+ F_ELE, F_ZTEFE, F_YTEFE, F_XTEFE,
+ /* RT_SRC */
+ F_EA, F_ZRT, F_ZRT_POL, F_YRT, F_YRT_POL, F_XRT, F_XRT_POL,
+ /* RT_THS */
+ F_DBCNTM, F_THS,
+ /* RT_COUNT */
+ F_RT_COUNT,
+ /* TEMP */
+ F_TEMP,
+ /* CTRL_REG1 */
+ F_RST, F_ST, F_DR, F_ACTIVE, F_READY,
+ /* CTRL_REG2 */
+ F_INT_CFG_FIFO, F_INT_EN_FIFO, F_INT_CFG_RT, F_INT_EN_RT,
+ F_INT_CFG_DRDY, F_INT_EN_DRDY, F_IPOL, F_PP_OD,
+ /* CTRL_REG3 */
+ F_WRAPTOONE, F_EXTCTRLEN, F_FS_DOUBLE,
+ /* MAX FIELDS */
+ F_MAX_FIELDS,
+};
+
+static const struct reg_field fxas2100x_reg_fields[] = {
+ [F_DR_STATUS] = REG_FIELD(FXAS2100X_REG_STATUS, 0, 7),
+ [F_OUT_X_MSB] = REG_FIELD(FXAS2100X_REG_OUT_X_MSB, 0, 7),
+ [F_OUT_X_LSB] = REG_FIELD(FXAS2100X_REG_OUT_X_LSB, 0, 7),
+ [F_OUT_Y_MSB] = REG_FIELD(FXAS2100X_REG_OUT_Y_MSB, 0, 7),
+ [F_OUT_Y_LSB] = REG_FIELD(FXAS2100X_REG_OUT_Y_LSB, 0, 7),
+ [F_OUT_Z_MSB] = REG_FIELD(FXAS2100X_REG_OUT_Z_MSB, 0, 7),
+ [F_OUT_Z_LSB] = REG_FIELD(FXAS2100X_REG_OUT_Z_LSB, 0, 7),
+ [F_ZYX_OW] = REG_FIELD(FXAS2100X_REG_DR_STATUS, 7, 7),
+ [F_Z_OW] = REG_FIELD(FXAS2100X_REG_DR_STATUS, 6, 6),
+ [F_Y_OW] = REG_FIELD(FXAS2100X_REG_DR_STATUS, 5, 5),
+ [F_X_OW] = REG_FIELD(FXAS2100X_REG_DR_STATUS, 4, 4),
+ [F_ZYX_DR] = REG_FIELD(FXAS2100X_REG_DR_STATUS, 3, 3),
+ [F_Z_DR] = REG_FIELD(FXAS2100X_REG_DR_STATUS, 2, 2),
+ [F_Y_DR] = REG_FIELD(FXAS2100X_REG_DR_STATUS, 1, 1),
+ [F_X_DR] = REG_FIELD(FXAS2100X_REG_DR_STATUS, 0, 0),
+ [F_OVF] = REG_FIELD(FXAS2100X_REG_F_STATUS, 7, 7),
+ [F_WMKF] = REG_FIELD(FXAS2100X_REG_F_STATUS, 6, 6),
+ [F_CNT] = REG_FIELD(FXAS2100X_REG_F_STATUS, 0, 5),
+ [F_MODE] = REG_FIELD(FXAS2100X_REG_F_SETUP, 6, 7),
+ [F_WMRK] = REG_FIELD(FXAS2100X_REG_F_SETUP, 0, 5),
+ [F_EVENT] = REG_FIELD(FXAS2100X_REG_F_EVENT, 5, 5),
+ [FE_TIME] = REG_FIELD(FXAS2100X_REG_F_EVENT, 0, 4),
+ [F_BOOTEND] = REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 3, 3),
+ [F_SRC_FIFO] = REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 2, 2),
+ [F_SRC_RT] = REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 1, 1),
+ [F_SRC_DRDY] = REG_FIELD(FXAS2100X_REG_INT_SRC_FLAG, 0, 0),
+ [F_WHO_AM_I] = REG_FIELD(FXAS2100X_REG_WHO_AM_I, 0, 7),
+ [F_BW] = REG_FIELD(FXAS2100X_REG_CTRL0, 6, 7),
+ [F_SPIW] = REG_FIELD(FXAS2100X_REG_CTRL0, 5, 5),
+ [F_SEL] = REG_FIELD(FXAS2100X_REG_CTRL0, 3, 4),
+ [F_HPF_EN] = REG_FIELD(FXAS2100X_REG_CTRL0, 2, 2),
+ [F_FS] = REG_FIELD(FXAS2100X_REG_CTRL0, 0, 1),
+ [F_ELE] = REG_FIELD(FXAS2100X_REG_RT_CFG, 3, 3),
+ [F_ZTEFE] = REG_FIELD(FXAS2100X_REG_RT_CFG, 2, 2),
+ [F_YTEFE] = REG_FIELD(FXAS2100X_REG_RT_CFG, 1, 1),
+ [F_XTEFE] = REG_FIELD(FXAS2100X_REG_RT_CFG, 0, 0),
+ [F_EA] = REG_FIELD(FXAS2100X_REG_RT_SRC, 6, 6),
+ [F_ZRT] = REG_FIELD(FXAS2100X_REG_RT_SRC, 5, 5),
+ [F_ZRT_POL] = REG_FIELD(FXAS2100X_REG_RT_SRC, 4, 4),
+ [F_YRT] = REG_FIELD(FXAS2100X_REG_RT_SRC, 3, 3),
+ [F_YRT_POL] = REG_FIELD(FXAS2100X_REG_RT_SRC, 2, 2),
+ [F_XRT] = REG_FIELD(FXAS2100X_REG_RT_SRC, 1, 1),
+ [F_XRT_POL] = REG_FIELD(FXAS2100X_REG_RT_SRC, 0, 0),
+ [F_DBCNTM] = REG_FIELD(FXAS2100X_REG_RT_THS, 7, 7),
+ [F_THS] = REG_FIELD(FXAS2100X_REG_RT_SRC, 0, 6),
+ [F_RT_COUNT] = REG_FIELD(FXAS2100X_REG_RT_COUNT, 0, 7),
+ [F_TEMP] = REG_FIELD(FXAS2100X_REG_TEMP, 0, 7),
+ [F_RST] = REG_FIELD(FXAS2100X_REG_CTRL1, 6, 6),
+ [F_ST] = REG_FIELD(FXAS2100X_REG_CTRL1, 5, 5),
+ [F_DR] = REG_FIELD(FXAS2100X_REG_CTRL1, 2, 4),
+ [F_ACTIVE] = REG_FIELD(FXAS2100X_REG_CTRL1, 1, 1),
+ [F_READY] = REG_FIELD(FXAS2100X_REG_CTRL1, 0, 0),
+ [F_INT_CFG_FIFO] = REG_FIELD(FXAS2100X_REG_CTRL2, 7, 7),
+ [F_INT_EN_FIFO] = REG_FIELD(FXAS2100X_REG_CTRL2, 6, 6),
+ [F_INT_CFG_RT] = REG_FIELD(FXAS2100X_REG_CTRL2, 5, 5),
+ [F_INT_EN_RT] = REG_FIELD(FXAS2100X_REG_CTRL2, 4, 4),
+ [F_INT_CFG_DRDY] = REG_FIELD(FXAS2100X_REG_CTRL2, 3, 3),
+ [F_INT_EN_DRDY] = REG_FIELD(FXAS2100X_REG_CTRL2, 2, 2),
+ [F_IPOL] = REG_FIELD(FXAS2100X_REG_CTRL2, 1, 1),
+ [F_PP_OD] = REG_FIELD(FXAS2100X_REG_CTRL2, 0, 0),
+ [F_WRAPTOONE] = REG_FIELD(FXAS2100X_REG_CTRL3, 3, 3),
+ [F_EXTCTRLEN] = REG_FIELD(FXAS2100X_REG_CTRL3, 2, 2),
+ [F_FS_DOUBLE] = REG_FIELD(FXAS2100X_REG_CTRL3, 0, 0),
+};
+
+extern const struct dev_pm_ops fxas2100x_pm_ops;
+
+int fxas2100x_core_probe(struct device *dev, struct regmap *regmap, int irq,
+ const char *name);
+void fxas2100x_core_remove(struct device *dev);
+#endif
diff --git a/drivers/iio/gyro/fxas2100x_core.c b/drivers/iio/gyro/fxas2100x_core.c
new file mode 100644
index 000000000000..1f88760563dd
--- /dev/null
+++ b/drivers/iio/gyro/fxas2100x_core.c
@@ -0,0 +1,930 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Driver for NXP FXAS2100x Gyroscope - Core
+ *
+ * Copyright (C) 2019 Linaro Ltd.
+ *
+ */
+
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/pm.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+
+#include <linux/iio/events.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#include "fxas2100x.h"
+
+#define FXAS21002_CHIP_ID_1 0xD6
+#define FXAS21002_CHIP_ID_2 0xD7
+
+#define FXAS2100X_MODE_STANDBY 0x00
+#define FXAS2100X_MODE_READY 0x01
+#define FXAS2100X_MODE_ACTIVE 0x02
+
+#define FXAS2100X_STANDBY_ACTIVE_TIME_MS 62
+#define FXAS2100X_READY_ACTIVE_TIME_MS 7
+
+#define FXAS2100X_ODR_LIST_MAX 10
+
+#define FXAS2100X_SCALE_FRACTIONAL 32
+#define FXAS2100X_RANGE_LIMIT_DOUBLE 2000
+
+#define FXAS2100X_AXIS_TO_REG(axis) (FXAS2100X_REG_OUT_X_MSB + ((axis) * 2))
+
+static const int fxas2100x_odr_values[] = {
+ 800, 400, 200, 100, 50, 25, 12, 12
+};
+
+/*
+ * This values are taken from the low-pass filter cuttoff frequency calculated
+ * ODR * 0.lpf_values. So, for ODR = 800Hz with a lpf value = 0.32
+ * => LPF cuttof frequency = 800 * 0.32 = 256 Hz
+ */
+static const int fxas2100x_lpf_values[] = {
+ 32, 16, 8
+};
+
+/*
+ * This values are taken from the high-pass filter cuttoff frequency calculated
+ * ODR * 0.0hpf_values. So, for ODR = 800Hz with a hpf value = 0.018750
+ * => HPF cuttof frequency = 800 * 0.018750 = 15 Hz
+ */
+static const int fxas2100x_hpf_values[] = {
+ 18750, 9625, 4875, 2475
+};
+
+static const int fxas2100x_range_values[] = {
+ 4000, 2000, 1000, 500, 250
+};
+
+struct fxas2100x_data {
+ u8 chip_id;
+ u8 mode;
+ u8 prev_mode;
+ struct regmap *regmap;
+ struct regmap_field *regmap_fields[F_MAX_FIELDS];
+ struct iio_trigger *dready_trig;
+ struct mutex lock; /* protect access */
+ s16 buffer[3];
+ int irq;
+};
+
+enum fxas2100x_channel_index {
+ CHANNEL_SCAN_INDEX_X,
+ CHANNEL_SCAN_INDEX_Y,
+ CHANNEL_SCAN_INDEX_Z,
+ CHANNEL_SCAN_MAX,
+};
+
+static int fxas2100x_odr_hz_from_value(struct fxas2100x_data *data, u8 value)
+{
+ int odr_value_max = ARRAY_SIZE(fxas2100x_odr_values) - 1;
+
+ value = min_t(u8, value, odr_value_max);
+
+ return fxas2100x_odr_values[value];
+}
+
+static int fxas2100x_odr_value_from_hz(struct fxas2100x_data *data,
+ unsigned int hz)
+{
+ int odr_table_size = ARRAY_SIZE(fxas2100x_odr_values);
+ int i;
+
+ for (i = 0; i < odr_table_size; i++)
+ if (fxas2100x_odr_values[i] == hz)
+ return i;
+
+ return -EINVAL;
+}
+
+static int fxas2100x_lpf_bw_from_value(struct fxas2100x_data *data, u8 value)
+{
+ int lpf_value_max = ARRAY_SIZE(fxas2100x_lpf_values) - 1;
+
+ value = min_t(u8, value, lpf_value_max);
+
+ return fxas2100x_lpf_values[value];
+}
+
+static int fxas2100x_lpf_value_from_bw(struct fxas2100x_data *data,
+ unsigned int hz)
+{
+ int lpf_table_size = ARRAY_SIZE(fxas2100x_lpf_values);
+ int i;
+
+ for (i = 0; i < lpf_table_size; i++)
+ if (fxas2100x_lpf_values[i] == hz)
+ return i;
+
+ return -EINVAL;
+}
+
+static int fxas2100x_hpf_sel_from_value(struct fxas2100x_data *data, u8 value)
+{
+ int hpf_value_max = ARRAY_SIZE(fxas2100x_hpf_values) - 1;
+
+ value = min_t(u8, value, hpf_value_max);
+
+ return fxas2100x_hpf_values[value];
+}
+
+static int fxas2100x_hpf_value_from_sel(struct fxas2100x_data *data,
+ unsigned int hz)
+{
+ int hpf_table_size = ARRAY_SIZE(fxas2100x_hpf_values);
+ int i;
+
+ for (i = 0; i < hpf_table_size; i++)
+ if (fxas2100x_hpf_values[i] == hz)
+ return i;
+
+ return -EINVAL;
+}
+
+static int fxas2100x_range_fs_from_value(struct fxas2100x_data *data,
+ u8 value)
+{
+ int range_value_max = ARRAY_SIZE(fxas2100x_range_values) - 1;
+ unsigned int fs_double;
+ int ret;
+
+ /* We need to check if FS_DOUBLE is enabled to offset the value */
+ ret = regmap_field_read(data->regmap_fields[F_FS_DOUBLE], &fs_double);
+ if (ret < 0)
+ return ret;
+
+ value = min_t(u8, value, range_value_max);
+
+ if (!fs_double)
+ value += 1;
+
+ return fxas2100x_range_values[value];
+}
+
+static int fxas2100x_range_value_from_fs(struct fxas2100x_data *data,
+ unsigned int range)
+{
+ int range_table_size = ARRAY_SIZE(fxas2100x_range_values);
+ bool found = false;
+ int ret;
+ int i;
+
+ for (i = 0; i < range_table_size; i++)
+ if (fxas2100x_range_values[i] == range)
+ found = true;
+ if (!found)
+ return -EINVAL;
+
+ if (range > FXAS2100X_RANGE_LIMIT_DOUBLE)
+ ret = regmap_field_write(data->regmap_fields[F_FS_DOUBLE], 1);
+ else
+ ret = regmap_field_write(data->regmap_fields[F_FS_DOUBLE], 0);
+
+ return i;
+}
+
+static int fxas2100x_mode_get(struct fxas2100x_data *data)
+{
+ unsigned int active;
+ unsigned int ready;
+ int ret;
+
+ ret = regmap_field_read(data->regmap_fields[F_ACTIVE], &active);
+ if (ret < 0)
+ return ret;
+ if (active)
+ return FXAS2100X_MODE_ACTIVE;
+
+ ret = regmap_field_read(data->regmap_fields[F_READY], &ready);
+ if (ret < 0)
+ return ret;
+ if (ready)
+ return FXAS2100X_MODE_READY;
+
+ return FXAS2100X_MODE_STANDBY;
+}
+
+static int fxas2100x_mode_set(struct fxas2100x_data *data, u8 mode)
+{
+ int ret;
+
+ if (mode > FXAS2100X_MODE_ACTIVE)
+ return -EINVAL;
+
+ if (mode == data->mode)
+ return 0;
+
+ if (mode == FXAS2100X_MODE_READY)
+ ret = regmap_field_write(data->regmap_fields[F_READY], 1);
+ else
+ ret = regmap_field_write(data->regmap_fields[F_READY], 0);
+ if (ret < 0)
+ return ret;
+
+ if (mode == FXAS2100X_MODE_ACTIVE)
+ ret = regmap_field_write(data->regmap_fields[F_ACTIVE], 1);
+ else
+ ret = regmap_field_write(data->regmap_fields[F_ACTIVE], 0);
+ if (ret < 0)
+ return ret;
+
+ /* if going to active wait the setup times */
+ if (mode == FXAS2100X_MODE_ACTIVE)
+ if (data->mode == FXAS2100X_MODE_STANDBY)
+ msleep_interruptible(FXAS2100X_STANDBY_ACTIVE_TIME_MS);
+ if (data->mode == FXAS2100X_MODE_READY)
+ msleep_interruptible(FXAS2100X_READY_ACTIVE_TIME_MS);
+
+ data->prev_mode = data->mode;
+ data->mode = mode;
+
+ return ret;
+}
+
+static int fxas2100x_pre_write(struct fxas2100x_data *data)
+{
+ int actual_mode;
+
+ actual_mode = fxas2100x_mode_get(data);
+
+ if (actual_mode < 0)
+ return actual_mode;
+
+ return fxas2100x_mode_set(data, FXAS2100X_MODE_READY);
+}
+
+static int fxas2100x_post_write(struct fxas2100x_data *data)
+{
+ return fxas2100x_mode_set(data, data->prev_mode);
+}
+
+static int fxas2100x_pm_get(struct fxas2100x_data *data)
+{
+ struct device *dev = regmap_get_device(data->regmap);
+ int ret;
+
+ ret = pm_runtime_get_sync(dev);
+ if (ret < 0)
+ pm_runtime_put_noidle(dev);
+
+ return ret;
+}
+
+static int fxas2100x_pm_put(struct fxas2100x_data *data)
+{
+ struct device *dev = regmap_get_device(data->regmap);
+
+ pm_runtime_mark_last_busy(dev);
+
+ return pm_runtime_put_autosuspend(dev);
+}
+
+static int fxas2100x_temp_get(struct fxas2100x_data *data, int *val)
+{
+ struct device *dev = regmap_get_device(data->regmap);
+ unsigned int temp;
+ int ret;
+
+ mutex_lock(&data->lock);
+ ret = fxas2100x_pm_get(data);
+ if (ret < 0)
+ goto data_unlock;
+
+ ret = regmap_field_read(data->regmap_fields[F_TEMP], &temp);
+ if (ret < 0) {
+ dev_err(dev, "failed to read temp: %d\n", ret);
+ goto data_unlock;
+ }
+
+ *val = sign_extend32(temp, 7);
+
+ ret = fxas2100x_pm_put(data);
+ if (ret < 0)
+ goto data_unlock;
+
+ ret = IIO_VAL_INT;
+
+data_unlock:
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int fxas2100x_axis_get(struct fxas2100x_data *data, int index, int *val)
+{
+ struct device *dev = regmap_get_device(data->regmap);
+ __be16 axis_be;
+ int ret;
+
+ mutex_lock(&data->lock);
+ ret = fxas2100x_pm_get(data);
+ if (ret < 0)
+ goto data_unlock;
+
+ ret = regmap_bulk_read(data->regmap, FXAS2100X_AXIS_TO_REG(index),
+ &axis_be, sizeof(axis_be));
+ if (ret < 0) {
+ dev_err(dev, "failed to read axis: %d: %d\n", index, ret);
+ goto data_unlock;
+ }
+
+ *val = sign_extend32(be16_to_cpu(axis_be), 15);
+
+ ret = fxas2100x_pm_put(data);
+ if (ret < 0)
+ goto data_unlock;
+
+ ret = IIO_VAL_INT;
+
+data_unlock:
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int fxas2100x_odr_get(struct fxas2100x_data *data, int *odr)
+{
+ unsigned int odr_bits;
+ int ret;
+
+ mutex_lock(&data->lock);
+ ret = regmap_field_read(data->regmap_fields[F_DR], &odr_bits);
+ if (ret < 0)
+ goto data_unlock;
+
+ *odr = fxas2100x_odr_hz_from_value(data, odr_bits);
+
+ ret = IIO_VAL_INT;
+data_unlock:
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int fxas2100x_odr_set(struct fxas2100x_data *data, int odr)
+{
+ int odr_bits;
+ int ret;
+
+ odr_bits = fxas2100x_odr_value_from_hz(data, odr);
+
+ if (odr_bits < 0)
+ return odr_bits;
+
+ mutex_lock(&data->lock);
+ ret = fxas2100x_pre_write(data);
+ if (ret < 0)
+ goto post_write;
+
+ ret = regmap_field_write(data->regmap_fields[F_DR], odr_bits);
+ if (ret < 0)
+ goto post_write;
+
+post_write:
+ ret = fxas2100x_post_write(data);
+
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int fxas2100x_lpf_get(struct fxas2100x_data *data, int *val2)
+{
+ unsigned int bw_bits;
+ int ret;
+
+ mutex_lock(&data->lock);
+ ret = regmap_field_read(data->regmap_fields[F_BW], &bw_bits);
+ if (ret < 0)
+ goto data_unlock;
+
+ *val2 = fxas2100x_lpf_bw_from_value(data, bw_bits) * 10000;
+
+ ret = IIO_VAL_INT_PLUS_MICRO;
+
+data_unlock:
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int fxas2100x_lpf_set(struct fxas2100x_data *data, int bw)
+{
+ int bw_bits;
+ int odr;
+ int ret;
+
+ bw_bits = fxas2100x_lpf_value_from_bw(data, bw);
+
+ if (bw_bits < 0)
+ return bw_bits;
+
+ /*
+ * From table 33 of the device spec, for ODR = 25Hz and 12.5 value 0.08
+ * is not allowed and for ODR = 12.5 value 0.16 is also not allowed
+ */
+ ret = fxas2100x_odr_get(data, &odr);
+ if (ret < 0)
+ return -EINVAL;
+
+ if ((odr == 25 && bw_bits > 0x01) || (odr == 12 && bw_bits > 0))
+ return -EINVAL;
+
+ mutex_lock(&data->lock);
+ ret = fxas2100x_pre_write(data);
+ if (ret < 0)
+ goto post_write;
+
+ ret = regmap_field_write(data->regmap_fields[F_BW], bw_bits);
+ if (ret < 0)
+ goto post_write;
+
+post_write:
+ ret = fxas2100x_post_write(data);
+
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int fxas2100x_hpf_get(struct fxas2100x_data *data, int *val2)
+{
+ unsigned int sel_bits;
+ int ret;
+
+ mutex_lock(&data->lock);
+ ret = regmap_field_read(data->regmap_fields[F_SEL], &sel_bits);
+ if (ret < 0)
+ goto data_unlock;
+
+ *val2 = fxas2100x_hpf_sel_from_value(data, sel_bits);
+
+ ret = IIO_VAL_INT_PLUS_MICRO;
+
+data_unlock:
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int fxas2100x_hpf_set(struct fxas2100x_data *data, int sel)
+{
+ int sel_bits;
+ int ret;
+
+ sel_bits = fxas2100x_hpf_value_from_sel(data, sel);
+
+ if (sel_bits < 0)
+ return sel_bits;
+
+ mutex_lock(&data->lock);
+ ret = fxas2100x_pre_write(data);
+ if (ret < 0)
+ goto post_write;
+
+ ret = regmap_field_write(data->regmap_fields[F_SEL], sel_bits);
+ if (ret < 0)
+ goto post_write;
+
+post_write:
+ ret = fxas2100x_post_write(data);
+
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int fxas2100x_scale_get(struct fxas2100x_data *data, int *val)
+{
+ int fs_bits;
+ int scale;
+ int ret;
+
+ mutex_lock(&data->lock);
+ ret = regmap_field_read(data->regmap_fields[F_FS], &fs_bits);
+ if (ret < 0)
+ goto data_unlock;
+
+ scale = fxas2100x_range_fs_from_value(data, fs_bits);
+
+ *val = scale;
+
+ ret = IIO_VAL_FRACTIONAL;
+
+data_unlock:
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int fxas2100x_scale_set(struct fxas2100x_data *data, int range)
+{
+ int fs_bits;
+ int ret;
+
+ fs_bits = fxas2100x_range_value_from_fs(data, range);
+
+ if (fs_bits < 0)
+ return fs_bits;
+
+ mutex_lock(&data->lock);
+ ret = fxas2100x_pre_write(data);
+ if (ret < 0)
+ goto post_write;
+
+ ret = regmap_field_write(data->regmap_fields[F_FS], fs_bits);
+ if (ret < 0)
+ goto post_write;
+
+post_write:
+ ret = fxas2100x_post_write(data);
+
+ mutex_unlock(&data->lock);
+
+ return ret;
+}
+
+static int fxas2100x_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int *val,
+ int *val2, long mask)
+{
+ struct fxas2100x_data *data = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ switch (chan->type) {
+ case IIO_TEMP:
+ return fxas2100x_temp_get(data, val);
+ case IIO_ANGL_VEL:
+ return fxas2100x_axis_get(data, chan->scan_index, val);
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val2 = FXAS2100X_SCALE_FRACTIONAL;
+ return fxas2100x_scale_get(data, val);
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ *val = 0;
+ return fxas2100x_lpf_get(data, val2);
+ case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
+ *val = 0;
+ return fxas2100x_hpf_get(data, val2);
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ *val2 = 0;
+ return fxas2100x_odr_get(data, val);
+ default:
+ return -EINVAL;
+ }
+}
+
+static int fxas2100x_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int val,
+ int val2, long mask)
+{
+ struct fxas2100x_data *data = iio_priv(indio_dev);
+ int range;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ return fxas2100x_odr_set(data, val);
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ val2 = val2 / 10000;
+ return fxas2100x_lpf_set(data, val2);
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ range = (((val * 1000 + val2 / 1000) *
+ FXAS2100X_SCALE_FRACTIONAL) / 1000);
+ return fxas2100x_scale_set(data, range);
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
+ return fxas2100x_hpf_set(data, val2);
+ default:
+ return -EINVAL;
+ }
+}
+
+static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("12.5 25 50 100 200 400 800");
+
+static IIO_CONST_ATTR(in_anglvel_filter_low_pass_3db_frequency_available,
+ "0.32 0.16 0.08");
+
+static IIO_CONST_ATTR(in_anglvel_filter_high_pass_3db_frequency_available,
+ "0.018750 0.009625 0.004875 0.002475");
+
+static IIO_CONST_ATTR(in_anglvel_scale_available,
+ "125.0 62.5 31.25 15.625 7.8130");
+
+static struct attribute *fxas2100x_attributes[] = {
+ &iio_const_attr_sampling_frequency_available.dev_attr.attr,
+ &iio_const_attr_in_anglvel_filter_low_pass_3db_frequency_available.dev_attr.attr,
+ &iio_const_attr_in_anglvel_filter_high_pass_3db_frequency_available.dev_attr.attr,
+ &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group fxas2100x_attrs_group = {
+ .attrs = fxas2100x_attributes,
+};
+
+#define FXAS2100X_CHANNEL(_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_LOW_PASS_FILTER_3DB_FREQUENCY) | \
+ BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY) | \
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = CHANNEL_SCAN_INDEX_##_axis, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+static const struct iio_chan_spec fxas2100x_channels[] = {
+ {
+ .type = IIO_TEMP,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+ .scan_index = -1,
+ },
+ FXAS2100X_CHANNEL(X),
+ FXAS2100X_CHANNEL(Y),
+ FXAS2100X_CHANNEL(Z),
+};
+
+static const struct iio_info fxas2100x_info = {
+ .attrs = &fxas2100x_attrs_group,
+ .read_raw = &fxas2100x_read_raw,
+ .write_raw = &fxas2100x_write_raw,
+};
+
+static irqreturn_t fxas2100x_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct fxas2100x_data *data = iio_priv(indio_dev);
+ int ret;
+
+ mutex_lock(&data->lock);
+ ret = regmap_bulk_read(data->regmap, FXAS2100X_REG_OUT_X_MSB,
+ data->buffer, CHANNEL_SCAN_MAX * 2);
+ mutex_unlock(&data->lock);
+ if (ret < 0)
+ goto notify_done;
+
+ iio_push_to_buffers_with_timestamp(indio_dev, data->buffer,
+ pf->timestamp);
+
+notify_done:
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+
+static int fxas2100x_chip_init(struct fxas2100x_data *data)
+{
+ struct device *dev = regmap_get_device(data->regmap);
+ unsigned int chip_id;
+ int ret;
+
+ ret = regmap_field_read(data->regmap_fields[F_WHO_AM_I], &chip_id);
+ if (ret < 0)
+ return ret;
+
+ if (chip_id != FXAS21002_CHIP_ID_1 && chip_id != FXAS21002_CHIP_ID_2) {
+ dev_err(dev, "chip id %d is not supported\n", chip_id);
+ return -EINVAL;
+ }
+
+ data->chip_id = chip_id;
+
+ ret = fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
+ if (ret < 0)
+ return ret;
+
+ /* Set ODR to 200HZ as default */
+ ret = fxas2100x_odr_set(data, 200);
+ if (ret < 0)
+ dev_err(dev, "failed to set ODR: %d\n", ret);
+
+ return ret;
+}
+
+static int fxas2100x_data_rdy_trigger_set_state(struct iio_trigger *trig,
+ bool state)
+{
+ struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+ struct fxas2100x_data *data = iio_priv(indio_dev);
+
+ return regmap_field_write(data->regmap_fields[F_INT_EN_DRDY], !!state);
+}
+
+static const struct iio_trigger_ops fxas2100x_trigger_ops = {
+ .set_trigger_state = &fxas2100x_data_rdy_trigger_set_state,
+};
+
+static irqreturn_t fxas2100x_data_rdy_trig_poll(int irq, void *private)
+{
+ struct iio_dev *indio_dev = private;
+ struct fxas2100x_data *data = iio_priv(indio_dev);
+
+ iio_trigger_poll(data->dready_trig);
+
+ return IRQ_HANDLED;
+}
+
+static int fxas2100x_trigger_probe(struct fxas2100x_data *data)
+{
+ struct device *dev = regmap_get_device(data->regmap);
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ int ret;
+
+ if (!data->irq)
+ return 0;
+
+ data->dready_trig = devm_iio_trigger_alloc(dev, "%s-dev%d",
+ indio_dev->name,
+ indio_dev->id);
+ if (!data->dready_trig)
+ return -ENOMEM;
+
+ ret = devm_request_irq(dev, data->irq, fxas2100x_data_rdy_trig_poll,
+ IRQF_TRIGGER_RISING, "fxas2100x_data_ready",
+ data->dready_trig);
+ if (ret < 0)
+ return ret;
+
+ data->dready_trig->dev.parent = dev;
+ data->dready_trig->ops = &fxas2100x_trigger_ops;
+ iio_trigger_set_drvdata(data->dready_trig, indio_dev);
+
+ ret = devm_iio_trigger_register(dev, data->dready_trig);
+ if (ret)
+ return ret;
+
+ return 0;
+}
+
+int fxas2100x_core_probe(struct device *dev, struct regmap *regmap, int irq,
+ const char *name)
+{
+ struct fxas2100x_data *data;
+ struct iio_dev *indio_dev;
+ struct regmap_field *f;
+ int i;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ data = iio_priv(indio_dev);
+ dev_set_drvdata(dev, indio_dev);
+ data->irq = irq;
+ data->regmap = regmap;
+
+ for (i = 0; i < F_MAX_FIELDS; i++) {
+ f = devm_regmap_field_alloc(dev, data->regmap,
+ fxas2100x_reg_fields[i]);
+ if (IS_ERR(f)) {
+ dev_err(dev, "failed to alloc regmap field %d: %ld\n",
+ i, PTR_ERR(f));
+ return PTR_ERR(f);
+ }
+ data->regmap_fields[i] = f;
+ }
+
+ mutex_init(&data->lock);
+
+ ret = fxas2100x_chip_init(data);
+ if (ret < 0)
+ return ret;
+
+ indio_dev->dev.parent = dev;
+ indio_dev->channels = fxas2100x_channels;
+ indio_dev->num_channels = ARRAY_SIZE(fxas2100x_channels);
+ indio_dev->name = name;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->info = &fxas2100x_info;
+
+ ret = fxas2100x_trigger_probe(data);
+ if (ret < 0)
+ return ret;
+
+ ret = devm_iio_triggered_buffer_setup(dev, indio_dev,
+ iio_pollfunc_store_time,
+ fxas2100x_trigger_handler, NULL);
+ if (ret < 0)
+ return ret;
+
+ ret = pm_runtime_set_active(dev);
+ if (ret)
+ return ret;
+
+ pm_runtime_enable(dev);
+ pm_runtime_set_autosuspend_delay(dev, 2000);
+ pm_runtime_use_autosuspend(dev);
+
+ ret = devm_iio_device_register(dev, indio_dev);
+ if (ret < 0) {
+ dev_err(dev, "unable to register iio device: %d\n", ret);
+ return ret;
+ }
+
+ return 0;
+}
+EXPORT_SYMBOL_GPL(fxas2100x_core_probe);
+
+void fxas2100x_core_remove(struct device *dev)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct fxas2100x_data *data = iio_priv(indio_dev);
+
+ pm_runtime_disable(dev);
+ pm_runtime_set_suspended(dev);
+ pm_runtime_put_noidle(dev);
+
+ fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
+}
+EXPORT_SYMBOL_GPL(fxas2100x_core_remove);
+
+#ifdef CONFIG_PM_SLEEP
+static int fxas2100x_suspend(struct device *dev)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct fxas2100x_data *data = iio_priv(indio_dev);
+
+ fxas2100x_mode_set(data, FXAS2100X_MODE_STANDBY);
+
+ return 0;
+}
+
+static int fxas2100x_resume(struct device *dev)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct fxas2100x_data *data = iio_priv(indio_dev);
+
+ fxas2100x_mode_set(data, data->prev_mode);
+
+ return 0;
+}
+#endif
+
+#ifdef CONFIG_PM
+static int fxas2100x_runtime_suspend(struct device *dev)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct fxas2100x_data *data = iio_priv(indio_dev);
+ int ret;
+
+ ret = fxas2100x_mode_set(data, FXAS2100X_MODE_READY);
+ if (ret < 0)
+ return -EAGAIN;
+
+ return 0;
+}
+
+static int fxas2100x_runtime_resume(struct device *dev)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct fxas2100x_data *data = iio_priv(indio_dev);
+ int ret;
+
+ ret = fxas2100x_mode_set(data, FXAS2100X_MODE_ACTIVE);
+ if (ret < 0)
+ return -EAGAIN;
+
+ return 0;
+}
+#endif
+
+const struct dev_pm_ops fxas2100x_pm_ops = {
+ SET_SYSTEM_SLEEP_PM_OPS(fxas2100x_suspend, fxas2100x_resume)
+ SET_RUNTIME_PM_OPS(fxas2100x_runtime_suspend,
+ fxas2100x_runtime_resume, NULL)
+};
+EXPORT_SYMBOL_GPL(fxas2100x_pm_ops);
+
+MODULE_AUTHOR("Rui Miguel Silva <rui.silva@xxxxxxxxxx>");
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("FXAS2100X Gyro driver");
--
2.20.1
