Hi guys,
based on the driver for accelerometers, I wrote the driver for all our
last mems gyroscopes.
Best regards,
Denis
From 6634b1b6f2cb2887dbc00a802cc365fb26ce7be0 Mon Sep 17 00:00:00 2001
From: Denis Ciocca <denis.ciocca@xxxxxx>
Date: Tue, 27 Nov 2012 16:20:40 +0100
Subject: [PATCH] iio:gyro: Add STMicroelectronics gyroscopes driver
This patch adds generic gyroscope driver for STMicroelectronics
gyroscopes, currently it supports:
L3G4200D, LSM330DL, L3GD20, L3GD20H, LSM330D, LSM330DLC, LSM9DS0,
L3G4IS, LSM330
---
drivers/iio/gyro/Kconfig | 37 ++
drivers/iio/gyro/Makefile | 6 +
drivers/iio/gyro/st_gyro_buffer.c | 177 +++++++
drivers/iio/gyro/st_gyro_core.c | 929
++++++++++++++++++++++++++++++++++++
drivers/iio/gyro/st_gyro_i2c.c | 125 +++++
drivers/iio/gyro/st_gyro_spi.c | 179 +++++++
drivers/iio/gyro/st_gyro_trigger.c | 83 ++++
include/linux/iio/gyro/st_gyro.h | 99 ++++
8 files changed, 1635 insertions(+), 0 deletions(-)
create mode 100644 drivers/iio/gyro/st_gyro_buffer.c
create mode 100644 drivers/iio/gyro/st_gyro_core.c
create mode 100644 drivers/iio/gyro/st_gyro_i2c.c
create mode 100644 drivers/iio/gyro/st_gyro_spi.c
create mode 100644 drivers/iio/gyro/st_gyro_trigger.c
create mode 100644 include/linux/iio/gyro/st_gyro.h
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index 21e27e2..d105242 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -13,4 +13,41 @@ config HID_SENSOR_GYRO_3D
Say yes here to build support for the HID SENSOR
Gyroscope 3D.
+config ST_GYRO_3AXIS
+ tristate "STMicroelectronics gyroscopes 3-Axis Driver"
+ depends on (I2C || SPI) && SYSFS
+ help
+ Say yes here to build support for STMicroelectronics gyroscopes:
+ L3G4200D, LSM330DL, L3GD20, L3GD20H, LSM330D, LSM330DL, LSM330DLC,
+ LSM9DS0, L3G4IS, LSM330.
+
+ This driver can also be built as a module. If so, the module
+ will be called st_gyro.
+
+config ST_GYRO_3AXIS_I2C
+ tristate "support I2C bus connection"
+ depends on ST_GYRO_3AXIS && I2C
+ help
+ Say yes here to build I2C support for STMicroelectronics gyroscopes.
+
+ To compile this driver as a module, choose M here: the
+ module will be called st_gyro_i2c.
+
+config ST_GYRO_3AXIS_SPI
+ tristate "support SPI bus connection"
+ depends on ST_GYRO_3AXIS && SPI_MASTER
+ help
+ Say yes here to build SPI support for STMicroelectronics gyroscopes.
+
+ To compile this driver as a module, choose M here: the
+ module will be called st_gyro_spi.
+
+config ST_GYRO_3AXIS_TRIGGERED_BUFFER
+ tristate "support triggered buffer"
+ depends on ST_GYRO_3AXIS
+ select IIO_TRIGGERED_BUFFER
+ select IIO_BUFFER
+ help
+ Default trigger and buffer for STMicroelectronics gyroscopes driver.
+
endmenu
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
index 8a895d9..d8ad80b 100644
--- a/drivers/iio/gyro/Makefile
+++ b/drivers/iio/gyro/Makefile
@@ -3,3 +3,9 @@
#
obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
+
+st_gyro-y := st_gyro_core.o
+obj-$(CONFIG_ST_GYRO_3AXIS_I2C) += st_gyro_i2c.o
+obj-$(CONFIG_ST_GYRO_3AXIS_SPI) += st_gyro_spi.o
+obj-$(CONFIG_ST_GYRO_3AXIS_TRIGGERED_BUFFER) += st_gyro_trigger.o
st_gyro_buffer.o
+obj-$(CONFIG_ST_GYRO_3AXIS) += st_gyro.o
diff --git a/drivers/iio/gyro/st_gyro_buffer.c
b/drivers/iio/gyro/st_gyro_buffer.c
new file mode 100644
index 0000000..3ae3b62
--- /dev/null
+++ b/drivers/iio/gyro/st_gyro_buffer.c
@@ -0,0 +1,177 @@
+/*
+ * STMicroelectronics gyroscopes driver
+ *
+ * Copyright 2012 STMicroelectronics Inc.
+ *
+ * Denis Ciocca <denis.ciocca@xxxxxx>
+ *
+ * Licensed under the GPL-2.
+ */
+
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/slab.h>
+#include <linux/stat.h>
+#include <linux/interrupt.h>
+#include <linux/byteorder/generic.h>
+#include <linux/i2c.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#include <linux/iio/gyro/st_gyro.h>
+
+
+#define ST_GYRO_ENABLE_ALL_CHANNELS 0x07
+
+static int st_gyro_get_buffer_element(struct iio_dev *indio_dev, u8 *buf)
+{
+ int i, n, len;
+ u8 reg_addr[ST_GYRO_NUMBER_DATA_CHANNELS];
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ for (i = 0; i < ST_GYRO_NUMBER_DATA_CHANNELS; i++) {
+ if (test_bit(i, indio_dev->active_scan_mask)) {
+ reg_addr[n] = indio_dev->channels[i].address;
+ n++;
+ }
+ }
+ switch (n) {
+ case 1:
+ len = gdata->read_multiple_byte(gdata, reg_addr[0],
+ ST_GYRO_BYTE_FOR_CHANNEL, buf);
+ break;
+ case 2:
+ if ((reg_addr[1] - reg_addr[0]) == ST_GYRO_BYTE_FOR_CHANNEL) {
+ len = gdata->read_multiple_byte(gdata, reg_addr[0],
+ ST_GYRO_BYTE_FOR_CHANNEL*n,
+ buf);
+ } else {
+ u8 rx_array[ST_GYRO_BYTE_FOR_CHANNEL*
+ ST_GYRO_NUMBER_DATA_CHANNELS];
+ len = gdata->read_multiple_byte(gdata, reg_addr[0],
+ ST_GYRO_BYTE_FOR_CHANNEL*
+ ST_GYRO_NUMBER_DATA_CHANNELS,
+ rx_array);
+ if (len < 0)
+ goto read_data_channels_error;
+
+ for (i = 0; i < n * ST_GYRO_NUMBER_DATA_CHANNELS;
+ i++) {
+ if (i < n)
+ buf[i] = rx_array[i];
+ else
+ buf[i] = rx_array[n + i];
+ }
+ len = ST_GYRO_BYTE_FOR_CHANNEL*n;
+ }
+ break;
+ case 3:
+ len = gdata->read_multiple_byte(gdata, reg_addr[0],
+ ST_GYRO_BYTE_FOR_CHANNEL*ST_GYRO_NUMBER_DATA_CHANNELS,
+ buf);
+ break;
+ default:
+ len = -EINVAL;
+ goto read_data_channels_error;
+ }
+ if (len != ST_GYRO_BYTE_FOR_CHANNEL*n) {
+ len = -EIO;
+ goto read_data_channels_error;
+ }
+
+read_data_channels_error:
+ return len;
+}
+
+static irqreturn_t st_gyro_trigger_handler(int irq, void *p)
+{
+ int len;
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ len = st_gyro_get_buffer_element(indio_dev, gdata->buffer_data);
+ if (len < 0)
+ goto st_gyro_get_buffer_element_error;
+
+ if (indio_dev->scan_timestamp)
+ *(s64 *)((u8 *)gdata->buffer_data +
+ ALIGN(len, sizeof(s64))) = pf->timestamp;
+
+ iio_push_to_buffer(indio_dev->buffer, gdata->buffer_data);
+
+st_gyro_get_buffer_element_error:
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+
+static int st_gyro_buffer_postenable(struct iio_dev *indio_dev)
+{
+ int err, i;
+ u8 active_bit = 0x00;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ gdata->buffer_data = kmalloc(indio_dev->scan_bytes, GFP_KERNEL);
+ if (gdata->buffer_data == NULL) {
+ err = -ENOMEM;
+ goto allocate_memory_error;
+ }
+
+ for (i = 0; i < ST_GYRO_NUMBER_DATA_CHANNELS; i++)
+ if (test_bit(i, indio_dev->active_scan_mask))
+ active_bit |= (1 << i);
+
+ err = st_gyro_set_axis_enable(indio_dev, active_bit);
+ if (err < 0)
+ goto st_gyro_buffer_postenable_error;
+
+ err = iio_triggered_buffer_postenable(indio_dev);
+
+ return err;
+
+allocate_memory_error:
+ kfree(gdata->buffer_data);
+st_gyro_buffer_postenable_error:
+ return err;
+}
+
+static int st_gyro_buffer_predisable(struct iio_dev *indio_dev)
+{
+ int err;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ err = iio_triggered_buffer_predisable(indio_dev);
+ if (err < 0)
+ goto st_gyro_buffer_predisable_error;
+
+ err = st_gyro_set_axis_enable(indio_dev, ST_GYRO_ENABLE_ALL_CHANNELS);
+ if (err < 0)
+ goto st_gyro_buffer_predisable_error;
+
+ kfree(gdata->buffer_data);
+
+st_gyro_buffer_predisable_error:
+ return err;
+}
+
+static const struct iio_buffer_setup_ops st_gyro_buffer_setup_ops = {
+ .preenable = &iio_sw_buffer_preenable,
+ .postenable = &st_gyro_buffer_postenable,
+ .predisable = &st_gyro_buffer_predisable,
+};
+
+int st_gyro_allocate_ring(struct iio_dev *indio_dev)
+{
+ return iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time,
+ &st_gyro_trigger_handler, &st_gyro_buffer_setup_ops);
+}
+EXPORT_SYMBOL(st_gyro_allocate_ring);
+
+void st_gyro_deallocate_ring(struct iio_dev *indio_dev)
+{
+ iio_triggered_buffer_cleanup(indio_dev);
+}
+EXPORT_SYMBOL(st_gyro_deallocate_ring);
diff --git a/drivers/iio/gyro/st_gyro_core.c
b/drivers/iio/gyro/st_gyro_core.c
new file mode 100644
index 0000000..c2215af
--- /dev/null
+++ b/drivers/iio/gyro/st_gyro_core.c
@@ -0,0 +1,929 @@
+/*
+ * STMicroelectronics gyroscopes driver
+ *
+ * Copyright 2012 STMicroelectronics Inc.
+ *
+ * Denis Ciocca <denis.ciocca@xxxxxx>
+ *
+ * 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/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/buffer.h>
+
+#include <linux/iio/gyro/st_gyro.h>
+
+
+#define ST_GYRO_FULLSCALE_AVL_MAX 3
+#define ST_GYRO_ODR_LIST_MAX 4
+#define ST_GYRO_ENABLE_ALL_CHANNELS 0x07
+
+/* DEFAULT VALUE FOR SENSORS */
+#define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28
+#define ST_GYRO_DEFAULT_OUT_X_H_ADDR 0x29
+#define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a
+#define ST_GYRO_DEFAULT_OUT_Y_H_ADDR 0x2b
+#define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c
+#define ST_GYRO_DEFAULT_OUT_Z_H_ADDR 0x2d
+#define ST_GYRO_DEFAULT_WAI_ADDRESS 0x0f
+#define ST_GYRO_DEFAULT_POWER_ON_VALUE 0x01
+#define ST_GYRO_DEFAULT_POWER_OFF_VALUE 0x00
+#define ST_GYRO_DEFAULT_16_REALBITS 16
+#define ST_GYRO_DEFAULT_AXIS_ADDR 0x20
+#define ST_GYRO_DEFAULT_AXIS_MASK 0x07
+#define ST_GYRO_DEFAULT_AXIS_N_BIT 3
+
+/* 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_N_BIT 2
+#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_PW_N_BIT 1
+#define ST_GYRO_1_FS_N_BIT 2
+#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_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_N_BIT 2
+#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_PW_N_BIT 1
+#define ST_GYRO_2_FS_N_BIT 2
+#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_MASK 0x08
+#define ST_GYRO_2_MULTIREAD_BIT true
+
+struct st_gyro_odr_available {
+ unsigned int hz;
+ u8 value;
+};
+
+struct st_gyro_odr {
+ u8 addr;
+ u8 mask;
+ short num_bit;
+ struct st_gyro_odr_available odr_avl[ST_GYRO_ODR_LIST_MAX];
+};
+
+struct st_gyro_power {
+ u8 addr;
+ u8 mask;
+ unsigned short num_bit;
+ u8 value_off;
+ u8 value_on;
+};
+
+struct st_gyro_axis {
+ u8 addr;
+ u8 mask;
+};
+
+struct st_gyro_fullscale_available {
+ unsigned int num;
+ u8 value;
+ unsigned int gain;
+};
+
+struct st_gyro_fullscale {
+ u8 addr;
+ u8 mask;
+ unsigned short num_bit;
+ struct st_gyro_fullscale_available fs_avl[ST_GYRO_FULLSCALE_AVL_MAX];
+};
+
+struct st_gyro_bdu {
+ u8 addr;
+ u8 mask;
+};
+
+struct st_gyro_interrupt_generator {
+ u8 en_addr;
+ u8 latch_mask_addr;
+ u8 en_mask;
+ u8 latching_mask;
+};
+
+struct st_gyro_data_ready_irq {
+ u8 addr;
+ u8 mask;
+ struct st_gyro_interrupt_generator ig1;
+};
+
+#define ST_GYRO_LSM_CHANNELS(index, mod, endian, bits, addr) \
+{ \
+ .type = IIO_ANGL_VEL, \
+ .modified = 1, \
+ .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
+ .scan_index = index, \
+ .channel2 = mod, \
+ .address = addr, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = bits, \
+ .shift = 16 - bits, \
+ .storagebits = 16, \
+ .endianness = endian, \
+ }, \
+}
+
+static const struct iio_chan_spec st_gyro_16bit_channels[] = {
+ ST_GYRO_LSM_CHANNELS(ST_GYRO_SCAN_X, IIO_MOD_X, IIO_LE,
+ ST_GYRO_DEFAULT_16_REALBITS, ST_GYRO_DEFAULT_OUT_X_L_ADDR),
+ ST_GYRO_LSM_CHANNELS(ST_GYRO_SCAN_Y, IIO_MOD_Y, IIO_LE,
+ ST_GYRO_DEFAULT_16_REALBITS, ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
+ ST_GYRO_LSM_CHANNELS(ST_GYRO_SCAN_Z, IIO_MOD_Z, IIO_LE,
+ ST_GYRO_DEFAULT_16_REALBITS, ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
+ IIO_CHAN_SOFT_TIMESTAMP(3)
+};
+
+/**
+ * struct st_gyro_sensors - ST gyro sensors list
+ * @wai: Contents of WhoAmI register.
+ * @ch: IIO channels for the sensor.
+ * @odr: Output data rate register and odr list available.
+ * @pw: Power register of the sensor.
+ * @enable_axis: Enable one or more axis of the sensor.
+ * @fs: Full scale register and fs list available.
+ * @bdu: Block data update register.
+ * @drdy_irq: Data ready register of the sensor.
+ * @multi_read_bit: Use or not particular bit for [I2C/SPI] multiread.
+ */
+static const struct st_gyro_sensors {
+ u8 wai;
+ struct iio_chan_spec *ch;
+ struct st_gyro_odr odr;
+ struct st_gyro_power pw;
+ struct st_gyro_axis enable_axis;
+ struct st_gyro_fullscale fs;
+ struct st_gyro_bdu bdu;
+ struct st_gyro_data_ready_irq drdy_irq;
+ bool multi_read_bit;
+} st_gyro_sensors[] = {
+ {
+ .wai = ST_GYRO_1_WAI_EXP,
+ .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
+ .odr = {
+ .addr = ST_GYRO_1_ODR_ADDR,
+ .mask = ST_GYRO_1_ODR_MASK,
+ .num_bit = ST_GYRO_1_ODR_N_BIT,
+ .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,
+ .num_bit = ST_GYRO_1_PW_N_BIT,
+ .value_on = ST_GYRO_DEFAULT_POWER_ON_VALUE,
+ .value_off = ST_GYRO_DEFAULT_POWER_OFF_VALUE,
+ },
+ .enable_axis = {
+ .addr = ST_GYRO_DEFAULT_AXIS_ADDR,
+ .mask = ST_GYRO_DEFAULT_AXIS_MASK,
+ },
+ .fs = {
+ .addr = ST_GYRO_1_FS_ADDR,
+ .mask = ST_GYRO_1_FS_MASK,
+ .num_bit = ST_GYRO_1_FS_N_BIT,
+ .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 = ST_GYRO_1_DRDY_IRQ_MASK,
+ },
+ .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT,
+ },
+ {
+ .wai = ST_GYRO_2_WAI_EXP,
+ .ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
+ .odr = {
+ .addr = ST_GYRO_2_ODR_ADDR,
+ .mask = ST_GYRO_2_ODR_MASK,
+ .num_bit = ST_GYRO_2_ODR_N_BIT,
+ .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,
+ .num_bit = ST_GYRO_2_PW_N_BIT,
+ .value_on = ST_GYRO_DEFAULT_POWER_ON_VALUE,
+ .value_off = ST_GYRO_DEFAULT_POWER_OFF_VALUE,
+ },
+ .enable_axis = {
+ .addr = ST_GYRO_DEFAULT_AXIS_ADDR,
+ .mask = ST_GYRO_DEFAULT_AXIS_MASK,
+ },
+ .fs = {
+ .addr = ST_GYRO_2_FS_ADDR,
+ .mask = ST_GYRO_2_FS_MASK,
+ .num_bit = ST_GYRO_2_FS_N_BIT,
+ .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 = ST_GYRO_2_DRDY_IRQ_MASK,
+ },
+ .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT,
+ },
+};
+
+static int st_gyro_write_data_with_mask(struct iio_dev *indio_dev, u8
reg_addr,
+ u8 mask, short num_bit, u8 data)
+{
+ int err;
+ u8 *prev_data;
+ u8 new_data;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ prev_data = kmalloc(sizeof(*prev_data), GFP_KERNEL);
+ if (prev_data == NULL) {
+ err = -ENOMEM;
+ goto st_gyro_write_data_with_mask_error;
+ }
+
+ err = gdata->read_byte(gdata, reg_addr, prev_data);
+ if (err < 0)
+ goto st_gyro_write_data_with_mask_error;
+
+ new_data = ((*prev_data & (~mask)) | ((data << __ffs(mask)) & mask));
+ err = gdata->write_byte(gdata, reg_addr, new_data);
+
+st_gyro_write_data_with_mask_error:
+ return err;
+}
+
+static int st_gyro_match_odr(const struct st_gyro_sensors *sensor,
+ unsigned int odr, struct st_gyro_odr_available *odr_out)
+{
+ int i, ret = -EINVAL;
+
+ for (i = 0; i < ARRAY_SIZE(sensor->odr.odr_avl); i++) {
+ if (sensor->odr.odr_avl[i].hz == odr) {
+ odr_out->hz = sensor->odr.odr_avl[i].hz;
+ odr_out->value = sensor->odr.odr_avl[i].value;
+ ret = 0;
+ break;
+ }
+ }
+
+ return ret;
+}
+
+static int st_gyro_match_fs(const struct st_gyro_sensors *sensor,
+ unsigned int fs, struct st_gyro_fullscale_available *fs_out)
+{
+ int i, ret = -EINVAL;
+
+ for (i = 0; i < ARRAY_SIZE(sensor->fs.fs_avl); i++) {
+ if (sensor->fs.fs_avl[i].num == fs) {
+ fs_out->num = sensor->fs.fs_avl[i].num;
+ fs_out->gain = sensor->fs.fs_avl[i].gain;
+ fs_out->value = sensor->fs.fs_avl[i].value;
+ ret = 0;
+ break;
+ }
+ }
+
+ return ret;
+}
+
+static int st_gyro_match_scale(const struct st_gyro_sensors *sensor,
+ int scale, struct st_gyro_fullscale_available *fs_out)
+{
+ int i, ret = -EINVAL;
+
+ for (i = 0; i < ARRAY_SIZE(sensor->fs.fs_avl); i++) {
+ if (sensor->fs.fs_avl[i].gain == scale) {
+ fs_out->num = sensor->fs.fs_avl[i].num;
+ fs_out->gain = sensor->fs.fs_avl[i].gain;
+ fs_out->value = sensor->fs.fs_avl[i].value;
+ ret = 0;
+ break;
+ }
+ }
+
+ return ret;
+}
+
+int st_gyro_set_dataready_irq(struct iio_dev *indio_dev, bool enable)
+{
+ int err;
+ struct st_gyro_data *gdata;
+
+ gdata = iio_priv(indio_dev);
+ if (st_gyro_sensors[gdata->index].drdy_irq.ig1.en_addr > 0) {
+ err = st_gyro_write_data_with_mask(indio_dev,
+ st_gyro_sensors[gdata->index].drdy_irq.ig1.en_addr,
+ st_gyro_sensors[gdata->index].drdy_irq.ig1.en_mask, 1,
+ (int)enable);
+ if (err < 0)
+ goto st_gyro_set_dataready_irq_error;
+ }
+
+ if (st_gyro_sensors[gdata->index].drdy_irq.ig1.latch_mask_addr > 0) {
+ err = st_gyro_write_data_with_mask(indio_dev,
+ st_gyro_sensors[gdata->index].drdy_irq.ig1.latch_mask_addr,
+ st_gyro_sensors[gdata->index].drdy_irq.ig1.latching_mask, 1,
+ (int)enable);
+ if (err < 0)
+ goto st_gyro_set_dataready_irq_error;
+ }
+
+ err = st_gyro_write_data_with_mask(indio_dev,
+ st_gyro_sensors[gdata->index].drdy_irq.addr,
+ st_gyro_sensors[gdata->index].drdy_irq.mask, 1, (int)enable);
+
+st_gyro_set_dataready_irq_error:
+ return err;
+}
+EXPORT_SYMBOL(st_gyro_set_dataready_irq);
+
+static int st_gyro_set_bdu(struct iio_dev *indio_dev,
+ const struct st_gyro_bdu *bdu, bool value)
+{
+ return st_gyro_write_data_with_mask(indio_dev, bdu->addr, bdu->mask,
+ 1, (u8)value);
+}
+
+static int st_gyro_set_odr(struct iio_dev *indio_dev,
+ struct st_gyro_odr_available *odr_available)
+{
+ int err;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ if ((st_gyro_sensors[gdata->index].odr.addr ==
+ st_gyro_sensors[gdata->index].pw.addr) &&
+ (st_gyro_sensors[gdata->index].odr.mask ==
+ st_gyro_sensors[gdata->index].pw.mask)) {
+ if (gdata->enabled == true) {
+ err = st_gyro_write_data_with_mask(indio_dev,
+ st_gyro_sensors[gdata->index].odr.addr,
+ st_gyro_sensors[gdata->index].odr.mask,
+ st_gyro_sensors[gdata->index].odr.num_bit,
+ odr_available->value);
+ } else {
+ gdata->odr = odr_available->hz;
+ err = 0;
+ }
+ } else {
+ err = st_gyro_write_data_with_mask(indio_dev,
+ st_gyro_sensors[gdata->index].odr.addr,
+ st_gyro_sensors[gdata->index].odr.mask,
+ st_gyro_sensors[gdata->index].odr.num_bit,
+ odr_available->value);
+ }
+
+ return err;
+}
+
+int st_gyro_set_axis_enable(struct iio_dev *indio_dev, u8 axis_enable)
+{
+ int err;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ err = st_gyro_write_data_with_mask(indio_dev,
+ st_gyro_sensors[gdata->index].enable_axis.addr,
+ st_gyro_sensors[gdata->index].enable_axis.mask,
+ ST_GYRO_DEFAULT_AXIS_N_BIT, axis_enable);
+
+ return err;
+}
+
+static int st_gyro_set_enable(struct iio_dev *indio_dev, bool enable)
+{
+ int err = -EINVAL;
+ bool found;
+ u8 tmp_value;
+ struct st_gyro_odr_available odr_out;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ if (enable) {
+ found = false;
+ tmp_value = st_gyro_sensors[gdata->index].pw.value_on;
+ if ((st_gyro_sensors[gdata->index].odr.addr ==
+ st_gyro_sensors[gdata->index].pw.addr) &&
+ (st_gyro_sensors[gdata->index].odr.mask ==
+ st_gyro_sensors[gdata->index].pw.mask)) {
+ err = st_gyro_match_odr(
+ &st_gyro_sensors[gdata->index], gdata->odr,
+ &odr_out);
+ if (err < 0)
+ goto set_enable_error;
+ tmp_value = odr_out.value;
+ found = true;
+ }
+ err = st_gyro_write_data_with_mask(indio_dev,
+ st_gyro_sensors[gdata->index].pw.addr,
+ st_gyro_sensors[gdata->index].pw.mask,
+ st_gyro_sensors[gdata->index].pw.num_bit,
+ tmp_value);
+ if (err < 0)
+ goto set_enable_error;
+ gdata->enabled = true;
+ if (found)
+ gdata->odr = odr_out.hz;
+ } else {
+ err = st_gyro_write_data_with_mask(indio_dev,
+ st_gyro_sensors[gdata->index].pw.addr,
+ st_gyro_sensors[gdata->index].pw.mask,
+ st_gyro_sensors[gdata->index].pw.num_bit,
+ st_gyro_sensors[gdata->index].pw.value_off);
+ if (err < 0)
+ goto set_enable_error;
+ gdata->enabled = false;
+ }
+
+set_enable_error:
+ return err;
+}
+
+static int st_gyro_set_fullscale(struct iio_dev *indio_dev,
+ struct st_gyro_fullscale_available *fs_avl)
+{
+ int err;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ err = st_gyro_write_data_with_mask(indio_dev,
+ st_gyro_sensors[gdata->index].fs.addr,
+ st_gyro_sensors[gdata->index].fs.mask,
+ st_gyro_sensors[gdata->index].fs.num_bit,
+ fs_avl->value);
+ if (err < 0)
+ goto st_gyro_set_fullscale_error;
+
+ gdata->fullscale = fs_avl->num;
+ gdata->gain = fs_avl->gain;
+ return err;
+
+st_gyro_set_fullscale_error:
+ dev_err(&indio_dev->dev, "failed to set new fullscale.\n");
+ return err;
+}
+
+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;
+ u8 *outdata;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ mutex_lock(&indio_dev->mlock);
+ if (indio_dev->currentmode == INDIO_BUFFER_TRIGGERED) {
+ err = -EBUSY;
+ goto device_read_error;
+ } else {
+ if (!gdata->enabled) {
+ err = -EIO;
+ goto device_read_error;
+ } else {
+ outdata = kmalloc(sizeof(*outdata*
+ ST_GYRO_BYTE_FOR_CHANNEL), GFP_KERNEL);
+ if (outdata == NULL) {
+ err = -ENOMEM;
+ goto device_read_error;
+ }
+
+ err = gdata->read_multiple_byte(gdata,
+ ch->address, ST_GYRO_BYTE_FOR_CHANNEL,
+ outdata);
+ if (err < 0)
+ goto read_error;
+
+ *val = ((s16)le16_to_cpup((u16 *)outdata))
+ >> ch->scan_type.shift;
+ }
+ }
+ mutex_unlock(&indio_dev->mlock);
+ kfree(outdata);
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ *val = 0;
+ *val2 = gdata->gain;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+
+read_error:
+ kfree(outdata);
+device_read_error:
+ mutex_unlock(&indio_dev->mlock);
+ 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;
+ struct st_gyro_fullscale_available fs_out;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ err = st_gyro_match_scale(&st_gyro_sensors[gdata->index],
+ val2, &fs_out);
+ if (err < 0)
+ goto write_error;
+
+ err = st_gyro_set_fullscale(indio_dev, &fs_out);
+ break;
+ default:
+ err = -EINVAL;
+ }
+
+write_error:
+ return err;
+}
+
+static int st_gyro_check_device_list(struct iio_dev *indio_dev, u8 wai)
+{
+ int i;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ for (i = 0; i < ARRAY_SIZE(st_gyro_sensors); i++) {
+ if (st_gyro_sensors[i].wai == wai)
+ break;
+ }
+ if (i == ARRAY_SIZE(st_gyro_sensors))
+ goto check_device_error;
+
+ gdata->index = i;
+
+ return i;
+
+check_device_error:
+ dev_err(&indio_dev->dev, "device not supported -> wai (0x%x).\n", wai);
+ return -ENODEV;
+}
+
+static int st_gyro_get_wai_device(struct iio_dev *indio_dev, u8 reg_addr,
+ u8 *value)
+{
+ int ret;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ ret = gdata->read_byte(gdata, reg_addr, value);
+ if (ret < 0)
+ goto read_byte_wai_error;
+
+ return 0;
+
+read_byte_wai_error:
+ dev_err(&indio_dev->dev,
+ "failed to read WhoAmI (register 0x%x).\n", reg_addr);
+ return -EIO;
+}
+
+static ssize_t st_gyro_sysfs_set_sampling_frequency(struct device *dev,
+ struct device_attribute *attr, const char *buf, size_t size)
+{
+ int err;
+ unsigned int freq;
+ struct st_gyro_odr_available odr_out;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ err = kstrtoint(buf, 10, &freq);
+ if (err < 0)
+ goto conversion_error;
+
+ mutex_lock(&indio_dev->mlock);
+ err = st_gyro_match_odr(&st_gyro_sensors[gdata->index],
+ freq, &odr_out);
+ if (err < 0)
+ goto st_gyro_sysfs_set_sampling_frequency_error;
+
+ err = st_gyro_set_odr(indio_dev, &odr_out);
+ if (err < 0)
+ goto st_gyro_sysfs_set_sampling_frequency_error;
+
+ gdata->odr = odr_out.hz;
+
+st_gyro_sysfs_set_sampling_frequency_error:
+ mutex_unlock(&indio_dev->mlock);
+conversion_error:
+ return err < 0 ? err : size;
+}
+
+static ssize_t st_gyro_sysfs_get_sampling_frequency(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ return sprintf(buf, "%d\n", gdata->odr);
+}
+
+static ssize_t st_gyro_sysfs_set_powerdown(struct device *dev,
+ struct device_attribute *attr, const char *buf, size_t size)
+{
+ int err;
+ bool powerdown;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+
+ err = strtobool(buf, &powerdown);
+ if (err < 0)
+ goto set_enable_error;
+
+ mutex_lock(&indio_dev->mlock);
+ err = st_gyro_set_enable(indio_dev, !powerdown);
+ mutex_unlock(&indio_dev->mlock);
+
+set_enable_error:
+ return err < 0 ? err : size;
+}
+
+static ssize_t st_gyro_sysfs_get_powerdown(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ return sprintf(buf, "%d\n", (int)(!gdata->enabled));
+}
+
+static ssize_t st_gyro_sysfs_scale_available(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ int i, len = 0;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ mutex_lock(&indio_dev->mlock);
+ for (i = 0; i < ARRAY_SIZE(st_gyro_sensors[gdata->index].fs.fs_avl);
+ i++) {
+ if (st_gyro_sensors[gdata->index].fs.fs_avl[i].num == 0)
+ break;
+
+ len += sprintf(buf+len, "0.%06u ",
+ st_gyro_sensors[gdata->index].fs.fs_avl[i].gain);
+ }
+ mutex_unlock(&indio_dev->mlock);
+ buf[len-1] = '\n';
+
+ return len;
+}
+
+static ssize_t st_gyro_sysfs_sampling_frequency_available(struct device
*dev,
+ struct device_attribute *attr, char *buf)
+{
+ int i, len = 0;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ mutex_lock(&indio_dev->mlock);
+ for (i = 0; i < ARRAY_SIZE(st_gyro_sensors[gdata->index].odr.odr_avl);
+ i++) {
+ if (st_gyro_sensors[gdata->index].odr.odr_avl[i].hz == 0)
+ break;
+
+ len += sprintf(buf + len, "%d ",
+ st_gyro_sensors[gdata->index].odr.odr_avl[i].hz);
+ }
+ mutex_unlock(&indio_dev->mlock);
+ buf[len - 1] = '\n';
+
+ return len;
+}
+
+static IIO_DEVICE_ATTR(sampling_frequency_available, S_IRUGO,
+ st_gyro_sysfs_sampling_frequency_available, NULL , 0);
+
+static IIO_DEVICE_ATTR(in_anglvel_scale_available, S_IRUGO,
+ st_gyro_sysfs_scale_available, NULL , 0);
+
+static IIO_DEVICE_ATTR(powerdown, S_IWUSR | S_IRUGO,
+ st_gyro_sysfs_get_powerdown, st_gyro_sysfs_set_powerdown , 0);
+
+static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
+ st_gyro_sysfs_get_sampling_frequency,
+ st_gyro_sysfs_set_sampling_frequency);
+
+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,
+ &iio_dev_attr_powerdown.dev_attr.attr,
+ &iio_dev_attr_sampling_frequency.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group st_gyro_attribute_group = {
+ .attrs = st_gyro_attributes,
+};
+
+static const struct iio_info acc_info = {
+ .driver_module = THIS_MODULE,
+ .attrs = &st_gyro_attribute_group,
+ .read_raw = &st_gyro_read_raw,
+ .write_raw = &st_gyro_write_raw,
+};
+
+static int st_gyro_init_sensor(struct iio_dev *indio_dev)
+{
+ int err;
+ struct st_gyro_odr_available odr_out;
+ struct st_gyro_fullscale_available fs_out;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ err = st_gyro_set_enable(indio_dev, false);
+ if (err < 0)
+ goto init_error;
+
+ err = st_gyro_set_axis_enable(indio_dev, ST_GYRO_ENABLE_ALL_CHANNELS);
+ if (err < 0)
+ goto init_error;
+
+ st_gyro_match_fs(&st_gyro_sensors[gdata->index],
+ gdata->fullscale, &fs_out);
+ err = st_gyro_set_fullscale(indio_dev, &fs_out);
+ if (err < 0)
+ goto init_error;
+
+ st_gyro_match_odr(&st_gyro_sensors[gdata->index],
+ gdata->odr, &odr_out);
+ err = st_gyro_set_odr(indio_dev, &odr_out);
+ if (err < 0)
+ goto init_error;
+
+ err = st_gyro_set_bdu(indio_dev,
+ &st_gyro_sensors[gdata->index].bdu, true);
+
+init_error:
+ return err;
+}
+
+int st_gyro_iio_probe(struct iio_dev *indio_dev, int irq)
+{
+ int err;
+ u8 *wai;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->info = &acc_info;
+
+ wai = kmalloc(sizeof(*wai), GFP_KERNEL);
+ if (wai == NULL) {
+ err = -ENOMEM;
+ goto st_gyro_iio_probe_error;
+ }
+
+ err = st_gyro_get_wai_device(indio_dev,
+ ST_GYRO_DEFAULT_WAI_ADDRESS, wai);
+ if (err < 0)
+ goto st_gyro_iio_probe_error;
+
+ err = st_gyro_check_device_list(indio_dev, *wai);
+ if (err < 0)
+ goto st_gyro_iio_probe_error;
+
+ gdata->multiread_bit = st_gyro_sensors[gdata->index].multi_read_bit;
+ indio_dev->channels = st_gyro_sensors[gdata->index].ch;
+ indio_dev->num_channels = ST_GYRO_NUMBER_ALL_CHANNELS;
+
+ gdata->fullscale = ST_GYRO_FS_AVL_2000DPS;
+ gdata->odr = 100;
+
+ err = st_gyro_init_sensor(indio_dev);
+ if (err < 0)
+ goto st_gyro_iio_probe_error;
+
+ err = st_gyro_allocate_ring(indio_dev);
+ if (err < 0)
+ goto st_gyro_iio_probe_error;
+
+ if (irq > 0) {
+ err = st_gyro_probe_trigger(indio_dev, irq);
+ if (err < 0)
+ goto acc_probe_trigger_error;
+ }
+
+ err = iio_device_register(indio_dev);
+ if (err)
+ goto iio_device_register_error;
+
+ return err;
+
+iio_device_register_error:
+ st_gyro_remove_trigger(indio_dev, irq);
+acc_probe_trigger_error:
+ st_gyro_deallocate_ring(indio_dev);
+st_gyro_iio_probe_error:
+ return err;
+}
+EXPORT_SYMBOL(st_gyro_iio_probe);
+
+void st_gyro_iio_remove(struct iio_dev *indio_dev, int irq)
+{
+ iio_device_unregister(indio_dev);
+ st_gyro_remove_trigger(indio_dev, irq);
+ st_gyro_deallocate_ring(indio_dev);
+ iio_device_free(indio_dev);
+}
+EXPORT_SYMBOL(st_gyro_iio_remove);
+
+MODULE_AUTHOR("Denis Ciocca <denis.ciocca@xxxxxx>");
+MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/gyro/st_gyro_i2c.c b/drivers/iio/gyro/st_gyro_i2c.c
new file mode 100644
index 0000000..d63ab8e
--- /dev/null
+++ b/drivers/iio/gyro/st_gyro_i2c.c
@@ -0,0 +1,125 @@
+/*
+ * STMicroelectronics gyroscopes driver
+ *
+ * Copyright 2012 STMicroelectronics Inc.
+ *
+ * Denis Ciocca <denis.ciocca@xxxxxx>
+ *
+ * Licensed under the GPL-2.
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/i2c.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/trigger.h>
+
+#include <linux/iio/gyro/st_gyro.h>
+
+#define ST_GYRO_I2C_MULTIREAD 0x80
+
+static int st_gyro_i2c_read_byte(struct st_gyro_data *gdata,
+ u8 reg_addr, u8 *res_byte)
+{
+ int err;
+
+ err = i2c_smbus_read_byte_data(to_i2c_client(gdata->dev), reg_addr);
+ if (err < 0)
+ goto st_gyro_i2c_read_byte_error;
+
+ *res_byte = err & 0xff;
+
+st_gyro_i2c_read_byte_error:
+ return err < 0 ? err : 0;
+}
+
+static int st_gyro_i2c_read_multiple_byte(struct st_gyro_data *gdata,
+ u8 reg_addr, int len, u8 *data)
+{
+ if (gdata->multiread_bit == true)
+ reg_addr |= ST_GYRO_I2C_MULTIREAD;
+
+ return i2c_smbus_read_i2c_block_data(to_i2c_client(gdata->dev),
+ reg_addr, len, data);
+}
+
+static int st_gyro_i2c_write_byte(struct st_gyro_data *gdata,
+ u8 reg_addr, u8 data)
+{
+ return i2c_smbus_write_byte_data(to_i2c_client(gdata->dev),
+ reg_addr, data);
+}
+
+static int __devinit st_gyro_i2c_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ struct iio_dev *indio_dev;
+ struct st_gyro_data *gdata;
+ int err;
+
+ indio_dev = iio_device_alloc(sizeof(*gdata));
+ if (indio_dev == NULL) {
+ err = -ENOMEM;
+ goto iio_device_alloc_error;
+ }
+
+ gdata = iio_priv(indio_dev);
+ gdata->dev = &client->dev;
+ i2c_set_clientdata(client, indio_dev);
+
+ indio_dev->dev.parent = &client->dev;
+ indio_dev->name = client->name;
+
+ gdata->read_byte = st_gyro_i2c_read_byte;
+ gdata->write_byte = st_gyro_i2c_write_byte;
+ gdata->read_multiple_byte = st_gyro_i2c_read_multiple_byte;
+
+ err = st_gyro_iio_probe(indio_dev, client->irq);
+ if (err < 0)
+ goto acc_iio_default_error;
+
+ return 0;
+
+acc_iio_default_error:
+ iio_device_free(indio_dev);
+iio_device_alloc_error:
+ return err;
+}
+
+static int st_gyro_i2c_remove(struct i2c_client *client)
+{
+ struct iio_dev *indio_dev = i2c_get_clientdata(client);
+ st_gyro_iio_remove(indio_dev, client->irq);
+
+ return 0;
+}
+
+static const struct i2c_device_id st_gyro_id_table[] = {
+ { L3G4200D_GYRO_DEV_NAME },
+ { LSM330DL_GYRO_DEV_NAME },
+ { L3GD20_GYRO_DEV_NAME },
+ { L3GD20H_GYRO_DEV_NAME },
+ { LSM330D_GYRO_DEV_NAME },
+ { LSM330DLC_GYRO_DEV_NAME },
+ { LSM9DS0_GYRO_DEV_NAME },
+ { L3G4IS_GYRO_DEV_NAME },
+ { LSM330_GYRO_DEV_NAME },
+ {},
+};
+MODULE_DEVICE_TABLE(i2c, st_gyro_id_table);
+
+static struct i2c_driver st_gyro_driver = {
+ .driver = {
+ .owner = THIS_MODULE,
+ .name = "st-gyro-i2c",
+ },
+ .probe = st_gyro_i2c_probe,
+ .remove = st_gyro_i2c_remove,
+ .id_table = st_gyro_id_table,
+};
+module_i2c_driver(st_gyro_driver);
+
+MODULE_AUTHOR("Denis Ciocca <denis.ciocca@xxxxxx>");
+MODULE_DESCRIPTION("STMicroelectronics gyroscopes i2c driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/gyro/st_gyro_spi.c b/drivers/iio/gyro/st_gyro_spi.c
new file mode 100644
index 0000000..8823f35
--- /dev/null
+++ b/drivers/iio/gyro/st_gyro_spi.c
@@ -0,0 +1,179 @@
+/*
+ * STMicroelectronics gyroscopes driver
+ *
+ * Copyright 2012 STMicroelectronics Inc.
+ *
+ * Denis Ciocca <denis.ciocca@xxxxxx>
+ *
+ * Licensed under the GPL-2.
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/spi/spi.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/trigger.h>
+
+#include <linux/iio/gyro/st_gyro.h>
+
+
+#define GYRO_SPI_READ 0x80;
+#define GYRO_SPI_MULTIREAD 0xc0
+
+static int st_gyro_spi_read(struct st_gyro_data *gdata,
+ u8 reg_addr, int len, u8 *data)
+{
+ struct spi_message msg;
+ int err;
+ u8 *tx;
+
+ struct spi_transfer xfers[] = {
+ {
+ .bits_per_word = 8,
+ .len = 1,
+ },
+ {
+ .rx_buf = data,
+ .bits_per_word = 8,
+ .len = len,
+ }
+ };
+
+ tx = kmalloc(sizeof(*tx), GFP_KERNEL);
+ if (tx == NULL) {
+ err = -ENOMEM;
+ goto acc_spi_read_error;
+ }
+
+ if ((gdata->multiread_bit == true) && (len > 1))
+ *tx = reg_addr | GYRO_SPI_MULTIREAD;
+ else
+ *tx = reg_addr | GYRO_SPI_READ;
+
+ xfers[0].tx_buf = tx;
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0], &msg);
+ spi_message_add_tail(&xfers[1], &msg);
+ err = spi_sync(to_spi_device(gdata->dev), &msg);
+ if (err)
+ goto acc_spi_read_error;
+
+ return len;
+
+acc_spi_read_error:
+ return err;
+}
+
+static int st_gyro_spi_read_byte(struct st_gyro_data *gdata,
+ u8 reg_addr, u8 *res_byte)
+{
+ return st_gyro_spi_read(gdata, reg_addr, 1, res_byte);
+}
+
+static int st_gyro_spi_read_multiple_byte(struct st_gyro_data *gdata,
+ u8 reg_addr, int len, u8 *data)
+{
+ return st_gyro_spi_read(gdata, reg_addr, len, data);
+}
+
+static int st_gyro_spi_write_byte(struct st_gyro_data *gdata,
+ u8 reg_addr, u8 data)
+{
+ struct spi_message msg;
+ int err;
+ u8 *tx;
+
+ struct spi_transfer xfers = {
+ .bits_per_word = 8,
+ .len = 2,
+ };
+
+ tx = kmalloc(sizeof(*tx)*2, GFP_KERNEL);
+ if (tx == NULL) {
+ err = -ENOMEM;
+ goto alloc_memory_error;
+ }
+
+ tx[0] = reg_addr;
+ tx[1] = data;
+ xfers.tx_buf = tx;
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers, &msg);
+ err = spi_sync(to_spi_device(gdata->dev), &msg);
+
+alloc_memory_error:
+ return err;
+}
+
+static int __devinit st_gyro_spi_probe(struct spi_device *spi)
+{
+ struct iio_dev *indio_dev;
+ struct st_gyro_data *gdata;
+ int err;
+
+ indio_dev = iio_device_alloc(sizeof(*gdata));
+ if (indio_dev == NULL) {
+ err = -ENOMEM;
+ goto iio_device_alloc_error;
+ }
+
+ gdata = iio_priv(indio_dev);
+ gdata->dev = &spi->dev;
+ spi_set_drvdata(spi, indio_dev);
+
+ indio_dev->dev.parent = &spi->dev;
+ indio_dev->name = spi->modalias;
+
+ gdata->read_byte = st_gyro_spi_read_byte;
+ gdata->write_byte = st_gyro_spi_write_byte;
+ gdata->read_multiple_byte = st_gyro_spi_read_multiple_byte;
+
+ err = st_gyro_iio_probe(indio_dev, spi->irq);
+ if (err < 0)
+ goto acc_iio_default_error;
+
+ return 0;
+
+acc_iio_default_error:
+ iio_device_free(indio_dev);
+iio_device_alloc_error:
+ return err;
+}
+
+static int st_gyro_spi_remove(struct spi_device *spi)
+{
+ struct iio_dev *indio_dev = spi_get_drvdata(spi);
+ st_gyro_iio_remove(indio_dev, spi->irq);
+
+ return 0;
+}
+
+static const struct spi_device_id st_gyro_id_table[] = {
+ { L3G4200D_GYRO_DEV_NAME },
+ { LSM330DL_GYRO_DEV_NAME },
+ { L3GD20_GYRO_DEV_NAME },
+ { L3GD20H_GYRO_DEV_NAME },
+ { LSM330D_GYRO_DEV_NAME },
+ { LSM330DLC_GYRO_DEV_NAME },
+ { LSM9DS0_GYRO_DEV_NAME },
+ { L3G4IS_GYRO_DEV_NAME },
+ { LSM330_GYRO_DEV_NAME },
+ {},
+};
+MODULE_DEVICE_TABLE(spi, st_gyro_id_table);
+
+static struct spi_driver st_gyro_driver = {
+ .driver = {
+ .owner = THIS_MODULE,
+ .name = "st-gyro-spi",
+ },
+ .probe = st_gyro_spi_probe,
+ .remove = st_gyro_spi_remove,
+ .id_table = st_gyro_id_table,
+};
+module_spi_driver(st_gyro_driver);
+
+MODULE_AUTHOR("Denis Ciocca <denis.ciocca@xxxxxx>");
+MODULE_DESCRIPTION("STMicroelectronics gyroscopes spi driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/gyro/st_gyro_trigger.c
b/drivers/iio/gyro/st_gyro_trigger.c
new file mode 100644
index 0000000..e072533
--- /dev/null
+++ b/drivers/iio/gyro/st_gyro_trigger.c
@@ -0,0 +1,83 @@
+/*
+ * STMicroelectronics gyroscopes driver
+ *
+ * Copyright 2012 STMicroelectronics Inc.
+ *
+ * Denis Ciocca <denis.ciocca@xxxxxx>
+ *
+ * Licensed under the GPL-2.
+ */
+
+#include <linux/kernel.h>
+#include <linux/slab.h>
+#include <linux/stat.h>
+#include <linux/interrupt.h>
+#include <linux/i2c.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/trigger.h>
+
+#include <linux/iio/gyro/st_gyro.h>
+
+static int st_gyro_trig_acc_set_state(struct iio_trigger *trig, bool state)
+{
+ struct iio_dev *indio_dev = trig->private_data;
+ return st_gyro_set_dataready_irq(indio_dev, state);
+}
+
+static const struct iio_trigger_ops st_gyro_trigger_ops = {
+ .owner = THIS_MODULE,
+ .set_trigger_state = &st_gyro_trig_acc_set_state,
+};
+
+int st_gyro_probe_trigger(struct iio_dev *indio_dev, int irq)
+{
+ int err;
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ gdata->trig = iio_trigger_alloc("%s-trigger", indio_dev->name);
+ if (gdata->trig == NULL) {
+ err = -ENOMEM;
+ dev_err(&indio_dev->dev, "failed to allocate iio trigger.\n");
+ goto iio_trigger_alloc_error;
+ }
+
+ err = request_threaded_irq(irq,
+ iio_trigger_generic_data_rdy_poll,
+ NULL,
+ IRQF_TRIGGER_RISING,
+ gdata->trig->name,
+ gdata->trig);
+ if (err)
+ goto request_irq_error;
+
+ gdata->trig->private_data = indio_dev;
+ gdata->trig->ops = &st_gyro_trigger_ops;
+ gdata->trig->dev.parent = gdata->dev;
+
+ err = iio_trigger_register(gdata->trig);
+ if (err < 0) {
+ dev_err(&indio_dev->dev, "failed to register iio trigger.\n");
+ goto iio_trigger_register_error;
+ }
+ indio_dev->trig = gdata->trig;
+
+ return 0;
+
+iio_trigger_register_error:
+ free_irq(irq, gdata->trig);
+request_irq_error:
+ iio_trigger_free(gdata->trig);
+iio_trigger_alloc_error:
+ return err;
+}
+EXPORT_SYMBOL(st_gyro_probe_trigger);
+
+void st_gyro_remove_trigger(struct iio_dev *indio_dev, int irq)
+{
+ struct st_gyro_data *gdata = iio_priv(indio_dev);
+
+ iio_trigger_unregister(gdata->trig);
+ free_irq(irq, gdata->trig);
+ iio_trigger_free(gdata->trig);
+}
+EXPORT_SYMBOL(st_gyro_remove_trigger);
diff --git a/include/linux/iio/gyro/st_gyro.h
b/include/linux/iio/gyro/st_gyro.h
new file mode 100644
index 0000000..81dc86e
--- /dev/null
+++ b/include/linux/iio/gyro/st_gyro.h
@@ -0,0 +1,99 @@
+/*
+ * STMicroelectronics gyroscopes driver
+ *
+ * Copyright 2012 STMicroelectronics Inc.
+ *
+ * Denis Ciocca <denis.ciocca@xxxxxx>
+ * v. 1.0.0
+ * Licensed under the GPL-2.
+ */
+
+#ifndef ST_GYRO_H
+#define ST_GYRO_H
+
+#define L3G4200D_GYRO_DEV_NAME "l3g4200d"
+#define LSM330DL_GYRO_DEV_NAME "lsm330dl_gyro"
+#define L3GD20_GYRO_DEV_NAME "l3gd20"
+#define L3GD20H_GYRO_DEV_NAME "l3gd20h"
+#define LSM330D_GYRO_DEV_NAME "lsm330d_gyro"
+#define LSM330DLC_GYRO_DEV_NAME "lsm330dlc_gyro"
+#define LSM9DS0_GYRO_DEV_NAME "lsm9ds0_gyro"
+#define L3G4IS_GYRO_DEV_NAME "l3g4is_ui"
+#define LSM330_GYRO_DEV_NAME "lsm330_gyro"
+
+#define ST_GYRO_NUMBER_ALL_CHANNELS 4
+#define ST_GYRO_NUMBER_DATA_CHANNELS 3
+#define ST_GYRO_BYTE_FOR_CHANNEL 2
+#define ST_GYRO_SCAN_X 0
+#define ST_GYRO_SCAN_Y 1
+#define ST_GYRO_SCAN_Z 2
+
+/**
+ * struct st_gyro_data - ST gyro device status
+ * @dev: Pointer to instance of struct device (I2C or SPI).
+ * @trig: The trigger in use by the core driver.
+ * @enabled: Status of the sensor (false->off, true->on).
+ * @multiread_bit: Use or not particular bit for [I2C/SPI] multiread.
+ * @index: Number used to point the sensor being used in the
+ * st_gyro_sensors struct.
+ * @buffer_data: Data used by buffer part.
+ * @fullscale: Maximum range of measure by the sensor.
+ * @gain: Sensitivity of the sensor [m/s^2/LSB].
+ * @odr: Output data rate of the sensor [Hz].
+ * @read_byte: Function used to read one byte.
+ * @write_byte: Function used to write one byte.
+ * @read_multiple_byte: Function used to read multiple byte.
+ */
+
+struct st_gyro_data {
+ struct device *dev;
+ struct iio_trigger *trig;
+
+ bool enabled;
+ bool multiread_bit;
+
+ short index;
+
+ char *buffer_data;
+
+ unsigned int fullscale;
+ unsigned int gain;
+ unsigned int odr;
+
+ int (*read_byte) (struct st_gyro_data *gdata, u8 reg_addr,
+ u8 *res_byte);
+ int (*write_byte) (struct st_gyro_data *gdata, u8 reg_addr, u8 data);
+ int (*read_multiple_byte) (struct st_gyro_data *gdata, u8 reg_addr,
+ int len, u8 *data);
+};
+
+int st_gyro_iio_probe(struct iio_dev *indio_dev, int irq);
+void st_gyro_iio_remove(struct iio_dev *indio_dev, int irq);
+int st_gyro_set_dataready_irq(struct iio_dev *indio_dev, bool enable);
+int st_gyro_set_axis_enable(struct iio_dev *indio_dev, u8 axis_enable);
+
+#ifdef CONFIG_IIO_BUFFER
+int st_gyro_probe_trigger(struct iio_dev *indio_dev, int irq);
+void st_gyro_remove_trigger(struct iio_dev *indio_dev, int irq);
+int st_gyro_allocate_ring(struct iio_dev *indio_dev);
+void st_gyro_deallocate_ring(struct iio_dev *indio_dev);
+#else /* CONFIG_IIO_BUFFER */
+static inline int st_gyro_probe_trigger(struct iio_dev *indio_dev, int irq)
+{
+ return 0;
+}
+static inline void st_gyro_remove_trigger(struct iio_dev *indio_dev,
int irq)
+{
+ return;
+}
+static inline int st_gyro_allocate_ring(struct iio_dev *indio_dev)
+{
+ return 0;
+}
+static inline void st_gyro_deallocate_ring(struct iio_dev *indio_dev)
+{
+ return;
+}
+#endif /* CONFIG_IIO_BUFFER */
+
+#endif /* ST_GYRO_H */
--
1.7.0.4
--
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