This patch adds support for the InvenSense itg3200.
The itg3200 is a three-axis gyro with 16-bit ADC and
I2C interface.
Signed-off-by: Manuel Stahl <manuel.stahl@xxxxxxxxxxxxxxxxx>
---
drivers/iio/gyro/Kconfig | 8 +
drivers/iio/gyro/Makefile | 4 +
drivers/iio/gyro/itg3200_buffer.c | 156 ++++++++++++++
drivers/iio/gyro/itg3200_core.c | 401 +++++++++++++++++++++++++++++++++++++
include/linux/iio/gyro/itg3200.h | 154 ++++++++++++++
5 files changed, 723 insertions(+), 0 deletions(-)
create mode 100644 drivers/iio/gyro/itg3200_buffer.c
create mode 100644 drivers/iio/gyro/itg3200_core.c
create mode 100644 include/linux/iio/gyro/itg3200.h
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index 752ac8a..343a3e0 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -30,4 +30,12 @@ config HID_SENSOR_GYRO_3D
Say yes here to build support for the HID SENSOR
Gyroscope 3D.
+config ITG3200
+ tristate "InvenSense ITG3200 Digital 3-Axis Gyroscope I2C driver"
+ depends on I2C
+ select IIO_TRIGGERED_BUFFER if IIO_BUFFER
+ help
+ Say yes here to add support for the InvenSense ITG3200 digital
+ 3-axis gyroscope sensor.
+
endmenu
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
index 9b090ee..99ae7d6 100644
--- a/drivers/iio/gyro/Makefile
+++ b/drivers/iio/gyro/Makefile
@@ -5,3 +5,7 @@
obj-$(CONFIG_ADIS16080) += adis16080.o
obj-$(CONFIG_ADIS16136) += adis16136.o
obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
+
+itg3200-y := itg3200_core.o
+itg3200-$(CONFIG_IIO_BUFFER) += itg3200_buffer.o
+obj-$(CONFIG_ITG3200) += itg3200.o
diff --git a/drivers/iio/gyro/itg3200_buffer.c b/drivers/iio/gyro/itg3200_buffer.c
new file mode 100644
index 0000000..f667d2c
--- /dev/null
+++ b/drivers/iio/gyro/itg3200_buffer.c
@@ -0,0 +1,156 @@
+/*
+ * itg3200_buffer.c -- support InvenSense ITG3200
+ * Digital 3-Axis Gyroscope driver
+ *
+ * Copyright (c) 2011 Christian Strobel <christian.strobel@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2011 Manuel Stahl <manuel.stahl@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@xxxxxxxxxxxxxxxxx>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ */
+
+#include <linux/slab.h>
+#include <linux/i2c.h>
+#include <linux/interrupt.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/gyro/itg3200.h>
+
+
+static int itg3200_read_all_channels(struct i2c_client *i2c, __be16 *buf)
+{
+ u8 tx = 0x80 | ITG3200_REG_TEMP_OUT_H;
+ struct i2c_msg msg[2] = {
+ {
+ .addr = i2c->addr,
+ .flags = i2c->flags,
+ .len = 1,
+ .buf = &tx,
+ },
+ {
+ .addr = i2c->addr,
+ .flags = i2c->flags | I2C_M_RD,
+ .len = ITG3200_SCAN_ELEMENTS * sizeof(s16),
+ .buf = (char *)&buf,
+ },
+ };
+
+ return i2c_transfer(i2c->adapter, msg, 2);
+}
+
+static irqreturn_t itg3200_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct itg3200 *st = iio_priv(indio_dev);
+ __be16 buf[ITG3200_SCAN_ELEMENTS + sizeof(s64)/sizeof(u16)];
+
+ int ret = itg3200_read_all_channels(st->i2c, buf);
+ if (ret < 0)
+ goto error_ret;
+
+ if (indio_dev->scan_timestamp)
+ memcpy(buf + indio_dev->scan_bytes - sizeof(s64),
+ &pf->timestamp, sizeof(pf->timestamp));
+
+ iio_push_to_buffers(indio_dev, (u8 *)buf);
+ iio_trigger_notify_done(indio_dev->trig);
+
+error_ret:
+ return IRQ_HANDLED;
+}
+
+int itg3200_buffer_configure(struct iio_dev *indio_dev)
+{
+ return iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time,
+ itg3200_trigger_handler, NULL);
+}
+
+void itg3200_buffer_unconfigure(struct iio_dev *indio_dev)
+{
+ iio_triggered_buffer_cleanup(indio_dev);
+}
+
+
+static int itg3200_data_rdy_trigger_set_state(struct iio_trigger *trig,
+ bool state)
+{
+ struct iio_dev *indio_dev = trig->private_data;
+ int ret;
+ u8 msc;
+
+ ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_IRQ_CONFIG, &msc);
+ if (ret)
+ goto error_ret;
+
+ if (state)
+ msc |= ITG3200_IRQ_DATA_RDY_ENABLE;
+ else
+ msc &= ~ITG3200_IRQ_DATA_RDY_ENABLE;
+
+ ret = itg3200_write_reg_8(indio_dev, ITG3200_REG_IRQ_CONFIG, msc);
+ if (ret)
+ goto error_ret;
+
+error_ret:
+ return ret;
+
+}
+
+static const struct iio_trigger_ops itg3200_trigger_ops = {
+ .owner = THIS_MODULE,
+ .set_trigger_state = &itg3200_data_rdy_trigger_set_state,
+};
+
+int itg3200_probe_trigger(struct iio_dev *indio_dev)
+{
+ int ret;
+ struct itg3200 *st = iio_priv(indio_dev);
+
+ st->trig = iio_trigger_alloc("%s-dev%d", indio_dev->name,
+ indio_dev->id);
+ if (!st->trig)
+ return -ENOMEM;
+
+ ret = request_irq(st->i2c->irq,
+ &iio_trigger_generic_data_rdy_poll,
+ IRQF_TRIGGER_RISING,
+ "itg3200_data_rdy",
+ st->trig);
+ if (ret)
+ goto error_free_trig;
+
+
+ st->trig->dev.parent = &st->i2c->dev;
+ st->trig->ops = &itg3200_trigger_ops;
+ st->trig->private_data = indio_dev;
+ ret = iio_trigger_register(st->trig);
+ if (ret)
+ goto error_free_irq;
+
+ /* select default trigger */
+ indio_dev->trig = st->trig;
+
+ return 0;
+
+error_free_irq:
+ free_irq(st->i2c->irq, st->trig);
+error_free_trig:
+ iio_trigger_free(st->trig);
+ return ret;
+}
+
+void itg3200_remove_trigger(struct iio_dev *indio_dev)
+{
+ struct itg3200 *st = iio_priv(indio_dev);
+
+ iio_trigger_unregister(st->trig);
+ free_irq(st->i2c->irq, st->trig);
+ iio_trigger_free(st->trig);
+}
diff --git a/drivers/iio/gyro/itg3200_core.c b/drivers/iio/gyro/itg3200_core.c
new file mode 100644
index 0000000..df2e6aa
--- /dev/null
+++ b/drivers/iio/gyro/itg3200_core.c
@@ -0,0 +1,401 @@
+/*
+ * itg3200_core.c -- support InvenSense ITG3200
+ * Digital 3-Axis Gyroscope driver
+ *
+ * Copyright (c) 2011 Christian Strobel <christian.strobel@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2011 Manuel Stahl <manuel.stahl@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@xxxxxxxxxxxxxxxxx>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * TODO:
+ * - Support digital low pass filter
+ * - Support power management
+ */
+
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/i2c.h>
+#include <linux/gpio.h>
+#include <linux/slab.h>
+#include <linux/stat.h>
+#include <linux/module.h>
+#include <linux/delay.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/events.h>
+#include <linux/iio/buffer.h>
+
+#include <linux/iio/gyro/itg3200.h>
+
+
+int itg3200_write_reg_8(struct iio_dev *indio_dev,
+ u8 reg_address, u8 val)
+{
+ struct itg3200 *st = iio_priv(indio_dev);
+
+ return i2c_smbus_write_byte_data(st->i2c, 0x80 | reg_address, val);
+}
+
+int itg3200_read_reg_8(struct iio_dev *indio_dev,
+ u8 reg_address, u8 *val)
+{
+ struct itg3200 *st = iio_priv(indio_dev);
+ int ret;
+
+ ret = i2c_smbus_read_byte_data(st->i2c, reg_address);
+ if (ret < 0)
+ return ret;
+ *val = ret;
+ return 0;
+}
+
+static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address,
+ int *val)
+{
+ struct itg3200 *st = iio_priv(indio_dev);
+ struct i2c_client *client = st->i2c;
+ int ret;
+ s16 out;
+
+ struct i2c_msg msg[2] = {
+ {
+ .addr = client->addr,
+ .flags = client->flags,
+ .len = 1,
+ .buf = (char *)&lower_reg_address,
+ },
+ {
+ .addr = client->addr,
+ .flags = client->flags | I2C_M_RD,
+ .len = 2,
+ .buf = (char *)&out,
+ },
+ };
+
+ lower_reg_address |= 0x80;
+ ret = i2c_transfer(client->adapter, msg, 2);
+ be16_to_cpus(&out);
+ *val = out;
+
+ return (ret == 2) ? 0 : ret;
+}
+
+static int itg3200_read_raw(struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan,
+ int *val, int *val2, long info)
+{
+ int ret = 0;
+ u8 reg;
+
+ switch (info) {
+ case IIO_CHAN_INFO_RAW:
+ reg = (u8)chan->address;
+ ret = itg3200_read_reg_s16(indio_dev, reg, val);
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ *val = 0;
+ if (chan->type == IIO_TEMP)
+ *val2 = 1000000000/280;
+ else
+ *val2 = 1214142; /* (1 / 14,375) * (PI / 180) */
+ return IIO_VAL_INT_PLUS_NANO;
+ case IIO_CHAN_INFO_OFFSET:
+ /* Only the temperature channel has an offset */
+ *val = 23000;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+
+ return ret;
+}
+
+static ssize_t itg3200_read_frequency(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ int ret, sps;
+ u8 val;
+
+ ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &val);
+ if (ret)
+ return ret;
+
+ sps = (val & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000;
+
+ ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_SAMPLE_RATE_DIV, &val);
+ if (ret)
+ return ret;
+
+ sps /= val + 1;
+
+ return sprintf(buf, "%d\n", sps);
+}
+
+static ssize_t itg3200_write_frequency(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf,
+ size_t len)
+{
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ unsigned val;
+ int ret;
+ u8 t;
+
+ ret = kstrtouint(buf, 10, &val);
+ if (ret)
+ return ret;
+
+ mutex_lock(&indio_dev->mlock);
+
+ ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &t);
+ if (ret)
+ goto err_ret;
+
+ if (val == 0) {
+ ret = -EINVAL;
+ goto err_ret;
+ }
+ t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / val - 1;
+
+ ret = itg3200_write_reg_8(indio_dev, ITG3200_REG_SAMPLE_RATE_DIV, t);
+
+err_ret:
+ mutex_unlock(&indio_dev->mlock);
+
+ return ret ? ret : len;
+}
+
+/*
+ * Reset device and internal registers to the power-up-default settings
+ * Use the gyro clock as reference, as suggested by the datasheet
+ */
+static int itg3200_reset(struct iio_dev *indio_dev)
+{
+ struct itg3200 *st = iio_priv(indio_dev);
+ int ret;
+
+ dev_dbg(&st->i2c->dev, "reset device");
+
+ ret = itg3200_write_reg_8(indio_dev,
+ ITG3200_REG_POWER_MANAGEMENT,
+ ITG3200_RESET);
+ if (ret) {
+ dev_err(&st->i2c->dev, "error resetting device");
+ goto error_ret;
+ }
+
+ /* Wait for PLL (1ms according to datasheet) */
+ udelay(1500);
+
+ ret = itg3200_write_reg_8(indio_dev,
+ ITG3200_REG_IRQ_CONFIG,
+ ITG3200_IRQ_ACTIVE_HIGH |
+ ITG3200_IRQ_PUSH_PULL |
+ ITG3200_IRQ_LATCH_50US_PULSE |
+ ITG3200_IRQ_LATCH_CLEAR_ANY);
+
+ if (ret)
+ dev_err(&st->i2c->dev, "error init device");
+
+error_ret:
+ return ret;
+}
+
+/* itg3200_enable_full_scale() - Disables the digital low pass filter */
+static int itg3200_enable_full_scale(struct iio_dev *indio_dev)
+{
+ u8 val;
+ int ret;
+
+ ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &val);
+ if (ret)
+ goto err_ret;
+
+ val |= ITG3200_DLPF_FS_SEL_2000;
+ return itg3200_write_reg_8(indio_dev, ITG3200_REG_DLPF, val);
+
+err_ret:
+ return ret;
+}
+
+static int itg3200_initial_setup(struct iio_dev *indio_dev)
+{
+ struct itg3200 *st = iio_priv(indio_dev);
+ int ret;
+ u8 val;
+
+ ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_ADDRESS, &val);
+ if (ret)
+ goto err_ret;
+
+ if (((val >> 1) & 0x3f) != 0x34) {
+ dev_err(&st->i2c->dev, "invalid reg value 0x%02x", val);
+ ret = -ENXIO;
+ goto err_ret;
+ }
+
+ ret = itg3200_reset(indio_dev);
+ if (ret)
+ goto err_ret;
+
+ ret = itg3200_enable_full_scale(indio_dev);
+err_ret:
+ return ret;
+}
+
+#define ITG3200_TEMP_INFO_MASK (IIO_CHAN_INFO_OFFSET_SHARED_BIT | \
+ IIO_CHAN_INFO_SCALE_SHARED_BIT | \
+ IIO_CHAN_INFO_RAW_SEPARATE_BIT)
+#define ITG3200_GYRO_INFO_MASK (IIO_CHAN_INFO_SCALE_SHARED_BIT | \
+ IIO_CHAN_INFO_RAW_SEPARATE_BIT)
+
+#define ITG3200_ST \
+ { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE }
+
+#define ITG3200_GYRO_CHAN(_mod) { \
+ .type = IIO_ANGL_VEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## _mod, \
+ .info_mask = ITG3200_GYRO_INFO_MASK, \
+ .address = ITG3200_REG_GYRO_ ## _mod ## OUT_H, \
+ .scan_index = ITG3200_SCAN_GYRO_ ## _mod, \
+ .scan_type = ITG3200_ST, \
+}
+
+static const struct iio_chan_spec itg3200_channels[] = {
+ {
+ .type = IIO_TEMP,
+ .channel2 = IIO_NO_MOD,
+ .info_mask = ITG3200_TEMP_INFO_MASK,
+ .address = ITG3200_REG_TEMP_OUT_H,
+ .scan_index = ITG3200_SCAN_TEMP,
+ .scan_type = ITG3200_ST,
+ },
+ ITG3200_GYRO_CHAN(X),
+ ITG3200_GYRO_CHAN(Y),
+ ITG3200_GYRO_CHAN(Z),
+ IIO_CHAN_SOFT_TIMESTAMP(ITG3200_SCAN_ELEMENTS),
+};
+
+/* IIO device attributes */
+static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, itg3200_read_frequency,
+ itg3200_write_frequency);
+
+static struct attribute *itg3200_attributes[] = {
+ &iio_dev_attr_sampling_frequency.dev_attr.attr,
+ NULL
+};
+
+static const struct attribute_group itg3200_attribute_group = {
+ .attrs = itg3200_attributes,
+};
+
+static const struct iio_info itg3200_info = {
+ .attrs = &itg3200_attribute_group,
+ .read_raw = &itg3200_read_raw,
+ .driver_module = THIS_MODULE,
+};
+
+static const unsigned long itg3200_available_scan_masks[] = { 0xffffffff, 0x0 };
+
+static int itg3200_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ int ret;
+ struct itg3200 *st;
+ struct iio_dev *indio_dev;
+
+ dev_dbg(&client->dev, "probe I2C dev with IRQ %i", client->irq);
+
+ indio_dev = iio_device_alloc(sizeof(*st));
+ if (indio_dev == NULL) {
+ ret = -ENOMEM;
+ goto error_ret;
+ }
+
+ st = iio_priv(indio_dev);
+
+ i2c_set_clientdata(client, indio_dev);
+ st->i2c = client;
+
+ indio_dev->dev.parent = &client->dev;
+ indio_dev->name = client->dev.driver->name;
+ indio_dev->channels = itg3200_channels;
+ indio_dev->num_channels = ARRAY_SIZE(itg3200_channels);
+ indio_dev->available_scan_masks = itg3200_available_scan_masks;
+ indio_dev->info = &itg3200_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = itg3200_buffer_configure(indio_dev);
+ if (ret)
+ goto error_free_dev;
+
+ if (client->irq) {
+ ret = itg3200_probe_trigger(indio_dev);
+ if (ret)
+ goto error_unconfigure_buffer;
+ }
+
+ ret = itg3200_initial_setup(indio_dev);
+ if (ret)
+ goto error_remove_trigger;
+
+ ret = iio_device_register(indio_dev);
+ if (ret)
+ goto error_remove_trigger;
+
+ return 0;
+
+error_remove_trigger:
+ if (client->irq)
+ itg3200_remove_trigger(indio_dev);
+error_unconfigure_buffer:
+ itg3200_buffer_unconfigure(indio_dev);
+error_free_dev:
+ iio_device_free(indio_dev);
+error_ret:
+ return ret;
+}
+
+static int itg3200_remove(struct i2c_client *client)
+{
+ struct iio_dev *indio_dev = i2c_get_clientdata(client);
+
+ iio_device_unregister(indio_dev);
+
+ if (client->irq)
+ itg3200_remove_trigger(indio_dev);
+
+ itg3200_buffer_unconfigure(indio_dev);
+
+ iio_device_free(indio_dev);
+
+ return 0;
+}
+
+static const struct i2c_device_id itg3200_id[] = {
+ { "itg3200", 0 },
+ { }
+};
+MODULE_DEVICE_TABLE(i2c, itg3200_id);
+
+static struct i2c_driver itg3200_driver = {
+ .driver = {
+ .owner = THIS_MODULE,
+ .name = "itg3200",
+ },
+ .id_table = itg3200_id,
+ .probe = itg3200_probe,
+ .remove = itg3200_remove,
+};
+
+module_i2c_driver(itg3200_driver);
+
+MODULE_AUTHOR("Christian Strobel <christian.strobel@xxxxxxxxxxxxxxxxx>");
+MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver");
+MODULE_LICENSE("GPL v2");
diff --git a/include/linux/iio/gyro/itg3200.h b/include/linux/iio/gyro/itg3200.h
new file mode 100644
index 0000000..c53f169
--- /dev/null
+++ b/include/linux/iio/gyro/itg3200.h
@@ -0,0 +1,154 @@
+/*
+ * itg3200.h -- support InvenSense ITG3200
+ * Digital 3-Axis Gyroscope driver
+ *
+ * Copyright (c) 2011 Christian Strobel <christian.strobel@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2011 Manuel Stahl <manuel.stahl@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@xxxxxxxxxxxxxxxxx>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ */
+
+#ifndef I2C_ITG3200_H_
+#define I2C_ITG3200_H_
+
+#include <linux/iio/iio.h>
+
+/* Register with I2C address (34h) */
+#define ITG3200_REG_ADDRESS 0x00
+
+/* Sample rate divider
+ * Range: 0 to 255
+ * Default value: 0x00 */
+#define ITG3200_REG_SAMPLE_RATE_DIV 0x15
+
+/* Digital low pass filter settings */
+#define ITG3200_REG_DLPF 0x16
+/* DLPF full scale range */
+#define ITG3200_DLPF_FS_SEL_2000 0x18
+/* Bandwidth (Hz) and internal sample rate
+ * (kHz) of DLPF */
+#define ITG3200_DLPF_256_8 0x00
+#define ITG3200_DLPF_188_1 0x01
+#define ITG3200_DLPF_98_1 0x02
+#define ITG3200_DLPF_42_1 0x03
+#define ITG3200_DLPF_20_1 0x04
+#define ITG3200_DLPF_10_1 0x05
+#define ITG3200_DLPF_5_1 0x06
+
+#define ITG3200_DLPF_CFG_MASK 0x07
+
+/* Configuration for interrupt operations */
+#define ITG3200_REG_IRQ_CONFIG 0x17
+/* Logic level */
+#define ITG3200_IRQ_ACTIVE_LOW 0x80
+#define ITG3200_IRQ_ACTIVE_HIGH 0x00
+/* Drive type */
+#define ITG3200_IRQ_OPEN_DRAIN 0x40
+#define ITG3200_IRQ_PUSH_PULL 0x00
+/* Latch mode */
+#define ITG3200_IRQ_LATCH_UNTIL_CLEARED 0x20
+#define ITG3200_IRQ_LATCH_50US_PULSE 0x00
+/* Latch clear method */
+#define ITG3200_IRQ_LATCH_CLEAR_ANY 0x10
+#define ITG3200_IRQ_LATCH_CLEAR_STATUS 0x00
+/* Enable interrupt when device is ready */
+#define ITG3200_IRQ_DEVICE_RDY_ENABLE 0x04
+/* Enable interrupt when data is available */
+#define ITG3200_IRQ_DATA_RDY_ENABLE 0x01
+
+/* Determine the status of ITG-3200 interrupts */
+#define ITG3200_REG_IRQ_STATUS 0x1A
+/* Status of 'device is ready'-interrupt */
+#define ITG3200_IRQ_DEVICE_RDY_STATUS 0x04
+/* Status of 'data is available'-interrupt */
+#define ITG3200_IRQ_DATA_RDY_STATUS 0x01
+
+/* Sensor registers */
+#define ITG3200_REG_TEMP_OUT_H 0x1B
+#define ITG3200_REG_TEMP_OUT_L 0x1C
+#define ITG3200_REG_GYRO_XOUT_H 0x1D
+#define ITG3200_REG_GYRO_XOUT_L 0x1E
+#define ITG3200_REG_GYRO_YOUT_H 0x1F
+#define ITG3200_REG_GYRO_YOUT_L 0x20
+#define ITG3200_REG_GYRO_ZOUT_H 0x21
+#define ITG3200_REG_GYRO_ZOUT_L 0x22
+
+/* Power management */
+#define ITG3200_REG_POWER_MANAGEMENT 0x3E
+/* Reset device and internal registers to the
+ * power-up-default settings */
+#define ITG3200_RESET 0x80
+/* Enable low power sleep mode */
+#define ITG3200_SLEEP 0x40
+/* Put according gyroscope in standby mode */
+#define ITG3200_STANDBY_GYRO_X 0x20
+#define ITG3200_STANDBY_GYRO_Y 0x10
+#define ITG3200_STANDBY_GYRO_Z 0x08
+/* Determine the device clock source */
+#define ITG3200_CLK_INTERNAL 0x00
+#define ITG3200_CLK_GYRO_X 0x01
+#define ITG3200_CLK_GYRO_Y 0x02
+#define ITG3200_CLK_GYRO_Z 0x03
+#define ITG3200_CLK_EXT_32K 0x04
+#define ITG3200_CLK_EXT_19M 0x05
+
+
+/**
+ * struct itg3200 - device instance specific data
+ * @i2c: actual i2c_client
+ * @trig: data ready trigger from itg3200 pin
+ **/
+struct itg3200 {
+ struct i2c_client *i2c;
+ struct iio_trigger *trig;
+};
+
+enum ITG3200_SCAN_INDEX {
+ ITG3200_SCAN_TEMP,
+ ITG3200_SCAN_GYRO_X,
+ ITG3200_SCAN_GYRO_Y,
+ ITG3200_SCAN_GYRO_Z,
+ ITG3200_SCAN_ELEMENTS,
+};
+
+int itg3200_write_reg_8(struct iio_dev *indio_dev,
+ u8 reg_address, u8 val);
+
+int itg3200_read_reg_8(struct iio_dev *indio_dev,
+ u8 reg_address, u8 *val);
+
+
+#ifdef CONFIG_IIO_BUFFER
+
+void itg3200_remove_trigger(struct iio_dev *indio_dev);
+int itg3200_probe_trigger(struct iio_dev *indio_dev);
+
+int itg3200_buffer_configure(struct iio_dev *indio_dev);
+void itg3200_buffer_unconfigure(struct iio_dev *indio_dev);
+
+#else /* CONFIG_IIO_BUFFER */
+
+static inline void itg3200_remove_trigger(struct iio_dev *indio_dev)
+{
+}
+
+static inline int itg3200_probe_trigger(struct iio_dev *indio_dev)
+{
+ return 0;
+}
+
+static inline int itg3200_buffer_configure(struct iio_dev *indio_dev)
+{
+ return 0;
+}
+
+static inline void itg3200_buffer_unconfigure(struct iio_dev *indio_dev)
+{
+}
+
+#endif /* CONFIG_IIO_RING_BUFFER */
+
+#endif /* ITG3200_H_ */
--
1.7.2.3
--
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