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1// SPDX-License-Identifier: GPL-2.0-only2/*3 * itg3200_core.c -- support InvenSense ITG32004 * Digital 3-Axis Gyroscope driver5 *6 * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de>7 * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>8 * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de>9 *10 * TODO:11 * - Support digital low pass filter12 * - Support power management13 */14 15#include <linux/interrupt.h>16#include <linux/irq.h>17#include <linux/i2c.h>18#include <linux/slab.h>19#include <linux/stat.h>20#include <linux/module.h>21#include <linux/mutex.h>22#include <linux/delay.h>23 24#include <linux/iio/iio.h>25#include <linux/iio/sysfs.h>26#include <linux/iio/events.h>27#include <linux/iio/buffer.h>28 29#include <linux/iio/gyro/itg3200.h>30 31 32int itg3200_write_reg_8(struct iio_dev *indio_dev,33 u8 reg_address, u8 val)34{35 struct itg3200 *st = iio_priv(indio_dev);36 37 return i2c_smbus_write_byte_data(st->i2c, 0x80 | reg_address, val);38}39 40int itg3200_read_reg_8(struct iio_dev *indio_dev,41 u8 reg_address, u8 *val)42{43 struct itg3200 *st = iio_priv(indio_dev);44 int ret;45 46 ret = i2c_smbus_read_byte_data(st->i2c, reg_address);47 if (ret < 0)48 return ret;49 *val = ret;50 return 0;51}52 53static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address,54 int *val)55{56 struct itg3200 *st = iio_priv(indio_dev);57 struct i2c_client *client = st->i2c;58 int ret;59 s16 out;60 61 struct i2c_msg msg[2] = {62 {63 .addr = client->addr,64 .flags = client->flags,65 .len = 1,66 .buf = (char *)&lower_reg_address,67 },68 {69 .addr = client->addr,70 .flags = client->flags | I2C_M_RD,71 .len = 2,72 .buf = (char *)&out,73 },74 };75 76 lower_reg_address |= 0x80;77 ret = i2c_transfer(client->adapter, msg, 2);78 be16_to_cpus(&out);79 *val = out;80 81 return (ret == 2) ? 0 : ret;82}83 84static int itg3200_read_raw(struct iio_dev *indio_dev,85 const struct iio_chan_spec *chan,86 int *val, int *val2, long info)87{88 int ret = 0;89 u8 reg;90 u8 regval;91 92 switch (info) {93 case IIO_CHAN_INFO_RAW:94 reg = (u8)chan->address;95 ret = itg3200_read_reg_s16(indio_dev, reg, val);96 return IIO_VAL_INT;97 case IIO_CHAN_INFO_SCALE:98 *val = 0;99 if (chan->type == IIO_TEMP)100 *val2 = 1000000000/280;101 else102 *val2 = 1214142; /* (1 / 14,375) * (PI / 180) */103 return IIO_VAL_INT_PLUS_NANO;104 case IIO_CHAN_INFO_OFFSET:105 /* Only the temperature channel has an offset */106 *val = 23000;107 return IIO_VAL_INT;108 case IIO_CHAN_INFO_SAMP_FREQ:109 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, ®val);110 if (ret)111 return ret;112 113 *val = (regval & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000;114 115 ret = itg3200_read_reg_8(indio_dev,116 ITG3200_REG_SAMPLE_RATE_DIV,117 ®val);118 if (ret)119 return ret;120 121 *val /= regval + 1;122 return IIO_VAL_INT;123 124 default:125 return -EINVAL;126 }127}128 129static int itg3200_write_raw(struct iio_dev *indio_dev,130 struct iio_chan_spec const *chan,131 int val,132 int val2,133 long mask)134{135 struct itg3200 *st = iio_priv(indio_dev);136 int ret;137 u8 t;138 139 switch (mask) {140 case IIO_CHAN_INFO_SAMP_FREQ:141 if (val == 0 || val2 != 0)142 return -EINVAL;143 144 mutex_lock(&st->lock);145 146 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &t);147 if (ret) {148 mutex_unlock(&st->lock);149 return ret;150 }151 t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / val - 1;152 153 ret = itg3200_write_reg_8(indio_dev,154 ITG3200_REG_SAMPLE_RATE_DIV,155 t);156 157 mutex_unlock(&st->lock);158 return ret;159 160 default:161 return -EINVAL;162 }163}164 165/*166 * Reset device and internal registers to the power-up-default settings167 * Use the gyro clock as reference, as suggested by the datasheet168 */169static int itg3200_reset(struct iio_dev *indio_dev)170{171 struct itg3200 *st = iio_priv(indio_dev);172 int ret;173 174 dev_dbg(&st->i2c->dev, "reset device");175 176 ret = itg3200_write_reg_8(indio_dev,177 ITG3200_REG_POWER_MANAGEMENT,178 ITG3200_RESET);179 if (ret) {180 dev_err(&st->i2c->dev, "error resetting device");181 goto error_ret;182 }183 184 /* Wait for PLL (1ms according to datasheet) */185 udelay(1500);186 187 ret = itg3200_write_reg_8(indio_dev,188 ITG3200_REG_IRQ_CONFIG,189 ITG3200_IRQ_ACTIVE_HIGH |190 ITG3200_IRQ_PUSH_PULL |191 ITG3200_IRQ_LATCH_50US_PULSE |192 ITG3200_IRQ_LATCH_CLEAR_ANY);193 194 if (ret)195 dev_err(&st->i2c->dev, "error init device");196 197error_ret:198 return ret;199}200 201/* itg3200_enable_full_scale() - Disables the digital low pass filter */202static int itg3200_enable_full_scale(struct iio_dev *indio_dev)203{204 u8 val;205 int ret;206 207 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &val);208 if (ret)209 goto err_ret;210 211 val |= ITG3200_DLPF_FS_SEL_2000;212 return itg3200_write_reg_8(indio_dev, ITG3200_REG_DLPF, val);213 214err_ret:215 return ret;216}217 218static int itg3200_initial_setup(struct iio_dev *indio_dev)219{220 struct itg3200 *st = iio_priv(indio_dev);221 int ret;222 u8 val;223 224 ret = itg3200_reset(indio_dev);225 if (ret)226 goto err_ret;227 228 ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_ADDRESS, &val);229 if (ret)230 goto err_ret;231 232 if (((val >> 1) & 0x3f) != 0x34) {233 dev_err(&st->i2c->dev, "invalid reg value 0x%02x", val);234 ret = -ENXIO;235 goto err_ret;236 }237 238 ret = itg3200_enable_full_scale(indio_dev);239err_ret:240 return ret;241}242 243static const struct iio_mount_matrix *244itg3200_get_mount_matrix(const struct iio_dev *indio_dev,245 const struct iio_chan_spec *chan)246{247 struct itg3200 *data = iio_priv(indio_dev);248 249 return &data->orientation;250}251 252static const struct iio_chan_spec_ext_info itg3200_ext_info[] = {253 IIO_MOUNT_MATRIX(IIO_SHARED_BY_DIR, itg3200_get_mount_matrix),254 { }255};256 257#define ITG3200_ST \258 { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE }259 260#define ITG3200_GYRO_CHAN(_mod) { \261 .type = IIO_ANGL_VEL, \262 .modified = 1, \263 .channel2 = IIO_MOD_ ## _mod, \264 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \265 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \266 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \267 .address = ITG3200_REG_GYRO_ ## _mod ## OUT_H, \268 .scan_index = ITG3200_SCAN_GYRO_ ## _mod, \269 .scan_type = ITG3200_ST, \270 .ext_info = itg3200_ext_info, \271}272 273static const struct iio_chan_spec itg3200_channels[] = {274 {275 .type = IIO_TEMP,276 .channel2 = IIO_NO_MOD,277 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),278 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) |279 BIT(IIO_CHAN_INFO_SCALE),280 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),281 .address = ITG3200_REG_TEMP_OUT_H,282 .scan_index = ITG3200_SCAN_TEMP,283 .scan_type = ITG3200_ST,284 },285 ITG3200_GYRO_CHAN(X),286 ITG3200_GYRO_CHAN(Y),287 ITG3200_GYRO_CHAN(Z),288 IIO_CHAN_SOFT_TIMESTAMP(ITG3200_SCAN_ELEMENTS),289};290 291static const struct iio_info itg3200_info = {292 .read_raw = &itg3200_read_raw,293 .write_raw = &itg3200_write_raw,294};295 296static const unsigned long itg3200_available_scan_masks[] = { 0xffffffff, 0x0 };297 298static int itg3200_probe(struct i2c_client *client)299{300 int ret;301 struct itg3200 *st;302 struct iio_dev *indio_dev;303 304 dev_dbg(&client->dev, "probe I2C dev with IRQ %i", client->irq);305 306 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));307 if (!indio_dev)308 return -ENOMEM;309 310 st = iio_priv(indio_dev);311 312 ret = iio_read_mount_matrix(&client->dev, &st->orientation);313 if (ret)314 return ret;315 316 i2c_set_clientdata(client, indio_dev);317 st->i2c = client;318 319 indio_dev->name = client->dev.driver->name;320 indio_dev->channels = itg3200_channels;321 indio_dev->num_channels = ARRAY_SIZE(itg3200_channels);322 indio_dev->available_scan_masks = itg3200_available_scan_masks;323 indio_dev->info = &itg3200_info;324 indio_dev->modes = INDIO_DIRECT_MODE;325 326 ret = itg3200_buffer_configure(indio_dev);327 if (ret)328 return ret;329 330 if (client->irq) {331 ret = itg3200_probe_trigger(indio_dev);332 if (ret)333 goto error_unconfigure_buffer;334 }335 336 ret = itg3200_initial_setup(indio_dev);337 if (ret)338 goto error_remove_trigger;339 340 mutex_init(&st->lock);341 342 ret = iio_device_register(indio_dev);343 if (ret)344 goto error_remove_trigger;345 346 return 0;347 348error_remove_trigger:349 if (client->irq)350 itg3200_remove_trigger(indio_dev);351error_unconfigure_buffer:352 itg3200_buffer_unconfigure(indio_dev);353 return ret;354}355 356static void itg3200_remove(struct i2c_client *client)357{358 struct iio_dev *indio_dev = i2c_get_clientdata(client);359 360 iio_device_unregister(indio_dev);361 362 if (client->irq)363 itg3200_remove_trigger(indio_dev);364 365 itg3200_buffer_unconfigure(indio_dev);366}367 368static int itg3200_suspend(struct device *dev)369{370 struct iio_dev *indio_dev = dev_get_drvdata(dev);371 struct itg3200 *st = iio_priv(indio_dev);372 373 dev_dbg(&st->i2c->dev, "suspend device");374 375 return itg3200_write_reg_8(indio_dev, ITG3200_REG_POWER_MANAGEMENT,376 ITG3200_SLEEP);377}378 379static int itg3200_resume(struct device *dev)380{381 struct iio_dev *indio_dev = dev_get_drvdata(dev);382 383 return itg3200_initial_setup(indio_dev);384}385 386static DEFINE_SIMPLE_DEV_PM_OPS(itg3200_pm_ops, itg3200_suspend,387 itg3200_resume);388 389static const struct i2c_device_id itg3200_id[] = {390 { "itg3200" },391 { }392};393MODULE_DEVICE_TABLE(i2c, itg3200_id);394 395static const struct of_device_id itg3200_of_match[] = {396 { .compatible = "invensense,itg3200" },397 { }398};399MODULE_DEVICE_TABLE(of, itg3200_of_match);400 401static struct i2c_driver itg3200_driver = {402 .driver = {403 .name = "itg3200",404 .of_match_table = itg3200_of_match,405 .pm = pm_sleep_ptr(&itg3200_pm_ops),406 },407 .id_table = itg3200_id,408 .probe = itg3200_probe,409 .remove = itg3200_remove,410};411 412module_i2c_driver(itg3200_driver);413 414MODULE_AUTHOR("Christian Strobel <christian.strobel@iis.fraunhofer.de>");415MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver");416MODULE_LICENSE("GPL v2");417