Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 1 | /* |
| 2 | * itg3200_core.c -- support InvenSense ITG3200 |
| 3 | * Digital 3-Axis Gyroscope driver |
| 4 | * |
| 5 | * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de> |
| 6 | * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> |
| 7 | * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de> |
| 8 | * |
| 9 | * This program is free software; you can redistribute it and/or modify |
| 10 | * it under the terms of the GNU General Public License version 2 as |
| 11 | * published by the Free Software Foundation. |
| 12 | * |
| 13 | * TODO: |
| 14 | * - Support digital low pass filter |
| 15 | * - Support power management |
| 16 | */ |
| 17 | |
| 18 | #include <linux/interrupt.h> |
| 19 | #include <linux/irq.h> |
| 20 | #include <linux/i2c.h> |
| 21 | #include <linux/gpio.h> |
| 22 | #include <linux/slab.h> |
| 23 | #include <linux/stat.h> |
| 24 | #include <linux/module.h> |
| 25 | #include <linux/delay.h> |
| 26 | |
| 27 | #include <linux/iio/iio.h> |
| 28 | #include <linux/iio/sysfs.h> |
| 29 | #include <linux/iio/events.h> |
| 30 | #include <linux/iio/buffer.h> |
| 31 | |
| 32 | #include <linux/iio/gyro/itg3200.h> |
| 33 | |
| 34 | |
| 35 | int itg3200_write_reg_8(struct iio_dev *indio_dev, |
| 36 | u8 reg_address, u8 val) |
| 37 | { |
| 38 | struct itg3200 *st = iio_priv(indio_dev); |
| 39 | |
| 40 | return i2c_smbus_write_byte_data(st->i2c, 0x80 | reg_address, val); |
| 41 | } |
| 42 | |
| 43 | int itg3200_read_reg_8(struct iio_dev *indio_dev, |
| 44 | u8 reg_address, u8 *val) |
| 45 | { |
| 46 | struct itg3200 *st = iio_priv(indio_dev); |
| 47 | int ret; |
| 48 | |
| 49 | ret = i2c_smbus_read_byte_data(st->i2c, reg_address); |
| 50 | if (ret < 0) |
| 51 | return ret; |
| 52 | *val = ret; |
| 53 | return 0; |
| 54 | } |
| 55 | |
| 56 | static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address, |
| 57 | int *val) |
| 58 | { |
| 59 | struct itg3200 *st = iio_priv(indio_dev); |
| 60 | struct i2c_client *client = st->i2c; |
| 61 | int ret; |
| 62 | s16 out; |
| 63 | |
| 64 | struct i2c_msg msg[2] = { |
| 65 | { |
| 66 | .addr = client->addr, |
| 67 | .flags = client->flags, |
| 68 | .len = 1, |
| 69 | .buf = (char *)&lower_reg_address, |
| 70 | }, |
| 71 | { |
| 72 | .addr = client->addr, |
| 73 | .flags = client->flags | I2C_M_RD, |
| 74 | .len = 2, |
| 75 | .buf = (char *)&out, |
| 76 | }, |
| 77 | }; |
| 78 | |
| 79 | lower_reg_address |= 0x80; |
| 80 | ret = i2c_transfer(client->adapter, msg, 2); |
| 81 | be16_to_cpus(&out); |
| 82 | *val = out; |
| 83 | |
| 84 | return (ret == 2) ? 0 : ret; |
| 85 | } |
| 86 | |
| 87 | static int itg3200_read_raw(struct iio_dev *indio_dev, |
| 88 | const struct iio_chan_spec *chan, |
| 89 | int *val, int *val2, long info) |
| 90 | { |
| 91 | int ret = 0; |
| 92 | u8 reg; |
Jonathan Cameron | 95bb891 | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 93 | u8 regval; |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 94 | |
| 95 | switch (info) { |
| 96 | case IIO_CHAN_INFO_RAW: |
| 97 | reg = (u8)chan->address; |
| 98 | ret = itg3200_read_reg_s16(indio_dev, reg, val); |
| 99 | return IIO_VAL_INT; |
| 100 | case IIO_CHAN_INFO_SCALE: |
| 101 | *val = 0; |
| 102 | if (chan->type == IIO_TEMP) |
| 103 | *val2 = 1000000000/280; |
| 104 | else |
| 105 | *val2 = 1214142; /* (1 / 14,375) * (PI / 180) */ |
| 106 | return IIO_VAL_INT_PLUS_NANO; |
| 107 | case IIO_CHAN_INFO_OFFSET: |
| 108 | /* Only the temperature channel has an offset */ |
| 109 | *val = 23000; |
| 110 | return IIO_VAL_INT; |
Jonathan Cameron | 95bb891 | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 111 | case IIO_CHAN_INFO_SAMP_FREQ: |
| 112 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, ®val); |
| 113 | if (ret) |
| 114 | return ret; |
| 115 | |
| 116 | *val = (regval & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000; |
| 117 | |
| 118 | ret = itg3200_read_reg_8(indio_dev, |
| 119 | ITG3200_REG_SAMPLE_RATE_DIV, |
| 120 | ®val); |
| 121 | if (ret) |
| 122 | return ret; |
| 123 | |
| 124 | *val /= regval + 1; |
| 125 | return IIO_VAL_INT; |
| 126 | |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 127 | default: |
| 128 | return -EINVAL; |
| 129 | } |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 130 | } |
| 131 | |
Jonathan Cameron | 95bb891 | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 132 | static int itg3200_write_raw(struct iio_dev *indio_dev, |
| 133 | struct iio_chan_spec const *chan, |
| 134 | int val, |
| 135 | int val2, |
| 136 | long mask) |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 137 | { |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 138 | int ret; |
| 139 | u8 t; |
| 140 | |
Jonathan Cameron | 95bb891 | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 141 | switch (mask) { |
| 142 | case IIO_CHAN_INFO_SAMP_FREQ: |
| 143 | if (val == 0 || val2 != 0) |
| 144 | return -EINVAL; |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 145 | |
Jonathan Cameron | 95bb891 | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 146 | mutex_lock(&indio_dev->mlock); |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 147 | |
Jonathan Cameron | 95bb891 | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 148 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &t); |
| 149 | if (ret) { |
| 150 | mutex_unlock(&indio_dev->mlock); |
| 151 | return ret; |
| 152 | } |
| 153 | t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / val - 1; |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 154 | |
Jonathan Cameron | 95bb891 | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 155 | ret = itg3200_write_reg_8(indio_dev, |
| 156 | ITG3200_REG_SAMPLE_RATE_DIV, |
| 157 | t); |
| 158 | |
| 159 | mutex_unlock(&indio_dev->mlock); |
| 160 | return ret; |
| 161 | |
| 162 | default: |
| 163 | return -EINVAL; |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 164 | } |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 165 | } |
| 166 | |
| 167 | /* |
| 168 | * Reset device and internal registers to the power-up-default settings |
| 169 | * Use the gyro clock as reference, as suggested by the datasheet |
| 170 | */ |
| 171 | static int itg3200_reset(struct iio_dev *indio_dev) |
| 172 | { |
| 173 | struct itg3200 *st = iio_priv(indio_dev); |
| 174 | int ret; |
| 175 | |
| 176 | dev_dbg(&st->i2c->dev, "reset device"); |
| 177 | |
| 178 | ret = itg3200_write_reg_8(indio_dev, |
| 179 | ITG3200_REG_POWER_MANAGEMENT, |
| 180 | ITG3200_RESET); |
| 181 | if (ret) { |
| 182 | dev_err(&st->i2c->dev, "error resetting device"); |
| 183 | goto error_ret; |
| 184 | } |
| 185 | |
| 186 | /* Wait for PLL (1ms according to datasheet) */ |
| 187 | udelay(1500); |
| 188 | |
| 189 | ret = itg3200_write_reg_8(indio_dev, |
| 190 | ITG3200_REG_IRQ_CONFIG, |
| 191 | ITG3200_IRQ_ACTIVE_HIGH | |
| 192 | ITG3200_IRQ_PUSH_PULL | |
| 193 | ITG3200_IRQ_LATCH_50US_PULSE | |
| 194 | ITG3200_IRQ_LATCH_CLEAR_ANY); |
| 195 | |
| 196 | if (ret) |
| 197 | dev_err(&st->i2c->dev, "error init device"); |
| 198 | |
| 199 | error_ret: |
| 200 | return ret; |
| 201 | } |
| 202 | |
| 203 | /* itg3200_enable_full_scale() - Disables the digital low pass filter */ |
| 204 | static int itg3200_enable_full_scale(struct iio_dev *indio_dev) |
| 205 | { |
| 206 | u8 val; |
| 207 | int ret; |
| 208 | |
| 209 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_DLPF, &val); |
| 210 | if (ret) |
| 211 | goto err_ret; |
| 212 | |
| 213 | val |= ITG3200_DLPF_FS_SEL_2000; |
| 214 | return itg3200_write_reg_8(indio_dev, ITG3200_REG_DLPF, val); |
| 215 | |
| 216 | err_ret: |
| 217 | return ret; |
| 218 | } |
| 219 | |
| 220 | static int itg3200_initial_setup(struct iio_dev *indio_dev) |
| 221 | { |
| 222 | struct itg3200 *st = iio_priv(indio_dev); |
| 223 | int ret; |
| 224 | u8 val; |
| 225 | |
NeilBrown | 60d3e3b | 2015-02-24 13:24:41 +1100 | [diff] [blame] | 226 | ret = itg3200_reset(indio_dev); |
| 227 | if (ret) |
| 228 | goto err_ret; |
| 229 | |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 230 | ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_ADDRESS, &val); |
| 231 | if (ret) |
| 232 | goto err_ret; |
| 233 | |
| 234 | if (((val >> 1) & 0x3f) != 0x34) { |
| 235 | dev_err(&st->i2c->dev, "invalid reg value 0x%02x", val); |
| 236 | ret = -ENXIO; |
| 237 | goto err_ret; |
| 238 | } |
| 239 | |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 240 | ret = itg3200_enable_full_scale(indio_dev); |
| 241 | err_ret: |
| 242 | return ret; |
| 243 | } |
| 244 | |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 245 | #define ITG3200_ST \ |
| 246 | { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE } |
| 247 | |
| 248 | #define ITG3200_GYRO_CHAN(_mod) { \ |
| 249 | .type = IIO_ANGL_VEL, \ |
| 250 | .modified = 1, \ |
| 251 | .channel2 = IIO_MOD_ ## _mod, \ |
Jonathan Cameron | e1865aa | 2013-02-27 19:30:36 +0000 | [diff] [blame] | 252 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
| 253 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ |
Jonathan Cameron | 95bb891 | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 254 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 255 | .address = ITG3200_REG_GYRO_ ## _mod ## OUT_H, \ |
| 256 | .scan_index = ITG3200_SCAN_GYRO_ ## _mod, \ |
| 257 | .scan_type = ITG3200_ST, \ |
| 258 | } |
| 259 | |
| 260 | static const struct iio_chan_spec itg3200_channels[] = { |
| 261 | { |
| 262 | .type = IIO_TEMP, |
| 263 | .channel2 = IIO_NO_MOD, |
Jonathan Cameron | e1865aa | 2013-02-27 19:30:36 +0000 | [diff] [blame] | 264 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), |
| 265 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_OFFSET) | |
| 266 | BIT(IIO_CHAN_INFO_SCALE), |
Jonathan Cameron | 95bb891 | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 267 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 268 | .address = ITG3200_REG_TEMP_OUT_H, |
| 269 | .scan_index = ITG3200_SCAN_TEMP, |
| 270 | .scan_type = ITG3200_ST, |
| 271 | }, |
| 272 | ITG3200_GYRO_CHAN(X), |
| 273 | ITG3200_GYRO_CHAN(Y), |
| 274 | ITG3200_GYRO_CHAN(Z), |
| 275 | IIO_CHAN_SOFT_TIMESTAMP(ITG3200_SCAN_ELEMENTS), |
| 276 | }; |
| 277 | |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 278 | static const struct iio_info itg3200_info = { |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 279 | .read_raw = &itg3200_read_raw, |
Jonathan Cameron | 95bb891 | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 280 | .write_raw = &itg3200_write_raw, |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 281 | .driver_module = THIS_MODULE, |
| 282 | }; |
| 283 | |
| 284 | static const unsigned long itg3200_available_scan_masks[] = { 0xffffffff, 0x0 }; |
| 285 | |
| 286 | static int itg3200_probe(struct i2c_client *client, |
| 287 | const struct i2c_device_id *id) |
| 288 | { |
| 289 | int ret; |
| 290 | struct itg3200 *st; |
| 291 | struct iio_dev *indio_dev; |
| 292 | |
| 293 | dev_dbg(&client->dev, "probe I2C dev with IRQ %i", client->irq); |
| 294 | |
Sachin Kamat | d243b3c | 2013-08-13 07:34:00 +0100 | [diff] [blame] | 295 | indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st)); |
| 296 | if (!indio_dev) |
| 297 | return -ENOMEM; |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 298 | |
| 299 | st = iio_priv(indio_dev); |
| 300 | |
| 301 | i2c_set_clientdata(client, indio_dev); |
| 302 | st->i2c = client; |
| 303 | |
| 304 | indio_dev->dev.parent = &client->dev; |
| 305 | indio_dev->name = client->dev.driver->name; |
| 306 | indio_dev->channels = itg3200_channels; |
| 307 | indio_dev->num_channels = ARRAY_SIZE(itg3200_channels); |
| 308 | indio_dev->available_scan_masks = itg3200_available_scan_masks; |
| 309 | indio_dev->info = &itg3200_info; |
| 310 | indio_dev->modes = INDIO_DIRECT_MODE; |
| 311 | |
| 312 | ret = itg3200_buffer_configure(indio_dev); |
| 313 | if (ret) |
Sachin Kamat | d243b3c | 2013-08-13 07:34:00 +0100 | [diff] [blame] | 314 | return ret; |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 315 | |
| 316 | if (client->irq) { |
| 317 | ret = itg3200_probe_trigger(indio_dev); |
| 318 | if (ret) |
| 319 | goto error_unconfigure_buffer; |
| 320 | } |
| 321 | |
| 322 | ret = itg3200_initial_setup(indio_dev); |
| 323 | if (ret) |
| 324 | goto error_remove_trigger; |
| 325 | |
| 326 | ret = iio_device_register(indio_dev); |
| 327 | if (ret) |
| 328 | goto error_remove_trigger; |
| 329 | |
| 330 | return 0; |
| 331 | |
| 332 | error_remove_trigger: |
| 333 | if (client->irq) |
| 334 | itg3200_remove_trigger(indio_dev); |
| 335 | error_unconfigure_buffer: |
| 336 | itg3200_buffer_unconfigure(indio_dev); |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 337 | return ret; |
| 338 | } |
| 339 | |
| 340 | static int itg3200_remove(struct i2c_client *client) |
| 341 | { |
| 342 | struct iio_dev *indio_dev = i2c_get_clientdata(client); |
| 343 | |
| 344 | iio_device_unregister(indio_dev); |
| 345 | |
| 346 | if (client->irq) |
| 347 | itg3200_remove_trigger(indio_dev); |
| 348 | |
| 349 | itg3200_buffer_unconfigure(indio_dev); |
| 350 | |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 351 | return 0; |
| 352 | } |
| 353 | |
NeilBrown | 60d3e3b | 2015-02-24 13:24:41 +1100 | [diff] [blame] | 354 | static int __maybe_unused itg3200_suspend(struct device *dev) |
| 355 | { |
| 356 | struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| 357 | struct itg3200 *st = iio_priv(indio_dev); |
| 358 | |
| 359 | dev_dbg(&st->i2c->dev, "suspend device"); |
| 360 | |
| 361 | return itg3200_write_reg_8(indio_dev, ITG3200_REG_POWER_MANAGEMENT, |
| 362 | ITG3200_SLEEP); |
| 363 | } |
| 364 | |
| 365 | static int __maybe_unused itg3200_resume(struct device *dev) |
| 366 | { |
| 367 | struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| 368 | |
| 369 | return itg3200_initial_setup(indio_dev); |
| 370 | } |
| 371 | |
| 372 | static SIMPLE_DEV_PM_OPS(itg3200_pm_ops, itg3200_suspend, itg3200_resume); |
| 373 | |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 374 | static const struct i2c_device_id itg3200_id[] = { |
| 375 | { "itg3200", 0 }, |
| 376 | { } |
| 377 | }; |
| 378 | MODULE_DEVICE_TABLE(i2c, itg3200_id); |
| 379 | |
| 380 | static struct i2c_driver itg3200_driver = { |
| 381 | .driver = { |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 382 | .name = "itg3200", |
NeilBrown | 60d3e3b | 2015-02-24 13:24:41 +1100 | [diff] [blame] | 383 | .pm = &itg3200_pm_ops, |
Manuel Stahl | 9dbf091 | 2013-02-01 08:51:00 +0000 | [diff] [blame] | 384 | }, |
| 385 | .id_table = itg3200_id, |
| 386 | .probe = itg3200_probe, |
| 387 | .remove = itg3200_remove, |
| 388 | }; |
| 389 | |
| 390 | module_i2c_driver(itg3200_driver); |
| 391 | |
| 392 | MODULE_AUTHOR("Christian Strobel <christian.strobel@iis.fraunhofer.de>"); |
| 393 | MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver"); |
| 394 | MODULE_LICENSE("GPL v2"); |