2019-05-28 16:57:06 +00:00
|
|
|
// SPDX-License-Identifier: GPL-2.0-only
|
2013-01-25 23:44:00 +00:00
|
|
|
/*
|
|
|
|
* STMicroelectronics gyroscopes driver
|
|
|
|
*
|
|
|
|
* Copyright 2012-2013 STMicroelectronics Inc.
|
|
|
|
*
|
|
|
|
* Denis Ciocca <denis.ciocca@st.com>
|
|
|
|
*/
|
|
|
|
|
|
|
|
#include <linux/kernel.h>
|
|
|
|
#include <linux/module.h>
|
|
|
|
#include <linux/slab.h>
|
|
|
|
#include <linux/errno.h>
|
|
|
|
#include <linux/types.h>
|
|
|
|
#include <linux/interrupt.h>
|
|
|
|
#include <linux/i2c.h>
|
|
|
|
#include <linux/irq.h>
|
|
|
|
#include <linux/delay.h>
|
|
|
|
#include <linux/iio/iio.h>
|
|
|
|
#include <linux/iio/sysfs.h>
|
2013-02-09 10:49:00 +00:00
|
|
|
#include <linux/iio/trigger.h>
|
2013-01-25 23:44:00 +00:00
|
|
|
#include <linux/iio/buffer.h>
|
|
|
|
|
|
|
|
#include <linux/iio/common/st_sensors.h>
|
|
|
|
#include "st_gyro.h"
|
|
|
|
|
2013-06-03 14:58:00 +00:00
|
|
|
#define ST_GYRO_NUMBER_DATA_CHANNELS 3
|
|
|
|
|
2013-01-25 23:44:00 +00:00
|
|
|
/* DEFAULT VALUE FOR SENSORS */
|
|
|
|
#define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28
|
|
|
|
#define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a
|
|
|
|
#define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c
|
|
|
|
|
|
|
|
/* FULLSCALE */
|
2017-06-19 20:04:30 +00:00
|
|
|
#define ST_GYRO_FS_AVL_245DPS 245
|
2013-01-25 23:44:00 +00:00
|
|
|
#define ST_GYRO_FS_AVL_250DPS 250
|
|
|
|
#define ST_GYRO_FS_AVL_500DPS 500
|
|
|
|
#define ST_GYRO_FS_AVL_2000DPS 2000
|
|
|
|
|
|
|
|
static const struct iio_chan_spec st_gyro_16bit_channels[] = {
|
2013-06-03 14:58:00 +00:00
|
|
|
ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
|
|
|
|
BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
|
|
|
|
ST_SENSORS_SCAN_X, 1, IIO_MOD_X, 's', IIO_LE, 16, 16,
|
|
|
|
ST_GYRO_DEFAULT_OUT_X_L_ADDR),
|
|
|
|
ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
|
|
|
|
BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
|
|
|
|
ST_SENSORS_SCAN_Y, 1, IIO_MOD_Y, 's', IIO_LE, 16, 16,
|
|
|
|
ST_GYRO_DEFAULT_OUT_Y_L_ADDR),
|
|
|
|
ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL,
|
|
|
|
BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
|
|
|
|
ST_SENSORS_SCAN_Z, 1, IIO_MOD_Z, 's', IIO_LE, 16, 16,
|
|
|
|
ST_GYRO_DEFAULT_OUT_Z_L_ADDR),
|
2013-01-25 23:44:00 +00:00
|
|
|
IIO_CHAN_SOFT_TIMESTAMP(3)
|
|
|
|
};
|
|
|
|
|
2014-10-03 15:35:35 +00:00
|
|
|
static const struct st_sensor_settings st_gyro_sensors_settings[] = {
|
2013-01-25 23:44:00 +00:00
|
|
|
{
|
2016-11-09 15:09:58 +00:00
|
|
|
.wai = 0xd3,
|
2015-07-21 08:35:41 +00:00
|
|
|
.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
|
2013-01-25 23:44:00 +00:00
|
|
|
.sensors_supported = {
|
|
|
|
[0] = L3G4200D_GYRO_DEV_NAME,
|
|
|
|
[1] = LSM330DL_GYRO_DEV_NAME,
|
|
|
|
},
|
|
|
|
.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
|
|
|
|
.odr = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x20,
|
|
|
|
.mask = 0xc0,
|
2013-01-25 23:44:00 +00:00
|
|
|
.odr_avl = {
|
2016-11-09 15:09:58 +00:00
|
|
|
{ .hz = 100, .value = 0x00, },
|
|
|
|
{ .hz = 200, .value = 0x01, },
|
|
|
|
{ .hz = 400, .value = 0x02, },
|
|
|
|
{ .hz = 800, .value = 0x03, },
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
|
|
|
},
|
|
|
|
.pw = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x20,
|
|
|
|
.mask = 0x08,
|
2013-01-25 23:44:00 +00:00
|
|
|
.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
|
|
|
|
.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
|
|
|
|
},
|
|
|
|
.enable_axis = {
|
|
|
|
.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
|
|
|
|
.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
|
|
|
|
},
|
|
|
|
.fs = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x23,
|
|
|
|
.mask = 0x30,
|
2013-01-25 23:44:00 +00:00
|
|
|
.fs_avl = {
|
|
|
|
[0] = {
|
|
|
|
.num = ST_GYRO_FS_AVL_250DPS,
|
2016-11-09 15:09:58 +00:00
|
|
|
.value = 0x00,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(8750),
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
|
|
|
[1] = {
|
|
|
|
.num = ST_GYRO_FS_AVL_500DPS,
|
2016-11-09 15:09:58 +00:00
|
|
|
.value = 0x01,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(17500),
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
|
|
|
[2] = {
|
|
|
|
.num = ST_GYRO_FS_AVL_2000DPS,
|
2016-11-09 15:09:58 +00:00
|
|
|
.value = 0x02,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(70000),
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.bdu = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x23,
|
|
|
|
.mask = 0x80,
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
|
|
|
.drdy_irq = {
|
2017-08-30 11:50:40 +00:00
|
|
|
.int2 = {
|
|
|
|
.addr = 0x22,
|
|
|
|
.mask = 0x08,
|
|
|
|
},
|
2015-11-19 09:15:17 +00:00
|
|
|
/*
|
|
|
|
* The sensor has IHL (active low) and open
|
|
|
|
* drain settings, but only for INT1 and not
|
|
|
|
* for the DRDY line on INT2.
|
|
|
|
*/
|
2017-08-30 11:50:39 +00:00
|
|
|
.stat_drdy = {
|
|
|
|
.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
|
|
|
|
.mask = 0x07,
|
|
|
|
},
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
2017-09-17 15:20:45 +00:00
|
|
|
.sim = {
|
|
|
|
.addr = 0x23,
|
|
|
|
.value = BIT(0),
|
|
|
|
},
|
2016-11-09 15:09:58 +00:00
|
|
|
.multi_read_bit = true,
|
2013-01-25 23:44:00 +00:00
|
|
|
.bootime = 2,
|
|
|
|
},
|
|
|
|
{
|
2016-11-09 15:09:58 +00:00
|
|
|
.wai = 0xd4,
|
2015-07-21 08:35:41 +00:00
|
|
|
.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
|
2013-01-25 23:44:00 +00:00
|
|
|
.sensors_supported = {
|
|
|
|
[0] = L3GD20_GYRO_DEV_NAME,
|
2014-02-14 14:15:00 +00:00
|
|
|
[1] = LSM330D_GYRO_DEV_NAME,
|
|
|
|
[2] = LSM330DLC_GYRO_DEV_NAME,
|
|
|
|
[3] = L3G4IS_GYRO_DEV_NAME,
|
|
|
|
[4] = LSM330_GYRO_DEV_NAME,
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
|
|
|
.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
|
|
|
|
.odr = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x20,
|
|
|
|
.mask = 0xc0,
|
2013-01-25 23:44:00 +00:00
|
|
|
.odr_avl = {
|
2016-11-09 15:09:58 +00:00
|
|
|
{ .hz = 95, .value = 0x00, },
|
|
|
|
{ .hz = 190, .value = 0x01, },
|
|
|
|
{ .hz = 380, .value = 0x02, },
|
|
|
|
{ .hz = 760, .value = 0x03, },
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
|
|
|
},
|
|
|
|
.pw = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x20,
|
|
|
|
.mask = 0x08,
|
2013-01-25 23:44:00 +00:00
|
|
|
.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
|
|
|
|
.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
|
|
|
|
},
|
|
|
|
.enable_axis = {
|
|
|
|
.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
|
|
|
|
.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
|
|
|
|
},
|
|
|
|
.fs = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x23,
|
|
|
|
.mask = 0x30,
|
2013-01-25 23:44:00 +00:00
|
|
|
.fs_avl = {
|
|
|
|
[0] = {
|
|
|
|
.num = ST_GYRO_FS_AVL_250DPS,
|
2016-11-09 15:09:58 +00:00
|
|
|
.value = 0x00,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(8750),
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
|
|
|
[1] = {
|
|
|
|
.num = ST_GYRO_FS_AVL_500DPS,
|
2016-11-09 15:09:58 +00:00
|
|
|
.value = 0x01,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(17500),
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
|
|
|
[2] = {
|
|
|
|
.num = ST_GYRO_FS_AVL_2000DPS,
|
2016-11-09 15:09:58 +00:00
|
|
|
.value = 0x02,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(70000),
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.bdu = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x23,
|
|
|
|
.mask = 0x80,
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
|
|
|
.drdy_irq = {
|
2017-08-30 11:50:40 +00:00
|
|
|
.int2 = {
|
|
|
|
.addr = 0x22,
|
|
|
|
.mask = 0x08,
|
|
|
|
},
|
2015-11-19 09:15:17 +00:00
|
|
|
/*
|
|
|
|
* The sensor has IHL (active low) and open
|
|
|
|
* drain settings, but only for INT1 and not
|
|
|
|
* for the DRDY line on INT2.
|
|
|
|
*/
|
2017-08-30 11:50:39 +00:00
|
|
|
.stat_drdy = {
|
|
|
|
.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
|
|
|
|
.mask = 0x07,
|
|
|
|
},
|
2013-01-25 23:44:00 +00:00
|
|
|
},
|
2017-09-17 15:20:45 +00:00
|
|
|
.sim = {
|
|
|
|
.addr = 0x23,
|
|
|
|
.value = BIT(0),
|
|
|
|
},
|
2016-11-09 15:09:58 +00:00
|
|
|
.multi_read_bit = true,
|
2013-01-25 23:44:00 +00:00
|
|
|
.bootime = 2,
|
|
|
|
},
|
2019-12-17 17:10:38 +00:00
|
|
|
{
|
|
|
|
.wai = 0xd4,
|
|
|
|
.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
|
|
|
|
.sensors_supported = {
|
|
|
|
[0] = LSM9DS0_GYRO_DEV_NAME,
|
|
|
|
},
|
|
|
|
.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
|
|
|
|
.odr = {
|
|
|
|
.addr = 0x20,
|
|
|
|
.mask = GENMASK(7, 6),
|
|
|
|
.odr_avl = {
|
|
|
|
{ .hz = 95, .value = 0x00, },
|
|
|
|
{ .hz = 190, .value = 0x01, },
|
|
|
|
{ .hz = 380, .value = 0x02, },
|
|
|
|
{ .hz = 760, .value = 0x03, },
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.pw = {
|
|
|
|
.addr = 0x20,
|
|
|
|
.mask = BIT(3),
|
|
|
|
.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
|
|
|
|
.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
|
|
|
|
},
|
|
|
|
.enable_axis = {
|
|
|
|
.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
|
|
|
|
.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
|
|
|
|
},
|
|
|
|
.fs = {
|
|
|
|
.addr = 0x23,
|
|
|
|
.mask = GENMASK(5, 4),
|
|
|
|
.fs_avl = {
|
|
|
|
[0] = {
|
|
|
|
.num = ST_GYRO_FS_AVL_245DPS,
|
|
|
|
.value = 0x00,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(8750),
|
|
|
|
},
|
|
|
|
[1] = {
|
|
|
|
.num = ST_GYRO_FS_AVL_500DPS,
|
|
|
|
.value = 0x01,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(17500),
|
|
|
|
},
|
|
|
|
[2] = {
|
|
|
|
.num = ST_GYRO_FS_AVL_2000DPS,
|
|
|
|
.value = 0x02,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(70000),
|
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.bdu = {
|
|
|
|
.addr = 0x23,
|
|
|
|
.mask = BIT(7),
|
|
|
|
},
|
|
|
|
.drdy_irq = {
|
|
|
|
.int2 = {
|
|
|
|
.addr = 0x22,
|
|
|
|
.mask = BIT(3),
|
|
|
|
},
|
|
|
|
/*
|
|
|
|
* The sensor has IHL (active low) and open
|
|
|
|
* drain settings, but only for INT1 and not
|
|
|
|
* for the DRDY line on INT2.
|
|
|
|
*/
|
|
|
|
.stat_drdy = {
|
|
|
|
.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
|
|
|
|
.mask = GENMASK(2, 0),
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.sim = {
|
|
|
|
.addr = 0x23,
|
|
|
|
.value = BIT(0),
|
|
|
|
},
|
|
|
|
.multi_read_bit = true,
|
|
|
|
.bootime = 2,
|
|
|
|
},
|
2015-03-23 13:40:25 +00:00
|
|
|
{
|
2016-11-09 15:09:58 +00:00
|
|
|
.wai = 0xd7,
|
2015-07-21 08:35:41 +00:00
|
|
|
.wai_addr = ST_SENSORS_DEFAULT_WAI_ADDRESS,
|
2015-03-23 13:40:25 +00:00
|
|
|
.sensors_supported = {
|
2017-06-19 20:04:30 +00:00
|
|
|
[0] = L3GD20H_GYRO_DEV_NAME,
|
2015-03-23 13:40:25 +00:00
|
|
|
},
|
|
|
|
.ch = (struct iio_chan_spec *)st_gyro_16bit_channels,
|
|
|
|
.odr = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x20,
|
|
|
|
.mask = 0xc0,
|
2015-03-23 13:40:25 +00:00
|
|
|
.odr_avl = {
|
2017-06-19 20:04:30 +00:00
|
|
|
{ .hz = 100, .value = 0x00, },
|
|
|
|
{ .hz = 200, .value = 0x01, },
|
|
|
|
{ .hz = 400, .value = 0x02, },
|
|
|
|
{ .hz = 800, .value = 0x03, },
|
2015-03-23 13:40:25 +00:00
|
|
|
},
|
|
|
|
},
|
|
|
|
.pw = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x20,
|
|
|
|
.mask = 0x08,
|
2015-03-23 13:40:25 +00:00
|
|
|
.value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE,
|
|
|
|
.value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE,
|
|
|
|
},
|
|
|
|
.enable_axis = {
|
|
|
|
.addr = ST_SENSORS_DEFAULT_AXIS_ADDR,
|
|
|
|
.mask = ST_SENSORS_DEFAULT_AXIS_MASK,
|
|
|
|
},
|
|
|
|
.fs = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x23,
|
|
|
|
.mask = 0x30,
|
2015-03-23 13:40:25 +00:00
|
|
|
.fs_avl = {
|
|
|
|
[0] = {
|
2017-06-19 20:04:30 +00:00
|
|
|
.num = ST_GYRO_FS_AVL_245DPS,
|
2016-11-09 15:09:58 +00:00
|
|
|
.value = 0x00,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(8750),
|
2015-03-23 13:40:25 +00:00
|
|
|
},
|
|
|
|
[1] = {
|
|
|
|
.num = ST_GYRO_FS_AVL_500DPS,
|
2016-11-09 15:09:58 +00:00
|
|
|
.value = 0x01,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(17500),
|
2015-03-23 13:40:25 +00:00
|
|
|
},
|
|
|
|
[2] = {
|
|
|
|
.num = ST_GYRO_FS_AVL_2000DPS,
|
2016-11-09 15:09:58 +00:00
|
|
|
.value = 0x02,
|
|
|
|
.gain = IIO_DEGREE_TO_RAD(70000),
|
2015-03-23 13:40:25 +00:00
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.bdu = {
|
2016-11-09 15:09:58 +00:00
|
|
|
.addr = 0x23,
|
|
|
|
.mask = 0x80,
|
2015-03-23 13:40:25 +00:00
|
|
|
},
|
|
|
|
.drdy_irq = {
|
2017-08-30 11:50:40 +00:00
|
|
|
.int2 = {
|
|
|
|
.addr = 0x22,
|
|
|
|
.mask = 0x08,
|
|
|
|
},
|
2015-11-19 09:15:17 +00:00
|
|
|
/*
|
|
|
|
* The sensor has IHL (active low) and open
|
|
|
|
* drain settings, but only for INT1 and not
|
|
|
|
* for the DRDY line on INT2.
|
|
|
|
*/
|
2017-08-30 11:50:39 +00:00
|
|
|
.stat_drdy = {
|
|
|
|
.addr = ST_SENSORS_DEFAULT_STAT_ADDR,
|
|
|
|
.mask = 0x07,
|
|
|
|
},
|
2015-03-23 13:40:25 +00:00
|
|
|
},
|
2017-09-17 15:20:45 +00:00
|
|
|
.sim = {
|
|
|
|
.addr = 0x23,
|
|
|
|
.value = BIT(0),
|
|
|
|
},
|
2016-11-09 15:09:58 +00:00
|
|
|
.multi_read_bit = true,
|
2015-03-23 13:40:25 +00:00
|
|
|
.bootime = 2,
|
|
|
|
},
|
2013-01-25 23:44:00 +00:00
|
|
|
};
|
|
|
|
|
|
|
|
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;
|
|
|
|
struct st_sensor_data *gdata = iio_priv(indio_dev);
|
|
|
|
|
|
|
|
switch (mask) {
|
|
|
|
case IIO_CHAN_INFO_RAW:
|
|
|
|
err = st_sensors_read_info_raw(indio_dev, ch, val);
|
|
|
|
if (err < 0)
|
|
|
|
goto read_error;
|
|
|
|
|
|
|
|
return IIO_VAL_INT;
|
|
|
|
case IIO_CHAN_INFO_SCALE:
|
|
|
|
*val = 0;
|
|
|
|
*val2 = gdata->current_fullscale->gain;
|
|
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
2014-06-22 19:59:00 +00:00
|
|
|
case IIO_CHAN_INFO_SAMP_FREQ:
|
|
|
|
*val = gdata->odr;
|
|
|
|
return IIO_VAL_INT;
|
2013-01-25 23:44:00 +00:00
|
|
|
default:
|
|
|
|
return -EINVAL;
|
|
|
|
}
|
|
|
|
|
|
|
|
read_error:
|
|
|
|
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;
|
|
|
|
|
|
|
|
switch (mask) {
|
|
|
|
case IIO_CHAN_INFO_SCALE:
|
|
|
|
err = st_sensors_set_fullscale_by_gain(indio_dev, val2);
|
|
|
|
break;
|
2014-06-22 19:59:00 +00:00
|
|
|
case IIO_CHAN_INFO_SAMP_FREQ:
|
|
|
|
if (val2)
|
|
|
|
return -EINVAL;
|
|
|
|
mutex_lock(&indio_dev->mlock);
|
|
|
|
err = st_sensors_set_odr(indio_dev, val);
|
|
|
|
mutex_unlock(&indio_dev->mlock);
|
|
|
|
return err;
|
2013-01-25 23:44:00 +00:00
|
|
|
default:
|
|
|
|
err = -EINVAL;
|
|
|
|
}
|
|
|
|
|
|
|
|
return err;
|
|
|
|
}
|
|
|
|
|
|
|
|
static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL();
|
|
|
|
static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available);
|
|
|
|
|
|
|
|
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,
|
|
|
|
NULL,
|
|
|
|
};
|
|
|
|
|
|
|
|
static const struct attribute_group st_gyro_attribute_group = {
|
|
|
|
.attrs = st_gyro_attributes,
|
|
|
|
};
|
|
|
|
|
|
|
|
static const struct iio_info gyro_info = {
|
|
|
|
.attrs = &st_gyro_attribute_group,
|
|
|
|
.read_raw = &st_gyro_read_raw,
|
|
|
|
.write_raw = &st_gyro_write_raw,
|
2015-08-12 08:22:41 +00:00
|
|
|
.debugfs_reg_access = &st_sensors_debugfs_reg_access,
|
2013-01-25 23:44:00 +00:00
|
|
|
};
|
|
|
|
|
2013-02-09 10:49:00 +00:00
|
|
|
#ifdef CONFIG_IIO_TRIGGER
|
2013-01-25 23:44:00 +00:00
|
|
|
static const struct iio_trigger_ops st_gyro_trigger_ops = {
|
|
|
|
.set_trigger_state = ST_GYRO_TRIGGER_SET_STATE,
|
iio: st_sensors: switch to a threaded interrupt
commit 98ad8b41f58dff6b30713d7f09ae3834b8df7ded
("iio: st_sensors: verify interrupt event to status") caused
a regression when reading ST sensors from a HRTimer trigger
rather than the intrinsic interrupts: the HRTimer may
trigger faster than the sensor provides new values, and
as the check against new values available as a cause of
the interrupt trigger was done in the poll function,
this would bail out of the HRTimer interrupt with
IRQ_NONE.
So clearly we need to only check the new values available
from the proper interrupt handler and not from the poll
function, which should rather just read the raw values
from the registers, put them into the buffer and be happy.
To achieve this: switch the ST Sensors over to using a true
threaded interrupt handler.
In the interrupt thread, check if new values are available,
else yield to the (potential) next device on the same
interrupt line to check the registers. If the interrupt
was ours, proceed to poll the values.
Instead of relying on iio_trigger_generic_data_rdy_poll() as
a top half to wake up the thread that polls the sensor for
new data, have the thread call iio_trigger_poll_chained()
after determining that is is the proper source of the
interrupt. This is modelled on drivers/iio/accel/mma8452.c
which is already using a properly threaded interrupt handler.
In order to get the same precision in timestamps as
previously, where samples would be timestamped in the
poll function pf->timestamp when calling
iio_trigger_generic_data_rdy_poll() we introduce a
local timestamp in the sensor data, set it in the top half
(fastpath) of the interrupt handler and provide that to the
core when calling iio_push_to_buffers_with_timestamp().
Additionally: if the active scanmask is not set for the
sensor no IRQs should be enabled and we need to bail out
with IRQ_NONE. This can happen if spurious IRQs fire when
installing the threaded interrupt handler.
Tested with hard interrupt triggers on LIS331DL, then also
tested with hrtimers on the same sensor by creating a 75Hz
HRTimer and using it to poll the sensor.
Signed-off-by: Linus Walleij <linus.walleij@linaro.org>
Cc: Giuseppe Barba <giuseppe.barba@st.com>
Cc: Denis Ciocca <denis.ciocca@st.com>
Reported-by: Crestez Dan Leonard <cdleonard@gmail.com>
Tested-by: Crestez Dan Leonard <cdleonard@gmail.com>
Tested-by: Jonathan Cameron <jic23@kernel.org>
Fixes: 97865fe41322 ("iio: st_sensors: verify interrupt event to status")
Signed-off-by: Jonathan Cameron <jic23@kernel.org>
2016-05-21 18:43:16 +00:00
|
|
|
.validate_device = st_sensors_validate_device,
|
2013-01-25 23:44:00 +00:00
|
|
|
};
|
2013-02-09 10:49:00 +00:00
|
|
|
#define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops)
|
|
|
|
#else
|
|
|
|
#define ST_GYRO_TRIGGER_OPS NULL
|
|
|
|
#endif
|
2013-01-25 23:44:00 +00:00
|
|
|
|
2019-07-18 22:53:45 +00:00
|
|
|
/*
|
|
|
|
* st_gyro_get_settings() - get sensor settings from device name
|
|
|
|
* @name: device name buffer reference.
|
|
|
|
*
|
|
|
|
* Return: valid reference on success, NULL otherwise.
|
|
|
|
*/
|
|
|
|
const struct st_sensor_settings *st_gyro_get_settings(const char *name)
|
|
|
|
{
|
|
|
|
int index = st_sensors_get_settings_index(name,
|
|
|
|
st_gyro_sensors_settings,
|
|
|
|
ARRAY_SIZE(st_gyro_sensors_settings));
|
|
|
|
if (index < 0)
|
|
|
|
return NULL;
|
|
|
|
|
|
|
|
return &st_gyro_sensors_settings[index];
|
|
|
|
}
|
|
|
|
EXPORT_SYMBOL(st_gyro_get_settings);
|
|
|
|
|
2014-10-03 15:35:37 +00:00
|
|
|
int st_gyro_common_probe(struct iio_dev *indio_dev)
|
2013-01-25 23:44:00 +00:00
|
|
|
{
|
|
|
|
struct st_sensor_data *gdata = iio_priv(indio_dev);
|
2020-03-13 10:49:50 +00:00
|
|
|
struct st_sensors_platform_data *pdata;
|
2013-09-16 16:02:00 +00:00
|
|
|
int err;
|
2013-01-25 23:44:00 +00:00
|
|
|
|
|
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
|
|
|
indio_dev->info = &gyro_info;
|
|
|
|
|
2016-04-19 09:18:40 +00:00
|
|
|
err = st_sensors_power_enable(indio_dev);
|
|
|
|
if (err)
|
|
|
|
return err;
|
2014-04-13 19:08:00 +00:00
|
|
|
|
2019-07-18 22:53:52 +00:00
|
|
|
err = st_sensors_verify_id(indio_dev);
|
2013-01-25 23:44:00 +00:00
|
|
|
if (err < 0)
|
2016-04-19 09:18:40 +00:00
|
|
|
goto st_gyro_power_off;
|
2013-01-25 23:44:00 +00:00
|
|
|
|
2013-06-03 14:58:00 +00:00
|
|
|
gdata->num_data_channels = ST_GYRO_NUMBER_DATA_CHANNELS;
|
2014-10-03 15:35:35 +00:00
|
|
|
indio_dev->channels = gdata->sensor_settings->ch;
|
2013-01-25 23:44:00 +00:00
|
|
|
indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS;
|
|
|
|
|
2020-03-13 10:49:50 +00:00
|
|
|
gdata->current_fullscale = &gdata->sensor_settings->fs.fs_avl[0];
|
2014-10-03 15:35:35 +00:00
|
|
|
gdata->odr = gdata->sensor_settings->odr.odr_avl[0].hz;
|
2013-01-25 23:44:00 +00:00
|
|
|
|
2020-03-13 10:49:50 +00:00
|
|
|
pdata = (struct st_sensors_platform_data *)&gyro_pdata;
|
|
|
|
|
|
|
|
err = st_sensors_init_sensor(indio_dev, pdata);
|
2013-01-25 23:44:00 +00:00
|
|
|
if (err < 0)
|
2016-04-19 09:18:40 +00:00
|
|
|
goto st_gyro_power_off;
|
2013-01-25 23:44:00 +00:00
|
|
|
|
2013-09-18 09:00:00 +00:00
|
|
|
err = st_gyro_allocate_ring(indio_dev);
|
|
|
|
if (err < 0)
|
2016-04-19 09:18:40 +00:00
|
|
|
goto st_gyro_power_off;
|
2013-01-25 23:44:00 +00:00
|
|
|
|
2019-08-02 17:59:13 +00:00
|
|
|
if (gdata->irq > 0) {
|
2013-01-25 23:44:00 +00:00
|
|
|
err = st_sensors_allocate_trigger(indio_dev,
|
2013-02-09 10:49:00 +00:00
|
|
|
ST_GYRO_TRIGGER_OPS);
|
2013-01-25 23:44:00 +00:00
|
|
|
if (err < 0)
|
|
|
|
goto st_gyro_probe_trigger_error;
|
|
|
|
}
|
|
|
|
|
|
|
|
err = iio_device_register(indio_dev);
|
|
|
|
if (err)
|
|
|
|
goto st_gyro_device_register_error;
|
|
|
|
|
2014-04-13 19:08:00 +00:00
|
|
|
dev_info(&indio_dev->dev, "registered gyroscope %s\n",
|
|
|
|
indio_dev->name);
|
|
|
|
|
2013-09-16 16:02:00 +00:00
|
|
|
return 0;
|
2013-01-25 23:44:00 +00:00
|
|
|
|
|
|
|
st_gyro_device_register_error:
|
2019-08-02 17:59:13 +00:00
|
|
|
if (gdata->irq > 0)
|
2013-01-25 23:44:00 +00:00
|
|
|
st_sensors_deallocate_trigger(indio_dev);
|
|
|
|
st_gyro_probe_trigger_error:
|
2013-09-18 09:00:00 +00:00
|
|
|
st_gyro_deallocate_ring(indio_dev);
|
2016-04-19 09:18:40 +00:00
|
|
|
st_gyro_power_off:
|
|
|
|
st_sensors_power_disable(indio_dev);
|
2013-09-16 16:02:00 +00:00
|
|
|
|
2013-01-25 23:44:00 +00:00
|
|
|
return err;
|
|
|
|
}
|
|
|
|
EXPORT_SYMBOL(st_gyro_common_probe);
|
|
|
|
|
|
|
|
void st_gyro_common_remove(struct iio_dev *indio_dev)
|
|
|
|
{
|
|
|
|
struct st_sensor_data *gdata = iio_priv(indio_dev);
|
|
|
|
|
2014-04-13 19:08:00 +00:00
|
|
|
st_sensors_power_disable(indio_dev);
|
|
|
|
|
2013-01-25 23:44:00 +00:00
|
|
|
iio_device_unregister(indio_dev);
|
2019-08-02 17:59:13 +00:00
|
|
|
if (gdata->irq > 0)
|
2013-01-25 23:44:00 +00:00
|
|
|
st_sensors_deallocate_trigger(indio_dev);
|
2013-09-18 09:00:00 +00:00
|
|
|
|
|
|
|
st_gyro_deallocate_ring(indio_dev);
|
2013-01-25 23:44:00 +00:00
|
|
|
}
|
|
|
|
EXPORT_SYMBOL(st_gyro_common_remove);
|
|
|
|
|
|
|
|
MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
|
|
|
|
MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver");
|
|
|
|
MODULE_LICENSE("GPL v2");
|