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- // SPDX-License-Identifier: GPL-2.0
- /*
- * Driver for NXP FXAS21002C Gyroscope - Core
- *
- * Copyright (C) 2019 Linaro Ltd.
- */
- #include <linux/interrupt.h>
- #include <linux/module.h>
- #include <linux/of_irq.h>
- #include <linux/pm.h>
- #include <linux/pm_runtime.h>
- #include <linux/regmap.h>
- #include <linux/regulator/consumer.h>
- #include <linux/iio/events.h>
- #include <linux/iio/iio.h>
- #include <linux/iio/buffer.h>
- #include <linux/iio/sysfs.h>
- #include <linux/iio/trigger.h>
- #include <linux/iio/trigger_consumer.h>
- #include <linux/iio/triggered_buffer.h>
- #include "fxas21002c.h"
- #define FXAS21002C_CHIP_ID_1 0xD6
- #define FXAS21002C_CHIP_ID_2 0xD7
- enum fxas21002c_mode_state {
- FXAS21002C_MODE_STANDBY,
- FXAS21002C_MODE_READY,
- FXAS21002C_MODE_ACTIVE,
- };
- #define FXAS21002C_STANDBY_ACTIVE_TIME_MS 62
- #define FXAS21002C_READY_ACTIVE_TIME_MS 7
- #define FXAS21002C_ODR_LIST_MAX 10
- #define FXAS21002C_SCALE_FRACTIONAL 32
- #define FXAS21002C_RANGE_LIMIT_DOUBLE 2000
- #define FXAS21002C_AXIS_TO_REG(axis) (FXAS21002C_REG_OUT_X_MSB + ((axis) * 2))
- static const struct reg_field fxas21002c_reg_fields[] = {
- [F_DR_STATUS] = REG_FIELD(FXAS21002C_REG_STATUS, 0, 7),
- [F_OUT_X_MSB] = REG_FIELD(FXAS21002C_REG_OUT_X_MSB, 0, 7),
- [F_OUT_X_LSB] = REG_FIELD(FXAS21002C_REG_OUT_X_LSB, 0, 7),
- [F_OUT_Y_MSB] = REG_FIELD(FXAS21002C_REG_OUT_Y_MSB, 0, 7),
- [F_OUT_Y_LSB] = REG_FIELD(FXAS21002C_REG_OUT_Y_LSB, 0, 7),
- [F_OUT_Z_MSB] = REG_FIELD(FXAS21002C_REG_OUT_Z_MSB, 0, 7),
- [F_OUT_Z_LSB] = REG_FIELD(FXAS21002C_REG_OUT_Z_LSB, 0, 7),
- [F_ZYX_OW] = REG_FIELD(FXAS21002C_REG_DR_STATUS, 7, 7),
- [F_Z_OW] = REG_FIELD(FXAS21002C_REG_DR_STATUS, 6, 6),
- [F_Y_OW] = REG_FIELD(FXAS21002C_REG_DR_STATUS, 5, 5),
- [F_X_OW] = REG_FIELD(FXAS21002C_REG_DR_STATUS, 4, 4),
- [F_ZYX_DR] = REG_FIELD(FXAS21002C_REG_DR_STATUS, 3, 3),
- [F_Z_DR] = REG_FIELD(FXAS21002C_REG_DR_STATUS, 2, 2),
- [F_Y_DR] = REG_FIELD(FXAS21002C_REG_DR_STATUS, 1, 1),
- [F_X_DR] = REG_FIELD(FXAS21002C_REG_DR_STATUS, 0, 0),
- [F_OVF] = REG_FIELD(FXAS21002C_REG_F_STATUS, 7, 7),
- [F_WMKF] = REG_FIELD(FXAS21002C_REG_F_STATUS, 6, 6),
- [F_CNT] = REG_FIELD(FXAS21002C_REG_F_STATUS, 0, 5),
- [F_MODE] = REG_FIELD(FXAS21002C_REG_F_SETUP, 6, 7),
- [F_WMRK] = REG_FIELD(FXAS21002C_REG_F_SETUP, 0, 5),
- [F_EVENT] = REG_FIELD(FXAS21002C_REG_F_EVENT, 5, 5),
- [FE_TIME] = REG_FIELD(FXAS21002C_REG_F_EVENT, 0, 4),
- [F_BOOTEND] = REG_FIELD(FXAS21002C_REG_INT_SRC_FLAG, 3, 3),
- [F_SRC_FIFO] = REG_FIELD(FXAS21002C_REG_INT_SRC_FLAG, 2, 2),
- [F_SRC_RT] = REG_FIELD(FXAS21002C_REG_INT_SRC_FLAG, 1, 1),
- [F_SRC_DRDY] = REG_FIELD(FXAS21002C_REG_INT_SRC_FLAG, 0, 0),
- [F_WHO_AM_I] = REG_FIELD(FXAS21002C_REG_WHO_AM_I, 0, 7),
- [F_BW] = REG_FIELD(FXAS21002C_REG_CTRL0, 6, 7),
- [F_SPIW] = REG_FIELD(FXAS21002C_REG_CTRL0, 5, 5),
- [F_SEL] = REG_FIELD(FXAS21002C_REG_CTRL0, 3, 4),
- [F_HPF_EN] = REG_FIELD(FXAS21002C_REG_CTRL0, 2, 2),
- [F_FS] = REG_FIELD(FXAS21002C_REG_CTRL0, 0, 1),
- [F_ELE] = REG_FIELD(FXAS21002C_REG_RT_CFG, 3, 3),
- [F_ZTEFE] = REG_FIELD(FXAS21002C_REG_RT_CFG, 2, 2),
- [F_YTEFE] = REG_FIELD(FXAS21002C_REG_RT_CFG, 1, 1),
- [F_XTEFE] = REG_FIELD(FXAS21002C_REG_RT_CFG, 0, 0),
- [F_EA] = REG_FIELD(FXAS21002C_REG_RT_SRC, 6, 6),
- [F_ZRT] = REG_FIELD(FXAS21002C_REG_RT_SRC, 5, 5),
- [F_ZRT_POL] = REG_FIELD(FXAS21002C_REG_RT_SRC, 4, 4),
- [F_YRT] = REG_FIELD(FXAS21002C_REG_RT_SRC, 3, 3),
- [F_YRT_POL] = REG_FIELD(FXAS21002C_REG_RT_SRC, 2, 2),
- [F_XRT] = REG_FIELD(FXAS21002C_REG_RT_SRC, 1, 1),
- [F_XRT_POL] = REG_FIELD(FXAS21002C_REG_RT_SRC, 0, 0),
- [F_DBCNTM] = REG_FIELD(FXAS21002C_REG_RT_THS, 7, 7),
- [F_THS] = REG_FIELD(FXAS21002C_REG_RT_SRC, 0, 6),
- [F_RT_COUNT] = REG_FIELD(FXAS21002C_REG_RT_COUNT, 0, 7),
- [F_TEMP] = REG_FIELD(FXAS21002C_REG_TEMP, 0, 7),
- [F_RST] = REG_FIELD(FXAS21002C_REG_CTRL1, 6, 6),
- [F_ST] = REG_FIELD(FXAS21002C_REG_CTRL1, 5, 5),
- [F_DR] = REG_FIELD(FXAS21002C_REG_CTRL1, 2, 4),
- [F_ACTIVE] = REG_FIELD(FXAS21002C_REG_CTRL1, 1, 1),
- [F_READY] = REG_FIELD(FXAS21002C_REG_CTRL1, 0, 0),
- [F_INT_CFG_FIFO] = REG_FIELD(FXAS21002C_REG_CTRL2, 7, 7),
- [F_INT_EN_FIFO] = REG_FIELD(FXAS21002C_REG_CTRL2, 6, 6),
- [F_INT_CFG_RT] = REG_FIELD(FXAS21002C_REG_CTRL2, 5, 5),
- [F_INT_EN_RT] = REG_FIELD(FXAS21002C_REG_CTRL2, 4, 4),
- [F_INT_CFG_DRDY] = REG_FIELD(FXAS21002C_REG_CTRL2, 3, 3),
- [F_INT_EN_DRDY] = REG_FIELD(FXAS21002C_REG_CTRL2, 2, 2),
- [F_IPOL] = REG_FIELD(FXAS21002C_REG_CTRL2, 1, 1),
- [F_PP_OD] = REG_FIELD(FXAS21002C_REG_CTRL2, 0, 0),
- [F_WRAPTOONE] = REG_FIELD(FXAS21002C_REG_CTRL3, 3, 3),
- [F_EXTCTRLEN] = REG_FIELD(FXAS21002C_REG_CTRL3, 2, 2),
- [F_FS_DOUBLE] = REG_FIELD(FXAS21002C_REG_CTRL3, 0, 0),
- };
- static const int fxas21002c_odr_values[] = {
- 800, 400, 200, 100, 50, 25, 12, 12
- };
- /*
- * These values are taken from the low-pass filter cutoff frequency calculated
- * ODR * 0.lpf_values. So, for ODR = 800Hz with a lpf value = 0.32
- * => LPF cutoff frequency = 800 * 0.32 = 256 Hz
- */
- static const int fxas21002c_lpf_values[] = {
- 32, 16, 8
- };
- /*
- * These values are taken from the high-pass filter cutoff frequency calculated
- * ODR * 0.0hpf_values. So, for ODR = 800Hz with a hpf value = 0.018750
- * => HPF cutoff frequency = 800 * 0.018750 = 15 Hz
- */
- static const int fxas21002c_hpf_values[] = {
- 18750, 9625, 4875, 2475
- };
- static const int fxas21002c_range_values[] = {
- 4000, 2000, 1000, 500, 250
- };
- struct fxas21002c_data {
- u8 chip_id;
- enum fxas21002c_mode_state mode;
- enum fxas21002c_mode_state prev_mode;
- struct mutex lock; /* serialize data access */
- struct regmap *regmap;
- struct regmap_field *regmap_fields[F_MAX_FIELDS];
- struct iio_trigger *dready_trig;
- s64 timestamp;
- int irq;
- struct regulator *vdd;
- struct regulator *vddio;
- /*
- * DMA (thus cache coherency maintenance) requires the
- * transfer buffers to live in their own cache lines.
- */
- s16 buffer[8] ____cacheline_aligned;
- };
- enum fxas21002c_channel_index {
- CHANNEL_SCAN_INDEX_X,
- CHANNEL_SCAN_INDEX_Y,
- CHANNEL_SCAN_INDEX_Z,
- CHANNEL_SCAN_MAX,
- };
- static int fxas21002c_odr_hz_from_value(struct fxas21002c_data *data, u8 value)
- {
- int odr_value_max = ARRAY_SIZE(fxas21002c_odr_values) - 1;
- value = min_t(u8, value, odr_value_max);
- return fxas21002c_odr_values[value];
- }
- static int fxas21002c_odr_value_from_hz(struct fxas21002c_data *data,
- unsigned int hz)
- {
- int odr_table_size = ARRAY_SIZE(fxas21002c_odr_values);
- int i;
- for (i = 0; i < odr_table_size; i++)
- if (fxas21002c_odr_values[i] == hz)
- return i;
- return -EINVAL;
- }
- static int fxas21002c_lpf_bw_from_value(struct fxas21002c_data *data, u8 value)
- {
- int lpf_value_max = ARRAY_SIZE(fxas21002c_lpf_values) - 1;
- value = min_t(u8, value, lpf_value_max);
- return fxas21002c_lpf_values[value];
- }
- static int fxas21002c_lpf_value_from_bw(struct fxas21002c_data *data,
- unsigned int hz)
- {
- int lpf_table_size = ARRAY_SIZE(fxas21002c_lpf_values);
- int i;
- for (i = 0; i < lpf_table_size; i++)
- if (fxas21002c_lpf_values[i] == hz)
- return i;
- return -EINVAL;
- }
- static int fxas21002c_hpf_sel_from_value(struct fxas21002c_data *data, u8 value)
- {
- int hpf_value_max = ARRAY_SIZE(fxas21002c_hpf_values) - 1;
- value = min_t(u8, value, hpf_value_max);
- return fxas21002c_hpf_values[value];
- }
- static int fxas21002c_hpf_value_from_sel(struct fxas21002c_data *data,
- unsigned int hz)
- {
- int hpf_table_size = ARRAY_SIZE(fxas21002c_hpf_values);
- int i;
- for (i = 0; i < hpf_table_size; i++)
- if (fxas21002c_hpf_values[i] == hz)
- return i;
- return -EINVAL;
- }
- static int fxas21002c_range_fs_from_value(struct fxas21002c_data *data,
- u8 value)
- {
- int range_value_max = ARRAY_SIZE(fxas21002c_range_values) - 1;
- unsigned int fs_double;
- int ret;
- /* We need to check if FS_DOUBLE is enabled to offset the value */
- ret = regmap_field_read(data->regmap_fields[F_FS_DOUBLE], &fs_double);
- if (ret < 0)
- return ret;
- if (!fs_double)
- value += 1;
- value = min_t(u8, value, range_value_max);
- return fxas21002c_range_values[value];
- }
- static int fxas21002c_range_value_from_fs(struct fxas21002c_data *data,
- unsigned int range)
- {
- int range_table_size = ARRAY_SIZE(fxas21002c_range_values);
- bool found = false;
- int fs_double = 0;
- int ret;
- int i;
- for (i = 0; i < range_table_size; i++)
- if (fxas21002c_range_values[i] == range) {
- found = true;
- break;
- }
- if (!found)
- return -EINVAL;
- if (range > FXAS21002C_RANGE_LIMIT_DOUBLE)
- fs_double = 1;
- ret = regmap_field_write(data->regmap_fields[F_FS_DOUBLE], fs_double);
- if (ret < 0)
- return ret;
- return i;
- }
- static int fxas21002c_mode_get(struct fxas21002c_data *data)
- {
- unsigned int active;
- unsigned int ready;
- int ret;
- ret = regmap_field_read(data->regmap_fields[F_ACTIVE], &active);
- if (ret < 0)
- return ret;
- if (active)
- return FXAS21002C_MODE_ACTIVE;
- ret = regmap_field_read(data->regmap_fields[F_READY], &ready);
- if (ret < 0)
- return ret;
- if (ready)
- return FXAS21002C_MODE_READY;
- return FXAS21002C_MODE_STANDBY;
- }
- static int fxas21002c_mode_set(struct fxas21002c_data *data,
- enum fxas21002c_mode_state mode)
- {
- int ret;
- if (mode == data->mode)
- return 0;
- if (mode == FXAS21002C_MODE_READY)
- ret = regmap_field_write(data->regmap_fields[F_READY], 1);
- else
- ret = regmap_field_write(data->regmap_fields[F_READY], 0);
- if (ret < 0)
- return ret;
- if (mode == FXAS21002C_MODE_ACTIVE)
- ret = regmap_field_write(data->regmap_fields[F_ACTIVE], 1);
- else
- ret = regmap_field_write(data->regmap_fields[F_ACTIVE], 0);
- if (ret < 0)
- return ret;
- /* if going to active wait the setup times */
- if (mode == FXAS21002C_MODE_ACTIVE &&
- data->mode == FXAS21002C_MODE_STANDBY)
- msleep_interruptible(FXAS21002C_STANDBY_ACTIVE_TIME_MS);
- if (data->mode == FXAS21002C_MODE_READY)
- msleep_interruptible(FXAS21002C_READY_ACTIVE_TIME_MS);
- data->prev_mode = data->mode;
- data->mode = mode;
- return ret;
- }
- static int fxas21002c_write(struct fxas21002c_data *data,
- enum fxas21002c_fields field, int bits)
- {
- int actual_mode;
- int ret;
- mutex_lock(&data->lock);
- actual_mode = fxas21002c_mode_get(data);
- if (actual_mode < 0) {
- ret = actual_mode;
- goto out_unlock;
- }
- ret = fxas21002c_mode_set(data, FXAS21002C_MODE_READY);
- if (ret < 0)
- goto out_unlock;
- ret = regmap_field_write(data->regmap_fields[field], bits);
- if (ret < 0)
- goto out_unlock;
- ret = fxas21002c_mode_set(data, data->prev_mode);
- out_unlock:
- mutex_unlock(&data->lock);
- return ret;
- }
- static int fxas21002c_pm_get(struct fxas21002c_data *data)
- {
- return pm_runtime_resume_and_get(regmap_get_device(data->regmap));
- }
- static int fxas21002c_pm_put(struct fxas21002c_data *data)
- {
- struct device *dev = regmap_get_device(data->regmap);
- pm_runtime_mark_last_busy(dev);
- return pm_runtime_put_autosuspend(dev);
- }
- static int fxas21002c_temp_get(struct fxas21002c_data *data, int *val)
- {
- struct device *dev = regmap_get_device(data->regmap);
- unsigned int temp;
- int ret;
- mutex_lock(&data->lock);
- ret = fxas21002c_pm_get(data);
- if (ret < 0)
- goto data_unlock;
- ret = regmap_field_read(data->regmap_fields[F_TEMP], &temp);
- if (ret < 0) {
- dev_err(dev, "failed to read temp: %d\n", ret);
- fxas21002c_pm_put(data);
- goto data_unlock;
- }
- *val = sign_extend32(temp, 7);
- ret = fxas21002c_pm_put(data);
- if (ret < 0)
- goto data_unlock;
- ret = IIO_VAL_INT;
- data_unlock:
- mutex_unlock(&data->lock);
- return ret;
- }
- static int fxas21002c_axis_get(struct fxas21002c_data *data,
- int index, int *val)
- {
- struct device *dev = regmap_get_device(data->regmap);
- __be16 axis_be;
- int ret;
- mutex_lock(&data->lock);
- ret = fxas21002c_pm_get(data);
- if (ret < 0)
- goto data_unlock;
- ret = regmap_bulk_read(data->regmap, FXAS21002C_AXIS_TO_REG(index),
- &axis_be, sizeof(axis_be));
- if (ret < 0) {
- dev_err(dev, "failed to read axis: %d: %d\n", index, ret);
- fxas21002c_pm_put(data);
- goto data_unlock;
- }
- *val = sign_extend32(be16_to_cpu(axis_be), 15);
- ret = fxas21002c_pm_put(data);
- if (ret < 0)
- goto data_unlock;
- ret = IIO_VAL_INT;
- data_unlock:
- mutex_unlock(&data->lock);
- return ret;
- }
- static int fxas21002c_odr_get(struct fxas21002c_data *data, int *odr)
- {
- unsigned int odr_bits;
- int ret;
- mutex_lock(&data->lock);
- ret = regmap_field_read(data->regmap_fields[F_DR], &odr_bits);
- if (ret < 0)
- goto data_unlock;
- *odr = fxas21002c_odr_hz_from_value(data, odr_bits);
- ret = IIO_VAL_INT;
- data_unlock:
- mutex_unlock(&data->lock);
- return ret;
- }
- static int fxas21002c_odr_set(struct fxas21002c_data *data, int odr)
- {
- int odr_bits;
- odr_bits = fxas21002c_odr_value_from_hz(data, odr);
- if (odr_bits < 0)
- return odr_bits;
- return fxas21002c_write(data, F_DR, odr_bits);
- }
- static int fxas21002c_lpf_get(struct fxas21002c_data *data, int *val2)
- {
- unsigned int bw_bits;
- int ret;
- mutex_lock(&data->lock);
- ret = regmap_field_read(data->regmap_fields[F_BW], &bw_bits);
- if (ret < 0)
- goto data_unlock;
- *val2 = fxas21002c_lpf_bw_from_value(data, bw_bits) * 10000;
- ret = IIO_VAL_INT_PLUS_MICRO;
- data_unlock:
- mutex_unlock(&data->lock);
- return ret;
- }
- static int fxas21002c_lpf_set(struct fxas21002c_data *data, int bw)
- {
- int bw_bits;
- int odr;
- int ret;
- bw_bits = fxas21002c_lpf_value_from_bw(data, bw);
- if (bw_bits < 0)
- return bw_bits;
- /*
- * From table 33 of the device spec, for ODR = 25Hz and 12.5 value 0.08
- * is not allowed and for ODR = 12.5 value 0.16 is also not allowed
- */
- ret = fxas21002c_odr_get(data, &odr);
- if (ret < 0)
- return -EINVAL;
- if ((odr == 25 && bw_bits > 0x01) || (odr == 12 && bw_bits > 0))
- return -EINVAL;
- return fxas21002c_write(data, F_BW, bw_bits);
- }
- static int fxas21002c_hpf_get(struct fxas21002c_data *data, int *val2)
- {
- unsigned int sel_bits;
- int ret;
- mutex_lock(&data->lock);
- ret = regmap_field_read(data->regmap_fields[F_SEL], &sel_bits);
- if (ret < 0)
- goto data_unlock;
- *val2 = fxas21002c_hpf_sel_from_value(data, sel_bits);
- ret = IIO_VAL_INT_PLUS_MICRO;
- data_unlock:
- mutex_unlock(&data->lock);
- return ret;
- }
- static int fxas21002c_hpf_set(struct fxas21002c_data *data, int sel)
- {
- int sel_bits;
- sel_bits = fxas21002c_hpf_value_from_sel(data, sel);
- if (sel_bits < 0)
- return sel_bits;
- return fxas21002c_write(data, F_SEL, sel_bits);
- }
- static int fxas21002c_scale_get(struct fxas21002c_data *data, int *val)
- {
- int fs_bits;
- int scale;
- int ret;
- mutex_lock(&data->lock);
- ret = regmap_field_read(data->regmap_fields[F_FS], &fs_bits);
- if (ret < 0)
- goto data_unlock;
- scale = fxas21002c_range_fs_from_value(data, fs_bits);
- if (scale < 0) {
- ret = scale;
- goto data_unlock;
- }
- *val = scale;
- data_unlock:
- mutex_unlock(&data->lock);
- return ret;
- }
- static int fxas21002c_scale_set(struct fxas21002c_data *data, int range)
- {
- int fs_bits;
- fs_bits = fxas21002c_range_value_from_fs(data, range);
- if (fs_bits < 0)
- return fs_bits;
- return fxas21002c_write(data, F_FS, fs_bits);
- }
- static int fxas21002c_read_raw(struct iio_dev *indio_dev,
- struct iio_chan_spec const *chan, int *val,
- int *val2, long mask)
- {
- struct fxas21002c_data *data = iio_priv(indio_dev);
- int ret;
- switch (mask) {
- case IIO_CHAN_INFO_RAW:
- switch (chan->type) {
- case IIO_TEMP:
- return fxas21002c_temp_get(data, val);
- case IIO_ANGL_VEL:
- return fxas21002c_axis_get(data, chan->scan_index, val);
- default:
- return -EINVAL;
- }
- case IIO_CHAN_INFO_SCALE:
- switch (chan->type) {
- case IIO_ANGL_VEL:
- *val2 = FXAS21002C_SCALE_FRACTIONAL;
- ret = fxas21002c_scale_get(data, val);
- if (ret < 0)
- return ret;
- return IIO_VAL_FRACTIONAL;
- default:
- return -EINVAL;
- }
- case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
- *val = 0;
- return fxas21002c_lpf_get(data, val2);
- case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
- *val = 0;
- return fxas21002c_hpf_get(data, val2);
- case IIO_CHAN_INFO_SAMP_FREQ:
- *val2 = 0;
- return fxas21002c_odr_get(data, val);
- default:
- return -EINVAL;
- }
- }
- static int fxas21002c_write_raw(struct iio_dev *indio_dev,
- struct iio_chan_spec const *chan, int val,
- int val2, long mask)
- {
- struct fxas21002c_data *data = iio_priv(indio_dev);
- int range;
- switch (mask) {
- case IIO_CHAN_INFO_SAMP_FREQ:
- if (val2)
- return -EINVAL;
- return fxas21002c_odr_set(data, val);
- case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
- if (val)
- return -EINVAL;
- val2 = val2 / 10000;
- return fxas21002c_lpf_set(data, val2);
- case IIO_CHAN_INFO_SCALE:
- switch (chan->type) {
- case IIO_ANGL_VEL:
- range = (((val * 1000 + val2 / 1000) *
- FXAS21002C_SCALE_FRACTIONAL) / 1000);
- return fxas21002c_scale_set(data, range);
- default:
- return -EINVAL;
- }
- case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
- return fxas21002c_hpf_set(data, val2);
- default:
- return -EINVAL;
- }
- }
- static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("12.5 25 50 100 200 400 800");
- static IIO_CONST_ATTR(in_anglvel_filter_low_pass_3db_frequency_available,
- "0.32 0.16 0.08");
- static IIO_CONST_ATTR(in_anglvel_filter_high_pass_3db_frequency_available,
- "0.018750 0.009625 0.004875 0.002475");
- static IIO_CONST_ATTR(in_anglvel_scale_available,
- "125.0 62.5 31.25 15.625 7.8125");
- static struct attribute *fxas21002c_attributes[] = {
- &iio_const_attr_sampling_frequency_available.dev_attr.attr,
- &iio_const_attr_in_anglvel_filter_low_pass_3db_frequency_available.dev_attr.attr,
- &iio_const_attr_in_anglvel_filter_high_pass_3db_frequency_available.dev_attr.attr,
- &iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
- NULL,
- };
- static const struct attribute_group fxas21002c_attrs_group = {
- .attrs = fxas21002c_attributes,
- };
- #define FXAS21002C_CHANNEL(_axis) { \
- .type = IIO_ANGL_VEL, \
- .modified = 1, \
- .channel2 = IIO_MOD_##_axis, \
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
- .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
- BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
- BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY) | \
- BIT(IIO_CHAN_INFO_SAMP_FREQ), \
- .scan_index = CHANNEL_SCAN_INDEX_##_axis, \
- .scan_type = { \
- .sign = 's', \
- .realbits = 16, \
- .storagebits = 16, \
- .endianness = IIO_BE, \
- }, \
- }
- static const struct iio_chan_spec fxas21002c_channels[] = {
- {
- .type = IIO_TEMP,
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
- .scan_index = -1,
- },
- FXAS21002C_CHANNEL(X),
- FXAS21002C_CHANNEL(Y),
- FXAS21002C_CHANNEL(Z),
- };
- static const struct iio_info fxas21002c_info = {
- .attrs = &fxas21002c_attrs_group,
- .read_raw = &fxas21002c_read_raw,
- .write_raw = &fxas21002c_write_raw,
- };
- static irqreturn_t fxas21002c_trigger_handler(int irq, void *p)
- {
- struct iio_poll_func *pf = p;
- struct iio_dev *indio_dev = pf->indio_dev;
- struct fxas21002c_data *data = iio_priv(indio_dev);
- int ret;
- mutex_lock(&data->lock);
- ret = regmap_bulk_read(data->regmap, FXAS21002C_REG_OUT_X_MSB,
- data->buffer, CHANNEL_SCAN_MAX * sizeof(s16));
- if (ret < 0)
- goto out_unlock;
- iio_push_to_buffers_with_timestamp(indio_dev, data->buffer,
- data->timestamp);
- out_unlock:
- mutex_unlock(&data->lock);
- iio_trigger_notify_done(indio_dev->trig);
- return IRQ_HANDLED;
- }
- static int fxas21002c_chip_init(struct fxas21002c_data *data)
- {
- struct device *dev = regmap_get_device(data->regmap);
- unsigned int chip_id;
- int ret;
- ret = regmap_field_read(data->regmap_fields[F_WHO_AM_I], &chip_id);
- if (ret < 0)
- return ret;
- if (chip_id != FXAS21002C_CHIP_ID_1 &&
- chip_id != FXAS21002C_CHIP_ID_2) {
- dev_err(dev, "chip id 0x%02x is not supported\n", chip_id);
- return -EINVAL;
- }
- data->chip_id = chip_id;
- ret = fxas21002c_mode_set(data, FXAS21002C_MODE_STANDBY);
- if (ret < 0)
- return ret;
- /* Set ODR to 200HZ as default */
- ret = fxas21002c_odr_set(data, 200);
- if (ret < 0)
- dev_err(dev, "failed to set ODR: %d\n", ret);
- return ret;
- }
- static int fxas21002c_data_rdy_trigger_set_state(struct iio_trigger *trig,
- bool state)
- {
- struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
- struct fxas21002c_data *data = iio_priv(indio_dev);
- return regmap_field_write(data->regmap_fields[F_INT_EN_DRDY], state);
- }
- static const struct iio_trigger_ops fxas21002c_trigger_ops = {
- .set_trigger_state = &fxas21002c_data_rdy_trigger_set_state,
- };
- static irqreturn_t fxas21002c_data_rdy_handler(int irq, void *private)
- {
- struct iio_dev *indio_dev = private;
- struct fxas21002c_data *data = iio_priv(indio_dev);
- data->timestamp = iio_get_time_ns(indio_dev);
- return IRQ_WAKE_THREAD;
- }
- static irqreturn_t fxas21002c_data_rdy_thread(int irq, void *private)
- {
- struct iio_dev *indio_dev = private;
- struct fxas21002c_data *data = iio_priv(indio_dev);
- unsigned int data_ready;
- int ret;
- ret = regmap_field_read(data->regmap_fields[F_SRC_DRDY], &data_ready);
- if (ret < 0)
- return IRQ_NONE;
- if (!data_ready)
- return IRQ_NONE;
- iio_trigger_poll_chained(data->dready_trig);
- return IRQ_HANDLED;
- }
- static int fxas21002c_trigger_probe(struct fxas21002c_data *data)
- {
- struct device *dev = regmap_get_device(data->regmap);
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
- struct device_node *np = indio_dev->dev.of_node;
- unsigned long irq_trig;
- bool irq_open_drain;
- int irq1;
- int ret;
- if (!data->irq)
- return 0;
- irq1 = of_irq_get_byname(np, "INT1");
- if (irq1 == data->irq) {
- dev_info(dev, "using interrupt line INT1\n");
- ret = regmap_field_write(data->regmap_fields[F_INT_CFG_DRDY],
- 1);
- if (ret < 0)
- return ret;
- }
- dev_info(dev, "using interrupt line INT2\n");
- irq_open_drain = of_property_read_bool(np, "drive-open-drain");
- data->dready_trig = devm_iio_trigger_alloc(dev, "%s-dev%d",
- indio_dev->name,
- indio_dev->id);
- if (!data->dready_trig)
- return -ENOMEM;
- irq_trig = irqd_get_trigger_type(irq_get_irq_data(data->irq));
- if (irq_trig == IRQF_TRIGGER_RISING) {
- ret = regmap_field_write(data->regmap_fields[F_IPOL], 1);
- if (ret < 0)
- return ret;
- }
- if (irq_open_drain)
- irq_trig |= IRQF_SHARED;
- ret = devm_request_threaded_irq(dev, data->irq,
- fxas21002c_data_rdy_handler,
- fxas21002c_data_rdy_thread,
- irq_trig, "fxas21002c_data_ready",
- indio_dev);
- if (ret < 0)
- return ret;
- data->dready_trig->dev.parent = dev;
- data->dready_trig->ops = &fxas21002c_trigger_ops;
- iio_trigger_set_drvdata(data->dready_trig, indio_dev);
- return devm_iio_trigger_register(dev, data->dready_trig);
- }
- static int fxas21002c_power_enable(struct fxas21002c_data *data)
- {
- int ret;
- ret = regulator_enable(data->vdd);
- if (ret < 0)
- return ret;
- ret = regulator_enable(data->vddio);
- if (ret < 0) {
- regulator_disable(data->vdd);
- return ret;
- }
- return 0;
- }
- static void fxas21002c_power_disable(struct fxas21002c_data *data)
- {
- regulator_disable(data->vdd);
- regulator_disable(data->vddio);
- }
- static void fxas21002c_power_disable_action(void *_data)
- {
- struct fxas21002c_data *data = _data;
- fxas21002c_power_disable(data);
- }
- static int fxas21002c_regulators_get(struct fxas21002c_data *data)
- {
- struct device *dev = regmap_get_device(data->regmap);
- data->vdd = devm_regulator_get(dev->parent, "vdd");
- if (IS_ERR(data->vdd))
- return PTR_ERR(data->vdd);
- data->vddio = devm_regulator_get(dev->parent, "vddio");
- return PTR_ERR_OR_ZERO(data->vddio);
- }
- int fxas21002c_core_probe(struct device *dev, struct regmap *regmap, int irq,
- const char *name)
- {
- struct fxas21002c_data *data;
- struct iio_dev *indio_dev;
- struct regmap_field *f;
- int i;
- int ret;
- indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
- if (!indio_dev)
- return -ENOMEM;
- data = iio_priv(indio_dev);
- dev_set_drvdata(dev, indio_dev);
- data->irq = irq;
- data->regmap = regmap;
- for (i = 0; i < F_MAX_FIELDS; i++) {
- f = devm_regmap_field_alloc(dev, data->regmap,
- fxas21002c_reg_fields[i]);
- if (IS_ERR(f))
- return PTR_ERR(f);
- data->regmap_fields[i] = f;
- }
- mutex_init(&data->lock);
- ret = fxas21002c_regulators_get(data);
- if (ret < 0)
- return ret;
- ret = fxas21002c_power_enable(data);
- if (ret < 0)
- return ret;
- ret = devm_add_action_or_reset(dev, fxas21002c_power_disable_action,
- data);
- if (ret < 0)
- return ret;
- ret = fxas21002c_chip_init(data);
- if (ret < 0)
- return ret;
- indio_dev->channels = fxas21002c_channels;
- indio_dev->num_channels = ARRAY_SIZE(fxas21002c_channels);
- indio_dev->name = name;
- indio_dev->modes = INDIO_DIRECT_MODE;
- indio_dev->info = &fxas21002c_info;
- ret = fxas21002c_trigger_probe(data);
- if (ret < 0)
- return ret;
- ret = devm_iio_triggered_buffer_setup(dev, indio_dev, NULL,
- fxas21002c_trigger_handler, NULL);
- if (ret < 0)
- return ret;
- ret = pm_runtime_set_active(dev);
- if (ret)
- return ret;
- pm_runtime_enable(dev);
- pm_runtime_set_autosuspend_delay(dev, 2000);
- pm_runtime_use_autosuspend(dev);
- ret = iio_device_register(indio_dev);
- if (ret < 0)
- goto pm_disable;
- return 0;
- pm_disable:
- pm_runtime_disable(dev);
- pm_runtime_set_suspended(dev);
- return ret;
- }
- EXPORT_SYMBOL_GPL(fxas21002c_core_probe);
- void fxas21002c_core_remove(struct device *dev)
- {
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
- iio_device_unregister(indio_dev);
- pm_runtime_disable(dev);
- pm_runtime_set_suspended(dev);
- }
- EXPORT_SYMBOL_GPL(fxas21002c_core_remove);
- static int __maybe_unused fxas21002c_suspend(struct device *dev)
- {
- struct fxas21002c_data *data = iio_priv(dev_get_drvdata(dev));
- fxas21002c_mode_set(data, FXAS21002C_MODE_STANDBY);
- fxas21002c_power_disable(data);
- return 0;
- }
- static int __maybe_unused fxas21002c_resume(struct device *dev)
- {
- struct fxas21002c_data *data = iio_priv(dev_get_drvdata(dev));
- int ret;
- ret = fxas21002c_power_enable(data);
- if (ret < 0)
- return ret;
- return fxas21002c_mode_set(data, data->prev_mode);
- }
- static int __maybe_unused fxas21002c_runtime_suspend(struct device *dev)
- {
- struct fxas21002c_data *data = iio_priv(dev_get_drvdata(dev));
- return fxas21002c_mode_set(data, FXAS21002C_MODE_READY);
- }
- static int __maybe_unused fxas21002c_runtime_resume(struct device *dev)
- {
- struct fxas21002c_data *data = iio_priv(dev_get_drvdata(dev));
- return fxas21002c_mode_set(data, FXAS21002C_MODE_ACTIVE);
- }
- const struct dev_pm_ops fxas21002c_pm_ops = {
- SET_SYSTEM_SLEEP_PM_OPS(fxas21002c_suspend, fxas21002c_resume)
- SET_RUNTIME_PM_OPS(fxas21002c_runtime_suspend,
- fxas21002c_runtime_resume, NULL)
- };
- EXPORT_SYMBOL_GPL(fxas21002c_pm_ops);
- MODULE_AUTHOR("Rui Miguel Silva <rui.silva@linaro.org>");
- MODULE_LICENSE("GPL v2");
- MODULE_DESCRIPTION("FXAS21002C Gyro driver");
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