Return-Path: Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1755366Ab2HQMIG (ORCPT ); Fri, 17 Aug 2012 08:08:06 -0400 Received: from ns.pmeerw.net ([87.118.82.44]:38256 "EHLO pmeerw.net" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1753937Ab2HQMH7 (ORCPT ); Fri, 17 Aug 2012 08:07:59 -0400 Date: Fri, 17 Aug 2012 14:07:55 +0200 (CEST) From: Peter Meerwald To: Thorsten Nowak cc: Thorsten Nowak , Manuel Stahl , Jonathan Cameron , Greg Kroah-Hartman , Michael Hennerich , linux-iio@vger.kernel.org, devel@driverdev.osuosl.org, linux-kernel@vger.kernel.org Subject: Re: [PATCH 1/1] staging: iio: Integration gyroscope itg3200 In-Reply-To: <1345192038-5665-1-git-send-email-not@iis.fhg.de> Message-ID: References: <1345192038-5665-1-git-send-email-not@iis.fhg.de> User-Agent: Alpine 2.01 (DEB 1266 2009-07-14) MIME-Version: 1.0 Content-Type: TEXT/PLAIN; charset=US-ASCII Sender: linux-kernel-owner@vger.kernel.org List-ID: X-Mailing-List: linux-kernel@vger.kernel.org Content-Length: 31419 Lines: 1116 > InvenSense ITG3200 Digital 3-Axis Gyroscope I2C driver > > Signed-off-by: Thorsten Nowak > --- > drivers/staging/iio/gyro/Kconfig | 11 + > drivers/staging/iio/gyro/Makefile | 4 + > drivers/staging/iio/gyro/itg3200.h | 161 ++++++++ > drivers/staging/iio/gyro/itg3200_buffer.c | 171 ++++++++ > drivers/staging/iio/gyro/itg3200_core.c | 592 ++++++++++++++++++++++++++++ > drivers/staging/iio/gyro/itg3200_trigger.c | 90 +++++ > 6 files changed, 1029 insertions(+) > create mode 100644 drivers/staging/iio/gyro/itg3200.h > create mode 100644 drivers/staging/iio/gyro/itg3200_buffer.c > create mode 100644 drivers/staging/iio/gyro/itg3200_core.c > create mode 100644 drivers/staging/iio/gyro/itg3200_trigger.c > > diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig > index ea295b2..47b383d 100644 > --- a/drivers/staging/iio/gyro/Kconfig > +++ b/drivers/staging/iio/gyro/Kconfig > @@ -46,4 +46,15 @@ config ADXRS450 > This driver can also be built as a module. If so, the module > will be called adxrs450. > > +config ITG3200 > + tristate "InvenSense ITG3200 Digital 3-Axis Gyroscope I2C driver" > + depends on I2C > + select IIO_KFIFO_BUF if IIO_BUFFER > + help > + Say Y here to add support for the InvenSense ITG3200 digital > + 3-axis gyroscope sensor. > + > + To compile this driver as a module, choose M here: the module > + will be called itg3200. > + > endmenu > diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile > index 9ba5ec1..7567a50 100644 > --- a/drivers/staging/iio/gyro/Makefile > +++ b/drivers/staging/iio/gyro/Makefile > @@ -20,3 +20,7 @@ obj-$(CONFIG_ADIS16251) += adis16251.o > > adxrs450-y := adxrs450_core.o > obj-$(CONFIG_ADXRS450) += adxrs450.o > + > +itg3200-y := itg3200_core.o > +itg3200-$(CONFIG_IIO_BUFFER) += itg3200_buffer.o itg3200_trigger.o > +obj-$(CONFIG_ITG3200) += itg3200.o > diff --git a/drivers/staging/iio/gyro/itg3200.h b/drivers/staging/iio/gyro/itg3200.h > new file mode 100644 > index 0000000..a98d37d > --- /dev/null > +++ b/drivers/staging/iio/gyro/itg3200.h > @@ -0,0 +1,161 @@ > +/* > + * itg3200.h -- support InvenSense ITG3200 > + * Digital 3-Axis Gyroscope driver > + * > + * Copyright (c) 2011 Christian Strobel > + * Copyright (c) 2011 Manuel Stahl > + * Copyright (c) 2012 Thorsten Nowak > + * > + * 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 > +#include "../ring_sw.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 > + > +#define ITG3200_MAX_TX 1 > +#define ITG3200_MAX_RX 16 /* 4 * 16bit + 64bit timestamp */ > + > +/** > + * struct itg3200_state - device instance specific data > + * @i2c: actual i2c_client > + * @trig: data ready trigger registered with iio > + **/ trigger_on, tx and rx are not documented > +struct itg3200_state { > + struct i2c_client *i2c; > + struct iio_trigger *trig; > + bool trigger_on; > + u8 tx[ITG3200_MAX_TX] ____cacheline_aligned; > + __be16 rx[ITG3200_MAX_RX] ____cacheline_aligned; > +}; > + > +int itg3200_read_irq_status(struct iio_dev *indio_dev); > + > +int itg3200_set_irq_data_rdy(struct iio_dev *indio_dev, bool enable); > + > +enum ITG3200_CHANNELS { > + ITG3200_TEMP, > + ITG3200_GYRO_X, > + ITG3200_GYRO_Y, > + ITG3200_GYRO_Z, > + ITG3200_SCAN_ELEMENTS = 4, > +}; > + > +#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); > + > +#define itg3200_free_buf iio_sw_rb_free > +#define itg3200_alloc_buf iio_sw_rb_allocate > +#define itg3200_access_funcs ring_sw_access_funcs > + > +#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_ */ > diff --git a/drivers/staging/iio/gyro/itg3200_buffer.c b/drivers/staging/iio/gyro/itg3200_buffer.c > new file mode 100644 > index 0000000..07596d3 > --- /dev/null > +++ b/drivers/staging/iio/gyro/itg3200_buffer.c > @@ -0,0 +1,171 @@ > +/* > + * itg3200_ring.c -- support InvenSense ITG3200 > + * Digital 3-Axis Gyroscope driver > + * > + * Copyright (c) 2011 Christian Strobel > + * Copyright (c) 2011 Manuel Stahl > + * Copyright (c) 2012 Thorsten Nowak > + * > + * 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 > +#include > +#include > +#include > + > +#include > +#include > +#include > +#include > + > +#include "itg3200.h" > + > +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_state *st = iio_priv(indio_dev); > + struct iio_buffer *buffer = indio_dev->buffer; > + int len = 0; > + > + /* Clear IRQ */ > + itg3200_read_irq_status(indio_dev); > + > + if (!bitmap_empty(indio_dev->active_scan_mask, indio_dev->masklength)) { > + int ret; > + unsigned i, j = 0; > + st->tx[0] = 0x80 | ITG3200_REG_TEMP_OUT_H; > + ret = i2c_master_send(st->i2c, st->tx, 1); > + if (ret != 1) > + goto error_ret; > + > + /* Receive all scan elements */ > + ret = i2c_master_recv(st->i2c, (u8 *)st->rx, > + ITG3200_SCAN_ELEMENTS * 2); > + if (ret < 0) > + goto error_ret; > + > + /* Select only active scan elements */ > + for (i = 0; i < ITG3200_SCAN_ELEMENTS; i++) > + if (iio_scan_mask_query(indio_dev, buffer, i)) > + st->rx[j++] = st->rx[i]; > + > + len = j * sizeof(u16); > + } > + /* Guaranteed to be aligned with 8 byte boundary */ > + if (buffer->scan_timestamp) > + *(s64 *)(((phys_addr_t)st->rx + len > + + sizeof(s64) - 1) & ~(sizeof(s64) - 1)) *(s64 *)((u8 *)st->rx + ALIGN(len, sizeof(s64))) > + = pf->timestamp; > + buffer->access->store_to(buffer, (u8 *)st->rx, pf->timestamp); > + > + iio_trigger_notify_done(indio_dev->trig); > +error_ret: > + return IRQ_HANDLED; > +} > + > +/* > +static int itg3200_ring_postenable(struct iio_dev *indio_dev) > +{ > + u8 t; > + int ret; > + > + ret = itg3200_spi_read_reg_8(indio_dev, > + ITG3200_REG_POWER_MANAGEMENT, > + &t); > + if (ret) > + goto error_ret; > + > + if (iio_scan_mask_query(indio_dev->ring, 1)) > + t &= ~ITG3200_STANDBY_GYRO_X; > + else > + t |= ~ITG3200_STANDBY_GYRO_X; > + > + if (iio_scan_mask_query(indio_dev->ring, 2)) > + t &= ~ITG3200_STANDBY_GYRO_Y; > + else > + t |= ITG3200_STANDBY_GYRO_Y; > + > + if (iio_scan_mask_query(indio_dev->ring, 3)) > + t &= ITG3200_STANDBY_GYRO_Z; > + else > + t |= ITG3200_STANDBY_GYRO_Z; > + > + ret = itg3200_spi_write_reg_8(indio_dev, > + ITG3200_REG_POWER_MANAGEMENT, > + t); > + if (ret) > + goto error_ret; > + > + return iio_triggered_ring_postenable(indio_dev); > +error_ret: > + return ret; > +} > + > +static int itg3200_ring_predisable(struct iio_dev *indio_dev) > +{ > + u8 t; > + int ret; > + > + ret = iio_triggered_ring_predisable(indio_dev); > + if (ret) > + goto error_ret; > + > + ret = itg3200_spi_read_reg_8(indio_dev, > + ITG3200_REG_POWER_MANAGEMENT, > + &t); > + if (ret) > + goto error_ret; > + t &= ~(ITG3200_STANDBY_GYRO_X | > + ITG3200_STANDBY_GYRO_Y | > + ITG3200_STANDBY_GYRO_Z); > + > + ret = itg3200_spi_write_reg_8(indio_dev, > + ITG3200_REG_POWER_MANAGEMENT, t); > + > +error_ret: > + return ret; > +} > +*/ > +static const struct iio_buffer_setup_ops itg3200_buffer_setup_ops = { > + .preenable = &iio_sw_buffer_preenable, > + .postenable = &iio_triggered_buffer_postenable, > + .predisable = &iio_triggered_buffer_predisable, > +}; > + > +int itg3200_buffer_configure(struct iio_dev *indio_dev) > +{ > + int ret = 0; > + struct iio_buffer *buffer; > + > + buffer = iio_kfifo_allocate(indio_dev); > + if (!buffer) > + return -ENOMEM; > + > + /* buffer->access = &kfifo_access_funcs; */ > + indio_dev->buffer = buffer; > + indio_dev->setup_ops = &itg3200_buffer_setup_ops; > + indio_dev->pollfunc = iio_alloc_pollfunc(&iio_pollfunc_store_time, > + &itg3200_trigger_handler, IRQF_ONESHOT, > + indio_dev, "itg3200_consumer%d", indio_dev->id); maybe iio_triggered_buffer_setup() can be used? > + if (!indio_dev->pollfunc) { > + ret = -ENOMEM; > + goto error_free_buffer; > + } > + > + indio_dev->modes |= INDIO_BUFFER_TRIGGERED; > + return 0; > + > +error_free_buffer: > + iio_kfifo_free(indio_dev->buffer); > + return ret; > +} > + > +void itg3200_buffer_unconfigure(struct iio_dev *indio_dev) > +{ > + iio_dealloc_pollfunc(indio_dev->pollfunc); > + iio_kfifo_free(indio_dev->buffer); > +} > diff --git a/drivers/staging/iio/gyro/itg3200_core.c b/drivers/staging/iio/gyro/itg3200_core.c > new file mode 100644 > index 0000000..0096b38 > --- /dev/null > +++ b/drivers/staging/iio/gyro/itg3200_core.c > @@ -0,0 +1,592 @@ > +/* > + * itg3200_core.c -- support InvenSense ITG3200 > + * Digital 3-Axis Gyroscope driver > + * > + * Copyright (c) 2011 Christian Strobel > + * Copyright (c) 2011 Manuel Stahl > + * Copyright (c) 2012 Thorsten Nowak > + * > + * 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. > + */ > + > +#define DEBUG > + > +#include > +#include > +#include > +#include > +#include > +#include > +#include > +#include > + > +#include > +#include > +#include > +#include > + > +#include "itg3200.h" > + > +/* Copied from: linux-source-3.2/arch/arm/plat-omap/include/plat/gpio.h */ > +/* Wrappers for "new style" GPIO calls, using the new infrastructure > + * which lets us plug in FPGA, I2C, and other implementations. > + * * > + * The original OMAP-specific calls should eventually be removed. > + */ > + > +#include > +#include > + > +static inline int irq_to_gpio(unsigned irq) > +{ > + int tmp; > + > + /* omap1 SOC mpuio */ > + if (cpu_class_is_omap1() && (irq < (IH_MPUIO_BASE + 16))) > + return (irq - IH_MPUIO_BASE) + OMAP_MAX_GPIO_LINES; > + > + /* SOC gpio */ > + tmp = irq - IH_GPIO_BASE; > + if (tmp < OMAP_MAX_GPIO_LINES) > + return tmp; > + > + /* we don't supply reverse mappings for non-SOC gpios */ > + return -EIO; > +} irq_to_gpio() is doomed, no? shouldn't the gpio be passed to the driver and then mapped to an irq with gpio_to_irq()? > + > + > +static int itg3200_write_reg_8(struct iio_dev *indio_dev, > + u8 reg_address, u8 val) > +{ > + struct itg3200_state *st = iio_priv(indio_dev); > + int ret; > + > + u8 buf[2]; > + > + buf[0] = 0x80 | reg_address; > + buf[1] = val; > + > + ret = i2c_master_send(st->i2c, buf, sizeof(buf)); > + > + return (ret == sizeof(buf)) ? 0 : ret; > +} > + > +static int itg3200_read_reg_8(struct iio_dev *indio_dev, > + u8 reg_address, u8 *val) > +{ > + struct itg3200_state *st = iio_priv(indio_dev); > + struct i2c_client *client = st->i2c; > + int ret; > + > + struct i2c_msg msg[2]; > + > + msg[0].addr = client->addr; > + msg[0].flags = client->flags & I2C_M_TEN; > + msg[0].len = 1; > + msg[0].buf = (char *)®_address; > + > + msg[1].addr = client->addr; > + msg[1].flags = client->flags & I2C_M_TEN; > + msg[1].flags |= I2C_M_RD; > + msg[1].len = 1; > + msg[1].buf = (char *)val; > + > + reg_address |= 0x80; > + ret = i2c_transfer(client->adapter, msg, 2); > + return (ret == 2) ? 0 : ret; > +} > + > +static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address, > + int *val) > +{ > + struct itg3200_state *st = iio_priv(indio_dev); > + struct i2c_client *client = st->i2c; > + int ret; > + s16 out; > + > + struct i2c_msg msg[2]; > + > + msg[0].addr = client->addr; > + msg[0].flags = client->flags & I2C_M_TEN; > + msg[0].len = 1; > + msg[0].buf = (char *)&lower_reg_address; > + > + msg[1].addr = client->addr; > + msg[1].flags = client->flags & I2C_M_TEN; > + msg[1].flags |= I2C_M_RD; > + msg[1].len = 2; > + msg[1].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, > + struct iio_chan_spec const *chan, > + int *val, int *val2, long mask) > +{ > + ssize_t ret = 0; > + u8 reg; > + > + switch (mask) { > + case 0: > + reg = (u8)chan->address; > + /* Take the iio_dev status lock */ > + mutex_lock(&indio_dev->mlock); > + ret = itg3200_read_reg_s16(indio_dev, reg, val); > + mutex_unlock(&indio_dev->mlock); > + return IIO_VAL_INT; > + case IIO_CHAN_INFO_SCALE: > + *val = 0; > + if (chan->scan_index == ITG3200_TEMP) > + *val2 = 1000000000/280; > + else > + *val2 = 1214142; > + return IIO_VAL_INT_PLUS_NANO; > + case IIO_CHAN_INFO_OFFSET: > + if (chan->scan_index == ITG3200_TEMP) > + *val = 13200; > + return IIO_VAL_INT; > + } > + > + return ret; > +} > + > +static ssize_t itg3200_read_frequency(struct device *dev, > + struct device_attribute *attr, char *buf) > +{ > + struct iio_dev *indio_dev = dev_get_drvdata(dev); > + int ret, len = 0; > + u8 val; > + int sps; > + > + 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; > + > + len = sprintf(buf, "%d\n", sps); > + return len; > +} > + > +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_get_drvdata(dev); > + long val; > + int ret; > + u8 t; > + > + ret = kstrtol(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; > + > + t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000 : 8000) / 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; > +} > + > +int itg3200_read_irq_status(struct iio_dev *indio_dev) > +{ > + u8 val; > + int ret; > + > + ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_IRQ_STATUS, &val); > + if (ret < 0) > + return ret; > + > + return val; > +} > + > +int itg3200_set_irq_data_rdy(struct iio_dev *indio_dev, bool enable) > +{ > + struct itg3200_state *st = iio_priv(indio_dev); > + int ret; > + u8 msc; > + > + dev_dbg(&st->i2c->dev, "set data ready %s", enable ? "on" : "off"); > + > + ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_IRQ_CONFIG, &msc); > + if (ret) > + goto error_ret; > + > + if (enable) > + 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; > +} > + > +/* Power down the device */ > +static int itg3200_stop_device(struct iio_dev *indio_dev) > +{ > + struct itg3200_state *st = iio_priv(indio_dev); > + int ret; > + > + dev_dbg(&st->i2c->dev, "suspend device"); > + > + /* Set device in low power mode */ > + ret = itg3200_write_reg_8(indio_dev, > + ITG3200_REG_POWER_MANAGEMENT, > + ITG3200_SLEEP); > + > + if (ret) > + dev_err(&st->i2c->dev, "problem with turning device off: SLEEP"); > + > + return 0; > +} > + > +/* 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_state *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_LATCH_50US_PULSE | > + ITG3200_IRQ_LATCH_CLEAR_ANY | > + ITG3200_IRQ_DEVICE_RDY_ENABLE | > + ITG3200_IRQ_DATA_RDY_ENABLE); > + > + if (ret) > + dev_err(&st->i2c->dev, "error init device"); > + > +error_ret: > + return ret; > +} > + > +static ssize_t itg3200_write_reset(struct device *dev, > + struct device_attribute *attr, > + const char *buf, size_t len) > +{ > + struct iio_dev *indio_dev = dev_get_drvdata(dev); > + int ret = -EINVAL; > + if (len < 1) > + goto error_ret; > + > + switch (buf[0]) { > + case '1': > + case 'y': > + case 'Y': > + ret = itg3200_reset(indio_dev); > + if (ret < 0) > + goto error_ret; > + return len; > + } > +error_ret: > + return ret; > +} > + > +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_state *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 = -EINVAL; > + 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) > +#define ITG3200_INFO_MASK IIO_CHAN_INFO_SCALE_SHARED_BIT > + > +#define ITG3200_ST \ > + { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE } > + > +static const struct iio_chan_spec itg3200_channels[] = { > + { > + .type = IIO_TEMP, > + .output = 0, > + .modified = 0, > + .indexed = 0, > + .extend_name = NULL, > + .channel = 0, > + .channel2 = IIO_NO_MOD, > + .info_mask = ITG3200_TEMP_INFO_MASK, > + .address = ITG3200_REG_TEMP_OUT_H, > + .scan_index = ITG3200_TEMP, > + .scan_type = ITG3200_ST, > + .event_mask = 0 > + }, > + { > + .type = IIO_ANGL_VEL, > + .output = 0, > + .modified = 1, > + .indexed = 0, > + .extend_name = NULL, > + .channel = 0, > + .channel2 = IIO_MOD_X, > + .info_mask = ITG3200_INFO_MASK, > + .address = ITG3200_REG_GYRO_XOUT_H, > + .scan_index = ITG3200_GYRO_X, > + .scan_type = ITG3200_ST, > + .event_mask = 0 > + }, > + { > + .type = IIO_ANGL_VEL, > + .output = 0, > + .modified = 1, > + .indexed = 0, > + .extend_name = NULL, > + .channel = 0, > + .channel2 = IIO_MOD_Y, > + .info_mask = ITG3200_INFO_MASK, > + .address = ITG3200_REG_GYRO_YOUT_H, > + .scan_index = ITG3200_GYRO_Y, > + .scan_type = ITG3200_ST, > + .event_mask = 0 > + }, > + { > + .type = IIO_ANGL_VEL, > + .output = 0, > + .modified = 1, > + .indexed = 0, > + .extend_name = NULL, > + .channel = 0, > + .channel2 = IIO_MOD_Z, > + .info_mask = ITG3200_INFO_MASK, > + .address = ITG3200_REG_GYRO_ZOUT_H, > + .scan_index = ITG3200_GYRO_Z, > + .scan_type = ITG3200_ST, > + .event_mask = 0 > + }, > + IIO_CHAN_SOFT_TIMESTAMP(4), > +}; > + > +/* IIO device attributes */ > +static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, itg3200_read_frequency, > + itg3200_write_frequency); > + > +static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, itg3200_write_reset, 0); > + > +static struct attribute *itg3200_attributes[] = { > + &iio_dev_attr_sampling_frequency.dev_attr.attr, > + &iio_dev_attr_reset.dev_attr.attr, > + NULL > +}; > + > +static const struct attribute_group itg3200_attribute_group = { > + .attrs = itg3200_attributes, > +}; > + > +static const struct iio_info itg3200_info = { > + .read_raw = &itg3200_read_raw, > + /* > + .write_raw = &itg3200_write_raw, > + .read_event_value = &itg3200_read_thresh, > + .write_event_value = &itg3200_write_thresh, > + .write_event_config = &itg3200_write_event_config, > + .read_event_config = &itg3200_read_event_config, > + */ > + .driver_module = THIS_MODULE, > + .attrs = &itg3200_attribute_group, > +}; > + > +static int __devinit itg3200_probe(struct i2c_client *client, > + const struct i2c_device_id *id) > +{ > + int ret = 0; > + struct itg3200_state *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->info = &itg3200_info; > + indio_dev->modes = INDIO_DIRECT_MODE; > + > + ret = itg3200_buffer_configure(indio_dev); > + if (ret) > + goto error_free_dev; > + > + ret = iio_buffer_register(indio_dev, > + indio_dev->channels, > + ARRAY_SIZE(itg3200_channels)); > + if (ret) > + goto error_unconfigure_buffer; > + > + if (client->irq && gpio_is_valid(irq_to_gpio(client->irq)) > 0) { > + ret = itg3200_probe_trigger(indio_dev); > + if (ret) > + goto error_unregister_buffer; > + } the lis3l02dq iio driver uses this as well and fails to compile due to irq_to_gpio() with certain configurations > + > + 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 && gpio_is_valid(irq_to_gpio(client->irq)) > 0) > + itg3200_remove_trigger(indio_dev); > +error_unregister_buffer: > + iio_buffer_unregister(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) > +{ > + /* int ret; */ > + struct iio_dev *indio_dev = i2c_get_clientdata(client); > + > + iio_device_unregister(indio_dev); > + > + /* > + ret = itg3200_stop_device(indio_dev); > + if (ret) > + goto err_ret; > + */ > + > + if (client->irq && gpio_is_valid(irq_to_gpio(client->irq)) > 0) > + itg3200_remove_trigger(indio_dev); > + > + iio_buffer_unregister(indio_dev); > + itg3200_buffer_unconfigure(indio_dev); > + > + iio_device_free(indio_dev); > + > + return 0; > + > + /* > + err_ret: > + return ret; > + */ > +} > + > +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, > +}; > + > +static int __init itg3200_init(void) > +{ > + return i2c_add_driver(&itg3200_driver); > +} > +module_init(itg3200_init); > + > +static void __exit itg3200_exit(void) > +{ > + i2c_del_driver(&itg3200_driver); > +} > +module_exit(itg3200_exit); > + > +MODULE_AUTHOR("Christian Strobel "); > +MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver"); > +MODULE_LICENSE("GPL v2"); > diff --git a/drivers/staging/iio/gyro/itg3200_trigger.c b/drivers/staging/iio/gyro/itg3200_trigger.c > new file mode 100644 > index 0000000..18f10a2 > --- /dev/null > +++ b/drivers/staging/iio/gyro/itg3200_trigger.c > @@ -0,0 +1,90 @@ > +/* > + * itg3200_trigger.c -- support InvenSense ITG3200 > + * Digital 3-Axis Gyroscope driver > + * > + * Copyright (c) 2011 Christian Strobel > + * Copyright (c) 2011 Manuel Stahl > + * Copyright (c) 2012 Thorsten Nowak > + * > + * 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 > +#include > +#include > + > +#include > +#include > + > +#include "itg3200.h" > + > +static irqreturn_t itg3200_data_rdy_trig_poll(int irq, void *private) > +{ > + struct iio_dev *indio_dev = private; > + struct itg3200_state *st = iio_priv(indio_dev); > + > + iio_trigger_poll(st->trig, iio_get_time_ns()); > + return IRQ_HANDLED; > +} > + > +/** > + * itg3200_data_rdy_trigger_set_state() set datardy interrupt state > + */ > +static int itg3200_data_rdy_trigger_set_state(struct iio_trigger *trig, > + bool state) > +{ > + struct iio_dev *indio_dev = trig->private_data; > + return itg3200_set_irq_data_rdy(indio_dev, state); > +} > + > +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_state *st = iio_priv(indio_dev); > + > + ret = request_irq(st->i2c->irq, &itg3200_data_rdy_trig_poll, > + IRQF_TRIGGER_HIGH, "itg3200_data_rdy", indio_dev); > + if (ret) > + goto error_ret; > + > + st->trig = iio_trigger_alloc("itg3200-dev%d", indio_dev->id); > + if (!st->trig) { > + ret = -ENOMEM; > + goto error_free_irq; > + } > + > + 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_trig; > + > + /* select default trigger */ > + indio_dev->trig = st->trig; > + > + return 0; > + > +error_free_trig: > + iio_trigger_free(st->trig); > +error_free_irq: > + free_irq(st->i2c->irq, indio_dev); > +error_ret: > + return ret; > +} > + > +void itg3200_remove_trigger(struct iio_dev *indio_dev) > +{ > + struct itg3200_state *st = iio_priv(indio_dev); > + > + iio_trigger_unregister(st->trig); > + iio_trigger_free(st->trig); > + free_irq(st->i2c->irq, indio_dev); > +} > -- Peter Meerwald +43-664-2444418 (mobile) -- To unsubscribe from this list: send the line "unsubscribe linux-kernel" in the body of a message to majordomo@vger.kernel.org More majordomo info at http://vger.kernel.org/majordomo-info.html Please read the FAQ at http://www.tux.org/lkml/