[PATCH 1/1] staging: iio: Integration gyroscope itg3200

From: Thorsten Nowak
Date: Fri Aug 17 2012 - 04:34:37 EST

InvenSense ITG3200 Digital 3-Axis Gyroscope I2C driver

Signed-off-by: Thorsten Nowak <not@xxxxxxxxxx>
---
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 <christian.strobel@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2011 Manuel Stahl <manuel.stahl@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@xxxxxxxxxxxxxxxxx>
+ *
+ * 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 <linux/iio/iio.h>
+#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
+ **/
+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 <christian.strobel@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2011 Manuel Stahl <manuel.stahl@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@xxxxxxxxxxxxxxxxx>
+ *
+ * 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 <linux/slab.h>
+#include <linux/i2c.h>
+#include <linux/irq.h>
+#include <linux/interrupt.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/kfifo_buf.h>
+#include <linux/iio/trigger_consumer.h>
+
+#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))
+ = 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);
+ 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 <christian.strobel@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2011 Manuel Stahl <manuel.stahl@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@xxxxxxxxxxxxxxxxx>
+ *
+ * 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 <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/i2c.h>
+#include <linux/gpio.h>
+#include <linux/slab.h>
+#include <linux/stat.h>
+#include <linux/module.h>
+#include <linux/delay.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/events.h>
+#include <linux/iio/buffer.h>
+
+#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 <linux/errno.h>
+#include <asm-generic/gpio.h>
+
+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;
+}
+
+
+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 *)&reg_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;
+ }
+
+ 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 <christian.strobel@xxxxxxxxxxxxxxxxx>");
+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 <christian.strobel@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2011 Manuel Stahl <manuel.stahl@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@xxxxxxxxxxxxxxxxx>
+ *
+ * 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 <linux/i2c.h>
+#include <linux/slab.h>
+#include <linux/interrupt.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/trigger.h>
+
+#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);
+}
--
1.7.10.4

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