From mboxrd@z Thu Jan 1 00:00:00 1970 Delivery-date: Fri, 08 Jul 2022 07:57:01 +0200 Received: from metis.ext.pengutronix.de ([2001:67c:670:201:290:27ff:fe1d:cc33]) by lore.white.stw.pengutronix.de with esmtps (TLS1.3) tls TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384 (Exim 4.94.2) (envelope-from ) id 1o9gz4-00AA69-D9 for lore@lore.pengutronix.de; Fri, 08 Jul 2022 07:57:01 +0200 Received: from bombadil.infradead.org ([2607:7c80:54:3::133]) by metis.ext.pengutronix.de with esmtps (TLS1.3:ECDHE_RSA_AES_256_GCM_SHA384:256) (Exim 4.92) (envelope-from ) id 1o9gz6-0001WC-Cm for lore@pengutronix.de; Fri, 08 Jul 2022 07:57:01 +0200 DKIM-Signature: v=1; a=rsa-sha256; q=dns/txt; c=relaxed/relaxed; d=lists.infradead.org; s=bombadil.20210309; h=Sender:List-Subscribe:List-Help :List-Post:List-Archive:List-Unsubscribe:List-Id:Content-Transfer-Encoding: MIME-Version:Message-Id:Date:Subject:Cc:To:From:Reply-To:Content-Type: Content-ID:Content-Description:Resent-Date:Resent-From:Resent-Sender: Resent-To:Resent-Cc:Resent-Message-ID:In-Reply-To:References:List-Owner; bh=W5xMV591xO+WmFnozTWTJsjp8Ogb/F5Hyq2lJTLG0S4=; b=OBe9npa9mm1E0kVnjUdoKo2sLu 4rC7ijZTnp0uM5Qzw1weztwTIBiDHlRBJKk/CmJW8zEkkiyPo6SqlRCitA/5blFR5As2k0d4Y/rkn crdg5nughO4SoDciTnxlQwFOOg8AKrGF9MBMbaSMvs9YVvl4lHsKbapaupxAhe004zjNOtd/LvTdp 3B7gsN69nrp2zup9gCHBneDxn8jyYg5ChM76EWejVwJI1csdzjfhL6zCKpR8aYyOHX1/QM8/1417e hZ/1naLKKH49yrHf2Mrh9M0ck2TjCBi3NzdA3VfboPrOprV3/sCDka38mSdWuxSeP/TgkpDMwMBo4 0AxT76tw==; Received: from localhost ([::1] helo=bombadil.infradead.org) by bombadil.infradead.org with esmtp (Exim 4.94.2 #2 (Red Hat Linux)) id 1o9gxt-001sv1-6o; Fri, 08 Jul 2022 05:55:45 +0000 Received: from relay2-d.mail.gandi.net ([2001:4b98:dc4:8::222]) by bombadil.infradead.org with esmtps (Exim 4.94.2 #2 (Red Hat Linux)) id 1o9gxm-001sqM-K8 for barebox@lists.infradead.org; Fri, 08 Jul 2022 05:55:40 +0000 Received: (Authenticated sender: ahmad@a3f.at) by mail.gandi.net (Postfix) with ESMTPSA id 95E1940004; Fri, 8 Jul 2022 05:55:30 +0000 (UTC) From: Ahmad Fatoum To: barebox@lists.infradead.org Cc: Ahmad Fatoum Date: Fri, 8 Jul 2022 07:55:26 +0200 Message-Id: <20220708055526.1177941-1-ahmad@a3f.at> X-Mailer: git-send-email 2.34.1 MIME-Version: 1.0 Content-Transfer-Encoding: 8bit X-CRM114-Version: 20100106-BlameMichelson ( TRE 0.8.0 (BSD) ) MR-646709E3 X-CRM114-CacheID: sfid-20220707_225539_041547_A30503FA X-CRM114-Status: GOOD ( 18.17 ) X-BeenThere: barebox@lists.infradead.org X-Mailman-Version: 2.1.34 Precedence: list List-Id: List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Sender: "barebox" X-SA-Exim-Connect-IP: 2607:7c80:54:3::133 X-SA-Exim-Mail-From: barebox-bounces+lore=pengutronix.de@lists.infradead.org X-Spam-Checker-Version: SpamAssassin 3.4.2 (2018-09-13) on metis.ext.pengutronix.de X-Spam-Level: X-Spam-Status: No, score=-4.6 required=4.0 tests=AWL,BAYES_00,DKIMWL_WL_HIGH, DKIM_SIGNED,DKIM_VALID,HEADER_FROM_DIFFERENT_DOMAINS, MAILING_LIST_MULTI,RCVD_IN_DNSWL_LOW,SPF_HELO_NONE,SPF_NONE, T_SCC_BODY_TEXT_LINE autolearn=unavailable autolearn_force=no version=3.4.2 Subject: [PATCH] aiodev: add ST L3GD20 Gyroscope and temperature sensor support X-SA-Exim-Version: 4.2.1 (built Wed, 08 May 2019 21:11:16 +0000) X-SA-Exim-Scanned: Yes (on metis.ext.pengutronix.de) The L3GD0 is an on-board peripheral of the STM32F429-DISCOVERY and as such a good target to test out SPI driver support. Add a simple aiodev driver to interface with it. It can read the chip's angular rate in three dimensions as well as the temperature sensor embedded in it. Signed-off-by: Ahmad Fatoum --- drivers/aiodev/Kconfig | 6 ++ drivers/aiodev/Makefile | 1 + drivers/aiodev/st_gyro.c | 122 +++++++++++++++++++++++++++++++++++++++ 3 files changed, 129 insertions(+) create mode 100644 drivers/aiodev/st_gyro.c diff --git a/drivers/aiodev/Kconfig b/drivers/aiodev/Kconfig index 88a3b9a3431c..6bd697702ecf 100644 --- a/drivers/aiodev/Kconfig +++ b/drivers/aiodev/Kconfig @@ -30,6 +30,12 @@ config LM75 help Support for LM75 and similar devices +config ST_GYRO + tristate "ST L3GD20 SPI gyro driver" + depends on SPI + help + Support for L3GD20 three-axis angular rate sensor. + config MC13XXX_ADC tristate "MC13XXX ADC driver" depends on MFD_MC13XXX diff --git a/drivers/aiodev/Makefile b/drivers/aiodev/Makefile index 4c92a403a293..06a63b0d2d78 100644 --- a/drivers/aiodev/Makefile +++ b/drivers/aiodev/Makefile @@ -3,6 +3,7 @@ obj-$(CONFIG_AIODEV) += core.o obj-$(CONFIG_IMX_THERMAL) += imx_thermal.o obj-$(CONFIG_LM75) += lm75.o +obj-$(CONFIG_ST_GYRO) += st_gyro.o obj-$(CONFIG_MC13XXX_ADC) += mc13xxx_adc.o obj-$(CONFIG_QORIQ_THERMAL) += qoriq_thermal.o obj-$(CONFIG_AM335X_ADC) += am335x_adc.o diff --git a/drivers/aiodev/st_gyro.c b/drivers/aiodev/st_gyro.c new file mode 100644 index 000000000000..3938d8239e4b --- /dev/null +++ b/drivers/aiodev/st_gyro.c @@ -0,0 +1,122 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +// SPDX-FileCopyrightText: 2022 Ahmad Fatoum + +#include +#include +#include +#include +#include + +#define ST_GYRO_WHO_AM_I 0x0F +#define ST_GYRO_CTRL_REG1 0x20 + +#define ST_GYRO_DEFAULT_OUT_TEMP_ADDR 0x26 +#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 + +#define ST_GYRO_OUT_L_ADDR(idx) \ + (ST_GYRO_DEFAULT_OUT_X_L_ADDR + 2 * (idx)) + +#define ST_GYRO_OUT_H_ADDR(idx) \ + (ST_GYRO_OUT_L_ADDR(idx) + 1) + +#define ST_GYRO_READ 0x80 +#define ST_GYRO_WRITE 0x00 +#define ST_GYRO_MULTI 0x40 + +struct st_gyro { + struct aiodevice aiodev; + struct aiochannel aiochan[4]; + struct spi_device *spi; +}; +#define to_st_gyro(chan) container_of(chan->aiodev, struct st_gyro, aiodev) + +static int st_gyro_read(struct aiochannel *chan, int *val) +{ + struct st_gyro *gyro = to_st_gyro(chan); + int ret; + u8 tx; + u8 rx_h, rx_l; + + if (chan->index == 3) { + tx = ST_GYRO_DEFAULT_OUT_TEMP_ADDR | ST_GYRO_READ; + ret = spi_write_then_read(gyro->spi, &tx, 1, &rx_l, 1); + if (ret) + return ret; + + *val = (s8)rx_l; + return 0; + } + + tx = ST_GYRO_OUT_H_ADDR(chan->index) | ST_GYRO_READ; + ret = spi_write_then_read(gyro->spi, &tx, 1, &rx_h, 1); + if (ret) + return ret; + + tx = ST_GYRO_OUT_L_ADDR(chan->index) | ST_GYRO_READ; + ret = spi_write_then_read(gyro->spi, &tx, 1, &rx_l, 1); + if (ret) + return ret; + + *val = (s16)((rx_h << 8) | rx_l); + *val *= 250; + *val >>= 16; + + return 0; +} + +static int st_gyro_probe(struct device_d *dev) +{ + u8 tx[2], rx[2]; + struct st_gyro *gyro; + int ret, i; + + gyro = xzalloc(sizeof(*gyro)); + gyro->spi = to_spi_device(dev); + + tx[0] = ST_GYRO_WHO_AM_I | ST_GYRO_READ; + ret = spi_write_then_read(gyro->spi, tx, 1, rx, 1); + if (ret) + return -EIO; + if (rx[0] != 0xD4) + return dev_err_probe(dev, -ENODEV, "unexpected device WAI: %02x\n", rx[0]); + + /* initialize device */ + tx[0] = ST_GYRO_CTRL_REG1 | ST_GYRO_WRITE; + tx[1] = 0xF; /* normal mode, 3 channels */ + ret = spi_write(gyro->spi, tx, 2); + if (ret) + return -EIO; + + gyro->aiodev.num_channels = 4; + gyro->aiodev.hwdev = dev; + gyro->aiodev.read = st_gyro_read; + gyro->aiodev.name = "gyroscope"; + gyro->aiodev.channels = + xmalloc(gyro->aiodev.num_channels * + sizeof(gyro->aiodev.channels[0])); + for (i = 0; i < 3; i++) { + gyro->aiodev.channels[i] = &gyro->aiochan[i]; + gyro->aiochan[i].unit = "dps"; + gyro->aiochan[i].index = i; + } + + gyro->aiodev.channels[3] = &gyro->aiochan[3]; + gyro->aiochan[3].unit = "C"; + gyro->aiochan[3].index = 3; + + return aiodevice_register(&gyro->aiodev); +} + +static const struct of_device_id st_gyro_match[] = { + { .compatible = "st,l3gd20-gyro" }, + { /* sentinel */ } +}; + +static struct driver_d st_gyro_driver = { + .name = "st_gyro", + .probe = st_gyro_probe, + .of_compatible = st_gyro_match, +}; +device_spi_driver(st_gyro_driver); -- 2.34.1