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-rw-r--r--drivers/iio/Kconfig1
-rw-r--r--drivers/iio/Makefile1
-rw-r--r--drivers/iio/gyro/Kconfig16
-rw-r--r--drivers/iio/gyro/Makefile5
-rw-r--r--drivers/iio/gyro/hid-sensor-gyro-3d.c419
5 files changed, 442 insertions, 0 deletions
diff --git a/drivers/iio/Kconfig b/drivers/iio/Kconfig
index 0e05b90091b9..417ade39d5d0 100644
--- a/drivers/iio/Kconfig
+++ b/drivers/iio/Kconfig
@@ -61,5 +61,6 @@ source "drivers/iio/light/Kconfig"
61source "drivers/iio/frequency/Kconfig" 61source "drivers/iio/frequency/Kconfig"
62source "drivers/iio/dac/Kconfig" 62source "drivers/iio/dac/Kconfig"
63source "drivers/iio/common/Kconfig" 63source "drivers/iio/common/Kconfig"
64source "drivers/iio/gyro/Kconfig"
64 65
65endif # IIO 66endif # IIO
diff --git a/drivers/iio/Makefile b/drivers/iio/Makefile
index b21215c0f62d..a6406f7a153c 100644
--- a/drivers/iio/Makefile
+++ b/drivers/iio/Makefile
@@ -17,3 +17,4 @@ obj-y += light/
17obj-y += frequency/ 17obj-y += frequency/
18obj-y += dac/ 18obj-y += dac/
19obj-y += common/ 19obj-y += common/
20obj-y += gyro/
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
new file mode 100644
index 000000000000..21e27e2fc68c
--- /dev/null
+++ b/drivers/iio/gyro/Kconfig
@@ -0,0 +1,16 @@
1#
2# IIO Digital Gyroscope Sensor drivers configuration
3#
4menu "Digital gyroscope sensors"
5
6config HID_SENSOR_GYRO_3D
7 depends on HID_SENSOR_HUB
8 select IIO_BUFFER
9 select IIO_TRIGGERED_BUFFER
10 select HID_SENSOR_IIO_COMMON
11 tristate "HID Gyroscope 3D"
12 help
13 Say yes here to build support for the HID SENSOR
14 Gyroscope 3D.
15
16endmenu
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
new file mode 100644
index 000000000000..8a895d9fcbce
--- /dev/null
+++ b/drivers/iio/gyro/Makefile
@@ -0,0 +1,5 @@
1#
2# Makefile for industrial I/O gyroscope sensor drivers
3#
4
5obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
diff --git a/drivers/iio/gyro/hid-sensor-gyro-3d.c b/drivers/iio/gyro/hid-sensor-gyro-3d.c
new file mode 100644
index 000000000000..50ec09b0b368
--- /dev/null
+++ b/drivers/iio/gyro/hid-sensor-gyro-3d.c
@@ -0,0 +1,419 @@
1/*
2 * HID Sensors Driver
3 * Copyright (c) 2012, Intel Corporation.
4 *
5 * This program is free software; you can redistribute it and/or modify it
6 * under the terms and conditions of the GNU General Public License,
7 * version 2, as published by the Free Software Foundation.
8 *
9 * This program is distributed in the hope it will be useful, but WITHOUT
10 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
11 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
12 * more details.
13 *
14 * You should have received a copy of the GNU General Public License along with
15 * this program; if not, write to the Free Software Foundation, Inc.,
16 * 51 Franklin St - Fifth Floor, Boston, MA 02110-1301 USA.
17 *
18 */
19#include <linux/device.h>
20#include <linux/platform_device.h>
21#include <linux/module.h>
22#include <linux/interrupt.h>
23#include <linux/irq.h>
24#include <linux/slab.h>
25#include <linux/hid-sensor-hub.h>
26#include <linux/iio/iio.h>
27#include <linux/iio/sysfs.h>
28#include <linux/iio/buffer.h>
29#include <linux/iio/trigger_consumer.h>
30#include <linux/iio/triggered_buffer.h>
31#include "../common/hid-sensors/hid-sensor-attributes.h"
32#include "../common/hid-sensors/hid-sensor-trigger.h"
33
34/*Format: HID-SENSOR-usage_id_in_hex*/
35/*Usage ID from spec for Gyro-3D: 0x200076*/
36#define DRIVER_NAME "HID-SENSOR-200076"
37
38enum gyro_3d_channel {
39 CHANNEL_SCAN_INDEX_X,
40 CHANNEL_SCAN_INDEX_Y,
41 CHANNEL_SCAN_INDEX_Z,
42 GYRO_3D_CHANNEL_MAX,
43};
44
45struct gyro_3d_state {
46 struct hid_sensor_hub_callbacks callbacks;
47 struct hid_sensor_iio_common common_attributes;
48 struct hid_sensor_hub_attribute_info gyro[GYRO_3D_CHANNEL_MAX];
49 u32 gyro_val[GYRO_3D_CHANNEL_MAX];
50};
51
52static const u32 gyro_3d_addresses[GYRO_3D_CHANNEL_MAX] = {
53 HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS,
54 HID_USAGE_SENSOR_ANGL_VELOCITY_Y_AXIS,
55 HID_USAGE_SENSOR_ANGL_VELOCITY_Z_AXIS
56};
57
58/* Channel definitions */
59static const struct iio_chan_spec gyro_3d_channels[] = {
60 {
61 .type = IIO_ANGL_VEL,
62 .modified = 1,
63 .channel2 = IIO_MOD_X,
64 .info_mask = IIO_CHAN_INFO_OFFSET_SHARED_BIT |
65 IIO_CHAN_INFO_SCALE_SHARED_BIT |
66 IIO_CHAN_INFO_SAMP_FREQ_SHARED_BIT |
67 IIO_CHAN_INFO_HYSTERESIS_SHARED_BIT,
68 .scan_index = CHANNEL_SCAN_INDEX_X,
69 }, {
70 .type = IIO_ANGL_VEL,
71 .modified = 1,
72 .channel2 = IIO_MOD_Y,
73 .info_mask = IIO_CHAN_INFO_OFFSET_SHARED_BIT |
74 IIO_CHAN_INFO_SCALE_SHARED_BIT |
75 IIO_CHAN_INFO_SAMP_FREQ_SHARED_BIT |
76 IIO_CHAN_INFO_HYSTERESIS_SHARED_BIT,
77 .scan_index = CHANNEL_SCAN_INDEX_Y,
78 }, {
79 .type = IIO_ANGL_VEL,
80 .modified = 1,
81 .channel2 = IIO_MOD_Z,
82 .info_mask = IIO_CHAN_INFO_OFFSET_SHARED_BIT |
83 IIO_CHAN_INFO_SCALE_SHARED_BIT |
84 IIO_CHAN_INFO_SAMP_FREQ_SHARED_BIT |
85 IIO_CHAN_INFO_HYSTERESIS_SHARED_BIT,
86 .scan_index = CHANNEL_SCAN_INDEX_Z,
87 }
88};
89
90/* Adjust channel real bits based on report descriptor */
91static void gyro_3d_adjust_channel_bit_mask(struct iio_chan_spec *channels,
92 int channel, int size)
93{
94 channels[channel].scan_type.sign = 's';
95 /* Real storage bits will change based on the report desc. */
96 channels[channel].scan_type.realbits = size * 8;
97 /* Maximum size of a sample to capture is u32 */
98 channels[channel].scan_type.storagebits = sizeof(u32) * 8;
99}
100
101/* Channel read_raw handler */
102static int gyro_3d_read_raw(struct iio_dev *indio_dev,
103 struct iio_chan_spec const *chan,
104 int *val, int *val2,
105 long mask)
106{
107 struct gyro_3d_state *gyro_state = iio_priv(indio_dev);
108 int report_id = -1;
109 u32 address;
110 int ret;
111 int ret_type;
112
113 *val = 0;
114 *val2 = 0;
115 switch (mask) {
116 case 0:
117 report_id = gyro_state->gyro[chan->scan_index].report_id;
118 address = gyro_3d_addresses[chan->scan_index];
119 if (report_id >= 0)
120 *val = sensor_hub_input_attr_get_raw_value(
121 gyro_state->common_attributes.hsdev,
122 HID_USAGE_SENSOR_GYRO_3D, address,
123 report_id);
124 else {
125 *val = 0;
126 return -EINVAL;
127 }
128 ret_type = IIO_VAL_INT;
129 break;
130 case IIO_CHAN_INFO_SCALE:
131 *val = gyro_state->gyro[CHANNEL_SCAN_INDEX_X].units;
132 ret_type = IIO_VAL_INT;
133 break;
134 case IIO_CHAN_INFO_OFFSET:
135 *val = hid_sensor_convert_exponent(
136 gyro_state->gyro[CHANNEL_SCAN_INDEX_X].unit_expo);
137 ret_type = IIO_VAL_INT;
138 break;
139 case IIO_CHAN_INFO_SAMP_FREQ:
140 ret = hid_sensor_read_samp_freq_value(
141 &gyro_state->common_attributes, val, val2);
142 ret_type = IIO_VAL_INT_PLUS_MICRO;
143 break;
144 case IIO_CHAN_INFO_HYSTERESIS:
145 ret = hid_sensor_read_raw_hyst_value(
146 &gyro_state->common_attributes, val, val2);
147 ret_type = IIO_VAL_INT_PLUS_MICRO;
148 break;
149 default:
150 ret_type = -EINVAL;
151 break;
152 }
153
154 return ret_type;
155}
156
157/* Channel write_raw handler */
158static int gyro_3d_write_raw(struct iio_dev *indio_dev,
159 struct iio_chan_spec const *chan,
160 int val,
161 int val2,
162 long mask)
163{
164 struct gyro_3d_state *gyro_state = iio_priv(indio_dev);
165 int ret = 0;
166
167 switch (mask) {
168 case IIO_CHAN_INFO_SAMP_FREQ:
169 ret = hid_sensor_write_samp_freq_value(
170 &gyro_state->common_attributes, val, val2);
171 break;
172 case IIO_CHAN_INFO_HYSTERESIS:
173 ret = hid_sensor_write_raw_hyst_value(
174 &gyro_state->common_attributes, val, val2);
175 break;
176 default:
177 ret = -EINVAL;
178 }
179
180 return ret;
181}
182
183static int gyro_3d_write_raw_get_fmt(struct iio_dev *indio_dev,
184 struct iio_chan_spec const *chan,
185 long mask)
186{
187 return IIO_VAL_INT_PLUS_MICRO;
188}
189
190static const struct iio_info gyro_3d_info = {
191 .driver_module = THIS_MODULE,
192 .read_raw = &gyro_3d_read_raw,
193 .write_raw = &gyro_3d_write_raw,
194 .write_raw_get_fmt = &gyro_3d_write_raw_get_fmt,
195};
196
197/* Function to push data to buffer */
198static void hid_sensor_push_data(struct iio_dev *indio_dev, u8 *data, int len)
199{
200 struct iio_buffer *buffer = indio_dev->buffer;
201 s64 timestamp = iio_get_time_ns();
202 int datum_sz;
203
204 dev_dbg(&indio_dev->dev, "hid_sensor_push_data\n");
205 if (!buffer) {
206 dev_err(&indio_dev->dev, "Buffer == NULL\n");
207 return;
208 }
209 datum_sz = buffer->access->get_bytes_per_datum(buffer);
210 if (len > datum_sz) {
211 dev_err(&indio_dev->dev, "Datum size mismatch %d:%d\n", len,
212 datum_sz);
213 return;
214 }
215 buffer->access->store_to(buffer, (u8 *)data, timestamp);
216}
217
218/* Callback handler to send event after all samples are received and captured */
219static int gyro_3d_proc_event(struct hid_sensor_hub_device *hsdev,
220 unsigned usage_id,
221 void *priv)
222{
223 struct iio_dev *indio_dev = platform_get_drvdata(priv);
224 struct gyro_3d_state *gyro_state = iio_priv(indio_dev);
225
226 dev_dbg(&indio_dev->dev, "gyro_3d_proc_event [%d]\n",
227 gyro_state->common_attributes.data_ready);
228 if (gyro_state->common_attributes.data_ready)
229 hid_sensor_push_data(indio_dev,
230 (u8 *)gyro_state->gyro_val,
231 sizeof(gyro_state->gyro_val));
232
233 return 0;
234}
235
236/* Capture samples in local storage */
237static int gyro_3d_capture_sample(struct hid_sensor_hub_device *hsdev,
238 unsigned usage_id,
239 size_t raw_len, char *raw_data,
240 void *priv)
241{
242 struct iio_dev *indio_dev = platform_get_drvdata(priv);
243 struct gyro_3d_state *gyro_state = iio_priv(indio_dev);
244 int offset;
245 int ret = -EINVAL;
246
247 switch (usage_id) {
248 case HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS:
249 case HID_USAGE_SENSOR_ANGL_VELOCITY_Y_AXIS:
250 case HID_USAGE_SENSOR_ANGL_VELOCITY_Z_AXIS:
251 offset = usage_id - HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS;
252 gyro_state->gyro_val[CHANNEL_SCAN_INDEX_X + offset] =
253 *(u32 *)raw_data;
254 ret = 0;
255 break;
256 default:
257 break;
258 }
259
260 return ret;
261}
262
263/* Parse report which is specific to an usage id*/
264static int gyro_3d_parse_report(struct platform_device *pdev,
265 struct hid_sensor_hub_device *hsdev,
266 struct iio_chan_spec *channels,
267 unsigned usage_id,
268 struct gyro_3d_state *st)
269{
270 int ret;
271 int i;
272
273 for (i = 0; i <= CHANNEL_SCAN_INDEX_Z; ++i) {
274 ret = sensor_hub_input_get_attribute_info(hsdev,
275 HID_INPUT_REPORT,
276 usage_id,
277 HID_USAGE_SENSOR_ANGL_VELOCITY_X_AXIS + i,
278 &st->gyro[CHANNEL_SCAN_INDEX_X + i]);
279 if (ret < 0)
280 break;
281 gyro_3d_adjust_channel_bit_mask(channels,
282 CHANNEL_SCAN_INDEX_X + i,
283 st->gyro[CHANNEL_SCAN_INDEX_X + i].size);
284 }
285 dev_dbg(&pdev->dev, "gyro_3d %x:%x, %x:%x, %x:%x\n",
286 st->gyro[0].index,
287 st->gyro[0].report_id,
288 st->gyro[1].index, st->gyro[1].report_id,
289 st->gyro[2].index, st->gyro[2].report_id);
290
291 return ret;
292}
293
294/* Function to initialize the processing for usage id */
295static int __devinit hid_gyro_3d_probe(struct platform_device *pdev)
296{
297 int ret = 0;
298 static const char *name = "gyro_3d";
299 struct iio_dev *indio_dev;
300 struct gyro_3d_state *gyro_state;
301 struct hid_sensor_hub_device *hsdev = pdev->dev.platform_data;
302 struct iio_chan_spec *channels;
303
304 indio_dev = iio_device_alloc(sizeof(struct gyro_3d_state));
305 if (indio_dev == NULL) {
306 ret = -ENOMEM;
307 goto error_ret;
308 }
309 platform_set_drvdata(pdev, indio_dev);
310
311 gyro_state = iio_priv(indio_dev);
312 gyro_state->common_attributes.hsdev = hsdev;
313 gyro_state->common_attributes.pdev = pdev;
314
315 ret = hid_sensor_parse_common_attributes(hsdev,
316 HID_USAGE_SENSOR_GYRO_3D,
317 &gyro_state->common_attributes);
318 if (ret) {
319 dev_err(&pdev->dev, "failed to setup common attributes\n");
320 goto error_free_dev;
321 }
322
323 channels = kmemdup(gyro_3d_channels,
324 sizeof(gyro_3d_channels),
325 GFP_KERNEL);
326 if (!channels) {
327 dev_err(&pdev->dev, "failed to duplicate channels\n");
328 goto error_free_dev;
329 }
330
331 ret = gyro_3d_parse_report(pdev, hsdev, channels,
332 HID_USAGE_SENSOR_GYRO_3D, gyro_state);
333 if (ret) {
334 dev_err(&pdev->dev, "failed to setup attributes\n");
335 goto error_free_dev_mem;
336 }
337
338 indio_dev->channels = channels;
339 indio_dev->num_channels = ARRAY_SIZE(gyro_3d_channels);
340 indio_dev->dev.parent = &pdev->dev;
341 indio_dev->info = &gyro_3d_info;
342 indio_dev->name = name;
343 indio_dev->modes = INDIO_DIRECT_MODE;
344
345 ret = iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time,
346 NULL, NULL);
347 if (ret) {
348 dev_err(&pdev->dev, "failed to initialize trigger buffer\n");
349 goto error_free_dev_mem;
350 }
351 gyro_state->common_attributes.data_ready = false;
352 ret = hid_sensor_setup_trigger(indio_dev, name,
353 &gyro_state->common_attributes);
354 if (ret < 0) {
355 dev_err(&pdev->dev, "trigger setup failed\n");
356 goto error_unreg_buffer_funcs;
357 }
358
359 ret = iio_device_register(indio_dev);
360 if (ret) {
361 dev_err(&pdev->dev, "device register failed\n");
362 goto error_remove_trigger;
363 }
364
365 gyro_state->callbacks.send_event = gyro_3d_proc_event;
366 gyro_state->callbacks.capture_sample = gyro_3d_capture_sample;
367 gyro_state->callbacks.pdev = pdev;
368 ret = sensor_hub_register_callback(hsdev, HID_USAGE_SENSOR_GYRO_3D,
369 &gyro_state->callbacks);
370 if (ret < 0) {
371 dev_err(&pdev->dev, "callback reg failed\n");
372 goto error_iio_unreg;
373 }
374
375 return ret;
376
377error_iio_unreg:
378 iio_device_unregister(indio_dev);
379error_remove_trigger:
380 hid_sensor_remove_trigger(indio_dev);
381error_unreg_buffer_funcs:
382 iio_triggered_buffer_cleanup(indio_dev);
383error_free_dev_mem:
384 kfree(indio_dev->channels);
385error_free_dev:
386 iio_device_free(indio_dev);
387error_ret:
388 return ret;
389}
390
391/* Function to deinitialize the processing for usage id */
392static int __devinit hid_gyro_3d_remove(struct platform_device *pdev)
393{
394 struct hid_sensor_hub_device *hsdev = pdev->dev.platform_data;
395 struct iio_dev *indio_dev = platform_get_drvdata(pdev);
396
397 sensor_hub_remove_callback(hsdev, HID_USAGE_SENSOR_GYRO_3D);
398 iio_device_unregister(indio_dev);
399 hid_sensor_remove_trigger(indio_dev);
400 iio_triggered_buffer_cleanup(indio_dev);
401 kfree(indio_dev->channels);
402 iio_device_free(indio_dev);
403
404 return 0;
405}
406
407static struct platform_driver hid_gyro_3d_platform_driver = {
408 .driver = {
409 .name = DRIVER_NAME,
410 .owner = THIS_MODULE,
411 },
412 .probe = hid_gyro_3d_probe,
413 .remove = hid_gyro_3d_remove,
414};
415module_platform_driver(hid_gyro_3d_platform_driver);
416
417MODULE_DESCRIPTION("HID Sensor Gyroscope 3D");
418MODULE_AUTHOR("Srinivas Pandruvada <srinivas.pandruvada@intel.com>");
419MODULE_LICENSE("GPL");
generated by cgit v1.2.2 (git 2.25.0) at 2025-09-20 19:04:07 -0400