iio: gyro: Add itg3200
authorManuel Stahl <manuel.stahl@iis.fraunhofer.de>
Fri, 1 Feb 2013 08:51:00 +0000 (08:51 +0000)
committerJonathan Cameron <jic23@kernel.org>
Sat, 2 Feb 2013 09:33:33 +0000 (09:33 +0000)
This patch adds support for the InvenSense itg3200.
The itg3200 is a three-axis gyro with 16-bit ADC and
I2C interface.

Signed-off-by: Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
Reviewed-by: Lars-Peter Clausen <lars@metafoo.de>
Signed-off-by: Jonathan Cameron <jic23@kernel.org>
drivers/iio/gyro/Kconfig
drivers/iio/gyro/Makefile
drivers/iio/gyro/itg3200_buffer.c [new file with mode: 0644]
drivers/iio/gyro/itg3200_core.c [new file with mode: 0644]
include/linux/iio/gyro/itg3200.h [new file with mode: 0644]

index 51ac6bc791c683cb0e5e234e94a19862cd5f030e..6be4628faffec0a781ea4e1cdbde9dde7f916589 100644 (file)
@@ -70,4 +70,12 @@ config IIO_ST_GYRO_SPI_3AXIS
        depends on IIO_ST_GYRO_3AXIS
        depends on IIO_ST_SENSORS_SPI
 
+config ITG3200
+       tristate "InvenSense ITG3200 Digital 3-Axis Gyroscope I2C driver"
+       depends on I2C
+       select IIO_TRIGGERED_BUFFER if IIO_BUFFER
+       help
+         Say yes here to add support for the InvenSense ITG3200 digital
+         3-axis gyroscope sensor.
+
 endmenu
index eff9bb0119a29fab2ec023ae9aec1fa8b3cb6679..225d289082e6a81d36175041aaec9ed1c3fd85a6 100644 (file)
@@ -8,6 +8,10 @@ obj-$(CONFIG_ADXRS450) += adxrs450.o
 
 obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
 
+itg3200-y               := itg3200_core.o
+itg3200-$(CONFIG_IIO_BUFFER) += itg3200_buffer.o
+obj-$(CONFIG_ITG3200)   += itg3200.o
+
 obj-$(CONFIG_IIO_ST_GYRO_3AXIS) += st_gyro.o
 st_gyro-y := st_gyro_core.o
 st_gyro-$(CONFIG_IIO_BUFFER) += st_gyro_buffer.o
diff --git a/drivers/iio/gyro/itg3200_buffer.c b/drivers/iio/gyro/itg3200_buffer.c
new file mode 100644 (file)
index 0000000..f667d2c
--- /dev/null
@@ -0,0 +1,156 @@
+/*
+ * itg3200_buffer.c -- support InvenSense ITG3200
+ *                     Digital 3-Axis Gyroscope driver
+ *
+ * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de>
+ * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
+ * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de>
+ *
+ * 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/interrupt.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/gyro/itg3200.h>
+
+
+static int itg3200_read_all_channels(struct i2c_client *i2c, __be16 *buf)
+{
+       u8 tx = 0x80 | ITG3200_REG_TEMP_OUT_H;
+       struct i2c_msg msg[2] = {
+               {
+                       .addr = i2c->addr,
+                       .flags = i2c->flags,
+                       .len = 1,
+                       .buf = &tx,
+               },
+               {
+                       .addr = i2c->addr,
+                       .flags = i2c->flags | I2C_M_RD,
+                       .len = ITG3200_SCAN_ELEMENTS * sizeof(s16),
+                       .buf = (char *)&buf,
+               },
+       };
+
+       return i2c_transfer(i2c->adapter, msg, 2);
+}
+
+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 *st = iio_priv(indio_dev);
+       __be16 buf[ITG3200_SCAN_ELEMENTS + sizeof(s64)/sizeof(u16)];
+
+       int ret = itg3200_read_all_channels(st->i2c, buf);
+       if (ret < 0)
+               goto error_ret;
+
+       if (indio_dev->scan_timestamp)
+               memcpy(buf + indio_dev->scan_bytes - sizeof(s64),
+                               &pf->timestamp, sizeof(pf->timestamp));
+
+       iio_push_to_buffers(indio_dev, (u8 *)buf);
+       iio_trigger_notify_done(indio_dev->trig);
+
+error_ret:
+       return IRQ_HANDLED;
+}
+
+int itg3200_buffer_configure(struct iio_dev *indio_dev)
+{
+       return iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time,
+               itg3200_trigger_handler, NULL);
+}
+
+void itg3200_buffer_unconfigure(struct iio_dev *indio_dev)
+{
+       iio_triggered_buffer_cleanup(indio_dev);
+}
+
+
+static int itg3200_data_rdy_trigger_set_state(struct iio_trigger *trig,
+               bool state)
+{
+       struct iio_dev *indio_dev = trig->private_data;
+       int ret;
+       u8 msc;
+
+       ret = itg3200_read_reg_8(indio_dev, ITG3200_REG_IRQ_CONFIG, &msc);
+       if (ret)
+               goto error_ret;
+
+       if (state)
+               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;
+
+}
+
+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 *st = iio_priv(indio_dev);
+
+       st->trig = iio_trigger_alloc("%s-dev%d", indio_dev->name,
+                                    indio_dev->id);
+       if (!st->trig)
+               return -ENOMEM;
+
+       ret = request_irq(st->i2c->irq,
+                         &iio_trigger_generic_data_rdy_poll,
+                         IRQF_TRIGGER_RISING,
+                         "itg3200_data_rdy",
+                         st->trig);
+       if (ret)
+               goto error_free_trig;
+
+
+       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_irq;
+
+       /* select default trigger */
+       indio_dev->trig = st->trig;
+
+       return 0;
+
+error_free_irq:
+       free_irq(st->i2c->irq, st->trig);
+error_free_trig:
+       iio_trigger_free(st->trig);
+       return ret;
+}
+
+void itg3200_remove_trigger(struct iio_dev *indio_dev)
+{
+       struct itg3200 *st = iio_priv(indio_dev);
+
+       iio_trigger_unregister(st->trig);
+       free_irq(st->i2c->irq, st->trig);
+       iio_trigger_free(st->trig);
+}
diff --git a/drivers/iio/gyro/itg3200_core.c b/drivers/iio/gyro/itg3200_core.c
new file mode 100644 (file)
index 0000000..df2e6aa
--- /dev/null
@@ -0,0 +1,401 @@
+/*
+ * itg3200_core.c -- support InvenSense ITG3200
+ *                   Digital 3-Axis Gyroscope driver
+ *
+ * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de>
+ * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
+ * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de>
+ *
+ * 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.
+ *
+ * TODO:
+ * - Support digital low pass filter
+ * - Support power management
+ */
+
+#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 <linux/iio/gyro/itg3200.h>
+
+
+int itg3200_write_reg_8(struct iio_dev *indio_dev,
+               u8 reg_address, u8 val)
+{
+       struct itg3200 *st = iio_priv(indio_dev);
+
+       return i2c_smbus_write_byte_data(st->i2c, 0x80 | reg_address, val);
+}
+
+int itg3200_read_reg_8(struct iio_dev *indio_dev,
+               u8 reg_address, u8 *val)
+{
+       struct itg3200 *st = iio_priv(indio_dev);
+       int ret;
+
+       ret = i2c_smbus_read_byte_data(st->i2c, reg_address);
+       if (ret < 0)
+               return ret;
+       *val = ret;
+       return 0;
+}
+
+static int itg3200_read_reg_s16(struct iio_dev *indio_dev, u8 lower_reg_address,
+               int *val)
+{
+       struct itg3200 *st = iio_priv(indio_dev);
+       struct i2c_client *client = st->i2c;
+       int ret;
+       s16 out;
+
+       struct i2c_msg msg[2] = {
+               {
+                       .addr = client->addr,
+                       .flags = client->flags,
+                       .len = 1,
+                       .buf = (char *)&lower_reg_address,
+               },
+               {
+                       .addr = client->addr,
+                       .flags = client->flags | I2C_M_RD,
+                       .len = 2,
+                       .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,
+               const struct iio_chan_spec *chan,
+               int *val, int *val2, long info)
+{
+       int ret = 0;
+       u8 reg;
+
+       switch (info) {
+       case IIO_CHAN_INFO_RAW:
+               reg = (u8)chan->address;
+               ret = itg3200_read_reg_s16(indio_dev, reg, val);
+               return IIO_VAL_INT;
+       case IIO_CHAN_INFO_SCALE:
+               *val = 0;
+               if (chan->type == IIO_TEMP)
+                       *val2 = 1000000000/280;
+               else
+                       *val2 = 1214142; /* (1 / 14,375) * (PI / 180) */
+               return IIO_VAL_INT_PLUS_NANO;
+       case IIO_CHAN_INFO_OFFSET:
+               /* Only the temperature channel has an offset */
+               *val = 23000;
+               return IIO_VAL_INT;
+       default:
+               return -EINVAL;
+       }
+
+       return ret;
+}
+
+static ssize_t itg3200_read_frequency(struct device *dev,
+               struct device_attribute *attr, char *buf)
+{
+       struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+       int ret, sps;
+       u8 val;
+
+       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;
+
+       return sprintf(buf, "%d\n", sps);
+}
+
+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_to_iio_dev(dev);
+       unsigned val;
+       int ret;
+       u8 t;
+
+       ret = kstrtouint(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;
+
+       if (val == 0) {
+               ret = -EINVAL;
+               goto err_ret;
+       }
+       t = ((t & ITG3200_DLPF_CFG_MASK) ? 1000u : 8000u) / 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;
+}
+
+/*
+ * 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 *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_ACTIVE_HIGH |
+                       ITG3200_IRQ_PUSH_PULL |
+                       ITG3200_IRQ_LATCH_50US_PULSE |
+                       ITG3200_IRQ_LATCH_CLEAR_ANY);
+
+       if (ret)
+               dev_err(&st->i2c->dev, "error init device");
+
+error_ret:
+       return ret;
+}
+
+/* itg3200_enable_full_scale() - Disables the digital low pass filter */
+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 *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 = -ENXIO;
+               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 | \
+                                IIO_CHAN_INFO_RAW_SEPARATE_BIT)
+#define ITG3200_GYRO_INFO_MASK (IIO_CHAN_INFO_SCALE_SHARED_BIT | \
+                                IIO_CHAN_INFO_RAW_SEPARATE_BIT)
+
+#define ITG3200_ST                                             \
+       { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE }
+
+#define ITG3200_GYRO_CHAN(_mod) { \
+       .type = IIO_ANGL_VEL, \
+       .modified = 1, \
+       .channel2 = IIO_MOD_ ## _mod, \
+       .info_mask = ITG3200_GYRO_INFO_MASK, \
+       .address = ITG3200_REG_GYRO_ ## _mod ## OUT_H, \
+       .scan_index = ITG3200_SCAN_GYRO_ ## _mod, \
+       .scan_type = ITG3200_ST, \
+}
+
+static const struct iio_chan_spec itg3200_channels[] = {
+       {
+               .type = IIO_TEMP,
+               .channel2 = IIO_NO_MOD,
+               .info_mask = ITG3200_TEMP_INFO_MASK,
+               .address = ITG3200_REG_TEMP_OUT_H,
+               .scan_index = ITG3200_SCAN_TEMP,
+               .scan_type = ITG3200_ST,
+       },
+       ITG3200_GYRO_CHAN(X),
+       ITG3200_GYRO_CHAN(Y),
+       ITG3200_GYRO_CHAN(Z),
+       IIO_CHAN_SOFT_TIMESTAMP(ITG3200_SCAN_ELEMENTS),
+};
+
+/* IIO device attributes */
+static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, itg3200_read_frequency,
+               itg3200_write_frequency);
+
+static struct attribute *itg3200_attributes[] = {
+       &iio_dev_attr_sampling_frequency.dev_attr.attr,
+       NULL
+};
+
+static const struct attribute_group itg3200_attribute_group = {
+       .attrs = itg3200_attributes,
+};
+
+static const struct iio_info itg3200_info = {
+       .attrs = &itg3200_attribute_group,
+       .read_raw = &itg3200_read_raw,
+       .driver_module = THIS_MODULE,
+};
+
+static const unsigned long itg3200_available_scan_masks[] = { 0xffffffff, 0x0 };
+
+static int itg3200_probe(struct i2c_client *client,
+               const struct i2c_device_id *id)
+{
+       int ret;
+       struct itg3200 *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->available_scan_masks = itg3200_available_scan_masks;
+       indio_dev->info = &itg3200_info;
+       indio_dev->modes = INDIO_DIRECT_MODE;
+
+       ret = itg3200_buffer_configure(indio_dev);
+       if (ret)
+               goto error_free_dev;
+
+       if (client->irq) {
+               ret = itg3200_probe_trigger(indio_dev);
+               if (ret)
+                       goto error_unconfigure_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)
+               itg3200_remove_trigger(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)
+{
+       struct iio_dev *indio_dev = i2c_get_clientdata(client);
+
+       iio_device_unregister(indio_dev);
+
+       if (client->irq)
+               itg3200_remove_trigger(indio_dev);
+
+       itg3200_buffer_unconfigure(indio_dev);
+
+       iio_device_free(indio_dev);
+
+       return 0;
+}
+
+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,
+};
+
+module_i2c_driver(itg3200_driver);
+
+MODULE_AUTHOR("Christian Strobel <christian.strobel@iis.fraunhofer.de>");
+MODULE_DESCRIPTION("ITG3200 Gyroscope I2C driver");
+MODULE_LICENSE("GPL v2");
diff --git a/include/linux/iio/gyro/itg3200.h b/include/linux/iio/gyro/itg3200.h
new file mode 100644 (file)
index 0000000..c53f169
--- /dev/null
@@ -0,0 +1,154 @@
+/*
+ * itg3200.h -- support InvenSense ITG3200
+ *              Digital 3-Axis Gyroscope driver
+ *
+ * Copyright (c) 2011 Christian Strobel <christian.strobel@iis.fraunhofer.de>
+ * Copyright (c) 2011 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
+ * Copyright (c) 2012 Thorsten Nowak <thorsten.nowak@iis.fraunhofer.de>
+ *
+ * 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>
+
+/* 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
+
+
+/**
+ * struct itg3200 - device instance specific data
+ * @i2c:    actual i2c_client
+ * @trig:   data ready trigger from itg3200 pin
+ **/
+struct itg3200 {
+       struct i2c_client       *i2c;
+       struct iio_trigger      *trig;
+};
+
+enum ITG3200_SCAN_INDEX {
+       ITG3200_SCAN_TEMP,
+       ITG3200_SCAN_GYRO_X,
+       ITG3200_SCAN_GYRO_Y,
+       ITG3200_SCAN_GYRO_Z,
+       ITG3200_SCAN_ELEMENTS,
+};
+
+int itg3200_write_reg_8(struct iio_dev *indio_dev,
+               u8 reg_address, u8 val);
+
+int itg3200_read_reg_8(struct iio_dev *indio_dev,
+               u8 reg_address, u8 *val);
+
+
+#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);
+
+#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_ */