1 /* SPDX-License-Identifier: GPL-2.0-only */
2 /*
3 * STMicroelectronics st_lsm6dsx sensor driver
4 *
5 * Copyright 2016 STMicroelectronics Inc.
6 *
7 * Lorenzo Bianconi <lorenzo.bianconi@st.com>
8 * Denis Ciocca <denis.ciocca@st.com>
9 */
10
11 #ifndef ST_LSM6DSX_H
12 #define ST_LSM6DSX_H
13
14 #include <linux/device.h>
15 #include <linux/iio/iio.h>
16
17 #define ST_LSM6DS3_DEV_NAME "lsm6ds3"
18 #define ST_LSM6DS3H_DEV_NAME "lsm6ds3h"
19 #define ST_LSM6DSL_DEV_NAME "lsm6dsl"
20 #define ST_LSM6DSM_DEV_NAME "lsm6dsm"
21 #define ST_ISM330DLC_DEV_NAME "ism330dlc"
22 #define ST_LSM6DSO_DEV_NAME "lsm6dso"
23 #define ST_ASM330LHH_DEV_NAME "asm330lhh"
24 #define ST_LSM6DSOX_DEV_NAME "lsm6dsox"
25 #define ST_LSM6DSR_DEV_NAME "lsm6dsr"
26 #define ST_LSM6DS3TRC_DEV_NAME "lsm6ds3tr-c"
27 #define ST_ISM330DHCX_DEV_NAME "ism330dhcx"
28 #define ST_LSM9DS1_DEV_NAME "lsm9ds1-imu"
29 #define ST_LSM6DS0_DEV_NAME "lsm6ds0"
30 #define ST_LSM6DSRX_DEV_NAME "lsm6dsrx"
31
32 enum st_lsm6dsx_hw_id {
33 ST_LSM6DS3_ID,
34 ST_LSM6DS3H_ID,
35 ST_LSM6DSL_ID,
36 ST_LSM6DSM_ID,
37 ST_ISM330DLC_ID,
38 ST_LSM6DSO_ID,
39 ST_ASM330LHH_ID,
40 ST_LSM6DSOX_ID,
41 ST_LSM6DSR_ID,
42 ST_LSM6DS3TRC_ID,
43 ST_ISM330DHCX_ID,
44 ST_LSM9DS1_ID,
45 ST_LSM6DS0_ID,
46 ST_LSM6DSRX_ID,
47 ST_LSM6DSX_MAX_ID,
48 };
49
50 #define ST_LSM6DSX_BUFF_SIZE 512
51 #define ST_LSM6DSX_CHAN_SIZE 2
52 #define ST_LSM6DSX_SAMPLE_SIZE 6
53 #define ST_LSM6DSX_TAG_SIZE 1
54 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \
55 ST_LSM6DSX_TAG_SIZE)
56 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
57 ST_LSM6DSX_SAMPLE_SIZE)
58 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
59 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
60 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
61
62 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \
63 { \
64 .type = chan_type, \
65 .address = addr, \
66 .modified = 1, \
67 .channel2 = mod, \
68 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
69 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
70 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
71 .scan_index = scan_idx, \
72 .scan_type = { \
73 .sign = 's', \
74 .realbits = 16, \
75 .storagebits = 16, \
76 .endianness = IIO_LE, \
77 }, \
78 .event_spec = &st_lsm6dsx_event, \
79 .ext_info = st_lsm6dsx_accel_ext_info, \
80 .num_event_specs = 1, \
81 }
82
83 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
84 { \
85 .type = chan_type, \
86 .address = addr, \
87 .modified = 1, \
88 .channel2 = mod, \
89 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
90 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
91 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
92 .scan_index = scan_idx, \
93 .scan_type = { \
94 .sign = 's', \
95 .realbits = 16, \
96 .storagebits = 16, \
97 .endianness = IIO_LE, \
98 }, \
99 }
100
101 struct st_lsm6dsx_reg {
102 u8 addr;
103 u8 mask;
104 };
105
106 struct st_lsm6dsx_sensor;
107 struct st_lsm6dsx_hw;
108
109 struct st_lsm6dsx_odr {
110 u32 milli_hz;
111 u8 val;
112 };
113
114 #define ST_LSM6DSX_ODR_LIST_SIZE 8
115 struct st_lsm6dsx_odr_table_entry {
116 struct st_lsm6dsx_reg reg;
117
118 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
119 int odr_len;
120 };
121
122 struct st_lsm6dsx_fs {
123 u32 gain;
124 u8 val;
125 };
126
127 #define ST_LSM6DSX_FS_LIST_SIZE 4
128 struct st_lsm6dsx_fs_table_entry {
129 struct st_lsm6dsx_reg reg;
130
131 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
132 int fs_len;
133 };
134
135 /**
136 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
137 * @update_fifo: Update FIFO configuration callback.
138 * @read_fifo: Read FIFO callback.
139 * @fifo_th: FIFO threshold register info (addr + mask).
140 * @fifo_diff: FIFO diff status register info (addr + mask).
141 * @th_wl: FIFO threshold word length.
142 */
143 struct st_lsm6dsx_fifo_ops {
144 int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
145 int (*read_fifo)(struct st_lsm6dsx_hw *hw);
146 struct {
147 u8 addr;
148 u16 mask;
149 } fifo_th;
150 struct {
151 u8 addr;
152 u16 mask;
153 } fifo_diff;
154 u8 th_wl;
155 };
156
157 /**
158 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
159 * @timer_en: Hw timer enable register info (addr + mask).
160 * @hr_timer: Hw timer resolution register info (addr + mask).
161 * @fifo_en: Hw timer FIFO enable register info (addr + mask).
162 * @decimator: Hw timer FIFO decimator register info (addr + mask).
163 * @freq_fine: Difference in % of ODR with respect to the typical.
164 */
165 struct st_lsm6dsx_hw_ts_settings {
166 struct st_lsm6dsx_reg timer_en;
167 struct st_lsm6dsx_reg hr_timer;
168 struct st_lsm6dsx_reg fifo_en;
169 struct st_lsm6dsx_reg decimator;
170 u8 freq_fine;
171 };
172
173 /**
174 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
175 * @page_mux: register page mux info (addr + mask).
176 * @master_en: master config register info (addr + mask).
177 * @pullup_en: i2c controller pull-up register info (addr + mask).
178 * @aux_sens: aux sensor register info (addr + mask).
179 * @wr_once: write_once register info (addr + mask).
180 * @emb_func: embedded function register info (addr + mask).
181 * @num_ext_dev: max number of slave devices.
182 * @shub_out: sensor hub first output register info.
183 * @slv0_addr: slave0 address in secondary page.
184 * @dw_slv0_addr: slave0 write register address in secondary page.
185 * @batch_en: Enable/disable FIFO batching.
186 * @pause: controller pause value.
187 */
188 struct st_lsm6dsx_shub_settings {
189 struct st_lsm6dsx_reg page_mux;
190 struct {
191 bool sec_page;
192 u8 addr;
193 u8 mask;
194 } master_en;
195 struct {
196 bool sec_page;
197 u8 addr;
198 u8 mask;
199 } pullup_en;
200 struct st_lsm6dsx_reg aux_sens;
201 struct st_lsm6dsx_reg wr_once;
202 struct st_lsm6dsx_reg emb_func;
203 u8 num_ext_dev;
204 struct {
205 bool sec_page;
206 u8 addr;
207 } shub_out;
208 u8 slv0_addr;
209 u8 dw_slv0_addr;
210 u8 batch_en;
211 u8 pause;
212 };
213
214 struct st_lsm6dsx_event_settings {
215 struct st_lsm6dsx_reg enable_reg;
216 struct st_lsm6dsx_reg wakeup_reg;
217 u8 wakeup_src_reg;
218 u8 wakeup_src_status_mask;
219 u8 wakeup_src_z_mask;
220 u8 wakeup_src_y_mask;
221 u8 wakeup_src_x_mask;
222 };
223
224 enum st_lsm6dsx_ext_sensor_id {
225 ST_LSM6DSX_ID_MAGN,
226 };
227
228 /**
229 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
230 * @i2c_addr: I2c slave address list.
231 * @wai: Wai address info.
232 * @id: external sensor id.
233 * @odr_table: Output data rate of the sensor [Hz].
234 * @fs_table: Configured sensor sensitivity table depending on full scale.
235 * @temp_comp: Temperature compensation register info (addr + mask).
236 * @pwr_table: Power on register info (addr + mask).
237 * @off_canc: Offset cancellation register info (addr + mask).
238 * @bdu: Block data update register info (addr + mask).
239 * @out: Output register info.
240 */
241 struct st_lsm6dsx_ext_dev_settings {
242 u8 i2c_addr[2];
243 struct {
244 u8 addr;
245 u8 val;
246 } wai;
247 enum st_lsm6dsx_ext_sensor_id id;
248 struct st_lsm6dsx_odr_table_entry odr_table;
249 struct st_lsm6dsx_fs_table_entry fs_table;
250 struct st_lsm6dsx_reg temp_comp;
251 struct {
252 struct st_lsm6dsx_reg reg;
253 u8 off_val;
254 u8 on_val;
255 } pwr_table;
256 struct st_lsm6dsx_reg off_canc;
257 struct st_lsm6dsx_reg bdu;
258 struct {
259 u8 addr;
260 u8 len;
261 } out;
262 };
263
264 /**
265 * struct st_lsm6dsx_settings - ST IMU sensor settings
266 * @wai: Sensor WhoAmI default value.
267 * @reset: register address for reset.
268 * @boot: register address for boot.
269 * @bdu: register address for Block Data Update.
270 * @max_fifo_size: Sensor max fifo length in FIFO words.
271 * @id: List of hw id/device name supported by the driver configuration.
272 * @channels: IIO channels supported by the device.
273 * @irq_config: interrupts related registers.
274 * @drdy_mask: register info for data-ready mask (addr + mask).
275 * @odr_table: Hw sensors odr table (Hz + val).
276 * @fs_table: Hw sensors gain table (gain + val).
277 * @decimator: List of decimator register info (addr + mask).
278 * @batch: List of FIFO batching register info (addr + mask).
279 * @fifo_ops: Sensor hw FIFO parameters.
280 * @ts_settings: Hw timer related settings.
281 * @shub_settings: i2c controller related settings.
282 */
283 struct st_lsm6dsx_settings {
284 u8 wai;
285 struct st_lsm6dsx_reg reset;
286 struct st_lsm6dsx_reg boot;
287 struct st_lsm6dsx_reg bdu;
288 u16 max_fifo_size;
289 struct {
290 enum st_lsm6dsx_hw_id hw_id;
291 const char *name;
292 } id[ST_LSM6DSX_MAX_ID];
293 struct {
294 const struct iio_chan_spec *chan;
295 int len;
296 } channels[2];
297 struct {
298 struct st_lsm6dsx_reg irq1;
299 struct st_lsm6dsx_reg irq2;
300 struct st_lsm6dsx_reg irq1_func;
301 struct st_lsm6dsx_reg irq2_func;
302 struct st_lsm6dsx_reg lir;
303 struct st_lsm6dsx_reg clear_on_read;
304 struct st_lsm6dsx_reg hla;
305 struct st_lsm6dsx_reg od;
306 } irq_config;
307 struct st_lsm6dsx_reg drdy_mask;
308 struct st_lsm6dsx_odr_table_entry odr_table[2];
309 struct st_lsm6dsx_fs_table_entry fs_table[2];
310 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
311 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
312 struct st_lsm6dsx_fifo_ops fifo_ops;
313 struct st_lsm6dsx_hw_ts_settings ts_settings;
314 struct st_lsm6dsx_shub_settings shub_settings;
315 struct st_lsm6dsx_event_settings event_settings;
316 };
317
318 enum st_lsm6dsx_sensor_id {
319 ST_LSM6DSX_ID_GYRO,
320 ST_LSM6DSX_ID_ACC,
321 ST_LSM6DSX_ID_EXT0,
322 ST_LSM6DSX_ID_EXT1,
323 ST_LSM6DSX_ID_EXT2,
324 ST_LSM6DSX_ID_MAX,
325 };
326
327 enum st_lsm6dsx_fifo_mode {
328 ST_LSM6DSX_FIFO_BYPASS = 0x0,
329 ST_LSM6DSX_FIFO_CONT = 0x6,
330 };
331
332 /**
333 * struct st_lsm6dsx_sensor - ST IMU sensor instance
334 * @name: Sensor name.
335 * @id: Sensor identifier.
336 * @hw: Pointer to instance of struct st_lsm6dsx_hw.
337 * @gain: Configured sensor sensitivity.
338 * @odr: Output data rate of the sensor [Hz].
339 * @watermark: Sensor watermark level.
340 * @decimator: Sensor decimation factor.
341 * @sip: Number of samples in a given pattern.
342 * @ts_ref: Sensor timestamp reference for hw one.
343 * @ext_info: Sensor settings if it is connected to i2c controller
344 */
345 struct st_lsm6dsx_sensor {
346 char name[32];
347 enum st_lsm6dsx_sensor_id id;
348 struct st_lsm6dsx_hw *hw;
349
350 u32 gain;
351 u32 odr;
352
353 u16 watermark;
354 u8 decimator;
355 u8 sip;
356 s64 ts_ref;
357
358 struct {
359 const struct st_lsm6dsx_ext_dev_settings *settings;
360 u32 slv_odr;
361 u8 addr;
362 } ext_info;
363 };
364
365 /**
366 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
367 * @dev: Pointer to instance of struct device (I2C or SPI).
368 * @regmap: Register map of the device.
369 * @irq: Device interrupt line (I2C or SPI).
370 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
371 * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
372 * @page_lock: Mutex to prevent concurrent memory page configuration.
373 * @suspend_mask: Suspended sensor bitmask.
374 * @enable_mask: Enabled sensor bitmask.
375 * @fifo_mask: Enabled hw FIFO bitmask.
376 * @ts_gain: Hw timestamp rate after internal calibration.
377 * @ts_sip: Total number of timestamp samples in a given pattern.
378 * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
379 * @buff: Device read buffer.
380 * @irq_routing: pointer to interrupt routing configuration.
381 * @event_threshold: wakeup event threshold.
382 * @enable_event: enabled event bitmask.
383 * @iio_devs: Pointers to acc/gyro iio_dev instances.
384 * @settings: Pointer to the specific sensor settings in use.
385 * @orientation: sensor chip orientation relative to main hardware.
386 * @scan: Temporary buffers used to align data before iio_push_to_buffers()
387 */
388 struct st_lsm6dsx_hw {
389 struct device *dev;
390 struct regmap *regmap;
391 int irq;
392
393 struct mutex fifo_lock;
394 struct mutex conf_lock;
395 struct mutex page_lock;
396
397 u8 suspend_mask;
398 u8 enable_mask;
399 u8 fifo_mask;
400 s64 ts_gain;
401 u8 ts_sip;
402 u8 sip;
403
404 const struct st_lsm6dsx_reg *irq_routing;
405 u8 event_threshold;
406 u8 enable_event;
407
408 u8 *buff;
409
410 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
411
412 const struct st_lsm6dsx_settings *settings;
413
414 struct iio_mount_matrix orientation;
415 /* Ensure natural alignment of buffer elements */
416 struct {
417 __le16 channels[3];
418 s64 ts __aligned(8);
419 } scan[3];
420 };
421
422 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
423 .type = IIO_EV_TYPE_THRESH,
424 .dir = IIO_EV_DIR_EITHER,
425 .mask_separate = BIT(IIO_EV_INFO_VALUE) |
426 BIT(IIO_EV_INFO_ENABLE)
427 };
428
429 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
430 0x7, 0x0,
431 };
432
433 extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
434
435 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
436 struct regmap *regmap);
437 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
438 bool enable);
439 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
440 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
441 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
442 u16 watermark);
443 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
444 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
445 int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
446 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
447 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
448 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
449 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
450 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
451 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
452
453 static inline int
st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int mask,unsigned int val)454 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
455 unsigned int mask, unsigned int val)
456 {
457 int err;
458
459 mutex_lock(&hw->page_lock);
460 err = regmap_update_bits(hw->regmap, addr, mask, val);
461 mutex_unlock(&hw->page_lock);
462
463 return err;
464 }
465
466 static inline int
st_lsm6dsx_read_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,void * val,unsigned int len)467 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
468 void *val, unsigned int len)
469 {
470 int err;
471
472 mutex_lock(&hw->page_lock);
473 err = regmap_bulk_read(hw->regmap, addr, val, len);
474 mutex_unlock(&hw->page_lock);
475
476 return err;
477 }
478
479 static inline int
st_lsm6dsx_write_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int val)480 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
481 unsigned int val)
482 {
483 int err;
484
485 mutex_lock(&hw->page_lock);
486 err = regmap_write(hw->regmap, addr, val);
487 mutex_unlock(&hw->page_lock);
488
489 return err;
490 }
491
492 static inline const struct iio_mount_matrix *
st_lsm6dsx_get_mount_matrix(const struct iio_dev * iio_dev,const struct iio_chan_spec * chan)493 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
494 const struct iio_chan_spec *chan)
495 {
496 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
497 struct st_lsm6dsx_hw *hw = sensor->hw;
498
499 return &hw->orientation;
500 }
501
502 static const
503 struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = {
504 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
505 { }
506 };
507
508 #endif /* ST_LSM6DSX_H */
509