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 #include <linux/regulator/consumer.h>
17
18 #define ST_LSM6DS3_DEV_NAME "lsm6ds3"
19 #define ST_LSM6DS3H_DEV_NAME "lsm6ds3h"
20 #define ST_LSM6DSL_DEV_NAME "lsm6dsl"
21 #define ST_LSM6DSM_DEV_NAME "lsm6dsm"
22 #define ST_ISM330DLC_DEV_NAME "ism330dlc"
23 #define ST_LSM6DSO_DEV_NAME "lsm6dso"
24 #define ST_ASM330LHH_DEV_NAME "asm330lhh"
25 #define ST_LSM6DSOX_DEV_NAME "lsm6dsox"
26 #define ST_LSM6DSR_DEV_NAME "lsm6dsr"
27 #define ST_LSM6DS3TRC_DEV_NAME "lsm6ds3tr-c"
28 #define ST_ISM330DHCX_DEV_NAME "ism330dhcx"
29 #define ST_LSM9DS1_DEV_NAME "lsm9ds1-imu"
30 #define ST_LSM6DS0_DEV_NAME "lsm6ds0"
31 #define ST_LSM6DSRX_DEV_NAME "lsm6dsrx"
32 #define ST_LSM6DST_DEV_NAME "lsm6dst"
33 #define ST_LSM6DSOP_DEV_NAME "lsm6dsop"
34 #define ST_ASM330LHHX_DEV_NAME "asm330lhhx"
35 #define ST_LSM6DSTX_DEV_NAME "lsm6dstx"
36 #define ST_LSM6DSV_DEV_NAME "lsm6dsv"
37 #define ST_LSM6DSV16X_DEV_NAME "lsm6dsv16x"
38 #define ST_LSM6DSO16IS_DEV_NAME "lsm6dso16is"
39 #define ST_ISM330IS_DEV_NAME "ism330is"
40
41 enum st_lsm6dsx_hw_id {
42 ST_LSM6DS3_ID,
43 ST_LSM6DS3H_ID,
44 ST_LSM6DSL_ID,
45 ST_LSM6DSM_ID,
46 ST_ISM330DLC_ID,
47 ST_LSM6DSO_ID,
48 ST_ASM330LHH_ID,
49 ST_LSM6DSOX_ID,
50 ST_LSM6DSR_ID,
51 ST_LSM6DS3TRC_ID,
52 ST_ISM330DHCX_ID,
53 ST_LSM9DS1_ID,
54 ST_LSM6DS0_ID,
55 ST_LSM6DSRX_ID,
56 ST_LSM6DST_ID,
57 ST_LSM6DSOP_ID,
58 ST_ASM330LHHX_ID,
59 ST_LSM6DSTX_ID,
60 ST_LSM6DSV_ID,
61 ST_LSM6DSV16X_ID,
62 ST_LSM6DSO16IS_ID,
63 ST_ISM330IS_ID,
64 ST_LSM6DSX_MAX_ID,
65 };
66
67 #define ST_LSM6DSX_BUFF_SIZE 512
68 #define ST_LSM6DSX_CHAN_SIZE 2
69 #define ST_LSM6DSX_SAMPLE_SIZE 6
70 #define ST_LSM6DSX_TAG_SIZE 1
71 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \
72 ST_LSM6DSX_TAG_SIZE)
73 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
74 ST_LSM6DSX_SAMPLE_SIZE)
75 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
76 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
77 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
78
79 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \
80 { \
81 .type = chan_type, \
82 .address = addr, \
83 .modified = 1, \
84 .channel2 = mod, \
85 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
86 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
87 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
88 .scan_index = scan_idx, \
89 .scan_type = { \
90 .sign = 's', \
91 .realbits = 16, \
92 .storagebits = 16, \
93 .endianness = IIO_LE, \
94 }, \
95 .event_spec = &st_lsm6dsx_event, \
96 .ext_info = st_lsm6dsx_ext_info, \
97 .num_event_specs = 1, \
98 }
99
100 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
101 { \
102 .type = chan_type, \
103 .address = addr, \
104 .modified = 1, \
105 .channel2 = mod, \
106 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
107 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
108 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
109 .scan_index = scan_idx, \
110 .scan_type = { \
111 .sign = 's', \
112 .realbits = 16, \
113 .storagebits = 16, \
114 .endianness = IIO_LE, \
115 }, \
116 .ext_info = st_lsm6dsx_ext_info, \
117 }
118
119 struct st_lsm6dsx_reg {
120 u8 addr;
121 u8 mask;
122 };
123
124 struct st_lsm6dsx_sensor;
125 struct st_lsm6dsx_hw;
126
127 struct st_lsm6dsx_odr {
128 u32 milli_hz;
129 u8 val;
130 };
131
132 #define ST_LSM6DSX_ODR_LIST_SIZE 8
133 struct st_lsm6dsx_odr_table_entry {
134 struct st_lsm6dsx_reg reg;
135
136 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
137 int odr_len;
138 };
139
140 struct st_lsm6dsx_fs {
141 u32 gain;
142 u8 val;
143 };
144
145 #define ST_LSM6DSX_FS_LIST_SIZE 4
146 struct st_lsm6dsx_fs_table_entry {
147 struct st_lsm6dsx_reg reg;
148
149 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
150 int fs_len;
151 };
152
153 /**
154 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
155 * @update_fifo: Update FIFO configuration callback.
156 * @read_fifo: Read FIFO callback.
157 * @fifo_th: FIFO threshold register info (addr + mask).
158 * @fifo_diff: FIFO diff status register info (addr + mask).
159 * @max_size: Sensor max fifo length in FIFO words.
160 * @th_wl: FIFO threshold word length.
161 */
162 struct st_lsm6dsx_fifo_ops {
163 int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
164 int (*read_fifo)(struct st_lsm6dsx_hw *hw);
165 struct {
166 u8 addr;
167 u16 mask;
168 } fifo_th;
169 struct {
170 u8 addr;
171 u16 mask;
172 } fifo_diff;
173 u16 max_size;
174 u8 th_wl;
175 };
176
177 /**
178 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
179 * @timer_en: Hw timer enable register info (addr + mask).
180 * @hr_timer: Hw timer resolution register info (addr + mask).
181 * @fifo_en: Hw timer FIFO enable register info (addr + mask).
182 * @decimator: Hw timer FIFO decimator register info (addr + mask).
183 * @freq_fine: Difference in % of ODR with respect to the typical.
184 */
185 struct st_lsm6dsx_hw_ts_settings {
186 struct st_lsm6dsx_reg timer_en;
187 struct st_lsm6dsx_reg hr_timer;
188 struct st_lsm6dsx_reg fifo_en;
189 struct st_lsm6dsx_reg decimator;
190 u8 freq_fine;
191 };
192
193 /**
194 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
195 * @page_mux: register page mux info (addr + mask).
196 * @master_en: master config register info (addr + mask).
197 * @pullup_en: i2c controller pull-up register info (addr + mask).
198 * @aux_sens: aux sensor register info (addr + mask).
199 * @wr_once: write_once register info (addr + mask).
200 * @emb_func: embedded function register info (addr + mask).
201 * @num_ext_dev: max number of slave devices.
202 * @shub_out: sensor hub first output register info.
203 * @slv0_addr: slave0 address in secondary page.
204 * @dw_slv0_addr: slave0 write register address in secondary page.
205 * @batch_en: Enable/disable FIFO batching.
206 * @pause: controller pause value.
207 */
208 struct st_lsm6dsx_shub_settings {
209 struct st_lsm6dsx_reg page_mux;
210 struct {
211 bool sec_page;
212 u8 addr;
213 u8 mask;
214 } master_en;
215 struct {
216 bool sec_page;
217 u8 addr;
218 u8 mask;
219 } pullup_en;
220 struct st_lsm6dsx_reg aux_sens;
221 struct st_lsm6dsx_reg wr_once;
222 struct st_lsm6dsx_reg emb_func;
223 u8 num_ext_dev;
224 struct {
225 bool sec_page;
226 u8 addr;
227 } shub_out;
228 u8 slv0_addr;
229 u8 dw_slv0_addr;
230 u8 batch_en;
231 u8 pause;
232 };
233
234 struct st_lsm6dsx_event_settings {
235 struct st_lsm6dsx_reg enable_reg;
236 struct st_lsm6dsx_reg wakeup_reg;
237 u8 wakeup_src_reg;
238 u8 wakeup_src_status_mask;
239 u8 wakeup_src_z_mask;
240 u8 wakeup_src_y_mask;
241 u8 wakeup_src_x_mask;
242 };
243
244 enum st_lsm6dsx_ext_sensor_id {
245 ST_LSM6DSX_ID_MAGN,
246 };
247
248 /**
249 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
250 * @i2c_addr: I2c slave address list.
251 * @wai: Wai address info.
252 * @id: external sensor id.
253 * @odr_table: Output data rate of the sensor [Hz].
254 * @fs_table: Configured sensor sensitivity table depending on full scale.
255 * @temp_comp: Temperature compensation register info (addr + mask).
256 * @pwr_table: Power on register info (addr + mask).
257 * @off_canc: Offset cancellation register info (addr + mask).
258 * @bdu: Block data update register info (addr + mask).
259 * @out: Output register info.
260 */
261 struct st_lsm6dsx_ext_dev_settings {
262 u8 i2c_addr[2];
263 struct {
264 u8 addr;
265 u8 val;
266 } wai;
267 enum st_lsm6dsx_ext_sensor_id id;
268 struct st_lsm6dsx_odr_table_entry odr_table;
269 struct st_lsm6dsx_fs_table_entry fs_table;
270 struct st_lsm6dsx_reg temp_comp;
271 struct {
272 struct st_lsm6dsx_reg reg;
273 u8 off_val;
274 u8 on_val;
275 } pwr_table;
276 struct st_lsm6dsx_reg off_canc;
277 struct st_lsm6dsx_reg bdu;
278 struct {
279 u8 addr;
280 u8 len;
281 } out;
282 };
283
284 /**
285 * struct st_lsm6dsx_settings - ST IMU sensor settings
286 * @reset: register address for reset.
287 * @boot: register address for boot.
288 * @bdu: register address for Block Data Update.
289 * @id: List of hw id/device name supported by the driver configuration.
290 * @channels: IIO channels supported by the device.
291 * @irq_config: interrupts related registers.
292 * @drdy_mask: register info for data-ready mask (addr + mask).
293 * @odr_table: Hw sensors odr table (Hz + val).
294 * @fs_table: Hw sensors gain table (gain + val).
295 * @decimator: List of decimator register info (addr + mask).
296 * @batch: List of FIFO batching register info (addr + mask).
297 * @fifo_ops: Sensor hw FIFO parameters.
298 * @ts_settings: Hw timer related settings.
299 * @shub_settings: i2c controller related settings.
300 */
301 struct st_lsm6dsx_settings {
302 struct st_lsm6dsx_reg reset;
303 struct st_lsm6dsx_reg boot;
304 struct st_lsm6dsx_reg bdu;
305 struct {
306 enum st_lsm6dsx_hw_id hw_id;
307 const char *name;
308 u8 wai;
309 } id[ST_LSM6DSX_MAX_ID];
310 struct {
311 const struct iio_chan_spec *chan;
312 int len;
313 } channels[2];
314 struct {
315 struct st_lsm6dsx_reg irq1;
316 struct st_lsm6dsx_reg irq2;
317 struct st_lsm6dsx_reg irq1_func;
318 struct st_lsm6dsx_reg irq2_func;
319 struct st_lsm6dsx_reg lir;
320 struct st_lsm6dsx_reg clear_on_read;
321 struct st_lsm6dsx_reg hla;
322 struct st_lsm6dsx_reg od;
323 } irq_config;
324 struct st_lsm6dsx_reg drdy_mask;
325 struct st_lsm6dsx_odr_table_entry odr_table[2];
326 struct st_lsm6dsx_fs_table_entry fs_table[2];
327 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
328 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
329 struct st_lsm6dsx_fifo_ops fifo_ops;
330 struct st_lsm6dsx_hw_ts_settings ts_settings;
331 struct st_lsm6dsx_shub_settings shub_settings;
332 struct st_lsm6dsx_event_settings event_settings;
333 };
334
335 enum st_lsm6dsx_sensor_id {
336 ST_LSM6DSX_ID_GYRO,
337 ST_LSM6DSX_ID_ACC,
338 ST_LSM6DSX_ID_EXT0,
339 ST_LSM6DSX_ID_EXT1,
340 ST_LSM6DSX_ID_EXT2,
341 ST_LSM6DSX_ID_MAX,
342 };
343
344 enum st_lsm6dsx_fifo_mode {
345 ST_LSM6DSX_FIFO_BYPASS = 0x0,
346 ST_LSM6DSX_FIFO_CONT = 0x6,
347 };
348
349 /**
350 * struct st_lsm6dsx_sensor - ST IMU sensor instance
351 * @name: Sensor name.
352 * @id: Sensor identifier.
353 * @hw: Pointer to instance of struct st_lsm6dsx_hw.
354 * @gain: Configured sensor sensitivity.
355 * @odr: Output data rate of the sensor [Hz].
356 * @watermark: Sensor watermark level.
357 * @decimator: Sensor decimation factor.
358 * @sip: Number of samples in a given pattern.
359 * @ts_ref: Sensor timestamp reference for hw one.
360 * @ext_info: Sensor settings if it is connected to i2c controller
361 */
362 struct st_lsm6dsx_sensor {
363 char name[32];
364 enum st_lsm6dsx_sensor_id id;
365 struct st_lsm6dsx_hw *hw;
366
367 u32 gain;
368 u32 odr;
369
370 u16 watermark;
371 u8 decimator;
372 u8 sip;
373 s64 ts_ref;
374
375 struct {
376 const struct st_lsm6dsx_ext_dev_settings *settings;
377 u32 slv_odr;
378 u8 addr;
379 } ext_info;
380 };
381
382 /**
383 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
384 * @dev: Pointer to instance of struct device (I2C or SPI).
385 * @regmap: Register map of the device.
386 * @irq: Device interrupt line (I2C or SPI).
387 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
388 * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
389 * @page_lock: Mutex to prevent concurrent memory page configuration.
390 * @suspend_mask: Suspended sensor bitmask.
391 * @enable_mask: Enabled sensor bitmask.
392 * @fifo_mask: Enabled hw FIFO bitmask.
393 * @ts_gain: Hw timestamp rate after internal calibration.
394 * @ts_sip: Total number of timestamp samples in a given pattern.
395 * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
396 * @buff: Device read buffer.
397 * @irq_routing: pointer to interrupt routing configuration.
398 * @event_threshold: wakeup event threshold.
399 * @enable_event: enabled event bitmask.
400 * @iio_devs: Pointers to acc/gyro iio_dev instances.
401 * @settings: Pointer to the specific sensor settings in use.
402 * @orientation: sensor chip orientation relative to main hardware.
403 * @scan: Temporary buffers used to align data before iio_push_to_buffers()
404 */
405 struct st_lsm6dsx_hw {
406 struct device *dev;
407 struct regmap *regmap;
408 int irq;
409
410 struct mutex fifo_lock;
411 struct mutex conf_lock;
412 struct mutex page_lock;
413
414 u8 suspend_mask;
415 u8 enable_mask;
416 u8 fifo_mask;
417 s64 ts_gain;
418 u8 ts_sip;
419 u8 sip;
420
421 const struct st_lsm6dsx_reg *irq_routing;
422 u8 event_threshold;
423 u8 enable_event;
424
425 u8 *buff;
426
427 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
428
429 const struct st_lsm6dsx_settings *settings;
430
431 struct iio_mount_matrix orientation;
432 /* Ensure natural alignment of buffer elements */
433 struct {
434 __le16 channels[3];
435 s64 ts __aligned(8);
436 } scan[ST_LSM6DSX_ID_MAX];
437 };
438
439 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
440 .type = IIO_EV_TYPE_THRESH,
441 .dir = IIO_EV_DIR_EITHER,
442 .mask_separate = BIT(IIO_EV_INFO_VALUE) |
443 BIT(IIO_EV_INFO_ENABLE)
444 };
445
446 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
447 0x7, 0x0,
448 };
449
450 extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
451
452 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
453 struct regmap *regmap);
454 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
455 bool enable);
456 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
457 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
458 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
459 u16 watermark);
460 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
461 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
462 int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
463 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
464 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
465 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
466 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
467 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
468 int st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len);
469 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
470
471 static inline int
st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int mask,unsigned int val)472 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
473 unsigned int mask, unsigned int val)
474 {
475 int err;
476
477 mutex_lock(&hw->page_lock);
478 err = regmap_update_bits(hw->regmap, addr, mask, val);
479 mutex_unlock(&hw->page_lock);
480
481 return err;
482 }
483
484 static inline int
st_lsm6dsx_read_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,void * val,unsigned int len)485 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
486 void *val, unsigned int len)
487 {
488 int err;
489
490 mutex_lock(&hw->page_lock);
491 err = regmap_bulk_read(hw->regmap, addr, val, len);
492 mutex_unlock(&hw->page_lock);
493
494 return err;
495 }
496
497 static inline int
st_lsm6dsx_write_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int val)498 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
499 unsigned int val)
500 {
501 int err;
502
503 mutex_lock(&hw->page_lock);
504 err = regmap_write(hw->regmap, addr, val);
505 mutex_unlock(&hw->page_lock);
506
507 return err;
508 }
509
510 static inline const struct iio_mount_matrix *
st_lsm6dsx_get_mount_matrix(const struct iio_dev * iio_dev,const struct iio_chan_spec * chan)511 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
512 const struct iio_chan_spec *chan)
513 {
514 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
515 struct st_lsm6dsx_hw *hw = sensor->hw;
516
517 return &hw->orientation;
518 }
519
520 static inline int
st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor * sensor,bool enable)521 st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
522 {
523 if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
524 sensor->id == ST_LSM6DSX_ID_EXT1 ||
525 sensor->id == ST_LSM6DSX_ID_EXT2)
526 return st_lsm6dsx_shub_set_enable(sensor, enable);
527
528 return st_lsm6dsx_sensor_set_enable(sensor, enable);
529 }
530
531 static const
532 struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_ext_info[] = {
533 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
534 { }
535 };
536
537 #endif /* ST_LSM6DSX_H */
538