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 <[email protected]>
8 * Denis Ciocca <[email protected]>
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 #define ST_ASM330LHB_DEV_NAME "asm330lhb"
41 #define ST_ASM330LHHXG1_DEV_NAME "asm330lhhxg1"
42
43 enum st_lsm6dsx_hw_id {
44 ST_LSM6DS3_ID = 1,
45 ST_LSM6DS3H_ID,
46 ST_LSM6DSL_ID,
47 ST_LSM6DSM_ID,
48 ST_ISM330DLC_ID,
49 ST_LSM6DSO_ID,
50 ST_ASM330LHH_ID,
51 ST_LSM6DSOX_ID,
52 ST_LSM6DSR_ID,
53 ST_LSM6DS3TRC_ID,
54 ST_ISM330DHCX_ID,
55 ST_LSM9DS1_ID,
56 ST_LSM6DS0_ID,
57 ST_LSM6DSRX_ID,
58 ST_LSM6DST_ID,
59 ST_LSM6DSOP_ID,
60 ST_ASM330LHHX_ID,
61 ST_LSM6DSTX_ID,
62 ST_LSM6DSV_ID,
63 ST_LSM6DSV16X_ID,
64 ST_LSM6DSO16IS_ID,
65 ST_ISM330IS_ID,
66 ST_ASM330LHB_ID,
67 ST_ASM330LHHXG1_ID,
68 ST_LSM6DSX_MAX_ID,
69 };
70
71 #define ST_LSM6DSX_BUFF_SIZE 512
72 #define ST_LSM6DSX_CHAN_SIZE 2
73 #define ST_LSM6DSX_SAMPLE_SIZE 6
74 #define ST_LSM6DSX_TAG_SIZE 1
75 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \
76 ST_LSM6DSX_TAG_SIZE)
77 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
78 ST_LSM6DSX_SAMPLE_SIZE)
79 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
80 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
81 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
82
83 #define ST_LSM6DSX_CHANNEL_ACC(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 .event_spec = &st_lsm6dsx_event, \
100 .ext_info = st_lsm6dsx_ext_info, \
101 .num_event_specs = 1, \
102 }
103
104 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
105 { \
106 .type = chan_type, \
107 .address = addr, \
108 .modified = 1, \
109 .channel2 = mod, \
110 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
111 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
112 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
113 .scan_index = scan_idx, \
114 .scan_type = { \
115 .sign = 's', \
116 .realbits = 16, \
117 .storagebits = 16, \
118 .endianness = IIO_LE, \
119 }, \
120 .ext_info = st_lsm6dsx_ext_info, \
121 }
122
123 struct st_lsm6dsx_reg {
124 u8 addr;
125 u8 mask;
126 };
127
128 struct st_lsm6dsx_sensor;
129 struct st_lsm6dsx_hw;
130
131 struct st_lsm6dsx_odr {
132 u32 milli_hz;
133 u8 val;
134 };
135
136 #define ST_LSM6DSX_ODR_LIST_SIZE 8
137 struct st_lsm6dsx_odr_table_entry {
138 struct st_lsm6dsx_reg reg;
139
140 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
141 int odr_len;
142 };
143
144 struct st_lsm6dsx_samples_to_discard {
145 struct {
146 u32 milli_hz;
147 u16 samples;
148 } val[ST_LSM6DSX_ODR_LIST_SIZE];
149 };
150
151 struct st_lsm6dsx_fs {
152 u32 gain;
153 u8 val;
154 };
155
156 #define ST_LSM6DSX_FS_LIST_SIZE 4
157 struct st_lsm6dsx_fs_table_entry {
158 struct st_lsm6dsx_reg reg;
159
160 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
161 int fs_len;
162 };
163
164 /**
165 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
166 * @update_fifo: Update FIFO configuration callback.
167 * @read_fifo: Read FIFO callback.
168 * @fifo_th: FIFO threshold register info (addr + mask).
169 * @fifo_diff: FIFO diff status register info (addr + mask).
170 * @max_size: Sensor max fifo length in FIFO words.
171 * @th_wl: FIFO threshold word length.
172 */
173 struct st_lsm6dsx_fifo_ops {
174 int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
175 int (*read_fifo)(struct st_lsm6dsx_hw *hw);
176 struct {
177 u8 addr;
178 u16 mask;
179 } fifo_th;
180 struct {
181 u8 addr;
182 u16 mask;
183 } fifo_diff;
184 u16 max_size;
185 u8 th_wl;
186 };
187
188 /**
189 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
190 * @timer_en: Hw timer enable register info (addr + mask).
191 * @hr_timer: Hw timer resolution register info (addr + mask).
192 * @fifo_en: Hw timer FIFO enable register info (addr + mask).
193 * @decimator: Hw timer FIFO decimator register info (addr + mask).
194 * @freq_fine: Difference in % of ODR with respect to the typical.
195 */
196 struct st_lsm6dsx_hw_ts_settings {
197 struct st_lsm6dsx_reg timer_en;
198 struct st_lsm6dsx_reg hr_timer;
199 struct st_lsm6dsx_reg fifo_en;
200 struct st_lsm6dsx_reg decimator;
201 u8 freq_fine;
202 };
203
204 /**
205 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
206 * @page_mux: register page mux info (addr + mask).
207 * @master_en: master config register info (addr + mask).
208 * @pullup_en: i2c controller pull-up register info (addr + mask).
209 * @aux_sens: aux sensor register info (addr + mask).
210 * @wr_once: write_once register info (addr + mask).
211 * @emb_func: embedded function register info (addr + mask).
212 * @num_ext_dev: max number of slave devices.
213 * @shub_out: sensor hub first output register info.
214 * @slv0_addr: slave0 address in secondary page.
215 * @dw_slv0_addr: slave0 write register address in secondary page.
216 * @batch_en: Enable/disable FIFO batching.
217 * @pause: controller pause value.
218 */
219 struct st_lsm6dsx_shub_settings {
220 struct st_lsm6dsx_reg page_mux;
221 struct {
222 bool sec_page;
223 u8 addr;
224 u8 mask;
225 } master_en;
226 struct {
227 bool sec_page;
228 u8 addr;
229 u8 mask;
230 } pullup_en;
231 struct st_lsm6dsx_reg aux_sens;
232 struct st_lsm6dsx_reg wr_once;
233 struct st_lsm6dsx_reg emb_func;
234 u8 num_ext_dev;
235 struct {
236 bool sec_page;
237 u8 addr;
238 } shub_out;
239 u8 slv0_addr;
240 u8 dw_slv0_addr;
241 u8 batch_en;
242 u8 pause;
243 };
244
245 struct st_lsm6dsx_event_settings {
246 struct st_lsm6dsx_reg enable_reg;
247 struct st_lsm6dsx_reg wakeup_reg;
248 u8 wakeup_src_reg;
249 u8 wakeup_src_status_mask;
250 u8 wakeup_src_z_mask;
251 u8 wakeup_src_y_mask;
252 u8 wakeup_src_x_mask;
253 };
254
255 enum st_lsm6dsx_ext_sensor_id {
256 ST_LSM6DSX_ID_MAGN,
257 };
258
259 /**
260 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
261 * @i2c_addr: I2c slave address list.
262 * @wai: Wai address info.
263 * @id: external sensor id.
264 * @odr_table: Output data rate of the sensor [Hz].
265 * @fs_table: Configured sensor sensitivity table depending on full scale.
266 * @temp_comp: Temperature compensation register info (addr + mask).
267 * @pwr_table: Power on register info (addr + mask).
268 * @off_canc: Offset cancellation register info (addr + mask).
269 * @bdu: Block data update register info (addr + mask).
270 * @out: Output register info.
271 */
272 struct st_lsm6dsx_ext_dev_settings {
273 u8 i2c_addr[2];
274 struct {
275 u8 addr;
276 u8 val;
277 } wai;
278 enum st_lsm6dsx_ext_sensor_id id;
279 struct st_lsm6dsx_odr_table_entry odr_table;
280 struct st_lsm6dsx_fs_table_entry fs_table;
281 struct st_lsm6dsx_reg temp_comp;
282 struct {
283 struct st_lsm6dsx_reg reg;
284 u8 off_val;
285 u8 on_val;
286 } pwr_table;
287 struct st_lsm6dsx_reg off_canc;
288 struct st_lsm6dsx_reg bdu;
289 struct {
290 u8 addr;
291 u8 len;
292 } out;
293 };
294
295 /**
296 * struct st_lsm6dsx_settings - ST IMU sensor settings
297 * @reset: register address for reset.
298 * @boot: register address for boot.
299 * @bdu: register address for Block Data Update.
300 * @id: List of hw id/device name supported by the driver configuration.
301 * @channels: IIO channels supported by the device.
302 * @irq_config: interrupts related registers.
303 * @drdy_mask: register info for data-ready mask (addr + mask).
304 * @odr_table: Hw sensors odr table (Hz + val).
305 * @samples_to_discard: Number of samples to discard for filters settling time.
306 * @fs_table: Hw sensors gain table (gain + val).
307 * @decimator: List of decimator register info (addr + mask).
308 * @batch: List of FIFO batching register info (addr + mask).
309 * @fifo_ops: Sensor hw FIFO parameters.
310 * @ts_settings: Hw timer related settings.
311 * @shub_settings: i2c controller related settings.
312 */
313 struct st_lsm6dsx_settings {
314 struct st_lsm6dsx_reg reset;
315 struct st_lsm6dsx_reg boot;
316 struct st_lsm6dsx_reg bdu;
317 struct {
318 enum st_lsm6dsx_hw_id hw_id;
319 const char *name;
320 u8 wai;
321 } id[ST_LSM6DSX_MAX_ID];
322 struct {
323 const struct iio_chan_spec *chan;
324 int len;
325 } channels[2];
326 struct {
327 struct st_lsm6dsx_reg irq1;
328 struct st_lsm6dsx_reg irq2;
329 struct st_lsm6dsx_reg irq1_func;
330 struct st_lsm6dsx_reg irq2_func;
331 struct st_lsm6dsx_reg lir;
332 struct st_lsm6dsx_reg clear_on_read;
333 struct st_lsm6dsx_reg hla;
334 struct st_lsm6dsx_reg od;
335 } irq_config;
336 struct st_lsm6dsx_reg drdy_mask;
337 struct st_lsm6dsx_odr_table_entry odr_table[2];
338 struct st_lsm6dsx_samples_to_discard samples_to_discard[2];
339 struct st_lsm6dsx_fs_table_entry fs_table[2];
340 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
341 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
342 struct st_lsm6dsx_fifo_ops fifo_ops;
343 struct st_lsm6dsx_hw_ts_settings ts_settings;
344 struct st_lsm6dsx_shub_settings shub_settings;
345 struct st_lsm6dsx_event_settings event_settings;
346 };
347
348 enum st_lsm6dsx_sensor_id {
349 ST_LSM6DSX_ID_GYRO,
350 ST_LSM6DSX_ID_ACC,
351 ST_LSM6DSX_ID_EXT0,
352 ST_LSM6DSX_ID_EXT1,
353 ST_LSM6DSX_ID_EXT2,
354 ST_LSM6DSX_ID_MAX,
355 };
356
357 enum st_lsm6dsx_fifo_mode {
358 ST_LSM6DSX_FIFO_BYPASS = 0x0,
359 ST_LSM6DSX_FIFO_CONT = 0x6,
360 };
361
362 /**
363 * struct st_lsm6dsx_sensor - ST IMU sensor instance
364 * @name: Sensor name.
365 * @id: Sensor identifier.
366 * @hw: Pointer to instance of struct st_lsm6dsx_hw.
367 * @gain: Configured sensor sensitivity.
368 * @odr: Output data rate of the sensor [Hz].
369 * @samples_to_discard: Number of samples to discard for filters settling time.
370 * @watermark: Sensor watermark level.
371 * @decimator: Sensor decimation factor.
372 * @sip: Number of samples in a given pattern.
373 * @ts_ref: Sensor timestamp reference for hw one.
374 * @ext_info: Sensor settings if it is connected to i2c controller
375 */
376 struct st_lsm6dsx_sensor {
377 char name[32];
378 enum st_lsm6dsx_sensor_id id;
379 struct st_lsm6dsx_hw *hw;
380
381 u32 gain;
382 u32 odr;
383
384 u16 samples_to_discard;
385 u16 watermark;
386 u8 decimator;
387 u8 sip;
388 s64 ts_ref;
389
390 struct {
391 const struct st_lsm6dsx_ext_dev_settings *settings;
392 u32 slv_odr;
393 u8 addr;
394 } ext_info;
395 };
396
397 /**
398 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
399 * @dev: Pointer to instance of struct device (I2C or SPI).
400 * @regmap: Register map of the device.
401 * @irq: Device interrupt line (I2C or SPI).
402 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
403 * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
404 * @page_lock: Mutex to prevent concurrent memory page configuration.
405 * @suspend_mask: Suspended sensor bitmask.
406 * @enable_mask: Enabled sensor bitmask.
407 * @fifo_mask: Enabled hw FIFO bitmask.
408 * @ts_gain: Hw timestamp rate after internal calibration.
409 * @ts_sip: Total number of timestamp samples in a given pattern.
410 * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
411 * @buff: Device read buffer.
412 * @irq_routing: pointer to interrupt routing configuration.
413 * @event_threshold: wakeup event threshold.
414 * @enable_event: enabled event bitmask.
415 * @iio_devs: Pointers to acc/gyro iio_dev instances.
416 * @settings: Pointer to the specific sensor settings in use.
417 * @orientation: sensor chip orientation relative to main hardware.
418 * @scan: Temporary buffers used to align data before iio_push_to_buffers()
419 */
420 struct st_lsm6dsx_hw {
421 struct device *dev;
422 struct regmap *regmap;
423 int irq;
424
425 struct mutex fifo_lock;
426 struct mutex conf_lock;
427 struct mutex page_lock;
428
429 u8 suspend_mask;
430 u8 enable_mask;
431 u8 fifo_mask;
432 s64 ts_gain;
433 u8 ts_sip;
434 u8 sip;
435
436 const struct st_lsm6dsx_reg *irq_routing;
437 u8 event_threshold;
438 u8 enable_event;
439
440 u8 *buff;
441
442 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
443
444 const struct st_lsm6dsx_settings *settings;
445
446 struct iio_mount_matrix orientation;
447 /* Ensure natural alignment of buffer elements */
448 struct {
449 __le16 channels[3];
450 aligned_s64 ts;
451 } scan[ST_LSM6DSX_ID_MAX];
452 };
453
454 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
455 .type = IIO_EV_TYPE_THRESH,
456 .dir = IIO_EV_DIR_EITHER,
457 .mask_separate = BIT(IIO_EV_INFO_VALUE) |
458 BIT(IIO_EV_INFO_ENABLE)
459 };
460
461 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
462 0x7, 0x0,
463 };
464
465 extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
466
467 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
468 struct regmap *regmap);
469 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
470 bool enable);
471 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
472 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
473 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
474 u16 watermark);
475 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
476 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
477 int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
478 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
479 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
480 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
481 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
482 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
483 int st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len);
484 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
485
486 static inline int
st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int mask,unsigned int val)487 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
488 unsigned int mask, unsigned int val)
489 {
490 int err;
491
492 mutex_lock(&hw->page_lock);
493 err = regmap_update_bits(hw->regmap, addr, mask, val);
494 mutex_unlock(&hw->page_lock);
495
496 return err;
497 }
498
499 static inline int
st_lsm6dsx_read_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,void * val,unsigned int len)500 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
501 void *val, unsigned int len)
502 {
503 int err;
504
505 mutex_lock(&hw->page_lock);
506 err = regmap_bulk_read(hw->regmap, addr, val, len);
507 mutex_unlock(&hw->page_lock);
508
509 return err;
510 }
511
512 static inline int
st_lsm6dsx_write_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int val)513 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
514 unsigned int val)
515 {
516 int err;
517
518 mutex_lock(&hw->page_lock);
519 err = regmap_write(hw->regmap, addr, val);
520 mutex_unlock(&hw->page_lock);
521
522 return err;
523 }
524
525 static inline const struct iio_mount_matrix *
st_lsm6dsx_get_mount_matrix(const struct iio_dev * iio_dev,const struct iio_chan_spec * chan)526 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
527 const struct iio_chan_spec *chan)
528 {
529 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
530 struct st_lsm6dsx_hw *hw = sensor->hw;
531
532 return &hw->orientation;
533 }
534
535 static inline int
st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor * sensor,bool enable)536 st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
537 {
538 if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
539 sensor->id == ST_LSM6DSX_ID_EXT1 ||
540 sensor->id == ST_LSM6DSX_ID_EXT2)
541 return st_lsm6dsx_shub_set_enable(sensor, enable);
542
543 return st_lsm6dsx_sensor_set_enable(sensor, enable);
544 }
545
546 static const
547 struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_ext_info[] = {
548 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
549 { }
550 };
551
552 #endif /* ST_LSM6DSX_H */
553