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 #define ST_ASM330LHB_DEV_NAME "asm330lhb"
41
42 enum st_lsm6dsx_hw_id {
43 ST_LSM6DS3_ID = 1,
44 ST_LSM6DS3H_ID,
45 ST_LSM6DSL_ID,
46 ST_LSM6DSM_ID,
47 ST_ISM330DLC_ID,
48 ST_LSM6DSO_ID,
49 ST_ASM330LHH_ID,
50 ST_LSM6DSOX_ID,
51 ST_LSM6DSR_ID,
52 ST_LSM6DS3TRC_ID,
53 ST_ISM330DHCX_ID,
54 ST_LSM9DS1_ID,
55 ST_LSM6DS0_ID,
56 ST_LSM6DSRX_ID,
57 ST_LSM6DST_ID,
58 ST_LSM6DSOP_ID,
59 ST_ASM330LHHX_ID,
60 ST_LSM6DSTX_ID,
61 ST_LSM6DSV_ID,
62 ST_LSM6DSV16X_ID,
63 ST_LSM6DSO16IS_ID,
64 ST_ISM330IS_ID,
65 ST_ASM330LHB_ID,
66 ST_LSM6DSX_MAX_ID,
67 };
68
69 #define ST_LSM6DSX_BUFF_SIZE 512
70 #define ST_LSM6DSX_CHAN_SIZE 2
71 #define ST_LSM6DSX_SAMPLE_SIZE 6
72 #define ST_LSM6DSX_TAG_SIZE 1
73 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \
74 ST_LSM6DSX_TAG_SIZE)
75 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
76 ST_LSM6DSX_SAMPLE_SIZE)
77 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
78 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
79 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
80
81 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \
82 { \
83 .type = chan_type, \
84 .address = addr, \
85 .modified = 1, \
86 .channel2 = mod, \
87 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
88 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
89 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
90 .scan_index = scan_idx, \
91 .scan_type = { \
92 .sign = 's', \
93 .realbits = 16, \
94 .storagebits = 16, \
95 .endianness = IIO_LE, \
96 }, \
97 .event_spec = &st_lsm6dsx_event, \
98 .ext_info = st_lsm6dsx_ext_info, \
99 .num_event_specs = 1, \
100 }
101
102 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
103 { \
104 .type = chan_type, \
105 .address = addr, \
106 .modified = 1, \
107 .channel2 = mod, \
108 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
109 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
110 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
111 .scan_index = scan_idx, \
112 .scan_type = { \
113 .sign = 's', \
114 .realbits = 16, \
115 .storagebits = 16, \
116 .endianness = IIO_LE, \
117 }, \
118 .ext_info = st_lsm6dsx_ext_info, \
119 }
120
121 struct st_lsm6dsx_reg {
122 u8 addr;
123 u8 mask;
124 };
125
126 struct st_lsm6dsx_sensor;
127 struct st_lsm6dsx_hw;
128
129 struct st_lsm6dsx_odr {
130 u32 milli_hz;
131 u8 val;
132 };
133
134 #define ST_LSM6DSX_ODR_LIST_SIZE 8
135 struct st_lsm6dsx_odr_table_entry {
136 struct st_lsm6dsx_reg reg;
137
138 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
139 int odr_len;
140 };
141
142 struct st_lsm6dsx_samples_to_discard {
143 struct {
144 u32 milli_hz;
145 u16 samples;
146 } val[ST_LSM6DSX_ODR_LIST_SIZE];
147 };
148
149 struct st_lsm6dsx_fs {
150 u32 gain;
151 u8 val;
152 };
153
154 #define ST_LSM6DSX_FS_LIST_SIZE 4
155 struct st_lsm6dsx_fs_table_entry {
156 struct st_lsm6dsx_reg reg;
157
158 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
159 int fs_len;
160 };
161
162 /**
163 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
164 * @update_fifo: Update FIFO configuration callback.
165 * @read_fifo: Read FIFO callback.
166 * @fifo_th: FIFO threshold register info (addr + mask).
167 * @fifo_diff: FIFO diff status register info (addr + mask).
168 * @max_size: Sensor max fifo length in FIFO words.
169 * @th_wl: FIFO threshold word length.
170 */
171 struct st_lsm6dsx_fifo_ops {
172 int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
173 int (*read_fifo)(struct st_lsm6dsx_hw *hw);
174 struct {
175 u8 addr;
176 u16 mask;
177 } fifo_th;
178 struct {
179 u8 addr;
180 u16 mask;
181 } fifo_diff;
182 u16 max_size;
183 u8 th_wl;
184 };
185
186 /**
187 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
188 * @timer_en: Hw timer enable register info (addr + mask).
189 * @hr_timer: Hw timer resolution register info (addr + mask).
190 * @fifo_en: Hw timer FIFO enable register info (addr + mask).
191 * @decimator: Hw timer FIFO decimator register info (addr + mask).
192 * @freq_fine: Difference in % of ODR with respect to the typical.
193 */
194 struct st_lsm6dsx_hw_ts_settings {
195 struct st_lsm6dsx_reg timer_en;
196 struct st_lsm6dsx_reg hr_timer;
197 struct st_lsm6dsx_reg fifo_en;
198 struct st_lsm6dsx_reg decimator;
199 u8 freq_fine;
200 };
201
202 /**
203 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
204 * @page_mux: register page mux info (addr + mask).
205 * @master_en: master config register info (addr + mask).
206 * @pullup_en: i2c controller pull-up register info (addr + mask).
207 * @aux_sens: aux sensor register info (addr + mask).
208 * @wr_once: write_once register info (addr + mask).
209 * @emb_func: embedded function register info (addr + mask).
210 * @num_ext_dev: max number of slave devices.
211 * @shub_out: sensor hub first output register info.
212 * @slv0_addr: slave0 address in secondary page.
213 * @dw_slv0_addr: slave0 write register address in secondary page.
214 * @batch_en: Enable/disable FIFO batching.
215 * @pause: controller pause value.
216 */
217 struct st_lsm6dsx_shub_settings {
218 struct st_lsm6dsx_reg page_mux;
219 struct {
220 bool sec_page;
221 u8 addr;
222 u8 mask;
223 } master_en;
224 struct {
225 bool sec_page;
226 u8 addr;
227 u8 mask;
228 } pullup_en;
229 struct st_lsm6dsx_reg aux_sens;
230 struct st_lsm6dsx_reg wr_once;
231 struct st_lsm6dsx_reg emb_func;
232 u8 num_ext_dev;
233 struct {
234 bool sec_page;
235 u8 addr;
236 } shub_out;
237 u8 slv0_addr;
238 u8 dw_slv0_addr;
239 u8 batch_en;
240 u8 pause;
241 };
242
243 struct st_lsm6dsx_event_settings {
244 struct st_lsm6dsx_reg enable_reg;
245 struct st_lsm6dsx_reg wakeup_reg;
246 u8 wakeup_src_reg;
247 u8 wakeup_src_status_mask;
248 u8 wakeup_src_z_mask;
249 u8 wakeup_src_y_mask;
250 u8 wakeup_src_x_mask;
251 };
252
253 enum st_lsm6dsx_ext_sensor_id {
254 ST_LSM6DSX_ID_MAGN,
255 };
256
257 /**
258 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
259 * @i2c_addr: I2c slave address list.
260 * @wai: Wai address info.
261 * @id: external sensor id.
262 * @odr_table: Output data rate of the sensor [Hz].
263 * @fs_table: Configured sensor sensitivity table depending on full scale.
264 * @temp_comp: Temperature compensation register info (addr + mask).
265 * @pwr_table: Power on register info (addr + mask).
266 * @off_canc: Offset cancellation register info (addr + mask).
267 * @bdu: Block data update register info (addr + mask).
268 * @out: Output register info.
269 */
270 struct st_lsm6dsx_ext_dev_settings {
271 u8 i2c_addr[2];
272 struct {
273 u8 addr;
274 u8 val;
275 } wai;
276 enum st_lsm6dsx_ext_sensor_id id;
277 struct st_lsm6dsx_odr_table_entry odr_table;
278 struct st_lsm6dsx_fs_table_entry fs_table;
279 struct st_lsm6dsx_reg temp_comp;
280 struct {
281 struct st_lsm6dsx_reg reg;
282 u8 off_val;
283 u8 on_val;
284 } pwr_table;
285 struct st_lsm6dsx_reg off_canc;
286 struct st_lsm6dsx_reg bdu;
287 struct {
288 u8 addr;
289 u8 len;
290 } out;
291 };
292
293 /**
294 * struct st_lsm6dsx_settings - ST IMU sensor settings
295 * @reset: register address for reset.
296 * @boot: register address for boot.
297 * @bdu: register address for Block Data Update.
298 * @id: List of hw id/device name supported by the driver configuration.
299 * @channels: IIO channels supported by the device.
300 * @irq_config: interrupts related registers.
301 * @drdy_mask: register info for data-ready mask (addr + mask).
302 * @odr_table: Hw sensors odr table (Hz + val).
303 * @samples_to_discard: Number of samples to discard for filters settling time.
304 * @fs_table: Hw sensors gain table (gain + val).
305 * @decimator: List of decimator register info (addr + mask).
306 * @batch: List of FIFO batching register info (addr + mask).
307 * @fifo_ops: Sensor hw FIFO parameters.
308 * @ts_settings: Hw timer related settings.
309 * @shub_settings: i2c controller related settings.
310 */
311 struct st_lsm6dsx_settings {
312 struct st_lsm6dsx_reg reset;
313 struct st_lsm6dsx_reg boot;
314 struct st_lsm6dsx_reg bdu;
315 struct {
316 enum st_lsm6dsx_hw_id hw_id;
317 const char *name;
318 u8 wai;
319 } id[ST_LSM6DSX_MAX_ID];
320 struct {
321 const struct iio_chan_spec *chan;
322 int len;
323 } channels[2];
324 struct {
325 struct st_lsm6dsx_reg irq1;
326 struct st_lsm6dsx_reg irq2;
327 struct st_lsm6dsx_reg irq1_func;
328 struct st_lsm6dsx_reg irq2_func;
329 struct st_lsm6dsx_reg lir;
330 struct st_lsm6dsx_reg clear_on_read;
331 struct st_lsm6dsx_reg hla;
332 struct st_lsm6dsx_reg od;
333 } irq_config;
334 struct st_lsm6dsx_reg drdy_mask;
335 struct st_lsm6dsx_odr_table_entry odr_table[2];
336 struct st_lsm6dsx_samples_to_discard samples_to_discard[2];
337 struct st_lsm6dsx_fs_table_entry fs_table[2];
338 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
339 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
340 struct st_lsm6dsx_fifo_ops fifo_ops;
341 struct st_lsm6dsx_hw_ts_settings ts_settings;
342 struct st_lsm6dsx_shub_settings shub_settings;
343 struct st_lsm6dsx_event_settings event_settings;
344 };
345
346 enum st_lsm6dsx_sensor_id {
347 ST_LSM6DSX_ID_GYRO,
348 ST_LSM6DSX_ID_ACC,
349 ST_LSM6DSX_ID_EXT0,
350 ST_LSM6DSX_ID_EXT1,
351 ST_LSM6DSX_ID_EXT2,
352 ST_LSM6DSX_ID_MAX,
353 };
354
355 enum st_lsm6dsx_fifo_mode {
356 ST_LSM6DSX_FIFO_BYPASS = 0x0,
357 ST_LSM6DSX_FIFO_CONT = 0x6,
358 };
359
360 /**
361 * struct st_lsm6dsx_sensor - ST IMU sensor instance
362 * @name: Sensor name.
363 * @id: Sensor identifier.
364 * @hw: Pointer to instance of struct st_lsm6dsx_hw.
365 * @gain: Configured sensor sensitivity.
366 * @odr: Output data rate of the sensor [Hz].
367 * @samples_to_discard: Number of samples to discard for filters settling time.
368 * @watermark: Sensor watermark level.
369 * @decimator: Sensor decimation factor.
370 * @sip: Number of samples in a given pattern.
371 * @ts_ref: Sensor timestamp reference for hw one.
372 * @ext_info: Sensor settings if it is connected to i2c controller
373 */
374 struct st_lsm6dsx_sensor {
375 char name[32];
376 enum st_lsm6dsx_sensor_id id;
377 struct st_lsm6dsx_hw *hw;
378
379 u32 gain;
380 u32 odr;
381
382 u16 samples_to_discard;
383 u16 watermark;
384 u8 decimator;
385 u8 sip;
386 s64 ts_ref;
387
388 struct {
389 const struct st_lsm6dsx_ext_dev_settings *settings;
390 u32 slv_odr;
391 u8 addr;
392 } ext_info;
393 };
394
395 /**
396 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
397 * @dev: Pointer to instance of struct device (I2C or SPI).
398 * @regmap: Register map of the device.
399 * @irq: Device interrupt line (I2C or SPI).
400 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
401 * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
402 * @page_lock: Mutex to prevent concurrent memory page configuration.
403 * @suspend_mask: Suspended sensor bitmask.
404 * @enable_mask: Enabled sensor bitmask.
405 * @fifo_mask: Enabled hw FIFO bitmask.
406 * @ts_gain: Hw timestamp rate after internal calibration.
407 * @ts_sip: Total number of timestamp samples in a given pattern.
408 * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
409 * @buff: Device read buffer.
410 * @irq_routing: pointer to interrupt routing configuration.
411 * @event_threshold: wakeup event threshold.
412 * @enable_event: enabled event bitmask.
413 * @iio_devs: Pointers to acc/gyro iio_dev instances.
414 * @settings: Pointer to the specific sensor settings in use.
415 * @orientation: sensor chip orientation relative to main hardware.
416 * @scan: Temporary buffers used to align data before iio_push_to_buffers()
417 */
418 struct st_lsm6dsx_hw {
419 struct device *dev;
420 struct regmap *regmap;
421 int irq;
422
423 struct mutex fifo_lock;
424 struct mutex conf_lock;
425 struct mutex page_lock;
426
427 u8 suspend_mask;
428 u8 enable_mask;
429 u8 fifo_mask;
430 s64 ts_gain;
431 u8 ts_sip;
432 u8 sip;
433
434 const struct st_lsm6dsx_reg *irq_routing;
435 u8 event_threshold;
436 u8 enable_event;
437
438 u8 *buff;
439
440 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
441
442 const struct st_lsm6dsx_settings *settings;
443
444 struct iio_mount_matrix orientation;
445 /* Ensure natural alignment of buffer elements */
446 struct {
447 __le16 channels[3];
448 s64 ts __aligned(8);
449 } scan[ST_LSM6DSX_ID_MAX];
450 };
451
452 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
453 .type = IIO_EV_TYPE_THRESH,
454 .dir = IIO_EV_DIR_EITHER,
455 .mask_separate = BIT(IIO_EV_INFO_VALUE) |
456 BIT(IIO_EV_INFO_ENABLE)
457 };
458
459 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
460 0x7, 0x0,
461 };
462
463 extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
464
465 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
466 struct regmap *regmap);
467 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
468 bool enable);
469 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
470 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
471 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
472 u16 watermark);
473 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
474 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
475 int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
476 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
477 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
478 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
479 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
480 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
481 int st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len);
482 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
483
484 static inline int
st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int mask,unsigned int val)485 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
486 unsigned int mask, unsigned int val)
487 {
488 int err;
489
490 mutex_lock(&hw->page_lock);
491 err = regmap_update_bits(hw->regmap, addr, mask, val);
492 mutex_unlock(&hw->page_lock);
493
494 return err;
495 }
496
497 static inline int
st_lsm6dsx_read_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,void * val,unsigned int len)498 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
499 void *val, unsigned int len)
500 {
501 int err;
502
503 mutex_lock(&hw->page_lock);
504 err = regmap_bulk_read(hw->regmap, addr, val, len);
505 mutex_unlock(&hw->page_lock);
506
507 return err;
508 }
509
510 static inline int
st_lsm6dsx_write_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int val)511 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
512 unsigned int val)
513 {
514 int err;
515
516 mutex_lock(&hw->page_lock);
517 err = regmap_write(hw->regmap, addr, val);
518 mutex_unlock(&hw->page_lock);
519
520 return err;
521 }
522
523 static inline const struct iio_mount_matrix *
st_lsm6dsx_get_mount_matrix(const struct iio_dev * iio_dev,const struct iio_chan_spec * chan)524 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
525 const struct iio_chan_spec *chan)
526 {
527 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
528 struct st_lsm6dsx_hw *hw = sensor->hw;
529
530 return &hw->orientation;
531 }
532
533 static inline int
st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor * sensor,bool enable)534 st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
535 {
536 if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
537 sensor->id == ST_LSM6DSX_ID_EXT1 ||
538 sensor->id == ST_LSM6DSX_ID_EXT2)
539 return st_lsm6dsx_shub_set_enable(sensor, enable);
540
541 return st_lsm6dsx_sensor_set_enable(sensor, enable);
542 }
543
544 static const
545 struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_ext_info[] = {
546 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
547 { }
548 };
549
550 #endif /* ST_LSM6DSX_H */
551