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 16 #define ST_LSM6DS3_DEV_NAME "lsm6ds3" 17 #define ST_LSM6DS3H_DEV_NAME "lsm6ds3h" 18 #define ST_LSM6DSL_DEV_NAME "lsm6dsl" 19 #define ST_LSM6DSM_DEV_NAME "lsm6dsm" 20 #define ST_ISM330DLC_DEV_NAME "ism330dlc" 21 #define ST_LSM6DSO_DEV_NAME "lsm6dso" 22 #define ST_ASM330LHH_DEV_NAME "asm330lhh" 23 #define ST_LSM6DSOX_DEV_NAME "lsm6dsox" 24 #define ST_LSM6DSR_DEV_NAME "lsm6dsr" 25 #define ST_LSM6DS3TRC_DEV_NAME "lsm6ds3tr-c" 26 #define ST_ISM330DHCX_DEV_NAME "ism330dhcx" 27 #define ST_LSM9DS1_DEV_NAME "lsm9ds1-imu" 28 29 enum st_lsm6dsx_hw_id { 30 ST_LSM6DS3_ID, 31 ST_LSM6DS3H_ID, 32 ST_LSM6DSL_ID, 33 ST_LSM6DSM_ID, 34 ST_ISM330DLC_ID, 35 ST_LSM6DSO_ID, 36 ST_ASM330LHH_ID, 37 ST_LSM6DSOX_ID, 38 ST_LSM6DSR_ID, 39 ST_LSM6DS3TRC_ID, 40 ST_ISM330DHCX_ID, 41 ST_LSM9DS1_ID, 42 ST_LSM6DSX_MAX_ID, 43 }; 44 45 #define ST_LSM6DSX_BUFF_SIZE 512 46 #define ST_LSM6DSX_CHAN_SIZE 2 47 #define ST_LSM6DSX_SAMPLE_SIZE 6 48 #define ST_LSM6DSX_TAG_SIZE 1 49 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \ 50 ST_LSM6DSX_TAG_SIZE) 51 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \ 52 ST_LSM6DSX_SAMPLE_SIZE) 53 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \ 54 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE) 55 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask)) 56 57 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \ 58 { \ 59 .type = chan_type, \ 60 .address = addr, \ 61 .modified = 1, \ 62 .channel2 = mod, \ 63 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 64 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 65 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 66 .scan_index = scan_idx, \ 67 .scan_type = { \ 68 .sign = 's', \ 69 .realbits = 16, \ 70 .storagebits = 16, \ 71 .endianness = IIO_LE, \ 72 }, \ 73 } 74 75 struct st_lsm6dsx_reg { 76 u8 addr; 77 u8 mask; 78 }; 79 80 struct st_lsm6dsx_sensor; 81 struct st_lsm6dsx_hw; 82 83 struct st_lsm6dsx_odr { 84 u16 hz; 85 u8 val; 86 }; 87 88 #define ST_LSM6DSX_ODR_LIST_SIZE 6 89 struct st_lsm6dsx_odr_table_entry { 90 struct st_lsm6dsx_reg reg; 91 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE]; 92 }; 93 94 struct st_lsm6dsx_fs { 95 u32 gain; 96 u8 val; 97 }; 98 99 #define ST_LSM6DSX_FS_LIST_SIZE 4 100 struct st_lsm6dsx_fs_table_entry { 101 struct st_lsm6dsx_reg reg; 102 103 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE]; 104 int fs_len; 105 }; 106 107 /** 108 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings 109 * @update_fifo: Update FIFO configuration callback. 110 * @read_fifo: Read FIFO callback. 111 * @fifo_th: FIFO threshold register info (addr + mask). 112 * @fifo_diff: FIFO diff status register info (addr + mask). 113 * @th_wl: FIFO threshold word length. 114 */ 115 struct st_lsm6dsx_fifo_ops { 116 int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable); 117 int (*read_fifo)(struct st_lsm6dsx_hw *hw); 118 struct { 119 u8 addr; 120 u16 mask; 121 } fifo_th; 122 struct { 123 u8 addr; 124 u16 mask; 125 } fifo_diff; 126 u8 th_wl; 127 }; 128 129 /** 130 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings 131 * @timer_en: Hw timer enable register info (addr + mask). 132 * @hr_timer: Hw timer resolution register info (addr + mask). 133 * @fifo_en: Hw timer FIFO enable register info (addr + mask). 134 * @decimator: Hw timer FIFO decimator register info (addr + mask). 135 */ 136 struct st_lsm6dsx_hw_ts_settings { 137 struct st_lsm6dsx_reg timer_en; 138 struct st_lsm6dsx_reg hr_timer; 139 struct st_lsm6dsx_reg fifo_en; 140 struct st_lsm6dsx_reg decimator; 141 }; 142 143 /** 144 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings 145 * @page_mux: register page mux info (addr + mask). 146 * @master_en: master config register info (addr + mask). 147 * @pullup_en: i2c controller pull-up register info (addr + mask). 148 * @aux_sens: aux sensor register info (addr + mask). 149 * @wr_once: write_once register info (addr + mask). 150 * @shub_out: sensor hub first output register info. 151 * @slv0_addr: slave0 address in secondary page. 152 * @dw_slv0_addr: slave0 write register address in secondary page. 153 * @batch_en: Enable/disable FIFO batching. 154 */ 155 struct st_lsm6dsx_shub_settings { 156 struct st_lsm6dsx_reg page_mux; 157 struct st_lsm6dsx_reg master_en; 158 struct st_lsm6dsx_reg pullup_en; 159 struct st_lsm6dsx_reg aux_sens; 160 struct st_lsm6dsx_reg wr_once; 161 u8 shub_out; 162 u8 slv0_addr; 163 u8 dw_slv0_addr; 164 u8 batch_en; 165 }; 166 167 enum st_lsm6dsx_ext_sensor_id { 168 ST_LSM6DSX_ID_MAGN, 169 }; 170 171 /** 172 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings 173 * @i2c_addr: I2c slave address list. 174 * @wai: Wai address info. 175 * @id: external sensor id. 176 * @odr: Output data rate of the sensor [Hz]. 177 * @gain: Configured sensor sensitivity. 178 * @temp_comp: Temperature compensation register info (addr + mask). 179 * @pwr_table: Power on register info (addr + mask). 180 * @off_canc: Offset cancellation register info (addr + mask). 181 * @bdu: Block data update register info (addr + mask). 182 * @out: Output register info. 183 */ 184 struct st_lsm6dsx_ext_dev_settings { 185 u8 i2c_addr[2]; 186 struct { 187 u8 addr; 188 u8 val; 189 } wai; 190 enum st_lsm6dsx_ext_sensor_id id; 191 struct st_lsm6dsx_odr_table_entry odr_table; 192 struct st_lsm6dsx_fs_table_entry fs_table; 193 struct st_lsm6dsx_reg temp_comp; 194 struct { 195 struct st_lsm6dsx_reg reg; 196 u8 off_val; 197 u8 on_val; 198 } pwr_table; 199 struct st_lsm6dsx_reg off_canc; 200 struct st_lsm6dsx_reg bdu; 201 struct { 202 u8 addr; 203 u8 len; 204 } out; 205 }; 206 207 /** 208 * struct st_lsm6dsx_settings - ST IMU sensor settings 209 * @wai: Sensor WhoAmI default value. 210 * @int1_addr: Control Register address for INT1 211 * @int2_addr: Control Register address for INT2 212 * @reset_addr: register address for reset/reboot 213 * @max_fifo_size: Sensor max fifo length in FIFO words. 214 * @id: List of hw id/device name supported by the driver configuration. 215 * @channels: IIO channels supported by the device. 216 * @odr_table: Hw sensors odr table (Hz + val). 217 * @fs_table: Hw sensors gain table (gain + val). 218 * @decimator: List of decimator register info (addr + mask). 219 * @batch: List of FIFO batching register info (addr + mask). 220 * @fifo_ops: Sensor hw FIFO parameters. 221 * @ts_settings: Hw timer related settings. 222 * @shub_settings: i2c controller related settings. 223 */ 224 struct st_lsm6dsx_settings { 225 u8 wai; 226 u8 int1_addr; 227 u8 int2_addr; 228 u8 reset_addr; 229 u16 max_fifo_size; 230 struct { 231 enum st_lsm6dsx_hw_id hw_id; 232 const char *name; 233 } id[ST_LSM6DSX_MAX_ID]; 234 struct { 235 const struct iio_chan_spec *chan; 236 int len; 237 } channels[2]; 238 struct st_lsm6dsx_odr_table_entry odr_table[2]; 239 struct st_lsm6dsx_fs_table_entry fs_table[2]; 240 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID]; 241 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID]; 242 struct st_lsm6dsx_fifo_ops fifo_ops; 243 struct st_lsm6dsx_hw_ts_settings ts_settings; 244 struct st_lsm6dsx_shub_settings shub_settings; 245 }; 246 247 enum st_lsm6dsx_sensor_id { 248 ST_LSM6DSX_ID_GYRO, 249 ST_LSM6DSX_ID_ACC, 250 ST_LSM6DSX_ID_EXT0, 251 ST_LSM6DSX_ID_EXT1, 252 ST_LSM6DSX_ID_EXT2, 253 ST_LSM6DSX_ID_MAX, 254 }; 255 256 enum st_lsm6dsx_fifo_mode { 257 ST_LSM6DSX_FIFO_BYPASS = 0x0, 258 ST_LSM6DSX_FIFO_CONT = 0x6, 259 }; 260 261 /** 262 * struct st_lsm6dsx_sensor - ST IMU sensor instance 263 * @name: Sensor name. 264 * @id: Sensor identifier. 265 * @hw: Pointer to instance of struct st_lsm6dsx_hw. 266 * @gain: Configured sensor sensitivity. 267 * @odr: Output data rate of the sensor [Hz]. 268 * @watermark: Sensor watermark level. 269 * @sip: Number of samples in a given pattern. 270 * @decimator: FIFO decimation factor. 271 * @ts_ref: Sensor timestamp reference for hw one. 272 * @ext_info: Sensor settings if it is connected to i2c controller 273 */ 274 struct st_lsm6dsx_sensor { 275 char name[32]; 276 enum st_lsm6dsx_sensor_id id; 277 struct st_lsm6dsx_hw *hw; 278 279 u32 gain; 280 u16 odr; 281 282 u16 watermark; 283 u8 sip; 284 u8 decimator; 285 s64 ts_ref; 286 287 struct { 288 const struct st_lsm6dsx_ext_dev_settings *settings; 289 u8 addr; 290 } ext_info; 291 }; 292 293 /** 294 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance 295 * @dev: Pointer to instance of struct device (I2C or SPI). 296 * @regmap: Register map of the device. 297 * @irq: Device interrupt line (I2C or SPI). 298 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO. 299 * @conf_lock: Mutex to prevent concurrent FIFO configuration update. 300 * @page_lock: Mutex to prevent concurrent memory page configuration. 301 * @fifo_mode: FIFO operating mode supported by the device. 302 * @suspend_mask: Suspended sensor bitmask. 303 * @enable_mask: Enabled sensor bitmask. 304 * @ts_sip: Total number of timestamp samples in a given pattern. 305 * @sip: Total number of samples (acc/gyro/ts) in a given pattern. 306 * @buff: Device read buffer. 307 * @iio_devs: Pointers to acc/gyro iio_dev instances. 308 * @settings: Pointer to the specific sensor settings in use. 309 */ 310 struct st_lsm6dsx_hw { 311 struct device *dev; 312 struct regmap *regmap; 313 int irq; 314 315 struct mutex fifo_lock; 316 struct mutex conf_lock; 317 struct mutex page_lock; 318 319 enum st_lsm6dsx_fifo_mode fifo_mode; 320 u8 suspend_mask; 321 u8 enable_mask; 322 u8 ts_sip; 323 u8 sip; 324 325 u8 *buff; 326 327 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX]; 328 329 const struct st_lsm6dsx_settings *settings; 330 }; 331 332 static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0}; 333 extern const struct dev_pm_ops st_lsm6dsx_pm_ops; 334 335 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, 336 struct regmap *regmap); 337 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, 338 bool enable); 339 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw); 340 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val); 341 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, 342 u16 watermark); 343 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable); 344 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw); 345 int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw, 346 enum st_lsm6dsx_fifo_mode fifo_mode); 347 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw); 348 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw); 349 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, u8 *val); 350 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name); 351 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable); 352 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable); 353 354 static inline int 355 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 356 unsigned int mask, unsigned int val) 357 { 358 int err; 359 360 mutex_lock(&hw->page_lock); 361 err = regmap_update_bits(hw->regmap, addr, mask, val); 362 mutex_unlock(&hw->page_lock); 363 364 return err; 365 } 366 367 static inline int 368 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 369 void *val, unsigned int len) 370 { 371 int err; 372 373 mutex_lock(&hw->page_lock); 374 err = regmap_bulk_read(hw->regmap, addr, val, len); 375 mutex_unlock(&hw->page_lock); 376 377 return err; 378 } 379 380 static inline int 381 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 382 unsigned int val) 383 { 384 int err; 385 386 mutex_lock(&hw->page_lock); 387 err = regmap_write(hw->regmap, addr, val); 388 mutex_unlock(&hw->page_lock); 389 390 return err; 391 } 392 393 #endif /* ST_LSM6DSX_H */ 394