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 35 enum st_lsm6dsx_hw_id { 36 ST_LSM6DS3_ID, 37 ST_LSM6DS3H_ID, 38 ST_LSM6DSL_ID, 39 ST_LSM6DSM_ID, 40 ST_ISM330DLC_ID, 41 ST_LSM6DSO_ID, 42 ST_ASM330LHH_ID, 43 ST_LSM6DSOX_ID, 44 ST_LSM6DSR_ID, 45 ST_LSM6DS3TRC_ID, 46 ST_ISM330DHCX_ID, 47 ST_LSM9DS1_ID, 48 ST_LSM6DS0_ID, 49 ST_LSM6DSRX_ID, 50 ST_LSM6DST_ID, 51 ST_LSM6DSOP_ID, 52 ST_LSM6DSX_MAX_ID, 53 }; 54 55 #define ST_LSM6DSX_BUFF_SIZE 512 56 #define ST_LSM6DSX_CHAN_SIZE 2 57 #define ST_LSM6DSX_SAMPLE_SIZE 6 58 #define ST_LSM6DSX_TAG_SIZE 1 59 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \ 60 ST_LSM6DSX_TAG_SIZE) 61 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \ 62 ST_LSM6DSX_SAMPLE_SIZE) 63 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \ 64 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE) 65 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask)) 66 67 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \ 68 { \ 69 .type = chan_type, \ 70 .address = addr, \ 71 .modified = 1, \ 72 .channel2 = mod, \ 73 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 74 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 75 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 76 .scan_index = scan_idx, \ 77 .scan_type = { \ 78 .sign = 's', \ 79 .realbits = 16, \ 80 .storagebits = 16, \ 81 .endianness = IIO_LE, \ 82 }, \ 83 .event_spec = &st_lsm6dsx_event, \ 84 .ext_info = st_lsm6dsx_accel_ext_info, \ 85 .num_event_specs = 1, \ 86 } 87 88 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \ 89 { \ 90 .type = chan_type, \ 91 .address = addr, \ 92 .modified = 1, \ 93 .channel2 = mod, \ 94 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 95 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 96 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 97 .scan_index = scan_idx, \ 98 .scan_type = { \ 99 .sign = 's', \ 100 .realbits = 16, \ 101 .storagebits = 16, \ 102 .endianness = IIO_LE, \ 103 }, \ 104 } 105 106 struct st_lsm6dsx_reg { 107 u8 addr; 108 u8 mask; 109 }; 110 111 struct st_lsm6dsx_sensor; 112 struct st_lsm6dsx_hw; 113 114 struct st_lsm6dsx_odr { 115 u32 milli_hz; 116 u8 val; 117 }; 118 119 #define ST_LSM6DSX_ODR_LIST_SIZE 8 120 struct st_lsm6dsx_odr_table_entry { 121 struct st_lsm6dsx_reg reg; 122 123 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE]; 124 int odr_len; 125 }; 126 127 struct st_lsm6dsx_fs { 128 u32 gain; 129 u8 val; 130 }; 131 132 #define ST_LSM6DSX_FS_LIST_SIZE 4 133 struct st_lsm6dsx_fs_table_entry { 134 struct st_lsm6dsx_reg reg; 135 136 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE]; 137 int fs_len; 138 }; 139 140 /** 141 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings 142 * @update_fifo: Update FIFO configuration callback. 143 * @read_fifo: Read FIFO callback. 144 * @fifo_th: FIFO threshold register info (addr + mask). 145 * @fifo_diff: FIFO diff status register info (addr + mask). 146 * @th_wl: FIFO threshold word length. 147 */ 148 struct st_lsm6dsx_fifo_ops { 149 int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable); 150 int (*read_fifo)(struct st_lsm6dsx_hw *hw); 151 struct { 152 u8 addr; 153 u16 mask; 154 } fifo_th; 155 struct { 156 u8 addr; 157 u16 mask; 158 } fifo_diff; 159 u8 th_wl; 160 }; 161 162 /** 163 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings 164 * @timer_en: Hw timer enable register info (addr + mask). 165 * @hr_timer: Hw timer resolution register info (addr + mask). 166 * @fifo_en: Hw timer FIFO enable register info (addr + mask). 167 * @decimator: Hw timer FIFO decimator register info (addr + mask). 168 * @freq_fine: Difference in % of ODR with respect to the typical. 169 */ 170 struct st_lsm6dsx_hw_ts_settings { 171 struct st_lsm6dsx_reg timer_en; 172 struct st_lsm6dsx_reg hr_timer; 173 struct st_lsm6dsx_reg fifo_en; 174 struct st_lsm6dsx_reg decimator; 175 u8 freq_fine; 176 }; 177 178 /** 179 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings 180 * @page_mux: register page mux info (addr + mask). 181 * @master_en: master config register info (addr + mask). 182 * @pullup_en: i2c controller pull-up register info (addr + mask). 183 * @aux_sens: aux sensor register info (addr + mask). 184 * @wr_once: write_once register info (addr + mask). 185 * @emb_func: embedded function register info (addr + mask). 186 * @num_ext_dev: max number of slave devices. 187 * @shub_out: sensor hub first output register info. 188 * @slv0_addr: slave0 address in secondary page. 189 * @dw_slv0_addr: slave0 write register address in secondary page. 190 * @batch_en: Enable/disable FIFO batching. 191 * @pause: controller pause value. 192 */ 193 struct st_lsm6dsx_shub_settings { 194 struct st_lsm6dsx_reg page_mux; 195 struct { 196 bool sec_page; 197 u8 addr; 198 u8 mask; 199 } master_en; 200 struct { 201 bool sec_page; 202 u8 addr; 203 u8 mask; 204 } pullup_en; 205 struct st_lsm6dsx_reg aux_sens; 206 struct st_lsm6dsx_reg wr_once; 207 struct st_lsm6dsx_reg emb_func; 208 u8 num_ext_dev; 209 struct { 210 bool sec_page; 211 u8 addr; 212 } shub_out; 213 u8 slv0_addr; 214 u8 dw_slv0_addr; 215 u8 batch_en; 216 u8 pause; 217 }; 218 219 struct st_lsm6dsx_event_settings { 220 struct st_lsm6dsx_reg enable_reg; 221 struct st_lsm6dsx_reg wakeup_reg; 222 u8 wakeup_src_reg; 223 u8 wakeup_src_status_mask; 224 u8 wakeup_src_z_mask; 225 u8 wakeup_src_y_mask; 226 u8 wakeup_src_x_mask; 227 }; 228 229 enum st_lsm6dsx_ext_sensor_id { 230 ST_LSM6DSX_ID_MAGN, 231 }; 232 233 /** 234 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings 235 * @i2c_addr: I2c slave address list. 236 * @wai: Wai address info. 237 * @id: external sensor id. 238 * @odr_table: Output data rate of the sensor [Hz]. 239 * @fs_table: Configured sensor sensitivity table depending on full scale. 240 * @temp_comp: Temperature compensation register info (addr + mask). 241 * @pwr_table: Power on register info (addr + mask). 242 * @off_canc: Offset cancellation register info (addr + mask). 243 * @bdu: Block data update register info (addr + mask). 244 * @out: Output register info. 245 */ 246 struct st_lsm6dsx_ext_dev_settings { 247 u8 i2c_addr[2]; 248 struct { 249 u8 addr; 250 u8 val; 251 } wai; 252 enum st_lsm6dsx_ext_sensor_id id; 253 struct st_lsm6dsx_odr_table_entry odr_table; 254 struct st_lsm6dsx_fs_table_entry fs_table; 255 struct st_lsm6dsx_reg temp_comp; 256 struct { 257 struct st_lsm6dsx_reg reg; 258 u8 off_val; 259 u8 on_val; 260 } pwr_table; 261 struct st_lsm6dsx_reg off_canc; 262 struct st_lsm6dsx_reg bdu; 263 struct { 264 u8 addr; 265 u8 len; 266 } out; 267 }; 268 269 /** 270 * struct st_lsm6dsx_settings - ST IMU sensor settings 271 * @reset: register address for reset. 272 * @boot: register address for boot. 273 * @bdu: register address for Block Data Update. 274 * @max_fifo_size: Sensor max fifo length in FIFO words. 275 * @id: List of hw id/device name supported by the driver configuration. 276 * @channels: IIO channels supported by the device. 277 * @irq_config: interrupts related registers. 278 * @drdy_mask: register info for data-ready mask (addr + mask). 279 * @odr_table: Hw sensors odr table (Hz + val). 280 * @fs_table: Hw sensors gain table (gain + val). 281 * @decimator: List of decimator register info (addr + mask). 282 * @batch: List of FIFO batching register info (addr + mask). 283 * @fifo_ops: Sensor hw FIFO parameters. 284 * @ts_settings: Hw timer related settings. 285 * @shub_settings: i2c controller related settings. 286 */ 287 struct st_lsm6dsx_settings { 288 struct st_lsm6dsx_reg reset; 289 struct st_lsm6dsx_reg boot; 290 struct st_lsm6dsx_reg bdu; 291 u16 max_fifo_size; 292 struct { 293 enum st_lsm6dsx_hw_id hw_id; 294 const char *name; 295 u8 wai; 296 } id[ST_LSM6DSX_MAX_ID]; 297 struct { 298 const struct iio_chan_spec *chan; 299 int len; 300 } channels[2]; 301 struct { 302 struct st_lsm6dsx_reg irq1; 303 struct st_lsm6dsx_reg irq2; 304 struct st_lsm6dsx_reg irq1_func; 305 struct st_lsm6dsx_reg irq2_func; 306 struct st_lsm6dsx_reg lir; 307 struct st_lsm6dsx_reg clear_on_read; 308 struct st_lsm6dsx_reg hla; 309 struct st_lsm6dsx_reg od; 310 } irq_config; 311 struct st_lsm6dsx_reg drdy_mask; 312 struct st_lsm6dsx_odr_table_entry odr_table[2]; 313 struct st_lsm6dsx_fs_table_entry fs_table[2]; 314 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID]; 315 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID]; 316 struct st_lsm6dsx_fifo_ops fifo_ops; 317 struct st_lsm6dsx_hw_ts_settings ts_settings; 318 struct st_lsm6dsx_shub_settings shub_settings; 319 struct st_lsm6dsx_event_settings event_settings; 320 }; 321 322 enum st_lsm6dsx_sensor_id { 323 ST_LSM6DSX_ID_GYRO, 324 ST_LSM6DSX_ID_ACC, 325 ST_LSM6DSX_ID_EXT0, 326 ST_LSM6DSX_ID_EXT1, 327 ST_LSM6DSX_ID_EXT2, 328 ST_LSM6DSX_ID_MAX, 329 }; 330 331 enum st_lsm6dsx_fifo_mode { 332 ST_LSM6DSX_FIFO_BYPASS = 0x0, 333 ST_LSM6DSX_FIFO_CONT = 0x6, 334 }; 335 336 /** 337 * struct st_lsm6dsx_sensor - ST IMU sensor instance 338 * @name: Sensor name. 339 * @id: Sensor identifier. 340 * @hw: Pointer to instance of struct st_lsm6dsx_hw. 341 * @gain: Configured sensor sensitivity. 342 * @odr: Output data rate of the sensor [Hz]. 343 * @watermark: Sensor watermark level. 344 * @decimator: Sensor decimation factor. 345 * @sip: Number of samples in a given pattern. 346 * @ts_ref: Sensor timestamp reference for hw one. 347 * @ext_info: Sensor settings if it is connected to i2c controller 348 */ 349 struct st_lsm6dsx_sensor { 350 char name[32]; 351 enum st_lsm6dsx_sensor_id id; 352 struct st_lsm6dsx_hw *hw; 353 354 u32 gain; 355 u32 odr; 356 357 u16 watermark; 358 u8 decimator; 359 u8 sip; 360 s64 ts_ref; 361 362 struct { 363 const struct st_lsm6dsx_ext_dev_settings *settings; 364 u32 slv_odr; 365 u8 addr; 366 } ext_info; 367 }; 368 369 /** 370 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance 371 * @dev: Pointer to instance of struct device (I2C or SPI). 372 * @regmap: Register map of the device. 373 * @regulators: VDD/VDDIO voltage regulators. 374 * @irq: Device interrupt line (I2C or SPI). 375 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO. 376 * @conf_lock: Mutex to prevent concurrent FIFO configuration update. 377 * @page_lock: Mutex to prevent concurrent memory page configuration. 378 * @suspend_mask: Suspended sensor bitmask. 379 * @enable_mask: Enabled sensor bitmask. 380 * @fifo_mask: Enabled hw FIFO bitmask. 381 * @ts_gain: Hw timestamp rate after internal calibration. 382 * @ts_sip: Total number of timestamp samples in a given pattern. 383 * @sip: Total number of samples (acc/gyro/ts) in a given pattern. 384 * @buff: Device read buffer. 385 * @irq_routing: pointer to interrupt routing configuration. 386 * @event_threshold: wakeup event threshold. 387 * @enable_event: enabled event bitmask. 388 * @iio_devs: Pointers to acc/gyro iio_dev instances. 389 * @settings: Pointer to the specific sensor settings in use. 390 * @orientation: sensor chip orientation relative to main hardware. 391 * @scan: Temporary buffers used to align data before iio_push_to_buffers() 392 */ 393 struct st_lsm6dsx_hw { 394 struct device *dev; 395 struct regmap *regmap; 396 struct regulator_bulk_data regulators[2]; 397 int irq; 398 399 struct mutex fifo_lock; 400 struct mutex conf_lock; 401 struct mutex page_lock; 402 403 u8 suspend_mask; 404 u8 enable_mask; 405 u8 fifo_mask; 406 s64 ts_gain; 407 u8 ts_sip; 408 u8 sip; 409 410 const struct st_lsm6dsx_reg *irq_routing; 411 u8 event_threshold; 412 u8 enable_event; 413 414 u8 *buff; 415 416 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX]; 417 418 const struct st_lsm6dsx_settings *settings; 419 420 struct iio_mount_matrix orientation; 421 /* Ensure natural alignment of buffer elements */ 422 struct { 423 __le16 channels[3]; 424 s64 ts __aligned(8); 425 } scan[3]; 426 }; 427 428 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = { 429 .type = IIO_EV_TYPE_THRESH, 430 .dir = IIO_EV_DIR_EITHER, 431 .mask_separate = BIT(IIO_EV_INFO_VALUE) | 432 BIT(IIO_EV_INFO_ENABLE) 433 }; 434 435 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = { 436 0x7, 0x0, 437 }; 438 439 extern const struct dev_pm_ops st_lsm6dsx_pm_ops; 440 441 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, 442 struct regmap *regmap); 443 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, 444 bool enable); 445 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw); 446 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val); 447 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, 448 u16 watermark); 449 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable); 450 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw); 451 int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw); 452 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw); 453 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw); 454 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val); 455 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name); 456 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable); 457 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable); 458 459 static inline int 460 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 461 unsigned int mask, unsigned int val) 462 { 463 int err; 464 465 mutex_lock(&hw->page_lock); 466 err = regmap_update_bits(hw->regmap, addr, mask, val); 467 mutex_unlock(&hw->page_lock); 468 469 return err; 470 } 471 472 static inline int 473 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 474 void *val, unsigned int len) 475 { 476 int err; 477 478 mutex_lock(&hw->page_lock); 479 err = regmap_bulk_read(hw->regmap, addr, val, len); 480 mutex_unlock(&hw->page_lock); 481 482 return err; 483 } 484 485 static inline int 486 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 487 unsigned int val) 488 { 489 int err; 490 491 mutex_lock(&hw->page_lock); 492 err = regmap_write(hw->regmap, addr, val); 493 mutex_unlock(&hw->page_lock); 494 495 return err; 496 } 497 498 static inline const struct iio_mount_matrix * 499 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev, 500 const struct iio_chan_spec *chan) 501 { 502 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); 503 struct st_lsm6dsx_hw *hw = sensor->hw; 504 505 return &hw->orientation; 506 } 507 508 static const 509 struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = { 510 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix), 511 { } 512 }; 513 514 #endif /* ST_LSM6DSX_H */ 515