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 17 #define ST_LSM6DS3_DEV_NAME "lsm6ds3" 18 #define ST_LSM6DS3H_DEV_NAME "lsm6ds3h" 19 #define ST_LSM6DSL_DEV_NAME "lsm6dsl" 20 #define ST_LSM6DSM_DEV_NAME "lsm6dsm" 21 #define ST_ISM330DLC_DEV_NAME "ism330dlc" 22 #define ST_LSM6DSO_DEV_NAME "lsm6dso" 23 #define ST_ASM330LHH_DEV_NAME "asm330lhh" 24 #define ST_LSM6DSOX_DEV_NAME "lsm6dsox" 25 #define ST_LSM6DSR_DEV_NAME "lsm6dsr" 26 #define ST_LSM6DS3TRC_DEV_NAME "lsm6ds3tr-c" 27 #define ST_ISM330DHCX_DEV_NAME "ism330dhcx" 28 #define ST_LSM9DS1_DEV_NAME "lsm9ds1-imu" 29 #define ST_LSM6DS0_DEV_NAME "lsm6ds0" 30 #define ST_LSM6DSRX_DEV_NAME "lsm6dsrx" 31 32 enum st_lsm6dsx_hw_id { 33 ST_LSM6DS3_ID, 34 ST_LSM6DS3H_ID, 35 ST_LSM6DSL_ID, 36 ST_LSM6DSM_ID, 37 ST_ISM330DLC_ID, 38 ST_LSM6DSO_ID, 39 ST_ASM330LHH_ID, 40 ST_LSM6DSOX_ID, 41 ST_LSM6DSR_ID, 42 ST_LSM6DS3TRC_ID, 43 ST_ISM330DHCX_ID, 44 ST_LSM9DS1_ID, 45 ST_LSM6DS0_ID, 46 ST_LSM6DSRX_ID, 47 ST_LSM6DSX_MAX_ID, 48 }; 49 50 #define ST_LSM6DSX_BUFF_SIZE 512 51 #define ST_LSM6DSX_CHAN_SIZE 2 52 #define ST_LSM6DSX_SAMPLE_SIZE 6 53 #define ST_LSM6DSX_TAG_SIZE 1 54 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \ 55 ST_LSM6DSX_TAG_SIZE) 56 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \ 57 ST_LSM6DSX_SAMPLE_SIZE) 58 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \ 59 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE) 60 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask)) 61 62 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \ 63 { \ 64 .type = chan_type, \ 65 .address = addr, \ 66 .modified = 1, \ 67 .channel2 = mod, \ 68 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 69 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 70 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 71 .scan_index = scan_idx, \ 72 .scan_type = { \ 73 .sign = 's', \ 74 .realbits = 16, \ 75 .storagebits = 16, \ 76 .endianness = IIO_LE, \ 77 }, \ 78 .event_spec = &st_lsm6dsx_event, \ 79 .ext_info = st_lsm6dsx_accel_ext_info, \ 80 .num_event_specs = 1, \ 81 } 82 83 #define ST_LSM6DSX_CHANNEL(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 } 100 101 struct st_lsm6dsx_reg { 102 u8 addr; 103 u8 mask; 104 }; 105 106 struct st_lsm6dsx_sensor; 107 struct st_lsm6dsx_hw; 108 109 struct st_lsm6dsx_odr { 110 u32 milli_hz; 111 u8 val; 112 }; 113 114 #define ST_LSM6DSX_ODR_LIST_SIZE 8 115 struct st_lsm6dsx_odr_table_entry { 116 struct st_lsm6dsx_reg reg; 117 118 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE]; 119 int odr_len; 120 }; 121 122 struct st_lsm6dsx_fs { 123 u32 gain; 124 u8 val; 125 }; 126 127 #define ST_LSM6DSX_FS_LIST_SIZE 4 128 struct st_lsm6dsx_fs_table_entry { 129 struct st_lsm6dsx_reg reg; 130 131 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE]; 132 int fs_len; 133 }; 134 135 /** 136 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings 137 * @update_fifo: Update FIFO configuration callback. 138 * @read_fifo: Read FIFO callback. 139 * @fifo_th: FIFO threshold register info (addr + mask). 140 * @fifo_diff: FIFO diff status register info (addr + mask). 141 * @th_wl: FIFO threshold word length. 142 */ 143 struct st_lsm6dsx_fifo_ops { 144 int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable); 145 int (*read_fifo)(struct st_lsm6dsx_hw *hw); 146 struct { 147 u8 addr; 148 u16 mask; 149 } fifo_th; 150 struct { 151 u8 addr; 152 u16 mask; 153 } fifo_diff; 154 u8 th_wl; 155 }; 156 157 /** 158 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings 159 * @timer_en: Hw timer enable register info (addr + mask). 160 * @hr_timer: Hw timer resolution register info (addr + mask). 161 * @fifo_en: Hw timer FIFO enable register info (addr + mask). 162 * @decimator: Hw timer FIFO decimator register info (addr + mask). 163 * @freq_fine: Difference in % of ODR with respect to the typical. 164 */ 165 struct st_lsm6dsx_hw_ts_settings { 166 struct st_lsm6dsx_reg timer_en; 167 struct st_lsm6dsx_reg hr_timer; 168 struct st_lsm6dsx_reg fifo_en; 169 struct st_lsm6dsx_reg decimator; 170 u8 freq_fine; 171 }; 172 173 /** 174 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings 175 * @page_mux: register page mux info (addr + mask). 176 * @master_en: master config register info (addr + mask). 177 * @pullup_en: i2c controller pull-up register info (addr + mask). 178 * @aux_sens: aux sensor register info (addr + mask). 179 * @wr_once: write_once register info (addr + mask). 180 * @emb_func: embedded function register info (addr + mask). 181 * @num_ext_dev: max number of slave devices. 182 * @shub_out: sensor hub first output register info. 183 * @slv0_addr: slave0 address in secondary page. 184 * @dw_slv0_addr: slave0 write register address in secondary page. 185 * @batch_en: Enable/disable FIFO batching. 186 * @pause: controller pause value. 187 */ 188 struct st_lsm6dsx_shub_settings { 189 struct st_lsm6dsx_reg page_mux; 190 struct { 191 bool sec_page; 192 u8 addr; 193 u8 mask; 194 } master_en; 195 struct { 196 bool sec_page; 197 u8 addr; 198 u8 mask; 199 } pullup_en; 200 struct st_lsm6dsx_reg aux_sens; 201 struct st_lsm6dsx_reg wr_once; 202 struct st_lsm6dsx_reg emb_func; 203 u8 num_ext_dev; 204 struct { 205 bool sec_page; 206 u8 addr; 207 } shub_out; 208 u8 slv0_addr; 209 u8 dw_slv0_addr; 210 u8 batch_en; 211 u8 pause; 212 }; 213 214 struct st_lsm6dsx_event_settings { 215 struct st_lsm6dsx_reg enable_reg; 216 struct st_lsm6dsx_reg wakeup_reg; 217 u8 wakeup_src_reg; 218 u8 wakeup_src_status_mask; 219 u8 wakeup_src_z_mask; 220 u8 wakeup_src_y_mask; 221 u8 wakeup_src_x_mask; 222 }; 223 224 enum st_lsm6dsx_ext_sensor_id { 225 ST_LSM6DSX_ID_MAGN, 226 }; 227 228 /** 229 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings 230 * @i2c_addr: I2c slave address list. 231 * @wai: Wai address info. 232 * @id: external sensor id. 233 * @odr_table: Output data rate of the sensor [Hz]. 234 * @fs_table: Configured sensor sensitivity table depending on full scale. 235 * @temp_comp: Temperature compensation register info (addr + mask). 236 * @pwr_table: Power on register info (addr + mask). 237 * @off_canc: Offset cancellation register info (addr + mask). 238 * @bdu: Block data update register info (addr + mask). 239 * @out: Output register info. 240 */ 241 struct st_lsm6dsx_ext_dev_settings { 242 u8 i2c_addr[2]; 243 struct { 244 u8 addr; 245 u8 val; 246 } wai; 247 enum st_lsm6dsx_ext_sensor_id id; 248 struct st_lsm6dsx_odr_table_entry odr_table; 249 struct st_lsm6dsx_fs_table_entry fs_table; 250 struct st_lsm6dsx_reg temp_comp; 251 struct { 252 struct st_lsm6dsx_reg reg; 253 u8 off_val; 254 u8 on_val; 255 } pwr_table; 256 struct st_lsm6dsx_reg off_canc; 257 struct st_lsm6dsx_reg bdu; 258 struct { 259 u8 addr; 260 u8 len; 261 } out; 262 }; 263 264 /** 265 * struct st_lsm6dsx_settings - ST IMU sensor settings 266 * @wai: Sensor WhoAmI default value. 267 * @reset: register address for reset. 268 * @boot: register address for boot. 269 * @bdu: register address for Block Data Update. 270 * @max_fifo_size: Sensor max fifo length in FIFO words. 271 * @id: List of hw id/device name supported by the driver configuration. 272 * @channels: IIO channels supported by the device. 273 * @irq_config: interrupts related registers. 274 * @drdy_mask: register info for data-ready mask (addr + mask). 275 * @odr_table: Hw sensors odr table (Hz + val). 276 * @fs_table: Hw sensors gain table (gain + val). 277 * @decimator: List of decimator register info (addr + mask). 278 * @batch: List of FIFO batching register info (addr + mask). 279 * @fifo_ops: Sensor hw FIFO parameters. 280 * @ts_settings: Hw timer related settings. 281 * @shub_settings: i2c controller related settings. 282 */ 283 struct st_lsm6dsx_settings { 284 u8 wai; 285 struct st_lsm6dsx_reg reset; 286 struct st_lsm6dsx_reg boot; 287 struct st_lsm6dsx_reg bdu; 288 u16 max_fifo_size; 289 struct { 290 enum st_lsm6dsx_hw_id hw_id; 291 const char *name; 292 } id[ST_LSM6DSX_MAX_ID]; 293 struct { 294 const struct iio_chan_spec *chan; 295 int len; 296 } channels[2]; 297 struct { 298 struct st_lsm6dsx_reg irq1; 299 struct st_lsm6dsx_reg irq2; 300 struct st_lsm6dsx_reg irq1_func; 301 struct st_lsm6dsx_reg irq2_func; 302 struct st_lsm6dsx_reg lir; 303 struct st_lsm6dsx_reg clear_on_read; 304 struct st_lsm6dsx_reg hla; 305 struct st_lsm6dsx_reg od; 306 } irq_config; 307 struct st_lsm6dsx_reg drdy_mask; 308 struct st_lsm6dsx_odr_table_entry odr_table[2]; 309 struct st_lsm6dsx_fs_table_entry fs_table[2]; 310 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID]; 311 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID]; 312 struct st_lsm6dsx_fifo_ops fifo_ops; 313 struct st_lsm6dsx_hw_ts_settings ts_settings; 314 struct st_lsm6dsx_shub_settings shub_settings; 315 struct st_lsm6dsx_event_settings event_settings; 316 }; 317 318 enum st_lsm6dsx_sensor_id { 319 ST_LSM6DSX_ID_GYRO, 320 ST_LSM6DSX_ID_ACC, 321 ST_LSM6DSX_ID_EXT0, 322 ST_LSM6DSX_ID_EXT1, 323 ST_LSM6DSX_ID_EXT2, 324 ST_LSM6DSX_ID_MAX, 325 }; 326 327 enum st_lsm6dsx_fifo_mode { 328 ST_LSM6DSX_FIFO_BYPASS = 0x0, 329 ST_LSM6DSX_FIFO_CONT = 0x6, 330 }; 331 332 /** 333 * struct st_lsm6dsx_sensor - ST IMU sensor instance 334 * @name: Sensor name. 335 * @id: Sensor identifier. 336 * @hw: Pointer to instance of struct st_lsm6dsx_hw. 337 * @gain: Configured sensor sensitivity. 338 * @odr: Output data rate of the sensor [Hz]. 339 * @watermark: Sensor watermark level. 340 * @decimator: Sensor decimation factor. 341 * @sip: Number of samples in a given pattern. 342 * @ts_ref: Sensor timestamp reference for hw one. 343 * @ext_info: Sensor settings if it is connected to i2c controller 344 */ 345 struct st_lsm6dsx_sensor { 346 char name[32]; 347 enum st_lsm6dsx_sensor_id id; 348 struct st_lsm6dsx_hw *hw; 349 350 u32 gain; 351 u32 odr; 352 353 u16 watermark; 354 u8 decimator; 355 u8 sip; 356 s64 ts_ref; 357 358 struct { 359 const struct st_lsm6dsx_ext_dev_settings *settings; 360 u32 slv_odr; 361 u8 addr; 362 } ext_info; 363 }; 364 365 /** 366 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance 367 * @dev: Pointer to instance of struct device (I2C or SPI). 368 * @regmap: Register map of the device. 369 * @irq: Device interrupt line (I2C or SPI). 370 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO. 371 * @conf_lock: Mutex to prevent concurrent FIFO configuration update. 372 * @page_lock: Mutex to prevent concurrent memory page configuration. 373 * @suspend_mask: Suspended sensor bitmask. 374 * @enable_mask: Enabled sensor bitmask. 375 * @fifo_mask: Enabled hw FIFO bitmask. 376 * @ts_gain: Hw timestamp rate after internal calibration. 377 * @ts_sip: Total number of timestamp samples in a given pattern. 378 * @sip: Total number of samples (acc/gyro/ts) in a given pattern. 379 * @buff: Device read buffer. 380 * @irq_routing: pointer to interrupt routing configuration. 381 * @event_threshold: wakeup event threshold. 382 * @enable_event: enabled event bitmask. 383 * @iio_devs: Pointers to acc/gyro iio_dev instances. 384 * @settings: Pointer to the specific sensor settings in use. 385 * @orientation: sensor chip orientation relative to main hardware. 386 * @scan: Temporary buffers used to align data before iio_push_to_buffers() 387 */ 388 struct st_lsm6dsx_hw { 389 struct device *dev; 390 struct regmap *regmap; 391 int irq; 392 393 struct mutex fifo_lock; 394 struct mutex conf_lock; 395 struct mutex page_lock; 396 397 u8 suspend_mask; 398 u8 enable_mask; 399 u8 fifo_mask; 400 s64 ts_gain; 401 u8 ts_sip; 402 u8 sip; 403 404 const struct st_lsm6dsx_reg *irq_routing; 405 u8 event_threshold; 406 u8 enable_event; 407 408 u8 *buff; 409 410 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX]; 411 412 const struct st_lsm6dsx_settings *settings; 413 414 struct iio_mount_matrix orientation; 415 /* Ensure natural alignment of buffer elements */ 416 struct { 417 __le16 channels[3]; 418 s64 ts __aligned(8); 419 } scan[3]; 420 }; 421 422 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = { 423 .type = IIO_EV_TYPE_THRESH, 424 .dir = IIO_EV_DIR_EITHER, 425 .mask_separate = BIT(IIO_EV_INFO_VALUE) | 426 BIT(IIO_EV_INFO_ENABLE) 427 }; 428 429 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = { 430 0x7, 0x0, 431 }; 432 433 extern const struct dev_pm_ops st_lsm6dsx_pm_ops; 434 435 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, 436 struct regmap *regmap); 437 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, 438 bool enable); 439 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw); 440 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val); 441 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, 442 u16 watermark); 443 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable); 444 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw); 445 int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw); 446 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw); 447 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw); 448 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val); 449 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name); 450 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable); 451 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable); 452 453 static inline int 454 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 455 unsigned int mask, unsigned int val) 456 { 457 int err; 458 459 mutex_lock(&hw->page_lock); 460 err = regmap_update_bits(hw->regmap, addr, mask, val); 461 mutex_unlock(&hw->page_lock); 462 463 return err; 464 } 465 466 static inline int 467 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 468 void *val, unsigned int len) 469 { 470 int err; 471 472 mutex_lock(&hw->page_lock); 473 err = regmap_bulk_read(hw->regmap, addr, val, len); 474 mutex_unlock(&hw->page_lock); 475 476 return err; 477 } 478 479 static inline int 480 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 481 unsigned int val) 482 { 483 int err; 484 485 mutex_lock(&hw->page_lock); 486 err = regmap_write(hw->regmap, addr, val); 487 mutex_unlock(&hw->page_lock); 488 489 return err; 490 } 491 492 static inline const struct iio_mount_matrix * 493 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev, 494 const struct iio_chan_spec *chan) 495 { 496 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); 497 struct st_lsm6dsx_hw *hw = sensor->hw; 498 499 return &hw->orientation; 500 } 501 502 static const 503 struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = { 504 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix), 505 { } 506 }; 507 508 #endif /* ST_LSM6DSX_H */ 509