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 37 enum st_lsm6dsx_hw_id { 38 ST_LSM6DS3_ID, 39 ST_LSM6DS3H_ID, 40 ST_LSM6DSL_ID, 41 ST_LSM6DSM_ID, 42 ST_ISM330DLC_ID, 43 ST_LSM6DSO_ID, 44 ST_ASM330LHH_ID, 45 ST_LSM6DSOX_ID, 46 ST_LSM6DSR_ID, 47 ST_LSM6DS3TRC_ID, 48 ST_ISM330DHCX_ID, 49 ST_LSM9DS1_ID, 50 ST_LSM6DS0_ID, 51 ST_LSM6DSRX_ID, 52 ST_LSM6DST_ID, 53 ST_LSM6DSOP_ID, 54 ST_ASM330LHHX_ID, 55 ST_LSM6DSTX_ID, 56 ST_LSM6DSX_MAX_ID, 57 }; 58 59 #define ST_LSM6DSX_BUFF_SIZE 512 60 #define ST_LSM6DSX_CHAN_SIZE 2 61 #define ST_LSM6DSX_SAMPLE_SIZE 6 62 #define ST_LSM6DSX_TAG_SIZE 1 63 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \ 64 ST_LSM6DSX_TAG_SIZE) 65 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \ 66 ST_LSM6DSX_SAMPLE_SIZE) 67 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \ 68 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE) 69 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask)) 70 71 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \ 72 { \ 73 .type = chan_type, \ 74 .address = addr, \ 75 .modified = 1, \ 76 .channel2 = mod, \ 77 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 78 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 79 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 80 .scan_index = scan_idx, \ 81 .scan_type = { \ 82 .sign = 's', \ 83 .realbits = 16, \ 84 .storagebits = 16, \ 85 .endianness = IIO_LE, \ 86 }, \ 87 .event_spec = &st_lsm6dsx_event, \ 88 .ext_info = st_lsm6dsx_accel_ext_info, \ 89 .num_event_specs = 1, \ 90 } 91 92 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \ 93 { \ 94 .type = chan_type, \ 95 .address = addr, \ 96 .modified = 1, \ 97 .channel2 = mod, \ 98 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 99 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 100 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 101 .scan_index = scan_idx, \ 102 .scan_type = { \ 103 .sign = 's', \ 104 .realbits = 16, \ 105 .storagebits = 16, \ 106 .endianness = IIO_LE, \ 107 }, \ 108 } 109 110 struct st_lsm6dsx_reg { 111 u8 addr; 112 u8 mask; 113 }; 114 115 struct st_lsm6dsx_sensor; 116 struct st_lsm6dsx_hw; 117 118 struct st_lsm6dsx_odr { 119 u32 milli_hz; 120 u8 val; 121 }; 122 123 #define ST_LSM6DSX_ODR_LIST_SIZE 8 124 struct st_lsm6dsx_odr_table_entry { 125 struct st_lsm6dsx_reg reg; 126 127 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE]; 128 int odr_len; 129 }; 130 131 struct st_lsm6dsx_fs { 132 u32 gain; 133 u8 val; 134 }; 135 136 #define ST_LSM6DSX_FS_LIST_SIZE 4 137 struct st_lsm6dsx_fs_table_entry { 138 struct st_lsm6dsx_reg reg; 139 140 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE]; 141 int fs_len; 142 }; 143 144 /** 145 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings 146 * @update_fifo: Update FIFO configuration callback. 147 * @read_fifo: Read FIFO callback. 148 * @fifo_th: FIFO threshold register info (addr + mask). 149 * @fifo_diff: FIFO diff status register info (addr + mask). 150 * @max_size: Sensor max fifo length in FIFO words. 151 * @th_wl: FIFO threshold word length. 152 */ 153 struct st_lsm6dsx_fifo_ops { 154 int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable); 155 int (*read_fifo)(struct st_lsm6dsx_hw *hw); 156 struct { 157 u8 addr; 158 u16 mask; 159 } fifo_th; 160 struct { 161 u8 addr; 162 u16 mask; 163 } fifo_diff; 164 u16 max_size; 165 u8 th_wl; 166 }; 167 168 /** 169 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings 170 * @timer_en: Hw timer enable register info (addr + mask). 171 * @hr_timer: Hw timer resolution register info (addr + mask). 172 * @fifo_en: Hw timer FIFO enable register info (addr + mask). 173 * @decimator: Hw timer FIFO decimator register info (addr + mask). 174 * @freq_fine: Difference in % of ODR with respect to the typical. 175 */ 176 struct st_lsm6dsx_hw_ts_settings { 177 struct st_lsm6dsx_reg timer_en; 178 struct st_lsm6dsx_reg hr_timer; 179 struct st_lsm6dsx_reg fifo_en; 180 struct st_lsm6dsx_reg decimator; 181 u8 freq_fine; 182 }; 183 184 /** 185 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings 186 * @page_mux: register page mux info (addr + mask). 187 * @master_en: master config register info (addr + mask). 188 * @pullup_en: i2c controller pull-up register info (addr + mask). 189 * @aux_sens: aux sensor register info (addr + mask). 190 * @wr_once: write_once register info (addr + mask). 191 * @emb_func: embedded function register info (addr + mask). 192 * @num_ext_dev: max number of slave devices. 193 * @shub_out: sensor hub first output register info. 194 * @slv0_addr: slave0 address in secondary page. 195 * @dw_slv0_addr: slave0 write register address in secondary page. 196 * @batch_en: Enable/disable FIFO batching. 197 * @pause: controller pause value. 198 */ 199 struct st_lsm6dsx_shub_settings { 200 struct st_lsm6dsx_reg page_mux; 201 struct { 202 bool sec_page; 203 u8 addr; 204 u8 mask; 205 } master_en; 206 struct { 207 bool sec_page; 208 u8 addr; 209 u8 mask; 210 } pullup_en; 211 struct st_lsm6dsx_reg aux_sens; 212 struct st_lsm6dsx_reg wr_once; 213 struct st_lsm6dsx_reg emb_func; 214 u8 num_ext_dev; 215 struct { 216 bool sec_page; 217 u8 addr; 218 } shub_out; 219 u8 slv0_addr; 220 u8 dw_slv0_addr; 221 u8 batch_en; 222 u8 pause; 223 }; 224 225 struct st_lsm6dsx_event_settings { 226 struct st_lsm6dsx_reg enable_reg; 227 struct st_lsm6dsx_reg wakeup_reg; 228 u8 wakeup_src_reg; 229 u8 wakeup_src_status_mask; 230 u8 wakeup_src_z_mask; 231 u8 wakeup_src_y_mask; 232 u8 wakeup_src_x_mask; 233 }; 234 235 enum st_lsm6dsx_ext_sensor_id { 236 ST_LSM6DSX_ID_MAGN, 237 }; 238 239 /** 240 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings 241 * @i2c_addr: I2c slave address list. 242 * @wai: Wai address info. 243 * @id: external sensor id. 244 * @odr_table: Output data rate of the sensor [Hz]. 245 * @fs_table: Configured sensor sensitivity table depending on full scale. 246 * @temp_comp: Temperature compensation register info (addr + mask). 247 * @pwr_table: Power on register info (addr + mask). 248 * @off_canc: Offset cancellation register info (addr + mask). 249 * @bdu: Block data update register info (addr + mask). 250 * @out: Output register info. 251 */ 252 struct st_lsm6dsx_ext_dev_settings { 253 u8 i2c_addr[2]; 254 struct { 255 u8 addr; 256 u8 val; 257 } wai; 258 enum st_lsm6dsx_ext_sensor_id id; 259 struct st_lsm6dsx_odr_table_entry odr_table; 260 struct st_lsm6dsx_fs_table_entry fs_table; 261 struct st_lsm6dsx_reg temp_comp; 262 struct { 263 struct st_lsm6dsx_reg reg; 264 u8 off_val; 265 u8 on_val; 266 } pwr_table; 267 struct st_lsm6dsx_reg off_canc; 268 struct st_lsm6dsx_reg bdu; 269 struct { 270 u8 addr; 271 u8 len; 272 } out; 273 }; 274 275 /** 276 * struct st_lsm6dsx_settings - ST IMU sensor settings 277 * @reset: register address for reset. 278 * @boot: register address for boot. 279 * @bdu: register address for Block Data Update. 280 * @id: List of hw id/device name supported by the driver configuration. 281 * @channels: IIO channels supported by the device. 282 * @irq_config: interrupts related registers. 283 * @drdy_mask: register info for data-ready mask (addr + mask). 284 * @odr_table: Hw sensors odr table (Hz + val). 285 * @fs_table: Hw sensors gain table (gain + val). 286 * @decimator: List of decimator register info (addr + mask). 287 * @batch: List of FIFO batching register info (addr + mask). 288 * @fifo_ops: Sensor hw FIFO parameters. 289 * @ts_settings: Hw timer related settings. 290 * @shub_settings: i2c controller related settings. 291 */ 292 struct st_lsm6dsx_settings { 293 struct st_lsm6dsx_reg reset; 294 struct st_lsm6dsx_reg boot; 295 struct st_lsm6dsx_reg bdu; 296 struct { 297 enum st_lsm6dsx_hw_id hw_id; 298 const char *name; 299 u8 wai; 300 } id[ST_LSM6DSX_MAX_ID]; 301 struct { 302 const struct iio_chan_spec *chan; 303 int len; 304 } channels[2]; 305 struct { 306 struct st_lsm6dsx_reg irq1; 307 struct st_lsm6dsx_reg irq2; 308 struct st_lsm6dsx_reg irq1_func; 309 struct st_lsm6dsx_reg irq2_func; 310 struct st_lsm6dsx_reg lir; 311 struct st_lsm6dsx_reg clear_on_read; 312 struct st_lsm6dsx_reg hla; 313 struct st_lsm6dsx_reg od; 314 } irq_config; 315 struct st_lsm6dsx_reg drdy_mask; 316 struct st_lsm6dsx_odr_table_entry odr_table[2]; 317 struct st_lsm6dsx_fs_table_entry fs_table[2]; 318 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID]; 319 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID]; 320 struct st_lsm6dsx_fifo_ops fifo_ops; 321 struct st_lsm6dsx_hw_ts_settings ts_settings; 322 struct st_lsm6dsx_shub_settings shub_settings; 323 struct st_lsm6dsx_event_settings event_settings; 324 }; 325 326 enum st_lsm6dsx_sensor_id { 327 ST_LSM6DSX_ID_GYRO, 328 ST_LSM6DSX_ID_ACC, 329 ST_LSM6DSX_ID_EXT0, 330 ST_LSM6DSX_ID_EXT1, 331 ST_LSM6DSX_ID_EXT2, 332 ST_LSM6DSX_ID_MAX, 333 }; 334 335 enum st_lsm6dsx_fifo_mode { 336 ST_LSM6DSX_FIFO_BYPASS = 0x0, 337 ST_LSM6DSX_FIFO_CONT = 0x6, 338 }; 339 340 /** 341 * struct st_lsm6dsx_sensor - ST IMU sensor instance 342 * @name: Sensor name. 343 * @id: Sensor identifier. 344 * @hw: Pointer to instance of struct st_lsm6dsx_hw. 345 * @gain: Configured sensor sensitivity. 346 * @odr: Output data rate of the sensor [Hz]. 347 * @watermark: Sensor watermark level. 348 * @decimator: Sensor decimation factor. 349 * @sip: Number of samples in a given pattern. 350 * @ts_ref: Sensor timestamp reference for hw one. 351 * @ext_info: Sensor settings if it is connected to i2c controller 352 */ 353 struct st_lsm6dsx_sensor { 354 char name[32]; 355 enum st_lsm6dsx_sensor_id id; 356 struct st_lsm6dsx_hw *hw; 357 358 u32 gain; 359 u32 odr; 360 361 u16 watermark; 362 u8 decimator; 363 u8 sip; 364 s64 ts_ref; 365 366 struct { 367 const struct st_lsm6dsx_ext_dev_settings *settings; 368 u32 slv_odr; 369 u8 addr; 370 } ext_info; 371 }; 372 373 /** 374 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance 375 * @dev: Pointer to instance of struct device (I2C or SPI). 376 * @regmap: Register map of the device. 377 * @regulators: VDD/VDDIO voltage regulators. 378 * @irq: Device interrupt line (I2C or SPI). 379 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO. 380 * @conf_lock: Mutex to prevent concurrent FIFO configuration update. 381 * @page_lock: Mutex to prevent concurrent memory page configuration. 382 * @suspend_mask: Suspended sensor bitmask. 383 * @enable_mask: Enabled sensor bitmask. 384 * @fifo_mask: Enabled hw FIFO bitmask. 385 * @ts_gain: Hw timestamp rate after internal calibration. 386 * @ts_sip: Total number of timestamp samples in a given pattern. 387 * @sip: Total number of samples (acc/gyro/ts) in a given pattern. 388 * @buff: Device read buffer. 389 * @irq_routing: pointer to interrupt routing configuration. 390 * @event_threshold: wakeup event threshold. 391 * @enable_event: enabled event bitmask. 392 * @iio_devs: Pointers to acc/gyro iio_dev instances. 393 * @settings: Pointer to the specific sensor settings in use. 394 * @orientation: sensor chip orientation relative to main hardware. 395 * @scan: Temporary buffers used to align data before iio_push_to_buffers() 396 */ 397 struct st_lsm6dsx_hw { 398 struct device *dev; 399 struct regmap *regmap; 400 struct regulator_bulk_data regulators[2]; 401 int irq; 402 403 struct mutex fifo_lock; 404 struct mutex conf_lock; 405 struct mutex page_lock; 406 407 u8 suspend_mask; 408 u8 enable_mask; 409 u8 fifo_mask; 410 s64 ts_gain; 411 u8 ts_sip; 412 u8 sip; 413 414 const struct st_lsm6dsx_reg *irq_routing; 415 u8 event_threshold; 416 u8 enable_event; 417 418 u8 *buff; 419 420 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX]; 421 422 const struct st_lsm6dsx_settings *settings; 423 424 struct iio_mount_matrix orientation; 425 /* Ensure natural alignment of buffer elements */ 426 struct { 427 __le16 channels[3]; 428 s64 ts __aligned(8); 429 } scan[3]; 430 }; 431 432 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = { 433 .type = IIO_EV_TYPE_THRESH, 434 .dir = IIO_EV_DIR_EITHER, 435 .mask_separate = BIT(IIO_EV_INFO_VALUE) | 436 BIT(IIO_EV_INFO_ENABLE) 437 }; 438 439 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = { 440 0x7, 0x0, 441 }; 442 443 extern const struct dev_pm_ops st_lsm6dsx_pm_ops; 444 445 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, 446 struct regmap *regmap); 447 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, 448 bool enable); 449 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw); 450 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val); 451 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, 452 u16 watermark); 453 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable); 454 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw); 455 int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw); 456 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw); 457 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw); 458 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val); 459 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name); 460 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable); 461 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable); 462 463 static inline int 464 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 465 unsigned int mask, unsigned int val) 466 { 467 int err; 468 469 mutex_lock(&hw->page_lock); 470 err = regmap_update_bits(hw->regmap, addr, mask, val); 471 mutex_unlock(&hw->page_lock); 472 473 return err; 474 } 475 476 static inline int 477 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 478 void *val, unsigned int len) 479 { 480 int err; 481 482 mutex_lock(&hw->page_lock); 483 err = regmap_bulk_read(hw->regmap, addr, val, len); 484 mutex_unlock(&hw->page_lock); 485 486 return err; 487 } 488 489 static inline int 490 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 491 unsigned int val) 492 { 493 int err; 494 495 mutex_lock(&hw->page_lock); 496 err = regmap_write(hw->regmap, addr, val); 497 mutex_unlock(&hw->page_lock); 498 499 return err; 500 } 501 502 static inline const struct iio_mount_matrix * 503 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev, 504 const struct iio_chan_spec *chan) 505 { 506 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); 507 struct st_lsm6dsx_hw *hw = sensor->hw; 508 509 return &hw->orientation; 510 } 511 512 static const 513 struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = { 514 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix), 515 { } 516 }; 517 518 #endif /* ST_LSM6DSX_H */ 519