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