1 /* 2 * STMicroelectronics st_lsm6dsx sensor driver 3 * 4 * Copyright 2016 STMicroelectronics Inc. 5 * 6 * Lorenzo Bianconi <lorenzo.bianconi@st.com> 7 * Denis Ciocca <denis.ciocca@st.com> 8 * 9 * Licensed under the GPL-2. 10 */ 11 12 #ifndef ST_LSM6DSX_H 13 #define ST_LSM6DSX_H 14 15 #include <linux/device.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 24 enum st_lsm6dsx_hw_id { 25 ST_LSM6DS3_ID, 26 ST_LSM6DS3H_ID, 27 ST_LSM6DSL_ID, 28 ST_LSM6DSM_ID, 29 ST_ISM330DLC_ID, 30 ST_LSM6DSO_ID, 31 ST_LSM6DSX_MAX_ID, 32 }; 33 34 #define ST_LSM6DSX_BUFF_SIZE 512 35 #define ST_LSM6DSX_CHAN_SIZE 2 36 #define ST_LSM6DSX_SAMPLE_SIZE 6 37 #define ST_LSM6DSX_TAG_SIZE 1 38 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \ 39 ST_LSM6DSX_TAG_SIZE) 40 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \ 41 ST_LSM6DSX_SAMPLE_SIZE) 42 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \ 43 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE) 44 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask)) 45 46 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \ 47 { \ 48 .type = chan_type, \ 49 .address = addr, \ 50 .modified = 1, \ 51 .channel2 = mod, \ 52 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 53 BIT(IIO_CHAN_INFO_SCALE), \ 54 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 55 .scan_index = scan_idx, \ 56 .scan_type = { \ 57 .sign = 's', \ 58 .realbits = 16, \ 59 .storagebits = 16, \ 60 .endianness = IIO_LE, \ 61 }, \ 62 } 63 64 struct st_lsm6dsx_reg { 65 u8 addr; 66 u8 mask; 67 }; 68 69 struct st_lsm6dsx_hw; 70 71 struct st_lsm6dsx_odr { 72 u16 hz; 73 u8 val; 74 }; 75 76 #define ST_LSM6DSX_ODR_LIST_SIZE 6 77 struct st_lsm6dsx_odr_table_entry { 78 struct st_lsm6dsx_reg reg; 79 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE]; 80 }; 81 82 struct st_lsm6dsx_fs { 83 u32 gain; 84 u8 val; 85 }; 86 87 #define ST_LSM6DSX_FS_LIST_SIZE 4 88 struct st_lsm6dsx_fs_table_entry { 89 struct st_lsm6dsx_reg reg; 90 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE]; 91 }; 92 93 /** 94 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings 95 * @read_fifo: Read FIFO callback. 96 * @fifo_th: FIFO threshold register info (addr + mask). 97 * @fifo_diff: FIFO diff status register info (addr + mask). 98 * @th_wl: FIFO threshold word length. 99 */ 100 struct st_lsm6dsx_fifo_ops { 101 int (*read_fifo)(struct st_lsm6dsx_hw *hw); 102 struct { 103 u8 addr; 104 u16 mask; 105 } fifo_th; 106 struct { 107 u8 addr; 108 u16 mask; 109 } fifo_diff; 110 u8 th_wl; 111 }; 112 113 /** 114 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings 115 * @timer_en: Hw timer enable register info (addr + mask). 116 * @hr_timer: Hw timer resolution register info (addr + mask). 117 * @fifo_en: Hw timer FIFO enable register info (addr + mask). 118 * @decimator: Hw timer FIFO decimator register info (addr + mask). 119 */ 120 struct st_lsm6dsx_hw_ts_settings { 121 struct st_lsm6dsx_reg timer_en; 122 struct st_lsm6dsx_reg hr_timer; 123 struct st_lsm6dsx_reg fifo_en; 124 struct st_lsm6dsx_reg decimator; 125 }; 126 127 /** 128 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings 129 * @page_mux: register page mux info (addr + mask). 130 * @master_en: master config register info (addr + mask). 131 * @pullup_en: i2c controller pull-up register info (addr + mask). 132 * @aux_sens: aux sensor register info (addr + mask). 133 * @wr_once: write_once register info (addr + mask). 134 * @shub_out: sensor hub first output register info. 135 * @slv0_addr: slave0 address in secondary page. 136 * @dw_slv0_addr: slave0 write register address in secondary page. 137 * @batch_en: Enable/disable FIFO batching. 138 */ 139 struct st_lsm6dsx_shub_settings { 140 struct st_lsm6dsx_reg page_mux; 141 struct st_lsm6dsx_reg master_en; 142 struct st_lsm6dsx_reg pullup_en; 143 struct st_lsm6dsx_reg aux_sens; 144 struct st_lsm6dsx_reg wr_once; 145 u8 shub_out; 146 u8 slv0_addr; 147 u8 dw_slv0_addr; 148 u8 batch_en; 149 }; 150 151 enum st_lsm6dsx_ext_sensor_id { 152 ST_LSM6DSX_ID_MAGN, 153 }; 154 155 /** 156 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings 157 * @i2c_addr: I2c slave address list. 158 * @wai: Wai address info. 159 * @id: external sensor id. 160 * @odr: Output data rate of the sensor [Hz]. 161 * @gain: Configured sensor sensitivity. 162 * @temp_comp: Temperature compensation register info (addr + mask). 163 * @pwr_table: Power on register info (addr + mask). 164 * @off_canc: Offset cancellation register info (addr + mask). 165 * @bdu: Block data update register info (addr + mask). 166 * @out: Output register info. 167 */ 168 struct st_lsm6dsx_ext_dev_settings { 169 u8 i2c_addr[2]; 170 struct { 171 u8 addr; 172 u8 val; 173 } wai; 174 enum st_lsm6dsx_ext_sensor_id id; 175 struct st_lsm6dsx_odr_table_entry odr_table; 176 struct st_lsm6dsx_fs_table_entry fs_table; 177 struct st_lsm6dsx_reg temp_comp; 178 struct { 179 struct st_lsm6dsx_reg reg; 180 u8 off_val; 181 u8 on_val; 182 } pwr_table; 183 struct st_lsm6dsx_reg off_canc; 184 struct st_lsm6dsx_reg bdu; 185 struct { 186 u8 addr; 187 u8 len; 188 } out; 189 }; 190 191 /** 192 * struct st_lsm6dsx_settings - ST IMU sensor settings 193 * @wai: Sensor WhoAmI default value. 194 * @max_fifo_size: Sensor max fifo length in FIFO words. 195 * @id: List of hw id supported by the driver configuration. 196 * @decimator: List of decimator register info (addr + mask). 197 * @batch: List of FIFO batching register info (addr + mask). 198 * @fifo_ops: Sensor hw FIFO parameters. 199 * @ts_settings: Hw timer related settings. 200 * @shub_settings: i2c controller related settings. 201 */ 202 struct st_lsm6dsx_settings { 203 u8 wai; 204 u16 max_fifo_size; 205 enum st_lsm6dsx_hw_id id[ST_LSM6DSX_MAX_ID]; 206 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID]; 207 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID]; 208 struct st_lsm6dsx_fifo_ops fifo_ops; 209 struct st_lsm6dsx_hw_ts_settings ts_settings; 210 struct st_lsm6dsx_shub_settings shub_settings; 211 }; 212 213 enum st_lsm6dsx_sensor_id { 214 ST_LSM6DSX_ID_GYRO, 215 ST_LSM6DSX_ID_ACC, 216 ST_LSM6DSX_ID_EXT0, 217 ST_LSM6DSX_ID_EXT1, 218 ST_LSM6DSX_ID_EXT2, 219 ST_LSM6DSX_ID_MAX, 220 }; 221 222 enum st_lsm6dsx_fifo_mode { 223 ST_LSM6DSX_FIFO_BYPASS = 0x0, 224 ST_LSM6DSX_FIFO_CONT = 0x6, 225 }; 226 227 /** 228 * struct st_lsm6dsx_sensor - ST IMU sensor instance 229 * @name: Sensor name. 230 * @id: Sensor identifier. 231 * @hw: Pointer to instance of struct st_lsm6dsx_hw. 232 * @gain: Configured sensor sensitivity. 233 * @odr: Output data rate of the sensor [Hz]. 234 * @watermark: Sensor watermark level. 235 * @sip: Number of samples in a given pattern. 236 * @decimator: FIFO decimation factor. 237 * @ts_ref: Sensor timestamp reference for hw one. 238 * @ext_info: Sensor settings if it is connected to i2c controller 239 */ 240 struct st_lsm6dsx_sensor { 241 char name[32]; 242 enum st_lsm6dsx_sensor_id id; 243 struct st_lsm6dsx_hw *hw; 244 245 u32 gain; 246 u16 odr; 247 248 u16 watermark; 249 u8 sip; 250 u8 decimator; 251 s64 ts_ref; 252 253 struct { 254 const struct st_lsm6dsx_ext_dev_settings *settings; 255 u8 addr; 256 } ext_info; 257 }; 258 259 /** 260 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance 261 * @dev: Pointer to instance of struct device (I2C or SPI). 262 * @regmap: Register map of the device. 263 * @irq: Device interrupt line (I2C or SPI). 264 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO. 265 * @conf_lock: Mutex to prevent concurrent FIFO configuration update. 266 * @page_lock: Mutex to prevent concurrent memory page configuration. 267 * @fifo_mode: FIFO operating mode supported by the device. 268 * @enable_mask: Enabled sensor bitmask. 269 * @ts_sip: Total number of timestamp samples in a given pattern. 270 * @sip: Total number of samples (acc/gyro/ts) in a given pattern. 271 * @buff: Device read buffer. 272 * @iio_devs: Pointers to acc/gyro iio_dev instances. 273 * @settings: Pointer to the specific sensor settings in use. 274 */ 275 struct st_lsm6dsx_hw { 276 struct device *dev; 277 struct regmap *regmap; 278 int irq; 279 280 struct mutex fifo_lock; 281 struct mutex conf_lock; 282 struct mutex page_lock; 283 284 enum st_lsm6dsx_fifo_mode fifo_mode; 285 u8 enable_mask; 286 u8 ts_sip; 287 u8 sip; 288 289 u8 *buff; 290 291 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX]; 292 293 const struct st_lsm6dsx_settings *settings; 294 }; 295 296 static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0}; 297 extern const struct dev_pm_ops st_lsm6dsx_pm_ops; 298 299 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, const char *name, 300 struct regmap *regmap); 301 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, 302 bool enable); 303 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw); 304 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val); 305 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, 306 u16 watermark); 307 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw); 308 int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw, 309 enum st_lsm6dsx_fifo_mode fifo_mode); 310 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw); 311 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw); 312 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, u8 *val); 313 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name); 314 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable); 315 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable); 316 317 static inline int 318 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 319 unsigned int mask, unsigned int val) 320 { 321 int err; 322 323 mutex_lock(&hw->page_lock); 324 err = regmap_update_bits(hw->regmap, addr, mask, val); 325 mutex_unlock(&hw->page_lock); 326 327 return err; 328 } 329 330 static inline int 331 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 332 void *val, unsigned int len) 333 { 334 int err; 335 336 mutex_lock(&hw->page_lock); 337 err = regmap_bulk_read(hw->regmap, addr, val, len); 338 mutex_unlock(&hw->page_lock); 339 340 return err; 341 } 342 343 static inline int 344 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 345 unsigned int val) 346 { 347 int err; 348 349 mutex_lock(&hw->page_lock); 350 err = regmap_write(hw->regmap, addr, val); 351 mutex_unlock(&hw->page_lock); 352 353 return err; 354 } 355 356 #endif /* ST_LSM6DSX_H */ 357