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 #define ST_ASM330LHH_DEV_NAME "asm330lhh" 24 #define ST_LSM6DSOX_DEV_NAME "lsm6dsox" 25 #define ST_LSM6DSR_DEV_NAME "lsm6dsr" 26 27 enum st_lsm6dsx_hw_id { 28 ST_LSM6DS3_ID, 29 ST_LSM6DS3H_ID, 30 ST_LSM6DSL_ID, 31 ST_LSM6DSM_ID, 32 ST_ISM330DLC_ID, 33 ST_LSM6DSO_ID, 34 ST_ASM330LHH_ID, 35 ST_LSM6DSOX_ID, 36 ST_LSM6DSR_ID, 37 ST_LSM6DSX_MAX_ID, 38 }; 39 40 #define ST_LSM6DSX_BUFF_SIZE 512 41 #define ST_LSM6DSX_CHAN_SIZE 2 42 #define ST_LSM6DSX_SAMPLE_SIZE 6 43 #define ST_LSM6DSX_TAG_SIZE 1 44 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \ 45 ST_LSM6DSX_TAG_SIZE) 46 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \ 47 ST_LSM6DSX_SAMPLE_SIZE) 48 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \ 49 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE) 50 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask)) 51 52 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \ 53 { \ 54 .type = chan_type, \ 55 .address = addr, \ 56 .modified = 1, \ 57 .channel2 = mod, \ 58 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 59 BIT(IIO_CHAN_INFO_SCALE), \ 60 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 61 .scan_index = scan_idx, \ 62 .scan_type = { \ 63 .sign = 's', \ 64 .realbits = 16, \ 65 .storagebits = 16, \ 66 .endianness = IIO_LE, \ 67 }, \ 68 } 69 70 struct st_lsm6dsx_reg { 71 u8 addr; 72 u8 mask; 73 }; 74 75 struct st_lsm6dsx_hw; 76 77 struct st_lsm6dsx_odr { 78 u16 hz; 79 u8 val; 80 }; 81 82 #define ST_LSM6DSX_ODR_LIST_SIZE 6 83 struct st_lsm6dsx_odr_table_entry { 84 struct st_lsm6dsx_reg reg; 85 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE]; 86 }; 87 88 struct st_lsm6dsx_fs { 89 u32 gain; 90 u8 val; 91 }; 92 93 #define ST_LSM6DSX_FS_LIST_SIZE 4 94 struct st_lsm6dsx_fs_table_entry { 95 struct st_lsm6dsx_reg reg; 96 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE]; 97 }; 98 99 /** 100 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings 101 * @read_fifo: Read FIFO callback. 102 * @fifo_th: FIFO threshold register info (addr + mask). 103 * @fifo_diff: FIFO diff status register info (addr + mask). 104 * @th_wl: FIFO threshold word length. 105 */ 106 struct st_lsm6dsx_fifo_ops { 107 int (*read_fifo)(struct st_lsm6dsx_hw *hw); 108 struct { 109 u8 addr; 110 u16 mask; 111 } fifo_th; 112 struct { 113 u8 addr; 114 u16 mask; 115 } fifo_diff; 116 u8 th_wl; 117 }; 118 119 /** 120 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings 121 * @timer_en: Hw timer enable register info (addr + mask). 122 * @hr_timer: Hw timer resolution register info (addr + mask). 123 * @fifo_en: Hw timer FIFO enable register info (addr + mask). 124 * @decimator: Hw timer FIFO decimator register info (addr + mask). 125 */ 126 struct st_lsm6dsx_hw_ts_settings { 127 struct st_lsm6dsx_reg timer_en; 128 struct st_lsm6dsx_reg hr_timer; 129 struct st_lsm6dsx_reg fifo_en; 130 struct st_lsm6dsx_reg decimator; 131 }; 132 133 /** 134 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings 135 * @page_mux: register page mux info (addr + mask). 136 * @master_en: master config register info (addr + mask). 137 * @pullup_en: i2c controller pull-up register info (addr + mask). 138 * @aux_sens: aux sensor register info (addr + mask). 139 * @wr_once: write_once register info (addr + mask). 140 * @shub_out: sensor hub first output register info. 141 * @slv0_addr: slave0 address in secondary page. 142 * @dw_slv0_addr: slave0 write register address in secondary page. 143 * @batch_en: Enable/disable FIFO batching. 144 */ 145 struct st_lsm6dsx_shub_settings { 146 struct st_lsm6dsx_reg page_mux; 147 struct st_lsm6dsx_reg master_en; 148 struct st_lsm6dsx_reg pullup_en; 149 struct st_lsm6dsx_reg aux_sens; 150 struct st_lsm6dsx_reg wr_once; 151 u8 shub_out; 152 u8 slv0_addr; 153 u8 dw_slv0_addr; 154 u8 batch_en; 155 }; 156 157 enum st_lsm6dsx_ext_sensor_id { 158 ST_LSM6DSX_ID_MAGN, 159 }; 160 161 /** 162 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings 163 * @i2c_addr: I2c slave address list. 164 * @wai: Wai address info. 165 * @id: external sensor id. 166 * @odr: Output data rate of the sensor [Hz]. 167 * @gain: Configured sensor sensitivity. 168 * @temp_comp: Temperature compensation register info (addr + mask). 169 * @pwr_table: Power on register info (addr + mask). 170 * @off_canc: Offset cancellation register info (addr + mask). 171 * @bdu: Block data update register info (addr + mask). 172 * @out: Output register info. 173 */ 174 struct st_lsm6dsx_ext_dev_settings { 175 u8 i2c_addr[2]; 176 struct { 177 u8 addr; 178 u8 val; 179 } wai; 180 enum st_lsm6dsx_ext_sensor_id id; 181 struct st_lsm6dsx_odr_table_entry odr_table; 182 struct st_lsm6dsx_fs_table_entry fs_table; 183 struct st_lsm6dsx_reg temp_comp; 184 struct { 185 struct st_lsm6dsx_reg reg; 186 u8 off_val; 187 u8 on_val; 188 } pwr_table; 189 struct st_lsm6dsx_reg off_canc; 190 struct st_lsm6dsx_reg bdu; 191 struct { 192 u8 addr; 193 u8 len; 194 } out; 195 }; 196 197 /** 198 * struct st_lsm6dsx_settings - ST IMU sensor settings 199 * @wai: Sensor WhoAmI default value. 200 * @max_fifo_size: Sensor max fifo length in FIFO words. 201 * @id: List of hw id supported by the driver configuration. 202 * @decimator: List of decimator register info (addr + mask). 203 * @batch: List of FIFO batching register info (addr + mask). 204 * @fifo_ops: Sensor hw FIFO parameters. 205 * @ts_settings: Hw timer related settings. 206 * @shub_settings: i2c controller related settings. 207 */ 208 struct st_lsm6dsx_settings { 209 u8 wai; 210 u16 max_fifo_size; 211 enum st_lsm6dsx_hw_id id[ST_LSM6DSX_MAX_ID]; 212 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID]; 213 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID]; 214 struct st_lsm6dsx_fifo_ops fifo_ops; 215 struct st_lsm6dsx_hw_ts_settings ts_settings; 216 struct st_lsm6dsx_shub_settings shub_settings; 217 }; 218 219 enum st_lsm6dsx_sensor_id { 220 ST_LSM6DSX_ID_GYRO, 221 ST_LSM6DSX_ID_ACC, 222 ST_LSM6DSX_ID_EXT0, 223 ST_LSM6DSX_ID_EXT1, 224 ST_LSM6DSX_ID_EXT2, 225 ST_LSM6DSX_ID_MAX, 226 }; 227 228 enum st_lsm6dsx_fifo_mode { 229 ST_LSM6DSX_FIFO_BYPASS = 0x0, 230 ST_LSM6DSX_FIFO_CONT = 0x6, 231 }; 232 233 /** 234 * struct st_lsm6dsx_sensor - ST IMU sensor instance 235 * @name: Sensor name. 236 * @id: Sensor identifier. 237 * @hw: Pointer to instance of struct st_lsm6dsx_hw. 238 * @gain: Configured sensor sensitivity. 239 * @odr: Output data rate of the sensor [Hz]. 240 * @watermark: Sensor watermark level. 241 * @sip: Number of samples in a given pattern. 242 * @decimator: FIFO decimation factor. 243 * @ts_ref: Sensor timestamp reference for hw one. 244 * @ext_info: Sensor settings if it is connected to i2c controller 245 */ 246 struct st_lsm6dsx_sensor { 247 char name[32]; 248 enum st_lsm6dsx_sensor_id id; 249 struct st_lsm6dsx_hw *hw; 250 251 u32 gain; 252 u16 odr; 253 254 u16 watermark; 255 u8 sip; 256 u8 decimator; 257 s64 ts_ref; 258 259 struct { 260 const struct st_lsm6dsx_ext_dev_settings *settings; 261 u8 addr; 262 } ext_info; 263 }; 264 265 /** 266 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance 267 * @dev: Pointer to instance of struct device (I2C or SPI). 268 * @regmap: Register map of the device. 269 * @irq: Device interrupt line (I2C or SPI). 270 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO. 271 * @conf_lock: Mutex to prevent concurrent FIFO configuration update. 272 * @page_lock: Mutex to prevent concurrent memory page configuration. 273 * @fifo_mode: FIFO operating mode supported by the device. 274 * @enable_mask: Enabled sensor bitmask. 275 * @ts_sip: Total number of timestamp samples in a given pattern. 276 * @sip: Total number of samples (acc/gyro/ts) in a given pattern. 277 * @buff: Device read buffer. 278 * @iio_devs: Pointers to acc/gyro iio_dev instances. 279 * @settings: Pointer to the specific sensor settings in use. 280 */ 281 struct st_lsm6dsx_hw { 282 struct device *dev; 283 struct regmap *regmap; 284 int irq; 285 286 struct mutex fifo_lock; 287 struct mutex conf_lock; 288 struct mutex page_lock; 289 290 enum st_lsm6dsx_fifo_mode fifo_mode; 291 u8 enable_mask; 292 u8 ts_sip; 293 u8 sip; 294 295 u8 *buff; 296 297 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX]; 298 299 const struct st_lsm6dsx_settings *settings; 300 }; 301 302 static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0}; 303 extern const struct dev_pm_ops st_lsm6dsx_pm_ops; 304 305 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, const char *name, 306 struct regmap *regmap); 307 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, 308 bool enable); 309 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw); 310 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val); 311 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, 312 u16 watermark); 313 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw); 314 int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw, 315 enum st_lsm6dsx_fifo_mode fifo_mode); 316 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw); 317 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw); 318 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, u8 *val); 319 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name); 320 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable); 321 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable); 322 323 static inline int 324 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 325 unsigned int mask, unsigned int val) 326 { 327 int err; 328 329 mutex_lock(&hw->page_lock); 330 err = regmap_update_bits(hw->regmap, addr, mask, val); 331 mutex_unlock(&hw->page_lock); 332 333 return err; 334 } 335 336 static inline int 337 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 338 void *val, unsigned int len) 339 { 340 int err; 341 342 mutex_lock(&hw->page_lock); 343 err = regmap_bulk_read(hw->regmap, addr, val, len); 344 mutex_unlock(&hw->page_lock); 345 346 return err; 347 } 348 349 static inline int 350 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 351 unsigned int val) 352 { 353 int err; 354 355 mutex_lock(&hw->page_lock); 356 err = regmap_write(hw->regmap, addr, val); 357 mutex_unlock(&hw->page_lock); 358 359 return err; 360 } 361 362 #endif /* ST_LSM6DSX_H */ 363