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