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
st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int mask,unsigned int val)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
st_lsm6dsx_read_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,void * val,unsigned int len)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
st_lsm6dsx_write_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int val)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 *
st_lsm6dsx_get_mount_matrix(const struct iio_dev * iio_dev,const struct iio_chan_spec * chan)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