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