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