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 #define ST_LSM6DSTX_DEV_NAME "lsm6dstx"
36
37 enum st_lsm6dsx_hw_id {
38 ST_LSM6DS3_ID,
39 ST_LSM6DS3H_ID,
40 ST_LSM6DSL_ID,
41 ST_LSM6DSM_ID,
42 ST_ISM330DLC_ID,
43 ST_LSM6DSO_ID,
44 ST_ASM330LHH_ID,
45 ST_LSM6DSOX_ID,
46 ST_LSM6DSR_ID,
47 ST_LSM6DS3TRC_ID,
48 ST_ISM330DHCX_ID,
49 ST_LSM9DS1_ID,
50 ST_LSM6DS0_ID,
51 ST_LSM6DSRX_ID,
52 ST_LSM6DST_ID,
53 ST_LSM6DSOP_ID,
54 ST_ASM330LHHX_ID,
55 ST_LSM6DSTX_ID,
56 ST_LSM6DSX_MAX_ID,
57 };
58
59 #define ST_LSM6DSX_BUFF_SIZE 512
60 #define ST_LSM6DSX_CHAN_SIZE 2
61 #define ST_LSM6DSX_SAMPLE_SIZE 6
62 #define ST_LSM6DSX_TAG_SIZE 1
63 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \
64 ST_LSM6DSX_TAG_SIZE)
65 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
66 ST_LSM6DSX_SAMPLE_SIZE)
67 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
68 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
69 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
70
71 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \
72 { \
73 .type = chan_type, \
74 .address = addr, \
75 .modified = 1, \
76 .channel2 = mod, \
77 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
78 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
79 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
80 .scan_index = scan_idx, \
81 .scan_type = { \
82 .sign = 's', \
83 .realbits = 16, \
84 .storagebits = 16, \
85 .endianness = IIO_LE, \
86 }, \
87 .event_spec = &st_lsm6dsx_event, \
88 .ext_info = st_lsm6dsx_accel_ext_info, \
89 .num_event_specs = 1, \
90 }
91
92 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
93 { \
94 .type = chan_type, \
95 .address = addr, \
96 .modified = 1, \
97 .channel2 = mod, \
98 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
99 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
100 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
101 .scan_index = scan_idx, \
102 .scan_type = { \
103 .sign = 's', \
104 .realbits = 16, \
105 .storagebits = 16, \
106 .endianness = IIO_LE, \
107 }, \
108 }
109
110 struct st_lsm6dsx_reg {
111 u8 addr;
112 u8 mask;
113 };
114
115 struct st_lsm6dsx_sensor;
116 struct st_lsm6dsx_hw;
117
118 struct st_lsm6dsx_odr {
119 u32 milli_hz;
120 u8 val;
121 };
122
123 #define ST_LSM6DSX_ODR_LIST_SIZE 8
124 struct st_lsm6dsx_odr_table_entry {
125 struct st_lsm6dsx_reg reg;
126
127 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
128 int odr_len;
129 };
130
131 struct st_lsm6dsx_fs {
132 u32 gain;
133 u8 val;
134 };
135
136 #define ST_LSM6DSX_FS_LIST_SIZE 4
137 struct st_lsm6dsx_fs_table_entry {
138 struct st_lsm6dsx_reg reg;
139
140 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
141 int fs_len;
142 };
143
144 /**
145 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
146 * @update_fifo: Update FIFO configuration callback.
147 * @read_fifo: Read FIFO callback.
148 * @fifo_th: FIFO threshold register info (addr + mask).
149 * @fifo_diff: FIFO diff status register info (addr + mask).
150 * @max_size: Sensor max fifo length in FIFO words.
151 * @th_wl: FIFO threshold word length.
152 */
153 struct st_lsm6dsx_fifo_ops {
154 int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
155 int (*read_fifo)(struct st_lsm6dsx_hw *hw);
156 struct {
157 u8 addr;
158 u16 mask;
159 } fifo_th;
160 struct {
161 u8 addr;
162 u16 mask;
163 } fifo_diff;
164 u16 max_size;
165 u8 th_wl;
166 };
167
168 /**
169 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
170 * @timer_en: Hw timer enable register info (addr + mask).
171 * @hr_timer: Hw timer resolution register info (addr + mask).
172 * @fifo_en: Hw timer FIFO enable register info (addr + mask).
173 * @decimator: Hw timer FIFO decimator register info (addr + mask).
174 * @freq_fine: Difference in % of ODR with respect to the typical.
175 */
176 struct st_lsm6dsx_hw_ts_settings {
177 struct st_lsm6dsx_reg timer_en;
178 struct st_lsm6dsx_reg hr_timer;
179 struct st_lsm6dsx_reg fifo_en;
180 struct st_lsm6dsx_reg decimator;
181 u8 freq_fine;
182 };
183
184 /**
185 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
186 * @page_mux: register page mux info (addr + mask).
187 * @master_en: master config register info (addr + mask).
188 * @pullup_en: i2c controller pull-up register info (addr + mask).
189 * @aux_sens: aux sensor register info (addr + mask).
190 * @wr_once: write_once register info (addr + mask).
191 * @emb_func: embedded function register info (addr + mask).
192 * @num_ext_dev: max number of slave devices.
193 * @shub_out: sensor hub first output register info.
194 * @slv0_addr: slave0 address in secondary page.
195 * @dw_slv0_addr: slave0 write register address in secondary page.
196 * @batch_en: Enable/disable FIFO batching.
197 * @pause: controller pause value.
198 */
199 struct st_lsm6dsx_shub_settings {
200 struct st_lsm6dsx_reg page_mux;
201 struct {
202 bool sec_page;
203 u8 addr;
204 u8 mask;
205 } master_en;
206 struct {
207 bool sec_page;
208 u8 addr;
209 u8 mask;
210 } pullup_en;
211 struct st_lsm6dsx_reg aux_sens;
212 struct st_lsm6dsx_reg wr_once;
213 struct st_lsm6dsx_reg emb_func;
214 u8 num_ext_dev;
215 struct {
216 bool sec_page;
217 u8 addr;
218 } shub_out;
219 u8 slv0_addr;
220 u8 dw_slv0_addr;
221 u8 batch_en;
222 u8 pause;
223 };
224
225 struct st_lsm6dsx_event_settings {
226 struct st_lsm6dsx_reg enable_reg;
227 struct st_lsm6dsx_reg wakeup_reg;
228 u8 wakeup_src_reg;
229 u8 wakeup_src_status_mask;
230 u8 wakeup_src_z_mask;
231 u8 wakeup_src_y_mask;
232 u8 wakeup_src_x_mask;
233 };
234
235 enum st_lsm6dsx_ext_sensor_id {
236 ST_LSM6DSX_ID_MAGN,
237 };
238
239 /**
240 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
241 * @i2c_addr: I2c slave address list.
242 * @wai: Wai address info.
243 * @id: external sensor id.
244 * @odr_table: Output data rate of the sensor [Hz].
245 * @fs_table: Configured sensor sensitivity table depending on full scale.
246 * @temp_comp: Temperature compensation register info (addr + mask).
247 * @pwr_table: Power on register info (addr + mask).
248 * @off_canc: Offset cancellation register info (addr + mask).
249 * @bdu: Block data update register info (addr + mask).
250 * @out: Output register info.
251 */
252 struct st_lsm6dsx_ext_dev_settings {
253 u8 i2c_addr[2];
254 struct {
255 u8 addr;
256 u8 val;
257 } wai;
258 enum st_lsm6dsx_ext_sensor_id id;
259 struct st_lsm6dsx_odr_table_entry odr_table;
260 struct st_lsm6dsx_fs_table_entry fs_table;
261 struct st_lsm6dsx_reg temp_comp;
262 struct {
263 struct st_lsm6dsx_reg reg;
264 u8 off_val;
265 u8 on_val;
266 } pwr_table;
267 struct st_lsm6dsx_reg off_canc;
268 struct st_lsm6dsx_reg bdu;
269 struct {
270 u8 addr;
271 u8 len;
272 } out;
273 };
274
275 /**
276 * struct st_lsm6dsx_settings - ST IMU sensor settings
277 * @reset: register address for reset.
278 * @boot: register address for boot.
279 * @bdu: register address for Block Data Update.
280 * @id: List of hw id/device name supported by the driver configuration.
281 * @channels: IIO channels supported by the device.
282 * @irq_config: interrupts related registers.
283 * @drdy_mask: register info for data-ready mask (addr + mask).
284 * @odr_table: Hw sensors odr table (Hz + val).
285 * @fs_table: Hw sensors gain table (gain + val).
286 * @decimator: List of decimator register info (addr + mask).
287 * @batch: List of FIFO batching register info (addr + mask).
288 * @fifo_ops: Sensor hw FIFO parameters.
289 * @ts_settings: Hw timer related settings.
290 * @shub_settings: i2c controller related settings.
291 */
292 struct st_lsm6dsx_settings {
293 struct st_lsm6dsx_reg reset;
294 struct st_lsm6dsx_reg boot;
295 struct st_lsm6dsx_reg bdu;
296 struct {
297 enum st_lsm6dsx_hw_id hw_id;
298 const char *name;
299 u8 wai;
300 } id[ST_LSM6DSX_MAX_ID];
301 struct {
302 const struct iio_chan_spec *chan;
303 int len;
304 } channels[2];
305 struct {
306 struct st_lsm6dsx_reg irq1;
307 struct st_lsm6dsx_reg irq2;
308 struct st_lsm6dsx_reg irq1_func;
309 struct st_lsm6dsx_reg irq2_func;
310 struct st_lsm6dsx_reg lir;
311 struct st_lsm6dsx_reg clear_on_read;
312 struct st_lsm6dsx_reg hla;
313 struct st_lsm6dsx_reg od;
314 } irq_config;
315 struct st_lsm6dsx_reg drdy_mask;
316 struct st_lsm6dsx_odr_table_entry odr_table[2];
317 struct st_lsm6dsx_fs_table_entry fs_table[2];
318 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
319 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
320 struct st_lsm6dsx_fifo_ops fifo_ops;
321 struct st_lsm6dsx_hw_ts_settings ts_settings;
322 struct st_lsm6dsx_shub_settings shub_settings;
323 struct st_lsm6dsx_event_settings event_settings;
324 };
325
326 enum st_lsm6dsx_sensor_id {
327 ST_LSM6DSX_ID_GYRO,
328 ST_LSM6DSX_ID_ACC,
329 ST_LSM6DSX_ID_EXT0,
330 ST_LSM6DSX_ID_EXT1,
331 ST_LSM6DSX_ID_EXT2,
332 ST_LSM6DSX_ID_MAX,
333 };
334
335 enum st_lsm6dsx_fifo_mode {
336 ST_LSM6DSX_FIFO_BYPASS = 0x0,
337 ST_LSM6DSX_FIFO_CONT = 0x6,
338 };
339
340 /**
341 * struct st_lsm6dsx_sensor - ST IMU sensor instance
342 * @name: Sensor name.
343 * @id: Sensor identifier.
344 * @hw: Pointer to instance of struct st_lsm6dsx_hw.
345 * @gain: Configured sensor sensitivity.
346 * @odr: Output data rate of the sensor [Hz].
347 * @watermark: Sensor watermark level.
348 * @decimator: Sensor decimation factor.
349 * @sip: Number of samples in a given pattern.
350 * @ts_ref: Sensor timestamp reference for hw one.
351 * @ext_info: Sensor settings if it is connected to i2c controller
352 */
353 struct st_lsm6dsx_sensor {
354 char name[32];
355 enum st_lsm6dsx_sensor_id id;
356 struct st_lsm6dsx_hw *hw;
357
358 u32 gain;
359 u32 odr;
360
361 u16 watermark;
362 u8 decimator;
363 u8 sip;
364 s64 ts_ref;
365
366 struct {
367 const struct st_lsm6dsx_ext_dev_settings *settings;
368 u32 slv_odr;
369 u8 addr;
370 } ext_info;
371 };
372
373 /**
374 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
375 * @dev: Pointer to instance of struct device (I2C or SPI).
376 * @regmap: Register map of the device.
377 * @regulators: VDD/VDDIO voltage regulators.
378 * @irq: Device interrupt line (I2C or SPI).
379 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
380 * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
381 * @page_lock: Mutex to prevent concurrent memory page configuration.
382 * @suspend_mask: Suspended sensor bitmask.
383 * @enable_mask: Enabled sensor bitmask.
384 * @fifo_mask: Enabled hw FIFO bitmask.
385 * @ts_gain: Hw timestamp rate after internal calibration.
386 * @ts_sip: Total number of timestamp samples in a given pattern.
387 * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
388 * @buff: Device read buffer.
389 * @irq_routing: pointer to interrupt routing configuration.
390 * @event_threshold: wakeup event threshold.
391 * @enable_event: enabled event bitmask.
392 * @iio_devs: Pointers to acc/gyro iio_dev instances.
393 * @settings: Pointer to the specific sensor settings in use.
394 * @orientation: sensor chip orientation relative to main hardware.
395 * @scan: Temporary buffers used to align data before iio_push_to_buffers()
396 */
397 struct st_lsm6dsx_hw {
398 struct device *dev;
399 struct regmap *regmap;
400 struct regulator_bulk_data regulators[2];
401 int irq;
402
403 struct mutex fifo_lock;
404 struct mutex conf_lock;
405 struct mutex page_lock;
406
407 u8 suspend_mask;
408 u8 enable_mask;
409 u8 fifo_mask;
410 s64 ts_gain;
411 u8 ts_sip;
412 u8 sip;
413
414 const struct st_lsm6dsx_reg *irq_routing;
415 u8 event_threshold;
416 u8 enable_event;
417
418 u8 *buff;
419
420 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
421
422 const struct st_lsm6dsx_settings *settings;
423
424 struct iio_mount_matrix orientation;
425 /* Ensure natural alignment of buffer elements */
426 struct {
427 __le16 channels[3];
428 s64 ts __aligned(8);
429 } scan[3];
430 };
431
432 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
433 .type = IIO_EV_TYPE_THRESH,
434 .dir = IIO_EV_DIR_EITHER,
435 .mask_separate = BIT(IIO_EV_INFO_VALUE) |
436 BIT(IIO_EV_INFO_ENABLE)
437 };
438
439 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
440 0x7, 0x0,
441 };
442
443 extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
444
445 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
446 struct regmap *regmap);
447 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
448 bool enable);
449 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
450 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
451 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
452 u16 watermark);
453 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
454 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
455 int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
456 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
457 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
458 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
459 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
460 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
461 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
462
463 static inline int
st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int mask,unsigned int val)464 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
465 unsigned int mask, unsigned int val)
466 {
467 int err;
468
469 mutex_lock(&hw->page_lock);
470 err = regmap_update_bits(hw->regmap, addr, mask, val);
471 mutex_unlock(&hw->page_lock);
472
473 return err;
474 }
475
476 static inline int
st_lsm6dsx_read_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,void * val,unsigned int len)477 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
478 void *val, unsigned int len)
479 {
480 int err;
481
482 mutex_lock(&hw->page_lock);
483 err = regmap_bulk_read(hw->regmap, addr, val, len);
484 mutex_unlock(&hw->page_lock);
485
486 return err;
487 }
488
489 static inline int
st_lsm6dsx_write_locked(struct st_lsm6dsx_hw * hw,unsigned int addr,unsigned int val)490 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
491 unsigned int val)
492 {
493 int err;
494
495 mutex_lock(&hw->page_lock);
496 err = regmap_write(hw->regmap, addr, val);
497 mutex_unlock(&hw->page_lock);
498
499 return err;
500 }
501
502 static inline const struct iio_mount_matrix *
st_lsm6dsx_get_mount_matrix(const struct iio_dev * iio_dev,const struct iio_chan_spec * chan)503 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
504 const struct iio_chan_spec *chan)
505 {
506 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
507 struct st_lsm6dsx_hw *hw = sensor->hw;
508
509 return &hw->orientation;
510 }
511
512 static const
513 struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = {
514 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
515 { }
516 };
517
518 #endif /* ST_LSM6DSX_H */
519
