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 #define ST_LSM6DSV_DEV_NAME "lsm6dsv" 37 #define ST_LSM6DSV16X_DEV_NAME "lsm6dsv16x" 38 #define ST_LSM6DSO16IS_DEV_NAME "lsm6dso16is" 39 #define ST_ISM330IS_DEV_NAME "ism330is" 40 #define ST_ASM330LHB_DEV_NAME "asm330lhb" 41 42 enum st_lsm6dsx_hw_id { 43 ST_LSM6DS3_ID = 1, 44 ST_LSM6DS3H_ID, 45 ST_LSM6DSL_ID, 46 ST_LSM6DSM_ID, 47 ST_ISM330DLC_ID, 48 ST_LSM6DSO_ID, 49 ST_ASM330LHH_ID, 50 ST_LSM6DSOX_ID, 51 ST_LSM6DSR_ID, 52 ST_LSM6DS3TRC_ID, 53 ST_ISM330DHCX_ID, 54 ST_LSM9DS1_ID, 55 ST_LSM6DS0_ID, 56 ST_LSM6DSRX_ID, 57 ST_LSM6DST_ID, 58 ST_LSM6DSOP_ID, 59 ST_ASM330LHHX_ID, 60 ST_LSM6DSTX_ID, 61 ST_LSM6DSV_ID, 62 ST_LSM6DSV16X_ID, 63 ST_LSM6DSO16IS_ID, 64 ST_ISM330IS_ID, 65 ST_ASM330LHB_ID, 66 ST_LSM6DSX_MAX_ID, 67 }; 68 69 #define ST_LSM6DSX_BUFF_SIZE 512 70 #define ST_LSM6DSX_CHAN_SIZE 2 71 #define ST_LSM6DSX_SAMPLE_SIZE 6 72 #define ST_LSM6DSX_TAG_SIZE 1 73 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \ 74 ST_LSM6DSX_TAG_SIZE) 75 #define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \ 76 ST_LSM6DSX_SAMPLE_SIZE) 77 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \ 78 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE) 79 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask)) 80 81 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \ 82 { \ 83 .type = chan_type, \ 84 .address = addr, \ 85 .modified = 1, \ 86 .channel2 = mod, \ 87 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 88 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 89 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 90 .scan_index = scan_idx, \ 91 .scan_type = { \ 92 .sign = 's', \ 93 .realbits = 16, \ 94 .storagebits = 16, \ 95 .endianness = IIO_LE, \ 96 }, \ 97 .event_spec = &st_lsm6dsx_event, \ 98 .ext_info = st_lsm6dsx_ext_info, \ 99 .num_event_specs = 1, \ 100 } 101 102 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \ 103 { \ 104 .type = chan_type, \ 105 .address = addr, \ 106 .modified = 1, \ 107 .channel2 = mod, \ 108 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 109 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 110 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 111 .scan_index = scan_idx, \ 112 .scan_type = { \ 113 .sign = 's', \ 114 .realbits = 16, \ 115 .storagebits = 16, \ 116 .endianness = IIO_LE, \ 117 }, \ 118 .ext_info = st_lsm6dsx_ext_info, \ 119 } 120 121 struct st_lsm6dsx_reg { 122 u8 addr; 123 u8 mask; 124 }; 125 126 struct st_lsm6dsx_sensor; 127 struct st_lsm6dsx_hw; 128 129 struct st_lsm6dsx_odr { 130 u32 milli_hz; 131 u8 val; 132 }; 133 134 #define ST_LSM6DSX_ODR_LIST_SIZE 8 135 struct st_lsm6dsx_odr_table_entry { 136 struct st_lsm6dsx_reg reg; 137 138 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE]; 139 int odr_len; 140 }; 141 142 struct st_lsm6dsx_samples_to_discard { 143 struct { 144 u32 milli_hz; 145 u16 samples; 146 } val[ST_LSM6DSX_ODR_LIST_SIZE]; 147 }; 148 149 struct st_lsm6dsx_fs { 150 u32 gain; 151 u8 val; 152 }; 153 154 #define ST_LSM6DSX_FS_LIST_SIZE 4 155 struct st_lsm6dsx_fs_table_entry { 156 struct st_lsm6dsx_reg reg; 157 158 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE]; 159 int fs_len; 160 }; 161 162 /** 163 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings 164 * @update_fifo: Update FIFO configuration callback. 165 * @read_fifo: Read FIFO callback. 166 * @fifo_th: FIFO threshold register info (addr + mask). 167 * @fifo_diff: FIFO diff status register info (addr + mask). 168 * @max_size: Sensor max fifo length in FIFO words. 169 * @th_wl: FIFO threshold word length. 170 */ 171 struct st_lsm6dsx_fifo_ops { 172 int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable); 173 int (*read_fifo)(struct st_lsm6dsx_hw *hw); 174 struct { 175 u8 addr; 176 u16 mask; 177 } fifo_th; 178 struct { 179 u8 addr; 180 u16 mask; 181 } fifo_diff; 182 u16 max_size; 183 u8 th_wl; 184 }; 185 186 /** 187 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings 188 * @timer_en: Hw timer enable register info (addr + mask). 189 * @hr_timer: Hw timer resolution register info (addr + mask). 190 * @fifo_en: Hw timer FIFO enable register info (addr + mask). 191 * @decimator: Hw timer FIFO decimator register info (addr + mask). 192 * @freq_fine: Difference in % of ODR with respect to the typical. 193 */ 194 struct st_lsm6dsx_hw_ts_settings { 195 struct st_lsm6dsx_reg timer_en; 196 struct st_lsm6dsx_reg hr_timer; 197 struct st_lsm6dsx_reg fifo_en; 198 struct st_lsm6dsx_reg decimator; 199 u8 freq_fine; 200 }; 201 202 /** 203 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings 204 * @page_mux: register page mux info (addr + mask). 205 * @master_en: master config register info (addr + mask). 206 * @pullup_en: i2c controller pull-up register info (addr + mask). 207 * @aux_sens: aux sensor register info (addr + mask). 208 * @wr_once: write_once register info (addr + mask). 209 * @emb_func: embedded function register info (addr + mask). 210 * @num_ext_dev: max number of slave devices. 211 * @shub_out: sensor hub first output register info. 212 * @slv0_addr: slave0 address in secondary page. 213 * @dw_slv0_addr: slave0 write register address in secondary page. 214 * @batch_en: Enable/disable FIFO batching. 215 * @pause: controller pause value. 216 */ 217 struct st_lsm6dsx_shub_settings { 218 struct st_lsm6dsx_reg page_mux; 219 struct { 220 bool sec_page; 221 u8 addr; 222 u8 mask; 223 } master_en; 224 struct { 225 bool sec_page; 226 u8 addr; 227 u8 mask; 228 } pullup_en; 229 struct st_lsm6dsx_reg aux_sens; 230 struct st_lsm6dsx_reg wr_once; 231 struct st_lsm6dsx_reg emb_func; 232 u8 num_ext_dev; 233 struct { 234 bool sec_page; 235 u8 addr; 236 } shub_out; 237 u8 slv0_addr; 238 u8 dw_slv0_addr; 239 u8 batch_en; 240 u8 pause; 241 }; 242 243 struct st_lsm6dsx_event_settings { 244 struct st_lsm6dsx_reg enable_reg; 245 struct st_lsm6dsx_reg wakeup_reg; 246 u8 wakeup_src_reg; 247 u8 wakeup_src_status_mask; 248 u8 wakeup_src_z_mask; 249 u8 wakeup_src_y_mask; 250 u8 wakeup_src_x_mask; 251 }; 252 253 enum st_lsm6dsx_ext_sensor_id { 254 ST_LSM6DSX_ID_MAGN, 255 }; 256 257 /** 258 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings 259 * @i2c_addr: I2c slave address list. 260 * @wai: Wai address info. 261 * @id: external sensor id. 262 * @odr_table: Output data rate of the sensor [Hz]. 263 * @fs_table: Configured sensor sensitivity table depending on full scale. 264 * @temp_comp: Temperature compensation register info (addr + mask). 265 * @pwr_table: Power on register info (addr + mask). 266 * @off_canc: Offset cancellation register info (addr + mask). 267 * @bdu: Block data update register info (addr + mask). 268 * @out: Output register info. 269 */ 270 struct st_lsm6dsx_ext_dev_settings { 271 u8 i2c_addr[2]; 272 struct { 273 u8 addr; 274 u8 val; 275 } wai; 276 enum st_lsm6dsx_ext_sensor_id id; 277 struct st_lsm6dsx_odr_table_entry odr_table; 278 struct st_lsm6dsx_fs_table_entry fs_table; 279 struct st_lsm6dsx_reg temp_comp; 280 struct { 281 struct st_lsm6dsx_reg reg; 282 u8 off_val; 283 u8 on_val; 284 } pwr_table; 285 struct st_lsm6dsx_reg off_canc; 286 struct st_lsm6dsx_reg bdu; 287 struct { 288 u8 addr; 289 u8 len; 290 } out; 291 }; 292 293 /** 294 * struct st_lsm6dsx_settings - ST IMU sensor settings 295 * @reset: register address for reset. 296 * @boot: register address for boot. 297 * @bdu: register address for Block Data Update. 298 * @id: List of hw id/device name supported by the driver configuration. 299 * @channels: IIO channels supported by the device. 300 * @irq_config: interrupts related registers. 301 * @drdy_mask: register info for data-ready mask (addr + mask). 302 * @odr_table: Hw sensors odr table (Hz + val). 303 * @samples_to_discard: Number of samples to discard for filters settling time. 304 * @fs_table: Hw sensors gain table (gain + val). 305 * @decimator: List of decimator register info (addr + mask). 306 * @batch: List of FIFO batching register info (addr + mask). 307 * @fifo_ops: Sensor hw FIFO parameters. 308 * @ts_settings: Hw timer related settings. 309 * @shub_settings: i2c controller related settings. 310 */ 311 struct st_lsm6dsx_settings { 312 struct st_lsm6dsx_reg reset; 313 struct st_lsm6dsx_reg boot; 314 struct st_lsm6dsx_reg bdu; 315 struct { 316 enum st_lsm6dsx_hw_id hw_id; 317 const char *name; 318 u8 wai; 319 } id[ST_LSM6DSX_MAX_ID]; 320 struct { 321 const struct iio_chan_spec *chan; 322 int len; 323 } channels[2]; 324 struct { 325 struct st_lsm6dsx_reg irq1; 326 struct st_lsm6dsx_reg irq2; 327 struct st_lsm6dsx_reg irq1_func; 328 struct st_lsm6dsx_reg irq2_func; 329 struct st_lsm6dsx_reg lir; 330 struct st_lsm6dsx_reg clear_on_read; 331 struct st_lsm6dsx_reg hla; 332 struct st_lsm6dsx_reg od; 333 } irq_config; 334 struct st_lsm6dsx_reg drdy_mask; 335 struct st_lsm6dsx_odr_table_entry odr_table[2]; 336 struct st_lsm6dsx_samples_to_discard samples_to_discard[2]; 337 struct st_lsm6dsx_fs_table_entry fs_table[2]; 338 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID]; 339 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID]; 340 struct st_lsm6dsx_fifo_ops fifo_ops; 341 struct st_lsm6dsx_hw_ts_settings ts_settings; 342 struct st_lsm6dsx_shub_settings shub_settings; 343 struct st_lsm6dsx_event_settings event_settings; 344 }; 345 346 enum st_lsm6dsx_sensor_id { 347 ST_LSM6DSX_ID_GYRO, 348 ST_LSM6DSX_ID_ACC, 349 ST_LSM6DSX_ID_EXT0, 350 ST_LSM6DSX_ID_EXT1, 351 ST_LSM6DSX_ID_EXT2, 352 ST_LSM6DSX_ID_MAX, 353 }; 354 355 enum st_lsm6dsx_fifo_mode { 356 ST_LSM6DSX_FIFO_BYPASS = 0x0, 357 ST_LSM6DSX_FIFO_CONT = 0x6, 358 }; 359 360 /** 361 * struct st_lsm6dsx_sensor - ST IMU sensor instance 362 * @name: Sensor name. 363 * @id: Sensor identifier. 364 * @hw: Pointer to instance of struct st_lsm6dsx_hw. 365 * @gain: Configured sensor sensitivity. 366 * @odr: Output data rate of the sensor [Hz]. 367 * @samples_to_discard: Number of samples to discard for filters settling time. 368 * @watermark: Sensor watermark level. 369 * @decimator: Sensor decimation factor. 370 * @sip: Number of samples in a given pattern. 371 * @ts_ref: Sensor timestamp reference for hw one. 372 * @ext_info: Sensor settings if it is connected to i2c controller 373 */ 374 struct st_lsm6dsx_sensor { 375 char name[32]; 376 enum st_lsm6dsx_sensor_id id; 377 struct st_lsm6dsx_hw *hw; 378 379 u32 gain; 380 u32 odr; 381 382 u16 samples_to_discard; 383 u16 watermark; 384 u8 decimator; 385 u8 sip; 386 s64 ts_ref; 387 388 struct { 389 const struct st_lsm6dsx_ext_dev_settings *settings; 390 u32 slv_odr; 391 u8 addr; 392 } ext_info; 393 }; 394 395 /** 396 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance 397 * @dev: Pointer to instance of struct device (I2C or SPI). 398 * @regmap: Register map of the device. 399 * @irq: Device interrupt line (I2C or SPI). 400 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO. 401 * @conf_lock: Mutex to prevent concurrent FIFO configuration update. 402 * @page_lock: Mutex to prevent concurrent memory page configuration. 403 * @suspend_mask: Suspended sensor bitmask. 404 * @enable_mask: Enabled sensor bitmask. 405 * @fifo_mask: Enabled hw FIFO bitmask. 406 * @ts_gain: Hw timestamp rate after internal calibration. 407 * @ts_sip: Total number of timestamp samples in a given pattern. 408 * @sip: Total number of samples (acc/gyro/ts) in a given pattern. 409 * @buff: Device read buffer. 410 * @irq_routing: pointer to interrupt routing configuration. 411 * @event_threshold: wakeup event threshold. 412 * @enable_event: enabled event bitmask. 413 * @iio_devs: Pointers to acc/gyro iio_dev instances. 414 * @settings: Pointer to the specific sensor settings in use. 415 * @orientation: sensor chip orientation relative to main hardware. 416 * @scan: Temporary buffers used to align data before iio_push_to_buffers() 417 */ 418 struct st_lsm6dsx_hw { 419 struct device *dev; 420 struct regmap *regmap; 421 int irq; 422 423 struct mutex fifo_lock; 424 struct mutex conf_lock; 425 struct mutex page_lock; 426 427 u8 suspend_mask; 428 u8 enable_mask; 429 u8 fifo_mask; 430 s64 ts_gain; 431 u8 ts_sip; 432 u8 sip; 433 434 const struct st_lsm6dsx_reg *irq_routing; 435 u8 event_threshold; 436 u8 enable_event; 437 438 u8 *buff; 439 440 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX]; 441 442 const struct st_lsm6dsx_settings *settings; 443 444 struct iio_mount_matrix orientation; 445 /* Ensure natural alignment of buffer elements */ 446 struct { 447 __le16 channels[3]; 448 s64 ts __aligned(8); 449 } scan[ST_LSM6DSX_ID_MAX]; 450 }; 451 452 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = { 453 .type = IIO_EV_TYPE_THRESH, 454 .dir = IIO_EV_DIR_EITHER, 455 .mask_separate = BIT(IIO_EV_INFO_VALUE) | 456 BIT(IIO_EV_INFO_ENABLE) 457 }; 458 459 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = { 460 0x7, 0x0, 461 }; 462 463 extern const struct dev_pm_ops st_lsm6dsx_pm_ops; 464 465 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, 466 struct regmap *regmap); 467 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, 468 bool enable); 469 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw); 470 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val); 471 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, 472 u16 watermark); 473 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable); 474 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw); 475 int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw); 476 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw); 477 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw); 478 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val); 479 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name); 480 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable); 481 int st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len); 482 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable); 483 484 static inline int 485 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 486 unsigned int mask, unsigned int val) 487 { 488 int err; 489 490 mutex_lock(&hw->page_lock); 491 err = regmap_update_bits(hw->regmap, addr, mask, val); 492 mutex_unlock(&hw->page_lock); 493 494 return err; 495 } 496 497 static inline int 498 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 499 void *val, unsigned int len) 500 { 501 int err; 502 503 mutex_lock(&hw->page_lock); 504 err = regmap_bulk_read(hw->regmap, addr, val, len); 505 mutex_unlock(&hw->page_lock); 506 507 return err; 508 } 509 510 static inline int 511 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, 512 unsigned int val) 513 { 514 int err; 515 516 mutex_lock(&hw->page_lock); 517 err = regmap_write(hw->regmap, addr, val); 518 mutex_unlock(&hw->page_lock); 519 520 return err; 521 } 522 523 static inline const struct iio_mount_matrix * 524 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev, 525 const struct iio_chan_spec *chan) 526 { 527 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); 528 struct st_lsm6dsx_hw *hw = sensor->hw; 529 530 return &hw->orientation; 531 } 532 533 static inline int 534 st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable) 535 { 536 if (sensor->id == ST_LSM6DSX_ID_EXT0 || 537 sensor->id == ST_LSM6DSX_ID_EXT1 || 538 sensor->id == ST_LSM6DSX_ID_EXT2) 539 return st_lsm6dsx_shub_set_enable(sensor, enable); 540 541 return st_lsm6dsx_sensor_set_enable(sensor, enable); 542 } 543 544 static const 545 struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_ext_info[] = { 546 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix), 547 { } 548 }; 549 550 #endif /* ST_LSM6DSX_H */ 551