1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48#include <linux/kernel.h>
49#include <linux/module.h>
50#include <linux/delay.h>
51#include <linux/iio/events.h>
52#include <linux/iio/iio.h>
53#include <linux/iio/sysfs.h>
54#include <linux/interrupt.h>
55#include <linux/irq.h>
56#include <linux/pm.h>
57#include <linux/property.h>
58#include <linux/regmap.h>
59#include <linux/bitfield.h>
60
61#include <linux/platform_data/st_sensors_pdata.h>
62
63#include "st_lsm6dsx.h"
64
65#define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f
66
67#define ST_LSM6DSX_TS_SENSITIVITY 25000UL
68
69static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
70 ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x28, IIO_MOD_X, 0),
71 ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2a, IIO_MOD_Y, 1),
72 ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2c, IIO_MOD_Z, 2),
73 IIO_CHAN_SOFT_TIMESTAMP(3),
74};
75
76static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
77 ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x22, IIO_MOD_X, 0),
78 ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x24, IIO_MOD_Y, 1),
79 ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x26, IIO_MOD_Z, 2),
80 IIO_CHAN_SOFT_TIMESTAMP(3),
81};
82
83static const struct iio_chan_spec st_lsm6ds0_gyro_channels[] = {
84 ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x18, IIO_MOD_X, 0),
85 ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1a, IIO_MOD_Y, 1),
86 ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1c, IIO_MOD_Z, 2),
87 IIO_CHAN_SOFT_TIMESTAMP(3),
88};
89
90static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
91 {
92 .wai = 0x68,
93 .reset = {
94 .addr = 0x22,
95 .mask = BIT(0),
96 },
97 .boot = {
98 .addr = 0x22,
99 .mask = BIT(7),
100 },
101 .bdu = {
102 .addr = 0x22,
103 .mask = BIT(6),
104 },
105 .max_fifo_size = 32,
106 .id = {
107 {
108 .hw_id = ST_LSM9DS1_ID,
109 .name = ST_LSM9DS1_DEV_NAME,
110 }, {
111 .hw_id = ST_LSM6DS0_ID,
112 .name = ST_LSM6DS0_DEV_NAME,
113 },
114 },
115 .channels = {
116 [ST_LSM6DSX_ID_ACC] = {
117 .chan = st_lsm6dsx_acc_channels,
118 .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
119 },
120 [ST_LSM6DSX_ID_GYRO] = {
121 .chan = st_lsm6ds0_gyro_channels,
122 .len = ARRAY_SIZE(st_lsm6ds0_gyro_channels),
123 },
124 },
125 .odr_table = {
126 [ST_LSM6DSX_ID_ACC] = {
127 .reg = {
128 .addr = 0x20,
129 .mask = GENMASK(7, 5),
130 },
131 .odr_avl[0] = { 10000, 0x01 },
132 .odr_avl[1] = { 50000, 0x02 },
133 .odr_avl[2] = { 119000, 0x03 },
134 .odr_avl[3] = { 238000, 0x04 },
135 .odr_avl[4] = { 476000, 0x05 },
136 .odr_avl[5] = { 952000, 0x06 },
137 .odr_len = 6,
138 },
139 [ST_LSM6DSX_ID_GYRO] = {
140 .reg = {
141 .addr = 0x10,
142 .mask = GENMASK(7, 5),
143 },
144 .odr_avl[0] = { 14900, 0x01 },
145 .odr_avl[1] = { 59500, 0x02 },
146 .odr_avl[2] = { 119000, 0x03 },
147 .odr_avl[3] = { 238000, 0x04 },
148 .odr_avl[4] = { 476000, 0x05 },
149 .odr_avl[5] = { 952000, 0x06 },
150 .odr_len = 6,
151 },
152 },
153 .fs_table = {
154 [ST_LSM6DSX_ID_ACC] = {
155 .reg = {
156 .addr = 0x20,
157 .mask = GENMASK(4, 3),
158 },
159 .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
160 .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
161 .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
162 .fs_avl[3] = { IIO_G_TO_M_S_2(732), 0x1 },
163 .fs_len = 4,
164 },
165 [ST_LSM6DSX_ID_GYRO] = {
166 .reg = {
167 .addr = 0x10,
168 .mask = GENMASK(4, 3),
169 },
170
171 .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
172 .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
173 .fs_avl[2] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
174 .fs_len = 3,
175 },
176 },
177 .irq_config = {
178 .irq1 = {
179 .addr = 0x0c,
180 .mask = BIT(3),
181 },
182 .irq2 = {
183 .addr = 0x0d,
184 .mask = BIT(3),
185 },
186 .hla = {
187 .addr = 0x22,
188 .mask = BIT(5),
189 },
190 .od = {
191 .addr = 0x22,
192 .mask = BIT(4),
193 },
194 },
195 },
196 {
197 .wai = 0x69,
198 .reset = {
199 .addr = 0x12,
200 .mask = BIT(0),
201 },
202 .boot = {
203 .addr = 0x12,
204 .mask = BIT(7),
205 },
206 .bdu = {
207 .addr = 0x12,
208 .mask = BIT(6),
209 },
210 .max_fifo_size = 1365,
211 .id = {
212 {
213 .hw_id = ST_LSM6DS3_ID,
214 .name = ST_LSM6DS3_DEV_NAME,
215 },
216 },
217 .channels = {
218 [ST_LSM6DSX_ID_ACC] = {
219 .chan = st_lsm6dsx_acc_channels,
220 .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
221 },
222 [ST_LSM6DSX_ID_GYRO] = {
223 .chan = st_lsm6dsx_gyro_channels,
224 .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
225 },
226 },
227 .odr_table = {
228 [ST_LSM6DSX_ID_ACC] = {
229 .reg = {
230 .addr = 0x10,
231 .mask = GENMASK(7, 4),
232 },
233 .odr_avl[0] = { 12500, 0x01 },
234 .odr_avl[1] = { 26000, 0x02 },
235 .odr_avl[2] = { 52000, 0x03 },
236 .odr_avl[3] = { 104000, 0x04 },
237 .odr_avl[4] = { 208000, 0x05 },
238 .odr_avl[5] = { 416000, 0x06 },
239 .odr_len = 6,
240 },
241 [ST_LSM6DSX_ID_GYRO] = {
242 .reg = {
243 .addr = 0x11,
244 .mask = GENMASK(7, 4),
245 },
246 .odr_avl[0] = { 12500, 0x01 },
247 .odr_avl[1] = { 26000, 0x02 },
248 .odr_avl[2] = { 52000, 0x03 },
249 .odr_avl[3] = { 104000, 0x04 },
250 .odr_avl[4] = { 208000, 0x05 },
251 .odr_avl[5] = { 416000, 0x06 },
252 .odr_len = 6,
253 },
254 },
255 .fs_table = {
256 [ST_LSM6DSX_ID_ACC] = {
257 .reg = {
258 .addr = 0x10,
259 .mask = GENMASK(3, 2),
260 },
261 .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
262 .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
263 .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
264 .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
265 .fs_len = 4,
266 },
267 [ST_LSM6DSX_ID_GYRO] = {
268 .reg = {
269 .addr = 0x11,
270 .mask = GENMASK(3, 2),
271 },
272 .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
273 .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
274 .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
275 .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
276 .fs_len = 4,
277 },
278 },
279 .irq_config = {
280 .irq1 = {
281 .addr = 0x0d,
282 .mask = BIT(3),
283 },
284 .irq2 = {
285 .addr = 0x0e,
286 .mask = BIT(3),
287 },
288 .lir = {
289 .addr = 0x58,
290 .mask = BIT(0),
291 },
292 .irq1_func = {
293 .addr = 0x5e,
294 .mask = BIT(5),
295 },
296 .irq2_func = {
297 .addr = 0x5f,
298 .mask = BIT(5),
299 },
300 .hla = {
301 .addr = 0x12,
302 .mask = BIT(5),
303 },
304 .od = {
305 .addr = 0x12,
306 .mask = BIT(4),
307 },
308 },
309 .decimator = {
310 [ST_LSM6DSX_ID_ACC] = {
311 .addr = 0x08,
312 .mask = GENMASK(2, 0),
313 },
314 [ST_LSM6DSX_ID_GYRO] = {
315 .addr = 0x08,
316 .mask = GENMASK(5, 3),
317 },
318 },
319 .fifo_ops = {
320 .update_fifo = st_lsm6dsx_update_fifo,
321 .read_fifo = st_lsm6dsx_read_fifo,
322 .fifo_th = {
323 .addr = 0x06,
324 .mask = GENMASK(11, 0),
325 },
326 .fifo_diff = {
327 .addr = 0x3a,
328 .mask = GENMASK(11, 0),
329 },
330 .th_wl = 3,
331 },
332 .ts_settings = {
333 .timer_en = {
334 .addr = 0x58,
335 .mask = BIT(7),
336 },
337 .hr_timer = {
338 .addr = 0x5c,
339 .mask = BIT(4),
340 },
341 .fifo_en = {
342 .addr = 0x07,
343 .mask = BIT(7),
344 },
345 .decimator = {
346 .addr = 0x09,
347 .mask = GENMASK(5, 3),
348 },
349 },
350 .event_settings = {
351 .wakeup_reg = {
352 .addr = 0x5B,
353 .mask = GENMASK(5, 0),
354 },
355 .wakeup_src_reg = 0x1b,
356 .wakeup_src_status_mask = BIT(3),
357 .wakeup_src_z_mask = BIT(0),
358 .wakeup_src_y_mask = BIT(1),
359 .wakeup_src_x_mask = BIT(2),
360 },
361 },
362 {
363 .wai = 0x69,
364 .reset = {
365 .addr = 0x12,
366 .mask = BIT(0),
367 },
368 .boot = {
369 .addr = 0x12,
370 .mask = BIT(7),
371 },
372 .bdu = {
373 .addr = 0x12,
374 .mask = BIT(6),
375 },
376 .max_fifo_size = 682,
377 .id = {
378 {
379 .hw_id = ST_LSM6DS3H_ID,
380 .name = ST_LSM6DS3H_DEV_NAME,
381 },
382 },
383 .channels = {
384 [ST_LSM6DSX_ID_ACC] = {
385 .chan = st_lsm6dsx_acc_channels,
386 .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
387 },
388 [ST_LSM6DSX_ID_GYRO] = {
389 .chan = st_lsm6dsx_gyro_channels,
390 .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
391 },
392 },
393 .odr_table = {
394 [ST_LSM6DSX_ID_ACC] = {
395 .reg = {
396 .addr = 0x10,
397 .mask = GENMASK(7, 4),
398 },
399 .odr_avl[0] = { 12500, 0x01 },
400 .odr_avl[1] = { 26000, 0x02 },
401 .odr_avl[2] = { 52000, 0x03 },
402 .odr_avl[3] = { 104000, 0x04 },
403 .odr_avl[4] = { 208000, 0x05 },
404 .odr_avl[5] = { 416000, 0x06 },
405 .odr_len = 6,
406 },
407 [ST_LSM6DSX_ID_GYRO] = {
408 .reg = {
409 .addr = 0x11,
410 .mask = GENMASK(7, 4),
411 },
412 .odr_avl[0] = { 12500, 0x01 },
413 .odr_avl[1] = { 26000, 0x02 },
414 .odr_avl[2] = { 52000, 0x03 },
415 .odr_avl[3] = { 104000, 0x04 },
416 .odr_avl[4] = { 208000, 0x05 },
417 .odr_avl[5] = { 416000, 0x06 },
418 .odr_len = 6,
419 },
420 },
421 .fs_table = {
422 [ST_LSM6DSX_ID_ACC] = {
423 .reg = {
424 .addr = 0x10,
425 .mask = GENMASK(3, 2),
426 },
427 .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
428 .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
429 .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
430 .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
431 .fs_len = 4,
432 },
433 [ST_LSM6DSX_ID_GYRO] = {
434 .reg = {
435 .addr = 0x11,
436 .mask = GENMASK(3, 2),
437 },
438 .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
439 .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
440 .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
441 .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
442 .fs_len = 4,
443 },
444 },
445 .irq_config = {
446 .irq1 = {
447 .addr = 0x0d,
448 .mask = BIT(3),
449 },
450 .irq2 = {
451 .addr = 0x0e,
452 .mask = BIT(3),
453 },
454 .lir = {
455 .addr = 0x58,
456 .mask = BIT(0),
457 },
458 .irq1_func = {
459 .addr = 0x5e,
460 .mask = BIT(5),
461 },
462 .irq2_func = {
463 .addr = 0x5f,
464 .mask = BIT(5),
465 },
466 .hla = {
467 .addr = 0x12,
468 .mask = BIT(5),
469 },
470 .od = {
471 .addr = 0x12,
472 .mask = BIT(4),
473 },
474 },
475 .decimator = {
476 [ST_LSM6DSX_ID_ACC] = {
477 .addr = 0x08,
478 .mask = GENMASK(2, 0),
479 },
480 [ST_LSM6DSX_ID_GYRO] = {
481 .addr = 0x08,
482 .mask = GENMASK(5, 3),
483 },
484 },
485 .fifo_ops = {
486 .update_fifo = st_lsm6dsx_update_fifo,
487 .read_fifo = st_lsm6dsx_read_fifo,
488 .fifo_th = {
489 .addr = 0x06,
490 .mask = GENMASK(11, 0),
491 },
492 .fifo_diff = {
493 .addr = 0x3a,
494 .mask = GENMASK(11, 0),
495 },
496 .th_wl = 3,
497 },
498 .ts_settings = {
499 .timer_en = {
500 .addr = 0x58,
501 .mask = BIT(7),
502 },
503 .hr_timer = {
504 .addr = 0x5c,
505 .mask = BIT(4),
506 },
507 .fifo_en = {
508 .addr = 0x07,
509 .mask = BIT(7),
510 },
511 .decimator = {
512 .addr = 0x09,
513 .mask = GENMASK(5, 3),
514 },
515 },
516 .event_settings = {
517 .wakeup_reg = {
518 .addr = 0x5B,
519 .mask = GENMASK(5, 0),
520 },
521 .wakeup_src_reg = 0x1b,
522 .wakeup_src_status_mask = BIT(3),
523 .wakeup_src_z_mask = BIT(0),
524 .wakeup_src_y_mask = BIT(1),
525 .wakeup_src_x_mask = BIT(2),
526 },
527 },
528 {
529 .wai = 0x6a,
530 .reset = {
531 .addr = 0x12,
532 .mask = BIT(0),
533 },
534 .boot = {
535 .addr = 0x12,
536 .mask = BIT(7),
537 },
538 .bdu = {
539 .addr = 0x12,
540 .mask = BIT(6),
541 },
542 .max_fifo_size = 682,
543 .id = {
544 {
545 .hw_id = ST_LSM6DSL_ID,
546 .name = ST_LSM6DSL_DEV_NAME,
547 }, {
548 .hw_id = ST_LSM6DSM_ID,
549 .name = ST_LSM6DSM_DEV_NAME,
550 }, {
551 .hw_id = ST_ISM330DLC_ID,
552 .name = ST_ISM330DLC_DEV_NAME,
553 }, {
554 .hw_id = ST_LSM6DS3TRC_ID,
555 .name = ST_LSM6DS3TRC_DEV_NAME,
556 },
557 },
558 .channels = {
559 [ST_LSM6DSX_ID_ACC] = {
560 .chan = st_lsm6dsx_acc_channels,
561 .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
562 },
563 [ST_LSM6DSX_ID_GYRO] = {
564 .chan = st_lsm6dsx_gyro_channels,
565 .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
566 },
567 },
568 .odr_table = {
569 [ST_LSM6DSX_ID_ACC] = {
570 .reg = {
571 .addr = 0x10,
572 .mask = GENMASK(7, 4),
573 },
574 .odr_avl[0] = { 12500, 0x01 },
575 .odr_avl[1] = { 26000, 0x02 },
576 .odr_avl[2] = { 52000, 0x03 },
577 .odr_avl[3] = { 104000, 0x04 },
578 .odr_avl[4] = { 208000, 0x05 },
579 .odr_avl[5] = { 416000, 0x06 },
580 .odr_len = 6,
581 },
582 [ST_LSM6DSX_ID_GYRO] = {
583 .reg = {
584 .addr = 0x11,
585 .mask = GENMASK(7, 4),
586 },
587 .odr_avl[0] = { 12500, 0x01 },
588 .odr_avl[1] = { 26000, 0x02 },
589 .odr_avl[2] = { 52000, 0x03 },
590 .odr_avl[3] = { 104000, 0x04 },
591 .odr_avl[4] = { 208000, 0x05 },
592 .odr_avl[5] = { 416000, 0x06 },
593 .odr_len = 6,
594 },
595 },
596 .fs_table = {
597 [ST_LSM6DSX_ID_ACC] = {
598 .reg = {
599 .addr = 0x10,
600 .mask = GENMASK(3, 2),
601 },
602 .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
603 .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
604 .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
605 .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
606 .fs_len = 4,
607 },
608 [ST_LSM6DSX_ID_GYRO] = {
609 .reg = {
610 .addr = 0x11,
611 .mask = GENMASK(3, 2),
612 },
613 .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
614 .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
615 .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
616 .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
617 .fs_len = 4,
618 },
619 },
620 .irq_config = {
621 .irq1 = {
622 .addr = 0x0d,
623 .mask = BIT(3),
624 },
625 .irq2 = {
626 .addr = 0x0e,
627 .mask = BIT(3),
628 },
629 .lir = {
630 .addr = 0x58,
631 .mask = BIT(0),
632 },
633 .irq1_func = {
634 .addr = 0x5e,
635 .mask = BIT(5),
636 },
637 .irq2_func = {
638 .addr = 0x5f,
639 .mask = BIT(5),
640 },
641 .hla = {
642 .addr = 0x12,
643 .mask = BIT(5),
644 },
645 .od = {
646 .addr = 0x12,
647 .mask = BIT(4),
648 },
649 },
650 .decimator = {
651 [ST_LSM6DSX_ID_ACC] = {
652 .addr = 0x08,
653 .mask = GENMASK(2, 0),
654 },
655 [ST_LSM6DSX_ID_GYRO] = {
656 .addr = 0x08,
657 .mask = GENMASK(5, 3),
658 },
659 [ST_LSM6DSX_ID_EXT0] = {
660 .addr = 0x09,
661 .mask = GENMASK(2, 0),
662 },
663 },
664 .fifo_ops = {
665 .update_fifo = st_lsm6dsx_update_fifo,
666 .read_fifo = st_lsm6dsx_read_fifo,
667 .fifo_th = {
668 .addr = 0x06,
669 .mask = GENMASK(10, 0),
670 },
671 .fifo_diff = {
672 .addr = 0x3a,
673 .mask = GENMASK(10, 0),
674 },
675 .th_wl = 3,
676 },
677 .ts_settings = {
678 .timer_en = {
679 .addr = 0x19,
680 .mask = BIT(5),
681 },
682 .hr_timer = {
683 .addr = 0x5c,
684 .mask = BIT(4),
685 },
686 .fifo_en = {
687 .addr = 0x07,
688 .mask = BIT(7),
689 },
690 .decimator = {
691 .addr = 0x09,
692 .mask = GENMASK(5, 3),
693 },
694 },
695 .shub_settings = {
696 .page_mux = {
697 .addr = 0x01,
698 .mask = BIT(7),
699 },
700 .master_en = {
701 .addr = 0x1a,
702 .mask = BIT(0),
703 },
704 .pullup_en = {
705 .addr = 0x1a,
706 .mask = BIT(3),
707 },
708 .aux_sens = {
709 .addr = 0x04,
710 .mask = GENMASK(5, 4),
711 },
712 .wr_once = {
713 .addr = 0x07,
714 .mask = BIT(5),
715 },
716 .emb_func = {
717 .addr = 0x19,
718 .mask = BIT(2),
719 },
720 .num_ext_dev = 1,
721 .shub_out = {
722 .addr = 0x2e,
723 },
724 .slv0_addr = 0x02,
725 .dw_slv0_addr = 0x0e,
726 .pause = 0x7,
727 },
728 .event_settings = {
729 .enable_reg = {
730 .addr = 0x58,
731 .mask = BIT(7),
732 },
733 .wakeup_reg = {
734 .addr = 0x5B,
735 .mask = GENMASK(5, 0),
736 },
737 .wakeup_src_reg = 0x1b,
738 .wakeup_src_status_mask = BIT(3),
739 .wakeup_src_z_mask = BIT(0),
740 .wakeup_src_y_mask = BIT(1),
741 .wakeup_src_x_mask = BIT(2),
742 },
743 },
744 {
745 .wai = 0x6c,
746 .reset = {
747 .addr = 0x12,
748 .mask = BIT(0),
749 },
750 .boot = {
751 .addr = 0x12,
752 .mask = BIT(7),
753 },
754 .bdu = {
755 .addr = 0x12,
756 .mask = BIT(6),
757 },
758 .max_fifo_size = 512,
759 .id = {
760 {
761 .hw_id = ST_LSM6DSO_ID,
762 .name = ST_LSM6DSO_DEV_NAME,
763 }, {
764 .hw_id = ST_LSM6DSOX_ID,
765 .name = ST_LSM6DSOX_DEV_NAME,
766 },
767 },
768 .channels = {
769 [ST_LSM6DSX_ID_ACC] = {
770 .chan = st_lsm6dsx_acc_channels,
771 .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
772 },
773 [ST_LSM6DSX_ID_GYRO] = {
774 .chan = st_lsm6dsx_gyro_channels,
775 .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
776 },
777 },
778 .drdy_mask = {
779 .addr = 0x13,
780 .mask = BIT(3),
781 },
782 .odr_table = {
783 [ST_LSM6DSX_ID_ACC] = {
784 .reg = {
785 .addr = 0x10,
786 .mask = GENMASK(7, 4),
787 },
788 .odr_avl[0] = { 12500, 0x01 },
789 .odr_avl[1] = { 26000, 0x02 },
790 .odr_avl[2] = { 52000, 0x03 },
791 .odr_avl[3] = { 104000, 0x04 },
792 .odr_avl[4] = { 208000, 0x05 },
793 .odr_avl[5] = { 416000, 0x06 },
794 .odr_len = 6,
795 },
796 [ST_LSM6DSX_ID_GYRO] = {
797 .reg = {
798 .addr = 0x11,
799 .mask = GENMASK(7, 4),
800 },
801 .odr_avl[0] = { 12500, 0x01 },
802 .odr_avl[1] = { 26000, 0x02 },
803 .odr_avl[2] = { 52000, 0x03 },
804 .odr_avl[3] = { 104000, 0x04 },
805 .odr_avl[4] = { 208000, 0x05 },
806 .odr_avl[5] = { 416000, 0x06 },
807 .odr_len = 6,
808 },
809 },
810 .fs_table = {
811 [ST_LSM6DSX_ID_ACC] = {
812 .reg = {
813 .addr = 0x10,
814 .mask = GENMASK(3, 2),
815 },
816 .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
817 .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
818 .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
819 .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
820 .fs_len = 4,
821 },
822 [ST_LSM6DSX_ID_GYRO] = {
823 .reg = {
824 .addr = 0x11,
825 .mask = GENMASK(3, 2),
826 },
827 .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
828 .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
829 .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
830 .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
831 .fs_len = 4,
832 },
833 },
834 .irq_config = {
835 .irq1 = {
836 .addr = 0x0d,
837 .mask = BIT(3),
838 },
839 .irq2 = {
840 .addr = 0x0e,
841 .mask = BIT(3),
842 },
843 .lir = {
844 .addr = 0x56,
845 .mask = BIT(0),
846 },
847 .clear_on_read = {
848 .addr = 0x56,
849 .mask = BIT(6),
850 },
851 .irq1_func = {
852 .addr = 0x5e,
853 .mask = BIT(5),
854 },
855 .irq2_func = {
856 .addr = 0x5f,
857 .mask = BIT(5),
858 },
859 .hla = {
860 .addr = 0x12,
861 .mask = BIT(5),
862 },
863 .od = {
864 .addr = 0x12,
865 .mask = BIT(4),
866 },
867 },
868 .batch = {
869 [ST_LSM6DSX_ID_ACC] = {
870 .addr = 0x09,
871 .mask = GENMASK(3, 0),
872 },
873 [ST_LSM6DSX_ID_GYRO] = {
874 .addr = 0x09,
875 .mask = GENMASK(7, 4),
876 },
877 },
878 .fifo_ops = {
879 .update_fifo = st_lsm6dsx_update_fifo,
880 .read_fifo = st_lsm6dsx_read_tagged_fifo,
881 .fifo_th = {
882 .addr = 0x07,
883 .mask = GENMASK(8, 0),
884 },
885 .fifo_diff = {
886 .addr = 0x3a,
887 .mask = GENMASK(9, 0),
888 },
889 .th_wl = 1,
890 },
891 .ts_settings = {
892 .timer_en = {
893 .addr = 0x19,
894 .mask = BIT(5),
895 },
896 .decimator = {
897 .addr = 0x0a,
898 .mask = GENMASK(7, 6),
899 },
900 .freq_fine = 0x63,
901 },
902 .shub_settings = {
903 .page_mux = {
904 .addr = 0x01,
905 .mask = BIT(6),
906 },
907 .master_en = {
908 .sec_page = true,
909 .addr = 0x14,
910 .mask = BIT(2),
911 },
912 .pullup_en = {
913 .sec_page = true,
914 .addr = 0x14,
915 .mask = BIT(3),
916 },
917 .aux_sens = {
918 .addr = 0x14,
919 .mask = GENMASK(1, 0),
920 },
921 .wr_once = {
922 .addr = 0x14,
923 .mask = BIT(6),
924 },
925 .num_ext_dev = 3,
926 .shub_out = {
927 .sec_page = true,
928 .addr = 0x02,
929 },
930 .slv0_addr = 0x15,
931 .dw_slv0_addr = 0x21,
932 .batch_en = BIT(3),
933 },
934 .event_settings = {
935 .enable_reg = {
936 .addr = 0x58,
937 .mask = BIT(7),
938 },
939 .wakeup_reg = {
940 .addr = 0x5b,
941 .mask = GENMASK(5, 0),
942 },
943 .wakeup_src_reg = 0x1b,
944 .wakeup_src_status_mask = BIT(3),
945 .wakeup_src_z_mask = BIT(0),
946 .wakeup_src_y_mask = BIT(1),
947 .wakeup_src_x_mask = BIT(2),
948 },
949 },
950 {
951 .wai = 0x6b,
952 .reset = {
953 .addr = 0x12,
954 .mask = BIT(0),
955 },
956 .boot = {
957 .addr = 0x12,
958 .mask = BIT(7),
959 },
960 .bdu = {
961 .addr = 0x12,
962 .mask = BIT(6),
963 },
964 .max_fifo_size = 512,
965 .id = {
966 {
967 .hw_id = ST_ASM330LHH_ID,
968 .name = ST_ASM330LHH_DEV_NAME,
969 },
970 },
971 .channels = {
972 [ST_LSM6DSX_ID_ACC] = {
973 .chan = st_lsm6dsx_acc_channels,
974 .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
975 },
976 [ST_LSM6DSX_ID_GYRO] = {
977 .chan = st_lsm6dsx_gyro_channels,
978 .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
979 },
980 },
981 .drdy_mask = {
982 .addr = 0x13,
983 .mask = BIT(3),
984 },
985 .odr_table = {
986 [ST_LSM6DSX_ID_ACC] = {
987 .reg = {
988 .addr = 0x10,
989 .mask = GENMASK(7, 4),
990 },
991 .odr_avl[0] = { 12500, 0x01 },
992 .odr_avl[1] = { 26000, 0x02 },
993 .odr_avl[2] = { 52000, 0x03 },
994 .odr_avl[3] = { 104000, 0x04 },
995 .odr_avl[4] = { 208000, 0x05 },
996 .odr_avl[5] = { 416000, 0x06 },
997 .odr_len = 6,
998 },
999 [ST_LSM6DSX_ID_GYRO] = {
1000 .reg = {
1001 .addr = 0x11,
1002 .mask = GENMASK(7, 4),
1003 },
1004 .odr_avl[0] = { 12500, 0x01 },
1005 .odr_avl[1] = { 26000, 0x02 },
1006 .odr_avl[2] = { 52000, 0x03 },
1007 .odr_avl[3] = { 104000, 0x04 },
1008 .odr_avl[4] = { 208000, 0x05 },
1009 .odr_avl[5] = { 416000, 0x06 },
1010 .odr_len = 6,
1011 },
1012 },
1013 .fs_table = {
1014 [ST_LSM6DSX_ID_ACC] = {
1015 .reg = {
1016 .addr = 0x10,
1017 .mask = GENMASK(3, 2),
1018 },
1019 .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
1020 .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
1021 .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
1022 .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
1023 .fs_len = 4,
1024 },
1025 [ST_LSM6DSX_ID_GYRO] = {
1026 .reg = {
1027 .addr = 0x11,
1028 .mask = GENMASK(3, 2),
1029 },
1030 .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
1031 .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
1032 .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
1033 .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
1034 .fs_len = 4,
1035 },
1036 },
1037 .irq_config = {
1038 .irq1 = {
1039 .addr = 0x0d,
1040 .mask = BIT(3),
1041 },
1042 .irq2 = {
1043 .addr = 0x0e,
1044 .mask = BIT(3),
1045 },
1046 .lir = {
1047 .addr = 0x56,
1048 .mask = BIT(0),
1049 },
1050 .clear_on_read = {
1051 .addr = 0x56,
1052 .mask = BIT(6),
1053 },
1054 .irq1_func = {
1055 .addr = 0x5e,
1056 .mask = BIT(5),
1057 },
1058 .irq2_func = {
1059 .addr = 0x5f,
1060 .mask = BIT(5),
1061 },
1062 .hla = {
1063 .addr = 0x12,
1064 .mask = BIT(5),
1065 },
1066 .od = {
1067 .addr = 0x12,
1068 .mask = BIT(4),
1069 },
1070 },
1071 .batch = {
1072 [ST_LSM6DSX_ID_ACC] = {
1073 .addr = 0x09,
1074 .mask = GENMASK(3, 0),
1075 },
1076 [ST_LSM6DSX_ID_GYRO] = {
1077 .addr = 0x09,
1078 .mask = GENMASK(7, 4),
1079 },
1080 },
1081 .fifo_ops = {
1082 .update_fifo = st_lsm6dsx_update_fifo,
1083 .read_fifo = st_lsm6dsx_read_tagged_fifo,
1084 .fifo_th = {
1085 .addr = 0x07,
1086 .mask = GENMASK(8, 0),
1087 },
1088 .fifo_diff = {
1089 .addr = 0x3a,
1090 .mask = GENMASK(9, 0),
1091 },
1092 .th_wl = 1,
1093 },
1094 .ts_settings = {
1095 .timer_en = {
1096 .addr = 0x19,
1097 .mask = BIT(5),
1098 },
1099 .decimator = {
1100 .addr = 0x0a,
1101 .mask = GENMASK(7, 6),
1102 },
1103 .freq_fine = 0x63,
1104 },
1105 .event_settings = {
1106 .enable_reg = {
1107 .addr = 0x58,
1108 .mask = BIT(7),
1109 },
1110 .wakeup_reg = {
1111 .addr = 0x5B,
1112 .mask = GENMASK(5, 0),
1113 },
1114 .wakeup_src_reg = 0x1b,
1115 .wakeup_src_status_mask = BIT(3),
1116 .wakeup_src_z_mask = BIT(0),
1117 .wakeup_src_y_mask = BIT(1),
1118 .wakeup_src_x_mask = BIT(2),
1119 },
1120 },
1121 {
1122 .wai = 0x6b,
1123 .reset = {
1124 .addr = 0x12,
1125 .mask = BIT(0),
1126 },
1127 .boot = {
1128 .addr = 0x12,
1129 .mask = BIT(7),
1130 },
1131 .bdu = {
1132 .addr = 0x12,
1133 .mask = BIT(6),
1134 },
1135 .max_fifo_size = 512,
1136 .id = {
1137 {
1138 .hw_id = ST_LSM6DSR_ID,
1139 .name = ST_LSM6DSR_DEV_NAME,
1140 }, {
1141 .hw_id = ST_ISM330DHCX_ID,
1142 .name = ST_ISM330DHCX_DEV_NAME,
1143 }, {
1144 .hw_id = ST_LSM6DSRX_ID,
1145 .name = ST_LSM6DSRX_DEV_NAME,
1146 },
1147 },
1148 .channels = {
1149 [ST_LSM6DSX_ID_ACC] = {
1150 .chan = st_lsm6dsx_acc_channels,
1151 .len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
1152 },
1153 [ST_LSM6DSX_ID_GYRO] = {
1154 .chan = st_lsm6dsx_gyro_channels,
1155 .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
1156 },
1157 },
1158 .drdy_mask = {
1159 .addr = 0x13,
1160 .mask = BIT(3),
1161 },
1162 .odr_table = {
1163 [ST_LSM6DSX_ID_ACC] = {
1164 .reg = {
1165 .addr = 0x10,
1166 .mask = GENMASK(7, 4),
1167 },
1168 .odr_avl[0] = { 12500, 0x01 },
1169 .odr_avl[1] = { 26000, 0x02 },
1170 .odr_avl[2] = { 52000, 0x03 },
1171 .odr_avl[3] = { 104000, 0x04 },
1172 .odr_avl[4] = { 208000, 0x05 },
1173 .odr_avl[5] = { 416000, 0x06 },
1174 .odr_len = 6,
1175 },
1176 [ST_LSM6DSX_ID_GYRO] = {
1177 .reg = {
1178 .addr = 0x11,
1179 .mask = GENMASK(7, 4),
1180 },
1181 .odr_avl[0] = { 12500, 0x01 },
1182 .odr_avl[1] = { 26000, 0x02 },
1183 .odr_avl[2] = { 52000, 0x03 },
1184 .odr_avl[3] = { 104000, 0x04 },
1185 .odr_avl[4] = { 208000, 0x05 },
1186 .odr_avl[5] = { 416000, 0x06 },
1187 .odr_len = 6,
1188 },
1189 },
1190 .fs_table = {
1191 [ST_LSM6DSX_ID_ACC] = {
1192 .reg = {
1193 .addr = 0x10,
1194 .mask = GENMASK(3, 2),
1195 },
1196 .fs_avl[0] = { IIO_G_TO_M_S_2(61), 0x0 },
1197 .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
1198 .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
1199 .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
1200 .fs_len = 4,
1201 },
1202 [ST_LSM6DSX_ID_GYRO] = {
1203 .reg = {
1204 .addr = 0x11,
1205 .mask = GENMASK(3, 2),
1206 },
1207 .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 },
1208 .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
1209 .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
1210 .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
1211 .fs_len = 4,
1212 },
1213 },
1214 .irq_config = {
1215 .irq1 = {
1216 .addr = 0x0d,
1217 .mask = BIT(3),
1218 },
1219 .irq2 = {
1220 .addr = 0x0e,
1221 .mask = BIT(3),
1222 },
1223 .lir = {
1224 .addr = 0x56,
1225 .mask = BIT(0),
1226 },
1227 .clear_on_read = {
1228 .addr = 0x56,
1229 .mask = BIT(6),
1230 },
1231 .irq1_func = {
1232 .addr = 0x5e,
1233 .mask = BIT(5),
1234 },
1235 .irq2_func = {
1236 .addr = 0x5f,
1237 .mask = BIT(5),
1238 },
1239 .hla = {
1240 .addr = 0x12,
1241 .mask = BIT(5),
1242 },
1243 .od = {
1244 .addr = 0x12,
1245 .mask = BIT(4),
1246 },
1247 },
1248 .batch = {
1249 [ST_LSM6DSX_ID_ACC] = {
1250 .addr = 0x09,
1251 .mask = GENMASK(3, 0),
1252 },
1253 [ST_LSM6DSX_ID_GYRO] = {
1254 .addr = 0x09,
1255 .mask = GENMASK(7, 4),
1256 },
1257 },
1258 .fifo_ops = {
1259 .update_fifo = st_lsm6dsx_update_fifo,
1260 .read_fifo = st_lsm6dsx_read_tagged_fifo,
1261 .fifo_th = {
1262 .addr = 0x07,
1263 .mask = GENMASK(8, 0),
1264 },
1265 .fifo_diff = {
1266 .addr = 0x3a,
1267 .mask = GENMASK(9, 0),
1268 },
1269 .th_wl = 1,
1270 },
1271 .ts_settings = {
1272 .timer_en = {
1273 .addr = 0x19,
1274 .mask = BIT(5),
1275 },
1276 .decimator = {
1277 .addr = 0x0a,
1278 .mask = GENMASK(7, 6),
1279 },
1280 .freq_fine = 0x63,
1281 },
1282 .shub_settings = {
1283 .page_mux = {
1284 .addr = 0x01,
1285 .mask = BIT(6),
1286 },
1287 .master_en = {
1288 .sec_page = true,
1289 .addr = 0x14,
1290 .mask = BIT(2),
1291 },
1292 .pullup_en = {
1293 .sec_page = true,
1294 .addr = 0x14,
1295 .mask = BIT(3),
1296 },
1297 .aux_sens = {
1298 .addr = 0x14,
1299 .mask = GENMASK(1, 0),
1300 },
1301 .wr_once = {
1302 .addr = 0x14,
1303 .mask = BIT(6),
1304 },
1305 .num_ext_dev = 3,
1306 .shub_out = {
1307 .sec_page = true,
1308 .addr = 0x02,
1309 },
1310 .slv0_addr = 0x15,
1311 .dw_slv0_addr = 0x21,
1312 .batch_en = BIT(3),
1313 },
1314 .event_settings = {
1315 .enable_reg = {
1316 .addr = 0x58,
1317 .mask = BIT(7),
1318 },
1319 .wakeup_reg = {
1320 .addr = 0x5B,
1321 .mask = GENMASK(5, 0),
1322 },
1323 .wakeup_src_reg = 0x1b,
1324 .wakeup_src_status_mask = BIT(3),
1325 .wakeup_src_z_mask = BIT(0),
1326 .wakeup_src_y_mask = BIT(1),
1327 .wakeup_src_x_mask = BIT(2),
1328 }
1329 },
1330};
1331
1332int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable)
1333{
1334 const struct st_lsm6dsx_shub_settings *hub_settings;
1335 unsigned int data;
1336 int err;
1337
1338 hub_settings = &hw->settings->shub_settings;
1339 data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->page_mux.mask);
1340 err = regmap_update_bits(hw->regmap, hub_settings->page_mux.addr,
1341 hub_settings->page_mux.mask, data);
1342 usleep_range(100, 150);
1343
1344 return err;
1345}
1346
1347static int st_lsm6dsx_check_whoami(struct st_lsm6dsx_hw *hw, int id,
1348 const char **name)
1349{
1350 int err, i, j, data;
1351
1352 for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_sensor_settings); i++) {
1353 for (j = 0; j < ST_LSM6DSX_MAX_ID; j++) {
1354 if (st_lsm6dsx_sensor_settings[i].id[j].name &&
1355 id == st_lsm6dsx_sensor_settings[i].id[j].hw_id)
1356 break;
1357 }
1358 if (j < ST_LSM6DSX_MAX_ID)
1359 break;
1360 }
1361
1362 if (i == ARRAY_SIZE(st_lsm6dsx_sensor_settings)) {
1363 dev_err(hw->dev, "unsupported hw id [%02x]\n", id);
1364 return -ENODEV;
1365 }
1366
1367 err = regmap_read(hw->regmap, ST_LSM6DSX_REG_WHOAMI_ADDR, &data);
1368 if (err < 0) {
1369 dev_err(hw->dev, "failed to read whoami register\n");
1370 return err;
1371 }
1372
1373 if (data != st_lsm6dsx_sensor_settings[i].wai) {
1374 dev_err(hw->dev, "unsupported whoami [%02x]\n", data);
1375 return -ENODEV;
1376 }
1377
1378 *name = st_lsm6dsx_sensor_settings[i].id[j].name;
1379 hw->settings = &st_lsm6dsx_sensor_settings[i];
1380
1381 return 0;
1382}
1383
1384static int st_lsm6dsx_set_full_scale(struct st_lsm6dsx_sensor *sensor,
1385 u32 gain)
1386{
1387 const struct st_lsm6dsx_fs_table_entry *fs_table;
1388 unsigned int data;
1389 int i, err;
1390
1391 fs_table = &sensor->hw->settings->fs_table[sensor->id];
1392 for (i = 0; i < fs_table->fs_len; i++) {
1393 if (fs_table->fs_avl[i].gain == gain)
1394 break;
1395 }
1396
1397 if (i == fs_table->fs_len)
1398 return -EINVAL;
1399
1400 data = ST_LSM6DSX_SHIFT_VAL(fs_table->fs_avl[i].val,
1401 fs_table->reg.mask);
1402 err = st_lsm6dsx_update_bits_locked(sensor->hw, fs_table->reg.addr,
1403 fs_table->reg.mask, data);
1404 if (err < 0)
1405 return err;
1406
1407 sensor->gain = gain;
1408
1409 return 0;
1410}
1411
1412int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val)
1413{
1414 const struct st_lsm6dsx_odr_table_entry *odr_table;
1415 int i;
1416
1417 odr_table = &sensor->hw->settings->odr_table[sensor->id];
1418 for (i = 0; i < odr_table->odr_len; i++) {
1419
1420
1421
1422
1423 if (odr_table->odr_avl[i].milli_hz >= odr)
1424 break;
1425 }
1426
1427 if (i == odr_table->odr_len)
1428 return -EINVAL;
1429
1430 *val = odr_table->odr_avl[i].val;
1431 return odr_table->odr_avl[i].milli_hz;
1432}
1433
1434static int
1435st_lsm6dsx_check_odr_dependency(struct st_lsm6dsx_hw *hw, u32 odr,
1436 enum st_lsm6dsx_sensor_id id)
1437{
1438 struct st_lsm6dsx_sensor *ref = iio_priv(hw->iio_devs[id]);
1439
1440 if (odr > 0) {
1441 if (hw->enable_mask & BIT(id))
1442 return max_t(u32, ref->odr, odr);
1443 else
1444 return odr;
1445 } else {
1446 return (hw->enable_mask & BIT(id)) ? ref->odr : 0;
1447 }
1448}
1449
1450static int
1451st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u32 req_odr)
1452{
1453 struct st_lsm6dsx_sensor *ref_sensor = sensor;
1454 struct st_lsm6dsx_hw *hw = sensor->hw;
1455 const struct st_lsm6dsx_reg *reg;
1456 unsigned int data;
1457 u8 val = 0;
1458 int err;
1459
1460 switch (sensor->id) {
1461 case ST_LSM6DSX_ID_EXT0:
1462 case ST_LSM6DSX_ID_EXT1:
1463 case ST_LSM6DSX_ID_EXT2:
1464 case ST_LSM6DSX_ID_ACC: {
1465 u32 odr;
1466 int i;
1467
1468
1469
1470
1471
1472
1473
1474 ref_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
1475 for (i = ST_LSM6DSX_ID_ACC; i < ST_LSM6DSX_ID_MAX; i++) {
1476 if (!hw->iio_devs[i] || i == sensor->id)
1477 continue;
1478
1479 odr = st_lsm6dsx_check_odr_dependency(hw, req_odr, i);
1480 if (odr != req_odr)
1481
1482 return 0;
1483 }
1484 break;
1485 }
1486 default:
1487 break;
1488 }
1489
1490 if (req_odr > 0) {
1491 err = st_lsm6dsx_check_odr(ref_sensor, req_odr, &val);
1492 if (err < 0)
1493 return err;
1494 }
1495
1496 reg = &hw->settings->odr_table[ref_sensor->id].reg;
1497 data = ST_LSM6DSX_SHIFT_VAL(val, reg->mask);
1498 return st_lsm6dsx_update_bits_locked(hw, reg->addr, reg->mask, data);
1499}
1500
1501static int
1502__st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
1503 bool enable)
1504{
1505 struct st_lsm6dsx_hw *hw = sensor->hw;
1506 u32 odr = enable ? sensor->odr : 0;
1507 int err;
1508
1509 err = st_lsm6dsx_set_odr(sensor, odr);
1510 if (err < 0)
1511 return err;
1512
1513 if (enable)
1514 hw->enable_mask |= BIT(sensor->id);
1515 else
1516 hw->enable_mask &= ~BIT(sensor->id);
1517
1518 return 0;
1519}
1520
1521static int
1522st_lsm6dsx_check_events(struct st_lsm6dsx_sensor *sensor, bool enable)
1523{
1524 struct st_lsm6dsx_hw *hw = sensor->hw;
1525
1526 if (sensor->id == ST_LSM6DSX_ID_GYRO || enable)
1527 return 0;
1528
1529 return hw->enable_event;
1530}
1531
1532int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
1533 bool enable)
1534{
1535 if (st_lsm6dsx_check_events(sensor, enable))
1536 return 0;
1537
1538 return __st_lsm6dsx_sensor_set_enable(sensor, enable);
1539}
1540
1541static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor,
1542 u8 addr, int *val)
1543{
1544 struct st_lsm6dsx_hw *hw = sensor->hw;
1545 int err, delay;
1546 __le16 data;
1547
1548 err = st_lsm6dsx_sensor_set_enable(sensor, true);
1549 if (err < 0)
1550 return err;
1551
1552 delay = 1000000000 / sensor->odr;
1553 usleep_range(delay, 2 * delay);
1554
1555 err = st_lsm6dsx_read_locked(hw, addr, &data, sizeof(data));
1556 if (err < 0)
1557 return err;
1558
1559 if (!hw->enable_event) {
1560 err = st_lsm6dsx_sensor_set_enable(sensor, false);
1561 if (err < 0)
1562 return err;
1563 }
1564
1565 *val = (s16)le16_to_cpu(data);
1566
1567 return IIO_VAL_INT;
1568}
1569
1570static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev,
1571 struct iio_chan_spec const *ch,
1572 int *val, int *val2, long mask)
1573{
1574 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
1575 int ret;
1576
1577 switch (mask) {
1578 case IIO_CHAN_INFO_RAW:
1579 ret = iio_device_claim_direct_mode(iio_dev);
1580 if (ret)
1581 break;
1582
1583 ret = st_lsm6dsx_read_oneshot(sensor, ch->address, val);
1584 iio_device_release_direct_mode(iio_dev);
1585 break;
1586 case IIO_CHAN_INFO_SAMP_FREQ:
1587 *val = sensor->odr / 1000;
1588 *val2 = (sensor->odr % 1000) * 1000;
1589 ret = IIO_VAL_INT_PLUS_MICRO;
1590 break;
1591 case IIO_CHAN_INFO_SCALE:
1592 *val = 0;
1593 *val2 = sensor->gain;
1594 ret = IIO_VAL_INT_PLUS_MICRO;
1595 break;
1596 default:
1597 ret = -EINVAL;
1598 break;
1599 }
1600
1601 return ret;
1602}
1603
1604static int st_lsm6dsx_write_raw(struct iio_dev *iio_dev,
1605 struct iio_chan_spec const *chan,
1606 int val, int val2, long mask)
1607{
1608 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
1609 int err;
1610
1611 err = iio_device_claim_direct_mode(iio_dev);
1612 if (err)
1613 return err;
1614
1615 switch (mask) {
1616 case IIO_CHAN_INFO_SCALE:
1617 err = st_lsm6dsx_set_full_scale(sensor, val2);
1618 break;
1619 case IIO_CHAN_INFO_SAMP_FREQ: {
1620 u8 data;
1621
1622 val = val * 1000 + val2 / 1000;
1623 val = st_lsm6dsx_check_odr(sensor, val, &data);
1624 if (val < 0)
1625 err = val;
1626 else
1627 sensor->odr = val;
1628 break;
1629 }
1630 default:
1631 err = -EINVAL;
1632 break;
1633 }
1634
1635 iio_device_release_direct_mode(iio_dev);
1636
1637 return err;
1638}
1639
1640static int st_lsm6dsx_event_setup(struct st_lsm6dsx_hw *hw, int state)
1641{
1642 const struct st_lsm6dsx_reg *reg;
1643 unsigned int data;
1644 int err;
1645
1646 if (!hw->settings->irq_config.irq1_func.addr)
1647 return -ENOTSUPP;
1648
1649 reg = &hw->settings->event_settings.enable_reg;
1650 if (reg->addr) {
1651 data = ST_LSM6DSX_SHIFT_VAL(state, reg->mask);
1652 err = st_lsm6dsx_update_bits_locked(hw, reg->addr,
1653 reg->mask, data);
1654 if (err < 0)
1655 return err;
1656 }
1657
1658
1659 data = ST_LSM6DSX_SHIFT_VAL(state, hw->irq_routing->mask);
1660 return st_lsm6dsx_update_bits_locked(hw, hw->irq_routing->addr,
1661 hw->irq_routing->mask, data);
1662}
1663
1664static int st_lsm6dsx_read_event(struct iio_dev *iio_dev,
1665 const struct iio_chan_spec *chan,
1666 enum iio_event_type type,
1667 enum iio_event_direction dir,
1668 enum iio_event_info info,
1669 int *val, int *val2)
1670{
1671 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
1672 struct st_lsm6dsx_hw *hw = sensor->hw;
1673
1674 if (type != IIO_EV_TYPE_THRESH)
1675 return -EINVAL;
1676
1677 *val2 = 0;
1678 *val = hw->event_threshold;
1679
1680 return IIO_VAL_INT;
1681}
1682
1683static int
1684st_lsm6dsx_write_event(struct iio_dev *iio_dev,
1685 const struct iio_chan_spec *chan,
1686 enum iio_event_type type,
1687 enum iio_event_direction dir,
1688 enum iio_event_info info,
1689 int val, int val2)
1690{
1691 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
1692 struct st_lsm6dsx_hw *hw = sensor->hw;
1693 const struct st_lsm6dsx_reg *reg;
1694 unsigned int data;
1695 int err;
1696
1697 if (type != IIO_EV_TYPE_THRESH)
1698 return -EINVAL;
1699
1700 if (val < 0 || val > 31)
1701 return -EINVAL;
1702
1703 reg = &hw->settings->event_settings.wakeup_reg;
1704 data = ST_LSM6DSX_SHIFT_VAL(val, reg->mask);
1705 err = st_lsm6dsx_update_bits_locked(hw, reg->addr,
1706 reg->mask, data);
1707 if (err < 0)
1708 return -EINVAL;
1709
1710 hw->event_threshold = val;
1711
1712 return 0;
1713}
1714
1715static int
1716st_lsm6dsx_read_event_config(struct iio_dev *iio_dev,
1717 const struct iio_chan_spec *chan,
1718 enum iio_event_type type,
1719 enum iio_event_direction dir)
1720{
1721 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
1722 struct st_lsm6dsx_hw *hw = sensor->hw;
1723
1724 if (type != IIO_EV_TYPE_THRESH)
1725 return -EINVAL;
1726
1727 return !!(hw->enable_event & BIT(chan->channel2));
1728}
1729
1730static int
1731st_lsm6dsx_write_event_config(struct iio_dev *iio_dev,
1732 const struct iio_chan_spec *chan,
1733 enum iio_event_type type,
1734 enum iio_event_direction dir, int state)
1735{
1736 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
1737 struct st_lsm6dsx_hw *hw = sensor->hw;
1738 u8 enable_event;
1739 int err;
1740
1741 if (type != IIO_EV_TYPE_THRESH)
1742 return -EINVAL;
1743
1744 if (state) {
1745 enable_event = hw->enable_event | BIT(chan->channel2);
1746
1747
1748 if (hw->enable_event)
1749 goto out;
1750 } else {
1751 enable_event = hw->enable_event & ~BIT(chan->channel2);
1752
1753
1754 if (enable_event)
1755 goto out;
1756 }
1757
1758
1759 if (hw->enable_event == enable_event)
1760 return 0;
1761
1762 err = st_lsm6dsx_event_setup(hw, state);
1763 if (err < 0)
1764 return err;
1765
1766 mutex_lock(&hw->conf_lock);
1767 if (enable_event || !(hw->fifo_mask & BIT(sensor->id)))
1768 err = __st_lsm6dsx_sensor_set_enable(sensor, state);
1769 mutex_unlock(&hw->conf_lock);
1770 if (err < 0)
1771 return err;
1772
1773out:
1774 hw->enable_event = enable_event;
1775
1776 return 0;
1777}
1778
1779int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val)
1780{
1781 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
1782 struct st_lsm6dsx_hw *hw = sensor->hw;
1783 int err;
1784
1785 if (val < 1 || val > hw->settings->max_fifo_size)
1786 return -EINVAL;
1787
1788 mutex_lock(&hw->conf_lock);
1789
1790 err = st_lsm6dsx_update_watermark(sensor, val);
1791
1792 mutex_unlock(&hw->conf_lock);
1793
1794 if (err < 0)
1795 return err;
1796
1797 sensor->watermark = val;
1798
1799 return 0;
1800}
1801
1802static ssize_t
1803st_lsm6dsx_sysfs_sampling_frequency_avail(struct device *dev,
1804 struct device_attribute *attr,
1805 char *buf)
1806{
1807 struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
1808 const struct st_lsm6dsx_odr_table_entry *odr_table;
1809 int i, len = 0;
1810
1811 odr_table = &sensor->hw->settings->odr_table[sensor->id];
1812 for (i = 0; i < odr_table->odr_len; i++)
1813 len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%03d ",
1814 odr_table->odr_avl[i].milli_hz / 1000,
1815 odr_table->odr_avl[i].milli_hz % 1000);
1816 buf[len - 1] = '\n';
1817
1818 return len;
1819}
1820
1821static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev,
1822 struct device_attribute *attr,
1823 char *buf)
1824{
1825 struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
1826 const struct st_lsm6dsx_fs_table_entry *fs_table;
1827 struct st_lsm6dsx_hw *hw = sensor->hw;
1828 int i, len = 0;
1829
1830 fs_table = &hw->settings->fs_table[sensor->id];
1831 for (i = 0; i < fs_table->fs_len; i++)
1832 len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
1833 fs_table->fs_avl[i].gain);
1834 buf[len - 1] = '\n';
1835
1836 return len;
1837}
1838
1839static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_sysfs_sampling_frequency_avail);
1840static IIO_DEVICE_ATTR(in_accel_scale_available, 0444,
1841 st_lsm6dsx_sysfs_scale_avail, NULL, 0);
1842static IIO_DEVICE_ATTR(in_anglvel_scale_available, 0444,
1843 st_lsm6dsx_sysfs_scale_avail, NULL, 0);
1844
1845static struct attribute *st_lsm6dsx_acc_attributes[] = {
1846 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
1847 &iio_dev_attr_in_accel_scale_available.dev_attr.attr,
1848 NULL,
1849};
1850
1851static const struct attribute_group st_lsm6dsx_acc_attribute_group = {
1852 .attrs = st_lsm6dsx_acc_attributes,
1853};
1854
1855static const struct iio_info st_lsm6dsx_acc_info = {
1856 .attrs = &st_lsm6dsx_acc_attribute_group,
1857 .read_raw = st_lsm6dsx_read_raw,
1858 .write_raw = st_lsm6dsx_write_raw,
1859 .read_event_value = st_lsm6dsx_read_event,
1860 .write_event_value = st_lsm6dsx_write_event,
1861 .read_event_config = st_lsm6dsx_read_event_config,
1862 .write_event_config = st_lsm6dsx_write_event_config,
1863 .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
1864};
1865
1866static struct attribute *st_lsm6dsx_gyro_attributes[] = {
1867 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
1868 &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
1869 NULL,
1870};
1871
1872static const struct attribute_group st_lsm6dsx_gyro_attribute_group = {
1873 .attrs = st_lsm6dsx_gyro_attributes,
1874};
1875
1876static const struct iio_info st_lsm6dsx_gyro_info = {
1877 .attrs = &st_lsm6dsx_gyro_attribute_group,
1878 .read_raw = st_lsm6dsx_read_raw,
1879 .write_raw = st_lsm6dsx_write_raw,
1880 .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
1881};
1882
1883static int st_lsm6dsx_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin)
1884{
1885 struct device *dev = hw->dev;
1886
1887 if (!dev_fwnode(dev))
1888 return -EINVAL;
1889
1890 return device_property_read_u32(dev, "st,drdy-int-pin", drdy_pin);
1891}
1892
1893static int
1894st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw,
1895 const struct st_lsm6dsx_reg **drdy_reg)
1896{
1897 int err = 0, drdy_pin;
1898
1899 if (st_lsm6dsx_get_drdy_pin(hw, &drdy_pin) < 0) {
1900 struct st_sensors_platform_data *pdata;
1901 struct device *dev = hw->dev;
1902
1903 pdata = (struct st_sensors_platform_data *)dev->platform_data;
1904 drdy_pin = pdata ? pdata->drdy_int_pin : 1;
1905 }
1906
1907 switch (drdy_pin) {
1908 case 1:
1909 hw->irq_routing = &hw->settings->irq_config.irq1_func;
1910 *drdy_reg = &hw->settings->irq_config.irq1;
1911 break;
1912 case 2:
1913 hw->irq_routing = &hw->settings->irq_config.irq2_func;
1914 *drdy_reg = &hw->settings->irq_config.irq2;
1915 break;
1916 default:
1917 dev_err(hw->dev, "unsupported data ready pin\n");
1918 err = -EINVAL;
1919 break;
1920 }
1921
1922 return err;
1923}
1924
1925static int st_lsm6dsx_init_shub(struct st_lsm6dsx_hw *hw)
1926{
1927 const struct st_lsm6dsx_shub_settings *hub_settings;
1928 struct st_sensors_platform_data *pdata;
1929 struct device *dev = hw->dev;
1930 unsigned int data;
1931 int err = 0;
1932
1933 hub_settings = &hw->settings->shub_settings;
1934
1935 pdata = (struct st_sensors_platform_data *)dev->platform_data;
1936 if ((dev_fwnode(dev) && device_property_read_bool(dev, "st,pullups")) ||
1937 (pdata && pdata->pullups)) {
1938 if (hub_settings->pullup_en.sec_page) {
1939 err = st_lsm6dsx_set_page(hw, true);
1940 if (err < 0)
1941 return err;
1942 }
1943
1944 data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->pullup_en.mask);
1945 err = regmap_update_bits(hw->regmap,
1946 hub_settings->pullup_en.addr,
1947 hub_settings->pullup_en.mask, data);
1948
1949 if (hub_settings->pullup_en.sec_page)
1950 st_lsm6dsx_set_page(hw, false);
1951
1952 if (err < 0)
1953 return err;
1954 }
1955
1956 if (hub_settings->aux_sens.addr) {
1957
1958 err = st_lsm6dsx_set_page(hw, true);
1959 if (err < 0)
1960 return err;
1961
1962 data = ST_LSM6DSX_SHIFT_VAL(3, hub_settings->aux_sens.mask);
1963 err = regmap_update_bits(hw->regmap,
1964 hub_settings->aux_sens.addr,
1965 hub_settings->aux_sens.mask, data);
1966
1967 st_lsm6dsx_set_page(hw, false);
1968
1969 if (err < 0)
1970 return err;
1971 }
1972
1973 if (hub_settings->emb_func.addr) {
1974 data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->emb_func.mask);
1975 err = regmap_update_bits(hw->regmap,
1976 hub_settings->emb_func.addr,
1977 hub_settings->emb_func.mask, data);
1978 }
1979
1980 return err;
1981}
1982
1983static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw)
1984{
1985 const struct st_lsm6dsx_hw_ts_settings *ts_settings;
1986 int err, val;
1987
1988 ts_settings = &hw->settings->ts_settings;
1989
1990 if (ts_settings->timer_en.addr) {
1991 val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->timer_en.mask);
1992 err = regmap_update_bits(hw->regmap,
1993 ts_settings->timer_en.addr,
1994 ts_settings->timer_en.mask, val);
1995 if (err < 0)
1996 return err;
1997 }
1998
1999
2000 if (ts_settings->hr_timer.addr) {
2001 val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->hr_timer.mask);
2002 err = regmap_update_bits(hw->regmap,
2003 ts_settings->hr_timer.addr,
2004 ts_settings->hr_timer.mask, val);
2005 if (err < 0)
2006 return err;
2007 }
2008
2009
2010 if (ts_settings->fifo_en.addr) {
2011 val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->fifo_en.mask);
2012 err = regmap_update_bits(hw->regmap,
2013 ts_settings->fifo_en.addr,
2014 ts_settings->fifo_en.mask, val);
2015 if (err < 0)
2016 return err;
2017 }
2018
2019
2020 hw->ts_gain = ST_LSM6DSX_TS_SENSITIVITY;
2021 if (ts_settings->freq_fine) {
2022 err = regmap_read(hw->regmap, ts_settings->freq_fine, &val);
2023 if (err < 0)
2024 return err;
2025
2026
2027
2028
2029
2030
2031
2032
2033 hw->ts_gain -= ((s8)val * 37500) / 1000;
2034 }
2035
2036 return 0;
2037}
2038
2039static int st_lsm6dsx_reset_device(struct st_lsm6dsx_hw *hw)
2040{
2041 const struct st_lsm6dsx_reg *reg;
2042 int err;
2043
2044
2045
2046
2047
2048
2049
2050 err = st_lsm6dsx_flush_fifo(hw);
2051 if (err < 0 && err != -ENOTSUPP)
2052 return err;
2053
2054
2055 reg = &hw->settings->reset;
2056 err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
2057 ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
2058 if (err < 0)
2059 return err;
2060
2061 msleep(50);
2062
2063
2064 reg = &hw->settings->boot;
2065 err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
2066 ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
2067 if (err < 0)
2068 return err;
2069
2070 msleep(50);
2071
2072 return 0;
2073}
2074
2075static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
2076{
2077 const struct st_lsm6dsx_reg *reg;
2078 int err;
2079
2080 err = st_lsm6dsx_reset_device(hw);
2081 if (err < 0)
2082 return err;
2083
2084
2085 reg = &hw->settings->bdu;
2086 err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
2087 ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
2088 if (err < 0)
2089 return err;
2090
2091
2092 err = st_lsm6dsx_get_drdy_reg(hw, ®);
2093 if (err < 0)
2094 return err;
2095
2096 err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
2097 ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
2098 if (err < 0)
2099 return err;
2100
2101
2102 if (hw->settings->irq_config.lir.addr) {
2103 reg = &hw->settings->irq_config.lir;
2104 err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
2105 ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
2106 if (err < 0)
2107 return err;
2108
2109
2110 if (hw->settings->irq_config.clear_on_read.addr) {
2111 reg = &hw->settings->irq_config.clear_on_read;
2112 err = regmap_update_bits(hw->regmap,
2113 reg->addr, reg->mask,
2114 ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
2115 if (err < 0)
2116 return err;
2117 }
2118 }
2119
2120
2121 if (hw->settings->drdy_mask.addr) {
2122 reg = &hw->settings->drdy_mask;
2123 err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
2124 ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
2125 if (err < 0)
2126 return err;
2127 }
2128
2129 err = st_lsm6dsx_init_shub(hw);
2130 if (err < 0)
2131 return err;
2132
2133 return st_lsm6dsx_init_hw_timer(hw);
2134}
2135
2136static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
2137 enum st_lsm6dsx_sensor_id id,
2138 const char *name)
2139{
2140 struct st_lsm6dsx_sensor *sensor;
2141 struct iio_dev *iio_dev;
2142
2143 iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor));
2144 if (!iio_dev)
2145 return NULL;
2146
2147 iio_dev->modes = INDIO_DIRECT_MODE;
2148 iio_dev->dev.parent = hw->dev;
2149 iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks;
2150 iio_dev->channels = hw->settings->channels[id].chan;
2151 iio_dev->num_channels = hw->settings->channels[id].len;
2152
2153 sensor = iio_priv(iio_dev);
2154 sensor->id = id;
2155 sensor->hw = hw;
2156 sensor->odr = hw->settings->odr_table[id].odr_avl[0].milli_hz;
2157 sensor->gain = hw->settings->fs_table[id].fs_avl[0].gain;
2158 sensor->watermark = 1;
2159
2160 switch (id) {
2161 case ST_LSM6DSX_ID_ACC:
2162 iio_dev->info = &st_lsm6dsx_acc_info;
2163 scnprintf(sensor->name, sizeof(sensor->name), "%s_accel",
2164 name);
2165 break;
2166 case ST_LSM6DSX_ID_GYRO:
2167 iio_dev->info = &st_lsm6dsx_gyro_info;
2168 scnprintf(sensor->name, sizeof(sensor->name), "%s_gyro",
2169 name);
2170 break;
2171 default:
2172 return NULL;
2173 }
2174 iio_dev->name = sensor->name;
2175
2176 return iio_dev;
2177}
2178
2179static bool
2180st_lsm6dsx_report_motion_event(struct st_lsm6dsx_hw *hw)
2181{
2182 const struct st_lsm6dsx_event_settings *event_settings;
2183 int err, data;
2184 s64 timestamp;
2185
2186 if (!hw->enable_event)
2187 return false;
2188
2189 event_settings = &hw->settings->event_settings;
2190 err = st_lsm6dsx_read_locked(hw, event_settings->wakeup_src_reg,
2191 &data, sizeof(data));
2192 if (err < 0)
2193 return false;
2194
2195 timestamp = iio_get_time_ns(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
2196 if ((data & hw->settings->event_settings.wakeup_src_z_mask) &&
2197 (hw->enable_event & BIT(IIO_MOD_Z)))
2198 iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
2199 IIO_MOD_EVENT_CODE(IIO_ACCEL,
2200 0,
2201 IIO_MOD_Z,
2202 IIO_EV_TYPE_THRESH,
2203 IIO_EV_DIR_EITHER),
2204 timestamp);
2205
2206 if ((data & hw->settings->event_settings.wakeup_src_y_mask) &&
2207 (hw->enable_event & BIT(IIO_MOD_Y)))
2208 iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
2209 IIO_MOD_EVENT_CODE(IIO_ACCEL,
2210 0,
2211 IIO_MOD_Y,
2212 IIO_EV_TYPE_THRESH,
2213 IIO_EV_DIR_EITHER),
2214 timestamp);
2215
2216 if ((data & hw->settings->event_settings.wakeup_src_x_mask) &&
2217 (hw->enable_event & BIT(IIO_MOD_X)))
2218 iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
2219 IIO_MOD_EVENT_CODE(IIO_ACCEL,
2220 0,
2221 IIO_MOD_X,
2222 IIO_EV_TYPE_THRESH,
2223 IIO_EV_DIR_EITHER),
2224 timestamp);
2225
2226 return data & event_settings->wakeup_src_status_mask;
2227}
2228
2229static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private)
2230{
2231 struct st_lsm6dsx_hw *hw = private;
2232 bool event;
2233 int count;
2234
2235 event = st_lsm6dsx_report_motion_event(hw);
2236
2237 if (!hw->settings->fifo_ops.read_fifo)
2238 return event ? IRQ_HANDLED : IRQ_NONE;
2239
2240 mutex_lock(&hw->fifo_lock);
2241 count = hw->settings->fifo_ops.read_fifo(hw);
2242 mutex_unlock(&hw->fifo_lock);
2243
2244 return count || event ? IRQ_HANDLED : IRQ_NONE;
2245}
2246
2247static int st_lsm6dsx_irq_setup(struct st_lsm6dsx_hw *hw)
2248{
2249 struct st_sensors_platform_data *pdata;
2250 const struct st_lsm6dsx_reg *reg;
2251 struct device *dev = hw->dev;
2252 unsigned long irq_type;
2253 bool irq_active_low;
2254 int err;
2255
2256 irq_type = irqd_get_trigger_type(irq_get_irq_data(hw->irq));
2257
2258 switch (irq_type) {
2259 case IRQF_TRIGGER_HIGH:
2260 case IRQF_TRIGGER_RISING:
2261 irq_active_low = false;
2262 break;
2263 case IRQF_TRIGGER_LOW:
2264 case IRQF_TRIGGER_FALLING:
2265 irq_active_low = true;
2266 break;
2267 default:
2268 dev_info(hw->dev, "mode %lx unsupported\n", irq_type);
2269 return -EINVAL;
2270 }
2271
2272 reg = &hw->settings->irq_config.hla;
2273 err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
2274 ST_LSM6DSX_SHIFT_VAL(irq_active_low,
2275 reg->mask));
2276 if (err < 0)
2277 return err;
2278
2279 pdata = (struct st_sensors_platform_data *)dev->platform_data;
2280 if ((dev_fwnode(dev) && device_property_read_bool(dev, "drive-open-drain")) ||
2281 (pdata && pdata->open_drain)) {
2282 reg = &hw->settings->irq_config.od;
2283 err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
2284 ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
2285 if (err < 0)
2286 return err;
2287
2288 irq_type |= IRQF_SHARED;
2289 }
2290
2291 err = devm_request_threaded_irq(hw->dev, hw->irq,
2292 NULL,
2293 st_lsm6dsx_handler_thread,
2294 irq_type | IRQF_ONESHOT,
2295 "lsm6dsx", hw);
2296 if (err) {
2297 dev_err(hw->dev, "failed to request trigger irq %d\n",
2298 hw->irq);
2299 return err;
2300 }
2301
2302 return 0;
2303}
2304
2305int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
2306 struct regmap *regmap)
2307{
2308 struct st_sensors_platform_data *pdata = dev->platform_data;
2309 const struct st_lsm6dsx_shub_settings *hub_settings;
2310 struct st_lsm6dsx_hw *hw;
2311 const char *name = NULL;
2312 int i, err;
2313
2314 hw = devm_kzalloc(dev, sizeof(*hw), GFP_KERNEL);
2315 if (!hw)
2316 return -ENOMEM;
2317
2318 dev_set_drvdata(dev, (void *)hw);
2319
2320 mutex_init(&hw->fifo_lock);
2321 mutex_init(&hw->conf_lock);
2322 mutex_init(&hw->page_lock);
2323
2324 hw->buff = devm_kzalloc(dev, ST_LSM6DSX_BUFF_SIZE, GFP_KERNEL);
2325 if (!hw->buff)
2326 return -ENOMEM;
2327
2328 hw->dev = dev;
2329 hw->irq = irq;
2330 hw->regmap = regmap;
2331
2332 err = st_lsm6dsx_check_whoami(hw, hw_id, &name);
2333 if (err < 0)
2334 return err;
2335
2336 for (i = 0; i < ST_LSM6DSX_ID_EXT0; i++) {
2337 hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name);
2338 if (!hw->iio_devs[i])
2339 return -ENOMEM;
2340 }
2341
2342 err = st_lsm6dsx_init_device(hw);
2343 if (err < 0)
2344 return err;
2345
2346 hub_settings = &hw->settings->shub_settings;
2347 if (hub_settings->master_en.addr) {
2348 err = st_lsm6dsx_shub_probe(hw, name);
2349 if (err < 0)
2350 return err;
2351 }
2352
2353 if (hw->irq > 0) {
2354 err = st_lsm6dsx_irq_setup(hw);
2355 if (err < 0)
2356 return err;
2357
2358 err = st_lsm6dsx_fifo_setup(hw);
2359 if (err < 0)
2360 return err;
2361 }
2362
2363 err = iio_read_mount_matrix(hw->dev, "mount-matrix", &hw->orientation);
2364 if (err)
2365 return err;
2366
2367 for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
2368 if (!hw->iio_devs[i])
2369 continue;
2370
2371 err = devm_iio_device_register(hw->dev, hw->iio_devs[i]);
2372 if (err)
2373 return err;
2374 }
2375
2376 if ((dev_fwnode(dev) && device_property_read_bool(dev, "wakeup-source")) ||
2377 (pdata && pdata->wakeup_source))
2378 device_init_wakeup(dev, true);
2379
2380 return 0;
2381}
2382EXPORT_SYMBOL(st_lsm6dsx_probe);
2383
2384static int __maybe_unused st_lsm6dsx_suspend(struct device *dev)
2385{
2386 struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev);
2387 struct st_lsm6dsx_sensor *sensor;
2388 int i, err = 0;
2389
2390 for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
2391 if (!hw->iio_devs[i])
2392 continue;
2393
2394 sensor = iio_priv(hw->iio_devs[i]);
2395 if (!(hw->enable_mask & BIT(sensor->id)))
2396 continue;
2397
2398 if (device_may_wakeup(dev) &&
2399 sensor->id == ST_LSM6DSX_ID_ACC && hw->enable_event) {
2400
2401 enable_irq_wake(hw->irq);
2402 continue;
2403 }
2404
2405 if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
2406 sensor->id == ST_LSM6DSX_ID_EXT1 ||
2407 sensor->id == ST_LSM6DSX_ID_EXT2)
2408 err = st_lsm6dsx_shub_set_enable(sensor, false);
2409 else
2410 err = st_lsm6dsx_sensor_set_enable(sensor, false);
2411 if (err < 0)
2412 return err;
2413
2414 hw->suspend_mask |= BIT(sensor->id);
2415 }
2416
2417 if (hw->fifo_mask)
2418 err = st_lsm6dsx_flush_fifo(hw);
2419
2420 return err;
2421}
2422
2423static int __maybe_unused st_lsm6dsx_resume(struct device *dev)
2424{
2425 struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev);
2426 struct st_lsm6dsx_sensor *sensor;
2427 int i, err = 0;
2428
2429 for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
2430 if (!hw->iio_devs[i])
2431 continue;
2432
2433 sensor = iio_priv(hw->iio_devs[i]);
2434 if (device_may_wakeup(dev) &&
2435 sensor->id == ST_LSM6DSX_ID_ACC && hw->enable_event)
2436 disable_irq_wake(hw->irq);
2437
2438 if (!(hw->suspend_mask & BIT(sensor->id)))
2439 continue;
2440
2441 if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
2442 sensor->id == ST_LSM6DSX_ID_EXT1 ||
2443 sensor->id == ST_LSM6DSX_ID_EXT2)
2444 err = st_lsm6dsx_shub_set_enable(sensor, true);
2445 else
2446 err = st_lsm6dsx_sensor_set_enable(sensor, true);
2447 if (err < 0)
2448 return err;
2449
2450 hw->suspend_mask &= ~BIT(sensor->id);
2451 }
2452
2453 if (hw->fifo_mask)
2454 err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT);
2455
2456 return err;
2457}
2458
2459const struct dev_pm_ops st_lsm6dsx_pm_ops = {
2460 SET_SYSTEM_SLEEP_PM_OPS(st_lsm6dsx_suspend, st_lsm6dsx_resume)
2461};
2462EXPORT_SYMBOL(st_lsm6dsx_pm_ops);
2463
2464MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@st.com>");
2465MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>");
2466MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx driver");
2467MODULE_LICENSE("GPL v2");
2468
