LXR linux/drivers/iio/imu/st_lsm6dsx/st

   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
  35enum 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
 106struct st_lsm6dsx_reg {
 107        u8 addr;
 108        u8 mask;
 109};
 110
 111struct st_lsm6dsx_sensor;
 112struct st_lsm6dsx_hw;
 113
 114struct st_lsm6dsx_odr {
 115        u32 milli_hz;
 116        u8 val;
 117};
 118
 119#define ST_LSM6DSX_ODR_LIST_SIZE        8
 120struct 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
 127struct st_lsm6dsx_fs {
 128        u32 gain;
 129        u8 val;
 130};
 131
 132#define ST_LSM6DSX_FS_LIST_SIZE         4
 133struct 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 * @th_wl: FIFO threshold word length.
 147 */
 148struct st_lsm6dsx_fifo_ops {
 149        int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
 150        int (*read_fifo)(struct st_lsm6dsx_hw *hw);
 151        struct {
 152                u8 addr;
 153                u16 mask;
 154        } fifo_th;
 155        struct {
 156                u8 addr;
 157                u16 mask;
 158        } fifo_diff;
 159        u8 th_wl;
 160};
 161
 162/**
 163 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
 164 * @timer_en: Hw timer enable register info (addr + mask).
 165 * @hr_timer: Hw timer resolution register info (addr + mask).
 166 * @fifo_en: Hw timer FIFO enable register info (addr + mask).
 167 * @decimator: Hw timer FIFO decimator register info (addr + mask).
 168 * @freq_fine: Difference in % of ODR with respect to the typical.
 169 */
 170struct st_lsm6dsx_hw_ts_settings {
 171        struct st_lsm6dsx_reg timer_en;
 172        struct st_lsm6dsx_reg hr_timer;
 173        struct st_lsm6dsx_reg fifo_en;
 174        struct st_lsm6dsx_reg decimator;
 175        u8 freq_fine;
 176};
 177
 178/**
 179 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
 180 * @page_mux: register page mux info (addr + mask).
 181 * @master_en: master config register info (addr + mask).
 182 * @pullup_en: i2c controller pull-up register info (addr + mask).
 183 * @aux_sens: aux sensor register info (addr + mask).
 184 * @wr_once: write_once register info (addr + mask).
 185 * @emb_func:  embedded function register info (addr + mask).
 186 * @num_ext_dev: max number of slave devices.
 187 * @shub_out: sensor hub first output register info.
 188 * @slv0_addr: slave0 address in secondary page.
 189 * @dw_slv0_addr: slave0 write register address in secondary page.
 190 * @batch_en: Enable/disable FIFO batching.
 191 * @pause: controller pause value.
 192 */
 193struct st_lsm6dsx_shub_settings {
 194        struct st_lsm6dsx_reg page_mux;
 195        struct {
 196                bool sec_page;
 197                u8 addr;
 198                u8 mask;
 199        } master_en;
 200        struct {
 201                bool sec_page;
 202                u8 addr;
 203                u8 mask;
 204        } pullup_en;
 205        struct st_lsm6dsx_reg aux_sens;
 206        struct st_lsm6dsx_reg wr_once;
 207        struct st_lsm6dsx_reg emb_func;
 208        u8 num_ext_dev;
 209        struct {
 210                bool sec_page;
 211                u8 addr;
 212        } shub_out;
 213        u8 slv0_addr;
 214        u8 dw_slv0_addr;
 215        u8 batch_en;
 216        u8 pause;
 217};
 218
 219struct st_lsm6dsx_event_settings {
 220        struct st_lsm6dsx_reg enable_reg;
 221        struct st_lsm6dsx_reg wakeup_reg;
 222        u8 wakeup_src_reg;
 223        u8 wakeup_src_status_mask;
 224        u8 wakeup_src_z_mask;
 225        u8 wakeup_src_y_mask;
 226        u8 wakeup_src_x_mask;
 227};
 228
 229enum st_lsm6dsx_ext_sensor_id {
 230        ST_LSM6DSX_ID_MAGN,
 231};
 232
 233/**
 234 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
 235 * @i2c_addr: I2c slave address list.
 236 * @wai: Wai address info.
 237 * @id: external sensor id.
 238 * @odr_table: Output data rate of the sensor [Hz].
 239 * @fs_table: Configured sensor sensitivity table depending on full scale.
 240 * @temp_comp: Temperature compensation register info (addr + mask).
 241 * @pwr_table: Power on register info (addr + mask).
 242 * @off_canc: Offset cancellation register info (addr + mask).
 243 * @bdu: Block data update register info (addr + mask).
 244 * @out: Output register info.
 245 */
 246struct st_lsm6dsx_ext_dev_settings {
 247        u8 i2c_addr[2];
 248        struct {
 249                u8 addr;
 250                u8 val;
 251        } wai;
 252        enum st_lsm6dsx_ext_sensor_id id;
 253        struct st_lsm6dsx_odr_table_entry odr_table;
 254        struct st_lsm6dsx_fs_table_entry fs_table;
 255        struct st_lsm6dsx_reg temp_comp;
 256        struct {
 257                struct st_lsm6dsx_reg reg;
 258                u8 off_val;
 259                u8 on_val;
 260        } pwr_table;
 261        struct st_lsm6dsx_reg off_canc;
 262        struct st_lsm6dsx_reg bdu;
 263        struct {
 264                u8 addr;
 265                u8 len;
 266        } out;
 267};
 268
 269/**
 270 * struct st_lsm6dsx_settings - ST IMU sensor settings
 271 * @reset: register address for reset.
 272 * @boot: register address for boot.
 273 * @bdu: register address for Block Data Update.
 274 * @max_fifo_size: Sensor max fifo length in FIFO words.
 275 * @id: List of hw id/device name supported by the driver configuration.
 276 * @channels: IIO channels supported by the device.
 277 * @irq_config: interrupts related registers.
 278 * @drdy_mask: register info for data-ready mask (addr + mask).
 279 * @odr_table: Hw sensors odr table (Hz + val).
 280 * @fs_table: Hw sensors gain table (gain + val).
 281 * @decimator: List of decimator register info (addr + mask).
 282 * @batch: List of FIFO batching register info (addr + mask).
 283 * @fifo_ops: Sensor hw FIFO parameters.
 284 * @ts_settings: Hw timer related settings.
 285 * @shub_settings: i2c controller related settings.
 286 */
 287struct st_lsm6dsx_settings {
 288        struct st_lsm6dsx_reg reset;
 289        struct st_lsm6dsx_reg boot;
 290        struct st_lsm6dsx_reg bdu;
 291        u16 max_fifo_size;
 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
 322enum 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
 331enum 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 */
 349struct 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 */
 393struct 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
 428static __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
 435static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
 436        0x7, 0x0,
 437};
 438
 439extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
 440
 441int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
 442                     struct regmap *regmap);
 443int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
 444                                 bool enable);
 445int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
 446int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
 447int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
 448                                u16 watermark);
 449int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
 450int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
 451int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
 452int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
 453int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
 454int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
 455int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
 456int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
 457int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
 458
 459static inline int
 460st_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
 472static inline int
 473st_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
 485static inline int
 486st_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
 498static inline const struct iio_mount_matrix *
 499st_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
 508static const
 509struct 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