519 lines
14 KiB
C
519 lines
14 KiB
C
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/* SPDX-License-Identifier: GPL-2.0-only */
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/*
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* STMicroelectronics st_lsm6dsx sensor driver
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*
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* Copyright 2016 STMicroelectronics Inc.
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*
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* Lorenzo Bianconi <lorenzo.bianconi@st.com>
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* Denis Ciocca <denis.ciocca@st.com>
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*/
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#ifndef ST_LSM6DSX_H
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#define ST_LSM6DSX_H
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#include <linux/device.h>
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#include <linux/iio/iio.h>
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#include <linux/regulator/consumer.h>
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#define ST_LSM6DS3_DEV_NAME "lsm6ds3"
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#define ST_LSM6DS3H_DEV_NAME "lsm6ds3h"
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#define ST_LSM6DSL_DEV_NAME "lsm6dsl"
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#define ST_LSM6DSM_DEV_NAME "lsm6dsm"
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#define ST_ISM330DLC_DEV_NAME "ism330dlc"
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#define ST_LSM6DSO_DEV_NAME "lsm6dso"
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#define ST_ASM330LHH_DEV_NAME "asm330lhh"
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#define ST_LSM6DSOX_DEV_NAME "lsm6dsox"
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#define ST_LSM6DSR_DEV_NAME "lsm6dsr"
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#define ST_LSM6DS3TRC_DEV_NAME "lsm6ds3tr-c"
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#define ST_ISM330DHCX_DEV_NAME "ism330dhcx"
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#define ST_LSM9DS1_DEV_NAME "lsm9ds1-imu"
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#define ST_LSM6DS0_DEV_NAME "lsm6ds0"
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#define ST_LSM6DSRX_DEV_NAME "lsm6dsrx"
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#define ST_LSM6DST_DEV_NAME "lsm6dst"
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#define ST_LSM6DSOP_DEV_NAME "lsm6dsop"
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#define ST_ASM330LHHX_DEV_NAME "asm330lhhx"
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#define ST_LSM6DSTX_DEV_NAME "lsm6dstx"
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enum st_lsm6dsx_hw_id {
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ST_LSM6DS3_ID,
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ST_LSM6DS3H_ID,
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ST_LSM6DSL_ID,
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ST_LSM6DSM_ID,
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ST_ISM330DLC_ID,
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ST_LSM6DSO_ID,
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ST_ASM330LHH_ID,
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ST_LSM6DSOX_ID,
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ST_LSM6DSR_ID,
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ST_LSM6DS3TRC_ID,
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ST_ISM330DHCX_ID,
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ST_LSM9DS1_ID,
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ST_LSM6DS0_ID,
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ST_LSM6DSRX_ID,
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ST_LSM6DST_ID,
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ST_LSM6DSOP_ID,
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ST_ASM330LHHX_ID,
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ST_LSM6DSTX_ID,
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ST_LSM6DSX_MAX_ID,
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};
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#define ST_LSM6DSX_BUFF_SIZE 512
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#define ST_LSM6DSX_CHAN_SIZE 2
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#define ST_LSM6DSX_SAMPLE_SIZE 6
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#define ST_LSM6DSX_TAG_SIZE 1
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#define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \
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ST_LSM6DSX_TAG_SIZE)
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#define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
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ST_LSM6DSX_SAMPLE_SIZE)
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#define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
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* ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
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#define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
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#define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \
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{ \
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.type = chan_type, \
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.address = addr, \
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.modified = 1, \
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.channel2 = mod, \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
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.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.scan_index = scan_idx, \
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.scan_type = { \
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.sign = 's', \
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.realbits = 16, \
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.storagebits = 16, \
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.endianness = IIO_LE, \
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}, \
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.event_spec = &st_lsm6dsx_event, \
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.ext_info = st_lsm6dsx_accel_ext_info, \
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.num_event_specs = 1, \
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}
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#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
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{ \
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.type = chan_type, \
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.address = addr, \
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.modified = 1, \
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.channel2 = mod, \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
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.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.scan_index = scan_idx, \
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.scan_type = { \
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.sign = 's', \
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.realbits = 16, \
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.storagebits = 16, \
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.endianness = IIO_LE, \
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}, \
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}
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struct st_lsm6dsx_reg {
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u8 addr;
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u8 mask;
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};
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struct st_lsm6dsx_sensor;
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struct st_lsm6dsx_hw;
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struct st_lsm6dsx_odr {
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u32 milli_hz;
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u8 val;
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};
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#define ST_LSM6DSX_ODR_LIST_SIZE 8
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struct st_lsm6dsx_odr_table_entry {
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struct st_lsm6dsx_reg reg;
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struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
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int odr_len;
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};
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struct st_lsm6dsx_fs {
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u32 gain;
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u8 val;
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};
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#define ST_LSM6DSX_FS_LIST_SIZE 4
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struct st_lsm6dsx_fs_table_entry {
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struct st_lsm6dsx_reg reg;
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struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
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int fs_len;
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};
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/**
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* struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
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* @update_fifo: Update FIFO configuration callback.
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* @read_fifo: Read FIFO callback.
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* @fifo_th: FIFO threshold register info (addr + mask).
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* @fifo_diff: FIFO diff status register info (addr + mask).
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* @max_size: Sensor max fifo length in FIFO words.
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* @th_wl: FIFO threshold word length.
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*/
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struct st_lsm6dsx_fifo_ops {
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int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
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int (*read_fifo)(struct st_lsm6dsx_hw *hw);
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struct {
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u8 addr;
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u16 mask;
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} fifo_th;
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struct {
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u8 addr;
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u16 mask;
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} fifo_diff;
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u16 max_size;
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u8 th_wl;
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};
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/**
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* struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
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* @timer_en: Hw timer enable register info (addr + mask).
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* @hr_timer: Hw timer resolution register info (addr + mask).
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* @fifo_en: Hw timer FIFO enable register info (addr + mask).
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* @decimator: Hw timer FIFO decimator register info (addr + mask).
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* @freq_fine: Difference in % of ODR with respect to the typical.
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*/
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struct st_lsm6dsx_hw_ts_settings {
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struct st_lsm6dsx_reg timer_en;
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struct st_lsm6dsx_reg hr_timer;
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struct st_lsm6dsx_reg fifo_en;
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struct st_lsm6dsx_reg decimator;
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u8 freq_fine;
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};
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/**
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* struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
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* @page_mux: register page mux info (addr + mask).
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* @master_en: master config register info (addr + mask).
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* @pullup_en: i2c controller pull-up register info (addr + mask).
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* @aux_sens: aux sensor register info (addr + mask).
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* @wr_once: write_once register info (addr + mask).
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* @emb_func: embedded function register info (addr + mask).
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* @num_ext_dev: max number of slave devices.
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* @shub_out: sensor hub first output register info.
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* @slv0_addr: slave0 address in secondary page.
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* @dw_slv0_addr: slave0 write register address in secondary page.
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* @batch_en: Enable/disable FIFO batching.
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* @pause: controller pause value.
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*/
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struct st_lsm6dsx_shub_settings {
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struct st_lsm6dsx_reg page_mux;
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struct {
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bool sec_page;
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u8 addr;
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u8 mask;
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} master_en;
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struct {
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bool sec_page;
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u8 addr;
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u8 mask;
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} pullup_en;
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struct st_lsm6dsx_reg aux_sens;
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struct st_lsm6dsx_reg wr_once;
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struct st_lsm6dsx_reg emb_func;
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u8 num_ext_dev;
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struct {
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bool sec_page;
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u8 addr;
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} shub_out;
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u8 slv0_addr;
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u8 dw_slv0_addr;
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u8 batch_en;
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u8 pause;
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};
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struct st_lsm6dsx_event_settings {
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struct st_lsm6dsx_reg enable_reg;
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struct st_lsm6dsx_reg wakeup_reg;
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u8 wakeup_src_reg;
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u8 wakeup_src_status_mask;
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u8 wakeup_src_z_mask;
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u8 wakeup_src_y_mask;
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u8 wakeup_src_x_mask;
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};
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enum st_lsm6dsx_ext_sensor_id {
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ST_LSM6DSX_ID_MAGN,
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};
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/**
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* struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
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* @i2c_addr: I2c slave address list.
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* @wai: Wai address info.
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* @id: external sensor id.
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* @odr_table: Output data rate of the sensor [Hz].
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* @fs_table: Configured sensor sensitivity table depending on full scale.
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* @temp_comp: Temperature compensation register info (addr + mask).
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* @pwr_table: Power on register info (addr + mask).
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* @off_canc: Offset cancellation register info (addr + mask).
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* @bdu: Block data update register info (addr + mask).
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* @out: Output register info.
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*/
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struct st_lsm6dsx_ext_dev_settings {
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u8 i2c_addr[2];
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struct {
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u8 addr;
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u8 val;
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} wai;
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enum st_lsm6dsx_ext_sensor_id id;
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struct st_lsm6dsx_odr_table_entry odr_table;
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struct st_lsm6dsx_fs_table_entry fs_table;
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struct st_lsm6dsx_reg temp_comp;
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struct {
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struct st_lsm6dsx_reg reg;
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u8 off_val;
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u8 on_val;
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} pwr_table;
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struct st_lsm6dsx_reg off_canc;
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struct st_lsm6dsx_reg bdu;
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struct {
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u8 addr;
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u8 len;
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} out;
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};
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/**
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* struct st_lsm6dsx_settings - ST IMU sensor settings
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* @reset: register address for reset.
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* @boot: register address for boot.
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* @bdu: register address for Block Data Update.
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* @id: List of hw id/device name supported by the driver configuration.
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* @channels: IIO channels supported by the device.
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* @irq_config: interrupts related registers.
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* @drdy_mask: register info for data-ready mask (addr + mask).
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* @odr_table: Hw sensors odr table (Hz + val).
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* @fs_table: Hw sensors gain table (gain + val).
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* @decimator: List of decimator register info (addr + mask).
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* @batch: List of FIFO batching register info (addr + mask).
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* @fifo_ops: Sensor hw FIFO parameters.
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* @ts_settings: Hw timer related settings.
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* @shub_settings: i2c controller related settings.
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*/
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struct st_lsm6dsx_settings {
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struct st_lsm6dsx_reg reset;
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struct st_lsm6dsx_reg boot;
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struct st_lsm6dsx_reg bdu;
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struct {
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enum st_lsm6dsx_hw_id hw_id;
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const char *name;
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u8 wai;
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} id[ST_LSM6DSX_MAX_ID];
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struct {
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const struct iio_chan_spec *chan;
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int len;
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} channels[2];
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struct {
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struct st_lsm6dsx_reg irq1;
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struct st_lsm6dsx_reg irq2;
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struct st_lsm6dsx_reg irq1_func;
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struct st_lsm6dsx_reg irq2_func;
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struct st_lsm6dsx_reg lir;
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struct st_lsm6dsx_reg clear_on_read;
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struct st_lsm6dsx_reg hla;
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struct st_lsm6dsx_reg od;
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} irq_config;
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struct st_lsm6dsx_reg drdy_mask;
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struct st_lsm6dsx_odr_table_entry odr_table[2];
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struct st_lsm6dsx_fs_table_entry fs_table[2];
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struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
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struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
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struct st_lsm6dsx_fifo_ops fifo_ops;
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struct st_lsm6dsx_hw_ts_settings ts_settings;
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struct st_lsm6dsx_shub_settings shub_settings;
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struct st_lsm6dsx_event_settings event_settings;
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};
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enum st_lsm6dsx_sensor_id {
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ST_LSM6DSX_ID_GYRO,
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ST_LSM6DSX_ID_ACC,
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ST_LSM6DSX_ID_EXT0,
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ST_LSM6DSX_ID_EXT1,
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ST_LSM6DSX_ID_EXT2,
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ST_LSM6DSX_ID_MAX,
|
||
|
|
};
|
||
|
|
|
||
|
|
enum st_lsm6dsx_fifo_mode {
|
||
|
|
ST_LSM6DSX_FIFO_BYPASS = 0x0,
|
||
|
|
ST_LSM6DSX_FIFO_CONT = 0x6,
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
* struct st_lsm6dsx_sensor - ST IMU sensor instance
|
||
|
|
* @name: Sensor name.
|
||
|
|
* @id: Sensor identifier.
|
||
|
|
* @hw: Pointer to instance of struct st_lsm6dsx_hw.
|
||
|
|
* @gain: Configured sensor sensitivity.
|
||
|
|
* @odr: Output data rate of the sensor [Hz].
|
||
|
|
* @watermark: Sensor watermark level.
|
||
|
|
* @decimator: Sensor decimation factor.
|
||
|
|
* @sip: Number of samples in a given pattern.
|
||
|
|
* @ts_ref: Sensor timestamp reference for hw one.
|
||
|
|
* @ext_info: Sensor settings if it is connected to i2c controller
|
||
|
|
*/
|
||
|
|
struct st_lsm6dsx_sensor {
|
||
|
|
char name[32];
|
||
|
|
enum st_lsm6dsx_sensor_id id;
|
||
|
|
struct st_lsm6dsx_hw *hw;
|
||
|
|
|
||
|
|
u32 gain;
|
||
|
|
u32 odr;
|
||
|
|
|
||
|
|
u16 watermark;
|
||
|
|
u8 decimator;
|
||
|
|
u8 sip;
|
||
|
|
s64 ts_ref;
|
||
|
|
|
||
|
|
struct {
|
||
|
|
const struct st_lsm6dsx_ext_dev_settings *settings;
|
||
|
|
u32 slv_odr;
|
||
|
|
u8 addr;
|
||
|
|
} ext_info;
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
* struct st_lsm6dsx_hw - ST IMU MEMS hw instance
|
||
|
|
* @dev: Pointer to instance of struct device (I2C or SPI).
|
||
|
|
* @regmap: Register map of the device.
|
||
|
|
* @regulators: VDD/VDDIO voltage regulators.
|
||
|
|
* @irq: Device interrupt line (I2C or SPI).
|
||
|
|
* @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
|
||
|
|
* @conf_lock: Mutex to prevent concurrent FIFO configuration update.
|
||
|
|
* @page_lock: Mutex to prevent concurrent memory page configuration.
|
||
|
|
* @suspend_mask: Suspended sensor bitmask.
|
||
|
|
* @enable_mask: Enabled sensor bitmask.
|
||
|
|
* @fifo_mask: Enabled hw FIFO bitmask.
|
||
|
|
* @ts_gain: Hw timestamp rate after internal calibration.
|
||
|
|
* @ts_sip: Total number of timestamp samples in a given pattern.
|
||
|
|
* @sip: Total number of samples (acc/gyro/ts) in a given pattern.
|
||
|
|
* @buff: Device read buffer.
|
||
|
|
* @irq_routing: pointer to interrupt routing configuration.
|
||
|
|
* @event_threshold: wakeup event threshold.
|
||
|
|
* @enable_event: enabled event bitmask.
|
||
|
|
* @iio_devs: Pointers to acc/gyro iio_dev instances.
|
||
|
|
* @settings: Pointer to the specific sensor settings in use.
|
||
|
|
* @orientation: sensor chip orientation relative to main hardware.
|
||
|
|
* @scan: Temporary buffers used to align data before iio_push_to_buffers()
|
||
|
|
*/
|
||
|
|
struct st_lsm6dsx_hw {
|
||
|
|
struct device *dev;
|
||
|
|
struct regmap *regmap;
|
||
|
|
struct regulator_bulk_data regulators[2];
|
||
|
|
int irq;
|
||
|
|
|
||
|
|
struct mutex fifo_lock;
|
||
|
|
struct mutex conf_lock;
|
||
|
|
struct mutex page_lock;
|
||
|
|
|
||
|
|
u8 suspend_mask;
|
||
|
|
u8 enable_mask;
|
||
|
|
u8 fifo_mask;
|
||
|
|
s64 ts_gain;
|
||
|
|
u8 ts_sip;
|
||
|
|
u8 sip;
|
||
|
|
|
||
|
|
const struct st_lsm6dsx_reg *irq_routing;
|
||
|
|
u8 event_threshold;
|
||
|
|
u8 enable_event;
|
||
|
|
|
||
|
|
u8 *buff;
|
||
|
|
|
||
|
|
struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
|
||
|
|
|
||
|
|
const struct st_lsm6dsx_settings *settings;
|
||
|
|
|
||
|
|
struct iio_mount_matrix orientation;
|
||
|
|
/* Ensure natural alignment of buffer elements */
|
||
|
|
struct {
|
||
|
|
__le16 channels[3];
|
||
|
|
s64 ts __aligned(8);
|
||
|
|
} scan[3];
|
||
|
|
};
|
||
|
|
|
||
|
|
static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
|
||
|
|
.type = IIO_EV_TYPE_THRESH,
|
||
|
|
.dir = IIO_EV_DIR_EITHER,
|
||
|
|
.mask_separate = BIT(IIO_EV_INFO_VALUE) |
|
||
|
|
BIT(IIO_EV_INFO_ENABLE)
|
||
|
|
};
|
||
|
|
|
||
|
|
static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
|
||
|
|
0x7, 0x0,
|
||
|
|
};
|
||
|
|
|
||
|
|
extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
|
||
|
|
|
||
|
|
int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
|
||
|
|
struct regmap *regmap);
|
||
|
|
int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
|
||
|
|
bool enable);
|
||
|
|
int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
|
||
|
|
int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
|
||
|
|
int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
|
||
|
|
u16 watermark);
|
||
|
|
int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
|
||
|
|
int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
|
||
|
|
int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
|
||
|
|
int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
|
||
|
|
int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
|
||
|
|
int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
|
||
|
|
int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
|
||
|
|
int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
|
||
|
|
int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
|
||
|
|
|
||
|
|
static inline int
|
||
|
|
st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
|
||
|
|
unsigned int mask, unsigned int val)
|
||
|
|
{
|
||
|
|
int err;
|
||
|
|
|
||
|
|
mutex_lock(&hw->page_lock);
|
||
|
|
err = regmap_update_bits(hw->regmap, addr, mask, val);
|
||
|
|
mutex_unlock(&hw->page_lock);
|
||
|
|
|
||
|
|
return err;
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline int
|
||
|
|
st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
|
||
|
|
void *val, unsigned int len)
|
||
|
|
{
|
||
|
|
int err;
|
||
|
|
|
||
|
|
mutex_lock(&hw->page_lock);
|
||
|
|
err = regmap_bulk_read(hw->regmap, addr, val, len);
|
||
|
|
mutex_unlock(&hw->page_lock);
|
||
|
|
|
||
|
|
return err;
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline int
|
||
|
|
st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
|
||
|
|
unsigned int val)
|
||
|
|
{
|
||
|
|
int err;
|
||
|
|
|
||
|
|
mutex_lock(&hw->page_lock);
|
||
|
|
err = regmap_write(hw->regmap, addr, val);
|
||
|
|
mutex_unlock(&hw->page_lock);
|
||
|
|
|
||
|
|
return err;
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline const struct iio_mount_matrix *
|
||
|
|
st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
|
||
|
|
const struct iio_chan_spec *chan)
|
||
|
|
{
|
||
|
|
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
|
||
|
|
struct st_lsm6dsx_hw *hw = sensor->hw;
|
||
|
|
|
||
|
|
return &hw->orientation;
|
||
|
|
}
|
||
|
|
|
||
|
|
static const
|
||
|
|
struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = {
|
||
|
|
IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
|
||
|
|
{ }
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif /* ST_LSM6DSX_H */
|