drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h

   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
  17 #define ST_LSM6DS3_DEV_NAME     "lsm6ds3"
  18 #define ST_LSM6DS3H_DEV_NAME    "lsm6ds3h"
  19 #define ST_LSM6DSL_DEV_NAME     "lsm6dsl"
  20 #define ST_LSM6DSM_DEV_NAME     "lsm6dsm"
  21 #define ST_ISM330DLC_DEV_NAME   "ism330dlc"
  22 #define ST_LSM6DSO_DEV_NAME     "lsm6dso"
  23 #define ST_ASM330LHH_DEV_NAME   "asm330lhh"
  24 #define ST_LSM6DSOX_DEV_NAME    "lsm6dsox"
  25 #define ST_LSM6DSR_DEV_NAME     "lsm6dsr"
  26 #define ST_LSM6DS3TRC_DEV_NAME  "lsm6ds3tr-c"
  27 #define ST_ISM330DHCX_DEV_NAME  "ism330dhcx"
  28 #define ST_LSM9DS1_DEV_NAME     "lsm9ds1-imu"
  29 #define ST_LSM6DS0_DEV_NAME     "lsm6ds0"
  30 #define ST_LSM6DSRX_DEV_NAME    "lsm6dsrx"
  31
  32 enum st_lsm6dsx_hw_id {
  33         ST_LSM6DS3_ID,
  34         ST_LSM6DS3H_ID,
  35         ST_LSM6DSL_ID,
  36         ST_LSM6DSM_ID,
  37         ST_ISM330DLC_ID,
  38         ST_LSM6DSO_ID,
  39         ST_ASM330LHH_ID,
  40         ST_LSM6DSOX_ID,
  41         ST_LSM6DSR_ID,
  42         ST_LSM6DS3TRC_ID,
  43         ST_ISM330DHCX_ID,
  44         ST_LSM9DS1_ID,
  45         ST_LSM6DS0_ID,
  46         ST_LSM6DSRX_ID,
  47         ST_LSM6DSX_MAX_ID,
  48 };
  49
  50 #define ST_LSM6DSX_BUFF_SIZE            512
  51 #define ST_LSM6DSX_CHAN_SIZE            2
  52 #define ST_LSM6DSX_SAMPLE_SIZE          6
  53 #define ST_LSM6DSX_TAG_SIZE             1
  54 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE   (ST_LSM6DSX_SAMPLE_SIZE + \
  55                                          ST_LSM6DSX_TAG_SIZE)
  56 #define ST_LSM6DSX_MAX_WORD_LEN         ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
  57                                          ST_LSM6DSX_SAMPLE_SIZE)
  58 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN  ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
  59                                          * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
  60 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
  61
  62 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx)          \
  63 {                                                                       \
  64         .type = chan_type,                                              \
  65         .address = addr,                                                \
  66         .modified = 1,                                                  \
  67         .channel2 = mod,                                                \
  68         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),                   \
  69         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),           \
  70         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),        \
  71         .scan_index = scan_idx,                                         \
  72         .scan_type = {                                                  \
  73                 .sign = 's',                                            \
  74                 .realbits = 16,                                         \
  75                 .storagebits = 16,                                      \
  76                 .endianness = IIO_LE,                                   \
  77         },                                                              \
  78         .event_spec = &st_lsm6dsx_event,                                \
  79         .ext_info = st_lsm6dsx_accel_ext_info,                          \
  80         .num_event_specs = 1,                                           \
  81 }
  82
  83 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx)              \
  84 {                                                                       \
  85         .type = chan_type,                                              \
  86         .address = addr,                                                \
  87         .modified = 1,                                                  \
  88         .channel2 = mod,                                                \
  89         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),                   \
  90         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),           \
  91         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),        \
  92         .scan_index = scan_idx,                                         \
  93         .scan_type = {                                                  \
  94                 .sign = 's',                                            \
  95                 .realbits = 16,                                         \
  96                 .storagebits = 16,                                      \
  97                 .endianness = IIO_LE,                                   \
  98         },                                                              \
  99 }
 100
 101 struct st_lsm6dsx_reg {
 102         u8 addr;
 103         u8 mask;
 104 };
 105
 106 struct st_lsm6dsx_sensor;
 107 struct st_lsm6dsx_hw;
 108
 109 struct st_lsm6dsx_odr {
 110         u32 milli_hz;
 111         u8 val;
 112 };
 113
 114 #define ST_LSM6DSX_ODR_LIST_SIZE        6
 115 struct st_lsm6dsx_odr_table_entry {
 116         struct st_lsm6dsx_reg reg;
 117
 118         struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
 119         int odr_len;
 120 };
 121
 122 struct st_lsm6dsx_fs {
 123         u32 gain;
 124         u8 val;
 125 };
 126
 127 #define ST_LSM6DSX_FS_LIST_SIZE         4
 128 struct st_lsm6dsx_fs_table_entry {
 129         struct st_lsm6dsx_reg reg;
 130
 131         struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
 132         int fs_len;
 133 };
 134
 135 /**
 136  * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
 137  * @update_fifo: Update FIFO configuration callback.
 138  * @read_fifo: Read FIFO callback.
 139  * @fifo_th: FIFO threshold register info (addr + mask).
 140  * @fifo_diff: FIFO diff status register info (addr + mask).
 141  * @th_wl: FIFO threshold word length.
 142  */
 143 struct st_lsm6dsx_fifo_ops {
 144         int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
 145         int (*read_fifo)(struct st_lsm6dsx_hw *hw);
 146         struct {
 147                 u8 addr;
 148                 u16 mask;
 149         } fifo_th;
 150         struct {
 151                 u8 addr;
 152                 u16 mask;
 153         } fifo_diff;
 154         u8 th_wl;
 155 };
 156
 157 /**
 158  * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
 159  * @timer_en: Hw timer enable register info (addr + mask).
 160  * @hr_timer: Hw timer resolution register info (addr + mask).
 161  * @fifo_en: Hw timer FIFO enable register info (addr + mask).
 162  * @decimator: Hw timer FIFO decimator register info (addr + mask).
 163  * @freq_fine: Difference in % of ODR with respect to the typical.
 164  */
 165 struct st_lsm6dsx_hw_ts_settings {
 166         struct st_lsm6dsx_reg timer_en;
 167         struct st_lsm6dsx_reg hr_timer;
 168         struct st_lsm6dsx_reg fifo_en;
 169         struct st_lsm6dsx_reg decimator;
 170         u8 freq_fine;
 171 };
 172
 173 /**
 174  * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
 175  * @page_mux: register page mux info (addr + mask).
 176  * @master_en: master config register info (addr + mask).
 177  * @pullup_en: i2c controller pull-up register info (addr + mask).
 178  * @aux_sens: aux sensor register info (addr + mask).
 179  * @wr_once: write_once register info (addr + mask).
 180  * @emb_func:  embedded function register info (addr + mask).
 181  * @num_ext_dev: max number of slave devices.
 182  * @shub_out: sensor hub first output register info.
 183  * @slv0_addr: slave0 address in secondary page.
 184  * @dw_slv0_addr: slave0 write register address in secondary page.
 185  * @batch_en: Enable/disable FIFO batching.
 186  * @pause: controller pause value.
 187  */
 188 struct st_lsm6dsx_shub_settings {
 189         struct st_lsm6dsx_reg page_mux;
 190         struct {
 191                 bool sec_page;
 192                 u8 addr;
 193                 u8 mask;
 194         } master_en;
 195         struct {
 196                 bool sec_page;
 197                 u8 addr;
 198                 u8 mask;
 199         } pullup_en;
 200         struct st_lsm6dsx_reg aux_sens;
 201         struct st_lsm6dsx_reg wr_once;
 202         struct st_lsm6dsx_reg emb_func;
 203         u8 num_ext_dev;
 204         struct {
 205                 bool sec_page;
 206                 u8 addr;
 207         } shub_out;
 208         u8 slv0_addr;
 209         u8 dw_slv0_addr;
 210         u8 batch_en;
 211         u8 pause;
 212 };
 213
 214 struct st_lsm6dsx_event_settings {
 215         struct st_lsm6dsx_reg enable_reg;
 216         struct st_lsm6dsx_reg wakeup_reg;
 217         u8 wakeup_src_reg;
 218         u8 wakeup_src_status_mask;
 219         u8 wakeup_src_z_mask;
 220         u8 wakeup_src_y_mask;
 221         u8 wakeup_src_x_mask;
 222 };
 223
 224 enum st_lsm6dsx_ext_sensor_id {
 225         ST_LSM6DSX_ID_MAGN,
 226 };
 227
 228 /**
 229  * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
 230  * @i2c_addr: I2c slave address list.
 231  * @wai: Wai address info.
 232  * @id: external sensor id.
 233  * @odr_table: Output data rate of the sensor [Hz].
 234  * @fs_table: Configured sensor sensitivity table depending on full scale.
 235  * @temp_comp: Temperature compensation register info (addr + mask).
 236  * @pwr_table: Power on register info (addr + mask).
 237  * @off_canc: Offset cancellation register info (addr + mask).
 238  * @bdu: Block data update register info (addr + mask).
 239  * @out: Output register info.
 240  */
 241 struct st_lsm6dsx_ext_dev_settings {
 242         u8 i2c_addr[2];
 243         struct {
 244                 u8 addr;
 245                 u8 val;
 246         } wai;
 247         enum st_lsm6dsx_ext_sensor_id id;
 248         struct st_lsm6dsx_odr_table_entry odr_table;
 249         struct st_lsm6dsx_fs_table_entry fs_table;
 250         struct st_lsm6dsx_reg temp_comp;
 251         struct {
 252                 struct st_lsm6dsx_reg reg;
 253                 u8 off_val;
 254                 u8 on_val;
 255         } pwr_table;
 256         struct st_lsm6dsx_reg off_canc;
 257         struct st_lsm6dsx_reg bdu;
 258         struct {
 259                 u8 addr;
 260                 u8 len;
 261         } out;
 262 };
 263
 264 /**
 265  * struct st_lsm6dsx_settings - ST IMU sensor settings
 266  * @wai: Sensor WhoAmI default value.
 267  * @reset: register address for reset.
 268  * @boot: register address for boot.
 269  * @bdu: register address for Block Data Update.
 270  * @max_fifo_size: Sensor max fifo length in FIFO words.
 271  * @id: List of hw id/device name supported by the driver configuration.
 272  * @channels: IIO channels supported by the device.
 273  * @irq_config: interrupts related registers.
 274  * @drdy_mask: register info for data-ready mask (addr + mask).
 275  * @odr_table: Hw sensors odr table (Hz + val).
 276  * @fs_table: Hw sensors gain table (gain + val).
 277  * @decimator: List of decimator register info (addr + mask).
 278  * @batch: List of FIFO batching register info (addr + mask).
 279  * @fifo_ops: Sensor hw FIFO parameters.
 280  * @ts_settings: Hw timer related settings.
 281  * @shub_settings: i2c controller related settings.
 282  */
 283 struct st_lsm6dsx_settings {
 284         u8 wai;
 285         struct st_lsm6dsx_reg reset;
 286         struct st_lsm6dsx_reg boot;
 287         struct st_lsm6dsx_reg bdu;
 288         u16 max_fifo_size;
 289         struct {
 290                 enum st_lsm6dsx_hw_id hw_id;
 291                 const char *name;
 292         } id[ST_LSM6DSX_MAX_ID];
 293         struct {
 294                 const struct iio_chan_spec *chan;
 295                 int len;
 296         } channels[2];
 297         struct {
 298                 struct st_lsm6dsx_reg irq1;
 299                 struct st_lsm6dsx_reg irq2;
 300                 struct st_lsm6dsx_reg irq1_func;
 301                 struct st_lsm6dsx_reg irq2_func;
 302                 struct st_lsm6dsx_reg lir;
 303                 struct st_lsm6dsx_reg clear_on_read;
 304                 struct st_lsm6dsx_reg hla;
 305                 struct st_lsm6dsx_reg od;
 306         } irq_config;
 307         struct st_lsm6dsx_reg drdy_mask;
 308         struct st_lsm6dsx_odr_table_entry odr_table[2];
 309         struct st_lsm6dsx_fs_table_entry fs_table[2];
 310         struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
 311         struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
 312         struct st_lsm6dsx_fifo_ops fifo_ops;
 313         struct st_lsm6dsx_hw_ts_settings ts_settings;
 314         struct st_lsm6dsx_shub_settings shub_settings;
 315         struct st_lsm6dsx_event_settings event_settings;
 316 };
 317
 318 enum st_lsm6dsx_sensor_id {
 319         ST_LSM6DSX_ID_GYRO,
 320         ST_LSM6DSX_ID_ACC,
 321         ST_LSM6DSX_ID_EXT0,
 322         ST_LSM6DSX_ID_EXT1,
 323         ST_LSM6DSX_ID_EXT2,
 324         ST_LSM6DSX_ID_MAX,
 325 };
 326
 327 enum st_lsm6dsx_fifo_mode {
 328         ST_LSM6DSX_FIFO_BYPASS = 0x0,
 329         ST_LSM6DSX_FIFO_CONT = 0x6,
 330 };
 331
 332 /**
 333  * struct st_lsm6dsx_sensor - ST IMU sensor instance
 334  * @name: Sensor name.
 335  * @id: Sensor identifier.
 336  * @hw: Pointer to instance of struct st_lsm6dsx_hw.
 337  * @gain: Configured sensor sensitivity.
 338  * @odr: Output data rate of the sensor [Hz].
 339  * @watermark: Sensor watermark level.
 340  * @sip: Number of samples in a given pattern.
 341  * @ts_ref: Sensor timestamp reference for hw one.
 342  * @ext_info: Sensor settings if it is connected to i2c controller
 343  */
 344 struct st_lsm6dsx_sensor {
 345         char name[32];
 346         enum st_lsm6dsx_sensor_id id;
 347         struct st_lsm6dsx_hw *hw;
 348
 349         u32 gain;
 350         u32 odr;
 351
 352         u16 watermark;
 353         u8 sip;
 354         s64 ts_ref;
 355
 356         struct {
 357                 const struct st_lsm6dsx_ext_dev_settings *settings;
 358                 u8 addr;
 359         } ext_info;
 360 };
 361
 362 /**
 363  * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
 364  * @dev: Pointer to instance of struct device (I2C or SPI).
 365  * @regmap: Register map of the device.
 366  * @irq: Device interrupt line (I2C or SPI).
 367  * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
 368  * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
 369  * @page_lock: Mutex to prevent concurrent memory page configuration.
 370  * @suspend_mask: Suspended sensor bitmask.
 371  * @enable_mask: Enabled sensor bitmask.
 372  * @fifo_mask: Enabled hw FIFO bitmask.
 373  * @ts_gain: Hw timestamp rate after internal calibration.
 374  * @ts_sip: Total number of timestamp samples in a given pattern.
 375  * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
 376  * @buff: Device read buffer.
 377  * @irq_routing: pointer to interrupt routing configuration.
 378  * @event_threshold: wakeup event threshold.
 379  * @enable_event: enabled event bitmask.
 380  * @iio_devs: Pointers to acc/gyro iio_dev instances.
 381  * @settings: Pointer to the specific sensor settings in use.
 382  * @orientation: sensor chip orientation relative to main hardware.
 383  */
 384 struct st_lsm6dsx_hw {
 385         struct device *dev;
 386         struct regmap *regmap;
 387         int irq;
 388
 389         struct mutex fifo_lock;
 390         struct mutex conf_lock;
 391         struct mutex page_lock;
 392
 393         u8 suspend_mask;
 394         u8 enable_mask;
 395         u8 fifo_mask;
 396         s64 ts_gain;
 397         u8 ts_sip;
 398         u8 sip;
 399
 400         const struct st_lsm6dsx_reg *irq_routing;
 401         u8 event_threshold;
 402         u8 enable_event;
 403
 404         u8 *buff;
 405
 406         struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
 407
 408         const struct st_lsm6dsx_settings *settings;
 409
 410         struct iio_mount_matrix orientation;
 411 };
 412
 413 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
 414         .type = IIO_EV_TYPE_THRESH,
 415         .dir = IIO_EV_DIR_EITHER,
 416         .mask_separate = BIT(IIO_EV_INFO_VALUE) |
 417                          BIT(IIO_EV_INFO_ENABLE)
 418 };
 419
 420 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
 421         0x7, 0x0,
 422 };
 423
 424 extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
 425
 426 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
 427                      struct regmap *regmap);
 428 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
 429                                  bool enable);
 430 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
 431 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
 432 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
 433                                 u16 watermark);
 434 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
 435 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
 436 int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
 437                              enum st_lsm6dsx_fifo_mode fifo_mode);
 438 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
 439 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
 440 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
 441 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
 442 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
 443 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
 444
 445 static inline int
 446 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
 447                               unsigned int mask, unsigned int val)
 448 {
 449         int err;
 450
 451         mutex_lock(&hw->page_lock);
 452         err = regmap_update_bits(hw->regmap, addr, mask, val);
 453         mutex_unlock(&hw->page_lock);
 454
 455         return err;
 456 }
 457
 458 static inline int
 459 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
 460                        void *val, unsigned int len)
 461 {
 462         int err;
 463
 464         mutex_lock(&hw->page_lock);
 465         err = regmap_bulk_read(hw->regmap, addr, val, len);
 466         mutex_unlock(&hw->page_lock);
 467
 468         return err;
 469 }
 470
 471 static inline int
 472 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
 473                         unsigned int val)
 474 {
 475         int err;
 476
 477         mutex_lock(&hw->page_lock);
 478         err = regmap_write(hw->regmap, addr, val);
 479         mutex_unlock(&hw->page_lock);
 480
 481         return err;
 482 }
 483
 484 static const inline struct iio_mount_matrix *
 485 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
 486                             const struct iio_chan_spec *chan)
 487 {
 488         struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
 489         struct st_lsm6dsx_hw *hw = sensor->hw;
 490
 491         return &hw->orientation;
 492 }
 493
 494 static const struct iio_chan_spec_ext_info st_lsm6dsx_accel_ext_info[] = {
 495         IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
 496         { }
 497 };
 498
 499 #endif /* ST_LSM6DSX_H */