drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c

   1 /*
   2  * STMicroelectronics st_lsm6dsx i2c controller driver
   3  *
   4  * i2c controller embedded in lsm6dx series can connect up to four
   5  * slave devices using accelerometer sensor as trigger for i2c
   6  * read/write operations. Current implementation relies on SLV0 channel
   7  * for slave configuration and SLV{1,2,3} to read data and push them into
   8  * the hw FIFO
   9  *
  10  * Copyright (C) 2018 Lorenzo Bianconi <lorenzo.bianconi83@gmail.com>
  11  *
  12  * Permission to use, copy, modify, and/or distribute this software for any
  13  * purpose with or without fee is hereby granted, provided that the above
  14  * copyright notice and this permission notice appear in all copies.
  15  *
  16  * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
  17  * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
  18  * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
  19  * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
  20  * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
  21  * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
  22  * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
  23  *
  24  */
  25 #include <linux/module.h>
  26 #include <linux/regmap.h>
  27 #include <linux/iio/iio.h>
  28 #include <linux/iio/sysfs.h>
  29 #include <linux/bitfield.h>
  30
  31 #include "st_lsm6dsx.h"
  32
  33 #define ST_LSM6DSX_SLV_ADDR(n, base)            ((base) + (n) * 3)
  34 #define ST_LSM6DSX_SLV_SUB_ADDR(n, base)        ((base) + 1 + (n) * 3)
  35 #define ST_LSM6DSX_SLV_CONFIG(n, base)          ((base) + 2 + (n) * 3)
  36
  37 #define ST_LS6DSX_READ_OP_MASK                  GENMASK(2, 0)
  38
  39 static const struct st_lsm6dsx_ext_dev_settings st_lsm6dsx_ext_dev_table[] = {
  40         /* LIS2MDL */
  41         {
  42                 .i2c_addr = { 0x1e },
  43                 .wai = {
  44                         .addr = 0x4f,
  45                         .val = 0x40,
  46                 },
  47                 .id = ST_LSM6DSX_ID_MAGN,
  48                 .odr_table = {
  49                         .reg = {
  50                                 .addr = 0x60,
  51                                 .mask = GENMASK(3, 2),
  52                         },
  53                         .odr_avl[0] = {  10000, 0x0 },
  54                         .odr_avl[1] = {  20000, 0x1 },
  55                         .odr_avl[2] = {  50000, 0x2 },
  56                         .odr_avl[3] = { 100000, 0x3 },
  57                         .odr_len = 4,
  58                 },
  59                 .fs_table = {
  60                         .fs_avl[0] = {
  61                                 .gain = 1500,
  62                                 .val = 0x0,
  63                         }, /* 1500 uG/LSB */
  64                         .fs_len = 1,
  65                 },
  66                 .temp_comp = {
  67                         .addr = 0x60,
  68                         .mask = BIT(7),
  69                 },
  70                 .pwr_table = {
  71                         .reg = {
  72                                 .addr = 0x60,
  73                                 .mask = GENMASK(1, 0),
  74                         },
  75                         .off_val = 0x2,
  76                         .on_val = 0x0,
  77                 },
  78                 .off_canc = {
  79                         .addr = 0x61,
  80                         .mask = BIT(1),
  81                 },
  82                 .bdu = {
  83                         .addr = 0x62,
  84                         .mask = BIT(4),
  85                 },
  86                 .out = {
  87                         .addr = 0x68,
  88                         .len = 6,
  89                 },
  90         },
  91 };
  92
  93 static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw)
  94 {
  95         struct st_lsm6dsx_sensor *sensor;
  96         u32 odr;
  97
  98         sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
  99         odr = (hw->enable_mask & BIT(ST_LSM6DSX_ID_ACC)) ? sensor->odr : 12500;
 100         msleep((2000000U / odr) + 1);
 101 }
 102
 103 /**
 104  * st_lsm6dsx_shub_read_output - read i2c controller register
 105  *
 106  * Read st_lsm6dsx i2c controller register
 107  */
 108 static int
 109 st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data,
 110                             int len)
 111 {
 112         const struct st_lsm6dsx_shub_settings *hub_settings;
 113         int err;
 114
 115         mutex_lock(&hw->page_lock);
 116
 117         hub_settings = &hw->settings->shub_settings;
 118         if (hub_settings->shub_out.sec_page) {
 119                 err = st_lsm6dsx_set_page(hw, true);
 120                 if (err < 0)
 121                         goto out;
 122         }
 123
 124         err = regmap_bulk_read(hw->regmap, hub_settings->shub_out.addr,
 125                                data, len);
 126
 127         if (hub_settings->shub_out.sec_page)
 128                 st_lsm6dsx_set_page(hw, false);
 129 out:
 130         mutex_unlock(&hw->page_lock);
 131
 132         return err;
 133 }
 134
 135 /**
 136  * st_lsm6dsx_shub_write_reg - write i2c controller register
 137  *
 138  * Write st_lsm6dsx i2c controller register
 139  */
 140 static int st_lsm6dsx_shub_write_reg(struct st_lsm6dsx_hw *hw, u8 addr,
 141                                      u8 *data, int len)
 142 {
 143         int err;
 144
 145         mutex_lock(&hw->page_lock);
 146         err = st_lsm6dsx_set_page(hw, true);
 147         if (err < 0)
 148                 goto out;
 149
 150         err = regmap_bulk_write(hw->regmap, addr, data, len);
 151
 152         st_lsm6dsx_set_page(hw, false);
 153 out:
 154         mutex_unlock(&hw->page_lock);
 155
 156         return err;
 157 }
 158
 159 static int
 160 st_lsm6dsx_shub_write_reg_with_mask(struct st_lsm6dsx_hw *hw, u8 addr,
 161                                     u8 mask, u8 val)
 162 {
 163         int err;
 164
 165         mutex_lock(&hw->page_lock);
 166         err = st_lsm6dsx_set_page(hw, true);
 167         if (err < 0)
 168                 goto out;
 169
 170         err = regmap_update_bits(hw->regmap, addr, mask, val);
 171
 172         st_lsm6dsx_set_page(hw, false);
 173 out:
 174         mutex_unlock(&hw->page_lock);
 175
 176         return err;
 177 }
 178
 179 static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor,
 180                                          bool enable)
 181 {
 182         const struct st_lsm6dsx_shub_settings *hub_settings;
 183         struct st_lsm6dsx_hw *hw = sensor->hw;
 184         unsigned int data;
 185         int err;
 186
 187         /* enable acc sensor as trigger */
 188         err = st_lsm6dsx_sensor_set_enable(sensor, enable);
 189         if (err < 0)
 190                 return err;
 191
 192         mutex_lock(&hw->page_lock);
 193
 194         hub_settings = &hw->settings->shub_settings;
 195         if (hub_settings->master_en.sec_page) {
 196                 err = st_lsm6dsx_set_page(hw, true);
 197                 if (err < 0)
 198                         goto out;
 199         }
 200
 201         data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->master_en.mask);
 202         err = regmap_update_bits(hw->regmap, hub_settings->master_en.addr,
 203                                  hub_settings->master_en.mask, data);
 204
 205         if (hub_settings->master_en.sec_page)
 206                 st_lsm6dsx_set_page(hw, false);
 207 out:
 208         mutex_unlock(&hw->page_lock);
 209
 210         return err;
 211 }
 212
 213 /**
 214  * st_lsm6dsx_shub_read - read data from slave device register
 215  *
 216  * Read data from slave device register. SLV0 is used for
 217  * one-shot read operation
 218  */
 219 static int
 220 st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
 221                      u8 *data, int len)
 222 {
 223         const struct st_lsm6dsx_shub_settings *hub_settings;
 224         u8 config[3], slv_addr, slv_config = 0;
 225         struct st_lsm6dsx_hw *hw = sensor->hw;
 226         const struct st_lsm6dsx_reg *aux_sens;
 227         int err;
 228
 229         hub_settings = &hw->settings->shub_settings;
 230         slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
 231         aux_sens = &hw->settings->shub_settings.aux_sens;
 232         /* do not overwrite aux_sens */
 233         if (slv_addr + 2 == aux_sens->addr)
 234                 slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
 235
 236         config[0] = (sensor->ext_info.addr << 1) | 1;
 237         config[1] = addr;
 238         config[2] = (len & ST_LS6DSX_READ_OP_MASK) | slv_config;
 239
 240         err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 241                                         sizeof(config));
 242         if (err < 0)
 243                 return err;
 244
 245         err = st_lsm6dsx_shub_master_enable(sensor, true);
 246         if (err < 0)
 247                 return err;
 248
 249         st_lsm6dsx_shub_wait_complete(hw);
 250
 251         err = st_lsm6dsx_shub_read_output(hw, data,
 252                                           len & ST_LS6DSX_READ_OP_MASK);
 253
 254         st_lsm6dsx_shub_master_enable(sensor, false);
 255
 256         config[0] = hub_settings->pause;
 257         config[1] = 0;
 258         config[2] = slv_config;
 259         return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 260                                          sizeof(config));
 261 }
 262
 263 /**
 264  * st_lsm6dsx_shub_write - write data to slave device register
 265  *
 266  * Write data from slave device register. SLV0 is used for
 267  * one-shot write operation
 268  */
 269 static int
 270 st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr,
 271                       u8 *data, int len)
 272 {
 273         const struct st_lsm6dsx_shub_settings *hub_settings;
 274         struct st_lsm6dsx_hw *hw = sensor->hw;
 275         u8 config[2], slv_addr;
 276         int err, i;
 277
 278         hub_settings = &hw->settings->shub_settings;
 279         if (hub_settings->wr_once.addr) {
 280                 unsigned int data;
 281
 282                 data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->wr_once.mask);
 283                 err = st_lsm6dsx_shub_write_reg_with_mask(hw,
 284                         hub_settings->wr_once.addr,
 285                         hub_settings->wr_once.mask,
 286                         data);
 287                 if (err < 0)
 288                         return err;
 289         }
 290
 291         slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
 292         config[0] = sensor->ext_info.addr << 1;
 293         for (i = 0 ; i < len; i++) {
 294                 config[1] = addr + i;
 295
 296                 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 297                                                 sizeof(config));
 298                 if (err < 0)
 299                         return err;
 300
 301                 err = st_lsm6dsx_shub_write_reg(hw, hub_settings->dw_slv0_addr,
 302                                                 &data[i], 1);
 303                 if (err < 0)
 304                         return err;
 305
 306                 err = st_lsm6dsx_shub_master_enable(sensor, true);
 307                 if (err < 0)
 308                         return err;
 309
 310                 st_lsm6dsx_shub_wait_complete(hw);
 311
 312                 st_lsm6dsx_shub_master_enable(sensor, false);
 313         }
 314
 315         config[0] = hub_settings->pause;
 316         config[1] = 0;
 317         return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config));
 318 }
 319
 320 static int
 321 st_lsm6dsx_shub_write_with_mask(struct st_lsm6dsx_sensor *sensor,
 322                                 u8 addr, u8 mask, u8 val)
 323 {
 324         int err;
 325         u8 data;
 326
 327         err = st_lsm6dsx_shub_read(sensor, addr, &data, sizeof(data));
 328         if (err < 0)
 329                 return err;
 330
 331         data = ((data & ~mask) | (val << __ffs(mask) & mask));
 332
 333         return st_lsm6dsx_shub_write(sensor, addr, &data, sizeof(data));
 334 }
 335
 336 static int
 337 st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor,
 338                             u32 odr, u16 *val)
 339 {
 340         const struct st_lsm6dsx_ext_dev_settings *settings;
 341         int i;
 342
 343         settings = sensor->ext_info.settings;
 344         for (i = 0; i < settings->odr_table.odr_len; i++) {
 345                 if (settings->odr_table.odr_avl[i].milli_hz == odr)
 346                         break;
 347         }
 348
 349         if (i == settings->odr_table.odr_len)
 350                 return -EINVAL;
 351
 352         *val = settings->odr_table.odr_avl[i].val;
 353         return 0;
 354 }
 355
 356 static int
 357 st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u32 odr)
 358 {
 359         const struct st_lsm6dsx_ext_dev_settings *settings;
 360         u16 val;
 361         int err;
 362
 363         err = st_lsm6dsx_shub_get_odr_val(sensor, odr, &val);
 364         if (err < 0)
 365                 return err;
 366
 367         settings = sensor->ext_info.settings;
 368         return st_lsm6dsx_shub_write_with_mask(sensor,
 369                                                settings->odr_table.reg.addr,
 370                                                settings->odr_table.reg.mask,
 371                                                val);
 372 }
 373
 374 /* use SLV{1,2,3} for FIFO read operations */
 375 static int
 376 st_lsm6dsx_shub_config_channels(struct st_lsm6dsx_sensor *sensor,
 377                                 bool enable)
 378 {
 379         const struct st_lsm6dsx_shub_settings *hub_settings;
 380         const struct st_lsm6dsx_ext_dev_settings *settings;
 381         u8 config[9] = {}, enable_mask, slv_addr;
 382         struct st_lsm6dsx_hw *hw = sensor->hw;
 383         struct st_lsm6dsx_sensor *cur_sensor;
 384         int i, j = 0;
 385
 386         hub_settings = &hw->settings->shub_settings;
 387         if (enable)
 388                 enable_mask = hw->enable_mask | BIT(sensor->id);
 389         else
 390                 enable_mask = hw->enable_mask & ~BIT(sensor->id);
 391
 392         for (i = ST_LSM6DSX_ID_EXT0; i <= ST_LSM6DSX_ID_EXT2; i++) {
 393                 if (!hw->iio_devs[i])
 394                         continue;
 395
 396                 cur_sensor = iio_priv(hw->iio_devs[i]);
 397                 if (!(enable_mask & BIT(cur_sensor->id)))
 398                         continue;
 399
 400                 settings = cur_sensor->ext_info.settings;
 401                 config[j] = (sensor->ext_info.addr << 1) | 1;
 402                 config[j + 1] = settings->out.addr;
 403                 config[j + 2] = (settings->out.len & ST_LS6DSX_READ_OP_MASK) |
 404                                 hub_settings->batch_en;
 405                 j += 3;
 406         }
 407
 408         slv_addr = ST_LSM6DSX_SLV_ADDR(1, hub_settings->slv0_addr);
 409         return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 410                                          sizeof(config));
 411 }
 412
 413 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
 414 {
 415         const struct st_lsm6dsx_ext_dev_settings *settings;
 416         int err;
 417
 418         err = st_lsm6dsx_shub_config_channels(sensor, enable);
 419         if (err < 0)
 420                 return err;
 421
 422         settings = sensor->ext_info.settings;
 423         if (enable) {
 424                 err = st_lsm6dsx_shub_set_odr(sensor, sensor->odr);
 425                 if (err < 0)
 426                         return err;
 427         } else {
 428                 err = st_lsm6dsx_shub_write_with_mask(sensor,
 429                                         settings->odr_table.reg.addr,
 430                                         settings->odr_table.reg.mask, 0);
 431                 if (err < 0)
 432                         return err;
 433         }
 434
 435         if (settings->pwr_table.reg.addr) {
 436                 u8 val;
 437
 438                 val = enable ? settings->pwr_table.on_val
 439                              : settings->pwr_table.off_val;
 440                 err = st_lsm6dsx_shub_write_with_mask(sensor,
 441                                         settings->pwr_table.reg.addr,
 442                                         settings->pwr_table.reg.mask, val);
 443                 if (err < 0)
 444                         return err;
 445         }
 446
 447         return st_lsm6dsx_shub_master_enable(sensor, enable);
 448 }
 449
 450 static int
 451 st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor,
 452                              struct iio_chan_spec const *ch,
 453                              int *val)
 454 {
 455         int err, delay, len;
 456         u8 data[4];
 457
 458         err = st_lsm6dsx_shub_set_enable(sensor, true);
 459         if (err < 0)
 460                 return err;
 461
 462         delay = 1000000000 / sensor->odr;
 463         usleep_range(delay, 2 * delay);
 464
 465         len = min_t(int, sizeof(data), ch->scan_type.realbits >> 3);
 466         err = st_lsm6dsx_shub_read(sensor, ch->address, data, len);
 467         if (err < 0)
 468                 return err;
 469
 470         err = st_lsm6dsx_shub_set_enable(sensor, false);
 471         if (err < 0)
 472                 return err;
 473
 474         switch (len) {
 475         case 2:
 476                 *val = (s16)le16_to_cpu(*((__le16 *)data));
 477                 break;
 478         default:
 479                 return -EINVAL;
 480         }
 481
 482         return IIO_VAL_INT;
 483 }
 484
 485 static int
 486 st_lsm6dsx_shub_read_raw(struct iio_dev *iio_dev,
 487                          struct iio_chan_spec const *ch,
 488                          int *val, int *val2, long mask)
 489 {
 490         struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
 491         int ret;
 492
 493         switch (mask) {
 494         case IIO_CHAN_INFO_RAW:
 495                 ret = iio_device_claim_direct_mode(iio_dev);
 496                 if (ret)
 497                         break;
 498
 499                 ret = st_lsm6dsx_shub_read_oneshot(sensor, ch, val);
 500                 iio_device_release_direct_mode(iio_dev);
 501                 break;
 502         case IIO_CHAN_INFO_SAMP_FREQ:
 503                 *val = sensor->odr / 1000;
 504                 *val2 = (sensor->odr % 1000) * 1000;
 505                 ret = IIO_VAL_INT_PLUS_MICRO;
 506                 break;
 507         case IIO_CHAN_INFO_SCALE:
 508                 *val = 0;
 509                 *val2 = sensor->gain;
 510                 ret = IIO_VAL_INT_PLUS_MICRO;
 511                 break;
 512         default:
 513                 ret = -EINVAL;
 514                 break;
 515         }
 516
 517         return ret;
 518 }
 519
 520 static int
 521 st_lsm6dsx_shub_write_raw(struct iio_dev *iio_dev,
 522                           struct iio_chan_spec const *chan,
 523                           int val, int val2, long mask)
 524 {
 525         struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
 526         int err;
 527
 528         err = iio_device_claim_direct_mode(iio_dev);
 529         if (err)
 530                 return err;
 531
 532         switch (mask) {
 533         case IIO_CHAN_INFO_SAMP_FREQ: {
 534                 u16 data;
 535
 536                 val = val * 1000 + val2 / 1000;
 537                 err = st_lsm6dsx_shub_get_odr_val(sensor, val, &data);
 538                 if (!err)
 539                         sensor->odr = val;
 540                 break;
 541         }
 542         default:
 543                 err = -EINVAL;
 544                 break;
 545         }
 546
 547         iio_device_release_direct_mode(iio_dev);
 548
 549         return err;
 550 }
 551
 552 static ssize_t
 553 st_lsm6dsx_shub_sampling_freq_avail(struct device *dev,
 554                                     struct device_attribute *attr,
 555                                     char *buf)
 556 {
 557         struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
 558         const struct st_lsm6dsx_ext_dev_settings *settings;
 559         int i, len = 0;
 560
 561         settings = sensor->ext_info.settings;
 562         for (i = 0; i < settings->odr_table.odr_len; i++) {
 563                 u32 val = settings->odr_table.odr_avl[i].milli_hz;
 564
 565                 len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%03d ",
 566                                  val / 1000, val % 1000);
 567         }
 568         buf[len - 1] = '\n';
 569
 570         return len;
 571 }
 572
 573 static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev,
 574                                            struct device_attribute *attr,
 575                                            char *buf)
 576 {
 577         struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
 578         const struct st_lsm6dsx_ext_dev_settings *settings;
 579         int i, len = 0;
 580
 581         settings = sensor->ext_info.settings;
 582         for (i = 0; i < settings->fs_table.fs_len; i++)
 583                 len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
 584                                  settings->fs_table.fs_avl[i].gain);
 585         buf[len - 1] = '\n';
 586
 587         return len;
 588 }
 589
 590 static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail);
 591 static IIO_DEVICE_ATTR(in_scale_available, 0444,
 592                        st_lsm6dsx_shub_scale_avail, NULL, 0);
 593 static struct attribute *st_lsm6dsx_ext_attributes[] = {
 594         &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
 595         &iio_dev_attr_in_scale_available.dev_attr.attr,
 596         NULL,
 597 };
 598
 599 static const struct attribute_group st_lsm6dsx_ext_attribute_group = {
 600         .attrs = st_lsm6dsx_ext_attributes,
 601 };
 602
 603 static const struct iio_info st_lsm6dsx_ext_info = {
 604         .attrs = &st_lsm6dsx_ext_attribute_group,
 605         .read_raw = st_lsm6dsx_shub_read_raw,
 606         .write_raw = st_lsm6dsx_shub_write_raw,
 607         .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
 608 };
 609
 610 static struct iio_dev *
 611 st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw,
 612                              enum st_lsm6dsx_sensor_id id,
 613                              const struct st_lsm6dsx_ext_dev_settings *info,
 614                              u8 i2c_addr, const char *name)
 615 {
 616         struct iio_chan_spec *ext_channels;
 617         struct st_lsm6dsx_sensor *sensor;
 618         struct iio_dev *iio_dev;
 619
 620         iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor));
 621         if (!iio_dev)
 622                 return NULL;
 623
 624         iio_dev->modes = INDIO_DIRECT_MODE;
 625         iio_dev->dev.parent = hw->dev;
 626         iio_dev->info = &st_lsm6dsx_ext_info;
 627
 628         sensor = iio_priv(iio_dev);
 629         sensor->id = id;
 630         sensor->hw = hw;
 631         sensor->odr = info->odr_table.odr_avl[0].milli_hz;
 632         sensor->gain = info->fs_table.fs_avl[0].gain;
 633         sensor->ext_info.settings = info;
 634         sensor->ext_info.addr = i2c_addr;
 635         sensor->watermark = 1;
 636
 637         switch (info->id) {
 638         case ST_LSM6DSX_ID_MAGN: {
 639                 const struct iio_chan_spec magn_channels[] = {
 640                         ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr,
 641                                            IIO_MOD_X, 0),
 642                         ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 2,
 643                                            IIO_MOD_Y, 1),
 644                         ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 4,
 645                                            IIO_MOD_Z, 2),
 646                         IIO_CHAN_SOFT_TIMESTAMP(3),
 647                 };
 648
 649                 ext_channels = devm_kzalloc(hw->dev, sizeof(magn_channels),
 650                                             GFP_KERNEL);
 651                 if (!ext_channels)
 652                         return NULL;
 653
 654                 memcpy(ext_channels, magn_channels, sizeof(magn_channels));
 655                 iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks;
 656                 iio_dev->channels = ext_channels;
 657                 iio_dev->num_channels = ARRAY_SIZE(magn_channels);
 658
 659                 scnprintf(sensor->name, sizeof(sensor->name), "%s_magn",
 660                           name);
 661                 break;
 662         }
 663         default:
 664                 return NULL;
 665         }
 666         iio_dev->name = sensor->name;
 667
 668         return iio_dev;
 669 }
 670
 671 static int st_lsm6dsx_shub_init_device(struct st_lsm6dsx_sensor *sensor)
 672 {
 673         const struct st_lsm6dsx_ext_dev_settings *settings;
 674         int err;
 675
 676         settings = sensor->ext_info.settings;
 677         if (settings->bdu.addr) {
 678                 err = st_lsm6dsx_shub_write_with_mask(sensor,
 679                                                       settings->bdu.addr,
 680                                                       settings->bdu.mask, 1);
 681                 if (err < 0)
 682                         return err;
 683         }
 684
 685         if (settings->temp_comp.addr) {
 686                 err = st_lsm6dsx_shub_write_with_mask(sensor,
 687                                         settings->temp_comp.addr,
 688                                         settings->temp_comp.mask, 1);
 689                 if (err < 0)
 690                         return err;
 691         }
 692
 693         if (settings->off_canc.addr) {
 694                 err = st_lsm6dsx_shub_write_with_mask(sensor,
 695                                         settings->off_canc.addr,
 696                                         settings->off_canc.mask, 1);
 697                 if (err < 0)
 698                         return err;
 699         }
 700
 701         return 0;
 702 }
 703
 704 static int
 705 st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
 706                           const struct st_lsm6dsx_ext_dev_settings *settings)
 707 {
 708         const struct st_lsm6dsx_shub_settings *hub_settings;
 709         u8 config[3], data, slv_addr, slv_config = 0;
 710         const struct st_lsm6dsx_reg *aux_sens;
 711         struct st_lsm6dsx_sensor *sensor;
 712         bool found = false;
 713         int i, err;
 714
 715         sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
 716         hub_settings = &hw->settings->shub_settings;
 717         aux_sens = &hw->settings->shub_settings.aux_sens;
 718         slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
 719         /* do not overwrite aux_sens */
 720         if (slv_addr + 2 == aux_sens->addr)
 721                 slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
 722
 723         for (i = 0; i < ARRAY_SIZE(settings->i2c_addr); i++) {
 724                 if (!settings->i2c_addr[i])
 725                         continue;
 726
 727                 /* read wai slave register */
 728                 config[0] = (settings->i2c_addr[i] << 1) | 0x1;
 729                 config[1] = settings->wai.addr;
 730                 config[2] = 0x1 | slv_config;
 731
 732                 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 733                                                 sizeof(config));
 734                 if (err < 0)
 735                         return err;
 736
 737                 err = st_lsm6dsx_shub_master_enable(sensor, true);
 738                 if (err < 0)
 739                         return err;
 740
 741                 st_lsm6dsx_shub_wait_complete(hw);
 742
 743                 err = st_lsm6dsx_shub_read_output(hw, &data, sizeof(data));
 744
 745                 st_lsm6dsx_shub_master_enable(sensor, false);
 746
 747                 if (err < 0)
 748                         return err;
 749
 750                 if (data != settings->wai.val)
 751                         continue;
 752
 753                 *i2c_addr = settings->i2c_addr[i];
 754                 found = true;
 755                 break;
 756         }
 757
 758         /* reset SLV0 channel */
 759         config[0] = hub_settings->pause;
 760         config[1] = 0;
 761         config[2] = slv_config;
 762         err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 763                                         sizeof(config));
 764         if (err < 0)
 765                 return err;
 766
 767         return found ? 0 : -ENODEV;
 768 }
 769
 770 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name)
 771 {
 772         enum st_lsm6dsx_sensor_id id = ST_LSM6DSX_ID_EXT0;
 773         struct st_lsm6dsx_sensor *sensor;
 774         int err, i, num_ext_dev = 0;
 775         u8 i2c_addr = 0;
 776
 777         for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_ext_dev_table); i++) {
 778                 err = st_lsm6dsx_shub_check_wai(hw, &i2c_addr,
 779                                         &st_lsm6dsx_ext_dev_table[i]);
 780                 if (err == -ENODEV)
 781                         continue;
 782                 else if (err < 0)
 783                         return err;
 784
 785                 hw->iio_devs[id] = st_lsm6dsx_shub_alloc_iiodev(hw, id,
 786                                                 &st_lsm6dsx_ext_dev_table[i],
 787                                                 i2c_addr, name);
 788                 if (!hw->iio_devs[id])
 789                         return -ENOMEM;
 790
 791                 sensor = iio_priv(hw->iio_devs[id]);
 792                 err = st_lsm6dsx_shub_init_device(sensor);
 793                 if (err < 0)
 794                         return err;
 795
 796                 if (++num_ext_dev >= hw->settings->shub_settings.num_ext_dev)
 797                         break;
 798                 id++;
 799         }
 800
 801         return 0;
 802 }