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         /* LIS3MDL */
  92         {
  93                 .i2c_addr = { 0x1e },
  94                 .wai = {
  95                         .addr = 0x0f,
  96                         .val = 0x3d,
  97                 },
  98                 .id = ST_LSM6DSX_ID_MAGN,
  99                 .odr_table = {
 100                         .reg = {
 101                                 .addr = 0x20,
 102                                 .mask = GENMASK(4, 2),
 103                         },
 104                         .odr_avl[0] = {  1000, 0x0 },
 105                         .odr_avl[1] = {  2000, 0x1 },
 106                         .odr_avl[2] = {  3000, 0x2 },
 107                         .odr_avl[3] = {  5000, 0x3 },
 108                         .odr_avl[4] = { 10000, 0x4 },
 109                         .odr_avl[5] = { 20000, 0x5 },
 110                         .odr_avl[6] = { 40000, 0x6 },
 111                         .odr_avl[7] = { 80000, 0x7 },
 112                         .odr_len = 8,
 113                 },
 114                 .fs_table = {
 115                         .reg = {
 116                                 .addr = 0x21,
 117                                 .mask = GENMASK(6, 5),
 118                         },
 119                         .fs_avl[0] = {
 120                                 .gain = 146,
 121                                 .val = 0x00,
 122                         }, /* 4000 uG/LSB */
 123                         .fs_avl[1] = {
 124                                 .gain = 292,
 125                                 .val = 0x01,
 126                         }, /* 8000 uG/LSB */
 127                         .fs_avl[2] = {
 128                                 .gain = 438,
 129                                 .val = 0x02,
 130                         }, /* 12000 uG/LSB */
 131                         .fs_avl[3] = {
 132                                 .gain = 584,
 133                                 .val = 0x03,
 134                         }, /* 16000 uG/LSB */
 135                         .fs_len = 4,
 136                 },
 137                 .pwr_table = {
 138                         .reg = {
 139                                 .addr = 0x22,
 140                                 .mask = GENMASK(1, 0),
 141                         },
 142                         .off_val = 0x2,
 143                         .on_val = 0x0,
 144                 },
 145                 .bdu = {
 146                         .addr = 0x24,
 147                         .mask = BIT(6),
 148                 },
 149                 .out = {
 150                         .addr = 0x28,
 151                         .len = 6,
 152                 },
 153         },
 154 };
 155
 156 static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw)
 157 {
 158         struct st_lsm6dsx_sensor *sensor;
 159         u32 odr, timeout;
 160
 161         sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
 162         odr = (hw->enable_mask & BIT(ST_LSM6DSX_ID_ACC)) ? sensor->odr : 12500;
 163         /* set 10ms as minimum timeout for i2c slave configuration */
 164         timeout = max_t(u32, 2000000U / odr + 1, 10);
 165         msleep(timeout);
 166 }
 167
 168 /*
 169  * st_lsm6dsx_shub_read_output - read i2c controller register
 170  *
 171  * Read st_lsm6dsx i2c controller register
 172  */
 173 int st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len)
 174 {
 175         const struct st_lsm6dsx_shub_settings *hub_settings;
 176         int err;
 177
 178         mutex_lock(&hw->page_lock);
 179
 180         hub_settings = &hw->settings->shub_settings;
 181         if (hub_settings->shub_out.sec_page) {
 182                 err = st_lsm6dsx_set_page(hw, true);
 183                 if (err < 0)
 184                         goto out;
 185         }
 186
 187         err = regmap_bulk_read(hw->regmap, hub_settings->shub_out.addr,
 188                                data, len);
 189
 190         if (hub_settings->shub_out.sec_page)
 191                 st_lsm6dsx_set_page(hw, false);
 192 out:
 193         mutex_unlock(&hw->page_lock);
 194
 195         return err;
 196 }
 197
 198 /*
 199  * st_lsm6dsx_shub_write_reg - write i2c controller register
 200  *
 201  * Write st_lsm6dsx i2c controller register
 202  */
 203 static int st_lsm6dsx_shub_write_reg(struct st_lsm6dsx_hw *hw, u8 addr,
 204                                      u8 *data, int len)
 205 {
 206         int err;
 207
 208         mutex_lock(&hw->page_lock);
 209         err = st_lsm6dsx_set_page(hw, true);
 210         if (err < 0)
 211                 goto out;
 212
 213         err = regmap_bulk_write(hw->regmap, addr, data, len);
 214
 215         st_lsm6dsx_set_page(hw, false);
 216 out:
 217         mutex_unlock(&hw->page_lock);
 218
 219         return err;
 220 }
 221
 222 static int
 223 st_lsm6dsx_shub_write_reg_with_mask(struct st_lsm6dsx_hw *hw, u8 addr,
 224                                     u8 mask, u8 val)
 225 {
 226         int err;
 227
 228         mutex_lock(&hw->page_lock);
 229         err = st_lsm6dsx_set_page(hw, true);
 230         if (err < 0)
 231                 goto out;
 232
 233         err = regmap_update_bits(hw->regmap, addr, mask, val);
 234
 235         st_lsm6dsx_set_page(hw, false);
 236 out:
 237         mutex_unlock(&hw->page_lock);
 238
 239         return err;
 240 }
 241
 242 static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor,
 243                                          bool enable)
 244 {
 245         const struct st_lsm6dsx_shub_settings *hub_settings;
 246         struct st_lsm6dsx_hw *hw = sensor->hw;
 247         unsigned int data;
 248         int err;
 249
 250         /* enable acc sensor as trigger */
 251         err = st_lsm6dsx_sensor_set_enable(sensor, enable);
 252         if (err < 0)
 253                 return err;
 254
 255         mutex_lock(&hw->page_lock);
 256
 257         hub_settings = &hw->settings->shub_settings;
 258         if (hub_settings->master_en.sec_page) {
 259                 err = st_lsm6dsx_set_page(hw, true);
 260                 if (err < 0)
 261                         goto out;
 262         }
 263
 264         data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->master_en.mask);
 265         err = regmap_update_bits(hw->regmap, hub_settings->master_en.addr,
 266                                  hub_settings->master_en.mask, data);
 267
 268         if (hub_settings->master_en.sec_page)
 269                 st_lsm6dsx_set_page(hw, false);
 270 out:
 271         mutex_unlock(&hw->page_lock);
 272
 273         return err;
 274 }
 275
 276 /*
 277  * st_lsm6dsx_shub_read - read data from slave device register
 278  *
 279  * Read data from slave device register. SLV0 is used for
 280  * one-shot read operation
 281  */
 282 static int
 283 st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
 284                      u8 *data, int len)
 285 {
 286         const struct st_lsm6dsx_shub_settings *hub_settings;
 287         u8 config[3], slv_addr, slv_config = 0;
 288         struct st_lsm6dsx_hw *hw = sensor->hw;
 289         const struct st_lsm6dsx_reg *aux_sens;
 290         int err;
 291
 292         hub_settings = &hw->settings->shub_settings;
 293         slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
 294         aux_sens = &hw->settings->shub_settings.aux_sens;
 295         /* do not overwrite aux_sens */
 296         if (slv_addr + 2 == aux_sens->addr)
 297                 slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
 298
 299         config[0] = (sensor->ext_info.addr << 1) | 1;
 300         config[1] = addr;
 301         config[2] = (len & ST_LS6DSX_READ_OP_MASK) | slv_config;
 302
 303         err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 304                                         sizeof(config));
 305         if (err < 0)
 306                 return err;
 307
 308         err = st_lsm6dsx_shub_master_enable(sensor, true);
 309         if (err < 0)
 310                 return err;
 311
 312         st_lsm6dsx_shub_wait_complete(hw);
 313
 314         err = st_lsm6dsx_shub_read_output(hw, data,
 315                                           len & ST_LS6DSX_READ_OP_MASK);
 316         if (err < 0)
 317                 return err;
 318
 319         st_lsm6dsx_shub_master_enable(sensor, false);
 320
 321         config[0] = hub_settings->pause;
 322         config[1] = 0;
 323         config[2] = slv_config;
 324         return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 325                                          sizeof(config));
 326 }
 327
 328 /*
 329  * st_lsm6dsx_shub_write - write data to slave device register
 330  *
 331  * Write data from slave device register. SLV0 is used for
 332  * one-shot write operation
 333  */
 334 static int
 335 st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr,
 336                       u8 *data, int len)
 337 {
 338         const struct st_lsm6dsx_shub_settings *hub_settings;
 339         struct st_lsm6dsx_hw *hw = sensor->hw;
 340         u8 config[2], slv_addr;
 341         int err, i;
 342
 343         hub_settings = &hw->settings->shub_settings;
 344         if (hub_settings->wr_once.addr) {
 345                 unsigned int data;
 346
 347                 data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->wr_once.mask);
 348                 err = st_lsm6dsx_shub_write_reg_with_mask(hw,
 349                         hub_settings->wr_once.addr,
 350                         hub_settings->wr_once.mask,
 351                         data);
 352                 if (err < 0)
 353                         return err;
 354         }
 355
 356         slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
 357         config[0] = sensor->ext_info.addr << 1;
 358         for (i = 0 ; i < len; i++) {
 359                 config[1] = addr + i;
 360
 361                 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 362                                                 sizeof(config));
 363                 if (err < 0)
 364                         return err;
 365
 366                 err = st_lsm6dsx_shub_write_reg(hw, hub_settings->dw_slv0_addr,
 367                                                 &data[i], 1);
 368                 if (err < 0)
 369                         return err;
 370
 371                 err = st_lsm6dsx_shub_master_enable(sensor, true);
 372                 if (err < 0)
 373                         return err;
 374
 375                 st_lsm6dsx_shub_wait_complete(hw);
 376
 377                 st_lsm6dsx_shub_master_enable(sensor, false);
 378         }
 379
 380         config[0] = hub_settings->pause;
 381         config[1] = 0;
 382         return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config));
 383 }
 384
 385 static int
 386 st_lsm6dsx_shub_write_with_mask(struct st_lsm6dsx_sensor *sensor,
 387                                 u8 addr, u8 mask, u8 val)
 388 {
 389         int err;
 390         u8 data;
 391
 392         err = st_lsm6dsx_shub_read(sensor, addr, &data, sizeof(data));
 393         if (err < 0)
 394                 return err;
 395
 396         data = ((data & ~mask) | (val << __ffs(mask) & mask));
 397
 398         return st_lsm6dsx_shub_write(sensor, addr, &data, sizeof(data));
 399 }
 400
 401 static int
 402 st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor,
 403                             u32 odr, u16 *val)
 404 {
 405         const struct st_lsm6dsx_ext_dev_settings *settings;
 406         int i;
 407
 408         settings = sensor->ext_info.settings;
 409         for (i = 0; i < settings->odr_table.odr_len; i++) {
 410                 if (settings->odr_table.odr_avl[i].milli_hz == odr)
 411                         break;
 412         }
 413
 414         if (i == settings->odr_table.odr_len)
 415                 return -EINVAL;
 416
 417         *val = settings->odr_table.odr_avl[i].val;
 418         return 0;
 419 }
 420
 421 static int
 422 st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u32 odr)
 423 {
 424         const struct st_lsm6dsx_ext_dev_settings *settings;
 425         u16 val;
 426         int err;
 427
 428         err = st_lsm6dsx_shub_get_odr_val(sensor, odr, &val);
 429         if (err < 0)
 430                 return err;
 431
 432         settings = sensor->ext_info.settings;
 433         return st_lsm6dsx_shub_write_with_mask(sensor,
 434                                                settings->odr_table.reg.addr,
 435                                                settings->odr_table.reg.mask,
 436                                                val);
 437 }
 438
 439 /* use SLV{1,2,3} for FIFO read operations */
 440 static int
 441 st_lsm6dsx_shub_config_channels(struct st_lsm6dsx_sensor *sensor,
 442                                 bool enable)
 443 {
 444         const struct st_lsm6dsx_shub_settings *hub_settings;
 445         const struct st_lsm6dsx_ext_dev_settings *settings;
 446         u8 config[9] = {}, enable_mask, slv_addr;
 447         struct st_lsm6dsx_hw *hw = sensor->hw;
 448         struct st_lsm6dsx_sensor *cur_sensor;
 449         int i, j = 0;
 450
 451         hub_settings = &hw->settings->shub_settings;
 452         if (enable)
 453                 enable_mask = hw->enable_mask | BIT(sensor->id);
 454         else
 455                 enable_mask = hw->enable_mask & ~BIT(sensor->id);
 456
 457         for (i = ST_LSM6DSX_ID_EXT0; i <= ST_LSM6DSX_ID_EXT2; i++) {
 458                 if (!hw->iio_devs[i])
 459                         continue;
 460
 461                 cur_sensor = iio_priv(hw->iio_devs[i]);
 462                 if (!(enable_mask & BIT(cur_sensor->id)))
 463                         continue;
 464
 465                 settings = cur_sensor->ext_info.settings;
 466                 config[j] = (sensor->ext_info.addr << 1) | 1;
 467                 config[j + 1] = settings->out.addr;
 468                 config[j + 2] = (settings->out.len & ST_LS6DSX_READ_OP_MASK) |
 469                                 hub_settings->batch_en;
 470                 j += 3;
 471         }
 472
 473         slv_addr = ST_LSM6DSX_SLV_ADDR(1, hub_settings->slv0_addr);
 474         return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 475                                          sizeof(config));
 476 }
 477
 478 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
 479 {
 480         const struct st_lsm6dsx_ext_dev_settings *settings;
 481         int err;
 482
 483         err = st_lsm6dsx_shub_config_channels(sensor, enable);
 484         if (err < 0)
 485                 return err;
 486
 487         settings = sensor->ext_info.settings;
 488         if (enable) {
 489                 err = st_lsm6dsx_shub_set_odr(sensor,
 490                                               sensor->ext_info.slv_odr);
 491                 if (err < 0)
 492                         return err;
 493         } else {
 494                 err = st_lsm6dsx_shub_write_with_mask(sensor,
 495                                         settings->odr_table.reg.addr,
 496                                         settings->odr_table.reg.mask, 0);
 497                 if (err < 0)
 498                         return err;
 499         }
 500
 501         if (settings->pwr_table.reg.addr) {
 502                 u8 val;
 503
 504                 val = enable ? settings->pwr_table.on_val
 505                              : settings->pwr_table.off_val;
 506                 err = st_lsm6dsx_shub_write_with_mask(sensor,
 507                                         settings->pwr_table.reg.addr,
 508                                         settings->pwr_table.reg.mask, val);
 509                 if (err < 0)
 510                         return err;
 511         }
 512
 513         return st_lsm6dsx_shub_master_enable(sensor, enable);
 514 }
 515
 516 static int
 517 st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor,
 518                              struct iio_chan_spec const *ch,
 519                              int *val)
 520 {
 521         int err, delay, len;
 522         u8 data[4];
 523
 524         err = st_lsm6dsx_shub_set_enable(sensor, true);
 525         if (err < 0)
 526                 return err;
 527
 528         delay = 1000000000 / sensor->ext_info.slv_odr;
 529         usleep_range(delay, 2 * delay);
 530
 531         len = min_t(int, sizeof(data), ch->scan_type.realbits >> 3);
 532         err = st_lsm6dsx_shub_read(sensor, ch->address, data, len);
 533         if (err < 0)
 534                 return err;
 535
 536         err = st_lsm6dsx_shub_set_enable(sensor, false);
 537         if (err < 0)
 538                 return err;
 539
 540         switch (len) {
 541         case 2:
 542                 *val = (s16)le16_to_cpu(*((__le16 *)data));
 543                 break;
 544         default:
 545                 return -EINVAL;
 546         }
 547
 548         return IIO_VAL_INT;
 549 }
 550
 551 static int
 552 st_lsm6dsx_shub_read_raw(struct iio_dev *iio_dev,
 553                          struct iio_chan_spec const *ch,
 554                          int *val, int *val2, long mask)
 555 {
 556         struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
 557         int ret;
 558
 559         switch (mask) {
 560         case IIO_CHAN_INFO_RAW:
 561                 ret = iio_device_claim_direct_mode(iio_dev);
 562                 if (ret)
 563                         break;
 564
 565                 ret = st_lsm6dsx_shub_read_oneshot(sensor, ch, val);
 566                 iio_device_release_direct_mode(iio_dev);
 567                 break;
 568         case IIO_CHAN_INFO_SAMP_FREQ:
 569                 *val = sensor->ext_info.slv_odr / 1000;
 570                 *val2 = (sensor->ext_info.slv_odr % 1000) * 1000;
 571                 ret = IIO_VAL_INT_PLUS_MICRO;
 572                 break;
 573         case IIO_CHAN_INFO_SCALE:
 574                 *val = 0;
 575                 *val2 = sensor->gain;
 576                 ret = IIO_VAL_INT_PLUS_MICRO;
 577                 break;
 578         default:
 579                 ret = -EINVAL;
 580                 break;
 581         }
 582
 583         return ret;
 584 }
 585
 586 static int
 587 st_lsm6dsx_shub_set_full_scale(struct st_lsm6dsx_sensor *sensor,
 588                                u32 gain)
 589 {
 590         const struct st_lsm6dsx_fs_table_entry *fs_table;
 591         int i, err;
 592
 593         fs_table = &sensor->ext_info.settings->fs_table;
 594         if (!fs_table->reg.addr)
 595                 return -ENOTSUPP;
 596
 597         for (i = 0; i < fs_table->fs_len; i++) {
 598                 if (fs_table->fs_avl[i].gain == gain)
 599                         break;
 600         }
 601
 602         if (i == fs_table->fs_len)
 603                 return -EINVAL;
 604
 605         err = st_lsm6dsx_shub_write_with_mask(sensor, fs_table->reg.addr,
 606                                               fs_table->reg.mask,
 607                                               fs_table->fs_avl[i].val);
 608         if (err < 0)
 609                 return err;
 610
 611         sensor->gain = gain;
 612
 613         return 0;
 614 }
 615
 616 static int
 617 st_lsm6dsx_shub_write_raw(struct iio_dev *iio_dev,
 618                           struct iio_chan_spec const *chan,
 619                           int val, int val2, long mask)
 620 {
 621         struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
 622         int err;
 623
 624         err = iio_device_claim_direct_mode(iio_dev);
 625         if (err)
 626                 return err;
 627
 628         switch (mask) {
 629         case IIO_CHAN_INFO_SAMP_FREQ: {
 630                 u16 data;
 631
 632                 val = val * 1000 + val2 / 1000;
 633                 err = st_lsm6dsx_shub_get_odr_val(sensor, val, &data);
 634                 if (!err) {
 635                         struct st_lsm6dsx_hw *hw = sensor->hw;
 636                         struct st_lsm6dsx_sensor *ref_sensor;
 637                         u8 odr_val;
 638                         int odr;
 639
 640                         ref_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
 641                         odr = st_lsm6dsx_check_odr(ref_sensor, val, &odr_val);
 642                         if (odr < 0) {
 643                                 err = odr;
 644                                 goto release;
 645                         }
 646
 647                         sensor->ext_info.slv_odr = val;
 648                         sensor->odr = odr;
 649                 }
 650                 break;
 651         }
 652         case IIO_CHAN_INFO_SCALE:
 653                 err = st_lsm6dsx_shub_set_full_scale(sensor, val2);
 654                 break;
 655         default:
 656                 err = -EINVAL;
 657                 break;
 658         }
 659
 660 release:
 661         iio_device_release_direct_mode(iio_dev);
 662
 663         return err;
 664 }
 665
 666 static ssize_t
 667 st_lsm6dsx_shub_sampling_freq_avail(struct device *dev,
 668                                     struct device_attribute *attr,
 669                                     char *buf)
 670 {
 671         struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
 672         const struct st_lsm6dsx_ext_dev_settings *settings;
 673         int i, len = 0;
 674
 675         settings = sensor->ext_info.settings;
 676         for (i = 0; i < settings->odr_table.odr_len; i++) {
 677                 u32 val = settings->odr_table.odr_avl[i].milli_hz;
 678
 679                 len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%03d ",
 680                                  val / 1000, val % 1000);
 681         }
 682         buf[len - 1] = '\n';
 683
 684         return len;
 685 }
 686
 687 static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev,
 688                                            struct device_attribute *attr,
 689                                            char *buf)
 690 {
 691         struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
 692         const struct st_lsm6dsx_ext_dev_settings *settings;
 693         int i, len = 0;
 694
 695         settings = sensor->ext_info.settings;
 696         for (i = 0; i < settings->fs_table.fs_len; i++)
 697                 len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
 698                                  settings->fs_table.fs_avl[i].gain);
 699         buf[len - 1] = '\n';
 700
 701         return len;
 702 }
 703
 704 static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail);
 705 static IIO_DEVICE_ATTR(in_scale_available, 0444,
 706                        st_lsm6dsx_shub_scale_avail, NULL, 0);
 707 static struct attribute *st_lsm6dsx_shub_attributes[] = {
 708         &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
 709         &iio_dev_attr_in_scale_available.dev_attr.attr,
 710         NULL,
 711 };
 712
 713 static const struct attribute_group st_lsm6dsx_shub_attribute_group = {
 714         .attrs = st_lsm6dsx_shub_attributes,
 715 };
 716
 717 static const struct iio_info st_lsm6dsx_shub_info = {
 718         .attrs = &st_lsm6dsx_shub_attribute_group,
 719         .read_raw = st_lsm6dsx_shub_read_raw,
 720         .write_raw = st_lsm6dsx_shub_write_raw,
 721         .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
 722 };
 723
 724 static struct iio_dev *
 725 st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw,
 726                              enum st_lsm6dsx_sensor_id id,
 727                              const struct st_lsm6dsx_ext_dev_settings *info,
 728                              u8 i2c_addr, const char *name)
 729 {
 730         enum st_lsm6dsx_sensor_id ref_id = ST_LSM6DSX_ID_ACC;
 731         struct iio_chan_spec *ext_channels;
 732         struct st_lsm6dsx_sensor *sensor;
 733         struct iio_dev *iio_dev;
 734
 735         iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor));
 736         if (!iio_dev)
 737                 return NULL;
 738
 739         iio_dev->modes = INDIO_DIRECT_MODE;
 740         iio_dev->info = &st_lsm6dsx_shub_info;
 741
 742         sensor = iio_priv(iio_dev);
 743         sensor->id = id;
 744         sensor->hw = hw;
 745         sensor->odr = hw->settings->odr_table[ref_id].odr_avl[0].milli_hz;
 746         sensor->ext_info.slv_odr = info->odr_table.odr_avl[0].milli_hz;
 747         sensor->gain = info->fs_table.fs_avl[0].gain;
 748         sensor->ext_info.settings = info;
 749         sensor->ext_info.addr = i2c_addr;
 750         sensor->watermark = 1;
 751
 752         switch (info->id) {
 753         case ST_LSM6DSX_ID_MAGN: {
 754                 const struct iio_chan_spec magn_channels[] = {
 755                         ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr,
 756                                            IIO_MOD_X, 0),
 757                         ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 2,
 758                                            IIO_MOD_Y, 1),
 759                         ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 4,
 760                                            IIO_MOD_Z, 2),
 761                         IIO_CHAN_SOFT_TIMESTAMP(3),
 762                 };
 763
 764                 ext_channels = devm_kzalloc(hw->dev, sizeof(magn_channels),
 765                                             GFP_KERNEL);
 766                 if (!ext_channels)
 767                         return NULL;
 768
 769                 memcpy(ext_channels, magn_channels, sizeof(magn_channels));
 770                 iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks;
 771                 iio_dev->channels = ext_channels;
 772                 iio_dev->num_channels = ARRAY_SIZE(magn_channels);
 773
 774                 scnprintf(sensor->name, sizeof(sensor->name), "%s_magn",
 775                           name);
 776                 break;
 777         }
 778         default:
 779                 return NULL;
 780         }
 781         iio_dev->name = sensor->name;
 782
 783         return iio_dev;
 784 }
 785
 786 static int st_lsm6dsx_shub_init_device(struct st_lsm6dsx_sensor *sensor)
 787 {
 788         const struct st_lsm6dsx_ext_dev_settings *settings;
 789         int err;
 790
 791         settings = sensor->ext_info.settings;
 792         if (settings->bdu.addr) {
 793                 err = st_lsm6dsx_shub_write_with_mask(sensor,
 794                                                       settings->bdu.addr,
 795                                                       settings->bdu.mask, 1);
 796                 if (err < 0)
 797                         return err;
 798         }
 799
 800         if (settings->temp_comp.addr) {
 801                 err = st_lsm6dsx_shub_write_with_mask(sensor,
 802                                         settings->temp_comp.addr,
 803                                         settings->temp_comp.mask, 1);
 804                 if (err < 0)
 805                         return err;
 806         }
 807
 808         if (settings->off_canc.addr) {
 809                 err = st_lsm6dsx_shub_write_with_mask(sensor,
 810                                         settings->off_canc.addr,
 811                                         settings->off_canc.mask, 1);
 812                 if (err < 0)
 813                         return err;
 814         }
 815
 816         return 0;
 817 }
 818
 819 static int
 820 st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
 821                           const struct st_lsm6dsx_ext_dev_settings *settings)
 822 {
 823         const struct st_lsm6dsx_shub_settings *hub_settings;
 824         u8 config[3], data, slv_addr, slv_config = 0;
 825         const struct st_lsm6dsx_reg *aux_sens;
 826         struct st_lsm6dsx_sensor *sensor;
 827         bool found = false;
 828         int i, err;
 829
 830         sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
 831         hub_settings = &hw->settings->shub_settings;
 832         aux_sens = &hw->settings->shub_settings.aux_sens;
 833         slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
 834         /* do not overwrite aux_sens */
 835         if (slv_addr + 2 == aux_sens->addr)
 836                 slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
 837
 838         for (i = 0; i < ARRAY_SIZE(settings->i2c_addr); i++) {
 839                 if (!settings->i2c_addr[i])
 840                         continue;
 841
 842                 /* read wai slave register */
 843                 config[0] = (settings->i2c_addr[i] << 1) | 0x1;
 844                 config[1] = settings->wai.addr;
 845                 config[2] = 0x1 | slv_config;
 846
 847                 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 848                                                 sizeof(config));
 849                 if (err < 0)
 850                         return err;
 851
 852                 err = st_lsm6dsx_shub_master_enable(sensor, true);
 853                 if (err < 0)
 854                         return err;
 855
 856                 st_lsm6dsx_shub_wait_complete(hw);
 857
 858                 err = st_lsm6dsx_shub_read_output(hw, &data, sizeof(data));
 859
 860                 st_lsm6dsx_shub_master_enable(sensor, false);
 861
 862                 if (err < 0)
 863                         return err;
 864
 865                 if (data != settings->wai.val)
 866                         continue;
 867
 868                 *i2c_addr = settings->i2c_addr[i];
 869                 found = true;
 870                 break;
 871         }
 872
 873         /* reset SLV0 channel */
 874         config[0] = hub_settings->pause;
 875         config[1] = 0;
 876         config[2] = slv_config;
 877         err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
 878                                         sizeof(config));
 879         if (err < 0)
 880                 return err;
 881
 882         return found ? 0 : -ENODEV;
 883 }
 884
 885 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name)
 886 {
 887         enum st_lsm6dsx_sensor_id id = ST_LSM6DSX_ID_EXT0;
 888         struct st_lsm6dsx_sensor *sensor;
 889         int err, i, num_ext_dev = 0;
 890         u8 i2c_addr = 0;
 891
 892         for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_ext_dev_table); i++) {
 893                 err = st_lsm6dsx_shub_check_wai(hw, &i2c_addr,
 894                                         &st_lsm6dsx_ext_dev_table[i]);
 895                 if (err == -ENODEV)
 896                         continue;
 897                 else if (err < 0)
 898                         return err;
 899
 900                 hw->iio_devs[id] = st_lsm6dsx_shub_alloc_iiodev(hw, id,
 901                                                 &st_lsm6dsx_ext_dev_table[i],
 902                                                 i2c_addr, name);
 903                 if (!hw->iio_devs[id])
 904                         return -ENOMEM;
 905
 906                 sensor = iio_priv(hw->iio_devs[id]);
 907                 err = st_lsm6dsx_shub_init_device(sensor);
 908                 if (err < 0)
 909                         return err;
 910
 911                 if (++num_ext_dev >= hw->settings->shub_settings.num_ext_dev)
 912                         break;
 913                 id++;
 914         }
 915
 916         return 0;
 917 }