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 #include <linux/regulator/consumer.h>
  17
  18 #define ST_LSM6DS3_DEV_NAME     "lsm6ds3"
  19 #define ST_LSM6DS3H_DEV_NAME    "lsm6ds3h"
  20 #define ST_LSM6DSL_DEV_NAME     "lsm6dsl"
  21 #define ST_LSM6DSM_DEV_NAME     "lsm6dsm"
  22 #define ST_ISM330DLC_DEV_NAME   "ism330dlc"
  23 #define ST_LSM6DSO_DEV_NAME     "lsm6dso"
  24 #define ST_ASM330LHH_DEV_NAME   "asm330lhh"
  25 #define ST_LSM6DSOX_DEV_NAME    "lsm6dsox"
  26 #define ST_LSM6DSR_DEV_NAME     "lsm6dsr"
  27 #define ST_LSM6DS3TRC_DEV_NAME  "lsm6ds3tr-c"
  28 #define ST_ISM330DHCX_DEV_NAME  "ism330dhcx"
  29 #define ST_LSM9DS1_DEV_NAME     "lsm9ds1-imu"
  30 #define ST_LSM6DS0_DEV_NAME     "lsm6ds0"
  31 #define ST_LSM6DSRX_DEV_NAME    "lsm6dsrx"
  32 #define ST_LSM6DST_DEV_NAME     "lsm6dst"
  33 #define ST_LSM6DSOP_DEV_NAME    "lsm6dsop"
  34
  35 enum st_lsm6dsx_hw_id {
  36         ST_LSM6DS3_ID,
  37         ST_LSM6DS3H_ID,
  38         ST_LSM6DSL_ID,
  39         ST_LSM6DSM_ID,
  40         ST_ISM330DLC_ID,
  41         ST_LSM6DSO_ID,
  42         ST_ASM330LHH_ID,
  43         ST_LSM6DSOX_ID,
  44         ST_LSM6DSR_ID,
  45         ST_LSM6DS3TRC_ID,
  46         ST_ISM330DHCX_ID,
  47         ST_LSM9DS1_ID,
  48         ST_LSM6DS0_ID,
  49         ST_LSM6DSRX_ID,
  50         ST_LSM6DST_ID,
  51         ST_LSM6DSOP_ID,
  52         ST_LSM6DSX_MAX_ID,
  53 };
  54
  55 #define ST_LSM6DSX_BUFF_SIZE            512
  56 #define ST_LSM6DSX_CHAN_SIZE            2
  57 #define ST_LSM6DSX_SAMPLE_SIZE          6
  58 #define ST_LSM6DSX_TAG_SIZE             1
  59 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE   (ST_LSM6DSX_SAMPLE_SIZE + \
  60                                          ST_LSM6DSX_TAG_SIZE)
  61 #define ST_LSM6DSX_MAX_WORD_LEN         ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
  62                                          ST_LSM6DSX_SAMPLE_SIZE)
  63 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN  ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
  64                                          * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
  65 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
  66
  67 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx)          \
  68 {                                                                       \
  69         .type = chan_type,                                              \
  70         .address = addr,                                                \
  71         .modified = 1,                                                  \
  72         .channel2 = mod,                                                \
  73         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),                   \
  74         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),           \
  75         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),        \
  76         .scan_index = scan_idx,                                         \
  77         .scan_type = {                                                  \
  78                 .sign = 's',                                            \
  79                 .realbits = 16,                                         \
  80                 .storagebits = 16,                                      \
  81                 .endianness = IIO_LE,                                   \
  82         },                                                              \
  83         .event_spec = &st_lsm6dsx_event,                                \
  84         .ext_info = st_lsm6dsx_accel_ext_info,                          \
  85         .num_event_specs = 1,                                           \
  86 }
  87
  88 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx)              \
  89 {                                                                       \
  90         .type = chan_type,                                              \
  91         .address = addr,                                                \
  92         .modified = 1,                                                  \
  93         .channel2 = mod,                                                \
  94         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),                   \
  95         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),           \
  96         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),        \
  97         .scan_index = scan_idx,                                         \
  98         .scan_type = {                                                  \
  99                 .sign = 's',                                            \
 100                 .realbits = 16,                                         \
 101                 .storagebits = 16,                                      \
 102                 .endianness = IIO_LE,                                   \
 103         },                                                              \
 104 }
 105
 106 struct st_lsm6dsx_reg {
 107         u8 addr;
 108         u8 mask;
 109 };
 110
 111 struct st_lsm6dsx_sensor;
 112 struct st_lsm6dsx_hw;
 113
 114 struct st_lsm6dsx_odr {
 115         u32 milli_hz;
 116         u8 val;
 117 };
 118
 119 #define ST_LSM6DSX_ODR_LIST_SIZE        8
 120 struct st_lsm6dsx_odr_table_entry {
 121         struct st_lsm6dsx_reg reg;
 122
 123         struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
 124         int odr_len;
 125 };
 126
 127 struct st_lsm6dsx_fs {
 128         u32 gain;
 129         u8 val;
 130 };
 131
 132 #define ST_LSM6DSX_FS_LIST_SIZE         4
 133 struct st_lsm6dsx_fs_table_entry {
 134         struct st_lsm6dsx_reg reg;
 135
 136         struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
 137         int fs_len;
 138 };
 139
 140 /**
 141  * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
 142  * @update_fifo: Update FIFO configuration callback.
 143  * @read_fifo: Read FIFO callback.
 144  * @fifo_th: FIFO threshold register info (addr + mask).
 145  * @fifo_diff: FIFO diff status register info (addr + mask).
 146  * @th_wl: FIFO threshold word length.
 147  */
 148 struct st_lsm6dsx_fifo_ops {
 149         int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
 150         int (*read_fifo)(struct st_lsm6dsx_hw *hw);
 151         struct {
 152                 u8 addr;
 153                 u16 mask;
 154         } fifo_th;
 155         struct {
 156                 u8 addr;
 157                 u16 mask;
 158         } fifo_diff;
 159         u8 th_wl;
 160 };
 161
 162 /**
 163  * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
 164  * @timer_en: Hw timer enable register info (addr + mask).
 165  * @hr_timer: Hw timer resolution register info (addr + mask).
 166  * @fifo_en: Hw timer FIFO enable register info (addr + mask).
 167  * @decimator: Hw timer FIFO decimator register info (addr + mask).
 168  * @freq_fine: Difference in % of ODR with respect to the typical.
 169  */
 170 struct st_lsm6dsx_hw_ts_settings {
 171         struct st_lsm6dsx_reg timer_en;
 172         struct st_lsm6dsx_reg hr_timer;
 173         struct st_lsm6dsx_reg fifo_en;
 174         struct st_lsm6dsx_reg decimator;
 175         u8 freq_fine;
 176 };
 177
 178 /**
 179  * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
 180  * @page_mux: register page mux info (addr + mask).
 181  * @master_en: master config register info (addr + mask).
 182  * @pullup_en: i2c controller pull-up register info (addr + mask).
 183  * @aux_sens: aux sensor register info (addr + mask).
 184  * @wr_once: write_once register info (addr + mask).
 185  * @emb_func:  embedded function register info (addr + mask).
 186  * @num_ext_dev: max number of slave devices.
 187  * @shub_out: sensor hub first output register info.
 188  * @slv0_addr: slave0 address in secondary page.
 189  * @dw_slv0_addr: slave0 write register address in secondary page.
 190  * @batch_en: Enable/disable FIFO batching.
 191  * @pause: controller pause value.
 192  */
 193 struct st_lsm6dsx_shub_settings {
 194         struct st_lsm6dsx_reg page_mux;
 195         struct {
 196                 bool sec_page;
 197                 u8 addr;
 198                 u8 mask;
 199         } master_en;
 200         struct {
 201                 bool sec_page;
 202                 u8 addr;
 203                 u8 mask;
 204         } pullup_en;
 205         struct st_lsm6dsx_reg aux_sens;
 206         struct st_lsm6dsx_reg wr_once;
 207         struct st_lsm6dsx_reg emb_func;
 208         u8 num_ext_dev;
 209         struct {
 210                 bool sec_page;
 211                 u8 addr;
 212         } shub_out;
 213         u8 slv0_addr;
 214         u8 dw_slv0_addr;
 215         u8 batch_en;
 216         u8 pause;
 217 };
 218
 219 struct st_lsm6dsx_event_settings {
 220         struct st_lsm6dsx_reg enable_reg;
 221         struct st_lsm6dsx_reg wakeup_reg;
 222         u8 wakeup_src_reg;
 223         u8 wakeup_src_status_mask;
 224         u8 wakeup_src_z_mask;
 225         u8 wakeup_src_y_mask;
 226         u8 wakeup_src_x_mask;
 227 };
 228
 229 enum st_lsm6dsx_ext_sensor_id {
 230         ST_LSM6DSX_ID_MAGN,
 231 };
 232
 233 /**
 234  * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
 235  * @i2c_addr: I2c slave address list.
 236  * @wai: Wai address info.
 237  * @id: external sensor id.
 238  * @odr_table: Output data rate of the sensor [Hz].
 239  * @fs_table: Configured sensor sensitivity table depending on full scale.
 240  * @temp_comp: Temperature compensation register info (addr + mask).
 241  * @pwr_table: Power on register info (addr + mask).
 242  * @off_canc: Offset cancellation register info (addr + mask).
 243  * @bdu: Block data update register info (addr + mask).
 244  * @out: Output register info.
 245  */
 246 struct st_lsm6dsx_ext_dev_settings {
 247         u8 i2c_addr[2];
 248         struct {
 249                 u8 addr;
 250                 u8 val;
 251         } wai;
 252         enum st_lsm6dsx_ext_sensor_id id;
 253         struct st_lsm6dsx_odr_table_entry odr_table;
 254         struct st_lsm6dsx_fs_table_entry fs_table;
 255         struct st_lsm6dsx_reg temp_comp;
 256         struct {
 257                 struct st_lsm6dsx_reg reg;
 258                 u8 off_val;
 259                 u8 on_val;
 260         } pwr_table;
 261         struct st_lsm6dsx_reg off_canc;
 262         struct st_lsm6dsx_reg bdu;
 263         struct {
 264                 u8 addr;
 265                 u8 len;
 266         } out;
 267 };
 268
 269 /**
 270  * struct st_lsm6dsx_settings - ST IMU sensor settings
 271  * @reset: register address for reset.
 272  * @boot: register address for boot.
 273  * @bdu: register address for Block Data Update.
 274  * @max_fifo_size: Sensor max fifo length in FIFO words.
 275  * @id: List of hw id/device name supported by the driver configuration.
 276  * @channels: IIO channels supported by the device.
 277  * @irq_config: interrupts related registers.
 278  * @drdy_mask: register info for data-ready mask (addr + mask).
 279  * @odr_table: Hw sensors odr table (Hz + val).
 280  * @fs_table: Hw sensors gain table (gain + val).
 281  * @decimator: List of decimator register info (addr + mask).
 282  * @batch: List of FIFO batching register info (addr + mask).
 283  * @fifo_ops: Sensor hw FIFO parameters.
 284  * @ts_settings: Hw timer related settings.
 285  * @shub_settings: i2c controller related settings.
 286  */
 287 struct st_lsm6dsx_settings {
 288         struct st_lsm6dsx_reg reset;
 289         struct st_lsm6dsx_reg boot;
 290         struct st_lsm6dsx_reg bdu;
 291         u16 max_fifo_size;
 292         struct {
 293                 enum st_lsm6dsx_hw_id hw_id;
 294                 const char *name;
 295                 u8 wai;
 296         } id[ST_LSM6DSX_MAX_ID];
 297         struct {
 298                 const struct iio_chan_spec *chan;
 299                 int len;
 300         } channels[2];
 301         struct {
 302                 struct st_lsm6dsx_reg irq1;
 303                 struct st_lsm6dsx_reg irq2;
 304                 struct st_lsm6dsx_reg irq1_func;
 305                 struct st_lsm6dsx_reg irq2_func;
 306                 struct st_lsm6dsx_reg lir;
 307                 struct st_lsm6dsx_reg clear_on_read;
 308                 struct st_lsm6dsx_reg hla;
 309                 struct st_lsm6dsx_reg od;
 310         } irq_config;
 311         struct st_lsm6dsx_reg drdy_mask;
 312         struct st_lsm6dsx_odr_table_entry odr_table[2];
 313         struct st_lsm6dsx_fs_table_entry fs_table[2];
 314         struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
 315         struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
 316         struct st_lsm6dsx_fifo_ops fifo_ops;
 317         struct st_lsm6dsx_hw_ts_settings ts_settings;
 318         struct st_lsm6dsx_shub_settings shub_settings;
 319         struct st_lsm6dsx_event_settings event_settings;
 320 };
 321
 322 enum st_lsm6dsx_sensor_id {
 323         ST_LSM6DSX_ID_GYRO,
 324         ST_LSM6DSX_ID_ACC,
 325         ST_LSM6DSX_ID_EXT0,
 326         ST_LSM6DSX_ID_EXT1,
 327         ST_LSM6DSX_ID_EXT2,
 328         ST_LSM6DSX_ID_MAX,
 329 };
 330
 331 enum st_lsm6dsx_fifo_mode {
 332         ST_LSM6DSX_FIFO_BYPASS = 0x0,
 333         ST_LSM6DSX_FIFO_CONT = 0x6,
 334 };
 335
 336 /**
 337  * struct st_lsm6dsx_sensor - ST IMU sensor instance
 338  * @name: Sensor name.
 339  * @id: Sensor identifier.
 340  * @hw: Pointer to instance of struct st_lsm6dsx_hw.
 341  * @gain: Configured sensor sensitivity.
 342  * @odr: Output data rate of the sensor [Hz].
 343  * @watermark: Sensor watermark level.
 344  * @decimator: Sensor decimation factor.
 345  * @sip: Number of samples in a given pattern.
 346  * @ts_ref: Sensor timestamp reference for hw one.
 347  * @ext_info: Sensor settings if it is connected to i2c controller
 348  */
 349 struct st_lsm6dsx_sensor {
 350         char name[32];
 351         enum st_lsm6dsx_sensor_id id;
 352         struct st_lsm6dsx_hw *hw;
 353
 354         u32 gain;
 355         u32 odr;
 356
 357         u16 watermark;
 358         u8 decimator;
 359         u8 sip;
 360         s64 ts_ref;
 361
 362         struct {
 363                 const struct st_lsm6dsx_ext_dev_settings *settings;
 364                 u32 slv_odr;
 365                 u8 addr;
 366         } ext_info;
 367 };
 368
 369 /**
 370  * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
 371  * @dev: Pointer to instance of struct device (I2C or SPI).
 372  * @regmap: Register map of the device.
 373  * @regulators: VDD/VDDIO voltage regulators.
 374  * @irq: Device interrupt line (I2C or SPI).
 375  * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
 376  * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
 377  * @page_lock: Mutex to prevent concurrent memory page configuration.
 378  * @suspend_mask: Suspended sensor bitmask.
 379  * @enable_mask: Enabled sensor bitmask.
 380  * @fifo_mask: Enabled hw FIFO bitmask.
 381  * @ts_gain: Hw timestamp rate after internal calibration.
 382  * @ts_sip: Total number of timestamp samples in a given pattern.
 383  * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
 384  * @buff: Device read buffer.
 385  * @irq_routing: pointer to interrupt routing configuration.
 386  * @event_threshold: wakeup event threshold.
 387  * @enable_event: enabled event bitmask.
 388  * @iio_devs: Pointers to acc/gyro iio_dev instances.
 389  * @settings: Pointer to the specific sensor settings in use.
 390  * @orientation: sensor chip orientation relative to main hardware.
 391  * @scan: Temporary buffers used to align data before iio_push_to_buffers()
 392  */
 393 struct st_lsm6dsx_hw {
 394         struct device *dev;
 395         struct regmap *regmap;
 396         struct regulator_bulk_data regulators[2];
 397         int irq;
 398
 399         struct mutex fifo_lock;
 400         struct mutex conf_lock;
 401         struct mutex page_lock;
 402
 403         u8 suspend_mask;
 404         u8 enable_mask;
 405         u8 fifo_mask;
 406         s64 ts_gain;
 407         u8 ts_sip;
 408         u8 sip;
 409
 410         const struct st_lsm6dsx_reg *irq_routing;
 411         u8 event_threshold;
 412         u8 enable_event;
 413
 414         u8 *buff;
 415
 416         struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
 417
 418         const struct st_lsm6dsx_settings *settings;
 419
 420         struct iio_mount_matrix orientation;
 421         /* Ensure natural alignment of buffer elements */
 422         struct {
 423                 __le16 channels[3];
 424                 s64 ts __aligned(8);
 425         } scan[3];
 426 };
 427
 428 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
 429         .type = IIO_EV_TYPE_THRESH,
 430         .dir = IIO_EV_DIR_EITHER,
 431         .mask_separate = BIT(IIO_EV_INFO_VALUE) |
 432                          BIT(IIO_EV_INFO_ENABLE)
 433 };
 434
 435 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
 436         0x7, 0x0,
 437 };
 438
 439 extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
 440
 441 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
 442                      struct regmap *regmap);
 443 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
 444                                  bool enable);
 445 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
 446 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
 447 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
 448                                 u16 watermark);
 449 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
 450 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
 451 int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
 452 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
 453 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
 454 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
 455 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
 456 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
 457 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
 458
 459 static inline int
 460 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
 461                               unsigned int mask, unsigned int val)
 462 {
 463         int err;
 464
 465         mutex_lock(&hw->page_lock);
 466         err = regmap_update_bits(hw->regmap, addr, mask, val);
 467         mutex_unlock(&hw->page_lock);
 468
 469         return err;
 470 }
 471
 472 static inline int
 473 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
 474                        void *val, unsigned int len)
 475 {
 476         int err;
 477
 478         mutex_lock(&hw->page_lock);
 479         err = regmap_bulk_read(hw->regmap, addr, val, len);
 480         mutex_unlock(&hw->page_lock);
 481
 482         return err;
 483 }
 484
 485 static inline int
 486 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
 487                         unsigned int val)
 488 {
 489         int err;
 490
 491         mutex_lock(&hw->page_lock);
 492         err = regmap_write(hw->regmap, addr, val);
 493         mutex_unlock(&hw->page_lock);
 494
 495         return err;
 496 }
 497
 498 static inline const struct iio_mount_matrix *
 499 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
 500                             const struct iio_chan_spec *chan)
 501 {
 502         struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
 503         struct st_lsm6dsx_hw *hw = sensor->hw;
 504
 505         return &hw->orientation;
 506 }
 507
 508 static const
 509 struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = {
 510         IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
 511         { }
 512 };
 513
 514 #endif /* ST_LSM6DSX_H */