diff options
Diffstat (limited to 'drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h')
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 518 |
1 files changed, 518 insertions, 0 deletions
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h new file mode 100644 index 000000000..6b57d47be --- /dev/null +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h @@ -0,0 +1,518 @@ +/* SPDX-License-Identifier: GPL-2.0-only */ +/* + * STMicroelectronics st_lsm6dsx sensor driver + * + * Copyright 2016 STMicroelectronics Inc. + * + * Lorenzo Bianconi <lorenzo.bianconi@st.com> + * Denis Ciocca <denis.ciocca@st.com> + */ + +#ifndef ST_LSM6DSX_H +#define ST_LSM6DSX_H + +#include <linux/device.h> +#include <linux/iio/iio.h> +#include <linux/regulator/consumer.h> + +#define ST_LSM6DS3_DEV_NAME "lsm6ds3" +#define ST_LSM6DS3H_DEV_NAME "lsm6ds3h" +#define ST_LSM6DSL_DEV_NAME "lsm6dsl" +#define ST_LSM6DSM_DEV_NAME "lsm6dsm" +#define ST_ISM330DLC_DEV_NAME "ism330dlc" +#define ST_LSM6DSO_DEV_NAME "lsm6dso" +#define ST_ASM330LHH_DEV_NAME "asm330lhh" +#define ST_LSM6DSOX_DEV_NAME "lsm6dsox" +#define ST_LSM6DSR_DEV_NAME "lsm6dsr" +#define ST_LSM6DS3TRC_DEV_NAME "lsm6ds3tr-c" +#define ST_ISM330DHCX_DEV_NAME "ism330dhcx" +#define ST_LSM9DS1_DEV_NAME "lsm9ds1-imu" +#define ST_LSM6DS0_DEV_NAME "lsm6ds0" +#define ST_LSM6DSRX_DEV_NAME "lsm6dsrx" +#define ST_LSM6DST_DEV_NAME "lsm6dst" +#define ST_LSM6DSOP_DEV_NAME "lsm6dsop" +#define ST_ASM330LHHX_DEV_NAME "asm330lhhx" +#define ST_LSM6DSTX_DEV_NAME "lsm6dstx" + +enum st_lsm6dsx_hw_id { + ST_LSM6DS3_ID, + ST_LSM6DS3H_ID, + ST_LSM6DSL_ID, + ST_LSM6DSM_ID, + ST_ISM330DLC_ID, + ST_LSM6DSO_ID, + ST_ASM330LHH_ID, + ST_LSM6DSOX_ID, + ST_LSM6DSR_ID, + ST_LSM6DS3TRC_ID, + ST_ISM330DHCX_ID, + ST_LSM9DS1_ID, + ST_LSM6DS0_ID, + ST_LSM6DSRX_ID, + ST_LSM6DST_ID, + ST_LSM6DSOP_ID, + ST_ASM330LHHX_ID, + ST_LSM6DSTX_ID, + ST_LSM6DSX_MAX_ID, +}; + +#define ST_LSM6DSX_BUFF_SIZE 512 +#define ST_LSM6DSX_CHAN_SIZE 2 +#define ST_LSM6DSX_SAMPLE_SIZE 6 +#define ST_LSM6DSX_TAG_SIZE 1 +#define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \ + ST_LSM6DSX_TAG_SIZE) +#define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \ + ST_LSM6DSX_SAMPLE_SIZE) +#define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \ + * ST_LSM6DSX_TAGGED_SAMPLE_SIZE) +#define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask)) + +#define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \ +{ \ + .type = chan_type, \ + .address = addr, \ + .modified = 1, \ + .channel2 = mod, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index = scan_idx, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_LE, \ + }, \ + .event_spec = &st_lsm6dsx_event, \ + .ext_info = st_lsm6dsx_accel_ext_info, \ + .num_event_specs = 1, \ +} + +#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \ +{ \ + .type = chan_type, \ + .address = addr, \ + .modified = 1, \ + .channel2 = mod, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .scan_index = scan_idx, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_LE, \ + }, \ +} + +struct st_lsm6dsx_reg { + u8 addr; + u8 mask; +}; + +struct st_lsm6dsx_sensor; +struct st_lsm6dsx_hw; + +struct st_lsm6dsx_odr { + u32 milli_hz; + u8 val; +}; + +#define ST_LSM6DSX_ODR_LIST_SIZE 8 +struct st_lsm6dsx_odr_table_entry { + struct st_lsm6dsx_reg reg; + + struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE]; + int odr_len; +}; + +struct st_lsm6dsx_fs { + u32 gain; + u8 val; +}; + +#define ST_LSM6DSX_FS_LIST_SIZE 4 +struct st_lsm6dsx_fs_table_entry { + struct st_lsm6dsx_reg reg; + + struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE]; + int fs_len; +}; + +/** + * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings + * @update_fifo: Update FIFO configuration callback. + * @read_fifo: Read FIFO callback. + * @fifo_th: FIFO threshold register info (addr + mask). + * @fifo_diff: FIFO diff status register info (addr + mask). + * @max_size: Sensor max fifo length in FIFO words. + * @th_wl: FIFO threshold word length. + */ +struct st_lsm6dsx_fifo_ops { + int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable); + int (*read_fifo)(struct st_lsm6dsx_hw *hw); + struct { + u8 addr; + u16 mask; + } fifo_th; + struct { + u8 addr; + u16 mask; + } fifo_diff; + u16 max_size; + u8 th_wl; +}; + +/** + * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings + * @timer_en: Hw timer enable register info (addr + mask). + * @hr_timer: Hw timer resolution register info (addr + mask). + * @fifo_en: Hw timer FIFO enable register info (addr + mask). + * @decimator: Hw timer FIFO decimator register info (addr + mask). + * @freq_fine: Difference in % of ODR with respect to the typical. + */ +struct st_lsm6dsx_hw_ts_settings { + struct st_lsm6dsx_reg timer_en; + struct st_lsm6dsx_reg hr_timer; + struct st_lsm6dsx_reg fifo_en; + struct st_lsm6dsx_reg decimator; + u8 freq_fine; +}; + +/** + * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings + * @page_mux: register page mux info (addr + mask). + * @master_en: master config register info (addr + mask). + * @pullup_en: i2c controller pull-up register info (addr + mask). + * @aux_sens: aux sensor register info (addr + mask). + * @wr_once: write_once register info (addr + mask). + * @emb_func: embedded function register info (addr + mask). + * @num_ext_dev: max number of slave devices. + * @shub_out: sensor hub first output register info. + * @slv0_addr: slave0 address in secondary page. + * @dw_slv0_addr: slave0 write register address in secondary page. + * @batch_en: Enable/disable FIFO batching. + * @pause: controller pause value. + */ +struct st_lsm6dsx_shub_settings { + struct st_lsm6dsx_reg page_mux; + struct { + bool sec_page; + u8 addr; + u8 mask; + } master_en; + struct { + bool sec_page; + u8 addr; + u8 mask; + } pullup_en; + struct st_lsm6dsx_reg aux_sens; + struct st_lsm6dsx_reg wr_once; + struct st_lsm6dsx_reg emb_func; + u8 num_ext_dev; + struct { + bool sec_page; + u8 addr; + } shub_out; + u8 slv0_addr; + u8 dw_slv0_addr; + u8 batch_en; + u8 pause; +}; + +struct st_lsm6dsx_event_settings { + struct st_lsm6dsx_reg enable_reg; + struct st_lsm6dsx_reg wakeup_reg; + u8 wakeup_src_reg; + u8 wakeup_src_status_mask; + u8 wakeup_src_z_mask; + u8 wakeup_src_y_mask; + u8 wakeup_src_x_mask; +}; + +enum st_lsm6dsx_ext_sensor_id { + ST_LSM6DSX_ID_MAGN, +}; + +/** + * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings + * @i2c_addr: I2c slave address list. + * @wai: Wai address info. + * @id: external sensor id. + * @odr_table: Output data rate of the sensor [Hz]. + * @fs_table: Configured sensor sensitivity table depending on full scale. + * @temp_comp: Temperature compensation register info (addr + mask). + * @pwr_table: Power on register info (addr + mask). + * @off_canc: Offset cancellation register info (addr + mask). + * @bdu: Block data update register info (addr + mask). + * @out: Output register info. + */ +struct st_lsm6dsx_ext_dev_settings { + u8 i2c_addr[2]; + struct { + u8 addr; + u8 val; + } wai; + enum st_lsm6dsx_ext_sensor_id id; + struct st_lsm6dsx_odr_table_entry odr_table; + struct st_lsm6dsx_fs_table_entry fs_table; + struct st_lsm6dsx_reg temp_comp; + struct { + struct st_lsm6dsx_reg reg; + u8 off_val; + u8 on_val; + } pwr_table; + struct st_lsm6dsx_reg off_canc; + struct st_lsm6dsx_reg bdu; + struct { + u8 addr; + u8 len; + } out; +}; + +/** + * struct st_lsm6dsx_settings - ST IMU sensor settings + * @reset: register address for reset. + * @boot: register address for boot. + * @bdu: register address for Block Data Update. + * @id: List of hw id/device name supported by the driver configuration. + * @channels: IIO channels supported by the device. + * @irq_config: interrupts related registers. + * @drdy_mask: register info for data-ready mask (addr + mask). + * @odr_table: Hw sensors odr table (Hz + val). + * @fs_table: Hw sensors gain table (gain + val). + * @decimator: List of decimator register info (addr + mask). + * @batch: List of FIFO batching register info (addr + mask). + * @fifo_ops: Sensor hw FIFO parameters. + * @ts_settings: Hw timer related settings. + * @shub_settings: i2c controller related settings. + */ +struct st_lsm6dsx_settings { + struct st_lsm6dsx_reg reset; + struct st_lsm6dsx_reg boot; + struct st_lsm6dsx_reg bdu; + struct { + enum st_lsm6dsx_hw_id hw_id; + const char *name; + u8 wai; + } id[ST_LSM6DSX_MAX_ID]; + struct { + const struct iio_chan_spec *chan; + int len; + } channels[2]; + struct { + struct st_lsm6dsx_reg irq1; + struct st_lsm6dsx_reg irq2; + struct st_lsm6dsx_reg irq1_func; + struct st_lsm6dsx_reg irq2_func; + struct st_lsm6dsx_reg lir; + struct st_lsm6dsx_reg clear_on_read; + struct st_lsm6dsx_reg hla; + struct st_lsm6dsx_reg od; + } irq_config; + struct st_lsm6dsx_reg drdy_mask; + struct st_lsm6dsx_odr_table_entry odr_table[2]; + struct st_lsm6dsx_fs_table_entry fs_table[2]; + struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID]; + struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID]; + struct st_lsm6dsx_fifo_ops fifo_ops; + struct st_lsm6dsx_hw_ts_settings ts_settings; + struct st_lsm6dsx_shub_settings shub_settings; + struct st_lsm6dsx_event_settings event_settings; +}; + +enum st_lsm6dsx_sensor_id { + ST_LSM6DSX_ID_GYRO, + ST_LSM6DSX_ID_ACC, + ST_LSM6DSX_ID_EXT0, + ST_LSM6DSX_ID_EXT1, + ST_LSM6DSX_ID_EXT2, + ST_LSM6DSX_ID_MAX, +}; + +enum st_lsm6dsx_fifo_mode { + ST_LSM6DSX_FIFO_BYPASS = 0x0, + ST_LSM6DSX_FIFO_CONT = 0x6, +}; + +/** + * struct st_lsm6dsx_sensor - ST IMU sensor instance + * @name: Sensor name. + * @id: Sensor identifier. + * @hw: Pointer to instance of struct st_lsm6dsx_hw. + * @gain: Configured sensor sensitivity. + * @odr: Output data rate of the sensor [Hz]. + * @watermark: Sensor watermark level. + * @decimator: Sensor decimation factor. + * @sip: Number of samples in a given pattern. + * @ts_ref: Sensor timestamp reference for hw one. + * @ext_info: Sensor settings if it is connected to i2c controller + */ +struct st_lsm6dsx_sensor { + char name[32]; + enum st_lsm6dsx_sensor_id id; + struct st_lsm6dsx_hw *hw; + + u32 gain; + u32 odr; + + u16 watermark; + u8 decimator; + u8 sip; + s64 ts_ref; + + struct { + const struct st_lsm6dsx_ext_dev_settings *settings; + u32 slv_odr; + u8 addr; + } ext_info; +}; + +/** + * struct st_lsm6dsx_hw - ST IMU MEMS hw instance + * @dev: Pointer to instance of struct device (I2C or SPI). + * @regmap: Register map of the device. + * @regulators: VDD/VDDIO voltage regulators. + * @irq: Device interrupt line (I2C or SPI). + * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO. + * @conf_lock: Mutex to prevent concurrent FIFO configuration update. + * @page_lock: Mutex to prevent concurrent memory page configuration. + * @suspend_mask: Suspended sensor bitmask. + * @enable_mask: Enabled sensor bitmask. + * @fifo_mask: Enabled hw FIFO bitmask. + * @ts_gain: Hw timestamp rate after internal calibration. + * @ts_sip: Total number of timestamp samples in a given pattern. + * @sip: Total number of samples (acc/gyro/ts) in a given pattern. + * @buff: Device read buffer. + * @irq_routing: pointer to interrupt routing configuration. + * @event_threshold: wakeup event threshold. + * @enable_event: enabled event bitmask. + * @iio_devs: Pointers to acc/gyro iio_dev instances. + * @settings: Pointer to the specific sensor settings in use. + * @orientation: sensor chip orientation relative to main hardware. + * @scan: Temporary buffers used to align data before iio_push_to_buffers() + */ +struct st_lsm6dsx_hw { + struct device *dev; + struct regmap *regmap; + struct regulator_bulk_data regulators[2]; + int irq; + + struct mutex fifo_lock; + struct mutex conf_lock; + struct mutex page_lock; + + u8 suspend_mask; + u8 enable_mask; + u8 fifo_mask; + s64 ts_gain; + u8 ts_sip; + u8 sip; + + const struct st_lsm6dsx_reg *irq_routing; + u8 event_threshold; + u8 enable_event; + + u8 *buff; + + struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX]; + + const struct st_lsm6dsx_settings *settings; + + struct iio_mount_matrix orientation; + /* Ensure natural alignment of buffer elements */ + struct { + __le16 channels[3]; + s64 ts __aligned(8); + } scan[3]; +}; + +static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = { + .type = IIO_EV_TYPE_THRESH, + .dir = IIO_EV_DIR_EITHER, + .mask_separate = BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_ENABLE) +}; + +static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = { + 0x7, 0x0, +}; + +extern const struct dev_pm_ops st_lsm6dsx_pm_ops; + +int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, + struct regmap *regmap); +int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, + bool enable); +int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw); +int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val); +int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, + u16 watermark); +int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable); +int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw); +int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw); +int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw); +int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw); +int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val); +int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name); +int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable); +int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable); + +static inline int +st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, + unsigned int mask, unsigned int val) +{ + int err; + + mutex_lock(&hw->page_lock); + err = regmap_update_bits(hw->regmap, addr, mask, val); + mutex_unlock(&hw->page_lock); + + return err; +} + +static inline int +st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, + void *val, unsigned int len) +{ + int err; + + mutex_lock(&hw->page_lock); + err = regmap_bulk_read(hw->regmap, addr, val, len); + mutex_unlock(&hw->page_lock); + + return err; +} + +static inline int +st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, + unsigned int val) +{ + int err; + + mutex_lock(&hw->page_lock); + err = regmap_write(hw->regmap, addr, val); + mutex_unlock(&hw->page_lock); + + return err; +} + +static inline const struct iio_mount_matrix * +st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev, + const struct iio_chan_spec *chan) +{ + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); + struct st_lsm6dsx_hw *hw = sensor->hw; + + return &hw->orientation; +} + +static const +struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix), + { } +}; + +#endif /* ST_LSM6DSX_H */ |