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290a6ce1 LB |
1 | /* |
2 | * STMicroelectronics st_lsm6dsx sensor driver | |
3 | * | |
4 | * The ST LSM6DSx IMU MEMS series consists of 3D digital accelerometer | |
5 | * and 3D digital gyroscope system-in-package with a digital I2C/SPI serial | |
6 | * interface standard output. | |
7 | * LSM6DSx IMU MEMS series has a dynamic user-selectable full-scale | |
8 | * acceleration range of +-2/+-4/+-8/+-16 g and an angular rate range of | |
9 | * +-125/+-245/+-500/+-1000/+-2000 dps | |
10 | * LSM6DSx series has an integrated First-In-First-Out (FIFO) buffer | |
11 | * allowing dynamic batching of sensor data. | |
12 | * | |
13 | * Supported sensors: | |
14 | * - LSM6DS3: | |
15 | * - Accelerometer/Gyroscope supported ODR [Hz]: 13, 26, 52, 104, 208, 416 | |
16 | * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 | |
17 | * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000 | |
18 | * - FIFO size: 8KB | |
19 | * | |
df47710a | 20 | * - LSM6DS3H/LSM6DSL/LSM6DSM: |
290a6ce1 LB |
21 | * - Accelerometer/Gyroscope supported ODR [Hz]: 13, 26, 52, 104, 208, 416 |
22 | * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 | |
23 | * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000 | |
24 | * - FIFO size: 4KB | |
25 | * | |
26 | * Copyright 2016 STMicroelectronics Inc. | |
27 | * | |
28 | * Lorenzo Bianconi <lorenzo.bianconi@st.com> | |
29 | * Denis Ciocca <denis.ciocca@st.com> | |
30 | * | |
31 | * Licensed under the GPL-2. | |
32 | */ | |
33 | ||
34 | #include <linux/kernel.h> | |
35 | #include <linux/module.h> | |
36 | #include <linux/delay.h> | |
37 | #include <linux/iio/iio.h> | |
38 | #include <linux/iio/sysfs.h> | |
d3f77058 | 39 | #include <linux/pm.h> |
290a6ce1 | 40 | |
dba32904 LB |
41 | #include <linux/platform_data/st_sensors_pdata.h> |
42 | ||
290a6ce1 LB |
43 | #include "st_lsm6dsx.h" |
44 | ||
290a6ce1 | 45 | #define ST_LSM6DSX_REG_INT1_ADDR 0x0d |
dba32904 | 46 | #define ST_LSM6DSX_REG_INT2_ADDR 0x0e |
290a6ce1 LB |
47 | #define ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK BIT(3) |
48 | #define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f | |
49 | #define ST_LSM6DSX_REG_RESET_ADDR 0x12 | |
50 | #define ST_LSM6DSX_REG_RESET_MASK BIT(0) | |
51 | #define ST_LSM6DSX_REG_BDU_ADDR 0x12 | |
52 | #define ST_LSM6DSX_REG_BDU_MASK BIT(6) | |
53 | #define ST_LSM6DSX_REG_INT2_ON_INT1_ADDR 0x13 | |
54 | #define ST_LSM6DSX_REG_INT2_ON_INT1_MASK BIT(5) | |
290a6ce1 LB |
55 | |
56 | #define ST_LSM6DSX_REG_ACC_ODR_ADDR 0x10 | |
57 | #define ST_LSM6DSX_REG_ACC_ODR_MASK GENMASK(7, 4) | |
58 | #define ST_LSM6DSX_REG_ACC_FS_ADDR 0x10 | |
59 | #define ST_LSM6DSX_REG_ACC_FS_MASK GENMASK(3, 2) | |
60 | #define ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR 0x28 | |
61 | #define ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR 0x2a | |
62 | #define ST_LSM6DSX_REG_ACC_OUT_Z_L_ADDR 0x2c | |
63 | ||
64 | #define ST_LSM6DSX_REG_GYRO_ODR_ADDR 0x11 | |
65 | #define ST_LSM6DSX_REG_GYRO_ODR_MASK GENMASK(7, 4) | |
66 | #define ST_LSM6DSX_REG_GYRO_FS_ADDR 0x11 | |
67 | #define ST_LSM6DSX_REG_GYRO_FS_MASK GENMASK(3, 2) | |
68 | #define ST_LSM6DSX_REG_GYRO_OUT_X_L_ADDR 0x22 | |
69 | #define ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR 0x24 | |
70 | #define ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR 0x26 | |
71 | ||
290a6ce1 LB |
72 | #define ST_LSM6DSX_ACC_FS_2G_GAIN IIO_G_TO_M_S_2(61) |
73 | #define ST_LSM6DSX_ACC_FS_4G_GAIN IIO_G_TO_M_S_2(122) | |
74 | #define ST_LSM6DSX_ACC_FS_8G_GAIN IIO_G_TO_M_S_2(244) | |
75 | #define ST_LSM6DSX_ACC_FS_16G_GAIN IIO_G_TO_M_S_2(488) | |
76 | ||
dfebd8d8 LB |
77 | #define ST_LSM6DSX_GYRO_FS_245_GAIN IIO_DEGREE_TO_RAD(8750) |
78 | #define ST_LSM6DSX_GYRO_FS_500_GAIN IIO_DEGREE_TO_RAD(17500) | |
79 | #define ST_LSM6DSX_GYRO_FS_1000_GAIN IIO_DEGREE_TO_RAD(35000) | |
290a6ce1 LB |
80 | #define ST_LSM6DSX_GYRO_FS_2000_GAIN IIO_DEGREE_TO_RAD(70000) |
81 | ||
82 | struct st_lsm6dsx_odr { | |
83 | u16 hz; | |
84 | u8 val; | |
85 | }; | |
86 | ||
87 | #define ST_LSM6DSX_ODR_LIST_SIZE 6 | |
88 | struct st_lsm6dsx_odr_table_entry { | |
89 | struct st_lsm6dsx_reg reg; | |
90 | struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE]; | |
91 | }; | |
92 | ||
93 | static const struct st_lsm6dsx_odr_table_entry st_lsm6dsx_odr_table[] = { | |
94 | [ST_LSM6DSX_ID_ACC] = { | |
95 | .reg = { | |
96 | .addr = ST_LSM6DSX_REG_ACC_ODR_ADDR, | |
97 | .mask = ST_LSM6DSX_REG_ACC_ODR_MASK, | |
98 | }, | |
99 | .odr_avl[0] = { 13, 0x01 }, | |
100 | .odr_avl[1] = { 26, 0x02 }, | |
101 | .odr_avl[2] = { 52, 0x03 }, | |
102 | .odr_avl[3] = { 104, 0x04 }, | |
103 | .odr_avl[4] = { 208, 0x05 }, | |
104 | .odr_avl[5] = { 416, 0x06 }, | |
105 | }, | |
106 | [ST_LSM6DSX_ID_GYRO] = { | |
107 | .reg = { | |
108 | .addr = ST_LSM6DSX_REG_GYRO_ODR_ADDR, | |
109 | .mask = ST_LSM6DSX_REG_GYRO_ODR_MASK, | |
110 | }, | |
111 | .odr_avl[0] = { 13, 0x01 }, | |
112 | .odr_avl[1] = { 26, 0x02 }, | |
113 | .odr_avl[2] = { 52, 0x03 }, | |
114 | .odr_avl[3] = { 104, 0x04 }, | |
115 | .odr_avl[4] = { 208, 0x05 }, | |
116 | .odr_avl[5] = { 416, 0x06 }, | |
117 | } | |
118 | }; | |
119 | ||
120 | struct st_lsm6dsx_fs { | |
121 | u32 gain; | |
122 | u8 val; | |
123 | }; | |
124 | ||
125 | #define ST_LSM6DSX_FS_LIST_SIZE 4 | |
126 | struct st_lsm6dsx_fs_table_entry { | |
127 | struct st_lsm6dsx_reg reg; | |
128 | struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE]; | |
129 | }; | |
130 | ||
131 | static const struct st_lsm6dsx_fs_table_entry st_lsm6dsx_fs_table[] = { | |
132 | [ST_LSM6DSX_ID_ACC] = { | |
133 | .reg = { | |
134 | .addr = ST_LSM6DSX_REG_ACC_FS_ADDR, | |
135 | .mask = ST_LSM6DSX_REG_ACC_FS_MASK, | |
136 | }, | |
137 | .fs_avl[0] = { ST_LSM6DSX_ACC_FS_2G_GAIN, 0x0 }, | |
138 | .fs_avl[1] = { ST_LSM6DSX_ACC_FS_4G_GAIN, 0x2 }, | |
139 | .fs_avl[2] = { ST_LSM6DSX_ACC_FS_8G_GAIN, 0x3 }, | |
140 | .fs_avl[3] = { ST_LSM6DSX_ACC_FS_16G_GAIN, 0x1 }, | |
141 | }, | |
142 | [ST_LSM6DSX_ID_GYRO] = { | |
143 | .reg = { | |
144 | .addr = ST_LSM6DSX_REG_GYRO_FS_ADDR, | |
145 | .mask = ST_LSM6DSX_REG_GYRO_FS_MASK, | |
146 | }, | |
147 | .fs_avl[0] = { ST_LSM6DSX_GYRO_FS_245_GAIN, 0x0 }, | |
148 | .fs_avl[1] = { ST_LSM6DSX_GYRO_FS_500_GAIN, 0x1 }, | |
149 | .fs_avl[2] = { ST_LSM6DSX_GYRO_FS_1000_GAIN, 0x2 }, | |
150 | .fs_avl[3] = { ST_LSM6DSX_GYRO_FS_2000_GAIN, 0x3 }, | |
151 | } | |
152 | }; | |
153 | ||
154 | static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { | |
155 | { | |
d068e4a0 | 156 | .wai = 0x69, |
8f2a88a2 | 157 | .max_fifo_size = 1365, |
d068e4a0 LB |
158 | .id = { |
159 | [0] = ST_LSM6DS3_ID, | |
160 | }, | |
7ca3ac9e LB |
161 | .decimator = { |
162 | [ST_LSM6DSX_ID_ACC] = { | |
163 | .addr = 0x08, | |
164 | .mask = GENMASK(2, 0), | |
165 | }, | |
166 | [ST_LSM6DSX_ID_GYRO] = { | |
167 | .addr = 0x08, | |
168 | .mask = GENMASK(5, 3), | |
169 | }, | |
170 | }, | |
290a6ce1 | 171 | }, |
df47710a LB |
172 | { |
173 | .wai = 0x69, | |
8f2a88a2 | 174 | .max_fifo_size = 682, |
df47710a LB |
175 | .id = { |
176 | [0] = ST_LSM6DS3H_ID, | |
177 | }, | |
7ca3ac9e LB |
178 | .decimator = { |
179 | [ST_LSM6DSX_ID_ACC] = { | |
180 | .addr = 0x08, | |
181 | .mask = GENMASK(2, 0), | |
182 | }, | |
183 | [ST_LSM6DSX_ID_GYRO] = { | |
184 | .addr = 0x08, | |
185 | .mask = GENMASK(5, 3), | |
186 | }, | |
187 | }, | |
df47710a | 188 | }, |
290a6ce1 | 189 | { |
d068e4a0 | 190 | .wai = 0x6a, |
8f2a88a2 | 191 | .max_fifo_size = 682, |
d068e4a0 | 192 | .id = { |
0b2a3e5f LB |
193 | [0] = ST_LSM6DSL_ID, |
194 | [1] = ST_LSM6DSM_ID, | |
d068e4a0 | 195 | }, |
7ca3ac9e LB |
196 | .decimator = { |
197 | [ST_LSM6DSX_ID_ACC] = { | |
198 | .addr = 0x08, | |
199 | .mask = GENMASK(2, 0), | |
200 | }, | |
201 | [ST_LSM6DSX_ID_GYRO] = { | |
202 | .addr = 0x08, | |
203 | .mask = GENMASK(5, 3), | |
204 | }, | |
205 | }, | |
290a6ce1 LB |
206 | }, |
207 | }; | |
208 | ||
209 | #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \ | |
210 | { \ | |
211 | .type = chan_type, \ | |
212 | .address = addr, \ | |
213 | .modified = 1, \ | |
214 | .channel2 = mod, \ | |
215 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ | |
216 | BIT(IIO_CHAN_INFO_SCALE), \ | |
217 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ | |
218 | .scan_index = scan_idx, \ | |
219 | .scan_type = { \ | |
220 | .sign = 's', \ | |
221 | .realbits = 16, \ | |
222 | .storagebits = 16, \ | |
223 | .endianness = IIO_LE, \ | |
224 | }, \ | |
225 | } | |
226 | ||
227 | static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = { | |
228 | ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR, | |
229 | IIO_MOD_X, 0), | |
230 | ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR, | |
231 | IIO_MOD_Y, 1), | |
232 | ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Z_L_ADDR, | |
233 | IIO_MOD_Z, 2), | |
234 | IIO_CHAN_SOFT_TIMESTAMP(3), | |
235 | }; | |
236 | ||
237 | static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = { | |
238 | ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_X_L_ADDR, | |
239 | IIO_MOD_X, 0), | |
240 | ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR, | |
241 | IIO_MOD_Y, 1), | |
242 | ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR, | |
243 | IIO_MOD_Z, 2), | |
244 | IIO_CHAN_SOFT_TIMESTAMP(3), | |
245 | }; | |
246 | ||
247 | int st_lsm6dsx_write_with_mask(struct st_lsm6dsx_hw *hw, u8 addr, u8 mask, | |
248 | u8 val) | |
249 | { | |
250 | u8 data; | |
251 | int err; | |
252 | ||
253 | mutex_lock(&hw->lock); | |
254 | ||
255 | err = hw->tf->read(hw->dev, addr, sizeof(data), &data); | |
256 | if (err < 0) { | |
257 | dev_err(hw->dev, "failed to read %02x register\n", addr); | |
258 | goto out; | |
259 | } | |
260 | ||
261 | data = (data & ~mask) | ((val << __ffs(mask)) & mask); | |
262 | ||
263 | err = hw->tf->write(hw->dev, addr, sizeof(data), &data); | |
264 | if (err < 0) | |
265 | dev_err(hw->dev, "failed to write %02x register\n", addr); | |
266 | ||
267 | out: | |
268 | mutex_unlock(&hw->lock); | |
269 | ||
270 | return err; | |
271 | } | |
272 | ||
273 | static int st_lsm6dsx_check_whoami(struct st_lsm6dsx_hw *hw, int id) | |
274 | { | |
d068e4a0 | 275 | int err, i, j; |
290a6ce1 LB |
276 | u8 data; |
277 | ||
278 | for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_sensor_settings); i++) { | |
d068e4a0 LB |
279 | for (j = 0; j < ST_LSM6DSX_MAX_ID; j++) { |
280 | if (id == st_lsm6dsx_sensor_settings[i].id[j]) | |
281 | break; | |
282 | } | |
283 | if (j < ST_LSM6DSX_MAX_ID) | |
290a6ce1 LB |
284 | break; |
285 | } | |
286 | ||
287 | if (i == ARRAY_SIZE(st_lsm6dsx_sensor_settings)) { | |
288 | dev_err(hw->dev, "unsupported hw id [%02x]\n", id); | |
289 | return -ENODEV; | |
290 | } | |
291 | ||
292 | err = hw->tf->read(hw->dev, ST_LSM6DSX_REG_WHOAMI_ADDR, sizeof(data), | |
293 | &data); | |
294 | if (err < 0) { | |
295 | dev_err(hw->dev, "failed to read whoami register\n"); | |
296 | return err; | |
297 | } | |
298 | ||
299 | if (data != st_lsm6dsx_sensor_settings[i].wai) { | |
300 | dev_err(hw->dev, "unsupported whoami [%02x]\n", data); | |
301 | return -ENODEV; | |
302 | } | |
303 | ||
304 | hw->settings = &st_lsm6dsx_sensor_settings[i]; | |
305 | ||
306 | return 0; | |
307 | } | |
308 | ||
309 | static int st_lsm6dsx_set_full_scale(struct st_lsm6dsx_sensor *sensor, | |
310 | u32 gain) | |
311 | { | |
312 | enum st_lsm6dsx_sensor_id id = sensor->id; | |
313 | int i, err; | |
314 | u8 val; | |
315 | ||
316 | for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) | |
317 | if (st_lsm6dsx_fs_table[id].fs_avl[i].gain == gain) | |
318 | break; | |
319 | ||
320 | if (i == ST_LSM6DSX_FS_LIST_SIZE) | |
321 | return -EINVAL; | |
322 | ||
323 | val = st_lsm6dsx_fs_table[id].fs_avl[i].val; | |
324 | err = st_lsm6dsx_write_with_mask(sensor->hw, | |
325 | st_lsm6dsx_fs_table[id].reg.addr, | |
326 | st_lsm6dsx_fs_table[id].reg.mask, | |
327 | val); | |
328 | if (err < 0) | |
329 | return err; | |
330 | ||
331 | sensor->gain = gain; | |
332 | ||
333 | return 0; | |
334 | } | |
335 | ||
2ccc1503 LB |
336 | static int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, |
337 | u8 *val) | |
290a6ce1 | 338 | { |
2ccc1503 | 339 | int i; |
290a6ce1 LB |
340 | |
341 | for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) | |
2ccc1503 | 342 | if (st_lsm6dsx_odr_table[sensor->id].odr_avl[i].hz == odr) |
290a6ce1 LB |
343 | break; |
344 | ||
345 | if (i == ST_LSM6DSX_ODR_LIST_SIZE) | |
346 | return -EINVAL; | |
347 | ||
2ccc1503 | 348 | *val = st_lsm6dsx_odr_table[sensor->id].odr_avl[i].val; |
290a6ce1 LB |
349 | |
350 | return 0; | |
351 | } | |
352 | ||
2ccc1503 LB |
353 | static int st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u16 odr) |
354 | { | |
355 | enum st_lsm6dsx_sensor_id id = sensor->id; | |
356 | int err; | |
357 | u8 val; | |
358 | ||
359 | err = st_lsm6dsx_check_odr(sensor, odr, &val); | |
360 | if (err < 0) | |
361 | return err; | |
362 | ||
363 | return st_lsm6dsx_write_with_mask(sensor->hw, | |
364 | st_lsm6dsx_odr_table[id].reg.addr, | |
365 | st_lsm6dsx_odr_table[id].reg.mask, | |
366 | val); | |
367 | } | |
368 | ||
290a6ce1 LB |
369 | int st_lsm6dsx_sensor_enable(struct st_lsm6dsx_sensor *sensor) |
370 | { | |
371 | int err; | |
372 | ||
373 | err = st_lsm6dsx_set_odr(sensor, sensor->odr); | |
374 | if (err < 0) | |
375 | return err; | |
376 | ||
377 | sensor->hw->enable_mask |= BIT(sensor->id); | |
378 | ||
379 | return 0; | |
380 | } | |
381 | ||
382 | int st_lsm6dsx_sensor_disable(struct st_lsm6dsx_sensor *sensor) | |
383 | { | |
384 | enum st_lsm6dsx_sensor_id id = sensor->id; | |
385 | int err; | |
386 | ||
387 | err = st_lsm6dsx_write_with_mask(sensor->hw, | |
388 | st_lsm6dsx_odr_table[id].reg.addr, | |
389 | st_lsm6dsx_odr_table[id].reg.mask, 0); | |
390 | if (err < 0) | |
391 | return err; | |
392 | ||
393 | sensor->hw->enable_mask &= ~BIT(id); | |
394 | ||
395 | return 0; | |
396 | } | |
397 | ||
398 | static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor, | |
399 | u8 addr, int *val) | |
400 | { | |
401 | int err, delay; | |
402 | __le16 data; | |
403 | ||
404 | err = st_lsm6dsx_sensor_enable(sensor); | |
405 | if (err < 0) | |
406 | return err; | |
407 | ||
408 | delay = 1000000 / sensor->odr; | |
409 | usleep_range(delay, 2 * delay); | |
410 | ||
411 | err = sensor->hw->tf->read(sensor->hw->dev, addr, sizeof(data), | |
412 | (u8 *)&data); | |
413 | if (err < 0) | |
414 | return err; | |
415 | ||
416 | st_lsm6dsx_sensor_disable(sensor); | |
417 | ||
418 | *val = (s16)data; | |
419 | ||
420 | return IIO_VAL_INT; | |
421 | } | |
422 | ||
423 | static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev, | |
424 | struct iio_chan_spec const *ch, | |
425 | int *val, int *val2, long mask) | |
426 | { | |
427 | struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); | |
428 | int ret; | |
429 | ||
430 | switch (mask) { | |
431 | case IIO_CHAN_INFO_RAW: | |
432 | ret = iio_device_claim_direct_mode(iio_dev); | |
433 | if (ret) | |
434 | break; | |
435 | ||
436 | ret = st_lsm6dsx_read_oneshot(sensor, ch->address, val); | |
437 | iio_device_release_direct_mode(iio_dev); | |
438 | break; | |
439 | case IIO_CHAN_INFO_SAMP_FREQ: | |
440 | *val = sensor->odr; | |
441 | ret = IIO_VAL_INT; | |
442 | break; | |
443 | case IIO_CHAN_INFO_SCALE: | |
444 | *val = 0; | |
445 | *val2 = sensor->gain; | |
446 | ret = IIO_VAL_INT_PLUS_MICRO; | |
447 | break; | |
448 | default: | |
449 | ret = -EINVAL; | |
450 | break; | |
451 | } | |
452 | ||
453 | return ret; | |
454 | } | |
455 | ||
456 | static int st_lsm6dsx_write_raw(struct iio_dev *iio_dev, | |
457 | struct iio_chan_spec const *chan, | |
458 | int val, int val2, long mask) | |
459 | { | |
460 | struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); | |
461 | int err; | |
462 | ||
463 | err = iio_device_claim_direct_mode(iio_dev); | |
464 | if (err) | |
465 | return err; | |
466 | ||
467 | switch (mask) { | |
468 | case IIO_CHAN_INFO_SCALE: | |
469 | err = st_lsm6dsx_set_full_scale(sensor, val2); | |
470 | break; | |
2ccc1503 LB |
471 | case IIO_CHAN_INFO_SAMP_FREQ: { |
472 | u8 data; | |
473 | ||
474 | err = st_lsm6dsx_check_odr(sensor, val, &data); | |
5e3c3e33 LB |
475 | if (!err) |
476 | sensor->odr = val; | |
290a6ce1 | 477 | break; |
2ccc1503 | 478 | } |
290a6ce1 LB |
479 | default: |
480 | err = -EINVAL; | |
481 | break; | |
482 | } | |
483 | ||
484 | iio_device_release_direct_mode(iio_dev); | |
485 | ||
486 | return err; | |
487 | } | |
488 | ||
489 | static int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val) | |
490 | { | |
491 | struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); | |
492 | struct st_lsm6dsx_hw *hw = sensor->hw; | |
8f2a88a2 | 493 | int err; |
290a6ce1 | 494 | |
8f2a88a2 | 495 | if (val < 1 || val > hw->settings->max_fifo_size) |
290a6ce1 LB |
496 | return -EINVAL; |
497 | ||
498 | err = st_lsm6dsx_update_watermark(sensor, val); | |
499 | if (err < 0) | |
500 | return err; | |
501 | ||
502 | sensor->watermark = val; | |
503 | ||
504 | return 0; | |
505 | } | |
506 | ||
507 | static ssize_t | |
508 | st_lsm6dsx_sysfs_sampling_frequency_avail(struct device *dev, | |
509 | struct device_attribute *attr, | |
510 | char *buf) | |
511 | { | |
512 | struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); | |
513 | enum st_lsm6dsx_sensor_id id = sensor->id; | |
514 | int i, len = 0; | |
515 | ||
516 | for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) | |
517 | len += scnprintf(buf + len, PAGE_SIZE - len, "%d ", | |
518 | st_lsm6dsx_odr_table[id].odr_avl[i].hz); | |
519 | buf[len - 1] = '\n'; | |
520 | ||
521 | return len; | |
522 | } | |
523 | ||
524 | static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev, | |
525 | struct device_attribute *attr, | |
526 | char *buf) | |
527 | { | |
528 | struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); | |
529 | enum st_lsm6dsx_sensor_id id = sensor->id; | |
530 | int i, len = 0; | |
531 | ||
532 | for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) | |
533 | len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ", | |
534 | st_lsm6dsx_fs_table[id].fs_avl[i].gain); | |
535 | buf[len - 1] = '\n'; | |
536 | ||
537 | return len; | |
538 | } | |
539 | ||
540 | static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_sysfs_sampling_frequency_avail); | |
541 | static IIO_DEVICE_ATTR(in_accel_scale_available, 0444, | |
542 | st_lsm6dsx_sysfs_scale_avail, NULL, 0); | |
543 | static IIO_DEVICE_ATTR(in_anglvel_scale_available, 0444, | |
544 | st_lsm6dsx_sysfs_scale_avail, NULL, 0); | |
545 | ||
546 | static struct attribute *st_lsm6dsx_acc_attributes[] = { | |
547 | &iio_dev_attr_sampling_frequency_available.dev_attr.attr, | |
548 | &iio_dev_attr_in_accel_scale_available.dev_attr.attr, | |
549 | NULL, | |
550 | }; | |
551 | ||
552 | static const struct attribute_group st_lsm6dsx_acc_attribute_group = { | |
553 | .attrs = st_lsm6dsx_acc_attributes, | |
554 | }; | |
555 | ||
556 | static const struct iio_info st_lsm6dsx_acc_info = { | |
290a6ce1 LB |
557 | .attrs = &st_lsm6dsx_acc_attribute_group, |
558 | .read_raw = st_lsm6dsx_read_raw, | |
559 | .write_raw = st_lsm6dsx_write_raw, | |
560 | .hwfifo_set_watermark = st_lsm6dsx_set_watermark, | |
561 | }; | |
562 | ||
563 | static struct attribute *st_lsm6dsx_gyro_attributes[] = { | |
564 | &iio_dev_attr_sampling_frequency_available.dev_attr.attr, | |
565 | &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, | |
566 | NULL, | |
567 | }; | |
568 | ||
569 | static const struct attribute_group st_lsm6dsx_gyro_attribute_group = { | |
570 | .attrs = st_lsm6dsx_gyro_attributes, | |
571 | }; | |
572 | ||
573 | static const struct iio_info st_lsm6dsx_gyro_info = { | |
290a6ce1 LB |
574 | .attrs = &st_lsm6dsx_gyro_attribute_group, |
575 | .read_raw = st_lsm6dsx_read_raw, | |
576 | .write_raw = st_lsm6dsx_write_raw, | |
577 | .hwfifo_set_watermark = st_lsm6dsx_set_watermark, | |
578 | }; | |
579 | ||
580 | static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0}; | |
581 | ||
dba32904 LB |
582 | static int st_lsm6dsx_of_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin) |
583 | { | |
584 | struct device_node *np = hw->dev->of_node; | |
dba32904 LB |
585 | |
586 | if (!np) | |
587 | return -EINVAL; | |
588 | ||
bf235277 | 589 | return of_property_read_u32(np, "st,drdy-int-pin", drdy_pin); |
dba32904 LB |
590 | } |
591 | ||
592 | static int st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, u8 *drdy_reg) | |
593 | { | |
594 | int err = 0, drdy_pin; | |
595 | ||
596 | if (st_lsm6dsx_of_get_drdy_pin(hw, &drdy_pin) < 0) { | |
597 | struct st_sensors_platform_data *pdata; | |
598 | struct device *dev = hw->dev; | |
599 | ||
600 | pdata = (struct st_sensors_platform_data *)dev->platform_data; | |
601 | drdy_pin = pdata ? pdata->drdy_int_pin : 1; | |
602 | } | |
603 | ||
604 | switch (drdy_pin) { | |
605 | case 1: | |
606 | *drdy_reg = ST_LSM6DSX_REG_INT1_ADDR; | |
607 | break; | |
608 | case 2: | |
609 | *drdy_reg = ST_LSM6DSX_REG_INT2_ADDR; | |
610 | break; | |
611 | default: | |
612 | dev_err(hw->dev, "unsupported data ready pin\n"); | |
613 | err = -EINVAL; | |
614 | break; | |
615 | } | |
616 | ||
617 | return err; | |
618 | } | |
619 | ||
290a6ce1 LB |
620 | static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw) |
621 | { | |
dba32904 | 622 | u8 data, drdy_int_reg; |
290a6ce1 | 623 | int err; |
290a6ce1 LB |
624 | |
625 | data = ST_LSM6DSX_REG_RESET_MASK; | |
626 | err = hw->tf->write(hw->dev, ST_LSM6DSX_REG_RESET_ADDR, sizeof(data), | |
627 | &data); | |
628 | if (err < 0) | |
629 | return err; | |
630 | ||
631 | msleep(200); | |
632 | ||
290a6ce1 LB |
633 | /* enable Block Data Update */ |
634 | err = st_lsm6dsx_write_with_mask(hw, ST_LSM6DSX_REG_BDU_ADDR, | |
635 | ST_LSM6DSX_REG_BDU_MASK, 1); | |
636 | if (err < 0) | |
637 | return err; | |
638 | ||
290a6ce1 | 639 | /* enable FIFO watermak interrupt */ |
dba32904 | 640 | err = st_lsm6dsx_get_drdy_reg(hw, &drdy_int_reg); |
290a6ce1 LB |
641 | if (err < 0) |
642 | return err; | |
643 | ||
dba32904 LB |
644 | return st_lsm6dsx_write_with_mask(hw, drdy_int_reg, |
645 | ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK, 1); | |
290a6ce1 LB |
646 | } |
647 | ||
648 | static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw, | |
510c0106 LB |
649 | enum st_lsm6dsx_sensor_id id, |
650 | const char *name) | |
290a6ce1 LB |
651 | { |
652 | struct st_lsm6dsx_sensor *sensor; | |
653 | struct iio_dev *iio_dev; | |
654 | ||
655 | iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor)); | |
656 | if (!iio_dev) | |
657 | return NULL; | |
658 | ||
659 | iio_dev->modes = INDIO_DIRECT_MODE; | |
660 | iio_dev->dev.parent = hw->dev; | |
661 | iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks; | |
662 | ||
663 | sensor = iio_priv(iio_dev); | |
664 | sensor->id = id; | |
665 | sensor->hw = hw; | |
666 | sensor->odr = st_lsm6dsx_odr_table[id].odr_avl[0].hz; | |
667 | sensor->gain = st_lsm6dsx_fs_table[id].fs_avl[0].gain; | |
668 | sensor->watermark = 1; | |
669 | ||
670 | switch (id) { | |
671 | case ST_LSM6DSX_ID_ACC: | |
672 | iio_dev->channels = st_lsm6dsx_acc_channels; | |
673 | iio_dev->num_channels = ARRAY_SIZE(st_lsm6dsx_acc_channels); | |
290a6ce1 LB |
674 | iio_dev->info = &st_lsm6dsx_acc_info; |
675 | ||
510c0106 LB |
676 | scnprintf(sensor->name, sizeof(sensor->name), "%s_accel", |
677 | name); | |
290a6ce1 LB |
678 | break; |
679 | case ST_LSM6DSX_ID_GYRO: | |
680 | iio_dev->channels = st_lsm6dsx_gyro_channels; | |
681 | iio_dev->num_channels = ARRAY_SIZE(st_lsm6dsx_gyro_channels); | |
290a6ce1 LB |
682 | iio_dev->info = &st_lsm6dsx_gyro_info; |
683 | ||
510c0106 LB |
684 | scnprintf(sensor->name, sizeof(sensor->name), "%s_gyro", |
685 | name); | |
290a6ce1 LB |
686 | break; |
687 | default: | |
688 | return NULL; | |
689 | } | |
510c0106 | 690 | iio_dev->name = sensor->name; |
290a6ce1 LB |
691 | |
692 | return iio_dev; | |
693 | } | |
694 | ||
510c0106 | 695 | int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, const char *name, |
290a6ce1 LB |
696 | const struct st_lsm6dsx_transfer_function *tf_ops) |
697 | { | |
698 | struct st_lsm6dsx_hw *hw; | |
699 | int i, err; | |
700 | ||
701 | hw = devm_kzalloc(dev, sizeof(*hw), GFP_KERNEL); | |
702 | if (!hw) | |
703 | return -ENOMEM; | |
704 | ||
705 | dev_set_drvdata(dev, (void *)hw); | |
706 | ||
707 | mutex_init(&hw->lock); | |
708 | mutex_init(&hw->fifo_lock); | |
709 | ||
710 | hw->dev = dev; | |
711 | hw->irq = irq; | |
712 | hw->tf = tf_ops; | |
713 | ||
714 | err = st_lsm6dsx_check_whoami(hw, hw_id); | |
715 | if (err < 0) | |
716 | return err; | |
717 | ||
718 | for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { | |
510c0106 | 719 | hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name); |
290a6ce1 LB |
720 | if (!hw->iio_devs[i]) |
721 | return -ENOMEM; | |
722 | } | |
723 | ||
724 | err = st_lsm6dsx_init_device(hw); | |
725 | if (err < 0) | |
726 | return err; | |
727 | ||
728 | if (hw->irq > 0) { | |
729 | err = st_lsm6dsx_fifo_setup(hw); | |
730 | if (err < 0) | |
731 | return err; | |
732 | } | |
733 | ||
734 | for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { | |
735 | err = devm_iio_device_register(hw->dev, hw->iio_devs[i]); | |
736 | if (err) | |
737 | return err; | |
738 | } | |
739 | ||
740 | return 0; | |
741 | } | |
742 | EXPORT_SYMBOL(st_lsm6dsx_probe); | |
743 | ||
3cec4850 | 744 | static int __maybe_unused st_lsm6dsx_suspend(struct device *dev) |
d3f77058 LB |
745 | { |
746 | struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev); | |
747 | struct st_lsm6dsx_sensor *sensor; | |
748 | int i, err = 0; | |
749 | ||
750 | for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { | |
751 | sensor = iio_priv(hw->iio_devs[i]); | |
752 | if (!(hw->enable_mask & BIT(sensor->id))) | |
753 | continue; | |
754 | ||
755 | err = st_lsm6dsx_write_with_mask(hw, | |
756 | st_lsm6dsx_odr_table[sensor->id].reg.addr, | |
757 | st_lsm6dsx_odr_table[sensor->id].reg.mask, 0); | |
758 | if (err < 0) | |
759 | return err; | |
760 | } | |
761 | ||
762 | if (hw->fifo_mode != ST_LSM6DSX_FIFO_BYPASS) | |
763 | err = st_lsm6dsx_flush_fifo(hw); | |
764 | ||
765 | return err; | |
766 | } | |
767 | ||
3cec4850 | 768 | static int __maybe_unused st_lsm6dsx_resume(struct device *dev) |
d3f77058 LB |
769 | { |
770 | struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev); | |
771 | struct st_lsm6dsx_sensor *sensor; | |
772 | int i, err = 0; | |
773 | ||
774 | for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { | |
775 | sensor = iio_priv(hw->iio_devs[i]); | |
776 | if (!(hw->enable_mask & BIT(sensor->id))) | |
777 | continue; | |
778 | ||
779 | err = st_lsm6dsx_set_odr(sensor, sensor->odr); | |
780 | if (err < 0) | |
781 | return err; | |
782 | } | |
783 | ||
784 | if (hw->enable_mask) | |
785 | err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT); | |
786 | ||
787 | return err; | |
788 | } | |
d3f77058 LB |
789 | |
790 | const struct dev_pm_ops st_lsm6dsx_pm_ops = { | |
791 | SET_SYSTEM_SLEEP_PM_OPS(st_lsm6dsx_suspend, st_lsm6dsx_resume) | |
792 | }; | |
793 | EXPORT_SYMBOL(st_lsm6dsx_pm_ops); | |
794 | ||
290a6ce1 LB |
795 | MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@st.com>"); |
796 | MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); | |
797 | MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx driver"); | |
798 | MODULE_LICENSE("GPL v2"); |