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
  17 #define ST_LSM6DS3_DEV_NAME     "lsm6ds3"
  18 #define ST_LSM6DS3H_DEV_NAME    "lsm6ds3h"
  19 #define ST_LSM6DSL_DEV_NAME     "lsm6dsl"
  20 #define ST_LSM6DSM_DEV_NAME     "lsm6dsm"
  21 #define ST_ISM330DLC_DEV_NAME   "ism330dlc"
  22 #define ST_LSM6DSO_DEV_NAME     "lsm6dso"
  23 #define ST_ASM330LHH_DEV_NAME   "asm330lhh"
  24 #define ST_LSM6DSOX_DEV_NAME    "lsm6dsox"
  25 #define ST_LSM6DSR_DEV_NAME     "lsm6dsr"
  26 #define ST_LSM6DS3TRC_DEV_NAME  "lsm6ds3tr-c"
  27 #define ST_ISM330DHCX_DEV_NAME  "ism330dhcx"
  28 #define ST_LSM9DS1_DEV_NAME     "lsm9ds1-imu"
  29 #define ST_LSM6DS0_DEV_NAME     "lsm6ds0"
  30 #define ST_LSM6DSRX_DEV_NAME    "lsm6dsrx"
  31
  32 enum st_lsm6dsx_hw_id {
  33         ST_LSM6DS3_ID,
  34         ST_LSM6DS3H_ID,
  35         ST_LSM6DSL_ID,
  36         ST_LSM6DSM_ID,
  37         ST_ISM330DLC_ID,
  38         ST_LSM6DSO_ID,
  39         ST_ASM330LHH_ID,
  40         ST_LSM6DSOX_ID,
  41         ST_LSM6DSR_ID,
  42         ST_LSM6DS3TRC_ID,
  43         ST_ISM330DHCX_ID,
  44         ST_LSM9DS1_ID,
  45         ST_LSM6DS0_ID,
  46         ST_LSM6DSRX_ID,
  47         ST_LSM6DSX_MAX_ID,
  48 };
  49
  50 #define ST_LSM6DSX_BUFF_SIZE            512
  51 #define ST_LSM6DSX_CHAN_SIZE            2
  52 #define ST_LSM6DSX_SAMPLE_SIZE          6
  53 #define ST_LSM6DSX_TAG_SIZE             1
  54 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE   (ST_LSM6DSX_SAMPLE_SIZE + \
  55                                          ST_LSM6DSX_TAG_SIZE)
  56 #define ST_LSM6DSX_MAX_WORD_LEN         ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
  57                                          ST_LSM6DSX_SAMPLE_SIZE)
  58 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN  ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
  59                                          * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
  60 #define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
  61
  62 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx)          \
  63 {                                                                       \
  64         .type = chan_type,                                              \
  65         .address = addr,                                                \
  66         .modified = 1,                                                  \
  67         .channel2 = mod,                                                \
  68         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),                   \
  69         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),           \
  70         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),        \
  71         .scan_index = scan_idx,                                         \
  72         .scan_type = {                                                  \
  73                 .sign = 's',                                            \
  74                 .realbits = 16,                                         \
  75                 .storagebits = 16,                                      \
  76                 .endianness = IIO_LE,                                   \
  77         },                                                              \
  78         .event_spec = &st_lsm6dsx_event,                                \
  79         .num_event_specs = 1,                                           \
  80 }
  81
  82 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx)              \
  83 {                                                                       \
  84         .type = chan_type,                                              \
  85         .address = addr,                                                \
  86         .modified = 1,                                                  \
  87         .channel2 = mod,                                                \
  88         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),                   \
  89         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),           \
  90         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),        \
  91         .scan_index = scan_idx,                                         \
  92         .scan_type = {                                                  \
  93                 .sign = 's',                                            \
  94                 .realbits = 16,                                         \
  95                 .storagebits = 16,                                      \
  96                 .endianness = IIO_LE,                                   \
  97         },                                                              \
  98 }
  99
 100 struct st_lsm6dsx_reg {
 101         u8 addr;
 102         u8 mask;
 103 };
 104
 105 struct st_lsm6dsx_sensor;
 106 struct st_lsm6dsx_hw;
 107
 108 struct st_lsm6dsx_odr {
 109         u32 milli_hz;
 110         u8 val;
 111 };
 112
 113 #define ST_LSM6DSX_ODR_LIST_SIZE        6
 114 struct st_lsm6dsx_odr_table_entry {
 115         struct st_lsm6dsx_reg reg;
 116
 117         struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
 118         int odr_len;
 119 };
 120
 121 struct st_lsm6dsx_fs {
 122         u32 gain;
 123         u8 val;
 124 };
 125
 126 #define ST_LSM6DSX_FS_LIST_SIZE         4
 127 struct st_lsm6dsx_fs_table_entry {
 128         struct st_lsm6dsx_reg reg;
 129
 130         struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
 131         int fs_len;
 132 };
 133
 134 /**
 135  * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
 136  * @update_fifo: Update FIFO configuration callback.
 137  * @read_fifo: Read FIFO callback.
 138  * @fifo_th: FIFO threshold register info (addr + mask).
 139  * @fifo_diff: FIFO diff status register info (addr + mask).
 140  * @th_wl: FIFO threshold word length.
 141  */
 142 struct st_lsm6dsx_fifo_ops {
 143         int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
 144         int (*read_fifo)(struct st_lsm6dsx_hw *hw);
 145         struct {
 146                 u8 addr;
 147                 u16 mask;
 148         } fifo_th;
 149         struct {
 150                 u8 addr;
 151                 u16 mask;
 152         } fifo_diff;
 153         u8 th_wl;
 154 };
 155
 156 /**
 157  * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
 158  * @timer_en: Hw timer enable register info (addr + mask).
 159  * @hr_timer: Hw timer resolution register info (addr + mask).
 160  * @fifo_en: Hw timer FIFO enable register info (addr + mask).
 161  * @decimator: Hw timer FIFO decimator register info (addr + mask).
 162  * @freq_fine: Difference in % of ODR with respect to the typical.
 163  */
 164 struct st_lsm6dsx_hw_ts_settings {
 165         struct st_lsm6dsx_reg timer_en;
 166         struct st_lsm6dsx_reg hr_timer;
 167         struct st_lsm6dsx_reg fifo_en;
 168         struct st_lsm6dsx_reg decimator;
 169         u8 freq_fine;
 170 };
 171
 172 /**
 173  * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
 174  * @page_mux: register page mux info (addr + mask).
 175  * @master_en: master config register info (addr + mask).
 176  * @pullup_en: i2c controller pull-up register info (addr + mask).
 177  * @aux_sens: aux sensor register info (addr + mask).
 178  * @wr_once: write_once register info (addr + mask).
 179  * @shub_out: sensor hub first output register info.
 180  * @slv0_addr: slave0 address in secondary page.
 181  * @dw_slv0_addr: slave0 write register address in secondary page.
 182  * @batch_en: Enable/disable FIFO batching.
 183  */
 184 struct st_lsm6dsx_shub_settings {
 185         struct st_lsm6dsx_reg page_mux;
 186         struct st_lsm6dsx_reg master_en;
 187         struct st_lsm6dsx_reg pullup_en;
 188         struct st_lsm6dsx_reg aux_sens;
 189         struct st_lsm6dsx_reg wr_once;
 190         u8 shub_out;
 191         u8 slv0_addr;
 192         u8 dw_slv0_addr;
 193         u8 batch_en;
 194 };
 195
 196 struct st_lsm6dsx_event_settings {
 197         struct st_lsm6dsx_reg enable_reg;
 198         struct st_lsm6dsx_reg wakeup_reg;
 199         u8 wakeup_src_reg;
 200         u8 wakeup_src_status_mask;
 201         u8 wakeup_src_z_mask;
 202         u8 wakeup_src_y_mask;
 203         u8 wakeup_src_x_mask;
 204 };
 205
 206 enum st_lsm6dsx_ext_sensor_id {
 207         ST_LSM6DSX_ID_MAGN,
 208 };
 209
 210 /**
 211  * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
 212  * @i2c_addr: I2c slave address list.
 213  * @wai: Wai address info.
 214  * @id: external sensor id.
 215  * @odr: Output data rate of the sensor [Hz].
 216  * @gain: Configured sensor sensitivity.
 217  * @temp_comp: Temperature compensation register info (addr + mask).
 218  * @pwr_table: Power on register info (addr + mask).
 219  * @off_canc: Offset cancellation register info (addr + mask).
 220  * @bdu: Block data update register info (addr + mask).
 221  * @out: Output register info.
 222  */
 223 struct st_lsm6dsx_ext_dev_settings {
 224         u8 i2c_addr[2];
 225         struct {
 226                 u8 addr;
 227                 u8 val;
 228         } wai;
 229         enum st_lsm6dsx_ext_sensor_id id;
 230         struct st_lsm6dsx_odr_table_entry odr_table;
 231         struct st_lsm6dsx_fs_table_entry fs_table;
 232         struct st_lsm6dsx_reg temp_comp;
 233         struct {
 234                 struct st_lsm6dsx_reg reg;
 235                 u8 off_val;
 236                 u8 on_val;
 237         } pwr_table;
 238         struct st_lsm6dsx_reg off_canc;
 239         struct st_lsm6dsx_reg bdu;
 240         struct {
 241                 u8 addr;
 242                 u8 len;
 243         } out;
 244 };
 245
 246 /**
 247  * struct st_lsm6dsx_settings - ST IMU sensor settings
 248  * @wai: Sensor WhoAmI default value.
 249  * @reset: register address for reset.
 250  * @boot: register address for boot.
 251  * @bdu: register address for Block Data Update.
 252  * @max_fifo_size: Sensor max fifo length in FIFO words.
 253  * @id: List of hw id/device name supported by the driver configuration.
 254  * @channels: IIO channels supported by the device.
 255  * @irq_config: interrupts related registers.
 256  * @drdy_mask: register info for data-ready mask (addr + mask).
 257  * @odr_table: Hw sensors odr table (Hz + val).
 258  * @fs_table: Hw sensors gain table (gain + val).
 259  * @decimator: List of decimator register info (addr + mask).
 260  * @batch: List of FIFO batching register info (addr + mask).
 261  * @fifo_ops: Sensor hw FIFO parameters.
 262  * @ts_settings: Hw timer related settings.
 263  * @shub_settings: i2c controller related settings.
 264  */
 265 struct st_lsm6dsx_settings {
 266         u8 wai;
 267         struct st_lsm6dsx_reg reset;
 268         struct st_lsm6dsx_reg boot;
 269         struct st_lsm6dsx_reg bdu;
 270         u16 max_fifo_size;
 271         struct {
 272                 enum st_lsm6dsx_hw_id hw_id;
 273                 const char *name;
 274         } id[ST_LSM6DSX_MAX_ID];
 275         struct {
 276                 const struct iio_chan_spec *chan;
 277                 int len;
 278         } channels[2];
 279         struct {
 280                 struct st_lsm6dsx_reg irq1;
 281                 struct st_lsm6dsx_reg irq2;
 282                 struct st_lsm6dsx_reg irq1_func;
 283                 struct st_lsm6dsx_reg irq2_func;
 284                 struct st_lsm6dsx_reg lir;
 285                 struct st_lsm6dsx_reg clear_on_read;
 286                 struct st_lsm6dsx_reg hla;
 287                 struct st_lsm6dsx_reg od;
 288         } irq_config;
 289         struct st_lsm6dsx_reg drdy_mask;
 290         struct st_lsm6dsx_odr_table_entry odr_table[2];
 291         struct st_lsm6dsx_fs_table_entry fs_table[2];
 292         struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
 293         struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
 294         struct st_lsm6dsx_fifo_ops fifo_ops;
 295         struct st_lsm6dsx_hw_ts_settings ts_settings;
 296         struct st_lsm6dsx_shub_settings shub_settings;
 297         struct st_lsm6dsx_event_settings event_settings;
 298 };
 299
 300 enum st_lsm6dsx_sensor_id {
 301         ST_LSM6DSX_ID_GYRO,
 302         ST_LSM6DSX_ID_ACC,
 303         ST_LSM6DSX_ID_EXT0,
 304         ST_LSM6DSX_ID_EXT1,
 305         ST_LSM6DSX_ID_EXT2,
 306         ST_LSM6DSX_ID_MAX,
 307 };
 308
 309 enum st_lsm6dsx_fifo_mode {
 310         ST_LSM6DSX_FIFO_BYPASS = 0x0,
 311         ST_LSM6DSX_FIFO_CONT = 0x6,
 312 };
 313
 314 /**
 315  * struct st_lsm6dsx_sensor - ST IMU sensor instance
 316  * @name: Sensor name.
 317  * @id: Sensor identifier.
 318  * @hw: Pointer to instance of struct st_lsm6dsx_hw.
 319  * @gain: Configured sensor sensitivity.
 320  * @odr: Output data rate of the sensor [Hz].
 321  * @watermark: Sensor watermark level.
 322  * @sip: Number of samples in a given pattern.
 323  * @decimator: FIFO decimation factor.
 324  * @ts_ref: Sensor timestamp reference for hw one.
 325  * @ext_info: Sensor settings if it is connected to i2c controller
 326  */
 327 struct st_lsm6dsx_sensor {
 328         char name[32];
 329         enum st_lsm6dsx_sensor_id id;
 330         struct st_lsm6dsx_hw *hw;
 331
 332         u32 gain;
 333         u32 odr;
 334
 335         u16 watermark;
 336         u8 sip;
 337         u8 decimator;
 338         s64 ts_ref;
 339
 340         struct {
 341                 const struct st_lsm6dsx_ext_dev_settings *settings;
 342                 u8 addr;
 343         } ext_info;
 344 };
 345
 346 /**
 347  * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
 348  * @dev: Pointer to instance of struct device (I2C or SPI).
 349  * @regmap: Register map of the device.
 350  * @irq: Device interrupt line (I2C or SPI).
 351  * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
 352  * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
 353  * @page_lock: Mutex to prevent concurrent memory page configuration.
 354  * @fifo_mode: FIFO operating mode supported by the device.
 355  * @suspend_mask: Suspended sensor bitmask.
 356  * @enable_mask: Enabled sensor bitmask.
 357  * @ts_gain: Hw timestamp rate after internal calibration.
 358  * @ts_sip: Total number of timestamp samples in a given pattern.
 359  * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
 360  * @buff: Device read buffer.
 361  * @irq_routing: pointer to interrupt routing configuration.
 362  * @event_threshold: wakeup event threshold.
 363  * @enable_event: enabled event bitmask.
 364  * @iio_devs: Pointers to acc/gyro iio_dev instances.
 365  * @settings: Pointer to the specific sensor settings in use.
 366  */
 367 struct st_lsm6dsx_hw {
 368         struct device *dev;
 369         struct regmap *regmap;
 370         int irq;
 371
 372         struct mutex fifo_lock;
 373         struct mutex conf_lock;
 374         struct mutex page_lock;
 375
 376         enum st_lsm6dsx_fifo_mode fifo_mode;
 377         u8 suspend_mask;
 378         u8 enable_mask;
 379         s64 ts_gain;
 380         u8 ts_sip;
 381         u8 sip;
 382
 383         const struct st_lsm6dsx_reg *irq_routing;
 384         u8 event_threshold;
 385         u8 enable_event;
 386
 387         u8 *buff;
 388
 389         struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
 390
 391         const struct st_lsm6dsx_settings *settings;
 392 };
 393
 394 static const struct iio_event_spec st_lsm6dsx_event = {
 395         .type = IIO_EV_TYPE_THRESH,
 396         .dir = IIO_EV_DIR_EITHER,
 397         .mask_separate = BIT(IIO_EV_INFO_VALUE) |
 398                          BIT(IIO_EV_INFO_ENABLE)
 399 };
 400
 401 static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0};
 402 extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
 403
 404 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
 405                      struct regmap *regmap);
 406 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
 407                                  bool enable);
 408 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
 409 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
 410 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
 411                                 u16 watermark);
 412 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
 413 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
 414 int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
 415                              enum st_lsm6dsx_fifo_mode fifo_mode);
 416 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
 417 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
 418 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
 419 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
 420 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
 421 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
 422
 423 static inline int
 424 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
 425                               unsigned int mask, unsigned int val)
 426 {
 427         int err;
 428
 429         mutex_lock(&hw->page_lock);
 430         err = regmap_update_bits(hw->regmap, addr, mask, val);
 431         mutex_unlock(&hw->page_lock);
 432
 433         return err;
 434 }
 435
 436 static inline int
 437 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
 438                        void *val, unsigned int len)
 439 {
 440         int err;
 441
 442         mutex_lock(&hw->page_lock);
 443         err = regmap_bulk_read(hw->regmap, addr, val, len);
 444         mutex_unlock(&hw->page_lock);
 445
 446         return err;
 447 }
 448
 449 static inline int
 450 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
 451                         unsigned int val)
 452 {
 453         int err;
 454
 455         mutex_lock(&hw->page_lock);
 456         err = regmap_write(hw->regmap, addr, val);
 457         mutex_unlock(&hw->page_lock);
 458
 459         return err;
 460 }
 461
 462 #endif /* ST_LSM6DSX_H */