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-rw-r--r--st_lsm6dsx.h572
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diff --git a/st_lsm6dsx.h b/st_lsm6dsx.h
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-/* 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"
-#define ST_LSM6DSV_DEV_NAME "lsm6dsv"
-#define ST_LSM6DSV16X_DEV_NAME "lsm6dsv16x"
-#define ST_LSM6DSO16IS_DEV_NAME "lsm6dso16is"
-#define ST_ISM330IS_DEV_NAME "ism330is"
-#define ST_ASM330LHB_DEV_NAME "asm330lhb"
-#define ST_ASM330LHHXG1_DEV_NAME "asm330lhhxg1"
-
-enum st_lsm6dsx_hw_id {
- ST_LSM6DS3_ID = 1,
- 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_LSM6DSV_ID,
- ST_LSM6DSV16X_ID,
- ST_LSM6DSO16IS_ID,
- ST_ISM330IS_ID,
- ST_ASM330LHB_ID,
- ST_ASM330LHHXG1_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_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, \
- }, \
- .ext_info = st_lsm6dsx_ext_info, \
-}
-
-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_samples_to_discard {
- struct {
- u32 milli_hz;
- u16 samples;
- } val[ST_LSM6DSX_ODR_LIST_SIZE];
-};
-
-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.
- * @ts_sensitivity: Nominal timestamp sensitivity.
- * @ts_trim_coeff: Coefficient for calculating the calibrated timestamp gain.
- * This coefficient comes into play when linearizing the formula
- * used to calculate the calibrated timestamp (please see the
- * relevant formula in the AN for the specific IMU).
- * For example, in the case of LSM6DSO we have:
- *
- * 1 / (1 + x) ~= 1 - x (Taylor’s Series)
- * ttrim[s] = 1 / (40000 * (1 + 0.0015 * val)) (from AN5192)
- * ttrim[ns] ~= 25000 - 37.5 * val
- * ttrim[ns] ~= 25000 - (37500 * val) / 1000
- *
- * so, replacing ts_sensitivity = 25000 and
- * ts_trim_coeff = 37500
- *
- * ttrim[ns] ~= ts_sensitivity - (ts_trim_coeff * val) / 1000
- */
-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;
- u16 ts_sensitivity;
- u16 ts_trim_coeff;
-};
-
-/**
- * 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_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_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).
- * @samples_to_discard: Number of samples to discard for filters settling time.
- * @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_samples_to_discard samples_to_discard[2];
- struct st_lsm6dsx_fs_table_entry fs_table[2];
- struct st_lsm6dsx_reg decimator[ST_LSM6DSX_ID_MAX];
- struct st_lsm6dsx_reg batch[2];
- 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_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 [mHz].
- * hwfifo_odr_mHz: Batch data rate for hardware FIFO [mHz]
- * @samples_to_discard: Number of samples to discard for filters settling time.
- * @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;
- u32 hwfifo_odr_mHz;
-
- u16 samples_to_discard;
- 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.
- * @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;
- 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];
- aligned_s64 ts;
- } scan[ST_LSM6DSX_ID_MAX];
-};
-
-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_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len);
-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 inline int
-st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
-{
- if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
- sensor->id == ST_LSM6DSX_ID_EXT1 ||
- sensor->id == ST_LSM6DSX_ID_EXT2)
- return st_lsm6dsx_shub_set_enable(sensor, enable);
-
- return st_lsm6dsx_sensor_set_enable(sensor, enable);
-}
-
-static const
-struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_ext_info[] = {
- IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
- { }
-};
-
-#endif /* ST_LSM6DSX_H */
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