diff options
Diffstat (limited to 'usr/src/st-lsm6dsx-shift13mi-0.1/st_lsm6dsx_core.c')
| -rw-r--r-- | usr/src/st-lsm6dsx-shift13mi-0.1/st_lsm6dsx_core.c | 2808 |
1 files changed, 0 insertions, 2808 deletions
diff --git a/usr/src/st-lsm6dsx-shift13mi-0.1/st_lsm6dsx_core.c b/usr/src/st-lsm6dsx-shift13mi-0.1/st_lsm6dsx_core.c deleted file mode 100644 index dc78227..0000000 --- a/usr/src/st-lsm6dsx-shift13mi-0.1/st_lsm6dsx_core.c +++ /dev/null @@ -1,2808 +0,0 @@ -// SPDX-License-Identifier: GPL-2.0-only -/* - * STMicroelectronics st_lsm6dsx sensor driver - * - * The ST LSM6DSx IMU MEMS series consists of 3D digital accelerometer - * and 3D digital gyroscope system-in-package with a digital I2C/SPI serial - * interface standard output. - * LSM6DSx IMU MEMS series has a dynamic user-selectable full-scale - * acceleration range of +-2/+-4/+-8/+-16 g and an angular rate range of - * +-125/+-245/+-500/+-1000/+-2000 dps - * LSM6DSx series has an integrated First-In-First-Out (FIFO) buffer - * allowing dynamic batching of sensor data. - * LSM9DSx series is similar but includes an additional magnetometer, handled - * by a different driver. - * - * Supported sensors: - * - * - LSM6DS3 - * - Accelerometer/Gyroscope supported ODR [Hz]: 12.5, 26, 52, 104, 208, 416 - * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 - * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000 - * - FIFO size: 8KB - * - * - ISM330DLC - * - LSM6DS3H - * - LSM6DS3TR-C - * - LSM6DSL - * - LSM6DSM - * - Accelerometer/Gyroscope supported ODR [Hz]: 12.5, 26, 52, 104, 208, 416 - * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 - * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000 - * - FIFO size: 4KB - * - * - ASM330LHH - * - ASM330LHHX - * - ASM330LHHXG1 - * - ISM330DHCX - * - ISM330IS - * - LSM6DSO - * - LSM6DSO16IS - * - LSM6DSOP - * - LSM6DSOX - * - LSM6DSR - * - LSM6DST - * - LSM6DSTX - * - Accelerometer/Gyroscope supported ODR [Hz]: 12.5, 26, 52, 104, 208, 416, - * 833 - * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 - * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000 - * - FIFO size: 3KB - * - * - LSM6DSV - * - LSM6DSV16X - * - Accelerometer/Gyroscope supported ODR [Hz]: 7.5, 15, 30, 60, 120, 240, - * 480, 960 - * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 - * - Gyroscope supported full-scale [dps]: +-125/+-250/+-500/+-1000/+-2000 - * - FIFO size: 3KB - * - * - LSM6DS0 - * - LSM9DS1 - * - Accelerometer supported ODR [Hz]: 10, 50, 119, 238, 476, 952 - * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 - * - Gyroscope supported ODR [Hz]: 15, 60, 119, 238, 476, 952 - * - Gyroscope supported full-scale [dps]: +-245/+-500/+-2000 - * - FIFO size: 32 - * - * Copyright 2016 STMicroelectronics Inc. - * - * Lorenzo Bianconi <lorenzo.bianconi@st.com> - * Denis Ciocca <denis.ciocca@st.com> - */ - -#include <linux/kernel.h> -#include <linux/module.h> -#include <linux/acpi.h> -#include <linux/delay.h> -#include <linux/iio/events.h> -#include <linux/iio/iio.h> -#include <linux/iio/sysfs.h> -#include <linux/iio/triggered_buffer.h> -#include <linux/iio/trigger_consumer.h> -#include <linux/interrupt.h> -#include <linux/irq.h> -#include <linux/minmax.h> -#include <linux/pm.h> -#include <linux/property.h> -#include <linux/regmap.h> -#include <linux/bitfield.h> - -#include <linux/platform_data/st_sensors_pdata.h> - -#include "st_lsm6dsx.h" - -#define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f - -static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = { - ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x28, IIO_MOD_X, 0), - ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2a, IIO_MOD_Y, 1), - ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2c, IIO_MOD_Z, 2), - IIO_CHAN_SOFT_TIMESTAMP(3), -}; - -static const struct iio_chan_spec st_lsm6ds0_acc_channels[] = { - ST_LSM6DSX_CHANNEL(IIO_ACCEL, 0x28, IIO_MOD_X, 0), - ST_LSM6DSX_CHANNEL(IIO_ACCEL, 0x2a, IIO_MOD_Y, 1), - ST_LSM6DSX_CHANNEL(IIO_ACCEL, 0x2c, IIO_MOD_Z, 2), - IIO_CHAN_SOFT_TIMESTAMP(3), -}; - -static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = { - ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x22, IIO_MOD_X, 0), - ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x24, IIO_MOD_Y, 1), - ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x26, IIO_MOD_Z, 2), - IIO_CHAN_SOFT_TIMESTAMP(3), -}; - -static const struct iio_chan_spec st_lsm6ds0_gyro_channels[] = { - ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x18, IIO_MOD_X, 0), - ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1a, IIO_MOD_Y, 1), - ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1c, IIO_MOD_Z, 2), - IIO_CHAN_SOFT_TIMESTAMP(3), -}; - -static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { - { - .reset = { - .addr = 0x22, - .mask = BIT(0), - }, - .boot = { - .addr = 0x22, - .mask = BIT(7), - }, - .bdu = { - .addr = 0x22, - .mask = BIT(6), - }, - .id = { - { - .hw_id = ST_LSM9DS1_ID, - .name = ST_LSM9DS1_DEV_NAME, - .wai = 0x68, - }, { - .hw_id = ST_LSM6DS0_ID, - .name = ST_LSM6DS0_DEV_NAME, - .wai = 0x68, - }, - }, - .channels = { - [ST_LSM6DSX_ID_ACC] = { - .chan = st_lsm6ds0_acc_channels, - .len = ARRAY_SIZE(st_lsm6ds0_acc_channels), - }, - [ST_LSM6DSX_ID_GYRO] = { - .chan = st_lsm6ds0_gyro_channels, - .len = ARRAY_SIZE(st_lsm6ds0_gyro_channels), - }, - }, - .odr_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x20, - .mask = GENMASK(7, 5), - }, - .odr_avl[0] = { 10000, 0x01 }, - .odr_avl[1] = { 50000, 0x02 }, - .odr_avl[2] = { 119000, 0x03 }, - .odr_avl[3] = { 238000, 0x04 }, - .odr_avl[4] = { 476000, 0x05 }, - .odr_avl[5] = { 952000, 0x06 }, - .odr_len = 6, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(7, 5), - }, - .odr_avl[0] = { 14900, 0x01 }, - .odr_avl[1] = { 59500, 0x02 }, - .odr_avl[2] = { 119000, 0x03 }, - .odr_avl[3] = { 238000, 0x04 }, - .odr_avl[4] = { 476000, 0x05 }, - .odr_avl[5] = { 952000, 0x06 }, - .odr_len = 6, - }, - }, - .fs_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x20, - .mask = GENMASK(4, 3), - }, - .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 }, - .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 }, - .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 }, - .fs_avl[3] = { IIO_G_TO_M_S_2(732000), 0x1 }, - .fs_len = 4, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(4, 3), - }, - - .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 }, - .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 }, - .fs_avl[2] = { IIO_DEGREE_TO_RAD(70000000), 0x3 }, - .fs_len = 3, - }, - }, - .irq_config = { - .irq1 = { - .addr = 0x0c, - .mask = BIT(3), - }, - .irq2 = { - .addr = 0x0d, - .mask = BIT(3), - }, - .hla = { - .addr = 0x22, - .mask = BIT(5), - }, - .od = { - .addr = 0x22, - .mask = BIT(4), - }, - }, - .fifo_ops = { - .max_size = 32, - }, - }, - { - .reset = { - .addr = 0x12, - .mask = BIT(0), - }, - .boot = { - .addr = 0x12, - .mask = BIT(7), - }, - .bdu = { - .addr = 0x12, - .mask = BIT(6), - }, - .id = { - { - .hw_id = ST_LSM6DS3_ID, - .name = ST_LSM6DS3_DEV_NAME, - .wai = 0x69, - }, - }, - .channels = { - [ST_LSM6DSX_ID_ACC] = { - .chan = st_lsm6dsx_acc_channels, - .len = ARRAY_SIZE(st_lsm6dsx_acc_channels), - }, - [ST_LSM6DSX_ID_GYRO] = { - .chan = st_lsm6dsx_gyro_channels, - .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels), - }, - }, - .odr_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_len = 6, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_len = 6, - }, - }, - .fs_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 }, - .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 }, - .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 }, - .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 }, - .fs_len = 4, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 }, - .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 }, - .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 }, - .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 }, - .fs_len = 4, - }, - }, - .irq_config = { - .irq1 = { - .addr = 0x0d, - .mask = BIT(3), - }, - .irq2 = { - .addr = 0x0e, - .mask = BIT(3), - }, - .lir = { - .addr = 0x58, - .mask = BIT(0), - }, - .irq1_func = { - .addr = 0x5e, - .mask = BIT(5), - }, - .irq2_func = { - .addr = 0x5f, - .mask = BIT(5), - }, - .hla = { - .addr = 0x12, - .mask = BIT(5), - }, - .od = { - .addr = 0x12, - .mask = BIT(4), - }, - }, - .decimator = { - [ST_LSM6DSX_ID_ACC] = { - .addr = 0x08, - .mask = GENMASK(2, 0), - }, - [ST_LSM6DSX_ID_GYRO] = { - .addr = 0x08, - .mask = GENMASK(5, 3), - }, - }, - .fifo_ops = { - .update_fifo = st_lsm6dsx_update_fifo, - .read_fifo = st_lsm6dsx_read_fifo, - .fifo_th = { - .addr = 0x06, - .mask = GENMASK(11, 0), - }, - .fifo_diff = { - .addr = 0x3a, - .mask = GENMASK(11, 0), - }, - .max_size = 1365, - .th_wl = 3, /* 1LSB = 2B */ - }, - .ts_settings = { - .timer_en = { - .addr = 0x58, - .mask = BIT(7), - }, - .hr_timer = { - .addr = 0x5c, - .mask = BIT(4), - }, - .fifo_en = { - .addr = 0x07, - .mask = BIT(7), - }, - .decimator = { - .addr = 0x09, - .mask = GENMASK(5, 3), - }, - }, - .event_settings = { - .wakeup_reg = { - .addr = 0x5B, - .mask = GENMASK(5, 0), - }, - .wakeup_src_reg = 0x1b, - .wakeup_src_status_mask = BIT(3), - .wakeup_src_z_mask = BIT(0), - .wakeup_src_y_mask = BIT(1), - .wakeup_src_x_mask = BIT(2), - }, - }, - { - .reset = { - .addr = 0x12, - .mask = BIT(0), - }, - .boot = { - .addr = 0x12, - .mask = BIT(7), - }, - .bdu = { - .addr = 0x12, - .mask = BIT(6), - }, - .id = { - { - .hw_id = ST_LSM6DS3H_ID, - .name = ST_LSM6DS3H_DEV_NAME, - .wai = 0x69, - }, - }, - .channels = { - [ST_LSM6DSX_ID_ACC] = { - .chan = st_lsm6dsx_acc_channels, - .len = ARRAY_SIZE(st_lsm6dsx_acc_channels), - }, - [ST_LSM6DSX_ID_GYRO] = { - .chan = st_lsm6dsx_gyro_channels, - .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels), - }, - }, - .odr_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_len = 6, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_len = 6, - }, - }, - .fs_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 }, - .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 }, - .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 }, - .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 }, - .fs_len = 4, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 }, - .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 }, - .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 }, - .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 }, - .fs_len = 4, - }, - }, - .irq_config = { - .irq1 = { - .addr = 0x0d, - .mask = BIT(3), - }, - .irq2 = { - .addr = 0x0e, - .mask = BIT(3), - }, - .lir = { - .addr = 0x58, - .mask = BIT(0), - }, - .irq1_func = { - .addr = 0x5e, - .mask = BIT(5), - }, - .irq2_func = { - .addr = 0x5f, - .mask = BIT(5), - }, - .hla = { - .addr = 0x12, - .mask = BIT(5), - }, - .od = { - .addr = 0x12, - .mask = BIT(4), - }, - }, - .decimator = { - [ST_LSM6DSX_ID_ACC] = { - .addr = 0x08, - .mask = GENMASK(2, 0), - }, - [ST_LSM6DSX_ID_GYRO] = { - .addr = 0x08, - .mask = GENMASK(5, 3), - }, - }, - .fifo_ops = { - .update_fifo = st_lsm6dsx_update_fifo, - .read_fifo = st_lsm6dsx_read_fifo, - .fifo_th = { - .addr = 0x06, - .mask = GENMASK(11, 0), - }, - .fifo_diff = { - .addr = 0x3a, - .mask = GENMASK(11, 0), - }, - .max_size = 682, - .th_wl = 3, /* 1LSB = 2B */ - }, - .ts_settings = { - .timer_en = { - .addr = 0x58, - .mask = BIT(7), - }, - .hr_timer = { - .addr = 0x5c, - .mask = BIT(4), - }, - .fifo_en = { - .addr = 0x07, - .mask = BIT(7), - }, - .decimator = { - .addr = 0x09, - .mask = GENMASK(5, 3), - }, - }, - .event_settings = { - .wakeup_reg = { - .addr = 0x5B, - .mask = GENMASK(5, 0), - }, - .wakeup_src_reg = 0x1b, - .wakeup_src_status_mask = BIT(3), - .wakeup_src_z_mask = BIT(0), - .wakeup_src_y_mask = BIT(1), - .wakeup_src_x_mask = BIT(2), - }, - }, - { - .reset = { - .addr = 0x12, - .mask = BIT(0), - }, - .boot = { - .addr = 0x12, - .mask = BIT(7), - }, - .bdu = { - .addr = 0x12, - .mask = BIT(6), - }, - .id = { - { - .hw_id = ST_LSM6DSL_ID, - .name = ST_LSM6DSL_DEV_NAME, - .wai = 0x6a, - }, { - .hw_id = ST_LSM6DSM_ID, - .name = ST_LSM6DSM_DEV_NAME, - .wai = 0x6a, - }, { - .hw_id = ST_ISM330DLC_ID, - .name = ST_ISM330DLC_DEV_NAME, - .wai = 0x6a, - }, { - .hw_id = ST_LSM6DS3TRC_ID, - .name = ST_LSM6DS3TRC_DEV_NAME, - .wai = 0x6a, - }, - }, - .channels = { - [ST_LSM6DSX_ID_ACC] = { - .chan = st_lsm6dsx_acc_channels, - .len = ARRAY_SIZE(st_lsm6dsx_acc_channels), - }, - [ST_LSM6DSX_ID_GYRO] = { - .chan = st_lsm6dsx_gyro_channels, - .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels), - }, - }, - .odr_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_len = 6, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_len = 6, - }, - }, - .fs_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 }, - .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 }, - .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 }, - .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 }, - .fs_len = 4, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 }, - .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 }, - .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 }, - .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 }, - .fs_len = 4, - }, - }, - .samples_to_discard = { - [ST_LSM6DSX_ID_ACC] = { - .val[0] = { 12500, 1 }, - .val[1] = { 26000, 1 }, - .val[2] = { 52000, 1 }, - .val[3] = { 104000, 2 }, - .val[4] = { 208000, 2 }, - .val[5] = { 416000, 2 }, - }, - [ST_LSM6DSX_ID_GYRO] = { - .val[0] = { 12500, 2 }, - .val[1] = { 26000, 5 }, - .val[2] = { 52000, 7 }, - .val[3] = { 104000, 12 }, - .val[4] = { 208000, 20 }, - .val[5] = { 416000, 36 }, - }, - }, - .irq_config = { - .irq1 = { - .addr = 0x0d, - .mask = BIT(3), - }, - .irq2 = { - .addr = 0x0e, - .mask = BIT(3), - }, - .lir = { - .addr = 0x58, - .mask = BIT(0), - }, - .irq1_func = { - .addr = 0x5e, - .mask = BIT(5), - }, - .irq2_func = { - .addr = 0x5f, - .mask = BIT(5), - }, - .hla = { - .addr = 0x12, - .mask = BIT(5), - }, - .od = { - .addr = 0x12, - .mask = BIT(4), - }, - }, - .decimator = { - [ST_LSM6DSX_ID_ACC] = { - .addr = 0x08, - .mask = GENMASK(2, 0), - }, - [ST_LSM6DSX_ID_GYRO] = { - .addr = 0x08, - .mask = GENMASK(5, 3), - }, - [ST_LSM6DSX_ID_EXT0] = { - .addr = 0x09, - .mask = GENMASK(2, 0), - }, - }, - .fifo_ops = { - .update_fifo = st_lsm6dsx_update_fifo, - .read_fifo = st_lsm6dsx_read_fifo, - .fifo_th = { - .addr = 0x06, - .mask = GENMASK(10, 0), - }, - .fifo_diff = { - .addr = 0x3a, - .mask = GENMASK(10, 0), - }, - .max_size = 682, - .th_wl = 3, /* 1LSB = 2B */ - }, - .ts_settings = { - .timer_en = { - .addr = 0x19, - .mask = BIT(5), - }, - .hr_timer = { - .addr = 0x5c, - .mask = BIT(4), - }, - .fifo_en = { - .addr = 0x07, - .mask = BIT(7), - }, - .decimator = { - .addr = 0x09, - .mask = GENMASK(5, 3), - }, - }, - .shub_settings = { - .page_mux = { - .addr = 0x01, - .mask = BIT(7), - }, - .master_en = { - .addr = 0x1a, - .mask = BIT(0), - }, - .pullup_en = { - .addr = 0x1a, - .mask = BIT(3), - }, - .aux_sens = { - .addr = 0x04, - .mask = GENMASK(5, 4), - }, - .wr_once = { - .addr = 0x07, - .mask = BIT(5), - }, - .emb_func = { - .addr = 0x19, - .mask = BIT(2), - }, - .num_ext_dev = 1, - .shub_out = { - .addr = 0x2e, - }, - .slv0_addr = 0x02, - .dw_slv0_addr = 0x0e, - .pause = 0x7, - }, - .event_settings = { - .enable_reg = { - .addr = 0x58, - .mask = BIT(7), - }, - .wakeup_reg = { - .addr = 0x5B, - .mask = GENMASK(5, 0), - }, - .wakeup_src_reg = 0x1b, - .wakeup_src_status_mask = BIT(3), - .wakeup_src_z_mask = BIT(0), - .wakeup_src_y_mask = BIT(1), - .wakeup_src_x_mask = BIT(2), - }, - }, - { - .reset = { - .addr = 0x12, - .mask = BIT(0), - }, - .boot = { - .addr = 0x12, - .mask = BIT(7), - }, - .bdu = { - .addr = 0x12, - .mask = BIT(6), - }, - .id = { - { - .hw_id = ST_LSM6DSR_ID, - .name = ST_LSM6DSR_DEV_NAME, - .wai = 0x6b, - }, { - .hw_id = ST_ISM330DHCX_ID, - .name = ST_ISM330DHCX_DEV_NAME, - .wai = 0x6b, - }, { - .hw_id = ST_LSM6DSRX_ID, - .name = ST_LSM6DSRX_DEV_NAME, - .wai = 0x6b, - }, { - .hw_id = ST_LSM6DSO_ID, - .name = ST_LSM6DSO_DEV_NAME, - .wai = 0x6c, - }, { - .hw_id = ST_LSM6DSOX_ID, - .name = ST_LSM6DSOX_DEV_NAME, - .wai = 0x6c, - }, { - .hw_id = ST_LSM6DST_ID, - .name = ST_LSM6DST_DEV_NAME, - .wai = 0x6d, - }, { - .hw_id = ST_ASM330LHHX_ID, - .name = ST_ASM330LHHX_DEV_NAME, - .wai = 0x6b, - }, { - .hw_id = ST_ASM330LHHXG1_ID, - .name = ST_ASM330LHHXG1_DEV_NAME, - .wai = 0x6b, - }, { - .hw_id = ST_LSM6DSTX_ID, - .name = ST_LSM6DSTX_DEV_NAME, - .wai = 0x6d, - }, - }, - .channels = { - [ST_LSM6DSX_ID_ACC] = { - .chan = st_lsm6dsx_acc_channels, - .len = ARRAY_SIZE(st_lsm6dsx_acc_channels), - }, - [ST_LSM6DSX_ID_GYRO] = { - .chan = st_lsm6dsx_gyro_channels, - .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels), - }, - }, - .drdy_mask = { - .addr = 0x13, - .mask = BIT(3), - }, - .odr_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_avl[6] = { 833000, 0x07 }, - .odr_len = 7, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_avl[6] = { 833000, 0x07 }, - .odr_len = 7, - }, - }, - .fs_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 }, - .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 }, - .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 }, - .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 }, - .fs_len = 4, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 }, - .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 }, - .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 }, - .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 }, - .fs_len = 4, - }, - }, - .irq_config = { - .irq1 = { - .addr = 0x0d, - .mask = BIT(3), - }, - .irq2 = { - .addr = 0x0e, - .mask = BIT(3), - }, - .lir = { - .addr = 0x56, - .mask = BIT(0), - }, - .clear_on_read = { - .addr = 0x56, - .mask = BIT(6), - }, - .irq1_func = { - .addr = 0x5e, - .mask = BIT(5), - }, - .irq2_func = { - .addr = 0x5f, - .mask = BIT(5), - }, - .hla = { - .addr = 0x12, - .mask = BIT(5), - }, - .od = { - .addr = 0x12, - .mask = BIT(4), - }, - }, - .batch = { - [ST_LSM6DSX_ID_ACC] = { - .addr = 0x09, - .mask = GENMASK(3, 0), - }, - [ST_LSM6DSX_ID_GYRO] = { - .addr = 0x09, - .mask = GENMASK(7, 4), - }, - }, - .fifo_ops = { - .update_fifo = st_lsm6dsx_update_fifo, - .read_fifo = st_lsm6dsx_read_tagged_fifo, - .fifo_th = { - .addr = 0x07, - .mask = GENMASK(8, 0), - }, - .fifo_diff = { - .addr = 0x3a, - .mask = GENMASK(9, 0), - }, - .max_size = 512, - .th_wl = 1, - }, - .ts_settings = { - .timer_en = { - .addr = 0x19, - .mask = BIT(5), - }, - .decimator = { - .addr = 0x0a, - .mask = GENMASK(7, 6), - }, - .freq_fine = 0x63, - .ts_sensitivity = 25000, - .ts_trim_coeff = 37500, - }, - .shub_settings = { - .page_mux = { - .addr = 0x01, - .mask = BIT(6), - }, - .master_en = { - .sec_page = true, - .addr = 0x14, - .mask = BIT(2), - }, - .pullup_en = { - .sec_page = true, - .addr = 0x14, - .mask = BIT(3), - }, - .aux_sens = { - .addr = 0x14, - .mask = GENMASK(1, 0), - }, - .wr_once = { - .addr = 0x14, - .mask = BIT(6), - }, - .num_ext_dev = 3, - .shub_out = { - .sec_page = true, - .addr = 0x02, - }, - .slv0_addr = 0x15, - .dw_slv0_addr = 0x21, - .batch_en = BIT(3), - }, - .event_settings = { - .enable_reg = { - .addr = 0x58, - .mask = BIT(7), - }, - .wakeup_reg = { - .addr = 0x5b, - .mask = GENMASK(5, 0), - }, - .wakeup_src_reg = 0x1b, - .wakeup_src_status_mask = BIT(3), - .wakeup_src_z_mask = BIT(0), - .wakeup_src_y_mask = BIT(1), - .wakeup_src_x_mask = BIT(2), - }, - }, - { - .reset = { - .addr = 0x12, - .mask = BIT(0), - }, - .boot = { - .addr = 0x12, - .mask = BIT(7), - }, - .bdu = { - .addr = 0x12, - .mask = BIT(6), - }, - .id = { - { - .hw_id = ST_ASM330LHH_ID, - .name = ST_ASM330LHH_DEV_NAME, - .wai = 0x6b, - }, { - .hw_id = ST_LSM6DSOP_ID, - .name = ST_LSM6DSOP_DEV_NAME, - .wai = 0x6c, - }, { - .hw_id = ST_ASM330LHB_ID, - .name = ST_ASM330LHB_DEV_NAME, - .wai = 0x6b, - }, - }, - .channels = { - [ST_LSM6DSX_ID_ACC] = { - .chan = st_lsm6dsx_acc_channels, - .len = ARRAY_SIZE(st_lsm6dsx_acc_channels), - }, - [ST_LSM6DSX_ID_GYRO] = { - .chan = st_lsm6dsx_gyro_channels, - .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels), - }, - }, - .drdy_mask = { - .addr = 0x13, - .mask = BIT(3), - }, - .odr_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_avl[6] = { 833000, 0x07 }, - .odr_len = 7, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_avl[6] = { 833000, 0x07 }, - .odr_len = 7, - }, - }, - .fs_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 }, - .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 }, - .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 }, - .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 }, - .fs_len = 4, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 }, - .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 }, - .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 }, - .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 }, - .fs_len = 4, - }, - }, - .irq_config = { - .irq1 = { - .addr = 0x0d, - .mask = BIT(3), - }, - .irq2 = { - .addr = 0x0e, - .mask = BIT(3), - }, - .lir = { - .addr = 0x56, - .mask = BIT(0), - }, - .clear_on_read = { - .addr = 0x56, - .mask = BIT(6), - }, - .irq1_func = { - .addr = 0x5e, - .mask = BIT(5), - }, - .irq2_func = { - .addr = 0x5f, - .mask = BIT(5), - }, - .hla = { - .addr = 0x12, - .mask = BIT(5), - }, - .od = { - .addr = 0x12, - .mask = BIT(4), - }, - }, - .batch = { - [ST_LSM6DSX_ID_ACC] = { - .addr = 0x09, - .mask = GENMASK(3, 0), - }, - [ST_LSM6DSX_ID_GYRO] = { - .addr = 0x09, - .mask = GENMASK(7, 4), - }, - }, - .fifo_ops = { - .update_fifo = st_lsm6dsx_update_fifo, - .read_fifo = st_lsm6dsx_read_tagged_fifo, - .fifo_th = { - .addr = 0x07, - .mask = GENMASK(8, 0), - }, - .fifo_diff = { - .addr = 0x3a, - .mask = GENMASK(9, 0), - }, - .max_size = 512, - .th_wl = 1, - }, - .ts_settings = { - .timer_en = { - .addr = 0x19, - .mask = BIT(5), - }, - .decimator = { - .addr = 0x0a, - .mask = GENMASK(7, 6), - }, - .freq_fine = 0x63, - .ts_sensitivity = 25000, - .ts_trim_coeff = 37500, - }, - .event_settings = { - .enable_reg = { - .addr = 0x58, - .mask = BIT(7), - }, - .wakeup_reg = { - .addr = 0x5B, - .mask = GENMASK(5, 0), - }, - .wakeup_src_reg = 0x1b, - .wakeup_src_status_mask = BIT(3), - .wakeup_src_z_mask = BIT(0), - .wakeup_src_y_mask = BIT(1), - .wakeup_src_x_mask = BIT(2), - }, - }, - { - .reset = { - .addr = 0x12, - .mask = BIT(0), - }, - .boot = { - .addr = 0x12, - .mask = BIT(7), - }, - .bdu = { - .addr = 0x12, - .mask = BIT(6), - }, - .id = { - { - .hw_id = ST_LSM6DSV_ID, - .name = ST_LSM6DSV_DEV_NAME, - .wai = 0x70, - }, { - .hw_id = ST_LSM6DSV16X_ID, - .name = ST_LSM6DSV16X_DEV_NAME, - .wai = 0x70, - }, - }, - .channels = { - [ST_LSM6DSX_ID_ACC] = { - .chan = st_lsm6dsx_acc_channels, - .len = ARRAY_SIZE(st_lsm6dsx_acc_channels), - }, - [ST_LSM6DSX_ID_GYRO] = { - .chan = st_lsm6dsx_gyro_channels, - .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels), - }, - }, - .drdy_mask = { - .addr = 0x13, - .mask = BIT(3), - }, - .odr_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(3, 0), - }, - .odr_avl[0] = { 7500, 0x02 }, - .odr_avl[1] = { 15000, 0x03 }, - .odr_avl[2] = { 30000, 0x04 }, - .odr_avl[3] = { 60000, 0x05 }, - .odr_avl[4] = { 120000, 0x06 }, - .odr_avl[5] = { 240000, 0x07 }, - .odr_avl[6] = { 480000, 0x08 }, - .odr_avl[7] = { 960000, 0x09 }, - .odr_len = 8, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(3, 0), - }, - .odr_avl[0] = { 7500, 0x02 }, - .odr_avl[1] = { 15000, 0x03 }, - .odr_avl[2] = { 30000, 0x04 }, - .odr_avl[3] = { 60000, 0x05 }, - .odr_avl[4] = { 120000, 0x06 }, - .odr_avl[5] = { 240000, 0x07 }, - .odr_avl[6] = { 480000, 0x08 }, - .odr_avl[7] = { 960000, 0x09 }, - .odr_len = 8, - }, - }, - .fs_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x17, - .mask = GENMASK(1, 0), - }, - .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 }, - .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x1 }, - .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x2 }, - .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x3 }, - .fs_len = 4, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x15, - .mask = GENMASK(3, 0), - }, - .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x1 }, - .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x2 }, - .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x3 }, - .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x4 }, - .fs_len = 4, - }, - }, - .irq_config = { - .irq1 = { - .addr = 0x0d, - .mask = BIT(3), - }, - .irq2 = { - .addr = 0x0e, - .mask = BIT(3), - }, - .lir = { - .addr = 0x56, - .mask = BIT(0), - }, - .irq1_func = { - .addr = 0x5e, - .mask = BIT(5), - }, - .irq2_func = { - .addr = 0x5f, - .mask = BIT(5), - }, - .hla = { - .addr = 0x03, - .mask = BIT(4), - }, - .od = { - .addr = 0x03, - .mask = BIT(3), - }, - }, - .batch = { - [ST_LSM6DSX_ID_ACC] = { - .addr = 0x09, - .mask = GENMASK(3, 0), - }, - [ST_LSM6DSX_ID_GYRO] = { - .addr = 0x09, - .mask = GENMASK(7, 4), - }, - }, - .fifo_ops = { - .update_fifo = st_lsm6dsx_update_fifo, - .read_fifo = st_lsm6dsx_read_tagged_fifo, - .fifo_th = { - .addr = 0x07, - .mask = GENMASK(7, 0), - }, - .fifo_diff = { - .addr = 0x1b, - .mask = GENMASK(8, 0), - }, - .max_size = 512, - .th_wl = 1, - }, - .ts_settings = { - .timer_en = { - .addr = 0x50, - .mask = BIT(6), - }, - .decimator = { - .addr = 0x0a, - .mask = GENMASK(7, 6), - }, - .freq_fine = 0x4f, - .ts_sensitivity = 21701, - .ts_trim_coeff = 28212, - }, - .shub_settings = { - .page_mux = { - .addr = 0x01, - .mask = BIT(6), - }, - .master_en = { - .sec_page = true, - .addr = 0x14, - .mask = BIT(2), - }, - .pullup_en = { - .addr = 0x03, - .mask = BIT(6), - }, - .aux_sens = { - .addr = 0x14, - .mask = GENMASK(1, 0), - }, - .wr_once = { - .addr = 0x14, - .mask = BIT(6), - }, - .num_ext_dev = 3, - .shub_out = { - .sec_page = true, - .addr = 0x02, - }, - .slv0_addr = 0x15, - .dw_slv0_addr = 0x21, - .batch_en = BIT(3), - }, - .event_settings = { - .enable_reg = { - .addr = 0x50, - .mask = BIT(7), - }, - .wakeup_reg = { - .addr = 0x5b, - .mask = GENMASK(5, 0), - }, - .wakeup_src_reg = 0x45, - .wakeup_src_status_mask = BIT(3), - .wakeup_src_z_mask = BIT(0), - .wakeup_src_y_mask = BIT(1), - .wakeup_src_x_mask = BIT(2), - }, - }, - { - .reset = { - .addr = 0x12, - .mask = BIT(0), - }, - .boot = { - .addr = 0x12, - .mask = BIT(7), - }, - .bdu = { - .addr = 0x12, - .mask = BIT(6), - }, - .id = { - { - .hw_id = ST_LSM6DSO16IS_ID, - .name = ST_LSM6DSO16IS_DEV_NAME, - .wai = 0x22, - }, { - .hw_id = ST_ISM330IS_ID, - .name = ST_ISM330IS_DEV_NAME, - .wai = 0x22, - } - }, - .channels = { - [ST_LSM6DSX_ID_ACC] = { - .chan = st_lsm6ds0_acc_channels, - .len = ARRAY_SIZE(st_lsm6ds0_acc_channels), - }, - [ST_LSM6DSX_ID_GYRO] = { - .chan = st_lsm6dsx_gyro_channels, - .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels), - }, - }, - .odr_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_avl[6] = { 833000, 0x07 }, - .odr_len = 7, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(7, 4), - }, - .odr_avl[0] = { 12500, 0x01 }, - .odr_avl[1] = { 26000, 0x02 }, - .odr_avl[2] = { 52000, 0x03 }, - .odr_avl[3] = { 104000, 0x04 }, - .odr_avl[4] = { 208000, 0x05 }, - .odr_avl[5] = { 416000, 0x06 }, - .odr_avl[6] = { 833000, 0x07 }, - .odr_len = 7, - }, - }, - .fs_table = { - [ST_LSM6DSX_ID_ACC] = { - .reg = { - .addr = 0x10, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 }, - .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 }, - .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 }, - .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 }, - .fs_len = 4, - }, - [ST_LSM6DSX_ID_GYRO] = { - .reg = { - .addr = 0x11, - .mask = GENMASK(3, 2), - }, - .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 }, - .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 }, - .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 }, - .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 }, - .fs_len = 4, - }, - }, - .irq_config = { - .hla = { - .addr = 0x12, - .mask = BIT(5), - }, - .od = { - .addr = 0x12, - .mask = BIT(4), - }, - }, - .shub_settings = { - .page_mux = { - .addr = 0x01, - .mask = BIT(6), - }, - .master_en = { - .sec_page = true, - .addr = 0x14, - .mask = BIT(2), - }, - .pullup_en = { - .sec_page = true, - .addr = 0x14, - .mask = BIT(3), - }, - .aux_sens = { - .addr = 0x14, - .mask = GENMASK(1, 0), - }, - .wr_once = { - .addr = 0x14, - .mask = BIT(6), - }, - .num_ext_dev = 3, - .shub_out = { - .sec_page = true, - .addr = 0x02, - }, - .slv0_addr = 0x15, - .dw_slv0_addr = 0x21, - }, - }, -}; - -int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable) -{ - const struct st_lsm6dsx_shub_settings *hub_settings; - unsigned int data; - int err; - - hub_settings = &hw->settings->shub_settings; - data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->page_mux.mask); - err = regmap_update_bits(hw->regmap, hub_settings->page_mux.addr, - hub_settings->page_mux.mask, data); - usleep_range(100, 150); - - return err; -} - -static int st_lsm6dsx_check_whoami(struct st_lsm6dsx_hw *hw, int id, - const char **name) -{ - int err, i, j, data; - - for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_sensor_settings); i++) { - for (j = 0; j < ST_LSM6DSX_MAX_ID; j++) { - if (st_lsm6dsx_sensor_settings[i].id[j].name && - id == st_lsm6dsx_sensor_settings[i].id[j].hw_id) - break; - } - if (j < ST_LSM6DSX_MAX_ID) - break; - } - - if (i == ARRAY_SIZE(st_lsm6dsx_sensor_settings)) { - dev_err(hw->dev, "unsupported hw id [%02x]\n", id); - return -ENODEV; - } - - err = regmap_read(hw->regmap, ST_LSM6DSX_REG_WHOAMI_ADDR, &data); - if (err < 0) { - dev_err(hw->dev, "failed to read whoami register\n"); - return err; - } - - if (data != st_lsm6dsx_sensor_settings[i].id[j].wai) { - dev_err(hw->dev, "unsupported whoami [%02x]\n", data); - return -ENODEV; - } - - *name = st_lsm6dsx_sensor_settings[i].id[j].name; - hw->settings = &st_lsm6dsx_sensor_settings[i]; - - return 0; -} - -static int st_lsm6dsx_set_full_scale(struct st_lsm6dsx_sensor *sensor, - u32 gain) -{ - const struct st_lsm6dsx_fs_table_entry *fs_table; - unsigned int data; - int i, err; - - fs_table = &sensor->hw->settings->fs_table[sensor->id]; - for (i = 0; i < fs_table->fs_len; i++) { - if (fs_table->fs_avl[i].gain == gain) - break; - } - - if (i == fs_table->fs_len) - return -EINVAL; - - data = ST_LSM6DSX_SHIFT_VAL(fs_table->fs_avl[i].val, - fs_table->reg.mask); - err = st_lsm6dsx_update_bits_locked(sensor->hw, fs_table->reg.addr, - fs_table->reg.mask, data); - if (err < 0) - return err; - - sensor->gain = gain; - - return 0; -} - -int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val) -{ - const struct st_lsm6dsx_odr_table_entry *odr_table; - int i; - - odr_table = &sensor->hw->settings->odr_table[sensor->id]; - for (i = 0; i < odr_table->odr_len; i++) { - /* - * ext devices can run at different odr respect to - * accel sensor - */ - if (odr_table->odr_avl[i].milli_hz >= odr) - break; - } - - if (i == odr_table->odr_len) - return -EINVAL; - - *val = odr_table->odr_avl[i].val; - return odr_table->odr_avl[i].milli_hz; -} - -static int -st_lsm6dsx_check_odr_dependency(struct st_lsm6dsx_hw *hw, u32 odr, - enum st_lsm6dsx_sensor_id id) -{ - struct st_lsm6dsx_sensor *ref = iio_priv(hw->iio_devs[id]); - - if (odr > 0) { - if (hw->enable_mask & BIT(id)) - return max_t(u32, ref->odr, odr); - else - return odr; - } else { - return (hw->enable_mask & BIT(id)) ? ref->odr : 0; - } -} - -static int -st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u32 req_odr) -{ - struct st_lsm6dsx_sensor *ref_sensor = sensor; - struct st_lsm6dsx_hw *hw = sensor->hw; - const struct st_lsm6dsx_reg *reg; - unsigned int data; - u8 val = 0; - int err; - - switch (sensor->id) { - case ST_LSM6DSX_ID_GYRO: - break; - case ST_LSM6DSX_ID_EXT0: - case ST_LSM6DSX_ID_EXT1: - case ST_LSM6DSX_ID_EXT2: - case ST_LSM6DSX_ID_ACC: { - u32 odr; - int i; - - /* - * i2c embedded controller relies on the accelerometer sensor as - * bus read/write trigger so we need to enable accel device - * at odr = max(accel_odr, ext_odr) in order to properly - * communicate with i2c slave devices - */ - ref_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); - for (i = ST_LSM6DSX_ID_ACC; i < ST_LSM6DSX_ID_MAX; i++) { - if (!hw->iio_devs[i] || i == sensor->id) - continue; - - odr = st_lsm6dsx_check_odr_dependency(hw, req_odr, i); - if (odr != req_odr) - /* device already configured */ - return 0; - } - break; - } - default: /* should never occur */ - return -EINVAL; - } - - if (req_odr > 0) { - err = st_lsm6dsx_check_odr(ref_sensor, req_odr, &val); - if (err < 0) - return err; - } - - reg = &hw->settings->odr_table[ref_sensor->id].reg; - data = ST_LSM6DSX_SHIFT_VAL(val, reg->mask); - return st_lsm6dsx_update_bits_locked(hw, reg->addr, reg->mask, data); -} - -static int -__st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, - bool enable) -{ - struct st_lsm6dsx_hw *hw = sensor->hw; - u32 odr = enable ? sensor->odr : 0; - int err; - - err = st_lsm6dsx_set_odr(sensor, odr); - if (err < 0) - return err; - - if (enable) - hw->enable_mask |= BIT(sensor->id); - else - hw->enable_mask &= ~BIT(sensor->id); - - return 0; -} - -static int -st_lsm6dsx_check_events(struct st_lsm6dsx_sensor *sensor, bool enable) -{ - struct st_lsm6dsx_hw *hw = sensor->hw; - - if (sensor->id == ST_LSM6DSX_ID_GYRO || enable) - return 0; - - return hw->enable_event; -} - -int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, - bool enable) -{ - if (st_lsm6dsx_check_events(sensor, enable)) - return 0; - - return __st_lsm6dsx_sensor_set_enable(sensor, enable); -} - -static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor, - u8 addr, int *val) -{ - struct st_lsm6dsx_hw *hw = sensor->hw; - int err, delay; - __le16 data; - - err = st_lsm6dsx_sensor_set_enable(sensor, true); - if (err < 0) - return err; - - /* - * we need to wait for sensor settling time before - * reading data in order to avoid corrupted samples - */ - delay = 1000000000 / sensor->odr; - usleep_range(3 * delay, 4 * delay); - - err = st_lsm6dsx_read_locked(hw, addr, &data, sizeof(data)); - if (err < 0) - return err; - - if (!hw->enable_event) { - err = st_lsm6dsx_sensor_set_enable(sensor, false); - if (err < 0) - return err; - } - - *val = (s16)le16_to_cpu(data); - - return IIO_VAL_INT; -} - -static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev, - struct iio_chan_spec const *ch, - int *val, int *val2, long mask) -{ - struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - int ret; - - switch (mask) { - case IIO_CHAN_INFO_RAW: - if (!iio_device_claim_direct(iio_dev)) - return -EBUSY; - - ret = st_lsm6dsx_read_oneshot(sensor, ch->address, val); - iio_device_release_direct(iio_dev); - break; - case IIO_CHAN_INFO_SAMP_FREQ: - *val = sensor->odr / 1000; - *val2 = (sensor->odr % 1000) * 1000; - ret = IIO_VAL_INT_PLUS_MICRO; - break; - case IIO_CHAN_INFO_SCALE: - *val = 0; - *val2 = sensor->gain; - ret = IIO_VAL_INT_PLUS_NANO; - break; - default: - ret = -EINVAL; - break; - } - - return ret; -} - -static int st_lsm6dsx_write_raw(struct iio_dev *iio_dev, - struct iio_chan_spec const *chan, - int val, int val2, long mask) -{ - struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - int err = 0; - - if (!iio_device_claim_direct(iio_dev)) - return -EBUSY; - - switch (mask) { - case IIO_CHAN_INFO_SCALE: - err = st_lsm6dsx_set_full_scale(sensor, val2); - break; - case IIO_CHAN_INFO_SAMP_FREQ: { - u8 data; - - val = val * 1000 + val2 / 1000; - val = st_lsm6dsx_check_odr(sensor, val, &data); - if (val < 0) { - err = val; - } else { - sensor->odr = val; - sensor->hwfifo_odr_mHz = val; - } - break; - } - default: - err = -EINVAL; - break; - } - - iio_device_release_direct(iio_dev); - - return err; -} - -static int st_lsm6dsx_event_setup(struct st_lsm6dsx_hw *hw, bool state) -{ - const struct st_lsm6dsx_reg *reg; - unsigned int data; - int err; - - if (!hw->settings->irq_config.irq1_func.addr) - return -ENOTSUPP; - - reg = &hw->settings->event_settings.enable_reg; - if (reg->addr) { - data = ST_LSM6DSX_SHIFT_VAL(state, reg->mask); - err = st_lsm6dsx_update_bits_locked(hw, reg->addr, - reg->mask, data); - if (err < 0) - return err; - } - - /* Enable wakeup interrupt */ - data = ST_LSM6DSX_SHIFT_VAL(state, hw->irq_routing->mask); - return st_lsm6dsx_update_bits_locked(hw, hw->irq_routing->addr, - hw->irq_routing->mask, data); -} - -static int st_lsm6dsx_read_event(struct iio_dev *iio_dev, - const struct iio_chan_spec *chan, - enum iio_event_type type, - enum iio_event_direction dir, - enum iio_event_info info, - int *val, int *val2) -{ - struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - struct st_lsm6dsx_hw *hw = sensor->hw; - - if (type != IIO_EV_TYPE_THRESH) - return -EINVAL; - - *val2 = 0; - *val = hw->event_threshold; - - return IIO_VAL_INT; -} - -static int -st_lsm6dsx_write_event(struct iio_dev *iio_dev, - const struct iio_chan_spec *chan, - enum iio_event_type type, - enum iio_event_direction dir, - enum iio_event_info info, - int val, int val2) -{ - struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - struct st_lsm6dsx_hw *hw = sensor->hw; - const struct st_lsm6dsx_reg *reg; - unsigned int data; - int err; - - if (type != IIO_EV_TYPE_THRESH) - return -EINVAL; - - if (val < 0 || val > 31) - return -EINVAL; - - reg = &hw->settings->event_settings.wakeup_reg; - data = ST_LSM6DSX_SHIFT_VAL(val, reg->mask); - err = st_lsm6dsx_update_bits_locked(hw, reg->addr, - reg->mask, data); - if (err < 0) - return -EINVAL; - - hw->event_threshold = val; - - return 0; -} - -static int -st_lsm6dsx_read_event_config(struct iio_dev *iio_dev, - const struct iio_chan_spec *chan, - enum iio_event_type type, - enum iio_event_direction dir) -{ - struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - struct st_lsm6dsx_hw *hw = sensor->hw; - - if (type != IIO_EV_TYPE_THRESH) - return -EINVAL; - - return !!(hw->enable_event & BIT(chan->channel2)); -} - -static int -st_lsm6dsx_write_event_config(struct iio_dev *iio_dev, - const struct iio_chan_spec *chan, - enum iio_event_type type, - enum iio_event_direction dir, bool state) -{ - struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - struct st_lsm6dsx_hw *hw = sensor->hw; - u8 enable_event; - int err; - - if (type != IIO_EV_TYPE_THRESH) - return -EINVAL; - - if (state) { - enable_event = hw->enable_event | BIT(chan->channel2); - - /* do not enable events if they are already enabled */ - if (hw->enable_event) - goto out; - } else { - enable_event = hw->enable_event & ~BIT(chan->channel2); - - /* only turn off sensor if no events is enabled */ - if (enable_event) - goto out; - } - - /* stop here if no changes have been made */ - if (hw->enable_event == enable_event) - return 0; - - err = st_lsm6dsx_event_setup(hw, state); - if (err < 0) - return err; - - mutex_lock(&hw->conf_lock); - if (enable_event || !(hw->fifo_mask & BIT(sensor->id))) - err = __st_lsm6dsx_sensor_set_enable(sensor, state); - mutex_unlock(&hw->conf_lock); - if (err < 0) - return err; - -out: - hw->enable_event = enable_event; - - return 0; -} - -int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val) -{ - struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - struct st_lsm6dsx_hw *hw = sensor->hw; - int err; - - val = clamp_val(val, 1, hw->settings->fifo_ops.max_size); - - mutex_lock(&hw->conf_lock); - - err = st_lsm6dsx_update_watermark(sensor, val); - - mutex_unlock(&hw->conf_lock); - - if (err < 0) - return err; - - sensor->watermark = val; - - return 0; -} - -static ssize_t -st_lsm6dsx_sysfs_sampling_frequency_avail(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - struct st_lsm6dsx_sensor *sensor = iio_priv(dev_to_iio_dev(dev)); - const struct st_lsm6dsx_odr_table_entry *odr_table; - int i, len = 0; - - odr_table = &sensor->hw->settings->odr_table[sensor->id]; - for (i = 0; i < odr_table->odr_len; i++) - len += sysfs_emit_at(buf, len, "%d.%03d%c", - odr_table->odr_avl[i].milli_hz / 1000, - odr_table->odr_avl[i].milli_hz % 1000, - (i == odr_table->odr_len - 1) ? '\n' : ' '); - - return len; -} - -static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - struct st_lsm6dsx_sensor *sensor = iio_priv(dev_to_iio_dev(dev)); - const struct st_lsm6dsx_fs_table_entry *fs_table; - struct st_lsm6dsx_hw *hw = sensor->hw; - int i, len = 0; - - fs_table = &hw->settings->fs_table[sensor->id]; - for (i = 0; i < fs_table->fs_len; i++) - len += sysfs_emit_at(buf, len, "0.%09u%c", - fs_table->fs_avl[i].gain, - (i == fs_table->fs_len - 1) ? '\n' : ' '); - - return len; -} - -static int st_lsm6dsx_write_raw_get_fmt(struct iio_dev *indio_dev, - struct iio_chan_spec const *chan, - long mask) -{ - switch (mask) { - case IIO_CHAN_INFO_SCALE: - switch (chan->type) { - case IIO_ANGL_VEL: - case IIO_ACCEL: - return IIO_VAL_INT_PLUS_NANO; - default: - return IIO_VAL_INT_PLUS_MICRO; - } - default: - return IIO_VAL_INT_PLUS_MICRO; - } -} - -static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_sysfs_sampling_frequency_avail); -static IIO_DEVICE_ATTR(in_accel_scale_available, 0444, - st_lsm6dsx_sysfs_scale_avail, NULL, 0); -static IIO_DEVICE_ATTR(in_anglvel_scale_available, 0444, - st_lsm6dsx_sysfs_scale_avail, NULL, 0); - -static struct attribute *st_lsm6dsx_acc_attributes[] = { - &iio_dev_attr_sampling_frequency_available.dev_attr.attr, - &iio_dev_attr_in_accel_scale_available.dev_attr.attr, - NULL, -}; - -static const struct attribute_group st_lsm6dsx_acc_attribute_group = { - .attrs = st_lsm6dsx_acc_attributes, -}; - -static const struct iio_info st_lsm6dsx_acc_info = { - .attrs = &st_lsm6dsx_acc_attribute_group, - .read_raw = st_lsm6dsx_read_raw, - .write_raw = st_lsm6dsx_write_raw, - .read_event_value = st_lsm6dsx_read_event, - .write_event_value = st_lsm6dsx_write_event, - .read_event_config = st_lsm6dsx_read_event_config, - .write_event_config = st_lsm6dsx_write_event_config, - .hwfifo_set_watermark = st_lsm6dsx_set_watermark, - .write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt, -}; - -static struct attribute *st_lsm6dsx_gyro_attributes[] = { - &iio_dev_attr_sampling_frequency_available.dev_attr.attr, - &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, - NULL, -}; - -static const struct attribute_group st_lsm6dsx_gyro_attribute_group = { - .attrs = st_lsm6dsx_gyro_attributes, -}; - -static const struct iio_info st_lsm6dsx_gyro_info = { - .attrs = &st_lsm6dsx_gyro_attribute_group, - .read_raw = st_lsm6dsx_read_raw, - .write_raw = st_lsm6dsx_write_raw, - .hwfifo_set_watermark = st_lsm6dsx_set_watermark, - .write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt, -}; - -static int -st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, - const struct st_lsm6dsx_reg **drdy_reg) -{ - struct device *dev = hw->dev; - const struct st_sensors_platform_data *pdata = dev_get_platdata(dev); - int err = 0, drdy_pin; - - if (device_property_read_u32(dev, "st,drdy-int-pin", &drdy_pin) < 0) - drdy_pin = pdata ? pdata->drdy_int_pin : 1; - - switch (drdy_pin) { - case 1: - hw->irq_routing = &hw->settings->irq_config.irq1_func; - *drdy_reg = &hw->settings->irq_config.irq1; - break; - case 2: - hw->irq_routing = &hw->settings->irq_config.irq2_func; - *drdy_reg = &hw->settings->irq_config.irq2; - break; - default: - dev_err(hw->dev, "unsupported data ready pin\n"); - err = -EINVAL; - break; - } - - return err; -} - -static int st_lsm6dsx_init_shub(struct st_lsm6dsx_hw *hw) -{ - const struct st_lsm6dsx_shub_settings *hub_settings; - struct device *dev = hw->dev; - const struct st_sensors_platform_data *pdata = dev_get_platdata(dev); - unsigned int data; - int err = 0; - - hub_settings = &hw->settings->shub_settings; - - if (device_property_read_bool(dev, "st,pullups") || - (pdata && pdata->pullups)) { - if (hub_settings->pullup_en.sec_page) { - err = st_lsm6dsx_set_page(hw, true); - if (err < 0) - return err; - } - - data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->pullup_en.mask); - err = regmap_update_bits(hw->regmap, - hub_settings->pullup_en.addr, - hub_settings->pullup_en.mask, data); - - if (hub_settings->pullup_en.sec_page) - st_lsm6dsx_set_page(hw, false); - - if (err < 0) - return err; - } - - if (hub_settings->aux_sens.addr) { - /* configure aux sensors */ - err = st_lsm6dsx_set_page(hw, true); - if (err < 0) - return err; - - data = ST_LSM6DSX_SHIFT_VAL(3, hub_settings->aux_sens.mask); - err = regmap_update_bits(hw->regmap, - hub_settings->aux_sens.addr, - hub_settings->aux_sens.mask, data); - - st_lsm6dsx_set_page(hw, false); - - if (err < 0) - return err; - } - - if (hub_settings->emb_func.addr) { - data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->emb_func.mask); - err = regmap_update_bits(hw->regmap, - hub_settings->emb_func.addr, - hub_settings->emb_func.mask, data); - } - - return err; -} - -static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw) -{ - const struct st_lsm6dsx_hw_ts_settings *ts_settings; - int err, val; - - ts_settings = &hw->settings->ts_settings; - /* enable hw timestamp generation if necessary */ - if (ts_settings->timer_en.addr) { - val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->timer_en.mask); - err = regmap_update_bits(hw->regmap, - ts_settings->timer_en.addr, - ts_settings->timer_en.mask, val); - if (err < 0) - return err; - } - - /* enable high resolution for hw ts timer if necessary */ - if (ts_settings->hr_timer.addr) { - val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->hr_timer.mask); - err = regmap_update_bits(hw->regmap, - ts_settings->hr_timer.addr, - ts_settings->hr_timer.mask, val); - if (err < 0) - return err; - } - - /* enable ts queueing in FIFO if necessary */ - if (ts_settings->fifo_en.addr) { - val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->fifo_en.mask); - err = regmap_update_bits(hw->regmap, - ts_settings->fifo_en.addr, - ts_settings->fifo_en.mask, val); - if (err < 0) - return err; - } - - /* calibrate timestamp sensitivity */ - hw->ts_gain = ts_settings->ts_sensitivity; - if (ts_settings->freq_fine) { - err = regmap_read(hw->regmap, ts_settings->freq_fine, &val); - if (err < 0) - return err; - - hw->ts_gain -= ((s8)val * ts_settings->ts_trim_coeff) / 1000; - } - - return 0; -} - -static int st_lsm6dsx_reset_device(struct st_lsm6dsx_hw *hw) -{ - const struct st_lsm6dsx_reg *reg; - int err; - - /* - * flush hw FIFO before device reset in order to avoid - * possible races on interrupt line 1. If the first interrupt - * line is asserted during hw reset the device will work in - * I3C-only mode (if it is supported) - */ - err = st_lsm6dsx_flush_fifo(hw); - if (err < 0 && err != -ENOTSUPP) - return err; - - /* device sw reset */ - reg = &hw->settings->reset; - err = regmap_update_bits(hw->regmap, reg->addr, reg->mask, - ST_LSM6DSX_SHIFT_VAL(1, reg->mask)); - if (err < 0) - return err; - - msleep(50); - - /* reload trimming parameter */ - reg = &hw->settings->boot; - err = regmap_update_bits(hw->regmap, reg->addr, reg->mask, - ST_LSM6DSX_SHIFT_VAL(1, reg->mask)); - if (err < 0) - return err; - - msleep(50); - - return 0; -} - -static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw) -{ - const struct st_lsm6dsx_reg *reg; - int err; - - err = st_lsm6dsx_reset_device(hw); - if (err < 0) - return err; - - /* enable Block Data Update */ - reg = &hw->settings->bdu; - err = regmap_update_bits(hw->regmap, reg->addr, reg->mask, - ST_LSM6DSX_SHIFT_VAL(1, reg->mask)); - if (err < 0) - return err; - - /* enable FIFO watermak interrupt */ - err = st_lsm6dsx_get_drdy_reg(hw, ®); - if (err < 0) - return err; - - err = regmap_update_bits(hw->regmap, reg->addr, reg->mask, - ST_LSM6DSX_SHIFT_VAL(1, reg->mask)); - if (err < 0) - return err; - - /* enable Latched interrupts for device events */ - if (hw->settings->irq_config.lir.addr) { - reg = &hw->settings->irq_config.lir; - err = regmap_update_bits(hw->regmap, reg->addr, reg->mask, - ST_LSM6DSX_SHIFT_VAL(1, reg->mask)); - if (err < 0) - return err; - - /* enable clear on read for latched interrupts */ - if (hw->settings->irq_config.clear_on_read.addr) { - reg = &hw->settings->irq_config.clear_on_read; - err = regmap_update_bits(hw->regmap, - reg->addr, reg->mask, - ST_LSM6DSX_SHIFT_VAL(1, reg->mask)); - if (err < 0) - return err; - } - } - - /* enable drdy-mas if available */ - if (hw->settings->drdy_mask.addr) { - reg = &hw->settings->drdy_mask; - err = regmap_update_bits(hw->regmap, reg->addr, reg->mask, - ST_LSM6DSX_SHIFT_VAL(1, reg->mask)); - if (err < 0) - return err; - } - - err = st_lsm6dsx_init_shub(hw); - if (err < 0) - return err; - - return st_lsm6dsx_init_hw_timer(hw); -} - -static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw, - enum st_lsm6dsx_sensor_id id, - const char *name) -{ - struct st_lsm6dsx_sensor *sensor; - struct iio_dev *iio_dev; - - iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor)); - if (!iio_dev) - return NULL; - - iio_dev->modes = INDIO_DIRECT_MODE; - iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks; - iio_dev->channels = hw->settings->channels[id].chan; - iio_dev->num_channels = hw->settings->channels[id].len; - - sensor = iio_priv(iio_dev); - sensor->id = id; - sensor->hw = hw; - sensor->odr = hw->settings->odr_table[id].odr_avl[0].milli_hz; - sensor->hwfifo_odr_mHz = sensor->odr; - sensor->gain = hw->settings->fs_table[id].fs_avl[0].gain; - sensor->watermark = 1; - - switch (id) { - case ST_LSM6DSX_ID_ACC: - iio_dev->info = &st_lsm6dsx_acc_info; - scnprintf(sensor->name, sizeof(sensor->name), "%s_accel", - name); - break; - case ST_LSM6DSX_ID_GYRO: - iio_dev->info = &st_lsm6dsx_gyro_info; - scnprintf(sensor->name, sizeof(sensor->name), "%s_gyro", - name); - break; - default: - return NULL; - } - iio_dev->name = sensor->name; - - return iio_dev; -} - -static bool -st_lsm6dsx_report_motion_event(struct st_lsm6dsx_hw *hw) -{ - const struct st_lsm6dsx_event_settings *event_settings; - int err, data; - s64 timestamp; - - if (!hw->enable_event) - return false; - - event_settings = &hw->settings->event_settings; - err = st_lsm6dsx_read_locked(hw, event_settings->wakeup_src_reg, - &data, sizeof(data)); - if (err < 0) - return false; - - timestamp = iio_get_time_ns(hw->iio_devs[ST_LSM6DSX_ID_ACC]); - if ((data & hw->settings->event_settings.wakeup_src_z_mask) && - (hw->enable_event & BIT(IIO_MOD_Z))) - iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC], - IIO_MOD_EVENT_CODE(IIO_ACCEL, - 0, - IIO_MOD_Z, - IIO_EV_TYPE_THRESH, - IIO_EV_DIR_EITHER), - timestamp); - - if ((data & hw->settings->event_settings.wakeup_src_y_mask) && - (hw->enable_event & BIT(IIO_MOD_Y))) - iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC], - IIO_MOD_EVENT_CODE(IIO_ACCEL, - 0, - IIO_MOD_Y, - IIO_EV_TYPE_THRESH, - IIO_EV_DIR_EITHER), - timestamp); - - if ((data & hw->settings->event_settings.wakeup_src_x_mask) && - (hw->enable_event & BIT(IIO_MOD_X))) - iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC], - IIO_MOD_EVENT_CODE(IIO_ACCEL, - 0, - IIO_MOD_X, - IIO_EV_TYPE_THRESH, - IIO_EV_DIR_EITHER), - timestamp); - - return data & event_settings->wakeup_src_status_mask; -} - -static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private) -{ - struct st_lsm6dsx_hw *hw = private; - int fifo_len = 0, len; - bool event; - - event = st_lsm6dsx_report_motion_event(hw); - - if (!hw->settings->fifo_ops.read_fifo) - return event ? IRQ_HANDLED : IRQ_NONE; - - /* - * If we are using edge IRQs, new samples can arrive while - * processing current interrupt since there are no hw - * guarantees the irq line stays "low" long enough to properly - * detect the new interrupt. In this case the new sample will - * be missed. - * Polling FIFO status register allow us to read new - * samples even if the interrupt arrives while processing - * previous data and the timeslot where the line is "low" is - * too short to be properly detected. - */ - do { - mutex_lock(&hw->fifo_lock); - len = hw->settings->fifo_ops.read_fifo(hw); - mutex_unlock(&hw->fifo_lock); - - if (len > 0) - fifo_len += len; - } while (len > 0); - - return fifo_len || event ? IRQ_HANDLED : IRQ_NONE; -} - -static irqreturn_t st_lsm6dsx_sw_trigger_handler_thread(int irq, - void *private) -{ - struct iio_poll_func *pf = private; - struct iio_dev *iio_dev = pf->indio_dev; - struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - struct st_lsm6dsx_hw *hw = sensor->hw; - - if (sensor->id == ST_LSM6DSX_ID_EXT0 || - sensor->id == ST_LSM6DSX_ID_EXT1 || - sensor->id == ST_LSM6DSX_ID_EXT2) - st_lsm6dsx_shub_read_output(hw, - (u8 *)hw->scan[sensor->id].channels, - sizeof(hw->scan[sensor->id].channels)); - else - st_lsm6dsx_read_locked(hw, iio_dev->channels[0].address, - hw->scan[sensor->id].channels, - sizeof(hw->scan[sensor->id].channels)); - - iio_push_to_buffers_with_timestamp(iio_dev, &hw->scan[sensor->id], - iio_get_time_ns(iio_dev)); - iio_trigger_notify_done(iio_dev->trig); - - return IRQ_HANDLED; -} - -static int st_lsm6dsx_irq_setup(struct st_lsm6dsx_hw *hw) -{ - const struct st_lsm6dsx_reg *reg; - struct device *dev = hw->dev; - const struct st_sensors_platform_data *pdata = dev_get_platdata(dev); - unsigned long irq_type; - bool irq_active_low; - int err; - - irq_type = irq_get_trigger_type(hw->irq); - switch (irq_type) { - case IRQF_TRIGGER_HIGH: - case IRQF_TRIGGER_RISING: - irq_active_low = false; - break; - case IRQF_TRIGGER_LOW: - case IRQF_TRIGGER_FALLING: - irq_active_low = true; - break; - default: - dev_info(hw->dev, "mode %lx unsupported\n", irq_type); - return -EINVAL; - } - - reg = &hw->settings->irq_config.hla; - err = regmap_update_bits(hw->regmap, reg->addr, reg->mask, - ST_LSM6DSX_SHIFT_VAL(irq_active_low, - reg->mask)); - if (err < 0) - return err; - - if (device_property_read_bool(dev, "drive-open-drain") || - (pdata && pdata->open_drain)) { - reg = &hw->settings->irq_config.od; - err = regmap_update_bits(hw->regmap, reg->addr, reg->mask, - ST_LSM6DSX_SHIFT_VAL(1, reg->mask)); - if (err < 0) - return err; - - irq_type |= IRQF_SHARED; - } - - err = devm_request_threaded_irq(hw->dev, hw->irq, - NULL, - st_lsm6dsx_handler_thread, - irq_type | IRQF_ONESHOT, - "lsm6dsx", hw); - if (err) { - dev_err(hw->dev, "failed to request trigger irq %d\n", - hw->irq); - return err; - } - - return 0; -} - -static int st_lsm6dsx_sw_buffer_preenable(struct iio_dev *iio_dev) -{ - struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - - return st_lsm6dsx_device_set_enable(sensor, true); -} - -static int st_lsm6dsx_sw_buffer_postdisable(struct iio_dev *iio_dev) -{ - struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - - return st_lsm6dsx_device_set_enable(sensor, false); -} - -static const struct iio_buffer_setup_ops st_lsm6dsx_sw_buffer_ops = { - .preenable = st_lsm6dsx_sw_buffer_preenable, - .postdisable = st_lsm6dsx_sw_buffer_postdisable, -}; - -static int st_lsm6dsx_sw_buffers_setup(struct st_lsm6dsx_hw *hw) -{ - int i; - - for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { - int err; - - if (!hw->iio_devs[i]) - continue; - - err = devm_iio_triggered_buffer_setup(hw->dev, - hw->iio_devs[i], NULL, - st_lsm6dsx_sw_trigger_handler_thread, - &st_lsm6dsx_sw_buffer_ops); - if (err) - return err; - } - - return 0; -} - -static int st_lsm6dsx_init_regulators(struct device *dev) -{ - /* vdd-vddio power regulators */ - static const char * const regulators[] = { "vdd", "vddio" }; - int err; - - err = devm_regulator_bulk_get_enable(dev, ARRAY_SIZE(regulators), - regulators); - if (err) - return dev_err_probe(dev, err, "failed to enable regulators\n"); - - msleep(50); - - return 0; -} - -int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, - struct regmap *regmap) -{ - const struct st_sensors_platform_data *pdata = dev_get_platdata(dev); - const struct st_lsm6dsx_shub_settings *hub_settings; - struct st_lsm6dsx_hw *hw; - const char *name = NULL; - int i, err; - - hw = devm_kzalloc(dev, sizeof(*hw), GFP_KERNEL); - if (!hw) - return -ENOMEM; - - dev_set_drvdata(dev, hw); - - mutex_init(&hw->fifo_lock); - mutex_init(&hw->conf_lock); - mutex_init(&hw->page_lock); - - err = st_lsm6dsx_init_regulators(dev); - if (err) - return err; - - hw->buff = devm_kzalloc(dev, ST_LSM6DSX_BUFF_SIZE, GFP_KERNEL); - if (!hw->buff) - return -ENOMEM; - - hw->dev = dev; - hw->irq = irq; - hw->regmap = regmap; - - err = st_lsm6dsx_check_whoami(hw, hw_id, &name); - if (err < 0) - return err; - - for (i = 0; i < ST_LSM6DSX_ID_EXT0; i++) { - hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name); - if (!hw->iio_devs[i]) - return -ENOMEM; - } - - err = st_lsm6dsx_init_device(hw); - if (err < 0) - return err; - - hub_settings = &hw->settings->shub_settings; - if (hub_settings->master_en.addr && - !device_property_read_bool(dev, "st,disable-sensor-hub")) { - err = st_lsm6dsx_shub_probe(hw, name); - if (err < 0) - return err; - } - - if (hw->irq > 0) { - err = st_lsm6dsx_irq_setup(hw); - if (err < 0) - return err; - - err = st_lsm6dsx_fifo_setup(hw); - if (err < 0) - return err; - } - - if (!hw->irq || !hw->settings->fifo_ops.read_fifo) { - /* - * Rely on sw triggers (e.g. hr-timers) if irq pin is not - * connected of if the device does not support HW FIFO - */ - err = st_lsm6dsx_sw_buffers_setup(hw); - if (err) - return err; - } - - if (!iio_read_acpi_mount_matrix(hw->dev, &hw->orientation, "ROTM")) { - err = iio_read_mount_matrix(hw->dev, &hw->orientation); - if (err) - return err; - } - - for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { - if (!hw->iio_devs[i]) - continue; - - err = devm_iio_device_register(hw->dev, hw->iio_devs[i]); - if (err) - return err; - } - - if (device_property_read_bool(dev, "wakeup-source") || - (pdata && pdata->wakeup_source)) { - err = devm_device_init_wakeup(dev); - if (err) - return dev_err_probe(dev, err, "Failed to init wakeup\n"); - } - - return 0; -} -EXPORT_SYMBOL_NS(st_lsm6dsx_probe, "IIO_LSM6DSX"); - -static int st_lsm6dsx_suspend(struct device *dev) -{ - struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev); - struct st_lsm6dsx_sensor *sensor; - int i, err = 0; - - for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { - if (!hw->iio_devs[i]) - continue; - - sensor = iio_priv(hw->iio_devs[i]); - if (!(hw->enable_mask & BIT(sensor->id))) - continue; - - if (device_may_wakeup(dev) && - sensor->id == ST_LSM6DSX_ID_ACC && hw->enable_event) { - /* Enable wake from IRQ */ - enable_irq_wake(hw->irq); - continue; - } - - err = st_lsm6dsx_device_set_enable(sensor, false); - if (err < 0) - return err; - - hw->suspend_mask |= BIT(sensor->id); - } - - if (hw->fifo_mask) - err = st_lsm6dsx_flush_fifo(hw); - - return err; -} - -static int st_lsm6dsx_resume(struct device *dev) -{ - struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev); - struct st_lsm6dsx_sensor *sensor; - int i, err = 0; - - for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { - if (!hw->iio_devs[i]) - continue; - - sensor = iio_priv(hw->iio_devs[i]); - if (device_may_wakeup(dev) && - sensor->id == ST_LSM6DSX_ID_ACC && hw->enable_event) - disable_irq_wake(hw->irq); - - if (!(hw->suspend_mask & BIT(sensor->id))) - continue; - - err = st_lsm6dsx_device_set_enable(sensor, true); - if (err < 0) - return err; - - hw->suspend_mask &= ~BIT(sensor->id); - } - - if (hw->fifo_mask) - err = st_lsm6dsx_resume_fifo(hw); - - return err; -} - -EXPORT_NS_SIMPLE_DEV_PM_OPS(st_lsm6dsx_pm_ops, st_lsm6dsx_suspend, - st_lsm6dsx_resume, IIO_LSM6DSX); - -MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@st.com>"); -MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); -MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx driver"); -MODULE_LICENSE("GPL v2"); |