1 /* SPDX-License-Identifier: GPL-2.0-only */
3 * STMicroelectronics st_lsm6dsx sensor driver
5 * Copyright 2016 STMicroelectronics Inc.
7 * Lorenzo Bianconi <lorenzo.bianconi@st.com>
8 * Denis Ciocca <denis.ciocca@st.com>
14 #include <linux/device.h>
15 #include <linux/iio/iio.h>
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"
32 enum st_lsm6dsx_hw_id {
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 + \
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))
62 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \
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, \
76 .endianness = IIO_LE, \
78 .event_spec = &st_lsm6dsx_event, \
79 .num_event_specs = 1, \
82 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
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, \
96 .endianness = IIO_LE, \
100 struct st_lsm6dsx_reg {
105 struct st_lsm6dsx_sensor;
106 struct st_lsm6dsx_hw;
108 struct st_lsm6dsx_odr {
113 #define ST_LSM6DSX_ODR_LIST_SIZE 6
114 struct st_lsm6dsx_odr_table_entry {
115 struct st_lsm6dsx_reg reg;
117 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
121 struct st_lsm6dsx_fs {
126 #define ST_LSM6DSX_FS_LIST_SIZE 4
127 struct st_lsm6dsx_fs_table_entry {
128 struct st_lsm6dsx_reg reg;
130 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
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.
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);
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.
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;
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.
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;
196 struct st_lsm6dsx_event_settings {
197 struct st_lsm6dsx_reg enable_reg;
198 struct st_lsm6dsx_reg wakeup_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;
206 enum st_lsm6dsx_ext_sensor_id {
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.
223 struct st_lsm6dsx_ext_dev_settings {
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;
234 struct st_lsm6dsx_reg reg;
238 struct st_lsm6dsx_reg off_canc;
239 struct st_lsm6dsx_reg bdu;
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.
265 struct st_lsm6dsx_settings {
267 struct st_lsm6dsx_reg reset;
268 struct st_lsm6dsx_reg boot;
269 struct st_lsm6dsx_reg bdu;
272 enum st_lsm6dsx_hw_id hw_id;
274 } id[ST_LSM6DSX_MAX_ID];
276 const struct iio_chan_spec *chan;
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;
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;
300 enum st_lsm6dsx_sensor_id {
309 enum st_lsm6dsx_fifo_mode {
310 ST_LSM6DSX_FIFO_BYPASS = 0x0,
311 ST_LSM6DSX_FIFO_CONT = 0x6,
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
327 struct st_lsm6dsx_sensor {
329 enum st_lsm6dsx_sensor_id id;
330 struct st_lsm6dsx_hw *hw;
341 const struct st_lsm6dsx_ext_dev_settings *settings;
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.
367 struct st_lsm6dsx_hw {
369 struct regmap *regmap;
372 struct mutex fifo_lock;
373 struct mutex conf_lock;
374 struct mutex page_lock;
376 enum st_lsm6dsx_fifo_mode fifo_mode;
383 const struct st_lsm6dsx_reg *irq_routing;
389 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
391 const struct st_lsm6dsx_settings *settings;
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)
401 static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0};
402 extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
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,
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,
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);
424 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
425 unsigned int mask, unsigned int val)
429 mutex_lock(&hw->page_lock);
430 err = regmap_update_bits(hw->regmap, addr, mask, val);
431 mutex_unlock(&hw->page_lock);
437 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
438 void *val, unsigned int len)
442 mutex_lock(&hw->page_lock);
443 err = regmap_bulk_read(hw->regmap, addr, val, len);
444 mutex_unlock(&hw->page_lock);
450 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
455 mutex_lock(&hw->page_lock);
456 err = regmap_write(hw->regmap, addr, val);
457 mutex_unlock(&hw->page_lock);
462 #endif /* ST_LSM6DSX_H */