xref: /linux/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h (revision d6fd48ef) 
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 #include <linux/regulator/consumer.h>
17 
18 #define ST_LSM6DS3_DEV_NAME	"lsm6ds3"
19 #define ST_LSM6DS3H_DEV_NAME	"lsm6ds3h"
20 #define ST_LSM6DSL_DEV_NAME	"lsm6dsl"
21 #define ST_LSM6DSM_DEV_NAME	"lsm6dsm"
22 #define ST_ISM330DLC_DEV_NAME	"ism330dlc"
23 #define ST_LSM6DSO_DEV_NAME	"lsm6dso"
24 #define ST_ASM330LHH_DEV_NAME	"asm330lhh"
25 #define ST_LSM6DSOX_DEV_NAME	"lsm6dsox"
26 #define ST_LSM6DSR_DEV_NAME	"lsm6dsr"
27 #define ST_LSM6DS3TRC_DEV_NAME	"lsm6ds3tr-c"
28 #define ST_ISM330DHCX_DEV_NAME	"ism330dhcx"
29 #define ST_LSM9DS1_DEV_NAME	"lsm9ds1-imu"
30 #define ST_LSM6DS0_DEV_NAME	"lsm6ds0"
31 #define ST_LSM6DSRX_DEV_NAME	"lsm6dsrx"
32 #define ST_LSM6DST_DEV_NAME	"lsm6dst"
33 #define ST_LSM6DSOP_DEV_NAME	"lsm6dsop"
34 #define ST_ASM330LHHX_DEV_NAME	"asm330lhhx"
35 #define ST_LSM6DSTX_DEV_NAME	"lsm6dstx"
36 #define ST_LSM6DSV_DEV_NAME	"lsm6dsv"
37 #define ST_LSM6DSV16X_DEV_NAME	"lsm6dsv16x"
38 #define ST_LSM6DSO16IS_DEV_NAME	"lsm6dso16is"
39 #define ST_ISM330IS_DEV_NAME	"ism330is"
40 
41 enum st_lsm6dsx_hw_id {
42 	ST_LSM6DS3_ID,
43 	ST_LSM6DS3H_ID,
44 	ST_LSM6DSL_ID,
45 	ST_LSM6DSM_ID,
46 	ST_ISM330DLC_ID,
47 	ST_LSM6DSO_ID,
48 	ST_ASM330LHH_ID,
49 	ST_LSM6DSOX_ID,
50 	ST_LSM6DSR_ID,
51 	ST_LSM6DS3TRC_ID,
52 	ST_ISM330DHCX_ID,
53 	ST_LSM9DS1_ID,
54 	ST_LSM6DS0_ID,
55 	ST_LSM6DSRX_ID,
56 	ST_LSM6DST_ID,
57 	ST_LSM6DSOP_ID,
58 	ST_ASM330LHHX_ID,
59 	ST_LSM6DSTX_ID,
60 	ST_LSM6DSV_ID,
61 	ST_LSM6DSV16X_ID,
62 	ST_LSM6DSO16IS_ID,
63 	ST_ISM330IS_ID,
64 	ST_LSM6DSX_MAX_ID,
65 };
66 
67 #define ST_LSM6DSX_BUFF_SIZE		512
68 #define ST_LSM6DSX_CHAN_SIZE		2
69 #define ST_LSM6DSX_SAMPLE_SIZE		6
70 #define ST_LSM6DSX_TAG_SIZE		1
71 #define ST_LSM6DSX_TAGGED_SAMPLE_SIZE	(ST_LSM6DSX_SAMPLE_SIZE + \
72 					 ST_LSM6DSX_TAG_SIZE)
73 #define ST_LSM6DSX_MAX_WORD_LEN		((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
74 					 ST_LSM6DSX_SAMPLE_SIZE)
75 #define ST_LSM6DSX_MAX_TAGGED_WORD_LEN	((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
76 					 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
77 #define ST_LSM6DSX_SHIFT_VAL(val, mask)	(((val) << __ffs(mask)) & (mask))
78 
79 #define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx)		\
80 {									\
81 	.type = chan_type,						\
82 	.address = addr,						\
83 	.modified = 1,							\
84 	.channel2 = mod,						\
85 	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),			\
86 	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),		\
87 	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),	\
88 	.scan_index = scan_idx,						\
89 	.scan_type = {							\
90 		.sign = 's',						\
91 		.realbits = 16,						\
92 		.storagebits = 16,					\
93 		.endianness = IIO_LE,					\
94 	},								\
95 	.event_spec = &st_lsm6dsx_event,				\
96 	.ext_info = st_lsm6dsx_ext_info,				\
97 	.num_event_specs = 1,						\
98 }
99 
100 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx)		\
101 {									\
102 	.type = chan_type,						\
103 	.address = addr,						\
104 	.modified = 1,							\
105 	.channel2 = mod,						\
106 	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),			\
107 	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),		\
108 	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),	\
109 	.scan_index = scan_idx,						\
110 	.scan_type = {							\
111 		.sign = 's',						\
112 		.realbits = 16,						\
113 		.storagebits = 16,					\
114 		.endianness = IIO_LE,					\
115 	},								\
116 	.ext_info = st_lsm6dsx_ext_info,				\
117 }
118 
119 struct st_lsm6dsx_reg {
120 	u8 addr;
121 	u8 mask;
122 };
123 
124 struct st_lsm6dsx_sensor;
125 struct st_lsm6dsx_hw;
126 
127 struct st_lsm6dsx_odr {
128 	u32 milli_hz;
129 	u8 val;
130 };
131 
132 #define ST_LSM6DSX_ODR_LIST_SIZE	8
133 struct st_lsm6dsx_odr_table_entry {
134 	struct st_lsm6dsx_reg reg;
135 
136 	struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
137 	int odr_len;
138 };
139 
140 struct st_lsm6dsx_fs {
141 	u32 gain;
142 	u8 val;
143 };
144 
145 #define ST_LSM6DSX_FS_LIST_SIZE		4
146 struct st_lsm6dsx_fs_table_entry {
147 	struct st_lsm6dsx_reg reg;
148 
149 	struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
150 	int fs_len;
151 };
152 
153 /**
154  * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
155  * @update_fifo: Update FIFO configuration callback.
156  * @read_fifo: Read FIFO callback.
157  * @fifo_th: FIFO threshold register info (addr + mask).
158  * @fifo_diff: FIFO diff status register info (addr + mask).
159  * @max_size: Sensor max fifo length in FIFO words.
160  * @th_wl: FIFO threshold word length.
161  */
162 struct st_lsm6dsx_fifo_ops {
163 	int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
164 	int (*read_fifo)(struct st_lsm6dsx_hw *hw);
165 	struct {
166 		u8 addr;
167 		u16 mask;
168 	} fifo_th;
169 	struct {
170 		u8 addr;
171 		u16 mask;
172 	} fifo_diff;
173 	u16 max_size;
174 	u8 th_wl;
175 };
176 
177 /**
178  * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
179  * @timer_en: Hw timer enable register info (addr + mask).
180  * @hr_timer: Hw timer resolution register info (addr + mask).
181  * @fifo_en: Hw timer FIFO enable register info (addr + mask).
182  * @decimator: Hw timer FIFO decimator register info (addr + mask).
183  * @freq_fine: Difference in % of ODR with respect to the typical.
184  */
185 struct st_lsm6dsx_hw_ts_settings {
186 	struct st_lsm6dsx_reg timer_en;
187 	struct st_lsm6dsx_reg hr_timer;
188 	struct st_lsm6dsx_reg fifo_en;
189 	struct st_lsm6dsx_reg decimator;
190 	u8 freq_fine;
191 };
192 
193 /**
194  * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
195  * @page_mux: register page mux info (addr + mask).
196  * @master_en: master config register info (addr + mask).
197  * @pullup_en: i2c controller pull-up register info (addr + mask).
198  * @aux_sens: aux sensor register info (addr + mask).
199  * @wr_once: write_once register info (addr + mask).
200  * @emb_func:  embedded function register info (addr + mask).
201  * @num_ext_dev: max number of slave devices.
202  * @shub_out: sensor hub first output register info.
203  * @slv0_addr: slave0 address in secondary page.
204  * @dw_slv0_addr: slave0 write register address in secondary page.
205  * @batch_en: Enable/disable FIFO batching.
206  * @pause: controller pause value.
207  */
208 struct st_lsm6dsx_shub_settings {
209 	struct st_lsm6dsx_reg page_mux;
210 	struct {
211 		bool sec_page;
212 		u8 addr;
213 		u8 mask;
214 	} master_en;
215 	struct {
216 		bool sec_page;
217 		u8 addr;
218 		u8 mask;
219 	} pullup_en;
220 	struct st_lsm6dsx_reg aux_sens;
221 	struct st_lsm6dsx_reg wr_once;
222 	struct st_lsm6dsx_reg emb_func;
223 	u8 num_ext_dev;
224 	struct {
225 		bool sec_page;
226 		u8 addr;
227 	} shub_out;
228 	u8 slv0_addr;
229 	u8 dw_slv0_addr;
230 	u8 batch_en;
231 	u8 pause;
232 };
233 
234 struct st_lsm6dsx_event_settings {
235 	struct st_lsm6dsx_reg enable_reg;
236 	struct st_lsm6dsx_reg wakeup_reg;
237 	u8 wakeup_src_reg;
238 	u8 wakeup_src_status_mask;
239 	u8 wakeup_src_z_mask;
240 	u8 wakeup_src_y_mask;
241 	u8 wakeup_src_x_mask;
242 };
243 
244 enum st_lsm6dsx_ext_sensor_id {
245 	ST_LSM6DSX_ID_MAGN,
246 };
247 
248 /**
249  * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
250  * @i2c_addr: I2c slave address list.
251  * @wai: Wai address info.
252  * @id: external sensor id.
253  * @odr_table: Output data rate of the sensor [Hz].
254  * @fs_table: Configured sensor sensitivity table depending on full scale.
255  * @temp_comp: Temperature compensation register info (addr + mask).
256  * @pwr_table: Power on register info (addr + mask).
257  * @off_canc: Offset cancellation register info (addr + mask).
258  * @bdu: Block data update register info (addr + mask).
259  * @out: Output register info.
260  */
261 struct st_lsm6dsx_ext_dev_settings {
262 	u8 i2c_addr[2];
263 	struct {
264 		u8 addr;
265 		u8 val;
266 	} wai;
267 	enum st_lsm6dsx_ext_sensor_id id;
268 	struct st_lsm6dsx_odr_table_entry odr_table;
269 	struct st_lsm6dsx_fs_table_entry fs_table;
270 	struct st_lsm6dsx_reg temp_comp;
271 	struct {
272 		struct st_lsm6dsx_reg reg;
273 		u8 off_val;
274 		u8 on_val;
275 	} pwr_table;
276 	struct st_lsm6dsx_reg off_canc;
277 	struct st_lsm6dsx_reg bdu;
278 	struct {
279 		u8 addr;
280 		u8 len;
281 	} out;
282 };
283 
284 /**
285  * struct st_lsm6dsx_settings - ST IMU sensor settings
286  * @reset: register address for reset.
287  * @boot: register address for boot.
288  * @bdu: register address for Block Data Update.
289  * @id: List of hw id/device name supported by the driver configuration.
290  * @channels: IIO channels supported by the device.
291  * @irq_config: interrupts related registers.
292  * @drdy_mask: register info for data-ready mask (addr + mask).
293  * @odr_table: Hw sensors odr table (Hz + val).
294  * @fs_table: Hw sensors gain table (gain + val).
295  * @decimator: List of decimator register info (addr + mask).
296  * @batch: List of FIFO batching register info (addr + mask).
297  * @fifo_ops: Sensor hw FIFO parameters.
298  * @ts_settings: Hw timer related settings.
299  * @shub_settings: i2c controller related settings.
300  */
301 struct st_lsm6dsx_settings {
302 	struct st_lsm6dsx_reg reset;
303 	struct st_lsm6dsx_reg boot;
304 	struct st_lsm6dsx_reg bdu;
305 	struct {
306 		enum st_lsm6dsx_hw_id hw_id;
307 		const char *name;
308 		u8 wai;
309 	} id[ST_LSM6DSX_MAX_ID];
310 	struct {
311 		const struct iio_chan_spec *chan;
312 		int len;
313 	} channels[2];
314 	struct {
315 		struct st_lsm6dsx_reg irq1;
316 		struct st_lsm6dsx_reg irq2;
317 		struct st_lsm6dsx_reg irq1_func;
318 		struct st_lsm6dsx_reg irq2_func;
319 		struct st_lsm6dsx_reg lir;
320 		struct st_lsm6dsx_reg clear_on_read;
321 		struct st_lsm6dsx_reg hla;
322 		struct st_lsm6dsx_reg od;
323 	} irq_config;
324 	struct st_lsm6dsx_reg drdy_mask;
325 	struct st_lsm6dsx_odr_table_entry odr_table[2];
326 	struct st_lsm6dsx_fs_table_entry fs_table[2];
327 	struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
328 	struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
329 	struct st_lsm6dsx_fifo_ops fifo_ops;
330 	struct st_lsm6dsx_hw_ts_settings ts_settings;
331 	struct st_lsm6dsx_shub_settings shub_settings;
332 	struct st_lsm6dsx_event_settings event_settings;
333 };
334 
335 enum st_lsm6dsx_sensor_id {
336 	ST_LSM6DSX_ID_GYRO,
337 	ST_LSM6DSX_ID_ACC,
338 	ST_LSM6DSX_ID_EXT0,
339 	ST_LSM6DSX_ID_EXT1,
340 	ST_LSM6DSX_ID_EXT2,
341 	ST_LSM6DSX_ID_MAX,
342 };
343 
344 enum st_lsm6dsx_fifo_mode {
345 	ST_LSM6DSX_FIFO_BYPASS = 0x0,
346 	ST_LSM6DSX_FIFO_CONT = 0x6,
347 };
348 
349 /**
350  * struct st_lsm6dsx_sensor - ST IMU sensor instance
351  * @name: Sensor name.
352  * @id: Sensor identifier.
353  * @hw: Pointer to instance of struct st_lsm6dsx_hw.
354  * @gain: Configured sensor sensitivity.
355  * @odr: Output data rate of the sensor [Hz].
356  * @watermark: Sensor watermark level.
357  * @decimator: Sensor decimation factor.
358  * @sip: Number of samples in a given pattern.
359  * @ts_ref: Sensor timestamp reference for hw one.
360  * @ext_info: Sensor settings if it is connected to i2c controller
361  */
362 struct st_lsm6dsx_sensor {
363 	char name[32];
364 	enum st_lsm6dsx_sensor_id id;
365 	struct st_lsm6dsx_hw *hw;
366 
367 	u32 gain;
368 	u32 odr;
369 
370 	u16 watermark;
371 	u8 decimator;
372 	u8 sip;
373 	s64 ts_ref;
374 
375 	struct {
376 		const struct st_lsm6dsx_ext_dev_settings *settings;
377 		u32 slv_odr;
378 		u8 addr;
379 	} ext_info;
380 };
381 
382 /**
383  * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
384  * @dev: Pointer to instance of struct device (I2C or SPI).
385  * @regmap: Register map of the device.
386  * @irq: Device interrupt line (I2C or SPI).
387  * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
388  * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
389  * @page_lock: Mutex to prevent concurrent memory page configuration.
390  * @suspend_mask: Suspended sensor bitmask.
391  * @enable_mask: Enabled sensor bitmask.
392  * @fifo_mask: Enabled hw FIFO bitmask.
393  * @ts_gain: Hw timestamp rate after internal calibration.
394  * @ts_sip: Total number of timestamp samples in a given pattern.
395  * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
396  * @buff: Device read buffer.
397  * @irq_routing: pointer to interrupt routing configuration.
398  * @event_threshold: wakeup event threshold.
399  * @enable_event: enabled event bitmask.
400  * @iio_devs: Pointers to acc/gyro iio_dev instances.
401  * @settings: Pointer to the specific sensor settings in use.
402  * @orientation: sensor chip orientation relative to main hardware.
403  * @scan: Temporary buffers used to align data before iio_push_to_buffers()
404  */
405 struct st_lsm6dsx_hw {
406 	struct device *dev;
407 	struct regmap *regmap;
408 	int irq;
409 
410 	struct mutex fifo_lock;
411 	struct mutex conf_lock;
412 	struct mutex page_lock;
413 
414 	u8 suspend_mask;
415 	u8 enable_mask;
416 	u8 fifo_mask;
417 	s64 ts_gain;
418 	u8 ts_sip;
419 	u8 sip;
420 
421 	const struct st_lsm6dsx_reg *irq_routing;
422 	u8 event_threshold;
423 	u8 enable_event;
424 
425 	u8 *buff;
426 
427 	struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
428 
429 	const struct st_lsm6dsx_settings *settings;
430 
431 	struct iio_mount_matrix orientation;
432 	/* Ensure natural alignment of buffer elements */
433 	struct {
434 		__le16 channels[3];
435 		s64 ts __aligned(8);
436 	} scan[ST_LSM6DSX_ID_MAX];
437 };
438 
439 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
440 	.type = IIO_EV_TYPE_THRESH,
441 	.dir = IIO_EV_DIR_EITHER,
442 	.mask_separate = BIT(IIO_EV_INFO_VALUE) |
443 			 BIT(IIO_EV_INFO_ENABLE)
444 };
445 
446 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
447 	0x7, 0x0,
448 };
449 
450 extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
451 
452 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
453 		     struct regmap *regmap);
454 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
455 				 bool enable);
456 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
457 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
458 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
459 				u16 watermark);
460 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
461 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
462 int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
463 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
464 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
465 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
466 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
467 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
468 int st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len);
469 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
470 
471 static inline int
472 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
473 			      unsigned int mask, unsigned int val)
474 {
475 	int err;
476 
477 	mutex_lock(&hw->page_lock);
478 	err = regmap_update_bits(hw->regmap, addr, mask, val);
479 	mutex_unlock(&hw->page_lock);
480 
481 	return err;
482 }
483 
484 static inline int
485 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
486 		       void *val, unsigned int len)
487 {
488 	int err;
489 
490 	mutex_lock(&hw->page_lock);
491 	err = regmap_bulk_read(hw->regmap, addr, val, len);
492 	mutex_unlock(&hw->page_lock);
493 
494 	return err;
495 }
496 
497 static inline int
498 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
499 			unsigned int val)
500 {
501 	int err;
502 
503 	mutex_lock(&hw->page_lock);
504 	err = regmap_write(hw->regmap, addr, val);
505 	mutex_unlock(&hw->page_lock);
506 
507 	return err;
508 }
509 
510 static inline const struct iio_mount_matrix *
511 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
512 			    const struct iio_chan_spec *chan)
513 {
514 	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
515 	struct st_lsm6dsx_hw *hw = sensor->hw;
516 
517 	return &hw->orientation;
518 }
519 
520 static inline int
521 st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
522 {
523 	if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
524 	    sensor->id == ST_LSM6DSX_ID_EXT1 ||
525 	    sensor->id == ST_LSM6DSX_ID_EXT2)
526 		return st_lsm6dsx_shub_set_enable(sensor, enable);
527 
528 	return st_lsm6dsx_sensor_set_enable(sensor, enable);
529 }
530 
531 static const
532 struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_ext_info[] = {
533 	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
534 	{ }
535 };
536 
537 #endif /* ST_LSM6DSX_H */
538