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 .ext_info = st_lsm6dsx_accel_ext_info, \
80 .num_event_specs = 1, \
83 #define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
89 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
90 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
91 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
92 .scan_index = scan_idx, \
97 .endianness = IIO_LE, \
101 struct st_lsm6dsx_reg {
106 struct st_lsm6dsx_sensor;
107 struct st_lsm6dsx_hw;
109 struct st_lsm6dsx_odr {
114 #define ST_LSM6DSX_ODR_LIST_SIZE 6
115 struct st_lsm6dsx_odr_table_entry {
116 struct st_lsm6dsx_reg reg;
118 struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
122 struct st_lsm6dsx_fs {
127 #define ST_LSM6DSX_FS_LIST_SIZE 4
128 struct st_lsm6dsx_fs_table_entry {
129 struct st_lsm6dsx_reg reg;
131 struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
136 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
137 * @update_fifo: Update FIFO configuration callback.
138 * @read_fifo: Read FIFO callback.
139 * @fifo_th: FIFO threshold register info (addr + mask).
140 * @fifo_diff: FIFO diff status register info (addr + mask).
141 * @th_wl: FIFO threshold word length.
143 struct st_lsm6dsx_fifo_ops {
144 int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
145 int (*read_fifo)(struct st_lsm6dsx_hw *hw);
158 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
159 * @timer_en: Hw timer enable register info (addr + mask).
160 * @hr_timer: Hw timer resolution register info (addr + mask).
161 * @fifo_en: Hw timer FIFO enable register info (addr + mask).
162 * @decimator: Hw timer FIFO decimator register info (addr + mask).
163 * @freq_fine: Difference in % of ODR with respect to the typical.
165 struct st_lsm6dsx_hw_ts_settings {
166 struct st_lsm6dsx_reg timer_en;
167 struct st_lsm6dsx_reg hr_timer;
168 struct st_lsm6dsx_reg fifo_en;
169 struct st_lsm6dsx_reg decimator;
174 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
175 * @page_mux: register page mux info (addr + mask).
176 * @master_en: master config register info (addr + mask).
177 * @pullup_en: i2c controller pull-up register info (addr + mask).
178 * @aux_sens: aux sensor register info (addr + mask).
179 * @wr_once: write_once register info (addr + mask).
180 * @emb_func: embedded function register info (addr + mask).
181 * @num_ext_dev: max number of slave devices.
182 * @shub_out: sensor hub first output register info.
183 * @slv0_addr: slave0 address in secondary page.
184 * @dw_slv0_addr: slave0 write register address in secondary page.
185 * @batch_en: Enable/disable FIFO batching.
186 * @pause: controller pause value.
188 struct st_lsm6dsx_shub_settings {
189 struct st_lsm6dsx_reg page_mux;
200 struct st_lsm6dsx_reg aux_sens;
201 struct st_lsm6dsx_reg wr_once;
202 struct st_lsm6dsx_reg emb_func;
214 struct st_lsm6dsx_event_settings {
215 struct st_lsm6dsx_reg enable_reg;
216 struct st_lsm6dsx_reg wakeup_reg;
218 u8 wakeup_src_status_mask;
219 u8 wakeup_src_z_mask;
220 u8 wakeup_src_y_mask;
221 u8 wakeup_src_x_mask;
224 enum st_lsm6dsx_ext_sensor_id {
229 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
230 * @i2c_addr: I2c slave address list.
231 * @wai: Wai address info.
232 * @id: external sensor id.
233 * @odr_table: Output data rate of the sensor [Hz].
234 * @fs_table: Configured sensor sensitivity table depending on full scale.
235 * @temp_comp: Temperature compensation register info (addr + mask).
236 * @pwr_table: Power on register info (addr + mask).
237 * @off_canc: Offset cancellation register info (addr + mask).
238 * @bdu: Block data update register info (addr + mask).
239 * @out: Output register info.
241 struct st_lsm6dsx_ext_dev_settings {
247 enum st_lsm6dsx_ext_sensor_id id;
248 struct st_lsm6dsx_odr_table_entry odr_table;
249 struct st_lsm6dsx_fs_table_entry fs_table;
250 struct st_lsm6dsx_reg temp_comp;
252 struct st_lsm6dsx_reg reg;
256 struct st_lsm6dsx_reg off_canc;
257 struct st_lsm6dsx_reg bdu;
265 * struct st_lsm6dsx_settings - ST IMU sensor settings
266 * @wai: Sensor WhoAmI default value.
267 * @reset: register address for reset.
268 * @boot: register address for boot.
269 * @bdu: register address for Block Data Update.
270 * @max_fifo_size: Sensor max fifo length in FIFO words.
271 * @id: List of hw id/device name supported by the driver configuration.
272 * @channels: IIO channels supported by the device.
273 * @irq_config: interrupts related registers.
274 * @drdy_mask: register info for data-ready mask (addr + mask).
275 * @odr_table: Hw sensors odr table (Hz + val).
276 * @fs_table: Hw sensors gain table (gain + val).
277 * @decimator: List of decimator register info (addr + mask).
278 * @batch: List of FIFO batching register info (addr + mask).
279 * @fifo_ops: Sensor hw FIFO parameters.
280 * @ts_settings: Hw timer related settings.
281 * @shub_settings: i2c controller related settings.
283 struct st_lsm6dsx_settings {
285 struct st_lsm6dsx_reg reset;
286 struct st_lsm6dsx_reg boot;
287 struct st_lsm6dsx_reg bdu;
290 enum st_lsm6dsx_hw_id hw_id;
292 } id[ST_LSM6DSX_MAX_ID];
294 const struct iio_chan_spec *chan;
298 struct st_lsm6dsx_reg irq1;
299 struct st_lsm6dsx_reg irq2;
300 struct st_lsm6dsx_reg irq1_func;
301 struct st_lsm6dsx_reg irq2_func;
302 struct st_lsm6dsx_reg lir;
303 struct st_lsm6dsx_reg clear_on_read;
304 struct st_lsm6dsx_reg hla;
305 struct st_lsm6dsx_reg od;
307 struct st_lsm6dsx_reg drdy_mask;
308 struct st_lsm6dsx_odr_table_entry odr_table[2];
309 struct st_lsm6dsx_fs_table_entry fs_table[2];
310 struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
311 struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
312 struct st_lsm6dsx_fifo_ops fifo_ops;
313 struct st_lsm6dsx_hw_ts_settings ts_settings;
314 struct st_lsm6dsx_shub_settings shub_settings;
315 struct st_lsm6dsx_event_settings event_settings;
318 enum st_lsm6dsx_sensor_id {
327 enum st_lsm6dsx_fifo_mode {
328 ST_LSM6DSX_FIFO_BYPASS = 0x0,
329 ST_LSM6DSX_FIFO_CONT = 0x6,
333 * struct st_lsm6dsx_sensor - ST IMU sensor instance
334 * @name: Sensor name.
335 * @id: Sensor identifier.
336 * @hw: Pointer to instance of struct st_lsm6dsx_hw.
337 * @gain: Configured sensor sensitivity.
338 * @odr: Output data rate of the sensor [Hz].
339 * @watermark: Sensor watermark level.
340 * @decimator: Sensor decimation factor.
341 * @sip: Number of samples in a given pattern.
342 * @ts_ref: Sensor timestamp reference for hw one.
343 * @ext_info: Sensor settings if it is connected to i2c controller
345 struct st_lsm6dsx_sensor {
347 enum st_lsm6dsx_sensor_id id;
348 struct st_lsm6dsx_hw *hw;
359 const struct st_lsm6dsx_ext_dev_settings *settings;
366 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
367 * @dev: Pointer to instance of struct device (I2C or SPI).
368 * @regmap: Register map of the device.
369 * @irq: Device interrupt line (I2C or SPI).
370 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
371 * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
372 * @page_lock: Mutex to prevent concurrent memory page configuration.
373 * @suspend_mask: Suspended sensor bitmask.
374 * @enable_mask: Enabled sensor bitmask.
375 * @fifo_mask: Enabled hw FIFO bitmask.
376 * @ts_gain: Hw timestamp rate after internal calibration.
377 * @ts_sip: Total number of timestamp samples in a given pattern.
378 * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
379 * @buff: Device read buffer.
380 * @irq_routing: pointer to interrupt routing configuration.
381 * @event_threshold: wakeup event threshold.
382 * @enable_event: enabled event bitmask.
383 * @iio_devs: Pointers to acc/gyro iio_dev instances.
384 * @settings: Pointer to the specific sensor settings in use.
385 * @orientation: sensor chip orientation relative to main hardware.
387 struct st_lsm6dsx_hw {
389 struct regmap *regmap;
392 struct mutex fifo_lock;
393 struct mutex conf_lock;
394 struct mutex page_lock;
403 const struct st_lsm6dsx_reg *irq_routing;
409 struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
411 const struct st_lsm6dsx_settings *settings;
413 struct iio_mount_matrix orientation;
416 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
417 .type = IIO_EV_TYPE_THRESH,
418 .dir = IIO_EV_DIR_EITHER,
419 .mask_separate = BIT(IIO_EV_INFO_VALUE) |
420 BIT(IIO_EV_INFO_ENABLE)
423 static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
427 extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
429 int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
430 struct regmap *regmap);
431 int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
433 int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
434 int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
435 int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
437 int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
438 int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
439 int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
440 enum st_lsm6dsx_fifo_mode fifo_mode);
441 int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
442 int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
443 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
444 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
445 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
446 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
449 st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
450 unsigned int mask, unsigned int val)
454 mutex_lock(&hw->page_lock);
455 err = regmap_update_bits(hw->regmap, addr, mask, val);
456 mutex_unlock(&hw->page_lock);
462 st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
463 void *val, unsigned int len)
467 mutex_lock(&hw->page_lock);
468 err = regmap_bulk_read(hw->regmap, addr, val, len);
469 mutex_unlock(&hw->page_lock);
475 st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
480 mutex_lock(&hw->page_lock);
481 err = regmap_write(hw->regmap, addr, val);
482 mutex_unlock(&hw->page_lock);
487 static const inline struct iio_mount_matrix *
488 st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
489 const struct iio_chan_spec *chan)
491 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
492 struct st_lsm6dsx_hw *hw = sensor->hw;
494 return &hw->orientation;
497 static const struct iio_chan_spec_ext_info st_lsm6dsx_accel_ext_info[] = {
498 IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
502 #endif /* ST_LSM6DSX_H */