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
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"
31
32enum st_lsm6dsx_hw_id {
33	ST_LSM6DS3_ID,
34	ST_LSM6DS3H_ID,
35	ST_LSM6DSL_ID,
36	ST_LSM6DSM_ID,
37	ST_ISM330DLC_ID,
38	ST_LSM6DSO_ID,
39	ST_ASM330LHH_ID,
40	ST_LSM6DSOX_ID,
41	ST_LSM6DSR_ID,
42	ST_LSM6DS3TRC_ID,
43	ST_ISM330DHCX_ID,
44	ST_LSM9DS1_ID,
45	ST_LSM6DS0_ID,
46	ST_LSM6DSRX_ID,
47	ST_LSM6DSX_MAX_ID,
48};
49
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 + \
55					 ST_LSM6DSX_TAG_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))
61
62#define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx)		\
63{									\
64	.type = chan_type,						\
65	.address = addr,						\
66	.modified = 1,							\
67	.channel2 = mod,						\
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,						\
72	.scan_type = {							\
73		.sign = 's',						\
74		.realbits = 16,						\
75		.storagebits = 16,					\
76		.endianness = IIO_LE,					\
77	},								\
78	.event_spec = &st_lsm6dsx_event,				\
79	.ext_info = st_lsm6dsx_accel_ext_info,				\
80	.num_event_specs = 1,						\
81}
82
83#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx)		\
84{									\
85	.type = chan_type,						\
86	.address = addr,						\
87	.modified = 1,							\
88	.channel2 = mod,						\
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,						\
93	.scan_type = {							\
94		.sign = 's',						\
95		.realbits = 16,						\
96		.storagebits = 16,					\
97		.endianness = IIO_LE,					\
98	},								\
99}
100
101struct st_lsm6dsx_reg {
102	u8 addr;
103	u8 mask;
104};
105
106struct st_lsm6dsx_sensor;
107struct st_lsm6dsx_hw;
108
109struct st_lsm6dsx_odr {
110	u32 milli_hz;
111	u8 val;
112};
113
114#define ST_LSM6DSX_ODR_LIST_SIZE	8
115struct st_lsm6dsx_odr_table_entry {
116	struct st_lsm6dsx_reg reg;
117
118	struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
119	int odr_len;
120};
121
122struct st_lsm6dsx_fs {
123	u32 gain;
124	u8 val;
125};
126
127#define ST_LSM6DSX_FS_LIST_SIZE		4
128struct st_lsm6dsx_fs_table_entry {
129	struct st_lsm6dsx_reg reg;
130
131	struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
132	int fs_len;
133};
134
135/**
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.
142 */
143struct st_lsm6dsx_fifo_ops {
144	int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
145	int (*read_fifo)(struct st_lsm6dsx_hw *hw);
146	struct {
147		u8 addr;
148		u16 mask;
149	} fifo_th;
150	struct {
151		u8 addr;
152		u16 mask;
153	} fifo_diff;
154	u8 th_wl;
155};
156
157/**
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.
164 */
165struct 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;
170	u8 freq_fine;
171};
172
173/**
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.
187 */
188struct st_lsm6dsx_shub_settings {
189	struct st_lsm6dsx_reg page_mux;
190	struct {
191		bool sec_page;
192		u8 addr;
193		u8 mask;
194	} master_en;
195	struct {
196		bool sec_page;
197		u8 addr;
198		u8 mask;
199	} pullup_en;
200	struct st_lsm6dsx_reg aux_sens;
201	struct st_lsm6dsx_reg wr_once;
202	struct st_lsm6dsx_reg emb_func;
203	u8 num_ext_dev;
204	struct {
205		bool sec_page;
206		u8 addr;
207	} shub_out;
208	u8 slv0_addr;
209	u8 dw_slv0_addr;
210	u8 batch_en;
211	u8 pause;
212};
213
214struct st_lsm6dsx_event_settings {
215	struct st_lsm6dsx_reg enable_reg;
216	struct st_lsm6dsx_reg wakeup_reg;
217	u8 wakeup_src_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;
222};
223
224enum st_lsm6dsx_ext_sensor_id {
225	ST_LSM6DSX_ID_MAGN,
226};
227
228/**
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.
240 */
241struct st_lsm6dsx_ext_dev_settings {
242	u8 i2c_addr[2];
243	struct {
244		u8 addr;
245		u8 val;
246	} wai;
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;
251	struct {
252		struct st_lsm6dsx_reg reg;
253		u8 off_val;
254		u8 on_val;
255	} pwr_table;
256	struct st_lsm6dsx_reg off_canc;
257	struct st_lsm6dsx_reg bdu;
258	struct {
259		u8 addr;
260		u8 len;
261	} out;
262};
263
264/**
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.
282 */
283struct st_lsm6dsx_settings {
284	u8 wai;
285	struct st_lsm6dsx_reg reset;
286	struct st_lsm6dsx_reg boot;
287	struct st_lsm6dsx_reg bdu;
288	u16 max_fifo_size;
289	struct {
290		enum st_lsm6dsx_hw_id hw_id;
291		const char *name;
292	} id[ST_LSM6DSX_MAX_ID];
293	struct {
294		const struct iio_chan_spec *chan;
295		int len;
296	} channels[2];
297	struct {
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;
306	} irq_config;
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;
316};
317
318enum st_lsm6dsx_sensor_id {
319	ST_LSM6DSX_ID_GYRO,
320	ST_LSM6DSX_ID_ACC,
321	ST_LSM6DSX_ID_EXT0,
322	ST_LSM6DSX_ID_EXT1,
323	ST_LSM6DSX_ID_EXT2,
324	ST_LSM6DSX_ID_MAX,
325};
326
327enum st_lsm6dsx_fifo_mode {
328	ST_LSM6DSX_FIFO_BYPASS = 0x0,
329	ST_LSM6DSX_FIFO_CONT = 0x6,
330};
331
332/**
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
344 */
345struct st_lsm6dsx_sensor {
346	char name[32];
347	enum st_lsm6dsx_sensor_id id;
348	struct st_lsm6dsx_hw *hw;
349
350	u32 gain;
351	u32 odr;
352
353	u16 watermark;
354	u8 decimator;
355	u8 sip;
356	s64 ts_ref;
357
358	struct {
359		const struct st_lsm6dsx_ext_dev_settings *settings;
360		u32 slv_odr;
361		u8 addr;
362	} ext_info;
363};
364
365/**
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.
386 * @scan: Temporary buffers used to align data before iio_push_to_buffers()
387 */
388struct st_lsm6dsx_hw {
389	struct device *dev;
390	struct regmap *regmap;
391	int irq;
392
393	struct mutex fifo_lock;
394	struct mutex conf_lock;
395	struct mutex page_lock;
396
397	u8 suspend_mask;
398	u8 enable_mask;
399	u8 fifo_mask;
400	s64 ts_gain;
401	u8 ts_sip;
402	u8 sip;
403
404	const struct st_lsm6dsx_reg *irq_routing;
405	u8 event_threshold;
406	u8 enable_event;
407
408	u8 *buff;
409
410	struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
411
412	const struct st_lsm6dsx_settings *settings;
413
414	struct iio_mount_matrix orientation;
415	/* Ensure natural alignment of buffer elements */
416	struct {
417		__le16 channels[3];
418		s64 ts __aligned(8);
419	} scan[3];
420};
421
422static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
423	.type = IIO_EV_TYPE_THRESH,
424	.dir = IIO_EV_DIR_EITHER,
425	.mask_separate = BIT(IIO_EV_INFO_VALUE) |
426			 BIT(IIO_EV_INFO_ENABLE)
427};
428
429static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
430	0x7, 0x0,
431};
432
433extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
434
435int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
436		     struct regmap *regmap);
437int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
438				 bool enable);
439int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
440int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
441int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
442				u16 watermark);
443int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
444int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
445int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
446int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
447int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
448int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
449int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
450int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
451int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
452
453static inline int
454st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
455			      unsigned int mask, unsigned int val)
456{
457	int err;
458
459	mutex_lock(&hw->page_lock);
460	err = regmap_update_bits(hw->regmap, addr, mask, val);
461	mutex_unlock(&hw->page_lock);
462
463	return err;
464}
465
466static inline int
467st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
468		       void *val, unsigned int len)
469{
470	int err;
471
472	mutex_lock(&hw->page_lock);
473	err = regmap_bulk_read(hw->regmap, addr, val, len);
474	mutex_unlock(&hw->page_lock);
475
476	return err;
477}
478
479static inline int
480st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
481			unsigned int val)
482{
483	int err;
484
485	mutex_lock(&hw->page_lock);
486	err = regmap_write(hw->regmap, addr, val);
487	mutex_unlock(&hw->page_lock);
488
489	return err;
490}
491
492static inline const struct iio_mount_matrix *
493st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
494			    const struct iio_chan_spec *chan)
495{
496	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
497	struct st_lsm6dsx_hw *hw = sensor->hw;
498
499	return &hw->orientation;
500}
501
502static const
503struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = {
504	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
505	{ }
506};
507
508#endif /* ST_LSM6DSX_H */
509