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#define ST_ASM330LHB_DEV_NAME	"asm330lhb"
41
42enum st_lsm6dsx_hw_id {
43	ST_LSM6DS3_ID = 1,
44	ST_LSM6DS3H_ID,
45	ST_LSM6DSL_ID,
46	ST_LSM6DSM_ID,
47	ST_ISM330DLC_ID,
48	ST_LSM6DSO_ID,
49	ST_ASM330LHH_ID,
50	ST_LSM6DSOX_ID,
51	ST_LSM6DSR_ID,
52	ST_LSM6DS3TRC_ID,
53	ST_ISM330DHCX_ID,
54	ST_LSM9DS1_ID,
55	ST_LSM6DS0_ID,
56	ST_LSM6DSRX_ID,
57	ST_LSM6DST_ID,
58	ST_LSM6DSOP_ID,
59	ST_ASM330LHHX_ID,
60	ST_LSM6DSTX_ID,
61	ST_LSM6DSV_ID,
62	ST_LSM6DSV16X_ID,
63	ST_LSM6DSO16IS_ID,
64	ST_ISM330IS_ID,
65	ST_ASM330LHB_ID,
66	ST_LSM6DSX_MAX_ID,
67};
68
69#define ST_LSM6DSX_BUFF_SIZE		512
70#define ST_LSM6DSX_CHAN_SIZE		2
71#define ST_LSM6DSX_SAMPLE_SIZE		6
72#define ST_LSM6DSX_TAG_SIZE		1
73#define ST_LSM6DSX_TAGGED_SAMPLE_SIZE	(ST_LSM6DSX_SAMPLE_SIZE + \
74					 ST_LSM6DSX_TAG_SIZE)
75#define ST_LSM6DSX_MAX_WORD_LEN		((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
76					 ST_LSM6DSX_SAMPLE_SIZE)
77#define ST_LSM6DSX_MAX_TAGGED_WORD_LEN	((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
78					 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
79#define ST_LSM6DSX_SHIFT_VAL(val, mask)	(((val) << __ffs(mask)) & (mask))
80
81#define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx)		\
82{									\
83	.type = chan_type,						\
84	.address = addr,						\
85	.modified = 1,							\
86	.channel2 = mod,						\
87	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),			\
88	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),		\
89	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),	\
90	.scan_index = scan_idx,						\
91	.scan_type = {							\
92		.sign = 's',						\
93		.realbits = 16,						\
94		.storagebits = 16,					\
95		.endianness = IIO_LE,					\
96	},								\
97	.event_spec = &st_lsm6dsx_event,				\
98	.ext_info = st_lsm6dsx_ext_info,				\
99	.num_event_specs = 1,						\
100}
101
102#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx)		\
103{									\
104	.type = chan_type,						\
105	.address = addr,						\
106	.modified = 1,							\
107	.channel2 = mod,						\
108	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),			\
109	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),		\
110	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),	\
111	.scan_index = scan_idx,						\
112	.scan_type = {							\
113		.sign = 's',						\
114		.realbits = 16,						\
115		.storagebits = 16,					\
116		.endianness = IIO_LE,					\
117	},								\
118	.ext_info = st_lsm6dsx_ext_info,				\
119}
120
121struct st_lsm6dsx_reg {
122	u8 addr;
123	u8 mask;
124};
125
126struct st_lsm6dsx_sensor;
127struct st_lsm6dsx_hw;
128
129struct st_lsm6dsx_odr {
130	u32 milli_hz;
131	u8 val;
132};
133
134#define ST_LSM6DSX_ODR_LIST_SIZE	8
135struct st_lsm6dsx_odr_table_entry {
136	struct st_lsm6dsx_reg reg;
137
138	struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
139	int odr_len;
140};
141
142struct st_lsm6dsx_samples_to_discard {
143	struct {
144		u32 milli_hz;
145		u16 samples;
146	} val[ST_LSM6DSX_ODR_LIST_SIZE];
147};
148
149struct st_lsm6dsx_fs {
150	u32 gain;
151	u8 val;
152};
153
154#define ST_LSM6DSX_FS_LIST_SIZE		4
155struct st_lsm6dsx_fs_table_entry {
156	struct st_lsm6dsx_reg reg;
157
158	struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
159	int fs_len;
160};
161
162/**
163 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
164 * @update_fifo: Update FIFO configuration callback.
165 * @read_fifo: Read FIFO callback.
166 * @fifo_th: FIFO threshold register info (addr + mask).
167 * @fifo_diff: FIFO diff status register info (addr + mask).
168 * @max_size: Sensor max fifo length in FIFO words.
169 * @th_wl: FIFO threshold word length.
170 */
171struct st_lsm6dsx_fifo_ops {
172	int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
173	int (*read_fifo)(struct st_lsm6dsx_hw *hw);
174	struct {
175		u8 addr;
176		u16 mask;
177	} fifo_th;
178	struct {
179		u8 addr;
180		u16 mask;
181	} fifo_diff;
182	u16 max_size;
183	u8 th_wl;
184};
185
186/**
187 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
188 * @timer_en: Hw timer enable register info (addr + mask).
189 * @hr_timer: Hw timer resolution register info (addr + mask).
190 * @fifo_en: Hw timer FIFO enable register info (addr + mask).
191 * @decimator: Hw timer FIFO decimator register info (addr + mask).
192 * @freq_fine: Difference in % of ODR with respect to the typical.
193 */
194struct st_lsm6dsx_hw_ts_settings {
195	struct st_lsm6dsx_reg timer_en;
196	struct st_lsm6dsx_reg hr_timer;
197	struct st_lsm6dsx_reg fifo_en;
198	struct st_lsm6dsx_reg decimator;
199	u8 freq_fine;
200};
201
202/**
203 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
204 * @page_mux: register page mux info (addr + mask).
205 * @master_en: master config register info (addr + mask).
206 * @pullup_en: i2c controller pull-up register info (addr + mask).
207 * @aux_sens: aux sensor register info (addr + mask).
208 * @wr_once: write_once register info (addr + mask).
209 * @emb_func:  embedded function register info (addr + mask).
210 * @num_ext_dev: max number of slave devices.
211 * @shub_out: sensor hub first output register info.
212 * @slv0_addr: slave0 address in secondary page.
213 * @dw_slv0_addr: slave0 write register address in secondary page.
214 * @batch_en: Enable/disable FIFO batching.
215 * @pause: controller pause value.
216 */
217struct st_lsm6dsx_shub_settings {
218	struct st_lsm6dsx_reg page_mux;
219	struct {
220		bool sec_page;
221		u8 addr;
222		u8 mask;
223	} master_en;
224	struct {
225		bool sec_page;
226		u8 addr;
227		u8 mask;
228	} pullup_en;
229	struct st_lsm6dsx_reg aux_sens;
230	struct st_lsm6dsx_reg wr_once;
231	struct st_lsm6dsx_reg emb_func;
232	u8 num_ext_dev;
233	struct {
234		bool sec_page;
235		u8 addr;
236	} shub_out;
237	u8 slv0_addr;
238	u8 dw_slv0_addr;
239	u8 batch_en;
240	u8 pause;
241};
242
243struct st_lsm6dsx_event_settings {
244	struct st_lsm6dsx_reg enable_reg;
245	struct st_lsm6dsx_reg wakeup_reg;
246	u8 wakeup_src_reg;
247	u8 wakeup_src_status_mask;
248	u8 wakeup_src_z_mask;
249	u8 wakeup_src_y_mask;
250	u8 wakeup_src_x_mask;
251};
252
253enum st_lsm6dsx_ext_sensor_id {
254	ST_LSM6DSX_ID_MAGN,
255};
256
257/**
258 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
259 * @i2c_addr: I2c slave address list.
260 * @wai: Wai address info.
261 * @id: external sensor id.
262 * @odr_table: Output data rate of the sensor [Hz].
263 * @fs_table: Configured sensor sensitivity table depending on full scale.
264 * @temp_comp: Temperature compensation register info (addr + mask).
265 * @pwr_table: Power on register info (addr + mask).
266 * @off_canc: Offset cancellation register info (addr + mask).
267 * @bdu: Block data update register info (addr + mask).
268 * @out: Output register info.
269 */
270struct st_lsm6dsx_ext_dev_settings {
271	u8 i2c_addr[2];
272	struct {
273		u8 addr;
274		u8 val;
275	} wai;
276	enum st_lsm6dsx_ext_sensor_id id;
277	struct st_lsm6dsx_odr_table_entry odr_table;
278	struct st_lsm6dsx_fs_table_entry fs_table;
279	struct st_lsm6dsx_reg temp_comp;
280	struct {
281		struct st_lsm6dsx_reg reg;
282		u8 off_val;
283		u8 on_val;
284	} pwr_table;
285	struct st_lsm6dsx_reg off_canc;
286	struct st_lsm6dsx_reg bdu;
287	struct {
288		u8 addr;
289		u8 len;
290	} out;
291};
292
293/**
294 * struct st_lsm6dsx_settings - ST IMU sensor settings
295 * @reset: register address for reset.
296 * @boot: register address for boot.
297 * @bdu: register address for Block Data Update.
298 * @id: List of hw id/device name supported by the driver configuration.
299 * @channels: IIO channels supported by the device.
300 * @irq_config: interrupts related registers.
301 * @drdy_mask: register info for data-ready mask (addr + mask).
302 * @odr_table: Hw sensors odr table (Hz + val).
303 * @samples_to_discard: Number of samples to discard for filters settling time.
304 * @fs_table: Hw sensors gain table (gain + val).
305 * @decimator: List of decimator register info (addr + mask).
306 * @batch: List of FIFO batching register info (addr + mask).
307 * @fifo_ops: Sensor hw FIFO parameters.
308 * @ts_settings: Hw timer related settings.
309 * @shub_settings: i2c controller related settings.
310 */
311struct st_lsm6dsx_settings {
312	struct st_lsm6dsx_reg reset;
313	struct st_lsm6dsx_reg boot;
314	struct st_lsm6dsx_reg bdu;
315	struct {
316		enum st_lsm6dsx_hw_id hw_id;
317		const char *name;
318		u8 wai;
319	} id[ST_LSM6DSX_MAX_ID];
320	struct {
321		const struct iio_chan_spec *chan;
322		int len;
323	} channels[2];
324	struct {
325		struct st_lsm6dsx_reg irq1;
326		struct st_lsm6dsx_reg irq2;
327		struct st_lsm6dsx_reg irq1_func;
328		struct st_lsm6dsx_reg irq2_func;
329		struct st_lsm6dsx_reg lir;
330		struct st_lsm6dsx_reg clear_on_read;
331		struct st_lsm6dsx_reg hla;
332		struct st_lsm6dsx_reg od;
333	} irq_config;
334	struct st_lsm6dsx_reg drdy_mask;
335	struct st_lsm6dsx_odr_table_entry odr_table[2];
336	struct st_lsm6dsx_samples_to_discard samples_to_discard[2];
337	struct st_lsm6dsx_fs_table_entry fs_table[2];
338	struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
339	struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
340	struct st_lsm6dsx_fifo_ops fifo_ops;
341	struct st_lsm6dsx_hw_ts_settings ts_settings;
342	struct st_lsm6dsx_shub_settings shub_settings;
343	struct st_lsm6dsx_event_settings event_settings;
344};
345
346enum st_lsm6dsx_sensor_id {
347	ST_LSM6DSX_ID_GYRO,
348	ST_LSM6DSX_ID_ACC,
349	ST_LSM6DSX_ID_EXT0,
350	ST_LSM6DSX_ID_EXT1,
351	ST_LSM6DSX_ID_EXT2,
352	ST_LSM6DSX_ID_MAX,
353};
354
355enum st_lsm6dsx_fifo_mode {
356	ST_LSM6DSX_FIFO_BYPASS = 0x0,
357	ST_LSM6DSX_FIFO_CONT = 0x6,
358};
359
360/**
361 * struct st_lsm6dsx_sensor - ST IMU sensor instance
362 * @name: Sensor name.
363 * @id: Sensor identifier.
364 * @hw: Pointer to instance of struct st_lsm6dsx_hw.
365 * @gain: Configured sensor sensitivity.
366 * @odr: Output data rate of the sensor [Hz].
367 * @samples_to_discard: Number of samples to discard for filters settling time.
368 * @watermark: Sensor watermark level.
369 * @decimator: Sensor decimation factor.
370 * @sip: Number of samples in a given pattern.
371 * @ts_ref: Sensor timestamp reference for hw one.
372 * @ext_info: Sensor settings if it is connected to i2c controller
373 */
374struct st_lsm6dsx_sensor {
375	char name[32];
376	enum st_lsm6dsx_sensor_id id;
377	struct st_lsm6dsx_hw *hw;
378
379	u32 gain;
380	u32 odr;
381
382	u16 samples_to_discard;
383	u16 watermark;
384	u8 decimator;
385	u8 sip;
386	s64 ts_ref;
387
388	struct {
389		const struct st_lsm6dsx_ext_dev_settings *settings;
390		u32 slv_odr;
391		u8 addr;
392	} ext_info;
393};
394
395/**
396 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
397 * @dev: Pointer to instance of struct device (I2C or SPI).
398 * @regmap: Register map of the device.
399 * @irq: Device interrupt line (I2C or SPI).
400 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
401 * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
402 * @page_lock: Mutex to prevent concurrent memory page configuration.
403 * @suspend_mask: Suspended sensor bitmask.
404 * @enable_mask: Enabled sensor bitmask.
405 * @fifo_mask: Enabled hw FIFO bitmask.
406 * @ts_gain: Hw timestamp rate after internal calibration.
407 * @ts_sip: Total number of timestamp samples in a given pattern.
408 * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
409 * @buff: Device read buffer.
410 * @irq_routing: pointer to interrupt routing configuration.
411 * @event_threshold: wakeup event threshold.
412 * @enable_event: enabled event bitmask.
413 * @iio_devs: Pointers to acc/gyro iio_dev instances.
414 * @settings: Pointer to the specific sensor settings in use.
415 * @orientation: sensor chip orientation relative to main hardware.
416 * @scan: Temporary buffers used to align data before iio_push_to_buffers()
417 */
418struct st_lsm6dsx_hw {
419	struct device *dev;
420	struct regmap *regmap;
421	int irq;
422
423	struct mutex fifo_lock;
424	struct mutex conf_lock;
425	struct mutex page_lock;
426
427	u8 suspend_mask;
428	u8 enable_mask;
429	u8 fifo_mask;
430	s64 ts_gain;
431	u8 ts_sip;
432	u8 sip;
433
434	const struct st_lsm6dsx_reg *irq_routing;
435	u8 event_threshold;
436	u8 enable_event;
437
438	u8 *buff;
439
440	struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
441
442	const struct st_lsm6dsx_settings *settings;
443
444	struct iio_mount_matrix orientation;
445	/* Ensure natural alignment of buffer elements */
446	struct {
447		__le16 channels[3];
448		s64 ts __aligned(8);
449	} scan[ST_LSM6DSX_ID_MAX];
450};
451
452static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
453	.type = IIO_EV_TYPE_THRESH,
454	.dir = IIO_EV_DIR_EITHER,
455	.mask_separate = BIT(IIO_EV_INFO_VALUE) |
456			 BIT(IIO_EV_INFO_ENABLE)
457};
458
459static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
460	0x7, 0x0,
461};
462
463extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
464
465int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
466		     struct regmap *regmap);
467int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
468				 bool enable);
469int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
470int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
471int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
472				u16 watermark);
473int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
474int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
475int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
476int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
477int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
478int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
479int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
480int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
481int st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len);
482int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
483
484static inline int
485st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
486			      unsigned int mask, unsigned int val)
487{
488	int err;
489
490	mutex_lock(&hw->page_lock);
491	err = regmap_update_bits(hw->regmap, addr, mask, val);
492	mutex_unlock(&hw->page_lock);
493
494	return err;
495}
496
497static inline int
498st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
499		       void *val, unsigned int len)
500{
501	int err;
502
503	mutex_lock(&hw->page_lock);
504	err = regmap_bulk_read(hw->regmap, addr, val, len);
505	mutex_unlock(&hw->page_lock);
506
507	return err;
508}
509
510static inline int
511st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
512			unsigned int val)
513{
514	int err;
515
516	mutex_lock(&hw->page_lock);
517	err = regmap_write(hw->regmap, addr, val);
518	mutex_unlock(&hw->page_lock);
519
520	return err;
521}
522
523static inline const struct iio_mount_matrix *
524st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
525			    const struct iio_chan_spec *chan)
526{
527	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
528	struct st_lsm6dsx_hw *hw = sensor->hw;
529
530	return &hw->orientation;
531}
532
533static inline int
534st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
535{
536	if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
537	    sensor->id == ST_LSM6DSX_ID_EXT1 ||
538	    sensor->id == ST_LSM6DSX_ID_EXT2)
539		return st_lsm6dsx_shub_set_enable(sensor, enable);
540
541	return st_lsm6dsx_sensor_set_enable(sensor, enable);
542}
543
544static const
545struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_ext_info[] = {
546	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
547	{ }
548};
549
550#endif /* ST_LSM6DSX_H */
551