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#define ST_ASM330LHHXG1_DEV_NAME	"asm330lhhxg1"
42
43enum st_lsm6dsx_hw_id {
44	ST_LSM6DS3_ID = 1,
45	ST_LSM6DS3H_ID,
46	ST_LSM6DSL_ID,
47	ST_LSM6DSM_ID,
48	ST_ISM330DLC_ID,
49	ST_LSM6DSO_ID,
50	ST_ASM330LHH_ID,
51	ST_LSM6DSOX_ID,
52	ST_LSM6DSR_ID,
53	ST_LSM6DS3TRC_ID,
54	ST_ISM330DHCX_ID,
55	ST_LSM9DS1_ID,
56	ST_LSM6DS0_ID,
57	ST_LSM6DSRX_ID,
58	ST_LSM6DST_ID,
59	ST_LSM6DSOP_ID,
60	ST_ASM330LHHX_ID,
61	ST_LSM6DSTX_ID,
62	ST_LSM6DSV_ID,
63	ST_LSM6DSV16X_ID,
64	ST_LSM6DSO16IS_ID,
65	ST_ISM330IS_ID,
66	ST_ASM330LHB_ID,
67	ST_ASM330LHHXG1_ID,
68	ST_LSM6DSX_MAX_ID,
69};
70
71#define ST_LSM6DSX_BUFF_SIZE		512
72#define ST_LSM6DSX_CHAN_SIZE		2
73#define ST_LSM6DSX_SAMPLE_SIZE		6
74#define ST_LSM6DSX_TAG_SIZE		1
75#define ST_LSM6DSX_TAGGED_SAMPLE_SIZE	(ST_LSM6DSX_SAMPLE_SIZE + \
76					 ST_LSM6DSX_TAG_SIZE)
77#define ST_LSM6DSX_MAX_WORD_LEN		((32 / ST_LSM6DSX_SAMPLE_SIZE) * \
78					 ST_LSM6DSX_SAMPLE_SIZE)
79#define ST_LSM6DSX_MAX_TAGGED_WORD_LEN	((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \
80					 * ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
81#define ST_LSM6DSX_SHIFT_VAL(val, mask)	(((val) << __ffs(mask)) & (mask))
82
83#define ST_LSM6DSX_CHANNEL_ACC(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	.event_spec = &st_lsm6dsx_event,				\
100	.ext_info = st_lsm6dsx_ext_info,				\
101	.num_event_specs = 1,						\
102}
103
104#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx)		\
105{									\
106	.type = chan_type,						\
107	.address = addr,						\
108	.modified = 1,							\
109	.channel2 = mod,						\
110	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),			\
111	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),		\
112	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),	\
113	.scan_index = scan_idx,						\
114	.scan_type = {							\
115		.sign = 's',						\
116		.realbits = 16,						\
117		.storagebits = 16,					\
118		.endianness = IIO_LE,					\
119	},								\
120	.ext_info = st_lsm6dsx_ext_info,				\
121}
122
123struct st_lsm6dsx_reg {
124	u8 addr;
125	u8 mask;
126};
127
128struct st_lsm6dsx_sensor;
129struct st_lsm6dsx_hw;
130
131struct st_lsm6dsx_odr {
132	u32 milli_hz;
133	u8 val;
134};
135
136#define ST_LSM6DSX_ODR_LIST_SIZE	8
137struct st_lsm6dsx_odr_table_entry {
138	struct st_lsm6dsx_reg reg;
139
140	struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
141	int odr_len;
142};
143
144struct st_lsm6dsx_samples_to_discard {
145	struct {
146		u32 milli_hz;
147		u16 samples;
148	} val[ST_LSM6DSX_ODR_LIST_SIZE];
149};
150
151struct st_lsm6dsx_fs {
152	u32 gain;
153	u8 val;
154};
155
156#define ST_LSM6DSX_FS_LIST_SIZE		4
157struct st_lsm6dsx_fs_table_entry {
158	struct st_lsm6dsx_reg reg;
159
160	struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
161	int fs_len;
162};
163
164/**
165 * struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
166 * @update_fifo: Update FIFO configuration callback.
167 * @read_fifo: Read FIFO callback.
168 * @fifo_th: FIFO threshold register info (addr + mask).
169 * @fifo_diff: FIFO diff status register info (addr + mask).
170 * @max_size: Sensor max fifo length in FIFO words.
171 * @th_wl: FIFO threshold word length.
172 */
173struct st_lsm6dsx_fifo_ops {
174	int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable);
175	int (*read_fifo)(struct st_lsm6dsx_hw *hw);
176	struct {
177		u8 addr;
178		u16 mask;
179	} fifo_th;
180	struct {
181		u8 addr;
182		u16 mask;
183	} fifo_diff;
184	u16 max_size;
185	u8 th_wl;
186};
187
188/**
189 * struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings
190 * @timer_en: Hw timer enable register info (addr + mask).
191 * @hr_timer: Hw timer resolution register info (addr + mask).
192 * @fifo_en: Hw timer FIFO enable register info (addr + mask).
193 * @decimator: Hw timer FIFO decimator register info (addr + mask).
194 * @freq_fine: Difference in % of ODR with respect to the typical.
195 */
196struct st_lsm6dsx_hw_ts_settings {
197	struct st_lsm6dsx_reg timer_en;
198	struct st_lsm6dsx_reg hr_timer;
199	struct st_lsm6dsx_reg fifo_en;
200	struct st_lsm6dsx_reg decimator;
201	u8 freq_fine;
202};
203
204/**
205 * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
206 * @page_mux: register page mux info (addr + mask).
207 * @master_en: master config register info (addr + mask).
208 * @pullup_en: i2c controller pull-up register info (addr + mask).
209 * @aux_sens: aux sensor register info (addr + mask).
210 * @wr_once: write_once register info (addr + mask).
211 * @emb_func:  embedded function register info (addr + mask).
212 * @num_ext_dev: max number of slave devices.
213 * @shub_out: sensor hub first output register info.
214 * @slv0_addr: slave0 address in secondary page.
215 * @dw_slv0_addr: slave0 write register address in secondary page.
216 * @batch_en: Enable/disable FIFO batching.
217 * @pause: controller pause value.
218 */
219struct st_lsm6dsx_shub_settings {
220	struct st_lsm6dsx_reg page_mux;
221	struct {
222		bool sec_page;
223		u8 addr;
224		u8 mask;
225	} master_en;
226	struct {
227		bool sec_page;
228		u8 addr;
229		u8 mask;
230	} pullup_en;
231	struct st_lsm6dsx_reg aux_sens;
232	struct st_lsm6dsx_reg wr_once;
233	struct st_lsm6dsx_reg emb_func;
234	u8 num_ext_dev;
235	struct {
236		bool sec_page;
237		u8 addr;
238	} shub_out;
239	u8 slv0_addr;
240	u8 dw_slv0_addr;
241	u8 batch_en;
242	u8 pause;
243};
244
245struct st_lsm6dsx_event_settings {
246	struct st_lsm6dsx_reg enable_reg;
247	struct st_lsm6dsx_reg wakeup_reg;
248	u8 wakeup_src_reg;
249	u8 wakeup_src_status_mask;
250	u8 wakeup_src_z_mask;
251	u8 wakeup_src_y_mask;
252	u8 wakeup_src_x_mask;
253};
254
255enum st_lsm6dsx_ext_sensor_id {
256	ST_LSM6DSX_ID_MAGN,
257};
258
259/**
260 * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
261 * @i2c_addr: I2c slave address list.
262 * @wai: Wai address info.
263 * @id: external sensor id.
264 * @odr_table: Output data rate of the sensor [Hz].
265 * @fs_table: Configured sensor sensitivity table depending on full scale.
266 * @temp_comp: Temperature compensation register info (addr + mask).
267 * @pwr_table: Power on register info (addr + mask).
268 * @off_canc: Offset cancellation register info (addr + mask).
269 * @bdu: Block data update register info (addr + mask).
270 * @out: Output register info.
271 */
272struct st_lsm6dsx_ext_dev_settings {
273	u8 i2c_addr[2];
274	struct {
275		u8 addr;
276		u8 val;
277	} wai;
278	enum st_lsm6dsx_ext_sensor_id id;
279	struct st_lsm6dsx_odr_table_entry odr_table;
280	struct st_lsm6dsx_fs_table_entry fs_table;
281	struct st_lsm6dsx_reg temp_comp;
282	struct {
283		struct st_lsm6dsx_reg reg;
284		u8 off_val;
285		u8 on_val;
286	} pwr_table;
287	struct st_lsm6dsx_reg off_canc;
288	struct st_lsm6dsx_reg bdu;
289	struct {
290		u8 addr;
291		u8 len;
292	} out;
293};
294
295/**
296 * struct st_lsm6dsx_settings - ST IMU sensor settings
297 * @reset: register address for reset.
298 * @boot: register address for boot.
299 * @bdu: register address for Block Data Update.
300 * @id: List of hw id/device name supported by the driver configuration.
301 * @channels: IIO channels supported by the device.
302 * @irq_config: interrupts related registers.
303 * @drdy_mask: register info for data-ready mask (addr + mask).
304 * @odr_table: Hw sensors odr table (Hz + val).
305 * @samples_to_discard: Number of samples to discard for filters settling time.
306 * @fs_table: Hw sensors gain table (gain + val).
307 * @decimator: List of decimator register info (addr + mask).
308 * @batch: List of FIFO batching register info (addr + mask).
309 * @fifo_ops: Sensor hw FIFO parameters.
310 * @ts_settings: Hw timer related settings.
311 * @shub_settings: i2c controller related settings.
312 */
313struct st_lsm6dsx_settings {
314	struct st_lsm6dsx_reg reset;
315	struct st_lsm6dsx_reg boot;
316	struct st_lsm6dsx_reg bdu;
317	struct {
318		enum st_lsm6dsx_hw_id hw_id;
319		const char *name;
320		u8 wai;
321	} id[ST_LSM6DSX_MAX_ID];
322	struct {
323		const struct iio_chan_spec *chan;
324		int len;
325	} channels[2];
326	struct {
327		struct st_lsm6dsx_reg irq1;
328		struct st_lsm6dsx_reg irq2;
329		struct st_lsm6dsx_reg irq1_func;
330		struct st_lsm6dsx_reg irq2_func;
331		struct st_lsm6dsx_reg lir;
332		struct st_lsm6dsx_reg clear_on_read;
333		struct st_lsm6dsx_reg hla;
334		struct st_lsm6dsx_reg od;
335	} irq_config;
336	struct st_lsm6dsx_reg drdy_mask;
337	struct st_lsm6dsx_odr_table_entry odr_table[2];
338	struct st_lsm6dsx_samples_to_discard samples_to_discard[2];
339	struct st_lsm6dsx_fs_table_entry fs_table[2];
340	struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
341	struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
342	struct st_lsm6dsx_fifo_ops fifo_ops;
343	struct st_lsm6dsx_hw_ts_settings ts_settings;
344	struct st_lsm6dsx_shub_settings shub_settings;
345	struct st_lsm6dsx_event_settings event_settings;
346};
347
348enum st_lsm6dsx_sensor_id {
349	ST_LSM6DSX_ID_GYRO,
350	ST_LSM6DSX_ID_ACC,
351	ST_LSM6DSX_ID_EXT0,
352	ST_LSM6DSX_ID_EXT1,
353	ST_LSM6DSX_ID_EXT2,
354	ST_LSM6DSX_ID_MAX,
355};
356
357enum st_lsm6dsx_fifo_mode {
358	ST_LSM6DSX_FIFO_BYPASS = 0x0,
359	ST_LSM6DSX_FIFO_CONT = 0x6,
360};
361
362/**
363 * struct st_lsm6dsx_sensor - ST IMU sensor instance
364 * @name: Sensor name.
365 * @id: Sensor identifier.
366 * @hw: Pointer to instance of struct st_lsm6dsx_hw.
367 * @gain: Configured sensor sensitivity.
368 * @odr: Output data rate of the sensor [Hz].
369 * @samples_to_discard: Number of samples to discard for filters settling time.
370 * @watermark: Sensor watermark level.
371 * @decimator: Sensor decimation factor.
372 * @sip: Number of samples in a given pattern.
373 * @ts_ref: Sensor timestamp reference for hw one.
374 * @ext_info: Sensor settings if it is connected to i2c controller
375 */
376struct st_lsm6dsx_sensor {
377	char name[32];
378	enum st_lsm6dsx_sensor_id id;
379	struct st_lsm6dsx_hw *hw;
380
381	u32 gain;
382	u32 odr;
383
384	u16 samples_to_discard;
385	u16 watermark;
386	u8 decimator;
387	u8 sip;
388	s64 ts_ref;
389
390	struct {
391		const struct st_lsm6dsx_ext_dev_settings *settings;
392		u32 slv_odr;
393		u8 addr;
394	} ext_info;
395};
396
397/**
398 * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
399 * @dev: Pointer to instance of struct device (I2C or SPI).
400 * @regmap: Register map of the device.
401 * @irq: Device interrupt line (I2C or SPI).
402 * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
403 * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
404 * @page_lock: Mutex to prevent concurrent memory page configuration.
405 * @suspend_mask: Suspended sensor bitmask.
406 * @enable_mask: Enabled sensor bitmask.
407 * @fifo_mask: Enabled hw FIFO bitmask.
408 * @ts_gain: Hw timestamp rate after internal calibration.
409 * @ts_sip: Total number of timestamp samples in a given pattern.
410 * @sip: Total number of samples (acc/gyro/ts) in a given pattern.
411 * @buff: Device read buffer.
412 * @irq_routing: pointer to interrupt routing configuration.
413 * @event_threshold: wakeup event threshold.
414 * @enable_event: enabled event bitmask.
415 * @iio_devs: Pointers to acc/gyro iio_dev instances.
416 * @settings: Pointer to the specific sensor settings in use.
417 * @orientation: sensor chip orientation relative to main hardware.
418 * @scan: Temporary buffers used to align data before iio_push_to_buffers()
419 */
420struct st_lsm6dsx_hw {
421	struct device *dev;
422	struct regmap *regmap;
423	int irq;
424
425	struct mutex fifo_lock;
426	struct mutex conf_lock;
427	struct mutex page_lock;
428
429	u8 suspend_mask;
430	u8 enable_mask;
431	u8 fifo_mask;
432	s64 ts_gain;
433	u8 ts_sip;
434	u8 sip;
435
436	const struct st_lsm6dsx_reg *irq_routing;
437	u8 event_threshold;
438	u8 enable_event;
439
440	u8 *buff;
441
442	struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX];
443
444	const struct st_lsm6dsx_settings *settings;
445
446	struct iio_mount_matrix orientation;
447	/* Ensure natural alignment of buffer elements */
448	struct {
449		__le16 channels[3];
450		s64 ts __aligned(8);
451	} scan[ST_LSM6DSX_ID_MAX];
452};
453
454static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
455	.type = IIO_EV_TYPE_THRESH,
456	.dir = IIO_EV_DIR_EITHER,
457	.mask_separate = BIT(IIO_EV_INFO_VALUE) |
458			 BIT(IIO_EV_INFO_ENABLE)
459};
460
461static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = {
462	0x7, 0x0,
463};
464
465extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
466
467int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
468		     struct regmap *regmap);
469int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
470				 bool enable);
471int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw);
472int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val);
473int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor,
474				u16 watermark);
475int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable);
476int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw);
477int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw);
478int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
479int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
480int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val);
481int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
482int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
483int st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len);
484int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
485
486static inline int
487st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
488			      unsigned int mask, unsigned int val)
489{
490	int err;
491
492	mutex_lock(&hw->page_lock);
493	err = regmap_update_bits(hw->regmap, addr, mask, val);
494	mutex_unlock(&hw->page_lock);
495
496	return err;
497}
498
499static inline int
500st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
501		       void *val, unsigned int len)
502{
503	int err;
504
505	mutex_lock(&hw->page_lock);
506	err = regmap_bulk_read(hw->regmap, addr, val, len);
507	mutex_unlock(&hw->page_lock);
508
509	return err;
510}
511
512static inline int
513st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
514			unsigned int val)
515{
516	int err;
517
518	mutex_lock(&hw->page_lock);
519	err = regmap_write(hw->regmap, addr, val);
520	mutex_unlock(&hw->page_lock);
521
522	return err;
523}
524
525static inline const struct iio_mount_matrix *
526st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
527			    const struct iio_chan_spec *chan)
528{
529	struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
530	struct st_lsm6dsx_hw *hw = sensor->hw;
531
532	return &hw->orientation;
533}
534
535static inline int
536st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
537{
538	if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
539	    sensor->id == ST_LSM6DSX_ID_EXT1 ||
540	    sensor->id == ST_LSM6DSX_ID_EXT2)
541		return st_lsm6dsx_shub_set_enable(sensor, enable);
542
543	return st_lsm6dsx_sensor_set_enable(sensor, enable);
544}
545
546static const
547struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_ext_info[] = {
548	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
549	{ }
550};
551
552#endif /* ST_LSM6DSX_H */
553