mirror of https://github.com/Qortal/Brooklyn
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
514 lines
14 KiB
514 lines
14 KiB
/* SPDX-License-Identifier: GPL-2.0-only */ |
|
/* |
|
* STMicroelectronics st_lsm6dsx sensor driver |
|
* |
|
* Copyright 2016 STMicroelectronics Inc. |
|
* |
|
* Lorenzo Bianconi <[email protected]> |
|
* Denis Ciocca <[email protected]> |
|
*/ |
|
|
|
#ifndef ST_LSM6DSX_H |
|
#define ST_LSM6DSX_H |
|
|
|
#include <linux/device.h> |
|
#include <linux/iio/iio.h> |
|
#include <linux/regulator/consumer.h> |
|
|
|
#define ST_LSM6DS3_DEV_NAME "lsm6ds3" |
|
#define ST_LSM6DS3H_DEV_NAME "lsm6ds3h" |
|
#define ST_LSM6DSL_DEV_NAME "lsm6dsl" |
|
#define ST_LSM6DSM_DEV_NAME "lsm6dsm" |
|
#define ST_ISM330DLC_DEV_NAME "ism330dlc" |
|
#define ST_LSM6DSO_DEV_NAME "lsm6dso" |
|
#define ST_ASM330LHH_DEV_NAME "asm330lhh" |
|
#define ST_LSM6DSOX_DEV_NAME "lsm6dsox" |
|
#define ST_LSM6DSR_DEV_NAME "lsm6dsr" |
|
#define ST_LSM6DS3TRC_DEV_NAME "lsm6ds3tr-c" |
|
#define ST_ISM330DHCX_DEV_NAME "ism330dhcx" |
|
#define ST_LSM9DS1_DEV_NAME "lsm9ds1-imu" |
|
#define ST_LSM6DS0_DEV_NAME "lsm6ds0" |
|
#define ST_LSM6DSRX_DEV_NAME "lsm6dsrx" |
|
#define ST_LSM6DST_DEV_NAME "lsm6dst" |
|
#define ST_LSM6DSOP_DEV_NAME "lsm6dsop" |
|
|
|
enum st_lsm6dsx_hw_id { |
|
ST_LSM6DS3_ID, |
|
ST_LSM6DS3H_ID, |
|
ST_LSM6DSL_ID, |
|
ST_LSM6DSM_ID, |
|
ST_ISM330DLC_ID, |
|
ST_LSM6DSO_ID, |
|
ST_ASM330LHH_ID, |
|
ST_LSM6DSOX_ID, |
|
ST_LSM6DSR_ID, |
|
ST_LSM6DS3TRC_ID, |
|
ST_ISM330DHCX_ID, |
|
ST_LSM9DS1_ID, |
|
ST_LSM6DS0_ID, |
|
ST_LSM6DSRX_ID, |
|
ST_LSM6DST_ID, |
|
ST_LSM6DSOP_ID, |
|
ST_LSM6DSX_MAX_ID, |
|
}; |
|
|
|
#define ST_LSM6DSX_BUFF_SIZE 512 |
|
#define ST_LSM6DSX_CHAN_SIZE 2 |
|
#define ST_LSM6DSX_SAMPLE_SIZE 6 |
|
#define ST_LSM6DSX_TAG_SIZE 1 |
|
#define ST_LSM6DSX_TAGGED_SAMPLE_SIZE (ST_LSM6DSX_SAMPLE_SIZE + \ |
|
ST_LSM6DSX_TAG_SIZE) |
|
#define ST_LSM6DSX_MAX_WORD_LEN ((32 / ST_LSM6DSX_SAMPLE_SIZE) * \ |
|
ST_LSM6DSX_SAMPLE_SIZE) |
|
#define ST_LSM6DSX_MAX_TAGGED_WORD_LEN ((32 / ST_LSM6DSX_TAGGED_SAMPLE_SIZE) \ |
|
* ST_LSM6DSX_TAGGED_SAMPLE_SIZE) |
|
#define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask)) |
|
|
|
#define ST_LSM6DSX_CHANNEL_ACC(chan_type, addr, mod, scan_idx) \ |
|
{ \ |
|
.type = chan_type, \ |
|
.address = addr, \ |
|
.modified = 1, \ |
|
.channel2 = mod, \ |
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ |
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
|
.scan_index = scan_idx, \ |
|
.scan_type = { \ |
|
.sign = 's', \ |
|
.realbits = 16, \ |
|
.storagebits = 16, \ |
|
.endianness = IIO_LE, \ |
|
}, \ |
|
.event_spec = &st_lsm6dsx_event, \ |
|
.ext_info = st_lsm6dsx_accel_ext_info, \ |
|
.num_event_specs = 1, \ |
|
} |
|
|
|
#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \ |
|
{ \ |
|
.type = chan_type, \ |
|
.address = addr, \ |
|
.modified = 1, \ |
|
.channel2 = mod, \ |
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ |
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
|
.scan_index = scan_idx, \ |
|
.scan_type = { \ |
|
.sign = 's', \ |
|
.realbits = 16, \ |
|
.storagebits = 16, \ |
|
.endianness = IIO_LE, \ |
|
}, \ |
|
} |
|
|
|
struct st_lsm6dsx_reg { |
|
u8 addr; |
|
u8 mask; |
|
}; |
|
|
|
struct st_lsm6dsx_sensor; |
|
struct st_lsm6dsx_hw; |
|
|
|
struct st_lsm6dsx_odr { |
|
u32 milli_hz; |
|
u8 val; |
|
}; |
|
|
|
#define ST_LSM6DSX_ODR_LIST_SIZE 8 |
|
struct st_lsm6dsx_odr_table_entry { |
|
struct st_lsm6dsx_reg reg; |
|
|
|
struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE]; |
|
int odr_len; |
|
}; |
|
|
|
struct st_lsm6dsx_fs { |
|
u32 gain; |
|
u8 val; |
|
}; |
|
|
|
#define ST_LSM6DSX_FS_LIST_SIZE 4 |
|
struct st_lsm6dsx_fs_table_entry { |
|
struct st_lsm6dsx_reg reg; |
|
|
|
struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE]; |
|
int fs_len; |
|
}; |
|
|
|
/** |
|
* struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings |
|
* @update_fifo: Update FIFO configuration callback. |
|
* @read_fifo: Read FIFO callback. |
|
* @fifo_th: FIFO threshold register info (addr + mask). |
|
* @fifo_diff: FIFO diff status register info (addr + mask). |
|
* @th_wl: FIFO threshold word length. |
|
*/ |
|
struct st_lsm6dsx_fifo_ops { |
|
int (*update_fifo)(struct st_lsm6dsx_sensor *sensor, bool enable); |
|
int (*read_fifo)(struct st_lsm6dsx_hw *hw); |
|
struct { |
|
u8 addr; |
|
u16 mask; |
|
} fifo_th; |
|
struct { |
|
u8 addr; |
|
u16 mask; |
|
} fifo_diff; |
|
u8 th_wl; |
|
}; |
|
|
|
/** |
|
* struct st_lsm6dsx_hw_ts_settings - ST IMU hw timer settings |
|
* @timer_en: Hw timer enable register info (addr + mask). |
|
* @hr_timer: Hw timer resolution register info (addr + mask). |
|
* @fifo_en: Hw timer FIFO enable register info (addr + mask). |
|
* @decimator: Hw timer FIFO decimator register info (addr + mask). |
|
* @freq_fine: Difference in % of ODR with respect to the typical. |
|
*/ |
|
struct st_lsm6dsx_hw_ts_settings { |
|
struct st_lsm6dsx_reg timer_en; |
|
struct st_lsm6dsx_reg hr_timer; |
|
struct st_lsm6dsx_reg fifo_en; |
|
struct st_lsm6dsx_reg decimator; |
|
u8 freq_fine; |
|
}; |
|
|
|
/** |
|
* struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings |
|
* @page_mux: register page mux info (addr + mask). |
|
* @master_en: master config register info (addr + mask). |
|
* @pullup_en: i2c controller pull-up register info (addr + mask). |
|
* @aux_sens: aux sensor register info (addr + mask). |
|
* @wr_once: write_once register info (addr + mask). |
|
* @emb_func: embedded function register info (addr + mask). |
|
* @num_ext_dev: max number of slave devices. |
|
* @shub_out: sensor hub first output register info. |
|
* @slv0_addr: slave0 address in secondary page. |
|
* @dw_slv0_addr: slave0 write register address in secondary page. |
|
* @batch_en: Enable/disable FIFO batching. |
|
* @pause: controller pause value. |
|
*/ |
|
struct st_lsm6dsx_shub_settings { |
|
struct st_lsm6dsx_reg page_mux; |
|
struct { |
|
bool sec_page; |
|
u8 addr; |
|
u8 mask; |
|
} master_en; |
|
struct { |
|
bool sec_page; |
|
u8 addr; |
|
u8 mask; |
|
} pullup_en; |
|
struct st_lsm6dsx_reg aux_sens; |
|
struct st_lsm6dsx_reg wr_once; |
|
struct st_lsm6dsx_reg emb_func; |
|
u8 num_ext_dev; |
|
struct { |
|
bool sec_page; |
|
u8 addr; |
|
} shub_out; |
|
u8 slv0_addr; |
|
u8 dw_slv0_addr; |
|
u8 batch_en; |
|
u8 pause; |
|
}; |
|
|
|
struct st_lsm6dsx_event_settings { |
|
struct st_lsm6dsx_reg enable_reg; |
|
struct st_lsm6dsx_reg wakeup_reg; |
|
u8 wakeup_src_reg; |
|
u8 wakeup_src_status_mask; |
|
u8 wakeup_src_z_mask; |
|
u8 wakeup_src_y_mask; |
|
u8 wakeup_src_x_mask; |
|
}; |
|
|
|
enum st_lsm6dsx_ext_sensor_id { |
|
ST_LSM6DSX_ID_MAGN, |
|
}; |
|
|
|
/** |
|
* struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings |
|
* @i2c_addr: I2c slave address list. |
|
* @wai: Wai address info. |
|
* @id: external sensor id. |
|
* @odr_table: Output data rate of the sensor [Hz]. |
|
* @fs_table: Configured sensor sensitivity table depending on full scale. |
|
* @temp_comp: Temperature compensation register info (addr + mask). |
|
* @pwr_table: Power on register info (addr + mask). |
|
* @off_canc: Offset cancellation register info (addr + mask). |
|
* @bdu: Block data update register info (addr + mask). |
|
* @out: Output register info. |
|
*/ |
|
struct st_lsm6dsx_ext_dev_settings { |
|
u8 i2c_addr[2]; |
|
struct { |
|
u8 addr; |
|
u8 val; |
|
} wai; |
|
enum st_lsm6dsx_ext_sensor_id id; |
|
struct st_lsm6dsx_odr_table_entry odr_table; |
|
struct st_lsm6dsx_fs_table_entry fs_table; |
|
struct st_lsm6dsx_reg temp_comp; |
|
struct { |
|
struct st_lsm6dsx_reg reg; |
|
u8 off_val; |
|
u8 on_val; |
|
} pwr_table; |
|
struct st_lsm6dsx_reg off_canc; |
|
struct st_lsm6dsx_reg bdu; |
|
struct { |
|
u8 addr; |
|
u8 len; |
|
} out; |
|
}; |
|
|
|
/** |
|
* struct st_lsm6dsx_settings - ST IMU sensor settings |
|
* @reset: register address for reset. |
|
* @boot: register address for boot. |
|
* @bdu: register address for Block Data Update. |
|
* @max_fifo_size: Sensor max fifo length in FIFO words. |
|
* @id: List of hw id/device name supported by the driver configuration. |
|
* @channels: IIO channels supported by the device. |
|
* @irq_config: interrupts related registers. |
|
* @drdy_mask: register info for data-ready mask (addr + mask). |
|
* @odr_table: Hw sensors odr table (Hz + val). |
|
* @fs_table: Hw sensors gain table (gain + val). |
|
* @decimator: List of decimator register info (addr + mask). |
|
* @batch: List of FIFO batching register info (addr + mask). |
|
* @fifo_ops: Sensor hw FIFO parameters. |
|
* @ts_settings: Hw timer related settings. |
|
* @shub_settings: i2c controller related settings. |
|
*/ |
|
struct st_lsm6dsx_settings { |
|
struct st_lsm6dsx_reg reset; |
|
struct st_lsm6dsx_reg boot; |
|
struct st_lsm6dsx_reg bdu; |
|
u16 max_fifo_size; |
|
struct { |
|
enum st_lsm6dsx_hw_id hw_id; |
|
const char *name; |
|
u8 wai; |
|
} id[ST_LSM6DSX_MAX_ID]; |
|
struct { |
|
const struct iio_chan_spec *chan; |
|
int len; |
|
} channels[2]; |
|
struct { |
|
struct st_lsm6dsx_reg irq1; |
|
struct st_lsm6dsx_reg irq2; |
|
struct st_lsm6dsx_reg irq1_func; |
|
struct st_lsm6dsx_reg irq2_func; |
|
struct st_lsm6dsx_reg lir; |
|
struct st_lsm6dsx_reg clear_on_read; |
|
struct st_lsm6dsx_reg hla; |
|
struct st_lsm6dsx_reg od; |
|
} irq_config; |
|
struct st_lsm6dsx_reg drdy_mask; |
|
struct st_lsm6dsx_odr_table_entry odr_table[2]; |
|
struct st_lsm6dsx_fs_table_entry fs_table[2]; |
|
struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID]; |
|
struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID]; |
|
struct st_lsm6dsx_fifo_ops fifo_ops; |
|
struct st_lsm6dsx_hw_ts_settings ts_settings; |
|
struct st_lsm6dsx_shub_settings shub_settings; |
|
struct st_lsm6dsx_event_settings event_settings; |
|
}; |
|
|
|
enum st_lsm6dsx_sensor_id { |
|
ST_LSM6DSX_ID_GYRO, |
|
ST_LSM6DSX_ID_ACC, |
|
ST_LSM6DSX_ID_EXT0, |
|
ST_LSM6DSX_ID_EXT1, |
|
ST_LSM6DSX_ID_EXT2, |
|
ST_LSM6DSX_ID_MAX, |
|
}; |
|
|
|
enum st_lsm6dsx_fifo_mode { |
|
ST_LSM6DSX_FIFO_BYPASS = 0x0, |
|
ST_LSM6DSX_FIFO_CONT = 0x6, |
|
}; |
|
|
|
/** |
|
* struct st_lsm6dsx_sensor - ST IMU sensor instance |
|
* @name: Sensor name. |
|
* @id: Sensor identifier. |
|
* @hw: Pointer to instance of struct st_lsm6dsx_hw. |
|
* @gain: Configured sensor sensitivity. |
|
* @odr: Output data rate of the sensor [Hz]. |
|
* @watermark: Sensor watermark level. |
|
* @decimator: Sensor decimation factor. |
|
* @sip: Number of samples in a given pattern. |
|
* @ts_ref: Sensor timestamp reference for hw one. |
|
* @ext_info: Sensor settings if it is connected to i2c controller |
|
*/ |
|
struct st_lsm6dsx_sensor { |
|
char name[32]; |
|
enum st_lsm6dsx_sensor_id id; |
|
struct st_lsm6dsx_hw *hw; |
|
|
|
u32 gain; |
|
u32 odr; |
|
|
|
u16 watermark; |
|
u8 decimator; |
|
u8 sip; |
|
s64 ts_ref; |
|
|
|
struct { |
|
const struct st_lsm6dsx_ext_dev_settings *settings; |
|
u32 slv_odr; |
|
u8 addr; |
|
} ext_info; |
|
}; |
|
|
|
/** |
|
* struct st_lsm6dsx_hw - ST IMU MEMS hw instance |
|
* @dev: Pointer to instance of struct device (I2C or SPI). |
|
* @regmap: Register map of the device. |
|
* @regulators: VDD/VDDIO voltage regulators. |
|
* @irq: Device interrupt line (I2C or SPI). |
|
* @fifo_lock: Mutex to prevent concurrent access to the hw FIFO. |
|
* @conf_lock: Mutex to prevent concurrent FIFO configuration update. |
|
* @page_lock: Mutex to prevent concurrent memory page configuration. |
|
* @suspend_mask: Suspended sensor bitmask. |
|
* @enable_mask: Enabled sensor bitmask. |
|
* @fifo_mask: Enabled hw FIFO bitmask. |
|
* @ts_gain: Hw timestamp rate after internal calibration. |
|
* @ts_sip: Total number of timestamp samples in a given pattern. |
|
* @sip: Total number of samples (acc/gyro/ts) in a given pattern. |
|
* @buff: Device read buffer. |
|
* @irq_routing: pointer to interrupt routing configuration. |
|
* @event_threshold: wakeup event threshold. |
|
* @enable_event: enabled event bitmask. |
|
* @iio_devs: Pointers to acc/gyro iio_dev instances. |
|
* @settings: Pointer to the specific sensor settings in use. |
|
* @orientation: sensor chip orientation relative to main hardware. |
|
* @scan: Temporary buffers used to align data before iio_push_to_buffers() |
|
*/ |
|
struct st_lsm6dsx_hw { |
|
struct device *dev; |
|
struct regmap *regmap; |
|
struct regulator_bulk_data regulators[2]; |
|
int irq; |
|
|
|
struct mutex fifo_lock; |
|
struct mutex conf_lock; |
|
struct mutex page_lock; |
|
|
|
u8 suspend_mask; |
|
u8 enable_mask; |
|
u8 fifo_mask; |
|
s64 ts_gain; |
|
u8 ts_sip; |
|
u8 sip; |
|
|
|
const struct st_lsm6dsx_reg *irq_routing; |
|
u8 event_threshold; |
|
u8 enable_event; |
|
|
|
u8 *buff; |
|
|
|
struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX]; |
|
|
|
const struct st_lsm6dsx_settings *settings; |
|
|
|
struct iio_mount_matrix orientation; |
|
/* Ensure natural alignment of buffer elements */ |
|
struct { |
|
__le16 channels[3]; |
|
s64 ts __aligned(8); |
|
} scan[3]; |
|
}; |
|
|
|
static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = { |
|
.type = IIO_EV_TYPE_THRESH, |
|
.dir = IIO_EV_DIR_EITHER, |
|
.mask_separate = BIT(IIO_EV_INFO_VALUE) | |
|
BIT(IIO_EV_INFO_ENABLE) |
|
}; |
|
|
|
static __maybe_unused const unsigned long st_lsm6dsx_available_scan_masks[] = { |
|
0x7, 0x0, |
|
}; |
|
|
|
extern const struct dev_pm_ops st_lsm6dsx_pm_ops; |
|
|
|
int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, |
|
struct regmap *regmap); |
|
int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, |
|
bool enable); |
|
int st_lsm6dsx_fifo_setup(struct st_lsm6dsx_hw *hw); |
|
int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val); |
|
int st_lsm6dsx_update_watermark(struct st_lsm6dsx_sensor *sensor, |
|
u16 watermark); |
|
int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable); |
|
int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw); |
|
int st_lsm6dsx_resume_fifo(struct st_lsm6dsx_hw *hw); |
|
int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw); |
|
int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw); |
|
int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val); |
|
int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name); |
|
int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable); |
|
int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable); |
|
|
|
static inline int |
|
st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, |
|
unsigned int mask, unsigned int val) |
|
{ |
|
int err; |
|
|
|
mutex_lock(&hw->page_lock); |
|
err = regmap_update_bits(hw->regmap, addr, mask, val); |
|
mutex_unlock(&hw->page_lock); |
|
|
|
return err; |
|
} |
|
|
|
static inline int |
|
st_lsm6dsx_read_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, |
|
void *val, unsigned int len) |
|
{ |
|
int err; |
|
|
|
mutex_lock(&hw->page_lock); |
|
err = regmap_bulk_read(hw->regmap, addr, val, len); |
|
mutex_unlock(&hw->page_lock); |
|
|
|
return err; |
|
} |
|
|
|
static inline int |
|
st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, |
|
unsigned int val) |
|
{ |
|
int err; |
|
|
|
mutex_lock(&hw->page_lock); |
|
err = regmap_write(hw->regmap, addr, val); |
|
mutex_unlock(&hw->page_lock); |
|
|
|
return err; |
|
} |
|
|
|
static inline const struct iio_mount_matrix * |
|
st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev, |
|
const struct iio_chan_spec *chan) |
|
{ |
|
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); |
|
struct st_lsm6dsx_hw *hw = sensor->hw; |
|
|
|
return &hw->orientation; |
|
} |
|
|
|
static const |
|
struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = { |
|
IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix), |
|
{ } |
|
}; |
|
|
|
#endif /* ST_LSM6DSX_H */
|
|
|