// SPDX-License-Identifier: GPL-2.0-only
/*
* STMicroelectronics st_lsm6dsx sensor driver
*
* The ST LSM6DSx IMU MEMS series consists of 3D digital accelerometer
* and 3D digital gyroscope system-in-package with a digital I2C/SPI serial
* interface standard output.
* LSM6DSx IMU MEMS series has a dynamic user-selectable full-scale
* acceleration range of +-2/+-4/+-8/+-16 g and an angular rate range of
* +-125/+-245/+-500/+-1000/+-2000 dps
* LSM6DSx series has an integrated First-In-First-Out (FIFO) buffer
* allowing dynamic batching of sensor data.
* LSM9DSx series is similar but includes an additional magnetometer, handled
* by a different driver.
*
* Supported sensors:
*
* - LSM6DS3
* - Accelerometer/Gyroscope supported ODR [Hz]: 12.5, 26, 52, 104, 208, 416
* - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
* - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
* - FIFO size: 8KB
*
* - ISM330DLC
* - LSM6DS3H
* - LSM6DS3TR-C
* - LSM6DSL
* - LSM6DSM
* - Accelerometer/Gyroscope supported ODR [Hz]: 12.5, 26, 52, 104, 208, 416
* - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
* - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
* - FIFO size: 4KB
*
* - ASM330LHH
* - ASM330LHHX
* - ASM330LHHXG1
* - ISM330DHCX
* - ISM330IS
* - LSM6DSO
* - LSM6DSO16IS
* - LSM6DSOP
* - LSM6DSOX
* - LSM6DSR
* - LSM6DST
* - LSM6DSTX
* - Accelerometer/Gyroscope supported ODR [Hz]: 12.5, 26, 52, 104, 208, 416,
* 833
* - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
* - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
* - FIFO size: 3KB
*
* - LSM6DSV
* - LSM6DSV16X
* - Accelerometer/Gyroscope supported ODR [Hz]: 7.5, 15, 30, 60, 120, 240,
* 480, 960
* - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
* - Gyroscope supported full-scale [dps]: +-125/+-250/+-500/+-1000/+-2000
* - FIFO size: 3KB
*
* - LSM6DS0
* - LSM9DS1
* - Accelerometer supported ODR [Hz]: 10, 50, 119, 238, 476, 952
* - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
* - Gyroscope supported ODR [Hz]: 15, 60, 119, 238, 476, 952
* - Gyroscope supported full-scale [dps]: +-245/+-500/+-2000
* - FIFO size: 32
*
* Copyright 2016 STMicroelectronics Inc.
*
* Lorenzo Bianconi <[email protected]>
* Denis Ciocca <[email protected]>
*/
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/acpi.h>
#include <linux/delay.h>
#include <linux/iio/events.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/triggered_buffer.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/minmax.h>
#include <linux/pm.h>
#include <linux/property.h>
#include <linux/regmap.h>
#include <linux/bitfield.h>
#include <linux/platform_data/st_sensors_pdata.h>
#include "st_lsm6dsx.h"
#define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f
#define ST_LSM6DSX_TS_SENSITIVITY 25000UL /* 25us */
static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x28, IIO_MOD_X, 0),
ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2a, IIO_MOD_Y, 1),
ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2c, IIO_MOD_Z, 2),
IIO_CHAN_SOFT_TIMESTAMP(3),
};
static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x22, IIO_MOD_X, 0),
ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x24, IIO_MOD_Y, 1),
ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x26, IIO_MOD_Z, 2),
IIO_CHAN_SOFT_TIMESTAMP(3),
};
static const struct iio_chan_spec st_lsm6ds0_gyro_channels[] = {
ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x18, IIO_MOD_X, 0),
ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1a, IIO_MOD_Y, 1),
ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, 0x1c, IIO_MOD_Z, 2),
IIO_CHAN_SOFT_TIMESTAMP(3),
};
static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
{
.reset = {
.addr = 0x22,
.mask = BIT(0),
},
.boot = {
.addr = 0x22,
.mask = BIT(7),
},
.bdu = {
.addr = 0x22,
.mask = BIT(6),
},
.id = {
{
.hw_id = ST_LSM9DS1_ID,
.name = ST_LSM9DS1_DEV_NAME,
.wai = 0x68,
}, {
.hw_id = ST_LSM6DS0_ID,
.name = ST_LSM6DS0_DEV_NAME,
.wai = 0x68,
},
},
.channels = {
[ST_LSM6DSX_ID_ACC] = {
.chan = st_lsm6dsx_acc_channels,
.len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
},
[ST_LSM6DSX_ID_GYRO] = {
.chan = st_lsm6ds0_gyro_channels,
.len = ARRAY_SIZE(st_lsm6ds0_gyro_channels),
},
},
.odr_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x20,
.mask = GENMASK(7, 5),
},
.odr_avl[0] = { 10000, 0x01 },
.odr_avl[1] = { 50000, 0x02 },
.odr_avl[2] = { 119000, 0x03 },
.odr_avl[3] = { 238000, 0x04 },
.odr_avl[4] = { 476000, 0x05 },
.odr_avl[5] = { 952000, 0x06 },
.odr_len = 6,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(7, 5),
},
.odr_avl[0] = { 14900, 0x01 },
.odr_avl[1] = { 59500, 0x02 },
.odr_avl[2] = { 119000, 0x03 },
.odr_avl[3] = { 238000, 0x04 },
.odr_avl[4] = { 476000, 0x05 },
.odr_avl[5] = { 952000, 0x06 },
.odr_len = 6,
},
},
.fs_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x20,
.mask = GENMASK(4, 3),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(732000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(4, 3),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 3,
},
},
.irq_config = {
.irq1 = {
.addr = 0x0c,
.mask = BIT(3),
},
.irq2 = {
.addr = 0x0d,
.mask = BIT(3),
},
.hla = {
.addr = 0x22,
.mask = BIT(5),
},
.od = {
.addr = 0x22,
.mask = BIT(4),
},
},
.fifo_ops = {
.max_size = 32,
},
},
{
.reset = {
.addr = 0x12,
.mask = BIT(0),
},
.boot = {
.addr = 0x12,
.mask = BIT(7),
},
.bdu = {
.addr = 0x12,
.mask = BIT(6),
},
.id = {
{
.hw_id = ST_LSM6DS3_ID,
.name = ST_LSM6DS3_DEV_NAME,
.wai = 0x69,
},
},
.channels = {
[ST_LSM6DSX_ID_ACC] = {
.chan = st_lsm6dsx_acc_channels,
.len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
},
[ST_LSM6DSX_ID_GYRO] = {
.chan = st_lsm6dsx_gyro_channels,
.len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
},
},
.odr_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_len = 6,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_len = 6,
},
},
.fs_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
.irq_config = {
.irq1 = {
.addr = 0x0d,
.mask = BIT(3),
},
.irq2 = {
.addr = 0x0e,
.mask = BIT(3),
},
.lir = {
.addr = 0x58,
.mask = BIT(0),
},
.irq1_func = {
.addr = 0x5e,
.mask = BIT(5),
},
.irq2_func = {
.addr = 0x5f,
.mask = BIT(5),
},
.hla = {
.addr = 0x12,
.mask = BIT(5),
},
.od = {
.addr = 0x12,
.mask = BIT(4),
},
},
.decimator = {
[ST_LSM6DSX_ID_ACC] = {
.addr = 0x08,
.mask = GENMASK(2, 0),
},
[ST_LSM6DSX_ID_GYRO] = {
.addr = 0x08,
.mask = GENMASK(5, 3),
},
},
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_fifo,
.fifo_th = {
.addr = 0x06,
.mask = GENMASK(11, 0),
},
.fifo_diff = {
.addr = 0x3a,
.mask = GENMASK(11, 0),
},
.max_size = 1365,
.th_wl = 3, /* 1LSB = 2B */
},
.ts_settings = {
.timer_en = {
.addr = 0x58,
.mask = BIT(7),
},
.hr_timer = {
.addr = 0x5c,
.mask = BIT(4),
},
.fifo_en = {
.addr = 0x07,
.mask = BIT(7),
},
.decimator = {
.addr = 0x09,
.mask = GENMASK(5, 3),
},
},
.event_settings = {
.wakeup_reg = {
.addr = 0x5B,
.mask = GENMASK(5, 0),
},
.wakeup_src_reg = 0x1b,
.wakeup_src_status_mask = BIT(3),
.wakeup_src_z_mask = BIT(0),
.wakeup_src_y_mask = BIT(1),
.wakeup_src_x_mask = BIT(2),
},
},
{
.reset = {
.addr = 0x12,
.mask = BIT(0),
},
.boot = {
.addr = 0x12,
.mask = BIT(7),
},
.bdu = {
.addr = 0x12,
.mask = BIT(6),
},
.id = {
{
.hw_id = ST_LSM6DS3H_ID,
.name = ST_LSM6DS3H_DEV_NAME,
.wai = 0x69,
},
},
.channels = {
[ST_LSM6DSX_ID_ACC] = {
.chan = st_lsm6dsx_acc_channels,
.len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
},
[ST_LSM6DSX_ID_GYRO] = {
.chan = st_lsm6dsx_gyro_channels,
.len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
},
},
.odr_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_len = 6,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_len = 6,
},
},
.fs_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
.irq_config = {
.irq1 = {
.addr = 0x0d,
.mask = BIT(3),
},
.irq2 = {
.addr = 0x0e,
.mask = BIT(3),
},
.lir = {
.addr = 0x58,
.mask = BIT(0),
},
.irq1_func = {
.addr = 0x5e,
.mask = BIT(5),
},
.irq2_func = {
.addr = 0x5f,
.mask = BIT(5),
},
.hla = {
.addr = 0x12,
.mask = BIT(5),
},
.od = {
.addr = 0x12,
.mask = BIT(4),
},
},
.decimator = {
[ST_LSM6DSX_ID_ACC] = {
.addr = 0x08,
.mask = GENMASK(2, 0),
},
[ST_LSM6DSX_ID_GYRO] = {
.addr = 0x08,
.mask = GENMASK(5, 3),
},
},
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_fifo,
.fifo_th = {
.addr = 0x06,
.mask = GENMASK(11, 0),
},
.fifo_diff = {
.addr = 0x3a,
.mask = GENMASK(11, 0),
},
.max_size = 682,
.th_wl = 3, /* 1LSB = 2B */
},
.ts_settings = {
.timer_en = {
.addr = 0x58,
.mask = BIT(7),
},
.hr_timer = {
.addr = 0x5c,
.mask = BIT(4),
},
.fifo_en = {
.addr = 0x07,
.mask = BIT(7),
},
.decimator = {
.addr = 0x09,
.mask = GENMASK(5, 3),
},
},
.event_settings = {
.wakeup_reg = {
.addr = 0x5B,
.mask = GENMASK(5, 0),
},
.wakeup_src_reg = 0x1b,
.wakeup_src_status_mask = BIT(3),
.wakeup_src_z_mask = BIT(0),
.wakeup_src_y_mask = BIT(1),
.wakeup_src_x_mask = BIT(2),
},
},
{
.reset = {
.addr = 0x12,
.mask = BIT(0),
},
.boot = {
.addr = 0x12,
.mask = BIT(7),
},
.bdu = {
.addr = 0x12,
.mask = BIT(6),
},
.id = {
{
.hw_id = ST_LSM6DSL_ID,
.name = ST_LSM6DSL_DEV_NAME,
.wai = 0x6a,
}, {
.hw_id = ST_LSM6DSM_ID,
.name = ST_LSM6DSM_DEV_NAME,
.wai = 0x6a,
}, {
.hw_id = ST_ISM330DLC_ID,
.name = ST_ISM330DLC_DEV_NAME,
.wai = 0x6a,
}, {
.hw_id = ST_LSM6DS3TRC_ID,
.name = ST_LSM6DS3TRC_DEV_NAME,
.wai = 0x6a,
},
},
.channels = {
[ST_LSM6DSX_ID_ACC] = {
.chan = st_lsm6dsx_acc_channels,
.len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
},
[ST_LSM6DSX_ID_GYRO] = {
.chan = st_lsm6dsx_gyro_channels,
.len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
},
},
.odr_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_len = 6,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_len = 6,
},
},
.fs_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
.samples_to_discard = {
[ST_LSM6DSX_ID_ACC] = {
.val[0] = { 12500, 1 },
.val[1] = { 26000, 1 },
.val[2] = { 52000, 1 },
.val[3] = { 104000, 2 },
.val[4] = { 208000, 2 },
.val[5] = { 416000, 2 },
},
[ST_LSM6DSX_ID_GYRO] = {
.val[0] = { 12500, 2 },
.val[1] = { 26000, 5 },
.val[2] = { 52000, 7 },
.val[3] = { 104000, 12 },
.val[4] = { 208000, 20 },
.val[5] = { 416000, 36 },
},
},
.irq_config = {
.irq1 = {
.addr = 0x0d,
.mask = BIT(3),
},
.irq2 = {
.addr = 0x0e,
.mask = BIT(3),
},
.lir = {
.addr = 0x58,
.mask = BIT(0),
},
.irq1_func = {
.addr = 0x5e,
.mask = BIT(5),
},
.irq2_func = {
.addr = 0x5f,
.mask = BIT(5),
},
.hla = {
.addr = 0x12,
.mask = BIT(5),
},
.od = {
.addr = 0x12,
.mask = BIT(4),
},
},
.decimator = {
[ST_LSM6DSX_ID_ACC] = {
.addr = 0x08,
.mask = GENMASK(2, 0),
},
[ST_LSM6DSX_ID_GYRO] = {
.addr = 0x08,
.mask = GENMASK(5, 3),
},
[ST_LSM6DSX_ID_EXT0] = {
.addr = 0x09,
.mask = GENMASK(2, 0),
},
},
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_fifo,
.fifo_th = {
.addr = 0x06,
.mask = GENMASK(10, 0),
},
.fifo_diff = {
.addr = 0x3a,
.mask = GENMASK(10, 0),
},
.max_size = 682,
.th_wl = 3, /* 1LSB = 2B */
},
.ts_settings = {
.timer_en = {
.addr = 0x19,
.mask = BIT(5),
},
.hr_timer = {
.addr = 0x5c,
.mask = BIT(4),
},
.fifo_en = {
.addr = 0x07,
.mask = BIT(7),
},
.decimator = {
.addr = 0x09,
.mask = GENMASK(5, 3),
},
},
.shub_settings = {
.page_mux = {
.addr = 0x01,
.mask = BIT(7),
},
.master_en = {
.addr = 0x1a,
.mask = BIT(0),
},
.pullup_en = {
.addr = 0x1a,
.mask = BIT(3),
},
.aux_sens = {
.addr = 0x04,
.mask = GENMASK(5, 4),
},
.wr_once = {
.addr = 0x07,
.mask = BIT(5),
},
.emb_func = {
.addr = 0x19,
.mask = BIT(2),
},
.num_ext_dev = 1,
.shub_out = {
.addr = 0x2e,
},
.slv0_addr = 0x02,
.dw_slv0_addr = 0x0e,
.pause = 0x7,
},
.event_settings = {
.enable_reg = {
.addr = 0x58,
.mask = BIT(7),
},
.wakeup_reg = {
.addr = 0x5B,
.mask = GENMASK(5, 0),
},
.wakeup_src_reg = 0x1b,
.wakeup_src_status_mask = BIT(3),
.wakeup_src_z_mask = BIT(0),
.wakeup_src_y_mask = BIT(1),
.wakeup_src_x_mask = BIT(2),
},
},
{
.reset = {
.addr = 0x12,
.mask = BIT(0),
},
.boot = {
.addr = 0x12,
.mask = BIT(7),
},
.bdu = {
.addr = 0x12,
.mask = BIT(6),
},
.id = {
{
.hw_id = ST_LSM6DSR_ID,
.name = ST_LSM6DSR_DEV_NAME,
.wai = 0x6b,
}, {
.hw_id = ST_ISM330DHCX_ID,
.name = ST_ISM330DHCX_DEV_NAME,
.wai = 0x6b,
}, {
.hw_id = ST_LSM6DSRX_ID,
.name = ST_LSM6DSRX_DEV_NAME,
.wai = 0x6b,
}, {
.hw_id = ST_LSM6DSO_ID,
.name = ST_LSM6DSO_DEV_NAME,
.wai = 0x6c,
}, {
.hw_id = ST_LSM6DSOX_ID,
.name = ST_LSM6DSOX_DEV_NAME,
.wai = 0x6c,
}, {
.hw_id = ST_LSM6DST_ID,
.name = ST_LSM6DST_DEV_NAME,
.wai = 0x6d,
}, {
.hw_id = ST_ASM330LHHX_ID,
.name = ST_ASM330LHHX_DEV_NAME,
.wai = 0x6b,
}, {
.hw_id = ST_ASM330LHHXG1_ID,
.name = ST_ASM330LHHXG1_DEV_NAME,
.wai = 0x6b,
}, {
.hw_id = ST_LSM6DSTX_ID,
.name = ST_LSM6DSTX_DEV_NAME,
.wai = 0x6d,
},
},
.channels = {
[ST_LSM6DSX_ID_ACC] = {
.chan = st_lsm6dsx_acc_channels,
.len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
},
[ST_LSM6DSX_ID_GYRO] = {
.chan = st_lsm6dsx_gyro_channels,
.len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
},
},
.drdy_mask = {
.addr = 0x13,
.mask = BIT(3),
},
.odr_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_avl[6] = { 833000, 0x07 },
.odr_len = 7,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_avl[6] = { 833000, 0x07 },
.odr_len = 7,
},
},
.fs_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
.irq_config = {
.irq1 = {
.addr = 0x0d,
.mask = BIT(3),
},
.irq2 = {
.addr = 0x0e,
.mask = BIT(3),
},
.lir = {
.addr = 0x56,
.mask = BIT(0),
},
.clear_on_read = {
.addr = 0x56,
.mask = BIT(6),
},
.irq1_func = {
.addr = 0x5e,
.mask = BIT(5),
},
.irq2_func = {
.addr = 0x5f,
.mask = BIT(5),
},
.hla = {
.addr = 0x12,
.mask = BIT(5),
},
.od = {
.addr = 0x12,
.mask = BIT(4),
},
},
.batch = {
[ST_LSM6DSX_ID_ACC] = {
.addr = 0x09,
.mask = GENMASK(3, 0),
},
[ST_LSM6DSX_ID_GYRO] = {
.addr = 0x09,
.mask = GENMASK(7, 4),
},
},
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_tagged_fifo,
.fifo_th = {
.addr = 0x07,
.mask = GENMASK(8, 0),
},
.fifo_diff = {
.addr = 0x3a,
.mask = GENMASK(9, 0),
},
.max_size = 512,
.th_wl = 1,
},
.ts_settings = {
.timer_en = {
.addr = 0x19,
.mask = BIT(5),
},
.decimator = {
.addr = 0x0a,
.mask = GENMASK(7, 6),
},
.freq_fine = 0x63,
},
.shub_settings = {
.page_mux = {
.addr = 0x01,
.mask = BIT(6),
},
.master_en = {
.sec_page = true,
.addr = 0x14,
.mask = BIT(2),
},
.pullup_en = {
.sec_page = true,
.addr = 0x14,
.mask = BIT(3),
},
.aux_sens = {
.addr = 0x14,
.mask = GENMASK(1, 0),
},
.wr_once = {
.addr = 0x14,
.mask = BIT(6),
},
.num_ext_dev = 3,
.shub_out = {
.sec_page = true,
.addr = 0x02,
},
.slv0_addr = 0x15,
.dw_slv0_addr = 0x21,
.batch_en = BIT(3),
},
.event_settings = {
.enable_reg = {
.addr = 0x58,
.mask = BIT(7),
},
.wakeup_reg = {
.addr = 0x5b,
.mask = GENMASK(5, 0),
},
.wakeup_src_reg = 0x1b,
.wakeup_src_status_mask = BIT(3),
.wakeup_src_z_mask = BIT(0),
.wakeup_src_y_mask = BIT(1),
.wakeup_src_x_mask = BIT(2),
},
},
{
.reset = {
.addr = 0x12,
.mask = BIT(0),
},
.boot = {
.addr = 0x12,
.mask = BIT(7),
},
.bdu = {
.addr = 0x12,
.mask = BIT(6),
},
.id = {
{
.hw_id = ST_ASM330LHH_ID,
.name = ST_ASM330LHH_DEV_NAME,
.wai = 0x6b,
}, {
.hw_id = ST_LSM6DSOP_ID,
.name = ST_LSM6DSOP_DEV_NAME,
.wai = 0x6c,
}, {
.hw_id = ST_ASM330LHB_ID,
.name = ST_ASM330LHB_DEV_NAME,
.wai = 0x6b,
},
},
.channels = {
[ST_LSM6DSX_ID_ACC] = {
.chan = st_lsm6dsx_acc_channels,
.len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
},
[ST_LSM6DSX_ID_GYRO] = {
.chan = st_lsm6dsx_gyro_channels,
.len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
},
},
.drdy_mask = {
.addr = 0x13,
.mask = BIT(3),
},
.odr_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_avl[6] = { 833000, 0x07 },
.odr_len = 7,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_avl[6] = { 833000, 0x07 },
.odr_len = 7,
},
},
.fs_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
.irq_config = {
.irq1 = {
.addr = 0x0d,
.mask = BIT(3),
},
.irq2 = {
.addr = 0x0e,
.mask = BIT(3),
},
.lir = {
.addr = 0x56,
.mask = BIT(0),
},
.clear_on_read = {
.addr = 0x56,
.mask = BIT(6),
},
.irq1_func = {
.addr = 0x5e,
.mask = BIT(5),
},
.irq2_func = {
.addr = 0x5f,
.mask = BIT(5),
},
.hla = {
.addr = 0x12,
.mask = BIT(5),
},
.od = {
.addr = 0x12,
.mask = BIT(4),
},
},
.batch = {
[ST_LSM6DSX_ID_ACC] = {
.addr = 0x09,
.mask = GENMASK(3, 0),
},
[ST_LSM6DSX_ID_GYRO] = {
.addr = 0x09,
.mask = GENMASK(7, 4),
},
},
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_tagged_fifo,
.fifo_th = {
.addr = 0x07,
.mask = GENMASK(8, 0),
},
.fifo_diff = {
.addr = 0x3a,
.mask = GENMASK(9, 0),
},
.max_size = 512,
.th_wl = 1,
},
.ts_settings = {
.timer_en = {
.addr = 0x19,
.mask = BIT(5),
},
.decimator = {
.addr = 0x0a,
.mask = GENMASK(7, 6),
},
.freq_fine = 0x63,
},
.event_settings = {
.enable_reg = {
.addr = 0x58,
.mask = BIT(7),
},
.wakeup_reg = {
.addr = 0x5B,
.mask = GENMASK(5, 0),
},
.wakeup_src_reg = 0x1b,
.wakeup_src_status_mask = BIT(3),
.wakeup_src_z_mask = BIT(0),
.wakeup_src_y_mask = BIT(1),
.wakeup_src_x_mask = BIT(2),
},
},
{
.reset = {
.addr = 0x12,
.mask = BIT(0),
},
.boot = {
.addr = 0x12,
.mask = BIT(7),
},
.bdu = {
.addr = 0x12,
.mask = BIT(6),
},
.id = {
{
.hw_id = ST_LSM6DSV_ID,
.name = ST_LSM6DSV_DEV_NAME,
.wai = 0x70,
}, {
.hw_id = ST_LSM6DSV16X_ID,
.name = ST_LSM6DSV16X_DEV_NAME,
.wai = 0x70,
},
},
.channels = {
[ST_LSM6DSX_ID_ACC] = {
.chan = st_lsm6dsx_acc_channels,
.len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
},
[ST_LSM6DSX_ID_GYRO] = {
.chan = st_lsm6dsx_gyro_channels,
.len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
},
},
.drdy_mask = {
.addr = 0x13,
.mask = BIT(3),
},
.odr_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(3, 0),
},
.odr_avl[0] = { 7500, 0x02 },
.odr_avl[1] = { 15000, 0x03 },
.odr_avl[2] = { 30000, 0x04 },
.odr_avl[3] = { 60000, 0x05 },
.odr_avl[4] = { 120000, 0x06 },
.odr_avl[5] = { 240000, 0x07 },
.odr_avl[6] = { 480000, 0x08 },
.odr_avl[7] = { 960000, 0x09 },
.odr_len = 8,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 0),
},
.odr_avl[0] = { 7500, 0x02 },
.odr_avl[1] = { 15000, 0x03 },
.odr_avl[2] = { 30000, 0x04 },
.odr_avl[3] = { 60000, 0x05 },
.odr_avl[4] = { 120000, 0x06 },
.odr_avl[5] = { 240000, 0x07 },
.odr_avl[6] = { 480000, 0x08 },
.odr_avl[7] = { 960000, 0x09 },
.odr_len = 8,
},
},
.fs_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x17,
.mask = GENMASK(1, 0),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x1 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x2 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x3 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x15,
.mask = GENMASK(3, 0),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x1 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x2 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x3 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x4 },
.fs_len = 4,
},
},
.irq_config = {
.irq1 = {
.addr = 0x0d,
.mask = BIT(3),
},
.irq2 = {
.addr = 0x0e,
.mask = BIT(3),
},
.lir = {
.addr = 0x56,
.mask = BIT(0),
},
.irq1_func = {
.addr = 0x5e,
.mask = BIT(5),
},
.irq2_func = {
.addr = 0x5f,
.mask = BIT(5),
},
.hla = {
.addr = 0x03,
.mask = BIT(4),
},
.od = {
.addr = 0x03,
.mask = BIT(3),
},
},
.batch = {
[ST_LSM6DSX_ID_ACC] = {
.addr = 0x09,
.mask = GENMASK(3, 0),
},
[ST_LSM6DSX_ID_GYRO] = {
.addr = 0x09,
.mask = GENMASK(7, 4),
},
},
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_tagged_fifo,
.fifo_th = {
.addr = 0x07,
.mask = GENMASK(7, 0),
},
.fifo_diff = {
.addr = 0x1b,
.mask = GENMASK(8, 0),
},
.max_size = 512,
.th_wl = 1,
},
.ts_settings = {
.timer_en = {
.addr = 0x50,
.mask = BIT(6),
},
.decimator = {
.addr = 0x0a,
.mask = GENMASK(7, 6),
},
.freq_fine = 0x4f,
},
.shub_settings = {
.page_mux = {
.addr = 0x01,
.mask = BIT(6),
},
.master_en = {
.sec_page = true,
.addr = 0x14,
.mask = BIT(2),
},
.pullup_en = {
.addr = 0x03,
.mask = BIT(6),
},
.aux_sens = {
.addr = 0x14,
.mask = GENMASK(1, 0),
},
.wr_once = {
.addr = 0x14,
.mask = BIT(6),
},
.num_ext_dev = 3,
.shub_out = {
.sec_page = true,
.addr = 0x02,
},
.slv0_addr = 0x15,
.dw_slv0_addr = 0x21,
.batch_en = BIT(3),
},
.event_settings = {
.enable_reg = {
.addr = 0x50,
.mask = BIT(7),
},
.wakeup_reg = {
.addr = 0x5b,
.mask = GENMASK(5, 0),
},
.wakeup_src_reg = 0x45,
.wakeup_src_status_mask = BIT(3),
.wakeup_src_z_mask = BIT(0),
.wakeup_src_y_mask = BIT(1),
.wakeup_src_x_mask = BIT(2),
},
},
{
.reset = {
.addr = 0x12,
.mask = BIT(0),
},
.boot = {
.addr = 0x12,
.mask = BIT(7),
},
.bdu = {
.addr = 0x12,
.mask = BIT(6),
},
.id = {
{
.hw_id = ST_LSM6DSO16IS_ID,
.name = ST_LSM6DSO16IS_DEV_NAME,
.wai = 0x22,
}, {
.hw_id = ST_ISM330IS_ID,
.name = ST_ISM330IS_DEV_NAME,
.wai = 0x22,
}
},
.channels = {
[ST_LSM6DSX_ID_ACC] = {
.chan = st_lsm6dsx_acc_channels,
.len = ARRAY_SIZE(st_lsm6dsx_acc_channels),
},
[ST_LSM6DSX_ID_GYRO] = {
.chan = st_lsm6dsx_gyro_channels,
.len = ARRAY_SIZE(st_lsm6dsx_gyro_channels),
},
},
.odr_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_avl[6] = { 833000, 0x07 },
.odr_len = 7,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(7, 4),
},
.odr_avl[0] = { 12500, 0x01 },
.odr_avl[1] = { 26000, 0x02 },
.odr_avl[2] = { 52000, 0x03 },
.odr_avl[3] = { 104000, 0x04 },
.odr_avl[4] = { 208000, 0x05 },
.odr_avl[5] = { 416000, 0x06 },
.odr_avl[6] = { 833000, 0x07 },
.odr_len = 7,
},
},
.fs_table = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
.addr = 0x10,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 },
.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
.fs_len = 4,
},
[ST_LSM6DSX_ID_GYRO] = {
.reg = {
.addr = 0x11,
.mask = GENMASK(3, 2),
},
.fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 },
.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
.fs_len = 4,
},
},
.irq_config = {
.hla = {
.addr = 0x12,
.mask = BIT(5),
},
.od = {
.addr = 0x12,
.mask = BIT(4),
},
},
.shub_settings = {
.page_mux = {
.addr = 0x01,
.mask = BIT(6),
},
.master_en = {
.sec_page = true,
.addr = 0x14,
.mask = BIT(2),
},
.pullup_en = {
.sec_page = true,
.addr = 0x14,
.mask = BIT(3),
},
.aux_sens = {
.addr = 0x14,
.mask = GENMASK(1, 0),
},
.wr_once = {
.addr = 0x14,
.mask = BIT(6),
},
.num_ext_dev = 3,
.shub_out = {
.sec_page = true,
.addr = 0x02,
},
.slv0_addr = 0x15,
.dw_slv0_addr = 0x21,
},
},
};
int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable)
{
const struct st_lsm6dsx_shub_settings *hub_settings;
unsigned int data;
int err;
hub_settings = &hw->settings->shub_settings;
data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->page_mux.mask);
err = regmap_update_bits(hw->regmap, hub_settings->page_mux.addr,
hub_settings->page_mux.mask, data);
usleep_range(100, 150);
return err;
}
static int st_lsm6dsx_check_whoami(struct st_lsm6dsx_hw *hw, int id,
const char **name)
{
int err, i, j, data;
for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_sensor_settings); i++) {
for (j = 0; j < ST_LSM6DSX_MAX_ID; j++) {
if (st_lsm6dsx_sensor_settings[i].id[j].name &&
id == st_lsm6dsx_sensor_settings[i].id[j].hw_id)
break;
}
if (j < ST_LSM6DSX_MAX_ID)
break;
}
if (i == ARRAY_SIZE(st_lsm6dsx_sensor_settings)) {
dev_err(hw->dev, "unsupported hw id [%02x]\n", id);
return -ENODEV;
}
err = regmap_read(hw->regmap, ST_LSM6DSX_REG_WHOAMI_ADDR, &data);
if (err < 0) {
dev_err(hw->dev, "failed to read whoami register\n");
return err;
}
if (data != st_lsm6dsx_sensor_settings[i].id[j].wai) {
dev_err(hw->dev, "unsupported whoami [%02x]\n", data);
return -ENODEV;
}
*name = st_lsm6dsx_sensor_settings[i].id[j].name;
hw->settings = &st_lsm6dsx_sensor_settings[i];
return 0;
}
static int st_lsm6dsx_set_full_scale(struct st_lsm6dsx_sensor *sensor,
u32 gain)
{
const struct st_lsm6dsx_fs_table_entry *fs_table;
unsigned int data;
int i, err;
fs_table = &sensor->hw->settings->fs_table[sensor->id];
for (i = 0; i < fs_table->fs_len; i++) {
if (fs_table->fs_avl[i].gain == gain)
break;
}
if (i == fs_table->fs_len)
return -EINVAL;
data = ST_LSM6DSX_SHIFT_VAL(fs_table->fs_avl[i].val,
fs_table->reg.mask);
err = st_lsm6dsx_update_bits_locked(sensor->hw, fs_table->reg.addr,
fs_table->reg.mask, data);
if (err < 0)
return err;
sensor->gain = gain;
return 0;
}
int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 odr, u8 *val)
{
const struct st_lsm6dsx_odr_table_entry *odr_table;
int i;
odr_table = &sensor->hw->settings->odr_table[sensor->id];
for (i = 0; i < odr_table->odr_len; i++) {
/*
* ext devices can run at different odr respect to
* accel sensor
*/
if (odr_table->odr_avl[i].milli_hz >= odr)
break;
}
if (i == odr_table->odr_len)
return -EINVAL;
*val = odr_table->odr_avl[i].val;
return odr_table->odr_avl[i].milli_hz;
}
static int
st_lsm6dsx_check_odr_dependency(struct st_lsm6dsx_hw *hw, u32 odr,
enum st_lsm6dsx_sensor_id id)
{
struct st_lsm6dsx_sensor *ref = iio_priv(hw->iio_devs[id]);
if (odr > 0) {
if (hw->enable_mask & BIT(id))
return max_t(u32, ref->odr, odr);
else
return odr;
} else {
return (hw->enable_mask & BIT(id)) ? ref->odr : 0;
}
}
static int
st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u32 req_odr)
{
struct st_lsm6dsx_sensor *ref_sensor = sensor;
struct st_lsm6dsx_hw *hw = sensor->hw;
const struct st_lsm6dsx_reg *reg;
unsigned int data;
u8 val = 0;
int err;
switch (sensor->id) {
case ST_LSM6DSX_ID_GYRO:
break;
case ST_LSM6DSX_ID_EXT0:
case ST_LSM6DSX_ID_EXT1:
case ST_LSM6DSX_ID_EXT2:
case ST_LSM6DSX_ID_ACC: {
u32 odr;
int i;
/*
* i2c embedded controller relies on the accelerometer sensor as
* bus read/write trigger so we need to enable accel device
* at odr = max(accel_odr, ext_odr) in order to properly
* communicate with i2c slave devices
*/
ref_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
for (i = ST_LSM6DSX_ID_ACC; i < ST_LSM6DSX_ID_MAX; i++) {
if (!hw->iio_devs[i] || i == sensor->id)
continue;
odr = st_lsm6dsx_check_odr_dependency(hw, req_odr, i);
if (odr != req_odr)
/* device already configured */
return 0;
}
break;
}
default: /* should never occur */
return -EINVAL;
}
if (req_odr > 0) {
err = st_lsm6dsx_check_odr(ref_sensor, req_odr, &val);
if (err < 0)
return err;
}
reg = &hw->settings->odr_table[ref_sensor->id].reg;
data = ST_LSM6DSX_SHIFT_VAL(val, reg->mask);
return st_lsm6dsx_update_bits_locked(hw, reg->addr, reg->mask, data);
}
static int
__st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
bool enable)
{
struct st_lsm6dsx_hw *hw = sensor->hw;
u32 odr = enable ? sensor->odr : 0;
int err;
err = st_lsm6dsx_set_odr(sensor, odr);
if (err < 0)
return err;
if (enable)
hw->enable_mask |= BIT(sensor->id);
else
hw->enable_mask &= ~BIT(sensor->id);
return 0;
}
static int
st_lsm6dsx_check_events(struct st_lsm6dsx_sensor *sensor, bool enable)
{
struct st_lsm6dsx_hw *hw = sensor->hw;
if (sensor->id == ST_LSM6DSX_ID_GYRO || enable)
return 0;
return hw->enable_event;
}
int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor,
bool enable)
{
if (st_lsm6dsx_check_events(sensor, enable))
return 0;
return __st_lsm6dsx_sensor_set_enable(sensor, enable);
}
static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor,
u8 addr, int *val)
{
struct st_lsm6dsx_hw *hw = sensor->hw;
int err, delay;
__le16 data;
err = st_lsm6dsx_sensor_set_enable(sensor, true);
if (err < 0)
return err;
/*
* we need to wait for sensor settling time before
* reading data in order to avoid corrupted samples
*/
delay = 1000000000 / sensor->odr;
usleep_range(3 * delay, 4 * delay);
err = st_lsm6dsx_read_locked(hw, addr, &data, sizeof(data));
if (err < 0)
return err;
if (!hw->enable_event) {
err = st_lsm6dsx_sensor_set_enable(sensor, false);
if (err < 0)
return err;
}
*val = (s16)le16_to_cpu(data);
return IIO_VAL_INT;
}
static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev,
struct iio_chan_spec const *ch,
int *val, int *val2, long mask)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
int ret;
switch (mask) {
case IIO_CHAN_INFO_RAW:
ret = iio_device_claim_direct_mode(iio_dev);
if (ret)
break;
ret = st_lsm6dsx_read_oneshot(sensor, ch->address, val);
iio_device_release_direct_mode(iio_dev);
break;
case IIO_CHAN_INFO_SAMP_FREQ:
*val = sensor->odr / 1000;
*val2 = (sensor->odr % 1000) * 1000;
ret = IIO_VAL_INT_PLUS_MICRO;
break;
case IIO_CHAN_INFO_SCALE:
*val = 0;
*val2 = sensor->gain;
ret = IIO_VAL_INT_PLUS_NANO;
break;
default:
ret = -EINVAL;
break;
}
return ret;
}
static int st_lsm6dsx_write_raw(struct iio_dev *iio_dev,
struct iio_chan_spec const *chan,
int val, int val2, long mask)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
int err;
err = iio_device_claim_direct_mode(iio_dev);
if (err)
return err;
switch (mask) {
case IIO_CHAN_INFO_SCALE:
err = st_lsm6dsx_set_full_scale(sensor, val2);
break;
case IIO_CHAN_INFO_SAMP_FREQ: {
u8 data;
val = val * 1000 + val2 / 1000;
val = st_lsm6dsx_check_odr(sensor, val, &data);
if (val < 0)
err = val;
else
sensor->odr = val;
break;
}
default:
err = -EINVAL;
break;
}
iio_device_release_direct_mode(iio_dev);
return err;
}
static int st_lsm6dsx_event_setup(struct st_lsm6dsx_hw *hw, int state)
{
const struct st_lsm6dsx_reg *reg;
unsigned int data;
int err;
if (!hw->settings->irq_config.irq1_func.addr)
return -ENOTSUPP;
reg = &hw->settings->event_settings.enable_reg;
if (reg->addr) {
data = ST_LSM6DSX_SHIFT_VAL(state, reg->mask);
err = st_lsm6dsx_update_bits_locked(hw, reg->addr,
reg->mask, data);
if (err < 0)
return err;
}
/* Enable wakeup interrupt */
data = ST_LSM6DSX_SHIFT_VAL(state, hw->irq_routing->mask);
return st_lsm6dsx_update_bits_locked(hw, hw->irq_routing->addr,
hw->irq_routing->mask, data);
}
static int st_lsm6dsx_read_event(struct iio_dev *iio_dev,
const struct iio_chan_spec *chan,
enum iio_event_type type,
enum iio_event_direction dir,
enum iio_event_info info,
int *val, int *val2)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
struct st_lsm6dsx_hw *hw = sensor->hw;
if (type != IIO_EV_TYPE_THRESH)
return -EINVAL;
*val2 = 0;
*val = hw->event_threshold;
return IIO_VAL_INT;
}
static int
st_lsm6dsx_write_event(struct iio_dev *iio_dev,
const struct iio_chan_spec *chan,
enum iio_event_type type,
enum iio_event_direction dir,
enum iio_event_info info,
int val, int val2)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
struct st_lsm6dsx_hw *hw = sensor->hw;
const struct st_lsm6dsx_reg *reg;
unsigned int data;
int err;
if (type != IIO_EV_TYPE_THRESH)
return -EINVAL;
if (val < 0 || val > 31)
return -EINVAL;
reg = &hw->settings->event_settings.wakeup_reg;
data = ST_LSM6DSX_SHIFT_VAL(val, reg->mask);
err = st_lsm6dsx_update_bits_locked(hw, reg->addr,
reg->mask, data);
if (err < 0)
return -EINVAL;
hw->event_threshold = val;
return 0;
}
static int
st_lsm6dsx_read_event_config(struct iio_dev *iio_dev,
const struct iio_chan_spec *chan,
enum iio_event_type type,
enum iio_event_direction dir)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
struct st_lsm6dsx_hw *hw = sensor->hw;
if (type != IIO_EV_TYPE_THRESH)
return -EINVAL;
return !!(hw->enable_event & BIT(chan->channel2));
}
static int
st_lsm6dsx_write_event_config(struct iio_dev *iio_dev,
const struct iio_chan_spec *chan,
enum iio_event_type type,
enum iio_event_direction dir, int state)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
struct st_lsm6dsx_hw *hw = sensor->hw;
u8 enable_event;
int err;
if (type != IIO_EV_TYPE_THRESH)
return -EINVAL;
if (state) {
enable_event = hw->enable_event | BIT(chan->channel2);
/* do not enable events if they are already enabled */
if (hw->enable_event)
goto out;
} else {
enable_event = hw->enable_event & ~BIT(chan->channel2);
/* only turn off sensor if no events is enabled */
if (enable_event)
goto out;
}
/* stop here if no changes have been made */
if (hw->enable_event == enable_event)
return 0;
err = st_lsm6dsx_event_setup(hw, state);
if (err < 0)
return err;
mutex_lock(&hw->conf_lock);
if (enable_event || !(hw->fifo_mask & BIT(sensor->id)))
err = __st_lsm6dsx_sensor_set_enable(sensor, state);
mutex_unlock(&hw->conf_lock);
if (err < 0)
return err;
out:
hw->enable_event = enable_event;
return 0;
}
int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
struct st_lsm6dsx_hw *hw = sensor->hw;
int err;
val = clamp_val(val, 1, hw->settings->fifo_ops.max_size);
mutex_lock(&hw->conf_lock);
err = st_lsm6dsx_update_watermark(sensor, val);
mutex_unlock(&hw->conf_lock);
if (err < 0)
return err;
sensor->watermark = val;
return 0;
}
static ssize_t
st_lsm6dsx_sysfs_sampling_frequency_avail(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(dev_to_iio_dev(dev));
const struct st_lsm6dsx_odr_table_entry *odr_table;
int i, len = 0;
odr_table = &sensor->hw->settings->odr_table[sensor->id];
for (i = 0; i < odr_table->odr_len; i++)
len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%03d ",
odr_table->odr_avl[i].milli_hz / 1000,
odr_table->odr_avl[i].milli_hz % 1000);
buf[len - 1] = '\n';
return len;
}
static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(dev_to_iio_dev(dev));
const struct st_lsm6dsx_fs_table_entry *fs_table;
struct st_lsm6dsx_hw *hw = sensor->hw;
int i, len = 0;
fs_table = &hw->settings->fs_table[sensor->id];
for (i = 0; i < fs_table->fs_len; i++)
len += scnprintf(buf + len, PAGE_SIZE - len, "0.%09u ",
fs_table->fs_avl[i].gain);
buf[len - 1] = '\n';
return len;
}
static int st_lsm6dsx_write_raw_get_fmt(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
long mask)
{
switch (mask) {
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_ANGL_VEL:
case IIO_ACCEL:
return IIO_VAL_INT_PLUS_NANO;
default:
return IIO_VAL_INT_PLUS_MICRO;
}
default:
return IIO_VAL_INT_PLUS_MICRO;
}
}
static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_sysfs_sampling_frequency_avail);
static IIO_DEVICE_ATTR(in_accel_scale_available, 0444,
st_lsm6dsx_sysfs_scale_avail, NULL, 0);
static IIO_DEVICE_ATTR(in_anglvel_scale_available, 0444,
st_lsm6dsx_sysfs_scale_avail, NULL, 0);
static struct attribute *st_lsm6dsx_acc_attributes[] = {
&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
&iio_dev_attr_in_accel_scale_available.dev_attr.attr,
NULL,
};
static const struct attribute_group st_lsm6dsx_acc_attribute_group = {
.attrs = st_lsm6dsx_acc_attributes,
};
static const struct iio_info st_lsm6dsx_acc_info = {
.attrs = &st_lsm6dsx_acc_attribute_group,
.read_raw = st_lsm6dsx_read_raw,
.write_raw = st_lsm6dsx_write_raw,
.read_event_value = st_lsm6dsx_read_event,
.write_event_value = st_lsm6dsx_write_event,
.read_event_config = st_lsm6dsx_read_event_config,
.write_event_config = st_lsm6dsx_write_event_config,
.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
.write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
};
static struct attribute *st_lsm6dsx_gyro_attributes[] = {
&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
&iio_dev_attr_in_anglvel_scale_available.dev_attr.attr,
NULL,
};
static const struct attribute_group st_lsm6dsx_gyro_attribute_group = {
.attrs = st_lsm6dsx_gyro_attributes,
};
static const struct iio_info st_lsm6dsx_gyro_info = {
.attrs = &st_lsm6dsx_gyro_attribute_group,
.read_raw = st_lsm6dsx_read_raw,
.write_raw = st_lsm6dsx_write_raw,
.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
.write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
};
static int
st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw,
const struct st_lsm6dsx_reg **drdy_reg)
{
struct device *dev = hw->dev;
int err = 0, drdy_pin;
if (device_property_read_u32(dev, "st,drdy-int-pin", &drdy_pin) < 0) {
struct st_sensors_platform_data *pdata;
pdata = (struct st_sensors_platform_data *)dev->platform_data;
drdy_pin = pdata ? pdata->drdy_int_pin : 1;
}
switch (drdy_pin) {
case 1:
hw->irq_routing = &hw->settings->irq_config.irq1_func;
*drdy_reg = &hw->settings->irq_config.irq1;
break;
case 2:
hw->irq_routing = &hw->settings->irq_config.irq2_func;
*drdy_reg = &hw->settings->irq_config.irq2;
break;
default:
dev_err(hw->dev, "unsupported data ready pin\n");
err = -EINVAL;
break;
}
return err;
}
static int st_lsm6dsx_init_shub(struct st_lsm6dsx_hw *hw)
{
const struct st_lsm6dsx_shub_settings *hub_settings;
struct st_sensors_platform_data *pdata;
struct device *dev = hw->dev;
unsigned int data;
int err = 0;
hub_settings = &hw->settings->shub_settings;
pdata = (struct st_sensors_platform_data *)dev->platform_data;
if (device_property_read_bool(dev, "st,pullups") ||
(pdata && pdata->pullups)) {
if (hub_settings->pullup_en.sec_page) {
err = st_lsm6dsx_set_page(hw, true);
if (err < 0)
return err;
}
data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->pullup_en.mask);
err = regmap_update_bits(hw->regmap,
hub_settings->pullup_en.addr,
hub_settings->pullup_en.mask, data);
if (hub_settings->pullup_en.sec_page)
st_lsm6dsx_set_page(hw, false);
if (err < 0)
return err;
}
if (hub_settings->aux_sens.addr) {
/* configure aux sensors */
err = st_lsm6dsx_set_page(hw, true);
if (err < 0)
return err;
data = ST_LSM6DSX_SHIFT_VAL(3, hub_settings->aux_sens.mask);
err = regmap_update_bits(hw->regmap,
hub_settings->aux_sens.addr,
hub_settings->aux_sens.mask, data);
st_lsm6dsx_set_page(hw, false);
if (err < 0)
return err;
}
if (hub_settings->emb_func.addr) {
data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->emb_func.mask);
err = regmap_update_bits(hw->regmap,
hub_settings->emb_func.addr,
hub_settings->emb_func.mask, data);
}
return err;
}
static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw)
{
const struct st_lsm6dsx_hw_ts_settings *ts_settings;
int err, val;
ts_settings = &hw->settings->ts_settings;
/* enable hw timestamp generation if necessary */
if (ts_settings->timer_en.addr) {
val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->timer_en.mask);
err = regmap_update_bits(hw->regmap,
ts_settings->timer_en.addr,
ts_settings->timer_en.mask, val);
if (err < 0)
return err;
}
/* enable high resolution for hw ts timer if necessary */
if (ts_settings->hr_timer.addr) {
val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->hr_timer.mask);
err = regmap_update_bits(hw->regmap,
ts_settings->hr_timer.addr,
ts_settings->hr_timer.mask, val);
if (err < 0)
return err;
}
/* enable ts queueing in FIFO if necessary */
if (ts_settings->fifo_en.addr) {
val = ST_LSM6DSX_SHIFT_VAL(1, ts_settings->fifo_en.mask);
err = regmap_update_bits(hw->regmap,
ts_settings->fifo_en.addr,
ts_settings->fifo_en.mask, val);
if (err < 0)
return err;
}
/* calibrate timestamp sensitivity */
hw->ts_gain = ST_LSM6DSX_TS_SENSITIVITY;
if (ts_settings->freq_fine) {
err = regmap_read(hw->regmap, ts_settings->freq_fine, &val);
if (err < 0)
return err;
/*
* linearize the AN5192 formula:
* 1 / (1 + x) ~= 1 - x (Taylor’s Series)
* ttrim[s] = 1 / (40000 * (1 + 0.0015 * val))
* ttrim[ns] ~= 25000 - 37.5 * val
* ttrim[ns] ~= 25000 - (37500 * val) / 1000
*/
hw->ts_gain -= ((s8)val * 37500) / 1000;
}
return 0;
}
static int st_lsm6dsx_reset_device(struct st_lsm6dsx_hw *hw)
{
const struct st_lsm6dsx_reg *reg;
int err;
/*
* flush hw FIFO before device reset in order to avoid
* possible races on interrupt line 1. If the first interrupt
* line is asserted during hw reset the device will work in
* I3C-only mode (if it is supported)
*/
err = st_lsm6dsx_flush_fifo(hw);
if (err < 0 && err != -ENOTSUPP)
return err;
/* device sw reset */
reg = &hw->settings->reset;
err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
if (err < 0)
return err;
msleep(50);
/* reload trimming parameter */
reg = &hw->settings->boot;
err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
if (err < 0)
return err;
msleep(50);
return 0;
}
static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
{
const struct st_lsm6dsx_reg *reg;
int err;
err = st_lsm6dsx_reset_device(hw);
if (err < 0)
return err;
/* enable Block Data Update */
reg = &hw->settings->bdu;
err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
if (err < 0)
return err;
/* enable FIFO watermak interrupt */
err = st_lsm6dsx_get_drdy_reg(hw, ®);
if (err < 0)
return err;
err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
if (err < 0)
return err;
/* enable Latched interrupts for device events */
if (hw->settings->irq_config.lir.addr) {
reg = &hw->settings->irq_config.lir;
err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
if (err < 0)
return err;
/* enable clear on read for latched interrupts */
if (hw->settings->irq_config.clear_on_read.addr) {
reg = &hw->settings->irq_config.clear_on_read;
err = regmap_update_bits(hw->regmap,
reg->addr, reg->mask,
ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
if (err < 0)
return err;
}
}
/* enable drdy-mas if available */
if (hw->settings->drdy_mask.addr) {
reg = &hw->settings->drdy_mask;
err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
if (err < 0)
return err;
}
err = st_lsm6dsx_init_shub(hw);
if (err < 0)
return err;
return st_lsm6dsx_init_hw_timer(hw);
}
static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
enum st_lsm6dsx_sensor_id id,
const char *name)
{
struct st_lsm6dsx_sensor *sensor;
struct iio_dev *iio_dev;
iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor));
if (!iio_dev)
return NULL;
iio_dev->modes = INDIO_DIRECT_MODE;
iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks;
iio_dev->channels = hw->settings->channels[id].chan;
iio_dev->num_channels = hw->settings->channels[id].len;
sensor = iio_priv(iio_dev);
sensor->id = id;
sensor->hw = hw;
sensor->odr = hw->settings->odr_table[id].odr_avl[0].milli_hz;
sensor->gain = hw->settings->fs_table[id].fs_avl[0].gain;
sensor->watermark = 1;
switch (id) {
case ST_LSM6DSX_ID_ACC:
iio_dev->info = &st_lsm6dsx_acc_info;
scnprintf(sensor->name, sizeof(sensor->name), "%s_accel",
name);
break;
case ST_LSM6DSX_ID_GYRO:
iio_dev->info = &st_lsm6dsx_gyro_info;
scnprintf(sensor->name, sizeof(sensor->name), "%s_gyro",
name);
break;
default:
return NULL;
}
iio_dev->name = sensor->name;
return iio_dev;
}
static bool
st_lsm6dsx_report_motion_event(struct st_lsm6dsx_hw *hw)
{
const struct st_lsm6dsx_event_settings *event_settings;
int err, data;
s64 timestamp;
if (!hw->enable_event)
return false;
event_settings = &hw->settings->event_settings;
err = st_lsm6dsx_read_locked(hw, event_settings->wakeup_src_reg,
&data, sizeof(data));
if (err < 0)
return false;
timestamp = iio_get_time_ns(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
if ((data & hw->settings->event_settings.wakeup_src_z_mask) &&
(hw->enable_event & BIT(IIO_MOD_Z)))
iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
IIO_MOD_EVENT_CODE(IIO_ACCEL,
0,
IIO_MOD_Z,
IIO_EV_TYPE_THRESH,
IIO_EV_DIR_EITHER),
timestamp);
if ((data & hw->settings->event_settings.wakeup_src_y_mask) &&
(hw->enable_event & BIT(IIO_MOD_Y)))
iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
IIO_MOD_EVENT_CODE(IIO_ACCEL,
0,
IIO_MOD_Y,
IIO_EV_TYPE_THRESH,
IIO_EV_DIR_EITHER),
timestamp);
if ((data & hw->settings->event_settings.wakeup_src_x_mask) &&
(hw->enable_event & BIT(IIO_MOD_X)))
iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
IIO_MOD_EVENT_CODE(IIO_ACCEL,
0,
IIO_MOD_X,
IIO_EV_TYPE_THRESH,
IIO_EV_DIR_EITHER),
timestamp);
return data & event_settings->wakeup_src_status_mask;
}
static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private)
{
struct st_lsm6dsx_hw *hw = private;
int fifo_len = 0, len;
bool event;
event = st_lsm6dsx_report_motion_event(hw);
if (!hw->settings->fifo_ops.read_fifo)
return event ? IRQ_HANDLED : IRQ_NONE;
/*
* If we are using edge IRQs, new samples can arrive while
* processing current interrupt since there are no hw
* guarantees the irq line stays "low" long enough to properly
* detect the new interrupt. In this case the new sample will
* be missed.
* Polling FIFO status register allow us to read new
* samples even if the interrupt arrives while processing
* previous data and the timeslot where the line is "low" is
* too short to be properly detected.
*/
do {
mutex_lock(&hw->fifo_lock);
len = hw->settings->fifo_ops.read_fifo(hw);
mutex_unlock(&hw->fifo_lock);
if (len > 0)
fifo_len += len;
} while (len > 0);
return fifo_len || event ? IRQ_HANDLED : IRQ_NONE;
}
static irqreturn_t st_lsm6dsx_sw_trigger_handler_thread(int irq,
void *private)
{
struct iio_poll_func *pf = private;
struct iio_dev *iio_dev = pf->indio_dev;
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
struct st_lsm6dsx_hw *hw = sensor->hw;
if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
sensor->id == ST_LSM6DSX_ID_EXT1 ||
sensor->id == ST_LSM6DSX_ID_EXT2)
st_lsm6dsx_shub_read_output(hw,
(u8 *)hw->scan[sensor->id].channels,
sizeof(hw->scan[sensor->id].channels));
else
st_lsm6dsx_read_locked(hw, iio_dev->channels[0].address,
hw->scan[sensor->id].channels,
sizeof(hw->scan[sensor->id].channels));
iio_push_to_buffers_with_timestamp(iio_dev, &hw->scan[sensor->id],
iio_get_time_ns(iio_dev));
iio_trigger_notify_done(iio_dev->trig);
return IRQ_HANDLED;
}
static int st_lsm6dsx_irq_setup(struct st_lsm6dsx_hw *hw)
{
struct st_sensors_platform_data *pdata;
const struct st_lsm6dsx_reg *reg;
struct device *dev = hw->dev;
unsigned long irq_type;
bool irq_active_low;
int err;
irq_type = irqd_get_trigger_type(irq_get_irq_data(hw->irq));
switch (irq_type) {
case IRQF_TRIGGER_HIGH:
case IRQF_TRIGGER_RISING:
irq_active_low = false;
break;
case IRQF_TRIGGER_LOW:
case IRQF_TRIGGER_FALLING:
irq_active_low = true;
break;
default:
dev_info(hw->dev, "mode %lx unsupported\n", irq_type);
return -EINVAL;
}
reg = &hw->settings->irq_config.hla;
err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
ST_LSM6DSX_SHIFT_VAL(irq_active_low,
reg->mask));
if (err < 0)
return err;
pdata = (struct st_sensors_platform_data *)dev->platform_data;
if (device_property_read_bool(dev, "drive-open-drain") ||
(pdata && pdata->open_drain)) {
reg = &hw->settings->irq_config.od;
err = regmap_update_bits(hw->regmap, reg->addr, reg->mask,
ST_LSM6DSX_SHIFT_VAL(1, reg->mask));
if (err < 0)
return err;
irq_type |= IRQF_SHARED;
}
err = devm_request_threaded_irq(hw->dev, hw->irq,
NULL,
st_lsm6dsx_handler_thread,
irq_type | IRQF_ONESHOT,
"lsm6dsx", hw);
if (err) {
dev_err(hw->dev, "failed to request trigger irq %d\n",
hw->irq);
return err;
}
return 0;
}
static int st_lsm6dsx_sw_buffer_preenable(struct iio_dev *iio_dev)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
return st_lsm6dsx_device_set_enable(sensor, true);
}
static int st_lsm6dsx_sw_buffer_postdisable(struct iio_dev *iio_dev)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
return st_lsm6dsx_device_set_enable(sensor, false);
}
static const struct iio_buffer_setup_ops st_lsm6dsx_sw_buffer_ops = {
.preenable = st_lsm6dsx_sw_buffer_preenable,
.postdisable = st_lsm6dsx_sw_buffer_postdisable,
};
static int st_lsm6dsx_sw_buffers_setup(struct st_lsm6dsx_hw *hw)
{
int i;
for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
int err;
if (!hw->iio_devs[i])
continue;
err = devm_iio_triggered_buffer_setup(hw->dev,
hw->iio_devs[i], NULL,
st_lsm6dsx_sw_trigger_handler_thread,
&st_lsm6dsx_sw_buffer_ops);
if (err)
return err;
}
return 0;
}
static int st_lsm6dsx_init_regulators(struct device *dev)
{
/* vdd-vddio power regulators */
static const char * const regulators[] = { "vdd", "vddio" };
int err;
err = devm_regulator_bulk_get_enable(dev, ARRAY_SIZE(regulators),
regulators);
if (err)
return dev_err_probe(dev, err, "failed to enable regulators\n");
msleep(50);
return 0;
}
int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
struct regmap *regmap)
{
struct st_sensors_platform_data *pdata = dev->platform_data;
const struct st_lsm6dsx_shub_settings *hub_settings;
struct st_lsm6dsx_hw *hw;
const char *name = NULL;
int i, err;
hw = devm_kzalloc(dev, sizeof(*hw), GFP_KERNEL);
if (!hw)
return -ENOMEM;
dev_set_drvdata(dev, hw);
mutex_init(&hw->fifo_lock);
mutex_init(&hw->conf_lock);
mutex_init(&hw->page_lock);
err = st_lsm6dsx_init_regulators(dev);
if (err)
return err;
hw->buff = devm_kzalloc(dev, ST_LSM6DSX_BUFF_SIZE, GFP_KERNEL);
if (!hw->buff)
return -ENOMEM;
hw->dev = dev;
hw->irq = irq;
hw->regmap = regmap;
err = st_lsm6dsx_check_whoami(hw, hw_id, &name);
if (err < 0)
return err;
for (i = 0; i < ST_LSM6DSX_ID_EXT0; i++) {
hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i, name);
if (!hw->iio_devs[i])
return -ENOMEM;
}
err = st_lsm6dsx_init_device(hw);
if (err < 0)
return err;
hub_settings = &hw->settings->shub_settings;
if (hub_settings->master_en.addr &&
!device_property_read_bool(dev, "st,disable-sensor-hub")) {
err = st_lsm6dsx_shub_probe(hw, name);
if (err < 0)
return err;
}
if (hw->irq > 0) {
err = st_lsm6dsx_irq_setup(hw);
if (err < 0)
return err;
err = st_lsm6dsx_fifo_setup(hw);
if (err < 0)
return err;
}
if (!hw->irq || !hw->settings->fifo_ops.read_fifo) {
/*
* Rely on sw triggers (e.g. hr-timers) if irq pin is not
* connected of if the device does not support HW FIFO
*/
err = st_lsm6dsx_sw_buffers_setup(hw);
if (err)
return err;
}
if (!iio_read_acpi_mount_matrix(hw->dev, &hw->orientation, "ROTM")) {
err = iio_read_mount_matrix(hw->dev, &hw->orientation);
if (err)
return err;
}
for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
if (!hw->iio_devs[i])
continue;
err = devm_iio_device_register(hw->dev, hw->iio_devs[i]);
if (err)
return err;
}
if (device_property_read_bool(dev, "wakeup-source") ||
(pdata && pdata->wakeup_source))
device_init_wakeup(dev, true);
return 0;
}
EXPORT_SYMBOL_NS(st_lsm6dsx_probe, IIO_LSM6DSX);
static int st_lsm6dsx_suspend(struct device *dev)
{
struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev);
struct st_lsm6dsx_sensor *sensor;
int i, err = 0;
for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
if (!hw->iio_devs[i])
continue;
sensor = iio_priv(hw->iio_devs[i]);
if (!(hw->enable_mask & BIT(sensor->id)))
continue;
if (device_may_wakeup(dev) &&
sensor->id == ST_LSM6DSX_ID_ACC && hw->enable_event) {
/* Enable wake from IRQ */
enable_irq_wake(hw->irq);
continue;
}
err = st_lsm6dsx_device_set_enable(sensor, false);
if (err < 0)
return err;
hw->suspend_mask |= BIT(sensor->id);
}
if (hw->fifo_mask)
err = st_lsm6dsx_flush_fifo(hw);
return err;
}
static int st_lsm6dsx_resume(struct device *dev)
{
struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev);
struct st_lsm6dsx_sensor *sensor;
int i, err = 0;
for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
if (!hw->iio_devs[i])
continue;
sensor = iio_priv(hw->iio_devs[i]);
if (device_may_wakeup(dev) &&
sensor->id == ST_LSM6DSX_ID_ACC && hw->enable_event)
disable_irq_wake(hw->irq);
if (!(hw->suspend_mask & BIT(sensor->id)))
continue;
err = st_lsm6dsx_device_set_enable(sensor, true);
if (err < 0)
return err;
hw->suspend_mask &= ~BIT(sensor->id);
}
if (hw->fifo_mask)
err = st_lsm6dsx_resume_fifo(hw);
return err;
}
EXPORT_NS_SIMPLE_DEV_PM_OPS(st_lsm6dsx_pm_ops, st_lsm6dsx_suspend,
st_lsm6dsx_resume, IIO_LSM6DSX);
MODULE_AUTHOR("Lorenzo Bianconi <[email protected]>");
MODULE_AUTHOR("Denis Ciocca <[email protected]>");
MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx driver");
MODULE_LICENSE("GPL v2");
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