| Author | Tokens | Token Proportion | Commits | Commit Proportion |
|---|---|---|---|---|
| Lorenzo Bianconi | 10320 | 82.73% | 70 | 83.33% |
| Sean Nyekjaer | 1503 | 12.05% | 5 | 5.95% |
| Martin Kepplinger | 508 | 4.07% | 3 | 3.57% |
| mario tesi | 79 | 0.63% | 2 | 2.38% |
| Andy Shevchenko | 46 | 0.37% | 1 | 1.19% |
| Stephan Gerhold | 12 | 0.10% | 1 | 1.19% |
| Greg Kroah-Hartman | 5 | 0.04% | 1 | 1.19% |
| Thomas Gleixner | 1 | 0.01% | 1 | 1.19% |
| Total | 12474 | 84 |
// 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]: 13, 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 * * - LSM6DS3H/LSM6DSL/LSM6DSM/ISM330DLC/LSM6DS3TR-C: * - Accelerometer/Gyroscope supported ODR [Hz]: 13, 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 * * - LSM6DSO/LSM6DSOX/ASM330LHH/LSM6DSR/ISM330DHCX: * - Accelerometer/Gyroscope supported ODR [Hz]: 13, 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 * * - LSM9DS1/LSM6DS0: * - 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 <lorenzo.bianconi@st.com> * Denis Ciocca <denis.ciocca@st.com> */ #include <linux/kernel.h> #include <linux/module.h> #include <linux/delay.h> #include <linux/iio/events.h> #include <linux/iio/iio.h> #include <linux/iio/sysfs.h> #include <linux/interrupt.h> #include <linux/irq.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[] = { { .wai = 0x68, .reset = { .addr = 0x22, .mask = BIT(0), }, .boot = { .addr = 0x22, .mask = BIT(7), }, .bdu = { .addr = 0x22, .mask = BIT(6), }, .max_fifo_size = 32, .id = { { .hw_id = ST_LSM9DS1_ID, .name = ST_LSM9DS1_DEV_NAME, }, { .hw_id = ST_LSM6DS0_ID, .name = ST_LSM6DS0_DEV_NAME, }, }, .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(61), 0x0 }, .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 }, .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 }, .fs_avl[3] = { IIO_G_TO_M_S_2(732), 0x1 }, .fs_len = 4, }, [ST_LSM6DSX_ID_GYRO] = { .reg = { .addr = 0x10, .mask = GENMASK(4, 3), }, .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 }, .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 }, .fs_avl[2] = { IIO_DEGREE_TO_RAD(70000), 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), }, }, }, { .wai = 0x69, .reset = { .addr = 0x12, .mask = BIT(0), }, .boot = { .addr = 0x12, .mask = BIT(7), }, .bdu = { .addr = 0x12, .mask = BIT(6), }, .max_fifo_size = 1365, .id = { { .hw_id = ST_LSM6DS3_ID, .name = ST_LSM6DS3_DEV_NAME, }, }, .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(61), 0x0 }, .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 }, .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 }, .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 }, .fs_len = 4, }, [ST_LSM6DSX_ID_GYRO] = { .reg = { .addr = 0x11, .mask = GENMASK(3, 2), }, .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 }, .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 }, .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 }, .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 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), }, .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), }, }, { .wai = 0x69, .reset = { .addr = 0x12, .mask = BIT(0), }, .boot = { .addr = 0x12, .mask = BIT(7), }, .bdu = { .addr = 0x12, .mask = BIT(6), }, .max_fifo_size = 682, .id = { { .hw_id = ST_LSM6DS3H_ID, .name = ST_LSM6DS3H_DEV_NAME, }, }, .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(61), 0x0 }, .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 }, .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 }, .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 }, .fs_len = 4, }, [ST_LSM6DSX_ID_GYRO] = { .reg = { .addr = 0x11, .mask = GENMASK(3, 2), }, .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 }, .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 }, .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 }, .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 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), }, .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), }, }, { .wai = 0x6a, .reset = { .addr = 0x12, .mask = BIT(0), }, .boot = { .addr = 0x12, .mask = BIT(7), }, .bdu = { .addr = 0x12, .mask = BIT(6), }, .max_fifo_size = 682, .id = { { .hw_id = ST_LSM6DSL_ID, .name = ST_LSM6DSL_DEV_NAME, }, { .hw_id = ST_LSM6DSM_ID, .name = ST_LSM6DSM_DEV_NAME, }, { .hw_id = ST_ISM330DLC_ID, .name = ST_ISM330DLC_DEV_NAME, }, { .hw_id = ST_LSM6DS3TRC_ID, .name = ST_LSM6DS3TRC_DEV_NAME, }, }, .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(61), 0x0 }, .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 }, .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 }, .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 }, .fs_len = 4, }, [ST_LSM6DSX_ID_GYRO] = { .reg = { .addr = 0x11, .mask = GENMASK(3, 2), }, .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 }, .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 }, .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 }, .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 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), }, [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), }, .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), }, }, { .wai = 0x6c, .reset = { .addr = 0x12, .mask = BIT(0), }, .boot = { .addr = 0x12, .mask = BIT(7), }, .bdu = { .addr = 0x12, .mask = BIT(6), }, .max_fifo_size = 512, .id = { { .hw_id = ST_LSM6DSO_ID, .name = ST_LSM6DSO_DEV_NAME, }, { .hw_id = ST_LSM6DSOX_ID, .name = ST_LSM6DSOX_DEV_NAME, }, }, .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(61), 0x0 }, .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 }, .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 }, .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 }, .fs_len = 4, }, [ST_LSM6DSX_ID_GYRO] = { .reg = { .addr = 0x11, .mask = GENMASK(3, 2), }, .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 }, .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 }, .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 }, .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 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), }, .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), }, }, { .wai = 0x6b, .reset = { .addr = 0x12, .mask = BIT(0), }, .boot = { .addr = 0x12, .mask = BIT(7), }, .bdu = { .addr = 0x12, .mask = BIT(6), }, .max_fifo_size = 512, .id = { { .hw_id = ST_ASM330LHH_ID, .name = ST_ASM330LHH_DEV_NAME, }, }, .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(61), 0x0 }, .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 }, .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 }, .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 }, .fs_len = 4, }, [ST_LSM6DSX_ID_GYRO] = { .reg = { .addr = 0x11, .mask = GENMASK(3, 2), }, .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 }, .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 }, .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 }, .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 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), }, .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), }, }, { .wai = 0x6b, .reset = { .addr = 0x12, .mask = BIT(0), }, .boot = { .addr = 0x12, .mask = BIT(7), }, .bdu = { .addr = 0x12, .mask = BIT(6), }, .max_fifo_size = 512, .id = { { .hw_id = ST_LSM6DSR_ID, .name = ST_LSM6DSR_DEV_NAME, }, { .hw_id = ST_ISM330DHCX_ID, .name = ST_ISM330DHCX_DEV_NAME, }, { .hw_id = ST_LSM6DSRX_ID, .name = ST_LSM6DSRX_DEV_NAME, }, }, .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(61), 0x0 }, .fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 }, .fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 }, .fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 }, .fs_len = 4, }, [ST_LSM6DSX_ID_GYRO] = { .reg = { .addr = 0x11, .mask = GENMASK(3, 2), }, .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750), 0x0 }, .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 }, .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 }, .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 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), }, .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), } }, }; 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].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_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: break; } 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; delay = 1000000000 / sensor->odr; usleep_range(delay, 2 * 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_MICRO; 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; if (val < 1 || val > hw->settings->max_fifo_size) return -EINVAL; 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_get_drvdata(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_get_drvdata(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.%06u ", fs_table->fs_avl[i].gain); buf[len - 1] = '\n'; return len; } 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, }; 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, }; static int st_lsm6dsx_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin) { struct device *dev = hw->dev; if (!dev_fwnode(dev)) return -EINVAL; return device_property_read_u32(dev, "st,drdy-int-pin", drdy_pin); } static int st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, const struct st_lsm6dsx_reg **drdy_reg) { int err = 0, drdy_pin; if (st_lsm6dsx_get_drdy_pin(hw, &drdy_pin) < 0) { struct st_sensors_platform_data *pdata; struct device *dev = hw->dev; 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 ((dev_fwnode(dev) && 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->dev.parent = hw->dev; 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; bool event; int count; event = st_lsm6dsx_report_motion_event(hw); if (!hw->settings->fifo_ops.read_fifo) return event ? IRQ_HANDLED : IRQ_NONE; mutex_lock(&hw->fifo_lock); count = hw->settings->fifo_ops.read_fifo(hw); mutex_unlock(&hw->fifo_lock); return count || event ? IRQ_HANDLED : IRQ_NONE; } 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 ((dev_fwnode(dev) && 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; } 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, (void *)hw); mutex_init(&hw->fifo_lock); mutex_init(&hw->conf_lock); mutex_init(&hw->page_lock); 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) { 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; } err = iio_read_mount_matrix(hw->dev, "mount-matrix", &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 ((dev_fwnode(dev) && device_property_read_bool(dev, "wakeup-source")) || (pdata && pdata->wakeup_source)) device_init_wakeup(dev, true); return 0; } EXPORT_SYMBOL(st_lsm6dsx_probe); static int __maybe_unused 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; } if (sensor->id == ST_LSM6DSX_ID_EXT0 || sensor->id == ST_LSM6DSX_ID_EXT1 || sensor->id == ST_LSM6DSX_ID_EXT2) err = st_lsm6dsx_shub_set_enable(sensor, false); else err = st_lsm6dsx_sensor_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 __maybe_unused 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; if (sensor->id == ST_LSM6DSX_ID_EXT0 || sensor->id == ST_LSM6DSX_ID_EXT1 || sensor->id == ST_LSM6DSX_ID_EXT2) err = st_lsm6dsx_shub_set_enable(sensor, true); else err = st_lsm6dsx_sensor_set_enable(sensor, true); if (err < 0) return err; hw->suspend_mask &= ~BIT(sensor->id); } if (hw->fifo_mask) err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT); return err; } const struct dev_pm_ops st_lsm6dsx_pm_ops = { SET_SYSTEM_SLEEP_PM_OPS(st_lsm6dsx_suspend, st_lsm6dsx_resume) }; EXPORT_SYMBOL(st_lsm6dsx_pm_ops); MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@st.com>"); MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx driver"); MODULE_LICENSE("GPL v2");
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