@@ -1,4 +1,5 @@
-st_lsm6dsx-y := st_lsm6dsx_core.o st_lsm6dsx_buffer.o
+st_lsm6dsx-y := st_lsm6dsx_core.o st_lsm6dsx_buffer.o \
+ st_lsm6dsx_shub.o
obj-$(CONFIG_IIO_ST_LSM6DSX) += st_lsm6dsx.o
obj-$(CONFIG_IIO_ST_LSM6DSX_I2C) += st_lsm6dsx_i2c.o
@@ -43,6 +43,24 @@ enum st_lsm6dsx_hw_id {
* ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
#define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
+#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
+{ \
+ .type = chan_type, \
+ .address = addr, \
+ .modified = 1, \
+ .channel2 = mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .scan_index = scan_idx, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = 16, \
+ .storagebits = 16, \
+ .endianness = IIO_LE, \
+ }, \
+}
+
struct st_lsm6dsx_reg {
u8 addr;
u8 mask;
@@ -50,6 +68,28 @@ struct st_lsm6dsx_reg {
struct st_lsm6dsx_hw;
+struct st_lsm6dsx_odr {
+ u16 hz;
+ u8 val;
+};
+
+#define ST_LSM6DSX_ODR_LIST_SIZE 6
+struct st_lsm6dsx_odr_table_entry {
+ struct st_lsm6dsx_reg reg;
+ struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
+};
+
+struct st_lsm6dsx_fs {
+ u32 gain;
+ u8 val;
+};
+
+#define ST_LSM6DSX_FS_LIST_SIZE 4
+struct st_lsm6dsx_fs_table_entry {
+ struct st_lsm6dsx_reg reg;
+ struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
+};
+
/**
* struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
* @read_fifo: Read FIFO callback.
@@ -84,6 +124,66 @@ struct st_lsm6dsx_hw_ts_settings {
struct st_lsm6dsx_reg decimator;
};
+/**
+ * struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
+ * @page_mux: register page mux info (addr + mask).
+ * @master_en: master config register info (addr + mask).
+ * @pullup_en: i2c controller pull-up register info (addr + mask).
+ * @aux_sens: aux sensor register info (addr + mask).
+ * @shub_out: sensor hub first output register info.
+ * @slv0_addr: slave0 address in secondary page.
+ * @dw_slv0_addr: slave0 write register address in secondary page.
+ */
+struct st_lsm6dsx_shub_settings {
+ struct st_lsm6dsx_reg page_mux;
+ struct st_lsm6dsx_reg master_en;
+ struct st_lsm6dsx_reg pullup_en;
+ struct st_lsm6dsx_reg aux_sens;
+ u8 shub_out;
+ u8 slv0_addr;
+ u8 dw_slv0_addr;
+};
+
+enum st_lsm6dsx_ext_sensor_id {
+ ST_LSM6DSX_ID_MAGN,
+};
+
+/**
+ * struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
+ * @i2c_addr: I2c slave address list.
+ * @wai: Wai address info.
+ * @id: external sensor id.
+ * @odr: Output data rate of the sensor [Hz].
+ * @gain: Configured sensor sensitivity.
+ * @temp_comp: Temperature compensation register info (addr + mask).
+ * @pwr_table: Power on register info (addr + mask).
+ * @off_canc: Offset cancellation register info (addr + mask).
+ * @bdu: Block data update register info (addr + mask).
+ * @out: Output register info.
+ */
+struct st_lsm6dsx_ext_dev_settings {
+ u8 i2c_addr[2];
+ struct {
+ u8 addr;
+ u8 val;
+ } wai;
+ enum st_lsm6dsx_ext_sensor_id id;
+ struct st_lsm6dsx_odr_table_entry odr_table;
+ struct st_lsm6dsx_fs_table_entry fs_table;
+ struct st_lsm6dsx_reg temp_comp;
+ struct {
+ struct st_lsm6dsx_reg reg;
+ u8 off_val;
+ u8 on_val;
+ } pwr_table;
+ struct st_lsm6dsx_reg off_canc;
+ struct st_lsm6dsx_reg bdu;
+ struct {
+ u8 addr;
+ u8 len;
+ } out;
+};
+
/**
* struct st_lsm6dsx_settings - ST IMU sensor settings
* @wai: Sensor WhoAmI default value.
@@ -93,6 +193,7 @@ struct st_lsm6dsx_hw_ts_settings {
* @batch: List of FIFO batching register info (addr + mask).
* @fifo_ops: Sensor hw FIFO parameters.
* @ts_settings: Hw timer related settings.
+ * @shub_settings: i2c controller related settings.
*/
struct st_lsm6dsx_settings {
u8 wai;
@@ -102,6 +203,7 @@ struct st_lsm6dsx_settings {
struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
struct st_lsm6dsx_fifo_ops fifo_ops;
struct st_lsm6dsx_hw_ts_settings ts_settings;
+ struct st_lsm6dsx_shub_settings shub_settings;
};
enum st_lsm6dsx_sensor_id {
@@ -129,6 +231,7 @@ enum st_lsm6dsx_fifo_mode {
* @sip: Number of samples in a given pattern.
* @decimator: FIFO decimation factor.
* @ts_ref: Sensor timestamp reference for hw one.
+ * @ext_info: Sensor settings if it is connected to i2c controller
*/
struct st_lsm6dsx_sensor {
char name[32];
@@ -142,6 +245,11 @@ struct st_lsm6dsx_sensor {
u8 sip;
u8 decimator;
s64 ts_ref;
+
+ struct {
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ u8 addr;
+ } ext_info;
};
/**
@@ -181,6 +289,7 @@ struct st_lsm6dsx_hw {
const struct st_lsm6dsx_settings *settings;
};
+static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0};
extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, const char *name,
@@ -197,6 +306,9 @@ int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, u8 *val);
+int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
+int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
+int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
static inline int
st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
@@ -88,17 +88,6 @@
#define ST_LSM6DSX_GYRO_FS_1000_GAIN IIO_DEGREE_TO_RAD(35000)
#define ST_LSM6DSX_GYRO_FS_2000_GAIN IIO_DEGREE_TO_RAD(70000)
-struct st_lsm6dsx_odr {
- u16 hz;
- u8 val;
-};
-
-#define ST_LSM6DSX_ODR_LIST_SIZE 6
-struct st_lsm6dsx_odr_table_entry {
- struct st_lsm6dsx_reg reg;
- struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
-};
-
static const struct st_lsm6dsx_odr_table_entry st_lsm6dsx_odr_table[] = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
@@ -126,17 +115,6 @@ static const struct st_lsm6dsx_odr_table_entry st_lsm6dsx_odr_table[] = {
}
};
-struct st_lsm6dsx_fs {
- u32 gain;
- u8 val;
-};
-
-#define ST_LSM6DSX_FS_LIST_SIZE 4
-struct st_lsm6dsx_fs_table_entry {
- struct st_lsm6dsx_reg reg;
- struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
-};
-
static const struct st_lsm6dsx_fs_table_entry st_lsm6dsx_fs_table[] = {
[ST_LSM6DSX_ID_ACC] = {
.reg = {
@@ -342,27 +320,30 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(7, 6),
},
},
+ .shub_settings = {
+ .page_mux = {
+ .addr = 0x01,
+ .mask = BIT(6),
+ },
+ .master_en = {
+ .addr = 0x14,
+ .mask = BIT(2),
+ },
+ .pullup_en = {
+ .addr = 0x14,
+ .mask = BIT(3),
+ },
+ .aux_sens = {
+ .addr = 0x14,
+ .mask = GENMASK(1, 0),
+ },
+ .shub_out = 0x02,
+ .slv0_addr = 0x15,
+ .dw_slv0_addr = 0x21,
+ }
},
};
-#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
-{ \
- .type = chan_type, \
- .address = addr, \
- .modified = 1, \
- .channel2 = mod, \
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
- BIT(IIO_CHAN_INFO_SCALE), \
- .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
- .scan_index = scan_idx, \
- .scan_type = { \
- .sign = 's', \
- .realbits = 16, \
- .storagebits = 16, \
- .endianness = IIO_LE, \
- }, \
-}
-
static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR,
IIO_MOD_X, 0),
@@ -383,6 +364,21 @@ static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(3),
};
+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)
{
int err, i, j, data;
@@ -736,8 +732,6 @@ static const struct iio_info st_lsm6dsx_gyro_info = {
.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
};
-static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0};
-
static int st_lsm6dsx_of_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin)
{
struct device_node *np = hw->dev->of_node;
@@ -776,6 +770,51 @@ static int st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, u8 *drdy_reg)
return err;
}
+static int st_lsm6dsx_init_shub(struct st_lsm6dsx_hw *hw)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ struct device_node *np = hw->dev->of_node;
+ struct st_sensors_platform_data *pdata;
+ unsigned int data;
+ int err = 0;
+
+ hub_settings = &hw->settings->shub_settings;
+
+ pdata = (struct st_sensors_platform_data *)hw->dev->platform_data;
+ if ((np && of_property_read_bool(np, "st,pullups")) ||
+ (pdata && pdata->pullups)) {
+ 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);
+
+ 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);
+ }
+
+ return err;
+}
+
static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw)
{
const struct st_lsm6dsx_hw_ts_settings *ts_settings;
@@ -856,6 +895,10 @@ static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
if (err < 0)
return err;
+ err = st_lsm6dsx_init_shub(hw);
+ if (err < 0)
+ return err;
+
return st_lsm6dsx_init_hw_timer(hw);
}
@@ -909,6 +952,7 @@ static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, const char *name,
struct regmap *regmap)
{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
struct st_lsm6dsx_hw *hw;
int i, err;
@@ -944,6 +988,13 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, const char *name,
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_fifo_setup(hw);
if (err < 0)
new file mode 100644
@@ -0,0 +1,702 @@
+/*
+ * STMicroelectronics st_lsm6dsx i2c controller driver
+ *
+ * i2c controller embedded in lsm6dx series can connect up to four
+ * slave devices using accelerometer sensor as trigger for i2c
+ * read/write operations. Current implementation relies on SLV0 channel
+ * for slave configuration and SLV{1,2,3} to read data and push them into
+ * the hw FIFO
+ *
+ * Copyright (C) 2018 Lorenzo Bianconi <lorenzo.bianconi83@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ */
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/bitfield.h>
+
+#include "st_lsm6dsx.h"
+
+#define ST_LSM6DSX_MAX_SLV_NUM 3
+#define ST_LSM6DSX_SLV_ADDR(n, base) ((base) + (n) * 3)
+#define ST_LSM6DSX_SLV_SUB_ADDR(n, base) ((base) + 1 + (n) * 3)
+#define ST_LSM6DSX_SLV_CONFIG(n, base) ((base) + 2 + (n) * 3)
+
+#define ST_LS6DSX_READ_OP_MASK GENMASK(2, 0)
+
+static const struct st_lsm6dsx_ext_dev_settings st_lsm6dsx_ext_dev_table[] = {
+ /* LIS2MDL */
+ {
+ .i2c_addr = { 0x1e },
+ .wai = {
+ .addr = 0x4f,
+ .val = 0x40,
+ },
+ .id = ST_LSM6DSX_ID_MAGN,
+ .odr_table = {
+ .reg = {
+ .addr = 0x60,
+ .mask = GENMASK(3, 2),
+ },
+ .odr_avl[0] = { 10, 0x0 },
+ .odr_avl[1] = { 20, 0x1 },
+ .odr_avl[2] = { 50, 0x2 },
+ .odr_avl[3] = { 100, 0x3 },
+ },
+ .fs_table = {
+ .fs_avl[0] = {
+ .gain = 1500,
+ .val = 0x0,
+ }, /* 1500 uG/LSB */
+ },
+ .temp_comp = {
+ .addr = 0x60,
+ .mask = BIT(7),
+ },
+ .pwr_table = {
+ .reg = {
+ .addr = 0x60,
+ .mask = GENMASK(1, 0),
+ },
+ .off_val = 0x2,
+ .on_val = 0x0,
+ },
+ .off_canc = {
+ .addr = 0x61,
+ .mask = BIT(1),
+ },
+ .bdu = {
+ .addr = 0x62,
+ .mask = BIT(4),
+ },
+ .out = {
+ .addr = 0x68,
+ .len = 6,
+ },
+ },
+};
+
+static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw)
+{
+ struct st_lsm6dsx_sensor *sensor;
+
+ sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
+ msleep((2000U / sensor->odr) + 1);
+}
+
+/**
+ * st_lsm6dsx_shub_read_reg - read i2c controller register
+ *
+ * Read st_lsm6dsx i2c controller register
+ */
+static int st_lsm6dsx_shub_read_reg(struct st_lsm6dsx_hw *hw, u8 addr,
+ u8 *data, int len)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ int err;
+
+ mutex_lock(&hw->page_lock);
+
+ hub_settings = &hw->settings->shub_settings;
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ goto out;
+
+ err = regmap_bulk_read(hw->regmap, addr, data, len);
+
+ st_lsm6dsx_set_page(hw, false);
+out:
+ mutex_unlock(&hw->page_lock);
+
+ return err;
+}
+
+/**
+ * st_lsm6dsx_shub_write_reg - write i2c controller register
+ *
+ * Write st_lsm6dsx i2c controller register
+ */
+static int st_lsm6dsx_shub_write_reg(struct st_lsm6dsx_hw *hw, u8 addr,
+ u8 *data, int len)
+{
+ int err;
+
+ mutex_lock(&hw->page_lock);
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ goto out;
+
+ err = regmap_bulk_write(hw->regmap, addr, data, len);
+
+ st_lsm6dsx_set_page(hw, false);
+out:
+ mutex_unlock(&hw->page_lock);
+
+ return err;
+}
+
+static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor,
+ bool enable)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ unsigned int data;
+ int err;
+
+ /* enable acc sensor as trigger */
+ err = st_lsm6dsx_sensor_set_enable(sensor, enable);
+ if (err < 0)
+ return err;
+
+ mutex_lock(&hw->page_lock);
+
+ hub_settings = &hw->settings->shub_settings;
+ err = st_lsm6dsx_set_page(hw, true);
+ if (err < 0)
+ goto out;
+
+ data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->master_en.mask);
+ err = regmap_update_bits(hw->regmap, hub_settings->master_en.addr,
+ hub_settings->master_en.mask, data);
+
+ st_lsm6dsx_set_page(hw, false);
+out:
+ mutex_unlock(&hw->page_lock);
+
+ return err;
+}
+
+/**
+ * st_lsm6dsx_shub_read - read data from slave device register
+ *
+ * Read data from slave device register. SLV0 is used for
+ * one-shot read operation
+ */
+static int
+st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
+ u8 *data, int len)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ u8 config[3], slv_addr;
+ int err;
+
+ hub_settings = &hw->settings->shub_settings;
+ slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
+
+ config[0] = (sensor->ext_info.addr << 1) | 1;
+ config[1] = addr;
+ config[2] = len & ST_LS6DSX_READ_OP_MASK;
+
+ err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
+ sizeof(config));
+ if (err < 0)
+ return err;
+
+ err = st_lsm6dsx_shub_master_enable(sensor, true);
+ if (err < 0)
+ return err;
+
+ st_lsm6dsx_shub_wait_complete(hw);
+
+ err = st_lsm6dsx_shub_read_reg(hw, hub_settings->shub_out, data,
+ len & ST_LS6DSX_READ_OP_MASK);
+
+ st_lsm6dsx_shub_master_enable(sensor, false);
+
+ memset(config, 0, sizeof(config));
+ return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
+ sizeof(config));
+}
+
+/**
+ * st_lsm6dsx_shub_write - write data to slave device register
+ *
+ * Write data from slave device register. SLV0 is used for
+ * one-shot write operation
+ */
+static int
+st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr,
+ u8 *data, int len)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ u8 config[2], slv_addr;
+ int err, i;
+
+ hub_settings = &hw->settings->shub_settings;
+ slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
+ config[0] = sensor->ext_info.addr << 1;
+ for (i = 0 ; i < len; i++) {
+ config[1] = addr + i;
+
+ err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
+ sizeof(config));
+ if (err < 0)
+ return err;
+
+ err = st_lsm6dsx_shub_write_reg(hw, hub_settings->dw_slv0_addr,
+ &data[i], 1);
+ if (err < 0)
+ return err;
+
+ err = st_lsm6dsx_shub_master_enable(sensor, true);
+ if (err < 0)
+ return err;
+
+ st_lsm6dsx_shub_wait_complete(hw);
+
+ st_lsm6dsx_shub_master_enable(sensor, false);
+ }
+
+ memset(config, 0, sizeof(config));
+ return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config));
+}
+
+static int
+st_lsm6dsx_shub_write_with_mask(struct st_lsm6dsx_sensor *sensor,
+ u8 addr, u8 mask, u8 val)
+{
+ int err;
+ u8 data;
+
+ err = st_lsm6dsx_shub_read(sensor, addr, &data, sizeof(data));
+ if (err < 0)
+ return err;
+
+ data = ((data & ~mask) | (val << __ffs(mask) & mask));
+
+ return st_lsm6dsx_shub_write(sensor, addr, &data, sizeof(data));
+}
+
+static int
+st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor,
+ u16 odr, u16 *val)
+{
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ int i;
+
+ settings = sensor->ext_info.settings;
+ for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++)
+ if (settings->odr_table.odr_avl[i].hz == odr)
+ break;
+
+ if (i == ST_LSM6DSX_ODR_LIST_SIZE)
+ return -EINVAL;
+
+ *val = settings->odr_table.odr_avl[i].val;
+ return 0;
+}
+
+static int
+st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u16 odr)
+{
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ u16 val;
+ int err;
+
+ err = st_lsm6dsx_shub_get_odr_val(sensor, odr, &val);
+ if (err < 0)
+ return err;
+
+ settings = sensor->ext_info.settings;
+ return st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->odr_table.reg.addr,
+ settings->odr_table.reg.mask,
+ val);
+}
+
+int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
+{
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ int err;
+
+ settings = sensor->ext_info.settings;
+ if (enable) {
+ err = st_lsm6dsx_shub_set_odr(sensor, sensor->odr);
+ if (err < 0)
+ return err;
+ } else {
+ err = st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->odr_table.reg.addr,
+ settings->odr_table.reg.mask, 0);
+ if (err < 0)
+ return err;
+ }
+
+ if (settings->pwr_table.reg.addr) {
+ u8 val;
+
+ val = enable ? settings->pwr_table.on_val
+ : settings->pwr_table.off_val;
+ err = st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->pwr_table.reg.addr,
+ settings->pwr_table.reg.mask, val);
+ if (err < 0)
+ return err;
+ }
+
+ return st_lsm6dsx_shub_master_enable(sensor, enable);
+}
+
+static int
+st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor,
+ struct iio_chan_spec const *ch,
+ int *val)
+{
+ int err, delay, len = ch->scan_type.realbits >> 3;
+ __le32 data;
+
+ err = st_lsm6dsx_shub_set_enable(sensor, true);
+ if (err < 0)
+ return err;
+
+ delay = 1000000 / sensor->odr;
+ usleep_range(delay, 2 * delay);
+
+ err = st_lsm6dsx_shub_read(sensor, ch->address, (u8 *)&data, len);
+ if (err < 0)
+ return err;
+
+ st_lsm6dsx_shub_set_enable(sensor, false);
+
+ switch (len) {
+ case 2:
+ *val = (s16)le16_to_cpu(data);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ return IIO_VAL_INT;
+}
+
+static int
+st_lsm6dsx_shub_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_shub_read_oneshot(sensor, ch, val);
+ iio_device_release_direct_mode(iio_dev);
+ break;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ *val = sensor->odr;
+ ret = IIO_VAL_INT;
+ 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_shub_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_SAMP_FREQ: {
+ u16 data;
+
+ err = st_lsm6dsx_shub_get_odr_val(sensor, val, &data);
+ if (!err)
+ sensor->odr = val;
+ break;
+ }
+ default:
+ err = -EINVAL;
+ break;
+ }
+
+ iio_device_release_direct_mode(iio_dev);
+
+ return err;
+}
+
+static ssize_t
+st_lsm6dsx_shub_sampling_freq_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_ext_dev_settings *settings;
+ int i, len = 0;
+
+ settings = sensor->ext_info.settings;
+ for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) {
+ u16 val = settings->odr_table.odr_avl[i].hz;
+
+ if (val > 0)
+ len += scnprintf(buf + len, PAGE_SIZE - len, "%d ",
+ val);
+ }
+ buf[len - 1] = '\n';
+
+ return len;
+}
+
+static ssize_t st_lsm6dsx_shub_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_ext_dev_settings *settings;
+ int i, len = 0;
+
+ settings = sensor->ext_info.settings;
+ for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) {
+ u16 val = settings->fs_table.fs_avl[i].gain;
+
+ if (val > 0)
+ len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
+ val);
+ }
+ buf[len - 1] = '\n';
+
+ return len;
+}
+
+static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail);
+static IIO_DEVICE_ATTR(in_scale_available, 0444,
+ st_lsm6dsx_shub_scale_avail, NULL, 0);
+static struct attribute *st_lsm6dsx_ext_attributes[] = {
+ &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
+ &iio_dev_attr_in_scale_available.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group st_lsm6dsx_ext_attribute_group = {
+ .attrs = st_lsm6dsx_ext_attributes,
+};
+
+static const struct iio_info st_lsm6dsx_ext_info = {
+ .attrs = &st_lsm6dsx_ext_attribute_group,
+ .read_raw = st_lsm6dsx_shub_read_raw,
+ .write_raw = st_lsm6dsx_shub_write_raw,
+ .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
+};
+
+static struct iio_dev *
+st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw,
+ enum st_lsm6dsx_sensor_id id,
+ const struct st_lsm6dsx_ext_dev_settings *info,
+ u8 i2c_addr, const char *name)
+{
+ struct iio_chan_spec *ext_channels;
+ 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->info = &st_lsm6dsx_ext_info;
+
+ sensor = iio_priv(iio_dev);
+ sensor->id = id;
+ sensor->hw = hw;
+ sensor->odr = info->odr_table.odr_avl[0].hz;
+ sensor->gain = info->fs_table.fs_avl[0].gain;
+ sensor->ext_info.settings = info;
+ sensor->ext_info.addr = i2c_addr;
+ sensor->watermark = 1;
+
+ switch (info->id) {
+ case ST_LSM6DSX_ID_MAGN: {
+ const struct iio_chan_spec magn_channels[] = {
+ ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr,
+ IIO_MOD_X, 0),
+ ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 2,
+ IIO_MOD_Y, 1),
+ ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 4,
+ IIO_MOD_Z, 2),
+ IIO_CHAN_SOFT_TIMESTAMP(3),
+ };
+
+ ext_channels = devm_kzalloc(hw->dev, sizeof(magn_channels),
+ GFP_KERNEL);
+ if (!ext_channels)
+ return NULL;
+
+ memcpy(ext_channels, magn_channels, sizeof(magn_channels));
+ iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks;
+ iio_dev->channels = ext_channels;
+ iio_dev->num_channels = ARRAY_SIZE(magn_channels);
+
+ scnprintf(sensor->name, sizeof(sensor->name), "%s_magn",
+ name);
+ break;
+ }
+ default:
+ return NULL;
+ }
+ iio_dev->name = sensor->name;
+
+ return iio_dev;
+}
+
+static int st_lsm6dsx_shub_init_device(struct st_lsm6dsx_sensor *sensor)
+{
+ const struct st_lsm6dsx_ext_dev_settings *settings;
+ int err;
+
+ settings = sensor->ext_info.settings;
+ if (settings->bdu.addr) {
+ err = st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->bdu.addr,
+ settings->bdu.mask, 1);
+ if (err < 0)
+ return err;
+ }
+
+ if (settings->temp_comp.addr) {
+ err = st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->temp_comp.addr,
+ settings->temp_comp.mask, 1);
+ if (err < 0)
+ return err;
+ }
+
+ if (settings->off_canc.addr) {
+ err = st_lsm6dsx_shub_write_with_mask(sensor,
+ settings->off_canc.addr,
+ settings->off_canc.mask, 1);
+ if (err < 0)
+ return err;
+ }
+
+ return 0;
+}
+
+static int
+st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
+ const struct st_lsm6dsx_ext_dev_settings *settings)
+{
+ const struct st_lsm6dsx_shub_settings *hub_settings;
+ struct st_lsm6dsx_sensor *sensor;
+ u8 config[3], data, slv_addr;
+ bool found = false;
+ int i, err;
+
+ hub_settings = &hw->settings->shub_settings;
+ slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
+ sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
+
+ for (i = 0; i < ARRAY_SIZE(settings->i2c_addr); i++) {
+ if (!settings->i2c_addr[i])
+ continue;
+
+ /* read wai slave register */
+ config[0] = (settings->i2c_addr[i] << 1) | 0x1;
+ config[1] = settings->wai.addr;
+ config[2] = 0x1;
+
+ err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
+ sizeof(config));
+ if (err < 0)
+ return err;
+
+ err = st_lsm6dsx_shub_master_enable(sensor, true);
+ if (err < 0)
+ return err;
+
+ st_lsm6dsx_shub_wait_complete(hw);
+
+ err = st_lsm6dsx_shub_read_reg(hw,
+ hub_settings->shub_out,
+ &data, sizeof(data));
+
+ st_lsm6dsx_shub_master_enable(sensor, false);
+
+ if (err < 0)
+ return err;
+
+ if (data != settings->wai.val)
+ continue;
+
+ *i2c_addr = settings->i2c_addr[i];
+ found = true;
+ break;
+ }
+
+ /* reset SLV0 channel */
+ memset(config, 0, sizeof(config));
+ err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
+ sizeof(config));
+ if (err < 0)
+ return err;
+
+ return found ? 0 : -ENODEV;
+}
+
+int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name)
+{
+ enum st_lsm6dsx_sensor_id id = ST_LSM6DSX_ID_EXT0;
+ struct st_lsm6dsx_sensor *sensor;
+ int err, i, num_ext_dev = 0;
+ u8 i2c_addr = 0;
+
+ for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_ext_dev_table); i++) {
+ err = st_lsm6dsx_shub_check_wai(hw, &i2c_addr,
+ &st_lsm6dsx_ext_dev_table[i]);
+ if (err == -ENODEV)
+ continue;
+ else if (err < 0)
+ return err;
+
+ hw->iio_devs[id] = st_lsm6dsx_shub_alloc_iiodev(hw, id,
+ &st_lsm6dsx_ext_dev_table[i],
+ i2c_addr, name);
+ if (!hw->iio_devs[id])
+ return -ENOMEM;
+
+ sensor = iio_priv(hw->iio_devs[id]);
+ err = st_lsm6dsx_shub_init_device(sensor);
+ if (err < 0)
+ return err;
+
+ if (++num_ext_dev >= ST_LSM6DSX_MAX_SLV_NUM)
+ break;
+ id++;
+ }
+
+ return 0;
+}
@@ -18,11 +18,13 @@
* Accelerometer DRDY on LSM330 available only on pin 1 (see datasheet).
* @open_drain: set the interrupt line to be open drain if possible.
* @spi_3wire: enable spi-3wire mode.
+ * @pullups: enable/disable i2c controller pullup resistors.
*/
struct st_sensors_platform_data {
u8 drdy_int_pin;
bool open_drain;
bool spi_3wire;
+ bool pullups;
};
#endif /* ST_SENSORS_PDATA_H */
i2c controller embedded in lsm6dx series can connect up to four slave devices using accelerometer sensor as trigger for i2c read/write operations. Introduce sensor hub support for lsm6dso sensor. Add register map for lis2mdl magnetometer sensor. In order to perform single read/write operations st_lsm6dsx driver relies on SLV0 channel (hw FIFO is not supported yet) Signed-off-by: Lorenzo Bianconi <lorenzo.bianconi@redhat.com> --- drivers/iio/imu/st_lsm6dsx/Makefile | 3 +- drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 112 +++ drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 135 ++-- drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c | 702 ++++++++++++++++++ .../linux/platform_data/st_sensors_pdata.h | 2 + 5 files changed, 911 insertions(+), 43 deletions(-) create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c