iio: imu: st_lsm6dsx: add i2c embedded controller support
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> Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>hifive-unleashed-5.1
Lorenzo Bianconi
Jonathan Cameron
parent
1775044356
commit
c91c1c844e
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@ -1,4 +1,5 @@
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st_lsm6dsx-y := st_lsm6dsx_core.o st_lsm6dsx_buffer.o
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st_lsm6dsx-y := st_lsm6dsx_core.o st_lsm6dsx_buffer.o \
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st_lsm6dsx_shub.o
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obj-$(CONFIG_IIO_ST_LSM6DSX) += st_lsm6dsx.o
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obj-$(CONFIG_IIO_ST_LSM6DSX_I2C) += st_lsm6dsx_i2c.o
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@ -43,6 +43,24 @@ enum st_lsm6dsx_hw_id {
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* ST_LSM6DSX_TAGGED_SAMPLE_SIZE)
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#define ST_LSM6DSX_SHIFT_VAL(val, mask) (((val) << __ffs(mask)) & (mask))
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#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
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{ \
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.type = chan_type, \
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.address = addr, \
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.modified = 1, \
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.channel2 = mod, \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
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BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.scan_index = scan_idx, \
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.scan_type = { \
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.sign = 's', \
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.realbits = 16, \
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.storagebits = 16, \
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.endianness = IIO_LE, \
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}, \
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}
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struct st_lsm6dsx_reg {
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u8 addr;
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u8 mask;
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@ -50,6 +68,28 @@ struct st_lsm6dsx_reg {
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struct st_lsm6dsx_hw;
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struct st_lsm6dsx_odr {
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u16 hz;
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u8 val;
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};
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#define ST_LSM6DSX_ODR_LIST_SIZE 6
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struct st_lsm6dsx_odr_table_entry {
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struct st_lsm6dsx_reg reg;
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struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
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};
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struct st_lsm6dsx_fs {
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u32 gain;
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u8 val;
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};
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#define ST_LSM6DSX_FS_LIST_SIZE 4
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struct st_lsm6dsx_fs_table_entry {
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struct st_lsm6dsx_reg reg;
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struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
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};
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/**
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* struct st_lsm6dsx_fifo_ops - ST IMU FIFO settings
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* @read_fifo: Read FIFO callback.
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@ -84,6 +124,66 @@ struct st_lsm6dsx_hw_ts_settings {
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struct st_lsm6dsx_reg decimator;
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};
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/**
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* struct st_lsm6dsx_shub_settings - ST IMU hw i2c controller settings
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* @page_mux: register page mux info (addr + mask).
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* @master_en: master config register info (addr + mask).
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* @pullup_en: i2c controller pull-up register info (addr + mask).
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* @aux_sens: aux sensor register info (addr + mask).
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* @shub_out: sensor hub first output register info.
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* @slv0_addr: slave0 address in secondary page.
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* @dw_slv0_addr: slave0 write register address in secondary page.
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*/
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struct st_lsm6dsx_shub_settings {
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struct st_lsm6dsx_reg page_mux;
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struct st_lsm6dsx_reg master_en;
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struct st_lsm6dsx_reg pullup_en;
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struct st_lsm6dsx_reg aux_sens;
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u8 shub_out;
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u8 slv0_addr;
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u8 dw_slv0_addr;
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};
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enum st_lsm6dsx_ext_sensor_id {
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ST_LSM6DSX_ID_MAGN,
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};
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/**
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* struct st_lsm6dsx_ext_dev_settings - i2c controller slave settings
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* @i2c_addr: I2c slave address list.
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* @wai: Wai address info.
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* @id: external sensor id.
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* @odr: Output data rate of the sensor [Hz].
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* @gain: Configured sensor sensitivity.
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* @temp_comp: Temperature compensation register info (addr + mask).
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* @pwr_table: Power on register info (addr + mask).
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* @off_canc: Offset cancellation register info (addr + mask).
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* @bdu: Block data update register info (addr + mask).
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* @out: Output register info.
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*/
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struct st_lsm6dsx_ext_dev_settings {
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u8 i2c_addr[2];
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struct {
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u8 addr;
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u8 val;
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} wai;
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enum st_lsm6dsx_ext_sensor_id id;
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struct st_lsm6dsx_odr_table_entry odr_table;
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struct st_lsm6dsx_fs_table_entry fs_table;
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struct st_lsm6dsx_reg temp_comp;
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struct {
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struct st_lsm6dsx_reg reg;
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u8 off_val;
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u8 on_val;
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} pwr_table;
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struct st_lsm6dsx_reg off_canc;
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struct st_lsm6dsx_reg bdu;
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struct {
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u8 addr;
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u8 len;
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} out;
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};
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/**
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* struct st_lsm6dsx_settings - ST IMU sensor settings
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* @wai: Sensor WhoAmI default value.
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@ -93,6 +193,7 @@ struct st_lsm6dsx_hw_ts_settings {
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* @batch: List of FIFO batching register info (addr + mask).
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* @fifo_ops: Sensor hw FIFO parameters.
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* @ts_settings: Hw timer related settings.
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* @shub_settings: i2c controller related settings.
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*/
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struct st_lsm6dsx_settings {
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u8 wai;
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@ -102,6 +203,7 @@ struct st_lsm6dsx_settings {
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struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
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struct st_lsm6dsx_fifo_ops fifo_ops;
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struct st_lsm6dsx_hw_ts_settings ts_settings;
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struct st_lsm6dsx_shub_settings shub_settings;
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};
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enum st_lsm6dsx_sensor_id {
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@ -129,6 +231,7 @@ enum st_lsm6dsx_fifo_mode {
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* @sip: Number of samples in a given pattern.
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* @decimator: FIFO decimation factor.
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* @ts_ref: Sensor timestamp reference for hw one.
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* @ext_info: Sensor settings if it is connected to i2c controller
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*/
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struct st_lsm6dsx_sensor {
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char name[32];
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@ -142,6 +245,11 @@ struct st_lsm6dsx_sensor {
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u8 sip;
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u8 decimator;
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s64 ts_ref;
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struct {
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const struct st_lsm6dsx_ext_dev_settings *settings;
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u8 addr;
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} ext_info;
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};
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/**
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@ -181,6 +289,7 @@ struct st_lsm6dsx_hw {
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const struct st_lsm6dsx_settings *settings;
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};
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static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0};
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extern const struct dev_pm_ops st_lsm6dsx_pm_ops;
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int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, const char *name,
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@ -197,6 +306,9 @@ int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw,
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int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw);
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int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
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int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr, u8 *val);
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int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name);
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int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable);
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int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
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static inline int
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st_lsm6dsx_update_bits_locked(struct st_lsm6dsx_hw *hw, unsigned int addr,
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@ -88,17 +88,6 @@
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#define ST_LSM6DSX_GYRO_FS_1000_GAIN IIO_DEGREE_TO_RAD(35000)
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#define ST_LSM6DSX_GYRO_FS_2000_GAIN IIO_DEGREE_TO_RAD(70000)
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struct st_lsm6dsx_odr {
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u16 hz;
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u8 val;
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};
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#define ST_LSM6DSX_ODR_LIST_SIZE 6
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struct st_lsm6dsx_odr_table_entry {
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struct st_lsm6dsx_reg reg;
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struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
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};
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static const struct st_lsm6dsx_odr_table_entry st_lsm6dsx_odr_table[] = {
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[ST_LSM6DSX_ID_ACC] = {
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.reg = {
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@ -126,17 +115,6 @@ static const struct st_lsm6dsx_odr_table_entry st_lsm6dsx_odr_table[] = {
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}
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};
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struct st_lsm6dsx_fs {
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u32 gain;
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u8 val;
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};
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#define ST_LSM6DSX_FS_LIST_SIZE 4
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struct st_lsm6dsx_fs_table_entry {
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struct st_lsm6dsx_reg reg;
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struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
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};
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static const struct st_lsm6dsx_fs_table_entry st_lsm6dsx_fs_table[] = {
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[ST_LSM6DSX_ID_ACC] = {
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.reg = {
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@ -342,27 +320,30 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
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.mask = GENMASK(7, 6),
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},
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},
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.shub_settings = {
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.page_mux = {
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.addr = 0x01,
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.mask = BIT(6),
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},
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.master_en = {
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.addr = 0x14,
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.mask = BIT(2),
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},
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.pullup_en = {
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.addr = 0x14,
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.mask = BIT(3),
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},
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.aux_sens = {
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.addr = 0x14,
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.mask = GENMASK(1, 0),
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},
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.shub_out = 0x02,
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.slv0_addr = 0x15,
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.dw_slv0_addr = 0x21,
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}
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},
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};
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#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
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{ \
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.type = chan_type, \
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.address = addr, \
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.modified = 1, \
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.channel2 = mod, \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
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BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.scan_index = scan_idx, \
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.scan_type = { \
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.sign = 's', \
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.realbits = 16, \
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.storagebits = 16, \
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.endianness = IIO_LE, \
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}, \
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}
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static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
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ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR,
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IIO_MOD_X, 0),
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@ -383,6 +364,21 @@ static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
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IIO_CHAN_SOFT_TIMESTAMP(3),
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};
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int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable)
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{
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const struct st_lsm6dsx_shub_settings *hub_settings;
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unsigned int data;
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int err;
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hub_settings = &hw->settings->shub_settings;
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data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->page_mux.mask);
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err = regmap_update_bits(hw->regmap, hub_settings->page_mux.addr,
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hub_settings->page_mux.mask, data);
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usleep_range(100, 150);
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return err;
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}
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static int st_lsm6dsx_check_whoami(struct st_lsm6dsx_hw *hw, int id)
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{
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int err, i, j, data;
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@ -736,8 +732,6 @@ static const struct iio_info st_lsm6dsx_gyro_info = {
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.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
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};
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static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0};
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static int st_lsm6dsx_of_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin)
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{
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struct device_node *np = hw->dev->of_node;
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@ -776,6 +770,51 @@ static int st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, u8 *drdy_reg)
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return err;
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}
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static int st_lsm6dsx_init_shub(struct st_lsm6dsx_hw *hw)
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{
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const struct st_lsm6dsx_shub_settings *hub_settings;
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struct device_node *np = hw->dev->of_node;
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struct st_sensors_platform_data *pdata;
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unsigned int data;
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int err = 0;
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hub_settings = &hw->settings->shub_settings;
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pdata = (struct st_sensors_platform_data *)hw->dev->platform_data;
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if ((np && of_property_read_bool(np, "st,pullups")) ||
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(pdata && pdata->pullups)) {
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err = st_lsm6dsx_set_page(hw, true);
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if (err < 0)
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return err;
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data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->pullup_en.mask);
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err = regmap_update_bits(hw->regmap,
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hub_settings->pullup_en.addr,
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hub_settings->pullup_en.mask, data);
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st_lsm6dsx_set_page(hw, false);
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if (err < 0)
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return err;
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}
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if (hub_settings->aux_sens.addr) {
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/* configure aux sensors */
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err = st_lsm6dsx_set_page(hw, true);
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if (err < 0)
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return err;
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data = ST_LSM6DSX_SHIFT_VAL(3, hub_settings->aux_sens.mask);
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err = regmap_update_bits(hw->regmap,
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hub_settings->aux_sens.addr,
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hub_settings->aux_sens.mask, data);
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st_lsm6dsx_set_page(hw, false);
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}
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return err;
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}
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static int st_lsm6dsx_init_hw_timer(struct st_lsm6dsx_hw *hw)
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{
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const struct st_lsm6dsx_hw_ts_settings *ts_settings;
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@ -856,6 +895,10 @@ static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
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if (err < 0)
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return err;
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err = st_lsm6dsx_init_shub(hw);
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if (err < 0)
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return err;
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return st_lsm6dsx_init_hw_timer(hw);
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}
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@ -909,6 +952,7 @@ static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
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int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, const char *name,
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struct regmap *regmap)
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{
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const struct st_lsm6dsx_shub_settings *hub_settings;
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struct st_lsm6dsx_hw *hw;
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int i, err;
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@ -944,6 +988,13 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, const char *name,
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if (err < 0)
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return err;
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hub_settings = &hw->settings->shub_settings;
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if (hub_settings->master_en.addr) {
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err = st_lsm6dsx_shub_probe(hw, name);
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if (err < 0)
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return err;
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}
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if (hw->irq > 0) {
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err = st_lsm6dsx_fifo_setup(hw);
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if (err < 0)
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@ -0,0 +1,702 @@
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/*
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* STMicroelectronics st_lsm6dsx i2c controller driver
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*
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* i2c controller embedded in lsm6dx series can connect up to four
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* slave devices using accelerometer sensor as trigger for i2c
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* read/write operations. Current implementation relies on SLV0 channel
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* for slave configuration and SLV{1,2,3} to read data and push them into
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* the hw FIFO
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*
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* Copyright (C) 2018 Lorenzo Bianconi <lorenzo.bianconi83@gmail.com>
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*
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* Permission to use, copy, modify, and/or distribute this software for any
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* purpose with or without fee is hereby granted, provided that the above
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* copyright notice and this permission notice appear in all copies.
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*
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||||
* 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;
|
||||
__le16 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 */
|
||||
|
|
|
|||
Loading…
Reference in New Issue