2 * STMicroelectronics st_lsm6dsx i2c controller driver
4 * i2c controller embedded in lsm6dx series can connect up to four
5 * slave devices using accelerometer sensor as trigger for i2c
6 * read/write operations. Current implementation relies on SLV0 channel
7 * for slave configuration and SLV{1,2,3} to read data and push them into
10 * Copyright (C) 2018 Lorenzo Bianconi <lorenzo.bianconi83@gmail.com>
12 * Permission to use, copy, modify, and/or distribute this software for any
13 * purpose with or without fee is hereby granted, provided that the above
14 * copyright notice and this permission notice appear in all copies.
16 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
17 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
18 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
19 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
20 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
21 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
22 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
25 #include <linux/module.h>
26 #include <linux/regmap.h>
27 #include <linux/iio/iio.h>
28 #include <linux/iio/sysfs.h>
29 #include <linux/bitfield.h>
31 #include "st_lsm6dsx.h"
33 #define ST_LSM6DSX_SLV_ADDR(n, base) ((base) + (n) * 3)
34 #define ST_LSM6DSX_SLV_SUB_ADDR(n, base) ((base) + 1 + (n) * 3)
35 #define ST_LSM6DSX_SLV_CONFIG(n, base) ((base) + 2 + (n) * 3)
37 #define ST_LS6DSX_READ_OP_MASK GENMASK(2, 0)
39 static const struct st_lsm6dsx_ext_dev_settings st_lsm6dsx_ext_dev_table[] = {
47 .id = ST_LSM6DSX_ID_MAGN,
51 .mask = GENMASK(3, 2),
53 .odr_avl[0] = { 10000, 0x0 },
54 .odr_avl[1] = { 20000, 0x1 },
55 .odr_avl[2] = { 50000, 0x2 },
56 .odr_avl[3] = { 100000, 0x3 },
73 .mask = GENMASK(1, 0),
98 .id = ST_LSM6DSX_ID_MAGN,
102 .mask = GENMASK(4, 2),
104 .odr_avl[0] = { 1000, 0x0 },
105 .odr_avl[1] = { 2000, 0x1 },
106 .odr_avl[2] = { 3000, 0x2 },
107 .odr_avl[3] = { 5000, 0x3 },
108 .odr_avl[4] = { 10000, 0x4 },
109 .odr_avl[5] = { 20000, 0x5 },
110 .odr_avl[6] = { 40000, 0x6 },
111 .odr_avl[7] = { 80000, 0x7 },
117 .mask = GENMASK(6, 5),
130 }, /* 12000 uG/LSB */
134 }, /* 16000 uG/LSB */
140 .mask = GENMASK(1, 0),
156 static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw)
158 struct st_lsm6dsx_sensor *sensor;
161 sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
162 odr = (hw->enable_mask & BIT(ST_LSM6DSX_ID_ACC)) ? sensor->odr : 12500;
163 /* set 10ms as minimum timeout for i2c slave configuration */
164 timeout = max_t(u32, 2000000U / odr + 1, 10);
169 * st_lsm6dsx_shub_read_output - read i2c controller register
171 * Read st_lsm6dsx i2c controller register
174 st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data,
177 const struct st_lsm6dsx_shub_settings *hub_settings;
180 mutex_lock(&hw->page_lock);
182 hub_settings = &hw->settings->shub_settings;
183 if (hub_settings->shub_out.sec_page) {
184 err = st_lsm6dsx_set_page(hw, true);
189 err = regmap_bulk_read(hw->regmap, hub_settings->shub_out.addr,
192 if (hub_settings->shub_out.sec_page)
193 st_lsm6dsx_set_page(hw, false);
195 mutex_unlock(&hw->page_lock);
201 * st_lsm6dsx_shub_write_reg - write i2c controller register
203 * Write st_lsm6dsx i2c controller register
205 static int st_lsm6dsx_shub_write_reg(struct st_lsm6dsx_hw *hw, u8 addr,
210 mutex_lock(&hw->page_lock);
211 err = st_lsm6dsx_set_page(hw, true);
215 err = regmap_bulk_write(hw->regmap, addr, data, len);
217 st_lsm6dsx_set_page(hw, false);
219 mutex_unlock(&hw->page_lock);
225 st_lsm6dsx_shub_write_reg_with_mask(struct st_lsm6dsx_hw *hw, u8 addr,
230 mutex_lock(&hw->page_lock);
231 err = st_lsm6dsx_set_page(hw, true);
235 err = regmap_update_bits(hw->regmap, addr, mask, val);
237 st_lsm6dsx_set_page(hw, false);
239 mutex_unlock(&hw->page_lock);
244 static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor,
247 const struct st_lsm6dsx_shub_settings *hub_settings;
248 struct st_lsm6dsx_hw *hw = sensor->hw;
252 /* enable acc sensor as trigger */
253 err = st_lsm6dsx_sensor_set_enable(sensor, enable);
257 mutex_lock(&hw->page_lock);
259 hub_settings = &hw->settings->shub_settings;
260 if (hub_settings->master_en.sec_page) {
261 err = st_lsm6dsx_set_page(hw, true);
266 data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->master_en.mask);
267 err = regmap_update_bits(hw->regmap, hub_settings->master_en.addr,
268 hub_settings->master_en.mask, data);
270 if (hub_settings->master_en.sec_page)
271 st_lsm6dsx_set_page(hw, false);
273 mutex_unlock(&hw->page_lock);
279 * st_lsm6dsx_shub_read - read data from slave device register
281 * Read data from slave device register. SLV0 is used for
282 * one-shot read operation
285 st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
288 const struct st_lsm6dsx_shub_settings *hub_settings;
289 u8 config[3], slv_addr, slv_config = 0;
290 struct st_lsm6dsx_hw *hw = sensor->hw;
291 const struct st_lsm6dsx_reg *aux_sens;
294 hub_settings = &hw->settings->shub_settings;
295 slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
296 aux_sens = &hw->settings->shub_settings.aux_sens;
297 /* do not overwrite aux_sens */
298 if (slv_addr + 2 == aux_sens->addr)
299 slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
301 config[0] = (sensor->ext_info.addr << 1) | 1;
303 config[2] = (len & ST_LS6DSX_READ_OP_MASK) | slv_config;
305 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
310 err = st_lsm6dsx_shub_master_enable(sensor, true);
314 st_lsm6dsx_shub_wait_complete(hw);
316 err = st_lsm6dsx_shub_read_output(hw, data,
317 len & ST_LS6DSX_READ_OP_MASK);
321 st_lsm6dsx_shub_master_enable(sensor, false);
323 config[0] = hub_settings->pause;
325 config[2] = slv_config;
326 return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
331 * st_lsm6dsx_shub_write - write data to slave device register
333 * Write data from slave device register. SLV0 is used for
334 * one-shot write operation
337 st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr,
340 const struct st_lsm6dsx_shub_settings *hub_settings;
341 struct st_lsm6dsx_hw *hw = sensor->hw;
342 u8 config[2], slv_addr;
345 hub_settings = &hw->settings->shub_settings;
346 if (hub_settings->wr_once.addr) {
349 data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->wr_once.mask);
350 err = st_lsm6dsx_shub_write_reg_with_mask(hw,
351 hub_settings->wr_once.addr,
352 hub_settings->wr_once.mask,
358 slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
359 config[0] = sensor->ext_info.addr << 1;
360 for (i = 0 ; i < len; i++) {
361 config[1] = addr + i;
363 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
368 err = st_lsm6dsx_shub_write_reg(hw, hub_settings->dw_slv0_addr,
373 err = st_lsm6dsx_shub_master_enable(sensor, true);
377 st_lsm6dsx_shub_wait_complete(hw);
379 st_lsm6dsx_shub_master_enable(sensor, false);
382 config[0] = hub_settings->pause;
384 return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config));
388 st_lsm6dsx_shub_write_with_mask(struct st_lsm6dsx_sensor *sensor,
389 u8 addr, u8 mask, u8 val)
394 err = st_lsm6dsx_shub_read(sensor, addr, &data, sizeof(data));
398 data = ((data & ~mask) | (val << __ffs(mask) & mask));
400 return st_lsm6dsx_shub_write(sensor, addr, &data, sizeof(data));
404 st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor,
407 const struct st_lsm6dsx_ext_dev_settings *settings;
410 settings = sensor->ext_info.settings;
411 for (i = 0; i < settings->odr_table.odr_len; i++) {
412 if (settings->odr_table.odr_avl[i].milli_hz == odr)
416 if (i == settings->odr_table.odr_len)
419 *val = settings->odr_table.odr_avl[i].val;
424 st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u32 odr)
426 const struct st_lsm6dsx_ext_dev_settings *settings;
430 err = st_lsm6dsx_shub_get_odr_val(sensor, odr, &val);
434 settings = sensor->ext_info.settings;
435 return st_lsm6dsx_shub_write_with_mask(sensor,
436 settings->odr_table.reg.addr,
437 settings->odr_table.reg.mask,
441 /* use SLV{1,2,3} for FIFO read operations */
443 st_lsm6dsx_shub_config_channels(struct st_lsm6dsx_sensor *sensor,
446 const struct st_lsm6dsx_shub_settings *hub_settings;
447 const struct st_lsm6dsx_ext_dev_settings *settings;
448 u8 config[9] = {}, enable_mask, slv_addr;
449 struct st_lsm6dsx_hw *hw = sensor->hw;
450 struct st_lsm6dsx_sensor *cur_sensor;
453 hub_settings = &hw->settings->shub_settings;
455 enable_mask = hw->enable_mask | BIT(sensor->id);
457 enable_mask = hw->enable_mask & ~BIT(sensor->id);
459 for (i = ST_LSM6DSX_ID_EXT0; i <= ST_LSM6DSX_ID_EXT2; i++) {
460 if (!hw->iio_devs[i])
463 cur_sensor = iio_priv(hw->iio_devs[i]);
464 if (!(enable_mask & BIT(cur_sensor->id)))
467 settings = cur_sensor->ext_info.settings;
468 config[j] = (sensor->ext_info.addr << 1) | 1;
469 config[j + 1] = settings->out.addr;
470 config[j + 2] = (settings->out.len & ST_LS6DSX_READ_OP_MASK) |
471 hub_settings->batch_en;
475 slv_addr = ST_LSM6DSX_SLV_ADDR(1, hub_settings->slv0_addr);
476 return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
480 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
482 const struct st_lsm6dsx_ext_dev_settings *settings;
485 err = st_lsm6dsx_shub_config_channels(sensor, enable);
489 settings = sensor->ext_info.settings;
491 err = st_lsm6dsx_shub_set_odr(sensor,
492 sensor->ext_info.slv_odr);
496 err = st_lsm6dsx_shub_write_with_mask(sensor,
497 settings->odr_table.reg.addr,
498 settings->odr_table.reg.mask, 0);
503 if (settings->pwr_table.reg.addr) {
506 val = enable ? settings->pwr_table.on_val
507 : settings->pwr_table.off_val;
508 err = st_lsm6dsx_shub_write_with_mask(sensor,
509 settings->pwr_table.reg.addr,
510 settings->pwr_table.reg.mask, val);
515 return st_lsm6dsx_shub_master_enable(sensor, enable);
519 st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor,
520 struct iio_chan_spec const *ch,
526 err = st_lsm6dsx_shub_set_enable(sensor, true);
530 delay = 1000000000 / sensor->ext_info.slv_odr;
531 usleep_range(delay, 2 * delay);
533 len = min_t(int, sizeof(data), ch->scan_type.realbits >> 3);
534 err = st_lsm6dsx_shub_read(sensor, ch->address, data, len);
538 err = st_lsm6dsx_shub_set_enable(sensor, false);
544 *val = (s16)le16_to_cpu(*((__le16 *)data));
554 st_lsm6dsx_shub_read_raw(struct iio_dev *iio_dev,
555 struct iio_chan_spec const *ch,
556 int *val, int *val2, long mask)
558 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
562 case IIO_CHAN_INFO_RAW:
563 ret = iio_device_claim_direct_mode(iio_dev);
567 ret = st_lsm6dsx_shub_read_oneshot(sensor, ch, val);
568 iio_device_release_direct_mode(iio_dev);
570 case IIO_CHAN_INFO_SAMP_FREQ:
571 *val = sensor->ext_info.slv_odr / 1000;
572 *val2 = (sensor->ext_info.slv_odr % 1000) * 1000;
573 ret = IIO_VAL_INT_PLUS_MICRO;
575 case IIO_CHAN_INFO_SCALE:
577 *val2 = sensor->gain;
578 ret = IIO_VAL_INT_PLUS_MICRO;
589 st_lsm6dsx_shub_set_full_scale(struct st_lsm6dsx_sensor *sensor,
592 const struct st_lsm6dsx_fs_table_entry *fs_table;
595 fs_table = &sensor->ext_info.settings->fs_table;
596 if (!fs_table->reg.addr)
599 for (i = 0; i < fs_table->fs_len; i++) {
600 if (fs_table->fs_avl[i].gain == gain)
604 if (i == fs_table->fs_len)
607 err = st_lsm6dsx_shub_write_with_mask(sensor, fs_table->reg.addr,
609 fs_table->fs_avl[i].val);
619 st_lsm6dsx_shub_write_raw(struct iio_dev *iio_dev,
620 struct iio_chan_spec const *chan,
621 int val, int val2, long mask)
623 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
626 err = iio_device_claim_direct_mode(iio_dev);
631 case IIO_CHAN_INFO_SAMP_FREQ: {
634 val = val * 1000 + val2 / 1000;
635 err = st_lsm6dsx_shub_get_odr_val(sensor, val, &data);
637 struct st_lsm6dsx_hw *hw = sensor->hw;
638 struct st_lsm6dsx_sensor *ref_sensor;
642 ref_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
643 odr = st_lsm6dsx_check_odr(ref_sensor, val, &odr_val);
649 sensor->ext_info.slv_odr = val;
654 case IIO_CHAN_INFO_SCALE:
655 err = st_lsm6dsx_shub_set_full_scale(sensor, val2);
663 iio_device_release_direct_mode(iio_dev);
669 st_lsm6dsx_shub_sampling_freq_avail(struct device *dev,
670 struct device_attribute *attr,
673 struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
674 const struct st_lsm6dsx_ext_dev_settings *settings;
677 settings = sensor->ext_info.settings;
678 for (i = 0; i < settings->odr_table.odr_len; i++) {
679 u32 val = settings->odr_table.odr_avl[i].milli_hz;
681 len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%03d ",
682 val / 1000, val % 1000);
689 static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev,
690 struct device_attribute *attr,
693 struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
694 const struct st_lsm6dsx_ext_dev_settings *settings;
697 settings = sensor->ext_info.settings;
698 for (i = 0; i < settings->fs_table.fs_len; i++)
699 len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
700 settings->fs_table.fs_avl[i].gain);
706 static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail);
707 static IIO_DEVICE_ATTR(in_scale_available, 0444,
708 st_lsm6dsx_shub_scale_avail, NULL, 0);
709 static struct attribute *st_lsm6dsx_ext_attributes[] = {
710 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
711 &iio_dev_attr_in_scale_available.dev_attr.attr,
715 static const struct attribute_group st_lsm6dsx_ext_attribute_group = {
716 .attrs = st_lsm6dsx_ext_attributes,
719 static const struct iio_info st_lsm6dsx_ext_info = {
720 .attrs = &st_lsm6dsx_ext_attribute_group,
721 .read_raw = st_lsm6dsx_shub_read_raw,
722 .write_raw = st_lsm6dsx_shub_write_raw,
723 .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
726 static struct iio_dev *
727 st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw,
728 enum st_lsm6dsx_sensor_id id,
729 const struct st_lsm6dsx_ext_dev_settings *info,
730 u8 i2c_addr, const char *name)
732 enum st_lsm6dsx_sensor_id ref_id = ST_LSM6DSX_ID_ACC;
733 struct iio_chan_spec *ext_channels;
734 struct st_lsm6dsx_sensor *sensor;
735 struct iio_dev *iio_dev;
737 iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor));
741 iio_dev->modes = INDIO_DIRECT_MODE;
742 iio_dev->info = &st_lsm6dsx_ext_info;
744 sensor = iio_priv(iio_dev);
747 sensor->odr = hw->settings->odr_table[ref_id].odr_avl[0].milli_hz;
748 sensor->ext_info.slv_odr = info->odr_table.odr_avl[0].milli_hz;
749 sensor->gain = info->fs_table.fs_avl[0].gain;
750 sensor->ext_info.settings = info;
751 sensor->ext_info.addr = i2c_addr;
752 sensor->watermark = 1;
755 case ST_LSM6DSX_ID_MAGN: {
756 const struct iio_chan_spec magn_channels[] = {
757 ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr,
759 ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 2,
761 ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 4,
763 IIO_CHAN_SOFT_TIMESTAMP(3),
766 ext_channels = devm_kzalloc(hw->dev, sizeof(magn_channels),
771 memcpy(ext_channels, magn_channels, sizeof(magn_channels));
772 iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks;
773 iio_dev->channels = ext_channels;
774 iio_dev->num_channels = ARRAY_SIZE(magn_channels);
776 scnprintf(sensor->name, sizeof(sensor->name), "%s_magn",
783 iio_dev->name = sensor->name;
788 static int st_lsm6dsx_shub_init_device(struct st_lsm6dsx_sensor *sensor)
790 const struct st_lsm6dsx_ext_dev_settings *settings;
793 settings = sensor->ext_info.settings;
794 if (settings->bdu.addr) {
795 err = st_lsm6dsx_shub_write_with_mask(sensor,
797 settings->bdu.mask, 1);
802 if (settings->temp_comp.addr) {
803 err = st_lsm6dsx_shub_write_with_mask(sensor,
804 settings->temp_comp.addr,
805 settings->temp_comp.mask, 1);
810 if (settings->off_canc.addr) {
811 err = st_lsm6dsx_shub_write_with_mask(sensor,
812 settings->off_canc.addr,
813 settings->off_canc.mask, 1);
822 st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
823 const struct st_lsm6dsx_ext_dev_settings *settings)
825 const struct st_lsm6dsx_shub_settings *hub_settings;
826 u8 config[3], data, slv_addr, slv_config = 0;
827 const struct st_lsm6dsx_reg *aux_sens;
828 struct st_lsm6dsx_sensor *sensor;
832 sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
833 hub_settings = &hw->settings->shub_settings;
834 aux_sens = &hw->settings->shub_settings.aux_sens;
835 slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
836 /* do not overwrite aux_sens */
837 if (slv_addr + 2 == aux_sens->addr)
838 slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
840 for (i = 0; i < ARRAY_SIZE(settings->i2c_addr); i++) {
841 if (!settings->i2c_addr[i])
844 /* read wai slave register */
845 config[0] = (settings->i2c_addr[i] << 1) | 0x1;
846 config[1] = settings->wai.addr;
847 config[2] = 0x1 | slv_config;
849 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
854 err = st_lsm6dsx_shub_master_enable(sensor, true);
858 st_lsm6dsx_shub_wait_complete(hw);
860 err = st_lsm6dsx_shub_read_output(hw, &data, sizeof(data));
862 st_lsm6dsx_shub_master_enable(sensor, false);
867 if (data != settings->wai.val)
870 *i2c_addr = settings->i2c_addr[i];
875 /* reset SLV0 channel */
876 config[0] = hub_settings->pause;
878 config[2] = slv_config;
879 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
884 return found ? 0 : -ENODEV;
887 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name)
889 enum st_lsm6dsx_sensor_id id = ST_LSM6DSX_ID_EXT0;
890 struct st_lsm6dsx_sensor *sensor;
891 int err, i, num_ext_dev = 0;
894 for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_ext_dev_table); i++) {
895 err = st_lsm6dsx_shub_check_wai(hw, &i2c_addr,
896 &st_lsm6dsx_ext_dev_table[i]);
902 hw->iio_devs[id] = st_lsm6dsx_shub_alloc_iiodev(hw, id,
903 &st_lsm6dsx_ext_dev_table[i],
905 if (!hw->iio_devs[id])
908 sensor = iio_priv(hw->iio_devs[id]);
909 err = st_lsm6dsx_shub_init_device(sensor);
913 if (++num_ext_dev >= hw->settings->shub_settings.num_ext_dev)