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Commit c91c1c84 authored by Lorenzo Bianconi's avatar Lorenzo Bianconi Committed by Jonathan Cameron
Browse files

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: default avatarLorenzo Bianconi <lorenzo.bianconi@redhat.com>
Signed-off-by: default avatarJonathan Cameron <Jonathan.Cameron@huawei.com>
parent 17750443

drivers/iio/imu/st_lsm6dsx/Makefile

+2 −1
Original line number Diff line number Diff line 
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

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h

+112 −0
Original line number Diff line number Diff line
@@ -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,

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c

+93 −42
Original line number Diff line number Diff line
@@ -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 = {
@@ -342,26 +320,29 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { 
				.mask = GENMASK(7, 6),

			},

		},

		.shub_settings = {

			.page_mux = {

				.addr = 0x01,

				.mask = BIT(6),

			},

};



#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,					\

	},								\

			.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,

		}

	},

};



static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {

	ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR,
@@ -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)

drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c

0 → 100644
+702 −0

File added.

Preview size limit exceeded, changes collapsed.

include/linux/platform_data/st_sensors_pdata.h

+2 −0
Original line number Diff line number Diff line
@@ -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 */