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_MAX_SLV_NUM 3
34 #define ST_LSM6DSX_SLV_ADDR(n, base) ((base) + (n) * 3)
35 #define ST_LSM6DSX_SLV_SUB_ADDR(n, base) ((base) + 1 + (n) * 3)
36 #define ST_LSM6DSX_SLV_CONFIG(n, base) ((base) + 2 + (n) * 3)
38 #define ST_LS6DSX_READ_OP_MASK GENMASK(2, 0)
40 static const struct st_lsm6dsx_ext_dev_settings st_lsm6dsx_ext_dev_table[] = {
48 .id = ST_LSM6DSX_ID_MAGN,
52 .mask = GENMASK(3, 2),
54 .odr_avl[0] = { 10000, 0x0 },
55 .odr_avl[1] = { 20000, 0x1 },
56 .odr_avl[2] = { 50000, 0x2 },
57 .odr_avl[3] = { 100000, 0x3 },
74 .mask = GENMASK(1, 0),
94 static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw)
96 struct st_lsm6dsx_sensor *sensor;
99 sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
100 odr = (hw->enable_mask & BIT(ST_LSM6DSX_ID_ACC)) ? sensor->odr : 12500;
101 msleep((2000000U / odr) + 1);
105 * st_lsm6dsx_shub_read_reg - read i2c controller register
107 * Read st_lsm6dsx i2c controller register
109 static int st_lsm6dsx_shub_read_reg(struct st_lsm6dsx_hw *hw, u8 addr,
114 mutex_lock(&hw->page_lock);
116 err = st_lsm6dsx_set_page(hw, true);
120 err = regmap_bulk_read(hw->regmap, addr, data, len);
122 st_lsm6dsx_set_page(hw, false);
124 mutex_unlock(&hw->page_lock);
130 * st_lsm6dsx_shub_write_reg - write i2c controller register
132 * Write st_lsm6dsx i2c controller register
134 static int st_lsm6dsx_shub_write_reg(struct st_lsm6dsx_hw *hw, u8 addr,
139 mutex_lock(&hw->page_lock);
140 err = st_lsm6dsx_set_page(hw, true);
144 err = regmap_bulk_write(hw->regmap, addr, data, len);
146 st_lsm6dsx_set_page(hw, false);
148 mutex_unlock(&hw->page_lock);
154 st_lsm6dsx_shub_write_reg_with_mask(struct st_lsm6dsx_hw *hw, u8 addr,
159 mutex_lock(&hw->page_lock);
160 err = st_lsm6dsx_set_page(hw, true);
164 err = regmap_update_bits(hw->regmap, addr, mask, val);
166 st_lsm6dsx_set_page(hw, false);
168 mutex_unlock(&hw->page_lock);
173 static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor,
176 const struct st_lsm6dsx_shub_settings *hub_settings;
177 struct st_lsm6dsx_hw *hw = sensor->hw;
181 /* enable acc sensor as trigger */
182 err = st_lsm6dsx_sensor_set_enable(sensor, enable);
186 mutex_lock(&hw->page_lock);
188 hub_settings = &hw->settings->shub_settings;
189 err = st_lsm6dsx_set_page(hw, true);
193 data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->master_en.mask);
194 err = regmap_update_bits(hw->regmap, hub_settings->master_en.addr,
195 hub_settings->master_en.mask, data);
197 st_lsm6dsx_set_page(hw, false);
199 mutex_unlock(&hw->page_lock);
205 * st_lsm6dsx_shub_read - read data from slave device register
207 * Read data from slave device register. SLV0 is used for
208 * one-shot read operation
211 st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
214 const struct st_lsm6dsx_shub_settings *hub_settings;
215 struct st_lsm6dsx_hw *hw = sensor->hw;
216 u8 config[3], slv_addr;
219 hub_settings = &hw->settings->shub_settings;
220 slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
222 config[0] = (sensor->ext_info.addr << 1) | 1;
224 config[2] = len & ST_LS6DSX_READ_OP_MASK;
226 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
231 err = st_lsm6dsx_shub_master_enable(sensor, true);
235 st_lsm6dsx_shub_wait_complete(hw);
237 err = st_lsm6dsx_shub_read_reg(hw, hub_settings->shub_out, data,
238 len & ST_LS6DSX_READ_OP_MASK);
240 st_lsm6dsx_shub_master_enable(sensor, false);
242 memset(config, 0, sizeof(config));
243 return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
248 * st_lsm6dsx_shub_write - write data to slave device register
250 * Write data from slave device register. SLV0 is used for
251 * one-shot write operation
254 st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr,
257 const struct st_lsm6dsx_shub_settings *hub_settings;
258 struct st_lsm6dsx_hw *hw = sensor->hw;
259 u8 config[2], slv_addr;
262 hub_settings = &hw->settings->shub_settings;
263 if (hub_settings->wr_once.addr) {
266 data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->wr_once.mask);
267 err = st_lsm6dsx_shub_write_reg_with_mask(hw,
268 hub_settings->wr_once.addr,
269 hub_settings->wr_once.mask,
275 slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
276 config[0] = sensor->ext_info.addr << 1;
277 for (i = 0 ; i < len; i++) {
278 config[1] = addr + i;
280 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
285 err = st_lsm6dsx_shub_write_reg(hw, hub_settings->dw_slv0_addr,
290 err = st_lsm6dsx_shub_master_enable(sensor, true);
294 st_lsm6dsx_shub_wait_complete(hw);
296 st_lsm6dsx_shub_master_enable(sensor, false);
299 memset(config, 0, sizeof(config));
300 return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config));
304 st_lsm6dsx_shub_write_with_mask(struct st_lsm6dsx_sensor *sensor,
305 u8 addr, u8 mask, u8 val)
310 err = st_lsm6dsx_shub_read(sensor, addr, &data, sizeof(data));
314 data = ((data & ~mask) | (val << __ffs(mask) & mask));
316 return st_lsm6dsx_shub_write(sensor, addr, &data, sizeof(data));
320 st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor,
323 const struct st_lsm6dsx_ext_dev_settings *settings;
326 settings = sensor->ext_info.settings;
327 for (i = 0; i < settings->odr_table.odr_len; i++) {
328 if (settings->odr_table.odr_avl[i].milli_hz == odr)
332 if (i == settings->odr_table.odr_len)
335 *val = settings->odr_table.odr_avl[i].val;
340 st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u32 odr)
342 const struct st_lsm6dsx_ext_dev_settings *settings;
346 err = st_lsm6dsx_shub_get_odr_val(sensor, odr, &val);
350 settings = sensor->ext_info.settings;
351 return st_lsm6dsx_shub_write_with_mask(sensor,
352 settings->odr_table.reg.addr,
353 settings->odr_table.reg.mask,
357 /* use SLV{1,2,3} for FIFO read operations */
359 st_lsm6dsx_shub_config_channels(struct st_lsm6dsx_sensor *sensor,
362 const struct st_lsm6dsx_shub_settings *hub_settings;
363 const struct st_lsm6dsx_ext_dev_settings *settings;
364 u8 config[9] = {}, enable_mask, slv_addr;
365 struct st_lsm6dsx_hw *hw = sensor->hw;
366 struct st_lsm6dsx_sensor *cur_sensor;
369 hub_settings = &hw->settings->shub_settings;
371 enable_mask = hw->enable_mask | BIT(sensor->id);
373 enable_mask = hw->enable_mask & ~BIT(sensor->id);
375 for (i = ST_LSM6DSX_ID_EXT0; i <= ST_LSM6DSX_ID_EXT2; i++) {
376 if (!hw->iio_devs[i])
379 cur_sensor = iio_priv(hw->iio_devs[i]);
380 if (!(enable_mask & BIT(cur_sensor->id)))
383 settings = cur_sensor->ext_info.settings;
384 config[j] = (sensor->ext_info.addr << 1) | 1;
385 config[j + 1] = settings->out.addr;
386 config[j + 2] = (settings->out.len & ST_LS6DSX_READ_OP_MASK) |
387 hub_settings->batch_en;
391 slv_addr = ST_LSM6DSX_SLV_ADDR(1, hub_settings->slv0_addr);
392 return st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
396 int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
398 const struct st_lsm6dsx_ext_dev_settings *settings;
401 err = st_lsm6dsx_shub_config_channels(sensor, enable);
405 settings = sensor->ext_info.settings;
407 err = st_lsm6dsx_shub_set_odr(sensor, sensor->odr);
411 err = st_lsm6dsx_shub_write_with_mask(sensor,
412 settings->odr_table.reg.addr,
413 settings->odr_table.reg.mask, 0);
418 if (settings->pwr_table.reg.addr) {
421 val = enable ? settings->pwr_table.on_val
422 : settings->pwr_table.off_val;
423 err = st_lsm6dsx_shub_write_with_mask(sensor,
424 settings->pwr_table.reg.addr,
425 settings->pwr_table.reg.mask, val);
430 return st_lsm6dsx_shub_master_enable(sensor, enable);
434 st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor,
435 struct iio_chan_spec const *ch,
441 err = st_lsm6dsx_shub_set_enable(sensor, true);
445 delay = 1000000000 / sensor->odr;
446 usleep_range(delay, 2 * delay);
448 len = min_t(int, sizeof(data), ch->scan_type.realbits >> 3);
449 err = st_lsm6dsx_shub_read(sensor, ch->address, data, len);
451 st_lsm6dsx_shub_set_enable(sensor, false);
458 *val = (s16)le16_to_cpu(*((__le16 *)data));
468 st_lsm6dsx_shub_read_raw(struct iio_dev *iio_dev,
469 struct iio_chan_spec const *ch,
470 int *val, int *val2, long mask)
472 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
476 case IIO_CHAN_INFO_RAW:
477 ret = iio_device_claim_direct_mode(iio_dev);
481 ret = st_lsm6dsx_shub_read_oneshot(sensor, ch, val);
482 iio_device_release_direct_mode(iio_dev);
484 case IIO_CHAN_INFO_SAMP_FREQ:
485 *val = sensor->odr / 1000;
486 *val2 = (sensor->odr % 1000) * 1000;
487 ret = IIO_VAL_INT_PLUS_MICRO;
489 case IIO_CHAN_INFO_SCALE:
491 *val2 = sensor->gain;
492 ret = IIO_VAL_INT_PLUS_MICRO;
503 st_lsm6dsx_shub_write_raw(struct iio_dev *iio_dev,
504 struct iio_chan_spec const *chan,
505 int val, int val2, long mask)
507 struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
510 err = iio_device_claim_direct_mode(iio_dev);
515 case IIO_CHAN_INFO_SAMP_FREQ: {
518 val = val * 1000 + val2 / 1000;
519 err = st_lsm6dsx_shub_get_odr_val(sensor, val, &data);
529 iio_device_release_direct_mode(iio_dev);
535 st_lsm6dsx_shub_sampling_freq_avail(struct device *dev,
536 struct device_attribute *attr,
539 struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
540 const struct st_lsm6dsx_ext_dev_settings *settings;
543 settings = sensor->ext_info.settings;
544 for (i = 0; i < settings->odr_table.odr_len; i++) {
545 u32 val = settings->odr_table.odr_avl[i].milli_hz;
547 len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%03d ",
548 val / 1000, val % 1000);
555 static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev,
556 struct device_attribute *attr,
559 struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev));
560 const struct st_lsm6dsx_ext_dev_settings *settings;
563 settings = sensor->ext_info.settings;
564 for (i = 0; i < settings->fs_table.fs_len; i++)
565 len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
566 settings->fs_table.fs_avl[i].gain);
572 static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail);
573 static IIO_DEVICE_ATTR(in_scale_available, 0444,
574 st_lsm6dsx_shub_scale_avail, NULL, 0);
575 static struct attribute *st_lsm6dsx_ext_attributes[] = {
576 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
577 &iio_dev_attr_in_scale_available.dev_attr.attr,
581 static const struct attribute_group st_lsm6dsx_ext_attribute_group = {
582 .attrs = st_lsm6dsx_ext_attributes,
585 static const struct iio_info st_lsm6dsx_ext_info = {
586 .attrs = &st_lsm6dsx_ext_attribute_group,
587 .read_raw = st_lsm6dsx_shub_read_raw,
588 .write_raw = st_lsm6dsx_shub_write_raw,
589 .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
592 static struct iio_dev *
593 st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw,
594 enum st_lsm6dsx_sensor_id id,
595 const struct st_lsm6dsx_ext_dev_settings *info,
596 u8 i2c_addr, const char *name)
598 struct iio_chan_spec *ext_channels;
599 struct st_lsm6dsx_sensor *sensor;
600 struct iio_dev *iio_dev;
602 iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor));
606 iio_dev->modes = INDIO_DIRECT_MODE;
607 iio_dev->dev.parent = hw->dev;
608 iio_dev->info = &st_lsm6dsx_ext_info;
610 sensor = iio_priv(iio_dev);
613 sensor->odr = info->odr_table.odr_avl[0].milli_hz;
614 sensor->gain = info->fs_table.fs_avl[0].gain;
615 sensor->ext_info.settings = info;
616 sensor->ext_info.addr = i2c_addr;
617 sensor->watermark = 1;
620 case ST_LSM6DSX_ID_MAGN: {
621 const struct iio_chan_spec magn_channels[] = {
622 ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr,
624 ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 2,
626 ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 4,
628 IIO_CHAN_SOFT_TIMESTAMP(3),
631 ext_channels = devm_kzalloc(hw->dev, sizeof(magn_channels),
636 memcpy(ext_channels, magn_channels, sizeof(magn_channels));
637 iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks;
638 iio_dev->channels = ext_channels;
639 iio_dev->num_channels = ARRAY_SIZE(magn_channels);
641 scnprintf(sensor->name, sizeof(sensor->name), "%s_magn",
648 iio_dev->name = sensor->name;
653 static int st_lsm6dsx_shub_init_device(struct st_lsm6dsx_sensor *sensor)
655 const struct st_lsm6dsx_ext_dev_settings *settings;
658 settings = sensor->ext_info.settings;
659 if (settings->bdu.addr) {
660 err = st_lsm6dsx_shub_write_with_mask(sensor,
662 settings->bdu.mask, 1);
667 if (settings->temp_comp.addr) {
668 err = st_lsm6dsx_shub_write_with_mask(sensor,
669 settings->temp_comp.addr,
670 settings->temp_comp.mask, 1);
675 if (settings->off_canc.addr) {
676 err = st_lsm6dsx_shub_write_with_mask(sensor,
677 settings->off_canc.addr,
678 settings->off_canc.mask, 1);
687 st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
688 const struct st_lsm6dsx_ext_dev_settings *settings)
690 const struct st_lsm6dsx_shub_settings *hub_settings;
691 struct st_lsm6dsx_sensor *sensor;
692 u8 config[3], data, slv_addr;
696 hub_settings = &hw->settings->shub_settings;
697 slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
698 sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
700 for (i = 0; i < ARRAY_SIZE(settings->i2c_addr); i++) {
701 if (!settings->i2c_addr[i])
704 /* read wai slave register */
705 config[0] = (settings->i2c_addr[i] << 1) | 0x1;
706 config[1] = settings->wai.addr;
709 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
714 err = st_lsm6dsx_shub_master_enable(sensor, true);
718 st_lsm6dsx_shub_wait_complete(hw);
720 err = st_lsm6dsx_shub_read_reg(hw,
721 hub_settings->shub_out,
722 &data, sizeof(data));
724 st_lsm6dsx_shub_master_enable(sensor, false);
729 if (data != settings->wai.val)
732 *i2c_addr = settings->i2c_addr[i];
737 /* reset SLV0 channel */
738 memset(config, 0, sizeof(config));
739 err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config,
744 return found ? 0 : -ENODEV;
747 int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name)
749 enum st_lsm6dsx_sensor_id id = ST_LSM6DSX_ID_EXT0;
750 struct st_lsm6dsx_sensor *sensor;
751 int err, i, num_ext_dev = 0;
754 for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_ext_dev_table); i++) {
755 err = st_lsm6dsx_shub_check_wai(hw, &i2c_addr,
756 &st_lsm6dsx_ext_dev_table[i]);
762 hw->iio_devs[id] = st_lsm6dsx_shub_alloc_iiodev(hw, id,
763 &st_lsm6dsx_ext_dev_table[i],
765 if (!hw->iio_devs[id])
768 sensor = iio_priv(hw->iio_devs[id]);
769 err = st_lsm6dsx_shub_init_device(sensor);
773 if (++num_ext_dev >= ST_LSM6DSX_MAX_SLV_NUM)