1 files changed, 79 insertions, 21 deletions

diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
index 5ef55763a6cc..6405a5367d76 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
@@ -31,9 +31,17 @@
 #define ST_LSM6DSRX_DEV_NAME	"lsm6dsrx"
 #define ST_LSM6DST_DEV_NAME	"lsm6dst"
 #define ST_LSM6DSOP_DEV_NAME	"lsm6dsop"
+#define ST_ASM330LHHX_DEV_NAME	"asm330lhhx"
+#define ST_LSM6DSTX_DEV_NAME	"lsm6dstx"
+#define ST_LSM6DSV_DEV_NAME	"lsm6dsv"
+#define ST_LSM6DSV16X_DEV_NAME	"lsm6dsv16x"
+#define ST_LSM6DSO16IS_DEV_NAME	"lsm6dso16is"
+#define ST_ISM330IS_DEV_NAME	"ism330is"
+#define ST_ASM330LHB_DEV_NAME	"asm330lhb"
+#define ST_ASM330LHHXG1_DEV_NAME	"asm330lhhxg1"
 
 enum st_lsm6dsx_hw_id {
-	ST_LSM6DS3_ID,
+	ST_LSM6DS3_ID = 1,
 	ST_LSM6DS3H_ID,
 	ST_LSM6DSL_ID,
 	ST_LSM6DSM_ID,
@@ -49,6 +57,14 @@ enum st_lsm6dsx_hw_id {
 	ST_LSM6DSRX_ID,
 	ST_LSM6DST_ID,
 	ST_LSM6DSOP_ID,
+	ST_ASM330LHHX_ID,
+	ST_LSM6DSTX_ID,
+	ST_LSM6DSV_ID,
+	ST_LSM6DSV16X_ID,
+	ST_LSM6DSO16IS_ID,
+	ST_ISM330IS_ID,
+	ST_ASM330LHB_ID,
+	ST_ASM330LHHXG1_ID,
 	ST_LSM6DSX_MAX_ID,
 };
 
@@ -81,7 +97,7 @@ enum st_lsm6dsx_hw_id {
 		.endianness = IIO_LE,					\
 	},								\
 	.event_spec = &st_lsm6dsx_event,				\
-	.ext_info = st_lsm6dsx_accel_ext_info,				\
+	.ext_info = st_lsm6dsx_ext_info,				\
 	.num_event_specs = 1,						\
 }
 
@@ -101,6 +117,7 @@ enum st_lsm6dsx_hw_id {
 		.storagebits = 16,					\
 		.endianness = IIO_LE,					\
 	},								\
+	.ext_info = st_lsm6dsx_ext_info,				\
 }
 
 struct st_lsm6dsx_reg {
@@ -124,6 +141,13 @@ struct st_lsm6dsx_odr_table_entry {
 	int odr_len;
 };
 
+struct st_lsm6dsx_samples_to_discard {
+	struct {
+		u32 milli_hz;
+		u16 samples;
+	} val[ST_LSM6DSX_ODR_LIST_SIZE];
+};
+
 struct st_lsm6dsx_fs {
 	u32 gain;
 	u8 val;
@@ -143,6 +167,7 @@ struct st_lsm6dsx_fs_table_entry {
  * @read_fifo: Read FIFO callback.
  * @fifo_th: FIFO threshold register info (addr + mask).
  * @fifo_diff: FIFO diff status register info (addr + mask).
+ * @max_size: Sensor max fifo length in FIFO words.
  * @th_wl: FIFO threshold word length.
  */
 struct st_lsm6dsx_fifo_ops {
@@ -156,6 +181,7 @@ struct st_lsm6dsx_fifo_ops {
 		u8 addr;
 		u16 mask;
 	} fifo_diff;
+	u16 max_size;
 	u8 th_wl;
 };
 
@@ -166,6 +192,22 @@ struct st_lsm6dsx_fifo_ops {
  * @fifo_en: Hw timer FIFO enable register info (addr + mask).
  * @decimator: Hw timer FIFO decimator register info (addr + mask).
  * @freq_fine: Difference in % of ODR with respect to the typical.
+ * @ts_sensitivity: Nominal timestamp sensitivity.
+ * @ts_trim_coeff: Coefficient for calculating the calibrated timestamp gain.
+ *                 This coefficient comes into play when linearizing the formula
+ *                 used to calculate the calibrated timestamp (please see the
+ *                 relevant formula in the AN for the specific IMU).
+ *                 For example, in the case of LSM6DSO we have:
+ *
+ *                  1 / (1 + x) ~= 1 - x (Taylor’s Series)
+ *                  ttrim[s] = 1 / (40000 * (1 + 0.0015 * val)) (from AN5192)
+ *                  ttrim[ns] ~= 25000 - 37.5 * val
+ *                  ttrim[ns] ~= 25000 - (37500 * val) / 1000
+ *
+ *                  so, replacing ts_sensitivity = 25000 and
+ *                  ts_trim_coeff = 37500
+ *
+ *                  ttrim[ns] ~= ts_sensitivity - (ts_trim_coeff * val) / 1000
  */
 struct st_lsm6dsx_hw_ts_settings {
 	struct st_lsm6dsx_reg timer_en;
@@ -173,6 +215,8 @@ struct st_lsm6dsx_hw_ts_settings {
 	struct st_lsm6dsx_reg fifo_en;
 	struct st_lsm6dsx_reg decimator;
 	u8 freq_fine;
+	u16 ts_sensitivity;
+	u16 ts_trim_coeff;
 };
 
 /**
@@ -226,6 +270,15 @@ struct st_lsm6dsx_event_settings {
 	u8 wakeup_src_x_mask;
 };
 
+enum st_lsm6dsx_sensor_id {
+	ST_LSM6DSX_ID_GYRO,
+	ST_LSM6DSX_ID_ACC,
+	ST_LSM6DSX_ID_EXT0,
+	ST_LSM6DSX_ID_EXT1,
+	ST_LSM6DSX_ID_EXT2,
+	ST_LSM6DSX_ID_MAX
+};
+
 enum st_lsm6dsx_ext_sensor_id {
 	ST_LSM6DSX_ID_MAGN,
 };
@@ -271,12 +324,12 @@ struct st_lsm6dsx_ext_dev_settings {
  * @reset: register address for reset.
  * @boot: register address for boot.
  * @bdu: register address for Block Data Update.
- * @max_fifo_size: Sensor max fifo length in FIFO words.
  * @id: List of hw id/device name supported by the driver configuration.
  * @channels: IIO channels supported by the device.
  * @irq_config: interrupts related registers.
  * @drdy_mask: register info for data-ready mask (addr + mask).
  * @odr_table: Hw sensors odr table (Hz + val).
+ * @samples_to_discard: Number of samples to discard for filters settling time.
  * @fs_table: Hw sensors gain table (gain + val).
  * @decimator: List of decimator register info (addr + mask).
  * @batch: List of FIFO batching register info (addr + mask).
@@ -288,7 +341,6 @@ struct st_lsm6dsx_settings {
 	struct st_lsm6dsx_reg reset;
 	struct st_lsm6dsx_reg boot;
 	struct st_lsm6dsx_reg bdu;
-	u16 max_fifo_size;
 	struct {
 		enum st_lsm6dsx_hw_id hw_id;
 		const char *name;
@@ -310,24 +362,16 @@ struct st_lsm6dsx_settings {
 	} irq_config;
 	struct st_lsm6dsx_reg drdy_mask;
 	struct st_lsm6dsx_odr_table_entry odr_table[2];
+	struct st_lsm6dsx_samples_to_discard samples_to_discard[2];
 	struct st_lsm6dsx_fs_table_entry fs_table[2];
-	struct st_lsm6dsx_reg decimator[ST_LSM6DSX_MAX_ID];
-	struct st_lsm6dsx_reg batch[ST_LSM6DSX_MAX_ID];
+	struct st_lsm6dsx_reg decimator[ST_LSM6DSX_ID_MAX];
+	struct st_lsm6dsx_reg batch[2];
 	struct st_lsm6dsx_fifo_ops fifo_ops;
 	struct st_lsm6dsx_hw_ts_settings ts_settings;
 	struct st_lsm6dsx_shub_settings shub_settings;
 	struct st_lsm6dsx_event_settings event_settings;
 };
 
-enum st_lsm6dsx_sensor_id {
-	ST_LSM6DSX_ID_GYRO,
-	ST_LSM6DSX_ID_ACC,
-	ST_LSM6DSX_ID_EXT0,
-	ST_LSM6DSX_ID_EXT1,
-	ST_LSM6DSX_ID_EXT2,
-	ST_LSM6DSX_ID_MAX,
-};
-
 enum st_lsm6dsx_fifo_mode {
 	ST_LSM6DSX_FIFO_BYPASS = 0x0,
 	ST_LSM6DSX_FIFO_CONT = 0x6,
@@ -339,7 +383,9 @@ enum st_lsm6dsx_fifo_mode {
  * @id: Sensor identifier.
  * @hw: Pointer to instance of struct st_lsm6dsx_hw.
  * @gain: Configured sensor sensitivity.
- * @odr: Output data rate of the sensor [Hz].
+ * @odr: Output data rate of the sensor [mHz].
+ * hwfifo_odr_mHz: Batch data rate for hardware FIFO [mHz]
+ * @samples_to_discard: Number of samples to discard for filters settling time.
  * @watermark: Sensor watermark level.
  * @decimator: Sensor decimation factor.
  * @sip: Number of samples in a given pattern.
@@ -353,7 +399,9 @@ struct st_lsm6dsx_sensor {
 
 	u32 gain;
 	u32 odr;
+	u32 hwfifo_odr_mHz;
 
+	u16 samples_to_discard;
 	u16 watermark;
 	u8 decimator;
 	u8 sip;
@@ -370,7 +418,6 @@ struct st_lsm6dsx_sensor {
  * struct st_lsm6dsx_hw - ST IMU MEMS hw instance
  * @dev: Pointer to instance of struct device (I2C or SPI).
  * @regmap: Register map of the device.
- * @regulators: VDD/VDDIO voltage regulators.
  * @irq: Device interrupt line (I2C or SPI).
  * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO.
  * @conf_lock: Mutex to prevent concurrent FIFO configuration update.
@@ -393,7 +440,6 @@ struct st_lsm6dsx_sensor {
 struct st_lsm6dsx_hw {
 	struct device *dev;
 	struct regmap *regmap;
-	struct regulator_bulk_data regulators[2];
 	int irq;
 
 	struct mutex fifo_lock;
@@ -421,8 +467,8 @@ struct st_lsm6dsx_hw {
 	/* Ensure natural alignment of buffer elements */
 	struct {
 		__le16 channels[3];
-		s64 ts __aligned(8);
-	} scan[3];
+		aligned_s64 ts;
+	} scan[ST_LSM6DSX_ID_MAX];
 };
 
 static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = {
@@ -454,6 +500,7 @@ int st_lsm6dsx_read_tagged_fifo(struct st_lsm6dsx_hw *hw);
 int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u32 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_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len);
 int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable);
 
 static inline int
@@ -505,8 +552,19 @@ st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev,
 	return &hw->orientation;
 }
 
+static inline int
+st_lsm6dsx_device_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
+{
+	if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
+	    sensor->id == ST_LSM6DSX_ID_EXT1 ||
+	    sensor->id == ST_LSM6DSX_ID_EXT2)
+		return st_lsm6dsx_shub_set_enable(sensor, enable);
+
+	return st_lsm6dsx_sensor_set_enable(sensor, enable);
+}
+
 static const
-struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_accel_ext_info[] = {
+struct iio_chan_spec_ext_info __maybe_unused st_lsm6dsx_ext_info[] = {
 	IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix),
 	{ }
 };