diff options
Diffstat (limited to 'drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c')
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 465 |
1 files changed, 428 insertions, 37 deletions
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c index f8bbb005718e..3f6060c64f32 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c @@ -27,13 +27,20 @@ * - FIFO size: 4KB * * - LSM6DSO/LSM6DSOX/ASM330LHH/ASM330LHHX/LSM6DSR/ISM330DHCX/LSM6DST/LSM6DSOP/ - * LSM6DSTX: + * LSM6DSTX/LSM6DSO16IS/ISM330IS: * - Accelerometer/Gyroscope supported ODR [Hz]: 12.5, 26, 52, 104, 208, 416, * 833 * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000 * - FIFO size: 3KB * + * - LSM6DSV/LSM6DSV16X: + * - Accelerometer/Gyroscope supported ODR [Hz]: 7.5, 15, 30, 60, 120, 240, + * 480, 960 + * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 + * - Gyroscope supported full-scale [dps]: +-125/+-250/+-500/+-1000/+-2000 + * - FIFO size: 3KB + * * - LSM9DS1/LSM6DS0: * - Accelerometer supported ODR [Hz]: 10, 50, 119, 238, 476, 952 * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 @@ -53,6 +60,8 @@ #include <linux/iio/events.h> #include <linux/iio/iio.h> #include <linux/iio/sysfs.h> +#include <linux/iio/triggered_buffer.h> +#include <linux/iio/trigger_consumer.h> #include <linux/interrupt.h> #include <linux/irq.h> #include <linux/minmax.h> @@ -1160,6 +1169,342 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .wakeup_src_x_mask = BIT(2), }, }, + { + .reset = { + .addr = 0x12, + .mask = BIT(0), + }, + .boot = { + .addr = 0x12, + .mask = BIT(7), + }, + .bdu = { + .addr = 0x12, + .mask = BIT(6), + }, + .id = { + { + .hw_id = ST_LSM6DSV_ID, + .name = ST_LSM6DSV_DEV_NAME, + .wai = 0x70, + }, { + .hw_id = ST_LSM6DSV16X_ID, + .name = ST_LSM6DSV16X_DEV_NAME, + .wai = 0x70, + }, + }, + .channels = { + [ST_LSM6DSX_ID_ACC] = { + .chan = st_lsm6dsx_acc_channels, + .len = ARRAY_SIZE(st_lsm6dsx_acc_channels), + }, + [ST_LSM6DSX_ID_GYRO] = { + .chan = st_lsm6dsx_gyro_channels, + .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels), + }, + }, + .drdy_mask = { + .addr = 0x13, + .mask = BIT(3), + }, + .odr_table = { + [ST_LSM6DSX_ID_ACC] = { + .reg = { + .addr = 0x10, + .mask = GENMASK(3, 0), + }, + .odr_avl[0] = { 7500, 0x02 }, + .odr_avl[1] = { 15000, 0x03 }, + .odr_avl[2] = { 30000, 0x04 }, + .odr_avl[3] = { 60000, 0x05 }, + .odr_avl[4] = { 120000, 0x06 }, + .odr_avl[5] = { 240000, 0x07 }, + .odr_avl[6] = { 480000, 0x08 }, + .odr_avl[7] = { 960000, 0x09 }, + .odr_len = 8, + }, + [ST_LSM6DSX_ID_GYRO] = { + .reg = { + .addr = 0x11, + .mask = GENMASK(3, 0), + }, + .odr_avl[0] = { 7500, 0x02 }, + .odr_avl[1] = { 15000, 0x03 }, + .odr_avl[2] = { 30000, 0x04 }, + .odr_avl[3] = { 60000, 0x05 }, + .odr_avl[4] = { 120000, 0x06 }, + .odr_avl[5] = { 240000, 0x07 }, + .odr_avl[6] = { 480000, 0x08 }, + .odr_avl[7] = { 960000, 0x09 }, + .odr_len = 8, + }, + }, + .fs_table = { + [ST_LSM6DSX_ID_ACC] = { + .reg = { + .addr = 0x17, + .mask = GENMASK(1, 0), + }, + .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 }, + .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x1 }, + .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x2 }, + .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x3 }, + .fs_len = 4, + }, + [ST_LSM6DSX_ID_GYRO] = { + .reg = { + .addr = 0x15, + .mask = GENMASK(3, 0), + }, + .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x1 }, + .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x2 }, + .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x3 }, + .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x4 }, + .fs_len = 4, + }, + }, + .irq_config = { + .irq1 = { + .addr = 0x0d, + .mask = BIT(3), + }, + .irq2 = { + .addr = 0x0e, + .mask = BIT(3), + }, + .lir = { + .addr = 0x56, + .mask = BIT(0), + }, + .irq1_func = { + .addr = 0x5e, + .mask = BIT(5), + }, + .irq2_func = { + .addr = 0x5f, + .mask = BIT(5), + }, + .hla = { + .addr = 0x03, + .mask = BIT(4), + }, + .od = { + .addr = 0x03, + .mask = BIT(3), + }, + }, + .batch = { + [ST_LSM6DSX_ID_ACC] = { + .addr = 0x09, + .mask = GENMASK(3, 0), + }, + [ST_LSM6DSX_ID_GYRO] = { + .addr = 0x09, + .mask = GENMASK(7, 4), + }, + }, + .fifo_ops = { + .update_fifo = st_lsm6dsx_update_fifo, + .read_fifo = st_lsm6dsx_read_tagged_fifo, + .fifo_th = { + .addr = 0x07, + .mask = GENMASK(7, 0), + }, + .fifo_diff = { + .addr = 0x1b, + .mask = GENMASK(8, 0), + }, + .max_size = 512, + .th_wl = 1, + }, + .ts_settings = { + .timer_en = { + .addr = 0x50, + .mask = BIT(6), + }, + .decimator = { + .addr = 0x0a, + .mask = GENMASK(7, 6), + }, + .freq_fine = 0x4f, + }, + .shub_settings = { + .page_mux = { + .addr = 0x01, + .mask = BIT(6), + }, + .master_en = { + .sec_page = true, + .addr = 0x14, + .mask = BIT(2), + }, + .pullup_en = { + .addr = 0x03, + .mask = BIT(6), + }, + .aux_sens = { + .addr = 0x14, + .mask = GENMASK(1, 0), + }, + .wr_once = { + .addr = 0x14, + .mask = BIT(6), + }, + .num_ext_dev = 3, + .shub_out = { + .sec_page = true, + .addr = 0x02, + }, + .slv0_addr = 0x15, + .dw_slv0_addr = 0x21, + .batch_en = BIT(3), + }, + .event_settings = { + .enable_reg = { + .addr = 0x50, + .mask = BIT(7), + }, + .wakeup_reg = { + .addr = 0x5b, + .mask = GENMASK(5, 0), + }, + .wakeup_src_reg = 0x45, + .wakeup_src_status_mask = BIT(3), + .wakeup_src_z_mask = BIT(0), + .wakeup_src_y_mask = BIT(1), + .wakeup_src_x_mask = BIT(2), + }, + }, + { + .reset = { + .addr = 0x12, + .mask = BIT(0), + }, + .boot = { + .addr = 0x12, + .mask = BIT(7), + }, + .bdu = { + .addr = 0x12, + .mask = BIT(6), + }, + .id = { + { + .hw_id = ST_LSM6DSO16IS_ID, + .name = ST_LSM6DSO16IS_DEV_NAME, + .wai = 0x22, + }, { + .hw_id = ST_ISM330IS_ID, + .name = ST_ISM330IS_DEV_NAME, + .wai = 0x22, + } + }, + .channels = { + [ST_LSM6DSX_ID_ACC] = { + .chan = st_lsm6dsx_acc_channels, + .len = ARRAY_SIZE(st_lsm6dsx_acc_channels), + }, + [ST_LSM6DSX_ID_GYRO] = { + .chan = st_lsm6dsx_gyro_channels, + .len = ARRAY_SIZE(st_lsm6dsx_gyro_channels), + }, + }, + .odr_table = { + [ST_LSM6DSX_ID_ACC] = { + .reg = { + .addr = 0x10, + .mask = GENMASK(7, 4), + }, + .odr_avl[0] = { 12500, 0x01 }, + .odr_avl[1] = { 26000, 0x02 }, + .odr_avl[2] = { 52000, 0x03 }, + .odr_avl[3] = { 104000, 0x04 }, + .odr_avl[4] = { 208000, 0x05 }, + .odr_avl[5] = { 416000, 0x06 }, + .odr_avl[6] = { 833000, 0x07 }, + .odr_len = 7, + }, + [ST_LSM6DSX_ID_GYRO] = { + .reg = { + .addr = 0x11, + .mask = GENMASK(7, 4), + }, + .odr_avl[0] = { 12500, 0x01 }, + .odr_avl[1] = { 26000, 0x02 }, + .odr_avl[2] = { 52000, 0x03 }, + .odr_avl[3] = { 104000, 0x04 }, + .odr_avl[4] = { 208000, 0x05 }, + .odr_avl[5] = { 416000, 0x06 }, + .odr_avl[6] = { 833000, 0x07 }, + .odr_len = 7, + }, + }, + .fs_table = { + [ST_LSM6DSX_ID_ACC] = { + .reg = { + .addr = 0x10, + .mask = GENMASK(3, 2), + }, + .fs_avl[0] = { IIO_G_TO_M_S_2(61000), 0x0 }, + .fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 }, + .fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 }, + .fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 }, + .fs_len = 4, + }, + [ST_LSM6DSX_ID_GYRO] = { + .reg = { + .addr = 0x11, + .mask = GENMASK(3, 2), + }, + .fs_avl[0] = { IIO_DEGREE_TO_RAD(8750000), 0x0 }, + .fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 }, + .fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 }, + .fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 }, + .fs_len = 4, + }, + }, + .irq_config = { + .hla = { + .addr = 0x12, + .mask = BIT(5), + }, + .od = { + .addr = 0x12, + .mask = BIT(4), + }, + }, + .shub_settings = { + .page_mux = { + .addr = 0x01, + .mask = BIT(6), + }, + .master_en = { + .sec_page = true, + .addr = 0x14, + .mask = BIT(2), + }, + .pullup_en = { + .sec_page = true, + .addr = 0x14, + .mask = BIT(3), + }, + .aux_sens = { + .addr = 0x14, + .mask = GENMASK(1, 0), + }, + .wr_once = { + .addr = 0x14, + .mask = BIT(6), + }, + .num_ext_dev = 3, + .shub_out = { + .sec_page = true, + .addr = 0x02, + }, + .slv0_addr = 0x15, + .dw_slv0_addr = 0x21, + }, + }, }; int st_lsm6dsx_set_page(struct st_lsm6dsx_hw *hw, bool enable) @@ -2117,6 +2462,32 @@ static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private) return fifo_len || event ? IRQ_HANDLED : IRQ_NONE; } +static irqreturn_t st_lsm6dsx_sw_trigger_handler_thread(int irq, + void *private) +{ + struct iio_poll_func *pf = private; + struct iio_dev *iio_dev = pf->indio_dev; + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); + struct st_lsm6dsx_hw *hw = sensor->hw; + + if (sensor->id == ST_LSM6DSX_ID_EXT0 || + sensor->id == ST_LSM6DSX_ID_EXT1 || + sensor->id == ST_LSM6DSX_ID_EXT2) + st_lsm6dsx_shub_read_output(hw, + (u8 *)hw->scan[sensor->id].channels, + sizeof(hw->scan[sensor->id].channels)); + else + st_lsm6dsx_read_locked(hw, iio_dev->channels[0].address, + hw->scan[sensor->id].channels, + sizeof(hw->scan[sensor->id].channels)); + + iio_push_to_buffers_with_timestamp(iio_dev, &hw->scan[sensor->id], + iio_get_time_ns(iio_dev)); + iio_trigger_notify_done(iio_dev->trig); + + return IRQ_HANDLED; +} + static int st_lsm6dsx_irq_setup(struct st_lsm6dsx_hw *hw) { struct st_sensors_platform_data *pdata; @@ -2175,36 +2546,60 @@ static int st_lsm6dsx_irq_setup(struct st_lsm6dsx_hw *hw) return 0; } -static int st_lsm6dsx_init_regulators(struct device *dev) +static int st_lsm6dsx_sw_buffer_preenable(struct iio_dev *iio_dev) { - struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev); - int err; + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - /* vdd-vddio power regulators */ - hw->regulators[0].supply = "vdd"; - hw->regulators[1].supply = "vddio"; - err = devm_regulator_bulk_get(dev, ARRAY_SIZE(hw->regulators), - hw->regulators); - if (err) - return dev_err_probe(dev, err, "failed to get regulators\n"); + return st_lsm6dsx_device_set_enable(sensor, true); +} - err = regulator_bulk_enable(ARRAY_SIZE(hw->regulators), - hw->regulators); - if (err) { - dev_err(dev, "failed to enable regulators: %d\n", err); - return err; - } +static int st_lsm6dsx_sw_buffer_postdisable(struct iio_dev *iio_dev) +{ + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); - msleep(50); + return st_lsm6dsx_device_set_enable(sensor, false); +} + +static const struct iio_buffer_setup_ops st_lsm6dsx_sw_buffer_ops = { + .preenable = st_lsm6dsx_sw_buffer_preenable, + .postdisable = st_lsm6dsx_sw_buffer_postdisable, +}; + +static int st_lsm6dsx_sw_buffers_setup(struct st_lsm6dsx_hw *hw) +{ + int i; + + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { + int err; + + if (!hw->iio_devs[i]) + continue; + + err = devm_iio_triggered_buffer_setup(hw->dev, + hw->iio_devs[i], NULL, + st_lsm6dsx_sw_trigger_handler_thread, + &st_lsm6dsx_sw_buffer_ops); + if (err) + return err; + } return 0; } -static void st_lsm6dsx_chip_uninit(void *data) +static int st_lsm6dsx_init_regulators(struct device *dev) { - struct st_lsm6dsx_hw *hw = data; + /* vdd-vddio power regulators */ + static const char * const regulators[] = { "vdd", "vddio" }; + int err; - regulator_bulk_disable(ARRAY_SIZE(hw->regulators), hw->regulators); + err = devm_regulator_bulk_get_enable(dev, ARRAY_SIZE(regulators), + regulators); + if (err) + return dev_err_probe(dev, err, "failed to enable regulators\n"); + + msleep(50); + + return 0; } int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, @@ -2230,10 +2625,6 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, if (err) return err; - err = devm_add_action_or_reset(dev, st_lsm6dsx_chip_uninit, hw); - if (err) - return err; - hw->buff = devm_kzalloc(dev, ST_LSM6DSX_BUFF_SIZE, GFP_KERNEL); if (!hw->buff) return -ENOMEM; @@ -2275,6 +2666,16 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, return err; } + if (!hw->irq || !hw->settings->fifo_ops.read_fifo) { + /* + * Rely on sw triggers (e.g. hr-timers) if irq pin is not + * connected of if the device does not support HW FIFO + */ + err = st_lsm6dsx_sw_buffers_setup(hw); + if (err) + return err; + } + err = iio_read_mount_matrix(hw->dev, &hw->orientation); if (err) return err; @@ -2317,12 +2718,7 @@ static int st_lsm6dsx_suspend(struct device *dev) continue; } - if (sensor->id == ST_LSM6DSX_ID_EXT0 || - sensor->id == ST_LSM6DSX_ID_EXT1 || - sensor->id == ST_LSM6DSX_ID_EXT2) - err = st_lsm6dsx_shub_set_enable(sensor, false); - else - err = st_lsm6dsx_sensor_set_enable(sensor, false); + err = st_lsm6dsx_device_set_enable(sensor, false); if (err < 0) return err; @@ -2353,12 +2749,7 @@ static int st_lsm6dsx_resume(struct device *dev) if (!(hw->suspend_mask & BIT(sensor->id))) continue; - if (sensor->id == ST_LSM6DSX_ID_EXT0 || - sensor->id == ST_LSM6DSX_ID_EXT1 || - sensor->id == ST_LSM6DSX_ID_EXT2) - err = st_lsm6dsx_shub_set_enable(sensor, true); - else - err = st_lsm6dsx_sensor_set_enable(sensor, true); + err = st_lsm6dsx_device_set_enable(sensor, true); if (err < 0) return err; |