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iio: imu: st_lsm6dsx: add i2c embedded controller support
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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: Lorenzo Bianconi <lorenzo.bianconi@redhat.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
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Lorenzo Bianconi authored and Jonathan Cameron committed Nov 16, 2018
1 parent 1775044 commit c91c1c8
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Showing 5 changed files with 911 additions and 43 deletions.
3 changes: 2 additions & 1 deletion drivers/iio/imu/st_lsm6dsx/Makefile
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
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
Expand Down
112 changes: 112 additions & 0 deletions drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,13 +43,53 @@ 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;
};

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.
Expand Down Expand Up @@ -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.
Expand All @@ -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;
Expand All @@ -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 {
Expand Down Expand Up @@ -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];
Expand All @@ -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;
};

/**
Expand Down Expand Up @@ -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,
Expand All @@ -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,
Expand Down
135 changes: 93 additions & 42 deletions drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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 = {
Expand Down Expand Up @@ -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 = {
Expand Down Expand Up @@ -342,27 +320,30 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(7, 6),
},
},
.shub_settings = {
.page_mux = {
.addr = 0x01,
.mask = BIT(6),
},
.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,
}
},
};

#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, \
}, \
}

static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR,
IIO_MOD_X, 0),
Expand All @@ -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;
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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);
}

Expand Down Expand Up @@ -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;

Expand Down Expand Up @@ -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)
Expand Down
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