1/*
2 * STMicroelectronics st_lsm6dsx i2c controller driver
3 *
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
8 * the hw FIFO
9 *
10 * Copyright (C) 2018 Lorenzo Bianconi <lorenzo.bianconi83@gmail.com>
11 *
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.
15 *
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.
23 *
24 */
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>
30
31#include "st_lsm6dsx.h"
32
33#define ST_LSM6DSX_SLV_ADDR(n, base) ((base) + (n) * 3)
34#define ST_LSM6DSX_SLV_SUB_ADDR(n, base) ((base) + 1 + (n) * 3)
35#define ST_LSM6DSX_SLV_CONFIG(n, base) ((base) + 2 + (n) * 3)
36
37#define ST_LS6DSX_READ_OP_MASK GENMASK(2, 0)
38
39static const struct st_lsm6dsx_ext_dev_settings st_lsm6dsx_ext_dev_table[] = {
40 /* LIS2MDL */
41 {
42 .i2c_addr = { 0x1e },
43 .wai = {
44 .addr = 0x4f,
45 .val = 0x40,
46 },
47 .id = ST_LSM6DSX_ID_MAGN,
48 .odr_table = {
49 .reg = {
50 .addr = 0x60,
51 .mask = GENMASK(3, 2),
52 },
53 .odr_avl[0] = { 10000, 0x0 },
54 .odr_avl[1] = { 20000, 0x1 },
55 .odr_avl[2] = { 50000, 0x2 },
56 .odr_avl[3] = { 100000, 0x3 },
57 .odr_len = 4,
58 },
59 .fs_table = {
60 .fs_avl[0] = {
61 .gain = 1500,
62 .val = 0x0,
63 }, /* 1500 uG/LSB */
64 .fs_len = 1,
65 },
66 .temp_comp = {
67 .addr = 0x60,
68 .mask = BIT(7),
69 },
70 .pwr_table = {
71 .reg = {
72 .addr = 0x60,
73 .mask = GENMASK(1, 0),
74 },
75 .off_val = 0x2,
76 .on_val = 0x0,
77 },
78 .off_canc = {
79 .addr = 0x61,
80 .mask = BIT(1),
81 },
82 .bdu = {
83 .addr = 0x62,
84 .mask = BIT(4),
85 },
86 .out = {
87 .addr = 0x68,
88 .len = 6,
89 },
90 },
91 /* LIS3MDL */
92 {
93 .i2c_addr = { 0x1e },
94 .wai = {
95 .addr = 0x0f,
96 .val = 0x3d,
97 },
98 .id = ST_LSM6DSX_ID_MAGN,
99 .odr_table = {
100 .reg = {
101 .addr = 0x20,
102 .mask = GENMASK(4, 2),
103 },
104 .odr_avl[0] = { 1000, 0x0 },
105 .odr_avl[1] = { 2000, 0x1 },
106 .odr_avl[2] = { 3000, 0x2 },
107 .odr_avl[3] = { 5000, 0x3 },
108 .odr_avl[4] = { 10000, 0x4 },
109 .odr_avl[5] = { 20000, 0x5 },
110 .odr_avl[6] = { 40000, 0x6 },
111 .odr_avl[7] = { 80000, 0x7 },
112 .odr_len = 8,
113 },
114 .fs_table = {
115 .reg = {
116 .addr = 0x21,
117 .mask = GENMASK(6, 5),
118 },
119 .fs_avl[0] = {
120 .gain = 146,
121 .val = 0x00,
122 }, /* 4000 uG/LSB */
123 .fs_avl[1] = {
124 .gain = 292,
125 .val = 0x01,
126 }, /* 8000 uG/LSB */
127 .fs_avl[2] = {
128 .gain = 438,
129 .val = 0x02,
130 }, /* 12000 uG/LSB */
131 .fs_avl[3] = {
132 .gain = 584,
133 .val = 0x03,
134 }, /* 16000 uG/LSB */
135 .fs_len = 4,
136 },
137 .pwr_table = {
138 .reg = {
139 .addr = 0x22,
140 .mask = GENMASK(1, 0),
141 },
142 .off_val = 0x2,
143 .on_val = 0x0,
144 },
145 .bdu = {
146 .addr = 0x24,
147 .mask = BIT(6),
148 },
149 .out = {
150 .addr = 0x28,
151 .len = 6,
152 },
153 },
154};
155
156static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw)
157{
158 struct st_lsm6dsx_sensor *sensor;
159 u32 odr, timeout;
160
161 sensor = iio_priv(indio_dev: hw->iio_devs[ST_LSM6DSX_ID_ACC]);
162 odr = (hw->enable_mask & BIT(ST_LSM6DSX_ID_ACC)) ? sensor->odr : 12500;
163 /* set 10ms as minimum timeout for i2c slave configuration */
164 timeout = max_t(u32, 2000000U / odr + 1, 10);
165 msleep(msecs: timeout);
166}
167
168/*
169 * st_lsm6dsx_shub_read_output - read i2c controller register
170 *
171 * Read st_lsm6dsx i2c controller register
172 */
173int st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, int len)
174{
175 const struct st_lsm6dsx_shub_settings *hub_settings;
176 int err;
177
178 mutex_lock(&hw->page_lock);
179
180 hub_settings = &hw->settings->shub_settings;
181 if (hub_settings->shub_out.sec_page) {
182 err = st_lsm6dsx_set_page(hw, enable: true);
183 if (err < 0)
184 goto out;
185 }
186
187 err = regmap_bulk_read(map: hw->regmap, reg: hub_settings->shub_out.addr,
188 val: data, val_count: len);
189
190 if (hub_settings->shub_out.sec_page)
191 st_lsm6dsx_set_page(hw, enable: false);
192out:
193 mutex_unlock(lock: &hw->page_lock);
194
195 return err;
196}
197
198/*
199 * st_lsm6dsx_shub_write_reg - write i2c controller register
200 *
201 * Write st_lsm6dsx i2c controller register
202 */
203static int st_lsm6dsx_shub_write_reg(struct st_lsm6dsx_hw *hw, u8 addr,
204 u8 *data, int len)
205{
206 int err;
207
208 mutex_lock(&hw->page_lock);
209 err = st_lsm6dsx_set_page(hw, enable: true);
210 if (err < 0)
211 goto out;
212
213 err = regmap_bulk_write(map: hw->regmap, reg: addr, val: data, val_count: len);
214
215 st_lsm6dsx_set_page(hw, enable: false);
216out:
217 mutex_unlock(lock: &hw->page_lock);
218
219 return err;
220}
221
222static int
223st_lsm6dsx_shub_write_reg_with_mask(struct st_lsm6dsx_hw *hw, u8 addr,
224 u8 mask, u8 val)
225{
226 int err;
227
228 mutex_lock(&hw->page_lock);
229 err = st_lsm6dsx_set_page(hw, enable: true);
230 if (err < 0)
231 goto out;
232
233 err = regmap_update_bits(map: hw->regmap, reg: addr, mask, val);
234
235 st_lsm6dsx_set_page(hw, enable: false);
236out:
237 mutex_unlock(lock: &hw->page_lock);
238
239 return err;
240}
241
242static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor,
243 bool enable)
244{
245 const struct st_lsm6dsx_shub_settings *hub_settings;
246 struct st_lsm6dsx_hw *hw = sensor->hw;
247 unsigned int data;
248 int err;
249
250 /* enable acc sensor as trigger */
251 err = st_lsm6dsx_sensor_set_enable(sensor, enable);
252 if (err < 0)
253 return err;
254
255 mutex_lock(&hw->page_lock);
256
257 hub_settings = &hw->settings->shub_settings;
258 if (hub_settings->master_en.sec_page) {
259 err = st_lsm6dsx_set_page(hw, enable: true);
260 if (err < 0)
261 goto out;
262 }
263
264 data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->master_en.mask);
265 err = regmap_update_bits(map: hw->regmap, reg: hub_settings->master_en.addr,
266 mask: hub_settings->master_en.mask, val: data);
267
268 if (hub_settings->master_en.sec_page)
269 st_lsm6dsx_set_page(hw, enable: false);
270out:
271 mutex_unlock(lock: &hw->page_lock);
272
273 return err;
274}
275
276/*
277 * st_lsm6dsx_shub_read - read data from slave device register
278 *
279 * Read data from slave device register. SLV0 is used for
280 * one-shot read operation
281 */
282static int
283st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr,
284 u8 *data, int len)
285{
286 const struct st_lsm6dsx_shub_settings *hub_settings;
287 u8 config[3], slv_addr, slv_config = 0;
288 struct st_lsm6dsx_hw *hw = sensor->hw;
289 const struct st_lsm6dsx_reg *aux_sens;
290 int err;
291
292 hub_settings = &hw->settings->shub_settings;
293 slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
294 aux_sens = &hw->settings->shub_settings.aux_sens;
295 /* do not overwrite aux_sens */
296 if (slv_addr + 2 == aux_sens->addr)
297 slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
298
299 config[0] = (sensor->ext_info.addr << 1) | 1;
300 config[1] = addr;
301 config[2] = (len & ST_LS6DSX_READ_OP_MASK) | slv_config;
302
303 err = st_lsm6dsx_shub_write_reg(hw, addr: slv_addr, data: config,
304 len: sizeof(config));
305 if (err < 0)
306 return err;
307
308 err = st_lsm6dsx_shub_master_enable(sensor, enable: true);
309 if (err < 0)
310 return err;
311
312 st_lsm6dsx_shub_wait_complete(hw);
313
314 err = st_lsm6dsx_shub_read_output(hw, data,
315 len: len & ST_LS6DSX_READ_OP_MASK);
316 if (err < 0)
317 return err;
318
319 st_lsm6dsx_shub_master_enable(sensor, enable: false);
320
321 config[0] = hub_settings->pause;
322 config[1] = 0;
323 config[2] = slv_config;
324 return st_lsm6dsx_shub_write_reg(hw, addr: slv_addr, data: config,
325 len: sizeof(config));
326}
327
328/*
329 * st_lsm6dsx_shub_write - write data to slave device register
330 *
331 * Write data from slave device register. SLV0 is used for
332 * one-shot write operation
333 */
334static int
335st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr,
336 u8 *data, int len)
337{
338 const struct st_lsm6dsx_shub_settings *hub_settings;
339 struct st_lsm6dsx_hw *hw = sensor->hw;
340 u8 config[2], slv_addr;
341 int err, i;
342
343 hub_settings = &hw->settings->shub_settings;
344 if (hub_settings->wr_once.addr) {
345 unsigned int data;
346
347 data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->wr_once.mask);
348 err = st_lsm6dsx_shub_write_reg_with_mask(hw,
349 addr: hub_settings->wr_once.addr,
350 mask: hub_settings->wr_once.mask,
351 val: data);
352 if (err < 0)
353 return err;
354 }
355
356 slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
357 config[0] = sensor->ext_info.addr << 1;
358 for (i = 0 ; i < len; i++) {
359 config[1] = addr + i;
360
361 err = st_lsm6dsx_shub_write_reg(hw, addr: slv_addr, data: config,
362 len: sizeof(config));
363 if (err < 0)
364 return err;
365
366 err = st_lsm6dsx_shub_write_reg(hw, addr: hub_settings->dw_slv0_addr,
367 data: &data[i], len: 1);
368 if (err < 0)
369 return err;
370
371 err = st_lsm6dsx_shub_master_enable(sensor, enable: true);
372 if (err < 0)
373 return err;
374
375 st_lsm6dsx_shub_wait_complete(hw);
376
377 st_lsm6dsx_shub_master_enable(sensor, enable: false);
378 }
379
380 config[0] = hub_settings->pause;
381 config[1] = 0;
382 return st_lsm6dsx_shub_write_reg(hw, addr: slv_addr, data: config, len: sizeof(config));
383}
384
385static int
386st_lsm6dsx_shub_write_with_mask(struct st_lsm6dsx_sensor *sensor,
387 u8 addr, u8 mask, u8 val)
388{
389 int err;
390 u8 data;
391
392 err = st_lsm6dsx_shub_read(sensor, addr, data: &data, len: sizeof(data));
393 if (err < 0)
394 return err;
395
396 data = ((data & ~mask) | (val << __ffs(mask) & mask));
397
398 return st_lsm6dsx_shub_write(sensor, addr, data: &data, len: sizeof(data));
399}
400
401static int
402st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor,
403 u32 odr, u16 *val)
404{
405 const struct st_lsm6dsx_ext_dev_settings *settings;
406 int i;
407
408 settings = sensor->ext_info.settings;
409 for (i = 0; i < settings->odr_table.odr_len; i++) {
410 if (settings->odr_table.odr_avl[i].milli_hz == odr)
411 break;
412 }
413
414 if (i == settings->odr_table.odr_len)
415 return -EINVAL;
416
417 *val = settings->odr_table.odr_avl[i].val;
418 return 0;
419}
420
421static int
422st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u32 odr)
423{
424 const struct st_lsm6dsx_ext_dev_settings *settings;
425 u16 val;
426 int err;
427
428 err = st_lsm6dsx_shub_get_odr_val(sensor, odr, val: &val);
429 if (err < 0)
430 return err;
431
432 settings = sensor->ext_info.settings;
433 return st_lsm6dsx_shub_write_with_mask(sensor,
434 addr: settings->odr_table.reg.addr,
435 mask: settings->odr_table.reg.mask,
436 val);
437}
438
439/* use SLV{1,2,3} for FIFO read operations */
440static int
441st_lsm6dsx_shub_config_channels(struct st_lsm6dsx_sensor *sensor,
442 bool enable)
443{
444 const struct st_lsm6dsx_shub_settings *hub_settings;
445 const struct st_lsm6dsx_ext_dev_settings *settings;
446 u8 config[9] = {}, enable_mask, slv_addr;
447 struct st_lsm6dsx_hw *hw = sensor->hw;
448 struct st_lsm6dsx_sensor *cur_sensor;
449 int i, j = 0;
450
451 hub_settings = &hw->settings->shub_settings;
452 if (enable)
453 enable_mask = hw->enable_mask | BIT(sensor->id);
454 else
455 enable_mask = hw->enable_mask & ~BIT(sensor->id);
456
457 for (i = ST_LSM6DSX_ID_EXT0; i <= ST_LSM6DSX_ID_EXT2; i++) {
458 if (!hw->iio_devs[i])
459 continue;
460
461 cur_sensor = iio_priv(indio_dev: hw->iio_devs[i]);
462 if (!(enable_mask & BIT(cur_sensor->id)))
463 continue;
464
465 settings = cur_sensor->ext_info.settings;
466 config[j] = (sensor->ext_info.addr << 1) | 1;
467 config[j + 1] = settings->out.addr;
468 config[j + 2] = (settings->out.len & ST_LS6DSX_READ_OP_MASK) |
469 hub_settings->batch_en;
470 j += 3;
471 }
472
473 slv_addr = ST_LSM6DSX_SLV_ADDR(1, hub_settings->slv0_addr);
474 return st_lsm6dsx_shub_write_reg(hw, addr: slv_addr, data: config,
475 len: sizeof(config));
476}
477
478int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable)
479{
480 const struct st_lsm6dsx_ext_dev_settings *settings;
481 int err;
482
483 err = st_lsm6dsx_shub_config_channels(sensor, enable);
484 if (err < 0)
485 return err;
486
487 settings = sensor->ext_info.settings;
488 if (enable) {
489 err = st_lsm6dsx_shub_set_odr(sensor,
490 odr: sensor->ext_info.slv_odr);
491 if (err < 0)
492 return err;
493 } else {
494 err = st_lsm6dsx_shub_write_with_mask(sensor,
495 addr: settings->odr_table.reg.addr,
496 mask: settings->odr_table.reg.mask, val: 0);
497 if (err < 0)
498 return err;
499 }
500
501 if (settings->pwr_table.reg.addr) {
502 u8 val;
503
504 val = enable ? settings->pwr_table.on_val
505 : settings->pwr_table.off_val;
506 err = st_lsm6dsx_shub_write_with_mask(sensor,
507 addr: settings->pwr_table.reg.addr,
508 mask: settings->pwr_table.reg.mask, val);
509 if (err < 0)
510 return err;
511 }
512
513 return st_lsm6dsx_shub_master_enable(sensor, enable);
514}
515
516static int
517st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor,
518 struct iio_chan_spec const *ch,
519 int *val)
520{
521 int err, delay, len;
522 u8 data[4];
523
524 err = st_lsm6dsx_shub_set_enable(sensor, enable: true);
525 if (err < 0)
526 return err;
527
528 delay = 1000000000 / sensor->ext_info.slv_odr;
529 usleep_range(min: delay, max: 2 * delay);
530
531 len = min_t(int, sizeof(data), ch->scan_type.realbits >> 3);
532 err = st_lsm6dsx_shub_read(sensor, addr: ch->address, data, len);
533 if (err < 0)
534 return err;
535
536 err = st_lsm6dsx_shub_set_enable(sensor, enable: false);
537 if (err < 0)
538 return err;
539
540 switch (len) {
541 case 2:
542 *val = (s16)le16_to_cpu(*((__le16 *)data));
543 break;
544 default:
545 return -EINVAL;
546 }
547
548 return IIO_VAL_INT;
549}
550
551static int
552st_lsm6dsx_shub_read_raw(struct iio_dev *iio_dev,
553 struct iio_chan_spec const *ch,
554 int *val, int *val2, long mask)
555{
556 struct st_lsm6dsx_sensor *sensor = iio_priv(indio_dev: iio_dev);
557 int ret;
558
559 switch (mask) {
560 case IIO_CHAN_INFO_RAW:
561 ret = iio_device_claim_direct_mode(indio_dev: iio_dev);
562 if (ret)
563 break;
564
565 ret = st_lsm6dsx_shub_read_oneshot(sensor, ch, val);
566 iio_device_release_direct_mode(indio_dev: iio_dev);
567 break;
568 case IIO_CHAN_INFO_SAMP_FREQ:
569 *val = sensor->ext_info.slv_odr / 1000;
570 *val2 = (sensor->ext_info.slv_odr % 1000) * 1000;
571 ret = IIO_VAL_INT_PLUS_MICRO;
572 break;
573 case IIO_CHAN_INFO_SCALE:
574 *val = 0;
575 *val2 = sensor->gain;
576 ret = IIO_VAL_INT_PLUS_MICRO;
577 break;
578 default:
579 ret = -EINVAL;
580 break;
581 }
582
583 return ret;
584}
585
586static int
587st_lsm6dsx_shub_set_full_scale(struct st_lsm6dsx_sensor *sensor,
588 u32 gain)
589{
590 const struct st_lsm6dsx_fs_table_entry *fs_table;
591 int i, err;
592
593 fs_table = &sensor->ext_info.settings->fs_table;
594 if (!fs_table->reg.addr)
595 return -ENOTSUPP;
596
597 for (i = 0; i < fs_table->fs_len; i++) {
598 if (fs_table->fs_avl[i].gain == gain)
599 break;
600 }
601
602 if (i == fs_table->fs_len)
603 return -EINVAL;
604
605 err = st_lsm6dsx_shub_write_with_mask(sensor, addr: fs_table->reg.addr,
606 mask: fs_table->reg.mask,
607 val: fs_table->fs_avl[i].val);
608 if (err < 0)
609 return err;
610
611 sensor->gain = gain;
612
613 return 0;
614}
615
616static int
617st_lsm6dsx_shub_write_raw(struct iio_dev *iio_dev,
618 struct iio_chan_spec const *chan,
619 int val, int val2, long mask)
620{
621 struct st_lsm6dsx_sensor *sensor = iio_priv(indio_dev: iio_dev);
622 int err;
623
624 err = iio_device_claim_direct_mode(indio_dev: iio_dev);
625 if (err)
626 return err;
627
628 switch (mask) {
629 case IIO_CHAN_INFO_SAMP_FREQ: {
630 u16 data;
631
632 val = val * 1000 + val2 / 1000;
633 err = st_lsm6dsx_shub_get_odr_val(sensor, odr: val, val: &data);
634 if (!err) {
635 struct st_lsm6dsx_hw *hw = sensor->hw;
636 struct st_lsm6dsx_sensor *ref_sensor;
637 u8 odr_val;
638 int odr;
639
640 ref_sensor = iio_priv(indio_dev: hw->iio_devs[ST_LSM6DSX_ID_ACC]);
641 odr = st_lsm6dsx_check_odr(sensor: ref_sensor, odr: val, val: &odr_val);
642 if (odr < 0) {
643 err = odr;
644 goto release;
645 }
646
647 sensor->ext_info.slv_odr = val;
648 sensor->odr = odr;
649 }
650 break;
651 }
652 case IIO_CHAN_INFO_SCALE:
653 err = st_lsm6dsx_shub_set_full_scale(sensor, gain: val2);
654 break;
655 default:
656 err = -EINVAL;
657 break;
658 }
659
660release:
661 iio_device_release_direct_mode(indio_dev: iio_dev);
662
663 return err;
664}
665
666static ssize_t
667st_lsm6dsx_shub_sampling_freq_avail(struct device *dev,
668 struct device_attribute *attr,
669 char *buf)
670{
671 struct st_lsm6dsx_sensor *sensor = iio_priv(indio_dev: dev_get_drvdata(dev));
672 const struct st_lsm6dsx_ext_dev_settings *settings;
673 int i, len = 0;
674
675 settings = sensor->ext_info.settings;
676 for (i = 0; i < settings->odr_table.odr_len; i++) {
677 u32 val = settings->odr_table.odr_avl[i].milli_hz;
678
679 len += scnprintf(buf: buf + len, PAGE_SIZE - len, fmt: "%d.%03d ",
680 val / 1000, val % 1000);
681 }
682 buf[len - 1] = '\n';
683
684 return len;
685}
686
687static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev,
688 struct device_attribute *attr,
689 char *buf)
690{
691 struct st_lsm6dsx_sensor *sensor = iio_priv(indio_dev: dev_get_drvdata(dev));
692 const struct st_lsm6dsx_ext_dev_settings *settings;
693 int i, len = 0;
694
695 settings = sensor->ext_info.settings;
696 for (i = 0; i < settings->fs_table.fs_len; i++)
697 len += scnprintf(buf: buf + len, PAGE_SIZE - len, fmt: "0.%06u ",
698 settings->fs_table.fs_avl[i].gain);
699 buf[len - 1] = '\n';
700
701 return len;
702}
703
704static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail);
705static IIO_DEVICE_ATTR(in_scale_available, 0444,
706 st_lsm6dsx_shub_scale_avail, NULL, 0);
707static struct attribute *st_lsm6dsx_shub_attributes[] = {
708 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
709 &iio_dev_attr_in_scale_available.dev_attr.attr,
710 NULL,
711};
712
713static const struct attribute_group st_lsm6dsx_shub_attribute_group = {
714 .attrs = st_lsm6dsx_shub_attributes,
715};
716
717static const struct iio_info st_lsm6dsx_shub_info = {
718 .attrs = &st_lsm6dsx_shub_attribute_group,
719 .read_raw = st_lsm6dsx_shub_read_raw,
720 .write_raw = st_lsm6dsx_shub_write_raw,
721 .hwfifo_set_watermark = st_lsm6dsx_set_watermark,
722};
723
724static struct iio_dev *
725st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw,
726 enum st_lsm6dsx_sensor_id id,
727 const struct st_lsm6dsx_ext_dev_settings *info,
728 u8 i2c_addr, const char *name)
729{
730 enum st_lsm6dsx_sensor_id ref_id = ST_LSM6DSX_ID_ACC;
731 struct iio_chan_spec *ext_channels;
732 struct st_lsm6dsx_sensor *sensor;
733 struct iio_dev *iio_dev;
734
735 iio_dev = devm_iio_device_alloc(parent: hw->dev, sizeof_priv: sizeof(*sensor));
736 if (!iio_dev)
737 return NULL;
738
739 iio_dev->modes = INDIO_DIRECT_MODE;
740 iio_dev->info = &st_lsm6dsx_shub_info;
741
742 sensor = iio_priv(indio_dev: iio_dev);
743 sensor->id = id;
744 sensor->hw = hw;
745 sensor->odr = hw->settings->odr_table[ref_id].odr_avl[0].milli_hz;
746 sensor->ext_info.slv_odr = info->odr_table.odr_avl[0].milli_hz;
747 sensor->gain = info->fs_table.fs_avl[0].gain;
748 sensor->ext_info.settings = info;
749 sensor->ext_info.addr = i2c_addr;
750 sensor->watermark = 1;
751
752 switch (info->id) {
753 case ST_LSM6DSX_ID_MAGN: {
754 const struct iio_chan_spec magn_channels[] = {
755 ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr,
756 IIO_MOD_X, 0),
757 ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 2,
758 IIO_MOD_Y, 1),
759 ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 4,
760 IIO_MOD_Z, 2),
761 IIO_CHAN_SOFT_TIMESTAMP(3),
762 };
763
764 ext_channels = devm_kzalloc(dev: hw->dev, size: sizeof(magn_channels),
765 GFP_KERNEL);
766 if (!ext_channels)
767 return NULL;
768
769 memcpy(ext_channels, magn_channels, sizeof(magn_channels));
770 iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks;
771 iio_dev->channels = ext_channels;
772 iio_dev->num_channels = ARRAY_SIZE(magn_channels);
773
774 scnprintf(buf: sensor->name, size: sizeof(sensor->name), fmt: "%s_magn",
775 name);
776 break;
777 }
778 default:
779 return NULL;
780 }
781 iio_dev->name = sensor->name;
782
783 return iio_dev;
784}
785
786static int st_lsm6dsx_shub_init_device(struct st_lsm6dsx_sensor *sensor)
787{
788 const struct st_lsm6dsx_ext_dev_settings *settings;
789 int err;
790
791 settings = sensor->ext_info.settings;
792 if (settings->bdu.addr) {
793 err = st_lsm6dsx_shub_write_with_mask(sensor,
794 addr: settings->bdu.addr,
795 mask: settings->bdu.mask, val: 1);
796 if (err < 0)
797 return err;
798 }
799
800 if (settings->temp_comp.addr) {
801 err = st_lsm6dsx_shub_write_with_mask(sensor,
802 addr: settings->temp_comp.addr,
803 mask: settings->temp_comp.mask, val: 1);
804 if (err < 0)
805 return err;
806 }
807
808 if (settings->off_canc.addr) {
809 err = st_lsm6dsx_shub_write_with_mask(sensor,
810 addr: settings->off_canc.addr,
811 mask: settings->off_canc.mask, val: 1);
812 if (err < 0)
813 return err;
814 }
815
816 return 0;
817}
818
819static int
820st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr,
821 const struct st_lsm6dsx_ext_dev_settings *settings)
822{
823 const struct st_lsm6dsx_shub_settings *hub_settings;
824 u8 config[3], data, slv_addr, slv_config = 0;
825 const struct st_lsm6dsx_reg *aux_sens;
826 struct st_lsm6dsx_sensor *sensor;
827 bool found = false;
828 int i, err;
829
830 sensor = iio_priv(indio_dev: hw->iio_devs[ST_LSM6DSX_ID_ACC]);
831 hub_settings = &hw->settings->shub_settings;
832 aux_sens = &hw->settings->shub_settings.aux_sens;
833 slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr);
834 /* do not overwrite aux_sens */
835 if (slv_addr + 2 == aux_sens->addr)
836 slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask);
837
838 for (i = 0; i < ARRAY_SIZE(settings->i2c_addr); i++) {
839 if (!settings->i2c_addr[i])
840 continue;
841
842 /* read wai slave register */
843 config[0] = (settings->i2c_addr[i] << 1) | 0x1;
844 config[1] = settings->wai.addr;
845 config[2] = 0x1 | slv_config;
846
847 err = st_lsm6dsx_shub_write_reg(hw, addr: slv_addr, data: config,
848 len: sizeof(config));
849 if (err < 0)
850 return err;
851
852 err = st_lsm6dsx_shub_master_enable(sensor, enable: true);
853 if (err < 0)
854 return err;
855
856 st_lsm6dsx_shub_wait_complete(hw);
857
858 err = st_lsm6dsx_shub_read_output(hw, data: &data, len: sizeof(data));
859
860 st_lsm6dsx_shub_master_enable(sensor, enable: false);
861
862 if (err < 0)
863 return err;
864
865 if (data != settings->wai.val)
866 continue;
867
868 *i2c_addr = settings->i2c_addr[i];
869 found = true;
870 break;
871 }
872
873 /* reset SLV0 channel */
874 config[0] = hub_settings->pause;
875 config[1] = 0;
876 config[2] = slv_config;
877 err = st_lsm6dsx_shub_write_reg(hw, addr: slv_addr, data: config,
878 len: sizeof(config));
879 if (err < 0)
880 return err;
881
882 return found ? 0 : -ENODEV;
883}
884
885int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name)
886{
887 enum st_lsm6dsx_sensor_id id = ST_LSM6DSX_ID_EXT0;
888 struct st_lsm6dsx_sensor *sensor;
889 int err, i, num_ext_dev = 0;
890 u8 i2c_addr = 0;
891
892 for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_ext_dev_table); i++) {
893 err = st_lsm6dsx_shub_check_wai(hw, i2c_addr: &i2c_addr,
894 settings: &st_lsm6dsx_ext_dev_table[i]);
895 if (err == -ENODEV)
896 continue;
897 else if (err < 0)
898 return err;
899
900 hw->iio_devs[id] = st_lsm6dsx_shub_alloc_iiodev(hw, id,
901 info: &st_lsm6dsx_ext_dev_table[i],
902 i2c_addr, name);
903 if (!hw->iio_devs[id])
904 return -ENOMEM;
905
906 sensor = iio_priv(indio_dev: hw->iio_devs[id]);
907 err = st_lsm6dsx_shub_init_device(sensor);
908 if (err < 0)
909 return err;
910
911 if (++num_ext_dev >= hw->settings->shub_settings.num_ext_dev)
912 break;
913 id++;
914 }
915
916 return 0;
917}
918

source code of linux/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c