| Message ID | 2fa8688ae1ebc85f29b65c2439d9b7e298f305ae.1541341926.git.lorenzo.bianconi@redhat.com (mailing list archive) |
|---|---|
| State | New, archived |
| Headers | show |
| Series | add i2c controller support to st_lsm6dsx driver | expand |
On Sun, 4 Nov 2018 15:39:04 +0100 Lorenzo Bianconi <lorenzo.bianconi@redhat.com> wrote: > 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 > > Signed-off-by: Lorenzo Bianconi <lorenzo.bianconi@redhat.com> I'd completely forgotten how this driver did the multiple device registration so this had me completely confused initially ;) Perhaps just state here that the result is an entirely separate apparent device and what it's functionality is at this point in the patch set? A few minor comments inline. This looks like it is coming together quite nicely to me. Jonathan > --- > drivers/iio/imu/st_lsm6dsx/Makefile | 3 +- > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 112 +++ > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 135 ++-- > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c | 677 ++++++++++++++++++ > .../linux/platform_data/st_sensors_pdata.h | 2 + > 5 files changed, 886 insertions(+), 43 deletions(-) > create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c > > diff --git a/drivers/iio/imu/st_lsm6dsx/Makefile b/drivers/iio/imu/st_lsm6dsx/Makefile > index 35919febea2a..e5f733ce6e11 100644 > --- a/drivers/iio/imu/st_lsm6dsx/Makefile > +++ b/drivers/iio/imu/st_lsm6dsx/Makefile > @@ -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 > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > index 2beb4f563892..d20746eb3d2d 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > @@ -43,6 +43,24 @@ 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; > @@ -50,6 +68,28 @@ struct st_lsm6dsx_reg { > > 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. > @@ -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. > @@ -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; > @@ -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 { > @@ -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]; > @@ -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; > }; > > /** > @@ -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, > @@ -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, > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > index f2549ddfee20..463859f287da 100644 > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > @@ -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 = { > @@ -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 = { > @@ -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), > @@ -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; > @@ -728,8 +724,6 @@ 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; > @@ -768,6 +762,51 @@ 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; > @@ -846,6 +885,10 @@ 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); > } > > @@ -899,6 +942,7 @@ 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; > > @@ -934,6 +978,13 @@ 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) > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c > new file mode 100644 > index 000000000000..b37f9dbdad17 > --- /dev/null > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c > @@ -0,0 +1,677 @@ > +/* > + * STMicroelectronics st_lsm6dsx i2c controller driver > + * > + * i2c controller embedded in lsm6dx series can connect up to four > + * slave devices using accelerometer sensor as trigger for i2c > + * read/write operations. Current implementation use SLV0 for slave > + * configuration and SLV{1,2,3} to read data and push them into the > + * hw FIFO > + * > + * Copyright (C) 2018 Lorenzo Bianconi <lorenzo.bianconi83@gmail.com> > + * > + * Permission to use, copy, modify, and/or distribute this software for any > + * purpose with or without fee is hereby granted, provided that the above > + * copyright notice and this permission notice appear in all copies. > + * > + * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES > + * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF > + * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR > + * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES > + * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN > + * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF > + * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. > + * > + */ > +#include <linux/module.h> > +#include <linux/regmap.h> > +#include <linux/iio/iio.h> > +#include <linux/iio/sysfs.h> > +#include <linux/bitfield.h> > + > +#include "st_lsm6dsx.h" > + > +#define ST_LSM6DSX_MAX_SLV_NUM 3 > +#define ST_LSM6DSX_SLV_ADDR(n, base) ((base) + (n) * 3) > +#define ST_LSM6DSX_SLV_SUB_ADDR(n, base) ((base) + 1 + (n) * 3) > +#define ST_LSM6DSX_SLV_CONFIG(n, base) ((base) + 2 + (n) * 3) > + > +#define ST_LS6DSX_READ_OP_MASK GENMASK(2, 0) > + > +static const struct st_lsm6dsx_ext_dev_settings st_lsm6dsx_ext_dev_table[] = { > + /* LIS2MDL */ > + { > + .i2c_addr = { 0x1e }, > + .wai = { > + .addr = 0x4f, > + .val = 0x40, > + }, > + .id = ST_LSM6DSX_ID_MAGN, > + .odr_table = { > + .reg = { > + .addr = 0x60, > + .mask = GENMASK(3, 2), > + }, > + .odr_avl[0] = { 10, 0x0 }, > + .odr_avl[1] = { 20, 0x1 }, > + .odr_avl[2] = { 50, 0x2 }, > + .odr_avl[3] = { 100, 0x3 }, > + }, > + .fs_table = { > + .fs_avl[0] = { > + .gain = 1500, > + .val = 0x0, > + }, /* 1500 uG/LSB */ > + }, > + .temp_comp = { > + .addr = 0x60, > + .mask = BIT(7), > + }, > + .pwr_table = { > + .reg = { > + .addr = 0x60, > + .mask = GENMASK(1, 0), > + }, > + .off_val = 0x2, > + .on_val = 0x0, > + }, > + .off_canc = { > + .addr = 0x61, > + .mask = BIT(1), > + }, > + .bdu = { > + .addr = 0x62, > + .mask = BIT(4), > + }, > + .out = { > + .addr = 0x68, > + .len = 6, > + }, > + }, > +}; > + > +static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw) > +{ > + struct st_lsm6dsx_sensor *sensor; > + > + sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); > + msleep((2000U / sensor->odr) + 1); > +} > + > +/** > + * st_lsm6dsx_shub_read_reg - read i2c controller register > + * > + * Read st_lsm6dsx i2c controller register > + */ > +static int st_lsm6dsx_shub_read_reg(struct st_lsm6dsx_hw *hw, u8 addr, > + u8 *data, int len) > +{ > + const struct st_lsm6dsx_shub_settings *hub_settings; > + int err; > + > + mutex_lock(&hw->page_lock); > + > + hub_settings = &hw->settings->shub_settings; > + err = st_lsm6dsx_set_page(hw, true); > + if (err < 0) > + goto out; > + > + err = regmap_bulk_read(hw->regmap, addr, data, len); > + > + st_lsm6dsx_set_page(hw, false); > +out: > + mutex_unlock(&hw->page_lock); > + > + return err; > +} > + > +/** > + * st_lsm6dsx_shub_write_reg - write i2c controller register > + * > + * Write st_lsm6dsx i2c controller register > + */ > +static int st_lsm6dsx_shub_write_reg(struct st_lsm6dsx_hw *hw, u8 addr, > + u8 *data, int len) > +{ > + int err; > + > + mutex_lock(&hw->page_lock); > + err = st_lsm6dsx_set_page(hw, true); > + if (err < 0) > + goto out; > + > + err = regmap_bulk_write(hw->regmap, addr, data, len); > + > + st_lsm6dsx_set_page(hw, false); > +out: > + mutex_unlock(&hw->page_lock); > + > + return err; > +} > + > +static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor, > + bool enable) > +{ > + const struct st_lsm6dsx_shub_settings *hub_settings; > + struct st_lsm6dsx_hw *hw = sensor->hw; > + unsigned int data; > + int err; > + > + /* enable acc sensor as trigger */ > + err = st_lsm6dsx_sensor_set_enable(sensor, enable); > + if (err < 0) > + return err; > + > + mutex_lock(&hw->page_lock); > + > + hub_settings = &hw->settings->shub_settings; > + err = st_lsm6dsx_set_page(hw, true); > + if (err < 0) > + goto out; > + > + data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->master_en.mask); > + err = regmap_update_bits(hw->regmap, hub_settings->master_en.addr, > + hub_settings->master_en.mask, data); > + > + st_lsm6dsx_set_page(hw, false); > +out: > + mutex_unlock(&hw->page_lock); > + > + return err; > +} > + > +/** > + * st_lsm6dsx_shub_read - read data from slave device register > + * > + * Read data from slave device register. SLV0 is used for > + * one-shot read operation > + */ > +static int > +st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr, > + u8 *data, int len) > +{ > + const struct st_lsm6dsx_shub_settings *hub_settings; > + struct st_lsm6dsx_hw *hw = sensor->hw; > + u8 config[3], slv_addr; > + int err; > + > + hub_settings = &hw->settings->shub_settings; > + slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr); > + > + config[0] = (sensor->ext_info.addr << 1) | 1; > + config[1] = addr; > + config[2] = len & ST_LS6DSX_READ_OP_MASK; > + > + err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, > + sizeof(config)); > + if (err < 0) > + return err; > + > + err = st_lsm6dsx_shub_master_enable(sensor, true); > + if (err < 0) > + return err; > + > + st_lsm6dsx_shub_wait_complete(hw); > + > + err = st_lsm6dsx_shub_read_reg(hw, hub_settings->shub_out, data, > + len & ST_LS6DSX_READ_OP_MASK); > + > + st_lsm6dsx_shub_master_enable(sensor, false); > + > + memset(config, 0, sizeof(config)); > + return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, > + sizeof(config)); > +} > + > +/** > + * st_lsm6dsx_shub_write - write data to slave device register > + * > + * Write data from slave device register. SLV0 is used for > + * one-shot write operation > + */ > +static int > +st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr, > + u8 *data, int len) > +{ > + const struct st_lsm6dsx_shub_settings *hub_settings; > + struct st_lsm6dsx_hw *hw = sensor->hw; > + u8 config[2], slv_addr; > + int err, i; > + > + hub_settings = &hw->settings->shub_settings; > + slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr); > + config[0] = sensor->ext_info.addr << 1; > + for (i = 0 ; i < len; i++) { > + config[1] = addr + i; > + > + err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, > + sizeof(config)); > + if (err < 0) > + return err; > + > + err = st_lsm6dsx_shub_write_reg(hw, hub_settings->dw_slv0_addr, > + &data[i], 1); > + if (err < 0) > + return err; > + > + err = st_lsm6dsx_shub_master_enable(sensor, true); > + if (err < 0) > + return err; > + > + st_lsm6dsx_shub_wait_complete(hw); > + > + st_lsm6dsx_shub_master_enable(sensor, false); > + } > + > + memset(config, 0, sizeof(config)); > + return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config)); > +} > + > +static int > +st_lsm6dsx_shub_write_with_mask(struct st_lsm6dsx_sensor *sensor, > + u8 addr, u8 mask, u8 val) > +{ > + int err; > + u8 data; > + > + err = st_lsm6dsx_shub_read(sensor, addr, &data, sizeof(data)); > + if (err < 0) > + return err; > + > + data = ((data & ~mask) | (val << __ffs(mask) & mask)); > + > + return st_lsm6dsx_shub_write(sensor, addr, &data, sizeof(data)); > +} > + > +static int > +st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor, > + u16 odr, u16 *val) > +{ > + const struct st_lsm6dsx_ext_dev_settings *settings; > + int i; > + > + settings = sensor->ext_info.settings; > + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) > + if (settings->odr_table.odr_avl[i].hz == odr) > + break; > + > + if (i == ST_LSM6DSX_ODR_LIST_SIZE) > + return -EINVAL; > + > + *val = settings->odr_table.odr_avl[i].val; > + return 0; > +} > + > +static int > +st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u16 odr) > +{ > + const struct st_lsm6dsx_ext_dev_settings *settings; > + u16 val; > + int err; > + > + err = st_lsm6dsx_shub_get_odr_val(sensor, odr, &val); > + if (err < 0) > + return err; > + > + settings = sensor->ext_info.settings; > + return st_lsm6dsx_shub_write_with_mask(sensor, > + settings->odr_table.reg.addr, > + settings->odr_table.reg.mask, > + val); > +} > + > +int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable) > +{ > + const struct st_lsm6dsx_ext_dev_settings *settings; > + int err; > + > + settings = sensor->ext_info.settings; > + if (enable) { > + err = st_lsm6dsx_shub_set_odr(sensor, sensor->odr); > + if (err < 0) > + return err; > + } else { > + err = st_lsm6dsx_shub_write_with_mask(sensor, > + settings->odr_table.reg.addr, > + settings->odr_table.reg.mask, 0); > + if (err < 0) > + return err; > + } > + > + if (settings->pwr_table.reg.addr) { > + u8 val; > + > + val = enable ? settings->pwr_table.on_val > + : settings->pwr_table.off_val; > + err = st_lsm6dsx_shub_write_with_mask(sensor, > + settings->pwr_table.reg.addr, > + settings->pwr_table.reg.mask, val); > + if (err < 0) > + return err; > + } > + > + return st_lsm6dsx_shub_master_enable(sensor, enable); > +} > + > +static int > +st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor, > + struct iio_chan_spec const *ch, > + int *val) > +{ > + int err, delay, len = ch->scan_type.realbits >> 3; > + __le32 data; > + > + err = st_lsm6dsx_shub_set_enable(sensor, true); > + if (err < 0) > + return err; > + > + delay = 1000000 / sensor->odr; > + usleep_range(delay, 2 * delay); > + > + err = st_lsm6dsx_shub_read(sensor, ch->address, (u8 *)&data, len); > + if (err < 0) > + return err; > + > + st_lsm6dsx_shub_set_enable(sensor, false); > + > + switch (len) { > + case 2: > + *val = (s16)le16_to_cpu(data); > + break; > + default: > + return -EINVAL; > + } > + > + return IIO_VAL_INT; > +} > + > +static int > +st_lsm6dsx_shub_read_raw(struct iio_dev *iio_dev, > + struct iio_chan_spec const *ch, > + int *val, int *val2, long mask) > +{ > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); > + int ret; > + > + switch (mask) { > + case IIO_CHAN_INFO_RAW: > + ret = iio_device_claim_direct_mode(iio_dev); > + if (ret) > + break; > + > + ret = st_lsm6dsx_shub_read_oneshot(sensor, ch, val); > + iio_device_release_direct_mode(iio_dev); > + break; > + case IIO_CHAN_INFO_SAMP_FREQ: > + *val = sensor->odr; > + ret = IIO_VAL_INT; > + break; > + case IIO_CHAN_INFO_SCALE: > + *val = 0; > + *val2 = sensor->gain; > + ret = IIO_VAL_INT_PLUS_MICRO; > + break; > + default: > + ret = -EINVAL; > + break; > + } > + > + return ret; > +} > + > +static int > +st_lsm6dsx_shub_write_raw(struct iio_dev *iio_dev, > + struct iio_chan_spec const *chan, > + int val, int val2, long mask) > +{ > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); > + int err; > + > + err = iio_device_claim_direct_mode(iio_dev); > + if (err) > + return err; > + > + switch (mask) { > + case IIO_CHAN_INFO_SAMP_FREQ: { > + u16 data; > + > + err = st_lsm6dsx_shub_get_odr_val(sensor, val, &data); > + if (!err) > + sensor->odr = val; > + break; > + } > + default: > + err = -EINVAL; > + break; > + } > + > + iio_device_release_direct_mode(iio_dev); > + > + return err; > +} > + > +static ssize_t > +st_lsm6dsx_shub_sampling_freq_avail(struct device *dev, > + struct device_attribute *attr, > + char *buf) > +{ > + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); > + const struct st_lsm6dsx_ext_dev_settings *settings; > + int i, len = 0; > + > + settings = sensor->ext_info.settings; > + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) { > + u16 val = settings->odr_table.odr_avl[i].hz; > + > + if (val > 0) > + len += scnprintf(buf + len, PAGE_SIZE - len, "%d ", > + val); > + } > + buf[len - 1] = '\n'; > + > + return len; > +} > + > +static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev, > + struct device_attribute *attr, > + char *buf) > +{ > + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); > + const struct st_lsm6dsx_ext_dev_settings *settings; > + int i, len = 0; > + > + settings = sensor->ext_info.settings; > + for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) { > + u16 val = settings->fs_table.fs_avl[i].gain; > + > + if (val > 0) > + len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ", > + val); > + } > + buf[len - 1] = '\n'; > + > + return len; > +} > + > +static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail); > +static IIO_DEVICE_ATTR(in_ext_scale_available, 0444, > + st_lsm6dsx_shub_scale_avail, NULL, 0); > +static struct attribute *st_lsm6dsx_ext_attributes[] = { > + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, > + &iio_dev_attr_in_ext_scale_available.dev_attr.attr, What's this abi element? > + NULL, > +}; > + > +static const struct attribute_group st_lsm6dsx_ext_attribute_group = { > + .attrs = st_lsm6dsx_ext_attributes, > +}; > + > +static const struct iio_info st_lsm6dsx_ext_info = { > + .attrs = &st_lsm6dsx_ext_attribute_group, > + .read_raw = st_lsm6dsx_shub_read_raw, > + .write_raw = st_lsm6dsx_shub_write_raw, > + .hwfifo_set_watermark = st_lsm6dsx_set_watermark, > +}; > + > +static struct iio_dev * > +st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw, > + enum st_lsm6dsx_sensor_id id, > + const struct st_lsm6dsx_ext_dev_settings *info, > + u8 i2c_addr, const char *name) > +{ > + struct iio_chan_spec *ext_channels; > + struct st_lsm6dsx_sensor *sensor; > + struct iio_dev *iio_dev; > + > + iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor)); > + if (!iio_dev) > + return NULL; > + > + iio_dev->modes = INDIO_DIRECT_MODE; > + iio_dev->dev.parent = hw->dev; > + iio_dev->info = &st_lsm6dsx_ext_info; > + > + sensor = iio_priv(iio_dev); > + sensor->id = id; > + sensor->hw = hw; > + sensor->odr = info->odr_table.odr_avl[0].hz; > + sensor->gain = info->fs_table.fs_avl[0].gain; > + sensor->ext_info.settings = info; > + sensor->ext_info.addr = i2c_addr; > + sensor->watermark = 1; > + > + switch (info->id) { > + case ST_LSM6DSX_ID_MAGN: { > + const struct iio_chan_spec magn_channels[] = { > + ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr, > + IIO_MOD_X, 0), > + ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 2, > + IIO_MOD_Y, 1), > + ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 4, > + IIO_MOD_Z, 2), > + IIO_CHAN_SOFT_TIMESTAMP(3), > + }; > + > + ext_channels = devm_kzalloc(hw->dev, sizeof(magn_channels), > + GFP_KERNEL); > + if (!ext_channels) > + return NULL; > + > + memcpy(ext_channels, magn_channels, sizeof(magn_channels)); > + iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks; > + iio_dev->channels = ext_channels; > + iio_dev->num_channels = ARRAY_SIZE(magn_channels); > + > + scnprintf(sensor->name, sizeof(sensor->name), "%s_magn", > + name); > + break; > + } > + default: > + return NULL; > + } > + iio_dev->name = sensor->name; > + > + return iio_dev; > +} > + > +static int st_lsm6dsx_shub_init_device(struct st_lsm6dsx_sensor *sensor) > +{ > + const struct st_lsm6dsx_ext_dev_settings *settings; > + int err = 0; > + > + settings = sensor->ext_info.settings; > + if (settings->bdu.addr) { > + err = st_lsm6dsx_shub_write_with_mask(sensor, > + settings->bdu.addr, > + settings->bdu.mask, 1); > + if (err < 0) > + return err; > + } > + > + if (settings->temp_comp.addr) { > + err = st_lsm6dsx_shub_write_with_mask(sensor, > + settings->temp_comp.addr, > + settings->temp_comp.mask, 1); > + if (err < 0) > + return err; > + } > + > + if (settings->off_canc.addr) > + err = st_lsm6dsx_shub_write_with_mask(sensor, > + settings->off_canc.addr, > + settings->off_canc.mask, 1); Return directly from this last command and return 0 perhaps below? That drops the need to initialize err as well. Doesn't matter though if you prefer it this way! > + > + return err; > +} > + > +int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name) > +{ > + const struct st_lsm6dsx_shub_settings *hub_settings; > + const struct st_lsm6dsx_ext_dev_settings *settings; > + enum st_lsm6dsx_sensor_id id = ST_LSM6DSX_ID_EXT0; > + struct st_lsm6dsx_sensor *acc_sensor, *sensor; > + int err, i, j, num_ext_dev = 0; > + u8 config[3], data, slv_addr; > + > + acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); > + hub_settings = &hw->settings->shub_settings; > + slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr); > + > + while (i < ARRAY_SIZE(st_lsm6dsx_ext_dev_table) && > + num_ext_dev < ST_LSM6DSX_MAX_SLV_NUM) { > + settings = &st_lsm6dsx_ext_dev_table[i]; Might be better as a for loop as then you'll have the loop increment nice and obvious up here. Perhaps just break separately for the num_ext_dev rather than having it as the loop condition? > + > + for (j = 0; j < ARRAY_SIZE(settings->i2c_addr); j++) { This is getting very deeply nested and perhaps worth pulling out to a utility function? I haven't checked just how many parameters that would have though so perhaps not... Could also reduce the scope of a few variables such as config by pulling it in the for loop I think. > + if (!settings->i2c_addr[j]) > + continue; > + > + /* read wai slave register */ > + config[0] = (settings->i2c_addr[j] << 1) | 0x1; > + config[1] = settings->wai.addr; > + config[2] = 0x1; > + > + err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, > + sizeof(config)); > + if (err < 0) > + return err; > + > + err = st_lsm6dsx_shub_master_enable(acc_sensor, true); > + if (err < 0) > + return err; > + > + st_lsm6dsx_shub_wait_complete(hw); > + > + err = st_lsm6dsx_shub_read_reg(hw, > + hub_settings->shub_out, > + &data, sizeof(data)); > + > + st_lsm6dsx_shub_master_enable(acc_sensor, false); > + > + if (err < 0) > + return err; > + > + if (data != settings->wai.val) > + continue; > + > + hw->iio_devs[id] = st_lsm6dsx_shub_alloc_iiodev(hw, > + id, settings, > + settings->i2c_addr[j], > + name); > + if (!hw->iio_devs[id]) > + return -ENOMEM; > + > + sensor = iio_priv(hw->iio_devs[id]); > + err = st_lsm6dsx_shub_init_device(sensor); > + if (err < 0) > + return err; > + > + num_ext_dev++; > + id++; > + break; > + } > + i++; > + } > + > + memset(config, 0, sizeof(config)); > + return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, > + sizeof(config)); > +} > diff --git a/include/linux/platform_data/st_sensors_pdata.h b/include/linux/platform_data/st_sensors_pdata.h > index f8274b0c6888..728193111c2f 100644 > --- a/include/linux/platform_data/st_sensors_pdata.h > +++ b/include/linux/platform_data/st_sensors_pdata.h > @@ -18,11 +18,13 @@ > * Accelerometer DRDY on LSM330 available only on pin 1 (see datasheet). > * @open_drain: set the interrupt line to be open drain if possible. > * @spi_3wire: enable spi-3wire mode. > + * @pullups: enable/disable i2c controller pullup resistors. > */ > struct st_sensors_platform_data { > u8 drdy_int_pin; > bool open_drain; > bool spi_3wire; > + bool pullups; > }; > > #endif /* ST_SENSORS_PDATA_H */
> > On Sun, 4 Nov 2018 15:39:04 +0100 > Lorenzo Bianconi <lorenzo.bianconi@redhat.com> wrote: > > > 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 > > > > Signed-off-by: Lorenzo Bianconi <lorenzo.bianconi@redhat.com> > > I'd completely forgotten how this driver did the multiple device registration > so this had me completely confused initially ;) > > Perhaps just state here that the result is an entirely separate apparent device > and what it's functionality is at this point in the patch set? > ack, will do in v2 > A few minor comments inline. This looks like it is coming together quite > nicely to me. > Thx :). I will address your comments in v2, just one question inline. Regards, Lorenzo > Jonathan > > > --- > > drivers/iio/imu/st_lsm6dsx/Makefile | 3 +- > > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 112 +++ > > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 135 ++-- > > drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c | 677 ++++++++++++++++++ > > .../linux/platform_data/st_sensors_pdata.h | 2 + > > 5 files changed, 886 insertions(+), 43 deletions(-) > > create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c > > > > diff --git a/drivers/iio/imu/st_lsm6dsx/Makefile b/drivers/iio/imu/st_lsm6dsx/Makefile > > index 35919febea2a..e5f733ce6e11 100644 > > --- a/drivers/iio/imu/st_lsm6dsx/Makefile > > +++ b/drivers/iio/imu/st_lsm6dsx/Makefile > > @@ -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 > > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > > index 2beb4f563892..d20746eb3d2d 100644 > > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h > > @@ -43,6 +43,24 @@ 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; > > @@ -50,6 +68,28 @@ struct st_lsm6dsx_reg { > > > > 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. > > @@ -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. > > @@ -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; > > @@ -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 { > > @@ -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]; > > @@ -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; > > }; > > > > /** > > @@ -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, > > @@ -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, > > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > > index f2549ddfee20..463859f287da 100644 > > --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c > > @@ -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 = { > > @@ -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 = { > > @@ -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), > > @@ -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; > > @@ -728,8 +724,6 @@ 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; > > @@ -768,6 +762,51 @@ 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; > > @@ -846,6 +885,10 @@ 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); > > } > > > > @@ -899,6 +942,7 @@ 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; > > > > @@ -934,6 +978,13 @@ 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) > > diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c > > new file mode 100644 > > index 000000000000..b37f9dbdad17 > > --- /dev/null > > +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c > > @@ -0,0 +1,677 @@ > > +/* > > + * STMicroelectronics st_lsm6dsx i2c controller driver > > + * > > + * i2c controller embedded in lsm6dx series can connect up to four > > + * slave devices using accelerometer sensor as trigger for i2c > > + * read/write operations. Current implementation use SLV0 for slave > > + * configuration and SLV{1,2,3} to read data and push them into the > > + * hw FIFO > > + * > > + * Copyright (C) 2018 Lorenzo Bianconi <lorenzo.bianconi83@gmail.com> > > + * > > + * Permission to use, copy, modify, and/or distribute this software for any > > + * purpose with or without fee is hereby granted, provided that the above > > + * copyright notice and this permission notice appear in all copies. > > + * > > + * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES > > + * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF > > + * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR > > + * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES > > + * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN > > + * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF > > + * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. > > + * > > + */ > > +#include <linux/module.h> > > +#include <linux/regmap.h> > > +#include <linux/iio/iio.h> > > +#include <linux/iio/sysfs.h> > > +#include <linux/bitfield.h> > > + > > +#include "st_lsm6dsx.h" > > + > > +#define ST_LSM6DSX_MAX_SLV_NUM 3 > > +#define ST_LSM6DSX_SLV_ADDR(n, base) ((base) + (n) * 3) > > +#define ST_LSM6DSX_SLV_SUB_ADDR(n, base) ((base) + 1 + (n) * 3) > > +#define ST_LSM6DSX_SLV_CONFIG(n, base) ((base) + 2 + (n) * 3) > > + > > +#define ST_LS6DSX_READ_OP_MASK GENMASK(2, 0) > > + > > +static const struct st_lsm6dsx_ext_dev_settings st_lsm6dsx_ext_dev_table[] = { > > + /* LIS2MDL */ > > + { > > + .i2c_addr = { 0x1e }, > > + .wai = { > > + .addr = 0x4f, > > + .val = 0x40, > > + }, > > + .id = ST_LSM6DSX_ID_MAGN, > > + .odr_table = { > > + .reg = { > > + .addr = 0x60, > > + .mask = GENMASK(3, 2), > > + }, > > + .odr_avl[0] = { 10, 0x0 }, > > + .odr_avl[1] = { 20, 0x1 }, > > + .odr_avl[2] = { 50, 0x2 }, > > + .odr_avl[3] = { 100, 0x3 }, > > + }, > > + .fs_table = { > > + .fs_avl[0] = { > > + .gain = 1500, > > + .val = 0x0, > > + }, /* 1500 uG/LSB */ > > + }, > > + .temp_comp = { > > + .addr = 0x60, > > + .mask = BIT(7), > > + }, > > + .pwr_table = { > > + .reg = { > > + .addr = 0x60, > > + .mask = GENMASK(1, 0), > > + }, > > + .off_val = 0x2, > > + .on_val = 0x0, > > + }, > > + .off_canc = { > > + .addr = 0x61, > > + .mask = BIT(1), > > + }, > > + .bdu = { > > + .addr = 0x62, > > + .mask = BIT(4), > > + }, > > + .out = { > > + .addr = 0x68, > > + .len = 6, > > + }, > > + }, > > +}; > > + > > +static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw) > > +{ > > + struct st_lsm6dsx_sensor *sensor; > > + > > + sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); > > + msleep((2000U / sensor->odr) + 1); > > +} > > + > > +/** > > + * st_lsm6dsx_shub_read_reg - read i2c controller register > > + * > > + * Read st_lsm6dsx i2c controller register > > + */ > > +static int st_lsm6dsx_shub_read_reg(struct st_lsm6dsx_hw *hw, u8 addr, > > + u8 *data, int len) > > +{ > > + const struct st_lsm6dsx_shub_settings *hub_settings; > > + int err; > > + > > + mutex_lock(&hw->page_lock); > > + > > + hub_settings = &hw->settings->shub_settings; > > + err = st_lsm6dsx_set_page(hw, true); > > + if (err < 0) > > + goto out; > > + > > + err = regmap_bulk_read(hw->regmap, addr, data, len); > > + > > + st_lsm6dsx_set_page(hw, false); > > +out: > > + mutex_unlock(&hw->page_lock); > > + > > + return err; > > +} > > + > > +/** > > + * st_lsm6dsx_shub_write_reg - write i2c controller register > > + * > > + * Write st_lsm6dsx i2c controller register > > + */ > > +static int st_lsm6dsx_shub_write_reg(struct st_lsm6dsx_hw *hw, u8 addr, > > + u8 *data, int len) > > +{ > > + int err; > > + > > + mutex_lock(&hw->page_lock); > > + err = st_lsm6dsx_set_page(hw, true); > > + if (err < 0) > > + goto out; > > + > > + err = regmap_bulk_write(hw->regmap, addr, data, len); > > + > > + st_lsm6dsx_set_page(hw, false); > > +out: > > + mutex_unlock(&hw->page_lock); > > + > > + return err; > > +} > > + > > +static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor, > > + bool enable) > > +{ > > + const struct st_lsm6dsx_shub_settings *hub_settings; > > + struct st_lsm6dsx_hw *hw = sensor->hw; > > + unsigned int data; > > + int err; > > + > > + /* enable acc sensor as trigger */ > > + err = st_lsm6dsx_sensor_set_enable(sensor, enable); > > + if (err < 0) > > + return err; > > + > > + mutex_lock(&hw->page_lock); > > + > > + hub_settings = &hw->settings->shub_settings; > > + err = st_lsm6dsx_set_page(hw, true); > > + if (err < 0) > > + goto out; > > + > > + data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->master_en.mask); > > + err = regmap_update_bits(hw->regmap, hub_settings->master_en.addr, > > + hub_settings->master_en.mask, data); > > + > > + st_lsm6dsx_set_page(hw, false); > > +out: > > + mutex_unlock(&hw->page_lock); > > + > > + return err; > > +} > > + > > +/** > > + * st_lsm6dsx_shub_read - read data from slave device register > > + * > > + * Read data from slave device register. SLV0 is used for > > + * one-shot read operation > > + */ > > +static int > > +st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr, > > + u8 *data, int len) > > +{ > > + const struct st_lsm6dsx_shub_settings *hub_settings; > > + struct st_lsm6dsx_hw *hw = sensor->hw; > > + u8 config[3], slv_addr; > > + int err; > > + > > + hub_settings = &hw->settings->shub_settings; > > + slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr); > > + > > + config[0] = (sensor->ext_info.addr << 1) | 1; > > + config[1] = addr; > > + config[2] = len & ST_LS6DSX_READ_OP_MASK; > > + > > + err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, > > + sizeof(config)); > > + if (err < 0) > > + return err; > > + > > + err = st_lsm6dsx_shub_master_enable(sensor, true); > > + if (err < 0) > > + return err; > > + > > + st_lsm6dsx_shub_wait_complete(hw); > > + > > + err = st_lsm6dsx_shub_read_reg(hw, hub_settings->shub_out, data, > > + len & ST_LS6DSX_READ_OP_MASK); > > + > > + st_lsm6dsx_shub_master_enable(sensor, false); > > + > > + memset(config, 0, sizeof(config)); > > + return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, > > + sizeof(config)); > > +} > > + > > +/** > > + * st_lsm6dsx_shub_write - write data to slave device register > > + * > > + * Write data from slave device register. SLV0 is used for > > + * one-shot write operation > > + */ > > +static int > > +st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr, > > + u8 *data, int len) > > +{ > > + const struct st_lsm6dsx_shub_settings *hub_settings; > > + struct st_lsm6dsx_hw *hw = sensor->hw; > > + u8 config[2], slv_addr; > > + int err, i; > > + > > + hub_settings = &hw->settings->shub_settings; > > + slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr); > > + config[0] = sensor->ext_info.addr << 1; > > + for (i = 0 ; i < len; i++) { > > + config[1] = addr + i; > > + > > + err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, > > + sizeof(config)); > > + if (err < 0) > > + return err; > > + > > + err = st_lsm6dsx_shub_write_reg(hw, hub_settings->dw_slv0_addr, > > + &data[i], 1); > > + if (err < 0) > > + return err; > > + > > + err = st_lsm6dsx_shub_master_enable(sensor, true); > > + if (err < 0) > > + return err; > > + > > + st_lsm6dsx_shub_wait_complete(hw); > > + > > + st_lsm6dsx_shub_master_enable(sensor, false); > > + } > > + > > + memset(config, 0, sizeof(config)); > > + return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config)); > > +} > > + > > +static int > > +st_lsm6dsx_shub_write_with_mask(struct st_lsm6dsx_sensor *sensor, > > + u8 addr, u8 mask, u8 val) > > +{ > > + int err; > > + u8 data; > > + > > + err = st_lsm6dsx_shub_read(sensor, addr, &data, sizeof(data)); > > + if (err < 0) > > + return err; > > + > > + data = ((data & ~mask) | (val << __ffs(mask) & mask)); > > + > > + return st_lsm6dsx_shub_write(sensor, addr, &data, sizeof(data)); > > +} > > + > > +static int > > +st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor, > > + u16 odr, u16 *val) > > +{ > > + const struct st_lsm6dsx_ext_dev_settings *settings; > > + int i; > > + > > + settings = sensor->ext_info.settings; > > + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) > > + if (settings->odr_table.odr_avl[i].hz == odr) > > + break; > > + > > + if (i == ST_LSM6DSX_ODR_LIST_SIZE) > > + return -EINVAL; > > + > > + *val = settings->odr_table.odr_avl[i].val; > > + return 0; > > +} > > + > > +static int > > +st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u16 odr) > > +{ > > + const struct st_lsm6dsx_ext_dev_settings *settings; > > + u16 val; > > + int err; > > + > > + err = st_lsm6dsx_shub_get_odr_val(sensor, odr, &val); > > + if (err < 0) > > + return err; > > + > > + settings = sensor->ext_info.settings; > > + return st_lsm6dsx_shub_write_with_mask(sensor, > > + settings->odr_table.reg.addr, > > + settings->odr_table.reg.mask, > > + val); > > +} > > + > > +int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable) > > +{ > > + const struct st_lsm6dsx_ext_dev_settings *settings; > > + int err; > > + > > + settings = sensor->ext_info.settings; > > + if (enable) { > > + err = st_lsm6dsx_shub_set_odr(sensor, sensor->odr); > > + if (err < 0) > > + return err; > > + } else { > > + err = st_lsm6dsx_shub_write_with_mask(sensor, > > + settings->odr_table.reg.addr, > > + settings->odr_table.reg.mask, 0); > > + if (err < 0) > > + return err; > > + } > > + > > + if (settings->pwr_table.reg.addr) { > > + u8 val; > > + > > + val = enable ? settings->pwr_table.on_val > > + : settings->pwr_table.off_val; > > + err = st_lsm6dsx_shub_write_with_mask(sensor, > > + settings->pwr_table.reg.addr, > > + settings->pwr_table.reg.mask, val); > > + if (err < 0) > > + return err; > > + } > > + > > + return st_lsm6dsx_shub_master_enable(sensor, enable); > > +} > > + > > +static int > > +st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor, > > + struct iio_chan_spec const *ch, > > + int *val) > > +{ > > + int err, delay, len = ch->scan_type.realbits >> 3; > > + __le32 data; > > + > > + err = st_lsm6dsx_shub_set_enable(sensor, true); > > + if (err < 0) > > + return err; > > + > > + delay = 1000000 / sensor->odr; > > + usleep_range(delay, 2 * delay); > > + > > + err = st_lsm6dsx_shub_read(sensor, ch->address, (u8 *)&data, len); > > + if (err < 0) > > + return err; > > + > > + st_lsm6dsx_shub_set_enable(sensor, false); > > + > > + switch (len) { > > + case 2: > > + *val = (s16)le16_to_cpu(data); > > + break; > > + default: > > + return -EINVAL; > > + } > > + > > + return IIO_VAL_INT; > > +} > > + > > +static int > > +st_lsm6dsx_shub_read_raw(struct iio_dev *iio_dev, > > + struct iio_chan_spec const *ch, > > + int *val, int *val2, long mask) > > +{ > > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); > > + int ret; > > + > > + switch (mask) { > > + case IIO_CHAN_INFO_RAW: > > + ret = iio_device_claim_direct_mode(iio_dev); > > + if (ret) > > + break; > > + > > + ret = st_lsm6dsx_shub_read_oneshot(sensor, ch, val); > > + iio_device_release_direct_mode(iio_dev); > > + break; > > + case IIO_CHAN_INFO_SAMP_FREQ: > > + *val = sensor->odr; > > + ret = IIO_VAL_INT; > > + break; > > + case IIO_CHAN_INFO_SCALE: > > + *val = 0; > > + *val2 = sensor->gain; > > + ret = IIO_VAL_INT_PLUS_MICRO; > > + break; > > + default: > > + ret = -EINVAL; > > + break; > > + } > > + > > + return ret; > > +} > > + > > +static int > > +st_lsm6dsx_shub_write_raw(struct iio_dev *iio_dev, > > + struct iio_chan_spec const *chan, > > + int val, int val2, long mask) > > +{ > > + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); > > + int err; > > + > > + err = iio_device_claim_direct_mode(iio_dev); > > + if (err) > > + return err; > > + > > + switch (mask) { > > + case IIO_CHAN_INFO_SAMP_FREQ: { > > + u16 data; > > + > > + err = st_lsm6dsx_shub_get_odr_val(sensor, val, &data); > > + if (!err) > > + sensor->odr = val; > > + break; > > + } > > + default: > > + err = -EINVAL; > > + break; > > + } > > + > > + iio_device_release_direct_mode(iio_dev); > > + > > + return err; > > +} > > + > > +static ssize_t > > +st_lsm6dsx_shub_sampling_freq_avail(struct device *dev, > > + struct device_attribute *attr, > > + char *buf) > > +{ > > + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); > > + const struct st_lsm6dsx_ext_dev_settings *settings; > > + int i, len = 0; > > + > > + settings = sensor->ext_info.settings; > > + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) { > > + u16 val = settings->odr_table.odr_avl[i].hz; > > + > > + if (val > 0) > > + len += scnprintf(buf + len, PAGE_SIZE - len, "%d ", > > + val); > > + } > > + buf[len - 1] = '\n'; > > + > > + return len; > > +} > > + > > +static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev, > > + struct device_attribute *attr, > > + char *buf) > > +{ > > + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); > > + const struct st_lsm6dsx_ext_dev_settings *settings; > > + int i, len = 0; > > + > > + settings = sensor->ext_info.settings; > > + for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) { > > + u16 val = settings->fs_table.fs_avl[i].gain; > > + > > + if (val > 0) > > + len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ", > > + val); > > + } > > + buf[len - 1] = '\n'; > > + > > + return len; > > +} > > + > > +static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail); > > +static IIO_DEVICE_ATTR(in_ext_scale_available, 0444, > > + st_lsm6dsx_shub_scale_avail, NULL, 0); > > +static struct attribute *st_lsm6dsx_ext_attributes[] = { > > + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, > > + &iio_dev_attr_in_ext_scale_available.dev_attr.attr, > > What's this abi element? > what do you mean here? I did not get you sorry :) > > + NULL, > > +}; > > + > > +static const struct attribute_group st_lsm6dsx_ext_attribute_group = { > > + .attrs = st_lsm6dsx_ext_attributes, > > +}; > > + > > +static const struct iio_info st_lsm6dsx_ext_info = { > > + .attrs = &st_lsm6dsx_ext_attribute_group, > > + .read_raw = st_lsm6dsx_shub_read_raw, > > + .write_raw = st_lsm6dsx_shub_write_raw, > > + .hwfifo_set_watermark = st_lsm6dsx_set_watermark, > > +}; > > + > > +static struct iio_dev * > > +st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw, > > + enum st_lsm6dsx_sensor_id id, > > + const struct st_lsm6dsx_ext_dev_settings *info, > > + u8 i2c_addr, const char *name) > > +{ > > + struct iio_chan_spec *ext_channels; > > + struct st_lsm6dsx_sensor *sensor; > > + struct iio_dev *iio_dev; > > + > > + iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor)); > > + if (!iio_dev) > > + return NULL; > > + > > + iio_dev->modes = INDIO_DIRECT_MODE; > > + iio_dev->dev.parent = hw->dev; > > + iio_dev->info = &st_lsm6dsx_ext_info; > > + > > + sensor = iio_priv(iio_dev); > > + sensor->id = id; > > + sensor->hw = hw; > > + sensor->odr = info->odr_table.odr_avl[0].hz; > > + sensor->gain = info->fs_table.fs_avl[0].gain; > > + sensor->ext_info.settings = info; > > + sensor->ext_info.addr = i2c_addr; > > + sensor->watermark = 1; > > + > > + switch (info->id) { > > + case ST_LSM6DSX_ID_MAGN: { > > + const struct iio_chan_spec magn_channels[] = { > > + ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr, > > + IIO_MOD_X, 0), > > + ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 2, > > + IIO_MOD_Y, 1), > > + ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 4, > > + IIO_MOD_Z, 2), > > + IIO_CHAN_SOFT_TIMESTAMP(3), > > + }; > > + > > + ext_channels = devm_kzalloc(hw->dev, sizeof(magn_channels), > > + GFP_KERNEL); > > + if (!ext_channels) > > + return NULL; > > + > > + memcpy(ext_channels, magn_channels, sizeof(magn_channels)); > > + iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks; > > + iio_dev->channels = ext_channels; > > + iio_dev->num_channels = ARRAY_SIZE(magn_channels); > > + > > + scnprintf(sensor->name, sizeof(sensor->name), "%s_magn", > > + name); > > + break; > > + } > > + default: > > + return NULL; > > + } > > + iio_dev->name = sensor->name; > > + > > + return iio_dev; > > +} > > + > > +static int st_lsm6dsx_shub_init_device(struct st_lsm6dsx_sensor *sensor) > > +{ > > + const struct st_lsm6dsx_ext_dev_settings *settings; > > + int err = 0; > > + > > + settings = sensor->ext_info.settings; > > + if (settings->bdu.addr) { > > + err = st_lsm6dsx_shub_write_with_mask(sensor, > > + settings->bdu.addr, > > + settings->bdu.mask, 1); > > + if (err < 0) > > + return err; > > + } > > + > > + if (settings->temp_comp.addr) { > > + err = st_lsm6dsx_shub_write_with_mask(sensor, > > + settings->temp_comp.addr, > > + settings->temp_comp.mask, 1); > > + if (err < 0) > > + return err; > > + } > > + > > + if (settings->off_canc.addr) > > + err = st_lsm6dsx_shub_write_with_mask(sensor, > > + settings->off_canc.addr, > > + settings->off_canc.mask, 1); > Return directly from this last command and return 0 perhaps below? > > That drops the need to initialize err as well. > > Doesn't matter though if you prefer it this way! > > + > > + return err; > > +} > > + > > +int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name) > > +{ > > + const struct st_lsm6dsx_shub_settings *hub_settings; > > + const struct st_lsm6dsx_ext_dev_settings *settings; > > + enum st_lsm6dsx_sensor_id id = ST_LSM6DSX_ID_EXT0; > > + struct st_lsm6dsx_sensor *acc_sensor, *sensor; > > + int err, i, j, num_ext_dev = 0; > > + u8 config[3], data, slv_addr; > > + > > + acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); > > + hub_settings = &hw->settings->shub_settings; > > + slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr); > > + > > + while (i < ARRAY_SIZE(st_lsm6dsx_ext_dev_table) && > > + num_ext_dev < ST_LSM6DSX_MAX_SLV_NUM) { > > + settings = &st_lsm6dsx_ext_dev_table[i]; > Might be better as a for loop as then you'll have the loop > increment nice and obvious up here. Perhaps just break separately > for the num_ext_dev rather than having it as the loop condition? > > > > + > > + for (j = 0; j < ARRAY_SIZE(settings->i2c_addr); j++) { > This is getting very deeply nested and perhaps worth pulling out to a utility > function? I haven't checked just how many parameters that would have > though so perhaps not... > > Could also reduce the scope of a few variables such as config by > pulling it in the for loop I think. > > > + if (!settings->i2c_addr[j]) > > + continue; > > + > > + /* read wai slave register */ > > + config[0] = (settings->i2c_addr[j] << 1) | 0x1; > > + config[1] = settings->wai.addr; > > + config[2] = 0x1; > > + > > + err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, > > + sizeof(config)); > > + if (err < 0) > > + return err; > > + > > + err = st_lsm6dsx_shub_master_enable(acc_sensor, true); > > + if (err < 0) > > + return err; > > + > > + st_lsm6dsx_shub_wait_complete(hw); > > + > > + err = st_lsm6dsx_shub_read_reg(hw, > > + hub_settings->shub_out, > > + &data, sizeof(data)); > > + > > + st_lsm6dsx_shub_master_enable(acc_sensor, false); > > + > > + if (err < 0) > > + return err; > > + > > + if (data != settings->wai.val) > > + continue; > > + > > + hw->iio_devs[id] = st_lsm6dsx_shub_alloc_iiodev(hw, > > + id, settings, > > + settings->i2c_addr[j], > > + name); > > + if (!hw->iio_devs[id]) > > + return -ENOMEM; > > + > > + sensor = iio_priv(hw->iio_devs[id]); > > + err = st_lsm6dsx_shub_init_device(sensor); > > + if (err < 0) > > + return err; > > + > > + num_ext_dev++; > > + id++; > > + break; > > + } > > + i++; > > + } > > + > > + memset(config, 0, sizeof(config)); > > + return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, > > + sizeof(config)); > > +} > > diff --git a/include/linux/platform_data/st_sensors_pdata.h b/include/linux/platform_data/st_sensors_pdata.h > > index f8274b0c6888..728193111c2f 100644 > > --- a/include/linux/platform_data/st_sensors_pdata.h > > +++ b/include/linux/platform_data/st_sensors_pdata.h > > @@ -18,11 +18,13 @@ > > * Accelerometer DRDY on LSM330 available only on pin 1 (see datasheet). > > * @open_drain: set the interrupt line to be open drain if possible. > > * @spi_3wire: enable spi-3wire mode. > > + * @pullups: enable/disable i2c controller pullup resistors. > > */ > > struct st_sensors_platform_data { > > u8 drdy_int_pin; > > bool open_drain; > > bool spi_3wire; > > + bool pullups; > > }; > > > > #endif /* ST_SENSORS_PDATA_H */ >
On Sun, 4 Nov 2018 19:00:39 +0100 Lorenzo Bianconi <lorenzo.bianconi@redhat.com> wrote: > > > > On Sun, 4 Nov 2018 15:39:04 +0100 > > Lorenzo Bianconi <lorenzo.bianconi@redhat.com> wrote: > > > > > 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 > > > > > > Signed-off-by: Lorenzo Bianconi <lorenzo.bianconi@redhat.com> > > > > I'd completely forgotten how this driver did the multiple device registration > > so this had me completely confused initially ;) > > > > Perhaps just state here that the result is an entirely separate apparent device > > and what it's functionality is at this point in the patch set? > > > > ack, will do in v2 > > > A few minor comments inline. This looks like it is coming together quite > > nicely to me. > > > > Thx :). I will address your comments in v2, just one question inline. > Regards, > > Lorenzo > > > Jonathan ... > > > + > > > +static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev, > > > + struct device_attribute *attr, > > > + char *buf) > > > +{ > > > + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); > > > + const struct st_lsm6dsx_ext_dev_settings *settings; > > > + int i, len = 0; > > > + > > > + settings = sensor->ext_info.settings; > > > + for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) { > > > + u16 val = settings->fs_table.fs_avl[i].gain; > > > + > > > + if (val > 0) > > > + len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ", > > > + val); > > > + } > > > + buf[len - 1] = '\n'; > > > + > > > + return len; > > > +} > > > + > > > +static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail); > > > +static IIO_DEVICE_ATTR(in_ext_scale_available, 0444, > > > + st_lsm6dsx_shub_scale_avail, NULL, 0); > > > +static struct attribute *st_lsm6dsx_ext_attributes[] = { > > > + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, > > > + &iio_dev_attr_in_ext_scale_available.dev_attr.attr, > > > > What's this abi element? > > > > what do you mean here? I did not get you sorry :) > Seems to be creating a sysfs file called in_ext_scale_available which I don't think is documented anywhere? Intent was probably in_scale_available? Or maybe in_magn_scale_available?
> > On Sun, 4 Nov 2018 19:00:39 +0100 > Lorenzo Bianconi <lorenzo.bianconi@redhat.com> wrote: > > > > > > > On Sun, 4 Nov 2018 15:39:04 +0100 > > > Lorenzo Bianconi <lorenzo.bianconi@redhat.com> wrote: > > > > > > > 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 > > > > > > > > Signed-off-by: Lorenzo Bianconi <lorenzo.bianconi@redhat.com> > > > > > > I'd completely forgotten how this driver did the multiple device registration > > > so this had me completely confused initially ;) > > > > > > Perhaps just state here that the result is an entirely separate apparent device > > > and what it's functionality is at this point in the patch set? > > > > > > > ack, will do in v2 > > > > > A few minor comments inline. This looks like it is coming together quite > > > nicely to me. > > > > > > > Thx :). I will address your comments in v2, just one question inline. > > Regards, > > > > Lorenzo > > > > > Jonathan > ... > > > > + > > > > +static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev, > > > > + struct device_attribute *attr, > > > > + char *buf) > > > > +{ > > > > + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); > > > > + const struct st_lsm6dsx_ext_dev_settings *settings; > > > > + int i, len = 0; > > > > + > > > > + settings = sensor->ext_info.settings; > > > > + for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) { > > > > + u16 val = settings->fs_table.fs_avl[i].gain; > > > > + > > > > + if (val > 0) > > > > + len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ", > > > > + val); > > > > + } > > > > + buf[len - 1] = '\n'; > > > > + > > > > + return len; > > > > +} > > > > + > > > > +static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail); > > > > +static IIO_DEVICE_ATTR(in_ext_scale_available, 0444, > > > > + st_lsm6dsx_shub_scale_avail, NULL, 0); > > > > +static struct attribute *st_lsm6dsx_ext_attributes[] = { > > > > + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, > > > > + &iio_dev_attr_in_ext_scale_available.dev_attr.attr, > > > > > > What's this abi element? > > > > > > > what do you mean here? I did not get you sorry :) > > > Seems to be creating a sysfs file called > in_ext_scale_available which I don't think is documented anywhere? > > Intent was probably in_scale_available? Or maybe in_magn_scale_available? > ack, got it. Thx for the explanation. I will fix in v2 Regards, Lorenzo
diff --git a/drivers/iio/imu/st_lsm6dsx/Makefile b/drivers/iio/imu/st_lsm6dsx/Makefile index 35919febea2a..e5f733ce6e11 100644 --- a/drivers/iio/imu/st_lsm6dsx/Makefile +++ b/drivers/iio/imu/st_lsm6dsx/Makefile @@ -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 diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h index 2beb4f563892..d20746eb3d2d 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h @@ -43,6 +43,24 @@ 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; @@ -50,6 +68,28 @@ struct st_lsm6dsx_reg { 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. @@ -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. @@ -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; @@ -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 { @@ -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]; @@ -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; }; /** @@ -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, @@ -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, diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c index f2549ddfee20..463859f287da 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c @@ -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 = { @@ -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 = { @@ -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), @@ -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; @@ -728,8 +724,6 @@ 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; @@ -768,6 +762,51 @@ 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; @@ -846,6 +885,10 @@ 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); } @@ -899,6 +942,7 @@ 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; @@ -934,6 +978,13 @@ 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) diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c new file mode 100644 index 000000000000..b37f9dbdad17 --- /dev/null +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c @@ -0,0 +1,677 @@ +/* + * STMicroelectronics st_lsm6dsx i2c controller driver + * + * i2c controller embedded in lsm6dx series can connect up to four + * slave devices using accelerometer sensor as trigger for i2c + * read/write operations. Current implementation use SLV0 for slave + * configuration and SLV{1,2,3} to read data and push them into the + * hw FIFO + * + * Copyright (C) 2018 Lorenzo Bianconi <lorenzo.bianconi83@gmail.com> + * + * Permission to use, copy, modify, and/or distribute this software for any + * purpose with or without fee is hereby granted, provided that the above + * copyright notice and this permission notice appear in all copies. + * + * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES + * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR + * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES + * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN + * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF + * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. + * + */ +#include <linux/module.h> +#include <linux/regmap.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/bitfield.h> + +#include "st_lsm6dsx.h" + +#define ST_LSM6DSX_MAX_SLV_NUM 3 +#define ST_LSM6DSX_SLV_ADDR(n, base) ((base) + (n) * 3) +#define ST_LSM6DSX_SLV_SUB_ADDR(n, base) ((base) + 1 + (n) * 3) +#define ST_LSM6DSX_SLV_CONFIG(n, base) ((base) + 2 + (n) * 3) + +#define ST_LS6DSX_READ_OP_MASK GENMASK(2, 0) + +static const struct st_lsm6dsx_ext_dev_settings st_lsm6dsx_ext_dev_table[] = { + /* LIS2MDL */ + { + .i2c_addr = { 0x1e }, + .wai = { + .addr = 0x4f, + .val = 0x40, + }, + .id = ST_LSM6DSX_ID_MAGN, + .odr_table = { + .reg = { + .addr = 0x60, + .mask = GENMASK(3, 2), + }, + .odr_avl[0] = { 10, 0x0 }, + .odr_avl[1] = { 20, 0x1 }, + .odr_avl[2] = { 50, 0x2 }, + .odr_avl[3] = { 100, 0x3 }, + }, + .fs_table = { + .fs_avl[0] = { + .gain = 1500, + .val = 0x0, + }, /* 1500 uG/LSB */ + }, + .temp_comp = { + .addr = 0x60, + .mask = BIT(7), + }, + .pwr_table = { + .reg = { + .addr = 0x60, + .mask = GENMASK(1, 0), + }, + .off_val = 0x2, + .on_val = 0x0, + }, + .off_canc = { + .addr = 0x61, + .mask = BIT(1), + }, + .bdu = { + .addr = 0x62, + .mask = BIT(4), + }, + .out = { + .addr = 0x68, + .len = 6, + }, + }, +}; + +static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw) +{ + struct st_lsm6dsx_sensor *sensor; + + sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); + msleep((2000U / sensor->odr) + 1); +} + +/** + * st_lsm6dsx_shub_read_reg - read i2c controller register + * + * Read st_lsm6dsx i2c controller register + */ +static int st_lsm6dsx_shub_read_reg(struct st_lsm6dsx_hw *hw, u8 addr, + u8 *data, int len) +{ + const struct st_lsm6dsx_shub_settings *hub_settings; + int err; + + mutex_lock(&hw->page_lock); + + hub_settings = &hw->settings->shub_settings; + err = st_lsm6dsx_set_page(hw, true); + if (err < 0) + goto out; + + err = regmap_bulk_read(hw->regmap, addr, data, len); + + st_lsm6dsx_set_page(hw, false); +out: + mutex_unlock(&hw->page_lock); + + return err; +} + +/** + * st_lsm6dsx_shub_write_reg - write i2c controller register + * + * Write st_lsm6dsx i2c controller register + */ +static int st_lsm6dsx_shub_write_reg(struct st_lsm6dsx_hw *hw, u8 addr, + u8 *data, int len) +{ + int err; + + mutex_lock(&hw->page_lock); + err = st_lsm6dsx_set_page(hw, true); + if (err < 0) + goto out; + + err = regmap_bulk_write(hw->regmap, addr, data, len); + + st_lsm6dsx_set_page(hw, false); +out: + mutex_unlock(&hw->page_lock); + + return err; +} + +static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor, + bool enable) +{ + const struct st_lsm6dsx_shub_settings *hub_settings; + struct st_lsm6dsx_hw *hw = sensor->hw; + unsigned int data; + int err; + + /* enable acc sensor as trigger */ + err = st_lsm6dsx_sensor_set_enable(sensor, enable); + if (err < 0) + return err; + + mutex_lock(&hw->page_lock); + + hub_settings = &hw->settings->shub_settings; + err = st_lsm6dsx_set_page(hw, true); + if (err < 0) + goto out; + + data = ST_LSM6DSX_SHIFT_VAL(enable, hub_settings->master_en.mask); + err = regmap_update_bits(hw->regmap, hub_settings->master_en.addr, + hub_settings->master_en.mask, data); + + st_lsm6dsx_set_page(hw, false); +out: + mutex_unlock(&hw->page_lock); + + return err; +} + +/** + * st_lsm6dsx_shub_read - read data from slave device register + * + * Read data from slave device register. SLV0 is used for + * one-shot read operation + */ +static int +st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr, + u8 *data, int len) +{ + const struct st_lsm6dsx_shub_settings *hub_settings; + struct st_lsm6dsx_hw *hw = sensor->hw; + u8 config[3], slv_addr; + int err; + + hub_settings = &hw->settings->shub_settings; + slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr); + + config[0] = (sensor->ext_info.addr << 1) | 1; + config[1] = addr; + config[2] = len & ST_LS6DSX_READ_OP_MASK; + + err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, + sizeof(config)); + if (err < 0) + return err; + + err = st_lsm6dsx_shub_master_enable(sensor, true); + if (err < 0) + return err; + + st_lsm6dsx_shub_wait_complete(hw); + + err = st_lsm6dsx_shub_read_reg(hw, hub_settings->shub_out, data, + len & ST_LS6DSX_READ_OP_MASK); + + st_lsm6dsx_shub_master_enable(sensor, false); + + memset(config, 0, sizeof(config)); + return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, + sizeof(config)); +} + +/** + * st_lsm6dsx_shub_write - write data to slave device register + * + * Write data from slave device register. SLV0 is used for + * one-shot write operation + */ +static int +st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr, + u8 *data, int len) +{ + const struct st_lsm6dsx_shub_settings *hub_settings; + struct st_lsm6dsx_hw *hw = sensor->hw; + u8 config[2], slv_addr; + int err, i; + + hub_settings = &hw->settings->shub_settings; + slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr); + config[0] = sensor->ext_info.addr << 1; + for (i = 0 ; i < len; i++) { + config[1] = addr + i; + + err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, + sizeof(config)); + if (err < 0) + return err; + + err = st_lsm6dsx_shub_write_reg(hw, hub_settings->dw_slv0_addr, + &data[i], 1); + if (err < 0) + return err; + + err = st_lsm6dsx_shub_master_enable(sensor, true); + if (err < 0) + return err; + + st_lsm6dsx_shub_wait_complete(hw); + + st_lsm6dsx_shub_master_enable(sensor, false); + } + + memset(config, 0, sizeof(config)); + return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config)); +} + +static int +st_lsm6dsx_shub_write_with_mask(struct st_lsm6dsx_sensor *sensor, + u8 addr, u8 mask, u8 val) +{ + int err; + u8 data; + + err = st_lsm6dsx_shub_read(sensor, addr, &data, sizeof(data)); + if (err < 0) + return err; + + data = ((data & ~mask) | (val << __ffs(mask) & mask)); + + return st_lsm6dsx_shub_write(sensor, addr, &data, sizeof(data)); +} + +static int +st_lsm6dsx_shub_get_odr_val(struct st_lsm6dsx_sensor *sensor, + u16 odr, u16 *val) +{ + const struct st_lsm6dsx_ext_dev_settings *settings; + int i; + + settings = sensor->ext_info.settings; + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) + if (settings->odr_table.odr_avl[i].hz == odr) + break; + + if (i == ST_LSM6DSX_ODR_LIST_SIZE) + return -EINVAL; + + *val = settings->odr_table.odr_avl[i].val; + return 0; +} + +static int +st_lsm6dsx_shub_set_odr(struct st_lsm6dsx_sensor *sensor, u16 odr) +{ + const struct st_lsm6dsx_ext_dev_settings *settings; + u16 val; + int err; + + err = st_lsm6dsx_shub_get_odr_val(sensor, odr, &val); + if (err < 0) + return err; + + settings = sensor->ext_info.settings; + return st_lsm6dsx_shub_write_with_mask(sensor, + settings->odr_table.reg.addr, + settings->odr_table.reg.mask, + val); +} + +int st_lsm6dsx_shub_set_enable(struct st_lsm6dsx_sensor *sensor, bool enable) +{ + const struct st_lsm6dsx_ext_dev_settings *settings; + int err; + + settings = sensor->ext_info.settings; + if (enable) { + err = st_lsm6dsx_shub_set_odr(sensor, sensor->odr); + if (err < 0) + return err; + } else { + err = st_lsm6dsx_shub_write_with_mask(sensor, + settings->odr_table.reg.addr, + settings->odr_table.reg.mask, 0); + if (err < 0) + return err; + } + + if (settings->pwr_table.reg.addr) { + u8 val; + + val = enable ? settings->pwr_table.on_val + : settings->pwr_table.off_val; + err = st_lsm6dsx_shub_write_with_mask(sensor, + settings->pwr_table.reg.addr, + settings->pwr_table.reg.mask, val); + if (err < 0) + return err; + } + + return st_lsm6dsx_shub_master_enable(sensor, enable); +} + +static int +st_lsm6dsx_shub_read_oneshot(struct st_lsm6dsx_sensor *sensor, + struct iio_chan_spec const *ch, + int *val) +{ + int err, delay, len = ch->scan_type.realbits >> 3; + __le32 data; + + err = st_lsm6dsx_shub_set_enable(sensor, true); + if (err < 0) + return err; + + delay = 1000000 / sensor->odr; + usleep_range(delay, 2 * delay); + + err = st_lsm6dsx_shub_read(sensor, ch->address, (u8 *)&data, len); + if (err < 0) + return err; + + st_lsm6dsx_shub_set_enable(sensor, false); + + switch (len) { + case 2: + *val = (s16)le16_to_cpu(data); + break; + default: + return -EINVAL; + } + + return IIO_VAL_INT; +} + +static int +st_lsm6dsx_shub_read_raw(struct iio_dev *iio_dev, + struct iio_chan_spec const *ch, + int *val, int *val2, long mask) +{ + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = iio_device_claim_direct_mode(iio_dev); + if (ret) + break; + + ret = st_lsm6dsx_shub_read_oneshot(sensor, ch, val); + iio_device_release_direct_mode(iio_dev); + break; + case IIO_CHAN_INFO_SAMP_FREQ: + *val = sensor->odr; + ret = IIO_VAL_INT; + break; + case IIO_CHAN_INFO_SCALE: + *val = 0; + *val2 = sensor->gain; + ret = IIO_VAL_INT_PLUS_MICRO; + break; + default: + ret = -EINVAL; + break; + } + + return ret; +} + +static int +st_lsm6dsx_shub_write_raw(struct iio_dev *iio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); + int err; + + err = iio_device_claim_direct_mode(iio_dev); + if (err) + return err; + + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: { + u16 data; + + err = st_lsm6dsx_shub_get_odr_val(sensor, val, &data); + if (!err) + sensor->odr = val; + break; + } + default: + err = -EINVAL; + break; + } + + iio_device_release_direct_mode(iio_dev); + + return err; +} + +static ssize_t +st_lsm6dsx_shub_sampling_freq_avail(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); + const struct st_lsm6dsx_ext_dev_settings *settings; + int i, len = 0; + + settings = sensor->ext_info.settings; + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) { + u16 val = settings->odr_table.odr_avl[i].hz; + + if (val > 0) + len += scnprintf(buf + len, PAGE_SIZE - len, "%d ", + val); + } + buf[len - 1] = '\n'; + + return len; +} + +static ssize_t st_lsm6dsx_shub_scale_avail(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); + const struct st_lsm6dsx_ext_dev_settings *settings; + int i, len = 0; + + settings = sensor->ext_info.settings; + for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) { + u16 val = settings->fs_table.fs_avl[i].gain; + + if (val > 0) + len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ", + val); + } + buf[len - 1] = '\n'; + + return len; +} + +static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_shub_sampling_freq_avail); +static IIO_DEVICE_ATTR(in_ext_scale_available, 0444, + st_lsm6dsx_shub_scale_avail, NULL, 0); +static struct attribute *st_lsm6dsx_ext_attributes[] = { + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, + &iio_dev_attr_in_ext_scale_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group st_lsm6dsx_ext_attribute_group = { + .attrs = st_lsm6dsx_ext_attributes, +}; + +static const struct iio_info st_lsm6dsx_ext_info = { + .attrs = &st_lsm6dsx_ext_attribute_group, + .read_raw = st_lsm6dsx_shub_read_raw, + .write_raw = st_lsm6dsx_shub_write_raw, + .hwfifo_set_watermark = st_lsm6dsx_set_watermark, +}; + +static struct iio_dev * +st_lsm6dsx_shub_alloc_iiodev(struct st_lsm6dsx_hw *hw, + enum st_lsm6dsx_sensor_id id, + const struct st_lsm6dsx_ext_dev_settings *info, + u8 i2c_addr, const char *name) +{ + struct iio_chan_spec *ext_channels; + struct st_lsm6dsx_sensor *sensor; + struct iio_dev *iio_dev; + + iio_dev = devm_iio_device_alloc(hw->dev, sizeof(*sensor)); + if (!iio_dev) + return NULL; + + iio_dev->modes = INDIO_DIRECT_MODE; + iio_dev->dev.parent = hw->dev; + iio_dev->info = &st_lsm6dsx_ext_info; + + sensor = iio_priv(iio_dev); + sensor->id = id; + sensor->hw = hw; + sensor->odr = info->odr_table.odr_avl[0].hz; + sensor->gain = info->fs_table.fs_avl[0].gain; + sensor->ext_info.settings = info; + sensor->ext_info.addr = i2c_addr; + sensor->watermark = 1; + + switch (info->id) { + case ST_LSM6DSX_ID_MAGN: { + const struct iio_chan_spec magn_channels[] = { + ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr, + IIO_MOD_X, 0), + ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 2, + IIO_MOD_Y, 1), + ST_LSM6DSX_CHANNEL(IIO_MAGN, info->out.addr + 4, + IIO_MOD_Z, 2), + IIO_CHAN_SOFT_TIMESTAMP(3), + }; + + ext_channels = devm_kzalloc(hw->dev, sizeof(magn_channels), + GFP_KERNEL); + if (!ext_channels) + return NULL; + + memcpy(ext_channels, magn_channels, sizeof(magn_channels)); + iio_dev->available_scan_masks = st_lsm6dsx_available_scan_masks; + iio_dev->channels = ext_channels; + iio_dev->num_channels = ARRAY_SIZE(magn_channels); + + scnprintf(sensor->name, sizeof(sensor->name), "%s_magn", + name); + break; + } + default: + return NULL; + } + iio_dev->name = sensor->name; + + return iio_dev; +} + +static int st_lsm6dsx_shub_init_device(struct st_lsm6dsx_sensor *sensor) +{ + const struct st_lsm6dsx_ext_dev_settings *settings; + int err = 0; + + settings = sensor->ext_info.settings; + if (settings->bdu.addr) { + err = st_lsm6dsx_shub_write_with_mask(sensor, + settings->bdu.addr, + settings->bdu.mask, 1); + if (err < 0) + return err; + } + + if (settings->temp_comp.addr) { + err = st_lsm6dsx_shub_write_with_mask(sensor, + settings->temp_comp.addr, + settings->temp_comp.mask, 1); + if (err < 0) + return err; + } + + if (settings->off_canc.addr) + err = st_lsm6dsx_shub_write_with_mask(sensor, + settings->off_canc.addr, + settings->off_canc.mask, 1); + + return err; +} + +int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name) +{ + const struct st_lsm6dsx_shub_settings *hub_settings; + const struct st_lsm6dsx_ext_dev_settings *settings; + enum st_lsm6dsx_sensor_id id = ST_LSM6DSX_ID_EXT0; + struct st_lsm6dsx_sensor *acc_sensor, *sensor; + int err, i, j, num_ext_dev = 0; + u8 config[3], data, slv_addr; + + acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); + hub_settings = &hw->settings->shub_settings; + slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr); + + while (i < ARRAY_SIZE(st_lsm6dsx_ext_dev_table) && + num_ext_dev < ST_LSM6DSX_MAX_SLV_NUM) { + settings = &st_lsm6dsx_ext_dev_table[i]; + + for (j = 0; j < ARRAY_SIZE(settings->i2c_addr); j++) { + if (!settings->i2c_addr[j]) + continue; + + /* read wai slave register */ + config[0] = (settings->i2c_addr[j] << 1) | 0x1; + config[1] = settings->wai.addr; + config[2] = 0x1; + + err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, + sizeof(config)); + if (err < 0) + return err; + + err = st_lsm6dsx_shub_master_enable(acc_sensor, true); + if (err < 0) + return err; + + st_lsm6dsx_shub_wait_complete(hw); + + err = st_lsm6dsx_shub_read_reg(hw, + hub_settings->shub_out, + &data, sizeof(data)); + + st_lsm6dsx_shub_master_enable(acc_sensor, false); + + if (err < 0) + return err; + + if (data != settings->wai.val) + continue; + + hw->iio_devs[id] = st_lsm6dsx_shub_alloc_iiodev(hw, + id, settings, + settings->i2c_addr[j], + name); + if (!hw->iio_devs[id]) + return -ENOMEM; + + sensor = iio_priv(hw->iio_devs[id]); + err = st_lsm6dsx_shub_init_device(sensor); + if (err < 0) + return err; + + num_ext_dev++; + id++; + break; + } + i++; + } + + memset(config, 0, sizeof(config)); + return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, + sizeof(config)); +} diff --git a/include/linux/platform_data/st_sensors_pdata.h b/include/linux/platform_data/st_sensors_pdata.h index f8274b0c6888..728193111c2f 100644 --- a/include/linux/platform_data/st_sensors_pdata.h +++ b/include/linux/platform_data/st_sensors_pdata.h @@ -18,11 +18,13 @@ * Accelerometer DRDY on LSM330 available only on pin 1 (see datasheet). * @open_drain: set the interrupt line to be open drain if possible. * @spi_3wire: enable spi-3wire mode. + * @pullups: enable/disable i2c controller pullup resistors. */ struct st_sensors_platform_data { u8 drdy_int_pin; bool open_drain; bool spi_3wire; + bool pullups; }; #endif /* ST_SENSORS_PDATA_H */
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 Signed-off-by: Lorenzo Bianconi <lorenzo.bianconi@redhat.com> --- drivers/iio/imu/st_lsm6dsx/Makefile | 3 +- drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 112 +++ drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 135 ++-- drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c | 677 ++++++++++++++++++ .../linux/platform_data/st_sensors_pdata.h | 2 + 5 files changed, 886 insertions(+), 43 deletions(-) create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c