diff options
Diffstat (limited to 'drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c')
-rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 720 |
1 files changed, 720 insertions, 0 deletions
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c new file mode 100644 index 000000000000..c92ddcc190e2 --- /dev/null +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c @@ -0,0 +1,720 @@ +/* + * STMicroelectronics st_lsm6dsx sensor driver + * + * The ST LSM6DSx IMU MEMS series consists of 3D digital accelerometer + * and 3D digital gyroscope system-in-package with a digital I2C/SPI serial + * interface standard output. + * LSM6DSx IMU MEMS series has a dynamic user-selectable full-scale + * acceleration range of +-2/+-4/+-8/+-16 g and an angular rate range of + * +-125/+-245/+-500/+-1000/+-2000 dps + * LSM6DSx series has an integrated First-In-First-Out (FIFO) buffer + * allowing dynamic batching of sensor data. + * + * Supported sensors: + * - LSM6DS3: + * - Accelerometer/Gyroscope supported ODR [Hz]: 13, 26, 52, 104, 208, 416 + * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 + * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000 + * - FIFO size: 8KB + * + * - LSM6DSM: + * - Accelerometer/Gyroscope supported ODR [Hz]: 13, 26, 52, 104, 208, 416 + * - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16 + * - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000 + * - FIFO size: 4KB + * + * Copyright 2016 STMicroelectronics Inc. + * + * Lorenzo Bianconi <lorenzo.bianconi@st.com> + * Denis Ciocca <denis.ciocca@st.com> + * + * Licensed under the GPL-2. + */ + +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/delay.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> + +#include <linux/platform_data/st_sensors_pdata.h> + +#include "st_lsm6dsx.h" + +#define ST_LSM6DSX_REG_ACC_DEC_MASK GENMASK(2, 0) +#define ST_LSM6DSX_REG_GYRO_DEC_MASK GENMASK(5, 3) +#define ST_LSM6DSX_REG_INT1_ADDR 0x0d +#define ST_LSM6DSX_REG_INT2_ADDR 0x0e +#define ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK BIT(3) +#define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f +#define ST_LSM6DSX_REG_RESET_ADDR 0x12 +#define ST_LSM6DSX_REG_RESET_MASK BIT(0) +#define ST_LSM6DSX_REG_BDU_ADDR 0x12 +#define ST_LSM6DSX_REG_BDU_MASK BIT(6) +#define ST_LSM6DSX_REG_INT2_ON_INT1_ADDR 0x13 +#define ST_LSM6DSX_REG_INT2_ON_INT1_MASK BIT(5) +#define ST_LSM6DSX_REG_ROUNDING_ADDR 0x16 +#define ST_LSM6DSX_REG_ROUNDING_MASK BIT(2) +#define ST_LSM6DSX_REG_LIR_ADDR 0x58 +#define ST_LSM6DSX_REG_LIR_MASK BIT(0) + +#define ST_LSM6DSX_REG_ACC_ODR_ADDR 0x10 +#define ST_LSM6DSX_REG_ACC_ODR_MASK GENMASK(7, 4) +#define ST_LSM6DSX_REG_ACC_FS_ADDR 0x10 +#define ST_LSM6DSX_REG_ACC_FS_MASK GENMASK(3, 2) +#define ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR 0x28 +#define ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR 0x2a +#define ST_LSM6DSX_REG_ACC_OUT_Z_L_ADDR 0x2c + +#define ST_LSM6DSX_REG_GYRO_ODR_ADDR 0x11 +#define ST_LSM6DSX_REG_GYRO_ODR_MASK GENMASK(7, 4) +#define ST_LSM6DSX_REG_GYRO_FS_ADDR 0x11 +#define ST_LSM6DSX_REG_GYRO_FS_MASK GENMASK(3, 2) +#define ST_LSM6DSX_REG_GYRO_OUT_X_L_ADDR 0x22 +#define ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR 0x24 +#define ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR 0x26 + +#define ST_LSM6DS3_WHOAMI 0x69 +#define ST_LSM6DSM_WHOAMI 0x6a + +#define ST_LSM6DS3_MAX_FIFO_SIZE 8192 +#define ST_LSM6DSM_MAX_FIFO_SIZE 4096 + +#define ST_LSM6DSX_ACC_FS_2G_GAIN IIO_G_TO_M_S_2(61) +#define ST_LSM6DSX_ACC_FS_4G_GAIN IIO_G_TO_M_S_2(122) +#define ST_LSM6DSX_ACC_FS_8G_GAIN IIO_G_TO_M_S_2(244) +#define ST_LSM6DSX_ACC_FS_16G_GAIN IIO_G_TO_M_S_2(488) + +#define ST_LSM6DSX_GYRO_FS_245_GAIN IIO_DEGREE_TO_RAD(8750) +#define ST_LSM6DSX_GYRO_FS_500_GAIN IIO_DEGREE_TO_RAD(17500) +#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 = { + .addr = ST_LSM6DSX_REG_ACC_ODR_ADDR, + .mask = ST_LSM6DSX_REG_ACC_ODR_MASK, + }, + .odr_avl[0] = { 13, 0x01 }, + .odr_avl[1] = { 26, 0x02 }, + .odr_avl[2] = { 52, 0x03 }, + .odr_avl[3] = { 104, 0x04 }, + .odr_avl[4] = { 208, 0x05 }, + .odr_avl[5] = { 416, 0x06 }, + }, + [ST_LSM6DSX_ID_GYRO] = { + .reg = { + .addr = ST_LSM6DSX_REG_GYRO_ODR_ADDR, + .mask = ST_LSM6DSX_REG_GYRO_ODR_MASK, + }, + .odr_avl[0] = { 13, 0x01 }, + .odr_avl[1] = { 26, 0x02 }, + .odr_avl[2] = { 52, 0x03 }, + .odr_avl[3] = { 104, 0x04 }, + .odr_avl[4] = { 208, 0x05 }, + .odr_avl[5] = { 416, 0x06 }, + } +}; + +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 = { + .addr = ST_LSM6DSX_REG_ACC_FS_ADDR, + .mask = ST_LSM6DSX_REG_ACC_FS_MASK, + }, + .fs_avl[0] = { ST_LSM6DSX_ACC_FS_2G_GAIN, 0x0 }, + .fs_avl[1] = { ST_LSM6DSX_ACC_FS_4G_GAIN, 0x2 }, + .fs_avl[2] = { ST_LSM6DSX_ACC_FS_8G_GAIN, 0x3 }, + .fs_avl[3] = { ST_LSM6DSX_ACC_FS_16G_GAIN, 0x1 }, + }, + [ST_LSM6DSX_ID_GYRO] = { + .reg = { + .addr = ST_LSM6DSX_REG_GYRO_FS_ADDR, + .mask = ST_LSM6DSX_REG_GYRO_FS_MASK, + }, + .fs_avl[0] = { ST_LSM6DSX_GYRO_FS_245_GAIN, 0x0 }, + .fs_avl[1] = { ST_LSM6DSX_GYRO_FS_500_GAIN, 0x1 }, + .fs_avl[2] = { ST_LSM6DSX_GYRO_FS_1000_GAIN, 0x2 }, + .fs_avl[3] = { ST_LSM6DSX_GYRO_FS_2000_GAIN, 0x3 }, + } +}; + +static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { + { + .wai = ST_LSM6DS3_WHOAMI, + .max_fifo_size = ST_LSM6DS3_MAX_FIFO_SIZE, + .id = ST_LSM6DS3_ID, + }, + { + .wai = ST_LSM6DSM_WHOAMI, + .max_fifo_size = ST_LSM6DSM_MAX_FIFO_SIZE, + .id = ST_LSM6DSM_ID, + }, +}; + +#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), + ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR, + IIO_MOD_Y, 1), + ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Z_L_ADDR, + IIO_MOD_Z, 2), + IIO_CHAN_SOFT_TIMESTAMP(3), +}; + +static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = { + ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_X_L_ADDR, + IIO_MOD_X, 0), + ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR, + IIO_MOD_Y, 1), + ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR, + IIO_MOD_Z, 2), + IIO_CHAN_SOFT_TIMESTAMP(3), +}; + +int st_lsm6dsx_write_with_mask(struct st_lsm6dsx_hw *hw, u8 addr, u8 mask, + u8 val) +{ + u8 data; + int err; + + mutex_lock(&hw->lock); + + err = hw->tf->read(hw->dev, addr, sizeof(data), &data); + if (err < 0) { + dev_err(hw->dev, "failed to read %02x register\n", addr); + goto out; + } + + data = (data & ~mask) | ((val << __ffs(mask)) & mask); + + err = hw->tf->write(hw->dev, addr, sizeof(data), &data); + if (err < 0) + dev_err(hw->dev, "failed to write %02x register\n", addr); + +out: + mutex_unlock(&hw->lock); + + return err; +} + +static int st_lsm6dsx_check_whoami(struct st_lsm6dsx_hw *hw, int id) +{ + int err, i; + u8 data; + + for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_sensor_settings); i++) { + if (id == st_lsm6dsx_sensor_settings[i].id) + break; + } + + if (i == ARRAY_SIZE(st_lsm6dsx_sensor_settings)) { + dev_err(hw->dev, "unsupported hw id [%02x]\n", id); + return -ENODEV; + } + + err = hw->tf->read(hw->dev, ST_LSM6DSX_REG_WHOAMI_ADDR, sizeof(data), + &data); + if (err < 0) { + dev_err(hw->dev, "failed to read whoami register\n"); + return err; + } + + if (data != st_lsm6dsx_sensor_settings[i].wai) { + dev_err(hw->dev, "unsupported whoami [%02x]\n", data); + return -ENODEV; + } + + hw->settings = &st_lsm6dsx_sensor_settings[i]; + + return 0; +} + +static int st_lsm6dsx_set_full_scale(struct st_lsm6dsx_sensor *sensor, + u32 gain) +{ + enum st_lsm6dsx_sensor_id id = sensor->id; + int i, err; + u8 val; + + for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) + if (st_lsm6dsx_fs_table[id].fs_avl[i].gain == gain) + break; + + if (i == ST_LSM6DSX_FS_LIST_SIZE) + return -EINVAL; + + val = st_lsm6dsx_fs_table[id].fs_avl[i].val; + err = st_lsm6dsx_write_with_mask(sensor->hw, + st_lsm6dsx_fs_table[id].reg.addr, + st_lsm6dsx_fs_table[id].reg.mask, + val); + if (err < 0) + return err; + + sensor->gain = gain; + + return 0; +} + +static int st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u16 odr) +{ + enum st_lsm6dsx_sensor_id id = sensor->id; + int i, err; + u8 val; + + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) + if (st_lsm6dsx_odr_table[id].odr_avl[i].hz == odr) + break; + + if (i == ST_LSM6DSX_ODR_LIST_SIZE) + return -EINVAL; + + val = st_lsm6dsx_odr_table[id].odr_avl[i].val; + err = st_lsm6dsx_write_with_mask(sensor->hw, + st_lsm6dsx_odr_table[id].reg.addr, + st_lsm6dsx_odr_table[id].reg.mask, + val); + if (err < 0) + return err; + + sensor->odr = odr; + + return 0; +} + +int st_lsm6dsx_sensor_enable(struct st_lsm6dsx_sensor *sensor) +{ + int err; + + err = st_lsm6dsx_set_odr(sensor, sensor->odr); + if (err < 0) + return err; + + sensor->hw->enable_mask |= BIT(sensor->id); + + return 0; +} + +int st_lsm6dsx_sensor_disable(struct st_lsm6dsx_sensor *sensor) +{ + enum st_lsm6dsx_sensor_id id = sensor->id; + int err; + + err = st_lsm6dsx_write_with_mask(sensor->hw, + st_lsm6dsx_odr_table[id].reg.addr, + st_lsm6dsx_odr_table[id].reg.mask, 0); + if (err < 0) + return err; + + sensor->hw->enable_mask &= ~BIT(id); + + return 0; +} + +static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor, + u8 addr, int *val) +{ + int err, delay; + __le16 data; + + err = st_lsm6dsx_sensor_enable(sensor); + if (err < 0) + return err; + + delay = 1000000 / sensor->odr; + usleep_range(delay, 2 * delay); + + err = sensor->hw->tf->read(sensor->hw->dev, addr, sizeof(data), + (u8 *)&data); + if (err < 0) + return err; + + st_lsm6dsx_sensor_disable(sensor); + + *val = (s16)data; + + return IIO_VAL_INT; +} + +static int st_lsm6dsx_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_read_oneshot(sensor, ch->address, 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_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_SCALE: + err = st_lsm6dsx_set_full_scale(sensor, val2); + break; + case IIO_CHAN_INFO_SAMP_FREQ: + err = st_lsm6dsx_set_odr(sensor, val); + break; + default: + err = -EINVAL; + break; + } + + iio_device_release_direct_mode(iio_dev); + + return err; +} + +static int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val) +{ + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); + struct st_lsm6dsx_hw *hw = sensor->hw; + int err, max_fifo_len; + + max_fifo_len = hw->settings->max_fifo_size / ST_LSM6DSX_SAMPLE_SIZE; + if (val < 1 || val > max_fifo_len) + return -EINVAL; + + err = st_lsm6dsx_update_watermark(sensor, val); + if (err < 0) + return err; + + sensor->watermark = val; + + return 0; +} + +static ssize_t +st_lsm6dsx_sysfs_sampling_frequency_avail(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); + enum st_lsm6dsx_sensor_id id = sensor->id; + int i, len = 0; + + for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++) + len += scnprintf(buf + len, PAGE_SIZE - len, "%d ", + st_lsm6dsx_odr_table[id].odr_avl[i].hz); + buf[len - 1] = '\n'; + + return len; +} + +static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct st_lsm6dsx_sensor *sensor = iio_priv(dev_get_drvdata(dev)); + enum st_lsm6dsx_sensor_id id = sensor->id; + int i, len = 0; + + for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++) + len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ", + st_lsm6dsx_fs_table[id].fs_avl[i].gain); + buf[len - 1] = '\n'; + + return len; +} + +static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_sysfs_sampling_frequency_avail); +static IIO_DEVICE_ATTR(in_accel_scale_available, 0444, + st_lsm6dsx_sysfs_scale_avail, NULL, 0); +static IIO_DEVICE_ATTR(in_anglvel_scale_available, 0444, + st_lsm6dsx_sysfs_scale_avail, NULL, 0); + +static struct attribute *st_lsm6dsx_acc_attributes[] = { + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, + &iio_dev_attr_in_accel_scale_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group st_lsm6dsx_acc_attribute_group = { + .attrs = st_lsm6dsx_acc_attributes, +}; + +static const struct iio_info st_lsm6dsx_acc_info = { + .driver_module = THIS_MODULE, + .attrs = &st_lsm6dsx_acc_attribute_group, + .read_raw = st_lsm6dsx_read_raw, + .write_raw = st_lsm6dsx_write_raw, + .hwfifo_set_watermark = st_lsm6dsx_set_watermark, +}; + +static struct attribute *st_lsm6dsx_gyro_attributes[] = { + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, + &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group st_lsm6dsx_gyro_attribute_group = { + .attrs = st_lsm6dsx_gyro_attributes, +}; + +static const struct iio_info st_lsm6dsx_gyro_info = { + .driver_module = THIS_MODULE, + .attrs = &st_lsm6dsx_gyro_attribute_group, + .read_raw = st_lsm6dsx_read_raw, + .write_raw = st_lsm6dsx_write_raw, + .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; + int err; + + if (!np) + return -EINVAL; + + err = of_property_read_u32(np, "st,drdy-int-pin", drdy_pin); + if (err == -ENODATA) { + /* if the property has not been specified use default value */ + *drdy_pin = 1; + err = 0; + } + + return err; +} + +static int st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, u8 *drdy_reg) +{ + int err = 0, drdy_pin; + + if (st_lsm6dsx_of_get_drdy_pin(hw, &drdy_pin) < 0) { + struct st_sensors_platform_data *pdata; + struct device *dev = hw->dev; + + pdata = (struct st_sensors_platform_data *)dev->platform_data; + drdy_pin = pdata ? pdata->drdy_int_pin : 1; + } + + switch (drdy_pin) { + case 1: + *drdy_reg = ST_LSM6DSX_REG_INT1_ADDR; + break; + case 2: + *drdy_reg = ST_LSM6DSX_REG_INT2_ADDR; + break; + default: + dev_err(hw->dev, "unsupported data ready pin\n"); + err = -EINVAL; + break; + } + + return err; +} + +static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw) +{ + u8 data, drdy_int_reg; + int err; + + data = ST_LSM6DSX_REG_RESET_MASK; + err = hw->tf->write(hw->dev, ST_LSM6DSX_REG_RESET_ADDR, sizeof(data), + &data); + if (err < 0) + return err; + + msleep(200); + + /* latch interrupts */ + err = st_lsm6dsx_write_with_mask(hw, ST_LSM6DSX_REG_LIR_ADDR, + ST_LSM6DSX_REG_LIR_MASK, 1); + if (err < 0) + return err; + + /* enable Block Data Update */ + err = st_lsm6dsx_write_with_mask(hw, ST_LSM6DSX_REG_BDU_ADDR, + ST_LSM6DSX_REG_BDU_MASK, 1); + if (err < 0) + return err; + + err = st_lsm6dsx_write_with_mask(hw, ST_LSM6DSX_REG_ROUNDING_ADDR, + ST_LSM6DSX_REG_ROUNDING_MASK, 1); + if (err < 0) + return err; + + /* enable FIFO watermak interrupt */ + err = st_lsm6dsx_get_drdy_reg(hw, &drdy_int_reg); + if (err < 0) + return err; + + return st_lsm6dsx_write_with_mask(hw, drdy_int_reg, + ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK, 1); +} + +static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw, + enum st_lsm6dsx_sensor_id id) +{ + 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->available_scan_masks = st_lsm6dsx_available_scan_masks; + + sensor = iio_priv(iio_dev); + sensor->id = id; + sensor->hw = hw; + sensor->odr = st_lsm6dsx_odr_table[id].odr_avl[0].hz; + sensor->gain = st_lsm6dsx_fs_table[id].fs_avl[0].gain; + sensor->watermark = 1; + + switch (id) { + case ST_LSM6DSX_ID_ACC: + iio_dev->channels = st_lsm6dsx_acc_channels; + iio_dev->num_channels = ARRAY_SIZE(st_lsm6dsx_acc_channels); + iio_dev->name = "lsm6dsx_accel"; + iio_dev->info = &st_lsm6dsx_acc_info; + + sensor->decimator_mask = ST_LSM6DSX_REG_ACC_DEC_MASK; + break; + case ST_LSM6DSX_ID_GYRO: + iio_dev->channels = st_lsm6dsx_gyro_channels; + iio_dev->num_channels = ARRAY_SIZE(st_lsm6dsx_gyro_channels); + iio_dev->name = "lsm6dsx_gyro"; + iio_dev->info = &st_lsm6dsx_gyro_info; + + sensor->decimator_mask = ST_LSM6DSX_REG_GYRO_DEC_MASK; + break; + default: + return NULL; + } + + return iio_dev; +} + +int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, + const struct st_lsm6dsx_transfer_function *tf_ops) +{ + struct st_lsm6dsx_hw *hw; + int i, err; + + hw = devm_kzalloc(dev, sizeof(*hw), GFP_KERNEL); + if (!hw) + return -ENOMEM; + + dev_set_drvdata(dev, (void *)hw); + + mutex_init(&hw->lock); + mutex_init(&hw->fifo_lock); + + hw->dev = dev; + hw->irq = irq; + hw->tf = tf_ops; + + err = st_lsm6dsx_check_whoami(hw, hw_id); + if (err < 0) + return err; + + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { + hw->iio_devs[i] = st_lsm6dsx_alloc_iiodev(hw, i); + if (!hw->iio_devs[i]) + return -ENOMEM; + } + + err = st_lsm6dsx_init_device(hw); + if (err < 0) + return err; + + if (hw->irq > 0) { + err = st_lsm6dsx_fifo_setup(hw); + if (err < 0) + return err; + } + + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { + err = devm_iio_device_register(hw->dev, hw->iio_devs[i]); + if (err) + return err; + } + + return 0; +} +EXPORT_SYMBOL(st_lsm6dsx_probe); + +MODULE_AUTHOR("Lorenzo Bianconi <lorenzo.bianconi@st.com>"); +MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); +MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx driver"); +MODULE_LICENSE("GPL v2"); |