diff options
Diffstat (limited to 'drivers/iio/imu/st_lsm6dsx')
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h | 55 | ||||
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c | 77 | ||||
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 158 | ||||
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c | 3 | ||||
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c | 76 | ||||
| -rw-r--r-- | drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c | 3 |
6 files changed, 274 insertions, 98 deletions
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h index c605b153be41..9c3486a8134f 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h @@ -76,6 +76,7 @@ enum st_lsm6dsx_hw_id { .endianness = IIO_LE, \ }, \ .event_spec = &st_lsm6dsx_event, \ + .ext_info = st_lsm6dsx_accel_ext_info, \ .num_event_specs = 1, \ } @@ -176,21 +177,38 @@ struct st_lsm6dsx_hw_ts_settings { * @pullup_en: i2c controller pull-up register info (addr + mask). * @aux_sens: aux sensor register info (addr + mask). * @wr_once: write_once register info (addr + mask). + * @emb_func: embedded function register info (addr + mask). + * @num_ext_dev: max number of slave devices. * @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. * @batch_en: Enable/disable FIFO batching. + * @pause: controller pause value. */ struct st_lsm6dsx_shub_settings { struct st_lsm6dsx_reg page_mux; - struct st_lsm6dsx_reg master_en; - struct st_lsm6dsx_reg pullup_en; + struct { + bool sec_page; + u8 addr; + u8 mask; + } master_en; + struct { + bool sec_page; + u8 addr; + u8 mask; + } pullup_en; struct st_lsm6dsx_reg aux_sens; struct st_lsm6dsx_reg wr_once; - u8 shub_out; + struct st_lsm6dsx_reg emb_func; + u8 num_ext_dev; + struct { + bool sec_page; + u8 addr; + } shub_out; u8 slv0_addr; u8 dw_slv0_addr; u8 batch_en; + u8 pause; }; struct st_lsm6dsx_event_settings { @@ -320,7 +338,6 @@ enum st_lsm6dsx_fifo_mode { * @odr: Output data rate of the sensor [Hz]. * @watermark: Sensor watermark level. * @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 */ @@ -334,7 +351,6 @@ struct st_lsm6dsx_sensor { u16 watermark; u8 sip; - u8 decimator; s64 ts_ref; struct { @@ -351,9 +367,9 @@ struct st_lsm6dsx_sensor { * @fifo_lock: Mutex to prevent concurrent access to the hw FIFO. * @conf_lock: Mutex to prevent concurrent FIFO configuration update. * @page_lock: Mutex to prevent concurrent memory page configuration. - * @fifo_mode: FIFO operating mode supported by the device. * @suspend_mask: Suspended sensor bitmask. * @enable_mask: Enabled sensor bitmask. + * @fifo_mask: Enabled hw FIFO bitmask. * @ts_gain: Hw timestamp rate after internal calibration. * @ts_sip: Total number of timestamp samples in a given pattern. * @sip: Total number of samples (acc/gyro/ts) in a given pattern. @@ -363,6 +379,7 @@ struct st_lsm6dsx_sensor { * @enable_event: enabled event bitmask. * @iio_devs: Pointers to acc/gyro iio_dev instances. * @settings: Pointer to the specific sensor settings in use. + * @orientation: sensor chip orientation relative to main hardware. */ struct st_lsm6dsx_hw { struct device *dev; @@ -373,9 +390,9 @@ struct st_lsm6dsx_hw { struct mutex conf_lock; struct mutex page_lock; - enum st_lsm6dsx_fifo_mode fifo_mode; u8 suspend_mask; u8 enable_mask; + u8 fifo_mask; s64 ts_gain; u8 ts_sip; u8 sip; @@ -389,16 +406,21 @@ struct st_lsm6dsx_hw { struct iio_dev *iio_devs[ST_LSM6DSX_ID_MAX]; const struct st_lsm6dsx_settings *settings; + + struct iio_mount_matrix orientation; }; -static const struct iio_event_spec st_lsm6dsx_event = { +static __maybe_unused const struct iio_event_spec st_lsm6dsx_event = { .type = IIO_EV_TYPE_THRESH, .dir = IIO_EV_DIR_EITHER, .mask_separate = BIT(IIO_EV_INFO_VALUE) | BIT(IIO_EV_INFO_ENABLE) }; -static const unsigned long st_lsm6dsx_available_scan_masks[] = {0x7, 0x0}; +static __maybe_unused 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, @@ -459,4 +481,19 @@ st_lsm6dsx_write_locked(struct st_lsm6dsx_hw *hw, unsigned int addr, return err; } +static const inline struct iio_mount_matrix * +st_lsm6dsx_get_mount_matrix(const struct iio_dev *iio_dev, + const struct iio_chan_spec *chan) +{ + struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); + struct st_lsm6dsx_hw *hw = sensor->hw; + + return &hw->orientation; +} + +static const struct iio_chan_spec_ext_info st_lsm6dsx_accel_ext_info[] = { + IIO_MOUNT_MATRIX(IIO_SHARED_BY_ALL, st_lsm6dsx_get_mount_matrix), + { } +}; + #endif /* ST_LSM6DSX_H */ diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c index d416990ae309..bb899345f2bb 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c @@ -78,14 +78,20 @@ struct st_lsm6dsx_decimator_entry st_lsm6dsx_decimator_table[] = { { 32, 0x7 }, }; -static int st_lsm6dsx_get_decimator_val(u8 val) +static int +st_lsm6dsx_get_decimator_val(struct st_lsm6dsx_sensor *sensor, u32 max_odr) { const int max_size = ARRAY_SIZE(st_lsm6dsx_decimator_table); + u32 decimator = max_odr / sensor->odr; int i; - for (i = 0; i < max_size; i++) - if (st_lsm6dsx_decimator_table[i].decimator == val) + if (decimator > 1) + decimator = round_down(decimator, 2); + + for (i = 0; i < max_size; i++) { + if (st_lsm6dsx_decimator_table[i].decimator == decimator) break; + } return i == max_size ? 0 : st_lsm6dsx_decimator_table[i].val; } @@ -111,6 +117,13 @@ static void st_lsm6dsx_get_max_min_odr(struct st_lsm6dsx_hw *hw, } } +static u8 st_lsm6dsx_get_sip(struct st_lsm6dsx_sensor *sensor, u32 min_odr) +{ + u8 sip = sensor->odr / min_odr; + + return sip > 1 ? round_down(sip, 2) : sip; +} + static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw) { const struct st_lsm6dsx_reg *ts_dec_reg; @@ -131,12 +144,10 @@ static int st_lsm6dsx_update_decimators(struct st_lsm6dsx_hw *hw) sensor = iio_priv(hw->iio_devs[i]); /* update fifo decimators and sample in pattern */ if (hw->enable_mask & BIT(sensor->id)) { - sensor->sip = sensor->odr / min_odr; - sensor->decimator = max_odr / sensor->odr; - data = st_lsm6dsx_get_decimator_val(sensor->decimator); + sensor->sip = st_lsm6dsx_get_sip(sensor, min_odr); + data = st_lsm6dsx_get_decimator_val(sensor, max_odr); } else { sensor->sip = 0; - sensor->decimator = 0; data = 0; } ts_sip = max_t(u16, ts_sip, sensor->sip); @@ -176,17 +187,10 @@ int st_lsm6dsx_set_fifo_mode(struct st_lsm6dsx_hw *hw, enum st_lsm6dsx_fifo_mode fifo_mode) { unsigned int data; - int err; data = FIELD_PREP(ST_LSM6DSX_FIFO_MODE_MASK, fifo_mode); - err = st_lsm6dsx_update_bits_locked(hw, ST_LSM6DSX_REG_FIFO_MODE_ADDR, - ST_LSM6DSX_FIFO_MODE_MASK, data); - if (err < 0) - return err; - - hw->fifo_mode = fifo_mode; - - return 0; + return st_lsm6dsx_update_bits_locked(hw, ST_LSM6DSX_REG_FIFO_MODE_ADDR, + ST_LSM6DSX_FIFO_MODE_MASK, data); } static int st_lsm6dsx_set_fifo_odr(struct st_lsm6dsx_sensor *sensor, @@ -332,12 +336,13 @@ static inline int st_lsm6dsx_read_block(struct st_lsm6dsx_hw *hw, u8 addr, */ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) { + struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor, *ext_sensor = NULL; + int err, acc_sip, gyro_sip, ts_sip, ext_sip, read_len, offset; u16 fifo_len, pattern_len = hw->sip * ST_LSM6DSX_SAMPLE_SIZE; u16 fifo_diff_mask = hw->settings->fifo_ops.fifo_diff.mask; - int err, acc_sip, gyro_sip, ts_sip, read_len, offset; - struct st_lsm6dsx_sensor *acc_sensor, *gyro_sensor; u8 gyro_buff[ST_LSM6DSX_IIO_BUFF_SIZE]; u8 acc_buff[ST_LSM6DSX_IIO_BUFF_SIZE]; + u8 ext_buff[ST_LSM6DSX_IIO_BUFF_SIZE]; bool reset_ts = false; __le16 fifo_status; s64 ts = 0; @@ -360,6 +365,8 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) acc_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); gyro_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_GYRO]); + if (hw->iio_devs[ST_LSM6DSX_ID_EXT0]) + ext_sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_EXT0]); for (read_len = 0; read_len < fifo_len; read_len += pattern_len) { err = st_lsm6dsx_read_block(hw, ST_LSM6DSX_REG_FIFO_OUTL_ADDR, @@ -387,12 +394,13 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) * following pattern is repeated every 9 samples: * - Gx, Gy, Gz, Ax, Ay, Az, Ts, Gx, Gy, Gz, Ts, Gx, .. */ + ext_sip = ext_sensor ? ext_sensor->sip : 0; gyro_sip = gyro_sensor->sip; acc_sip = acc_sensor->sip; ts_sip = hw->ts_sip; offset = 0; - while (acc_sip > 0 || gyro_sip > 0) { + while (acc_sip > 0 || gyro_sip > 0 || ext_sip > 0) { if (gyro_sip > 0) { memcpy(gyro_buff, &hw->buff[offset], ST_LSM6DSX_SAMPLE_SIZE); @@ -403,6 +411,11 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) ST_LSM6DSX_SAMPLE_SIZE); offset += ST_LSM6DSX_SAMPLE_SIZE; } + if (ext_sip > 0) { + memcpy(ext_buff, &hw->buff[offset], + ST_LSM6DSX_SAMPLE_SIZE); + offset += ST_LSM6DSX_SAMPLE_SIZE; + } if (ts_sip-- > 0) { u8 data[ST_LSM6DSX_SAMPLE_SIZE]; @@ -436,6 +449,10 @@ int st_lsm6dsx_read_fifo(struct st_lsm6dsx_hw *hw) iio_push_to_buffers_with_timestamp( hw->iio_devs[ST_LSM6DSX_ID_ACC], acc_buff, acc_sensor->ts_ref + ts); + if (ext_sip-- > 0) + iio_push_to_buffers_with_timestamp( + hw->iio_devs[ST_LSM6DSX_ID_EXT0], + ext_buff, ext_sensor->ts_ref + ts); } } @@ -608,11 +625,17 @@ int st_lsm6dsx_flush_fifo(struct st_lsm6dsx_hw *hw) int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable) { struct st_lsm6dsx_hw *hw = sensor->hw; + u8 fifo_mask; int err; mutex_lock(&hw->conf_lock); - if (hw->fifo_mode != ST_LSM6DSX_FIFO_BYPASS) { + if (enable) + fifo_mask = hw->fifo_mask | BIT(sensor->id); + else + fifo_mask = hw->fifo_mask & ~BIT(sensor->id); + + if (hw->fifo_mask) { err = st_lsm6dsx_flush_fifo(hw); if (err < 0) goto out; @@ -628,12 +651,12 @@ int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable) err = st_lsm6dsx_sensor_set_enable(sensor, enable); if (err < 0) goto out; - - err = st_lsm6dsx_set_fifo_odr(sensor, enable); - if (err < 0) - goto out; } + err = st_lsm6dsx_set_fifo_odr(sensor, enable); + if (err < 0) + goto out; + err = st_lsm6dsx_update_decimators(hw); if (err < 0) goto out; @@ -642,15 +665,19 @@ int st_lsm6dsx_update_fifo(struct st_lsm6dsx_sensor *sensor, bool enable) if (err < 0) goto out; - if (hw->enable_mask) { + if (fifo_mask) { /* reset hw ts counter */ err = st_lsm6dsx_reset_hw_ts(hw); if (err < 0) goto out; err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT); + if (err < 0) + goto out; } + hw->fifo_mask = fifo_mask; + out: mutex_unlock(&hw->conf_lock); diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c index 11b2c7bc8041..84d219ae6aee 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c @@ -54,6 +54,7 @@ #include <linux/interrupt.h> #include <linux/irq.h> #include <linux/pm.h> +#include <linux/property.h> #include <linux/regmap.h> #include <linux/bitfield.h> @@ -655,6 +656,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .addr = 0x08, .mask = GENMASK(5, 3), }, + [ST_LSM6DSX_ID_EXT0] = { + .addr = 0x09, + .mask = GENMASK(2, 0), + }, }, .fifo_ops = { .update_fifo = st_lsm6dsx_update_fifo, @@ -687,6 +692,39 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .mask = GENMASK(5, 3), }, }, + .shub_settings = { + .page_mux = { + .addr = 0x01, + .mask = BIT(7), + }, + .master_en = { + .addr = 0x1a, + .mask = BIT(0), + }, + .pullup_en = { + .addr = 0x1a, + .mask = BIT(3), + }, + .aux_sens = { + .addr = 0x04, + .mask = GENMASK(5, 4), + }, + .wr_once = { + .addr = 0x07, + .mask = BIT(5), + }, + .emb_func = { + .addr = 0x19, + .mask = BIT(2), + }, + .num_ext_dev = 1, + .shub_out = { + .addr = 0x2e, + }, + .slv0_addr = 0x02, + .dw_slv0_addr = 0x0e, + .pause = 0x7, + }, .event_settings = { .enable_reg = { .addr = 0x58, @@ -867,10 +905,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .mask = BIT(6), }, .master_en = { + .sec_page = true, .addr = 0x14, .mask = BIT(2), }, .pullup_en = { + .sec_page = true, .addr = 0x14, .mask = BIT(3), }, @@ -882,7 +922,11 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .addr = 0x14, .mask = BIT(6), }, - .shub_out = 0x02, + .num_ext_dev = 3, + .shub_out = { + .sec_page = true, + .addr = 0x02, + }, .slv0_addr = 0x15, .dw_slv0_addr = 0x21, .batch_en = BIT(3), @@ -1241,10 +1285,12 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .mask = BIT(6), }, .master_en = { + .sec_page = true, .addr = 0x14, .mask = BIT(2), }, .pullup_en = { + .sec_page = true, .addr = 0x14, .mask = BIT(3), }, @@ -1256,7 +1302,11 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = { .addr = 0x14, .mask = BIT(6), }, - .shub_out = 0x02, + .num_ext_dev = 3, + .shub_out = { + .sec_page = true, + .addr = 0x02, + }, .slv0_addr = 0x15, .dw_slv0_addr = 0x21, .batch_en = BIT(3), @@ -1301,7 +1351,8 @@ static int st_lsm6dsx_check_whoami(struct st_lsm6dsx_hw *hw, int id, for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_sensor_settings); i++) { for (j = 0; j < ST_LSM6DSX_MAX_ID; j++) { - if (id == st_lsm6dsx_sensor_settings[i].id[j].hw_id) + if (st_lsm6dsx_sensor_settings[i].id[j].name && + id == st_lsm6dsx_sensor_settings[i].id[j].hw_id) break; } if (j < ST_LSM6DSX_MAX_ID) @@ -1447,8 +1498,9 @@ st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u32 req_odr) return st_lsm6dsx_update_bits_locked(hw, reg->addr, reg->mask, data); } -int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, - bool enable) +static int +__st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, + bool enable) { struct st_lsm6dsx_hw *hw = sensor->hw; u32 odr = enable ? sensor->odr : 0; @@ -1466,6 +1518,26 @@ int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, return 0; } +static int +st_lsm6dsx_check_events(struct st_lsm6dsx_sensor *sensor, bool enable) +{ + struct st_lsm6dsx_hw *hw = sensor->hw; + + if (sensor->id == ST_LSM6DSX_ID_GYRO || enable) + return 0; + + return hw->enable_event; +} + +int st_lsm6dsx_sensor_set_enable(struct st_lsm6dsx_sensor *sensor, + bool enable) +{ + if (st_lsm6dsx_check_events(sensor, enable)) + return 0; + + return __st_lsm6dsx_sensor_set_enable(sensor, enable); +} + static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor, u8 addr, int *val) { @@ -1484,8 +1556,11 @@ static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor, if (err < 0) return err; - if (!hw->enable_event) - st_lsm6dsx_sensor_set_enable(sensor, false); + if (!hw->enable_event) { + err = st_lsm6dsx_sensor_set_enable(sensor, false); + if (err < 0) + return err; + } *val = (s16)le16_to_cpu(data); @@ -1587,11 +1662,11 @@ static int st_lsm6dsx_event_setup(struct st_lsm6dsx_hw *hw, int state) } static int st_lsm6dsx_read_event(struct iio_dev *iio_dev, - const struct iio_chan_spec *chan, - enum iio_event_type type, - enum iio_event_direction dir, - enum iio_event_info info, - int *val, int *val2) + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + enum iio_event_info info, + int *val, int *val2) { struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); struct st_lsm6dsx_hw *hw = sensor->hw; @@ -1661,7 +1736,7 @@ st_lsm6dsx_write_event_config(struct iio_dev *iio_dev, struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev); struct st_lsm6dsx_hw *hw = sensor->hw; u8 enable_event; - int err = 0; + int err; if (type != IIO_EV_TYPE_THRESH) return -EINVAL; @@ -1689,7 +1764,8 @@ st_lsm6dsx_write_event_config(struct iio_dev *iio_dev, return err; mutex_lock(&hw->conf_lock); - err = st_lsm6dsx_sensor_set_enable(sensor, state); + if (enable_event || !(hw->fifo_mask & BIT(sensor->id))) + err = __st_lsm6dsx_sensor_set_enable(sensor, state); mutex_unlock(&hw->conf_lock); if (err < 0) return err; @@ -1804,14 +1880,14 @@ static const struct iio_info st_lsm6dsx_gyro_info = { .hwfifo_set_watermark = st_lsm6dsx_set_watermark, }; -static int st_lsm6dsx_of_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin) +static int st_lsm6dsx_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin) { - struct device_node *np = hw->dev->of_node; + struct device *dev = hw->dev; - if (!np) + if (!dev_fwnode(dev)) return -EINVAL; - return of_property_read_u32(np, "st,drdy-int-pin", drdy_pin); + return device_property_read_u32(dev, "st,drdy-int-pin", drdy_pin); } static int @@ -1820,7 +1896,7 @@ st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, { int err = 0, drdy_pin; - if (st_lsm6dsx_of_get_drdy_pin(hw, &drdy_pin) < 0) { + if (st_lsm6dsx_get_drdy_pin(hw, &drdy_pin) < 0) { struct st_sensors_platform_data *pdata; struct device *dev = hw->dev; @@ -1849,26 +1925,29 @@ st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, 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; + struct device *dev = hw->dev; 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 = (struct st_sensors_platform_data *)dev->platform_data; + if ((dev_fwnode(dev) && device_property_read_bool(dev, "st,pullups")) || (pdata && pdata->pullups)) { - err = st_lsm6dsx_set_page(hw, true); - if (err < 0) - return err; + if (hub_settings->pullup_en.sec_page) { + 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 (hub_settings->pullup_en.sec_page) + st_lsm6dsx_set_page(hw, false); if (err < 0) return err; @@ -1886,6 +1965,16 @@ static int st_lsm6dsx_init_shub(struct st_lsm6dsx_hw *hw) hub_settings->aux_sens.mask, data); st_lsm6dsx_set_page(hw, false); + + if (err < 0) + return err; + } + + if (hub_settings->emb_func.addr) { + data = ST_LSM6DSX_SHIFT_VAL(1, hub_settings->emb_func.mask); + err = regmap_update_bits(hw->regmap, + hub_settings->emb_func.addr, + hub_settings->emb_func.mask, data); } return err; @@ -2135,9 +2224,9 @@ static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private) static int st_lsm6dsx_irq_setup(struct st_lsm6dsx_hw *hw) { - struct device_node *np = hw->dev->of_node; struct st_sensors_platform_data *pdata; const struct st_lsm6dsx_reg *reg; + struct device *dev = hw->dev; unsigned long irq_type; bool irq_active_low; int err; @@ -2165,8 +2254,8 @@ static int st_lsm6dsx_irq_setup(struct st_lsm6dsx_hw *hw) if (err < 0) return err; - pdata = (struct st_sensors_platform_data *)hw->dev->platform_data; - if ((np && of_property_read_bool(np, "drive-open-drain")) || + pdata = (struct st_sensors_platform_data *)dev->platform_data; + if ((dev_fwnode(dev) && device_property_read_bool(dev, "drive-open-drain")) || (pdata && pdata->open_drain)) { reg = &hw->settings->irq_config.od; err = regmap_update_bits(hw->regmap, reg->addr, reg->mask, @@ -2196,7 +2285,6 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, { struct st_sensors_platform_data *pdata = dev->platform_data; const struct st_lsm6dsx_shub_settings *hub_settings; - struct device_node *np = dev->of_node; struct st_lsm6dsx_hw *hw; const char *name = NULL; int i, err; @@ -2250,6 +2338,10 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, return err; } + err = iio_read_mount_matrix(hw->dev, "mount-matrix", &hw->orientation); + if (err) + return err; + for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) { if (!hw->iio_devs[i]) continue; @@ -2259,7 +2351,7 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, return err; } - if ((np && of_property_read_bool(np, "wakeup-source")) || + if ((dev_fwnode(dev) && device_property_read_bool(dev, "wakeup-source")) || (pdata && pdata->wakeup_source)) device_init_wakeup(dev, true); @@ -2300,7 +2392,7 @@ static int __maybe_unused st_lsm6dsx_suspend(struct device *dev) hw->suspend_mask |= BIT(sensor->id); } - if (hw->fifo_mode != ST_LSM6DSX_FIFO_BYPASS) + if (hw->fifo_mask) err = st_lsm6dsx_flush_fifo(hw); return err; @@ -2336,7 +2428,7 @@ static int __maybe_unused st_lsm6dsx_resume(struct device *dev) hw->suspend_mask &= ~BIT(sensor->id); } - if (hw->enable_mask) + if (hw->fifo_mask) err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT); return err; diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c index cd47ec1fedcb..0fb32131afce 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_i2c.c @@ -12,7 +12,6 @@ #include <linux/module.h> #include <linux/i2c.h> #include <linux/slab.h> -#include <linux/of.h> #include <linux/regmap.h> #include "st_lsm6dsx.h" @@ -122,7 +121,7 @@ static struct i2c_driver st_lsm6dsx_driver = { .driver = { .name = "st_lsm6dsx_i2c", .pm = &st_lsm6dsx_pm_ops, - .of_match_table = of_match_ptr(st_lsm6dsx_i2c_of_match), + .of_match_table = st_lsm6dsx_i2c_of_match, }, .probe = st_lsm6dsx_i2c_probe, .id_table = st_lsm6dsx_i2c_id_table, diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c index fa5d1001a46c..eea555617d4a 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c @@ -30,7 +30,6 @@ #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) @@ -102,24 +101,31 @@ static void st_lsm6dsx_shub_wait_complete(struct st_lsm6dsx_hw *hw) } /** - * st_lsm6dsx_shub_read_reg - read i2c controller register + * st_lsm6dsx_shub_read_output - 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) +static int +st_lsm6dsx_shub_read_output(struct st_lsm6dsx_hw *hw, u8 *data, + int len) { + const struct st_lsm6dsx_shub_settings *hub_settings; int err; mutex_lock(&hw->page_lock); - err = st_lsm6dsx_set_page(hw, true); - if (err < 0) - goto out; + hub_settings = &hw->settings->shub_settings; + if (hub_settings->shub_out.sec_page) { + err = st_lsm6dsx_set_page(hw, true); + if (err < 0) + goto out; + } - err = regmap_bulk_read(hw->regmap, addr, data, len); + err = regmap_bulk_read(hw->regmap, hub_settings->shub_out.addr, + data, len); - st_lsm6dsx_set_page(hw, false); + if (hub_settings->shub_out.sec_page) + st_lsm6dsx_set_page(hw, false); out: mutex_unlock(&hw->page_lock); @@ -186,15 +192,18 @@ static int st_lsm6dsx_shub_master_enable(struct st_lsm6dsx_sensor *sensor, mutex_lock(&hw->page_lock); hub_settings = &hw->settings->shub_settings; - err = st_lsm6dsx_set_page(hw, true); - if (err < 0) - goto out; + if (hub_settings->master_en.sec_page) { + 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); + if (hub_settings->master_en.sec_page) + st_lsm6dsx_set_page(hw, false); out: mutex_unlock(&hw->page_lock); @@ -212,16 +221,21 @@ st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr, u8 *data, int len) { const struct st_lsm6dsx_shub_settings *hub_settings; + u8 config[3], slv_addr, slv_config = 0; struct st_lsm6dsx_hw *hw = sensor->hw; - u8 config[3], slv_addr; + const struct st_lsm6dsx_reg *aux_sens; int err; hub_settings = &hw->settings->shub_settings; slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr); + aux_sens = &hw->settings->shub_settings.aux_sens; + /* do not overwrite aux_sens */ + if (slv_addr + 2 == aux_sens->addr) + slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask); config[0] = (sensor->ext_info.addr << 1) | 1; config[1] = addr; - config[2] = len & ST_LS6DSX_READ_OP_MASK; + config[2] = (len & ST_LS6DSX_READ_OP_MASK) | slv_config; err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config)); @@ -234,12 +248,14 @@ st_lsm6dsx_shub_read(struct st_lsm6dsx_sensor *sensor, u8 addr, st_lsm6dsx_shub_wait_complete(hw); - err = st_lsm6dsx_shub_read_reg(hw, hub_settings->shub_out, data, - len & ST_LS6DSX_READ_OP_MASK); + err = st_lsm6dsx_shub_read_output(hw, data, + len & ST_LS6DSX_READ_OP_MASK); st_lsm6dsx_shub_master_enable(sensor, false); - memset(config, 0, sizeof(config)); + config[0] = hub_settings->pause; + config[1] = 0; + config[2] = slv_config; return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config)); } @@ -296,7 +312,8 @@ st_lsm6dsx_shub_write(struct st_lsm6dsx_sensor *sensor, u8 addr, st_lsm6dsx_shub_master_enable(sensor, false); } - memset(config, 0, sizeof(config)); + config[0] = hub_settings->pause; + config[1] = 0; return st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config)); } @@ -688,14 +705,19 @@ st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr, const struct st_lsm6dsx_ext_dev_settings *settings) { const struct st_lsm6dsx_shub_settings *hub_settings; + u8 config[3], data, slv_addr, slv_config = 0; + const struct st_lsm6dsx_reg *aux_sens; struct st_lsm6dsx_sensor *sensor; - u8 config[3], data, slv_addr; bool found = false; int i, err; + sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); hub_settings = &hw->settings->shub_settings; + aux_sens = &hw->settings->shub_settings.aux_sens; slv_addr = ST_LSM6DSX_SLV_ADDR(0, hub_settings->slv0_addr); - sensor = iio_priv(hw->iio_devs[ST_LSM6DSX_ID_ACC]); + /* do not overwrite aux_sens */ + if (slv_addr + 2 == aux_sens->addr) + slv_config = ST_LSM6DSX_SHIFT_VAL(3, aux_sens->mask); for (i = 0; i < ARRAY_SIZE(settings->i2c_addr); i++) { if (!settings->i2c_addr[i]) @@ -704,7 +726,7 @@ st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr, /* read wai slave register */ config[0] = (settings->i2c_addr[i] << 1) | 0x1; config[1] = settings->wai.addr; - config[2] = 0x1; + config[2] = 0x1 | slv_config; err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config)); @@ -717,9 +739,7 @@ st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr, st_lsm6dsx_shub_wait_complete(hw); - err = st_lsm6dsx_shub_read_reg(hw, - hub_settings->shub_out, - &data, sizeof(data)); + err = st_lsm6dsx_shub_read_output(hw, &data, sizeof(data)); st_lsm6dsx_shub_master_enable(sensor, false); @@ -735,7 +755,9 @@ st_lsm6dsx_shub_check_wai(struct st_lsm6dsx_hw *hw, u8 *i2c_addr, } /* reset SLV0 channel */ - memset(config, 0, sizeof(config)); + config[0] = hub_settings->pause; + config[1] = 0; + config[2] = slv_config; err = st_lsm6dsx_shub_write_reg(hw, slv_addr, config, sizeof(config)); if (err < 0) @@ -770,7 +792,7 @@ int st_lsm6dsx_shub_probe(struct st_lsm6dsx_hw *hw, const char *name) if (err < 0) return err; - if (++num_ext_dev >= ST_LSM6DSX_MAX_SLV_NUM) + if (++num_ext_dev >= hw->settings->shub_settings.num_ext_dev) break; id++; } diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c index 67ff36eac247..eb1086e4a951 100644 --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_spi.c @@ -12,7 +12,6 @@ #include <linux/module.h> #include <linux/spi/spi.h> #include <linux/slab.h> -#include <linux/of.h> #include <linux/regmap.h> #include "st_lsm6dsx.h" @@ -122,7 +121,7 @@ static struct spi_driver st_lsm6dsx_driver = { .driver = { .name = "st_lsm6dsx_spi", .pm = &st_lsm6dsx_pm_ops, - .of_match_table = of_match_ptr(st_lsm6dsx_spi_of_match), + .of_match_table = st_lsm6dsx_spi_of_match, }, .probe = st_lsm6dsx_spi_probe, .id_table = st_lsm6dsx_spi_id_table, |