/* * 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 * Denis Ciocca * * Licensed under the GPL-2. */ #include #include #include #include #include #include #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 "); MODULE_AUTHOR("Denis Ciocca "); MODULE_DESCRIPTION("STMicroelectronics st_lsm6dsx driver"); MODULE_LICENSE("GPL v2");