790 lines
20 KiB
C
Executable File
790 lines
20 KiB
C
Executable File
/*
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* STMicroelectronics st_lsm6dsx sensor driver
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*
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* The ST LSM6DSx IMU MEMS series consists of 3D digital accelerometer
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* and 3D digital gyroscope system-in-package with a digital I2C/SPI serial
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* interface standard output.
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* LSM6DSx IMU MEMS series has a dynamic user-selectable full-scale
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* acceleration range of +-2/+-4/+-8/+-16 g and an angular rate range of
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* +-125/+-245/+-500/+-1000/+-2000 dps
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* LSM6DSx series has an integrated First-In-First-Out (FIFO) buffer
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* allowing dynamic batching of sensor data.
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*
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* Supported sensors:
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* - LSM6DS3:
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* - Accelerometer/Gyroscope supported ODR [Hz]: 13, 26, 52, 104, 208, 416
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* - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
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* - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
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* - FIFO size: 8KB
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*
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* - LSM6DS3H/LSM6DSL/LSM6DSM:
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* - Accelerometer/Gyroscope supported ODR [Hz]: 13, 26, 52, 104, 208, 416
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* - Accelerometer supported full-scale [g]: +-2/+-4/+-8/+-16
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* - Gyroscope supported full-scale [dps]: +-125/+-245/+-500/+-1000/+-2000
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* - FIFO size: 4KB
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*
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* Copyright 2016 STMicroelectronics Inc.
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*
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* Lorenzo Bianconi <lorenzo.bianconi@st.com>
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* Denis Ciocca <denis.ciocca@st.com>
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*
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* Licensed under the GPL-2.
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*/
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#include <linux/kernel.h>
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#include <linux/module.h>
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#include <linux/delay.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include <linux/pm.h>
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#include <linux/platform_data/st_sensors_pdata.h>
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#include "st_lsm6dsx.h"
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#define ST_LSM6DSX_REG_ACC_DEC_MASK GENMASK(2, 0)
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#define ST_LSM6DSX_REG_GYRO_DEC_MASK GENMASK(5, 3)
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#define ST_LSM6DSX_REG_INT1_ADDR 0x0d
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#define ST_LSM6DSX_REG_INT2_ADDR 0x0e
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#define ST_LSM6DSX_REG_FIFO_FTH_IRQ_MASK BIT(3)
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#define ST_LSM6DSX_REG_WHOAMI_ADDR 0x0f
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#define ST_LSM6DSX_REG_RESET_ADDR 0x12
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#define ST_LSM6DSX_REG_RESET_MASK BIT(0)
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#define ST_LSM6DSX_REG_BDU_ADDR 0x12
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#define ST_LSM6DSX_REG_BDU_MASK BIT(6)
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#define ST_LSM6DSX_REG_INT2_ON_INT1_ADDR 0x13
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#define ST_LSM6DSX_REG_INT2_ON_INT1_MASK BIT(5)
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#define ST_LSM6DSX_REG_ROUNDING_ADDR 0x16
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#define ST_LSM6DSX_REG_ROUNDING_MASK BIT(2)
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#define ST_LSM6DSX_REG_LIR_ADDR 0x58
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#define ST_LSM6DSX_REG_LIR_MASK BIT(0)
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#define ST_LSM6DSX_REG_ACC_ODR_ADDR 0x10
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#define ST_LSM6DSX_REG_ACC_ODR_MASK GENMASK(7, 4)
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#define ST_LSM6DSX_REG_ACC_FS_ADDR 0x10
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#define ST_LSM6DSX_REG_ACC_FS_MASK GENMASK(3, 2)
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#define ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR 0x28
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#define ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR 0x2a
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#define ST_LSM6DSX_REG_ACC_OUT_Z_L_ADDR 0x2c
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#define ST_LSM6DSX_REG_GYRO_ODR_ADDR 0x11
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#define ST_LSM6DSX_REG_GYRO_ODR_MASK GENMASK(7, 4)
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#define ST_LSM6DSX_REG_GYRO_FS_ADDR 0x11
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#define ST_LSM6DSX_REG_GYRO_FS_MASK GENMASK(3, 2)
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#define ST_LSM6DSX_REG_GYRO_OUT_X_L_ADDR 0x22
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#define ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR 0x24
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#define ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR 0x26
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#define ST_LSM6DSX_ACC_FS_2G_GAIN IIO_G_TO_M_S_2(61)
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#define ST_LSM6DSX_ACC_FS_4G_GAIN IIO_G_TO_M_S_2(122)
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#define ST_LSM6DSX_ACC_FS_8G_GAIN IIO_G_TO_M_S_2(244)
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#define ST_LSM6DSX_ACC_FS_16G_GAIN IIO_G_TO_M_S_2(488)
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#define ST_LSM6DSX_GYRO_FS_245_GAIN IIO_DEGREE_TO_RAD(8750)
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#define ST_LSM6DSX_GYRO_FS_500_GAIN IIO_DEGREE_TO_RAD(17500)
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#define ST_LSM6DSX_GYRO_FS_1000_GAIN IIO_DEGREE_TO_RAD(35000)
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#define ST_LSM6DSX_GYRO_FS_2000_GAIN IIO_DEGREE_TO_RAD(70000)
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struct st_lsm6dsx_odr {
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u16 hz;
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u8 val;
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};
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#define ST_LSM6DSX_ODR_LIST_SIZE 6
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struct st_lsm6dsx_odr_table_entry {
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struct st_lsm6dsx_reg reg;
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struct st_lsm6dsx_odr odr_avl[ST_LSM6DSX_ODR_LIST_SIZE];
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};
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static const struct st_lsm6dsx_odr_table_entry st_lsm6dsx_odr_table[] = {
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[ST_LSM6DSX_ID_ACC] = {
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.reg = {
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.addr = ST_LSM6DSX_REG_ACC_ODR_ADDR,
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.mask = ST_LSM6DSX_REG_ACC_ODR_MASK,
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},
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.odr_avl[0] = { 13, 0x01 },
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.odr_avl[1] = { 26, 0x02 },
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.odr_avl[2] = { 52, 0x03 },
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.odr_avl[3] = { 104, 0x04 },
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.odr_avl[4] = { 208, 0x05 },
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.odr_avl[5] = { 416, 0x06 },
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},
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[ST_LSM6DSX_ID_GYRO] = {
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.reg = {
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.addr = ST_LSM6DSX_REG_GYRO_ODR_ADDR,
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.mask = ST_LSM6DSX_REG_GYRO_ODR_MASK,
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},
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.odr_avl[0] = { 13, 0x01 },
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.odr_avl[1] = { 26, 0x02 },
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.odr_avl[2] = { 52, 0x03 },
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.odr_avl[3] = { 104, 0x04 },
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.odr_avl[4] = { 208, 0x05 },
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.odr_avl[5] = { 416, 0x06 },
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}
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};
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struct st_lsm6dsx_fs {
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u32 gain;
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u8 val;
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};
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#define ST_LSM6DSX_FS_LIST_SIZE 4
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struct st_lsm6dsx_fs_table_entry {
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struct st_lsm6dsx_reg reg;
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struct st_lsm6dsx_fs fs_avl[ST_LSM6DSX_FS_LIST_SIZE];
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};
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static const struct st_lsm6dsx_fs_table_entry st_lsm6dsx_fs_table[] = {
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[ST_LSM6DSX_ID_ACC] = {
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.reg = {
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.addr = ST_LSM6DSX_REG_ACC_FS_ADDR,
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.mask = ST_LSM6DSX_REG_ACC_FS_MASK,
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},
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.fs_avl[0] = { ST_LSM6DSX_ACC_FS_2G_GAIN, 0x0 },
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.fs_avl[1] = { ST_LSM6DSX_ACC_FS_4G_GAIN, 0x2 },
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.fs_avl[2] = { ST_LSM6DSX_ACC_FS_8G_GAIN, 0x3 },
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.fs_avl[3] = { ST_LSM6DSX_ACC_FS_16G_GAIN, 0x1 },
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},
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[ST_LSM6DSX_ID_GYRO] = {
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.reg = {
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.addr = ST_LSM6DSX_REG_GYRO_FS_ADDR,
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.mask = ST_LSM6DSX_REG_GYRO_FS_MASK,
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},
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.fs_avl[0] = { ST_LSM6DSX_GYRO_FS_245_GAIN, 0x0 },
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.fs_avl[1] = { ST_LSM6DSX_GYRO_FS_500_GAIN, 0x1 },
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.fs_avl[2] = { ST_LSM6DSX_GYRO_FS_1000_GAIN, 0x2 },
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.fs_avl[3] = { ST_LSM6DSX_GYRO_FS_2000_GAIN, 0x3 },
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}
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};
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static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
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{
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.wai = 0x69,
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.max_fifo_size = 8192,
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.id = {
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[0] = ST_LSM6DS3_ID,
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},
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},
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{
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.wai = 0x69,
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.max_fifo_size = 4096,
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.id = {
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[0] = ST_LSM6DS3H_ID,
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},
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},
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{
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.wai = 0x6a,
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.max_fifo_size = 4096,
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.id = {
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[0] = ST_LSM6DSL_ID,
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[1] = ST_LSM6DSM_ID,
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},
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},
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};
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#define ST_LSM6DSX_CHANNEL(chan_type, addr, mod, scan_idx) \
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{ \
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.type = chan_type, \
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.address = addr, \
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.modified = 1, \
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.channel2 = mod, \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
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BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.scan_index = scan_idx, \
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.scan_type = { \
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.sign = 's', \
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.realbits = 16, \
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.storagebits = 16, \
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.endianness = IIO_LE, \
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}, \
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}
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static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
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ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_X_L_ADDR,
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IIO_MOD_X, 0),
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ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Y_L_ADDR,
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IIO_MOD_Y, 1),
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ST_LSM6DSX_CHANNEL(IIO_ACCEL, ST_LSM6DSX_REG_ACC_OUT_Z_L_ADDR,
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IIO_MOD_Z, 2),
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IIO_CHAN_SOFT_TIMESTAMP(3),
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};
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static const struct iio_chan_spec st_lsm6dsx_gyro_channels[] = {
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ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_X_L_ADDR,
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IIO_MOD_X, 0),
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ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_Y_L_ADDR,
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IIO_MOD_Y, 1),
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ST_LSM6DSX_CHANNEL(IIO_ANGL_VEL, ST_LSM6DSX_REG_GYRO_OUT_Z_L_ADDR,
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IIO_MOD_Z, 2),
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IIO_CHAN_SOFT_TIMESTAMP(3),
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};
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int st_lsm6dsx_write_with_mask(struct st_lsm6dsx_hw *hw, u8 addr, u8 mask,
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u8 val)
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{
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u8 data;
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int err;
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mutex_lock(&hw->lock);
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err = hw->tf->read(hw->dev, addr, sizeof(data), &data);
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if (err < 0) {
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dev_err(hw->dev, "failed to read %02x register\n", addr);
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goto out;
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}
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data = (data & ~mask) | ((val << __ffs(mask)) & mask);
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err = hw->tf->write(hw->dev, addr, sizeof(data), &data);
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if (err < 0)
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dev_err(hw->dev, "failed to write %02x register\n", addr);
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out:
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mutex_unlock(&hw->lock);
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return err;
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}
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static int st_lsm6dsx_check_whoami(struct st_lsm6dsx_hw *hw, int id)
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{
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int err, i, j;
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u8 data;
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for (i = 0; i < ARRAY_SIZE(st_lsm6dsx_sensor_settings); i++) {
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for (j = 0; j < ST_LSM6DSX_MAX_ID; j++) {
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if (id == st_lsm6dsx_sensor_settings[i].id[j])
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break;
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}
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if (j < ST_LSM6DSX_MAX_ID)
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break;
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}
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if (i == ARRAY_SIZE(st_lsm6dsx_sensor_settings)) {
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dev_err(hw->dev, "unsupported hw id [%02x]\n", id);
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return -ENODEV;
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}
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err = hw->tf->read(hw->dev, ST_LSM6DSX_REG_WHOAMI_ADDR, sizeof(data),
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&data);
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if (err < 0) {
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dev_err(hw->dev, "failed to read whoami register\n");
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return err;
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}
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if (data != st_lsm6dsx_sensor_settings[i].wai) {
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dev_err(hw->dev, "unsupported whoami [%02x]\n", data);
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return -ENODEV;
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}
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hw->settings = &st_lsm6dsx_sensor_settings[i];
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return 0;
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}
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static int st_lsm6dsx_set_full_scale(struct st_lsm6dsx_sensor *sensor,
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u32 gain)
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{
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enum st_lsm6dsx_sensor_id id = sensor->id;
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int i, err;
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u8 val;
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for (i = 0; i < ST_LSM6DSX_FS_LIST_SIZE; i++)
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if (st_lsm6dsx_fs_table[id].fs_avl[i].gain == gain)
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break;
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if (i == ST_LSM6DSX_FS_LIST_SIZE)
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return -EINVAL;
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val = st_lsm6dsx_fs_table[id].fs_avl[i].val;
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err = st_lsm6dsx_write_with_mask(sensor->hw,
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st_lsm6dsx_fs_table[id].reg.addr,
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st_lsm6dsx_fs_table[id].reg.mask,
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val);
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if (err < 0)
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return err;
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sensor->gain = gain;
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return 0;
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}
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static int st_lsm6dsx_check_odr(struct st_lsm6dsx_sensor *sensor, u16 odr,
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u8 *val)
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{
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int i;
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for (i = 0; i < ST_LSM6DSX_ODR_LIST_SIZE; i++)
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if (st_lsm6dsx_odr_table[sensor->id].odr_avl[i].hz == odr)
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break;
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if (i == ST_LSM6DSX_ODR_LIST_SIZE)
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return -EINVAL;
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*val = st_lsm6dsx_odr_table[sensor->id].odr_avl[i].val;
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sensor->odr = odr;
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return 0;
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}
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static int st_lsm6dsx_set_odr(struct st_lsm6dsx_sensor *sensor, u16 odr)
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{
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enum st_lsm6dsx_sensor_id id = sensor->id;
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int err;
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u8 val;
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err = st_lsm6dsx_check_odr(sensor, odr, &val);
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if (err < 0)
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return err;
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return st_lsm6dsx_write_with_mask(sensor->hw,
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st_lsm6dsx_odr_table[id].reg.addr,
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st_lsm6dsx_odr_table[id].reg.mask,
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val);
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}
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int st_lsm6dsx_sensor_enable(struct st_lsm6dsx_sensor *sensor)
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{
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int err;
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err = st_lsm6dsx_set_odr(sensor, sensor->odr);
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if (err < 0)
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return err;
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sensor->hw->enable_mask |= BIT(sensor->id);
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return 0;
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}
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int st_lsm6dsx_sensor_disable(struct st_lsm6dsx_sensor *sensor)
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{
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enum st_lsm6dsx_sensor_id id = sensor->id;
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int err;
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err = st_lsm6dsx_write_with_mask(sensor->hw,
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st_lsm6dsx_odr_table[id].reg.addr,
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st_lsm6dsx_odr_table[id].reg.mask, 0);
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if (err < 0)
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return err;
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sensor->hw->enable_mask &= ~BIT(id);
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return 0;
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}
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static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor,
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u8 addr, int *val)
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{
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int err, delay;
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__le16 data;
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err = st_lsm6dsx_sensor_enable(sensor);
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if (err < 0)
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return err;
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delay = 1000000 / sensor->odr;
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usleep_range(delay, 2 * delay);
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err = sensor->hw->tf->read(sensor->hw->dev, addr, sizeof(data),
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(u8 *)&data);
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if (err < 0)
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return err;
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st_lsm6dsx_sensor_disable(sensor);
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*val = (s16)le16_to_cpu(data);
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return IIO_VAL_INT;
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}
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static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev,
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struct iio_chan_spec const *ch,
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int *val, int *val2, long mask)
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{
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struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
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int ret;
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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ret = iio_device_claim_direct_mode(iio_dev);
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if (ret)
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break;
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ret = st_lsm6dsx_read_oneshot(sensor, ch->address, val);
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iio_device_release_direct_mode(iio_dev);
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break;
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case IIO_CHAN_INFO_SAMP_FREQ:
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*val = sensor->odr;
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ret = IIO_VAL_INT;
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break;
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case IIO_CHAN_INFO_SCALE:
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*val = 0;
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*val2 = sensor->gain;
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ret = IIO_VAL_INT_PLUS_MICRO;
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break;
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default:
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ret = -EINVAL;
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break;
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}
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return ret;
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}
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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: {
|
|
u8 data;
|
|
|
|
err = st_lsm6dsx_check_odr(sensor, val, &data);
|
|
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;
|
|
|
|
if (!np)
|
|
return -EINVAL;
|
|
|
|
return of_property_read_u32(np, "st,drdy-int-pin", drdy_pin);
|
|
}
|
|
|
|
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,
|
|
const char *name)
|
|
{
|
|
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->info = &st_lsm6dsx_acc_info;
|
|
|
|
sensor->decimator_mask = ST_LSM6DSX_REG_ACC_DEC_MASK;
|
|
scnprintf(sensor->name, sizeof(sensor->name), "%s_accel",
|
|
name);
|
|
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->info = &st_lsm6dsx_gyro_info;
|
|
|
|
sensor->decimator_mask = ST_LSM6DSX_REG_GYRO_DEC_MASK;
|
|
scnprintf(sensor->name, sizeof(sensor->name), "%s_gyro",
|
|
name);
|
|
break;
|
|
default:
|
|
return NULL;
|
|
}
|
|
iio_dev->name = sensor->name;
|
|
|
|
return iio_dev;
|
|
}
|
|
|
|
int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id, const char *name,
|
|
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, name);
|
|
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);
|
|
|
|
static int __maybe_unused st_lsm6dsx_suspend(struct device *dev)
|
|
{
|
|
struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev);
|
|
struct st_lsm6dsx_sensor *sensor;
|
|
int i, err = 0;
|
|
|
|
for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
|
|
sensor = iio_priv(hw->iio_devs[i]);
|
|
if (!(hw->enable_mask & BIT(sensor->id)))
|
|
continue;
|
|
|
|
err = st_lsm6dsx_write_with_mask(hw,
|
|
st_lsm6dsx_odr_table[sensor->id].reg.addr,
|
|
st_lsm6dsx_odr_table[sensor->id].reg.mask, 0);
|
|
if (err < 0)
|
|
return err;
|
|
}
|
|
|
|
if (hw->fifo_mode != ST_LSM6DSX_FIFO_BYPASS)
|
|
err = st_lsm6dsx_flush_fifo(hw);
|
|
|
|
return err;
|
|
}
|
|
|
|
static int __maybe_unused st_lsm6dsx_resume(struct device *dev)
|
|
{
|
|
struct st_lsm6dsx_hw *hw = dev_get_drvdata(dev);
|
|
struct st_lsm6dsx_sensor *sensor;
|
|
int i, err = 0;
|
|
|
|
for (i = 0; i < ST_LSM6DSX_ID_MAX; i++) {
|
|
sensor = iio_priv(hw->iio_devs[i]);
|
|
if (!(hw->enable_mask & BIT(sensor->id)))
|
|
continue;
|
|
|
|
err = st_lsm6dsx_set_odr(sensor, sensor->odr);
|
|
if (err < 0)
|
|
return err;
|
|
}
|
|
|
|
if (hw->enable_mask)
|
|
err = st_lsm6dsx_set_fifo_mode(hw, ST_LSM6DSX_FIFO_CONT);
|
|
|
|
return err;
|
|
}
|
|
|
|
const struct dev_pm_ops st_lsm6dsx_pm_ops = {
|
|
SET_SYSTEM_SLEEP_PM_OPS(st_lsm6dsx_suspend, st_lsm6dsx_resume)
|
|
};
|
|
EXPORT_SYMBOL(st_lsm6dsx_pm_ops);
|
|
|
|
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");
|