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path: root/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
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Diffstat (limited to 'drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c')
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c434
1 files changed, 430 insertions, 4 deletions
diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index 2d3495560136..8a813ddba19c 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -48,8 +48,11 @@
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/delay.h>
+#include <linux/iio/events.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
+#include <linux/interrupt.h>
+#include <linux/irq.h>
#include <linux/pm.h>
#include <linux/regmap.h>
#include <linux/bitfield.h>
@@ -65,10 +68,15 @@
#define ST_LSM6DSX_REG_BDU_ADDR 0x12
#define ST_LSM6DSX_REG_BDU_MASK BIT(6)
+#define ST_LSM6DSX_REG_HLACTIVE_ADDR 0x12
+#define ST_LSM6DSX_REG_HLACTIVE_MASK BIT(5)
+#define ST_LSM6DSX_REG_PP_OD_ADDR 0x12
+#define ST_LSM6DSX_REG_PP_OD_MASK BIT(4)
+
static const struct iio_chan_spec st_lsm6dsx_acc_channels[] = {
- ST_LSM6DSX_CHANNEL(IIO_ACCEL, 0x28, IIO_MOD_X, 0),
- ST_LSM6DSX_CHANNEL(IIO_ACCEL, 0x2a, IIO_MOD_Y, 1),
- ST_LSM6DSX_CHANNEL(IIO_ACCEL, 0x2c, IIO_MOD_Z, 2),
+ ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x28, IIO_MOD_X, 0),
+ ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2a, IIO_MOD_Y, 1),
+ ST_LSM6DSX_CHANNEL_ACC(IIO_ACCEL, 0x2c, IIO_MOD_Z, 2),
IIO_CHAN_SOFT_TIMESTAMP(3),
};
@@ -161,6 +169,9 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.wai = 0x69,
.int1_addr = 0x0d,
.int2_addr = 0x0e,
+ .int1_func_addr = 0x5e,
+ .int2_func_addr = 0x5f,
+ .int_func_mask = BIT(5),
.reset_addr = 0x12,
.max_fifo_size = 1365,
.id = {
@@ -237,6 +248,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(5, 3),
},
},
+ .lir = {
+ .addr = 0x58,
+ .mask = BIT(0),
+ },
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_fifo,
@@ -268,11 +283,25 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(5, 3),
},
},
+ .event_settings = {
+ .wakeup_reg = {
+ .addr = 0x5B,
+ .mask = GENMASK(5, 0),
+ },
+ .wakeup_src_reg = 0x1b,
+ .wakeup_src_status_mask = BIT(3),
+ .wakeup_src_z_mask = BIT(0),
+ .wakeup_src_y_mask = BIT(1),
+ .wakeup_src_x_mask = BIT(2),
+ },
},
{
.wai = 0x69,
.int1_addr = 0x0d,
.int2_addr = 0x0e,
+ .int1_func_addr = 0x5e,
+ .int2_func_addr = 0x5f,
+ .int_func_mask = BIT(5),
.reset_addr = 0x12,
.max_fifo_size = 682,
.id = {
@@ -349,6 +378,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(5, 3),
},
},
+ .lir = {
+ .addr = 0x58,
+ .mask = BIT(0),
+ },
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_fifo,
@@ -380,11 +413,25 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(5, 3),
},
},
+ .event_settings = {
+ .wakeup_reg = {
+ .addr = 0x5B,
+ .mask = GENMASK(5, 0),
+ },
+ .wakeup_src_reg = 0x1b,
+ .wakeup_src_status_mask = BIT(3),
+ .wakeup_src_z_mask = BIT(0),
+ .wakeup_src_y_mask = BIT(1),
+ .wakeup_src_x_mask = BIT(2),
+ },
},
{
.wai = 0x6a,
.int1_addr = 0x0d,
.int2_addr = 0x0e,
+ .int1_func_addr = 0x5e,
+ .int2_func_addr = 0x5f,
+ .int_func_mask = BIT(5),
.reset_addr = 0x12,
.max_fifo_size = 682,
.id = {
@@ -470,6 +517,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(5, 3),
},
},
+ .lir = {
+ .addr = 0x58,
+ .mask = BIT(0),
+ },
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_fifo,
@@ -501,6 +552,21 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(5, 3),
},
},
+ .event_settings = {
+ .enable_reg = {
+ .addr = 0x58,
+ .mask = BIT(7),
+ },
+ .wakeup_reg = {
+ .addr = 0x5B,
+ .mask = GENMASK(5, 0),
+ },
+ .wakeup_src_reg = 0x1b,
+ .wakeup_src_status_mask = BIT(3),
+ .wakeup_src_z_mask = BIT(0),
+ .wakeup_src_y_mask = BIT(1),
+ .wakeup_src_x_mask = BIT(2),
+ },
},
{
.wai = 0x6c,
@@ -585,6 +651,14 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(7, 4),
},
},
+ .lir = {
+ .addr = 0x56,
+ .mask = BIT(0),
+ },
+ .clear_on_read = {
+ .addr = 0x56,
+ .mask = BIT(6),
+ },
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_tagged_fifo,
@@ -639,6 +713,9 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.wai = 0x6b,
.int1_addr = 0x0d,
.int2_addr = 0x0e,
+ .int1_func_addr = 0x5e,
+ .int2_func_addr = 0x5f,
+ .int_func_mask = BIT(5),
.reset_addr = 0x12,
.max_fifo_size = 512,
.id = {
@@ -715,6 +792,14 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(7, 4),
},
},
+ .lir = {
+ .addr = 0x56,
+ .mask = BIT(0),
+ },
+ .clear_on_read = {
+ .addr = 0x56,
+ .mask = BIT(6),
+ },
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_tagged_fifo,
@@ -738,11 +823,29 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(7, 6),
},
},
+ .event_settings = {
+ .enable_reg = {
+ .addr = 0x58,
+ .mask = BIT(7),
+ },
+ .wakeup_reg = {
+ .addr = 0x5B,
+ .mask = GENMASK(5, 0),
+ },
+ .wakeup_src_reg = 0x1b,
+ .wakeup_src_status_mask = BIT(3),
+ .wakeup_src_z_mask = BIT(0),
+ .wakeup_src_y_mask = BIT(1),
+ .wakeup_src_x_mask = BIT(2),
+ },
},
{
.wai = 0x6b,
.int1_addr = 0x0d,
.int2_addr = 0x0e,
+ .int1_func_addr = 0x5e,
+ .int2_func_addr = 0x5f,
+ .int_func_mask = BIT(5),
.reset_addr = 0x12,
.max_fifo_size = 512,
.id = {
@@ -822,6 +925,14 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.mask = GENMASK(7, 4),
},
},
+ .lir = {
+ .addr = 0x56,
+ .mask = BIT(0),
+ },
+ .clear_on_read = {
+ .addr = 0x56,
+ .mask = BIT(6),
+ },
.fifo_ops = {
.update_fifo = st_lsm6dsx_update_fifo,
.read_fifo = st_lsm6dsx_read_tagged_fifo,
@@ -870,6 +981,21 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
.slv0_addr = 0x15,
.dw_slv0_addr = 0x21,
.batch_en = BIT(3),
+ },
+ .event_settings = {
+ .enable_reg = {
+ .addr = 0x58,
+ .mask = BIT(7),
+ },
+ .wakeup_reg = {
+ .addr = 0x5B,
+ .mask = GENMASK(5, 0),
+ },
+ .wakeup_src_reg = 0x1b,
+ .wakeup_src_status_mask = BIT(3),
+ .wakeup_src_z_mask = BIT(0),
+ .wakeup_src_y_mask = BIT(1),
+ .wakeup_src_x_mask = BIT(2),
}
},
};
@@ -1076,7 +1202,8 @@ static int st_lsm6dsx_read_oneshot(struct st_lsm6dsx_sensor *sensor,
if (err < 0)
return err;
- st_lsm6dsx_sensor_set_enable(sensor, false);
+ if (!hw->enable_event)
+ st_lsm6dsx_sensor_set_enable(sensor, false);
*val = (s16)le16_to_cpu(data);
@@ -1149,6 +1276,139 @@ static int st_lsm6dsx_write_raw(struct iio_dev *iio_dev,
return err;
}
+static int st_lsm6dsx_event_setup(struct st_lsm6dsx_hw *hw, int state)
+{
+ int err;
+ u8 enable = 0;
+
+ if (!hw->settings->int1_func_addr)
+ return -ENOTSUPP;
+
+ enable = state ? hw->settings->event_settings.enable_reg.mask : 0;
+
+ err = regmap_update_bits(hw->regmap,
+ hw->settings->event_settings.enable_reg.addr,
+ hw->settings->event_settings.enable_reg.mask,
+ enable);
+ if (err < 0)
+ return err;
+
+ enable = state ? hw->irq_routing.mask : 0;
+
+ /* Enable wakeup interrupt */
+ return regmap_update_bits(hw->regmap, hw->irq_routing.addr,
+ hw->irq_routing.mask,
+ enable);
+}
+
+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)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+
+ if (type != IIO_EV_TYPE_THRESH)
+ return -EINVAL;
+
+ *val2 = 0;
+ *val = hw->event_threshold;
+
+ return IIO_VAL_INT;
+}
+
+static int st_lsm6dsx_write_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)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ int err;
+
+ if (type != IIO_EV_TYPE_THRESH)
+ return -EINVAL;
+
+ if (val < 0 || val > 31)
+ return -EINVAL;
+
+ err = regmap_update_bits(hw->regmap,
+ hw->settings->event_settings.wakeup_reg.addr,
+ hw->settings->event_settings.wakeup_reg.mask,
+ val);
+ if (err)
+ return -EINVAL;
+
+ hw->event_threshold = val;
+
+ return 0;
+}
+
+static int st_lsm6dsx_read_event_config(struct iio_dev *iio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+
+ if (type != IIO_EV_TYPE_THRESH)
+ return -EINVAL;
+
+ return !!(hw->enable_event & BIT(chan->channel2));
+}
+
+static int st_lsm6dsx_write_event_config(struct iio_dev *iio_dev,
+ const struct iio_chan_spec *chan,
+ enum iio_event_type type,
+ enum iio_event_direction dir,
+ int state)
+{
+ struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
+ struct st_lsm6dsx_hw *hw = sensor->hw;
+ u8 enable_event;
+ int err = 0;
+
+ if (type != IIO_EV_TYPE_THRESH)
+ return -EINVAL;
+
+ if (state) {
+ enable_event = hw->enable_event | BIT(chan->channel2);
+
+ /* do not enable events if they are already enabled */
+ if (hw->enable_event)
+ goto out;
+ } else {
+ enable_event = hw->enable_event & ~BIT(chan->channel2);
+
+ /* only turn off sensor if no events is enabled */
+ if (enable_event)
+ goto out;
+ }
+
+ /* stop here if no changes have been made */
+ if (hw->enable_event == enable_event)
+ return 0;
+
+ err = st_lsm6dsx_event_setup(hw, state);
+ if (err < 0)
+ return err;
+
+ err = st_lsm6dsx_sensor_set_enable(sensor, state);
+ if (err < 0)
+ return err;
+
+out:
+ hw->enable_event = enable_event;
+
+ return 0;
+}
+
int st_lsm6dsx_set_watermark(struct iio_dev *iio_dev, unsigned int val)
{
struct st_lsm6dsx_sensor *sensor = iio_priv(iio_dev);
@@ -1233,6 +1493,10 @@ static const struct iio_info st_lsm6dsx_acc_info = {
.attrs = &st_lsm6dsx_acc_attribute_group,
.read_raw = st_lsm6dsx_read_raw,
.write_raw = st_lsm6dsx_write_raw,
+ .read_event_value = st_lsm6dsx_read_event,
+ .write_event_value = st_lsm6dsx_write_event,
+ .read_event_config = st_lsm6dsx_read_event_config,
+ .write_event_config = st_lsm6dsx_write_event_config,
.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
};
@@ -1278,9 +1542,13 @@ static int st_lsm6dsx_get_drdy_reg(struct st_lsm6dsx_hw *hw, u8 *drdy_reg)
switch (drdy_pin) {
case 1:
*drdy_reg = hw->settings->int1_addr;
+ hw->irq_routing.addr = hw->settings->int1_func_addr;
+ hw->irq_routing.mask = hw->settings->int_func_mask;
break;
case 2:
*drdy_reg = hw->settings->int2_addr;
+ hw->irq_routing.addr = hw->settings->int2_func_addr;
+ hw->irq_routing.mask = hw->settings->int_func_mask;
break;
default:
dev_err(hw->dev, "unsupported data ready pin\n");
@@ -1416,6 +1684,29 @@ static int st_lsm6dsx_init_device(struct st_lsm6dsx_hw *hw)
if (err < 0)
return err;
+ /* enable Latched interrupts for device events */
+ if (hw->settings->lir.addr) {
+ unsigned int data;
+
+ data = ST_LSM6DSX_SHIFT_VAL(1, hw->settings->lir.mask);
+ err = regmap_update_bits(hw->regmap, hw->settings->lir.addr,
+ hw->settings->lir.mask, data);
+ if (err < 0)
+ return err;
+
+ /* enable clear on read for latched interrupts */
+ if (hw->settings->clear_on_read.addr) {
+ data = ST_LSM6DSX_SHIFT_VAL(1,
+ hw->settings->clear_on_read.mask);
+ err = regmap_update_bits(hw->regmap,
+ hw->settings->clear_on_read.addr,
+ hw->settings->clear_on_read.mask,
+ data);
+ if (err < 0)
+ return err;
+ }
+ }
+
err = st_lsm6dsx_init_shub(hw);
if (err < 0)
return err;
@@ -1466,6 +1757,123 @@ static struct iio_dev *st_lsm6dsx_alloc_iiodev(struct st_lsm6dsx_hw *hw,
return iio_dev;
}
+static void st_lsm6dsx_report_motion_event(struct st_lsm6dsx_hw *hw, int data)
+{
+ s64 timestamp = iio_get_time_ns(hw->iio_devs[ST_LSM6DSX_ID_ACC]);
+
+ if ((data & hw->settings->event_settings.wakeup_src_z_mask) &&
+ (hw->enable_event & BIT(IIO_MOD_Z)))
+ iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_Z,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_EITHER),
+ timestamp);
+
+ if ((data & hw->settings->event_settings.wakeup_src_y_mask) &&
+ (hw->enable_event & BIT(IIO_MOD_Y)))
+ iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_Y,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_EITHER),
+ timestamp);
+
+ if ((data & hw->settings->event_settings.wakeup_src_x_mask) &&
+ (hw->enable_event & BIT(IIO_MOD_X)))
+ iio_push_event(hw->iio_devs[ST_LSM6DSX_ID_ACC],
+ IIO_MOD_EVENT_CODE(IIO_ACCEL,
+ 0,
+ IIO_MOD_X,
+ IIO_EV_TYPE_THRESH,
+ IIO_EV_DIR_EITHER),
+ timestamp);
+}
+
+static irqreturn_t st_lsm6dsx_handler_thread(int irq, void *private)
+{
+ struct st_lsm6dsx_hw *hw = private;
+ int count;
+ int data, err;
+
+ if (hw->enable_event) {
+ err = regmap_read(hw->regmap,
+ hw->settings->event_settings.wakeup_src_reg,
+ &data);
+ if (err < 0)
+ return IRQ_NONE;
+
+ if (data & hw->settings->event_settings.wakeup_src_status_mask)
+ st_lsm6dsx_report_motion_event(hw, data);
+ }
+
+ mutex_lock(&hw->fifo_lock);
+ count = hw->settings->fifo_ops.read_fifo(hw);
+ mutex_unlock(&hw->fifo_lock);
+
+ return count ? IRQ_HANDLED : IRQ_NONE;
+}
+
+static int st_lsm6dsx_irq_setup(struct st_lsm6dsx_hw *hw)
+{
+ struct st_sensors_platform_data *pdata;
+ struct device_node *np = hw->dev->of_node;
+ unsigned long irq_type;
+ bool irq_active_low;
+ int err;
+
+ irq_type = irqd_get_trigger_type(irq_get_irq_data(hw->irq));
+
+ switch (irq_type) {
+ case IRQF_TRIGGER_HIGH:
+ case IRQF_TRIGGER_RISING:
+ irq_active_low = false;
+ break;
+ case IRQF_TRIGGER_LOW:
+ case IRQF_TRIGGER_FALLING:
+ irq_active_low = true;
+ break;
+ default:
+ dev_info(hw->dev, "mode %lx unsupported\n", irq_type);
+ return -EINVAL;
+ }
+
+ err = regmap_update_bits(hw->regmap, ST_LSM6DSX_REG_HLACTIVE_ADDR,
+ ST_LSM6DSX_REG_HLACTIVE_MASK,
+ FIELD_PREP(ST_LSM6DSX_REG_HLACTIVE_MASK,
+ irq_active_low));
+ 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 && pdata->open_drain)) {
+ err = regmap_update_bits(hw->regmap, ST_LSM6DSX_REG_PP_OD_ADDR,
+ ST_LSM6DSX_REG_PP_OD_MASK,
+ FIELD_PREP(ST_LSM6DSX_REG_PP_OD_MASK,
+ 1));
+ if (err < 0)
+ return err;
+
+ irq_type |= IRQF_SHARED;
+ }
+
+ err = devm_request_threaded_irq(hw->dev, hw->irq,
+ NULL,
+ st_lsm6dsx_handler_thread,
+ irq_type | IRQF_ONESHOT,
+ "lsm6dsx", hw);
+ if (err) {
+ dev_err(hw->dev, "failed to request trigger irq %d\n",
+ hw->irq);
+ return err;
+ }
+
+ return 0;
+}
+
int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
struct regmap *regmap)
{
@@ -1514,6 +1922,10 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
}
if (hw->irq > 0) {
+ err = st_lsm6dsx_irq_setup(hw);
+ if (err < 0)
+ return err;
+
err = st_lsm6dsx_fifo_setup(hw);
if (err < 0)
return err;
@@ -1528,6 +1940,9 @@ int st_lsm6dsx_probe(struct device *dev, int irq, int hw_id,
return err;
}
+ if (dev->of_node && of_property_read_bool(dev->of_node, "wakeup-source"))
+ device_init_wakeup(dev, true);
+
return 0;
}
EXPORT_SYMBOL(st_lsm6dsx_probe);
@@ -1546,6 +1961,13 @@ static int __maybe_unused st_lsm6dsx_suspend(struct device *dev)
if (!(hw->enable_mask & BIT(sensor->id)))
continue;
+ if (device_may_wakeup(dev) &&
+ sensor->id == ST_LSM6DSX_ID_ACC && hw->enable_event) {
+ /* Enable wake from IRQ */
+ enable_irq_wake(hw->irq);
+ continue;
+ }
+
if (sensor->id == ST_LSM6DSX_ID_EXT0 ||
sensor->id == ST_LSM6DSX_ID_EXT1 ||
sensor->id == ST_LSM6DSX_ID_EXT2)
@@ -1575,6 +1997,10 @@ static int __maybe_unused st_lsm6dsx_resume(struct device *dev)
continue;
sensor = iio_priv(hw->iio_devs[i]);
+ if (device_may_wakeup(dev) &&
+ sensor->id == ST_LSM6DSX_ID_ACC && hw->enable_event)
+ disable_irq_wake(hw->irq);
+
if (!(hw->suspend_mask & BIT(sensor->id)))
continue;
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-24 08:09:11 +0000